Index: Tekkotsu/project/Makefile diff -c Tekkotsu/project/Makefile:1.46 Tekkotsu/project/Makefile:1.56 *** Tekkotsu/project/Makefile:1.46 Thu Oct 9 20:45:32 2003 --- Tekkotsu/project/Makefile Tue Dec 23 01:33:44 2003 *************** *** 53,68 **** # need to have optimizations turned off, and several TinyFTPD sources # have -Weffc++ and -DOPENR_DEBUG turned off. If you want to modify # these exceptions, look in the middle of the 'Makefile Machinery' ! # section. CXXFLAGS= \ ! -g -O2 \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Winline -Wdeprecated -Wnon-virtual-dtor \ -I"`pwd`" -I$(TEKKOTSU_ROOT) \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ ! -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ -DPLATFORM_APERIOS -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ ################################################### ## SOURCE CODE LIST ## --- 53,73 ---- # need to have optimizations turned off, and several TinyFTPD sources # have -Weffc++ and -DOPENR_DEBUG turned off. If you want to modify # these exceptions, look in the middle of the 'Makefile Machinery' ! # section. (grep/search for the file name) CXXFLAGS= \ ! -g -pipe -O2 -frename-registers -fomit-frame-pointer -ffast-math -fno-common \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Winline -Wdeprecated -Wnon-virtual-dtor \ -I"`pwd`" -I$(TEKKOTSU_ROOT) \ + -isystem $(TEKKOTSU_ROOT)/Shared/jpeg-6b \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ ! -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 \ ! -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ -DPLATFORM_APERIOS -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ + #Suggested additional flags + # -ffast-math + ################################################### ## SOURCE CODE LIST ## *************** *** 80,85 **** --- 85,92 ---- # into MMCombo. MAIN_SRCS:=$(PROJ_SRCS) + USERLIBS:=$(TEKKOTSU_ROOT)/Shared/jpeg-6b/libjpeg.a + ################################################### ## PROCESS SETUP ## *************** *** 94,102 **** # These all are relative to TEKKOTSU_ROOT PROCESS_OBJS=MMCombo TinyFTPD SoundPlay ! MMCombo_COMP=MMCombo MMCombo/MMComboStub.o Behaviors Events Motion Shared SoundPlay/SoundManager.o SoundPlay/WAV.o Vision Wireless WorldModel2 TinyFTPD_COMP=TinyFTPD TinyFTPD/TinyFTPDStub.o ! SoundPlay_COMP=SoundPlay SoundPlay/SoundPlayStub.o Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Shared/LoadSave.o Shared/get_time.o STUB_FILES:=$(addprefix $(TEKKOTSU_ROOT)/,$(addsuffix /stub.cfg,$(PROCESS_OBJS))) STUB_CHECK_FILES:=$(addprefix $(TEKKOTSU_ROOT)/$(BUILDDIR)/,$(subst /,-,$(STUB_FILES))) --- 101,109 ---- # These all are relative to TEKKOTSU_ROOT PROCESS_OBJS=MMCombo TinyFTPD SoundPlay ! MMCombo_COMP=MMCombo MMCombo/MMComboStub.o Behaviors Events Motion Shared SoundPlay/SoundManager.o SoundPlay/WAV.o Vision Wireless TinyFTPD_COMP=TinyFTPD TinyFTPD/TinyFTPDStub.o ! SoundPlay_COMP=SoundPlay SoundPlay/SoundPlayStub.o Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Events/VisionObjectEvent.o Shared/LoadSave.o Shared/get_time.o STUB_FILES:=$(addprefix $(TEKKOTSU_ROOT)/,$(addsuffix /stub.cfg,$(PROCESS_OBJS))) STUB_CHECK_FILES:=$(addprefix $(TEKKOTSU_ROOT)/$(BUILDDIR)/,$(subst /,-,$(STUB_FILES))) *************** *** 127,133 **** else PROCESSES=MMCOMBO TINYFTPD SNDPLAY ! MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf --- 134,140 ---- else PROCESSES=MMCOMBO TINYFTPD SNDPLAY ! MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(MAIN_SRCS:$(SRCSUFFIX)=.a) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf *************** *** 189,195 **** # list of all source files of all components, sorted to remove # duplicates. This gives us all the source files which we care about, # all in one place. ! SRCS:=$(sort $(foreach comp,$(COMPONENTS), $(if $(suffix $(comp)),$(TEKKOTSU_ROOT)/$(basename $(comp)).cc,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) $(MAIN_SRCS) OBJS:=$(SRCS:$(SRCSUFFIX)=.o) DEPENDS:=$(SRCS:$(SRCSUFFIX)=.d) --- 196,202 ---- # list of all source files of all components, sorted to remove # duplicates. This gives us all the source files which we care about, # all in one place. ! SRCS:=$(sort $(foreach comp,$(COMPONENTS), $(if $(suffix $(filter-out %.a,$(comp))),$(TEKKOTSU_ROOT)/$(basename $(comp)).cc,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) $(MAIN_SRCS) OBJS:=$(SRCS:$(SRCSUFFIX)=.o) DEPENDS:=$(SRCS:$(SRCSUFFIX)=.d) *************** *** 220,227 **** updateTools: cd $(TEKKOTSU_ROOT)/tools && $(MAKE); ! compile: reportTarget cleanTemps updateTools $(INSTALL_BINS) @image="$(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))" ; \ if [ \! -d $$image ] ; then \ if [ \! -d $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot ] ; then \ echo "Could not find OPEN-R system binaries" ; \ --- 227,238 ---- updateTools: cd $(TEKKOTSU_ROOT)/tools && $(MAKE); ! compile: reportTarget cleanTemps updateTools $(USERLIBS) $(INSTALL_BINS) @image="$(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))" ; \ + if [ $(TEKKOTSU_ROOT)/TARGET_MODEL -nt $$image ] ; then \ + echo "Deleting old cached OPEN-R binaries"; \ + rm -rf $$image ; \ + fi; \ if [ \! -d $$image ] ; then \ if [ \! -d $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot ] ; then \ echo "Could not find OPEN-R system binaries" ; \ *************** *** 254,260 **** touch $@ ; %.d : $(STUB_CHECK_FILES) %$(SRCSUFFIX) ! @echo Building $@ for $*$(SRCSUFFIX) @$(CXX) $(CXXFLAGS) -MP -MG -MT $@ -MT $*.o -MM $*$(SRCSUFFIX) > $@ %/def.h %/entry.h: %/stub.cfg --- 265,271 ---- touch $@ ; %.d : $(STUB_CHECK_FILES) %$(SRCSUFFIX) ! @echo Building $@... @$(CXX) $(CXXFLAGS) -MP -MG -MT $@ -MT $*.o -MM $*$(SRCSUFFIX) > $@ %/def.h %/entry.h: %/stub.cfg *************** *** 290,351 **** @exit 1 #The "fork" we do of MMCombo into MainObj and MotoObj crashes with optimization... not a big loss, just turn it off for these files ! $(TEKKOTSU_ROOT)/MMCombo/MMCombo.o $(TEKKOTSU_ROOT)/MMCombo/MMComboStub.o: %.o: %$(SRCSUFFIX) %.d $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $< into $@... (no -O2)"; \ $(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; ! $(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpMethod.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpRequest.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpDTP.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpPI.o: %.o: %$(SRCSUFFIX) %.d $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $< into $@... (reduced warnings, no OPENR_DEBUG)"; \ $(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; ! $(TEKKOTSU_ROOT)/SoundPlay/WAV.o $(TEKKOTSU_ROOT)/Vision/Vision.o: %.o: %$(SRCSUFFIX) %.d $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $< into $@... (reduced warnings)"; \ $(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; ! %.o: %$(SRCSUFFIX) %.d $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $< into $@..."; \ $(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; $(TEKKOTSU_ROOT)/TARGET_MODEL: $(error Could not find $(TEKKOTSU_ROOT)/TARGET_MODEL) --- 301,366 ---- @exit 1 #The "fork" we do of MMCombo into MainObj and MotoObj crashes with optimization... not a big loss, just turn it off for these files ! $(TEKKOTSU_ROOT)/MMCombo/MMCombo.o $(TEKKOTSU_ROOT)/MMCombo/MMComboStub.o: %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $<... (no -O2)"; \ $(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; ! $(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpMethod.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpRequest.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpDTP.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpPI.o: %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $<... (reduced warnings, no OPENR_DEBUG)"; \ $(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; ! $(TEKKOTSU_ROOT)/SoundPlay/WAV.o $(TEKKOTSU_ROOT)/Vision/Vision.o: %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $<... (reduced warnings)"; \ $(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; ! %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL @if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ echo "$(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ touch $@; \ echo "$@" >> $(BUILDDIR)/touched.txt ; \ else \ ! echo "Compiling $<..."; \ $(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; \ retval=$$?; \ cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ test $$retval -eq 0; \ fi; + #This is for external libraries which we are including, such as libjpeg + %.a: + $(MAKE) -C $(dir $@) $(notdir $@) + $(TEKKOTSU_ROOT)/TARGET_MODEL: $(error Could not find $(TEKKOTSU_ROOT)/TARGET_MODEL) *************** *** 360,386 **** @if [ $(words $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(basename $(notdir $@))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc")))))) -gt 20 ] ; then \ echo "$@ <- [...]"; \ else \ ! echo "$@ <- $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(basename $(notdir $@))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") ))))"; \ fi; ! @$(LD) -i $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(basename $(notdir $@))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") )))) -o $@ ; \ if [ $$? -ne 0 ] ; then exit 1; fi; #PROC_BINS: (executable binaries, uncompressed) ! #we have to do a couple extra steps to cd into the builddir because mkbin doesn't support ! # -o target in a different directory... drops an intermediate file in . and then complains ! $(BUILDDIR)/%$(BINSUFFIX): @if [ -r dist_hosts.txt -a -r $(BUILDDIR)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ ../tools/pm.pl dist_hosts.txt $(BUILDDIR)/joblist.txt ; \ fi @rm -f $(BUILDDIR)/joblist.txt; #this is so we don't rebuild multiple times @echo "Creating executable binary..." ! @echo "$@ <- $($(basename $(notdir $@))_OBJS), $($(basename $(notdir $@))_OCF)" @$(LD) -i $($(basename $(notdir $@))_OBJS) -o $(BUILDDIR)/tmp.o @cp $($(basename $(notdir $@))_OCF) $(BUILDDIR)/tmp.ocf @cd $(BUILDDIR) ; \ ! $(MKBIN) $(MKBINFLAGS) -o $(notdir $@) tmp.o tmp.ocf $(LIBS) ; \ if [ $$? -gt 0 ] ; then \ echo "Build failed."; \ exit 1; \ --- 375,402 ---- @if [ $(words $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(basename $(notdir $@))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc")))))) -gt 20 ] ; then \ echo "$@ <- [...]"; \ else \ ! echo "$@ <- $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") ))))"; \ fi; ! @$(LD) -i $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") )))) -o $@ ; \ if [ $$? -ne 0 ] ; then exit 1; fi; #PROC_BINS: (executable binaries, uncompressed) ! # we have to do a couple extra steps to cd into the builddir because ! # mkbin doesn't support -o target in a different directory... drops an ! # intermediate file in . and then complains (as of 1.1.3 anyway) ! $(BUILDDIR)/%$(BINSUFFIX): $(USERLIBS) @if [ -r dist_hosts.txt -a -r $(BUILDDIR)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ ../tools/pm.pl dist_hosts.txt $(BUILDDIR)/joblist.txt ; \ fi @rm -f $(BUILDDIR)/joblist.txt; #this is so we don't rebuild multiple times @echo "Creating executable binary..." ! @echo "$@ <- $($(basename $(notdir $@))_OBJS), $($(basename $(notdir $@))_OCF), $(LIBS) $(USERLIBS)"; #we'll need to do some filtering on USERLIBS below because now we're in builddir @$(LD) -i $($(basename $(notdir $@))_OBJS) -o $(BUILDDIR)/tmp.o @cp $($(basename $(notdir $@))_OCF) $(BUILDDIR)/tmp.ocf @cd $(BUILDDIR) ; \ ! $(MKBIN) $(MKBINFLAGS) -o $(notdir $@) tmp.o -m tmp.ocf $(LIBS) $(filter /%,$(USERLIBS)) $(addprefix ../,$(filter-out /%,$(USERLIBS))) ; \ if [ $$? -gt 0 ] ; then \ echo "Build failed."; \ exit 1; \ *************** *** 441,446 **** --- 457,463 ---- rm -f $(foreach proc,$(PROCESS_OBJS),$(TEKKOTSU_ROOT)/$(proc)/$(proc)Stub.cc $(TEKKOTSU_ROOT)/$(proc)/$(proc)Stub.h $(TEKKOTSU_ROOT)/$(proc)/def.h $(TEKKOTSU_ROOT)/$(proc)/entry.h) rm -rf $(TEKKOTSU_ROOT)/$(BUILDDIR) cd $(TEKKOTSU_ROOT)/tools ; $(MAKE) clean + $(foreach lib,$(USERLIBS),$(MAKE) -C $(dir $(lib)) clean) cleanDeps: @printf "Cleaning all .d files corresponding to .cc files..." Index: Tekkotsu/project/StartupBehavior.cc diff -c Tekkotsu/project/StartupBehavior.cc:1.43 Tekkotsu/project/StartupBehavior.cc:1.55 *** Tekkotsu/project/StartupBehavior.cc:1.43 Tue Sep 2 17:10:53 2003 --- Tekkotsu/project/StartupBehavior.cc Mon Jan 19 17:04:02 2004 *************** *** 3,8 **** --- 3,9 ---- #include "Behaviors/Controller.h" #include "Behaviors/Controls/BatteryCheckControl.h" #include "Behaviors/Controls/ControlBase.h" + #include "Behaviors/Controls/PostureEditor.h" #include "Behaviors/Controls/HelpControl.h" #include "Behaviors/Controls/RebootControl.h" #include "Behaviors/Controls/ShutdownControl.h" *************** *** 14,27 **** #include "Motion/MotionSequenceMC.h" #include "Motion/MMAccessor.h" - #include "Vision/Vision.h" - #include "SoundPlay/SoundManager.h" #include "Shared/ERS210Info.h" StartupBehavior theStartup; //!< used to initialize the global ::startupBehavior, used by MMCombo ! BehaviorBase& startupBehavior=theStartup; //!< used by MMCombo as the init behavior StartupBehavior::StartupBehavior() : BehaviorBase(), spawned(),setup(), --- 15,29 ---- #include "Motion/MotionSequenceMC.h" #include "Motion/MMAccessor.h" #include "SoundPlay/SoundManager.h" #include "Shared/ERS210Info.h" + #include "Shared/ERS7Info.h" + + #include "Shared/ProjectInterface.h" StartupBehavior theStartup; //!< used to initialize the global ::startupBehavior, used by MMCombo ! BehaviorBase& ProjectInterface::startupBehavior=theStartup; //!< used by MMCombo as the init behavior StartupBehavior::StartupBehavior() : BehaviorBase(), spawned(),setup(), *************** *** 35,41 **** void StartupBehavior::DoStart() { BehaviorBase::DoStart(); ! //This will "fade" in the PIDs so the joints don't jerk to full power, also looks cooler pid_id=motman->addMotion(SharedObject(0),MotionManager::kEmergencyPriority+1,false); //also, pause before we start fading in, PIDs take effect right away, before the emergencystop is picked up --- 37,46 ---- void StartupBehavior::DoStart() { BehaviorBase::DoStart(); ! //Initialize the Vision pipeline (it's probably a good idea to do this ! //first in case later stuff wants to reference the vision stages) ! initVision(); ! //This will "fade" in the PIDs so the joints don't jerk to full power, also looks cooler pid_id=motman->addMotion(SharedObject(0),MotionManager::kEmergencyPriority+1,false); //also, pause before we start fading in, PIDs take effect right away, before the emergencystop is picked up *************** *** 71,76 **** --- 76,84 ---- closemouth->setJointCmd(MouthOffset,outputRanges[MouthOffset][MaxRange],1); motman->addMotion(closemouth,MotionCommand::kEmergencyPriority+2,true); */ + + //if you didn't want to start off paused, you should throw an un-estop event: + //erouter->postEvent(EventBase(EventBase::estopEGID,MotionManager::invalid_MC_ID,EventBase::deactivateETID,0)); } void StartupBehavior::DoStop() { *************** *** 83,89 **** /*!Uses a few timer events at the beginning to fade in the PID values, and closes the mouth too*/ void StartupBehavior::processEvent(const EventBase&) { static unsigned int start_time=-1U; ! const unsigned int tot_time=2047; //if this is set to 2048, i sometimes get funny errors: [oid:80000034,prio:1] AGRMSDriver::SetGain() : 0x0A IS USED FOR GAIN SHIFT VALUE. if(start_time==-1U) { //first time start_time=get_time(); MMAccessor(stop_id)->takeSnapshot(); //take new snapshot with hopefully valid data --- 91,97 ---- /*!Uses a few timer events at the beginning to fade in the PID values, and closes the mouth too*/ void StartupBehavior::processEvent(const EventBase&) { static unsigned int start_time=-1U; ! const unsigned int tot_time=2000; if(start_time==-1U) { //first time start_time=get_time(); MMAccessor(stop_id)->takeSnapshot(); //take new snapshot with hopefully valid data *************** *** 94,99 **** --- 102,109 ---- { MMAccessor(pid_id)->setAllPowerLevel(power); } if(state->robotDesign & WorldState::ERS210Mask) { MMAccessor(stop_id)->setOutputCmd(ERS210Info::MouthOffset,outputRanges[ERS210Info::MouthOffset][MaxRange]); } + if(state->robotDesign & WorldState::ERS7Mask) + { MMAccessor(stop_id)->setOutputCmd(ERS7Info::MouthOffset,outputRanges[ERS7Info::MouthOffset][MaxRange]); } } if((get_time()-start_time)>=tot_time) { erouter->removeTimer(this); *************** *** 102,113 **** } } - /*class WalkToPinkBallFactory : public Factory { - public: - static WalkToTargetMachine* construct() { return new WalkToTargetMachine(VisionEventNS::PinkBallSID); } - }; - */ - ControlBase* StartupBehavior::SetupMenus() { std::cout << "CONTROLLER-INIT..." << std::flush; --- 112,117 ---- *************** *** 122,135 **** SetupStatusReports(); SetupFileAccess(); SetupWalkEdit(); ! addItem(new ControlBase("Shutdown?")); startSubMenu(); { addItem(new ShutdownControl()); addItem(new RebootControl()); } endSubMenu(); ! addItem(new HelpControl(root)); } if(endSubMenu()!=root) --- 126,141 ---- SetupStatusReports(); SetupFileAccess(); SetupWalkEdit(); ! addItem(new PostureEditor()); ! SetupVision(); ! addItem(new ControlBase("Shutdown?","Confirms decision to reboot or shut down")); startSubMenu(); { addItem(new ShutdownControl()); addItem(new RebootControl()); } endSubMenu(); ! addItem(new HelpControl(root,2)); } if(endSubMenu()!=root) Index: Tekkotsu/project/StartupBehavior.h diff -c Tekkotsu/project/StartupBehavior.h:1.8 Tekkotsu/project/StartupBehavior.h:1.10 *** Tekkotsu/project/StartupBehavior.h:1.8 Tue Sep 2 23:23:39 2003 --- Tekkotsu/project/StartupBehavior.h Tue Dec 9 18:56:58 2003 *************** *** 46,51 **** --- 46,54 ---- virtual ControlBase* SetupStatusReports(); //!