diff -urdN ../Tekkotsu_2.2.2/Behaviors/BehaviorBase.cc ./Behaviors/BehaviorBase.cc --- ../Tekkotsu_2.2.2/Behaviors/BehaviorBase.cc Thu Nov 11 15:34:59 2004 +++ ./Behaviors/BehaviorBase.cc Tue Jan 4 14:51:37 2005 @@ -67,3 +67,14 @@ } } +/*! @file + * @brief Implements BehaviorBase from which all Behaviors should inherit + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + diff -urdN ../Tekkotsu_2.2.2/Behaviors/BehaviorBase.h ./Behaviors/BehaviorBase.h --- ../Tekkotsu_2.2.2/Behaviors/BehaviorBase.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/BehaviorBase.h Tue Jan 4 14:51:37 2005 @@ -109,14 +109,14 @@ }; /*! @file - * @brief Defines BehaviorBase from which all Behaviors should inherit + * @brief Describes BehaviorBase from which all Behaviors should inherit * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/CVS/Entries ./Behaviors/CVS/Entries --- ../Tekkotsu_2.2.2/Behaviors/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Behaviors/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,14 @@ +/BehaviorBase.cc/1.6/Tue Jan 4 19:51:37 2005//Ttekkotsu-2_3 +/BehaviorBase.h/1.18/Tue Jan 4 19:51:37 2005//Ttekkotsu-2_3 +/Controller.cc/1.41/Wed Jan 5 20:28:34 2005//Ttekkotsu-2_3 +/Controller.h/1.32/Wed Jan 5 20:28:35 2005//Ttekkotsu-2_3 +/README/1.1/Sat Mar 1 20:53:25 2003//Ttekkotsu-2_3 +/StateNode.cc/1.22/Mon Jan 24 22:12:13 2005//Ttekkotsu-2_3 +/StateNode.h/1.17/Mon Jan 24 22:12:13 2005//Ttekkotsu-2_3 +/Transition.cc/1.13/Fri Dec 17 05:51:32 2004//Ttekkotsu-2_3 +/Transition.h/1.9/Mon Nov 15 22:46:19 2004//Ttekkotsu-2_3 +D/Controls//// +D/Demos//// +D/Mon//// +D/Nodes//// +D/Transitions//// diff -urdN ../Tekkotsu_2.2.2/Behaviors/CVS/Repository ./Behaviors/CVS/Repository --- ../Tekkotsu_2.2.2/Behaviors/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Behaviors/CVS/Repository Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +Tekkotsu/Behaviors diff -urdN ../Tekkotsu_2.2.2/Behaviors/CVS/Root ./Behaviors/CVS/Root --- ../Tekkotsu_2.2.2/Behaviors/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Behaviors/CVS/Root Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Behaviors/CVS/Tag ./Behaviors/CVS/Tag --- ../Tekkotsu_2.2.2/Behaviors/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Behaviors/CVS/Tag Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controller.cc ./Behaviors/Controller.cc --- ../Tekkotsu_2.2.2/Behaviors/Controller.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Controller.cc Wed Jan 5 15:28:34 2005 @@ -347,6 +347,19 @@ setNext(cmdstack.top()->doNextItem()); } else if(args[0]=="!prev") { setNext(cmdstack.top()->doPrevItem()); + } else if(args[0]=="!dump_stack") { + theOneController->gui_comm->printf("stack_dump\n%d\n",cmdstack.size()); + //this is rather ugly - can't iterate a stack, have to unstack and restack it. Oh well. + std::stack< ControlBase* > tmpstack; + while(!cmdstack.empty()) { + tmpstack.push(cmdstack.top()); + cmdstack.pop(); + } + while(!tmpstack.empty()) { + theOneController->gui_comm->printf("%s\n",tmpstack.top()->getName().c_str()); + cmdstack.push(tmpstack.top()); + tmpstack.pop(); + } } else if(args[0]=="!msg") { if(offsets.size()>1) erouter->postEvent(new TextMsgEvent(s.substr(offsets[1]))); @@ -452,8 +465,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controller.h ./Behaviors/Controller.h --- ../Tekkotsu_2.2.2/Behaviors/Controller.h Wed Nov 10 20:45:31 2004 +++ ./Behaviors/Controller.h Wed Jan 5 15:28:35 2005 @@ -23,6 +23,7 @@ * - '!prev' - calls ControlBase::doPrevItem() of the current control * - '!select' - calls ControlBase::doSelect() of the current control * - '!cancel' - calls ControlBase::doCancel() of the current control + * - '!dump_stack' - requests a dump of the current stack of submenus (useful if the GUI (re)connects and thus current robot state is unknown) * - '!msg text' - sends text out as a TextMsgEvent; also note that any text entered on the console port while a GUI is also connected will also be sent as a TextMsgEvent, without needing the !input. * - '!root text' - calls ControlBase::takeInput(text) on the root control * - '!hello' - responds with 'hello\\ncount\\n' where count is the number of times '!hello' has been sent. Good for detecting first connection after boot vs. a reconnect. @@ -58,6 +59,11 @@ * - '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(). + * - 'stack_dump\n + * int:depth\n + * text:item-title1\n + * ...\n + * text:item-titledepth' - a listing of the current stack, first item is root, last item is current control * - '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, @@ -211,10 +217,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/BatteryCheckControl.h ./Behaviors/Controls/BatteryCheckControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/BatteryCheckControl.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/BatteryCheckControl.h Tue Jan 25 15:06:39 2005 @@ -78,9 +78,9 @@ void report() { sout->printf("BATTERY REPORT:\n"); sout->printf("\tPower Remain:\t%d%%\n",(int)(state->sensors[PowerRemainOffset]*100)); - sout->printf("\tCapacity:\t%d\n",state->sensors[PowerCapacityOffset]); + sout->printf("\tCapacity:\t%g\n",state->sensors[PowerCapacityOffset]); sout->printf("\tVoltage:\t%g\n",state->sensors[PowerVoltageOffset]); - sout->printf("\tCurrent:\t%d\n",state->sensors[PowerCurrentOffset]); + sout->printf("\tCurrent:\t%g\n",state->sensors[PowerCurrentOffset]); sout->printf("\tTemperature:\t%g\n",state->sensors[PowerThermoOffset]); sout->printf("\tFlags:\t"); if(state->powerFlags[PowerSourceID::BatteryConnectSID]) @@ -111,10 +111,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorActivatorControl.h ./Behaviors/Controls/BehaviorActivatorControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorActivatorControl.h Thu Sep 25 11:26:10 2003 +++ ./Behaviors/Controls/BehaviorActivatorControl.h Thu Sep 25 11:26:10 2003 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorReportControl.h ./Behaviors/Controls/BehaviorReportControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorReportControl.h Tue Nov 16 14:25:24 2004 +++ ./Behaviors/Controls/BehaviorReportControl.h Tue Jan 25 15:06:39 2005 @@ -38,13 +38,13 @@ sout->printf("** Currently Instantiated Behavior Report **\n"); sout->printf("%d active, %d inactive, %d total\n\n",active.size(),inactive.size(),reg.size()); - sout->printf("Active Behaviors:\n",active.size()); + sout->printf("Active Behaviors (%d):\n",active.size()); sout->printf(format,"Class Name","Instance Name"); sout->printf(format,"------------","---------------"); for(behlist_t::const_iterator it=active.begin(); it!=active.end(); it++) sout->printf(format,(*it)->getClassName().c_str(),(*it)->getName().c_str()); sout->printf("\n"); - sout->printf("Inactive Behaviors:\n",inactive.size()); + sout->printf("Inactive Behaviors (%d):\n",inactive.size()); sout->printf(format,"Class Name","Instance Name"); sout->printf(format,"------------","---------------"); for(behlist_t::const_iterator it=inactive.begin(); it!=inactive.end(); it++) @@ -58,10 +58,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorSwitchActivatorControl.h ./Behaviors/Controls/BehaviorSwitchActivatorControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorSwitchActivatorControl.h Thu Sep 25 11:26:10 2003 +++ ./Behaviors/Controls/BehaviorSwitchActivatorControl.h Thu Sep 25 11:26:10 2003 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorSwitchControl.h ./Behaviors/Controls/BehaviorSwitchControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/BehaviorSwitchControl.h Thu Nov 11 19:05:03 2004 +++ ./Behaviors/Controls/BehaviorSwitchControl.h Thu Nov 11 19:05:03 2004 @@ -265,7 +265,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Entries ./Behaviors/Controls/CVS/Entries --- ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Controls/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,46 @@ +/BatteryCheckControl.h/1.10/Tue Jan 25 20:06:39 2005//Ttekkotsu-2_3 +/BehaviorActivatorControl.h/1.8/Thu Sep 25 15:26:10 2003//Ttekkotsu-2_3 +/BehaviorReportControl.h/1.4/Tue Jan 25 20:06:39 2005//Ttekkotsu-2_3 +/BehaviorSwitchActivatorControl.h/1.3/Thu Sep 25 15:26:10 2003//Ttekkotsu-2_3 +/BehaviorSwitchControl.h/1.14/Fri Nov 12 00:05:03 2004//Ttekkotsu-2_3 +/ControlBase.cc/1.9/Thu Nov 4 03:01:31 2004//Ttekkotsu-2_3 +/ControlBase.h/1.22/Thu Nov 4 03:01:31 2004//Ttekkotsu-2_3 +/DumpFileControl.h/1.2/Thu Sep 25 15:26:10 2003//Ttekkotsu-2_3 +/EventLogger.cc/1.16/Wed Dec 22 23:53:34 2004//Ttekkotsu-2_3 +/EventLogger.h/1.6/Thu Oct 7 22:15:20 2004//Ttekkotsu-2_3 +/FileBrowserControl.cc/1.9/Wed Jan 14 20:43:43 2004//Ttekkotsu-2_3 +/FileBrowserControl.h/1.10/Wed Jan 14 20:43:44 2004//Ttekkotsu-2_3 +/FileInputControl.h/1.2/Tue Mar 23 00:55:01 2004//Ttekkotsu-2_3 +/FreeMemReportControl.cc/1.4/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/FreeMemReportControl.h/1.8/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_3 +/HelpControl.cc/1.9/Wed Jan 5 20:35:41 2005//Ttekkotsu-2_3 +/HelpControl.h/1.5/Mon Jan 19 22:03:58 2004//Ttekkotsu-2_3 +/LoadCalibration.h/1.3/Thu Feb 26 01:02:25 2004//Ttekkotsu-2_3 +/LoadPostureControl.h/1.14/Fri Jan 7 19:34:22 2005//Ttekkotsu-2_3 +/LoadWalkControl.h/1.8/Sat Jan 10 20:10:27 2004//Ttekkotsu-2_3 +/MCValueEditControl.h/1.3/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/NetworkStatusControl.h/1.1/Wed Jan 12 22:37:26 2005//Ttekkotsu-2_3 +/NullControl.h/1.2/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/PlaySoundControl.h/1.6/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/PostureEditor.cc/1.14/Tue Jan 11 18:40:00 2005//Ttekkotsu-2_3 +/PostureEditor.h/1.6/Thu Dec 2 18:48:56 2004//Ttekkotsu-2_3 +/ProfilerCheckControl.h/1.6/Thu Nov 11 20:34:59 2004//Ttekkotsu-2_3 +/RebootControl.cc/1.3/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/RebootControl.h/1.2/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/RunSequenceControl.h/1.15/Fri Jan 7 19:34:51 2005//Ttekkotsu-2_3 +/SavePostureControl.h/1.11/Fri Jan 7 23:16:58 2005//Ttekkotsu-2_3 +/SaveWalkControl.h/1.9/Thu Dec 2 21:29:45 2004//Ttekkotsu-2_3 +/SensorObserverControl.cc/1.4/Tue Jan 11 23:49:04 2005//Ttekkotsu-2_3 +/SensorObserverControl.h/1.3/Tue Jan 11 23:49:04 2005//Ttekkotsu-2_3 +/ShutdownControl.cc/1.3/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/ShutdownControl.h/1.3/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_3 +/StringInputControl.cc/1.5/Mon Jul 28 05:54:32 2003//Ttekkotsu-2_3 +/StringInputControl.h/1.5/Tue Mar 23 00:55:01 2004//Ttekkotsu-2_3 +/ToggleControl.h/1.4/Tue Mar 23 00:55:01 2004//Ttekkotsu-2_3 +/ValueEditControl.h/1.14/Thu Dec 16 04:50:48 2004//Ttekkotsu-2_3 +/ValueSetControl.h/1.3/Sun Jan 18 10:16:56 2004//Ttekkotsu-2_3 +/WalkCalibration.cc/1.9/Thu Nov 4 03:01:32 2004//Ttekkotsu-2_3 +/WalkCalibration.h/1.6/Thu Oct 7 19:07:04 2004//Ttekkotsu-2_3 +/WaypointWalkControl.cc/1.13/Thu Dec 2 21:29:45 2004//Ttekkotsu-2_3 +/WaypointWalkControl.h/1.4/Tue Jul 27 14:33:28 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Repository ./Behaviors/Controls/CVS/Repository --- ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Controls/CVS/Repository Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +Tekkotsu/Behaviors/Controls diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Root ./Behaviors/Controls/CVS/Root --- ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Controls/CVS/Root Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Tag ./Behaviors/Controls/CVS/Tag --- ../Tekkotsu_2.2.2/Behaviors/Controls/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Controls/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ControlBase.cc ./Behaviors/Controls/ControlBase.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/ControlBase.cc Wed Nov 3 22:01:31 2004 +++ ./Behaviors/Controls/ControlBase.cc Wed Nov 3 22:01:31 2004 @@ -411,7 +411,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ControlBase.h ./Behaviors/Controls/ControlBase.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/ControlBase.h Wed Nov 3 22:01:31 2004 +++ ./Behaviors/Controls/ControlBase.h Wed Nov 3 22:01:31 2004 @@ -167,7 +167,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/DumpFileControl.h ./Behaviors/Controls/DumpFileControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/DumpFileControl.h Thu Sep 25 11:26:10 2003 +++ ./Behaviors/Controls/DumpFileControl.h Thu Sep 25 11:26:10 2003 @@ -40,7 +40,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/EventLogger.cc ./Behaviors/Controls/EventLogger.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/EventLogger.cc Wed Dec 22 18:53:34 2004 +++ ./Behaviors/Controls/EventLogger.cc Wed Dec 22 18:53:34 2004 @@ -109,7 +109,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/EventLogger.h ./Behaviors/Controls/EventLogger.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/EventLogger.h Thu Oct 7 18:15:20 2004 +++ ./Behaviors/Controls/EventLogger.h Thu Oct 7 18:15:20 2004 @@ -45,7 +45,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/FileBrowserControl.cc ./Behaviors/Controls/FileBrowserControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/FileBrowserControl.cc Wed Jan 14 15:43:43 2004 +++ ./Behaviors/Controls/FileBrowserControl.cc Wed Jan 14 15:43:43 2004 @@ -158,7 +158,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/FileBrowserControl.h ./Behaviors/Controls/FileBrowserControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/FileBrowserControl.h Wed Jan 14 15:43:44 2004 +++ ./Behaviors/Controls/FileBrowserControl.h Wed Jan 14 15:43:44 2004 @@ -72,7 +72,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/FileInputControl.h ./Behaviors/Controls/FileInputControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/FileInputControl.h Mon Mar 22 19:55:01 2004 +++ ./Behaviors/Controls/FileInputControl.h Mon Mar 22 19:55:01 2004 @@ -48,7 +48,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/FreeMemReportControl.cc ./Behaviors/Controls/FreeMemReportControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/FreeMemReportControl.cc Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/FreeMemReportControl.cc Thu Sep 25 11:26:11 2003 @@ -63,7 +63,7 @@ * @author ejt (object), alokl (core function) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/FreeMemReportControl.h ./Behaviors/Controls/FreeMemReportControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/FreeMemReportControl.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Controls/FreeMemReportControl.h Wed Nov 10 20:45:35 2004 @@ -66,7 +66,7 @@ * @author ejt (object), alokl (core function) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/HelpControl.cc ./Behaviors/Controls/HelpControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/HelpControl.cc Wed Nov 17 19:04:16 2004 +++ ./Behaviors/Controls/HelpControl.cc Wed Jan 5 15:35:41 2005 @@ -15,9 +15,12 @@ sout->printf("%s%s",fmt,"'!prev' - calls doPrevItem() of the current control\n"); sout->printf("%s%s",fmt,"'!select' - calls doSelect() of the current control\n"); sout->printf("%s%s",fmt,"'!cancel' - calls doCancel() of the current control\n"); + sout->printf("%s%s",fmt,"'!dump_stack' - requests a dump of the current stack of submenus (useful if the GUI (re)connects and thus current robot state is unknown)\n"); sout->printf("%s%s",fmt,"'!msg text' - broadcasts text as a TextMsgEvent\n"); + sout->printf("%s%s",fmt,"'!root text' - - calls ControlBase::takeInput(text) on the root control\n"); sout->printf("%s%s",fmt,"'!hilight [n1 [n2 [...]]]' - hilights zero, one, or more items in the menu\n"); sout->printf("%s%s",fmt,"'!input text' - calls takeInput(text) on the currently hilighted control(s)\n"); + sout->printf("%s%s",fmt,"'!set section.key=value' - will be sent to Config::setValue(section,key,value)\n"); sout->printf("%s%s",fmt,"any text not beginning with ! - sent to takeInput() of the current control\n"); report(root,"",maxDepth); return NullControl::activate(disp_id,gui); @@ -104,9 +107,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/HelpControl.h ./Behaviors/Controls/HelpControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/HelpControl.h Mon Jan 19 17:03:58 2004 +++ ./Behaviors/Controls/HelpControl.h Mon Jan 19 17:03:58 2004 @@ -45,7 +45,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/LoadCalibration.h ./Behaviors/Controls/LoadCalibration.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/LoadCalibration.h Wed Feb 25 20:02:25 2004 +++ ./Behaviors/Controls/LoadCalibration.h Wed Feb 25 20:02:25 2004 @@ -86,7 +86,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/LoadPostureControl.h ./Behaviors/Controls/LoadPostureControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/LoadPostureControl.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Controls/LoadPostureControl.h Fri Jan 7 14:34:22 2005 @@ -7,6 +7,8 @@ #include "Motion/MMAccessor.h" #include "Motion/EmergencyStopMC.h" #include "Events/EventRouter.h" +#include "Motion/LedMC.h" +#include "SoundPlay/SoundManager.h" #include //! Upon activation, loads a position from a file name read from cin (stored in ms/data/motion...) @@ -15,55 +17,67 @@ public: //! Constructor LoadPostureControl(const std::string& n, MotionManager::MC_ID estop_id) - : FileBrowserControl(n,"Loads a posture from user-selected file",config->motion.root), estopid(estop_id), file() + : FileBrowserControl(n,"Loads a posture from user-selected file",config->motion.root), + estopid(estop_id), ledid(MotionManager::invalid_MC_ID), file() { setFilter("*.pos"); } - //! Destructor - virtual ~LoadPostureControl() {} - //! this is to help reduce the twitch at the end (estop tries to go back to its position when this is removed) - virtual void processEvent(const EventBase& event) { - // it still twitches some because there's a bit of lag before we get the - // event, and estop is already trying to move it back - erouter->removeListener(this,event); - MMAccessor estop(estopid); - // why don't we just tell estop to load the file in the first place? - // estop senses forces on the joints - the force of snapping the joint - // into position will cause it to reset and not make it into position - estop->LoadFile(file.c_str()); - estop->setActive(true); + virtual ~LoadPostureControl() { + erouter->removeListener(this); + motman->removeMotion(ledid); } - - virtual void deactivate() { + + //! only called when e-stop has been turned off and we're waiting to load a file + virtual void processEvent(const EventBase& /*event*/) { erouter->removeListener(this); + runFile(); + motman->removeMotion(ledid); + ledid=MotionManager::invalid_MC_ID; } protected: + //! loads the motion sequence and runs it + void runFile() { + //TimeET timer; + SharedObject< PostureMC > s(file); + //cout << "Load Time: " << timer.Age() << endl; + s->defaultMaxSpeed(.25); //no need to rush this, run at quarter of max speed + motman->addPrunableMotion(s); + } + //!does the actual loading of the MotionSequence virtual ControlBase* selectedFile(const std::string& f) { file=f; - SharedObject post; - post->LoadFile(file.c_str()); - MMAccessor(estopid)->setActive(false); - MotionManager::MC_ID id=motman->addPrunableMotion(post,MotionManager::kEmergencyPriority+1); - erouter->addListener(this,EventBase::motmanEGID,id,EventBase::deactivateETID); + if(!MMAccessor(estopid)->getStopped()) { + runFile(); + } else { + //we have to wait for the estop to be turned off + sndman->PlayFile("donkey.wav"); + SharedObject led; + led->cset(FaceLEDMask,0); + led->cycle(BotLLEDMask,1000,3,0,0); + led->cycle(BotRLEDMask,1000,3,0,500); + ledid=motman->addPersistentMotion(led); + erouter->addListener(this,EventBase::estopEGID,estopid,EventBase::deactivateETID); + } return this; } - MotionManager::MC_ID estopid; //!< MC_ID of the e-stop + MotionManager::MC_ID estopid; //!< MC_ID of the emergency stop (so we can tell if it's active and wait until it's turned off) + MotionManager::MC_ID ledid; //!< MC_ID of the led we use to signal there's a MotionSequence lined up std::string file; //!< last posture file loaded }; /*! @file - * @brief Defines LoadPostureControl, which when activated, loads a position from a file name read from cin (stored in ms/data/motion...) + * @brief Defines LoadPostureControl, which presents a file selection submenu, and then loads the specified posture. * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/LoadWalkControl.h ./Behaviors/Controls/LoadWalkControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/LoadWalkControl.h Sat Jan 10 15:10:27 2004 +++ ./Behaviors/Controls/LoadWalkControl.h Sat Jan 10 15:10:27 2004 @@ -56,7 +56,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/MCValueEditControl.h ./Behaviors/Controls/MCValueEditControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/MCValueEditControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/MCValueEditControl.h Thu Sep 25 11:26:11 2003 @@ -29,7 +29,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/NetworkStatusControl.h ./Behaviors/Controls/NetworkStatusControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/NetworkStatusControl.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Controls/NetworkStatusControl.h Wed Jan 12 17:37:26 2005 @@ -0,0 +1,82 @@ +//-*-c++-*- +#ifndef INCLUDED_NetworkStatusControl_h_ +#define INCLUDED_NetworkStatusControl_h_ + +#include "ControlBase.h" +#include "Motion/MMAccessor.h" +#include "Motion/LedMC.h" +#include "NullControl.h" +#include "Events/EventRouter.h" +#include "Wireless/Wireless.h" +#include + +//! will display current network status such as wireless signal strength +class NetworkStatusControl : public ControlBase, public EventListener { +public: + //! constructor + NetworkStatusControl() : ControlBase("Network Status","Displays current network status such as wireless signal strength"), EventListener() {} + + //! constructor, pass custom name + NetworkStatusControl(const std::string& nm) : ControlBase(nm,"Displays current network status such as wireless signal strength"), EventListener() {} + + //! stops listening for power events and sets display to invalid + virtual void pause() { + erouter->removeListener(this); + ControlBase::pause(); + } + //! calls report() + virtual void refresh() { + erouter->addTimer(this,0,1000,true); + EtherDriverGetWLANStatisticsMsg msg; + EtherStatus status = ERA201D1_GetWLANStatistics(&msg); + clearSlots(); + const unsigned int TMP_SIZE=255; + char tmp[TMP_SIZE]; + if (status == ETHER_OK) { + snprintf(tmp,TMP_SIZE,"link: %d",msg.statistics.link); + pushSlot(new NullControl(tmp)); + snprintf(tmp,TMP_SIZE,"signal: %d",msg.statistics.signal); + pushSlot(new NullControl(tmp)); + snprintf(tmp,TMP_SIZE,"noise: %d",msg.statistics.noise); + pushSlot(new NullControl(tmp)); + snprintf(tmp,TMP_SIZE,"invalidIDCount: %d",msg.statistics.invalidIDCount); + pushSlot(new NullControl(tmp)); + snprintf(tmp,TMP_SIZE,"invalidEncCount: %d",msg.statistics.invalidEncCount); + pushSlot(new NullControl(tmp)); + snprintf(tmp,TMP_SIZE,"invalidMiscCount: %d",msg.statistics.invalidMiscCount); + pushSlot(new NullControl(tmp)); + MMAccessor leds_acc(display_id); + leds_acc->displayPercent(msg.statistics.signal/100.0,LedEngine::major,LedEngine::major); + } else { + snprintf(tmp,TMP_SIZE,"ERA201D1_GetWLANSettings() FAILED %d", status); + pushSlot(new NullControl("Error Accessing wireless statistics",tmp)); + serr->printf("%s",tmp); + } + + ControlBase::refresh(); + } + //! stops listening for power events and sets display to invalid + virtual void deactivate() { + erouter->removeListener(this); + ControlBase::deactivate(); + } + virtual void processEvent(const EventBase& /*event*/) { + refresh(); + } + +}; + +/*! @file + * @brief Defines NetworkStatusControl, which will display current network status such as wireless signal strength + * @author Sony OPEN-R Sample Code + * @author klibby and lkirtane (original port) + * @author ejt (UI repackaging) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/NullControl.h ./Behaviors/Controls/NullControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/NullControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/NullControl.h Thu Sep 25 11:26:11 2003 @@ -32,7 +32,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/PlaySoundControl.h ./Behaviors/Controls/PlaySoundControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/PlaySoundControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/PlaySoundControl.h Thu Sep 25 11:26:11 2003 @@ -32,7 +32,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/PostureEditor.cc ./Behaviors/Controls/PostureEditor.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/PostureEditor.cc Tue Dec 21 16:49:50 2004 +++ ./Behaviors/Controls/PostureEditor.cc Tue Jan 11 13:40:00 2005 @@ -45,6 +45,7 @@ //cout << "activate" << endl; // start off with current pose pose.takeSnapshot(); + pose.setWeights(1); // clear the LEDs though for(unsigned int i=LEDOffset; iremoveListener(this,EventBase::timerEGID); @@ -116,7 +118,9 @@ } } else if(e.getGeneratorID()==EventBase::timerEGID) { //doing a manual copy instead of just takeSnapshot() so we don't disturb the LED settings - for(unsigned int i=PIDJointOffset; ioutputs[i]; + for(unsigned int i=LEDOffset+NumLEDs; ioutputs[i]; refresh(); } else { @@ -131,13 +135,21 @@ void PostureEditor::updatePose(unsigned int delay) { + //cout << "updatePose" << endl; bool paused=isEStopped(); MMAccessor reach_acc(reachID); + PostureEngine curpose; + reach_acc->getPose(curpose); reach_acc->clear(); + //we want to keep the current pose to avoid any twitching + reach_acc->setTime(1); + for(unsigned int i=0; isetOutputCmd(i,curpose(i)); + //now move to desired posture reach_acc->setTime(delay); reach_acc->setPose(pose); - reach_acc->advanceTime(100); - reach_acc->setPose(pose); + //run now or later? if(paused) reach_acc->pause(); else @@ -150,8 +162,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/PostureEditor.h ./Behaviors/Controls/PostureEditor.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/PostureEditor.h Thu Dec 2 13:48:56 2004 +++ ./Behaviors/Controls/PostureEditor.h Thu Dec 2 13:48:56 2004 @@ -50,7 +50,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ProfilerCheckControl.h ./Behaviors/Controls/ProfilerCheckControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/ProfilerCheckControl.h Thu Nov 11 15:34:59 2004 +++ ./Behaviors/Controls/ProfilerCheckControl.h Thu Nov 11 15:34:59 2004 @@ -24,7 +24,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/RebootControl.cc ./Behaviors/Controls/RebootControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/RebootControl.cc Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/RebootControl.cc Thu Sep 25 11:26:11 2003 @@ -12,7 +12,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/RebootControl.h ./Behaviors/Controls/RebootControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/RebootControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/RebootControl.h Thu Sep 25 11:26:11 2003 @@ -23,7 +23,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/RunSequenceControl.h ./Behaviors/Controls/RunSequenceControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/RunSequenceControl.h Mon Oct 18 13:01:38 2004 +++ ./Behaviors/Controls/RunSequenceControl.h Fri Jan 7 14:34:51 2005 @@ -28,25 +28,31 @@ public: //! Constructor, sets filter to *.mot RunSequenceControl(const std::string& n, MotionManager::MC_ID estop_id) - : FileBrowserControl(n,"Runs a motion sequence from a user-specified file",config->motion.root), estopid(estop_id), ledid(MotionManager::invalid_MC_ID), waitingFile() + : FileBrowserControl(n,"Runs a motion sequence from a user-specified file",config->motion.root), + estopid(estop_id), ledid(MotionManager::invalid_MC_ID), waitingFile() { setFilter("*.mot"); } - //! this is to help reduce the twitch at the end (estop tries to go back to its position when this is removed) - virtual void processEvent(const EventBase& event) { - erouter->removeListener(this,event); - runFile(); + virtual ~RunSequenceControl() { + erouter->removeListener(this); motman->removeMotion(ledid); } + //! only called when e-stop has been turned off and we're waiting to load a file + virtual void processEvent(const EventBase& /*event*/) { + erouter->removeListener(this); + runFile(); + motman->removeMotion(ledid); + } + protected: //! loads the motion sequence and runs it void runFile() { //TimeET timer; - SharedObject< MotionSequenceMC > s(waitingFile.c_str()); + SharedObject< MotionSequenceMC > s(waitingFile); //cout << "Load Time: " << timer.Age() << endl; - motman->addPrunableMotion(s,MotionManager::kEmergencyPriority+1); + motman->addPrunableMotion(s); waitingFile=""; } @@ -59,6 +65,7 @@ //we have to wait for the estop to be turned off sndman->PlayFile("donkey.wav"); SharedObject led; + led->cset(FaceLEDMask,0); led->cycle(BotLLEDMask,1000,3,0,0); led->cycle(BotRLEDMask,1000,3,0,500); ledid=motman->addPersistentMotion(led); @@ -67,7 +74,7 @@ return this; } - MotionManager::MC_ID estopid; //!< MC_ID of the emergency stop (so we can reset it to the end frame) + MotionManager::MC_ID estopid; //!< MC_ID of the emergency stop (so we can tell if it's active and wait until it's turned off) MotionManager::MC_ID ledid; //!< MC_ID of the led we use to signal there's a MotionSequence lined up std::string waitingFile; //!< filename of the motion sequence waiting to load }; @@ -77,10 +84,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/SavePostureControl.h ./Behaviors/Controls/SavePostureControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/SavePostureControl.h Thu Dec 2 16:29:45 2004 +++ ./Behaviors/Controls/SavePostureControl.h Fri Jan 7 18:16:58 2005 @@ -21,6 +21,7 @@ filename=config->motion.makePath(msg); PostureEngine post; post.takeSnapshot(); + post.setWeights(1); post.SaveFile(filename.c_str()); } return StringInputControl::takeInput(msg); @@ -32,10 +33,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/SaveWalkControl.h ./Behaviors/Controls/SaveWalkControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/SaveWalkControl.h Thu Dec 2 16:29:45 2004 +++ ./Behaviors/Controls/SaveWalkControl.h Thu Dec 2 16:29:45 2004 @@ -49,7 +49,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/SensorObserverControl.cc ./Behaviors/Controls/SensorObserverControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/SensorObserverControl.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Controls/SensorObserverControl.cc Tue Jan 11 18:49:04 2005 @@ -10,12 +10,12 @@ #include "SoundPlay/SoundManager.h" SensorObserverControl::SensorObserverControl() - : ControlBase("Sensor Observer","Allows you to see/log the sensor data"), logfilePath(), logfile(), helpCtl(NULL), sensorCtl(NULL), buttonCtl(NULL), outputCtl(NULL), dutyCtl(NULL), consoleCtl(NULL), fileCtl(NULL), numListeners(0) + : ControlBase("Sensor Observer","Allows you to see/log the sensor data"), logfilePath(), logfile(), helpCtl(NULL), sensorCtl(NULL), buttonCtl(NULL), outputCtl(NULL), dutyCtl(NULL), consoleCtl(NULL), fileCtl(NULL), rtCtl(NULL), rtFreqCtl(NULL), numListeners(0) { - const unsigned int TMP_LEN=64; - char tmp[TMP_LEN]; pushSlot(consoleCtl=new ToggleControl("Console Output","If selected, outputs events to the console")); pushSlot(fileCtl=new StringInputControl("[ ] File Output","Please enter the filename to log to (in /ms/...)")); + pushSlot(rtCtl=new RTViewControl(this)); + pushSlot(rtFreqCtl=new StringInputControl("Real-time Update Period","Please enter the time between refreshes, in milliseconds; '0' to require manual refresh")); pushSlot(helpCtl=new ControlBase("Help")); pushSlot(NULL); helpCtl->pushSlot(new NullControl("The indexes listed here")); @@ -25,15 +25,11 @@ helpCtl->pushSlot(new NullControl("robot which you are ")); helpCtl->pushSlot(new NullControl("currently using.")); pushSlot(sensorCtl=new ControlBase("Sensors:","Toggles logging of various sensors")); - for(unsigned int i=0; ipushSlot(new ToggleControl(tmp,"Turns logging of this sensor on/off")); - } + for(unsigned int i=0; ipushSlot(new ToggleControl(sensorNames[i],"Turns logging of this sensor on/off")); pushSlot(buttonCtl=new ControlBase("Buttons:","Toggles logging of various buttons")); - for(unsigned int i=0; ipushSlot(new ToggleControl(tmp,"Turns logging of this button on/off")); - } + for(unsigned int i=0; ipushSlot(new ToggleControl(buttonNames[i],"Turns logging of this button on/off")); pushSlot(outputCtl=new ControlBase("Outputs:","Toggles logging of various outputs' positions")); for(unsigned int i=0; ipushSlot(new ToggleControl(outputNames[i],"Turns logging of this output's values on/off")); @@ -69,7 +65,7 @@ sndman->PlayFile(config->controller.select_snd); if(wasListening!=(numListeners>0)) { if(numListeners>0) - erouter->addListener(this,EventBase::sensorEGID,0); + erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID); else erouter->removeListener(this); } @@ -79,34 +75,45 @@ } void SensorObserverControl::refresh() { + //check for change in log file checkLogFile(); + //check for change in real-time refresh period + if(rtFreqCtl->getLastInput().size()>0) { + unsigned int fr=atoi(rtFreqCtl->getLastInput().c_str()); + rtFreqCtl->clearLastInput(); + if(fr!=0 && rtCtl!=NULL) + rtCtl->setPeriod(fr<100?100:fr); //limit to minimum period of 100ms + } ControlBase::refresh(); } -//!sends all events received to stdout and/or logfile -void SensorObserverControl::processEvent(const EventBase& /*event*/) { - std::ostringstream logdata; - for(unsigned int i=0; i(sensorCtl->getSlots()[i])) - if(tgl->getStatus()) - logdata << state->lastSensorUpdateTime << "\tSENSOR:\t" << i << '\t' << state->sensors[i] << '\n'; - for(unsigned int i=0; i(buttonCtl->getSlots()[i])) - if(tgl->getStatus()) - logdata << state->lastSensorUpdateTime << "\tBUTTON:\t" << i << '\t' << state->buttons[i] << '\n'; - for(unsigned int i=0; i(outputCtl->getSlots()[i])) - if(tgl->getStatus()) - logdata << state->lastSensorUpdateTime << "\tOUTPUT:\t" << i << '\t' << state->outputs[i] << '\n'; - for(unsigned int i=0; i(dutyCtl->getSlots()[i])) - if(tgl->getStatus()) - logdata << state->lastSensorUpdateTime << "\tDUTY:\t" << i << '\t' << state->pidduties[i] << '\n'; - if(consoleCtl->getStatus()) - sout->printf("%s",logdata.str().c_str()); - checkLogFile(); - if(logfile) - logfile << logdata.str() << std::flush; +void SensorObserverControl::processEvent(const EventBase& event) { + if(event.getGeneratorID()==EventBase::sensorEGID) { + std::ostringstream logdata; + for(unsigned int i=0; i(sensorCtl->getSlots()[i])) + if(tgl->getStatus()) + logdata << state->lastSensorUpdateTime << "\tSENSOR:\t" << i << '\t' << state->sensors[i] << '\n'; + for(unsigned int i=0; i(buttonCtl->getSlots()[i])) + if(tgl->getStatus()) + logdata << state->lastSensorUpdateTime << "\tBUTTON:\t" << i << '\t' << state->buttons[i] << '\n'; + for(unsigned int i=0; i(outputCtl->getSlots()[i])) + if(tgl->getStatus()) + logdata << state->lastSensorUpdateTime << "\tOUTPUT:\t" << i << '\t' << state->outputs[i] << '\n'; + for(unsigned int i=0; i(dutyCtl->getSlots()[i])) + if(tgl->getStatus()) + logdata << state->lastSensorUpdateTime << "\tDUTY:\t" << i << '\t' << state->pidduties[i] << '\n'; + if(consoleCtl->getStatus()) + sout->printf("%s",logdata.str().c_str()); + checkLogFile(); + if(logfile) + logfile << logdata.str() << std::flush; + } else { + serr->printf("WARNING: Unexpected event: %s\n",event.getName().c_str()); + } } void SensorObserverControl::checkLogFile() { @@ -128,13 +135,82 @@ } } +void SensorObserverControl::updateRT() { + const unsigned int FTOS_LEN=50; + char ftos[FTOS_LEN]; + rtCtl->clearSlots(); + bool first=true; + for(unsigned int i=0; i(sensorCtl->getSlots()[i])) + if(tgl->getStatus()) { + if(first) + rtCtl->pushSlot(new NullControl("SENSORS:")); + first=false; + snprintf(ftos,FTOS_LEN,"%s: %g",sensorNames[i],state->sensors[i]); + rtCtl->pushSlot(new NullControl(ftos)); + } + first=true; + for(unsigned int i=0; i(buttonCtl->getSlots()[i])) + if(tgl->getStatus()) { + if(first) + rtCtl->pushSlot(new NullControl("BUTTONS:")); + first=false; + snprintf(ftos,FTOS_LEN,"%s: %g",buttonNames[i],state->buttons[i]); + rtCtl->pushSlot(new NullControl(ftos)); + } + first=true; + for(unsigned int i=0; i(outputCtl->getSlots()[i])) + if(tgl->getStatus()) { + if(first) + rtCtl->pushSlot(new NullControl("OUTPUTS:")); + first=false; + snprintf(ftos,FTOS_LEN,"%s: %g",outputNames[i],state->outputs[i]); + rtCtl->pushSlot(new NullControl(ftos)); + } + first=true; + for(unsigned int i=0; i(dutyCtl->getSlots()[i])) + if(tgl->getStatus()) { + if(first) + rtCtl->pushSlot(new NullControl("DUTIES:")); + first=false; + snprintf(ftos,FTOS_LEN,"%s: %g",outputNames[i],state->pidduties[i]); + rtCtl->pushSlot(new NullControl(ftos)); + } + if(rtCtl->slotsSize()==0) + rtCtl->pushSlot(new NullControl("No sensors selected","You need to select which sensors to view")); +} + +void SensorObserverControl::RTViewControl::refresh() { + if(parent!=NULL) + parent->updateRT(); + if(period!=0) + erouter->addTimer(this,0,period); + ControlBase::refresh(); +} +void SensorObserverControl::RTViewControl::pause() { + erouter->removeListener(this); + ControlBase::pause(); +} +void SensorObserverControl::RTViewControl::deactivate() { + erouter->removeListener(this); + ControlBase::deactivate(); +} +/*! The change doesn't get picked up until next call to refresh() */ +void SensorObserverControl::RTViewControl::setPeriod(unsigned int x) { + period=x; +} + + /*! @file * @brief Describes SensorObserverControl, which allows logging of sensor information to the console or file * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/SensorObserverControl.h ./Behaviors/Controls/SensorObserverControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/SensorObserverControl.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Controls/SensorObserverControl.h Tue Jan 11 18:49:04 2005 @@ -25,6 +25,27 @@ protected: //!checks to see if logfilePath differs from the StringInputControl's value and switches it if it is void checkLogFile(); + + //!update the real-time sub-control view (#rtCtl) + void updateRT(); + + //! The real time view for SensorObserverControl is split into a separate class for more straightfoward handling of refreshes + friend class RTViewControl : public ControlBase, public EventListener { + public: + //constructor, pass pointer to SensorObserverControl which contains it + RTViewControl(SensorObserverControl* p) : ControlBase("Real-time View"), EventListener(), parent(p), period(500) {} + virtual void processEvent(const EventBase& /*event*/) { refresh(); } + virtual void refresh(); + virtual void pause(); + virtual void deactivate(); + virtual void setPeriod(unsigned int x); //!< sets #period + protected: + SensorObserverControl* parent; //!< a back pointer to SensorObserverControl which contains it so updateRT can be triggered + unsigned int period; //!< the time to wait between automatic refreshes + private: + RTViewControl(const RTViewControl& ); //!< don't call + RTViewControl& operator=(const RTViewControl& ); //!< don't call + }; //!address of the logfile, if any (empty string is no logfile) std::string logfilePath; @@ -39,6 +60,8 @@ ControlBase * dutyCtl; //!< control of duty selectors ToggleControl * consoleCtl; //!< turn logging to the console on and off StringInputControl * fileCtl; //!< turn logging to a file on and off + RTViewControl * rtCtl; //!< a submenu containing real-time view of current values + StringInputControl * rtFreqCtl; //!< the frequency at which rtCtl should be updated unsigned int numListeners; //!< count of active console or file control so we know if we're actually logging @@ -53,10 +76,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ShutdownControl.cc ./Behaviors/Controls/ShutdownControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/ShutdownControl.cc Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/ShutdownControl.cc Thu Sep 25 11:26:11 2003 @@ -12,7 +12,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ShutdownControl.h ./Behaviors/Controls/ShutdownControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/ShutdownControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/ShutdownControl.h Thu Sep 25 11:26:11 2003 @@ -23,7 +23,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/StringInputControl.cc ./Behaviors/Controls/StringInputControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/StringInputControl.cc Mon Jul 28 01:54:32 2003 +++ ./Behaviors/Controls/StringInputControl.cc Mon Jul 28 01:54:32 2003 @@ -42,7 +42,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/StringInputControl.h ./Behaviors/Controls/StringInputControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/StringInputControl.h Mon Mar 22 19:55:01 2004 +++ ./Behaviors/Controls/StringInputControl.h Mon Mar 22 19:55:01 2004 @@ -44,7 +44,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ToggleControl.h ./Behaviors/Controls/ToggleControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/ToggleControl.h Mon Mar 22 19:55:01 2004 +++ ./Behaviors/Controls/ToggleControl.h Mon Mar 22 19:55:01 2004 @@ -141,7 +141,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ValueEditControl.h ./Behaviors/Controls/ValueEditControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/ValueEditControl.h Wed Dec 15 23:50:48 2004 +++ ./Behaviors/Controls/ValueEditControl.h Wed Dec 15 23:50:48 2004 @@ -167,7 +167,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/ValueSetControl.h ./Behaviors/Controls/ValueSetControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/ValueSetControl.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Controls/ValueSetControl.h Sun Jan 18 05:16:56 2004 @@ -50,7 +50,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/WalkCalibration.cc ./Behaviors/Controls/WalkCalibration.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/WalkCalibration.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Controls/WalkCalibration.cc Wed Nov 3 22:01:32 2004 @@ -913,7 +913,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/WalkCalibration.h ./Behaviors/Controls/WalkCalibration.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/WalkCalibration.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/WalkCalibration.h Thu Oct 7 15:07:04 2004 @@ -124,7 +124,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/WaypointWalkControl.cc ./Behaviors/Controls/WaypointWalkControl.cc --- ../Tekkotsu_2.2.2/Behaviors/Controls/WaypointWalkControl.cc Thu Dec 2 16:29:45 2004 +++ ./Behaviors/Controls/WaypointWalkControl.cc Thu Dec 2 16:29:45 2004 @@ -247,7 +247,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Controls/WaypointWalkControl.h ./Behaviors/Controls/WaypointWalkControl.h --- ../Tekkotsu_2.2.2/Behaviors/Controls/WaypointWalkControl.h Tue Jul 27 10:33:28 2004 +++ ./Behaviors/Controls/WaypointWalkControl.h Tue Jul 27 10:33:28 2004 @@ -75,7 +75,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ASCIIVisionBehavior.cc ./Behaviors/Demos/ASCIIVisionBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/ASCIIVisionBehavior.cc Fri Dec 3 19:10:24 2004 +++ ./Behaviors/Demos/ASCIIVisionBehavior.cc Tue Jan 4 14:51:41 2005 @@ -33,3 +33,13 @@ sout->printf("\n\n%s",charimg); } +/*! @file + * @brief Implements ASCIIVisionBehavior, which streams low-resolution ASCII-art of the camera image to sout + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ASCIIVisionBehavior.h ./Behaviors/Demos/ASCIIVisionBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/ASCIIVisionBehavior.h Wed Dec 22 20:47:06 2004 +++ ./Behaviors/Demos/ASCIIVisionBehavior.h Tue Jan 4 14:51:41 2005 @@ -38,14 +38,14 @@ }; /*! @file - * @brief Defines ASCIIVisionBehavior, which streams low-resolution ASCII-art of the camera image to sout + * @brief Describes ASCIIVisionBehavior, which streams low-resolution ASCII-art of the camera image to sout * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/AlanBehavior.h ./Behaviors/Demos/AlanBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/AlanBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/AlanBehavior.h Wed Nov 10 20:45:35 2004 @@ -115,7 +115,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/AutoGetupBehavior.h ./Behaviors/Demos/AutoGetupBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/AutoGetupBehavior.h Tue Dec 21 15:29:07 2004 +++ ./Behaviors/Demos/AutoGetupBehavior.h Tue Dec 21 15:29:07 2004 @@ -74,7 +74,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/BanditMachine.h ./Behaviors/Demos/BanditMachine.