From bfrisch at edam.speech.cs.cmu.edu  Mon Jul  2 22:40:05 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Mon, 2 Jul 2007 22:40:05 -0400
Subject: [TeamTalk 106]: [643] usarsim/Maps/DM-RoboticsLab_250.ut2: Updated
 Robotics Lab, Textures Now Are Perfect Colors..
Message-ID: <200707030240.l632e5nR019648@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070702/7ecc9aa1/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Tue Jul  3 23:10:40 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 3 Jul 2007 23:10:40 -0400
Subject: [TeamTalk 107]: [644] TeamTalk/Agents/TeamTalkBackend: Modified
 backend to use dynamic pythia for spawned processes
Message-ID: <200707040310.l643Aevt025686@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070703/f8d89a57/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj
===================================================================
--- TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-07-03 02:40:05 UTC (rev 643)
+++ TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-07-04 03:10:39 UTC (rev 644)
@@ -41,7 +41,7 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="0"
-				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\coralshared"
+				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\coralshared;..\..\Pythia\PythiaDynamicClient"
 				PreprocessorDefinitions="WIN32;_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_DEPRECATE"
 				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
@@ -64,7 +64,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="wsock32.lib ..\..\ExternalLibraries\Galaxy\lib\x86-nt\libgalaxy_debug.lib"
+				AdditionalDependencies="wsock32.lib ..\..\ExternalLibraries\Galaxy\lib\x86-nt\libgalaxy_debug.lib ..\..\Pythia\PythiaDynamicClient\Debug\PythiaDynamicClient.lib"
 				OutputFile="$(OutDir)/TeamTalkBackend.exe"
 				LinkIncremental="2"
 				GenerateDebugInformation="true"
@@ -123,7 +123,7 @@
 			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\coralshared"
+				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\coralshared;..\..\Pythia\PythiaDynamicClient"
 				PreprocessorDefinitions="WIN32;NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_DEPRECATE"
 				RuntimeLibrary="2"
 				StructMemberAlignment="3"
@@ -144,7 +144,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="..\..\ExternalLibraries\Galaxy\lib\x86-nt\libgalaxy.lib ws2_32.lib"
+				AdditionalDependencies="..\..\ExternalLibraries\Galaxy\lib\x86-nt\libgalaxy.lib ws2_32.lib ..\..\Pythia\PythiaDynamicClient\Release\PythiaDynamicClient.lib"
 				OutputFile="$(OutDir)/TeamTalkBackend.exe"
 				LinkIncremental="1"
 				IgnoreAllDefaultLibraries="false"

Modified: TeamTalk/Agents/TeamTalkBackend/agent.cpp
===================================================================
--- TeamTalk/Agents/TeamTalkBackend/agent.cpp	2007-07-03 02:40:05 UTC (rev 643)
+++ TeamTalk/Agents/TeamTalkBackend/agent.cpp	2007-07-04 03:10:39 UTC (rev 644)
@@ -7,6 +7,8 @@
 #include <sstream>
 #include <fstream>
 #include <iomanip>
+#include <PythiaDynamicClient.h>
+
 #include <ios>
 #include <cmath>
 
@@ -30,9 +32,10 @@
 
 	string cfilename = writeSpecializedConfig("TeamTalk-hub-desktop", "pgm", subs, uppername);
 
-	ostringstream args;
-	args << "-verbosity 3 -pgm_file " << cfilename;
-  serverChildren_.push(spawn(false, cfilename, ".", HUB, args.str()).hProcess);
+  ostringstream cmd, title;
+  cmd << HUB << " -verbosity 3 -pgm_file " << cfilename;
+  title << uppername << " Hub";
+  Pythia::Message(cmd.str(), title.str()).send("localhost");
 }
 
 void Agent::spawnHelios(const string& uppername) 
@@ -44,9 +47,10 @@
 
 	string cfilename = writeSpecializedConfig("helios", "cfg", subs, uppername);
 
-	ostringstream args;
-	args << "-port " << iHeliosPort << " -config " << cfilename;
-	serverChildren_.push(spawn(false, cfilename, ".", HELIOS, args.str()).hProcess);
+  ostringstream cmd, title;
+  cmd << HELIOS << " -port " << iHeliosPort << " -config " << cfilename;
+  title << uppername << " Helios";
+  Pythia::Message(cmd.str(), title.str()).send("localhost");
 }
 
 void Agent::spawnDM(const string& uppername, const string& safeness) 
@@ -72,9 +76,10 @@
 	writeSpecializedConfig("grounding", "policies", subs, uppername);
 	string cfilename = writeSpecializedConfig("TeamTalkDM", "cfg", subs, uppername);
 
-	ostringstream args;
-	args << "-maxconns 6 -config " << cfilename;
-	serverChildren_.push(spawn(false, cfilename, ".", DM, args.str()).hProcess);
+  ostringstream cmd, title;
+  cmd << DM << " -maxconns 6 -config " << cfilename;
+  title << uppername << " DM";
+  Pythia::Message(cmd.str(), title.str()).send("localhost");
 }
 
 vector<MsgCmd*>::iterator Agent::findMsgById(int taskid) {

From tk at edam.speech.cs.cmu.edu  Wed Jul  4 16:33:06 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 4 Jul 2007 16:33:06 -0400
Subject: [TeamTalk 108]: [645]
 TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config : 1)
 Removed column configuration in light of new Pythia configuration memory
Message-ID: <200707042033.l64KX6TG028814@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070704/095f439a/attachment.html
-------------- next part --------------
Modified: TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-07-04 03:10:39 UTC (rev 644)
+++ TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-07-04 20:33:05 UTC (rev 645)
@@ -1,5 +1,3 @@
-NUM_DIVISIONS: 2
-
 EXPAND: $GC_HOME ..\..\ExternalLibraries\Galaxy
 EXPAND: $MITRE_ROOT $GC_HOME\contrib\MITRE
 EXPAND: $TEAMTALK ..\..
@@ -19,30 +17,39 @@
 
 PROCESS: $JAVAEXE -classpath bsh-core-2.0b4.jar;bsh-util-2.0b4.jar;jiu.jar;dist/PenDecoder.jar;$MITRE_ROOT/bindings/java/lib/galaxy.jar edu.cmu.ravenclaw.pendecoder.PenDecoderServer -port 11002 -peerfile $CONFIGURATION\peerfile.txt
 PROCESS_WORKDIR: $PENDECODER
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: PenDecoder
 
 PROCESS: $BIN\KalliopeSwift.exe -maxconns 6 -config swift.cfg
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Kalliope
 
 PROCESS: $BIN\TeamTalkBackend.exe -verbosity 1 -maxconns 6
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: TeamTalkBackend
 
 PROCESS: $PERL -I../Rosetta bin/TeamTalk
 PROCESS_WORKDIR: $NLG
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Rosetta
 
 PROCESS: $BIN\NlgServer2.exe -maxconns 6 -nlghost localhost
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: NLGServer
 
 PROCESS: $BIN\phoenix2.exe -maxconns 6 -grammardir $GRAMMAR -grammarfn $GRAMMAR\TeamTalk.net
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Phoenix
 
 PROCESS: $BIN\Audio_Server.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Audio_Server
 
 PROCESS: $BIN\Sphinx_Engine -name male -argfn male-16khz.arg -port 9990
 PROCESS_WORKDIR: $DECODER
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Sphinx_Male
 
 PROCESS: $GC_HOME\bin\x86-nt\HUB.exe -verbosity 3 -pgm_file TeamTalk-hub-desktop-skeleton.pgm
+PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Hub

From tk at edam.speech.cs.cmu.edu  Wed Jul  4 23:21:12 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 4 Jul 2007 23:21:12 -0400
Subject: [TeamTalk 109]: [646] TeamTalk/Agents: Fixed post-build copy
 problem with spaces in the path.
Message-ID: <200707050321.l653LCq5029462@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070704/65e7c8fe/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj
===================================================================
--- TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-07-04 20:33:05 UTC (rev 645)
+++ TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-07-05 03:21:10 UTC (rev 646)
@@ -95,7 +95,7 @@
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\bin\x86-nt\$(TargetName)-DEBUG.exe"
+				CommandLine="copy &quot;$(TargetPath)&quot; ..\..\bin\x86-nt\$(TargetName)-DEBUG.exe"
 			/>
 		</Configuration>
 		<Configuration
@@ -177,7 +177,7 @@
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\bin\x86-nt\$(TargetName).exe"
+				CommandLine="copy &quot;$(TargetPath)&quot; ..\..\bin\x86-nt\$(TargetName).exe"
 			/>
 		</Configuration>
 	</Configurations>

Modified: TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj
===================================================================
--- TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj	2007-07-04 20:33:05 UTC (rev 645)
+++ TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj	2007-07-05 03:21:10 UTC (rev 646)
@@ -95,7 +95,7 @@
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\..\Bin\x86-nt"
+				CommandLine="copy &quot;$(TargetPath)&quot; ..\..\..\Bin\x86-nt"
 			/>
 		</Configuration>
 		<Configuration
@@ -176,7 +176,7 @@
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\..\Bin\x86-nt"
+				CommandLine="copy &quot;$(TargetPath)&quot; ..\..\..\Bin\x86-nt"
 			/>
 		</Configuration>
 	</Configurations>

Modified: TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj
===================================================================
--- TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-07-04 20:33:05 UTC (rev 645)
+++ TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-07-05 03:21:10 UTC (rev 646)
@@ -100,7 +100,7 @@
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\bin\x86-nt\$(TargetName)-DEBUG.exe"
+				CommandLine="copy &quot;$(TargetPath)&quot; ..\..\bin\x86-nt\$(TargetName)-DEBUG.exe"
 			/>
 		</Configuration>
 		<Configuration
@@ -186,7 +186,7 @@
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\bin\x86-nt\$(TargetName).exe"
+				CommandLine="copy &quot;$(TargetPath)&quot; ..\..\bin\x86-nt\$(TargetName).exe"
 			/>
 		</Configuration>
 	</Configurations>

From tk at edam.speech.cs.cmu.edu  Fri Jul  6 21:54:18 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 6 Jul 2007 21:54:18 -0400
Subject: [TeamTalk 110]: [647]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder: 1) removed
 some unnecessary casts
Message-ID: <200707070154.l671sIhs008836@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070706/9906ea20/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-07-05 03:21:10 UTC (rev 646)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-07-07 01:54:16 UTC (rev 647)
@@ -306,7 +306,7 @@
       placedUncertaintyRing = move.createTransformedShape(uncertaintyRing);
 
       //set transparency of the bot and label based on the placement confidence
-      alpha = distance_uncertainty > 1000? 0: 1F-(float)distance_uncertainty/1000F;
+      alpha = distance_uncertainty > 1000? 0: 1F-distance_uncertainty/1000F;
       composite = AlphaComposite.getInstance(AlphaComposite.SRC_OVER, alpha);
     }
   }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-07-05 03:21:10 UTC (rev 646)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-07-07 01:54:16 UTC (rev 647)
@@ -12,8 +12,7 @@
  * @author tkharris
  */
 
-import com.sun.image.codec.jpeg.JPEGCodec;
-import com.sun.image.codec.jpeg.JPEGImageDecoder;
+import javax.imageio.ImageIO;
 import edu.cmu.ravenclaw.pendecoder.scribble3.MapBufferedImage;
 import java.io.*;
 import java.util.*;
@@ -224,11 +223,12 @@
   
   public GFrame serverOpImage(GFrame f) {
     GBinary gb = f.getBinary(":jpeg");
-    JPEGImageDecoder codec = JPEGCodec.createJPEGDecoder(new ByteArrayInputStream(gb.getBytes()));
     try {
-      frame.image(codec.decodeAsBufferedImage());
+      frame.image(ImageIO.read(new ByteArrayInputStream(gb.getBytes())));
     } catch(java.io.IOException e) {
       System.err.println("problem decoding jpeg image");
+    } catch(IllegalArgumentException e) {
+      System.err.println("problem decoding jpeg image");
     }
     return (GFrame)null;
   }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolyLineShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolyLineShape.java	2007-07-05 03:21:10 UTC (rev 646)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolyLineShape.java	2007-07-07 01:54:16 UTC (rev 647)
@@ -44,7 +44,6 @@
   public void draw(Graphics2D g) {
     //System.err.println("drawing polyline");
     if(vertecies.isEmpty()) return;
-    Graphics2D g2 = (Graphics2D)g;
     if (color != null) {
       g.setColor(color);
     }
@@ -72,7 +71,6 @@
   
   public void draw(Graphics2D g, Point last) {
     if(vertecies.isEmpty()) return;
-    Graphics2D g2 = (Graphics2D)g;
     if (color != null) {
       g.setColor(color);
     }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolygonShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolygonShape.java	2007-07-05 03:21:10 UTC (rev 646)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolygonShape.java	2007-07-07 01:54:16 UTC (rev 647)
@@ -16,7 +16,6 @@
   }
   
   public void draw(Graphics2D g) {
-    Graphics2D g2 = (Graphics2D)g;
     if (color != null) {
       g.setColor(color);
     }
@@ -31,7 +30,6 @@
   }
   
   public void draw(Graphics2D g, Point last) {
-    Graphics2D g2 = (Graphics2D)g;
     if (color != null) {
       g.setColor(color);
     }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/RectangleShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/RectangleShape.java	2007-07-05 03:21:10 UTC (rev 646)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/RectangleShape.java	2007-07-07 01:54:16 UTC (rev 647)
@@ -5,7 +5,6 @@
 public class RectangleShape extends TwoEndsShape {
   
   public void draw(Graphics2D g) {
-    Graphics2D g2 = (Graphics2D)g;
     int x = (int) Math.min(start.getX(), end.getX());
     int y = (int) Math.min(start.getY(), end.getY());
     int w = (int) Math.abs(start.getX() - end.getX());

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToolKit.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToolKit.java	2007-07-05 03:21:10 UTC (rev 646)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToolKit.java	2007-07-07 01:54:16 UTC (rev 647)
@@ -32,7 +32,7 @@
   public AbstractDecoderTool getTool(int i) { 
     if (i >= 0 &&
 	i < tools.size()) { 
-      return (AbstractDecoderTool) tools.get(i); 
+      return tools.get(i); 
     }
     return null;
   }
@@ -40,7 +40,7 @@
   public AbstractDecoderTool findTool(String name) { 
     if (name != null) {
       for (int i = 0; i < tools.size(); i++) { 
-	AbstractDecoderTool tool = (AbstractDecoderTool) tools.get(i); 
+	AbstractDecoderTool tool = tools.get(i); 
 	if (name.equals(tool.getName())) {
 	  return tool;
 	}

From bfrisch at edam.speech.cs.cmu.edu  Mon Jul  9 20:40:28 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Mon, 9 Jul 2007 20:40:28 -0400
Subject: [TeamTalk 111]: [648] 1) Robots moved to new starting position near
 table in room with garage door.
Message-ID: <200707100040.l6A0eSxs025968@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070709/4c40ab0e/attachment.html
-------------- next part --------------
Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-07-07 01:54:16 UTC (rev 647)
+++ moast-bth/moast/etc/moast.ini	2007-07-10 00:40:26 UTC (rev 648)
@@ -308,6 +308,15 @@
 UTM_START_POSE_1 = -5.5 3.5 1.7 0.0 0.0 0
 UTM_START_POSE_2 = -1.7 -3.29 1.7 0.0 0.0 0
 
+[DM-USAR_yellow_250]
+UNREAL_UTM_OFFSET = 0. 0. 0
+RESOLUTION = 0.01905
+UTM_LETTER = N
+UTM_ZONE = 18
+UTM_START_POSE_COUNT = 2
+UTM_START_POSE_1 = -5.5 3.5 1.7 0.0 0.0 0
+UTM_START_POSE_2 = -1.7 -3.29 1.7 0.0 0.0 0
+
 [DM-TestRoom_250]
 UNREAL_UTM_OFFSET = 10 10 10
 RESOLUTION = 0.01905
@@ -372,10 +381,10 @@
 UTM_LETTER = N
 UTM_ZONE = 18
 UTM_START_POSE_COUNT = 2
-UTM_START_POSE_1 = 0. 0. -1. 0. 0. 0.
-#UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
-UTM_START_POSE_2 = 1. 1. -1. 0. 0. 0.
+UTM_START_POSE_1 = 25.0 6.5 -1. 0. 0. 0.
+UTM_START_POSE_2 = 25.0 7.5 -1. 0. 0. 0.
 
+
 [DM-TallTestWorld_250]
 UNREAL_UTM_OFFSET = 0. 0. 0
 RESOLUTION = 0.01905

Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Wed Jul 11 12:23:32 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 11 Jul 2007 12:23:32 -0400
Subject: [TeamTalk 112]: [649] usarsim: 1) imported updates from usarsim to
 bring system current, to use,
 get latest (3.14) required base files and recompile
Message-ID: <200707111623.l6BGNWId008201@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070711/ad441e21/attachment-0001.html
-------------- next part --------------
Added: usarsim/System/Makefile
===================================================================
--- usarsim/System/Makefile	                        (rev 0)
+++ usarsim/System/Makefile	2007-07-11 16:23:30 UTC (rev 649)
@@ -0,0 +1,34 @@
+LINUX_DIR=../../ut2004-linux/
+
+MAPS=$(LINUX_DIR)/Maps/DM-RoboticsLab_250.ut2
+
+PACKAGES=$(LINUX_DIR)/System/USARBotAPI.u \
+         $(LINUX_DIR)/System/USARBot.u \
+         $(LINUX_DIR)/System/USARMisPkg.u \
+         $(LINUX_DIR)/System/USARModels.u \
+         $(LINUX_DIR)/System/USARVictims.u \
+         $(LINUX_DIR)/System/TreasureHunt.u
+
+INIS=$(LINUX_DIR)/System/USARSim.ini
+
+BATCH=$(LINUX_DIR)/System/usar_sx.sh
+
+all: ucc $(MAPS) $(PACKAGES) $(INIS) $(BATCH)
+
+ucc:
+	wine UCC.exe make -ini=USARSim.ini
+
+$(LINUX_DIR)/Maps/%.ut2:../Maps/%.ut2
+	cp -f $< $@
+
+$(LINUX_DIR)/System/%.u:%.u
+	cp -f $< $@
+
+$(LINUX_DIR)/System/%.ini:%.ini
+	cp -f $< $@
+
+$(LINUX_DIR)/System/%.sh:%.sh
+	cp -f $< $@
+
+
+

Modified: usarsim/System/USARSim.ini
===================================================================
--- usarsim/System/USARSim.ini	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/System/USARSim.ini	2007-07-11 16:23:30 UTC (rev 649)
@@ -100,23 +100,13 @@
 ServerPackages=XWeapons
 ServerPackages=XInterface
 ServerPackages=Vehicles
-ServerPackages=TeamSymbols_UT2003
-ServerPackages=TeamSymbols_UT2004
-ServerPackages=BonusPack
-ServerPackages=SkaarjPack_rc
-ServerPackages=SkaarjPack
-ServerPackages=UTClassic
-ServerPackages=UT2k4Assault
-ServerPackages=Onslaught
 ServerPackages=GUI2K4
-ServerPackages=UT2k4AssaultFull
-ServerPackages=OnslaughtFull
-ServerPackages=xVoting
 ServerPackages=USARBotAPI
 ServerPackages=USARBot
 ServerPackages=USARModels
 ServerPackages=USARMisPkg
 ServerPackages=USARVictims
+ServerPackages=TreasureHunt
 UseStaticMeshBatching=True
 ColorHighDetailMeshes=False
 ColorSlowCollisionMeshes=False
@@ -469,16 +459,7 @@
 EditPackages=XAdmin
 EditPackages=XWebAdmin
 EditPackages=Vehicles
-EditPackages=BonusPack
-EditPackages=SkaarjPack_rc
-EditPackages=SkaarjPack
-EditPackages=UTClassic
-EditPackages=UT2k4Assault
-EditPackages=Onslaught
 EditPackages=GUI2K4
-EditPackages=UT2k4AssaultFull
-EditPackages=OnslaughtFull
-EditPackages=xVoting
 EditPackages=StreamlineFX
 EditPackages=UTV2004c
 EditPackages=UTV2004s
@@ -487,6 +468,7 @@
 EditPackages=USARModels
 EditPackages=USARMisPkg
 EditPackages=USARVictims
+EditPackages=TreasureHunt
 CutdownPackages=Core
 CutdownPackages=Editor
 CutdownPackages=Engine
@@ -518,8 +500,8 @@
 ApplicationPaths[0]=/ServerAdmin
 Applications[1]=xWebAdmin.UTImageServer
 ApplicationPaths[1]=/images
-bEnabled=False
-ListenPort=80
+bEnabled=True
+ListenPort=8080
 
 [Engine.Console]
 ConsoleHotKey=9

Modified: usarsim/System/make.bat
===================================================================
--- usarsim/System/make.bat	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/System/make.bat	2007-07-11 16:23:30 UTC (rev 649)
@@ -3,5 +3,6 @@
 IF EXIST USARModels.u move /Y USARModels.u USARModelsu.bak
 IF EXIST USARVictims.u move /Y USARVictims.u USARVictimsu.bak 
 IF EXIST USARMisPkg.u move /Y USARMisPkg.u USARMisPkgu.bak
+IF EXIST TreasureHunt.u move /Y TreasureHunt.u TreasureHuntu.bak
 ucc make -ini=USARSim.ini
 pause

Deleted: usarsim/System/make.csh
===================================================================
--- usarsim/System/make.csh	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/System/make.csh	2007-07-11 16:23:30 UTC (rev 649)
@@ -1,18 +0,0 @@
-#!/bin/sh
-
-LINUX_DIR=../../ut2004-linux/System
-
-touch mark
-mv USARBotAPI.u USARBotAPI.u.bak
-mv USARBot.u USARBot.u.bak
-mv USARModels.u USARModels.u.bak
-mv USARVictims.u USARVictims.u.bak
-mv USARMisPkg.u USARMisPkg.u.bak
-wine UCC.exe make -ini=USARSim.ini
-
-for file in `find . -type f -newer mark | grep -v "bak$"`
-do
-echo "Got new file $file"
-mv -f $LINUX_DIR/$file $LINUX_DIR/$file.bak
-cp $file $LINUX_DIR/$file
-done

Modified: usarsim/System/usar_sx.bat
===================================================================
--- usarsim/System/usar_sx.bat	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/System/usar_sx.bat	2007-07-11 16:23:30 UTC (rev 649)
@@ -1,2 +1,2 @@
-ucc server %1%?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log
+ucc server %1%?game=TreasureHunt.TreasureHuntGame?TimeLimit=0?GameStats=False?AdminName=admin?AdminPassword=findT -ini=USARSim.ini -log=usar_server.log
 pause

Deleted: usarsim/System/usar_sx.csh
===================================================================
--- usarsim/System/usar_sx.csh	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/System/usar_sx.csh	2007-07-11 16:23:30 UTC (rev 649)
@@ -1,3 +0,0 @@
-#!/usr/local/bin/tcsh
-
-./ucc-bin server $1?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log

Copied: usarsim/System/usar_sx.sh (from rev 646, usarsim/System/usar_sx.csh)
===================================================================
--- usarsim/System/usar_sx.sh	                        (rev 0)
+++ usarsim/System/usar_sx.sh	2007-07-11 16:23:30 UTC (rev 649)
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+./ucc-bin server $1?game=TreasureHunt.TreasureHuntGame?TimeLimit=0?GameStats=False?AdminName=admin?AdminPassword=findT -ini=USARSim.ini -log=usar_server.log -nohomedir

Modified: usarsim/Tools/ImageSrv/ImageSrvDlg.cpp
===================================================================
--- usarsim/Tools/ImageSrv/ImageSrvDlg.cpp	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/Tools/ImageSrv/ImageSrvDlg.cpp	2007-07-11 16:23:30 UTC (rev 649)
@@ -23,7 +23,7 @@
 #define UTCAPP  "ut2004.exe"
 #define DLLFILE "Hook.dll"
 #define UTWND FindWindow(NULL,"Unreal Tournament 2004")
-#define UTCCMD "?spectatoronly=1?TimeLimit=0?quickstart=true -ini=usarsim.ini" //Client
+#define UTCCMD "?spectatoronly=1?game=USARBot.USARDeathMatch?TimeLimit=0?quickstart=true -ini=usarsim.ini" //Client
 #define UTSCMD "?spectatoronly=1?quickstart=true -ini=usarsim.ini" //Server
 
 #define UT_ADDRESS "127.0.0.1"

Modified: usarsim/Tools/Usar_UI/USARRoute.cpp
===================================================================
--- usarsim/Tools/Usar_UI/USARRoute.cpp	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/Tools/Usar_UI/USARRoute.cpp	2007-07-11 16:23:30 UTC (rev 649)
@@ -70,8 +70,8 @@
 	GetClientRect(&rect);
 	m_OffsetX=(rect.right+rect.left)/2;
 	m_OffsetY=(rect.bottom+rect.top)/2;
-	m_ScaleX=0.2;
-	m_ScaleY=0.2;
+	m_ScaleX=0.2f;
+	m_ScaleY=0.2f;
 	m_Data=NULL;
 	return true;
 }

