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MMCombo.cc

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#include "MMCombo.h"
#include "Shared/WorldState.h"
#include "Shared/Profiler.h"
#include "Shared/debuget.h"
#include "Shared/Config.h"
#include "Shared/SharedObject.h"
#include "Shared/ProcessID.h"
#include "Events/EventRouter.h"
#include "Behaviors/BehaviorBase.h"
#include "Motion/MotionManager.h"
#include "SoundPlay/SoundManager.h"
#include "Vision/Vision.h"
#include "Events/TextMsgEvent.h"
#include "Shared/WMclass.h"

#include "Shared/ERS210Info.h"
#include "Shared/ERS220Info.h"

#include <OPENR/OSyslog.h>
#include <OPENR/core_macro.h>
#include <OPENR/OFbkImage.h>

using namespace std;

extern BehaviorBase& startupBehavior;

MMCombo::MMCombo()
  : OObject(), motmanMemRgn(NULL), worldStateMemRgn(NULL),
    soundManagerMemRgn(NULL), eventTranslatorQueueMemRgn(NULL),
    runLevel(0), num_open(0), etrans(), RPOPENR_isready(true), isStopped(true)
{
  for(unsigned int i=0; i<NumOutputs; i++) {
    primIDs[i]=oprimitiveID_UNDEF;
    open[i]=false;
  }
  Profiler::initBuckets();
}


OStatus
MMCombo::DoInit(const OSystemEvent&)
{
  isStopped=false;

  NEW_ALL_SUBJECT_AND_OBSERVER;
  REGISTER_ALL_ENTRY;
  SET_ALL_READY_AND_NOTIFY_ENTRY;
    
  // make sure the library doesn't drop data "for" us on this reliable communication channel
  observer[obsReceiveWorldState]->SetBufCtrlParam(0,1,1);
  observer[obsReceiveMotionManager]->SetBufCtrlParam(0,1,1);
  observer[obsMotionManagerComm]->SetBufCtrlParam(0,1,MotionManager::MAX_MOTIONS+1);
  //+1 to MAX_MOTIONS so we can get a delete message after we've filled up
    
  //Read config file
  config=new Config("/ms/config/tekkotsu.cfg");

  erouter = new EventRouter;

  if(strcmp(objectName,"MainObj")==0) {
    ProcessID::setID(ProcessID::MainProcess);

    bool isSlowOutput[NumOutputs];
    for(unsigned int i=0; i<NumOutputs; i++)
      isSlowOutput[i]=!IsFastOutput[i];

    SetupOutputs(isSlowOutput);

    //Request power status updates
    OPowerStatus observationStatus;
    observationStatus.Set(orsbALL,obsbALL,opsoREMAINING_CAPACITY_NOTIFY_EVERY_CHANGE,opsoTEMPERATURE_NOTIFY_EVERY_CHANGE,opsoTIME_DIF_NOTIFY_EVERY_CHANGE,opsoVOLUME_NOTIFY_EVERY_CHANGE);
    OServiceEntry entry(myOID_, Extra_Entry[entryGotPowerEvent]);
    OStatus result = OPENR::ObservePowerStatus(observationStatus, entry);
    if(result != oSUCCESS) {
      OSYSLOG1((osyslogERROR, "%s : %s %d","MMCombo::DoStart()","OPENR::ObservePowerStatus() FAILED", result));
      return oFAIL;
    }

    //Setup wireless
    wireless = new Wireless();
    sout=wireless->socket(SocketNS::SOCK_STREAM,Wireless::WIRELESS_DEF_RECV_SIZE,Wireless::WIRELESS_DEF_SEND_SIZE*6);
    serr=wireless->socket(SocketNS::SOCK_STREAM,Wireless::WIRELESS_DEF_RECV_SIZE,Wireless::WIRELESS_DEF_SEND_SIZE*2);
    wireless->setDaemon(sout);
    wireless->setDaemon(serr);
    serr->setFlushType(SocketNS::FLUSH_BLOCKING);
    sout->setTextForward();
    serr->setForward(sout);

    //worldStateMemRgn -> state setup
    worldStateMemRgn = InitRegion(sizeof(WorldState));
    state=new ((WorldState*)worldStateMemRgn->Base()) WorldState;

    //eventTranslatorQueueMemRgn -> etrans setup
    eventTranslatorQueueMemRgn = InitRegion(sizeof(EventTranslator::Queue_t));
    EventTranslator::Queue_t * etransq=new ((EventTranslator::Queue_t*)eventTranslatorQueueMemRgn->Base()) EventTranslator::Queue_t;
    etrans.setQueue(etransq);
    MotionCommand::setQueue(etransq);