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/BanditMachine.h Tue Dec 21 16:49:50 2004 +++ ./Behaviors/Demos/BanditMachine.h Tue Dec 21 16:49:50 2004 @@ -214,7 +214,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/BatteryMonitorBehavior.h ./Behaviors/Demos/BatteryMonitorBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/BatteryMonitorBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/BatteryMonitorBehavior.h Wed Nov 10 20:45:35 2004 @@ -156,7 +156,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Entries ./Behaviors/Demos/CVS/Entries --- ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,43 @@ +/ASCIIVisionBehavior.cc/1.3/Tue Jan 4 19:51:41 2005//Ttekkotsu-2_3 +/ASCIIVisionBehavior.h/1.6/Tue Jan 4 19:51:41 2005//Ttekkotsu-2_3 +/AlanBehavior.h/1.12/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_3 +/AutoGetupBehavior.h/1.14/Tue Dec 21 20:29:07 2004//Ttekkotsu-2_3 +/BanditMachine.h/1.24/Tue Dec 21 21:49:50 2004//Ttekkotsu-2_3 +/BatteryMonitorBehavior.h/1.20/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_3 +/CameraBehavior.cc/1.8/Tue Jan 25 23:50:55 2005//Ttekkotsu-2_3 +/CameraBehavior.h/1.8/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_3 +/ChaseBallBehavior.cc/1.11/Sun Oct 17 01:16:10 2004//Ttekkotsu-2_3 +/ChaseBallBehavior.h/1.5/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_3 +/CrashTestBehavior.h/1.3/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_3 +/DriveMeBehavior.cc/1.10/Tue Dec 21 21:49:50 2004//Ttekkotsu-2_3 +/DriveMeBehavior.h/1.7/Tue Dec 21 20:29:07 2004//Ttekkotsu-2_3 +/ExploreMachine.cc/1.1/Sat Dec 4 00:10:38 2004//Ttekkotsu-2_3 +/ExploreMachine.h/1.23/Mon Jan 24 22:23:46 2005//Ttekkotsu-2_3 +/FlashIPAddrBehavior.cc/1.2/Sat Jan 29 00:56:58 2005//Ttekkotsu-2_3 +/FlashIPAddrBehavior.h/1.2/Thu Jan 27 05:39:42 2005//Ttekkotsu-2_3 +/FollowHeadBehavior.cc/1.9/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/FollowHeadBehavior.h/1.5/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/FreezeTestBehavior.h/1.2/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/GroundPlaneBehavior.h/1.8/Thu Dec 23 01:47:06 2004//Ttekkotsu-2_3 +/HeadLevelBehavior.h/1.10/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/HelloWorldBehavior.h/1.5/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/KinematicSampleBehavior.h/1.9/Thu Dec 23 01:47:06 2004//Ttekkotsu-2_3 +/KinematicSampleBehavior2.h/1.12/Thu Dec 23 01:47:06 2004//Ttekkotsu-2_3 +/LookForSoundBehavior.h/1.8/Thu Dec 23 01:47:06 2004//Ttekkotsu-2_3 +/MCRepeater.h/1.5/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/MotionStressTestBehavior.h/1.7/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/PaceTargetsMachine.cc/1.16/Fri Jan 21 22:50:33 2005//Ttekkotsu-2_3 +/PaceTargetsMachine.h/1.9/Mon Jan 24 22:23:46 2005//Ttekkotsu-2_3 +/RelaxBehavior.h/1.6/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/SimpleChaseBallBehavior.h/1.10/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/SoundTestBehavior.h/1.11/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/StareAtBallBehavior.cc/1.9/Sun Oct 17 01:16:10 2004//Ttekkotsu-2_3 +/StareAtBallBehavior.h/1.6/Fri Nov 12 00:05:03 2004//Ttekkotsu-2_3 +/StareAtPawBehavior.h/1.7/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/StareAtPawBehavior2.h/1.18/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/ToggleHeadLightBehavior.h/1.4/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/WallTestBehavior.cc/1.10/Tue Dec 21 23:51:15 2004//Ttekkotsu-2_3 +/WallTestBehavior.h/1.4/Tue Nov 16 00:11:46 2004//Ttekkotsu-2_3 +/WorldStateVelDaemon.h/1.4/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/karmedbandit.h/1.3/Thu Sep 18 22:40:27 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Repository ./Behaviors/Demos/CVS/Repository --- ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Behaviors/Demos diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Root ./Behaviors/Demos/CVS/Root --- ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Tag ./Behaviors/Demos/CVS/Tag --- ../Tekkotsu_2.2.2/Behaviors/Demos/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CameraBehavior.cc ./Behaviors/Demos/CameraBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/CameraBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/CameraBehavior.cc Tue Jan 25 18:50:55 2005 @@ -175,7 +175,7 @@ std::string fullpath=path+ent->d_name; int err=stat(fullpath.c_str(),&s); if(err!=0) { - serr->printf("File disappeared: %s\n"); + serr->printf("File disappeared: %s\n",fullpath.c_str()); return; } if((s.st_mode&S_IFDIR)==0 && strncasecmp(ent->d_name,"IMG",3)==0) { @@ -196,9 +196,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CameraBehavior.h ./Behaviors/Demos/CameraBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/CameraBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/CameraBehavior.h Wed Nov 10 20:45:35 2004 @@ -61,7 +61,7 @@ * @author ejt (rewrite for new vision system) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ChaseBallBehavior.cc ./Behaviors/Demos/ChaseBallBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/ChaseBallBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/ChaseBallBehavior.cc Sat Oct 16 21:16:10 2004 @@ -64,7 +64,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ChaseBallBehavior.h ./Behaviors/Demos/ChaseBallBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/ChaseBallBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/ChaseBallBehavior.h Wed Nov 10 20:45:35 2004 @@ -37,7 +37,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/CrashTestBehavior.h ./Behaviors/Demos/CrashTestBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/CrashTestBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/CrashTestBehavior.h Wed Nov 10 20:45:35 2004 @@ -37,7 +37,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/DriveMeBehavior.cc ./Behaviors/Demos/DriveMeBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/DriveMeBehavior.cc Tue Dec 21 16:49:50 2004 +++ ./Behaviors/Demos/DriveMeBehavior.cc Tue Dec 21 16:49:50 2004 @@ -109,7 +109,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/DriveMeBehavior.h ./Behaviors/Demos/DriveMeBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/DriveMeBehavior.h Tue Dec 21 15:29:07 2004 +++ ./Behaviors/Demos/DriveMeBehavior.h Tue Dec 21 15:29:07 2004 @@ -39,7 +39,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ExploreMachine.cc ./Behaviors/Demos/ExploreMachine.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/ExploreMachine.cc Fri Dec 3 19:10:38 2004 +++ ./Behaviors/Demos/ExploreMachine.cc Fri Dec 3 19:10:38 2004 @@ -72,7 +72,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ExploreMachine.h ./Behaviors/Demos/ExploreMachine.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/ExploreMachine.h Fri Dec 3 19:10:38 2004 +++ ./Behaviors/Demos/ExploreMachine.h Mon Jan 24 17:23:46 2005 @@ -18,6 +18,12 @@ : StateNode("ExploreMachine",nm), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) {} + //!destructor, check if we need to call our teardown + ~ExploreMachine() { + if(issetup) + teardown(); + } + virtual void setup(); virtual void DoStart(); virtual void DoStop(); @@ -41,10 +47,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/FlashIPAddrBehavior.cc ./Behaviors/Demos/FlashIPAddrBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/FlashIPAddrBehavior.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/FlashIPAddrBehavior.cc Fri Jan 28 19:56:58 2005 @@ -0,0 +1,187 @@ +#include "FlashIPAddrBehavior.h" + +#include "Events/EventRouter.h" +#include "Motion/MMAccessor.h" +#include "Motion/LedEngine.h" +#include "Shared/WorldState.h" +#include "Shared/Config.h" +#include "SoundPlay/SoundManager.h" +#include "Wireless/Wireless.h" + +void FlashIPAddrBehavior::DoStart() { + BehaviorBase::DoStart(); // do this first + if(config->behaviors.flash_on_start) { + setupSequence(); + loadSounds(); + ms_id = motman->addPrunableMotion(ms,MotionManager::kEmergencyPriority+1); + erouter->addListener(this,EventBase::motmanEGID,ms_id,EventBase::deactivateETID); + } + erouter->addListener(this,EventBase::buttonEGID,button1); + erouter->addListener(this,EventBase::buttonEGID,button2); +} + +void FlashIPAddrBehavior::DoStop() { + erouter->removeListener(this); + motman->removeMotion(ms_id); + ms_id=MotionManager::invalid_MC_ID; + releaseSounds(); + BehaviorBase::DoStop(); // do this last +} + +void FlashIPAddrBehavior::processEvent(const EventBase& e) { + if(e.getGeneratorID()==EventBase::timerEGID) { + + if(e.getSourceID()==ACTIVATE_TIMER) { + //buttons have been held down long enough, time to run display + if(ms_id!=MotionManager::invalid_MC_ID) { + //there's already one running, have to check it out to clear it + MMAccessor ms_acc(ms_id); + setupSequence(); + } else + setupSequence(); + loadSounds(); + ms_id = motman->addPrunableMotion(ms); + erouter->addListener(this,EventBase::motmanEGID,ms_id,EventBase::deactivateETID); + + } else { //its time to play a digit sound file + //the source id was set to correspond to an element of the sounds vector + if(e.getSourceID()>=sounds.size()) + serr->printf("ERROR: %s received invalid timer event %s\n",getName().c_str(),e.getName().c_str()); + else { + sndman->PlayFile(sounds[e.getSourceID()]); + if(e.getSourceID()==sounds.size()-1) + releaseSounds(); + } + + } + + } else if(e.getGeneratorID()==EventBase::buttonEGID) { + //if it's an activate, start a timer to expire in a few seconds + //if it's a deactivate, cancel that timer + if(e.getTypeID()==EventBase::activateETID) { + if(state->buttons[button1] && state->buttons[button2]) + erouter->addTimer(this,ACTIVATE_TIMER,2000,false); + } else if(e.getTypeID()==EventBase::deactivateETID) + erouter->removeTimer(this,ACTIVATE_TIMER); + + } else if(e.getGeneratorID()==EventBase::motmanEGID) { + // display has completed, mark it as such + if(e.getSourceID()!=ms_id) + serr->printf("WARNING: %s received event %s, doesn't match ms_id (%d)\n",getName().c_str(),e.getName().c_str(),ms_id); + ms_id=MotionManager::invalid_MC_ID; + erouter->removeListener(this,EventBase::motmanEGID); + + } +} + +void FlashIPAddrBehavior::loadSounds() { + for(unsigned int i=0; iLoadFile(sounds[i]); +} + +void FlashIPAddrBehavior::releaseSounds() { + for(unsigned int i=0; iReleaseFile(sounds[i]); + sounds.clear(); +} + +void FlashIPAddrBehavior::setupSequence() { + const unsigned int DISP_TIME=600; + const unsigned int GROUP_TIME=500; + const unsigned int DOT_TIME=400; + const unsigned int FADE_TIME=1; + const unsigned int BLANK_TIME=100-FADE_TIME*2; + erouter->removeTimer(this); + ms->clear(); + releaseSounds(); + unsigned int a=wireless->getIPAddress(); + unsigned int n=config->behaviors.flash_bytes; + if(n>4) + n=4; + LedEngine disp; + for(unsigned int i=n-1; i!=-1U; i--) { + unsigned int byte=(a>>(i*8))&0xFF; + unsigned int digits=1; + if(byte>=10) + digits++; + if(byte>=100) + digits++; + //cout << "byte " << i << " is " << byte << " -- " << digits << " digits" << endl; + //cout << "Setting LEDs: "; + for(unsigned int d=0; daddTimer(this,sounds.size(),ms->getTime()+delay,false); + sounds.push_back(soundfile); + for(unsigned int j=0; j(LEDOffset+j))) + //cout << j << ' '; + ms->setOutputCmd(LEDOffset+j,disp.getValue(static_cast(LEDOffset+j))); + } + ms->advanceTime(DISP_TIME); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,disp.getValue(static_cast(LEDOffset+j))); + ms->advanceTime(FADE_TIME); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,0); + ms->advanceTime(BLANK_TIME); + if(d==digits-1) + ms->advanceTime(GROUP_TIME); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,0); + ms->advanceTime(FADE_TIME); + } + //cout << endl; + if(i!=0) { + LEDBitMask_t dot=1<robotDesign&WorldState::ERS210Mask) { + dot=LedEngine::ERS210numMasks[10]; + } else if(state->robotDesign&WorldState::ERS220Mask) { + dot=LedEngine::ERS220numMasks[10]; + } else if(state->robotDesign&WorldState::ERS7Mask) { + dot=LedEngine::ERS7numMasks[10]; + } + erouter->addTimer(this,sounds.size(),ms->getTime()+delay,false); + sounds.push_back("numbers/dot.wav"); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,(dot>>j)&1); + ms->advanceTime(DOT_TIME); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,(dot>>j)&1); + ms->advanceTime(FADE_TIME); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,0); + ms->advanceTime(BLANK_TIME); + for(unsigned int j=0; jsetOutputCmd(LEDOffset+j,0); + ms->advanceTime(FADE_TIME); + } + } + ms->play(); +} + + +/*! @file + * @brief Implements FlashIPAddrBehavior, which displays IP address by flashing a series of numbers on the LED face panel + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/FlashIPAddrBehavior.h ./Behaviors/Demos/FlashIPAddrBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/FlashIPAddrBehavior.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/FlashIPAddrBehavior.h Thu Jan 27 00:39:42 2005 @@ -0,0 +1,67 @@ +//-*-c++-*- +#ifndef INCLUDED_FlashIPAddrBehavior_h_ +#define INCLUDED_FlashIPAddrBehavior_h_ + +#include "Behaviors/BehaviorBase.h" +#include "Motion/MotionManager.h" +#include "Motion/MotionSequenceMC.h" + +//! Displays IP address by flashing a series of numbers on the LED face panel +/*! Will only run the display on DoStart() if the flash_on_start + * config variable is set. Otherwise you will need to hold down the + * buttons specified by #button1 and #button2 to trigger the display. + * Note that if the e-stop is active it will intercept the button + * events, so turn off e-stop first. */ +class FlashIPAddrBehavior : public BehaviorBase { +public: + //! constructor + FlashIPAddrBehavior() + : BehaviorBase("FlashIPAddrBehavior"), sounds(), ms(), ms_id(MotionManager::invalid_MC_ID) + {} + + virtual void DoStart(); //!< if the Config::behavior_config::flash_on_start flag is set, will setup and run + virtual void DoStop(); //!< halts any display which may be in progress + + //! Receives button events, timers, and motman manager pruning notifications + virtual void processEvent(const EventBase& e); + + static std::string getClassDescription() { + std::string pre="Displays IP address by flashing a series of numbers on the LED face panel; Hold down "; + pre+=buttonNames[button1]; + pre+=" and "; + pre+=buttonNames[button2]; + pre+=" to trigger any time while running"; + return pre; + } + virtual std::string getDescription() const { return getClassDescription(); } + +protected: + typedef XLargeMotionSequenceMC MSMC_t; + + void loadSounds(); //!< loads the numeric sounds into memory + void releaseSounds(); //!< releases the numeric sounds + void setupSequence(); //!< construct the motion sequence for flashing leds, request timers to play corresponding sound file + + static const unsigned int button1=ChinButOffset; //!< one of two buttons which must be pressed together to trigger the report without using the Controller + static const unsigned int button2=HeadFrButOffset; //!< one of two buttons which must be pressed together to trigger the report without using the Controller + + static const unsigned int ACTIVATE_TIMER=-1U; //!< timer id to specify both trigger buttons have been down long enough + std::vector sounds; //!< sound to play, corresponding to timers to coincide with corresponding digit on the LEDs (could be done with chained sounds, but this is cooler) + static const unsigned int delay=64; //!< time (in milliseconds) to expect #ms to be delayed before it actually starts + + SharedObject ms; //!< motion sequence used to control the LEDs + MotionManager::MC_ID ms_id; //!< id number of #ms +}; + +/*! @file + * @brief Describes FlashIPAddrBehavior, which displays IP address by flashing a series of numbers on the LED face panel + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/FollowHeadBehavior.h ./Behaviors/Demos/FollowHeadBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/FollowHeadBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/FollowHeadBehavior.h Wed Nov 10 20:45:36 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/FreezeTestBehavior.h ./Behaviors/Demos/FreezeTestBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/FreezeTestBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/FreezeTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -42,7 +42,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/GroundPlaneBehavior.h ./Behaviors/Demos/GroundPlaneBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/GroundPlaneBehavior.h Wed Dec 22 20:47:06 2004 +++ ./Behaviors/Demos/GroundPlaneBehavior.h Wed Dec 22 20:47:06 2004 @@ -85,7 +85,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/HeadLevelBehavior.h ./Behaviors/Demos/HeadLevelBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/HeadLevelBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/HeadLevelBehavior.h Wed Nov 10 20:45:36 2004 @@ -85,7 +85,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/HelloWorldBehavior.h ./Behaviors/Demos/HelloWorldBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/HelloWorldBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/HelloWorldBehavior.h Wed Nov 10 20:45:36 2004 @@ -50,7 +50,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/KinematicSampleBehavior.h ./Behaviors/Demos/KinematicSampleBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/KinematicSampleBehavior.h Wed Dec 22 20:47:06 2004 +++ ./Behaviors/Demos/KinematicSampleBehavior.h Wed Dec 22 20:47:06 2004 @@ -113,7 +113,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/KinematicSampleBehavior2.h ./Behaviors/Demos/KinematicSampleBehavior2.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/KinematicSampleBehavior2.h Wed Dec 22 20:47:06 2004 +++ ./Behaviors/Demos/KinematicSampleBehavior2.h Wed Dec 22 20:47:06 2004 @@ -163,7 +163,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/LookForSoundBehavior.h ./Behaviors/Demos/LookForSoundBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/LookForSoundBehavior.h Wed Dec 22 20:47:06 2004 +++ ./Behaviors/Demos/LookForSoundBehavior.h Wed Dec 22 20:47:06 2004 @@ -74,7 +74,7 @@ * @author Paris Smaragdis (paris AT media mit edu) (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/MCRepeater.h ./Behaviors/Demos/MCRepeater.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/MCRepeater.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/MCRepeater.h Wed Nov 10 20:45:36 2004 @@ -46,7 +46,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/MotionStressTestBehavior.h ./Behaviors/Demos/MotionStressTestBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/MotionStressTestBehavior.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Demos/MotionStressTestBehavior.h Wed Dec 22 20:47:07 2004 @@ -87,7 +87,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/PaceTargetsMachine.cc ./Behaviors/Demos/PaceTargetsMachine.cc --- ../Tekkotsu_2.2.2/Behaviors/Demos/PaceTargetsMachine.cc Tue Dec 21 15:29:07 2004 +++ ./Behaviors/Demos/PaceTargetsMachine.cc Fri Jan 21 17:50:33 2005 @@ -6,7 +6,7 @@ #include "Behaviors/Transitions/TimeOutTrans.h" #include "Behaviors/Transitions/VisualTargetTrans.h" #include "Behaviors/Nodes/OutputNode.h" -#include "Behaviors/Nodes/PlayMotionSequenceNode.h" +#include "Behaviors/Nodes/MotionSequenceNode.h" #include "Behaviors/Nodes/GroupNode.h" #include "SoundPlay/SoundManager.h" @@ -22,7 +22,7 @@ { ExploreMachine * explore = new ExploreMachine(explGrp->getName()+"::Explore"); explGrp->addNode(explore); - SmallPlayMotionSequenceNode * panhead = new SmallPlayMotionSequenceNode(explGrp->getName()+"::PanHead","/ms/data/motion/pan_head.mot",true); + SmallMotionSequenceNode * panhead = new SmallMotionSequenceNode(explGrp->getName()+"::PanHead","/ms/data/motion/pan_head.mot",true); explGrp->addNode(panhead); } @@ -77,9 +77,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/PaceTargetsMachine.h ./Behaviors/Demos/PaceTargetsMachine.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/PaceTargetsMachine.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Demos/PaceTargetsMachine.h Mon Jan 24 17:23:46 2005 @@ -11,6 +11,12 @@ //!constructor PaceTargetsMachine() : StateNode("PaceTargetsMachine","PaceTargetsMachine"), start(NULL) {} + //!destructor, check if we need to call our teardown + ~PaceTargetsMachine() { + if(issetup) + teardown(); + } + virtual void setup(); virtual void DoStart(); @@ -29,10 +35,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/RelaxBehavior.h ./Behaviors/Demos/RelaxBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/RelaxBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/RelaxBehavior.h Wed Nov 10 20:45:36 2004 @@ -50,7 +50,7 @@ * @author ejt (Modifications) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/SimpleChaseBallBehavior.h ./Behaviors/Demos/SimpleChaseBallBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/SimpleChaseBallBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/SimpleChaseBallBehavior.h Wed Nov 10 20:45:36 2004 @@ -58,7 +58,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/SoundTestBehavior.h ./Behaviors/Demos/SoundTestBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/SoundTestBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/SoundTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -121,7 +121,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/StareAtBallBehavior.h ./Behaviors/Demos/StareAtBallBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/StareAtBallBehavior.h Thu Nov 11 19:05:03 2004 +++ ./Behaviors/Demos/StareAtBallBehavior.h Thu Nov 11 19:05:03 2004 @@ -36,7 +36,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/StareAtPawBehavior.h ./Behaviors/Demos/StareAtPawBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/StareAtPawBehavior.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Demos/StareAtPawBehavior.h Wed Dec 22 20:47:07 2004 @@ -93,7 +93,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/StareAtPawBehavior2.h ./Behaviors/Demos/StareAtPawBehavior2.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/StareAtPawBehavior2.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Demos/StareAtPawBehavior2.h Wed Dec 22 20:47:07 2004 @@ -90,7 +90,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/ToggleHeadLightBehavior.h ./Behaviors/Demos/ToggleHeadLightBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/ToggleHeadLightBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/ToggleHeadLightBehavior.h Wed Nov 10 20:45:36 2004 @@ -39,7 +39,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/WallTestBehavior.h ./Behaviors/Demos/WallTestBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/WallTestBehavior.h Mon Nov 15 19:11:46 2004 +++ ./Behaviors/Demos/WallTestBehavior.h Mon Nov 15 19:11:46 2004 @@ -46,7 +46,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/WorldStateVelDaemon.h ./Behaviors/Demos/WorldStateVelDaemon.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/WorldStateVelDaemon.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/WorldStateVelDaemon.h Wed Nov 10 20:45:36 2004 @@ -85,7 +85,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Demos/karmedbandit.h ./Behaviors/Demos/karmedbandit.h --- ../Tekkotsu_2.2.2/Behaviors/Demos/karmedbandit.h Thu Sep 18 18:40:27 2003 +++ ./Behaviors/Demos/karmedbandit.h Thu Sep 18 18:40:27 2003 @@ -132,7 +132,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/Aibo3DControllerBehavior.h ./Behaviors/Mon/Aibo3DControllerBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/Aibo3DControllerBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/Aibo3DControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -131,7 +131,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Entries ./Behaviors/Mon/CVS/Entries --- ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,23 @@ +/Aibo3DControllerBehavior.h/1.6/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/EStopControllerBehavior.cc/1.4/Thu Oct 7 19:07:04 2004//Ttekkotsu-2_3 +/EStopControllerBehavior.h/1.5/Fri Dec 10 23:18:10 2004//Ttekkotsu-2_3 +/HeadPointControllerBehavior.cc/1.7/Sun Oct 17 01:16:10 2004//Ttekkotsu-2_3 +/HeadPointControllerBehavior.h/1.4/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/MicrophoneServer.cc/1.1/Fri Nov 12 22:07:39 2004//Ttekkotsu-2_3 +/MicrophoneServer.h/1.1/Fri Nov 12 22:07:39 2004//Ttekkotsu-2_3 +/RawCamBehavior.cc/1.15/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/RawCamBehavior.h/1.10/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/SegCamBehavior.cc/1.11/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/SegCamBehavior.h/1.7/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/SpeakerServer.cc/1.1/Fri Nov 12 22:07:39 2004//Ttekkotsu-2_3 +/SpeakerServer.h/1.1/Fri Nov 12 22:07:39 2004//Ttekkotsu-2_3 +/SpiderMachineBehavior.cc/1.3/Fri Dec 17 20:18:54 2004//Ttekkotsu-2_3 +/SpiderMachineBehavior.h/1.7/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/ViewWMVarsBehavior.h/1.3/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/WMMonitorBehavior.cc/1.3/Fri Apr 16 20:17:22 2004//Ttekkotsu-2_3 +/WMMonitorBehavior.h/1.9/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/WalkControllerBehavior.cc/1.7/Thu Nov 4 03:01:32 2004//Ttekkotsu-2_3 +/WalkControllerBehavior.h/1.4/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/WorldStateSerializerBehavior.cc/1.4/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_3 +/WorldStateSerializerBehavior.h/1.5/Wed Jan 26 19:35:26 2005//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Repository ./Behaviors/Mon/CVS/Repository --- ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Behaviors/Mon diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Root ./Behaviors/Mon/CVS/Root --- ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Tag ./Behaviors/Mon/CVS/Tag --- ../Tekkotsu_2.2.2/Behaviors/Mon/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/EStopControllerBehavior.cc ./Behaviors/Mon/EStopControllerBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/EStopControllerBehavior.cc Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Mon/EStopControllerBehavior.cc Thu Oct 7 15:07:04 2004 @@ -72,7 +72,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/EStopControllerBehavior.h ./Behaviors/Mon/EStopControllerBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/EStopControllerBehavior.h Fri Dec 10 18:18:10 2004 +++ ./Behaviors/Mon/EStopControllerBehavior.h Fri Dec 10 18:18:10 2004 @@ -66,7 +66,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/HeadPointControllerBehavior.cc ./Behaviors/Mon/HeadPointControllerBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/HeadPointControllerBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Mon/HeadPointControllerBehavior.cc Sat Oct 16 21:16:10 2004 @@ -124,7 +124,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/HeadPointControllerBehavior.h ./Behaviors/Mon/HeadPointControllerBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/HeadPointControllerBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/HeadPointControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -82,7 +82,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/RawCamBehavior.cc ./Behaviors/Mon/RawCamBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/RawCamBehavior.cc Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/RawCamBehavior.cc Wed Nov 10 20:45:36 2004 @@ -293,7 +293,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/RawCamBehavior.h ./Behaviors/Mon/RawCamBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/RawCamBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/RawCamBehavior.h Wed Nov 10 20:45:36 2004 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/SegCamBehavior.cc ./Behaviors/Mon/SegCamBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/SegCamBehavior.cc Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/SegCamBehavior.cc Wed Nov 10 20:45:36 2004 @@ -171,7 +171,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/SegCamBehavior.h ./Behaviors/Mon/SegCamBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/SegCamBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/SegCamBehavior.h Wed Nov 10 20:45:36 2004 @@ -84,7 +84,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/SpiderMachineBehavior.cc ./Behaviors/Mon/SpiderMachineBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/SpiderMachineBehavior.cc Fri Dec 17 15:18:54 2004 +++ ./Behaviors/Mon/SpiderMachineBehavior.cc Fri Dec 17 15:18:54 2004 @@ -232,7 +232,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/SpiderMachineBehavior.h ./Behaviors/Mon/SpiderMachineBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/SpiderMachineBehavior.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Mon/SpiderMachineBehavior.h Wed Dec 22 20:47:07 2004 @@ -127,7 +127,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/ViewWMVarsBehavior.h ./Behaviors/Mon/ViewWMVarsBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/ViewWMVarsBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/ViewWMVarsBehavior.h Wed Nov 10 20:45:36 2004 @@ -38,7 +38,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/WMMonitorBehavior.cc ./Behaviors/Mon/WMMonitorBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/WMMonitorBehavior.cc Fri Apr 16 16:17:22 2004 +++ ./Behaviors/Mon/WMMonitorBehavior.cc Fri Apr 16 16:17:22 2004 @@ -146,7 +146,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/WMMonitorBehavior.h ./Behaviors/Mon/WMMonitorBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/WMMonitorBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WMMonitorBehavior.h Wed Nov 10 20:45:36 2004 @@ -136,7 +136,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/WalkControllerBehavior.cc ./Behaviors/Mon/WalkControllerBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/WalkControllerBehavior.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Mon/WalkControllerBehavior.cc Wed Nov 3 22:01:32 2004 @@ -158,7 +158,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/WalkControllerBehavior.h ./Behaviors/Mon/WalkControllerBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/WalkControllerBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WalkControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -103,7 +103,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/WorldStateSerializerBehavior.cc ./Behaviors/Mon/WorldStateSerializerBehavior.cc --- ../Tekkotsu_2.2.2/Behaviors/Mon/WorldStateSerializerBehavior.cc Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WorldStateSerializerBehavior.cc Wed Nov 10 20:45:36 2004 @@ -53,7 +53,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Mon/WorldStateSerializerBehavior.h ./Behaviors/Mon/WorldStateSerializerBehavior.h --- ../Tekkotsu_2.2.2/Behaviors/Mon/WorldStateSerializerBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WorldStateSerializerBehavior.h Wed Jan 26 14:35:26 2005 @@ -10,7 +10,22 @@ //! 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 */ + * of values. + * + * Protocol: + * - <@c unsigned @c int: timestamp> + * - <@c unsigned @c int: ::NumPIDJoints> + * - for each i of ::NumPIDJoints: + * - <@c float: position of joint i> + * - <@c unsigned @c int: ::NumSensors> + * - for each i of ::NumSensors: + * - <@c float: value of sensor i> + * - <@c unsigned @c int: ::NumButtons> + * - for each i of ::NumButtons: + * - <@c float: value of button i> + * - for each i of ::NumPIDJoints: + * - <@c float: duty cycle of joint i> + * */ class WorldStateSerializerBehavior : public BehaviorBase { public: WorldStateSerializerBehavior(); //!< constructor @@ -55,10 +70,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Entries ./Behaviors/Nodes/CVS/Entries --- ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,12 @@ +/GroupNode.h/1.6/Mon Jan 24 22:23:50 2005//Ttekkotsu-2_3 +/HeadPointerNode.h/1.7/Mon Jan 24 22:23:50 2005//Ttekkotsu-2_3 +/LedNode.h/1.5/Mon Jan 24 22:23:50 2005//Ttekkotsu-2_3 +/MotionSequenceNode.h/1.3/Thu Jan 27 20:08:15 2005//Ttekkotsu-2_3 +/OutputNode.h/1.7/Sat Dec 4 00:10:42 2004//Ttekkotsu-2_3 +/PlayMotionSequenceNode.h/1.13/Fri Jan 21 22:50:37 2005//Ttekkotsu-2_3 +/SoundNode.h/1.10/Mon Jan 24 22:23:50 2005//Ttekkotsu-2_3 +/TailWagNode.h/1.2/Mon Jan 24 22:23:50 2005//Ttekkotsu-2_3 +/WalkNode.h/1.8/Mon Jan 24 22:23:50 2005//Ttekkotsu-2_3 +/WalkToTargetNode.cc/1.1/Sun Dec 5 04:47:53 2004//Ttekkotsu-2_3 +/WalkToTargetNode.h/1.4/Wed Dec 8 19:05:50 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Repository ./Behaviors/Nodes/CVS/Repository --- ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Behaviors/Nodes diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Root ./Behaviors/Nodes/CVS/Root --- ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Tag ./Behaviors/Nodes/CVS/Tag --- ../Tekkotsu_2.2.2/Behaviors/Nodes/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/GroupNode.h ./Behaviors/Nodes/GroupNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/GroupNode.h Fri Dec 3 19:10:42 2004 +++ ./Behaviors/Nodes/GroupNode.h Mon Jan 24 17:23:50 2005 @@ -9,19 +9,19 @@ /*! When a transition occurs into the group node, it will activate all * of its subnodes. * - * Note that this doesn't occur if there's a transition to one of the - * sub nodes... only when the main group node itself transitions. - * - * The group node doesn't deactivate its subnodes together however. - * In essence, this is a fork - one transition can activate several - * states, which are then separate branches of execution. (Although - * only one is actually being executed at a time) - * - * Another (probably better) way to do this is with a + * @note Another (probably better) way to do this is with a * multi-destination transition - after the initialization of the * transition (usually specifying the first transition) you can call * the Transition::addDestination() function to add addition * destinations, replicating the functionality of this class. + * + * The group node doesn't deactivate its subnodes together. In + * essence, this is a fork - one transition targeting the GroupNode + * can activate several states, which are then separate branches of + * execution. (Although of course only one is actually being + * executed at a time, as per the cooperative multi-tasking of + * behaviors.) + * */ class GroupNode : public StateNode { public: @@ -48,10 +48,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/HeadPointerNode.h ./Behaviors/Nodes/HeadPointerNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/HeadPointerNode.h Fri Dec 3 19:10:42 2004 +++ ./Behaviors/Nodes/HeadPointerNode.h Mon Jan 24 17:23:50 2005 @@ -34,7 +34,7 @@ //! receive motmanEGID status event and throw stateMachineEGID status event virtual void processEvent(const EventBase&) { - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); + postCompletionEvent(); } //! reveal the MotionCommand @@ -56,10 +56,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/LedNode.h ./Behaviors/Nodes/LedNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/LedNode.h Tue Nov 16 20:31:06 2004 +++ ./Behaviors/Nodes/LedNode.h Mon Jan 24 17:23:50 2005 @@ -34,7 +34,7 @@ //! receive motmanEGID status event and throw stateMachineEGID status event virtual void processEvent(const EventBase&) { - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); + postCompletionEvent(); } //! reveal the MotionCommand @@ -55,11 +55,11 @@ * @brief Defines LedNode, a simple StateNode that runs a LedMC motion command and throws a status event upon completion * @author dst (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/MotionSequenceNode.h ./Behaviors/Nodes/MotionSequenceNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/MotionSequenceNode.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/MotionSequenceNode.h Thu Jan 27 15:08:15 2005 @@ -0,0 +1,141 @@ +//-*-c++-*- +#ifndef INCLUDED_MotionSequenceNode_h_ +#define INCLUDED_MotionSequenceNode_h_ + +#include "Behaviors/StateNode.h" +#include "Motion/MotionManager.h" +#include "Motion/MotionSequenceMC.h" +#include "Motion/MMAccessor.h" + +//! A StateNode for playing a MotionSequence (and looping it if desired) +/*! Eventually, i'd like to just build the looping functionality into + * MotionSequence, but in the mean time we have this. */ +template +class MotionSequenceNode : public StateNode { +public: + //!constructor + MotionSequenceNode() + : StateNode("MotionSequenceNode","MotionSequenceNode"), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename() + {} + + //!constructor + MotionSequenceNode(const std::string& nm, const std::string& file, bool loop=false) + : StateNode("MotionSequenceNode",nm), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename(file) + { + setLooping(loop); + } + + //!destructor, check if we need to call our teardown + ~MotionSequenceNode() { + if(issetup) + teardown(); + } + + virtual void DoStart() { + //std::cout << "MotionSequenceNode::DoStart(); " << std::endl; + updateMS(filename); + erouter->addListener(this, EventBase::motmanEGID);//, msid, EventBase::deactivateETID); + StateNode::DoStart(); + } + + virtual void DoStop() { + //std::cout << "MotionSequenceNode::DoStop(); " << std::endl; + erouter->removeListener(this); + motman->removeMotion(msid); + msid=MotionManager::invalid_MC_ID; + StateNode::DoStop(); + } + + virtual void teardown() { + if(msidIsMine) { + motman->removeMotion(msid); + msid=MotionManager::invalid_MC_ID; + } + StateNode::teardown(); + } + + /* not ready yet + // ! use this to force the MotionSequenceNode to use a shared MS - set to MotionManager::invalid_MC_ID to reset to internally generated MS + virtual void setMSid(MotionManager::MC_ID id) { + if(msidIsMine) { + motman->removeMotion(msid); + msid=MotionManager::invalid_MC_ID; + } + msid=id; + msidIsMine=(id==MotionManager::invalid_MC_ID); + } + */ + + //! sets the file to play + virtual void setFile(const std::string& file) { + if(isActive()) + updateMS(file); + else + filename=file; + } + + //! turns looping on or off + virtual void setLooping(bool loop) { looping=loop; } + + virtual void processEvent(const EventBase& e) { + ASSERTRET(e.getGeneratorID()==EventBase::motmanEGID,"Unknown event"); + if(e==EventBase(EventBase::motmanEGID,msid,EventBase::deactivateETID)) { + msid=MotionManager::invalid_MC_ID; + if(looping) { + updateMS(filename); + } + postCompletionEvent(looping); + } + } + + //! returns true if currently looping + virtual bool getLooping() { return looping; } + + //! use this to access the MS that the MotionSequenceNode is using + virtual MotionManager::MC_ID getMSid() { return msid; } + + //! use this to access the MS that the MotionSequenceNode is using + virtual MMAccessor > getMSAccessor() { return MMAccessor >(msid); } + + //! returns true if #msid was created (and will be destroyed) by this MotionSequenceNode - false if assigned by setMsid() + virtual bool ownsMSid() { return msidIsMine; } + +protected: + //! resets the motion command and starts it playing + void updateMS(const std::string& file) { + if(msid==MotionManager::invalid_MC_ID) { + msid=motman->addPrunableMotion(SharedObject >(file.c_str())); + msidIsMine=true; + } else { + MMAccessor > ms(msid); + ms->clear(); + ms->LoadFile(file.c_str()); + ms->setTime(1); + } + filename=file; + } + + MotionManager::MC_ID msid; //!< id of the motion command + bool msidIsMine; //!< true if this class created the current motion command (and therefore should delete it when done) + bool looping; //!< true if we should loop + std::string filename; //!< filename of current motion sequence +}; + +typedef MotionSequenceNode TinyMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef MotionSequenceNode SmallMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef MotionSequenceNode MediumMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef MotionSequenceNode LargeMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef MotionSequenceNode XLargeMotionSequenceNode; //!< streamlined access to the standard template sizes + +/*! @file + * @brief Describes MotionSequenceNode, a StateNode for playing a MotionSequence (and looping it if desired) + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/OutputNode.h ./Behaviors/Nodes/OutputNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/OutputNode.h Fri Dec 3 19:10:42 2004 +++ ./Behaviors/Nodes/OutputNode.h Fri Dec 3 19:10:42 2004 @@ -43,7 +43,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/PlayMotionSequenceNode.h ./Behaviors/Nodes/PlayMotionSequenceNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/PlayMotionSequenceNode.h Tue Dec 21 16:49:50 2004 +++ ./Behaviors/Nodes/PlayMotionSequenceNode.h Fri Jan 21 17:50:37 2005 @@ -2,134 +2,26 @@ #ifndef INCLUDED_PlayMotionSequenceNode_h_ #define INCLUDED_PlayMotionSequenceNode_h_ -#include "Behaviors/StateNode.h" -#include "Motion/MotionManager.h" -#include "Motion/MotionSequenceMC.h" - -//! A StateNode for playing a MotionSequence (and looping it if desired) -/*! Eventually, i'd like to just build the looping functionality into - * MotionSequence, but in the mean time we have this. */ -template -class PlayMotionSequenceNode : public StateNode { -public: - //!constructor - PlayMotionSequenceNode() - : StateNode("PlayMotionSequenceNode","PlayMotionSequenceNode"), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename() - {} - - //!constructor - PlayMotionSequenceNode(const std::string& nm, const std::string& file, bool loop=false) - : StateNode("PlayMotionSequenceNode",nm), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename(file) - { - setLooping(loop); - } - - virtual void setup() {} - - virtual void DoStart() { - //std::cout << "PlayMotionSequenceNode::DoStart(); " << std::endl; - updateMS(filename); - erouter->addListener(this, EventBase::motmanEGID);//, msid, EventBase::deactivateETID); - StateNode::DoStart(); - } - - virtual void DoStop() { - //std::cout << "PlayMotionSequenceNode::DoStop(); " << std::endl; - erouter->removeListener(this); - motman->removeMotion(msid); - msid=MotionManager::invalid_MC_ID; - StateNode::DoStop(); - } - - virtual void teardown() { - if(msidIsMine) { - motman->removeMotion(msid); - msid=MotionManager::invalid_MC_ID; - } - } - - /* not ready yet - // ! use this to force the PlayMotionSequenceNode to use a shared MS - set to MotionManager::invalid_MC_ID to reset to internally generated MS - virtual void setMSid(MotionManager::MC_ID id) { - if(msidIsMine) { - motman->removeMotion(msid); - msid=MotionManager::invalid_MC_ID; - } - msid=id; - msidIsMine=(id==MotionManager::invalid_MC_ID); - } - */ - - //! sets the file to play - virtual void setFile(const std::string& file) { - if(isActive()) - updateMS(file); - else - filename=file; - } - - //! turns looping on or off - virtual void setLooping(bool loop) { looping=loop; } - - virtual void processEvent(const EventBase& e) { - ASSERTRET(e.getGeneratorID()==EventBase::motmanEGID,"Unknown event"); - if(e==EventBase(EventBase::motmanEGID,msid,EventBase::deactivateETID)) { - msid=MotionManager::invalid_MC_ID; - if(looping) { - updateMS(filename); - } - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); - } - } - - //! returns true if currently looping - virtual bool getLooping() { return looping; } - - //! use this to access the MS that the PlayMotionSequenceNode is using - virtual MotionManager::MC_ID getMSid() { return msid; } - - //! use this to access the MS that the PlayMotionSequenceNode is using - virtual MMAccessor > getMSAccessor() { return MMAccessor >(msid); } - - //! returns true if #msid was created (and will be destroyed) by this PlayMotionSequenceNode - false if assigned by setMsid() - virtual bool ownsMSid() { return msidIsMine; } - -protected: - //! resets the motion command and starts it playing - void updateMS(const std::string& file) { - if(msid==MotionManager::invalid_MC_ID) { - msid=motman->addPrunableMotion(SharedObject >(file.c_str())); - msidIsMine=true; - } else { - MMAccessor > ms(msid); - ms->clear(); - ms->LoadFile(file.c_str()); - ms->setTime(1); - } - filename=file; - } +#warning PlayMotionSequenceNode has been deprecated, please use MotionSequenceNode instead. - MotionManager::MC_ID msid; //!< id of the motion command - bool msidIsMine; //!< true if this class created the current motion command (and therefore should delete it when done) - bool looping; //!< true if we should loop - std::string filename; //!< filename of current motion sequence -}; +#include "MotionSequenceNode.h" +typedef TinyMotionSequenceNode TinyPlayMotionSequenceNode; //!< @deprecated, use MotionSequenceNode directly +typedef SmallMotionSequenceNode SmallPlayMotionSequenceNode; //!< @deprecated, use MotionSequenceNode directly +typedef MediumMotionSequenceNode MediumPlayMotionSequenceNode; //!< @deprecated, use MotionSequenceNode directly +typedef LargeMotionSequenceNode LargePlayMotionSequenceNode; //!< @deprecated, use MotionSequenceNode directly +typedef XLargeMotionSequenceNode XLargePlayMotionSequenceNode; //!< @deprecated, use MotionSequenceNode directly -typedef PlayMotionSequenceNode TinyPlayMotionSequenceNode; //!< streamlined access to the standard template sizes -typedef PlayMotionSequenceNode SmallPlayMotionSequenceNode; //!< streamlined access to the standard template sizes -typedef PlayMotionSequenceNode MediumPlayMotionSequenceNode; //!< streamlined access to the standard template sizes -typedef PlayMotionSequenceNode LargePlayMotionSequenceNode; //!