From bfrisch at edam.speech.cs.cmu.edu  Sun Sep  2 20:08:00 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Sun, 2 Sep 2007 20:08:00 -0400
Subject: [TeamTalk 192]: [728] 1) Now the build scripts build the PenDecoder
 as well, via the setting in the NetBeans project.
Message-ID: <200709030008.l8307xR4021661@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070902/2c86aeb1/attachment-0001.html
-------------- next part --------------
Modified: tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-08-30 20:24:27 UTC (rev 727)
+++ tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
@@ -1,34 +1,28 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer = 5.5.1
+:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+set NetBeansVer=5.5.1
+set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
 IF NOT EXIST TeamTalkBuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
-::Commented out as the tool is not used any more
-::IF NOT EXIST TeamTalk-Tools\regTool\reg.exe goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
 If NOT EXIST logs\nul mkdir logs > nul
-::Commented out as the temp directory is not used
-::IF NOT EXIST temp\nul mkdir temp > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
+goto Java
 
-:Path should be set to include Visual Studio and JDK's binary directory
-::Commented out as the tool is not used any more
-::TeamTalk-Tools\regTool\reg query "HKLM\SOFTWARE\JavaSoft\Java Development Kit\1.6" /v JAVAHOME > temp\tempPath.txt
-
 :Build the Visual Studio solutions
 
-set VSDrive = Non-Existent
+set VSDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
 IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
@@ -62,53 +56,81 @@
 IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Release
 IF NOT VSDrive == "Non-Existent" cd ..
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-IF NOT VSDrive == "Non-Existent" cd Tools
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
-IF NOT VSDrive == "Non-Existent" cd ..
+:: Do Not build TeamTalk Tools as there is nothing to build.
 
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
+::IF NOT VSDrive == "Non-Existent" cd ..
+
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
 :Java Files Compilation
 
-set NetBeansDrive = Non-Existent
+set NetBeansDrive=Non-Existent
+set JavaDrive=Non-Existent
 
-IF EXIST "A:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=A
-IF EXIST "B:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=B
-IF EXIST "C:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=C
-IF EXIST "D:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansrive=D
-IF EXIST "E:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=E
-IF EXIST "F:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=F
-IF EXIST "G:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=G
-IF EXIST "H:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=H
-IF EXIST "I:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=I
-IF EXIST "J:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=J
-IF EXIST "K:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=K
-IF EXIST "L:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=L
-IF EXIST "M:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=M
-IF EXIST "N:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=N
-IF EXIST "O:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=O
-IF EXIST "P:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=R
-IF EXIST "S:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=S
-IF EXIST "T:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=T
-IF EXIST "U:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=U
-IF EXIST "V:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=V
-IF EXIST "W:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=W
-IF EXIST "X:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Z
+IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
+IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
+IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
+IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
+IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
+IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
+IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
+IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
+IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
+IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
+IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
+IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
+IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
+IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
+IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
+IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
+IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
+IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
+IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
+IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
+IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
+IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
+IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
+IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
+IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
+IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
+IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder\src\tk\utils
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\bsh-core-2.0b4.jar;..\..\..\bsh-util-2.0b4.jar;../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\edu\cmu\ravenclaw\pendecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\..\..\bsh-core-2.0b4.jar;..\..\..\..\..\bsh-util-2.0b4.jar;../../../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar;..\..\..\..\..\build\classes\;
+IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\..\..\..\..\..
+IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
+IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
+IF NOT NetBeansDrive == "Non-Existent" cd ..\..
 
 IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
@@ -121,18 +143,15 @@
 
 :Clean Up Changes
 :: ---------------------
-:: Remove the Temporary Path Storage File
-:: Return the path to its original state
+:: Remove the environment variables
 
-:: Commented out as the Temp directory is not used.
-::IF EXIST temp\tempPath.txt del temp\tempPath.txt
-::If EXIST temp\nul rmdir temp
-::set PATH = %PATH%
+set VSDrive=
+set JavaDrive=
+set JAVA_HOME=
+set NetBeansDrive=
+set JDKVer=
+set NetBeansVer= 
 
-set VSDrive =
-set NetBeansDrive =
-set NetBeansVer = 
-
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat	2007-08-30 20:24:27 UTC (rev 727)
+++ tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
@@ -1,34 +1,28 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer = 5.5.1
+:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+set NetBeansVer=5.5.1
+set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Debug Build - Win32
 IF NOT EXIST TeamTalkDebugBuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
-::Commented out as the tool is not used any more
-::IF NOT EXIST TeamTalk-Tools\regTool\reg.exe goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
 If NOT EXIST logs\nul mkdir logs > nul
-::Commented out as the temp directory is not used
-::IF NOT EXIST temp\nul mkdir temp > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
+goto Java
 
-:Path should be set to include Visual Studio and JDK's binary directory
-::Commented out as the tool is not used any more
-::TeamTalk-Tools\regTool\reg query "HKLM\SOFTWARE\JavaSoft\Java Development Kit\1.6" /v JAVAHOME > temp\tempPath.txt
-
 :Build the Visual Studio solutions
 
-set VSDrive = Non-Existent
+set VSDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
 IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
@@ -62,53 +56,81 @@
 IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Debug
 IF NOT VSDrive == "Non-Existent" cd ..
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-IF NOT VSDrive == "Non-Existent" cd Tools
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
-IF NOT VSDrive == "Non-Existent" cd ..
+:: Do Not build TeamTalk Tools as there is nothing to build.
 
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
+::IF NOT VSDrive == "Non-Existent" cd ..
+
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
 :Java Files Compilation
 
-set NetBeansDrive = Non-Existent
+set NetBeansDrive=Non-Existent
+set JavaDrive=Non-Existent
 
-IF EXIST "A:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=A
-IF EXIST "B:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=B
-IF EXIST "C:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=C
-IF EXIST "D:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansrive=D
-IF EXIST "E:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=E
-IF EXIST "F:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=F
-IF EXIST "G:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=G
-IF EXIST "H:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=H
-IF EXIST "I:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=I
-IF EXIST "J:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=J
-IF EXIST "K:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=K
-IF EXIST "L:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=L
-IF EXIST "M:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=M
-IF EXIST "N:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=N
-IF EXIST "O:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=O
-IF EXIST "P:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=R
-IF EXIST "S:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=S
-IF EXIST "T:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=T
-IF EXIST "U:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=U
-IF EXIST "V:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=V
-IF EXIST "W:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=W
-IF EXIST "X:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Z
+IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
+IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
+IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
+IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
+IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
+IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
+IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
+IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
+IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
+IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
+IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
+IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
+IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
+IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
+IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
+IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
+IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
+IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
+IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
+IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
+IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
+IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
+IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
+IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
+IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
+IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
+IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder\src\tk\utils
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\bsh-core-2.0b4.jar;..\..\..\bsh-util-2.0b4.jar;../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\edu\cmu\ravenclaw\pendecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\..\..\bsh-core-2.0b4.jar;..\..\..\..\..\bsh-util-2.0b4.jar;../../../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar;..\..\..\..\..\build\classes\;
+IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\..\..\..\..\..
+IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
+IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
+IF NOT NetBeansDrive == "Non-Existent" cd ..\..
 
 IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
@@ -121,18 +143,15 @@
 
 :Clean Up Changes
 :: ---------------------
-:: Remove the Temporary Path Storage File
-:: Return the path to its original state
+:: Remove the environment variables
 
-:: Commented out as the Temp directory is not used.
-::IF EXIST temp\tempPath.txt del temp\tempPath.txt
-::If EXIST temp\nul rmdir temp
-::set PATH = %PATH%
+set VSDrive=
+set JavaDrive=
+set JAVA_HOME=
+set NetBeansDrive=
+set JDKVer=
+set NetBeansVer= 
 
-set VSDrive =
-set NetBeansDrive =
-set NetBeansVer = 
-
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-08-30 20:24:27 UTC (rev 727)
+++ tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:07:58 UTC (rev 728)
@@ -1,34 +1,28 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer = 5.5.1
+:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+set NetBeansVer=5.5.1
+set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Rebuild - Win32
 IF NOT EXIST TeamTalkRebuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
-::Commented out as the tool is not used any more
-::IF NOT EXIST TeamTalk-Tools\regTool\reg.exe goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
 If NOT EXIST logs\nul mkdir logs > nul
-::Commented out as the temp directory is not used
-::IF NOT EXIST temp\nul mkdir temp > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
+goto Java
 
-:Path should be set to include Visual Studio and JDK's binary directory
-::Commented out as the tool is not used any more
-::TeamTalk-Tools\regTool\reg query "HKLM\SOFTWARE\JavaSoft\Java Development Kit\1.6" /v JAVAHOME > temp\tempPath.txt
-
 :Build the Visual Studio solutions
 
-set VSDrive = Non-Existent
+set VSDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
 IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
@@ -62,53 +56,81 @@
 IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Rebuild Release
 IF NOT VSDrive == "Non-Existent" cd ..
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-IF NOT VSDrive == "Non-Existent" cd Tools
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
-IF NOT VSDrive == "Non-Existent" cd ..
+:: Do Not build TeamTalk Tools as there is nothing to build.
 
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
+::IF NOT VSDrive == "Non-Existent" cd ..
+
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
 :Java Files Compilation
 
-set NetBeansDrive = Non-Existent
+set NetBeansDrive=Non-Existent
+set JavaDrive=Non-Existent
 
-IF EXIST "A:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=A
-IF EXIST "B:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=B
-IF EXIST "C:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=C
-IF EXIST "D:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansrive=D
-IF EXIST "E:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=E
-IF EXIST "F:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=F
-IF EXIST "G:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=G
-IF EXIST "H:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=H
-IF EXIST "I:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=I
-IF EXIST "J:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=J
-IF EXIST "K:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=K
-IF EXIST "L:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=L
-IF EXIST "M:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=M
-IF EXIST "N:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=N
-IF EXIST "O:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=O
-IF EXIST "P:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=R
-IF EXIST "S:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=S
-IF EXIST "T:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=T
-IF EXIST "U:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=U
-IF EXIST "V:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=V
-IF EXIST "W:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=W
-IF EXIST "X:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Z
+IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
+IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
+IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
+IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
+IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
+IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
+IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
+IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
+IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
+IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
+IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
+IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
+IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
+IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
+IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
+IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
+IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
+IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
+IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
+IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
+IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
+IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
+IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
+IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
+IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
+IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
+IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder\src\tk\utils
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\bsh-core-2.0b4.jar;..\..\..\bsh-util-2.0b4.jar;../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\edu\cmu\ravenclaw\pendecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\..\..\bsh-core-2.0b4.jar;..\..\..\..\..\bsh-util-2.0b4.jar;../../../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar;..\..\..\..\..\build\classes\;
+IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\..\..\..\..\..
+IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
+IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
+IF NOT NetBeansDrive == "Non-Existent" cd ..\..
 
 IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
@@ -121,18 +143,15 @@
 
 :Clean Up Changes
 :: ---------------------
-:: Remove the Temporary Path Storage File
-:: Return the path to its original state
+:: Remove the environment variables
 
-:: Commented out as the Temp directory is not used.
-::IF EXIST temp\tempPath.txt del temp\tempPath.txt
-::If EXIST temp\nul rmdir temp
-::set PATH = %PATH%
+set VSDrive=
+set JavaDrive=
+set JAVA_HOME=
+set NetBeansDrive=
+set JDKVer=
+set NetBeansVer= 
 
-set VSDrive =
-set NetBeansDrive =
-set NetBeansVer = 
-
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-08-30 20:24:27 UTC (rev 727)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
@@ -1,34 +1,28 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer = 5.5.1
+:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+set NetBeansVer=5.5.1
+set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
 IF NOT EXIST TeamTalkBuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
-::Commented out as the tool is not used any more
-::IF NOT EXIST TeamTalk-Tools\regTool\reg.exe goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
 If NOT EXIST logs\nul mkdir logs > nul
-::Commented out as the temp directory is not used
-::IF NOT EXIST temp\nul mkdir temp > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
+goto Java
 
-:Path should be set to include Visual Studio and JDK's binary directory
-::Commented out as the tool is not used any more
-::TeamTalk-Tools\regTool\reg query "HKLM\SOFTWARE\JavaSoft\Java Development Kit\1.6" /v JAVAHOME > temp\tempPath.txt
-
 :Build the Visual Studio solutions
 
-set VSDrive = Non-Existent
+set VSDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
 IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
@@ -62,53 +56,81 @@
 IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Release
 IF NOT VSDrive == "Non-Existent" cd ..
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-IF NOT VSDrive == "Non-Existent" cd Tools
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
-IF NOT VSDrive == "Non-Existent" cd ..
+:: Do Not build TeamTalk Tools as there is nothing to build.
 
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
+::IF NOT VSDrive == "Non-Existent" cd ..
+
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
 :Java Files Compilation
 
-set NetBeansDrive = Non-Existent
+set NetBeansDrive=Non-Existent
+set JavaDrive=Non-Existent
 
-IF EXIST "A:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=A
-IF EXIST "B:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=B
-IF EXIST "C:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=C
-IF EXIST "D:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansrive=D
-IF EXIST "E:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=E
-IF EXIST "F:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=F
-IF EXIST "G:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=G
-IF EXIST "H:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=H
-IF EXIST "I:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=I
-IF EXIST "J:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=J
-IF EXIST "K:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=K
-IF EXIST "L:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=L
-IF EXIST "M:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=M
-IF EXIST "N:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=N
-IF EXIST "O:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=O
-IF EXIST "P:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=R
-IF EXIST "S:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=S
-IF EXIST "T:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=T
-IF EXIST "U:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=U
-IF EXIST "V:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=V
-IF EXIST "W:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=W
-IF EXIST "X:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Z
+IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
+IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
+IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
+IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
+IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
+IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
+IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
+IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
+IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
+IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
+IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
+IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
+IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
+IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
+IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
+IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
+IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
+IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
+IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
+IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
+IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
+IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
+IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
+IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
+IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
+IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
+IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder\src\tk\utils
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\bsh-core-2.0b4.jar;..\..\..\bsh-util-2.0b4.jar;../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\edu\cmu\ravenclaw\pendecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\..\..\bsh-core-2.0b4.jar;..\..\..\..\..\bsh-util-2.0b4.jar;../../../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar;..\..\..\..\..\build\classes\;
+IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\..\..\..\..\..
+IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
+IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
+IF NOT NetBeansDrive == "Non-Existent" cd ..\..
 
 IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
@@ -121,18 +143,15 @@
 
 :Clean Up Changes
 :: ---------------------
-:: Remove the Temporary Path Storage File
-:: Return the path to its original state
+:: Remove the environment variables
 
-:: Commented out as the Temp directory is not used.
-::IF EXIST temp\tempPath.txt del temp\tempPath.txt
-::If EXIST temp\nul rmdir temp
-::set PATH = %PATH%
+set VSDrive=
+set JavaDrive=
+set JAVA_HOME=
+set NetBeansDrive=
+set JDKVer=
+set NetBeansVer= 
 
-set VSDrive =
-set NetBeansDrive =
-set NetBeansVer = 
-
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: trunk/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-08-30 20:24:27 UTC (rev 727)
+++ trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
@@ -1,34 +1,28 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer = 5.5.1
+:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+set NetBeansVer=5.5.1
+set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Debug Build - Win32
 IF NOT EXIST TeamTalkDebugBuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
-::Commented out as the tool is not used any more
-::IF NOT EXIST TeamTalk-Tools\regTool\reg.exe goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
 If NOT EXIST logs\nul mkdir logs > nul
-::Commented out as the temp directory is not used
-::IF NOT EXIST temp\nul mkdir temp > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
+goto Java
 
-:Path should be set to include Visual Studio and JDK's binary directory
-::Commented out as the tool is not used any more
-::TeamTalk-Tools\regTool\reg query "HKLM\SOFTWARE\JavaSoft\Java Development Kit\1.6" /v JAVAHOME > temp\tempPath.txt
-
 :Build the Visual Studio solutions
 
-set VSDrive = Non-Existent
+set VSDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
 IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
@@ -62,53 +56,81 @@
 IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Debug
 IF NOT VSDrive == "Non-Existent" cd ..
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-IF NOT VSDrive == "Non-Existent" cd Tools
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
-IF NOT VSDrive == "Non-Existent" cd ..
+:: Do Not build TeamTalk Tools as there is nothing to build.
 
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
+::IF NOT VSDrive == "Non-Existent" cd ..
+
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
 :Java Files Compilation
 
-set NetBeansDrive = Non-Existent
+set NetBeansDrive=Non-Existent
+set JavaDrive=Non-Existent
 
-IF EXIST "A:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=A
-IF EXIST "B:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=B
-IF EXIST "C:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=C
-IF EXIST "D:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansrive=D
-IF EXIST "E:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=E
-IF EXIST "F:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=F
-IF EXIST "G:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=G
-IF EXIST "H:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=H
-IF EXIST "I:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=I
-IF EXIST "J:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=J
-IF EXIST "K:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=K
-IF EXIST "L:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=L
-IF EXIST "M:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=M
-IF EXIST "N:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=N
-IF EXIST "O:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=O
-IF EXIST "P:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=R
-IF EXIST "S:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=S
-IF EXIST "T:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=T
-IF EXIST "U:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=U
-IF EXIST "V:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=V
-IF EXIST "W:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=W
-IF EXIST "X:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" set NetBeansDrive=Z
+IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
+IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
+IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
+IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
+IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
+IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
+IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
+IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
+IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
+IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
+IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
+IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
+IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
+IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
+IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
+IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
+IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
+IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
+IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
+IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
+IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
+IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
+IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
+IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
+IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
+IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
+IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder\src\tk\utils
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\bsh-core-2.0b4.jar;..\..\..\bsh-util-2.0b4.jar;../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\edu\cmu\ravenclaw\pendecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\Java\jdk1.6.0_02\bin\javac.exe" *.java -classpath ..\..\..\..\..\bsh-core-2.0b4.jar;..\..\..\..\..\bsh-util-2.0b4.jar;../../../../../../../Libraries/galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar;..\..\..\..\..\build\classes\;
+IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
 
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..\..\..\..\..\..
+IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
+IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
+IF NOT NetBeansDrive == "Non-Existent" cd ..\..
 
 IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
@@ -121,18 +143,15 @@
 
 :Clean Up Changes
 :: ---------------------
-:: Remove the Temporary Path Storage File
-:: Return the path to its original state
+:: Remove the environment variables
 
-:: Commented out as the Temp directory is not used.
-::IF EXIST temp\tempPath.txt del temp\tempPath.txt
-::If EXIST temp\nul rmdir temp
-::set PATH = %PATH%
+set VSDrive=
+set JavaDrive=
+set JAVA_HOME=
+set NetBeansDrive=
+set JDKVer=
+set NetBeansVer= 
 
-set VSDrive =
-set NetBeansDrive =
-set NetBeansVer = 
-
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-08-30 20:24:27 UTC (rev 727)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:07:58 UTC (rev 728)
@@ -1,34 +1,28 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer = 5.5.1
+:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+set NetBeansVer=5.5.1
+set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Rebuild - Win32
 IF NOT EXIST TeamTalkRebuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
-::Commented out as the tool is not used any more
-::IF NOT EXIST TeamTalk-Tools\regTool\reg.exe goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
 If NOT EXIST logs\nul mkdir logs > nul
-::Commented out as the temp directory is not used
-::IF NOT EXIST temp\nul mkdir temp > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
+goto Java
 
-:Path should be set to include Visual Studio and JDK's binary directory
-::Commented out as the tool is not used any more
-::TeamTalk-Tools\regTool\reg query "HKLM\SOFTWARE\JavaSoft\Java Development Kit\1.6" /v JAVAHOME > temp\tempPath.txt
-
 :Build the Visual Studio solutions
 
-set VSDrive = Non-Existent
+set VSDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
 IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
@@ -62,53 +56,81 @@
 IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Rebuild Release
 IF NOT VSDrive == "Non-Existent" cd ..
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-IF NOT VSDrive == "Non-Existent" cd Tools
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
-IF NOT VSDrive == "Non-Existent" cd ..
+:: Do Not build TeamTalk Tools as there is nothing to build.
 
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release

@@ Diff output truncated at 60000 characters. @@

From bfrisch at edam.speech.cs.cmu.edu  Sun Sep  2 20:11:29 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Sun, 2 Sep 2007 20:11:29 -0400
Subject: [TeamTalk 193]:  [729] 1) Ooops,
 now the scripts don' t skip building the Visual Studio projects.
Message-ID: <200709030011.l830BTtO021685@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070902/992946d8/attachment.html
-------------- next part --------------
Modified: tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
+++ tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
@@ -18,7 +18,6 @@
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
-goto Java
 
 :Build the Visual Studio solutions
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
+++ tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
@@ -18,7 +18,6 @@
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
-goto Java
 
 :Build the Visual Studio solutions
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:07:58 UTC (rev 728)
+++ tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:11:29 UTC (rev 729)
@@ -18,7 +18,6 @@
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
-goto Java
 
 :Build the Visual Studio solutions
 

Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
@@ -18,7 +18,6 @@
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
-goto Java
 
 :Build the Visual Studio solutions
 

Modified: trunk/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:07:58 UTC (rev 728)
+++ trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
@@ -18,7 +18,6 @@
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
-goto Java
 
 :Build the Visual Studio solutions
 

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:07:58 UTC (rev 728)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:11:29 UTC (rev 729)
@@ -18,7 +18,6 @@
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
-goto Java
 
 :Build the Visual Studio solutions
 

From bfrisch at edam.speech.cs.cmu.edu  Mon Sep  3 18:57:03 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Mon, 3 Sep 2007 18:57:03 -0400
Subject: [TeamTalk 194]: [730] 1) Ant build now builds from the TeamTalk
 directory to keep the current directory from changing .
Message-ID: <200709032257.l83Mv3VY025120@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070903/a3d5a4b9/attachment-0001.html
-------------- next part --------------
Modified: tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -64,9 +64,16 @@
 
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
-:Java Files Compilation
+:Run MakeLM
 
-set NetBeansDrive=Non-Existent
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl
+cd ..\..
+
+:Java Compilation via Ant Environment Variable Setup
+
+
 set JavaDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
@@ -98,59 +105,47 @@
 
 IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
-
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
-
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..
-
-IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
-
-:Clean Up Changes
+:Clean Up Before Doing the Ant Compilation which Ends the Script
 :: ---------------------
 :: Remove the environment variables
 
 set VSDrive=
 set JavaDrive=
-set JAVA_HOME=
-set NetBeansDrive=
 set JDKVer=
-set NetBeansVer= 
 
+:Ant Compilation
+
+set NetBeansDrive=Non-Existent
+
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
+
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ tags/BTH-0.2/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -64,9 +64,16 @@
 
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
-:Java Files Compilation
+:Run MakeLM
 
-set NetBeansDrive=Non-Existent
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl
+cd ..\..
+
+:Java Compilation via Ant Environment Variable Setup
+
+
 set JavaDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
@@ -98,59 +105,47 @@
 
 IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
-
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
-
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..
-
-IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
-
-:Clean Up Changes
+:Clean Up Before Doing the Ant Compilation which Ends the Script
 :: ---------------------
 :: Remove the environment variables
 
 set VSDrive=
 set JavaDrive=
-set JAVA_HOME=
-set NetBeansDrive=
 set JDKVer=
-set NetBeansVer= 
 
+:Ant Compilation
+
+set NetBeansDrive=Non-Existent
+
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+echo The Pen Decoder cannot be built because the location of NetBeans %NetBeansVer% can not be determined.
+
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -5,7 +5,7 @@
 set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
-title TeamTalk Code Rebuild - Win32
+title TeamTalk Code Rebuild Build - Win32
 IF NOT EXIST TeamTalkRebuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
@@ -52,7 +52,7 @@
 
 IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
 IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Rebuild Release
+IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Reuild Release
 IF NOT VSDrive == "Non-Existent" cd ..
 
 :: Do Not build TeamTalk Tools as there is nothing to build.
@@ -64,9 +64,16 @@
 
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
-:Java Files Compilation
+:Run MakeLM
 
-set NetBeansDrive=Non-Existent
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl
+cd ..\..
+
+:Java Compilation via Ant Environment Variable Setup
+
+
 set JavaDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
@@ -98,59 +105,49 @@
 
 IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
-
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
-
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..
-
-IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
-
-:Clean Up Changes
+:Clean Up Before Doing the Ant Compilation which Ends the Script
 :: ---------------------
 :: Remove the environment variables
 
 set VSDrive=
 set JavaDrive=
-set JAVA_HOME=
-set NetBeansDrive=
 set JDKVer=
-set NetBeansVer= 
 
+:Ant Compilation
+
+set NetBeansDrive=Non-Existent
+
+rmdir Agents\PenDecoder\dist
+
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
+
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: tags/BTH-0.2/TeamTalk/TeamTalkRun.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkRun.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ tags/BTH-0.2/TeamTalk/TeamTalkRun.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -1,5 +1,13 @@
 @echo off
 
+:Clean Up Residue from Build Script that Could not be removed otherwise.
+:: ---------------------
+:: Remove the environment variables
+
+set JAVA_HOME=
+set NetBeansVer= 
+
+
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Lanucher for Win32
 IF NOT EXIST Configurations\DesktopConfiguration\startlist-desktop.config goto Error

Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -64,9 +64,16 @@
 
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
-:Java Files Compilation
+:Run MakeLM
 
-set NetBeansDrive=Non-Existent
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl
+cd ..\..
+
+:Java Compilation via Ant Environment Variable Setup
+
+
 set JavaDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
@@ -98,59 +105,47 @@
 
 IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
-
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
-
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..
-
-IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
-
-:Clean Up Changes
+:Clean Up Before Doing the Ant Compilation which Ends the Script
 :: ---------------------
 :: Remove the environment variables
 
 set VSDrive=
 set JavaDrive=
-set JAVA_HOME=
-set NetBeansDrive=
 set JDKVer=
-set NetBeansVer= 
 
+:Ant Compilation
+
+set NetBeansDrive=Non-Existent
+
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
+
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: trunk/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -64,9 +64,16 @@
 
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
-:Java Files Compilation
+:Run MakeLM
 
-set NetBeansDrive=Non-Existent
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl
+cd ..\..
+
+:Java Compilation via Ant Environment Variable Setup
+
+
 set JavaDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
@@ -98,59 +105,47 @@
 
 IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
-
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
-
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..
-
-IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
-
-:Clean Up Changes
+:Clean Up Before Doing the Ant Compilation which Ends the Script
 :: ---------------------
 :: Remove the environment variables
 
 set VSDrive=
 set JavaDrive=
-set JAVA_HOME=
-set NetBeansDrive=
 set JDKVer=
-set NetBeansVer= 
 
+:Ant Compilation
+
+set NetBeansDrive=Non-Existent
+
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+echo The Pen Decoder cannot be built because the location of NetBeans %NetBeansVer% can not be determined.
+
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -5,7 +5,7 @@
 set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
-title TeamTalk Code Rebuild - Win32
+title TeamTalk Code Rebuild Build - Win32
 IF NOT EXIST TeamTalkRebuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
@@ -52,7 +52,7 @@
 
 IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
 IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Rebuild Release
+IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Reuild Release
 IF NOT VSDrive == "Non-Existent" cd ..
 
 :: Do Not build TeamTalk Tools as there is nothing to build.
@@ -64,9 +64,16 @@
 
 IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
 
-:Java Files Compilation
+:Run MakeLM
 
-set NetBeansDrive=Non-Existent
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl
+cd ..\..
+
+:Java Compilation via Ant Environment Variable Setup
+
+
 set JavaDrive=Non-Existent
 
 IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
@@ -98,59 +105,49 @@
 
 IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=A
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=B
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=C
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansrive=D
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=E
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=F
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=G
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=H
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=I
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=J
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=K
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=L
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=M
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=N
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=O
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=P
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Q
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=R
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=S
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=T
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=U
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=V
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=W
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=X
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Y
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" set NetBeansDrive=Z
-
-IF NOT NetBeansDrive == "Non-Existent" echo Building Java Pen Decoder
-
-IF NOT NetBeansDrive == "Non-Existent" cd Agents\PenDecoder
-IF NOT NetBeansDrive == "Non-Existent" "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat"
-IF NOT NetBeansDrive == "Non-Existent" cd ..\..
-
-IF NetBeansDrive == "Non-Existent" echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
-
-:Clean Up Changes
+:Clean Up Before Doing the Ant Compilation which Ends the Script
 :: ---------------------
 :: Remove the environment variables
 
 set VSDrive=
 set JavaDrive=
-set JAVA_HOME=
-set NetBeansDrive=
 set JDKVer=
-set NetBeansVer= 
 
+:Ant Compilation
+
+set NetBeansDrive=Non-Existent
+
+rmdir Agents\PenDecoder\dist
+
+IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
+
 :: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 

Modified: trunk/TeamTalk/TeamTalkRun.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRun.bat	2007-09-03 00:11:29 UTC (rev 729)
+++ trunk/TeamTalk/TeamTalkRun.bat	2007-09-03 22:57:01 UTC (rev 730)
@@ -1,5 +1,13 @@
 @echo off
 
+:Clean Up Residue from Build Script that Could not be removed otherwise.
+:: ---------------------
+:: Remove the environment variables
+
+set JAVA_HOME=
+set NetBeansVer= 
+
+
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Lanucher for Win32
 IF NOT EXIST Configurations\DesktopConfiguration\startlist-desktop.config goto Error

From tk at edam.speech.cs.cmu.edu  Tue Sep  4 12:02:52 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 4 Sep 2007 12:02:52 -0400
Subject: [TeamTalk 195]: [731] trunk/TeamTalk: 1) May need explicit project
	name.
Message-ID: <200709041602.l84G2q2h032289@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070904/33b2d5b4/attachment.html
-------------- next part --------------

Property changes on: trunk/TeamTalk/Resources/DecoderConfig/Dictionary
___________________________________________________________________
Name: svn:ignore
   - zap2.dict
zap2.dict.reduced_phoneset

   + TeamTalk.dict
TeamTalk.dict.reduced_phoneset



Property changes on: trunk/TeamTalk/Resources/DecoderConfig/LanguageModel
___________________________________________________________________
Name: svn:ignore
   - zap2LM.arpa

   + TeamTalkLM.arpa



Property changes on: trunk/TeamTalk/Resources/Grammar
___________________________________________________________________
Name: svn:ignore
   - base.dic
forms
log
nets
zap2.gra
zap2.net
zap2flat.gra
zap2Task.gra

   + base.dic
forms
log
nets
TeamTalk.gra
TeamTalk.net
TeamTalkflat.gra
TeamTalkTask.gra


Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-03 22:57:01 UTC (rev 730)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-04 16:02:50 UTC (rev 731)
@@ -13,7 +13,7 @@
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
-If NOT EXIST logs\nul mkdir logs > nul
+IF NOT EXIST logs\nul mkdir logs > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
@@ -68,7 +68,7 @@
 
 echo Now Executing MakeLM
 cd Tools\MakeLM
-perl makelm.pl
+perl makelm.pl --projectname TeamTalk
 cd ..\..
 
