diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/Environment.conf ./Environment.conf --- ../../Tekkotsu_3.0/project/Environment.conf 2006-05-09 12:28:42.000000000 -0400 +++ ./Environment.conf 2007-11-12 23:16:07.000000000 -0500 @@ -24,27 +24,42 @@ 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 -# or the OPEN-R website: http://openr.aibo.com/ +# Directory where the OPEN-R SDK was installed, required for building Aibo executables +# See http://www.tekkotsu.org/openr-install.html OPENRSDK_ROOT ?= /usr/local/OPEN_R_SDK +# Directory where ICE is installed, required for TeRK support +# See http://www.zeroc.com/ice.html +ICE_ROOT ?= /usr/local/Ice + # What model are you targeting? This will look at the # $TEKKOTSU_ROOT/TARGET_MODEL file to find out. If the file is not # found, it is created with the default setting TGT_ERS2xx. change # the target model, make will automatically recompile everything for # you. -# Legal values: TGT_ERS210 TGT_ERS220 TGT_ERS2xx TGT_ERS7 +# Legal values: +# Aibos: TGT_ERS210 TGT_ERS220 TGT_ERS2xx TGT_ERS7 +# LynxMotion: TGT_LYNXARM6 TEKKOTSU_TARGET_MODEL ?= TGT_ERS7 # What OS is this going to be running under? # Choices are: # PLATFORM_APERIOS - the AIBO's OS -# PLATFORM_LOCAL - the current desktop environment (*Under development*) +# PLATFORM_LOCAL - the current desktop environment # If you need to do platform specific stuff in your code, best # to check #ifdef PLATFORM_APERIOS, and otherwise assume a UNIX-style # environment. Note that non-Aperios implies no OPEN-R headers. -TEKKOTSU_TARGET_PLATFORM ?= PLATFORM_APERIOS +# +# This default value selects PLATFORM_APERIOS if targeting an Aibo +# model, otherwise PLATFORM_LOCAL. +TEKKOTSU_TARGET_PLATFORM ?= $(if $(filter TGT_ERS%,$(TEKKOTSU_TARGET_MODEL)),PLATFORM_APERIOS,PLATFORM_LOCAL) + +# What kind of intermediary linking to perform? +# SHARED/DYNAMIC library support is EXPERIMENTAL +# This will setting will be ignored for PLATFORM_APERIOS +# To use a static library, try libtekkotsu.a +# To use a shared library, try libtekkotsu.$(if $(findstring Darwin,$(shell uname)),dylib,so) +LIBTEKKOTSU ?= libtekkotsu.$(if $(findstring Darwin,$(shell uname)),dylib,so) # This will trigger the project's Makefile to always attempt to make # the framework as well. This is useful if you are hacking the @@ -69,14 +84,17 @@ # 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) +TEKKOTSU_OPTIMIZE ?= -O2 $(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 ?= $(shell if which more > /dev/null ; then echo "more $(if $(findstring Darwin,$(shell uname)),-R)"; else echo "cat" ; fi ) +# The -r option is needed to display colors instead of control characters, +# and -E makes it exit when the end of log is reached (without user prompt) +# 'more' is used instead of 'less' because less doesn't leave the data on the screen after exiting +TEKKOTSU_LOGVIEW ?= $(shell if which more > /dev/null ; then echo "more $(if $(findstring Darwin,$(shell uname)),-RE)"; else echo "cat" ; fi ) # These control the location that the temporary object files will # be stored. @@ -110,6 +128,7 @@ FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) $(OPENRSDK_ROOT) endif STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 + LIBTEKKOTSU=libtekkotsu.a else CC=gcc CXX=g++ @@ -120,13 +139,15 @@ ifeq ($(TEKKOTSU_FILTERSYSWARN),cat) FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) else - FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) /usr/.*/?include/ + FILTERSYSWARN=$(TEKKOTSU_FILTERSYSWARN) "/usr/.*/?include/|$(ICE_ROOT)" endif endif COLORFILT=$(TEKKOTSU_COLORFILT) +# Determine if precompiled header support is available... # This can speed up the compilation process, but is currently only # supported by the 3.4 branch of gcc, or 3.3 of the gcc from Apple +ifeq ($(shell $(CXX) -v > /dev/null 2>&1 || echo "not found"),) TEST_CXX_MAJOR:=$(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 @@ -134,12 +155,17 @@ #Cygming apparently removes support for precompiled headers in the 3.x branch TEST_CXX_CYGMING:=$(findstring cygming,$(shell $(CXX) --version)) TEKKOTSU_PCH ?= $(shell if [ $(TEST_CXX_MAJOR) -ge 4 -o $(TEST_CXX_MAJOR) -ge 3 -a -z "$(TEST_CXX_CYGMING)" -a \( $(TEST_CXX_MINOR) -ge 4 -o -n "$(TEST_CXX_APPLE)" \) ] ; then echo "common.h"; fi) +# 'cache' result: +TEKKOTSU_PCH:=$(TEKKOTSU_PCH) +endif #These will be the actual build directories used for the current target TK_LIB_BD:=$(TEKKOTSU_BUILDDIR)/$(TEKKOTSU_TARGET_PLATFORM) TK_BD:=$(TEKKOTSU_BUILDDIR)/$(TEKKOTSU_TARGET_PLATFORM)/$(TEKKOTSU_TARGET_MODEL) PROJ_BD:=$(PROJECT_BUILDDIR)/$(TEKKOTSU_TARGET_PLATFORM)/$(TEKKOTSU_TARGET_MODEL) -$(shell mkdir -p $(TK_BD)) + +# will be set to non-empty if ICE_ROOT exists +HAVE_ICE:=$(shell if [ -d "$(ICE_ROOT)" ] ; then echo true; fi) #For debugging: #test:=$(shell echo "TEKKOTSU_BUILDDIR: $(TEKKOTSU_BUILDDIR)" > /dev/tty) diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/Make.xcodeproj/project.pbxproj ./Make.xcodeproj/project.pbxproj --- ../../Tekkotsu_3.0/project/Make.xcodeproj/project.pbxproj 2006-09-28 16:42:52.000000000 -0400 +++ ./Make.xcodeproj/project.pbxproj 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children = ( + 693AD5880C205BE80053F7DE /* Main.cc */, + 693AD5890C205BE80053F7DE /* Main.h */, + 693AD58A0C205BE80053F7DE /* Motion.cc */, + 693AD58B0C205BE80053F7DE /* Motion.h */, + 693AD58C0C205BE80053F7DE /* MotionExecThread.cc */, + 693AD58D0C205BE80053F7DE /* MotionExecThread.h */, + 693AD58E0C205BE80053F7DE /* Process.cc */, + 693AD58F0C205BE80053F7DE /* Process.h */, + 693AD5900C205BE80053F7DE /* SharedGlobals.cc */, + 693AD5910C205BE80053F7DE /* SharedGlobals.h */, + 693AD5920C205BE80053F7DE /* sim.cc */, + 693AD5930C205BE80053F7DE /* sim.h */, + 693AD5940C205BE80053F7DE /* SimConfig.h */, + 693AD5950C205BE80053F7DE /* Simulator.cc */, + 693AD5960C205BE80053F7DE /* Simulator.h */, + 693AD5970C205BE80053F7DE /* SoundPlay.cc */, + 693AD5980C205BE80053F7DE /* SoundPlay.h */, + 693AD5990C205BE80053F7DE /* TimerExecThread.cc */, + 693AD59A0C205BE80053F7DE /* TimerExecThread.h */, + ); + path = tekkotsu; + sourceTree = ""; + }; + 69401C860C1291F000FE900C /* CommPorts */ = { + isa = PBXGroup; + children = ( + 69401C870C1291F000FE900C /* ExecutableCommPort.cc */, + 69401C880C1291F000FE900C /* ExecutableCommPort.h */, + 69401C890C1291F000FE900C /* FileSystemCommPort.cc */, + 69401C8A0C1291F000FE900C /* FileSystemCommPort.h */, + 69401C8B0C1291F000FE900C /* NetworkCommPort.cc */, + 69401C8C0C1291F000FE900C /* NetworkCommPort.h */, + 69401C8D0C1291F000FE900C /* RedirectionCommPort.cc */, + 69401C8E0C1291F000FE900C /* RedirectionCommPort.h */, + 69401C8F0C1291F000FE900C /* SerialCommPort.cc */, + 69401C900C1291F000FE900C /* SerialCommPort.h */, + ); + path = CommPorts; + sourceTree = ""; + }; + 69401CA50C12922400FE900C /* DataSources */ = { + isa = PBXGroup; + children = ( + 6937766B0C17358B001E2C9E /* CameraSourceOSX.cc */, + 6937766C0C17358C001E2C9E /* CameraSourceOSX.h */, + 69401CA60C12922400FE900C /* FileSystemDataSource.cc */, + 69401CA70C12922400FE900C /* FileSystemDataSource.h */, + 69401CA80C12922400FE900C /* FileSystemImageSource.cc */, + 69401CA90C12922400FE900C /* FileSystemImageSource.h */, + ); + path = DataSources; + sourceTree = ""; + }; + 69401CAA0C12922400FE900C /* DeviceDrivers */ = { + isa = PBXGroup; + children = ( + 693776720C17359B001E2C9E /* CameraDriverOSX.cc */, + 693776730C17359B001E2C9E /* CameraDriverOSX.h */, + 693D23EB0C91B9C3006D6505 /* CameraDriverV4L.cc */, + 693D23EC0C91B9C3006D6505 /* CameraDriverV4L.h */, + 69A6E5DA0CDA51BE00039162 /* CreateCommands.h */, + 69A6E5DB0CDA51BE00039162 /* CreateDriver.cc */, + 69A6E5DC0CDA51BE00039162 /* CreateDriver.h */, + 694252150CC7E65B00129C8D /* Dynamixel.cc */, + 694252160CC7E65B00129C8D /* Dynamixel.h */, + 693D0C680C52FE6D00A56175 /* ImageStreamDriver.cc */, + 693D0C690C52FE6D00A56175 /* ImageStreamDriver.h */, + 69401CAB0C12922400FE900C /* LoggedDataDriver.cc */, + 69401CAC0C12922400FE900C /* LoggedDataDriver.h */, + 69401CAD0C12922400FE900C /* SSC32Driver.cc */, + 69401CAE0C12922400FE900C /* SSC32Driver.h */, + 693D0E540C56632100A56175 /* TeRKDriver.cc */, + 693D0E550C56632100A56175 /* TeRKDriver.h */, + ); + path = DeviceDrivers; + sourceTree = ""; + }; + 69401CAF0C12922400FE900C /* MotionHooks */ = { + isa = PBXGroup; + children = ( + 69401CB00C12922400FE900C /* IPCMotionHook.cc */, + 69401CB10C12922400FE900C /* IPCMotionHook.h */, + ); + path = MotionHooks; + sourceTree = ""; + }; 69469F6B09AA1D2000D1EC14 /* DualCoding */ = { isa = PBXGroup; children = ( @@ -1298,6 +2544,8 @@ 69469F7A09AA1D2000D1EC14 /* EndPoint.h */, 69469F7B09AA1D2000D1EC14 /* LineData.cc */, 69469F7C09AA1D2000D1EC14 /* LineData.h */, + 695984730B8BF72200AB633A /* LocalizationParticleData.cc */, + 695984740B8BF72200AB633A /* LocalizationParticleData.h */, 69469F7F09AA1D2000D1EC14 /* Lookout.cc */, 69469F8009AA1D2000D1EC14 /* Lookout.h */, 6962F2FD0A917F40002DDEC9 /* LookoutRequests.cc */, @@ -1305,15 +2553,19 @@ 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 */, + 69CEAA290B779858004F6B1D /* MapBuilderRequest.h */, 69469F8A09AA1D2000D1EC14 /* ParticleShapes.cc */, 69469F8B09AA1D2000D1EC14 /* ParticleShapes.h */, + 695FCB310CE8BFBD00069A68 /* PathPlanner.cc */, + 695FCB320CE8BFBD00069A68 /* PathPlanner.h */, + 69F74F080B98920D00FBA370 /* PFShapeLocalization.cc */, + 69F74F090B98920D00FBA370 /* PFShapeLocalization.h */, + 69F74F0A0B98920D00FBA370 /* PFShapeSLAM.cc */, + 69F74F0B0B98920D00FBA370 /* PFShapeSLAM.h */, + 69D0FB9F0B8F82C900CC1DF1 /* Pilot.cc */, 69469F8D09AA1D2000D1EC14 /* Pilot.h */, + 69D0FBAC0B8F9B3500CC1DF1 /* PilotRequest.cc */, + 69D0FBAD0B8F9B3500CC1DF1 /* PilotRequest.h */, 69469F8E09AA1D2000D1EC14 /* Point.cc */, 69469F8F09AA1D2000D1EC14 /* Point.h */, 69469F9009AA1D2000D1EC14 /* PointData.cc */, @@ -1336,6 +2588,8 @@ 69469F9F09AA1D2000D1EC14 /* ShapeFuns.h */, 69469FA009AA1D2100D1EC14 /* ShapeLine.cc */, 69469FA109AA1D2100D1EC14 /* ShapeLine.h */, + 695984780B8BF76800AB633A /* ShapeLocalizationParticle.cc */, + 695984790B8BF76800AB633A /* ShapeLocalizationParticle.h */, 69469FA209AA1D2100D1EC14 /* ShapePoint.cc */, 69469FA309AA1D2100D1EC14 /* ShapePoint.h */, 69469FA409AA1D2100D1EC14 /* ShapePolygon.cc */, @@ -1348,8 +2602,10 @@ 69469FA909AA1D2100D1EC14 /* ShapeSpace.h */, 69469FAA09AA1D2100D1EC14 /* ShapeSphere.cc */, 69469FAB09AA1D2100D1EC14 /* ShapeSphere.h */, - 69469FAC09AA1D2100D1EC14 /* ShapeTypes.cc */, - 69469FAD09AA1D2100D1EC14 /* ShapeTypes.h */, + 693A55FA0BE1479800509F85 /* ShapeTarget.cc */, + 693A55FB0BE1479800509F85 /* ShapeTarget.h */, + 693A55F40BE1478000509F85 /* ShapeTypes.cc */, + 693A55F50BE1478000509F85 /* ShapeTypes.h */, 69469FAE09AA1D2100D1EC14 /* Sketch.cc */, 69469FAF09AA1D2100D1EC14 /* Sketch.h */, 69469FB009AA1D2100D1EC14 /* SketchData.h */, @@ -1369,6 +2625,8 @@ 69469FBC09AA1D2100D1EC14 /* SphereData.h */, 69469FBD09AA1D2100D1EC14 /* susan.cc */, 69469FBE09AA1D2100D1EC14 /* susan.h */, + 693A55EA0BE1474500509F85 /* TargetData.cc */, + 693A55EB0BE1474500509F85 /* TargetData.h */, 69469FBF09AA1D2100D1EC14 /* ViewerConnection.cc */, 69469FC009AA1D2100D1EC14 /* ViewerConnection.h */, 69469FC109AA1D2100D1EC14 /* visops.cc */, @@ -1388,6 +2646,7 @@ children = ( 69750F030AC03FFE004FE3CF /* AutoGetupBehavior.h */, 69750F040AC03FFE004FE3CF /* BatteryMonitorBehavior.h */, + 69EF737B0B57F79B00FF5476 /* DeadReckoningBehavior.h */, 69750F050AC03FFE004FE3CF /* FlashIPAddrBehavior.cc */, 69750F060AC03FFE004FE3CF /* FlashIPAddrBehavior.h */, 69750F070AC03FFE004FE3CF /* WorldStateVelDaemon.h */, @@ -1465,6 +2724,26 @@ path = tools/mon/org/tekkotsu/mon; sourceTree = TEKKOTSU_ROOT; }; + 6989FE1C0C6632AE001B9A11 /* RobotInfos */ = { + isa = PBXGroup; + children = ( + 6989FE2D0C66332F001B9A11 /* RobotInfo.h */, + 6989FE2C0C66332F001B9A11 /* RobotInfo.cc */, + 6989FE220C66332F001B9A11 /* CommonInfo.h */, + 6989FE210C66332F001B9A11 /* CommonERSInfo.h */, + 6989FE230C66332F001B9A11 /* ERS2xxInfo.h */, + 6989FE240C66332F001B9A11 /* ERS7Info.h */, + 6989FE250C66332F001B9A11 /* ERS210Info.h */, + 6989FE260C66332F001B9A11 /* ERS220Info.h */, + 694F65AA0C738675005A6654 /* CreateInfo.h */, + 6989FE280C66332F001B9A11 /* LynxArm6Info.h */, + 6989FE290C66332F001B9A11 /* QBotPlusInfo.h */, + 6989FE2A0C66332F001B9A11 /* QwerkInfo.h */, + 6989FE2B0C66332F001B9A11 /* Regis1Info.h */, + ); + name = RobotInfos; + sourceTree = ""; + }; 6994F3C907D4D35F003A7628 /* IPC */ = { isa = PBXGroup; children = ( @@ -1475,8 +2754,8 @@ 69D5F82809BBDF0C000602D2 /* MessageQueueStatusThread.h */, 69AA7D690860898300185BA2 /* MessageReceiver.cc */, 6994F3CD07D4D35F003A7628 /* MessageReceiver.h */, - 6994F3CE07D4D35F003A7628 /* MutexLock.h */, 6942757707E0DCDD003DE3D9 /* MutexLock.cc */, + 6994F3CE07D4D35F003A7628 /* MutexLock.h */, 69A7EBE909C7162E003DDD18 /* PollThread.cc */, 69A7EBEA09C7162E003DDD18 /* PollThread.h */, 6994F3D107D4D35F003A7628 /* ProcessID.cc */, @@ -1552,12 +2831,22 @@ isa = PBXGroup; children = ( 6994F5B807D68E41003A7628 /* Makefile.local */, - 6976B20E0ACC669F00BA657B /* EntryPoint.h */, - 6976B20F0ACC669F00BA657B /* LoadFileThread.cc */, - 6976B2100ACC669F00BA657B /* LoadFileThread.h */, - 6976B2110ACC669F00BA657B /* LoadImageThread.cc */, - 6976B2120ACC669F00BA657B /* LoadImageThread.h */, - 690564F20819531A00613A0E /* minisim.h */, + 69A5E2F30BBD9C37006D6EED /* minisim.h */, + 69DE81090BE98C840045DCEE /* CommPort.h */, + 69401C860C1291F000FE900C /* CommPorts */, + 69A5E2E60BBD9C37006D6EED /* DataSource.h */, + 69401CA50C12922400FE900C /* DataSources */, + 69DE80FD0BE98C790045DCEE /* DeviceDriver.h */, + 69401CAA0C12922400FE900C /* DeviceDrivers */, + 69A5E2E70BBD9C37006D6EED /* EntryPoint.h */, + 69A5E2EE0BBD9C37006D6EED /* LoadDataThread.cc */, + 69A5E2EF0BBD9C37006D6EED /* LoadDataThread.h */, + 69A5E2F40BBD9C37006D6EED /* MotionHook.h */, + 69401CAF0C12922400FE900C /* MotionHooks */, + 69A5E2F70BBD9C37006D6EED /* SoundPlayThread.cc */, + 69A5E2F80BBD9C37006D6EED /* SoundPlayThread.h */, + 693AD5870C205BE80053F7DE /* tekkotsu */, + 692E74C60B9E7CA200816584 /* terk */, ); path = local; sourceTree = ""; @@ -1599,40 +2888,6 @@ name = "Tekkotsu Source"; sourceTree = TEKKOTSU_ROOT; }; - 69E0A75107CBBF2D008493CA /* local */ = { - isa = PBXGroup; - children = ( - 69E0A75607CBD4A2008493CA /* sim */, - ); - path = local; - sourceTree = TEKKOTSU_ROOT; - }; - 69E0A75607CBD4A2008493CA /* sim */ = { - isa = PBXGroup; - children = ( - 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 */, - 69E6696407F3398F005F4FA9 /* SimConfig.h */, - 69E0A77807CBD52D008493CA /* Simulator.cc */, - 69E0A77907CBD52D008493CA /* Simulator.h */, - 69E0A77A07CBD52D008493CA /* SoundPlay.cc */, - 69E0A77B07CBD52D008493CA /* SoundPlay.h */, - 69A7EC7909C79817003DDD18 /* TimerExecThread.cc */, - 69A7EC7A09C79817003DDD18 /* TimerExecThread.h */, - ); - path = sim; - sourceTree = ""; - }; 69E0A78B07CBD6BF008493CA /* Behaviors */ = { isa = PBXGroup; children = ( @@ -1663,6 +2918,8 @@ 69E0A79407CBD6BF008493CA /* BehaviorReportControl.h */, 69E0A79507CBD6BF008493CA /* BehaviorSwitchActivatorControl.h */, 69E0A79607CBD6BF008493CA /* BehaviorSwitchControl.h */, + 6975CDCE0B6D67B800B2FAC9 /* ConfigurationEditor.cc */, + 6975CDCF0B6D67B800B2FAC9 /* ConfigurationEditor.h */, 69E0A79707CBD6BF008493CA /* ControlBase.cc */, 69E0A79807CBD6BF008493CA /* ControlBase.h */, 69E0A79907CBD6C0008493CA /* DumpFileControl.h */, @@ -1698,6 +2955,8 @@ 69E0A7B607CBD6C0008493CA /* StringInputControl.cc */, 69E0A7B707CBD6C0008493CA /* StringInputControl.h */, 69E0A7B807CBD6C0008493CA /* ToggleControl.h */, + 69E62FE50BAB422A009D8FC0 /* TorqueCalibrate.cc */, + 69E62FEA0BAB4234009D8FC0 /* TorqueCalibrate.h */, 69E0A7B907CBD6C0008493CA /* ValueEditControl.h */, 69E0A7BA07CBD6C0008493CA /* ValueSetControl.h */, 69E0A7BB07CBD6C0008493CA /* WalkCalibration.cc */, @@ -1730,11 +2989,11 @@ 69E0A7D207CBD6C0008493CA /* FollowHeadBehavior.h */, 69E0A7D307CBD6C0008493CA /* FreezeTestBehavior.h */, 69E0A7D407CBD6C0008493CA /* GroundPlaneBehavior.h */, - 69E0A7D507CBD6C0008493CA /* HeadLevelBehavior.h */, 69E0A7D607CBD6C0008493CA /* HelloWorldBehavior.h */, 69E0A7D707CBD6C0008493CA /* karmedbandit.h */, 69E0A7D807CBD6C0008493CA /* KinematicSampleBehavior.h */, 69E0A7D907CBD6C0008493CA /* KinematicSampleBehavior2.h */, + 69846B500B84F4C20011B614 /* LocalizationBehavior.h */, 69970AC4083DB2C60069D95C /* LogTestMachine.h */, 69B8DDBD0AC44586003EC54A /* LookAtPointBehavior.h */, 69E0A7DA07CBD6C0008493CA /* LookForSoundBehavior.h */, @@ -1777,12 +3036,12 @@ 69E0A7F307CBD6C0008493CA /* RawCamBehavior.h */, 693D801208ABF46D00AC993E /* RegionCamBehavior.cc */, 693D801308ABF46D00AC993E /* RegionCamBehavior.h */, + 693D0B1A0C52687D00A56175 /* RoverControllerBehavior.cc */, + 693D0B1B0C52687D00A56175 /* RoverControllerBehavior.h */, 69E0A7F407CBD6C0008493CA /* SegCamBehavior.cc */, 69E0A7F507CBD6C0008493CA /* SegCamBehavior.h */, 69E0A7F607CBD6C0008493CA /* SpeakerServer.cc */, 69E0A7F707CBD6C0008493CA /* SpeakerServer.h */, - 69E0A7F807CBD6C0008493CA /* SpiderMachineBehavior.cc */, - 69E0A7F907CBD6C0008493CA /* SpiderMachineBehavior.h */, 69970AC0083DB2760069D95C /* StewartPlatformBehavior.cc */, 69970AC3083DB2830069D95C /* StewartPlatformBehavior.h */, 69FA4901084C39230003A261 /* UPennWalkControllerBehavior.cc */, @@ -1804,15 +3063,17 @@ 69E0A80207CBD6C0008493CA /* GroupNode.h */, 69E0A80307CBD6C0008493CA /* HeadPointerNode.h */, 69E0A80407CBD6C0008493CA /* LedNode.h */, + 6966753B0926558A00405769 /* MCNode.cc */, + 693C86E7090EE6F00058EE92 /* MCNode.h */, 69E0A80507CBD6C0008493CA /* MotionSequenceNode.h */, 69E0A80607CBD6C0008493CA /* OutputNode.h */, + 695FC79B0CE62E4300069A68 /* PostureNode.h */, 69E0A80807CBD6C0008493CA /* SoundNode.h */, 69E0A80907CBD6C0008493CA /* TailWagNode.h */, 69E0A80A07CBD6C0008493CA /* WalkNode.h */, 69E0A80B07CBD6C0008493CA /* WalkToTargetNode.cc */, 69E0A80C07CBD6C0008493CA /* WalkToTargetNode.h */, - 693C86E7090EE6F00058EE92 /* MCNode.h */, - 6966753B0926558A00405769 /* MCNode.cc */, + 695FC7B30CE62E9500069A68 /* WaypointWalkNode.h */, ); path = Nodes; sourceTree = ""; @@ -1845,6 +3106,8 @@ 69E0A82207CBD6C0008493CA /* EventGeneratorBase.cc */, 69E0A82307CBD6C0008493CA /* EventGeneratorBase.h */, 69E0A82407CBD6C0008493CA /* EventListener.h */, + 69AA824B0CC19D3E00DD162A /* EventProxy.cc */, + 69AA824C0CC19D3E00DD162A /* EventProxy.h */, 69E0A82507CBD6C0008493CA /* EventRouter.cc */, 69E0A82607CBD6C0008493CA /* EventRouter.h */, 69E0A82707CBD6C0008493CA /* EventTranslator.cc */, @@ -1855,8 +3118,13 @@ 69E0A82C07CBD6C0008493CA /* LocomotionEvent.h */, 6962F2E90A917E33002DDEC9 /* LookoutEvents.cc */, 6962F2EA0A917E33002DDEC9 /* LookoutEvents.h */, + 694252380CC7E98D00129C8D /* NetworkBuffer.h */, 694E67E40AC308290087EC83 /* PitchEvent.cc */, 694E67E50AC308290087EC83 /* PitchEvent.h */, + 69AA82280CC19CEE00DD162A /* RemoteEvents.cc */, + 69AA82290CC19CEE00DD162A /* RemoteEvents.h */, + 69AA822A0CC19CEE00DD162A /* RemoteRouter.cc */, + 69AA822B0CC19CEE00DD162A /* RemoteRouter.h */, 69E0A82D07CBD6C0008493CA /* SegmentedColorFilterBankEvent.h */, 69E0A82E07CBD6C0008493CA /* TextMsgEvent.cc */, 69E0A82F07CBD6C0008493CA /* TextMsgEvent.h */, @@ -1878,6 +3146,8 @@ 69E0A83707CBD6C0008493CA /* gvector.h */, 69E0A83807CBD6C0008493CA /* HeadPointerMC.cc */, 69E0A83907CBD6C0008493CA /* HeadPointerMC.h */, + 69EE785D0B68024A00202E66 /* HolonomicMotionModel.cc */, + 69EE785E0B68024A00202E66 /* HolonomicMotionModel.h */, 69E0A83A07CBD6C0008493CA /* Kinematics.cc */, 69E0A83B07CBD6C0008493CA /* Kinematics.h */, 69E0A83C07CBD6C0008493CA /* LedEngine.cc */, @@ -1892,8 +3162,6 @@ 69E0A84507CBD6C0008493CA /* MotionSequenceEngine.cc */, 69E0A84607CBD6C0008493CA /* MotionSequenceEngine.h */, 69E0A84707CBD6C0008493CA /* MotionSequenceMC.h */, - 69E0A84807CBD6C0008493CA /* OldHeadPointerMC.cc */, - 69E0A84907CBD6C0008493CA /* OldHeadPointerMC.h */, 69E0A84A07CBD6C0008493CA /* OldKinematics.cc */, 69E0A84B07CBD6C0008493CA /* OldKinematics.h */, 69E0A84C07CBD6C0008493CA /* OutputCmd.cc */, @@ -1961,30 +3229,43 @@ 69E0A89107CBD6C0008493CA /* Shared */ = { isa = PBXGroup; children = ( + 6989FE1C0C6632AE001B9A11 /* RobotInfos */, 69A7EF6F09C9FE5B003DDD18 /* attributes.h */, 691C805508255F6300E8E256 /* Base64.cc */, 691C805C08255F6D00E8E256 /* Base64.h */, 69E0A89207CBD6C0008493CA /* Buffer.cc */, 69E0A89307CBD6C0008493CA /* Buffer.h */, 698A06D10955F0E4001A13D5 /* Cloneable.h */, + 691FC35E0B4EDCF600246924 /* CommonERSInfo.h */, 69E0A89407CBD6C0008493CA /* CommonInfo.h */, 69E0A89507CBD6C0008493CA /* Config.cc */, 69E0A89607CBD6C0008493CA /* Config.h */, + 694F657F0C738659005A6654 /* CreateInfo.h */, 69E0A89707CBD6C0008493CA /* debuget.h */, 69E0A89807CBD6C0008493CA /* ERS210Info.h */, 69E0A89907CBD6C0008493CA /* ERS220Info.h */, 69E0A89A07CBD6C0008493CA /* ERS2xxInfo.h */, 69E0A89B07CBD6C0008493CA /* ERS7Info.h */, + 693E65710BF3C04400A5D8B8 /* Factories.h */, 69E0A89C07CBD6C0008493CA /* Factory.h */, + 693E649F0BF113FA00A5D8B8 /* FamilyFactory.h */, 69E0A89D07CBD6C0008493CA /* get_time.cc */, 69E0A89E07CBD6C0008493CA /* get_time.h */, + 69A5E2350BBD6CC8006D6EED /* ImageUtil.cc */, + 69A5E2360BBD6CC8006D6EED /* ImageUtil.h */, + 693E673A0BF5185500A5D8B8 /* InstanceTracker.h */, 69E0A89F07CBD6C0008493CA /* jpeg-6b */, 69E0A8F807CBD6C1008493CA /* LoadSave.cc */, 69E0A8F907CBD6C1008493CA /* LoadSave.h */, + 69EF73450B57F42500FF5476 /* LocalizationParticle.h */, + 69F7556E0B9BA9D300FBA370 /* LynxArm6Info.h */, 69EB5B540A41CCD700415C6B /* MarkScope.h */, 69E0A8FB07CBD6C1008493CA /* mathutils.h */, + 69EF74820B59EC7200FF5476 /* Measures.cc */, + 69EF74830B59EC7200FF5476 /* Measures.h */, 69E0A8FD07CBD6C1008493CA /* newmat */, 69E0A95707CBD6C1008493CA /* ODataFormats.h */, + 69EF732B0B57E28800FF5476 /* ParticleFilter.h */, 69E666BB07F0CE51005F4FA9 /* plist.cc */, 69E666B607F0CE3A005F4FA9 /* plist.h */, 698A071B09575F41001A13D5 /* plistBase.cc */, @@ -1997,10 +3278,16 @@ 69E0A95B07CBD6C1008493CA /* Profiler.h */, 69E0A95C07CBD6C1008493CA /* ProjectInterface.cc */, 69E0A95D07CBD6C1008493CA /* ProjectInterface.h */, + 693688250C594E3900D54726 /* QBotPlusInfo.h */, + 6917A76E0BB1BCCA00F0B40B /* QwerkInfo.h */, 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*/; + productType = "com.apple.product-type.tool"; + }; + 69E0AB9A07CBDE11008493CA /* tekkotsu-ERS210 */ = { + isa = PBXNativeTarget; + buildConfigurationList = 69FD50320881E74900E825BA /* Build configuration list for PBXNativeTarget "tekkotsu-ERS210" */; buildPhases = ( 69E0AB9B07CBDE11008493CA /* Sources */, 69E0AC5A07CBDE11008493CA /* Frameworks */, @@ -2202,15 +3536,15 @@ ); dependencies = ( ); - name = "sim (ERS-210)"; + name = "tekkotsu-ERS210"; productInstallPath = "$(HOME)/bin"; productName = sim; - productReference = 69E0AD5C07CBDE11008493CA /* sim-ERS210 */; + productReference = 69E0AD5C07CBDE11008493CA /* tekkotsu-ERS210 */; productType = "com.apple.product-type.tool"; }; - 69E0AFA707CBF79B008493CA /* sim (ERS-7) Light */ = { + 69E0AFA707CBF79B008493CA /* tekkotsu-ERS7 Light */ = { isa = PBXNativeTarget; - buildConfigurationList = 69FD502E0881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-7) Light" */; + buildConfigurationList = 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buildRules = ( + ); + dependencies = ( + ); + name = "tekkotsu-LynxArm6"; + productInstallPath = "$(HOME)/bin"; + productName = sim; + productReference = 69E6662F0B4D822A00575707 /* tekkotsu-LYNXARM6 */; + productType = "com.apple.product-type.tool"; + }; + 8DD76F620486A84900D96B5E /* tekkotsu-ERS7 */ = { + isa = PBXNativeTarget; + buildConfigurationList = 69FD502A0881E74900E825BA /* Build configuration list for PBXNativeTarget "tekkotsu-ERS7" */; buildPhases = ( 8DD76F640486A84900D96B5E /* Sources */, 8DD76F660486A84900D96B5E /* Frameworks */, @@ -2235,10 +3586,10 @@ ); dependencies = ( ); - name = "sim (ERS-7)"; + name = "tekkotsu-ERS7"; productInstallPath = "$(HOME)/bin"; productName = sim; - productReference = 69A6D61007CD2C7700CB4720 /* sim-ERS7 */; + productReference = 69A6D61007CD2C7700CB4720 /* tekkotsu-ERS7 */; productType = "com.apple.product-type.tool"; }; /* End PBXNativeTarget section */ @@ -2253,14 +3604,577 @@ projectDirPath = ""; targets = ( 693D800E08ABBB4200AC993E /* 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ShapeLocalizationParticle.cc in Sources */, + 69D0FBA10B8F82C900CC1DF1 /* Pilot.cc in Sources */, + 69D0FBAF0B8F9B3500CC1DF1 /* PilotRequest.cc in Sources */, + 69F74F0E0B98920D00FBA370 /* PFShapeLocalization.cc in Sources */, + 69F74F0F0B98920D00FBA370 /* PFShapeSLAM.cc in Sources */, + 69E62FE60BAB422A009D8FC0 /* TorqueCalibrate.cc in Sources */, + 69A5E2390BBD6CC8006D6EED /* ImageUtil.cc in Sources */, + 69A5E30E0BBD9C37006D6EED /* LoadDataThread.cc in Sources */, + 69A5E3110BBD9C37006D6EED /* SoundPlayThread.cc in Sources */, + 693A55EF0BE1474500509F85 /* TargetData.cc in Sources */, + 693A55F70BE1478100509F85 /* ShapeTypes.cc in Sources */, + 693A55FD0BE1479800509F85 /* ShapeTarget.cc in Sources */, + 69BE64990BF979A800BC9A15 /* netstream.cc in Sources */, + 69401C960C1291F000FE900C /* ExecutableCommPort.cc in Sources */, + 69401C970C1291F000FE900C /* FileSystemCommPort.cc in Sources */, + 69401C980C1291F000FE900C /* NetworkCommPort.cc in Sources */, + 69401C990C1291F000FE900C /* RedirectionCommPort.cc in Sources */, + 69401C9A0C1291F000FE900C /* SerialCommPort.cc in Sources */, + 69401CB70C12922400FE900C /* FileSystemDataSource.cc in Sources */, + 69401CB80C12922400FE900C /* FileSystemImageSource.cc in Sources */, + 69401CB90C12922400FE900C /* LoggedDataDriver.cc in Sources */, + 69401CBA0C12922400FE900C /* SSC32Driver.cc in Sources */, + 69401CBB0C12922400FE900C /* IPCMotionHook.cc in Sources */, + 6937766E0C17358C001E2C9E /* CameraSourceOSX.cc in Sources */, + 693776750C17359B001E2C9E /* CameraDriverOSX.cc in Sources */, + 693AD5A40C205BE80053F7DE /* Main.cc in Sources */, + 693AD5A50C205BE80053F7DE /* Motion.cc in Sources */, + 693AD5A60C205BE80053F7DE /* MotionExecThread.cc in Sources */, + 693AD5A70C205BE80053F7DE /* Process.cc in Sources */, + 693AD5A80C205BE80053F7DE /* SharedGlobals.cc in Sources */, + 693AD5A90C205BE80053F7DE /* sim.cc in Sources */, + 693AD5AA0C205BE80053F7DE /* Simulator.cc in Sources */, + 693AD5AB0C205BE80053F7DE /* SoundPlay.cc in Sources */, + 693AD5AC0C205BE80053F7DE /* TimerExecThread.cc in Sources */, + 69BE87830C30215C0046EEAD /* RobotInfo.cc in Sources */, + 693D09CC0C525F7E00A56175 /* jpeg_istream_src.cc in Sources */, + 693D0B1F0C52687D00A56175 /* RoverControllerBehavior.cc in Sources */, + 693D0C6D0C52FE6D00A56175 /* ImageStreamDriver.cc in Sources */, + 693D0E590C56632100A56175 /* TeRKDriver.cc in Sources */, + 6933B8840C6596CE00A23CE9 /* StartupBehavior_SetupVision.cc in Sources */, + 693D23ED0C91B9C3006D6505 /* CameraDriverV4L.cc in Sources */, + 69AA822C0CC19CEE00DD162A /* RemoteEvents.cc in Sources */, + 69AA822D0CC19CEE00DD162A /* RemoteRouter.cc in Sources */, + 69AA824D0CC19D3E00DD162A /* EventProxy.cc in Sources */, + 69AA82670CC19D8600DD162A /* RemoteState.cc in Sources */, + 694252180CC7E65B00129C8D /* Dynamixel.cc in Sources */, + 69A6E5DE0CDA51BE00039162 /* CreateDriver.cc in Sources */, + 695FCB330CE8BFBD00069A68 /* PathPlanner.cc in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; /* End PBXSourcesBuildPhase section */ /* Begin XCBuildConfiguration section */ + 692E74900B9E77C100816584 /* . */ = { + isa = XCBuildConfiguration; + buildSettings = { + COPY_PHASE_STRIP = NO; + DEPLOYMENT_LOCATION = NO; + GCC_DYNAMIC_NO_PIC = NO; + GCC_ENABLE_FIX_AND_CONTINUE = YES; + GCC_ENABLE_PASCAL_STRINGS = NO; + GCC_GENERATE_DEBUGGING_SYMBOLS = YES; + GCC_OPTIMIZATION_LEVEL = 0; + GCC_PRECOMPILE_PREFIX_HEADER = YES; + GCC_PREFIX_HEADER = "$(TEKKOTSU_ROOT)/common.h"; + GCC_PREPROCESSOR_DEFINITIONS = ( + PLATFORM_LOCAL, + DEBUG, + HAVE_READDIR_R, + ); + GCC_USE_GCC3_PFE_SUPPORT = YES; + GCC_WARN_ABOUT_MISSING_PROTOTYPES = YES; + GCC_WARN_ABOUT_RETURN_TYPE = NO; + GCC_WARN_CHECK_SWITCH_STATEMENTS = YES; + GCC_WARN_HIDDEN_VIRTUAL_FUNCTIONS = YES; + GCC_WARN_INITIALIZER_NOT_FULLY_BRACKETED = YES; + GCC_WARN_MISSING_PARENTHESES = YES; + GCC_WARN_NON_VIRTUAL_DESTRUCTOR = YES; + GCC_WARN_SIGN_COMPARE = YES; + GCC_WARN_TYPECHECK_CALLS_TO_PRINTF = YES; + GCC_WARN_UNUSED_FUNCTION = YES; + GCC_WARN_UNUSED_LABEL = YES; + GCC_WARN_UNUSED_PARAMETER = YES; + GCC_WARN_UNUSED_VALUE = YES; + GCC_WARN_UNUSED_VARIABLE = YES; + HEADER_SEARCH_PATHS = ( + "$(TEKKOTSU_ROOT)", + /usr/include/libxml2, + "$(ICE_ROOT)/include", + ); + INSTALL_PATH = "$(HOME)/bin"; + LIBRARY_SEARCH_PATHS = "$(ICE_ROOT)/lib"; + OBJROOT = build; + OTHER_CPLUSPLUSFLAGS = ( + "-DTGT_QBOTPLUS", + "$(HAVE_ICE)", + ); + PREBINDING = NO; + PRECOMPS_INCLUDE_HEADERS_FROM_BUILT_PRODUCTS_DIR = NO; + PRODUCT_NAME = "tekkotsu-QBOTPLUS"; + SYMROOT = .; + UNSTRIPPED_PRODUCT = YES; + WARNING_CFLAGS = ( + "-Wall", + "-Wpointer-arith", + "-Wcast-qual", + "-Woverloaded-virtual", + "-Wdeprecated", + ); + }; + name = .; + }; + 692E74910B9E77C100816584 /* Deployment */ = { + isa = XCBuildConfiguration; + buildSettings = { + COPY_PHASE_STRIP = YES; + GCC_ENABLE_FIX_AND_CONTINUE = NO; + GCC_ENABLE_PASCAL_STRINGS = NO; + GCC_PRECOMPILE_PREFIX_HEADER = YES; + GCC_PREFIX_HEADER = "$(TEKKOTSU_ROOT)/common.h"; + GCC_PREPROCESSOR_DEFINITIONS = PLATFORM_LOCAL; + GCC_WARN_UNINITIALIZED_AUTOS = YES; + HEADER_SEARCH_PATHS = ( + "$(TEKKOTSU_ROOT)", + /usr/include/libxml2, + /usr/local/Ice/include, + ); + INSTALL_PATH = "$(HOME)/bin"; + LIBRARY_SEARCH_PATHS = /usr/local/Ice/lib; + OTHER_CPLUSPLUSFLAGS = "-DTGT_QWERK"; + PRODUCT_NAME = "sim-qwerk"; + ZERO_LINK = NO; + }; + name = Deployment; + }; + 693D0AF30C52643E00A56175 /* . */ = { + isa = XCBuildConfiguration; + buildSettings = { + COPY_PHASE_STRIP = NO; + DEPLOYMENT_LOCATION = NO; + GCC_DYNAMIC_NO_PIC = NO; + GCC_ENABLE_FIX_AND_CONTINUE = YES; + GCC_ENABLE_PASCAL_STRINGS = NO; + GCC_GENERATE_DEBUGGING_SYMBOLS = YES; + GCC_OPTIMIZATION_LEVEL = 0; + GCC_PRECOMPILE_PREFIX_HEADER = YES; + GCC_PREFIX_HEADER = "$(TEKKOTSU_ROOT)/common.h"; + GCC_PREPROCESSOR_DEFINITIONS = ( + PLATFORM_LOCAL, + DEBUG, + HAVE_READDIR_R, + ); + GCC_USE_GCC3_PFE_SUPPORT = YES; + GCC_WARN_ABOUT_MISSING_PROTOTYPES = YES; + GCC_WARN_ABOUT_RETURN_TYPE = NO; + GCC_WARN_CHECK_SWITCH_STATEMENTS = YES; + GCC_WARN_HIDDEN_VIRTUAL_FUNCTIONS = YES; + GCC_WARN_INITIALIZER_NOT_FULLY_BRACKETED = YES; + GCC_WARN_MISSING_PARENTHESES = YES; + GCC_WARN_NON_VIRTUAL_DESTRUCTOR = YES; + GCC_WARN_TYPECHECK_CALLS_TO_PRINTF = YES; + GCC_WARN_UNUSED_FUNCTION = YES; + GCC_WARN_UNUSED_LABEL = YES; + GCC_WARN_UNUSED_PARAMETER = YES; + GCC_WARN_UNUSED_VALUE = YES; + GCC_WARN_UNUSED_VARIABLE = YES; + HEADER_SEARCH_PATHS = ( + "$(TEKKOTSU_ROOT)", + /usr/include/libxml2, + "$(ICE_ROOT)/include", + ); + INSTALL_PATH = "$(HOME)/bin"; + LIBRARY_SEARCH_PATHS = "$(ICE_ROOT)/lib"; + OBJROOT = build; + OTHER_CPLUSPLUSFLAGS = "-DTGT_REGIS1"; + PREBINDING = NO; + PRECOMPS_INCLUDE_HEADERS_FROM_BUILT_PRODUCTS_DIR = NO; + PRODUCT_NAME = "tekkotsu-REGIS1"; + SYMROOT = .; + UNSTRIPPED_PRODUCT = YES; + WARNING_CFLAGS = ( + "-Wall", + "-Wpointer-arith", + "-Wcast-qual", + "-Woverloaded-virtual", + "-Wdeprecated", + ); + }; + name = .; + }; + 693D0AF40C52643E00A56175 /* Deployment */ = { + isa = XCBuildConfiguration; + buildSettings = { + COPY_PHASE_STRIP = YES; + GCC_ENABLE_FIX_AND_CONTINUE = NO; + GCC_ENABLE_PASCAL_STRINGS = NO; + GCC_PRECOMPILE_PREFIX_HEADER = YES; + GCC_PREFIX_HEADER = "$(TEKKOTSU_ROOT)/common.h"; + GCC_PREPROCESSOR_DEFINITIONS = PLATFORM_LOCAL; + GCC_WARN_UNINITIALIZED_AUTOS = YES; + HEADER_SEARCH_PATHS = "$(TEKKOTSU_ROOT)"; + INSTALL_PATH = "$(HOME)/bin"; + LIBRARY_SEARCH_PATHS = ( + "$(inherited)", + /usr/local/Ice/lib, + ); + OTHER_CPLUSPLUSFLAGS = "-DTGT_LYNXARM6"; + PRODUCT_NAME = "sim-lynxarm6"; + ZERO_LINK = NO; + }; + name = Deployment; + }; 693D801008ABBB6100AC993E /* . */ = { isa = XCBuildConfiguration; buildSettings = { @@ -2785,7 +5214,7 @@ }; name = Deployment; }; - 69FD502B0881E74900E825BA /* . */ = { + 69E6662D0B4D822A00575707 /* . */ = { isa = XCBuildConfiguration; buildSettings = { COPY_PHASE_STRIP = NO; @@ -2817,22 +5246,22 @@ GCC_WARN_UNUSED_PARAMETER = YES; GCC_WARN_UNUSED_VALUE = YES; GCC_WARN_UNUSED_VARIABLE = YES; - GENERATE_PROFILING_CODE = YES; HEADER_SEARCH_PATHS = ( "$(TEKKOTSU_ROOT)", /usr/include/libxml2, + "$(ICE_ROOT)/include", ); INSTALL_PATH = "$(HOME)/bin"; + LIBRARY_SEARCH_PATHS = "$(ICE_ROOT)/lib"; OBJROOT = build; - OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; + OTHER_CPLUSPLUSFLAGS = "-DTGT_LYNXARM6"; PREBINDING = NO; PRECOMPS_INCLUDE_HEADERS_FROM_BUILT_PRODUCTS_DIR = NO; - PRODUCT_NAME = "sim-ERS7"; + PRODUCT_NAME = "tekkotsu-LYNXARM6"; SYMROOT = .; UNSTRIPPED_PRODUCT = YES; WARNING_CFLAGS = ( "-Wall", - "-W", "-Wpointer-arith", "-Wcast-qual", "-Woverloaded-virtual", @@ -2841,7 +5270,7 @@ }; name = .; }; - 69FD502C0881E74900E825BA /* Deployment */ = { + 69E6662E0B4D822A00575707 /* Deployment */ = { isa = XCBuildConfiguration; buildSettings = { COPY_PHASE_STRIP = YES; @@ -2853,8 +5282,118 @@ GCC_WARN_UNINITIALIZED_AUTOS = YES; HEADER_SEARCH_PATHS = "$(TEKKOTSU_ROOT)"; INSTALL_PATH = "$(HOME)/bin"; + LIBRARY_SEARCH_PATHS = ( + "$(inherited)", + /usr/local/Ice/lib, + ); + OTHER_CPLUSPLUSFLAGS = "-DTGT_LYNXARM6"; + PRODUCT_NAME = "sim-lynxarm6"; + ZERO_LINK = NO; + }; + name = Deployment; + }; + 69FD502B0881E74900E825BA /* . */ = { + isa = XCBuildConfiguration; + buildSettings = { + COPY_PHASE_STRIP = NO; + DEPLOYMENT_LOCATION = NO; + GCC_DYNAMIC_NO_PIC = NO; + GCC_ENABLE_FIX_AND_CONTINUE = YES; + GCC_ENABLE_PASCAL_STRINGS = NO; + GCC_GENERATE_DEBUGGING_SYMBOLS = YES; + GCC_OPTIMIZATION_LEVEL = 0; + GCC_PRECOMPILE_PREFIX_HEADER = YES; + GCC_PREFIX_HEADER = "$(TEKKOTSU_ROOT)/common.h"; + GCC_PREPROCESSOR_DEFINITIONS = ( + PLATFORM_LOCAL, + DEBUG, + HAVE_READDIR_R, + "TEKKOTSU_SHM_STYLE=NO_SHM", + ); + GCC_WARN_ABOUT_MISSING_PROTOTYPES = YES; + GCC_WARN_ABOUT_RETURN_TYPE = YES; + GCC_WARN_CHECK_SWITCH_STATEMENTS = YES; + GCC_WARN_HIDDEN_VIRTUAL_FUNCTIONS = YES; + GCC_WARN_INITIALIZER_NOT_FULLY_BRACKETED = YES; + GCC_WARN_MISSING_PARENTHESES = YES; + GCC_WARN_NON_VIRTUAL_DESTRUCTOR = YES; + GCC_WARN_SIGN_COMPARE = YES; + GCC_WARN_TYPECHECK_CALLS_TO_PRINTF = YES; + GCC_WARN_UNINITIALIZED_AUTOS = NO; + GCC_WARN_UNUSED_FUNCTION = YES; + GCC_WARN_UNUSED_LABEL = YES; + GCC_WARN_UNUSED_PARAMETER = YES; + GCC_WARN_UNUSED_VALUE = YES; + GCC_WARN_UNUSED_VARIABLE = YES; + HEADER_SEARCH_PATHS = ( + "$(TEKKOTSU_ROOT)", + /usr/include/libxml2, + ); + INSTALL_PATH = "$(HOME)/bin"; + OBJROOT = build; + OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; + PREBINDING = NO; + PRECOMPS_INCLUDE_HEADERS_FROM_BUILT_PRODUCTS_DIR = NO; + PRODUCT_NAME = "tekkotsu-ERS7"; + SYMROOT = .; + UNSTRIPPED_PRODUCT = YES; + WARNING_CFLAGS = ( + "-Wall", + "-Wpointer-arith", + "-Wcast-qual", + "-Woverloaded-virtual", + "-Wdeprecated", + ); + }; + name = .; + }; + 69FD502C0881E74900E825BA /* Deployment */ = { + isa = XCBuildConfiguration; + buildSettings = { + COPY_PHASE_STRIP = YES; + GCC_AUTO_VECTORIZATION = YES; + GCC_ENABLE_FIX_AND_CONTINUE = NO; + GCC_ENABLE_PASCAL_STRINGS = NO; + GCC_ENABLE_SSE3_EXTENSIONS = YES; + GCC_PRECOMPILE_PREFIX_HEADER = YES; + GCC_PREFIX_HEADER = "$(TEKKOTSU_ROOT)/common.h"; + GCC_PREPROCESSOR_DEFINITIONS = ( + PLATFORM_LOCAL, + HAVE_READDIR_R, + ); + GCC_WARN_ABOUT_MISSING_PROTOTYPES = YES; + GCC_WARN_ABOUT_RETURN_TYPE = YES; + GCC_WARN_CHECK_SWITCH_STATEMENTS = YES; + GCC_WARN_HIDDEN_VIRTUAL_FUNCTIONS = YES; + GCC_WARN_INITIALIZER_NOT_FULLY_BRACKETED = YES; + GCC_WARN_MISSING_PARENTHESES = YES; + GCC_WARN_NON_VIRTUAL_DESTRUCTOR = YES; + GCC_WARN_SHADOW = YES; + GCC_WARN_SIGN_COMPARE = YES; + GCC_WARN_TYPECHECK_CALLS_TO_PRINTF = YES; + GCC_WARN_UNINITIALIZED_AUTOS = YES; + GCC_WARN_UNUSED_FUNCTION = YES; + GCC_WARN_UNUSED_LABEL = YES; + GCC_WARN_UNUSED_PARAMETER = YES; + GCC_WARN_UNUSED_VALUE = YES; + GCC_WARN_UNUSED_VARIABLE = YES; + HEADER_SEARCH_PATHS = ( + "$(TEKKOTSU_ROOT)", + /usr/include/libxml2, + ); + INSTALL_PATH = "$(HOME)/bin"; OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; + PREBINDING = NO; + PRECOMPS_INCLUDE_HEADERS_FROM_BUILT_PRODUCTS_DIR = NO; PRODUCT_NAME = "sim-ERS7"; + WARNING_CFLAGS = ( + "-Wall", + "-W", + "-Wpointer-arith", + "-Wcast-qual", + "-Woverloaded-virtual", + "-Wdeprecated", + ); ZERO_LINK = NO; }; name = Deployment; @@ -2889,7 +5428,6 @@ GCC_WARN_UNUSED_PARAMETER = YES; GCC_WARN_UNUSED_VALUE = YES; GCC_WARN_UNUSED_VARIABLE = YES; - GENERATE_PROFILING_CODE = YES; HEADER_SEARCH_PATHS = ( "$(TEKKOTSU_ROOT)", /usr/include/libxml2, @@ -2903,11 +5441,10 @@ OBJROOT = build; OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS7"; PREBINDING = NO; - PRODUCT_NAME = "sim-ERS7"; + PRODUCT_NAME = "tekkotsu-ERS7"; SYMROOT = .; WARNING_CFLAGS = ( "-Wall", - "-W", "-Wpointer-arith", "-Wcast-qual", "-Woverloaded-virtual", @@ -2969,7 +5506,6 @@ GCC_WARN_UNUSED_PARAMETER = YES; GCC_WARN_UNUSED_VALUE = YES; GCC_WARN_UNUSED_VARIABLE = YES; - GENERATE_PROFILING_CODE = YES; HEADER_SEARCH_PATHS = ( "$(TEKKOTSU_ROOT)", /usr/include/libxml2, @@ -2978,11 +5514,10 @@ OBJROOT = build; OTHER_CPLUSPLUSFLAGS = "-DTGT_ERS210"; PREBINDING = NO; - PRODUCT_NAME = "sim-ERS210"; + PRODUCT_NAME = "tekkotsu-ERS210"; SYMROOT = ""; WARNING_CFLAGS = ( "-Wall", - "-W", "-Wpointer-arith", "-Wcast-qual", "-Woverloaded-virtual", @@ -3028,6 +5563,24 @@ /* End XCBuildConfiguration section */ /* Begin XCConfigurationList section */ + 692E748F0B9E77C100816584 /* Build configuration list for PBXNativeTarget "tekkotsu-QBotPlus" */ = { + isa = XCConfigurationList; + buildConfigurations = ( + 692E74900B9E77C100816584 /* . */, + 692E74910B9E77C100816584 /* Deployment */, + ); + defaultConfigurationIsVisible = 0; + defaultConfigurationName = .; + }; + 693D0AF20C52643E00A56175 /* Build configuration list for PBXNativeTarget "tekkotsu-Regis1" */ = { + isa = XCConfigurationList; + buildConfigurations = ( + 