Modified: usarsim/Tools/Usar_UI/UsarDlg.cpp
===================================================================
--- usarsim/Tools/Usar_UI/UsarDlg.cpp	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/Tools/Usar_UI/UsarDlg.cpp	2007-07-11 16:23:30 UTC (rev 649)
@@ -1,754 +1,770 @@
-// UsarDlg.cpp : implementation file
-//
-#include "stdafx.h"
-#include "Usar.h"
-#include "UsarDlg.h"
-#include "USARSocket.h"
-#include "USARRoute.h"
-#include "MessagePanel.h"
-#include "MessageParser.h"
-
-#ifdef _DEBUG
-#define new DEBUG_NEW
-#undef THIS_FILE
-static char THIS_FILE[] = __FILE__;
-#endif
-
-#define PORTNUM 3000
-#define MSGLINES 1000
-#define POINTSNUM 10000
-
-int MaxMsg=256;
-BOOL bLOCK=false;
-
-/////////////////////////////////////////////////////////////////////////////
-// CAboutDlg dialog used for App About
-
-class CAboutDlg : public CDialog
-{
-public:
-	CAboutDlg();
-
-// Dialog Data
-	//{{AFX_DATA(CAboutDlg)
-	enum { IDD = IDD_ABOUTBOX };
-	//}}AFX_DATA
-
-	// ClassWizard generated virtual function overrides
-	//{{AFX_VIRTUAL(CAboutDlg)
-	protected:
-	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
-	//}}AFX_VIRTUAL
-
-// Implementation
-protected:
-	//{{AFX_MSG(CAboutDlg)
-	//}}AFX_MSG
-	DECLARE_MESSAGE_MAP()
-};
-
-CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
-{
-	//{{AFX_DATA_INIT(CAboutDlg)
-	//}}AFX_DATA_INIT
-}
-
-void CAboutDlg::DoDataExchange(CDataExchange* pDX)
-{
-	CDialog::DoDataExchange(pDX);
-	//{{AFX_DATA_MAP(CAboutDlg)
-	//}}AFX_DATA_MAP
-}
-
-BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
-	//{{AFX_MSG_MAP(CAboutDlg)
-		// No message handlers
-	//}}AFX_MSG_MAP
-END_MESSAGE_MAP()
-
-/////////////////////////////////////////////////////////////////////////////
-// CUsarDlg dialog
-
-CUsarDlg::CUsarDlg(CWnd* pParent /*=NULL*/)
-	: CDialog(CUsarDlg::IDD, pParent)
-{
-	//{{AFX_DATA_INIT(CUsarDlg)
-	m_Server = _T("");
-	m_Location = _T("");
-	m_Rotation = _T("");
-	m_Time = _T("");
-	//}}AFX_DATA_INIT
-	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
-	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
-	m_Control = false;
-	m_arOut = NULL;
-	m_arIn = NULL;
-}
-
-void CUsarDlg::DoDataExchange(CDataExchange* pDX)
-{
-	CDialog::DoDataExchange(pDX);
-	//{{AFX_DATA_MAP(CUsarDlg)
-	DDX_Control(pDX, IDC_TAB1, m_Table);
-	DDX_Control(pDX, IDC_COMBO1, m_Command);
-	DDX_Control(pDX, IDC_BUTTON2, m_Send);
-	DDX_Control(pDX, IDC_BUTTON1, m_Connect);
-	DDX_Control(pDX, IDC_LIST1, m_Msg);
-	DDX_Text(pDX, IDC_EDIT1, m_Server);
-	DDX_Text(pDX, IDC_EDIT2, m_Location);
-	DDX_Text(pDX, IDC_EDIT3, m_Rotation);
-	DDX_Text(pDX, IDC_EDIT4, m_Time);
-	//}}AFX_DATA_MAP
-}
-
-BEGIN_MESSAGE_MAP(CUsarDlg, CDialog)
-	//{{AFX_MSG_MAP(CUsarDlg)
-	ON_WM_SYSCOMMAND()
-	ON_WM_PAINT()
-	ON_WM_QUERYDRAGICON()
-	ON_BN_CLICKED(IDC_BUTTON1, OnConnect)
-	ON_BN_CLICKED(IDC_BUTTON2, OnSend)
-	ON_CBN_SELCHANGE(IDC_COMBO1, OnSelchangeCombo1)
-	ON_BN_CLICKED(IDC_BUTTON3, OnControl)
-	ON_BN_CLICKED(IDC_BUTTON4, OnZoomIn)
-	ON_BN_CLICKED(IDC_BUTTON5, OnZoomOut)
-	ON_BN_CLICKED(IDC_BUTTON7, OnOriginal)
-	ON_BN_CLICKED(IDC_BUTTON6, OnClear)
-	ON_LBN_DBLCLK(IDC_LIST1, OnDblclkList1)
-	//}}AFX_MSG_MAP
-END_MESSAGE_MAP()
-
-/////////////////////////////////////////////////////////////////////////////
-// CUsarDlg message handlers
-
-BOOL CUsarDlg::OnInitDialog()
-{
-	CDialog::OnInitDialog();
-
-	// Add "About..." menu item to system menu.
-
-	// IDM_ABOUTBOX must be in the system command range.
-	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
-	ASSERT(IDM_ABOUTBOX < 0xF000);
-
-	CMenu* pSysMenu = GetSystemMenu(FALSE);
-	if (pSysMenu != NULL)
-	{
-		CString strAboutMenu;
-		strAboutMenu.LoadString(IDS_ABOUTBOX);
-		if (!strAboutMenu.IsEmpty())
-		{
-			pSysMenu->AppendMenu(MF_SEPARATOR);
-			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
-		}
-	}
-
-	// Set the icon for this dialog.  The framework does this automatically
-	//  when the application's main window is not a dialog
-	SetIcon(m_hIcon, TRUE);			// Set big icon
-	SetIcon(m_hIcon, FALSE);		// Set small icon
-	
-	// TODO: Add extra initialization here
-	m_Server = "localhost";
-	m_Command.LimitText(128);
-	//m_arIn = NULL;
-	//m_arOut = NULL;
-	m_Socket = new USARSocket(this);
-	
-	//m_Control = false;
-
-	m_CachedMove.vx=0.001f;
-	m_CachedMove.vy=0.001f;
-	m_CachedMove.rx=-1;
-	m_CachedMove.cx=0.001f;
-	m_CachedMove.cy=0.001f;
-	m_CachedMove.cz=0.001f;
-
-	memset(&m_Joyinfo,0,sizeof(JOYINFOEX));
-	m_Joyinfo.dwSize = sizeof(JOYINFOEX);
-	m_Joyinfo.dwFlags = JOY_RETURNPOV | JOY_RETURNX | JOY_RETURNY | JOY_RETURNZ | JOY_RETURNR;
-	
-	m_Table.Init();
-	m_finishTime = clock();
-
-	UpdateData(false);
-	return TRUE;  // return TRUE  unless you set the focus to a control
-}
-
-void CUsarDlg::OnSysCommand(UINT nID, LPARAM lParam)
-{
-	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
-	{
-		CAboutDlg dlgAbout;
-		dlgAbout.DoModal();
-	}
-	else
-	{
-		CDialog::OnSysCommand(nID, lParam);
-	}
-}
-
-// If you add a minimize button to your dialog, you will need the code below
-//  to draw the icon.  For MFC applications using the document/view model,
-//  this is automatically done for you by the framework.
-
-void CUsarDlg::OnPaint() 
-{
-	if (IsIconic())
-	{
-		CPaintDC dc(this); // device context for painting
-
-		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);
-
-		// Center icon in client rectangle
-		int cxIcon = GetSystemMetrics(SM_CXICON);
-		int cyIcon = GetSystemMetrics(SM_CYICON);
-		CRect rect;
-		GetClientRect(&rect);
-		int x = (rect.Width() - cxIcon + 1) / 2;
-		int y = (rect.Height() - cyIcon + 1) / 2;
-
-		// Draw the icon
-		dc.DrawIcon(x, y, m_hIcon);
-	}
-	else
-	{
-		CDialog::OnPaint();
-	}
-}
-
-// The system calls this to obtain the cursor to display while the user drags
-//  the minimized window.
-HCURSOR CUsarDlg::OnQueryDragIcon()
-{
-	return (HCURSOR) m_hIcon;
-}
-
-void CUsarDlg::OnConnect() 
-{
-	// TODO: Add your control notification handler code here
-	UpdateData();
-	if (m_arOut==NULL) {
-		if (!m_Socket->Create()) {
-			MessageBox("Can't create socket","Socket",MB_OK);
-			return;
-		}
-		if (!m_Socket->Connect(m_Server,PORTNUM)) {
-			MessageBox("Can't connect to server","Connect",MB_OK);
-			m_Socket->Close();
-			return;
-		}
-		m_File = new CSocketFile(m_Socket);
-		m_arIn = new CArchive(m_File, CArchive::load);
-		m_arOut = new CArchive(m_File, CArchive::store);
-		m_Connect.SetWindowText("Disconnect");
-		InitZoom();
-		m_Send.EnableWindow(true);
-		//if (m_HasJoystick)
-			GetDlgItem(IDC_BUTTON3)->EnableWindow(true);
-		//clear data
-		m_Movement.raw.RemoveAll();
-		m_Movement.points.RemoveAll();
-		//CString str;
-		//m_arIn->ReadString(str);
-		//m_Msg.AddString(str);
-	}
-	else {
-		if (m_arIn!=NULL) {
-			delete m_arIn;
-			m_arIn=NULL;
-		}
-		delete m_arOut;
-		m_arOut=NULL;
-		delete m_File;
-		m_File=NULL;
-		m_Socket->Close();
-		m_Connect.SetWindowText("Connect");
-		m_Send.EnableWindow(false);
-		GetDlgItem(IDC_BUTTON3)->EnableWindow(false);
-	}
-}
-
-void CUsarDlg::OnSend() 
-{
-	// TODO: Add your control notification handler code here
-	CString str;
-	if (m_arOut==NULL) return;
-	m_Command.GetWindowText(str);
-	m_Command.InsertString(0,str);
-	try {
-		m_arOut->WriteString(str);
-		m_arOut->WriteString("\r\n");
-		m_arOut->Flush();
-	}catch (CException* e) {
-		e->Delete();
-		MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
-		exit(1);
-	}
-}
-
-void CUsarDlg::OnSelchangeCombo1() 
-{
-	// TODO: Add your control notification handler code here
-	CString str;
-	int i = m_Command.GetCurSel();
-	m_Command.GetLBText(i,str);
-	m_Command.SetWindowText(str);
-}
-
-void CUsarDlg::ProcessPendingRead() 
-{
-	// TODO: Add your message handler code here and/or call default
-	CString str;
-	int tmp,process=1;
-
-	do {
-		m_arIn->ReadString(str);
-		m_Msg.InsertString(0,str);
-		if (m_Msg.GetCount()>=MSGLINES) 
-			m_Msg.DeleteString(MSGLINES);
-		tmp = str.GetLength()*6;
-		if (tmp>MaxMsg) {
-			MaxMsg = tmp;
-			m_Msg.SetHorizontalExtent(tmp);
-		}
-		// If we get more than one STA message, we possibly have heavy traffic. 
-		// So we discard all the messages after the second STA message to
-		// empty the queue.
-		if (str.Find("STA")==0) {
-			if (process==1) process=2;
-			else if (process==2) process=0;
-		}
-		if (process) ProcessMessage(str);
-
-	}while(!m_arIn->IsBufferEmpty());
-
-	UpdateData(false);
-	Sleep(5);
-}
-
-void CUsarDlg::ProcessMessage(CString str)
-{
-	int p1,p2;
-	//Robot state
-	if (str.Find("STA")==0 || str.Find("{Type GroundTruth}")>0) {
-		p1 = str.Find("{Time");
-		if (p1>0) {
-			p1 += 5;
-			p2 = str.Find("}",p1);
-			m_Time = str.Mid(p1,p2-p1);
-		}
-		p1 = str.Find("{Location",p2);
-		if (p1>0) {
-			p1 += 9;
-			p2 = str.Find("}",p1);
-			m_Location = str.Mid(p1,p2-p1);
-		}
-		p1 = str.Find("{Orientation",p2);
-		if (p1>0) {
-			p1 += 12;
-			p2 = str.Find("}",p1);
-			m_Rotation = str.Mid(p1,p2-p1);
-		}
-		AddPoint(m_Location,m_Rotation);
-		return;
-	}
-}
-
-void CUsarDlg::OnControl() 
-{
-	// TODO: Add your control notification handler code here
-	if (!m_Control) {
-		GetDlgItem(IDC_BUTTON3)->SetWindowText("&Control");
-		SetCapture();
-		m_Control=true;
-		int srcWidth = GetSystemMetrics(SM_CXSCREEN)-25;
-		int srcHeight = GetSystemMetrics(SM_CYSCREEN)-25;
-		GetWindowRect(&m_winPos);
-		RECT tmp;
-		tmp.left = m_winPos.left>25?m_winPos.left:25;
-		tmp.right = m_winPos.right<srcWidth?m_winPos.right:srcWidth;
-		tmp.top = m_winPos.top>25?m_winPos.top:25;
-		tmp.bottom = m_winPos.bottom<srcHeight?m_winPos.bottom:srcHeight;
-		m_winRange.left=tmp.left-m_winPos.left;
-		m_winRange.right=tmp.right-m_winPos.left-5;
-		m_winRange.top=tmp.top-m_winPos.top;
-		m_winRange.bottom=tmp.bottom-m_winPos.top-50;
-		m_moveAmount=0.0;
-		m_turnAmount=0.0;
-		m_pitchAmount=0;
-		m_yawAmount=0;
-		m_oldMX=-1;
-		m_oldMY=-1;
-	}
-	else {
-		GetDlgItem(IDC_BUTTON3)->SetWindowText("&Command");
-		m_Control=false;
-		ReleaseCapture();
-	}
-}
-
-LRESULT CUsarDlg::WindowProc(UINT message, WPARAM wParam, LPARAM lParam) 
-{
-	// TODO: Add your specialized code here and/or call the base class
-    switch(message)
-    {
-        case WM_CREATE:
-            /* Capture the joystick. If this fails, beep and display
-             * error.
-             */
-            if(joySetCapture(m_hWnd, JOYSTICKID1, 0, FALSE))
-            {
-                MessageBeep(MB_ICONEXCLAMATION);
-                MessageBox("Couldn't capture the joystick", NULL, MB_OK | MB_ICONEXCLAMATION);
-                m_HasJoystick = false;
-				//return -1;
-            }
-            else m_HasJoystick = true;
-            break;
-
-        case MM_JOY1MOVE :
-            //if (m_Control) Rotate(lParam);
-			/*if (m_Control)*/ Move();
-            break;
-		case WM_RBUTTONDOWN:
-			if (m_arOut!=NULL) OnControl();
-			break;
-		case WM_ACTIVATE:
-			if (LOWORD(wParam)==WA_INACTIVE)
-				ReleaseCapture();
-			else if (m_Control && m_arOut!=NULL)
-				SetCapture();
-			break;
-        case WM_DESTROY:
-            /* We're shutting down. Release capture on the joystick, 
-             * make sure any sounds that are playing are stopped.
-             */
-            if (m_HasJoystick) joyReleaseCapture(JOYSTICKID1);
-            PostQuitMessage(0);
-            break;
-    }
-	return CDialog::WindowProc(message, wParam, lParam);
-}
-
-BOOL CUsarDlg::PreTranslateMessage(MSG* pMsg) 
-{
-	// TODO: Add your specialized code here and/or call the base class
-	int processed;
-	if (!m_Control) return CDialog::PreTranslateMessage(pMsg);
-	switch(pMsg->message) {
-		case WM_KEYDOWN:
-			processed=KMove(pMsg->wParam,pMsg->lParam,1);
-			break;
-		case WM_KEYUP:
-			processed=KMove(pMsg->wParam,pMsg->lParam,0);
-			break;
-		case WM_MOUSEMOVE:
-			processed=KMove(pMsg->wParam,pMsg->lParam,2);
-			break;
-		default:
-			processed=0;
-	}
-	if (processed) return true;
-	else {
-		if (pMsg->message!=WM_MOUSEMOVE&&(m_pitchAmount!=0||m_yawAmount!=0)) {
-			SYSTEMTIME systime;
-			GetSystemTime(&systime);
-			if ((systime.wMilliseconds-m_systime.wMilliseconds)>0.1) {
-				m_pitchAmount=0;
-				m_yawAmount=0;
-				CString str="CAMERA {Rotation 0,0,0}\r\n";
-				//m_Msg.InsertString(0,str);
-				if (m_arOut!=NULL) {
-					try {
-						m_arOut->WriteString(str);
-						m_arOut->Flush();
-					}catch (CException* e) {
-						e->Delete();
-						MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
-						exit(1);
-					}
-				}
-				Sleep(50);
-			}
-		}
-		return CDialog::PreTranslateMessage(pMsg);
-	}
-}
-
-int CUsarDlg::KMove(WPARAM wParam, LPARAM lParam, int type)
-{
-	CString str;
-	int processed=1;
-	int x,y;
-	switch(wParam) {
-		case VK_LEFT:
-			m_turnAmount=type?m_turnAmount+0.2f:0.0f;
-			m_turnAmount=(m_turnAmount>20.0f)?20.0f:m_turnAmount;
-			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",-m_turnAmount,m_turnAmount);
-			break;
-		case VK_RIGHT:
-			m_turnAmount=type?m_turnAmount+0.2f:0.0f;
-			m_turnAmount=(m_turnAmount>20.0f)?20.0f:m_turnAmount;
-			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",m_turnAmount,-m_turnAmount);
-			break;
-		case VK_UP:
-			m_moveAmount=type?m_moveAmount+0.2f:0.0f;
-			m_moveAmount=(m_moveAmount>20.0f)?20.0f:m_moveAmount;
-			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",m_moveAmount,m_moveAmount);
-			break;
-		case VK_DOWN:
-			m_moveAmount=type?m_moveAmount+0.2f:0.0f;
-			m_moveAmount=(m_moveAmount>20.0f)?20.0f:m_moveAmount;
-			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",-m_moveAmount,-m_moveAmount);
-			break;
-		case VK_RETURN:
-		case VK_ESCAPE:
-			break;
-		default:
-			processed=0;
-	}
-	if (m_arOut!=NULL&&str.GetLength()>1) {
-		try {
-			m_arOut->WriteString(str);
-			m_arOut->Flush();
-		}catch (CException* e) {
-			e->Delete();
-			MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
-			exit(1);
-		}
-	}
-
-	if (type==2) {
-		x=LOWORD(lParam);
-		y=HIWORD(lParam);
-		//str.Format("Mouse x=%d y=%d W=%d H=%d",x,y,m_winWidth,m_winHeight);
-		//m_Msg.InsertString(0,str);
-		if ((x>m_winRange.left)&&(x<m_winRange.right)&&
-			(y>m_winRange.top)&&(y<m_winRange.bottom)) {
-			if (m_oldMX<0) m_oldMX=x;
-			if (m_oldMY<0) m_oldMY=y;
-			m_pitchAmount=(m_oldMY-y)*0.02f;
-			if (m_pitchAmount>0.08f) m_pitchAmount=0.08f;
-			if (m_pitchAmount<-0.08f) m_pitchAmount=-0.08f;
-			m_yawAmount=(x-m_oldMX)*0.02f;
-			if (m_yawAmount>0.08f) m_yawAmount=0.08f;
-			if (m_yawAmount<-0.08f) m_yawAmount=-0.08f;
-			m_oldMX=x;
-			m_oldMY=y;
-			str.Format("CAMERA {Rotation 0,%f,%f}\r\n",m_pitchAmount,m_yawAmount);
-			if (m_arOut!=NULL) {
-				try {
-					m_arOut->WriteString(str);
-					m_arOut->Flush();
-				}catch (CException* e) {
-					e->Delete();
-					MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
-					exit(1);
-				}
-			}
-			GetSystemTime(&m_systime);
-		}
-		else 
-			SetCursorPos((m_winPos.left+m_winPos.right)/2,(m_winPos.top+m_winPos.bottom)/2);
-
-	}
-	return processed;
-}
-
-void CUsarDlg::Move()
-{
-	CString str,tmp;
-	WORD x,y,pov;
-	float rx,ry,rz,d;
-	float vx,vy,vz;
-	
-	rx = 0; ry = 0; rz = 0;
-	//ry = m_Movement.c_Rotation.y;
-	vx =0; vy = 0; vz = 0;
-	d = 0;
-	
-	joyGetPosEx(JOYSTICKID1, &m_Joyinfo);
-
-	// Trun left/right
-	x = LOWORD(m_Joyinfo.dwXpos) >> 11;
-    if (x <= 11) vx = (x - 12)/0.6f;
-    else if (x >= 20) vx = (x - 19)/0.6f;
-
-	// Move forward/backward
-	y = LOWORD(m_Joyinfo.dwYpos) >> 11;
-    if (y <= 11) vy = (y - 12)/0.6f;
-    else if (y >= 20) vy = (y - 19)/0.6f;
-	
-	if (vx!=m_CachedMove.vx||vy!=m_CachedMove.vy) {
-		m_CachedMove.vx = vx;
-		m_CachedMove.vy = vy;
-		str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",vx-vy,-vy-vx);
-		//m_Msg.InsertString(0,str);
-	}
-
-	// View pitch & yaw
-	pov = LOWORD(m_Joyinfo.dwPOV);
-	rx=0;ry=0;rz=0;
-	if (pov<36000) {
-		d = pov*3.1415926f/18000;
-		ry=(float)(0.006*cos(d));
-		rz=(float)(0.006*sin(d));
-	}
-	rx=0;
-
-	if (rx!=m_CachedMove.cx || m_CachedMove.cx!=0 ||
-		ry!=m_CachedMove.cy || m_CachedMove.cy!=0 ||
-		rz!=m_CachedMove.cz || m_CachedMove.cy!=0) {
-		m_CachedMove.cx = rx;
-		m_CachedMove.cy = ry;
-		m_CachedMove.cz = rz;
-		tmp.Format("CAMERA {Rotation %f,%f,%f}\r\n",rx,ry,rz);
-		//m_Msg.InsertString(0,tmp);
-		str+=tmp;
-	}
-	
-	if (m_arOut!=NULL&&str.GetLength()>1) {
-		try {
-			m_arOut->WriteString(str);
-			m_arOut->Flush();
-		}catch (CException* e) {
-			e->Delete();
-			MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
-			exit(1);
-		}
-	}
-	/*
-	str.Format("X=%d %d Y=%d %d Z=%d %d R=%d POV=%d %d",
-				m_Joyinfo.dwXpos,x,
-				m_Joyinfo.dwYpos,y,
-				m_Joyinfo.dwZpos,0,
-				m_Joyinfo.dwRpos,
-				m_Joyinfo.dwPOV,pov);
-	
-	m_Msg.InsertString(0,str);
-	*/
-}
-
-void CUsarDlg::AddPoint(CString Location, CString Rotation)
-{
-	int x0,y0,z0;
-	int x,y,z;
-	int p1,p2;
-	
-	if (bLOCK) return;
-	p1 = Location.Find(',');
-	p2 = Location.Find(',',p1+1);
-	x0 = (int)(-atof((LPCSTR)Location.Left(p1))*500);
-	x = (int)((float)x0*m_Zoom.scaleX+m_Zoom.offsetX);
-	y0 = (int)(-atof((LPCSTR)Location.Mid(p1+1,p2-p1))*500);
-	y = (int)((float)y0*m_Zoom.scaleY+m_Zoom.offsetY);
-	z0 = (int)(atof((LPCSTR)Location.Mid(p2+1))*500);
-	if (m_Movement.c_Location.x!=x0||m_Movement.c_Location.y!=y0||m_Movement.points.GetSize()==0) {
-		m_Movement.c_Location.x=x;
-		m_Movement.c_Location.y=y;
-		m_Movement.points.Add(m_Movement.c_Location);
-		m_Movement.c_Location.x=x0;
-		m_Movement.c_Location.y=y0;
-		m_Movement.raw.Add(m_Movement.c_Location);
-		m_Movement.z = z0;
-		m_Table.DrawPoint(&m_Movement);
-	}
-
-	p1 = Rotation.Find(',');
-	p2 = Rotation.Find(',',p1+1);
-	z = (int)(atof((LPCSTR)Rotation.Left(p1))*10430.37835);
-	x = (int)(atof((LPCSTR)Rotation.Mid(p1+1,p2-p1))*10430.37835);
-	y = (int)(atof((LPCSTR)Rotation.Mid(p2+1))*10430.37835);
-	if (m_Movement.c_Rotation.x!=x||m_Movement.c_Rotation.y!=y||m_Movement.points.GetSize()==0) {
-		m_Movement.c_Rotation.x=x;
-		m_Movement.c_Rotation.y=y;
-		m_Table.DrawPoint(&m_Movement);
-	}
-	if (m_Movement.points.GetSize()>=POINTSNUM) m_Movement.points.RemoveAt(0);
-	if (m_Movement.raw.GetSize()>=POINTSNUM) m_Movement.raw.RemoveAt(0);
-}
-
-void CUsarDlg::InitZoom()
-{
-	USARRoute * ur;
-	ur  = ((USARRoute *)m_Table.m_tabPages[m_Table.m_tabCurrent]);
-	m_Zoom.offsetX = ur->m_OffsetX;
-	m_Zoom.offsetY = ur->m_OffsetY;
-	m_Zoom.scaleX = ur->m_ScaleX;
-	m_Zoom.scaleY = ur->m_ScaleY;
-}
-
-
-void CUsarDlg::UpdatePoints()
-{
-	POINT p;
-	int n = m_Movement.points.GetSize();
-	for (int i=0;i<n;i++) {
-		p = m_Movement.raw.GetAt(i);
-		p.x = (int)(p.x*m_Zoom.scaleX+m_Zoom.offsetX);
-		p.y = (int)(p.y*m_Zoom.scaleY+m_Zoom.offsetY);
-		m_Movement.points.SetAt(i,p);
-	}
-}
-
-void CUsarDlg::OnZoomIn() 
-{
-	// TODO: Add your control notification handler code here
-	bLOCK = true;
-	m_Zoom.scaleX *= 2.0;
-	m_Zoom.scaleY *= 2.0;
-	UpdatePoints();
-	bLOCK = false;
-	m_Table.DrawPoint(&m_Movement);
-}
-
-
-void CUsarDlg::OnZoomOut() 
-{
-	// TODO: Add your control notification handler code here
-	bLOCK = true;
-	m_Zoom.scaleX /= 2.0;
-	m_Zoom.scaleY /= 2.0;
-	UpdatePoints();
-	bLOCK = false;
-	m_Table.DrawPoint(&m_Movement);
-}
-
-void CUsarDlg::OnOriginal() 
-{
-	// TODO: Add your control notification handler code here
-	bLOCK = true;
-	m_Zoom.scaleX = 0.2f;
-	m_Zoom.scaleY = 0.2f;
-	UpdatePoints();
-	bLOCK = false;
-	m_Table.DrawPoint(&m_Movement);
-}
-
-void CUsarDlg::OnClear() 
-{
-	// TODO: Add your control notification handler code here
-	POINT p;
-	if (m_Movement.raw.GetSize()<1) return;
-	bLOCK = true;
-	p = m_Movement.raw.GetAt(m_Movement.raw.GetSize()-1);
-	m_Movement.raw.RemoveAll();
-	m_Movement.raw.Add(p);
-	p = m_Movement.points.GetAt(m_Movement.points.GetSize()-1);
-	m_Movement.points.RemoveAll();
-	m_Movement.points.Add(p);
-	bLOCK = false;
-	m_Table.DrawPoint(&m_Movement);
-}
-
-void CUsarDlg::OnDblclkList1() 
-{
-	// TODO: Add your control notification handler code here
-	CString str;
-	m_Msg.GetText(m_Msg.GetCurSel(),str);
-	//MessageBox(str,"Message",MB_OK);
-	CMessagePanel msg = new CMessagePanel();
-	msg.SetMessage(str);
-	msg.DoModal();
-}
+// UsarDlg.cpp : implementation file
+//
+#include "stdafx.h"
+#include "Usar.h"
+#include "UsarDlg.h"
+#include "USARSocket.h"
+#include "USARRoute.h"
+#include "MessagePanel.h"
+#include "MessageParser.h"
+
+#ifdef _DEBUG
+#define new DEBUG_NEW
+#undef THIS_FILE
+static char THIS_FILE[] = __FILE__;
+#endif
+
+#define PORTNUM 3000
+#define MSGLINES 1000
+#define POINTSNUM 10000
+
+int MaxMsg=256;
+BOOL bLOCK=false;
+
+/////////////////////////////////////////////////////////////////////////////
+// CAboutDlg dialog used for App About
+
+class CAboutDlg : public CDialog
+{
+public:
+	CAboutDlg();
+
+// Dialog Data
+	//{{AFX_DATA(CAboutDlg)
+	enum { IDD = IDD_ABOUTBOX };
+	//}}AFX_DATA
+
+	// ClassWizard generated virtual function overrides
+	//{{AFX_VIRTUAL(CAboutDlg)
+	protected:
+	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
+	//}}AFX_VIRTUAL
+
+// Implementation
+protected:
+	//{{AFX_MSG(CAboutDlg)
+	//}}AFX_MSG
+	DECLARE_MESSAGE_MAP()
+};
+
+CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
+{
+	//{{AFX_DATA_INIT(CAboutDlg)
+	//}}AFX_DATA_INIT
+}
+
+void CAboutDlg::DoDataExchange(CDataExchange* pDX)
+{
+	CDialog::DoDataExchange(pDX);
+	//{{AFX_DATA_MAP(CAboutDlg)
+	//}}AFX_DATA_MAP
+}
+
+BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
+	//{{AFX_MSG_MAP(CAboutDlg)
+		// No message handlers
+	//}}AFX_MSG_MAP
+END_MESSAGE_MAP()
+
+/////////////////////////////////////////////////////////////////////////////
+// CUsarDlg dialog
+
+CUsarDlg::CUsarDlg(CWnd* pParent /*=NULL*/)
+	: CDialog(CUsarDlg::IDD, pParent)
+{
+	//{{AFX_DATA_INIT(CUsarDlg)
+	m_Server = _T("");
+	m_Location = _T("");
+	m_Rotation = _T("");
+	m_Time = _T("");
+	//}}AFX_DATA_INIT
+	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
+	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
+	m_Control = false;
+	m_arOut = NULL;
+	m_arIn = NULL;
+}
+
+void CUsarDlg::DoDataExchange(CDataExchange* pDX)
+{
+	CDialog::DoDataExchange(pDX);
+	//{{AFX_DATA_MAP(CUsarDlg)
+	DDX_Control(pDX, IDC_TAB1, m_Table);
+	DDX_Control(pDX, IDC_COMBO1, m_Command);
+	DDX_Control(pDX, IDC_BUTTON2, m_Send);
+	DDX_Control(pDX, IDC_BUTTON1, m_Connect);
+	DDX_Control(pDX, IDC_LIST1, m_Msg);
+	DDX_Text(pDX, IDC_EDIT1, m_Server);
+	DDX_Text(pDX, IDC_EDIT2, m_Location);
+	DDX_Text(pDX, IDC_EDIT3, m_Rotation);
+	DDX_Text(pDX, IDC_EDIT4, m_Time);
+	//}}AFX_DATA_MAP
+}
+
+BEGIN_MESSAGE_MAP(CUsarDlg, CDialog)
+	//{{AFX_MSG_MAP(CUsarDlg)
+	ON_WM_SYSCOMMAND()
+	ON_WM_PAINT()
+	ON_WM_QUERYDRAGICON()
+	ON_BN_CLICKED(IDC_BUTTON1, OnConnect)
+	ON_BN_CLICKED(IDC_BUTTON2, OnSend)
+	ON_CBN_SELCHANGE(IDC_COMBO1, OnSelchangeCombo1)
+	ON_BN_CLICKED(IDC_BUTTON3, OnControl)
+	ON_BN_CLICKED(IDC_BUTTON4, OnZoomIn)
+	ON_BN_CLICKED(IDC_BUTTON5, OnZoomOut)
+	ON_BN_CLICKED(IDC_BUTTON7, OnOriginal)
+	ON_BN_CLICKED(IDC_BUTTON6, OnClear)
+	ON_LBN_DBLCLK(IDC_LIST1, OnDblclkList1)
+	//}}AFX_MSG_MAP
+END_MESSAGE_MAP()
+
+/////////////////////////////////////////////////////////////////////////////
+// CUsarDlg message handlers
+
+BOOL CUsarDlg::OnInitDialog()
+{
+	CDialog::OnInitDialog();
+
+	// Add "About..." menu item to system menu.
+
+	// IDM_ABOUTBOX must be in the system command range.
+	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
+	ASSERT(IDM_ABOUTBOX < 0xF000);
+
+	CMenu* pSysMenu = GetSystemMenu(FALSE);
+	if (pSysMenu != NULL)
+	{
+		CString strAboutMenu;
+		strAboutMenu.LoadString(IDS_ABOUTBOX);
+		if (!strAboutMenu.IsEmpty())
+		{
+			pSysMenu->AppendMenu(MF_SEPARATOR);
+			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
+		}
+	}
+
+	// Set the icon for this dialog.  The framework does this automatically
+	//  when the application's main window is not a dialog
+	SetIcon(m_hIcon, TRUE);			// Set big icon
+	SetIcon(m_hIcon, FALSE);		// Set small icon
+	
+	// TODO: Add extra initialization here
+	m_Server = "localhost";
+	m_Command.LimitText(128);
+	//m_arIn = NULL;
+	//m_arOut = NULL;
+	m_Socket = new USARSocket(this);
+	
+	//m_Control = false;
+
+	m_CachedMove.vx=0.001f;
+	m_CachedMove.vy=0.001f;
+	m_CachedMove.rx=-1;
+	m_CachedMove.cx=0.001f;
+	m_CachedMove.cy=0.001f;
+	m_CachedMove.cz=0.001f;
+
+	memset(&m_Joyinfo,0,sizeof(JOYINFOEX));
+	m_Joyinfo.dwSize = sizeof(JOYINFOEX);
+	m_Joyinfo.dwFlags = JOY_RETURNPOV | JOY_RETURNX | JOY_RETURNY | JOY_RETURNZ | JOY_RETURNR;
+	
+	m_Table.Init();
+	m_finishTime = clock();
+
+	UpdateData(false);
+	return TRUE;  // return TRUE  unless you set the focus to a control
+}
+
+void CUsarDlg::OnSysCommand(UINT nID, LPARAM lParam)
+{
+	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
+	{
+		CAboutDlg dlgAbout;
+		dlgAbout.DoModal();
+	}
+	else if ((nID & 0xFFF0) == SC_CLOSE)
+	{
+		EndDialog(IDOK);
+	}
+	else
+	{
+		CDialog::OnSysCommand(nID, lParam);
+	}
+}
+
+// If you add a minimize button to your dialog, you will need the code below
+//  to draw the icon.  For MFC applications using the document/view model,
+//  this is automatically done for you by the framework.
+
+void CUsarDlg::OnPaint() 
+{
+	if (IsIconic())
+	{
+		CPaintDC dc(this); // device context for painting
+
+		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);
+
+		// Center icon in client rectangle
+		int cxIcon = GetSystemMetrics(SM_CXICON);
+		int cyIcon = GetSystemMetrics(SM_CYICON);
+		CRect rect;
+		GetClientRect(&rect);
+		int x = (rect.Width() - cxIcon + 1) / 2;
+		int y = (rect.Height() - cyIcon + 1) / 2;
+
+		// Draw the icon
+		dc.DrawIcon(x, y, m_hIcon);
+	}
+	else
+	{
+		CDialog::OnPaint();
+	}
+}
+
+// The system calls this to obtain the cursor to display while the user drags
+//  the minimized window.
+HCURSOR CUsarDlg::OnQueryDragIcon()
+{
+	return (HCURSOR) m_hIcon;
+}
+
+void CUsarDlg::OnConnect() 
+{
+	// TODO: Add your control notification handler code here
+	UpdateData();
+	if (m_arOut==NULL) {
+		if (!m_Socket->Create()) {
+			MessageBox("Can't create socket","Socket",MB_OK);
+			return;
+		}
+		if (!m_Socket->Connect(m_Server,PORTNUM)) {
+			MessageBox("Can't connect to server","Connect",MB_OK);
+			m_Socket->Close();
+			return;
+		}
+		m_File = new CSocketFile(m_Socket);
+		m_arIn = new CArchive(m_File, CArchive::load);
+		m_arOut = new CArchive(m_File, CArchive::store);
+		m_Connect.SetWindowText("Disconnect");
+		InitZoom();
+		m_Send.EnableWindow(true);
+		//if (m_HasJoystick)
+			GetDlgItem(IDC_BUTTON3)->EnableWindow(true);
+		//clear data
+		m_Movement.raw.RemoveAll();
+		m_Movement.points.RemoveAll();
+		//CString str;
+		//m_arIn->ReadString(str);
+		//m_Msg.AddString(str);
+	}
+	else {
+		if (m_arIn!=NULL) {
+			delete m_arIn;
+			m_arIn=NULL;
+		}
+		delete m_arOut;
+		m_arOut=NULL;
+		delete m_File;
+		m_File=NULL;
+		m_Socket->Close();
+		m_Connect.SetWindowText("Connect");
+		m_Send.EnableWindow(false);
+		GetDlgItem(IDC_BUTTON3)->EnableWindow(false);
+	}
+}
+
+void CUsarDlg::OnSend() 
+{
+	// TODO: Add your control notification handler code here
+	CString str;
+	if (m_arOut==NULL) return;
+	m_Command.GetWindowText(str);
+	m_Command.InsertString(0,str);
+	try {
+		m_arOut->WriteString(str);
+		m_arOut->WriteString("\r\n");
+		m_arOut->Flush();
+	}catch (CException* e) {
+		e->Delete();
+		MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
+		exit(1);
+	}
+}
+
+void CUsarDlg::OnSelchangeCombo1() 
+{
+	// TODO: Add your control notification handler code here
+	CString str;
+	int i = m_Command.GetCurSel();
+	m_Command.GetLBText(i,str);
+	m_Command.SetWindowText(str);
+}
+
+void CUsarDlg::ProcessPendingRead() 
+{
+	// TODO: Add your message handler code here and/or call default
+	CString str;
+	int tmp,process=1;
+
+	do {
+		m_arIn->ReadString(str);
+		m_Msg.InsertString(0,str);
+		if (m_Msg.GetCount()>=MSGLINES) 
+			m_Msg.DeleteString(MSGLINES);
+		tmp = str.GetLength()*6;
+		if (tmp>MaxMsg) {
+			MaxMsg = tmp;
+			m_Msg.SetHorizontalExtent(tmp);
+		}
+		// If we get more than one STA message, we possibly have heavy traffic. 
+		// So we discard all the messages after the second STA message to
+		// empty the queue.
+		if (str.Find("STA")==0) {
+			if (process==1) process=2;
+			else if (process==2) process=0;
+		}
+		if (process) ProcessMessage(str);
+
+	}while(!m_arIn->IsBufferEmpty());
+
+	UpdateData(false);
+	Sleep(5);
+}
+
+void CUsarDlg::ProcessMessage(CString str)
+{
+	int p1,p2;
+	//Robot state
+	if (str.Find("STA")==0 || str.Find("{Type GroundTruth}")>0) {
+		p1 = str.Find("{Time");
+		if (p1>0) {
+			p1 += 5;
+			p2 = str.Find("}",p1);
+			m_Time = str.Mid(p1,p2-p1);
+		}
+		p1 = str.Find("{Location",p2);
+		if (p1>0) {
+			p1 += 9;
+			p2 = str.Find("}",p1);
+			m_Location = str.Mid(p1,p2-p1);
+		}
+		p1 = str.Find("{Orientation",p2);
+		if (p1>0) {
+			p1 += 12;
+			p2 = str.Find("}",p1);
+			m_Rotation = str.Mid(p1,p2-p1);
+		}
+		AddPoint(m_Location,m_Rotation);
+		return;
+	}
+}
+
+void CUsarDlg::OnControl() 
+{
+	// TODO: Add your control notification handler code here
+	if (!m_Control) {
+		GetDlgItem(IDC_BUTTON3)->SetWindowText("&Control");
+		SetCapture();
+		m_Control=true;
+		int srcWidth = GetSystemMetrics(SM_CXSCREEN)-25;
+		int srcHeight = GetSystemMetrics(SM_CYSCREEN)-25;
+		GetWindowRect(&m_winPos);
+		RECT tmp;
+		tmp.left = m_winPos.left>25?m_winPos.left:25;
+		tmp.right = m_winPos.right<srcWidth?m_winPos.right:srcWidth;
+		tmp.top = m_winPos.top>25?m_winPos.top:25;
+		tmp.bottom = m_winPos.bottom<srcHeight?m_winPos.bottom:srcHeight;
+		m_winRange.left=tmp.left-m_winPos.left;
+		m_winRange.right=tmp.right-m_winPos.left-5;
+		m_winRange.top=tmp.top-m_winPos.top;
+		m_winRange.bottom=tmp.bottom-m_winPos.top-50;
+		m_moveAmount=0.0;
+		m_turnAmount=0.0;
+		m_pitchAmount=0;
+		m_yawAmount=0;
+		m_oldMX=-1;
+		m_oldMY=-1;
+	}
+	else {
+		GetDlgItem(IDC_BUTTON3)->SetWindowText("&Command");
+		m_Control=false;
+		ReleaseCapture();
+	}
+}
+
+LRESULT CUsarDlg::WindowProc(UINT message, WPARAM wParam, LPARAM lParam) 
+{
+	// TODO: Add your specialized code here and/or call the base class
+    switch(message)
+    {
+        case WM_CREATE:
+            /* Capture the joystick. If this fails, beep and display
+             * error.
+             */
+            if(joySetCapture(m_hWnd, JOYSTICKID1, 0, FALSE))
+            {
+                MessageBeep(MB_ICONEXCLAMATION);
+                MessageBox("Couldn't capture the joystick", NULL, MB_OK | MB_ICONEXCLAMATION);
+                m_HasJoystick = false;
+				//return -1;
+            }
+            else m_HasJoystick = true;
+            break;
+
+        case MM_JOY1MOVE :
+            //if (m_Control) Rotate(lParam);
+			/*if (m_Control)*/ Move();
+            break;
+		case WM_RBUTTONDOWN:
+			if (m_arOut!=NULL) OnControl();
+			break;
+		case WM_ACTIVATE:
+			if (LOWORD(wParam)==WA_INACTIVE)
+				ReleaseCapture();
+			else if (m_Control && m_arOut!=NULL)
+				SetCapture();
+			break;
+        case WM_DESTROY:
+            /* We're shutting down. Release capture on the joystick, 
+             * make sure any sounds that are playing are stopped.
+             */
+            if (m_HasJoystick) joyReleaseCapture(JOYSTICKID1);
+            PostQuitMessage(0);
+            break;
+    }
+	return CDialog::WindowProc(message, wParam, lParam);
+}
+
+BOOL CUsarDlg::PreTranslateMessage(MSG* pMsg) 
+{
+	// TODO: Add your specialized code here and/or call the base class
+	int processed;
+	if (!m_Control) return CDialog::PreTranslateMessage(pMsg);
+	switch(pMsg->message) {
+		case WM_KEYDOWN:
+			processed=KMove(pMsg->wParam,pMsg->lParam,1);
+			break;
+		case WM_KEYUP:
+			processed=KMove(pMsg->wParam,pMsg->lParam,0);
+			break;
+		case WM_MOUSEMOVE:
+			processed=KMove(pMsg->wParam,pMsg->lParam,2);
+			break;
+		default:
+			processed=0;
+	}
+	if (processed) return true;
+	else {
+		if (pMsg->message!=WM_MOUSEMOVE&&(m_pitchAmount!=0||m_yawAmount!=0)) {
+			SYSTEMTIME systime;
+			GetSystemTime(&systime);
+			if ((systime.wMilliseconds-m_systime.wMilliseconds)>0.1) {
+				m_pitchAmount=0;
+				m_yawAmount=0;
+				CString str="CAMERA {Rotation 0,0,0}\r\n";
+				//m_Msg.InsertString(0,str);
+				if (m_arOut!=NULL) {
+					try {
+						m_arOut->WriteString(str);
+						m_arOut->Flush();
+					}catch (CException* e) {
+						e->Delete();
+						MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
+						exit(1);
+					}
+				}
+				Sleep(50);
+			}
+		}
+		return CDialog::PreTranslateMessage(pMsg);
+	}
+}
+
+int CUsarDlg::KMove(WPARAM wParam, LPARAM lParam, int type)
+{
+	CString str;
+	int processed=1;
+	int x,y;
+	switch(wParam) {
+		case VK_LEFT:
+			m_turnAmount=type?m_turnAmount+0.2f:0.0f;
+			m_turnAmount=(m_turnAmount>20.0f)?20.0f:m_turnAmount;
+			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",-m_turnAmount,m_turnAmount);
+			break;
+		case VK_RIGHT:
+			m_turnAmount=type?m_turnAmount+0.2f:0.0f;
+			m_turnAmount=(m_turnAmount>20.0f)?20.0f:m_turnAmount;
+			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",m_turnAmount,-m_turnAmount);
+			break;
+		case VK_UP:
+			m_moveAmount=type?m_moveAmount+0.2f:0.0f;
+			m_moveAmount=(m_moveAmount>20.0f)?20.0f:m_moveAmount;
+			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",m_moveAmount,m_moveAmount);
+			break;
+		case VK_DOWN:
+			m_moveAmount=type?m_moveAmount+0.2f:0.0f;
+			m_moveAmount=(m_moveAmount>20.0f)?20.0f:m_moveAmount;
+			str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",-m_moveAmount,-m_moveAmount);
+			break;
+		case VK_RETURN:
+		case VK_ESCAPE:
+			break;
+		default:
+			processed=0;
+	}
+	if (m_arOut!=NULL&&str.GetLength()>1) {
+		try {
+			m_arOut->WriteString(str);
+			m_arOut->Flush();
+		}catch (CException* e) {
+			e->Delete();
+			MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
+			exit(1);
+		}
+	}
+
+	if (type==2) {
+		x=LOWORD(lParam);
+		y=HIWORD(lParam);
+		//str.Format("Mouse x=%d y=%d W=%d H=%d",x,y,m_winWidth,m_winHeight);
+		//m_Msg.InsertString(0,str);
+		if ((x>m_winRange.left)&&(x<m_winRange.right)&&
+			(y>m_winRange.top)&&(y<m_winRange.bottom)) {
+			if (m_oldMX<0) m_oldMX=x;
+			if (m_oldMY<0) m_oldMY=y;
+			m_pitchAmount=(m_oldMY-y)*0.02f;
+			if (m_pitchAmount>0.08f) m_pitchAmount=0.08f;
+			if (m_pitchAmount<-0.08f) m_pitchAmount=-0.08f;
+			m_yawAmount=(x-m_oldMX)*0.02f;
+			if (m_yawAmount>0.08f) m_yawAmount=0.08f;
+			if (m_yawAmount<-0.08f) m_yawAmount=-0.08f;
+			m_oldMX=x;
+			m_oldMY=y;
+			str.Format("CAMERA {Rotation 0,%f,%f}\r\n",m_pitchAmount,m_yawAmount);
+			if (m_arOut!=NULL) {
+				try {
+					m_arOut->WriteString(str);
+					m_arOut->Flush();
+				}catch (CException* e) {
+					e->Delete();
+					MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
+					exit(1);
+				}
+			}
+			GetSystemTime(&m_systime);
+		}
+		else 
+			SetCursorPos((m_winPos.left+m_winPos.right)/2,(m_winPos.top+m_winPos.bottom)/2);
+
+	}
+	return processed;
+}
+
+void CUsarDlg::Move()
+{
+	CString str,tmp;
+	WORD x,y,pov;
+	float rx,ry,rz,d;
+	float vx,vy,vz;
+	
+	rx = 0; ry = 0; rz = 0;
+	//ry = m_Movement.c_Rotation.y;
+	vx =0; vy = 0; vz = 0;
+	d = 0;
+	
+	joyGetPosEx(JOYSTICKID1, &m_Joyinfo);
+
+	// Trun left/right
+	x = LOWORD(m_Joyinfo.dwXpos) >> 11;
+    if (x <= 11) vx = (x - 12)/0.6f;
+    else if (x >= 20) vx = (x - 19)/0.6f;
+
+	// Move forward/backward
+	y = LOWORD(m_Joyinfo.dwYpos) >> 11;
+    if (y <= 11) vy = (y - 12)/0.6f;
+    else if (y >= 20) vy = (y - 19)/0.6f;
+	
+	if (vx!=m_CachedMove.vx||vy!=m_CachedMove.vy) {
+		m_CachedMove.vx = vx;
+		m_CachedMove.vy = vy;
+		str.Format("DRIVE {Left %f} {Right %f} {Normalized true}\r\n",vx-vy,-vy-vx);
+		//m_Msg.InsertString(0,str);
+	}
+
+	// View pitch & yaw
+	pov = LOWORD(m_Joyinfo.dwPOV);
+	rx=0;ry=0;rz=0;
+	if (pov<36000) {
+		d = pov*3.1415926f/18000;
+		ry=(float)(0.006*cos(d));
+		rz=(float)(0.006*sin(d));
+	}
+	rx=0;
+
+	if (rx!=m_CachedMove.cx || m_CachedMove.cx!=0 ||
+		ry!=m_CachedMove.cy || m_CachedMove.cy!=0 ||
+		rz!=m_CachedMove.cz || m_CachedMove.cy!=0) {
+		m_CachedMove.cx = rx;
+		m_CachedMove.cy = ry;
+		m_CachedMove.cz = rz;
+		tmp.Format("CAMERA {Rotation %f,%f,%f}\r\n",rx,ry,rz);
+		//m_Msg.InsertString(0,tmp);
+		str+=tmp;
+	}
+	
+	if (m_arOut!=NULL&&str.GetLength()>1) {
+		try {
+			m_arOut->WriteString(str);
+			m_arOut->Flush();
+		}catch (CException* e) {
+			e->Delete();
+			MessageBox("Loss connection. Exit!","Error",MB_OK|MB_ICONSTOP);
+			exit(1);
+		}
+	}
+	/*
+	str.Format("X=%d %d Y=%d %d Z=%d %d R=%d POV=%d %d",
+				m_Joyinfo.dwXpos,x,
+				m_Joyinfo.dwYpos,y,
+				m_Joyinfo.dwZpos,0,
+				m_Joyinfo.dwRpos,
+				m_Joyinfo.dwPOV,pov);
+	
+	m_Msg.InsertString(0,str);
+	*/
+}
+
+void CUsarDlg::AddPoint(CString Location, CString Rotation)
+{
+	int x0,y0,z0;
+	int x,y,z;
+	int p1,p2;
+	
+	if (bLOCK) return;
+	p1 = Location.Find(',');
+	if (p1==-1) return;
+	p2 = Location.Find(',',p1+1);
+	if (p2==-1) return;
+	x0 = (int)(-atof((LPCSTR)Location.Left(p1))*500);
+	x = (int)((float)x0*m_Zoom.scaleX+m_Zoom.offsetX);
+	y0 = (int)(-atof((LPCSTR)Location.Mid(p1+1,p2-p1))*500);
+	y = (int)((float)y0*m_Zoom.scaleY+m_Zoom.offsetY);
+	z0 = (int)(atof((LPCSTR)Location.Mid(p2+1))*500);
+	if (m_Movement.c_Location.x!=x0||m_Movement.c_Location.y!=y0||m_Movement.points.GetSize()==0) {
+		m_Movement.c_Location.x=x;
+		m_Movement.c_Location.y=y;
+		m_Movement.points.Add(m_Movement.c_Location);
+		m_Movement.c_Location.x=x0;
+		m_Movement.c_Location.y=y0;
+		m_Movement.raw.Add(m_Movement.c_Location);
+		m_Movement.z = z0;
+		m_Table.DrawPoint(&m_Movement);
+	}
+
+	p1 = Rotation.Find(',');
+	if (p1==-1) return;
+	p2 = Rotation.Find(',',p1+1);
+	if (p2==-1) return;
+	z = (int)(atof((LPCSTR)Rotation.Left(p1))*10430.37835);
+	x = (int)(atof((LPCSTR)Rotation.Mid(p1+1,p2-p1))*10430.37835);
+	y = (int)(atof((LPCSTR)Rotation.Mid(p2+1))*10430.37835);
+	if (m_Movement.c_Rotation.x!=x||m_Movement.c_Rotation.y!=y||m_Movement.points.GetSize()==0) {
+		m_Movement.c_Rotation.x=x;
+		m_Movement.c_Rotation.y=y;
+		m_Table.DrawPoint(&m_Movement);
+	}
+	if (m_Movement.points.GetSize()>=POINTSNUM) m_Movement.points.RemoveAt(0);
+	if (m_Movement.raw.GetSize()>=POINTSNUM) m_Movement.raw.RemoveAt(0);
+}
+
+void CUsarDlg::InitZoom()
+{
+	USARRoute * ur;
+	ur  = ((USARRoute *)m_Table.m_tabPages[m_Table.m_tabCurrent]);
+	m_Zoom.offsetX = ur->m_OffsetX;
+	m_Zoom.offsetY = ur->m_OffsetY;
+	m_Zoom.scaleX = ur->m_ScaleX;
+	m_Zoom.scaleY = ur->m_ScaleY;
+}
+
+
+void CUsarDlg::UpdatePoints()
+{
+	POINT p;
+	int n = m_Movement.points.GetSize();
+	for (int i=0;i<n;i++) {
+		p = m_Movement.raw.GetAt(i);
+		p.x = (int)(p.x*m_Zoom.scaleX+m_Zoom.offsetX);
+		p.y = (int)(p.y*m_Zoom.scaleY+m_Zoom.offsetY);
+		m_Movement.points.SetAt(i,p);
+	}
+}
+
+void CUsarDlg::OnZoomIn() 
+{
+	// TODO: Add your control notification handler code here
+	bLOCK = true;
+	m_Zoom.scaleX *= 2.0;
+	m_Zoom.scaleY *= 2.0;
+	UpdatePoints();
+	bLOCK = false;
+	m_Table.DrawPoint(&m_Movement);
+}
+
+
+void CUsarDlg::OnZoomOut() 
+{
+	// TODO: Add your control notification handler code here
+	bLOCK = true;
+	m_Zoom.scaleX /= 2.0;
+	m_Zoom.scaleY /= 2.0;
+	UpdatePoints();
+	bLOCK = false;
+	m_Table.DrawPoint(&m_Movement);
+}
+
+void CUsarDlg::OnOriginal() 
+{
+	// TODO: Add your control notification handler code here
+	bLOCK = true;
+	m_Zoom.scaleX = 0.2f;
+	m_Zoom.scaleY = 0.2f;
+	UpdatePoints();
+	bLOCK = false;
+	m_Table.DrawPoint(&m_Movement);
+}
+
+void CUsarDlg::OnClear() 
+{
+	// TODO: Add your control notification handler code here
+	POINT p;
+	if (m_Movement.raw.GetSize()<1) return;
+	bLOCK = true;
+	p = m_Movement.raw.GetAt(m_Movement.raw.GetSize()-1);
+	m_Movement.raw.RemoveAll();
+	m_Movement.raw.Add(p);
+	p = m_Movement.points.GetAt(m_Movement.points.GetSize()-1);
+	m_Movement.points.RemoveAll();
+	m_Movement.points.Add(p);
+	bLOCK = false;
+	m_Table.DrawPoint(&m_Movement);
+}
+
+void CUsarDlg::OnDblclkList1() 
+{
+	// TODO: Add your control notification handler code here
+	CString str;
+	m_Msg.GetText(m_Msg.GetCurSel(),str);
+	//MessageBox(str,"Message",MB_OK);
+	CMessagePanel msg = new CMessagePanel();
+	msg.SetMessage(str);
+	msg.DoModal();
+}
+
+void CUsarDlg::OnOK()
+{
+}
+
+void CUsarDlg::OnCancel()
+{
+}

Modified: usarsim/Tools/Usar_UI/UsarDlg.h
===================================================================
--- usarsim/Tools/Usar_UI/UsarDlg.h	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/Tools/Usar_UI/UsarDlg.h	2007-07-11 16:23:30 UTC (rev 649)
@@ -102,6 +102,9 @@
 	DECLARE_MESSAGE_MAP()
 private:
 	clock_t m_finishTime;
+protected:
+	virtual void OnOK();
+	virtual void OnCancel();
 };
 
 //{{AFX_INSERT_LOCATION}}

Modified: usarsim/Tools/player/server/drivers/usarsim/src/us_fakelocalize.cc
===================================================================
--- usarsim/Tools/player/server/drivers/usarsim/src/us_fakelocalize.cc	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/Tools/player/server/drivers/usarsim/src/us_fakelocalize.cc	2007-07-11 16:23:30 UTC (rev 649)
@@ -23,9 +23,9 @@
   }
   this->bot = NULL;
 
-  origin.px = cf->ReadTupleLength(section,"origin",0,FLT_MAX);
-  origin.py = cf->ReadTupleLength(section,"origin",1,FLT_MAX);
-  //origin.pa = cf->ReadTupleAngle(section,"origin",2,FLT_MAX);
+  origin.px = cf->ReadTupleLength(section,"origin",0,0);
+  origin.py = cf->ReadTupleLength(section,"origin",1,0);
+  //origin.pa = cf->ReadTupleAngle(section,"origin",2,0);
   origin.pa = 0.0;
   
   return;

Modified: usarsim/Tools/player/server/drivers/usarsim/src/us_position.cc
===================================================================
--- usarsim/Tools/player/server/drivers/usarsim/src/us_position.cc	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/Tools/player/server/drivers/usarsim/src/us_position.cc	2007-07-11 16:23:30 UTC (rev 649)
@@ -48,7 +48,7 @@
       return;
     }
   }
-  strncpy(this->odo_name, cf->ReadString(section,"odo_name", DEFAULT_GAMEBOTS_CLASS),sizeof(this->odo_name));
+  strncpy(this->odo_name, cf->ReadString(section,"odo_name","Odometry"),sizeof(this->odo_name));
   pthread_mutex_init(&posMutex, NULL);
 
   // bot device
@@ -81,15 +81,20 @@
     bot->steeringType = new char[128];
   }
   bot->devices |= US_CONF_ROBOT;
+  bot->devices |= US_GEOM_ROBOT;
   char* cmd = new char[USBOT_MAX_CMD_LEN];
   sprintf(cmd,"GETCONF {Type Robot}\r\n");
   bot->AddCommand(cmd);
+  char* cmd2 = new char[USBOT_MAX_CMD_LEN];
+  sprintf(cmd2,"GETGEO {Type Robot}\r\n");
+  bot->AddCommand(cmd2);
   int count =0;
-  while (!bot->bConfRobot == true && count < USBOT_STARTUP_CONN_LIMIT)
+  while (!bot->bConfRobot == true && !bot->bGeoRobot == true && count < USBOT_STARTUP_CONN_LIMIT)
   {
       usleep(USBOT_DELAY_USEC);
       count++;
   }
+  setSteerType();
   
   StartThread();  // Start the device thread
   return 0;
@@ -115,35 +120,25 @@
 int UsPosition::ProcessMessage(MessageQueue *resp_queue, player_msghdr *hdr, void *data)
 {
   if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_GET_GEOM, this->device_addr))
-  {
-    int count = 0;
-    bot->devices |= US_GEOM_ROBOT;
+  {   
     PLAYER_MSG0(3,"POSITION REQ GEO\n");
 
-    char* cmd = new char[USBOT_MAX_CMD_LEN];
-    sprintf(cmd,"GETGEO {Type Robot}\r\n");
-    bot->AddCommand(cmd);
-    
-    while (!bot->bGeoRobot == true && count <USBOT_STARTUP_CONN_LIMIT)
-    {
-      usleep(USBOT_DELAY_USEC);
-      count++;
-    }
     if (!bot->bGeoRobot == true)
     {
       PLAYER_MSG0(3,"POSITION REQ GEO NACK\n");
       this->Publish(this->device_addr,resp_queue,
-        PLAYER_MSGTYPE_RESP_NACK,
-        PLAYER_POSITION2D_REQ_GET_GEOM,
-        (void*)bot->robotGeom,
-        sizeof(player_position2d_geom_t),NULL);
+                    PLAYER_MSGTYPE_RESP_NACK,
+                    PLAYER_POSITION2D_REQ_GET_GEOM,
+                    (void*)bot->robotGeom,
+                    sizeof(player_position2d_geom_t),NULL);
       return -1;
     }
     PLAYER_MSG0(3,"POSITION REQ GEO ACK\n");
-    setSteerType();
     this->Publish(this->device_addr,resp_queue, 
-        PLAYER_MSGTYPE_RESP_ACK,PLAYER_POSITION2D_REQ_GET_GEOM,
-        (void*)bot->robotGeom, sizeof(player_position2d_geom_t),NULL);
+                  PLAYER_MSGTYPE_RESP_ACK,
+                  PLAYER_POSITION2D_REQ_GET_GEOM,
+                  (void*)bot->robotGeom,
+                  sizeof(player_position2d_geom_t),NULL);
     return 0;
   }
   else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
@@ -194,8 +189,8 @@
       else
       {//will only work if robot is stopped while turning
         sprintf(cmd,"DRIVE {Left %f} {Right %f}\r\n",
-          (trans - bot->maxWheelSeparation * rotate) / bot->wheelRadius,
-          (trans + bot->maxWheelSeparation * rotate) / bot->wheelRadius);
+          (trans - 100.0 * bot->maxWheelSeparation * rotate) / bot->wheelRadius,
+          (trans + 100.0 * bot->maxWheelSeparation * rotate) / bot->wheelRadius);
       }
     }
     else if(steer_type == ACKERMANNSTEERED)

Added: usarsim/TreasureHunt/Classes/TreasureHuntGame.uc
===================================================================
--- usarsim/TreasureHunt/Classes/TreasureHuntGame.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/TreasureHuntGame.uc	2007-07-11 16:23:30 UTC (rev 649)
@@ -0,0 +1,99 @@
+class TreasureHuntGame extends USARDeathMatch;
+
+//
+// Restart a player. Since we want to use GameInfo.RestartPlayer
+//   but this is overridden by BotDeathMatch.RestartPlayer, we need
+//   to copy all of the GameInfo.RestartPlayer code, which is below.
+//
+function RestartPlayer( Controller aPlayer )
+{
+    local NavigationPoint startSpot;
+    local int TeamNum;
+    local class<Pawn> DefaultPlayerClass;
+    local Vehicle V, Best;
+    local vector ViewDir;
+    local float BestDist, Dist;
+
+    if(aPlayer.IsA('RemoteBot') || aPlayer.IsA('Player')) {
+	Super.RestartPlayer(aPlayer);
+	return;
+    }
+
+    log("RESTARTSOMETHING"@aPlayer);
+
+    if( bRestartLevel && Level.NetMode!=NM_DedicatedServer && Level.NetMode!=NM_ListenServer )
+        return;
+
+    if ( (aPlayer.PlayerReplicationInfo == None) || (aPlayer.PlayerReplicationInfo.Team == None) )
+        TeamNum = 255;
+    else
+        TeamNum = aPlayer.PlayerReplicationInfo.Team.TeamIndex;
+
+    startSpot = FindPlayerStart(aPlayer, TeamNum);
+    if( startSpot == None )
+    {
+        log(" Player start not found!!!");
+        return;
+    }
+
+    if (aPlayer.PreviousPawnClass!=None && aPlayer.PawnClass != aPlayer.PreviousPawnClass)
+        BaseMutator.PlayerChangedClass(aPlayer);
+
+    if ( aPlayer.PawnClass != None )
+        aPlayer.Pawn = Spawn(aPlayer.PawnClass,,,StartSpot.Location,StartSpot.Rotation);
+
+    if( aPlayer.Pawn==None )
+    {
+        DefaultPlayerClass = GetDefaultPlayerClass(aPlayer);
+        aPlayer.Pawn = Spawn(DefaultPlayerClass,,,StartSpot.Location,StartSpot.Rotation);
+    }
+    if ( aPlayer.Pawn == None )
+    {
+        log("Couldn't spawn player of type "$aPlayer.PawnClass$" at "$StartSpot);
+        aPlayer.GotoState('Dead');
+        if ( PlayerController(aPlayer) != None )
+            PlayerController(aPlayer).ClientGotoState('Dead','Begin');
+        return;
+    }
+    if ( PlayerController(aPlayer) != None )
+        PlayerController(aPlayer).TimeMargin = -0.1;
+    aPlayer.Pawn.Anchor = startSpot;
+    aPlayer.Pawn.LastStartSpot = PlayerStart(startSpot);
+    aPlayer.Pawn.LastStartTime = Level.TimeSeconds;
+    aPlayer.PreviousPawnClass = aPlayer.Pawn.Class;
+
+    aPlayer.Possess(aPlayer.Pawn);
+    aPlayer.PawnClass = aPlayer.Pawn.Class;
+
+    aPlayer.Pawn.PlayTeleportEffect(true, true);
+    aPlayer.ClientSetRotation(aPlayer.Pawn.Rotation);
+    AddDefaultInventory(aPlayer.Pawn);
+    TriggerEvent( StartSpot.Event, StartSpot, aPlayer.Pawn);
+
+    if ( bAllowVehicles && (Level.NetMode == NM_Standalone) && (PlayerController(aPlayer) != None) )
+    {
+        // tell bots not to get into nearby vehicles for a little while
+        BestDist = 2000;
+        ViewDir = vector(aPlayer.Pawn.Rotation);
+        for ( V=VehicleList; V!=None; V=V.NextVehicle )
+            if ( V.bTeamLocked && (aPlayer.GetTeamNum() == V.Team) )
+            {
+                Dist = VSize(V.Location - aPlayer.Pawn.Location);
+                if ( (ViewDir Dot (V.Location - aPlayer.Pawn.Location)) < 0 )
+                    Dist *= 2;
+                if ( Dist < BestDist )
+                {
+                    Best = V;
+                    BestDist = Dist;
+                }
+            }
+
+        if ( Best != None )
+            Best.PlayerStartTime = Level.TimeSeconds + 8;
+    }
+}
+
+defaultproperties
+{
+}
+ 
\ No newline at end of file

Modified: usarsim/USARBot/Classes/AerialVehicle.uc
===================================================================
--- usarsim/USARBot/Classes/AerialVehicle.uc	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/USARBot/Classes/AerialVehicle.uc	2007-07-11 16:23:30 UTC (rev 649)
@@ -25,16 +25,19 @@
     local float time;
 
     Super.timer();
+    
+    if(!USARRemoteBot(Controller).emptyBattery) // If the battery is not empty, we can send the message
+    {
+        time = Level.TimeSeconds;
 
-    time = Level.TimeSeconds;
+        outstring = "STA {Type AerialVehicle} {Time "$time$"}"$
+                       " {LightToggle "$bHeadlightOn$"}"$
+		       " {LightIntensity "$HeadlightItensity$"}"$
+		       " {Battery "$(batteryLife-myLife)$"}"$
+   		       " {View "$ViewNum$"}";
 
-    outstring = "STA {Type AerialVehicle} {Time "$time$"}"$
-                   " {LightToggle "$bHeadlightOn$"}"$
-		   " {LightIntensity "$HeadlightItensity$"}"$
-		   " {Battery "$(batteryLife-myLife)$"}"$
-   		   " {View "$ViewNum$"}";
-
-    USARRemoteBot(Controller).myConnection.SendLine(outstring);
+        USARRemoteBot(Controller).myConnection.SendLine(outstring);
+    }
 }
 
 function string getRobotGeo()

Modified: usarsim/USARBot/Classes/BallHSensor.uc
===================================================================
--- usarsim/USARBot/Classes/BallHSensor.uc	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/USARBot/Classes/BallHSensor.uc	2007-07-11 16:23:30 UTC (rev 649)
@@ -109,7 +109,7 @@
             halfResY =  CameraYres/2;
 
             //Computes perspective transformation constant
-            K = float(halfResX)/(Tan(KRobot(Platform).CameraZoom[0]/(2*RAD2DEG)));
+            K = float(halfResX)/(Tan(KRobot(Platform).CamList[0].CameraFov/(2*RAD2DEG)));
             K1= K / BallCamPos.X;
             //Make perspective transformation
             x2dMod = int(K1 * BallCamPos.Y);

Modified: usarsim/USARBot/Classes/GroundVehicle.uc
===================================================================
--- usarsim/USARBot/Classes/GroundVehicle.uc	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/USARBot/Classes/GroundVehicle.uc	2007-07-11 16:23:30 UTC (rev 649)
@@ -35,41 +35,44 @@
 
     Super.timer();
 
-    time = Level.TimeSeconds;
+    if(!USARRemoteBot(Controller).emptyBattery) // If the battery is not empty, we can send the message
+    {
+        time = Level.TimeSeconds;
 
-    // Front Steer and Rear Steer Angles are 0.00 by default
-    FrontSteerAngle = "0.0000";
-    RearSteerAngle = "0.0000";
+        // Front Steer and Rear Steer Angles are 0.00 by default
+        FrontSteerAngle = "0.0000";
+        RearSteerAngle = "0.0000";
 
-    // Get the current front steer angle
-    for(i=0; i<Wheels.Length; i++)
-    {
-       if(Wheels[i].SteerType == Front_Steered)
-       {
-           FrontSteerAngle = Converter.Str_AngleFromUU(utils.getSteerAngleOfKCarWheelJoint(KCarWheelJoint(Joints[Wheels[i].Number])));
-           break;
-       }
-    }
+        // Get the current front steer angle
+        for(i=0; i<Wheels.Length; i++)
+        {
+            if(Wheels[i].SteerType == Front_Steered)
+            {
+                FrontSteerAngle = Converter.Str_AngleFromUU(utils.getSteerAngleOfKCarWheelJoint(KCarWheelJoint(Joints[Wheels[i].Number])));
+                break;
+            }
+        }
 
-    // Get the current rear steer angle
-    for(i=0; i<Wheels.Length; i++)
-    {
-       if(Wheels[i].SteerType == Rear_Steered)
-       {
-           RearSteerAngle = Converter.Str_AngleFromUU(utils.getSteerAngleOfKCarWheelJoint(KCarWheelJoint(Joints[Wheels[i].Number])));
-           break;
-       }
-    }
+        // Get the current rear steer angle
+        for(i=0; i<Wheels.Length; i++)
+        {
+            if(Wheels[i].SteerType == Rear_Steered)
+            {
+                RearSteerAngle = Converter.Str_AngleFromUU(utils.getSteerAngleOfKCarWheelJoint(KCarWheelJoint(Joints[Wheels[i].Number])));
+                break;
+            }
+        }
 
-    outstring = "STA {Type GroundVehicle} {Time "$time$"}"$
-                   " {FrontSteer "$FrontSteerAngle$"}"$
-                   " {RearSteer "$RearSteerAngle$"}"$
-                   " {LightToggle "$bHeadlightOn$"}"$
-                   " {LightIntensity "$HeadlightItensity$"}"$
-       	           " {Battery "$(batteryLife-myLife)$"}"$
-                   " {View "$ViewNum$"}";
+        outstring = "STA {Type GroundVehicle} {Time "$time$"}"$
+                       " {FrontSteer "$FrontSteerAngle$"}"$
+                       " {RearSteer "$RearSteerAngle$"}"$
+                       " {LightToggle "$bHeadlightOn$"}"$
+                       " {LightIntensity "$HeadlightItensity$"}"$
+       	               " {Battery "$(batteryLife-myLife)$"}"$
+                       " {View "$ViewNum$"}";
 
-    USARRemoteBot(Controller).myConnection.SendLine(outstring);
+        USARRemoteBot(Controller).myConnection.SendLine(outstring);
+    }
 }
 
 function string getRobotGeo()

Modified: usarsim/USARBot/Classes/INSSensor.uc
===================================================================
--- usarsim/USARBot/Classes/INSSensor.uc	2007-07-10 00:40:26 UTC (rev 648)
+++ usarsim/USARBot/Classes/INSSensor.uc	2007-07-11 16:23:30 UTC (rev 649)
@@ -57,6 +57,7 @@
      local Vector xyzTrue;
      local Vector rotRate;
      local float dist;
+     local Vector deltaLoc;
 
      // Get rate of change from ground truth
      xyzTrue = converter.LengthVectorFromUU(base.Location);
@@ -77,16 +78,22 @@
          rotEst.y = converter.normRad_ZeroTo2PI(rotEst.y);
          rotEst.z = converter.normRad_ZeroTo2PI(rotEst.z);
 
+         deltaLoc.x = xyzTrue.x-xyzPrev.x;
+         deltaLoc.y = xyzTrue.y-xyzPrev.y;
+         deltaLoc.z = xyzTrue.z-xyzPrev.z;  
+         dist = sqrt(  (deltaLoc.x * deltaLoc.x) +
+                       (deltaLoc.y * deltaLoc.y) +
+                       (deltaLoc.z * deltaLoc.z) );
+         xyzEst.x +=  deltaLoc.x + dist*utils.gaussRand(Mean,Sigma);
+         xyzEst.y +=  deltaLoc.y + dist*utils.gaussRand(Mean,Sigma);
+         xyzEst.z +=  deltaLoc.z + dist*utils.gaussRand(Mean,Sigma);
          // Calculate total distance traveled in one time step
-         dist = sqrt(  (xyzTrue.x-xyzPrev.x) * (xyzTrue.x-xyzPrev.x) +
-                       (xyzTrue.y-xyzPrev.y) * (xyzTrue.y-xyzPrev.y) +
-                       (xyzTrue.z-xyzPrev.z) * (xyzTrue.z-xyzPrev.z) );
          // Add Gaussian noise
-         dist += dist * utils.gaussRand(Mean,Sigma);
+         // dist += dist * utils.gaussRand(Mean,Sigma);
          // Update location estimate
-         xyzEst.x = xyzEst.x + dist*Cos(rotEst.z)*Cos(rotEst.y);
-         xyzEst.y = xyzEst.y + dist*Sin(rotEst.z)*Cos(rotEst.y);
-         xyzEst.z = xyzEst.z + dist*Sin(rotEst.y);
+         // xyzEst.x = xyzEst.x + dist*Cos(rotEst.z)*Cos(rotEst.y);
+         //   xyzEst.y = xyzEst.y + dist*Sin(rotEst.z)*Cos(rotEst.y);

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Wed Jul 11 12:33:26 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 11 Jul 2007 12:33:26 -0400
Subject: [TeamTalk 113]: [650] moast-bth: 1) imported changes from moast to
	bring current
Message-ID: <200707111633.l6BGXQhD008274@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070711/096d84c2/attachment-0001.html
-------------- next part --------------
Modified: moast-bth/TeamTalkSimulator/robot.cc
===================================================================
--- moast-bth/TeamTalkSimulator/robot.cc	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/TeamTalkSimulator/robot.cc	2007-07-11 16:33:26 UTC (rev 650)
@@ -541,7 +541,7 @@
       AmMobJACmdSpin spin;
       spin.absAngle = canonical_angle(r - goTo->getAngle());
       spin.tolerance = PI/40;
-      spin.direction = PRIM_MOB_JA_CMD_ROTATE_SHORTEST;
+      spin.direction = MOAST_ROTATE_SHORTEST;
       spin.serial_number = amStatP->echo_serial_number + 1;
       debug << "spinning: " << spin.absAngle << " tol: " << spin.tolerance 
 	    << " SHORTEST" << endl;

Modified: moast-bth/moast/bin/Makefile.am
===================================================================
--- moast-bth/moast/bin/Makefile.am	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/bin/Makefile.am	2007-07-11 16:33:26 UTC (rev 650)
@@ -80,9 +80,10 @@
 ../src/sim/simWare/swKBMsg.hh ../src/sim/simWare/swKBMsg.cc \
 ../src/sim/simWare/usarInfSkin.hh ../src/sim/simWare/usarInfSkin.cc \
 ../src/sim/simWare/trafficSupSkin.hh ../src/sim/simWare/trafficSupSkin.cc \
-../src/sim/simWare/swTraffic.hh ../src/sim/simWare/swTraffic.cc 
+../src/sim/simWare/swTraffic.hh ../src/sim/simWare/swTraffic.cc \
+../src/prim/primMobEngine.cc ../include/primMobEngine.hh
 
-segmentTest_SOURCES = ../src/tools/segmentTools/cluster.cc ../src/tools/segmentTools/test.cc ../src/tools/segmentTools/chainHull.cc ../src/tools/segmentTools/cluster.hh ../src/tools/segmentTools/vectorWM.cc ../src/tools/segmentTools/vectorWm.hh
+segmentTest_SOURCES = ../src/tools/segmentTools/cluster.cc ../src/tools/segmentTools/test.cc ../src/tools/segmentTools/chainHull.cc ../src/tools/segmentTools/cluster.hh ../src/tools/segmentTools/vectorWM.cc ../src/tools/segmentTools/vectorWM.hh
 segmentTest_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
 exampleUtmConvert_SOURCES = ../src/tools/exampleUtmConvert.cc
@@ -121,7 +122,7 @@
 primSPMain_SOURCES = ../src/prim/primSPMain.cc
 primSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
-primMobMain_SOURCES = ../src/prim/primMobMain.cc
+primMobMain_SOURCES = ../src/prim/primMobMain.cc ../src/prim/primMobEngine.cc
 primMobMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
 primMisMain_SOURCES = ../src/prim/primMisMain.cc
@@ -252,7 +253,7 @@
 joySDL_SOURCES = ../src/tools/joySDL.cc
 joySDL_LDADD = @SDL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
-robojoy_SOURCES = ../src/tools/robojoy.cc
+robojoy_SOURCES = ../src/tools/robojoy.cc ../src/tools/gomath.c ../include/gotypes.h ../include/gomath.h
 robojoy_LDADD = @SDL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
 endif

Modified: moast-bth/moast/bin/runJoy
===================================================================
--- moast-bth/moast/bin/runJoy	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/bin/runJoy	2007-07-11 16:33:26 UTC (rev 650)
@@ -14,15 +14,16 @@
 #Submarine
 #PLATFORM=6; JOYMODE=3
 #Zerg
-PLATFORM=7; JOYMODE=1
+#PLATFORM=7; JOYMODE=1
 #Talon
 #PLATFORM=8; JOYMODE=1
 #TeleMax
 #PLATFORM=9; JOYMODE=1
 #AirRobot
 PLATFORM=10; JOYMODE=4
-#STARTLOC=1
-STARTLOC=2
+STARTLOC=1
+#STARTLOC=2
+#STARTLOC=3
 #done with user area
 #
 #are we on cygwin?
@@ -150,7 +151,15 @@
   pid10=$!
 fi
 
-./joySDL -d1 -x3 -y3 -z3 -w3 -m$JOYMODE&
+# Old Joystick Program
+#./joySDL -d1 -x3 -y3 -z3 -w3 -m$JOYMODE&
+
+# Settings for the AirRobot
+#./robojoy -d1 -x1.5708 -y-5 -z5 -w-5
+
+# Settings for other robots (robojoy will adjust scale factors automatically) 
+./robojoy -d1&
+
 pid11=$!
 