 :Java Compilation via Ant Environment Variable Setup

From tk at edam.speech.cs.cmu.edu  Tue Sep  4 13:50:51 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 4 Sep 2007 13:50:51 -0400
Subject: [TeamTalk 196]:  [732] trunk/moast-bth/moast: 1)Update from moast
Message-ID: <200709041750.l84HopU1032462@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070904/53925b1b/attachment-0001.html
-------------- next part --------------
Modified: trunk/moast-bth/moast/bin/run
===================================================================
--- trunk/moast-bth/moast/bin/run	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/bin/run	2007-09-04 17:50:51 UTC (rev 732)
@@ -95,7 +95,11 @@
 if [ x$CYGWIN = xyes ] ; then
    nice -n'-10' ./moastNmlSvr &
 else
-   ./moastNmlSvr &
+  if [ x$SECT = xyes ] ; then
+     ./moastNmlSvr -s &
+  else
+     ./moastNmlSvr &
+  fi
 fi
 pid1=$!
 sleep 3

Added: trunk/moast-bth/moast/bin/runTraffic
===================================================================
--- trunk/moast-bth/moast/bin/runTraffic	                        (rev 0)
+++ trunk/moast-bth/moast/bin/runTraffic	2007-09-04 17:50:51 UTC (rev 732)
@@ -0,0 +1,81 @@
+#!/bin/sh
+#user set these for simulation
+#Number of robots
+NUM_ROBOTS=2
+#done with user area
+
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+echo `dirname $0`/..
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/traffic.ini ; export CONFIG_INI
+
+TOP=trafficShell
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+pid11=0
+
+kill1=9
+kill2=9
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+kill11=9
+
+./ipc-clear
+
+./splash $CONFIG_INI &
+
+
+echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./trafficSimWare -n$NUM_ROBOTRS &
+  else
+      ./trafficSimWare -n$NUM_ROBOTS &
+fi
+  pid1=$!
+  kill2=HUP
+  sleep 5
+
+# Settings for the AirRobot
+./robojoy -d-1 -x1.5708 -y-5 -z5 -w-5 &
+
+# Settings for other robots (robojoy will adjust scale factors automatically) 
+#./robojoy -d1&
+pid2=$!
+
+./$TOP
+
+if [ ! $pid11 = 0 ] ; then kill -$kill11 $pid11 ; fi
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: trunk/moast-bth/moast/bin/runTraffic
___________________________________________________________________
Name: svn:executable
   + *

Modified: trunk/moast-bth/moast/etc/moast.ini
===================================================================
--- trunk/moast-bth/moast/etc/moast.ini	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/etc/moast.ini	2007-09-04 17:50:51 UTC (rev 732)
@@ -138,6 +138,7 @@
 PLATFORM_TYPE_8=Talon
 PLATFORM_TYPE_9=TeleMax
 PLATFORM_TYPE_10=AirRobot
+PLATFORM_TYPE_11=SegwayRMP
 ; if < 0 then turn off trace function
 TRACE_FUNCTION=-0.1 
 
@@ -250,13 +251,18 @@
 UTM_START_POSE_2 = 239.9 129 -0.2 0 0 0 
 UTM_START_POSE_3 = 255.5 130 -0.2 0 0 0
 
-[DM-NISTBuild_V2]
+[DM-NISTBuild_V3]
 UNREAL_UTM_OFFSET = 0 0 0
 RESOLUTION = 0.0196
 UTM_LETTER = N
 UTM_ZONE = 18
-UTM_START_POSE_COUNT = 1
-UTM_START_POSE_1 = 12.28 -50.5 4. 0 0 0 
+UTM_START_POSE_COUNT = 6
+UTM_START_POSE_1 = 13. -50.5 4. 0 0 0 
+UTM_START_POSE_2 = 12.74 -26.87 4 0 0 0
+UTM_START_POSE_3 = -13.2 -53.8 4 0 0 0 
+UTM_START_POSE_4 = 14.94 -54.27 4 0 0 0
+UTM_START_POSE_5 = 11.54 51.94 4 0 0 0
+UTM_START_POSE_6 = -14.33 51.97 4 0 0 0
 
 [DM-MixanYellow]
 UNREAL_UTM_OFFSET = 0 0 0
@@ -299,6 +305,14 @@
 UTM_START_POSE_COUNT = 1
 UTM_START_POSE_1 = 39.7 17.5 0.0 0.0 0.0 0
 
+[DM-RoboCup07_Outdoor_1_250]
+UNREAL_UTM_OFFSET = 0. 0. 0
+RESOLUTION = 0.01905
+UTM_LETTER = N
+UTM_ZONE = 18
+UTM_START_POSE_COUNT = 1
+UTM_START_POSE_1 = -28.2799 -101.88 -3.48 0.0 0.0 0
+
 [DM-USAR_yellow_250]
 UNREAL_UTM_OFFSET = 0. 0. 0
 RESOLUTION = 0.01905
@@ -336,6 +350,14 @@
 UTM_START_POSE_2 = 2.432 6.656 -0.5 0.0 0.0 0
 UTM_START_POSE_3 = 2.496 2.112 -0.5 0.0 0.0 0
 
+[DM-VictTest]
+UREAL_UTM_OFFSET = 0. 0. 0
+RESOLUTION = 0.01905
+UTM_LETTER = N
+UTM_ZONE = 18
+UTM_START_POSE_COUNT = 1
+UTM_START_POSE_1 = -.58 -1.47 -1.8 0.0 0.0 0
+
 [DM-Test]
 UNREAL_UTM_OFFSET = 0. 0. 0
 RESOLUTION = 0.01905

Modified: trunk/moast-bth/moast/etc/moast.nml
===================================================================
--- trunk/moast-bth/moast/etc/moast.nml	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/etc/moast.nml	2007-09-04 17:50:51 UTC (rev 732)
@@ -327,7 +327,7 @@
 B symbolicData4 	SHMEM    	 localhost 	43072 	0 	* 	269 	* 	25469 	TCP=20470  xdr
  
 B trafficData1 	SHMEM    	 localhost 	10304 	0 	* 	270 	* 	25470 	TCP=20471  xdr
-B trafficCtrlCmd1 	SHMEM    	 localhost 	4160 	0 	* 	271 	* 	25471 	TCP=20472  xdr
+B trafficCtrlCmd1 	SHMEM    	 localhost 	150080 	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
 B trafficCtrlSet1 	SHMEM    	 localhost 	1088 	0 	* 	274 	* 	25474 	TCP=20475  xdr
@@ -1380,98 +1380,100 @@
 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 	
-P   joystick 	servoMobJASet1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoSPCmd1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
-P   joystick 	servoSPStat1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	5 	
-P   joystick 	servoMisJACmd1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd1_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd1_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd1_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat1_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat1_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat1_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet1_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet1_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet1_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg1_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-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 	servoMobJACmd1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJAStat1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJACfg1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJASet1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoSPCmd1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	5 	
+P   joystick 	servoSPStat1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	5 	
+P   joystick 	servoMisJACmd1_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd1_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd1_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd1_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat1_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat1_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat1_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat1_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet1_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet1_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet1_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet1_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg1_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg1_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg1_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg1_4 	    REMOTE 	 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 	
-P   joystick 	servoMobJASet2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoSPCmd2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   joystick 	servoSPStat2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   joystick 	servoMisJACmd2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd2_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd2_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd2_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat2_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat2_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat2_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet2_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet2_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet2_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg2_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-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 	servoMobJACmd2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJAStat2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJACfg2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJASet2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoSPCmd2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
+P   joystick 	servoSPStat2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
+P   joystick 	servoMisJACmd2_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd2_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd2_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd2_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat2_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat2_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat2_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat2_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet2_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet2_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet2_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet2_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg2_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg2_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg2_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg2_4 	    REMOTE 	 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 	
-P   joystick 	servoMobJASet3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoSPCmd3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   joystick 	servoSPStat3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   joystick 	servoMisJACmd3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd3_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd3_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd3_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat3_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat3_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat3_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet3_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet3_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet3_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg3_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-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 	servoMobJACmd3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJAStat3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJACfg3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJASet3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoSPCmd3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
+P   joystick 	servoSPStat3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
+P   joystick 	servoMisJACmd3_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd3_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd3_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd3_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat3_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat3_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat3_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat3_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet3_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet3_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet3_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet3_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg3_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg3_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg3_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg3_4 	    REMOTE 	 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 	
-P   joystick 	servoMobJASet4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoSPCmd4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   joystick 	servoSPStat4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	4 	
-P   joystick 	servoMisJACmd4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd4_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd4_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACmd4_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat4_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat4_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJAStat4_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet4_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet4_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJASet4_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg4_1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg4_2 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg4_3 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	servoMisJACfg4_4 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
-P   joystick 	joystickData 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	2 	
+P   joystick 	servoMobJACmd4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJAStat4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJACfg4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMobJASet4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoSPCmd4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
+P   joystick 	servoSPStat4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	4 	
+P   joystick 	servoMisJACmd4_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd4_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd4_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACmd4_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat4_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat4_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat4_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJAStat4_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet4_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet4_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet4_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJASet4_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg4_1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg4_2 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg4_3 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	servoMisJACfg4_4 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	3 	
+P   joystick 	joystickData 	    REMOTE 	 localhost 	        RW 	0 	10.000000 	0 	2 	
+P   joystick 	trafficCtrlCmd1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	2 	
+P   joystick 	trafficCtrlStat1 	    REMOTE 	 localhost 	        RW 	0 	INF     	0 	2 	
  
 P moastErrorLog 	moastError 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
  

Modified: trunk/moast-bth/moast/etc/moastBuffers.cfg
===================================================================
--- trunk/moast-bth/moast/etc/moastBuffers.cfg	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/etc/moastBuffers.cfg	2007-09-04 17:50:51 UTC (rev 732)
@@ -377,7 +377,7 @@
 
 # traffic simulation buffers
 b bufname=trafficData1 size=10240 
-b bufname=trafficCtrlCmd1 size=4096
+b bufname=trafficCtrlCmd1 size=150000
 b bufname=trafficCtrlStat1 size=1024
 b bufname=trafficCtrlCfg1 size=1024
 b bufname=trafficCtrlSet1 size=1024

Modified: trunk/moast-bth/moast/etc/moastTools.cfg
===================================================================
--- trunk/moast-bth/moast/etc/moastTools.cfg	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/etc/moastTools.cfg	2007-09-04 17:50:51 UTC (rev 732)
@@ -82,103 +82,107 @@
 # 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
-p bufname=servoMobJASet1 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPCmd1 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPStat1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd1_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd1_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd1_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd1_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat1_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat1_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat1_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat1_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet1_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet1_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet1_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet1_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg1_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg1_2 name=joystick master=0 server=0 proctype=local
-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=servoMobJACmd1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJAStat1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJACfg1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJASet1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPCmd1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPStat1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd1_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd1_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd1_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd1_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat1_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat1_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat1_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat1_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet1_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet1_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet1_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet1_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg1_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg1_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg1_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg1_4 name=joystick master=0 server=0 proctype=remote
 #
 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
-p bufname=servoMobJASet2 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPCmd2 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPStat2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd2_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd2_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd2_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd2_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat2_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat2_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat2_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat2_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet2_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet2_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet2_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet2_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg2_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg2_2 name=joystick master=0 server=0 proctype=local
-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=servoMobJACmd2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJAStat2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJACfg2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJASet2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPCmd2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPStat2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd2_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd2_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd2_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd2_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat2_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat2_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat2_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat2_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet2_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet2_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet2_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet2_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg2_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg2_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg2_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg2_4 name=joystick master=0 server=0 proctype=remote
 #
 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
-p bufname=servoMobJASet3 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPCmd3 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPStat3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd3_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd3_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd3_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd3_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat3_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat3_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat3_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat3_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet3_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet3_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet3_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet3_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg3_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg3_2 name=joystick master=0 server=0 proctype=local
-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=servoMobJACmd3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJAStat3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJACfg3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJASet3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPCmd3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPStat3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd3_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd3_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd3_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd3_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat3_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat3_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat3_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat3_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet3_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet3_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet3_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet3_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg3_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg3_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg3_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg3_4 name=joystick master=0 server=0 proctype=remote
 #
 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
-p bufname=servoMobJASet4 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPCmd4 name=joystick master=0 server=0 proctype=local
-p bufname=servoSPStat4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd4_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd4_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd4_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACmd4_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat4_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat4_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat4_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJAStat4_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet4_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet4_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet4_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJASet4_4 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg4_1 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg4_2 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg4_3 name=joystick master=0 server=0 proctype=local
-p bufname=servoMisJACfg4_4 name=joystick master=0 server=0 proctype=local
+p bufname=servoMobJACmd4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJAStat4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJACfg4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMobJASet4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPCmd4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoSPStat4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd4_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd4_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd4_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACmd4_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat4_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat4_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat4_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJAStat4_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet4_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet4_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet4_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJASet4_4 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg4_1 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg4_2 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg4_3 name=joystick master=0 server=0 proctype=remote
+p bufname=servoMisJACfg4_4 name=joystick master=0 server=0 proctype=remote
 # 
-p bufname=joystickData name=joystick master=0 server=0 proctype=remote
+p bufname=joystickData name=joystick master=0 server=0 proctype=remote timeout=10
+#
+p bufname=trafficCtrlCmd1 name=joystick master=0 server=0 proctype=remote
+p bufname=trafficCtrlStat1 name=joystick master=0 server=0 proctype=remote
 
+
 #
 # moastErrorLog
 #

Modified: trunk/moast-bth/moast/etc/traffic.ini
===================================================================
--- trunk/moast-bth/moast/etc/traffic.ini	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/etc/traffic.ini	2007-09-04 17:50:51 UTC (rev 732)
@@ -6,8 +6,8 @@
 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
+PLATFORM_TYPE_3 = Talon
+PLATFORM_TYPE_4 = Talon
 
 [DM-compWorldDay2_250]
 UTM_START_POSE_1 = -44.81 22. -4 0 0 0
@@ -19,4 +19,22 @@
 PLATFORM_TYPE_3 = Zerg
 PLATFORM_TYPE_4 = Zerg
 
-
+[DM-Arda_250]
+UTM_START_POSE_1 = 74.96 -55.00 -0.525 0 0 0
+UTM_START_POSE_2 = 69.46 -55.00 -0.525 0 0 0
+UTM_START_POSE_3 = 63.96 -55.00 -0.525 0 0 0
+UTM_START_POSE_4 = 58.46 -55.00 -0.525 0 0 0
+UTM_START_POSE_5 = 52.96 -55.00 -0.525 0 0 0
+UTM_START_POSE_6 = 47.46 -55.00 -0.525 0 0 0
+UTM_START_POSE_7 = 41.96 -55.00 -0.525 0 0 0
+UTM_START_POSE_8 = 36.40 -55.00 -0.525 0 0 0
+UTM_START_POSE_9 = 30.96 -55.00 -0.525 0 0 0
+PLATFORM_TYPE_1 = Sedan
+PLATFORM_TYPE_2 = Sedan
+PLATFORM_TYPE_3 = Sedan
+PLATFORM_TYPE_4 = Sedan
+PLATFORM_TYPE_5 = Sedan
+PLATFORM_TYPE_6 = Sedan
+PLATFORM_TYPE_7 = Sedan
+PLATFORM_TYPE_8 = Sedan
+PLATFORM_TYPE_9 = Sedan

Modified: trunk/moast-bth/moast/include/moastTypes.hh
===================================================================
--- trunk/moast-bth/moast/include/moastTypes.hh	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/include/moastTypes.hh	2007-09-04 17:50:51 UTC (rev 732)
@@ -16,8 +16,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.8 $
-  $Date: 2007/06/28 12:02:35 $
+  $Revision: 1.9 $
+  $Date: 2007/08/29 18:26:25 $
   \endcode
 
   \author Fred Proctor
@@ -49,6 +49,36 @@
 #define MOAST_WORLD_NAME_LEN 80
 
 // Structures and classes that are shared among many NML channels
+//! steering mechanisms types
+typedef enum MOAST_STEER_TYPE {
+  MOAST_INVALID_STEER_TYPE=-1,
+  MOAST_SKID_STEER_TYPE,  
+  MOAST_ACKERMAN_STEER_TYPE,
+  MOAST_OMNI_STEER_TYPE,
+  MOAST_SUBMARINE_STEER_TYPE,
+  MOAST_ROTARY_WING_STEER_TYPE,
+  MOAST_FIXED_WING_STEER_TYPE,
+  MOAST_UNKNOWN_STEER_TYPE
+}moastSteerType;
+
+//! robot types
+typedef enum MOAST_ROBOT_TYPE {
+  MOAST_INVALID_ROBOT_TYPE=-1,
+  MOAST_GROUND_VEHICLE_TYPE,  
+  MOAST_NAUTIC_ROBOT_TYPE,
+  MOAST_AERIAL_ROBOT_TYPE,
+  MOAST_LEGGED_ROBOT_TYPE,
+  MOAST_UNKNOWN_ROBOT_TYPE
+}moastRobotType;
+
+//! Flipper definitions
+typedef enum MOAST_FLIPPER_TYPE {
+  MOAST_FR_FLIPPER_TYPE, //front right
+  MOAST_FL_FLIPPER_TYPE, //front left
+  MOAST_RR_FLIPPER_TYPE, //rear right
+  MOAST_RL_FLIPPER_TYPE  //rear left
+} moastFlipperType;
+
 ////////////////////////////////////////////////////////////////////
 /*! A point from a sensor may be represented with SensorPoint
     The default sensorLoc differs from the default dataLoc so that
@@ -227,6 +257,9 @@
 
 /*
   $Log: moastTypes.hh,v $
+  Revision 1.9  2007/08/29 18:26:25  dr_steveb
+  Added joystick control commands to the traffic cmd buffer and moved some constants to mostTypes
+
   Revision 1.8  2007/06/28 12:02:35  dr_steveb
   Changed location2d into a class from a structure
 

Modified: trunk/moast-bth/moast/include/servoMobJA.hh
===================================================================
--- trunk/moast-bth/moast/include/servoMobJA.hh	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/include/servoMobJA.hh	2007-09-04 17:50:51 UTC (rev 732)
@@ -19,9 +19,9 @@
   #include "moastNmlOffsets.hh"
 
   \code CVS Status:
-  $Author: cj_scrapper $
-  $Revision: 1.15 $
-  $Date: 2007/06/07 20:11:48 $
+  $Author: dr_steveb $
+  $Revision: 1.16 $
+  $Date: 2007/08/29 18:26:25 $
   \endcode
 
   \author Chris Scrapper 
@@ -67,36 +67,8 @@
 #define SERVO_MOB_JA_SET_GRD_VEH_TYPE     (SERVO_MOB_JA_SET_BASE + 2)
 #define SERVO_MOB_JA_SET_AIR_BOT_TYPE     (SERVO_MOB_JA_SET_BASE + 3)
 
-//! steering mechanisms types
-typedef enum MOAST_STEER_TYPE {
-  MOAST_INVALID_STEER_TYPE=-1,
-  MOAST_SKID_STEER_TYPE,  
-  MOAST_ACKERMAN_STEER_TYPE,
-  MOAST_OMNI_STEER_TYPE,
-  MOAST_SUBMARINE_STEER_TYPE,
-  MOAST_ROTARY_WING_STEER_TYPE,
-  MOAST_FIXED_WING_STEER_TYPE,
-  MOAST_UNKNOWN_STEER_TYPE
-}moastSteerType;
-
-//! steering mechanisms types
-typedef enum MOAST_ROBOT_TYPE {
-  MOAST_INVALID_ROBOT_TYPE=-1,
-  MOAST_GROUND_VEHICLE_TYPE,  
-  MOAST_NAUTIC_ROBOT_TYPE,
-  MOAST_AERIAL_ROBOT_TYPE,
-  MOAST_LEGGED_ROBOT_TYPE,
-  MOAST_UNKNOWN_ROBOT_TYPE
-}moastRobotType;
-
 //// Flippers messages
 #define SERVO_MOB_JA_FLIPPER_TYPE_MAX 4
-typedef enum MOAST_FLIPPER_TYPE {
-  MOAST_FR_FLIPPER_TYPE, //front right
-  MOAST_FL_FLIPPER_TYPE, //front left
-  MOAST_RR_FLIPPER_TYPE, //rear right
-  MOAST_RL_FLIPPER_TYPE  //rear left
-} moastFlipperType;
 
 typedef struct SERVO_MOB_JA_FLIPPER_SET
 {

Modified: trunk/moast-bth/moast/include/trafficCtrl.hh
===================================================================
--- trunk/moast-bth/moast/include/trafficCtrl.hh	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/include/trafficCtrl.hh	2007-09-04 17:50:51 UTC (rev 732)
@@ -19,8 +19,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.2 $
-  $Date: 2007/05/16 15:16:21 $
+  $Revision: 1.4 $
+  $Date: 2007/08/29 18:26:25 $
   \endcode
 
   \author Stephen Balakirsky
@@ -44,13 +44,20 @@
 #define TRAFFIC_CTRL_SET_BASE        (TRAFFIC_CTRL_BASE + 300)
 #define TRAFFIC_CTRL_ERROR_BASE      (TRAFFIC_CTRL_BASE + 400)
 
-#define TRAFFIC_CTRL_CMD_NOP_TYPE              (TRAFFIC_CTRL_CMD_BASE + 1)
-#define TRAFFIC_CTRL_CMD_INIT_TYPE             (TRAFFIC_CTRL_CMD_BASE + 2)
-#define TRAFFIC_CTRL_CMD_ABORT_TYPE            (TRAFFIC_CTRL_CMD_BASE + 3)
-#define TRAFFIC_CTRL_CMD_HALT_TYPE             (TRAFFIC_CTRL_CMD_BASE + 4)
-#define TRAFFIC_CTRL_CMD_SHUTDOWN_TYPE         (TRAFFIC_CTRL_CMD_BASE + 5)
-#define TRAFFIC_CTRL_CMD_MOVE_WAYPOINT_TYPE    (TRAFFIC_CTRL_CMD_BASE + 6)
-#define TRAFFIC_CTRL_CMD_STOP_TYPE             (TRAFFIC_CTRL_CMD_BASE + 7)
+#define TRAFFIC_CTRL_CMD_NOP_TYPE                 (TRAFFIC_CTRL_CMD_BASE + 1)
+#define TRAFFIC_CTRL_CMD_INIT_TYPE                (TRAFFIC_CTRL_CMD_BASE + 2)
+#define TRAFFIC_CTRL_CMD_ABORT_TYPE               (TRAFFIC_CTRL_CMD_BASE + 3)
+#define TRAFFIC_CTRL_CMD_HALT_TYPE                (TRAFFIC_CTRL_CMD_BASE + 4)
+#define TRAFFIC_CTRL_CMD_SHUTDOWN_TYPE            (TRAFFIC_CTRL_CMD_BASE + 5)
+#define TRAFFIC_CTRL_CMD_MOVE_WAYPOINT_TYPE       (TRAFFIC_CTRL_CMD_BASE + 6)
+#define TRAFFIC_CTRL_CMD_STOP_TYPE                (TRAFFIC_CTRL_CMD_BASE + 7)
+#define TRAFFIC_CTRL_CMD_MOVE_ARC_SEGMENT_TYPE    (TRAFFIC_CTRL_CMD_BASE + 8)
+#define TRAFFIC_CTRL_CMD_ACKERMAN_TYPE            (TRAFFIC_CTRL_CMD_BASE + 9)
+#define TRAFFIC_CTRL_CMD_SKID_TYPE                (TRAFFIC_CTRL_CMD_BASE + 10)
+#define TRAFFIC_CTRL_CMD_FLIP_SKID_TYPE           (TRAFFIC_CTRL_CMD_BASE + 11)
+#define TRAFFIC_CTRL_CMD_OMNI_TYPE                (TRAFFIC_CTRL_CMD_BASE + 12)
+#define TRAFFIC_CTRL_CMD_SUBMARINE_TYPE           (TRAFFIC_CTRL_CMD_BASE + 13)
+#define TRAFFIC_CTRL_CMD_ROTARY_WING_TYPE         (TRAFFIC_CTRL_CMD_BASE + 14)
 
 #define TRAFFIC_CTRL_STAT_TYPE       (TRAFFIC_CTRL_STAT_BASE + 1)
 
@@ -76,7 +83,6 @@
     (TRAFFIC_CTRL_CMD_INIT_TYPE,
      sizeof(TrafficCtrlCmdInit)) {};
   void update(CMS *);
-  int numTrafficVeh;
 };
 
 class TrafficCtrlCmdHalt:public RCS_CMD_MSG {
@@ -123,6 +129,115 @@
   // will now get 'int waypoint_length'
 };
 
+/*!
+  TrafficCtrlCmdMoveArcSegment NML message
+*/
+class TrafficCtrlCmdMoveArcSegment:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdMoveArcSegment():RCS_CMD_MSG
+  (TRAFFIC_CTRL_CMD_MOVE_ARC_SEGMENT_TYPE,
+   sizeof(TrafficCtrlCmdMoveArcSegment)) {};
+  void update(CMS *);
+  ArcSegment arcsegment[MAX_TRAFFIC_VEHICLES][MAX_ARC_SEGMENTS];
+  int arcsegment_length[MAX_TRAFFIC_VEHICLES];
+  int numVehicles;
+};
+
+typedef struct {
+  double wLeft;			// left wheel speed, [rad/s]
+  double wRight;		// right wheel speed, [rad/s]
+  int vehID;
+}TrafficCtrlSkid;
+
+class TrafficCtrlCmdSkid:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdSkid():RCS_CMD_MSG(TRAFFIC_CTRL_CMD_SKID_TYPE,
+				   sizeof(TrafficCtrlCmdSkid)) {};
+  void update(CMS *);
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlSkid, cmd, MAX_TRAFFIC_VEHICLES);
+};
+
+#define TRAFFIC_CTRL_FLIPPER_TYPE_MAX 4
+typedef struct TRAFFIC_CTRL_FLIPPER_MSG
+{
+  int vehID;
+  moastFlipperType fType;
+  double flipperAngle;
+}TrafficCtrlFlipperMsg;
+
+class TrafficCtrlCmdFlipSkid:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdFlipSkid():RCS_CMD_MSG(TRAFFIC_CTRL_CMD_FLIP_SKID_TYPE,
+				   sizeof(TrafficCtrlCmdFlipSkid)) {};
+  void update(CMS *); 
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlSkid, cmd, MAX_TRAFFIC_VEHICLES);
+  //! Cmds to control the angle of flippers on platform
+  //! fCmd_length == the number of flipper messages in array
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlFlipperMsg, fCmd, TRAFFIC_CTRL_FLIPPER_TYPE_MAX*MAX_TRAFFIC_VEHICLES);
+};
+
+typedef struct {
+  double propeller;
+  double rudder;
+  double sternPlane;
+  int vehID;
+}TrafficCtrlSubmarine;
+
+class TrafficCtrlCmdSubmarine:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdSubmarine():RCS_CMD_MSG(TRAFFIC_CTRL_CMD_SUBMARINE_TYPE,
+				   sizeof(TrafficCtrlCmdSubmarine)) {};
+  void update(CMS *);
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlSubmarine, cmd, MAX_TRAFFIC_VEHICLES);
+};
+
+typedef struct {
+  double velocity;	// linear velocity  [rads/s]
+  double steerAngle;    // steering angle of front tire [rads]
+  double crabAngle;     // steering angle of rear tire [rads]
+  int vehID;
+}TrafficCtrlAckerman;
+
+class TrafficCtrlCmdAckerman:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdAckerman():RCS_CMD_MSG(TRAFFIC_CTRL_CMD_ACKERMAN_TYPE,
+				   sizeof(TrafficCtrlCmdAckerman)) {};
+  void update(CMS *);
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlAckerman, cmd, MAX_TRAFFIC_VEHICLES);
+
+};
+
+typedef struct {
+  double vLinear;     //linear velocity [rads/s]
+  double vLateral;    //lateral velocity [rads/s]
+  double rot;           //rotational velocity [rads/s]
+  int vehID;
+}TrafficCtrlOmni;
+
+class TrafficCtrlCmdOmni:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdOmni():RCS_CMD_MSG(TRAFFIC_CTRL_CMD_OMNI_TYPE,
+				   sizeof(TrafficCtrlCmdOmni)) {};
+  void update(CMS *);
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlOmni, cmd, MAX_TRAFFIC_VEHICLES);
+};
+
+typedef struct {
+  double vLinear;     //linear velocity
+  double vLateral;    //lateral velocity 
+  double vVertical;   //Vertical Velocity
+  double vRotation;   //Rotational Velocity
+  int vehID;
+}TrafficCtrlRotary;
+
+class TrafficCtrlCmdRotaryWing:public RCS_CMD_MSG {
+public:
+  TrafficCtrlCmdRotaryWing():RCS_CMD_MSG(TRAFFIC_CTRL_CMD_ROTARY_WING_TYPE,
+				   sizeof(TrafficCtrlCmdRotaryWing)) {};
+  void update(CMS *);
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(TrafficCtrlRotary, cmd, MAX_TRAFFIC_VEHICLES);
+};
+
 class TrafficCtrlCmdStop:public RCS_CMD_MSG {
 public:
   TrafficCtrlCmdStop():RCS_CMD_MSG
@@ -220,6 +335,8 @@
   // value of angular deviation above which angular speed is clamped
   // to wmax
   double wCutoffAngle;		// [rad]
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(int, steerType, MAX_TRAFFIC_VEHICLES);
+  // will now get 'int steerType_length'
 };
 extern int trafficCtrl_format(NMLTYPE type, void *buf, CMS * cms);
 extern const char *trafficCtrl_symbol_lookup(long type);
@@ -229,6 +346,12 @@
   Modification history:
 
   $Log: trafficCtrl.hh,v $
+  Revision 1.4  2007/08/29 18:26:25  dr_steveb
+  Added joystick control commands to the traffic cmd buffer and moved some constants to mostTypes
+
+  Revision 1.3  2007/08/23 13:11:55  dr_steveb
+  Added arc segment control of traffic (per zeid)
+
   Revision 1.2  2007/05/16 15:16:21  dr_steveb
   Fixed location of state printing routines to remove compile warnings.
 

Modified: trunk/moast-bth/moast/src/nml/moastTypes.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/moastTypes.cc	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/src/nml/moastTypes.cc	2007-09-04 17:50:51 UTC (rev 732)
@@ -29,7 +29,7 @@
 /*
 *	Initializer for ArcSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:57 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void initialize_ArcSegment(ArcSegment* x)
 {
@@ -43,7 +43,7 @@
 /*
 *	Initializer for Waypoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void initialize_Waypoint(Waypoint* x)
 {
@@ -56,7 +56,7 @@
 /*
 *	Initializer for constrainedDouble
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void initialize_constrainedDouble(constrainedDouble* x)
 {
@@ -69,7 +69,7 @@
 /*
 *	Initializer for constrainedFloat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void initialize_constrainedFloat(constrainedFloat* x)
 {
@@ -82,7 +82,7 @@
 /*
 *	Initializer for constrainedInt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void initialize_constrainedInt(constrainedInt* x)
 {
@@ -113,25 +113,175 @@
 
 // Enumerated Type Constants
 
-// anonymous_enum_______include_moastTypes_hh_180
-#ifndef MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_STRING_LENGTH
-#define MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_STRING_LENGTH 17
+// moastSteerType
+#ifndef MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH
+#define MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH 29
 #endif
-#ifndef ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_LENGTH
-#define ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_LENGTH 3
+#ifndef ENUM_MOASTSTEERTYPE_LENGTH
+#define ENUM_MOASTSTEERTYPE_LENGTH 9
 #endif
 
-static const char enum_anonymous_enum_______include_moastTypes_hh_180_string_list[ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_LENGTH][MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_STRING_LENGTH]= {
+static const char enum_moastSteerType_string_list[ENUM_MOASTSTEERTYPE_LENGTH][MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH]= {
+	"MOAST_ACKERMAN_STEER_TYPE", /* 0,1 */
+	"MOAST_FIXED_WING_STEER_TYPE", /* 1,5 */
+	"MOAST_INVALID_STEER_TYPE", /* 2,-1 */
+	"MOAST_OMNI_STEER_TYPE", /* 3,2 */
+	"MOAST_ROTARY_WING_STEER_TYPE", /* 4,4 */
+	"MOAST_SKID_STEER_TYPE", /* 5,0 */
+	"MOAST_SUBMARINE_STEER_TYPE", /* 6,3 */
+	"MOAST_UNKNOWN_STEER_TYPE", /* 7,6 */
+	""};
+
+static const int enum_moastSteerType_int_list[ENUM_MOASTSTEERTYPE_LENGTH]= {
+	MOAST_ACKERMAN_STEER_TYPE, /* 0,1 */
+	MOAST_FIXED_WING_STEER_TYPE, /* 1,5 */
+	MOAST_INVALID_STEER_TYPE, /* 2,-1 */
+	MOAST_OMNI_STEER_TYPE, /* 3,2 */
+	MOAST_ROTARY_WING_STEER_TYPE, /* 4,4 */
+	MOAST_SKID_STEER_TYPE, /* 5,0 */
+	MOAST_SUBMARINE_STEER_TYPE, /* 6,3 */
+	MOAST_UNKNOWN_STEER_TYPE, /* 7,6 */
+	};
+
+const char *moastTypes_enum_moastSteerType_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_ACKERMAN_STEER_TYPE: return("MOAST_ACKERMAN_STEER_TYPE"); /* 1 */
+		case MOAST_FIXED_WING_STEER_TYPE: return("MOAST_FIXED_WING_STEER_TYPE"); /* 5 */
+		case MOAST_INVALID_STEER_TYPE: return("MOAST_INVALID_STEER_TYPE"); /* -1 */
+		case MOAST_OMNI_STEER_TYPE: return("MOAST_OMNI_STEER_TYPE"); /* 2 */
+		case MOAST_ROTARY_WING_STEER_TYPE: return("MOAST_ROTARY_WING_STEER_TYPE"); /* 4 */
+		case MOAST_SKID_STEER_TYPE: return("MOAST_SKID_STEER_TYPE"); /* 0 */
+		case MOAST_SUBMARINE_STEER_TYPE: return("MOAST_SUBMARINE_STEER_TYPE"); /* 3 */
+		case MOAST_UNKNOWN_STEER_TYPE: return("MOAST_UNKNOWN_STEER_TYPE"); /* 6 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_moastSteerType_info_struct={
+	"moastSteerType",
+	(const char **)enum_moastSteerType_string_list,
+	enum_moastSteerType_int_list,
+	MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH,
+	ENUM_MOASTSTEERTYPE_LENGTH,
+	(cms_symbol_lookup_function_t)moastTypes_enum_moastSteerType_symbol_lookup
+	};
+
+// moastFlipperType
+#ifndef MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH
+#define MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH 22
+#endif
+#ifndef ENUM_MOASTFLIPPERTYPE_LENGTH
+#define ENUM_MOASTFLIPPERTYPE_LENGTH 5
+#endif
+
+static const char enum_moastFlipperType_string_list[ENUM_MOASTFLIPPERTYPE_LENGTH][MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH]= {
+	"MOAST_FL_FLIPPER_TYPE", /* 0,1 */
+	"MOAST_FR_FLIPPER_TYPE", /* 1,0 */
+	"MOAST_RL_FLIPPER_TYPE", /* 2,3 */
+	"MOAST_RR_FLIPPER_TYPE", /* 3,2 */
+	""};
+
+static const int enum_moastFlipperType_int_list[ENUM_MOASTFLIPPERTYPE_LENGTH]= {
+	MOAST_FL_FLIPPER_TYPE, /* 0,1 */
+	MOAST_FR_FLIPPER_TYPE, /* 1,0 */
+	MOAST_RL_FLIPPER_TYPE, /* 2,3 */
+	MOAST_RR_FLIPPER_TYPE, /* 3,2 */
+	};
+
+const char *moastTypes_enum_moastFlipperType_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_FL_FLIPPER_TYPE: return("MOAST_FL_FLIPPER_TYPE"); /* 1 */
+		case MOAST_FR_FLIPPER_TYPE: return("MOAST_FR_FLIPPER_TYPE"); /* 0 */
+		case MOAST_RL_FLIPPER_TYPE: return("MOAST_RL_FLIPPER_TYPE"); /* 3 */
+		case MOAST_RR_FLIPPER_TYPE: return("MOAST_RR_FLIPPER_TYPE"); /* 2 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_moastFlipperType_info_struct={
+	"moastFlipperType",
+	(const char **)enum_moastFlipperType_string_list,
+	enum_moastFlipperType_int_list,
+	MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH,
+	ENUM_MOASTFLIPPERTYPE_LENGTH,
+	(cms_symbol_lookup_function_t)moastTypes_enum_moastFlipperType_symbol_lookup
+	};
+
+// moastRobotType
+#ifndef MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH
+#define MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH 26
+#endif
+#ifndef ENUM_MOASTROBOTTYPE_LENGTH
+#define ENUM_MOASTROBOTTYPE_LENGTH 7
+#endif
+
+static const char enum_moastRobotType_string_list[ENUM_MOASTROBOTTYPE_LENGTH][MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH]= {
+	"MOAST_AERIAL_ROBOT_TYPE", /* 0,2 */
+	"MOAST_GROUND_VEHICLE_TYPE", /* 1,0 */
+	"MOAST_INVALID_ROBOT_TYPE", /* 2,-1 */
+	"MOAST_LEGGED_ROBOT_TYPE", /* 3,3 */
+	"MOAST_NAUTIC_ROBOT_TYPE", /* 4,1 */
+	"MOAST_UNKNOWN_ROBOT_TYPE", /* 5,4 */
+	""};
+
+static const int enum_moastRobotType_int_list[ENUM_MOASTROBOTTYPE_LENGTH]= {
+	MOAST_AERIAL_ROBOT_TYPE, /* 0,2 */
+	MOAST_GROUND_VEHICLE_TYPE, /* 1,0 */
+	MOAST_INVALID_ROBOT_TYPE, /* 2,-1 */
+	MOAST_LEGGED_ROBOT_TYPE, /* 3,3 */
+	MOAST_NAUTIC_ROBOT_TYPE, /* 4,1 */
+	MOAST_UNKNOWN_ROBOT_TYPE, /* 5,4 */
+	};
+
+const char *moastTypes_enum_moastRobotType_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_AERIAL_ROBOT_TYPE: return("MOAST_AERIAL_ROBOT_TYPE"); /* 2 */
+		case MOAST_GROUND_VEHICLE_TYPE: return("MOAST_GROUND_VEHICLE_TYPE"); /* 0 */
+		case MOAST_INVALID_ROBOT_TYPE: return("MOAST_INVALID_ROBOT_TYPE"); /* -1 */
+		case MOAST_LEGGED_ROBOT_TYPE: return("MOAST_LEGGED_ROBOT_TYPE"); /* 3 */
+		case MOAST_NAUTIC_ROBOT_TYPE: return("MOAST_NAUTIC_ROBOT_TYPE"); /* 1 */
+		case MOAST_UNKNOWN_ROBOT_TYPE: return("MOAST_UNKNOWN_ROBOT_TYPE"); /* 4 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_moastRobotType_info_struct={
+	"moastRobotType",
+	(const char **)enum_moastRobotType_string_list,
+	enum_moastRobotType_int_list,
+	MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH,
+	ENUM_MOASTROBOTTYPE_LENGTH,
+	(cms_symbol_lookup_function_t)moastTypes_enum_moastRobotType_symbol_lookup
+	};
+
+// anonymous_enum_______include_moastTypes_hh_210
+#ifndef MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH
+#define MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH 17
+#endif
+#ifndef ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH
+#define ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH 3
+#endif
+
+static const char enum_anonymous_enum_______include_moastTypes_hh_210_string_list[ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH][MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH]= {
 	"MOAST_ROTATE_CCW", /* 0,1 */
 	"MOAST_ROTATE_CW", /* 1,0 */
 	""};
 
-static const int enum_anonymous_enum_______include_moastTypes_hh_180_int_list[ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_LENGTH]= {
+static const int enum_anonymous_enum_______include_moastTypes_hh_210_int_list[ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH]= {
 	MOAST_ROTATE_CCW, /* 0,1 */
 	MOAST_ROTATE_CW, /* 1,0 */
 	};
 
-const char *moastTypes_enum_anonymous_enum_______include_moastTypes_hh_180_symbol_lookup(long v)
+const char *moastTypes_enum_anonymous_enum_______include_moastTypes_hh_210_symbol_lookup(long v)
 {
 	switch(v)
 	{
@@ -142,13 +292,13 @@
 	return("!!UNDEFINED_SYMBOL!!");
 }
 
