diff -urdN ../Tekkotsu_2.2/Behaviors/BehaviorBase.cc ./Behaviors/BehaviorBase.cc --- ../Tekkotsu_2.2/Behaviors/BehaviorBase.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/BehaviorBase.cc Thu Nov 11 15:34:59 2004 @@ -0,0 +1,69 @@ +#include "BehaviorBase.h" + +std::set BehaviorBase::registry; + +/*! @deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class) */ +BehaviorBase::BehaviorBase() + : ReferenceCounter(), EventListener(), started(false), + instanceName("?"), className("BehaviorBase") +{ + registry.insert(this); +} + +BehaviorBase::BehaviorBase(const std::string& name) + : ReferenceCounter(), EventListener(), started(false), + instanceName(name), className(name) +{ + registry.insert(this); +} + +BehaviorBase::BehaviorBase(const std::string& classname, const std::string& instancename) + : ReferenceCounter(), EventListener(), started(false), + instanceName(instancename), className(classname) +{ + registry.insert(this); +} + + +BehaviorBase::BehaviorBase(const BehaviorBase& b) + : ReferenceCounter(b), EventListener(b), started(b.started), + instanceName(b.instanceName), className(b.className) +{ + registry.insert(this); +} + +BehaviorBase& +BehaviorBase::operator=(const BehaviorBase& b) { + ReferenceCounter::operator=(b); + EventListener::operator=(b); + started=b.started; + instanceName=b.instanceName; + return *this; +} + +BehaviorBase::~BehaviorBase() { + SetAutoDelete(false); + if(started) + DoStop(); + //{ if(started) { references++; DoStop(); references--; } } + registry.erase(this); +} + +void +BehaviorBase::DoStart() { + //std::cout << getName() << " started " << this << std::endl; + if(!started) { + started=true; + AddReference(); + } +} + +void +BehaviorBase::DoStop() { + //std::cout << getName() << " stopped " << this << std::endl; + if(started) { + started=false; + RemoveReference(); + } +} + diff -urdN ../Tekkotsu_2.2/Behaviors/BehaviorBase.h ./Behaviors/BehaviorBase.h --- ../Tekkotsu_2.2/Behaviors/BehaviorBase.h Wed Mar 24 01:38:21 2004 +++ ./Behaviors/BehaviorBase.h Mon Nov 15 17:46:19 2004 @@ -5,6 +5,7 @@ #include "Events/EventListener.h" #include "Shared/ReferenceCounter.h" #include +#include //! The basis from which all other Behaviors should inherit /*! Makes use of ReferenceCounter so that behaviors can automatically delete themselves if @@ -22,43 +23,62 @@ * what's going on. */ class BehaviorBase : public ReferenceCounter, public EventListener { - public: - //! constructor - BehaviorBase() : ReferenceCounter(), EventListener(), started(false) {} - //! copy constructor; assumes subclass handles copying approriately - i.e. if @a b is active, the copy will be as well, even though DoStart was never called.. - BehaviorBase(const BehaviorBase& b) : ReferenceCounter(b), EventListener(b), started(b.started) {} - //! assignment operator; assumes subclass handles assignment appropriately - i.e. if @a b is active, the copy will be as well, even though DoStart was never called.. - BehaviorBase& operator=(const BehaviorBase& b) { ReferenceCounter::operator=(b); EventListener::operator=(b); started=b.started; return *this; } - +public: //! destructor - if is active when deleted, will call DoStop() first - virtual ~BehaviorBase() { - SetAutoDelete(false); - if(started) - DoStop(); - //{ if(started) { references++; DoStop(); references--; } } - } + virtual ~BehaviorBase(); //! By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods - virtual void DoStart() { - //std::cout << getName() << " started " << this << std::endl; - if(!started) { - started=true; - AddReference(); - } - } + virtual void DoStart(); //! By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might @c delete @c this ) - virtual void DoStop() { - //std::cout << getName() << " stopped " << this << std::endl; - if(started) { - started=false; - RemoveReference(); - } - } + virtual void DoStop(); //! By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing. - virtual void processEvent(const EventBase& /*event*/) {}; + virtual void processEvent(const EventBase& /*event*/) {} + + //! Identifies the behavior in menus and such + virtual std::string getName() const { return instanceName; } + + //! Allows dynamic renaming of behaviors + virtual void setName(const std::string& name) { instanceName=name; } + + //! Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis) + /*! By default simply returns getName(), because any calls from a + * BehaviorBase function to getClassDescription() are going to call + * BehaviorBase::getClassDescription(), not + * ~YourSubClass~::getClassDescription(), because static functions + * can't be virtual in C++ (doh!) + * + * This means that getDescription called on a pointer to a + * BehaviorBase of unknown subtype would always return an empty + * string, which is pretty useless. So instead we return the name + * in this situation. If you want getDescription to return + * getClassDescription, you'll have to override it in your subclass + * to do so. */ + virtual std::string getDescription() const { + std::string d=getClassDescription(); + return (d.size()==0)?getName():d; + } + + //! Returns the name of the class of this behavior (aka its type) + /*! Note that this isn't static to avoid the problems we found with + * getDescription/getClassDescription. So instead we wind up + * wasting some memory in each instance of the class to store the + * className, but at least it will work the way you expect. */ + virtual std::string getClassName() const { return className; } + + //! Gives a short description of what this class of behaviors does... you should override this (but don't have to) + /*! If you do override this, also consider overriding getDescription() to return it */ + static std::string getClassDescription() { return ""; } + + //! Returns true if the behavior is currently running + virtual bool isActive() const { return started; } + + //! Allows read-only access to the set of currently instantiated behaviors + /*! Not all of these behaviors are necessarily active, this is everything that has been allocated and not yet deallocated */ + static const std::set& getRegistry() { return registry; } + // Just some debugging stuff in stasis /* virtual void AddReference() { std::cout << getName() << " AddReference()==" << GetReferences() << ' ' << this << std::endl; ReferenceCounter::AddReference(); @@ -70,20 +90,22 @@ } */ - //! Identifies the behavior in menus and such - virtual std::string getName() const =0; - - //! Gives a short description of what this class of behaviors does... you should override this (but don't have to) - static std::string getClassDescription() { return ""; } - - //! Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis) By default simply returns getClassDescription() - virtual std::string getDescription() const { return getClassDescription(); } - - //! Returns true if the behavior is currently running - virtual bool isActive() const { return started; } +protected: + //! deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class) + BehaviorBase() __attribute__((deprecated)); + //! constructor, @a name is used as both instance name and class name + explicit BehaviorBase(const std::string& name); + //! constructor, allows different initial values for class name and instance name + BehaviorBase(const std::string& classname, const std::string& instancename); + //! copy constructor; assumes subclass handles copying approriately - i.e. if @a b is active, the copy will be as well, even though DoStart was never called.. + BehaviorBase(const BehaviorBase& b); + //! assignment operator; assumes subclass handles assignment appropriately - i.e. if @a b is active, the copy will be as well, even though DoStart was never called.. + BehaviorBase& operator=(const BehaviorBase& b); - protected: bool started; //!< true when the behavior is active + std::string instanceName; //!< holds the name of this instance of behavior + const std::string className; //!< holds the type of the subclass of this behavior as a string + static std::set registry; //!< allows us to keep track of all the current behaviors }; /*! @file @@ -91,10 +113,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Controller.cc ./Behaviors/Controller.cc --- ../Tekkotsu_2.2/Behaviors/Controller.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Controller.cc Sat Oct 16 21:16:10 2004 @@ -452,7 +452,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controller.h ./Behaviors/Controller.h --- ../Tekkotsu_2.2/Behaviors/Controller.h Wed Mar 24 00:35:00 2004 +++ ./Behaviors/Controller.h Wed Nov 10 20:45:31 2004 @@ -46,10 +46,11 @@ * bool:hilightednumitems\n * text:item-titlenumitems\n * text:item-descriptionnumitems' - refreshes the current menu\n - * - 'status text' - sets the status bar to text (until the next refresh) + * - 'status\n + * text' - sets the status bar to text (until the next refresh) * - 'load\n * text:classname\n - * text:instancename + * text:instancename\n * int:port\n * [arg1 [arg2 [...]]]' - tells the GUI to load the java class named classname, and have it connect to port, passing it the argument list. * classname should contain a constructor of the form Classname(String host, int port, String args[]) @@ -93,8 +94,8 @@ */ class Controller : public BehaviorBase, public EventTrapper { public: - Controller() : display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(NULL), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), isControlling(false), gui_comm(NULL) {init();} //!< Constructor - Controller(ControlBase* r) : display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(r), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), isControlling(false), gui_comm(NULL) { init(); } //!< Constructor, sets a default root control + Controller() : BehaviorBase("Controller"), EventTrapper(), display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(NULL), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), isControlling(false), gui_comm(NULL) {init();} //!< Constructor + Controller(ControlBase* r) : BehaviorBase("Controller"), EventTrapper(), display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(r), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), isControlling(false), gui_comm(NULL) { init(); } //!< Constructor, sets a default root control virtual ~Controller() { cout << "~Controller()..." << endl; delete root; @@ -127,9 +128,8 @@ Controller& setEStopID(MotionManager::MC_ID estopid); //!< Sets the emergency stop MC to monitor for pausing - virtual std::string getName() const { return "Controller"; } static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; } - + virtual std::string getDescription() const { return getClassDescription(); } static void loadGUI(const std::string& type, const std::string& name, unsigned int port) {loadGUI(type,name,port,std::vector());} //!< attempts to open a Java object on the desktop @@ -211,10 +211,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/BatteryCheckControl.h ./Behaviors/Controls/BatteryCheckControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/BatteryCheckControl.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/BatteryCheckControl.h Thu Oct 7 15:07:04 2004 @@ -111,7 +111,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/BehaviorActivatorControl.h ./Behaviors/Controls/BehaviorActivatorControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/BehaviorReportControl.h ./Behaviors/Controls/BehaviorReportControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/BehaviorReportControl.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Controls/BehaviorReportControl.h Tue Nov 16 14:25:24 2004 @@ -0,0 +1,67 @@ +//-*-c++-*- +#ifndef INCLUDED_BehaviorReportControl_h_ +#define INCLUDED_BehaviorReportControl_h_ + +#include "ControlBase.h" +#include "Behaviors/BehaviorBase.h" + +//! Reads the set of currently instantiated behaviors and sends a report to ::sout +class BehaviorReportControl : public ControlBase { +public: + //! Constructor + BehaviorReportControl() + : ControlBase("Behavior Report","Generates a summary of currently instantiated behaviors") + {} + + //! Prints a report to sout + virtual ControlBase * activate(MotionManager::MC_ID, Socket *) { + typedef std::set registry_t; + typedef std::vector behlist_t; + const registry_t& reg=BehaviorBase::getRegistry(); + behlist_t active,inactive; + for(registry_t::const_iterator it=reg.begin(); it!=reg.end(); it++) { + if((*it)->isActive()) + active.push_back(*it); + else + inactive.push_back(*it); + } + + char format[100]; + unsigned int maxlen=0; + for(behlist_t::const_iterator it=active.begin(); it!=active.end(); it++) + if((*it)->getName().size()>maxlen) + maxlen=(*it)->getClassName().size(); + for(behlist_t::const_iterator it=inactive.begin(); it!=inactive.end(); it++) + if((*it)->getName().size()>maxlen) + maxlen=(*it)->getClassName().size(); + snprintf(format,100," %%-%ds %%s\n",maxlen); + + 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(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(format,"Class Name","Instance Name"); + sout->printf(format,"------------","---------------"); + for(behlist_t::const_iterator it=inactive.begin(); it!=inactive.end(); it++) + sout->printf(format,(*it)->getClassName().c_str(),(*it)->getName().c_str()); + return NULL; + } +}; + +/*! @file + * @brief Defines BehaviorReportControl, which reads the set of currently instantiated behaviors and sends a report to ::sout + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/BehaviorSwitchActivatorControl.h ./Behaviors/Controls/BehaviorSwitchActivatorControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/BehaviorSwitchControl.h ./Behaviors/Controls/BehaviorSwitchControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/BehaviorSwitchControl.h Wed Feb 18 16:11:25 2004 +++ ./Behaviors/Controls/BehaviorSwitchControl.h Thu Nov 11 19:05:03 2004 @@ -86,7 +86,7 @@ virtual std::string getDescription() const { if(mybeh==NULL) return ControlBase::getDescription(); - return mybeh->getDescription(); + return "Class "+mybeh->getClassName()+": "+mybeh->getDescription(); } protected: @@ -224,11 +224,13 @@ virtual void startmine() { if(!retained) { mybeh=Al::construct(); + mybeh->setName(getName()); if(behgrp!=NULL) behgrp->curBehavior=mybeh; } else { if(mybeh==NULL) { mybeh=Al::construct(); + mybeh->setName(getName()); mybeh->AddReference(); } if(behgrp!=NULL) @@ -263,10 +265,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ControlBase.cc ./Behaviors/Controls/ControlBase.cc --- ../Tekkotsu_2.2/Behaviors/Controls/ControlBase.cc Wed Aug 6 18:50:41 2003 +++ ./Behaviors/Controls/ControlBase.cc Wed Nov 3 22:01:31 2004 @@ -2,6 +2,7 @@ #include "Motion/MMAccessor.h" #include "Motion/LedMC.h" #include "Shared/string_util.h" +#include "SoundPlay/SoundManager.h" #include "Wireless/Wireless.h" #include #include @@ -410,9 +411,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ControlBase.h ./Behaviors/Controls/ControlBase.h --- ../Tekkotsu_2.2/Behaviors/Controls/ControlBase.h Thu Oct 7 18:15:37 2004 +++ ./Behaviors/Controls/ControlBase.h Wed Nov 3 22:01:31 2004 @@ -4,7 +4,6 @@ #include "Events/EventBase.h" #include "Motion/MotionManager.h" -#include "SoundPlay/SoundManager.h" #include "Shared/Config.h" #include "Wireless/Socket.h" #include @@ -168,9 +167,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/DumpFileControl.h ./Behaviors/Controls/DumpFileControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/EventLogger.cc ./Behaviors/Controls/EventLogger.cc --- ../Tekkotsu_2.2/Behaviors/Controls/EventLogger.cc Thu Oct 7 18:15:21 2004 +++ ./Behaviors/Controls/EventLogger.cc Wed Nov 3 22:01:32 2004 @@ -9,6 +9,7 @@ #include "Events/LocomotionEvent.h" #include "Events/TextMsgEvent.h" #include "Events/VisionObjectEvent.h" +#include "SoundPlay/SoundManager.h" EventLogger::EventLogger() : ControlBase("Event Logger","Allows you to see/log all of the un-trapped events as they are generated"), logfilePath(), logfile(), verbosity(0) { for(unsigned int i=0; iprintf("~~~ Main: ~~~\n%s",state->mainProfile.report().c_str()); @@ -27,10 +24,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/RebootControl.cc ./Behaviors/Controls/RebootControl.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/RebootControl.h ./Behaviors/Controls/RebootControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/RunSequenceControl.h ./Behaviors/Controls/RunSequenceControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/RunSequenceControl.h Mon Oct 18 13:01:38 2004 +++ ./Behaviors/Controls/RunSequenceControl.h Mon Oct 18 13:01:38 2004 @@ -77,7 +77,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/SavePostureControl.h ./Behaviors/Controls/SavePostureControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/SavePostureControl.h Thu Jan 29 20:29:41 2004 +++ ./Behaviors/Controls/SavePostureControl.h Thu Jan 29 20:29:41 2004 @@ -30,7 +30,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/SaveWalkControl.h ./Behaviors/Controls/SaveWalkControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/SaveWalkControl.h Thu Mar 25 19:28:41 2004 +++ ./Behaviors/Controls/SaveWalkControl.h Thu Mar 25 19:28:41 2004 @@ -47,7 +47,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/SensorObserverControl.cc ./Behaviors/Controls/SensorObserverControl.cc --- ../Tekkotsu_2.2/Behaviors/Controls/SensorObserverControl.cc Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/SensorObserverControl.cc Wed Nov 3 22:01:32 2004 @@ -7,6 +7,7 @@ #include "Events/TextMsgEvent.h" #include "Events/VisionObjectEvent.h" #include "Shared/WorldState.h" +#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) @@ -132,8 +133,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/SensorObserverControl.h ./Behaviors/Controls/SensorObserverControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/SensorObserverControl.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Controls/SensorObserverControl.h Sun Jan 18 05:16:56 2004 @@ -53,7 +53,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ShutdownControl.cc ./Behaviors/Controls/ShutdownControl.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ShutdownControl.h ./Behaviors/Controls/ShutdownControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/StringInputControl.cc ./Behaviors/Controls/StringInputControl.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/StringInputControl.h ./Behaviors/Controls/StringInputControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ToggleControl.h ./Behaviors/Controls/ToggleControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ValueEditControl.h ./Behaviors/Controls/ValueEditControl.h --- ../Tekkotsu_2.2/Behaviors/Controls/ValueEditControl.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/ValueEditControl.h Thu Oct 7 15:07:04 2004 @@ -166,7 +166,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/ValueSetControl.h ./Behaviors/Controls/ValueSetControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/WalkCalibration.cc ./Behaviors/Controls/WalkCalibration.cc --- ../Tekkotsu_2.2/Behaviors/Controls/WalkCalibration.cc Mon Mar 1 16:17:08 2004 +++ ./Behaviors/Controls/WalkCalibration.cc Wed Nov 3 22:01:32 2004 @@ -6,6 +6,7 @@ #include "Behaviors/Controller.h" #include "Shared/WorldState.h" #include "Shared/string_util.h" +#include "SoundPlay/SoundManager.h" #include char * WalkCalibration::datanames[WalkCalibration::NUM_SRC] = { "fs","fr","sr","br","bs","rr" }; @@ -912,9 +913,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/WalkCalibration.h ./Behaviors/Controls/WalkCalibration.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/WaypointWalkControl.cc ./Behaviors/Controls/WaypointWalkControl.cc --- ../Tekkotsu_2.2/Behaviors/Controls/WaypointWalkControl.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Controls/WaypointWalkControl.cc Wed Nov 3 22:01:32 2004 @@ -8,6 +8,7 @@ #include "Motion/WaypointWalkMC.h" #include "Motion/WalkMC.h" #include "Motion/MMAccessor.h" +#include "SoundPlay/SoundManager.h" WaypointWalkControl::WaypointWalkControl() : ControlBase("WaypointWalkControl","Allows interactive control and execution of a set of waypoints"), @@ -243,9 +244,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Controls/WaypointWalkControl.h ./Behaviors/Controls/WaypointWalkControl.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/ASCIIVisionBehavior.h ./Behaviors/Demos/ASCIIVisionBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/ASCIIVisionBehavior.h Mon Oct 18 20:46:54 2004 +++ ./Behaviors/Demos/ASCIIVisionBehavior.h Wed Nov 10 20:45:35 2004 @@ -13,7 +13,7 @@ class ASCIIVisionBehavior : public BehaviorBase { public: //! constructor - ASCIIVisionBehavior() : BehaviorBase() {} + ASCIIVisionBehavior() : BehaviorBase("ASCIIVisionBehavior") {} static const unsigned int charMapSize=64; static const char charMap[charMapSize]; @@ -30,9 +30,8 @@ virtual void processEvent(const EventBase& e); - virtual std::string getName() const { return "ASCIIVisionBehavior"; } - static std::string getClassDescription() { return "streams low-resolution ASCII-art of the camera image to sout"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: @@ -43,10 +42,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/AlanBehavior.h ./Behaviors/Demos/AlanBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/AlanBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/AlanBehavior.h Wed Nov 10 20:45:35 2004 @@ -17,7 +17,7 @@ class AlanBehavior : public BehaviorBase { public: AlanBehavior() - : BehaviorBase(), pose_id(MotionManager::invalid_MC_ID) + : BehaviorBase("AlanBehavior"), pose_id(MotionManager::invalid_MC_ID) {} virtual void DoStart() { @@ -97,15 +97,14 @@ } } - virtual std::string getName() const { - // Name is used for menus, or debugging. - return "AlanBehavior"; - } - static std::string getClassDescription() { // This string will be shown by the HelpControl or by the tooltips of the Controller GUI return "Lifts the left/right front legs higher as more pressure is applied to the front/back head buttons"; } + virtual std::string getDescription() const { + // We override this function to return the string we supplied above (not required, but nice) + return getClassDescription(); + } protected: MotionManager::MC_ID pose_id; //!< ID of PostureMC, set up in DoStart() and used in processEvent() @@ -116,10 +115,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/AutoGetupBehavior.h ./Behaviors/Demos/AutoGetupBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/AutoGetupBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/AutoGetupBehavior.h Wed Nov 10 20:45:35 2004 @@ -15,7 +15,7 @@ class AutoGetupBehavior : public BehaviorBase { public: //! constructor - AutoGetupBehavior() : BehaviorBase(), back(0), side(0), gamma(.9), sensitivity(.85*.85), waiting(false) {} + AutoGetupBehavior() : BehaviorBase("AutoGetupBehavior"), back(0), side(0), gamma(.9), sensitivity(.85*.85), waiting(false) {} //! destructor virtual ~AutoGetupBehavior() {} @@ -58,8 +58,8 @@ waiting=true; } } - virtual std::string getName() const { return "AutoGetupBehavior"; } static std::string getClassDescription() { return "Monitors gravity's influence on the accelerometers - if it seems the robot has fallen over, it runs appropriate getup script"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: float back; //!< exponential average of backwards accel @@ -74,10 +74,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/BanditMachine.h ./Behaviors/Demos/BanditMachine.h --- ../Tekkotsu_2.2/Behaviors/Demos/BanditMachine.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/BanditMachine.h Thu Nov 11 16:32:14 2004 @@ -21,7 +21,7 @@ public: //!constructor BanditMachine() - : StateNode("Bandit Machine",NULL), stare(NULL), start(NULL), liedown(MotionManager::invalid_MC_ID), bandit(2) + : StateNode("BanditMachine","BanditMachine",NULL), stare(NULL), start(NULL), liedown(MotionManager::invalid_MC_ID), bandit(2) { stare=new StareAtBallBehavior(); stare->AddReference(); @@ -39,6 +39,7 @@ } static std::string getClassDescription() { return "Plays k-armed bandit with a computer"; } + virtual std::string getDescription() const { return getClassDescription(); } virtual void setup() { StateNode *wait=start=addNode(new WaitNode("Wait",this,bandit)); @@ -83,7 +84,7 @@ * @param p the parent node * @param idx the joint index of the paw to move */ - PressNode(const char* n, StateNode* p, unsigned int idx) : StateNode(n,p), press_id(MotionManager::invalid_MC_ID), index(idx) { + PressNode(const char* n, StateNode* p, unsigned int idx) : StateNode("PressNode",n,p), press_id(MotionManager::invalid_MC_ID), index(idx) { SharedObject > press; press->setPlayTime(0); press->setOutputCmd(idx,.6); @@ -129,7 +130,7 @@ * @param right the PressNode to go to if the right paw is chosen */ DecideNode(const char* n, StateNode* p, karmedbanditExp3_1& bandito, StateNode* left, StateNode* right) - : StateNode(n,p), b(bandito), l(left), r(right) + : StateNode("DecideNode",n,p), b(bandito), l(left), r(right) {} virtual void DoStart() { StateNode::DoStart(); @@ -162,7 +163,7 @@ * @param bandito the class to pass the reward to (if it comes) */ WaitNode(const char* n, StateNode* p, karmedbanditExp3_1& bandito) - : StateNode(n,p), b(bandito), reward(false), leds_id(MotionManager::invalid_MC_ID) + : StateNode("WaitNode",n,p), b(bandito), reward(false), leds_id(MotionManager::invalid_MC_ID) { leds_id=motman->addPersistentMotion(SharedObject()); } @@ -216,10 +217,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/BatteryMonitorBehavior.h ./Behaviors/Demos/BatteryMonitorBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/BatteryMonitorBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/BatteryMonitorBehavior.h Wed Nov 10 20:45:35 2004 @@ -25,7 +25,7 @@ static const unsigned int no_power_p=14; //!< percent of 100 at which power will fail (approximate!) //! constructor - BatteryMonitorBehavior() : BehaviorBase(), pose(NULL), pose_id(MotionManager::invalid_MC_ID), led_id(MotionManager::invalid_MC_ID) {} + BatteryMonitorBehavior() : BehaviorBase("BatteryMonitorBehavior"), pose(NULL), pose_id(MotionManager::invalid_MC_ID), led_id(MotionManager::invalid_MC_ID) {} //! destructor virtual ~BatteryMonitorBehavior() {} @@ -94,8 +94,8 @@ } } } - virtual std::string getName() const { return "BatteryMonitorBehavior"; } static std::string getClassDescription() { return "Reports the current battery status, and starts flicks the ears to warn when it gets too low"; } + virtual std::string getDescription() const { return getClassDescription(); } //! returns true if the warning should be active (power remaining less than high_power_p, no external power, but also checks that a power update has been received) static bool shouldWarn() { return state!=NULL && state->powerFlags[PowerSourceID::BatteryConnectSID] && (state->sensors[PowerRemainOffset]*100<=high_power_p || state->powerFlags[PowerSourceID::LowPowerWarnSID]) && !state->powerFlags[PowerSourceID::ExternalPowerSID]; } @@ -156,10 +156,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/CameraBehavior.cc ./Behaviors/Demos/CameraBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Demos/CameraBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/CameraBehavior.cc Sat Oct 16 21:16:10 2004 @@ -196,7 +196,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/CameraBehavior.h ./Behaviors/Demos/CameraBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/CameraBehavior.h Mon Feb 2 20:16:32 2004 +++ ./Behaviors/Demos/CameraBehavior.h Wed Nov 10 20:45:35 2004 @@ -24,7 +24,7 @@ public: //! constructor, just sets up the variables CameraBehavior() - : BehaviorBase(), camera_click(EventBase::buttonEGID,0,EventBase::deactivateETID,150), index(0), ledID(MotionManager::invalid_MC_ID) + : BehaviorBase("CameraBehavior"), camera_click(EventBase::buttonEGID,0,EventBase::deactivateETID,150), index(0), ledID(MotionManager::invalid_MC_ID) {} //! Register for events @@ -36,8 +36,9 @@ //! Handles event processing - determines which generator to save from and writes to current file virtual void processEvent(const EventBase& e); - virtual std::string getName() const { return "CameraBehavior"; } //!< returns name of behavior static std::string getClassDescription() { return "Push head button to save a picture"; } + virtual std::string getDescription() const { return getClassDescription(); } + protected: //! opens the next file to be saved to (with @a ext extension on the file name) FILE * openNextFile(const std::string& ext); @@ -60,10 +61,10 @@ * @author ejt (rewrite for new vision system) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/ChaseBallBehavior.cc ./Behaviors/Demos/ChaseBallBehavior.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/ChaseBallBehavior.h ./Behaviors/Demos/ChaseBallBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/ChaseBallBehavior.h Thu Sep 25 11:26:22 2003 +++ ./Behaviors/Demos/ChaseBallBehavior.h Wed Nov 10 20:45:35 2004 @@ -10,7 +10,7 @@ public: //!constructor ChaseBallBehavior() - : BehaviorBase(), headpointer_id(MotionManager::invalid_MC_ID), walker_id(MotionManager::invalid_MC_ID) + : BehaviorBase("ChaseBallBehavior"), headpointer_id(MotionManager::invalid_MC_ID), walker_id(MotionManager::invalid_MC_ID) {} //!destructor virtual ~ChaseBallBehavior() {} @@ -24,8 +24,8 @@ //! sets the head to point at the object and sets the body to move where the head points virtual void processEvent(const EventBase& event); - virtual std::string getName() const { return "ChaseBallBehavior"; } //!< returns name of behavior static std::string getClassDescription() { return "Follows ball with head and walks whereever the head is pointing"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: MotionManager::MC_ID headpointer_id; //!< a HeadPointerMC object @@ -37,10 +37,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/CrashTestBehavior.h ./Behaviors/Demos/CrashTestBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/CrashTestBehavior.h Tue Aug 24 21:07:45 2004 +++ ./Behaviors/Demos/CrashTestBehavior.h Wed Nov 10 20:45:35 2004 @@ -8,12 +8,13 @@ //! Demonstrates (lack of) blocking using serr to (not) pinpoint a crash class CrashTestBehavior : public BehaviorBase { public: - CrashTestBehavior() : BehaviorBase() {} + CrashTestBehavior() : BehaviorBase("CrashTestBehavior") {} virtual void DoStart() { //call superclass first for housekeeping: BehaviorBase::DoStart(); + serr->printf("I will now crash immediately following line 33\n"); //now do your code: for(unsigned int i=0; i<100; i++) { serr->printf("Hello serr! This is %d\n",i); @@ -23,16 +24,12 @@ //Hate to break it to you, but we're never going to get here... } - virtual std::string getName() const { - // Name is used for menus, or debugging. - return "CrashTestBehavior"; - } - static std::string getClassDescription() { // This string will be shown by the HelpControl or by the tooltips of the Controller GUI return "A little demo of blocking output before a crash after output #33 (yes, this crashes the AIBO)"; } + virtual std::string getDescription() const { return getClassDescription(); } }; /*! @file @@ -40,10 +37,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/DriveMeBehavior.cc ./Behaviors/Demos/DriveMeBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Demos/DriveMeBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/DriveMeBehavior.cc Wed Nov 10 20:45:35 2004 @@ -18,7 +18,7 @@ // ctor DriveMeBehavior::DriveMeBehavior() - : BehaviorBase(), + : BehaviorBase("DriveMeBehavior"), walker_id(MotionManager::invalid_MC_ID), stand_id(MotionManager::invalid_MC_ID), stand(), @@ -109,9 +109,9 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/DriveMeBehavior.h ./Behaviors/Demos/DriveMeBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/DriveMeBehavior.h Fri Jul 25 16:18:05 2003 +++ ./Behaviors/Demos/DriveMeBehavior.h Wed Nov 10 20:45:36 2004 @@ -20,8 +20,8 @@ virtual void processEvent(const EventBase& event); - virtual std::string getName() const { return "DriveMeBehavior"; } static std::string getClassDescription() { return "Prompts for walk parameters and duration on system console (blocking read), and then executes, repeat until deactivation"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: MotionManager::MC_ID walker_id; //!< walks @@ -39,10 +39,10 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/ExploreMachine.h ./Behaviors/Demos/ExploreMachine.h --- ../Tekkotsu_2.2/Behaviors/Demos/ExploreMachine.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/ExploreMachine.h Thu Nov 11 16:32:14 2004 @@ -16,14 +16,14 @@ public: //!constructor ExploreMachine() - : StateNode("ExploreMachine"), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) + : StateNode("ExploreMachine","ExploreMachine"), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) { setRetain(false); } //!constructor ExploreMachine(const std::string& nm, StateNode* p=NULL) - : StateNode(nm,p), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) + : StateNode("ExploreMachine",nm,p), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) { setRetain(false); } @@ -102,10 +102,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/FollowHeadBehavior.cc ./Behaviors/Demos/FollowHeadBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Demos/FollowHeadBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/FollowHeadBehavior.cc Wed Nov 10 20:45:36 2004 @@ -8,7 +8,7 @@ #include "Motion/PIDMC.h" FollowHeadBehavior::FollowHeadBehavior() : - BehaviorBase(), + BehaviorBase("FollowHeadBehavior"), head_release(EventBase::buttonEGID,ChinButOffset,EventBase::activateETID,0), head_lock(EventBase::buttonEGID,ChinButOffset,EventBase::deactivateETID,0), clock(EventBase::timerEGID,0,EventBase::statusETID,250), @@ -74,8 +74,8 @@ * * $Author: ejt $ * $Name $ - * $Revision: 1.1 $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/FollowHeadBehavior.h ./Behaviors/Demos/FollowHeadBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/FollowHeadBehavior.h Thu Sep 25 11:26:23 2003 +++ ./Behaviors/Demos/FollowHeadBehavior.h Wed Nov 10 20:45:36 2004 @@ -39,8 +39,8 @@ /*! After every clock pulse, sets walk in direction of head */ virtual void processEvent(const EventBase& e); - virtual std::string getName() const { return "FollowHeadBehavior"; } static std::string getClassDescription() { return "Walks whereever you point the head - press the chin button to loosen the head, release to lock it"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: const EventBase head_release; //!< event mask for releasing head (chin button down) @@ -54,10 +54,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/FreezeTestBehavior.h ./Behaviors/Demos/FreezeTestBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/FreezeTestBehavior.h Fri Aug 27 18:10:10 2004 +++ ./Behaviors/Demos/FreezeTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -8,7 +8,7 @@ //! Demonstrates an infinite loop condition in the Main process class FreezeTestBehavior : public BehaviorBase { public: - FreezeTestBehavior() : BehaviorBase() {} + FreezeTestBehavior() : BehaviorBase("FreezeTestBehavior") {} virtual void DoStart() { //call superclass first for housekeeping: @@ -30,16 +30,11 @@ //Hate to break it to you, but we're never going to get here... } - virtual std::string getName() const { - // Name is used for menus, or debugging. - return "FreezeTestBehavior"; - } - static std::string getClassDescription() { // This string will be shown by the HelpControl or by the tooltips of the Controller GUI return "A little demo of a Main process infinite loop freeze (yes, this hangs the AIBO)"; } - + virtual std::string getDescription() const { return getClassDescription(); } }; /*! @file @@ -47,10 +42,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/GroundPlaneBehavior.h ./Behaviors/Demos/GroundPlaneBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/GroundPlaneBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/GroundPlaneBehavior.h Wed Nov 10 20:45:36 2004 @@ -16,7 +16,7 @@ public: //! constructor GroundPlaneBehavior() - : BehaviorBase(), + : BehaviorBase("GroundPlaneBehavior"), head_release(EventBase::buttonEGID,(state->robotDesign&WorldState::ERS7Mask)?(int)ERS7Info::HeadButOffset:(int)ERS2xxInfo::HeadFrButOffset,EventBase::activateETID,0), head_lock(EventBase::buttonEGID,(state->robotDesign&WorldState::ERS7Mask)?(int)ERS7Info::HeadButOffset:(int)ERS2xxInfo::HeadFrButOffset,EventBase::deactivateETID,0), clock(EventBase::timerEGID,0,EventBase::statusETID,250) @@ -71,9 +71,8 @@ } } - virtual std::string getName() const { return "GroundPlaneBehavior"; } - static std::string getClassDescription() { return "Reports the location of the center of the camera image on the ground plane"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: EventBase head_release, head_lock, clock; @@ -84,10 +83,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/HeadLevelBehavior.h ./Behaviors/Demos/HeadLevelBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/HeadLevelBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/HeadLevelBehavior.h Wed Nov 10 20:45:36 2004 @@ -17,7 +17,7 @@ public: //! constructor HeadLevelBehavior() - : BehaviorBase(), + : BehaviorBase("HeadLevelBehavior"), head_release(EventBase::buttonEGID,0,EventBase::activateETID,0), head_lock(EventBase::buttonEGID,0,EventBase::deactivateETID,0), head(), @@ -69,8 +69,8 @@ } else ASSERTRET(false,"received unasked for event "<addListener(this,EventBase::motmanEGID,id,EventBase::deactivateETID); } - virtual std::string getName() const { return "MCRepeater"; } - static std::string getClassDescription() { return "Sends a given MotionCommand to MotionManager, waits until it autoprunes, and then sends it again."; } + virtual std::string getDescription() const { return getClassDescription(); } protected: const SharedObjectBase* mc; //!< the motion command being repeated @@ -47,10 +46,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/MotionStressTestBehavior.h ./Behaviors/Demos/MotionStressTestBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/MotionStressTestBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/MotionStressTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -12,7 +12,7 @@ class MotionStressTestBehavior : public BehaviorBase { public: //! constructor - MotionStressTestBehavior() : BehaviorBase(), nextLeg(RBkLegOrder), curMotions() {} + MotionStressTestBehavior() : BehaviorBase("MotionStressTestBehavior"), nextLeg(RBkLegOrder), curMotions() {} virtual void DoStart() { BehaviorBase::DoStart(); // do this first @@ -74,9 +74,8 @@ cout << get_time() << "\tAdded id " << id << endl; } - virtual std::string getName() const { return "MotionStressTestBehavior"; } - static std::string getClassDescription() { return "uses a separate MotionCommand for each of several joints to test for region leaks"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: LegOrder_t nextLeg; @@ -88,10 +87,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/PaceTargetsMachine.cc ./Behaviors/Demos/PaceTargetsMachine.cc --- ../Tekkotsu_2.2/Behaviors/Demos/PaceTargetsMachine.cc Sun Dec 7 19:20:57 2003 +++ ./Behaviors/Demos/PaceTargetsMachine.cc Wed Nov 10 20:45:36 2004 @@ -62,11 +62,12 @@ } void PaceTargetsMachine::teardown() { - //preload the sounds + //release the sounds sndman->ReleaseFile("cutey.wav"); sndman->ReleaseFile("barkmed.wav"); sndman->ReleaseFile("whimper.wav"); sndman->ReleaseFile("fart.wav"); + StateNode::teardown(); } /*! @file @@ -74,9 +75,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/PaceTargetsMachine.h ./Behaviors/Demos/PaceTargetsMachine.h --- ../Tekkotsu_2.2/Behaviors/Demos/PaceTargetsMachine.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Demos/PaceTargetsMachine.h Thu Nov 11 16:32:14 2004 @@ -9,7 +9,7 @@ class PaceTargetsMachine : public StateNode { public: //!constructor - PaceTargetsMachine() : StateNode("PaceTargetsMachine"), start(NULL) {} + PaceTargetsMachine() : StateNode("PaceTargetsMachine","PaceTargetsMachine"), start(NULL) {} virtual void setup(); virtual void DoStart(); @@ -29,10 +29,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/RelaxBehavior.h ./Behaviors/Demos/RelaxBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/RelaxBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/RelaxBehavior.h Wed Nov 10 20:45:36 2004 @@ -15,7 +15,7 @@ class RelaxBehavior : public BehaviorBase { public: //! contstructor - RelaxBehavior() : BehaviorBase(), pidMCID(MotionManager::invalid_MC_ID) {} + RelaxBehavior() : BehaviorBase("RelaxBehavior"), pidMCID(MotionManager::invalid_MC_ID) {} virtual void DoStart() { BehaviorBase::DoStart(); @@ -36,7 +36,8 @@ motman->addPrunableMotion(SharedObject(1)); BehaviorBase::DoStop(); } - virtual std::string getName() const { return "RelaxBehavior"; } + static std::string getClassDescription() { return "Sets PID parameters for all applicable joints to 0, allowing the joints to move freely, reducing noise and power consumption"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: MotionManager::MC_ID pidMCID; //!< the id for the pid motion command }; @@ -49,8 +50,8 @@ * @author ejt (Modifications) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/SimpleChaseBallBehavior.h ./Behaviors/Demos/SimpleChaseBallBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/SimpleChaseBallBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/SimpleChaseBallBehavior.h Wed Nov 10 20:45:36 2004 @@ -19,7 +19,7 @@ public: //!constructor SimpleChaseBallBehavior() - : BehaviorBase(), walker_id(MotionManager::invalid_MC_ID) + : BehaviorBase("SimpleChaseBallBehavior"), walker_id(MotionManager::invalid_MC_ID) {} //!destructor virtual ~SimpleChaseBallBehavior() {} @@ -49,8 +49,6 @@ } } - virtual std::string getName() const { return "SimpleChaseBallBehavior"; } - protected: MotionManager::MC_ID walker_id; //!