diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/Environment.conf ./Environment.conf --- ../../Tekkotsu_2.4.1/project/Environment.conf 2005-08-12 12:25:16.000000000 -0400 +++ ./Environment.conf 2006-05-09 12:28:42.000000000 -0400 @@ -10,15 +10,19 @@ TEKKOTSU_ROOT ?= /usr/local/Tekkotsu # Location where the memstick will be mounted -# If you're using cygwin, you probably want something like -# '/cygdrive/e' instead. -# Mac OS users would want to use something like '/Volumes/xxx', -# where 'xxx' is the name of the memory stick, often initially -# 'Unlabeled' or 'Untitled' # You may wish to override this as an environment variable # instead of changing it here, as the former will allow you to run # tools/mntmem and tools/umntmem manually. -MEMSTICK_ROOT ?= /mnt/memstick +ifeq ($(findstring Darwin,$(shell uname)),Darwin) +# For OS X users, the following script assumes the highest numbered +# device is your memory stick. Feel free to replace this with the actual +# mount point (e.g. /Volumes/Untitled) if this doesn't work. +MEMSTICK_ROOT ?= $(shell $(TEKKOTSU_ROOT)/tools/osx_find_memstick) +else +# Cygwin users will probably want /cygdrive/e, and anyone else +# will need to check /etc/mtab (we'll assume /mnt/memstick) +MEMSTICK_ROOT ?= $(if $(findstring CYGWIN,$(shell uname)),/cygdrive/e,/mnt/memstick) +endif # Directory where the OPEN-R SDK was installed # See http://www.tekkotsu.org/SDKInstall.html @@ -44,7 +48,7 @@ # This will trigger the project's Makefile to always attempt to make # the framework as well. This is useful if you are hacking the -# framework itself, and thus want any changes made there to be +# framework itself, and thus want any changes made there to be # compiled automatically. # default: ON (non-empty string) - any non-empty string is ON TEKKOTSU_ALWAYS_BUILD ?= true @@ -59,15 +63,20 @@ # default: OFF (empty string) - any non-empty string is ON STRICT_MEMSTICK_IMAGE ?= -# This will control the debug flags such as -g and -DDEBUG -TEKKOTSU_DEBUG ?= ON +# This will control the debug flags such as -g and -DDEBUG, disables optimization +# default: ON (specify compiler flags) for platform local, OFF (empty string) for others +TEKKOTSU_DEBUG ?= $(if $(findstring PLATFORM_LOCAL,$(TEKKOTSU_TARGET_PLATFORM)),-g -fno-inline -DDEBUG) + +# Controls the type(s) of optimization performed, but +# only applied if TEKKOTSU_DEBUG is empty +TEKKOTSU_OPTIMIZE ?= -O2 -fomit-frame-pointer $(if $(findstring PLATFORM_APERIOS,$(TEKKOTSU_TARGET_PLATFORM)),-DDEBUG -DOPENR_DEBUG) # This can be nice if you want to use 'more' to page through errors # if they occur. Otherwise, try using 'cat' instead. Cygwin users # may need to explicitly install the 'more' package # This default value will test for the availability of 'more', and # fall back to using 'cat'. -TEKKOTSU_LOGVIEW ?= ( if which more > /dev/null ; then more $(if $(findstring Darwin,$(shell uname)),-R); else cat ; fi ) +TEKKOTSU_LOGVIEW ?= $(shell if which more > /dev/null ; then echo "more $(if $(findstring Darwin,$(shell uname)),-R)"; else echo "cat" ; fi ) # These control the location that the temporary object files will # be stored. @@ -95,7 +104,11 @@ MKBINFLAGS=-p $(OPENRSDK_ROOT) -L$(TEKKOTSU_ROOT)/aperios/lib AR=$(OPENRSDK_ROOT)/bin/mipsel-linux-ar rcs AR2=touch - FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) $(OPEN_R_SDK) + ifeq ($(TEKKOTSU_FILTERSYSWARN),cat) + FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) + else + FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) $(OPENRSDK_ROOT) + endif STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 else CC=gcc @@ -104,7 +117,11 @@ STRIP=strip AR=ar rcs AR2=touch - FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) /usr/include + ifeq ($(TEKKOTSU_FILTERSYSWARN),cat) + FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) + else + FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) /usr/.*/?include/ + endif endif COLORFILT=$(TEKKOTSU_COLORFILT) @@ -112,8 +129,11 @@ # supported by the 3.4 branch of gcc, or 3.3 of the gcc from Apple TEST_CXX_MAJOR:=$(shell $(CXX) --version | sed -n 's/^.* (GCC) \([0-9]*\)\.\([0-9]*\).*/\1/p') TEST_CXX_MINOR:=$(shell $(CXX) --version | sed -n 's/^.* (GCC) \([0-9]*\)\.\([0-9]*\).*/\2/p') +#Apple added support for precompiled headers early in the 3.x branch TEST_CXX_APPLE:=$(findstring Apple,$(shell $(CXX) --version)) -TEKKOTSU_PCH ?= $(shell if [ $(TEST_CXX_MAJOR) -ge 4 -o $(TEST_CXX_MAJOR) -ge 3 -a \( $(TEST_CXX_MINOR) -ge 4 -o -n "$(TEST_CXX_APPLE)" \) ] ; then echo "common.h"; fi) +#Cygming apparently removes support for precompiled headers in the 3.x branch +TEST_CXX_CYGMING:=$(findstring cygming,$(shell $(CXX) --version)) +TEKKOTSU_PCH ?= $(shell if 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""; }; 69E0A8FF07CBD6C1008493CA /* boolean.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 30; path = boolean.h; sourceTree = ""; }; @@ -887,7 +1099,6 @@ 69E0A96107CBD6C1008493CA /* RobotInfo.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 30; path = RobotInfo.h; sourceTree = ""; }; 69E0A96507CBD6C1008493CA /* string_util.cc */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.cpp.cpp; path = string_util.cc; sourceTree = ""; }; 69E0A96607CBD6C1008493CA /* string_util.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 30; path = string_util.h; sourceTree = ""; }; - 69E0A96707CBD6C1008493CA /* SystemUtility.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 30; path = SystemUtility.h; sourceTree = ""; }; 69E0A96807CBD6C1008493CA /* TimeET.cc */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.cpp.cpp; path = TimeET.cc; sourceTree = ""; }; 69E0A96907CBD6C1008493CA /* TimeET.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 30; path = TimeET.h; sourceTree = ""; }; 69E0A96A07CBD6C1008493CA /* Util.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 30; path = Util.h; sourceTree = ""; }; @@ -942,12 +1153,19 @@ 69E666BB07F0CE51005F4FA9 /* plist.cc */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.cpp.cpp; path = plist.cc; sourceTree = ""; }; 69E6674707F1E23A005F4FA9 /* XMLLoadSave.cc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = XMLLoadSave.cc; sourceTree = ""; }; 69E6674807F1E23A005F4FA9 /* XMLLoadSave.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = XMLLoadSave.h; sourceTree = ""; }; - 69E6696307F3398F005F4FA9 /* SimConfig.cc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = SimConfig.cc; sourceTree = ""; }; 69E6696407F3398F005F4FA9 /* SimConfig.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = SimConfig.h; sourceTree = ""; }; + 69E78D0109F6C114000385E9 /* StackTrace.cc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = StackTrace.cc; sourceTree = ""; }; + 69E78D0209F6C114000385E9 /* StackTrace.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = StackTrace.h; sourceTree = ""; }; 69EA8B9207EB57480047DA8D /* libiconv.dylib */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.dylib"; name = libiconv.dylib; path = /usr/lib/libiconv.dylib; sourceTree = ""; }; 69EA8B9307EB57480047DA8D /* libxml2.dylib */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.dylib"; name = libxml2.dylib; path = /usr/lib/libxml2.dylib; sourceTree = ""; }; 69EA8B9407EB57480047DA8D /* libz.dylib */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.dylib"; name = libz.dylib; path = /usr/lib/libz.dylib; sourceTree = ""; }; + 69EB5B2C0A41C8DE00415C6B /* ResourceAccessor.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ResourceAccessor.h; sourceTree = ""; }; + 69EB5B530A41CCD700415C6B /* Resource.cc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = Resource.cc; sourceTree = ""; }; + 69EB5B540A41CCD700415C6B /* MarkScope.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = MarkScope.h; sourceTree = ""; }; 69ED0BB807DEABF700114CD2 /* Thread.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = Thread.h; sourceTree = ""; }; + 69EE6BE00A951DC900DB7B88 /* EntryPoint.cc */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.cpp.cpp; path = EntryPoint.cc; sourceTree = ""; }; + 69EE6BE10A951DC900DB7B88 /* EntryPoint.h */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.c.h; path = EntryPoint.h; sourceTree = ""; }; + 69F6038C0A40800F0052ECA1 /* Resource.h */ = {isa = PBXFileReference; explicitFileType = sourcecode.cpp.h; fileEncoding = 4; path = Resource.h; sourceTree = ""; }; 69FA48F5084C389D0003A261 /* UPennWalkMC.cc */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.cpp.cpp; path = UPennWalkMC.cc; sourceTree = ""; }; 69FA48F6084C389D0003A261 /* UPennWalkMC.h */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.c.h; path = UPennWalkMC.h; sourceTree = ""; }; 69FA48F9084C38E80003A261 /* Graphics.cc */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = sourcecode.cpp.cpp; path = Graphics.cc; sourceTree = ""; }; @@ -967,6 +1185,7 @@ 69EA8B9D07EB57480047DA8D /* libz.dylib in Frameworks */, 694AB43707F48A860071A2AE /* libjpeg.dylib in Frameworks */, 694AB43807F48A860071A2AE /* libpng12.dylib in Frameworks */, + 69A7EE7009C8F70C003DDD18 /* libreadline.dylib in Frameworks */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -982,6 +1201,7 @@ 69EA8B9A07EB57480047DA8D /* libz.dylib in Frameworks */, 694AB43B07F48A860071A2AE /* libjpeg.dylib in Frameworks */, 694AB43C07F48A860071A2AE /* libpng12.dylib in Frameworks */, + 69A7EE7209C8F70C003DDD18 /* libreadline.dylib in Frameworks */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -995,6 +1215,7 @@ 69EA8B9707EB57480047DA8D /* libz.dylib in Frameworks */, 694AB43907F48A860071A2AE /* libjpeg.dylib in Frameworks */, 694AB43A07F48A860071A2AE /* libpng12.dylib in Frameworks */, + 69A7EE7109C8F70C003DDD18 /* libreadline.dylib in Frameworks */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -1014,6 +1235,7 @@ 69EA8B9307EB57480047DA8D /* libxml2.dylib */, 69EA8B9207EB57480047DA8D /* libiconv.dylib */, 69EA8B9407EB57480047DA8D /* libz.dylib */, + 69A7EE6F09C8F70C003DDD18 /* libreadline.dylib */, ); name = "External Frameworks and Libraries"; sourceTree = ""; @@ -1023,11 +1245,11 @@ children = ( 08FB7795FE84155DC02AAC07 /* Project Files */, 69E0A74A07CBBECE008493CA /* Tekkotsu Source */, - 69E0A75107CBBF2D008493CA /* Sim Source */, - 0249A662FF388D9811CA2CEA /* External Frameworks and Libraries */, + 69E0A75107CBBF2D008493CA /* local */, 6985DA3408527479009FD05A /* tools */, 69761DB608562012007DB073 /* mon */, 69E0AD5D07CBDE11008493CA /* Products */, + 0249A662FF388D9811CA2CEA /* External Frameworks and Libraries */, ); name = sim; sourceTree = ""; @@ -1056,6 +1278,123 @@ name = "Project Files"; sourceTree = ""; }; + 69469F6B09AA1D2000D1EC14 /* DualCoding */ = { + isa = PBXGroup; + children = ( + 69469F6C09AA1D2000D1EC14 /* AgentData.cc */, + 69469F6D09AA1D2000D1EC14 /* AgentData.h */, + 69469F6E09AA1D2000D1EC14 /* BaseData.cc */, + 69469F6F09AA1D2000D1EC14 /* BaseData.h */, + 69469F7009AA1D2000D1EC14 /* BlobData.cc */, + 69469F7109AA1D2000D1EC14 /* BlobData.h */, + 69469F7209AA1D2000D1EC14 /* BrickData.cc */, + 69469F7309AA1D2000D1EC14 /* BrickData.h */, + 69B3446F0A7152C30021FBE6 /* BrickOps.cc */, + 69B344700A7152C30021FBE6 /* BrickOps.h */, + 69469F7609AA1D2000D1EC14 /* DualCoding.h */, + 69469F7709AA1D2000D1EC14 /* EllipseData.cc */, + 69469F7809AA1D2000D1EC14 /* EllipseData.h */, + 69469F7909AA1D2000D1EC14 /* EndPoint.cc */, + 69469F7A09AA1D2000D1EC14 /* EndPoint.h */, + 69469F7B09AA1D2000D1EC14 /* LineData.cc */, + 69469F7C09AA1D2000D1EC14 /* LineData.h */, + 69469F7F09AA1D2000D1EC14 /* Lookout.cc */, + 69469F8009AA1D2000D1EC14 /* Lookout.h */, + 6962F2FD0A917F40002DDEC9 /* LookoutRequests.cc */, + 6962F2FE0A917F41002DDEC9 /* LookoutRequests.h */, + 69469F8109AA1D2000D1EC14 /* Macrodefs.h */, + 69469F8209AA1D2000D1EC14 /* MapBuilder.cc */, + 69469F8309AA1D2000D1EC14 /* MapBuilder.h */, + 69469F8409AA1D2000D1EC14 /* Measures.cc */, + 69469F8509AA1D2000D1EC14 /* Measures.h */, + 69469F8609AA1D2000D1EC14 /* Particle.cc */, + 69469F8709AA1D2000D1EC14 /* Particle.h */, + 69469F8809AA1D2000D1EC14 /* ParticleFilter.cc */, + 69469F8909AA1D2000D1EC14 /* ParticleFilter.h */, + 69469F8A09AA1D2000D1EC14 /* ParticleShapes.cc */, + 69469F8B09AA1D2000D1EC14 /* ParticleShapes.h */, + 69469F8D09AA1D2000D1EC14 /* Pilot.h */, + 69469F8E09AA1D2000D1EC14 /* Point.cc */, + 69469F8F09AA1D2000D1EC14 /* Point.h */, + 69469F9009AA1D2000D1EC14 /* PointData.cc */, + 69469F9109AA1D2000D1EC14 /* PointData.h */, + 69469F9209AA1D2000D1EC14 /* PolygonData.cc */, + 69469F9309AA1D2000D1EC14 /* PolygonData.h */, + 69B344670A7152900021FBE6 /* PyramidData.cc */, + 69B344680A7152900021FBE6 /* PyramidData.h */, + 69469F9409AA1D2000D1EC14 /* Region.cc */, + 69469F9509AA1D2000D1EC14 /* Region.h */, + 69469F9609AA1D2000D1EC14 /* ShapeAgent.cc */, + 69469F9709AA1D2000D1EC14 /* ShapeAgent.h */, + 69469F9809AA1D2000D1EC14 /* ShapeBlob.cc */, + 69469F9909AA1D2000D1EC14 /* ShapeBlob.h */, + 69469F9A09AA1D2000D1EC14 /* ShapeBrick.cc */, + 69469F9B09AA1D2000D1EC14 /* ShapeBrick.h */, + 69469F9C09AA1D2000D1EC14 /* ShapeEllipse.cc */, + 69469F9D09AA1D2000D1EC14 /* ShapeEllipse.h */, + 69469F9E09AA1D2000D1EC14 /* ShapeFuns.cc */, + 69469F9F09AA1D2000D1EC14 /* ShapeFuns.h */, + 69469FA009AA1D2100D1EC14 /* ShapeLine.cc */, + 69469FA109AA1D2100D1EC14 /* ShapeLine.h */, + 69469FA209AA1D2100D1EC14 /* ShapePoint.cc */, + 69469FA309AA1D2100D1EC14 /* ShapePoint.h */, + 69469FA409AA1D2100D1EC14 /* ShapePolygon.cc */, + 69469FA509AA1D2100D1EC14 /* ShapePolygon.h */, + 69B3446B0A7152AC0021FBE6 /* ShapePyramid.cc */, + 69B3446C0A7152AC0021FBE6 /* ShapePyramid.h */, + 69469FA609AA1D2100D1EC14 /* ShapeRoot.cc */, + 69469FA709AA1D2100D1EC14 /* ShapeRoot.h */, + 69469FA809AA1D2100D1EC14 /* ShapeSpace.cc */, + 69469FA909AA1D2100D1EC14 /* ShapeSpace.h */, + 69469FAA09AA1D2100D1EC14 /* ShapeSphere.cc */, + 69469FAB09AA1D2100D1EC14 /* ShapeSphere.h */, + 69469FAC09AA1D2100D1EC14 /* ShapeTypes.cc */, + 69469FAD09AA1D2100D1EC14 /* ShapeTypes.h */, + 69469FAE09AA1D2100D1EC14 /* Sketch.cc */, + 69469FAF09AA1D2100D1EC14 /* Sketch.h */, + 69469FB009AA1D2100D1EC14 /* SketchData.h */, + 69469FB109AA1D2100D1EC14 /* SketchDataRoot.cc */, + 69469FB209AA1D2100D1EC14 /* SketchDataRoot.h */, + 69469FB309AA1D2100D1EC14 /* SketchIndices.cc */, + 69469FB409AA1D2100D1EC14 /* SketchIndices.h */, + 69469FB509AA1D2100D1EC14 /* SketchPool.h */, + 694B2B1E0A0FC983002ABC4C /* SketchPoolRoot.cc */, + 694B2B1F0A0FC983002ABC4C /* SketchPoolRoot.h */, + 69469FB609AA1D2100D1EC14 /* SketchRoot.cc */, + 69469FB709AA1D2100D1EC14 /* SketchRoot.h */, + 69469FB809AA1D2100D1EC14 /* SketchSpace.cc */, + 69469FB909AA1D2100D1EC14 /* SketchSpace.h */, + 69469FBA09AA1D2100D1EC14 /* SketchTypes.h */, + 69469FBB09AA1D2100D1EC14 /* SphereData.cc */, + 69469FBC09AA1D2100D1EC14 /* SphereData.h */, + 69469FBD09AA1D2100D1EC14 /* susan.cc */, + 69469FBE09AA1D2100D1EC14 /* susan.h */, + 69469FBF09AA1D2100D1EC14 /* ViewerConnection.cc */, + 69469FC009AA1D2100D1EC14 /* ViewerConnection.h */, + 69469FC109AA1D2100D1EC14 /* visops.cc */, + 69469FC209AA1D2100D1EC14 /* visops.h */, + 69469FC309AA1D2100D1EC14 /* VisualRoutinesBehavior.cc */, + 69469FC409AA1D2100D1EC14 /* VisualRoutinesBehavior.h */, + 6946A1A409AAE1D800D1EC14 /* VisualRoutinesStateNode.cc */, + 6946A1A509AAE1D800D1EC14 /* VisualRoutinesStateNode.h */, + 6946A1A109AAE1C600D1EC14 /* VRmixin.cc */, + 69469FC509AA1D2100D1EC14 /* VRmixin.h */, + ); + path = DualCoding; + sourceTree = ""; + }; + 69750F020AC03FFD004FE3CF /* Services */ = { + isa = PBXGroup; + children = ( + 69750F030AC03FFE004FE3CF /* AutoGetupBehavior.h */, + 69750F040AC03FFE004FE3CF /* BatteryMonitorBehavior.h */, + 69750F050AC03FFE004FE3CF /* FlashIPAddrBehavior.cc */, + 69750F060AC03FFE004FE3CF /* FlashIPAddrBehavior.h */, + 69750F070AC03FFE004FE3CF /* WorldStateVelDaemon.h */, + ); + path = Services; + sourceTree = ""; + }; 69761DB608562012007DB073 /* mon */ = { isa = PBXGroup; children = ( @@ -1130,19 +1469,23 @@ isa = PBXGroup; children = ( 6994F3CA07D4D35F003A7628 /* ListMemBuf.h */, - 6994F3CB07D4D35F003A7628 /* LockScope.h */, + 69D5F7BB09BB4DC9000602D2 /* MessageQueue.cc */, 6994F3CC07D4D35F003A7628 /* MessageQueue.h */, + 69D5F82709BBDF0C000602D2 /* MessageQueueStatusThread.cc */, + 69D5F82809BBDF0C000602D2 /* MessageQueueStatusThread.h */, 69AA7D690860898300185BA2 /* MessageReceiver.cc */, 6994F3CD07D4D35F003A7628 /* MessageReceiver.h */, 6994F3CE07D4D35F003A7628 /* MutexLock.h */, 6942757707E0DCDD003DE3D9 /* MutexLock.cc */, - 6994F3CF07D4D35F003A7628 /* SemaphoreManager.cc */, - 6952B61A07DBFDCC00E2565F /* SemaphoreManager.h */, + 69A7EBE909C7162E003DDD18 /* PollThread.cc */, + 69A7EBEA09C7162E003DDD18 /* PollThread.h */, 6994F3D107D4D35F003A7628 /* ProcessID.cc */, 6994F3D207D4D35F003A7628 /* ProcessID.h */, 6994F3D307D4D35F003A7628 /* RCRegion.cc */, 6994F3D407D4D35F003A7628 /* RCRegion.h */, 6994F3D507D4D35F003A7628 /* RegionRegistry.h */, + 6994F3CF07D4D35F003A7628 /* SemaphoreManager.cc */, + 6952B61A07DBFDCC00E2565F /* SemaphoreManager.h */, 6994F3D607D4D35F003A7628 /* SharedObject.cc */, 6994F3D707D4D35F003A7628 /* SharedObject.h */, 6942779007E164EA003DE3D9 /* Thread.cc */, @@ -1155,6 +1498,8 @@ isa = PBXGroup; children = ( 6994F59607D68DF6003A7628 /* Makefile.aperios */, + 69EE6BE00A951DC900DB7B88 /* EntryPoint.cc */, + 69EE6BE10A951DC900DB7B88 /* EntryPoint.h */, 6994F59707D68DF6003A7628 /* MMCombo */, 6994F59C07D68DF6003A7628 /* SndPlay */, 6994F5A107D68DF7003A7628 /* TinyFTPD */, @@ -1206,11 +1551,15 @@ 6994F5B407D68E31003A7628 /* local */ = { isa = PBXGroup; children = ( - 690564F20819531A00613A0E /* minisim.h */, 6994F5B807D68E41003A7628 /* Makefile.local */, + 6976B20E0ACC669F00BA657B /* EntryPoint.h */, + 6976B20F0ACC669F00BA657B /* LoadFileThread.cc */, + 6976B2100ACC669F00BA657B /* LoadFileThread.h */, + 6976B2110ACC669F00BA657B /* LoadImageThread.cc */, + 6976B2120ACC669F00BA657B /* LoadImageThread.h */, + 690564F20819531A00613A0E /* minisim.h */, ); - name = local; - path = aperios; + path = local; sourceTree = ""; }; 6994F5BF07D68ED9003A7628 /* local */ = { @@ -1236,6 +1585,7 @@ 6994F57D07D68D23003A7628 /* INSTALL */, 69E0AD8407CBED91008493CA /* Makefile */, 69E0A78B07CBD6BF008493CA /* Behaviors */, + 69469F6B09AA1D2000D1EC14 /* DualCoding */, 69E0A81E07CBD6C0008493CA /* Events */, 6994F3C907D4D35F003A7628 /* IPC */, 69E0A83207CBD6C0008493CA /* Motion */, @@ -1249,41 +1599,39 @@ name = "Tekkotsu Source"; sourceTree = TEKKOTSU_ROOT; }; - 69E0A75107CBBF2D008493CA /* Sim Source */ = { + 69E0A75107CBBF2D008493CA /* local */ = { isa = PBXGroup; children = ( - 69E0A75607CBD4A2008493CA /* Framework */, + 69E0A75607CBD4A2008493CA /* sim */, ); - name = "Sim Source"; - sourceTree = ""; + path = local; + sourceTree = TEKKOTSU_ROOT; }; - 69E0A75607CBD4A2008493CA /* Framework */ = { + 69E0A75607CBD4A2008493CA /* sim */ = { isa = PBXGroup; children = ( - 695967E007FF3DCF004FABFF /* LoadImageThread.cc */, - 695967E107FF3DCF004FABFF /* LoadImageThread.h */, - 692CD99407F9F05500604100 /* LoadFileThread.cc */, - 692CD99507F9F05500604100 /* LoadFileThread.h */, 692CD63407F8C46B00604100 /* sim.cc */, 6934224207D408E600BB3331 /* sim.h */, 69E0A76F07CBD52D008493CA /* Main.cc */, 69E0A77007CBD52D008493CA /* Main.h */, 69E0A77107CBD52D008493CA /* Motion.cc */, 69E0A77207CBD52D008493CA /* Motion.h */, + 69A7ED9909C88622003DDD18 /* MotionExecThread.cc */, + 69A7ED9A09C88622003DDD18 /* MotionExecThread.h */, 69E0A77307CBD52D008493CA /* Process.cc */, 69E0A77407CBD52D008493CA /* Process.h */, 69E0A77607CBD52D008493CA /* SharedGlobals.cc */, 69E0A77707CBD52D008493CA /* SharedGlobals.h */, - 69E6696307F3398F005F4FA9 /* SimConfig.cc */, 69E6696407F3398F005F4FA9 /* SimConfig.h */, 69E0A77807CBD52D008493CA /* Simulator.cc */, 69E0A77907CBD52D008493CA /* Simulator.h */, 69E0A77A07CBD52D008493CA /* SoundPlay.cc */, 69E0A77B07CBD52D008493CA /* SoundPlay.h */, + 69A7EC7909C79817003DDD18 /* TimerExecThread.cc */, + 69A7EC7A09C79817003DDD18 /* TimerExecThread.h */, ); - name = Framework; - path = local/sim; - sourceTree = TEKKOTSU_ROOT; + path = sim; + sourceTree = ""; }; 69E0A78B07CBD6BF008493CA /* Behaviors */ = { isa = PBXGroup; @@ -1297,6 +1645,7 @@ 69E0A7BF07CBD6C0008493CA /* Demos */, 69E0A7EA07CBD6C0008493CA /* Mon */, 69E0A80107CBD6C0008493CA /* Nodes */, + 69750F020AC03FFD004FE3CF /* Services */, 69E0A80E07CBD6C0008493CA /* StateNode.cc */, 69E0A80F07CBD6C0008493CA /* StateNode.h */, 69E0A81007CBD6C0008493CA /* Transition.cc */, @@ -1345,6 +1694,7 @@ 69E0A7B307CBD6C0008493CA /* SensorObserverControl.h */, 69E0A7B407CBD6C0008493CA /* ShutdownControl.cc */, 69E0A7B507CBD6C0008493CA /* ShutdownControl.h */, + 69616DF90AA4EDED00E63351 /* SimulatorAdvanceFrameControl.h */, 69E0A7B607CBD6C0008493CA /* StringInputControl.cc */, 69E0A7B707CBD6C0008493CA /* StringInputControl.h */, 69E0A7B807CBD6C0008493CA /* ToggleControl.h */, @@ -1364,20 +1714,18 @@ 69E0A7C007CBD6C0008493CA /* AlanBehavior.h */, 69E0A7C107CBD6C0008493CA /* ASCIIVisionBehavior.cc */, 69E0A7C207CBD6C0008493CA /* ASCIIVisionBehavior.h */, - 69E0A7C307CBD6C0008493CA /* AutoGetupBehavior.h */, 69E0A7C407CBD6C0008493CA /* BanditMachine.h */, - 69E0A7C507CBD6C0008493CA /* BatteryMonitorBehavior.h */, 69E0A7C607CBD6C0008493CA /* CameraBehavior.cc */, 69E0A7C707CBD6C0008493CA /* CameraBehavior.h */, 69E0A7C807CBD6C0008493CA /* ChaseBallBehavior.cc */, 69E0A7C907CBD6C0008493CA /* ChaseBallBehavior.h */, 69E0A7CA07CBD6C0008493CA /* CrashTestBehavior.h */, + 69B8DEC00AC4952D003EC54A /* DrawSkeletonBehavior.h */, + 69B8DEC10AC4952D003EC54A /* DrawVisObjBoundBehavior.h */, 69E0A7CB07CBD6C0008493CA /* DriveMeBehavior.cc */, 69E0A7CC07CBD6C0008493CA /* DriveMeBehavior.h */, 69E0A7CD07CBD6C0008493CA /* ExploreMachine.cc */, 69E0A7CE07CBD6C0008493CA /* ExploreMachine.h */, - 69E0A7CF07CBD6C0008493CA /* FlashIPAddrBehavior.cc */, - 69E0A7D007CBD6C0008493CA /* FlashIPAddrBehavior.h */, 69E0A7D107CBD6C0008493CA /* FollowHeadBehavior.cc */, 69E0A7D207CBD6C0008493CA /* FollowHeadBehavior.h */, 69E0A7D307CBD6C0008493CA /* FreezeTestBehavior.h */, @@ -1388,6 +1736,7 @@ 69E0A7D807CBD6C0008493CA /* KinematicSampleBehavior.h */, 69E0A7D907CBD6C0008493CA /* KinematicSampleBehavior2.h */, 69970AC4083DB2C60069D95C /* LogTestMachine.h */, + 69B8DDBD0AC44586003EC54A /* LookAtPointBehavior.h */, 69E0A7DA07CBD6C0008493CA /* LookForSoundBehavior.h */, 69E0A7DB07CBD6C0008493CA /* MCRepeater.h */, 69E0A7DC07CBD6C0008493CA /* MotionStressTestBehavior.h */, @@ -1400,10 +1749,11 @@ 69E0A7E307CBD6C0008493CA /* StareAtBallBehavior.h */, 69B4E445089409D800832D58 /* StareAtPawBehavior2.cc */, 69E0A7E507CBD6C0008493CA /* StareAtPawBehavior2.h */, + 692964F60AA8CEEF00F47522 /* TestBehaviors.cc */, + 692964F70AA8CEEF00F47522 /* TestBehaviors.h */, 69E0A7E607CBD6C0008493CA /* ToggleHeadLightBehavior.h */, 69E0A7E707CBD6C0008493CA /* WallTestBehavior.cc */, 69E0A7E807CBD6C0008493CA /* WallTestBehavior.h */, - 69E0A7E907CBD6C0008493CA /* WorldStateVelDaemon.h */, ); path = Demos; sourceTree = ""; @@ -1411,7 +1761,10 @@ 69E0A7EA07CBD6C0008493CA /* Mon */ = { isa = PBXGroup; children = ( + 6962F2EE0A917E74002DDEC9 /* Aibo3DControllerBehavior.cc */, 69E0A7EB07CBD6C0008493CA /* Aibo3DControllerBehavior.h */, + 69844A2A08CE5F7F00BCDD5C /* CameraStreamBehavior.cc */, + 69844A2B08CE5F7F00BCDD5C /* CameraStreamBehavior.h */, 69A1995E080ED8A200540970 /* EchoBehavior.cc */, 69A19963080ED8AE00540970 /* EchoBehavior.h */, 69E0A7EC07CBD6C0008493CA /* EStopControllerBehavior.cc */, @@ -1453,12 +1806,13 @@ 69E0A80407CBD6C0008493CA /* LedNode.h */, 69E0A80507CBD6C0008493CA /* MotionSequenceNode.h */, 69E0A80607CBD6C0008493CA /* OutputNode.h */, - 69E0A80707CBD6C0008493CA /* PlayMotionSequenceNode.h */, 69E0A80807CBD6C0008493CA /* SoundNode.h */, 69E0A80907CBD6C0008493CA /* TailWagNode.h */, 69E0A80A07CBD6C0008493CA /* WalkNode.h */, 69E0A80B07CBD6C0008493CA /* WalkToTargetNode.cc */, 69E0A80C07CBD6C0008493CA /* WalkToTargetNode.h */, + 693C86E7090EE6F00058EE92 /* MCNode.h */, + 6966753B0926558A00405769 /* MCNode.cc */, ); path = Nodes; sourceTree = ""; @@ -1499,9 +1853,15 @@ 69E0A82A07CBD6C0008493CA /* FilterBankEvent.h */, 69E0A82B07CBD6C0008493CA /* LocomotionEvent.cc */, 69E0A82C07CBD6C0008493CA /* LocomotionEvent.h */, + 6962F2E90A917E33002DDEC9 /* LookoutEvents.cc */, + 6962F2EA0A917E33002DDEC9 /* LookoutEvents.h */, + 694E67E40AC308290087EC83 /* PitchEvent.cc */, + 694E67E50AC308290087EC83 /* PitchEvent.h */, 69E0A82D07CBD6C0008493CA /* SegmentedColorFilterBankEvent.h */, 69E0A82E07CBD6C0008493CA /* TextMsgEvent.cc */, 69E0A82F07CBD6C0008493CA /* TextMsgEvent.h */, + 6901D58D0AAF288500104815 /* TimerEvent.cc */, + 6901D58E0AAF288500104815 /* TimerEvent.h */, 69E0A83007CBD6C0008493CA /* VisionObjectEvent.cc */, 69E0A83107CBD6C0008493CA /* VisionObjectEvent.h */, ); @@ -1601,10 +1961,12 @@ 69E0A89107CBD6C0008493CA /* Shared */ = { isa = PBXGroup; children = ( + 69A7EF6F09C9FE5B003DDD18 /* attributes.h */, 691C805508255F6300E8E256 /* Base64.cc */, 691C805C08255F6D00E8E256 /* Base64.h */, 69E0A89207CBD6C0008493CA /* Buffer.cc */, 69E0A89307CBD6C0008493CA /* Buffer.h */, + 698A06D10955F0E4001A13D5 /* Cloneable.h */, 69E0A89407CBD6C0008493CA /* CommonInfo.h */, 69E0A89507CBD6C0008493CA /* Config.cc */, 69E0A89607CBD6C0008493CA /* Config.h */, @@ -1619,20 +1981,31 @@ 69E0A89F07CBD6C0008493CA /* jpeg-6b */, 69E0A8F807CBD6C1008493CA /* LoadSave.cc */, 69E0A8F907CBD6C1008493CA /* LoadSave.h */, + 69EB5B540A41CCD700415C6B /* MarkScope.h */, 69E0A8FB07CBD6C1008493CA /* mathutils.h */, 69E0A8FD07CBD6C1008493CA /* newmat */, 69E0A95707CBD6C1008493CA /* ODataFormats.h */, 69E666BB07F0CE51005F4FA9 /* plist.cc */, 69E666B607F0CE3A005F4FA9 /* plist.h */, + 698A071B09575F41001A13D5 /* plistBase.cc */, + 698A071C09575F41001A13D5 /* plistBase.h */, + 698A072709575F7D001A13D5 /* plistCollections.cc */, + 698A072809575F7D001A13D5 /* plistCollections.h */, + 69A7EF2709C9EA77003DDD18 /* plistPrimitives.cc */, + 698A072E09575F94001A13D5 /* plistPrimitives.h */, 69E0A95A07CBD6C1008493CA /* Profiler.cc */, 69E0A95B07CBD6C1008493CA /* Profiler.h */, 69E0A95C07CBD6C1008493CA /* ProjectInterface.cc */, 69E0A95D07CBD6C1008493CA /* ProjectInterface.h */, 69E0A96007CBD6C1008493CA /* ReferenceCounter.h */, + 69EB5B530A41CCD700415C6B /* Resource.cc */, + 69F6038C0A40800F0052ECA1 /* Resource.h */, + 69EB5B2C0A41C8DE00415C6B /* ResourceAccessor.h */, 69E0A96107CBD6C1008493CA /* RobotInfo.h */, + 69E78D0109F6C114000385E9 /* StackTrace.cc */, + 69E78D0209F6C114000385E9 /* StackTrace.h */, 69E0A96507CBD6C1008493CA /* string_util.cc */, 69E0A96607CBD6C1008493CA /* string_util.h */, - 69E0A96707CBD6C1008493CA /* SystemUtility.h */, 69E0A96807CBD6C1008493CA /* TimeET.cc */, 69E0A96907CBD6C1008493CA /* TimeET.h */, 69E0A96A07CBD6C1008493CA /* Util.h */, @@ -1640,6 +2013,8 @@ 69E0A96C07CBD6C1008493CA /* WMclass.h */, 69E0A96D07CBD6C1008493CA /* WorldState.cc */, 69E0A96E07CBD6C1008493CA /* WorldState.h */, + 6958D6890A5EE5AB00D46050 /* WorldStatePool.cc */, + 6958D68A0A5EE5AB00D46050 /* WorldStatePool.h */, 69E6674707F1E23A005F4FA9 /* XMLLoadSave.cc */, 69E6674807F1E23A005F4FA9 /* XMLLoadSave.h */, ); @@ -1651,6 +2026,8 @@ children = ( 69E0A8DE07CBD6C1008493CA /* jpeg_mem_dest.cc */, 69E0A8DF07CBD6C1008493CA /* jpeg_mem_dest.h */, + 694B36560A190FE2002ABC4C /* jpeg_mem_src.cc */, + 694B36550A190FE2002ABC4C /* jpeg_mem_src.h */, 69A323C007E35646009D94E1 /* write_jpeg.cc */, 69A323C107E35646009D94E1 /* write_jpeg.h */, ); @@ -1722,6 +2099,8 @@ 69E0A96F07CBD6C1008493CA /* Sound */ = { isa = PBXGroup; children = ( + 694E684B0AC338CF0087EC83 /* PitchDetector.cc */, + 694E67E10AC308130087EC83 /* PitchDetector.h */, 69E0A97007CBD6C1008493CA /* SoundManager.cc */, 69E0A97107CBD6C1008493CA /* SoundManager.h */, 69E0A97207CBD6C1008493CA /* SoundManagerMsg.h */, @@ -1754,6 +2133,8 @@ 69E0A98307CBD6C1008493CA /* JPEGGenerator.cc */, 69E0A98407CBD6C1008493CA /* JPEGGenerator.h */, 69E0A98507CBD6C1008493CA /* OFbkImage.h */, + 6900659D0A4EF58700E895F9 /* PNGGenerator.cc */, + 6900659E0A4EF58700E895F9 /* PNGGenerator.h */, 69E0A98607CBD6C1008493CA /* RawCameraGenerator.cc */, 69E0A98707CBD6C1008493CA /* RawCameraGenerator.h */, 69E0A98807CBD6C1008493CA /* RegionGenerator.cc */, @@ -1770,6 +2151,8 @@ isa = PBXGroup; children = ( 69E0A98F07CBD6C1008493CA /* DummySocket.h */, + 69B8DDC00AC44735003EC54A /* LGmixin.cc */, + 69B8DDC10AC44735003EC54A /* LGmixin.h */, 69E0A99107CBD6C1008493CA /* Socket.cc */, 69E0A99207CBD6C1008493CA /* Socket.h */, 69E0A99307CBD6C1008493CA /* Wireless.cc */, @@ -1793,23 +2176,10 @@ /* Begin PBXLegacyTarget section */ 693D800E08ABBB4200AC993E /* Aperios Build */ = { isa = PBXLegacyTarget; - buildArgumentsString = "TEKKOTSU_ROOT=$(TEKKOTSU_ROOT) update"; + buildArgumentsString = "TEKKOTSU_ROOT=$(TEKKOTSU_ROOT) -j2 $ACTION"; buildConfigurationList = 693D800F08ABBB6100AC993E /* Build configuration list for PBXLegacyTarget "Aperios Build" */; buildPhases = ( ); - buildSettings = { - OPTIMIZATION_CFLAGS = ""; - OTHER_CFLAGS = ""; - OTHER_LDFLAGS = ""; - OTHER_REZFLAGS = ""; - PRODUCT_NAME = "Aperios Build"; - SECTORDER_FLAGS = ""; - WARNING_CFLAGS = ( - "-Wmost", - "-Wno-four-char-constants", - "-Wno-unknown-pragmas", - ); - }; buildToolPath = /usr/bin/make; buildWorkingDirectory = ""; dependencies = ( @@ -1830,11 +2200,6 @@ ); buildRules = ( ); - buildSettings = { - INSTALL_PATH = "$(HOME)/bin"; - OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS210"; - PRODUCT_NAME = "sim-ERS210"; - }; dependencies = ( ); name = "sim (ERS-210)"; @@ -1852,11 +2217,6 @@ ); buildRules = ( ); - buildSettings = { - INSTALL_PATH = /usr/local/bin; - OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; - PRODUCT_NAME = "sim-ERS7"; - }; dependencies = ( ); name = "sim (ERS-7) Light"; @@ -1873,11 +2233,6 @@ ); buildRules = ( ); - buildSettings = { - INSTALL_PATH = "$(HOME)/bin"; - OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; - PRODUCT_NAME = "sim-ERS7"; - }; dependencies = ( ); name = "sim (ERS-7)"; @@ -1892,21 +2247,15 @@ 08FB7793FE84155DC02AAC07 /* Project object */ = { isa = PBXProject; buildConfigurationList = 69FD50360881E74900E825BA /* Build configuration list for PBXProject "Make" */; - buildSettings = { - }; - buildStyles = ( - 014CEA460018CE2711CA2923 /* Development */, - 014CEA470018CE2711CA2923 /* Deployment */, - ); hasScannedForEncodings = 1; mainGroup = 08FB7794FE84155DC02AAC07 /* sim */; productRefGroup = 69E0AD5D07CBDE11008493CA /* Products */; projectDirPath = ""; targets = ( - 8DD76F620486A84900D96B5E /* sim (ERS-7) */, + 693D800E08ABBB4200AC993E /* Aperios Build */, 69E0AFA707CBF79B008493CA /* sim (ERS-7) Light */, + 8DD76F620486A84900D96B5E /* sim (ERS-7) */, 69E0AB9A07CBDE11008493CA /* sim (ERS-210) */, - 693D800E08ABBB4200AC993E /* Aperios Build */, ); }; /* End PBXProject section */ @@ -1949,7 +2298,6 @@ 69E0ABBB07CBDE11008493CA /* ChaseBallBehavior.cc in Sources */, 69E0ABBC07CBDE11008493CA /* DriveMeBehavior.cc in Sources */, 69E0ABBD07CBDE11008493CA /* ExploreMachine.cc in Sources */, - 69E0ABBE07CBDE11008493CA /* FlashIPAddrBehavior.cc in Sources */, 69E0ABBF07CBDE11008493CA /* FollowHeadBehavior.cc in Sources */, 69E0ABC007CBDE11008493CA /* PaceTargetsMachine.cc in Sources */, 69E0ABC107CBDE11008493CA /* StareAtBallBehavior.cc in Sources */, @@ -2062,10 +2410,7 @@ 69A323C507E35665009D94E1 /* write_jpeg.cc in Sources */, 69E666BD07F0CE51005F4FA9 /* plist.cc in Sources */, 69E6674907F1E23A005F4FA9 /* XMLLoadSave.cc in Sources */, - 69E6696507F3398F005F4FA9 /* SimConfig.cc in Sources */, 692CD63507F8C46B00604100 /* sim.cc in Sources */, - 692CD99607F9F05500604100 /* LoadFileThread.cc in Sources */, - 695967E407FF3DCF004FABFF /* LoadImageThread.cc in Sources */, 695F1ACB0804A81800ACB3D7 /* BufferedImageGenerator.cc in Sources */, 69A19960080ED8A200540970 /* EchoBehavior.cc in Sources */, 691C805708255F6300E8E256 /* Base64.cc in Sources */, @@ -2076,6 +2421,76 @@ 69AA7D6C0860898300185BA2 /* MessageReceiver.cc in Sources */, 69B4E447089409D900832D58 /* StareAtPawBehavior2.cc in Sources */, 693D801508ABF46D00AC993E /* RegionCamBehavior.cc in Sources */, + 69844A2D08CE5F7F00BCDD5C /* CameraStreamBehavior.cc in Sources */, + 6966753D0926558A00405769 /* MCNode.cc in Sources */, + 698A071E09575F41001A13D5 /* plistBase.cc in Sources */, + 698A072A09575F7D001A13D5 /* plistCollections.cc in Sources */, + 69469FF309AA1D2100D1EC14 /* AgentData.cc in Sources */, + 69469FF409AA1D2100D1EC14 /* BaseData.cc in Sources */, + 69469FF509AA1D2100D1EC14 /* BlobData.cc in Sources */, + 69469FF609AA1D2100D1EC14 /* BrickData.cc in Sources */, + 69469FF809AA1D2100D1EC14 /* EllipseData.cc in Sources */, + 69469FF909AA1D2100D1EC14 /* EndPoint.cc in Sources */, + 69469FFA09AA1D2100D1EC14 /* LineData.cc in Sources */, + 69469FFC09AA1D2100D1EC14 /* Lookout.cc in Sources */, + 69469FFD09AA1D2100D1EC14 /* MapBuilder.cc in Sources */, + 69469FFE09AA1D2100D1EC14 /* Measures.cc in Sources */, + 69469FFF09AA1D2100D1EC14 /* Particle.cc in Sources */, + 6946A00009AA1D2100D1EC14 /* ParticleFilter.cc in Sources */, + 6946A00109AA1D2100D1EC14 /* ParticleShapes.cc in Sources */, + 6946A00309AA1D2100D1EC14 /* Point.cc in Sources */, + 6946A00409AA1D2100D1EC14 /* PointData.cc in Sources */, + 6946A00509AA1D2100D1EC14 /* PolygonData.cc in Sources */, + 6946A00609AA1D2100D1EC14 /* Region.cc in Sources */, + 6946A00709AA1D2100D1EC14 /* ShapeAgent.cc in Sources */, + 6946A00809AA1D2100D1EC14 /* ShapeBlob.cc in Sources */, + 6946A00909AA1D2100D1EC14 /* ShapeBrick.cc in Sources */, + 6946A00A09AA1D2100D1EC14 /* ShapeEllipse.cc in Sources */, + 6946A00B09AA1D2100D1EC14 /* ShapeFuns.cc in Sources */, + 6946A00C09AA1D2100D1EC14 /* ShapeLine.cc in Sources */, + 6946A00D09AA1D2100D1EC14 /* ShapePoint.cc in Sources */, + 6946A00E09AA1D2100D1EC14 /* ShapePolygon.cc in Sources */, + 6946A00F09AA1D2100D1EC14 /* ShapeRoot.cc in Sources */, + 6946A01009AA1D2100D1EC14 /* ShapeSpace.cc in Sources */, + 6946A01109AA1D2100D1EC14 /* ShapeSphere.cc in Sources */, + 6946A01209AA1D2100D1EC14 /* ShapeTypes.cc in Sources */, + 6946A01309AA1D2100D1EC14 /* Sketch.cc in Sources */, + 6946A01409AA1D2100D1EC14 /* SketchDataRoot.cc in Sources */, + 6946A01509AA1D2100D1EC14 /* SketchIndices.cc in Sources */, + 6946A01609AA1D2100D1EC14 /* SketchRoot.cc in Sources */, + 6946A01709AA1D2200D1EC14 /* SketchSpace.cc in Sources */, + 6946A01809AA1D2200D1EC14 /* SphereData.cc in Sources */, + 6946A01909AA1D2200D1EC14 /* susan.cc in Sources */, + 6946A01A09AA1D2200D1EC14 /* ViewerConnection.cc in Sources */, + 6946A01B09AA1D2200D1EC14 /* visops.cc in Sources */, + 6946A01C09AA1D2200D1EC14 /* VisualRoutinesBehavior.cc in Sources */, + 6946A1A309AAE1C600D1EC14 /* VRmixin.cc in Sources */, + 6946A1A709AAE1D800D1EC14 /* VisualRoutinesStateNode.cc in Sources */, + 69D5F7BE09BB4DC9000602D2 /* MessageQueue.cc in Sources */, + 69D5F82A09BBDF0C000602D2 /* MessageQueueStatusThread.cc in Sources */, + 69A7EBEB09C7162E003DDD18 /* PollThread.cc in Sources */, + 69A7EC7C09C79818003DDD18 /* TimerExecThread.cc in Sources */, + 69A7ED9B09C88623003DDD18 /* MotionExecThread.cc in Sources */, + 69A7EF2809C9EA77003DDD18 /* plistPrimitives.cc in Sources */, + 69E78D0409F6C115000385E9 /* StackTrace.cc in Sources */, + 694B36570A190FE2002ABC4C /* jpeg_mem_src.cc in Sources */, + 69EB5B550A41CCD700415C6B /* Resource.cc in Sources */, + 6900659F0A4EF58700E895F9 /* PNGGenerator.cc in Sources */, + 6958D68C0A5EE5AB00D46050 /* WorldStatePool.cc in Sources */, + 69B344690A7152900021FBE6 /* PyramidData.cc in Sources */, + 69B3446D0A7152AC0021FBE6 /* ShapePyramid.cc in Sources */, + 69B344710A7152C30021FBE6 /* BrickOps.cc in Sources */, + 6962F2EB0A917E33002DDEC9 /* LookoutEvents.cc in Sources */, + 6962F2EF0A917E74002DDEC9 /* Aibo3DControllerBehavior.cc in Sources */, + 6962F2FF0A917F41002DDEC9 /* LookoutRequests.cc in Sources */, + 692964F90AA8CEEF00F47522 /* TestBehaviors.cc in Sources */, + 6901D58F0AAF288500104815 /* TimerEvent.cc in Sources */, + 69750F080AC03FFE004FE3CF /* FlashIPAddrBehavior.cc in Sources */, + 694E67E70AC308290087EC83 /* PitchEvent.cc in Sources */, + 694E68570AC33A120087EC83 /* PitchDetector.cc in Sources */, + 69B8DDC30AC44736003EC54A /* LGmixin.cc in Sources */, + 6976B2150ACC66A000BA657B /* LoadFileThread.cc in Sources */, + 6976B2160ACC66A000BA657B /* LoadImageThread.cc in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -2098,8 +2513,9 @@ 69E0AFB707CBF862008493CA /* Simulator.cc in Sources */, 69E0AFB807CBF863008493CA /* SoundPlay.cc in Sources */, 692CD63707F8C46B00604100 /* sim.cc in Sources */, - 692CD99707F9F05500604100 /* LoadFileThread.cc in Sources */, - 695967E207FF3DCF004FABFF /* LoadImageThread.cc in Sources */, + 69A7EC7D09C79818003DDD18 /* TimerExecThread.cc in Sources */, + 69A7ED9D09C88623003DDD18 /* MotionExecThread.cc in Sources */, + 694E68580AC33A130087EC83 /* PitchDetector.cc in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -2107,6 +2523,8 @@ isa = PBXSourcesBuildPhase; buildActionMask = 2147483647; files = ( + 698A071D09575F41001A13D5 /* plistBase.cc in Sources */, + 698A072909575F7D001A13D5 /* plistCollections.cc in Sources */, 69E0A76407CBD4F9008493CA /* StartupBehavior_SetupBackgroundBehaviors.cc in Sources */, 69E0A76507CBD4F9008493CA /* StartupBehavior_SetupFileAccess.cc in Sources */, 69E0A76607CBD4F9008493CA /* StartupBehavior_SetupModeSwitch.cc in Sources */, @@ -2140,7 +2558,6 @@ 69E0A9CF07CBD6C1008493CA /* ChaseBallBehavior.cc in Sources */, 69E0A9D207CBD6C1008493CA /* DriveMeBehavior.cc in Sources */, 69E0A9D407CBD6C1008493CA /* ExploreMachine.cc in Sources */, - 69E0A9D607CBD6C1008493CA /* FlashIPAddrBehavior.cc in Sources */, 69E0A9D807CBD6C1008493CA /* FollowHeadBehavior.cc in Sources */, 69E0A9E407CBD6C1008493CA /* PaceTargetsMachine.cc in Sources */, 69E0A9E907CBD6C1008493CA /* StareAtBallBehavior.cc in Sources */, @@ -2252,10 +2669,7 @@ 69A323C207E3564F009D94E1 /* write_jpeg.cc in Sources */, 69E666BC07F0CE51005F4FA9 /* plist.cc in Sources */, 69E6674A07F1E23A005F4FA9 /* XMLLoadSave.cc in Sources */, - 69E6696607F3398F005F4FA9 /* SimConfig.cc in Sources */, 692CD63607F8C46B00604100 /* sim.cc in Sources */, - 692CD99807F9F05500604100 /* LoadFileThread.cc in Sources */, - 695967E307FF3DCF004FABFF /* LoadImageThread.cc in Sources */, 695F1ACA0804A81800ACB3D7 /* BufferedImageGenerator.cc in Sources */, 69A1995F080ED8A200540970 /* EchoBehavior.cc in Sources */, 691C805608255F6300E8E256 /* Base64.cc in Sources */, @@ -2267,27 +2681,97 @@ 69B4E446089409D900832D58 /* StareAtPawBehavior2.cc in Sources */, 69B4E6D50895E34F00832D58 /* robot.cpp in Sources */, 693D801408ABF46D00AC993E /* RegionCamBehavior.cc in Sources */, + 69844A2C08CE5F7F00BCDD5C /* CameraStreamBehavior.cc in Sources */, + 6966753C0926558A00405769 /* MCNode.cc in Sources */, + 69469FC809AA1D2100D1EC14 /* AgentData.cc in Sources */, + 69469FC909AA1D2100D1EC14 /* BaseData.cc in Sources */, + 69469FCA09AA1D2100D1EC14 /* BlobData.cc in Sources */, + 69469FCB09AA1D2100D1EC14 /* BrickData.cc in Sources */, + 69469FCD09AA1D2100D1EC14 /* EllipseData.cc in Sources */, + 69469FCE09AA1D2100D1EC14 /* EndPoint.cc in Sources */, + 69469FCF09AA1D2100D1EC14 /* LineData.cc in Sources */, + 69469FD109AA1D2100D1EC14 /* Lookout.cc in Sources */, + 69469FD209AA1D2100D1EC14 /* MapBuilder.cc in Sources */, + 69469FD309AA1D2100D1EC14 /* Measures.cc in Sources */, + 69469FD409AA1D2100D1EC14 /* Particle.cc in Sources */, + 69469FD509AA1D2100D1EC14 /* ParticleFilter.cc in Sources */, + 69469FD609AA1D2100D1EC14 /* ParticleShapes.cc in Sources */, + 69469FD809AA1D2100D1EC14 /* Point.cc in Sources */, + 69469FD909AA1D2100D1EC14 /* PointData.cc in Sources */, + 69469FDA09AA1D2100D1EC14 /* PolygonData.cc in Sources */, + 69469FDB09AA1D2100D1EC14 /* Region.cc in Sources */, + 69469FDC09AA1D2100D1EC14 /* ShapeAgent.cc in Sources */, + 69469FDD09AA1D2100D1EC14 /* ShapeBlob.cc in Sources */, + 69469FDE09AA1D2100D1EC14 /* ShapeBrick.cc in Sources */, + 69469FDF09AA1D2100D1EC14 /* ShapeEllipse.cc in Sources */, + 69469FE009AA1D2100D1EC14 /* ShapeFuns.cc in Sources */, + 69469FE109AA1D2100D1EC14 /* ShapeLine.cc in Sources */, + 69469FE209AA1D2100D1EC14 /* ShapePoint.cc in Sources */, + 69469FE309AA1D2100D1EC14 /* ShapePolygon.cc in Sources */, + 69469FE409AA1D2100D1EC14 /* ShapeRoot.cc in Sources */, + 69469FE509AA1D2100D1EC14 /* ShapeSpace.cc in Sources */, + 69469FE609AA1D2100D1EC14 /* ShapeSphere.cc in Sources */, + 69469FE709AA1D2100D1EC14 /* ShapeTypes.cc in Sources */, + 69469FE809AA1D2100D1EC14 /* Sketch.cc in Sources */, + 69469FE909AA1D2100D1EC14 /* SketchDataRoot.cc in Sources */, + 69469FEA09AA1D2100D1EC14 /* SketchIndices.cc in Sources */, + 69469FEB09AA1D2100D1EC14 /* SketchRoot.cc in Sources */, + 69469FEC09AA1D2100D1EC14 /* SketchSpace.cc in Sources */, + 69469FED09AA1D2100D1EC14 /* SphereData.cc in Sources */, + 69469FEE09AA1D2100D1EC14 /* susan.cc in Sources */, + 69469FEF09AA1D2100D1EC14 /* ViewerConnection.cc in Sources */, + 69469FF009AA1D2100D1EC14 /* visops.cc in Sources */, + 69469FF109AA1D2100D1EC14 /* VisualRoutinesBehavior.cc in Sources */, + 6946A1A209AAE1C600D1EC14 /* VRmixin.cc in Sources */, + 6946A1A609AAE1D800D1EC14 /* VisualRoutinesStateNode.cc in Sources */, + 69D5F7BD09BB4DC9000602D2 /* MessageQueue.cc in Sources */, + 69D5F82909BBDF0C000602D2 /* MessageQueueStatusThread.cc in Sources */, + 69A7EBEC09C7162E003DDD18 /* PollThread.cc in Sources */, + 69A7EC7B09C79817003DDD18 /* TimerExecThread.cc in Sources */, + 69A7ED9C09C88623003DDD18 /* MotionExecThread.cc in Sources */, + 69A7EF2909C9EA77003DDD18 /* plistPrimitives.cc in Sources */, + 69E78D0309F6C114000385E9 /* StackTrace.cc in Sources */, + 694B2B200A0FC983002ABC4C /* SketchPoolRoot.cc in Sources */, + 694B36580A190FE2002ABC4C /* jpeg_mem_src.cc in Sources */, + 69EB5B560A41CCD700415C6B /* Resource.cc in Sources */, + 690065A00A4EF58800E895F9 /* PNGGenerator.cc in Sources */, + 6958D68B0A5EE5AB00D46050 /* WorldStatePool.cc in Sources */, + 69B3446A0A7152900021FBE6 /* PyramidData.cc in Sources */, + 69B3446E0A7152AC0021FBE6 /* ShapePyramid.cc in Sources */, + 69B344720A7152C30021FBE6 /* BrickOps.cc in Sources */, + 6962F2EC0A917E33002DDEC9 /* LookoutEvents.cc in Sources */, + 6962F2F00A917E74002DDEC9 /* Aibo3DControllerBehavior.cc in Sources */, + 6962F3000A917F41002DDEC9 /* LookoutRequests.cc in Sources */, + 692964F80AA8CEEF00F47522 /* TestBehaviors.cc in Sources */, + 6901D5900AAF288600104815 /* TimerEvent.cc in Sources */, + 69750F090AC03FFE004FE3CF /* FlashIPAddrBehavior.cc in Sources */, + 694E67E60AC308290087EC83 /* PitchEvent.cc in Sources */, + 694E68560AC33A120087EC83 /* PitchDetector.cc in Sources */, + 69B8DDC20AC44735003EC54A /* LGmixin.cc in Sources */, + 6976B2130ACC669F00BA657B /* LoadFileThread.cc in Sources */, + 6976B2140ACC66A000BA657B /* LoadImageThread.cc in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; /* End PBXSourcesBuildPhase section */ /* Begin XCBuildConfiguration section */ - 693D801008ABBB6100AC993E /* Development */ = { + 693D801008ABBB6100AC993E /* . */ = { isa = XCBuildConfiguration; buildSettings = { - MEMSTICK_ROOT = /Volumes/Untitled; - TEKKOTSU_ALWAYS_BUILD = true; + CXXFLAGS = "-fmessage-length=0"; TEKKOTSU_COLORFILT = cat; + TEKKOTSU_DEFTARGET = update; + TEKKOTSU_LOGVIEW = cat; }; - name = Development; + name = .; }; 693D801108ABBB6100AC993E /* Deployment */ = { isa = XCBuildConfiguration; buildSettings = { COPY_PHASE_STRIP = YES; GCC_GENERATE_DEBUGGING_SYMBOLS = NO; - OPTIMIZATION_CFLAGS = ""; + OPTIMIZATION_CFLAGS = "-O0"; OTHER_CFLAGS = ""; OTHER_LDFLAGS = ""; OTHER_REZFLAGS = ""; @@ -2301,7 +2785,7 @@ }; name = Deployment; }; - 69FD502B0881E74900E825BA /* Development */ = { + 69FD502B0881E74900E825BA /* . */ = { isa = XCBuildConfiguration; buildSettings = { COPY_PHASE_STRIP = NO; @@ -2355,7 +2839,7 @@ "-Wdeprecated", ); }; - name = Development; + name = .; }; 69FD502C0881E74900E825BA /* Deployment */ = { isa = XCBuildConfiguration; @@ -2375,7 +2859,7 @@ }; name = Deployment; }; - 69FD502F0881E74900E825BA /* Development */ = { + 69FD502F0881E74900E825BA /* . */ = { isa = XCBuildConfiguration; buildSettings = { COPY_PHASE_STRIP = NO; @@ -2411,11 +2895,16 @@ /usr/include/libxml2, ); INSTALL_PATH = /usr/local/bin; + LIBRARY_SEARCH_PATHS = ( + "$(TEKKOTSU_BUILDDIR)/PLATFORM_LOCAL/TGT_ERS7", + "$(TEKKOTSU_BUILDDIR)/PLATFORM_LOCAL/Motion/roboop", + "$(TEKKOTSU_BUILDDIR)/PLATFORM_LOCAL/Shared/newmat", + ); OBJROOT = build; OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; PREBINDING = NO; PRODUCT_NAME = "sim-ERS7"; - SYMROOT = ""; + SYMROOT = .; WARNING_CFLAGS = ( "-Wall", "-W", @@ -2425,7 +2914,7 @@ "-Wdeprecated", ); }; - name = Development; + name = .; }; 69FD50300881E74900E825BA /* Deployment */ = { isa = XCBuildConfiguration; @@ -2439,13 +2928,18 @@ GCC_WARN_UNINITIALIZED_AUTOS = YES; HEADER_SEARCH_PATHS = "$(TEKKOTSU_ROOT)"; INSTALL_PATH = /usr/local/bin; + LIBRARY_SEARCH_PATHS = ( + "$(TEKKOTSU_BUILDDIR)/PLATFORM_LOCAL/TGT_ERS7", + "$(TEKKOTSU_BUILDDIR)/PLATFORM_LOCAL/Motion/roboop", + "$(TEKKOTSU_BUILDDIR)/PLATFORM_LOCAL/Shared/newmat", + ); OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; PRODUCT_NAME = "sim-ERS7"; ZERO_LINK = NO; }; name = Deployment; }; - 69FD50330881E74900E825BA /* Development */ = { + 69FD50330881E74900E825BA /* . */ = { isa = XCBuildConfiguration; buildSettings = { COPY_PHASE_STRIP = NO; @@ -2495,7 +2989,7 @@ "-Wdeprecated", ); }; - name = Development; + name = .; }; 69FD50340881E74900E825BA /* Deployment */ = { isa = XCBuildConfiguration; @@ -2515,17 +3009,19 @@ }; name = Deployment; }; - 69FD50370881E74900E825BA /* Development */ = { + 69FD50370881E74900E825BA /* . */ = { isa = XCBuildConfiguration; buildSettings = { + DEBUG_INFORMATION_FORMAT = dwarf; DEPLOYMENT_LOCATION = YES; DSTROOT = build; }; - name = Development; + name = .; }; 69FD50380881E74900E825BA /* Deployment */ = { isa = XCBuildConfiguration; buildSettings = { + DEBUG_INFORMATION_FORMAT = dwarf; }; name = Deployment; }; @@ -2535,46 +3031,47 @@ 693D800F08ABBB6100AC993E /* Build configuration list for PBXLegacyTarget "Aperios Build" */ = { isa = XCConfigurationList; buildConfigurations = ( - 693D801008ABBB6100AC993E /* Development */, + 693D801008ABBB6100AC993E /* . */, 693D801108ABBB6100AC993E /* Deployment */, ); defaultConfigurationIsVisible = 0; + defaultConfigurationName = .; }; 69FD502A0881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-7)" */ = { isa = XCConfigurationList; buildConfigurations = ( - 69FD502B0881E74900E825BA /* Development */, + 69FD502B0881E74900E825BA /* . */, 69FD502C0881E74900E825BA /* Deployment */, ); defaultConfigurationIsVisible = 0; - defaultConfigurationName = Development; + defaultConfigurationName = .; }; 69FD502E0881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-7) Light" */ = { isa = XCConfigurationList; buildConfigurations = ( - 69FD502F0881E74900E825BA /* Development */, + 69FD502F0881E74900E825BA /* . */, 69FD50300881E74900E825BA /* Deployment */, ); defaultConfigurationIsVisible = 0; - defaultConfigurationName = Development; + defaultConfigurationName = .; }; 69FD50320881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-210)" */ = { isa = XCConfigurationList; buildConfigurations = ( - 69FD50330881E74900E825BA /* Development */, + 69FD50330881E74900E825BA /* . */, 69FD50340881E74900E825BA /* Deployment */, ); defaultConfigurationIsVisible = 0; - defaultConfigurationName = Development; + defaultConfigurationName = .; }; 69FD50360881E74900E825BA /* Build configuration list for PBXProject "Make" */ = { isa = XCConfigurationList; buildConfigurations = ( - 69FD50370881E74900E825BA /* Development */, + 69FD50370881E74900E825BA /* . */, 69FD50380881E74900E825BA /* Deployment */, ); defaultConfigurationIsVisible = 0; - defaultConfigurationName = Development; + defaultConfigurationName = .; }; /* End XCConfigurationList section */ }; diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/Makefile ./Makefile --- ../../Tekkotsu_2.4.1/project/Makefile 2005-07-06 18:53:29.000000000 -0400 +++ ./Makefile 2006-09-26 17:53:55.000000000 -0400 @@ -40,15 +40,14 @@ $(if $(TEKKOTSU_DEBUG),-DOPENR_DEBUG,) \ `$(TEKKOTSU_ROOT)/aperios/bin/xml2-config --cflags` LDFLAGS=-lObjectComm -lOPENR -lInternet -lantMCOOP -lERA201D1 \ - `$(TEKKOTSU_ROOT)/aperios/bin/xml2-config --libs` -ljpeg + `$(TEKKOTSU_ROOT)/aperios/bin/xml2-config --libs` -ljpeg -lpng else - PLATFORM_FLAGS=`xml2-config --cflags` - LDFLAGS=`xml2-config --libs` $(if $(shell locate librt.a),-lrt) -ljpeg + PLATFORM_FLAGS=`xml2-config --cflags` -isystem /usr/include/libpng12 + LDFLAGS=`xml2-config --libs` $(if $(shell locate librt.a),-lrt) -lreadline -lncurses -ljpeg -lpng12 endif -CXXFLAGS= \ - $(if $(TEKKOTSU_DEBUG),-g -fno-inline -DDEBUG,) \ - $(if $(TEKKOTSU_DEBUG),,-O2 -frename-registers -fomit-frame-pointer) \ +CXXFLAGS:= \ + $(if $(TEKKOTSU_DEBUG),$(TEKKOTSU_DEBUG),$(TEKKOTSU_OPTIMIZE)) \ -pipe -ffast-math -fno-common \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Wdeprecated -Wnon-virtual-dtor \ @@ -56,10 +55,11 @@ -I$(TEKKOTSU_ROOT)/Shared/newmat \ -isystem $(TEKKOTSU_ROOT)/Shared/jpeg-6b \ -D$(TEKKOTSU_TARGET_PLATFORM) -D$(TEKKOTSU_TARGET_MODEL) \ - $(PLATFORM_FLAGS) + $(PLATFORM_FLAGS) $(CXXFLAGS) INCLUDE_PCH=$(if $(TEKKOTSU_PCH),-include $(TK_BD)/$(TEKKOTSU_PCH)) +TEKKOTSU_VERSION=Tekkotsu pre-3.0 CVS ################################################### ## SOURCE CODE LIST ## @@ -70,7 +70,7 @@ # You shouldn't need to change anything here unless you want to add # external libraries SRCSUFFIX=.cc -SRCS:=$(patsubst ./%,%,$(shell find . -name "*$(SRCSUFFIX)" -or -name "$(PROJECT_BUILDDIR)" \! -prune -or -name "templates" \! -prune -or -name "aperios" \! -prune -or -name "local" \! -prune)) +SRCS:=$(patsubst ./%,%,$(shell find . -name "*$(SRCSUFFIX)" -or -name "$(PROJECT_BUILDDIR)" \! -prune -or -name "templates" \! -prune -or -name "aperios" \! -prune -or -name "local" \! -prune | xargs ls -t)) # We can also link in third-party libraries USERLIBS:= $(TK_BD)/libtekkotsu.a \ @@ -84,14 +84,23 @@ # Hopefully, you shouldn't have to change anything down here, # except one or two little things ;) -.PHONY: all compile clean cleanDeps cleanProj reportTarget checkLibs testLibs buildLibs sim +.PHONY: all compile clean cleanDeps cleanProj reportTarget checkLibs testEnv testLibs buildLibs sim -sim all: reportTarget checkLibs compile -ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) - @echo "Type: '$(MAKE) install' to copy all files to the memory stick"; - @echo " or: '$(MAKE) update' to copy only changed files"; - @echo " or: '$(TEKKOTSU_ROOT)/tools/{ftpinstall,ftpupdate} ms' might also be useful"; +sim all update install ftpupdate: reportTarget testEnv checkLibs + @$(MAKE) TEKKOTSU_TARGET_PLATFORM=$(TEKKOTSU_TARGET_PLATFORM) compile-$@ + +ifeq ($(TEKKOTSU_DEFTARGET),) +compile-all: compile + @echo "Type: '$(MAKE) install' to compile and copy all files to the memory stick"; + @echo " or: '$(MAKE) update' to compile and copy only changed files"; + @echo " or: '$(MAKE) ftpupdate IPADDRESS=' to compile and copy changed files over FTP"; + @echo " ('$(TEKKOTSU_ROOT)/tools/{ftpinstall,ftpupdate} ms' might also be useful)"; + @echo "Build successful." +else +compile-all: compile-$(TEKKOTSU_DEFTARGET) ; endif + +compile-sim: compile @echo "Build successful." # Don't want to try to remake this - give an error if not found @@ -160,7 +169,12 @@ endif -ifeq ($(filter clean% docs,$(MAKECMDGOALS)),) +EMPTYDEPS:=$(shell find $(PROJ_BD) -type f -name "*\.d" -size 0 -print -exec rm \{\} \;) +ifneq ($(EMPTYDEPS),) +EMPTYDEPS:=$(shell echo "Empty dependency files detected: $(EMPTYDEPS)" > /dev/tty) +endif + +ifeq ($(filter clean% docs newstick,$(MAKECMDGOALS)),) -include $(DEPENDS) ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) -include $(PROJ_BD)/aperios/aperios.d @@ -180,8 +194,27 @@ $(CXX) $(CXXFLAGS) -MP -MG -MT "$@" -MT "$(@:.d=.o)" -MM "$$src" > $@ reportTarget: - @echo " ** Targeting $(TEKKOTSU_TARGET_MODEL) for build on $(TEKKOTSU_TARGET_PLATFORM) ** "; - @echo " ** TEKKOTSU_DEBUG is $(if $(TEKKOTSU_DEBUG),ON ,OFF) ** "; + @echo " ** Project Targeting $(TEKKOTSU_TARGET_MODEL) for build on $(TEKKOTSU_TARGET_PLATFORM) ** "; + @echo " ** TEKKOTSU_DEBUG is $(if $(TEKKOTSU_DEBUG),ON: $(TEKKOTSU_DEBUG),OFF) ** "; + @echo " ** TEKKOTSU_OPTIMIZE is $(if $(TEKKOTSU_DEBUG),DISABLED BY DEBUG,$(if $(TEKKOTSU_OPTIMIZE),ON: $(TEKKOTSU_OPTIMIZE),OFF)) ** "; + +testEnv: + $(testEnvScr) + +define testEnvScr +@if [ ! -d "$(OPENRSDK_ROOT)" ] ; then \ + echo "ERROR: OPEN-R SDK not found at '$(OPENRSDK_ROOT)', check installation." ; \ + exit 1; \ +fi; +@if $(CXX) -v > /dev/null 2>&1 ; then true; else \ + echo "ERROR: c++ compiler not found at '$(CXX)', check installation." ; \ + exit 1; \ +fi; +@if [ ! -d "$(OPENRSDK_ROOT)/OPEN_R" ] ; then \ + echo "ERROR: OPEN-R SDK header files missing, check installation." ; \ + exit 1; \ +fi; +endef %.h : @if [ "$(notdir $@)" = "def.h" -o "$(notdir $@)" = "entry.h" ] ; then \ @@ -191,12 +224,13 @@ @echo "ERROR: Seems to be a missing header file '$@'..."; @echo " Someone probably forgot to check a file into CVS."; @echo " I'll try to find where it's being included from:"; + @echo " if this was a file you recently deleted, just make again after this completes. (will update dependency files)"; @find . -name "*.h" -exec grep -H "$(notdir $@)" \{\} \; ; @find . -name "*.cc" -exec grep -H "$(notdir $@)" \{\} \; ; @find $(TEKKOTSU_ROOT) -name "*.h" -exec grep -H "$(notdir $@)" \{\} \; ; @find $(TEKKOTSU_ROOT) -name "*.cc" -exec grep -H "$(notdir $@)" \{\} \; ; - @echo ""; - @echo "You might need to rebuild the dependancy files ('make cleanDeps') to get rid of this error."; + @find $(TK_BD) -name "*.d" -exec grep -qH "$(notdir $@)" \{\} \; -exec rm \{\} \; ; + @find $(PROJ_BD) -name "*.d" -exec grep -qH "$(notdir $@)" \{\} \; -exec rm \{\} \; ; @exit 1 #don't try to make random files via this implicit chain @@ -244,6 +278,6 @@ cleanDeps: @echo "Cleaning all .d files from build directory..." - find $(PROJ_BD) -name "*.d" -exec rm \{\} \; + find $(PROJECT_BUILDDIR) -name "*.d" -exec rm \{\} \; @echo "done." $(if $(TEKKOTSU_ALWAYS_BUILD),$(MAKE) -C $(TEKKOTSU_ROOT) $@) diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/StartupBehavior.cc ./StartupBehavior.cc --- ../../Tekkotsu_2.4.1/project/StartupBehavior.cc 2005-06-10 13:26:04.000000000 -0400 +++ ./StartupBehavior.cc 2006-09-18 14:08:09.000000000 -0400 @@ -81,7 +81,7 @@ wireless->setReceiver(sout, Controller::console_callback); spawned.push_back(controller); - sndman->PlayFile("roar.wav"); + sndman->playFile("roar.wav"); //This will close the mouth so it doesn't look stupid or get in the //way of head motions (ERS-210 or ERS-7 only) @@ -105,6 +105,14 @@ for(unsigned int i=0; iaddListener(this,EventBase::motmanEGID,spawnedMC[i],EventBase::deactivateETID); +#ifdef PLATFORM_APERIOS + sout->printf("Remember, telnet to port 10001 for text entry (port 59000 is read only)\n"); +#else + sout->printf("All console output will be redirected to this terminal.\n"); + sout->printf("Alternatively, telnet to port 10001 to isolate data from sout as a separate stream.\n"); + sout->printf("If a prompt does not appear below, hit 'enter' or 'return' to refresh it.\n"); +#endif + //if you didn't want to start off paused, you should throw an //un-estop event. This will make it clear to any background //behaviors (namely WorldStateVelDaemon) that we're not in estop @@ -196,7 +204,9 @@ startSubMenu(); { addItem(new ShutdownControl()); +#ifdef PLATFORM_APERIOS addItem(new RebootControl()); +#endif } endSubMenu(); addItem(new HelpControl(root,2)); diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupBackgroundBehaviors.cc ./StartupBehavior_SetupBackgroundBehaviors.cc --- ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupBackgroundBehaviors.cc 2005-06-01 01:48:07.000000000 -0400 +++ ./StartupBehavior_SetupBackgroundBehaviors.cc 2006-09-21 17:26:08.000000000 -0400 @@ -3,31 +3,30 @@ #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" -#include "Behaviors/Demos/FlashIPAddrBehavior.h" +#include "Behaviors/Services/FlashIPAddrBehavior.h" #include "Behaviors/Demos/SimpleChaseBallBehavior.h" #include "Behaviors/Demos/StareAtBallBehavior.h" -#include "Behaviors/Demos/AutoGetupBehavior.h" -#include "Behaviors/Demos/BatteryMonitorBehavior.h" +#include "Behaviors/Services/AutoGetupBehavior.h" +#include "Behaviors/Services/BatteryMonitorBehavior.h" #include "Behaviors/Demos/HeadLevelBehavior.h" #include "Behaviors/Demos/ToggleHeadLightBehavior.h" #include "Behaviors/Demos/CrashTestBehavior.h" #include "Behaviors/Demos/FreezeTestBehavior.h" #include "Behaviors/Demos/RelaxBehavior.h" -#include "Behaviors/Demos/WorldStateVelDaemon.h" +#include "Behaviors/Services/WorldStateVelDaemon.h" #include "Behaviors/Demos/CameraBehavior.h" #include "Behaviors/Demos/MotionStressTestBehavior.h" #include "Behaviors/Demos/ASCIIVisionBehavior.h" #include "Behaviors/Nodes/TailWagNode.h" +#include "Sound/PitchDetector.h" -#include "Shared/WorldState.h" -#include "Shared/ERS210Info.h" +#include "Behaviors/Demos/TestBehaviors.h" ControlBase* StartupBehavior::SetupBackgroundBehaviors() { addItem(new ControlBase("Background Behaviors","Background daemons and monitors")); startSubMenu(); { - addItem((new BehaviorSwitchControl("Flash IP Address",false))->start()); addItem(new BehaviorSwitchControl("Simple Chase Ball",false)); addItem(new BehaviorSwitchControl("Stare at Ball",false)); addItem(new BehaviorSwitchControl("Head Level",false)); @@ -43,14 +42,23 @@ addItem(new BehaviorSwitchControl("Motion Stress Test",false)); addItem(new BehaviorSwitchControl("Crash Test",false)); addItem(new BehaviorSwitchControl("Freeze Test",false)); + // these following behaviors are all found in TestBehaviors.h, too small to warrant individual files + addItem(new BehaviorSwitchControl("Instant MC Add/Remove",false)); + addItem(new BehaviorSwitchControl("Busy Loop Behavior",false)); + addItem(new BehaviorSwitchControl("Busy Loop MC",false)); + addItem(new BehaviorSwitchControl("Suicidal Behavior",false)); + addItem(new BehaviorSwitchControl("Echo Text",false)); + addItem(new BehaviorSwitchControl("Save Image Pyramid",false)); } endSubMenu(); addItem(new ControlBase("System Daemons","Provide some common sensor or event processing")); startSubMenu(); { addItem((new BehaviorSwitchControl("Auto Getup",false))); + addItem((new BehaviorSwitchControl("Flash IP Address",false))->start()); addItem((new BehaviorSwitchControl("World State Vel Daemon",false))->start()); addItem((new BehaviorSwitchControl("Battery Monitor",false))->start()); + addItem((new BehaviorSwitchControl("Pitch Detection",false))->start()); } endSubMenu(); } diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupTekkotsuMon.cc ./StartupBehavior_SetupTekkotsuMon.cc --- ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupTekkotsuMon.cc 2005-08-05 15:44:23.000000000 -0400 +++ ./StartupBehavior_SetupTekkotsuMon.cc 2006-08-03 18:58:36.000000000 -0400 @@ -32,7 +32,9 @@ addItem((new BehaviorSwitchControl("Watchable Memory Monitor",false))->start()); addItem((new BehaviorSwitchControl("Stewart Platform",false))); addItem((new BehaviorSwitchControl("Aibo 3D",false))); - addItem((new BehaviorSwitchControl("World State Serializer",false))); + BehaviorSwitchControlBase * wss=NULL; + addItem((wss=new BehaviorSwitchControl("World State Serializer",false))); + Aibo3DControllerBehavior::setSerializerControl(wss); addItem((new BehaviorSwitchControl("Raw Cam Server",false))); addItem((new BehaviorSwitchControl("Seg Cam Server",false))); addItem((new BehaviorSwitchControl("Region Cam Server",false))); diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupVision.cc ./StartupBehavior_SetupVision.cc --- ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupVision.cc 2005-07-10 16:03:11.000000000 -0400 +++ ./StartupBehavior_SetupVision.cc 2006-06-30 12:35:32.000000000 -0400 @@ -15,6 +15,7 @@ #endif #include "Vision/InterleavedYUVGenerator.h" #include "Vision/JPEGGenerator.h" +#include "Vision/PNGGenerator.h" #include "Vision/SegmentedColorGenerator.h" #include "Vision/RLEGenerator.h" #include "Vision/RegionGenerator.h" @@ -28,7 +29,9 @@ BallDetectionGenerator * pball=NULL; BallDetectionGenerator * bball=NULL; -BallDetectionGenerator * handball=NULL; +BallDetectionGenerator * gball=NULL; +BallDetectionGenerator * yball=NULL; +BallDetectionGenerator * handball=NULL; //aka orange /*! We set the default vision generators and source IDs here. * @@ -55,23 +58,28 @@ #endif - // These JPEG generators select the "deactivate" stage, so they will work on + // These JPEG & PNG generators select the "deactivate" stage, so they will work on // the potentially marked up versions of the raw camera. The camera GUIs use // these to provide vision feedback without requiring an extra pipeline stage // or image copy. - // Of course, if you want to analyze the JPEG compression as a part of a + // Of course, if you want to analyze the compression as a part of a // computer vision algorithm, you'll want the un-marked up versions, and so - // you may need to add another JPEG compressor instance that uses the + // you may need to add another compressor instance that uses the // "activate" stage to ensure you get the original data. - //need to do pixel interleaving for JPEG compression + //need to do pixel interleaving for JPEG & PNG compression //if the results of visRawCameraEGID are already in the proper format (e.g. source layer of BufferedImageGenerator) then InterleavedYUVGenerator is a pass-through defInterleavedYUVGenerator = new InterleavedYUVGenerator(visInterleaveSID,RawCameraGenerator::CHAN_Y,RawCameraGenerator::CHAN_U,RawCameraGenerator::CHAN_V,defRawCameraGenerator,EventBase::deactivateETID); + defColorJPEGGenerator = new JPEGGenerator(visColorJPEGSID,defInterleavedYUVGenerator,EventBase::deactivateETID); defColorJPEGGenerator->setName("ColorJPEGGenerator"); defGrayscaleJPEGGenerator = new JPEGGenerator(visGrayscaleJPEGSID,defRawCameraGenerator,EventBase::deactivateETID); defGrayscaleJPEGGenerator->setName("GrayscaleJPEGGenerator"); + defColorPNGGenerator = new PNGGenerator(visColorPNGSID,defInterleavedYUVGenerator,EventBase::deactivateETID); + defColorPNGGenerator->setName("ColorPNGGenerator"); + defGrayscalePNGGenerator = new PNGGenerator(visGrayscalePNGSID,defRawCameraGenerator,EventBase::deactivateETID); + defGrayscalePNGGenerator->setName("GrayscalePNGGenerator"); // the hardware level CDT generator allows faster, but less flexible // segmenting it still needs a little work though before it can be @@ -79,7 +87,8 @@ // defSegmentedColorGenerator = new CDTGenerator(numSystemLayers,numLayers,EventBase::visOFbkEGID,0,visSegmentSID); defSegmentedColorGenerator = new SegmentedColorGenerator(visSegmentSID,defRawCameraGenerator,EventBase::activateETID); SegmentedColorGenerator * segcol = defSegmentedColorGenerator; //just using segcol as a shorthand for the following setup - segcol->loadColorInfo(config->vision.colors); + if(config->vision.colors[0]!