693D0AF30C52643E00A56175 /* . */, + 693D0AF40C52643E00A56175 /* Deployment */, + ); + defaultConfigurationIsVisible = 0; + defaultConfigurationName = .; + }; 693D800F08ABBB6100AC993E /* Build configuration list for PBXLegacyTarget "Aperios Build" */ = { isa = XCConfigurationList; buildConfigurations = ( @@ -3037,7 +5590,16 @@ defaultConfigurationIsVisible = 0; defaultConfigurationName = .; }; - 69FD502A0881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-7)" */ = { + 69E6662C0B4D822A00575707 /* Build configuration list for PBXNativeTarget "tekkotsu-LynxArm6" */ = { + isa = XCConfigurationList; + buildConfigurations = ( + 69E6662D0B4D822A00575707 /* . */, + 69E6662E0B4D822A00575707 /* Deployment */, + ); + defaultConfigurationIsVisible = 0; + defaultConfigurationName = .; + }; + 69FD502A0881E74900E825BA /* Build configuration list for PBXNativeTarget "tekkotsu-ERS7" */ = { isa = XCConfigurationList; buildConfigurations = ( 69FD502B0881E74900E825BA /* . */, @@ -3046,7 +5608,7 @@ defaultConfigurationIsVisible = 0; defaultConfigurationName = .; }; - 69FD502E0881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-7) Light" */ = { + 69FD502E0881E74900E825BA /* Build configuration list for PBXNativeTarget "tekkotsu-ERS7 Light" */ = { isa = XCConfigurationList; buildConfigurations = ( 69FD502F0881E74900E825BA /* . */, @@ -3055,7 +5617,7 @@ defaultConfigurationIsVisible = 0; defaultConfigurationName = .; }; - 69FD50320881E74900E825BA /* Build configuration list for PBXNativeTarget "sim (ERS-210)" */ = { + 69FD50320881E74900E825BA /* Build configuration list for PBXNativeTarget "tekkotsu-ERS210" */ = { isa = XCConfigurationList; buildConfigurations = ( 69FD50330881E74900E825BA /* . */, diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/Makefile ./Makefile --- ../../Tekkotsu_3.0/project/Makefile 2006-09-26 17:53:55.000000000 -0400 +++ ./Makefile 2007-11-18 01:44:57.000000000 -0500 @@ -12,13 +10,33 @@ ## ENVIRONMENT SETUP ## ################################################### TEKKOTSU_ENVIRONMENT_CONFIGURATION?=$(shell pwd | sed 's/ /\\ /g')/Environment.conf -ifneq ($(filter sim%,$(MAKECMDGOALS)),) +ifneq ($(filter sim% tekkotsu%,$(MAKECMDGOALS)),) TEKKOTSU_TARGET_PLATFORM:=PLATFORM_LOCAL ifneq ($(filter sim-%,$(MAKECMDGOALS)),) TEKKOTSU_TARGET_MODEL:=$(patsubst sim-%,TGT_%,$(filter sim-%,$(MAKECMDGOALS))) endif + ifneq ($(filter tekkotsu-%,$(MAKECMDGOALS)),) + TEKKOTSU_TARGET_MODEL:=$(patsubst tekkotsu-%,TGT_%,$(filter tekkotsu-%,$(MAKECMDGOALS))) + endif endif include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) + +ifeq ($(MAKELEVEL),0) + $(shell echo " ** Project targeting $(TEKKOTSU_TARGET_MODEL) for build on $(TEKKOTSU_TARGET_PLATFORM) **" > /dev/tty) + $(shell echo " ** TEKKOTSU_DEBUG is $(if $(TEKKOTSU_DEBUG),ON: $(TEKKOTSU_DEBUG),OFF) **" > /dev/tty) + $(shell echo " ** TEKKOTSU_OPTIMIZE is $(if $(TEKKOTSU_DEBUG),DISABLED BY DEBUG,$(if $(TEKKOTSU_OPTIMIZE),ON: $(TEKKOTSU_OPTIMIZE),OFF)) **" > /dev/tty) +endif + +#sanity checks +$(if $(shell [ -d "$(TEKKOTSU_ROOT)" ] || echo "not found"),$(error Could not access TEKKOTSU_ROOT: $(TEKKOTSU_ROOT))) +ifeq ($(filter clean%,$(MAKECMDGOALS)),) + ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) + $(if $(shell [ -d "$(OPENRSDK_ROOT)" ] || echo "not found"),$(error OPEN-R SDK not found at '$(OPENRSDK_ROOT)', check installation.)) + $(if $(shell [ -d "$(OPENRSDK_ROOT)/OPEN_R" ] || echo "not found"),$(error OPEN-R SDK header files missing, check installation.)) + endif + $(if $(shell $(CXX) -v > /dev/null 2>&1 || echo "not found"),$(error C++ compiler not found at '$(CXX)', check installation.)) +endif + $(shell mkdir -p $(PROJ_BD)) @@ -32,34 +50,44 @@ # section. (grep/search for the file name) ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) - PLATFORM_FLAGS= \ + PLATFORM_FLAGS:= \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ -isystem $(TEKKOTSU_ROOT)/aperios/include \ - $(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 -lpng + $(if $(TEKKOTSU_DEBUG),-DOPENR_DEBUG,) -DLOADFILE_NO_MMAP \ + $(shell $(TEKKOTSU_ROOT)/aperios/bin/xml2-config --cflags) + LDFLAGS:=$(LDFLAGS) -lObjectComm -lOPENR -lInternet -lantMCOOP -lERA201D1 \ + $(shell $(TEKKOTSU_ROOT)/aperios/bin/xml2-config --libs) -ljpeg -lpng -lregex else - PLATFORM_FLAGS=`xml2-config --cflags` -isystem /usr/include/libpng12 - LDFLAGS=`xml2-config --libs` $(if $(shell locate librt.a),-lrt) -lreadline -lncurses -ljpeg -lpng12 + PLATFORM_FLAGS:=$(shell xml2-config --cflags) -isystem /usr/include/libpng12 \ + $(shell if [ -d "$(ICE_ROOT)" ] ; then echo "-DHAVE_ICE -I$(ICE_ROOT)/include"; fi) + LDFLAGS:=$(LDFLAGS) $(shell xml2-config --libs) $(if $(shell locate librt.a 2> /dev/null),-lrt) \ + -lreadline -lncurses -ljpeg -lpng12 -lpthread \ + $(if $(HAVE_ICE),-L$(ICE_ROOT)/lib -lIce -lGlacier2 -lIceUtil) \ + $(if $(findstring Darwin,$(shell uname)),-bind_at_load -framework Quicktime -framework Carbon) endif +ifeq ($(MAKELEVEL),0) + export ENV_CXXFLAGS:=$(CXXFLAGS) +else + unexport CXXFLAGS +endif CXXFLAGS:= \ $(if $(TEKKOTSU_DEBUG),$(TEKKOTSU_DEBUG),$(TEKKOTSU_OPTIMIZE)) \ -pipe -ffast-math -fno-common \ - -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ + -Wall -Wshadow -Wlarger-than-200000 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Wdeprecated -Wnon-virtual-dtor \ + -fmessage-length=0 \ -I. -I$(TEKKOTSU_ROOT) -I$(TEKKOTSU_ROOT)/Motion/roboop \ -I$(TEKKOTSU_ROOT)/Shared/newmat \ -isystem $(TEKKOTSU_ROOT)/Shared/jpeg-6b \ -D$(TEKKOTSU_TARGET_PLATFORM) -D$(TEKKOTSU_TARGET_MODEL) \ - $(PLATFORM_FLAGS) $(CXXFLAGS) + $(PLATFORM_FLAGS) $(ENV_CXXFLAGS) INCLUDE_PCH=$(if $(TEKKOTSU_PCH),-include $(TK_BD)/$(TEKKOTSU_PCH)) -TEKKOTSU_VERSION=Tekkotsu pre-3.0 CVS +TEKKOTSU_VERSION=Tekkotsu 4.0 CVS ################################################### ## SOURCE CODE LIST ## @@ -70,12 +98,12 @@ # 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 | xargs ls -t)) +SRCS:=$(patsubst ./%,%,$(shell find . -name "*$(SRCSUFFIX)" -or -name "$(PROJECT_BUILDDIR)" \! -prune -or -name "templates" \! -prune -or -name "aperios" \! -prune -or -name "local" \! -prune)) # We can also link in third-party libraries -USERLIBS:= $(TK_BD)/libtekkotsu.a \ - $(TK_LIB_BD)/Motion/roboop/libroboop.a \ - $(TK_LIB_BD)/Shared/newmat/libnewmat.a \ +USERLIBS:= $(TK_BD)/$(LIBTEKKOTSU) \ + $(TK_LIB_BD)/Motion/roboop/libroboop$(suffix $(LIBTEKKOTSU)) \ + $(TK_LIB_BD)/Shared/newmat/libnewmat$(suffix $(LIBTEKKOTSU)) \ ################################################### @@ -84,25 +112,17 @@ # Hopefully, you shouldn't have to change anything down here, # except one or two little things ;) -.PHONY: all compile clean cleanDeps cleanProj reportTarget checkLibs testEnv testLibs buildLibs sim +.PHONY: all compile clean cleanDeps cleanProj checkLibs testLibs buildLibs sim tekkotsu -sim all update install ftpupdate: reportTarget testEnv checkLibs - @$(MAKE) TEKKOTSU_TARGET_PLATFORM=$(TEKKOTSU_TARGET_PLATFORM) compile-$@ +sim all update install ftpupdate: %: checkLibs compile-% +#DEFTARGET is set when using XCode to trigger 'update' instead of 'all' 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 $(TEKKOTSU_ROOT)/project/Environment.conf: @echo "Could not find Environment file - check the default project directory still exists" @@ -110,21 +130,13 @@ checkLibs: $(if $(TEKKOTSU_ALWAYS_BUILD),buildLibs,testLibs) +$(TK_BD)/$(TEKKOTSU_PCH).gch $(TK_BD)/%.o: checkLibs + ifeq ($(TEKKOTSU_ALWAYS_BUILD),) -%/libtekkotsu.a: - echo "It appears that the framework itself has not been compiled."; \ - echo "TEKKOTSU_ROOT = $(TEKKOTSU_ROOT)"; \ - echo "TK_BD = $(TK_BD)"; \ - echo "Press enter to compile it now, ctl-C to cancel."; \ - read; \ - export TEKKOTSU_ENVIRONMENT_CONFIGURATION=$(TEKKOTSU_ENVIRONMENT_CONFIGURATION); \ - $(MAKE) TEKKOTSU_TARGET_MODEL=$(TEKKOTSU_TARGET_MODEL) TEKKOTSU_TARGET_PLATFORM=$(TEKKOTSU_TARGET_PLATFORM) -C "$(TEKKOTSU_ROOT)" compile ; +$(TK_BD)/$(LIBTEKKOTSU): testLibs else -%/libtekkotsu.a: - @echo "Updating framework build..."; - @export TEKKOTSU_ENVIRONMENT_CONFIGURATION=$(TEKKOTSU_ENVIRONMENT_CONFIGURATION); \ - $(MAKE) TEKKOTSU_TARGET_MODEL=$(TEKKOTSU_TARGET_MODEL) TEKKOTSU_TARGET_PLATFORM=$(TEKKOTSU_TARGET_PLATFORM) -C "$(TEKKOTSU_ROOT)" compile ; +$(TK_BD)/$(LIBTEKKOTSU): buildLibs endif @@ -151,6 +163,15 @@ @export TEKKOTSU_ENVIRONMENT_CONFIGURATION=$(TEKKOTSU_ENVIRONMENT_CONFIGURATION); \ $(MAKE) TEKKOTSU_TARGET_MODEL=$(TEKKOTSU_TARGET_MODEL) TEKKOTSU_TARGET_PLATFORM=$(TEKKOTSU_TARGET_PLATFORM) -C "$(TEKKOTSU_ROOT)" compile ; +ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) +include aperios/Makefile.aperios +else +include local/Makefile.local +endif + +# Sort by modification date +SRCS:=$(shell ls -t $(SRCS)) + # The object file for each of the source files OBJS:=$(addprefix $(PROJ_BD)/,$(SRCS:$(SRCSUFFIX)=.o)) @@ -159,16 +180,6 @@ # all in one place. DEPENDS:=$(addprefix $(PROJ_BD)/,$(SRCS:$(SRCSUFFIX)=.d)) -ifeq ($(TEKKOTSU_TARGET_PLATFORM),PLATFORM_APERIOS) - -include aperios/Makefile.aperios - -else - -include local/Makefile.local - -endif - EMPTYDEPS:=$(shell find $(PROJ_BD) -type f -name "*\.d" -size 0 -print -exec rm \{\} \;) ifneq ($(EMPTYDEPS),) EMPTYDEPS:=$(shell echo "Empty dependency files detected: $(EMPTYDEPS)" > /dev/tty) @@ -193,29 +204,6 @@ echo "$@..." | sed 's@$(PROJ_BD)/@Generating @'; \ $(CXX) $(CXXFLAGS) -MP -MG -MT "$@" -MT "$(@:.d=.o)" -MM "$$src" > $@ -reportTarget: - @echo " ** Project Targeting $(TEKKOTSU_TARGET_MODEL) for build on $(TEKKOTSU_TARGET_PLATFORM) ** "; - @echo " ** TEKKOTSU_DEBUG is $(if $(TEKKOTSU_DEBUG),ON: $(TEKKOTSU_DEBUG),OFF) ** "; - @echo " ** TEKKOTSU_OPTIMIZE is $(if $(TEKKOTSU_DEBUG),DISABLED BY DEBUG,$(if $(TEKKOTSU_OPTIMIZE),ON: $(TEKKOTSU_OPTIMIZE),OFF)) ** "; - -testEnv: - $(testEnvScr) - -define testEnvScr -@if [ ! -d "$(OPENRSDK_ROOT)" ] ; then \ - echo "ERROR: OPEN-R SDK not found at '$(OPENRSDK_ROOT)', check installation." ; \ - exit 1; \ -fi; -@if $(CXX) -v > /dev/null 2>&1 ; then true; else \ - echo "ERROR: c++ compiler not found at '$(CXX)', check installation." ; \ - exit 1; \ -fi; -@if [ ! -d "$(OPENRSDK_ROOT)/OPEN_R" ] ; then \ - echo "ERROR: OPEN-R SDK header files missing, check installation." ; \ - exit 1; \ -fi; -endef - %.h : @if [ "$(notdir $@)" = "def.h" -o "$(notdir $@)" = "entry.h" ] ; then \ echo "WARNING: You shouldn't be seeing this message. Report that you did." ; \ @@ -238,6 +226,10 @@ echo "I don't know anything about `$*'"; exit 1; +# Don't locally rebuild framework files +# (sometimes platform_local targets want to doubly-compile the target specific object files... might be a make bug) +$(TK_BD)/%.o: checkLibs + %.o: $(if $(TEKKOTSU_PCH),$(TK_BD)/$(TEKKOTSU_PCH).gch) @mkdir -p $(dir $@) @src=$(patsubst %.o,%$(SRCSUFFIX),$(if $(findstring $(TK_BD),$@),$(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@),$(patsubst $(PROJ_BD)/%,%,$@))); \ @@ -272,6 +264,7 @@ rm -f $(INSTALL_BINS) for dir in `ls aperios` ; do \ if [ "$$dir" = "CVS" ] ; then continue; fi; \ + if [ "$$dir" = ".svn" ] ; then continue; fi; \ if [ -f "aperios/$$dir" ] ; then continue; fi; \ rm -f "aperios/$$dir/$${dir}Stub."{h,cc} "aperios/$$dir/def.h" "aperios/$$dir/entry.h" ; \ done diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior.cc ./StartupBehavior.cc --- ../../Tekkotsu_3.0/project/StartupBehavior.cc 2006-09-18 14:08:09.000000000 -0400 +++ ./StartupBehavior.cc 2007-08-05 12:16:05.000000000 -0400 @@ -1,7 +1,9 @@ #include "StartupBehavior.h" #include "Behaviors/Controller.h" -#include "Behaviors/Controls/BatteryCheckControl.h" +#ifdef TGT_HAS_POWER_STATUS +# include "Behaviors/Controls/BatteryCheckControl.h" +#endif #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/HelpControl.h" #include "Behaviors/Controls/RebootControl.h" @@ -66,12 +68,14 @@ stop_id=motman->addPersistentMotion(stop,MotionManager::kEmergencyPriority); spawnedMC.push_back(stop_id); +#ifdef TGT_HAS_POWER_STATUS //This displays the current battery conditions on the console BatteryCheckControl batchk; // const SharedObject led; // batchk.activate(motman->addPrunableMotion(led,MotionManager::kEmergencyPriority+1),NULL); batchk.activate(MotionManager::invalid_MC_ID,NULL); batchk.deactivate(); +#endif //This is what runs the menu system Controller * controller=new Controller; @@ -83,23 +87,18 @@ sndman->playFile("roar.wav"); +#ifdef TGT_HAS_MOUTH //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) - unsigned int mouthOffset=-1U; - if(state->robotDesign & WorldState::ERS210Mask) - mouthOffset=ERS210Info::MouthOffset; - if(state->robotDesign & WorldState::ERS7Mask) - mouthOffset=ERS7Info::MouthOffset; - if(mouthOffset!