< a WalkMC object }; @@ -60,10 +58,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/SoundTestBehavior.h ./Behaviors/Demos/SoundTestBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/SoundTestBehavior.h Tue Dec 23 01:33:42 2003 +++ ./Behaviors/Demos/SoundTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -22,7 +22,7 @@ public: //! Constructor SoundTestBehavior() - : BehaviorBase(), curplay(SoundManager::invalid_Play_ID), endtime(0), + : BehaviorBase("SoundTestBehavior"), curplay(SoundManager::invalid_Play_ID), endtime(0), LFr(EventBase::buttonEGID,LFrPawOffset,EventBase::activateETID), RFr(EventBase::buttonEGID,RFrPawOffset,EventBase::activateETID), LBk(EventBase::buttonEGID,LBkPawOffset,EventBase::activateETID), @@ -79,8 +79,9 @@ } //! returns name to system - virtual std::string getName() const { return "SoundTestBehavior"; } static std::string getClassDescription() { return "Plays different sounds when buttons are pressed. Holding the chin button queues the sounds."; } + virtual std::string getDescription() const { return getClassDescription(); } + protected: //! called when a button is pressed - checks if it should enqueue or just play void play(const char* name) { @@ -120,10 +121,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/StareAtBallBehavior.h ./Behaviors/Demos/StareAtBallBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/StareAtBallBehavior.h Thu Sep 25 11:26:23 2003 +++ ./Behaviors/Demos/StareAtBallBehavior.h Thu Nov 11 19:05:03 2004 @@ -10,7 +10,7 @@ public: //!constructor StareAtBallBehavior() - : BehaviorBase(), headpointer_id(MotionManager::invalid_MC_ID) + : BehaviorBase("StareAtBallBehavior"), headpointer_id(MotionManager::invalid_MC_ID) {} //!destructor virtual ~StareAtBallBehavior() {} @@ -24,8 +24,8 @@ //! sets the head to point at the object and sets the body to move where the head points virtual void processEvent(const EventBase& event); - virtual std::string getName() const { return "StareAtBallBehavior"; } - static std::string getClassDescription() { return "Tracks any objects seen by the vision system"; } + static std::string getClassDescription() { return "Tracks any pink objects seen by the vision system"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: MotionManager::MC_ID headpointer_id; //!< a HeadPointerMC object @@ -36,10 +36,10 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/StareAtPawBehavior.h ./Behaviors/Demos/StareAtPawBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/StareAtPawBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/StareAtPawBehavior.h Wed Nov 10 20:45:36 2004 @@ -15,7 +15,7 @@ public: //! constructor StareAtPawBehavior() - : BehaviorBase(), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID) + : BehaviorBase("StareAtPawBehavior"), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID) { } virtual void DoStart() { @@ -78,9 +78,8 @@ } } - virtual std::string getName() const { return "StareAtPawBehavior"; } - static std::string getClassDescription() { return "Uses kinematics to track the paw which last received a button press with the camera"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: LegOrder_t lastLeg; @@ -93,10 +92,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/StareAtPawBehavior2.h ./Behaviors/Demos/StareAtPawBehavior2.h --- ../Tekkotsu_2.2/Behaviors/Demos/StareAtPawBehavior2.h Sat Oct 16 21:32:24 2004 +++ ./Behaviors/Demos/StareAtPawBehavior2.h Wed Nov 10 20:45:36 2004 @@ -18,7 +18,7 @@ public: //! constructor StareAtPawBehavior2() - : BehaviorBase(), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID) + : BehaviorBase("StareAtPawBehavior2"), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID) { } virtual void DoStart() { @@ -67,9 +67,8 @@ //Compute neck angles PostureEngine pose; - NEWMAT::ColumnVector Plink(4); Plink=0; Plink(3)=1; //infinite ray along z axis, maximizes distance from camera to objective - //NEWMAT::ColumnVector Plink(4); Plink=0; Plink(3)=80; Plink(4)=1; //keep head 8cm away from paw - //Alternatively, could also use the pack function a la: Plink=Kinematics::pack(0,0,80); + NEWMAT::ColumnVector Plink=Kinematics::pack(0,0,1,0); //infinite ray along z axis - maximize distance from paw + //NEWMAT::ColumnVector Plink=Kinematics::pack(0,0,80,1); //or, keep head 8cm away from paw pose.solveLinkVector(Pobj,CameraFrameOffset,Plink); //Set joint values @@ -79,9 +78,8 @@ } } - virtual std::string getName() const { return "StareAtPawBehavior2"; } - static std::string getClassDescription() { return "Uses kinematics to track the paw which last received a button press with the camera"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: LegOrder_t lastLeg; @@ -93,10 +91,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/ToggleHeadLightBehavior.h ./Behaviors/Demos/ToggleHeadLightBehavior.h --- ../Tekkotsu_2.2/Behaviors/Demos/ToggleHeadLightBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/ToggleHeadLightBehavior.h Wed Nov 10 20:45:36 2004 @@ -10,7 +10,7 @@ class ToggleHeadLightBehavior : public BehaviorBase { public: //! constructor - ToggleHeadLightBehavior() : BehaviorBase(), light_id(MotionManager::invalid_MC_ID) {} + ToggleHeadLightBehavior() : BehaviorBase("ToggleHeadLightBehavior"), light_id(MotionManager::invalid_MC_ID) {} //! opens the head light virtual void DoStart() { @@ -28,8 +28,7 @@ } static std::string getClassDescription() { return "Opens or closes the head light on an ERS-220"; } - - std::string getName() const { return "ToggleHeadLightBehavior"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: MotionManager::MC_ID light_id; //!< id value of the PostureMC used to control the light @@ -40,10 +39,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/WalkToTargetMachine.cc ./Behaviors/Demos/WalkToTargetMachine.cc --- ../Tekkotsu_2.2/Behaviors/Demos/WalkToTargetMachine.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/WalkToTargetMachine.cc Sat Oct 16 21:16:10 2004 @@ -82,7 +82,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/WalkToTargetMachine.h ./Behaviors/Demos/WalkToTargetMachine.h --- ../Tekkotsu_2.2/Behaviors/Demos/WalkToTargetMachine.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Demos/WalkToTargetMachine.h Thu Nov 11 16:32:14 2004 @@ -12,7 +12,7 @@ public: //!constructor, pass success (close), failure (lost), and parent nodes, and VisionObjectSourceID_t WalkToTargetMachine(unsigned int obj,StateNode* c=NULL, StateNode* l=NULL,StateNode* p=NULL) - : StateNode("WalkToTarget",p),tracking(obj),timeout(NULL),closeTrans(NULL),close(c),lost(l), + : StateNode("WalkToTarget","WalkToTarget",p),tracking(obj),timeout(NULL),closeTrans(NULL),close(c),lost(l), walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) {} @@ -24,6 +24,7 @@ virtual void teardown(); static std::string getClassDescription() { return "walks towards a visual target until it gets \"close\""; } + virtual std::string getDescription() const { return getClassDescription(); } //uses head to watch ball, walks towards it virtual void processEvent(const EventBase& event); @@ -51,10 +52,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/WallTestBehavior.cc ./Behaviors/Demos/WallTestBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Demos/WallTestBehavior.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/WallTestBehavior.cc Tue Nov 16 14:22:42 2004 @@ -0,0 +1,231 @@ +#include "WallTestBehavior.h" +#include "Shared/newmat/newmat.h" +#include "Shared/newmat/newmatap.h" +#include "Events/EventRouter.h" +#include "Motion/MotionManager.h" +#include "Motion/MotionSequenceMC.h" +#include "Shared/Config.h" +#include "Shared/WorldState.h" +#include "Shared/newmat/newmatio.h" +#include + +void +WallTestBehavior::DoStart() { + BehaviorBase::DoStart(); // do this first + int startrec,stoprec; + SharedObject > pan; + pan->setPlayTime(startrec=reposTime); + pan->setPose(PostureEngine(config->motion.makePath("stand.pos").c_str())); + pan->setOutputCmd(HeadOffset+TiltOffset,0); + pan->setOutputCmd(HeadOffset+PanOffset,outputRanges[HeadOffset+PanOffset][MaxRange]); + pan->setOutputCmd(HeadOffset+RollOffset,0); + pan->setPlayTime(stoprec=pan->getPlayTime()+panTime); + pan->setOutputCmd(HeadOffset+TiltOffset,0); + pan->setOutputCmd(HeadOffset+PanOffset,outputRanges[HeadOffset+PanOffset][MinRange]); + pan->setOutputCmd(HeadOffset+RollOffset,0); + pan->setPlayTime(pan->getPlayTime()+reposTime); + pan->setOutputCmd(HeadOffset+TiltOffset,0); + pan->setOutputCmd(HeadOffset+PanOffset,0); + pan->setOutputCmd(HeadOffset+RollOffset,0); + pan->setPlayTime(pan->getPlayTime()+reposTime); + pan->setOutputCmd(HeadOffset+TiltOffset,0); + pan->setOutputCmd(HeadOffset+PanOffset,0); + pan->setOutputCmd(HeadOffset+RollOffset,0); + motman->addPrunableMotion(pan); + erouter->addTimer(this,0,startrec+lagTime,false); + erouter->addTimer(this,1,stoprec+lagTime,false); +} + +void +WallTestBehavior::DoStop() { + erouter->removeListener(this); + BehaviorBase::DoStop(); // do this last +} + +void +WallTestBehavior::processEvent(const EventBase& e) { + if(e.getGeneratorID()==EventBase::sensorEGID) { +#ifdef TGT_ERS7 + float nd = state->sensors[NearIRDistOffset]; + if(false && nd<350) //force always use the far sensor - near is crappy(ier); without the 'false', would use either one + usedNear.push_back(true); + else { + nd=state->sensors[FarIRDistOffset]; + usedNear.push_back(false); + } +#else //not TGT_ERS7 + float nd = state->sensors[IRDistOffset]; +#endif //not TGT_ERS7 + float na = state->outputs[HeadOffset+PanOffset]; + //cout << nd << ' ' << na << endl; + d.push_back(nd); + a.push_back(na); + + } else if(e.getSourceID()==0) { + erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID); + } else if(e.getSourceID()==1) { + erouter->removeListener(this,EventBase::sensorEGID); + + PostureEngine pose; + pose.clear(); + //float legheight=NEWMAT::ColumnVector(pose.getFrameInterestPoint(BaseFrameOffset,"LFrPaw"))(3); + + cout << "Logging Non-Kinematic calculations to /data/raw_xy.txt" << endl; + { + ofstream rawxy("/ms/data/raw_xy.txt"); + if(!rawxy) { + cout << "Could not open file" << endl; + } else { + cout << "Columns are:\tx\ty" << endl; + for(unsigned int i=0; i60*M_PI/180 && stop[0]30*M_PI/180 && start[1]-30*M_PI/180 && stop[1]-60*M_PI/180 && start[2] x,y; + for(unsigned int i=start[w]; i1500) //limits for the far sensor, near sensor is [50,500] + continue; +#else //not ers-7 + if(d[i]==100 || d[i]>700) + continue; +#endif //not ers-7 + x.push_back(d[i]*cos(a[i])); + y.push_back(d[i]*sin(a[i])); + } + cout << "(" << x.size() << " valid samples)" << endl; + if(x.size()<3) { + cout << "No wall" << endl; + continue; + } + + float x0=0,x1=0; + TimeET t; + + t.Set(); + solve1(x,y,x0,x1); + cout << " QR: 'y = "<& x, const std::vector& y, float& x0, float& x1) { + NEWMAT::Matrix A(x.size(),2); //x values in first column, 1's in second column (homogenous coordinates) + NEWMAT::ColumnVector b(x.size()); //vector of y values + for(unsigned int i=0; i& x, const std::vector& y, float& x0, float& x1) { + NEWMAT::Matrix A(x.size(),3); //x values in first column, y's in the second, -1's in third column (homogenous coordinates) + for(unsigned int i=0; i + +namespace NEWMAT { + class Matrix; + class ColumnVector; +}; + +//! measures the relative angle of any walls to the front, left, or right +/*! Making a special cameo appearance in solve1() and solve2(), linear least squares solution using newmat library */ +class WallTestBehavior : public BehaviorBase { +public: + //! constructor + WallTestBehavior() : BehaviorBase("WallTestBehavior"), d(), a(), usedNear() {} + + virtual void DoStart(); + virtual void DoStop(); + virtual void processEvent(const EventBase& e); + + //! Takes a series of measurements, returns slope and intercept of linear least square fit (use QR) + /*! Uses QR factorization to solve \f$ax+b=y\f$ where we know @e x and @e y, and solve for @e a and @e b */ + void solve1(const std::vector& x, const std::vector& y, float& x0, float& x1); + //! Takes a series of measurements, returns slope and intercept of linear least square fit (uses SVD) + /*! Uses SVD factorization to solve \f$ax+by=1\f$ where we know @e x and @e y, and solve for @e a and @e b */ + void solve2(const std::vector& x, const std::vector& y, float& x0, float& x1); + + static std::string getClassDescription() { return "Measures the relative angle of surrounding walls"; } + virtual std::string getDescription() const { return getClassDescription(); } + +protected: + std::vector d; //!< log of distance measurement for each sample + std::vector a; //!< log of head angle for each sample + std::vector usedNear; //!< only used with ERS-7, records whether the sample is from near or far IR sensor + + static const unsigned int reposTime=750; //!< time to stand up + static const unsigned int panTime=3000; //!< time for actual panning + static const unsigned int lagTime=128; //!< time between when the panning is supposed to get to extremes and when it actually does +}; + +/*! @file + * @brief Defines WallTestBehavior, which measures the relative angle of any walls to the front, left, or right + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/WorldStateVelDaemon.h ./Behaviors/Demos/WorldStateVelDaemon.h --- ../Tekkotsu_2.2/Behaviors/Demos/WorldStateVelDaemon.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Demos/WorldStateVelDaemon.h Wed Nov 10 20:45:36 2004 @@ -19,7 +19,7 @@ class WorldStateVelDaemon : public BehaviorBase, public EventTrapper { public: //! constructor - WorldStateVelDaemon() : BehaviorBase(), estopTime(1), old_x(0), old_y(0), old_a(0) {} + WorldStateVelDaemon() : BehaviorBase("WorldStateVelDaemon"), estopTime(1), old_x(0), old_y(0), old_a(0) {} virtual void DoStart() { BehaviorBase::DoStart(); // do this first @@ -70,9 +70,8 @@ } } - virtual std::string getName() const { return "WorldStateVelDaemon"; } - static std::string getClassDescription() { return "Keeps the WorldState's velocity fields up to date"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: unsigned int estopTime; //!< time estop activation was received @@ -86,10 +85,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Demos/karmedbandit.h ./Behaviors/Demos/karmedbandit.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/Aibo3DControllerBehavior.h ./Behaviors/Mon/Aibo3DControllerBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/Aibo3DControllerBehavior.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Mon/Aibo3DControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -40,7 +40,7 @@ public: //! constructor Aibo3DControllerBehavior() : - BehaviorBase(), + BehaviorBase("Aibo3DControllerBehavior"), rcontrol_id(MotionManager::invalid_MC_ID), cmdsock(NULL), fbuf((char*)val), pos(0) @@ -110,12 +110,13 @@ //! returns port number the Java GUI should connect to virtual unsigned int getPort() const { return config->main.aibo3d_port; } - virtual std::string getName() const { return "Aibo 3D"; } //!< returns name of behavior static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.aibo3d_port); return std::string("Listens to aibo3d control commands coming in from port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } + }; @@ -130,10 +131,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/EStopControllerBehavior.cc ./Behaviors/Mon/EStopControllerBehavior.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/EStopControllerBehavior.h ./Behaviors/Mon/EStopControllerBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/EStopControllerBehavior.h Wed Jan 14 15:44:31 2004 +++ ./Behaviors/Mon/EStopControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -23,7 +23,7 @@ public: //! constructor EStopControllerBehavior(MotionManager::MC_ID estop) - : BehaviorBase(), + : BehaviorBase("EStopControllerBehavior"), cmdsock(NULL), estop_id(estop) { @@ -40,12 +40,12 @@ virtual void processEvent(const EventBase &); - virtual std::string getName() const { return "EStop Remote Control"; } static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.estopControl_port); return std::string("Listens to estop commands coming in from port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } virtual void runCommand(const std::string& s); //!< processes a string received from wireless @@ -67,10 +67,10 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/HeadPointControllerBehavior.cc ./Behaviors/Mon/HeadPointControllerBehavior.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/HeadPointControllerBehavior.h ./Behaviors/Mon/HeadPointControllerBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/HeadPointControllerBehavior.h Thu Oct 14 17:59:14 2004 +++ ./Behaviors/Mon/HeadPointControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -53,7 +53,7 @@ public: //! constructor HeadPointControllerBehavior() : - BehaviorBase(), + BehaviorBase("HeadPointControllerBehavior"), head_id(MotionManager::invalid_MC_ID), t(0), p(0), r(0), theLastOne(theOne), @@ -69,12 +69,12 @@ //! The only event we could possibly receive is the stop-if-no-heartbeat timer. virtual void processEvent(const EventBase &) {} - virtual std::string getName() const { return "Head Remote Control"; } static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.headControl_port); return std::string("Listens to head control commands coming in from port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } }; /*! @file @@ -82,10 +82,10 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/MicrophoneServer.cc ./Behaviors/Mon/MicrophoneServer.cc --- ../Tekkotsu_2.2/Behaviors/Mon/MicrophoneServer.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/MicrophoneServer.cc Fri Nov 12 17:07:39 2004 @@ -0,0 +1,245 @@ +#include "MicrophoneServer.h" + +#include "Events/DataEvent.h" +#include "Events/EventRouter.h" +#include "Shared/Config.h" +#include "Wireless/Wireless.h" + +#include + +MicrophoneServer* MicrophoneServer::instance = 0; +const char* const MicrophoneServer::MIC_LOCATOR = "PRM:/r1/c1/c2/c3/m1-Mic:M1"; + +MicrophoneServer* MicrophoneServer::GetInstance() { + if (instance == 0) { + instance = new MicrophoneServer(); + } + return instance; +} + +MicrophoneServer::MicrophoneServer() + : BehaviorBase("Microphone Server"), socket(0) { + + AddReference(); +} + +MicrophoneServer::~MicrophoneServer() { + if (references == 1) { + instance = 0; + } +} + + +void MicrophoneServer::DoStart() { + BehaviorBase::DoStart(); + + if (socket != 0) { + wireless->setDaemon(socket, false); + wireless->close(socket); + socket = 0; + } + + socket = wireless->socket(SocketNS::SOCK_STREAM, 512, SEND_BUFFER_SIZE); + wireless->setDaemon(socket, true); + wireless->listen(socket->sock, config->sound.streaming.mic_port); + + erouter->addListener(this, EventBase::micOSndEGID); +} + +void MicrophoneServer::DoStop() { + erouter->removeListener(this); + + if (socket != 0) { + wireless->setDaemon(socket, false); + wireless->close(socket); + socket = 0; + } + + BehaviorBase::DoStop(); +} + +void MicrophoneServer::processEvent(const EventBase& event) { + if (event.getGeneratorID() != EventBase::micOSndEGID) { + return; + } + + // Got an audio frame from the microphone + if ((socket == 0) || (!wireless->isConnected(socket->sock))) { + return; + } + + const DataEvent* e = + reinterpret_cast*>(&event); + OSoundVectorData* data = const_cast(e->getData()); + const char* samples = reinterpret_cast(data->GetData(0)); + const int samplesSize = data->GetInfo(0)->dataSize; + + unsigned int sampleRate = config->sound.streaming.mic_sample_rate; + unsigned int sampleBits = config->sound.streaming.mic_sample_bits; + bool stereo = config->sound.streaming.mic_stereo; + + unsigned int newSamplesSize = GetResampledFrameSize(samplesSize, sampleRate, sampleBits, stereo); + if (newSamplesSize == 0) { + return; + } + + const unsigned int headerSize = 8; + char* buf = (char*) socket->getWriteBuffer(headerSize + newSamplesSize); + if (buf == 0) { + // Network not ready, drop this frame + return; + } + + unsigned int resampledSize = 0; + resampledSize = ResampleFrame(samples, samplesSize, sampleRate, sampleBits, stereo, buf + headerSize, newSamplesSize); + if (resampledSize != newSamplesSize) { + return; + } + + encode(&buf, (unsigned short) (newSamplesSize + headerSize - 4)); + encode(&buf, (unsigned short) 0); // PCM frame + encode(&buf, (unsigned short) sampleRate); + encode(&buf, (byte) sampleBits); + encode(&buf, stereo); + + socket->write(headerSize + newSamplesSize); +} + +unsigned int MicrophoneServer::GetResampledFrameSize( + unsigned int samplesSize, + unsigned int newSampleRate, + unsigned int newSampleBits, + bool newStereo) { + + if (newSampleRate > 16000) { + newSampleRate = 16000; + } else if (newSampleRate < 1) { + newSampleRate = 1; + } + + if (newSampleBits >= 12) { + newSampleBits = 16; + } else { + newSampleBits = 8; + } + + if ((newSampleRate == 16000) && (newSampleBits == 16) && (newStereo)) { + // No need to resample + return samplesSize; + } else { + // Resample from 16 kHz 16 bit stereo + const unsigned int frameCount = samplesSize / 4; + const unsigned int newFrameCount = frameCount * newSampleRate / 16000; + const unsigned int newFrameSize = + ((newSampleBits == 8) ? 1 : 2) * ((newStereo) ? 2 : 1); + return newFrameCount * newFrameSize; + } +} + +unsigned int MicrophoneServer::ResampleFrame( + const char* samples, + unsigned int samplesSize, + unsigned int& newSampleRate, + unsigned int& newSampleBits, + bool& newStereo, + void* buf, + unsigned int bufSize) { + + + if (newSampleRate > 16000) { + newSampleRate = 16000; + } else if (newSampleRate < 1) { + newSampleRate = 1; + } + + if (newSampleBits >= 12) { + newSampleBits = 16; + } else { + newSampleBits = 8; + } + + if ((newSampleRate == 16000) && (newSampleBits == 16) && (newStereo)) { + // No need to resample + if (samplesSize <= bufSize) { + memcpy(buf, samples, samplesSize); + return samplesSize; + } else { + return 0; + } + } else { + // Resample from 16 kHz 16 bit stereo + const unsigned int frameCount = samplesSize / 4; + const unsigned int newFrameCount = frameCount * newSampleRate / 16000; + const unsigned int newFrameSize = + ((newSampleBits == 8) ? 1 : 2) * ((newStereo) ? 2 : 1); + unsigned int newSamplesSize = newFrameCount * newFrameSize; + if (newSamplesSize > bufSize) { + return 0; + } + + char* newSamplesChar = (char*) buf; + short* newSamplesShort = (short*) buf; + const short* samplesShort = (const short*) samples; + for (unsigned int newFrame = 0; newFrame < newFrameCount; newFrame++) { + const int frame = newFrame * 16000 / newSampleRate; + if (newSampleBits == 8) { + // 8-bit + if (newStereo) { + // 8-bit stereo + newSamplesChar[newFrame * 2 + 0] = samples[frame * 4 + 1]; + newSamplesChar[newFrame * 2 + 1] = samples[frame * 4 + 3]; + } else { + // 8-bit mono + newSamplesChar[newFrame] = + ((int) samplesShort[frame * 2 + 0] + + (int) samplesShort[frame * 2 + 1]) >> 9; + } + } else { + // 16-bit + if (newStereo) { + // 16-bit stereo + newSamplesShort[newFrame * 2 + 0] = samplesShort[frame * 2 + 0]; + newSamplesShort[newFrame * 2 + 1] = samplesShort[frame * 2 + 1]; + } else { + // 16-bit mono + newSamplesShort[newFrame] = + ((int) samplesShort[frame * 2 + 0] + + (int) samplesShort[frame * 2 + 1]) >> 1; + } + } + } + return newSamplesSize; + } +} + +bool MicrophoneServer::SetMicrophoneUnidirectional(bool unidirectional) { + OPrimitiveID micID; + OStatus result = OPENR::OpenPrimitive(MIC_LOCATOR, &micID); + if (result != oSUCCESS) { + return false; + } + + result = OPENR::ControlPrimitive( + micID, ((unidirectional) ? oprmreqMIC_UNI : oprmreqMIC_OMNI), 0, 0, 0, 0); + if (result != oSUCCESS) { + return false; + } + + return true; +} + +bool MicrophoneServer::SetMicrophoneAlcEnabled(bool enabled) { + OPrimitiveID micID; + OStatus result = OPENR::OpenPrimitive(MIC_LOCATOR, &micID); + if (result != oSUCCESS) { + return false; + } + + result = OPENR::ControlPrimitive( + micID, ((enabled) ? oprmreqMIC_ALC_ON : oprmreqMIC_ALC_OFF), 0, 0, 0, 0); + if (result != oSUCCESS) { + return false; + } + + return true; +} diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/MicrophoneServer.h ./Behaviors/Mon/MicrophoneServer.h --- ../Tekkotsu_2.2/Behaviors/Mon/MicrophoneServer.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/MicrophoneServer.h Fri Nov 12 17:07:39 2004 @@ -0,0 +1,62 @@ +//-*-c++-*- +#ifndef INCLUDED_MicrophoneServer_h_ +#define INCLUDED_MicrophoneServer_h_ + +#include "Events/EventBase.h" +#include "Behaviors/BehaviorBase.h" + +//! Streams audio from the microphone over the network +class MicrophoneServer : public BehaviorBase { + public: + static MicrophoneServer* GetInstance(); + virtual ~MicrophoneServer(); + + virtual void DoStart(); + virtual void DoStop(); + virtual void processEvent(const EventBase& event); + + static bool SetMicrophoneUnidirectional(bool unidirectional); + static bool SetMicrophoneAlcEnabled(bool enabled); + + private: + static const unsigned int SEND_BUFFER_SIZE = 2048 + 16; + + MicrophoneServer(); + MicrophoneServer(const MicrophoneServer& rhs); + MicrophoneServer& operator=(const MicrophoneServer& rhs); + static MicrophoneServer* instance; + + unsigned int GetResampledFrameSize( + unsigned int samplesSize, + unsigned int newSampleRate, + unsigned int newSampleBits, + bool newStereo); + + unsigned int ResampleFrame( + const char* samples, + unsigned int samplesSize, + unsigned int& newSampleRate, + unsigned int& newSampleBits, + bool& newStereo, + void* newSamples, + unsigned int newSamplesSize); + + static const char* const MIC_LOCATOR; + + class Socket *socket; + + //! writes @a value to @a dst and advances @a dst + template + inline static void encode(char **dst, const T& value) { + memcpy(*dst, &value, sizeof(T)); + (*dst) += sizeof(T); + } + + //! writes @a length bytes from @a src to @a dst + template + inline static void encode(char **dst, const T * src, int num) { + memcpy(*dst, src, num*sizeof(T)); + (*dst) += num*sizeof(T); + } +}; +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/RawCamBehavior.cc ./Behaviors/Mon/RawCamBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Mon/RawCamBehavior.cc Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Mon/RawCamBehavior.cc Wed Nov 10 20:45:36 2004 @@ -8,7 +8,7 @@ #include "Shared/ProjectInterface.h" RawCamBehavior::RawCamBehavior() - : BehaviorBase(), visRaw(NULL), packet(NULL), cur(NULL), avail(0), max_buf(0) + : BehaviorBase("RawCamBehavior"), visRaw(NULL), packet(NULL), cur(NULL), avail(0), max_buf(0) {} void @@ -16,6 +16,10 @@ BehaviorBase::DoStart(); std::vector args; + args.push_back("raw"); + char port[50]; + snprintf(port,50,"%d",config->vision.rawcam_port); + args.push_back(port); if(config->vision.rawcam_transport==0) { max_buf=UDP_WIRELESS_BUFFER_SIZE; visRaw=wireless->socket(SocketNS::SOCK_DGRAM, 1024, max_buf); @@ -289,9 +293,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/RawCamBehavior.h ./Behaviors/Mon/RawCamBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/RawCamBehavior.h Tue Sep 28 18:12:30 2004 +++ ./Behaviors/Mon/RawCamBehavior.h Wed Nov 10 20:45:36 2004 @@ -42,13 +42,12 @@ virtual void processEvent(const EventBase& e); - virtual std::string getName() const { return "RawCamServer"; } - static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->vision.rle_port); return std::string("Forwards images from camera over port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } protected: //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) @@ -74,10 +73,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/SegCamBehavior.cc ./Behaviors/Mon/SegCamBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Mon/SegCamBehavior.cc Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Mon/SegCamBehavior.cc Wed Nov 10 20:45:36 2004 @@ -8,7 +8,7 @@ #include "Vision/RLEGenerator.h" SegCamBehavior::SegCamBehavior() - : BehaviorBase(), visRLE(NULL), packet(NULL), cur(NULL), avail(0), max_buf(0) + : BehaviorBase("SegCamBehavior"), visRLE(NULL), packet(NULL), cur(NULL), avail(0), max_buf(0) { } @@ -17,6 +17,10 @@ BehaviorBase::DoStart(); std::vector args; + args.push_back("rle"); + char port[50]; + snprintf(port,50,"%d",config->vision.rle_port); + args.push_back(port); if(config->vision.rle_transport==0) { max_buf=UDP_WIRELESS_BUFFER_SIZE; visRLE=wireless->socket(SocketNS::SOCK_DGRAM, 1024, max_buf); @@ -167,9 +171,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/SegCamBehavior.h ./Behaviors/Mon/SegCamBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/SegCamBehavior.h Tue Sep 28 18:12:30 2004 +++ ./Behaviors/Mon/SegCamBehavior.h Wed Nov 10 20:45:36 2004 @@ -53,13 +53,12 @@ virtual void processEvent(const EventBase& e); - virtual std::string getName() const { return "SegCamServer"; } - static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->vision.rle_port); return std::string("Forwards segmented images from camera over port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } protected: //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) @@ -85,10 +84,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/SpeakerServer.cc ./Behaviors/Mon/SpeakerServer.cc --- ../Tekkotsu_2.2/Behaviors/Mon/SpeakerServer.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/SpeakerServer.cc Fri Nov 12 17:07:39 2004 @@ -0,0 +1,318 @@ +#include "SpeakerServer.h" + +#include "Shared/Buffer.h" +#include "Shared/Config.h" +#include "Shared/RobotInfo.h" +#include "Wireless/Wireless.h" + +SpeakerServer* SpeakerServer::instance = 0; + +SpeakerServer* SpeakerServer::GetInstance() { + if (instance == 0) { + instance = new SpeakerServer(); + } + return instance; +} + +SpeakerServer::SpeakerServer() + : BehaviorBase("Speaker Server"), socket(0), + packet(), frame(0), resampled(0), + channel(SoundManager::invalid_Play_ID) { + + AddReference(); +} + +SpeakerServer::~SpeakerServer() { + delete frame; + delete resampled; + + if (references == 1) { + instance = 0; + } +} + + +void SpeakerServer::DoStart() { + BehaviorBase::DoStart(); + + if (socket != 0) { + wireless->setDaemon(socket, false); + wireless->close(socket); + socket = 0; + } + + packet.header->SetPosition(0); + channel = SoundManager::invalid_Play_ID; + + socket = + wireless->socket(SocketNS::SOCK_STREAM, RECEIVE_BUFFER_SIZE + 8, 512); + wireless->setReceiver(socket->sock, socket_callback); + wireless->setDaemon(socket, true); + wireless->listen(socket->sock, config->sound.streaming.speaker_port); +} + +void SpeakerServer::DoStop() { + if (socket != 0) { + wireless->setDaemon(socket, false); + wireless->close(socket); + socket = 0; + } + + sndman->StopPlay(channel); + channel = SoundManager::invalid_Play_ID; + + packet.samples->SetCapacity(0); + + delete frame; + delete resampled; + + BehaviorBase::DoStop(); +} + +int SpeakerServer::socket_callback(char *buf, int size) { + if (instance == 0) { + return 0; + } else { + return instance->GotSocketData(buf, size); + } +} + +SpeakerServer::Packet::Packet() + : header(new Buffer(4)), size(0), type(0), skipped(false), + pcmHeader(new Buffer(4)), sampleRate(0), sampleBits(0), + samples(new Buffer(0)) {} + +SpeakerServer::Packet::~Packet() { + delete header; + delete pcmHeader; + delete samples; +} + +int SpeakerServer::GotSocketData(char* data, int dataSize) { + while (dataSize > 0) { + if (!packet.header->IsFull()) { + if (!packet.header->Fill(data, dataSize)) { + break; + } + packet.size = + (unsigned short) GetShort(&packet.header->GetData()[0]); + packet.type = GetShort(&packet.header->GetData()[2]); + if ((packet.type == 0) && (packet.size >= 4)) { + // PCM packet + packet.pcmHeader->SetPosition(0); + packet.skipped = false; + } else { + packet.skipped = true; + } + } + + if (packet.skipped) { + if (packet.size > dataSize) { + packet.size -= dataSize; + break; + } else { + data += packet.size; + dataSize -= packet.size; + // Start reading next packet + packet.header->SetPosition(0); + continue; + } + } + + if (!packet.pcmHeader->IsFull()) { + if (!packet.pcmHeader->Fill(data, dataSize)) { + break; + } + packet.size -= packet.pcmHeader->GetLimit(); + packet.sampleRate = + (unsigned short) GetShort(&packet.pcmHeader->GetData()[0]); + packet.sampleBits = packet.pcmHeader->GetData()[2]; + + const int resampledSize = + packet.size * + ((packet.sampleBits == 8) ? 2 : 1) + * config->sound.sample_rate / packet.sampleRate; + + if ((packet.size > MAX_PACKET_SIZE) + || (resampledSize > MAX_PACKET_SIZE)) { + // Too many samples + packet.skipped = true; + continue; + } + packet.samples->SetCapacity(MAX_PACKET_SIZE); + packet.samples->SetLimit(packet.size); + packet.samples->SetPosition(0); + } + + if (!packet.samples->IsFull()) { + if (!packet.samples->Fill(data, dataSize)) { + break; + } + AddPacket( + packet.samples->GetData(), + packet.samples->GetLimit(), + packet.sampleRate, + packet.sampleBits); + // Start reading next packet + packet.header->SetPosition(0); + continue; + } + } + + return 0; +} + +void SpeakerServer::AddPacket( + const void* samples, + int samplesSize, + int sampleRate, + byte sampleBits) { + + if (samplesSize < 1) { + return; + } + + samples = + ResampleForSpeaker( + samples, samplesSize, sampleRate, sampleBits, samplesSize); + if (samples == 0) { + return; + } + + const int frameSize = + config->sound.streaming.speaker_frame_length + * config->sound.sample_rate + * ((config->sound.sample_bits == 8) ? 1 : 2) + / 1000; + if (frame == 0) { + frame = new Buffer(frameSize); + } else if (frameSize != frame->GetLimit()) { + if (frame->GetPosition() > frameSize) { + QueueFrame(frame->GetData(), frame->GetPosition()); + frame->SetPosition(0); + } else { + frame->SetLimit(frameSize); + } + + if (frame->GetLimit() < frameSize) { + if (frame->GetCapacity() < frameSize) { + frame->SetCapacity(frameSize); + } + frame->SetLimit(frameSize); + } + } + + if (frame->GetLimit() < 1) { + return; + } + + const char* buf = (const char*) samples; + while (frame->Fill(buf, samplesSize)) { + QueueFrame(frame->GetData(), frame->GetPosition()); + frame->SetPosition(0); + } +} + + +void SpeakerServer::QueueFrame(const char* samples, int samplesSize) { + if (channel != SoundManager::invalid_Play_ID) { + const int remainingTime = sndman->GetRemainTime(channel) - RobotInfo::SoundBufferTime; + if (remainingTime > (int) config->sound.streaming.speaker_max_delay) { + // Queue too long + sndman->StopPlay(channel); + channel = SoundManager::invalid_Play_ID; + } else if (remainingTime < 0) { + // Queue underrun + } else { + // Try queueing + SoundManager::Play_ID newChannel = + sndman->ChainBuffer(channel, samples, (int) samplesSize); + if (newChannel != SoundManager::invalid_Play_ID) { + channel = newChannel; + return; + } + } + } + + // Start a new channel + channel = sndman->PlayBuffer(samples, samplesSize); +} + +const void* SpeakerServer::ResampleForSpeaker( + const void* samples, + int samplesSize, + int sampleRate, + byte bitsPerSample, + int& newSamplesSize) { + + const int newSampleRate = config->sound.sample_rate; + const int newBitsPerSample = config->sound.sample_bits; + + if ((sampleRate == newSampleRate) && (bitsPerSample == newBitsPerSample)) { + newSamplesSize = samplesSize; + return samples; + } + + const int sampleCount = samplesSize / ((bitsPerSample == 16) ? 2 : 1); + const int newSampleCount = sampleCount * newSampleRate / sampleRate; + newSamplesSize = newSampleCount * ((newBitsPerSample == 16) ? 2 : 1); + + if (newSampleCount == 0) { + newSamplesSize = 0; + return 0; + } + + if (resampled == 0) { + resampled = new Buffer(newSamplesSize); + } else if (resampled->GetCapacity() < newSamplesSize) { + resampled->SetCapacity(newSamplesSize); + } + + // The code below is biased towards upsampling (normal case). + // It does not average samples during downsampling. + + if (bitsPerSample == 16) { + // 16-bit signed source + const short* source = (const short*) samples; + if (newBitsPerSample == 16) { + // 16-bit signed source, 16-bit signed destination + short* dest = (short*) resampled->GetData(); + for (int i = 0; i < newSampleCount; i++) { + dest[i] = source[i * sampleRate / newSampleRate]; + } + } else if (newBitsPerSample == 8) { + // 16-bit signed source, 8-bit unsigned destination + byte* dest = (byte*) resampled->GetData(); + for (int i = 0; i < newSampleCount; i++) { + dest[i] = ((byte) (source[i * sampleRate / newSampleRate] >> 8)) ^ 0x80; + } + } else { + newSamplesSize = 0; + return 0; + } + } else if (bitsPerSample == 8) { + // 8-bit unsigned source + const byte* source = (const byte*) samples; + if (newBitsPerSample == 8) { + // 8-bit unsigned source, 8-bit unsigned destination + byte* dest = (byte*) resampled->GetData(); + for (int i = 0; i < newSampleCount; i++) { + dest[i] = source[i * sampleRate / newSampleRate]; + } + } else if (newBitsPerSample == 16) { + // 8-bit unsigned source, 16-bit signed destination + short* dest = (short*) resampled->GetData(); + for (int i = 0; i < newSampleCount; i++) { + dest[i] = (source[i * sampleRate / newSampleRate] ^ 0x80) << 8; + } + } else { + newSamplesSize = 0; + return 0; + } + } else { + newSamplesSize = 0; + return 0; + } + + return resampled->GetData(); +} diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/SpeakerServer.h ./Behaviors/Mon/SpeakerServer.h --- ../Tekkotsu_2.2/Behaviors/Mon/SpeakerServer.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/SpeakerServer.h Fri Nov 12 17:07:39 2004 @@ -0,0 +1,69 @@ +//-*-c++-*- +#ifndef INCLUDED_SpeakerServer_h_ +#define INCLUDED_SpeakerServer_h_ + +#include "Behaviors/BehaviorBase.h" +#include "SoundPlay/SoundManager.h" + +//! Plays streamed audio via the speaker +class SpeakerServer : public BehaviorBase { + public: + static SpeakerServer* GetInstance(); + virtual ~SpeakerServer(); + + virtual void DoStart(); + virtual void DoStop(); + + static int socket_callback(char *buf, int size); + + private: + SpeakerServer(); + SpeakerServer(const SpeakerServer& rhs); + SpeakerServer& operator=(const SpeakerServer& rhs); + static SpeakerServer* instance; + + int GotSocketData(char* data, int dataSize); + class Socket *socket; + static short GetShort(const void* buf) { short result; memcpy(&result, buf, sizeof(short)); return result; } + + static const int MAX_PACKET_SIZE = 1024 * 1024; + static const int RECEIVE_BUFFER_SIZE = 2048; + + class Packet { + public: + Packet(); + virtual ~Packet(); + + class Buffer* header; + int size; + int type; + bool skipped; + + class Buffer* pcmHeader; + unsigned short sampleRate; + byte sampleBits; + + class Buffer* samples; + + private: + Packet(const Packet& rhs); + Packet& operator=(const Packet& rhs); + }; + + Packet packet; + class Buffer* frame; + class Buffer* resampled; + + void AddPacket( + const void* samples, int samplesSize, int sampleRate, byte sampleBits); + const void* ResampleForSpeaker( + const void* samples, + int samplesSize, + int sampleRate, + byte bitsPerSample, + int& newSamplesSize); + + void QueueFrame(const char* samples, int samplesSize); + SoundManager::Play_ID channel; +}; +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/ViewWMVarsBehavior.h ./Behaviors/Mon/ViewWMVarsBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/ViewWMVarsBehavior.h Fri Apr 16 16:17:22 2004 +++ ./Behaviors/Mon/ViewWMVarsBehavior.h Wed Nov 10 20:45:36 2004 @@ -11,7 +11,7 @@ class ViewWMVarsBehavior : public BehaviorBase { public: //! constructor - ViewWMVarsBehavior() : BehaviorBase() {} + ViewWMVarsBehavior() : BehaviorBase("ViewWMVarsBehavior") {} virtual void DoStart() { BehaviorBase::DoStart(); @@ -25,12 +25,12 @@ BehaviorBase::DoStop(); } - virtual std::string getName() const { return "View WMVars"; } static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.wmmonitor_port); return std::string("Brings up the WatchableMemory GUI on port ")+tmp+std::string(" (connects to WMMonitorBehavior, this just launches the GUI)"); } + virtual std::string getDescription() const { return getClassDescription(); } }; /*! @file @@ -38,10 +38,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/WMMonitorBehavior.cc ./Behaviors/Mon/WMMonitorBehavior.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/WMMonitorBehavior.h ./Behaviors/Mon/WMMonitorBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/WMMonitorBehavior.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Mon/WMMonitorBehavior.h Wed Nov 10 20:45:36 2004 @@ -34,7 +34,7 @@ public: //! constructor WMMonitorBehavior() : - BehaviorBase(), + BehaviorBase("WMMonitorBehavior"), cmdsock(NULL) { wmMonitorBehavior = this; } //! destructor @@ -98,12 +98,12 @@ virtual unsigned int getPort() const { return config->main.wmmonitor_port; } //!< returns network port from config - virtual std::string getName() const { return "Watchable Memory Monitor"; } //!< returns name of behavior static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.wmmonitor_port); return std::string("Bidirectional control communication with WMMonitor on port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } protected: static const unsigned int packet_wmclass=14; //!< magic id number, corresponds to Listener.java PACKET_WMCLASS @@ -136,10 +136,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/WalkControllerBehavior.cc ./Behaviors/Mon/WalkControllerBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Mon/WalkControllerBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Mon/WalkControllerBehavior.cc Wed Nov 3 22:01:32 2004 @@ -1,5 +1,6 @@ #include "WalkControllerBehavior.h" #include "Behaviors/Controller.h" +#include "SoundPlay/SoundManager.h" WalkControllerBehavior* WalkControllerBehavior::theOne = NULL; @@ -157,9 +158,9 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/WalkControllerBehavior.h ./Behaviors/Mon/WalkControllerBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/WalkControllerBehavior.h Thu Dec 11 00:49:30 2003 +++ ./Behaviors/Mon/WalkControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -10,7 +10,6 @@ #include "Motion/MMAccessor.h" #include "Events/EventRouter.h" #include "Events/EventBase.h" -#include "SoundPlay/SoundManager.h" #include "Shared/Config.h" //! Listens to control commands coming in from the command port for remotely controlling the walk @@ -66,7 +65,7 @@ public: //! constructor WalkControllerBehavior() : - BehaviorBase(), + BehaviorBase("WalkControllerBehavior"), shared_walker(), dx(0), dy(0), da(0), theLastOne(theOne), @@ -89,12 +88,12 @@ walker->setTargetVelocity(0,0,0); } - virtual std::string getName() const { return "Walk Remote Control"; } static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.walkControl_port); return std::string("Listens to walk control commands coming in from port ")+tmp; } + virtual std::string getDescription() const { return getClassDescription(); } }; /*! @file @@ -104,10 +103,10 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/WorldStateSerializerBehavior.cc ./Behaviors/Mon/WorldStateSerializerBehavior.cc --- ../Tekkotsu_2.2/Behaviors/Mon/WorldStateSerializerBehavior.cc Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Mon/WorldStateSerializerBehavior.cc Wed Nov 10 20:45:36 2004 @@ -5,7 +5,7 @@ #include "Events/EventRouter.h" WorldStateSerializerBehavior::WorldStateSerializerBehavior() - : BehaviorBase(), wsJoints(NULL), wsPIDs(NULL) + : BehaviorBase("WorldStateSerializerBehavior"), wsJoints(NULL), wsPIDs(NULL) { wsJoints=wireless->socket(SocketNS::SOCK_STREAM, 1024, 2048); wireless->setDaemon(wsJoints); @@ -53,8 +53,8 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/Mon/WorldStateSerializerBehavior.h ./Behaviors/Mon/WorldStateSerializerBehavior.h --- ../Tekkotsu_2.2/Behaviors/Mon/WorldStateSerializerBehavior.h Thu Feb 5 18:33:41 2004 +++ ./Behaviors/Mon/WorldStateSerializerBehavior.h Wed Nov 10 20:45:36 2004 @@ -18,12 +18,12 @@ virtual void DoStart(); //!