    //Setup vision
    vision=new Vision();
    // someday these will go away:
    vision->enableEvents(VisionEventNS::PinkBallSID);
    vision->enableEvents(VisionEventNS::RedBallSID);
    vision->enableEvents(VisionEventNS::MarkersSID);
  
  }
  if(strcmp(objectName,"MotoObj")==0) {
    ProcessID::setID(ProcessID::MotionProcess);

    SetupOutputs(IsFastOutput);
    OPENR::SetMotorPower(opowerON);
    OPENR::EnableJointGain(oprimitiveID_UNDEF); //oprimitiveID_UNDEF means enable all

    //motmanMemRgn -> motman setup
    motmanMemRgn = InitRegion(sizeof(MotionManager));
    motman = new (motmanMemRgn->Base()) MotionManager();
    motman->InitAccess(subject[sbjMotionManagerComm]);
  }
  startupBehavior.AddReference();
  return oSUCCESS;
}

OStatus
MMCombo::DoStart(const OSystemEvent&)
{
  //  cout << objectName << "::DoStart() " << endl;

  // initialize the current power status, doesn't always give us
  // a power update right away otherwise
  if(strcmp(objectName,"MainObj")==0) {
    wireless->listen(sout, config->main.console_port);
    wireless->listen(serr, config->main.stderr_port);
    OPowerStatus power;
    OPENR::GetPowerStatus(&power);
    state->read(power,erouter);
  }

  isStopped=false;

  ENABLE_ALL_SUBJECT;
  ASSERT_READY_TO_ALL_OBSERVER;

  addRunLevel();
  
  return oSUCCESS;
}

OStatus
MMCombo::DoStop(const OSystemEvent&)
{
  cout << objectName << "::DoStop()..." << endl;
  if(strcmp(objectName,"MainObj")==0) {
    startupBehavior.DoStop();
    wireless->close(sout);
    wireless->close(serr);
  }
  DISABLE_ALL_SUBJECT;
  DEASSERT_READY_TO_ALL_OBSERVER;
  isStopped=true;
  cout << objectName << "::DoStop()-DONE" << endl;
  return oSUCCESS;
}

OStatus
MMCombo::DoDestroy(const OSystemEvent&)
{
  cout << objectName << "::DoDestroy()..." << endl;
  startupBehavior.RemoveReference();
  if(strcmp(objectName,"MainObj")==0) {
    delete erouter;
    motmanMemRgn->RemoveReference();
  }
  if(strcmp(objectName,"MotoObj")==0) {
    worldStateMemRgn->RemoveReference();
    eventTranslatorQueueMemRgn->RemoveReference();
  }
  soundManagerMemRgn->RemoveReference();
  DELETE_ALL_SUBJECT_AND_OBSERVER;
  cout << objectName << "::DoDestroy()-DONE" << endl;
  return oSUCCESS;
}

/*! Called when MotoObj is initially ready as well as when it has finished
 *  processing the previous message - we only want to do this the first time
 *  otherwise we infinite loop. */
void
MMCombo::ReadyRegisterWorldState(const OReadyEvent&){
  static bool is_init=true;
  if(is_init) {
    is_init=false;
    cout << objectName << " Registering WorldState" << endl;
    if(strcmp(objectName,"MainObj")==0) {
      subject[sbjRegisterWorldState]->SetData(worldStateMemRgn);
      subject[sbjRegisterWorldState]->NotifyObservers();
    }
  }
}

void
MMCombo::GotWorldState(const ONotifyEvent& event){
  cout << objectName << "-GOTWORLDSTATE..." << flush;
  //  PROFSECTION("GotMemRegion()",state->mainProfile);
  if(strcmp(objectName,"MotoObj")==0) {
    ASSERT(event.NumOfData()==1,"Too many WorldStates");
    worldStateMemRgn = event.RCData(0);
    worldStateMemRgn->AddReference();
    state = reinterpret_cast<WorldState*>(worldStateMemRgn->Base());
  }
  observer[obsReceiveWorldState]->AssertReady();
  cout << "done" << endl;
}