< sets up Status Reports menu virtual ControlBase* SetupFileAccess(); //!< sets up File Access menu virtual ControlBase* SetupWalkEdit(); //!< sets up Walk Editing menus (contributed by PGSS 2003 team project - see StartupBehavior_SetupWalkEdit.cc ) + virtual ControlBase* SetupVision(); //!< sets up the Vision menu + + virtual void initVision(); //!< Sets up the vision pipelines (held in StartupBehavior_SetupVision.cc) virtual void startSubMenu(); //!< future calls to addItem() will be placed under the most recently added item virtual void addItem(ControlBase * control); //!< inserts a control at the end of the menu Index: Tekkotsu/project/StartupBehavior_SetupBackgroundBehaviors.cc diff -c Tekkotsu/project/StartupBehavior_SetupBackgroundBehaviors.cc:1.3 Tekkotsu/project/StartupBehavior_SetupBackgroundBehaviors.cc:1.8 *** Tekkotsu/project/StartupBehavior_SetupBackgroundBehaviors.cc:1.3 Thu Oct 2 23:41:27 2003 --- Tekkotsu/project/StartupBehavior_SetupBackgroundBehaviors.cc Mon Jan 19 03:03:22 2004 *************** *** 6,16 **** #include "Behaviors/Demos/AutoGetupBehavior.h" #include "Behaviors/Demos/BatteryMonitorBehavior.h" #include "Behaviors/Demos/HeadLevelBehavior.h" - #include "Behaviors/Demos/EvtRptBehavior.h" - #include "Behaviors/Demos/DumbWM2Behavior.h" #include "Behaviors/Demos/ToggleHeadLightBehavior.h" #include "Behaviors/Demos/HelloWorldBehavior.h" #include "Behaviors/Demos/CrashTestBehavior.h" #include "Shared/WorldState.h" #include "Shared/ERS210Info.h" --- 6,17 ---- #include "Behaviors/Demos/AutoGetupBehavior.h" #include "Behaviors/Demos/BatteryMonitorBehavior.h" #include "Behaviors/Demos/HeadLevelBehavior.h" #include "Behaviors/Demos/ToggleHeadLightBehavior.h" #include "Behaviors/Demos/HelloWorldBehavior.h" #include "Behaviors/Demos/CrashTestBehavior.h" + #include "Behaviors/Demos/RelaxBehavior.h" + #include "Behaviors/Demos/WorldStateVelDaemon.h" + #include "Behaviors/Demos/CameraBehavior.h" #include "Shared/WorldState.h" #include "Shared/ERS210Info.h" *************** *** 22,34 **** { addItem((new BehaviorSwitchControl("AutoGetupBehavior",false))->start()); addItem((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); - addItem(new BehaviorSwitchControl("EvtRptBehavior",false)); - addItem(new BehaviorSwitchControl("DumbWM2Behavior",false)); addItem(new BehaviorSwitchControl("HeadLevelBehavior",false)); if(state->robotDesign & WorldState::ERS220Mask) addItem(new BehaviorSwitchControl("ToggleHeadLightBehavior",false)); addItem(new BehaviorSwitchControl("HelloWorldBehavior",false)); addItem(new BehaviorSwitchControl("CrashTestBehavior",false)); } return endSubMenu(); } --- 23,36 ---- { addItem((new BehaviorSwitchControl("AutoGetupBehavior",false))->start()); addItem((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); addItem(new BehaviorSwitchControl("HeadLevelBehavior",false)); if(state->robotDesign & WorldState::ERS220Mask) addItem(new BehaviorSwitchControl("ToggleHeadLightBehavior",false)); addItem(new BehaviorSwitchControl("HelloWorldBehavior",false)); addItem(new BehaviorSwitchControl("CrashTestBehavior",false)); + addItem(new BehaviorSwitchControl("RelaxBehavior",false)); + addItem(new BehaviorSwitchControl("CameraBehavior",false)); + addItem((new BehaviorSwitchControl("WorldStateVelDaemon",false))->start()); } return endSubMenu(); } Index: Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc diff -c Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.7 Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.15 *** Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.7 Fri Oct 10 01:57:47 2003 --- Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc Wed Jan 21 00:48:58 2004 *************** *** 10,18 **** #include "Behaviors/Demos/FollowHeadBehavior.h" #include "Behaviors/Demos/WalkToTargetMachine.h" #include "Behaviors/Demos/BanditMachine.h" - #include "Behaviors/Demos/WorldModel2Behavior.h" #include "Behaviors/Demos/SoundTestBehavior.h" #include "Behaviors/Demos/ExploreMachine.h" ControlBase* StartupBehavior::SetupModeSwitch() { --- 10,20 ---- #include "Behaviors/Demos/FollowHeadBehavior.h" #include "Behaviors/Demos/WalkToTargetMachine.h" #include "Behaviors/Demos/BanditMachine.h" #include "Behaviors/Demos/SoundTestBehavior.h" #include "Behaviors/Demos/ExploreMachine.h" + #include "Behaviors/Demos/PaceTargetsMachine.h" + + #include "Shared/ProjectInterface.h" ControlBase* StartupBehavior::SetupModeSwitch() { *************** *** 24,39 **** BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup(); //put behaviors here: ! addItem(new BehaviorSwitchControl("AlanBehavior",bg,false)); addItem(new BehaviorSwitchControl("FollowHeadBehavior",bg,false)); addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); addItem(new BehaviorSwitchControl("ChaseBallBehavior",bg,false)); addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",bg,false)); addItem(new BehaviorSwitchControl("StareAtBallBehavior",bg,false)); ! addItem(new BehaviorSwitchControl >("WalkToPinkBall",bg,false)); addItem(new BehaviorSwitchControl("BanditMachine",bg,false)); - addItem(new BehaviorSwitchControl("WorldModel2Behavior",bg,false)); addItem(new BehaviorSwitchControl("ExploreMachine",bg,false)); } return endSubMenu(); } --- 26,42 ---- BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup(); //put behaviors here: ! if(state->robotDesign&WorldState::ERS210Mask) //this one only really works on the 210 ! addItem(new BehaviorSwitchControl("AlanBehavior",bg,false)); addItem(new BehaviorSwitchControl("FollowHeadBehavior",bg,false)); addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); addItem(new BehaviorSwitchControl("ChaseBallBehavior",bg,false)); addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",bg,false)); addItem(new BehaviorSwitchControl("StareAtBallBehavior",bg,false)); ! addItem(new BehaviorSwitchControlBase(new