< starts listening for sensor update events virtual void DoStop(); //!< stops listening for events virtual void processEvent(const EventBase& e); //!< core functionality - performs serialization, sends to sockets - virtual std::string getName() const { return "World State Serializer"; } static std::string getClassDescription() { char tmp[80]; sprintf(tmp,"Sends sensor information to port %d and current pid values to port %d",config->main.wsjoints_port,config->main.wspids_port); return tmp; } + virtual std::string getDescription() const { return getClassDescription(); } protected: //! writes @a value to @a dst and advances @a dst @@ -55,10 +55,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/GroupNode.h ./Behaviors/Nodes/GroupNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/GroupNode.h Sun Jan 18 05:16:57 2004 +++ ./Behaviors/Nodes/GroupNode.h Thu Nov 11 16:32:14 2004 @@ -20,9 +20,9 @@ class GroupNode : public StateNode { public: //!constructor - GroupNode() : StateNode("GroupNode") {} + GroupNode() : StateNode("GroupNode","GroupNode") {} //!constructor - explicit GroupNode(const std::string& nm, StateNode* p=NULL) : StateNode(nm,p) {} + explicit GroupNode(const std::string& nm, StateNode* p=NULL) : StateNode("GroupNode",nm,p) {} //! activates all of the sub nodes virtual void DoStart() { @@ -42,10 +42,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/HeadPointerNode.h ./Behaviors/Nodes/HeadPointerNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/HeadPointerNode.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Nodes/HeadPointerNode.h Tue Nov 16 20:31:06 2004 @@ -15,7 +15,7 @@ public: //! constructor HeadPointerNode(std::string nodename="HeadPointerNode") : - StateNode(nodename), head_mc(), head_id(MotionManager::invalid_MC_ID) {} + StateNode("HeadPointerNode",nodename), head_mc(), head_id(MotionManager::invalid_MC_ID) {} //! activate the node virtual void DoStart() { @@ -34,7 +34,7 @@ //! receive motmanEGID status event and throw stateMachineEGID status event virtual void processEvent(const EventBase&) { - erouter->postEvent(EventBase::stateMachineEGID,(unsigned int)this,EventBase::statusETID,0); + erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); } //! reveal the MotionCommand @@ -43,6 +43,11 @@ //! reveal the MC_ID MotionManager::MC_ID& getMC_ID() { return head_id; } +protected: + //! constructor + HeadPointerNode(std::string &classname, std::string &nodename) : + StateNode(classname,nodename), head_mc(), head_id(MotionManager::invalid_MC_ID) {} + }; @@ -50,11 +55,11 @@ * @brief Defines HeadPointerNode, a simple StateNode that runs a HeadPointerMC 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: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/LedNode.h ./Behaviors/Nodes/LedNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/LedNode.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/LedNode.h Tue Nov 16 20:31:06 2004 @@ -0,0 +1,65 @@ +//-*-c++-*- +#ifndef INCLUDED_LedNode_h_ +#define INCLUDED_LedNode_h_ + +#include "Behaviors/StateNode.h" +#include "Events/EventRouter.h" +#include "Motion/LedMC.h" + +//! A simple StateNode that executes a LedMC motion command and throws a status event upon completion +class LedNode : public StateNode { +protected: + SharedObject leds_mc; //!< MotionCommand used by this node + MotionManager::MC_ID leds_id; //!< id number for the MotionCommand + +public: + //! constructor + LedNode(std::string nodename="LedNode") : + StateNode("LedNode",nodename), leds_mc(), leds_id(MotionManager::invalid_MC_ID) {} + + //! activate the node + virtual void DoStart() { + leds_id = motman->addPersistentMotion(leds_mc); + erouter->addListener(this,EventBase::motmanEGID,leds_id,EventBase::statusETID); + StateNode::DoStart(); // don't activate transitions until our listener has been added + } + + //! deactivate the node + virtual void DoStop() { + motman->removeMotion(leds_id); + leds_id = MotionManager::invalid_MC_ID; + erouter->removeListener(this); + StateNode::DoStop(); + } + + //! 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); + } + + //! reveal the MotionCommand + SharedObject& getMC() { return leds_mc; } + + //! reveal the MC_ID + MotionManager::MC_ID& getMC_ID() { return leds_id; } + +protected: + //! constructor + LedNode(std::string &classname, std::string &nodename) : + StateNode(classname,nodename), leds_mc(), leds_id(MotionManager::invalid_MC_ID) {} + + +}; + +/*! @file + * @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 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/OutputNode.h ./Behaviors/Nodes/OutputNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/OutputNode.h Thu Sep 25 23:09:10 2003 +++ ./Behaviors/Nodes/OutputNode.h Thu Nov 11 15:35:00 2004 @@ -9,14 +9,12 @@ //! A very simple StateNode that outputs its name to a given ostream upon activation, handy for debugging class OutputNode : public StateNode { public: - //!constructor, uses cout for output - OutputNode() : StateNode(), next(NULL), out(cout), msg() {} //!constructor, sets name and ostream to use for output - OutputNode(const char* nm, StateNode* par, ostream& output) : StateNode(nm,par), next(NULL), out(output), msg(nm) {} + OutputNode(const char* nm, StateNode* par, ostream& output) : StateNode("OutputNode",nm,par), next(NULL), out(output), msg(nm) {} //!constructor, sets name and another state which will immediately be transitioned to upon activation - OutputNode(const char* nm, StateNode* par, ostream& output, StateNode * nextstate) : StateNode(nm,par), next(nextstate), out(output), msg(nm) {} + OutputNode(const char* nm, StateNode* par, ostream& output, StateNode * nextstate) : StateNode("OutputNode",nm,par), next(nextstate), out(output), msg(nm) {} //!constructor, sets name, message, and another state which will immediately be transitioned to upon activation - OutputNode(const char* nm, const std::string& mg, StateNode* par, ostream& output, StateNode * nextstate) : StateNode(nm,par), next(nextstate), out(output), msg(mg) {} + OutputNode(const char* nm, const std::string& mg, StateNode* par, ostream& output, StateNode * nextstate) : StateNode("OutputNode",nm,par), next(nextstate), out(output), msg(mg) {} //!outputs this state's name, will transition to #next if non-NULL /*!if #next is NULL, the state will simply stay active until some other transition causes it to leave*/ @@ -44,10 +42,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/PlayMotionSequenceNode.h ./Behaviors/Nodes/PlayMotionSequenceNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/PlayMotionSequenceNode.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Nodes/PlayMotionSequenceNode.h Thu Nov 11 16:32:14 2004 @@ -14,12 +14,12 @@ public: //!constructor PlayMotionSequenceNode() - : StateNode("PlayMotionSequenceNode"), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename() + : StateNode("PlayMotionSequenceNode","PlayMotionSequenceNode"), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename() {} //!constructor PlayMotionSequenceNode(const std::string& nm, StateNode* par, const std::string& file, bool loop=false) - : StateNode(nm,par), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename(file) + : StateNode("PlayMotionSequenceNode",nm,par), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename(file) { setLooping(loop); } @@ -78,7 +78,7 @@ if(looping) { updateMS(filename); } - erouter->postEvent(EventBase::stateMachineEGID,(unsigned int)this,EventBase::statusETID,0); + erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); } } @@ -120,10 +120,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/SoundNode.h ./Behaviors/Nodes/SoundNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/SoundNode.h Thu Oct 7 20:08:47 2004 +++ ./Behaviors/Nodes/SoundNode.h Tue Nov 16 20:31:06 2004 @@ -15,7 +15,7 @@ public: //! constructor SoundNode(std::string nodename="SoundNode", std::string soundfilename="") : - StateNode(nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID) {} + StateNode("SoundNode",nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID) {} //! activate the node virtual void DoStart() { @@ -32,7 +32,7 @@ //! receive audioEGID status event and throw stateMachineEGID status event virtual void processEvent(const EventBase&) { - erouter->postEvent(EventBase::stateMachineEGID,(unsigned int)this,EventBase::statusETID,0); + erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); } //! interrupts playing of the current sound @@ -47,6 +47,13 @@ //! sets the name of the sound file associated with this node void setFileName(std::string &soundfilename) { filename = soundfilename; } +protected: + //! constructor + SoundNode(std::string &classname, std::string &nodename, std::string &soundfilename) : + StateNode(classname,nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID) {} + + + }; /*! @file @@ -54,10 +61,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/TailWagNode.h ./Behaviors/Nodes/TailWagNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/TailWagNode.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/TailWagNode.h Mon Nov 15 17:22:36 2004 @@ -0,0 +1,60 @@ +//-*-c++-*- +#ifndef INCLUDED_TailWagNode_h_ +#define INCLUDED_TailWagNode_h_ + +#include "Behaviors/StateNode.h" +#include "Events/EventRouter.h" +#include "Motion/TailWagMC.h" + +//! A simple StateNode that executes a TailWagMC motion command +class TailWagNode : public StateNode { +protected: + SharedObject tail_mc; //!< MotionCommand used by this node + MotionManager::MC_ID tail_id; //!< id number for the MotionCommand + +public: + //! constructor + TailWagNode(std::string nodename="TailWagNode") : + StateNode("TailWagNode",nodename), tail_mc(), tail_id(MotionManager::invalid_MC_ID) {} + + //! activate the node + virtual void DoStart() { + StateNode::DoStart(); + tail_id = motman->addPersistentMotion(tail_mc); + erouter->addListener(this,EventBase::motmanEGID,tail_id,EventBase::statusETID); + } + + //! deactivate the node + virtual void DoStop() { + motman->removeMotion(tail_id); + tail_id = MotionManager::invalid_MC_ID; + erouter->removeListener(this); + StateNode::DoStop(); + } + + //! 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); + } + + //! reveal the MotionCommand itself, use getMC_ID() instead if this node isActive(). + SharedObject& getMC() { return tail_mc; } + + //! reveal the MC_ID + MotionManager::MC_ID& getMC_ID() { return tail_id; } + + +}; + +/*! @file + * @brief Defines TailWagNode, a simple StateNode that runs a TailWagMC motion command + * @author dst, ejt (Creators) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Nodes/WalkNode.h ./Behaviors/Nodes/WalkNode.h --- ../Tekkotsu_2.2/Behaviors/Nodes/WalkNode.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Nodes/WalkNode.h Thu Nov 11 15:35:00 2004 @@ -17,13 +17,20 @@ setRetain(false); } - //!constructor, positive is counter-clockwise from above (to match coordinate system) + //!constructor, positive @a yvel is counter-clockwise from above (to match coordinate system) WalkNode(float xvel, float yvel, float avel, StateNode * p=NULL) : StateNode("WalkNode",p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) { setRetain(false); } + //!constructor, positive @a yvel is counter-clockwise from above (to match coordinate system) + WalkNode(const std::string& name, float xvel, float yvel, float avel, StateNode * p=NULL) + : StateNode("WalkNode",name,p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) + { + setRetain(false); + } + //! sets the velocity of the walk void setVelocity(float xvel, float yvel, float avel) { x=xvel; @@ -110,10 +117,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/StateNode.cc ./Behaviors/StateNode.cc --- ../Tekkotsu_2.2/Behaviors/StateNode.cc Mon Oct 4 18:57:56 2004 +++ ./Behaviors/StateNode.cc Wed Nov 10 20:45:31 2004 @@ -2,6 +2,9 @@ #include "Events/EventRouter.h" #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() { ASSERT(!isActive(), "Destructing while active?") for(std::vector::iterator it=transitions.begin(); it!=transitions.end(); it++) @@ -27,16 +30,18 @@ } void StateNode::DoStart() { - BehaviorBase::DoStart(); - if(!issetup) { - setup(); - issetup=true; - } - 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); + 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()); + BehaviorBase::DoStart(); + if(!issetup) { + setup(); + issetup=true; + } + 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); } void StateNode::DoStop() { @@ -58,10 +63,6 @@ BehaviorBase::DoStop(); } -void StateNode::setName(const std::string& n) { - name=n; -} - void StateNode::transitionTo(StateNode*) { // may want to throw a status event here } @@ -74,10 +75,10 @@ * @brief Describes StateNode, which is both a state machine controller as well as a node within a state machine itself * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Behaviors/StateNode.h ./Behaviors/StateNode.h --- ../Tekkotsu_2.2/Behaviors/StateNode.h Mon Oct 4 18:57:56 2004 +++ ./Behaviors/StateNode.h Mon Nov 15 17:46:19 2004 @@ -11,13 +11,11 @@ /*! Override setup() to setup your own Transition and StateNode network.*/ class StateNode : public BehaviorBase { public: - //!constructor - StateNode() : BehaviorBase(), parent(NULL), transitions(), issetup(false), retain(true), nodes(), name("?") { /*std::cout << "!" << std::endl;*/ } + //! deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class) + StateNode() __attribute__((deprecated)); - //!constructor, pass a name to use, calls setName(n) - StateNode(const std::string& n, StateNode* p=NULL) : BehaviorBase(), parent(p), transitions(), issetup(false), retain(true), nodes(), name("") { - setName(n); - } + //!constructor, pass a name to use and the parent node if applicable (usually 'this' within setup()) + StateNode(const std::string& name, StateNode* p=NULL) : BehaviorBase("StateNode",name), parent(p), transitions(), issetup(false), retain(true), nodes() {} //!destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes virtual ~StateNode(); @@ -49,16 +47,10 @@ //!This is called by DoStop() when you should destruct subnodes virtual void teardown() { issetup=false; /*std::cout << "Teardown!!!!!!!!" << std::endl;*/ } - //!set name to @a n. Makes a copy of @a n, so you can throw it away later. - void setName(const std::string& n); - - //!returns name of StateNode - virtual std::string getName() const { return name; } - - //!returns name again (you should override this for top-level nodes to give users better descriptions) - virtual std::string getDescription() const { return name; } - protected: + //!constructor, pass a name to use and the parent node if applicable (usually 'this' within setup()) + StateNode(const std::string& classname, const std::string& name, StateNode* p=NULL) : BehaviorBase(classname,name), parent(p), transitions(), issetup(false), retain(true), nodes() {} + //!called by a subnode when it is being DoStart()'ed virtual void transitionTo(StateNode* n); @@ -79,10 +71,6 @@ //! vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode() std::vector nodes; - //Behavior Stuff: - //! holds the name of the Node/Machine - std::string name; - private: StateNode(const StateNode& node); //!< don't call this StateNode operator=(const StateNode& node); //!< don't call this @@ -92,11 +80,11 @@ * @brief Describes StateNode, which is both a state machine controller as well as a node within a state machine itself * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transition.cc ./Behaviors/Transition.cc --- ../Tekkotsu_2.2/Behaviors/Transition.cc Thu Oct 7 20:08:34 2004 +++ ./Behaviors/Transition.cc Thu Nov 11 15:34:59 2004 @@ -3,6 +3,23 @@ #include "Wireless/Wireless.h" #include "SoundPlay/SoundManager.h" +/*! @deprecated, use the version of the constructor where you can pass a name */ +Transition::Transition() : BehaviorBase("Transition"), srcs(), dsts(), sound() {} + +/*! @deprecated, use the version of the constructor where you can pass a name */ +Transition::Transition(StateNode* destination) + : BehaviorBase("Transition"), srcs(), dsts(), sound() +{ + addDestination(destination); +} + + +/*! @deprecated: use #fire() instead (just a better name) */ +void Transition::activate() { + serr->printf("Transition::activate() is deprecated. Use Transition::fire() instead.\n"); + fire(); +} + void Transition::fire() { //serr->printf("%s fire() - enter %d\n",getName().c_str(),get_time()); @@ -22,14 +39,30 @@ RemoveReference(); } +std::string Transition::getName() const { + if(instanceName != className) { + return instanceName; + } else { + std::string ans; + ans+='{'; + for(unsigned int i=0; igetName()+(i"; + ans+='{'; + for(unsigned int i=0; igetName()+(i class StateNode; @@ -36,29 +35,14 @@ class Transition : public BehaviorBase { friend class StateNode; public: - //!constructor - Transition() : BehaviorBase(), srcs(), dsts(), sound() {} - //!constructor, specify destination StateNode (ignores NULL) - Transition(StateNode* destination) : BehaviorBase(), srcs(), dsts(), sound() { - addDestination(destination); - } - //!copy constructor, just in case you need it - Transition(const Transition& t) : BehaviorBase(t), srcs(t.srcs), dsts(t.dsts), sound(t.sound) {} - - //!assignment operator (only does shallow copy) - Transition& operator=(const Transition& t) { BehaviorBase::operator=(t); srcs=t.srcs; dsts=t.dsts; sound=t.sound; return *this; } - //!destructor virtual ~Transition() {} //!call this when the transition should be made, base class version simply calls StateNode::DoStop() on each active of #srcs and StateNode::DoStart() on each inactive of #dsts, but you can override. virtual void fire(); - //!deprecated: use #fire() instead - virtual void activate() { - serr->printf("Transition::activate() is deprecated. Use Transition::fire() instead.\n"); - fire(); - } + //!deprecated: use #fire() instead (just a better name + virtual void activate() __attribute__((deprecated)); virtual std::vector& getSources() { return srcs; } //!< returns a user-modifiable reference to the current source list virtual const std::vector& getSources() const { return srcs; } //!< returns a const reference to the current source list @@ -70,7 +54,32 @@ virtual void setSound(const std::string& snd) { sound=snd; } //!< set a sound file to be played upon activation; you might want to preload this in the parent node; empty string to turn off virtual std::string getSound() { return sound; } //!< returns the current sound file + //! If #instanceName == #className, will autogenerate a name incorporating source and destination names + virtual std::string getName() const; + protected: + //! deprecated, use the version of the constructor where you can pass a name + Transition() __attribute__((deprecated)); + //!constructor, pass your subclass type name as a string for the default name + explicit Transition(const std::string& classname) : BehaviorBase(classname), srcs(), dsts(), sound() {} + //! deprecated, use the version of the constructor where you can pass a name + explicit Transition(StateNode* destination) __attribute__((deprecated)); + //!constructor, specify destination StateNode (ignores NULL) + Transition(const std::string& classname, StateNode* destination) : BehaviorBase(classname), srcs(), dsts(), sound() { + addDestination(destination); + } + //!constructor, pass your subclass type name as a string for the default name, and a separate instance name + Transition(const std::string& classname, const std::string& instancename) : BehaviorBase(classname,instancename), srcs(), dsts(), sound() {} + //!constructor, specify names and destination StateNode (ignores NULL) + Transition(const std::string& classname, const std::string& instancename, StateNode* destination) : BehaviorBase(classname,instancename), srcs(), dsts(), sound() { + addDestination(destination); + } + //!copy constructor, just in case you need it + Transition(const Transition& t) : BehaviorBase(t), srcs(t.srcs), dsts(t.dsts), sound(t.sound) {} + + //!assignment operator (only does shallow copy) + Transition& operator=(const Transition& t) { BehaviorBase::operator=(t); srcs=t.srcs; dsts=t.dsts; sound=t.sound; return *this; } + //! if @a source is non-null, add it to the source list /*! Only StateNodes should be calling this - you add a transition to a source, not a source to a transition. * @see StateNode::addTransition() */ @@ -85,11 +94,11 @@ * @brief Describes Transition, represents a transition between StateNodes. * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/CompareTrans.h ./Behaviors/Transitions/CompareTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/CompareTrans.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Transitions/CompareTrans.h Mon Nov 15 17:46:19 2004 @@ -36,7 +36,12 @@ //! constructor, see CompareTrans class notes for information CompareTrans(StateNode* destination, const T* monitor, Test_t test, const T& value, const EventBase& poll) - : Transition(destination), mon(monitor), tst(test), val(value), poller(poll) + : Transition("CompareTrans",destination), mon(monitor), tst(test), val(value), poller(poll) + { } + + //! constructor, see CompareTrans class notes for information + CompareTrans(const std::string& name, StateNode* destination, const T* monitor, Test_t test, const T& value, const EventBase& poll) + : Transition("CompareTrans",name,destination), mon(monitor), tst(test), val(value), poller(poll) { } //!starts listening @@ -69,9 +74,12 @@ } } - virtual std::string getName() const { return "CompareTrans"; } - protected: + //! constructor, see CompareTrans class notes for information (this version is only need by subclasses so they can pass their type name) + CompareTrans(const std::string& classname, const std::string& instancename, StateNode* destination, const T* monitor, Test_t test, const T& value, const EventBase& poll) + : Transition(classname,instancename,destination), mon(monitor), tst(test), val(value), poller(poll) + { } + const T* mon; //!< address of value to monitor Test_t tst; //!< test to make T val; //!< value to compare against @@ -87,10 +95,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/CompletionTrans.h ./Behaviors/Transitions/CompletionTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/CompletionTrans.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Transitions/CompletionTrans.h Mon Nov 15 17:46:19 2004 @@ -14,7 +14,10 @@ public: CompletionTrans(StateNode* destination, int n=0) : - Transition(destination), minsrcs(n), completions(NULL) {}; + Transition("CompletionTrans",destination), minsrcs(n), completions(NULL) {}; + + CompletionTrans(const std::string& name, StateNode* destination, int n=0) : + Transition("CompletionTrans",name,destination), minsrcs(n), completions(NULL) {}; //! starts listening virtual void DoStart() { @@ -50,9 +53,11 @@ if (numcomplete >= threshold) fire(); } - virtual std::string getName() const { return "CompletionTrans"; } - protected: + //!constructor, this version is only need by subclasses so they can pass their type name + CompletionTrans(const std::string& classname, const std::string& instancename, StateNode* destination, int n=0) : + Transition(classname,instancename,destination), minsrcs(n), completions(NULL) {}; + //!@name Dummy functions to satisfy the compiler CompletionTrans(const CompletionTrans&); //!< don't call this CompletionTrans& operator=(const CompletionTrans&); //!< don't call this @@ -65,10 +70,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/EventTrans.h ./Behaviors/Transitions/EventTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/EventTrans.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Transitions/EventTrans.h Mon Nov 15 17:46:19 2004 @@ -15,15 +15,29 @@ EventBase::EventTypeID_t etid; public: - EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid) : - Transition(destination), argcount(1), egid(gid), esid(0), etid(EventBase::statusETID) {}; + EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid) + : Transition("EventTrans",destination), argcount(1), egid(gid), esid(0), etid(EventBase::statusETID) + {} - EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid, unsigned int sid) : - Transition(destination), argcount(2), egid(gid), esid(sid), etid(EventBase::statusETID) {}; + EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid, unsigned int sid) + : Transition("EventTrans",destination), argcount(2), egid(gid), esid(sid), etid(EventBase::statusETID) + {} - EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid, - unsigned int sid, EventBase::EventTypeID_t tid) : - Transition(destination), argcount(3), egid(gid), esid(sid), etid(tid) {}; + EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid, unsigned int sid, EventBase::EventTypeID_t tid) + : Transition("EventTrans",destination), argcount(3), egid(gid), esid(sid), etid(tid) + {} + + EventTrans(const std::string& name, StateNode* destination, EventBase::EventGeneratorID_t gid) + : Transition("EventTrans",name,destination), argcount(1), egid(gid), esid(0), etid(EventBase::statusETID) + {} + + EventTrans(const std::string& name, StateNode* destination, EventBase::EventGeneratorID_t gid, unsigned int sid) + : Transition("EventTrans",name,destination), argcount(2), egid(gid), esid(sid), etid(EventBase::statusETID) + {} + + EventTrans(const std::string& name, StateNode* destination, EventBase::EventGeneratorID_t gid, unsigned int sid, EventBase::EventTypeID_t tid) + : Transition("EventTrans",name,destination), argcount(3), egid(gid), esid(sid), etid(tid) + {} //! starts listening virtual void DoStart() { @@ -44,8 +58,6 @@ //! fire the transition if an event is seen virtual void processEvent(const EventBase&) { fire(); } - virtual std::string getName() const { return "EventTrans"; } - }; /*! @file @@ -53,10 +65,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/LostTargetTrans.h ./Behaviors/Transitions/LostTargetTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/LostTargetTrans.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/LostTargetTrans.h Tue Nov 16 21:51:49 2004 @@ -0,0 +1,65 @@ +//-*-c++-*- +#ifndef INCLUDED_LostTargetTrans_h_ +#define INCLUDED_LostTargetTrans_h_ + +#include "Behaviors/Transitions/TimeOutTrans.h" +#include "Events/VisionObjectEvent.h" + + +//! Causes a transition if the target has not been seen @e minframe times within +//! @e delay milliseconds. + +class LostTargetTrans : public TimeOutTrans { + public: + + //! constructor, specify delay in milliseconds + LostTargetTrans(StateNode* destination, unsigned int source_id, + unsigned int delay, int minframes=5) : + TimeOutTrans("LostTargetTrans","LostTargetTrans",destination,delay), + sid(source_id), minf(minframes), counter(0) {} + + //! constructor, specify delay in milliseconds + LostTargetTrans(const std::string &name, StateNode* destination, unsigned int source_id, + unsigned int delay, int minframes=5) : + TimeOutTrans("LostTargetTrans",name,destination,delay), + sid(source_id), minf(minframes), counter(0) {} + + //!starts timer + virtual void DoStart() { + TimeOutTrans::DoStart(); + erouter->addListener(this,EventBase::visObjEGID,sid); + } + + virtual void processEvent(const EventBase &e) { + if (e.getGeneratorID()==EventBase::visObjEGID && e.getSourceID()==sid) { + ++counter; + if (counter > minf) resetTimer(); + } + else + TimeOutTrans::processEvent(e); + } + + //! resets timer; does not deactivate it + virtual void resetTimer() { + TimeOutTrans::resetTimer(); + counter = 0; + } + + //! set minimum number of frames that target must be seen before resetting the timer + virtual void set_minframes(int minframes) { minf = minframes; } + +protected: + LostTargetTrans(const std::string &classname, const std::string &instancename, + StateNode* destination, unsigned int source_id, + unsigned int delay, int minframes=5) : + TimeOutTrans(classname,instancename,destination,delay), + sid(source_id), minf(minframes), counter(0) {} + + + private: + unsigned int sid; + int minf; //!< number of frames that target must be seen before resetting the timer + int counter; //!< number of frames target has been seen so far +}; + +#endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/NullTrans.h ./Behaviors/Transitions/NullTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/NullTrans.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Transitions/NullTrans.h Mon Nov 15 17:46:19 2004 @@ -9,7 +9,10 @@ class NullTrans : public Transition { public: //! constructor - NullTrans(StateNode* destination) : Transition(destination) {} + NullTrans(StateNode* destination) : Transition("NullTrans",destination) {} + + //! constructor + NullTrans(const std::string& name, StateNode* destination) : Transition("NullTrans",name,destination) {} //!starts 0 msec timer, so transition will occur very soon virtual void DoStart() { @@ -22,9 +25,6 @@ //!when timer event is received, fire() the transition virtual void processEvent(const EventBase&) { fire(); } - - virtual std::string getName() const { return "TimeOutTrans"; } - }; /*! @file @@ -32,10 +32,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/SmoothCompareTrans.h ./Behaviors/Transitions/SmoothCompareTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/SmoothCompareTrans.h Mon Nov 10 19:08:18 2003 +++ ./Behaviors/Transitions/SmoothCompareTrans.h Mon Nov 15 17:46:19 2004 @@ -16,7 +16,13 @@ public: //! constructor, see SmoothCompareTrans class notes for information SmoothCompareTrans(StateNode* destination, const T* monitor, typename SmoothCompareTrans::Test_t test, const T& value, const EventBase& poll, float gammap=0) - : CompareTrans(destination,&avg,test,value,poll), avg(*monitor), realmon(monitor), + : CompareTrans("SmoothCompareTrans",destination,&avg,test,value,poll), avg(*monitor), realmon(monitor), + burnin((unsigned int)(1/(1-gammap))), tests(0), g(gammap) + { } + + //! constructor, see SmoothCompareTrans class notes for information + SmoothCompareTrans(const std::string& name, StateNode* destination, const T* monitor, typename SmoothCompareTrans::Test_t test, const T& value, const EventBase& poll, float gammap=0) + : CompareTrans("SmoothCompareTrans",name,destination,&avg,test,value,poll), avg(*monitor), realmon(monitor), burnin((unsigned int)(1/(1-gammap))), tests(0), g(gammap) { } @@ -47,8 +53,6 @@ CompareTrans::processEvent(e); } - virtual std::string getName() const { return "SmoothCompareTrans"; } - protected: T avg; //!< the current running average const T* realmon; //!< pointer to the value being monitored @@ -69,10 +73,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/TimeOutTrans.h ./Behaviors/Transitions/TimeOutTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/TimeOutTrans.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Transitions/TimeOutTrans.h Mon Nov 15 17:46:19 2004 @@ -9,7 +9,10 @@ class TimeOutTrans : public Transition { public: //! constructor, specify delay in milliseconds - TimeOutTrans(StateNode* destination, unsigned int delay) : Transition(destination), d(delay) {} + TimeOutTrans(StateNode* destination, unsigned int delay) : Transition("TimeOutTrans",destination), d(delay) {} + + //! constructor, specify delay in milliseconds + TimeOutTrans(const std::string& name, StateNode* destination, unsigned int delay) : Transition("TimeOutTrans",name,destination), d(delay) {} //!starts timer virtual void DoStart() { @@ -32,9 +35,10 @@ fire(); } - virtual std::string getName() const { return "TimeOutTrans"; } - protected: + //! constructor, specify delay in milliseconds + TimeOutTrans(const std::string& classname, const std::string& instancename, StateNode* destination, unsigned int delay) : Transition(classname,instancename,destination), d(delay) {} + //!amount to delay (in milliseconds) before transition unsigned int d; }; @@ -44,10 +48,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/VisualTargetCloseTrans.h ./Behaviors/Transitions/VisualTargetCloseTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/VisualTargetCloseTrans.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Transitions/VisualTargetCloseTrans.h Mon Nov 15 17:46:19 2004 @@ -14,7 +14,10 @@ class VisualTargetCloseTrans : public Transition { public: //!constructor - VisualTargetCloseTrans(StateNode* destination, unsigned int source_id) : Transition(destination), sid(source_id) {} + VisualTargetCloseTrans(StateNode* destination, unsigned int source_id) : Transition("VisualTargetCloseTrans",destination), sid(source_id) {} + + //!constructor + VisualTargetCloseTrans(const std::string& name, StateNode* destination, unsigned int source_id) : Transition("VisualTargetCloseTrans",name,destination), sid(source_id) {} //!starts listening for the object specified by the source id in the constructor virtual void DoStart() { Transition::DoStart(); erouter->addListener(this,EventBase::visObjEGID,sid); } @@ -41,8 +44,6 @@ fire(); } - virtual std::string getName() const { return "VisualTargetCloseTrans"; } - protected: //!Source ID of object to track unsigned int sid; @@ -53,10 +54,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Behaviors/Transitions/VisualTargetTrans.h ./Behaviors/Transitions/VisualTargetTrans.h --- ../Tekkotsu_2.2/Behaviors/Transitions/VisualTargetTrans.h Thu Oct 7 15:07:05 2004 +++ ./Behaviors/Transitions/VisualTargetTrans.h Mon Nov 15 17:46:19 2004 @@ -12,7 +12,11 @@ public: //!constructor VisualTargetTrans(StateNode* destination, unsigned int source_id) - : Transition(destination), sid(source_id), count(0) {} + : Transition("VisualTargetTrans",destination), sid(source_id), count(0) {} + + //!constructor + VisualTargetTrans(const std::string& name, StateNode* destination, unsigned int source_id) + : Transition("VisualTargetTrans",name,destination), sid(source_id), count(0) {} //!starts listening for the object specified by the source id in the constructor virtual void DoStart() { @@ -46,8 +50,6 @@ //serr->printf("VisualTargetTrans::processEvent() - leave %d\n",get_time()); } - virtual std::string getName() const { return "VisualTargetTrans"; } - protected: //!Source ID of object to track unsigned int sid; @@ -60,10 +62,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Events/ButtonEvent.cc ./Events/ButtonEvent.cc --- ../Tekkotsu_2.2/Events/ButtonEvent.cc Thu Sep 16 16:39:53 2004 +++ ./Events/ButtonEvent.cc Thu Sep 16 16:39:53 2004 @@ -78,7 +78,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/ButtonEvent.h ./Events/ButtonEvent.h --- ../Tekkotsu_2.2/Events/ButtonEvent.h Thu Sep 16 16:39:53 2004 +++ ./Events/ButtonEvent.h Thu Sep 16 16:39:53 2004 @@ -32,7 +32,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/DataEvent.h ./Events/DataEvent.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventBase.cc ./Events/EventBase.cc --- ../Tekkotsu_2.2/Events/EventBase.cc Tue Sep 28 19:07:02 2004 +++ ./Events/EventBase.cc Tue Sep 28 19:07:02 2004 @@ -168,7 +168,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventBase.h ./Events/EventBase.h --- ../Tekkotsu_2.2/Events/EventBase.h Mon Oct 18 12:59:20 2004 +++ ./Events/EventBase.h Mon Oct 18 12:59:20 2004 @@ -176,7 +176,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventGeneratorBase.cc ./Events/EventGeneratorBase.cc --- ../Tekkotsu_2.2/Events/EventGeneratorBase.cc Thu Oct 7 15:07:05 2004 +++ ./Events/EventGeneratorBase.cc Tue Nov 9 15:01:49 2004 @@ -1,27 +1,81 @@ #include "EventGeneratorBase.h" #include "Events/EventRouter.h" +using namespace std; + void EventGeneratorBase::DoStart() { BehaviorBase::DoStart(); - if(autoListen) - erouter->addListener(this,getListenGeneratorID(),getListenSourceID()); + if(autoListen) { + erouter->addListener(this,EventBase::erouterEGID,getGeneratorID()); + if(erouter->hasListeners(getGeneratorID(),getSourceID())) { + erouter->addListener(this,getListenGeneratorID(),getListenSourceID()); + isListening=true; + } + } } void EventGeneratorBase::DoStop() { erouter->removeListener(this); + isListening=false; BehaviorBase::DoStop(); } +void +EventGeneratorBase::processEvent(const EventBase& event) { + if(!autoListen) + return; + if(event.getGeneratorID()==EventBase::erouterEGID) { + if(erouter->hasListeners(getGeneratorID(),getSourceID())) { + if(!isListening) { + erouter->addListener(this,getListenGeneratorID(),getListenSourceID()); + isListening=true; + } + } else { + if(isListening) { + erouter->removeListener(this,getListenGeneratorID(),getListenSourceID()); + isListening=false; + } + } + } +} + +void +EventGeneratorBase::setAutoListen(EventBase::EventGeneratorID_t gid, unsigned int sid) { + if(isListening) { + erouter->removeListener(this,getListenGeneratorID(),getListenSourceID()); + isListening=false; + } + autoListen=true; + srcGenID=gid; + srcSourceID=sid; + if(erouter->hasListeners(getGeneratorID(),getSourceID())) { + if(!isListening) { + erouter->addListener(this,getListenGeneratorID(),getListenSourceID()); + isListening=true; + } + } +} + +void +EventGeneratorBase::unsetAutoListen() { + if(isListening) { + erouter->removeListener(this,getListenGeneratorID(),getListenSourceID()); + isListening=false; + } + autoListen=false; +} + + /*! @file * @brief * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Events/EventGeneratorBase.h ./Events/EventGeneratorBase.h --- ../Tekkotsu_2.2/Events/EventGeneratorBase.h Wed Feb 18 16:12:18 2004 +++ ./Events/EventGeneratorBase.h Wed Nov 10 20:45:37 2004 @@ -22,14 +22,11 @@ public: //!@name Constructors //! - EventGeneratorBase() - : BehaviorBase(), myGenID(EventBase::unknownEGID), mySourceID(0), autoListen(false), srcGenID(EventBase::unknownEGID), srcSourceID(0), myName() - {} EventGeneratorBase(const std::string& name, EventBase::EventGeneratorID_t mgid, unsigned int msid) - : BehaviorBase(), myGenID(mgid), mySourceID(msid), autoListen(false), srcGenID(EventBase::unknownEGID), srcSourceID(0), myName(name) + : BehaviorBase(name), myGenID(mgid), mySourceID(msid), autoListen(false), isListening(false), srcGenID(EventBase::unknownEGID), srcSourceID(0) {} EventGeneratorBase(const std::string& name, EventBase::EventGeneratorID_t mgid, unsigned int msid,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid) - : BehaviorBase(), myGenID(mgid), mySourceID(msid), autoListen(true), srcGenID(srcgid), srcSourceID(srcsid), myName(name) + : BehaviorBase(name), myGenID(mgid), mySourceID(msid), autoListen(true), isListening(false), srcGenID(srcgid), srcSourceID(srcsid) {} //@} @@ -40,6 +37,13 @@ virtual void DoStop(); + //! if autolistening, will receive EventRouter events concerning our own listeners + /*! This will automatically reduce overhead by eliminating chains of events thrown + * that don't have any end listeners. However, this might mean your subclass's + * processEvent will be receiving the events from erouterEGID, and will need + * to call EventGeneratorBase::processEvent() in order to allow them to be used */ + virtual void processEvent(const EventBase& event); + //! return the generator ID that will be broadcast from virtual EventBase::EventGeneratorID_t getGeneratorID() { return myGenID; } //! set the generator ID that will be broadcast from (typically it's a bad idea to call this...) @@ -55,28 +59,18 @@ //! returns the generator ID that will be listened for (not the generator of the FilterBankEvent to be created - that depends on the subclass) virtual EventBase::EventGeneratorID_t getListenGeneratorID() const { return srcGenID; } //! turns on auto listening to make it easier to set up dependancies between vision filters - virtual void setAutoListen(EventBase::EventGeneratorID_t gid, unsigned int sid) { autoListen=true; srcGenID=gid; srcSourceID=sid; } + virtual void setAutoListen(EventBase::EventGeneratorID_t gid, unsigned int sid); //! turns off auto listening - virtual void unsetAutoListen() { autoListen=false; } - - //! returns current name - virtual std::string getName() const { - return myName; - } - - //! sets a name (overriding automatically generated one) - virtual void setName(const std::string& name) { - myName=name; - } + virtual void unsetAutoListen(); protected: EventBase::EventGeneratorID_t myGenID; //!< the generator ID to broadcast on unsigned int mySourceID; //!< the source ID to broadcast on bool autoListen; //!< if true, will automatically start listening for EventBase(genID,sourceID) events + bool isListening; //!< true if listening triggered by autoListen EventBase::EventGeneratorID_t srcGenID; //!< the generator ID to listen for (typically the source that this filter works on) unsigned int srcSourceID; //!< the source ID to listen for - std::string myName; //!< the name to report (handy for debugging output) }; /*! @file @@ -84,10 +78,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Events/EventListener.h ./Events/EventListener.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventRouter.cc ./Events/EventRouter.cc --- ../Tekkotsu_2.2/Events/EventRouter.cc Thu Oct 7 18:14:17 2004 +++ ./Events/EventRouter.cc Thu Oct 7 18:14:17 2004 @@ -532,7 +532,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventRouter.h ./Events/EventRouter.h --- ../Tekkotsu_2.2/Events/EventRouter.h Thu Oct 7 18:14:17 2004 +++ ./Events/EventRouter.h Thu Oct 7 18:14:17 2004 @@ -299,7 +299,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventTranslator.cc ./Events/EventTranslator.cc --- ../Tekkotsu_2.2/Events/EventTranslator.cc Thu Oct 14 19:02:35 2004 +++ ./Events/EventTranslator.cc Thu Oct 14 19:02:35 2004 @@ -86,7 +86,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventTranslator.h ./Events/EventTranslator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/EventTrapper.h ./Events/EventTrapper.