 ./$TOP

Modified: moast-bth/moast/doc/refManual_tex/am/gfx/CVS/Entries
===================================================================
--- moast-bth/moast/doc/refManual_tex/am/gfx/CVS/Entries	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/doc/refManual_tex/am/gfx/CVS/Entries	2007-07-11 16:33:26 UTC (rev 650)
@@ -1,13 +1,13 @@
-/AMMobGraphicalOutput.jpg/1.1/Fri Dec  8 19:24:50 2006//
-/AMSPMap.jpg/1.1/Fri Dec  8 19:25:47 2006//
-/AMSPMapDisplay.jpg/1.1/Fri Dec  8 19:24:50 2006//
-/bothWallsFound.jpg/1.1/Fri Dec  8 19:26:38 2006//
-/changingAMSPMap.jpg/1.1/Fri Dec  8 19:26:38 2006//
-/figLinearizedPath.jpg/1.1/Wed Jan 10 17:04:02 2007//
-/figRounding.jpg/1.1/Wed Jan 10 17:03:19 2007//
-/findingViewedCells.jpg/1.1/Fri Dec  8 19:26:38 2006//
-/ladarRaysHittingWall.jpg/1.1/Fri Dec  8 19:24:50 2006//
-/pathReplanningInvariance.jpg/1.1/Fri Dec  8 19:24:50 2006//
-/planningToHorizon.jpg/1.1/Fri Dec  8 19:25:47 2006//
-/upperWallMissing.jpg/1.1/Fri Dec  8 19:25:47 2006//
+/AMMobGraphicalOutput.jpg/1.1/Sun May 20 20:30:52 2007//
+/AMSPMap.jpg/1.1/Sun May 20 20:30:52 2007//
+/AMSPMapDisplay.jpg/1.1/Sun May 20 20:30:52 2007//
+/bothWallsFound.jpg/1.1/Sun May 20 20:30:52 2007//
+/changingAMSPMap.jpg/1.1/Sun May 20 20:30:52 2007//
+/figLinearizedPath.jpg/1.1/Sun May 20 20:30:52 2007//
+/figRounding.jpg/1.1/Sun May 20 20:30:52 2007//
+/findingViewedCells.jpg/1.1/Sun May 20 20:30:52 2007//
+/ladarRaysHittingWall.jpg/1.1/Sun May 20 20:30:52 2007//
+/pathReplanningInvariance.jpg/1.1/Sun May 20 20:30:52 2007//
+/planningToHorizon.jpg/1.1/Sun May 20 20:30:52 2007//
+/upperWallMissing.jpg/1.1/Sun May 20 20:30:52 2007//
 D

Modified: moast-bth/moast/doc/refManual_tex/am/gfx/CVS/Root
===================================================================
--- moast-bth/moast/doc/refManual_tex/am/gfx/CVS/Root	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/doc/refManual_tex/am/gfx/CVS/Root	2007-07-11 16:33:26 UTC (rev 650)
@@ -1 +1 @@
-:pserver:anonymous at moast.cvs.sourceforge.net:/cvsroot/moast
+:ext:tkharris at moast.cvs.sourceforge.net:/cvsroot/moast

Added: moast-bth/moast/doc/refManual_tex/tools/joystick.tex
===================================================================
--- moast-bth/moast/doc/refManual_tex/tools/joystick.tex	                        (rev 0)
+++ moast-bth/moast/doc/refManual_tex/tools/joystick.tex	2007-07-11 16:33:26 UTC (rev 650)
@@ -0,0 +1,60 @@
+\subsection{Joystick}
+The vehicle mobility and mission packages can be controlled with a
+PC-compatible game joystick. The standard joystick provides two X-Y
+joysticks and 10 selection buttons numbered 1 through 10, clustered in
+different groups.
+
+The dual X-Y joysticks are distinguished here as ``left'' and
+``right,'' and their directions are ``up'' (away from you), ``down''
+(toward you), ``left'' and ``right''. 
+
+The joystick application is \verb+robojoy+, typically entered with no
+arguments, e.g., 
+
+\begin{verbatim}
+cd <path-to-moast-devel>/bin
+./robojoy
+\end{verbatim}
+
+After about 10 seconds during which the program connects to the
+controller, the program will dump out some diagnostics information and
+accept joystick commands.
+
+Button 9 toggles between Mobility Mode and Joint Mode. The current
+mode is printed in the text window in which \verb+robojoy+ is running.
+
+In Mobility mode, the dual joysticks function according to the type of
+mobility platform being driven. In a skid steer vehicle, the left
+joystick controls the left skid, and the right joystick controls the
+right skid, with ``up'' driving the skid foward, and ``down'' driving
+the skid backward. A left turn is accomplished my moving the left
+joystick down and the right joystick up.
+
+In Mobilty mode, if there are any flippers on the vehicle, buttons 5,
+6, 7 and 8 control the front and rear flippers. Buttons 5 and 7 raise
+and lower the front flippers, respectively; Buttons 6 and 8 raise and
+lower the rear flippers, respectively.
+
+In Joint mode, the buttons select the joint to be actuated, and the
+left joystick's left and right directions move the joint in the
+negative and positive direction, respectively. 
+
+Button 10 switches between Tool and World mode. In either of these
+modes, the left joystick L/R controls motion in the X direction, the
+left joystick U/D controls Y motion and the right joystick U/D
+controls Z motion. The right joystick L/R controls gripper opening and
+closing. 
+
+In Tool Mode, the XYZ are relative to the gripper, where X is
+side-to-side, Y is in-out, and Z is up-down.
+
+In World Mode, the XYZ are relative to the vehicle body, where X is
+side-to-side, Y is front-to-back, and Z is up-down. 
+
+Rotations about XYZ can be done by holding down Button 8 while using
+the joysticks. For example, to rotate around the Z axis, which looks
+like a panning motion, hold down Button 8 and move the right joystick
+up and down. To rotate around the X axis, which looks likes a tilting
+motion, hold down Button 8 and move the left joystick side-to-side. 
+
+

Modified: moast-bth/moast/doc/refManual_tex/tools.tex
===================================================================
--- moast-bth/moast/doc/refManual_tex/tools.tex	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/doc/refManual_tex/tools.tex	2007-07-11 16:33:26 UTC (rev 650)
@@ -1,2 +1,4 @@
 \input{tools/libraries}
 \input{tools/tools}
+\input{tools/joystick}
+

Modified: moast-bth/moast/etc/moast.nml
===================================================================
--- moast-bth/moast/etc/moast.nml	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/etc/moast.nml	2007-07-11 16:33:26 UTC (rev 650)
@@ -326,7 +326,7 @@
 B symbolicData3 	SHMEM    	 localhost 	43072 	0 	* 	268 	* 	25468 	TCP=20469  xdr
 B symbolicData4 	SHMEM    	 localhost 	43072 	0 	* 	269 	* 	25469 	TCP=20470  xdr
  
-B trafficData 	SHMEM    	 localhost 	10304 	0 	* 	270 	* 	25470 	TCP=20471  xdr
+B trafficData1 	SHMEM    	 localhost 	10304 	0 	* 	270 	* 	25470 	TCP=20471  xdr
 B trafficCtrlCmd1 	SHMEM    	 localhost 	4160 	0 	* 	271 	* 	25471 	TCP=20472  xdr
 B trafficCtrlStat1 	SHMEM    	 localhost 	1088 	0 	* 	272 	* 	25472 	TCP=20473  xdr
 B trafficCtrlCfg1 	SHMEM    	 localhost 	1088 	0 	* 	273 	* 	25473 	TCP=20474  xdr
@@ -1320,13 +1320,13 @@
 P sectMobPL1 	primMobJAStat4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
  
 # MOAST Tools
-P trafficSim 	trafficData 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
+P trafficSim 	trafficData1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
 P trafficSim 	trafficCtrlCmd1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
 P trafficSim 	trafficCtrlStat1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
 P trafficSim 	trafficCtrlCfg1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
 P trafficSim 	trafficCtrlSet1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
  
-P trafficShell 	trafficData 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
+P trafficShell 	trafficData1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
 P trafficShell 	trafficCtrlCmd1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
 P trafficShell 	trafficCtrlStat1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
 P trafficShell 	trafficCtrlCfg1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
@@ -1375,6 +1375,7 @@
 P virtSensor1 	servoSPCfg1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
 P virtSensor1 	symbolicData1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	1 	
  
+P   joystick 	navDataExt1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	12 	
 P   joystick 	servoMobJACmd1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJAStat1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJACfg1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1397,6 +1398,7 @@
 P   joystick 	servoMisJACfg1_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMisJACfg1_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMisJACfg1_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	navDataExt2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	11 	
 P   joystick 	servoMobJACmd2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJAStat2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJACfg2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1419,6 +1421,7 @@
 P   joystick 	servoMisJACfg2_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMisJACfg2_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMisJACfg2_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	navDataExt3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	11 	
 P   joystick 	servoMobJACmd3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJAStat3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJACfg3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1441,6 +1444,7 @@
 P   joystick 	servoMisJACfg3_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMisJACfg3_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMisJACfg3_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	navDataExt4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	11 	
 P   joystick 	servoMobJACmd4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJAStat4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   joystick 	servoMobJACfg4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1467,7 +1471,7 @@
 P moastErrorLog 	moastError 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
  
 P   nmlPrint 	moastError 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   nmlPrint 	navDataExt1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	12 	
+P   nmlPrint 	navDataExt1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	13 	
 P   nmlPrint 	servoSPLinescan1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
 P   nmlPrint 	servoSPSonarArr1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P   nmlPrint 	servoSPVict1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1475,7 +1479,7 @@
 P   nmlPrint 	servoSPNav1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   nmlPrint 	symbolicData1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P   nmlPrint 	primSPLinescan1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   nmlPrint 	navDataExt2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	11 	
+P   nmlPrint 	navDataExt2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	12 	
 P   nmlPrint 	servoSPLinescan2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   nmlPrint 	servoSPSonarArr2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P   nmlPrint 	servoSPNav2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1483,7 +1487,7 @@
 P   nmlPrint 	servoSPRfid2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P   nmlPrint 	symbolicData2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
 P   nmlPrint 	primSPLinescan2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   nmlPrint 	navDataExt3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	11 	
+P   nmlPrint 	navDataExt3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	12 	
 P   nmlPrint 	servoSPLinescan3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   nmlPrint 	servoSPSonarArr3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P   nmlPrint 	servoSPNav3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
@@ -1491,7 +1495,7 @@
 P   nmlPrint 	servoSPVict3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   nmlPrint 	symbolicData3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
 P   nmlPrint 	primSPLinescan3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   nmlPrint 	navDataExt4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	11 	
+P   nmlPrint 	navDataExt4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	12 	
 P   nmlPrint 	servoSPLinescan4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   nmlPrint 	servoSPSonarArr4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P   nmlPrint 	servoSPRfid4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
@@ -1500,7 +1504,7 @@
 P   nmlPrint 	symbolicData4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
 P   nmlPrint 	primSPLinescan4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
  
-P    javaGui 	navDataExt1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	13 	
+P    javaGui 	navDataExt1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	14 	
 P    javaGui 	primMobJACmd1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	6 	
 P    javaGui 	primMobJAStat1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	6 	
 P    javaGui 	primMobJACfg1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	5 	
@@ -1524,13 +1528,13 @@
 P    javaGui 	vehMobPLSet1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
 P   notifier 	sectMobPLStat1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
 P   notifier 	moastError 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
-P spqrConvert 	navDataExt1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	14 	
+P spqrConvert 	navDataExt1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	15 	
 P spqrConvert 	vehMobPLCmd1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
 P spqrConvert 	vehMobPLStat1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
 P spqrConvert 	vehMobPLCfg1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
 P spqrConvert 	vehMobPLSet1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
 P spqrConvert 	vehMapOut1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P spqrConvert 	navDataExt2 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	12 	
+P spqrConvert 	navDataExt2 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	13 	
 P spqrConvert 	vehMobPLCmd2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
 P spqrConvert 	vehMobPLStat2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
 P spqrConvert 	vehMobPLCfg2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	

Modified: moast-bth/moast/etc/moastBuffers.cfg
===================================================================
--- moast-bth/moast/etc/moastBuffers.cfg	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/etc/moastBuffers.cfg	2007-07-11 16:33:26 UTC (rev 650)
@@ -376,7 +376,7 @@
 b bufname=symbolicData4 size=43000 
 
 # traffic simulation buffers
-b bufname=trafficData size=10240 
+b bufname=trafficData1 size=10240 
 b bufname=trafficCtrlCmd1 size=4096
 b bufname=trafficCtrlStat1 size=1024
 b bufname=trafficCtrlCfg1 size=1024

Modified: moast-bth/moast/etc/moastTools.cfg
===================================================================
--- moast-bth/moast/etc/moastTools.cfg	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/etc/moastTools.cfg	2007-07-11 16:33:26 UTC (rev 650)
@@ -1,7 +1,7 @@
 #
 # trafficSim
 #
-p bufname=trafficData name=trafficSim master=1 server=2 proctype=local
+p bufname=trafficData1 name=trafficSim master=1 server=2 proctype=local
 p bufname=trafficCtrlCmd1 name=trafficSim master=1 server=2 proctype=local
 p bufname=trafficCtrlStat1 name=trafficSim master=1 server=2 proctype=local
 p bufname=trafficCtrlCfg1 name=trafficSim master=1 server=2 proctype=local
@@ -11,7 +11,7 @@
 #
 # trafficShell
 #
-p bufname=trafficData name=trafficShell master=0 server=0 proctype=local
+p bufname=trafficData1 name=trafficShell master=0 server=0 proctype=local
 p bufname=trafficCtrlCmd1 name=trafficShell master=0 server=0 proctype=local
 p bufname=trafficCtrlStat1 name=trafficShell master=0 server=0 proctype=local
 p bufname=trafficCtrlCfg1 name=trafficShell master=0 server=0 proctype=local
@@ -81,6 +81,7 @@
 #
 # joystick
 #
+p bufname=navDataExt1 name=joystick master=0 server=0 proctype=remote
 p bufname=servoMobJACmd1 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJAStat1 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJACfg1 name=joystick master=0 server=0 proctype=local
@@ -104,6 +105,7 @@
 p bufname=servoMisJACfg1_3 name=joystick master=0 server=0 proctype=local
 p bufname=servoMisJACfg1_4 name=joystick master=0 server=0 proctype=local
 #
+p bufname=navDataExt2 name=joystick master=0 server=0 proctype=remote
 p bufname=servoMobJACmd2 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJAStat2 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJACfg2 name=joystick master=0 server=0 proctype=local
@@ -127,6 +129,7 @@
 p bufname=servoMisJACfg2_3 name=joystick master=0 server=0 proctype=local
 p bufname=servoMisJACfg2_4 name=joystick master=0 server=0 proctype=local
 #
+p bufname=navDataExt3 name=joystick master=0 server=0 proctype=remote
 p bufname=servoMobJACmd3 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJAStat3 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJACfg3 name=joystick master=0 server=0 proctype=local
@@ -150,6 +153,7 @@
 p bufname=servoMisJACfg3_3 name=joystick master=0 server=0 proctype=local
 p bufname=servoMisJACfg3_4 name=joystick master=0 server=0 proctype=local
 #
+p bufname=navDataExt4 name=joystick master=0 server=0 proctype=remote
 p bufname=servoMobJACmd4 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJAStat4 name=joystick master=0 server=0 proctype=local
 p bufname=servoMobJACfg4 name=joystick master=0 server=0 proctype=local

Added: moast-bth/moast/etc/traffic.ini
===================================================================
--- moast-bth/moast/etc/traffic.ini	                        (rev 0)
+++ moast-bth/moast/etc/traffic.ini	2007-07-11 16:33:26 UTC (rev 650)
@@ -0,0 +1,22 @@
+; Traffic Simulation initialization file
+[DM-Mapping_250]
+UTM_START_POSE_1 = 3.63 10.8 -.446 0 0 0
+UTM_START_POSE_2 = 3.41 9.96 -.446 0 0 0
+UTM_START_POSE_3 = 2.14 9.86 -.446 0 1.57 0
+UTM_START_POSE_4 = 3.63 11.9 -.446 0 0 0
+PLATFORM_TYPE_1 = Talon
+PLATFORM_TYPE_2 = Talon
+PLATFORM_TYPE_3 = Zerg
+PLATFORM_TYPE_4 = Zerg
+
+[DM-compWorldDay2_250]
+UTM_START_POSE_1 = -44.81 22. -4 0 0 0
+UTM_START_POSE_2 = -44. 22 -4 0 0 0
+UTM_START_POSE_3 = -49 33.5 -4 0 0 0
+UTM_START_POSE_4 = -42 32.5 -4 0 0 0
+PLATFORM_TYPE_1 = Talon
+PLATFORM_TYPE_2 = Talon
+PLATFORM_TYPE_3 = Zerg
+PLATFORM_TYPE_4 = Zerg
+
+

Modified: moast-bth/moast/include/Makefile.am
===================================================================
--- moast-bth/moast/include/Makefile.am	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/include/Makefile.am	2007-07-11 16:33:26 UTC (rev 650)
@@ -35,4 +35,5 @@
 nmlPosition.hh \
 nmlMap.hh \
 trafficData.hh \
-trafficCtrl.hh
+trafficCtrl.hh \
+primMobEngine.hh

Added: moast-bth/moast/include/gomath.h
===================================================================
--- moast-bth/moast/include/gomath.h	                        (rev 0)
+++ moast-bth/moast/include/gomath.h	2007-07-11 16:33:26 UTC (rev 650)
@@ -0,0 +1,698 @@
+/*
+  DISCLAIMER:
+  This software was produced by the National Institute of Standards
+  and Technology (NIST), an agency of the U.S. government, and by statute is
+  not subject to copyright in the United States.  Recipients of this software
+  assume all responsibility associated with its operation, modification,
+  maintenance, and subsequent redistribution.
+
+  See NIST Administration Manual 4.09.07 b and Appendix I. 
+*/
+
+/*!
+  \file gomath.h
+
+  \brief Declarations for pose math functions
+
+  \code CVS Status:
+  $Author: proctor $
+  $Revision: 1.1 $
+  $Date: 2007/05/09 15:19:06 $
+  \endcode
+
+  \author Fred Proctor
+*/
+
+#ifndef GO_MATH_H
+#define GO_MATH_H
+
+#include <stddef.h>		/* sizeof */
+#include <math.h>		/* M_PI */
+#include <float.h>		/* FLT,DBL_MIN,MAX,EPSILON */
+#include "gotypes.h"		/* go_integer,real */
+
+#define go_sq(x) ((x)*(x))
+#define go_cub(x) ((x)*(x)*(x))
+#define go_qua(x) ((x)*(x)*(x)*(x))
+
+extern void go_sincos(go_real t, go_real * s, go_real * c);
+
+extern go_real go_cbrt(go_real t);
+
+#ifdef M_PI
+#define GO_PI M_PI
+#else
+#define GO_PI 3.14159265358979323846
+#endif
+#define GO_2_PI (2.0*GO_PI)
+
+#ifdef M_PI_2
+#define GO_PI_2 M_PI_2
+#else
+#define GO_PI_2 1.57079632679489661923
+#endif
+
+#ifdef M_PI_4
+#define GO_PI_4 M_PI_4
+#else
+#define GO_PI_4 0.78539816339744830962
+#endif
+
+#define GO_TO_DEG(rad) ((rad)*57.295779513082323)
+#define GO_TO_RAD(deg) ((deg)*0.0174532925199432952)
+
+/* how close translational quantities must be to be equal */
+#define GO_TRAN_CLOSE(x,y) (fabs((x)-(y)) < GO_REAL_EPSILON)
+#define GO_TRAN_SMALL(x) (fabs(x) < GO_REAL_EPSILON)
+
+/* how close rotational quantities must be to be equal */
+#define GO_ROT_CLOSE(x,y) (fabs((x)-(y)) < GO_REAL_EPSILON)
+#define GO_ROT_SMALL(x) (fabs(x) < GO_REAL_EPSILON)
+
+/* how close general quantities must be to be equal */
+#define GO_CLOSE(x,y) (fabs((x)-(y)) < GO_REAL_EPSILON)
+#define GO_SMALL(x) (fabs(x) < GO_REAL_EPSILON)
+
+typedef struct {
+  go_real x, y, z;
+} go_cart;
+
+typedef struct {
+  go_real theta, phi, r;
+} go_sph;
+
+typedef struct {
+  go_real theta, r, z;
+} go_cyl;
+
+typedef struct {
+  go_real x, y, z;
+} go_uvec;
+
+typedef struct {
+  go_real s, x, y, z;
+} go_rvec;
+
+/*            |  m.x.x   m.y.x   m.z.x  | */
+/* go_mat m = |  m.x.y   m.y.y   m.z.y  | */
+/*            |  m.x.z   m.y.z   m.z.z  | */
+
+typedef struct {
+  go_cart x;			/* x unit vector */
+  go_cart y;			/* y unit vector */
+  go_cart z;			/* z unit vector */
+} go_mat;
+
+typedef struct {
+  go_real s, x, y, z;
+} go_quat;
+
+typedef struct {
+  go_real z, y, zp;
+} go_zyz;
+
+typedef struct {
+  go_real z, y, x;
+} go_zyx;
+
+typedef struct {
+  go_real r, p, y;
+} go_rpy;
+
+typedef struct {
+  go_cart tran;
+  go_quat rot;
+} go_pose;
+
+extern go_pose
+go_pose_this(go_real x, go_real y, go_real z,
+	     go_real rs, go_real rx, go_real ry, go_real rz);
+
+extern go_pose
+go_pose_identity(void);
+
+typedef struct {
+  go_cart tran;
+  go_mat rot;
+} go_hom;
+
+typedef struct {
+  go_cart tran;
+  go_rpy rot;
+} go_rpose;
+
+/*
+  struct arguments are passed to functions as const pointers since the
+  speed is at least as fast for all but structs of one or two elements.
+*/
+
+/* translation rep conversion functions */
+
+extern go_result go_cart_sph_convert(const go_cart *, go_sph *);
+extern go_result go_cart_cyl_convert(const go_cart *, go_cyl *);
+extern go_result go_sph_cart_convert(const go_sph *, go_cart *);
+extern go_result go_sph_cyl_convert(const go_sph *, go_cyl *);
+extern go_result go_cyl_cart_convert(const go_cyl *, go_cart *);
+extern go_result go_cyl_sph_convert(const go_cyl *, go_sph *);
+
+/* rotation vector to true vector conversions */
+
+extern go_result go_cart_rvec_convert(const go_cart *, go_rvec *);
+extern go_result go_rvec_cart_convert(const go_rvec *, go_cart *);
+extern go_result go_cart_rpy_convert(const go_cart *, go_rpy *);
+extern go_result go_rpy_cart_convert(const go_rpy *, go_cart *);
+
+/* rotation rep conversion functions */
+
+extern go_result go_rvec_quat_convert(const go_rvec *, go_quat *);
+extern go_result go_rvec_mat_convert(const go_rvec *, go_mat *);
+extern go_result go_rvec_zyz_convert(const go_rvec *, go_zyz *);
+extern go_result go_rvec_zyx_convert(const go_rvec *, go_zyx *);
+extern go_result go_rvec_rpy_convert(const go_rvec *, go_rpy *);
+
+extern go_result go_quat_rvec_convert(const go_quat *, go_rvec *);
+extern go_result go_quat_mat_convert(const go_quat *, go_mat *);
+extern go_result go_quat_zyz_convert(const go_quat *, go_zyz *);
+extern go_result go_quat_zyx_convert(const go_quat *, go_zyx *);
+extern go_result go_quat_rpy_convert(const go_quat *, go_rpy *);
+
+extern go_result go_mat_rvec_convert(const go_mat *, go_rvec *);
+extern go_result go_mat_quat_convert(const go_mat *, go_quat *);
+extern go_result go_mat_zyz_convert(const go_mat *, go_zyz *);
+extern go_result go_mat_zyx_convert(const go_mat *, go_zyx *);
+extern go_result go_mat_rpy_convert(const go_mat *, go_rpy *);
+
+extern go_result go_zyz_rvec_convert(const go_zyz *, go_rvec *);
+extern go_result go_zyz_quat_convert(const go_zyz *, go_quat *);
+extern go_result go_zyz_mat_convert(const go_zyz *, go_mat *);
+extern go_result go_zyz_zyx_convert(const go_zyz *, go_zyx *);
+extern go_result go_zyz_rpy_convert(const go_zyz *, go_rpy *);
+
+extern go_result go_zyx_rvec_convert(const go_zyx *, go_rvec *);
+extern go_result go_zyx_quat_convert(const go_zyx *, go_quat *);
+extern go_result go_zyx_mat_convert(const go_zyx *, go_mat *);
+extern go_result go_zyx_zyz_convert(const go_zyx *, go_zyz *);
+extern go_result go_zyx_rpy_convert(const go_zyx *, go_rpy *);
+
+extern go_result go_rpy_rvec_convert(const go_rpy *, go_rvec *);
+extern go_result go_rpy_quat_convert(const go_rpy *, go_quat *);
+extern go_result go_rpy_mat_convert(const go_rpy *, go_mat *);
+extern go_result go_rpy_zyz_convert(const go_rpy *, go_zyz *);
+extern go_result go_rpy_zyx_convert(const go_rpy *, go_zyx *);
+
+/* combined rep conversion functions */
+
+extern go_result go_pose_hom_convert(const go_pose *, go_hom *);
+extern go_result go_hom_pose_convert(const go_hom *, go_pose *);
+
+/* translation functions, that work only with the preferred
+   go_cart type. Other types must be converted to go_cart
+   to use these, e.g., there's no go_sph_cyl_compare() */
+
+extern go_flag go_cart_cart_compare(const go_cart *, const go_cart *);
+extern go_result go_cart_cart_dot(const go_cart *, const go_cart *,
+				  go_real *);
+extern go_result go_cart_cart_cross(const go_cart *, const go_cart *,
+				    go_cart *);
+extern go_result go_cart_mag(const go_cart *, go_real *);
+extern go_result go_cart_cart_disp(const go_cart *, const go_cart *,
+				   go_real *);
+extern go_result go_cart_cart_add(const go_cart *, const go_cart *,
+				  go_cart *);
+extern go_result go_cart_cart_sub(const go_cart *, const go_cart *,
+				  go_cart *);
+extern go_result go_cart_scale_mult(const go_cart *, go_real, go_cart *);
+extern go_result go_cart_scale_div(const go_cart *, go_real, go_cart *);
+extern go_result go_cart_neg(const go_cart *, go_cart *);
+extern go_result go_cart_unit(const go_cart *, go_cart *);
+extern go_result go_cart_is_norm(const go_cart *);
+extern go_result go_cart_inv(const go_cart *, go_cart *);
+extern go_result go_cart_cart_proj(const go_cart *, const go_cart *,
+				   go_cart *);
+extern go_result go_cart_plane_proj(const go_cart *, const go_cart *,
+				    go_cart *);
+extern go_result go_cart_cart_angle(const go_cart *, const go_cart *,
+				    go_real *);
+extern go_result go_cart_centroid(const go_cart * varray,
+				  go_integer num,
+				  go_cart * centroid);
+extern go_result go_cart_centroidize(const go_cart * vinarray,
+				     go_integer num,
+				     go_cart * centroid,
+				     go_cart * voutarray);
+extern go_result go_cart_cart_pose(const go_cart *, const go_cart *,
+				   go_cart *, go_cart *,
+				   go_integer, go_pose *);
+
+/*!
+  Returns the Cartesian point \a p whose distances from three other points
+  \a c1, \a c2 and \a c3 are \a l1, \a l2 and \a l3, respectively. In
+  general there are 0, 1 or two points possible. If no point is possible,
+  this returns GO_RESULT_ERROR, otherwise the points are returned in \a
+  p1 and \a p2, which may be the same point.
+*/
+
+go_result go_cart_trilaterate(const go_cart * c1, 
+			      const go_cart * c2,
+			      const go_cart * c3,
+			      go_real l1,
+			      go_real l2,
+			      go_real l3,
+			      go_cart * p1,
+			      go_cart * p2);
+
+/* unit vector functions, which assume unit vectors as arguments. If they
+   aren't the results will be unexpected */
+
+extern go_result go_uvec_uvec_dot(const go_uvec *, const go_uvec *,
+				  go_real *);
+extern go_result go_uvec_uvec_angle(const go_uvec *, const go_uvec *,
+				    go_real *);
+
+/* quat functions */
+
+extern go_flag go_quat_quat_compare(const go_quat *, const go_quat *);
+extern go_result go_quat_mag(const go_quat *, go_real *);
+extern go_result go_quat_unit(const go_quat *, go_quat *);
+extern go_result go_quat_norm(const go_quat *, go_quat *);
+extern go_result go_quat_inv(const go_quat *, go_quat *);
+extern go_result go_quat_is_norm(const go_quat *);
+extern go_result go_quat_scale_mult(const go_quat *, go_real, go_quat *);
+extern go_result go_quat_scale_div(const go_quat *, go_real, go_quat *);
+extern go_result go_quat_quat_mult(const go_quat *, const go_quat *,
+				   go_quat *);
+extern go_result go_quat_cart_mult(const go_quat *, const go_cart *,
+				   go_cart *);
+
+/* rotation vector functions */
+
+extern go_flag go_rvec_rvec_compare(const go_rvec * r1, const go_rvec * r2);
+extern go_result go_rvec_scale_mult(const go_rvec *, go_real, go_rvec *);
+extern go_result go_rvec_scale_div(const go_rvec *, go_real, go_rvec *);
+extern go_result go_rvec_is_norm(const go_rvec *);
+extern go_result go_rvec_norm(const go_rvec *, go_rvec *);
+
+/* rotation matrix functions */
+
+/*        |  m.x.x   m.y.x   m.z.x  |   */
+/*   M =  |  m.x.y   m.y.y   m.z.y  |   */
+/*        |  m.x.z   m.y.z   m.z.z  |   */
+
+extern go_result go_mat_norm(const go_mat *, go_mat *);
+extern go_result go_mat_is_norm(const go_mat *);
+extern go_result go_mat_inv(const go_mat *, go_mat *);
+extern go_result go_mat_cart_mult(const go_mat *, const go_cart *, go_cart *);
+extern go_result go_mat_mat_mult(const go_mat *, const go_mat *, go_mat *);
+
+/* pose functions*/
+
+extern go_flag go_pose_pose_compare(const go_pose *, const go_pose *);
+extern go_result go_pose_inv(const go_pose *, go_pose *);
+extern go_result go_pose_cart_mult(const go_pose *, const go_cart *,
+				   go_cart *);
+extern go_result go_pose_pose_mult(const go_pose *, const go_pose *,
+				   go_pose *);
+
+/* homogeneous transform functions */
+
+extern go_result go_hom_inv(const go_hom *, go_hom *);
+
+/* declarations for general MxN matrices */
+
+/*!
+  Declare a matrix variable \a m with \a rows rows and \a cols columns.
+  Allocates \a rows X \a columns of space in \a mspace.
+*/
+
+typedef go_real go_vector;
+
+typedef struct {
+  go_integer rows;
+  go_integer cols;
+  go_real ** el;
+  go_real ** elcpy;
+  go_real * v;
+  go_integer * index;
+} go_matrix;
+
+#define GO_MATRIX_DECLARE(M,Mspace,_rows,_cols) \
+go_matrix M = {0, 0, 0, 0, 0, 0}; \
+struct { \
+  go_real * el[_rows]; \
+  go_real * elcpy[_rows]; \
+  go_real stg[_rows][_cols]; \
+  go_real stgcpy[_rows][_cols]; \
+  go_real v[_rows]; \
+  go_integer index[_rows]; \
+} Mspace
+
+#define go_matrix_init(M,Mspace,_rows,_cols) \
+M.el = Mspace.el;				    \
+M.elcpy = Mspace.elcpy;				    \
+for (M.rows = 0; M.rows < (_rows); M.rows++) { \
+  M.el[M.rows] = Mspace.stg[M.rows];	    \
+  M.elcpy[M.rows] = Mspace.stgcpy[M.rows];	    \
+} \
+M.rows = (_rows); \
+M.cols = (_cols); \
+M.v = Mspace.v; \
+M.index = Mspace.index
+
+extern go_result
+go_set_singular_epsilon(go_real epsilon);
+
+extern go_result
+ludcmp(go_real ** a,
+       go_real * scratchrow,
+       go_integer n,
+       go_integer * indx,
+       go_real * d);
+
+extern go_result
+lubksb(go_real ** a,
+       go_integer n,
+       go_integer * indx,
+       go_real * b);
+
+/* MxN matrix, Mx1 vector functions */
+
+extern go_result
+go_cart_vector_convert(const go_cart * c,
+		       go_vector * v);
+extern go_result
+go_vector_cart_convert(const go_real * v,
+		       go_cart * c);
+
+extern go_result
+go_quat_matrix_convert(const go_quat * quat,
+		      go_matrix * matrix);
+
+extern go_result
+go_mat_matrix_convert(const go_mat * mat,
+		      go_matrix * matrix);
+
+extern go_result
+go_matrix_matrix_add(const go_matrix * a,
+		     const go_matrix * b,
+		     go_matrix * apb);
+
+extern go_result
+go_matrix_matrix_copy(const go_matrix * src,
+		      go_matrix * dst);
+
+extern go_result
+go_matrix_matrix_mult(const go_matrix * a,
+		      const go_matrix * b,
+		      go_matrix * ab);
+
+extern go_result
+go_matrix_vector_mult(const go_matrix * a,
+		      const go_vector * v,
+		      go_vector * av);
+
+/*!
+  The matrix-vector cross product is a matrix of the same dimension,
+  whose columns are the column-wise cross products of the matrix
+  and the vector. The matrices must be 3xN, the vector 3x1.
+*/
+extern go_result
+go_matrix_vector_cross(const go_matrix * a,
+		       const go_vector * v,
+		       go_matrix * axv);
+
+extern go_result
+go_matrix_transpose(const go_matrix * a,
+		    go_matrix * at);
+
+extern go_result
+go_matrix_inv(const go_matrix * a,
+	      go_matrix * ainv);
+
+/* Square matrix functions, where matN is an NxN matrix, and vecN
+   is an Nx1 vector */
+
+/*!
+  Given a 6x6 matrix \a a, computes the inverse and returns it in
+  \a ainv. Leaves \a a untouched. Returns GO_RESULT_OK if there is an
+  inverse, else GO_RESULT_SINGULAR if the matrix is singular.
+*/
+extern go_result go_mat6_inv(const go_real a[6][6],
+			     go_real ainv[6][6]);
+
+/*!
+  Given two 6x6 matrices \a a and \a b, multiplies them and returns
+  the result in \a axb. Leaves \a a and \a b untouched.
+  Returns GO_RESULT_OK.
+*/
+extern go_result go_mat6_mat6_mult(const go_real a[6][6],
+				   const go_real b[6][6],
+				   go_real axb[6][6]);
+
+/*!
+  Given a 6x6 matrix \a a and a 6x1 vector \a v, multiplies them
+  and returns the result in \a axv. Leaves \a a and \a v untouched.
+  Returns GO_RESULT_OK.
+*/
+extern go_result go_mat6_vec6_mult(const go_real a[6][6],
+				   const go_real v[6],
+				   go_real axv[6]);
+
+/* Denavit-Hartenberg to pose conversions */
+
+/*
+  The link frams is assumed to be
+
+  | i-1
+  |    T
+  |   i
+
+  that is, elements of the link frame expressed wrt the
+  previous link frame.
+*/
+
+/*!
+  These DH parameters follow the convention in John J. Craig,
+  _Introduction to Robotics: Mechanics and Control_.
+*/
+typedef struct {
+  go_real a;			/*< a[i-1] */
+  go_real alpha;		/*< alpha[i-1] */
+  go_real d;			/*< d[i] */
+  go_real theta;		/*< theta[i] */
+} go_dh;
+
+/*!
+  PK parameters are used for parallel kinematic mechanisms, and
+  represent the Cartesian positions of the ends of the link in the
+  stationary base frame and the moving platform frame.
+ */
+typedef struct {
+  go_cart base;			/*< position of fixed end in base frame */
+  go_cart platform;		/*< position of moving end in platform frame  */
+} go_pk;
+
+/*!
+  PP parameters represent the pose of the link with respect to the
+  previous link, with \a prismatic non-zero for prismatic links
+  and zero for revolute links. Prismatic joints are assumed to
+  move along the Z axis, revolute joints about the Z axis.
+ */
+typedef struct {
+  go_pose pose;		/* e.g., from go_dh_pose_convert */
+} go_pp;
+
+/*! Types of link parameter representations  */
+enum {
+  GO_LINK_DH = 1,		/*< for Denavit-Hartenberg params  */
+  GO_LINK_PK,			/*< for parallel kinematics  */
+  GO_LINK_PP			/*< for serial kinematics */
+};
+
+/*!
+  This is the generic link structure for PKM sliding/cable links and 
+  serial revolute/prismatic links.
+ */
+typedef struct {
+  union {
+    go_dh dh; /*< if you have DH params and don't want to convert to PP */
+    go_pk pk; /*< if you have a parallel machine, e.g., hexapod or robot crane */
+    go_pp pp; /*< if you have a serial machine, e.g., an industrial robot  */
+  } u;
+  go_flag type;			/*< one of GO_LINK_DH,PK,PP  */
+  go_flag quantity;		/*< one of GO_QUANTITY_LENGTH,ANGLE */
+} go_link;
+
+/*!
+  Converts DH parameters in \a dh to their pose equivalent, stored
+  in \a pose.
+ */
+extern go_result go_dh_pose_convert(const go_dh * dh, go_pose * pose);
+
+/*!
+  Converts \a pose to the equivalent DH parameters, stored in \a dh.
+  Warning! Conversion from these DH parameters back to a pose via \a
+  go_dh_pose_convert will NOT in general result in the same
+  pose. Poses have 6 degrees of freedom, DH parameters have 4, and
+  conversion to DH parameters loses some information. The source of
+  this information loss is the convention imposed on DH parameters for
+  choice of X-Y-Z axis directions. With poses, there is no such
+  convention, and poses are thus freer than DH parameters.
+ */
+extern go_result go_pose_dh_convert(const go_pose * pose, go_dh * dh);
+
+/*
+  Fixes the pose in PP parameters \a pp to its value when the joint
+  variable is \a joint, storing the result in \a ppout. \a pp
+  represents the pose when the joint value is 0, its origin; \a ppout
+  represents the pose at an arbitrary joint value.
+*/
+extern go_result go_link_joint_set(const go_link * link, go_real joint, go_link * linkout);
+
+typedef struct {
+  go_real re;
+  go_real im;
+} go_complex;
+
+extern go_complex go_complex_add(go_complex z1, go_complex z2);
+extern go_complex go_complex_sub(go_complex z1, go_complex z2);
+extern go_complex go_complex_mult(go_complex z1, go_complex z2);
+extern go_complex go_complex_div(go_complex z1, go_complex z2, go_result * result);
+extern go_complex go_complex_scale(go_complex z, go_real scale);
+extern go_real go_complex_mag(go_complex z);
+extern go_real go_complex_arg(go_complex z);
+extern void go_complex_sqrt(go_complex z, go_complex * z1, go_complex * z2);
+extern void go_complex_cbrt(go_complex z, go_complex * z1, go_complex * z2, go_complex * z3);
+
+typedef struct {
+  /* leading coefficient is 1, x^2 + ax + b = 0 */
+  go_real a;
+  go_real b;
+} go_quadratic;
+
+typedef struct {
+  /* leading coefficient is 1, x^3 + ax^2 + bx + c = 0 */
+  go_real a;
+  go_real b;
+  go_real c;
+} go_cubic;
+
+typedef struct {
+  /* leading coefficient is 1, x^4 + ax^3 + bx^2 + cx + d = 0 */
+  go_real a;
+  go_real b;
+  go_real c;
+  go_real d;
+} go_quartic;
+
+extern go_result go_quadratic_solve(const go_quadratic * quad,
+				    go_complex * z1,
+				    go_complex * z2);
+
+extern go_result go_cubic_solve(const go_cubic * cub,
+				go_complex * z1,
+				go_complex * z2,
+				go_complex * z3);
+
+extern go_result go_quartic_solve(const go_quartic * quart,
+				  go_complex * z1,
+				  go_complex * z2,
+				  go_complex * z3,
+				  go_complex * z4);
+
+extern go_result go_tridiag_reduce(go_real ** a,
+				   go_integer n,
+				   go_real * d,
+				   go_real * e);
+
+extern go_result go_tridiag_ql(go_real * d,
+			       go_real * e,
+			       go_integer n,
+			       go_real ** z);
+
+#endif /* GO_MATH_H */
+
+/*
+  $Log: gomath.h,v $
+  Revision 1.1  2007/05/09 15:19:06  proctor
+  Added the math source files from go motion, and changed the Makefile.am
+  so that robojoy links these in.
+
+  Revision 1.27  2007/05/08 21:10:20  proctor
+  Reworked the handling of kinematic parameters, taking them out of the TRAJ
+  section and putting them in the SERVO sections as DH,PP,PK_PARAMETERS
+  and getting rid of unit handling-- now everything is converted to Go units
+  before sending to Go.
+
+  Revision 1.26  2007/05/04 15:20:24  proctor
+  Comments on go_link
+
+  Revision 1.25  2007/05/04 13:06:04  proctor
+  Added comments on go_dh, go_pp and put in placeholders for go_pk and go_link
+
+  Revision 1.24  2007/05/01 18:24:03  proctor
+  Added go_cart_rpy,uvec convert functions
+
+  Revision 1.23  2007/04/27 17:33:28  proctor
+  Added go_set_singular_epsilon, and verified gojactest.c works and builds
+  inverses for all three cases
+
+  Revision 1.22  2007/04/26 21:37:19  proctor
+  Added gojactest.c and conversions between go_quat and go_matrix
+
+  Revision 1.21  2007/04/24 23:10:08  proctor
+  Used new go_matrix structure
+
+  Revision 1.20  2007/04/24 15:19:51  proctor
+  Added general matrix functions
+
+  Revision 1.19  2006/12/22 13:48:57  proctor
+  Added traj_ref setup, but not handling-- still need to run the calculations
+  in do_cmd_move_world, and this will wait until we get time for testing
+
+  Revision 1.18  2006/11/22 15:36:15  proctor
+  Fixed sqrt check on mat to quat convert, to fix problems in puma kins
+
+  Revision 1.17  2006/11/20 17:39:28  proctor
+  Took out RC matrix index macro in place of [][] notation
+
+  Revision 1.16  2006/11/16 18:48:23  proctor
+  Fixed unix rtapi_arg bug with string malloc
+
+  Revision 1.15  2006/11/14 14:02:48  proctor
+  Added roboch stuff
+
+  Revision 1.14  2006/11/08 21:28:25  proctor
+  Added roboch Robocrane-Horizontal code, and updates to gomath for the
+  trilateration functions. Also made the comparison values coarser.
+
+  Revision 1.13  2006/10/31 21:19:07  proctor
+  Completed go_pose_cart_mult, adding go_tridiag functions
+
+  Revision 1.12  2006/10/10 14:24:35  proctor
+  Replaced the original go_traj_cj_compute with one that had the correct
+  two checks for the existence of an acceleration phase, and split out the
+  code into smaller easy pieces. Moved go_sq,cub,qua into gomath.h.
+
+  Revision 1.11  2006/10/07 19:38:05  proctor
+  Put go_cbrt in gomath.c,h, took out of gotraj.c
+
+  Revision 1.10  2006/09/20 19:55:41  proctor
+  Fixed bug in go_cubic_solve where values that should be complex conjugates weren't,
+  and complex roots of scalars were being used.
+
+  Revision 1.9  2006/09/18 20:17:58  proctor
+  Added beginnings of absolute orientation, namely complex number handling
+  and quadratic, cubic solving in gomath.c
+
+  Revision 1.8  2006/09/07 13:50:50  proctor
+  Fixed stepper motor interface, and added deadband to PID.
+
+  Revision 1.7  2006/07/25 14:36:25  proctor
+  Changed go_rot to go_rvec
+
+  Revision 1.6  2006-07-24 21:57:55  proctor
+  In gomath, added Denavit-Hartenberg/pose conversion functions;
+  in rtai, added some stepper-related changes
+
+*/
+