    
/*! Called when MainObj is initially ready as well as when it has finished
 *  processing the previous message - we only want to do this the first time
 *  otherwise we infinite loop. */
void
MMCombo::ReadyRegisterMotionManager(const OReadyEvent&){
  static bool is_init=true;
  if(is_init) {
    is_init=false;
    cout << objectName << " Registering MotionManager" << endl;
    if(strcmp(objectName,"MotoObj")==0) {
      subject[sbjRegisterMotionManager]->SetData(motmanMemRgn);
      subject[sbjRegisterMotionManager]->NotifyObservers();
    }
  }
}

void
MMCombo::GotMotionManager(const ONotifyEvent& event){
  cout << objectName << "-GOTWORLDSTATE..." << flush;
  //  PROFSECTION("GotMemRegion()",state->motoProfile);
  if(strcmp(objectName,"MainObj")==0) {
    ASSERT(event.NumOfData()==1,"Too many MotionManagers");
    motmanMemRgn = event.RCData(0);
    motmanMemRgn->AddReference();
    motman = reinterpret_cast<MotionManager*>(motmanMemRgn->Base());
    cout << "MAIN INIT MOTMAN..." << flush;
    //      hexout(event.RCData(event_data_id)->Base(),128);
    motman->InitAccess(subject[sbjMotionManagerComm]);
    addRunLevel();
  }
  observer[obsReceiveMotionManager]->AssertReady();
  cout << "done" << endl;
}

/*! Called when MotoObj is initially ready as well as when it has finished
 *  processing the previous message - we only want to do this the first time
 *  otherwise we infinite loop. */
void
MMCombo::ReadyRegisterEventTranslatorQueue(const OReadyEvent&){
  static bool is_init=true;
  if(is_init) {
    is_init=false;
    cout << objectName << " Registering EventTranslatorQueue" << endl;
    if(strcmp(objectName,"MainObj")==0) {
      subject[sbjRegisterEventTranslatorQueue]->SetData(eventTranslatorQueueMemRgn);
      subject[sbjRegisterEventTranslatorQueue]->NotifyObservers();
    }
  }
}

void
MMCombo::GotEventTranslatorQueue(const ONotifyEvent& event){
  cout << objectName << "-GOTEventTranslatorQueue..." << flush;
  //  PROFSECTION("GotMemRegion()",state->mainProfile);
  if(strcmp(objectName,"MotoObj")==0) {
    ASSERT(event.NumOfData()==1,"Too many EventTranslatorQueue");
    eventTranslatorQueueMemRgn = event.RCData(0);
    eventTranslatorQueueMemRgn->AddReference();
    EventTranslator::Queue_t * etransq=reinterpret_cast<EventTranslator::Queue_t*>(eventTranslatorQueueMemRgn->Base());
    etrans.setQueue(etransq);
    MotionCommand::setQueue(etransq);
    erouter->addTrapper(&etrans);
  }
  observer[obsReceiveEventTranslatorQueue]->AssertReady();
  cout << "done" << endl;
}

    
void
MMCombo::ReadySendJoints(const OReadyEvent& sysevent) {

  if(isStopped) {
    //cout << "BAH!ReadySendJoints" << endl;
    return;
  }

  static unsigned int id=-1U;
  Profiler::Timer timer;
  if(ProcessID::getID()==ProcessID::MotionProcess) {
    if(state) {
      if(id==-1U)
        id=state->motionProfile.getNewID("ReadySendJoints()");
      timer.setID(id,&state->motionProfile);
    }
  } else if(ProcessID::getID()==ProcessID::MainProcess) {
    if(id==-1U)
      id=state->mainProfile.getNewID("ReadySendJoints()");
    timer.setID(id,&state->mainProfile);
  }

  if(num_open==0) //If we don't have any joints to open, leave now. (i.e. MainObj on a 220, has no ears)
    return;

  // Find an unused command vector
  RCRegion* rgn=NULL;
  for (unsigned int i = 0; i < NUM_COMMAND_VECTOR; i++) {
    if (region[i]->NumberOfReference() == 1) {
      rgn=region[i];
      /*      if(strcmp(objectName,"MainObj")==0) {
              static unsigned int lasttime=get_time();
              unsigned int thistime=get_time();
              cout << '*' << i << ' ' << thistime << '\t' << (thistime-lasttime) << endl;
              lasttime=thistime;
              }*/
      break;
    }
  }
  ASSERTRET(rgn!=NULL,"Could not find unused command vector");
  ASSERTRET(rgn->Base()!=NULL,"Bad Command Vector");
  OCommandVectorData* cmdVecData = reinterpret_cast<OCommandVectorData*>(rgn->Base());
  