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/FilterBankEvent.h ./Events/FilterBankEvent.h --- ../Tekkotsu_2.2/Events/FilterBankEvent.h Sun Jan 18 05:16:57 2004 +++ ./Events/FilterBankEvent.h Sun Jan 18 05:16:57 2004 @@ -58,7 +58,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/LocomotionEvent.cc ./Events/LocomotionEvent.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/LocomotionEvent.h ./Events/LocomotionEvent.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/SegmentedColorFilterBankEvent.h ./Events/SegmentedColorFilterBankEvent.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/TextMsgEvent.cc ./Events/TextMsgEvent.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/TextMsgEvent.h ./Events/TextMsgEvent.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Events/VisionObjectEvent.h ./Events/VisionObjectEvent.h --- ../Tekkotsu_2.2/Events/VisionObjectEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/VisionObjectEvent.h Wed Sep 1 17:30:57 2004 @@ -46,7 +46,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/MMCombo/MMCombo.cc ./MMCombo/MMCombo.cc --- ../Tekkotsu_2.2/MMCombo/MMCombo.cc Mon Oct 11 18:00:19 2004 +++ ./MMCombo/MMCombo.cc Fri Nov 12 17:07:39 2004 @@ -366,7 +366,7 @@ if(state!=NULL) isERS7=state->robotDesign&WorldState::ERS7Mask; else { - char robotDesignStr[orobotdesignNAME_MAX]; + char robotDesignStr[orobotdesignNAME_MAX + 1]; memset(robotDesignStr, 0, sizeof(robotDesignStr)); if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) { cout << objectName << "::SetupOutputs - OPENR::GetRobotDesign() failed." << endl; @@ -387,12 +387,13 @@ } // Should be a relatively simple matter to copy angles into commands... - unsigned int used=0; //but only copy open joints (so main does ears, motion does everything else) + unsigned int used=0; //but only copy open joints (so main does ears on 210, motion does everything else) for(unsigned int i=PIDJointOffset; imotion.calibration[i-PIDJointOffset]; OJointCommandValue2* jval = reinterpret_cast(cmdVecData->GetData(used)->value); for(unsigned int frame=0; framemainProfile); etrans.translateEvents(); - erouter->postEvent(new DataEvent(reinterpret_cast(event.Data(0)),EventBase::micOSndEGID,0,EventBase::statusETID)); - - erouter->processTimers(); + for (int i = 0; i < event.NumOfData(); i++) { + erouter->postEvent(new DataEvent(reinterpret_cast(event.Data(i)),EventBase::micOSndEGID,0,EventBase::statusETID)); + erouter->processTimers(); + } observer[obsMic]->AssertReady(); } @@ -616,7 +618,7 @@ void MMCombo::SetupOutputs(const bool to_open[NumOutputs]) { - char robotDesignStr[orobotdesignNAME_MAX]; + char robotDesignStr[orobotdesignNAME_MAX + 1]; memset(robotDesignStr, 0, sizeof(robotDesignStr)); if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) { cout << objectName << "::SetupOutputs - OPENR::GetRobotDesign() failed." << endl; @@ -767,10 +769,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/MMCombo/MMCombo.h ./MMCombo/MMCombo.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/DynamicMotionSequence.h ./Motion/DynamicMotionSequence.h --- ../Tekkotsu_2.2/Motion/DynamicMotionSequence.h Thu Sep 25 11:27:22 2003 +++ ./Motion/DynamicMotionSequence.h Thu Sep 25 11:27:22 2003 @@ -112,7 +112,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/EmergencyStopMC.cc ./Motion/EmergencyStopMC.cc --- ../Tekkotsu_2.2/Motion/EmergencyStopMC.cc Mon Aug 30 16:26:45 2004 +++ ./Motion/EmergencyStopMC.cc Mon Aug 30 16:26:45 2004 @@ -209,7 +209,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/EmergencyStopMC.h ./Motion/EmergencyStopMC.h --- ../Tekkotsu_2.2/Motion/EmergencyStopMC.h Mon Aug 30 16:26:45 2004 +++ ./Motion/EmergencyStopMC.h Mon Aug 30 16:26:45 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/Geometry.h ./Motion/Geometry.h --- ../Tekkotsu_2.2/Motion/Geometry.h Thu Sep 25 11:27:22 2003 +++ ./Motion/Geometry.h Thu Sep 25 11:27:22 2003 @@ -51,7 +51,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/HeadPointerMC.cc ./Motion/HeadPointerMC.cc --- ../Tekkotsu_2.2/Motion/HeadPointerMC.cc Thu Oct 14 17:59:23 2004 +++ ./Motion/HeadPointerMC.cc Thu Oct 14 17:59:23 2004 @@ -113,7 +113,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/HeadPointerMC.h ./Motion/HeadPointerMC.h --- ../Tekkotsu_2.2/Motion/HeadPointerMC.h Thu Oct 14 19:02:53 2004 +++ ./Motion/HeadPointerMC.h Thu Oct 14 19:02:53 2004 @@ -121,7 +121,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/Kinematics.cc ./Motion/Kinematics.cc --- ../Tekkotsu_2.2/Motion/Kinematics.cc Sat Oct 16 21:16:10 2004 +++ ./Motion/Kinematics.cc Thu Oct 28 19:06:10 2004 @@ -322,6 +322,11 @@ } NEWMAT::ReturnMatrix +Kinematics::calculateGroundPlane() { + return calculateGroundPlane(pack(state->sensors[BAccelOffset],state->sensors[LAccelOffset],state->sensors[DAccelOffset])); +} + +NEWMAT::ReturnMatrix Kinematics::calculateGroundPlane(const NEWMAT::ColumnVector& down) { //Find the unused foot unsigned int highleg=findUnusedLeg(down); @@ -405,10 +410,10 @@ * @brief * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Motion/Kinematics.h ./Motion/Kinematics.h --- ../Tekkotsu_2.2/Motion/Kinematics.h Tue Oct 19 13:06:31 2004 +++ ./Motion/Kinematics.h Tue Oct 19 13:06:31 2004 @@ -317,7 +317,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/LedEngine.cc ./Motion/LedEngine.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/LedEngine.h ./Motion/LedEngine.h --- ../Tekkotsu_2.2/Motion/LedEngine.h Sun Sep 12 00:22:37 2004 +++ ./Motion/LedEngine.h Mon Nov 15 19:29:47 2004 @@ -75,7 +75,7 @@ void flash(LEDBitMask_t leds, unsigned int ms); //!causes the leds specified by @a leds to cycle between low and high, clears others. See cycle() for parameter documentation. inline void ccycle(LEDBitMask_t leds, unsigned int period, float amp, float offset=0, int phase=0) { clear(); cycle(leds,period,amp,offset,phase); } - //!causes the leds specified by @a leds to cycle between low and high + //!causes the leds specified by @a leds to cycle between low and high; values calculated for cycle will be clipped to [0,1] for more sensible blending of square wave approximations (high amplitude sine wave) void cycle(LEDBitMask_t leds, unsigned int period, float amp, float offset=0, int phase=0); //!sets all leds to 0. void clear(); @@ -134,6 +134,10 @@ 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; + if(x<0) + return 0; + if(x>1) + return 1; return x; } //!Calculates the current value of led @a i for current time t @@ -172,11 +176,11 @@ * @brief Describes LedEngine, which provides basic LED effects to anything that inherits or instantiates it * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Motion/LedMC.h ./Motion/LedMC.h --- ../Tekkotsu_2.2/Motion/LedMC.h Fri Sep 10 18:25:15 2004 +++ ./Motion/LedMC.h Fri Sep 10 18:25:15 2004 @@ -57,7 +57,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MMAccessor.h ./Motion/MMAccessor.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MotionCommand.cc ./Motion/MotionCommand.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MotionCommand.h ./Motion/MotionCommand.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MotionManager.cc ./Motion/MotionManager.cc --- ../Tekkotsu_2.2/Motion/MotionManager.cc Sat Oct 16 21:16:11 2004 +++ ./Motion/MotionManager.cc Sat Oct 16 21:16:11 2004 @@ -748,7 +748,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MotionManager.h ./Motion/MotionManager.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MotionManagerMsg.h ./Motion/MotionManagerMsg.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/MotionSequenceMC.cc ./Motion/MotionSequenceMC.cc --- ../Tekkotsu_2.2/Motion/MotionSequenceMC.cc Thu Oct 14 19:02:53 2004 +++ ./Motion/MotionSequenceMC.cc Mon Nov 8 16:48:19 2004 @@ -197,7 +197,7 @@ } unsigned int MotionSequence::SaveBuffer(char buf[], unsigned int len) const { - std::cout << "SAVEBUFFER..." << std::flush; + //std::cout << "SAVEBUFFER..." << std::flush; unsigned int origlen=len; int written=snprintf(buf,len,"#MSq\n"); if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequence save failed on header\n")) return 0; if(len==0 || len>origlen) { @@ -434,9 +434,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Motion/MotionSequenceMC.h ./Motion/MotionSequenceMC.h --- ../Tekkotsu_2.2/Motion/MotionSequenceMC.h Thu Oct 14 15:24:46 2004 +++ ./Motion/MotionSequenceMC.h Thu Oct 14 15:24:46 2004 @@ -341,7 +341,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/OldHeadPointerMC.cc ./Motion/OldHeadPointerMC.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/OldHeadPointerMC.h ./Motion/OldHeadPointerMC.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/OldKinematics.cc ./Motion/OldKinematics.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/OldKinematics.h ./Motion/OldKinematics.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/OutputCmd.h ./Motion/OutputCmd.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/OutputPID.h ./Motion/OutputPID.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/PIDMC.h ./Motion/PIDMC.h --- ../Tekkotsu_2.2/Motion/PIDMC.h Wed Jan 14 15:45:01 2004 +++ ./Motion/PIDMC.h Wed Jan 14 15:45:01 2004 @@ -138,7 +138,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/Path.h ./Motion/Path.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/PostureEngine.cc ./Motion/PostureEngine.cc --- ../Tekkotsu_2.2/Motion/PostureEngine.cc Mon Oct 18 15:53:33 2004 +++ ./Motion/PostureEngine.cc Mon Nov 15 16:43:54 2004 @@ -180,6 +180,7 @@ } } written=-1; + jname[0]='\0'; sscanf(buf,formatstring,jname,&fval,&fwht,&written); if(!ChkAdvance(written,&buf,&len,"*** ERROR PostureEngine load corrupted - line %d\n",linenum)) return 0; while(*buf!='\n' && *buf!='\r') @@ -190,20 +191,22 @@ buf++; linenum++; //std::cout << '"' << jname << "\"\t" << (float)fval << '\t' << (float)fwht << std::endl; - unsigned int startidx=idx+1; + // we continue the search in order from where we left off - these are often + // going to go in order, so might as well save a little time + unsigned int startidx=idx; for(;idxrobotDesign&WorldState::ERS210Mask) { + if(!active) + return 0; + if(state->robotDesign&WorldState::ERS210Mask) { for(unsigned int i=0; isetOutput(this,ERS210Info::TailOffset+PanOffset,pans); motman->setOutput(this,ERS210Info::TailOffset+TiltOffset,tilt); - return 1; + return tilt.weight>0?2:1; + } else if(state->robotDesign&WorldState::ERS7Mask) { + for(unsigned int i=0; isetOutput(this,ERS7Info::TailOffset+PanOffset,pans); + motman->setOutput(this,ERS7Info::TailOffset+TiltOffset,tilt); + return tilt.weight>0?2:1; } else return 0; } @@ -51,10 +60,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Motion/WalkMC.cc ./Motion/WalkMC.cc --- ../Tekkotsu_2.2/Motion/WalkMC.cc Fri Jul 23 23:10:59 2004 +++ ./Motion/WalkMC.cc Fri Jul 23 23:10:59 2004 @@ -544,7 +544,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/WalkMC.h ./Motion/WalkMC.h --- ../Tekkotsu_2.2/Motion/WalkMC.h Thu Aug 5 16:29:04 2004 +++ ./Motion/WalkMC.h Thu Aug 5 16:29:04 2004 @@ -269,7 +269,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/WaypointEngine.h ./Motion/WaypointEngine.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/WaypointWalkMC.h ./Motion/WaypointWalkMC.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/gvector.h ./Motion/gvector.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Motion/roboop/Makefile ./Motion/roboop/Makefile --- ../Tekkotsu_2.2/Motion/roboop/Makefile Tue Oct 5 00:40:50 2004 +++ ./Motion/roboop/Makefile Tue Nov 9 16:26:13 2004 @@ -3,12 +3,14 @@ # This makefile is suitable for Unix-like systems with non-ANSI compilers. # If you have an ANSI compiler, makefile.ansi is a better starting point. -# Read installation instructions before saying "make" !! - -# The name of your C compiler: -OPENRSDK_ROOT ?= /usr/local/OPEN_R_SDK -TEKKOTSU_ROOT ?= /usr/local/Tekkotsu -CXX= $(OPENRSDK_ROOT)/bin/mipsel-linux-gcc +ifndef TEKKOTSU_ENVIRONMENT_CONFIGURATION +$(error An error has occured, TEKKOTSU_ENVIRONMENT_CONFIGURATION was not defined) +endif +include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) +FILTERSYSWARN:=$(patsubst $(TEKKOTSU_ROOT)/%,../../%,$(FILTERSYSWARN)) +COLORFILT:=$(patsubst $(TEKKOTSU_ROOT)/%,../../%,$(COLORFILT)) +BUILDDIR=$(patsubst $(TEKKOTSU_ROOT)/%,../../%,$(TK_BD)/Motion/roboop) +SRCSUFFIX=.cpp # You may need to adjust these cc options: CXXFLAGS= -I ../../Shared/newmat -fno-inline \ @@ -31,74 +33,73 @@ RM= rm -f # file rename command MV= mv -# library (.a) file creation command -AR= $(OPENRSDK_ROOT)/bin/mipsel-linux-ar rc -# second step in .a creation (use "touch" if not needed) -AR2= $(OPENRSDK_ROOT)/bin/mipsel-linux-ranlib # End of configurable options. -COLORFILT=$(TEKKOTSU_ROOT)/tools/colorfilt -FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn $(OPENRSDK_ROOT) - -# source files: JPEG library proper -LIBSOURCES:= $(wildcard *.cpp) +# source files: +LIBSOURCES:= $(wildcard *$(SRCSUFFIX)) +ifeq ($(TEKKOTSU_TARGET_PLATFORM), PLATFORM_APERIOS) +LIBSOURCES:=$(filter-out gnugraph$(SRCSUFFIX),$(LIBSOURCES)) +endif SOURCES= $(LIBSOURCES) -LIBOBJECTS= $(LIBSOURCES:.cpp=.o) +LIBOBJECTS= $(addprefix $(BUILDDIR)/,$(LIBSOURCES:.cpp=.o)) -all: libroboop.a +all: $(BUILDDIR)/libroboop.a .PHONY: all clean -libroboop.a: $(LIBOBJECTS) +$(BUILDDIR)/libroboop.a: $(LIBOBJECTS) $(RM) $@ - $(AR) $@ $(LIBOBJECTS) - $(AR2) $@ + @echo "Linking $@..." + @$(AR) $@ $(LIBOBJECTS) + @$(AR2) $@ clean: $(RM) *.o *.a *.log core %.o: - @echo "Compiling ROBOOP::$<... (Reduced warnings)"; \ - $(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; \ + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(patsubst $(BUILDDIR)/%,%,$@)); \ + echo "Compiling ROBOOP::$$src... (Reduced warnings)"; \ + $(CXX) $(CXXFLAGS) -o $@ -c $$src > $*.log 2>&1; \ retval=$$?; \ - cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ - test $$retval -eq 0; \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ + test $$retval -eq 0; -controller.o: controller.cpp controller.h +$(BUILDDIR)/controller.o: controller.cpp controller.h -control_select.o: control_select.cpp control_select.h +$(BUILDDIR)/control_select.o: control_select.cpp control_select.h -dynamics_sim.o: dynamics_sim.cpp dynamics_sim.h +$(BUILDDIR)/dynamics_sim.o: dynamics_sim.cpp dynamics_sim.h -trajectory.o: trajectory.cpp trajectory.h +$(BUILDDIR)/trajectory.o: trajectory.cpp trajectory.h -clik.o : clik.cpp clik.h utils.h robot.h +$(BUILDDIR)/clik.o : clik.cpp clik.h utils.h robot.h -robot.o : robot.cpp utils.h robot.h +$(BUILDDIR)/robot.o : robot.cpp utils.h robot.h -config.o : config.cpp config.h +$(BUILDDIR)/config.o : config.cpp config.h -quaternion.o : quaternion.cpp quaternion.h +$(BUILDDIR)/quaternion.o : quaternion.cpp quaternion.h -gnugraph.o : gnugraph.cpp gnugraph.h utils.h robot.h +$(BUILDDIR)/gnugraph.o : gnugraph.cpp gnugraph.h utils.h robot.h -comp_dq.o : comp_dq.cpp utils.h robot.h +$(BUILDDIR)/comp_dq.o : comp_dq.cpp utils.h robot.h -comp_dqp.o : comp_dqp.cpp utils.h robot.h +$(BUILDDIR)/comp_dqp.o : comp_dqp.cpp utils.h robot.h -delta_t.o : delta_t.cpp utils.h robot.h +$(BUILDDIR)/delta_t.o : delta_t.cpp utils.h robot.h -dynamics.o : dynamics.cpp utils.h robot.h +$(BUILDDIR)/dynamics.o : dynamics.cpp utils.h robot.h -homogen.o : homogen.cpp utils.h robot.h +$(BUILDDIR)/homogen.o : homogen.cpp utils.h robot.h -invkine.o : invkine.cpp utils.h robot.h +$(BUILDDIR)/invkine.o : invkine.cpp utils.h robot.h -kinemat.o : kinemat.cpp utils.h robot.h +$(BUILDDIR)/kinemat.o : kinemat.cpp utils.h robot.h -sensitiv.o : sensitiv.cpp utils.h robot.h +$(BUILDDIR)/sensitiv.o : sensitiv.cpp utils.h robot.h -utils.o : utils.cpp utils.h robot.h +$(BUILDDIR)/utils.o : utils.cpp utils.h robot.h diff -urdN ../Tekkotsu_2.2/RemoteProcess/RemoteProcess.cc ./RemoteProcess/RemoteProcess.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/RemoteProcess/RemoteProcess.h ./RemoteProcess/RemoteProcess.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Shared/Buffer.cc ./Shared/Buffer.cc --- ../Tekkotsu_2.2/Shared/Buffer.cc Wed Dec 31 19:00:00 1969 +++ ./Shared/Buffer.cc Fri Nov 12 17:07:39 2004 @@ -0,0 +1,107 @@ +#include "Buffer.h" +#include + +Buffer::Buffer(int size) + : data(0), capacity(0), limit(0), position(0) { + + if (size > 0) { + data = new char[size]; + capacity = size; + } else { + capacity = 0; + } + limit = capacity; +} + +Buffer::Buffer(const Buffer& rhs) + : data(0), capacity(0), limit(0), position(0) { + + *this = rhs; +} + +Buffer::~Buffer() { + delete[] data; +} + +Buffer& Buffer::operator=(const Buffer& rhs) { + + if (this != &rhs) { + if (capacity != rhs.GetCapacity()) { + delete[] data; + data = 0; + capacity = rhs.GetCapacity(); + data = new char[capacity]; + } + + if (capacity > 0) { + memcpy(data, rhs.GetData(), capacity); + } + + position = rhs.GetPosition(); + limit = rhs.GetLimit(); + } + return *this; +} + +void Buffer::SetPosition(int pos) { + if (pos < 0) { + position = 0; + } else { + position = min(pos, limit); + } +} + +void Buffer::SetLimit(int lim) { + if (lim < 0) { + limit = 0; + } else { + limit = min(lim, capacity); + } + position = min(position, limit); +} + +void Buffer::SetCapacity(int size) { + if (size == capacity) { + return; + } + if (size > 0) { + char* newData = new char[size]; + if (data != 0) { + memcpy(newData, data, min(capacity, size)); + } + capacity = size; + delete[] data; + data = newData; + } else { + capacity = 0; + delete[] data; + data = 0; + } + limit = min(limit, capacity); + position = min(position, limit); +} + +bool Buffer::Fill(const char*&src, int& srcLen) { + if ((src == 0) || (srcLen < 1)) { + return IsFull(); + } + + const int charsToRead = limit - position; + if (charsToRead < 1) { + return true; + } + + if (charsToRead > srcLen) { + memcpy(&data[position], src, srcLen); + position += srcLen; + src += srcLen; + srcLen = 0; + return false; + } else { + memcpy(&data[position], src, charsToRead); + position += charsToRead; + src += charsToRead; + srcLen -= charsToRead; + return true; + } +} diff -urdN ../Tekkotsu_2.2/Shared/Buffer.h ./Shared/Buffer.h --- ../Tekkotsu_2.2/Shared/Buffer.h Wed Dec 31 19:00:00 1969 +++ ./Shared/Buffer.h Fri Nov 12 17:07:39 2004 @@ -0,0 +1,55 @@ +//-*-c++-*- +#ifndef INCLUDED_Buffer_h_ +#define INCLUDED_Buffer_h_ + +//! Buffer. +/*! A buffer has three main properties: position, capacity and limit. + * Capacity is the real size of the underlying array. + * Position is the index of the current element in the buffer (used only by + * buffer filling operations at the moment). + * Limit is the virtual size of the buffer. Operations such as filling up + * the buffer, seeking and so on never go over the limit mark of the buffer. + * + * 0 <= position <= limit <= capacity. + */ +class Buffer { + public: + //! Constructs a new buffer of specified capacity and limit + Buffer(int size); + //! Constructs a copy of the buffer + Buffer(const Buffer& rhs); + //! Makes this buffer a copy of the rhs buffer + Buffer& operator=(const Buffer& rhs); + virtual ~Buffer(); + + //! Gets the pointer to the first element of the underlying array. + const char* GetData() const { return data; } + //! Gets the pointer to the first element of the underlying array. + char* GetData() { return data; } + //! Gets the capacity of the buffer. + int GetCapacity() const { return capacity; } + //! Sets the capacity of the buffer. The underlying array grows and shrinks. + void SetCapacity(int size); + //! Gets the current position. position <= limit. + int GetPosition() const { return position; } + //! Gets the limit mark of the buffer. limit <= capacity + int GetLimit() const { return limit; } + //! Sets the current position. + void SetPosition(int pos); + //! Sets the limit mark. limit <= capacity + void SetLimit(int lim); + //! Tries to fill the buffer from current position up to the limit mark. Advances the position, src and srcLen. Returns true if the buffer has been filled. + bool Fill(const char*&src, int& srcLen); + //! Tries to fill the buffer from current position up to the limit mark. Advances the position, src and srcLen. Returns true if the buffer has been filled. + bool Fill(char*& src, int& srcLen) { return Fill((const char*&) src, srcLen); } + //! Checks whether the buffer is full, that is position == limit. + bool IsFull() const { return (position >= limit); } + private: + char* data; + int capacity; + int limit; + int position; + + static int min(int a, int b) { return ((a < b) ? a : b); } +}; +#endif diff -urdN ../Tekkotsu_2.2/Shared/CommonInfo.h ./Shared/CommonInfo.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Shared/Config.cc ./Shared/Config.cc --- ../Tekkotsu_2.2/Shared/Config.cc Mon Oct 11 18:01:34 2004 +++ ./Shared/Config.cc Fri Nov 12 17:07:39 2004 @@ -3,7 +3,9 @@ #include "Vision/RawCameraGenerator.h" #include #include +#include #include +#include "Wireless/Socket.h" #ifdef PLATFORM_APERIOS # include # include @@ -287,6 +289,14 @@ } else if (strncasecmp(key,"kinematic_chains",29)==0) { motion.kinematic_chains.push_back(value); return &motion.kinematic_chains; + } else if (strncasecmp(key,"calibrate:",10)==0) { + for(unsigned int i=PIDJointOffset; i10?&key[10]:key) << "' as calibration parameter" << std::endl; + return NULL; } else if (strncasecmp(key,"estop_on_snd",29)==0) { strncpy(motion.estop_on_snd,value,49); return &motion.estop_on_snd; @@ -335,6 +345,27 @@ } else if (strncasecmp(key,"preload",29)==0) { sound.preload.push_back(value); return &sound.preload ; + } else if (strncasecmp(key,"streaming.mic_port",29)==0) { + sound.streaming.mic_port = atoi(value); + return &sound.streaming.mic_port; + } else if (strncasecmp(key,"streaming.mic_sample_rate",29)==0) { + sound.streaming.mic_sample_rate = atoi(value); + return &sound.streaming.mic_sample_rate; + } else if (strncasecmp(key,"streaming.mic_sample_bits",29)==0) { + sound.streaming.mic_sample_bits = atoi(value); + return &sound.streaming.mic_sample_bits; + } else if (strncasecmp(key,"streaming.mic_stereo",29)==0) { + sound.streaming.mic_stereo = extractBool(value); + return &sound.streaming.mic_stereo; + } else if (strncasecmp(key,"streaming.speaker_port",29)==0) { + sound.streaming.speaker_port = atoi(value); + return &sound.streaming.speaker_port; + } else if (strncasecmp(key,"streaming.speaker_frame_length",30)==0) { + sound.streaming.speaker_frame_length = atoi(value); + return &sound.streaming.speaker_frame_length; + } else if (strncasecmp(key,"streaming.speaker_max_delay",29)==0) { + sound.streaming.speaker_max_delay = atoi(value); + return &sound.streaming.speaker_max_delay; } break; default: @@ -372,7 +403,7 @@ bool ignoring=false; std::vector curmodel; #ifdef PLATFORM_APERIOS - char rdStr[orobotdesignNAME_MAX]; + char rdStr[orobotdesignNAME_MAX + 1]; memset(rdStr, 0, sizeof(rdStr)); if (OPENR::GetRobotDesign(rdStr) != oSUCCESS) { printf("OPENR::GetRobotDesign() failed.\n"); @@ -499,9 +530,9 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Shared/Config.h ./Shared/Config.h --- ../Tekkotsu_2.2/Shared/Config.h Mon Oct 11 18:01:34 2004 +++ ./Shared/Config.h Fri Nov 12 17:07:39 2004 @@ -147,6 +147,7 @@ std::string walk; //!< the walk parameter file to load by default for new WalkMC's std::string kinematics; //!< the kinematics description file to load std::vector kinematic_chains; //!< list of chains to load from #kinematics + float calibration[NumPIDJoints]; //!< multiplier from desired to command for PID joints char estop_on_snd[50]; //!< sound file to use when e-stop turned on char estop_off_snd[50]; //!< sound file to use when e-stop turned off float max_head_tilt_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s @@ -166,11 +167,13 @@ } //!constructor - motion_config() : root(), walk(), kinematics(), kinematic_chains(), max_head_tilt_speed(0), max_head_pan_speed(0), max_head_roll_speed(0), console_port(0), stderr_port(0) { + motion_config() + : root(), walk(), kinematics(), kinematic_chains(), max_head_tilt_speed(0), + max_head_pan_speed(0), max_head_roll_speed(0), console_port(0), stderr_port(0) + { estop_on_snd[0]=estop_off_snd[0]='\0'; - max_head_tilt_speed=0; - max_head_pan_speed=0; - max_head_roll_speed=0; + for(unsigned int i=0; iframe[lastFrame].value) / 1.0E6f) //!< returns value from OPEN-R, converted from micro in int to base in float #define GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value) //!< returns value from OPEN-R, as bool @@ -47,7 +48,7 @@ #ifdef PLATFORM_APERIOS //Thanks Daishi: - char robotDesignStr[orobotdesignNAME_MAX]; + char robotDesignStr[orobotdesignNAME_MAX + 1]; memset(robotDesignStr, 0, sizeof(robotDesignStr)); if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) { cout << "OPENR::GetRobotDesign() failed." << endl; @@ -296,6 +297,10 @@ sensors[DAccelOffset] = GETD(ERS7Info::CPCSensorAccelUD); } + //Apply sensor calibrations (currently only joint positions - perhaps IR as well?) + for(unsigned int i=0; imotion.calibration[i]; + unsigned int dif=curtime-lastSensorUpdateTime; lastSensorUpdateTime=curtime; for(unsigned int i=0; i $*.log 2>&1; \ + retval=$$?; \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ + test $$retval -eq 0; ansi2knr: ansi2knr.c $(CC) $(CFLAGS) $(ANSI2KNRFLAGS) -o ansi2knr ansi2knr.c -libjpeg.a: $(LIBOBJECTS) - $(RM) libjpeg.a - $(AR) libjpeg.a $(LIBOBJECTS) - $(AR2) libjpeg.a +$(BUILDDIR)/libjpeg.a: $(LIBOBJECTS) + $(RM) $@ + @echo "Linking $@..." + @$(AR) $@ $(LIBOBJECTS) + @$(AR2) $@ cjpeg: ansi2knr $(COBJECTS) libjpeg.a $(LN) $(LDFLAGS) -o cjpeg $(COBJECTS) libjpeg.a $(LDLIBS) @@ -160,72 +165,72 @@ cmp testorig.jpg testoutt.jpg -jcapimin.o: jcapimin.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcapistd.o: jcapistd.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jccoefct.o: jccoefct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jccolor.o: jccolor.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcdctmgr.o: jcdctmgr.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jchuff.o: jchuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jchuff.h -jcinit.o: jcinit.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcmainct.o: jcmainct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcmarker.o: jcmarker.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcmaster.o: jcmaster.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcomapi.o: jcomapi.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcparam.o: jcparam.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcphuff.o: jcphuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jchuff.h -jcprepct.o: jcprepct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jcsample.o: jcsample.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jctrans.o: jctrans.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdapimin.o: jdapimin.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdapistd.o: jdapistd.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdatadst.o: jdatadst.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h -jdatasrc.o: jdatasrc.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h -jdcoefct.o: jdcoefct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdcolor.o: jdcolor.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jddctmgr.o: jddctmgr.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jdhuff.o: jdhuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdhuff.h -jdinput.o: jdinput.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdmainct.o: jdmainct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdmarker.o: jdmarker.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdmaster.o: jdmaster.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdmerge.o: jdmerge.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdphuff.o: jdphuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdhuff.h -jdpostct.o: jdpostct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdsample.o: jdsample.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jdtrans.o: jdtrans.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jerror.o: jerror.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jversion.h jerror.h -jfdctflt.o: jfdctflt.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jfdctfst.o: jfdctfst.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jfdctint.o: jfdctint.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jidctflt.o: jidctflt.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jidctfst.o: jidctfst.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jidctint.o: jidctint.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jidctred.o: jidctred.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h -jquant1.o: jquant1.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jquant2.o: jquant2.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jutils.o: jutils.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h -jmemmgr.o: jmemmgr.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h -jmemansi.o: jmemansi.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h -jmemname.o: jmemname.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h -jmemnobs.o: jmemnobs.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h -jmemdos.o: jmemdos.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h -jmemmac.o: jmemmac.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h -cjpeg.o: cjpeg.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h jversion.h -djpeg.o: djpeg.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h jversion.h -jpegtran.o: jpegtran.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h transupp.h jversion.h -rdjpgcom.o: rdjpgcom.c jinclude.h jconfig.h -wrjpgcom.o: wrjpgcom.c jinclude.h jconfig.h -cdjpeg.o: cdjpeg.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -rdcolmap.o: rdcolmap.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -rdswitch.o: rdswitch.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -transupp.o: transupp.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h transupp.h -rdppm.o: rdppm.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -wrppm.o: wrppm.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -rdgif.o: rdgif.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -wrgif.o: wrgif.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -rdtarga.o: rdtarga.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -wrtarga.o: wrtarga.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -rdbmp.o: rdbmp.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -wrbmp.o: wrbmp.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -rdrle.o: rdrle.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h -wrrle.o: wrrle.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/jcapimin.o: jcapimin.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcapistd.o: jcapistd.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jccoefct.o: jccoefct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jccolor.o: jccolor.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcdctmgr.o: jcdctmgr.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jchuff.o: jchuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jchuff.h +$(BUILDDIR)/jcinit.o: jcinit.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcmainct.o: jcmainct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcmarker.o: jcmarker.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcmaster.o: jcmaster.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcomapi.o: jcomapi.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcparam.o: jcparam.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcphuff.o: jcphuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jchuff.h +$(BUILDDIR)/jcprepct.o: jcprepct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jcsample.o: jcsample.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jctrans.o: jctrans.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdapimin.o: jdapimin.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdapistd.o: jdapistd.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdatadst.o: jdatadst.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h +$(BUILDDIR)/jdatasrc.o: jdatasrc.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h +$(BUILDDIR)/jdcoefct.o: jdcoefct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdcolor.o: jdcolor.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jddctmgr.o: jddctmgr.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jdhuff.o: jdhuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdhuff.h +$(BUILDDIR)/jdinput.o: jdinput.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdmainct.o: jdmainct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdmarker.o: jdmarker.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdmaster.o: jdmaster.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdmerge.o: jdmerge.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdphuff.o: jdphuff.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdhuff.h +$(BUILDDIR)/jdpostct.o: jdpostct.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdsample.o: jdsample.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jdtrans.o: jdtrans.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jerror.o: jerror.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jversion.h jerror.h +$(BUILDDIR)/jfdctflt.o: jfdctflt.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jfdctfst.o: jfdctfst.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jfdctint.o: jfdctint.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jidctflt.o: jidctflt.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jidctfst.o: jidctfst.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jidctint.o: jidctint.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jidctred.o: jidctred.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jdct.h +$(BUILDDIR)/jquant1.o: jquant1.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jquant2.o: jquant2.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jutils.o: jutils.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h +$(BUILDDIR)/jmemmgr.o: jmemmgr.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h +$(BUILDDIR)/jmemansi.o: jmemansi.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h +$(BUILDDIR)/jmemname.o: jmemname.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h +$(BUILDDIR)/jmemnobs.o: jmemnobs.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h +$(BUILDDIR)/jmemdos.o: jmemdos.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h +$(BUILDDIR)/jmemmac.o: jmemmac.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h jmemsys.h +$(BUILDDIR)/cjpeg.o: cjpeg.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h $(BUILDDIR)/jversion.h +$(BUILDDIR)/djpeg.o: djpeg.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h $(BUILDDIR)/jversion.h +$(BUILDDIR)/jpegtran.o: jpegtran.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h $(BUILDDIR)/transupp.h jversion.h +$(BUILDDIR)/rdjpgcom.o: rdjpgcom.c jinclude.h jconfig.h +$(BUILDDIR)/wrjpgcom.o: wrjpgcom.c jinclude.h jconfig.h +$(BUILDDIR)/cdjpeg.o: cdjpeg.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/rdcolmap.o: rdcolmap.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/rdswitch.o: rdswitch.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/transupp.o: transupp.c jinclude.h jconfig.h jpeglib.h jmorecfg.h jpegint.h jerror.h $(BUILDDIR)/transupp.h +$(BUILDDIR)/rdppm.o: rdppm.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/wrppm.o: wrppm.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/rdgif.o: rdgif.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/wrgif.o: wrgif.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/rdtarga.o: rdtarga.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/wrtarga.o: wrtarga.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/rdbmp.o: rdbmp.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/wrbmp.o: wrbmp.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/rdrle.o: rdrle.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h +$(BUILDDIR)/wrrle.o: wrrle.c cdjpeg.h jinclude.h jconfig.h jpeglib.h jmorecfg.h jerror.h cderror.h diff -urdN ../Tekkotsu_2.2/Shared/newmat/Makefile ./Shared/newmat/Makefile --- ../Tekkotsu_2.2/Shared/newmat/Makefile Tue Oct 5 00:41:02 2004 +++ ./Shared/newmat/Makefile Tue Nov 9 16:26:13 2004 @@ -3,12 +3,14 @@ # This makefile is suitable for Unix-like systems with non-ANSI compilers. # If you have an ANSI compiler, makefile.ansi is a better starting point. -# Read installation instructions before saying "make" !! - -# The name of your C compiler: -OPENRSDK_ROOT ?= /usr/local/OPEN_R_SDK -TEKKOTSU_ROOT ?= /usr/local/Tekkotsu -CXX= $(OPENRSDK_ROOT)/bin/mipsel-linux-gcc +ifndef TEKKOTSU_ENVIRONMENT_CONFIGURATION +$(error An error has occured, TEKKOTSU_ENVIRONMENT_CONFIGURATION was not defined) +endif +include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) +FILTERSYSWARN:=$(patsubst $(TEKKOTSU_ROOT)/%,../../%,$(FILTERSYSWARN)) +COLORFILT:=$(patsubst $(TEKKOTSU_ROOT)/%,../../%,$(COLORFILT)) +BUILDDIR=$(patsubst $(TEKKOTSU_ROOT)/%,../../%,$(TK_BD)/Shared/newmat) +SRCSUFFIX=.cpp # You may need to adjust these cc options: CXXFLAGS= -fno-inline \ @@ -31,17 +33,10 @@ RM= rm -f # file rename command MV= mv -# library (.a) file creation command -AR= $(OPENRSDK_ROOT)/bin/mipsel-linux-ar rc -# second step in .a creation (use "touch" if not needed) -AR2= $(OPENRSDK_ROOT)/bin/mipsel-linux-ranlib # End of configurable options. -COLORFILT=$(TEKKOTSU_ROOT)/tools/colorfilt -FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn $(OPENRSDK_ROOT) - -# source files: JPEG library proper +# source files: LIBSOURCES= bandmat.cpp cholesky.cpp evalue.cpp fft.cpp hholder.cpp \ jacobi.cpp myexcept.cpp newfft.cpp newmat1.cpp newmat2.cpp \ newmat3.cpp newmat4.cpp newmat5.cpp newmat6.cpp newmat7.cpp \ @@ -54,71 +49,74 @@ INCLUDES= boolean.h include.h newmatap.h newmatio.h newmatrc.h precisio.h \ controlw.h myexcept.h newmat.h newmatnl.h newmatrm.h solution.h -LIBOBJECTS= $(LIBSOURCES:.cpp=.o) +LIBOBJECTS= $(addprefix $(BUILDDIR)/,$(LIBSOURCES:.cpp=.o)) # newmat1.o newmat2.o newmat3.o newmat4.o newmat5.o newmat6.o newmat7.o newmat8.o newmat9.o newmatex.o bandmat.o submat.o myexcept.o cholesky.o evalue.o fft.o hholder.o jacobi.o newfft.o sort.o svd.o newmatrm.o newmatnl.o -all: libnewmat.a +all: $(BUILDDIR)/libnewmat.a .PHONY: all clean -libnewmat.a: $(LIBOBJECTS) +$(BUILDDIR)/libnewmat.a: $(LIBOBJECTS) $(RM) $@ - $(AR) $@ $(LIBOBJECTS) - $(AR2) $@ + @echo "Linking $@..." + @$(AR) $@ $(LIBOBJECTS) + @$(AR2) $@ clean: $(RM) *.o *.a *.log core %.o: - @echo "Compiling NEWMAT::$<... (Reduced warnings)"; \ - $(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; \ + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(patsubst $(BUILDDIR)/%,%,$@)); \ + echo "Compiling NEWMAT::$$src... (Reduced warnings)"; \ + $(CXX) $(CXXFLAGS) -o $@ -c $$src > $*.log 2>&1; \ retval=$$?; \ - cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ - test $$retval -eq 0; \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ + test $$retval -eq 0; -newmat1.o: newmat1.cpp newmat.h include.h myexcept.h +$(BUILDDIR)/newmat1.o: newmat1.cpp newmat.h include.h myexcept.h -newmat2.o: newmat2.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat2.o: newmat2.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -newmat3.o: newmat3.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat3.o: newmat3.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -newmat4.o: newmat4.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat4.o: newmat4.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -newmat5.o: newmat5.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat5.o: newmat5.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -newmat6.o: newmat6.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat6.o: newmat6.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -newmat7.o: newmat7.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat7.o: newmat7.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -newmat8.o: newmat8.cpp include.h newmat.h newmatrc.h precisio.h myexcept.h controlw.h +$(BUILDDIR)/newmat8.o: newmat8.cpp include.h newmat.h newmatrc.h precisio.h myexcept.h controlw.h -newmat9.o: newmat9.cpp include.h newmat.h newmatio.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/newmat9.o: newmat9.cpp include.h newmat.h newmatio.h newmatrc.h myexcept.h controlw.h -newmatex.o: newmatex.cpp include.h newmat.h myexcept.h +$(BUILDDIR)/newmatex.o: newmatex.cpp include.h newmat.h myexcept.h -bandmat.o: bandmat.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/vbandmat.o: bandmat.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -submat.o: submat.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h +$(BUILDDIR)/submat.o: submat.cpp include.h newmat.h newmatrc.h myexcept.h controlw.h -myexcept.o: myexcept.cpp include.h myexcept.h +$(BUILDDIR)/myexcept.o: myexcept.cpp include.h myexcept.h -cholesky.o: cholesky.cpp include.h newmat.h myexcept.h +$(BUILDDIR)/cholesky.o: cholesky.cpp include.h newmat.h myexcept.h -evalue.o: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h myexcept.h +$(BUILDDIR)/evalue.o: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h myexcept.h -fft.o: fft.cpp include.h newmatap.h newmat.h myexcept.h +$(BUILDDIR)/fft.o: fft.cpp include.h newmatap.h newmat.h myexcept.h -hholder.o: hholder.cpp include.h newmatap.h newmat.h myexcept.h +$(BUILDDIR)/hholder.o: hholder.cpp include.h newmatap.h newmat.h myexcept.h -jacobi.o: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h myexcept.h +$(BUILDDIR)/jacobi.o: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h myexcept.h -newfft.o: newfft.cpp newmatap.h newmat.h include.h myexcept.h +$(BUILDDIR)/newfft.o: newfft.cpp newmatap.h newmat.h include.h myexcept.h -sort.o: sort.cpp include.h newmatap.h newmat.h myexcept.h +$(BUILDDIR)/sort.o: sort.cpp include.h newmatap.h newmat.h myexcept.h -svd.o: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h myexcept.h +$(BUILDDIR)/svd.o: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h myexcept.h -newmatrm.o: newmatrm.cpp newmat.h newmatrm.h include.h myexcept.h +$(BUILDDIR)/newmatrm.o: newmatrm.cpp newmat.h newmatrm.h include.h myexcept.h -newmatnl.o: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h myexcept.h +$(BUILDDIR)/newmatnl.o: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h myexcept.h diff -urdN ../Tekkotsu_2.2/Shared/string_util.cc ./Shared/string_util.