diff -urdN ../Tekkotsu_2.3/Behaviors/BehaviorBase.cc ./Behaviors/BehaviorBase.cc
--- ../Tekkotsu_2.3/Behaviors/BehaviorBase.cc	Tue Jan  4 14:51:37 2005
+++ ./Behaviors/BehaviorBase.cc	Thu Jul  7 18:33:51 2005
@@ -1,15 +1,8 @@
 #include "BehaviorBase.h"
+#include "Events/EventRouter.h"
 
 std::set<BehaviorBase*> 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)
@@ -44,8 +37,8 @@
 BehaviorBase::~BehaviorBase() {
 	SetAutoDelete(false);
 	if(started)
-		DoStop();
-	//{ if(started) { references++; DoStop(); references--; } }
+		std::cerr << "Behavior " << getName() << " deleted while running: use 'RemoveReference', not 'delete'" << std::endl;
+	erouter->removeListener(this);
 	registry.erase(this);
 }
 
@@ -63,6 +56,8 @@
 	//std::cout << getName() << " stopped " << this << std::endl;
 	if(started) {
 		started=false;
+		erouter->removeListener(this);
+		erouter->removeTimer(this);
 		RemoveReference();
 	}
 }
@@ -72,9 +67,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.9 $
  * $State: Exp $
- * $Date: 2005/01/04 19:51:37 $
+ * $Date: 2005/07/07 22:33:51 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/BehaviorBase.h ./Behaviors/BehaviorBase.h
--- ../Tekkotsu_2.3/Behaviors/BehaviorBase.h	Tue Jan  4 14:51:37 2005
+++ ./Behaviors/BehaviorBase.h	Sat Apr 23 14:32:59 2005
@@ -16,7 +16,7 @@
  *  rely on the reference counting.
  *
  *  For an empty behavior boilerplate file to help you get started quickly, try
- *  <a href="http://cvs.tekkotsu.org/cgi-bin/viewcvs.cgi/Tekkotsu/docs/behavior_header.h?rev=HEAD&content-type=text/vnd.viewcvs-markup"><i>Tekkotsu</i><tt>/docs/behavior_header.h</tt></a>:
+ *  <a href="http://cvs.tekkotsu.org/cgi-bin/viewcvs.cgi/Tekkotsu/project/templates/behavior.h?rev=HEAD&content-type=text/vnd.viewcvs-markup"><i>project</i><tt>/templates/behavior.h</tt></a>:
  * 
  *  But it would probably still be a good idea to go through the "<a
  *  href="../FirstBehavior.html">First Behavior</a>" tutorial to get a better idea of
@@ -24,7 +24,7 @@
  */
 class BehaviorBase : public ReferenceCounter, public EventListener {
 public:
-	//! destructor - if is active when deleted, will call DoStop() first
+	//! destructor - if is active when deleted, will display a warning (don't delete directly - use RemoveReference())
 	virtual ~BehaviorBase();
 	
 	//! By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods
@@ -91,8 +91,6 @@
 	*/
 	
 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
@@ -113,10 +111,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.18 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.21 $
  * $State: Exp $
- * $Date: 2005/01/04 19:51:37 $
+ * $Date: 2005/04/23 18:32:59 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/CVS/Entries ./Behaviors/CVS/Entries
--- ../Tekkotsu_2.3/Behaviors/CVS/Entries	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/CVS/Entries	Wed Aug 10 11:03:30 2005
@@ -0,0 +1,14 @@
+/BehaviorBase.cc/1.9/Thu Jul  7 22:33:51 2005//Ttekkotsu-2_4
+/BehaviorBase.h/1.21/Sat Apr 23 18:32:59 2005//Ttekkotsu-2_4
+/Controller.cc/1.45/Wed Jun  1 05:47:44 2005//Ttekkotsu-2_4
+/Controller.h/1.35/Thu Aug  4 04:37:55 2005//Ttekkotsu-2_4
+/README/1.1/Sat Mar  1 20:53:25 2003//Ttekkotsu-2_4
+/StateNode.cc/1.25/Fri Apr 15 21:30:55 2005//Ttekkotsu-2_4
+/StateNode.h/1.20/Sun Aug  7 04:11:02 2005//Ttekkotsu-2_4
+/Transition.cc/1.16/Wed Aug  3 18:47:58 2005//Ttekkotsu-2_4
+/Transition.h/1.12/Sun Aug  7 04:11:02 2005//Ttekkotsu-2_4
+D/Controls////
+D/Demos////
+D/Mon////
+D/Nodes////
+D/Transitions////
diff -urdN ../Tekkotsu_2.3/Behaviors/CVS/Repository ./Behaviors/CVS/Repository
--- ../Tekkotsu_2.3/Behaviors/CVS/Repository	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/CVS/Repository	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+Tekkotsu/Behaviors
diff -urdN ../Tekkotsu_2.3/Behaviors/CVS/Root ./Behaviors/CVS/Root
--- ../Tekkotsu_2.3/Behaviors/CVS/Root	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/CVS/Root	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+:pserver:anonymous@cvs.tekkotsu.org:/cvs
diff -urdN ../Tekkotsu_2.3/Behaviors/CVS/Tag ./Behaviors/CVS/Tag
--- ../Tekkotsu_2.3/Behaviors/CVS/Tag	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/CVS/Tag	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+Ntekkotsu-2_4
diff -urdN ../Tekkotsu_2.3/Behaviors/Controller.cc ./Behaviors/Controller.cc
--- ../Tekkotsu_2.3/Behaviors/Controller.cc	Wed Jan  5 15:28:34 2005
+++ ./Behaviors/Controller.cc	Wed Jun  1 01:47:44 2005
@@ -2,10 +2,10 @@
 #include "Motion/EmergencyStopMC.h"
 #include "Motion/LedMC.h"
 #include "Motion/MMAccessor.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Shared/WorldState.h"
 #include "Shared/get_time.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Events/TextMsgEvent.h"
 #include "Shared/ERS210Info.h"
 #include "Shared/ERS220Info.h"
@@ -48,11 +48,6 @@
 }
 
 void Controller::DoStop() {
-	motman->removeMotion(display);
-	//these two lines help prevent residual display in case that was the only MotionCommand using LEDs
-	for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
-		motman->setOutput(NULL,i,0.f);
-	display=MotionManager::invalid_MC_ID;
 	sndman->ReleaseFile(config->controller.select_snd);
 	sndman->ReleaseFile(config->controller.next_snd);
 	sndman->ReleaseFile(config->controller.prev_snd);
@@ -60,6 +55,11 @@
 	sndman->ReleaseFile(config->controller.cancel_snd);
 	erouter->removeListener(this);
 	reset();
+	motman->removeMotion(display);
+	display=MotionManager::invalid_MC_ID;
+	//these two lines help prevent residual display in case that was the only MotionCommand using LEDs
+	for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
+		motman->setOutput(NULL,i,0.f);
 	gui_comm->printf("goodbye\n");
 	wireless->setDaemon(gui_comm,false);
 	wireless->close(gui_comm);
@@ -303,6 +303,28 @@
 	}
 }
 
+bool Controller::select(ControlBase* item, const std::string& name) {
+  // Depth first
+  const std::vector<ControlBase*>& slots = item->getSlots();
+  for(unsigned int i=0; i<slots.size(); i++) {
+    if (slots[i] != NULL) {
+      if (slots[i]->getName() == name) { // sensitive to #Name
+	char in[10];
+	snprintf(in, 9, "%d", i); in[9]='\0';
+	ControlBase * ret = item->takeInput(in);
+	if(ret!=NULL) {
+	  setNext(ret);
+	  return true;
+	}
+      } else {
+	if (select(slots[i], name)) 
+	  return true;
+      }
+    }
+  }
+  return false;
+}
+
 void Controller::takeLine(const std::string& s) {
 	//	cout << "RECEIVED: " << s << endl;
 	if(s.size()==0)
@@ -342,13 +364,18 @@
 		} else if(args[0]=="!cancel") {
 			setNext(cmdstack.top()->doCancel());
 		} else if(args[0]=="!select") {
+		  if (args.size() == 1)
 			setNext(cmdstack.top()->doSelect());
+		  else {
+		    select(root, args[1].c_str());
+		    refresh();
+		  }
 		} else if(args[0]=="!next") {
 			setNext(cmdstack.top()->doNextItem());
 		} else if(args[0]=="!prev") {
 			setNext(cmdstack.top()->doPrevItem());
 		} else if(args[0]=="!dump_stack") {
-			theOneController->gui_comm->printf("stack_dump\n%d\n",cmdstack.size());
+			theOneController->gui_comm->printf("stack_dump\n%lu\n",(unsigned long)cmdstack.size());
 			//this is rather ugly - can't iterate a stack, have to unstack and restack it.  Oh well.
 			std::stack< ControlBase* > tmpstack;
 			while(!cmdstack.empty()) {
@@ -465,8 +492,8 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.41 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.45 $
  * $State: Exp $
- * $Date: 2005/01/05 20:28:34 $
+ * $Date: 2005/06/01 05:47:44 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Controller.h ./Behaviors/Controller.h
--- ../Tekkotsu_2.3/Behaviors/Controller.h	Wed Jan  5 15:28:35 2005
+++ ./Behaviors/Controller.h	Thu Aug  4 00:37:55 2005
@@ -21,7 +21,7 @@
  *	- '<tt>!reset</tt>' - return to the root control
  *	- '<tt>!next</tt>' - calls ControlBase::doNextItem() of the current control
  *	- '<tt>!prev</tt>' - calls ControlBase::doPrevItem() of the current control
- *	- '<tt>!select</tt>' - calls ControlBase::doSelect() of the current control
+ *	- '<tt>!select</tt> [<i>item</i>]' - calls ControlBase::doSelect() of the current control, unless <i>item</i> is specified, in which case it is searched for, starting at the root.
  *	- '<tt>!cancel</tt>' - calls ControlBase::doCancel() of the current control
  *	- '<tt>!dump_stack</tt>' - requests a dump of the current stack of submenus (useful if the GUI (re)connects and thus current robot state is unknown)
  *	- '<tt>!msg </tt><i>text</i>' - sends <i>text</i> out as a TextMsgEvent; also note that any text entered on the console port while a GUI is also connected will also be sent as a TextMsgEvent, without needing the !input.
@@ -103,10 +103,10 @@
 	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;
+		std::cout << "~Controller()..." << std::endl;
 		delete root;
 		theOneController=NULL;
-		cout << "~Controller()-DONE" << endl;
+		std::cout << "~Controller()-DONE" << std::endl;
 	} //!< Destructor
 
 	//@{
@@ -152,6 +152,9 @@
 	//! called with each line that's entered on the tekkotsu console or from the GUI
 	void takeLine(const std::string& s);
 
+	//! called with slots (options), a name to lookup; will select the named control
+	bool Controller::select(ControlBase* item, const std::string& name);
+	
 	//! sets a config value - some values may require additional processing (done here) to have the new values take effect
 	int setConfig(const char *str);
 
@@ -217,10 +220,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.32 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.35 $
  * $State: Exp $
- * $Date: 2005/01/05 20:28:35 $
+ * $Date: 2005/08/04 04:37:55 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/BatteryCheckControl.h ./Behaviors/Controls/BatteryCheckControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/BatteryCheckControl.h	Tue Jan 25 15:06:39 2005
+++ ./Behaviors/Controls/BatteryCheckControl.h	Tue Jan 25 15:06:39 2005
@@ -111,7 +111,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.10 $
  * $State: Exp $
  * $Date: 2005/01/25 20:06:39 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/BehaviorActivatorControl.h ./Behaviors/Controls/BehaviorActivatorControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.8 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:10 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/BehaviorReportControl.h ./Behaviors/Controls/BehaviorReportControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/BehaviorReportControl.h	Tue Jan 25 15:06:39 2005
+++ ./Behaviors/Controls/BehaviorReportControl.h	Sat Feb  5 02:27:26 2005
@@ -37,14 +37,14 @@
 		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 (%d):\n",active.size());
+		sout->printf("%lu active, %lu inactive, %lu total\n\n",(unsigned long)active.size(),(unsigned long)inactive.size(),(unsigned long)reg.size());
+		sout->printf("Active Behaviors:\n");
 		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 (%d):\n",inactive.size());
+		sout->printf("Inactive Behaviors:\n");
 		sout->printf(format,"Class Name","Instance Name");
 		sout->printf(format,"------------","---------------");
 		for(behlist_t::const_iterator it=inactive.begin(); it!=inactive.end(); it++)
@@ -58,10 +58,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.4 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.6 $
  * $State: Exp $
- * $Date: 2005/01/25 20:06:39 $
+ * $Date: 2005/02/05 07:27:26 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/BehaviorSwitchActivatorControl.h ./Behaviors/Controls/BehaviorSwitchActivatorControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.3 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:10 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/BehaviorSwitchControl.h ./Behaviors/Controls/BehaviorSwitchControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/BehaviorSwitchControl.h	Thu Nov 11 19:05:03 2004
+++ ./Behaviors/Controls/BehaviorSwitchControl.h	Wed Jun 29 18:02:58 2005
@@ -223,13 +223,15 @@
 
 	virtual void startmine() {
 		if(!retained) {
-			mybeh=Al::construct();
+			Al allocator;
+			mybeh=allocator.construct();
 			mybeh->setName(getName());
 			if(behgrp!=NULL)
 				behgrp->curBehavior=mybeh;
 		} else {
 			if(mybeh==NULL) {
-				mybeh=Al::construct();
+				Al allocator;
+				mybeh=allocator.construct();
 				mybeh->setName(getName());
 				mybeh->AddReference();
 			}
@@ -265,10 +267,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.14 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.15 $
  * $State: Exp $
- * $Date: 2004/11/12 00:05:03 $
+ * $Date: 2005/06/29 22:02:58 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/CVS/Entries ./Behaviors/Controls/CVS/Entries
--- ../Tekkotsu_2.3/Behaviors/Controls/CVS/Entries	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Controls/CVS/Entries	Wed Aug 10 11:03:18 2005
@@ -0,0 +1,47 @@
+/BatteryCheckControl.h/1.10/Tue Jan 25 20:06:39 2005//Ttekkotsu-2_4
+/BehaviorActivatorControl.h/1.8/Thu Sep 25 15:26:10 2003//Ttekkotsu-2_4
+/BehaviorReportControl.h/1.6/Sat Feb  5 07:27:26 2005//Ttekkotsu-2_4
+/BehaviorSwitchActivatorControl.h/1.3/Thu Sep 25 15:26:10 2003//Ttekkotsu-2_4
+/BehaviorSwitchControl.h/1.15/Wed Jun 29 22:02:58 2005//Ttekkotsu-2_4
+/ControlBase.cc/1.13/Wed Jun  1 05:47:44 2005//Ttekkotsu-2_4
+/ControlBase.h/1.22/Thu Nov  4 03:01:31 2004//Ttekkotsu-2_4
+/DumpFileControl.h/1.2/Thu Sep 25 15:26:10 2003//Ttekkotsu-2_4
+/EventLogger.cc/1.18/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/EventLogger.h/1.7/Wed Jun  1 05:47:44 2005//Ttekkotsu-2_4
+/FileBrowserControl.cc/1.10/Wed Feb  2 18:20:27 2005//Ttekkotsu-2_4
+/FileBrowserControl.h/1.10/Wed Jan 14 20:43:44 2004//Ttekkotsu-2_4
+/FileInputControl.h/1.2/Tue Mar 23 00:55:01 2004//Ttekkotsu-2_4
+/FreeMemReportControl.cc/1.6/Sat Feb  5 07:27:26 2005//Ttekkotsu-2_4
+/FreeMemReportControl.h/1.8/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_4
+/HelpControl.cc/1.10/Wed Jun  1 05:47:44 2005//Ttekkotsu-2_4
+/HelpControl.h/1.5/Mon Jan 19 22:03:58 2004//Ttekkotsu-2_4
+/LoadCalibration.h/1.5/Mon Jun  6 23:05:51 2005//Ttekkotsu-2_4
+/LoadPostureControl.h/1.16/Mon Jun  6 23:05:51 2005//Ttekkotsu-2_4
+/LoadWalkControl.h/1.9/Mon Jun  6 23:05:51 2005//Ttekkotsu-2_4
+/MCValueEditControl.h/1.3/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_4
+/NetworkStatusControl.h/1.3/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/NullControl.h/1.2/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_4
+/PlaySoundControl.h/1.8/Mon Jun  6 23:05:51 2005//Ttekkotsu-2_4
+/PostureEditor.cc/1.18/Tue Aug  2 22:24:20 2005//Ttekkotsu-2_4
+/PostureEditor.h/1.8/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/ProfilerCheckControl.h/1.6/Thu Nov 11 20:34:59 2004//Ttekkotsu-2_4
+/RebootControl.cc/1.4/Wed Feb  2 18:20:27 2005//Ttekkotsu-2_4
+/RebootControl.h/1.2/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_4
+/RunSequenceControl.h/1.17/Mon Jun  6 23:05:51 2005//Ttekkotsu-2_4
+/SavePostureControl.h/1.12/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/SaveWalkControl.h/1.10/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/SensorObserverControl.cc/1.5/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/SensorObserverControl.h/1.5/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/ShutdownControl.cc/1.4/Wed Feb  2 18:20:27 2005//Ttekkotsu-2_4
+/ShutdownControl.h/1.3/Thu Sep 25 15:26:11 2003//Ttekkotsu-2_4
+/SimulatorAdvanceFrameControl.h/1.1/Thu Jun 23 22:37:28 2005//Ttekkotsu-2_4
+/StringInputControl.cc/1.5/Mon Jul 28 05:54:32 2003//Ttekkotsu-2_4
+/StringInputControl.h/1.5/Tue Mar 23 00:55:01 2004//Ttekkotsu-2_4
+/ToggleControl.h/1.4/Tue Mar 23 00:55:01 2004//Ttekkotsu-2_4
+/ValueEditControl.h/1.15/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/ValueSetControl.h/1.3/Sun Jan 18 10:16:56 2004//Ttekkotsu-2_4
+/WalkCalibration.cc/1.11/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/WalkCalibration.h/1.7/Wed Feb  2 18:47:23 2005//Ttekkotsu-2_4
+/WaypointWalkControl.cc/1.15/Mon Jun  6 23:05:51 2005//Ttekkotsu-2_4
+/WaypointWalkControl.h/1.6/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+D
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/CVS/Repository ./Behaviors/Controls/CVS/Repository
--- ../Tekkotsu_2.3/Behaviors/Controls/CVS/Repository	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Controls/CVS/Repository	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+Tekkotsu/Behaviors/Controls
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/CVS/Root ./Behaviors/Controls/CVS/Root
--- ../Tekkotsu_2.3/Behaviors/Controls/CVS/Root	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Controls/CVS/Root	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+:pserver:anonymous@cvs.tekkotsu.org:/cvs
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/CVS/Tag ./Behaviors/Controls/CVS/Tag
--- ../Tekkotsu_2.3/Behaviors/Controls/CVS/Tag	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Controls/CVS/Tag	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+Ntekkotsu-2_4
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ControlBase.cc ./Behaviors/Controls/ControlBase.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/ControlBase.cc	Wed Nov  3 22:01:31 2004
+++ ./Behaviors/Controls/ControlBase.cc	Wed Jun  1 01:47:44 2005
@@ -2,7 +2,7 @@
 #include "Motion/MMAccessor.h"
 #include "Motion/LedMC.h"
 #include "Shared/string_util.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Wireless/Wireless.h"
 #include <iomanip>
 #include <sstream>
@@ -331,6 +331,7 @@
 		refresh();
 		return this;		
 		}*/
+	return this; //should never get here, but gcc 4 thinks we can
 }
 