< streamlined access to the standard template sizes -typedef PlayMotionSequenceNode XLargePlayMotionSequenceNode; //!< streamlined access to the standard template sizes /*! @file - * @brief Describes PlayMotionSequenceNode, a StateNode for playing a MotionSequence (and looping it if desired) + * @brief Deprecated version of MotionSequenceNode + * @deprecated use MotionSequenceNode * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/SoundNode.h ./Behaviors/Nodes/SoundNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/SoundNode.h Fri Dec 3 19:10:42 2004 +++ ./Behaviors/Nodes/SoundNode.h Mon Jan 24 17:23:50 2005 @@ -49,7 +49,7 @@ //! receive audioEGID status event and throw stateMachineEGID status event virtual void processEvent(const EventBase&) { curplay_id = SoundManager::invalid_Play_ID; - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); + postCompletionEvent(); } //! interrupts playing of the current sound @@ -81,10 +81,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/TailWagNode.h ./Behaviors/Nodes/TailWagNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/TailWagNode.h Mon Nov 15 17:22:36 2004 +++ ./Behaviors/Nodes/TailWagNode.h Mon Jan 24 17:23:50 2005 @@ -34,7 +34,7 @@ //! receive motmanEGID status event and throw stateMachineEGID status event - this doesn't ever actually happen for a TailWagMC, but just for completeness... virtual void processEvent(const EventBase&) { - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); + postCompletionEvent(); } //! reveal the MotionCommand itself, use getMC_ID() instead if this node isActive(). @@ -51,10 +51,10 @@ * @author dst, ejt (Creators) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/WalkNode.h ./Behaviors/Nodes/WalkNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/WalkNode.h Fri Dec 3 19:10:42 2004 +++ ./Behaviors/Nodes/WalkNode.h Mon Jan 24 17:23:50 2005 @@ -25,6 +25,12 @@ : StateNode("WalkNode",name), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) {} + //!destructor, check if we need to call our teardown + ~WalkNode() { + if(issetup) + teardown(); + } + //! sets the velocity of the walk void setVelocity(float xvel, float yvel, float avel) { x=xvel; @@ -67,6 +73,7 @@ motman->removeMotion(walkid); walkid=MotionManager::invalid_MC_ID; } + StateNode::teardown(); } //! use this to force the WalkNode to use a shared WalkMC - set to MotionManager::invalid_MC_ID to reset to internally generated walk @@ -111,10 +118,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/WalkToTargetNode.cc ./Behaviors/Nodes/WalkToTargetNode.cc --- ../Tekkotsu_2.2.2/Behaviors/Nodes/WalkToTargetNode.cc Sat Dec 4 23:47:53 2004 +++ ./Behaviors/Nodes/WalkToTargetNode.cc Sat Dec 4 23:47:53 2004 @@ -74,7 +74,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Nodes/WalkToTargetNode.h ./Behaviors/Nodes/WalkToTargetNode.h --- ../Tekkotsu_2.2.2/Behaviors/Nodes/WalkToTargetNode.h Wed Dec 8 14:05:50 2004 +++ ./Behaviors/Nodes/WalkToTargetNode.h Wed Dec 8 14:05:50 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/StateNode.cc ./Behaviors/StateNode.cc --- ../Tekkotsu_2.2.2/Behaviors/StateNode.cc Fri Dec 17 00:50:56 2004 +++ ./Behaviors/StateNode.cc Mon Jan 24 17:12:13 2005 @@ -3,15 +3,20 @@ #include "Wireless/Wireless.h" /*! @deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class) */ -StateNode::StateNode() : BehaviorBase("StateNode"), parent(NULL), transitions(), issetup(false), retain(true), nodes() {} +StateNode::StateNode() : BehaviorBase("StateNode"), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} StateNode::~StateNode() { ASSERT(!isActive(), "Destructing while active?") for(std::vector::iterator it=transitions.begin(); it!=transitions.end(); it++) (*it)->RemoveReference(); if(issetup) { - for(std::vector::iterator it=nodes.begin(); it!=nodes.end(); it++) - (*it)->RemoveReference(); + teardown(); + if(issetup) { + serr->printf("WARNING %s doesn't seem to call StateNode::teardown() in its\n" + " implementation of the function: issetup=%d, nodes.size()=%d\n" + " Attempting to recover...\n",getClassName().c_str(),issetup,nodes.size()); + StateNode::teardown(); + } } } @@ -32,7 +37,7 @@ void StateNode::DoStart() { if ( parent == NULL && transitions.size() > 0 ) - serr->printf("Warning! StateNode '%s' has transitions but no parent; you probably forgot to call addNode().\n",getName().c_str()); + serr->printf("WARNING StateNode '%s' has transitions but no parent; you probably forgot to call addNode().\n",getName().c_str()); BehaviorBase::DoStart(); if(!issetup) { setup(); @@ -40,9 +45,7 @@ } for(std::vector::iterator it=transitions.begin(); it!=transitions.end(); it++) if ( !(*it)->isActive() ) (*it)->DoStart(); - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::activateETID,0,getName(),1); - if(parent!=NULL) - parent->transitionTo(this); + postStartEvent(); } void StateNode::DoStop() { @@ -53,23 +56,37 @@ for(std::vector::iterator it=nodes.begin(); it!=nodes.end(); it++) if((*it)->isActive()) (*it)->DoStop(); - if(!retain) { + if(!retain && issetup) { teardown(); - issetup=false; - for(std::vector::iterator it=nodes.begin(); it!=nodes.end(); it++) - (*it)->RemoveReference(); - nodes.clear(); + if(issetup) { + serr->printf("WARNING %s doesn't seem to call StateNode::teardown() in its\n" + " implementation of the function: issetup=%d, nodes.size()=%d\n" + " Attempting to recover...\n",getClassName().c_str(),issetup,nodes.size()); + StateNode::teardown(); + } } - erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::deactivateETID,0,getName(),0); + postStopEvent(); BehaviorBase::DoStop(); } -void StateNode::transitionTo(StateNode*) { - // may want to throw a status event here +void StateNode::teardown() { + for(std::vector::iterator it=nodes.begin(); it!=nodes.end(); it++) + (*it)->RemoveReference(); + nodes.clear(); + issetup=false; + /*std::cout << "Teardown!!!!!!!!" << std::endl;*/ } -void StateNode::transitionFrom(StateNode*) { - // may want to throw a status event here +void StateNode::postStartEvent() { + erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::activateETID,0,getName(),1); +} + +void StateNode::postCompletionEvent(float magnitude/*=0*/) { + erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,get_time()-startedTime,getName(),magnitude); +} + +void StateNode::postStopEvent() { + erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::deactivateETID,get_time()-startedTime,getName(),0); } /*! @file @@ -77,9 +94,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/StateNode.h ./Behaviors/StateNode.h --- ../Tekkotsu_2.2.2/Behaviors/StateNode.h Fri Dec 17 00:50:56 2004 +++ ./Behaviors/StateNode.h Mon Jan 24 17:12:13 2005 @@ -15,7 +15,7 @@ StateNode() __attribute__((deprecated)); //!constructor, pass a name to use - StateNode(const std::string& name) : BehaviorBase("StateNode",name), parent(NULL), transitions(), issetup(false), retain(true), nodes() {} + StateNode(const std::string& name) : BehaviorBase("StateNode",name), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} //!destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes virtual ~StateNode(); @@ -44,27 +44,39 @@ //!Transitions should call this when you are entering the state, so it can enable its transitions virtual void DoStart(); - //!This is called by DoStart() when you should setup the network of subnodes + //!This is called by DoStart() when you should setup the network of subnodes (if any) virtual void setup() {issetup=true;} //!Transitions should call this when you are leaving the state, so it can disable its transitions virtual void DoStop(); //!This is called by DoStop() when you should destruct subnodes - virtual void teardown() { issetup=false; /*std::cout << "Teardown!!!!!!!!" << std::endl;*/ } + /*!Default implementation will take care of the subnodes and their + * transitions, you only need to worry about any *other* memory + * which may have been allocated. If none, you may not need + * implement this function at all. */ + virtual void teardown(); //!returns #parent virtual StateNode* getParent() const { return parent; } protected: //!constructor, pass the class name and instance name to use - StateNode(const std::string& classname, const std::string& name) : BehaviorBase(classname,name), parent(NULL), transitions(), issetup(false), retain(true), nodes() {} + StateNode(const std::string& classname, const std::string& name) : BehaviorBase(classname,name), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} - //!called by a subnode when it is being DoStart()'ed - virtual void transitionTo(StateNode* n); + //!will throw an activation event through stateMachineEGID, used when DoStart() is called + virtual void postStartEvent(); - //!called by a subnode when it is being DoStop()'ed - virtual void transitionFrom(StateNode* n); + //!will throw a status event through stateMachineEGID to signal "completion" of the node + /*! "completion" is defined by your subclass - will mean different things to different + * nodes depending on the actions they are performing. So call this yourself if there + * is a natural ending point for your state. + * @param magnitude the value to use for EventBase::magnitude -- generally is 1 for status events, but since this is to signal completion, 0 (the default) may be more appropriate; if your node is doing something repetitive however, 1 (or the loop count) may be better */ + virtual void postCompletionEvent(float magnitude=0); + + //!will throw an deactivation event through stateMachineEGID, used when DoStop() is called + /* @param duration the value to use for EventBase::duration -- nice but not generally used */ + virtual void postStopEvent(); //Node Stuff: //! pointer to the machine that contains this node @@ -77,6 +89,8 @@ bool issetup; //! this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon DoStop(). (or at least RemoveReference() is called on subnodes) bool retain; + //! the timestamp of last call to DoStart() + unsigned int startedTime; //! vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode() std::vector nodes; @@ -90,10 +104,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transition.cc ./Behaviors/Transition.cc --- ../Tekkotsu_2.2.2/Behaviors/Transition.cc Fri Dec 17 00:51:32 2004 +++ ./Behaviors/Transition.cc Fri Dec 17 00:51:32 2004 @@ -63,7 +63,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transition.h ./Behaviors/Transition.h --- ../Tekkotsu_2.2.2/Behaviors/Transition.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transition.h Mon Nov 15 17:46:19 2004 @@ -95,7 +95,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Entries ./Behaviors/Transitions/CVS/Entries --- ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,12 @@ +/CompareTrans.h/1.9/Mon Nov 15 22:46:19 2004//Ttekkotsu-2_3 +/CompletionTrans.h/1.9/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/EventTrans.h/1.6/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/LostTargetTrans.h/1.4/Tue Jan 4 19:51:41 2005//Ttekkotsu-2_3 +/NullTrans.h/1.8/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/RandomTrans.cc/1.2/Sun Nov 28 05:58:38 2004//Ttekkotsu-2_3 +/RandomTrans.h/1.3/Tue Jan 4 19:51:41 2005//Ttekkotsu-2_3 +/SmoothCompareTrans.h/1.11/Tue Dec 14 03:24:57 2004//Ttekkotsu-2_3 +/TimeOutTrans.h/1.15/Sat Dec 4 00:11:19 2004//Ttekkotsu-2_3 +/VisualTargetCloseTrans.h/1.14/Mon Nov 15 22:46:19 2004//Ttekkotsu-2_3 +/VisualTargetTrans.h/1.13/Mon Nov 15 22:46:19 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Repository ./Behaviors/Transitions/CVS/Repository --- ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Behaviors/Transitions diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Root ./Behaviors/Transitions/CVS/Root --- ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Tag ./Behaviors/Transitions/CVS/Tag --- ../Tekkotsu_2.2.2/Behaviors/Transitions/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/CompareTrans.h ./Behaviors/Transitions/CompareTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/CompareTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/CompareTrans.h Mon Nov 15 17:46:19 2004 @@ -95,7 +95,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/CompletionTrans.h ./Behaviors/Transitions/CompletionTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/CompletionTrans.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Transitions/CompletionTrans.h Wed Dec 22 20:47:07 2004 @@ -72,7 +72,7 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/EventTrans.h ./Behaviors/Transitions/EventTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/EventTrans.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Transitions/EventTrans.h Wed Dec 22 20:47:07 2004 @@ -68,7 +68,7 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/LostTargetTrans.h ./Behaviors/Transitions/LostTargetTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/LostTargetTrans.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Transitions/LostTargetTrans.h Tue Jan 4 14:51:41 2005 @@ -6,9 +6,7 @@ #include "Events/VisionObjectEvent.h" -//! Causes a transition if the target has not been seen @e minframe times within -//! @e delay milliseconds. - +//! Causes a transition if the target has not been seen @e minframe times within @e delay milliseconds. class LostTargetTrans : public TimeOutTrans { public: @@ -64,3 +62,14 @@ }; #endif + +/*! @file + * @brief Defines LostTargetTrans, which causes a transition if the target has not been seen @e minframe times within @e delay milliseconds. + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/NullTrans.h ./Behaviors/Transitions/NullTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/NullTrans.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Transitions/NullTrans.h Wed Dec 22 20:47:07 2004 @@ -40,7 +40,7 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/RandomTrans.h ./Behaviors/Transitions/RandomTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/RandomTrans.h Wed Dec 22 20:47:07 2004 +++ ./Behaviors/Transitions/RandomTrans.h Tue Jan 4 14:51:41 2005 @@ -21,10 +21,12 @@ //! constructor RandomTrans(const std::string& name, StateNode* destination, float weight=1); - //! Add a destination node with an optional weight. + //! Add a destination node with weight==1 (see addDestination(StateNode* dest, float weight) to specify a different weight) virtual void RandomTrans::addDestination(StateNode* destination) { - addDestination(destination,1); } + addDestination(destination,1); + } + //! Add a destination node with an specified weight (other version of addDestination() assumes weight==1) void addDestination(StateNode* destination, float weight); //! Firing this type of transition activates one destination node at random, diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/SmoothCompareTrans.h ./Behaviors/Transitions/SmoothCompareTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/SmoothCompareTrans.h Mon Dec 13 22:24:57 2004 +++ ./Behaviors/Transitions/SmoothCompareTrans.h Mon Dec 13 22:24:57 2004 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/TimeOutTrans.h ./Behaviors/Transitions/TimeOutTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/TimeOutTrans.h Fri Dec 3 19:11:19 2004 +++ ./Behaviors/Transitions/TimeOutTrans.h Fri Dec 3 19:11:19 2004 @@ -86,7 +86,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/VisualTargetCloseTrans.h ./Behaviors/Transitions/VisualTargetCloseTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/VisualTargetCloseTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/VisualTargetCloseTrans.h Mon Nov 15 17:46:19 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Behaviors/Transitions/VisualTargetTrans.h ./Behaviors/Transitions/VisualTargetTrans.h --- ../Tekkotsu_2.2.2/Behaviors/Transitions/VisualTargetTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/VisualTargetTrans.h Mon Nov 15 17:46:19 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/CVS/Entries ./CVS/Entries --- ../Tekkotsu_2.2.2/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,18 @@ +/INSTALL/1.1/Sat Aug 23 23:25:37 2003//Ttekkotsu-2_3 +/Makefile/1.30/Tue Dec 21 23:53:12 2004//Ttekkotsu-2_3 +/README/1.7/Thu Apr 1 00:16:51 2004//Ttekkotsu-2_3 +/entry.h/1.2/Sat Jul 17 03:38:01 2004//Ttekkotsu-2_3 +/license.txt/1.1/Thu Apr 1 00:16:51 2004//Ttekkotsu-2_3 +D/Behaviors//// +D/Events//// +D/MMCombo//// +D/Motion//// +D/RemoteProcess//// +D/Shared//// +D/SoundPlay//// +D/TinyFTPD//// +D/Vision//// +D/Wireless//// +D/docs//// +D/project//// +D/tools//// diff -urdN ../Tekkotsu_2.2.2/CVS/Repository ./CVS/Repository --- ../Tekkotsu_2.2.2/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./CVS/Repository Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +Tekkotsu diff -urdN ../Tekkotsu_2.2.2/CVS/Root ./CVS/Root --- ../Tekkotsu_2.2.2/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./CVS/Root Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/CVS/Tag ./CVS/Tag --- ../Tekkotsu_2.2.2/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./CVS/Tag Fri Jan 28 20:12:53 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Events/CVS/Entries ./Events/CVS/Entries --- ../Tekkotsu_2.2.2/Events/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Events/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,20 @@ +/DataEvent.h/1.2/Sun Jan 18 10:16:57 2004//Ttekkotsu-2_3 +/EventBase.cc/1.24/Wed Dec 22 23:54:07 2004//Ttekkotsu-2_3 +/EventBase.h/1.31/Wed Dec 22 23:12:59 2004//Ttekkotsu-2_3 +/EventGeneratorBase.cc/1.3/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/EventGeneratorBase.h/1.8/Mon Dec 20 21:47:59 2004//Ttekkotsu-2_3 +/EventListener.h/1.2/Thu Sep 25 15:27:10 2003//Ttekkotsu-2_3 +/EventRouter.cc/1.16/Sat Jan 29 00:01:57 2005//Ttekkotsu-2_3 +/EventRouter.h/1.18/Thu Jan 27 20:15:32 2005//Ttekkotsu-2_3 +/EventTranslator.cc/1.8/Sat Jan 29 00:02:55 2005//Ttekkotsu-2_3 +/EventTranslator.h/1.5/Thu Sep 16 18:35:12 2004//Ttekkotsu-2_3 +/EventTrapper.h/1.2/Thu Sep 25 15:27:10 2003//Ttekkotsu-2_3 +/FilterBankEvent.h/1.9/Wed Dec 22 23:12:59 2004//Ttekkotsu-2_3 +/LocomotionEvent.cc/1.1/Wed Sep 1 21:30:57 2004//Ttekkotsu-2_3 +/LocomotionEvent.h/1.6/Wed Sep 1 21:30:57 2004//Ttekkotsu-2_3 +/SegmentedColorFilterBankEvent.h/1.2/Sun Jan 18 10:16:57 2004//Ttekkotsu-2_3 +/TextMsgEvent.cc/1.1/Wed Sep 1 21:30:57 2004//Ttekkotsu-2_3 +/TextMsgEvent.h/1.10/Wed Sep 1 21:30:57 2004//Ttekkotsu-2_3 +/VisionObjectEvent.cc/1.5/Wed Jan 12 21:48:17 2005//Ttekkotsu-2_3 +/VisionObjectEvent.h/1.5/Wed Jan 12 21:48:17 2005//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Events/CVS/Repository ./Events/CVS/Repository --- ../Tekkotsu_2.2.2/Events/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Events/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Events diff -urdN ../Tekkotsu_2.2.2/Events/CVS/Root ./Events/CVS/Root --- ../Tekkotsu_2.2.2/Events/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Events/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Events/CVS/Tag ./Events/CVS/Tag --- ../Tekkotsu_2.2.2/Events/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Events/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Events/DataEvent.h ./Events/DataEvent.h --- ../Tekkotsu_2.2.2/Events/DataEvent.h Sun Jan 18 05:16:57 2004 +++ ./Events/DataEvent.h Sun Jan 18 05:16:57 2004 @@ -32,7 +32,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventBase.cc ./Events/EventBase.cc --- ../Tekkotsu_2.2.2/Events/EventBase.cc Wed Dec 22 18:54:07 2004 +++ ./Events/EventBase.cc Wed Dec 22 18:54:07 2004 @@ -180,7 +180,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventBase.h ./Events/EventBase.h --- ../Tekkotsu_2.2.2/Events/EventBase.h Wed Dec 22 18:12:59 2004 +++ ./Events/EventBase.h Wed Dec 22 18:12:59 2004 @@ -178,7 +178,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventGeneratorBase.cc ./Events/EventGeneratorBase.cc --- ../Tekkotsu_2.2.2/Events/EventGeneratorBase.cc Tue Nov 9 15:01:49 2004 +++ ./Events/EventGeneratorBase.cc Tue Nov 9 15:01:49 2004 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventGeneratorBase.h ./Events/EventGeneratorBase.h --- ../Tekkotsu_2.2.2/Events/EventGeneratorBase.h Mon Dec 20 16:47:59 2004 +++ ./Events/EventGeneratorBase.h Mon Dec 20 16:47:59 2004 @@ -87,7 +87,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventListener.h ./Events/EventListener.h --- ../Tekkotsu_2.2.2/Events/EventListener.h Thu Sep 25 11:27:10 2003 +++ ./Events/EventListener.h Thu Sep 25 11:27:10 2003 @@ -20,7 +20,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventRouter.cc ./Events/EventRouter.cc --- ../Tekkotsu_2.2.2/Events/EventRouter.cc Wed Dec 22 18:12:59 2004 +++ ./Events/EventRouter.cc Fri Jan 28 19:01:57 2005 @@ -96,6 +96,9 @@ } void EventRouter::addListener(EventListener* el, EventBase::EventGeneratorID_t egid) { + if(egid==EventBase::timerEGID) + printf("WARNING: The use of addListener with timerEGID is deprecated,\n" + " please see http://bugs.tekkotsu.org/show_bug.cgi?id=89\n"); bool hadListener=hasListeners(egid); listeners.addMapping(el,egid); if(!hadListener) @@ -104,6 +107,9 @@ postEvent(new EventBase(EventBase::erouterEGID,egid,EventBase::statusETID,0,EventBase::EventGeneratorNames[egid],1)); } void EventRouter::addListener(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { + if(egid==EventBase::timerEGID) + printf("WARNING: The use of addListener with timerEGID is deprecated,\n" + " please see http://bugs.tekkotsu.org/show_bug.cgi?id=89\n"); bool hadListener=hasListeners(egid); for(unsigned int et=0; et* elv=NULL; + // first check the 'all events' subscribers + std::vector* elv=&allevents[egid]; + for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) + if(*elit==listener) + return true; + + // then check all the filtered subscribers (tricky!) SIDtoListenerVectorMap_t* sidtovm=filteredevents[egid][etid]; if(sidtovm!=NULL) { // if there's a map (at least one EL is filtering on this EGID and ETID) SIDtoListenerVectorMap_t::iterator mapit=sidtovm->find(sid); // find listening for this source id @@ -516,26 +532,110 @@ return true; } } - // now get the 'all events' subscribers - elv=&allevents[egid]; + + // if we haven't found it, doesn't exist: + return false; +} + +bool EventRouter::EventMapper::verifyMappingAll(void* listener, EventBase::EventGeneratorID_t egid) { + std::vector* elv=&allevents[egid]; for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) if(*elit==listener) return true; + // if not in the all listeners, can't be listening for *every* source id + return false; +} - // if we haven't found it, doesn't exist: +bool EventRouter::EventMapper::verifyMappingAny(void* listener, EventBase::EventGeneratorID_t egid) { + // first check the 'all events' subscribers + std::vector* elv=&allevents[egid]; + for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) + if(*elit==listener) + return true; + + // then check all the filtered subscribers (tricky!) + for(unsigned int et=0; etbegin(); // for each of the source ids + for(;mapit!=sidtovm->end();mapit++) { + elv=&(*mapit).second; // now go through them all + for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) + if(*elit==listener) + return true; + } + } + } + + // if we haven't found any, none exist: return false; } +bool EventRouter::EventMapper::verifyMappingAll(void* listener, EventBase::EventGeneratorID_t egid, unsigned int sid) { + // first check the 'all events' subscribers + std::vector* elv=&allevents[egid]; + for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) + if(*elit==listener) + return true; + + // then check all the filtered subscribers (tricky!) + // must be found in ALL etids + for(unsigned int et=0; etfind(sid); // find listening for this source id + if(mapit==sidtovm->end()) + return false; + // there's at least one is filtering on this sourceID as well + elv=&(*mapit).second; // now go through them all + std::vector::iterator elit=elv->begin(); + while(elit!=elv->end() && *elit!=listener) + elit++; + if(elit==elv->end()) + return false; + //if we didn't return false, we found a match... continue checking other ETIDs + } + + // we only got here if we *did* find listener in each of the ETIDs + return true; +} + +bool EventRouter::EventMapper::verifyMappingAny(void* listener, EventBase::EventGeneratorID_t egid, unsigned int sid) { + // first check the 'all events' subscribers + std::vector* elv=&allevents[egid]; + for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) + if(*elit==listener) + return true; + + // then check all the filtered subscribers (tricky!) + for(unsigned int et=0; etfind(sid); // find listening for this source id + if(mapit!=sidtovm->end()) { // if there's at least one is filtering on this sourceID as well + elv=&(*mapit).second; // now go through them all + for(std::vector::iterator elit=elv->begin(); elit!=elv->end(); elit++) + if(*elit==listener) + return true; + } + } + } + + // if we haven't found it, doesn't exist: + return false; +} /*! @file * @brief Implements EventRouter class, for distribution and trapping of events to listeners * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Events/EventRouter.h ./Events/EventRouter.h --- ../Tekkotsu_2.2.2/Events/EventRouter.h Wed Dec 22 18:54:41 2004 +++ ./Events/EventRouter.h Thu Jan 27 15:15:32 2005 @@ -86,10 +86,31 @@ void processEvent(const EventBase& e); //!< forces unbuffered - sends event *now*. Will clear the buffer first if needed to ensure proper event ordering //@} - //!@name Listener Detection - /*!@brief counts both listeners and trappers, so stuff can tell if it even needs to bother generating an event...*/ - /* ... if a tree falls in a forest, and there's no one around to see it, does it make a sound?\n - ... if Vision sees a ball in an image, and there's no listeners, does it make an event? ;) */ + //!@name Listener/Trapper Recall + //! returns true if the specified listener/trapper would receive any events that match the specified criteria + bool isListeningAny(EventListener* el, EventBase::EventGeneratorID_t egid) { return listeners.verifyMappingAny(el,egid); } + bool isListeningAny(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return listeners.verifyMappingAny(el,egid,sid); } + bool isListeningAll(EventListener* el, EventBase::EventGeneratorID_t egid) { return listeners.verifyMappingAll(el,egid); } + bool isListeningAll(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return listeners.verifyMappingAll(el,egid,sid); } + bool isListening(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return listeners.verifyMapping(el,egid,sid,etid); } + bool isListening(EventListener* el, const EventBase& e) { return listeners.verifyMapping(el,e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } + bool isTrappingAny(EventTrapper* el, EventBase::EventGeneratorID_t egid) { return trappers.verifyMappingAny(el,egid); } + bool isTrappingAny(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return trappers.verifyMappingAny(el,egid,sid); } + bool isTrappingAll(EventTrapper* el, EventBase::EventGeneratorID_t egid) { return trappers.verifyMappingAll(el,egid); } + bool isTrappingAll(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return trappers.verifyMappingAll(el,egid,sid); } + bool isTrapping(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return trappers.verifyMapping(el,egid,sid,etid); } + bool isTrapping(EventTrapper* el, const EventBase& e) { return trappers.verifyMapping(el,e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } + //@} + + //!@name Listener/Trapper Detection + /*!@brief counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...*/ + /* Generators can also subscribe to the EventBase::erouterEGID event stream if + * they wish to be notified when they gain or lose listeners (particularly the + * first or last).\n + * ... if a tree falls in a forest, and there's no one around to see it, does + * it make a sound?\n + * ... if Vision sees a ball in an image, and there's no listeners, does it + * make an event? ;) */ bool hasListeners(EventBase::EventGeneratorID_t egid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid) || listeners.hasMapping(egid); } bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid,sid) || listeners.hasMapping(egid,sid); } bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid,sid,etid) || listeners.hasMapping(egid,sid,etid); } @@ -271,6 +292,20 @@ * was in the queue originally. */ bool verifyMapping(void * listener, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); + //! Needed to complete EventRouter::isListening suite + /*! Only checks #allevents */ + bool verifyMappingAll(void * listener, EventBase::EventGeneratorID_t egid); + //! Needed to complete EventRouter::isListening suite + /*! Checks both #allevents and #filtered events */ + bool verifyMappingAny(void * listener, EventBase::EventGeneratorID_t egid); + + //! Needed to complete EventRouter::isListening suite + /*! Checks both #allevents and #filteredevents, must be found in all */ + bool verifyMappingAll(void * listener, EventBase::EventGeneratorID_t egid, unsigned int sid); + //! Needed to complete EventRouter::isListening suite + /*! Checks both #allevents and #filteredevents, can be found in either */ + bool verifyMappingAny(void * listener, EventBase::EventGeneratorID_t egid, unsigned int sid); + protected: //! a mapping from source IDs (unsigned ints), each to a vector of pointers to listeners /*! main use in filteredevents @see filteredevents */ @@ -299,10 +334,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Events/EventTranslator.cc ./Events/EventTranslator.cc --- ../Tekkotsu_2.2.2/Events/EventTranslator.cc Thu Oct 14 19:02:35 2004 +++ ./Events/EventTranslator.cc Fri Jan 28 19:02:55 2005 @@ -23,7 +23,7 @@ } else if(dynamic_cast(&event)!=NULL) { type=TextMsgEvent_ID; } else { - ASSERT(dynamic_cast(&event)!=NULL,"stupid OS"); + ASSERT(dynamic_cast(&event)!=NULL,"stupid OS/compiler/linker/whatever"); type=EventBase_ID; } void* buf=q->reserve(sizeof(TypeID_t)+len); @@ -52,32 +52,42 @@ TypeID_t type=*reinterpret_cast(entry); const char* buf=reinterpret_cast(entry)+sizeof(TypeID_t); size-=sizeof(TypeID_t); + EventBase * evt=NULL; switch(type) { case LocomotionEvent_ID: { - LocomotionEvent * loco=new LocomotionEvent; - unsigned int err=loco->LoadBuffer(buf,size); - ASSERT(err!=0,"bad load"); - erouter->postEvent(loco); + evt=new LocomotionEvent; } break; case VisionObjectEvent_ID: { - VisionObjectEvent * vision=new VisionObjectEvent; - unsigned int err=vision->LoadBuffer(buf,size); - ASSERT(err!=0,"bad load"); - erouter->postEvent(vision); + evt=new VisionObjectEvent; } break; case TextMsgEvent_ID: { - TextMsgEvent * text=new TextMsgEvent; - unsigned int err=text->LoadBuffer(buf,size); - ASSERT(err!=0,"bad load"); - erouter->postEvent(text); + evt=new TextMsgEvent; } break; case EventBase_ID: { - EventBase * event=new EventBase; - unsigned int err=event->LoadBuffer(buf,size); - ASSERT(err!=0,"bad load"); - erouter->postEvent(event); + evt=new EventBase; } break; + //no default case because we want + //a compiler warning if we miss one } + ASSERTRET(evt!=NULL,"Unrecognized entry type"); + unsigned int err=evt->LoadBuffer(buf,size); + if(err==0) { + std::cout<<"ERROR: type="<getGeneratorID()getTypeID()getGeneratorID()<<" or ETID "<getTypeID()); + erouter->postEvent(evt); } @@ -86,9 +96,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Events/EventTranslator.h ./Events/EventTranslator.h --- ../Tekkotsu_2.2.2/Events/EventTranslator.h Thu Sep 16 14:35:12 2004 +++ ./Events/EventTranslator.h Thu Sep 16 14:35:12 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/EventTrapper.h ./Events/EventTrapper.h --- ../Tekkotsu_2.2.2/Events/EventTrapper.h Thu Sep 25 11:27:10 2003 +++ ./Events/EventTrapper.h Thu Sep 25 11:27:10 2003 @@ -26,7 +26,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/FilterBankEvent.h ./Events/FilterBankEvent.h --- ../Tekkotsu_2.2.2/Events/FilterBankEvent.h Wed Dec 22 18:12:59 2004 +++ ./Events/FilterBankEvent.h Wed Dec 22 18:12:59 2004 @@ -58,7 +58,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/LocomotionEvent.cc ./Events/LocomotionEvent.cc --- ../Tekkotsu_2.2.2/Events/LocomotionEvent.cc Wed Sep 1 17:30:57 2004 +++ ./Events/LocomotionEvent.cc Wed Sep 1 17:30:57 2004 @@ -60,7 +60,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/LocomotionEvent.h ./Events/LocomotionEvent.h --- ../Tekkotsu_2.2.2/Events/LocomotionEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/LocomotionEvent.h Wed Sep 1 17:30:57 2004 @@ -45,7 +45,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/SegmentedColorFilterBankEvent.h ./Events/SegmentedColorFilterBankEvent.h --- ../Tekkotsu_2.2.2/Events/SegmentedColorFilterBankEvent.h Sun Jan 18 05:16:57 2004 +++ ./Events/SegmentedColorFilterBankEvent.h Sun Jan 18 05:16:57 2004 @@ -69,7 +69,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/TextMsgEvent.cc ./Events/TextMsgEvent.cc --- ../Tekkotsu_2.2.2/Events/TextMsgEvent.cc Wed Sep 1 17:30:57 2004 +++ ./Events/TextMsgEvent.cc Wed Sep 1 17:30:57 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/TextMsgEvent.h ./Events/TextMsgEvent.h --- ../Tekkotsu_2.2.2/Events/TextMsgEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/TextMsgEvent.h Wed Sep 1 17:30:57 2004 @@ -35,7 +35,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Events/VisionObjectEvent.cc ./Events/VisionObjectEvent.cc --- ../Tekkotsu_2.2.2/Events/VisionObjectEvent.cc Wed Sep 1 17:30:57 2004 +++ ./Events/VisionObjectEvent.cc Wed Jan 12 16:48:17 2005 @@ -1,12 +1,14 @@ #include "VisionObjectEvent.h" #include +// Changed 'getDescription' to show BB and area info in EventLogger. Change functions to add new parameters (BB and area) to buffer + std::string VisionObjectEvent::getDescription(bool showTypeSpecific/*=true*/, unsigned int verbosity/*=0*/) const { if(!showTypeSpecific) return EventBase::getDescription(showTypeSpecific,verbosity); std::ostringstream logdata; - logdata << EventBase::getDescription(showTypeSpecific,verbosity) << '\t' << _cenX << '\t' << _cenY; + logdata << EventBase::getDescription(showTypeSpecific,verbosity) << '\t' << _x1 << '\t' <<_x2 <<'\t' <<_y1 <<'\t' <<_y2 ; return logdata.str(); } @@ -14,10 +16,10 @@ VisionObjectEvent::getBinSize() const { unsigned int used=EventBase::getBinSize(); used+=creatorSize("EventBase::VisionObjectEvent"); - used+=sizeof(_cenX); - used+=sizeof(_cenY); - //used+=sizeof(_distance); - //used+=sizeof(_property); + used+=sizeof(_x1); + used+=sizeof(_x2); + used+=sizeof(_y1); + used+=sizeof(_y2); return used; } @@ -29,14 +31,14 @@ len-=used; buf+=used; if(0==(used=checkCreator("EventBase::VisionObjectEvent",buf,len,true))) return 0; len-=used; buf+=used; - if(0==(used=decode(_cenX,buf,len))) return 0; - len-=used; buf+=used; - if(0==(used=decode(_cenY,buf,len))) return 0; - len-=used; buf+=used; - //if(0==(used=decode(_distance,buf,len))) return 0; - //len-=used; buf+=used; - //if(0==(used=decode(_property,buf,len))) return 0; - //len-=used; buf+=used; + if(0==(used=decode(_x1,buf,len))) return 0; + len-=used; buf+=used; + if(0==(used=decode(_x2,buf,len))) return 0; + len-=used; buf+=used; + if(0==(used=decode(_y1,buf,len))) return 0; + len-=used; buf+=used; + if(0==(used=decode(_y2,buf,len))) return 0; + len-=used; buf+=used; return origlen-len; } @@ -48,14 +50,25 @@ len-=used; buf+=used; if(0==(used=saveCreator("EventBase::VisionObjectEvent",buf,len))) return 0; len-=used; buf+=used; - if(0==(used=encode(_cenX,buf,len))) return 0; - len-=used; buf+=used; - if(0==(used=encode(_cenY,buf,len))) return 0; - len-=used; buf+=used; - //if(0==(used=encode(_distance,buf,len))) return 0; - //len-=used; buf+=used; - //if(0==(used=encode(_property,buf,len))) return 0; - //len-=used; buf+=used; + if(0==(used=encode(_x1,buf,len))) return 0; + len-=used; buf+=used; + if(0==(used=encode(_x2,buf,len))) return 0; + len-=used; buf+=used; + if(0==(used=encode(_y1,buf,len))) return 0; + len-=used; buf+=used; + if(0==(used=encode(_y2,buf,len))) return 0; + len-=used; buf+=used; return origlen-len; } +/*! @file + * @brief Implements VisionObjectEvent, which provides information about objects recognized in the camera image + * @author alokl (Creator) + * @author Ignacio Herrero Reder (VisionObjectInfo Boundary Box - bug 74) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ diff -urdN ../Tekkotsu_2.2.2/Events/VisionObjectEvent.h ./Events/VisionObjectEvent.h --- ../Tekkotsu_2.2.2/Events/VisionObjectEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/VisionObjectEvent.h Wed Jan 12 16:48:17 2005 @@ -6,27 +6,57 @@ //! Extends EventBase to also include location in the visual field and distance (though distance is not implimented yet) class VisionObjectEvent : public EventBase { - public: +public: //! Constructor - VisionObjectEvent() : EventBase(EventBase::visObjEGID,(unsigned int)-1,EventBase::statusETID,0),_cenX(0),_cenY(0)/*,_distance(),_property(-1)*/ {} + VisionObjectEvent() + : EventBase(EventBase::visObjEGID,(unsigned int)-1,EventBase::statusETID,0),_x1(0),_x2(0),_y1(0),_y2(0), + _clipLeft(false), _clipRight(false), _clipTop(false), _clipBottom(false) + {} + //! Constructor, pass a type id and source id - VisionObjectEvent(EventTypeID_t tid, unsigned int sid) : EventBase(EventBase::visObjEGID,sid,tid,0),_cenX(0),_cenY(0)/*_distance(),_property(-1)*/ {} - //! Constructor, pass the type id, source id, center X and center Y - VisionObjectEvent(EventTypeID_t tid, unsigned int sid, float cenX, float cenY) : EventBase(EventBase::visObjEGID,sid,tid,0),_cenX(cenX),_cenY(cenY)/*,_distance(),_property(-1)*/ {} + VisionObjectEvent(EventTypeID_t tid, unsigned int sid) + : EventBase(EventBase::visObjEGID,sid,tid,0),_x1(0),_x2(0),_y1(0),_y2(0), + _clipLeft(false), _clipRight(false), _clipTop(false), _clipBottom(false) + {} + + //! Constructor, pass the type id, source id, left, right, top, bottom, x range, and y range + VisionObjectEvent(EventTypeID_t tid, unsigned int sid, float x1, float x2, float y1, float y2, float rx, float ry) + : EventBase(EventBase::visObjEGID,sid,tid,0),_x1(x1),_x2(x2),_y1(y1),_y2(y2), + _clipLeft(_x1<=-rx), _clipRight(_x2>=rx), _clipTop(_y1<=-ry), _clipBottom(_y2>=ry) + {} + //! destructor virtual ~VisionObjectEvent() {} - float getCenterX() const { return _cenX;} //!< returns the x coordinate - VisionObjectEvent& setCenterX(float cenX) { _cenX=cenX; return *this;} //!< sets the x coordinate + //!@name Attribute Accessors + float getLeft() const { return _x1;} //!< returns the initial x coordinate of the Bounding Box + VisionObjectEvent& setLeft(float x1) { _x1=x1; return *this;} //!< sets the initial x coordinate of the Bounding Box - float getCenterY() const { return _cenY;} //!< returns the y coordinate - VisionObjectEvent& setCenterY(float cenY) { _cenY=cenY; return *this;} //!< sets the y coordinate - - //float getDistance() const { return _distance;} //!< returns the distance (not implemented) - //VisionObjectEvent& setDistance(float dist) { _distance=dist; return *this;} //!< sets the distance + float getRight() const { return _x2;} //!< returns the final x coordinate of the Bounding Box + VisionObjectEvent& setRight(float x2) { _x2=x2; return *this;} //!< sets the final x coordinate of the Bounding Box + + float getTop() const { return _y1;} //!< returns the initial y coordinate of the Bounding Box + VisionObjectEvent& setTop(float y1) { _y1=y1; return *this;} //!< sets the initial y coordinate of the Bounding Box + + float getBottom() const { return _y2;} //!< returns the final y coordinate of the Bounding Box + VisionObjectEvent& setBottom(float y2) { _y2=y2; return *this;} //!< sets the final y coordinate of the Bounding Box + //@} + + //!@name Calculated Attributes + float getCenterX() const { return (_x1+_x2)/2; } //!< returns the center along x + float getCenterY() const { return (_y1+_y2)/2; } //!< returns the center along y + float getWidth() const { return _x2-_x1; } //!< return width along x + float getHeight() const { return _x2-_x1; } //!< return height along y + float getArea() const { return (_x2-_x1)*(_y2-_y1); } //!< returns the final x coordinate of the Bounding Box + //@} - //int getProperty() const { return _property;} //!< returns the property (for future use) - //VisionObjectEvent& setProperty(int property) { _property=property; return *this;} //!< sets the property + //!@name Object out of bounds Detection Functions + bool isClippedLeft() const { return _clipLeft; } //!< returns #_clipLeft + bool isClippedRight() const { return _clipRight; } //!< returns #_clipRight + bool isClippedTop() const { return _clipTop; } //!< returns #_clipTop + bool isClippedBottom() const {return _clipBottom; } //!< returns #_clipBottom + void setClipping(bool left, bool right, bool top, bool bottom) { _clipLeft=left; _clipRight=right; _clipTop=top; _clipBottom=bottom; } //!< sets clipping boundaries + //@} virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const; @@ -34,22 +64,27 @@ virtual unsigned int LoadBuffer(const char buf[], unsigned int len); virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; - protected: - float _cenX; //!< a value representing location in visual field - from -1 if on the left edge to 1 if it's on the right edge - float _cenY; //!< a value representing location in visual field - from -1 if on the bottom edge to 1 if it's on the top edge - //float _distance; //!< distance from snout to object in millimeters. (not implemented) - //int _property; //!< some property, depending on the SID (for future use) +protected: + float _x1; //!< a value representing location in visual field - from -1 if on the left edge to 1 if it's on the right edge + float _x2; //!< a value representing location in visual field - from -1 if on the bottom edge to 1 if it's on the top edge + float _y1; //!< top boundary, in approximate range (+/- 160/208) for ERS-7; actual values vary depending on aspect ratio to keep square coordinates + float _y2; //!< top boundary, in approximate range (+/- 160/208) for ERS-7; actual values vary depending on aspect ratio to keep square coordinates + bool _clipLeft; //!< flag to indicate left boundary is on or beyond the camera image's boundary + bool _clipRight; //!< flag to indicate right boundary is on or beyond the camera image's boundary + bool _clipTop; //!< flag to indicate top boundary is on or beyond the camera image's boundary + bool _clipBottom; //!