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Shared/string_util.h ./Shared/string_util.h --- ../Tekkotsu_2.2/Shared/string_util.h Wed Jan 14 15:45:28 2004 +++ ./Shared/string_util.h Wed Jan 14 15:45:28 2004 @@ -24,7 +24,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/SoundPlay/SoundManager.cc ./SoundPlay/SoundManager.cc --- ../Tekkotsu_2.2/SoundPlay/SoundManager.cc Thu Oct 7 20:07:25 2004 +++ ./SoundPlay/SoundManager.cc Thu Nov 4 00:24:03 2004 @@ -17,8 +17,14 @@ typedef LockScope AutoLock; SoundManager::SoundManager() - : sndlist(),playlist(),chanlist(),mix_mode(Fast),queue_mode(Override),max_chan(4),lock() -{} + : mixerBuffer(0), mixerBufferSize(0), + sndlist(),playlist(),chanlist(),mix_mode(Fast),queue_mode(Override),max_chan(4),lock() +{ +} + +SoundManager::~SoundManager() { + delete[] mixerBuffer; +} void SoundManager::InitAccess(OSubject* subj) { @@ -29,6 +35,10 @@ SoundManager::Snd_ID SoundManager::LoadFile(std::string const &name) { AutoLock autolock(lock,ProcessID::getID()); + if (name.size() == 0) { + cout << "SoundManager::LoadFile() null filename" << endl; + return invalid_Snd_ID; + }; std::string path(config->sound.makePath(name)); Snd_ID id=lookupPath(path); if(id!=invalid_Snd_ID) { @@ -38,7 +48,7 @@ // cout << "load new file" << endl; struct stat buf; if(stat(path.c_str(),&buf)==-1) { - cout << "SoundManager::LoadFile(): Sound file not found " << name << endl; + cout << "SoundManager::LoadFile(): Sound file not found: " << path << endl; return invalid_Snd_ID; } byte * sndbuf=new byte[buf.st_size]; @@ -47,7 +57,8 @@ WAV wav; WAVError error = wav.Set(sndbuf); if (error != WAV_SUCCESS) { - OSYSLOG1((osyslogERROR, "%s : %s %d","SoundManager::LoadFile()","wav.Set() FAILED", error)); + OSYSLOG1((osyslogERROR, "%s : %s %d: '%s'","SoundManager::LoadFile()","wav.Set() FAILED", + error, path.c_str())); return invalid_Snd_ID; } if(wav.GetSamplingRate()!=config->sound.sample_rate || wav.GetBitsPerSample()!=config->sound.sample_bits) { @@ -316,188 +327,175 @@ return t/bytesPerMS; } +void +SoundManager::MixChannel(Play_ID channelId, void* buf, size_t destSize) { + char *dest = (char*) buf; + + PlayState& channel = playlist[channelId]; + while (destSize > 0) { + const SoundData& buffer = sndlist[channel.snd_id]; + const char* samples = ((char*) (buffer.data)) + channel.offset; + const unsigned int samplesSize = buffer.len - channel.offset; + if (samplesSize > destSize) { + memcpy(dest, samples, destSize); + channel.offset += destSize; + dest += destSize; + destSize = 0; + return; + } else { + memcpy(dest, samples, samplesSize); + channel.offset += samplesSize; + dest += samplesSize; + destSize -= samplesSize; + if (endPlay(channelId)) { + break; + } + } + } + if (destSize > 0) { + memset(dest, 0, destSize); + } +} + +void +SoundManager::MixChannelAdditively(Play_ID channelId, int bitsPerSample, MixMode_t mode, + short scalingFactor, void* buf, size_t destSize) +{ + PlayState& channel = playlist[channelId]; + while (destSize > 0) { + const SoundData& buffer = sndlist[channel.snd_id]; + const unsigned int samplesSize = buffer.len - channel.offset; + const unsigned int mixedSamplesSize = + ((mode == Fast) + ? ((samplesSize > destSize) ? destSize : samplesSize) + : ((samplesSize > destSize / 2) ? destSize / 2 : samplesSize)); + + if (bitsPerSample == 8) { + // 8-bit mode + const char* samples = (char*) (buffer.data + channel.offset); + if (mode == Fast) { + // 8-bit mixing + char *dest = (char*) buf; + for (size_t i = 0; i < mixedSamplesSize; i++) { + *dest += samples[i] / scalingFactor; + dest++; + } + destSize -= (char*) dest - (char*) buf; + buf = dest; + } else { + // 16-bit mixing + short* dest = (short*) buf; + for (size_t i = 0; i < mixedSamplesSize; i++) { + *dest += samples[i]; + *dest++; + } + destSize -= (char*) dest - (char*) buf; + buf = dest; + } + } else { + // 16-bit mode + const short* samples = (short*) (buffer.data + channel.offset); + if (mode == Fast) { + // 16-bit mixing + short* dest = (short*) buf; + for (size_t i = 0; i < mixedSamplesSize / 2; i++) { + *dest += samples[i] / scalingFactor; + *dest++; + } + destSize -= (char*) dest - (char*) buf; + buf = dest; + } else { + // 32-bit mixing + int* dest = (int*) buf; + for (size_t i = 0; i < mixedSamplesSize / 2; i++) { + *dest += samples[i]; + *dest++; + } + destSize -= (char*) dest - (char*) buf; + buf = dest; + } + } + channel.offset += mixedSamplesSize; + if (destSize == 0) { + return; + } else { + if (endPlay(channelId)) { + return; + } + } + } +} + unsigned int SoundManager::CopyTo(OSoundVectorData* data) { AutoLock autolock(lock,ProcessID::getID()); - size_t avail = data->GetInfo(0)->dataSize; - byte* dest = data->GetData(0); - byte* end = dest+avail; + size_t destSize = data->GetInfo(0)->dataSize; + void* dest = data->GetData(0); - if(chanlist.size()==0) { - memset(dest,0,avail); + if(chanlist.size() == 0) { + memset(dest, 0, destSize); return 0; } - std::vector mixs; - selectChannels(mixs); - - std::vector srcs; - std::vector ends; - for(std::vector::iterator it=mixs.begin(); it!=mixs.end(); it++) { - Snd_ID cursnd=playlist[*it].snd_id; - srcs.push_back(sndlist[cursnd].data+playlist[*it].offset); - ends.push_back(sndlist[cursnd].data+sndlist[cursnd].len); - } + std::vector channels; + selectChannels(channels); - if(mixs.size()==0) { // nothing right now, but one's coming - memset(dest,0,avail); - return 1; - } else if(mixs.size()==1) { // only 1, just copy it directly (most common case) - size_t remain=ends.front()-srcs.front(); - if(remain>=avail) { //just copy a buffer's worth - memcpy(dest,srcs.front(),avail); - playlist[mixs.front()].offset+=avail; - updateChannels(mixs,avail); - return 1; - } else { //copy what remains, 0 the rest - memcpy(dest,srcs.front(),remain); - memset(dest+remain,0,avail-remain); - playlist[mixs.front()].offset=sndlist[playlist[mixs.front()].snd_id].len; - endPlay(mixs.front()); - return 0; - } - } else { // do a mix - if(mix_mode==Fast) { //essentially the same as quality mode below, but rounds off low order bits early - byte* begin=dest; - unsigned int stopped=0; - if(config->sound.sample_bits==8) { // have to mix, 8 bit - char size=srcs.size(); - //just the first one, set dest - for(unsigned int c=0; c<1; c++) { - if((size_t)(ends[c]-srcs[c])>avail) { - for(dest=begin;destavail) { - for(dest=begin;destavail) { - for(dest=begin;destavail) { - for(dest=begin;destsound.sample_bits; + if (mode == Quality) { + // Quality mixing uses an intermediate buffer + if ((mixerBuffer == 0) || (mixerBufferSize < destSize * 2)) { + delete[] mixerBuffer; + mixerBuffer = 0; + mixerBufferSize = destSize * 2; + mixerBuffer = new int[(mixerBufferSize / 4) + 1]; // makes sure it's int-aligned } - for(unsigned int c=0; csound.sample_bits==8) { // have to mix, 8 bit - for(;dest!=end;dest++) { - short total=0; - for(unsigned int c=0; c::iterator i = channels.begin(); i != channels.end(); i++) + MixChannelAdditively(*i, bitsPerSample, mode, scalingFactor, dest, destSize); + + if (mode == Quality) { + // Quality mixing uses an intermediate buffer + // Scale the buffer + destSize /= 2; + if (bitsPerSample == 8) { + // 8-bit mode + char* destChar = (char*) data->GetData(0); + short* mixerBufferShort = (short*) mixerBuffer; + for (size_t i = 0; i < destSize; i++) { + destChar[i] = (char) (mixerBufferShort[i] / channelCount); + } + } else { + // 16-bit mode + short* destShort = (short*) data->GetData(0); + const size_t destSampleCount = destSize / 2; + for (size_t i = 0; i < destSampleCount; i++) { + destShort[i] = (short) (mixerBuffer[i] / channelCount); } } - for(unsigned int c=0; cGetInfo(0)->dataSize); + return channels.size(); } void @@ -612,14 +610,26 @@ break; } for(;it!=chanlist.end(); it=chanlist.next(it)) { - Snd_ID cursnd=playlist[chanlist[it]].snd_id; - if(sndlist[cursnd].data!=NULL) { - size_t remain = sndlist[cursnd].len-playlist[chanlist[it]].offset; - if(remain 0) { + SoundData &buffer = sndlist[channel.snd_id]; + // FIXME: Don't know why the buffer.data != 0 check is done + if (buffer.data != 0) { + size_t remain = buffer.len - channel.offset; + if (remain < skip) { + channel.offset = buffer.len; + skip -= buffer.len; + if (endPlay(channelId)) { + break; + } + } else { + channel.offset += skip; + skip = 0; + } } else { - playlist[chanlist[it]].offset+=used; + break; } } } @@ -665,11 +675,11 @@ * @brief Implements SoundManager, which provides sound effects and caching services, as well as mixing buffers for the SoundPlay process * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/SoundPlay/SoundManager.h ./SoundPlay/SoundManager.h --- ../Tekkotsu_2.2/SoundPlay/SoundManager.h Thu Oct 7 20:07:25 2004 +++ ./SoundPlay/SoundManager.h Thu Nov 4 00:24:03 2004 @@ -52,6 +52,7 @@ public: //!constructor SoundManager(); + virtual ~SoundManager(); //!This is used for referring to sound data so you can start playing it or release it typedef SoundManagerMsg::Snd_ID Snd_ID; @@ -68,8 +69,9 @@ //!Used to set the mode for mixing multiple sound channels /*!Feel free to add a higher quality mixer if you're an audiophile - I'm pretty new to sound processing*/ enum MixMode_t { - Fast, //!< uses bit shifting trick, but can result in reduced volume with more active channels, best if you set max_channels to a power of 2 - Quality //!< uses real division to maintain volume level, although still a rather naive (but relatively fast) algorithm + // there's some prototype code for a bit-shifting 'Faster' quality level, but it hasn't been finished... 'Fast' is the default for now. + Fast, //!< uses real division to maintain volume level, without increasing intermediary precision, which causes low-order bit error in exchange for less CPU usage + Quality //!< uses real division to maintain volume level, using an intermediary higher precision buffer for mixing }; enum QueueMode_t { @@ -170,6 +172,20 @@ unsigned int GetNumPlaying() { return chanlist.size(); } protected: + //!Mixes the channel into the buffer + void MixChannel(Play_ID channelId, void* buf, size_t size); + + //!Mixes the channel into the buffer additively + /*!If mode is Quality, then the size of the buffer should be double the normal + * size. */ + void MixChannelAdditively(Play_ID channelId, int bitsPerSample, MixMode_t mode, short scalingFactor, void* buf, size_t size); + + //!The intermediate mixer buffer used for Quality mode mixing + int* mixerBuffer; + + //!Size (in bytes) of the intermediate mixer buffer + size_t mixerBufferSize; + //!Sets up a shared region to hold a sound - rounds to nearest page size static RCRegion* initRegion(unsigned int size); @@ -245,11 +261,11 @@ * @brief Describes SoundManager, which provides sound effects and caching services, as well as mixing buffers for the SoundPlay process * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/SoundPlay/SoundManagerMsg.h ./SoundPlay/SoundManagerMsg.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/SoundPlay/SoundPlay.cc ./SoundPlay/SoundPlay.cc --- ../Tekkotsu_2.2/SoundPlay/SoundPlay.cc Fri Jan 16 18:55:32 2004 +++ ./SoundPlay/SoundPlay.cc Fri Jan 16 18:55:32 2004 @@ -269,7 +269,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/SoundPlay/SoundPlay.h ./SoundPlay/SoundPlay.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/SoundPlay/WAV.cc ./SoundPlay/WAV.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/SoundPlay/WAV.h ./SoundPlay/WAV.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/TinyFTPD/FtpMethod.cc ./TinyFTPD/FtpMethod.cc --- ../Tekkotsu_2.2/TinyFTPD/FtpMethod.cc Mon Jul 12 15:58:59 2004 +++ ./TinyFTPD/FtpMethod.cc Tue Nov 16 18:52:10 2004 @@ -87,7 +87,7 @@ if (!strncmp(file, ftpHome, strlen(ftpHome))) { if((fp = fopen(file, "wb")) == NULL) { - OSYSLOG1((osyslogERROR, "Ftpd::File Open Failed %s.", file)); + OSYSLOG1((osyslogERROR, "Ftpd::File Open Failed %s. errno=%d", file,errno)); return false; } } else { diff -urdN ../Tekkotsu_2.2/Vision/BallDetectionGenerator.cc ./Vision/BallDetectionGenerator.cc --- ../Tekkotsu_2.2/Vision/BallDetectionGenerator.cc Sun Jan 18 05:16:58 2004 +++ ./Vision/BallDetectionGenerator.cc Tue Nov 9 15:01:49 2004 @@ -18,8 +18,8 @@ void BallDetectionGenerator::processEvent(const EventBase& e) { PROFSECTION("BallDetection::processEvent()",state->mainProfile); - - if(!erouter->hasListeners(getGeneratorID(),getSourceID())) + EventGeneratorBase::processEvent(e); + if(e.getGeneratorID()!=getListenGeneratorID() || e.getSourceID()!=getListenSourceID()) return; const SegmentedColorFilterBankEvent * segev=dynamic_cast(&e); @@ -276,8 +276,8 @@ * 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: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/BallDetectionGenerator.h ./Vision/BallDetectionGenerator.h --- ../Tekkotsu_2.2/Vision/BallDetectionGenerator.h Mon Feb 9 17:45:28 2004 +++ ./Vision/BallDetectionGenerator.h Mon Feb 9 17:45:28 2004 @@ -89,7 +89,7 @@ * reviewed the code, so I guess it's all ours... * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/CDTGenerator.cc ./Vision/CDTGenerator.cc --- ../Tekkotsu_2.2/Vision/CDTGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/CDTGenerator.cc Tue Nov 9 15:01:49 2004 @@ -23,6 +23,10 @@ */ void CDTGenerator::processEvent(const EventBase& event) { + EventGeneratorBase::processEvent(event); + if(event.getGeneratorID()!=getListenGeneratorID() || event.getSourceID()!=getListenSourceID()) + return; + typedef DataEvent OFbkEvent; const OFbkEvent& fbkevent=dynamic_cast(event); OFbkImageVectorData& fbkdat=*const_cast(fbkevent.getData()); @@ -233,9 +237,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/CDTGenerator.h ./Vision/CDTGenerator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/FilterBankGenerator.cc ./Vision/FilterBankGenerator.cc --- ../Tekkotsu_2.2/Vision/FilterBankGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/FilterBankGenerator.cc Tue Nov 9 15:01:49 2004 @@ -2,6 +2,8 @@ #include "Events/FilterBankEvent.h" #include "Events/EventRouter.h" +using namespace std; + unsigned char * FilterBankGenerator::getImage(unsigned int layer, unsigned int channel) const { //for(int i=0;i<1000;i++) @@ -33,16 +35,20 @@ void FilterBankGenerator::processEvent(const EventBase & event) { - const FilterBankEvent& fbkevent=dynamic_cast(event); - src=fbkevent.getSource(); - frameNumber=src->getFrameNumber(); - setNumImages(src->getNumLayers(),src->getNumChannels()); - if(numLayers>0 && (src->getWidth(numLayers-1)!=getWidth(numLayers-1) || src->getHeight(numLayers-1)!=getHeight(numLayers-1))) { - ASSERT(widths[numLayers-1]==0,"Strange, the image dim changed after initial setting" << widths[numLayers-1] << ' ' << heights[numLayers-1]); - setDimensions(); + if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) { + const FilterBankEvent& fbkevent=dynamic_cast(event); + src=fbkevent.getSource(); + frameNumber=src->getFrameNumber(); + setNumImages(src->getNumLayers(),src->getNumChannels()); + if(numLayers>0 && (src->getWidth(numLayers-1)!=getWidth(numLayers-1) || src->getHeight(numLayers-1)!=getHeight(numLayers-1))) { + ASSERT(widths[numLayers-1]==0,"Strange, the image dim changed after initial setting" << widths[numLayers-1] << ' ' << heights[numLayers-1]); + setDimensions(); + } + invalidateCaches(); + framesProcessed++; + } else { + EventGeneratorBase::processEvent(event); } - invalidateCaches(); - framesProcessed++; } unsigned int FilterBankGenerator::getBinSize() const { @@ -158,9 +164,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/FilterBankGenerator.h ./Vision/FilterBankGenerator.h --- ../Tekkotsu_2.2/Vision/FilterBankGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/FilterBankGenerator.h Wed Nov 10 20:45:37 2004 @@ -112,11 +112,6 @@ class FilterBankGenerator : public EventGeneratorBase, public LoadSave { public: //! constructor - FilterBankGenerator() - : EventGeneratorBase(), src(NULL), numLayers(0), numChannels(0), widths(NULL), heights(NULL), skips(NULL), strides(NULL), increments(NULL), images(NULL), imageValids(NULL), selectedSaveLayer(0), selectedSaveChannel(0), frameNumber(0), framesProcessed(0) - { } - - //! constructor FilterBankGenerator(const std::string& name,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid, EventBase::EventGeneratorID_t mgid, unsigned int msid) : EventGeneratorBase(name,mgid,msid,srcgid,srcsid), src(NULL), numLayers(0), numChannels(0), widths(NULL), heights(NULL), skips(NULL), strides(NULL), increments(NULL), images(NULL), imageValids(NULL), selectedSaveLayer(0), selectedSaveChannel(0), frameNumber(0), framesProcessed(0) { } @@ -285,10 +280,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/Vision/InterleavedYUVGenerator.cc ./Vision/InterleavedYUVGenerator.cc --- ../Tekkotsu_2.2/Vision/InterleavedYUVGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/InterleavedYUVGenerator.cc Tue Nov 9 15:01:49 2004 @@ -17,7 +17,8 @@ void InterleavedYUVGenerator::processEvent(const EventBase& event) { FilterBankGenerator::processEvent(event); - erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); + if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) + erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); } unsigned int @@ -127,9 +128,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/InterleavedYUVGenerator.h ./Vision/InterleavedYUVGenerator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/JPEGGenerator.cc ./Vision/JPEGGenerator.cc --- ../Tekkotsu_2.2/Vision/JPEGGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/JPEGGenerator.cc Tue Nov 9 15:01:49 2004 @@ -47,13 +47,15 @@ void JPEGGenerator::processEvent(const EventBase& event) { FilterBankGenerator::processEvent(event); - if(getSourceMode()==SRC_AUTO) { //if not auto, curMode was already set when srcMode was set - if(dynamic_cast(src)!=NULL) - curMode=SRC_COLOR; - else - curMode=SRC_GRAYSCALE; + if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) { + if(getSourceMode()==SRC_AUTO) { //if not auto, curMode was already set when srcMode was set + if(dynamic_cast(src)!=NULL) + curMode=SRC_COLOR; + else + curMode=SRC_GRAYSCALE; + } + erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); } - erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); } unsigned int @@ -239,9 +241,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/JPEGGenerator.h ./Vision/JPEGGenerator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/RLEGenerator.cc ./Vision/RLEGenerator.cc --- ../Tekkotsu_2.2/Vision/RLEGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/RLEGenerator.cc Tue Nov 9 15:01:49 2004 @@ -13,10 +13,12 @@ void RLEGenerator::processEvent(const EventBase& event) { FilterBankGenerator::processEvent(event); - if(const SegmentedColorFilterBankEvent * segsrc=dynamic_cast(&event)) - erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),*segsrc)); - else - erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); + if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) { + if(const SegmentedColorFilterBankEvent * segsrc=dynamic_cast(&event)) + erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),*segsrc)); + else + erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); + } } unsigned int @@ -147,9 +149,9 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/RLEGenerator.h ./Vision/RLEGenerator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/RawCameraGenerator.cc ./Vision/RawCameraGenerator.cc --- ../Tekkotsu_2.2/Vision/RawCameraGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/RawCameraGenerator.cc Tue Nov 9 15:01:49 2004 @@ -23,6 +23,9 @@ */ void RawCameraGenerator::processEvent(const EventBase& event) { + EventGeneratorBase::processEvent(event); + if(event.getGeneratorID()!=getListenGeneratorID() || event.getSourceID()!=getListenSourceID()) + return; typedef DataEvent OFbkEvent; const OFbkEvent& fbkevent=dynamic_cast(event); OFbkImageVectorData& fbkdat=*const_cast(fbkevent.getData()); @@ -422,9 +425,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/RawCameraGenerator.h ./Vision/RawCameraGenerator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/RegionGenerator.cc ./Vision/RegionGenerator.cc --- ../Tekkotsu_2.2/Vision/RegionGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/RegionGenerator.cc Tue Nov 9 15:01:49 2004 @@ -24,21 +24,23 @@ void RegionGenerator::processEvent(const EventBase& event) { FilterBankGenerator::processEvent(event); - const RLEGenerator * rle=dynamic_cast(src); - if(NULL==rle) { - serr->printf("RegionGenerator's event %s is not from RLEGenerator\n",event.getName().c_str()); - return; - } - const SegmentedColorFilterBankEvent * segev=dynamic_cast(&event); - if(NULL==segev) { - serr->printf("RegionGenerator's event %s is not SegmentedColorFilterBankEvent\n",event.getName().c_str()); - return; + if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) { + const RLEGenerator * rle=dynamic_cast(src); + if(NULL==rle) { + serr->printf("RegionGenerator's event %s is not from RLEGenerator\n",event.getName().c_str()); + return; + } + const SegmentedColorFilterBankEvent * segev=dynamic_cast(&event); + if(NULL==segev) { + serr->printf("RegionGenerator's event %s is not SegmentedColorFilterBankEvent\n",event.getName().c_str()); + return; + } + if(srcNumColors!=segev->getNumColors()) + freeCaches(); + srcNumColors=segev->getNumColors(); + srcColors=segev->getColors(); + erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),*segev)); } - if(srcNumColors!=segev->getNumColors()) - freeCaches(); - srcNumColors=segev->getNumColors(); - srcColors=segev->getColors(); - erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),*segev)); } unsigned int @@ -237,9 +239,9 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/RegionGenerator.h ./Vision/RegionGenerator.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Vision/SegmentedColorGenerator.cc ./Vision/SegmentedColorGenerator.cc --- ../Tekkotsu_2.2/Vision/SegmentedColorGenerator.cc Wed Feb 18 16:13:32 2004 +++ ./Vision/SegmentedColorGenerator.cc Tue Nov 9 15:01:49 2004 @@ -31,7 +31,8 @@ void SegmentedColorGenerator::processEvent(const EventBase& event) { FilterBankGenerator::processEvent(event); - erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),this,getNumColors(),getColors(),&colorNames)); + if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) + erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),this,getNumColors(),getColors(),&colorNames)); } unsigned int @@ -223,9 +224,9 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ diff -urdN ../Tekkotsu_2.2/Vision/SegmentedColorGenerator.h ./Vision/SegmentedColorGenerator.h --- ../Tekkotsu_2.2/Vision/SegmentedColorGenerator.h Fri Jul 16 23:29:24 2004 +++ ./Vision/SegmentedColorGenerator.h Fri Jul 16 23:29:24 2004 @@ -161,7 +161,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Wireless/DummySocket.h ./Wireless/DummySocket.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Wireless/Socket.cc ./Wireless/Socket.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Wireless/Socket.h ./Wireless/Socket.h --- ../Tekkotsu_2.2/Wireless/Socket.h Mon Oct 4 16:38:05 2004 +++ ./Wireless/Socket.h Mon Oct 4 16:38:05 2004 @@ -228,7 +228,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Wireless/Wireless.cc ./Wireless/Wireless.cc --- ../Tekkotsu_2.2/Wireless/Wireless.cc Tue Sep 28 18:12:35 2004 +++ ./Wireless/Wireless.cc Tue Sep 28 18:12:35 2004 @@ -495,7 +495,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/Wireless/Wireless.h ./Wireless/Wireless.h --- ../Tekkotsu_2.2/Wireless/Wireless.h Wed Mar 24 01:38:21 2004 +++ ./Wireless/Wireless.h Wed Mar 24 01:38:21 2004 @@ -155,7 +155,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/docs/benchmarks/profilerun_ERS210A_2.2.1.txt ./docs/benchmarks/profilerun_ERS210A_2.2.1.txt --- ../Tekkotsu_2.2/docs/benchmarks/profilerun_ERS210A_2.2.1.txt Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/profilerun_ERS210A_2.2.1.txt Tue Nov 16 19:03:19 2004 @@ -0,0 +1 @@ +not run diff -urdN ../Tekkotsu_2.2/docs/benchmarks/profilerun_ERS7_2.2.1.txt ./docs/benchmarks/profilerun_ERS7_2.2.1.txt --- ../Tekkotsu_2.2/docs/benchmarks/profilerun_ERS7_2.2.1.txt Wed Dec 31 19:00:00 1969 +++ ./docs/benchmarks/profilerun_ERS7_2.2.1.txt Tue Nov 16 19:03:19 2004 @@ -0,0 +1 @@ +not run diff -urdN ../Tekkotsu_2.2/docs/doxygencfg ./docs/doxygencfg --- ../Tekkotsu_2.2/docs/doxygencfg Mon Oct 18 12:59:27 2004 +++ ./docs/doxygencfg Tue Nov 16 19:09:35 2004 @@ -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 +PROJECT_NUMBER = 2.2.1 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. @@ -461,9 +461,7 @@ # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude # certain files from those directories. -EXCLUDE_PATTERNS = */Vision/cmv*.h \ - */Vision/colors.h \ - */docs/*.h \ +EXCLUDE_PATTERNS = */docs/*.h \ */docs/*.cc \ */Shared/newmat/* \ */Motion/roboop/* \ diff -urdN ../Tekkotsu_2.2/docs/html/index.html ./docs/html/index.html --- ../Tekkotsu_2.2/docs/html/index.html Tue Oct 19 04:28:01 2004 +++ ./docs/html/index.html Tue Nov 16 19:09:35 2004 @@ -124,8 +124,8 @@ static copies of the documentation, there are two formats:

    -
  • HTML (v2.2, -6.4MB)
    • +
  • HTML (v2.2.1, +5.9MB)
If you're using the most recent version from the CVS repository, diff -urdN ../Tekkotsu_2.2/project/Environment.conf ./project/Environment.conf --- ../Tekkotsu_2.2/project/Environment.conf Wed Dec 31 19:00:00 1969 +++ ./project/Environment.conf Tue Nov 16 14:02:46 2004 @@ -0,0 +1,93 @@ +########### ENVIRONMENT VARIABLES ############### +# If you need to modify these, you should set them as environment +# variables instead of changing them here - that way other tools (such +# as mntmem and crashDebug) can use these as well. + +# Directory the Tekkotsu framework is stored +TEKKOTSU_ROOT ?= /usr/local/Tekkotsu + +# Location where the memstick will be mounted +# If you're using cygwin, you probably want something like +# '/cygdrive/e' instead. +MEMSTICK_ROOT ?= /mnt/memstick + +# Directory where the OPEN-R SDK was installed +# See http://www.tekkotsu.org/SDKInstall.html +# or the OPEN-R website: http://openr.aibo.com/ +OPENRSDK_ROOT ?= /usr/local/OPEN_R_SDK + +# in case your memory stick drivers use uppercase, you'll need to +# set 'FILENAME_CASE' to 'upper' +FILENAME_CASE ?= lower + +# this will delete files from the memory stick that aren't also in +# your build image - except files at the root level of the memstick, +# like memstick.ind +# default: OFF (empty string) - any non-empty string is ON +STRICT_MEMSTICK_IMAGE ?= + +# What model are you targeting? This will look at the +# $TEKKOTSU_ROOT/TARGET_MODEL file to find out. If the file is not +# found, it is created with the default setting TGT_ERS2xx. change +# the target model, make will automatically recompile everything for +# you. +# Legal values: TGT_ERS210 TGT_ERS220 TGT_ERS2xx TGT_ERS7 +TEKKOTSU_TARGET_MODEL ?= TGT_ERS7 + +# What OS is this going to be running under? +# Choices are: +# PLATFORM_APERIOS - the AIBO's OS +# PLATFORM_LOCAL - the current desktop environment (*Under development*) +# If you need to do platform specific stuff in your code, best +# to check #ifdef PLATFORM_APERIOS, and otherwise assume a UNIX-style +# environment. Note that non-Aperios implies no OPEN-R headers. +TEKKOTSU_TARGET_PLATFORM ?= PLATFORM_APERIOS + +# This can be nice if you want to use 'more' to page through errors +# if they occur. Otherwise, try using 'cat' instead. +# The default value below uses 'more', except on Mac OS X which uses 'cat' +# since 'more' on OS X doesn't handle the console colors. +TEKKOTSU_LOGVIEW ?= $(if $(findstring Darwin,$(shell uname)),cat,more) + +# These control the location that the temporary object files will +# be stored. +TEKKOTSU_BUILDDIR ?= $(TEKKOTSU_ROOT)/build +PROJECT_BUILDDIR ?= build +# or perhaps you would like one/both of these better: +# puts build directory in local tmp, but avoids conflicts between +# multiple frameworks or multiple projects +#TEKKOTSU_BUILDDIR ?= $(shell echo /tmp/`cd $(TEKKOTSU_ROOT); pwd | tr / _`_build_$(USER) | sed "s/ /\\ /g") +#PROJECT_BUILDDIR ?= $(shell echo /tmp/`pwd | tr / _`_build_$(USER) | sed "s/ /\\ /g") + + +########## TOOL SELECTION VARIABLES ############# +# You probably don't really want to edit these unless you've +# got something better in mind. +ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) + CC=$(OPENRSDK_ROOT)/bin/mipsel-linux-gcc + CXX=$(OPENRSDK_ROOT)/bin/mipsel-linux-g++ + LD=$(OPENRSDK_ROOT)/bin/mipsel-linux-ld + STRIP=$(OPENRSDK_ROOT)/bin/mipsel-linux-strip + MKBIN=$(OPENRSDK_ROOT)/OPEN_R/bin/mkbin + MKBINFLAGS=-p $(OPENRSDK_ROOT) + AR=$(OPENRSDK_ROOT)/bin/mipsel-linux-ar rcs + AR2=touch + FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn $(OPEN_R_SDK) +else + CC=gcc + CXX=g++ + LD=ld + STRIP=strip + AR=ar rcs + AR2=touch + FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn /usr/include +endif +STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 +COLORFILT=$(TEKKOTSU_ROOT)/tools/colorfilt + +#These will be the actual build directories used for the current target +TGT_BD:=$(TEKKOTSU_TARGET_PLATFORM)_$(TEKKOTSU_TARGET_MODEL) +TK_BD:=$(TEKKOTSU_BUILDDIR)/$(TGT_BD) +PROJ_BD:=$(PROJECT_BUILDDIR)/$(TGT_BD) +$(shell mkdir -p $(TK_BD)) +$(shell mkdir -p $(PROJ_BD)) diff -urdN ../Tekkotsu_2.2/project/Makefile ./project/Makefile --- ../Tekkotsu_2.2/project/Makefile Thu Oct 14 16:22:51 2004 +++ ./project/Makefile Tue Nov 16 21:52:45 2004 @@ -4,67 +4,11 @@ ################################################### ## ENVIRONMENT SETUP ## ################################################### - - -########### ENVIRONMENT VARIABLES ############### -# If you need to modify these, you should set them as environment -# variables instead of changing them here - that way other tools (such -# as mntmem and crashDebug) can use these as well. - -# Directory the Tekkotsu framework is stored -TEKKOTSU_ROOT ?= /usr/local/Tekkotsu - -# Location where the memstick will be mounted -MEMSTICK_ROOT ?= /mnt/memstick - -# Directory where the OPEN-R SDK was installed -# See http://www.tekkotsu.org/SDKInstall.html -# or the OPEN-R website: http://openr.aibo.com/ -OPENRSDK_ROOT ?= /usr/local/OPEN_R_SDK - -# in case your memory stick drivers use uppercase, you'll need to -# set 'FILENAME_CASE' to 'upper' -FILENAME_CASE ?= lower - -# this will delete files from the memory stick that aren't also in -# your build image - except files at the root level of the memstick, -# like memstick.ind -# default: OFF (empty string) - any non-empty string is ON -STRICT_MEMSTICK_IMAGE ?= - -# What model are you targeting? This will look at the -# $TEKKOTSU_ROOT/TARGET_MODEL file to find out. If the file is not -# found, it is created with the default setting TGT_ERS2xx. change -# the target model, make will automatically recompile everything for -# you. -# Legal values: TGT_ERS210 TGT_ERS220 TGT_ERS2xx TGT_ERS7 -TEKKOTSU_TARGET_MODEL ?= TGT_ERS7 - -# What OS is this going to be running under? -# Right now, the only choice is Aperios, but in the future we may -# support running under linux systems, either as simulation for -# AIBOs, or direct support for linux-based robots. -TEKKOTSU_TARGET_PLATFORM ?= PLATFORM_APERIOS - -# This can be nice if you want to use more to page through errors -# if they occur. Otherwise, try using cat instead. -TEKKOTSU_LOGVIEW ?= $(if $(findstring Darwin,$(shell uname)),cat,more) - -# These control the location that the temporary object files will -# be stored. -TEKKOTSU_BUILDDIR ?= $(TEKKOTSU_ROOT)/build -PROJECT_BUILDDIR ?= build -# or perhaps you would like something like this better: -#TEKKOTSU_BUILDDIR ?= /tmp/tekkotsu_build_$(USER) -#PROJECT_BUILDDIR ?= /tmp/project_build_$(USER) - +TEKKOTSU_ENVIRONMENT_CONFIGURATION?=$(shell pwd | sed 's/ /\\ /g')/Environment.conf +include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) ############# MAKEFILE VARIABLES ################ -# Change these right here in the Makefile - -# Want any other libraries passed to the compiler? Put them here. -LIBS=-lObjectComm -lOPENR -lInternet -lantMCOOP -lERA201D1 # Would you like some more compiler flags? We like lots of warnings. # There are some files with exceptions to these flags - MMCombo*.cc @@ -72,24 +16,27 @@ # have -Weffc++ and -DOPENR_DEBUG turned off. If you want to modify # these exceptions, look in the middle of the 'Makefile Machinery' # section. (grep/search for the file name) + +ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) + PLATFORM_FLAGS= \ + -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ + -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 \ + -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ + -DOPENR_DEBUG +else + PLATFORM_FLAGS= +endif + CXXFLAGS= \ -g -pipe -fno-inline \ - -O2 -frename-registers -fomit-frame-pointer -ffast-math -fno-common \ + -O2 -frename-registers -fomit-frame-pointer -ffast-math -fno-common \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Wdeprecated -Wnon-virtual-dtor \ - -I"`pwd`" -I$(TEKKOTSU_ROOT) -I$(TEKKOTSU_ROOT)/Motion/roboop -I$(TEKKOTSU_ROOT)/Shared/newmat \ + -I$(TEKKOTSU_ROOT) -I$(TEKKOTSU_ROOT)/Motion/roboop \ + -I$(TEKKOTSU_ROOT)/Shared/newmat \ -isystem $(TEKKOTSU_ROOT)/Shared/jpeg-6b \ - -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ - -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 \ - -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ - -D$(TEKKOTSU_TARGET_PLATFORM) -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ - -#These will be the actual build directories used for the current target -TGT_BD:=$(TEKKOTSU_TARGET_PLATFORM)_$(TEKKOTSU_TARGET_MODEL) -TK_BD:=$(TEKKOTSU_BUILDDIR)/$(TGT_BD) -PROJ_BD:=$(PROJECT_BUILDDIR)/$(TGT_BD) -$(shell mkdir -p $(TK_BD)) -$(shell mkdir -p $(PROJ_BD)) + -D$(TEKKOTSU_TARGET_PLATFORM) -D$(TEKKOTSU_TARGET_MODEL) \ + -DDEBUG $(PLATFORM_FLAGS) ################################################### @@ -106,10 +53,16 @@ # into MMCombo. MAIN_SRCS:=$(PROJ_SRCS) -# We can also link in third-party libraries -USERLIBS:= $(TEKKOTSU_ROOT)/Shared/jpeg-6b/libjpeg.a \ - $(TEKKOTSU_ROOT)/Motion/roboop/libroboop.a \ - $(TEKKOTSU_ROOT)/Shared/newmat/libnewmat.a \ +# We can also link in third-party libraries (path relative to Tekkotsu root) +# You'll need to specify which processes need which libraries in the next section +USERLIBS:= $(TK_BD)/Shared/jpeg-6b \ + $(TK_BD)/Motion/roboop \ + $(TK_BD)/Shared/newmat \ + +# These system libs are expected to already be compiled, will be linked +# into all processes... if you only want to link into a single process, +# see the *_LIBS variables of the next section +LIBS=-lObjectComm -lOPENR ################################################### @@ -125,9 +78,14 @@ # These all are relative to TEKKOTSU_ROOT PROCESS_OBJS=MMCombo TinyFTPD SoundPlay + +# These specify the components of each process - list either individual +# object files or entire directories MMCombo_COMP=MMCombo MMCombo/MMComboStub.o Behaviors Events Motion Shared SoundPlay/SoundManager.o SoundPlay/WAV.o Vision Wireless TinyFTPD_COMP=TinyFTPD TinyFTPD/TinyFTPDStub.o SoundPlay_COMP=SoundPlay SoundPlay/SoundPlayStub.o Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Events/LocomotionEvent.o Events/TextMsgEvent.o Events/VisionObjectEvent.o Shared/LoadSave.o Shared/get_time.o + +# These just set up the automatically generated stub files STUB_FILES:=$(addprefix $(TEKKOTSU_ROOT)/,$(addsuffix /stub.cfg,$(PROCESS_OBJS))) STUB_CHECK_FILES:=$(addprefix $(TK_BD)/,$(subst /,-,$(STUB_FILES))) @@ -139,56 +97,56 @@ # vs. make install) ifeq ($(FILENAME_CASE),lower) - -PROCESSES=mmcombo tinyftpd sndplay -mmcombo_OBJS:=$(addprefix $(PROJ_BD)/,$(MAIN_SRCS:$(SRCSUFFIX)=.o)) $(TK_BD)/MMCombo.o -mmcombo_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf -tinyftpd_OBJS:=$(TK_BD)/TinyFTPD.o -tinyftpd_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf -sndplay_OBJS:=$(TK_BD)/SoundPlay.o -sndplay_OCF:=$(TEKKOTSU_ROOT)/SoundPlay/SoundPlay.ocf -CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase - -BINSUFFIX=.bin -MSIMGDIR=ms -INSTALLDIR=$(MSIMGDIR)/open-r/mw/objs -MMCOMBOBIN=mmcombo.bin -MAINFORK=mainobj.bin -MOTOFORK=motoobj.bin - + PROCESSES=mmcombo tinyftpd sndplay + mmcombo_OBJS:=$(addprefix $(PROJ_BD)/,$(MAIN_SRCS:$(SRCSUFFIX)=.o)) $(TK_BD)/MMCombo/MMComboStub.o + mmcombo_LIBS:=$(addprefix $(TK_BD)/,MMCombo.a Motion/roboop/libroboop.a Shared/newmat/libnewmat.a Shared/jpeg-6b/libjpeg.a) -lInternet -lantMCOOP -lERA201D1 + mmcombo_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf + tinyftpd_OBJS:=$(TK_BD)/TinyFTPD/TinyFTPDStub.o + tinyftpd_LIBS:=$(addprefix $(TK_BD)/, TinyFTPD.a ) -lInternet -lantMCOOP + tinyftpd_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf + sndplay_OBJS:=$(TK_BD)/SoundPlay/SoundPlayStub.o + sndplay_LIBS:=$(addprefix $(TK_BD)/, SoundPlay.a ) + sndplay_OCF:=$(TEKKOTSU_ROOT)/SoundPlay/SoundPlay.ocf + CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase + BINSUFFIX=.bin + MSIMGDIR=ms + INSTALLDIR=$(MSIMGDIR)/open-r/mw/objs + MMCOMBOBIN=mmcombo.bin + MAINFORK=mainobj.bin + MOTOFORK=motoobj.bin else - -PROCESSES=MMCOMBO TINYFTPD SNDPLAY -MMCOMBO_OBJS:=$(addprefix $(PROJ_BD)/,$(MAIN_SRCS:$(SRCSUFFIX)=.o)) $(TK_BD)/MMCombo.o -MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf -TINYFTPD_OBJS:=$(TK_BD)/TinyFTPD.o -TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf -SNDPLAY_OBJS:=$(TK_BD)/SoundPlay.o -SNDPLAY_OCF:=$(TEKKOTSU_ROOT)/SoundPlay/SoundPlay.ocf -CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase - -BINSUFFIX=.BIN -MSIMGDIR=MS -INSTALLDIR=$(MSIMGDIR)/OPEN-R/MW/OBJS -MMCOMBOBIN=MMCOMBO.BIN -MAINFORK=MAINOBJ.BIN -MOTOFORK=MOTOOBJ.BIN - + PROCESSES=MMCOMBO TINYFTPD SNDPLAY + MMCOMBO_OBJS:=$(addprefix $(PROJ_BD)/,$(MAIN_SRCS:$(SRCSUFFIX)=.o)) $(TK_BD)/MMCombo/MMComboStub.o + MMCOMBO_LIBS:=$(addprefix $(TK_BD)/,MMCombo.a Motion/roboop/libroboop.a Shared/newmat/libnewmat.a Shared/jpeg-6b/libjpeg.a) -lInternet -lantMCOOP -lERA201D1 + MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf + TINYFTPD_OBJS:=$(TK_BD)/TinyFTPD/TinyFTPDStub.o + TINYFTPD_LIBS:=$(addprefix $(TK_BD)/, TinyFTPD.a ) -lInternet -lantMCOOP + TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf + SNDPLAY_OBJS:=$(TK_BD)/SoundPlay/SoundPlayStub.o + SNDPLAY_LIBS:=$(addprefix $(TK_BD)/, SoundPlay.a ) + SNDPLAY_OCF:=$(TEKKOTSU_ROOT)/SoundPlay/SoundPlay.ocf + CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase + BINSUFFIX=.BIN + MSIMGDIR=MS + INSTALLDIR=$(MSIMGDIR)/OPEN-R/MW/OBJS + MMCOMBOBIN=MMCOMBO.BIN + MAINFORK=MAINOBJ.BIN + MOTOFORK=MOTOOBJ.BIN endif -# creates process build target names: MMCombo -> build/MMCombo.o -BUILDS:=$(foreach proc,$(PROCESS_OBJS),$(TK_BD)/$(proc).o) +# creates process build target names: MMCombo -> build/MMCombo.a +BUILDS:=$(foreach proc,$(PROCESS_OBJS),$(TK_BD)/$(proc).a) # Each process build target depends on the component object files that # should be linked together. These live in the $TK_BD directory and # should be fairly static unless you're editing the framework itself. # The automatic way of creating these dependancies automatically is # too messy, just add a rule for each process by hand: (skip lines!) -$(word 1,$(BUILDS)): $(foreach comp,$($(word 1,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) +$(word 1,$(BUILDS)): $(foreach comp,$($(word 1,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find "$(TEKKOTSU_ROOT)/$(comp)" -name "*.cc") ))) -$(word 2,$(BUILDS)): $(foreach comp,$($(word 2,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) +$(word 2,$(BUILDS)): $(foreach comp,$($(word 2,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find "$(TEKKOTSU_ROOT)/$(comp)" -name "*.cc") ))) -$(word 3,$(BUILDS)): $(foreach comp,$($(word 3,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) +$(word 3,$(BUILDS)): $(foreach comp,$($(word 3,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find "$(TEKKOTSU_ROOT)/$(comp)" -name "*.cc") ))) # Each of the executable binaries depends on the corresponding # framework build target(s) plus any project files which were @@ -201,11 +159,11 @@ # hand: (skip lines!) PROC_BINS:=$(addprefix $(PROJ_BD)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) -$(word 1,$(PROC_BINS)): $($(word 1,$(PROCESSES))_OBJS) $($(word 1,$(PROCESSES))_OCF) +$(word 1,$(PROC_BINS)): $($(word 1,$(PROCESSES))_OBJS) $(filter-out -l%,$($(word 1,$(PROCESSES))_LIBS)) $($(word 1,$(PROCESSES))_OCF) -$(word 2,$(PROC_BINS)): $($(word 2,$(PROCESSES))_OBJS) $($(word 2,$(PROCESSES))_OCF) +$(word 2,$(PROC_BINS)): $($(word 2,$(PROCESSES))_OBJS) $(filter-out -l%,$($(word 2,$(PROCESSES))_LIBS)) $($(word 2,$(PROCESSES))_OCF) -$(word 3,$(PROC_BINS)): $($(word 3,$(PROCESSES))_OBJS) $($(word 3,$(PROCESSES))_OCF) +$(word 3,$(PROC_BINS)): $($(word 3,$(PROCESSES))_OBJS) $(filter-out -l%,$($(word 3,$(PROCESSES))_LIBS)) $($(word 3,$(PROCESSES))_OCF) ################################################### @@ -233,16 +191,7 @@ # memstick image directory INSTALL_BINS:=$(addprefix $(INSTALLDIR)/,$(MAINFORK) $(MOTOFORK) $(addsuffix $(BINSUFFIX),$(filter-out mmcombo MMCOMBO,$(PROCESSES)))) -CXX=$(OPENRSDK_ROOT)/bin/mipsel-linux-g++ -LD=$(OPENRSDK_ROOT)/bin/mipsel-linux-ld -STRIP=$(OPENRSDK_ROOT)/bin/mipsel-linux-strip -MKBIN=$(OPENRSDK_ROOT)/OPEN_R/bin/mkbin -STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 -COLORFILT=$(TEKKOTSU_ROOT)/tools/colorfilt -FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn $(OPENRSDK_ROOT) -MKBINFLAGS=-p $(OPENRSDK_ROOT) - -.PHONY: all compile install clean cleanDeps cleanProj cleanTemps Tekkotsu reportTarget newstick update docs dox doc cleandoc updateTools checkInstalledTimestamp +.PHONY: all compile install clean cleanDeps cleanProj cleanTemps Tekkotsu reportTarget newstick update docs dox doc cleandoc updateTools updateLibs $(USERLIBS) checkInstallBinTimestamp test all: compile @echo "Build successful." @@ -251,45 +200,46 @@ @echo " or: '$(TEKKOTSU_ROOT)/tools/{ftpinstall,ftpupdate} ms' might also be useful" reportTarget: - @echo " ** Targeting $(TEKKOTSU_TARGET_MODEL) for build ** "; + @echo " ** Targeting $(TEKKOTSU_TARGET_MODEL) for build on $(TEKKOTSU_TARGET_PLATFORM) ** "; updateTools: cd $(TEKKOTSU_ROOT)/tools && $(MAKE); -updateLibs: - @echo "Updating libraries..." - @$(foreach x,$(USERLIBS),make -C $(dir $(x)) $(notdir $(x)) && ) true +updateLibs: $(USERLIBS) + +$(USERLIBS): + @printf "$(notdir $@): "; \ + export TEKKOTSU_ENVIRONMENT_CONFIGURATION="$(TEKKOTSU_ENVIRONMENT_CONFIGURATION)"; \ + $(MAKE) -C $(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@) + +$(TK_BD)/%.a: + @export TEKKOTSU_ENVIRONMENT_CONFIGURATION="$(TEKKOTSU_ENVIRONMENT_CONFIGURATION)"; \ + $(MAKE) -C $(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$(dir $@)) #the touch at the end is because memsticks seem to round time to even seconds, which screws up updates. Grr. -compile: reportTarget cleanTemps updateTools updateLibs checkInstalledTimestamp $(PROJ_BD)/installed.timestamp +compile: cleanTemps updateTools updateLibs checkInstallBinTimestamp $(PROJ_BD)/installbin.timestamp @image="$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))" ; \ - if [ "$(TEKKOTSU_ROOT)/TARGET_MODEL" -nt "$$image" ] ; then \ - echo "Deleting old cached OPEN-R binaries"; \ - rm -rf "$$image" ; \ - fi; \ if [ \! -d "$$image" ] ; then \ if [ \! -d "$(SYSTEM_BINARIES)" ] ; then \ -v echo "Could not find OPEN-R system binaries" ; \ + echo "Could not find OPEN-R system binaries" ; \ exit 1 ; \ fi ; \ echo "Copying system files..." ; \ cp -r "$(SYSTEM_BINARIES)" "$$image" ; \ chmod -R u+w "$$image" ; \ - cur=`pwd`; \ - cd "$$image"; \ - $(CONVERTCASE) -r *; \ - cd "$$cur"; \ + $(CONVERTCASE) -r $$image/*; \ rm -f "$$image/open-r/mw/conf/connect.cfg" "$$image/open-r/mw/conf/object.cfg" "$$image/open-r/system/conf/wlandflt.txt" ; \ curt=`date +%Y%m%d%H%M`; \ find "$$image" -exec touch -ft $$curt \{\} \; ; \ fi; -checkInstalledTimestamp: +checkInstallBinTimestamp: @for x in $(INSTALL_BINS) ; do \ - if [ "$$x" -nt "$(PROJ_BD)/installed.timestamp" ] ; then \ + if [ "$$x" -nt "$(PROJ_BD)/installbin.timestamp" ] ; then \ printf "Target switch detected, cleaning binaries..." ; \ rm -f $(INSTALL_BINS) ; \ printf "done.