[TeamTalk 341]: [877] vendor/USARSim/BaseFiles/v3.16: 1) Peg PocketTeamTalk externs to older versions since they' ve now been replaced with Olympus2 versions.
tk@edam.speech.cs.cmu.edu
tk at edam.speech.cs.cmu.edu
Tue Dec 4 15:24:24 EST 2007
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Property changes on: branches/mrmarge/PocketTeamTalk/Agents
___________________________________________________________________
Name: svn:externals
- Pythia http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Pythia
Helios http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Helios3
Kalliope http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Kalliope
NlgServer http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/NlgServer2
Phoenix http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Phoenix2
+ Pythia -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Pythia
Helios -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Helios3
Kalliope -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Kalliope
NlgServer -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/NlgServer2
Phoenix -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Phoenix2
Property changes on: branches/mrmarge/PocketTeamTalkBeta/trunk/Agents
___________________________________________________________________
Name: svn:externals
- Pythia http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Pythia
Helios http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Helios3
Kalliope http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Kalliope
MultiDecoder/Audio_Server http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/MultiDecoder/Audio_Server
MultiDecoder/Sphinx_Engine http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/MultiDecoder/Sphinx_Engine
NlgServer http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/NlgServer2
Phoenix http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Phoenix2
DateTime http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/DateTime4
+ Pythia -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Pythia
Helios -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Helios3
Kalliope -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Kalliope
MultiDecoder/Audio_Server -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/MultiDecoder/Audio_Server
MultiDecoder/Sphinx_Engine -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/MultiDecoder/Sphinx_Engine
NlgServer -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/NlgServer2
Phoenix -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/Phoenix2
DateTime -r2491 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/DateTime4
Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java 2007-11-15 18:20:58 UTC (rev 876)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java 2007-12-04 20:24:23 UTC (rev 877)
@@ -1,7 +1,7 @@
package edu.cmu.ravenclaw.pendecoder;
+import java.awt.geom.Point2D;
import java.util.*;
-import java.awt.Graphics;
public class BotTracker {
protected MapCanvas canvas;
@@ -51,6 +51,16 @@
return obj;
}
+ public List<Point2D.Float> getObjLocations() {
+ List<Point2D.Float> objLocations = new ArrayList<Point2D.Float>();
+ for(Shape obj: bots.values()) {
+ if(obj instanceof ObjShape) {
+ objLocations.add(((ObjShape)obj).getLocation());
+ }
+ }
+ return objLocations;
+ }
+
private synchronized BotShape getBot(String name) {
BotShape bot = botOf(name);
if(bot == null) {
Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java 2007-11-15 18:20:58 UTC (rev 876)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java 2007-12-04 20:24:23 UTC (rev 877)
@@ -30,7 +30,8 @@
/**
* position of bot in robot's coordinate system (in centimeters)
*/
- protected float x, y, rad;
+ protected Point2D.Float xy;
+ float rad;
protected Color distinct_color = Color.BLUE;
public static final Font labelFont = new Font("Lucida Sans", Font.BOLD, 14);
@@ -75,7 +76,7 @@
AffineTransform at = new AffineTransform();
at.translate(x,y);
at.rotate(rad);
- placement.setToTranslation(this.x, this.y);
+ placement.setToTranslation(xy.x, xy.y);
placement.rotate(this.rad);
placement = placement.createInverse();
at.concatenate(placement);
@@ -83,7 +84,7 @@
//create the placed icon
AffineTransform move = new AffineTransform(placement);
- move.translate(this.x,this.y);
+ move.translate(xy.x, xy.y);
move.rotate(this.rad);
placedIcon = move.createTransformedShape(icon);
@@ -107,7 +108,7 @@
int[] xs = new int[] {50, dist-30, dist-30, dist, dist-30, dist-30, 50};
int[] ys = new int[] {12, 12, 24, 0, -24, -12, -12};
AffineTransform move = new AffineTransform(placement);
- move.translate(x,y);
+ move.translate(xy.x, xy.y);
move.rotate(angle);
return move.createTransformedShape(new java.awt.Polygon(xs, ys, 7));
}
@@ -139,7 +140,7 @@
//tranform from bot space to screen space
AffineTransform p_translate = new AffineTransform(placement);
- p_translate.translate(x,y);
+ p_translate.translate(xy.x, xy.y);
//remove the rotational context, i.e. don't spin my text
myG.translate(p_translate.getTranslateX(), p_translate.getTranslateY());
//draw out of reach (north east) of an 80cm long object
@@ -190,16 +191,23 @@
* @param y y coordinate of robot's frmae location (in centimeters)
*/
public void setLocation(float x, float y) {
- if(this.x != x || this.y != y || this.rad != rad) {
+ if(xy.x != x || xy.y != y || this.rad != rad) {
//set new x and y and place icon
- this.x = x; this.y = y; this.rad = rad;