WalkToTargetMachine(ProjectInterface::visPinkBallSID),bg)); addItem(new BehaviorSwitchControl("BanditMachine",bg,false)); addItem(new BehaviorSwitchControl("ExploreMachine",bg,false)); + addItem(new BehaviorSwitchControl("PaceTargetsMachine",bg,false)); } return endSubMenu(); } Index: Tekkotsu/project/StartupBehavior_SetupStatusReports.cc diff -c Tekkotsu/project/StartupBehavior_SetupStatusReports.cc:1.1 Tekkotsu/project/StartupBehavior_SetupStatusReports.cc:1.2 *** Tekkotsu/project/StartupBehavior_SetupStatusReports.cc:1.1 Fri Jul 25 21:48:59 2003 --- Tekkotsu/project/StartupBehavior_SetupStatusReports.cc Tue Dec 23 01:33:44 2003 *************** *** 6,11 **** --- 6,12 ---- #include "Behaviors/Controls/FreeMemReportControl.h" #include "Behaviors/Controls/ProfilerCheckControl.h" #include "Behaviors/Controls/EventLogger.h" + #include "Behaviors/Controls/SensorObserverControl.h" ControlBase* StartupBehavior::SetupStatusReports() { *************** *** 15,20 **** --- 16,22 ---- addItem(new BatteryCheckControl()); addItem(new ProfilerCheckControl()); addItem(new EventLogger()); + addItem(new SensorObserverControl()); FreeMemReportControl * tmp=new FreeMemReportControl(); tmp->DoStart(); addItem(tmp); Index: Tekkotsu/project/StartupBehavior_SetupTekkotsuMon.cc diff -c Tekkotsu/project/StartupBehavior_SetupTekkotsuMon.cc:1.7 Tekkotsu/project/StartupBehavior_SetupTekkotsuMon.cc:1.12 *** Tekkotsu/project/StartupBehavior_SetupTekkotsuMon.cc:1.7 Thu Oct 9 20:47:55 2003 --- Tekkotsu/project/StartupBehavior_SetupTekkotsuMon.cc Mon Jan 19 15:36:56 2004 *************** *** 9,28 **** #include "Behaviors/Mon/Aibo3DControllerBehavior.h" #include "Behaviors/Mon/EStopControllerBehavior.h" #include "Behaviors/Mon/WMMonitorBehavior.h" ControlBase* StartupBehavior::SetupTekkotsuMon() { addItem(new ControlBase("TekkotsuMon","Servers for GUIs")); startSubMenu(); { addItem((new BehaviorSwitchControl("Head Remote Control",false))); addItem((new BehaviorSwitchControl("Walk Remote Control",false))); addItem((new BehaviorSwitchControl("View WMVars",false))); addItem((new BehaviorSwitchControl("Watchable Memory Monitor",false))->start()); ! BehaviorSwitchControlBase::BehaviorGroup * aibo3D_bg = new BehaviorSwitchControlBase::BehaviorGroup(); ! addItem((new BehaviorSwitchControl("Aibo 3D",aibo3D_bg,false))); ! EStopControllerBehavior * ESCB=new EStopControllerBehavior(stop_id); ! addItem((new BehaviorSwitchControl >("EStop Remote Control",ESCB))->start()); } return endSubMenu(); } --- 9,32 ---- #include "Behaviors/Mon/Aibo3DControllerBehavior.h" #include "Behaviors/Mon/EStopControllerBehavior.h" #include "Behaviors/Mon/WMMonitorBehavior.h" + #include "Behaviors/Mon/RawCamBehavior.h" + #include "Behaviors/Mon/SegCamBehavior.h" + #include "Behaviors/Mon/WorldStateSerializerBehavior.h" ControlBase* StartupBehavior::SetupTekkotsuMon() { addItem(new ControlBase("TekkotsuMon","Servers for GUIs")); startSubMenu(); { + addItem((new BehaviorSwitchControl("RawCamServer",false))); + addItem((new BehaviorSwitchControl("SegCamServer",false))); addItem((new BehaviorSwitchControl("Head Remote Control",false))); addItem((new BehaviorSwitchControl("Walk Remote Control",false))); addItem((new BehaviorSwitchControl("View WMVars",false))); addItem((new BehaviorSwitchControl("Watchable Memory Monitor",false))->start()); ! addItem((new BehaviorSwitchControl("Aibo 3D",false))); ! addItem((new BehaviorSwitchControl("World State Serializer",false))); ! addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); } return endSubMenu(); } Index: Tekkotsu/project/StartupBehavior_SetupVision.cc diff -c /dev/null Tekkotsu/project/StartupBehavior_SetupVision.cc:1.11 *** /dev/null Wed Jan 21 03:06:46 2004 --- Tekkotsu/project/StartupBehavior_SetupVision.cc Tue Jan 20 22:53:28 2004 *************** *** 0 **** --- 1,139 ---- + #include "StartupBehavior.h" + + #include "Shared/ProjectInterface.h" + #include "Shared/Config.h" + + #include "Behaviors/Controls/BehaviorSwitchControl.h" + + #include "Vision/RawCameraGenerator.h" + #include "Vision/InterleavedYUVGenerator.h" + #include "Vision/JPEGGenerator.h" + #include "Vision/SegmentedColorGenerator.h" + #include "Vision/RLEGenerator.h" + #include "Vision/RegionGenerator.h" + #include "Vision/BallDetectionGenerator.h" + #include "Vision/CDTGenerator.h" + + using namespace ProjectInterface; + + BallDetectionGenerator * pball=NULL; + BallDetectionGenerator * bball=NULL; + BallDetectionGenerator * handball=NULL; + + /*! We set the default vision generators and source IDs here. + * + * The vis*SID and def*Generator variables are defined in + * ProjectInterface. You can reassign their values as you see fit, + * which allows you to reorganize and adapt the vision pipeline, but + * still retain the ability of the included demo behaviors to access + * vision information. + */ + void + StartupBehavior::initVision() { + //The value you set here will define the number of resolution layers available throughout the vision pipeline + //If you change this value, you should modify the *Layer variables in ProjectInterface (if you want to use them) + unsigned int numLayers=6; + + //The top level layer will be double resolution + //This will set how many real layers are provided by the system (3 in Aperios) + //Any other layers will be subsamples of the lowest resolution system resolution + unsigned int numSystemLayers=3; + + defRawCameraGenerator = new RawCameraGenerator(numSystemLayers,numLayers,EventBase::visOFbkEGID,0,visRawCameraSID); + defRawCameraGenerator->DoStart(); + spawned.push_back(defRawCameraGenerator); + + defInterleavedYUVGenerator = new InterleavedYUVGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visInterleaveSID,RawCameraGenerator::CHAN_Y,RawCameraGenerator::CHAN_U,RawCameraGenerator::CHAN_V); + defInterleavedYUVGenerator->DoStart(); + spawned.push_back(defInterleavedYUVGenerator); + + defColorJPEGGenerator = new