\n" ; \ + exit 0; \ fi; \ done; @@ -410,12 +360,6 @@ test $$retval -eq 0; \ fi; -#This is for external libraries which we are including, such as libjpeg -%.a: - export OPENRSDK_ROOT=$(OPENRSDK_ROOT) ;\ - export TEKKOTSU_ROOT=$(TEKKOTSU_ROOT) ;\ - $(MAKE) -C $(dir $@) $(notdir $@) - #BUILDS: (framework object files, one per process - resides in framework) $(BUILDS): @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ @@ -429,34 +373,28 @@ else \ echo "$@ <- $(sort $(foreach comp,$(addprefix $(TK_BD)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(shell find $(comp) -name "*.o") )))" | sed 's@$(TK_BD)/@@g'; \ fi; - @$(LD) -i $(sort $(foreach comp,$(addprefix $(TK_BD)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(shell find $(comp) -name "*.o") ))) -o $@ ; \ - if [ $$? -ne 0 ] ; then exit 1; fi; + @rm -f $@; + @$(AR) $@ $(sort $(foreach comp,$(addprefix $(TK_BD)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(shell find $(comp) -name "*.o") ))); + @$(AR2) $@ #PROC_BINS: (executable binaries, uncompressed) # we have to do a couple extra steps to cd into the builddir because # mkbin doesn't support -o target in a different directory... drops an # intermediate file in . and then complains (as of 1.1.3 anyway) -$(PROJ_BD)/%$(BINSUFFIX): $(USERLIBS) +$(PROJ_BD)/%$(BINSUFFIX): @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ ../tools/pm.pl dist_hosts.txt $(PROJ_BD)/joblist.txt ; \ fi @rm -f $(PROJ_BD)/joblist.txt; #this is so we don't rebuild multiple times @echo "Creating executable binary..." - @echo "$@ <- $($(basename $(notdir $@))_OBJS), $($(basename $(notdir $@))_OCF), $(LIBS) $(USERLIBS)" | sed 's@ $(PROJ_BD)/@ @g'; - @#we'll need to do some filtering on USERLIBS below because now we'll be in builddir below - @$(LD) -i $($(basename $(notdir $@))_OBJS) -o $(PROJ_BD)/tmp.o - @cp $($(basename $(notdir $@))_OCF) $(PROJ_BD)/tmp.ocf - @pt=`pwd`;\ - cd $(PROJ_BD) ; \ - $(MKBIN) $(MKBINFLAGS) -o $(notdir $@) tmp.o -m tmp.ocf $(LIBS) $(filter /%,$(USERLIBS)) $(addsuffix \",$(addprefix \"$$pt/,$(filter-out /%,$(USERLIBS)))) ; \ + @echo "$@ <- $($(basename $(notdir $@))_OBJS), $($(basename $(notdir $@))_OCF), $($(basename $(notdir $@))_LIBS) $(LIBS)" | sed 's@ $(PROJ_BD)/@ @g'; + @$(MKBIN) $(MKBINFLAGS) -o $@ $($(basename $(notdir $@))_OBJS) -m $($(basename $(notdir $@))_OCF) $($(basename $(notdir $@))_LIBS) $(LIBS) ; \ if [ $$? -gt 0 ] ; then \ echo "Build failed."; \ exit 1; \ fi; \ - $(STRIP) $(notdir $@) ; \ - rm tmp.o tmp.ocf; - + $(STRIP) $@ ; #INSTALL_BINS: (compressed executables, in proper location in image directory) $(INSTALLDIR)/%$(BINSUFFIX): $(PROJ_BD)/%$(BINSUFFIX) @@ -485,16 +423,17 @@ @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MotoObj | gzip -c > $@ # @sed 's/MMCombo/MotoObj/g;s/mmcombo/motoobj/g' $< | gzip -c > $@ -$(PROJ_BD)/installed.timestamp: $(INSTALL_BINS) +$(PROJ_BD)/installbin.timestamp: $(INSTALL_BINS) @touch $@ install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools + @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)/installed.timestamp + @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)` $(PROJ_BD)/installbin.timestamp @$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) @if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ echo "Strict image copy is on." ; \ @@ -503,6 +442,7 @@ rsync -rLtWCv $(MSIMGDIR)/* $(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ fi; @$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) + @touch .copiedtomemstick.timestamp newstick: $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) @@ -523,7 +463,6 @@ rm -f $(foreach proc,$(PROCESS_OBJS),$(TEKKOTSU_ROOT)/$(proc)/$(proc)Stub.cc $(TEKKOTSU_ROOT)/$(proc)/$(proc)Stub.h $(TEKKOTSU_ROOT)/$(proc)/def.h $(TEKKOTSU_ROOT)/$(proc)/entry.h) rm -rf $(TEKKOTSU_BUILDDIR) cd $(TEKKOTSU_ROOT)/tools ; $(MAKE) clean - $(foreach lib,$(USERLIBS),$(MAKE) -C $(dir $(lib)) clean ;) cleanDeps: @printf "Cleaning all .d files corresponding to .cc files..." diff -urdN ../Tekkotsu_2.2/project/StartupBehavior.cc ./project/StartupBehavior.cc --- ../Tekkotsu_2.2/project/StartupBehavior.cc Mon Oct 18 13:01:38 2004 +++ ./project/StartupBehavior.cc Wed Nov 10 20:45:37 2004 @@ -24,7 +24,7 @@ BehaviorBase& ProjectInterface::startupBehavior=theStartup; //!< used by MMCombo as the init behavior StartupBehavior::StartupBehavior() - : BehaviorBase(), spawned(),setup(), + : BehaviorBase("StartupBehavior"), spawned(),setup(), stop_id(MotionManager::invalid_MC_ID), pid_id(MotionManager::invalid_MC_ID) { diff -urdN ../Tekkotsu_2.2/project/StartupBehavior.h ./project/StartupBehavior.h --- ../Tekkotsu_2.2/project/StartupBehavior.h Mon Feb 9 17:45:29 2004 +++ ./project/StartupBehavior.h Wed Nov 10 20:45:37 2004 @@ -49,8 +49,8 @@ virtual void DoStart(); virtual void DoStop(); virtual void processEvent(const EventBase&); - virtual std::string getName() const { return "StartupBehavior"; } static std::string getClassDescription() { return "The initial behavior, when run, sets up everything else"; } + virtual std::string getDescription() const { return getClassDescription(); } //@} protected: //! Initializes the Controller menu structure - calls each of the other Setup functions in turn diff -urdN ../Tekkotsu_2.2/project/StartupBehavior_SetupBackgroundBehaviors.cc ./project/StartupBehavior_SetupBackgroundBehaviors.cc --- ../Tekkotsu_2.2/project/StartupBehavior_SetupBackgroundBehaviors.cc Mon Oct 18 19:53:37 2004 +++ ./project/StartupBehavior_SetupBackgroundBehaviors.cc Mon Nov 15 17:22:36 2004 @@ -16,6 +16,7 @@ #include "Behaviors/Demos/CameraBehavior.h" #include "Behaviors/Demos/MotionStressTestBehavior.h" #include "Behaviors/Demos/ASCIIVisionBehavior.h" +#include "Behaviors/Nodes/TailWagNode.h" #include "Shared/WorldState.h" #include "Shared/ERS210Info.h" @@ -25,28 +26,29 @@ addItem(new ControlBase("Background Behaviors","Background daemons and monitors")); startSubMenu(); { - addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",false)); - addItem(new BehaviorSwitchControl("StareAtBallBehavior",false)); - addItem(new BehaviorSwitchControl("HeadLevelBehavior",false)); + addItem(new BehaviorSwitchControl("Simple Chase Ball",false)); + addItem(new BehaviorSwitchControl("Stare at Ball",false)); + addItem(new BehaviorSwitchControl("Head Level",false)); if(state->robotDesign & WorldState::ERS220Mask) - addItem(new BehaviorSwitchControl("ToggleHeadLightBehavior",false)); - addItem(new BehaviorSwitchControl("RelaxBehavior",false)); - addItem(new BehaviorSwitchControl("CameraBehavior",false)); - addItem(new BehaviorSwitchControl("ASCIIVisionBehavior",false)); + addItem(new BehaviorSwitchControl("Toggle Head Light",false)); + addItem(new BehaviorSwitchControl("Wag Tail",false)); + addItem(new BehaviorSwitchControl("Relax",false)); + addItem(new BehaviorSwitchControl("Camera",false)); + addItem(new BehaviorSwitchControl("ASCIIVision",false)); addItem(new ControlBase("Debugging Tests","Stress tests")); startSubMenu(); { - addItem(new BehaviorSwitchControl("MotionStressTestBehavior",false)); - addItem(new BehaviorSwitchControl("CrashTestBehavior",false)); - addItem(new BehaviorSwitchControl("FreezeTestBehavior",false)); + addItem(new BehaviorSwitchControl("Motion Stress Test",false)); + addItem(new BehaviorSwitchControl("Crash Test",false)); + addItem(new BehaviorSwitchControl("Freeze Test",false)); } endSubMenu(); addItem(new ControlBase("System Daemons","Provide some common sensor or event processing")); startSubMenu(); { - addItem((new BehaviorSwitchControl("AutoGetupBehavior",false))); - addItem((new BehaviorSwitchControl("WorldStateVelDaemon",false))->start()); - addItem((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); + addItem((new BehaviorSwitchControl("Auto Getup",false))); + addItem((new BehaviorSwitchControl("World State Vel Daemon",false))->start()); + addItem((new BehaviorSwitchControl("Battery Monitor",false))->start()); } endSubMenu(); } diff -urdN ../Tekkotsu_2.2/project/StartupBehavior_SetupModeSwitch.cc ./project/StartupBehavior_SetupModeSwitch.cc --- ../Tekkotsu_2.2/project/StartupBehavior_SetupModeSwitch.cc Mon Oct 18 15:57:52 2004 +++ ./project/StartupBehavior_SetupModeSwitch.cc Tue Nov 16 19:01:14 2004 @@ -20,6 +20,7 @@ #include "Behaviors/Demos/LookForSoundBehavior.h" #include "Behaviors/Demos/SimpleChaseBallBehavior.h" #include "Behaviors/Demos/StareAtBallBehavior.h" +#include "Behaviors/Demos/WallTestBehavior.h" #include "Shared/ProjectInterface.h" @@ -33,32 +34,33 @@ BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup(); //put behaviors here: - addItem(new BehaviorSwitchControl("HelloWorldBehavior",false)); + addItem(new BehaviorSwitchControl("Hello World",false)); if(state->robotDesign&(WorldState::ERS210Mask|WorldState::ERS7Mask)) //this one only really works on the 210 or 7 - addItem(new BehaviorSwitchControl("AlanBehavior",bg,false)); - addItem(new BehaviorSwitchControl("FollowHeadBehavior",bg,false)); - addItem(new BehaviorSwitchControl("StareAtBallBehavior",false)); - addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",false)); - addItem(new BehaviorSwitchControl("ChaseBallBehavior",bg,false)); - addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); - addItem(new BehaviorSwitchControl("LookForSoundBehavior",bg,false)); + addItem(new BehaviorSwitchControl("Alan's Behavior",bg,false)); + addItem(new BehaviorSwitchControl("Follow Head",bg,false)); + addItem(new BehaviorSwitchControl("Stare at Pink Ball",false)); + addItem(new BehaviorSwitchControl("Simple Chase Ball",false)); + addItem(new BehaviorSwitchControl("Chase Ball",bg,false)); + addItem(new BehaviorSwitchControl("Sound Test",bg,false)); + addItem(new BehaviorSwitchControl("Look at Sound",bg,false)); addItem(new ControlBase("State Machine Demos","More fully developed demo applications")); startSubMenu(); { addItem(new BehaviorSwitchControlBase(new WalkToTargetMachine(ProjectInterface::visPinkBallSID),bg)); - addItem(new BehaviorSwitchControl("BanditMachine",bg,false)); - addItem(new BehaviorSwitchControl("ExploreMachine",bg,false)); - addItem(new BehaviorSwitchControl("PaceTargetsMachine",bg,false)); + addItem(new BehaviorSwitchControl("Bandit State Machine",bg,false)); + addItem(new BehaviorSwitchControl("Explore State Machine",bg,false)); + addItem(new BehaviorSwitchControl("Pace Targets State Machine",bg,false)); } endSubMenu(); addItem(new ControlBase("Kinematics Demos","Showcases some of the newly developed kinematics code")); startSubMenu(); { - addItem(new BehaviorSwitchControl("KinematicSampleBehavior",bg,false)); - addItem(new BehaviorSwitchControl("KinematicSampleBehavior2",bg,false)); - addItem(new BehaviorSwitchControl("StareAtPawBehavior",bg,false)); - addItem(new BehaviorSwitchControl("StareAtPawBehavior2",bg,false)); - addItem(new BehaviorSwitchControl("GroundPlaneBehavior",bg,false)); + addItem(new BehaviorSwitchControl("Kinematic Sample 1",bg,false)); + addItem(new BehaviorSwitchControl("Kinematic Sample 2",bg,false)); + addItem(new BehaviorSwitchControl("Stare at Paw (pre-2.2)",bg,false)); + addItem(new BehaviorSwitchControl("New Stare at Paw",bg,false)); + addItem(new BehaviorSwitchControl("Ground Plane Test",bg,false)); + addItem(new BehaviorSwitchControl("Wall Test",bg,false)); } endSubMenu(); } diff -urdN ../Tekkotsu_2.2/project/StartupBehavior_SetupStatusReports.cc ./project/StartupBehavior_SetupStatusReports.cc --- ../Tekkotsu_2.2/project/StartupBehavior_SetupStatusReports.cc Tue Dec 23 01:33:44 2003 +++ ./project/StartupBehavior_SetupStatusReports.cc Thu Nov 11 15:35:00 2004 @@ -7,12 +7,14 @@ #include "Behaviors/Controls/ProfilerCheckControl.h" #include "Behaviors/Controls/EventLogger.h" #include "Behaviors/Controls/SensorObserverControl.h" +#include "Behaviors/Controls/BehaviorReportControl.h" ControlBase* StartupBehavior::SetupStatusReports() { addItem(new ControlBase("Status Reports","Displays information about the runtime environment on the console")); startSubMenu(); - { + { + addItem(new BehaviorReportControl()); addItem(new BatteryCheckControl()); addItem(new ProfilerCheckControl()); addItem(new EventLogger()); diff -urdN ../Tekkotsu_2.2/project/StartupBehavior_SetupTekkotsuMon.cc ./project/StartupBehavior_SetupTekkotsuMon.cc --- ../Tekkotsu_2.2/project/StartupBehavior_SetupTekkotsuMon.cc Tue Aug 24 21:09:18 2004 +++ ./project/StartupBehavior_SetupTekkotsuMon.cc Fri Nov 12 17:07:39 2004 @@ -12,6 +12,8 @@ #include "Behaviors/Mon/RawCamBehavior.h" #include "Behaviors/Mon/SegCamBehavior.h" #include "Behaviors/Mon/WorldStateSerializerBehavior.h" +#include "Behaviors/Mon/MicrophoneServer.h" +#include "Behaviors/Mon/SpeakerServer.h" ControlBase* StartupBehavior::SetupTekkotsuMon() { @@ -24,9 +26,11 @@ addItem((new BehaviorSwitchControl("Watchable Memory Monitor",false))->start()); addItem((new BehaviorSwitchControl("Aibo 3D",false))); addItem((new BehaviorSwitchControl("World State Serializer",false))); - addItem((new BehaviorSwitchControl("RawCamServer",false))); - addItem((new BehaviorSwitchControl("SegCamServer",false))); + addItem((new BehaviorSwitchControl("Raw Cam Server",false))); + addItem((new BehaviorSwitchControl("Seg Cam Server",false))); addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); + addItem(new BehaviorSwitchControlBase(MicrophoneServer::GetInstance())); + addItem(new BehaviorSwitchControlBase(SpeakerServer::GetInstance())); } return endSubMenu(); } diff -urdN ../Tekkotsu_2.2/project/StartupBehavior_SetupWalkEdit.cc ./project/StartupBehavior_SetupWalkEdit.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/project/ms/config/ers210.kin ./project/ms/config/ers210.kin --- ../Tekkotsu_2.2/project/ms/config/ers210.kin Mon Oct 18 19:11:05 2004 +++ ./project/ms/config/ers210.kin Tue Nov 16 22:37:00 2004 @@ -721,10 +721,10 @@ [IR_LINK3] joint_type: 0 -theta: -1.570796326794895 +theta: 1.570796326794895 d: 48.0 a: 0.0 -alpha: -1.570796326794895 +alpha: 1.570796326794895 theta_min: -1.616175 theta_max: 1.616175 m: 0.0 @@ -741,10 +741,10 @@ [IR_LINK4] joint_type: 0 -theta: -2.02003 +theta: 1.12156 d: 26.5 -a: 0.0 -alpha: 16.2027 +a: 16.2027 +alpha: 0.0 theta_min: -0.558505 theta_max: 0.558505 m: 0.0 @@ -762,7 +762,7 @@ [IR_LINK5] joint_type: 0 immobile: 1 -theta: 1.26156 +theta: 1.20771 d: 0.0 a: 0.0 alpha: -0.0215808 diff -urdN ../Tekkotsu_2.2/project/ms/config/ers220.kin ./project/ms/config/ers220.kin --- ../Tekkotsu_2.2/project/ms/config/ers220.kin Mon Oct 18 19:11:05 2004 +++ ./project/ms/config/ers220.kin Tue Nov 16 22:37:00 2004 @@ -611,10 +611,10 @@ [IR_LINK3] joint_type: 0 -theta: -1.570796326794895 +theta: 1.570796326794895 d: 48.0 a: 0.0 -alpha: -1.570796326794895 +alpha: 1.570796326794895 theta_min: -1.616175 theta_max: 1.616175 m: 0.0 @@ -631,10 +631,10 @@ [IR_LINK4] joint_type: 0 -theta: -2.02003 +theta: 1.12156 d: 26.5 -a: 0.0 -alpha: 16.2027 +a: 16.2027 +alpha: 0.0 theta_min: -0.558505 theta_max: 0.558505 m: 0.0 @@ -652,7 +652,7 @@ [IR_LINK5] joint_type: 0 immobile: 1 -theta: 1.26156 +theta: 1.20771 d: 0.0 a: 0.0 alpha: -0.0215808 diff -urdN ../Tekkotsu_2.2/project/ms/config/tekkotsu.cfg ./project/ms/config/tekkotsu.cfg --- ../Tekkotsu_2.2/project/ms/config/tekkotsu.cfg Mon Oct 18 17:57:13 2004 +++ ./project/ms/config/tekkotsu.cfg Tue Nov 16 22:37:00 2004 @@ -1,6 +1,10 @@ -################################################################ -################### Tekkotsu config ######################## -################################################################ +################################################################## +###################### Tekkotsu config ####################### +################################################################## +##################### $Name: HEAD $ ###################### +####################### $Revision: 1.1 $ ######################## +################## $Date: 2004/11/17 04:36:48 $ ################## +################################################################## # # Format: # @@ -30,9 +34,6 @@ # how it is being used... # ################################################################## -####################### $Revision: 1.1 $ ######################## -################## $Date: 2004/11/17 04:36:48 $ ################## -################################################################## @@ -225,8 +226,18 @@ [Motion] ################################################################## ################################################################## + +# Any motion related paths which are not absolute (i.e. do not +# start with '/') will be assumed to be relative to this directory root=/ms/data/motion + +# This is the default set of walk parameters walk=walk.prm + +# The file specified by "kinematics" should define the kinematic +# chains which form your robot. +# "kinematic_chains" lists the names of the chains which should be +# loaded from that file kinematics=/ms/config/ers210.kin @@ -250,6 +261,34 @@ kinematic_chains=RBk kinematic_chains=Camera +# These calibration parameters should specify the value to multiply a +# desired position by in order to cause the joint to actually reach +# that position. This is then used both to calibrate joint values +# which are sent to the system, and also sensor values which are +# received back. +# An unspecified joint is by default '1' which will then pass values +# through unmodified. Only PID joints are calibrated (i.e. LEDs and +# ears are not) + +#Only the knees and rotors have been calibrated +#This is just kind of a rough calibration since +#I don't know how well it will generalize across +#individual robots anyway. +calibrate:LFr:rotor=0.972 +calibrate:LFr:knee~=0.944 +calibrate:RFr:rotor=0.972 +calibrate:RFr:knee~=0.944 +calibrate:LBk:rotor=0.972 +calibrate:LBk:knee~=0.944 +calibrate:RBk:rotor=0.972 +calibrate:RBk:knee~=0.944 + + +#ERS-2xx seems to be fairly well calibrated by system, but +#you can always try to do better... + + +# Sounds to play when turning estop on and off estop_on_snd=skid.wav estop_off_snd=yap.wav @@ -292,4 +331,19 @@ preload=skid.wav preload=yap.wav +# Audio streaming settings +# Audio from the AIBO's microphones +streaming.mic_port=10070 +streaming.mic_sample_rate=16000 +streaming.mic_bits=16 +streaming.mic_stereo=true + +# Audio to the AIBO's speakers +streaming.speaker_port=10071 +# Length of the speaker streaming buffer (ms) +# Streamed samples are sent to the sound manager in packets of this length +streaming.speaker_frame_length=64 +# Maximum delay (ms) during playback of received samples +# If the playback queue gets longer it is emptied. +streaming.speaker_max_delay=1000 diff -urdN ../Tekkotsu_2.2/project/templates/behavior_header.h ./project/templates/behavior_header.h --- ../Tekkotsu_2.2/project/templates/behavior_header.h Tue Aug 24 21:09:24 2004 +++ ./project/templates/behavior_header.h Thu Nov 11 15:35:00 2004 @@ -12,7 +12,7 @@ class CLASSNAME : public BehaviorBase { public: //! constructor - CLASSNAME() : BehaviorBase() {} + CLASSNAME() : BehaviorBase("CLASSNAME") {} virtual void DoStart() { BehaviorBase::DoStart(); // do this first @@ -29,9 +29,8 @@ // you can delete this function if you don't use any events... } - virtual std::string getName() const { return "CLASSNAME"; } - static std::string getClassDescription() { return "DESCRIPTION"; } + virtual std::string getDescription() const { return getClassDescription(); } protected: @@ -42,10 +41,10 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/11/17 04:36:48 $ + * $Date: 2004/11/17 04:36:48 $ */ #endif diff -urdN ../Tekkotsu_2.2/project/templates/header.h ./project/templates/header.h --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/project/templates/implementation.cc ./project/templates/implementation.cc --- ../Tekkotsu_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: 2004/11/17 04:36:48 $ diff -urdN ../Tekkotsu_2.2/tools/buildRelease ./tools/buildRelease --- ../Tekkotsu_2.2/tools/buildRelease Mon Oct 18 20:47:44 2004 +++ ./tools/buildRelease Tue Nov 16 22:36:00 2004 @@ -29,7 +29,8 @@ rm -rf Tekkotsu_memstick_$1 rm -rf Tekkotsu_memstick_$1.tar.gz -cvs export -r ${newtag} -d Tekkotsu_$1 Tekkotsu +echo "Exporting source for ${newtag}..." +cvs -q export -r ${newtag} -d Tekkotsu_$1 Tekkotsu if [ ! -d Tekkotsu_$1 ] ; then echo "cvs export failed" exit 1; @@ -75,17 +76,29 @@ curt=`date +%Y%m%d%H%M`; find project/ms -exec touch -ft $curt \{\} \; ; +echo "Building Tekkotsu_$1.tar.gz..." cd ${tmp}; -tar -cvzf Tekkotsu_$1.tar.gz Tekkotsu_$1; +tar -czf Tekkotsu_$1.tar.gz Tekkotsu_$1; #build patch files echo "Building patch files..." -cd ${tmp} -cvs rdiff -N -d -r ${oldtag} -r ${newtag} Tekkotsu > Tekkotsu_patch_$2_to_$1.diff; -cvs rdiff -N -d -r ${oldtag} -r ${newtag} Tekkotsu/project > Tekkotsu_patch_project_$2_to_$1.diff; +cd ${tmp}; +cvs -q export -r ${oldtag} -d Tekkotsu_$2 Tekkotsu +cd Tekkotsu_$1; +diff -urdN ../Tekkotsu_$2 . > "${tmp}/Tekkotsu_patch_$2_to_$1.diff"; +if [ "`head -n 1 "${tmp}/Tekkotsu_patch_$2_to_$1.diff" | sed 's/ .*//'`" != "diff" ] ; then + echo "Framework patch file failed" + exit 1; +fi; +cd project; +diff -urdN ../../Tekkotsu_$2/project . > "${tmp}/Tekkotsu_patch_project_$2_to_$1.diff" +if [ "`head -n 1 "${tmp}/Tekkotsu_patch_project_$2_to_$1.diff" | sed 's/ .*//'`" != "diff" ] ; then + echo "Project patch file failed" + exit 1; +fi; diff -urdN ../Tekkotsu_2.2/tools/convertmot/Makefile ./tools/convertmot/Makefile --- ../Tekkotsu_2.2/tools/convertmot/Makefile Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/Makefile Tue Nov 9 17:15:03 2004 @@ -0,0 +1,85 @@ + + +#if you want to change the target model, it is recommended +#to set the TEKKOTSU_TARGET_MODEL environment variable + +.PHONY: all tk_bd + +# We use this TK_RT instead of TEKKOTSU_ROOT so things will +# still work if TEKKOTSU_ROOT is a relative path +TK_RT:=../.. + +TEMPLATE_PROJECT:=$(TK_RT)/project +TEKKOTSU_ENVIRONMENT_CONFIGURATION?=$(TEMPLATE_PROJECT)/Environment.conf +TEKKOTSU_TARGET_PLATFORM = PLATFORM_LOCAL +include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) +FILTERSYSWARN:=$(patsubst $(TEKKOTSU_ROOT)/%,$(TK_RT)/%,$(FILTERSYSWARN)) +COLORFILT:=$(patsubst $(TEKKOTSU_ROOT)/%,$(TK_RT)/%,$(COLORFILT)) + +BIN:=convertmot_$(shell echo $(patsubst TGT_%,%,$(TEKKOTSU_TARGET_MODEL)) | tr [:upper:] [:lower:]) + +SRCSUFFIX=.cc + +PROJ_OBJ:= \ + $(PROJ_BD)/convertmot.o \ + +TK_TGTS:= \ + $(TK_BD)/Events/EventBase.o \ + $(TK_BD)/Events/EventRouter.o \ + $(TK_BD)/Motion/MotionManager.o \ + $(TK_BD)/Motion/MotionSequenceMC.o \ + $(TK_BD)/Motion/PostureEngine.o \ + $(TK_BD)/Motion/Kinematics.o \ + $(TK_BD)/Motion/OldKinematics.o \ + $(TK_BD)/Shared/get_time.o \ + $(TK_BD)/Shared/LoadSave.o \ + $(TK_BD)/Shared/Config.o \ + $(TK_BD)/Shared/Profiler.o \ + $(TK_BD)/Shared/TimeET.o \ + $(TK_BD)/Shared/WorldState.o \ + $(TK_BD)/Wireless/Socket.o \ + $(TK_BD)/Shared/newmat/libnewmat.a \ + $(TK_BD)/Motion/roboop/libroboop.a + +LIBS:= $(TK_BD)/Motion/roboop/libroboop.a $(TK_BD)/Shared/newmat/libnewmat.a + +DEPENDS:=$(PROJ_OBJ:.o=.d) + +CXXFLAGS=-g -Wall -O2 \ + -I$(TK_RT) \ + -D$(TEKKOTSU_TARGET_PLATFORM) -D$(TEKKOTSU_TARGET_MODEL) + + +all: $(BIN) + +$(BIN): tk_bd $(PROJ_OBJ) + @echo "Linking $@..." + @g++ $(PROJ_OBJ) $(patsubst $(TEKKOTSU_ROOT)/%,$(TK_RT)/%,$(TK_TGTS) $(LIBS)) -o $@ + +ifeq ($(findstring clean,$(MAKECMDGOALS)),) +-include $(DEPENDS) +endif + +%.d : + @mkdir -p $(dir $@) + @src=$(patsubst %.d,%.cc,$(patsubst $(PROJ_BD)/%,%,$@)); \ + echo "$@..." | sed 's@.*$(TGT_BD)/@Generating @'; \ + $(CXX) $(CXXFLAGS) -MP -MG -MT "$@" -MT "$(@:.d=.o)" -MM "$$src" > $@ + +tk_bd: + @echo "Making Tekkotsu files..." + @export TEKKOTSU_TARGET_PLATFORM=PLATFORM_LOCAL && $(MAKE) -C $(TEMPLATE_PROJECT) $(TK_TGTS) + + +%.o: + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(patsubst $(PROJ_BD)/%,%,$@)); \ + echo "Compiling $$src..."; \ + $(CXX) $(CXXFLAGS) -o $@ -c $$src > $*.log 2>&1; \ + retval=$$?; \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ + test $$retval -eq 0; \ + +clean: + rm -f $(BIN) $(PROJ_OBJ) $(DEPENDS) *~ + diff -urdN ../Tekkotsu_2.2/tools/convertmot/README.txt ./tools/convertmot/README.txt --- ../Tekkotsu_2.2/tools/convertmot/README.txt Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/README.txt Fri Apr 16 16:20:56 2004 @@ -0,0 +1,12 @@ +This tool converts CMPack'02 (and possibly later) motion files to the +Tekkotsu format. + http://www.tekkotsu.org/dox/classMotionSequence.html + +The included motion files are little endian - the format the Aibo and x86 +machines use. However, you will not be able to directly convert these +files when running on a different architecture (i.e. Mac) + +If you do not have access to an x86, you can obtain the CMPack'02 release, +futz with the genmot code (agent/Motion/genmot) and have it recreate the +motion files for your architecture. + Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/dance.mot and ./tools/convertmot/cmpack02-littleendian/dance.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/gu_back.mot and ./tools/convertmot/cmpack02-littleendian/gu_back.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/gu_front.mot and ./tools/convertmot/cmpack02-littleendian/gu_front.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/gu_side.mot and ./tools/convertmot/cmpack02-littleendian/gu_side.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_bump.mot and ./tools/convertmot/cmpack02-littleendian/k_bump.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_dive.mot and ./tools/convertmot/cmpack02-littleendian/k_dive.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_fwd.mot and ./tools/convertmot/cmpack02-littleendian/k_fwd.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_head.mot and ./tools/convertmot/cmpack02-littleendian/k_head.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_heads.mot and ./tools/convertmot/cmpack02-littleendian/k_heads.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_hold.mot and ./tools/convertmot/cmpack02-littleendian/k_hold.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/k_punch.mot and ./tools/convertmot/cmpack02-littleendian/k_punch.mot differ diff -urdN ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/readme.txt ./tools/convertmot/cmpack02-littleendian/readme.txt --- ../Tekkotsu_2.2/tools/convertmot/cmpack02-littleendian/readme.txt Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack02-littleendian/readme.txt Fri Apr 16 16:21:23 2004 @@ -0,0 +1,34 @@ +The included motion files were generated directly from CMPack'02 +genmot and fall under their license: +* Misc: dance.mot +* Getups: gu_back.mot gu_front.mot gu_side.mot +* Kicks: k_bump.mot k_diag.mot k_dive.mot k_fwd.mot k_grab.mot + k_head.mot k_heads.mot k_hold.mot k_punch.mot + + LICENSE: + ========================================================================= + CMPack'02 Source Code Release for OPEN-R SDK v1.0 + Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso] + School of Computer Science, Carnegie Mellon University + ------------------------------------------------------------------------- + This software is distributed under the GNU General Public License, + version 2. If you do not have a copy of this licence, visit + www.gnu.org, or write: Free Software Foundation, 59 Temple Place, + Suite 330 Boston, MA 02111-1307 USA. This program is distributed + in the hope that it will be useful, but WITHOUT ANY WARRANTY, + including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + ------------------------------------------------------------------------- + Additionally licensed to Sony Corporation under the following terms: + + This software is provided by the copyright holders AS IS and any + express or implied warranties, including, but not limited to, the + implied warranties of merchantability and fitness for a particular + purpose are disclaimed. In no event shall authors be liable for + any direct, indirect, incidental, special, exemplary, or consequential + damages (including, but not limited to, procurement of substitute + goods or services; loss of use, data, or profits; or business + interruption) however caused and on any theory of liability, whether + in contract, strict liability, or tort (including negligence or + otherwise) arising in any way out of the use of this software, even if + advised of the possibility of such damage. + ========================================================================= Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/b_gcntr.mot and ./tools/convertmot/cmpack03-littleendian/b_gcntr.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/b_gdive.mot and ./tools/convertmot/cmpack03-littleendian/b_gdive.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/b_supp.mot and ./tools/convertmot/cmpack03-littleendian/b_supp.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/bw_back.mot and ./tools/convertmot/cmpack03-littleendian/bw_back.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/chicken_dance.mot and ./tools/convertmot/cmpack03-littleendian/chicken_dance.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/dance1.mot and ./tools/convertmot/cmpack03-littleendian/dance1.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/dance2.mot and ./tools/convertmot/cmpack03-littleendian/dance2.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/dance3.mot and ./tools/convertmot/cmpack03-littleendian/dance3.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/enter_field.mot and ./tools/convertmot/cmpack03-littleendian/enter_field.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/gu_back.mot and 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../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/k_unsw_9.mot and ./tools/convertmot/cmpack03-littleendian/k_unsw_9.mot differ diff -urdN ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/readme.txt ./tools/convertmot/cmpack03-littleendian/readme.txt --- ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/readme.txt Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/cmpack03-littleendian/readme.txt Fri Apr 16 16:21:41 2004 @@ -0,0 +1,30 @@ +The included motion files were generated directly from CMPack'03 +genmot and fall under their license: + + LICENSE: + ========================================================================= + CMPack'02 Source Code Release for OPEN-R SDK v1.0 + Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso] + School of Computer Science, Carnegie Mellon University + ------------------------------------------------------------------------- + This software is distributed under the GNU General Public License, + version 2. If you do not have a copy of this licence, visit + www.gnu.org, or write: Free Software Foundation, 59 Temple Place, + Suite 330 Boston, MA 02111-1307 USA. This program is distributed + in the hope that it will be useful, but WITHOUT ANY WARRANTY, + including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + ------------------------------------------------------------------------- + Additionally licensed to Sony Corporation under the following terms: + + This software is provided by the copyright holders AS IS and any + express or implied warranties, including, but not limited to, the + implied warranties of merchantability and fitness for a particular + purpose are disclaimed. In no event shall authors be liable for + any direct, indirect, incidental, special, exemplary, or consequential + damages (including, but not limited to, procurement of substitute + goods or services; loss of use, data, or profits; or business + interruption) however caused and on any theory of liability, whether + in contract, strict liability, or tort (including negligence or + otherwise) arising in any way out of the use of this software, even if + advised of the possibility of such damage. + ========================================================================= Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/sad.mot and ./tools/convertmot/cmpack03-littleendian/sad.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/sb_climb.mot and ./tools/convertmot/cmpack03-littleendian/sb_climb.mot differ Binary files ../Tekkotsu_2.2/tools/convertmot/cmpack03-littleendian/warmup.mot and ./tools/convertmot/cmpack03-littleendian/warmup.mot differ diff -urdN ../Tekkotsu_2.2/tools/convertmot/convertmot.cc ./tools/convertmot/convertmot.cc --- ../Tekkotsu_2.2/tools/convertmot/convertmot.cc Wed Dec 31 19:00:00 1969 +++ ./tools/convertmot/convertmot.cc Mon Nov 8 16:48:19 2004 @@ -0,0 +1,279 @@ +//This code uses portions of CMPack'02 for loading their motion files. +//See license below. + +/*LICENSE: + ========================================================================= + CMPack'02 Source Code Release for OPEN-R SDK v1.0 + Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso] + School of Computer Science, Carnegie Mellon University + ------------------------------------------------------------------------- + This software is distributed under the GNU General Public License, + version 2. If you do not have a copy of this licence, visit + www.gnu.org, or write: Free Software Foundation, 59 Temple Place, + Suite 330 Boston, MA 02111-1307 USA. This program is distributed + in the hope that it will be useful, but WITHOUT ANY WARRANTY, + including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + ------------------------------------------------------------------------- + Additionally licensed to Sony Corporation under the following terms: + + This software is provided by the copyright holders AS IS and any + express or implied warranties, including, but not limited to, the + implied warranties of merchantability and fitness for a particular + purpose are disclaimed. In no event shall authors be liable for + any direct, indirect, incidental, special, exemplary, or consequential + damages (including, but not limited to, procurement of substitute + goods or services; loss of use, data, or profits; or business + interruption) however caused and on any theory of liability, whether + in contract, strict liability, or tort (including negligence or + otherwise) arising in any way out of the use of this software, even if + advised of the possibility of such damage. + ========================================================================= */ + + +#include +#include +#include +#include +#include "Motion/DynamicMotionSequence.h" +#include "Motion/Geometry.h" +#include "Motion/OldKinematics.h" +#include "Shared/Config.h" + +#include +#include + +using namespace std; + +unsigned int simulator_time; + +#define ATTR_ANGLES 1 +#define ATTR_POSITION 2 + +struct LegState{ + long attr,reserved; + point3d pos; + double angles[3]; +}; + +struct HeadState{ + long attr,reserved; + vector3d target; + double angles[3]; +}; + +struct BodyState{ + BodyPosition pos; + LegState leg[4]; + HeadState head; +}; + +struct BodyStateMotion{ + BodyState body; + long time; // ms + long reserved; +}; + +int usage(unsigned int argc, const char** argv) { + const char* name; + if(strchr(argv[0],'/')!=NULL) + name=strrchr(argv[0],'/')+1; + else + name=argv[0]; + cerr << "Usage:\t" << argv[0] << " [-rad] [-deg] [-compress] [-conv] [-skip ] " << endl; + cerr << "\t" << argv[0] << " [-rad] [-deg] [-compress] [-conv] [-skip ] " << endl; + cerr << endl; + cerr << '`' < will skip the first n frames of the input. (default 1)" << endl; + cerr << endl; + cerr << "Be aware the resulting MotionSequence files may need a little tweaking by hand " << endl; + cerr << "to remove \"unused\" joints since this can't be determined from the CM-Pack'02 " << endl; + cerr << "posture sequence file." << endl; + return 2; +} + +int load_cmpack_mot(const char* filename, MotionSequence& ms); +void Complete(BodyState &body); +void convert(const BodyStateMotion* frame, unsigned int num_frames, MotionSequence& ms); + +bool convertDeg=false; +bool compress=false; +unsigned int skip=1; + +int main(unsigned int argc, const char** argv) { + if(argc<3) + return usage(argc,argv); + config=new Config("tekkotsu.cfg"); + unsigned int used=1; + bool isRad=true; + while(used=64) return(false); + + frame = new BodyStateMotion[num];//(BodyStateMotion*)malloc(sizeof(BodyStateMotion)*num); + if(!frame) { + cout << "Memory allocation error" << endl; + return 0; + } + fread(frame,sizeof(BodyStateMotion),num,in); + fclose(in); + for(uint i=0; i... +# - Wildcards can also be used: ... +# - Anything not within a model region is read by all models (i.e. <*>..) +# - Don't get fancy with the "tags" - one per line, the parser's not that smart +# (feel free to hack it if you want - it's in Config.cc) +# +# * Sections are demarcated with [SECTIONNAME] +# - A section is only ended by another section beginning +# - Section transitions within a model region will only be read by that model +# - Section names are case insensitive +# +# * Otherwise, each line is interpreted as: variable=value +# - this should correspond to Config::curSectionName_config::variable +# - interpretation is up to the code in Config.cc +# - some variables are lists (additional assignments push on the list), +# others are simply overwritten if a new value is assigned. +# - variable names are case insensitive +# +# * You can override these at run time from the Controller using the command: +# !set section_name.variable=value +# - Of course, whether or not the new value will be picked up depends on +# how it is being used... +# +################################################################## + + + +################################################################## +################################################################## +[Motion] +################################################################## +################################################################## + +# Any motion related paths which are not absolute (i.e. do not +# start with '/') will be assumed to be relative to this directory +root=. + +# This is the default set of walk parameters +walk=walk.prm + +# The file specified by "kinematics" should define the kinematic +# chains which form your robot. +# "kinematic_chains" lists the names of the chains which should be +# loaded from that file + + +kinematics=/ms/config/ers210.kin +kinematic_chains=Mouth + + +kinematics=/ms/config/ers220.kin + +kinematic_chains=IR + + +kinematics=/ms/config/ers7.kin +kinematic_chains=Mouth +kinematic_chains=NearIR +kinematic_chains=FarIR +kinematic_chains=ChestIR + +kinematic_chains=LFr +kinematic_chains=RFr +kinematic_chains=LBk +kinematic_chains=RBk +kinematic_chains=Camera + +# These calibration parameters should specify the value to multiply a +# desired position by in order to cause the joint to actually reach +# that position. This is then used both to calibrate joint values +# which are sent to the system, and also sensor values which are +# received back. +# An unspecified joint is by default '1' which will then pass values +# through unmodified. Only PID joints are calibrated (i.e. LEDs and +# ears are not) + +#Only the knees and rotors have been calibrated +#This is just kind of a rough calibration since +#I don't know how well it will generalize across +#individual robots anyway. +calibrate:LFr:rotor=0.972 +calibrate:LFr:knee~=0.944 +calibrate:RFr:rotor=0.972 +calibrate:RFr:knee~=0.944 +calibrate:LBk:rotor=0.972 +calibrate:LBk:knee~=0.944 +calibrate:RBk:rotor=0.972 +calibrate:RBk:knee~=0.944 + + +#ERS-2xx seems to be fairly well calibrated by system, but +#you can always try to do better... + + +# Sounds to play when turning estop on and off +estop_on_snd=skid.wav +estop_off_snd=yap.wav + +# These values are used by some behaviors to limit the +# speed of the head to reduce wear on the joints +# Units: radians per second + +max_head_tilt_speed=2.1 +max_head_pan_speed=3.0 +max_head_roll_speed=3.0 + + +#the pan speed is revised down from Sony's maximum a bit +max_head_tilt_speed=3.18522588 +max_head_pan_speed=5.78140315 +max_head_roll_speed=5.78140315 + + +console_port=10003 +stderr_port=10004 + diff -urdN ../Tekkotsu_2.2/tools/crashDebug ./tools/crashDebug --- ../Tekkotsu_2.2/tools/crashDebug Mon Oct 11 15:31:36 2004 +++ ./tools/crashDebug Fri Nov 12 16:55:47 2004 @@ -8,9 +8,6 @@ echo " -mipal will use the Mi-Pal tools from Griffith University"; echo " mi-pal_options (if any) are passed to StackedIt"; echo " If no options are given, '-q -mipal -2' is assumed."; - echo " This command will read the value of the MEMSTICK_ROOT, TEKKOTSU_ROOT,"; - echo " and FILENAME_CASE environment variables to find the emon.log file"; - echo " and other tools."; echo " This should be run from within the project directory"; echo " which caused the crash"; fi; @@ -19,16 +16,35 @@ exit 2; fi; -BUILDDIR=`grep "^PROJECT_BUILDDIR.