Added: moast-bth/moast/include/gotypes.h
===================================================================
--- moast-bth/moast/include/gotypes.h	                        (rev 0)
+++ moast-bth/moast/include/gotypes.h	2007-07-11 16:33:26 UTC (rev 650)
@@ -0,0 +1,225 @@
+#ifndef GO_TYPES_H
+#define GO_TYPES_H
+
+#include <float.h>		/* DBL_MAX, FLOAT_MAX */
+#include <limits.h>		/* INT_MAX */
+
+/*
+  Primitive types: go_result, go_real, go_integer, go_flag
+
+  These are intended to make smaller or faster versions of the Go
+  library, or to reflect processor architectures. The defaults are
+  usually fine and nothing should need to be overridden.
+
+  If you do override these when compiling your code, you run the
+  risk that the Go library you link with will have been compiled
+  with other choices. To detect this at link time, references to
+  global variables such as 'go_integer_int' will be compiled into
+  your code by the 'go_init()' macro. If they are not present in the
+  Go library, the linker will complain and your application will fail
+  to build. For example, if you override the definition for go_integer
+  to be a long int, and link with a precompiled default version of the
+  Go library, you will see something like this:
+
+  gcc yourapp.c -DGO_INTEGER_LONG -lgo -lm -o yourapp
+  ...
+  In function `main':
+  .../yourapp.c:10: undefined reference to `go_integer_long'
+
+  The fix is to recompile the entire Go library with your override
+  settings, e.g.,
+
+  cd .../go
+  make clean
+  make CFLAGS+=-DGO_INTEGER_LONG all
+
+  You should probably save the resulting non-default Go library
+  as something else and recompile Go with the defaults, e.g.,
+
+  mv libgo.a libgofast.a
+  make clean
+  make all
+
+  You'll then compile your application like this:
+
+  gcc yourapp.c -DGO_INTEGER_LONG -lgofast -lm -o yourapp
+
+  Type descriptions:
+
+  go_result is the type for error codes returned from functions,
+  one of the types in GO_RESULT_OK, ... as defined in the enum below.
+  The default value is 'int'. Override at compile time with one of:
+  
+  GO_RESULT_CHAR
+  GO_RESULT_SHORT
+  GO_RESULT_INT
+
+  e.g., -DGO_RESULT_CHAR
+
+  go_real is the type for real-valued numbers. The default value
+  is 'double'. Override at compile time with one of:
+
+  GO_REAL_FLOAT
+  GO_REAL_DOUBLE
+  GO_REAL_LONG_DOUBLE
+
+  e.g., -DGO_REAL_FLOAT
+
+  go_integer is the type for signed integers. The default value
+  is 'int'. Override at compile time with one of:
+
+  GO_INTEGER_SHORT
+  GO_INTEGER_INT
+  GO_INTEGER_LONG
+  GO_INTEGER_LONG_LONG
+
+  e.g., -DGO_INTEGER_LONG_LONG
+
+  go_flag is the type for small non-negative flags. The default
+  value is 'unsigned char'. Override at compile time with one of:
+
+  GO_FLAG_UCHAR
+  GO_FLAG_USHORT
+  GO_FLAG_UINT
+
+  e.g., -DGO_FLAG_UINT
+*/
+
+/* go_result: char, short, default int */
+
+#if defined(GO_RESULT_CHAR)
+typedef char go_result;
+#define GO_RESULT go_result_char
+extern int go_result_char;
+
+#elif defined(GO_RESULT_SHORT)
+typedef short int go_result;
+#define GO_RESULT go_result_short
+extern int go_result_short;
+
+#else
+#define GO_RESULT_INT
+typedef int go_result;
+#define GO_RESULT go_result_int
+extern int go_result_int;
+#endif
+
+/*!
+  GO_RESULT symbols run through a small range of values, on the
+  order of tens, suitable for a byte.  GO_RESULT_OK is zero for easy
+  detection of error conditions, e.g., if (result) { handle error }
+*/
+enum {
+  GO_RESULT_OK = 0,
+  GO_RESULT_IGNORED,		/* action can't be done, ignored */
+  GO_RESULT_BAD_ARGS,		/* arguments bad, e.g., null pointer */
+  GO_RESULT_RANGE_ERROR,	/* supplied range value out of bounds */
+  GO_RESULT_DOMAIN_ERROR,	/* resulting domain out of bounds */
+  GO_RESULT_ERROR,		/* action can't be done, a problem */
+  GO_RESULT_IMPL_ERROR,		/* function not implemented */
+  GO_RESULT_NORM_ERROR,		/* a value is expected to be normalized */
+  GO_RESULT_DIV_ERROR,		/* divide by zero */
+  GO_RESULT_SINGULAR,		/* a matrix is singular */
+  GO_RESULT_NO_SPACE,		/* no space for append operation */
+  GO_RESULT_EMPTY,		/* data structure is empty */
+  GO_RESULT_BUG			/* a bug in Go, e.g., unknown case */
+};
+
+/*!
+  Joints are characterized by the quantities they affect, such as
+  length for linear joints and angle for rotary joints.
+*/
+enum {
+  GO_QUANTITY_LENGTH = 1,
+  GO_QUANTITY_ANGLE
+};
+
+#define go_quantity_to_string(q) (q) == GO_QUANTITY_LENGTH ? "Length" : (q) == GO_QUANTITY_ANGLE ? "Angle" : "?"
+
+/* go_real: float, long double, default double; GO_INF is defined as
+ the associated max value from float.h */
+
+/*
+  In IEEE floating point,
+
+  FLT_MIN = 1.175494e-38, FLT_EPSILON 1.192093e-07
+  DBL_MIN = 2.225074e-308, DBL_EPSILON 2.220446e-16
+*/
+
+#if defined(GO_REAL_FLOAT)
+typedef float go_real;
+#define GO_REAL go_real_float
+extern int go_real_float;
+#define GO_REAL_MIN FLT_MIN
+#define GO_REAL_MAX FLT_MAX
+#define GO_REAL_EPSILON (1.0e-4)
+#define GO_INF FLT_MAX
+
+#elif defined(GO_REAL_LONG_DOUBLE)
+typedef long double go_real;
+#define GO_REAL go_real_long_double
+extern int go_real_long_double;
+#define GO_REAL_MIN DBL_MIN
+#define GO_REAL_MAX DBL_MAX
+#define GO_REAL_EPSILON (1.0e-10)
+#define GO_INF DBL_MAX
+
+#else
+#define GO_REAL_DOUBLE
+typedef double go_real;
+#define GO_REAL go_real_double
+extern int go_real_double;
+#define GO_REAL_MIN DBL_MIN
+#define GO_REAL_MAX DBL_MAX
+#define GO_REAL_EPSILON (1.0e-7)
+#define GO_INF DBL_MAX
+#endif
+
+/* go_integer: short, long, long long, default int */
+
+#if defined(GO_INTEGER_SHORT)
+typedef short int go_integer;
+#define GO_INTEGER go_integer_short
+extern int go_integer_short;
+#define GO_INTEGER_MAX SHRT_MAX
+
+#elif defined(GO_INTEGER_LONG)
+typedef long int go_integer;
+#define GO_INTEGER go_integer_long
+extern int go_integer_long;
+#define GO_INTEGER_MAX LONG_MAX
+
+#elif defined(GO_INTEGER_LONG_LONG)
+typedef long long int go_integer;
+#define GO_INTEGER go_integer_long_long
+extern int go_integer_long_long;
+#define GO_INTEGER_MAX LONG_MAX
+
+#else
+#define GO_INTEGER_INT
+typedef int go_integer;
+#define GO_INTEGER go_integer_int
+extern int go_integer_int;
+#define GO_INTEGER_MAX INT_MAX
+#endif
+
+/* go_flag: unsigned short, unsigned int, default unsigned char */
+
+#if defined(GO_FLAG_USHORT)
+typedef unsigned short go_flag;
+#define GO_FLAG go_flag_ushort
+extern int go_flag_ushort;
+
+#elif defined(GO_FLAG_UINT)
+typedef unsigned int go_flag;
+#define GO_FLAG go_flag_uint
+extern int go_flag_uint;
+
+#else
+#define GO_FLAG_UCHAR
+typedef unsigned char go_flag;
+#define GO_FLAG go_flag_uchar
+extern int go_flag_uchar;
+#endif
+
+#endif /* GO_TYPES_H */

Modified: moast-bth/moast/include/moastNmlGlobal.hh
===================================================================
--- moast-bth/moast/include/moastNmlGlobal.hh	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/include/moastNmlGlobal.hh	2007-07-11 16:33:26 UTC (rev 650)
@@ -17,8 +17,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.9 $
-  $Date: 2006/10/31 09:30:41 $
+  $Revision: 1.10 $
+  $Date: 2007/06/28 12:14:12 $
   \endcode
 
   \author Fred Proctor
@@ -76,27 +76,57 @@
 
 extern NML *symbolicDataBuf[NUM_SYMBOLIC_DATA_BUFFERS];
 
+#if NUM_NAV_DATA_EXT_BUFFERS
 extern NML *navDataExtBuf[NUM_NAV_DATA_EXT_BUFFERS];
+#else
+extern NML *navDataExtBuf;
+#endif
 
+#if NUM_SERVO_SP_LINESCAN_BUFFERS
 extern NML *servoSPLinescanBuf[NUM_SERVO_SP_LINESCAN_BUFFERS];
+#else
+extern NML *servoSPLinescanBuf;
+#endif
+
 extern NML *primSPLinescanBuf[NUM_PRIM_SP_LINESCAN_BUFFERS];
 extern NML *amSPMapBuf[NUM_AM_SP_MAP_BUFFERS];
 extern NML *vehMapBuf[NUM_VEH_MOB_PL_BUFFERS];
 
+#if NUM_SERVO_MOB_JA_BUFFERS
 extern RCS_CMD_CHANNEL *servoMobJACmdBuf[NUM_SERVO_MOB_JA_BUFFERS];
 extern RCS_CMD_CHANNEL *servoMobJACfgBuf[NUM_SERVO_MOB_JA_BUFFERS];
 extern RCS_STAT_CHANNEL *servoMobJAStatBuf[NUM_SERVO_MOB_JA_BUFFERS];
 extern RCS_STAT_CHANNEL *servoMobJASetBuf[NUM_SERVO_MOB_JA_BUFFERS];
+#else
+extern RCS_CMD_CHANNEL *servoMobJACmdBuf;
+extern RCS_CMD_CHANNEL *servoMobJACfgBuf;
+extern RCS_STAT_CHANNEL *servoMobJAStatBuf;
+extern RCS_STAT_CHANNEL *servoMobJASetBuf;
+#endif
 
+#if NUM_SERVO_SP_BUFFERS
 extern RCS_CMD_CHANNEL *servoSPCmdBuf[NUM_SERVO_SP_BUFFERS];
 extern RCS_STAT_CHANNEL *servoSPStatBuf[NUM_SERVO_SP_BUFFERS];
 extern RCS_STAT_CHANNEL *servoSPSetBuf[NUM_SERVO_SP_BUFFERS];
 extern RCS_CMD_CHANNEL *servoSPCfgBuf[NUM_SERVO_SP_BUFFERS];
+#else
+extern RCS_CMD_CHANNEL *servoSPCmdBuf;
+extern RCS_STAT_CHANNEL *servoSPStatBuf;
+extern RCS_STAT_CHANNEL *servoSPSetBuf;
+extern RCS_CMD_CHANNEL *servoSPCfgBuf;
+#endif
 
+#if NUM_SERVO_MIS_JA_BUFFERS
 extern RCS_CMD_CHANNEL *servoMisJACmdBuf[NUM_SERVO_MIS_JA_BUFFERS];
 extern RCS_STAT_CHANNEL *servoMisJAStatBuf[NUM_SERVO_MIS_JA_BUFFERS];
 extern RCS_STAT_CHANNEL *servoMisJASetBuf[NUM_SERVO_MIS_JA_BUFFERS];
 extern RCS_CMD_CHANNEL *servoMisJACfgBuf[NUM_SERVO_MIS_JA_BUFFERS];
+#else
+extern RCS_CMD_CHANNEL *servoMisJACmdBuf;
+extern RCS_STAT_CHANNEL *servoMisJAStatBuf;
+extern RCS_STAT_CHANNEL *servoMisJASetBuf;
+extern RCS_CMD_CHANNEL *servoMisJACfgBuf;
+#endif
 
 extern RCS_CMD_CHANNEL *primMobJACmdBuf[NUM_PRIM_MOB_JA_BUFFERS];
 extern RCS_STAT_CHANNEL *primMobJAStatBuf[NUM_PRIM_MOB_JA_BUFFERS];
@@ -160,6 +190,9 @@
   Modification history:
 
   $Log: moastNmlGlobal.hh,v $
+  Revision 1.10  2007/06/28 12:14:12  dr_steveb
+  Removed 0 length arrays that Microsoft compiliers complain about
+
   Revision 1.9  2006/10/31 09:30:41  dr_steveb
   Changes for SPQR integration
 

Modified: moast-bth/moast/include/moastTypes.hh
===================================================================
--- moast-bth/moast/include/moastTypes.hh	2007-07-11 16:23:30 UTC (rev 649)
+++ moast-bth/moast/include/moastTypes.hh	2007-07-11 16:33:26 UTC (rev 650)
@@ -16,8 +16,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.6 $
-  $Date: 2007/04/25 15:08:57 $
+  $Revision: 1.8 $
+  $Date: 2007/06/28 12:02:35 $
   \endcode
 
   \author Fred Proctor
@@ -26,6 +26,7 @@
 #ifndef MOAST_TYPES_HH
 #define MOAST_TYPES_HH
 
+#include <stdio.h> // FILE, fprintf
 #include <rcs.hh>		// RCS_STAT_SOURCE_FILE_LEN
 #include <posemath.h>		// PM_CARTESIAN
 
@@ -82,13 +83,45 @@
 };
 
 //! 2-D location structure
-typedef struct {
+class Location2D
+{
+public:
+  Location2D(){};
   //! the north location of the point
   double north;
   //! the east location of the point
   double east;
-}Location2D;
 
+  Location2D(const Location2D &copyIn) // copy constructor to handle pass by value
+  {
+    north = copyIn.north;
+    east = copyIn.east;
+  };
+
+  Location2D& operator=(const Location2D &rhs)
+  {
+    this->north = rhs.north;
+    this->east = rhs.east;
+    return *this;
+  };
+
+  int operator==(const Location2D &rhsIn) const
+  {
+    if( this->north!=rhsIn.north || this->east!=rhsIn.east )
+      return 0;
+    else
+      return 1;
+  };
+
+// sort by (increasing north, decreasing east)
+  int operator<(const Location2D &rhs) const
+  {
+    if( this->north == rhs.north && this->east > rhs.east ) return 1; // make (0,4) come before (0,0)
+    if( this->north < rhs.north ) return 1;
+    return 0;
+  };
+};
+
 //! A directed line segment may be represented by its two endpoints
 class LineSegment
 {
@@ -112,11 +145,40 @@
     end.north = north;
     end.east = east;
   };
+  void print(FILE *output=stdout)
+  {
+    fprintf( output, "%f %f\n%f %f\n\n",
+	     start.north, start.east,
+	     end.north, end.east );
+  };
   Location2D start;
   Location2D end;
   long properties; //!< a pointer that points to a properties structure for this line
 };
 
+/*
+  An ArcSegment is a path from an implicit start location to an end
+  location, along a circular arc. In a 2-D problem, the Z values are
+  ignored, and the normal vector is assumed to be +Z. 
+*/
+typedef struct {
+  PM_CARTESIAN center;		// coords of center
+  PM_CARTESIAN end;		// coords of end
+  PM_CARTESIAN normal;		// normal vector
+  // nominal angular displacement about normal from implicit start to end
+  double theta;
+  // tolerance along path, difference between outer and inner radius
+  double annular_tol;
+  // speed along the segment; acceleration is a system-wide parameter
+  double speed;
+  int isArc;			// 1 means arc, 0 means line, use 'end'
+} ArcSegment;
+
+//! define conventions for rotations
+enum {MOAST_ROTATE_CW, // force clockwise rotation
+      MOAST_ROTATE_CCW, // force counter-clockwise rotation
+      MOAST_ROTATE_SHORTEST}; // take shortest rotation
+
 //! Constrained interger structure
 typedef struct {
   //! integer value that will be constrained
@@ -165,6 +227,12 @@
 
 /*
   $Log: moastTypes.hh,v $
+  Revision 1.8  2007/06/28 12:02:35  dr_steveb
+  Changed location2d into a class from a structure
+
+  Revision 1.7  2007/05/10 13:15:31  dr_steveb
+  Moved rotation and arcSegment declaration from primMobJA to moastTypes so that multiple apps can use them.
+
   Revision 1.6  2007/04/25 15:08:57  dr_steveb
   Added traffic simulation files
 

Added: moast-bth/moast/include/primMobEngine.hh
===================================================================
--- moast-bth/moast/include/primMobEngine.hh	                        (rev 0)
+++ moast-bth/moast/include/primMobEngine.hh	2007-07-11 16:33:26 UTC (rev 650)
@@ -0,0 +1,188 @@
+/*
+  DISCLAIMER:
+  This software was produced by the National Institute of Standards
+  and Technology (NIST), an agency of the U.S. government, and by statute is
+  not subject to copyright in the United States.  Recipients of this software
+  assume all responsibility associated with its operation, modification,
+  maintenance, and subsequent redistribution.
+
+  See NIST Administration Manual 4.09.07 b and Appendix I. 
+*/
+
+/*!
+  \file primMobEngine.hh
+
+  \brief Vehicle primitive level planning engine
+
+  \code CVS Status:
+  $Author: dr_steveb $
+  $Revision: 1.2 $
+  $Date: 2007/05/16 15:16:21 $
+  \endcode
+
+  \author Stephen Balakirsky & Fred Proctor
+*/
+#ifndef __primMobEngine__
+#define __primMobEngine__
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+#include <stdio.h>
+#include <stddef.h>		// sizeof(), NULL
+#include <stdlib.h>		// getenv(), strtol()
+#include <signal.h>		// SIGINT, signal()
+#include <ctype.h>
+#include <string.h>		// strncpy
+#include <math.h>		// sqrt(), fabs(), atan2()
+#include <float.h>		// FLT_EPSILON
+#ifdef HAVE_GETOPT_H
+#include <getopt.h>
+#else
+#include "getopt.h"
+#endif
+#include <rcs.hh>
+#ifndef RCS_STAT_SOURCE_FILE_LEN
+#define RCS_STAT_SOURCE_FILE_LEN 64
+#endif
+#include "moastTypes.hh"	// MOAST_NML_BUFFER_NAME_LEN
+
+#define DEG(x) (57.295779513082323 * (x))
+#define RAD(x)  (0.017453292519943 * (x))
+
+#define LOG_FILE "out.log"
+/*
+  In IEEE floating point,
+
+  FLT_MIN = 1.175494e-38, FLT_EPSILON 1.192093e-07
+  DBL_MIN = 2.225074e-308, DBL_EPSILON 2.220446e-16
+
+  The FLT_EPSILON value makes a good fuzzy comparison for the
+  equality of two reals.
+*/
+
+#define IS_SMALL(x) (fabs(x) < FLT_EPSILON)
+#define IS_POSITIVE(x) ((x) >= FLT_EPSILON)
+#define WAYPOINT_INITIAL_SIZE MAX_WAYPOINTS // how many waypoints we start with
+#define HYPOT(x,y) sqrt((x)*(x)+(y)*(y))
+// force angles to be in range [-Pi..Pi)
+#define NORM(x) while ((x) >= PM_PI) (x) -= PM_2_PI; while ((x) < -PM_PI) (x) += PM_2_PI
+
+
+#define DEFAULT_CYCLE_TIME 0.050
+#define DEFAULT_MAX_TRAN_VEL 1.0 // m/s
+#define DEFAULT_MAX_TRAN_ACC 1.0 // m/s/s
+#define DEFAULT_MAX_ROT_VEL 1.0	// rad/s
+#define DEFAULT_MAX_ROT_ACC 1.0 // rad/s/s
+#define DEFAULT_V_CUTOFF_ANGLE 1.0 // rad
+#define DEFAULT_W_CUTOFF_ANGLE 1.0 // rad
+#define DEFAULT_DEBUG 0
+
+class PrimMobEngine{
+ private:
+  // computationally efficient values from wheel radius, separation
+  double v, w; // angular and linear velocities
+  double wheel_radius;
+  double wheel_radius_inverse;
+  double wheel_separation;
+  double wheel_separation_half;
+  int waypoint_size;	// size of whole array
+  int waypoint_num;	// how many currently in the array
+  int waypoint_index;	// which one we're working on

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Wed Jul 11 12:41:40 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 11 Jul 2007 12:41:40 -0400
Subject: [TeamTalk 114]: [651] TeamTalk/Agents/PrimitiveComm/Makefile: 1)
 make clean removes dependency files
Message-ID: <200707111641.l6BGfeZq008411@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070711/21c2c73c/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PrimitiveComm/Makefile
===================================================================
--- TeamTalk/Agents/PrimitiveComm/Makefile	2007-07-11 16:33:26 UTC (rev 650)
+++ TeamTalk/Agents/PrimitiveComm/Makefile	2007-07-11 16:41:40 UTC (rev 651)
@@ -75,4 +75,4 @@
 # Clean rule
 clean:
 	$(CLEAN_ECHO)
-	$(Q)rm -f *.o $(LIBRARIES)
+	$(Q)rm -f *.o *.d $(LIBRARIES)


Property changes on: TeamTalk/Agents/PrimitiveComm/Makefile
___________________________________________________________________
Name: svn:executable
   - *

From bfrisch at edam.speech.cs.cmu.edu  Wed Jul 11 17:30:15 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Wed, 11 Jul 2007 17:30:15 -0400
Subject: [TeamTalk 115]: [652] usarsim/System/USARSim.ini: Updated
	USARSim.ini
Message-ID: <200707112130.l6BLUFon010244@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070711/e9409438/attachment.html
-------------- next part --------------
Modified: usarsim/System/USARSim.ini
===================================================================
--- usarsim/System/USARSim.ini	2007-07-11 16:41:40 UTC (rev 651)
+++ usarsim/System/USARSim.ini	2007-07-11 21:30:15 UTC (rev 652)
@@ -292,12 +292,12 @@
 LanServerMaxTickRate=30
 
 [Engine.GameReplicationInfo]
-ServerName=UT2004 Server
-ShortName=UT2 Server
+ServerName=TeamTalk UT2004 Server
+ShortName=TeamTalk UT2k4 Server
 ServerRegion=0
 AdminName=
 AdminEmail=
-MessageOfTheDay=
+MessageOfTheDay=This server is for the use of TeamTalk project developers only.  All other use prohibited.
 
 [D3DDrv.D3DRenderDevice]
 DetailTextures=True
@@ -577,7 +577,7 @@
 
 [Engine.AccessControl]
 AdminPassword=
-GamePassword=
+GamePassword=findT
 bBanByID=True
 LoginDelaySeconds=0.000000
 IPPolicies=ACCEPT;*

From bfrisch at edam.speech.cs.cmu.edu  Wed Jul 11 21:39:37 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Wed, 11 Jul 2007 21:39:37 -0400
Subject: [TeamTalk 116]: [653] usarsim/Maps/DM-RoboticsLab_250.ut2: Updated
	Robotics Lab Map:
Message-ID: <200707120139.l6C1db93010995@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070711/f925352e/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Wed Jul 11 23:33:49 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 11 Jul 2007 23:33:49 -0400
Subject: [TeamTalk 117]: [654] usarsim: 1) Fixed some make issues for USARSim
Message-ID: <200707120333.l6C3XnFJ011159@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070711/ea202032/attachment.html
-------------- next part --------------
Modified: usarsim/System/Makefile
===================================================================
--- usarsim/System/Makefile	2007-07-12 01:39:36 UTC (rev 653)
+++ usarsim/System/Makefile	2007-07-12 03:33:49 UTC (rev 654)
@@ -1,34 +1,46 @@
-LINUX_DIR=../../ut2004-linux/
+INSTALL_DIR=../../ut2004-linux
 
-MAPS=$(LINUX_DIR)/Maps/DM-RoboticsLab_250.ut2
+PACKAGES=USARBotAPI.u USARBot.u USARMisPkg.u USARModels.u USARVictims.u \
+         TreasureHunt.u
 
-PACKAGES=$(LINUX_DIR)/System/USARBotAPI.u \
-         $(LINUX_DIR)/System/USARBot.u \
-         $(LINUX_DIR)/System/USARMisPkg.u \
-         $(LINUX_DIR)/System/USARModels.u \
-         $(LINUX_DIR)/System/USARVictims.u \
-         $(LINUX_DIR)/System/TreasureHunt.u
+INSTALL_MAPS=$(INSTALL_DIR)/Maps/DM-RoboticsLab_250.ut2
 
-INIS=$(LINUX_DIR)/System/USARSim.ini
+INSTALL_PACKAGES=$(INSTALL_DIR)/System/USARBotAPI.u \
+                 $(INSTALL_DIR)/System/USARBot.u \
+                 $(INSTALL_DIR)/System/USARMisPkg.u \
+                 $(INSTALL_DIR)/System/USARModels.u \
+                 $(INSTALL_DIR)/System/USARVictims.u \
+                 $(INSTALL_DIR)/System/TreasureHunt.u
 
-BATCH=$(LINUX_DIR)/System/usar_sx.sh
+INSTALL_INIS=$(INSTALL_DIR)/System/USARSim.ini
 
-all: ucc $(MAPS) $(PACKAGES) $(INIS) $(BATCH)
+INSTALL_BATCH=$(INSTALL_DIR)/System/usar_sx.sh
 
+all: $(PACKAGES) ucc
+
+install: $(INSTALL_MAPS) $(INSTALL_PACKAGES) $(INSTALL_INIS) $(INSTALL_BATCH) 
+
+$(INSTALL_DIR)/%:../%
+	cp -f $< $@
+
 ucc:
 	wine UCC.exe make -ini=USARSim.ini
 
-$(LINUX_DIR)/Maps/%.ut2:../Maps/%.ut2
-	cp -f $< $@
+USARBotAPI.u:../USARBotAPI/Classes/*.uc
+	rm -f $@
 
-$(LINUX_DIR)/System/%.u:%.u
-	cp -f $< $@
+USARBot.u:../USARBot/Classes/*.uc
+	rm -f $@
 
-$(LINUX_DIR)/System/%.ini:%.ini
-	cp -f $< $@
+USARMisPkg.u:../USARMisPkg/Classes/*.uc
+	rm -f $@
 
-$(LINUX_DIR)/System/%.sh:%.sh
-	cp -f $< $@
+USARModels.u:../USARModels/Classes/*.uc
+	rm -f $@
 
+USARVictims.u:../USARVictims/Classes/*.uc
+	rm -f $@
 
+TreasureHunt.u:../TreasureHunt/Classes/*.uc
+	rm -f $@
 

Added: usarsim/TreasureHunt/Classes/FemaleTreasureHunterPawn.uc
===================================================================
--- usarsim/TreasureHunt/Classes/FemaleTreasureHunterPawn.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/FemaleTreasureHunterPawn.uc	2007-07-12 03:33:49 UTC (rev 654)
@@ -0,0 +1,10 @@
+Class FemaleTreasureHunterPawn extends TreasureHunterPawn;
+
+defaultproperties
+{
+    // Size of all female hunters is the same
+    DrawScale=1.65
+
+    // Animation subset
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+}
\ No newline at end of file

Added: usarsim/TreasureHunt/Classes/MaleTreasureHunterPawn.uc
===================================================================
--- usarsim/TreasureHunt/Classes/MaleTreasureHunterPawn.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/MaleTreasureHunterPawn.uc	2007-07-12 03:33:49 UTC (rev 654)
@@ -0,0 +1,21 @@
+Class MaleTreasureHunterPawn extends TreasureHunterPawn;
+
+defaultproperties
+{
+    // Size of all male hunter is the same
+    DrawScale=1.8
+
+    // Animation subset
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+
+    BaseEyeHeight=+00150.000000
+    EyeHeight=+00150.000000
+    CollisionRadius=+00061.200000
+    CollisionHeight=+00203.000000
+    CrouchHeight=+00070.200000
+    CrouchRadius=+00061.200000
+    GroundSpeed=+00800.000000
+    AirSpeed=+00800.000000
+    WaterSpeed=+00400.000000
+    JumpZ=+00630.000000
+}
\ No newline at end of file

Modified: usarsim/TreasureHunt/Classes/TreasureHuntGame.uc
===================================================================
--- usarsim/TreasureHunt/Classes/TreasureHuntGame.uc	2007-07-12 01:39:36 UTC (rev 653)
+++ usarsim/TreasureHunt/Classes/TreasureHuntGame.uc	2007-07-12 03:33:49 UTC (rev 654)
@@ -19,8 +19,6 @@
 	return;
     }
 
-    log("RESTARTSOMETHING"@aPlayer);
-
     if( bRestartLevel && Level.NetMode!=NM_DedicatedServer && Level.NetMode!=NM_ListenServer )
         return;
 
@@ -39,12 +37,15 @@
     if (aPlayer.PreviousPawnClass!=None && aPlayer.PawnClass != aPlayer.PreviousPawnClass)
         BaseMutator.PlayerChangedClass(aPlayer);
 
-    if ( aPlayer.PawnClass != None )
+    if ( aPlayer.PawnClass != None && aPlayer.PawnClass.IsA('TreasureHunterPawn'))
         aPlayer.Pawn = Spawn(aPlayer.PawnClass,,,StartSpot.Location,StartSpot.Rotation);
 
     if( aPlayer.Pawn==None )
     {
-        DefaultPlayerClass = GetDefaultPlayerClass(aPlayer);
+	//we may revert back to this once we speciallize the controller
+        //DefaultPlayerClass = GetDefaultPlayerClass(aPlayer);
+        //for now hardcode here
+        DefaultPlayerClass = class'MaleTreasureHunterPawn';
         aPlayer.Pawn = Spawn(DefaultPlayerClass,,,StartSpot.Location,StartSpot.Rotation);
     }
     if ( aPlayer.Pawn == None )

Added: usarsim/TreasureHunt/Classes/TreasureHunterPawn.uc
===================================================================
--- usarsim/TreasureHunt/Classes/TreasureHunterPawn.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/TreasureHunterPawn.uc	2007-07-12 03:33:49 UTC (rev 654)
@@ -0,0 +1,5 @@
+Class TreasureHunterPawn extends UnrealPawn;
+
+defaultproperties
+{
+}
\ No newline at end of file

From bfrisch at edam.speech.cs.cmu.edu  Thu Jul 12 15:07:04 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Thu, 12 Jul 2007 15:07:04 -0400
Subject: [TeamTalk 118]: [655] 1) Updated moast.ini turns the robots around
	the other way.
Message-ID: <200707121907.l6CJ744A014775@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070712/9028cbfb/attachment.html
-------------- next part --------------
Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-07-12 03:33:49 UTC (rev 654)
+++ moast-bth/moast/etc/moast.ini	2007-07-12 19:07:02 UTC (rev 655)
@@ -381,8 +381,8 @@
 UTM_LETTER = N
 UTM_ZONE = 18
 UTM_START_POSE_COUNT = 2
-UTM_START_POSE_1 = 25.0 6.5 -1. 0. 0. 0.
-UTM_START_POSE_2 = 25.0 7.5 -1. 0. 0. 0.
+UTM_START_POSE_1 = 25.0 6.5 -1. 0. 0. 3.14159265
+UTM_START_POSE_2 = 25.0 7.5 -1. 0. 0. 3.14159265
 
 
 [DM-TallTestWorld_250]

Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From bfrisch at edam.speech.cs.cmu.edu  Fri Jul 13 21:12:26 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 13 Jul 2007 21:12:26 -0400
Subject: [TeamTalk 119]:  [656] usarsim: 1) Dummy folder for StaticMeshes
Message-ID: <200707140112.l6E1CQWB019027@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070713/c8dc03b0/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

Added: usarsim/StaticMeshes/TreasureHunt.usx
===================================================================
(Binary files differ)


Property changes on: usarsim/StaticMeshes/TreasureHunt.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From bfrisch at edam.speech.cs.cmu.edu  Sat Jul 14 17:52:19 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Sat, 14 Jul 2007 17:52:19 -0400
Subject: [TeamTalk 120]:  [657] usarsim: 1) Step area and walkway back.
Message-ID: <200707142152.l6ELqJ9R025607@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070714/9434fa7c/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

Deleted: usarsim/StaticMeshes/TreasureHunt.usx
===================================================================
(Binary files differ)

Added: usarsim/StaticMeshes/TreasureHuntGate.usx
===================================================================
(Binary files differ)


Property changes on: usarsim/StaticMeshes/TreasureHuntGate.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From bfrisch at edam.speech.cs.cmu.edu  Sat Jul 14 19:52:15 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Sat, 14 Jul 2007 19:52:15 -0400
Subject: [TeamTalk 121]:  [658] usarsim: 1) Now wall is mirror in Fun! Room
Message-ID: <200707142352.l6ENqFmf025975@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070714/a8343706/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

Added: usarsim/Textures/TreasureHuntTex.utx
===================================================================
(Binary files differ)


Property changes on: usarsim/Textures/TreasureHuntTex.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From bfrisch at edam.speech.cs.cmu.edu  Mon Jul 16 19:41:59 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Mon, 16 Jul 2007 19:41:59 -0400
Subject: [TeamTalk 122]: [659] usarsim/Maps/DM-RoboticsLab_250.ut2: 1)
 Spiral staircase replaced with navigable one that player can walk up,
 even taller player
Message-ID: <200707162341.l6GNfx33030850@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070716/0131532f/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From bfrisch at edam.speech.cs.cmu.edu  Mon Jul 16 20:24:24 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Mon, 16 Jul 2007 20:24:24 -0400
Subject: [TeamTalk 123]: [660] usarsim: 1) TreasureHuntGate.usx now replaced
 with TreasureHuntMesh. usx
Message-ID: <200707170024.l6H0OOZV030926@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070716/405bd75c/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

Deleted: usarsim/StaticMeshes/TreasureHuntGate.usx
===================================================================
(Binary files differ)

Added: usarsim/StaticMeshes/TreasureHuntMesh.usx
===================================================================
(Binary files differ)


Property changes on: usarsim/StaticMeshes/TreasureHuntMesh.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From tk at edam.speech.cs.cmu.edu  Wed Jul 18 17:35:41 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 18 Jul 2007 17:35:41 -0400
Subject: [TeamTalk 124]: [661]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder: refactor : the
 distinction between scribble3 and the rest of pendecoder had been eroded ,
 and became confusing, so I merged them.
Message-ID: <200707182135.l6ILZfbV018807@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070718/dc79b00b/attachment-0001.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractDecoderTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractDecoderTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractDecoderTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -1,7 +1,5 @@
 package edu.cmu.ravenclaw.pendecoder;
 
-import edu.cmu.ravenclaw.pendecoder.scribble3.AbstractTool;
-
 public abstract class AbstractDecoderTool extends AbstractTool {
   
   protected DrawingCanvas canvas;

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractTool.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,18 @@
+package edu.cmu.ravenclaw.pendecoder; 
+
+import java.awt.Point;
+
+public abstract class AbstractTool implements Tool { 
+
+  protected DrawingCanvas canvas; 
+  protected String name;
+
+  public String getName() {
+    return name; 
+  }
+
+  protected AbstractTool(DrawingCanvas canvas, String name) {
+    this.canvas = canvas;
+    this.name = name; 
+  }
+}

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -3,7 +3,7 @@
 import java.awt.*;
 import java.awt.geom.*;
 
-public class BotShape extends edu.cmu.ravenclaw.pendecoder.scribble3.Shape implements Cloneable {
+public class BotShape extends edu.cmu.ravenclaw.pendecoder.Shape implements Cloneable {
   
   /**
    * this is the iconification of the robot

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -1,17 +1,16 @@
 package edu.cmu.ravenclaw.pendecoder;
 
 import java.util.*;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
 import java.awt.Graphics;
 
 public class BotTracker {
-  protected ScribbleCanvas canvas;
+  protected DrawingCanvas canvas;
   protected final static int size = 3;
   
   protected HashMap<String, Shape> bots = new HashMap<String, Shape>();
   protected HashMap<Shape, String> names = new HashMap<Shape, String>();
   
-  BotTracker(ScribbleCanvas c) {
+  BotTracker(DrawingCanvas c) {
     canvas = c;
   }
   

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ButtonTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ButtonTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ButtonTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -10,8 +10,6 @@
 
 package edu.cmu.ravenclaw.pendecoder;
 
-import edu.cmu.ravenclaw.pendecoder.scribble3.AbstractTool;
-
 /**
  *
  * @author tkharris

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -3,8 +3,14 @@
 import java.awt.Color;
 import java.awt.Dimension;
 import java.awt.Graphics;
+import java.awt.Graphics2D;
 import java.awt.Point;
 import java.awt.Image;
+import java.awt.Rectangle;
+import java.awt.image.BufferedImage;
+import java.awt.image.DataBuffer;
+import java.awt.image.IndexColorModel;
+import java.awt.image.WritableRaster;
 import java.util.*;
 import java.io.*;
 import java.awt.event.*;
@@ -12,25 +18,88 @@
 import java.awt.geom.NoninvertibleTransformException;
 import java.util.EventListener;
 import javax.swing.*;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
+import net.sourceforge.jiu.codecs.CodecMode;
+import net.sourceforge.jiu.codecs.PNGCodec;
+import net.sourceforge.jiu.data.PixelImage;
+import net.sourceforge.jiu.gui.awt.ImageCreator;
 
-public class DrawingCanvas extends ScribbleCanvas {
+public class DrawingCanvas extends JComponent implements Scrollable {
   
   protected DrawingPad drawingPad = null;
+  protected DrawingCanvasListener drawingCanvasListener;
   static public String opTraderFrameHolder; //[2005-09-30] (tk): hack
   
+  /**
+   * The width and height of the area that the map represents (in centimeters)
+   */
+  protected float native_width, native_height;
+  
+  /**
+   * A vector from the upper left corner of the map to the world origin (in centimeters)
+   */
+  protected float x_origin, y_origin;
+  
+  /**
+   * The width and height of the actual map image (in pixels)
+   */
+  protected float image_width_in_pixels, image_height_in_pixels;
+  
   public DrawingCanvas() {
+    colorGenerator = new ColorGenerator(new Color[] {
+        Color.BLACK,     //clear space
+        Color.DARK_GRAY, //hash marks
+        Color.GRAY,      //unknown space
+        Color.GREEN,     //obstructed space
+        Color.YELLOW     //highlights
+    });   
+                                                     
+    String mapfile = null;
+    try {
+      Properties properties = new Properties();
+      properties.load(new FileInputStream("map.properties"));
+      mapfile = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapfile");
+      if(mapfile == null) throw new Exception("mapfile is missing");
+      String widthstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapwidth");
+      if(widthstr == null) throw new Exception("mapwidth is missing");
+      String heightstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapheight");
+      native_width = Float.parseFloat(widthstr);
+      native_height = Float.parseFloat(heightstr);
+    } catch (NumberFormatException e) {
+      System.err.println("Can't parse double:" + e.toString());
+      System.exit(1);
+    } catch (Exception e) {
+      System.err.println("Problem with properties" + e.toString());
+      System.exit(1);
+    }
+    try {
+      PNGCodec codec = new PNGCodec();
+      codec.setFile(mapfile, CodecMode.LOAD);
+      codec.process();
+      PixelImage pixelimage = codec.getImage();
+      backImage = new MapBufferedImage(ImageCreator.convertToAwtImage(pixelimage, ImageCreator.DEFAULT_ALPHA));
+      image_width_in_pixels = backImage.getWidth(this);
+      image_height_in_pixels = backImage.getHeight(this);
+      setPreferredSize(new Dimension((int)image_width_in_pixels, 
+              (int)image_height_in_pixels));
+    } catch(Exception e) {
+      System.err.println("Problem reading or converting PNG: " + e.toString());
+      System.exit(1);
+    }
+    drawingCanvasListener = makeCanvasListener();
+    addMouseListener((MouseListener) listener);
+    addMouseMotionListener((MouseMotionListener) listener);
   }
   
   public DrawingCanvas(Image backImage, DrawingPad drawingPad) {
-    super(backImage);
+    //calling factory method
+    System.err.println("scribble w/backimage");
+    drawingCanvasListener = makeCanvasListener();
+    addMouseListener((MouseListener) listener);
+    addMouseMotionListener((MouseMotionListener) listener);
+    backImage = new MapBufferedImage(backImage);
     this.drawingPad = drawingPad;
   }
   
-  public DrawingCanvas(Image backImage) {
-    super(backImage);
-  }
-  
   public DrawingCanvas(DrawingPad drawingPad) {
     this.drawingPad = drawingPad;
   }
@@ -43,6 +112,13 @@
     return drawingCanvasListener.getTool();
   }
   
+  /**
+   * factory method
+   */
+  protected DrawingCanvasListener makeCanvasListener() {
+    return new DrawingCanvasListener(this);
+  }
+  
   public void saySelectBot(String name) {
     drawingPad.saySelectBot(name);
   }
@@ -171,11 +247,266 @@
                 + " origin (cm): (" + x_origin + ", " + y_origin + ")");
   }
   
-  // factory method
-  protected EventListener makeCanvasListener() {
-    return (drawingCanvasListener = new DrawingCanvasListener(this));
-  }
-  
-  protected DrawingCanvasListener drawingCanvasListener;
   private static final long serialVersionUID = 2665310629710366124L;
+
+    /**
+     * 
+     * The list of shapes of the drawing
+     */
+    protected List<Shape> shapes = new ArrayList<Shape>();
+
+    protected Color curColor = Color.black;
+
+    protected EventListener listener;
+
+    protected boolean mouseButtonDown = false;
+
+    protected int x;
+
+    protected int y;
+
+    /**
+     * The image to display as the background (the map)
+     */
+    protected MapBufferedImage backImage = null;
+
+    /**
+     * An image of hashmarks for the transparent portions of the backImage
+     */
+    protected BufferedImage hashImage = null;
+
+    /**
+     * The width and height of the rendered map image (in pixels).
+     * The map is streched when the application window grows or during zooming, etc.
+     */
+    protected Dimension view_size;
+
+    /**
+     * A transform from the map image to the rendered map image
+     * The map is streched when the application window grows or during zooming, etc.
+     */
+    protected AffineTransform mapScale = new AffineTransform();
+
+    /**
+     * A transform from screen coordinates (pixels, left-handed) 
+     * to map coordinates (centimeters, right-handed)
+     */
+    protected AffineTransform screen_to_map = new AffineTransform();
+
+    /**
+     * A transform from map coordinates (centimeters, right-handed) 
+     * to screen coordinates (pixels, left-handed)
+     */
+    protected AffineTransform map_to_screen = new AffineTransform();
+
+    /**
+     * A class to generate new colors, maximally distinct from an existing set.
+     */
+    public ColorGenerator colorGenerator = null;
+
+    public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
+        byte[] decoded_map = new byte[x_dim * y_dim];
+        decodeMap(decoded_map, x_dim, y_dim, encoded_map);
+        if (type == MapBufferedImage.FULL) {
+            if (image_width_in_pixels != x_dim || image_height_in_pixels != y_dim) {
+                int colors[] = new int[3];
+                colors[1] = Color.BLACK.getRGB();
+                colors[2] = Color.DARK_GRAY.getRGB();
+                IndexColorModel iColor = new IndexColorModel(2, 3, colors, 0, false, 0, DataBuffer.TYPE_BYTE);
+                hashImage = new BufferedImage(x_dim, y_dim, BufferedImage.TYPE_BYTE_INDEXED, iColor);
+                int hashing = 100 / resolution;
+                WritableRaster wr = hashImage.getRaster();
+                for (int j = 0; j < y_dim; j++) {
+                    for (int i = 0; i < x_dim; i++) {
+                        if (j % hashing == 0 || i % hashing == 0)
+                            wr.setSample(i, j, 0, 2); else
+                            wr.setSample(i, j, 0, 1);
+                    }
+                }
+                setPreferredSize(new Dimension(x_dim, y_dim));
+            }
+            backImage = MapBufferedImage.createMapBufferedImage(x_dim, y_dim);
+            native_width = x_dim * resolution;
+            native_height = y_dim * resolution;
+            this.x_origin = x_origin * 100;
+            this.y_origin = y_origin * 100;
+            image_width_in_pixels = x_dim;
+            image_height_in_pixels = y_dim;
+            backImage.setFullMap(decoded_map);
+            repaint();
+        } else
+            if (type == MapBufferedImage.DIFF) {
+                if (x_dim != image_width_in_pixels || y_dim != image_height_in_pixels) {
+                    System.err.println("diff map for different full map");
+                } else {
+                    backImage.setDiffMap(decoded_map);
+                    repaint();
+                }
+            } else {
+                System.err.println("unknown map type: " + type);
+            }
+    }
+
+    protected void decodeMap(byte[] decoded_map, int x, int y, int[] encoded_map) {
+        System.err.println("x: " + x + " y: " + y + " encoded_len: " + encoded_map.length);
+        int j = 0, k = 0;
+        for (int i = 0; i < encoded_map.length; i++) {
+            int run_length = (encoded_map[i] & -256) >> 8;
+            byte run_value = (byte) (encoded_map[i] & 255);
+            if (i == 0)
+                System.err.println("raw: " + encoded_map[i] + " rl: " + run_length + " rv: " + run_value + " j: " + j);
+            for (; j < k + run_length; j++) {
+                decoded_map[j] = run_value;
+            }
+            k = j;
+        }
+    }
+
+    public void setCurColor(Color curColor) {
+        this.curColor = curColor;
+    }
+
+    public Color getCurColor() {
+        return curColor;
+    }
+
+    public void addShape(Shape shape) {
+        if (shape != null) {
+            shapes.add(shape);
+        }
+    }
+
+    public void removeShape(Shape shape) {
+        shapes.remove(shape);
+    }
+
+    public void paintComponent(Graphics g) {
+        Dimension viewportDim = ((JViewport) getParent()).getExtentSize();
+        if (view_size.width < viewportDim.width || view_size.height < viewportDim.height) {
+            setPreferredSize(new Dimension(Math.max(view_size.width, viewportDim.width), Math.max(view_size.height, viewportDim.height)));
+            revalidate();
+        }
+        if (backImage == null) {
+            System.err.println("Got no backImage");
+            return;
+        }
+        Graphics2D mapG = (Graphics2D) g.create();
+        mapG.transform(mapScale);
+        if (hashImage != null) {
+            mapG.drawImage(hashImage, 0, 0, this);
+        }
+        mapG.drawImage(backImage, 0, 0, this);
+        Graphics2D shapeG = (Graphics2D) g.create();
+        shapeG.transform(map_to_screen);
+        shapeG.setFont(BotShape.labelFont);
+        if (shapes != null) {
+            Iterator iter = shapes.iterator();
+            while (iter.hasNext()) {
+                Shape shape = (Shape) iter.next();
+                if (shape != null) {
+                    shape.draw(shapeG);
+                    if (shape instanceof BotShape) {
+                        ((BotShape) shape).label(screen_to_map, shapeG);
+                    }
+                }
+            }
+        }
+    }
+
+    public void newFile() {
+        shapes.clear();
+        repaint();
+    }
+
+    public void openFile(String filename) {
+        try {
+            ObjectInputStream in = new ObjectInputStream(new FileInputStream(filename));
+            try {
+                List l = (List) in.readObject();
+                Iterator li = l.iterator();
+                while (li.hasNext()) {
+                    shapes.add((Shape) li.next());
+                }
+            } catch (Exception e) {
+                System.err.println("Some problem with reading: " + e);
+            }
+            in.close();
+            repaint();
+        } catch (IOException e1) {
+            System.out.println("Unable to open file: " + filename);
+        }
+    }
+
+    public void saveFile(String filename) {
+        try {
+            ObjectOutputStream out = new ObjectOutputStream(new FileOutputStream(filename));
+            out.writeObject(shapes);
+            out.close();
+            System.out.println("Save drawing to " + filename);
+        } catch (IOException e) {
+            System.out.println("Unable to write file: " + filename);
+        }
+    }
+
+    public AffineTransform getScreenToMap() {
+        return screen_to_map;
+    }
+
+    public String selectObj(Point p) {
+        String retval = null;
+        screen_to_map.transform(p, p);
+        if (shapes != null) {
+            Iterator<Shape> i = shapes.iterator();
+            while (i.hasNext()) {
+                Shape shape = i.next();
+                if (shape.contains(p)) {
+                    shape.highlight();
+                    retval = shape.getName();
+                } else {
+                    shape.unhighlight();
+                }
+            }
+            repaint();
+        }
+        return retval;
+    }
+
+    public void setPreferredSize(Dimension d) {
+        view_size = d;
+        map_to_screen.setToScale(view_size.width / native_width, view_size.height / native_height);
+        map_to_screen.translate(x_origin, y_origin);
+        try {
+            screen_to_map = map_to_screen.createInverse();
+        } catch (NoninvertibleTransformException e) {
+            System.err.println("couldn't build map_to_screen");
+        }
+        mapScale.setToScale(view_size.width / image_width_in_pixels, view_size.height / image_height_in_pixels);
+        mapScale.translate(0, image_height_in_pixels);
+    }
+
+    public Dimension getPreferredSize() {
+        return view_size;
+    }
+
+    public Dimension getPreferredScrollableViewportSize() {
+        return getPreferredSize();
+    }
+
+    public int getScrollableUnitIncrement(Rectangle visibleRect, int orientation, int direction) {
+        return 1;
+    }
+
+    public int getScrollableBlockIncrement(Rectangle visibleRect, int orientation, int direction) {
+        if (orientation == SwingConstants.VERTICAL)
+            return visibleRect.height / 2; else
+            return visibleRect.width / 2;
+    }
+
+    public boolean getScrollableTracksViewportWidth() {
+        return false;
+    }
+
+    public boolean getScrollableTracksViewportHeight() {
+        return false;
+    }
 }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -2,14 +2,59 @@
 
 import java.awt.*;
 import java.awt.event.*;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
 
-public class DrawingCanvasListener extends ScribbleCanvasListener { 
+public class DrawingCanvasListener implements MouseListener, MouseMotionListener  { 
 
+  protected DrawingCanvas canvas; 
+  protected Tool tool; 
+
   public DrawingCanvasListener(DrawingCanvas canvas) { 
-    super(canvas, null); 
+    this.canvas = canvas; 
+    tool = new DrawingTool(canvas, "Scribble"); 
   }
 
+  public void mousePressed(MouseEvent e) {
+    Point p = e.getPoint(); 
+    tool.mouseDownAt(p);    
+    canvas.mouseButtonDown = true;
+    canvas.x = p.x; 
+    canvas.y = p.y; 
+  } 
+
+  public void mouseDragged(MouseEvent e) {
+    Point p = e.getPoint(); 
+    if (canvas.mouseButtonDown) {
+      tool.mouseDraggedTo(p);
+      canvas.x = p.x; 
+      canvas.y = p.y; 
+    }       
+  }
+
+  public void mouseReleased(MouseEvent e) {
+    Point p = e.getPoint(); 
+    tool.mouseReleasedAt(p);       
+    canvas.mouseButtonDown = false;       
+  }    
+  
+  public void mouseClicked(MouseEvent e) {
+    Point p = e.getPoint();
+    if(e.getClickCount() == 1) {
+      if(e.getButton() == e.BUTTON1)
+        tool.mouseClickedAt(p);
+      else
+        tool.mouseRightClickedAt(p);
+    } else {
+        tool.mouseDoubleClickedAt(p);
+    }
+  }
+  
+  public void mouseEntered(MouseEvent e) {}  
+  public void mouseExited(MouseEvent e) {}
+  public void mouseMoved(MouseEvent e) {
+    Point p = e.getPoint();
+    tool.mouseMovedTo(p);
+  }     
+
   public Tool getTool() { 
     return tool; 
   }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -6,11 +6,9 @@
 import javax.swing.*;
 
 import bsh.util.JConsole;
-
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
 import java.awt.image.BufferedImage;
 