 bool ControlBase::validInput(const std::string& str) {
@@ -391,7 +392,7 @@
 
 void ControlBase::clearMenu() {
 	if(config->main.use_VT100) {
-		sout->printf("\r\33[%dA",(options.size()+1)); //moves cursor up to beginning of menu
+		sout->printf("\r\33[%luA",(unsigned long)(options.size()+1)); //moves cursor up to beginning of menu
 		sout->printf("\33[J"); //clears to end of screen
 	}
 }
@@ -411,9 +412,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.9 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.13 $
  * $State: Exp $
- * $Date: 2004/11/04 03:01:31 $
+ * $Date: 2005/06/01 05:47:44 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ControlBase.h ./Behaviors/Controls/ControlBase.h
--- ../Tekkotsu_2.3/Behaviors/Controls/ControlBase.h	Wed Nov  3 22:01:31 2004
+++ ./Behaviors/Controls/ControlBase.h	Wed Nov  3 22:01:31 2004
@@ -167,7 +167,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.22 $
  * $State: Exp $
  * $Date: 2004/11/04 03:01:31 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/DumpFileControl.h ./Behaviors/Controls/DumpFileControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.2 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:10 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/EventLogger.cc ./Behaviors/Controls/EventLogger.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/EventLogger.cc	Wed Dec 22 18:53:34 2004
+++ ./Behaviors/Controls/EventLogger.cc	Sun Aug  7 00:11:03 2005
@@ -6,10 +6,16 @@
 #include "StringInputControl.h"
 #include "NullControl.h"
 #include <sstream>
-#include "Events/LocomotionEvent.h"
-#include "Events/TextMsgEvent.h"
-#include "Events/VisionObjectEvent.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
+#include "Vision/FilterBankGenerator.h"
+#include "Shared/Base64.h"
+
+#include <libxml/xmlmemory.h>
+#include <libxml/parser.h>
+
+Socket* EventLogger::logSocket=NULL;
+unsigned int EventLogger::logSocketRefCount=0;
+int EventLogger::port=10080;
 
 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; i<EventBase::numEGIDs; i++) {
@@ -20,6 +26,22 @@
 	pushSlot(new ValueEditControl<unsigned int>("Verbosity","Controls verbosity level: 0=(gen,source,type); 1=0+gen_id,source_id,type_id; 2=1+duration,timestamp; 3=2+magnitude; additional columns may be added for subclass info","Please enter a new verbosity level: 0=(gen,source,type); 1=0+gen_id,source_id,type_id; 2=1+duration,timestamp; 3=2+magnitude; additional columns may be added for subclass info",&verbosity));
 	pushSlot(new ControlBase("[X] Console Output","If selected, outputs events to the console"));
 	pushSlot(new StringInputControl("[ ] File Output","Please enter the filename to log to (in /ms/...)"));
+	if(logSocket==NULL) {
+		ASSERT(logSocketRefCount==0,"logSocket is NULL, ref count is non-zero");
+		logSocket=wireless->socket(SocketNS::SOCK_STREAM,1024,1<<15);
+		wireless->setDaemon(logSocket);
+		wireless->listen(logSocket,port);
+	}
+	logSocketRefCount++;
+}
+
+EventLogger::~EventLogger() {
+	clearSlots();
+	if(--logSocketRefCount==0) {
+		wireless->setDaemon(logSocket,false);
+		wireless->close(logSocket);
+		logSocket=NULL;
+	}
 }
 
 ControlBase* EventLogger::doSelect() {
@@ -67,11 +89,115 @@
 	std::string logdata = event.getDescription(true,verbosity);
 	if(options[EventBase::numEGIDs+2]->getName()[1]=='X')
 		sout->printf("EVENT: %s\n",logdata.c_str());
+	if(logSocket!=NULL && wireless->isConnected(logSocket->sock)) {
+		xmlDoc * doc = xmlNewDoc((const xmlChar*)"1.0");
+		xmlNode * cur = xmlNewNode(NULL,(const xmlChar*)"");
+		xmlSetProp(cur,(const xmlChar*)"type",(const xmlChar*)"log");
+		xmlNode * desc = xmlNewNode(NULL,(const xmlChar*)"param");
+		event.SaveXML(cur);
+		xmlAddChild(cur,desc);
+		xmlSetProp(desc,(const xmlChar*)"name",(const xmlChar*)"description");
+		xmlSetProp(desc,(const xmlChar*)"value",(const xmlChar*)event.getDescription(true,3).c_str());
+		xmlBuffer* buf=xmlBufferCreate();
+		int n=xmlNodeDump(buf,doc,cur,0,1);
+		xmlFreeDoc(doc);
+		byte * nbuf = logSocket->getWriteBuffer(n+1);
+		if(nbuf!=NULL) {
+			memcpy(nbuf,xmlBufferContent(buf),n);
+			nbuf[n]='\n';
+			logSocket->write(n+1);
+		}
+		xmlBufferFree(buf);
+	}
 	checkLogFile();
 	if(logfile)
 		logfile << logdata << endl;
 }
 
+void EventLogger::logImage(FilterBankGenerator& fbg, unsigned int layer, unsigned int channel, const BehaviorBase* source/*=NULL*/) {
+	if(logSocket!=NULL && wireless->isConnected(logSocket->sock)) {
+		fbg.selectSaveImage(layer,channel);
+		unsigned int len=fbg.getBinSize();
+		char * binbuf=new char[len];
+		fbg.SaveBuffer(binbuf,len);
+		string b64buf=base64::encode(binbuf,len);
+		
+		xmlDoc * doc = xmlNewDoc((const xmlChar*)"1.0");
+		xmlNode * cur = xmlNewNode(NULL,(const xmlChar*)"event");
+		xmlSetProp(cur,(const xmlChar*)"type",(const xmlChar*)"image");
+		if(source!=NULL)
+			xmlSetProp(cur,(const xmlChar*)"sid",(const xmlChar*)source->getName().c_str());
+		snprintf(binbuf,len,"%d",get_time());
+		xmlSetProp(cur,(const xmlChar*)"time",(const xmlChar*)binbuf);
+		delete [] binbuf;
+		xmlNodeSetContent(cur,(const xmlChar*)b64buf.c_str());
+		xmlBuffer* buf=xmlBufferCreate();
+		int n=xmlNodeDump(buf,doc,cur,0,1);
+		xmlFreeDoc(doc);
+		byte * nbuf = logSocket->getWriteBuffer(n+1);
+		if(nbuf!=NULL) {
+			memcpy(nbuf,xmlBufferContent(buf),n);
+			nbuf[n]='\n';
+			logSocket->write(n+1);
+		}
+		xmlBufferFree(buf);
+	}		
+}
+
+void EventLogger::logMessage(std::string msg, const BehaviorBase* source/*=NULL*/, const char* icon/*=NULL*/, unsigned int placement/*=0*/) {
+	if(logSocket!=NULL && wireless->isConnected(logSocket->sock)) {
+		xmlDoc * doc = xmlNewDoc((const xmlChar*)"1.0");
+		xmlNode * cur = xmlNewNode(NULL,(const xmlChar*)"event");
+		xmlSetProp(cur,(const xmlChar*)"type",(const xmlChar*)"userlog");
+		if(source!=NULL)
+			xmlSetProp(cur,(const xmlChar*)"sid",(const xmlChar*)source->getName().c_str());
+		if(icon!=NULL)
+			xmlSetProp(cur,(const xmlChar*)"icon",(const xmlChar*)icon);
+		const unsigned int len=20;
+		char sbuf[len];
+		snprintf(sbuf,len,"%d",placement);
+		xmlSetProp(cur,(const xmlChar*)"voff",(const xmlChar*)sbuf);
+		snprintf(sbuf,len,"%d",get_time());
+		xmlSetProp(cur,(const xmlChar*)"time",(const xmlChar*)sbuf);
+		xmlNodeSetContent(cur,(const xmlChar*)msg.c_str());
+		xmlBuffer* buf=xmlBufferCreate();
+		int n=xmlNodeDump(buf,doc,cur,0,1);
+		xmlFreeDoc(doc);
+		byte * nbuf = logSocket->getWriteBuffer(n+1);
+		if(nbuf!=NULL) {
+			memcpy(nbuf,xmlBufferContent(buf),n);
+			nbuf[n]='\n';
+			logSocket->write(n+1);
+		}
+		xmlBufferFree(buf);
+	}		
+}
+
+void EventLogger::logWebcam(const BehaviorBase* source/*=NULL*/) {
+	if(logSocket!=NULL && wireless->isConnected(logSocket->sock)) {
+		xmlDoc * doc = xmlNewDoc((const xmlChar*)"1.0");
+		xmlNode * cur = xmlNewNode(NULL,(const xmlChar*)"event");
+		xmlSetProp(cur,(const xmlChar*)"type",(const xmlChar*)"webcam");
+		if(source!=NULL)
+			xmlSetProp(cur,(const xmlChar*)"sid",(const xmlChar*)source->getName().c_str());
+		const unsigned int len=20;
+		char sbuf[len];
+		snprintf(sbuf,len,"%d",get_time());
+		xmlSetProp(cur,(const xmlChar*)"time",(const xmlChar*)sbuf);
+		xmlNodeSetContent(cur,(const xmlChar*)" ");
+		xmlBuffer* buf=xmlBufferCreate();
+		int n=xmlNodeDump(buf,doc,cur,0,1);
+		xmlFreeDoc(doc);
+		byte * nbuf = logSocket->getWriteBuffer(n+1);
+		if(nbuf!=NULL) {
+			memcpy(nbuf,xmlBufferContent(buf),n);
+			nbuf[n]='\n';
+			logSocket->write(n+1);
+		}
+		xmlBufferFree(buf);
+	}		
+}
+
 void EventLogger::clearSlots() {
 	erouter->removeListener(this);
 	ControlBase::clearSlots();
@@ -92,13 +218,13 @@
 		logfilePath=strin->getLastInput();
 		logfile.clear();
 		if(logfilePath.size()!=0) {
-			sout->printf("Opening `/ms/%s'\n",logfilePath.c_str());
-			logfile.open(("/ms/"+logfilePath).c_str());
+			sout->printf("Opening `%s'\n",(config->portPath(logfilePath)).c_str());
+			logfile.open((config->portPath(logfilePath)).c_str());
 			if(!logfile.fail()) {
 				setStatus(cur,'X');
 				strin->setName(strin->getName()+": "+logfilePath);
 			} else {
-				serr->printf("Opening `/ms/%s' failed\n",logfilePath.c_str());
+				serr->printf("Opening `%s' failed\n",(config->portPath(logfilePath)).c_str());
 			}
 		}
 	}
@@ -109,8 +235,8 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.16 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.18 $
  * $State: Exp $
- * $Date: 2004/12/22 23:53:34 $
+ * $Date: 2005/08/07 04:11:03 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/EventLogger.h ./Behaviors/Controls/EventLogger.h
--- ../Tekkotsu_2.3/Behaviors/Controls/EventLogger.h	Thu Oct  7 18:15:20 2004
+++ ./Behaviors/Controls/EventLogger.h	Wed Jun  1 01:47:44 2005
@@ -6,12 +6,15 @@
 #include "Events/EventListener.h"
 #include <fstream>
 
+class FilterBankGenerator;
+class BehaviorBase;
+
 //! allows logging of events to the console or a file
 class EventLogger : public ControlBase, public EventListener {
 public:
 	//!constructor
 	EventLogger();
-	virtual ~EventLogger() { clearSlots(); }
+	virtual ~EventLogger();
 
 	//!opens a custom (embedded) menu to toggle individual EGIDs
 	virtual ControlBase* doSelect();
@@ -21,6 +24,24 @@
 	//!sends all events received to stdout and/or logfile
 	virtual void processEvent(const EventBase& event);
 
+	//!returns #logSocket
+	static class Socket* getLogSocket() { return logSocket; }
+	
+	//! returns #port
+	static int getLogSocketPort() { return port; }
+	
+	//! sets #port
+	static void setLogSocketPort(int p) { port=p; }
+
+	//! send the current camera image over the log socket
+	static void logImage(FilterBankGenerator& fbg, unsigned int layer, unsigned int channel, const BehaviorBase* source=NULL);
+
+	//! send a string over the log socket
+	static void logMessage(std::string msg, const BehaviorBase* source=NULL, const char* icon=NULL, unsigned int placement=0);
+	
+	//! request that the desktop side take a picture with the webcam (if available)
+	static void logWebcam(const BehaviorBase* source=NULL);
+	
 protected:
 	virtual void clearSlots();
 
@@ -35,7 +56,16 @@
 
 	//!if a filename is given, events are logged to here
 	std::ofstream logfile;
-
+	
+	//! events which are logged will be sent over this port in an xml format.  See eventlog.dtd in the docs directory
+	static class Socket* logSocket;
+	
+	//! port number #logSocket will listen on
+	static int port;
+	
+	//! reference count for #logSocket -- when this hits 0, close the socket
+	static unsigned int logSocketRefCount;
+	
 	//!controls the level of verbosity - currently 0 through 2
 	unsigned int verbosity;
 };
@@ -45,10 +75,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.7 $
  * $State: Exp $
- * $Date: 2004/10/07 22:15:20 $
+ * $Date: 2005/06/01 05:47:44 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/FileBrowserControl.cc ./Behaviors/Controls/FileBrowserControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/FileBrowserControl.cc	Wed Jan 14 15:43:43 2004
+++ ./Behaviors/Controls/FileBrowserControl.cc	Wed Feb  2 13:20:27 2005
@@ -4,6 +4,8 @@
 #include <unistd.h>
 #include <dirent.h>
 