*=" Makefile | cut -f 2- -d =`; -if [ ! "$BUILDDIR" ] ; then - BUILDDIR=build; - echo "WARNING: could not find PROJECT_BUILDDIR specification in Makefile."; - echo " Defaulting to '$BUILDDIR'."; +#First lets find out where the environment configuration is +# Note that this value we're about to pull out might not be a direct +# file name - can (and does by default) involve makefile functions, so +# we can't easily directly interpret it. +TEKKOTSU_ENVIRONMENT_CONFIGURATION=`grep "^TEKKOTSU_ENVIRONMENT_CONFIGURATION.*=" Makefile | cut -f 2- -d =`; +if [ ! "$TEKKOTSU_ENVIRONMENT_CONFIGURATION" ] ; then + TEKKOTSU_ENVIRONMENT_CONFIGURATION=Environment.conf; + echo "WARNING: could not find TEKKOTSU_ENVIRONMENT_CONFIGURATION specification in Makefile."; + echo " Defaulting to '$TEKKOTSU_ENVIRONMENT_CONFIGURATION'."; fi; -if [ ! "$TEKKOTSU_TARGET_MODEL" ] ; then - TEKKOTSU_TARGET_MODEL=TGT_ERS2xx; + +#This monstrosity will con make into parsing the environment configuration for us +eval `make -f - < quick-out.txt; file=`sed -n '/object:/s/object: *//p' quick-out.txt`; ${TEKKOTSU_ROOT}/tools/emonLogParser ${emonfile} ${file}.nosnap.elf; diff -urdN ../Tekkotsu_2.2/tools/emonLogParser ./tools/emonLogParser --- ../Tekkotsu_2.2/tools/emonLogParser Mon Sep 30 15:06:28 2002 +++ ./tools/emonLogParser Fri Nov 12 16:34:12 2004 @@ -11,8 +11,8 @@ # # Installation: # -# Before running this program, add /usr/local/OPEN_R_SDK/bin -# directory to your PATH. +# If your OPEN-R SDK installation is not /usr/local/OPEN_R_SDK, +# set the OPENRSDK_ROOT environment variable accordingly # # Usage: # @@ -64,6 +64,11 @@ my $sHexRe = "([0-9a-zA-Z]+)"; my $lHexRe = "0x$sHexRe"; +my $OPENRSDK_ROOT="/usr/local/OPEN_R_SDK"; +if($ENV{'OPENRSDK_ROOT'}) { + $OPENRSDK_ROOT=$ENV{'OPENRSDK_ROOT'}; +} + if (@ARGV < 1 || @ARGV > 3) { usage(); exit(1); @@ -114,7 +119,7 @@ my $gpReg = readHex($emonLog, "gp:r28: "); print "gp:\t\t$gpReg\n"; -my $gpGrep = run("mipsel-linux-readelf -s $nosnapFile | grep '_gp\$'"); +my $gpGrep = run("$OPENRSDK_ROOT/bin/mipsel-linux-readelf -s $nosnapFile | grep '_gp\$'"); if ($gpGrep !~ /^\s*\S+:\s*$sHexRe\s+.*_gp/) { die "INTERNAL ERROR: unexpected \$gpGrep: $gpGrep\n"; } @@ -124,7 +129,7 @@ my $staticAddr = hex($target) - hex($gpReg) + hex($gpSym); printf("static addr:\t%08x\n", $staticAddr); -my $command = "mipsel-linux-nm -C $nosnapFile | sort |"; +my $command = "$OPENRSDK_ROOT/bin/mipsel-linux-nm -C $nosnapFile | sort |"; open(SYMS, $command) || die "ERROR: can't open pipe: $command: $!\n"; diff -urdN ../Tekkotsu_2.2/tools/ftpinstall ./tools/ftpinstall --- ../Tekkotsu_2.2/tools/ftpinstall Tue Jul 13 21:19:40 2004 +++ ./tools/ftpinstall Tue Nov 16 18:52:32 2004 @@ -36,7 +36,6 @@ makecopylist("."); login(); -open (ST, "> ".$ENV{"HOME"}."/.tekkotsu_ftplist"); for ($i = 0; $i < $numoflist; $i++) { if ($LIST[$i] =~ /\/$/) { ftpmkdir($LIST[$i]); @@ -52,12 +51,11 @@ connectData(); } ftpput($LIST[$i]); - - print ST $LIST[$i]."|$mtime\n"; + } } logout(); -close(ST); +$ans=`touch "$copiedtimestamp"`; #----- sub ----- sub makecopylist { diff -urdN ../Tekkotsu_2.2/tools/ftpupdate ./tools/ftpupdate --- ../Tekkotsu_2.2/tools/ftpupdate Tue Jul 13 21:19:40 2004 +++ ./tools/ftpupdate Tue Nov 16 18:52:32 2004 @@ -31,22 +31,14 @@ die $message if @ARGV <= 1; $hostname = shift(@ARGV); $localdir = shift(@ARGV); +$numoflist=0; -chdir($localdir); -makecopylist("."); - -open (ST, $ENV{"HOME"}."/.tekkotsu_ftplist"); -%oldlist={}; -while () { - chomp; - ($file, $lmtime) = split(/\|/); - $oldlist{$file}=$lmtime; -} -close (ST); -login(); +$copiedtimestamp = ".copiedtomemstick.timestamp"; -open (ST, "> ".$ENV{"HOME"}."/.tekkotsu_ftplist"); +makecopylist($localdir); +chdir($localdir); +login(); for ($i = 0; $i < $numoflist; $i++) { if ($LIST[$i] =~ /\/$/) { ftpmkdir($LIST[$i]); @@ -55,46 +47,34 @@ $atime,$mtime,$ctime,$blksize,$blocks) = stat($LIST[$i]); - if ($mtime==$oldlist{$LIST[$i]}) { + print "$LIST[$i]"; + if ($opt_a) { + listenData(); } else { - print "$LIST[$i]"; - if ($opt_a) { - listenData(); - } else { - connectData(); - } - ftpput($LIST[$i]); + connectData(); } - - print ST $LIST[$i]."|$mtime\n"; + ftpput($LIST[$i]); + } } logout(); -close(ST); +$ans=`touch "$copiedtimestamp"`; #----- sub ----- sub makecopylist { my $directory = shift(@_); - my $numofdir; - my @DIRLIST; - my $i; - - opendir(DIR, $directory); - while ($filename = readdir(DIR)) { - next if ($filename =~ /^\./); - next if ($filename =~ /^CVS$/); - $path = "$directory/$filename"; - $LIST[$numoflist++] = $path if -f $path; - if (-d $path) { - $LIST[$numoflist++] = "$path/"; - $DIRLIST[$numofdir++] = $path; - } - } - close(DIR); + my $filelist = "/tmp/ftpupdate.filelist.txt"; + my $ans = `find "$directory" -newer "$copiedtimestamp" > "$filelist"`; - for ($i = 0; $i < $numofdir; $i++) { - makecopylist($DIRLIST[$i]); + open(ST,$filelist); + while(chomp($path = readline(ST))) { + next if ($path =~ /\/\./); + next if ($path =~ /\/CVS\//); + $localpath=`printf "$path" | sed 's~$directory/~~'`; + $LIST[$numoflist++] = "$localpath" if -f $path; + $LIST[$numoflist++] = "$localpath/" if -d $path; } + close(ST); } sub login { @@ -231,9 +211,9 @@ binmode(FILE); # print "sending data\n"; - while (read(FILE, $tmp, 1024)) { -# print "."; - print IN "$tmp"; + while (sysread(FILE, $tmp, 51200)) { + print "."; + syswrite(IN,$tmp) } print "\n"; # print "closing up\n"; diff -urdN ../Tekkotsu_2.2/tools/makelowercase ./tools/makelowercase --- ../Tekkotsu_2.2/tools/makelowercase Fri May 7 00:44:24 2004 +++ ./tools/makelowercase Tue Nov 16 18:52:32 2004 @@ -9,10 +9,13 @@ fi; for x in $* ; do - if [ -r "$x" ] ; then - conv="`echo $x | tr '[A-Z]' '[a-z]'`"; - if [ "$x" != "$conv" ] ; then - if [ -e "$conv" -a ! "$x" -ef "$conv" ] ; then + dir=`echo "$x" | sed 's@\(.*\)/.*@\1@'`; + file=`echo "$x" | sed 's@\(.*\)/@@'`; + pushd "$dir" > /dev/null; + if [ -r "$file" ] ; then + conv="`echo $file | tr '[A-Z]' '[a-z]'`"; + if [ "$file" != "$conv" ] ; then + if [ -e "$conv" -a ! "$file" -ef "$conv" ] ; then echo "ERROR: $conv already exists (from $x)"; echo "exiting..." exit 1; @@ -20,11 +23,12 @@ #wish i could do this: # mv "$x" "$conv"; #but cygwin doesn't like that... - mv "$x" "$x"_tmp; - mv "$x"_tmp "$conv"; + mv "$file" "$file"_tmp; + mv "$file"_tmp "$conv"; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then "$0" -r "$conv"/*; fi; fi; + popd > /dev/null; done; diff -urdN ../Tekkotsu_2.2/tools/makeuppercase ./tools/makeuppercase --- ../Tekkotsu_2.2/tools/makeuppercase Fri May 7 00:44:24 2004 +++ ./tools/makeuppercase Tue Nov 16 18:52:32 2004 @@ -9,10 +9,13 @@ fi; for x in $* ; do - if [ -r "$x" ] ; then - conv="`echo $x | tr '[a-z]' '[A-Z]'`"; - if [ "$x" != "$conv" ] ; then - if [ -e "$conv" -a ! "$x" -ef "$conv" ] ; then + dir=`echo "$x" | sed 's@\(.*\)/.*@\1@'`; + file=`echo "$x" | sed 's@\(.*\)/@@'`; + pushd "$dir" > /dev/null; + if [ -r "$file" ] ; then + conv="`echo $file | tr '[a-z]' '[A-Z]'`"; + if [ "$file" != "$conv" ] ; then + if [ -e "$conv" -a ! "$file" -ef "$conv" ] ; then echo "ERROR: $conv already exists (from $x)"; echo "exiting..." exit 1; @@ -20,11 +23,12 @@ #wish i could do this: # mv "$x" "$conv"; #but cygwin doesn't like that... - mv "$x" "$x"_tmp; - mv "$x"_tmp "$conv"; + mv "$file" "$file"_tmp; + mv "$file"_tmp "$conv"; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then "$0" -r "$conv"/*; fi; fi; + popd > /dev/null; done; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/ControllerGUI.java ./tools/mon/org/tekkotsu/mon/ControllerGUI.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/ControllerGUI.java Wed Sep 1 18:37:11 2004 +++ ./tools/mon/org/tekkotsu/mon/ControllerGUI.java Mon Nov 15 15:53:05 2004 @@ -263,11 +263,11 @@ estop.open(); } else if(evt.getActionCommand().equals("raw") || evt.getActionCommand().equals("rle")) { if(evt.getActionCommand().equals("raw")) { - comm.sendInput("!root \"TekkotsuMon\" \"RawCamServer\""); - comm.dynObjSrcs.put("RawVisionGUI","\"TekkotsuMon\" \"RawCamServer\""); + comm.sendInput("!root \"TekkotsuMon\" \"Raw Cam Server\""); + comm.dynObjSrcs.put("RawVisionGUI","\"TekkotsuMon\" \"Raw Cam Server\""); } else { - comm.sendInput("!root \"TekkotsuMon\" \"SegCamServer\""); - comm.dynObjSrcs.put("SegVisionGUI","\"TekkotsuMon\" \"SegCamServer\""); + comm.sendInput("!root \"TekkotsuMon\" \"Seg Cam Server\""); + comm.dynObjSrcs.put("SegVisionGUI","\"TekkotsuMon\" \"Seg Cam Server\""); } } else if(evt.getActionCommand().equals("addbookmark")) { int sel=comm.firstSelected(); diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/ControllerListener.java ./tools/mon/org/tekkotsu/mon/ControllerListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/ControllerListener.java Wed Sep 1 18:37:11 2004 +++ ./tools/mon/org/tekkotsu/mon/ControllerListener.java Fri Nov 12 17:07:39 2004 @@ -138,6 +138,7 @@ try { sin=socket.getInputStream(); _out=new PrintStream(socket.getOutputStream()); + fireConnected(); _out.println("!hello"); _out.println("!refresh"); while (true) { @@ -270,7 +271,12 @@ System.out.println("null listener"); } } - } catch (Exception e) {if((SocketException)e==null) e.printStackTrace(); } + } catch (SocketException e) { + } catch (Exception e) { + e.printStackTrace(); + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/EStopListener.java ./tools/mon/org/tekkotsu/mon/EStopListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/EStopListener.java Thu Dec 11 00:49:39 2003 +++ ./tools/mon/org/tekkotsu/mon/EStopListener.java Fri Nov 12 17:07:40 2004 @@ -21,8 +21,8 @@ public void estopUpdated(EStopListener mc); } - void addUpdatedListener(UpdatedListener mcl) { listeners.add(mcl); } - void removeUpdatedListener(UpdatedListener mcl) { + public void addUpdatedListener(UpdatedListener mcl) { listeners.add(mcl); } + public void removeUpdatedListener(UpdatedListener mcl) { listeners.remove(mcl); if(listeners.size()==0) kill(); @@ -36,11 +36,12 @@ // Connect to control socket public void connected(Socket socket) { mysock = socket; - fireUpdated(); try { out = new PrintStream(mysock.getOutputStream()); + fireUpdated(); out.print("refresh\n"); InputStream sin=socket.getInputStream(); + fireConnected(); while (true) { String msgtype=readLine(sin); if(!_isConnected) break; @@ -58,7 +59,12 @@ System.out.println("Estop Unknown message: "+msgtype); } } - } catch(Exception e) {if((SocketException)e==null) e.printStackTrace();} + } catch (SocketException e) { + } catch (Exception e) { + e.printStackTrace(); + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/HeadPointListener.java ./tools/mon/org/tekkotsu/mon/HeadPointListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/HeadPointListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/HeadPointListener.java Fri Nov 12 17:07:40 2004 @@ -42,11 +42,17 @@ try { out = mysock.getOutputStream(); InputStream sin=socket.getInputStream(); + fireConnected(); while (true) { //not that we expect input, but will block until the socket is closed String msgtype=readLine(sin); if(!_isConnected) break; } - } catch(Exception e) {if((SocketException)e==null) e.printStackTrace();} + } catch(SocketException e) { + } catch(Exception e) { + e.printStackTrace(); + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } @@ -77,6 +83,9 @@ // Send a headPoint command public void sendCommand(String command, double param) { + if (out == null) { + return; + } // Extract command byte byte cmdbytes[] = command.getBytes(); if(cmdbytes[0]=='t') diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/JointRelay.java ./tools/mon/org/tekkotsu/mon/JointRelay.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/JointRelay.java Tue Feb 24 16:13:27 2004 +++ ./tools/mon/org/tekkotsu/mon/JointRelay.java Fri Nov 12 17:07:40 2004 @@ -15,6 +15,7 @@ _outd=new Joints(); try { InputStream in=socket.getInputStream(); + fireConnected(); while (true) { _data.timestamp=readInt(in); int count; @@ -45,7 +46,10 @@ } } } - } catch (Exception ex) { } + } catch (Exception ex) { + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } _isConnected=false; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/Listener.java ./tools/mon/org/tekkotsu/mon/Listener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/Listener.java Mon Nov 24 16:22:30 2003 +++ ./tools/mon/org/tekkotsu/mon/Listener.java Fri Nov 12 17:07:40 2004 @@ -6,11 +6,116 @@ import java.io.OutputStream; import java.io.IOException; +import java.util.ArrayList; +import java.util.List; + public abstract class Listener implements Runnable { public Listener() { _port=-1; _isConnected=false; } public Listener(int port) { this(); setPort(port); } public Listener(String host, int port) { this(); setHostPort(host, port); } + protected long bytesRead = 0; + protected long bytesWritten = 0; + private boolean countersEnabled = true; + + private static final ConnectionListener[] EMPTY_LISTENER_ARRAY = + new ConnectionListener[0]; + private final List listeners = new ArrayList(); + private ConnectionListener[] cachedListeners = EMPTY_LISTENER_ARRAY; + + /** + * Notifies of connection state change. + */ + public interface ConnectionListener { + /** + * Fires when connection has been established. + */ + void onConnected(); + + /** + * Fires when connection has been closed. + */ + void onDisconnected(); + } + + /** + * Adds a connection listener. + * + * @param listener listener to add. + */ + public void addConnectionListener(ConnectionListener listener) { + listeners.add(listener); + cachedListeners = + (ConnectionListener[]) listeners.toArray(EMPTY_LISTENER_ARRAY); + } + + /** + * Removes a connection listener. + * + * @param listener listener to remove. + */ + public void removeConnectionListener(ConnectionListener listener) { + while (listeners.remove(listener)) {} + cachedListeners = + (ConnectionListener[]) listeners.toArray(EMPTY_LISTENER_ARRAY); + } + + /** + * Notifies listeners that the connection has been established. + */ + protected void fireConnected() { + for (int i = 0, len = cachedListeners.length; i < len; i++) { + cachedListeners[i].onConnected(); + } + } + + /** + * Notifies listeners that the connection has been closed. + */ + protected void fireDisconnected() { + for (int i = 0, len = cachedListeners.length; i < len; i++) { + cachedListeners[i].onDisconnected(); + } + } + + /** + * Counts the number of bytes read so far. + * + * @return number of bytes read. + */ + public long getBytesRead() { + return bytesRead; + } + + /** + * Counts the number of bytes written so far. + * + * @return number of bytes written. + */ + public long getBytesWritten() { + return bytesWritten; + } + + /** + * Enables/disables read/write counters. + * + * @param enabled true to enable counters, false -- + * to disable. + */ + public void setReadWriteCountersEnabled(boolean enabled) { + this.countersEnabled = enabled; + } + + /** + * Checks whether read/write counters are enabled. + * + * @return true if the counters are enabled, false + * otherwise. + */ + public boolean isReadWriteCountersEnabled() { + return countersEnabled; + } + public void setPort(int port) { _isServer=true; _port=port; @@ -69,10 +174,7 @@ public long readLong(InputStream in) throws IOException { int read=0; int last=0; - byte[] buf=new byte[8]; - while (read<8 && last>=0) { last=in.read(buf,read,8-read); read+=last; } - if(last<0) - _isConnected=false; + byte[] buf = readBytes(in, 8); return (b2l(buf[7])<<56) | (b2l(buf[6])<<48) | (b2l(buf[5])<<40) | (b2l(buf[4])<<32) | (b2l(buf[3])<<24) | (b2l(buf[2])<<16) | @@ -83,8 +185,8 @@ int bytelen=8; byte[] buf=new byte[bytelen]; for(int i=0; i>(8*i)) & 0xff)).byteValue(); - out.write(buf,0,bytelen); + buf[i]= (byte) ((x>>(8*i)) & 0xff); + writeBytes(out, buf); } public float readFloat(InputStream in) throws IOException { @@ -98,20 +200,39 @@ public int readInt(InputStream in) throws IOException { int read=0; int last=0; - byte[] buf=new byte[4]; - while (read<4 && last>=0) { last=in.read(buf,read,4-read); read+=last; } - if(last<0) - _isConnected=false; + byte[] buf=readBytes(in, 4); return (b2i(buf[3])<<24) | (b2i(buf[2])<<16) | (b2i(buf[1])<< 8) | b2i(buf[0]); } + public short readShort(InputStream in) throws IOException { + int read=0; + int last=0; + byte[] buf=readBytes(in, 2); + return (short) ((b2i(buf[1])<< 8) | b2i(buf[0])); + } + + public void writeShort(OutputStream out, short x) throws IOException { + int bytelen=2; + byte[] buf=new byte[bytelen]; + for(int i=0; i>(8*i)) & 0xff); + writeBytes(out, buf); + } + public void writeInt(OutputStream out, int x) throws IOException { int bytelen=4; byte[] buf=new byte[bytelen]; for(int i=0; i>(8*i)) & 0xff)).byteValue(); - out.write(buf,0,bytelen); + buf[i]= (byte) ((x>>(8*i)) & 0xff); + writeBytes(out, buf); + } + + public void writeBytes(OutputStream out, byte[] buf) throws IOException { + out.write(buf); + if (isReadWriteCountersEnabled()) { + bytesWritten += buf.length; + } } public byte[] readBytes(InputStream in, int bytes) throws IOException { @@ -123,20 +244,49 @@ public void readBytes(byte[] buf, InputStream in, int bytes) throws IOException { int read=0; int last=0; - while (read=0) { + while (read=0)?(int)b:((int)b)+256; } public long b2l(byte b) { return (b>=0)?(long)b:((long)b)+256; } - public abstract void runServer(); - public abstract void runConnect(); + protected abstract void runServer(); + protected abstract void runConnect(); public abstract void close(); public boolean _isServer; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/MechaController.java ./tools/mon/org/tekkotsu/mon/MechaController.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/MechaController.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/MechaController.java Fri Nov 12 17:07:40 2004 @@ -44,11 +44,17 @@ try { out = mysock.getOutputStream(); InputStream sin=socket.getInputStream(); + fireConnected(); while (true) { //not that we expect input, but will block until the socket is closed String msgtype=readLine(sin); if(!_isConnected) break; } - } catch(Exception e) {if((SocketException)e==null) e.printStackTrace();} + } catch (SocketException e) { + } catch (Exception e) { + e.printStackTrace(); + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } @@ -79,6 +85,9 @@ // Send a mecha command public void sendCommand(String command, double param) { + if (out == null) { + return; + } t.restart(); // Extract command byte diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/MicrophoneClient.java ./tools/mon/org/tekkotsu/mon/MicrophoneClient.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/MicrophoneClient.java Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/mon/MicrophoneClient.java Fri Nov 12 17:07:40 2004 @@ -0,0 +1,179 @@ +package org.tekkotsu.mon; + +import java.io.InputStream; +import java.io.IOException; +import java.net.Socket; +import java.util.ArrayList; +import java.util.Iterator; +import java.util.List; + +/** + * Streams audio from the AIBO's microphones. + * + * Every packet of audio received contains information about sample rate, bit + * depth and the number of channels. The parameters are on the mercy of the + * server and can change during streaming. + * + * @author Alexander Klyubin + */ +public class MicrophoneClient extends TCPListener { + private final List audioListeners = new ArrayList(); + private static final AudioListener[] EMPTY_AUDIO_LISTENER_ARRAY = + new AudioListener[0]; + private AudioListener[] cachedAudioListeners = EMPTY_AUDIO_LISTENER_ARRAY; + + /** + * Notifies of arrival of streamed audio packets. + */ + public interface AudioListener { + /** + * Notifies that an audio packet has been received. + * @param samples samples (PCM-encoded). + * @param sampleRate sample rate. + * @param bitsPerSample bits per sample (usually 8 or + * 16). + * @param stereo true if samples contain two + * channels (stereo), false if samples + * contain only one channel (mono). + */ + void onSamplesReceived( + byte[] samples, + int sampleRate, + int bitsPerSample, + boolean stereo); + } + + /** + * Adds an audio listener. + * + * @param listener listener to add. + */ + public void addAudioListener(AudioListener listener) { + audioListeners.add(listener); + cachedAudioListeners = + (AudioListener[]) audioListeners.toArray(EMPTY_AUDIO_LISTENER_ARRAY); + } + + /** + * Removes an audio listener. + * + * @param listener listener to remove. + */ + public void removeAudioListener(AudioListener listener) { + while (audioListeners.remove(listener)) {} + cachedAudioListeners = + (AudioListener[]) audioListeners.toArray(EMPTY_AUDIO_LISTENER_ARRAY); + } + + /** + * Notifies listeners that an audio packet has been received from the + * microphone. + * + * @param samples samples (PCM-encoded). + * @param sampleRate sample rate. + * @param bitsPerSample bits per sample (usually 8 or + * 16). + * @param stereo true if samples contain two + * channels (stereo), false if samples + * contain only one channel (mono). + */ + protected void fireSamplesReceived( + byte[] samples, + int sampleRate, + int bitsPerSample, + boolean stereo) { + + for (int i = 0, len = cachedAudioListeners.length; i < len; i++) { + cachedAudioListeners[i].onSamplesReceived( + samples, + sampleRate, + bitsPerSample, + stereo); + } + } + + /** + * Handles a connection. + * + * @param socket socket connected to the microphone server. + */ + protected void connected(Socket socket) { + InputStream in = null; + try { + in = socket.getInputStream(); + fireConnected(); + while (true) { + if (!_isConnected) { + break; + } + consumeFrame(in); + if (!_isConnected) { + break; + } + } + } catch (Exception e) { + e.printStackTrace(); + } finally { + if (in != null) { + try { + in.close(); + } catch (IOException e) { + e.printStackTrace(); + } + in = null; + } + fireDisconnected(); + } + + try { socket.close(); } catch (IOException e) {} + } + + /** + * Converts a signed short into unsigned form. + * + * @param value value to convert. + * + * @return unsigned version of the value. + */ + private static int unsignedShort(short value) { + return ((value >= 0) ? value : 65536 + value); + } + + /** + * Consumes an audio frame from the stream. + * + * @param in input stream to consume the frame from. + * @throws IOException if an I/O exception occurs. + */ + protected void consumeFrame(InputStream in) throws IOException { + // HEADER (4 bytes) + // unsigned short: size + // unsigned short: type + // DATA (size) + final int size = unsignedShort(readShort(in)); + final int type = unsignedShort(readShort(in)); + if (type == 0) { + // PCM frame + // HEADER (4 bytes) + // unsigned short: sampleRate + // byte: bitsPerSample + // byte: stereo + // PCM DATA (size - 4) + final int sampleRate = unsignedShort(readShort(in)); + final byte bitsPerSample = readByte(in); + final boolean stereo = (readByte(in) == 1); + final byte[] frame = readBytes(in, size - 4); + fireSamplesReceived(frame, sampleRate, bitsPerSample, stereo); + } else { + System.err.println("Unknown microphone frame type: " + type + + ", size = " + size); + // Skip the frame + readBytes(in, size); + } + } + + /** + * Constructs a new MicrophoneClient instance. + */ + public MicrophoneClient() {} +} diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/SketchPanel.java ./tools/mon/org/tekkotsu/mon/SketchPanel.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/SketchPanel.java Thu Apr 22 20:02:53 2004 +++ ./tools/mon/org/tekkotsu/mon/SketchPanel.java Fri Nov 12 17:07:40 2004 @@ -24,7 +24,7 @@ super(listener); gui = _gui; isCam = _isCam; - listener.runConnect(); + listener.run(); } protected void drawImage(Graphics _g, BufferedImage img, int x, int y, diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/SpeakerClient.java ./tools/mon/org/tekkotsu/mon/SpeakerClient.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/SpeakerClient.java Wed Dec 31 19:00:00 1969 +++ ./tools/mon/org/tekkotsu/mon/SpeakerClient.java Fri Nov 12 17:07:40 2004 @@ -0,0 +1,112 @@ +package org.tekkotsu.mon; + +import java.io.InputStream; +import java.io.IOException; +import java.io.OutputStream; +import java.net.Socket; + +/** + * Streams audio to the AIBO's speaker. + * + * Each packet sent contains sample rate and bit depth information which is + * used by the server to resample it to the correct format used by the AIBO + * internally. + * + * @author Alexander Klyubin + */ +public class SpeakerClient extends TCPListener { + /** Output stream for communication with the server. */ + OutputStream out = null; + + /** + * Handles a connection. + * + * @param socket socket connected to the speaker server. + */ + protected void connected(Socket socket) { + InputStream in = null; + try { + out = socket.getOutputStream(); + in = socket.getInputStream(); + fireConnected(); + while (true) { + if (!_isConnected) { + break; + } + if (in.read() == -1) { + break; + } + } + } catch (Exception e) { + e.printStackTrace(); + } finally { + if (in != null) { + try { + in.close(); + } catch (IOException e) { + e.printStackTrace(); + } + in = null; + } + if (out != null) { + try { + out.close(); + } catch (IOException e) { + e.printStackTrace(); + } + out = null; + } + fireDisconnected(); + } + + try { socket.close(); } catch (IOException e) {} + } + + /** + * Sends a frame of audio to the speaker. + * + * @param samples samples (PCM-encoded, 16-bit signed or 8-bit unsigned). + * @param sampleRate sample rate (Hz). + * @param bitsPerSample bits per sample (usually 8 or + * 16). + * + * @throws IOException if an I/O exception occurs. + */ + public void sendFrame( + byte[] samples, + int sampleRate, + int bitsPerSample) throws IOException { + + if (samples.length > 65530) { + throw new IllegalArgumentException( + "Frame too long. Maximum length: 65530"); + } + + if ((!_isConnected) || (out == null)) { + throw new IOException("Not connected"); + } + + // HEADER (4 bytes) + // unsigned short: size + // unsigned short: type + // DATA (size) + writeShort(out, (short) (samples.length + 4)); + writeShort(out, (short) 0); // PCM + // PCM frame + // HEADER (4 bytes) + // unsigned short: sampleRate + // byte: bitsPerSample + // byte: padding + // PCM DATA (size - 4) + writeShort(out, (short) sampleRate); + writeByte(out, (byte) bitsPerSample); + writeByte(out, (byte) 0); + writeBytes(out, samples); + out.flush(); + } + + /** + * Constructs a new SpeakerClient. + */ + public SpeakerClient() {} +} diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/TCPListener.java ./tools/mon/org/tekkotsu/mon/TCPListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/TCPListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/TCPListener.java Fri Nov 12 17:07:40 2004 @@ -4,9 +4,9 @@ import java.net.Socket; public abstract class TCPListener extends Listener { - public abstract void connected(Socket socket); + protected abstract void connected(Socket socket); - public void runServer() { + protected void runServer() { Thread me = Thread.currentThread(); try { _serverSocket=new ServerSocket(_port); } catch (Exception ex) { @@ -22,7 +22,7 @@ } } - public void runConnect() { + protected void runConnect() { int attempts=0; Thread me = Thread.currentThread(); while (me==_listenerThread && !destroy) { diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/TCPVisionListener.java ./tools/mon/org/tekkotsu/mon/TCPVisionListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/TCPVisionListener.java Tue Sep 28 14:56:12 2004 +++ ./tools/mon/org/tekkotsu/mon/TCPVisionListener.java Fri Nov 12 17:07:40 2004 @@ -351,6 +351,7 @@ System.err.println("Unrecognized type: "+type); break; } + fireConnected(); format=readInt(in); if(!_isConnected) break; //System.out.println("Got format="+format); compression=readInt(in); @@ -435,27 +436,27 @@ isJPEG=false; isIndex=false; int useChan=(channels==1)?i:chan_id; - if(!readChannel(in,useChan,chanwidth,chanheight)) { failed=true; break; } + if(!readChannel(in,useChan,chanwidth,chanheight)) { failed=true; System.err.println("TCPVisionListener channel read failed"); break; } } else if(fmt.equals("JPEGGrayscale")) { isIndex=false; int useChan=(channels==1)?i:chan_id; - if(!readJPEGChannel(in,useChan,chanwidth,chanheight)) { failed=true; break; } + if(!readJPEGChannel(in,useChan,chanwidth,chanheight)) { failed=true; System.err.println("TCPVisionListener JPEGGreyscale channel read failed"); break; } isJPEG=(channels==1); } else if(fmt.equals("JPEGColor")) { isIndex=false; if(format==ENCODE_SINGLE_CHANNEL) System.err.println("WTF? "); - if(!readJPEG(in,chanwidth,chanheight)) { failed=true; break; } + if(!readJPEG(in,chanwidth,chanheight)) { failed=true; System.err.println("TCPVisionListener JPEGColor channel read failed"); break; } i=channels; isJPEG=true; } else if(fmt.equals("SegColorImage")) { isJPEG=false; isIndex=true; - if(!readIndexedColor(in,chanwidth,chanheight)) { failed=true; break; } + if(!readIndexedColor(in,chanwidth,chanheight)) { failed=true; System.err.println("TCPVisionListener SegColor read failed"); break; } } else if(fmt.equals("RLEImage")) { isJPEG=false; isIndex=true; - if(!readRLE(in,chanwidth,chanheight)) { failed=true; break; } + if(!readRLE(in,chanwidth,chanheight)) { failed=true; System.err.println("TCPVisionListener RLEImage read failed"); break; } } else { isJPEG=false; isIndex=false; @@ -464,8 +465,10 @@ } } } - if(failed || !_isConnected) + if(failed || !_isConnected) { + System.err.println("TCPVisionListener connection lost"); break; + } synchronized(_outd) { byte[] temp=_data; @@ -484,7 +487,10 @@ } fireVisionUpdate(); } - } catch (Exception ex) { } + } catch (Exception ex) { + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } _isConnected=false; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/TextListener.java ./tools/mon/org/tekkotsu/mon/TextListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/TextListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/TextListener.java Fri Nov 12 17:07:40 2004 @@ -15,12 +15,16 @@ BufferedReader in=new BufferedReader(new InputStreamReader( socket.getInputStream())); _out=new PrintStream(socket.getOutputStream()); + fireConnected(); while (true) { String read=in.readLine(); if (read==null) break; synchronized (_data) { _data=_data+read+"\n"; } } - } catch (Exception ex) { } + } catch (Exception ex) { + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } _isConnected=false; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/UDPListener.java ./tools/mon/org/tekkotsu/mon/UDPListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/UDPListener.java Mon Sep 27 18:48:36 2004 +++ ./tools/mon/org/tekkotsu/mon/UDPListener.java Fri Nov 12 17:07:40 2004 @@ -5,12 +5,12 @@ public abstract class UDPListener extends Listener { - public abstract void connected(DatagramSocket socket); + protected abstract void connected(DatagramSocket socket); String message = new String("connection request"); byte[] buf = message.getBytes(); - public void runServer() { + protected void runServer() { try { _socket=new DatagramSocket(_port); @@ -32,7 +32,7 @@ } } - public void runConnect() { + protected void runConnect() { try { _socket=new DatagramSocket(_port); diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/UDPVisionListener.java ./tools/mon/org/tekkotsu/mon/UDPVisionListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/UDPVisionListener.java Tue Sep 28 18:12:38 2004 +++ ./tools/mon/org/tekkotsu/mon/UDPVisionListener.java Fri Nov 12 17:07:40 2004 @@ -358,6 +358,7 @@ System.err.println("Unrecognized type: "+type); break; } + fireConnected(); format=readInt(in); if(!_isConnected) break; //System.out.println("Got format="+format); compression=readInt(in); @@ -493,9 +494,14 @@ } fireVisionUpdate(); } - } catch (Exception ex) { } + } catch (Exception ex) { + } finally { + fireDisconnected(); + } + try { mysock.close(); } catch (Exception ex) { } _isConnected=false; + fireVisionUpdate(); } public byte[] getData() { diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/VisionGUI.java ./tools/mon/org/tekkotsu/mon/VisionGUI.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/VisionGUI.java Tue Sep 28 14:56:12 2004 +++ ./tools/mon/org/tekkotsu/mon/VisionGUI.java Tue Nov 2 00:23:41 2004 @@ -70,7 +70,7 @@ return ""; } public String fpsReport() { - if(connected) { + if(connected && gui.mspf>.001) { int rnd=(int)(10000/gui.mspf); return rnd/10.0f+" fps"; } else @@ -295,7 +295,7 @@ tmp2.add(Box.createHorizontalStrut(strutsize)); { Box tmp3=Box.createVerticalBox(); - if(isRaw) { + if(!isRLE) { Box tmp4=Box.createHorizontalBox(); ButtonGroup group=new ButtonGroup(); JRadioButton tmpRad; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/VisionListener.java ./tools/mon/org/tekkotsu/mon/VisionListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/VisionListener.java Tue Sep 28 14:56:12 2004 +++ ./tools/mon/org/tekkotsu/mon/VisionListener.java Fri Nov 12 17:07:40 2004 @@ -34,8 +34,12 @@ static int defRawPort=10011; static int defRLEPort=10012; - void addListener(VisionUpdatedListener l); - void removeListener(VisionUpdatedListener l); + public void addListener(VisionUpdatedListener l); + public void removeListener(VisionUpdatedListener l); + + void addConnectionListener(Listener.ConnectionListener listener); + void removeConnectionListener(Listener.ConnectionListener listener); + void fireVisionUpdate(); public boolean isConnected(); @@ -64,9 +68,9 @@ public void startThread(); public void kill(); public void run(); - public void runServer(); - public void runConnect(); public void close(); public void setPort(int port); public void setHostPort(String host, int port); + + public long getBytesRead(); } diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WM2DMListener.java ./tools/mon/org/tekkotsu/mon/WM2DMListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WM2DMListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/WM2DMListener.java Fri Nov 12 17:07:40 2004 @@ -21,6 +21,7 @@ try { // CONNECT InputStream in=socket.getInputStream(); + fireConnected(); // READ FOREVER for(;;) { // read in all WM2 data @@ -39,7 +40,10 @@ _updatedFlag = true; } } - } catch(Exception e) {} + } catch(Exception e) { + } finally { + fireDisconnected(); + } // DISCONNECT try { socket.close(); } catch(Exception e) {} diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WM2FSListener.java ./tools/mon/org/tekkotsu/mon/WM2FSListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WM2FSListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/WM2FSListener.java Fri Nov 12 17:07:40 2004 @@ -21,6 +21,7 @@ try { // CONNECT InputStream in=socket.getInputStream(); + fireConnected(); // READ FOREVER for(;;) { // read in all particle positions @@ -54,7 +55,10 @@ _updatedFlag = true; } } - } catch(Exception e) {} + } catch(Exception e) { + } finally { + fireDisconnected(); + } // DISCONNECT try { socket.close(); } catch(Exception e) {} diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WM2HMListener.java ./tools/mon/org/tekkotsu/mon/WM2HMListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WM2HMListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/WM2HMListener.java Fri Nov 12 17:07:40 2004 @@ -21,6 +21,7 @@ try { // CONNECT InputStream in=socket.getInputStream(); + fireConnected(); // READ FOREVER for(;;) { // read in all WM2 data @@ -40,7 +41,10 @@ _updatedFlag = true; } } - } catch(Exception e) {} + } catch(Exception e) { + } finally { + fireDisconnected(); + } // DISCONNECT try { socket.close(); } catch(Exception e) {} diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WatchableMemoryListener.java ./tools/mon/org/tekkotsu/mon/WatchableMemoryListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WatchableMemoryListener.java Fri Apr 16 16:23:03 2004 +++ ./tools/mon/org/tekkotsu/mon/WatchableMemoryListener.java Fri Nov 12 17:07:40 2004 @@ -14,6 +14,7 @@ try { InputStream in=socket.getInputStream(); _out = new PrintStream(socket.getOutputStream()); + fireConnected(); while (true) { int format=readInt(in); if (format!=PACKET_WMCLASS) @@ -28,7 +29,10 @@ synchronized(changesList) { changesList.add(wmvar); } //System.out.println(var_type+" "+var_name); } - } catch (Exception ex) { if((SocketException)ex==null) ex.printStackTrace(); } + } catch (Exception ex) { if((SocketException)ex==null) ex.printStackTrace(); + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } _isConnected=false; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WorldStateJointsListener.java ./tools/mon/org/tekkotsu/mon/WorldStateJointsListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WorldStateJointsListener.java Fri Apr 16 01:51:29 2004 +++ ./tools/mon/org/tekkotsu/mon/WorldStateJointsListener.java Fri Nov 12 17:07:40 2004 @@ -14,6 +14,7 @@ _outd=new Joints(); try { InputStream in=socket.getInputStream(); + fireConnected(); while (true) { _data.timestamp=readInt(in); //System.out.println("time="+_data.timestamp); @@ -43,7 +44,10 @@ _updatedFlag=true; } } - } catch (Exception ex) { } + } catch (Exception ex) { + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } _isConnected=false; diff -urdN ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WorldStatePIDsListener.java ./tools/mon/org/tekkotsu/mon/WorldStatePIDsListener.java --- ../Tekkotsu_2.2/tools/mon/org/tekkotsu/mon/WorldStatePIDsListener.java Wed Oct 1 22:08:08 2003 +++ ./tools/mon/org/tekkotsu/mon/WorldStatePIDsListener.java Fri Nov 12 17:07:40 2004 @@ -14,6 +14,7 @@ _outd=new PIDs(); try { InputStream in=socket.getInputStream(); + fireConnected(); while (true) { _data.timestamp=readInt(in); for (int i=0; i<18; i++) @@ -30,7 +31,10 @@ _updatedFlag=true; } } - } catch (Exception ex) { } + } catch (Exception ex) { + } finally { + fireDisconnected(); + } try { socket.close(); } catch (Exception ex) { } _isConnected=false; diff -urdN ../Tekkotsu_2.2/tools/safemot/Makefile ./tools/safemot/Makefile --- ../Tekkotsu_2.2/tools/safemot/Makefile Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/Makefile Tue Nov 9 17:15:03 2004 @@ -0,0 +1,84 @@ + + +#if you want to change the target model, it is recommended +#to set the TEKKOTSU_TARGET_MODEL environment variable + +.PHONY: all tk_bd + +# We use this TK_RT instead of TEKKOTSU_ROOT so things will +# still work if TEKKOTSU_ROOT is a relative path +TK_RT:=../.. + +TEMPLATE_PROJECT:=$(TK_RT)/project +TEKKOTSU_ENVIRONMENT_CONFIGURATION?=$(TEMPLATE_PROJECT)/Environment.conf +TEKKOTSU_TARGET_PLATFORM = PLATFORM_LOCAL +include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) +FILTERSYSWARN:=$(patsubst $(TEKKOTSU_ROOT)/%,$(TK_RT)/%,$(FILTERSYSWARN)) +COLORFILT:=$(patsubst $(TEKKOTSU_ROOT)/%,$(TK_RT)/%,$(COLORFILT)) + +BIN:=safemot_$(shell echo $(patsubst TGT_%,%,$(TEKKOTSU_TARGET_MODEL)) | tr [:upper:] [:lower:]) + +SRCSUFFIX=.cc + +PROJ_OBJ:= \ + $(PROJ_BD)/safemot.o \ + +TK_TGTS:= \ + $(TK_BD)/Events/EventBase.o \ + $(TK_BD)/Events/EventRouter.o \ + $(TK_BD)/Motion/MotionManager.o \ + $(TK_BD)/Motion/MotionSequenceMC.o \ + $(TK_BD)/Motion/PostureEngine.o \ + $(TK_BD)/Motion/Kinematics.o \ + $(TK_BD)/Shared/get_time.o \ + $(TK_BD)/Shared/LoadSave.o \ + $(TK_BD)/Shared/Config.o \ + $(TK_BD)/Shared/Profiler.o \ + $(TK_BD)/Shared/TimeET.o \ + $(TK_BD)/Shared/WorldState.o \ + $(TK_BD)/Wireless/Socket.o \ + $(TK_BD)/Shared/newmat/libnewmat.a \ + $(TK_BD)/Motion/roboop/libroboop.a \ + +LIBS:= $(TK_BD)/Motion/roboop/libroboop.a $(TK_BD)/Shared/newmat/libnewmat.a + +DEPENDS:=$(PROJ_OBJ:.o=.d) + +CXXFLAGS=-g -Wall -O2 \ + -I$(TK_RT) \ + -D$(TEKKOTSU_TARGET_PLATFORM) -D$(TEKKOTSU_TARGET_MODEL) + + +all: $(BIN) + +$(BIN): tk_bd $(PROJ_OBJ) + @echo "Linking $@..." + @g++ $(PROJ_OBJ) $(patsubst $(TEKKOTSU_ROOT)/%,$(TK_RT)/%,$(TK_TGTS) $(LIBS)) -o $@ + +ifeq ($(findstring clean,$(MAKECMDGOALS)),) +-include $(DEPENDS) +endif + +%.d : + @mkdir -p $(dir $@) + @src=$(patsubst %.d,%.cc,$(patsubst $(PROJ_BD)/%,%,$@)); \ + echo "$@..." | sed 's@.*$(TGT_BD)/@Generating @'; \ + $(CXX) $(CXXFLAGS) -MP -MG -MT "$@" -MT "$(@:.d=.o)" -MM "$$src" > $@ + +tk_bd: + @echo "Making Tekkotsu files..." + @export TEKKOTSU_TARGET_PLATFORM=PLATFORM_LOCAL && $(MAKE) -C $(TEMPLATE_PROJECT) $(TK_TGTS) + + +%.o: + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(patsubst $(PROJ_BD)/%,%,$@)); \ + echo "Compiling $$src..."; \ + $(CXX) $(CXXFLAGS) -o $@ -c $$src > $*.log 2>&1; \ + retval=$$?; \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ + test $$retval -eq 0; \ + +clean: + rm -f $(BIN) $(PROJ_OBJ) $(DEPENDS) *~ + diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/dance.mot ./tools/safemot/from_cmpack02/dance.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/dance.