< flag to indicate bottom boundary is on or beyond the camera image's boundary }; /*! @file - * @brief Provides information about objects recognized in the camera image + * @brief Describes VisionObjectEvent, which provides information about objects recognized in the camera image * @author alokl (Creator) + * @author Ignacio Herrero Reder (VisionObjectInfo Boundary Box - bug 74) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/MMCombo/CVS/Entries ./MMCombo/CVS/Entries --- ../Tekkotsu_2.2.2/MMCombo/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./MMCombo/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,5 @@ +/MMCombo.cc/1.62/Tue Jan 11 23:10:44 2005//Ttekkotsu-2_3 +/MMCombo.h/1.26/Tue Sep 28 23:07:04 2004//Ttekkotsu-2_3 +/MMCombo.ocf/1.2/Fri Nov 1 19:21:29 2002//Ttekkotsu-2_3 +/stub.cfg/1.7/Tue Sep 28 23:07:04 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/MMCombo/CVS/Repository ./MMCombo/CVS/Repository --- ../Tekkotsu_2.2.2/MMCombo/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./MMCombo/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/MMCombo diff -urdN ../Tekkotsu_2.2.2/MMCombo/CVS/Root ./MMCombo/CVS/Root --- ../Tekkotsu_2.2.2/MMCombo/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./MMCombo/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/MMCombo/CVS/Tag ./MMCombo/CVS/Tag --- ../Tekkotsu_2.2.2/MMCombo/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./MMCombo/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/MMCombo/MMCombo.cc ./MMCombo/MMCombo.cc --- ../Tekkotsu_2.2.2/MMCombo/MMCombo.cc Wed Nov 17 19:04:25 2004 +++ ./MMCombo/MMCombo.cc Tue Jan 11 18:10:44 2005 @@ -310,7 +310,11 @@ EventTranslator::Queue_t * etransq=reinterpret_cast(eventTranslatorQueueMemRgn->Base()); etrans.setQueue(etransq); MotionCommand::setQueue(etransq); - erouter->addTrapper(&etrans); + //MotionCommands enqueue directly, so there shouldn't be any riff-raff to catch + //but just in case, subscribe to everything except erouterEGID + for(unsigned int i=0; iaddTrapper(&etrans,static_cast(i)); } observer[obsReceiveEventTranslatorQueue]->AssertReady(); cout << "done" << endl; @@ -769,10 +773,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/MMCombo/MMCombo.h ./MMCombo/MMCombo.h --- ../Tekkotsu_2.2.2/MMCombo/MMCombo.h Tue Sep 28 19:07:04 2004 +++ ./MMCombo/MMCombo.h Tue Sep 28 19:07:04 2004 @@ -141,7 +141,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Makefile ./Makefile --- ../Tekkotsu_2.2.2/Makefile Tue Dec 21 18:53:12 2004 +++ ./Makefile Tue Dec 21 18:53:12 2004 @@ -1,5 +1,5 @@ ############### FRAMEWORK MAKEFILE ################ -############# $Name: HEAD $ ############### +############# $Name: HEAD $ ############### ############### $Revision: 1.1 $ ################# ########## $Date: 2005/01/30 17:44:13 $ ########### diff -urdN ../Tekkotsu_2.2.2/Motion/CVS/Entries ./Motion/CVS/Entries --- ../Tekkotsu_2.2.2/Motion/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Motion/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,43 @@ +/DynamicMotionSequence.h/1.5/Tue Dec 21 22:39:01 2004//Ttekkotsu-2_3 +/EmergencyStopMC.cc/1.24/Fri Jan 7 23:16:58 2005//Ttekkotsu-2_3 +/EmergencyStopMC.h/1.12/Fri Jan 7 19:36:38 2005//Ttekkotsu-2_3 +/Geometry.h/1.3/Thu Sep 25 15:27:22 2003//Ttekkotsu-2_3 +/HeadPointerMC.cc/1.19/Tue Jan 25 20:06:42 2005//Ttekkotsu-2_3 +/HeadPointerMC.h/1.20/Fri Jan 7 21:13:31 2005//Ttekkotsu-2_3 +/Kinematics.cc/1.23/Tue Dec 21 23:51:18 2004//Ttekkotsu-2_3 +/Kinematics.h/1.31/Fri Jan 14 21:20:05 2005//Ttekkotsu-2_3 +/LedEngine.cc/1.15/Sun Sep 12 04:22:37 2004//Ttekkotsu-2_3 +/LedEngine.h/1.19/Thu Jan 20 23:18:25 2005//Ttekkotsu-2_3 +/LedMC.h/1.8/Fri Dec 17 05:52:36 2004//Ttekkotsu-2_3 +/MCList.make/1.1.1.1/Mon Sep 30 18:19:49 2002//Ttekkotsu-2_3 +/MMAccessor.h/1.9/Wed Feb 18 21:13:02 2004//Ttekkotsu-2_3 +/MotionCommand.cc/1.3/Thu Sep 25 15:27:23 2003//Ttekkotsu-2_3 +/MotionCommand.h/1.17/Mon Feb 9 22:45:28 2004//Ttekkotsu-2_3 +/MotionManager.cc/1.40/Fri Jan 7 19:23:45 2005//Ttekkotsu-2_3 +/MotionManager.h/1.23/Mon Oct 18 23:10:26 2004//Ttekkotsu-2_3 +/MotionManagerMsg.h/1.4/Tue Sep 2 20:58:49 2003//Ttekkotsu-2_3 +/MotionSequenceEngine.cc/1.6/Tue Jan 11 18:39:36 2005//Ttekkotsu-2_3 +/MotionSequenceEngine.h/1.9/Tue Jan 11 18:39:36 2005//Ttekkotsu-2_3 +/MotionSequenceMC.h/1.27/Tue Jan 11 18:38:52 2005//Ttekkotsu-2_3 +/OldHeadPointerMC.cc/1.1/Thu Oct 14 20:23:50 2004//Ttekkotsu-2_3 +/OldHeadPointerMC.h/1.1/Thu Oct 14 20:23:50 2004//Ttekkotsu-2_3 +/OldKinematics.cc/1.1/Thu Aug 5 20:29:04 2004//Ttekkotsu-2_3 +/OldKinematics.h/1.1/Thu Aug 5 20:29:04 2004//Ttekkotsu-2_3 +/OutputCmd.cc/1.2/Tue Jan 4 19:51:41 2005//Ttekkotsu-2_3 +/OutputCmd.h/1.3/Sun Sep 7 22:14:01 2003//Ttekkotsu-2_3 +/OutputPID.h/1.5/Sat Dec 13 05:01:40 2003//Ttekkotsu-2_3 +/PIDMC.h/1.12/Tue Dec 21 00:42:21 2004//Ttekkotsu-2_3 +/Path.h/1.5/Thu Sep 25 15:27:23 2003//Ttekkotsu-2_3 +/PostureEngine.cc/1.24/Fri Jan 7 19:36:38 2005//Ttekkotsu-2_3 +/PostureEngine.h/1.16/Fri Jan 7 19:36:38 2005//Ttekkotsu-2_3 +/PostureMC.cc/1.2/Fri Jan 7 21:12:35 2005//Ttekkotsu-2_3 +/PostureMC.h/1.12/Fri Jan 7 21:13:10 2005//Ttekkotsu-2_3 +/RemoteControllerMC.h/1.5/Tue Dec 21 00:42:21 2004//Ttekkotsu-2_3 +/Spline.h/1.5/Thu Sep 25 15:27:23 2003//Ttekkotsu-2_3 +/TailWagMC.h/1.7/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/WalkMC.cc/1.30/Mon Dec 20 21:26:24 2004//Ttekkotsu-2_3 +/WalkMC.h/1.29/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/WaypointEngine.h/1.4/Tue Jul 27 14:33:59 2004//Ttekkotsu-2_3 +/WaypointWalkMC.h/1.3/Tue Jul 27 14:33:59 2004//Ttekkotsu-2_3 +/gvector.h/1.5/Thu Sep 25 15:27:23 2003//Ttekkotsu-2_3 +D/roboop//// diff -urdN ../Tekkotsu_2.2.2/Motion/CVS/Repository ./Motion/CVS/Repository --- ../Tekkotsu_2.2.2/Motion/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Motion/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Motion diff -urdN ../Tekkotsu_2.2.2/Motion/CVS/Root ./Motion/CVS/Root --- ../Tekkotsu_2.2.2/Motion/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Motion/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Motion/CVS/Tag ./Motion/CVS/Tag --- ../Tekkotsu_2.2.2/Motion/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Motion/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Motion/DynamicMotionSequence.h ./Motion/DynamicMotionSequence.h --- ../Tekkotsu_2.2.2/Motion/DynamicMotionSequence.h Tue Dec 21 17:39:01 2004 +++ ./Motion/DynamicMotionSequence.h Tue Dec 21 17:39:01 2004 @@ -116,7 +116,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/EmergencyStopMC.cc ./Motion/EmergencyStopMC.cc --- ../Tekkotsu_2.2.2/Motion/EmergencyStopMC.cc Mon Aug 30 16:26:45 2004 +++ ./Motion/EmergencyStopMC.cc Fri Jan 7 18:16:58 2005 @@ -13,9 +13,8 @@ EmergencyStopMC::EmergencyStopMC() : PostureMC(), paused(false), stilldown(false), active(true), period(2000), timeoflastbtn(0), timeofthisbtn(0), timeoflastfreeze(0), duration(600), - pidcutoff(static_cast(0.16*255)), ledengine() + pidcutoff(0.2), ledengine() { - setAutoPrune(false); for(unsigned int i=0; irobotDesign&WorldState::ERS210Mask) { @@ -34,6 +33,7 @@ ledengine.cycle(1<<(NumLEDs-1),period,1,0,period/2); ledengine.cycle(1<<(NumLEDs-2),period,1); } + defaultMaxSpeed(.15); takeSnapshot(); } @@ -55,17 +55,25 @@ } if(!paused) return 0; - for(unsigned int i=0; i(piddutyavgs[i]*.8+fabs(state->pidduties[i])*255*.2); - //reset if there's a force... - if(piddutyavgs[i]>pidcutoff) { - cmds[i].value-=state->pidduties[i]/10; - // cmds[i].value=state->outputs[i]; - // cout << outputNames[i] << ' ' << state->pidduties[i] << ' ' << state->outputs[i] << endl; + //immediately following a pause, just hold current position at first to prevent twitching if we were in motion + if(get_time()-timeoflastfreeze>FrameTime*NumFrames*5) { + //once joints have come to rest, respond to outside forces + for(unsigned int i=0; ipidduties[i]*.1f; + //reset if there's something significantly out of place (perhaps we're being overridden) + if(fabsf(state->outputs[PIDJointOffset+i]-cmds[PIDJointOffset+i].value)>.15f) { + curPositions[PIDJointOffset+i]=cmds[PIDJointOffset+i].value=state->outputs[PIDJointOffset+i]; + dirty=true; + targetReached=false; + } + //give if there's a force... + if(fabsf(piddutyavgs[i])>pidcutoff) { + cmds[PIDJointOffset+i].value-=piddutyavgs[PIDJointOffset+i]; //move in the direction of the force + dirty=true; + targetReached=false; + } } - //reset if there's just something out of place (perhaps we're being overridden) - if(fabs(state->outputs[i]-cmds[i].value)>.1) - cmds[i].value=state->outputs[i]; } ledengine.updateLEDs(&cmds[LEDOffset]); if(state->robotDesign&WorldState::ERS7Mask) { @@ -99,18 +107,6 @@ return PostureMC::updateOutputs(); } -void EmergencyStopMC::takeSnapshot() { - for(unsigned int i=0; ioutputs[i]; - dirty=true; -} - -void EmergencyStopMC::takeSnapshot(const WorldState* st) { - for(unsigned int i=0; ioutputs[i]; - dirty=true; -} - void EmergencyStopMC::setActive(bool a) { if(paused) { if(!a && active) @@ -126,19 +122,15 @@ if(p!=paused) { paused=p; if(active) { - dirty=true; if(paused) { freezeJoints(); if(sound) sndman->PlayFile(config->motion.estop_on_snd); - timeoflastfreeze=get_time(); - // pprintf(TextOutputStream,"*** PAUSED ***\n"); cout << "*** PAUSED ***" << endl; } else { releaseJoints(); if(sound) sndman->PlayFile(config->motion.estop_off_snd); - // pprintf(TextOutputStream,"*** UNPAUSED ***\n"); cout << "*** UNPAUSED ***" << endl; } } @@ -146,7 +138,12 @@ } void EmergencyStopMC::freezeJoints() { - takeSnapshot(); + dirty=true; + targetReached=false; + for(unsigned int i=0; igetOutputCmd(i).value; + for(unsigned int i=0; ipidduties[i]; for(unsigned int i=0; i(r*255); } //!< takes a value [0,1] to set #pidcutoff - float getResetSensitivity() { return pidcutoff/255.0; } //!< returns a value [0-1], corresponding to #pidcutoff + void setResetSensitivity(float r) { pidcutoff=r; } //!< takes a value to set #pidcutoff + float getResetSensitivity() { return pidcutoff; } //!< returns #pidcutoff protected: void freezeJoints(); //!< code to execute when locking joints @@ -52,8 +49,8 @@ unsigned int timeofthisbtn; //!< time of the current button press unsigned int timeoflastfreeze; //!< the time estop was last turned on unsigned int duration; //!motion.makePath(::config->motion.kinematics),"Camera") { setWeight(1); @@ -16,10 +17,10 @@ headTargets[i]=headCmds[i].value=state->outputs[HeadOffset+i]; } -void HeadPointerMC::defaultMaxSpeed() { - maxSpeed[TiltOffset]=config->motion.max_head_tilt_speed*FrameTime/1000; - maxSpeed[PanOffset]=config->motion.max_head_pan_speed*FrameTime/1000; - maxSpeed[RollOffset]=config->motion.max_head_roll_speed*FrameTime/1000; +void HeadPointerMC::defaultMaxSpeed(float x/*=1*/) { + maxSpeed[TiltOffset]=config->motion.max_head_tilt_speed*FrameTime*x/1000; + maxSpeed[PanOffset]=config->motion.max_head_pan_speed*FrameTime*x/1000; + maxSpeed[RollOffset]=config->motion.max_head_roll_speed*FrameTime*x/1000; } void HeadPointerMC::setWeight(float w) { @@ -86,10 +87,10 @@ int HeadPointerMC::updateOutputs() { int tmp=isDirty(); - if(tmp) { + if(tmp || hold) { dirty=false; for(unsigned int i=0; isetOutput(this,i+HeadOffset,headCmds[i]); } else { // we may be trying to exceeded maxSpeed @@ -115,14 +116,34 @@ if(!dirty && !targetReached) { postEvent(EventBase(EventBase::motmanEGID,getID(),EventBase::statusETID)); targetReached=true; + targetTimestamp=get_time(); } } return tmp; } +int HeadPointerMC::isAlive() { + if(dirty || !targetReached) + return true; + if(targetReached && get_time()-targetTimestamp>timeout) { //prevents a conflicted HeadPointerMC's from fighting forever + if(getAutoPrune()) + serr->printf("WARNING: HeadPointerMC timed out - possible joint conflict or out-of-range target\n"); + return false; + } + float maxdiff=0; + for(unsigned int i=0; ioutputs[HeadOffset+i]-headTargets[i]); + if(diff>maxdiff) + maxdiff=diff; + } + return (maxdiff>tolerance); +} + void HeadPointerMC::markDirty() { dirty=true; targetReached=false; + for(unsigned int i=0; igetOutputCmd(HeadOffset+i).value; //not state->outputs[HeadOffset+i]; - see function documentation } bool HeadPointerMC::ensureValidJoint(unsigned int& i) { @@ -138,7 +159,7 @@ } serr->printf("ERROR: HeadPointerMC received a joint index of %d (HeadOffset%+d).\n",i,i-HeadOffset); serr->printf("ERROR: This does not appear to be a head joint. HeadPointerMC only controls\n"); - serr->printf(" head joints, and assumes its arguments are relative to HeadOffset\n",i); + serr->printf(" head joints, and assumes its arguments are relative to HeadOffset\n"); return false; } @@ -147,10 +168,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Motion/HeadPointerMC.h ./Motion/HeadPointerMC.h --- ../Tekkotsu_2.2.2/Motion/HeadPointerMC.h Wed Dec 22 19:59:03 2004 +++ ./Motion/HeadPointerMC.h Fri Jan 7 16:13:31 2005 @@ -16,13 +16,23 @@ //! Destructor virtual ~HeadPointerMC() {} + //!Sets #hold - if this is set to false, it will allow a persistent motion to behave the same as a pruned motion, without being pruned + virtual void setHold(bool h=true) { hold=h; } + virtual bool getHold() { return hold; } //!< return #hold + + virtual void setTolerance(float t) { tolerance=t; } //!< sets #tolerance + virtual float getTolerance() { return tolerance; } //!< returns #tolerance + virtual void setTimeout(unsigned int delay) { timeout=delay; } //!< sets #timeout + virtual unsigned int getTimeout() { return timeout; } //!< returns #timeout + //!@name Speed Control //! Sets #maxSpeed to 0 (no maximum) void noMaxSpeed() { for(unsigned int i=0; ijointToJoint(NearIRFrameOffset,CameraFrameOffset); * NEWMAT::ColumnVector camera_ray = T*Kinematics::pack(0,0,state->sensors[NearIRDistOffset]); * float x,y; // x and y will be in the range -1 to 1 for resolution layer independence - * config->vision.computePixel(x,y,camera_ray(1),camera_ray(2),camera_ray(3)); + * config->vision.computePixel(camera_ray(1),camera_ray(2),camera_ray(3),x,y); * @endcode * * Finally, for each model we have created a database of "interest points" -- @@ -350,10 +350,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Motion/LedEngine.cc ./Motion/LedEngine.cc --- ../Tekkotsu_2.2.2/Motion/LedEngine.cc Sun Sep 12 00:22:37 2004 +++ ./Motion/LedEngine.cc Sun Sep 12 00:22:37 2004 @@ -392,7 +392,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/LedEngine.h ./Motion/LedEngine.h --- ../Tekkotsu_2.2.2/Motion/LedEngine.h Mon Nov 15 19:29:47 2004 +++ ./Motion/LedEngine.h Thu Jan 20 18:18:25 2005 @@ -85,7 +85,7 @@ //!returns the current value of the LED specified by @a led_id (the value being expressed - may change if cycling for instance) float getValue(LEDOffset_t led_id,unsigned int planahead=0) { return calcValue(led_id-LEDOffset,get_time()+planahead); } - //!holds a series of bit masks for the onedigit style of numerical display (0-10 and '.') + //!holds a series of bit masks for the onedigit style of numerical display (-9:9 and '.') /*!the hope is that these actually resemble the shapes of the numbers so people can * recognize them more easily - without converting base 2 in their heads. */ static const LEDBitMask_t ERS210numMasks[11]; @@ -133,7 +133,7 @@ //!Performs the 'cycle' calculation based on desired period, amplituted, amplitude offset, and time since start. See cycle() static float calcCycle(unsigned int period, float amp, float offset, unsigned int t) { // cout << period << ',' << amp << ',' << offset << ',' << time << " -> " << x; - float x=cos(t*6.2831853/period)*(-amp/2)+.5+offset; + float x=float(cos(t*2*M_PI/period))*(-amp/2)+.5f+offset; if(x<0) return 0; if(x>1) @@ -177,10 +177,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Motion/LedMC.h ./Motion/LedMC.h --- ../Tekkotsu_2.2.2/Motion/LedMC.h Fri Dec 17 00:52:36 2004 +++ ./Motion/LedMC.h Fri Dec 17 00:52:36 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/MMAccessor.h ./Motion/MMAccessor.h --- ../Tekkotsu_2.2.2/Motion/MMAccessor.h Wed Feb 18 16:13:02 2004 +++ ./Motion/MMAccessor.h Wed Feb 18 16:13:02 2004 @@ -153,7 +153,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionCommand.cc ./Motion/MotionCommand.cc --- ../Tekkotsu_2.2.2/Motion/MotionCommand.cc Thu Sep 25 11:27:23 2003 +++ ./Motion/MotionCommand.cc Thu Sep 25 11:27:23 2003 @@ -7,7 +7,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionCommand.h ./Motion/MotionCommand.h --- ../Tekkotsu_2.2.2/Motion/MotionCommand.h Mon Feb 9 17:45:28 2004 +++ ./Motion/MotionCommand.h Mon Feb 9 17:45:28 2004 @@ -186,7 +186,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionManager.cc ./Motion/MotionManager.cc --- ../Tekkotsu_2.2.2/Motion/MotionManager.cc Fri Dec 3 19:11:34 2004 +++ ./Motion/MotionManager.cc Fri Jan 7 14:23:45 2005 @@ -334,7 +334,7 @@ if(sumcmd.weight>0) outputs[frame][output]=sumcmd.value/sumcmd.weight; else //if zero weight, hold last value - outputs[frame][output]=cmdSums[output]; + sumcmd.value=outputs[frame][output]=cmdSums[output]; if(frame==NumFrames-1) cmds[output]=sumcmd; } @@ -763,10 +763,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionManager.h ./Motion/MotionManager.h --- ../Tekkotsu_2.2.2/Motion/MotionManager.h Mon Oct 18 19:10:26 2004 +++ ./Motion/MotionManager.h Mon Oct 18 19:10:26 2004 @@ -259,7 +259,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionManagerMsg.h ./Motion/MotionManagerMsg.h --- ../Tekkotsu_2.2.2/Motion/MotionManagerMsg.h Tue Sep 2 16:58:49 2003 +++ ./Motion/MotionManagerMsg.h Tue Sep 2 16:58:49 2003 @@ -52,7 +52,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionSequenceEngine.cc ./Motion/MotionSequenceEngine.cc --- ../Tekkotsu_2.2.2/Motion/MotionSequenceEngine.cc Tue Dec 21 17:22:54 2004 +++ ./Motion/MotionSequenceEngine.cc Tue Jan 11 13:39:36 2005 @@ -13,8 +13,8 @@ if(isPlaying()) { if(lasttime==0) play(); - double diff=(get_time()-lasttime)*playspeed; - if(diff+playtime<0) + float diff=(get_time()-lasttime)*playspeed; + if(playtime<-diff) setTime(0); else setTime(static_cast(diff+playtime)); @@ -30,6 +30,8 @@ if(curstamps[i]!=playtime) { if(nexts[i]!=invalid_move) calcOutput(curs[i],playtime,getKeyFrame(prevs[i]),getKeyFrame(nexts[i])); + else if(hold) + curs[i]=getKeyFrame(prevs[i]).cmd; else curs[i].unset(); curstamps[i]=playtime; @@ -45,15 +47,20 @@ unsigned int t=0; Move_idx_t tprevs[NumOutputs]; Move_idx_t tnexts[NumOutputs]; - for(unsigned int i=0;i0) @@ -467,9 +491,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Motion/MotionSequenceEngine.h ./Motion/MotionSequenceEngine.h --- ../Tekkotsu_2.2.2/Motion/MotionSequenceEngine.h Wed Dec 22 20:47:07 2004 +++ ./Motion/MotionSequenceEngine.h Tue Jan 11 13:39:36 2005 @@ -102,7 +102,7 @@ class MotionSequenceEngine : public LoadSave { public: //!constructor, will start playing immediately - MotionSequenceEngine() : LoadSave(), playtime(1), lasttime(0), endtime(0), playspeed(1.0), playing(true), loadSaveMode(M_PI/180) {} + MotionSequenceEngine() : LoadSave(), playtime(1), lasttime(0), endtime(0), playspeed(1.0), playing(true), hold(true), loadSaveMode(M_PI/180) {} //!destructor virtual ~MotionSequenceEngine() {} @@ -138,6 +138,8 @@ void setOutputCmd(unsigned int i, const OutputCmd& cmd); //!< will insert a keyframe for the given output, or change an existing one const OutputCmd& getOutputCmd(unsigned int i); //!< gets the value of output @a i at the playhead void setPose(const PostureEngine& pose); //!< calls setOutputCmd on each of the OutputCmds in @a pose + PostureEngine getPose(); //!< returns the set of OutputCmd's at the current playhead as a PostureEngine + void getPose(PostureEngine& pose); //!< stores the set of OutputCmd's at the current playhead into the specified PostureEngine void overlayPose(const PostureEngine& pose); //!< calls setOutputCmd on non-zero weighted OutputCmds in @a pose void compress(); //!< compresses the sequence by eliminating sequences of moves which are identical virtual unsigned int getMaxFrames() const=0; //!< returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter @@ -154,6 +156,10 @@ unsigned int getEndTime() const { return endtime; } //!< returns the length of the motion sequence (in milliseconds) void setSpeed(float x) { playspeed=x; } //!< sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=@b backwards) float getSpeed() const { return playspeed; } //!< returns the playback speed + + virtual void setHold(bool h=true) { hold=h; } //!< Sets #hold - if this is set to false, it will allow a persistent motion to behave the same as a pruned motion, without being pruned + virtual bool getHold() { return hold; } //!< return #hold + //@} //!@name Deprecated @@ -188,6 +194,7 @@ unsigned int endtime; //!< max of #moves's Move::starttime's float playspeed; //!< multiplies the difference between current time and starttime, negative will cause play backwards bool playing; //!< true if playing, false if paused + bool hold; //!< if set to true, the posture will be kept active; otherwise joints will be marked unused after each posture is achieved (as if the posture was pruned); set through setHold() float loadSaveMode; //!< 1 to use radians, M_PI/180 for degrees during a save @@ -224,10 +231,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Motion/MotionSequenceMC.h ./Motion/MotionSequenceMC.h --- ../Tekkotsu_2.2.2/Motion/MotionSequenceMC.h Wed Dec 22 20:47:07 2004 +++ ./Motion/MotionSequenceMC.h Tue Jan 11 13:38:52 2005 @@ -23,11 +23,11 @@ clear(); } //!constructor, loads from a file and then resets the playtime to beginning and begins to play - explicit MotionSequenceMC(const char* filename) - : MotionSequenceEngine(), moves() + explicit MotionSequenceMC(const std::string& filename) + : MotionCommand(), MotionSequenceEngine(), moves() { clear(); - LoadFile(filename); + LoadFile(filename.c_str()); setTime(1); } //!destructor @@ -43,6 +43,7 @@ for(unsigned int i=0; isetOutput(this,i,getOutputCmd(i)); } else { + //cout << getTime() << ": "; for(unsigned int i=0; isetOutput(this,i,frames); } + //cout <<'\n'<< flush; } return NumOutputs; // if(i list_t; //!< shorthand for the ListMemBuf that stores all of the movement frames // MEMBERS: - list_t moves; //!< stores all of the movement keyframes + list_t moves; //!< stores all of the movement keyframes virtual Move& getKeyFrame(Move_idx_t x) { return moves[x]; } virtual const Move& getKeyFrame(Move_idx_t x) const { return moves[x]; } @@ -119,10 +125,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Motion/OldHeadPointerMC.cc ./Motion/OldHeadPointerMC.cc --- ../Tekkotsu_2.2.2/Motion/OldHeadPointerMC.cc Thu Oct 14 16:23:50 2004 +++ ./Motion/OldHeadPointerMC.cc Thu Oct 14 16:23:50 2004 @@ -176,7 +176,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/OldHeadPointerMC.h ./Motion/OldHeadPointerMC.h --- ../Tekkotsu_2.2.2/Motion/OldHeadPointerMC.h Thu Oct 14 16:23:50 2004 +++ ./Motion/OldHeadPointerMC.h Thu Oct 14 16:23:50 2004 @@ -116,7 +116,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/OldKinematics.cc ./Motion/OldKinematics.cc --- ../Tekkotsu_2.2.2/Motion/OldKinematics.cc Thu Aug 5 16:29:04 2004 +++ ./Motion/OldKinematics.cc Thu Aug 5 16:29:04 2004 @@ -603,7 +603,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/OldKinematics.h ./Motion/OldKinematics.h --- ../Tekkotsu_2.2.2/Motion/OldKinematics.h Thu Aug 5 16:29:04 2004 +++ ./Motion/OldKinematics.h Thu Aug 5 16:29:04 2004 @@ -118,7 +118,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/OutputCmd.cc ./Motion/OutputCmd.cc --- ../Tekkotsu_2.2.2/Motion/OutputCmd.cc Fri Sep 12 11:29:03 2003 +++ ./Motion/OutputCmd.cc Tue Jan 4 14:51:41 2005 @@ -1,3 +1,15 @@ #include "OutputCmd.h" OutputCmd OutputCmd::unused; + +/*! @file + * @brief Implements OutputCmd, holds information needed to control a single output + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + diff -urdN ../Tekkotsu_2.2.2/Motion/OutputCmd.h ./Motion/OutputCmd.h --- ../Tekkotsu_2.2.2/Motion/OutputCmd.h Sun Sep 7 18:14:01 2003 +++ ./Motion/OutputCmd.h Sun Sep 7 18:14:01 2003 @@ -27,7 +27,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/OutputPID.h ./Motion/OutputPID.h --- ../Tekkotsu_2.2.2/Motion/OutputPID.h Sat Dec 13 00:01:40 2003 +++ ./Motion/OutputPID.h Sat Dec 13 00:01:40 2003 @@ -44,7 +44,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/PIDMC.h ./Motion/PIDMC.h --- ../Tekkotsu_2.2.2/Motion/PIDMC.h Mon Dec 20 19:42:21 2004 +++ ./Motion/PIDMC.h Mon Dec 20 19:42:21 2004 @@ -139,7 +139,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/Path.h ./Motion/Path.h --- ../Tekkotsu_2.2.2/Motion/Path.h Thu Sep 25 11:27:23 2003 +++ ./Motion/Path.h Thu Sep 25 11:27:23 2003 @@ -107,7 +107,7 @@ * @endverbatim * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/PostureEngine.cc ./Motion/PostureEngine.cc --- ../Tekkotsu_2.2.2/Motion/PostureEngine.cc Wed Dec 22 19:59:03 2004 +++ ./Motion/PostureEngine.cc Fri Jan 7 14:36:38 2005 @@ -8,12 +8,17 @@ void PostureEngine::takeSnapshot() { for(unsigned int i=0; ioutputs[i],1); + cmds[i].value=state->outputs[i]; } void PostureEngine::takeSnapshot(const WorldState* st) { for(unsigned int i=0; ioutputs[i],1); + cmds[i].value=st->outputs[i]; +} + +void PostureEngine::setWeights(float w, unsigned int lowjoint, unsigned int highjoint) { + for(unsigned int i=lowjoint; igetOutputCmd(i).value; //not state->outputs[i]; - see function documentation + return *this; +} + +void PostureMC::defaultMaxSpeed(float x/*=1*/) { + for(unsigned int i=0; imotion.max_head_tilt_speed*FrameTime*x/1000; + maxSpeeds[HeadOffset+PanOffset]=config->motion.max_head_pan_speed*FrameTime*x/1000; + maxSpeeds[HeadOffset+RollOffset]=config->motion.max_head_roll_speed*FrameTime*x/1000; +} + +int PostureMC::updateOutputs() { + int tmp=isDirty(); + if(tmp || hold) { + dirty=false; + for(unsigned int i=0; isetOutput(this,i,cmds[i]); + } else { // we may be trying to exceeded maxSpeed + unsigned int f=0; + while(cmds[i].value>curPositions[i]+maxSpeeds[i] && fsetOutput(this,i,OutputCmd(curPositions[i],cmds[i].weight),f); + f++; + } + while(cmds[i].valuesetOutput(this,i,OutputCmd(curPositions[i],cmds[i].weight),f); + f++; + } + if(fsetOutput(this,i,cmds[i],f); + } else // we didn't reach target value, still dirty + dirty=true; + } + } + if(!dirty && !targetReached) { + postEvent(EventBase(EventBase::motmanEGID,getID(),EventBase::statusETID)); + targetReached=true; + targetTimestamp=get_time(); + } + } + return tmp; +} + +int PostureMC::isAlive() { + if(dirty || !targetReached) + return true; + if(targetReached && get_time()-targetTimestamp>timeout) { //prevents a conflicted PostureMC's from fighting forever + if(getAutoPrune()) + serr->printf("WARNING: posture timed out - possible joint conflict or out-of-range target\n"); + return false; + } + PostureEngine tmp; + tmp.takeSnapshot(); + return (maxdiff(tmp)>tolerance); +} + +void PostureMC::init() { + defaultMaxSpeed(); + setDirty(); +} + +/*! @file + * @brief Implements PostureMC, a MotionCommand shell for PostureEngine + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ diff -urdN ../Tekkotsu_2.2.2/Motion/PostureMC.h ./Motion/PostureMC.h --- ../Tekkotsu_2.2.2/Motion/PostureMC.h Mon Dec 20 19:42:21 2004 +++ ./Motion/PostureMC.h Fri Jan 7 16:13:10 2005 @@ -4,98 +4,160 @@ #include "MotionCommand.h" #include "PostureEngine.h" -#include "MotionManager.h" class WorldState; //! 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. + * If you want to keep it alive so your behavior can repeatedly use + * the posture to move around, either call setAutoPrune(@c false), or + * (preferably) use MotionManager::addPersistentMotion() when adding + * the motion. + * + * This class will throw a status event when the sensors confirm the + * robot has reached a specified target posture, within a configurable + * range of #tolerance. The class will keep trying to reach a target + * position for #timeout milliseconds before giving up. + * + * By default, this class will adhere to the values of + * ::MaxOutputSpeed, except for head joints which use + * Config::motion_config values. */ class PostureMC : public MotionCommand, public PostureEngine { public: + //!#timeout will be set to a default value of 2 seconds, #tolerance is .035 radians (~2 degrees), #hold is true + //!@name Constructors + //!constructor - PostureMC() : MotionCommand(),PostureEngine(),dirty(true),tolerance(.01) { } + PostureMC() + : MotionCommand(),PostureEngine(),dirty(true),hold(true),tolerance(.035), + targetReached(false),targetTimestamp(0),timeout(2000) + { init(); } + //!constructor, loads from @a filename - PostureMC(const char* filename) : MotionCommand(),PostureEngine(filename),dirty(true),tolerance(.01) { } + PostureMC(const std::string& filename) + : MotionCommand(),PostureEngine(filename),dirty(true),hold(true),tolerance(.035), + targetReached(false),targetTimestamp(0),timeout(2000) + { init(); } + //!constructor, initializes joint positions to the current state of the outputs as defined by @a state - PostureMC(const WorldState* st) : MotionCommand(),PostureEngine(st),dirty(true),tolerance(.01) { } + PostureMC(const WorldState* st) + : MotionCommand(),PostureEngine(st),dirty(true),hold(true),tolerance(.035), + targetReached(false),targetTimestamp(0),timeout(2000) + { init(); } + //!destructor virtual ~PostureMC() {} + //@} - //!@name New Stuff - /*!@brief call this if you call PostureEngine::setOutputCmd(), that doesn't know about dirty flags */ - /* This is the downside of making setOutputCmd() not virtual - if you pass this around as just a - * PostureEngine, calls made to that won't be able to update the dirty flag automatically. However, - * if the object is typed as a PostureMC at the time the call is made, then you don't have to worry.\n - * These are also not virtual - otherwise you'd have to still check the motion out and it would make - * this all pointless! @return @c *this */ - PostureMC& setDirty(bool d=true) { dirty=d; return *this; } + //!These functions allow you to mediate problems with a physical robot, such as tolerance of joints not going quite where the should, or safe speed of movement + //!@name Physical Implementation Issues + + //!Call this if you call PostureEngine::setOutputCmd(), or set values through getOutputCmd()'s reference, since neither will know to set the PostureMC dirty flag + /*! This is the downside of making setOutputCmd() not virtual - if + * you pass this around as just a PostureEngine, calls made to that + * won't be able to update the dirty flag automatically. However, + * if the object is typed as a PostureMC at the time the call is + * made, then you don't have to worry.\n These are also not virtual + * - otherwise you'd have to still check the motion out and it + * would make this all pointless! + * + * MotionManager::getOutputCmd() is called instead of + * WorldState::outputs[] because if this is being called rapidly + * (i.e. after every sensor reading) using the sensor values will + * cause problems with very slow acceleration due to sensor lag + * continually resetting the current position. Using the last + * value sent by the MotionManager fixes this. + * + * @return @c *this */ + PostureMC& setDirty(bool d=true); + + //!Sets #hold - if this is set to false, it will allow a persistent motion to behave the same as a pruned motion, without being pruned + virtual PostureMC& setHold(bool h=true) { hold=h; return *this; } + virtual bool getHold() { return hold; } //!< return #hold + virtual PostureMC& setTolerance(float t) { tolerance=t; return *this; } //!< sets #tolerance, returns @c *this virtual float getTolerance() { return tolerance; } //!< returns #tolerance + virtual PostureMC& setTimeout(unsigned int delay) { timeout=delay; return *this; } //!< sets #timeout, returns @c *this + virtual unsigned int getTimeout() { return timeout; } //!< returns #timeout + + //! Sets #maxSpeed to 0 (no maximum) + void noMaxSpeed() { for(unsigned int i=0; i0) - motman->setOutput(this,i,cmds[i]); - bool r=dirty; dirty=false; return r; - } - virtual int isDirty() { return dirty; } + virtual int updateOutputs(); + virtual int isDirty() { return dirty || !targetReached; } //! returns non-zero (true) if PostureEngine::maxdiff() between this and the current position is over #tolerance /*! This is handy so you can set to have the robot go to a position and then automatically remove * the MotionCommand when it gets there - but beware fighting Postures which average out and neither * succeeds */ - virtual int isAlive() { - if(dirty || getAutoPrune()==false) //doesn't bother computing if we're staying alive anyway - return true; - PostureEngine tmp; - tmp.takeSnapshot(); - return (maxdiff(tmp)>tolerance); - } + virtual int isAlive(); virtual void DoStart() { MotionCommand::DoStart(); dirty=true; } //!< marks this as dirty each time it is added //@} - //!Had to override stuff to manage a dirty flag + //!These functions merely set the dirty flag and then call the PostureEngine version of the function //!@name PostureEngine Stuff - inline virtual void takeSnapshot() { dirty=true; PostureEngine::takeSnapshot(); } - inline virtual void takeSnapshot(const WorldState* st) { dirty=true; PostureEngine::takeSnapshot(st); } - inline virtual void clear() { dirty=true; PostureEngine::clear(); } - inline virtual PostureEngine& setOverlay(const PostureEngine& pe) { dirty=true; PostureEngine::setOverlay(pe); return *this; } - inline virtual PostureEngine& setUnderlay(const PostureEngine& pe) { dirty=true; PostureEngine::setUnderlay(pe); return *this; } - inline virtual PostureEngine& setAverage(const PostureEngine& pe,float w=0.5) { dirty=true; PostureEngine::setAverage(pe,w); return *this; } - inline virtual PostureEngine& setCombine(const PostureEngine& pe) { dirty=true; PostureEngine::setCombine(pe); return *this; } - inline PostureEngine& setOutputCmd(unsigned int i, const OutputCmd& c) { dirty=true; PostureEngine::setOutputCmd(i,c); return *this; } - inline virtual unsigned int LoadBuffer(const char buf[], unsigned int len) { dirty=true; return PostureEngine::LoadBuffer(buf,len); } + inline virtual void takeSnapshot() { setDirty(); PostureEngine::takeSnapshot(); } + inline virtual void takeSnapshot(const WorldState* st) { setDirty(); PostureEngine::takeSnapshot(st); } + inline virtual void setWeights(float w) { setWeights(w,0,NumOutputs); } + inline virtual void setWeights(float w, unsigned int lowjoint, unsigned int highjoint) { setDirty(); PostureEngine::setWeights(w,lowjoint,highjoint); } + inline virtual void clear() { setDirty(); PostureEngine::clear(); } + inline virtual PostureEngine& setOverlay(const PostureEngine& pe) { setDirty(); PostureEngine::setOverlay(pe); return *this; } + inline virtual PostureEngine& setUnderlay(const PostureEngine& pe) { setDirty(); PostureEngine::setUnderlay(pe); return *this; } + inline virtual PostureEngine& setAverage(const PostureEngine& pe,float w=0.5) { setDirty(); PostureEngine::setAverage(pe,w); return *this; } + inline virtual PostureEngine& setCombine(const PostureEngine& pe) { setDirty(); PostureEngine::setCombine(pe); return *this; } + inline PostureEngine& setOutputCmd(unsigned int i, const OutputCmd& c) { setDirty(); PostureEngine::setOutputCmd(i,c); return *this; } + inline virtual unsigned int LoadBuffer(const char buf[], unsigned int len) { setDirty(); return PostureEngine::LoadBuffer(buf,len); } + inline virtual bool solveLinkPosition(const NEWMAT::ColumnVector& Ptgt, unsigned int link, const NEWMAT::ColumnVector& Peff) { setDirty(); return PostureEngine::solveLinkPosition(Ptgt,link,Peff); } + inline virtual bool solveLinkPosition(float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z) { setDirty(); return PostureEngine::solveLinkPosition(Ptgt_x,Ptgt_y,Ptgt_z,link,Peff_x,Peff_y,Peff_z); } + inline virtual bool solveLinkVector(const NEWMAT::ColumnVector& Ptgt, unsigned int link, const NEWMAT::ColumnVector& Peff) { setDirty(); return PostureEngine::solveLinkVector(Ptgt,link,Peff); } + inline virtual bool solveLinkVector(float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z) { setDirty(); return PostureEngine::solveLinkVector(Ptgt_x,Ptgt_y,Ptgt_z,link,Peff_x,Peff_y,Peff_z); } //@} protected: - bool dirty; //!< true if changes have been made since last updateOutputs() - float tolerance; //!< when autopruning, if the maxdiff() of this posture and the robot's current position is below this value, isAlive() will be false, defaults to 0.01 (5.7 degree error) + void init(); //!< initialize #curPositions and #maxSpeeds - //!defines Registerable stuff - /* REGDEFCUSTOMMEM(PostureMC) { - MotionCommand::registerDataRegions(regions); - registerRegion(regions,&cmds,&cmds,sizeof(cmds));//for PostureEngine, LoadSave doesn't have any (nonstatic) members - registerRegion(regions,&dirty,&tolerance,sizeof(tolerance)); - }*/ + bool dirty; //!< true if changes have been made since last updateOutputs() + bool hold; //!< if set to true, the posture will be kept active; otherwise joints will be marked unused after each posture is achieved (as if the posture was pruned); set through setHold() + float tolerance; //!< when autopruning, if the maxdiff() of this posture and the robot's current position is below this value, isAlive() will be false, defaults to 0.01 (5.7 degree error) + bool targetReached; //!< false if any joint is still moving towards its target + unsigned int targetTimestamp; //!< time at which the targetReached flag was set + unsigned int timeout; //!< number of milliseconds to wait before giving up on a target that should have already been reached, a value of -1U will try forever + float curPositions[NumOutputs]; //!< stores the last commanded value for each joint + float maxSpeeds[NumOutputs]; //!< initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame }; /*! @file - * @brief Defines PostureMC, a MotionCommand shell for PostureEngine + * @brief Describes PostureMC, a MotionCommand shell for PostureEngine * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Motion/RemoteControllerMC.h ./Motion/RemoteControllerMC.h --- ../Tekkotsu_2.2.2/Motion/RemoteControllerMC.h Mon Dec 20 19:42:21 2004 +++ ./Motion/RemoteControllerMC.h Mon Dec 20 19:42:21 2004 @@ -45,7 +45,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/Spline.h ./Motion/Spline.h --- ../Tekkotsu_2.2.2/Motion/Spline.h Thu Sep 25 11:27:23 2003 +++ ./Motion/Spline.h Thu Sep 25 11:27:23 2003 @@ -375,7 +375,7 @@ * @endverbatim * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/TailWagMC.h ./Motion/TailWagMC.h --- ../Tekkotsu_2.2.2/Motion/TailWagMC.h Wed Dec 22 20:47:07 2004 +++ ./Motion/TailWagMC.h Wed Dec 22 20:47:07 2004 @@ -61,7 +61,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/WalkMC.cc ./Motion/WalkMC.cc --- ../Tekkotsu_2.2.2/Motion/WalkMC.cc Mon Dec 20 16:26:24 2004 +++ ./Motion/WalkMC.cc Mon Dec 20 16:26:24 2004 @@ -593,7 +593,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/WalkMC.h ./Motion/WalkMC.h --- ../Tekkotsu_2.2.2/Motion/WalkMC.h Wed Dec 22 20:47:07 2004 +++ ./Motion/WalkMC.h Wed Dec 22 20:47:07 2004 @@ -303,7 +303,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/WaypointEngine.h ./Motion/WaypointEngine.h --- ../Tekkotsu_2.2.2/Motion/WaypointEngine.h Tue Jul 27 10:33:59 2004 +++ ./Motion/WaypointEngine.h Tue Jul 27 10:33:59 2004 @@ -750,7 +750,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/WaypointWalkMC.h ./Motion/WaypointWalkMC.h --- ../Tekkotsu_2.2.2/Motion/WaypointWalkMC.h Tue Jul 27 10:33:59 2004 +++ ./Motion/WaypointWalkMC.h Tue Jul 27 10:33:59 2004 @@ -50,7 +50,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/gvector.h ./Motion/gvector.h --- ../Tekkotsu_2.2.2/Motion/gvector.h Thu Sep 25 11:27:23 2003 +++ ./Motion/gvector.h Thu Sep 25 11:27:23 2003 @@ -677,7 +677,7 @@ * @endverbatim * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/CVS/Entries ./Motion/roboop/CVS/Entries --- ../Tekkotsu_2.2.2/Motion/roboop/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,33 @@ +/Makefile/1.11/Tue Nov 9 21:26:13 2004//Ttekkotsu-2_3 +/clik.cpp/1.5/Sun Sep 26 19:55:35 2004//Ttekkotsu-2_3 +/clik.h/1.4/Wed Jul 14 02:32:11 2004//Ttekkotsu-2_3 +/comp_dq.cpp/1.4/Wed Jul 14 02:32:11 2004//Ttekkotsu-2_3 +/comp_dqp.cpp/1.4/Wed Jul 14 02:32:11 2004//Ttekkotsu-2_3 +/config.cpp/1.9/Wed Sep 1 19:51:04 2004//Ttekkotsu-2_3 +/config.h/1.11/Wed Dec 22 19:18:48 2004//Ttekkotsu-2_3 +/control_select.cpp/1.3/Wed Jul 14 02:46:43 2004//Ttekkotsu-2_3 +/control_select.h/1.3/Wed Jul 14 02:46:43 2004//Ttekkotsu-2_3 +/controller.cpp/1.2/Wed Jul 14 02:32:11 2004//Ttekkotsu-2_3 +/controller.h/1.3/Wed Jul 14 02:46:43 2004//Ttekkotsu-2_3 +/delta_t.cpp/1.5/Fri Sep 3 15:56:33 2004//Ttekkotsu-2_3 +/dynamics.cpp/1.6/Wed Jul 14 03:22:32 2004//Ttekkotsu-2_3 +/dynamics_sim.cpp/1.2/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/dynamics_sim.h/1.3/Fri Jul 23 21:33:46 2004//Ttekkotsu-2_3 +/gnugraph.cpp/1.1/Tue Jul 20 17:55:24 2004//Ttekkotsu-2_3 +/gnugraph.h/1.1/Tue Jul 20 17:55:24 2004//Ttekkotsu-2_3 +/homogen.cpp/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/invkine.cpp/1.23/Mon Oct 18 17:01:38 2004//Ttekkotsu-2_3 +/kinemat.cpp/1.16/Tue Dec 21 23:51:22 2004//Ttekkotsu-2_3 +/quaternion.cpp/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/quaternion.h/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/readme.txt/1.2/Wed Jul 14 02:29:35 2004//Ttekkotsu-2_3 +/revisions.txt/1.2/Wed Jul 14 02:29:35 2004//Ttekkotsu-2_3 +/robdocs.tar.gz/1.2/Wed Jul 14 02:29:35 2004/-kb/Ttekkotsu-2_3 +/robot.cpp/1.19/Fri Dec 10 23:49:35 2004//Ttekkotsu-2_3 +/robot.h/1.18/Mon Oct 11 22:01:28 2004//Ttekkotsu-2_3 +/sensitiv.cpp/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/trajectory.cpp/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/trajectory.h/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/utils.cpp/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +/utils.h/1.4/Wed Jul 14 02:32:12 2004//Ttekkotsu-2_3 +D/extra//// diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/CVS/Repository ./Motion/roboop/CVS/Repository --- ../Tekkotsu_2.2.2/Motion/roboop/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Motion/roboop diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/CVS/Root ./Motion/roboop/CVS/Root --- ../Tekkotsu_2.2.2/Motion/roboop/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/CVS/Tag ./Motion/roboop/CVS/Tag --- ../Tekkotsu_2.2.2/Motion/roboop/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Entries ./Motion/roboop/extra/CVS/Entries --- ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,13 @@ +/bench.cpp/1.4/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/demo.cpp/1.4/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/demo_2dof_pd.cpp/1.1/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/makefile.gcc/1.2/Fri Jul 2 00:19:33 2004//Ttekkotsu-2_3 +/matlabtest.m/1.1/Wed Jun 16 21:50:00 2004//Ttekkotsu-2_3 +/puma560_motor.m/1.2/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/puma560_no_motor.m/1.2/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/puma560akb_motor.m/1.2/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/puma560akb_no_motor.m/1.2/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/rtest.cpp/1.4/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/stanford_no_motor.m/1.2/Wed Jul 14 02:29:41 2004//Ttekkotsu-2_3 +/test.txt/1.1/Wed Jun 16 21:50:00 2004//Ttekkotsu-2_3 +D/conf//// diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Repository ./Motion/roboop/extra/CVS/Repository --- ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Motion/roboop/extra diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Root ./Motion/roboop/extra/CVS/Root --- ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Tag ./Motion/roboop/extra/CVS/Tag --- ../Tekkotsu_2.2.2/Motion/roboop/extra/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Entries ./Motion/roboop/extra/conf/CVS/Entries --- ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/conf/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,7 @@ +/pd_2dof.conf/1.1/Wed Jul 14 02:29:48 2004//Ttekkotsu-2_3 +/puma560_dh.conf/1.2/Wed Jul 14 02:29:48 2004//Ttekkotsu-2_3 +/puma560_mdh.conf/1.2/Wed Jul 14 02:29:48 2004//Ttekkotsu-2_3 +/rhino_dh.conf/1.2/Wed Jul 14 02:29:48 2004//Ttekkotsu-2_3 +/rhino_mdh.conf/1.2/Wed Jul 14 02:29:48 2004//Ttekkotsu-2_3 +/rr_dh.conf/1.1/Wed Jul 14 02:29:48 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Repository ./Motion/roboop/extra/conf/CVS/Repository --- ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/conf/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Motion/roboop/extra/conf diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Root ./Motion/roboop/extra/conf/CVS/Root --- ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/conf/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Tag ./Motion/roboop/extra/conf/CVS/Tag --- ../Tekkotsu_2.2.2/Motion/roboop/extra/conf/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Motion/roboop/extra/conf/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/CVS/Entries ./RemoteProcess/CVS/Entries --- ../Tekkotsu_2.2.2/RemoteProcess/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,5 @@ +/RemoteProcess.cc/1.4/Thu Sep 25 15:27:50 2003//Ttekkotsu-2_3 +/RemoteProcess.h/1.7/Thu Sep 25 15:27:50 2003//Ttekkotsu-2_3 +/remoteProcess.ocf/1.1/Wed Mar 26 21:35:46 2003//Ttekkotsu-2_3 +/stub.cfg/1.1/Wed Mar 26 21:35:46 2003//Ttekkotsu-2_3 +D/MS//// diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/CVS/Repository ./RemoteProcess/CVS/Repository --- ../Tekkotsu_2.2.2/RemoteProcess/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/RemoteProcess diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/CVS/Root ./RemoteProcess/CVS/Root --- ../Tekkotsu_2.2.2/RemoteProcess/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/CVS/Tag ./RemoteProcess/CVS/Tag --- ../Tekkotsu_2.2.2/RemoteProcess/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Entries ./RemoteProcess/MS/CVS/Entries --- ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +D/OPEN-R//// diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Repository ./RemoteProcess/MS/CVS/Repository --- ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/RemoteProcess/MS diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Root ./RemoteProcess/MS/CVS/Root --- ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Tag ./RemoteProcess/MS/CVS/Tag --- ../Tekkotsu_2.2.2/RemoteProcess/MS/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Entries ./RemoteProcess/MS/OPEN-R/CVS/Entries --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +D/MW//// diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Repository ./RemoteProcess/MS/OPEN-R/CVS/Repository --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/RemoteProcess/MS/OPEN-R diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Root ./RemoteProcess/MS/OPEN-R/CVS/Root --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Tag ./RemoteProcess/MS/OPEN-R/CVS/Tag --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Entries ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Entries --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1,4 @@ +/CONNECT.CFG/1.1/Wed Mar 26 21:35:49 2003//Ttekkotsu-2_3 +/HOSTGW.CFG/1.2/Thu Mar 27 04:25:02 2003//Ttekkotsu-2_3 +/OBJECT.CFG/1.1/Wed Mar 26 21:35:49 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Repository ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Repository --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/RemoteProcess/MS/OPEN-R/MW/CONF diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Root ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Root --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Tag ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Tag --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CONF/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Entries ./RemoteProcess/MS/OPEN-R/MW/CVS/Entries --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CVS/Entries Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +D/CONF//// diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Repository ./RemoteProcess/MS/OPEN-R/MW/CVS/Repository --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/RemoteProcess/MS/OPEN-R/MW diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Root ./RemoteProcess/MS/OPEN-R/MW/CVS/Root --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Tag ./RemoteProcess/MS/OPEN-R/MW/CVS/Tag --- ../Tekkotsu_2.2.2/RemoteProcess/MS/OPEN-R/MW/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./RemoteProcess/MS/OPEN-R/MW/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/RemoteProcess.cc ./RemoteProcess/RemoteProcess.cc --- ../Tekkotsu_2.2.2/RemoteProcess/RemoteProcess.cc Thu Sep 25 11:27:50 2003 +++ ./RemoteProcess/RemoteProcess.cc Thu Sep 25 11:27:50 2003 @@ -89,7 +89,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/RemoteProcess/RemoteProcess.h ./RemoteProcess/RemoteProcess.h --- ../Tekkotsu_2.2.2/RemoteProcess/RemoteProcess.h Thu Sep 25 11:27:50 2003 +++ ./RemoteProcess/RemoteProcess.h Thu Sep 25 11:27:50 2003 @@ -54,7 +54,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/Buffer.cc ./Shared/Buffer.cc --- ../Tekkotsu_2.2.2/Shared/Buffer.cc Wed Dec 22 20:47:07 2004 +++ ./Shared/Buffer.cc Wed Dec 22 20:47:07 2004 @@ -112,7 +112,7 @@ * Submitted as part of "Full-duplex Audio Streaming" patch * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/Buffer.h ./Shared/Buffer.h --- ../Tekkotsu_2.2.2/Shared/Buffer.h Wed Dec 22 20:47:07 2004 +++ ./Shared/Buffer.h Wed Dec 22 20:47:07 2004 @@ -61,7 +61,7 @@ * Submitted as part of "Full-duplex Audio Streaming" patch * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/CVS/Entries ./Shared/CVS/Entries --- ../Tekkotsu_2.2.2/Shared/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Shared/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,41 @@ +/Buffer.cc/1.2/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/Buffer.h/1.2/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/CommonInfo.h/1.1/Tue Dec 23 06:33:43 2003//Ttekkotsu-2_3 +/Config.cc/1.42/Thu Jan 20 23:18:43 2005//Ttekkotsu-2_3 +/Config.h/1.41/Thu Jan 20 23:18:43 2005//Ttekkotsu-2_3 +/ERS210Info.h/1.19/Tue Jan 11 23:30:43 2005//Ttekkotsu-2_3 +/ERS220Info.h/1.20/Tue Jan 11 23:30:43 2005//Ttekkotsu-2_3 +/ERS2xxInfo.h/1.14/Tue Jan 11 23:30:43 2005//Ttekkotsu-2_3 +/ERS7Info.h/1.23/Tue Jan 11 23:30:43 2005//Ttekkotsu-2_3 +/Factory.h/1.5/Thu Oct 30 23:24:20 2003//Ttekkotsu-2_3 +/ListMemBuf.h/1.9/Tue Dec 21 20:29:14 2004//Ttekkotsu-2_3 +/LoadSave.cc/1.5/Thu Mar 25 17:07:44 2004//Ttekkotsu-2_3 +/LoadSave.h/1.11/Thu Apr 8 16:28:06 2004//Ttekkotsu-2_3 +/LockScope.h/1.3/Thu Sep 25 15:31:53 2003//Ttekkotsu-2_3 +/MutexLock.h/1.9/Thu Feb 12 17:48:59 2004//Ttekkotsu-2_3 +/ProcessID.cc/1.3/Thu Sep 25 15:31:53 2003//Ttekkotsu-2_3 +/ProcessID.h/1.3/Thu Sep 25 15:31:53 2003//Ttekkotsu-2_3 +/Profiler.cc/1.13/Thu Mar 25 17:08:57 2004//Ttekkotsu-2_3 +/Profiler.h/1.11/Wed Feb 4 23:06:47 2004//Ttekkotsu-2_3 +/ProjectInterface.cc/1.5/Fri Jul 16 19:25:09 2004//Ttekkotsu-2_3 +/ProjectInterface.h/1.6/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/ReferenceCounter.h/1.7/Thu Nov 11 20:35:00 2004//Ttekkotsu-2_3 +/RobotInfo.h/1.15/Mon Feb 9 22:45:28 2004//Ttekkotsu-2_3 +/SharedObject.h/1.3/Fri Sep 12 23:42:12 2003//Ttekkotsu-2_3 +/SharedQueue.h/1.5/Sun Jan 18 10:16:58 2004//Ttekkotsu-2_3 +/SystemUtility.h/1.4/Fri Oct 10 17:46:04 2003//Ttekkotsu-2_3 +/TimeET.cc/1.3/Thu Sep 25 15:31:53 2003//Ttekkotsu-2_3 +/TimeET.h/1.4/Thu Mar 25 17:09:18 2004//Ttekkotsu-2_3 +/Util.h/1.5/Thu Sep 25 15:31:53 2003//Ttekkotsu-2_3 +/WMclass.cc/1.2/Tue Oct 7 01:01:09 2003//Ttekkotsu-2_3 +/WMclass.h/1.3/Fri Oct 10 17:46:04 2003//Ttekkotsu-2_3 +/WorldState.cc/1.29/Tue Jan 11 23:49:23 2005//Ttekkotsu-2_3 +/WorldState.h/1.28/Tue Jul 27 14:36:50 2004//Ttekkotsu-2_3 +/debuget.h/1.2/Thu Sep 25 15:31:53 2003//Ttekkotsu-2_3 +/get_time.cc/1.3/Fri Jul 25 20:18:07 2003//Ttekkotsu-2_3 +/get_time.h/1.2/Fri Jul 25 20:18:08 2003//Ttekkotsu-2_3 +/mathutils.h/1.3/Thu Jan 9 02:03:00 2003//Ttekkotsu-2_3 +/string_util.cc/1.3/Wed Jan 14 20:45:28 2004//Ttekkotsu-2_3 +/string_util.h/1.3/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +D/jpeg-6b//// +D/newmat//// diff -urdN ../Tekkotsu_2.2.2/Shared/CVS/Repository ./Shared/CVS/Repository --- ../Tekkotsu_2.2.2/Shared/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Shared/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Shared diff -urdN ../Tekkotsu_2.2.2/Shared/CVS/Root ./Shared/CVS/Root --- ../Tekkotsu_2.2.2/Shared/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Shared/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Shared/CVS/Tag ./Shared/CVS/Tag --- ../Tekkotsu_2.2.2/Shared/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Shared/CVS/Tag Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Shared/CommonInfo.h ./Shared/CommonInfo.h --- ../Tekkotsu_2.2.2/Shared/CommonInfo.h Tue Dec 23 01:33:43 2003 +++ ./Shared/CommonInfo.h Tue Dec 23 01:33:43 2003 @@ -34,7 +34,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/Config.cc ./Shared/Config.cc --- ../Tekkotsu_2.2.2/Shared/Config.cc Mon Dec 20 16:27:11 2004 +++ ./Shared/Config.cc Thu Jan 20 18:18:43 2005 @@ -251,6 +251,13 @@ } break; case sec_behaviors: + if (strncasecmp(key,"flash_bytes",29)==0) { + behaviors.flash_bytes = atoi(value); + return &behaviors.flash_bytes; + } else if (strncasecmp(key,"flash_on_start",29)==0) { + behaviors.flash_on_start = atoi(value); + return &behaviors.flash_on_start; + } break; case sec_controller: if (strncasecmp(key,"gui_port",29)==0) { @@ -533,9 +540,9 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Shared/Config.h ./Shared/Config.h --- ../Tekkotsu_2.2.2/Shared/Config.h Wed Dec 22 20:47:07 2004 +++ ./Shared/Config.h Thu Jan 20 18:18:43 2005 @@ -135,6 +135,9 @@ //!placeholder struct behaviors_config { + unsigned int flash_bytes; //!