JPEGGenerator(EventBase::visInterleaveEGID,visInterleaveSID,visColorJPEGSID,JPEGGenerator::SRC_AUTO); + defColorJPEGGenerator->DoStart(); + defColorJPEGGenerator->setName("ColorJPEGGenerator"); + spawned.push_back(defColorJPEGGenerator); + + defGrayscaleJPEGGenerator = new JPEGGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visGrayscaleJPEGSID,JPEGGenerator::SRC_AUTO); + defGrayscaleJPEGGenerator->DoStart(); + defGrayscaleJPEGGenerator->setName("ColorGrayscaleGenerator"); + spawned.push_back(defGrayscaleJPEGGenerator); + + // the hardware level CDT generator allows faster, but less flexible + // segmenting it still needs a little work though before it can be + // hooked up to the CMVision RLE generator. See CDTGenerator class notes. + // defSegmentedColorGenerator = new CDTGenerator(numSystemLayers,numLayers,EventBase::visOFbkEGID,0,visSegmentSID); + SegmentedColorGenerator * segcol = new SegmentedColorGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visSegmentSID); + defSegmentedColorGenerator = segcol; + segcol->loadColorInfo(config->vision.colors); + for(unsigned int i=0; ivision.thresh.size(); i++) + segcol->loadThresholdMap(config->vision.thresh[i]); + if(config->vision.colors!="" && config->vision.thresh.size()>0) { + defSegmentedColorGenerator->DoStart(); + spawned.push_back(defSegmentedColorGenerator); + } + + defRLEGenerator = new RLEGenerator(EventBase::visSegmentEGID,visSegmentSID,visRLESID); + defRLEGenerator->DoStart(); + spawned.push_back(defRLEGenerator); + + defRegionGenerator = new RegionGenerator(EventBase::visRLEEGID,visRLESID,visRegionSID); + defRegionGenerator->DoStart(); + spawned.push_back(defRegionGenerator); + + // for lack of a better idea, the object recognizers below will all + // use the config->vision.rlecam_channel for picking the threshold + // file to use + // note that this is done here just once with the initial value, but + // the detectors won't get reloaded if you change the rlecam_channel + // later on + + // these names match up with /ms/config/default.col - the default + // color information... if that changes, these should change too + unsigned int threshChan=config->vision.rlecam_channel; + + // higher value reduce false events, but increase reaction time [0-inf] + unsigned int noiseFiltering=1; + + // lower values increase sensitivity (and noise) [0-1] + float confidenceThreshold=.8; + + unsigned int pinkIdx=segcol->getColorIndex("red"); + if(pinkIdx!=-1U) { + pball = new BallDetectionGenerator(EventBase::visRegionEGID,visRegionSID,visPinkBallSID,pinkIdx,threshChan,noiseFiltering,confidenceThreshold); + pball->setName("PinkBallDetectionGenerator"); + pball->DoStart(); + spawned.push_back(pball); + } + unsigned int blueIdx=segcol->getColorIndex("blue"); + if(blueIdx!=-1U) { + bball = new BallDetectionGenerator(EventBase::visRegionEGID,visRegionSID,visBlueBallSID,blueIdx,threshChan,noiseFiltering,confidenceThreshold); + pball->setName("BlueBallDetectionGenerator"); + bball->DoStart(); + spawned.push_back(bball); + } + unsigned int skinIdx=segcol->getColorIndex("brown"); + if(skinIdx!=-1U) { + handball = new BallDetectionGenerator(EventBase::visRegionEGID,visRegionSID,visHandSID,skinIdx,threshChan,noiseFiltering,confidenceThreshold); + pball->setName("HandBallDetectionGenerator"); + handball->DoStart(); + spawned.push_back(handball); + } + } + + ControlBase* + StartupBehavior::SetupVision() { + addItem(new ControlBase("Vision Pipeline","Start/Stop stages of the vision pipeline")); + startSubMenu(); + { + addItem(new BehaviorSwitchControlBase(defRawCameraGenerator)); + addItem(new BehaviorSwitchControlBase(defInterleavedYUVGenerator)); + addItem(new BehaviorSwitchControlBase(defColorJPEGGenerator)); + addItem(new BehaviorSwitchControlBase(defGrayscaleJPEGGenerator)); + addItem(new BehaviorSwitchControlBase(defSegmentedColorGenerator)); + addItem(new BehaviorSwitchControlBase(defRLEGenerator)); + addItem(new BehaviorSwitchControlBase(defRegionGenerator)); + addItem(new BehaviorSwitchControlBase(pball)); + addItem(new BehaviorSwitchControlBase(bball)); + addItem(new BehaviorSwitchControlBase(handball)); + } + return endSubMenu(); + } Index: Tekkotsu/project/StartupBehavior_SetupWalkEdit.cc diff -c Tekkotsu/project/StartupBehavior_SetupWalkEdit.cc:1.2 Tekkotsu/project/StartupBehavior_SetupWalkEdit.cc:1.6 *** Tekkotsu/project/StartupBehavior_SetupWalkEdit.cc:1.2 Thu Oct 9 20:45:32 2003 --- Tekkotsu/project/StartupBehavior_SetupWalkEdit.cc Fri Jan 16 00:14:39 2004 *************** *** 9,18 **** * @author PA Gov. School for the Sciences 2003 Team Project - Motion group: Haoqian Chen, Yantian Martin, Jon Stahlman (creators) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.1 $ ! * $State: Exp $ ! * $Date: 2004/01/21 08:30:08 $ */ #include "StartupBehavior.h" --- 9,18 ---- * @author PA Gov. School for the Sciences 2003 Team Project - Motion group: Haoqian Chen, Yantian Martin, Jon Stahlman (creators) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.1 $ ! * $State: Exp $ ! * $Date: 2004/01/21 08:30:08 $ */ #include "StartupBehavior.h" *************** *** 24,37 **** #include "Behaviors/Controls/LoadWalkControl.h" #include "Behaviors/Controls/SaveWalkControl.h" #include "Behaviors/Controls/ValueEditControl.h" ControlBase* StartupBehavior::SetupWalkEdit() { addItem(new ControlBase("Walk Edit","Edit the walk parameters")); startSubMenu(); { ! WalkControllerBehavior * walker = new WalkControllerBehavior ; ! addItem((new BehaviorSwitchControl("Walk Remote Control",walker))); addItem(new ValueEditControl("Slow Motion",walker->getWalkMC()->getSlowMo())); --- 24,39 ---- #include "Behaviors/Controls/LoadWalkControl.h" #include "Behaviors/Controls/SaveWalkControl.h" #include "Behaviors/Controls/ValueEditControl.h" + #include "Behaviors/Controls/WalkCalibration.h" + #include "Behaviors/Controls/LoadCalibration.h" ControlBase* StartupBehavior::SetupWalkEdit() { addItem(new