-static const struct cms_enum_info enum_anonymous_enum_______include_moastTypes_hh_180_info_struct={
-	"anonymous_enum_______include_moastTypes_hh_180",
-	(const char **)enum_anonymous_enum_______include_moastTypes_hh_180_string_list,
-	enum_anonymous_enum_______include_moastTypes_hh_180_int_list,
-	MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_STRING_LENGTH,
-	ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_180_LENGTH,
-	(cms_symbol_lookup_function_t)moastTypes_enum_anonymous_enum_______include_moastTypes_hh_180_symbol_lookup
+static const struct cms_enum_info enum_anonymous_enum_______include_moastTypes_hh_210_info_struct={
+	"anonymous_enum_______include_moastTypes_hh_210",
+	(const char **)enum_anonymous_enum_______include_moastTypes_hh_210_string_list,
+	enum_anonymous_enum_______include_moastTypes_hh_210_int_list,
+	MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH,
+	ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH,
+	(cms_symbol_lookup_function_t)moastTypes_enum_anonymous_enum_______include_moastTypes_hh_210_symbol_lookup
 	};
 
 /*
@@ -165,7 +315,7 @@
 /*
 *	NML/CMS Format function : moastTypes_format
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 int moastTypes_format(NMLTYPE type, void *buffer, CMS *cms)
 {
@@ -202,7 +352,7 @@
 /*
 *	NML/CMS Update function for ArcSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,ArcSegment *x)
 {
@@ -224,7 +374,7 @@
 /*
 *	NML/CMS Update function for LineSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,LineSegment *x)
 {
@@ -246,7 +396,7 @@
 /*
 *	NML/CMS Update function for Location2D
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,Location2D *x)
 {
@@ -263,7 +413,7 @@
 /*
 *	NML/CMS Update function for SensorPoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,SensorPoint *x)
 {
@@ -281,7 +431,7 @@
 /*
 *	NML/CMS Update function for Waypoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,Waypoint *x)
 {
@@ -300,7 +450,7 @@
 /*
 *	NML/CMS Update function for constrainedDouble
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,constrainedDouble *x)
 {
@@ -318,7 +468,7 @@
 /*
 *	NML/CMS Update function for constrainedFloat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,constrainedFloat *x)
 {
@@ -336,7 +486,7 @@
 /*
 *	NML/CMS Update function for constrainedInt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 28 08:00:58 EDT 2007
+*	on Mon Aug 27 16:44:40 EDT 2007
 */
 void nmlupdate(CMS *cms,constrainedInt *x)
 {

Modified: trunk/moast-bth/moast/src/nml/servoMobJA.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/servoMobJA.cc	2007-09-04 16:02:50 UTC (rev 731)
+++ trunk/moast-bth/moast/src/nml/servoMobJA.cc	2007-09-04 17:50:51 UTC (rev 732)
@@ -20,7 +20,7 @@
 /*
 *	Initializer for ServoMobJAFlipperMsg
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 07 13:36:18 EDT 2007
+*	on Mon Aug 27 16:44:41 EDT 2007
 */
 void initialize_ServoMobJAFlipperMsg(ServoMobJAFlipperMsg* x)
 {
@@ -32,7 +32,7 @@
 /*
 *	Initializer for ServoMobJAFlipperSet
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Thu Jun 07 13:36:18 EDT 2007
+*	on Mon Aug 27 16:44:41 EDT 2007
 */
 void initialize_ServoMobJAFlipperSet(ServoMobJAFlipperSet* x)
 {
@@ -166,7 +166,7 @@
 		case MOAST_UNKNOWN_STEER_TYPE: return("MOAST_UNKNOWN_STEER_TYPE"); /* 6 */
 		default:break;
 	}
-	return(NULL);
+	return("!!UNDEFINED_SYMBOL!!");
 }
 
 static const struct cms_enum_info enum_moastSteerType_info_struct={
@@ -210,7 +210,7 @@
 		case RCS_ADMIN_ZERO: return("RCS_ADMIN_ZERO"); /* 0 */
 		default:break;
 	}
-	return(NULL);
+	return("!!UNDEFINED_SYMBOL!!");
 }
 

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Tue Sep  4 13:52:59 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 4 Sep 2007 13:52:59 -0400
Subject: [TeamTalk 197]: [733] trunk/usarsim/System/Makefile: Moved
 treasurehunt zip file to root directory so that components would all be in
 subdirectories .
Message-ID: <200709041752.l84HqxUK032476@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070904/ec0234fa/attachment.html
-------------- next part --------------
Modified: trunk/usarsim/System/Makefile
===================================================================
--- trunk/usarsim/System/Makefile	2007-09-04 17:50:51 UTC (rev 732)
+++ trunk/usarsim/System/Makefile	2007-09-04 17:52:59 UTC (rev 733)
@@ -45,7 +45,7 @@
          $(INSTALL_TEXTURES) $(INSTALL_STATICMESHES)
 
 package:
-	cd $(INSTALL_SYS); zip -u TreasureHunt.zip $(PACKAGES) $(MAPS) $(TEXTURES) $(STATICMESHES)
+	cd $(INSTALL_DIR); echo $(PACKAGES) $(MAPS) $(TEXTURES) $(STATICMESHES) | sed 's/\.\.\///g' | xargs zip -u TreasureHunt.zip 
 
 $(INSTALL_DIR)/%:../%
 	cp -f $< $@

From tk at edam.speech.cs.cmu.edu  Tue Sep  4 14:30:47 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 4 Sep 2007 14:30:47 -0400
Subject: [TeamTalk 198]: [734]
 trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder: Fixed
 some javadoc errors.
Message-ID: <200709041830.l84IUlGY032673@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070904/f3334a00/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-09-04 17:52:59 UTC (rev 733)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-09-04 18:30:46 UTC (rev 734)
@@ -152,7 +152,7 @@
   
   /**
    * bots are iconified as triangles
-   * @return an isocelese triangle, length 80cm, width 48cm, as an
+   * makes an isocelese triangle, length 80cm, width 48cm, as an
    * AWT Shape
    */
   protected void makeIcon() {

Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java	2007-09-04 17:52:59 UTC (rev 733)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvasListener.java	2007-09-04 18:30:46 UTC (rev 734)
@@ -126,7 +126,7 @@
     
     /**
      * Set the current tool.
-     * @param The new tool.
+     * @param tool The new tool.
      */
     public void setTool(Tool tool) {
         this.tool = tool;

Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java	2007-09-04 17:52:59 UTC (rev 733)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/ObjShape.java	2007-09-04 18:30:46 UTC (rev 734)
@@ -95,7 +95,7 @@
   
   /**
    * objects are iconified as circles
-   * @return an isocelese triangle, length 80cm, width 48cm, as an
+   * makes an isocelese triangle, length 80cm, width 48cm, as an
    * AWT Shape
    */
   protected void makeIcon() {
@@ -188,7 +188,6 @@
    * Also builds the uncertainty ring and the transparency values
    * @param x x coordinate of robot's frame location (in centimeters)
    * @param y y coordinate of robot's frmae location (in centimeters)
-   * @param rad direction of robots frame relative to the map's frame
    */
   public void setLocation(float x, float y) {
     if(this.x != x || this.y != y || this.rad != rad) {

From tk at edam.speech.cs.cmu.edu  Tue Sep  4 14:39:17 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 4 Sep 2007 14:39:17 -0400
Subject: [TeamTalk 199]: [735] trunk/TeamTalk: 1) create-source-image.pl and
 ManageSSRepo. pm are no longer needed since repository is not longer
 SourceSafe.
Message-ID: <200709041839.l84IdHvT032688@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070904/d2debb3d/attachment.html
-------------- next part --------------
Deleted: trunk/TeamTalk/ManageSSRepo.pm
===================================================================
--- trunk/TeamTalk/ManageSSRepo.pm	2007-09-04 18:30:46 UTC (rev 734)
+++ trunk/TeamTalk/ManageSSRepo.pm	2007-09-04 18:39:17 UTC (rev 735)
@@ -1,76 +0,0 @@
-#!/bin/perl
-
-#makes a source image of everything in this directory and names it with the arg
-
-#WARNING: may not re-entrant
-# todo:
-#   convert to OLE, see http://search.cpan.org/src/BPRUDENT/VSS-1.0.4/lib/VSS.pm
-#   add comments
-
-package ManageSSRepo;
-
-use IPC::Open3;
-use strict;
-
-my $BANNER = "ManageSSRepo Tool.$/" .
-    "Thomas Harris <tkharris\@cs.cmu.edu>";
-
-sub new {
-  my ($class, $self) = @_;
-  bless($self, $class);
-  $self->{'SSREPO'} = $ENV{'SSDIR'} if !$self->{'SSREPO'};
-  die "Environment variable SSDIR must point to a SourceSafe repository." 
-      unless $self->{'SSREPO'};
-  $self->{'SSHOME'} = $ENV{'SS_HOME'} if !$self->{'SSHOME'};
-  die "Environment variable SS_HOME must point to where SS.EXE is located."
-      unless $self->{'SSHOME'};
-  $ENV{'SSDIR'} = $self->{'SSREPO'};
-  $self->{'SSCMD'} = $self->{'SSHOME'} =~ /^\"/? $self->{'SSHOME'}: "\"$self->{'SSHOME'}\"";
-  $self->{'SSCMD'} =~ s/\"$/\\ss.exe\"/;
-
-  if($self->{'LOGDATE'}) {
-      my ($blah, $blah, $blah, $mday, $mon, $year) = localtime;
-      $self->{'LOGDATE'} = sprintf('%d-%d-%d~%s', $mon+1, $mday, $year+1900, $self->{'LOGDATE'});
-  }
-
-  print STDERR "$BANNER$/$/".
-      "SourceSafe repository: $self->{'SSREPO'}$/" .
-      "SourceSafe directory : $self->{'SSHOME'}$/";
-  print STDERR "SSCMD = $self->{SSCMD}$/" if $self->{'DEBUG'};
-  
-  return $self;
-}
-
-sub getSSProject {
-  my $self = shift;
-  my ($project, $wfile) = @_;
-
-  my @dirs = split /\\/, $wfile;
-  for(my $i=0; $i<$#dirs; $i++) {
-    mkdir join('\\', @dirs[0..$i]);
-  }
-  if($dirs[$#dirs] =~ /\./) { #poor man's isRegularFile()
-    $wfile = join('\\', @dirs[0..$#dirs-1]);
-  } else {
-    mkdir $wfile;
-  }
-  my $cmd = "$self->{'SSCMD'} Get \$/$project -GTM -W -I- -GL\"$wfile\" -R";
-  print STDERR $cmd, $/ if $self->{'DEBUG'};
-  my $out = `$cmd`;
-  print STDERR $out, $/ if $self->{'DEBUG'};
-
-  if($self->{'LOGDATE'}) {
-      my $cmd = "$self->{'SSCMD'} history \$/$project -I- -R -Vd$self->{'LOGDATE'}";
-      local(*HIS_IN, *HIS_OUT, *HIS_ERR);
-      my $childpid = open3(*HIS_IN, *HIS_OUT, *HIS_ERR, $cmd);
-      close(HIS_IN);
-      my @outlines = <HIS_OUT>;
-      my @errlines = <HIS_ERR>;
-      print @outlines if grep /Version \d/, @outlines;
-      close(HIS_OUT);
-      close(HIS_ERR);
-      waitpid($childpid, 0);
-  }
-}
-
-1;

Deleted: trunk/TeamTalk/create-source-image.pl
===================================================================
--- trunk/TeamTalk/create-source-image.pl	2007-09-04 18:30:46 UTC (rev 734)
+++ trunk/TeamTalk/create-source-image.pl	2007-09-04 18:39:17 UTC (rev 735)
@@ -1,90 +0,0 @@
-#!/bin/perl
-
-#makes a source image of everything in this directory and names it with the arg
-
-use ManageSSRepo;
-use File::Find;
-use File::Path;
-use File::Copy;
-use File::Spec;
-use strict;
-
-my $LOGDATE = shift; #log changes since logdate
-die "Please set the environment variable 'SS_HOME' to the location of VSS.$/".
-    "i.e. set SS_HOME=C:\\Program Files\\Microsoft Visual Studio\\VSS\\win32." if !$ENV{'SS_HOME'};
-
-my $DEBUG = 1;
-my $SSREPO = '\\\\bar\\communicator\\CommSrcArch';
-#my $SSHOME = '/cygdrive/c\\Program Files\\Microsoft Visual Studio\\VSS\\win32';
-my ($blah, $blah, $blah, $mday, $mon, $year) = localtime;
-my $timestr = sprintf('%4d-%s-%02d', $year+1900, ('Jan','Feb','Mar','Apr','May','Jun','Jul','Aug','Sep','Oct','Nov','Dec')[$mon], $mday);
-my $TARGET = "TeamTalk";
-my %SSPROJ; 
-foreach ('Helios3', 'Kalliope', 'NlgServer2', 'Phoenix2', 'ProcessMonitor', 'Ravenclaw') {
-  $SSPROJ{"CommonAgents-2005/$_"} = "$TARGET\\Agents\\$_";
-}
-foreach ('Audio_Server', 'Sphinx_Engine') {
-  $SSPROJ{"CommonAgents-2005/MultiDecoder/$_"} = "$TARGET\\Agents\\MultiDecoder\\$_";
-}
-
-my $ssmanager = ManageSSRepo->new({'SSREPO' => $SSREPO, 'DEBUG' => 1, 'LOGDATE' => $LOGDATE});
-
-#get each project
-foreach (keys %SSPROJ) {
-  $ssmanager->getSSProject($_, $SSPROJ{$_});
-}
-
-#also copy a couple externals
-
-
-#create some useful empty directories
-for('bin', 'bin/x86-nt', 'logs', 'ExternalLibraries', 'ExternalLibraries/Galaxy', 'ExternalLibraries/sphinx2') {
-  mkdir "$TARGET/$_";
-}
-
-sub printstat {
-    my $serve = shift;
-    my $size = 100;
-    my $i;
-    my $len = length($serve);
-    if ($len > $size) {
-	print STDERR "\r~", substr($serve, $len-$size+1);
-    } else {
-	print STDERR "\r", $serve;
-	for($i = $len; $i<$size; $i++) {
-	    print STDERR ' ';
-	}
-    }
-}
-
-#write to zip
-open(FILES, "|zip ${TARGET}-supplement.zip -q@");
-my $CANONTARGET = File::Spec->rel2abs($TARGET);
-print STDERR "copying...$/";
-find({wanted => sub {
-    if ($_ ne '.' && $_ ne '..') {
-	if (-d) {
-	    mkdir File::Spec->catdir($CANONTARGET, $File::Find::name);
-	} else {
-	    printstat $File::Find::name;
-	    copy($_, File::Spec->catdir($CANONTARGET, $File::Find::dir)) || die "Can't copy $_ to ", File::Spec->catdir($CANONTARGET, $File::Find::dir), $/;
-	}
-    }
-}, preprocess => sub {grep(!/\.pch$/, grep (!/\.obj$/, @_));}}, 'ExternalLibraries/Galaxy', 'ExternalLibraries/sphinx2');
-print STDERR $/;
-print STDERR "zipping...$/";  
-find({wanted => sub {
-    if ($_ ne '.' && $_ ne '..') {
-	#printstat $File::Find::name;
-	print FILES $File::Find::name, $/;
-    }
-}
-  }, $TARGET);
-#print STDERR $/;
-close FILES;
-
-#clean-up
-print STDERR "cleaning up...$/";
-rmtree $TARGET, 0, 0;
-
-

Deleted: trunk/TeamTalk/developer-install-guide.txt
===================================================================
--- trunk/TeamTalk/developer-install-guide.txt	2007-09-04 18:30:46 UTC (rev 734)
+++ trunk/TeamTalk/developer-install-guide.txt	2007-09-04 18:39:17 UTC (rev 735)
@@ -1,34 +0,0 @@
-1. Only runs on windows
-
-2. You'll need 
-
-msvc++ .net, 
-activestate perl, 
-msvss 6.0, install as custom, unselect create ss db and unselect
-network client setup. In order to connect to the sourcesafe db, you
-have to mount \\bar\communicator to a drive or directory. Select
-\\bar\communicator\CommSrcArch\srcsafe.ini as your database.
-
-3. get ravenclaw distribution You can get it at:
-   \\gs3089.sp.cs.cmu.edu\RavenClawDistribution
-
-from J...
-works but for some it doesn't 
-open.. lemme know if this is the case.
-
-If it does open, copy ConvertProj.zip to your pc, unzip it to a temp 
-folder, and then follow the install instructions inside install.txt. Let me 
-know if anything goes wrong asap!
-
-J
-
-You should name your project 'zap2'. I think there are name dependancies.
-
-4. set the SourceSafe zap2 working directory to whatever\zap2
-
-5. get the latest zap2 recursive, overwrite everything
-
-6. open whatever\zap2\agents\zap2dm\zap2dm.sln
-
-7. batch build
-

From bfrisch at edam.speech.cs.cmu.edu  Tue Sep  4 17:28:03 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Tue, 4 Sep 2007 17:28:03 -0400
Subject: [TeamTalk 200]: [736] tags/BTH-0.2/TeamTalk: 1) Deleting outdated
 files from BTH-0. 2 Tag as well.
Message-ID: <200709042128.l84LS3HL000407@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070904/b0403ade/attachment-0001.html
-------------- next part --------------
Deleted: tags/BTH-0.2/TeamTalk/ManageSSRepo.pm
===================================================================
--- tags/BTH-0.2/TeamTalk/ManageSSRepo.pm	2007-09-04 18:39:17 UTC (rev 735)
+++ tags/BTH-0.2/TeamTalk/ManageSSRepo.pm	2007-09-04 21:28:03 UTC (rev 736)
@@ -1,76 +0,0 @@
-#!/bin/perl
-
-#makes a source image of everything in this directory and names it with the arg
-
-#WARNING: may not re-entrant
-# todo:
-#   convert to OLE, see http://search.cpan.org/src/BPRUDENT/VSS-1.0.4/lib/VSS.pm
-#   add comments
-
-package ManageSSRepo;
-
-use IPC::Open3;
-use strict;
-
-my $BANNER = "ManageSSRepo Tool.$/" .
-    "Thomas Harris <tkharris\@cs.cmu.edu>";
-
-sub new {
-  my ($class, $self) = @_;
-  bless($self, $class);
-  $self->{'SSREPO'} = $ENV{'SSDIR'} if !$self->{'SSREPO'};
-  die "Environment variable SSDIR must point to a SourceSafe repository." 
-      unless $self->{'SSREPO'};
-  $self->{'SSHOME'} = $ENV{'SS_HOME'} if !$self->{'SSHOME'};
-  die "Environment variable SS_HOME must point to where SS.EXE is located."
-      unless $self->{'SSHOME'};
-  $ENV{'SSDIR'} = $self->{'SSREPO'};
-  $self->{'SSCMD'} = $self->{'SSHOME'} =~ /^\"/? $self->{'SSHOME'}: "\"$self->{'SSHOME'}\"";
-  $self->{'SSCMD'} =~ s/\"$/\\ss.exe\"/;
-
-  if($self->{'LOGDATE'}) {
-      my ($blah, $blah, $blah, $mday, $mon, $year) = localtime;
-      $self->{'LOGDATE'} = sprintf('%d-%d-%d~%s', $mon+1, $mday, $year+1900, $self->{'LOGDATE'});
-  }
-
-  print STDERR "$BANNER$/$/".
-      "SourceSafe repository: $self->{'SSREPO'}$/" .
-      "SourceSafe directory : $self->{'SSHOME'}$/";
-  print STDERR "SSCMD = $self->{SSCMD}$/" if $self->{'DEBUG'};
-  
-  return $self;
-}
-
-sub getSSProject {
-  my $self = shift;
-  my ($project, $wfile) = @_;
-
-  my @dirs = split /\\/, $wfile;
-  for(my $i=0; $i<$#dirs; $i++) {
-    mkdir join('\\', @dirs[0..$i]);
-  }
-  if($dirs[$#dirs] =~ /\./) { #poor man's isRegularFile()
-    $wfile = join('\\', @dirs[0..$#dirs-1]);
-  } else {
-    mkdir $wfile;
-  }
-  my $cmd = "$self->{'SSCMD'} Get \$/$project -GTM -W -I- -GL\"$wfile\" -R";
-  print STDERR $cmd, $/ if $self->{'DEBUG'};
-  my $out = `$cmd`;
-  print STDERR $out, $/ if $self->{'DEBUG'};
-
-  if($self->{'LOGDATE'}) {
-      my $cmd = "$self->{'SSCMD'} history \$/$project -I- -R -Vd$self->{'LOGDATE'}";
-      local(*HIS_IN, *HIS_OUT, *HIS_ERR);
-      my $childpid = open3(*HIS_IN, *HIS_OUT, *HIS_ERR, $cmd);
-      close(HIS_IN);
-      my @outlines = <HIS_OUT>;
-      my @errlines = <HIS_ERR>;
-      print @outlines if grep /Version \d/, @outlines;
-      close(HIS_OUT);
-      close(HIS_ERR);
-      waitpid($childpid, 0);
-  }
-}
-
-1;

Deleted: tags/BTH-0.2/TeamTalk/create-source-image.pl
===================================================================
--- tags/BTH-0.2/TeamTalk/create-source-image.pl	2007-09-04 18:39:17 UTC (rev 735)
+++ tags/BTH-0.2/TeamTalk/create-source-image.pl	2007-09-04 21:28:03 UTC (rev 736)
@@ -1,90 +0,0 @@
-#!/bin/perl
-
-#makes a source image of everything in this directory and names it with the arg
-
-use ManageSSRepo;
-use File::Find;
-use File::Path;
-use File::Copy;
-use File::Spec;
-use strict;
-
-my $LOGDATE = shift; #log changes since logdate
-die "Please set the environment variable 'SS_HOME' to the location of VSS.$/".
-    "i.e. set SS_HOME=C:\\Program Files\\Microsoft Visual Studio\\VSS\\win32." if !$ENV{'SS_HOME'};
-
-my $DEBUG = 1;
-my $SSREPO = '\\\\bar\\communicator\\CommSrcArch';
-#my $SSHOME = '/cygdrive/c\\Program Files\\Microsoft Visual Studio\\VSS\\win32';
-my ($blah, $blah, $blah, $mday, $mon, $year) = localtime;
-my $timestr = sprintf('%4d-%s-%02d', $year+1900, ('Jan','Feb','Mar','Apr','May','Jun','Jul','Aug','Sep','Oct','Nov','Dec')[$mon], $mday);
-my $TARGET = "TeamTalk";
-my %SSPROJ; 
-foreach ('Helios3', 'Kalliope', 'NlgServer2', 'Phoenix2', 'ProcessMonitor', 'Ravenclaw') {
-  $SSPROJ{"CommonAgents-2005/$_"} = "$TARGET\\Agents\\$_";
-}
-foreach ('Audio_Server', 'Sphinx_Engine') {
-  $SSPROJ{"CommonAgents-2005/MultiDecoder/$_"} = "$TARGET\\Agents\\MultiDecoder\\$_";
-}
-
-my $ssmanager = ManageSSRepo->new({'SSREPO' => $SSREPO, 'DEBUG' => 1, 'LOGDATE' => $LOGDATE});
-
-#get each project
-foreach (keys %SSPROJ) {
-  $ssmanager->getSSProject($_, $SSPROJ{$_});
-}
-
-#also copy a couple externals
-
-
-#create some useful empty directories
-for('bin', 'bin/x86-nt', 'logs', 'ExternalLibraries', 'ExternalLibraries/Galaxy', 'ExternalLibraries/sphinx2') {
-  mkdir "$TARGET/$_";
-}
-
-sub printstat {
-    my $serve = shift;
-    my $size = 100;
-    my $i;
-    my $len = length($serve);
-    if ($len > $size) {
-	print STDERR "\r~", substr($serve, $len-$size+1);
-    } else {
-	print STDERR "\r", $serve;
-	for($i = $len; $i<$size; $i++) {
-	    print STDERR ' ';
-	}
-    }
-}
-
-#write to zip
-open(FILES, "|zip ${TARGET}-supplement.zip -q@");
-my $CANONTARGET = File::Spec->rel2abs($TARGET);
-print STDERR "copying...$/";
-find({wanted => sub {
-    if ($_ ne '.' && $_ ne '..') {
-	if (-d) {
-	    mkdir File::Spec->catdir($CANONTARGET, $File::Find::name);
-	} else {
-	    printstat $File::Find::name;
-	    copy($_, File::Spec->catdir($CANONTARGET, $File::Find::dir)) || die "Can't copy $_ to ", File::Spec->catdir($CANONTARGET, $File::Find::dir), $/;
-	}
-    }
-}, preprocess => sub {grep(!/\.pch$/, grep (!/\.obj$/, @_));}}, 'ExternalLibraries/Galaxy', 'ExternalLibraries/sphinx2');
-print STDERR $/;
-print STDERR "zipping...$/";  
-find({wanted => sub {
-    if ($_ ne '.' && $_ ne '..') {
-	#printstat $File::Find::name;
-	print FILES $File::Find::name, $/;
-    }
-}
-  }, $TARGET);
-#print STDERR $/;
-close FILES;
-
-#clean-up
-print STDERR "cleaning up...$/";
-rmtree $TARGET, 0, 0;
-
-

Deleted: tags/BTH-0.2/TeamTalk/developer-install-guide.txt
===================================================================
--- tags/BTH-0.2/TeamTalk/developer-install-guide.txt	2007-09-04 18:39:17 UTC (rev 735)
+++ tags/BTH-0.2/TeamTalk/developer-install-guide.txt	2007-09-04 21:28:03 UTC (rev 736)
@@ -1,34 +0,0 @@
-1. Only runs on windows
-
-2. You'll need 
-
-msvc++ .net, 
-activestate perl, 
-msvss 6.0, install as custom, unselect create ss db and unselect
-network client setup. In order to connect to the sourcesafe db, you
-have to mount \\bar\communicator to a drive or directory. Select
-\\bar\communicator\CommSrcArch\srcsafe.ini as your database.
-
-3. get ravenclaw distribution You can get it at:
-   \\gs3089.sp.cs.cmu.edu\RavenClawDistribution
-
-from J...
-works but for some it doesn't 
-open.. lemme know if this is the case.
-
-If it does open, copy ConvertProj.zip to your pc, unzip it to a temp 
-folder, and then follow the install instructions inside install.txt. Let me 
-know if anything goes wrong asap!
-
-J
-
-You should name your project 'zap2'. I think there are name dependancies.
-
-4. set the SourceSafe zap2 working directory to whatever\zap2
-
-5. get the latest zap2 recursive, overwrite everything
-
-6. open whatever\zap2\agents\zap2dm\zap2dm.sln
-
-7. batch build
-

From tk at edam.speech.cs.cmu.edu  Wed Sep  5 23:58:44 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 5 Sep 2007 23:58:44 -0400
Subject: [TeamTalk 201]:  [737] trunk/TeamTalk: Recoding of build scripts.
Message-ID: <200709060358.l863wi9t004345@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070905/7699d971/attachment-0001.html
-------------- next part --------------
Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-04 21:28:03 UTC (rev 736)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-06 03:58:42 UTC (rev 737)
@@ -1,8 +1,7 @@
 @echo off
 
-:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
 set NetBeansVer=5.5.1
-set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
@@ -21,49 +20,52 @@
 
 :Build the Visual Studio solutions
 
-set VSDrive=Non-Existent
+::Get the home directory of Visual Studio
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
+type reg1.txt | find """InstallDir""=" > reg2.txt
+if errorlevel 1 goto VSERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
+if errorlevel 1 goto VSERROR
+echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+::del reg1.txt
+::del reg2.txt
 
-IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
-IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
-IF EXIST "C:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=C
-IF EXIST "D:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=D
-IF EXIST "E:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=E
-IF EXIST "F:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=F
-IF EXIST "G:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=G
-IF EXIST "H:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=H
-IF EXIST "I:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=I
-IF EXIST "J:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=J
-IF EXIST "K:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=K
-IF EXIST "L:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=L
-IF EXIST "M:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=M
-IF EXIST "N:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=N
-IF EXIST "O:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=O
-IF EXIST "P:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=P
-IF EXIST "Q:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Q
-IF EXIST "R:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=R
-IF EXIST "S:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=S
-IF EXIST "T:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=T
-IF EXIST "U:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=U
-IF EXIST "V:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=V
-IF EXIST "W:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=W
-IF EXIST "X:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=X
-IF EXIST "Y:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Y
-IF EXIST "Z:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Z
+::Convert double backslashes to single backslashes
+set VSHome=
+:VSWHILE
+  if "%VSTemp%"=="" goto VSWEND
+  if not "%VSHome%"=="" set VSHome=%VSHome%\
+  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
+  goto VSWHILE
+:VSWEND
+set VSTemp=
+echo Visual Studio 8.0 home path (long, with spaces) = %VSHome%
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
-IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Release
-IF NOT VSDrive == "Non-Existent" cd ..
+::Test the devenv path to see if there really is a devenv.exe
+if not exist "%VSHome%\devenv.exe" goto VSERROR
 
+::Compile
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Build Release
+cd ..
+goto TOOLS
+
 :: Do Not build TeamTalk Tools as there is nothing to build.
 
+:TOOLS build
 ::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
 ::IF NOT VSDrive == "Non-Existent" cd Tools
 ::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
 ::IF NOT VSDrive == "Non-Existent" cd ..
 
-IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
+goto Run
 
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+
+goto Pause
+
 :Run MakeLM
 
 echo Now Executing MakeLM
@@ -71,82 +73,146 @@
 perl makelm.pl --projectname TeamTalk
 cd ..\..
 
-:Java Compilation via Ant Environment Variable Setup
+::Find the current (most recent) Java version
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
+type reg1.txt | find "CurrentVersion" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java Version = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
+::Get the home directory of the most recent Java
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
+type reg1.txt | find "JavaHome" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java home path (per registry) = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
-set JavaDrive=Non-Existent
+::Convert double backslashes to single backslashes
+set JavaHome=
+:WHILE
+  if "%JavaTemp%"=="" goto WEND
+  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
+  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
+  goto WHILE
+:WEND
+set JavaTemp=
+echo Java home path (long, with spaces) = %JavaHome%
 
-IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
-IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
-IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
-IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
-IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
-IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
-IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
-IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
-IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
-IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
-IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
-IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
-IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
-IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
-IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
-IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
-IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
-IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
-IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
-IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
-IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
-IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
-IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
-IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
-IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
+::Convert long path (with spaces) into a short path
+::for %%x in ("%JavaHome%") do set JavaHome=%%~dpsx
+::echo Java home path (short path, no spaces) = %JavaHome%
 
-IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
+::Test the java path to see if there really is a javac.exe
+IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Clean Up Before Doing the Ant Compilation which Ends the Script
-:: ---------------------
-:: Remove the environment variables
+:Java Compilation via Ant Environment Variable Setup
 
-set VSDrive=
-set JavaDrive=
-set JDKVer=
+set JAVA_HOME=%JavaHome%
 
 :Ant Compilation
 
-set NetBeansDrive=Non-Existent
+FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+goto NETBEANSERROR
 
+:NBA
+SET NetBeansDrive=A
+goto JBUILD
+:NBB
+SET NetBeansDrive=B
+goto JBUILD
+:NBC
+SET NetBeansDrive=C
+goto JBUILD
+:NBD
+SET NetBeansDrive=D
+goto JBUILD
+:NBE
+SET NetBeansDrive=E
+goto JBUILD
+:NBF
+SET NetBeansDrive=F
+goto JBUILD
+:NBG
+SET NetBeansDrive=G
+goto JBUILD
+:NBH
+SET NetBeansDrive=H
+goto JBUILD
+:NBI
+SET NetBeansDrive=I
+goto JBUILD
+:NBJ
+SET NetBeansDrive=J
+goto JBUILD
+:NBK
+SET NetBeansDrive=K
+goto JBUILD
+:NBL
+SET NetBeansDrive=L
+goto JBUILD
+:NBM
+SET NetBeansDrive=M
+goto JBUILD
+:NBN
+SET NetBeansDrive=N
+goto JBUILD
+:NBO
+SET NetBeansDrive=O
+goto JBUILD
+:NBP
+SET NetBeansDrive=P
+goto JBUILD
+:NBQ
+SET NetBeansDrive=Q
+goto JBUILD
+:NBR
+SET NetBeansDrive=R
+goto JBUILD
+:NBS
+SET NetBeansDrive=S
+goto JBUILD
+:NBT
+SET NetBeansDrive=T
+goto JBUILD
+:NBU
+SET NetBeansDrive=U
+goto JBUILD
+:NBV
+SET NetBeansDrive=V
+goto JBUILD
+:NBW
+SET NetBeansDrive=W
+goto JBUILD
+:NBX
+SET NetBeansDrive=X
+goto JBUILD
+:NBY
+SET NetBeansDrive=Y
+goto JBUILD
+:NBZ
+SET NetBeansDrive=Z
+goto JBUILD
+
+:JBUILD
+CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+goto Pause
+
+:JAVAERROR
+echo Can't find Java Development Kit. Is it installed?
+goto Pause
+
+:NETBEANSERROR
 echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
-:: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 
 :Error message that says that the script was run outside of the TeamTalk directory.

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-04 21:28:03 UTC (rev 736)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-06 03:58:42 UTC (rev 737)
@@ -1,11 +1,10 @@
 @echo off
 
-:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
 set NetBeansVer=5.5.1
-set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
-title TeamTalk Code Rebuild Build - Win32
+title TeamTalk Code Build - Win32
 IF NOT EXIST TeamTalkRebuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
@@ -13,7 +12,7 @@
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
-If NOT EXIST logs\nul mkdir logs > nul
+IF NOT EXIST logs\nul mkdir logs > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
@@ -21,134 +20,199 @@
 
 :Build the Visual Studio solutions
 
-set VSDrive=Non-Existent
+::Get the home directory of Visual Studio
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
+type reg1.txt | find """InstallDir""=" > reg2.txt
+if errorlevel 1 goto VSERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
+if errorlevel 1 goto VSERROR
+echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+::del reg1.txt
+::del reg2.txt
 
-IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
-IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
-IF EXIST "C:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=C
-IF EXIST "D:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=D
-IF EXIST "E:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=E
-IF EXIST "F:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=F
-IF EXIST "G:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=G
-IF EXIST "H:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=H
-IF EXIST "I:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=I
-IF EXIST "J:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=J
-IF EXIST "K:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=K
-IF EXIST "L:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=L
-IF EXIST "M:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=M
-IF EXIST "N:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=N
-IF EXIST "O:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=O
-IF EXIST "P:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=P
-IF EXIST "Q:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Q
-IF EXIST "R:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=R
-IF EXIST "S:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=S
-IF EXIST "T:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=T
-IF EXIST "U:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=U
-IF EXIST "V:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=V
-IF EXIST "W:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=W
-IF EXIST "X:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=X
-IF EXIST "Y:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Y
-IF EXIST "Z:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Z
+::Convert double backslashes to single backslashes
+set VSHome=
+:VSWHILE
+  if "%VSTemp%"=="" goto VSWEND
+  if not "%VSHome%"=="" set VSHome=%VSHome%\
+  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
+  goto VSWHILE
+:VSWEND
+set VSTemp=
+echo Visual Studio 8.0 home path (long, with spaces) = %VSHome%
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
-IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Reuild Release
-IF NOT VSDrive == "Non-Existent" cd ..
+::Test the devenv path to see if there really is a devenv.exe
+if not exist "%VSHome%\devenv.exe" goto VSERROR
 
+::Compile
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Rebuild Release
+cd ..
+goto TOOLS
+
 :: Do Not build TeamTalk Tools as there is nothing to build.
 
+:TOOLS build
 ::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
 ::IF NOT VSDrive == "Non-Existent" cd Tools
 ::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
 ::IF NOT VSDrive == "Non-Existent" cd ..
 
-IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
+goto Run
 
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+
+goto Pause
+
 :Run MakeLM
 
 echo Now Executing MakeLM
 cd Tools\MakeLM
-perl makelm.pl
+perl makelm.pl --projectname TeamTalk
 cd ..\..
 
-:Java Compilation via Ant Environment Variable Setup
+::Find the current (most recent) Java version
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
+type reg1.txt | find "CurrentVersion" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java Version = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
+::Get the home directory of the most recent Java
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
+type reg1.txt | find "JavaHome" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java home path (per registry) = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
-set JavaDrive=Non-Existent
+::Convert double backslashes to single backslashes
+set JavaHome=
+:WHILE
+  if "%JavaTemp%"=="" goto WEND
+  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
+  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
+  goto WHILE
+:WEND
+set JavaTemp=
+echo Java home path (long, with spaces) = %JavaHome%
 
-IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
-IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
-IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
-IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
-IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
-IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
-IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
-IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
-IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
-IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
-IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
-IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
-IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
-IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
-IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
-IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
-IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
-IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
-IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
-IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
-IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
-IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
-IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
-IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
-IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
+::Convert long path (with spaces) into a short path
+::for %%x in ("%JavaHome%") do set JavaHome=%%~dpsx
+::echo Java home path (short path, no spaces) = %JavaHome%
 
-IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
+::Test the java path to see if there really is a javac.exe
+IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Clean Up Before Doing the Ant Compilation which Ends the Script
-:: ---------------------
-:: Remove the environment variables
+:Java Compilation via Ant Environment Variable Setup
 
-set VSDrive=
-set JavaDrive=
-set JDKVer=
+set JAVA_HOME=%JavaHome%
 
 :Ant Compilation
 
-set NetBeansDrive=Non-Existent
+FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
-rmdir Agents\PenDecoder\dist
+goto NETBEANSERROR
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+:NBA
+SET NetBeansDrive=A
+goto JBUILD
+:NBB
+SET NetBeansDrive=B
+goto JBUILD
+:NBC
+SET NetBeansDrive=C
+goto JBUILD
+:NBD
+SET NetBeansDrive=D
+goto JBUILD
+:NBE
+SET NetBeansDrive=E
+goto JBUILD
+:NBF
+SET NetBeansDrive=F
+goto JBUILD
+:NBG
+SET NetBeansDrive=G
+goto JBUILD
+:NBH
+SET NetBeansDrive=H
+goto JBUILD
+:NBI
+SET NetBeansDrive=I
+goto JBUILD
+:NBJ
+SET NetBeansDrive=J
+goto JBUILD
+:NBK
+SET NetBeansDrive=K
+goto JBUILD
+:NBL
+SET NetBeansDrive=L
+goto JBUILD
+:NBM
+SET NetBeansDrive=M
+goto JBUILD
+:NBN
+SET NetBeansDrive=N
+goto JBUILD
+:NBO
+SET NetBeansDrive=O
+goto JBUILD
+:NBP
+SET NetBeansDrive=P
+goto JBUILD
+:NBQ
+SET NetBeansDrive=Q
+goto JBUILD
+:NBR
+SET NetBeansDrive=R
+goto JBUILD
+:NBS
+SET NetBeansDrive=S
+goto JBUILD
+:NBT
+SET NetBeansDrive=T
+goto JBUILD
+:NBU
+SET NetBeansDrive=U
+goto JBUILD
+:NBV
+SET NetBeansDrive=V
+goto JBUILD
+:NBW
+SET NetBeansDrive=W
+goto JBUILD
+:NBX
+SET NetBeansDrive=X
+goto JBUILD
+:NBY
+SET NetBeansDrive=Y
+goto JBUILD
+:NBZ
+SET NetBeansDrive=Z
+goto JBUILD
 
+:JBUILD
+CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml clean default
+
+goto Pause
+
+:JAVAERROR
+echo Can't find Java Development Kit. Is it installed?
+goto Pause
+
+:NETBEANSERROR
 echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
-:: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 
 :Error message that says that the script was run outside of the TeamTalk directory.

From tk at edam.speech.cs.cmu.edu  Thu Sep  6 01:02:42 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 6 Sep 2007 01:02:42 -0400
Subject: [TeamTalk 202]: [738] tags/BTH-0.2/TeamTalk: ported r731 and r737
	from trunk
Message-ID: <200709060502.l8652ggG004470@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070906/813d6e9e/attachment-0001.html
-------------- next part --------------
Modified: tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-06 03:58:42 UTC (rev 737)
+++ tags/BTH-0.2/TeamTalk/TeamTalkBuild.bat	2007-09-06 05:02:42 UTC (rev 738)
@@ -1,8 +1,7 @@
 @echo off
 
-:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
 set NetBeansVer=5.5.1
-set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
@@ -13,7 +12,7 @@
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
-If NOT EXIST logs\nul mkdir logs > nul
+IF NOT EXIST logs\nul mkdir logs > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
@@ -21,132 +20,199 @@
 
 :Build the Visual Studio solutions
 
-set VSDrive=Non-Existent
+::Get the home directory of Visual Studio
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
+type reg1.txt | find """InstallDir""=" > reg2.txt
+if errorlevel 1 goto VSERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
+if errorlevel 1 goto VSERROR
+echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+::del reg1.txt
+::del reg2.txt
 
-IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
-IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
-IF EXIST "C:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=C
-IF EXIST "D:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=D
-IF EXIST "E:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=E
-IF EXIST "F:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=F
-IF EXIST "G:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=G
-IF EXIST "H:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=H
-IF EXIST "I:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=I
-IF EXIST "J:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=J
-IF EXIST "K:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=K
-IF EXIST "L:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=L
-IF EXIST "M:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=M
-IF EXIST "N:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=N
-IF EXIST "O:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=O
-IF EXIST "P:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=P
-IF EXIST "Q:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Q
-IF EXIST "R:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=R
-IF EXIST "S:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=S
-IF EXIST "T:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=T
-IF EXIST "U:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=U
-IF EXIST "V:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=V
-IF EXIST "W:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=W
-IF EXIST "X:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=X
-IF EXIST "Y:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Y
-IF EXIST "Z:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Z
+::Convert double backslashes to single backslashes
+set VSHome=
+:VSWHILE
+  if "%VSTemp%"=="" goto VSWEND
+  if not "%VSHome%"=="" set VSHome=%VSHome%\
+  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
+  goto VSWHILE
+:VSWEND
+set VSTemp=
+echo Visual Studio 8.0 home path (long, with spaces) = %VSHome%
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
-IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Release
-IF NOT VSDrive == "Non-Existent" cd ..
+::Test the devenv path to see if there really is a devenv.exe
+if not exist "%VSHome%\devenv.exe" goto VSERROR
 
+::Compile
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Build Release
+cd ..
+goto TOOLS
+
 :: Do Not build TeamTalk Tools as there is nothing to build.
 
+:TOOLS build
 ::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
 ::IF NOT VSDrive == "Non-Existent" cd Tools
 ::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
 ::IF NOT VSDrive == "Non-Existent" cd ..
 
-IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
+goto Run
 
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+
+goto Pause
+
 :Run MakeLM
 
 echo Now Executing MakeLM
 cd Tools\MakeLM
-perl makelm.pl
+perl makelm.pl --projectname TeamTalk
 cd ..\..
 
-:Java Compilation via Ant Environment Variable Setup
+::Find the current (most recent) Java version
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
+type reg1.txt | find "CurrentVersion" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java Version = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
+::Get the home directory of the most recent Java
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
+type reg1.txt | find "JavaHome" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java home path (per registry) = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
-set JavaDrive=Non-Existent
+::Convert double backslashes to single backslashes
+set JavaHome=
+:WHILE
+  if "%JavaTemp%"=="" goto WEND
+  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
+  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
+  goto WHILE
+:WEND
+set JavaTemp=
+echo Java home path (long, with spaces) = %JavaHome%
 
-IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
-IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
-IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
-IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
-IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
-IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
-IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
-IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
-IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
-IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
-IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
-IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
-IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
-IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
-IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
-IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
-IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
-IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
-IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
-IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
-IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
-IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
-IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
-IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
-IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
+::Convert long path (with spaces) into a short path
+::for %%x in ("%JavaHome%") do set JavaHome=%%~dpsx
+::echo Java home path (short path, no spaces) = %JavaHome%
 
-IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
+::Test the java path to see if there really is a javac.exe
+IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Clean Up Before Doing the Ant Compilation which Ends the Script
-:: ---------------------
-:: Remove the environment variables
+:Java Compilation via Ant Environment Variable Setup
 
-set VSDrive=
-set JavaDrive=
-set JDKVer=
+set JAVA_HOME=%JavaHome%
 
 :Ant Compilation
 
-set NetBeansDrive=Non-Existent
+FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+goto NETBEANSERROR
 
+:NBA
+SET NetBeansDrive=A
+goto JBUILD
+:NBB
+SET NetBeansDrive=B
+goto JBUILD
+:NBC
+SET NetBeansDrive=C
+goto JBUILD
+:NBD
+SET NetBeansDrive=D
+goto JBUILD
+:NBE
+SET NetBeansDrive=E
+goto JBUILD
+:NBF
+SET NetBeansDrive=F
+goto JBUILD
+:NBG
+SET NetBeansDrive=G
+goto JBUILD
+:NBH
+SET NetBeansDrive=H
+goto JBUILD
+:NBI
+SET NetBeansDrive=I
+goto JBUILD
+:NBJ
+SET NetBeansDrive=J
+goto JBUILD
+:NBK
+SET NetBeansDrive=K
+goto JBUILD
+:NBL
+SET NetBeansDrive=L
+goto JBUILD
+:NBM
+SET NetBeansDrive=M
+goto JBUILD
+:NBN
+SET NetBeansDrive=N
+goto JBUILD
+:NBO
+SET NetBeansDrive=O
+goto JBUILD
+:NBP
+SET NetBeansDrive=P
+goto JBUILD
+:NBQ
+SET NetBeansDrive=Q
+goto JBUILD
+:NBR
+SET NetBeansDrive=R
+goto JBUILD
+:NBS
+SET NetBeansDrive=S
+goto JBUILD
+:NBT
+SET NetBeansDrive=T
+goto JBUILD
+:NBU
+SET NetBeansDrive=U
+goto JBUILD
+:NBV
+SET NetBeansDrive=V
+goto JBUILD
+:NBW
+SET NetBeansDrive=W
+goto JBUILD
+:NBX
+SET NetBeansDrive=X
+goto JBUILD
+:NBY
+SET NetBeansDrive=Y
+goto JBUILD
+:NBZ
+SET NetBeansDrive=Z
+goto JBUILD
+
+:JBUILD
+CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+goto Pause
+
+:JAVAERROR
+echo Can't find Java Development Kit. Is it installed?
+goto Pause
+
+:NETBEANSERROR
 echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
-:: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 
 :Error message that says that the script was run outside of the TeamTalk directory.

Modified: tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-06 03:58:42 UTC (rev 737)
+++ tags/BTH-0.2/TeamTalk/TeamTalkRebuild.bat	2007-09-06 05:02:42 UTC (rev 738)
@@ -1,8 +1,7 @@
 @echo off
 
-:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
+:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
 set NetBeansVer=5.5.1
-set JDKVer=1.6.0_02
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Rebuild Build - Win32
@@ -13,7 +12,7 @@
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
-If NOT EXIST logs\nul mkdir logs > nul
+IF NOT EXIST logs\nul mkdir logs > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
@@ -21,134 +20,199 @@
 
 :Build the Visual Studio solutions
 
-set VSDrive=Non-Existent
+::Get the home directory of Visual Studio
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
+type reg1.txt | find """InstallDir""=" > reg2.txt
+if errorlevel 1 goto VSERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
+if errorlevel 1 goto VSERROR
+echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+::del reg1.txt
+::del reg2.txt
 
-IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
-IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
-IF EXIST "C:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=C
-IF EXIST "D:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=D
-IF EXIST "E:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=E
-IF EXIST "F:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=F
-IF EXIST "G:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=G
-IF EXIST "H:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=H
-IF EXIST "I:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=I
-IF EXIST "J:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=J
-IF EXIST "K:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=K
-IF EXIST "L:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=L
-IF EXIST "M:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=M
-IF EXIST "N:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=N
-IF EXIST "O:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=O
-IF EXIST "P:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=P
-IF EXIST "Q:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Q
-IF EXIST "R:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=R
-IF EXIST "S:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=S
-IF EXIST "T:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=T
-IF EXIST "U:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=U
-IF EXIST "V:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=V
-IF EXIST "W:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=W
-IF EXIST "X:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=X
-IF EXIST "Y:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Y
-IF EXIST "Z:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Z
+::Convert double backslashes to single backslashes
+set VSHome=
+:VSWHILE
+  if "%VSTemp%"=="" goto VSWEND
+  if not "%VSHome%"=="" set VSHome=%VSHome%\
+  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
+  goto VSWHILE
+:VSWEND
+set VSTemp=
+echo Visual Studio 8.0 home path (long, with spaces) = %VSHome%
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
-IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Reuild Release
-IF NOT VSDrive == "Non-Existent" cd ..
+::Test the devenv path to see if there really is a devenv.exe
+if not exist "%VSHome%\devenv.exe" goto VSERROR
 
+::Compile
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Build Release
+cd ..
+goto TOOLS
+
 :: Do Not build TeamTalk Tools as there is nothing to build.
 
+:TOOLS build
 ::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
 ::IF NOT VSDrive == "Non-Existent" cd Tools
 ::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
 ::IF NOT VSDrive == "Non-Existent" cd ..
 
-IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
+goto Run
 
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+
+goto Pause
+
 :Run MakeLM
 
 echo Now Executing MakeLM
 cd Tools\MakeLM
-perl makelm.pl
+perl makelm.pl --projectname TeamTalk
 cd ..\..
 
-:Java Compilation via Ant Environment Variable Setup
+::Find the current (most recent) Java version
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
+type reg1.txt | find "CurrentVersion" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java Version = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
+::Get the home directory of the most recent Java
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
+type reg1.txt | find "JavaHome" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java home path (per registry) = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
-set JavaDrive=Non-Existent
+::Convert double backslashes to single backslashes
+set JavaHome=
+:WHILE
+  if "%JavaTemp%"=="" goto WEND
+  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
+  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
+  goto WHILE
+:WEND
+set JavaTemp=
+echo Java home path (long, with spaces) = %JavaHome%
 
-IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
-IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
-IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
-IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
-IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
-IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
-IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
-IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
-IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
-IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
-IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
-IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
-IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
-IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
-IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
-IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
-IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
-IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
-IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
-IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
-IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
-IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
-IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
-IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
-IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
+::Convert long path (with spaces) into a short path
+::for %%x in ("%JavaHome%") do set JavaHome=%%~dpsx
+::echo Java home path (short path, no spaces) = %JavaHome%
 
-IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
+::Test the java path to see if there really is a javac.exe
+IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Clean Up Before Doing the Ant Compilation which Ends the Script
-:: ---------------------
-:: Remove the environment variables
+:Java Compilation via Ant Environment Variable Setup
 
-set VSDrive=
-set JavaDrive=
-set JDKVer=
+set JAVA_HOME=%JavaHome%
 
 :Ant Compilation
 
-set NetBeansDrive=Non-Existent
+FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
-rmdir Agents\PenDecoder\dist
+goto NETBEANSERROR
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+:NBA
+SET NetBeansDrive=A
+goto JBUILD
+:NBB
+SET NetBeansDrive=B
+goto JBUILD
+:NBC
+SET NetBeansDrive=C
+goto JBUILD
+:NBD
+SET NetBeansDrive=D
+goto JBUILD
+:NBE
+SET NetBeansDrive=E
+goto JBUILD
+:NBF
+SET NetBeansDrive=F
+goto JBUILD
+:NBG
+SET NetBeansDrive=G
+goto JBUILD
+:NBH
+SET NetBeansDrive=H
+goto JBUILD
+:NBI
+SET NetBeansDrive=I
+goto JBUILD
+:NBJ
+SET NetBeansDrive=J
+goto JBUILD
+:NBK
+SET NetBeansDrive=K
+goto JBUILD
+:NBL
+SET NetBeansDrive=L
+goto JBUILD
+:NBM
+SET NetBeansDrive=M
+goto JBUILD
+:NBN
+SET NetBeansDrive=N
+goto JBUILD
+:NBO
+SET NetBeansDrive=O
+goto JBUILD
+:NBP
+SET NetBeansDrive=P
+goto JBUILD
+:NBQ
+SET NetBeansDrive=Q
+goto JBUILD
+:NBR
+SET NetBeansDrive=R
+goto JBUILD
+:NBS
+SET NetBeansDrive=S
+goto JBUILD
+:NBT
+SET NetBeansDrive=T
+goto JBUILD
+:NBU
+SET NetBeansDrive=U
+goto JBUILD
+:NBV
+SET NetBeansDrive=V
+goto JBUILD
+:NBW
+SET NetBeansDrive=W
+goto JBUILD
+:NBX
+SET NetBeansDrive=X
+goto JBUILD
+:NBY
+SET NetBeansDrive=Y
+goto JBUILD
+:NBZ
+SET NetBeansDrive=Z
+goto JBUILD
 
+:JBUILD
+CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+
+goto Pause
+
+:JAVAERROR
+echo Can't find Java Development Kit. Is it installed?
+goto Pause
+
+:NETBEANSERROR
 echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
 
-:: Don't display the message that the script was run in the wrong working directory as that was not the case
 goto Pause
 
 :Error message that says that the script was run outside of the TeamTalk directory.
@@ -162,4 +226,4 @@
 echo.  
 
 :Pause the script execution so the DOS windows does not disappear too soon.
-pause
\ No newline at end of file
+pause

From tk at edam.speech.cs.cmu.edu  Thu Sep  6 10:20:57 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 6 Sep 2007 10:20:57 -0400
Subject: [TeamTalk 203]: [739] tags/BTH-0.2/TeamTalk/Agents/: Use new
 version of Agents project files that doesn' t include debug sphinx libs as
 additional libraries.
Message-ID: <200709061420.l86EKvlx005501@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070906/0437d467/attachment.html
-------------- next part --------------

Property changes on: tags/BTH-0.2/TeamTalk/Agents
___________________________________________________________________
Name: svn:externals
   - Pythia -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Pythia
Helios -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Helios3
Kalliope -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Kalliope
MultiDecoder/Audio_Server -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/MultiDecoder/Audio_Server
MultiDecoder/Sphinx_Engine -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/MultiDecoder/Sphinx_Engine
NlgServer -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/NlgServer2
Phoenix -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Phoenix2

   + Pythia -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Pythia
Helios -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Helios3
Kalliope -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Kalliope
MultiDecoder/Audio_Server -r2022 http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Agents/MultiDecoder/Audio_Server
MultiDecoder/Sphinx_Engine -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/MultiDecoder/Sphinx_Engine
NlgServer -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/NlgServer2
Phoenix -r2013 http://edam.speech.cs.cmu.edu/repos/olympus/Agents/Phoenix2


From tk at edam.speech.cs.cmu.edu  Thu Sep  6 10:23:05 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 6 Sep 2007 10:23:05 -0400
Subject: [TeamTalk 204]:  [740] trunk/TeamTalk: Actually exit batch files.
Message-ID: <200709061423.l86EN5UY005515@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070906/d79b18a9/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-06 14:20:55 UTC (rev 739)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-06 14:23:04 UTC (rev 740)
@@ -226,4 +226,5 @@
 echo.  
 
 :Pause the script execution so the DOS windows does not disappear too soon.
-pause
\ No newline at end of file
+pause
+exit
\ No newline at end of file

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-06 14:20:55 UTC (rev 739)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-06 14:23:04 UTC (rev 740)
@@ -226,4 +226,5 @@
 echo.  
 
 :Pause the script execution so the DOS windows does not disappear too soon.
-pause
\ No newline at end of file
+pause
+exit

From tk at edam.speech.cs.cmu.edu  Thu Sep  6 22:42:58 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 6 Sep 2007 22:42:58 -0400
Subject: [TeamTalk 205]:  [741] trunk/TeamTalk: Explicitly use windows find,
 may be confused by cygwin find otherwise.
Message-ID: <200709070242.l872gwC4007953@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070906/69e9bde2/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-06 14:23:04 UTC (rev 740)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-07 02:42:56 UTC (rev 741)
@@ -22,7 +22,7 @@
 
 ::Get the home directory of Visual Studio
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
-type reg1.txt | find """InstallDir""=" > reg2.txt
+type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
 if errorlevel 1 goto VSERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
 if errorlevel 1 goto VSERROR
@@ -75,7 +75,7 @@
 
 ::Find the current (most recent) Java version
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
-type reg1.txt | find "CurrentVersion" > reg2.txt
+type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
 if errorlevel 1 goto JAVAERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
 if errorlevel 1 goto JAVAERROR
@@ -85,7 +85,7 @@
 
 ::Get the home directory of the most recent Java
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
-type reg1.txt | find "JavaHome" > reg2.txt
+type reg1.txt | %windir%\system32\find.exe "JavaHome" > reg2.txt
 if errorlevel 1 goto JAVAERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
 if errorlevel 1 goto JAVAERROR

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-06 14:23:04 UTC (rev 740)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-07 02:42:56 UTC (rev 741)
@@ -22,7 +22,7 @@
 
 ::Get the home directory of Visual Studio
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
-type reg1.txt | find """InstallDir""=" > reg2.txt
+type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
 if errorlevel 1 goto VSERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
 if errorlevel 1 goto VSERROR
@@ -75,7 +75,7 @@
 
 ::Find the current (most recent) Java version
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
-type reg1.txt | find "CurrentVersion" > reg2.txt
+type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
 if errorlevel 1 goto JAVAERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
 if errorlevel 1 goto JAVAERROR
@@ -85,7 +85,7 @@
 
 ::Get the home directory of the most recent Java
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
-type reg1.txt | find "JavaHome" > reg2.txt
+type reg1.txt | %windir%\system32\find.exe "JavaHome" > reg2.txt
 if errorlevel 1 goto JAVAERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
 if errorlevel 1 goto JAVAERROR

From tk at edam.speech.cs.cmu.edu  Thu Sep 13 13:37:54 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 13 Sep 2007 13:37:54 -0400
Subject: [TeamTalk 206]: [742] trunk/moast-bth/moast: Import from moast
	project.
Message-ID: <200709131737.l8DHbsK4015348@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070913/92954f15/attachment-0001.html
-------------- next part --------------
Modified: trunk/moast-bth/moast/bin/Makefile.am
===================================================================
--- trunk/moast-bth/moast/bin/Makefile.am	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/bin/Makefile.am	2007-09-13 17:37:54 UTC (rev 742)
@@ -1,6 +1,5 @@
-bin_PROGRAMS = moastNmlSvr simWare servoShell primSPMain primMisMain primMobMain primShell segmentTest exampleUtmConvert gpsToSerial amSPMain amMisMain amMobMain amShell vehSPMain vehMobPLMain vehShell sectShell sectMobPL exampleDijkTabs exampleDijkHeap exampleDijkHeapN exampleAStarHeapA exampleAStarHeapB exampleAStarHeapNA exampleAStarHeapNB exampleScrollMap spPlay moastErrorLog nmlPrint inifind exampleVisGraph vehDrone nmlConvert spqrConvert slamStub trafficShell
+bin_PROGRAMS = moastNmlSvr simWare servoShell primSPMain primMisMain primMobMain primShell segmentTest polyIntersect exampleUtmConvert gpsToSerial amSPMain amMisMain amMobMain amShell vehSPMain vehMobPLMain vehShell sectShell sectMobPL exampleDijkTabs exampleDijkHeap exampleDijkHeapN exampleAStarHeapA exampleAStarHeapB exampleAStarHeapNA exampleAStarHeapNB exampleScrollMap spPlay moastErrorLog nmlPrint inifind exampleVisGraph vehDrone nmlConvert spqrConvert slamStub trafficShell linkMon linkMonShell
 
-
 INCLUDES = -I$(RCSLIB_DIR)/include
 
 moastNmlSvr_SOURCES = ../src/nml/moastNmlSvr.cc 
@@ -86,6 +85,15 @@
 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
 
+linkMon_SOURCES = ../src/tools/linkMonitor/linkMon.cc
+linkMon_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+linkMonShell_SOURCES = ../src/tools/linkMonitor/linkMonShell.cc
+linkMonShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+polyIntersect_SOURCES = ../src/tools/segmentTools/sweep.cc ../src/tools/segmentTools/sweep.hh ../src/tools/segmentTools/polyIntersect.cc
+polyIntersect_LDADD = -L$(RCSLIB_DIR)/lib -lposemath -lm
+
 exampleUtmConvert_SOURCES = ../src/tools/exampleUtmConvert.cc
 exampleUtmConvert_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 

Modified: trunk/moast-bth/moast/bin/runJoy
===================================================================
--- trunk/moast-bth/moast/bin/runJoy	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/bin/runJoy	2007-09-13 17:37:54 UTC (rev 742)
@@ -16,15 +16,21 @@
 #Zerg
 #PLATFORM=7; JOYMODE=1
 #Talon
-#PLATFORM=8; JOYMODE=1
+PLATFORM=8; JOYMODE=1
 #TeleMax
 #PLATFORM=9; JOYMODE=1
 #AirRobot
-PLATFORM=10; JOYMODE=4
-STARTLOC=1
-#STARTLOC=2
-#STARTLOC=3
+#PLATFORM=10; JOYMODE=4
 #done with user area
+
+if [ $# = 0 ]; then
+ STARTLOC=1
+else
+ STARTLOC=$1
+fi
+
+echo $STARTLOC
+
 #
 #are we on cygwin?
 CYGWIN=no
@@ -47,10 +53,10 @@
 VEH=no
 
 # if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
-AM=yes
+AM=no
 
 # if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
-PRIM=no
+PRIM=yes
 
 # set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
 USARSIM=yes
@@ -155,11 +161,10 @@
 #./joySDL -d1 -x3 -y3 -z3 -w3 -m$JOYMODE&
 
 # Settings for the AirRobot
-#./robojoy -d1 -x1.5708 -y-5 -z5 -w-5
+./robojoy -d1 -x1.5708 -y-5 -z5 -w-5 &
 
 # Settings for other robots (robojoy will adjust scale factors automatically) 
-./robojoy -d1&
-
+#./robojoy -d1&
 pid11=$!
 
 ./$TOP

Modified: trunk/moast-bth/moast/bin/runTraffic
===================================================================
--- trunk/moast-bth/moast/bin/runTraffic	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/bin/runTraffic	2007-09-13 17:37:54 UTC (rev 742)
@@ -1,7 +1,7 @@
 #!/bin/sh
 #user set these for simulation
 #Number of robots
-NUM_ROBOTS=2
+NUM_ROBOTS=3
 #done with user area
 
 #

Modified: trunk/moast-bth/moast/etc/Makefile.local
===================================================================
--- trunk/moast-bth/moast/etc/Makefile.local	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/etc/Makefile.local	2007-09-13 17:37:54 UTC (rev 742)
@@ -19,7 +19,7 @@
 
 NMLCFG = $(RCSLIB_DIR)/bin/nmlcfg
 
-%.nml : %.cfg moastSect.cfg moastSvr.cfg moastVeh.cfg moastBuffers.cfg moastPrim.cfg moastServo.cfg moastTools.cfg spqr.cfg spqrBuffers.cfg
+%.nml : %.cfg moastSect.cfg moastSvr.cfg moastVeh.cfg moastBuffers.cfg moastPrim.cfg moastServo.cfg moastTools.cfg spqr.cfg spqrBuffers.cfg moastAM.cfg
 	@ echo building $@ from $<
 	$(NMLCFG) $< -o $@
 

Modified: trunk/moast-bth/moast/etc/moast.ini
===================================================================
--- trunk/moast-bth/moast/etc/moast.ini	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/etc/moast.ini	2007-09-13 17:37:54 UTC (rev 742)
@@ -310,8 +310,17 @@
 RESOLUTION = 0.01905
 UTM_LETTER = N
 UTM_ZONE = 18
-UTM_START_POSE_COUNT = 1
-UTM_START_POSE_1 = -28.2799 -101.88 -3.48 0.0 0.0 0
+UTM_START_POSE_COUNT = 10
+UTM_START_POSE_1 = -28.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_2 = -27.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_3 = -26.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_4 = -25.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_5 = -24.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_6 = -23.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_7 = -22.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_8 = -21.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_9 = -20.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_10 = -19.279918 -101.884305 -3.480000 0.0 0.0 0
 
 [DM-USAR_yellow_250]
 UNREAL_UTM_OFFSET = 0. 0. 0

Modified: trunk/moast-bth/moast/etc/moast.nml
===================================================================
--- trunk/moast-bth/moast/etc/moast.nml	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/etc/moast.nml	2007-09-13 17:37:54 UTC (rev 742)
@@ -334,11 +334,14 @@
  
 B joystickData 	SHMEM    	 localhost 	1088 	0 	* 	275 	* 	25475 	TCP=20476  xdr
  
+B linkMonCmd1 	SHMEM    	 localhost 	1088 	0 	* 	276 	* 	25476 	TCP=20477  xdr
+B linkMonStat1 	SHMEM    	 localhost 	8576 	0 	* 	277 	* 	25477 	TCP=20478  xdr
+ 
 # SPQR Buffers
-B MapBufP2DX 	SHMEM    	 localhost 	160192 	0 	* 	276 	* 	25476 	TCP=20477  xdr
-B MapBufZerg 	SHMEM    	 localhost 	160192 	0 	* 	277 	* 	25477 	TCP=20478  xdr
-B PosBufMapper 	SHMEM    	 localhost 	1088 	0 	* 	278 	* 	25478 	TCP=20479  xdr
-B PosBufVictim 	SHMEM    	 localhost 	1088 	0 	* 	279 	* 	25479 	TCP=20480  xdr
+B MapBufP2DX 	SHMEM    	 localhost 	160192 	0 	* 	278 	* 	25478 	TCP=20479  xdr
+B MapBufZerg 	SHMEM    	 localhost 	160192 	0 	* 	279 	* 	25479 	TCP=20480  xdr
+B PosBufMapper 	SHMEM    	 localhost 	1088 	0 	* 	280 	* 	25480 	TCP=20481  xdr
+B PosBufVictim 	SHMEM    	 localhost 	1088 	0 	* 	281 	* 	25481 	TCP=20482  xdr
  
 # MOAST NML Svr Configuration
 
@@ -1551,6 +1554,13 @@
 P spqrConvert 	MapBufZerg 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P spqrConvert 	PosBufMapper 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
 P spqrConvert 	PosBufVictim 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
+P    linkMon 	linkMonCmd1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
+P    linkMon 	linkMonStat1 	     LOCAL 	 localhost 	        RW 	2 	INF     	1 	0 	
+P    linkMon 	trafficCtrlSet1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
+P linkMonShell 	linkMonCmd1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
+P linkMonShell 	linkMonStat1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	1 	
+P linkMonShell 	trafficData1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	2 	
+P linkMonShell 	trafficCtrlSet1 	     LOCAL 	 localhost 	        RW 	0 	INF     	0 	3 	
  
 # SPQR Processes
 P     mapper 	MapBufP2DX 	    REMOTE 	10.0.0.182 	        RW 	0 	INF     	0 	3 	

Modified: trunk/moast-bth/moast/etc/moastBuffers.cfg
===================================================================
--- trunk/moast-bth/moast/etc/moastBuffers.cfg	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/etc/moastBuffers.cfg	2007-09-13 17:37:54 UTC (rev 742)
@@ -384,3 +384,7 @@
 
 # joystick buffers
 b bufname=joystickData size=1024
+
+# link monitoring buffers
+b bufname=linkMonCmd1 size=1024
+b bufname=linkMonStat1 size=8500

Modified: trunk/moast-bth/moast/etc/moastTools.cfg
===================================================================
--- trunk/moast-bth/moast/etc/moastTools.cfg	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/etc/moastTools.cfg	2007-09-13 17:37:54 UTC (rev 742)
@@ -278,3 +278,16 @@
 p bufname=MapBufZerg name=spqrConvert master=0 server=0 proctype=local 
 p bufname=PosBufMapper name=spqrConvert master=0 server=0 proctype=local 
 p bufname=PosBufVictim name=spqrConvert master=0 server=0 proctype=local 
+#
+# link monitor
+#
+p bufname=linkMonCmd1 name=linkMon master=1 server=2 proctype=local
+p bufname=linkMonStat1 name=linkMon master=1 server=2 proctype=local
+p bufname=trafficCtrlSet1 name=linkMon master=0 server=0 proctype=local
+#
+# link monitor shell
+#
+p bufname=linkMonCmd1 name=linkMonShell master=0 server=0 proctype=local
+p bufname=linkMonStat1 name=linkMonShell master=0 server=0 proctype=local
+p bufname=trafficData1 name=linkMonShell master=0 server=0 proctype=local
+p bufname=trafficCtrlSet1 name=linkMonShell master=0 server=0 proctype=local

Modified: trunk/moast-bth/moast/etc/traffic.ini
===================================================================
--- trunk/moast-bth/moast/etc/traffic.ini	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/etc/traffic.ini	2007-09-13 17:37:54 UTC (rev 742)
@@ -1,4 +1,27 @@
 ; Traffic Simulation initialization file
+
+[DM-RoboCup07_Outdoor_1_250]
+UTM_START_POSE_1 = -28.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_2 = -27.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_3 = -26.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_4 = -25.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_5 = -24.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_6 = -23.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_7 = -22.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_8 = -21.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_9 = -20.279918 -101.884305 -3.480000 0.0 0.0 0
+UTM_START_POSE_10 = -19.279918 -101.884305 -3.480000 0.0 0.0 0
+PLATFORM_TYPE_1 = P2AT
+PLATFORM_TYPE_2 = P2AT
+PLATFORM_TYPE_3 = Talon
+PLATFORM_TYPE_4 = Talon
+PLATFORM_TYPE_5 = Talon
+PLATFORM_TYPE_6 = Talon
+PLATFORM_TYPE_7 = Talon
+PLATFORM_TYPE_8 = Talon
+PLATFORM_TYPE_9 = Talon
+PLATFORM_TYPE_10 = Talon
+
 [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