+using namespace std;
+
 ControlBase * FileBrowserControl::activate(MotionManager::MC_ID display, Socket * gui) {
 	rebuildmenu();
 	return ControlBase::activate(display,gui);
@@ -158,9 +160,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.9 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.10 $
  * $State: Exp $
- * $Date: 2004/01/14 20:43:43 $
+ * $Date: 2005/02/02 18:20:27 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/FileBrowserControl.h ./Behaviors/Controls/FileBrowserControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/FileBrowserControl.h	Wed Jan 14 15:43:44 2004
+++ ./Behaviors/Controls/FileBrowserControl.h	Wed Jan 14 15:43:44 2004
@@ -72,7 +72,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.10 $
  * $State: Exp $
  * $Date: 2004/01/14 20:43:44 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/FileInputControl.h ./Behaviors/Controls/FileInputControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/FileInputControl.h	Mon Mar 22 19:55:01 2004
+++ ./Behaviors/Controls/FileInputControl.h	Mon Mar 22 19:55:01 2004
@@ -48,7 +48,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.2 $
  * $State: Exp $
  * $Date: 2004/03/23 00:55:01 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/FreeMemReportControl.cc ./Behaviors/Controls/FreeMemReportControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/FreeMemReportControl.cc	Thu Sep 25 11:26:11 2003
+++ ./Behaviors/Controls/FreeMemReportControl.cc	Sat Feb  5 02:27:26 2005
@@ -1,6 +1,8 @@
 #include "FreeMemReportControl.h"
-#include <AnalyzerAPI.h>
-#include <AnalyzerError.h>
+#ifdef PLATFORM_APERIOS
+#  include <AnalyzerAPI.h>
+#  include <AnalyzerError.h>
+#endif
 
 void FreeMemReportControl::processEvent(const EventBase& e) {
 	ASSERTRET(e.getGeneratorID()==EventBase::timerEGID,"Unexpected event");
@@ -11,7 +13,7 @@
 		if(freemem<low_mem) {
 			if(!isWarning) {
 				isWarning=true;
-				serr->printf("WARNING: Low memory: %d\n",freemem);
+				serr->printf("WARNING: Low memory: %lu\n",(unsigned long)freemem);
 			}
 		} else {
 			if(isWarning) {
@@ -25,7 +27,7 @@
 	
 void FreeMemReportControl::refresh() {
 	char tmp[256];
-	sprintf(tmp,"Free Mem: %d",freeMem());
+	sprintf(tmp,"Free Mem: %lu",(unsigned long)freeMem());
 	options[1]->setName(tmp);
 	ControlBase::refresh();
 	report();
@@ -35,18 +37,22 @@
 //! reports size of free memory - if this is below low_mem, also generates a warning
 void FreeMemReportControl::report() {
 	size_t freemem=freeMem();
-	sout->printf("%d bytes free\n",freemem);
+	sout->printf("%lu bytes free\n",(unsigned long)freemem);
 	if(freemem<low_mem)
 		if(isWarning)
-			serr->printf("WARNING: Low memory: %d\n",freemem);
+			serr->printf("WARNING: Low memory: %lu\n",(unsigned long)freemem);
 	resetTimerFreq();
 }
 
 //! returns the size of the free memory
 size_t FreeMemReportControl::freeMem() {
 	size_t freemem;
+#ifdef PLATFORM_APERIOS
 	if (AnalyzerGetSizeOfFreeMemory(&freemem)!=azrSUCCESS)
 		sout->printf("Aperios error: getsizeoffreememory failed\n");
+#else
+	freemem=-1U;
+#endif
 	return freemem;
 }
 
@@ -63,9 +69,9 @@
  * @author ejt (object), alokl (core function)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.4 $
- * $State: Rel $
- * $Date: 2003/09/25 15:26:11 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.6 $
+ * $State: Exp $
+ * $Date: 2005/02/05 07:27:26 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/FreeMemReportControl.h ./Behaviors/Controls/FreeMemReportControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/FreeMemReportControl.h	Wed Nov 10 20:45:35 2004
+++ ./Behaviors/Controls/FreeMemReportControl.h	Wed Nov 10 20:45:35 2004
@@ -66,7 +66,7 @@
  * @author ejt (object), alokl (core function)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.8 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:35 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/HelpControl.cc ./Behaviors/Controls/HelpControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/HelpControl.cc	Wed Jan  5 15:35:41 2005
+++ ./Behaviors/Controls/HelpControl.cc	Wed Jun  1 01:47:44 2005
@@ -37,7 +37,7 @@
 	const std::string pre="  "+prefix;
 	unsigned int numlen=1;
 	if(slots.size()>1)
-		numlen=(int)(log(slots.size()-1)/log(10))+1;
+		numlen=(int)(log(slots.size()-1.0)/log(10.0))+1;
 #ifdef HelpControl_HTML_
 	unsigned int ngoodslots=0;
 	for(unsigned int i=0; i<slots.size(); i++)
@@ -107,9 +107,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.9 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.10 $
  * $State: Exp $
- * $Date: 2005/01/05 20:35:41 $
+ * $Date: 2005/06/01 05:47:44 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/HelpControl.h ./Behaviors/Controls/HelpControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/HelpControl.h	Mon Jan 19 17:03:58 2004
+++ ./Behaviors/Controls/HelpControl.h	Mon Jan 19 17:03:58 2004
@@ -45,7 +45,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.5 $
  * $State: Exp $
  * $Date: 2004/01/19 22:03:58 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/LoadCalibration.h ./Behaviors/Controls/LoadCalibration.h
--- ../Tekkotsu_2.3/Behaviors/Controls/LoadCalibration.h	Wed Feb 25 20:02:25 2004
+++ ./Behaviors/Controls/LoadCalibration.h	Mon Jun  6 19:05:51 2005
@@ -14,15 +14,15 @@
 
 	//!Constructor
 	LoadCalibration(WalkMC::CalibrationParam* calp)
-		: FileBrowserControl("Load Calibration...","","/ms/data/motion/"), cp(calp)
+		: FileBrowserControl("Load Calibration...","",config->portPath(config->motion.root)), cp(calp)
 	{ setFilter("*.txt"); }
 	//!Constructor
 	LoadCalibration(const std::string& n,WalkMC::CalibrationParam* calp)
-		: FileBrowserControl(n,"","/ms/data/motion/"), cp(calp)
+		: FileBrowserControl(n,"",config->portPath(config->motion.root)), cp(calp)
 	{ setFilter("*.txt"); }
 	//!Constructor
 	LoadCalibration(const std::string& n, const std::string& d,WalkMC::CalibrationParam* calp)
-		: FileBrowserControl(n,d,"/ms/data/motion/"), cp(calp)
+		: FileBrowserControl(n,d,config->portPath(config->motion.root)), cp(calp)
 	{ setFilter("*.txt"); }
 
 protected:
@@ -31,7 +31,7 @@
 
 	//!calls readData() for each of the matrices
 	virtual ControlBase* selectedFile(const std::string& f) {
-		FILE * file=fopen(f.c_str(),"r");
+		FILE * file=fopen(config->portPath(f).c_str(),"r");
 		if(readMaxs(file))
 			if(readData(file,cp->f_calibration))
 				readData(file,cp->b_calibration);
@@ -86,10 +86,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.3 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.5 $
  * $State: Exp $
- * $Date: 2004/02/26 01:02:25 $
+ * $Date: 2005/06/06 23:05:51 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/LoadPostureControl.h ./Behaviors/Controls/LoadPostureControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/LoadPostureControl.h	Fri Jan  7 14:34:22 2005
+++ ./Behaviors/Controls/LoadPostureControl.h	Mon Jun  6 19:05:51 2005
@@ -8,7 +8,7 @@
 #include "Motion/EmergencyStopMC.h"
 #include "Events/EventRouter.h"
 #include "Motion/LedMC.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include <string>
 
 //! Upon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
@@ -17,7 +17,7 @@
  public:
 	//! Constructor
 	LoadPostureControl(const std::string& n, MotionManager::MC_ID estop_id)
-		: FileBrowserControl(n,"Loads a posture from user-selected file",config->motion.root),
+		: FileBrowserControl(n,"Loads a posture from user-selected file",config->portPath(config->motion.root)),
 			estopid(estop_id), ledid(MotionManager::invalid_MC_ID), file()
 	{
 		setFilter("*.pos");
@@ -74,10 +74,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.14 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.16 $
  * $State: Exp $
- * $Date: 2005/01/07 19:34:22 $
+ * $Date: 2005/06/06 23:05:51 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/LoadWalkControl.h ./Behaviors/Controls/LoadWalkControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/LoadWalkControl.h	Sat Jan 10 15:10:27 2004
+++ ./Behaviors/Controls/LoadWalkControl.h	Mon Jun  6 19:05:51 2005
@@ -12,14 +12,14 @@
 public:
 	//! constructor, pass the MC_ID of the WalkMC which you want to save
 	LoadWalkControl(const std::string& n, MotionManager::MC_ID w)
-		: FileBrowserControl(n,"Loads a set of walk parameters from a file specified by user",config->motion.root), walk_id(w), thewalk(NULL)
+		: FileBrowserControl(n,"Loads a set of walk parameters from a file specified by user",config->portPath(config->motion.root)), walk_id(w), thewalk(NULL)
 	{
 		setFilter("*.prm");
 	}
 
 	//! constructor, pass a pointer to the WalkMC which you want to save
 	LoadWalkControl(const std::string& n, WalkMC * awalk)
-		: FileBrowserControl(n,"Loads a set of walk parameters from a file specified by user",config->motion.root), walk_id(MotionManager::invalid_MC_ID), thewalk(awalk)
+		: FileBrowserControl(n,"Loads a set of walk parameters from a file specified by user",config->portPath(config->motion.root)), walk_id(MotionManager::invalid_MC_ID), thewalk(awalk)
 	{
 		setFilter("*.prm");
 	}
@@ -56,10 +56,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.8 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.9 $
  * $State: Exp $
- * $Date: 2004/01/10 20:10:27 $
+ * $Date: 2005/06/06 23:05:51 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/MCValueEditControl.h ./Behaviors/Controls/MCValueEditControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/MCValueEditControl.h	Thu Sep 25 11:26:11 2003
+++ ./Behaviors/Controls/MCValueEditControl.h	Thu Sep 25 11:26:11 2003
@@ -29,7 +29,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.3 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:11 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/NetworkStatusControl.h ./Behaviors/Controls/NetworkStatusControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/NetworkStatusControl.h	Wed Jan 12 17:37:26 2005
+++ ./Behaviors/Controls/NetworkStatusControl.h	Sun Aug  7 00:11:03 2005
@@ -8,7 +8,10 @@
 #include "NullControl.h"
 #include "Events/EventRouter.h"
 #include "Wireless/Wireless.h"
-#include <ERA201D1.h>
+
+#ifdef PLATFORM_APERIOS
+#  include <ERA201D1.h>
+#endif
 
 //! will display current network status such as wireless signal strength
 class NetworkStatusControl : public ControlBase, public EventListener {
@@ -27,6 +30,7 @@
 	//! calls report()
 	virtual void refresh() {
 		erouter->addTimer(this,0,1000,true);
+#ifdef PLATFORM_APERIOS
 		EtherDriverGetWLANStatisticsMsg msg;
 		EtherStatus status = ERA201D1_GetWLANStatistics(&msg);
 		clearSlots();
@@ -52,14 +56,14 @@
 			pushSlot(new NullControl("Error Accessing wireless statistics",tmp));
 			serr->printf("%s",tmp);
 		}
-
+#endif
 		ControlBase::refresh();
 	}
-	//! stops listening for power events and sets display to invalid
 	virtual void deactivate() {
 		erouter->removeListener(this);
 		ControlBase::deactivate();
 	}
+	//! refresh the control whenever an event is received
 	virtual void processEvent(const EventBase& /*event*/) {
 		refresh();
 	}
@@ -73,10 +77,10 @@
  * @author ejt (UI repackaging)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.1 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.3 $
  * $State: Exp $
- * $Date: 2005/01/12 22:37:26 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/NullControl.h ./Behaviors/Controls/NullControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/NullControl.h	Thu Sep 25 11:26:11 2003
+++ ./Behaviors/Controls/NullControl.h	Thu Sep 25 11:26:11 2003
@@ -32,7 +32,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.2 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:11 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/PlaySoundControl.h ./Behaviors/Controls/PlaySoundControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/PlaySoundControl.h	Thu Sep 25 11:26:11 2003
+++ ./Behaviors/Controls/PlaySoundControl.h	Mon Jun  6 19:05:51 2005
@@ -3,14 +3,14 @@
 #define INCLUDED_PlaySoundControl_h_
 
 #include "FileBrowserControl.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 
 //! Upon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
 class PlaySoundControl : public FileBrowserControl {
  public:
 	//! Constructor
 	PlaySoundControl(const std::string& n)
-		: FileBrowserControl(n,"Plays a sound from a user specified sound file",config->sound.root)
+		: FileBrowserControl(n,"Plays a sound from a user specified sound file",config->portPath(config->sound.root))
 	{
 		setFilter("*.wav");
 	}
@@ -32,10 +32,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
- * $State: Rel $
- * $Date: 2003/09/25 15:26:11 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.8 $
+ * $State: Exp $
+ * $Date: 2005/06/06 23:05:51 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/PostureEditor.cc ./Behaviors/Controls/PostureEditor.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/PostureEditor.cc	Tue Jan 11 13:40:00 2005
+++ ./Behaviors/Controls/PostureEditor.cc	Tue Aug  2 18:24:20 2005
@@ -3,7 +3,7 @@
 #include "Motion/EmergencyStopMC.h"
 #include "Motion/MotionSequenceMC.h"
 #include "Motion/LedMC.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Events/EventRouter.h"
 #include "ValueEditControl.h"
 #include "NullControl.h"
@@ -16,7 +16,7 @@
 	  estopID(estop_ID), loadPose(NULL), disabledLoadPose(NULL), savePose(NULL), pauseCalled(false)
 {
 	// add load and save menus
-	pushSlot(loadPose=new FileInputControl("Load Posture","Select a posture to open",config->motion.root));
+	pushSlot(loadPose=new FileInputControl("Load Posture","Select a posture to open",config->portPath(config->motion.root)));
 	loadPose->setFilter("*.pos");
 	disabledLoadPose=new NullControl("[Load disabled by EStop]","Cannot load new postures while EStop is active");
 	pushSlot(savePose=new StringInputControl("Save Posture","Please enter the filename to save to (in "+config->motion.root+")"));
@@ -43,6 +43,8 @@
 ControlBase *
 PostureEditor::activate(MotionManager::MC_ID disp_id, Socket * gui) {
 	//cout << "activate" << endl;
+	if(reachID!=MotionManager::invalid_MC_ID) // was already activated
+		return ControlBase::activate(disp_id,gui); // happens when estop is turned on, causing "reactivation"
 	// start off with current pose
 	pose.takeSnapshot();
 	pose.setWeights(1);
@@ -90,24 +92,28 @@
 	//cout << "pause" << endl;
 	refresh(); //one last time, in case this pause is due to un-estop putting Controller into low-profile mode
 	pauseCalled=true;
-	erouter->removeListener(this,EventBase::timerEGID);
+	erouter->removeTimer(this);
+	ControlBase::pause();
 }
 
 void
 PostureEditor::deactivate() {
 	//cout << "deactivate" << endl;
+	//cout << "removeMotion(" << reachID << ")" << endl;
 	motman->removeMotion(reachID);
 	reachID=MotionManager::invalid_MC_ID;
 	erouter->removeListener(this);
+	erouter->removeTimer(this);
 	ControlBase::deactivate();
 }
 
 void
 PostureEditor::processEvent(const EventBase& e) {
+	//cout << "processEvent(" << e.getName() << ")" << endl;
 	if(e.getGeneratorID()==EventBase::estopEGID) {
 		if(e.getTypeID()==EventBase::deactivateETID) {
 			MMAccessor<SmallMotionSequenceMC>(reachID)->play();
-			erouter->removeListener(this,EventBase::timerEGID);
+			erouter->removeTimer(this);
 			if(!pauseCalled)
 				refresh();
 		} else {
@@ -138,6 +144,10 @@
 	//cout << "updatePose" << endl;
 	bool paused=isEStopped();
 	MMAccessor<SmallMotionSequenceMC> reach_acc(reachID);
+	if(paused) {
+		reach_acc->clear();
+		return;
+	}
 	PostureEngine curpose;
 	reach_acc->getPose(curpose);
 	reach_acc->clear();
@@ -149,11 +159,7 @@
 	//now move to desired posture
 	reach_acc->setTime(delay);
 	reach_acc->setPose(pose);
-	//run now or later?
-	if(paused)
-		reach_acc->pause();
-	else
-		reach_acc->play();
+	reach_acc->play();
 }
 