=-1U) { - SharedObject closeMouth; - closeMouth->advanceTime(3000); //take 3 seconds to close the mouth - closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); - closeMouth->advanceTime(500); //and hold it for another .5 seconds - closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); - MotionManager::MC_ID id=motman->addPrunableMotion(closeMouth,MotionManager::kEmergencyPriority+1); - erouter->addTimer(this,1,3250,false); - spawnedMC.push_back(id); - } + SharedObject closeMouth; + closeMouth->advanceTime(3000); //take 3 seconds to close the mouth + closeMouth->setOutputCmd(MouthOffset,outputRanges[MouthOffset][MaxRange]); + closeMouth->advanceTime(500); //and hold it for another .5 seconds + closeMouth->setOutputCmd(MouthOffset,outputRanges[MouthOffset][MaxRange]); + MotionManager::MC_ID id=motman->addPrunableMotion(closeMouth,MotionManager::kEmergencyPriority+1); + erouter->addTimer(this,1,3250,false); + spawnedMC.push_back(id); +#endif //! we want to know if one of our MCs autoprunes (or is otherwise removed) for(unsigned int i=0; iremoveMotion(pid_id); } +#ifdef TGT_HAS_MOUTH } else if(event.getSourceID()==1) { //we're done closing the mouth... set the mouth to closed in the estop too //otherwise it might twitch a little when the MotionSequence expires and the estop takes over // (little == +/-.1 radians, aka estop's threshold for resetting an "out of place" joint) (details, details) - unsigned int mouthOffset=-1U; - if(state->robotDesign & WorldState::ERS210Mask) - mouthOffset=ERS210Info::MouthOffset; - if(state->robotDesign & WorldState::ERS7Mask) - mouthOffset=ERS7Info::MouthOffset; - if(mouthOffset!=-1U) { - MMAccessor estop(stop_id); - float weight=estop->getOutputCmd(mouthOffset).weight; - estop->setOutputCmd(mouthOffset,OutputCmd(outputRanges[mouthOffset][MaxRange],weight)); - } + MMAccessor estop(stop_id); + float weight=estop->getOutputCmd(MouthOffset).weight; + estop->setOutputCmd(MouthOffset,OutputCmd(outputRanges[MouthOffset][MaxRange],weight)); +#endif + } else { + cerr << "Warning: StartupBehavior got unknown timer event: " << event.getName() << endl; } } else if(event.getGeneratorID()==EventBase::motmanEGID) { diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupBackgroundBehaviors.cc ./StartupBehavior_SetupBackgroundBehaviors.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupBackgroundBehaviors.cc 2006-09-21 17:26:08.000000000 -0400 +++ ./StartupBehavior_SetupBackgroundBehaviors.cc 2007-08-05 12:16:05.000000000 -0400 @@ -1,23 +1,33 @@ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" -#include "Behaviors/Services/FlashIPAddrBehavior.h" +#ifdef TGT_HAS_ACCELEROMETERS +# include "Behaviors/Services/AutoGetupBehavior.h" +#endif +#ifdef TGT_HAS_LEDS +# include "Behaviors/Services/FlashIPAddrBehavior.h" +#endif #include "Behaviors/Demos/SimpleChaseBallBehavior.h" #include "Behaviors/Demos/StareAtBallBehavior.h" -#include "Behaviors/Services/AutoGetupBehavior.h" -#include "Behaviors/Services/BatteryMonitorBehavior.h" -#include "Behaviors/Demos/HeadLevelBehavior.h" +#ifdef TGT_HAS_POWER_STATUS +# include "Behaviors/Services/BatteryMonitorBehavior.h" +#endif #include "Behaviors/Demos/ToggleHeadLightBehavior.h" #include "Behaviors/Demos/CrashTestBehavior.h" #include "Behaviors/Demos/FreezeTestBehavior.h" #include "Behaviors/Demos/RelaxBehavior.h" #include "Behaviors/Services/WorldStateVelDaemon.h" #include "Behaviors/Demos/CameraBehavior.h" -#include "Behaviors/Demos/MotionStressTestBehavior.h" +#ifdef TGT_HAS_LEGS +# include "Behaviors/Demos/MotionStressTestBehavior.h" +#endif #include "Behaviors/Demos/ASCIIVisionBehavior.h" -#include "Behaviors/Nodes/TailWagNode.h" +#ifdef TGT_HAS_TAIL +# include "Behaviors/Nodes/TailWagNode.h" +#endif #include "Sound/PitchDetector.h" #include "Behaviors/Demos/TestBehaviors.h" @@ -29,17 +39,20 @@ { addItem(new BehaviorSwitchControl("Simple Chase Ball",false)); addItem(new BehaviorSwitchControl("Stare at Ball",false)); - addItem(new BehaviorSwitchControl("Head Level",false)); - if(state->robotDesign & WorldState::ERS220Mask) + if(RobotName==ERS220Info::TargetName) addItem(new BehaviorSwitchControl("Toggle Head Light",false)); +#ifdef TGT_HAS_TAIL addItem(new BehaviorSwitchControl("Wag Tail",false)); +#endif addItem(new BehaviorSwitchControl("Relax",false)); addItem(new BehaviorSwitchControl("Camera",false)); addItem((new BehaviorSwitchControl("ASCIIVision",false))); addItem(new ControlBase("Debugging Tests","Stress tests")); startSubMenu(); { +#ifdef TGT_HAS_LEGS addItem(new BehaviorSwitchControl("Motion Stress Test",false)); +#endif 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 @@ -54,10 +67,16 @@ addItem(new ControlBase("System Daemons","Provide some common sensor or event processing")); startSubMenu(); { +#ifdef TGT_HAS_ACCELEROMETERS addItem((new BehaviorSwitchControl("Auto Getup",false))); +#endif +#ifdef TGT_HAS_LEDS addItem((new BehaviorSwitchControl("Flash IP Address",false))->start()); +#endif addItem((new BehaviorSwitchControl("World State Vel Daemon",false))->start()); +#ifdef TGT_HAS_POWER_STATUS addItem((new BehaviorSwitchControl("Battery Monitor",false))->start()); +#endif addItem((new BehaviorSwitchControl("Pitch Detection",false))->start()); } endSubMenu(); diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupFileAccess.cc ./StartupBehavior_SetupFileAccess.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupFileAccess.cc 2005-06-06 19:05:59.000000000 -0400 +++ ./StartupBehavior_SetupFileAccess.cc 2007-08-05 12:16:05.000000000 -0400 @@ -1,4 +1,5 @@ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Behaviors/Controls/ControlBase.h" @@ -9,19 +10,23 @@ #include "Behaviors/Controls/WaypointWalkControl.h" #include "Behaviors/Controls/LoadPostureControl.h" #include "Behaviors/Controls/SavePostureControl.h" +#include "Behaviors/Controls/ConfigurationEditor.h" ControlBase* StartupBehavior::SetupFileAccess() { addItem(new ControlBase("File Access","Access/load files on the memory stick")); startSubMenu(); { + addItem(new ConfigurationEditor("Tekkotsu Configuration")); addItem(new LoadPostureControl("Load Posture",stop_id)); addItem(new SavePostureControl("Save Posture")); addItem(new PostureEditor(stop_id)); addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); addItem(new PlaySoundControl("Play Sound")); addItem(new WaypointWalkControl()); +#ifdef TGT_HAS_LEGS SetupWalkEdit(); +#endif addItem(new DumpFileControl("Files",config->portPath(""))); } return endSubMenu(); diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupModeSwitch.cc ./StartupBehavior_SetupModeSwitch.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupModeSwitch.cc 2006-09-26 18:24:57.000000000 -0400 +++ ./StartupBehavior_SetupModeSwitch.cc 2007-11-21 19:06:52.000000000 -0500 @@ -1,25 +1,39 @@ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" -#include "Behaviors/Demos/AlanBehavior.h" #include "Behaviors/Demos/ChaseBallBehavior.h" -#include "Behaviors/Demos/FollowHeadBehavior.h" #include "Behaviors/Nodes/WalkToTargetNode.h" #include "Behaviors/Demos/HelloWorldBehavior.h" -#include "Behaviors/Demos/BanditMachine.h" -#include "Behaviors/Demos/SoundTestBehavior.h" -#include "Behaviors/Demos/ExploreMachine.h" -#include "Behaviors/Demos/PaceTargetsMachine.h" -#include "Behaviors/Demos/StareAtPawBehavior2.h" -#include "Behaviors/Demos/KinematicSampleBehavior.h" -#include "Behaviors/Demos/KinematicSampleBehavior2.h" -#include "Behaviors/Demos/GroundPlaneBehavior.h" -#include "Behaviors/Demos/LookForSoundBehavior.h" #include "Behaviors/Demos/SimpleChaseBallBehavior.h" -#include "Behaviors/Demos/StareAtBallBehavior.h" -#include "Behaviors/Demos/WallTestBehavior.h" +#ifdef TGT_HAS_HEAD +# include "Behaviors/Demos/StareAtBallBehavior.h" +# include "Behaviors/Demos/LookForSoundBehavior.h" +#endif + +#ifdef TGT_HAS_BUTTONS +# ifdef TGT_HAS_HEAD +# include "Behaviors/Demos/FollowHeadBehavior.h" +# endif +# include "Behaviors/Demos/SoundTestBehavior.h" +# include "Behaviors/Demos/GroundPlaneBehavior.h" +#endif + +#ifdef TGT_HAS_IR_DISTANCE +# include "Behaviors/Demos/ExploreMachine.h" +# include "Behaviors/Demos/PaceTargetsMachine.h" +# include "Behaviors/Demos/WallTestBehavior.h" +#endif + +#ifdef TGT_HAS_LEGS +# include "Behaviors/Demos/AlanBehavior.h" +# include "Behaviors/Demos/StareAtPawBehavior2.h" +# include "Behaviors/Demos/KinematicSampleBehavior.h" +# include "Behaviors/Demos/KinematicSampleBehavior2.h" +# include "Behaviors/Demos/BanditMachine.h" +#endif #include "Shared/ProjectInterface.h" @@ -34,34 +48,50 @@ //put behaviors here: addItem(new BehaviorSwitchControl("Hello World",false)); - if(state->robotDesign&(WorldState::ERS210Mask|WorldState::ERS7Mask)) //this one only really works on the 210 or 7 - addItem(new BehaviorSwitchControl("Alan's Behavior",bg,false)); - addItem(new BehaviorSwitchControl("Follow Head",bg,false)); +#ifdef TGT_HAS_LEGS + addItem(new BehaviorSwitchControl("Alan's Behavior",bg,false)); +#endif +#ifdef TGT_HAS_HEAD addItem(new BehaviorSwitchControl("Stare at Pink Ball",bg,false)); + addItem(new BehaviorSwitchControl("Look at Sound",bg,false)); +#endif addItem(new BehaviorSwitchControl("Simple Chase Ball",bg,false)); addItem(new BehaviorSwitchControl("Chase Ball",bg,false)); +#ifdef TGT_HAS_BUTTONS +# ifdef TGT_HAS_HEAD + addItem(new BehaviorSwitchControl("Follow Head",bg,false)); +# endif addItem(new BehaviorSwitchControl("Sound Test",bg,false)); - addItem(new BehaviorSwitchControl("Look at Sound",bg,false)); +#endif addItem(new ControlBase("State Machine Demos","More fully developed demo applications")); startSubMenu(); { addItem(new BehaviorSwitchControlBase(new WalkToTargetNode("Walk To Target (ball)",ProjectInterface::visPinkBallSID),bg)); +#ifdef TGT_HAS_LEGS addItem(new BehaviorSwitchControl("Bandit State Machine",bg,false)); +#endif +#ifdef TGT_HAS_IR_DISTANCE addItem(new BehaviorSwitchControl("Explore State Machine",bg,false)); addItem(new BehaviorSwitchControl("Pace Targets State Machine",bg,false)); +#endif } endSubMenu(); addItem(new ControlBase("Kinematics Demos","Showcases some of the newly developed kinematics code")); startSubMenu(); { +#ifdef TGT_HAS_LEGS addItem(new BehaviorSwitchControl("Kinematic Sample 1",bg,false)); addItem(new BehaviorSwitchControl("Kinematic Sample 2",bg,false)); addItem(new BehaviorSwitchControl("Stare at Paw",bg,false)); +#endif +#ifdef TGT_HAS_BUTTONS addItem(new BehaviorSwitchControl("Ground Plane Test",bg,false)); +#endif +#ifdef TGT_HAS_IR_DISTANCE addItem(new BehaviorSwitchControl("Wall Test",bg,false)); +#endif } endSubMenu(); } return endSubMenu(); } - diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupStatusReports.cc ./StartupBehavior_SetupStatusReports.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupStatusReports.cc 2005-01-12 17:37:26.000000000 -0500 +++ ./StartupBehavior_SetupStatusReports.cc 2007-08-05 12:16:06.000000000 -0400 @@ -1,8 +1,11 @@ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Behaviors/Controls/ControlBase.h" -#include "Behaviors/Controls/BatteryCheckControl.h" +#ifdef TGT_HAS_POWER_STATUS +# include "Behaviors/Controls/BatteryCheckControl.h" +#endif #include "Behaviors/Controls/FreeMemReportControl.h" #include "Behaviors/Controls/ProfilerCheckControl.h" #include "Behaviors/Controls/EventLogger.h" @@ -16,7 +19,9 @@ startSubMenu(); { addItem(new BehaviorReportControl()); +#ifdef TGT_HAS_POWER_STATUS addItem(new BatteryCheckControl()); +#endif addItem(new ProfilerCheckControl()); addItem(new EventLogger()); addItem(new SensorObserverControl()); diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupTekkotsuMon.cc ./StartupBehavior_SetupTekkotsuMon.