Added: trunk/moast-bth/moast/include/linkMonCtrl.hh
===================================================================
--- trunk/moast-bth/moast/include/linkMonCtrl.hh	                        (rev 0)
+++ trunk/moast-bth/moast/include/linkMonCtrl.hh	2007-09-13 17:37:54 UTC (rev 742)
@@ -0,0 +1,175 @@
+/*
+  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 linkMonCtrl.hh
+
+  \brief NML declarations for the vehicle link monitor program. 
+  and settings.
+
+
+  \code CVS Status:
+  $Author: dr_steveb $
+  $Revision: 1.1 $
+  $Date: 2007/09/11 20:27:43 $
+  \endcode
+
+  \author Stephen Balakirsky
+*/
+
+#include <stdio.h>
+#include <rcs.hh>
+#include <posemath.h>
+#include "moastNmlOffsets.hh"
+#include "moastTypes.hh"
+
+#ifndef LINK_MON_CTRLL_HH
+#define LINK_MON_CTRLL_HH
+
+#define LINK_MON_CMD_NAME "linkMonCmd"
+#define LINK_MON_STAT_NAME "linkMonStat"
+
+#define LINK_MON_CMD_BASE        (LINK_MON_BASE)
+#define LINK_MON_STAT_BASE       (LINK_MON_BASE + 100)
+#define LINK_MON_CFG_BASE        (LINK_MON_BASE + 200)
+#define LINK_MON_SET_BASE        (LINK_MON_BASE + 300)
+
+#define LINK_MON_CMD_INIT_TYPE          (LINK_MON_CMD_BASE + 1)
+#define LINK_MON_CMD_ABORT_TYPE         (LINK_MON_CMD_BASE + 2)
+#define LINK_MON_CMD_HALT_TYPE          (LINK_MON_CMD_BASE + 3)
+#define LINK_MON_CMD_SHUTDOWN_TYPE      (LINK_MON_CMD_BASE + 4)
+#define LINK_MON_CMD_NOP_TYPE           (LINK_MON_CMD_BASE + 5)
+#define LINK_MON_CMD_MONITOR_TYPE       (LINK_MON_CMD_BASE + 6)
+
+#define LINK_MON_STAT_TYPE              (LINK_MON_STAT_BASE + 1)
+
+#define LINK_MON_CFG_CYCLE_TIME_TYPE    (LINK_MON_CFG_BASE + 1)
+#define LINK_MON_CFG_DEBUG_TYPE         (LINK_MON_CFG_BASE + 2)
+#define LINK_MON_CFG_NOP_TYPE           (LINK_MON_CFG_BASE + 3)
+
+#define LINK_MON_SET_TYPE               (LINK_MON_SET_BASE + 1)
+
+/////////////////////////////////////////////////////////////////
+// supporting structures
+
+/////////////////////////////////////////////////////////////////
+// commands
+class LinkMonCmdInit:public RCS_CMD_MSG {
+public:
+  LinkMonCmdInit():RCS_CMD_MSG
+    (LINK_MON_CMD_INIT_TYPE, sizeof(LinkMonCmdInit)) {};
+  void update(CMS *);
+};
+
+class LinkMonCmdHalt:public RCS_CMD_MSG {
+public:
+  LinkMonCmdHalt():RCS_CMD_MSG
+    (LINK_MON_CMD_HALT_TYPE, sizeof(LinkMonCmdHalt)) {};
+  void update(CMS *);
+};
+
+class LinkMonCmdAbort:public RCS_CMD_MSG {
+public:
+  LinkMonCmdAbort():RCS_CMD_MSG
+    (LINK_MON_CMD_ABORT_TYPE, sizeof(LinkMonCmdAbort)) {};
+  void update(CMS *);
+};
+
+class LinkMonCmdShutdown:public RCS_CMD_MSG {
+public:
+  LinkMonCmdShutdown():RCS_CMD_MSG
+    (LINK_MON_CMD_SHUTDOWN_TYPE, sizeof(LinkMonCmdShutdown)) {};
+  void update(CMS *);
+};
+
+class LinkMonCmdNop:public RCS_CMD_MSG {
+public:
+  LinkMonCmdNop():RCS_CMD_MSG
+    (LINK_MON_CMD_NOP_TYPE, sizeof(LinkMonCmdNop)) {};
+  void update(CMS *);
+};
+
+class LinkMonCmdMonitor:public RCS_CMD_MSG {
+public:
+  LinkMonCmdMonitor():RCS_CMD_MSG
+    (LINK_MON_CMD_MONITOR_TYPE, sizeof(LinkMonCmdMonitor)) {};
+  void update(CMS *);
+};
+
+/*!
+  Status message
+*/
+typedef struct{
+  char name[MAX_TRAFFIC_VEHICLES][80];
+  float cost;
+  int length;
+}RadioRoute;
+
+class LinkMonStat:public RCS_STAT_MSG_V2 {
+public:
+  LinkMonStat():RCS_STAT_MSG_V2(LINK_MON_STAT_TYPE, sizeof(LinkMonStat)) {};
+  void update(CMS *);
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(RadioRoute, route, MAX_TRAFFIC_VEHICLES);
+  // route_length autogenerated
+};
+
+/*!
+  Commands that will come into the configuration channel
+*/
+class linkMonCfgCycleTime:public RCS_CMD_MSG {
+public:
+  linkMonCfgCycleTime():RCS_CMD_MSG
+    (LINK_MON_CFG_CYCLE_TIME_TYPE, sizeof(linkMonCfgCycleTime)) {};
+  void update(CMS *);
+
+  double cycleTime;
+};
+
+class linkMonCfgNop:public RCS_CMD_MSG {
+public:
+  linkMonCfgNop():RCS_CMD_MSG
+    (LINK_MON_CFG_NOP_TYPE, sizeof(linkMonCfgNop)) {};
+  void update(CMS *);
+};
+
+class linkMonCfgDebug:public RCS_CMD_MSG {
+public:
+  linkMonCfgDebug():RCS_CMD_MSG
+    (LINK_MON_CFG_DEBUG_TYPE, sizeof(linkMonCfgDebug)) {};
+  void update(CMS *);
+
+  int debug;			// debug mask
+};
+
+/*!
+  linkMonSet is the class that holds the quasi-static  settings,
+  those that change infrequently and in response to  configuration
+  messages.
+ */
+class linkMonSet:public RCS_STAT_MSG_V2 {
+public:
+  linkMonSet():RCS_STAT_MSG_V2(LINK_MON_SET_TYPE, sizeof(linkMonSet)) {};
+  void update(CMS *);
+};
+
+extern int linkMonCtrl_format(NMLTYPE type, void *buf, CMS * cms);
+extern const char * linkMonCtrl_symbol_lookup(long type);
+
+#endif // LINK_MON_HH
+
+/*
+  Modification history:
+
+  $Log: linkMonCtrl.hh,v $
+  Revision 1.1  2007/09/11 20:27:43  dr_steveb
+  Changes for link monitoring
+
+*/

Modified: trunk/moast-bth/moast/include/moastNmlOffsets.hh
===================================================================
--- trunk/moast-bth/moast/include/moastNmlOffsets.hh	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/include/moastNmlOffsets.hh	2007-09-13 17:37:54 UTC (rev 742)
@@ -15,9 +15,9 @@
   \brief Starting numbers for MOAST NMLtype declarations
 
   \code CVS Status:
-  $Author: proctor $
-  $Revision: 1.4 $
-  $Date: 2007/07/24 18:38:22 $
+  $Author: dr_steveb $
+  $Revision: 1.5 $
+  $Date: 2007/09/11 20:27:43 $
   \endcode
 
   \author Fred Proctor
@@ -82,12 +82,18 @@
 //! used by joystickData.hh
 #define JOYSTICK_DATA_BASE 17000
 
+//! user by linkmonitor.hh
+#define LINK_MON_BASE      18000
+
 #endif // MOAST_NML_OFFSETS_HH
 
 /*
   Modification history:
 
   $Log: moastNmlOffsets.hh,v $
+  Revision 1.5  2007/09/11 20:27:43  dr_steveb
+  Changes for link monitoring
+
   Revision 1.4  2007/07/24 18:38:22  proctor
   Added JoystickData
 

Modified: trunk/moast-bth/moast/include/trafficCtrl.hh
===================================================================
--- trunk/moast-bth/moast/include/trafficCtrl.hh	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/include/trafficCtrl.hh	2007-09-13 17:37:54 UTC (rev 742)
@@ -19,8 +19,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.4 $
-  $Date: 2007/08/29 18:26:25 $
+  $Revision: 1.5 $
+  $Date: 2007/09/11 20:27:43 $
   \endcode
 
   \author Stephen Balakirsky
@@ -312,12 +312,17 @@
   int debug;			// debug mask
 };
 
+
+typedef struct{
+  int steerType;
+  char robotName[MOAST_WORLD_NAME_LEN];
+}RobotInfo;
+
 /*!
   TrafficCtrlSet is the class that holds the quasi-static vehicle settings,
   those that change infrequently and in response to vehicle configuration
   messages.
  */
-
 class TrafficCtrlSet:public RCS_STAT_MSG {
 public:
   TrafficCtrlSet():RCS_STAT_MSG(TRAFFIC_CTRL_SET_TYPE, sizeof(TrafficCtrlSet)) {};
@@ -335,8 +340,8 @@
   // value of angular deviation above which angular speed is clamped
   // to wmax
   double wCutoffAngle;		// [rad]
-  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(int, steerType, MAX_TRAFFIC_VEHICLES);
-  // will now get 'int steerType_length'
+  DECLARE_NML_DYNAMIC_LENGTH_ARRAY(RobotInfo, robotInfo, MAX_TRAFFIC_VEHICLES);
+  // will now get 'int robotInfo_length'
 };
 extern int trafficCtrl_format(NMLTYPE type, void *buf, CMS * cms);
 extern const char *trafficCtrl_symbol_lookup(long type);
@@ -346,6 +351,9 @@
   Modification history:
 
   $Log: trafficCtrl.hh,v $
+  Revision 1.5  2007/09/11 20:27:43  dr_steveb
+  Changes for link monitoring
+
   Revision 1.4  2007/08/29 18:26:25  dr_steveb
   Added joystick control commands to the traffic cmd buffer and moved some constants to mostTypes
 

Modified: trunk/moast-bth/moast/lib/Makefile.am
===================================================================
--- trunk/moast-bth/moast/lib/Makefile.am	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/lib/Makefile.am	2007-09-13 17:37:54 UTC (rev 742)
@@ -1,7 +1,7 @@
 INCLUDES = -I$(RCSLIB_DIR)/include
 
 lib_LIBRARIES = libmoast.a
-libmoast_a_SOURCES = ../src/nml/moastTypes.cc ../src/nml/moastNmlGlobal.cc ../src/nml/moastError.cc ../src/nml/navDataExt.cc ../src/nml/servoSP.cc ../src/nml/servoMobJA.cc ../src/nml/servoMisJA.cc ../src/nml/primSP.cc ../src/nml/primMobJA.cc ../src/nml/primMisJA.cc ../src/nml/amSP.cc ../src/nml/amMisJA.cc ../src/nml/amMobJA.cc ../src/nml/sensorData.cc ../src/common/acmRandom.c ../src/common/utmConvert.cc ../src/nml/vehSP.cc ../src/nml/vehMobPL.cc ../src/nml/sectMobPL.cc ../src/common/dijkTabs.cc ../src/common/dijkHeap.cc ../src/common/dijkHeapN.cc ../src/common/aStarHeap.cc ../src/common/aStarHeapN.cc ../src/common/visGraph.cc ../src/common/moastGeom.cc ../src/common/getopt_long.c ../src/nml/nmlMap.cc ../src/nml/nmlPosition.cc ../src/nml/trafficCtrl.cc ../src/nml/trafficData.cc ../src/nml/joystickData.cc
+libmoast_a_SOURCES = ../src/nml/moastTypes.cc ../src/nml/moastNmlGlobal.cc ../src/nml/moastError.cc ../src/nml/navDataExt.cc ../src/nml/servoSP.cc ../src/nml/servoMobJA.cc ../src/nml/servoMisJA.cc ../src/nml/primSP.cc ../src/nml/primMobJA.cc ../src/nml/primMisJA.cc ../src/nml/amSP.cc ../src/nml/amMisJA.cc ../src/nml/amMobJA.cc ../src/nml/sensorData.cc ../src/common/acmRandom.c ../src/common/utmConvert.cc ../src/nml/vehSP.cc ../src/nml/vehMobPL.cc ../src/nml/sectMobPL.cc ../src/common/dijkTabs.cc ../src/common/dijkHeap.cc ../src/common/dijkHeapN.cc ../src/common/aStarHeap.cc ../src/common/aStarHeapN.cc ../src/common/visGraph.cc ../src/common/moastGeom.cc ../src/common/getopt_long.c ../src/nml/nmlMap.cc ../src/nml/nmlPosition.cc ../src/nml/trafficCtrl.cc ../src/nml/trafficData.cc ../src/nml/joystickData.cc ../src/nml/linkMonCtrl.cc
 
 if ! HAVE_GETOPT_H
 libmoast_a_SOURCES += ../src/common/getopt_long.c 

Modified: trunk/moast-bth/moast/src/nml/Makefile.local
===================================================================
--- trunk/moast-bth/moast/src/nml/Makefile.local	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/src/nml/Makefile.local	2007-09-13 17:37:54 UTC (rev 742)
@@ -25,6 +25,7 @@
 	trafficData.cc \
 	trafficCtrl.cc \
 	joystickData.cc \
+	linkMonCtrl.cc \
 	all
 
 # get RCSLIB_DIR, "all" et al, although we really only need RCSLIB_DIR

Added: trunk/moast-bth/moast/src/nml/linkMonCtrl.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/linkMonCtrl.cc	                        (rev 0)
+++ trunk/moast-bth/moast/src/nml/linkMonCtrl.cc	2007-09-13 17:37:54 UTC (rev 742)
@@ -0,0 +1,682 @@
+/*
+*	New C++ File starts here.
+*	This file should be named moastTypes.cc
+*/
+
+// Include all NML, CMS, and RCS classes and functions
+#include "rcs.hh"
+
+// Include command and status message definitions
+#include "moastTypes.hh"
+#include "moastNmlOffsets.hh"
+#include "linkMonCtrl.hh"
+
+// Forward Function Prototypes
+void nmlupdate(CMS *cms, RadioRoute *x);
+void initialize_RadioRoute(RadioRoute *x);
+
+/*
+*	Initializer for RadioRoute
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void initialize_RadioRoute(RadioRoute* x)
+{
+	for(int i_name=0; i_name< 800; i_name++)
+	{
+		((char*) x->name)[i_name]  = (char) 0;
+	}
+	x->cost = (float) 0;
+	x->length = (int) 0;
+
+}
+
+
+#ifndef MAX_LINKMONCTRL_NAME_LENGTH
+#define MAX_LINKMONCTRL_NAME_LENGTH 20
+#endif
+#ifndef LINKMONCTRL_NAME_LIST_LENGTH
+#define LINKMONCTRL_NAME_LIST_LENGTH 12
+#endif
+
+
+/* This list must be in alphabetical order and the three lists must correspond. */
+const char linkMonCtrl_name_list[LINKMONCTRL_NAME_LIST_LENGTH][MAX_LINKMONCTRL_NAME_LENGTH]= {
+	"LinkMonCmdAbort", /* 0,18002 */
+	"LinkMonCmdHalt", /* 1,18003 */
+	"LinkMonCmdInit", /* 2,18001 */
+	"LinkMonCmdMonitor", /* 3,18006 */
+	"LinkMonCmdNop", /* 4,18005 */
+	"LinkMonCmdShutdown", /* 5,18004 */
+	"LinkMonStat", /* 6,18101 */
+	"linkMonCfgCycleTime", /* 8,18201 */
+	"linkMonCfgDebug", /* 9,18202 */
+	"linkMonCfgNop", /* 10,18203 */
+	"linkMonSet", /* 11,18301 */
+	""};
+const NMLTYPE linkMonCtrl_id_list[LINKMONCTRL_NAME_LIST_LENGTH]= {
+	LINK_MON_CMD_ABORT_TYPE, /* 0,18002 */
+	LINK_MON_CMD_HALT_TYPE, /* 1,18003 */
+	LINK_MON_CMD_INIT_TYPE, /* 2,18001 */
+	LINK_MON_CMD_MONITOR_TYPE, /* 3,18006 */
+	LINK_MON_CMD_NOP_TYPE, /* 4,18005 */
+	LINK_MON_CMD_SHUTDOWN_TYPE, /* 5,18004 */
+	LINK_MON_STAT_TYPE, /* 6,18101 */
+	LINK_MON_CFG_CYCLE_TIME_TYPE, /* 8,18201 */
+	LINK_MON_CFG_DEBUG_TYPE, /* 9,18202 */
+	LINK_MON_CFG_NOP_TYPE, /* 10,18203 */
+	LINK_MON_SET_TYPE, /* 11,18301 */
+	-1};
+const size_t linkMonCtrl_size_list[LINKMONCTRL_NAME_LIST_LENGTH]= {
+	sizeof(LinkMonCmdAbort),
+	sizeof(LinkMonCmdHalt),
+	sizeof(LinkMonCmdInit),
+	sizeof(LinkMonCmdMonitor),
+	sizeof(LinkMonCmdNop),
+	sizeof(LinkMonCmdShutdown),
+	sizeof(LinkMonStat),
+	sizeof(linkMonCfgCycleTime),
+	sizeof(linkMonCfgDebug),
+	sizeof(linkMonCfgNop),
+	sizeof(linkMonSet),
+	0};
+const char *linkMonCtrl_symbol_lookup(long type);
+
+
+// Enumerated Type Constants
+
+// moastSteerType
+#ifndef MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH
+#define MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH 29
+#endif
+#ifndef ENUM_MOASTSTEERTYPE_LENGTH
+#define ENUM_MOASTSTEERTYPE_LENGTH 9
+#endif
+
+static const char enum_moastSteerType_string_list[ENUM_MOASTSTEERTYPE_LENGTH][MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH]= {
+	"MOAST_ACKERMAN_STEER_TYPE", /* 0,1 */
+	"MOAST_FIXED_WING_STEER_TYPE", /* 1,5 */
+	"MOAST_INVALID_STEER_TYPE", /* 2,-1 */
+	"MOAST_OMNI_STEER_TYPE", /* 3,2 */
+	"MOAST_ROTARY_WING_STEER_TYPE", /* 4,4 */
+	"MOAST_SKID_STEER_TYPE", /* 5,0 */
+	"MOAST_SUBMARINE_STEER_TYPE", /* 6,3 */
+	"MOAST_UNKNOWN_STEER_TYPE", /* 7,6 */
+	""};
+
+static const int enum_moastSteerType_int_list[ENUM_MOASTSTEERTYPE_LENGTH]= {
+	MOAST_ACKERMAN_STEER_TYPE, /* 0,1 */
+	MOAST_FIXED_WING_STEER_TYPE, /* 1,5 */
+	MOAST_INVALID_STEER_TYPE, /* 2,-1 */
+	MOAST_OMNI_STEER_TYPE, /* 3,2 */
+	MOAST_ROTARY_WING_STEER_TYPE, /* 4,4 */
+	MOAST_SKID_STEER_TYPE, /* 5,0 */
+	MOAST_SUBMARINE_STEER_TYPE, /* 6,3 */
+	MOAST_UNKNOWN_STEER_TYPE, /* 7,6 */
+	};
+
+const char *linkMonCtrl_enum_moastSteerType_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_ACKERMAN_STEER_TYPE: return("MOAST_ACKERMAN_STEER_TYPE"); /* 1 */
+		case MOAST_FIXED_WING_STEER_TYPE: return("MOAST_FIXED_WING_STEER_TYPE"); /* 5 */
+		case MOAST_INVALID_STEER_TYPE: return("MOAST_INVALID_STEER_TYPE"); /* -1 */
+		case MOAST_OMNI_STEER_TYPE: return("MOAST_OMNI_STEER_TYPE"); /* 2 */
+		case MOAST_ROTARY_WING_STEER_TYPE: return("MOAST_ROTARY_WING_STEER_TYPE"); /* 4 */
+		case MOAST_SKID_STEER_TYPE: return("MOAST_SKID_STEER_TYPE"); /* 0 */
+		case MOAST_SUBMARINE_STEER_TYPE: return("MOAST_SUBMARINE_STEER_TYPE"); /* 3 */
+		case MOAST_UNKNOWN_STEER_TYPE: return("MOAST_UNKNOWN_STEER_TYPE"); /* 6 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_moastSteerType_info_struct={
+	"moastSteerType",
+	(const char **)enum_moastSteerType_string_list,
+	enum_moastSteerType_int_list,
+	MAX_ENUM_MOASTSTEERTYPE_STRING_LENGTH,
+	ENUM_MOASTSTEERTYPE_LENGTH,
+	(cms_symbol_lookup_function_t)linkMonCtrl_enum_moastSteerType_symbol_lookup
+	};
+
+// RCS_ADMIN_STATE
+#ifndef MAX_ENUM_RCS_ADMIN_STATE_STRING_LENGTH
+#define MAX_ENUM_RCS_ADMIN_STATE_STRING_LENGTH 20
+#endif
+#ifndef ENUM_RCS_ADMIN_STATE_LENGTH
+#define ENUM_RCS_ADMIN_STATE_LENGTH 5
+#endif
+
+static const char enum_RCS_ADMIN_STATE_string_list[ENUM_RCS_ADMIN_STATE_LENGTH][MAX_ENUM_RCS_ADMIN_STATE_STRING_LENGTH]= {
+	"ADMIN_INITIALIZED", /* 0,2 */
+	"ADMIN_SHUT_DOWN", /* 1,3 */
+	"ADMIN_UNINITIALIZED", /* 2,1 */
+	"RCS_ADMIN_ZERO", /* 3,0 */
+	""};
+
+static const int enum_RCS_ADMIN_STATE_int_list[ENUM_RCS_ADMIN_STATE_LENGTH]= {
+	ADMIN_INITIALIZED, /* 0,2 */
+	ADMIN_SHUT_DOWN, /* 1,3 */
+	ADMIN_UNINITIALIZED, /* 2,1 */
+	RCS_ADMIN_ZERO, /* 3,0 */
+	};
+
+const char *linkMonCtrl_enum_RCS_ADMIN_STATE_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case ADMIN_INITIALIZED: return("ADMIN_INITIALIZED"); /* 2 */
+		case ADMIN_SHUT_DOWN: return("ADMIN_SHUT_DOWN"); /* 3 */
+		case ADMIN_UNINITIALIZED: return("ADMIN_UNINITIALIZED"); /* 1 */
+		case RCS_ADMIN_ZERO: return("RCS_ADMIN_ZERO"); /* 0 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_RCS_ADMIN_STATE_info_struct={
+	"RCS_ADMIN_STATE",
+	(const char **)enum_RCS_ADMIN_STATE_string_list,
+	enum_RCS_ADMIN_STATE_int_list,
+	MAX_ENUM_RCS_ADMIN_STATE_STRING_LENGTH,
+	ENUM_RCS_ADMIN_STATE_LENGTH,
+	(cms_symbol_lookup_function_t)linkMonCtrl_enum_RCS_ADMIN_STATE_symbol_lookup
+	};
+
+// RCS_STATUS
+#ifndef MAX_ENUM_RCS_STATUS_STRING_LENGTH
+#define MAX_ENUM_RCS_STATUS_STRING_LENGTH 21
+#endif
+#ifndef ENUM_RCS_STATUS_LENGTH
+#define ENUM_RCS_STATUS_LENGTH 5
+#endif
+
+static const char enum_RCS_STATUS_string_list[ENUM_RCS_STATUS_LENGTH][MAX_ENUM_RCS_STATUS_STRING_LENGTH]= {
+	"RCS_DONE", /* 0,1 */
+	"RCS_ERROR", /* 1,3 */
+	"RCS_EXEC", /* 2,2 */
+	"UNINITIALIZED_STATUS", /* 3,-1 */
+	""};
+
+static const int enum_RCS_STATUS_int_list[ENUM_RCS_STATUS_LENGTH]= {
+	RCS_DONE, /* 0,1 */
+	RCS_ERROR, /* 1,3 */
+	RCS_EXEC, /* 2,2 */
+	UNINITIALIZED_STATUS, /* 3,-1 */
+	};
+
+const char *linkMonCtrl_enum_RCS_STATUS_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case RCS_DONE: return("RCS_DONE"); /* 1 */
+		case RCS_ERROR: return("RCS_ERROR"); /* 3 */
+		case RCS_EXEC: return("RCS_EXEC"); /* 2 */
+		case UNINITIALIZED_STATUS: return("UNINITIALIZED_STATUS"); /* -1 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_RCS_STATUS_info_struct={
+	"RCS_STATUS",
+	(const char **)enum_RCS_STATUS_string_list,
+	enum_RCS_STATUS_int_list,
+	MAX_ENUM_RCS_STATUS_STRING_LENGTH,
+	ENUM_RCS_STATUS_LENGTH,
+	(cms_symbol_lookup_function_t)linkMonCtrl_enum_RCS_STATUS_symbol_lookup
+	};
+
+// moastFlipperType
+#ifndef MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH
+#define MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH 22
+#endif
+#ifndef ENUM_MOASTFLIPPERTYPE_LENGTH
+#define ENUM_MOASTFLIPPERTYPE_LENGTH 5
+#endif
+
+static const char enum_moastFlipperType_string_list[ENUM_MOASTFLIPPERTYPE_LENGTH][MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH]= {
+	"MOAST_FL_FLIPPER_TYPE", /* 0,1 */
+	"MOAST_FR_FLIPPER_TYPE", /* 1,0 */
+	"MOAST_RL_FLIPPER_TYPE", /* 2,3 */
+	"MOAST_RR_FLIPPER_TYPE", /* 3,2 */
+	""};
+
+static const int enum_moastFlipperType_int_list[ENUM_MOASTFLIPPERTYPE_LENGTH]= {
+	MOAST_FL_FLIPPER_TYPE, /* 0,1 */
+	MOAST_FR_FLIPPER_TYPE, /* 1,0 */
+	MOAST_RL_FLIPPER_TYPE, /* 2,3 */
+	MOAST_RR_FLIPPER_TYPE, /* 3,2 */
+	};
+
+const char *linkMonCtrl_enum_moastFlipperType_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_FL_FLIPPER_TYPE: return("MOAST_FL_FLIPPER_TYPE"); /* 1 */
+		case MOAST_FR_FLIPPER_TYPE: return("MOAST_FR_FLIPPER_TYPE"); /* 0 */
+		case MOAST_RL_FLIPPER_TYPE: return("MOAST_RL_FLIPPER_TYPE"); /* 3 */
+		case MOAST_RR_FLIPPER_TYPE: return("MOAST_RR_FLIPPER_TYPE"); /* 2 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_moastFlipperType_info_struct={
+	"moastFlipperType",
+	(const char **)enum_moastFlipperType_string_list,
+	enum_moastFlipperType_int_list,
+	MAX_ENUM_MOASTFLIPPERTYPE_STRING_LENGTH,
+	ENUM_MOASTFLIPPERTYPE_LENGTH,
+	(cms_symbol_lookup_function_t)linkMonCtrl_enum_moastFlipperType_symbol_lookup
+	};
+
+// moastRobotType
+#ifndef MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH
+#define MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH 26
+#endif
+#ifndef ENUM_MOASTROBOTTYPE_LENGTH
+#define ENUM_MOASTROBOTTYPE_LENGTH 7
+#endif
+
+static const char enum_moastRobotType_string_list[ENUM_MOASTROBOTTYPE_LENGTH][MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH]= {
+	"MOAST_AERIAL_ROBOT_TYPE", /* 0,2 */
+	"MOAST_GROUND_VEHICLE_TYPE", /* 1,0 */
+	"MOAST_INVALID_ROBOT_TYPE", /* 2,-1 */
+	"MOAST_LEGGED_ROBOT_TYPE", /* 3,3 */
+	"MOAST_NAUTIC_ROBOT_TYPE", /* 4,1 */
+	"MOAST_UNKNOWN_ROBOT_TYPE", /* 5,4 */
+	""};
+
+static const int enum_moastRobotType_int_list[ENUM_MOASTROBOTTYPE_LENGTH]= {
+	MOAST_AERIAL_ROBOT_TYPE, /* 0,2 */
+	MOAST_GROUND_VEHICLE_TYPE, /* 1,0 */
+	MOAST_INVALID_ROBOT_TYPE, /* 2,-1 */
+	MOAST_LEGGED_ROBOT_TYPE, /* 3,3 */
+	MOAST_NAUTIC_ROBOT_TYPE, /* 4,1 */
+	MOAST_UNKNOWN_ROBOT_TYPE, /* 5,4 */
+	};
+
+const char *linkMonCtrl_enum_moastRobotType_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_AERIAL_ROBOT_TYPE: return("MOAST_AERIAL_ROBOT_TYPE"); /* 2 */
+		case MOAST_GROUND_VEHICLE_TYPE: return("MOAST_GROUND_VEHICLE_TYPE"); /* 0 */
+		case MOAST_INVALID_ROBOT_TYPE: return("MOAST_INVALID_ROBOT_TYPE"); /* -1 */
+		case MOAST_LEGGED_ROBOT_TYPE: return("MOAST_LEGGED_ROBOT_TYPE"); /* 3 */
+		case MOAST_NAUTIC_ROBOT_TYPE: return("MOAST_NAUTIC_ROBOT_TYPE"); /* 1 */
+		case MOAST_UNKNOWN_ROBOT_TYPE: return("MOAST_UNKNOWN_ROBOT_TYPE"); /* 4 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_moastRobotType_info_struct={
+	"moastRobotType",
+	(const char **)enum_moastRobotType_string_list,
+	enum_moastRobotType_int_list,
+	MAX_ENUM_MOASTROBOTTYPE_STRING_LENGTH,
+	ENUM_MOASTROBOTTYPE_LENGTH,
+	(cms_symbol_lookup_function_t)linkMonCtrl_enum_moastRobotType_symbol_lookup
+	};
+
+// anonymous_enum_______include_moastTypes_hh_210
+#ifndef MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH
+#define MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH 17
+#endif
+#ifndef ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH
+#define ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH 3
+#endif
+
+static const char enum_anonymous_enum_______include_moastTypes_hh_210_string_list[ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH][MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH]= {
+	"MOAST_ROTATE_CCW", /* 0,1 */
+	"MOAST_ROTATE_CW", /* 1,0 */
+	""};
+
+static const int enum_anonymous_enum_______include_moastTypes_hh_210_int_list[ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH]= {
+	MOAST_ROTATE_CCW, /* 0,1 */
+	MOAST_ROTATE_CW, /* 1,0 */
+	};
+
+const char *linkMonCtrl_enum_anonymous_enum_______include_moastTypes_hh_210_symbol_lookup(long v)
+{
+	switch(v)
+	{
+		case MOAST_ROTATE_CCW: return("MOAST_ROTATE_CCW"); /* 1 */
+		case MOAST_ROTATE_CW: return("MOAST_ROTATE_CW"); /* 0 */
+		default:break;
+	}
+	return("!!UNDEFINED_SYMBOL!!");
+}
+
+static const struct cms_enum_info enum_anonymous_enum_______include_moastTypes_hh_210_info_struct={
+	"anonymous_enum_______include_moastTypes_hh_210",
+	(const char **)enum_anonymous_enum_______include_moastTypes_hh_210_string_list,
+	enum_anonymous_enum_______include_moastTypes_hh_210_int_list,
+	MAX_ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_STRING_LENGTH,
+	ENUM_ANONYMOUS_ENUM_______INCLUDE_MOASTTYPES_HH_210_LENGTH,
+	(cms_symbol_lookup_function_t)linkMonCtrl_enum_anonymous_enum_______include_moastTypes_hh_210_symbol_lookup
+	};
+
+/*
+Estimated_size	LinkMonCmdAbort	24
+Estimated_size	LinkMonCmdHalt	24
+Estimated_size	LinkMonCmdInit	24
+Estimated_size	LinkMonCmdMonitor	24
+Estimated_size	LinkMonCmdNop	24
+Estimated_size	LinkMonCmdShutdown	24
+Estimated_size	LinkMonStat	8472
+Estimated_size	RadioRoute	816
+Estimated_size	linkMonCfgCycleTime	32
+Estimated_size	linkMonCfgDebug	32
+Estimated_size	linkMonCfgNop	24
+Estimated_size	linkMonSet	296
+Estimated_size	MAXIMUM	8472
+*/
+/*
+*	NML/CMS Format function : linkMonCtrl_format
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+int linkMonCtrl_format(NMLTYPE type, void *buffer, CMS *cms)
+{
+
+	type = cms->check_type_info(type,buffer,"linkMonCtrl",
+		(cms_symbol_lookup_function_t) linkMonCtrl_symbol_lookup,
+		(const char **)linkMonCtrl_name_list,
+		linkMonCtrl_id_list,linkMonCtrl_size_list,
+		LINKMONCTRL_NAME_LIST_LENGTH,
+		MAX_LINKMONCTRL_NAME_LENGTH);
+
+	switch(type)
+	{
+	case LINK_MON_CMD_ABORT_TYPE:
+		((LinkMonCmdAbort *) buffer)->update(cms);
+		break;
+	case LINK_MON_CMD_HALT_TYPE:
+		((LinkMonCmdHalt *) buffer)->update(cms);
+		break;
+	case LINK_MON_CMD_INIT_TYPE:
+		((LinkMonCmdInit *) buffer)->update(cms);
+		break;
+	case LINK_MON_CMD_MONITOR_TYPE:
+		((LinkMonCmdMonitor *) buffer)->update(cms);
+		break;
+	case LINK_MON_CMD_NOP_TYPE:
+		((LinkMonCmdNop *) buffer)->update(cms);
+		break;
+	case LINK_MON_CMD_SHUTDOWN_TYPE:
+		((LinkMonCmdShutdown *) buffer)->update(cms);
+		break;
+	case LINK_MON_STAT_TYPE:
+		((LinkMonStat *) buffer)->update(cms);
+		break;
+	case LINK_MON_CFG_CYCLE_TIME_TYPE:
+		((linkMonCfgCycleTime *) buffer)->update(cms);
+		break;
+	case LINK_MON_CFG_DEBUG_TYPE:
+		((linkMonCfgDebug *) buffer)->update(cms);
+		break;
+	case LINK_MON_CFG_NOP_TYPE:
+		((linkMonCfgNop *) buffer)->update(cms);
+		break;
+	case LINK_MON_SET_TYPE:
+		((linkMonSet *) buffer)->update(cms);
+		break;
+
+	default:
+		return(0);
+	}
+	return 1;
+}
+
+
+// NML Symbol Lookup Function
+const char *linkMonCtrl_symbol_lookup(long type)
+{
+	switch(type)
+	{
+	case LINK_MON_CMD_ABORT_TYPE:
+		return "LinkMonCmdAbort";
+	case LINK_MON_CMD_HALT_TYPE:
+		return "LinkMonCmdHalt";
+	case LINK_MON_CMD_INIT_TYPE:
+		return "LinkMonCmdInit";
+	case LINK_MON_CMD_MONITOR_TYPE:
+		return "LinkMonCmdMonitor";
+	case LINK_MON_CMD_NOP_TYPE:
+		return "LinkMonCmdNop";
+	case LINK_MON_CMD_SHUTDOWN_TYPE:
+		return "LinkMonCmdShutdown";
+	case LINK_MON_STAT_TYPE:
+		return "LinkMonStat";
+	case LINK_MON_CFG_CYCLE_TIME_TYPE:
+		return "linkMonCfgCycleTime";
+	case LINK_MON_CFG_DEBUG_TYPE:
+		return "linkMonCfgDebug";
+	case LINK_MON_CFG_NOP_TYPE:
+		return "linkMonCfgNop";
+	case LINK_MON_SET_TYPE:
+		return "linkMonSet";
+	default:
+		return"UNKNOWN";
+		break;
+	}
+	return(NULL);
+}
+
+/*
+*	NML/CMS Update function for LinkMonCmdAbort
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonCmdAbort::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdAbort","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("LinkMonCmdAbort","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for LinkMonCmdHalt
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonCmdHalt::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdHalt","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("LinkMonCmdHalt","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for LinkMonCmdInit
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonCmdInit::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdInit","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("LinkMonCmdInit","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for LinkMonCmdMonitor
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonCmdMonitor::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdMonitor","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("LinkMonCmdMonitor","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for LinkMonCmdNop
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonCmdNop::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdNop","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("LinkMonCmdNop","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for LinkMonCmdShutdown
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonCmdShutdown::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdShutdown","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("LinkMonCmdShutdown","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for LinkMonStat
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void LinkMonStat::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonStat","RCS_STAT_MSG_V2");
+
+	cms->beginBaseClass("RCS_STAT_MSG_V2");
+	RCS_STAT_MSG_V2::update(cms);
+	cms->endBaseClass("RCS_STAT_MSG_V2");
+
+	cms->update_dla_length_with_name("route_length",route_length);
+	cms->beginStructDynamicArray("route",route_length,10);
+	for(int i_route = 0;i_route < route_length ;i_route++)
+	{
+		cms->beginStructArrayElem("route",i_route);
+		nmlupdate(cms,&(route[i_route]));
+		cms->endStructArrayElem("route",i_route);
+	}
+	cms->endStructDynamicArray("route",route_length,10);
+
+	cms->endClass("LinkMonStat","RCS_STAT_MSG_V2");
+
+}
+
+
+/*
+*	NML/CMS Update function for RadioRoute
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void nmlupdate(CMS *cms,RadioRoute *x)
+{
+
+	cms->beginClass("RadioRoute",0);
+	cms->update_with_name("name",(char *) x->name,800);
+	cms->update_with_name("cost",x->cost);
+	cms->update_with_name("length",x->length);
+
+	cms->endClass("RadioRoute",0);
+
+}
+
+
+/*
+*	NML/CMS Update function for linkMonCfgCycleTime
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void linkMonCfgCycleTime::update(CMS *cms)
+{
+
+	cms->beginClass("linkMonCfgCycleTime","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+	cms->update_with_name("cycleTime",cycleTime);
+
+	cms->endClass("linkMonCfgCycleTime","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for linkMonCfgDebug
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void linkMonCfgDebug::update(CMS *cms)
+{
+
+	cms->beginClass("linkMonCfgDebug","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+	cms->update_with_name("debug",debug);
+
+	cms->endClass("linkMonCfgDebug","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for linkMonCfgNop
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void linkMonCfgNop::update(CMS *cms)
+{
+
+	cms->beginClass("linkMonCfgNop","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+
+	cms->endClass("linkMonCfgNop","RCS_CMD_MSG");
+
+}
+
+
+/*
+*	NML/CMS Update function for linkMonSet
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 11 15:57:39 EDT 2007
+*/
+void linkMonSet::update(CMS *cms)
+{
+
+	cms->beginClass("linkMonSet","RCS_STAT_MSG_V2");
+
+	cms->beginBaseClass("RCS_STAT_MSG_V2");
+	RCS_STAT_MSG_V2::update(cms);
+	cms->endBaseClass("RCS_STAT_MSG_V2");
+
+
+	cms->endClass("linkMonSet","RCS_STAT_MSG_V2");
+
+}
+