 
@@ -162,8 +168,8 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.14 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.18 $
  * $State: Exp $
- * $Date: 2005/01/11 18:40:00 $
+ * $Date: 2005/08/02 22:24:20 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/PostureEditor.h ./Behaviors/Controls/PostureEditor.h
--- ../Tekkotsu_2.3/Behaviors/Controls/PostureEditor.h	Thu Dec  2 13:48:56 2004
+++ ./Behaviors/Controls/PostureEditor.h	Sun Aug  7 00:11:03 2005
@@ -3,7 +3,7 @@
 #define INCLUDED_PostureEditor_h_
 
 #include "ControlBase.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/PostureEngine.h"
 #include "Motion/MotionManager.h"
 #include "Events/EventListener.h"
@@ -38,7 +38,7 @@
 	static const unsigned int moveTime=1500; //!< number of milliseconds to take to load a posture - individual joint changes will be done in half the time
 	
 	bool isEStopped(); //!< called to check status of estop
-	void updatePose(unsigned int delay); //!< called anytime pose is modified; uses #reachID to move to #pose if estop is off, setting up #ledID otherwise
+	void updatePose(unsigned int delay); //!< called anytime pose is modified; uses #reachID to move to #pose if estop is off
 
 private:
 	PostureEditor(const PostureEditor& ); //!< don't call
@@ -50,10 +50,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.8 $
  * $State: Exp $
- * $Date: 2004/12/02 18:48:56 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ProfilerCheckControl.h ./Behaviors/Controls/ProfilerCheckControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/ProfilerCheckControl.h	Thu Nov 11 15:34:59 2004
+++ ./Behaviors/Controls/ProfilerCheckControl.h	Thu Nov 11 15:34:59 2004
@@ -24,7 +24,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.6 $
  * $State: Exp $
  * $Date: 2004/11/11 20:34:59 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/RebootControl.cc ./Behaviors/Controls/RebootControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/RebootControl.cc	Thu Sep 25 11:26:11 2003
+++ ./Behaviors/Controls/RebootControl.cc	Wed Feb  2 13:20:27 2005
@@ -1,9 +1,13 @@
 #include "RebootControl.h"
-#include <OPENR/OPENRAPI.h>
+#ifdef PLATFORM_APERIOS
+#  include <OPENR/OPENRAPI.h>
+#endif
 
 ControlBase * RebootControl::doSelect()    {
+#ifdef PLATFORM_APERIOS
 	OBootCondition bc(obcbBOOT_TIMER, 0, obcbttRELATIVE);
 	OPENR::Shutdown(bc);
+#endif
 	return NULL;
 }
 
@@ -12,9 +16,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.3 $
- * $State: Rel $
- * $Date: 2003/09/25 15:26:11 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.4 $
+ * $State: Exp $
+ * $Date: 2005/02/02 18:20:27 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/RebootControl.h ./Behaviors/Controls/RebootControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.2 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:11 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/RunSequenceControl.h ./Behaviors/Controls/RunSequenceControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/RunSequenceControl.h	Fri Jan  7 14:34:51 2005
+++ ./Behaviors/Controls/RunSequenceControl.h	Mon Jun  6 19:05:51 2005
@@ -6,7 +6,7 @@
 #include "Motion/MotionSequenceMC.h"
 #include "Motion/EmergencyStopMC.h"
 #include "Motion/LedMC.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Motion/MMAccessor.h"
 #include "Shared/TimeET.h"
 #include "Shared/Config.h"
@@ -28,7 +28,7 @@
 public:
 	//! Constructor, sets filter to *.mot
 	RunSequenceControl(const std::string& n, MotionManager::MC_ID estop_id)
-		: FileBrowserControl(n,"Runs a motion sequence from a user-specified file",config->motion.root),
+		: FileBrowserControl(n,"Runs a motion sequence from a user-specified file",config->portPath(config->motion.root)),
 			estopid(estop_id), ledid(MotionManager::invalid_MC_ID), waitingFile()
 	{
 		setFilter("*.mot");
@@ -84,10 +84,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.15 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.17 $
  * $State: Exp $
- * $Date: 2005/01/07 19:34:51 $
+ * $Date: 2005/06/06 23:05:51 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/SavePostureControl.h ./Behaviors/Controls/SavePostureControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/SavePostureControl.h	Fri Jan  7 18:16:58 2005
+++ ./Behaviors/Controls/SavePostureControl.h	Wed Jun  1 01:47:45 2005
@@ -9,9 +9,9 @@
 class SavePostureControl : public StringInputControl {
  public:
 	//! Constructor
-	SavePostureControl() : StringInputControl("Save Posture","Saves current posture to filename read from user","Please enter name for posture file (in /ms/data/motion)...") {}
+	SavePostureControl() : StringInputControl("Save Posture","Saves current posture to filename read from user","Please enter name for posture file (in data/motion)...") {}
 	//! Constructor
-	SavePostureControl(const std::string& n) : StringInputControl(n,"Saves current posture to filename read from user","Please enter name for posture file (in /ms/data/motion)...") {}
+	SavePostureControl(const std::string& n) : StringInputControl(n,"Saves current posture to filename read from user","Please enter name for posture file (in data/motion)...") {}
 
 	virtual ControlBase * takeInput(const std::string& msg) {
 		if(msg.size()>0) {
@@ -33,10 +33,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.11 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.12 $
  * $State: Exp $
- * $Date: 2005/01/07 23:16:58 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/SaveWalkControl.h ./Behaviors/Controls/SaveWalkControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/SaveWalkControl.h	Thu Dec  2 16:29:45 2004
+++ ./Behaviors/Controls/SaveWalkControl.h	Wed Jun  1 01:47:45 2005
@@ -10,9 +10,9 @@
 class SaveWalkControl : public StringInputControl {
  public:
 	//! constructor, pass the MC_ID of the walk you want to save
-	SaveWalkControl(const std::string& n, MotionManager::MC_ID w) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in /ms/data/motion)..."), walk_id(w), thewalk(NULL) {}
+	SaveWalkControl(const std::string& n, MotionManager::MC_ID w) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in data/motion)..."), walk_id(w), thewalk(NULL) {}
 	//! constructor, pass a pointer to the walk you want to save
-	SaveWalkControl(const std::string& n, WalkMC * awalk) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in /ms/data/motion)..."), walk_id(MotionManager::invalid_MC_ID), thewalk(awalk) {}
+	SaveWalkControl(const std::string& n, WalkMC * awalk) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in data/motion)..."), walk_id(MotionManager::invalid_MC_ID), thewalk(awalk) {}
 	//! destructor
 	virtual ~SaveWalkControl() {}
 
@@ -49,9 +49,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.9 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.10 $
  * $State: Exp $
- * $Date: 2004/12/02 21:29:45 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/SensorObserverControl.cc ./Behaviors/Controls/SensorObserverControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/SensorObserverControl.cc	Tue Jan 11 18:49:04 2005
+++ ./Behaviors/Controls/SensorObserverControl.cc	Wed Jun  1 01:47:45 2005
@@ -7,7 +7,7 @@
 #include "Events/TextMsgEvent.h"
 #include "Events/VisionObjectEvent.h"
 #include "Shared/WorldState.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/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), rtCtl(NULL), rtFreqCtl(NULL), numListeners(0)
@@ -122,14 +122,14 @@
 		logfilePath=fileCtl->getLastInput();
 		logfile.clear();
 		if(logfilePath.size()!=0) {
-			sout->printf("Opening `/ms/%s'\n",logfilePath.c_str());
-			logfile.open(("/ms/"+logfilePath).c_str());
+			sout->printf("Opening `%s'\n",config->portPath(logfilePath).c_str());
+			logfile.open(config->portPath(logfilePath).c_str());
 			if(!logfile.fail()) {
 				std::string tmp=fileCtl->getName();
 				tmp[1]='X';
 				fileCtl->setName(tmp+": "+logfilePath);
 			} else {
-				serr->printf("Opening `/ms/%s' failed\n",logfilePath.c_str());
+				serr->printf("Opening `%s' failed\n",config->portPath(logfilePath).c_str());
 			}
 		}
 	}
@@ -209,8 +209,8 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.4 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.5 $
  * $State: Exp $
- * $Date: 2005/01/11 23:49:04 $
+ * $Date: 2005/06/01 05:47:45 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/SensorObserverControl.h ./Behaviors/Controls/SensorObserverControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/SensorObserverControl.h	Tue Jan 11 18:49:04 2005
+++ ./Behaviors/Controls/SensorObserverControl.h	Sun Aug  7 00:11:03 2005
@@ -30,11 +30,11 @@
 	void updateRT();
 
 	//! The real time view for SensorObserverControl is split into a separate class for more straightfoward handling of refreshes
-	friend class RTViewControl : public ControlBase, public EventListener {
+	class RTViewControl : public ControlBase, public EventListener {
 	public:
-		//constructor, pass pointer to SensorObserverControl which contains it
+		//!constructor, pass pointer to SensorObserverControl which contains it
 		RTViewControl(SensorObserverControl* p) : ControlBase("Real-time View"), EventListener(), parent(p), period(500) {}
-		virtual void processEvent(const EventBase& /*event*/) { refresh(); }
+		virtual void processEvent(const EventBase& /*event*/) { refresh(); } //!< causes control to refresh whenever an event (i.e. timer) is received
 		virtual void refresh();
 		virtual void pause();
 		virtual void deactivate();
@@ -46,6 +46,7 @@
 		RTViewControl(const RTViewControl& ); //!< don't call
 		RTViewControl& operator=(const RTViewControl& ); //!< don't call
 	};
+	friend class RTViewControl;
 	
 	//!address of the logfile, if any (empty string is no logfile)
 	std::string logfilePath;
@@ -76,10 +77,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.3 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.5 $
  * $State: Exp $
- * $Date: 2005/01/11 23:49:04 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ShutdownControl.cc ./Behaviors/Controls/ShutdownControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/ShutdownControl.cc	Thu Sep 25 11:26:11 2003
+++ ./Behaviors/Controls/ShutdownControl.cc	Wed Feb  2 13:20:27 2005
@@ -1,9 +1,13 @@
 #include "ShutdownControl.h"
-#include <OPENR/OPENRAPI.h>
+#ifdef PLATFORM_APERIOS
+#  include <OPENR/OPENRAPI.h>
+#endif
 
 ControlBase * ShutdownControl::doSelect()    {
+#ifdef PLATFORM_APERIOS
 	OBootCondition bc(0);
 	OPENR::Shutdown(bc);
+#endif
 	return NULL;
 }
 
@@ -12,9 +16,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.3 $
- * $State: Rel $
- * $Date: 2003/09/25 15:26:11 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.4 $
+ * $State: Exp $
+ * $Date: 2005/02/02 18:20:27 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ShutdownControl.h ./Behaviors/Controls/ShutdownControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.3 $
  * $State: Rel $
  * $Date: 2003/09/25 15:26:11 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/SimulatorAdvanceFrameControl.h ./Behaviors/Controls/SimulatorAdvanceFrameControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/SimulatorAdvanceFrameControl.h	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Controls/SimulatorAdvanceFrameControl.h	Thu Jun 23 18:37:28 2005
@@ -0,0 +1,66 @@
+//-*-c++-*-
+#ifndef INCLUDED_SimulatorAdvanceFrameControl_h
+#define INCLUDED_SimulatorAdvanceFrameControl_h
+
+#include "Behaviors/Controls/NullControl.h"
+#ifdef PLATFORM_APERIOS
+#  warning SimulatorAdvanceFrameControl is only useful when running in simulation!
+#else
+#  include "local/sim/Main.h"
+#endif
+
+//! Requests the next camera frame and sensor data, for use when running in simulation
+/*! There are a number of options regarding control of input data and
+ *  flow of time.  This is only applicable when using a non-realtime
+ *  source (such as loading logged data from disk) and the simulator's
+ *  AdvanceOnAccess is 'false' (this is "advance on request" -- the
+ *  same data may be accessed multiple times until you manually
+ *  request the next frame) */
+class SimulatorAdvanceFrameControl : public NullControl {
+
+public:
+	//! default constructor
+	SimulatorAdvanceFrameControl()
+		: NullControl("SimulatorAdvanceFrameControl","Requests the next camera frame and sensor data, for use when running in simulation")
+	{}
+	//! constructor which allows a custom name
+	SimulatorAdvanceFrameControl(const std::string& n)
+		: NullControl(n,"Requests the next camera frame and sensor data, for use when running in simulation")
+	{}
+
+	//can't do anything if we're running on aperios
+#ifndef PLATFORM_APERIOS
+
+	virtual ControlBase * activate(MotionManager::MC_ID disp_id, Socket * gui) {
+		Main::advanceVision();
+		Main::advanceSensor();
+		return NullControl::activate(disp_id,gui);
+	}
+
+	virtual std::string getName() const {
+		if(Main::canManuallyAdvance())
+			return NullControl::getName();
+		return "[Auto-Advancing]";
+	}
+
+	virtual std::string getDescription() const {
+		if(Main::canManuallyAdvance())
+			return NullControl::getDescription();
+		return "Cannot manually advance when in realtime mode, or when AdvanceOnAccess is enabled";
+	}
+	
+#endif
+
+};
+
+/*! @file
+ * @brief Defines SimulatorAdvanceFrameControl, which requests the next camera frame and sensor data, for use when running in simulation
+ * @author ejt (Creator)
+ *
+ * $Author: ejt $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.1 $
+ * $State: Exp $
+ * $Date: 2005/06/23 22:37:28 $
+ */
+#endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/StringInputControl.cc ./Behaviors/Controls/StringInputControl.cc
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.5 $
  * $State: Rel $
  * $Date: 2003/07/28 05:54:32 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/StringInputControl.h ./Behaviors/Controls/StringInputControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.5 $
  * $State: Exp $
  * $Date: 2004/03/23 00:55:01 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ToggleControl.h ./Behaviors/Controls/ToggleControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.4 $
  * $State: Exp $
  * $Date: 2004/03/23 00:55:01 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ValueEditControl.h ./Behaviors/Controls/ValueEditControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/ValueEditControl.h	Wed Dec 15 23:50:48 2004
+++ ./Behaviors/Controls/ValueEditControl.h	Sun Aug  7 00:11:03 2005
@@ -146,7 +146,7 @@
 	/*!@name Copies
 	 * accessors for the copies vector, so you can assign the same value to several places if you need to */
 	virtual std::vector<T*>& getCopies() { return copies; } //!< returns a reference to the vector #copies
-	virtual ValueEditControl& addCopy(T* t) { copies.push_back(t); return *this; } //!< #copies.push_back(t)
+	virtual ValueEditControl& addCopy(T* t) { copies.push_back(t); return *this; } //!< copies.push_back(t)
 	//@}
 
 	//! shows current value
@@ -167,10 +167,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.14 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.15 $
  * $State: Exp $
- * $Date: 2004/12/16 04:50:48 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/ValueSetControl.h ./Behaviors/Controls/ValueSetControl.h
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.3 $
  * $State: Exp $
  * $Date: 2004/01/18 10:16:56 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/WalkCalibration.cc ./Behaviors/Controls/WalkCalibration.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/WalkCalibration.cc	Wed Nov  3 22:01:32 2004
+++ ./Behaviors/Controls/WalkCalibration.cc	Wed Jun  1 01:47:45 2005
@@ -6,8 +6,11 @@
 #include "Behaviors/Controller.h"
 #include "Shared/WorldState.h"
 #include "Shared/string_util.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include <stdlib.h>
+#include <fstream>
+
+using namespace std;
 
 char * WalkCalibration::datanames[WalkCalibration::NUM_SRC] = { "fs","fr","sr","br","bs","rr" };
 
@@ -160,8 +163,8 @@
 	help->pushSlot(new NullControl("next reboot."));
 
 
-	load=new FileInputControl("Load Data Set","Load data files - select any file from the set, all will be loaded","/ms");
-	save=new StringInputControl("Save Data Set","Saves current data (/ms)","Enter the base name (up to 6 char)");
+	load=new FileInputControl("Load Data Set","Load data files - select any file from the set, all will be loaded","/");
+	save=new StringInputControl("Save Data Set","Saves current data","Enter the base name (up to 6 char)");
 	measure=new NullControl("Take Measurements","Begins the data gathering process");
 	measure->pushSlot(new NullControl());
 	clear=new NullControl("Clear Data","Clear the current data and start over");
@@ -384,7 +387,7 @@
 }
 
 void WalkCalibration::saveData(const std::string& n, const std::vector<float*>& dat) {
-	std::string p=( n.substr(0,3)=="/ms/" ? n : "/ms/"+n );
+	std::string p=config->portPath(n);
 	sout->printf("Saving data to '%s'...\n",p.c_str());
 	std::ofstream out(p.c_str());
 	if(!out) {
@@ -874,24 +877,6 @@
 		return;
 }
 