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/dance.mot Fri May 2 00:57:52 2003 @@ -0,0 +1,148 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 300 +LFr:rotor -0.253956 +LFr:elvtr -0.131986 +LFr:knee~ 0.470636 +RFr:rotor -0.257699 +RFr:elvtr -0.139626 +RFr:knee~ 0.478557 +LBk:rotor -1.16085 +LBk:elvtr -0.168714 +LBk:knee~ 2.27771 +RBk:rotor -1.16723 +RBk:elvtr -0.162013 +RBk:knee~ 2.27329 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 300 +LFr:rotor -0.263956 +LFr:elvtr -0.141986 +LFr:knee~ 0.484838 +RFr:rotor -0.269413 +RFr:elvtr -0.145443 +RFr:knee~ 0.484187 +LBk:rotor -1.16639 +LBk:elvtr -0.168714 +LBk:knee~ 2.27196 +RBk:rotor -1.1657 +RBk:elvtr -0.162013 +RBk:knee~ 2.27489 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 300 +LFr:rotor -0.853081 +LFr:elvtr -0.133808 +LFr:knee~ 0.237025 +RFr:rotor -0.855093 +RFr:elvtr -0.139626 +RFr:knee~ 0.230833 +LBk:rotor -1.74301 +LBk:elvtr 0.412529 +LBk:knee~ 2.56563 +RBk:rotor -1.74534 +RBk:elvtr 0.412627 +RBk:knee~ 2.56563 +NECK:tilt -0.3 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor -0.848842 +LFr:elvtr -0.133808 +LFr:knee~ 0.231227 +RFr:rotor -0.849236 +RFr:elvtr -0.139626 +RFr:knee~ 0.230833 +LBk:rotor -1.74747 +LBk:elvtr 0.418229 +LBk:knee~ 2.56563 +RBk:rotor -1.74415 +RBk:elvtr 0.415625 +RBk:knee~ 2.56563 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor -1.24884 +LFr:elvtr -0.193808 +LFr:knee~ 0.231227 +RFr:rotor -1.24924 +RFr:elvtr -0.199626 +RFr:knee~ 0.230833 +LBk:rotor -0.851861 +LBk:elvtr 0.215208 +LBk:knee~ 1.75089 +RBk:rotor -0.851249 +RBk:elvtr 0.214532 +RBk:knee~ 1.75006 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 2.004 +LFr:elvtr -0.005817 +LFr:knee~ 0.007958 +RFr:rotor 2.00571 +RFr:elvtr -0.003084 +RFr:knee~ 0.005634 +LBk:rotor -0.851861 +LBk:elvtr 0.215208 +LBk:knee~ 1.75089 +RBk:rotor -0.851249 +RBk:elvtr 0.214532 +RBk:knee~ 1.75006 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 0.05999 +LFr:elvtr 0.005817 +LFr:knee~ 2.60796 +RFr:rotor 0.055711 +RFr:elvtr 0.003084 +RFr:knee~ 2.60563 +LBk:rotor -0.851861 +LBk:elvtr 0.215208 +LBk:knee~ 1.75089 +RBk:rotor -0.851249 +RBk:elvtr 0.214532 +RBk:knee~ 1.75006 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 2.004 +LFr:elvtr -0.005817 +LFr:knee~ 0.007958 +RFr:rotor 2.00571 +RFr:elvtr -0.003084 +RFr:knee~ 0.005634 +LBk:rotor -0.851861 +LBk:elvtr 0.215208 +LBk:knee~ 1.75089 +RBk:rotor -0.851249 +RBk:elvtr 0.214532 +RBk:knee~ 1.75006 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 0 +LFr:elvtr -0 +LFr:knee~ 2.6 +RFr:rotor 0 +RFr:elvtr -0 +RFr:knee~ 2.6 +LBk:rotor -0.85 +LBk:elvtr 0.21 +LBk:knee~ 1.75 +RBk:rotor -0.85 +RBk:elvtr 0.21 +RBk:knee~ 1.75 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/gu_back.mot ./tools/safemot/from_cmpack02/gu_back.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/gu_back.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/gu_back.mot Fri May 2 00:57:52 2003 @@ -0,0 +1,52 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 500 +LFr:rotor 0 +LFr:elvtr 0 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 0 +RFr:knee~ 0 +LBk:rotor 0 +LBk:elvtr 0 +LBk:knee~ 0 +RBk:rotor 0 +RBk:elvtr 0 +RBk:knee~ 0 +NECK:tilt -1.5708 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 0 +LFr:elvtr 0 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 0 +RFr:knee~ 0 +LBk:rotor -1.8 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1.8 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt -1.5708 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0 +RFr:knee~ 0.5 +LBk:rotor -1.2 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1.2 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt -1.5708 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/gu_front.mot ./tools/safemot/from_cmpack02/gu_front.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/gu_front.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/gu_front.mot Fri May 2 00:57:52 2003 @@ -0,0 +1,84 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 500 +LFr:rotor 0 +LFr:elvtr 0 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 0 +RFr:knee~ 0 +LBk:rotor 0 +LBk:elvtr 0 +LBk:knee~ 0 +RBk:rotor 0 +RBk:elvtr 0 +RBk:knee~ 0 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 0 +LFr:elvtr 1.6 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 1.6 +RFr:knee~ 0 +LBk:rotor 1 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor 1 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1.8 +LFr:elvtr 1.6 +LFr:knee~ 0 +RFr:rotor 1.8 +RFr:elvtr 1.6 +RFr:knee~ 0 +LBk:rotor -1.8 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1.8 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1.8 +LFr:elvtr 0 +LFr:knee~ 2.5 +RFr:rotor 1.8 +RFr:elvtr 0 +RFr:knee~ 2.5 +LBk:rotor -1.8 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1.8 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0 +RFr:knee~ 0.5 +LBk:rotor -1.2 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1.2 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/gu_side.mot ./tools/safemot/from_cmpack02/gu_side.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/gu_side.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/gu_side.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,68 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 500 +LFr:rotor 0 +LFr:elvtr 0 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 0 +RFr:knee~ 0 +LBk:rotor 0 +LBk:elvtr 0 +LBk:knee~ 0 +RBk:rotor 0 +RBk:elvtr 0 +RBk:knee~ 0 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 300 +LFr:rotor 2 +LFr:elvtr 0 +LFr:knee~ 2.5 +RFr:rotor 2 +RFr:elvtr 0 +RFr:knee~ 2.5 +LBk:rotor 2 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor 2 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 700 +LFr:rotor 2 +LFr:elvtr 1.6 +LFr:knee~ 2.5 +RFr:rotor 2 +RFr:elvtr 1.6 +RFr:knee~ 2.5 +LBk:rotor 2 +LBk:elvtr 1.6 +LBk:knee~ 2.5 +RBk:rotor 2 +RBk:elvtr 1.6 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0 +RFr:knee~ 0.5 +LBk:rotor -1.2 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1.2 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_bump.mot ./tools/safemot/from_cmpack02/k_bump.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_bump.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_bump.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,68 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 200 +LFr:rotor 0.185475 +LFr:elvtr 0.00453314 +LFr:knee~ 1.80106 +RFr:rotor 0.185475 +RFr:elvtr 0.00453314 +RFr:knee~ 1.80106 +LBk:rotor -1.15181 +LBk:elvtr 0.255151 +LBk:knee~ 1.84981 +RBk:rotor -1.15181 +RBk:elvtr 0.255151 +RBk:knee~ 1.84981 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 100 +LFr:rotor 0.735959 +LFr:elvtr 0.00266154 +LFr:knee~ 1.05702 +RFr:rotor 0.735959 +RFr:elvtr 0.00266154 +RFr:knee~ 1.05702 +LBk:rotor -1.15181 +LBk:elvtr 0.255151 +LBk:knee~ 1.84981 +RBk:rotor -1.15181 +RBk:elvtr 0.255151 +RBk:knee~ 1.84981 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 200 +LFr:rotor -0.785992 +LFr:elvtr 0.00638608 +LFr:knee~ 2.07946 +RFr:rotor -0.785992 +RFr:elvtr 0.00638608 +RFr:knee~ 2.07946 +LBk:rotor 0.101941 +LBk:elvtr 0.153667 +LBk:knee~ 1.3203 +RBk:rotor 0.101941 +RBk:elvtr 0.153667 +RBk:knee~ 1.3203 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 400 +LFr:rotor -0.785992 +LFr:elvtr 0.00638608 +LFr:knee~ 2.07946 +RFr:rotor -0.785992 +RFr:elvtr 0.00638608 +RFr:knee~ 2.07946 +LBk:rotor 0.101941 +LBk:elvtr 0.153667 +LBk:knee~ 1.3203 +RBk:rotor 0.101941 +RBk:elvtr 0.153667 +RBk:knee~ 1.3203 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_diag.mot ./tools/safemot/from_cmpack02/k_diag.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_diag.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_diag.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,52 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 300 +LFr:rotor -0.145629 +LFr:elvtr 0.405273 +LFr:knee~ 1.82849 +RFr:rotor 0.352175 +RFr:elvtr 0.264745 +RFr:knee~ 1.34238 +LBk:rotor -0.865394 +LBk:elvtr 0.172658 +LBk:knee~ 1.47472 +RBk:rotor -0.865394 +RBk:elvtr 0.172658 +RBk:knee~ 1.47472 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 200 +LFr:rotor -1.14237 +LFr:elvtr 1.56166 +LFr:knee~ 1.96605 +RFr:rotor -0.303583 +RFr:elvtr -0.158102 +RFr:knee~ 2.14622 +LBk:rotor -0.352242 +LBk:elvtr 0.417006 +LBk:knee~ 1.0496 +RBk:rotor -0.478325 +RBk:elvtr -0.170265 +RBk:knee~ 1.34195 +NECK:tilt -1.2 +NECK:pan~ -1.5 +NECK:roll 0 +delay 200 +LFr:rotor 0 +LFr:elvtr 0.5 +LFr:knee~ 0 +RFr:rotor -0.389073 +RFr:elvtr 1.01684 +RFr:knee~ 1.77986 +LBk:rotor -0.478325 +LBk:elvtr -0.170265 +LBk:knee~ 1.34195 +RBk:rotor -0.352242 +RBk:elvtr 0.417006 +RBk:knee~ 1.0496 +NECK:tilt -1.2 +NECK:pan~ 1.5 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_dive.mot ./tools/safemot/from_cmpack02/k_dive.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_dive.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_dive.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,196 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 200 +LFr:rotor 0.3 +LFr:elvtr 0.4 +LFr:knee~ 1.6 +RFr:rotor 0.3 +RFr:elvtr 0.4 +RFr:knee~ 1.6 +LBk:rotor -1.13 +LBk:elvtr 0.14 +LBk:knee~ 1.74 +RBk:rotor -1.13 +RBk:elvtr 0.14 +RBk:knee~ 1.74 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 200 +LFr:rotor 1.03 +LFr:elvtr 0.09 +LFr:knee~ 0.9 +RFr:rotor 1.03 +RFr:elvtr 0.09 +RFr:knee~ 0.9 +LBk:rotor -1.17 +LBk:elvtr 0.14 +LBk:knee~ 1.74 +RBk:rotor -1.17 +RBk:elvtr 0.14 +RBk:knee~ 1.74 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 200 +LFr:rotor 1.53 +LFr:elvtr -0.11 +LFr:knee~ 0.72 +RFr:rotor 1.53 +RFr:elvtr -0.11 +RFr:knee~ 0.72 +LBk:rotor -1.45 +LBk:elvtr 0.54 +LBk:knee~ 2.35 +RBk:rotor -1.45 +RBk:elvtr 0.54 +RBk:knee~ 2.35 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 300 +LFr:rotor 0.2 +LFr:elvtr 0.4 +LFr:knee~ 1.5 +RFr:rotor 0.2 +RFr:elvtr 0.4 +RFr:knee~ 1.5 +LBk:rotor -1.13 +LBk:elvtr 0.14 +LBk:knee~ 1.74 +RBk:rotor -1.13 +RBk:elvtr 0.14 +RBk:knee~ 1.74 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor 0.2 +LFr:elvtr 0.15 +LFr:knee~ 0 +RFr:rotor 0.2 +RFr:elvtr 0.15 +RFr:knee~ 0 +LBk:rotor -0.2 +LBk:elvtr 0.5 +LBk:knee~ 0.2 +RBk:rotor -0.2 +RBk:elvtr 0.5 +RBk:knee~ 0.2 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 50 +LFr:rotor 0.2 +LFr:elvtr 0.15 +LFr:knee~ 0 +RFr:rotor 0.2 +RFr:elvtr 0.15 +RFr:knee~ 0 +LBk:rotor -0.2 +LBk:elvtr 0.5 +LBk:knee~ 0.2 +RBk:rotor -0.2 +RBk:elvtr 0.5 +RBk:knee~ 0.2 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor 0 +LFr:elvtr 0.15 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 0.15 +RFr:knee~ 0 +LBk:rotor 0 +LBk:elvtr 0.5 +LBk:knee~ 1.5 +RBk:rotor 0 +RBk:elvtr 0.5 +RBk:knee~ 1.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 200 +LFr:rotor -1.2 +LFr:elvtr 0.5 +LFr:knee~ 0 +RFr:rotor -1.2 +RFr:elvtr 0.5 +RFr:knee~ 0 +LBk:rotor 1.2 +LBk:elvtr 0.5 +LBk:knee~ 1.5 +RBk:rotor 1.2 +RBk:elvtr 0.5 +RBk:knee~ 1.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor -1.2 +LFr:elvtr 0.5 +LFr:knee~ 0 +RFr:rotor -1.2 +RFr:elvtr 0.5 +RFr:knee~ 0 +LBk:rotor 1.2 +LBk:elvtr 0.5 +LBk:knee~ 1.5 +RBk:rotor 1.2 +RBk:elvtr 0.5 +RBk:knee~ 1.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 300 +LFr:rotor 0 +LFr:elvtr 1.5 +LFr:knee~ 0 +RFr:rotor 0 +RFr:elvtr 1.5 +RFr:knee~ 0 +LBk:rotor 0 +LBk:elvtr 1.5 +LBk:knee~ 1.5 +RBk:rotor 0 +RBk:elvtr 1.5 +RBk:knee~ 1.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor 0 +LFr:elvtr 1.5 +LFr:knee~ 1.5 +RFr:rotor 0 +RFr:elvtr 1.5 +RFr:knee~ 1.5 +LBk:rotor 0 +LBk:elvtr 1.5 +LBk:knee~ 1.5 +RBk:rotor 0 +RBk:elvtr 1.5 +RBk:knee~ 1.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 500 +LFr:rotor 0 +LFr:elvtr 1.5 +LFr:knee~ 1.5 +RFr:rotor 0 +RFr:elvtr 1.5 +RFr:knee~ 1.5 +LBk:rotor 0 +LBk:elvtr 1.5 +LBk:knee~ 1.5 +RBk:rotor 0 +RBk:elvtr 1.5 +RBk:knee~ 1.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_fwd.mot ./tools/safemot/from_cmpack02/k_fwd.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_fwd.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_fwd.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,132 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 200 +LFr:rotor 1 +LFr:elvtr -0.2 +LFr:knee~ 1 +RFr:rotor 1 +RFr:elvtr -0.2 +RFr:knee~ 1 +LBk:rotor -0.865374 +LBk:elvtr -0.191986 +LBk:knee~ 0.433335 +RBk:rotor -0.865374 +RBk:elvtr -0.191986 +RBk:knee~ 0.433335 +NECK:tilt -0.3 +NECK:pan~ 0 +NECK:roll 0 +delay 200 +LFr:rotor 1 +LFr:elvtr -0.2 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr -0.2 +RFr:knee~ 0.5 +LBk:rotor -2 +LBk:elvtr 0.5 +LBk:knee~ 2.5 +RBk:rotor -2 +RBk:elvtr 0.5 +RBk:knee~ 2.5 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 100 +LFr:rotor 1 +LFr:elvtr 0.1 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0.1 +RFr:knee~ 0.5 +LBk:rotor -2 +LBk:elvtr 0.5 +LBk:knee~ 2.5 +RBk:rotor -2 +RBk:elvtr 0.5 +RBk:knee~ 2.5 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 300 +LFr:rotor 2.1 +LFr:elvtr 0.1 +LFr:knee~ 1.6 +RFr:rotor 2.1 +RFr:elvtr 0.1 +RFr:knee~ 1.6 +LBk:rotor -2 +LBk:elvtr 0.5 +LBk:knee~ 2.5 +RBk:rotor -2 +RBk:elvtr 0.5 +RBk:knee~ 2.5 +NECK:tilt -0.5 +NECK:pan~ 0 +NECK:roll 0 +delay 100 +LFr:rotor 2.1 +LFr:elvtr -0.3 +LFr:knee~ 1.6 +RFr:rotor 2.1 +RFr:elvtr -0.3 +RFr:knee~ 1.6 +LBk:rotor -2 +LBk:elvtr 0.5 +LBk:knee~ 2.5 +RBk:rotor -2 +RBk:elvtr 0.5 +RBk:knee~ 2.5 +NECK:tilt 0.2 +NECK:pan~ 0 +NECK:roll 0 +delay 100 +LFr:rotor 1.5 +LFr:elvtr -0.3 +LFr:knee~ 1.6 +RFr:rotor 1.5 +RFr:elvtr -0.3 +RFr:knee~ 1.6 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 1.5 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 1.5 +NECK:tilt 0.2 +NECK:pan~ 0 +NECK:roll 0 +delay 150 +LFr:rotor 1 +LFr:elvtr -0.3 +LFr:knee~ 0 +RFr:rotor 1 +RFr:elvtr -0.3 +RFr:knee~ 0 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 1.5 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 1.5 +NECK:tilt 0.2 +NECK:pan~ 0 +NECK:roll 0 +delay 250 +LFr:rotor 1 +LFr:elvtr -0.2 +LFr:knee~ 1 +RFr:rotor 1 +RFr:elvtr -0.2 +RFr:knee~ 1 +LBk:rotor -1 +LBk:elvtr -0.1 +LBk:knee~ 1.5 +RBk:rotor -1 +RBk:elvtr -0.1 +RBk:knee~ 1.5 +NECK:tilt 0.2 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_grab.mot ./tools/safemot/from_cmpack02/k_grab.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_grab.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_grab.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,212 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 500 +LFr:rotor 1.2 +LFr:elvtr -0.2 +LFr:knee~ 0.5 +RFr:rotor 1.2 +RFr:elvtr -0.2 +RFr:knee~ 0.5 +LBk:rotor 1.2 +LBk:elvtr 1 +LBk:knee~ 0.5 +RBk:rotor 1.2 +RBk:elvtr 1 +RBk:knee~ 0.5 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1.2 +LFr:elvtr -0.2 +LFr:knee~ 0.5 +RFr:rotor 1.2 +RFr:elvtr -0.2 +RFr:knee~ 0.5 +LBk:rotor -2.5 +LBk:elvtr 1 +LBk:knee~ 2.5 +RBk:rotor -2.5 +RBk:elvtr 1 +RBk:knee~ 2.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor 1.2 +LFr:elvtr -0.2 +LFr:knee~ 0.5 +RFr:rotor 1.2 +RFr:elvtr -0.2 +RFr:knee~ 0.5 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 400 +LFr:rotor 1.2 +LFr:elvtr -0.2 +LFr:knee~ 0.5 +RFr:rotor 1.2 +RFr:elvtr -0.2 +RFr:knee~ 0.5 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 200 +LFr:rotor 1.2 +LFr:elvtr 0.1 +LFr:knee~ 0.5 +RFr:rotor 1.2 +RFr:elvtr 0.1 +RFr:knee~ 0.5 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor 1.9 +LFr:elvtr 0.1 +LFr:knee~ -0.5 +RFr:rotor 1.9 +RFr:elvtr 0.1 +RFr:knee~ -0.5 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 800 +LFr:rotor 1.9 +LFr:elvtr -0.2 +LFr:knee~ -0.5 +RFr:rotor 1.9 +RFr:elvtr -0.2 +RFr:knee~ -0.5 +LBk:rotor -1 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -1 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 400 +LFr:rotor -0.5 +LFr:elvtr -0.1 +LFr:knee~ 0 +RFr:rotor -0.5 +RFr:elvtr -0.1 +RFr:knee~ 0 +LBk:rotor -0.2 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -0.2 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 100 +LFr:rotor -0.5 +LFr:elvtr -0.1 +LFr:knee~ 0 +RFr:rotor -0.5 +RFr:elvtr -0.1 +RFr:knee~ 0 +LBk:rotor -0.2 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -0.2 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 500 +LFr:rotor 1.5 +LFr:elvtr 1 +LFr:knee~ 1.5 +RFr:rotor 1.5 +RFr:elvtr 1 +RFr:knee~ 1.5 +LBk:rotor -2 +LBk:elvtr 0.5 +LBk:knee~ 0 +RBk:rotor -2 +RBk:elvtr 0.5 +RBk:knee~ 0 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 500 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0 +RFr:knee~ 0.5 +LBk:rotor -2 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -2 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 1000 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0 +RFr:knee~ 0.5 +LBk:rotor -1 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +delay 1 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 0.5 +RFr:rotor 1 +RFr:elvtr 0 +RFr:knee~ 0.5 +LBk:rotor -1 +LBk:elvtr 0 +LBk:knee~ 2.5 +RBk:rotor -1 +RBk:elvtr 0 +RBk:knee~ 2.5 +NECK:tilt 0.5 +NECK:pan~ 1.5 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_head.mot ./tools/safemot/from_cmpack02/k_head.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_head.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_head.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,52 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 300 +LFr:rotor -0.145629 +LFr:elvtr 0.405273 +LFr:knee~ 1.82849 +RFr:rotor 0.352175 +RFr:elvtr 0.264745 +RFr:knee~ 1.34238 +LBk:rotor -0.865394 +LBk:elvtr 0.172658 +LBk:knee~ 1.47472 +RBk:rotor -0.865394 +RBk:elvtr 0.172658 +RBk:knee~ 1.47472 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 200 +LFr:rotor -1.14237 +LFr:elvtr 1.56166 +LFr:knee~ 1.96605 +RFr:rotor -0.303583 +RFr:elvtr -0.158102 +RFr:knee~ 2.14622 +LBk:rotor -0.352242 +LBk:elvtr 0.417006 +LBk:knee~ 1.0496 +RBk:rotor -0.478325 +RBk:elvtr -0.170265 +RBk:knee~ 1.34195 +NECK:tilt -1.2 +NECK:pan~ -1.5 +NECK:roll 0 +delay 200 +LFr:rotor -0.743775 +LFr:elvtr -0.191986 +LFr:knee~ 2.33428 +RFr:rotor -0.389073 +RFr:elvtr 1.01684 +RFr:knee~ 1.77986 +LBk:rotor -0.478325 +LBk:elvtr -0.170265 +LBk:knee~ 1.34195 +RBk:rotor -0.352242 +RBk:elvtr 0.417006 +RBk:knee~ 1.0496 +NECK:tilt -1.2 +NECK:pan~ 1.5 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_heads.mot ./tools/safemot/from_cmpack02/k_heads.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_heads.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_heads.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,52 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 300 +LFr:rotor -0.145629 +LFr:elvtr 0.405273 +LFr:knee~ 1.82849 +RFr:rotor 0.352175 +RFr:elvtr 0.264745 +RFr:knee~ 1.34238 +LBk:rotor -0.865394 +LBk:elvtr 0.172658 +LBk:knee~ 1.47472 +RBk:rotor -0.865394 +RBk:elvtr 0.172658 +RBk:knee~ 1.47472 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 400 +LFr:rotor -1.14237 +LFr:elvtr 1.56166 +LFr:knee~ 1.96605 +RFr:rotor -0.303583 +RFr:elvtr -0.158102 +RFr:knee~ 2.14622 +LBk:rotor -0.352242 +LBk:elvtr 0.417006 +LBk:knee~ 1.0496 +RBk:rotor -0.478325 +RBk:elvtr -0.170265 +RBk:knee~ 1.34195 +NECK:tilt -1.2 +NECK:pan~ -1.5 +NECK:roll 0 +delay 200 +LFr:rotor -0.743775 +LFr:elvtr -0.191986 +LFr:knee~ 2.33428 +RFr:rotor -0.389073 +RFr:elvtr 1.01684 +RFr:knee~ 1.77986 +LBk:rotor -0.478325 +LBk:elvtr -0.170265 +LBk:knee~ 1.34195 +RBk:rotor -0.352242 +RBk:elvtr 0.417006 +RBk:knee~ 1.0496 +NECK:tilt -1.2 +NECK:pan~ 1.5 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_hold.mot ./tools/safemot/from_cmpack02/k_hold.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_hold.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_hold.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,52 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 300 +LFr:rotor 0.6 +LFr:elvtr -0.1 +LFr:knee~ 1.57 +RFr:rotor 0.6 +RFr:elvtr -0.1 +RFr:knee~ 1.57 +LBk:rotor -0.72 +LBk:elvtr 0.2 +LBk:knee~ 1.48 +RBk:rotor -0.72 +RBk:elvtr 0.2 +RBk:knee~ 1.48 +NECK:tilt 0.349066 +NECK:pan~ 1.5708 +NECK:roll 0 +delay 300 +LFr:rotor 0.6 +LFr:elvtr -0.1 +LFr:knee~ 1.57 +RFr:rotor 0.6 +RFr:elvtr -0.1 +RFr:knee~ 1.57 +LBk:rotor -0.72 +LBk:elvtr 0.2 +LBk:knee~ 1.48 +RBk:rotor -0.72 +RBk:elvtr 0.2 +RBk:knee~ 1.48 +NECK:tilt 0.349066 +NECK:pan~ 0 +NECK:roll 0 +delay 300 +LFr:rotor 0.6 +LFr:elvtr -0.1 +LFr:knee~ 1.57 +RFr:rotor 0.6 +RFr:elvtr -0.1 +RFr:knee~ 1.57 +LBk:rotor -0.72 +LBk:elvtr 0.2 +LBk:knee~ 1.48 +RBk:rotor -0.72 +RBk:elvtr 0.2 +RBk:knee~ 1.48 +NECK:tilt 0.349066 +NECK:pan~ -1.5708 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_punch.mot ./tools/safemot/from_cmpack02/k_punch.mot --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/k_punch.mot Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/k_punch.mot Fri May 2 00:57:53 2003 @@ -0,0 +1,100 @@ +#MSq +# This file was generated from CMPack'02 and falls under their license (GPL) +radians +delay 500 +LFr:rotor 0.183246 +LFr:elvtr 0.556069 +LFr:knee~ 1.36377 +RFr:rotor 0.0954882 +RFr:elvtr 0.00405851 +RFr:knee~ 1.68938 +LBk:rotor -0.805585 +LBk:elvtr 0.409881 +LBk:knee~ 1.30206 +RBk:rotor -0.870673 +RBk:elvtr -0.110773 +RBk:knee~ 1.49363 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 0 +LFr:elvtr 0 +LFr:knee~ 2.5 +RFr:rotor 0.0954882 +RFr:elvtr 0.00405851 +RFr:knee~ 1.68938 +LBk:rotor -0.805585 +LBk:elvtr 0.409881 +LBk:knee~ 1.30206 +RBk:rotor -0.870673 +RBk:elvtr -0.110773 +RBk:knee~ 1.49363 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 2 +LFr:elvtr 0 +LFr:knee~ 1 +RFr:rotor 0.0954882 +RFr:elvtr 0.00405851 +RFr:knee~ 1.68938 +LBk:rotor -0.805585 +LBk:elvtr 0.409881 +LBk:knee~ 1.30206 +RBk:rotor -0.870673 +RBk:elvtr -0.110773 +RBk:knee~ 1.49363 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 100 +LFr:rotor 2 +LFr:elvtr 0 +LFr:knee~ 1 +RFr:rotor 0.0954882 +RFr:elvtr 0.00405851 +RFr:knee~ 1.68938 +LBk:rotor -0.805585 +LBk:elvtr 0.409881 +LBk:knee~ 1.30206 +RBk:rotor -0.870673 +RBk:elvtr -0.110773 +RBk:knee~ 1.49363 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 1 +LFr:elvtr 0 +LFr:knee~ 1 +RFr:rotor 0.0954882 +RFr:elvtr 0.00405851 +RFr:knee~ 1.68938 +LBk:rotor -0.805585 +LBk:elvtr 0.409881 +LBk:knee~ 1.30206 +RBk:rotor -0.870673 +RBk:elvtr -0.110773 +RBk:knee~ 1.49363 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +delay 500 +LFr:rotor 0.108853 +LFr:elvtr 0.325006 +LFr:knee~ 1.61054 +RFr:rotor 0.108853 +RFr:elvtr 0.325006 +RFr:knee~ 1.61054 +LBk:rotor -0.865394 +LBk:elvtr 0.172658 +LBk:knee~ 1.47472 +RBk:rotor -0.865394 +RBk:elvtr 0.172658 +RBk:knee~ 1.47472 +NECK:tilt 0 +NECK:pan~ 0 +NECK:roll 0 +#END diff -urdN ../Tekkotsu_2.2/tools/safemot/from_cmpack02/readme.txt ./tools/safemot/from_cmpack02/readme.txt --- ../Tekkotsu_2.2/tools/safemot/from_cmpack02/readme.txt Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/from_cmpack02/readme.txt Fri Apr 16 16:23:09 2004 @@ -0,0 +1,33 @@ +The included motion files were converted from CMPack'02 files +and fall under their license: + +See tools/convertmot for more information on conversion and the original +binary files. + + LICENSE: + ========================================================================= + CMPack'02 Source Code Release for OPEN-R SDK v1.0 + Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso] + School of Computer Science, Carnegie Mellon University + ------------------------------------------------------------------------- + This software is distributed under the GNU General Public License, + version 2. If you do not have a copy of this licence, visit + www.gnu.org, or write: Free Software Foundation, 59 Temple Place, + Suite 330 Boston, MA 02111-1307 USA. This program is distributed + in the hope that it will be useful, but WITHOUT ANY WARRANTY, + including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + ------------------------------------------------------------------------- + Additionally licensed to Sony Corporation under the following terms: + + This software is provided by the copyright holders AS IS and any + express or implied warranties, including, but not limited to, the + implied warranties of merchantability and fitness for a particular + purpose are disclaimed. In no event shall authors be liable for + any direct, indirect, incidental, special, exemplary, or consequential + damages (including, but not limited to, procurement of substitute + goods or services; loss of use, data, or profits; or business + interruption) however caused and on any theory of liability, whether + in contract, strict liability, or tort (including negligence or + otherwise) arising in any way out of the use of this software, even if + advised of the possibility of such damage. + ========================================================================= diff -urdN ../Tekkotsu_2.2/tools/safemot/safemot.cc ./tools/safemot/safemot.cc --- ../Tekkotsu_2.2/tools/safemot/safemot.cc Wed Dec 31 19:00:00 1969 +++ ./tools/safemot/safemot.cc Mon Nov 8 16:48:19 2004 @@ -0,0 +1,118 @@ +#include +#include +#include +#include +#include "Motion/DynamicMotionSequence.h" +#include "Shared/Config.h" + +#include +#include + +using namespace std; + +unsigned int simulator_time; + +int usage(unsigned int argc, const char** argv) { + const char* name; + if(strchr(argv[0],'/')!=NULL) + name=strrchr(argv[0],'/')+1; + else + name=argv[0]; + cerr << "Usage:\t" << argv[0] << " [-rad ] [ -deg ] [ -safe ] " << endl; + cerr << "\t" << argv[0] << " [-rad ] [ -deg ] [ -safe ] " << endl; + cerr << endl; + cerr << '`' < will add (or subtract) a safety margin. The argument is the" << endl; + cerr << "percent of the published guideline to actually use. Default is 1." << endl; + return 2; +} + +bool compress=false; +float margin=1; + +int main(unsigned int argc, const char** argv) { + if(argc<3) + return usage(argc,argv); + config=new Config("tekkotsu.cfg"); + unsigned int used=1; + bool isRad=true; + while(used... +# - Wildcards can also be used: ... +# - Anything not within a model region is read by all models (i.e. <*>..) +# - Don't get fancy with the "tags" - one per line, the parser's not that smart +# (feel free to hack it if you want - it's in Config.cc) +# +# * Sections are demarcated with [SECTIONNAME] +# - A section is only ended by another section beginning +# - Section transitions within a model region will only be read by that model +# - Section names are case insensitive +# +# * Otherwise, each line is interpreted as: variable=value +# - this should correspond to Config::curSectionName_config::variable +# - interpretation is up to the code in Config.cc +# - some variables are lists (additional assignments push on the list), +# others are simply overwritten if a new value is assigned. +# - variable names are case insensitive +# +# * You can override these at run time from the Controller using the command: +# !set section_name.variable=value +# - Of course, whether or not the new value will be picked up depends on +# how it is being used... +# +################################################################## + + + +################################################################## +################################################################## +[Motion] +################################################################## +################################################################## + +# Any motion related paths which are not absolute (i.e. do not +# start with '/') will be assumed to be relative to this directory +root=. + +# This is the default set of walk parameters +walk=walk.prm + +# The file specified by "kinematics" should define the kinematic +# chains which form your robot. +# "kinematic_chains" lists the names of the chains which should be +# loaded from that file + + +kinematics=/ms/config/ers210.kin +kinematic_chains=Mouth + + +kinematics=/ms/config/ers220.kin + +kinematic_chains=IR + + +kinematics=/ms/config/ers7.kin +kinematic_chains=Mouth +kinematic_chains=NearIR +kinematic_chains=FarIR +kinematic_chains=ChestIR + +kinematic_chains=LFr +kinematic_chains=RFr +kinematic_chains=LBk +kinematic_chains=RBk +kinematic_chains=Camera + +# These calibration parameters should specify the value to multiply a +# desired position by in order to cause the joint to actually reach +# that position. This is then used both to calibrate joint values +# which are sent to the system, and also sensor values which are +# received back. +# An unspecified joint is by default '1' which will then pass values +# through unmodified. Only PID joints are calibrated (i.e. LEDs and +# ears are not) + +#Only the knees and rotors have been calibrated +#This is just kind of a rough calibration since +#I don't know how well it will generalize across +#individual robots anyway. +calibrate:LFr:rotor=0.972 +calibrate:LFr:knee~=0.944 +calibrate:RFr:rotor=0.972 +calibrate:RFr:knee~=0.944 +calibrate:LBk:rotor=0.972 +calibrate:LBk:knee~=0.944 +calibrate:RBk:rotor=0.972 +calibrate:RBk:knee~=0.944 + + +#ERS-2xx seems to be fairly well calibrated by system, but +#you can always try to do better... + + +# Sounds to play when turning estop on and off +estop_on_snd=skid.wav +estop_off_snd=yap.wav + +# These values are used by some behaviors to limit the +# speed of the head to reduce wear on the joints +# Units: radians per second + +max_head_tilt_speed=2.1 +max_head_pan_speed=3.0 +max_head_roll_speed=3.0 + + +#the pan speed is revised down from Sony's maximum a bit +max_head_tilt_speed=3.18522588 +max_head_pan_speed=5.78140315 +max_head_roll_speed=5.78140315 + + +console_port=10003 +stderr_port=10004 + diff -urdN ../Tekkotsu_2.2/tools/test/kinematics/test_kinematics.cc ./tools/test/kinematics/test_kinematics.cc --- ../Tekkotsu_2.2/tools/test/kinematics/test_kinematics.cc Tue Oct 5 15:12:37 2004 +++ ./tools/test/kinematics/test_kinematics.cc Thu Nov 4 14:45:26 2004 @@ -3,6 +3,7 @@ #include "Motion/Kinematics.h" #include "Shared/Config.h" #include "Motion/PostureEngine.h" +#include "Shared/newmat/newmatio.h" namespace ROBOOP { void serrprintf(const char* msg, int x, int y, int z) { @@ -18,7 +19,8 @@ int main(int /*argc*/, char** /*argv*/) { //Read config file config=new Config("../../../project/ms/config/tekkotsu.cfg"); - config->setValue(Config::sec_motion,"kinematics","../../../project/ms/config/ers7.kin"); + config->setValue(Config::sec_motion,"root","../../../project/ms/data/motion"); + config->setValue(Config::sec_motion,"kinematics","../../config/ers7.kin"); kine = new Kinematics(); PostureEngine pose; @@ -41,6 +43,8 @@ Plink(2)=10; Plink(3)=10; Plink(4)=1; + + cout << pose.getLinkInterestPoint(BaseFrameOffset,"LFrPaw"); /*for(unsigned int i=LFrLegOffset; i= 0) { - if (_isServer) - runServer(); - else - runConnect(); - } else { - System.out.println("can't start Listener without [host],port"); - } - } + public void startThread() { + destroy=false; + _listenerThread=new Thread(this); + _listenerThread.start(); + } - void frameTimer() { - _frametimer_numframes++; - if (System.currentTimeMillis()-_frametimer_timer>1000) { - System.out.println("updated at "+_frametimer_numframes+"hz"); - _frametimer_numframes=0; - _frametimer_timer=System.currentTimeMillis(); - } - } + public void run() { + if (_port >= 0) { + if (_isServer) + runServer(); + else + runConnect(); + } else { + System.out.println("can't start Listener without [host],port"); + } + } - double readDouble(InputStream in) throws IOException { - return Double.longBitsToDouble(readLong(in)); - } + public void kill() { + destroy=true; + _isConnected=false; + if(_listenerThread!=null) + _listenerThread.interrupt(); + close(); + } - void writeDouble(OutputStream out, double x) throws IOException { - writeLong(out,Double.doubleToLongBits(x)); - } + public void frameTimer() { + _frametimer_numframes++; + if (System.currentTimeMillis()-_frametimer_timer>1000) { + System.out.println("updated at "+_frametimer_numframes+"hz"); + _frametimer_numframes=0; + _frametimer_timer=System.currentTimeMillis(); + } + } - long readLong(InputStream in) throws IOException { - int read=0; - int last=0; - byte[] buf=new byte[8]; - while (read<8 && last>=0) { last=in.read(buf,read,8-read); read+=last; } - if(last<0) - _isConnected=false; - return (b2l(buf[7])<<56) | (b2l(buf[6])<<48) | - (b2l(buf[5])<<40) | (b2l(buf[4])<<32) | - (b2l(buf[3])<<24) | (b2l(buf[2])<<16) | - (b2l(buf[1])<< 8) | b2l(buf[0]); - } + public double readDouble(InputStream in) throws IOException { + return Double.longBitsToDouble(readLong(in)); + } - void writeLong(OutputStream out, long x) throws IOException { - int bytelen=8; - byte[] buf=new byte[bytelen]; - for(int i=0; i>(8*i)) & 0xff)).byteValue(); - out.write(buf,0,bytelen); - } + public void writeDouble(OutputStream out, double x) throws IOException { + writeLong(out,Double.doubleToLongBits(x)); + } - float readFloat(InputStream in) throws IOException { - return Float.intBitsToFloat(readInt(in)); - } - - void writeFloat(OutputStream out, float x) throws IOException { - writeInt(out,Float.floatToIntBits(x)); - } + public long readLong(InputStream in) throws IOException { + int read=0; + int last=0; + byte[] buf=new byte[8]; + while (read<8 && last>=0) { last=in.read(buf,read,8-read); read+=last; } + if(last<0) + _isConnected=false; + return (b2l(buf[7])<<56) | (b2l(buf[6])<<48) | + (b2l(buf[5])<<40) | (b2l(buf[4])<<32) | + (b2l(buf[3])<<24) | (b2l(buf[2])<<16) | + (b2l(buf[1])<< 8) | b2l(buf[0]); + } - int readInt(InputStream in) throws IOException { - int read=0; - int last=0; - byte[] buf=new byte[4]; - while (read<4 && last>=0) { last=in.read(buf,read,4-read); read+=last; } - if(last<0) - _isConnected=false; - return (b2i(buf[3])<<24) | (b2i(buf[2])<<16) | - (b2i(buf[1])<< 8) | b2i(buf[0]); - } - - void writeInt(OutputStream out, int x) throws IOException { - int bytelen=4; - byte[] buf=new byte[bytelen]; - for(int i=0; i>(8*i)) & 0xff)).byteValue(); - out.write(buf,0,bytelen); - } + public void writeLong(OutputStream out, long x) throws IOException { + int bytelen=8; + byte[] buf=new byte[bytelen]; + for(int i=0; i>(8*i)) & 0xff)).byteValue(); + out.write(buf,0,bytelen); + } - void readBytes(byte[] buf, InputStream in, int bytes) throws IOException { - int read=0; - int last=0; - while (read=0) { last=in.read(buf, read, bytes-read); read+=last;} - if(last<0) - _isConnected=false; - } + public float readFloat(InputStream in) throws IOException { + return Float.intBitsToFloat(readInt(in)); + } + + public void writeFloat(OutputStream out, float x) throws IOException { + writeInt(out,Float.floatToIntBits(x)); + } - String readLine(InputStream in) throws java.io.IOException{ - StringBuffer sbuf=new StringBuffer(); - int x=in.read(); - if(x==-1) { - _isConnected=false; - return sbuf.toString(); - } - char c=(char)x; - while(c!='\n') { - sbuf.append(c); - x=in.read(); - if(x==-1) { - _isConnected=false; - return sbuf.toString(); - } - c=(char)x; - } - return sbuf.toString(); + public int readInt(InputStream in) throws IOException { + int read=0; + int last=0; + byte[] buf=new byte[4]; + while (read<4 && last>=0) { last=in.read(buf,read,4-read); read+=last; } + if(last<0) + _isConnected=false; + return (b2i(buf[3])<<24) | (b2i(buf[2])<<16) | + (b2i(buf[1])<< 8) | b2i(buf[0]); + } + + public void writeInt(OutputStream out, int x) throws IOException { + int bytelen=4; + byte[] buf=new byte[bytelen]; + for(int i=0; i>(8*i)) & 0xff)).byteValue(); + out.write(buf,0,bytelen); + } + + public byte[] readBytes(InputStream in, int bytes) throws IOException { + byte[] ret=new byte[bytes]; + readBytes(ret, in, bytes); + return ret; } - - int b2i(byte b) { return (b>=0)?(int)b:((int)b)+256; } - long b2l(byte b) { return (b>=0)?(long)b:((long)b)+256; } - abstract void runServer(); - abstract void runConnect(); - abstract public void close(); + public void readBytes(byte[] buf, InputStream in, int bytes) throws IOException { + int read=0; + int last=0; + while (read=0) { + last=in.read(buf, read, bytes-read); + read+=last; + } + if(last<0) + _isConnected=false; + } - boolean _isServer; - int _port; - String _host; - boolean _isConnected; - volatile Thread _listenerThread; + public char readChar(InputStream in) throws IOException { + return (char)in.read(); + } - int _frametimer_numframes=0; - long _frametimer_timer=System.currentTimeMillis(); + public void writeChar(OutputStream out, char c) throws IOException { + out.write(c); + } + + public String readLine(InputStream in) throws java.io.IOException{ + StringBuffer sbuf=new StringBuffer(); + int x=in.read(); + if(x==-1) { + _isConnected=false; + return sbuf.toString(); + } + char c=(char)x; + while(c!='\n') { + sbuf.append(c); + x=in.read(); + if(x==-1) { + _isConnected=false; + return sbuf.toString(); + } + c=(char)x; + } + return sbuf.toString(); + } + + public int b2i(byte b) { return (b>=0)?(int)b:((int)b)+256; } + public long b2l(byte b) { return (b>=0)?(long)b:((long)b)+256; } + + public abstract void runServer(); + public abstract void runConnect(); + public abstract void close(); + + public boolean _isServer; + public int _port; + public String _host; + public boolean _isConnected; + public volatile Thread _listenerThread; + public volatile boolean destroy=false; + + public int _frametimer_numframes=0; + public long _frametimer_timer=System.currentTimeMillis(); + + public static final int PACKET_TEXT=0; + public static final int PACKET_VISIONRAW_HALF=1; + public static final int PACKET_VISIONRAW_FULL=2; + public static final int PACKET_VISIONRAW_YFULL_UVHALF=3; + public static final int PACKET_VISIONRAW_Y_ONLY=4; + public static final int PACKET_VISIONRAW_Y_LH_ONLY=5; + public static final int PACKET_VISIONRAW_Y_HL_ONLY=6; + public static final int PACKET_VISIONRAW_Y_HH_ONLY=7; + public static final int PACKET_VISIONRAW_U_ONLY=8; + public static final int PACKET_VISIONRAW_V_ONLY=9; + public static final int PACKET_VISIONRLE_FULL=10; + public static final int PACKET_WORLDSTATEJOINTS=11; + public static final int PACKET_WORLDSTATEPIDS=12; + public static final int PACKET_WORLDSTATEBUTTONS=13; + public static final int PACKET_WMCLASS=14; } diff -urdN ../Tekkotsu_2.2/tools/test/mon/TCPListener.java ./tools/test/mon/TCPListener.java --- ../Tekkotsu_2.2/tools/test/mon/TCPListener.java Sat May 24 00:56:20 2003 +++ ./tools/test/mon/TCPListener.java Tue Nov 2 00:23:41 2004 @@ -2,54 +2,66 @@ import java.net.Socket; public abstract class TCPListener extends Listener { - abstract void connected(Socket socket); + public abstract void connected(Socket socket); - void runServer() { - Thread me = Thread.currentThread(); - try { _serverSocket=new ServerSocket(_port); } - catch (Exception ex) { - System.out.println("port "+_port+": "+ex); - return; - } + public void runServer() { + Thread me = Thread.currentThread(); + try { _serverSocket=new ServerSocket(_port); } + catch (Exception ex) { + System.out.println("port "+_port+": "+ex); + return; + } - while (me == _listenerThread) { - try { - _socket=_serverSocket.accept(); - connected(_socket); - } catch (Exception ex) { } - } - } + while (me == _listenerThread && !destroy) { + try { + _socket=_serverSocket.accept(); + connected(_socket); + } catch (Exception ex) { } + } + } - void runConnect() { - int attempts=0; - Thread me = Thread.currentThread(); - while (me==_listenerThread) { - try { - _socket=new Socket(_host,_port); - attempts=0; - connected(_socket); - System.err.println("TCPListener port "+_port+" - Disconnected, attempting to reestablish..."); - } catch (Exception ex) {} - attempts++; - if(attempts%10==0) - System.err.println("TCPListener port "+_port+" - Waiting for connection... ("+attempts+" attempts)"); - try { - Thread.sleep(500); - } catch (Exception ex) {} - } - } + public void runConnect() { + int attempts=0; + Thread me = Thread.currentThread(); + while (me==_listenerThread && !destroy) { + if(attempts==0) { + System.out.println("["+_port+"] connecting ..."); + } + try { + _socket=new Socket(_host,_port); + System.out.println("["+_port+"] connected"); + attempts=0; + _isConnected=true; + } catch (Exception ex) {} + if(_isConnected) { + connected(_socket); + if(!destroy) + System.out.println("["+_port+"] disconnected"); + System.out.println("["+_port+"] attempting to reestablish .."); + } + attempts++; + if(destroy) { + System.out.println("["+_port+"] connection closed"); + break; + } + try { + Thread.sleep(500); + } catch (Exception ex) {} + } + } - public void close() { - _listenerThread=null; - try { _socket.close(); } catch (Exception ex) { } - if (_isServer) - try { _serverSocket.close(); } catch (Exception ex) { } - } + public void close() { + _listenerThread=null; + _isConnected=false; + try { _socket.close(); } catch (Exception ex) { } + if (_isServer) + try { _serverSocket.close(); } catch (Exception ex) { } + } - public TCPListener() { super(); } - public TCPListener(int port) { super(port); } - public TCPListener(String host, int port) { super(host,port); } + public TCPListener() { super(); } + public TCPListener(int port) { super(port); } + public TCPListener(String host, int port) { super(host,port); } - Socket _socket; - ServerSocket _serverSocket; + Socket _socket; + ServerSocket _serverSocket; } diff -urdN ../Tekkotsu_2.2/tools/test/mon/listen.java ./tools/test/mon/listen.java --- ../Tekkotsu_2.2/tools/test/mon/listen.java Wed Dec 31 19:00:00 1969 +++ ./tools/test/mon/listen.java Tue Nov 2 00:23:41 2004 @@ -0,0 +1,68 @@ +import java.net.*; +import java.io.*; + +public class listen extends TCPListener { + public static void main(String[] args) { + if(args.length<1) { + usage(args); + System.exit(2); + } + new listen((new Integer(args[0])).intValue()); + } + + public static void usage(String[] args) { + System.out.println("Usage: java listen port"); + System.out.println(" This will listen on until a connection occurs."); + System.out.println(" Any output is sent to the console, and any console"); + System.out.println(" input will be sent to the remote host, terminated by"); + System.out.println(" newline"); + } + + public listen() { super(); } + public listen(int port) { super(port); } + + public class send implements Runnable { + public Socket socket; + public void run() { + try { + PrintStream out = new PrintStream(socket.getOutputStream()); + BufferedReader in = new BufferedReader( new InputStreamReader( System.in ) ); + while (!socket.isOutputShutdown()) { + out.println(in.readLine()); + } + } catch(Exception e) {if((SocketException)e==null) e.printStackTrace();} + + try { socket.close(); } catch (Exception ex) { } + System.out.println("[Lost output...]"); + } + } + public class receive implements Runnable { + public Socket socket; + public void run() { + try { + InputStream sin=socket.getInputStream(); + while (!socket.isInputShutdown()) { + System.out.print((char)sin.read()); + } + } catch(Exception e) {if((SocketException)e==null) e.printStackTrace();} + + try { socket.close(); } catch (Exception ex) { } + System.out.println("[Lost input...]"); + } + } + + public void runServer() { + System.out.println("[Listening...]"); + super.runServer(); + } + + public void connected(Socket socket) { + System.out.println("[Connected...]"); + receive recv=new receive(); + send snd=new send(); + recv.socket=snd.socket=socket; + (new Thread(recv)).start(); + (new Thread(snd)).start(); + } + +} \ No newline at end of file