Modified: trunk/moast-bth/moast/src/nml/moastTypes.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/moastTypes.cc	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/src/nml/moastTypes.cc	2007-09-13 17:37:54 UTC (rev 742)
@@ -29,7 +29,7 @@
 /*
 *	Initializer for ArcSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void initialize_ArcSegment(ArcSegment* x)
 {
@@ -43,7 +43,7 @@
 /*
 *	Initializer for Waypoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void initialize_Waypoint(Waypoint* x)
 {
@@ -56,7 +56,7 @@
 /*
 *	Initializer for constrainedDouble
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void initialize_constrainedDouble(constrainedDouble* x)
 {
@@ -69,7 +69,7 @@
 /*
 *	Initializer for constrainedFloat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void initialize_constrainedFloat(constrainedFloat* x)
 {
@@ -82,7 +82,7 @@
 /*
 *	Initializer for constrainedInt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void initialize_constrainedInt(constrainedInt* x)
 {
@@ -315,7 +315,7 @@
 /*
 *	NML/CMS Format function : moastTypes_format
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 int moastTypes_format(NMLTYPE type, void *buffer, CMS *cms)
 {
@@ -352,7 +352,7 @@
 /*
 *	NML/CMS Update function for ArcSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,ArcSegment *x)
 {
@@ -374,7 +374,7 @@
 /*
 *	NML/CMS Update function for LineSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,LineSegment *x)
 {
@@ -396,7 +396,7 @@
 /*
 *	NML/CMS Update function for Location2D
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,Location2D *x)
 {
@@ -413,7 +413,7 @@
 /*
 *	NML/CMS Update function for SensorPoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,SensorPoint *x)
 {
@@ -431,7 +431,7 @@
 /*
 *	NML/CMS Update function for Waypoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,Waypoint *x)
 {
@@ -450,7 +450,7 @@
 /*
 *	NML/CMS Update function for constrainedDouble
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,constrainedDouble *x)
 {
@@ -468,7 +468,7 @@
 /*
 *	NML/CMS Update function for constrainedFloat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,constrainedFloat *x)
 {
@@ -486,7 +486,7 @@
 /*
 *	NML/CMS Update function for constrainedInt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:40 EDT 2007
+*	on Thu Aug 30 11:36:44 EDT 2007
 */
 void nmlupdate(CMS *cms,constrainedInt *x)
 {

Modified: trunk/moast-bth/moast/src/nml/servoMobJA.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/servoMobJA.cc	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/src/nml/servoMobJA.cc	2007-09-13 17:37:54 UTC (rev 742)
@@ -20,7 +20,7 @@
 /*
 *	Initializer for ServoMobJAFlipperMsg
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void initialize_ServoMobJAFlipperMsg(ServoMobJAFlipperMsg* x)
 {
@@ -32,7 +32,7 @@
 /*
 *	Initializer for ServoMobJAFlipperSet
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void initialize_ServoMobJAFlipperSet(ServoMobJAFlipperSet* x)
 {
@@ -425,7 +425,7 @@
 /*
 *	NML/CMS Format function : servoMobJA_format
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 int servoMobJA_format(NMLTYPE type, void *buffer, CMS *cms)
 {
@@ -557,7 +557,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACfgCycleTime
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACfgCycleTime::update(CMS *cms)
 {
@@ -574,7 +574,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACfgDebug
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACfgDebug::update(CMS *cms)
 {
@@ -591,7 +591,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACfgTeleport
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACfgTeleport::update(CMS *cms)
 {
@@ -608,7 +608,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdAbort
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdAbort::update(CMS *cms)
 {
@@ -624,7 +624,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdAckerman::update(CMS *cms)
 {
@@ -643,7 +643,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdFlipSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdFlipSkid::update(CMS *cms)
 {
@@ -670,7 +670,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdHalt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdHalt::update(CMS *cms)
 {
@@ -686,7 +686,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdInit
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdInit::update(CMS *cms)
 {
@@ -702,7 +702,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdOmni
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdOmni::update(CMS *cms)
 {
@@ -721,7 +721,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdRotaryWing
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdRotaryWing::update(CMS *cms)
 {
@@ -741,7 +741,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdShutdown
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdShutdown::update(CMS *cms)
 {
@@ -757,7 +757,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdSkid::update(CMS *cms)
 {
@@ -775,7 +775,7 @@
 /*
 *	NML/CMS Update function for ServoMobJACmdSubmarine
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJACmdSubmarine::update(CMS *cms)
 {
@@ -794,7 +794,7 @@
 /*
 *	NML/CMS Update function for ServoMobJAFlipperMsg
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void nmlupdate(CMS *cms,ServoMobJAFlipperMsg *x)
 {
@@ -811,7 +811,7 @@
 /*
 *	NML/CMS Update function for ServoMobJAFlipperSet
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void nmlupdate(CMS *cms,ServoMobJAFlipperSet *x)
 {
@@ -833,7 +833,7 @@
 /*
 *	NML/CMS Update function for ServoMobJASet
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJASet::update(CMS *cms)
 {
@@ -860,7 +860,7 @@
 /*
 *	NML/CMS Update function for ServoMobJASetAirBot
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJASetAirBot::update(CMS *cms)
 {
@@ -884,7 +884,7 @@
 /*
 *	NML/CMS Update function for ServoMobJASetGrdVeh
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJASetGrdVeh::update(CMS *cms)
 {
@@ -921,7 +921,7 @@
 /*
 *	NML/CMS Update function for ServoMobJAStat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJAStat::update(CMS *cms)
 {
@@ -947,7 +947,7 @@
 /*
 *	NML/CMS Update function for ServoMobJAStatAirBot
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJAStatAirBot::update(CMS *cms)
 {
@@ -971,7 +971,7 @@
 /*
 *	NML/CMS Update function for ServoMobJAStatGrdVeh
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Mon Aug 27 16:44:41 EDT 2007
+*	on Thu Aug 30 11:36:45 EDT 2007
 */
 void ServoMobJAStatGrdVeh::update(CMS *cms)
 {

Modified: trunk/moast-bth/moast/src/nml/trafficCtrl.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/trafficCtrl.cc	2007-09-07 02:42:56 UTC (rev 741)
+++ trunk/moast-bth/moast/src/nml/trafficCtrl.cc	2007-09-13 17:37:54 UTC (rev 742)
@@ -12,6 +12,8 @@
 #include "trafficCtrl.hh"
 
 // Forward Function Prototypes
+void nmlupdate(CMS *cms, RobotInfo *x);
+void initialize_RobotInfo(RobotInfo *x);
 void nmlupdate(CMS *cms, TrafficCtrlRotary *x);
 void initialize_TrafficCtrlRotary(TrafficCtrlRotary *x);
 void nmlupdate(CMS *cms, TrafficCtrlSkid *x);
@@ -30,9 +32,24 @@
 void initialize_TrafficCtrlOmni(TrafficCtrlOmni *x);
 
 /*
+*	Initializer for RobotInfo
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Wed Sep 05 13:59:36 EDT 2007
+*/
+void initialize_RobotInfo(RobotInfo* x)
+{
+	x->steerType = (int) 0;
+	for(int i_robotName=0; i_robotName< 80; i_robotName++)
+	{
+		((char*) x->robotName)[i_robotName]  = (char) 0;
+	}
+
+}
+
+/*
 *	Initializer for TrafficCtrlAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void initialize_TrafficCtrlAckerman(TrafficCtrlAckerman* x)
 {
@@ -46,7 +63,7 @@
 /*
 *	Initializer for TrafficCtrlFlipperMsg
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void initialize_TrafficCtrlFlipperMsg(TrafficCtrlFlipperMsg* x)
 {
@@ -59,7 +76,7 @@
 /*
 *	Initializer for TrafficCtrlOmni
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void initialize_TrafficCtrlOmni(TrafficCtrlOmni* x)
 {
@@ -73,7 +90,7 @@
 /*
 *	Initializer for TrafficCtrlRotary
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void initialize_TrafficCtrlRotary(TrafficCtrlRotary* x)
 {
@@ -88,7 +105,7 @@
 /*
 *	Initializer for TrafficCtrlSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void initialize_TrafficCtrlSkid(TrafficCtrlSkid* x)
 {
@@ -101,7 +118,7 @@
 /*
 *	Initializer for TrafficCtrlSubmarine
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void initialize_TrafficCtrlSubmarine(TrafficCtrlSubmarine* x)
 {
@@ -123,48 +140,48 @@
 
 /* This list must be in alphabetical order and the three lists must correspond. */
 const char trafficCtrl_name_list[TRAFFICCTRL_NAME_LIST_LENGTH][MAX_TRAFFICCTRL_NAME_LENGTH]= {
-	"TrafficCtrlCfgCycleTime", /* 1,16702 */
-	"TrafficCtrlCfgDebug", /* 2,16703 */
-	"TrafficCtrlCfgMove", /* 3,16704 */
-	"TrafficCtrlCfgNop", /* 4,16701 */
-	"TrafficCtrlCmdAbort", /* 5,16503 */
-	"TrafficCtrlCmdAckerman", /* 6,16509 */
-	"TrafficCtrlCmdFlipSkid", /* 7,16511 */
-	"TrafficCtrlCmdHalt", /* 8,16504 */
-	"TrafficCtrlCmdInit", /* 9,16502 */
-	"TrafficCtrlCmdMoveArcSegment", /* 10,16508 */
-	"TrafficCtrlCmdMoveWaypoint", /* 11,16506 */
-	"TrafficCtrlCmdNop", /* 12,16501 */
-	"TrafficCtrlCmdOmni", /* 13,16512 */
-	"TrafficCtrlCmdRotaryWing", /* 14,16514 */
-	"TrafficCtrlCmdShutdown", /* 15,16505 */
-	"TrafficCtrlCmdSkid", /* 16,16510 */
-	"TrafficCtrlCmdStop", /* 17,16507 */
-	"TrafficCtrlCmdSubmarine", /* 18,16513 */
-	"TrafficCtrlSet", /* 22,16801 */
-	"TrafficCtrlStat", /* 24,16601 */
+	"TrafficCtrlCfgCycleTime", /* 2,16702 */
+	"TrafficCtrlCfgDebug", /* 3,16703 */
+	"TrafficCtrlCfgMove", /* 4,16704 */
+	"TrafficCtrlCfgNop", /* 5,16701 */
+	"TrafficCtrlCmdAbort", /* 6,16503 */
+	"TrafficCtrlCmdAckerman", /* 7,16509 */
+	"TrafficCtrlCmdFlipSkid", /* 8,16511 */
+	"TrafficCtrlCmdHalt", /* 9,16504 */
+	"TrafficCtrlCmdInit", /* 10,16502 */
+	"TrafficCtrlCmdMoveArcSegment", /* 11,16508 */
+	"TrafficCtrlCmdMoveWaypoint", /* 12,16506 */
+	"TrafficCtrlCmdNop", /* 13,16501 */
+	"TrafficCtrlCmdOmni", /* 14,16512 */
+	"TrafficCtrlCmdRotaryWing", /* 15,16514 */
+	"TrafficCtrlCmdShutdown", /* 16,16505 */
+	"TrafficCtrlCmdSkid", /* 17,16510 */
+	"TrafficCtrlCmdStop", /* 18,16507 */
+	"TrafficCtrlCmdSubmarine", /* 19,16513 */
+	"TrafficCtrlSet", /* 23,16801 */
+	"TrafficCtrlStat", /* 25,16601 */
 	""};
 const NMLTYPE trafficCtrl_id_list[TRAFFICCTRL_NAME_LIST_LENGTH]= {
-	TRAFFIC_CTRL_CFG_CYCLE_TIME_TYPE, /* 1,16702 */
-	TRAFFIC_CTRL_CFG_DEBUG_TYPE, /* 2,16703 */
-	TRAFFIC_CTRL_CFG_MOVE_TYPE, /* 3,16704 */
-	TRAFFIC_CTRL_CFG_NOP_TYPE, /* 4,16701 */
-	TRAFFIC_CTRL_CMD_ABORT_TYPE, /* 5,16503 */
-	TRAFFIC_CTRL_CMD_ACKERMAN_TYPE, /* 6,16509 */
-	TRAFFIC_CTRL_CMD_FLIP_SKID_TYPE, /* 7,16511 */
-	TRAFFIC_CTRL_CMD_HALT_TYPE, /* 8,16504 */
-	TRAFFIC_CTRL_CMD_INIT_TYPE, /* 9,16502 */
-	TRAFFIC_CTRL_CMD_MOVE_ARC_SEGMENT_TYPE, /* 10,16508 */
-	TRAFFIC_CTRL_CMD_MOVE_WAYPOINT_TYPE, /* 11,16506 */
-	TRAFFIC_CTRL_CMD_NOP_TYPE, /* 12,16501 */
-	TRAFFIC_CTRL_CMD_OMNI_TYPE, /* 13,16512 */
-	TRAFFIC_CTRL_CMD_ROTARY_WING_TYPE, /* 14,16514 */
-	TRAFFIC_CTRL_CMD_SHUTDOWN_TYPE, /* 15,16505 */
-	TRAFFIC_CTRL_CMD_SKID_TYPE, /* 16,16510 */
-	TRAFFIC_CTRL_CMD_STOP_TYPE, /* 17,16507 */
-	TRAFFIC_CTRL_CMD_SUBMARINE_TYPE, /* 18,16513 */
-	TRAFFIC_CTRL_SET_TYPE, /* 22,16801 */
-	TRAFFIC_CTRL_STAT_TYPE, /* 24,16601 */
+	TRAFFIC_CTRL_CFG_CYCLE_TIME_TYPE, /* 2,16702 */
+	TRAFFIC_CTRL_CFG_DEBUG_TYPE, /* 3,16703 */
+	TRAFFIC_CTRL_CFG_MOVE_TYPE, /* 4,16704 */
+	TRAFFIC_CTRL_CFG_NOP_TYPE, /* 5,16701 */
+	TRAFFIC_CTRL_CMD_ABORT_TYPE, /* 6,16503 */
+	TRAFFIC_CTRL_CMD_ACKERMAN_TYPE, /* 7,16509 */
+	TRAFFIC_CTRL_CMD_FLIP_SKID_TYPE, /* 8,16511 */
+	TRAFFIC_CTRL_CMD_HALT_TYPE, /* 9,16504 */
+	TRAFFIC_CTRL_CMD_INIT_TYPE, /* 10,16502 */
+	TRAFFIC_CTRL_CMD_MOVE_ARC_SEGMENT_TYPE, /* 11,16508 */
+	TRAFFIC_CTRL_CMD_MOVE_WAYPOINT_TYPE, /* 12,16506 */
+	TRAFFIC_CTRL_CMD_NOP_TYPE, /* 13,16501 */
+	TRAFFIC_CTRL_CMD_OMNI_TYPE, /* 14,16512 */
+	TRAFFIC_CTRL_CMD_ROTARY_WING_TYPE, /* 15,16514 */
+	TRAFFIC_CTRL_CMD_SHUTDOWN_TYPE, /* 16,16505 */
+	TRAFFIC_CTRL_CMD_SKID_TYPE, /* 17,16510 */
+	TRAFFIC_CTRL_CMD_STOP_TYPE, /* 18,16507 */
+	TRAFFIC_CTRL_CMD_SUBMARINE_TYPE, /* 19,16513 */
+	TRAFFIC_CTRL_SET_TYPE, /* 23,16801 */
+	TRAFFIC_CTRL_STAT_TYPE, /* 25,16601 */
 	-1};
 const size_t trafficCtrl_size_list[TRAFFICCTRL_NAME_LIST_LENGTH]= {
 	sizeof(TrafficCtrlCfgCycleTime),
@@ -470,6 +487,7 @@
 	};
 
 /*
+Estimated_size	RobotInfo	88
 Estimated_size	TrafficCtrlAckerman	32
 Estimated_size	TrafficCtrlCfgCycleTime	32
 Estimated_size	TrafficCtrlCfgDebug	32
@@ -492,7 +510,7 @@
 Estimated_size	TrafficCtrlFlipperMsg	24
 Estimated_size	TrafficCtrlOmni	32
 Estimated_size	TrafficCtrlRotary	40
-Estimated_size	TrafficCtrlSet	288
+Estimated_size	TrafficCtrlSet	1088
 Estimated_size	TrafficCtrlSkid	24
 Estimated_size	TrafficCtrlStat	592
 Estimated_size	TrafficCtrlSubmarine	32
@@ -501,7 +519,7 @@
 /*
 *	NML/CMS Format function : trafficCtrl_format
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 int trafficCtrl_format(NMLTYPE type, void *buffer, CMS *cms)
 {
@@ -636,9 +654,26 @@
 }
 
 /*
+*	NML/CMS Update function for RobotInfo
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Wed Sep 05 13:59:36 EDT 2007
+*/
+void nmlupdate(CMS *cms,RobotInfo *x)
+{
+
+	cms->beginClass("RobotInfo",0);
+	cms->update_with_name("steerType",x->steerType);
+	cms->update_with_name("robotName",x->robotName,80);
+
+	cms->endClass("RobotInfo",0);
+
+}
+
+
+/*
 *	NML/CMS Update function for TrafficCtrlAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlAckerman *x)
 {
@@ -657,7 +692,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgCycleTime
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCfgCycleTime::update(CMS *cms)
 {
@@ -674,7 +709,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgDebug
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCfgDebug::update(CMS *cms)
 {
@@ -691,7 +726,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgMove
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCfgMove::update(CMS *cms)
 {
@@ -713,7 +748,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgNop
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCfgNop::update(CMS *cms)
 {
@@ -729,7 +764,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdAbort
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCmdAbort::update(CMS *cms)
 {
@@ -745,7 +780,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCmdAckerman::update(CMS *cms)
 {
@@ -770,7 +805,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdFlipSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCmdFlipSkid::update(CMS *cms)
 {
@@ -804,7 +839,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdHalt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCmdHalt::update(CMS *cms)
 {
@@ -820,7 +855,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdInit
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCmdInit::update(CMS *cms)
 {
@@ -836,7 +871,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdMoveArcSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Aug 29 13:18:44 EDT 2007
+*	on Wed Sep 05 13:59:36 EDT 2007
 */
 void TrafficCtrlCmdMoveArcSegment::update(CMS *cms)
 {
@@ -860,7 +895,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdMoveWaypoint

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Thu Sep 13 13:42:11 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 13 Sep 2007 13:42:11 -0400
Subject: [TeamTalk 207]: [743] trunk/usarsim: 1) Changed name of zip package
	in Makefile
Message-ID: <200709131742.l8DHgBw9015365@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070913/e79d7e1c/attachment.html
-------------- next part --------------
Modified: trunk/usarsim/System/Makefile
===================================================================
--- trunk/usarsim/System/Makefile	2007-09-13 17:37:54 UTC (rev 742)
+++ trunk/usarsim/System/Makefile	2007-09-13 17:42:11 UTC (rev 743)
@@ -45,7 +45,7 @@
          $(INSTALL_TEXTURES) $(INSTALL_STATICMESHES)
 
 package:
-	cd $(INSTALL_DIR); echo $(PACKAGES) $(MAPS) $(TEXTURES) $(STATICMESHES) | sed 's/\.\.\///g' | xargs zip -u TreasureHunt.zip 
+	cd $(INSTALL_DIR); echo $(PACKAGES) $(MAPS) $(TEXTURES) $(STATICMESHES) | sed 's/\.\.\///g' | xargs zip -u TreasureHuntSim.zip 
 
 $(INSTALL_DIR)/%:../%
 	cp -f $< $@
@@ -72,4 +72,4 @@
 	rm -f $@
 
 clean:
-	rm -f $(PACKAGES) TreasureHunt.zip
\ No newline at end of file
+	rm -f $(PACKAGES) TreasureHuntSim.zip
\ No newline at end of file

Modified: trunk/usarsim/USARBotAPI/Classes/ComServer.uc
===================================================================
--- trunk/usarsim/USARBotAPI/Classes/ComServer.uc	2007-09-13 17:37:54 UTC (rev 742)
+++ trunk/usarsim/USARBotAPI/Classes/ComServer.uc	2007-09-13 17:42:11 UTC (rev 743)
@@ -42,7 +42,9 @@
 var config float eMaxObs;
 
 //Check if a robot is registered with the server
-function bool isRegistered(string name)
+// if it is registered, then return the registration number
+// else return -1
+function int isRegistered(string name)
 {
 	local int i;
 	i=0;
@@ -50,11 +52,11 @@
 	{
 		if(name==RegRobots[i].str1)
 		{
-			return true;
+			return i;
 		}
 		i++;
 	}
-	return false;
+	return -1;
 }
 
 //Check if a robot is listening
@@ -196,7 +198,7 @@
 {
     //Parsing the message
 	local string cmdType;
-	local int attrNum, i,j;
+	local int attrNum, i,j, regNo;
 	local bool b1,b2;
 	local float ss;
     
@@ -239,22 +241,37 @@
 				break;
 			}
 			//Checking if a robot with the same name is registered
-			if(isRegistered(ParsedMessg[1]))
+			regNo = isRegistered(ParsedMessg[1]);
+			if(regNo != -1)
 			{
-				if(bDebug) log("ComServer: Robot with name "$ParsedMessg[1]$" already registerd");
-				ep.SendText("Fail: Robot with name "$ParsedMessg[1]$" already registered;");
-				break;
+				if( RegRobots[regNo].str2!=ParsedMessg[2] )
+				{
+					if(bDebug) log("ComServer: Robot with name "$ParsedMessg[1]$" already registerd");
+					ep.SendText("Fail: Robot with name "$ParsedMessg[1]$" already registered;");
+					break;
+				}
+				else
+				{
+					if(bDebug)
+					{
+						log("ComServer: "$RegRobots[numReg].str1$" re-registered with IP "$RegRobots[numReg].str2);
+						log("ComServer: "$(numReg+1)$" robots registered");
+					}
+				}
 			}
-			//Registering
-			RegRobots.insert(numReg,1);
-			RegRobots[numReg].str1$=ParsedMessg[1];
-			RegRobots[numReg].str2$=ParsedMessg[2];
-			if(bDebug)
+			else
 			{
-				log("ComServer: "$RegRobots[numReg].str1$" registered with IP "$RegRobots[numReg].str2);
-				log("ComServer: "$(numReg+1)$" robots registered");
+				//Registering
+				RegRobots.insert(numReg,1);
+				RegRobots[numReg].str1$=ParsedMessg[1];
+				RegRobots[numReg].str2$=ParsedMessg[2];
+				if(bDebug)
+				{
+					log("ComServer: "$RegRobots[numReg].str1$" registered with IP "$RegRobots[numReg].str2);
+					log("ComServer: "$(numReg+1)$" robots registered");
+				}
+				numReg++;
 			}
-			numReg++;
 			ep.SendText("OK;");
 			break;
 		case "LISTEN":
@@ -266,7 +283,7 @@
 				break;
 			}
 			//Checking if the robot is registered
-			if(!isRegistered(ParsedMessg[1]))
+			if(isRegistered(ParsedMessg[1]) == -1)
 			{
 				if(bDebug) log("ComServer: Robot "$ParsedMessg[1]$" not registered");
 				ep.SendText("Fail: Robot "$ParsedMessg[1]$" not registered;");

From tk at edam.speech.cs.cmu.edu  Fri Sep 14 11:06:58 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 14 Sep 2007 11:06:58 -0400
Subject: [TeamTalk 208]: [744] trunk/moast-bth/moast/doc/refManual_tex:
	Import more documentation.
Message-ID: <200709141506.l8EF6wt3020798@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070914/3a323b3c/attachment.html
-------------- next part --------------
Modified: trunk/moast-bth/moast/doc/refManual_tex/modToMod/config.tex
===================================================================
--- trunk/moast-bth/moast/doc/refManual_tex/modToMod/config.tex	2007-09-13 17:42:11 UTC (rev 743)
+++ trunk/moast-bth/moast/doc/refManual_tex/modToMod/config.tex	2007-09-14 15:06:57 UTC (rev 744)
@@ -1,5 +1,5 @@
 \subsection{Configuration File}
-NML uses text files to hold configurations information, not a central server or database. This file may be stored on a central file server or may be copied and distributed redundantly. The configuration file contains two sections; one for a description of NML buffers and the other for descriptions of NML processes. In the MOAST framework, the configuration file is called \texttt{MOAST\_TOP/devel/etc/moast.cfg}. Automatic tools are used on this file in order to generate the actual configuration file used by the system. This file is \texttt{MOAST\_TOP/devel/etc/moast.nml}.
+NML uses text files to hold configurations information, not a central server or database. This file may be stored on a central file server or may be copied and distributed redundantly. The configuration file contains two sections; one for a description of NML buffers and the other for descriptions of NML processes. In the MOAST framework, the configuration file is called \texttt{MOAST\_TOP/devel/etc/moast.cfg}. Automatic tools are used on this file in order to generate the actual configuration file used by the system. This file is \texttt{MOAST\_TOP/devel/etc/moast.nml}. More detailed information on the configuration file may be found at \href{http://www.isd.mel.nist.gov/projects/rcslib/NMLcfg.html}.
 
 \fcolorbox{Dark}{Light}{
 \begin{minipage}{6in}
@@ -28,7 +28,7 @@
 \item {\bf bufname} - the name of the buffer to connect to. This must match one of the buffer lines.
 \item {\bf name} - the name of the process connecting to the buffer. If this is set to ``default'', then this process line will be used by any process connecting to this buffer not specifically listed earlier.
 \item {\bf master} - set to 0 if this process is not to create the NML buffer, 1 if it is. Under the MOAST framework, the server always creates the buffer, so ``master'' and ``server'' should have the same value.
-\item {\bf server} - set to 0 if this process is not to be an NML server, and 1 if it is.
+\item {\bf server} - should be either 0, 1, 2, or 3. A 1 indicates that this process is responsible for running a server for the buffer, a 2 indicates that the {\it nml\_start} function should spawn a server for the buffer, and a 0 is for processes that will neither spawn nor run a server for the buffer. 
 \item {\bf proctype} - this may be local, remote, or auto. Local means that this process resides on the same host as the buffer (for shared memory or local memory access), the same file system as the buffer (for file memory access), or the same backplane as the buffer (for global memory access). Remote means not local. Java applications should use remote. Auto will revert to local if the host on the buffer line matches the process hostname and remote otherwise.
 \end{itemize}
 

Modified: trunk/moast-bth/moast/doc/refManual_tex/tools.tex
===================================================================
--- trunk/moast-bth/moast/doc/refManual_tex/tools.tex	2007-09-13 17:42:11 UTC (rev 743)
+++ trunk/moast-bth/moast/doc/refManual_tex/tools.tex	2007-09-14 15:06:57 UTC (rev 744)
@@ -1,4 +1,5 @@
 \input{tools/libraries}
 \input{tools/tools}
 \input{tools/joystick}
+\input{tools/linkMon}
 

From tk at edam.speech.cs.cmu.edu  Fri Sep 14 12:32:38 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 14 Sep 2007 12:32:38 -0400
Subject: [TeamTalk 209]: [745] trunk/TeamTalk/Agents/Agents.sln: Removed
 half-debug Audio_Server solution.
Message-ID: <200709141632.l8EGWcel020979@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070914/0a16ccde/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/Agents.sln
===================================================================
--- trunk/TeamTalk/Agents/Agents.sln	2007-09-14 15:06:57 UTC (rev 744)
+++ trunk/TeamTalk/Agents/Agents.sln	2007-09-14 16:32:37 UTC (rev 745)
@@ -183,10 +183,10 @@
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalDebug|Win32.Build.0 = Debug|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalRelease|Win32.ActiveCfg = Release|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.halfreleaseaudio|Win32.ActiveCfg = halfreleaseaudio|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.halfreleaseaudio|Win32.Build.0 = halfreleaseaudio|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.Release|Win32.ActiveCfg = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.Release|Win32.Build.0 = Debug|Win32
+		{C31484B0-179B-432D-AE1E-75FB90591F23}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
+		{C31484B0-179B-432D-AE1E-75FB90591F23}.halfreleaseaudio|Win32.Build.0 = Release|Win32
+		{C31484B0-179B-432D-AE1E-75FB90591F23}.Release|Win32.ActiveCfg = Release|Win32
+		{C31484B0-179B-432D-AE1E-75FB90591F23}.Release|Win32.Build.0 = Release|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseOAA|Win32.ActiveCfg = Release|Win32

From tk at edam.speech.cs.cmu.edu  Mon Sep 17 11:46:15 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 17 Sep 2007 11:46:15 -0400
Subject: [TeamTalk 210]:  [746] trunk/moast-bth/moast: Import from moast.
Message-ID: <200709171546.l8HFkFPI023908@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070917/9f7e922c/attachment-0001.html
-------------- next part --------------
Added: trunk/moast-bth/moast/doc/papers/INDEX.bib
===================================================================
--- trunk/moast-bth/moast/doc/papers/INDEX.bib	                        (rev 0)
+++ trunk/moast-bth/moast/doc/papers/INDEX.bib	2007-09-17 15:46:15 UTC (rev 746)
@@ -0,0 +1,18 @@
+% INDEX.bib - References to papers written about MOAST.  
+%             The reference title refers to the file name 
+%             that the reference pertains to. 
+% 
+
+ at inproceedings{detc2007-34495,
+  title     = {"A Simulation Interface for Integrating Real-Time Vehicle Control with Game Engines"},
+  author    = {C. Scrapper and F. Proctor and S. Balakirksy},
+  year      = {2007},
+  booktitle = {Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2007)}
+}
+
+ at inproceedings{scrapper_ssrr07,
+  title     = {"Stable Navigation Solutions for Robots in Complex Environments"},
+  author    = {C. Scrapper and R. Madhavan and S. Balakirksy},
+  year      = {2007},
+  booktitle = {Submitted to IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2007) }
+}

Added: trunk/moast-bth/moast/doc/papers/detc2007-34495.pdf
===================================================================
(Binary files differ)


Property changes on: trunk/moast-bth/moast/doc/papers/detc2007-34495.pdf
___________________________________________________________________
Name: svn:executable
   + *
Name: svn:mime-type
   + application/octet-stream

Added: trunk/moast-bth/moast/doc/papers/imece2007-43362.pdf
===================================================================
(Binary files differ)


Property changes on: trunk/moast-bth/moast/doc/papers/imece2007-43362.pdf
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: trunk/moast-bth/moast/doc/papers/scrapper_ssrr07.pdf
===================================================================
(Binary files differ)


Property changes on: trunk/moast-bth/moast/doc/papers/scrapper_ssrr07.pdf
___________________________________________________________________
Name: svn:executable
   + *
Name: svn:mime-type
   + application/octet-stream

Modified: trunk/moast-bth/moast/doc/refManual_tex/installation/download.tex
===================================================================
--- trunk/moast-bth/moast/doc/refManual_tex/installation/download.tex	2007-09-14 16:32:37 UTC (rev 745)
+++ trunk/moast-bth/moast/doc/refManual_tex/installation/download.tex	2007-09-17 15:46:15 UTC (rev 746)
@@ -3,6 +3,7 @@
 
 The MOAST code may be retrieved from CVS or from an official release tar archive. To retrieve the code from CVS, enter the following commands:\\
 \texttt{\$ cvs -d:pserver:anonymous$@$moast.cvs.sourceforge.net:/cvsroot/moast login}\\
+Note that if you are prompted for a password, just type $<$CR$>$\\
 \texttt{\$ cvs -z3 -d:pserver:anonymous$@$moast.cvs.sourceforge.net:/cvsroot/moast co -P devel}
 
 Information about accessing this CVS repository may be found in the document titled, ``CVS (Version Control for Source Code)'' \cite{CVS}. Alternatively, the latest snapshot may be retrieved from the release section of the MOAST site.