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupTekkotsuMon.cc 2006-08-03 18:58:36.000000000 -0400 +++ ./StartupBehavior_SetupTekkotsuMon.cc 2007-11-21 15:57:12.000000000 -0500 @@ -1,48 +1,93 @@ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" +#ifdef TGT_HAS_HEAD +# include "Behaviors/Mon/HeadPointControllerBehavior.h" +#endif + +#if defined(TGT_HAS_LEGS) || defined(TGT_HAS_WHEELS) +# include "Behaviors/Mon/WalkControllerBehavior.h" +#endif + +#ifdef TGT_HAS_LEGS +# include "Behaviors/Mon/UPennWalkControllerBehavior.h" +# include "Behaviors/Mon/StewartPlatformBehavior.h" +#endif + +#ifdef TGT_HAS_CAMERA +# include "Behaviors/Mon/RawCamBehavior.h" +# include "Behaviors/Mon/SegCamBehavior.h" +# include "Behaviors/Mon/RegionCamBehavior.h" +#endif + +#ifdef TGT_HAS_MICROPHONE +# include "Behaviors/Mon/MicrophoneServer.h" +#endif + +#ifdef TGT_HAS_SPEAKERS +# include "Behaviors/Mon/SpeakerServer.h" +#endif + +#if ( defined(TGT_HAS_ARMS) || defined(TGT_HAS_LEGS) ) && defined(TGT_HAS_HEAD) +# include "Behaviors/Mon/RoverControllerBehavior.h" +#endif + #include "Behaviors/Mon/ViewWMVarsBehavior.h" -#include "Behaviors/Mon/WalkControllerBehavior.h" -#include "Behaviors/Mon/UPennWalkControllerBehavior.h" -#include "Behaviors/Mon/HeadPointControllerBehavior.h" -#include "Behaviors/Mon/StewartPlatformBehavior.h" -#include "Behaviors/Mon/Aibo3DControllerBehavior.h" -#include "Behaviors/Mon/EStopControllerBehavior.h" #include "Behaviors/Mon/WMMonitorBehavior.h" -#include "Behaviors/Mon/RawCamBehavior.h" -#include "Behaviors/Mon/SegCamBehavior.h" -#include "Behaviors/Mon/RegionCamBehavior.h" +#include "Behaviors/Mon/EStopControllerBehavior.h" +#include "Behaviors/Mon/Aibo3DControllerBehavior.h" #include "Behaviors/Mon/WorldStateSerializerBehavior.h" -#include "Behaviors/Mon/MicrophoneServer.h" -#include "Behaviors/Mon/SpeakerServer.h" #include "Behaviors/Mon/EchoBehavior.h" -#include "Behaviors/Mon/SpiderMachineBehavior.h" + +template +class SingletonFactory : public Factory0Arg { +public: + virtual T* operator()() { return &T::getInstance(); } +}; ControlBase* StartupBehavior::SetupTekkotsuMon() { addItem(new ControlBase("TekkotsuMon","Servers for GUIs")); startSubMenu(); { +#ifdef TGT_HAS_HEAD addItem((new BehaviorSwitchControl("Head Remote Control",false))); +#endif +#if defined(TGT_HAS_LEGS) || defined(TGT_HAS_WHEELS) addItem((new BehaviorSwitchControl("Walk Remote Control",false))); +#endif +#ifdef TGT_HAS_LEGS addItem((new BehaviorSwitchControl("UPenn Walk Remote Control",false))); + addItem((new BehaviorSwitchControl("Stewart Platform",false))); +#endif addItem((new BehaviorSwitchControl("View WMVars",false))); addItem((new BehaviorSwitchControl("Watchable Memory Monitor",false))->start()); - addItem((new BehaviorSwitchControl("Stewart Platform",false))); - addItem((new BehaviorSwitchControl("Aibo 3D",false))); + addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); BehaviorSwitchControlBase * wss=NULL; +#if defined(TGT_ERS7) || defined(TGT_ERS210) || defined(TGT_ERS2xx) + // do this *before* WorldStateSerializer to avoid crash on shutdown (ugly, sorry) + addItem((new BehaviorSwitchControl("Aibo 3D",false))); +#endif addItem((wss=new BehaviorSwitchControl("World State Serializer",false))); Aibo3DControllerBehavior::setSerializerControl(wss); +#ifdef TGT_HAS_CAMERA addItem((new BehaviorSwitchControl("Raw Cam Server",false))); addItem((new BehaviorSwitchControl("Seg Cam Server",false))); addItem((new BehaviorSwitchControl("Region Cam Server",false))); - addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); - addItem(new BehaviorSwitchControlBase(MicrophoneServer::GetInstance())); - addItem(new BehaviorSwitchControlBase(SpeakerServer::GetInstance())); +#endif +#ifdef TGT_HAS_MICROPHONE + addItem((new BehaviorSwitchControl >("Microphone Server",false))); +#endif +#ifdef TGT_HAS_SPEAKERS + addItem((new BehaviorSwitchControl >("Speaker Server",false))); +#endif +#if ( defined(TGT_HAS_ARMS) || defined(TGT_HAS_LEGS) ) && defined(TGT_HAS_HEAD) + addItem((new BehaviorSwitchControl >("Rover Control",false))); +#endif addItem((new BehaviorSwitchControl("Echo Client/Server",false))); - addItem((new BehaviorSwitchControl("Spider State Machines Server",false))); } return endSubMenu(); } diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupVision.cc ./StartupBehavior_SetupVision.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupVision.cc 2006-06-30 12:35:32.000000000 -0400 +++ ./StartupBehavior_SetupVision.cc 2007-08-05 12:16:06.000000000 -0400 @@ -1,4 +1,5 @@ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Shared/ProjectInterface.h" #include "Shared/Config.h" @@ -23,7 +24,9 @@ #include "Vision/CDTGenerator.h" #include "Behaviors/Demos/DrawVisObjBoundBehavior.h" +#ifdef TGT_HAS_LEGS #include "Behaviors/Demos/DrawSkeletonBehavior.h" +#endif using namespace ProjectInterface; @@ -31,7 +34,7 @@ BallDetectionGenerator * bball=NULL; BallDetectionGenerator * gball=NULL; BallDetectionGenerator * yball=NULL; -BallDetectionGenerator * handball=NULL; //aka orange +BallDetectionGenerator * oball=NULL; //aka orange /*! We set the default vision generators and source IDs here. * @@ -106,7 +109,7 @@ // 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.segcam_channel; + unsigned int threshChan=config->vision.segcam.channel; // higher value reduce false events, but increase reaction time [0-inf] unsigned int noiseFiltering=1; @@ -136,8 +139,8 @@ } unsigned int skinIdx=segcol->getColorIndex("orange"); if(skinIdx!=-1U) { - handball = new BallDetectionGenerator(visHandSID,defRegionGenerator,skinIdx,threshChan,noiseFiltering,confidenceThreshold); - handball->setName("HandBallDetectionGenerator"); + oball = new BallDetectionGenerator(visOrangeSID,defRegionGenerator,skinIdx,threshChan,noiseFiltering,confidenceThreshold); + oball->setName("OrangeBallDetectionGenerator"); } } @@ -147,7 +150,9 @@ startSubMenu(); { addItem((new BehaviorSwitchControl("Draw Object Boundaries",false))); +#ifdef TGT_HAS_LEGS addItem((new BehaviorSwitchControl("Draw Skeleton",false))); +#endif #ifndef PLATFORM_APERIOS addItem(new SimulatorAdvanceFrameControl("Advance Frame")); #endif @@ -205,10 +210,10 @@ else addItem(new NullControl("Error: BlueBallDetectionGenerator","Color \"yellow\" is undefined")); - if(handball) - addItem((new BehaviorSwitchControlBase(handball))->start()); + if(oball) + addItem((new BehaviorSwitchControlBase(oball))->start()); else - addItem(new NullControl("Error: HandBallDetectionGenerator","Color \"orange\" is undefined")); + addItem(new NullControl("Error: OrangeBallDetectionGenerator","Color \"orange\" is undefined")); } return endSubMenu(); } diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/StartupBehavior_SetupWalkEdit.cc ./StartupBehavior_SetupWalkEdit.cc --- ../../Tekkotsu_3.0/project/StartupBehavior_SetupWalkEdit.cc 2005-09-22 17:54:17.000000000 -0400 +++ ./StartupBehavior_SetupWalkEdit.cc 2007-11-21 17:53:19.000000000 -0500 @@ -16,6 +16,7 @@ */ #include "StartupBehavior.h" +#include "Shared/RobotInfo.h" #include "Behaviors/Controls/ControlBase.h" @@ -32,6 +33,13 @@ addItem(new ControlBase("Walk Edit","Edit the walk parameters")); startSubMenu(); { +#if defined(TGT_ERS210) || defined(TGT_ERS220) || defined(TGT_ERS2xx) + // Replace this if section with an #if 1 to re-enable + // This functionality takes about 1MB of memory on the Aibo between loading the binary + // code and the actual control memory usage. + addItem(new ControlBase("Disabled to conserve memory")); +#else + //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(); @@ -46,8 +54,8 @@ addItem(new ValueEditControl("Body Angle",&walker->getWalkMC()->getWP().body_angle)); addItem(new ValueEditControl("Hop",&walker->getWalkMC()->getWP().hop)); addItem(new ValueEditControl("Sway",&walker->getWalkMC()->getWP().sway)); - addItem(new ValueEditControl("Period",&walker->getWalkMC()->getWP().period)); - addItem(new ValueEditControl("Use Diff Drive",&walker->getWalkMC()->getWP().useDiffDrive)); + addItem(new ValueEditControl("Period",&walker->getWalkMC()->getWP().period)); + addItem(new ValueEditControl("Use Diff Drive",&walker->getWalkMC()->getWP().useDiffDrive)); addItem(new ValueEditControl("Sag",&walker->getWalkMC()->getWP().sag)); } endSubMenu(); @@ -144,6 +152,7 @@ addItem(new LoadWalkControl("Load Walk",walker->getWalkMC())); addItem(new SaveWalkControl("Save Walk",walker->getWalkMC())); +#endif } return endSubMenu(); } diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/aperios/Makefile.aperios ./aperios/Makefile.aperios --- ../../Tekkotsu_3.0/project/aperios/Makefile.aperios 2006-09-12 16:17:54.000000000 -0400 +++ ./aperios/Makefile.aperios 2007-11-07 18:27:01.000000000 -0500 @@ -7,8 +7,8 @@ #Each directory represents a separate OObject aka process/thread #PROJ_OOBJECTS holds those defined in the project, OOBJECTS #holds those defined in either/both $(TEKKOTSU_ROOT) and project -PROJ_OOBJECTS:=$(filter-out CVS bin include lib share man,$(subst aperios/,,$(shell find aperios -mindepth 1 -maxdepth 1 -type d -prune))) -OOBJECTS:=$(sort $(PROJ_OOBJECTS) $(filter-out CVS bin include lib share man,$(subst $(TEKKOTSU_ROOT)/aperios/,,$(shell find $(TEKKOTSU_ROOT)/aperios -mindepth 1 -maxdepth 1 -type d -prune)))) +PROJ_OOBJECTS:=$(filter-out .svn CVS bin include lib share man,$(subst aperios/,,$(shell find aperios -mindepth 1 -maxdepth 1 -type d -prune))) +OOBJECTS:=$(sort $(PROJ_OOBJECTS) $(filter-out .svn CVS bin include lib share man,$(subst $(TEKKOTSU_ROOT)/aperios/,,$(shell find $(TEKKOTSU_ROOT)/aperios -mindepth 1 -maxdepth 1 -type d -prune)))) # Location of Aperios (the Aibo's OS) binary executables SYSTEM_BINARIES:=$(OPENRSDK_ROOT)/OPEN_R/MS_$(if $(findstring $(TEKKOTSU_TARGET_MODEL),TGT_ERS7),ERS7,ERS200)/WCONSOLE/nomemprot @@ -74,9 +74,6 @@ fi; \ done; -OSRCS:=$(shell find aperios -name "*$(SRCSUFFIX)") -DEPENDS:=$(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: cleanTemps checkInstallBinTimestamp $(PROJ_BD)/installbin.timestamp @image="$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))" ; \ @@ -90,7 +87,7 @@ 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 \{\} \; ; \ + find "$$image" -depth -type d -empty -exec rmdir \{\} \; ; \ curt=`date +%Y%m%d%H%M`; \ find "$$image" -exec touch -ft $$curt \{\} \; ; \ fi; @@ -125,6 +122,11 @@ printf "Target Model: $(patsubst TGT_%,%,$(TEKKOTSU_TARGET_MODEL))\n" >> $$bldinfo ; \ printf "Target Platform: $(patsubst PLATFORM_%,%,$(TEKKOTSU_TARGET_PLATFORM))\n" >> $$bldinfo ; \ printf "Project: %s\nFramework: %s\n" "`pwd`" "$(TEKKOTSU_ROOT)" >> $$bldinfo + @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." checkInstallBinTimestamp: @if [ \! -d "$(MSIMGDIR)" ] ; then \ diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/defaults/hal-Create.plist ./defaults/hal-Create.plist --- ../../Tekkotsu_3.0/project/defaults/hal-Create.plist 1969-12-31 19:00:00.000000000 -0500 +++ ./defaults/hal-Create.plist 2007-11-21 18:46:11.000000000 -0500 @@ -0,0 +1,37 @@ + + + + + +CommPorts + + + +Drivers + + Create + + .type Create + + + CommPort /dev/ttyAM1 + + + + TeRK + + .type TeRK + + + + + +Vision + + Source TeRK + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/defaults/hal-LynxArm6.plist ./defaults/hal-LynxArm6.plist --- ../../Tekkotsu_3.0/project/defaults/hal-LynxArm6.plist 1969-12-31 19:00:00.000000000 -0500 +++ ./defaults/hal-LynxArm6.plist 2007-07-19 16:36:28.000000000 -0400 @@ -0,0 +1,283 @@ + + + + +InitialRunlevel RUNNING + + +InitialTime 0 + + + +Motion + + FeedbackDelay 0 + + + OverrideSensors + + + Verbose 1 + + + ZeroPIDFeedback + + + +Multiprocess + + +Speed 1 + + +WaitForSensors + + + +CommPorts + + Net + + .type NetworkCommPort + + + Host + + + Port 0 + + + Server + + + Transport TCP + + + + Serial + + .type SerialCommPort + + + Flags 115200 sane raw -echo + + + Mode 60 + + + Path /dev/ttyS0 + + + + + +Drivers + + SSC32 + + .type SSC32 + + + + ButtonMode + + + + + + + + CommPort Serial + + + + InputMap + 0 + 1 + 2 + 3 + + + + + MaxPulseWidth + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + + + + + MinPulseWidth + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + + + + + OutputMap + 0 + 1 + 2 + 3 + 4 + 5 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + + + + QueryServos + + + SparseUpdates + + + + + +Sensors + + Framerate 31.25 + + + Frozen + + + Heartbeat + + + Source SSC32 + + + Verbose 0 + + + + +Vision + + Framerate 30 + + + Frozen + + + Heartbeat + + + Source + + + Verbose 0 + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/defaults/hal-QBotPlus.plist ./defaults/hal-QBotPlus.plist --- ../../Tekkotsu_3.0/project/defaults/hal-QBotPlus.plist 1969-12-31 19:00:00.000000000 -0500 +++ ./defaults/hal-QBotPlus.plist 2007-08-25 02:28:24.000000000 -0400 @@ -0,0 +1,106 @@ + + + + +InitialRunlevel RUNNING + + +InitialTime 0 + + + +Motion + + FeedbackDelay 0 + + + OverrideSensors + + + Verbose 1 + + + ZeroPIDFeedback + + + +Multiprocess + + +Speed 1 + + +WaitForSensors + + + +CommPorts + + + +Drivers + + TeRK + + .type TeRK + + + + + +Sensors + + Framerate 66.6667 + + + Frozen + + + Heartbeat + + + Source + + + Verbose 0 + + + + +Vision + + Framerate 30 + + + Frozen + + + Heartbeat + + + Source TeRK + + + Verbose 0 + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/defaults/hal-Qwerk.plist ./defaults/hal-Qwerk.plist --- ../../Tekkotsu_3.0/project/defaults/hal-Qwerk.plist 1969-12-31 19:00:00.000000000 -0500 +++ ./defaults/hal-Qwerk.plist 2007-08-20 17:31:15.000000000 -0400 @@ -0,0 +1,106 @@ + + + + +InitialRunlevel RUNNING + + +InitialTime 0 + + + +Motion + + FeedbackDelay 0 + + + OverrideSensors + + + Verbose 1 + + + ZeroPIDFeedback + + + +Multiprocess + + +Speed 1 + + +WaitForSensors + + + +CommPorts + + + +Drivers + + TeRK + + .type TeRK + + + + + +Sensors + + Framerate 66.6667 + + + Frozen + + + Heartbeat + + + Source + + + Verbose 0 + + + + +Vision + + Framerate 30 + + + Frozen + + + Heartbeat + + + Source TeRK + + + Verbose 0 + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/defaults/hal-Regis1.plist ./defaults/hal-Regis1.plist --- ../../Tekkotsu_3.0/project/defaults/hal-Regis1.plist 1969-12-31 19:00:00.000000000 -0500 +++ ./defaults/hal-Regis1.plist 2007-10-03 15:59:25.000000000 -0400 @@ -0,0 +1,301 @@ + + + + +InitialRunlevel RUNNING + + +InitialTime 0 + + + +Motion + + FeedbackDelay 0 + + + OverrideSensors + + + Verbose 1 + + + ZeroPIDFeedback + + + +Multiprocess + + +Speed 1 + + +WaitForSensors + + + +CommPorts + + net-image + + .type NetworkCommPort + + + Host 172.16.1.9 + + + Port 11001 + + + Server + + + Transport TCP + + + + net-image-motion + + .type NetworkCommPort + + + Host 172.16.1.9 + + + Port 11000 + + + Server + + + Transport TCP + + + + + +Drivers + + SSC32 + + .type SSC32 + + + + ButtonMode + + + + + + + + CommPort net-image-motion + + + + InputMap + -1 + -1 + -1 + -1 + + + + + MaxPulseWidth + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + 2500 + + + + + MinPulseWidth + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + 500 + + + + + OutputMap + 0 + 1 + 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10 + 11 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + -1 + + + + QueryServos + + + SparseUpdates + + + + seq + + .type ImageStream + + + CommPort net-image + + + Format jpeg + + + + + +Sensors + + Framerate 66.6667 + + + Frozen + + + Heartbeat + + + Source + + + Verbose 0 + + + + +Vision + + Framerate 30 + + + Frozen + + + Heartbeat + + + Source seq + + + Verbose 0 + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/defaults/hal-common.plist ./defaults/hal-common.plist --- ../../Tekkotsu_3.0/project/defaults/hal-common.plist 1969-12-31 19:00:00.000000000 -0500 +++ ./defaults/hal-common.plist 2007-11-21 18:46:11.000000000 -0500 @@ -0,0 +1,31 @@ + + + + + +Drivers + + + Logged + + .type LoggedData + + + + Camera + + .type Camera + + + + + +Vision + + Source Camera + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/local/Makefile.local ./local/Makefile.local --- ../../Tekkotsu_3.0/project/local/Makefile.local 2006-05-10 17:36:23.000000000 -0400 +++ ./local/Makefile.local 2007-11-18 01:45:17.000000000 -0500 @@ -2,15 +2,28 @@ $(error This makefile is not meant to be run directly. It is intended to contain local-specific build instructions. Please run 'make' from the main project directory.); endif -.PHONY: +# Each directory which contains a source file of the same name is considered +# a separate executable, and its subdirectory is specific to it -#Each directory should represent a separate executable -PROJ_EXECS:=$(filter-out CVS,$(subst local/,,$(shell find local -mindepth 1 -maxdepth 1 -type d -prune))) -EXECS:=$(sort $(PROJ_EXECS) $(filter-out CVS,$(subst $(TEKKOTSU_ROOT)/local/,,$(shell find $(TEKKOTSU_ROOT)/local -mindepth 1 -maxdepth 1 -type d -prune)))) -TGTEXECS:=$(addsuffix $(subst TGT_,-,$(TEKKOTSU_TARGET_MODEL)),$(EXECS)) +# check project directory +PROJ_EXECS:=$(patsubst local/%,%,$(shell find local -mindepth 1 -maxdepth 1 -type d -name '[a-z]*')) +# check framework directory +EXECS:=$(patsubst $(TEKKOTSU_ROOT)/local/%,%,$(shell find $(TEKKOTSU_ROOT)/local -mindepth 1 -maxdepth 1 -type d -name '[a-z]*')) +EXECS:=$(filter-out terk,$(EXECS)) +EXECS:=$(sort $(PROJ_EXECS) $(EXECS)) -ESRCS:=$(shell find local -name "*$(SRCSUFFIX)") -DEPENDS:=$(DEPENDS) $(addprefix $(PROJ_BD)/,$(ESRCS:$(SRCSUFFIX)=.d)) +$(EXECS): %: checkLibs %-$(subst TGT_,,$(TEKKOTSU_TARGET_MODEL)) + +.PHONY: $(EXECS) + +ifeq ($(shell if [ -d "$(ICE_ROOT)" ] ; then echo HAVE_ICE; fi),HAVE_ICE) + PROJ_EXECS:=$(filter-out terk,$(PROJ_EXECS)) +endif +LSRC_SKIP:=$(foreach x,$(PROJ_EXECS),\! -path local/$(x)/\*) +LSRCS:=$(shell find local $(LSRC_SKIP) -name "*$(SRCSUFFIX)") +SRCS:=$(SRCS) $(LSRCS) + +TGTEXECS:=$(addsuffix $(subst TGT_,-,$(TEKKOTSU_TARGET_MODEL)),$(EXECS)) ifeq ($(shell uname | grep -ci cygwin),0) PLATFORM_FLAGS:=$(PLATFORM_FLAGS) -DHAVE_READDIR_R @@ -36,10 +49,10 @@ echo >> $@ ; \ done; -compile: $(TGTEXECS) - @echo "You probably now want to run './sim$(subst TGT_,-,$(TEKKOTSU_TARGET_MODEL))'"; +compile compile-sim: tekkotsu-$(subst TGT_,,$(TEKKOTSU_TARGET_MODEL)) + @echo "Build successful." -$(TGTEXECS): $(PROJ_BD)/project.a +$(TGTEXECS): $(PROJ_BD)/project.a $(USERLIBS) @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ ../tools/pm.pl dist_hosts.txt $(PROJ_BD)/joblist.txt ; \ @@ -48,6 +61,7 @@ @echo "Creating executable binary..." @objs="$($@_OBJS)" ; \ libs="$(PROJ_BD)/project.a $(USERLIBS) $(LDFLAGS)" ; \ + undef=`nm -g "$(PROJ_BD)/project.a" $(filter %.a,$(USERLIBS)) | grep autoRegister | grep -v " *U" | cut -f 3 -d ' ' | sort -u | sed 's/^/-u /'`; \ echo "$@ <- $${objs} $${libs}" | sed 's@$(PROJ_BD)/@@g'; \ - $(CXX) -o $@ $$objs $$libs ; \ - + $(CXX) -o $@ $$undef $$objs $$libs ; + @echo "You probably now want to run './$@'"; diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/ms/config/QBotPlus.kin ./ms/config/QBotPlus.kin --- ../../Tekkotsu_3.0/project/ms/config/QBotPlus.kin 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/QBotPlus.kin 2007-11-22 00:31:00.000000000 -0500 @@ -0,0 +1,81 @@ +# ---------------------------------------------------------- +# Robot Configuration File +# ---------------------------------------------------------- +[Default] + +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 2 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -115.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 55.0 +a: 151.0 +alpha: 1.57079632679 +theta_min: -1.745329251 +theta_max: 1.745329251 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK3] +joint_type: 0 +theta: 0.0 +d: 60.0 +a: 0.0 +alpha: 0.0 +theta_min: -.174532925 +theta_max: 3.316125578 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/ms/config/Regis1.kin ./ms/config/Regis1.kin --- ../../Tekkotsu_3.0/project/ms/config/Regis1.kin 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/Regis1.kin 2007-11-22 00:31:00.000000000 -0500 @@ -0,0 +1,242 @@ +# ---------------------------------------------------------- +# Robot Configuration File +# ---------------------------------------------------------- +[Default] + +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + +[Arm] +Name: Arm +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[Arm_LINK1] +joint_type: 0 +immobile: 1 +theta: 1.57079632679 +d: 0.0 +a: 0.0 +alpha: 1.57079632679 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Arm_LINK2] +joint_type: 0 +theta: 0.0 +d: 160.0 +a: 0.0 +alpha: 1.57079632679 +theta_min: -1.57079632679 +theta_max: 1.57079632679 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Arm_LINK3] +joint_type: 0 +theta: 1.57079632679 +d: 0.0 +a: 138.0 +alpha: 0.0 +theta_min: -1.57079632679 +theta_max: 1.57079632679 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Arm_LINK4] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 127.0 +alpha: 0.0 +theta_min: -1.57079632679 +theta_max: 1.57079632679 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Arm_LINK5] +joint_type: 0 +theta: -1.57079632679 +d: 0.0 +a: 0.0 +alpha: -1.57079632679 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Arm_LINK6] +joint_type: 0 +theta: -1.57079632679 +d: 105.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +theta: 0.0 +d: -64.0 +a: 0.0 +alpha: 1.57079632679 +theta_min: -1.745329251 +theta_max: 1.745329251 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 151.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK3] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 225.0 +alpha: 0.0 +theta_min: -.174532925 +theta_max: 3.316125578 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK4] +joint_type: 0 +immobile: 1 +theta: -1.57079632679 +d: 0.0 +a: 0.0 +alpha: -1.57079632679 +theta_min: -2.443460952 +theta_max: 1.047197551 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK5] +joint_type: 0 +theta: 90.0 +d: 0.0 +a: 90.0 +alpha: 0.0 +theta_min: -2.617993877 +theta_max: 0.872664625 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/ms/config/sim_ovrd.cfg ./ms/config/sim_ovrd.cfg --- ../../Tekkotsu_3.0/project/ms/config/sim_ovrd.cfg 2006-07-05 16:17:18.000000000 -0400 +++ ./ms/config/sim_ovrd.cfg 1969-12-31 19:00:00.000000000 -0500 @@ -1,47 +0,0 @@ -################################################################## -###################### Tekkotsu config ####################### -################################################################## -##################### $Name: tekkotsu-3_0 $ ###################### -####################### $Revision: 1.1 $ ######################## -################## $Date: 2006/07/05 20:17:18 $ ################## -################################################################## -# -# 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_3.0/project/ms/config/sim_ovrd.xml ./ms/config/sim_ovrd.xml --- ../../Tekkotsu_3.0/project/ms/config/sim_ovrd.xml 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/sim_ovrd.xml 2007-11-22 00:31:00.000000000 -0500 @@ -0,0 +1,51 @@ + + + + + +vision + + rawcam + + compression none + + + transport TCP + + + uv_skip 1 + + + y_skip 1 + + + + segcam + + transport TCP + + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/ms/config/tekkotsu.cfg ./ms/config/tekkotsu.cfg --- ../../Tekkotsu_3.0/project/ms/config/tekkotsu.cfg 2006-09-21 17:26:09.000000000 -0400 +++ ./ms/config/tekkotsu.cfg 1969-12-31 19:00:00.000000000 -0500 @@ -1,420 +0,0 @@ -################################################################## -###################### Tekkotsu config ####################### -################################################################## -##################### $Name: tekkotsu-3_0 $ ###################### -####################### $Revision: 1.71 $ ######################## -################## $Date: 2006/09/21 21:26:09 $ ################## -################################################################## -# -# Format: -# -# * Comments are any line beginning with '#' -# -# * Model specific regions can be denoted with ... -# - Wildcards can also be used: ... -# - Anything not within a model region is read by all models (i.e. <*>..) -# - Don't get fancy with the "tags" - one per line, the parser's not that smart -# (feel free to hack it if you want - it's in Config.cc) -# -# * Sections are demarcated with [SECTIONNAME] -# - A section is only ended by another section beginning -# - Section transitions within a model region will only be read by that model -# - Section names are case insensitive -# -# * Otherwise, each line is interpreted as: variable=value -# - this should correspond to Config::curSectionName_config::variable -# - interpretation is up to the code in Config.cc -# - some variables are lists (additional assignments push on the list), -# others are simply overwritten if a new value is assigned. -# - variable names are case insensitive -# -# * You can override these at run time from the Controller using the command: -# !set section_name.variable=value -# - Of course, whether or not the new value will be picked up depends on -# how it is being used... -# -# * Paths are assumed to be relative to the project/ms/ directory. -# For example, this file would be referenced as config/tekkotsu.cfg -# -################################################################## - - - -################################################################## -################################################################## -[Wireless] -################################################################## -################################################################## -# unique id for Aibo (not used by Tekkotsu, but you might want it...) -id=1 - - - -################################################################## -################################################################## -[Vision] -################################################################## -################################################################## - -# white_balance indoor | flourescent | outdoor - -white_balance=flourescent - - -white_balance=indoor - - -# gain low | mid | high -# higher gain will brighten the image, but increases noise -gain=mid - -# shutter_speed slow | mid | fast -# slower shutter will brighten image, but increases motion blur - -shutter_speed=mid - - -shutter_speed=slow - - -# resolution quarter | half | full -# this is the resolution vision's object recognition system will run at -resolution=full - - -### Color Segmentation Threshold files ### -# Threshold (.tm) files