-
-void WalkCalibration::addSample(std::vector<float*>& dat, unsigned int row, float sol) {
-	float * d=new float[13];
-	dat.push_back(d);
-	for(unsigned int i=0; i<12; i++)
-		d[i]=0;
-	
-	d[row*4+0]=old_x;
-	d[row*4+1]=old_y;
-	d[row*4+2]=old_a;
-	d[row*4+3]=1;
-	d[12]=sol/(stopTime-startTime);
-
-	for(unsigned int i=0; i<13; i++)
-		cout << d[i] << ' ';
-	cout << endl;
-}
-
 void WalkCalibration::addSample(std::vector<float*>& dat, float x, float y, float a) {
 	float * d=new float[6];
 	dat.push_back(d);
@@ -913,9 +898,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.9 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.11 $
  * $State: Exp $
- * $Date: 2004/11/04 03:01:32 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/WalkCalibration.h ./Behaviors/Controls/WalkCalibration.h
--- ../Tekkotsu_2.3/Behaviors/Controls/WalkCalibration.h	Thu Oct  7 15:07:04 2004
+++ ./Behaviors/Controls/WalkCalibration.h	Wed Feb  2 13:47:23 2005
@@ -85,7 +85,6 @@
 
 	float arclen(float d, float a, float sign); //!< calculates arc distance corresponding to a displacement and angle, negated if necessary to match @a sign
 	void addSample(); //!< adds data point corresponding to measurements stored in #firstIn and #secondIn
-	void addSample(std::vector<float*>& dat, unsigned int row, float sol); //!< adds data point to @a dat at row with solution (deprecated)
 	void addSample(std::vector<float*>& dat, float x, float y, float a); //!< adds data point to @a dat for a given x,y,a (and #old_x, #old_y, #old_a)
 	static void report(unsigned int row, float cmd, float actual); //!< reports data as they are being taken
 	static void err(const std::string& str); //!< pops up an error message on the controller and also displays it on the console
@@ -124,10 +123,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.7 $
  * $State: Exp $
- * $Date: 2004/10/07 19:07:04 $
+ * $Date: 2005/02/02 18:47:23 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/WaypointWalkControl.cc ./Behaviors/Controls/WaypointWalkControl.cc
--- ../Tekkotsu_2.3/Behaviors/Controls/WaypointWalkControl.cc	Thu Dec  2 16:29:45 2004
+++ ./Behaviors/Controls/WaypointWalkControl.cc	Mon Jun  6 19:05:51 2005
@@ -8,7 +8,7 @@
 #include "Motion/WaypointWalkMC.h"
 #include "Motion/WalkMC.h"
 #include "Motion/MMAccessor.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 
 WaypointWalkControl::WaypointWalkControl()
 	: ControlBase("WaypointWalkControl","Allows interactive control and execution of a set of waypoints"),
@@ -21,7 +21,7 @@
 	pushSlot(addEgoWPCtl=new NullControl("Add Egocentric Waypoint","Appends a new egocentric waypoint (heading and location relative) at the end of the list"));
 	pushSlot(addOffWPCtl=new NullControl("Add Offset Waypoint","Appends a new offset waypoint (location relative) at the end of the list"));
 	pushSlot(addAbsWPCtl=new NullControl("Add Absolute Waypoint","Appends a new absolute waypoint at the end of the list"));
-	pushSlot(loadCtl=new FileInputControl("Load Waypoints","Reads a path from a file",config->motion.root));
+	pushSlot(loadCtl=new FileInputControl("Load Waypoints","Reads a path from a file",config->portPath(config->motion.root)));
 	loadCtl->setFilter("*.wyp");
 	pushSlot(saveCtl=new StringInputControl("Save Waypoints","Writes the current path to a file"));
 	pushSlot(localizationCtl=new StringInputControl("Drift Error Correction","Enter 3 numbers 'x y a' reprenting current error"));
@@ -247,9 +247,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.13 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.15 $
  * $State: Exp $
- * $Date: 2004/12/02 21:29:45 $
+ * $Date: 2005/06/06 23:05:51 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Controls/WaypointWalkControl.h ./Behaviors/Controls/WaypointWalkControl.h
--- ../Tekkotsu_2.3/Behaviors/Controls/WaypointWalkControl.h	Tue Jul 27 10:33:28 2004
+++ ./Behaviors/Controls/WaypointWalkControl.h	Sun Aug  7 00:11:03 2005
@@ -3,7 +3,7 @@
 #define INCLUDED_WaypointWalkControl_h_
 
 #include "ControlBase.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 
 class NullControl;
 class ToggleControl;
@@ -16,13 +16,13 @@
 	//!constructor
 	WaypointWalkControl();
 
-	//! add #walk to ::motman
+	//! add #walk_id to ::motman
 	virtual ControlBase * activate(MotionManager::MC_ID disp_id, Socket * gui);
 
 	//!will be called after each waypoint is reached so we can update the menu
 	virtual void refresh();
 
-	//! remove the #walk from ::motman
+	//! remove the #walk_id from ::motman
 	virtual void deactivate(); 
 
 	//!handles selection of menu items
@@ -51,7 +51,7 @@
 	};
 
 protected:
-	bool isRunning; //!< true if #walk is currently running
+	bool isRunning; //!< true if #walk_id is currently running
 	NullControl * startstopCtl; //!< start and stop waypoint running
 	ToggleControl * loopCtl; //!< repeat waypoints
 	NullControl * addEgoWPCtl; //!< start and stop waypoint running
@@ -75,10 +75,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.4 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.6 $
  * $State: Exp $
- * $Date: 2004/07/27 14:33:28 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/ASCIIVisionBehavior.cc ./Behaviors/Demos/ASCIIVisionBehavior.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/ASCIIVisionBehavior.cc	Tue Jan  4 14:51:41 2005
+++ ./Behaviors/Demos/ASCIIVisionBehavior.cc	Wed Jun  1 01:47:45 2005
@@ -3,24 +3,22 @@
 #include "Vision/RawCameraGenerator.h"
 #include "Wireless/Socket.h"
 
-const char ASCIIVisionBehavior::charMap[ASCIIVisionBehavior::charMapSize] = {
-	' ','.',',','\'','~','-','"','^',':',';','!','i','l','I','>','+','?',')',
-	'1',']','|','/','t','f','j','r','n','u','v','c','z','x','Y','U','J','C','L','Q',
-	'0','O','Z','X','m','w','q','p','d','b','k','h','a','o','*','#','M','W','&','8',
-	'%','B','$','@'
-};
+const char ASCIIVisionBehavior::charMap[ASCIIVisionBehavior::charMapSize+1] = 
+" .,-+=ioxwfkHN8M#@";
 
 
 void
 ASCIIVisionBehavior::processEvent(const EventBase& e) {
 	const FilterBankEvent& fbkevt=dynamic_cast<const FilterBankEvent&>(e);
 
-	unsigned int layer = 1;
+	unsigned int layer = 2;
 
 	char charimg[(fbkevt.getWidth(layer)+1)*fbkevt.getHeight(layer)+1];
 	char * curchar=charimg;
 	unsigned char * image = fbkevt.getImage(layer, RawCameraGenerator::CHAN_Y);
-	for (unsigned int y = 0; y < fbkevt.getHeight(layer); y++) {
+	for (unsigned int y = 0; y < fbkevt.getHeight(layer); y+=2) {
+		//notice 'y+=2' above -- skip every other row, makes "image" look more square (letters are taller than wide)
+		//normally, if you want to process every pixel, use y++ instead ;)
 		unsigned char * row = image + (y * fbkevt.getStride(layer));
 		for (unsigned int x = 0; x < fbkevt.getWidth(layer); x++) {
 			unsigned char * pixel = row + (x * fbkevt.getIncrement(layer));
@@ -38,8 +36,8 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.3 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.4 $
  * $State: Exp $
- * $Date: 2005/01/04 19:51:41 $
+ * $Date: 2005/06/01 05:47:45 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/ASCIIVisionBehavior.h ./Behaviors/Demos/ASCIIVisionBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/ASCIIVisionBehavior.h	Tue Jan  4 14:51:41 2005
+++ ./Behaviors/Demos/ASCIIVisionBehavior.h	Wed Jun  1 01:47:45 2005
@@ -15,8 +15,8 @@
 	//! constructor
 	ASCIIVisionBehavior() : BehaviorBase("ASCIIVisionBehavior") {}
 
-	static const unsigned int charMapSize=62;  //!< the number of available characters for levels of "gray"
-	static const char charMap[charMapSize]; //!< the included characters sorted in order of darkness - could be improved... (less is more sometimes)
+	static const unsigned int charMapSize=18;  //!< the number of available characters for levels of "gray"
+	static const char charMap[charMapSize+1]; //!< the included characters sorted in order of darkness - could be improved... (less is more sometimes)
 
 	virtual void DoStart() {
 		BehaviorBase::DoStart(); // do this first
@@ -42,10 +42,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.7 $
  * $State: Exp $
- * $Date: 2005/01/04 19:51:41 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/AlanBehavior.h ./Behaviors/Demos/AlanBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/AlanBehavior.h	Wed Nov 10 20:45:35 2004
+++ ./Behaviors/Demos/AlanBehavior.h	Wed Jun  1 01:47:45 2005
@@ -5,7 +5,7 @@
 #include "Behaviors/BehaviorBase.h"
 #include "Motion/MotionManager.h"
 #include "Motion/MMAccessor.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Shared/WorldState.h"
 #include "Events/EventRouter.h"
 #include "Motion/PostureMC.h"
@@ -115,10 +115,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.12 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.13 $
  * $State: Exp $
- * $Date: 2004/11/11 01:45:35 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/AutoGetupBehavior.h ./Behaviors/Demos/AutoGetupBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/AutoGetupBehavior.h	Tue Dec 21 15:29:07 2004
+++ ./Behaviors/Demos/AutoGetupBehavior.h	Wed Jun  1 01:47:45 2005
@@ -5,11 +5,11 @@
 #include "Behaviors/BehaviorBase.h"
 #include "Shared/WorldState.h"
 #include "Events/EventRouter.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/MotionManager.h"
 #include "Motion/MotionSequenceMC.h"
 #include "Shared/Config.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 
 //! a little background behavior to keep the robot on its feet
 class AutoGetupBehavior : public BehaviorBase {
@@ -74,10 +74,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.14 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.15 $
  * $State: Exp $
- * $Date: 2004/12/21 20:29:07 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/BanditMachine.h ./Behaviors/Demos/BanditMachine.h
--- ../Tekkotsu_2.3/Behaviors/Demos/BanditMachine.h	Tue Dec 21 16:49:50 2004
+++ ./Behaviors/Demos/BanditMachine.h	Wed Jun  1 01:47:45 2005
@@ -4,14 +4,14 @@
 
 #include "Behaviors/StateNode.h"
 #include "Behaviors/Demos/StareAtBallBehavior.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/PostureMC.h"
 #include "Motion/MotionSequenceMC.h"
 #include "Motion/LedMC.h"
 #include "Behaviors/Transitions/TimeOutTrans.h"
 #include "Behaviors/Transitions/SmoothCompareTrans.h"
 #include "Behaviors/Nodes/OutputNode.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Shared/ProjectInterface.h"
 
 #include "Behaviors/Demos/karmedbandit.h"
@@ -61,7 +61,7 @@
 		StateNode::DoStart();
 		stare->DoStart();
 		start->DoStart();
-		SharedObject<PostureMC> lie("/ms/data/motion/liedown.pos");
+		SharedObject<PostureMC> lie("liedown.pos");
 		lie->setOutputCmd(LFrLegOffset+RotatorOffset,.77);
 		lie->setOutputCmd(RFrLegOffset+RotatorOffset,.73);
 		lie->setOutputCmd(LFrLegOffset+KneeOffset,.6);
@@ -214,10 +214,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.24 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.25 $
  * $State: Exp $
- * $Date: 2004/12/21 21:49:50 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/BatteryMonitorBehavior.h ./Behaviors/Demos/BatteryMonitorBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/BatteryMonitorBehavior.h	Wed Nov 10 20:45:35 2004
+++ ./Behaviors/Demos/BatteryMonitorBehavior.h	Wed Jun  1 01:47:45 2005
@@ -6,7 +6,7 @@
 #include "Shared/debuget.h"
 #include "Shared/WorldState.h"
 #include "Events/EventRouter.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/MotionManager.h"
 #include "Motion/PostureMC.h"
 #include "Motion/LedMC.h"
@@ -156,10 +156,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.20 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.21 $
  * $State: Exp $
- * $Date: 2004/11/11 01:45:35 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CVS/Entries ./Behaviors/Demos/CVS/Entries
--- ../Tekkotsu_2.3/Behaviors/Demos/CVS/Entries	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/CVS/Entries	Wed Aug 10 11:03:18 2005
@@ -0,0 +1,46 @@
+/ASCIIVisionBehavior.cc/1.4/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/ASCIIVisionBehavior.h/1.7/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/AlanBehavior.h/1.13/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/AutoGetupBehavior.h/1.15/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/BanditMachine.h/1.25/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/BatteryMonitorBehavior.h/1.21/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/CameraBehavior.cc/1.10/Fri Aug  5 21:55:43 2005//Ttekkotsu-2_4
+/CameraBehavior.h/1.8/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_4
+/ChaseBallBehavior.cc/1.11/Sun Oct 17 01:16:10 2004//Ttekkotsu-2_4
+/ChaseBallBehavior.h/1.5/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_4
+/CrashTestBehavior.h/1.3/Thu Nov 11 01:45:35 2004//Ttekkotsu-2_4
+/DrawSkeletonBehavior.h/1.3/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/DrawVisObjBoundBehavior.h/1.4/Thu Aug  4 21:09:26 2005//Ttekkotsu-2_4
+/DriveMeBehavior.cc/1.11/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/DriveMeBehavior.h/1.8/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/ExploreMachine.cc/1.1/Sat Dec  4 00:10:38 2004//Ttekkotsu-2_4
+/ExploreMachine.h/1.23/Mon Jan 24 22:23:46 2005//Ttekkotsu-2_4
+/FlashIPAddrBehavior.cc/1.3/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/FlashIPAddrBehavior.h/1.4/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/FollowHeadBehavior.cc/1.9/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_4
+/FollowHeadBehavior.h/1.5/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_4
+/FreezeTestBehavior.h/1.2/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_4
+/GroundPlaneBehavior.h/1.8/Thu Dec 23 01:47:06 2004//Ttekkotsu-2_4
+/HeadLevelBehavior.h/1.10/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_4
+/HelloWorldBehavior.h/1.5/Thu Nov 11 01:45:36 2004//Ttekkotsu-2_4
+/KinematicSampleBehavior.h/1.10/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/KinematicSampleBehavior2.h/1.13/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/LookForSoundBehavior.h/1.8/Thu Dec 23 01:47:06 2004//Ttekkotsu-2_4
+/MCRepeater.h/1.6/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/MotionStressTestBehavior.h/1.8/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/PaceTargetsMachine.cc/1.18/Wed Aug  3 19:11:58 2005//Ttekkotsu-2_4
+/PaceTargetsMachine.h/1.9/Mon Jan 24 22:23:46 2005//Ttekkotsu-2_4
+/RelaxBehavior.h/1.7/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/SimpleChaseBallBehavior.h/1.11/Tue May  3 16:30:29 2005//Ttekkotsu-2_4
+/SoundTestBehavior.h/1.12/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/StareAtBallBehavior.cc/1.10/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/StareAtBallBehavior.h/1.6/Fri Nov 12 00:05:03 2004//Ttekkotsu-2_4
+/StareAtPawBehavior2.cc/1.3/Thu Aug  4 21:09:26 2005//Ttekkotsu-2_4
+/StareAtPawBehavior2.h/1.21/Thu Jul  7 20:25:56 2005//Ttekkotsu-2_4
+/StepTest.h/1.3/Sun Aug  7 04:11:03 2005//Ttekkotsu-2_4
+/ToggleHeadLightBehavior.h/1.5/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/WallTestBehavior.cc/1.12/Wed Jun  1 05:47:45 2005//Ttekkotsu-2_4
+/WallTestBehavior.h/1.4/Tue Nov 16 00:11:46 2004//Ttekkotsu-2_4
+/WorldStateVelDaemon.h/1.5/Wed Jun 29 22:00:03 2005//Ttekkotsu-2_4
+/karmedbandit.h/1.3/Thu Sep 18 22:40:27 2003//Ttekkotsu-2_4
+D
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CVS/Repository ./Behaviors/Demos/CVS/Repository
--- ../Tekkotsu_2.3/Behaviors/Demos/CVS/Repository	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/CVS/Repository	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+Tekkotsu/Behaviors/Demos
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CVS/Root ./Behaviors/Demos/CVS/Root
--- ../Tekkotsu_2.3/Behaviors/Demos/CVS/Root	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/CVS/Root	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+:pserver:anonymous@cvs.tekkotsu.org:/cvs
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CVS/Tag ./Behaviors/Demos/CVS/Tag
--- ../Tekkotsu_2.3/Behaviors/Demos/CVS/Tag	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/CVS/Tag	Wed Aug 10 11:03:18 2005
@@ -0,0 +1 @@
+Ntekkotsu-2_4
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CameraBehavior.cc ./Behaviors/Demos/CameraBehavior.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/CameraBehavior.cc	Tue Jan 25 18:50:55 2005
+++ ./Behaviors/Demos/CameraBehavior.cc	Fri Aug  5 17:55:43 2005
@@ -1,11 +1,12 @@
 #include "CameraBehavior.h"
 #include "Events/EventRouter.h"
+#include "Events/TextMsgEvent.h"
 #include "Shared/ERS210Info.h"
 #include "Shared/ERS220Info.h"
 #include "Shared/ERS7Info.h"
 #include "Wireless/Socket.h"
 #include "Shared/WorldState.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Shared/Config.h"
 #include "Shared/ProjectInterface.h"
 #include "Motion/LedMC.h"
@@ -35,6 +36,7 @@
 	sndman->LoadFile("camera.wav");
 	ledID=motman->addPersistentMotion(SharedObject<LedMC>());
 	erouter->addListener(this,camera_click);
+	erouter->addListener(this,EventBase::textmsgEGID);
 }
 
 void CameraBehavior::DoStop() {
@@ -51,7 +53,11 @@
  */
 void
 CameraBehavior::processEvent(const EventBase& e) {
-	if(e.shorterThan(camera_click))
+	if(e.getGeneratorID()==EventBase::textmsgEGID) {
+		const TextMsgEvent * txt=dynamic_cast<const TextMsgEvent*>(&e);
+		if(txt==NULL || txt->getText()!="camera")
+			return;
+	} else if(e.shorterThan(camera_click))
 		return;
 