-public class DrawingPad extends Scribble {
+public class DrawingPad extends JFrame {
   
   protected ToolKit toolkit;
   protected JComponent toolbar;
@@ -23,7 +21,28 @@
   
   public DrawingPad(String title) {
     super(title);
-    
+    // calling factory method 
+    drawingCanvas = makeCanvas(); 
+    getContentPane().setLayout(new BorderLayout()); 
+    menuBar = createMenuBar(); 
+    getContentPane().add(menuBar, BorderLayout.NORTH); 
+    pane = new JScrollPane(drawingCanvas);
+    JRootPane rootPane = new JRootPane();
+    rootPane.setContentPane(pane);
+    LogoViewport logopane = new LogoViewport();
+    rootPane.setGlassPane(logopane);
+    logopane.setVisible(true);
+    pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
+    pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);    
+    getContentPane().add(rootPane, BorderLayout.CENTER);
+    addWindowListener(new WindowAdapter() {
+	public void windowClosing(WindowEvent e) {
+	  if (exitAction != null) { 
+	    exitAction.actionPerformed(new ActionEvent(DrawingPad.this, 0, null)); 
+	  }
+	}
+      }); 
+
     //add toolbar
     toolkit = createToolkit();
     drawingCanvas.setTool(toolkit.getTool(0));
@@ -96,7 +115,7 @@
   }
   
   public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
-    canvas.mapUpdate(type, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
+    drawingCanvas.mapUpdate(type, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
   }
   
   public void addServer(PenDecoderServer server) {
@@ -140,7 +159,7 @@
   }
   
   // factory method
-  protected ScribbleCanvas makeCanvas() {
+  protected DrawingCanvas makeCanvas() {
     return (drawingCanvas = new DrawingCanvas(this));
   }
   
@@ -279,4 +298,52 @@
   }
   
   private static final long serialVersionUID = -3941481106291332264L;
+
+    protected JMenuBar createMenuBar() {
+        JMenuBar menuBar = new JMenuBar();
+        JMenu menu;
+        JMenuItem mi;
+        menu = new JMenu("File");
+        menuBar.add(menu);
+        exitAction = new ExitListener();
+        mi = new JMenuItem("Exit");
+        menu.add(mi);
+        mi.addActionListener(exitAction);
+        menu = new JMenu("Help");
+        menuBar.add(menu);
+        mi = new JMenuItem("About");
+        menu.add(mi);
+        mi.addActionListener(new AboutListener());
+        return menuBar;
+    }
+
+    class ExitListener implements ActionListener {
+
+        public void actionPerformed(ActionEvent e) {
+            int result = JOptionPane.showConfirmDialog(null, "Do you want to exit?", "Exit Treasure Hunt GUI?", JOptionPane.YES_NO_OPTION);
+            if (result == JOptionPane.YES_OPTION) {
+                System.exit(0);
+            }
+        }
+    }
+
+
+    class AboutListener implements ActionListener {
+
+        public void actionPerformed(ActionEvent e) {
+            JOptionPane.showMessageDialog(null, "Teamtalk version 1.0\nCarnegie Mellon\nBoeing Phantom Works\n", 
+                    "About", JOptionPane.INFORMATION_MESSAGE);
+        }
+    }
+
+    protected JScrollPane pane;
+
+    protected JMenuBar menuBar;
+
+    protected ActionListener exitAction;
+
+    protected static int width = 1200;
+
+    protected static int height = 800;
+
 }

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingTool.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,45 @@
+package edu.cmu.ravenclaw.pendecoder; 
+
+import java.awt.*;
+import javax.swing.Icon;
+
+public class DrawingTool extends AbstractTool { 
+
+  public DrawingTool(DrawingCanvas canvas, String name) {
+    super(canvas, name);
+  }
+
+  public void mouseDownAt(Point p) {
+    curStroke = new edu.cmu.ravenclaw.pendecoder.Stroke(canvas.getCurColor()); 
+    curStroke.addPoint(p); 
+  }
+
+  public void mouseDraggedTo(Point p) {
+    if (curStroke != null) { 
+      curStroke.addPoint(p); 
+      Graphics g = canvas.getGraphics();
+      g.setColor(canvas.getCurColor());
+      g.drawLine(canvas.x, canvas.y, p.x, p.y); 
+    }
+  }
+
+  public void mouseReleasedAt(Point p) {
+    if (curStroke != null) { 
+      curStroke.addPoint(p); 
+      canvas.addShape(curStroke); 
+      curStroke = null; 
+    }
+  }
+
+  public void mouseClickedAt(Point p) {}
+  public void mouseDoubleClickedAt(Point p) {}
+  public void mouseRightClickedAt(Point p) {}
+  public void mouseMovedTo(Point p) {}
+
+  public Icon getIcon() {
+      return null;
+  }
+  
+  protected edu.cmu.ravenclaw.pendecoder.Stroke curStroke = null; 
+
+}

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/IconTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/IconTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/IconTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -15,8 +15,6 @@
 import javax.swing.Icon;
 import javax.swing.ImageIcon;
 
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
-
 /**
  *
  * @author tkharris

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Imager.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Imager.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Imager.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -7,11 +7,7 @@
 
 package edu.cmu.ravenclaw.pendecoder;
 
-import java.awt.Canvas;
-import java.awt.Color;
-import java.awt.Dimension;
-import java.awt.Graphics;
-import java.awt.Image;
+import java.awt.*;
 import java.awt.image.BufferedImage;
 
 /**

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/LogoViewport.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/LogoViewport.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/LogoViewport.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,90 @@
+/*
+ * LogoViewport.java
+ *
+ * Created on April 25, 2006, 12:35 PM
+ *
+ * To change this template, choose Tools | Options and locate the template under
+ * the Source Creation and Management node. Right-click the template and choose
+ * Open. You can then make changes to the template in the Source Editor.
+ */
+
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.awt.*;
+import java.awt.image.*;
+import java.io.File;
+import java.io.IOException;
+import javax.imageio.ImageIO;
+import javax.swing.JComponent;
+import javax.swing.JScrollPane;
+
+/**
+ *
+ * @author tkharris
+ * LogoViewport displays an image with the white parts transparent onto the
+ * glass pane of a JScrollPane. 
+ */
+public class LogoViewport extends JComponent {
+  
+  private Image logo_image;
+  private boolean have_dimensions = false;
+  private int image_width, image_height;
+  
+  /**
+   * Creates a new instance of LogoViewport 
+   */
+  public LogoViewport() {
+    try {
+      logo_image = ImageIO.read(new File("cmu_wordmark1r-boeing.JPG"));
+    } catch (IOException e) {
+      System.err.println("Problem reading ");
+    }
+    setOpaque(false);
+  }
+  
+  //this function makes colors "near" white transparent
+  //the more white you are, the more transparent you become
+  //this is useful for images with a sort-of white background
+  private static Image makeColorTransparent (Image im) {
+    ImageFilter filter = new RGBImageFilter() {
+      public final int filterRGB(int x, int y, int rgb) { 
+        /*
+        int intensity = ((rgb & 0x00FF0000)>>16) +
+                         ((rgb & 0x0000FF00)>>8) +
+                         ((rgb & 0x000000FF))
+                        / 3;
+        if(intensity > 0xC0) intensity = 0xFF;
+        else if(intensity < 0x20) intensity = 0x00;
+        else if(intensity <= 0x80) intensity -= 0x20;
+        else intensity += 0x30;
+        return ((0xFF - intensity) << 24) | (rgb & 0x00FFFFFF);
+         */
+        return (0xA0 << 24) | (rgb & 0xFFFFFF);
+      }
+    }; 
+
+    ImageProducer ip = new FilteredImageSource(im.getSource(), filter);
+    return Toolkit.getDefaultToolkit().createImage(ip);
+  }
+  
+  //just draw the image in the lower right-hand corner
+  public void paintComponent(Graphics g) {
+    super.paintComponent(g);
+    Graphics2D g2 = (Graphics2D)g.create();
+    if(!have_dimensions) {
+      image_width = logo_image.getWidth(this);
+      image_height = logo_image.getHeight(this);
+      have_dimensions = image_width != -1 && image_height != -1;
+      if(!have_dimensions) return;
+    }
+    Rectangle r = ((JScrollPane) getRootPane().getContentPane()).getViewportBorderBounds();
+    g2.setComposite(AlphaComposite.getInstance(AlphaComposite.SRC_OVER, 0.8F));
+    g2.drawImage(logo_image, r.width-image_width, r.height-image_height, this);
+    g2.setComposite(AlphaComposite.getInstance(AlphaComposite.DST_OVER));
+    g2.setColor(new Color(1F, 1F, 1F, 0.7F));
+    g2.fillRoundRect(r.width-image_width, r.height-image_height, 
+            image_width, image_height, 20, 20);
+  }
+
+  private static final long serialVersionUID = 317617020444574870L;
+}

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapBufferedImage.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapBufferedImage.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapBufferedImage.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,69 @@
+/*
+ * MapBufferedImage.java
+ *
+ * Created on August 12, 2006, 9:48 AM
+ */
+
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.awt.Color;
+import java.awt.Graphics2D;
+import java.awt.image.*;
+
+/**
+ *
+ * @author tkharris
+ */
+public class MapBufferedImage extends BufferedImage {
+  
+  static public final int FULL = 0;
+  static public final int DIFF = 1;
+  
+  /**
+   * Creates a new instance of MapBufferedImage 
+   */
+  public MapBufferedImage(int w, int h, int type, IndexColorModel cm) {
+    super(w, h, type, cm);
+  }
+  
+  public MapBufferedImage(java.awt.Image i) {
+    super(i.getWidth(null), i.getHeight(null), BufferedImage.TYPE_INT_RGB);
+    Graphics2D g2 = createGraphics();
+    g2.drawImage(i, 0, 0, null);
+    g2.dispose();
+  }
+  
+  static public MapBufferedImage createMapBufferedImage(int w, int h) {
+    int colors[] = new int[256];
+    for(int i=0; i<256; i++) colors[i] = Color.BLACK.getRGB();
+    colors[64] = Color.GRAY.getRGB();
+    colors[255] = Color.GREEN.getRGB();
+    IndexColorModel iColor = 
+            new IndexColorModel(8, 256, colors, 0, false, 128, DataBuffer.TYPE_BYTE);
+    return new MapBufferedImage(w, h, TYPE_BYTE_INDEXED, iColor);
+  }
+  
+  public void setFullMap(byte[] ras) {
+    WritableRaster wr = getRaster();
+    int h = getHeight();
+    int w = getWidth();
+    for(int y=0; y<h; y++) {
+      for(int x=0; x<w; x++) {
+        byte val = ras[y*w+x];
+        wr.setSample(x, y, 0, val);
+      }
+    }
+  }
+
+  public void setDiffMap(byte[] ras) {
+    WritableRaster wr = getRaster();
+    int h = getHeight();
+    int w = getWidth();
+    for(int y=0; y<h; y++) {
+      for(int x=0; x<w; x++) {
+        byte val = ras[y*w+x];
+        if(val!=0) wr.setSample(x, y, 0, val);
+      }
+    }
+  }
+}
\ No newline at end of file

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointShape.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointShape.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -8,7 +8,7 @@
 package edu.cmu.ravenclaw.pendecoder;
 
 import java.awt.Color;
-import edu.cmu.ravenclaw.pendecoder.scribble3.Shape;
+import edu.cmu.ravenclaw.pendecoder.Shape;
 import java.awt.Graphics2D;
 import java.awt.Point;
 import java.awt.geom.AffineTransform;

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -2,7 +2,6 @@
 
 import java.awt.*;
 import javax.swing.Icon;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
 
 public class NPointTool extends AbstractDecoderTool {
   

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -3,7 +3,7 @@
 import java.awt.*;
 import java.awt.geom.*;
 
-public class ObjShape extends edu.cmu.ravenclaw.pendecoder.scribble3.Shape implements Cloneable {
+public class ObjShape extends edu.cmu.ravenclaw.pendecoder.Shape implements Cloneable {
   
   /**
    * this is the iconification of the object

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -13,7 +13,6 @@
  */
 
 import javax.imageio.ImageIO;
-import edu.cmu.ravenclaw.pendecoder.scribble3.MapBufferedImage;
 import java.io.*;
 import java.util.*;
 

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PlacementTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PlacementTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PlacementTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -9,7 +9,6 @@
 import java.awt.*;
 import java.awt.geom.AffineTransform;
 import javax.swing.Icon;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
 
 /**
  *

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PointTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PointTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PointTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -3,7 +3,6 @@
 import java.awt.*;
 import javax.swing.Icon;
 import javax.swing.JViewport;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*;
 
 public class PointTool extends AbstractDecoderTool {
   

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolyLineShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolyLineShape.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PolyLineShape.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -1,4 +1,5 @@
 package edu.cmu.ravenclaw.pendecoder;
+
 import java.awt.Color;
 import java.awt.Graphics2D;
 import java.awt.Point;

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Shape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Shape.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Shape.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,56 @@
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.awt.*;
+import java.awt.geom.AffineTransform;
+import java.io.Serializable;
+
+public abstract class Shape implements Serializable {
+  
+  public Shape() {}
+  
+  public Shape(Color color) {
+    this.color = color;
+  }
+  
+  public Shape(Color color, String name) {
+    this.color = color;
+    this.name = name;
+  }
+  
+  public void setColor(Color color) {
+    this.color = color;
+  }
+  
+  public Color getColor() {
+    return color;
+  }
+  
+  public boolean highlight() {
+    System.err.println(name + ": I selected");
+    boolean retval = selected;
+    selected = true;
+    return retval;
+  }
+  
+  public boolean unhighlight() {
+    boolean retval = selected;
+    selected = false;
+    return retval;
+  }
+  
+  public boolean isSelected() {
+    return selected;
+  }
+  
+  public String getName() {
+    return name;
+  }
+  
+  public abstract void draw(Graphics2D g);
+  public abstract boolean contains(Point pt);
+  public abstract void transform(AffineTransform at);
+  
+  protected Color color = Color.black;
+  protected boolean selected = false;
+  protected String name = null;
+}

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Stroke.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Stroke.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Stroke.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,55 @@
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.util.*;
+import java.awt.Point;
+import java.awt.Color;
+import java.awt.Graphics2D;
+import java.awt.geom.AffineTransform;
+
+public class Stroke extends Shape {
+  
+  public Stroke() {}
+  
+  public Stroke(Color color) {
+    super(color);
+  }
+  
+  public void addPoint(Point p) {
+    if (p != null) {
+      points.add(p);
+    }
+  }
+  
+  public List getPoints() {
+    return points;
+  }
+  
+  public void draw(Graphics2D g) {
+    if (color != null) {
+      g.setColor(color);
+    }
+    Point prev = null;
+    Iterator iter = points.iterator();
+    while (iter.hasNext()) {
+      Point cur = (Point) iter.next();
+      if (prev != null) {
+        g.drawLine(prev.x, prev.y, cur.x, cur.y);
+      }
+      prev = cur;
+    }
+  }
+  
+  public boolean contains(Point pt) {return false;}
+  public void transform(AffineTransform at) {
+    ListIterator<Point> i = points.listIterator();
+    while(i.hasNext()) {
+      at.transform(i.next(), i.next());
+    }
+  }
+  
+  // The list of points on the stroke
+  // elements are instances of java.awt.Point
+  protected List<Point> points = new ArrayList<Point>();
+  
+  private static final long serialVersionUID = 396896443777340918L;
+}

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToggleButtonTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToggleButtonTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToggleButtonTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -10,8 +10,6 @@
 
 package edu.cmu.ravenclaw.pendecoder;
 
-import edu.cmu.ravenclaw.pendecoder.scribble3.AbstractTool;
-
 /**
  *
  * @author tkharris

Added: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Tool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Tool.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Tool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -0,0 +1,16 @@
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.awt.*;
+import javax.swing.Icon;
+
+public interface Tool {
+  public Icon getIcon();
+  public String getName();
+  public void mouseDownAt(Point p);
+  public void mouseDraggedTo(Point p);
+  public void mouseReleasedAt(Point p);
+  public void mouseClickedAt(Point p);
+  public void mouseDoubleClickedAt(Point p);
+  public void mouseRightClickedAt(Point p);
+  public void mouseMovedTo(Point p);
+}

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToolKit.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToolKit.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ToolKit.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -1,7 +1,6 @@
 package edu.cmu.ravenclaw.pendecoder; 
 
 import java.util.*; 
-import edu.cmu.ravenclaw.pendecoder.scribble3.Tool; 
 
 /** 
  * ToolKit is a collection of "tools" or drawing modes.

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/TwoEndsShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/TwoEndsShape.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/TwoEndsShape.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -5,7 +5,6 @@
 import java.awt.geom.AffineTransform;
 import java.awt.geom.Point2D.Float;
 import java.awt.geom.Point2D;
-import edu.cmu.ravenclaw.pendecoder.scribble3.Shape;
 
 public abstract class TwoEndsShape extends Shape implements Cloneable { 
 

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/TwoEndsTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/TwoEndsTool.java	2007-07-17 00:24:24 UTC (rev 660)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/TwoEndsTool.java	2007-07-18 21:35:40 UTC (rev 661)
@@ -2,7 +2,6 @@
 
 import java.awt.*; 
 import javax.swing.Icon;
-import edu.cmu.ravenclaw.pendecoder.scribble3.*; 
 
 public class TwoEndsTool extends AbstractDecoderTool {
 

From tk at edam.speech.cs.cmu.edu  Thu Jul 19 17:33:57 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 19 Jul 2007 17:33:57 -0400
Subject: [TeamTalk 125]: [662] TeamTalk/Agents/PenDecoder: 1) Removed jiu
	dependency
Message-ID: <200707192133.l6JLXvej030094@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070719/e837efe7/attachment.html
-------------- next part --------------
Deleted: TeamTalk/Agents/PenDecoder/jiu.jar
===================================================================
(Binary files differ)

Modified: TeamTalk/Agents/PenDecoder/nbproject/build-impl.xml
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/build-impl.xml	2007-07-18 21:35:40 UTC (rev 661)
+++ TeamTalk/Agents/PenDecoder/nbproject/build-impl.xml	2007-07-19 21:33:55 UTC (rev 662)
@@ -19,7 +19,7 @@
   - cleanup
 
 -->
-<project name="PenDecoder-impl" default="default" basedir=".." xmlns:j2seproject2="http://www.netbeans.org/ns/j2se-project/2" xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1">
+<project name="PenDecoder-impl" default="default" basedir=".." xmlns:j2seproject3="http://www.netbeans.org/ns/j2se-project/3" xmlns:j2seproject2="http://www.netbeans.org/ns/j2se-project/2" xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1" xmlns:jaxws="http://www.netbeans.org/ns/jax-ws/1">
     <target name="default" depends="test,jar,javadoc" description="Build and test whole project."/>
     <!-- 
     ======================
@@ -54,9 +54,20 @@
                 </not>
             </and>
         </condition>
+        <condition property="manifest.available+main.class+mkdist.available">
+            <and>
+                <istrue value="${manifest.available+main.class}"/>
+                <isset property="libs.CopyLibs.classpath"/>
+            </and>
+        </condition>
         <condition property="have.tests">
             <or/>
         </condition>
+        <condition property="have.sources">
+            <or>
+                <available file="${src.dir}"/>
+            </or>
+        </condition>
         <condition property="netbeans.home+have.tests">
             <and>
                 <isset property="netbeans.home"/>
@@ -74,6 +85,8 @@
                 <istrue value="${no.dependencies}"/>
             </and>
         </condition>
+        <property name="javac.debug" value="true"/>
+        <property name="javadoc.preview" value="true"/>
     </target>
     <target name="-post-init">
         <!-- Empty placeholder for easier customization. -->
@@ -100,7 +113,7 @@
         </macrodef>
     </target>
     <target name="-init-macrodef-javac">
-        <macrodef name="javac" uri="http://www.netbeans.org/ns/j2se-project/2">
+        <macrodef name="javac" uri="http://www.netbeans.org/ns/j2se-project/3">
             <attribute name="srcdir" default="${src.dir}"/>
             <attribute name="destdir" default="${build.classes.dir}"/>
             <attribute name="classpath" default="${javac.classpath}"/>
@@ -118,7 +131,7 @@
         </macrodef>
     </target>
     <target name="-init-macrodef-junit">
-        <macrodef name="junit" uri="http://www.netbeans.org/ns/j2se-project/2">
+        <macrodef name="junit" uri="http://www.netbeans.org/ns/j2se-project/3">
             <attribute name="includes" default="**/*Test.java"/>
             <sequential>
                 <junit showoutput="true" fork="true" dir="${basedir}" failureproperty="tests.failed" errorproperty="tests.failed">
@@ -131,6 +144,8 @@
                         <mapper type="glob" from="test-sys-prop.*" to="*"/>
                     </syspropertyset>
                     <formatter type="brief" usefile="false"/>
+                    <formatter type="xml"/>
+                    <jvmarg line="${run.jvmargs}"/>
                 </junit>
             </sequential>
         </macrodef>
@@ -158,7 +173,7 @@
         </macrodef>
     </target>
     <target name="-init-macrodef-debug">
-        <macrodef name="debug" uri="http://www.netbeans.org/ns/j2se-project/2">
+        <macrodef name="debug" uri="http://www.netbeans.org/ns/j2se-project/3">
             <attribute name="classname" default="${main.class}"/>
             <attribute name="classpath" default="${debug.classpath}"/>
             <element name="customize" optional="true"/>
@@ -221,8 +236,8 @@
         <!-- Empty placeholder for easier customization. -->
         <!-- You can override this target in the ../build.xml file. -->
     </target>
-    <target name="-do-compile" depends="init,deps-jar,-pre-pre-compile,-pre-compile">
-        <j2seproject2:javac/>
+    <target name="-do-compile" depends="init,deps-jar,-pre-pre-compile,-pre-compile" if="have.sources">
+        <j2seproject3:javac/>
         <copy todir="${build.classes.dir}">
             <fileset dir="${src.dir}" excludes="${build.classes.excludes}"/>
         </copy>
@@ -238,11 +253,11 @@
     </target>
     <target name="-do-compile-single" depends="init,deps-jar,-pre-pre-compile">
         <fail unless="javac.includes">Must select some files in the IDE or set javac.includes</fail>
-        <j2seproject2:javac>
+        <j2seproject3:javac>
             <customize>
                 <patternset includes="${javac.includes}"/>
             </customize>
-        </j2seproject2:javac>
+        </j2seproject3:javac>
     </target>
     <target name="-post-compile-single">
         <!-- Empty placeholder for easier customization. -->
@@ -268,18 +283,51 @@
     <target name="-do-jar-with-manifest" depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available" unless="manifest.available+main.class">
         <j2seproject1:jar manifest="${manifest.file}"/>
     </target>
-    <target name="-do-jar-with-mainclass" depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available+main.class">
+    <target name="-do-jar-with-mainclass" depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available+main.class" unless="manifest.available+main.class+mkdist.available">
         <j2seproject1:jar manifest="${manifest.file}">
             <j2seproject1:manifest>
                 <j2seproject1:attribute name="Main-Class" value="${main.class}"/>
             </j2seproject1:manifest>
         </j2seproject1:jar>
+        <echo>To run this application from the command line without Ant, try:</echo>
+        <property name="build.classes.dir.resolved" location="${build.classes.dir}"/>
+        <property name="dist.jar.resolved" location="${dist.jar}"/>
+        <pathconvert property="run.classpath.with.dist.jar">
+            <path path="${run.classpath}"/>
+            <map from="${build.classes.dir.resolved}" to="${dist.jar.resolved}"/>
+        </pathconvert>
+        <echo>java -cp "${run.classpath.with.dist.jar}" ${main.class}</echo>
     </target>
+    <target name="-do-jar-with-libraries" depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available+main.class+mkdist.available">
+        <property name="build.classes.dir.resolved" location="${build.classes.dir}"/>
+        <pathconvert property="run.classpath.without.build.classes.dir">
+            <path path="${run.classpath}"/>
+            <map from="${build.classes.dir.resolved}" to=""/>
+        </pathconvert>
+        <pathconvert property="jar.classpath" pathsep=" ">
+            <path path="${run.classpath.without.build.classes.dir}"/>
+            <chainedmapper>
+                <flattenmapper/>
+                <globmapper from="*" to="lib/*"/>
+            </chainedmapper>
+        </pathconvert>
+        <taskdef classname="org.netbeans.modules.java.j2seproject.copylibstask.CopyLibs" name="copylibs" classpath="${libs.CopyLibs.classpath}"/>
+        <copylibs manifest="${manifest.file}" runtimeclasspath="${run.classpath.without.build.classes.dir}" jarfile="${dist.jar}" compress="${jar.compress}">
+            <fileset dir="${build.classes.dir}"/>
+            <manifest>
+                <attribute name="Main-Class" value="${main.class}"/>
+                <attribute name="Class-Path" value="${jar.classpath}"/>
+            </manifest>
+        </copylibs>
+        <echo>To run this application from the command line without Ant, try:</echo>
+        <property name="dist.jar.resolved" location="${dist.jar}"/>
+        <echo>java -jar "${dist.jar.resolved}"</echo>
+    </target>
     <target name="-post-jar">
         <!-- Empty placeholder for easier customization. -->
         <!-- You can override this target in the ../build.xml file. -->
     </target>
-    <target name="jar" depends="init,compile,-pre-jar,-do-jar-with-manifest,-do-jar-without-manifest,-do-jar-with-mainclass,-post-jar" description="Build JAR."/>
+    <target name="jar" depends="init,compile,-pre-jar,-do-jar-with-manifest,-do-jar-without-manifest,-do-jar-with-mainclass,-do-jar-with-libraries,-post-jar" description="Build JAR."/>
     <!--
     =================
     EXECUTION SECTION
@@ -305,11 +353,11 @@
         <j2seproject1:nbjpdastart name="${debug.class}"/>
     </target>
     <target name="-debug-start-debuggee" depends="init,compile">
-        <j2seproject2:debug>
+        <j2seproject3:debug>
             <customize>
                 <arg line="${application.args}"/>
             </customize>
-        </j2seproject2:debug>
+        </j2seproject3:debug>
     </target>
     <target name="debug" if="netbeans.home" depends="init,compile,-debug-start-debugger,-debug-start-debuggee" description="Debug project in IDE."/>
     <target name="-debug-start-debugger-stepinto" if="netbeans.home" depends="init">
@@ -318,7 +366,7 @@
     <target name="debug-stepinto" if="netbeans.home" depends="init,compile,-debug-start-debugger-stepinto,-debug-start-debuggee"/>
     <target name="-debug-start-debuggee-single" if="netbeans.home" depends="init,compile-single">
         <fail unless="debug.class">Must select one file in the IDE or set debug.class</fail>
-        <j2seproject2:debug classname="${debug.class}"/>
+        <j2seproject3:debug classname="${debug.class}"/>
     </target>
     <target name="debug-single" if="netbeans.home" depends="init,compile-single,-debug-start-debugger,-debug-start-debuggee-single"/>
     <target name="-pre-debug-fix" depends="init">
@@ -336,14 +384,15 @@
     -->
     <target name="-javadoc-build" depends="init">
         <mkdir dir="${dist.javadoc.dir}"/>
-        <javadoc destdir="${dist.javadoc.dir}" source="${javac.source}" notree="${javadoc.notree}" use="${javadoc.use}" nonavbar="${javadoc.nonavbar}" noindex="${javadoc.noindex}" splitindex="${javadoc.splitindex}" author="${javadoc.author}" version="${javadoc.version}" windowtitle="${javadoc.windowtitle}" private="${javadoc.private}" additionalparam="${javadoc.additionalparam}" failonerror="true">
+        <javadoc destdir="${dist.javadoc.dir}" source="${javac.source}" notree="${javadoc.notree}" use="${javadoc.use}" nonavbar="${javadoc.nonavbar}" noindex="${javadoc.noindex}" splitindex="${javadoc.splitindex}" author="${javadoc.author}" version="${javadoc.version}" windowtitle="${javadoc.windowtitle}" private="${javadoc.private}" additionalparam="${javadoc.additionalparam}" failonerror="true" useexternalfile="true">
             <classpath>
                 <path path="${javac.classpath}"/>
             </classpath>
             <sourcepath>
                 <pathelement location="${src.dir}"/>
             </sourcepath>
-            <fileset dir="${src.dir}"/>
+            <packageset dir="${src.dir}" includes="*/**"/>
+            <fileset dir="${src.dir}" includes="*.java"/>
         </javadoc>
     </target>
     <target name="-javadoc-browse" if="netbeans.home" unless="no.javadoc.preview" depends="init,-javadoc-build">
@@ -363,7 +412,7 @@
         <!-- You can override this target in the ../build.xml file. -->
     </target>
     <target name="-do-compile-test" if="have.tests" depends="init,compile,-pre-pre-compile-test,-pre-compile-test">
-        <j2seproject2:javac srcdir="" destdir="${build.test.classes.dir}" debug="true" classpath="${javac.test.classpath}"/>
+        <j2seproject3:javac srcdir="" destdir="${build.test.classes.dir}" debug="true" classpath="${javac.test.classpath}"/>
         <copy todir="${build.test.classes.dir}"/>
     </target>
     <target name="-post-compile-test">
@@ -377,11 +426,12 @@
     </target>
     <target name="-do-compile-test-single" if="have.tests" depends="init,compile,-pre-pre-compile-test,-pre-compile-test-single">
         <fail unless="javac.includes">Must select some files in the IDE or set javac.includes</fail>
-        <j2seproject2:javac srcdir="" destdir="${build.test.classes.dir}" debug="true" classpath="${javac.test.classpath}">
+        <j2seproject3:javac srcdir="" destdir="${build.test.classes.dir}" debug="true" classpath="${javac.test.classpath}">
             <customize>
                 <patternset includes="${javac.includes}"/>
             </customize>
-        </j2seproject2:javac>
+        </j2seproject3:javac>
+        <copy todir="${build.test.classes.dir}"/>
     </target>
     <target name="-post-compile-test-single">
         <!-- Empty placeholder for easier customization. -->
@@ -397,7 +447,7 @@
         <mkdir dir="${build.test.results.dir}"/>
     </target>
     <target name="-do-test-run" if="have.tests" depends="init,compile-test,-pre-test-run">
-        <j2seproject2:junit/>
+        <j2seproject3:junit/>
     </target>
     <target name="-post-test-run" if="have.tests" depends="init,compile-test,-pre-test-run,-do-test-run">
         <fail if="tests.failed">Some tests failed; see details above.</fail>
@@ -410,7 +460,7 @@
     </target>
     <target name="-do-test-run-single" if="have.tests" depends="init,compile-test-single,-pre-test-run-single">
         <fail unless="test.includes">Must select some files in the IDE or set test.includes</fail>
-        <j2seproject2:junit includes="${test.includes}"/>
+        <j2seproject3:junit includes="${test.includes}"/>
     </target>
     <target name="-post-test-run-single" if="have.tests" depends="init,compile-test-single,-pre-test-run-single,-do-test-run-single">
         <fail if="tests.failed">Some tests failed; see details above.</fail>
@@ -423,11 +473,11 @@
     -->
     <target name="-debug-start-debuggee-test" if="have.tests" depends="init,compile-test">
         <fail unless="test.class">Must select one file in the IDE or set test.class</fail>
-        <j2seproject2:debug classname="junit.textui.TestRunner" classpath="${debug.test.classpath}">
+        <j2seproject3:debug classname="junit.textui.TestRunner" classpath="${debug.test.classpath}">
             <customize>
                 <arg line="${test.class}"/>
             </customize>
-        </j2seproject2:debug>
+        </j2seproject3:debug>
     </target>
     <target name="-debug-start-debugger-test" if="netbeans.home+have.tests" depends="init,compile-test">
         <j2seproject1:nbjpdastart name="${test.class}" classpath="${debug.test.classpath}"/>
@@ -457,11 +507,11 @@
     -->
     <target name="-debug-start-debuggee-applet" if="netbeans.home" depends="init,compile-single">
         <fail unless="applet.url">Must select one file in the IDE or set applet.url</fail>
-        <j2seproject2:debug classname="sun.applet.AppletViewer">
+        <j2seproject3:debug classname="sun.applet.AppletViewer">
             <customize>
                 <arg value="${applet.url}"/>
             </customize>
-        </j2seproject2:debug>
+        </j2seproject3:debug>
     </target>
     <target name="debug-applet" if="netbeans.home" depends="init,compile-single,-debug-start-debugger,-debug-start-debuggee-applet"/>
     <!--

Modified: TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties	2007-07-18 21:35:40 UTC (rev 661)
+++ TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties	2007-07-19 21:33:55 UTC (rev 662)
@@ -1,8 +1,8 @@
-build.xml.data.CRC32=0c620af0
+build.xml.data.CRC32=6ba8dec9
 build.xml.script.CRC32=1cfc144e
-build.xml.stylesheet.CRC32=e2435cb5
+build.xml.stylesheet.CRC32=240b97a2
 # This file is used by a NetBeans-based IDE to track changes in generated files such as build-impl.xml.
 # Do not edit this file. You may delete it but then the IDE will never regenerate such files for you.
-nbproject/build-impl.xml.data.CRC32=0c620af0
-nbproject/build-impl.xml.script.CRC32=8b28b4cd
-nbproject/build-impl.xml.stylesheet.CRC32=3b89b5a6
+nbproject/build-impl.xml.data.CRC32=6ba8dec9
+nbproject/build-impl.xml.script.CRC32=714dbfa4
+nbproject/build-impl.xml.stylesheet.CRC32=65d7ca21

Modified: TeamTalk/Agents/PenDecoder/nbproject/project.properties
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/project.properties	2007-07-18 21:35:40 UTC (rev 661)
+++ TeamTalk/Agents/PenDecoder/nbproject/project.properties	2007-07-19 21:33:55 UTC (rev 662)
@@ -3,6 +3,7 @@
 build.classes.excludes=**/*.java,**/*.form
 # This directory is removed when the project is cleaned:
 build.dir=build
+build.generated.dir=${build.dir}/generated
 # Only compile against the classpath explicitly listed here:
 build.sysclasspath=ignore
 build.test.classes.dir=${build.dir}/test/classes
@@ -22,7 +23,6 @@
 file.reference.PenDecoder-src=src
 jar.compress=false
 javac.classpath=\
-    ${file.reference.jiu.jar}:\
     ${file.reference.galaxy.jar}:\
     ${file.reference.bsh-util-2.0b4.jar}:\
     ${file.reference.bsh-core-2.0b4.jar}
@@ -48,6 +48,7 @@
 javadoc.windowtitle=
 main.class=edu.cmu.ravenclaw.pendecoder.PenDecoderServer
 manifest.file=manifest.mf
+meta.inf.dir=${src.dir}/META-INF
 platform.active=default_platform
 run.classpath=\
     ${javac.classpath}:\

Modified: TeamTalk/Agents/PenDecoder/nbproject/project.xml
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/project.xml	2007-07-18 21:35:40 UTC (rev 661)
+++ TeamTalk/Agents/PenDecoder/nbproject/project.xml	2007-07-19 21:33:55 UTC (rev 662)
@@ -2,9 +2,9 @@
 <project xmlns="http://www.netbeans.org/ns/project/1">
     <type>org.netbeans.modules.java.j2seproject</type>
     <configuration>
-        <data xmlns="http://www.netbeans.org/ns/j2se-project/2">
+        <data xmlns="http://www.netbeans.org/ns/j2se-project/3">
             <name>PenDecoder</name>
-            <minimum-ant-version>1.6</minimum-ant-version>
+            <minimum-ant-version>1.6.5</minimum-ant-version>
             <source-roots>
                 <root id="src.dir"/>
             </source-roots>

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java	2007-07-18 21:35:40 UTC (rev 661)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java	2007-07-19 21:33:55 UTC (rev 662)
@@ -18,10 +18,7 @@
 import java.awt.geom.NoninvertibleTransformException;
 import java.util.EventListener;
 import javax.swing.*;
-import net.sourceforge.jiu.codecs.CodecMode;
-import net.sourceforge.jiu.codecs.PNGCodec;
-import net.sourceforge.jiu.data.PixelImage;
-import net.sourceforge.jiu.gui.awt.ImageCreator;
+import javax.imageio.ImageIO;
 
 public class DrawingCanvas extends JComponent implements Scrollable {
   
@@ -72,11 +69,7 @@
       System.exit(1);
     }
     try {
-      PNGCodec codec = new PNGCodec();
-      codec.setFile(mapfile, CodecMode.LOAD);
-      codec.process();
-      PixelImage pixelimage = codec.getImage();
-      backImage = new MapBufferedImage(ImageCreator.convertToAwtImage(pixelimage, ImageCreator.DEFAULT_ALPHA));
+      backImage = new MapBufferedImage(ImageIO.read(new File(mapfile)));
       image_width_in_pixels = backImage.getWidth(this);
       image_height_in_pixels = backImage.getHeight(this);
       setPreferredSize(new Dimension((int)image_width_in_pixels, 

From tk at edam.speech.cs.cmu.edu  Thu Jul 19 22:49:23 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 19 Jul 2007 22:49:23 -0400
Subject: [TeamTalk 126]: [663]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder: 1) Changed the
 names of some classes to improve consistency and readability.
Message-ID: <200707200249.l6K2nN3S030909@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070719/cb32ad94/attachment-0001.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractDecoderTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractDecoderTool.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractDecoderTool.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -2,10 +2,10 @@
 
 public abstract class AbstractDecoderTool extends AbstractTool {
   
-  protected DrawingCanvas canvas;
+  protected MapCanvas canvas;
   protected String tooltip;
   
-  protected AbstractDecoderTool(DrawingCanvas canvas, String name, String tooltip) {
+  protected AbstractDecoderTool(MapCanvas canvas, String name, String tooltip) {
     super(canvas, name);
     this.canvas = canvas;
     this.tooltip = tooltip;

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractTool.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/AbstractTool.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -4,14 +4,14 @@
 
 public abstract class AbstractTool implements Tool { 
 
-  protected DrawingCanvas canvas; 
+  protected MapCanvas canvas; 
   protected String name;
 
   public String getName() {
     return name; 
   }
 
-  protected AbstractTool(DrawingCanvas canvas, String name) {
+  protected AbstractTool(MapCanvas canvas, String name) {
     this.canvas = canvas;
     this.name = name; 
   }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotTracker.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -4,13 +4,13 @@
 import java.awt.Graphics;
 
 public class BotTracker {
-  protected DrawingCanvas canvas;
+  protected MapCanvas canvas;
   protected final static int size = 3;
   
   protected HashMap<String, Shape> bots = new HashMap<String, Shape>();
   protected HashMap<Shape, String> names = new HashMap<Shape, String>();
   
-  BotTracker(DrawingCanvas c) {
+  BotTracker(MapCanvas c) {
     canvas = c;
   }
   

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ButtonTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ButtonTool.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ButtonTool.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -20,7 +20,7 @@
 public class ButtonTool extends AbstractDecoderTool {
   
   /** Creates a new instance of ButtonTool */
-  protected ButtonTool(DrawingCanvas canvas, String name, String tooltip) {
+  protected ButtonTool(MapCanvas canvas, String name, String tooltip) {
     super(canvas, name, tooltip);
     this.canvas = canvas;
   }
@@ -35,5 +35,5 @@
   public void mouseMovedTo(Point p) {}
   public void cancel() {}
   
-  protected DrawingCanvas canvas;
+  protected MapCanvas canvas;
 }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DecoderInterpreter.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DecoderInterpreter.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DecoderInterpreter.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -24,10 +24,10 @@
   protected Reader reader;
   protected PrintStream outStream;
   protected PrintStream errStream;
-  protected DrawingPad pad;
+  protected PenDecoderDisplay pad;
   
   /** Creates a new instance of DecoderInterpreter */
-  public DecoderInterpreter(JConsole jconsole, DrawingPad pad) {
+  public DecoderInterpreter(JConsole jconsole, PenDecoderDisplay pad) {
     this.jconsole = jconsole;
     this.pad = pad;
     reader = jconsole.getIn();

Deleted: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -1,505 +0,0 @@
-package edu.cmu.ravenclaw.pendecoder;
-
-import java.awt.Color;
-import java.awt.Dimension;
-import java.awt.Graphics;
-import java.awt.Graphics2D;
-import java.awt.Point;
-import java.awt.Image;
-import java.awt.Rectangle;
-import java.awt.image.BufferedImage;
-import java.awt.image.DataBuffer;
-import java.awt.image.IndexColorModel;
-import java.awt.image.WritableRaster;
-import java.util.*;
-import java.io.*;
-import java.awt.event.*;
-import java.awt.geom.AffineTransform;
-import java.awt.geom.NoninvertibleTransformException;
-import java.util.EventListener;
-import javax.swing.*;
-import javax.imageio.ImageIO;
-
-public class DrawingCanvas extends JComponent implements Scrollable {
-  
-  protected DrawingPad drawingPad = null;
-  protected DrawingCanvasListener drawingCanvasListener;
-  static public String opTraderFrameHolder; //[2005-09-30] (tk): hack
-  
-  /**
-   * The width and height of the area that the map represents (in centimeters)
-   */
-  protected float native_width, native_height;
-  
-  /**
-   * A vector from the upper left corner of the map to the world origin (in centimeters)
-   */
-  protected float x_origin, y_origin;
-  
-  /**
-   * The width and height of the actual map image (in pixels)
-   */
-  protected float image_width_in_pixels, image_height_in_pixels;
-  
-  public DrawingCanvas() {
-    colorGenerator = new ColorGenerator(new Color[] {
-        Color.BLACK,     //clear space
-        Color.DARK_GRAY, //hash marks
-        Color.GRAY,      //unknown space
-        Color.GREEN,     //obstructed space
-        Color.YELLOW     //highlights
-    });   
-                                                     
-    String mapfile = null;
-    try {
-      Properties properties = new Properties();
-      properties.load(new FileInputStream("map.properties"));
-      mapfile = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapfile");
-      if(mapfile == null) throw new Exception("mapfile is missing");
-      String widthstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapwidth");
-      if(widthstr == null) throw new Exception("mapwidth is missing");
-      String heightstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapheight");
-      native_width = Float.parseFloat(widthstr);
-      native_height = Float.parseFloat(heightstr);
-    } catch (NumberFormatException e) {
-      System.err.println("Can't parse double:" + e.toString());
-      System.exit(1);
-    } catch (Exception e) {
-      System.err.println("Problem with properties" + e.toString());
-      System.exit(1);
-    }
-    try {
-      backImage = new MapBufferedImage(ImageIO.read(new File(mapfile)));
-      image_width_in_pixels = backImage.getWidth(this);
-      image_height_in_pixels = backImage.getHeight(this);
-      setPreferredSize(new Dimension((int)image_width_in_pixels, 
-              (int)image_height_in_pixels));
-    } catch(Exception e) {
-      System.err.println("Problem reading or converting PNG: " + e.toString());
-      System.exit(1);
-    }
-    drawingCanvasListener = makeCanvasListener();
-    addMouseListener((MouseListener) listener);
-    addMouseMotionListener((MouseMotionListener) listener);
-  }
-  
-  public DrawingCanvas(Image backImage, DrawingPad drawingPad) {
-    //calling factory method
-    System.err.println("scribble w/backimage");
-    drawingCanvasListener = makeCanvasListener();
-    addMouseListener((MouseListener) listener);
-    addMouseMotionListener((MouseMotionListener) listener);
-    backImage = new MapBufferedImage(backImage);
-    this.drawingPad = drawingPad;
-  }
-  
-  public DrawingCanvas(DrawingPad drawingPad) {
-    this.drawingPad = drawingPad;
-  }
-  
-  public void setTool(Tool tool) {
-    drawingCanvasListener.setTool(tool);
-  }
-  
-  public Tool getTool() {
-    return drawingCanvasListener.getTool();
-  }
-  
-  /**
-   * factory method
-   */
-  protected DrawingCanvasListener makeCanvasListener() {
-    return new DrawingCanvasListener(this);
-  }
-  
-  public void saySelectBot(String name) {
-    drawingPad.saySelectBot(name);
-  }
-  
-  public void zoomOut() {
-    int width = getPreferredSize().width;
-    int height = getPreferredSize().height;
-    JViewport viewport = (JViewport) getParent();
-    Dimension d = viewport.getSize();
-    Point center = new Point(
-            viewport.getViewPosition().x+
-            viewport.getExtentSize().width/2,
-            viewport.getViewPosition().y+
-            viewport.getExtentSize().height/2);
-    setPreferredSize(new Dimension(width/2,height/2));
-    setSize(getPreferredSize());
-    revalidate();
-    viewport.setViewPosition(new Point((center.x-d.width)/2, (center.y-d.height)/2));
-  }
-  
-  public void zoomIn(Point p) {
-    int width = getPreferredSize().width;
-    int height = getPreferredSize().height;
-    JViewport viewport = (JViewport) getParent();
-    Dimension d = viewport.getSize();
-    setPreferredSize(new Dimension(width*2,height*2));
-    setSize(getPreferredSize());
-    revalidate();
-    viewport.setViewPosition(new Point(2*(p.x-d.width/4), 2*(p.y-d.height/4)));
-  }
-
-  public void selectBot(String name) {
-    if (shapes != null) {
-      Iterator<Shape> i = shapes.iterator();
-      while(i.hasNext()) {
-        Shape shape = i.next();
-        if(!(shape instanceof BotShape)) continue; 
-        if(name.equalsIgnoreCase("EVERYONE") || name.equalsIgnoreCase(shape.getName())) {
-          shape.highlight();
-        } else {
-          shape.unhighlight();
-        }
-      }
-      repaint();
-    } else {
-      System.err.println("no shapes!");
-    }
-  }
-  
-  /**
-   * this informs the bot that it should be at the screen position and orientation 
-   * indicated by the point
-   */
-  public void placeSelectedBot(Point p, float theta) {
-    screen_to_map.transform(p, p);
-    if(shapes != null) {
-      Iterator<Shape> i = shapes.iterator();
-      while(i.hasNext()) {
-        Shape shape = i.next();
-        if(shape.isSelected()) {
-          BotShape selectedBot = (BotShape) shape;
-          drawingPad.placeBot(shape.getName(), p, theta);
-          return;
-        }
-      }
-    }
-  }
-  
-  public void search(RectangleShape shape) {
-    //find translator bot and do translation here
-    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
-    AffineTransform placement = bot.getPlacement();
-    try {
-      shape.transform(placement.createInverse());
-    } catch (NoninvertibleTransformException e) {
-      System.err.println("Can't invert transform: " + e.toString());
-      System.exit(1);
-    }
-    drawingPad.search(shape);
-  }
-  
-  public void explore(PolyLineShape shape) {
-    //find translator bot and do translation here
-    System.err.println("exploring here");
-    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
-    AffineTransform placement = bot.getPlacement();
-    PolyLineShape searchShape = new PolyLineShape(shape);
-    try {
-      searchShape.transform(placement.createInverse());
-    } catch (NoninvertibleTransformException e) {
-      System.err.println("Can't invert transform: " + e.toString());
-      System.exit(1);
-    }
-    drawingPad.explore(searchShape);
-  }
-  
-  public void search(PolyLineShape shape) {
-    //find translator bot and do translation here
-    System.err.println("searching here");
-    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
-    AffineTransform placement = bot.getPlacement();
-    PolyLineShape searchShape = new PolyLineShape(shape);
-    try {
-      searchShape.transform(placement.createInverse());
-    } catch (NoninvertibleTransformException e) {
-      System.err.println("Can't invert transform: " + e.toString());
-      System.exit(1);
-    }
-    drawingPad.search(searchShape);
-  }
-  
-  public BotShape BotOf(String name) {
-    ListIterator<Shape> i = shapes.listIterator();
-    while(i.hasNext()) {
-      Shape shape = i.next();
-      if(shape.getName().equalsIgnoreCase(name)) return (BotShape)shape;
-    }
-    return null;
-  }
-  
-  public void debugPoint(Point p) {
-      drawingPad.interpreter.print_human(null, null, "clicked on (pixels): " + p.toString() 
-                + " map coord (cm): " + screen_to_map.transform(p, null).toString()
-                + " map dimentions (pixels): (" + image_width_in_pixels + ", " + image_height_in_pixels + ")"
-                + " map dimentions (cm): (" + native_width + ", " + native_height + ")"
-                + " origin (cm): (" + x_origin + ", " + y_origin + ")");
-  }
-  
-  private static final long serialVersionUID = 2665310629710366124L;
-
-    /**
-     * 
-     * The list of shapes of the drawing
-     */
-    protected List<Shape> shapes = new ArrayList<Shape>();
-
-    protected Color curColor = Color.black;
-
-    protected EventListener listener;
-
-    protected boolean mouseButtonDown = false;
-
-    protected int x;
-
-    protected int y;
-
-    /**
-     * The image to display as the background (the map)
-     */
-    protected MapBufferedImage backImage = null;
-
-    /**
-     * An image of hashmarks for the transparent portions of the backImage
-     */
-    protected BufferedImage hashImage = null;
-
-    /**
-     * The width and height of the rendered map image (in pixels).
-     * The map is streched when the application window grows or during zooming, etc.
-     */
-    protected Dimension view_size;
-
-    /**
-     * A transform from the map image to the rendered map image
-     * The map is streched when the application window grows or during zooming, etc.
-     */
-    protected AffineTransform mapScale = new AffineTransform();
-
-    /**
-     * A transform from screen coordinates (pixels, left-handed) 
-     * to map coordinates (centimeters, right-handed)
-     */
-    protected AffineTransform screen_to_map = new AffineTransform();
-
-    /**
-     * A transform from map coordinates (centimeters, right-handed) 
-     * to screen coordinates (pixels, left-handed)
-     */
-    protected AffineTransform map_to_screen = new AffineTransform();
-
-    /**
-     * A class to generate new colors, maximally distinct from an existing set.
-     */
-    public ColorGenerator colorGenerator = null;
-
-    public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
-        byte[] decoded_map = new byte[x_dim * y_dim];
-        decodeMap(decoded_map, x_dim, y_dim, encoded_map);
-        if (type == MapBufferedImage.FULL) {
-            if (image_width_in_pixels != x_dim || image_height_in_pixels != y_dim) {
-                int colors[] = new int[3];
-                colors[1] = Color.BLACK.getRGB();
-                colors[2] = Color.DARK_GRAY.getRGB();
-                IndexColorModel iColor = new IndexColorModel(2, 3, colors, 0, false, 0, DataBuffer.TYPE_BYTE);
-                hashImage = new BufferedImage(x_dim, y_dim, BufferedImage.TYPE_BYTE_INDEXED, iColor);
-                int hashing = 100 / resolution;
-                WritableRaster wr = hashImage.getRaster();
-                for (int j = 0; j < y_dim; j++) {
-                    for (int i = 0; i < x_dim; i++) {
-                        if (j % hashing == 0 || i % hashing == 0)
-                            wr.setSample(i, j, 0, 2); else
-                            wr.setSample(i, j, 0, 1);
-                    }
-                }
-                setPreferredSize(new Dimension(x_dim, y_dim));
-            }
-            backImage = MapBufferedImage.createMapBufferedImage(x_dim, y_dim);
-            native_width = x_dim * resolution;
-            native_height = y_dim * resolution;
-            this.x_origin = x_origin * 100;
-            this.y_origin = y_origin * 100;
-            image_width_in_pixels = x_dim;
-            image_height_in_pixels = y_dim;
-            backImage.setFullMap(decoded_map);
-            repaint();
-        } else
-            if (type == MapBufferedImage.DIFF) {
-                if (x_dim != image_width_in_pixels || y_dim != image_height_in_pixels) {
-                    System.err.println("diff map for different full map");
-                } else {
-                    backImage.setDiffMap(decoded_map);
-                    repaint();
-                }
-            } else {
-                System.err.println("unknown map type: " + type);
-            }
-    }
-
-    protected void decodeMap(byte[] decoded_map, int x, int y, int[] encoded_map) {
-        System.err.println("x: " + x + " y: " + y + " encoded_len: " + encoded_map.length);
-        int j = 0, k = 0;
-        for (int i = 0; i < encoded_map.length; i++) {
-            int run_length = (encoded_map[i] & -256) >> 8;
-            byte run_value = (byte) (encoded_map[i] & 255);
-            if (i == 0)
-                System.err.println("raw: " + encoded_map[i] + " rl: " + run_length + " rv: " + run_value + " j: " + j);
-            for (; j < k + run_length; j++) {
-                decoded_map[j] = run_value;
-            }
-            k = j;
-        }
-    }
-
-    public void setCurColor(Color curColor) {
-        this.curColor = curColor;
-    }
-
-    public Color getCurColor() {
-        return curColor;
-    }
-
-    public void addShape(Shape shape) {
-        if (shape != null) {
-            shapes.add(shape);
-        }
-    }
-
-    public void removeShape(Shape shape) {
-        shapes.remove(shape);
-    }
-
-    public void paintComponent(Graphics g) {
-        Dimension viewportDim = ((JViewport) getParent()).getExtentSize();
-        if (view_size.width < viewportDim.width || view_size.height < viewportDim.height) {
-            setPreferredSize(new Dimension(Math.max(view_size.width, viewportDim.width), Math.max(view_size.height, viewportDim.height)));
-            revalidate();
-        }
-        if (backImage == null) {
-            System.err.println("Got no backImage");
-            return;
-        }
-        Graphics2D mapG = (Graphics2D) g.create();
-        mapG.transform(mapScale);
-        if (hashImage != null) {
-            mapG.drawImage(hashImage, 0, 0, this);
-        }
-        mapG.drawImage(backImage, 0, 0, this);
-        Graphics2D shapeG = (Graphics2D) g.create();
-        shapeG.transform(map_to_screen);
-        shapeG.setFont(BotShape.labelFont);
-        if (shapes != null) {
-            Iterator iter = shapes.iterator();
-            while (iter.hasNext()) {
-                Shape shape = (Shape) iter.next();
-                if (shape != null) {
-                    shape.draw(shapeG);
-                    if (shape instanceof BotShape) {
-                        ((BotShape) shape).label(screen_to_map, shapeG);
-                    }
-                }
-            }
-        }
-    }
-
-    public void newFile() {
-        shapes.clear();
-        repaint();
-    }
-
-    public void openFile(String filename) {
-        try {
-            ObjectInputStream in = new ObjectInputStream(new FileInputStream(filename));
-            try {
-                List l = (List) in.readObject();
-                Iterator li = l.iterator();
-                while (li.hasNext()) {
-                    shapes.add((Shape) li.next());
-                }
-            } catch (Exception e) {
-                System.err.println("Some problem with reading: " + e);
-            }
-            in.close();
-            repaint();
-        } catch (IOException e1) {
-            System.out.println("Unable to open file: " + filename);
-        }
-    }
-
-    public void saveFile(String filename) {
-        try {
-            ObjectOutputStream out = new ObjectOutputStream(new FileOutputStream(filename));
-            out.writeObject(shapes);
-            out.close();
-            System.out.println("Save drawing to " + filename);
-        } catch (IOException e) {
-            System.out.println("Unable to write file: " + filename);
-        }
-    }
-
-    public AffineTransform getScreenToMap() {
-        return screen_to_map;
-    }
-
-    public String selectObj(Point p) {
-        String retval = null;
-        screen_to_map.transform(p, p);
-        if (shapes != null) {
-            Iterator<Shape> i = shapes.iterator();
-            while (i.hasNext()) {
-                Shape shape = i.next();
-                if (shape.contains(p)) {
-                    shape.highlight();
-                    retval = shape.getName();
-                } else {
-                    shape.unhighlight();
-                }
-            }
-            repaint();
-        }
-        return retval;
-    }
-
-    public void setPreferredSize(Dimension d) {
-        view_size = d;
-        map_to_screen.setToScale(view_size.width / native_width, view_size.height / native_height);
-        map_to_screen.translate(x_origin, y_origin);
-        try {
-            screen_to_map = map_to_screen.createInverse();
-        } catch (NoninvertibleTransformException e) {
-            System.err.println("couldn't build map_to_screen");
-        }
-        mapScale.setToScale(view_size.width / image_width_in_pixels, view_size.height / image_height_in_pixels);
-        mapScale.translate(0, image_height_in_pixels);
-    }
-
-    public Dimension getPreferredSize() {
-        return view_size;
-    }
-
-    public Dimension getPreferredScrollableViewportSize() {
-        return getPreferredSize();
-    }
-
-    public int getScrollableUnitIncrement(Rectangle visibleRect, int orientation, int direction) {
-        return 1;
-    }
-
-    public int getScrollableBlockIncrement(Rectangle visibleRect, int orientation, int direction) {
-        if (orientation == SwingConstants.VERTICAL)
-            return visibleRect.height / 2; else
-            return visibleRect.width / 2;
-    }
-
-    public boolean getScrollableTracksViewportWidth() {
-        return false;
-    }
-
-    public boolean getScrollableTracksViewportHeight() {
-        return false;
-    }
-}