< how many bytes of the IP to flash + bool flash_on_start; //!< whether or not to trigger flashing when initially started + behaviors_config() : flash_bytes(4), flash_on_start(true) {} //!< constructor } behaviors; //!controller information @@ -254,10 +257,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Shared/ERS210Info.h ./Shared/ERS210Info.h --- ../Tekkotsu_2.2.2/Shared/ERS210Info.h Thu Sep 16 14:35:12 2004 +++ ./Shared/ERS210Info.h Tue Jan 11 18:30:43 2005 @@ -166,8 +166,10 @@ }; //! Provides a string name for each button - const char* const ButtonNames[NumButtons] = { - "LFrPaw","RFrPaw","LBkPaw","ChinBut","BackBut","HeadFrBut","HeadBkBut" + const char* const buttonNames[NumButtons] = { + "LFrPaw","RFrPaw","LBkPaw","RBkPaw", + "ChinBut","BackBut", + "HeadFrBut","HeadBkBut" }; //! holds offset to different sensor values in WorldState::sensors[] @@ -185,6 +187,14 @@ PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?) }; + //! Provides a string name for each sensor + const char* const sensorNames[NumSensors] = { + "IRDist", + "BAccel","LAccel","DAccel", + "Thermo", + "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" + }; + //@} @@ -469,10 +479,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Shared/ERS220Info.h ./Shared/ERS220Info.h --- ../Tekkotsu_2.2.2/Shared/ERS220Info.h Fri Sep 17 14:29:54 2004 +++ ./Shared/ERS220Info.h Tue Jan 11 18:30:43 2005 @@ -260,8 +260,10 @@ }; //! Provides a string name for each button - const char* const ButtonNames[NumButtons] = { - "LFrPaw","RFrPaw","LBkPaw","ChinBut","BackBut","HeadFrBut","HeadBkBut","TailLeftBut","TailCenterBut","TailRightBut" + const char* const buttonNames[NumButtons] = { + "LFrPaw","RFrPaw","LBkPaw","RBkPaw", + "ChinBut","BackBut","HeadFrBut","HeadBkBut", + "TailLeftBut","TailCenterBut","TailRightBut" }; //! holds offset to different sensor values in WorldState::sensors[] @@ -279,6 +281,14 @@ PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?) }; + //! Provides a string name for each sensor + const char* const sensorNames[NumSensors] = { + "IRDist", + "BAccel","LAccel","DAccel", + "Thermo", + "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" + }; + //@} @@ -573,10 +583,10 @@ * @author Daishi MORI (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Shared/ERS2xxInfo.h ./Shared/ERS2xxInfo.h --- ../Tekkotsu_2.2.2/Shared/ERS2xxInfo.h Tue Aug 31 15:48:41 2004 +++ ./Shared/ERS2xxInfo.h Tue Jan 11 18:30:43 2005 @@ -294,6 +294,13 @@ TailRightButOffset, }; + //! Provides a string name for each button + const char* const buttonNames[NumButtons] = { + "LFrPaw","RFrPaw","LBkPaw","RBkPaw", + "ChinBut","BackBut","HeadFrBut","HeadBkBut", + "TailLeftBut","TailCenterBut","TailRightBut" + }; + //! holds offset to different sensor values in WorldState::sensors[] /*! @see WorldState::sensors[] */ enum SensorOffset_t { @@ -309,6 +316,14 @@ PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?) }; + //! Provides a string name for each sensor + const char* const sensorNames[NumSensors] = { + "IRDist", + "BAccel","LAccel","DAccel", + "Thermo", + "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" + }; + //@} @@ -610,10 +625,10 @@ * @author Daishi MORI (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Shared/ERS7Info.h ./Shared/ERS7Info.h --- ../Tekkotsu_2.2.2/Shared/ERS7Info.h Mon Dec 6 19:46:24 2004 +++ ./Shared/ERS7Info.h Tue Jan 11 18:30:43 2005 @@ -195,8 +195,11 @@ }; //! Provides a string name for each button - const char* const ButtonNames[NumButtons] = { - "LFrPaw","RFrPaw","LBkPaw","ChinBut","HeadBut","FrontBackBut","MiddleBackBut","RearBackBut","WirelessSw" + const char* const buttonNames[NumButtons] = { + "LFrPaw","RFrPaw","LBkPaw","RBkPaw", + "ChinBut","HeadBut", + "FrontBackBut","MiddleBackBut","RearBackBut", + "WirelessSw" }; //! holds offset to different sensor values in WorldState::sensors[] @@ -215,6 +218,13 @@ PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?) }; + //! Provides a string name for each sensor + const char* const sensorNames[NumSensors] = { + "NearIRDist","FarIRDist","ChestIRDist", + "BAccel","LAccel","DAccel", + "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" + }; + //@} @@ -385,7 +395,7 @@ /*! a value <= 0 means infinite speed (e.g. LEDs) * * These limits are not enforced by the framework. They are simply available for you to use as you see fit. - * HeadPointerMC is (as of v1.6) the only included MotionCommand to actually use these values. + * HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden) * * These values were obtained from the administrators of the Sony OPEN-R BBS */ const float MaxOutputSpeed[NumOutputs] = { @@ -517,11 +527,11 @@ * @brief Defines RobotInfo namespace for ERS-210 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Shared/Factory.h ./Shared/Factory.h --- ../Tekkotsu_2.2.2/Shared/Factory.h Thu Oct 30 18:24:20 2003 +++ ./Shared/Factory.h Thu Oct 30 18:24:20 2003 @@ -47,7 +47,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/ListMemBuf.h ./Shared/ListMemBuf.h --- ../Tekkotsu_2.2.2/Shared/ListMemBuf.h Tue Dec 21 15:29:14 2004 +++ ./Shared/ListMemBuf.h Tue Dec 21 15:29:14 2004 @@ -334,7 +334,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/LoadSave.cc ./Shared/LoadSave.cc --- ../Tekkotsu_2.2.2/Shared/LoadSave.cc Thu Mar 25 12:07:44 2004 +++ ./Shared/LoadSave.cc Thu Mar 25 12:07:44 2004 @@ -161,7 +161,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/LoadSave.h ./Shared/LoadSave.h --- ../Tekkotsu_2.2.2/Shared/LoadSave.h Thu Apr 8 12:28:06 2004 +++ ./Shared/LoadSave.h Thu Apr 8 12:28:06 2004 @@ -349,7 +349,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/LockScope.h ./Shared/LockScope.h --- ../Tekkotsu_2.2.2/Shared/LockScope.h Thu Sep 25 11:31:53 2003 +++ ./Shared/LockScope.h Thu Sep 25 11:31:53 2003 @@ -22,7 +22,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/MutexLock.h ./Shared/MutexLock.h --- ../Tekkotsu_2.2.2/Shared/MutexLock.h Thu Feb 12 12:48:59 2004 +++ ./Shared/MutexLock.h Thu Feb 12 12:48:59 2004 @@ -260,7 +260,7 @@ * @author ejt (Creator), Edward A. Lycklama, Vassos Hadzilacos (paper from which this was based) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/ProcessID.cc ./Shared/ProcessID.cc --- ../Tekkotsu_2.2.2/Shared/ProcessID.cc Thu Sep 25 11:31:53 2003 +++ ./Shared/ProcessID.cc Thu Sep 25 11:31:53 2003 @@ -7,7 +7,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/ProcessID.h ./Shared/ProcessID.h --- ../Tekkotsu_2.2.2/Shared/ProcessID.h Thu Sep 25 11:31:53 2003 +++ ./Shared/ProcessID.h Thu Sep 25 11:31:53 2003 @@ -27,7 +27,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/Profiler.cc ./Shared/Profiler.cc --- ../Tekkotsu_2.2.2/Shared/Profiler.cc Thu Mar 25 12:08:57 2004 +++ ./Shared/Profiler.cc Thu Mar 25 12:08:57 2004 @@ -163,7 +163,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/Profiler.h ./Shared/Profiler.h --- ../Tekkotsu_2.2.2/Shared/Profiler.h Wed Feb 4 18:06:47 2004 +++ ./Shared/Profiler.h Wed Feb 4 18:06:47 2004 @@ -204,7 +204,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/ProjectInterface.cc ./Shared/ProjectInterface.cc --- ../Tekkotsu_2.2.2/Shared/ProjectInterface.cc Fri Jul 16 15:25:09 2004 +++ ./Shared/ProjectInterface.cc Fri Jul 16 15:25:09 2004 @@ -38,7 +38,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/ProjectInterface.h ./Shared/ProjectInterface.h --- ../Tekkotsu_2.2.2/Shared/ProjectInterface.h Wed Dec 22 20:47:07 2004 +++ ./Shared/ProjectInterface.h Wed Dec 22 20:47:07 2004 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/ReferenceCounter.h ./Shared/ReferenceCounter.h --- ../Tekkotsu_2.2.2/Shared/ReferenceCounter.h Thu Nov 11 15:35:00 2004 +++ ./Shared/ReferenceCounter.h Thu Nov 11 15:35:00 2004 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/RobotInfo.h ./Shared/RobotInfo.h --- ../Tekkotsu_2.2.2/Shared/RobotInfo.h Mon Feb 9 17:45:28 2004 +++ ./Shared/RobotInfo.h Mon Feb 9 17:45:28 2004 @@ -41,7 +41,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/SharedObject.h ./Shared/SharedObject.h --- ../Tekkotsu_2.2.2/Shared/SharedObject.h Fri Sep 12 19:42:12 2003 +++ ./Shared/SharedObject.h Fri Sep 12 19:42:12 2003 @@ -116,7 +116,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/SharedQueue.h ./Shared/SharedQueue.h --- ../Tekkotsu_2.2.2/Shared/SharedQueue.h Sun Jan 18 05:16:58 2004 +++ ./Shared/SharedQueue.h Sun Jan 18 05:16:58 2004 @@ -134,7 +134,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/SystemUtility.h ./Shared/SystemUtility.h --- ../Tekkotsu_2.2.2/Shared/SystemUtility.h Fri Oct 10 13:46:04 2003 +++ ./Shared/SystemUtility.h Fri Oct 10 13:46:04 2003 @@ -60,7 +60,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/TimeET.cc ./Shared/TimeET.cc --- ../Tekkotsu_2.2.2/Shared/TimeET.cc Thu Sep 25 11:31:53 2003 +++ ./Shared/TimeET.cc Thu Sep 25 11:31:53 2003 @@ -7,7 +7,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/TimeET.h ./Shared/TimeET.h --- ../Tekkotsu_2.2.2/Shared/TimeET.h Thu Mar 25 12:09:18 2004 +++ ./Shared/TimeET.h Thu Mar 25 12:09:18 2004 @@ -148,7 +148,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/Util.h ./Shared/Util.h --- ../Tekkotsu_2.2.2/Shared/Util.h Thu Sep 25 11:31:53 2003 +++ ./Shared/Util.h Thu Sep 25 11:31:53 2003 @@ -300,7 +300,7 @@ * @endverbatim * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/WMclass.h ./Shared/WMclass.h --- ../Tekkotsu_2.2.2/Shared/WMclass.h Fri Oct 10 13:46:04 2003 +++ ./Shared/WMclass.h Fri Oct 10 13:46:04 2003 @@ -14,7 +14,7 @@ * @author alokl (Ported) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/WorldState.cc ./Shared/WorldState.cc --- ../Tekkotsu_2.2.2/Shared/WorldState.cc Wed Dec 22 18:13:02 2004 +++ ./Shared/WorldState.cc Tue Jan 11 18:49:23 2005 @@ -139,16 +139,16 @@ pidduties[ERS210Info::MouthOffset] = GETDUTY(ERS210Info::CPCJointMouth); // Get foot switches - chkEvent(evtBuf,LFrPawOffset,GETB(ERS210Info::CPCSensorLFPaw),"LFrPaw"); - chkEvent(evtBuf,RFrPawOffset,GETB(ERS210Info::CPCSensorRFPaw),"RFrPaw"); - chkEvent(evtBuf,LBkPawOffset,GETB(ERS210Info::CPCSensorLHPaw),"LBkPaw"); - chkEvent(evtBuf,RBkPawOffset,GETB(ERS210Info::CPCSensorRHPaw),"RBkPaw"); + chkEvent(evtBuf,ERS210Info::LFrPawOffset,GETB(ERS210Info::CPCSensorLFPaw),buttonNames[ERS210Info::LFrPawOffset]); + chkEvent(evtBuf,ERS210Info::RFrPawOffset,GETB(ERS210Info::CPCSensorRFPaw),buttonNames[ERS210Info::RFrPawOffset]); + chkEvent(evtBuf,ERS210Info::LBkPawOffset,GETB(ERS210Info::CPCSensorLHPaw),buttonNames[ERS210Info::LBkPawOffset]); + chkEvent(evtBuf,ERS210Info::RBkPawOffset,GETB(ERS210Info::CPCSensorRHPaw),buttonNames[ERS210Info::RBkPawOffset]); // Get buttons - chkEvent(evtBuf,ERS210Info::ChinButOffset, GETB(ERS210Info::CPCSensorChinSwitch),"ChinBut"); - chkEvent(evtBuf,ERS210Info::BackButOffset, GETB(ERS210Info::CPCSensorBackSwitch),"BackBut"); - chkEvent(evtBuf,ERS210Info::HeadFrButOffset,GETD(ERS210Info::CPCSensorHeadFrontPressure),"HeadFrBut"); - chkEvent(evtBuf,ERS210Info::HeadBkButOffset,GETD(ERS210Info::CPCSensorHeadBackPressure),"HeadBkBut"); + chkEvent(evtBuf,ERS210Info::ChinButOffset, GETB(ERS210Info::CPCSensorChinSwitch),buttonNames[ERS210Info::ChinButOffset]); + chkEvent(evtBuf,ERS210Info::BackButOffset, GETB(ERS210Info::CPCSensorBackSwitch),buttonNames[ERS210Info::BackButOffset]); + chkEvent(evtBuf,ERS210Info::HeadFrButOffset,GETD(ERS210Info::CPCSensorHeadFrontPressure),buttonNames[ERS210Info::HeadFrButOffset]); + chkEvent(evtBuf,ERS210Info::HeadBkButOffset,GETD(ERS210Info::CPCSensorHeadBackPressure),buttonNames[ERS210Info::HeadBkButOffset]); // Get IR distance sensor sensors[ERS210Info::IRDistOffset]=GETSENSOR(ERS210Info::CPCSensorPSD) / 1000.0f; @@ -199,21 +199,21 @@ pidduties[HeadOffset+PanOffset ] = GETDUTY(ERS220Info::CPCJointNeckPan); pidduties[HeadOffset+RollOffset] = GETDUTY(ERS220Info::CPCJointNeckRoll); - chkEvent(evtBuf, ERS220Info::TailLeftButOffset, GETB(ERS220Info::CPCSensorTailLeftSwitch), "LBkBut"); - chkEvent(evtBuf, ERS220Info::TailCenterButOffset, GETB(ERS220Info::CPCSensorTailCenterSwitch),"CBkBut"); - chkEvent(evtBuf, ERS220Info::TailRightButOffset, GETB(ERS220Info::CPCSensorTailRightSwitch), "RBkBut"); + chkEvent(evtBuf, ERS220Info::TailLeftButOffset, GETB(ERS220Info::CPCSensorTailLeftSwitch), buttonNames[ERS220Info::TailLeftButOffset]); + chkEvent(evtBuf, ERS220Info::TailCenterButOffset, GETB(ERS220Info::CPCSensorTailCenterSwitch),buttonNames[ERS220Info::TailCenterButOffset]); + chkEvent(evtBuf, ERS220Info::TailRightButOffset, GETB(ERS220Info::CPCSensorTailRightSwitch), buttonNames[ERS220Info::TailRightButOffset]); // Get foot switches - chkEvent(evtBuf,LFrPawOffset,GETB(ERS220Info::CPCSensorLFPaw),"LFrPaw"); - chkEvent(evtBuf,RFrPawOffset,GETB(ERS220Info::CPCSensorRFPaw),"RFrPaw"); - chkEvent(evtBuf,LBkPawOffset,GETB(ERS220Info::CPCSensorLHPaw),"LBkPaw"); - chkEvent(evtBuf,RBkPawOffset,GETB(ERS220Info::CPCSensorRHPaw),"RBkPaw"); + chkEvent(evtBuf,ERS220Info::LFrPawOffset,GETB(ERS220Info::CPCSensorLFPaw),buttonNames[ERS220Info::LFrPawOffset]); + chkEvent(evtBuf,ERS220Info::RFrPawOffset,GETB(ERS220Info::CPCSensorRFPaw),buttonNames[ERS220Info::RFrPawOffset]); + chkEvent(evtBuf,ERS220Info::LBkPawOffset,GETB(ERS220Info::CPCSensorLHPaw),buttonNames[ERS220Info::LBkPawOffset]); + chkEvent(evtBuf,ERS220Info::RBkPawOffset,GETB(ERS220Info::CPCSensorRHPaw),buttonNames[ERS220Info::RBkPawOffset]); // Get buttons - chkEvent(evtBuf,ERS220Info::ChinButOffset, GETB(ERS220Info::CPCSensorChinSwitch),"ChinBut"); - chkEvent(evtBuf,ERS220Info::BackButOffset, GETB(ERS220Info::CPCSensorBackSwitch),"BackBut"); - chkEvent(evtBuf,ERS220Info::HeadFrButOffset,GETD(ERS220Info::CPCSensorHeadFrontPressure),"HeadFrBut"); - chkEvent(evtBuf,ERS220Info::HeadBkButOffset,GETD(ERS220Info::CPCSensorHeadBackPressure),"HeadBkBut"); + chkEvent(evtBuf,ERS220Info::ChinButOffset, GETB(ERS220Info::CPCSensorChinSwitch),buttonNames[ERS220Info::ChinButOffset]); + chkEvent(evtBuf,ERS220Info::BackButOffset, GETB(ERS220Info::CPCSensorBackSwitch),buttonNames[ERS220Info::BackButOffset]); + chkEvent(evtBuf,ERS220Info::HeadFrButOffset,GETD(ERS220Info::CPCSensorHeadFrontPressure),buttonNames[ERS220Info::HeadFrButOffset]); + chkEvent(evtBuf,ERS220Info::HeadBkButOffset,GETD(ERS220Info::CPCSensorHeadBackPressure),buttonNames[ERS220Info::HeadBkButOffset]); // Get IR distance sensor sensors[ERS220Info::IRDistOffset]=GETSENSOR(ERS220Info::CPCSensorPSD) / 1000.0f; @@ -273,19 +273,19 @@ pidduties[ERS7Info::MouthOffset] = GETDUTY(ERS7Info::CPCJointMouth); // Get foot switches - chkEvent(evtBuf,LFrPawOffset,GETB(ERS7Info::CPCSwitchLFPaw),"LFrPaw"); - chkEvent(evtBuf,RFrPawOffset,GETB(ERS7Info::CPCSwitchRFPaw),"RFrPaw"); - chkEvent(evtBuf,LBkPawOffset,GETB(ERS7Info::CPCSwitchLHPaw),"LBkPaw"); - chkEvent(evtBuf,RBkPawOffset,GETB(ERS7Info::CPCSwitchRHPaw),"RBkPaw"); + chkEvent(evtBuf,ERS7Info::LFrPawOffset,GETB(ERS7Info::CPCSwitchLFPaw),buttonNames[ERS7Info::LFrPawOffset]); + chkEvent(evtBuf,ERS7Info::RFrPawOffset,GETB(ERS7Info::CPCSwitchRFPaw),buttonNames[ERS7Info::RFrPawOffset]); + chkEvent(evtBuf,ERS7Info::LBkPawOffset,GETB(ERS7Info::CPCSwitchLHPaw),buttonNames[ERS7Info::LBkPawOffset]); + chkEvent(evtBuf,ERS7Info::RBkPawOffset,GETB(ERS7Info::CPCSwitchRHPaw),buttonNames[ERS7Info::RBkPawOffset]); // Get buttons/switches // the sensors are scaled to be relatively similar to the pressure values given by the head on the 210 - chkEvent(evtBuf, ERS7Info::ChinButOffset, GETSENSOR(ERS7Info::CPCSwitchChin), "ChinBut"); - chkEvent(evtBuf, ERS7Info::HeadButOffset, GETSENSOR(ERS7Info::CPCSensorHead)/120, "HeadBut"); - chkEvent(evtBuf, ERS7Info::FrontBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackFront)/150, "BkFrBut"); - chkEvent(evtBuf, ERS7Info::MiddleBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackMiddle)/150,"BkMdBut"); - chkEvent(evtBuf, ERS7Info::RearBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackRear)/150, "BkRrBut"); - chkEvent(evtBuf, ERS7Info::WirelessSwOffset,GETSENSOR(ERS7Info::CPCSwitchWireless), "WirelessSw"); + chkEvent(evtBuf, ERS7Info::ChinButOffset, GETSENSOR(ERS7Info::CPCSwitchChin), buttonNames[ERS7Info::ChinButOffset]); + chkEvent(evtBuf, ERS7Info::HeadButOffset, GETSENSOR(ERS7Info::CPCSensorHead)/120, buttonNames[ERS7Info::HeadButOffset]); + chkEvent(evtBuf, ERS7Info::FrontBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackFront)/150, buttonNames[ERS7Info::FrontBackButOffset]); + chkEvent(evtBuf, ERS7Info::MiddleBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackMiddle)/150,buttonNames[ERS7Info::MiddleBackButOffset]); + chkEvent(evtBuf, ERS7Info::RearBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackRear)/150, buttonNames[ERS7Info::RearBackButOffset]); + chkEvent(evtBuf, ERS7Info::WirelessSwOffset,GETSENSOR(ERS7Info::CPCSwitchWireless), buttonNames[ERS7Info::WirelessSwOffset]); // Get IR distance sensor sensors[ERS7Info::NearIRDistOffset] = GETSENSOR(ERS7Info::CPCSensorNearPSD) / 1000.0f; @@ -410,8 +410,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Shared/WorldState.h ./Shared/WorldState.h --- ../Tekkotsu_2.2.2/Shared/WorldState.h Tue Jul 27 10:36:50 2004 +++ ./Shared/WorldState.h Tue Jul 27 10:36:50 2004 @@ -214,7 +214,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/debuget.h ./Shared/debuget.h --- ../Tekkotsu_2.2.2/Shared/debuget.h Thu Sep 25 11:31:53 2003 +++ ./Shared/debuget.h Thu Sep 25 11:31:53 2003 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/get_time.cc ./Shared/get_time.cc --- ../Tekkotsu_2.2.2/Shared/get_time.cc Fri Jul 25 16:18:07 2003 +++ ./Shared/get_time.cc Fri Jul 25 16:18:07 2003 @@ -19,7 +19,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/get_time.h ./Shared/get_time.h --- ../Tekkotsu_2.2.2/Shared/get_time.h Fri Jul 25 16:18:08 2003 +++ ./Shared/get_time.h Fri Jul 25 16:18:08 2003 @@ -9,7 +9,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Entries ./Shared/jpeg-6b/CVS/Entries --- ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Shared/jpeg-6b/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,87 @@ +/ADDED.txt/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/Makefile/1.5/Tue Nov 9 21:26:13 2004//Ttekkotsu-2_3 +/README/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/REMOVED.txt/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/change.log/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/coderules.doc/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/filelist.doc/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/jcapimin.c/1.1/Mon Dec 1 17:30:32 2003//Ttekkotsu-2_3 +/jcapistd.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jccoefct.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jccolor.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jcdctmgr.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jchuff.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jchuff.h/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jcinit.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jcmainct.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jcmarker.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jcmaster.c/1.1/Mon Dec 1 17:30:33 2003//Ttekkotsu-2_3 +/jcomapi.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jconfig.doc/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jconfig.h/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jcparam.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jcphuff.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jcprepct.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jcsample.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jctrans.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jdapimin.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jdapistd.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jdatadst.c/1.1/Mon Dec 1 17:30:34 2003//Ttekkotsu-2_3 +/jdatasrc.c/1.1/Mon Dec 1 17:30:35 2003//Ttekkotsu-2_3 +/jdcoefct.c/1.1/Mon Dec 1 17:30:35 2003//Ttekkotsu-2_3 +/jdcolor.c/1.1/Mon Dec 1 17:30:35 2003//Ttekkotsu-2_3 +/jdct.h/1.1/Mon Dec 1 17:30:35 2003//Ttekkotsu-2_3 +/jddctmgr.c/1.1/Mon Dec 1 17:30:35 2003//Ttekkotsu-2_3 +/jdhuff.c/1.1/Mon Dec 1 17:30:35 2003//Ttekkotsu-2_3 +/jdhuff.h/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdinput.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdmainct.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdmarker.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdmaster.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdmerge.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdphuff.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdpostct.c/1.1/Mon Dec 1 17:30:36 2003//Ttekkotsu-2_3 +/jdsample.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jdtrans.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jerror.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jerror.h/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jfdctflt.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jfdctfst.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jfdctint.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jidctflt.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jidctfst.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jidctint.c/1.1/Mon Dec 1 17:30:37 2003//Ttekkotsu-2_3 +/jidctred.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jinclude.h/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemansi.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemdos.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemdosa.asm/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemmac.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemmgr.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemname.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemnobs.c/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmemsys.h/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jmorecfg.h/1.1/Mon Dec 1 17:30:38 2003//Ttekkotsu-2_3 +/jpeg_mem_dest.c/1.2/Tue Dec 2 06:59:58 2003//Ttekkotsu-2_3 +/jpeg_mem_dest.h/1.2/Tue Dec 2 06:59:58 2003//Ttekkotsu-2_3 +/jpegint.h/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/jpeglib.h/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/jquant1.c/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/jquant2.c/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/jutils.c/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/jversion.h/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/libjpeg.doc/1.1/Mon Dec 1 17:30:39 2003//Ttekkotsu-2_3 +/rdbmp.c/1.1/Mon Dec 1 17:30:40 2003//Ttekkotsu-2_3 +/rdgif.c/1.1/Mon Dec 1 17:30:40 2003//Ttekkotsu-2_3 +/rdppm.c/1.1/Mon Dec 1 17:30:40 2003//Ttekkotsu-2_3 +/rdrle.c/1.1/Mon Dec 1 17:30:40 2003//Ttekkotsu-2_3 +/rdtarga.c/1.1/Mon Dec 1 17:30:40 2003//Ttekkotsu-2_3 +/structure.doc/1.1/Mon Dec 1 17:30:41 2003//Ttekkotsu-2_3 +/wrbmp.c/1.1/Mon Dec 1 17:30:41 2003//Ttekkotsu-2_3 +/wrgif.c/1.1/Mon Dec 1 17:30:41 2003//Ttekkotsu-2_3 +/write_jpeg.c/1.1/Mon Dec 1 17:30:41 2003//Ttekkotsu-2_3 +/write_jpeg.h/1.1/Mon Dec 1 17:30:41 2003//Ttekkotsu-2_3 +/wrppm.c/1.1/Mon Dec 1 17:30:41 2003//Ttekkotsu-2_3 +/wrrle.c/1.1/Mon Dec 1 17:30:42 2003//Ttekkotsu-2_3 +/wrtarga.c/1.1/Mon Dec 1 17:30:42 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Repository ./Shared/jpeg-6b/CVS/Repository --- ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Shared/jpeg-6b/CVS/Repository Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +Tekkotsu/Shared/jpeg-6b diff -urdN ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Root ./Shared/jpeg-6b/CVS/Root --- ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Shared/jpeg-6b/CVS/Root Fri Jan 28 20:12:54 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Tag ./Shared/jpeg-6b/CVS/Tag --- ../Tekkotsu_2.2.2/Shared/jpeg-6b/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Shared/jpeg-6b/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/CVS/Entries ./Shared/newmat/CVS/Entries --- ../Tekkotsu_2.2.2/Shared/newmat/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,38 @@ +/Makefile/1.10/Tue Nov 9 21:26:13 2004//Ttekkotsu-2_3 +/bandmat.cpp/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/boolean.h/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/cholesky.cpp/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/controlw.h/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/evalue.cpp/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/fft.cpp/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/hholder.cpp/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/include.h/1.2/Fri Jul 2 00:19:33 2004//Ttekkotsu-2_3 +/jacobi.cpp/1.1/Wed Jun 16 21:16:40 2004//Ttekkotsu-2_3 +/myexcept.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/myexcept.h/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newfft.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat.h/1.2/Fri Jul 23 21:31:20 2004//Ttekkotsu-2_3 +/newmat1.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat2.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat3.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat4.cpp/1.2/Fri Jul 23 21:31:20 2004//Ttekkotsu-2_3 +/newmat5.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat6.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat7.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat8.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmat9.cpp/1.3/Fri Dec 17 00:32:36 2004//Ttekkotsu-2_3 +/newmatap.h/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmatex.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmatio.h/1.2/Wed Dec 15 03:56:28 2004//Ttekkotsu-2_3 +/newmatnl.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmatnl.h/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmatrc.h/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmatrm.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/newmatrm.h/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/precisio.h/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/readme.txt/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/sort.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/submat.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +/svd.cpp/1.1/Wed Jun 16 21:16:41 2004//Ttekkotsu-2_3 +D/docs//// +D/extra//// diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/CVS/Repository ./Shared/newmat/CVS/Repository --- ../Tekkotsu_2.2.2/Shared/newmat/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/Shared/newmat diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/CVS/Root ./Shared/newmat/CVS/Root --- ../Tekkotsu_2.2.2/Shared/newmat/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/CVS/Tag ./Shared/newmat/CVS/Tag --- ../Tekkotsu_2.2.2/Shared/newmat/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Entries ./Shared/newmat/docs/CVS/Entries --- ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,3 @@ +/nm11.htm/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/rbd.css/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +D/images//// diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Repository ./Shared/newmat/docs/CVS/Repository --- ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/Shared/newmat/docs diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Root ./Shared/newmat/docs/CVS/Root --- ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Tag ./Shared/newmat/docs/CVS/Tag --- ../Tekkotsu_2.2.2/Shared/newmat/docs/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Entries ./Shared/newmat/docs/images/CVS/Entries --- ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/images/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,2 @@ +/add_time.png/1.1/Wed Jun 16 21:16:45 2004/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Repository ./Shared/newmat/docs/images/CVS/Repository --- ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/images/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/Shared/newmat/docs/images diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Root ./Shared/newmat/docs/images/CVS/Root --- ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/images/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Tag ./Shared/newmat/docs/images/CVS/Tag --- ../Tekkotsu_2.2.2/Shared/newmat/docs/images/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/docs/images/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Entries ./Shared/newmat/extra/CVS/Entries --- ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/extra/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,48 @@ +/example.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/example.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/garch.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/garch.dat/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/garch.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/newmat.lfl/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nl_ex.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nl_ex.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_b55.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_b56.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_cc.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_gnu.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_i5.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_il5.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_m6.mak/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/nm_targ.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/sl_ex.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/sl_ex.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/solution.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/solution.h/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/test_exc.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/test_exc.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt.h/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt.txt/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt1.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt2.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt3.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt4.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt5.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt6.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt7.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt8.cpp/1.1/Wed Jun 16 21:16:45 2004//Ttekkotsu-2_3 +/tmt9.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmta.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtb.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtc.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtd.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmte.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtf.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtg.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmth.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmti.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtj.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtk.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtl.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +/tmtm.cpp/1.1/Wed Jun 16 21:16:46 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Repository ./Shared/newmat/extra/CVS/Repository --- ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/extra/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/Shared/newmat/extra diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Root ./Shared/newmat/extra/CVS/Root --- ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/extra/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Tag ./Shared/newmat/extra/CVS/Tag --- ../Tekkotsu_2.2.2/Shared/newmat/extra/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Shared/newmat/extra/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Shared/string_util.cc ./Shared/string_util.cc --- ../Tekkotsu_2.2.2/Shared/string_util.cc Wed Jan 14 15:45:28 2004 +++ ./Shared/string_util.cc Wed Jan 14 15:45:28 2004 @@ -89,7 +89,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Shared/string_util.h ./Shared/string_util.h --- ../Tekkotsu_2.2.2/Shared/string_util.h Wed Dec 22 20:47:07 2004 +++ ./Shared/string_util.h Wed Dec 22 20:47:07 2004 @@ -25,7 +25,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/CVS/Entries ./SoundPlay/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,10 @@ +/SoundManager.cc/1.19/Wed Dec 22 23:13:04 2004//Ttekkotsu-2_3 +/SoundManager.h/1.14/Thu Nov 4 05:24:03 2004//Ttekkotsu-2_3 +/SoundManagerMsg.h/1.4/Thu Sep 25 15:32:08 2003//Ttekkotsu-2_3 +/SoundPlay.cc/1.15/Tue Jan 11 23:10:44 2005//Ttekkotsu-2_3 +/SoundPlay.h/1.5/Tue Dec 23 06:33:44 2003//Ttekkotsu-2_3 +/SoundPlay.ocf/1.1/Sun Mar 9 02:45:25 2003//Ttekkotsu-2_3 +/WAV.cc/1.4/Fri Jul 25 20:18:08 2003//Ttekkotsu-2_3 +/WAV.h/1.3/Fri Jul 25 20:18:08 2003//Ttekkotsu-2_3 +/stub.cfg/1.2/Sun Apr 6 20:57:46 2003//Ttekkotsu-2_3 +D/clips//// diff -urdN ../Tekkotsu_2.2.2/SoundPlay/CVS/Repository ./SoundPlay/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay diff -urdN ../Tekkotsu_2.2.2/SoundPlay/CVS/Root ./SoundPlay/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/CVS/Tag ./SoundPlay/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/SoundPlay/SoundManager.cc ./SoundPlay/SoundManager.cc --- ../Tekkotsu_2.2.2/SoundPlay/SoundManager.cc Wed Dec 22 18:13:04 2004 +++ ./SoundPlay/SoundManager.cc Wed Dec 22 18:13:04 2004 @@ -694,7 +694,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/SoundManager.h ./SoundPlay/SoundManager.h --- ../Tekkotsu_2.2.2/SoundPlay/SoundManager.h Thu Nov 4 00:24:03 2004 +++ ./SoundPlay/SoundManager.h Thu Nov 4 00:24:03 2004 @@ -262,7 +262,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/SoundManagerMsg.h ./SoundPlay/SoundManagerMsg.h --- ../Tekkotsu_2.2.2/SoundPlay/SoundManagerMsg.h Thu Sep 25 11:32:08 2003 +++ ./SoundPlay/SoundManagerMsg.h Thu Sep 25 11:32:08 2003 @@ -59,7 +59,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/SoundPlay.cc ./SoundPlay/SoundPlay.cc --- ../Tekkotsu_2.2.2/SoundPlay/SoundPlay.cc Thu Dec 16 17:46:21 2004 +++ ./SoundPlay/SoundPlay.cc Tue Jan 11 18:10:44 2005 @@ -123,7 +123,11 @@ eventTranslatorQueueMemRgn = event.RCData(0); eventTranslatorQueueMemRgn->AddReference(); etrans.setQueue(reinterpret_cast(eventTranslatorQueueMemRgn->Base())); - erouter->addTrapper(&etrans); + //SoundPlay should only be generator audioEGIDs + //but just in case, subscribe to everything except erouterEGID + for(unsigned int i=0; iaddTrapper(&etrans,static_cast(i)); observer[obsReceiveEventTranslatorQueue]->AssertReady(); cout << "done" << endl; } @@ -266,10 +270,10 @@ * either expressed or implied, including but not limited to the * implied warranties of fitness for a particular purpose. * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/SoundPlay.h ./SoundPlay/SoundPlay.h --- ../Tekkotsu_2.2.2/SoundPlay/SoundPlay.h Tue Dec 23 01:33:44 2003 +++ ./SoundPlay/SoundPlay.h Tue Dec 23 01:33:44 2003 @@ -84,7 +84,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/WAV.cc ./SoundPlay/WAV.cc --- ../Tekkotsu_2.2.2/SoundPlay/WAV.cc Fri Jul 25 16:18:08 2003 +++ ./SoundPlay/WAV.cc Fri Jul 25 16:18:08 2003 @@ -15,7 +15,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/WAV.h ./SoundPlay/WAV.h --- ../Tekkotsu_2.2.2/SoundPlay/WAV.h Fri Jul 25 16:18:08 2003 +++ ./SoundPlay/WAV.h Fri Jul 25 16:18:08 2003 @@ -15,7 +15,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Entries ./SoundPlay/clips/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +D/converted//// diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Repository ./SoundPlay/clips/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay/clips diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Root ./SoundPlay/clips/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Tag ./SoundPlay/clips/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/clips/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Entries ./SoundPlay/clips/converted/16 bit-Hz/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,31 @@ +/3barks.wav/1.1/Sat Mar 15 03:44:48 2003//Ttekkotsu-2_3 +/3yips.wav/1.1/Sat Mar 15 03:44:48 2003//Ttekkotsu-2_3 +/barkhigh.wav/1.1/Sat Mar 15 03:44:48 2003//Ttekkotsu-2_3 +/barklow.wav/1.1/Sat Mar 15 03:44:48 2003//Ttekkotsu-2_3 +/barkmed.wav/1.1/Sat Mar 15 03:44:48 2003//Ttekkotsu-2_3 +/barkreal.wav/1.1/Sat Mar 15 03:44:48 2003/-kb/Ttekkotsu-2_3 +/camera.wav/1.1/Sat Mar 15 03:44:48 2003/-kb/Ttekkotsu-2_3 +/catcry.wav/1.1/Sat Mar 15 03:44:49 2003//Ttekkotsu-2_3 +/catyowl.wav/1.1/Sat Mar 15 03:44:50 2003//Ttekkotsu-2_3 +/crash.wav/1.1/Sat Mar 15 03:44:50 2003/-kb/Ttekkotsu-2_3 +/cutey.wav/1.1/Sat Mar 15 03:44:51 2003//Ttekkotsu-2_3 +/donkey.wav/1.1/Sat Mar 15 03:44:51 2003//Ttekkotsu-2_3 +/fart.wav/1.1/Sat Mar 15 03:44:51 2003/-kb/Ttekkotsu-2_3 +/glass.wav/1.1/Sat Mar 15 03:44:51 2003/-kb/Ttekkotsu-2_3 +/growl.wav/1.1/Sat Mar 15 03:44:51 2003//Ttekkotsu-2_3 +/growl2.wav/1.1/Sat Mar 15 03:44:52 2003/-kb/Ttekkotsu-2_3 +/grrr.wav/1.1/Sat Mar 15 03:44:52 2003//Ttekkotsu-2_3 +/howl.wav/1.1/Sat Mar 15 03:44:52 2003//Ttekkotsu-2_3 +/mew.wav/1.1/Sat Mar 15 03:44:53 2003//Ttekkotsu-2_3 +/ping.wav/1.1/Sat Mar 15 03:44:53 2003/-kb/Ttekkotsu-2_3 +/roar.wav/1.1/Sat Mar 15 03:44:53 2003//Ttekkotsu-2_3 +/skid.wav/1.1/Sat Mar 15 03:44:53 2003/-kb/Ttekkotsu-2_3 +/sniff.wav/1.1/Sat Mar 15 03:44:53 2003//Ttekkotsu-2_3 +/tick.wav/1.1/Sat Mar 15 03:44:53 2003/-kb/Ttekkotsu-2_3 +/toc.wav/1.1/Sat Mar 15 03:44:54 2003/-kb/Ttekkotsu-2_3 +/whiip.wav/1.1/Sat Mar 15 03:44:54 2003/-kb/Ttekkotsu-2_3 +/whimper.wav/1.1/Sat Mar 15 03:44:54 2003//Ttekkotsu-2_3 +/whoop.wav/1.1/Sat Mar 15 03:44:54 2003/-kb/Ttekkotsu-2_3 +/yap.wav/1.1/Sat Mar 15 03:44:54 2003//Ttekkotsu-2_3 +/yipper.wav/1.1/Sat Mar 15 03:44:54 2003//Ttekkotsu-2_3 +D/numbers//// diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Repository ./SoundPlay/clips/converted/16 bit-Hz/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay/clips/converted/16 bit-Hz diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Root ./SoundPlay/clips/converted/16 bit-Hz/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Tag ./SoundPlay/clips/converted/16 bit-Hz/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/0.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/0.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/1.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/1.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/2.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/2.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/3.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/3.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/4.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/4.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/5.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/5.