ControlBase("Walk Edit","Edit the walk parameters")); startSubMenu(); { ! WalkControllerBehavior * walker = new WalkControllerBehavior(); ! addItem((new BehaviorSwitchControlBase(walker))); addItem(new ValueEditControl("Slow Motion",walker->getWalkMC()->getSlowMo())); *************** *** 117,122 **** --- 119,140 ---- addItem(new ValueEditControl("downimeLeg[FR]",&walker->getWalkMC()->getWP().leg[1].down_time)); addItem(new ValueEditControl("downimeLeg[BL]",&walker->getWalkMC()->getWP().leg[2].down_time)); addItem(new ValueEditControl("downimeLeg[BR]",&walker->getWalkMC()->getWP().leg[3].down_time)); + } + endSubMenu(); + + addItem(new ControlBase("calibration","Edit the walk parameters")); + startSubMenu(); + { + addItem(new WalkCalibration()); + addItem(new LoadCalibration<3,11>(walker->getWalkMC()->getCP().f_calibration,walker->getWalkMC()->getCP().b_calibration)); + addItem(new ValueEditControl("forward max_accel",&walker->getWalkMC()->getCP().max_accel[WalkMC::CalibrationParam::forward])); + addItem(new ValueEditControl("reverse max_accel",&walker->getWalkMC()->getCP().max_accel[WalkMC::CalibrationParam::reverse])); + addItem(new ValueEditControl("strafe max_accel",&walker->getWalkMC()->getCP().max_accel[WalkMC::CalibrationParam::strafe])); + addItem(new ValueEditControl("rotate max_accel",&walker->getWalkMC()->getCP().max_accel[WalkMC::CalibrationParam::rotate])); + addItem(new ValueEditControl("forward max_vel",&walker->getWalkMC()->getCP().max_vel[WalkMC::CalibrationParam::forward])); + addItem(new ValueEditControl("reverse max_vel",&walker->getWalkMC()->getCP().max_vel[WalkMC::CalibrationParam::reverse])); + addItem(new ValueEditControl("strafe max_vel",&walker->getWalkMC()->getCP().max_vel[WalkMC::CalibrationParam::strafe])); + addItem(new ValueEditControl("rotate max_vel",&walker->getWalkMC()->getCP().max_vel[WalkMC::CalibrationParam::rotate])); } endSubMenu(); Index: Tekkotsu/project/ms/config/tekkotsu.cfg diff -c Tekkotsu/project/ms/config/tekkotsu.cfg:1.21 Tekkotsu/project/ms/config/tekkotsu.cfg:1.39 *** Tekkotsu/project/ms/config/tekkotsu.cfg:1.21 Thu Oct 9 02:25:30 2003 --- Tekkotsu/project/ms/config/tekkotsu.cfg Wed Jan 21 02:02:44 2004 *************** *** 1,32 **** ! # Tekkotsu config [Wireless] ! # id unique id for Aibo id=1 [Vision] ! # white_balance indoor|flourescent|outdoor white_balance=flourescent ! # gain low|mid|high gain=high ! # shutter_speed slow|mid|fast shutter_speed=mid ! # resolution quarter|half|full resolution=full ! thresh=/ms/config/phb.tm ! # other included options for thresh: # general.tm - general colors, previously 'default' # ball.tm - standard Sony pink ball definition # pb.tm - pink and blue ! # phb.tm - pink, skin, and blue ! # note: "skin" is that of people who work in our lab - not a general sampling... :( colors=/ms/config/default.col ! raw_port=10011 ! rle_port=10012 ! obj_port=10013 ! # raw_encoding half|yfull_uvhalf|full ! raw_encoding=yfull_uvhalf [Main] console_port=10001 --- 1,142 ---- ! ################################################################ ! ################### Tekkotsu config ######################## ! ################################################################ ! # ! # Format: ! # ! # * Comments are any line beginning with '#' ! # ! # * Model specific regions can be denoted with ... ! # - Wildcards can also be used: ... ! # - Anything not within a model region is read by all models (i.e. <*>..) ! # - Don't get fancy with the "tags" - one per line, the parser's not that smart ! # (feel free to hack it if you want - it's in Config.cc) ! # ! # * Sections are demarcated with [SECTIONNAME] ! # - A section is only ended by another section beginning ! # - Section transitions within a model region will only be read by that model ! # - Section names are case insensitive ! # ! # * Otherwise, each line is interpreted as: variable=value ! # - this should correspond to Config::curSectionName_config::variable ! # - interpretation is up to the code in Config.cc ! # - some variables are lists (additional assignments push on the list), ! # others are simply overwritten if a new value is assigned. ! # - variable names are case insensitive ! # ! # * You can override these at run time from the Controller using the command: ! # !set section_name.variable=value ! # - Of course, whether or not the new value will be picked up depends on ! # how it is being used... ! # ! ################################################################## [Wireless] ! # unique id for Aibo (not used by Tekkotsu, but you might want it...) id=1 + [Vision] ! raw_port=10011 ! rle_port=10012 ! ! # white_balance indoor | flourescent | outdoor ! white_balance=flourescent ! ! ! white_balance=indoor ! ! ! # gain low | mid | high ! # higher gain will brighten the image, but increases noise gain=high ! ! # shutter_speed slow | mid | fast ! # slower shutter will brighten image, but increases motion blur shutter_speed=mid ! ! # resolution quarter | half | full ! # this is the resolution vision's object recognition system will run at resolution=full ! ! ### Color Segmentation Threshold files: ### ! # Threshold (.tm) files define the mapping from full color to indexed color ! # You can uncomment more than one of these - they will be loaded into ! # separate channels of the segmenter. The only cost of loading more ! # threshold files is memory - the CPU cost of actual segmenting is ! # only done when the channel is accessed. ! ! # Included options for color threshold file: ! ! # phb.tm - pink, skin (hand), and blue ! # note: "skin" is just of people who work in our lab - not a general sampling... :( # general.tm - general colors, previously 'default' # ball.tm - standard Sony pink ball definition # pb.tm - pink and blue ! thresh=/ms/config/phb.tm ! #thresh=/ms/config/general.tm ! thresh=/ms/config/ball.tm ! #thresh=/ms/config/pb.tm ! #thresh=/ms/config/ttt.tm ! ! ! # 7red.tm - just your usual pink/red/purple color detection, nothing too fancy ! # ball.tm - standard Sony pink ball definition ! thresh=/ms/config/7red.tm ! thresh=/ms/config/ball.tm ! ! ! # the .col file gives names and a "typical" color for display ! # the indexes numbers it contains correspond to indexes in the .tm file colors=/ms/config/default.col ! ! ! ### Image Streaming Format ### ! ! # rawcam_encoding color | y_only | uv_only | u_only | v_only | y_dx_only | y_dy_only | y_dxdy_only ! rawcam_encoding=color ! ! # compression none | jpeg ! rawcam_compression=jpeg ! ! # quality of jpeg compression 0-100 ! rawcam_compress_quality=85 ! ! # apparently someone at sony thinks it's a good idea to replace some ! # pixels in each camera image with information like the frame number ! # and CDT count. if non-zero, will replace those pixels with the ! # actual image pixel value in RawCamGenerator ! restore_image=1 ! ! # jpeg algorithm: 'islow' (integer, slow, but quality), 'ifast' (integer, fast, but rough), 'float' (floating point) ! jpeg_dct_method=ifast ! ! # log_2 of number of pixels to skip, 0 sends reconstructed double ! # resolution (mainly useful for Y channel, others are just resampled) ! # our eyes are more sensitive to intensity (y channel) so you might ! # want to send the UV channels at a lower resolution (higher skip) as ! # a form of compression ! # rawcam_y_skip is used when in sending single channel, regardless of ! # which channel ! # valid values are 0-5 ! rawcam_y_skip=2 ! rawcam_uv_skip=3 ! ! # you can send the original segmented image ! # or an RLE compressed version (which includes some noise removal) ! #rlecam_compression none | rle ! rlecam_compression=rle ! ! # this is the channel of the seg cam which should be sent. ! # corresponds to the index of the .tm file you want in thresh ! rlecam_channel=0 ! ! # this is the log_2 of pixels to skip when sending RLE encoded ! # segmented camera images, same idea as rawcam_*_skip ! rlecam_skip=1 ! [Main] console_port=10001 *************** *** 43,49 **** --- 153,162 ---- wmmonitor_port=10061 use_VT100=true + [Behaviors] + # your-stuff-here? + [Controller] gui_port=10020 *************** *** 52,74 **** --- 165,198 ---- prev_snd=tick.wav read_snd=ping.wav cancel_snd=whoop.wav + error_snd=fart.wav + [Motion] root=/ms/data/motion + walk=/ms/data/motion/walk.prm estop_on_snd=skid.wav estop_off_snd=yap.wav max_head_tilt_speed=2.1 max_head_pan_speed=3.0 max_head_roll_speed=3.0 + [Sound] root=/ms/data/sound + # volume = mute | level_1 | level_2 | level_3 | + # if you directly set the decibel level, be warned sony recommends against going above 0xF600 + # However, I believe the commercial software on the ERS-7 runs at 0xFF00 + # going above 0xF800 on a ERS-210 causes distortion (clipping) - full volume on a ERS-7 sounds fine though. + volume=level_3 + sample_rate=16000 sample_bits=16 # Preload is a list of sounds to cache at boot # can be either root relative or full path preload=skid.wav preload=yap.wav + [WorldModel2] dm_port=10041 Index: Tekkotsu/project/ms/data/motion/clearcal.txt diff -c /dev/null Tekkotsu/project/ms/data/motion/clearcal.txt:1.1 *** /dev/null Wed Jan 21 03:06:46 2004 --- Tekkotsu/project/ms/data/motion/clearcal.txt Fri Jan 16 00:14:52 2004 *************** *** 0 **** --- 1,6 ---- + 1 0 0 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 0 0 + 1 0 0 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 0 0 Index: Tekkotsu/project/ms/data/motion/pan_head.mot diff -c /dev/null Tekkotsu/project/ms/data/motion/pan_head.mot:1.1 *** /dev/null Wed Jan 21 03:06:47 2004 --- Tekkotsu/project/ms/data/motion/pan_head.mot Sat Nov 22 15:34:39 2003 *************** *** 0 **** --- 1,12 ---- + #MSq + degrees + delay 50 + NECK:tilt 15 + NECK:roll 0 + delay 850 + NECK:pan~ -45 + delay 900 + NECK:pan~ 45 + NECK:tilt 15 + NECK:roll 0 + #END Index: Tekkotsu/project/ms/data/motion/walk.prm Index: Tekkotsu/project/ms/data/motion/walkcal.txt diff -c /dev/null Tekkotsu/project/ms/data/motion/walkcal.txt:1.1 *** /dev/null Wed Jan 21 03:06:47 2004 --- Tekkotsu/project/ms/data/motion/walkcal.txt Fri Jan 16 00:14:53 2004 *************** *** 0 **** --- 1,6 ---- + 1.1114950e+00 4.3793349e-02 3.6191516e+00 -2.8528403e-02 -1.0704690e+01 -1.6630287e+00 -1.0161892e-03 -1.9307957e-01 -1.0145463e-03 1.4387497e-01 2.5358894e+01 + -1.5982849e-01 1.0121667e+00 8.4120978e+00 -1.3995280e-01 -5.7703782e+00 1.3642099e+01 1.1882969e-03 -1.1940036e-01 1.6860327e-03 2.2186785e-01 8.3247298e-01 + -4.4086430e-04 3.6943915e-04 8.7219349e-01 -2.5621177e-04 -3.3549634e-02 -1.9053515e-03 2.5930239e-06 -7.8055622e-04 5.3484361e-06 -5.1855276e-05 -5.6217769e-03 + 1.4482688e+00 -2.8729604e-02 4.5315047e+00 -8.5684548e-02 -5.6070133e+00 1.6249840e+00 1.0114119e-03 2.0565857e-02 1.0163411e-03 2.9049390e-02 1.5138783e+01 + 1.8276090e-01 9.3280284e-01 8.4702686e+00 -2.6450978e-01 -8.3210648e+00 1.8642117e+01 1.8136075e-03 -1.1893791e-01 -6.1321027e-03 2.3487379e-01 6.6955859e+00 + -3.4424686e-04 8.9065162e-04 8.7164554e-01 6.7355169e-04 -2.3861994e-02 -3.3616614e-02 -6.0636630e-06 3.8511214e-05 2.4927650e-05 9.4197067e-05 -2.2472680e-02 Index: Tekkotsu/project/ms/open-r/system/conf/wlandflt.txt diff -c Tekkotsu/project/ms/open-r/system/conf/wlandflt.txt:1.17 Tekkotsu/project/ms/open-r/system/conf/wlandflt.txt:1.18 *** Tekkotsu/project/ms/open-r/system/conf/wlandflt.txt:1.17 Fri Oct 10 13:02:38 2003 --- Tekkotsu/project/ms/open-r/system/conf/wlandflt.txt Tue Dec 23 01:33:44 2003 *************** *** 25,31 **** USE_DHCP=1 # If you don't have DHCP, you'll need to set these manually ! #ETHER_IP=192.168.0.5 ! #ETHER_NETMASK=255.255.255.0 ! #IP_GATEWAY=192.168.0.1 --- 25,31 ---- USE_DHCP=1 # If you don't have DHCP, you'll need to set these manually ! #ETHER_IP=172.16.1.3 ! #ETHER_NETMASK=255.255.0.0 ! #IP_GATEWAY=172.16.0.1