Deleted: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -1,66 +0,0 @@
-package edu.cmu.ravenclaw.pendecoder; 
-
-import java.awt.*;
-import java.awt.event.*;
-
-public class DrawingCanvasListener implements MouseListener, MouseMotionListener  { 
-
-  protected DrawingCanvas canvas; 
-  protected Tool tool; 
-
-  public DrawingCanvasListener(DrawingCanvas canvas) { 
-    this.canvas = canvas; 
-    tool = new DrawingTool(canvas, "Scribble"); 
-  }
-
-  public void mousePressed(MouseEvent e) {
-    Point p = e.getPoint(); 
-    tool.mouseDownAt(p);    
-    canvas.mouseButtonDown = true;
-    canvas.x = p.x; 
-    canvas.y = p.y; 
-  } 
-
-  public void mouseDragged(MouseEvent e) {
-    Point p = e.getPoint(); 
-    if (canvas.mouseButtonDown) {
-      tool.mouseDraggedTo(p);
-      canvas.x = p.x; 
-      canvas.y = p.y; 
-    }       
-  }
-
-  public void mouseReleased(MouseEvent e) {
-    Point p = e.getPoint(); 
-    tool.mouseReleasedAt(p);       
-    canvas.mouseButtonDown = false;       
-  }    
-  
-  public void mouseClicked(MouseEvent e) {
-    Point p = e.getPoint();
-    if(e.getClickCount() == 1) {
-      if(e.getButton() == e.BUTTON1)
-        tool.mouseClickedAt(p);
-      else
-        tool.mouseRightClickedAt(p);
-    } else {
-        tool.mouseDoubleClickedAt(p);
-    }
-  }
-  
-  public void mouseEntered(MouseEvent e) {}  
-  public void mouseExited(MouseEvent e) {}
-  public void mouseMoved(MouseEvent e) {
-    Point p = e.getPoint();
-    tool.mouseMovedTo(p);
-  }     
-
-  public Tool getTool() { 
-    return tool; 
-  }
-
-  public void setTool(Tool tool) { 
-    this.tool = tool;
-  }
-
-}

Deleted: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -1,349 +0,0 @@
-package edu.cmu.ravenclaw.pendecoder;
-
-import java.util.*;
-import java.awt.*;
-import java.awt.event.*;
-import javax.swing.*;
-
-import bsh.util.JConsole;
-import java.awt.image.BufferedImage;
-
-public class DrawingPad extends JFrame {
-  
-  protected ToolKit toolkit;
-  protected JComponent toolbar;
-  protected DrawingCanvas drawingCanvas;
-  protected DecoderInterpreter interpreter;
-  protected java.util.List<PenDecoderServer> servers = new java.util.Vector<PenDecoderServer>();
-  protected Imager imager;
-  
-  public TaskKeeper taskKeeper = new TaskKeeper();
-  
-  public DrawingPad(String title) {
-    super(title);
-    // calling factory method 
-    drawingCanvas = makeCanvas(); 
-    getContentPane().setLayout(new BorderLayout()); 
-    menuBar = createMenuBar(); 
-    getContentPane().add(menuBar, BorderLayout.NORTH); 
-    pane = new JScrollPane(drawingCanvas);
-    JRootPane rootPane = new JRootPane();
-    rootPane.setContentPane(pane);
-    LogoViewport logopane = new LogoViewport();
-    rootPane.setGlassPane(logopane);
-    logopane.setVisible(true);
-    pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
-    pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);    
-    getContentPane().add(rootPane, BorderLayout.CENTER);
-    addWindowListener(new WindowAdapter() {
-	public void windowClosing(WindowEvent e) {
-	  if (exitAction != null) { 
-	    exitAction.actionPerformed(new ActionEvent(DrawingPad.this, 0, null)); 
-	  }
-	}
-      }); 
-
-    //add toolbar
-    toolkit = createToolkit();
-    drawingCanvas.setTool(toolkit.getTool(0));
-    ActionListener toolListener = new ActionListener() {
-      public void actionPerformed(ActionEvent event) {
-        Object source = event.getSource();
-        if (source instanceof AbstractButton) {
-          AbstractButton button = (AbstractButton) source;
-          Tool tool = toolkit.setSelectedTool(button.getText());
-          drawingCanvas.setTool(tool);
-          try {
-            if(tool.getName() == "Zoom Out") {
-              drawingCanvas.zoomOut();
-            } else if(tool.getName() == "Cancel Task") {
-              Integer lastAdded = taskKeeper.getLastAdded();
-              if(lastAdded == null) System.err.println("There are no tasks.");
-              else cancelTask(lastAdded);
-            } else if(tool.getName() == "Start Session") {
-              startSession();
-              ToggleButtonTool bt = (ToggleButtonTool)tool;
-              bt.toggleState();
-              ((JToggleButton)((JPanel)toolbar).getComponent(0)).setText(bt.getName());
-            } else if(tool.getName() == "Stop Session") {
-              endSession();
-              ToggleButtonTool bt = (ToggleButtonTool)tool;
-              bt.toggleState();
-              ((JToggleButton)((JPanel)toolbar).getComponent(0)).setText(bt.getName());
-            }
-          } catch (NullPointerException e) {}
-        }
-        repaint();
-      }
-    };
-    toolbar = createToolBar(toolListener);
-    getContentPane().add(toolbar, BorderLayout.WEST);
-    
-    //add menu
-    //JMenu menu = createToolMenu(toolListener);
-    //menuBar.add(menu, 1); // insert at index position 1
-    
-    JPanel lowerContainer = new JPanel(new BorderLayout());
-    //lowerContainer.setPreferredSize(new Dimension(1024, 260));
-    
-    //add console to lowerContainer
-    JConsole console = new JConsole();
-    console.setPreferredSize(new Dimension(1000, 100));
-    console.getViewport().getView().setBackground(Color.black);
-    console.getViewport().getView().setForeground(Color.white);
-    lowerContainer.add(console, BorderLayout.CENTER);
-    interpreter = new DecoderInterpreter(console, this);
-    interpreter.start();
-    
-    //add imager
-    imager = new Imager();
-    //imager.setPreferredSize(new Dimension(240, 195));
-    lowerContainer.add(imager, BorderLayout.EAST);
-    
-    //add lowerContainer to this
-    getContentPane().add(lowerContainer, BorderLayout.SOUTH);
-  }
-  
-  /**
-   * 
-   * @param i image to paint in imager panel
-   */
-  public void image(BufferedImage i) {
-    imager.setImage(i);
-    getRootPane().revalidate();
-    imager.repaint();
-  }
-  
-  public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
-    drawingCanvas.mapUpdate(type, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
-  }
-  
-  public void addServer(PenDecoderServer server) {
-    servers.add(server);
-    System.err.println("added server #" + servers.size());
-  }
-  
-  public Tool getSelectedTool() {
-    return toolkit.getSelectedTool();
-  }
-  
-  protected ToolKit createToolkit() {
-    ToolKit t = new ToolKit();
-    t.addTool(new ToggleButtonTool(drawingCanvas, 
-            "Start Session",
-            "Click to start speaking",
-            "Stop Session",
-            "Click to mute"));
-    t.addTool(new PointTool(drawingCanvas,
-            "Select",
-            "Click on a robot to select it.",
-            PointTool.POINT));
-    t.addTool(new PlacementTool(drawingCanvas, 
-            "Re-position", 
-            "Click to reposition the selected robot. Drag to orient it at the new position."));
-    t.addTool(new PointTool(drawingCanvas, 
-            "Zoom In", 
-            "Click to zoom into a point on the map.", 
-            PointTool.ZOOMIN));
-    t.addTool(new ButtonTool(drawingCanvas, "Zoom Out", "Zoom out to see the entire map."));
-    t.addTool(new ButtonTool(drawingCanvas, "Cancel Task", "Cancel the last task."));
-    t.addTool(new NPointTool(drawingCanvas, 
-            "Search", 
-            "Select waypoints along which to search.", 
-            NPointTool.POLYLINE));
-    t.addTool(new NPointTool(drawingCanvas, 
-            "Explore", 
-            "Select waypoints along which to explore.", 
-            NPointTool.POLYLINE_EXPLORE));
-    return t;
-  }
-  
-  // factory method
-  protected DrawingCanvas makeCanvas() {
-    return (drawingCanvas = new DrawingCanvas(this));
-  }
-  
-  public void say(String utt) {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().say(utt);
-    }
-  }
-  
-  public void saySelectBot(String name) {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().saySelectBot(name);
-    }
-  }
-  
-  public void placeBot(String name, Point p, float theta) {
-      ListIterator<PenDecoderServer> i = servers.listIterator();
-      while(i.hasNext()) {
-          i.next().placeBot(name, p.x, p.y, theta);
-      }
-  }
-  
-  public void selectBot(String name) {
-    drawingCanvas.selectBot(name);
-  }
-  
-  public void search(RectangleShape shape) {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().search(shape);
-    }
-  }
-  
-  public void explore(PolyLineShape shape) {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().explore(shape);
-    }
-  }
-  
-  public void cancelTask(Integer taskid) {
-    for(PenDecoderServer server : servers) server.cancelTask(taskid);
-  }
-  
-  public void startSession() {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().startSession();
-    }
-    i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().saySelectBot("EVERYONE");
-    }
-  }
-  
-  public void endSession() {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().endSession();
-    }
-  }
-  
-  public void search(PolyLineShape shape) {
-    ListIterator<PenDecoderServer> i = servers.listIterator();
-    while(i.hasNext()) {
-      i.next().search(shape);
-    }
-  }
-  
-  public void cancel() { //clears context of explore or search
-    
-  }
-  
-  public DrawingCanvas getCanvas() {
-    return drawingCanvas;
-  }
-  
-  public DecoderInterpreter getInterpreter() {
-    return interpreter;
-  }
-  
-  protected JComponent createToolBar(ActionListener toolListener) {
-    JPanel toolbar = new JPanel(new GridLayout(0, 1, 8, 0));
-    ButtonGroup group = new ButtonGroup();
-    Font buttonFont = new Font("Arial Narrow", Font.PLAIN, 28);
-    int n = toolkit.getToolCount();
-    for (int i = 0; i < n; i++) {
-      AbstractDecoderTool tool = toolkit.getTool(i);
-      if (tool != null) {
-        JToggleButton button;
-        if (tool.getIcon() == null) {
-          button = new JToggleButton(tool.getName()) {
-            public JToolTip createToolTip() {
-              JToolTip t = super.createToolTip();
-              t.setFont(new Font("Tahoma", Font.PLAIN, 18));
-              return t;
-            }
-            private static final long serialVersionUID = -8249242044579783954L;
-          };
-          button.setFont(buttonFont);
-        } else {
-          button = new JToggleButton(tool.getIcon());
-        }
-        if(tool.getTooltip() != null) button.setToolTipText(tool.getTooltip());
-        button.addActionListener(toolListener);
-        toolbar.add(button);
-        group.add(button);
-      }
-    }
-    return toolbar;
-  }
-  
-  protected JMenu createToolMenu(ActionListener toolListener) {
-    JMenu menu = new JMenu("Tools");
-    int n = toolkit.getToolCount();
-    for (int i = 0; i < n; i++) {
-      Tool tool = toolkit.getTool(i);
-      if (tool != null) {
-        JMenuItem menuitem = new JMenuItem(tool.getName());
-        menuitem.addActionListener(toolListener);
-        menu.add(menuitem);
-      }
-    }
-    return menu;
-  }
-  
-  public static void main(String[] args) {
-    DrawingPad frame = new DrawingPad("Treasure Hunt GUI");
-    Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
-    frame.setSize(screenSize.width/2, screenSize.height/2);
-    frame.setLocation(screenSize.width/4, screenSize.height/4);
-    frame.setExtendedState(MAXIMIZED_BOTH);
-    frame.setVisible(true);
-  }
-  
-  private static final long serialVersionUID = -3941481106291332264L;
-
-    protected JMenuBar createMenuBar() {
-        JMenuBar menuBar = new JMenuBar();
-        JMenu menu;
-        JMenuItem mi;
-        menu = new JMenu("File");
-        menuBar.add(menu);
-        exitAction = new ExitListener();
-        mi = new JMenuItem("Exit");
-        menu.add(mi);
-        mi.addActionListener(exitAction);
-        menu = new JMenu("Help");
-        menuBar.add(menu);
-        mi = new JMenuItem("About");
-        menu.add(mi);
-        mi.addActionListener(new AboutListener());
-        return menuBar;
-    }
-
-    class ExitListener implements ActionListener {
-
-        public void actionPerformed(ActionEvent e) {
-            int result = JOptionPane.showConfirmDialog(null, "Do you want to exit?", "Exit Treasure Hunt GUI?", JOptionPane.YES_NO_OPTION);
-            if (result == JOptionPane.YES_OPTION) {
-                System.exit(0);
-            }
-        }
-    }
-
-
-    class AboutListener implements ActionListener {
-
-        public void actionPerformed(ActionEvent e) {
-            JOptionPane.showMessageDialog(null, "Teamtalk version 1.0\nCarnegie Mellon\nBoeing Phantom Works\n", 
-                    "About", JOptionPane.INFORMATION_MESSAGE);
-        }
-    }
-
-    protected JScrollPane pane;
-
-    protected JMenuBar menuBar;
-
-    protected ActionListener exitAction;
-
-    protected static int width = 1200;
-
-    protected static int height = 800;
-
-}

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingTool.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingTool.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -5,7 +5,7 @@
 
 public class DrawingTool extends AbstractTool { 
 
-  public DrawingTool(DrawingCanvas canvas, String name) {
+  public DrawingTool(MapCanvas canvas, String name) {
     super(canvas, name);
   }
 

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/IconTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/IconTool.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/IconTool.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -22,7 +22,7 @@
 public class IconTool extends AbstractDecoderTool {
   
   /** Creates a new instance of IconTool */
-  public IconTool(DrawingCanvas canvas, String name, String tooltip, String imageFile) {
+  public IconTool(MapCanvas canvas, String name, String tooltip, String imageFile) {
     super(canvas, name, tooltip);
     try {
       Image image = ImageIO.read(new File(imageFile));

Copied: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java (from rev 662, TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvas.java)
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -0,0 +1,505 @@
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.awt.Color;
+import java.awt.Dimension;
+import java.awt.Graphics;
+import java.awt.Graphics2D;
+import java.awt.Point;
+import java.awt.Image;
+import java.awt.Rectangle;
+import java.awt.image.BufferedImage;
+import java.awt.image.DataBuffer;
+import java.awt.image.IndexColorModel;
+import java.awt.image.WritableRaster;
+import java.util.*;
+import java.io.*;
+import java.awt.event.*;
+import java.awt.geom.AffineTransform;
+import java.awt.geom.NoninvertibleTransformException;
+import java.util.EventListener;
+import javax.swing.*;
+import javax.imageio.ImageIO;
+
+public class MapCanvas extends JComponent implements Scrollable {
+  
+  protected PenDecoderDisplay drawingPad = null;
+  protected MapCanvasListener drawingCanvasListener;
+  static public String opTraderFrameHolder; //[2005-09-30] (tk): hack
+  
+  /**
+   * The width and height of the area that the map represents (in centimeters)
+   */
+  protected float native_width, native_height;
+  
+  /**
+   * A vector from the upper left corner of the map to the world origin (in centimeters)
+   */
+  protected float x_origin, y_origin;
+  
+  /**
+   * The width and height of the actual map image (in pixels)
+   */
+  protected float image_width_in_pixels, image_height_in_pixels;
+  
+  public MapCanvas() {
+    colorGenerator = new ColorGenerator(new Color[] {
+        Color.BLACK,     //clear space
+        Color.DARK_GRAY, //hash marks
+        Color.GRAY,      //unknown space
+        Color.GREEN,     //obstructed space
+        Color.YELLOW     //highlights
+    });   
+                                                     
+    String mapfile = null;
+    try {
+      Properties properties = new Properties();
+      properties.load(new FileInputStream("map.properties"));
+      mapfile = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapfile");
+      if(mapfile == null) throw new Exception("mapfile is missing");
+      String widthstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapwidth");
+      if(widthstr == null) throw new Exception("mapwidth is missing");
+      String heightstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapheight");
+      native_width = Float.parseFloat(widthstr);
+      native_height = Float.parseFloat(heightstr);
+    } catch (NumberFormatException e) {
+      System.err.println("Can't parse double:" + e.toString());
+      System.exit(1);
+    } catch (Exception e) {
+      System.err.println("Problem with properties" + e.toString());
+      System.exit(1);
+    }
+    try {
+      backImage = new MapBufferedImage(ImageIO.read(new File(mapfile)));
+      image_width_in_pixels = backImage.getWidth(this);
+      image_height_in_pixels = backImage.getHeight(this);
+      setPreferredSize(new Dimension((int)image_width_in_pixels, 
+              (int)image_height_in_pixels));
+    } catch(Exception e) {
+      System.err.println("Problem reading or converting PNG: " + e.toString());
+      System.exit(1);
+    }
+    drawingCanvasListener = makeCanvasListener();
+    addMouseListener((MouseListener) listener);
+    addMouseMotionListener((MouseMotionListener) listener);
+  }
+  
+  public MapCanvas(Image backImage, PenDecoderDisplay drawingPad) {
+    //calling factory method
+    System.err.println("scribble w/backimage");
+    drawingCanvasListener = makeCanvasListener();
+    addMouseListener((MouseListener) listener);
+    addMouseMotionListener((MouseMotionListener) listener);
+    backImage = new MapBufferedImage(backImage);
+    this.drawingPad = drawingPad;
+  }
+  
+  public MapCanvas(PenDecoderDisplay drawingPad) {
+    this.drawingPad = drawingPad;
+  }
+  
+  public void setTool(Tool tool) {
+    drawingCanvasListener.setTool(tool);
+  }
+  
+  public Tool getTool() {
+    return drawingCanvasListener.getTool();
+  }
+  
+  /**
+   * factory method
+   */
+  protected MapCanvasListener makeCanvasListener() {
+    return new MapCanvasListener(this);
+  }
+  
+  public void saySelectBot(String name) {
+    drawingPad.saySelectBot(name);
+  }
+  
+  public void zoomOut() {
+    int width = getPreferredSize().width;
+    int height = getPreferredSize().height;
+    JViewport viewport = (JViewport) getParent();
+    Dimension d = viewport.getSize();
+    Point center = new Point(
+            viewport.getViewPosition().x+
+            viewport.getExtentSize().width/2,
+            viewport.getViewPosition().y+
+            viewport.getExtentSize().height/2);
+    setPreferredSize(new Dimension(width/2,height/2));
+    setSize(getPreferredSize());
+    revalidate();
+    viewport.setViewPosition(new Point((center.x-d.width)/2, (center.y-d.height)/2));
+  }
+  
+  public void zoomIn(Point p) {
+    int width = getPreferredSize().width;
+    int height = getPreferredSize().height;
+    JViewport viewport = (JViewport) getParent();
+    Dimension d = viewport.getSize();
+    setPreferredSize(new Dimension(width*2,height*2));
+    setSize(getPreferredSize());
+    revalidate();
+    viewport.setViewPosition(new Point(2*(p.x-d.width/4), 2*(p.y-d.height/4)));
+  }
+
+  public void selectBot(String name) {
+    if (shapes != null) {
+      Iterator<Shape> i = shapes.iterator();
+      while(i.hasNext()) {
+        Shape shape = i.next();
+        if(!(shape instanceof BotShape)) continue; 
+        if(name.equalsIgnoreCase("EVERYONE") || name.equalsIgnoreCase(shape.getName())) {
+          shape.highlight();
+        } else {
+          shape.unhighlight();
+        }
+      }
+      repaint();
+    } else {
+      System.err.println("no shapes!");
+    }
+  }
+  
+  /**
+   * this informs the bot that it should be at the screen position and orientation 
+   * indicated by the point
+   */
+  public void placeSelectedBot(Point p, float theta) {
+    screen_to_map.transform(p, p);
+    if(shapes != null) {
+      Iterator<Shape> i = shapes.iterator();
+      while(i.hasNext()) {
+        Shape shape = i.next();
+        if(shape.isSelected()) {
+          BotShape selectedBot = (BotShape) shape;
+          drawingPad.placeBot(shape.getName(), p, theta);
+          return;
+        }
+      }
+    }
+  }
+  
+  public void search(RectangleShape shape) {
+    //find translator bot and do translation here
+    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
+    AffineTransform placement = bot.getPlacement();
+    try {
+      shape.transform(placement.createInverse());
+    } catch (NoninvertibleTransformException e) {
+      System.err.println("Can't invert transform: " + e.toString());
+      System.exit(1);
+    }
+    drawingPad.search(shape);
+  }
+  
+  public void explore(PolyLineShape shape) {
+    //find translator bot and do translation here
+    System.err.println("exploring here");
+    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
+    AffineTransform placement = bot.getPlacement();
+    PolyLineShape searchShape = new PolyLineShape(shape);
+    try {
+      searchShape.transform(placement.createInverse());
+    } catch (NoninvertibleTransformException e) {
+      System.err.println("Can't invert transform: " + e.toString());
+      System.exit(1);
+    }
+    drawingPad.explore(searchShape);
+  }
+  
+  public void search(PolyLineShape shape) {
+    //find translator bot and do translation here
+    System.err.println("searching here");
+    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
+    AffineTransform placement = bot.getPlacement();
+    PolyLineShape searchShape = new PolyLineShape(shape);
+    try {
+      searchShape.transform(placement.createInverse());
+    } catch (NoninvertibleTransformException e) {
+      System.err.println("Can't invert transform: " + e.toString());
+      System.exit(1);
+    }
+    drawingPad.search(searchShape);
+  }
+  
+  public BotShape BotOf(String name) {
+    ListIterator<Shape> i = shapes.listIterator();
+    while(i.hasNext()) {
+      Shape shape = i.next();
+      if(shape.getName().equalsIgnoreCase(name)) return (BotShape)shape;
+    }
+    return null;
+  }
+  
+  public void debugPoint(Point p) {
+      drawingPad.interpreter.print_human(null, null, "clicked on (pixels): " + p.toString() 
+                + " map coord (cm): " + screen_to_map.transform(p, null).toString()
+                + " map dimentions (pixels): (" + image_width_in_pixels + ", " + image_height_in_pixels + ")"
+                + " map dimentions (cm): (" + native_width + ", " + native_height + ")"
+                + " origin (cm): (" + x_origin + ", " + y_origin + ")");
+  }
+  
+  private static final long serialVersionUID = 2665310629710366124L;
+
+    /**
+     * 
+     * The list of shapes of the drawing
+     */
+    protected List<Shape> shapes = new ArrayList<Shape>();
+
+    protected Color curColor = Color.black;
+
+    protected EventListener listener;
+
+    protected boolean mouseButtonDown = false;
+
+    protected int x;
+
+    protected int y;
+
+    /**
+     * The image to display as the background (the map)
+     */
+    protected MapBufferedImage backImage = null;
+
+    /**
+     * An image of hashmarks for the transparent portions of the backImage
+     */
+    protected BufferedImage hashImage = null;
+
+    /**
+     * The width and height of the rendered map image (in pixels).
+     * The map is streched when the application window grows or during zooming, etc.
+     */
+    protected Dimension view_size;
+
+    /**
+     * A transform from the map image to the rendered map image
+     * The map is streched when the application window grows or during zooming, etc.
+     */
+    protected AffineTransform mapScale = new AffineTransform();
+
+    /**
+     * A transform from screen coordinates (pixels, left-handed) 
+     * to map coordinates (centimeters, right-handed)
+     */
+    protected AffineTransform screen_to_map = new AffineTransform();
+
+    /**
+     * A transform from map coordinates (centimeters, right-handed) 
+     * to screen coordinates (pixels, left-handed)
+     */
+    protected AffineTransform map_to_screen = new AffineTransform();
+
+    /**
+     * A class to generate new colors, maximally distinct from an existing set.
+     */
+    public ColorGenerator colorGenerator = null;
+
+    public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
+        byte[] decoded_map = new byte[x_dim * y_dim];
+        decodeMap(decoded_map, x_dim, y_dim, encoded_map);
+        if (type == MapBufferedImage.FULL) {
+            if (image_width_in_pixels != x_dim || image_height_in_pixels != y_dim) {
+                int colors[] = new int[3];
+                colors[1] = Color.BLACK.getRGB();
+                colors[2] = Color.DARK_GRAY.getRGB();
+                IndexColorModel iColor = new IndexColorModel(2, 3, colors, 0, false, 0, DataBuffer.TYPE_BYTE);
+                hashImage = new BufferedImage(x_dim, y_dim, BufferedImage.TYPE_BYTE_INDEXED, iColor);
+                int hashing = 100 / resolution;
+                WritableRaster wr = hashImage.getRaster();
+                for (int j = 0; j < y_dim; j++) {
+                    for (int i = 0; i < x_dim; i++) {
+                        if (j % hashing == 0 || i % hashing == 0)
+                            wr.setSample(i, j, 0, 2); else
+                            wr.setSample(i, j, 0, 1);
+                    }
+                }
+                setPreferredSize(new Dimension(x_dim, y_dim));
+            }
+            backImage = MapBufferedImage.createMapBufferedImage(x_dim, y_dim);
+            native_width = x_dim * resolution;
+            native_height = y_dim * resolution;
+            this.x_origin = x_origin * 100;
+            this.y_origin = y_origin * 100;
+            image_width_in_pixels = x_dim;
+            image_height_in_pixels = y_dim;
+            backImage.setFullMap(decoded_map);
+            repaint();
+        } else
+            if (type == MapBufferedImage.DIFF) {
+                if (x_dim != image_width_in_pixels || y_dim != image_height_in_pixels) {
+                    System.err.println("diff map for different full map");
+                } else {
+                    backImage.setDiffMap(decoded_map);
+                    repaint();
+                }
+            } else {
+                System.err.println("unknown map type: " + type);
+            }
+    }
+
+    protected void decodeMap(byte[] decoded_map, int x, int y, int[] encoded_map) {
+        System.err.println("x: " + x + " y: " + y + " encoded_len: " + encoded_map.length);
+        int j = 0, k = 0;
+        for (int i = 0; i < encoded_map.length; i++) {
+            int run_length = (encoded_map[i] & -256) >> 8;
+            byte run_value = (byte) (encoded_map[i] & 255);
+            if (i == 0)
+                System.err.println("raw: " + encoded_map[i] + " rl: " + run_length + " rv: " + run_value + " j: " + j);
+            for (; j < k + run_length; j++) {
+                decoded_map[j] = run_value;
+            }
+            k = j;
+        }
+    }
+
+    public void setCurColor(Color curColor) {
+        this.curColor = curColor;
+    }
+
+    public Color getCurColor() {
+        return curColor;
+    }
+
+    public void addShape(Shape shape) {
+        if (shape != null) {
+            shapes.add(shape);
+        }
+    }
+
+    public void removeShape(Shape shape) {
+        shapes.remove(shape);
+    }
+
+    public void paintComponent(Graphics g) {
+        Dimension viewportDim = ((JViewport) getParent()).getExtentSize();
+        if (view_size.width < viewportDim.width || view_size.height < viewportDim.height) {
+            setPreferredSize(new Dimension(Math.max(view_size.width, viewportDim.width), Math.max(view_size.height, viewportDim.height)));
+            revalidate();
+        }
+        if (backImage == null) {
+            System.err.println("Got no backImage");
+            return;
+        }
+        Graphics2D mapG = (Graphics2D) g.create();
+        mapG.transform(mapScale);
+        if (hashImage != null) {
+            mapG.drawImage(hashImage, 0, 0, this);
+        }
+        mapG.drawImage(backImage, 0, 0, this);
+        Graphics2D shapeG = (Graphics2D) g.create();
+        shapeG.transform(map_to_screen);
+        shapeG.setFont(BotShape.labelFont);
+        if (shapes != null) {
+            Iterator iter = shapes.iterator();
+            while (iter.hasNext()) {
+                Shape shape = (Shape) iter.next();
+                if (shape != null) {
+                    shape.draw(shapeG);
+                    if (shape instanceof BotShape) {
+                        ((BotShape) shape).label(screen_to_map, shapeG);
+                    }
+                }
+            }
+        }
+    }
+
+    public void newFile() {
+        shapes.clear();
+        repaint();
+    }
+
+    public void openFile(String filename) {
+        try {
+            ObjectInputStream in = new ObjectInputStream(new FileInputStream(filename));
+            try {
+                List l = (List) in.readObject();
+                Iterator li = l.iterator();
+                while (li.hasNext()) {
+                    shapes.add((Shape) li.next());
+                }
+            } catch (Exception e) {
+                System.err.println("Some problem with reading: " + e);
+            }
+            in.close();
+            repaint();
+        } catch (IOException e1) {
+            System.out.println("Unable to open file: " + filename);
+        }
+    }
+
+    public void saveFile(String filename) {
+        try {
+            ObjectOutputStream out = new ObjectOutputStream(new FileOutputStream(filename));
+            out.writeObject(shapes);
+            out.close();
+            System.out.println("Save drawing to " + filename);
+        } catch (IOException e) {
+            System.out.println("Unable to write file: " + filename);
+        }
+    }
+
+    public AffineTransform getScreenToMap() {
+        return screen_to_map;
+    }
+
+    public String selectObj(Point p) {
+        String retval = null;
+        screen_to_map.transform(p, p);
+        if (shapes != null) {
+            Iterator<Shape> i = shapes.iterator();
+            while (i.hasNext()) {
+                Shape shape = i.next();
+                if (shape.contains(p)) {
+                    shape.highlight();
+                    retval = shape.getName();
+                } else {
+                    shape.unhighlight();
+                }
+            }
+            repaint();
+        }
+        return retval;
+    }
+
+    public void setPreferredSize(Dimension d) {
+        view_size = d;
+        map_to_screen.setToScale(view_size.width / native_width, view_size.height / native_height);
+        map_to_screen.translate(x_origin, y_origin);
+        try {
+            screen_to_map = map_to_screen.createInverse();
+        } catch (NoninvertibleTransformException e) {
+            System.err.println("couldn't build map_to_screen");
+        }
+        mapScale.setToScale(view_size.width / image_width_in_pixels, view_size.height / image_height_in_pixels);
+        mapScale.translate(0, image_height_in_pixels);
+    }
+
+    public Dimension getPreferredSize() {
+        return view_size;
+    }
+
+    public Dimension getPreferredScrollableViewportSize() {
+        return getPreferredSize();
+    }
+
+    public int getScrollableUnitIncrement(Rectangle visibleRect, int orientation, int direction) {
+        return 1;
+    }
+
+    public int getScrollableBlockIncrement(Rectangle visibleRect, int orientation, int direction) {
+        if (orientation == SwingConstants.VERTICAL)
+            return visibleRect.height / 2; else
+            return visibleRect.width / 2;
+    }
+
+    public boolean getScrollableTracksViewportWidth() {
+        return false;
+    }
+
+    public boolean getScrollableTracksViewportHeight() {
+        return false;
+    }
+}

Copied: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java (from rev 661, TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingCanvasListener.java)
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -0,0 +1,66 @@
+package edu.cmu.ravenclaw.pendecoder; 
+
+import java.awt.*;
+import java.awt.event.*;
+
+public class MapCanvasListener implements MouseListener, MouseMotionListener  { 
+
+  protected MapCanvas canvas; 
+  protected Tool tool; 
+
+  public MapCanvasListener(MapCanvas canvas) { 
+    this.canvas = canvas; 
+    tool = new DrawingTool(canvas, "Scribble"); 
+  }
+
+  public void mousePressed(MouseEvent e) {
+    Point p = e.getPoint(); 
+    tool.mouseDownAt(p);    
+    canvas.mouseButtonDown = true;
+    canvas.x = p.x; 
+    canvas.y = p.y; 
+  } 
+
+  public void mouseDragged(MouseEvent e) {
+    Point p = e.getPoint(); 
+    if (canvas.mouseButtonDown) {
+      tool.mouseDraggedTo(p);
+      canvas.x = p.x; 
+      canvas.y = p.y; 
+    }       
+  }
+
+  public void mouseReleased(MouseEvent e) {
+    Point p = e.getPoint(); 
+    tool.mouseReleasedAt(p);       
+    canvas.mouseButtonDown = false;       
+  }    
+  
+  public void mouseClicked(MouseEvent e) {
+    Point p = e.getPoint();
+    if(e.getClickCount() == 1) {
+      if(e.getButton() == e.BUTTON1)
+        tool.mouseClickedAt(p);
+      else
+        tool.mouseRightClickedAt(p);
+    } else {
+        tool.mouseDoubleClickedAt(p);
+    }
+  }
+  
+  public void mouseEntered(MouseEvent e) {}  
+  public void mouseExited(MouseEvent e) {}
+  public void mouseMoved(MouseEvent e) {
+    Point p = e.getPoint();
+    tool.mouseMovedTo(p);
+  }     
+
+  public Tool getTool() { 
+    return tool; 
+  }
+
+  public void setTool(Tool tool) { 
+    this.tool = tool;
+  }
+
+}

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointTool.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointTool.java	2007-07-19 21:33:55 UTC (rev 662)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/NPointTool.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -14,7 +14,7 @@
   protected NPointShape lastShape = null;
   protected Point lastPoint = null;
   
-  public NPointTool(DrawingCanvas canvas, String name, String tooltip, int shapeType) {
+  public NPointTool(MapCanvas canvas, String name, String tooltip, int shapeType) {
     super(canvas, name, tooltip);
     this.shapeType = shapeType;
     makeNewShape();

Copied: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java (from rev 661, TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/DrawingPad.java)
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	                        (rev 0)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-20 02:49:22 UTC (rev 663)
@@ -0,0 +1,473 @@
+package edu.cmu.ravenclaw.pendecoder;
+
+import java.awt.*;
+import java.awt.event.*;
+import java.awt.image.BufferedImage;
+import java.util.*;
+import javax.swing.*;
+
+import bsh.util.JConsole;
+
+/**
+ * PenDecoderDisplay is the top-level JFrame (docked mode) or collection of
+ * top-level JFrames (undocked) for the PenDecoder. It contains the map
+ * (MapCanvas), the console, the tool buttons, and the camera images
+ * (imager).
+ */
+public class PenDecoderDisplay extends JFrame {
+    
+    /**
+     * Constrcuct the components of the drawing pad: console, map,
+     * camera image, buttons
+     * @param title The title for the JFrame (when docked)
+     */
+    public PenDecoderDisplay(String title) {
+        super(title);
+        // calling factory method
+        drawingCanvas = makeCanvas();
+        getContentPane().setLayout(new BorderLayout());
+        menuBar = createMenuBar();
+        getContentPane().add(menuBar, BorderLayout.NORTH);
+        pane = new JScrollPane(drawingCanvas);
+        JRootPane rootPane = new JRootPane();
+        rootPane.setContentPane(pane);
+        LogoViewport logopane = new LogoViewport();
+        rootPane.setGlassPane(logopane);
+        logopane.setVisible(true);
+        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
+        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);
+        getContentPane().add(rootPane, BorderLayout.CENTER);
+        addWindowListener(new WindowAdapter() {
+            public void windowClosing(WindowEvent e) {
+                if (exitAction != null) {
+                    exitAction.actionPerformed(new ActionEvent(PenDecoderDisplay.this, 0, null));
+                }
+            }
+        });
+        
+        //add toolbar

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Fri Jul 20 07:34:31 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 20 Jul 2007 07:34:31 -0400
Subject: [TeamTalk 127]: [664]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder: Made an
 undocked always-on-top version of the map canvas.
Message-ID: <200707201134.l6KBYVtl001791@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070720/57abb678/attachment-0001.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-07-20 02:49:22 UTC (rev 663)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-07-20 11:34:30 UTC (rev 664)
@@ -20,283 +20,267 @@
 import javax.swing.*;
 import javax.imageio.ImageIO;
 
-public class MapCanvas extends JComponent implements Scrollable {
+/**
+ * Displays a scrollable map with annotations.
+ */
+public class MapCanvas extends JComponent implements Scrollable {    
   