 	{
@@ -156,17 +162,18 @@
 std::string
 CameraBehavior::getNextName(const std::string& ext) {
 	char tmp[100];
-	snprintf(tmp,100,"/ms/data/img%05d%s",index++,ext.c_str());
-	sout->printf("Saving %s...",tmp);
-	return tmp;
+	snprintf(tmp,100,"data/img%05d%s",index++,ext.c_str());
+	std::string ans=config->portPath(tmp);
+	sout->printf("Saving `%s'...",ans.c_str());
+	return ans;
 }
 
 void
 CameraBehavior::initIndex() {
-	std::string path="/ms/data/";
+	std::string path=config->portPath("data/");
 	DIR* dir=opendir(path.c_str());
 	if(dir==NULL) {
-		serr->printf("bad path: %s\n",path.c_str());
+		serr->printf("bad path: `%s'\n",path.c_str());
 		return;
 	}
 	struct dirent * ent=readdir(dir);
@@ -196,9 +203,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.8 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.10 $
  * $State: Exp $
- * $Date: 2005/01/25 23:50:55 $
+ * $Date: 2005/08/05 21:55:43 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CameraBehavior.h ./Behaviors/Demos/CameraBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/CameraBehavior.h	Wed Nov 10 20:45:35 2004
+++ ./Behaviors/Demos/CameraBehavior.h	Wed Nov 10 20:45:35 2004
@@ -61,7 +61,7 @@
  * @author ejt (rewrite for new vision system)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.8 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:35 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/ChaseBallBehavior.cc ./Behaviors/Demos/ChaseBallBehavior.cc
--- ../Tekkotsu_2.3/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: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.11 $
  * $State: Exp $
  * $Date: 2004/10/17 01:16:10 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/ChaseBallBehavior.h ./Behaviors/Demos/ChaseBallBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/ChaseBallBehavior.h	Wed Nov 10 20:45:35 2004
+++ ./Behaviors/Demos/ChaseBallBehavior.h	Wed Nov 10 20:45:35 2004
@@ -37,7 +37,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.5 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:35 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/CrashTestBehavior.h ./Behaviors/Demos/CrashTestBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/CrashTestBehavior.h	Wed Nov 10 20:45:35 2004
+++ ./Behaviors/Demos/CrashTestBehavior.h	Wed Nov 10 20:45:35 2004
@@ -37,7 +37,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.3 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:35 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/DrawSkeletonBehavior.h ./Behaviors/Demos/DrawSkeletonBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/DrawSkeletonBehavior.h	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/DrawSkeletonBehavior.h	Sun Aug  7 00:11:03 2005
@@ -0,0 +1,123 @@
+//-*-c++-*-
+#ifndef INCLUDED_DrawSkeletonBehavior_h_
+#define INCLUDED_DrawSkeletonBehavior_h_
+
+#include "Behaviors/BehaviorBase.h"
+#include "Events/EventRouter.h"
+
+#include "Shared/ProjectInterface.h"
+#include "Events/VisionObjectEvent.h"
+#include "Events/FilterBankEvent.h"
+#include "Vision/Graphics.h"
+#include "Shared/Config.h"
+#include "Vision/RawCameraGenerator.h"
+#include "Behaviors/Mon/RawCamBehavior.h"
+#include "Motion/Kinematics.h"
+#include "Shared/newmat/newmatio.h"
+
+//! Draws the kinematics "skeleton" on the camera frame
+class DrawSkeletonBehavior : public BehaviorBase {
+public:
+	//! constructor
+	DrawSkeletonBehavior() : BehaviorBase("DrawSkeletonBehavior") {}
+
+	virtual void DoStart() {
+		BehaviorBase::DoStart(); // do this first (required)
+		erouter->addListener(this, EventBase::visRawCameraEGID,ProjectInterface::visRawCameraSID,EventBase::statusETID);
+	}
+
+	virtual void DoStop() {
+		erouter->removeListener(this); //generally a good idea, unsubscribe all
+		BehaviorBase::DoStop(); // do this last (required)
+	}
+
+	virtual void processEvent(const EventBase& e) {
+		//We're assuming e is a filter bank event and that its source is not null...
+		//You could add error checking code for that.
+		const FilterBankEvent& fbe=dynamic_cast<const FilterBankEvent&>(e);
+
+		unsigned int chan=RawCameraGenerator::CHAN_U;
+		unsigned int layer=RawCamBehavior::getSourceLayer(chan,fbe.getNumLayers());
+		unsigned char color=48;
+		float originBoxSize=.1;
+		
+		Graphics g(*fbe.getSource(),layer,chan);
+		g.setColor(color);
+
+		NEWMAT::ColumnVector p=Kinematics::pack(0,0,0);
+		for(unsigned int leg=0; leg<NumLegs; leg++) {
+			float lastx,lasty,curx,cury;
+			bool lastFront=false;
+			bool front=getCameraPoint(LegOffset+leg*JointsPerLeg+ElevatorOffset,p,lastx,lasty);
+			if(front) {
+				g.setColor(-color);
+				g.drawRect(lastx-originBoxSize/2,lasty-originBoxSize/2,originBoxSize,originBoxSize);
+			}
+			for(unsigned int j=KneeOffset; j<JointsPerLeg; j++) {
+				//actually, there's only one more joint for this loop to process, but just for generality...
+				lastFront=front;
+				front=getCameraPoint(LegOffset+leg*JointsPerLeg+j,p,curx,cury);
+				if(lastFront) {
+					g.setColor(front?color:-color);
+					g.drawLine(lastx,lasty,curx,cury);
+				}
+				if(front) {
+					g.setColor(-color);
+					g.drawRect(curx-originBoxSize/2,cury-originBoxSize/2,originBoxSize,originBoxSize);
+				}
+				lastx=curx;
+				lasty=cury;
+			}
+			lastFront=front;
+			front=getCameraPoint(PawFrameOffset+leg,p,curx,cury);
+			if(lastFront) {
+				g.setColor(front?color:-color);
+				g.drawLine(lastx,lasty,curx,cury);
+			}
+			if(front) {
+				g.setColor(-color);
+				g.drawRect(curx-originBoxSize/2,cury-originBoxSize/2,originBoxSize,originBoxSize);
+			}
+			lastx=curx;
+			lasty=cury;
+		}
+	}
+
+	static std::string getClassDescription() { return "Draws the kinematics \"skeleton\" on the camera frame"; }
+	virtual std::string getDescription() const { return getClassDescription(); }
+	
+
+protected:
+	//! returns the @a x and @a y coordinates with the camera image corresponding to a point (@a p) in 3d space (relative to @a jointOffset)
+	bool getCameraPoint(unsigned int jointOffset, NEWMAT::ColumnVector& p, float& x, float& y) {
+		NEWMAT::Matrix T = kine->linkToJoint(jointOffset,CameraFrameOffset);
+		NEWMAT::ColumnVector o=T*p; //o is now the position of point p on the link, relative to the camera
+		bool front=o(3)>=0;
+		config->vision.computePixel(o(1),o(2),o(3),x,y);
+		//cout << jointOffset << ' ' << o.t() << " -> " << x << ' ' << y << endl;
+		return front;
+	}
+
+	
+private:
+	// Providing declarations for these functions will avoid a compiler warning if
+	// you have any class members which are pointers.  However, as it is, an error
+	// will result if you inadvertantly cause a call to either (which is probably
+	// a good thing, unless you really intended to copy/assign a behavior, in
+	// which case simply provide implementations for the functions)
+	DrawSkeletonBehavior(const DrawSkeletonBehavior&); //!< don't call (copy constructor)
+	DrawSkeletonBehavior& operator=(const DrawSkeletonBehavior&); //!< don't call (assignment operator)
+};
+
+/*! @file
+ * @brief Defines DrawSkeletonBehavior, which draws the kinematics "skeleton" on the camera frame
+ * @author ejt (Creator)
+ *
+ * $Author: ejt $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.3 $
+ * $State: Exp $
+ * $Date: 2005/08/07 04:11:03 $
+ */
+
+#endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/DrawVisObjBoundBehavior.h ./Behaviors/Demos/DrawVisObjBoundBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/DrawVisObjBoundBehavior.h	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/DrawVisObjBoundBehavior.h	Thu Aug  4 17:09:26 2005
@@ -0,0 +1,107 @@
+//-*-c++-*-
+#ifndef INCLUDED_DrawVisObjBoundBehavior_h_
+#define INCLUDED_DrawVisObjBoundBehavior_h_
+
+#include "Behaviors/BehaviorBase.h"
+#include "Events/EventRouter.h"
+#include "Shared/ProjectInterface.h"
+#include "Events/VisionObjectEvent.h"
+#include "Events/FilterBankEvent.h"
+#include "Vision/Graphics.h"
+#include "Shared/Config.h"
+#include "Vision/RawCameraGenerator.h"
+
+//! Draws a boundary box in camera frame around all detected vision object events
+class DrawVisObjBoundBehavior : public BehaviorBase {
+public:
+	//! constructor
+	DrawVisObjBoundBehavior() : BehaviorBase("DrawVisObjBoundBehavior"), objs(), drawn(0) {}
+
+	virtual void DoStart() {
+		BehaviorBase::DoStart(); // do this first (required)
+		erouter->addListener(this, EventBase::visObjEGID);
+		erouter->addListener(this, EventBase::visRawCameraEGID,ProjectInterface::visRawCameraSID,EventBase::statusETID);
+		erouter->addListener(this, EventBase::visSegmentEGID,ProjectInterface::visSegmentSID,EventBase::statusETID);
+		//This part isn't done -- we can't draw into RLE images until RLEGraphics is written
+		//  erouter->addListener(this, EventBase::visRLEEGID,ProjectInterface::visRLESID,EventBase::statusETID);
+	}
+
+	virtual void DoStop() {
+		erouter->removeListener(this); //generally a good idea, unsubscribe all
+		BehaviorBase::DoStop(); // do this last (required)
+	}
+
+	virtual void processEvent(const EventBase& e) {
+		if(e.getGeneratorID()==EventBase::visObjEGID) {
+			if(drawn>=2) {
+				objs.clear();
+				drawn=0;
+			}
+			if(e.getTypeID()!=EventBase::deactivateETID) {
+				const VisionObjectEvent& vis=dynamic_cast<const VisionObjectEvent&>(e);
+				Rect r={vis.getLeft(),vis.getTop(),vis.getWidth(),vis.getHeight()};
+				objs.push_back(r);
+			}
+		} else {
+			//cache current layer, channel, and pen color (depends on whether we're handling the seg cam or the raw cam
+			unsigned int layer, chan;
+			unsigned char color;
+			const FilterBankEvent& fbe=dynamic_cast<const FilterBankEvent&>(e);
+			if(e.getGeneratorID()==EventBase::visRawCameraEGID) {
+				layer=fbe.getNumLayers()-1-config->vision.rawcam_y_skip;
+				chan=RawCameraGenerator::CHAN_Y;
+				color=255;
+			} else if(e.getGeneratorID()==EventBase::visSegmentEGID) {
+				layer=fbe.getNumLayers()-1-config->vision.rlecam_skip;
+				chan=config->vision.rlecam_channel;
+				color=7;
+			}
+
+			//do the drawing
+			Graphics g(*fbe.getSource(),layer,chan);
+			g.setColor(color);
+			for(std::vector<Rect>::const_iterator it=objs.begin(); it!=objs.end(); ++it)
+				g.drawRect(it->x,it->y,it->w,it->h);
+			
+			//this is only needed until RLEGraphics is in place
+			//  in the mean time, we trigger the RLE generator to recompress the modified seg cam image
+			if(config->vision.rlecam_compression==Config::vision_config::COMPRESS_RLE)
+				ProjectInterface::defRLEGenerator->invalidateCaches();
+			
+			drawn++;
+		}
+	}
+
+	static std::string getClassDescription() { return "Draws a boundary box in camera frame around all detected vision object events"; }
+	virtual std::string getDescription() const { return getClassDescription(); }
+	
+
+protected:
+	//! a simple structure for storing bounding box info for each detected object
+	struct Rect {
+		float x; //!< left edge, in resolution-independent coordinates
+		float y; //!< top edge, in resolution-independent coordinates
+		float w; //!< width, in resolution-independent coordinates
+		float h; //!< height, in resolution-independent coordinates
+	};
+
+	std::vector<Rect> objs; //!< vector of boundary boxes from the current frame
+	unsigned int drawn; //!< a counter of the number of frames that have been updated, when this hits 2, the next vision object will clear the list
+	
+private:
+	DrawVisObjBoundBehavior(const DrawVisObjBoundBehavior&); //!< don't call (copy constructor)
+	DrawVisObjBoundBehavior& operator=(const DrawVisObjBoundBehavior&); //!< don't call (assignment operator)
+};
+
+/*! @file
+ * @brief Defines DrawVisObjBoundBehavior, which draws a boundary box in camera frame around all detected vision object events
+ * @author ejt (Creator)
+ *
+ * $Author: ejt $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.4 $
+ * $State: Exp $
+ * $Date: 2005/08/04 21:09:26 $
+ */
+
+#endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/DriveMeBehavior.cc ./Behaviors/Demos/DriveMeBehavior.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/DriveMeBehavior.cc	Tue Dec 21 16:49:50 2004
+++ ./Behaviors/Demos/DriveMeBehavior.cc	Wed Jun  1 01:47:45 2005
@@ -2,7 +2,7 @@
 #include "Motion/WalkMC.h"
 #include "Motion/MotionSequenceMC.h"
 #include "Motion/PostureEngine.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Events/EventRouter.h"
 #include "Events/EventBase.h"
 