='\0') + segcol->loadColorInfo(config->vision.colors); for(unsigned int i=0; ivision.thresh.size(); i++) segcol->loadThresholdMap(config->vision.thresh[i]); @@ -97,7 +106,7 @@ // 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; + unsigned int threshChan=config->vision.segcam_channel; // higher value reduce false events, but increase reaction time [0-inf] unsigned int noiseFiltering=1; @@ -105,7 +114,7 @@ // lower values increase sensitivity (and noise) [0-1] float confidenceThreshold=.8; - unsigned int pinkIdx=segcol->getColorIndex("red"); + unsigned int pinkIdx=segcol->getColorIndex("pink"); if(pinkIdx!=-1U) { pball = new BallDetectionGenerator(visPinkBallSID,defRegionGenerator,pinkIdx,threshChan,noiseFiltering,confidenceThreshold); pball->setName("PinkBallDetectionGenerator"); @@ -115,7 +124,17 @@ bball = new BallDetectionGenerator(visBlueBallSID,defRegionGenerator,blueIdx,threshChan,noiseFiltering,confidenceThreshold); bball->setName("BlueBallDetectionGenerator"); } - unsigned int skinIdx=segcol->getColorIndex("brown"); + unsigned int greenIdx=segcol->getColorIndex("green"); + if(greenIdx!=-1U) { + gball = new BallDetectionGenerator(visGreenBallSID,defRegionGenerator,greenIdx,threshChan,noiseFiltering,confidenceThreshold); + gball->setName("GreenBallDetectionGenerator"); + } + unsigned int yellowIdx=segcol->getColorIndex("yellow"); + if(yellowIdx!=-1U) { + yball = new BallDetectionGenerator(visYellowBallSID,defRegionGenerator,yellowIdx,threshChan,noiseFiltering,confidenceThreshold); + yball->setName("YellowBallDetectionGenerator"); + } + unsigned int skinIdx=segcol->getColorIndex("orange"); if(skinIdx!=-1U) { handball = new BallDetectionGenerator(visHandSID,defRegionGenerator,skinIdx,threshChan,noiseFiltering,confidenceThreshold); handball->setName("HandBallDetectionGenerator"); @@ -145,10 +164,16 @@ if(defColorJPEGGenerator) addItem((new BehaviorSwitchControlBase(defColorJPEGGenerator))->start()); - + if(defGrayscaleJPEGGenerator) addItem((new BehaviorSwitchControlBase(defGrayscaleJPEGGenerator))->start()); + if(defColorPNGGenerator) + addItem((new BehaviorSwitchControlBase(defColorPNGGenerator))->start()); + + if(defGrayscalePNGGenerator) + addItem((new BehaviorSwitchControlBase(defGrayscalePNGGenerator))->start()); + if(config->vision.colors!="" && config->vision.thresh.size()>0) addItem((new BehaviorSwitchControlBase(defSegmentedColorGenerator))->start()); else @@ -163,17 +188,27 @@ if(pball) addItem((new BehaviorSwitchControlBase(pball))->start()); else - addItem(new NullControl("Error: PinkBallDetectionGenerator","Color \"red\" is undefined")); + addItem(new NullControl("Error: PinkBallDetectionGenerator","Color \"pink\" is undefined")); if(bball) addItem((new BehaviorSwitchControlBase(bball))->start()); else addItem(new NullControl("Error: BlueBallDetectionGenerator","Color \"blue\" is undefined")); + if(gball) + addItem((new BehaviorSwitchControlBase(gball))->start()); + else + addItem(new NullControl("Error: BlueBallDetectionGenerator","Color \"green\" is undefined")); + + if(yball) + addItem((new BehaviorSwitchControlBase(yball))->start()); + else + addItem(new NullControl("Error: BlueBallDetectionGenerator","Color \"yellow\" is undefined")); + if(handball) addItem((new BehaviorSwitchControlBase(handball))->start()); else - addItem(new NullControl("Error: HandBallDetectionGenerator","Color \"brown\" is undefined")); + addItem(new NullControl("Error: HandBallDetectionGenerator","Color \"orange\" is undefined")); } return endSubMenu(); } diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupWalkEdit.cc ./StartupBehavior_SetupWalkEdit.cc --- ../../Tekkotsu_2.4.1/project/StartupBehavior_SetupWalkEdit.cc 2004-05-14 03:18:19.000000000 -0400 +++ ./StartupBehavior_SetupWalkEdit.cc 2005-09-22 17:54:17.000000000 -0400 @@ -32,8 +32,10 @@ addItem(new ControlBase("Walk Edit","Edit the walk parameters")); startSubMenu(); { + //Use this instance of the GUI to try out changes you have made to parameters within this editor + //(the one in TekkotsuMon will load fresh parameters from walk.prm on disk and won't know about changes made here) WalkControllerBehavior * walker = new WalkControllerBehavior(); - addItem((new BehaviorSwitchControlBase(walker))); + addItem((new BehaviorSwitchControlBase("Walk GUI: test changes",walker))); addItem(new ValueEditControl("Slow Motion",walker->getWalkMC()->getSlowMo())); diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/aperios/Makefile.aperios ./aperios/Makefile.aperios --- ../../Tekkotsu_2.4.1/project/aperios/Makefile.aperios 2005-06-03 18:55:49.000000000 -0400 +++ ./aperios/Makefile.aperios 2006-09-12 16:17:54.000000000 -0400 @@ -2,7 +2,7 @@ $(error This makefile is not meant to be run directly. It is intended to contain Aperios-specific build instructions. Please run 'make' from the main project directory.); endif -.PHONY: newstick install update cleanTemps checkInstallBinTimestamp +.PHONY: newstick compile-install compile-update cleanTemps checkInstallBinTimestamp #Each directory represents a separate OObject aka process/thread #PROJ_OOBJECTS holds those defined in the project, OOBJECTS @@ -16,6 +16,7 @@ ifeq ($(FILENAME_CASE),lower) TRCMD=tr "[:upper:]" "[:lower:]" CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase + #BINSUFFIX applies to stuff in the "installdir", but not the PROJ_BD dir (for which we assume/hardcode ".bin", no case switching) BINSUFFIX=.bin MSIMGDIR=ms INSTALLDIR=$(MSIMGDIR)/open-r/mw/objs @@ -23,6 +24,7 @@ else TRCMD=tr "[:lower:]" "[:upper:]" CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase + #BINSUFFIX applies to stuff in the "installdir", but not the PROJ_BD dir (for which we assume/hardcode just ".bin", no case switching) BINSUFFIX=.BIN MSIMGDIR=MS INSTALLDIR=$(MSIMGDIR)/OPEN-R/MW/OBJS @@ -33,7 +35,8 @@ # memstick image directory INSTALL_BINS:=$(shell echo $(addprefix $(INSTALLDIR)/, $(addsuffix $(BINSUFFIX), MainObj MotoObj $(filter-out MMCombo,$(OOBJECTS)))) | $(TRCMD)) -$(PROJ_BD)/aperios/aperios.d: $(shell find aperios -name "*$(SRCSUFFIX)") $(wildcard $(TK_BD)/aperios/*) +$(PROJ_BD)/aperios/aperios.d: $(shell find aperios -name "*$(SRCSUFFIX)") + $(testEnvScr) @echo Generating $@... @mkdir -p $(dir $@) @rm -f $@; @@ -75,7 +78,7 @@ DEPENDS:=$(DEPENDS) $(addprefix $(PROJ_BD)/,$(OSRCS:$(SRCSUFFIX)=.d)) #the touch at the end is because memsticks seem to round time to even seconds, which screws up updates. Grr. -compile: checkLibs cleanTemps checkInstallBinTimestamp $(PROJ_BD)/installbin.timestamp +compile: cleanTemps checkInstallBinTimestamp $(PROJ_BD)/installbin.timestamp @image="$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))" ; \ if [ \! -d "$$image" ] ; then \ if [ \! -d "$(SYSTEM_BINARIES)" ] ; then \ @@ -87,11 +90,52 @@ chmod -R u+w "$$image" ; \ $(CONVERTCASE) -r $$image/*; \ rm -f "$$image/open-r/mw/conf/connect.cfg" "$$image/open-r/mw/conf/object.cfg" "$$image/open-r/system/conf/wlandflt.txt" ; \ + find -d "$$image" -type d -empty -exec rmdir \{\} \; ; \ curt=`date +%Y%m%d%H%M`; \ find "$$image" -exec touch -ft $$curt \{\} \; ; \ fi; + @badfiles=`find ./$(MSIMGDIR) -name CVS -prune -o -type f -print | grep -v '.*/[^/]\{0,8\}\.\{0,1\}[^/]\{0,3\}~\{0,1\}$$' | grep -v '^./$(MSIMGDIR)/.'`; \ + if [ "$$badfiles" ] ; then \ + echo "ERROR: Bad file names were detected:" ; \ + echo "$$badfiles" ; \ + echo "Filenames in '$(MSIMGDIR)' directory must conform to the DOS-style 8.3 naming system"; \ + exit 1; \ + fi; + @baddirs=`find ./$(MSIMGDIR) -name CVS -prune -o -type d -print | grep -v '.*/[^/]\{0,8\}$$'`; \ + if [ "$$baddirs" ] ; then \ + echo "ERROR: Bad directory names were detected:" ; \ + echo "$$baddirs" ; \ + echo "Directories in '$(MSIMGDIR)' must conform to the DOS-style 8.3 naming system (dirs less than 8 characters)"; \ + exit 1; \ + fi; + @ms=`find . -ipath './$(MSIMGDIR)'`; \ + if [ "$(FILENAME_CASE)" = "lower" ] ; then \ + casefiles=`find "$$ms" -name CVS -prune -o -regex '.*/[^./]*[[:upper:]][^/]*' -print` ; \ + else \ + casefiles=`find "$$ms" -name CVS -prune -o -regex '.*/[^./]*[[:lower:]][^/]*' -print` ; \ + fi; \ + if [ "$$casefiles" ] ; then \ + echo "WARNING: filenames of the wrong case detected in $$ms -- may cause excessive resyncing"; \ + echo "$$casefiles"; \ + if [ "$(FILENAME_CASE)" = "lower" ] ; then echo "Try running ../tools/makelowercase -r $$ms" ; \ + else echo "Try running ../tools/makeuppercase -r $$ms" ; fi; \ + fi; + @bldinfo=$(shell echo "$(MSIMGDIR)/bld_info.txt" | $(TRCMD)); \ + printf "Built with $(TEKKOTSU_VERSION), at %s by %s\n" "`date +\"%Y/%m/%d %H:%M:%S\"`" "$$USER" > $$bldinfo ; \ + printf "Target Model: $(patsubst TGT_%,%,$(TEKKOTSU_TARGET_MODEL))\n" >> $$bldinfo ; \ + printf "Target Platform: $(patsubst PLATFORM_%,%,$(TEKKOTSU_TARGET_PLATFORM))\n" >> $$bldinfo ; \ + printf "Project: %s\nFramework: %s\n" "`pwd`" "$(TEKKOTSU_ROOT)" >> $$bldinfo checkInstallBinTimestamp: + @if [ \! -d "$(MSIMGDIR)" ] ; then \ + echo "ERROR: could not find memory stick image directory $(MSIMGDIR)" ; \ + ms=`find . -ipath './$(MSIMGDIR)'`; \ + if [ "$$ms" ] ; then \ + if [ "$(FILENAME_CASE)" = "lower" ] ; then echo "May be the wrong case on case-sensitive file system? Try running ../tools/makelowercase -r $$ms" ; \ + else echo "May be the wrong case on case-sensitive file system? Try running ../tools/makeuppercase -r $$ms" ; fi; \ + fi; \ + exit 1; \ + fi; @for x in $(INSTALL_BINS) ; do \ if [ "$$x" -nt "$(PROJ_BD)/installbin.timestamp" ] ; then \ printf "Target switch detected, cleaning binaries..." ; \ @@ -108,7 +152,7 @@ # we have to do a couple extra steps to cd into the builddir because # mkbin doesn't support -o target in a different directory... drops an # intermediate file in . and then complains (as of 1.1.3 anyway) -$(PROJ_BD)/aperios/%$(BINSUFFIX): +$(PROJ_BD)/aperios/%.bin: @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ ../tools/pm.pl dist_hosts.txt $(PROJ_BD)/joblist.txt ; \ @@ -154,40 +198,45 @@ $(PROJ_BD)/installbin.timestamp: $(INSTALL_BINS) @touch $@ -install: compile - @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" - $(TEKKOTSU_ROOT)/tools/mntmem "$(MEMSTICK_ROOT)" - @if [ \! -r "$(MEMSTICK_ROOT)/open-r/version.txt" -o \! -r "$(MEMSTICK_ROOT)/open-r/system/objs/ipstack.bin" -o \! -r "$(MEMSTICK_ROOT)/open-r/system/objs/vr.bin" -o \! -r "$(MEMSTICK_ROOT)/open-r/system/objs/wlanenbl.bin" ] ; then \ +compile-install: compile + @export