-  protected PenDecoderDisplay drawingPad = null;
-  protected MapCanvasListener drawingCanvasListener;
-  static public String opTraderFrameHolder; //[2005-09-30] (tk): hack
-  
-  /**
-   * The width and height of the area that the map represents (in centimeters)
-   */
-  protected float native_width, native_height;
-  
-  /**
-   * A vector from the upper left corner of the map to the world origin (in centimeters)
-   */
-  protected float x_origin, y_origin;
-  
-  /**
-   * The width and height of the actual map image (in pixels)
-   */
-  protected float image_width_in_pixels, image_height_in_pixels;
-  
-  public MapCanvas() {
-    colorGenerator = new ColorGenerator(new Color[] {
-        Color.BLACK,     //clear space
-        Color.DARK_GRAY, //hash marks
-        Color.GRAY,      //unknown space
-        Color.GREEN,     //obstructed space
-        Color.YELLOW     //highlights
-    });   
-                                                     
-    String mapfile = null;
-    try {
-      Properties properties = new Properties();
-      properties.load(new FileInputStream("map.properties"));
-      mapfile = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapfile");
-      if(mapfile == null) throw new Exception("mapfile is missing");
-      String widthstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapwidth");
-      if(widthstr == null) throw new Exception("mapwidth is missing");
-      String heightstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapheight");
-      native_width = Float.parseFloat(widthstr);
-      native_height = Float.parseFloat(heightstr);
-    } catch (NumberFormatException e) {
-      System.err.println("Can't parse double:" + e.toString());
-      System.exit(1);
-    } catch (Exception e) {
-      System.err.println("Problem with properties" + e.toString());
-      System.exit(1);
+    /**
+     * Constructor for map canvas.
+     * @param penDecoderDisplay Link to parent class.
+     */
+    public MapCanvas(PenDecoderDisplay penDecoderDisplay) {
+        this.penDecoderDisplay = penDecoderDisplay;
+        
+        colorGenerator = new ColorGenerator(new Color[] {
+            Color.BLACK,     //clear space
+            Color.DARK_GRAY, //hash marks
+            Color.GRAY,      //unknown space
+            Color.GREEN,     //obstructed space
+            Color.YELLOW     //highlights
+        });
+        
+        String mapfile = null;
+        try {
+            Properties properties = new Properties();
+            properties.load(new FileInputStream("map.properties"));
+            mapfile = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapfile");
+            if(mapfile == null) throw new Exception("mapfile is missing");
+            String widthstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapwidth");
+            if(widthstr == null) throw new Exception("mapwidth is missing");
+            String heightstr = properties.getProperty("edu.cmu.ravenclaw.pendecoder.mapheight");
+            native_width = Float.parseFloat(widthstr);
+            native_height = Float.parseFloat(heightstr);
+        } catch (NumberFormatException e) {
+            System.err.println("Can't parse double:" + e.toString());
+            System.exit(1);
+        } catch (Exception e) {
+            System.err.println("Problem with properties" + e.toString());
+            System.exit(1);
+        }
+        try {
+            backImage = new MapBufferedImage(ImageIO.read(new File(mapfile)));
+            image_width_in_pixels = backImage.getWidth(this);
+            image_height_in_pixels = backImage.getHeight(this);
+            setPreferredSize(new Dimension((int)image_width_in_pixels,
+                    (int)image_height_in_pixels));
+        } catch(Exception e) {
+            System.err.println("Problem reading or converting PNG: " + e.toString());
+            System.exit(1);
+        }
+        mapCanvasListener = new MapCanvasListener(this);
+        addMouseListener((MouseListener) mapCanvasListener);
+        addMouseMotionListener((MouseMotionListener) mapCanvasListener);
     }
-    try {
-      backImage = new MapBufferedImage(ImageIO.read(new File(mapfile)));
-      image_width_in_pixels = backImage.getWidth(this);
-      image_height_in_pixels = backImage.getHeight(this);
-      setPreferredSize(new Dimension((int)image_width_in_pixels, 
-              (int)image_height_in_pixels));
-    } catch(Exception e) {
-      System.err.println("Problem reading or converting PNG: " + e.toString());
-      System.exit(1);
+    
+    /**
+     * Dock components
+     */
+    public void dock() {
+        penDecoderDisplay.dock();
     }
-    drawingCanvasListener = makeCanvasListener();
-    addMouseListener((MouseListener) listener);
-    addMouseMotionListener((MouseMotionListener) listener);
-  }
-  
-  public MapCanvas(Image backImage, PenDecoderDisplay drawingPad) {
-    //calling factory method
-    System.err.println("scribble w/backimage");
-    drawingCanvasListener = makeCanvasListener();
-    addMouseListener((MouseListener) listener);
-    addMouseMotionListener((MouseMotionListener) listener);
-    backImage = new MapBufferedImage(backImage);
-    this.drawingPad = drawingPad;
-  }
-  
-  public MapCanvas(PenDecoderDisplay drawingPad) {
-    this.drawingPad = drawingPad;
-  }
-  
-  public void setTool(Tool tool) {
-    drawingCanvasListener.setTool(tool);
-  }
-  
-  public Tool getTool() {
-    return drawingCanvasListener.getTool();
-  }
-  
-  /**
-   * factory method
-   */
-  protected MapCanvasListener makeCanvasListener() {
-    return new MapCanvasListener(this);
-  }
-  
-  public void saySelectBot(String name) {
-    drawingPad.saySelectBot(name);
-  }
-  
-  public void zoomOut() {
-    int width = getPreferredSize().width;
-    int height = getPreferredSize().height;
-    JViewport viewport = (JViewport) getParent();
-    Dimension d = viewport.getSize();
-    Point center = new Point(
-            viewport.getViewPosition().x+
-            viewport.getExtentSize().width/2,
-            viewport.getViewPosition().y+
-            viewport.getExtentSize().height/2);
-    setPreferredSize(new Dimension(width/2,height/2));
-    setSize(getPreferredSize());
-    revalidate();
-    viewport.setViewPosition(new Point((center.x-d.width)/2, (center.y-d.height)/2));
-  }
-  
-  public void zoomIn(Point p) {
-    int width = getPreferredSize().width;
-    int height = getPreferredSize().height;
-    JViewport viewport = (JViewport) getParent();
-    Dimension d = viewport.getSize();
-    setPreferredSize(new Dimension(width*2,height*2));
-    setSize(getPreferredSize());
-    revalidate();
-    viewport.setViewPosition(new Point(2*(p.x-d.width/4), 2*(p.y-d.height/4)));
-  }
-
-  public void selectBot(String name) {
-    if (shapes != null) {
-      Iterator<Shape> i = shapes.iterator();
-      while(i.hasNext()) {
-        Shape shape = i.next();
-        if(!(shape instanceof BotShape)) continue; 
-        if(name.equalsIgnoreCase("EVERYONE") || name.equalsIgnoreCase(shape.getName())) {
-          shape.highlight();
-        } else {
-          shape.unhighlight();
-        }
-      }
-      repaint();
-    } else {
-      System.err.println("no shapes!");
+    
+    /**
+     * Are we docked?
+     * @return true - docked; false - not docked
+     */
+    public boolean isDocked() {
+        return penDecoderDisplay.isDocked();
     }
-  }
-  
-  /**
-   * this informs the bot that it should be at the screen position and orientation 
-   * indicated by the point
-   */
-  public void placeSelectedBot(Point p, float theta) {
-    screen_to_map.transform(p, p);
-    if(shapes != null) {
-      Iterator<Shape> i = shapes.iterator();
-      while(i.hasNext()) {
-        Shape shape = i.next();
-        if(shape.isSelected()) {
-          BotShape selectedBot = (BotShape) shape;
-          drawingPad.placeBot(shape.getName(), p, theta);
-          return;
-        }
-      }
+    
+    /**
+     * Sets the current tool mode. This is the context in which mouse events are
+     * interpreted.
+     * @param tool The tool mode to set.
+     */
+    public void setTool(Tool tool) {
+        mapCanvasListener.setTool(tool);
     }
-  }
-  
-  public void search(RectangleShape shape) {
-    //find translator bot and do translation here
-    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
-    AffineTransform placement = bot.getPlacement();
-    try {
-      shape.transform(placement.createInverse());
-    } catch (NoninvertibleTransformException e) {
-      System.err.println("Can't invert transform: " + e.toString());
-      System.exit(1);
+    
+    /**
+     * Gets the current tool mode. This is the context in which mouse events are
+     * interpreted.
+     * @return The current tool mode.
+     */
+    public Tool getTool() {
+        return mapCanvasListener.getTool();
     }
-    drawingPad.search(shape);
-  }
-  
-  public void explore(PolyLineShape shape) {
-    //find translator bot and do translation here
-    System.err.println("exploring here");
-    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
-    AffineTransform placement = bot.getPlacement();
-    PolyLineShape searchShape = new PolyLineShape(shape);
-    try {
-      searchShape.transform(placement.createInverse());
-    } catch (NoninvertibleTransformException e) {
-      System.err.println("Can't invert transform: " + e.toString());
-      System.exit(1);
+    
+    /**
+     * Inform the penDecoderDisplay (which informs Olympus) that a bot has been
+     * selected.
+     * @param name The name of the selected bot
+     */
+    public void saySelectBot(String name) {
+        penDecoderDisplay.saySelectBot(name);
     }
-    drawingPad.explore(searchShape);
-  }
-  
-  public void search(PolyLineShape shape) {
-    //find translator bot and do translation here
-    System.err.println("searching here");
-    BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
-    AffineTransform placement = bot.getPlacement();
-    PolyLineShape searchShape = new PolyLineShape(shape);
-    try {
-      searchShape.transform(placement.createInverse());
-    } catch (NoninvertibleTransformException e) {
-      System.err.println("Can't invert transform: " + e.toString());
-      System.exit(1);
+    
+    /**
+     * Zoom out on the map display. Virtual eye elevation is doubled.
+     */
+    public void zoomOut() {
+        int width = getPreferredSize().width;
+        int height = getPreferredSize().height;
+        JViewport viewport = (JViewport) getParent();
+        Dimension d = viewport.getSize();
+        Point center = new Point(
+                viewport.getViewPosition().x+
+                viewport.getExtentSize().width/2,
+                viewport.getViewPosition().y+
+                viewport.getExtentSize().height/2);
+        setPreferredSize(new Dimension(width/2,height/2));
+        setSize(getPreferredSize());
+        revalidate();
+        viewport.setViewPosition(new Point((center.x-d.width)/2, (center.y-d.height)/2));
     }
-    drawingPad.search(searchShape);
-  }
-  
-  public BotShape BotOf(String name) {
-    ListIterator<Shape> i = shapes.listIterator();
-    while(i.hasNext()) {
-      Shape shape = i.next();
-      if(shape.getName().equalsIgnoreCase(name)) return (BotShape)shape;
+    
+    /**
+     * Zoom in on the map display. Virtual eye is repositioned directly over the
+     * specified point, then the eye elevation is halved.
+     * @param p The point (in screen coordinates) over which to reposition
+     */
+    public void zoomIn(Point p) {
+        int width = getPreferredSize().width;
+        int height = getPreferredSize().height;
+        JViewport viewport = (JViewport) getParent();
+        Dimension d = viewport.getSize();
+        setPreferredSize(new Dimension(width*2,height*2));
+        setSize(getPreferredSize());
+        revalidate();
+        viewport.setViewPosition(new Point(2*(p.x-d.width/4), 2*(p.y-d.height/4)));
     }
-    return null;
-  }
-  
-  public void debugPoint(Point p) {
-      drawingPad.interpreter.print_human(null, null, "clicked on (pixels): " + p.toString() 
-                + " map coord (cm): " + screen_to_map.transform(p, null).toString()
-                + " map dimentions (pixels): (" + image_width_in_pixels + ", " + image_height_in_pixels + ")"
-                + " map dimentions (cm): (" + native_width + ", " + native_height + ")"
-                + " origin (cm): (" + x_origin + ", " + y_origin + ")");
-  }
-  
-  private static final long serialVersionUID = 2665310629710366124L;
-
+    
     /**
-     * 
-     * The list of shapes of the drawing
+     * Highlight the selected bot(s).
+     * @param name The name of the selected bot.
      */
-    protected List<Shape> shapes = new ArrayList<Shape>();
-
-    protected Color curColor = Color.black;
-
-    protected EventListener listener;
-
-    protected boolean mouseButtonDown = false;
-
-    protected int x;
-
-    protected int y;
-
+    public void selectBot(String name) {
+        if (shapes != null) {
+            for(Shape shape: shapes) {
+                if(!(shape instanceof BotShape)) continue;
+                if(name.equalsIgnoreCase("EVERYONE") || name.equalsIgnoreCase(shape.getName())) {
+                    shape.highlight();
+                } else {
+                    shape.unhighlight();
+                }
+            }
+            repaint();
+        } else {
+            System.err.println("no shapes!");
+        }
+    }
+    
     /**
-     * The image to display as the background (the map)
+     * Inform the bot that it should be at the screen position and orientation
+     * indicated by the point. The frame of reference should be considered the same
+     * as the maps.
+     * @param p The point at which the bot should think it is (units in meters).
+     * @param theta The yaw of which the bot should think it has (units in radians).
      */
-    protected MapBufferedImage backImage = null;
-
+    public void placeSelectedBot(Point p, float theta) {
+        screen_to_map.transform(p, p);
+        if(shapes != null) {
+            Iterator<Shape> i = shapes.iterator();
+            while(i.hasNext()) {
+                Shape shape = i.next();
+                if(shape.isSelected()) {
+                    BotShape selectedBot = (BotShape) shape;
+                    penDecoderDisplay.placeBot(shape.getName(), p, theta);
+                    return;
+                }
+            }
+        }
+    }
+    
     /**
-     * An image of hashmarks for the transparent portions of the backImage
+     * Tell the bots to search within the specified rectangle.
+     * @param shape A rectangle (in screen coordinates)
      */
-    protected BufferedImage hashImage = null;
-
+    public void search(RectangleShape shape) {
+        //find translator bot and do translation here
+        BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
+        AffineTransform placement = bot.getPlacement();
+        try {
+            shape.transform(placement.createInverse());
+        } catch (NoninvertibleTransformException e) {
+            System.err.println("Can't invert transform: " + e.toString());
+            System.exit(1);
+        }
+        penDecoderDisplay.search(shape);
+    }
+    
     /**
-     * The width and height of the rendered map image (in pixels).
-     * The map is streched when the application window grows or during zooming, etc.
+     * Tell the bots to explore along the specified waypoints.
+     * @param shape A set of waypoints (in screen coordinates)
      */
-    protected Dimension view_size;
-
+    public void explore(PolyLineShape shape) {
+        //find translator bot and do translation here
+        System.err.println("exploring here");
+        BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
+        AffineTransform placement = bot.getPlacement();
+        PolyLineShape searchShape = new PolyLineShape(shape);
+        try {
+            searchShape.transform(placement.createInverse());
+        } catch (NoninvertibleTransformException e) {
+            System.err.println("Can't invert transform: " + e.toString());
+            System.exit(1);
+        }
+        penDecoderDisplay.explore(searchShape);
+    }
+    
     /**
-     * A transform from the map image to the rendered map image
-     * The map is streched when the application window grows or during zooming, etc.
+     * Tell the bots to search along the specified waypoints.
+     * @param shape A set of waypoints (in screen coordinates)
      */
-    protected AffineTransform mapScale = new AffineTransform();
-
+    public void search(PolyLineShape shape) {
+        //find translator bot and do translation here
+        System.err.println("searching here");
+        BotShape bot = BotOf(opTraderFrameHolder); //[2005-10-02] (tk): hack
+        AffineTransform placement = bot.getPlacement();
+        PolyLineShape searchShape = new PolyLineShape(shape);
+        try {
+            searchShape.transform(placement.createInverse());
+        } catch (NoninvertibleTransformException e) {
+            System.err.println("Can't invert transform: " + e.toString());
+            System.exit(1);
+        }
+        penDecoderDisplay.search(searchShape);
+    }
+    
     /**
-     * A transform from screen coordinates (pixels, left-handed) 
-     * to map coordinates (centimeters, right-handed)
+     * Find the bot avatar given a bot name.
+     * @param name A bot name.
+     * @return A bot avatar.
      */
-    protected AffineTransform screen_to_map = new AffineTransform();
-
+    public BotShape BotOf(String name) {
+        for(Shape shape: shapes) {
+            if(shape.getName().equalsIgnoreCase(name)) return (BotShape)shape;
+        }
+        return null;
+    }
+    
     /**
-     * A transform from map coordinates (centimeters, right-handed) 
-     * to screen coordinates (pixels, left-handed)
+     * For debugging. Print out some info about where the mouse clicks.
+     * @param p The point of interest.
      */
-    protected AffineTransform map_to_screen = new AffineTransform();
-
+    public void debugPoint(Point p) {
+        penDecoderDisplay.interpreter.print_human(null, null, "clicked on (pixels): " + p.toString()
+        + " map coord (cm): " + screen_to_map.transform(p, null).toString()
+        + " map dimentions (pixels): (" + image_width_in_pixels + ", " + image_height_in_pixels + ")"
+                + " map dimentions (cm): (" + native_width + ", " + native_height + ")"
+                + " origin (cm): (" + x_origin + ", " + y_origin + ")");
+    }
+    
     /**
-     * A class to generate new colors, maximally distinct from an existing set.
+     * Update the map.
+     * @param type Is this a full map or just a diff?
+     * @param x_dim The width of the map (in cells)
+     * @param y_dim The height of the map (in cells)
+     * @param x_origin The vector from the left-hand side of the map to the y-axis
+     * @param y_origin The vector from the top of the map to the x-axis
+     * @param resolution The length of a side of a cell (in centimeters)
+     * @param encoded_map The run-length compressed map
      */
-    public ColorGenerator colorGenerator = null;
-
     public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
         byte[] decoded_map = new byte[x_dim * y_dim];
         decodeMap(decoded_map, x_dim, y_dim, encoded_map);
@@ -313,7 +297,7 @@
                     for (int i = 0; i < x_dim; i++) {
                         if (j % hashing == 0 || i % hashing == 0)
                             wr.setSample(i, j, 0, 2); else
-                            wr.setSample(i, j, 0, 1);
+                                wr.setSample(i, j, 0, 1);
                     }
                 }
                 setPreferredSize(new Dimension(x_dim, y_dim));
@@ -329,17 +313,24 @@
             repaint();
         } else
             if (type == MapBufferedImage.DIFF) {
-                if (x_dim != image_width_in_pixels || y_dim != image_height_in_pixels) {
-                    System.err.println("diff map for different full map");
-                } else {
-                    backImage.setDiffMap(decoded_map);
-                    repaint();
-                }
+            if (x_dim != image_width_in_pixels || y_dim != image_height_in_pixels) {
+                System.err.println("diff map for different full map");
             } else {
-                System.err.println("unknown map type: " + type);
+                backImage.setDiffMap(decoded_map);
+                repaint();
             }
+            } else {
+            System.err.println("unknown map type: " + type);
+            }
     }
-
+    
+    /**
+     * Perform the run-length decompression as described in boeingLib.
+     * @param decoded_map The byte array in which the decoded map is returned.
+     * @param x The width of the map (in cells)
+     * @param y The height of the map (in cells)
+     * @param encoded_map The run-length compressed map
+     */
     protected void decodeMap(byte[] decoded_map, int x, int y, int[] encoded_map) {
         System.err.println("x: " + x + " y: " + y + " encoded_len: " + encoded_map.length);
         int j = 0, k = 0;
@@ -354,25 +345,52 @@
             k = j;
         }
     }
-
+    
+    /**
+     * Set the canvas color.
+     * @param curColor The new canvas color.
+     */
     public void setCurColor(Color curColor) {
         this.curColor = curColor;
     }
-
+    
+    /**
+     * Get the current canvas color.
+     * @return The current canvas color.
+     */
     public Color getCurColor() {
         return curColor;
     }
-
+    
+    /**
+     * Add an object to the map. These are such things as robots, paths, and other
+     * annotations.
+     * @param shape The object to add.
+     */
     public void addShape(Shape shape) {
         if (shape != null) {
             shapes.add(shape);
         }
     }
-
+    
+    /**
+     * Remove an object from the map.
+     * @param shape The object to remove.
+     */
     public void removeShape(Shape shape) {
         shapes.remove(shape);
     }
-
+    
+    /**
+     * Paint the map.
+     * 1. Transforms the graphics context for the map.
+     * 2. Draw the hash marks.
+     * 3. Draw the map (backImage) on top of the hash marks (hash marks will show
+     *    through on transparent areas of the map).
+     * 4. Transform the graphics context for the shapes.
+     * 5. Draw the shapes and the shape labels.
+     * @param g The graphics context.
+     */
     public void paintComponent(Graphics g) {
         Dimension viewportDim = ((JViewport) getParent()).getExtentSize();
         if (view_size.width < viewportDim.width || view_size.height < viewportDim.height) {
@@ -393,9 +411,7 @@
         shapeG.transform(map_to_screen);
         shapeG.setFont(BotShape.labelFont);
         if (shapes != null) {
-            Iterator iter = shapes.iterator();
-            while (iter.hasNext()) {
-                Shape shape = (Shape) iter.next();
+            for(Shape shape: shapes) {
                 if (shape != null) {
                     shape.draw(shapeG);
                     if (shape instanceof BotShape) {
@@ -405,46 +421,20 @@
             }
         }
     }
-
-    public void newFile() {
-        shapes.clear();
-        repaint();
-    }
-
-    public void openFile(String filename) {
-        try {
-            ObjectInputStream in = new ObjectInputStream(new FileInputStream(filename));
-            try {
-                List l = (List) in.readObject();
-                Iterator li = l.iterator();
-                while (li.hasNext()) {
-                    shapes.add((Shape) li.next());
-                }
-            } catch (Exception e) {
-                System.err.println("Some problem with reading: " + e);
-            }
-            in.close();
-            repaint();
-        } catch (IOException e1) {
-            System.out.println("Unable to open file: " + filename);
-        }
-    }
-
-    public void saveFile(String filename) {
-        try {
-            ObjectOutputStream out = new ObjectOutputStream(new FileOutputStream(filename));
-            out.writeObject(shapes);
-            out.close();
-            System.out.println("Save drawing to " + filename);
-        } catch (IOException e) {
-            System.out.println("Unable to write file: " + filename);
-        }
-    }
-
+    
+    /**
+     * Get the transform from the screen (this JComponent) frame to the map's frame.
+     * @return An affine tranform from the screen frame to the map frame.
+     */
     public AffineTransform getScreenToMap() {
         return screen_to_map;
     }
-
+    
+    /**
+     * Select the object at a point.
+     * @param p A point inside an object.
+     * @return The selected object.
+     */
     public String selectObj(Point p) {
         String retval = null;
         screen_to_map.transform(p, p);
@@ -463,7 +453,11 @@
         }
         return retval;
     }
-
+    
+    /**
+     * When the size of the component chages, update the map and object transforms.
+     * @param d The preferred size of the component (in pixels)
+     */
     public void setPreferredSize(Dimension d) {
         view_size = d;
         map_to_screen.setToScale(view_size.width / native_width, view_size.height / native_height);
@@ -473,33 +467,167 @@
         } catch (NoninvertibleTransformException e) {
             System.err.println("couldn't build map_to_screen");
         }
-        mapScale.setToScale(view_size.width / image_width_in_pixels, view_size.height / image_height_in_pixels);
-        mapScale.translate(0, image_height_in_pixels);
+        mapScale.setToScale(view_size.width / image_width_in_pixels, -view_size.height / image_height_in_pixels);
+        mapScale.translate(0, -image_height_in_pixels);
     }
-
+    
+    /**
+     * Get the current preffered size of the component.
+     * @return the current view size (in pixels)
+     */
     public Dimension getPreferredSize() {
         return view_size;
     }
-
+    
+    /**
+     * Get the scrollable viewport size.
+     * @return The dimentions of the scrollable viewport.
+     */
     public Dimension getPreferredScrollableViewportSize() {
         return getPreferredSize();
     }
-
+    
+    /**
+     * Get the scrollable unit increment. How many pixels to we scroll when someone
+     * click on the arrow keys.
+     * @param visibleRect The current visible rectangle
+     * @param orientation The current orientation
+     * @param direction The direction that we'd like to scroll
+     * @return Always returns 1.
+     */
     public int getScrollableUnitIncrement(Rectangle visibleRect, int orientation, int direction) {
         return 1;
     }
-
+    
+    /**
+     * Get the scrollable block increment. How many pixels do we scroll when the
+     * mouse wheel is used. Or is it pgup pgdn?
+     * @param visibleRect The current visible rectangle
+     * @param orientation The current orientation
+     * @param direction The direction that we'd like to scroll
+     * @return Returns half of the visible region. E.g. the former extent becomes
+     * centered.
+     */
     public int getScrollableBlockIncrement(Rectangle visibleRect, int orientation, int direction) {
         if (orientation == SwingConstants.VERTICAL)
             return visibleRect.height / 2; else
-            return visibleRect.width / 2;
+                return visibleRect.width / 2;
     }
-
+    
+    /**
+     * We don't want a scroll track.
+     * @return false
+     */
     public boolean getScrollableTracksViewportWidth() {
         return false;
     }
-
+    
+    /**
+     * We don't want a scroll track.
+     * @return false
+     */
     public boolean getScrollableTracksViewportHeight() {
         return false;
     }
+
+    /**
+     * An entry point that displays a static map
+     * @param args Unused.
+     */
+    public static void main(String[] args) {
+        JScrollPane pane = new JScrollPane(new MapCanvas(null));
+        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
+        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);
+        JRootPane root = new JRootPane();
+        root.setContentPane(pane);
+        JFrame frame = new JFrame();
+        frame.getContentPane().add(root);
+        frame.validate();
+        frame.setVisible(true);
+    }
+    
+    /**
+     * Link to parent class
+     */
+    protected PenDecoderDisplay penDecoderDisplay = null;
+    
+    /**
+     * Canvas mouse event listener
+     */
+    protected MapCanvasListener mapCanvasListener;
+    
+    /**
+     * hack
+     */
+    static public String opTraderFrameHolder;
+    
+    /**
+     * The width and height of the area that the map represents (in centimeters)
+     */
+    protected float native_width, native_height;
+    
+    /**
+     * A vector from the upper left corner of the map to the world origin (in centimeters)
+     */
+    protected float x_origin, y_origin;
+    
+    /**
+     * The width and height of the actual map image (in pixels)
+     */
+    protected float image_width_in_pixels, image_height_in_pixels;
+
+    /**
+     * The list of objects or annotations to the map.
+     */
+    protected List<Shape> shapes = new ArrayList<Shape>();
+    
+    /**
+     * The current canvas color.
+     */
+    protected Color curColor = Color.black;
+    
+    protected int x;
+    
+    protected int y;
+    
+    /**
+     * The image to display as the background (the map)
+     */
+    protected MapBufferedImage backImage = null;
+    
+    /**
+     * An image of hashmarks for the transparent portions of the backImage
+     */
+    protected BufferedImage hashImage = null;
+    
+    /**
+     * The width and height of the rendered map image (in pixels).
+     * The map is streched when the application window grows or during zooming, etc.
+     */
+    protected Dimension view_size;
+    
+    /**
+     * A transform from the map image to the rendered map image
+     * The map is streched when the application window grows or during zooming, etc.
+     */
+    protected AffineTransform mapScale = new AffineTransform();
+    
+    /**
+     * A transform from screen coordinates (pixels, left-handed)
+     * to map coordinates (centimeters, right-handed)
+     */
+    protected AffineTransform screen_to_map = new AffineTransform();
+    
+    /**
+     * A transform from map coordinates (centimeters, right-handed)
+     * to screen coordinates (pixels, left-handed)
+     */
+    protected AffineTransform map_to_screen = new AffineTransform();
+    
+    /**
+     * A class to generate new colors, maximally distinct from an existing set.
+     */
+    public ColorGenerator colorGenerator = null;
+    
+    private static final long serialVersionUID = 2665310629710366124L;
 }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java	2007-07-20 02:49:22 UTC (rev 663)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java	2007-07-20 11:34:30 UTC (rev 664)
@@ -1,66 +1,134 @@
-package edu.cmu.ravenclaw.pendecoder; 
+package edu.cmu.ravenclaw.pendecoder;
 
 import java.awt.*;
 import java.awt.event.*;
 
-public class MapCanvasListener implements MouseListener, MouseMotionListener  { 
-
-  protected MapCanvas canvas; 
-  protected Tool tool; 
-
-  public MapCanvasListener(MapCanvas canvas) { 
-    this.canvas = canvas; 
-    tool = new DrawingTool(canvas, "Scribble"); 
-  }
-
-  public void mousePressed(MouseEvent e) {
-    Point p = e.getPoint(); 
-    tool.mouseDownAt(p);    
-    canvas.mouseButtonDown = true;
-    canvas.x = p.x; 
-    canvas.y = p.y; 
-  } 
-
-  public void mouseDragged(MouseEvent e) {
-    Point p = e.getPoint(); 
-    if (canvas.mouseButtonDown) {
-      tool.mouseDraggedTo(p);
-      canvas.x = p.x; 
-      canvas.y = p.y; 
-    }       
-  }
-
-  public void mouseReleased(MouseEvent e) {
-    Point p = e.getPoint(); 
-    tool.mouseReleasedAt(p);       
-    canvas.mouseButtonDown = false;       
-  }    
-  
-  public void mouseClicked(MouseEvent e) {
-    Point p = e.getPoint();
-    if(e.getClickCount() == 1) {
-      if(e.getButton() == e.BUTTON1)
-        tool.mouseClickedAt(p);
-      else
-        tool.mouseRightClickedAt(p);
-    } else {
-        tool.mouseDoubleClickedAt(p);
+/**
+ * Listener for mouse events on the map canvas. Mostly just keeps track of mouse
+ * state and calls the appropriate tool methods.
+ */
+public class MapCanvasListener implements MouseListener, MouseMotionListener  {
+    
+    /**
+     * The map canvas that we're listening to mouse events for.
+     */
+    protected MapCanvas canvas;
+    
+    /**
+     * The current tool, or mouse event context.
+     */
+    protected Tool tool;
+    
+    /**
+     * Is the mouse button down? We keep track of this to distinguish mouseovers
+     * from drags.
+     */
+    protected boolean mouseButtonDown = false;
+    
+    /**
+     * Constructor for the map cnvas listener.
+     * @param canvas The map canvas that we are listening to mouse events for.
+     */
+    public MapCanvasListener(MapCanvas canvas) {
+        this.canvas = canvas;
+        tool = null;
     }
-  }
-  
-  public void mouseEntered(MouseEvent e) {}  
-  public void mouseExited(MouseEvent e) {}
-  public void mouseMoved(MouseEvent e) {
-    Point p = e.getPoint();
-    tool.mouseMovedTo(p);
-  }     
-
-  public Tool getTool() { 
-    return tool; 
-  }
-
-  public void setTool(Tool tool) { 
-    this.tool = tool;
-  }
-
+    
+    /**
+     * Catch mouse pressed events.
+     * @param e The event.
+     */
+    public void mousePressed(MouseEvent e) {
+        if(canvas.isDocked()) {
+            Point p = e.getPoint();
+            if (tool != null) tool.mouseDownAt(p);
+            mouseButtonDown = true;
+            canvas.x = p.x;
+            canvas.y = p.y;
+        } else {
+            canvas.dock();
+        }
+    }
+    
+    /**
+     * Catch mouse pressed dragged.
+     * @param e The event.
+     */
+    public void mouseDragged(MouseEvent e) {
+        if(canvas.isDocked()) {
+            Point p = e.getPoint();
+            if (mouseButtonDown) {
+                if (tool != null) tool.mouseDraggedTo(p);
+                canvas.x = p.x;
+                canvas.y = p.y;
+            }
+        }
+    }
+    
+    /**
+     * Catch mouse released events.
+     * @param e The event.
+     */
+    public void mouseReleased(MouseEvent e) {
+        if(canvas.isDocked()) {
+            Point p = e.getPoint();
+            if (tool != null) tool.mouseReleasedAt(p);
+            mouseButtonDown = false;
+        }
+    }
+    
+    /**
+     * Catch mouse clicked events.
+     * @param e The mousepressed event.
+     */
+    public void mouseClicked(MouseEvent e) {
+        if(canvas.isDocked()) {
+            Point p = e.getPoint();
+            if(tool == null) return;
+            if(e.getClickCount() == 1) {
+                if(e.getButton() == e.BUTTON1)
+                    tool.mouseClickedAt(p);
+                else
+                    tool.mouseRightClickedAt(p);
+            } else {
+                tool.mouseDoubleClickedAt(p);
+            }
+        } else {
+            canvas.dock();
+        }
+    }
+    
+    /**
+     * Catch mouse entered events. We do nothing.
+     * @param e The event.
+     */
+    public void mouseEntered(MouseEvent e) {}
+    
+    /**
+     * Catch mouse exited events. We do nothing.
+     * @param e The event.
+     */
+    public void mouseExited(MouseEvent e) {}
+    
+    /**
+     * Catch mouse moved events. We do nothing.
+     * @param e The event.
+     */
+    public void mouseMoved(MouseEvent e) {}
+    
+    /**
+     * Get the current tool.
+     * @return The current tool.
+     */
+    public Tool getTool() {
+        return tool;
+    }
+    
+    /**
+     * Set the current tool.
+     * @param The new tool.
+     */
+    public void setTool(Tool tool) {
+        this.tool = tool;
+    }
 }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-20 02:49:22 UTC (rev 663)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-20 11:34:30 UTC (rev 664)
@@ -3,7 +3,6 @@
 import java.awt.*;
 import java.awt.event.*;
 import java.awt.image.BufferedImage;
-import java.util.*;
 import javax.swing.*;
 
 import bsh.util.JConsole;
@@ -14,7 +13,7 @@
  * (MapCanvas), the console, the tool buttons, and the camera images
  * (imager).
  */
-public class PenDecoderDisplay extends JFrame {
+public class PenDecoderDisplay {
     
     /**
      * Constrcuct the components of the drawing pad: console, map,
@@ -22,42 +21,27 @@
      * @param title The title for the JFrame (when docked)
      */
     public PenDecoderDisplay(String title) {
-        super(title);
-        // calling factory method
-        drawingCanvas = makeCanvas();
-        getContentPane().setLayout(new BorderLayout());
+        //menu bar
         menuBar = createMenuBar();
-        getContentPane().add(menuBar, BorderLayout.NORTH);
-        pane = new JScrollPane(drawingCanvas);
-        JRootPane rootPane = new JRootPane();
-        rootPane.setContentPane(pane);
-        LogoViewport logopane = new LogoViewport();
-        rootPane.setGlassPane(logopane);
-        logopane.setVisible(true);
-        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
-        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);
-        getContentPane().add(rootPane, BorderLayout.CENTER);
-        addWindowListener(new WindowAdapter() {
-            public void windowClosing(WindowEvent e) {
-                if (exitAction != null) {
-                    exitAction.actionPerformed(new ActionEvent(PenDecoderDisplay.this, 0, null));
-                }
-            }
-        });
         
-        //add toolbar
+        //map canvas
+        mapCanvas = new MapCanvas(this);
+
+        //toolbar
         toolkit = createToolkit();
-        drawingCanvas.setTool(toolkit.getTool(0));
+        mapCanvas.setTool(toolkit.getTool(0));
         ActionListener toolListener = new ActionListener() {
             public void actionPerformed(ActionEvent event) {
                 Object source = event.getSource();
                 if (source instanceof AbstractButton) {
                     AbstractButton button = (AbstractButton) source;
                     Tool tool = toolkit.setSelectedTool(button.getText());
-                    drawingCanvas.setTool(tool);
+                    mapCanvas.setTool(tool);
                     try {
                         if(tool.getName() == "Zoom Out") {
-                            drawingCanvas.zoomOut();
+                            mapCanvas.zoomOut();
+                        } else if(tool.getName() == "Undock") {
+                            undock();
                         } else if(tool.getName() == "Cancel Task") {
                             Integer lastAdded = taskKeeper.getLastAdded();
                             if(lastAdded == null) System.err.println("There are no tasks.");
@@ -79,34 +63,156 @@
             }
         };
         toolbar = createToolBar(toolListener);
-        getContentPane().add(toolbar, BorderLayout.WEST);
         
-        JPanel lowerContainer = new JPanel(new BorderLayout());
-        
-        //add console to lowerContainer
-        JConsole console = new JConsole();
-        console.setPreferredSize(new Dimension(1000, 100));
+        //console
+        console = new JConsole();
+        console.setPreferredSize(new Dimension(2000, 100));
         console.getViewport().getView().setBackground(Color.black);
         console.getViewport().getView().setForeground(Color.white);
-        lowerContainer.add(console, BorderLayout.CENTER);
         interpreter = new DecoderInterpreter(console, this);
         interpreter.start();
         
-        //add imager
+        //imager
         imager = new Imager();
+        
+        buildUndockedFrames();
+        buildDockedFrame(title);
+        
+        undock();
+    }
+    
+    /**
+     * Undock components
+     */
+    public void undock() {
+        dockedFrame.setVisible(false);
+        dockSize = mapCanvas.getPreferredSize();
+        JViewport viewport = (JViewport) mapCanvas.getParent();
+        Dimension oldViewSize = null;
+        if(viewport != null) {
+            dockAnchor = viewport.getViewPosition();
+            oldViewSize = viewport.getSize();
+            dockedRootPane.setContentPane(new JPanel());
+        
+            //zoom out
+            Dimension newSize = new Dimension(dockSize.width*320/oldViewSize.width, 
+                    dockSize.height*320/oldViewSize.width);
+            Dimension newViewSize = new Dimension(320, 
+                    320*oldViewSize.height/oldViewSize.width);
+            mapCanvas.setPreferredSize(newSize);
+            mapCanvas.setSize(newSize);
+            Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
+            mapCanvasFrame.setBounds(0, screenSize.height-newViewSize.height,
+                    newViewSize.width, newViewSize.height);
+        }
+        
+        JScrollPane pane = new JScrollPane(mapCanvas);
+        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_NEVER);
+        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_NEVER);
+        mapCanvasFrame.setContentPane(pane);
+        if(oldViewSize != null) 
+            pane.getViewport().setViewPosition(new Point(dockAnchor.x*320/oldViewSize.width,
+                    dockAnchor.y*320/oldViewSize.width));
+        mapCanvasFrame.setVisible(true);
+        docked = false;
+    }
+    
+    /**
+     * Dock components
+     */
+    public void dock() {
+        mapCanvasFrame.setVisible(false);
+        mapCanvasFrame.setContentPane(new JPanel());
+        mapCanvas.setPreferredSize(dockSize);
+        mapCanvas.setSize(dockSize);
+        JScrollPane pane = new JScrollPane(mapCanvas);
+        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
+        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);
+        dockedRootPane.setContentPane(pane);
+        if(dockAnchor != null) pane.getViewport().setViewPosition(dockAnchor);
+        dockedFrame.setVisible(true);
+        docked = true;
+    }
+    
+    /**
+     * Are we docked?
+     * @return true - docked; false - not docked
+     */
+    public boolean isDocked() {
+        return docked;
+    }
+    
+    /**
+     * Build the docked root JFrame
+     * @param title The title for the JFrame
+     * @return The docked root JFrame
+     */
+    protected JFrame buildDockedFrame(String title) {
+        dockedFrame = new JFrame(title);
+        dockedFrame.getContentPane().setLayout(new BorderLayout());
+        
+        //menu bar
+        dockedFrame.getContentPane().add(menuBar, BorderLayout.NORTH);
+        dockedFrame.addWindowListener(new WindowAdapter() {
+            public void windowClosing(WindowEvent e) {
+                if (exitAction != null) {
+                    exitAction.actionPerformed(new ActionEvent(PenDecoderDisplay.this, 0, null));
+                }
+            }
+        });
+
+        //map canvas
+        LogoViewport logopane = new LogoViewport();
+        logopane.setVisible(true);
+        dockedRootPane = new JRootPane();
+        dockedRootPane.setGlassPane(logopane);
+        dockedFrame.getContentPane().add(dockedRootPane, BorderLayout.CENTER);
+        
+        //toolbar
+        dockedFrame.getContentPane().add(toolbar, BorderLayout.WEST);
+        
+        //console and imager
+        JPanel lowerContainer = new JPanel(new BorderLayout());
+        lowerContainer.add(console, BorderLayout.CENTER);
         lowerContainer.add(imager, BorderLayout.EAST);
+        dockedFrame.getContentPane().add(lowerContainer, BorderLayout.SOUTH);
         
-        //add lowerContainer to this
-        getContentPane().add(lowerContainer, BorderLayout.SOUTH);
+        Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
+        dockedFrame.setSize(screenSize.width/2, screenSize.height/2);
+        dockedFrame.setLocation(screenSize.width/4, screenSize.height/4);
+        dockedFrame.setExtendedState(JFrame.MAXIMIZED_BOTH);
+
+        return dockedFrame;
     }
+
+    /**
+     * Builds the undocked frames
+     */
+    protected void buildUndockedFrames() {
+        mapCanvasFrame = new JFrame();
+        mapCanvasFrame.setUndecorated(true);
+        mapCanvasFrame.setAlwaysOnTop(true);
+        Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
+        mapCanvasFrame.setBounds(0, screenSize.height-200, 320, 200);
+    }
     
     /**
+     * Repaints things based on docked or non-docked
+     */
+    public void repaint() {
+        if(docked) {
+            dockedFrame.repaint();
+        }
+    }
+    /**
      * Replace camera image in imager.
      * @param i image to paint in imager panel
      */
     public void image(BufferedImage i) {
         imager.setImage(i);
-        getRootPane().revalidate();
+        if(docked) {
+            dockedFrame.getRootPane().revalidate();
+        }
         imager.repaint();
     }
     
@@ -123,7 +229,7 @@
      * @param encoded_map the map, which may be compressed or otherwize encoded
      */
     public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
-        drawingCanvas.mapUpdate(type, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
+        mapCanvas.mapUpdate(type, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
     }
     
     /**
@@ -154,44 +260,37 @@
      */
     protected ToolKit createToolkit() {
         ToolKit t = new ToolKit();
-        t.addTool(new ToggleButtonTool(drawingCanvas,
+        t.addTool(new ToggleButtonTool(mapCanvas,
                 "Start Session",
                 "Click to start speaking",
                 "Stop Session",
                 "Click to mute"));
-        t.addTool(new PointTool(drawingCanvas,
+        t.addTool(new PointTool(mapCanvas,
                 "Select",
                 "Click on a robot to select it.",
                 PointTool.POINT));
-        t.addTool(new PlacementTool(drawingCanvas,
+        t.addTool(new PlacementTool(mapCanvas,
                 "Re-position",
                 "Click to reposition the selected robot. Drag to orient it at the new position."));
-        t.addTool(new PointTool(drawingCanvas,
+        t.addTool(new PointTool(mapCanvas,
                 "Zoom In",
                 "Click to zoom into a point on the map.",
                 PointTool.ZOOMIN));
-        t.addTool(new ButtonTool(drawingCanvas, "Zoom Out", "Zoom out to see the entire map."));
-        t.addTool(new ButtonTool(drawingCanvas, "Cancel Task", "Cancel the last task."));
-        t.addTool(new NPointTool(drawingCanvas,
+        t.addTool(new ButtonTool(mapCanvas, "Zoom Out", "Zoom out to see the entire map."));
+        t.addTool(new ButtonTool(mapCanvas, "Cancel Task", "Cancel the last task."));
+        t.addTool(new NPointTool(mapCanvas,
                 "Search",
                 "Select waypoints along which to search.",
                 NPointTool.POLYLINE));
-        t.addTool(new NPointTool(drawingCanvas,
+        t.addTool(new NPointTool(mapCanvas,
                 "Explore",
                 "Select waypoints along which to explore.",
                 NPointTool.POLYLINE_EXPLORE));
+        t.addTool(new ButtonTool(mapCanvas, "Undock", "Click to undock application components."));
         return t;
     }
     
     /**
-     * Factory method for the map
-     * @return The map canvas.
-     */
-    protected MapCanvas makeCanvas() {
-        return (drawingCanvas = new MapCanvas(this));
-    }
-    
-    /**
      * Sends text out to each of the PenDecoderServers. The text is interpreted
      * as if it were a transcription of what the user said. This is mostly used
      * via the console as a debugging tool.
@@ -228,7 +327,7 @@
      * @param name The name of the bot.
      */
     public void selectBot(String name) {
-        drawingCanvas.selectBot(name);
+        mapCanvas.selectBot(name);
     }
     
     /**
@@ -291,7 +390,7 @@
      * @return The map canvas.
      */
     public MapCanvas getCanvas() {
-        return drawingCanvas;
+        return mapCanvas;
     }
     
     /**
@@ -390,19 +489,9 @@
      */
     public static void main(String[] args) {
         PenDecoderDisplay frame = new PenDecoderDisplay("Treasure Hunt GUI");
-        Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
-        frame.setSize(screenSize.width/2, screenSize.height/2);
-        frame.setLocation(screenSize.width/4, screenSize.height/4);
-        frame.setExtendedState(MAXIMIZED_BOTH);
-        frame.setVisible(true);
     }
     
     /**
-     * The scrolling pane that houses the map canvas.
-     */
-    protected JScrollPane pane;
-    
-    /**
      * The menu bar (only shown in docked mode)
      */
     protected JMenuBar menuBar;
@@ -435,7 +524,7 @@
     /**
      * The canvas that displays the map and its annotations.
      */
-    protected MapCanvas drawingCanvas;
+    protected MapCanvas mapCanvas;
     
     /**
      * The object that interprets typed text in the console.
@@ -455,6 +544,11 @@
     protected Imager imager;
     
     /**
+     * The debugging console.
+     */
+    protected JConsole console;
+    
+    /**
      * The object that keeps track of pending and completed tasks.
      */
     public TaskKeeper taskKeeper = new TaskKeeper();
@@ -467,7 +561,23 @@
      * components has menubars or titlebars. They are typically distributed to the
      * corners of the screen to promote their use as a persistent background.
      */
-    protected boolean docked;
+    protected boolean docked = false;
+    
+    /**
+     * The docked root JFrame
+     */
+    protected JFrame dockedFrame;
+    
+    /**
+     * The undocked map canvas frame
+     */
+    protected JFrame mapCanvasFrame;
+    
+    protected JRootPane dockedRootPane;
+    
+    protected Dimension dockSize;
+    
+    protected Point dockAnchor = null;
 
     private static final long serialVersionUID = -3941481106291332264L;
 }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-07-20 02:49:22 UTC (rev 663)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-07-20 11:34:30 UTC (rev 664)
@@ -32,8 +32,6 @@
     super(mainserver,  socket);
     if(frame == null) {
       frame = new PenDecoderDisplay("Treasure Hunt GUI");
-      frame.setExtendedState(PenDecoderDisplay.MAXIMIZED_BOTH);
-      frame.setVisible(true);
     
       //start tracking bots
       botTracker = new BotTracker(frame.getCanvas());

From tk at edam.speech.cs.cmu.edu  Fri Jul 20 19:05:02 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 20 Jul 2007 19:05:02 -0400
Subject: [TeamTalk 128]: [665]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/
 PenDecoderDisplay.java: Minor retooling of dock and undock functions.
Message-ID: <200707202305.l6KN52AK002490@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070720/3b0cb944/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-20 11:34:30 UTC (rev 664)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-20 23:05:01 UTC (rev 665)
@@ -86,33 +86,41 @@
      */
     public void undock() {
         dockedFrame.setVisible(false);
+        
+        //save docked viewpane parameters
         dockSize = mapCanvas.getPreferredSize();
         JViewport viewport = (JViewport) mapCanvas.getParent();
-        Dimension oldViewSize = null;
-        if(viewport != null) {
+        Dimension oldViewSize;
+        if(viewport == null) {
+            //we've never been docked, just give me a view of the whole map
+            dockAnchor = new Point(0, 0);
+            oldViewSize = dockSize;
+        } else {
             dockAnchor = viewport.getViewPosition();
             oldViewSize = viewport.getSize();
-            dockedRootPane.setContentPane(new JPanel());
-        
-            //zoom out
-            Dimension newSize = new Dimension(dockSize.width*320/oldViewSize.width, 
-                    dockSize.height*320/oldViewSize.width);
-            Dimension newViewSize = new Dimension(320, 
-                    320*oldViewSize.height/oldViewSize.width);
-            mapCanvas.setPreferredSize(newSize);
-            mapCanvas.setSize(newSize);
-            Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
-            mapCanvasFrame.setBounds(0, screenSize.height-newViewSize.height,
-                    newViewSize.width, newViewSize.height);
         }
+            
+        //clear map canvas from docked frame
+        dockedRootPane.setContentPane(new JPanel());
         
+        //build undocked viewpane and set paramters congruent with docked parameters
         JScrollPane pane = new JScrollPane(mapCanvas);
         pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_NEVER);
         pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_NEVER);
+        Dimension newSize = new Dimension(dockSize.width*320/oldViewSize.width, 
+                dockSize.height*320/oldViewSize.width);
+        Dimension newViewSize = new Dimension(320, 320*oldViewSize.height/oldViewSize.width);
+        mapCanvas.setPreferredSize(newSize);
+        mapCanvas.setSize(newSize);
+        pane.getViewport().setViewPosition(new Point(dockAnchor.x*320/oldViewSize.width,
+                dockAnchor.y*320/oldViewSize.width));
+
+        //resize undocked frame and attach undocked map viewpane     
+        Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
+        mapCanvasFrame.setBounds(0, screenSize.height-newViewSize.height,
+                newViewSize.width, newViewSize.height);
         mapCanvasFrame.setContentPane(pane);
-        if(oldViewSize != null) 
-            pane.getViewport().setViewPosition(new Point(dockAnchor.x*320/oldViewSize.width,
-                    dockAnchor.y*320/oldViewSize.width));
+        
         mapCanvasFrame.setVisible(true);
         docked = false;
     }
@@ -122,14 +130,21 @@
      */
     public void dock() {
         mapCanvasFrame.setVisible(false);
+        
+        //clear map canvas from undocked frame
         mapCanvasFrame.setContentPane(new JPanel());
+        
+        //build docked viewpane and restore viewpane parameters
+        JScrollPane pane = new JScrollPane(mapCanvas);
+        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
+        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);        
         mapCanvas.setPreferredSize(dockSize);
         mapCanvas.setSize(dockSize);
-        JScrollPane pane = new JScrollPane(mapCanvas);
-        pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_ALWAYS);
-        pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);
+        pane.getViewport().setViewPosition(dockAnchor);
+        
+        //reattach docked viewpane
         dockedRootPane.setContentPane(pane);
-        if(dockAnchor != null) pane.getViewport().setViewPosition(dockAnchor);
+
         dockedFrame.setVisible(true);
         docked = true;
     }
@@ -202,8 +217,11 @@
     public void repaint() {
         if(docked) {
             dockedFrame.repaint();
+        } else {
+            mapCanvasFrame.repaint();
         }
     }
+        
     /**
      * Replace camera image in imager.
      * @param i image to paint in imager panel
@@ -573,10 +591,24 @@
      */
     protected JFrame mapCanvasFrame;
     
+    /**
+     * This is the root pane for the docked map canvas. It is a container for the
+     * JScrollPane which has the map and the GlassPane which has the floating logo.
+     */
     protected JRootPane dockedRootPane;
     
+    /**
+     * The dimensions of the docked map canvas viewpane. This is used to fix the
+     * aspect ratio of the undocked map canvas, and also to reaquire the settings
+     * for when the map canvas is redocked.
+     */
     protected Dimension dockSize;
     
+    /**
+     * The position of the viewpane of the docked map canvas. This is used to
+     * position the viewpane of the undocked map canvas and also to reaquire the
+     * position when the map canvas is redocked.
+     */
     protected Point dockAnchor = null;
 
     private static final long serialVersionUID = -3941481106291332264L;

From tk at edam.speech.cs.cmu.edu  Sat Jul 21 02:42:06 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 21 Jul 2007 02:42:06 -0400
Subject: [TeamTalk 129]: [666] TeamTalk/Agents/PenDecoder: console now
	support undocking
Message-ID: <200707210642.l6L6g6Gt004644@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070721/11f5ef9f/attachment.html
-------------- next part --------------
Added: TeamTalk/Agents/PenDecoder/Untitled
===================================================================
(Binary files differ)


Property changes on: TeamTalk/Agents/PenDecoder/Untitled
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Modified: TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties	2007-07-20 23:05:01 UTC (rev 665)
+++ TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties	2007-07-21 06:42:04 UTC (rev 666)
@@ -5,4 +5,4 @@
 # Do not edit this file. You may delete it but then the IDE will never regenerate such files for you.
 nbproject/build-impl.xml.data.CRC32=6ba8dec9
 nbproject/build-impl.xml.script.CRC32=714dbfa4
-nbproject/build-impl.xml.stylesheet.CRC32=65d7ca21
+nbproject/build-impl.xml.stylesheet.CRC32=20b9345e

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-20 23:05:01 UTC (rev 665)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-21 06:42:04 UTC (rev 666)
@@ -100,8 +100,9 @@
             oldViewSize = viewport.getSize();
         }
             
-        //clear map canvas from docked frame
+        //clear map canvas and console from docked frame
         dockedRootPane.setContentPane(new JPanel());
+        lowerContainer.remove(console);
         
         //build undocked viewpane and set paramters congruent with docked parameters
         JScrollPane pane = new JScrollPane(mapCanvas);
@@ -109,19 +110,23 @@
         pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_NEVER);
         Dimension newSize = new Dimension(dockSize.width*320/oldViewSize.width, 
                 dockSize.height*320/oldViewSize.width);
-        Dimension newViewSize = new Dimension(320, 320*oldViewSize.height/oldViewSize.width);
         mapCanvas.setPreferredSize(newSize);
         mapCanvas.setSize(newSize);
         pane.getViewport().setViewPosition(new Point(dockAnchor.x*320/oldViewSize.width,
                 dockAnchor.y*320/oldViewSize.width));
 
-        //resize undocked frame and attach undocked map viewpane     
+        //resize undocked frames and attach components     
         Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
-        mapCanvasFrame.setBounds(0, screenSize.height-newViewSize.height,
-                newViewSize.width, newViewSize.height);
+        Dimension newMapViewSize = new Dimension(320, 320*oldViewSize.height/oldViewSize.width);
+        mapCanvasFrame.setBounds(0, screenSize.height-newMapViewSize.height,
+                newMapViewSize.width, newMapViewSize.height);
         mapCanvasFrame.setContentPane(pane);
+        mapCanvasFrame.setVisible(true);
+        consoleFrame.setBounds(newMapViewSize.width, screenSize.height-100,
+                screenSize.width-640, 100);
+        consoleFrame.setContentPane(console);
+        consoleFrame.setVisible(true);
         
-        mapCanvasFrame.setVisible(true);
         docked = false;
     }
     
@@ -130,9 +135,11 @@
      */
     public void dock() {
         mapCanvasFrame.setVisible(false);
+        consoleFrame.setVisible(false);
         
-        //clear map canvas from undocked frame
+        //clear components from undocked frame
         mapCanvasFrame.setContentPane(new JPanel());
+        consoleFrame.setContentPane(new JPanel());
         
         //build docked viewpane and restore viewpane parameters
         JScrollPane pane = new JScrollPane(mapCanvas);
@@ -142,8 +149,9 @@
         mapCanvas.setSize(dockSize);
         pane.getViewport().setViewPosition(dockAnchor);
         
-        //reattach docked viewpane
+        //reattach components
         dockedRootPane.setContentPane(pane);
+        lowerContainer.add(console, BorderLayout.CENTER);
 
         dockedFrame.setVisible(true);
         docked = true;
@@ -187,7 +195,7 @@
         dockedFrame.getContentPane().add(toolbar, BorderLayout.WEST);
         
         //console and imager
-        JPanel lowerContainer = new JPanel(new BorderLayout());
+        lowerContainer = new JPanel(new BorderLayout());
         lowerContainer.add(console, BorderLayout.CENTER);
         lowerContainer.add(imager, BorderLayout.EAST);
         dockedFrame.getContentPane().add(lowerContainer, BorderLayout.SOUTH);
@@ -207,8 +215,9 @@
         mapCanvasFrame = new JFrame();
         mapCanvasFrame.setUndecorated(true);
         mapCanvasFrame.setAlwaysOnTop(true);
-        Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
-        mapCanvasFrame.setBounds(0, screenSize.height-200, 320, 200);
+        consoleFrame = new JFrame();
+        consoleFrame.setUndecorated(true);
+        consoleFrame.setAlwaysOnTop(true);
     }
     
     /**
@@ -592,12 +601,22 @@
     protected JFrame mapCanvasFrame;
     
     /**
+     * The undocked console frame
+     */
+    protected JFrame consoleFrame;
+    
+    /**
      * This is the root pane for the docked map canvas. It is a container for the
      * JScrollPane which has the map and the GlassPane which has the floating logo.
      */
     protected JRootPane dockedRootPane;
     
     /**
+     * A container that contains the console and the robot camera imager.
+     */
+    protected JPanel lowerContainer;
+    
+    /**
      * The dimensions of the docked map canvas viewpane. This is used to fix the
      * aspect ratio of the undocked map canvas, and also to reaquire the settings
      * for when the map canvas is redocked.