@@ -26,7 +26,7 @@
 {
   // Construct the standing up motion that the aibo does after it's done moving
   stand->setTime(700); // 700 milliseconds to stand up
-  stand->setPose(PostureEngine("/ms/data/motion/stand.pos"));
+  stand->setPose(PostureEngine("stand.pos"));
 }
 
 void DriveMeBehavior::DoStart()
@@ -109,9 +109,9 @@
  * @author tss (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.10 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.11 $
  * $State: Exp $
- * $Date: 2004/12/21 21:49:50 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/DriveMeBehavior.h ./Behaviors/Demos/DriveMeBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/DriveMeBehavior.h	Tue Dec 21 15:29:07 2004
+++ ./Behaviors/Demos/DriveMeBehavior.h	Wed Jun  1 01:47:45 2005
@@ -5,7 +5,7 @@
 #include "Behaviors/BehaviorBase.h"
 #include "Motion/MotionManager.h"
 #include "Motion/MotionSequenceMC.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 
 //! A very simple behavior that asks the user for WalkMC walking parameters and a walk duration.
 /*! The AIBO walks accordingly and then stands up, then asks again. And so on and so on.\n
@@ -39,10 +39,10 @@
  * @author tss (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.7 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.8 $
  * $State: Exp $
- * $Date: 2004/12/21 20:29:07 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/ExploreMachine.cc ./Behaviors/Demos/ExploreMachine.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/ExploreMachine.cc	Fri Dec  3 19:10:38 2004
+++ ./Behaviors/Demos/ExploreMachine.cc	Fri Dec  3 19:10:38 2004
@@ -72,7 +72,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.1 $
  * $State: Exp $
  * $Date: 2004/12/04 00:10:38 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/ExploreMachine.h ./Behaviors/Demos/ExploreMachine.h
--- ../Tekkotsu_2.3/Behaviors/Demos/ExploreMachine.h	Mon Jan 24 17:23:46 2005
+++ ./Behaviors/Demos/ExploreMachine.h	Mon Jan 24 17:23:46 2005
@@ -47,7 +47,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.23 $
  * $State: Exp $
  * $Date: 2005/01/24 22:23:46 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/FlashIPAddrBehavior.cc ./Behaviors/Demos/FlashIPAddrBehavior.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/FlashIPAddrBehavior.cc	Fri Jan 28 19:56:58 2005
+++ ./Behaviors/Demos/FlashIPAddrBehavior.cc	Wed Jun  1 01:47:45 2005
@@ -5,7 +5,7 @@
 #include "Motion/LedEngine.h"
 #include "Shared/WorldState.h"
 #include "Shared/Config.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Wireless/Wireless.h"
 
 void FlashIPAddrBehavior::DoStart() {
@@ -180,8 +180,8 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.2 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.3 $
  * $State: Exp $
- * $Date: 2005/01/29 00:56:58 $
+ * $Date: 2005/06/01 05:47:45 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/FlashIPAddrBehavior.h ./Behaviors/Demos/FlashIPAddrBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/FlashIPAddrBehavior.h	Thu Jan 27 00:39:42 2005
+++ ./Behaviors/Demos/FlashIPAddrBehavior.h	Sun Aug  7 00:11:03 2005
@@ -6,7 +6,7 @@
 #include "Motion/MotionManager.h"
 #include "Motion/MotionSequenceMC.h"
 
-//! Displays IP address by flashing a series of numbers on the LED face panel
+//! Displays IP address by speaking the digits and flashing a series of numbers on the LED face panel
 /*! Will only run the display on DoStart() if the flash_on_start
  *  config variable is set.  Otherwise you will need to hold down the
  *  buttons specified by #button1 and #button2 to trigger the display.
@@ -36,7 +36,7 @@
 	virtual std::string getDescription() const { return getClassDescription(); }
 	
 protected:
-	typedef XLargeMotionSequenceMC MSMC_t;
+	typedef XLargeMotionSequenceMC MSMC_t; //!< used to flash the LEDs to report the IP address
 
 	void loadSounds();    //!< loads the numeric sounds into memory
 	void releaseSounds(); //!< releases the numeric sounds
@@ -58,10 +58,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.2 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.4 $
  * $State: Exp $
- * $Date: 2005/01/27 05:39:42 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/FollowHeadBehavior.h ./Behaviors/Demos/FollowHeadBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/FollowHeadBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/FollowHeadBehavior.h	Wed Nov 10 20:45:36 2004
@@ -54,7 +54,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.5 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:36 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/FreezeTestBehavior.h ./Behaviors/Demos/FreezeTestBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/FreezeTestBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/FreezeTestBehavior.h	Wed Nov 10 20:45:36 2004
@@ -42,7 +42,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.2 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:36 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/GroundPlaneBehavior.h ./Behaviors/Demos/GroundPlaneBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/GroundPlaneBehavior.h	Wed Dec 22 20:47:06 2004
+++ ./Behaviors/Demos/GroundPlaneBehavior.h	Wed Dec 22 20:47:06 2004
@@ -85,7 +85,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.8 $
  * $State: Exp $
  * $Date: 2004/12/23 01:47:06 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/HeadLevelBehavior.h ./Behaviors/Demos/HeadLevelBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/HeadLevelBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/HeadLevelBehavior.h	Wed Nov 10 20:45:36 2004
@@ -85,7 +85,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.10 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:36 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/HelloWorldBehavior.h ./Behaviors/Demos/HelloWorldBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/HelloWorldBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/HelloWorldBehavior.h	Wed Nov 10 20:45:36 2004
@@ -50,7 +50,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.5 $
  * $State: Exp $
  * $Date: 2004/11/11 01:45:36 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/KinematicSampleBehavior.h ./Behaviors/Demos/KinematicSampleBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/KinematicSampleBehavior.h	Wed Dec 22 20:47:06 2004
+++ ./Behaviors/Demos/KinematicSampleBehavior.h	Wed Jun  1 01:47:45 2005
@@ -6,7 +6,7 @@
 #include "Motion/PIDMC.h"
 #include "Motion/PostureMC.h"
 #include "Motion/MotionManager.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/roboop/robot.h"
 #include "Shared/Config.h"
 #include "Motion/Kinematics.h"
@@ -113,10 +113,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.9 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.10 $
  * $State: Exp $
- * $Date: 2004/12/23 01:47:06 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/KinematicSampleBehavior2.h ./Behaviors/Demos/KinematicSampleBehavior2.h
--- ../Tekkotsu_2.3/Behaviors/Demos/KinematicSampleBehavior2.h	Wed Dec 22 20:47:06 2004
+++ ./Behaviors/Demos/KinematicSampleBehavior2.h	Wed Jun  1 01:47:45 2005
@@ -6,7 +6,7 @@
 #include "Motion/PIDMC.h"
 #include "Motion/PostureMC.h"
 #include "Motion/MotionManager.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/roboop/robot.h"
 #include "Shared/Config.h"
 #include "Motion/Kinematics.h"
@@ -163,10 +163,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.12 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.13 $
  * $State: Exp $
- * $Date: 2004/12/23 01:47:06 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/LookForSoundBehavior.h ./Behaviors/Demos/LookForSoundBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/LookForSoundBehavior.h	Wed Dec 22 20:47:06 2004
+++ ./Behaviors/Demos/LookForSoundBehavior.h	Wed Dec 22 20:47:06 2004
@@ -74,7 +74,7 @@
  * @author Paris Smaragdis (paris AT media mit edu) (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.8 $
  * $State: Exp $
  * $Date: 2004/12/23 01:47:06 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/MCRepeater.h ./Behaviors/Demos/MCRepeater.h
--- ../Tekkotsu_2.3/Behaviors/Demos/MCRepeater.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/MCRepeater.h	Wed Jun  1 01:47:45 2005
@@ -3,7 +3,7 @@
 #define INCLUDED_MCRepeater_h_
 
 #include "Behaviors/BehaviorBase.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/MotionManager.h"
 #include "Events/EventRouter.h"
 
@@ -46,10 +46,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.5 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.6 $
  * $State: Exp $
- * $Date: 2004/11/11 01:45:36 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/MotionStressTestBehavior.h ./Behaviors/Demos/MotionStressTestBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/MotionStressTestBehavior.h	Wed Dec 22 20:47:07 2004
+++ ./Behaviors/Demos/MotionStressTestBehavior.h	Sun Aug  7 00:11:03 2005
@@ -60,6 +60,7 @@
 		}
 	}
 
+	//! creates and adds a new MotionSequenceMC
 	void addMS(LegOrder_t leg,unsigned int delay=0) {
 		unsigned int index=leg*JointsPerLeg+RotatorOffset;
 		SharedObject<SmallMotionSequenceMC> ms;
@@ -87,10 +88,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.7 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.8 $
  * $State: Exp $
- * $Date: 2004/12/23 01:47:07 $
+ * $Date: 2005/08/07 04:11:03 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/PaceTargetsMachine.cc ./Behaviors/Demos/PaceTargetsMachine.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/PaceTargetsMachine.cc	Fri Jan 21 17:50:33 2005
+++ ./Behaviors/Demos/PaceTargetsMachine.cc	Wed Aug  3 15:11:58 2005
@@ -8,30 +8,38 @@
 #include "Behaviors/Nodes/OutputNode.h"
 #include "Behaviors/Nodes/MotionSequenceNode.h"
 #include "Behaviors/Nodes/GroupNode.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 
 void PaceTargetsMachine::setup() {
 	StateNode::setup();
 
-	WalkNode * turnAround = new WalkNode(0,0,1);
+	const float turnAroundSpeed=1; //1 rad/sec
+	//explore and chase have their own built-in speeds
+
+	//*****  NODE SETUP *****//
+
+	//turns in place
+	WalkNode * turnAround = new WalkNode(0,0,turnAroundSpeed);
 	turnAround->setName(getName()+"::TurnAround");
 	addNode(turnAround);
 
+	//two nodes running together -- explore will wander around, panhead will look around
 	GroupNode * explGrp = new GroupNode(getName()+"::ExplGroup");
 	addNode(explGrp);
 	{
 		ExploreMachine * explore = new ExploreMachine(explGrp->getName()+"::Explore");
 		explGrp->addNode(explore);
-		SmallMotionSequenceNode * panhead = new SmallMotionSequenceNode(explGrp->getName()+"::PanHead","/ms/data/motion/pan_head.mot",true);
+		SmallMotionSequenceNode * panhead = new SmallMotionSequenceNode(explGrp->getName()+"::PanHead","pan_head.mot",true);
 		explGrp->addNode(panhead);
 	}
 
+	//follow the ball
 	WalkToTargetNode * chase = new WalkToTargetNode(ProjectInterface::visPinkBallSID);
 	chase->setName(getName()+"::Chase");
 	addNode(chase);
 
-	//starts out exploring
-	start=explGrp;
+
+	//*****  TRANSITION SETUP *****//
 
 	Transition * tmptrans=NULL;
 
@@ -48,7 +56,7 @@
 	tmptrans->setSound("fart.wav");
 	
 	//once you've turned around, explore
-	turnAround->addTransition(tmptrans=new TimeOutTrans(explGrp,3500));
+	turnAround->addTransition(tmptrans=new TimeOutTrans(explGrp,(unsigned int)(M_PI/turnAroundSpeed*1000))); //turn 180 degrees (aka PI radians)
 	tmptrans->setSound("barkmed.wav");
 	
 	//preload the sounds so we don't pause on tranisitions
@@ -56,6 +64,9 @@
 	sndman->LoadFile("barkmed.wav");
 	sndman->LoadFile("whimper.wav");
 	sndman->LoadFile("fart.wav");
+
+	//starts out exploring
+	start=explGrp;
 }
 
 void PaceTargetsMachine::DoStart() {
@@ -77,9 +88,9 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.16 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.18 $
  * $State: Exp $
- * $Date: 2005/01/21 22:50:33 $
+ * $Date: 2005/08/03 19:11:58 $
  */
 
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/PaceTargetsMachine.h ./Behaviors/Demos/PaceTargetsMachine.h
--- ../Tekkotsu_2.3/Behaviors/Demos/PaceTargetsMachine.h	Mon Jan 24 17:23:46 2005
+++ ./Behaviors/Demos/PaceTargetsMachine.h	Mon Jan 24 17:23:46 2005
@@ -35,7 +35,7 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.9 $
  * $State: Exp $
  * $Date: 2005/01/24 22:23:46 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/RelaxBehavior.h ./Behaviors/Demos/RelaxBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/RelaxBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/RelaxBehavior.h	Wed Jun  1 01:47:45 2005
@@ -5,7 +5,7 @@
 #include <iostream>
 #include "Behaviors/BehaviorBase.h"
 #include "Motion/PIDMC.h"
-#include "Shared/SharedObject.h"
+#include "IPC/SharedObject.h"
 #include "Motion/MotionManager.h"
 
 using namespace std;
@@ -50,8 +50,8 @@
  * @author ejt (Modifications)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.6 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.7 $
  * $State: Exp $
- * $Date: 2004/11/11 01:45:36 $
+ * $Date: 2005/06/01 05:47:45 $
  */
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/SimpleChaseBallBehavior.h ./Behaviors/Demos/SimpleChaseBallBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/SimpleChaseBallBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/SimpleChaseBallBehavior.h	Tue May  3 12:30:29 2005
@@ -27,7 +27,7 @@
 	//! adds a headpointer and a walker, and a listens for vision events
 	virtual void DoStart() {
 		BehaviorBase::DoStart();
-		walker_id = motman->addPersistentMotion(SharedObject<WalkMC>()); //the 'false' prevents autopruning
+		walker_id = motman->addPersistentMotion(SharedObject<WalkMC>());
 		erouter->addListener(this,EventBase::visObjEGID);
 	}
 
@@ -41,10 +41,17 @@
 	//! sets the head to point at the object and sets the body to move where the head points
 	virtual void processEvent(const EventBase& event) {
 		if(event.getGeneratorID()==EventBase::visObjEGID && event.getTypeID()==EventBase::statusETID) {
-			//in case the head isn't pointing straight forward, we'll straife
+			//x and y are the direction to walk; positive x is forward and positive y is left
+			//so these calculations walk the direction the head is pointing (at 120 mm/sec)
 			float x=120.0f*cos(state->outputs[HeadOffset+PanOffset]);
 			float y=120.0f*sin(state->outputs[HeadOffset+PanOffset]);
+
+			//z is the amount to turn in radians; conveniently enough, we can use the
+			//x parameter from the vision event as the speed to turn -- you could
+			//scale this up or down to make it be more or less sensitive
 			float z=-static_cast<const VisionObjectEvent*>(&event)->getCenterX();
+
+			//now pass these values to the walk motion command:
 			MMAccessor<WalkMC>(walker_id)->setTargetVelocity(x,y,z);
 		}
 	}
@@ -58,10 +65,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.10 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.11 $
  * $State: Exp $
- * $Date: 2004/11/11 01:45:36 $
+ * $Date: 2005/05/03 16:30:29 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/SoundTestBehavior.h ./Behaviors/Demos/SoundTestBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/SoundTestBehavior.h	Wed Nov 10 20:45:36 2004
+++ ./Behaviors/Demos/SoundTestBehavior.h	Wed Jun  1 01:47:45 2005
@@ -3,7 +3,7 @@
 #define INCLUDED_SoundTestBehavior_h_
 
 #include "Behaviors/BehaviorBase.h"
-#include "SoundPlay/SoundManager.h"
+#include "Sound/SoundManager.h"
 #include "Shared/ERS210Info.h"
 #include "Shared/ERS220Info.h"
 #include "Shared/ERS7Info.h"
@@ -14,7 +14,7 @@
  *  up and then played successively once the chin button is released.
  *
  *  Notice that this doesn't preload all needed sounds:\n
- *  - @c barkmed.wav is listed in /ms/config/tekkotsu.cfg as a preloaded system sound
+ *  - @c barkmed.wav is listed in ms/config/tekkotsu.cfg as a preloaded system sound
  *  - @c growl.wav will be loaded before being played automatically - notice the
  *    hiccup this can cause.
  */
@@ -121,10 +121,10 @@
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.11 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.12 $
  * $State: Exp $
- * $Date: 2004/11/11 01:45:36 $
+ * $Date: 2005/06/01 05:47:45 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/StareAtBallBehavior.cc ./Behaviors/Demos/StareAtBallBehavior.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/StareAtBallBehavior.cc	Sat Oct 16 21:16:10 2004
+++ ./Behaviors/Demos/StareAtBallBehavior.cc	Wed Jun  1 01:47:45 2005
@@ -37,18 +37,17 @@
 
 	//cout << horiz << ' ' << vert << endl;
 
+	// Very simple visual servoing control -- move the head in the direction of the target
 	double tilt=state->outputs[HeadOffset+TiltOffset]-vert*M_PI/7;
 	double pan=state->outputs[HeadOffset+PanOffset]-horiz*M_PI/6;
-	if(tilt<DtoR(-70))
-		tilt=DtoR(-70);
-	if(tilt>DtoR(40))
-		tilt=DtoR(40);
-	if(pan>DtoR(80))
-		pan=DtoR(80);
-	if(pan<DtoR(-80))
-		pan=DtoR(-80);
 	HeadPointerMC * headpointer= (HeadPointerMC*)motman->checkoutMotion(headpointer_id);
+#ifdef TGT_ERS7
+	//on an ers-7, we want to set the nod joint to look up, since tilt can only look down
+	headpointer->setJoints(tilt,pan,outputRanges[HeadOffset+NodOffset][MaxRange]);
+#else
+	//on other models (we'll just assume ers-2xx), center the roll joint
 	headpointer->setJoints(tilt,pan,0);
+#endif
 	motman->checkinMotion(headpointer_id);
 }
 			