  // Update the outputs (note that Main is doing the ears)
  //I'm using an id compare instead of the slightly more readable strcmp for a tiny bit of speed
  if(ProcessID::getID()==ProcessID::MotionProcess) {
    float outputs[NumFrames][NumOutputs];
    if(state!=NULL) {
      motman->getOutputs(outputs);
      motman->updatePIDs(primIDs);
      motman->updateWorldState();
    } else {
      for(unsigned int f=0; f<NumFrames; f++)
        for(unsigned int i=0; i<NumOutputs; i++)
          outputs[f][i]=0;
    }

    // Should be a relatively simple matter to copy angles into commands...
    unsigned int used=0; //but only copy open joints (so main does ears, motion does everything else)
    for(unsigned int i=PIDJointOffset; i<PIDJointOffset+NumPIDJoints; i++)
      if(open[i]) {
        OJointCommandValue2* jval = reinterpret_cast<OJointCommandValue2*>(cmdVecData->GetData(used)->value);
        for(unsigned int frame=0; frame<NumFrames; frame++)
          jval[frame].value = (slongword)(outputs[frame][i]*1e6);
        used++;
      }
    for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
      if(open[i]) {
        OLEDCommandValue2* jval = reinterpret_cast<OLEDCommandValue2*>(cmdVecData->GetData(used)->value);
        for(unsigned int frame=0; frame<NumFrames; frame++)
          jval[frame].led = calcLEDValue(i-LEDOffset,outputs[frame][i]);
        used++;
      }
    for(unsigned int i=BinJointOffset; i<BinJointOffset+NumBinJoints; i++)
      if(open[i]) {
        OJointCommandValue3* jval = reinterpret_cast<OJointCommandValue3*>(cmdVecData->GetData(used)->value);
        for(unsigned int frame=0; frame<NumSlowFrames; frame++)
          jval[frame].value = (outputs[frame][i]<.5?ojoint3_STATE1:ojoint3_STATE0);
        used++;
      }
  } else if(ProcessID::getID()==ProcessID::MainProcess) {
    // Just copy over the current ear state from WorldState in case this is in Main
    unsigned int used=0; //but only copy open joints (so main does ears, motion does everything else)
    for(unsigned int i=BinJointOffset; i<BinJointOffset+NumBinJoints; i++)
      if(open[i]) {
        OJointCommandValue3* jval = reinterpret_cast<OJointCommandValue3*>(cmdVecData->GetData(used)->value);
        for(unsigned int frame=0; frame<NumSlowFrames; frame++)
          jval[frame].value = (state->outputs[i]<.5?ojoint3_STATE1:ojoint3_STATE0);
        used++;
      }
  }

  // Send outputs to system
  subject[sbjMoveJoint]->SetData(rgn);

  // The first time this is called, we actually need to send *two* buffers
  // in order to get the double buffering going... (well, actually generalized
  // for NUM_COMMAND_VECTOR level buffering)
  static unsigned int initCount=1;
  if(initCount<NUM_COMMAND_VECTOR) {
    initCount++;
    ReadySendJoints(sysevent);
  } else //recursive base case
    subject[sbjMoveJoint]->NotifyObservers();
}

void
MMCombo::GotSensorFrame(const ONotifyEvent& event){
  //  if(state && state->buttons[RFrPawOffset])
  //  cout << "SENSOR..."<<flush;
  if(isStopped) {
    //cout << "BAH!GotSensorFrame" << endl;
    return;
  }

  PROFSECTION("GotSensorFrame()",state->mainProfile);
  etrans.translateEvents();

  OSensorFrameVectorData* rawsensor = reinterpret_cast<OSensorFrameVectorData*>(event.RCData(0)->Base());
  state->read(rawsensor[0],erouter);
  erouter->processTimers();
  static unsigned int throwaway=1; //i thought the first few sensor updates might be flakey, but now i think not.  But a good way to delay startup.
  if(throwaway!=0) {
    throwaway--;
    if(throwaway==0)
      addRunLevel();
  }
  observer[obsSensorFrame]->AssertReady();
  if (state!=NULL && state->wsser!=NULL)
    state->wsser->serialize();
  //  if(state && state->buttons[RFrPawOffset])
  //  cout << "done" << endl;
}

void
MMCombo::GotImage(const ONotifyEvent& event){
  if(isStopped) {
    //cout << "BAH!GotImage" << endl;
    return;
  }