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/6.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/6.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/7.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/7.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/8.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/8.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/9.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/9.wav differ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Entries ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,13 @@ +/0.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/1.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/2.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/3.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/4.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/5.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/6.wav/1.1/Thu Jan 27 05:40:16 2005/-kb/Ttekkotsu-2_3 +/7.wav/1.1/Thu Jan 27 05:40:17 2005/-kb/Ttekkotsu-2_3 +/8.wav/1.1/Thu Jan 27 05:40:17 2005/-kb/Ttekkotsu-2_3 +/9.wav/1.1/Thu Jan 27 05:40:17 2005/-kb/Ttekkotsu-2_3 +/dot.wav/1.1/Thu Jan 27 05:40:17 2005/-kb/Ttekkotsu-2_3 +/point.wav/1.1/Thu Jan 27 05:40:17 2005/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Repository ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay/clips/converted/16 bit-Hz/numbers diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Root ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Tag ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/16 bit-Hz/numbers/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/dot.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/dot.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/16 bit-Hz/numbers/point.wav and ./SoundPlay/clips/converted/16 bit-Hz/numbers/point.wav differ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Entries ./SoundPlay/clips/converted/8 bit-Hz/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,31 @@ +/3barks.wav/1.1/Sat Mar 15 03:44:54 2003//Ttekkotsu-2_3 +/3yips.wav/1.1/Sat Mar 15 03:44:55 2003//Ttekkotsu-2_3 +/barkhigh.wav/1.1/Sat Mar 15 03:44:55 2003//Ttekkotsu-2_3 +/barklow.wav/1.1/Sat Mar 15 03:44:55 2003//Ttekkotsu-2_3 +/barkmed.wav/1.1/Sat Mar 15 03:44:55 2003//Ttekkotsu-2_3 +/barkreal.wav/1.1/Sat Mar 15 03:44:55 2003/-kb/Ttekkotsu-2_3 +/camera.wav/1.1/Sat Mar 15 03:44:55 2003/-kb/Ttekkotsu-2_3 +/catcry.wav/1.1/Sat Mar 15 03:44:55 2003//Ttekkotsu-2_3 +/catyowl.wav/1.1/Sat Mar 15 03:44:55 2003//Ttekkotsu-2_3 +/crash.wav/1.1/Sat Mar 15 03:44:55 2003/-kb/Ttekkotsu-2_3 +/cutey.wav/1.1/Sat Mar 15 03:44:56 2003//Ttekkotsu-2_3 +/donkey.wav/1.1/Sat Mar 15 03:44:56 2003//Ttekkotsu-2_3 +/fart.wav/1.1/Sat Mar 15 03:44:56 2003/-kb/Ttekkotsu-2_3 +/glass.wav/1.1/Sat Mar 15 03:44:56 2003/-kb/Ttekkotsu-2_3 +/growl.wav/1.1/Sat Mar 15 03:44:56 2003//Ttekkotsu-2_3 +/growl2.wav/1.1/Sat Mar 15 03:44:56 2003/-kb/Ttekkotsu-2_3 +/grrr.wav/1.1/Sat Mar 15 03:44:56 2003//Ttekkotsu-2_3 +/howl.wav/1.1/Sat Mar 15 03:44:57 2003//Ttekkotsu-2_3 +/mew.wav/1.1/Sat Mar 15 03:44:57 2003//Ttekkotsu-2_3 +/ping.wav/1.1/Sat Mar 15 03:44:57 2003/-kb/Ttekkotsu-2_3 +/roar.wav/1.1/Sat Mar 15 03:44:57 2003//Ttekkotsu-2_3 +/skid.wav/1.1/Sat Mar 15 03:44:57 2003/-kb/Ttekkotsu-2_3 +/sniff.wav/1.1/Sat Mar 15 03:44:57 2003//Ttekkotsu-2_3 +/tick.wav/1.1/Sat Mar 15 03:44:57 2003/-kb/Ttekkotsu-2_3 +/toc.wav/1.1/Sat Mar 15 03:44:57 2003/-kb/Ttekkotsu-2_3 +/whiip.wav/1.1/Sat Mar 15 03:44:58 2003/-kb/Ttekkotsu-2_3 +/whimper.wav/1.1/Sat Mar 15 03:44:58 2003//Ttekkotsu-2_3 +/whoop.wav/1.1/Sat Mar 15 03:44:58 2003/-kb/Ttekkotsu-2_3 +/yap.wav/1.1/Sat Mar 15 03:44:58 2003//Ttekkotsu-2_3 +/yipper.wav/1.1/Sat Mar 15 03:44:58 2003//Ttekkotsu-2_3 +D/numbers//// diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Repository ./SoundPlay/clips/converted/8 bit-Hz/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay/clips/converted/8 bit-Hz diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Root ./SoundPlay/clips/converted/8 bit-Hz/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Tag ./SoundPlay/clips/converted/8 bit-Hz/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/0.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/0.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/1.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/1.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/2.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/2.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/3.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/3.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/4.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/4.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/5.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/5.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/6.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/6.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/7.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/7.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/8.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/8.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/9.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/9.wav differ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Entries ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,13 @@ +/0.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/1.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/2.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/3.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/4.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/5.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/6.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/7.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/8.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/9.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/dot.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +/point.wav/1.1/Thu Jan 27 05:40:19 2005/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Repository ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay/clips/converted/8 bit-Hz/numbers diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Root ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Tag ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/8 bit-Hz/numbers/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/dot.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/dot.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/converted/8 bit-Hz/numbers/point.wav and ./SoundPlay/clips/converted/8 bit-Hz/numbers/point.wav differ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Entries ./SoundPlay/clips/converted/CVS/Entries --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,2 @@ +D/16 bit-Hz//// +D/8 bit-Hz//// diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Repository ./SoundPlay/clips/converted/CVS/Repository --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/SoundPlay/clips/converted diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Root ./SoundPlay/clips/converted/CVS/Root --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Tag ./SoundPlay/clips/converted/CVS/Tag --- ../Tekkotsu_2.2.2/SoundPlay/clips/converted/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./SoundPlay/clips/converted/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/JurassicPark-Tyrannosaurus_rex-Roaring.wav and ./SoundPlay/clips/originals/junglewalk.com/JurassicPark-Tyrannosaurus_rex-Roaring.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/barking.wav and ./SoundPlay/clips/originals/junglewalk.com/barking.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/cat02.wav and ./SoundPlay/clips/originals/junglewalk.com/cat02.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/catcry.wav and ./SoundPlay/clips/originals/junglewalk.com/catcry.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/catyowl.wav and ./SoundPlay/clips/originals/junglewalk.com/catyowl.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/dinosaur.wav and ./SoundPlay/clips/originals/junglewalk.com/dinosaur.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/dogsniff.wav and ./SoundPlay/clips/originals/junglewalk.com/dogsniff.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/donkeyb.wav and ./SoundPlay/clips/originals/junglewalk.com/donkeyb.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/dragonsn.mp3 and ./SoundPlay/clips/originals/junglewalk.com/dragonsn.mp3 differ Binary files 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./SoundPlay/clips/originals/junglewalk.com/wolf2.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/wolf_pup.wav and ./SoundPlay/clips/originals/junglewalk.com/wolf_pup.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/wolves3.wav and ./SoundPlay/clips/originals/junglewalk.com/wolves3.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/wolves7.wav and ./SoundPlay/clips/originals/junglewalk.com/wolves7.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/yap.wav and ./SoundPlay/clips/originals/junglewalk.com/yap.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/junglewalk.com/yapper.wav and ./SoundPlay/clips/originals/junglewalk.com/yapper.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/bark.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/bark.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/bark2.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/bark2.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/bark3.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/bark3.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/cutey.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/cutey.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/growl.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/growl.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/growl2.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/growl2.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/growl3.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/growl3.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/growl4.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/growl4.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/grrr.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/grrr.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/howl.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/howl.wav differ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/src.url ./SoundPlay/clips/originals/petz - www.dmwright.com/src.url --- ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/src.url Sun Apr 27 21:10:59 2003 +++ ./SoundPlay/clips/originals/petz - www.dmwright.com/src.url Wed Dec 31 19:00:00 1969 @@ -1 +0,0 @@ -www.dmwright.com/petz/petz3/funpack/html/sound.htm Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/petz - www.dmwright.com/whimper.wav and ./SoundPlay/clips/originals/petz - www.dmwright.com/whimper.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/whiip.wav and ./SoundPlay/clips/originals/whiip.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/whoop.wav and ./SoundPlay/clips/originals/whoop.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/camera.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/camera.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/car_accelerating.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/car_accelerating.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/car_crash.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/car_crash.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/car_skids_2.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/car_skids_2.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/car_skids_3.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/car_skids_3.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/clock_tick.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/clock_tick.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/dog_bark1.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/dog_bark1.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/dog_growl.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/dog_growl.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/electronicping.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/electronicping.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/fart4.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/fart4.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/glassbreaking.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/glassbreaking.wav differ diff -urdN ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/src.url ./SoundPlay/clips/originals/www.matthawkins.co.uk/src.url --- ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/src.url Sun Apr 27 21:10:59 2003 +++ ./SoundPlay/clips/originals/www.matthawkins.co.uk/src.url Wed Dec 31 19:00:00 1969 @@ -1 +0,0 @@ -www.matthawkins.co.uk/html/sound_fx_vehicles.htm Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/tick.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/tick.wav differ Binary files ../Tekkotsu_2.2.2/SoundPlay/clips/originals/www.matthawkins.co.uk/toc.wav and ./SoundPlay/clips/originals/www.matthawkins.co.uk/toc.wav differ diff -urdN ../Tekkotsu_2.2.2/TinyFTPD/CVS/Entries ./TinyFTPD/CVS/Entries --- ../Tekkotsu_2.2.2/TinyFTPD/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./TinyFTPD/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,13 @@ +/FtpConfig.h/1.2/Tue Jul 6 22:30:57 2004//Ttekkotsu-2_3 +/FtpDTP.cc/1.4/Tue Jul 6 22:43:45 2004//Ttekkotsu-2_3 +/FtpDTP.h/1.4/Tue Jul 6 22:43:45 2004//Ttekkotsu-2_3 +/FtpMethod.cc/1.6/Tue Nov 16 23:52:10 2004//Ttekkotsu-2_3 +/FtpPI.cc/1.4/Tue Jul 6 22:43:45 2004//Ttekkotsu-2_3 +/FtpPI.h/1.4/Tue Jul 6 22:43:45 2004//Ttekkotsu-2_3 +/FtpRequest.cc/1.2/Tue Jul 6 22:30:57 2004//Ttekkotsu-2_3 +/TCPConnection.h/1.1.1.1/Mon Sep 30 18:19:49 2002//Ttekkotsu-2_3 +/TinyFTPD.cc/1.6/Tue Jul 6 23:25:45 2004//Ttekkotsu-2_3 +/TinyFTPD.h/1.4/Tue Jul 6 22:43:45 2004//Ttekkotsu-2_3 +/TinyFTPD.ocf/1.3/Mon Jul 12 20:22:29 2004//Ttekkotsu-2_3 +/stub.cfg/1.2/Tue Jul 6 22:30:57 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/TinyFTPD/CVS/Repository ./TinyFTPD/CVS/Repository --- ../Tekkotsu_2.2.2/TinyFTPD/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./TinyFTPD/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/TinyFTPD diff -urdN ../Tekkotsu_2.2.2/TinyFTPD/CVS/Root ./TinyFTPD/CVS/Root --- ../Tekkotsu_2.2.2/TinyFTPD/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./TinyFTPD/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/TinyFTPD/CVS/Tag ./TinyFTPD/CVS/Tag --- ../Tekkotsu_2.2.2/TinyFTPD/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./TinyFTPD/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Vision/BallDetectionGenerator.cc ./Vision/BallDetectionGenerator.cc --- ../Tekkotsu_2.2.2/Vision/BallDetectionGenerator.cc Wed Dec 22 18:13:07 2004 +++ ./Vision/BallDetectionGenerator.cc Fri Jan 14 17:24:51 2005 @@ -43,7 +43,7 @@ ball.confidence = 0; region * ball_region=NULL; - region * or_reg=ballCCS.list; //head of linked list of regions of target color + region * or_reg=ballCCS.list; //head of linked list of regions of target color. or_reg= original region (without noise removal) if(!or_reg) return; unsigned int n = 0; while(or_reg && nconfidence, ball_region->cen_x, ball_region->cen_y):generateEvent(VisionObjectEvent::PinkBallSID,ball->confidence,ball_region->cen_x,ball_region->cen_y); - testSendEvent(*segev,ball.confidence,(int)ball_region->cen_x,(int)ball_region->cen_y); + + testSendEvent(*segev,ball.confidence,(int)ball_region->x1,(int)ball_region->x2,(int)ball_region->y1,(int)ball_region->y2); } void -BallDetectionGenerator::testSendEvent(const FilterBankEvent& ev, float conf, int regcenX, int regcenY) { +BallDetectionGenerator::testSendEvent(const FilterBankEvent& ev, float conf, int regX1,int regX2,int regY1,int regY2) { unsigned int layer=ev.getNumLayers()-config->vision.resolution-1; - float cx=2.0f*regcenX/ev.getWidth(layer)-1; - float cy=2.0f*regcenY/ev.getHeight(layer)-1; + + //pick the larger dimension for scaling, one dimension will be [-1,1], the other will depend on aspect ratio + float dim=ev.getWidth(layer)>ev.getHeight(layer) ? ev.getWidth(layer) : ev.getHeight(layer); + + //the max width and height of scaled dimensions + float cw=ev.getWidth(layer)/dim; + float ch=ev.getHeight(layer)/dim; + + //scale the dimensions + float cx1=2.0f*regX1/dim - cw; + float cx2=2.0f*(regX2+1)/dim - cw; + float cy1=2.0f*regY1/dim - ch; + float cy2=2.0f*(regY2+1)/dim - ch; + if (conf>confidenceThreshold) { if (present) { count=0; - createEvent(EventBase::statusETID,cx,cy); + createEvent(EventBase::statusETID,cx1,cx2,cy1,cy2,cw,ch); } else { count++; if (count>noiseThreshold) { count=0; present=true; - createEvent(EventBase::activateETID,cx,cy); + createEvent(EventBase::activateETID,cx1,cx2,cy1,cy2,cw,ch); } } } else { @@ -237,17 +250,17 @@ if (count>noiseThreshold) { count=0; present=false; - createEvent(EventBase::deactivateETID,0,0); + createEvent(EventBase::deactivateETID,0,0,0,0,cw,ch); } else { - createEvent(EventBase::statusETID,cx,cy); + createEvent(EventBase::statusETID,cx1,cx2,cy1,cy2,cw,ch); } } } } void -BallDetectionGenerator::createEvent(EventBase::EventTypeID_t etid, float centerX, float centerY) const { - VisionObjectEvent * vo=new VisionObjectEvent(etid,mySourceID,centerX,centerY); +BallDetectionGenerator::createEvent(EventBase::EventTypeID_t etid, float bbX1,float bbX2,float bbY1,float bbY2,float rx,float ry) const { + VisionObjectEvent * vo=new VisionObjectEvent(etid,mySourceID,bbX1,bbX2,bbY1,bbY2,rx,ry); vo->setName(getName()); erouter->postEvent(vo); } @@ -269,6 +282,7 @@ * @brief Implements BallDetectionGenerator, which uses segmented color region information to detect round objects * @author alokl (Creator) * @author ejt (reorganized) + * @author Ignacio Herrero Reder < nhr at dte uma es > (VisionObjectInfo Boundary Box - bug 74) * * History is old, may have grown from CMPack (CMU Robosoccer) roots? * I think if there's any of their code left, it's probably *mostly* @@ -278,8 +292,8 @@ * reviewed the code, so I guess it's all ours... * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ diff -urdN ../Tekkotsu_2.2.2/Vision/BallDetectionGenerator.h ./Vision/BallDetectionGenerator.h --- ../Tekkotsu_2.2.2/Vision/BallDetectionGenerator.h Mon Feb 9 17:45:28 2004 +++ ./Vision/BallDetectionGenerator.h Fri Jan 14 17:24:51 2005 @@ -52,9 +52,9 @@ }; //! decides wether to actually send the event based on confidence threshold. - void testSendEvent(const FilterBankEvent& ev, float conf, int regcenX, int regcenY); + void testSendEvent(const FilterBankEvent& ev, float conf, int regX1,int regX2,int regY1, int regY2); //! does the actual event sending - void createEvent(EventBase::EventTypeID_t etid, float centerX, float centerY) const; + void createEvent(EventBase::EventTypeID_t etid, float bbX1,float bbX2,float bbY1,float bbY2,float rx,float ry ) const; //! returns a bit mask corresponding to edges touched by the coordinates passed static int calcEdgeMask(int x1,int x2,int y1,int y2, int width, int height); //! returns @f[ \left|\frac{a-b}{a+b}\right| @f] @@ -80,6 +80,7 @@ * @brief Describes BallDetectionGenerator, which uses segmented color region information to detect round objects * @author alokl (Creator) * @author ejt (reorganized) + * @author Ignacio Herrero Reder < nhr at dte uma es > (VisionObjectInfo Boundary Box - bug 74) * * History is old, may have grown from CMPack (CMU Robosoccer) roots? * I think if there's any of their code left, it's probably *mostly* @@ -89,10 +90,12 @@ * reviewed the code, so I guess it's all ours... * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ + * $ Modified: 2005/12/01 $ + * @ Functions to create VisionObjectEvents include now BB and area info. */ #endif diff -urdN ../Tekkotsu_2.2.2/Vision/CDTGenerator.cc ./Vision/CDTGenerator.cc --- ../Tekkotsu_2.2.2/Vision/CDTGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/CDTGenerator.cc Tue Nov 9 15:01:49 2004 @@ -237,7 +237,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/CDTGenerator.h ./Vision/CDTGenerator.h --- ../Tekkotsu_2.2.2/Vision/CDTGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/CDTGenerator.h Wed Feb 18 16:13:32 2004 @@ -97,7 +97,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/CVS/Entries ./Vision/CVS/Entries --- ../Tekkotsu_2.2.2/Vision/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Vision/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,24 @@ +/BallDetectionGenerator.cc/1.9/Fri Jan 14 22:24:51 2005//Ttekkotsu-2_3 +/BallDetectionGenerator.h/1.6/Fri Jan 14 22:24:51 2005//Ttekkotsu-2_3 +/CDTGenerator.cc/1.7/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/CDTGenerator.h/1.3/Wed Feb 18 21:13:32 2004//Ttekkotsu-2_3 +/FilterBankGenerator.cc/1.7/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/FilterBankGenerator.h/1.15/Mon Dec 20 21:47:59 2004//Ttekkotsu-2_3 +/InterleavedYUVGenerator.cc/1.9/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/InterleavedYUVGenerator.h/1.11/Wed Feb 18 21:13:32 2004//Ttekkotsu-2_3 +/JPEGGenerator.cc/1.9/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/JPEGGenerator.h/1.7/Wed Feb 18 21:13:32 2004//Ttekkotsu-2_3 +/RLEGenerator.cc/1.8/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/RLEGenerator.h/1.7/Wed Feb 18 21:13:32 2004//Ttekkotsu-2_3 +/RawCameraGenerator.cc/1.16/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/RawCameraGenerator.h/1.14/Wed Feb 18 21:13:32 2004//Ttekkotsu-2_3 +/RegionGenerator.cc/1.8/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/RegionGenerator.h/1.5/Wed Feb 18 21:13:32 2004//Ttekkotsu-2_3 +/SegmentedColorGenerator.cc/1.7/Tue Nov 9 20:01:49 2004//Ttekkotsu-2_3 +/SegmentedColorGenerator.h/1.10/Thu Dec 23 01:47:07 2004//Ttekkotsu-2_3 +/cmv_region.h/1.8/Mon Dec 8 00:21:06 2003//Ttekkotsu-2_3 +/cmv_threshold.h/1.5/Fri Dec 5 20:26:47 2003//Ttekkotsu-2_3 +/cmv_types.h/1.3/Fri Jul 16 22:27:59 2004//Ttekkotsu-2_3 +/cmvision.h/1.3/Thu Jan 23 18:14:11 2003//Ttekkotsu-2_3 +/colors.h/1.4/Fri Jul 16 22:11:38 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Vision/CVS/Repository ./Vision/CVS/Repository --- ../Tekkotsu_2.2.2/Vision/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Vision/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/Vision diff -urdN ../Tekkotsu_2.2.2/Vision/CVS/Root ./Vision/CVS/Root --- ../Tekkotsu_2.2.2/Vision/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Vision/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Vision/CVS/Tag ./Vision/CVS/Tag --- ../Tekkotsu_2.2.2/Vision/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Vision/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Vision/FilterBankGenerator.cc ./Vision/FilterBankGenerator.cc --- ../Tekkotsu_2.2.2/Vision/FilterBankGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/FilterBankGenerator.cc Tue Nov 9 15:01:49 2004 @@ -164,7 +164,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/FilterBankGenerator.h ./Vision/FilterBankGenerator.h --- ../Tekkotsu_2.2.2/Vision/FilterBankGenerator.h Mon Dec 20 16:47:59 2004 +++ ./Vision/FilterBankGenerator.h Mon Dec 20 16:47:59 2004 @@ -288,7 +288,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/InterleavedYUVGenerator.cc ./Vision/InterleavedYUVGenerator.cc --- ../Tekkotsu_2.2.2/Vision/InterleavedYUVGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/InterleavedYUVGenerator.cc Tue Nov 9 15:01:49 2004 @@ -128,7 +128,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/InterleavedYUVGenerator.h ./Vision/InterleavedYUVGenerator.h --- ../Tekkotsu_2.2.2/Vision/InterleavedYUVGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/InterleavedYUVGenerator.h Wed Feb 18 16:13:32 2004 @@ -78,7 +78,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/JPEGGenerator.cc ./Vision/JPEGGenerator.cc --- ../Tekkotsu_2.2.2/Vision/JPEGGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/JPEGGenerator.cc Tue Nov 9 15:01:49 2004 @@ -241,7 +241,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/JPEGGenerator.h ./Vision/JPEGGenerator.h --- ../Tekkotsu_2.2.2/Vision/JPEGGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/JPEGGenerator.h Wed Feb 18 16:13:32 2004 @@ -107,7 +107,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/RLEGenerator.cc ./Vision/RLEGenerator.cc --- ../Tekkotsu_2.2.2/Vision/RLEGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/RLEGenerator.cc Tue Nov 9 15:01:49 2004 @@ -149,7 +149,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/RLEGenerator.h ./Vision/RLEGenerator.h --- ../Tekkotsu_2.2.2/Vision/RLEGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/RLEGenerator.h Wed Feb 18 16:13:32 2004 @@ -117,7 +117,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/RawCameraGenerator.cc ./Vision/RawCameraGenerator.cc --- ../Tekkotsu_2.2.2/Vision/RawCameraGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/RawCameraGenerator.cc Tue Nov 9 15:01:49 2004 @@ -425,7 +425,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/RawCameraGenerator.h ./Vision/RawCameraGenerator.h --- ../Tekkotsu_2.2.2/Vision/RawCameraGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/RawCameraGenerator.h Wed Feb 18 16:13:32 2004 @@ -115,7 +115,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/RegionGenerator.cc ./Vision/RegionGenerator.cc --- ../Tekkotsu_2.2.2/Vision/RegionGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/RegionGenerator.cc Tue Nov 9 15:01:49 2004 @@ -239,7 +239,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/RegionGenerator.h ./Vision/RegionGenerator.h --- ../Tekkotsu_2.2.2/Vision/RegionGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/RegionGenerator.h Wed Feb 18 16:13:32 2004 @@ -74,7 +74,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/SegmentedColorGenerator.cc ./Vision/SegmentedColorGenerator.cc --- ../Tekkotsu_2.2.2/Vision/SegmentedColorGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/SegmentedColorGenerator.cc Tue Nov 9 15:01:49 2004 @@ -224,7 +224,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Vision/SegmentedColorGenerator.h ./Vision/SegmentedColorGenerator.h --- ../Tekkotsu_2.2.2/Vision/SegmentedColorGenerator.h Wed Dec 22 20:47:07 2004 +++ ./Vision/SegmentedColorGenerator.h Wed Dec 22 20:47:07 2004 @@ -162,7 +162,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Wireless/CVS/Entries ./Wireless/CVS/Entries --- ../Tekkotsu_2.2.2/Wireless/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./Wireless/CVS/Entries Fri Jan 28 20:12:55 2005 @@ -0,0 +1,7 @@ +/DummySocket.h/1.3/Sun Jan 18 10:16:59 2004//Ttekkotsu-2_3 +/Socket.cc/1.17/Mon Oct 4 20:38:05 2004//Ttekkotsu-2_3 +/Socket.h/1.20/Tue Jan 25 20:06:44 2005//Ttekkotsu-2_3 +/Wireless.cc/1.21/Thu Jan 27 05:40:45 2005//Ttekkotsu-2_3 +/Wireless.h/1.17/Thu Jan 27 05:40:46 2005//Ttekkotsu-2_3 +/ionetstream.h/1.1/Sat Mar 1 20:53:43 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/Wireless/CVS/Repository ./Wireless/CVS/Repository --- ../Tekkotsu_2.2.2/Wireless/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./Wireless/CVS/Repository Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Tekkotsu/Wireless diff -urdN ../Tekkotsu_2.2.2/Wireless/CVS/Root ./Wireless/CVS/Root --- ../Tekkotsu_2.2.2/Wireless/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./Wireless/CVS/Root Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/Wireless/CVS/Tag ./Wireless/CVS/Tag --- ../Tekkotsu_2.2.2/Wireless/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./Wireless/CVS/Tag Fri Jan 28 20:12:55 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/Wireless/DummySocket.h ./Wireless/DummySocket.h --- ../Tekkotsu_2.2.2/Wireless/DummySocket.h Sun Jan 18 05:16:59 2004 +++ ./Wireless/DummySocket.h Sun Jan 18 05:16:59 2004 @@ -42,7 +42,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Wireless/Socket.cc ./Wireless/Socket.cc --- ../Tekkotsu_2.2.2/Wireless/Socket.cc Mon Oct 4 16:38:05 2004 +++ ./Wireless/Socket.cc Mon Oct 4 16:38:05 2004 @@ -172,7 +172,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/Wireless/Socket.h ./Wireless/Socket.h --- ../Tekkotsu_2.2.2/Wireless/Socket.h Wed Dec 22 20:47:07 2004 +++ ./Wireless/Socket.h Tue Jan 25 15:06:44 2005 @@ -163,20 +163,19 @@ //! It's standard stuff. man 3 printf on most systems should give you more //! information - int printf(const char *fmt, ...); + int printf(const char *fmt, ...) __attribute__((format(printf,2,3))); //! It's standard stuff. man 3 printf on most systems should give you more //! information - int vprintf(const char *fmt, va_list al); + int vprintf(const char *fmt, va_list al) __attribute__ ((format (printf, 2, 0))); //! Similar to printf, except it takes an extra first argument. - /*! If vlevel is - * than or equal to the current verbosity level, the string will be printed - * else it will be ignored - * @param vlevel if (vlevel<=verbosity) print, else ignore - * @param fmt same as the standard printf's format string + /*! If vlevel is than or equal to the current #verbosity level, + * the string will be printed else it will be ignored. + * @param vlevel if (vlevel<=verbosity) print, else ignore + * @param fmt same as the standard printf's format string */ - int pprintf(int vlevel, const char *fmt, ...); + int pprintf(int vlevel, const char *fmt, ...) __attribute__ ((format (printf, 3, 4))); //! Initiate blocking or nonblocking write transfer depending on the type //! of socket. @@ -230,10 +229,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif diff -urdN ../Tekkotsu_2.2.2/Wireless/Wireless.cc ./Wireless/Wireless.cc --- ../Tekkotsu_2.2.2/Wireless/Wireless.cc Tue Sep 28 18:12:35 2004 +++ ./Wireless/Wireless.cc Thu Jan 27 00:40:45 2005 @@ -184,6 +184,8 @@ } sockets[sock]->state = CONNECTION_CONNECTED; + //sockets[sock]->local_ipaddr = listenMsg->lAddress.Address(); + //cout << "Listen set lip: " << local_ipaddr << endl; receive( sock ); } } @@ -204,6 +206,8 @@ } sockets[sock]->state = CONNECTION_CONNECTED; + //sockets[sock]->local_ipaddr = connectMsg->lAddress.Address(); + //cout << "Connect set lip: " << local_ipaddr << endl; receive( sock ); } } @@ -220,6 +224,12 @@ } sockets[sock]->state = CONNECTION_CONNECTED; + /* if(bindMsg->address.Address()!=0) { + //sockets[sock]->local_ipaddr = bindMsg->address.Address(); + //cout << "Bind set lip: " << local_ipaddr << endl; + } else { + //cout << "Bind got 0" << endl; + }*/ } void @@ -464,6 +474,29 @@ sockets[sock]->state = CONNECTION_CLOSING; } +uint32 +Wireless::getIPAddress(unsigned int /*idx=0*/) { + uint32 local_ipaddr=0; + //from OPEN-R sample ERA201D1Info: + antEnvInitGetParamMsg getParamMsg("ETHER_IP"); + getParamMsg.Call(ipstackRef, sizeof(getParamMsg)); + if (getParamMsg.error == ANT_SUCCESS && getParamMsg.paramType == antEnv_InitParam_String) { + //cout << "******** RECEIVED " << getParamMsg.value.str << endl; + unsigned int i=0; + for(int j=3; j>=0; j--) { + unsigned int b=0; + while(isock, ipaddr, port); } void close(Socket &sobj) { close(sobj.sock); } void close(Socket *sobj) { close(sobj->sock); } + unsigned int getNumInterfaces() { return 1; } + uint32 getIPAddress(unsigned int idx=0); //@} //@{ @@ -155,10 +157,10 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ + * $Date: 2005/01/30 17:44:13 $ */ #endif // Wireless_h_DEFINED diff -urdN ../Tekkotsu_2.2.2/docs/CVS/Entries ./docs/CVS/Entries --- ../Tekkotsu_2.2.2/docs/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./docs/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,14 @@ +/CMPack_license.txt/1.1/Thu Jan 9 02:03:00 2003//Ttekkotsu-2_3 +/JointSpeedLimits.txt/1.1/Tue Dec 23 06:33:44 2003//Ttekkotsu-2_3 +/PositionFileFormat.txt/1.1.1.1/Mon Sep 30 18:19:47 2002//Ttekkotsu-2_3 +/builddocs/1.19/Tue Jan 4 23:29:22 2005//Ttekkotsu-2_3 +/doxygencfg/1.39/Sat Jan 29 01:06:23 2005//Ttekkotsu-2_3 +/doxygenfoot.html/1.3/Tue Feb 10 01:47:08 2004//Ttekkotsu-2_3 +/doxygenhead.html/1.9/Tue Jan 4 23:29:22 2005//Ttekkotsu-2_3 +/exthead.html/1.1/Wed Nov 24 21:30:39 2004//Ttekkotsu-2_3 +/newmat.doxycfg/1.3/Wed Nov 24 21:30:40 2004//Ttekkotsu-2_3 +/newmatfoot.html/1.1/Tue Jul 20 17:57:01 2004//Ttekkotsu-2_3 +/roboop.doxycfg/1.3/Wed Nov 24 21:30:40 2004//Ttekkotsu-2_3 +/roboopfoot.html/1.1/Tue Jul 20 17:57:01 2004//Ttekkotsu-2_3 +D/benchmarks//// +D/html//// diff -urdN ../Tekkotsu_2.2.2/docs/CVS/Repository ./docs/CVS/Repository --- ../Tekkotsu_2.2.2/docs/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./docs/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/docs diff -urdN ../Tekkotsu_2.2.2/docs/CVS/Root ./docs/CVS/Root --- ../Tekkotsu_2.2.2/docs/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./docs/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/docs/CVS/Tag ./docs/CVS/Tag --- ../Tekkotsu_2.2.2/docs/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./docs/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Entries ./docs/benchmarks/CVS/Entries --- ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,17 @@ +/STARTUP_2.3.txt/1.1/Sat Jan 29 00:39:40 2005//Ttekkotsu-2_3 +/profilerun_ERS210A_1.1.txt/1.2/Wed Feb 4 21:54:44 2004//Ttekkotsu-2_3 +/profilerun_ERS210A_1.4.txt/1.2/Wed Feb 4 21:54:44 2004//Ttekkotsu-2_3 +/profilerun_ERS210A_1.5.txt/1.2/Wed Feb 4 21:54:44 2004//Ttekkotsu-2_3 +/profilerun_ERS210A_2.0.txt/1.3/Wed Feb 4 21:55:32 2004//Ttekkotsu-2_3 +/profilerun_ERS210A_2.1.txt/1.1/Wed Mar 17 02:58:49 2004//Ttekkotsu-2_3 +/profilerun_ERS210A_2.2.txt/1.1/Mon Oct 18 20:33:52 2004//Ttekkotsu-2_3 +/profilerun_ERS210A_2.3.txt/1.1/Sat Jan 29 00:38:42 2005//Ttekkotsu-2_3 +/profilerun_ERS210_1.1.txt/1.2/Wed Feb 4 21:54:44 2004//Ttekkotsu-2_3 +/profilerun_ERS210_1.4.txt/1.2/Wed Feb 4 21:54:44 2004//Ttekkotsu-2_3 +/profilerun_ERS210_1.5.txt/1.2/Wed Feb 4 21:54:44 2004//Ttekkotsu-2_3 +/profilerun_ERS210_2.0.txt/1.1/Wed Feb 4 21:55:32 2004//Ttekkotsu-2_3 +/profilerun_ERS7_2.0.txt/1.3/Wed Feb 4 21:55:32 2004//Ttekkotsu-2_3 +/profilerun_ERS7_2.1.txt/1.1/Wed Mar 17 02:58:49 2004//Ttekkotsu-2_3 +/profilerun_ERS7_2.2.txt/1.1/Mon Oct 18 20:33:52 2004//Ttekkotsu-2_3 +/profilerun_ERS7_2.3.txt/1.1/Sat Jan 29 00:38:42 2005//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Repository ./docs/benchmarks/CVS/Repository --- ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/docs/benchmarks diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Root ./docs/benchmarks/CVS/Root --- ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Tag ./docs/benchmarks/CVS/Tag --- ../Tekkotsu_2.2.2/docs/benchmarks/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/STARTUP_2.0.txt ./docs/benchmarks/STARTUP_2.0.txt --- ../Tekkotsu_2.2.2/docs/benchmarks/STARTUP_2.0.txt Wed Feb 4 16:56:11 2004 +++ ./docs/benchmarks/STARTUP_2.0.txt Wed Dec 31 19:00:00 1969 @@ -1 +0,0 @@ -!root "Mode Switch" "StareAtBallBehavior" ; !root "Status Reports" ; !next \ No newline at end of file diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/STARTUP_2.3.txt ./docs/benchmarks/STARTUP_2.3.txt --- ../Tekkotsu_2.2.2/docs/benchmarks/STARTUP_2.3.txt Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/STARTUP_2.3.txt Fri Jan 28 19:39:40 2005 @@ -0,0 +1 @@ +!root "Mode Switch" "Stare At Pink Ball" ; !root "Status Reports" ; !next ; !next diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS210A_2.2.1.txt ./docs/benchmarks/profilerun_ERS210A_2.2.1.txt --- ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS210A_2.2.1.txt Tue Nov 16 19:03:19 2004 +++ ./docs/benchmarks/profilerun_ERS210A_2.2.1.txt Wed Dec 31 19:00:00 1969 @@ -1 +0,0 @@ -not run diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS210A_2.3.txt ./docs/benchmarks/profilerun_ERS210A_2.3.txt --- ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS210A_2.3.txt Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/profilerun_ERS210A_2.3.txt Fri Jan 28 19:38:42 2005 @@ -0,0 +1,135 @@ +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: 20.017258 to 298.081804 +PowerEvent(): + 43 calls + 0.640907 ms avg + 0.573827 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 6351.275000 ms avg inter (0.157449 fps) + 4556.783203 ms exp.avg (0.219453 fps) + Exec: 0 0 34 9 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 0 0 0 0 0 0 0 0 0 0 0 0 6 0 0 0 0 0 0 6 13 0 0 2 3 0 2 0 1 0 9 +ReadySendJoints(): + 2145 calls + 0.234554 ms avg + 0.225274 ms exp.avg + 0.000397 ms avg child time (0.100000%) + 128.180394 ms avg inter (7.801505 fps) + 127.839653 ms exp.avg (7.822299 fps) + Exec: 0 1 2138 6 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 1 1 1 0 0 0 0 0 0 2137 2 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +GotSensorFrame(): + 8562 calls + 0.852145 ms avg + 0.779630 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.096237 ms avg inter (31.156300 fps) + 32.131828 ms exp.avg (31.121790 fps) + Exec: 0 0 3803 4757 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 0 236 6616 1707 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +GotAudio(): + 8563 calls + 0.566174 ms avg + 0.531842 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.003073 ms avg inter (31.247000 fps) + 31.828907 ms exp.avg (31.417982 fps) + Exec: 0 0 6399 2162 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 1 2 2 8299 257 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +GotImage(): + 6830 calls + 11.044044 ms avg + 11.072465 ms exp.avg + 9.216365 ms avg child time (83.400000%) + 40.105989 ms avg inter (24.933932 fps) + 40.057293 ms exp.avg (24.964243 fps) + Exec: 0 0 8 4 0 3435 3383 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 1 1 2 1 6823 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +BallDetection::processEvent(): + 6821 calls + 9.229060 ms avg + 9.394281 ms exp.avg + 8.543098 ms avg child time (92.500000%) + 40.072579 ms avg inter (24.954720 fps) + 40.041733 ms exp.avg (24.973944 fps) + Exec: 0 2 0 0 1 6801 17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 1 0 0 1 0 3 1 6814 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(...): + 6818 calls + 8.546857 ms avg + 8.688643 ms exp.avg + 4.538367 ms avg child time (53.000000%) + 40.100872 ms avg inter (24.937114 fps) + 40.054451 ms exp.avg (24.966015 fps) + Exec: 0 0 0 0 0 6808 10 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 2 1 6814 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(...): + 6818 calls + 4.538367 ms avg + 4.572154 ms exp.avg + 2.800123 ms avg child time (61.600000%) + 40.100877 ms avg inter (24.937111 fps) + 40.054607 ms exp.avg (24.965916 fps) + Exec: 0 0 0 0 5103 1715 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 0 2 1 6814 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(...): + 6818 calls + 2.800123 ms avg + 2.824836 ms exp.avg + 0.028903 ms avg child time (1.000000%) + 40.100781 ms avg inter (24.937170 fps) + 40.054451 ms exp.avg (24.966015 fps) + Exec: 0 0 0 0 6816 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 0 2 1 6814 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(...): + 20454 calls + 0.009634 ms avg + 0.007774 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 13.362485 ms avg inter (74.836381 fps) + 11.286345 ms exp.avg (88.602638 fps) + Exec: 13366 6976 108 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 13405 229 2 0 0 2 1 6814 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: 20.017359 to 298.090260 +ReadySendJoints(): + 8574 calls + 1.911137 ms avg + 1.728524 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.055326 ms avg inter (31.196064 fps) + 31.852037 ms exp.avg (31.395166 fps) + Exec: 0 0 0 7539 1015 3 0 0 0 17 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 8556 0 17 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, +: 0 13405 229 2 0 0 2 1 6814 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: 20.017359 to 298.090260 +ReadySendJoints(): + 8574 calls + 1.911137 ms avg + 1.728524 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.055326 ms avg inter (31.196064 fps) + 31.852037 ms exp.avg (31.395166 fps) + Exec: 0 0 0 7539 1015 3 0 0 0 17 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 8556 0 17 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, diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS7_2.2.1.txt ./docs/benchmarks/profilerun_ERS7_2.2.1.txt --- ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS7_2.2.1.txt Tue Nov 16 19:03:19 2004 +++ ./docs/benchmarks/profilerun_ERS7_2.2.1.txt Wed Dec 31 19:00:00 1969 @@ -1 +0,0 @@ -not run diff -urdN ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS7_2.3.txt ./docs/benchmarks/profilerun_ERS7_2.3.txt --- ../Tekkotsu_2.2.2/docs/benchmarks/profilerun_ERS7_2.3.txt Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/profilerun_ERS7_2.3.txt Fri Jan 28 19:38:42 2005 @@ -0,0 +1,119 @@ +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: 16.709355 to 298.588974 +PowerEvent(): + 16 calls + 0.219750 ms avg + 0.219325 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 16996.075875 ms avg inter (0.058837 fps) + 18632.210938 ms exp.avg (0.053670 fps) + Exec: 0 3 12 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 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 2 0 0 13 +ReadySendJoints(): + 1 calls + 0.008000 ms avg + 0.008000 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.000000 ms avg inter (Inf fps) + 0.000000 ms exp.avg (Inf fps) + Exec: 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 0 0 0 + Inter: 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 0 0 0 0 +GotSensorFrame(): + 8734 calls + 0.248177 ms avg + 0.186829 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.046393 ms avg inter (31.204760 fps) + 32.235420 ms exp.avg (31.021776 fps) + Exec: 0 5 8717 11 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 1 0 0 8725 5 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +GotAudio(): + 8736 calls + 0.377339 ms avg + 0.379657 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 31.992359 ms avg inter (31.257464 fps) + 31.972803 ms exp.avg (31.276583 fps) + Exec: 0 2 8160 574 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 0 0 0 2 2 0 8730 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +GotImage(): + 8378 calls + 3.029108 ms avg + 3.096023 ms exp.avg + 2.420020 ms avg child time (79.800000%) + 33.357408 ms avg inter (29.978349 fps) + 33.206440 ms exp.avg (30.114639 fps) + Exec: 0 7 17 1 8349 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 1 2 0 1 6943 1429 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +BallDetection::processEvent(): + 8356 calls + 2.426432 ms avg + 2.464707 ms exp.avg + 2.127624 ms avg child time (87.600000%) + 33.339802 ms avg inter (29.994180 fps) + 33.216110 ms exp.avg (30.105871 fps) + Exec: 2 0 1 0 8352 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 + Inter: 0 1 1 0 0 3 0 6925 1425 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(...): + 8353 calls + 2.128388 ms avg + 2.166709 ms exp.avg + 1.987667 ms avg child time (93.300000%) + 33.353407 ms avg inter (29.981944 fps) + 33.217785 ms exp.avg (30.104357 fps) + Exec: 0 0 0 8125 228 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 2 0 6925 1425 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(...): + 8353 calls + 1.987667 ms avg + 2.040761 ms exp.avg + 1.637737 ms avg child time (82.300000%) + 33.353644 ms avg inter (29.981732 fps) + 33.217995 ms exp.avg (30.104164 fps) + Exec: 0 0 0 8311 42 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 2 0 6925 1425 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(...): + 8353 calls + 1.637737 ms avg + 1.640365 ms exp.avg + 0.015049 ms avg child time (0.900000%) + 33.353558 ms avg inter (29.981809 fps) + 33.218033 ms exp.avg (30.104130 fps) + Exec: 0 0 0 8343 10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 2 0 6925 1425 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(...): + 25059 calls + 0.005016 ms avg + 0.005548 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 11.116690 ms avg inter (89.954833 fps) + 9.195412 ms exp.avg (108.749893 fps) + Exec: 17766 7293 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 0 0 + Inter: 8328 8378 0 0 0 2 0 6925 1425 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: 16.709430 to 298.595609 +ReadySendJoints(): + 8729 calls + 1.121769 ms avg + 0.916171 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.061304 ms avg inter (31.190247 fps) + 31.974277 ms exp.avg (31.275139 fps) + Exec: 0 0 0 8705 8 0 0 0 0 16 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 8712 0 16 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, diff -urdN ../Tekkotsu_2.2.2/docs/builddocs ./docs/builddocs --- ../Tekkotsu_2.2.2/docs/builddocs Fri Sep 3 11:56:34 2004 +++ ./docs/builddocs Tue Jan 4 18:29:22 2005 @@ -78,6 +78,12 @@ doxygen doxygencfg ; printf "done\n"; +if [ $search -ne 0 ] ; then + printf "Updating search.php form action..."; + "${src}/tools/filewordreplace" -c "@" -q '"search.php"' '"http://cvs.tekkotsu.org/search.php"' "$target/*.html"; + printf "done\n"; +fi; + if [ $update -eq 0 ] ; then printf "Copying additional documentation..." for x in ${src}/docs/html/* ; do @@ -106,6 +112,13 @@ printf "Replacing generated main.html with docs/html/index.html..." cp -f "$src"/docs/html/index.html $target/main.html ; fi; + printf "done\n" +fi; + +if [ $tree -ne 0 ] ; then + printf "Adding favicon tag to index.html..." + mv $target/index.html $target/indextmp.html + cat $target/indextmp.html | sed 's///' > $target/index.html printf "done\n" fi; diff -urdN ../Tekkotsu_2.2.2/docs/doxygencfg ./docs/doxygencfg --- ../Tekkotsu_2.2.2/docs/doxygencfg Wed Dec 22 20:47:07 2004 +++ ./docs/doxygencfg Fri Jan 28 20:06:23 2005 @@ -23,7 +23,7 @@ # This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = 2.2.2 +PROJECT_NUMBER = 2.3 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. @@ -1109,7 +1109,7 @@ # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. -GRAPHICAL_HIERARCHY = YES +GRAPHICAL_HIERARCHY = NO # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif diff -urdN ../Tekkotsu_2.2.2/docs/doxygenhead.html ./docs/doxygenhead.html --- ../Tekkotsu_2.2.2/docs/doxygenhead.html Mon Feb 9 20:47:08 2004 +++ ./docs/doxygenhead.html Tue Jan 4 18:29:22 2005 @@ -15,15 +15,15 @@ Homepage - +