Modified: trunk/moast-bth/moast/doc/refManual_tex/refManual.tex
===================================================================
--- trunk/moast-bth/moast/doc/refManual_tex/refManual.tex	2007-09-14 16:32:37 UTC (rev 745)
+++ trunk/moast-bth/moast/doc/refManual_tex/refManual.tex	2007-09-17 15:46:15 UTC (rev 746)
@@ -116,7 +116,7 @@
 
 \section{SIMWARE}
 \label{S:simware}
-%\input{simware}
+\input{simware}
 
 \section{PRIMITIVE ECHELON}
 \label{S:prim}

Added: trunk/moast-bth/moast/doc/refManual_tex/simware/trafficSim.tex
===================================================================
--- trunk/moast-bth/moast/doc/refManual_tex/simware/trafficSim.tex	                        (rev 0)
+++ trunk/moast-bth/moast/doc/refManual_tex/simware/trafficSim.tex	2007-09-17 15:46:15 UTC (rev 746)
@@ -0,0 +1,25 @@
+\subsection{TrafficSim}
+TrafficSim is designed to interface to USARSim through an inferior skin and to MOAST through
+a superior skin. The main difference between it and simWare is that trafficSim opens a single
+command and data buffer for multiple vehicles whereas simWare opens a separate buffer per vehicle.
+In addition, no sensor buffers are established with trafficSim.
+
+The simplist way to run traffic sim is with the runTraffic script located in the bin directory.
+In this file there is a variable named {\it NUM\_ROBOTS} that will define the number of robots that
+trafficSim will spawn. TrafficSIm requires a {\it UTM\_START\_POSE} to be defined for each robot that will
+be spawned. These declarations should be located in the .ini file under the section identified by the 
+world that is running in USARSim. In addition, a {\it PLATFORM\_TYPE} statement under the same section
+is also required. This statement specifies the type of robot that will be spawned.
+
+TrafficSim may be controlled by the use of the \texttt{trafficShell} program. Typeing the {\it init} command will initialize the
+traffic simulation and allow it to receive commands. Command and status structures may be found in the
+file \texttt{trafficCtrl.hh} file with the data output may be found in the \texttt{trafficData.hh} file.
+The controller in trafficSim allows for three levels of control:
+\begin{enumerate}
+\item{Servo -} This echelon of control accepts wheel velocites and commands such as {\it TRAFFIC\_CTRL\_CMD\_SKID\_TYPE}.
+\item{Prim -} THis echelon of control accepts the command {\it TRAFFIC\_CTRL\_CMD\_MOVE\_ARC\_SEGMENT\_TYPE} for the input of constant
+curvature arcs.
+\item{AM -} THis echelon of control accepts the command {\it TRAFFIC\_CTRL\_CMD\_MOVE\_WAYPOINE\_TYPE} for the input of waypoints.
+\end{enumerate}
+
+Data on the vehicle's location and status may be read in the texttt{trafficData} buffer.
\ No newline at end of file

Added: trunk/moast-bth/moast/doc/refManual_tex/simware.tex
===================================================================
--- trunk/moast-bth/moast/doc/refManual_tex/simware.tex	                        (rev 0)
+++ trunk/moast-bth/moast/doc/refManual_tex/simware.tex	2007-09-17 15:46:15 UTC (rev 746)
@@ -0,0 +1,2 @@
+Lots more needs to be written on simware. Until that time, I will add a section on trafficSim.
+\input{simware/trafficSim}

Added: trunk/moast-bth/moast/src/tools/linkMonitor/linkMon.cc
===================================================================
--- trunk/moast-bth/moast/src/tools/linkMonitor/linkMon.cc	                        (rev 0)
+++ trunk/moast-bth/moast/src/tools/linkMonitor/linkMon.cc	2007-09-17 15:46:15 UTC (rev 746)
@@ -0,0 +1,755 @@
+/*
+  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 linkMon.cc
+
+  \brief Provide a measure of the link strength between a base station 
+  and the robots
+
+  In reality, to have connectivity between a robot and the base station,
+  each robot could communicate directly or determine a route through other
+  robots to get to the base station. The computation of this route may be
+  very complex. Sice we are in simulation, we can cheat and compute these
+  routes very simply. This program computes these routes and provides them
+  over a status channel.
+
+  This program only works with USARSim!
+
+  \code CVS Status:
+  $Author: dr_steveb $
+  $Revision: 1.2 $
+  $Date: 2007/09/11 20:52:00 $
+  \endcode
+
+  \author Stephen Balakirsky
+*/
+#include <unistd.h> // getopt
+#include <stdlib.h> // getenv
+#include <signal.h> // signal
+#include <errno.h> // errno
+//#include "linkMon.hh"
+
+// socket stuff
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+
+#include "rcs.hh"
+#include "moastNmlOffsets.hh"	// NAV_DATA_BASE, etc.
+#include "linkMonCtrl.hh"
+#include "trafficCtrl.hh"
+#include "dijkHeapN.hh" 
+
+static RCS_CMD_CHANNEL *linkMonCmdNml = NULL;
+static RCS_STAT_CHANNEL *linkMonStatNml = NULL;
+static RCS_STAT_CHANNEL *trafficCtrlSetNml = NULL;
+
+static LinkMonStat linkMonStat;
+static int done = 0;
+static int server_fd = -1; // connection to unreal
+static float radioCutOff = 60;
+
+#define DEFAULT_NML_FILE "../etc/moast.nml"
+#define DEFAULT_INI_FILE "../etc/traffic.ini"
+
+#define THIS_PROCESS "linkMon"
+
+static char *USARSimHostName;
+static int USARSimPort = 5874;
+
+// global variables and defines for searcher
+#define DIJK_MAP_SIZE MAX_TRAFFIC_VEHICLES * MAX_TRAFFIC_VEHICLES
+#define DIJK_PATH_SIZE MAX_TRAFFIC_VEHICLES + 1
+#define MAX_GOALS MAX_TRAFFIC_VEHICLES
+#define MAX_CYCLES 5000
+
+//int searchMap[DIJK_MAP_SIZE];
+DijkHeapNGraph searcherGraph;
+int searcherGoals[MAX_TRAFFIC_VEHICLES];
+DijkHeapNSearcher theSearcher;
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////
+//// socket code from fred
+/////////////////////////////////////////////////////////////////////////////////////////
+/* sockclient returns the file descriptor of the socket to the server */
+static int sockclient(int port, char *hostname)
+{
+  int sockfd;			/* this process' socket fd */
+  struct sockaddr_in server_addr, local_addr;
+  struct hostent *ent;
+  struct in_addr *in_a;
+
+  //*! if (-1 == (sockfd = socket(AF_INET, SOCK_STREAM, 0)))
+  if (-1 == (sockfd = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)))
+   {
+      fprintf(stderr, "can't create socket file descriptor\n");
+      return -1;
+    }
+
+  if (NULL == (ent = gethostbyname(hostname)))
+    {
+      perror("gethostbyname");
+      close(sockfd);
+      sockfd = -1;
+      return -1;
+    }
+  in_a = (struct in_addr *) ent->h_addr_list[0];
+
+  /* fill in server's address */
+  memset(&server_addr, 0, sizeof(struct sockaddr_in));
+  //*! server_addr.sin_family = AF_INET;
+  //server_addr.sin_family = PF_INET;
+  server_addr.sin_family = ent->h_addrtype;
+  server_addr.sin_addr.s_addr = in_a->s_addr;
+  server_addr.sin_port = htons(port);
+
+  /* bind any port number */
+  //  localAddr.sin_family = AF_INET;
+  local_addr.sin_family = PF_INET;
+  local_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+  local_addr.sin_port = htons(0);
+
+  int rc;
+  rc = bind(sockfd, (struct sockaddr *) &local_addr, sizeof(local_addr));
+  if(rc<0) {
+    //printf("%s: cannot bind port TCP %u\n",argv[0],SERVER_PORT);
+    perror("error ");
+    return -1;
+  }
+  
+  
+  /* connect to the server */
+  if (-1 == connect(sockfd, (struct sockaddr *) &server_addr,
+		    sizeof(struct sockaddr_in)))
+    {
+      perror("can't connect to server");
+      close(sockfd);
+      sockfd = -1;
+      return -1;
+    }
+
+  return sockfd;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////
+//// graph search routines from Tom Kramer and me
+/////////////////////////////////////////////////////////////////////////////////////////
+bool  computeCosts(int node)
+{
+  DijkHeapNNode * nodes;
+  int i, nn;
+  char msg[128];
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+  char *msgPt;
+  float cost;
+
+  nodes = searcherGraph.nodes;
+  for( i=0; i<nodes[node].kidsSize; i++ )
+    {
+      if( nodes[node].kidsCosts[i] == -2 ) // need to get information
+	{
+	  sprintf( msg, "getss %s %s;", set->robotInfo[node].robotName,
+		   set->robotInfo[nodes[node].kidsIndexes[i]].robotName );
+	  //	  printf("%s: sending %d length message: %s\n", THIS_PROCESS, strlen(msg), msg);
+	  nn = send( server_fd, msg, strlen(msg)+1, 0);
+	  //      send( server_fd, "\r\n", 2, 0);
+	  if (nn != (int)strlen(msg)+1) 
+	    {
+	      fprintf(stderr, "Write Failed\n");
+	      return false;
+	    }
+	  //Wait for response
+	  nn = recv(server_fd, msg, sizeof(msg)-1, 0);
+	  if( nn == -1 )
+	    {
+	      return false;
+	    }
+	  msg[nn] = '\0';
+	  msgPt = &msg[4];
+	  cost = atof(msgPt);
+	  if( cost > radioCutOff )
+	    cost = -1;
+	  nodes[node].kidsCosts[i] = cost;
+	  nodes[i].kidsCosts[node] = cost;
+	  //	  printf("%s: message received:%s cost:%f\n", THIS_PROCESS, msg,
+	  //		 nodes[node].kidsCosts[i]);
+	  
+	}
+    }
+  return true;
+}
+
+void initSearcherGraph()
+{
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+  int n;
+  int numGoals = set->robotInfo_length;
+
+  searcherGraph.nodes = new DijkHeapNNode[numGoals + 1];
+  searcherGraph.capacity = (numGoals + 1);
+  searcherGraph.size = (numGoals + 1);
+  for (n = 0; n < numGoals; n++)
+    {
+      searcherGraph.nodes[n].moreInfo = new NodeInfo(n);
+      searcherGraph.nodes[n].kidsSize = 0;
+      //      searchMap[n] = searcherGoals[n];
+      //      driveMap[driverGoals[n]] = n;
+    }
+  //  searchMap[numGoals] = start;
+  //  driveMap[start] = numGoals;
+}
+
+
+void setGraph()
+{
+  DijkHeapNNode * nodes;
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+  int i,j;
+
+  searcherGraph.size = set->robotInfo_length;
+  searcherGraph.capacity = searcherGraph.size;
+  nodes = new DijkHeapNNode[searcherGraph.size];
+  searcherGraph.nodes = nodes;
+
+  for( i=0; i<searcherGraph.size; i++ )
+    {
+      nodes[i].moreInfo = new NodeInfo(i);
+      nodes[i].kidsSize = set->robotInfo_length;
+      nodes[i].kidsIndexes = new int[nodes[i].kidsSize];
+      nodes[i].kidsCosts = new double[nodes[i].kidsSize];
+      for( j=0; j<searcherGraph.size; j++ )
+	{
+	  nodes[i].kidsIndexes[j] = j;
+	  if( i == j )
+	    nodes[i].kidsCosts[j] = -1; // negative costs invalidates arc
+	  else
+	    nodes[i].kidsCosts[j] = -2; // my flag that we need a cost
+	}
+    }
+  for( i=1; i<searcherGraph.size; i++ ) // set the goals
+    searcherGoals[i-1] = i;
+}
+
+static void printAnswer( /* ARGUMENTS                                */
+ int length,             /*!< length of the path                     */
+ int * path,             /*!< array of index numbers giving the path */
+ double cost,            /*!< cost of the path                       */
+ LinkMonStat * stat)     /*!< status structure                       */
+{
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+  int n;
+  
+  for (n = 0; n < length; n++)
+    {
+      //  printf(" %s", set->robotInfo[path[n]].robotName);
+      strcpy(stat->route[stat->route_length].name[n], set->robotInfo[path[n]].robotName);
+    }
+  stat->route[stat->route_length].length = length;
+  stat->route[stat->route_length].cost = cost;
+  stat->route_length++;
+  /*
+  printf("\n");
+  printf("With cost: %.4f\n\n", cost);
+  */
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////
+//// state tables
+/////////////////////////////////////////////////////////////////////////////////////////
+void doCmdNop(LinkMonStat * stat)
+{
+  //  ServoMobJACmdNop nopMsg;
+
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      state_new(stat);
+      status_next(stat, RCS_DONE);
+      state_next(stat, S0);
+    } 
+  else // SO
+    state_default(stat);
+}
+
+void doCmdInit(LinkMonStat * stat)
+{
+  char msg[128];
+  int nn;
+  int i;
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      printf( "Received init command\n" );
+      state_new(stat);
+      state_next(stat, S0);
+    }
+  if(state_match(stat, S0))
+    {
+      //Set up a socket to connect to the server
+      if (-1 == (server_fd = sockclient(USARSimPort, USARSimHostName)))
+	{
+	  fprintf(stderr, "can't connect to server\n");
+	  status_next(stat, RCS_ERROR);
+	  state_next(stat, S10);
+	  return;
+	}
+      status_next(stat, RCS_EXEC);
+      state_next(stat, S1);
+    }
+  if(state_match(stat, S1))
+    {
+      //Register with the Server
+      for( i=0; i<set->robotInfo_length; i++ )
+	{
+	  stat->admin_state = ADMIN_INITIALIZED;
+	  sprintf( msg, "register %s %s;", set->robotInfo[i].robotName, "129.6.33.142" );
+	  printf("%s: sending %d length message: %s\n", THIS_PROCESS, strlen(msg), msg);
+	  nn = send( server_fd, msg, strlen(msg)+1, 0);
+	  //	  send( server_fd, "\r\n", 2, 0);
+	  if (nn != (int)strlen(msg)+1) 
+	    {
+	      fprintf(stderr, "Write Failed\n");
+	      status_next(stat, RCS_ERROR);
+	      state_next(stat, S10);
+	      return;
+	    }
+	  //Wait for OK response
+	  nn = recv(server_fd, msg, sizeof(msg)-1, 0);
+	  if( nn == -1 )
+	    {
+	      status_next(stat, RCS_ERROR);
+	      state_next(stat, S10);
+	      return;
+	    }
+	  msg[nn] = '\0';
+	  printf("%s: message received:%s\n", THIS_PROCESS, msg);
+	  if(msg[0]!='O' || msg[1]!='K')
+	    {
+	      status_next(stat, RCS_ERROR);
+	      state_next(stat, S10);
+	      return;
+	    }
+	  else
+	    {
+	      state_next(stat, S10);
+
+	    }
+	}
+    }
+  // else wait here
+  else
+    state_default(stat);
+}
+
+void doCmdShutdown(LinkMonStat * stat)
+{
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      done = 1;
+      stat->admin_state = ADMIN_UNINITIALIZED;
+      status_next(stat, RCS_DONE);
+      state_next(stat, S1);
+    }
+  // else wait here
+  else 			// S1
+    state_default(stat);
+}
+
+void doCmdHalt(LinkMonStat * stat)
+{
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      done = 1;
+      stat->admin_state = ADMIN_UNINITIALIZED;
+      status_next(stat, RCS_DONE);
+      state_next(stat, S1);
+    }
+  // else wait here
+  else 			// S1
+    state_default(stat);
+}
+
+void doCmdAbort(LinkMonStat * stat)
+{
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      done = 1;
+      stat->admin_state = ADMIN_UNINITIALIZED;
+      status_next(stat, RCS_DONE);
+      state_next(stat, S1);
+    }
+  // else wait here
+  else 			// S1
+    state_default(stat);
+}
+
+void doCmdMonitor( LinkMonStat * stat )
+{
+  int n;
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+  int numGoals = set->robotInfo_length -1;
+  int statuses[MAX_TRAFFIC_VEHICLES];
+  double costs[MAX_TRAFFIC_VEHICLES];
+  int searcherGoals[MAX_TRAFFIC_VEHICLES];
+  int goalsFound;
+  int optimaFound;
+  int cycles = 0;
+  int length;
+  int opens;                      // number of open nodes 
+  int path[MAX_TRAFFIC_VEHICLES];
+  int start = 0;
+
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      state_new(stat);
+      if(stat->admin_state != ADMIN_INITIALIZED) 
+	{
+	  status_next(stat, RCS_ERROR);
+	  state_next(stat, S2);
+	} 
+      else 
+	{
+	  state_next(stat, S0);
+	  status_next(stat, RCS_EXEC);
+	}
+    }
+
+  if(state_match(stat, S0))
+    {
+      setGraph(); // based on readGraph
+      status_next(stat, RCS_EXEC);
+      state_next(stat, S1);
+    }
+  if(state_match(stat, S1)) 
+    {
+      for( n=0; n<numGoals; n++ )
+	{
+	  searcherGoals[n] = n+1;
+	}
+      if(theSearcher.initSearch(&searcherGraph, start, numGoals, 
+				searcherGoals, &opens, statuses, costs,
+				&goalsFound, &optimaFound))
+	{ // initialization error occurred
+	  status_next(stat, RCS_ERROR);
+	  state_next(stat, S10);
+	  return;
+	}
+      while (opens &&
+	     ((statuses[0] != 2) || (cycles < MAX_CYCLES)) &&
+	     (optimaFound < numGoals))
+	{
+	  n = theSearcher.getNextNode();
+	  computeCosts(n);
+	  //	  insertKids(n, searcherGraph.size);
+	  theSearcher.cycleSearch();
+	  cycles++;
+	}
+      //      printf("%d cycles\n", cycles);
+      stat->route_length = 0;
+      for (n = 0; n < numGoals; n++)
+	{
+	  if (statuses[n] > 0)
+	    {
+	      length = theSearcher.reportSearch(searcherGoals[n],
+						DIJK_PATH_SIZE, path);
+	      /*
+	      printf("%s", ((statuses[n] == 2) ? "Optimal path " : "Path "));
+	      printf("from start to node %d:", searcherGoals[n]);
+	      */
+	      printAnswer(length, path, costs[n], stat);
+	    }
+	}
+      theSearcher.closeSearch();
+      status_next(stat, RCS_DONE);
+      state_next(stat, S0);
+    }
+  else 
+    {
+      state_default(stat);
+    }
+  return;
+}
+
+//////////////////////////////////////////////////////////////////
+//// end of state tables
+//////////////////////////////////////////////////////////////////
+
+static int cleanupNmlBuffers(void)
+{
+  if(NULL != linkMonCmdNml)
+    delete linkMonCmdNml;
+  if(NULL != linkMonStatNml)
+    delete linkMonStatNml;
+  if (NULL != trafficCtrlSetNml)
+    delete trafficCtrlSetNml;
+
+  linkMonCmdNml = NULL;
+  linkMonStatNml = NULL;
+  trafficCtrlSetNml = NULL;
+  return 0;
+}
+
+static int initNmlBuffers(char *config_file, int bufnum)
+{
+  char chanName[MOAST_NML_BUFFER_NAME_LEN];
+
+  (void) cleanupNmlBuffers();
+
+  sprintf(chanName, "%s%d", LINK_MON_CMD_NAME, bufnum);
+  linkMonCmdNml = new RCS_CMD_CHANNEL(linkMonCtrl_format, chanName,
+				      THIS_PROCESS, config_file);
+  if(!linkMonCmdNml->valid())
+    {
+      delete linkMonCmdNml;
+      linkMonCmdNml = 0;
+      return 1;
+    }
+
+  sprintf(chanName, "%s%d", LINK_MON_STAT_NAME, bufnum);
+  linkMonStatNml = new RCS_STAT_CHANNEL(linkMonCtrl_format, chanName,
+					THIS_PROCESS, config_file);
+  if(!linkMonStatNml->valid()) 
+    {
+      delete linkMonStatNml;
+      linkMonStatNml = 0;
+      return 1;
+    }
+
+  sprintf(chanName, "%s%d", TRAFFIC_CTRL_SET_NAME, bufnum);
+  trafficCtrlSetNml =
+    new RCS_STAT_CHANNEL(trafficCtrl_format, chanName,
+			 THIS_PROCESS, config_file);
+  if (!trafficCtrlSetNml->valid()) {
+    delete trafficCtrlSetNml;
+    trafficCtrlSetNml = 0;
+    return 1;
+  }
+
+  nml_start();
+  return 0;
+}
+
+void quit(int sig)
+{
+  done = 1;
+}
+
+int main(int argc, char *argv[])
+{
+  char nml_file_default[] = DEFAULT_NML_FILE;
+  char *nml_file_env;
+  char *NML_FILE = NULL;
+  int bufnum = 1;
+  int retval;
+  NMLTYPE cmd_type;
+  int serial_number;
+  LinkMonCmdNop nopCmd;
+  RCS_TIMER *timer;
+  float cycleTime = 1;
+  //  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetBuf->get_address();
+  INIFILE if_d;
+  char *INI_FILE = NULL;
+  char *ini_file_env;
+  char ini_file_default[] = DEFAULT_INI_FILE;
+  const char *strPtr;
+
+  timer = new RCS_TIMER(cycleTime);
+  while (1) 
+    {
+      char option = getopt(argc, argv, "n:d:i:");
+      if (option == -1)
+	break;
+      switch (option) 
+	{
+	case 'i':
+	  INI_FILE = optarg;
+	  break;
+	case 'n':
+	  NML_FILE = optarg;
+	  break;
+	case 'd':
+	  if(1 != sscanf(optarg, "%i", &bufnum))
+	    {
+	      rcs_print_error("%s: bad value for buf number: %s\n", argv[0], 
+			      optarg);
+	      return 1;
+	    }
+	  break;
+	default:
+	  rcs_print_error("%s: bad argument\n", argv[0]);
+	  return 1;
+	  break;
+	}
+    }
+
+  // get the config file name from arg, if provided, next environment,
+  // if there, else default
+  if(NULL == NML_FILE) 
+    {
+      nml_file_env = getenv("CONFIG_NML");
+      if(NULL != nml_file_env)
+	{
+	  NML_FILE = nml_file_env;
+	} 
+      else 
+	{
+	  NML_FILE = nml_file_default;
+	}
+    }
+
+  // read in the INI file params
+  if (NULL == INI_FILE) 
+    {
+      ini_file_env = getenv("TRAFFIC_INI");
+      if (NULL != ini_file_env) 
+	{
+	  INI_FILE = ini_file_env;
+	} 
+      else 
+	{
+	  INI_FILE = ini_file_default;
+	}
+    }
+  if (if_d.open (INI_FILE))
+    {
+      printf("** ERROR ** %s: invalid inifile path %s\n",
+	     THIS_PROCESS, INI_FILE );
+      if_d.close ();
+      return false;
+    }
+
+  strPtr = if_d.find ("HOST_NAME", "USARSIM.INFSKIN");
+  if ( strPtr == 0 )
+    {
+      strPtr = getenv("USARSimHost");
+    }
+  if (NULL == strPtr)
+    {
+      printf("** ERROR ** %s: 'HOST_NAME' not defined in section 'USARSIM.INFSKIN' in %s\n",
+	     THIS_PROCESS, INI_FILE );
+      if_d.close ();
+      return false;
+    }
+  USARSimHostName = (char*)strPtr;
+  strPtr = if_d.find ("CUTOFF", "LINKMON");
+  if(strPtr != 0 )
+    radioCutOff = -atof(strPtr);
+  if_d.close ();
+
+  // connect to my buffers
+  retval = initNmlBuffers(NML_FILE, bufnum);
+  if(retval) 
+    {
+      rcs_print_error("%s: can't allocate linkMon NML buffers\n", argv[0]);
+      (void) cleanupNmlBuffers();
+      return 1;
+    }
+
+  // initialize and set the status up so that init command goes through
+  linkMonStat.echo_serial_number = 0;
+  reset_time_tracker(&linkMonStat.tt);
+
+  // stuff a NOP command
+  nopCmd.serial_number = 1;
+  linkMonCmdNml->write(&nopCmd);
+
+  done = 0;
+  signal(SIGINT, quit);
+  while (!done) 
+    {
+      // read buffers
+      cmd_type = linkMonCmdNml->read();
+      trafficCtrlSetNml->read();
+
+      serial_number = linkMonCmdNml->get_address()->serial_number;
+      switch (cmd_type) 
+	{
+	case 0:
+	  // no new command
+	  break;
+	case -1:
+	  // comm error
+	  rcs_print_error("%s: NML command read error\n", argv[0]);
+	  break;
+	case LINK_MON_CMD_NOP_TYPE:
+	case LINK_MON_CMD_INIT_TYPE:
+	case LINK_MON_CMD_HALT_TYPE:
+	case LINK_MON_CMD_ABORT_TYPE:
+	case LINK_MON_CMD_MONITOR_TYPE:
+	case LINK_MON_CMD_SHUTDOWN_TYPE:
+	  linkMonStat.command_type = cmd_type;
+	  if(serial_number != linkMonStat.echo_serial_number) 
+	    {
+	      linkMonStat.echo_serial_number = serial_number;
+	      linkMonStat.state = NEW_COMMAND;
+	      linkMonStat.status = RCS_EXEC;
+	    }
+	  break;
+	default:
+	  rcs_print_error("%s: unknown cmd: %d\n", argv[0], (int) cmd_type);
+	  break;
+	}				// switch (cmd_type)
+
+      // handle command state tables
+      switch (linkMonStat.command_type) 
+	{
+	case LINK_MON_CMD_NOP_TYPE:
+	  doCmdNop(&linkMonStat);
+	  break;
+	case LINK_MON_CMD_INIT_TYPE:
+	  doCmdInit(&linkMonStat);
+	  break;
+	case LINK_MON_CMD_HALT_TYPE:
+	  doCmdHalt(&linkMonStat);
+	  break;
+	case LINK_MON_CMD_ABORT_TYPE:
+	  doCmdAbort(&linkMonStat);
+	  break;
+	case LINK_MON_CMD_SHUTDOWN_TYPE:
+	  doCmdShutdown(&linkMonStat);
+	  break;
+	case LINK_MON_CMD_MONITOR_TYPE:
+	  doCmdMonitor(&linkMonStat);
+	  break;
+	default:
+	  // no command to handle
+	  break;
+	}				// switch (cmd)
+      cycle_time_tracker(&linkMonStat.tt);
+
+      // update status and settings
+      linkMonStatNml->write(&linkMonStat);
+      timer->wait();
+    }
+  while (!done);
+
+  (void) cleanupNmlBuffers();
+
+  rcs_print("linkMon done\n");
+
+  return 0;
+}
+
+/*
+  Modification history:
+
+  $Log: linkMon.cc,v $
+  Revision 1.2  2007/09/11 20:52:00  dr_steveb
+  Changed default cuttoff to read a negative value
+
+  Revision 1.1  2007/09/11 20:26:53  dr_steveb
+  Initial check-in
+
+*/
+

Added: trunk/moast-bth/moast/src/tools/linkMonitor/linkMonShell.cc
===================================================================
--- trunk/moast-bth/moast/src/tools/linkMonitor/linkMonShell.cc	                        (rev 0)
+++ trunk/moast-bth/moast/src/tools/linkMonitor/linkMonShell.cc	2007-09-17 15:46:15 UTC (rev 746)
@@ -0,0 +1,453 @@
+/*
+  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 linkMonShell.cc
+
+  \brief Command line shell to traffic simulator
+
+  \code CVS Status:
+  $Author: dr_steveb $
+  $Revision: 1.1 $
+  $Date: 2007/09/11 20:26:53 $
+  \endcode
+
+  \author Stephen Balakirsky
+*/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+#include <stdio.h>
+#include <stddef.h>		// sizeof(), NULL
+#include <stdlib.h>		// getenv()
+#include <ctype.h>
+#ifdef HAVE_GETOPT_H
+#include <getopt.h>
+#else
+#include "getopt.h"
+#endif
+#ifdef HAVE_READLINE_READLINE_H
+#include <readline/readline.h>
+#include <readline/history.h>
+#endif
+#include <rcs.hh>
+#include "moastTypes.hh"	// MOAST_NML_BUFFER_NAME_LEN
+#include "moastNmlOffsets.hh"	// NAV_DATA_BASE, etc.
+#include "trafficCtrl.hh"
+#include "trafficData.hh"
+#include "linkMonCtrl.hh"
+
+static RCS_CMD_CHANNEL *linkMonCmdNml = NULL;
+static RCS_STAT_CHANNEL *linkMonStatNml = NULL;
+static RCS_STAT_CHANNEL *trafficCtrlSetNml = NULL;
+static NML *trafficDataNml = NULL;
+
+#define DEFAULT_NML_FILE "../etc/moast.nml"
+#define DEFAULT_INI_FILE "../etc/moast.ini"
+
+#define THIS_PROCESS "linkMonShell"
+
+static int cleanupNmlBuffers(void)
+{
+  if (NULL != linkMonCmdNml)
+    delete linkMonCmdNml;
+  if (NULL != linkMonStatNml)
+    delete linkMonStatNml;
+  if (NULL != trafficDataNml)
+    delete trafficDataNml;
+  if (NULL != trafficCtrlSetNml)
+    delete trafficCtrlSetNml;
+
+  linkMonCmdNml = NULL;
+  linkMonStatNml = NULL;
+  trafficDataNml = NULL;
+  trafficCtrlSetNml = NULL;
+
+  return 0;
+}
+
+static int initNmlBuffers(char *config_file, int bufnum)
+{
+  char chanName[MOAST_NML_BUFFER_NAME_LEN];
+
+  (void) cleanupNmlBuffers();
+
+  sprintf(chanName, "%s%d", LINK_MON_CMD_NAME, bufnum);
+  linkMonCmdNml = new RCS_CMD_CHANNEL(linkMonCtrl_format, chanName,
+				      THIS_PROCESS, config_file);
+  if(!linkMonCmdNml->valid())
+    {
+      delete linkMonCmdNml;
+      linkMonCmdNml = 0;
+      return 1;
+    }
+
+  sprintf(chanName, "%s%d", LINK_MON_STAT_NAME, bufnum);
+  linkMonStatNml = new RCS_STAT_CHANNEL(linkMonCtrl_format, chanName,
+					THIS_PROCESS, config_file);
+  if(!linkMonStatNml->valid()) 
+    {
+      delete linkMonStatNml;
+      linkMonStatNml = 0;
+      return 1;
+    }
+
+  sprintf(chanName, "%s%d", TRAFFIC_DATA_NAME, bufnum);
+  trafficDataNml = 
+    new NML(trafficData_format, chanName,
+	    THIS_PROCESS, config_file);
+  if (!trafficDataNml->valid()) {
+    delete trafficDataNml;
+    trafficDataNml = 0;
+    return 1;
+  }
+
+  sprintf(chanName, "%s%d", TRAFFIC_CTRL_SET_NAME, bufnum);
+  trafficCtrlSetNml =
+    new RCS_STAT_CHANNEL(trafficCtrl_format, chanName,
+			 THIS_PROCESS, config_file);
+  if (!trafficCtrlSetNml->valid()) {
+    delete trafficCtrlSetNml;
+    trafficCtrlSetNml = 0;
+    return 1;
+  }
+
+  return 0;
+}
+
+#define rcs_stat_to_string(s) (s) == RCS_DONE ? "RCS_DONE" : (s) == RCS_EXEC ? "RCS_EXEC" : (s) == RCS_ERROR ? "RCS_ERROR" : "?"
+
+static void printStat(void)
+{
+  int count, count2;
+  LinkMonStat * stat = (LinkMonStat *) linkMonStatNml->get_address();
+  TrafficData *data = (TrafficData *) trafficDataNml->get_address();
+  TrafficCtrlSet * set = (TrafficCtrlSet *) trafficCtrlSetNml->get_address();
+
+  printf("command_type:       %s\n",
+	 linkMonCtrl_symbol_lookup(stat->command_type));
+  printf("echo_serial_number: %d\n", (int) stat->echo_serial_number);
+  printf("status:             %s\n", rcs_stat_to_string(stat->status));
+  //  printf("state:              %s\n", rcsVehStateToString(stat->state));
+  printf("line:               %d\n", (int) stat->line);
+  printf("source_line:        %d\n", (int) stat->source_line);
+  printf("source_file:        %s\n", (char *) stat->source_file);
+  printf("heartbeat:          %d\n", (int) stat->tt.count);
+  printf("actual cycleTime:   %lf\n",stat->tt.avg);
+  printf("time:               %f\n", data->time);
+  printf("data for %d vehicles\n",   data->vehicles_length );
+  printf("xLoc:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].tranTrue.x );
+    }
+  printf("\nyLoc:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].tranTrue.y );
+    }
+  printf("\nzLoc:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].tranTrue.z );
+    }
+  printf("\nbotName:");
+  for( count=0; count<set->robotInfo_length; count++ )
+    {
+      printf( "\t%s", set->robotInfo[count].robotName );
+    }
+  printf( "\n" );
+  for( count=0; count<stat->route_length; count++ )
+    {
+      printf( "route: " );
+      for( count2=0; count2<stat->route[count].length; count2++ )
+	{
+	  printf( "-> %s ", stat->route[count].name[count2] );
+	}
+      printf( "with cost: %f\n", stat->route[count].cost );
+    }
+  /*
+  printf("\nroll:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].rpyTrue.r );
+    }
+  printf("\npitch:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].rpyTrue.p );
+    }
+  printf("\nyall:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].rpyTrue.y );
+    }
+  printf("\nspeed:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].speed );
+    }
+  printf("\nsteer:");
+  for( count=0; count<data->vehicles_length; count++ )
+    {
+      printf( "\t%f", data->vehicles[count].steeringCurvature );
+    }
+  printf("\npIndex:");
+  for( count=0; count<stat->pathIndex_length; count++ )
+    {
+      printf( "\t%d", stat->pathIndex[count] );
+    }
+  printf("\npState:");
+  for( count=0; count<stat->primState_length; count++ )
+    {
+      printf( "\t%s", rcsPrimStateToString(stat->primState[count]) );
+    }
+  printf("\npStatus:");
+  for( count=0; count<stat->primStatus_length; count++ )
+    {
+      printf( "\t%s", rcs_stat_to_string(stat->primStatus[count]) );
+    }
+  */
+  printf( "\n" );
+}
+
+static int strwcmp(char *test, char *match)
+{
+  while (0 != *test && 0 != *match) {
+    if (*test != *match)
+      return 1;
+    test++, match++;
+  }
+
+  if (0 == *match && (0 == *test || isspace(*test)))
+    return 0;
+  return 1;
+}
+
+static void printHelp(void)
+{
+  printf("q | quit          -- quit\n");
+  printf("? | help          -- print this help\n");
+  printf("init              -- initialize\n");
+  printf("halt              -- halt\n");
+  printf("abort             -- abort\n");
+  printf("shutdown          -- shutdown\n");
+  printf("monitor           -- monitor commands\n");
+  /*
+  printf("ct <secs>         -- set cycle time to <secs>\n");
+  printf("mvl <x> <y>       -- move to <x> <y> in local coordinates\n");
+  printf("mvg <x> <y>       -- move to <x> <y> in global coordinates\n");
+  printf("exp <x> <y>       -- explore while moving to local waypoint\n");
+  printf("dump              -- dump world model and display with imageview\n");
+  printf("debug <0, 1, ...> -- configure debug level\n");
+  */
+}
+
+int main(int argc, char *argv[])
+{
+  int serialNumber = 1;
+  char nml_file_default[] = DEFAULT_NML_FILE;
+  char *nml_file_env;
+  char *NML_FILE = NULL;
+  char ini_file_default[] = DEFAULT_INI_FILE;
+  char *ini_file_env;
+  char *INI_FILE = NULL;
+  int bufnum = 1;
+#ifndef HAVE_READLINE_READLINE_H
+  enum {BUFFERSIZE = 256};
+  char buffer[BUFFERSIZE];
+#endif
+  char *line;
+  char *ptr;
+  int retval;
+  LinkMonCmdNop linkMonCmdNop;
+  LinkMonCmdInit linkMonCmdInit;
+  LinkMonCmdAbort linkMonCmdAbort;
+  LinkMonCmdHalt linkMonCmdHalt;
+  LinkMonCmdShutdown linkMonCmdShutdown;
+  LinkMonCmdMonitor linkMonCmdWaypoint;
+
+#ifdef HAVE_READLINE_READLINE_H
+  using_history();
+#endif
+
+  while (1) {
+    char option = getopt(argc, argv, "n:i:d:");
+    if (option == -1)
+      break;
+
+    switch (option) {
+    case 'n':
+      NML_FILE = optarg;
+      break;
+    case 'i':
+      INI_FILE = optarg;
+      break;
+    case 'd':
+      if (1 != sscanf(optarg, "%i", &bufnum)) {
+	rcs_print_error("%s: bad value for buffer number: %s\n", argv[0], optarg);
+	return 1;
+      }
+      break;
+    default:
+      rcs_print_error("%s: bad argument\n", argv[0]);
+      return 1;
+      break;
+    }
+  }
+
+  // get the config file name from arg, if provided, next environment,
+  // if there, else default
+  if (NULL == NML_FILE) {
+    nml_file_env = getenv("CONFIG_NML");
+    if (NULL != nml_file_env) {
+      NML_FILE = nml_file_env;
+    } else {
+      NML_FILE = nml_file_default;
+    }
+  }
+
+  // ditto for the .ini file
+  if (NULL == INI_FILE) {
+    ini_file_env = getenv("CONFIG_INI");
+    if (NULL != ini_file_env) {
+      INI_FILE = ini_file_env;
+    } else {
+      INI_FILE = ini_file_default;
+    }
+  }
+
+  // initial allocate all the buffers
+  retval = initNmlBuffers(NML_FILE, bufnum);
+
+  if (retval) {
+    fprintf(stderr, "%s: can't allocate NML buffers\n", argv[0]);
+    return 1;
+  }
+
+  while (!feof(stdin)) {
+#ifndef HAVE_READLINE_READLINE_H
+    printf("> ");
+    fflush(stdout);
+    if (NULL == fgets(buffer, BUFFERSIZE, stdin)) {
+      break;
+    }
+    line = buffer;
+#else
+    line = readline("> ");
+    if (NULL == line) {
+      break;
+    }
+    if (*line) {
+      add_history(line);
+    }
+#endif
+
+    linkMonStatNml->read();
+    //    linkMonSetNml->read();
+    trafficDataNml->read();
+    trafficCtrlSetNml->read();
+
+    ptr = line;
+    while (isspace(*ptr))
+      ptr++;			// skip leading white space
+    if (0 == *ptr) {		// blank line
+      printStat();
+    } else if (ptr[0] == 'q' || !strcmp(ptr, "quit")) {
+      break;
+    } else if (ptr[0] == '?' || !strcmp(ptr, "help")) {
+      printHelp();
+    } else if (!strwcmp(ptr, "init")) {
+      linkMonCmdInit.serial_number = serialNumber;
+      serialNumber+=2;
+      linkMonCmdNml->write(&linkMonCmdInit);
+    } else if (!strwcmp(ptr, "nop")) {
+      linkMonCmdNop.serial_number = serialNumber;
+      serialNumber+=2;
+      linkMonCmdNml->write(&linkMonCmdNop);
+    } else if (!strwcmp(ptr, "halt")) {
+      linkMonCmdHalt.serial_number = serialNumber;
+      serialNumber+=2;
+      linkMonCmdNml->write(&linkMonCmdHalt);
+    } else if (!strwcmp(ptr, "abort")) {
+      linkMonCmdAbort.serial_number = serialNumber;
+      serialNumber+=2;
+      linkMonCmdNml->write(&linkMonCmdAbort);
+    } else if (!strwcmp(ptr, "shutdown")) {
+      linkMonCmdShutdown.serial_number = serialNumber;
+      serialNumber+=2;
+      linkMonCmdNml->write(&linkMonCmdShutdown);
+    } else if (!strwcmp(ptr, "monitor")) {
+      linkMonCmdWaypoint.serial_number = serialNumber;
+      serialNumber+=2;
+      linkMonCmdNml->write(&linkMonCmdWaypoint);
+      /*
+    } else if (!strwcmp(ptr, "wp")) {
+      if (1 != sscanf(ptr, "%*s %i",
+		      &linkMonCmdWaypoint.numVehicles)) {
+	printf("need number of vehicles and file\n");
+      }else{
+	while (!isspace(*ptr) && 0 != *ptr)
+	  ptr++;			// skip over word
+	while (isspace(*ptr))
+	  ptr++;                        // skip over space
+	while (!isspace(*ptr) && 0 != *ptr)
+	  ptr++;			// skip over num vehicles
+	while (isspace(*ptr))
+	  ptr++;
+	if (0 == *ptr) {
+	  printf("need a data file\n");
+	  continue;
+	}
+	retVal = loadWaypoints(ptr,
+			       &linkMonCmdWaypoint.waypoint[0][0],
+			       &linkMonCmdWaypoint.waypoint_length[0]);
+	if( retVal != 0 ){
+	  printf("can't load ``%s''\n", ptr);
+	}else{
+	  for( count=1; count<linkMonCmdWaypoint.numVehicles; count++ )
+	    {
+	      for( count2=0;count2<linkMonCmdWaypoint.waypoint_length[0]; count2++ )
+		{
+		  linkMonCmdWaypoint.waypoint[count][count2] =
+		    linkMonCmdWaypoint.waypoint[0][count2];
+		}
+	      linkMonCmdWaypoint.waypoint_length[count] = 
+		linkMonCmdWaypoint.waypoint_length[0];
+	    }
+
+	  linkMonCmdNml->write(&linkMonCmdWaypoint);
+	}
+      }
+      */
+    } else {
+      printf("?\n");
+    }
+
+#ifdef HAVE_READLINE_READLINE_H
+    free(line);
+#endif
+  }
+
+  return cleanupNmlBuffers();
+}
+
+/*
+  Modification history:
+
+  $Log: linkMonShell.cc,v $
+  Revision 1.1  2007/09/11 20:26:53  dr_steveb
+  Initial check-in
+
+
+*/
+