  PROFSECTION("GotImage()",state->mainProfile);
  etrans.translateEvents();

  if (vision!=NULL) {
    const OFbkImageVectorData *fbkImageVectorData=reinterpret_cast<const OFbkImageVectorData*>(event.Data(0));
    OFbkImageInfo* info = const_cast<OFbkImageVectorData*>(fbkImageVectorData)->GetInfo(vision->imageLayer);
    const byte* dat = const_cast<OFbkImageVectorData*>(fbkImageVectorData)->GetData(vision->imageLayer);
    const OFbkImage yimage(info, const_cast<byte*>(dat), ofbkimageBAND_Y);
    const OFbkImage uimage(info, const_cast<byte*>(dat), ofbkimageBAND_Cr);
    const OFbkImage vimage(info, const_cast<byte*>(dat), ofbkimageBAND_Cb);

    const byte* bytes_y = yimage.Pointer();
    const byte* bytes_u = uimage.Pointer();
    const byte* bytes_v = vimage.Pointer();

    int width  = yimage.Width();
    int height = yimage.Height();

    WMvari(int, frame_counter, 0);
    ++frame_counter;
    vision->processFrame(bytes_y, bytes_u, bytes_v, width, height, yimage.Skip());
  }
  erouter->processTimers();
  
  observer[obsImage]->AssertReady();
}

void
MMCombo::GotPowerEvent(void * msg){
  if(isStopped) {
    //cout << "BAH!GotPowerEvent" << endl;
    return;
  }

  //  cout << "POWER..."<<flush;
  PROFSECTION("PowerEvent()",state->mainProfile);
  etrans.translateEvents();

  static bool first=true;
  if(first) {
    addRunLevel();
    first=false;
  }
  const OPowerStatus* result = &static_cast<OPowerStatusMessage*>(msg)->powerStatus;
  state->read(*result,erouter);
  erouter->processTimers();
  // this part watches to see if the power button is pressed to shutdown the robot
  // i'm leaving this low-level because there's not much else you can do anyway...
  // the hardware kills power to the motors, and as far as we can tell, you can't
  // turn them back on.
  if(state->powerFlags[PowerSourceID::PauseSID]) {
    cout << "%%%%%%%  Pause button was pushed! %%%%%%%" << endl;
    OBootCondition bc(0);
    OPENR::Shutdown(bc);
  }
  //  cout << "done" << endl;
}

void
MMCombo::GotMotionMsg(const ONotifyEvent& event){
  if(isStopped) {
    //cout << "BAH!GotMotionMsg" << endl;
    return;
  }

  //  cout << "RECEIVE..."<<flush;
  if(motman!=NULL)
    motman->receivedMsg(event);
  else
    cout << "*** WARNING Main dropping MotionCommand (motman not ready) " << endl;
  observer[obsMotionManagerComm]->AssertReady();
  //  cout << "done" << endl;
}

void
MMCombo::GotSoundManager(const ONotifyEvent& event) {
  cout << objectName << "-GOTSOUNDMANAGER..." << flush;
  //  PROFSECTION("GotMemRegion()",state->mainProfile);
  ASSERT(event.NumOfData()==1,"Too many SoundManagers");
  soundManagerMemRgn = event.RCData(0);
  soundManagerMemRgn->AddReference();
  sndman = reinterpret_cast<SoundManager*>(soundManagerMemRgn->Base());
  observer[obsReceiveSoundManager]->AssertReady();
  sndman->InitAccess(subject[sbjSoundManagerComm]);
  addRunLevel();
  cout << "done" << endl;
}

void
MMCombo::OpenPrimitives()
{
  for(unsigned int i=0; i<NumOutputs; i++)
    if(open[i]) {
      OStatus result = OPENR::OpenPrimitive(PrimitiveName[i], &primIDs[i]);
      if (result != oSUCCESS)
        OSYSLOG1((osyslogERROR, "%s : %s %d","MMCombo::DoInit()","OPENR::OpenPrimitive() FAILED", result));
    }
}

void
MMCombo::SetupOutputs(const bool to_open[NumOutputs])
{
  char robotDesignStr[orobotdesignNAME_MAX];
  memset(robotDesignStr, 0, sizeof(robotDesignStr));
  if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) {
    cout << objectName << "::SetupOutputs - OPENR::GetRobotDesign() failed." << endl;
    return;
  } else {
    if(strcmp(robotDesignStr,"ERS-210")==0) {
      for(unsigned int j=0; j<NumOutputs; j++)
        open[j]=to_open[j] && ERS210Info::IsRealERS210[j];
    } else if(strcmp(robotDesignStr,"ERS-220")==0) {
      for(unsigned int j=0; j<NumOutputs; j++)
        open[j]=to_open[j] && ERS220Info::IsRealERS220[j];
    } else {
      cout << "MMCombo::SetupOutputs - ERROR: Unrecognized model: "<<robotDesignStr<<"\nSorry..."<<endl;
      return;
    }
  }
  