define the mapping from full color to indexed color -# You can uncomment more than one of these - they will be loaded into -# separate channels of the segmenter. The only cost of loading 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: - -# 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... :( -# 210genrl.tm - general colors for the ERS-210 -# ball.tm - standard Sony pink ball definition -thresh=config/210phb.tm -thresh=config/210genrl.tm -thresh=config/ball.tm - - -# 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/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 - - -### Image Streaming Format ### -# These parameters control the video stream over wireless ethernet -# transport can be either 'udp' or 'tcp' -rawcam_port=10011 -rawcam_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 -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 - -# compression none | jpeg -rawcam_compression=jpeg - -# quality of jpeg compression 0-100 -rawcam_compress_quality=85 - -# pause between raw image grabs: 0 for fast-as-possible, 100 for 10 FPS -# in milliseconds -rawcam_interval=0 - -# apparently someone at sony thinks it's a good idea to replace some -# pixels in each camera image with information like the frame number -# and CDT count. if non-zero, will replace those pixels with the -# actual image pixel value in RawCamGenerator -restore_image=1 - -# 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 - -# log_2 of number of pixels to skip, 0 sends reconstructed double -# resolution (mainly useful for Y channel, others are just resampled) -# our eyes are more sensitive to intensity (y channel) so you might -# want to send the UV channels at a lower resolution (higher skip) as -# a form of compression -# rawcam_y_skip is used when in sending single channel, regardless of -# which channel -# valid values are 0-5 -rawcam_y_skip=2 -rawcam_uv_skip=3 - -# you can send the original segmented image -# or an RLE compressed version (which includes some noise removal) -#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 -segcam_channel=0 - -# this is the log_2 of pixels to skip when sending -# segmented camera images, same idea as rawcam_*_skip -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) -regioncam_skip=1 - - -### Camera Calibration ### -# see Config::vision_config::{computeRay,computePixel} to convert -# between world coordinates and pixel coordinates using these values - -# focal length (in pixels) -focal_len_x = 198.807 -focal_len_y = 200.333 - -# center of optical projection (in pixels) -principle_point_x = 102.689 -principle_point_y = 85.0399 - -# skew of CCD -skew = 0 - -# Radial distortion terms -kc1_r2 = -0.147005 -kc2_r4 = 0.38485 -kc5_r6 = 0 - -# Tangential distortion terms -kc3_tan1 = -0.00347777 -kc4_tan2 = 0.00012873 - -# resolution at which calibration images were taken -calibration_res_x = 208 -calibration_res_y = 160 - - -################################################################## -################################################################## -[Main] -################################################################## -################################################################## - -# 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 -verbose_level=0 -wsjoints_port=10031 -wspids_port=10032 -walkControl_port=10050 -aibo3d_port=10051 -headControl_port=10052 -estopControl_port=10053 -#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 - - -################################################################## -################################################################## -[Behaviors] -################################################################## -################################################################## - -### FlashIPAddrBehavior ### - -# You probably already know the first 3 bytes for your network -# so you might only want the last byte for brevity -# (valid values are 1 through 4) -flash_bytes=4 - -# Do you want to automatically trigger this on boot? -# Will use a priority of kEmergencyPriority+1 in order to override -# the emergency stop's status animation -flash_on_start=0 - - -# your-stuff-here? - -################################################################## -################################################################## -[Controller] -################################################################## -################################################################## -gui_port=10020 -select_snd=whiip.wav -next_snd=toc.wav -prev_snd=tick.wav -read_snd=ping.wav -cancel_snd=whoop.wav -error_snd=fart.wav - - - -################################################################## -################################################################## -[Motion] -################################################################## -################################################################## - -# Any motion related paths which are not absolute (i.e. do not -# start with '/') will be assumed to be relative to this directory -root=data/motion - -# This is the default set of walk parameters -walk=walk.prm - -# The file specified by "kinematics" should define the kinematic -# chains which form your robot. -# "kinematic_chains" lists the names of the chains which should be -# loaded from that file - - -kinematics=/config/ers210.kin -kinematic_chains=Body -kinematic_chains=Mouth - - -kinematics=/config/ers220.kin -kinematic_chains=Body - -kinematic_chains=IR - - -kinematics=/config/ers7.kin -kinematic_chains=Body -kinematic_chains=Mouth -kinematic_chains=NearIR -kinematic_chains=FarIR -kinematic_chains=ChestIR - -kinematic_chains=LFr -kinematic_chains=RFr -kinematic_chains=LBk -kinematic_chains=RBk -kinematic_chains=Camera - -# These values indicate the ratio of actual movement to commanded -# So .9 means it moves 90% as far as it was supposed to. -# This is then used both to calibrate joint values sent to the -# system, as well as sensor values which are received back. -# An unspecified joint is by default '1' which will then pass values -# through unmodified. Only PID joints are calibrated (i.e. LEDs and -# ears are not) - -calibrate:LFr:rotor=1.0 -calibrate:LFr:elvtr=1.0 -calibrate:LFr:knee~=1.0 -#... -#The calibration I performed doesn't seem to hold up well, so -#I'm leaving these all at 1.0. Perhaps there is a constant -#offset involved? To be continued... - - -#ERS-2xx seems to be fairly well calibrated by system, but -#you can always try to do better... - - -# Sounds to play when turning estop on and off -estop_on_snd=skid.wav -estop_off_snd=yap.wav - -# These values are used by some behaviors to limit the -# speed of the head to reduce wear on the joints -# Units: radians per second - -max_head_tilt_speed=2.1 -max_head_pan_speed=3.0 -max_head_roll_speed=3.0 - - -#the pan speed is revised down from Sony's maximum a bit -max_head_tilt_speed=3.18522588 -max_head_pan_speed=5.78140315 -max_head_roll_speed=5.78140315 - - -# If non-zero, robot should attempt to change directions instantaniously -# If zero, robot should change directions more fluidly (following some internal acceleration calibration) -inf_walk_accel=0 - -console_port=10003 -stderr_port=10004 - - - -################################################################## -################################################################## -[Sound] -################################################################## -################################################################## -root=data/sound -# volume = mute | level_1 | level_2 | level_3 | -# if you directly set the decibel level, be warned sony recommends against going above 0xF600 -# However, I believe the commercial software on the ERS-7 runs at 0xFF00 -# going above 0xF800 on a ERS-210 causes distortion (clipping) - full volume on a ERS-7 sounds fine though. -volume=level_3 - -# Sound playback currently requires all sounds to be the same bit -# rate. Aperios further requires only either 8bit/8KHz or 16bit/16KHz -# formats -sample_rate=16000 -sample_bits=16 - -# Preload is a list of sounds to cache at boot -# can be either root relative or full path -preload=skid.wav -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 -streaming.mic_sample_rate=16000 -streaming.mic_bits=16 -streaming.mic_stereo=true - -# Audio to the AIBO's speakers -streaming.speaker_port=10071 -# Length of the speaker streaming buffer (ms) -# Streamed samples are sent to the sound manager in packets of this length -streaming.speaker_frame_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_3.0/project/ms/config/tekkotsu.xml ./ms/config/tekkotsu.xml --- ../../Tekkotsu_3.0/project/ms/config/tekkotsu.xml 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/config/tekkotsu.xml 2007-11-22 00:31:00.000000000 -0500 @@ -0,0 +1,535 @@ + + + + + +behaviors + + flash_bytes 4 + + + flash_on_start + + + +controller + + gui_port 10020 + + + cancel_snd whoop.wav + + + error_snd fart.wav + + + next_snd toc.wav + + + prev_snd tick.wav + + + read_snd ping.wav + + + select_snd whiip.wav + + + +main + + aibo3d_port 10051 + + + consoleMode controller + + + console_port 10001 + + + estopControl_port 10053 + + + headControl_port 10052 + + + seed_rng + + + stderr_port 10002 + + + stewart_port 10055 + + + use_VT100 + + + walkControl_port 10050 + + + wmmonitor_port 10061 + + + worldState_interval 0 + + + wsjoints_port 10031 + + + wspids_port 10032 + + + +motion + + + Model:ERS-7:calibration_offset + LFr:rotor 0 + LFr:elvtr 0 + LFr:knee 0 + + + + + Model:ERS-7:calibration_scale + LFr:rotor 1 + LFr:elvtr 1 + LFr:knee 1 + + + + + console_port 10003 + + + estop_off_snd yap.wav + + + estop_on_snd skid.wav + + + inf_walk_accel + + Model:ERS-7 + + kinematics /config/ers7.kin + + + kinematic_chains + Body + Mouth + NearIR + FarIR + ChestIR + LFr + RFr + LBk + RBk + Camera + + + Model:ERS-210 + + kinematics /config/ers210.kin + + + kinematic_chains + Body + Mouth + IR + LFr + RFr + LBk + RBk + Camera + + + Model:ERS-220 + + kinematics /config/ers220.kin + + + kinematic_chains + Body + IR + LFr + RFr + LBk + RBk + Camera + + + Model:QBotPlus + + kinematics /config/QBotPlus.kin + + + kinematic_chains + Body + Camera + + + Model:Regis1 + + kinematics /config/Regis1.kin + + + kinematic_chains + Body + Arm + Camera + + + + + max_head_pan_speed 5.7814 + + + max_head_roll_speed 5.7814 + + + max_head_tilt_speed 3.18523 + + + root data/motion + + + stderr_port 10004 + + + walk walk.prm + + + +sound + + pitchConfidenceThreshold 0.6 + + + + preload + skid.wav + yap.wav + + + + root data/sound + + + sample_bits 16 + + + sample_rate 16000 + + + streaming + + mic_port 10070 + + + mic_sample_bits 16 + + + mic_sample_rate 16000 + + + mic_stereo + + + speaker_frame_length 64 + + + speaker_max_delay 1000 + + + speaker_port 10071 + + + + volume high + + + +vision + Model:ERS-7 + + gain mid + + + shutter_speed slow + + + white_balance indoor + + + + thresh + config/7general.tm + + + + + Model:ERS-2* + + gain mid + + + shutter_speed mid + + + white_balance fluorescent + + + + thresh + + config/210phb.tm + + config/210genrl.tm + config/ball.tm + + + Model:Regis1 + + + thresh + config/7general.tm + + + + + + Model:QBotPlus + + + thresh + config/7general.tm + + + + + + + colors config/default.col + + + jpeg_dct_method ifast + + + region_calc_total + + + resolution 1 + + + restore_image + + + rawcam + + channel 0 + + + compress_quality 85 + + + compression jpeg + + + encoding color + + + interval 0 + + + port 10011 + + + transport UDP + + + uv_skip 3 + + + y_skip 2 + + + + regioncam + + interval 0 + + + port 10013 + + + skip 1 + + + transport TCP + + + + segcam + + channel 0 + + + compression rle + + + interval 0 + + + port 10012 + + + skip 1 + + + transport UDP + + + + + Model:ERS-7:calibration + + calibration_res_x 208 + + + calibration_res_y 160 + + + focal_len_x 198.807 + + + focal_len_y 200.333 + + + kc1_r2 -0.147005 + + + kc2_r4 0.38485 + + + kc3_tan1 -0.00347777 + + + kc4_tan2 0.00012873 + + + kc5_r6 0 + + + principle_point_x 102.689 + + + principle_point_y 85.0399 + + + skew 0 + + + + +wireless + + id 1 + + diff -urdN --exclude=CVS -I'\$[^$]*:[^$]*\$' ../../Tekkotsu_3.0/project/ms/data/motion/walk.pos ./ms/data/motion/walk.pos --- ../../Tekkotsu_3.0/project/ms/data/motion/walk.pos 1969-12-31 19:00:00.000000000 -0500 +++ ./ms/data/motion/walk.pos 2007-11-22 00:31:00.000000000 -0500 @@ -0,0 +1,14 @@ +#POS +LFr:rotor -0.1592 1.0000 +LFr:elvtr 0.2164 1.0000 +LFr:knee~ 1.7743 1.0000 +RFr:rotor -0.2018 1.0000 +RFr:elvtr 0.2107 1.0000 +RFr:knee~ 1.8018 1.0000 +LBk:rotor -0.7361 1.0000 +LBk:elvtr 0.0171 1.0000 +LBk:knee~ 1.6175 1.0000 +RBk:rotor -0.7605 1.0000 +RBk:elvtr 0.0456 1.0000 +RBk:knee~ 1.6580 1.0000 +#END