Demos - +
Overview - +
Downloads - +
Tutorials - +
Reference
Credits diff -urdN ../Tekkotsu_2.2.2/docs/html/CVS/Entries ./docs/html/CVS/Entries --- ../Tekkotsu_2.2.2/docs/html/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./docs/html/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,11 @@ +/.htaccess/1.4/Wed Jan 21 08:15:40 2004//Ttekkotsu-2_3 +/NumberLEDs.jpg/1.4/Wed Oct 15 01:20:16 2003/-kb/Ttekkotsu-2_3 +/aibo.jpg/1.1/Thu Jan 9 02:03:00 2003/-kb/Ttekkotsu-2_3 +/aibopup.jpg/1.1/Thu Jan 9 02:03:01 2003/-kb/Ttekkotsu-2_3 +/aibosmall.jpg/1.1/Thu Jan 9 02:03:01 2003/-kb/Ttekkotsu-2_3 +/doxygen.css/1.6/Tue Jan 4 18:53:34 2005//Ttekkotsu-2_3 +/favicon.ico/1.3/Sun Dec 5 04:04:54 2004/-kb/Ttekkotsu-2_3 +/index.html/1.40/Sat Jan 29 01:06:23 2005//Ttekkotsu-2_3 +/robots.txt/1.1/Thu Jan 9 02:03:01 2003//Ttekkotsu-2_3 +/search.png/1.1/Fri Oct 10 21:32:51 2003/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/docs/html/CVS/Repository ./docs/html/CVS/Repository --- ../Tekkotsu_2.2.2/docs/html/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./docs/html/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/docs/html diff -urdN ../Tekkotsu_2.2.2/docs/html/CVS/Root ./docs/html/CVS/Root --- ../Tekkotsu_2.2.2/docs/html/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./docs/html/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/docs/html/CVS/Tag ./docs/html/CVS/Tag --- ../Tekkotsu_2.2.2/docs/html/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./docs/html/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/docs/html/doxygen.css ./docs/html/doxygen.css --- ../Tekkotsu_2.2.2/docs/html/doxygen.css Mon Oct 18 13:01:38 2004 +++ ./docs/html/doxygen.css Tue Jan 4 13:53:34 2005 @@ -17,12 +17,15 @@ margin: 2px; padding: 2px; line-height: 140%; - width: 620px; + width: 640px; align: center; margin-left: auto; margin-right: auto; font-size: smaller; } +TABLE.qindex { + font-size: 100%; +} DIV.nav { width: 100%; background-color: #eeeeff; @@ -52,6 +55,8 @@ background-color: #6666cc; color: #ffffff; border: 1px double #9295C2; + padding-left: .55ex; + padding-right: .55ex; } A.qindexHL:hover { text-decoration: none; diff -urdN ../Tekkotsu_2.2.2/docs/html/index.html ./docs/html/index.html --- ../Tekkotsu_2.2.2/docs/html/index.html Wed Dec 22 20:47:07 2004 +++ ./docs/html/index.html Fri Jan 28 20:06:23 2005 @@ -52,28 +52,27 @@ -
-Main Page | Namespace List | Class Hierarchy | Alphabetical List | Class List | Directories | File List | Namespace Members | Class Members | File Members | Related Pages -
-
-

Tekkotsu Source Documentation

-
+
+ + + + + + + + + +
Main PageClasses:
List, Index, Hierarchy, Members
Namespaces:
List, Members
Files:
List, Directories, Members
Other Pages
Search 
+
+
+

Tekkotsu Source Documentation

+

Frames | No Frames
@@ -128,8 +127,8 @@ static copies of the documentation, there are two formats:

If you're using the most recent version from the CVS repository, diff -urdN ../Tekkotsu_2.2.2/project/CVS/Entries ./project/CVS/Entries --- ../Tekkotsu_2.2.2/project/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,14 @@ +/Environment.conf/1.7/Tue Nov 30 21:13:16 2004//Ttekkotsu-2_3 +/Makefile/1.98/Tue Jan 18 23:25:14 2005//Ttekkotsu-2_3 +/StartupBehavior.cc/1.67/Tue Dec 21 21:49:50 2004//Ttekkotsu-2_3 +/StartupBehavior.h/1.12/Thu Nov 11 01:45:37 2004//Ttekkotsu-2_3 +/StartupBehavior_SetupBackgroundBehaviors.cc/1.17/Thu Jan 27 05:42:31 2005//Ttekkotsu-2_3 +/StartupBehavior_SetupFileAccess.cc/1.6/Fri Jan 7 19:37:43 2005//Ttekkotsu-2_3 +/StartupBehavior_SetupModeSwitch.cc/1.41/Sat Jan 29 00:58:25 2005//Ttekkotsu-2_3 +/StartupBehavior_SetupStatusReports.cc/1.4/Wed Jan 12 22:37:26 2005//Ttekkotsu-2_3 +/StartupBehavior_SetupTekkotsuMon.cc/1.17/Tue Dec 14 02:54:01 2004//Ttekkotsu-2_3 +/StartupBehavior_SetupVision.cc/1.16/Wed Mar 17 22:49:15 2004//Ttekkotsu-2_3 +/StartupBehavior_SetupWalkEdit.cc/1.8/Fri May 14 07:18:19 2004//Ttekkotsu-2_3 +/entry.h/1.1/Sat Mar 1 20:53:46 2003//Ttekkotsu-2_3 +D/ms//// +D/templates//// diff -urdN ../Tekkotsu_2.2.2/project/CVS/Repository ./project/CVS/Repository --- ../Tekkotsu_2.2.2/project/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/project diff -urdN ../Tekkotsu_2.2.2/project/CVS/Root ./project/CVS/Root --- ../Tekkotsu_2.2.2/project/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/CVS/Tag ./project/CVS/Tag --- ../Tekkotsu_2.2.2/project/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/Environment.conf ./project/Environment.conf --- ../Tekkotsu_2.2.2/project/Environment.conf Tue Nov 30 16:13:16 2004 +++ ./project/Environment.conf Tue Nov 30 16:13:16 2004 @@ -1,5 +1,5 @@ ############ ENVIRONMENT VARIABLES ############## -############# $Name: HEAD $ ############### +############# $Name: HEAD $ ############### ############### $Revision: 1.1 $ ################# ########## $Date: 2005/01/30 17:44:13 $ ########### # If you need to modify these, you should set them as environment diff -urdN ../Tekkotsu_2.2.2/project/Makefile ./project/Makefile --- ../Tekkotsu_2.2.2/project/Makefile Wed Dec 22 17:25:40 2004 +++ ./project/Makefile Tue Jan 18 18:25:14 2005 @@ -1,7 +1,7 @@ ################ PROJECT MAKEFILE ################# -############# $Name: HEAD $ ############### -############### $Revision: 1.1 $ ################# -########## $Date: 2005/01/30 17:44:13 $ ########### +############# $Name: HEAD $ ############### +############### $Revision: 1.1 $ ################# +########## $Date: 2005/01/30 17:44:13 $ ########### # Make sure the default target is 'all' by listing it first all: @@ -434,44 +434,54 @@ install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" - $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) - @if [ \! -r $(MEMSTICK_ROOT)/open-r/version.txt -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/ipstack.bin -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/vr.bin -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/wlanenbl.bin ] ; then \ + $(TEKKOTSU_ROOT)/tools/mntmem "$(MEMSTICK_ROOT)" + @if [ \! -r "$(MEMSTICK_ROOT)/open-r/version.txt" -o \! -r "$(MEMSTICK_ROOT)/open-r/system/objs/ipstack.bin" -o \! -r "$(MEMSTICK_ROOT)/open-r/system/objs/vr.bin" -o \! -r "$(MEMSTICK_ROOT)/open-r/system/objs/wlanenbl.bin" ] ; then \ echo "** ERROR: It looks like your memory stick is missing critical system files."; \ echo "** You may want to 'make newstick' first to clear the memory stick"; \ echo "** and copy the OPEN-R system files onto it."; \ - echo $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ - $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + echo $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ + $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ exit 1; \ fi; @if [ -z "`grep \"$(if $(findstring TGT_ERS7,$(TEKKOTSU_TARGET_MODEL)),ERS-7,ERS-210/220)\" \"$(MEMSTICK_ROOT)/open-r/version.txt\"`" ] ; then \ echo "** ERROR: It looks like your memory stick has the system files for the wrong"; \ echo "** model of AIBO. You may want to 'make newstick' first to clear the"; \ echo "** memory stick and reinstall the OPEN-R system files onto it."; \ - echo $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ - $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + echo $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ + $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ exit 1; \ fi; - @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools + @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt "$(MEMSTICK_ROOT)" --tools $(TEKKOTSU_ROOT)/tools @touch .copiedtomemstick.timestamp update: compile $(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime @echo "Syncing $(MSIMGDIR) and $(MEMSTICK_ROOT)" @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)` $(PROJ_BD)/installbin.timestamp - @$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) + @$(TEKKOTSU_ROOT)/tools/mntmem "$(MEMSTICK_ROOT)" @if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ echo "Strict image copy is on." ; \ - rsync -rLtWCv --delete $(MSIMGDIR)/* $(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ + rsync -rLtWCv --delete $(MSIMGDIR)/* "$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/"* "$(MEMSTICK_ROOT)" ; \ else \ - rsync -rLtWCv $(MSIMGDIR)/* $(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ + rsync -rLtWCv $(MSIMGDIR)/* "$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/"* "$(MEMSTICK_ROOT)" ; \ fi; - @$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) + @$(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)" @touch .copiedtomemstick.timestamp newstick: - $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) - rm -rf $(MEMSTICK_ROOT)/* - cp -r $(SYSTEM_BINARIES)/* $(MEMSTICK_ROOT) - $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) + @echo " We are about to delete all the files contained within '$(MEMSTICK_ROOT)':" + @echo " rm -rf \"$(MEMSTICK_ROOT)/\"*" + @echo + @echo " These files will be replaced with a fresh copy of the system binaries" + @echo " from '$(SYSTEM_BINARIES)'" + @printf " Are you sure you want to continue? (Type 'yes' to continue) > " + @read resp ; if [ "$$resp" != "yes" ] ; then \ + echo "newstick canceled"; \ + exit 1; \ + fi; + $(TEKKOTSU_ROOT)/tools/mntmem "$(MEMSTICK_ROOT)"; + rm -rf "$(MEMSTICK_ROOT)/"*; + cp -r "$(SYSTEM_BINARIES)/"* "$(MEMSTICK_ROOT)"; + $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; $(FILTERSYSWARN): (cd $(TEKKOTSU_ROOT)/tools && $(MAKE)); diff -urdN ../Tekkotsu_2.2.2/project/StartupBehavior_SetupBackgroundBehaviors.cc ./project/StartupBehavior_SetupBackgroundBehaviors.cc --- ../Tekkotsu_2.2.2/project/StartupBehavior_SetupBackgroundBehaviors.cc Mon Nov 15 17:22:36 2004 +++ ./project/StartupBehavior_SetupBackgroundBehaviors.cc Thu Jan 27 00:42:31 2005 @@ -3,6 +3,7 @@ #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" +#include "Behaviors/Demos/FlashIPAddrBehavior.h" #include "Behaviors/Demos/SimpleChaseBallBehavior.h" #include "Behaviors/Demos/StareAtBallBehavior.h" #include "Behaviors/Demos/AutoGetupBehavior.h" @@ -26,6 +27,7 @@ addItem(new ControlBase("Background Behaviors","Background daemons and monitors")); startSubMenu(); { + addItem((new BehaviorSwitchControl("Flash IP Address",false))->start()); addItem(new BehaviorSwitchControl("Simple Chase Ball",false)); addItem(new BehaviorSwitchControl("Stare at Ball",false)); addItem(new BehaviorSwitchControl("Head Level",false)); diff -urdN ../Tekkotsu_2.2.2/project/StartupBehavior_SetupFileAccess.cc ./project/StartupBehavior_SetupFileAccess.cc --- ../Tekkotsu_2.2.2/project/StartupBehavior_SetupFileAccess.cc Tue Dec 21 15:29:18 2004 +++ ./project/StartupBehavior_SetupFileAccess.cc Fri Jan 7 14:37:43 2005 @@ -7,12 +7,16 @@ #include "Behaviors/Controls/PlaySoundControl.h" #include "Behaviors/Controls/DumpFileControl.h" #include "Behaviors/Controls/WaypointWalkControl.h" +#include "Behaviors/Controls/LoadPostureControl.h" +#include "Behaviors/Controls/SavePostureControl.h" ControlBase* StartupBehavior::SetupFileAccess() { addItem(new ControlBase("File Access","Access/load files on the memory stick")); startSubMenu(); - { + { + addItem(new LoadPostureControl("Load Posture",stop_id)); + addItem(new SavePostureControl("Save Posture")); addItem(new PostureEditor(stop_id)); addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); addItem(new PlaySoundControl("Play Sound")); diff -urdN ../Tekkotsu_2.2.2/project/StartupBehavior_SetupStatusReports.cc ./project/StartupBehavior_SetupStatusReports.cc --- ../Tekkotsu_2.2.2/project/StartupBehavior_SetupStatusReports.cc Thu Nov 11 15:35:00 2004 +++ ./project/StartupBehavior_SetupStatusReports.cc Wed Jan 12 17:37:26 2005 @@ -8,6 +8,7 @@ #include "Behaviors/Controls/EventLogger.h" #include "Behaviors/Controls/SensorObserverControl.h" #include "Behaviors/Controls/BehaviorReportControl.h" +#include "Behaviors/Controls/NetworkStatusControl.h" ControlBase* StartupBehavior::SetupStatusReports() { @@ -22,6 +23,7 @@ FreeMemReportControl * tmp=new FreeMemReportControl(); tmp->DoStart(); addItem(tmp); + addItem(new NetworkStatusControl()); } return endSubMenu(); } diff -urdN ../Tekkotsu_2.2.2/project/StartupBehavior_SetupWalkEdit.cc ./project/StartupBehavior_SetupWalkEdit.cc --- ../Tekkotsu_2.2.2/project/StartupBehavior_SetupWalkEdit.cc Fri May 14 03:18:19 2004 +++ ./project/StartupBehavior_SetupWalkEdit.cc Fri May 14 03:18:19 2004 @@ -9,7 +9,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Motion group: Haoqian Chen, Yantian Martin, Jon Stahlman (creators) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/project/ms/CVS/Entries ./project/ms/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,3 @@ +D/config//// +D/data//// +D/open-r//// diff -urdN ../Tekkotsu_2.2.2/project/ms/CVS/Repository ./project/ms/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms diff -urdN ../Tekkotsu_2.2.2/project/ms/CVS/Root ./project/ms/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/CVS/Tag ./project/ms/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/config/CVS/Entries ./project/ms/config/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/config/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/config/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,15 @@ +/7red.tm/1.1/Thu Feb 5 23:40:33 2004/-kb/Ttekkotsu-2_3 +/ball.tm/1.4/Wed Feb 18 21:13:59 2004/-kb/Ttekkotsu-2_3 +/default.col/1.2/Mon Jul 28 06:58:16 2003//Ttekkotsu-2_3 +/ers210.kin/1.13/Fri Dec 10 23:49:54 2004//Ttekkotsu-2_3 +/ers220.kin/1.13/Fri Dec 10 23:49:54 2004//Ttekkotsu-2_3 +/ers7.kin/1.15/Fri Dec 10 23:49:54 2004//Ttekkotsu-2_3 +/ers7pnts.kin/1.2/Fri Dec 10 23:49:54 2004//Ttekkotsu-2_3 +/general.tm/1.1/Thu Oct 9 06:25:30 2003/-kb/Ttekkotsu-2_3 +/pb.tm/1.1/Thu Oct 9 06:25:30 2003/-kb/Ttekkotsu-2_3 +/phb.tm/1.1/Thu Oct 9 06:25:30 2003/-kb/Ttekkotsu-2_3 +/tekkotsu.cfg/1.58/Thu Jan 27 05:43:38 2005//Ttekkotsu-2_3 +/ttt.col/1.1/Wed Mar 3 23:14:44 2004//Ttekkotsu-2_3 +/ttt.tm/1.1/Wed Mar 3 23:14:44 2004//Ttekkotsu-2_3 +/ttt_old.tm/1.1/Wed Mar 3 23:14:44 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/ms/config/CVS/Repository ./project/ms/config/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/config/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/config/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/config diff -urdN ../Tekkotsu_2.2.2/project/ms/config/CVS/Root ./project/ms/config/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/config/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/config/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/config/CVS/Tag ./project/ms/config/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/config/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/config/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/config/tekkotsu.cfg ./project/ms/config/tekkotsu.cfg --- ../Tekkotsu_2.2.2/project/ms/config/tekkotsu.cfg Mon Dec 20 16:27:15 2004 +++ ./project/ms/config/tekkotsu.cfg Fri Jan 28 20:12:00 2005 @@ -1,9 +1,9 @@ ################################################################## ###################### Tekkotsu config ####################### ################################################################## -##################### $Name: HEAD $ ###################### -####################### $Revision: 1.1 $ ######################## -################## $Date: 2005/01/30 17:44:13 $ ################## +##################### $Name: HEAD $ ###################### +####################### $Revision: 1.1 $ ######################## +################## $Date: 2005/01/30 17:44:13 $ ################## ################################################################## # # Format: @@ -202,9 +202,21 @@ [Behaviors] ################################################################## ################################################################## -# your-stuff-here? + +### FlashIPAddrBehavior ### + +# You probably already know the first 3 bytes for your network +# so you might only want the last byte for brevity +# (valid values are 1 through 4) +flash_bytes=4 + +# Do you want to automatically trigger this on boot? +# Will use a priority of kEmergencyPriority+1 in order to override +# the emergency stop's status animation +flash_on_start=0 +# your-stuff-here? ################################################################## ################################################################## @@ -331,8 +343,12 @@ # going above 0xF800 on a ERS-210 causes distortion (clipping) - full volume on a ERS-7 sounds fine though. volume=level_3 +# Sound playback currently requires all sounds to be the same bit +# rate. Aperios further requires only either 8bit/8KHz or 16bit/16KHz +# formats sample_rate=16000 sample_bits=16 + # Preload is a list of sounds to cache at boot # can be either root relative or full path preload=skid.wav diff -urdN ../Tekkotsu_2.2.2/project/ms/data/CVS/Entries ./project/ms/data/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/data/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,2 @@ +D/motion//// +D/sound//// diff -urdN ../Tekkotsu_2.2.2/project/ms/data/CVS/Repository ./project/ms/data/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/data/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/data diff -urdN ../Tekkotsu_2.2.2/project/ms/data/CVS/Root ./project/ms/data/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/data/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/data/CVS/Tag ./project/ms/data/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/data/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Entries ./project/ms/data/motion/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/motion/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,36 @@ +/circles.wyp/1.1/Tue Mar 30 04:31:39 2004//Ttekkotsu-2_3 +/clearcal.txt/1.2/Thu Feb 26 01:03:05 2004//Ttekkotsu-2_3 +/dance.mot/1.3/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/dispos.pos/1.1/Sat Mar 1 21:08:28 2003//Ttekkotsu-2_3 +/gu_back.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/gu_front.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/gu_side.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_bump.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_diag.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_dive.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_fwd.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_grab.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_head.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_heads.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_hold.mot/1.3/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/k_punch.mot/1.5/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/leftkick.pos/1.1/Sun Sep 21 19:44:14 2003//Ttekkotsu-2_3 +/liedown.pos/1.1/Sat Mar 1 21:08:28 2003//Ttekkotsu-2_3 +/pace.prm/1.1/Fri Sep 12 03:36:10 2003/-kb/Ttekkotsu-2_3 +/pan_head.mot/1.2/Tue Dec 21 22:30:28 2004//Ttekkotsu-2_3 +/pounce.pos/1.1/Sat Mar 1 21:08:28 2003//Ttekkotsu-2_3 +/readme.txt/1.1/Wed Feb 18 21:14:14 2004//Ttekkotsu-2_3 +/rkick.pos/1.1/Thu Jul 8 03:04:21 2004//Ttekkotsu-2_3 +/situp.pos/1.1/Sat Mar 1 21:08:28 2003//Ttekkotsu-2_3 +/sqbasca2.wyp/1.1/Tue Mar 30 04:31:39 2004//Ttekkotsu-2_3 +/sqbasce2.wyp/1.1/Tue Mar 30 04:31:40 2004//Ttekkotsu-2_3 +/sqbasco2.wyp/1.1/Tue Mar 30 04:31:40 2004//Ttekkotsu-2_3 +/sqbasica.wyp/1.1/Tue Mar 30 04:31:40 2004//Ttekkotsu-2_3 +/sqbasice.wyp/1.1/Tue Mar 30 04:31:40 2004//Ttekkotsu-2_3 +/sqbasico.wyp/1.1/Tue Mar 30 04:31:40 2004//Ttekkotsu-2_3 +/sqpush.wyp/1.1/Tue Mar 30 04:31:40 2004//Ttekkotsu-2_3 +/stand.pos/1.1/Sat Mar 1 21:08:28 2003//Ttekkotsu-2_3 +/tiger.prm/1.1/Sun Sep 21 19:44:14 2003//Ttekkotsu-2_3 +/walk.prm/1.6/Sat Feb 28 01:58:55 2004/-kb/Ttekkotsu-2_3 +/walkcal.txt/1.3/Sat Feb 28 01:58:55 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Repository ./project/ms/data/motion/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/motion/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/data/motion diff -urdN ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Root ./project/ms/data/motion/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/motion/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Tag ./project/ms/data/motion/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/data/motion/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/motion/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Entries ./project/ms/data/sound/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,31 @@ +/3barks.wav/1.1/Sun Mar 9 02:45:56 2003/-kb/Ttekkotsu-2_3 +/3yips.wav/1.1/Sun Mar 9 02:45:56 2003/-kb/Ttekkotsu-2_3 +/barkhigh.wav/1.1/Sun Mar 9 02:45:56 2003/-kb/Ttekkotsu-2_3 +/barklow.wav/1.1/Sun Mar 9 02:45:57 2003/-kb/Ttekkotsu-2_3 +/barkmed.wav/1.1/Sun Mar 9 02:45:57 2003/-kb/Ttekkotsu-2_3 +/barkreal.wav/1.1/Sat Mar 15 03:45:02 2003/-kb/Ttekkotsu-2_3 +/camera.wav/1.1/Sat Mar 15 03:45:02 2003/-kb/Ttekkotsu-2_3 +/catcry.wav/1.1/Sun Mar 9 02:45:57 2003/-kb/Ttekkotsu-2_3 +/catyowl.wav/1.1/Sun Mar 9 02:45:57 2003/-kb/Ttekkotsu-2_3 +/crash.wav/1.1/Sat Mar 15 03:45:02 2003/-kb/Ttekkotsu-2_3 +/cutey.wav/1.1/Sun Mar 9 02:45:57 2003/-kb/Ttekkotsu-2_3 +/donkey.wav/1.1/Sun Mar 9 02:45:58 2003/-kb/Ttekkotsu-2_3 +/fart.wav/1.1/Sat Mar 15 03:45:03 2003/-kb/Ttekkotsu-2_3 +/glass.wav/1.1/Sat Mar 15 03:45:03 2003/-kb/Ttekkotsu-2_3 +/growl.wav/1.1/Sun Mar 9 02:45:58 2003/-kb/Ttekkotsu-2_3 +/growl2.wav/1.1/Sat Mar 15 03:45:03 2003/-kb/Ttekkotsu-2_3 +/grrr.wav/1.1/Sun Mar 9 02:45:58 2003/-kb/Ttekkotsu-2_3 +/howl.wav/1.1/Sun Mar 9 02:45:59 2003/-kb/Ttekkotsu-2_3 +/mew.wav/1.1/Sun Mar 9 02:45:59 2003/-kb/Ttekkotsu-2_3 +/ping.wav/1.1/Sat Mar 15 03:45:03 2003/-kb/Ttekkotsu-2_3 +/roar.wav/1.1/Sun Mar 9 02:45:59 2003/-kb/Ttekkotsu-2_3 +/skid.wav/1.1/Sat Mar 15 03:45:03 2003/-kb/Ttekkotsu-2_3 +/sniff.wav/1.1/Sun Mar 9 02:45:59 2003/-kb/Ttekkotsu-2_3 +/tick.wav/1.1/Sat Mar 15 03:45:03 2003/-kb/Ttekkotsu-2_3 +/toc.wav/1.1/Sat Mar 15 03:45:04 2003/-kb/Ttekkotsu-2_3 +/whiip.wav/1.1/Sat Mar 15 03:45:04 2003/-kb/Ttekkotsu-2_3 +/whimper.wav/1.1/Sun Mar 9 02:46:00 2003/-kb/Ttekkotsu-2_3 +/whoop.wav/1.1/Sat Mar 15 03:45:04 2003/-kb/Ttekkotsu-2_3 +/yap.wav/1.1/Sun Mar 9 02:46:00 2003/-kb/Ttekkotsu-2_3 +/yipper.wav/1.1/Sun Mar 9 02:46:00 2003/-kb/Ttekkotsu-2_3 +D/numbers//// diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Repository ./project/ms/data/sound/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/data/sound diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Root ./project/ms/data/sound/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Tag ./project/ms/data/sound/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/data/sound/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/0.wav and ./project/ms/data/sound/numbers/0.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/1.wav and ./project/ms/data/sound/numbers/1.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/2.wav and ./project/ms/data/sound/numbers/2.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/3.wav and ./project/ms/data/sound/numbers/3.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/4.wav and ./project/ms/data/sound/numbers/4.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/5.wav and ./project/ms/data/sound/numbers/5.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/6.wav and ./project/ms/data/sound/numbers/6.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/7.wav and ./project/ms/data/sound/numbers/7.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/8.wav and ./project/ms/data/sound/numbers/8.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/9.wav and ./project/ms/data/sound/numbers/9.wav differ diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Entries ./project/ms/data/sound/numbers/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/numbers/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,13 @@ +/0.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/1.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/2.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/3.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/4.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/5.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/6.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/7.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/8.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/9.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/dot.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +/point.wav/1.1/Thu Jan 27 05:43:46 2005/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Repository ./project/ms/data/sound/numbers/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/numbers/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/data/sound/numbers diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Root ./project/ms/data/sound/numbers/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/numbers/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Tag ./project/ms/data/sound/numbers/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/data/sound/numbers/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/dot.wav and ./project/ms/data/sound/numbers/dot.wav differ Binary files ../Tekkotsu_2.2.2/project/ms/data/sound/numbers/point.wav and ./project/ms/data/sound/numbers/point.wav differ diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Entries ./project/ms/open-r/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,2 @@ +D/mw//// +D/system//// diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Repository ./project/ms/open-r/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/open-r diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Root ./project/ms/open-r/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Tag ./project/ms/open-r/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/open-r/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Entries ./project/ms/open-r/mw/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,2 @@ +D/conf//// +D/objs//// diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Repository ./project/ms/open-r/mw/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/open-r/mw diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Root ./project/ms/open-r/mw/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Tag ./project/ms/open-r/mw/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Entries ./project/ms/open-r/mw/conf/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/conf/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,5 @@ +/connect.cfg/1.7/Tue Sep 28 23:07:08 2004//Ttekkotsu-2_3 +/object.cfg/1.3/Wed Mar 26 21:33:21 2003//Ttekkotsu-2_3 +/passwd/1.5/Tue Jul 6 22:46:12 2004//Ttekkotsu-2_3 +/robotgw.cfg/1.2/Thu Mar 27 04:25:07 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Repository ./project/ms/open-r/mw/conf/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/conf/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/open-r/mw/conf diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Root ./project/ms/open-r/mw/conf/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/conf/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Tag ./project/ms/open-r/mw/conf/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/conf/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/conf/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Entries ./project/ms/open-r/mw/objs/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/objs/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,2 @@ +/placehld.jnk/1.1/Tue Jul 8 22:56:29 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Repository ./project/ms/open-r/mw/objs/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/objs/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/open-r/mw/objs diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Root ./project/ms/open-r/mw/objs/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/objs/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Tag ./project/ms/open-r/mw/objs/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/open-r/mw/objs/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/mw/objs/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Entries ./project/ms/open-r/system/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +D/conf//// diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Repository ./project/ms/open-r/system/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/open-r/system diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Root ./project/ms/open-r/system/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Tag ./project/ms/open-r/system/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/open-r/system/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Entries ./project/ms/open-r/system/conf/CVS/Entries --- ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/conf/CVS/Entries Fri Jan 28 20:12:00 2005 @@ -0,0 +1,2 @@ +/wlandflt.txt/1.18/Tue Dec 23 06:33:44 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Repository ./project/ms/open-r/system/conf/CVS/Repository --- ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/conf/CVS/Repository Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Tekkotsu/project/ms/open-r/system/conf diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Root ./project/ms/open-r/system/conf/CVS/Root --- ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/conf/CVS/Root Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Tag ./project/ms/open-r/system/conf/CVS/Tag --- ../Tekkotsu_2.2.2/project/ms/open-r/system/conf/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/ms/open-r/system/conf/CVS/Tag Fri Jan 28 20:12:00 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/templates/CVS/Entries ./project/templates/CVS/Entries --- ../Tekkotsu_2.2.2/project/templates/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./project/templates/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,8 @@ +/behavior.h/1.1/Mon Jan 24 22:24:05 2005/-kk/Ttekkotsu-2_3 +/control.h/1.1/Tue Jan 25 23:52:52 2005/-kk/Ttekkotsu-2_3 +/header.h/1.1/Wed Aug 25 01:09:24 2004//Ttekkotsu-2_3 +/implementation.cc/1.1/Wed Aug 25 01:09:24 2004//Ttekkotsu-2_3 +/statemachine.h/1.2/Tue Jan 25 23:52:52 2005/-kk/Ttekkotsu-2_3 +/statenode.h/1.3/Wed Jan 26 00:02:44 2005/-kk/Ttekkotsu-2_3 +/transition.h/1.1/Wed Jan 26 00:02:44 2005/-kk/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/project/templates/CVS/Repository ./project/templates/CVS/Repository --- ../Tekkotsu_2.2.2/project/templates/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./project/templates/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/project/templates diff -urdN ../Tekkotsu_2.2.2/project/templates/CVS/Root ./project/templates/CVS/Root --- ../Tekkotsu_2.2.2/project/templates/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./project/templates/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/project/templates/CVS/Tag ./project/templates/CVS/Tag --- ../Tekkotsu_2.2.2/project/templates/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./project/templates/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/project/templates/behavior.h ./project/templates/behavior.h --- ../Tekkotsu_2.2.2/project/templates/behavior.h Wed Dec 31 19:00:00 1969 +++ ./project/templates/behavior.h Mon Jan 24 17:24:05 2005 @@ -0,0 +1,68 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +// This is an empty Behavior template file. +// Replace YOURNAME, CLASSNAME, and DESCRIPTION as appropriate, and go to town! + + +#include "Behaviors/BehaviorBase.h" +#include "Events/EventRouter.h" + +//! DESCRIPTION +class CLASSNAME : public BehaviorBase { +public: + //! constructor + CLASSNAME() : BehaviorBase("CLASSNAME") {} + + virtual void DoStart() { + BehaviorBase::DoStart(); // do this first (required) + + // + // e.g. erouter->addListener(this, ... ); + // (Event IDs are found in Events/EventBase.h) + } + + virtual void DoStop() { + // + + erouter->removeListener(this); //generally a good idea, unsubscribe all + BehaviorBase::DoStop(); // do this last (required) + } + + virtual void processEvent(const EventBase& e) { + // + // you can delete this function if you don't use any events... + // (in which case, you may want to call DoStop() at the end of DoStart() + } + + static std::string getClassDescription() { return "DESCRIPTION"; } + virtual std::string getDescription() const { return getClassDescription(); } + + +protected: + // + + +private: + // Providing declarations for these functions will avoid a compiler warning if + // you have any class members which are pointers. However, as it is, an error + // will result if you inadvertantly cause a call to either (which is probably + // a good thing, unless you really intended to copy/assign a behavior, in + // which case simply provide implementations for the functions) + CLASSNAME(const CLASSNAME&); //!< don't call (copy constructor) + CLASSNAME operator=(const CLASSNAME&); //!< don't call (assignment operator) +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/project/templates/behavior_header.h ./project/templates/behavior_header.h --- ../Tekkotsu_2.2.2/project/templates/behavior_header.h Thu Nov 11 15:35:00 2004 +++ ./project/templates/behavior_header.h Wed Dec 31 19:00:00 1969 @@ -1,50 +0,0 @@ -//-*-c++-*- - -// This is an empty Behavior template file. -// Replace CLASSNAME and DESCRIPTION as appropriate, and go to town! - -#ifndef INCLUDED_CLASSNAME_h_ -#define INCLUDED_CLASSNAME_h_ - -#include "Behaviors/BehaviorBase.h" - -//! DESCRIPTION -class CLASSNAME : public BehaviorBase { -public: - //! constructor - CLASSNAME() : BehaviorBase("CLASSNAME") {} - - virtual void DoStart() { - BehaviorBase::DoStart(); // do this first - // - } - - virtual void DoStop() { - // - BehaviorBase::DoStop(); // do this last - } - - virtual void processEvent(const EventBase& e) { - // - // you can delete this function if you don't use any events... - } - - static std::string getClassDescription() { return "DESCRIPTION"; } - virtual std::string getDescription() const { return getClassDescription(); } - -protected: - -}; - -/*! @file - * @brief Defines CLASSNAME, which DESCRIPTION - * @author YOURNAMEHERE (Creator) - * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2005/01/30 17:44:13 $ - */ - -#endif diff -urdN ../Tekkotsu_2.2.2/project/templates/control.h ./project/templates/control.h --- ../Tekkotsu_2.2.2/project/templates/control.h Wed Dec 31 19:00:00 1969 +++ ./project/templates/control.h Tue Jan 25 18:52:52 2005 @@ -0,0 +1,178 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h +#define INCLUDED_CLASSNAME_h + +// This is an empty Control template file. +// +// Controls provide an interface for user interaction. Generally this is done +// in the format of a menu listing, where the user can select one or more items +// at the same time, and may (or may not) be able to send textual input to these +// selected items. Much more information is available in the ControlBase +// documentation. +// +// Early control implementations would completely override the ControlBase +// implementations and directly encode the ControlBase protocols for interaction +// with the user's terminal and/or GUI. This may be more efficient, but it is +// fair easier, and possibly easier to maintain, code which builds/maintains a +// set of submenus and blindly relies on the ControlBase implementation to +// manage communication. +// +// Using multiple inheritance, a control can also be considered an EventListener +// or even a full-fledged behavior. This is completely expected and can be very +// useful for providing real time feedback or editing capabilties to a user. +// +// You are highly encouraged to familiarize yourself with the controls available +// in Behaviors/Controls in order to compose your interface. +// +// Some methods return a ControlBase*. These values are interpreted +// by the Controller as follows: +// - 'this' if the control should stay active (default for most) +// - 'NULL' to return to parent control +// - other address to activate a child control +// +// Replace YOURNAME, CLASSNAME, and DESCRIPTION as appropriate, and go to town! + + +#include "Behaviors/Controls/ControlBase.h" + +//! DESCRIPTION +class CLASSNAME : public ControlBase { + + // **************************** // + // ******* CONSTRUCTORS ******* // + // **************************** // + // Not all of these necessarily make sense to implement... feel free + // to remove those which don't -- none are required. + +public: + //! default constructor + CLASSNAME() + : ControlBase("CLASSNAME","DESCRIPTION") + {init();} + //! constructor which allows a custom name + CLASSNAME(const std::string& n) + : ControlBase(n,"DESCRIPTION") + {init();} + //! constructor which allows a custom name and tooltip + CLASSNAME(const std::string& n, const std::string& d) + : ControlBase(n,d) + {init();} + + //! destructor + virtual ~CLASSNAME() {} + +protected: + //! initialization + virtual void init() { + // If your Control is relatively static, you'll probably want to do a series + // of pushSlot(...)'s here in order to build up your interface. See + // controls available in Behaviors/Controls. + // Otherwise, see the refresh() function. + } + + + // **************************** // + // ********* METHODS ********** // + // **************************** // + // You *aren't* expected to override all of these functions. + // Feel free to remove those which you don't use -- none are + // required, and the ControlBase implementation is fully functional. + +public: + //! Called when the control is activated (or the control system is reactivating) + /*! Takes the id number of a LedMC which the control should use, + * maintained by Controller. Controls share the display which is + * passed, and may use the socket @a gui to communicate with the + * GUI controller, although you shouldn't assume it is connected. */ + virtual ControlBase * activate(MotionManager::MC_ID disp_id, Socket * gui) { + return ControlBase::activate(disp_id,gui); + } + + //! called when a control is being overriden by a child, or the control system is deactivating (e-stop being turned off) + virtual void pause() { + ControlBase::pause(); + } + + //! called when a child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed + virtual void refresh() { + // If you are displaying dynamic information, you may wish to call clearSlots() + // and then rebuild the menus with the current information. + // Alternatively, if you know which items need to be modified, you can simply + // change their name before calling the ControlBase::refresh below. + ControlBase::refresh(); + } + + //! called when this control is being popped from the control stack + virtual void deactivate() { + ControlBase::deactivate(); + } + + //! when the user has trigger an "open selection" + /*! default is to return the hilighted control */ + virtual ControlBase * doSelect() { + return ControlBase::doSelect(); + } + + //! when the user wants to increment the control + /*! default is to hilight the first non-null slot after the last hilight, and return @c this */ + virtual ControlBase * doNextItem() { + return ControlBase::doNextItem(); + } + + //! when the user wants to decrement the control + /*! default is to hilight the last non-null slot before the first hilight, and return @c this */ + virtual ControlBase * doPrevItem() { + return ControlBase::doPrevItem(); + } + + //! when the user wants to cancel + /*! you should almost always return NULL now unless you need to override the cancel in order to confirm something (e.g. "Save changes?") */ + virtual ControlBase * doCancel() { + return ControlBase::doCancel(); + } + + //! prompt the user for text input on the current input device (cin, tekkotsu console (sout), or GUI) + virtual ControlBase * doReadStdIn(const std::string& prompt=std::string()) { + return ControlBase::doReadStdIn(prompt); + } + + //! called when the user has supplied a text string + /*! May or may not have been prompted by doReadStdIn()! May not + * even be active yet - the user can direct the same input to a set + * of hilighted menus */ + virtual ControlBase * takeInput(const std::string& msg) { + return ControlBase::takeInput(msg); + } + + //! may be called before takeInput to verify this Control can make sense of msg + virtual bool validInput(const std::string& msg) { + return ControlBase::validInput(msg); + } + + + // **************************** // + // ********* MEMBERS ********** // + // **************************** // +protected: + // + + + // **************************** // + // ********** OTHER *********** // + // **************************** // +private: + CLASSNAME(const CLASSNAME&); //!< you can override, but don't call this... + CLASSNAME& operator=(const CLASSNAME&); //!< you can override, but don't call this... +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ +#endif diff -urdN ../Tekkotsu_2.2.2/project/templates/header.h ./project/templates/header.h --- ../Tekkotsu_2.2.2/project/templates/header.h Tue Aug 24 21:09:24 2004 +++ ./project/templates/header.h Tue Aug 24 21:09:24 2004 @@ -15,7 +15,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/project/templates/implementation.cc ./project/templates/implementation.cc --- ../Tekkotsu_2.2.2/project/templates/implementation.cc Tue Aug 24 21:09:24 2004 +++ ./project/templates/implementation.cc Tue Aug 24 21:09:24 2004 @@ -5,7 +5,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2005/01/30 17:44:13 $ diff -urdN ../Tekkotsu_2.2.2/project/templates/statemachine.h ./project/templates/statemachine.h --- ../Tekkotsu_2.2.2/project/templates/statemachine.h Wed Dec 31 19:00:00 1969 +++ ./project/templates/statemachine.h Tue Jan 25 18:52:52 2005 @@ -0,0 +1,111 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +// This is an empty StateNode template file. +// +// StateNodes are recursive data structures, can be used as either a leaf node +// or a machine. This template is the suggested form for a state machine, which +// breaks a task down into one or more subnodes. +// +// You are of course welcome to combine the abilities of a leaf node (actual +// execution) and a state machine (which breaks the task down into subnodes) -- +// simply add processEvent() and DoStop(), as seen in statenode.h +// +// Replace YOURNAME, CLASSNAME, and DESCRIPTION as appropriate, and go to town! + + +#include "Behaviors/StateNode.h" + +//! DESCRIPTION +class CLASSNAME : public StateNode { + + // **************************** + // ******* CONSTRUCTORS ******* + // **************************** +public: + //! default constructor, use type name as instance name + CLASSNAME() + : StateNode("CLASSNAME","CLASSNAME"), start(NULL) + {} + + //! constructor, take an instance name + CLASSNAME(const std::string& nm) + : StateNode("CLASSNAME",nm), start(NULL) + {} + + //! destructor, check call to teardown -- only actually necessary if you override teardown() + ~CLASSNAME() { + if(issetup) + teardown(); + } + +protected: + //! constructor for subclasses (which would need to provide a different class name) + CLASSNAME(const std::string &class_name, const std::string &node_name) + : StateNode(class_name,node_name), start(NULL) + {} + + + // **************************** + // ********* METHODS ********** + // **************************** +public: + //! This function should wire together any subnodes which you may desire + virtual void setup() { + StateNode::setup(); // call anytime(required) + // + start=/*...