MEMSTICK_ROOT="$(MEMSTICK_ROOT)"; \ + echo "Installing files to memory stick at $$MEMSTICK_ROOT" \ + $(TEKKOTSU_ROOT)/tools/mntmem; \ + if [ \! -r "$$MEMSTICK_ROOT/open-r/version.txt" -o \! -r "$$MEMSTICK_ROOT/open-r/system/objs/ipstack.bin" -o \! -r "$$MEMSTICK_ROOT/open-r/system/objs/vr.bin" -o \! -r "$$MEMSTICK_ROOT/open-r/system/objs/wlanenbl.bin" ] ; then \ echo "** ERROR: It looks like your memory stick is missing critical system files."; \ echo "** You may want to 'make newstick' first to clear the memory stick"; \ echo "** and copy the OPEN-R system files onto it."; \ - echo $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ - $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ + echo Unmounting "$$MEMSTICK_ROOT"; \ + $(TEKKOTSU_ROOT)/tools/umntmem; \ exit 1; \ - fi; - @if [ -z "`grep \"$(if $(findstring TGT_ERS7,$(TEKKOTSU_TARGET_MODEL)),ERS-7,ERS-210/220)\" \"$(MEMSTICK_ROOT)/open-r/version.txt\"`" ] ; then \ + fi; \ + if [ -z "`grep \"$(if $(findstring TGT_ERS7,$(TEKKOTSU_TARGET_MODEL)),ERS-7,ERS-210/220)\" \"$$MEMSTICK_ROOT/open-r/version.txt\"`" ] ; then \ echo "** ERROR: It looks like your memory stick has the system files for the wrong"; \ echo "** model of AIBO. You may want to 'make newstick' first to clear the"; \ echo "** memory stick and reinstall the OPEN-R system files onto it."; \ - echo $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ - $(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)"; \ + echo Unmounting "$$MEMSTICK_ROOT"; \ + $(TEKKOTSU_ROOT)/tools/umntmem; \ exit 1; \ - fi; - @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt "$(MEMSTICK_ROOT)" --tools $(TEKKOTSU_ROOT)/tools - @touch .copiedtomemstick.timestamp + fi; \ + $(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt "$$MEMSTICK_ROOT" --tools $(TEKKOTSU_ROOT)/tools; \ + touch .copiedtomemstick.timestamp -update: compile - @echo "Syncing $(MSIMGDIR) and $(MEMSTICK_ROOT)" - @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)` $(PROJ_BD)/installbin.timestamp - @$(TEKKOTSU_ROOT)/tools/mntmem "$(MEMSTICK_ROOT)" - @if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ +compile-update: compile + @export MEMSTICK_ROOT="$(MEMSTICK_ROOT)"; \ + echo "Syncing $(MSIMGDIR) and $$MEMSTICK_ROOT"; \ + $(TEKKOTSU_ROOT)/tools/mntmem "$$MEMSTICK_ROOT" || exit 1; \ + if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ echo "Strict image copy is on." ; \ - rsync -rLtWCv --delete $(MSIMGDIR)/* "$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/"* "$(MEMSTICK_ROOT)" ; \ + rsync -rLtWCv --exclude='.*' --delete --modify-window=1 $(MSIMGDIR)/* "$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/"* "$$MEMSTICK_ROOT" || exit 1 ; \ else \ - rsync -rLtWCv $(MSIMGDIR)/* "$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/"* "$(MEMSTICK_ROOT)" ; \ - fi; - @$(TEKKOTSU_ROOT)/tools/umntmem "$(MEMSTICK_ROOT)" - @touch .copiedtomemstick.timestamp + rsync -rLtWCv --exclude='.*' --modify-window=1 $(MSIMGDIR)/* "$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/"* "$$MEMSTICK_ROOT" || exit 1 ; \ + fi; \ + $(TEKKOTSU_ROOT)/tools/umntmem "$$MEMSTICK_ROOT"; \ + touch .copiedtomemstick.timestamp + +compile-ftpupdate: compile + @echo "Updating the memorystick via ftp using ftpupdate with the IP adress $(IPADDRESS)" + @$(TEKKOTSU_ROOT)/tools/ftpupdate $(IPADDRESS) $(MSIMGDIR); newstick: @echo " We are about to delete all the files contained within '$(MEMSTICK_ROOT)':" diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/local/Makefile.local ./local/Makefile.local --- ../../Tekkotsu_2.4.1/project/local/Makefile.local 2005-06-29 19:13:05.000000000 -0400 +++ ./local/Makefile.local 2006-05-10 17:36:23.000000000 -0400 @@ -39,11 +39,7 @@ compile: $(TGTEXECS) @echo "You probably now want to run './sim$(subst TGT_,-,$(TEKKOTSU_TARGET_MODEL))'"; -ifneq ($(filter sim-%,$(MAKECMDGOALS)),) -$(TGTEXECS): checkLibs $(PROJ_BD)/project.a -else $(TGTEXECS): $(PROJ_BD)/project.a -endif @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ ../tools/pm.pl dist_hosts.txt $(PROJ_BD)/joblist.txt ; \ Binary files ../../Tekkotsu_2.4.1/project/ms/config/210genrl.tm and ./ms/config/210genrl.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/210pb.tm and ./ms/config/210pb.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/210phb.tm and ./ms/config/210phb.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/7general.tm and ./ms/config/7general.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/7red.tm and ./ms/config/7red.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/ball.tm and ./ms/config/ball.tm differ diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/config/default.col ./ms/config/default.col --- ../../Tekkotsu_2.4.1/project/ms/config/default.col 2003-07-28 02:58:16.000000000 -0400 +++ ./ms/config/default.col 2006-10-03 23:28:00.000000000 -0400 @@ -1,10 +1,7 @@ 0 (128 128 128) "unclassified" 8 1.00 -1 (24 43 93) "blue" 8 0.75 -2 (255 255 255) "white" 8 0.75 -3 (237 131 54) "orange" 8 0.75 -4 (43 150 180) "azure" 8 0.75 -5 (36 67 23) "green" 8 0.75 -6 (209 60 97) "red" 8 0.75 -7 (200 189 123) "yellow" 8 0.75 -8 (0 0 0) "black" 8 0.75 -9 (113 80 34) "brown" 8 0.75 +1 (167 152 116) "unsaturated" 8 0.75 +2 (108 191 73) "green" 8 0.75 +3 (188 166 13) "yellow" 8 0.75 +4 (235 127 52) "orange" 8 0.75 +5 (235 99 163) "pink" 8 0.75 +6 (120 158 208) "blue" 8 0.75 diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/config/easytrn/7gen-hsb.spc ./ms/config/easytrn/7gen-hsb.spc --- ../../Tekkotsu_2.4.1/project/ms/config/easytrn/7gen-hsb.spc 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/easytrn/7gen-hsb.spc 2006-10-03 23:28:00.000000000 -0400 @@ -0,0 +1,2039 @@ +HSB +6 +unsaturated + +START 0.714399149377822 0.46033921307557046 +LINE 0.7143991493778219 0.4603392130755705 +LINE 0.714399149377822 0.4603392130755705 +LINE 0.714399149377822 0.46033921307557046 +CLOSE +START 0.7753928103146791 0.5329028867573274 +LINE 0.758282184600828 0.5333917488857 +LINE 0.7582821846008301 0.5333917488857 +LINE 0.7582821846008301 0.54969322681427 +LINE 0.7739739107650481 0.54969322681427 +LINE 0.7753928103146793 0.5329028867573274 +CLOSE 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2006-10-03 23:28:00.000000000 -0400 @@ -0,0 +1,14 @@ +The provided "7general.tm" file was produced by classifying a series of images +with the EasyTrain tool (Tekkotsu/tools/easytrain), in each of HSB, xy, and YUV +color spaces. The EasyTrain color specification files for each of these spaces +are provided here (*.spc). The corresponding threshold files are *not* provided +to save space, but can be regenerated by loading each of the .spc files in +EasyTrain and then clicking 'Save' within the GUI. + +Each of these color spaces gives pretty good results on their own, but as a +post-processing step, we used the Vote tool (Tekkotsu/tools/seg/Vote.java) to +combine their results into a single threshold file, which yields the 7general.tm +you see in ms/config. + e.g.: $ cd Tekkotsu/tools/seg + $ java Vote /path/to/7gen-*.tm .../project/ms/config/7general.tm + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/config/easytrn/7gen-xy.spc ./ms/config/easytrn/7gen-xy.spc --- ../../Tekkotsu_2.4.1/project/ms/config/easytrn/7gen-xy.spc 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/easytrn/7gen-xy.spc 2006-10-03 23:28:00.000000000 -0400 @@ -0,0 +1,868 @@ +xy +6 +unsaturated + +START 0.7635983824729919 0.6432414054870605 +LINE 0.7710446715354919 0.6558429002761841 +LINE 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0.8254931569099426 0.31866464018821716 +LINE 0.8194233775138855 0.31107738614082336 +LINE 0.8148710131645203 0.30349013209342957 +LINE 0.8088012337684631 0.29742032289505005 +LINE 0.8012139797210693 0.28831562399864197 +LINE 0.7905917763710022 0.2792109251022339 +LINE 0.7845219969749451 0.27314111590385437 +LINE 0.7784522175788879 0.2685887813568115 +LINE 0.7708649635314941 0.2640364170074463 +LINE 0.7632777094841003 0.25948405265808105 +LINE 0.7541729807853699 0.2549317181110382 +LINE 0.7435508370399475 0.25189679861068726 +LINE 0.7314112186431885 0.2488619089126587 +LINE 0.7162367105484009 0.2473444640636444 +LINE 0.70257967710495 0.24582700431346893 +LINE 0.6843702793121338 0.24430955946445465 +CLOSE + Binary files ../../Tekkotsu_2.4.1/project/ms/config/general.tm and ./ms/config/general.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/pb.tm and ./ms/config/pb.tm differ Binary files ../../Tekkotsu_2.4.1/project/ms/config/phb.tm and ./ms/config/phb.tm differ diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/config/sim_ovrd.cfg ./ms/config/sim_ovrd.cfg --- ../../Tekkotsu_2.4.1/project/ms/config/sim_ovrd.cfg 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/sim_ovrd.cfg 2006-10-03 23:28:00.000000000 -0400 @@ -0,0 +1,47 @@ +################################################################## +###################### Tekkotsu config ####################### +################################################################## +##################### $Name: HEAD $ ###################### +####################### $Revision: 1.1 $ ######################## +################## $Date: 2006/10/04 04:21:13 $ ################## +################################################################## +# +# See tekkotsu.cfg for format documentation. +# +# This file contains overrides for settings that should be applied when running in the simulator. +# This is not a complete list of available parameters, just those which should be redefined. +# +# These are not settings which control the simulator itself, these are simply different values +# for settings which are normally applied when running on the robot. The simulator has its +# own set of configuration parameters, by default stored in 'simulator.plist' in the same +# directory as the simulator executable. +# +################################################################## + + + +################################################################## +################################################################## +[Vision] +################################################################## +################################################################## + +### Image Streaming Format ### +# These parameters control the video stream over wireless ethernet +# transport can be either 'udp' or 'tcp' +rawcam_transport=tcp +segcam_transport=tcp + +# compression none | jpeg | png +rawcam_compression=none + +# 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=1 +rawcam_uv_skip=1 diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/config/tekkotsu.cfg ./ms/config/tekkotsu.cfg --- ../../Tekkotsu_2.4.1/project/ms/config/tekkotsu.cfg 2005-08-05 15:44:23.000000000 -0400 +++ ./ms/config/tekkotsu.cfg 2006-10-03 23:28:00.000000000 -0400 @@ -66,7 +66,7 @@ # gain low | mid | high # higher gain will brighten the image, but increases noise -gain=high +gain=mid # shutter_speed slow | mid | fast # slower shutter will brighten image, but increases motion blur @@ -85,32 +85,32 @@ ### 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. +# separate channels of the segmenter. The only cost of loading multiple +# threshold files is memory - the CPU cost of performing segmentation is +# only done if/when the channel is actually accessed. # Included options for color threshold file: -# phb.tm - pink, skin (hand), and blue +# 210pb.tm - pink and blue +# 210phb.