From tk at edam.speech.cs.cmu.edu  Tue Jul 24 10:29:37 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 24 Jul 2007 10:29:37 -0400
Subject: [TeamTalk 130]: [667] TeamTalk/Agents/PenDecoder: Camera imager is
	now also undockable.
Message-ID: <200707241429.l6OETb8D032555@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070724/e2d7d3c0/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/nbproject/project.properties
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/project.properties	2007-07-21 06:42:04 UTC (rev 666)
+++ TeamTalk/Agents/PenDecoder/nbproject/project.properties	2007-07-24 14:29:35 UTC (rev 667)
@@ -29,8 +29,8 @@
 # Space-separated list of extra javac options
 javac.compilerargs=-Xlint
 javac.deprecation=false
-javac.source=${default.javac.source}
-javac.target=${default.javac.target}
+javac.source=1.5
+javac.target=1.5
 javac.test.classpath=\
     ${javac.classpath}:\
     ${build.classes.dir}:\

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Imager.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Imager.java	2007-07-21 06:42:04 UTC (rev 666)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/Imager.java	2007-07-24 14:29:35 UTC (rev 667)
@@ -11,28 +11,48 @@
 import java.awt.image.BufferedImage;
 
 /**
- *
+ * This class manages the display of the robot camera images.
  * @author tkharris
  */
 public class Imager extends Canvas {
+    
+    static final long serialVersionUID = -2498616324568959806L;
+    
+    /**
+     * The image to display.
+     */
+    protected BufferedImage image;
+    
+    /**
+     * Creates a new instance of Imager
+     */
+    public Imager() {}
+    
+    /**
+     * Set the image to display amd deal with image resizing.
+     * @param i The new image.
+     * @return true if the image dimensions have changed.
+     */
+    public boolean setImage(BufferedImage i) {
+        //keep native aspect ratio with a height of 200 pixels
+        final int fixedHeight = 200;
+        Dimension newDimensions = 
+                new Dimension(i.getWidth()*fixedHeight/i.getHeight(), 
+                fixedHeight);
+        image = i;
+        if(newDimensions != getPreferredSize()) {
+            setPreferredSize(newDimensions);
+            return true;
+        }
+        repaint();
+        return false;
+    }
   
-  static final long serialVersionUID = -2498616324568959806L;
-  BufferedImage image;
-  
-  /** Creates a new instance of Imager */
-  public Imager() {}
-  
-  public void setImage(BufferedImage i) {
-    int native_w = i.getWidth();
-    int native_h = i.getHeight();
-    //keep native aspect ratio with a height of 200 pixels
-    int h = 200;
-    int w = native_w*h/native_h;
-    setPreferredSize(new Dimension(w, h));
-    image = i;
-  }
-  
-  public void paint(Graphics g) {        
-    g.drawImage(image, 0, 0, getSize().width, getSize().height, Color.BLACK, this);
-  }
+    /**
+     * Paint the image.
+     */
+    public void paint(Graphics g) {
+        super.paint(g);
+        g.drawImage(image, 0, 0, getSize().width, getSize().height, Color.BLACK, this);
+    }
 }

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-21 06:42:04 UTC (rev 666)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-24 14:29:35 UTC (rev 667)
@@ -6,6 +6,9 @@
 import javax.swing.*;
 
 import bsh.util.JConsole;
+import java.io.File;
+import java.io.IOException;
+import javax.imageio.ImageIO;
 
 /**
  * PenDecoderDisplay is the top-level JFrame (docked mode) or collection of
@@ -100,34 +103,37 @@
             oldViewSize = viewport.getSize();
         }
             
-        //clear map canvas and console from docked frame
+        //clear map canvas, console, and imager from docked frame
         dockedRootPane.setContentPane(new JPanel());
         lowerContainer.remove(console);
+        lowerContainer.remove(imager);
         
         //build undocked viewpane and set paramters congruent with docked parameters
         JScrollPane pane = new JScrollPane(mapCanvas);
         pane.setHorizontalScrollBarPolicy(ScrollPaneConstants.HORIZONTAL_SCROLLBAR_NEVER);
         pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_NEVER);
-        Dimension newSize = new Dimension(dockSize.width*320/oldViewSize.width, 
-                dockSize.height*320/oldViewSize.width);
+        Dimension newMapViewSize = new Dimension(320, 320*oldViewSize.height/oldViewSize.width);
+        Dimension newSize = 
+                new Dimension(dockSize.width*newMapViewSize.width/oldViewSize.width, 
+                dockSize.height*newMapViewSize.height/oldViewSize.height);
         mapCanvas.setPreferredSize(newSize);
         mapCanvas.setSize(newSize);
         pane.getViewport().setViewPosition(new Point(dockAnchor.x*320/oldViewSize.width,
                 dockAnchor.y*320/oldViewSize.width));
 
         //resize undocked frames and attach components     
-        Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
-        Dimension newMapViewSize = new Dimension(320, 320*oldViewSize.height/oldViewSize.width);
-        mapCanvasFrame.setBounds(0, screenSize.height-newMapViewSize.height,
-                newMapViewSize.width, newMapViewSize.height);
+        mapCanvasFrame.setPreferredSize(newMapViewSize);
         mapCanvasFrame.setContentPane(pane);
-        mapCanvasFrame.setVisible(true);
-        consoleFrame.setBounds(newMapViewSize.width, screenSize.height-100,
-                screenSize.width-640, 100);
         consoleFrame.setContentPane(console);
-        consoleFrame.setVisible(true);
+        imagerFrame.setPreferredSize(imager.getPreferredSize());
+        imagerFrame.add(imager);
         
         docked = false;
+        revalidate();
+        
+        mapCanvasFrame.setVisible(true);
+        consoleFrame.setVisible(true);
+        imagerFrame.setVisible(true);
     }
     
     /**
@@ -136,10 +142,12 @@
     public void dock() {
         mapCanvasFrame.setVisible(false);
         consoleFrame.setVisible(false);
+        imagerFrame.setVisible(false);
         
         //clear components from undocked frame
         mapCanvasFrame.setContentPane(new JPanel());
         consoleFrame.setContentPane(new JPanel());
+        imagerFrame.remove(imager);
         
         //build docked viewpane and restore viewpane parameters
         JScrollPane pane = new JScrollPane(mapCanvas);
@@ -152,9 +160,12 @@
         //reattach components
         dockedRootPane.setContentPane(pane);
         lowerContainer.add(console, BorderLayout.CENTER);
+        lowerContainer.add(imager, BorderLayout.EAST);
 
+        docked = true;
+        revalidate();
+        
         dockedFrame.setVisible(true);
-        docked = true;
     }
     
     /**
@@ -196,8 +207,6 @@
         
         //console and imager
         lowerContainer = new JPanel(new BorderLayout());
-        lowerContainer.add(console, BorderLayout.CENTER);
-        lowerContainer.add(imager, BorderLayout.EAST);
         dockedFrame.getContentPane().add(lowerContainer, BorderLayout.SOUTH);
         
         Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
@@ -218,6 +227,9 @@
         consoleFrame = new JFrame();
         consoleFrame.setUndecorated(true);
         consoleFrame.setAlwaysOnTop(true);
+        imagerFrame = new JFrame();
+        imagerFrame.setUndecorated(true);
+        imagerFrame.setAlwaysOnTop(true);
     }
     
     /**
@@ -228,6 +240,8 @@
             dockedFrame.repaint();
         } else {
             mapCanvasFrame.repaint();
+            consoleFrame.repaint();
+            imagerFrame.repaint();
         }
     }
         
@@ -236,13 +250,37 @@
      * @param i image to paint in imager panel
      */
     public void image(BufferedImage i) {
-        imager.setImage(i);
+        if(imager.setImage(i)) {
+            revalidate();
+        }
+    }
+    
+    /**
+     * This function places the undocked windows along the bottom of the window.
+     * The mapCanvas frame takes the bottom left corner, the imager takes the
+     * bottom right corner, and the console take the bottom center. The frames
+     * are sized based on the preferred size of their contents.
+     */
+    public void revalidate() {
         if(docked) {
             dockedFrame.getRootPane().revalidate();
+        } else {
+            Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
+            mapCanvasFrame.setBounds(0, 
+                    screenSize.height-mapCanvasFrame.getPreferredSize().height,
+                    mapCanvasFrame.getPreferredSize().width,
+                    mapCanvasFrame.getPreferredSize().height);
+            consoleFrame.setBounds(mapCanvasFrame.getPreferredSize().width, 
+                    screenSize.height-100,
+                    screenSize.width-mapCanvasFrame.getPreferredSize().width-imager.getPreferredSize().width, 
+                    100);
+            imagerFrame.setBounds(screenSize.width-imager.getPreferredSize().width,
+                screenSize.height-imager.getPreferredSize().height,
+                imager.getPreferredSize().width, imager.getPreferredSize().height);
+            imager.setBounds(0, 0, imager.getPreferredSize().width, imager.getPreferredSize().height);
         }
-        imager.repaint();
     }
-    
+
     /**
      * Update map image with new map.
      * @param type full image or image diff
@@ -511,11 +549,23 @@
     }
     
     /**
-     * An entry point that displays everything but doesn't communicate with Olympus
-     * @param args Unused.
+     * An entry point that displays everything but doesn't communicate with Olympus.
+     * This is just for debugging graphincs stuff.
+                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             !
                                                               !
         
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             !
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             !
                                                               !
         
                                                                                                                                                                                                                                                                                    * @param args Unused.
      */
     public static void main(String[] args) {
         PenDecoderDisplay frame = new PenDecoderDisplay("Treasure Hunt GUI");
+        try {
+            Thread.sleep(5000);
+        } catch (InterruptedException e) {
+            System.err.println("Sleep interupted");
+        }
+        try {
+            BufferedImage i = ImageIO.read(new File("highbay.png"));
+            frame.image(i);
+        } catch (IOException e) {
+            System.err.println("problem reading test image");
+        }
     }
     
     /**
@@ -606,6 +656,11 @@
     protected JFrame consoleFrame;
     
     /**
+     * The undocked imager frame
+     */
+    protected JFrame imagerFrame;
+    
+    /**
      * This is the root pane for the docked map canvas. It is a container for the
      * JScrollPane which has the map and the GlassPane which has the floating logo.
      */

From bfrisch at edam.speech.cs.cmu.edu  Wed Jul 25 14:00:55 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Wed, 25 Jul 2007 14:00:55 -0400
Subject: [TeamTalk 131]: [668] usarsim/Maps/DM-RoboticsLab_250.ut2: 1) Now
 the mirror actually works over the network.
Message-ID: <200707251800.l6PI0tVf002750@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070725/c5808839/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From bfrisch at edam.speech.cs.cmu.edu  Thu Jul 26 19:48:21 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Thu, 26 Jul 2007 19:48:21 -0400
Subject: [TeamTalk 132]: [669] usarsim/Maps/DM-RoboticsLab_250.ut2: 1)
	Changing Contruction brush
Message-ID: <200707262348.l6QNmLbd006352@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070726/8d8b9036/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From bfrisch at edam.speech.cs.cmu.edu  Thu Jul 26 21:59:41 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Thu, 26 Jul 2007 21:59:41 -0400
Subject: [TeamTalk 133]: [670] TeamTalk/Agents/PenDecoder: 1) Now undocked
	windows are always on top
Message-ID: <200707270159.l6R1xfvY006906@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070726/490547a4/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties
===================================================================
--- TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties	2007-07-26 23:48:20 UTC (rev 669)
+++ TeamTalk/Agents/PenDecoder/nbproject/genfiles.properties	2007-07-27 01:59:41 UTC (rev 670)
@@ -5,4 +5,4 @@
 # Do not edit this file. You may delete it but then the IDE will never regenerate such files for you.
 nbproject/build-impl.xml.data.CRC32=6ba8dec9
 nbproject/build-impl.xml.script.CRC32=714dbfa4
-nbproject/build-impl.xml.stylesheet.CRC32=20b9345e
+nbproject/build-impl.xml.stylesheet.CRC32=65d7ca21

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-26 23:48:20 UTC (rev 669)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-27 01:59:41 UTC (rev 670)
@@ -134,6 +134,10 @@
         mapCanvasFrame.setVisible(true);
         consoleFrame.setVisible(true);
         imagerFrame.setVisible(true);
+        
+        mapCanvasFrame.setAlwaysOnTop(true);
+        consoleFrame.setAlwaysOnTop(true);
+        imagerFrame.setAlwaysOnTop(true);
     }
     
     /**
@@ -144,6 +148,10 @@
         consoleFrame.setVisible(false);
         imagerFrame.setVisible(false);
         
+        mapCanvasFrame.setAlwaysOnTop(false);
+        consoleFrame.setAlwaysOnTop(false);
+        imagerFrame.setAlwaysOnTop(false);
+        
         //clear components from undocked frame
         mapCanvasFrame.setContentPane(new JPanel());
         consoleFrame.setContentPane(new JPanel());
@@ -512,12 +520,20 @@
         JMenuBar menuBar = new JMenuBar();
         JMenu menu;
         JMenuItem mi;
+        
         menu = new JMenu("File");
         menuBar.add(menu);
         exitAction = new ExitListener();
         mi = new JMenuItem("Exit");
         menu.add(mi);
         mi.addActionListener(exitAction);
+        
+        menu = new JMenu("Option");
+        menuBar.add(menu);
+        mi = new JCheckBoxMenuItem("Always On Top While Docked");
+        menu.add(mi);
+        mi.addActionListener(new AlwaysOnTopListener((JCheckBoxMenuItem) mi));
+        
         menu = new JMenu("Help");
         menuBar.add(menu);
         mi = new JMenuItem("About");
@@ -548,6 +564,24 @@
         }
     }
     
+     /**
+     * The listener for the about button.
+     */
+    class AlwaysOnTopListener implements ActionListener {
+        JCheckBoxMenuItem item = null;
+        void AlwaysOnTopLister(JCheckBoxMenuItem item) {this.item = item;}
+        
+        public void actionPerformed(ActionEvent e) {
+            if (this.item.isSelected()) {
+                dockedFrame.setAlwaysOnTop(true);
+            }
+            else
+            {
+                dockedFrame.setAlwaysOnTop(false);
+            }
+        }
+    }
+    
     /**
      * An entry point that displays everything but doesn't communicate with Olympus.
      * This is just for debugging graphincs stuff.

Modified: TeamTalk/Agents/PenDecoder/src/tk/utils/Utils.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/tk/utils/Utils.java	2007-07-26 23:48:20 UTC (rev 669)
+++ TeamTalk/Agents/PenDecoder/src/tk/utils/Utils.java	2007-07-27 01:59:41 UTC (rev 670)
@@ -3,9 +3,6 @@
  *
  * Created on December 6, 2006, 2:11 PM
  *
- * To change this template, choose Tools | Options and locate the template under
- * the Source Creation and Management node. Right-click the template and choose
- * Open. You can then make changes to the template in the Source Editor.
  */
 
 package tk.utils;

From bfrisch at edam.speech.cs.cmu.edu  Fri Jul 27 13:40:59 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 27 Jul 2007 13:40:59 -0400
Subject: [TeamTalk 134]: [671]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/
 PenDecoderDisplay.java: 1) Now compiles
Message-ID: <200707271740.l6RHexF8008743@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070727/d00f9d24/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-27 01:59:41 UTC (rev 670)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-27 17:40:58 UTC (rev 671)
@@ -192,6 +192,16 @@
     protected JFrame buildDockedFrame(String title) {
         dockedFrame = new JFrame(title);
         dockedFrame.getContentPane().setLayout(new BorderLayout());
+          
+        try {
+  	    UIManager.setLookAndFeel(
+  	        UIManager.getSystemLookAndFeelClassName());
+  	} catch (UnsupportedLookAndFeelException ex) {
+  	  System.err.println("Unable to load native look and feel");
+  	}
+  	catch (Exception e) {
+            System.err.println("Exception: " + e.toString());
+        }
         
         //menu bar
         dockedFrame.getContentPane().add(menuBar, BorderLayout.NORTH);
@@ -530,9 +540,9 @@
         
         menu = new JMenu("Option");
         menuBar.add(menu);
-        mi = new JCheckBoxMenuItem("Always On Top While Docked");
-        menu.add(mi);
-        mi.addActionListener(new AlwaysOnTopListener((JCheckBoxMenuItem) mi));
+        JCheckBoxMenuItem cbmi = new JCheckBoxMenuItem("Always On Top While Docked");
+        menu.add(cbmi);
+        cbmi.addActionListener(new AlwaysOnTopListener());
         
         menu = new JMenu("Help");
         menuBar.add(menu);
@@ -567,12 +577,9 @@
      /**
      * The listener for the about button.
      */
-    class AlwaysOnTopListener implements ActionListener {
-        JCheckBoxMenuItem item = null;
-        void AlwaysOnTopLister(JCheckBoxMenuItem item) {this.item = item;}
-        
+    class AlwaysOnTopListener implements ActionListener {               
         public void actionPerformed(ActionEvent e) {
-            if (this.item.isSelected()) {
+            if (((JCheckBoxMenuItem) e.getSource()).isSelected()) {
                 dockedFrame.setAlwaysOnTop(true);
             }
             else

From bfrisch at edam.speech.cs.cmu.edu  Fri Jul 27 17:58:03 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 27 Jul 2007 17:58:03 -0400
Subject: [TeamTalk 135]: [672]
 TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt: 1)
 peerfile-example. txt now contains ideal voices and robot names in the
 current highbay environment section
Message-ID: <200707272158.l6RLw3KZ009020@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070727/db423727/attachment.html
-------------- next part --------------
Modified: TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt	2007-07-27 17:40:58 UTC (rev 671)
+++ TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt	2007-07-27 21:58:02 UTC (rev 672)
@@ -17,13 +17,11 @@
 #mapserver 127.0.0.1
 #
 #current highbay env
-#toofive 192.168.99.205 callie safe
-#stacey 192.168.99.209 diane safe
-#elizabeth 192.168.99.210 callie safe
-#dorothy 192.168.99.153 david dangerous
-#festo 192.168.99.126 william dangerous
-#optrader 192.168.99.210 elizabeth
-#mapserver 192.168.99.199
+#current hi-fi env
+#alphie karybdis.speech.cs.cmu.edu:32787 callie safe
+#bashful karybdis.speech.cs.cmu.edu:32788 diane safe
+#optrader karybdis.speech.cs.cmu.edu alphie
+#mapserver karybdis.speech.cs.cmu.edu
 #
 #current hi-fi env
 #alphie bigbird.speech.cs.cmu.edu:32788 callie safe

From bfrisch at edam.speech.cs.cmu.edu  Fri Jul 27 19:21:23 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 27 Jul 2007 19:21:23 -0400
Subject: [TeamTalk 136]: [673]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder: 1) Slightly
 more native fell
Message-ID: <200707272321.l6RNLN1G009127@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070727/41eef69c/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-07-27 21:58:02 UTC (rev 672)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-07-27 23:21:23 UTC (rev 673)
@@ -540,7 +540,7 @@
         pane.setVerticalScrollBarPolicy(ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS);
         JRootPane root = new JRootPane();
         root.setContentPane(pane);
-        JFrame frame = new JFrame();
+        NativeFeelJFrame frame = new NativeFeelJFrame();
         frame.getContentPane().add(root);
         frame.validate();
         frame.setVisible(true);

Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-27 21:58:02 UTC (rev 672)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-07-27 23:21:23 UTC (rev 673)
@@ -189,19 +189,9 @@
      * @param title The title for the JFrame
      * @return The docked root JFrame
      */
-    protected JFrame buildDockedFrame(String title) {
-        dockedFrame = new JFrame(title);
+    protected NativeFeelJFrame buildDockedFrame(String title) {
+        dockedFrame = new NativeFeelJFrame(title);
         dockedFrame.getContentPane().setLayout(new BorderLayout());
-          
-        try {
-  	    UIManager.setLookAndFeel(
-  	        UIManager.getSystemLookAndFeelClassName());
-  	} catch (UnsupportedLookAndFeelException ex) {
-  	  System.err.println("Unable to load native look and feel");
-  	}
-  	catch (Exception e) {
-            System.err.println("Exception: " + e.toString());
-        }
         
         //menu bar
         dockedFrame.getContentPane().add(menuBar, BorderLayout.NORTH);
@@ -239,13 +229,13 @@
      * Builds the undocked frames
      */
     protected void buildUndockedFrames() {
-        mapCanvasFrame = new JFrame();
+        mapCanvasFrame = new NativeFeelJFrame();
         mapCanvasFrame.setUndecorated(true);
         mapCanvasFrame.setAlwaysOnTop(true);
-        consoleFrame = new JFrame();
+        consoleFrame = new NativeFeelJFrame();
         consoleFrame.setUndecorated(true);
         consoleFrame.setAlwaysOnTop(true);
-        imagerFrame = new JFrame();
+        imagerFrame = new NativeFeelJFrame();
         imagerFrame.setUndecorated(true);
         imagerFrame.setAlwaysOnTop(true);
     }
@@ -684,22 +674,22 @@
     /**
      * The docked root JFrame
      */
-    protected JFrame dockedFrame;
+    protected NativeFeelJFrame dockedFrame;
     
     /**
      * The undocked map canvas frame
      */
-    protected JFrame mapCanvasFrame;
+    protected NativeFeelJFrame mapCanvasFrame;
     
     /**
      * The undocked console frame
      */
-    protected JFrame consoleFrame;
+    protected NativeFeelJFrame consoleFrame;
     
     /**
      * The undocked imager frame
      */
-    protected JFrame imagerFrame;
+    protected NativeFeelJFrame imagerFrame;
     
     /**
      * This is the root pane for the docked map canvas. It is a container for the

From bfrisch at edam.speech.cs.cmu.edu  Fri Jul 27 21:17:29 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 27 Jul 2007 21:17:29 -0400
Subject: [TeamTalk 137]: [674] 1) Removing unnecessary line from
	peerfile-example.txt coping
Message-ID: <200707280117.l6S1HTZV009247@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070727/9615c4fb/attachment.html
-------------- next part --------------
Modified: TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt	2007-07-27 23:21:23 UTC (rev 673)
+++ TeamTalk/Configurations/DesktopConfiguration/peerfile-example.txt	2007-07-28 01:17:29 UTC (rev 674)
@@ -17,7 +17,6 @@
 #mapserver 127.0.0.1
 #
 #current highbay env
-#current hi-fi env
 #alphie karybdis.speech.cs.cmu.edu:32787 callie safe
 #bashful karybdis.speech.cs.cmu.edu:32788 diane safe
 #optrader karybdis.speech.cs.cmu.edu alphie

Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From bfrisch at edam.speech.cs.cmu.edu  Mon Jul 30 16:55:58 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Mon, 30 Jul 2007 16:55:58 -0400
Subject: [TeamTalk 138]: [675] usarsim/Maps/DM-RoboticsLab_250.ut2: 1) Now
 you can walk up the spiral staircase.
Message-ID: <200707302055.l6UKtwWo017426@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070730/e20938e8/attachment.html
-------------- next part --------------
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Tue Jul 31 16:41:54 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 31 Jul 2007 16:41:54 -0400
Subject: [TeamTalk 139]: [676] TeamTalk/Agents/boeingLib: 1) updates to
	boeingLib.
Message-ID: <200707312041.l6VKfsON020527@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070731/e8cadd2d/attachment.html
-------------- next part --------------
Modified: TeamTalk/Agents/boeingLib/boeing/boeing_converter.cc
===================================================================
--- TeamTalk/Agents/boeingLib/boeing/boeing_converter.cc	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/boeing/boeing_converter.cc	2007-07-31 20:41:52 UTC (rev 676)
@@ -170,6 +170,24 @@
     if (debug) 
       printf("   Got request image message\n");
     result.hdr.type = REQ_IMAGE;
+  } else if (name == "eval") {
+    if (debug) 
+      printf("   Eval message\n");
+    if (!params) {
+      fprintf(stderr, "   Malformed eval message '%s'\n",mca->action);
+      return -1;
+    }
+
+    result.hdr.type = CMD_EVAL;
+    result.hdr.len = sizeof(MsgCmdEval);
+
+    memset(result.msg_eval.eval,0,MAX_STRING_LENGTH);
+    
+    char temp[MAX_STRING_LENGTH];
+    rv=sscanf(params,"%s",temp);
+    strncpy(result.msg_eval.eval,temp,MAX_STRING_LENGTH-1);
+    fprintf(stderr," Eval string: '%s' ", result.msg_eval.eval);
+
   } else{ 
     if (debug) 
       printf("   Got some message, assume action message: '%s'\n",

Modified: TeamTalk/Agents/boeingLib/boeing/boeing_robot_client.cc
===================================================================
--- TeamTalk/Agents/boeingLib/boeing/boeing_robot_client.cc	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/boeing/boeing_robot_client.cc	2007-07-31 20:41:52 UTC (rev 676)
@@ -129,6 +129,22 @@
 }
 
 
+bool RobotClient::sendEval(Priority p,TaskID tid,char const *eval)
+{
+  if (eval==NULL)
+    return false;
+
+  MsgCmdEval mce;
+  mzero(mce);
+
+  mce.type = CMD_EVAL;
+  mce.taskid = tid;
+  mce.priority=p;
+  strncpy(mce.eval,eval,MAX_STRING_LENGTH-1);
+  mce.len = mce.getSize();
+  return sendPacket(&mce);
+}
+
 // halt all robots
 bool RobotClient::sendHalt(Priority p,TaskID tid,bool ignore_play_stop)
 {

Modified: TeamTalk/Agents/boeingLib/boeing/boeing_robot_client.h
===================================================================
--- TeamTalk/Agents/boeingLib/boeing/boeing_robot_client.h	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/boeing/boeing_robot_client.h	2007-07-31 20:41:52 UTC (rev 676)
@@ -48,6 +48,8 @@
 
     bool sendAction(Priority p,TaskID tid,char const *action);
 
+    bool sendEval(Priority p,TaskID tid,char const *eval);
+
     /// halt all robots
     bool sendHalt(Priority p,TaskID tid,bool ignore_play_stop=false);
 

Modified: TeamTalk/Agents/boeingLib/boeing/boeing_robot_packet.h
===================================================================
--- TeamTalk/Agents/boeingLib/boeing/boeing_robot_packet.h	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/boeing/boeing_robot_packet.h	2007-07-31 20:41:52 UTC (rev 676)
@@ -34,14 +34,16 @@
     CMD_ACTION=0, 
     CMD_HALT,CMD_GOTO,CMD_HOME,CMD_FOLLOW,
     CMD_COVER,CMD_SETPOS,CMD_PAUSE,CMD_RESUME,
-    REQ_LOCATION,REQ_IMAGE
+    REQ_LOCATION,REQ_IMAGE,
+    CMD_EVAL 
   };
 
   /// these are the IDs for messages being sent from the robot
   enum RobotMsgID { 
     ROB_ACK=0x0100,ROB_DONE,ROB_LOCATION,
     ROB_ACTION_ACK,ROB_ACTION_ECHO,
-    ROB_IMAGE,ROB_PLAY_HALT
+    ROB_IMAGE,ROB_PLAY_HALT,
+    ROB_EVAL
   };
                
   static const uint16_t CmdMsgIdMask = 0x00FF;
@@ -164,10 +166,21 @@
     }
   } PACKED;
 
+  struct MsgCmdEval : public MsgCmdTask {
+    char eval[MAX_STRING_LENGTH];
+    
+    int getSize() const { 
+      return (int) strnlen(eval,MAX_STRING_LENGTH-1)+1+sizeof(MsgCmdTask);
+    }
+  } PACKED;
+  
+
   /** all the command messages. Note that action messages
       are variable length so this union is inappropriate
       to use as the receive buffer
   */
+  //eval messages also variable length
+
   union MsgCmd {
     MsgHeader      hdr;
     MsgCmdTask     msg_cmdtask;
@@ -180,6 +193,7 @@
     MsgCmdFollow   msg_follow;
     MsgCmdCover    msg_cover;
     MsgCmdAction   msg_action;
+    MsgCmdEval     msg_eval;
 
     MsgMapReq      msg_image;
     MsgReqLocation req_location;
@@ -221,7 +235,16 @@
       return m;
     };
   } PACKED;
+
+  
+  /// evaluation message for play manager
+  //this should eventually be multiple data types, not just int16_t
+  struct MsgEvalResult : public MsgHeader {
+    TaskID taskid;
+    int16_t eresult;
+  } PACKED;
  
+
   /** robot done status message
       status   - task status [Succeeded,Failed]
   */
@@ -271,6 +294,8 @@
     MsgRobLocation location;
     MsgActionEcho  echo;
     MsgActionAck   action_ack;
+    MsgEvalResult  eval_result;
+
     MsgRobPlayHalt play_halt;
     MsgMap         image;
     char           buff[50000];

Modified: TeamTalk/Agents/boeingLib/boeing/boeing_robot_server.cc
===================================================================
--- TeamTalk/Agents/boeingLib/boeing/boeing_robot_server.cc	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/boeing/boeing_robot_server.cc	2007-07-31 20:41:52 UTC (rev 676)
@@ -168,7 +168,9 @@
       } break;
         
       case CMD_HALT: 
+	printf("Halt received\n");
         if (!rxdata.msg_halt.ignore_play_stop) {
+	  printf("Send play halt\n");
           sendPlayHalt();
         }
         break;
@@ -242,6 +244,23 @@
     return (doSend((MsgHeader *) &msg));
   }
 
+  // sending operations
+  bool RobotServer::sendEvalResult(int taskid,int eval_result)
+  {
+    MsgEvalResult msg;
+
+    msg.taskid = taskid;
+    msg.eresult = eval_result;
+    msg.len = sizeof(msg);
+    msg.type = ROB_EVAL;
+
+    if (server_debug)
+      printf("sending robot eval result %d\n", eval_result);
+
+    return (doSend((MsgHeader *) &msg));
+  }
+
+
   bool RobotServer::sendDone(int taskid,bool ok)
   {
     MsgRobDone msg;

Modified: TeamTalk/Agents/boeingLib/boeing/boeing_robot_server.h
===================================================================
--- TeamTalk/Agents/boeingLib/boeing/boeing_robot_server.h	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/boeing/boeing_robot_server.h	2007-07-31 20:41:52 UTC (rev 676)
@@ -52,6 +52,9 @@
     /// send an action acknowledgement and the current status
     bool sendActionAck(int taskid,int status);
 
+    // send robot result of evaluation (robot world model information)
+    bool sendEvalResult(int taskid,int eval_result);
+
     /** inform the playmanager that we need to halt the play
         (Generally called internally in the server code */
     bool sendPlayHalt();

Modified: TeamTalk/Agents/boeingLib/coralshared/error_check.cc
===================================================================
--- TeamTalk/Agents/boeingLib/coralshared/error_check.cc	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/coralshared/error_check.cc	2007-07-31 20:41:52 UTC (rev 676)
@@ -57,3 +57,19 @@
 
   AnsiColor::Reset(stderr);
 }
+
+void _Notify(const char *fmt, ...)
+{
+  AnsiColor::SetFgColor(stderr,AnsiColor::Green);
+  AnsiColor::Bold(stderr);
+
+  va_list al;
+  va_start(al,fmt);
+  vfprintf(stderr, fmt, al);
+  va_end(al);
+
+  AnsiColor::Reset(stderr);
+}
+
+
+

Modified: TeamTalk/Agents/boeingLib/coralshared/error_check.h
===================================================================
--- TeamTalk/Agents/boeingLib/coralshared/error_check.h	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/coralshared/error_check.h	2007-07-31 20:41:52 UTC (rev 676)
@@ -7,9 +7,12 @@
 
 #define Fatal(str) _Fatal(__FILE__,__LINE__,"%s",str)
 #define Warn(str)  _Warn( __FILE__,__LINE__,"%s",str)
+#define Notify(str)  _Notify( "%s",str)
 
+
 #define FatalP(fmt, ...) _Fatal(__FILE__,__LINE__,fmt,__VA_ARGS__)
 #define WarnP(fmt, ...)  _Warn( __FILE__,__LINE__,fmt,__VA_ARGS__)
+#define NotifyP(fmt, ...)  _Notify( fmt,__VA_ARGS__)
 
 #ifdef NDEBUG
 #  define Assert(check,str)
@@ -35,6 +38,8 @@
 void _Warn(const char *filename,int line,
            const char *fmt, ...);
 
+void _Notify(const char *fmt, ...);
+
 void _Assert(const char *filename,int line,const char *function,
              const char *fmt, ...);
 

Modified: TeamTalk/Agents/boeingLib/utils/test_robot_server.cc
===================================================================
--- TeamTalk/Agents/boeingLib/utils/test_robot_server.cc	2007-07-30 20:55:57 UTC (rev 675)
+++ TeamTalk/Agents/boeingLib/utils/test_robot_server.cc	2007-07-31 20:41:52 UTC (rev 676)
@@ -73,34 +73,76 @@
   while (run) {
     while ((msg=bserver.getNextMessage())!=NULL) {
       switch (msg->hdr.type) {
-        case CMD_ACTION:
-          printf("(RE->ROBOT) action message\n");
-          printf("   Action '%s'\n", msg->msg_action.action);
-
-          // sleep a random time
-          sleep((rand()%10)+1);
-          
-          // send the response
-          rv = ((rand()%10<1) ? FAILED : SUCCEEDED);
-          printf("   Done with value %i\n",rv);
-
-          bserver.sendActionAck(msg->msg_action.taskid,rv);
-          break;
-        case REQ_LOCATION:
-          printf("Sending fake location: 1,2,0.1,false\n");
-          bserver.sendLocation(1.0f,2.0f,0.1f,false);
-          break;
-        case REQ_IMAGE:
-          printf("Sending fake image\n");
-          
-          printf("Opening JPEG writer with %i %i\n",(int)width,(int)height);
-          jwriter.openMemGray(width,height);
-          jwriter.writeData(image);
-          bserver.sendJPEGImage((const unsigned char *)jwriter.getBuffer(),jwriter.getWrittenLength(),
-                                width,height,msg->msg_image.invoice);
-          break;
-        default:
-          printf("(RE->ROBOT) Unknown mesasge %i\n", msg->hdr.type);
+      case CMD_ACTION:
+	printf("(RE->ROBOT) action message\n");
+	printf("   Action '%s'\n", msg->msg_action.action);
+	
+	// sleep a random time
+	sleep((rand()%10)+1);
+	
+	// send the response
+	rv = ((rand()%10<1) ? FAILED : SUCCEEDED);
+	printf("   Done with value %i, taskid %i\n",rv,msg->msg_action.taskid);
+	bserver.sendActionAck(msg->msg_action.taskid,rv);
+	break;
+      case CMD_EVAL:
+	printf("(RE->ROBOT) eval message\n");
+	printf("   Eval '%s'\n", msg->msg_eval.eval);
+	
+	// sleep a random time
+	sleep((rand()%10)+1);
+	
+	// send the response
+	rv = ((rand()%10<1) ? FAILED : SUCCEEDED);
+	printf("   Eval value %i\n",rv);
+	
+	bserver.sendEvalResult(msg->msg_eval.taskid,rv);
+	break;
+      case REQ_LOCATION:
+	printf("Sending fake location: 1,2,0.1,false\n");
+	bserver.sendLocation(1.0f,2.0f,0.1f,false);
+	break;
+      case REQ_IMAGE:
+	printf("Sending fake image\n");
+	
+	printf("Opening JPEG writer with %i %i\n",(int)width,(int)height);
+	jwriter.openMemGray(width,height);
+	jwriter.writeData(image);
+	bserver.sendJPEGImage((const unsigned char *)jwriter.getBuffer(),
+			      jwriter.getWrittenLength(),
+			      width,height,msg->msg_image.invoice);
+	break;
+      case CMD_HALT:
+	printf("(RE->ROBOT) halt message\n");
+	rv=SUCCEEDED;
+	printf("   RobDone with value %i, taskid %i\n",rv, 
+	       msg->msg_action.taskid);
+	bserver.sendDone(msg->msg_action.taskid, rv);
+	break;
+      case CMD_GOTO:
+	printf("(RE->ROBOT) cmd_goto message, nothing implemented\n");
+	break;
+      case CMD_HOME:
+	printf("(RE->ROBOT) home message, nothing implemented\n");
+	break;       
+      case CMD_FOLLOW:
+	printf("(RE->ROBOT) follow message, nothing implemented\n");
+	break;
+      case CMD_COVER:
+	printf("(RE->ROBOT) cover message, nothing implemented\n");
+	break;
+      case CMD_SETPOS:
+	printf("(RE->ROBOT) setpos message, nothing implemented\n");
+	break;
+      case CMD_PAUSE:
+	printf("(RE->ROBOT) pause message, nothing implemented\n");
+	//	bserver.sendPlayHalt();
+	break;
+      case CMD_RESUME:
+	printf("(RE->ROBOT) resume message, nothing implemented\n");
+	break;
+      default:
+	printf("(RE->ROBOT) Unknown mesasge %i\n", msg->hdr.type);
       }
     }
     usleep(500*1000);

From bfrisch at edam.speech.cs.cmu.edu  Tue Jul 31 17:17:59 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Tue, 31 Jul 2007 17:17:59 -0400
Subject: [TeamTalk 140]: [677] usarsim/System: 1) The table enclosed area is
 now slightly larger, while being slightly less wide.
Message-ID: <200707312117.l6VLHxcw020563@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070731/7bd502e3/attachment.html
-------------- next part --------------
Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-07-31 20:41:52 UTC (rev 676)
+++ moast-bth/moast/etc/moast.ini	2007-07-31 21:17:58 UTC (rev 677)
@@ -326,6 +326,16 @@
 UTM_START_POSE_2 = -41.2 10.60 -10.0 0.0 0.0 0
 UTM_START_POSE_1 = 5.23 18.81 1.4 0.0 0.0 0
 
+[DM-RoboticsLab_250]
+UNREAL_UTM_OFFSET = 0.0 0.0 0.0
+RESOLUTION = 0.01905
+UTM_LETTER = N
+UTM_ZONE = 18
+UTM_START_POST_COUNT = 2
+UTM_START_POSE_1 = 25 8.5 -2.0 0 0 0 0
+UTM_START_POSE_2 = 25 6.5 -2.0 0 0 0 0
+UTM_START_POSE_1 = 26 7.5 -2.0 0 0 0 0
+
 [DM-ValidationTest_250]
 UREAL_UTM_OFFSET = 0. 0. 0
 RESOLUTION = 0.01905

Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

Modified: usarsim/System/start_usar.bat
===================================================================
--- usarsim/System/start_usar.bat	2007-07-31 20:41:52 UTC (rev 676)
+++ usarsim/System/start_usar.bat	2007-07-31 21:17:58 UTC (rev 677)
@@ -1,6 +1,2 @@
-start c:\ut2004\system\ut2004 DM-USAR_yellow_250?game=USARBot.USARDeathMatch?spectatoronly=1?TimeLimit=0?quickstart=true -ini=usarsim.ini
-rem start c:\ut2004\system\ut2004 ONS-PointLookout_250?game=USARBot.USARDeathMatch?spectatoronly=1?TimeLimit=0?quickstart=true -ini=usarsim.ini
-rem start c:\ut2004\system\ut2004 DM-ISA_Pit_250?game=USARBot.USARDeathMatch?spectatoronly=1?TimeLimit=0?quickstart=true -ini=usarsim.ini
-rem start c:\ut2004\system\ut2004 DM-compWorldDay2_250?game=USARBot.USARDeathMatch?spectatoronly=1?TimeLimit=0?quickstart=true -ini=usarsim.ini
-rem start c:\ut2004\system\ut2004 DM-MixanYellow?game=USARBot.USARDeathMatch?spectatoronly=1?TimeLimit=0?quickstart=true -ini=usarsim.ini
+start c:\ut2004\system\ut2004 DM-RoboticsLab_250?game=TreasureHunt.TreasureHuntGame?TimeLimit=0?GameStats=False?quickstart=true -ini=USARSim.ini
 exit
\ No newline at end of file

Modified: usarsim/System/usar_c.bat
===================================================================
--- usarsim/System/usar_c.bat	2007-07-31 20:41:52 UTC (rev 676)
+++ usarsim/System/usar_c.bat	2007-07-31 21:17:58 UTC (rev 677)
@@ -1 +1 @@
-ut2004 127.0.0.1?spectatoronly=1?quickstart=true -ini=USARSim.ini
+ut2004 127.0.0.1?quickstart=true -ini=USARSim.ini

Modified: usarsim/System/usar_s.bat
===================================================================
--- usarsim/System/usar_s.bat	2007-07-31 20:41:52 UTC (rev 676)
+++ usarsim/System/usar_s.bat	2007-07-31 21:17:58 UTC (rev 677)
@@ -1,4 +1,2 @@
-ucc server DM-ARDA_250?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log
-rem ucc server DM-USAR_yellow_250?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log
-rem ucc server DM-Metrology?game=USARBot.USARDeathMatch?TimeLimit=0 -ini=USARSim.ini -log=usar_server.log
-pause
+ucc server DM-RoboticsLab_250?game=TreasureHunt.TreasureHuntGame?TimeLimit=0?GameStats=False?AdminName=admin?AdminPassword=findT -ini=USARSim.ini -log=usar_server.log
+pause

Modified: usarsim/System/usar_t.bat
===================================================================
--- usarsim/System/usar_t.bat	2007-07-31 20:41:52 UTC (rev 676)
+++ usarsim/System/usar_t.bat	2007-07-31 21:17:58 UTC (rev 677)
@@ -1,2 +1,2 @@
-ut2004 DM-USAR_yellow_250?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False?NumBots=0?spectatoronly=1 -ini=USARSim.ini -log=usar_server.log
-
+ut2004 DM-RoboticsLab_250?game=TreasureHunt.TreasureHuntGam?TimeLimit=0?GameStats=False?NumBots=0 -ini=USARSim.ini -log=usar_server.log
+

From bfrisch at edam.speech.cs.cmu.edu  Tue Jul 31 21:34:05 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Tue, 31 Jul 2007 21:34:05 -0400
Subject: [TeamTalk 141]: [678] usarsim: 1) moast.ini now included SegwayRPM
	and DM-RoboticsLab_250
Message-ID: <200708010134.l711Y5cY020915@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070731/127bb724/attachment-0001.html
-------------- next part --------------
Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-07-31 21:17:58 UTC (rev 677)
+++ moast-bth/moast/etc/moast.ini	2007-08-01 01:34:03 UTC (rev 678)
@@ -555,6 +555,15 @@
 CENTER_OF_GRAVITY = 0 0 0 
 MASS = 12.0
 
+[SegwayRMP]
+; vehicle parameters for TreasureHunt SegwayRPM
+STEERING_TYPE = DUAL_INDEPENDENT
+WHEEL_RADIUS=  0.1
+WHEEL_SEPARATION = 0.256
+DIMENSIONS = 0.256  0.3  0.244
+CENTER_OF_GRAVITY = 0 0 0 
+MASS = 6.53
+
 [Talon]
 ; vehicle parameters for USARSIM P2AT
 STEERING_TYPE = DUAL_INDEPENDENT

Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)

Modified: usarsim/StaticMeshes/TreasureHuntMesh.usx
===================================================================
(Binary files differ)

Added: usarsim/System/TreasureHunt.ini
===================================================================
--- usarsim/System/TreasureHunt.ini	                        (rev 0)
+++ usarsim/System/TreasureHunt.ini	2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,81 @@
+# -------------------------------- NOTE ------------------------------------------------
+# The parameters that change options in classes that do not belog to the TreasureHunt package.are from
+# USARSim.  If a bug or feature is changed in USARSim.ini, please make the appropiate change here.
+#------------------------------------------------------------------------------------------
+
+[TreasureHunt.SegwayRMP]
+bDebug=False
+# Not used by USARSim, right now is just a note that the real weight is 24km
+Weight=24 
+Payload=40
+MotorTorque=35.0
+bMountByUU=False
+JointParts=(PartName="RightSegwayRPMTire",PartClass=class'TreasureHunt.SegwayRMPTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftSegwayRPMTire",PartClass=class'TreasureHunt.SegwayRMPTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.6,X=0.34,Z=-0.05),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt",Position=(Y=0.6,X=0.34,Z=-0.05),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0 X=0.34,Z=-0.05),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.CO2Sensor',ItemName="CO2",Position=(X=0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+
+[Engine.Vehicle]
+bVehicleShadows=True
+
+
+[XGame.xPlayer]
+bClassicTrans=False
+
+[UnrealGame.UnrealPlayer]
+CustomizedAnnouncerPack=
+CustomStatusAnnouncerPack=UnrealGame.FemaleAnnouncer
+CustomRewardAnnouncerPack=UnrealGame.MaleAnnouncer
+MaxRecentServers=25
+bDontShowLoginMenu=False
+RecentServers=127.0.0.1:7777
+RecentServers=129.6.72.19:7777
+
+[Engine.PlayerController]
+bLookUpStairs=False
+bSnapToLevel=False
+bAlwaysMouseLook=True
+bKeyboardLook=True
+bNeverSwitchOnPickup=False
+bAlwaysLevel=False
+bNoVoiceMessages=False
+bNoTextToSpeechVoiceMessages=True
+bNoVoiceTaunts=False
+bNoAutoTaunts=False
+bAutoTaunt=False
+bNoMatureLanguage=False
+bDynamicNetSpeed=True
+bSmallWeapons=True
+bLandingShake=True
+bAimingHelp=False
+bEnablePickupForceFeedback=False
+bEnableWeaponForceFeedback=False
+bEnableDamageForceFeedback=False
+bEnableGUIForceFeedback=False
+bEnableInitialChatRoom=True
+bEnableStatsTracking=False
+bOnlySpeakTeamText=False
+AutoJoinMask=5
+AnnouncerLevel=2
+AnnouncerVolume=4
+TextToSpeechVoiceVolume=1.000000
+DesiredFOV=90.000000
+DefaultFOV=90.000000
+ScreenFlashScaling=1.000000
+TimeMarginSlack=0.000000
+StatsUsername=
+StatsPassword=
+DynamicPingThreshold=400.000000
+LastActiveChannel=
+VoiceChatCodec=CODEC_48NB
+VoiceChatLANCodec=CODEC_96WB
+ChatPassword=
+DefaultActiveChannel=
+
+[Engine.Controller]
+Handedness=1.000000

Modified: usarsim/Textures/TreasureHuntTex.utx
===================================================================
(Binary files differ)

Added: usarsim/TreasureHunt/Classes/SegwayRMP.uc
===================================================================
--- usarsim/TreasureHunt/Classes/SegwayRMP.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/SegwayRMP.uc	2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,52 @@
+class SegwayRMP extends SkidSteeredRobot config(TreasureHunt);
+
+defaultproperties
+{
+	
+   // Number=0 indicates that this wheel is the first JointPart defined in TreasureHunt.ini (ORDER MATTERS!)
+    // Power=Right_Powered tells USARSim to spin this wheel using the right throttle
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(0)=(Number=0,PowerType=Right_Powered);
+
+    // Number=1 indicates that this wheel is the second JointPart defined in TreasureHunt.ini (ORDER MATTERS!)
+    // Power=Left_Powered tells USARSim to spin this wheel using the left throttle
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(1)=(Number=1,PowerType=Left_Powered);
+	
+	
+	StaticMesh = StaticMesh'TreasureHuntMesh.SegwayBody';
+	DrawScale = 1.0;
+	ChassisMass = 7.0;
+	
+	Weight = 64; #64kg
+	
+	Begin Object Class=KarmaParamsRBFull Name=KParams0
+		bHighDetailOnly=False;
+		bClientOnly=False;
+		bKAllowRotate=True;
+		bKDoubleTickRate=True;
+		bKNonSphericalInertia=True;
+		bKStayUpright=True;
+		KActorGravScale=2.58;
+		KAngularDamping=0;
+		KLinearDamping=0.1;
+		KStartEnabled=True;
+		StayUprightStiffness=75;
+		StayUprightDamping=50;
+		
+		kFriction=0.9;
+		KRestitution=0.2;
+		
+		KInertiaTensor(0)=0.061;
+        KInertiaTensor(3)=0.078;
+        KInertiaTensor(5)=0.083;
+		KCOMOffset=(X=0.0,Y=0.0,Z=0.0);
+		
+        KMaxAngularSpeed=100;
+        KMaxSpeed=25000;
+        Name="KParams0";
+
+    End Object
+	
+    KParams=KarmaParamsRBFull'TreasureHunt.SegwayRMP.KParams0';
+}
\ No newline at end of file

Added: usarsim/TreasureHunt/Classes/SegwayRMPTireLeft.uc
===================================================================
--- usarsim/TreasureHunt/Classes/SegwayRMPTireLeft.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/SegwayRMPTireLeft.uc	2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,6 @@
+class SegwayRMPTireLeft extends CooperTireLeft;
+
+defaultproperties
+{
+	
+}
\ No newline at end of file

Added: usarsim/TreasureHunt/Classes/SegwayRMPTireRight.uc
===================================================================
--- usarsim/TreasureHunt/Classes/SegwayRMPTireRight.uc	                        (rev 0)
+++ usarsim/TreasureHunt/Classes/SegwayRMPTireRight.uc	2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,6 @@
+class SegwayRMPTireRight extends CooperTireRight;
+
+defaultproperties
+{
+	
+}
\ No newline at end of file