  // count how many we're opening
  for(unsigned int j=0; j<NumOutputs; j++)
    if(open[j])
      num_open++;

  if(num_open==0) //If we don't have any joints to open, leave now. (i.e. MainObj on a 220, has no ears)
    return;

  OpenPrimitives();

  OStatus result;
  MemoryRegionID      cmdVecDataID;
  OCommandVectorData* cmdVecData;

  // request memory regions
  for (unsigned int i = 0; i < NUM_COMMAND_VECTOR; i++) {
    result = OPENR::NewCommandVectorData(num_open,&cmdVecDataID,&cmdVecData);
    if (result != oSUCCESS)
      OSYSLOG1((osyslogERROR, "%s : %s %d","MMCombo::NewCommandVectorData()","OPENR::NewCommandVectorData() FAILED", result));
    region[i] = new RCRegion(cmdVecData->vectorInfo.memRegionID,cmdVecData->vectorInfo.offset,(void*)cmdVecData,cmdVecData->vectorInfo.totalSize);
    cmdVecData->SetNumData(num_open);

    // initialize the outputs we just opened
    unsigned int used=0;
    ASSERT(cmdVecData==reinterpret_cast<OCommandVectorData*>(region[i]->Base())," should be equal!?");
    for(unsigned int j=PIDJointOffset; j<PIDJointOffset+NumPIDJoints; j++)
      if(open[j]) {
        OCommandInfo* info = cmdVecData->GetInfo(used++);
        info->Set(odataJOINT_COMMAND2, primIDs[j], NumFrames);
      }
    for(unsigned int j=LEDOffset; j<LEDOffset+NumLEDs; j++)
      if(open[j]) {
        OCommandInfo* info = cmdVecData->GetInfo(used);
        info->Set(odataLED_COMMAND2, primIDs[j], NumFrames);
        OLEDCommandValue2* jval = reinterpret_cast<OLEDCommandValue2*>(cmdVecData->GetData(used)->value);
        for(unsigned int frame=0; frame<NumFrames; frame++)
          jval[frame].period = 1;
        used++;
      }     
    for(unsigned int j=BinJointOffset; j<BinJointOffset+NumBinJoints; j++)
      if(open[j]) {
        OCommandInfo* info = cmdVecData->GetInfo(used++);
        info->Set(odataJOINT_COMMAND3, primIDs[j], NumSlowFrames);
      }     
  }
}

/*! Will round up size to the nearest page */
RCRegion*
MMCombo::InitRegion(unsigned int size) {
  unsigned int pagesize=4096;
  sError err=GetPageSize(&pagesize);
  ASSERT(err==sSUCCESS,"Error "<<err<<" getting page size");
  unsigned int pages=(size+pagesize-1)/pagesize;
  return new RCRegion(pages*pagesize);
}

void
MMCombo::addRunLevel() {
  runLevel++;
  if(runLevel==readyLevel) {
    cout << "START UP BEHAVIOR..." << flush;
    startupBehavior.DoStart();
    cout << "START UP BEHAVIOR-DONE" << endl;
  }
}

void
MMCombo::RPOPENR_notify(const ONotifyEvent& event) {
  const char *buf = (const char *)event.Data(0);
  observer[event.ObsIndex()]->AssertReady();

  /* usercode: message received
   * an example could be- */
  // RPOPENR_send("yeah i received your message", 29);

  /* create TextMsg event which can contain strings
   * comment this out if you want to handle the received data exclusively
   */
  erouter->postEvent(new TextMsgEvent(buf));
}

int
MMCombo::RPOPENR_send(char *buf, int bufsize) {
  if (RPOPENR_isready && bufsize>0) {
    RPOPENR_isready=false;
    subject[sbjRPOPENRSendString]->SetData(buf, bufsize);
    subject[sbjRPOPENRSendString]->NotifyObservers();
    return bufsize;
  }
  return 0;
}

/*! @file
 * @brief Implements MMCombo, the OObject which "forks" (sort of) into Main and Motion processes
 * @author ejt (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.40 $
 * $State: Rel $
 * $Date: 2003/10/10 05:38:21 $
 */

Tekkotsu v1.5

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