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' +# 210genrl.tm - general colors for the ERS-210 # ball.tm - standard Sony pink ball definition -# pb.tm - pink and blue -thresh=config/phb.tm -#thresh=config/general.tm +thresh=config/210phb.tm +thresh=config/210genrl.tm thresh=config/ball.tm -#thresh=config/pb.tm -#thresh=config/ttt.tm -# 7red.tm - just your usual pink/red/purple color detection, nothing too fancy +# 7general.tm - a general classification of a variety of colors for the ERS-7 +# 7red.tm - just a very broad pink/red/purple => "pink" color detection # ball.tm - standard Sony pink ball definition -thresh=config/7red.tm -thresh=config/ball.tm +thresh=config/7general.tm # the .col file gives names and a "typical" color for display # the indexes numbers it contains correspond to indexes in the .tm file +# This file is common to all .tm files -- when doing new color segmentations, +# make sure you define colors in the same order as listed here! colors=config/default.col @@ -119,14 +119,14 @@ # transport can be either 'udp' or 'tcp' rawcam_port=10011 rawcam_transport=udp -rle_port=10012 -rle_transport=udp +segcam_port=10012 +segcam_transport=udp region_port=10013 region_transport=tcp # pause between raw image grabs: 0 for fast-as-possible, 100 for 10 FPS, etc # in milliseconds -rle_interval=0 +segcam_interval=0 # rawcam_encoding color | y_only | uv_only | u_only | v_only | y_dx_only | y_dy_only | y_dxdy_only rawcam_encoding=color @@ -147,6 +147,11 @@ # actual image pixel value in RawCamGenerator restore_image=1 +# When true, this will fill in the CMVision::color_class_state::total_area +# field for each color following region labeling. If false, the total_area +# will stay 0 (or whatever the last value was), but you save a little CPU. +region_calc_total=1; + # jpeg algorithm: 'islow' (integer, slow, but quality), 'ifast' (integer, fast, but rough), 'float' (floating point) jpeg_dct_method=ifast @@ -163,16 +168,16 @@ # you can send the original segmented image # or an RLE compressed version (which includes some noise removal) -#rlecam_compression none | rle -rlecam_compression=rle +#segcam_compression none | rle +segcam_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 +segcam_channel=0 -# this is the log_2 of pixels to skip when sending RLE encoded +# this is the log_2 of pixels to skip when sending # segmented camera images, same idea as rawcam_*_skip -rlecam_skip=1 +segcam_skip=1 # this is the log_2 of pixels to skip when sending Region information, # same idea as rawcam_*_skip (added by nvh 21-04-05) @@ -217,7 +222,13 @@ # if non-zero, will call srand() with a high-precision timestamp, mangled by sensor data seed_rng=1 +# this mode parameter determines how input on console_port is handled +# 'controller' will pass it as input to the Controller (assumes same syntax as ControllerGUI) +# 'textmsg' will broadcast it as a TextMsgEvent (textmsgEGID) +# 'auto' is the original mode, which uses 'textmsg' if the ControllerGUI is connected, and 'controller' otherwise +consoleMode=controller console_port=10001 + stderr_port=10002 error_level=0 debug_level=0 @@ -228,12 +239,12 @@ aibo3d_port=10051 headControl_port=10052 estopControl_port=10053 -stewart_port=10055 +#stewart_port=10055 wmmonitor_port=10061 use_VT100=true # pause between writes: 0 for fast-as-possible, 100 for 10 FPS, etc. # in milliseconds -worldState_interval=0 +#worldState_interval=0 ################################################################## @@ -387,6 +398,10 @@ preload=skid.wav preload=yap.wav +# Pitch detection confidence threshold [0-1] +# Determines how liberal the pitch detector is at generating PitchEvents +pitchConfidenceThreshold=0.6 + # Audio streaming settings # Audio from the AIBO's microphones streaming.mic_port=10070 @@ -398,7 +413,7 @@ streaming.speaker_port=10071 # Length of the speaker streaming buffer (ms) # Streamed samples are sent to the sound manager in packets of this length -streaming.speaker_frame_length=64 +streaming.speaker_frame_len=64 # Maximum delay (ms) during playback of received samples # If the playback queue gets longer it is emptied. streaming.speaker_max_delay=1000 diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/data/motion/k-stsit.mot ./ms/data/motion/k-stsit.mot --- ../../Tekkotsu_2.4.1/project/ms/data/motion/k-stsit.mot 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/data/motion/k-stsit.mot 2006-10-03 23:28:00.000000000 -0400 @@ -0,0 +1,102 @@ +#MSq +# Contributed by Ignacio Herrero Reder +radians +delay 800 +degrees +delay 595 +NECK:tilt -35 +NECK:pan~ 0 +NECK:nod 25 +MOUTH~~~~ -5 +EAR:left~ 0 +EAR:right 0 +LFr:rotor 15 +LFr:elvtr 3 +LFr:knee~ 57 +LBk:rotor -95 +LBk:elvtr 6 +LBk:knee~ 110 +RFr:rotor 15 +RFr:elvtr 3 +RFr:knee~ 57 +RBk:rotor -95 +RBk:elvtr 6 +RBk:knee~ 110 +TAIL:tilt 5 +TAIL:pan 0 +delay 175 +NECK:nod 21 +LFr:rotor 7 +LFr:elvtr 1 +LFr:knee~ 50 +LBk:rotor -91 +LBk:elvtr 8 +RFr:rotor 7 +RFr:elvtr 1 +RFr:knee~ 50 +RBk:rotor -91 +RBk:elvtr 8 +delay 175 +NECK:tilt -36 +NECK:nod 18 +LFr:rotor 0 +LFr:elvtr 0 +LFr:knee~ 43 +LBk:rotor -88 +LBk:elvtr 11 +RFr:rotor 0 +RFr:elvtr 0 +RFr:knee~ 43 +RBk:rotor -88 +RBk:elvtr 11 +delay 175 +NECK:tilt -37 +NECK:nod 15 +LFr:rotor -6 +LFr:knee~ 36 +LBk:rotor -85 +LBk:elvtr 13 +RFr:rotor -6 +RFr:knee~ 36 +RBk:rotor -85 +RBk:elvtr 13 +delay 175 +NECK:tilt -38 +NECK:nod 11 +LFr:rotor -14 +LFr:elvtr -2 +LFr:knee~ 30 +LBk:rotor -82 +LBk:elvtr 16 +RFr:rotor -14 +RFr:elvtr -2 +RFr:knee~ 30 +RBk:rotor -82 +RBk:elvtr 16 +delay 175 +NECK:tilt -39 +NECK:nod 8 +LFr:rotor -21 +LFr:elvtr -3 +LFr:knee~ 23 +LBk:rotor -79 +LBk:elvtr 18 +RFr:rotor -21 +RFr:elvtr -3 +RFr:knee~ 23 +RBk:rotor -79 +RBk:elvtr 18 +delay 175 +NECK:tilt -40 +NECK:nod 7 +LFr:rotor -25 +LFr:elvtr -4 +LFr:knee~ 20 +LBk:rotor -78 +LBk:elvtr 20 +RFr:rotor -25 +RFr:elvtr -4 +RFr:knee~ 20 +RBk:rotor -78 +RBk:elvtr 20 +#END diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/ms/open-r/mw/conf/connect.cfg ./ms/open-r/mw/conf/connect.cfg --- ../../Tekkotsu_2.4.1/project/ms/open-r/mw/conf/connect.cfg 2005-06-29 18:06:47.000000000 -0400 +++ ./ms/open-r/mw/conf/connect.cfg 2006-10-03 23:28:00.000000000 -0400 @@ -1,10 +1,10 @@ #System->Main -OVirtualRobotComm.Sensor.OSensorFrameVectorData.S MainObj.SensorFrame.OSensorFrameVectorData.O +OVirtualRobotComm.Sensor.OSensorFrameVectorData.S MotoObj.SensorFrame.OSensorFrameVectorData.O OVirtualRobotComm.FbkImageSensor.OFbkImageVectorData.S MainObj.Image.OFbkImageVectorData.O OVirtualRobotAudioComm.Mic.OSoundVectorData.S MainObj.Mic.OSoundVectorData.O #Main<->Motion -MainObj.RegisterWorldState.WorldState.S MotoObj.ReceiveWorldState.WorldState.O +MainObj.RegisterWorldStatePool.WorldStatePool.S MotoObj.ReceiveWorldStatePool.WorldStatePool.O MotoObj.RegisterMotionManager.MotionManager.S MainObj.ReceiveMotionManager.MotionManager.O #MotionManagerMsgs @@ -22,6 +22,10 @@ SndPlay.RegisterSoundManager.SoundManager.S MainObj.ReceiveSoundManager.SoundManager.O SndPlay.RegisterSoundManager.SoundManager.S MotoObj.ReceiveSoundManager.SoundManager.O +#SndPlay, Motion -> Main (Profiler) +MotoObj.RegisterProfiler.Profiler.S MainObj.ReceiveMotionProfiler.Profiler.O +SndPlay.RegisterProfiler.Profiler.S MainObj.ReceiveSoundProfiler.Profiler.O + #SoundManagerMsgs MainObj.SoundManagerComm.SoundManagerMsg.S SndPlay.SoundManagerComm.SoundManagerMsg.O MotoObj.SoundManagerComm.SoundManagerMsg.S SndPlay.SoundManagerComm.SoundManagerMsg.O @@ -30,3 +34,6 @@ MotoObj.EventTranslatorComm.EventBase.S MainObj.EventTranslatorComm.EventBase.O SndPlay.EventTranslatorComm.EventBase.S MainObj.EventTranslatorComm.EventBase.O +#Process ID entry point map (Main -> Motion,SndPlay) +MainObj.RegisterProcessMap.StackFrames.S MotoObj.ReceiveProcessMap.StackFrames.O +MainObj.RegisterProcessMap.StackFrames.S SndPlay.ReceiveProcessMap.StackFrames.O diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/templates/behavior.h ./templates/behavior.h --- ../../Tekkotsu_2.4.1/project/templates/behavior.h 2005-06-01 01:48:08.000000000 -0400 +++ ./templates/behavior.h 2006-04-10 14:09:38.000000000 -0400 @@ -26,11 +26,10 @@ virtual void DoStop() { // - erouter->removeListener(this); //generally a good idea, unsubscribe all BehaviorBase::DoStop(); // do this last (required) } - virtual void processEvent(const EventBase& e) { + virtual void processEvent(const EventBase& event) { // // you can delete this function if you don't use any events... // (in which case, you may want to call DoStop() at the end of DoStart() diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/templates/motioncommand.h ./templates/motioncommand.h --- ../../Tekkotsu_2.4.1/project/templates/motioncommand.h 1969-12-31 19:00:00.000000000 -0500 +++ ./templates/motioncommand.h 2005-10-25 23:56:08.000000000 -0400 @@ -0,0 +1,77 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +// This is an empty MotionCommand template file. +// +// Typically, no destructor, copy, or assignment operators are needed. If +// you think you do need one, reread the MotionCommand documentation, because +// you shouldn't be storing pointers in MotionCommands (see IPC/ListMemBuf for +// a memory pool interface) +// +// You may want to consider subclassing a pre-existing MotionCommand instead +// of subclassing the base MotionCommand. +// +// Replace YOURNAMEHERE, CLASSNAME, and DESCRIPTION as appropriate, and go to town! + + + +#include "Motion/MotionCommand.h" +#include "Motion/MotionManager.h" + +//! DESCRIPTION +class CLASSNAME : public MotionCommand { +public: + //! constructor + CLASSNAME() : MotionCommand() {} + + // This is where all the real work is done + // It will be called by the MotionManager at a high frequency (32ms period) + virtual int updateOutputs() { + // For each joint you wish to control, call: + // motman->setOutput(this, jointOffset, ...) + // Do your computations and return as quickly as possible + // Pre-compute and/or cache values whenever possible. + } + + // Return true if any desired joint values may have changed since the last + // call to updateOutputs() + virtual int isDirty() { return true; } + + // Return true if this motion still has work to be done -- returning + // false may allow the MotionManager to delete this motion and send + // a deactivation event, but only if the motion was added with + // MotionManager::addPrunableMotion() + virtual int isAlive() { return true; } + + + // These start and stop functions are called when the motion is + // added or removed from the MotionManager. + // This may not matter to you -- feel free to delete these functions: + virtual void DoStart() { + MotionCommand::DoStart(); // do this first (required) + // + } + virtual void DoStop() { + // + MotionCommand::DoStop(); // do this last (required) + } + +protected: + // + + +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2006/10/04 04:21:13 $ + */ + +#endif diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/templates/statemachine.h ./templates/statemachine.h --- ../../Tekkotsu_2.4.1/project/templates/statemachine.h 2005-06-01 01:48:08.000000000 -0400 +++ ./templates/statemachine.h 2005-11-11 16:12:49.000000000 -0500 @@ -41,9 +41,9 @@ } protected: - //! constructor for subclasses (which would need to provide a different class name) - CLASSNAME(const std::string &class_name, const std::string &node_name) - : StateNode(class_name,node_name), start(NULL) + //! constructor for subclasses (which would need to provide a different class name) + CLASSNAME(const std::string &class_name, const std::string &node_name) + : StateNode(class_name,node_name), start(NULL) {} diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/templates/statenode.h ./templates/statenode.h --- ../../Tekkotsu_2.4.1/project/templates/statenode.h 2005-06-01 01:48:08.000000000 -0400 +++ ./templates/statenode.h 2006-04-10 14:09:38.000000000 -0400 @@ -37,9 +37,9 @@ {} protected: - //! constructor for subclasses (which would need to provide a different class name) - CLASSNAME(const std::string &class_name, const std::string &node_name) - : StateNode(class_name,node_name) + //! constructor for subclasses (which would need to provide a different class name) + CLASSNAME(const std::string &class_name, const std::string &node_name) + : StateNode(class_name,node_name) {} @@ -58,7 +58,7 @@ // it when deemed appropriate } - virtual void processEvent(const EventBase& /*e*/) { + virtual void processEvent(const EventBase& /*event*/) { // // you can delete this function if you don't use any events... } diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_2.4.1/project/templates/transition.h ./templates/transition.h --- ../../Tekkotsu_2.4.1/project/templates/transition.h 2005-06-01 01:48:08.000000000 -0400 +++ ./templates/transition.h 2006-04-10 14:09:38.000000000 -0400 @@ -54,7 +54,7 @@ // StateNode do it when a transition (perhaps this one) fires } - virtual void processEvent(const EventBase& /*e*/) { + virtual void processEvent(const EventBase& /*event*/) { // // Call fire() (a method of the Transition base class) whenever the // environment satisifies whatever condition this Transition is supposed to