*/; + } + + //! You may not need this function if the only memory allocated in + //! setup() was subnodes and transitions + virtual void teardown() { + // + StateNode::teardown(); // may delete subnodes (required) + } + + //! Just like a behavior, called when it's time to start doing your thing + virtual void DoStart() { + StateNode::DoStart(); // do this first (required) + start->DoStart(); + // probably don't need to do anything else... + } + + static std::string getClassDescription() { return "DESCRIPTION"; } + virtual std::string getDescription() const { return getClassDescription(); } + + + // **************************** + // ********* MEMBERS ********** + // **************************** +protected: + StateNode * start; //!< the subnode to begin within on DoStart() + // + + + // **************************** + // ********** OTHER *********** + // **************************** +private: + // Providing declarations for these functions will avoid a compiler warning if + // you have any class members which are pointers. However, as it is, an error + // will result if you inadvertantly cause a call to either (which is probably + // a good thing, unless you really intended to copy/assign a behavior, in + // which case simply provide implementations for the functions) + CLASSNAME(const CLASSNAME&); //!< don't call (copy constructor) + CLASSNAME operator=(const CLASSNAME&); //!< don't call (assignment operator) +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/project/templates/statenode.h ./project/templates/statenode.h --- ../Tekkotsu_2.2.2/project/templates/statenode.h Wed Dec 31 19:00:00 1969 +++ ./project/templates/statenode.h Tue Jan 25 19:02:44 2005 @@ -0,0 +1,109 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +// This is an empty StateNode template file. +// +// StateNodes are recursive data structures, can be used as either a leaf node +// or a machine. This template is the suggested form for a leaf node, which +// does the actual implementation of a task without help from other subnodes. +// Note the extreme similarity to a Behavior... the only significant difference +// for implementation is a few extra suggested constructors. +// +// You are of course welcome to combine the abilities of a leaf node (actual +// execution) and a state machine (which breaks the task down into subnodes), +// but statemachine.h might provide an easier starting point for such usage. +// +// Replace YOURNAME, CLASSNAME, and DESCRIPTION as appropriate, and go to town! + + +#include "Behaviors/StateNode.h" + +//! DESCRIPTION +class CLASSNAME : public StateNode { + + // **************************** // + // ******* CONSTRUCTORS ******* // + // **************************** // +public: + //! default constructor, use type name as instance name + CLASSNAME() + : StateNode("CLASSNAME","CLASSNAME") + {} + + //! constructor, take an instance name + CLASSNAME(const std::string& nm) + : StateNode("CLASSNAME",nm) + {} + +protected: + //! constructor for subclasses (which would need to provide a different class name) + CLASSNAME(const std::string &class_name, const std::string &node_name) + : StateNode(class_name,node_name) + {} + + + // **************************** // + // ********* METHODS ********** // + // **************************** // +public: + //! Just like a behavior, called when it's time to start doing your thing + virtual void DoStart() { + StateNode::DoStart(); // do this first (required) + // + // can also erouter->addListener(this, ... ); + // (Event IDs are found in Events/EventBase.h) + + // Don't call DoStop() yourself (as behaviors can do) -- let a transition do + // it when deemed appropriate + } + + virtual void processEvent(const EventBase& /*e*/) { + // + // you can delete this function if you don't use any events... + } + + //! Just like a behavior, called when it's time to stop doing your thing + virtual void DoStop() { + // + + erouter->removeListener(this); //generally a good idea, unsubscribe all + StateNode::DoStop(); // do this last (required) + } + + static std::string getClassDescription() { return "DESCRIPTION"; } + virtual std::string getDescription() const { return getClassDescription(); } + + + // **************************** // + // ********* MEMBERS ********** // + // **************************** // +protected: + // + + + // **************************** // + // ********** OTHER *********** // + // **************************** // +private: + // Providing declarations for these functions will avoid a compiler warning if + // you have any class members which are pointers. However, as it is, an error + // will result if you inadvertantly cause a call to either (which is probably + // a good thing, unless you really intended to copy/assign a behavior, in + // which case simply provide implementations for the functions) + CLASSNAME(const CLASSNAME&); //!< don't call (copy constructor) + CLASSNAME operator=(const CLASSNAME&); //!< don't call (assignment operator) +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/project/templates/transition.h ./project/templates/transition.h --- ../Tekkotsu_2.2.2/project/templates/transition.h Wed Dec 31 19:00:00 1969 +++ ./project/templates/transition.h Tue Jan 25 19:02:44 2005 @@ -0,0 +1,105 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +// This is an empty Transition template file. +// +// Note that Transitions are in fact behaviors, and indeed, there's little +// extra. Only now, the Transition base class provides a fire() function for +// you to call when your transition decides it is time. +// +// Replace YOURNAME, CLASSNAME, and DESCRIPTION as appropriate, and go to town! + + +#include "Behaviors/Transition.h" + +//! DESCRIPTION +class CLASSNAME : public Transition { + + // **************************** // + // ******* CONSTRUCTORS ******* // + // **************************** // +public: + //! default constructor, use type name as instance name + CLASSNAME(StateNode* destination) + : Transition("CLASSNAME",destination) + {} + + //! constructor, take an instance name + CLASSNAME(const std::string& nm, StateNode* destination) + : Transition("CLASSNAME",nm,destination) + {} + +protected: + //! constructor for subclasses (which would need to provide a different class name) + CLASSNAME(const std::string &class_name, const std::string &instance_name, StateNode* destination) + : Transition(class_name,instance_name,destination) + {} + + + // **************************** // + // ********* METHODS ********** // + // **************************** // +public: + //! Just like a behavior, called when it's time to start doing your thing + virtual void DoStart() { + Transition::DoStart(); // do this first (required) + // + // e.g. erouter->addListener(this, ... ); + // (Event IDs are found in Events/EventBase.h) + + // Don't call DoStop() yourself (as behaviors can do) -- let the source + // StateNode do it when a transition (perhaps this one) fires + } + + virtual void processEvent(const EventBase& /*e*/) { + // + // Call fire() (a method of the Transition base class) whenever the + // environment satisifies whatever condition this Transition is supposed to + // monitor for. This triggers all the machinery to cause the transition. + } + + //! Just like a behavior, called when it's time to stop doing your thing + virtual void DoStop() { + // + + erouter->removeListener(this); //generally a good idea, unsubscribe all + Transition::DoStop(); // do this last (required) + } + + static std::string getClassDescription() { return "DESCRIPTION"; } + virtual std::string getDescription() const { return getClassDescription(); } + + + // **************************** // + // ********* MEMBERS ********** // + // **************************** // +protected: + // + + + // **************************** // + // ********** OTHER *********** // + // **************************** // +private: + // Providing declarations for these functions will avoid a compiler warning if + // you have any class members which are pointers. However, as it is, an error + // will result if you inadvertantly cause a call to either (which is probably + // a good thing, unless you really intended to copy/assign a behavior, in + // which case simply provide implementations for the functions) + CLASSNAME(const CLASSNAME&); //!< don't call (copy constructor) + CLASSNAME operator=(const CLASSNAME&); //!< don't call (assignment operator) +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2005/01/30 17:44:13 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.2/tools/CVS/Entries ./tools/CVS/Entries --- ../Tekkotsu_2.2.2/tools/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,32 @@ +/Makefile/1.7/Sat Sep 25 03:14:05 2004//Ttekkotsu-2_3 +/buildDocs/1.1/Sun Jul 20 19:25:38 2003//Ttekkotsu-2_3 +/buildRelease/1.58/Sat Jan 29 01:06:59 2005//Ttekkotsu-2_3 +/catmemlog/1.1.1.1/Mon Sep 30 18:19:46 2002//Ttekkotsu-2_3 +/cmake/1.1/Mon Jul 28 06:34:13 2003//Ttekkotsu-2_3 +/colorfilt/1.2/Sat Nov 22 20:33:02 2003//Ttekkotsu-2_3 +/cpymem/1.3/Wed Apr 30 03:55:58 2003//Ttekkotsu-2_3 +/crashDebug/1.19/Fri Nov 12 21:55:47 2004//Ttekkotsu-2_3 +/cvsCheckoutDate/1.1/Thu Jan 20 23:17:37 2005//Ttekkotsu-2_3 +/dist_hosts.txt/1.2/Thu Sep 25 15:32:15 2003//Ttekkotsu-2_3 +/emonLogParser/1.3/Fri Nov 12 21:34:12 2004//Ttekkotsu-2_3 +/filewordreplace/1.2/Tue Jan 4 19:51:41 2005//Ttekkotsu-2_3 +/ftpinstall/1.7/Tue Nov 16 23:52:32 2004//Ttekkotsu-2_3 +/ftpupdate/1.7/Tue Nov 16 23:52:32 2004//Ttekkotsu-2_3 +/makelowercase/1.7/Wed Nov 17 04:48:22 2004//Ttekkotsu-2_3 +/makeuppercase/1.7/Wed Nov 17 04:48:23 2004//Ttekkotsu-2_3 +/mntmem/1.3/Tue Apr 29 21:03:09 2003//Ttekkotsu-2_3 +/mstreeput/1.3/Mon Jul 28 06:34:13 2003//Ttekkotsu-2_3 +/pm.pl/1.2/Thu Sep 25 15:32:15 2003//Ttekkotsu-2_3 +/recurse/1.1.1.1/Mon Sep 30 18:19:46 2002//Ttekkotsu-2_3 +/umntmem/1.7/Thu Aug 21 22:34:43 2003//Ttekkotsu-2_3 +D/bandit-sim//// +D/binstrswap//// +D/convertmot//// +D/evenmodtime//// +D/filtersyswarn//// +D/mipaltools//// +D/mon//// +D/safemot//// +D/seg//// +D/test//// +D/walk_calibration//// diff -urdN ../Tekkotsu_2.2.2/tools/CVS/Repository ./tools/CVS/Repository --- ../Tekkotsu_2.2.2/tools/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools diff -urdN ../Tekkotsu_2.2.2/tools/CVS/Root ./tools/CVS/Root --- ../Tekkotsu_2.2.2/tools/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/CVS/Tag ./tools/CVS/Tag --- ../Tekkotsu_2.2.2/tools/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Entries ./tools/bandit-sim/CVS/Entries --- ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/bandit-sim/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,5 @@ +/bandit.java/1.1/Sun Jun 22 17:11:53 2003//Ttekkotsu-2_3 +/loss.aif/1.1/Sun Jun 22 17:11:53 2003/-kb/Ttekkotsu-2_3 +/manifestheader/1.1/Sun Jun 22 17:11:53 2003//Ttekkotsu-2_3 +/reward.aif/1.1/Sun Jun 22 17:11:53 2003/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Repository ./tools/bandit-sim/CVS/Repository --- ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/bandit-sim/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/bandit-sim diff -urdN ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Root ./tools/bandit-sim/CVS/Root --- ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/bandit-sim/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Tag ./tools/bandit-sim/CVS/Tag --- ../Tekkotsu_2.2.2/tools/bandit-sim/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/bandit-sim/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Entries ./tools/binstrswap/CVS/Entries --- ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/binstrswap/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,3 @@ +/Makefile/1.2/Sun Aug 24 21:19:21 2003//Ttekkotsu-2_3 +/binstrswap.cc/1.3/Sat Jul 26 15:35:01 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Repository ./tools/binstrswap/CVS/Repository --- ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/binstrswap/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/binstrswap diff -urdN ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Root ./tools/binstrswap/CVS/Root --- ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/binstrswap/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Tag ./tools/binstrswap/CVS/Tag --- ../Tekkotsu_2.2.2/tools/binstrswap/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/binstrswap/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/buildRelease ./tools/buildRelease --- ../Tekkotsu_2.2.2/tools/buildRelease Wed Dec 22 20:52:13 2004 +++ ./tools/buildRelease Fri Jan 28 20:06:59 2005 @@ -29,8 +29,8 @@ rm -rf Tekkotsu_memstick_$1 rm -rf Tekkotsu_memstick_$1.tar.gz -echo "Exporting source for ${newtag}..." -cvs -q export -r ${newtag} -d Tekkotsu_$1 Tekkotsu +echo "Checking out source for ${newtag}..." +cvs -q checkout -r ${newtag} -d Tekkotsu_$1 Tekkotsu if [ ! -d Tekkotsu_$1 ] ; then echo "cvs export failed" exit 1; diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/CVS/Entries ./tools/convertmot/CVS/Entries --- ../Tekkotsu_2.2.2/tools/convertmot/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,6 @@ +/Makefile/1.4/Tue Nov 9 22:15:03 2004//Ttekkotsu-2_3 +/README.txt/1.3/Fri Apr 16 20:20:56 2004//Ttekkotsu-2_3 +/convertmot.cc/1.5/Mon Nov 8 21:48:19 2004//Ttekkotsu-2_3 +/tekkotsu.cfg/1.1/Mon Nov 8 21:48:19 2004//Ttekkotsu-2_3 +D/cmpack02-littleendian//// +D/cmpack03-littleendian//// diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/CVS/Repository ./tools/convertmot/CVS/Repository --- ../Tekkotsu_2.2.2/tools/convertmot/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/convertmot diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/CVS/Root ./tools/convertmot/CVS/Root --- ../Tekkotsu_2.2.2/tools/convertmot/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/CVS/Tag ./tools/convertmot/CVS/Tag --- ../Tekkotsu_2.2.2/tools/convertmot/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Entries ./tools/convertmot/cmpack02-littleendian/CVS/Entries --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack02-littleendian/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,13 @@ +/dance.mot/1.1/Sat Apr 26 21:17:15 2003/-kb/Ttekkotsu-2_3 +/gu_back.mot/1.1/Sat Apr 26 21:17:15 2003/-kb/Ttekkotsu-2_3 +/gu_front.mot/1.1/Sat Apr 26 21:17:15 2003/-kb/Ttekkotsu-2_3 +/gu_side.mot/1.1/Sat Apr 26 21:17:15 2003/-kb/Ttekkotsu-2_3 +/k_bump.mot/1.1/Sat Apr 26 21:17:15 2003/-kb/Ttekkotsu-2_3 +/k_dive.mot/1.1/Sat Apr 26 21:17:15 2003/-kb/Ttekkotsu-2_3 +/k_fwd.mot/1.1/Sat Apr 26 21:17:16 2003/-kb/Ttekkotsu-2_3 +/k_head.mot/1.1/Sat Apr 26 21:17:16 2003/-kb/Ttekkotsu-2_3 +/k_heads.mot/1.1/Sat Apr 26 21:17:16 2003/-kb/Ttekkotsu-2_3 +/k_hold.mot/1.1/Sat Apr 26 21:17:16 2003/-kb/Ttekkotsu-2_3 +/k_punch.mot/1.1/Sat Apr 26 21:17:16 2003/-kb/Ttekkotsu-2_3 +/readme.txt/1.1/Fri Apr 16 20:21:23 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Repository ./tools/convertmot/cmpack02-littleendian/CVS/Repository --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack02-littleendian/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/convertmot/cmpack02-littleendian diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Root ./tools/convertmot/cmpack02-littleendian/CVS/Root --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack02-littleendian/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Tag ./tools/convertmot/cmpack02-littleendian/CVS/Tag --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack02-littleendian/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack02-littleendian/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Entries ./tools/convertmot/cmpack03-littleendian/CVS/Entries --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack03-littleendian/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,49 @@ +/b_gcntr.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/b_gdive.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/b_supp.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/bw_back.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/chicken_dance.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/dance1.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/dance2.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/dance3.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/enter_field.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/gu_back.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/gu_front.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/gu_side.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_bump.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_bw.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_diag.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_dive.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_fwd.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_fwd1.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_fwd2.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_grab.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_head.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_headh.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_heads.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_hold.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_ldive.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_punch.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_rdive.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_sdive.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_spin.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_swing.mot/1.1/Fri Apr 16 20:21:40 2004/-kb/Ttekkotsu-2_3 +/k_swing1.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_10.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_11.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_12_front.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_13.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_14_power_chunky.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_15.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_17_lightning.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_18.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_4_chest.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_5.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_6.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_8.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/k_unsw_9.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/readme.txt/1.1/Fri Apr 16 20:21:41 2004//Ttekkotsu-2_3 +/sad.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/sb_climb.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +/warmup.mot/1.1/Fri Apr 16 20:21:41 2004/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Repository ./tools/convertmot/cmpack03-littleendian/CVS/Repository --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack03-littleendian/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/convertmot/cmpack03-littleendian diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Root ./tools/convertmot/cmpack03-littleendian/CVS/Root --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack03-littleendian/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Tag ./tools/convertmot/cmpack03-littleendian/CVS/Tag --- ../Tekkotsu_2.2.2/tools/convertmot/cmpack03-littleendian/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack03-littleendian/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/convertmot/tekkotsu.cfg ./tools/convertmot/tekkotsu.cfg --- ../Tekkotsu_2.2.2/tools/convertmot/tekkotsu.cfg Mon Nov 8 16:48:19 2004 +++ ./tools/convertmot/tekkotsu.cfg Mon Nov 8 16:48:19 2004 @@ -1,7 +1,7 @@ ################################################################## ################ Tekkotsu::convertmot config ################# ################################################################## -##################### $Name: HEAD $ ###################### +##################### $Name: HEAD $ ###################### ####################### $Revision: 1.1 $ ######################## ################## $Date: 2005/01/30 17:44:13 $ ################## ################################################################## diff -urdN ../Tekkotsu_2.2.2/tools/cvsCheckoutDate ./tools/cvsCheckoutDate --- ../Tekkotsu_2.2.2/tools/cvsCheckoutDate Wed Dec 31 19:00:00 1969 +++ ./tools/cvsCheckoutDate Thu Jan 20 18:17:37 2005 @@ -0,0 +1,29 @@ +#!/bin/sh + +usage="$0 [-h | --help] [ -f | --filelist] [directory]\n Recursively searches for CVS directories and finds the newest entry" + +listfiles=false; +while [ $# -gt 0 ] ; do + case "$1" in + -h | --help) printf "$usage"; exit 2;; + -f | --filelist) listfiles=true; shift;; + *) break;; + esac; +done; + +dir="$1"; +if [ -z "$dir" ] ; then + dir="."; +fi; + +tmpfile=/tmp/dates.cvsCheckoutDate; +rm -f "$tmpfile"; +find $dir -name "CVS" -type d -exec cut -f 4 -d / \{\}/Entries \; | grep '^... ... .. ..:..:..' > "$tmpfile"; + +if $listfiles ; then + d1=`date -f "$tmpfile" "+%F %T" | sort -r | head -n 1`; + d2=`date -d "$d1" "+%b %e %T %Y"`; + find $dir -name "CVS" -type d -exec grep -H "$d2" \{\}/Entries \; +else + date -f "$tmpfile" "+%F %T" | sort -r | head -n 1; +fi; diff -urdN ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Entries ./tools/evenmodtime/CVS/Entries --- ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/evenmodtime/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,3 @@ +/Makefile/1.2/Sun Aug 24 21:19:27 2003//Ttekkotsu-2_3 +/evenmodtime.cc/1.1/Mon Jul 28 18:39:19 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Repository ./tools/evenmodtime/CVS/Repository --- ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/evenmodtime/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/evenmodtime diff -urdN ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Root ./tools/evenmodtime/CVS/Root --- ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/evenmodtime/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Tag ./tools/evenmodtime/CVS/Tag --- ../Tekkotsu_2.2.2/tools/evenmodtime/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/evenmodtime/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/filewordreplace ./tools/filewordreplace --- ../Tekkotsu_2.2.2/tools/filewordreplace Mon Sep 30 14:19:46 2002 +++ ./tools/filewordreplace Tue Jan 4 14:51:41 2005 @@ -1,8 +1,22 @@ #!/bin/sh +usage="Usage: $0 [-c separator_char] [-q] oldstr newstr file1 [file2...]"; + tmpname="/tmp/wordreplacetmp"; +sepchar="/"; +status="true"; +while [ $# -gt 0 ] ; do + case $1 in + -h | --help) echo "$usage"; exit 1;; + -c ) sepchar="$2"; recurseflags="$recurseflags $1 $2"; shift; shift;; + -q ) status=false; recurseflags="$recurseflags $1"; shift;; + *) break;; + esac; +done; + if [ $# -lt 3 ] ; then - echo "Usage: $0 oldstr newstr file1 [file2...]"; + echo "$usage"; + exit 1; else old="$1"; new="$2"; @@ -10,14 +24,16 @@ while [ $# -gt 0 ] ; do if [ -f "$1" ] ; then if grep -q "$old" "$1" ; then - echo "Processing $1"; - sed "s/$old/$new/g" "$1" > $tmpname; + if $status; then + echo "Processing $1"; + fi; + sed "s${sepchar}${old}${sepchar}${new}${sepchar}g" "$1" > $tmpname; mv $tmpname "$1"; fi; else if [ -d "$1" ] ; then for x in "$1"/* ; do - eval "$0" "$old" "$new" "$x"; + eval "$0" $recurseflags "$old" "$new" "$x"; done; else echo "$1 not found"; diff -urdN ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Entries ./tools/filtersyswarn/CVS/Entries --- ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/filtersyswarn/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,3 @@ +/Makefile/1.2/Sun Aug 24 21:19:32 2003//Ttekkotsu-2_3 +/filtersyswarn.cc/1.7/Sat Jul 24 03:12:34 2004//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Repository ./tools/filtersyswarn/CVS/Repository --- ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/filtersyswarn/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/filtersyswarn diff -urdN ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Root ./tools/filtersyswarn/CVS/Root --- ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/filtersyswarn/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Tag ./tools/filtersyswarn/CVS/Tag --- ../Tekkotsu_2.2.2/tools/filtersyswarn/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/filtersyswarn/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Entries ./tools/mipaltools/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,6 @@ +/Makefile/1.5/Thu Oct 9 19:51:28 2003//Ttekkotsu-2_3 +/README.txt/1.2/Wed Sep 10 19:21:53 2003//Ttekkotsu-2_3 +/elp.pl/1.4/Wed Sep 10 20:19:57 2003//Ttekkotsu-2_3 +/modifications.diff/1.1/Wed Sep 10 20:21:00 2003//Ttekkotsu-2_3 +D/doc//// +D/src//// diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Repository ./tools/mipaltools/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mipaltools diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Root ./tools/mipaltools/CVS/Root --- ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Tag ./tools/mipaltools/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mipaltools/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Entries ./tools/mipaltools/doc/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/doc/CVS/Entries Fri Jan 28 20:12:57 2005 @@ -0,0 +1,4 @@ +/ELPREADME.TXT/1.1/Wed Sep 10 19:21:58 2003//Ttekkotsu-2_3 +/StackedIt_Readme.txt/1.2/Thu Oct 9 15:23:27 2003//Ttekkotsu-2_3 +/license.txt/1.1/Wed Sep 10 19:21:58 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Repository ./tools/mipaltools/doc/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/doc/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mipaltools/doc diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Root ./tools/mipaltools/doc/CVS/Root --- ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/doc/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Tag ./tools/mipaltools/doc/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mipaltools/doc/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/doc/CVS/Tag Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Entries ./tools/mipaltools/src/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/src/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,15 @@ +/EmonLog.cc/1.1/Wed Sep 10 19:22:01 2003//Ttekkotsu-2_3 +/EmonLog.h/1.1/Wed Sep 10 19:22:01 2003//Ttekkotsu-2_3 +/Function.cc/1.1/Wed Sep 10 19:22:01 2003//Ttekkotsu-2_3 +/Function.h/1.1/Wed Sep 10 19:22:01 2003//Ttekkotsu-2_3 +/FunctionStore.cc/1.3/Thu Oct 9 15:29:24 2003//Ttekkotsu-2_3 +/FunctionStore.h/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +/Makefile/1.3/Tue Dec 2 07:00:41 2003//Ttekkotsu-2_3 +/StackAnalyser.cc/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +/StackAnalyser.h/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +/StackAnalyserException.h/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +/StackDump.cc/1.2/Thu Oct 9 15:23:32 2003//Ttekkotsu-2_3 +/StackDump.h/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +/Trace.h/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +/main.cc/1.1/Wed Sep 10 19:22:02 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Repository ./tools/mipaltools/src/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/src/CVS/Repository Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mipaltools/src diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Root ./tools/mipaltools/src/CVS/Root --- ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/src/CVS/Root Fri Jan 28 20:12:57 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Tag ./tools/mipaltools/src/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mipaltools/src/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mipaltools/src/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/CVS/Entries ./tools/mon/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,40 @@ +/ControllerGUI/1.6/Wed Sep 1 04:56:58 2004//Ttekkotsu-2_3 +/Makefile/1.19/Thu Sep 16 18:45:30 2004//Ttekkotsu-2_3 +/README/1.1/Fri Jul 25 20:02:48 2003//Ttekkotsu-2_3 +/aibo3d.lws/1.1/Wed Aug 27 02:52:02 2003//Ttekkotsu-2_3 +/c_DepthMap.m/1.3/Tue Jul 1 16:20:40 2003//Ttekkotsu-2_3 +/c_FastSLAM.m/1.1/Wed May 28 14:55:54 2003//Ttekkotsu-2_3 +/c_HeightMap.m/1.1/Thu Mar 6 18:21:17 2003//Ttekkotsu-2_3 +/c_MechaControl.m/1.3/Sun Jun 22 01:30:05 2003//Ttekkotsu-2_3 +/c_statejoints.m/1.2/Wed Jan 28 20:38:50 2004//Ttekkotsu-2_3 +/c_statepids.m/1.1/Thu Feb 20 19:51:18 2003//Ttekkotsu-2_3 +/c_terminal.m/1.1/Wed Apr 9 03:37:31 2003//Ttekkotsu-2_3 +/c_visionraw.m/1.2/Sun Apr 6 20:57:48 2003//Ttekkotsu-2_3 +/c_visionseg.m/1.1/Thu Feb 20 19:51:19 2003//Ttekkotsu-2_3 +/close.m/1.1/Thu Feb 20 19:51:19 2003//Ttekkotsu-2_3 +/closecomponents.m/1.1/Thu Feb 20 19:51:19 2003//Ttekkotsu-2_3 +/colormap_rle_NSHA431.mat/1.1/Thu Feb 20 19:51:20 2003//Ttekkotsu-2_3 +/config.m/1.13/Wed Jan 28 20:38:50 2004//Ttekkotsu-2_3 +/default.col/1.7/Fri Jul 16 22:12:10 2004//Ttekkotsu-2_3 +/defines.m/1.3/Tue Apr 15 20:02:43 2003//Ttekkotsu-2_3 +/ers220info.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +/ers2xxinfo.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +/ftp.jar/1.1/Tue Jul 1 09:00:18 2003/-kb/Ttekkotsu-2_3 +/itercomponents.m/1.1/Thu Feb 20 19:51:20 2003//Ttekkotsu-2_3 +/jargs.jar/1.1/Mon Jul 28 06:30:48 2003/-kb/Ttekkotsu-2_3 +/launcher.m/1.1/Thu Feb 20 19:51:20 2003//Ttekkotsu-2_3 +/loadcomponents.m/1.1/Thu Feb 20 19:51:21 2003//Ttekkotsu-2_3 +/lognow/1.2/Tue Mar 16 17:47:09 2004//Ttekkotsu-2_3 +/plotlog.m/1.4/Tue Feb 24 21:27:27 2004//Ttekkotsu-2_3 +/plotpath.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +/plotpos.m/1.2/Fri Feb 6 00:45:57 2004//Ttekkotsu-2_3 +/run.m/1.2/Sat Jun 7 21:57:21 2003//Ttekkotsu-2_3 +/setslide.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +/togglecomponents.m/1.1/Thu Feb 20 19:51:21 2003//Ttekkotsu-2_3 +/updateAxes.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +/yuv2rgb.m/1.1/Thu Feb 20 19:51:21 2003//Ttekkotsu-2_3 +/zoomin.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +/zoomout.m/1.1/Wed Jan 28 21:07:44 2004//Ttekkotsu-2_3 +D/images//// +D/objects//// +D/org//// diff -urdN ../Tekkotsu_2.2.2/tools/mon/CVS/Repository ./tools/mon/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon diff -urdN ../Tekkotsu_2.2.2/tools/mon/CVS/Root ./tools/mon/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/CVS/Tag ./tools/mon/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/images/CVS/Entries ./tools/mon/images/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/images/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/images/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,15 @@ +/chasingarrows.gif/1.1/Tue Oct 7 04:14:51 2003/-kb/Ttekkotsu-2_3 +/chasingarrows.png/1.3/Wed Aug 27 02:06:55 2003/-kb/Ttekkotsu-2_3 +/disconnect.gif/1.1/Tue Oct 7 04:14:52 2003/-kb/Ttekkotsu-2_3 +/disconnect.png/1.1/Tue Oct 7 03:28:42 2003/-kb/Ttekkotsu-2_3 +/go.gif/1.1/Tue Oct 7 04:14:52 2003/-kb/Ttekkotsu-2_3 +/go.png/1.1/Tue Oct 7 03:28:42 2003/-kb/Ttekkotsu-2_3 +/larrow.gif/1.1/Tue Oct 7 04:14:52 2003/-kb/Ttekkotsu-2_3 +/larrow.png/1.3/Wed Aug 27 02:06:55 2003/-kb/Ttekkotsu-2_3 +/offline.gif/1.1/Wed Oct 8 19:09:26 2003/-kb/Ttekkotsu-2_3 +/online.gif/1.1/Wed Oct 8 19:09:26 2003/-kb/Ttekkotsu-2_3 +/rarrow.gif/1.1/Tue Oct 7 04:14:52 2003/-kb/Ttekkotsu-2_3 +/rarrow.png/1.3/Wed Aug 27 02:06:55 2003/-kb/Ttekkotsu-2_3 +/stop.gif/1.1/Tue Oct 7 04:14:52 2003/-kb/Ttekkotsu-2_3 +/stop.png/1.1/Tue Oct 7 03:28:42 2003/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/mon/images/CVS/Repository ./tools/mon/images/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/images/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/images/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon/images diff -urdN ../Tekkotsu_2.2.2/tools/mon/images/CVS/Root ./tools/mon/images/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/images/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/images/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/images/CVS/Tag ./tools/mon/images/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/images/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/images/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Entries ./tools/mon/objects/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/objects/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,28 @@ +/LED_g01.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_g02.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_g03.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_r01.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_r02.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_r03.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_r04.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/LED_tail.lwo/1.1/Wed Aug 27 02:52:06 2003/-kb/Ttekkotsu-2_3 +/body2.lwo/1.1/Wed Aug 27 02:52:07 2003/-kb/Ttekkotsu-2_3 +/ear-l.lwo/1.1/Wed Aug 27 02:52:07 2003/-kb/Ttekkotsu-2_3 +/ear-r.lwo/1.1/Wed Aug 27 02:52:07 2003/-kb/Ttekkotsu-2_3 +/foot-b-l.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/foot-b-r.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/foot-f-l.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/foot-f-r.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/head.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/jaw.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-b-low-l.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-b-low-r.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-b-up-l.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-b-up-r.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-f-low-l.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-f-low-r.lwo/1.1/Wed Aug 27 02:52:08 2003/-kb/Ttekkotsu-2_3 +/leg-f-up-l.lwo/1.1/Wed Aug 27 02:52:09 2003/-kb/Ttekkotsu-2_3 +/leg-f-up-r.lwo/1.1/Wed Aug 27 02:52:09 2003/-kb/Ttekkotsu-2_3 +/neck.lwo/1.1/Wed Aug 27 02:52:09 2003/-kb/Ttekkotsu-2_3 +/tail2.lwo/1.1/Wed Aug 27 02:52:09 2003/-kb/Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Repository ./tools/mon/objects/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/objects/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon/objects diff -urdN ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Root ./tools/mon/objects/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/objects/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Tag ./tools/mon/objects/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/objects/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/objects/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/CVS/Entries ./tools/mon/org/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/org/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +D/tekkotsu//// diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/CVS/Repository ./tools/mon/org/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/org/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon/org diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/CVS/Root ./tools/mon/org/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/org/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/CVS/Tag ./tools/mon/org/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/org/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Entries ./tools/mon/org/tekkotsu/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,2 @@ +D/aibo3d//// +D/mon//// diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Repository ./tools/mon/org/tekkotsu/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon/org/tekkotsu diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Root ./tools/mon/org/tekkotsu/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Tag ./tools/mon/org/tekkotsu/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ttekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Entries ./tools/mon/org/tekkotsu/aibo3d/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/aibo3d/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,12 @@ +/Aibo3D.java/1.2/Thu Oct 9 19:11:26 2003//Ttekkotsu-2_3 +/Aibo3DForward.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/Aibo3DPick.java/1.2/Thu Oct 2 02:07:33 2003//Ttekkotsu-2_3 +/AiboJoint.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/AiboPicker.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/InverseKinematics.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/Java3DTest.java/1.1/Wed Oct 1 23:45:16 2003//Ttekkotsu-2_3 +/Kinematics.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/LegConfiguration.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/PickMoveBehavior.java/1.1/Fri Sep 26 04:36:17 2003//Ttekkotsu-2_3 +/WorldStateJointsWriter.java/1.3/Thu Oct 9 19:12:03 2003//Ttekkotsu-2_3 +D diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Repository ./tools/mon/org/tekkotsu/aibo3d/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/aibo3d/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon/org/tekkotsu/aibo3d diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Root ./tools/mon/org/tekkotsu/aibo3d/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/aibo3d/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Tag ./tools/mon/org/tekkotsu/aibo3d/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/aibo3d/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/aibo3d/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Entries ./tools/mon/org/tekkotsu/mon/CVS/Entries --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Entries Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/mon/CVS/Entries Fri Jan 28 20:12:58 2005 @@ -0,0 +1,68 @@ +/AgentShapeInfo.java/1.4/Thu Apr 22 22:46:02 2004//Ttekkotsu-2_3 +/AiboComm.java/1.1/Fri Sep 26 04:36:18 2003//Ttekkotsu-2_3 +/ClassPathModifier.java/1.1/Fri Sep 26 04:36:18 2003//Ttekkotsu-2_3 +/ControllerErr.java/1.1/Sun Jan 11 07:57:29 2004//Ttekkotsu-2_3 +/ControllerGUI.java/1.20/Fri Jan 21 22:50:40 2005//Ttekkotsu-2_3 +/ControllerListener.java/1.11/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/ControllerMsg.java/1.3/Sun Jan 11 07:57:30 2004//Ttekkotsu-2_3 +/DogConfig.java/1.2/Wed Jan 21 06:59:17 2004//Ttekkotsu-2_3 +/DogConfigFTP.java/1.1/Fri Sep 26 04:36:18 2003//Ttekkotsu-2_3 +/EStopButton.java/1.7/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/EStopGUI.java/1.3/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/EStopListener.java/1.4/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/EStopPanel.java/1.2/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/EditScriptGUI.java/1.4/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/EllipseShapeInfo.java/1.5/Thu Apr 22 22:46:02 2004//Ttekkotsu-2_3 +/GraphCanvas.java/1.1/Fri Sep 26 04:36:19 2003//Ttekkotsu-2_3 +/HeadPointGUI.java/1.3/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/HeadPointListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/ImageSequenceWriterThread.java/1.8/Tue Jan 20 20:05:31 2004//Ttekkotsu-2_3 +/JointLogger.java/1.1/Wed Jan 28 21:08:46 2004//Ttekkotsu-2_3 +/JointRelay.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/JointRequestor.java/1.1/Wed Jan 28 21:08:46 2004//Ttekkotsu-2_3 +/JointWriter.java/1.2/Tue Feb 24 21:13:27 2004//Ttekkotsu-2_3 +/Joints.java/1.3/Fri Apr 16 05:51:29 2004//Ttekkotsu-2_3 +/LineShapeInfo.java/1.7/Thu Apr 22 22:46:02 2004//Ttekkotsu-2_3 +/Listener.java/1.6/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/MechaController.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/MicrophoneClient.java/1.1/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/NetDebug.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/PIDs.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/PointPick.java/1.2/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/PrintDuties.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/ScriptEntry.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/ShapeInfo.java/1.8/Fri Apr 16 00:39:28 2004//Ttekkotsu-2_3 +/SketchGUI.java/1.37/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/SketchInfo.java/1.5/Thu Apr 22 22:46:02 2004//Ttekkotsu-2_3 +/SketchPanel.java/1.18/Wed Dec 1 23:18:30 2004//Ttekkotsu-2_3 +/SpeakerClient.java/1.1/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/SquareRightLayout.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/TCPListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/TCPVisionListener.java/1.6/Tue Nov 30 01:15:52 2004//Ttekkotsu-2_3 +/TableMap.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/TableSorter.java/1.1/Fri Sep 26 04:36:20 2003//Ttekkotsu-2_3 +/Terminal.java/1.2/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/TestGraph.java/1.2/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/TextListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/TextWatchableMemory.java/1.1/Fri Sep 26 04:36:21 2003//Ttekkotsu-2_3 +/UDPListener.java/1.4/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/UDPVisionListener.java/1.7/Tue Nov 30 01:15:52 2004//Ttekkotsu-2_3 +/VisionGUI.java/1.16/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/VisionListener.java/1.10/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/VisionPanel.java/1.8/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/VisionUpdatedListener.java/1.1/Fri Sep 26 04:36:21 2003//Ttekkotsu-2_3 +/VisualObjectInfo.java/1.6/Thu Apr 22 22:46:02 2004//Ttekkotsu-2_3 +/WM2DMData.java/1.1/Fri Sep 26 04:36:22 2003//Ttekkotsu-2_3 +/WM2DMListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/WM2FSData.java/1.1/Fri Sep 26 04:36:22 2003//Ttekkotsu-2_3 +/WM2FSListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/WM2HMData.java/1.1/Fri Sep 26 04:36:22 2003//Ttekkotsu-2_3 +/WM2HMListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/WMvar.java/1.1/Fri Sep 26 04:36:22 2003//Ttekkotsu-2_3 +/WalkGUI.java/1.4/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/WatchableMemory.java/1.6/Fri Jan 21 23:31:39 2005//Ttekkotsu-2_3 +/WatchableMemoryListener.java/1.4/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/WorldModel2Conf.java/1.1/Fri Sep 26 04:36:23 2003//Ttekkotsu-2_3 +/WorldStateJointsListener.java/1.4/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +/WorldStatePIDsListener.java/1.3/Fri Nov 12 22:07:40 2004//Ttekkotsu-2_3 +D/icons//// diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Repository ./tools/mon/org/tekkotsu/mon/CVS/Repository --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Repository Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/mon/CVS/Repository Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Tekkotsu/tools/mon/org/tekkotsu/mon diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Root ./tools/mon/org/tekkotsu/mon/CVS/Root --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Root Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/mon/CVS/Root Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +/afs/cs/project/skinnerbots/aibo diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Tag ./tools/mon/org/tekkotsu/mon/CVS/Tag --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/CVS/Tag Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/mon/CVS/Tag Fri Jan 28 20:12:58 2005 @@ -0,0 +1 @@ +Ntekkotsu-2_3 diff -urdN ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/ControllerGUI.java ./tools/mon/org/tekkotsu/mon/ControllerGUI.java --- ../Tekkotsu_2.2.2/tools/mon/org/tekkotsu/mon/ControllerGUI.java Mon Nov 15 15:53:05 2004 +++ ./tools/mon/org/tekkotsu/mon/ControllerGUI.java Fri Jan 21 17:50:40 2005 @@ -15,7 +15,7 @@ public class ControllerGUI extends JFrame implements ActionListener, KeyListener { JList menu; JScrollPane menuScroll; - JLabel title; + JComboBox title; JLabel status; JList scripts; ControllerListener comm; @@ -171,11 +171,13 @@ Point p=menuScroll.getViewport().getViewPosition(); //scripts.setEnabled(comm._isConnected); + title.setEnabled(comm._isConnected); backBut.setEnabled(comm._isConnected); refreshBut.setEnabled(comm._isConnected); inputField.setEnabled(comm._isConnected); + title.removeAllItems();//clearing the title popup menu, but we'll refresh the items if we're still connected if(!comm._isConnected) { - title.setText("-"); + title.addItem("-"); menu.setListData(new Vector()); status.setText("Reconnecting..."); } else { @@ -188,6 +190,8 @@ Iterator mons=comm.dynObjSrcs.values().iterator(); while(mons.hasNext()) comm.sendInput("!root "+(String)mons.next()); + //Set focus to the main menu + menu.requestFocus(); } for(int i=0; ilen) + len=entry.length(); + } + title.setMaximumSize(new Dimension((int)(len*8)+25,title.getHeight())); + title.setSelectedIndex(0); Vector menuitems=(Vector)comm._menus.lastElement(); menu.setValueIsAdjusting(true); menu.setListData((Vector)menuitems.clone()); @@ -229,6 +241,11 @@ } else if(evt.getSource()==refreshBut) { //System.out.println("refresh button clicked"); comm.sendRefresh(); + } else if(evt.getSource()==title) { + //System.out.println("title selection changed"); + int selected=title.getSelectedIndex(); + for(int i=0; idepth) { + System.err.println("Bad stack_dump - more menus than titles!"); + _isConnected=false; + break; + } + for(int i=_menus.size(); i