+ xy.x = x; xy.y = y; this.rad = rad;
AffineTransform move = new AffineTransform(placement);
- move.translate(x,y);
+ move.translate(xy.x, xy.y);
placedIcon = move.createTransformedShape(icon);
}
}
/**
+ * Gets the location
+ */
+ public Point2D.Float getLocation() {
+ return xy;
+ }
+
+ /**
* this shouldn't be called, required for interface
* @param at an affine tranform for the scribble3 shape
*/
Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java 2007-11-15 18:20:58 UTC (rev 876)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java 2007-12-04 20:24:23 UTC (rev 877)
@@ -43,6 +43,8 @@
try {
if(tool.getName() == "Zoom Out") {
mapCanvas.zoomOut();
+ } else if(tool.getName() == "Retrieve") {
+ retrieve();
} else if(tool.getName() == "E-STOP") {
eStop();
} else if(tool.getName() == "Undock") {
@@ -377,6 +379,7 @@
"Explore",
"Select waypoints along which to explore.",
NPointTool.POLYLINE_EXPLORE));
+ t.addTool(new ButtonTool(mapCanvas, "Retrieve", "Retrieve all treasures."));
//manage session and gui
t.addTool(new ToggleButtonTool(mapCanvas,
@@ -475,6 +478,13 @@
}
/**
+ * Retrieve all treasures
+ */
+ public void retrieve() {
+ for(PenDecoderServer server: servers) server.retrieve();
+ }
+
+ /**
* Send emergency stop to all robots
*/
public void eStop() {
Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java 2007-11-15 18:20:58 UTC (rev 876)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java 2007-12-04 20:24:23 UTC (rev 877)
@@ -442,6 +442,17 @@
sayToBot("Commands", "[HumanSearchCommand]", loc);
}
+ public void retrieve() {
+ System.err.println("Retrieving...");
+ Map<String, String> loc = new HashMap<String, String>();
+ List<Point2D.Float> l = botTracker.getObjLocations();
+ for(int i=0; i<l.size(); i++) {
+ loc.put("[x" + (i+1) + "]", Double.toString(l.get(i).getX()/100));
+ loc.put("[y" + (i+1) + "]", Double.toString(l.get(i).getY()/100));
+ }
+ sayToBot("Commands", "[HumanRetrieveCommand]", loc);
+ }
+
/**
* This functions sents a "start session" to the hub. A "start session"
* indicates that the operator is ready to speak and listen to the robots.
Modified: trunk/TeamTalk/TeamTalkRun.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRun.bat 2007-11-15 18:20:58 UTC (rev 876)
+++ trunk/TeamTalk/TeamTalkRun.bat 2007-12-04 20:24:23 UTC (rev 877)
@@ -30,4 +30,4 @@
pause
:End script execution
-SET RunTimeConfig=
\ No newline at end of file
+SET RunTimeConfig=
Added: vendor/USARSim/BaseFiles/v3.16/Animations/UDN_CharacterModels_K.ukx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Animations/UDN_CharacterModels_K.ukx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Sounds/SEERVoices.uax
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Sounds/SEERVoices.uax
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_LeggedRobots_Meshes.usx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_LeggedRobots_Meshes.usx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_Manufacturing_Meshes.usx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_Manufacturing_Meshes.usx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_Objects_Meshes.usx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_Objects_Meshes.usx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_VehicleParts_Meshes.usx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_VehicleParts_Meshes.usx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_Vehicles_Meshes.usx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/StaticMeshes/USARSim_Vehicles_Meshes.usx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/SEERSTextures.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/SEERSTextures.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/SEERSTexturesSG.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/SEERSTexturesSG.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/SEERS_Wounded.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/SEERS_Wounded.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/SEERS_gWounded.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/SEERS_gWounded.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/SEERS_girls.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/SEERS_girls.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_LeggedRobots_Textures.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_LeggedRobots_Textures.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_Manufacturing_Textures.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_Manufacturing_Textures.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_Objects_Textures.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_Objects_Textures.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_VehicleParts_Textures.utx
===================================================================
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Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_VehicleParts_Textures.utx
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Name: svn:mime-type
+ application/octet-stream
Added: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_Vehicles_Textures.utx
===================================================================
(Binary files differ)
Property changes on: vendor/USARSim/BaseFiles/v3.16/Textures/USARSim_Vehicles_Textures.utx
___________________________________________________________________
Name: svn:mime-type
+ application/octet-stream
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