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/StareAtBallBehavior.h ./Behaviors/Demos/StareAtBallBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/StareAtBallBehavior.h	Thu Nov 11 19:05:03 2004
+++ ./Behaviors/Demos/StareAtBallBehavior.h	Thu Nov 11 19:05:03 2004
@@ -36,7 +36,7 @@
  * @author tss (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
+ * $Name: tekkotsu-2_4 $
  * $Revision: 1.6 $
  * $State: Exp $
  * $Date: 2004/11/12 00:05:03 $
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/StareAtPawBehavior.h ./Behaviors/Demos/StareAtPawBehavior.h
--- ../Tekkotsu_2.3/Behaviors/Demos/StareAtPawBehavior.h	Wed Dec 22 20:47:07 2004
+++ ./Behaviors/Demos/StareAtPawBehavior.h	Wed Dec 31 19:00:00 1969
@@ -1,102 +0,0 @@
-//-*-c++-*-
-#ifndef INCLUDED_StareAtPawBehavior_h_
-#define INCLUDED_StareAtPawBehavior_h_
-
-#include "Behaviors/BehaviorBase.h"
-#include "Motion/OldKinematics.h"
-#include "Motion/PIDMC.h"
-#include "Motion/HeadPointerMC.h"
-#include "Motion/MotionManager.h"
-#include "Shared/SharedObject.h"
-
-
-//! Uses CMPack kinematics to track the paw which last received a button press with the camera
-/*! This is the "old" way of doing things, using CMPack kinematics... compare to StareAtPawBehavior2 for new-style kinematics */
-class StareAtPawBehavior : public BehaviorBase {
-public:
-	//! constructor
-	StareAtPawBehavior()
-		: BehaviorBase("StareAtPawBehavior"), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID)
-	{ }
-
-	virtual void DoStart() {
-		BehaviorBase::DoStart(); // do this first
-		for(unsigned int i=0; i<NumHeadJoints; i++)
-			head_angles[i]=state->outputs[HeadOffset+i];
-		pointID=motman->addPersistentMotion(SharedObject<HeadPointerMC>());
-		erouter->addListener(this,EventBase::sensorEGID);
-		erouter->addListener(this,EventBase::buttonEGID);
-	}
-
-	virtual void DoStop() {
-		motman->removeMotion(pointID);
-		pointID=MotionManager::invalid_MC_ID;
-		erouter->removeListener(this);
-		BehaviorBase::DoStop(); // do this last
-	}
-
-	virtual void processEvent(const EventBase& e) {
-		if(e.getGeneratorID()==EventBase::buttonEGID) {
-
-			if(e.getSourceID()==LFrPawOffset)
-				lastLeg=LFrLegOrder;
-			else if(e.getSourceID()==RFrPawOffset)
-				lastLeg=RFrLegOrder;
-			else
-				return;
-			if(e.getTypeID()==EventBase::activateETID) {
-				unsigned int lastlegoff=LegOffset+lastLeg*JointsPerLeg;
-				SharedObject<PIDMC> relaxLeg(lastlegoff,lastlegoff+JointsPerLeg,0);
-				motman->addPrunableMotion(relaxLeg);
-			} else if(e.getTypeID()==EventBase::deactivateETID) {
-				unsigned int lastlegoff=LegOffset+lastLeg*JointsPerLeg;
-				SharedObject<PIDMC> tightLeg(lastlegoff,lastlegoff+JointsPerLeg,1);
-				motman->addPrunableMotion(tightLeg);
-			}
-
-		} else if(e.getGeneratorID()==EventBase::sensorEGID) {
-
-			double leg_angles[JointsPerLeg];
-			for(unsigned int i=0; i<JointsPerLeg; i++)
-				leg_angles[i]=state->outputs[LegOffset+lastLeg*JointsPerLeg+i];
-			vector3d paw;
-			GetLegPosition(paw,leg_angles,lastLeg);
-			paw-=body_to_neck; //target should be neck-relative
-			paw.z+=body_to_neck.z; // but body-height relative (#@%&$)
-			GetHeadAngles(head_angles,paw,0,0);
-			/*{
-				double tmp[JointsPerLeg];
-				GetLegAngles(tmp,paw,lastLeg);
-				sout->printf("Leg: (%g,%g,%g) (%g,%g,%g) (%g,%g,%g)\n",leg_angles[0],leg_angles[1],leg_angles[2],paw.x,paw.y,paw.z,tmp[0],tmp[1],tmp[2]);
-				vector3d tmp2;
-				tmp2=RunForwardModel(head_angles,0,0,vector3d(0,0,0));
-				sout->printf("Head: (%g,%g,%g) (%g,%g,%g) (%g,%g,%g)\n",tmp2.x,tmp2.y,tmp2.z,head_angles[0],head_angles[1],head_angles[2],state->outputs[HeadOffset+0],state->outputs[HeadOffset+1],state->outputs[HeadOffset+2]);
-				}*/
-			MMAccessor<HeadPointerMC>(pointID)->setJoints(head_angles[0],head_angles[1],head_angles[2]);
-			
-		} else {
-			serr->printf("StareAtPawBehavior: Unhandled event %s\n",e.getName().c_str());
-		}
-	}
-
-	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; //!< last leg to have it's button pressed, i.e. the one we are looking at
-	MotionManager::MC_ID pointID; //!< the HeadPointerMC we are using to do the looking
-	double head_angles[JointsPerLeg]; //!< temporary storage of the head angles we desire
-};
-
-/*! @file
- * @brief Defines StareAtPawBehavior, which uses CMPack kinematics to track the paw which last received a button press with the camera
- * @author ejt (Creator)
- *
- * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.7 $
- * $State: Exp $
- * $Date: 2004/12/23 01:47:07 $
- */
-
-#endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/StareAtPawBehavior2.cc ./Behaviors/Demos/StareAtPawBehavior2.cc
--- ../Tekkotsu_2.3/Behaviors/Demos/StareAtPawBehavior2.cc	Wed Dec 31 19:00:00 1969
+++ ./Behaviors/Demos/StareAtPawBehavior2.cc	Thu Aug  4 17:09:26 2005
@@ -0,0 +1,137 @@
+#include "StareAtPawBehavior2.h"
+
+#include "Events/EventRouter.h"
+#include "Shared/WorldState.h"
+#include "Motion/MMAccessor.h"
+#include "Motion/PIDMC.h"
+#include "Motion/HeadPointerMC.h"
+#include "Motion/PostureMC.h"
+#include "IPC/SharedObject.h"
+#include "Motion/roboop/robot.h"
+#include "Shared/Config.h"
+#include "Motion/Kinematics.h"
+
+// these are for drawing into the camera frame
+#include "Shared/ProjectInterface.h"
+#include "Vision/Graphics.h"
+#include "Events/FilterBankEvent.h"
+#include "Vision/RawCameraGenerator.h"
+#include "Behaviors/Mon/RawCamBehavior.h"
+
+//better to put this here instead of the header
+using namespace std; 
+
+void StareAtPawBehavior2::DoStart() {
+	BehaviorBase::DoStart(); // do this first
+
+	pointID=motman->addPersistentMotion(SharedObject<HeadPointerMC>());
+
+	//sensorEGID to update head pointer whenever we get new info about joint positions
+	erouter->addListener(this,EventBase::sensorEGID);
+	//buttonEGID to switch the target when the LFr or RFr button is pressed (ignores the others)
+	erouter->addListener(this,EventBase::buttonEGID);
+	//visRawCameraEGID to draw a dot on the camera image where we think the toe is
+	erouter->addListener(this,EventBase::visRawCameraEGID,ProjectInterface::visRawCameraSID,EventBase::statusETID);
+		
+	if(state->robotDesign == WorldState::ERS7Mask)
+		sout->printf("NOTICE: The ERS-7 has a rather \"sticky\" nod joint\n"
+								 "(the upper tilt joint).  This can cause it to hesitate\n"
+								 "or altogether fail to precisely center the target position\n"
+								 "vertically in the center of the image...\n");
+}
+
+void StareAtPawBehavior2::DoStop() {
+	motman->removeMotion(pointID);
+	pointID=MotionManager::invalid_MC_ID;
+	erouter->removeListener(this);
+	BehaviorBase::DoStop(); // do this last
+}
+	
+void StareAtPawBehavior2::processEvent(const EventBase& e) {
+	if(e.getGeneratorID()==EventBase::buttonEGID) {
+		//*******************************//
+		//*** Switch the "active" toe ***//
+		//*******************************//
+
+		if(e.getSourceID()==LFrPawOffset) {
+			lastLeg=LFrLegOrder;
+		} else if(e.getSourceID()==RFrPawOffset) {
+			lastLeg=RFrLegOrder;
+		} else
+			return;
+		if(e.getTypeID()==EventBase::activateETID) {
+			unsigned int lastlegoff=LegOffset+lastLeg*JointsPerLeg;
+			SharedObject<PIDMC> relaxLeg(lastlegoff,lastlegoff+JointsPerLeg,0);
+			motman->addPrunableMotion(relaxLeg);
+		} else if(e.getTypeID()==EventBase::deactivateETID) {
+			unsigned int lastlegoff=LegOffset+lastLeg*JointsPerLeg;
+			SharedObject<PIDMC> tightLeg(lastlegoff,lastlegoff+JointsPerLeg,1);
+			motman->addPrunableMotion(tightLeg);
+		}
+
+
+	} else if(e.getGeneratorID()==EventBase::sensorEGID) {
+		//***************************************************************************//
+		//*** Update the position of the head based on new information on the toe ***//
+		//***************************************************************************//
+
+		//Which paw do we want?
+		const char * ipname= (lastLeg==LFrLegOrder) ? "ToeLFrPaw" : "ToeRFrPaw";
+
+		//Ask kinematics for current location of that paw (this is the "objective" aka target)
+		NEWMAT::ColumnVector Pobj=kine->getJointInterestPoint(BaseFrameOffset,ipname);
+
+		//Now point the head there
+		MMAccessor<HeadPointerMC>(pointID)->lookAtPoint(Pobj(1),Pobj(2),Pobj(3)); //keep head as far away as possible
+		//Alternative method:
+		// MMAccessor<HeadPointerMC>(pointID)->lookAtPoint(Pobj(1),Pobj(2),Pobj(3),80); //keep head 80mm away
+
+
+	} else if(e.getGeneratorID()==EventBase::visRawCameraEGID) {
+		//**************************************************************//
+		//*** Draw into the camera frame to put a box around the toe ***//
+		//**************************************************************//
+			
+		//same as above, but get the toe position relative to the camera
+		const char * ipname= (lastLeg==LFrLegOrder) ? "ToeLFrPaw" : "ToeRFrPaw";
+		NEWMAT::ColumnVector Pobj=kine->getJointInterestPoint(CameraFrameOffset,ipname);
+		float x,y;
+		config->vision.computePixel(Pobj(1),Pobj(2),Pobj(3),x,y);
+		y*=config->vision.aspectRatio;
+		float r=atan2(10.f,sqrt(Pobj.SumSquare()))/CameraHorizFOV/2;
+			
+		//draw into the layer which will be sent to the gui
+		//not doing any error checking on the type of the event or its source... cross your fingers ;)
+		const FilterBankEvent& fbe=dynamic_cast<const FilterBankEvent&>(e);
+		unsigned chan=RawCameraGenerator::CHAN_Y;
+		unsigned int layer=RawCamBehavior::getSourceLayer(chan,fbe.getNumLayers());
+		Graphics g(*fbe.getSource(), layer, chan);
+		g.setColor(255);
+		g.drawRect(x-r,y-r,r*2,r*2);
+			
+		/*
+		//this method of drawing gets the pixel coordinates without applying
+		// camera calibration via config->vision.computePixel
+		g.setColor(192);
+		r=atan2(5.f,sqrt(Pobj.SumSquare()))/CameraHorizFOV/2; //draws a half-size rectangle
+		x=Pobj(1)/(Pobj(3)*tan(CameraHorizFOV/2));
+		y=Pobj(2)/(Pobj(3)*tan(CameraVertFOV/2));
+		y*=config->vision.aspectRatio;
+		g.drawRect(x-r,y-r,r*2,r*2);
+		*/
+
+	} else {
+		serr->printf("StareAtPawBehavior2: Unhandled event %s\n",e.getName().c_str());
+	}
+}
+
+/*! @file
+ * @brief Implements StareAtPawBehavior2, which uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera
+ * @author ejt (Creator)
+ *
+ * $Author: ejt $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.3 $
+ * $State: Exp $
+ * $Date: 2005/08/04 21:09:26 $
+ */
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/StareAtPawBehavior2.h ./Behaviors/Demos/StareAtPawBehavior2.h
--- ../Tekkotsu_2.3/Behaviors/Demos/StareAtPawBehavior2.h	Wed Dec 22 20:47:07 2004
+++ ./Behaviors/Demos/StareAtPawBehavior2.h	Thu Jul  7 16:25:56 2005
@@ -3,15 +3,7 @@
 #define INCLUDED_StareAtPawBehavior2_h_
 
 #include "Behaviors/BehaviorBase.h"
-#include "Motion/PIDMC.h"
-#include "Motion/HeadPointerMC.h"
-#include "Motion/PostureMC.h"
 #include "Motion/MotionManager.h"
-#include "Shared/SharedObject.h"
-#include "Motion/roboop/robot.h"
-#include "Shared/Config.h"
-#include "Motion/Kinematics.h"
-
 
 //! Uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera
 class StareAtPawBehavior2 : public BehaviorBase {
@@ -21,61 +13,9 @@
 		: BehaviorBase("StareAtPawBehavior2"), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID)
 	{ }
 
-	virtual void DoStart() {
-		BehaviorBase::DoStart(); // do this first
-		pointID=motman->addPersistentMotion(SharedObject<HeadPointerMC>());
-		erouter->addListener(this,EventBase::sensorEGID);
-		erouter->addListener(this,EventBase::buttonEGID);
-		if(state->robotDesign == WorldState::ERS7Mask)
-			sout->printf("NOTICE: The ERS-7 has a rather \"sticky\" nod joint\n"
-									 "(the upper tilt joint).  This can cause it to hesitate\n"
-									 "or altogether fail to precisely center the target position\n"
-									 "vertically in the center of the image...\n");
-	}
-
-	virtual void DoStop() {
-		motman->removeMotion(pointID);
-		pointID=MotionManager::invalid_MC_ID;
-		erouter->removeListener(this);
-		BehaviorBase::DoStop(); // do this last
-	}
-
-	virtual void processEvent(const EventBase& e) {
-		if(e.getGeneratorID()==EventBase::buttonEGID) {
-
-			if(e.getSourceID()==LFrPawOffset) {
-				lastLeg=LFrLegOrder;
-			} else if(e.getSourceID()==RFrPawOffset) {
-				lastLeg=RFrLegOrder;
-			} else
-				return;
-			if(e.getTypeID()==EventBase::activateETID) {
-				unsigned int lastlegoff=LegOffset+lastLeg*JointsPerLeg;
-				SharedObject<PIDMC> relaxLeg(lastlegoff,lastlegoff+JointsPerLeg,0);
-				motman->addPrunableMotion(relaxLeg);
-			} else if(e.getTypeID()==EventBase::deactivateETID) {
-				unsigned int lastlegoff=LegOffset+lastLeg*JointsPerLeg;
-				SharedObject<PIDMC> tightLeg(lastlegoff,lastlegoff+JointsPerLeg,1);
-				motman->addPrunableMotion(tightLeg);
-			}
-
-		} else if(e.getGeneratorID()==EventBase::sensorEGID) {
-
-			//Which paw do we want?
-			const char * ipname= (lastLeg==LFrLegOrder) ? "ToeLFrPaw" : "ToeRFrPaw";
-
-			//Ask kinematics for current location of that paw (this is the "objective" aka target)
-			NEWMAT::ColumnVector Pobj=kine->getJointInterestPoint(BaseFrameOffset,ipname);
-
-			//Now point the head there
-			MMAccessor<HeadPointerMC>(pointID)->lookAtPoint(Pobj(1),Pobj(2),Pobj(3)); //keep head as far away as possible
-			//Alternative method:
-			// MMAccessor<HeadPointerMC>(pointID)->lookAtPoint(Pobj(1),Pobj(2),Pobj(3),80); //keep head 80mm away
-
-		} else {
-			serr->printf("StareAtPawBehavior2: Unhandled event %s\n",e.getName().c_str());
-		}
-	}
+	virtual void DoStart();
+	virtual void DoStop();
+	virtual void processEvent(const EventBase& e);
 
 	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(); }
@@ -86,14 +26,14 @@
 };
 
 /*! @file
- * @brief Defines StareAtPawBehavior2, which uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera
+ * @brief Describes StareAtPawBehavior2, which uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera
  * @author ejt (Creator)
  *
  * $Author: ejt $
- * $Name: tekkotsu-2_3 $
- * $Revision: 1.18 $
+ * $Name: tekkotsu-2_4 $
+ * $Revision: 1.21 $
  * $State: Exp $
- * $Date: 2004/12/23 01:47:07 $
+ * $Date: 2005/07/07 20:25:56 $
  */
 
 #endif
diff -urdN ../Tekkotsu_2.3/Behaviors/Demos/StepTest.h ./Behaviors/Demos/StepTest.h
--- ../Tekkotsu_2.3/Behaviors/Demos/StepTest.h	Wed Dec 31 19:00:00