From tk at edam.speech.cs.cmu.edu  Mon Sep 17 16:52:21 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 17 Sep 2007 16:52:21 -0400
Subject: [TeamTalk 211]: [747] trunk/TeamTalk: 1) Compile Ravenclaw with
 Galaxy rather than OAA under SwiftDebug solution.
Message-ID: <200709172052.l8HKqLoi024654@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070917/d0c4d8d8/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/Agents.sln
===================================================================
--- trunk/TeamTalk/Agents/Agents.sln	2007-09-17 15:46:15 UTC (rev 746)
+++ trunk/TeamTalk/Agents/Agents.sln	2007-09-17 20:52:20 UTC (rev 747)
@@ -301,10 +301,10 @@
 		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseGalaxy|Win32.Build.0 = ReleaseGalaxy|Win32
 		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseOAA|Win32.ActiveCfg = ReleaseOAA|Win32
 		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseOAA|Win32.Build.0 = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftDebug|Win32.ActiveCfg = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftDebug|Win32.Build.0 = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.ActiveCfg = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.Build.0 = ReleaseOAA|Win32
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftDebug|Win32.ActiveCfg = DebugGalaxy|Win32
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftDebug|Win32.Build.0 = DebugGalaxy|Win32
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.ActiveCfg = ReleaseGalaxy|Win32
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.Build.0 = ReleaseGalaxy|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.Debug|Win32.ActiveCfg = Debug|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.Debug|Win32.Build.0 = Debug|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32

Modified: trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config
===================================================================
--- trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-09-17 15:46:15 UTC (rev 746)
+++ trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-09-17 20:52:20 UTC (rev 747)
@@ -1,4 +1,4 @@
-EXPAND: $GC_HOME ..\..\ExternalLibraries\Galaxy
+EXPAND: $GC_HOME ..\..\Libraries\Galaxy
 EXPAND: $MITRE_ROOT $GC_HOME\contrib\MITRE
 EXPAND: $TEAMTALK ..\..
 EXPAND: $CONFIGURATION $TEAMTALK\Configurations\DesktopConfiguration
@@ -41,7 +41,7 @@
 PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Phoenix
 
-PROCESS: $BIN\Audio_Server.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
+PROCESS: $BIN\Audio_Server-DEBUG.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
 PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Audio_Server
 

Modified: trunk/TeamTalk/TeamTalkRun.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRun.bat	2007-09-17 15:46:15 UTC (rev 746)
+++ trunk/TeamTalk/TeamTalkRun.bat	2007-09-17 20:52:20 UTC (rev 747)
@@ -14,7 +14,7 @@
 IF NOT EXIST Agents\Pythia\dist\process_monitor.exe goto Error
 
 cd Configurations\DesktopConfiguration
-..\..\Agents\Pythia\dist\process_monitor.exe startlist-desktop.config
+START ..\..\Agents\Pythia\dist\process_monitor.exe startlist-desktop.config
 cd ..\..
 
 :: Don't display the message that the script was run in the wrong working directory as that was not the case

From tk at edam.speech.cs.cmu.edu  Tue Sep 18 15:26:48 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 18 Sep 2007 15:26:48 -0400
Subject: [TeamTalk 212]: [748] trunk/usarsim: 1) Imported new RadioMap tools
Message-ID: <200709181926.l8IJQmIF027067@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070918/4c7d7f50/attachment-0001.html
-------------- next part --------------
Modified: trunk/usarsim/System/USARBot.ini
===================================================================
--- trunk/usarsim/System/USARBot.ini	2007-09-17 20:52:20 UTC (rev 747)
+++ trunk/usarsim/System/USARBot.ini	2007-09-18 19:26:47 UTC (rev 748)
@@ -1,792 +1,804 @@
-[USARBot.USARConverter]
-C_MeterToUU=250
-;C_MeterToUU=52.5
-;C_AngleToDegree=1;
-;C_AngleToURot=182.0444444;
-C_AngleToDegree=57.2957795131;
-C_AngleToURot=10430.3783505;
-RightHand=true
-NumberPrecision=4
-
-[USARBot.Sensor]
-HiddenSensor=true
-
-[USARBot.OdometrySensor]
-HiddenSensor=true
-ScanInterval=0.2
-EncoderResolution=0.01
-;LeftTire=LeftMWheel
-;RightTire=RightMWheel
-
-[USARBot.GPSSensor]
-HiddenSensor=true
-
-[USARBot.INSSensor]
-Mean=0.1
-Sigma=0.05
-
-[USARBot.GroundTruth]
-ScanInterval=0.2
-bWithTimeStamp=True
-
-[USARBot.EncoderSensor]
-Noise=0.005
-Resolution=0.01745
-
-[USARBot.SonarSensor]
-HiddenSensor=true
-MaxRange=5
-BeamAngle=0.3491
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=5.000000,OutVal=5.000000)))
-bWithTimeStamp=True
-
-[USARBot.RangeScanner]
-HiddenSensor=False
-MaxRange=20.000000
-ScanInterval=.20
-Resolution=0.01745
-ScanFov=3.1415
-;ScanFov=0.018
-bPitch=false
-bYaw=true
-bWithTimeStamp=true
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
-
-[USARModels.Hokuyo]
-HiddenSensor=False
-MaxRange=4.000000
-ScanInterval=0.4
-Resolution=0.0174533
-ScanFov=4.712389
-bPitch=false
-bYaw=true
-bWithTimeStamp=true
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
-
-[USARModels.S300_scanner]
-HiddenSensor=False
-MaxRange=20.000000
-ScanInterval=0.2
-Resolution=0.0174533
-ScanFov=4.712389
-bPitch=false
-bYaw=true
-bWithTimeStamp=true
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
-
-[USARBot.IRScanner]
-HiddenSensor=False
-MaxRange=20.000000
-MinRange=0.100000
-ScanInterval=1.0
-Resolution=0.01745
-ScanFov=3.1415
-bPitch=false
-bYaw=true
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
-
-[USARBot.IRCamera]
-MaxRange=4.000000
-ScanInterval=1.0
-Fov=1.0472
-HorResolution=0.01534
-VerResolution=0.01150
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=4.000000,OutVal=4.000000)))
-
-[USARBot.RangeScanner3D]
-MaxRange=4.000000
-ScanInterval=0.5
-VerticalFOV=1.5708
-HorizontalFOV=1.7454
-VerticalResolution=0.07854
-HorizontalResolution=0.08727
-
-[USARBot.HumanMotionSensor]
-HiddenSensor=True
-MaxRange=4
-FOV=1.0472
-OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=4.000000,OutVal=4.000000)))
-
-[USARBot.RobotCamera]
-CameraDefFov=0.7854 ; 45 deg
-CameraMinFov=0.3491 ; 20 deg
-CameraMaxFov=2.0944 ; 120 deg
-
-[USARBot.VictSensor]
-HiddenSensor=True
-Distance=6
-HorizontalFOV=0.6981317  ;40 degrees
-HorizontalStep=0.0698131 ;4 degrees
-VerticalFOV=0.6981317    ;40 degrees
-VerticalStep=0.0698131   ;4 degrees
-bWithTimeStamp=true
-bShowResults=false       ; Graphically show where the traces hit
-Mean=0.0
-Sigma=0.01
-
-[USARBot.RFIDSensor]
-bAlwaysReadRFIDmem=true
-
-[USARBot.RFIDReleaser]
-NumTags=5
-
-[USARBot.TouchSensor]
-Diameter=0.005
-
-[USARBot.CO2Sensor]
-ValidRange=(Min=0,Max=100)
-
-[USARBot.Gripper]
-;LeftFinger=LeftFinger
-;RightFinger=RightFinger
-MaxAngle=1.57
-
-[USARBot.ViewTestPlayerController]
-EnemyTurnSpeed=45000
-InputClass=Class'Engine.PlayerInput'
-bDebuggingVoiceChat=False
-bAutoDemoRec=False
-MidGameMenuClass=GUI2K4.UT2K4DisconnectOptionPage
-DemoMenuClass=GUI2K4.UT2K4DemoPlayback
-AdminMenuClass=GUI2K4.RemoteAdmin
-ChatPasswordMenuClass=GUI2K4.UT2K4ChatPassword
-
-[USARBot.KRobot]
-ChassisMass=2.000000
-TorqueCurve=(Points=())
-FlipTorque=350.000000
-FlipTime=3.000000
-msgTimer=0.2
-bDebug=False
-
-[USARBot.P2AT]
-bDebug=False
-Weight=14
-Payload=40
-ChassisMass=1.000000
-MotorTorque=40.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=-0.13199987,Z=0.13104749),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=0.0,X=0.12799986,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.8743691,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R1",Position=(X=-0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R2",Position=(X=-0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=2.2689495,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R3",Position=(X=-0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=2.618026,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R4",Position=(X=-0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=2.9671025,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R5",Position=(X=-0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-2.9671025,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.012),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),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.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
-Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
-Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="Touch",Position=(X=0.26666638,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
-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))
-
-[USARBot.StereoP2AT]
-bDebug=False
-Weight=14
-Payload=40
-ChassisMass=1.000000
-MotorTorque=40.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=-0.13199987,Z=0.13104749),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=0.0,X=0.12799986,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=-0.04,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0)) ; Left Eye
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.04,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))  ; Right Eye
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.8743691,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R1",Position=(X=-0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R2",Position=(X=-0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=2.2689495,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R3",Position=(X=-0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=2.618026,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R4",Position=(X=-0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=2.9671025,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R5",Position=(X=-0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-2.9671025,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),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.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
-;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
-Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
-Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="Touch",Position=(X=0.26666638,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
-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))
-
-[USARBot.P2DX]
-bDebug=false
-Weight=9
-Payload=20
-ChassisMass=2.000000
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2DXTire',DrawScale3D=(X=1.0,Y=0.36,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.16799982,X=0.039999958,Z=0.0999999),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2DXTire',DrawScale3D=(X=1.0,Y=0.36,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.16799982,X=0.039999958,Z=0.0999999),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RearWheel",PartClass=class'USARModels.P2DXSmallTire',DrawScale3D=(X=1.0,Y=0.5,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-0.1919998,Z=0.167857),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=0.0,X=0.039999958,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.2876214,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.114999875,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.15499984,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.1899998,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.20999977,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.20999977,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.1899998,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.15499984,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.87264335,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.114999875,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.055999942,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),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.EncoderSensor',ItemName="ECLeft",Parent="LeftFWheel",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECRight",Parent="RightFWheel",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECTilt",Parent="CameraPanTilt_Link2",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECPan",Parent="CameraPanTilt_Link1",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=1.5707964,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",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=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=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))
-Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Parent="",Position=(Y=0.0,X=-0.1523808,Z=0.142857),Direction=(Y=0.0,Z=3.1415927,X=0.0))
-
-[USARBot.ATRVJr]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=2.000000
-MotorTorque=100.0
-MaxTorque=150.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.AtrvRTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.2559997,X=0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.AtrvLTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.2559997,X=0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.AtrvRTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.2559997,X=-0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.AtrvLTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.2559997,X=-0.1939998,Z=0.1919998),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=0.0,X=0.124,Z=-0.14),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S1",Position=(X=0.33495012,Y=-0.104390375,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S2",Position=(X=0.34040916,Y=-0.049910426,Z=-0.0),Direction=(Y=0.0,Z=-0.26183134,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S3",Position=(X=0.3470606,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S4",Position=(X=0.34040916,Y=0.049910426,Z=-0.0),Direction=(Y=0.0,Z=0.26183134,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S5",Position=(X=0.33495012,Y=0.104390375,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S6",Position=(X=0.23023024,Y=0.17499982,Z=-0.0),Direction=(Y=0.0,Z=0.7853982,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S7",Position=(X=0.17248991,Y=0.17859982,Z=-0.0),Direction=(Y=0.0,Z=1.0472295,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S8",Position=(X=0.117199875,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.308965,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S9",Position=(X=0.07226088,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S10",Position=(X=-0.2951654,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S11",Position=(X=-0.3470606,Y=0.15035984,Z=-0.0),Direction=(Y=0.0,Z=3.1415927,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S12",Position=(X=-0.3470606,Y=-0.15035984,Z=-0.0),Direction=(Y=0.0,Z=3.1415927,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S13",Position=(X=-0.2951654,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S14",Position=(X=0.07226088,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S15",Position=(X=0.117199875,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.308965,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S16",Position=(X=0.17248991,Y=-0.17859982,Z=-0.0),Direction=(Y=0.0,Z=-1.0472295,X=0.0))
-Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S17",Position=(X=0.23023024,Y=-0.17499982,Z=-0.0),Direction=(Y=0.0,Z=-0.7853982,X=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMSr',ItemName="Scanner1",Position=(X=0.2759997,Y=0.0,Z=-0.06399993),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.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
-Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=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))
-
-[USARBot.Zerg]
-ChassisMass=4.000000
-bDebug=False
-bMountByUU=False
-JointParts=(PartName="LeftFWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=0.0949999,Y=-0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
-JointParts=(PartName="RightFWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=0.0949999,Y=0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
-JointParts=(PartName="LeftRWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=-0.0949999,Y=-0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
-JointParts=(PartName="RightRWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=-0.0949999,Y=0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
-MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.0380952,Z=-0.05728),PkgClass=Class'USARMisPkg.PGCameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.011999987,X=0.027999971,Z=-0.0),Direction=(X=0.0,Z=0.0,Y=0.0))
-;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0,Y=0,Z=0),Direction=(Y=0,Z=0,X=0))
-Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.011999987,X=0.027999971,Z=-0.0),Direction=(Y=0,Z=0,X=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.RangeScanner',ItemName="Scanner1",Position=(X=0.09333324,Y=0.0,Z=-0.0857142),Direction=(x=0.0,y=0.0,z=0.0))
-;Sensors=(ItemClass=class'USARBot.RangeScanner3D',ItemName="Scanner2",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
-Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=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))
-;Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Parent="",Position=(Y=0,X=-5,Z=0),Direction=(Y=0,Z=32768,X=0))
-
-[USARBot.Talon]
-ChassisMass=2.000000
-MotorTorque=450.0
-MaxTorque=450.0
-Weight=34
-Payload=45
-bDebug=False
-bMountByUU=False
-JointParts=(PartName="RightTrack",PartClass=class'USARModels.TalonTrack',DrawScale3D=(X=1.000000,Y=0.630000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.3142854,Y=0.23104738,Z=-0.0190476),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftTrack",PartClass=class'USARModels.TalonTrack',DrawScale3D=(X=1.000000,Y=0.630000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.3142854,Y=-0.23104738,Z=-0.0190476),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-MisPkgs=(PkgName="TalonArm",Location=(X=0.2752381,Y=0.0,Z=-0.00571429),PkgClass=Class'USARMisPkg.TalonArm')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="GCam",Parent="TalonArm_Link3",Position=(Y=0.0,X=-0.0380952,Z=-0.095238),Direction=(Y=0.0,Z=0.0,X=0.0))
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="ACam",Parent="TalonArm_Link2",Position=(X=0.0761904,Y=0.06285708,Z=-0.095238),Direction=(Y=0.0,Z=0.0,X=0.0))
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="FCam",Parent="",Position=(X=-0.29619017,Y=-0.15428557,Z=-0.19428551),Direction=(Y=0.0,Z=0.0,X=0.0))
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="RCam",Parent="",Position=(X=-0.32380918,Y=-0.03238092,Z=-0.22095215),Direction=(Y=0.0,Z=3.1415927,X=0.0))
-Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="",Position=(X=-0.29619017,Y=-0.15428557,Z=-0.19428551),Direction=(Y=0,Z=0,X=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.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=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))
-Effecters=(ItemClass=class'USARBot.Gripper',ItemName="Gripper",Parent="TalonArm_Link3",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
-
-[USARBot.TeleMax]
-ChassisMass=2.000000
-MotorTorque=300.0
-MaxTorque=300.0
-Weight=34
-Payload=45
-bDebug=False
-bMountByUU=False
-JointParts=(PartName="FRFlipper",PartClass=class'USARModels.TeleMaxFTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.19,Y=0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
-JointParts=(PartName="FRPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="FRLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="FRUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="FLFlipper",PartClass=class'USARModels.TeleMaxFTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.19,Y=-0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
-JointParts=(PartName="FLPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="FLLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="FLUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="RRFlipper",PartClass=class'USARModels.TeleMaxRTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=-0.19,Y=0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
-JointParts=(PartName="RRPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="RRLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="RRUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="RLFlipper",PartClass=class'USARModels.TeleMaxRTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=-0.19,Y=-0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
-JointParts=(PartName="RLPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="RLLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-JointParts=(PartName="RLUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
-MisPkgs=(PkgName="TeleMaxArm",Location=(Y=0.0,X=0.1742,Z=-0.0843),PkgClass=Class'USARMisPkg.TeleMaxArm')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="GCam",Parent="TeleMaxArm_Link6",Position=(X=0.076,Y=0.028,Z=-0.044),Direction=(Y=0.0,Z=0.0,X=0.0))
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="EFCam",Parent="TeleMaxArm_Link4",Position=(X=0.196,Y=-0.072,Z=0),Direction=(Y=-0.098175.0,Z=0.0,X=0.0))
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="ERCam",Parent="TeleMaxArm_Link4",Position=(X=-0.032,Y=-0.02,Z=0),Direction=(Y=0.0,Z=3.141593,X=0.0))
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="BCam",Parent="TeleMaxArm_Link1",Position=(X=0.056,Y=-0.008,Z=-0.236),Direction=(Y=-0.1963495,Z=0.0,X=0.0))
-Effecters=(ItemClass=class'USARBot.Gripper',ItemName="Gripper",Parent="TeleMaxArm_Link7",Position=(Y=0.0,X=0.0,Z=-0.0),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.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
-Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="TeleMaxArm_Link4",Position=(X=0.196,Y=-0.072,Z=0),Direction=(Y=0,Z=0,X=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))
-
-[USARModels.TarantulaFrontTrack]
-MaxTTiresNum=8
-
-[USARModels.TarantulaRearTrack]
-MaxTTiresNum=8
-
-[USARBot.Tarantula]
-ChassisMass=2.000000
-MotorTorque=450.0
-MaxTorque=450.0
-MotorSpeed=0.349
-bDebug=False
-bMountByUU=False
-JointParts=(PartName="FRFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=0.1649522,Y=0.20295216,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="FFlip",PackageType="Flipper")
-JointParts=(PartName="FLFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=0.1649522,Y=-0.20295216,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="FFlip",PackageType="Flipper")
-JointParts=(PartName="RRFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=-0.1649522,Y=0.12295225,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="RFlip",PackageType="Flipper")
-JointParts=(PartName="RLFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=-0.1649522,Y=-0.12295225,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="RFlip",PackageType="Flipper")
-JointParts=(PartName="FRTrack",PartClass=class'USARModels.TarantulaFrontTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
-JointParts=(PartName="FLTrack",PartClass=class'USARModels.TarantulaFrontTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
-JointParts=(PartName="RRTrack",PartClass=class'USARModels.TarantulaRearTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
-JointParts=(PartName="RLTrack",PartClass=class'USARModels.TarantulaRearTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
-;Sensors=(ItemClass=class'USARBot.RangeScanner',ItemName="Scanner1",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
-;Sensors=(ItemClass=class'USARBot.RangeScanner3D',ItemName="TarantulaRangeScanner3D",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
-Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="OdometrySensor",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
-Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
-Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFIDReader",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
-Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR1",Parent="FRFlipper",Position=(X=0.0,Y=0.0,Z=0.057142798),Direction=(x=0.0,y=-1.5707964,z=0.0))
-Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR2",Parent="FRFlipper",Position=(X=0.0,Y=0.0,Z=-0.057142798),Direction=(x=0.0,y=-1.5707964,z=0.0))
-Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR3",Parent="FRFlipper",Position=(X=-0.21499978,Y=0.0,Z=0.028571399),Direction=(x=0.0,y=-1.5707964,z=0.0))
-Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR4",Parent="FRFlipper",Position=(X=-0.21499978,Y=0.0,Z=-0.028571399),Direction=(x=0.0,y=-1.5707964,z=0.0))
-Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Position=(X=0.0,Y=0.0,Z=0.0095238),Direction=(x=0.0,y=0.0,z=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))
-
-[USARBot.Hummer]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=100.000000
-MaxTorque=32000.0
-MotorTorque=2400.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=-1.3151034,Z=-0.361),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=0.00857142,X=0.7857136,Z=-1.047237),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=1.8133314,Y=0.00857142,Z=-0.5523804),Direction=(Y=0.0,Z=0.0,X=0.0))
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.00857142,X=1.7238077,Z=-0.7485706),Direction=(Y=-0.479369,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))
-
-[USARBot.SnowStorm]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=100.000000
-MaxTorque=32000.0
-MotorTorque=2400.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=-1.3151034,Z=-0.361),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=0.00857142,X=0.7857136,Z=-1.047237),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="OdometrySensor",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
-Sensors=(ItemClass=class'USARBot.GPSSensor',ItemName="GPS",Position=(X=0.0,Y=0.0,Z=-1.0),Direction=(x=0.0,y=0.0,z=0.0))
-Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=1.8133314,Y=0.00857142,Z=-0.5523804),Direction=(Y=0.0,Z=0.0,X=0.0))
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.00857142,X=1.7238077,Z=-0.7485706),Direction=(Y=-0.479369,Z=0.0,X=0.0))
-
-[USARBot.Sedan]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=100.000000
-MaxTorque=32000.0
-MotorTorque=2400.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.SedanTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7047619,X=1.3238095,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.SedanTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7047619,X=1.3238095,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.SedanTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7047619,X=-1.2666667,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.SedanTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7047619,X=-1.2666667,Z=-0.27),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=0.0,X=1.0857143,Z=-0.8857143),PkgClass=Class'USARMisPkg.CameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),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))
-
-[USARBot.Cooper]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=100.000000
-MaxTorque=32000.0
-MotorTorque=2400.0
-bMountByUU=False
-JointParts=(PartName="RightFWheel",PartClass=class'USARModels.CooperTireRight',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="LeftFWheel",PartClass=class'USARModels.CooperTireLeft',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))
-JointParts=(PartName="RightRWheel",PartClass=class'USARModels.CooperTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=-1.080244,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="LeftRWheel",PartClass=class'USARModels.CooperTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=-1.080244,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
-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))
-
-[USARBot.Submarine]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=2.000000
-bMountByUU=False
-JointParts=(PartName="Propeller1",PartClass=class'USARModels.SubmarinePropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-4.266662,Z=-0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
-JointParts=(PartName="Rudder1",PartClass=class'USARModels.SubmarineRudder',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-3.047616,Z=-0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
-JointParts=(PartName="SternPlane1",PartClass=class'USARModels.SubmarineSternPlane',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-3.657139,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
-MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.83809435,Z=-0.420571),PkgClass=Class'USARMisPkg.UnderwaterCameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=class'USARModels.Pinger',ItemName="Scanner1",Position=(X=-0.9904752,Y=0.0,Z=0.42476144),Direction=(Y=-1.5707964,Z=0.0,X=0.0))
-HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.0,X=2.0857122,Z=-0.0),Direction=(Y=-0.1917476,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))
-
-[USARBot.AirRobot]
-bDebug=False
-Weight=50
-Payload=25
-ChassisMass=1
-bMountByUU=False
-JointParts=(PartName="Counter_Propeller_1",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.1952,X=-0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
-JointParts=(PartName="Counter_Propeller_2",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.1912,X=-0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
-JointParts=(PartName="Propeller_1",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.1912,X=0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
-JointParts=(PartName="Propeller_2",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.1952,X=0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
-MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.0,Z=-0.09272),PkgClass=Class'USARMisPkg.AirRobotCameraPanTilt')
-Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link1",Position=(Y=0.008,X=0.024,Z=-0.0008),Direction=(X=0.0,Z=0.0,Y=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))
-
-[USARBot.ERS]
-ChassisMass=0.630000
-MaxTorque=60.0
-MotorTorque=20.0
-MotorSpeed=2.79
-;MotorSpeed=6
-HingePropGap=1800.0
-TorqueCurve=(Points=)
-FlipTorque=350.0
-FlipTime=3.0
-msgTimer=0.2
-batteryLife=3600
-bDebug=False
-bDisplayTeamBeacon=False
-bDesiredBehindView=False
-MaxNetUpdateInterval=0.1
-TPCamDistance=600.0
-bMountByUU=False
-RobotSkins=(Name="",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7DefaultSkin',Comment="Default Texture")
-RobotSkins=(Name="RED",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7RedSkin',Comment="Red Texture")
-RobotSkins=(Name="BLUE",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7BlueSkin',Comment="Blue Texture")
-JointParts=(PartName="RFA",PartClass=Class'USARModels.ERSra',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.065576,Y=0.040676,Z=0.0017480002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="RFB",PartClass=Class'USARModels.ERSrb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RFA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.022400001,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RFC",PartClass=Class'USARModels.ERSfc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RFB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0072040004,Y=0.0047440003,Z=0.070360005),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="RRA",PartClass=Class'USARModels.ERSra',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.065576,Y=0.040000003,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
-JointParts=(PartName="RRB",PartClass=Class'USARModels.ERSrb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RRA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.020000001,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RRC",PartClass=Class'USARModels.ERSrc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RRB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.010956001,Y=0.0047440003,Z=0.069876),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
-JointParts=(PartName="LFA",PartClass=Class'USARModels.ERSla',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.065576,Y=-0.040676,Z=0.0017480002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="LFB",PartClass=Class'USARModels.ERSlb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LFA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=-0.022400001,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))
-JointParts=(PartName="LFC",PartClass=Class'USARModels.ERSfc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LFB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0072040004,Y=-0.0047440003,Z=0.070360005),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="LRA",PartClass=Class'USARModels.ERSla',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.065576,Y=-0.040000003,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
-JointParts=(PartName="LRB",PartClass=Class'USARModels.ERSlb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LRA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=-0.020000001,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))
-JointParts=(PartName="LRC",PartClass=Class'USARModels.ERSrc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LRB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.010956001,Y=-0.0047440003,Z=0.069876),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
-JointParts=(PartName="HA",PartClass=Class'USARModels.ERSha',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.068624005,Y=0.0,Z=-0.017856002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="HB",PartClass=Class'USARModels.ERShb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="HA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.0,Z=-0.080740005),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
-JointParts=(PartName="HC",PartClass=Class'USARModels.ERShc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="HB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-Sensors=(ItemClass=Class'USARBot.ERSirNear',Parent="HC",ItemName="IRN",Position=(X=0.084148005,Y=0.0040,Z=0.0040),direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=Class'USARBot.ERSirFar',Parent="HC",ItemName="IRF",Position=(X=0.084148005,Y=-0.0040,Z=0.0040),direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=Class'USARBot.ERSirEdge',Parent=,ItemName="EDG",Position=(X=0.116000004,Y=0.0,Z=0.0073400005),direction=(Y=-0.52356684,Z=0.0,X=0.0))
-;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="RFC",ItemName="RFP",Position=(X=7.565,Y=0.0,Z=-12.652),direction=(Y=-16384,Z=0,X=0))
-;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="LFC",ItemName="LFP",Position=(X=7.565,Y=0.0,Z=-12.652),direction=(Y=-16384,Z=0,X=0))
-;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="RRC",ItemName="RRP",Position=(X=-4.956,Y=0.0,Z=-13.192),direction=(Y=-16384,Z=0,X=0))
-;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="LRC",ItemName="LRP",Position=(X=-4.956,Y=0.0,Z=-13.192),direction=(Y=-16384,Z=0,X=0))
-Sensors=(ItemClass=Class'USARBot.AccelerationSensor',Parent=,ItemName="ACC",Position=(X=0.0,Y=0.0,Z=-0.0),direction=(Y=0.0,Z=0.0,X=0.0))
-Sensors=(ItemClass=Class'USARBot.BallHSensor',Parent="HC",ItemName="BHS",Position=(X=0.076000005,Y=0.0,Z=0.016),direction=(Y=0.0,Z=0.0,X=0.0))
-Cameras=(ItemClass=Class'USARBot.AIBOCamera',Parent="HC",ItemName="Camera",Position=(X=0.076000005,Y=0.0,Z=0.016),direction=(Y=0.0,Z=0.0,X=0.0))
-Headlight=(ItemClass=None,Parent=,ItemName=,Position=(X=0.0,Y=0.0,Z=-0.0),direction=(Y=0.0,Z=0.0,X=0.0))
-
-[USARBot.QRIO]
-msgTimer=0.2
-ChassisMass=1.0
-MaxTorque=60.0
-MotorTorque=50.0
-MotorSpeed=1.92
-HingePropGap=1820
-bDesiredBehindView=False
-MaxNetUpdateInterval=0.1
-bMountByUU=False
-JointParts=(PartName="HT",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=0.2,Y=0.2,Z=0.2),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0321,Y=0.0017000001,Z=-0.24400002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="HP",PartClass=class'USARModels.QRIOHead',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="HT",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
-JointParts=(PartName="RAA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.032104,Y=0.208588,Z=-0.10398801),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="RAB",PartClass=class'USARModels.QRIORAB',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RAA",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
-JointParts=(PartName="RAC",PartClass=class'USARModels.QRIORAC',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RAB",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.023644,Y=-8.000001E-6,Z=0.189224),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="LAA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.032104,Y=-0.20522001,Z=-0.10399601),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
-JointParts=(PartName="LAB",PartClass=class'USARModels.QRIOLAB',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LAA",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Tue Sep 18 15:28:54 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 18 Sep 2007 15:28:54 -0400
Subject: [TeamTalk 213]: [749] trunk/moast-bth/moast/src: Imported bugfix
 for segment tool and traffic sim.
Message-ID: <200709181928.l8IJSsRF027077@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070918/4cfd2a7d/attachment.html
-------------- next part --------------
Modified: trunk/moast-bth/moast/src/sim/simWare/trafficSupSkin.cc
===================================================================
--- trunk/moast-bth/moast/src/sim/simWare/trafficSupSkin.cc	2007-09-18 19:26:47 UTC (rev 748)
+++ trunk/moast-bth/moast/src/sim/simWare/trafficSupSkin.cc	2007-09-18 19:28:54 UTC (rev 749)
@@ -154,13 +154,8 @@
       return false;
     }
   
-  thr.push_back(new pthread_t);
-  if ( 0 != pthread_create (thr[thr.size()-1], NULL, (void *(*)(void *)) spawnTrafficThr,
-			    (void *) traffic) )
-    {
-      printf("** ERROR ** <TrafficSupSkin::openSkin> : Error Spawning Trafficility thread\n");  
-      return false;
-    }
+
+  //** First get handle to kb
   // figure out handles for ground truth sensor
   grdTruth = new SIMwareKBSenGrdTruth* [numVeh];
   vector<SIMwareKBSen *> navSen;
@@ -184,8 +179,19 @@
 	  itr++;
 	}
     }
+  //** Then start thread that uses kb
+  thr.push_back(new pthread_t);
+  if ( 0 != pthread_create (thr[thr.size()-1], NULL, (void *(*)(void *)) spawnTrafficThr,
+			    (void *) traffic) )
+    {
+      printf("** ERROR ** <TrafficSupSkin::openSkin> : Error Spawning Trafficility thread\n");  
+      return false;
+    }
+
+  state=SW_KB_STATE_INITIALIZED;
+  
   nml_start();
-  state=SW_KB_STATE_INITIALIZED;
+  
   return true;
 }
 

Modified: trunk/moast-bth/moast/src/tools/segmentTools/polyIntersect.cc
===================================================================
--- trunk/moast-bth/moast/src/tools/segmentTools/polyIntersect.cc	2007-09-18 19:26:47 UTC (rev 748)
+++ trunk/moast-bth/moast/src/tools/segmentTools/polyIntersect.cc	2007-09-18 19:28:54 UTC (rev 749)
@@ -40,6 +40,16 @@
     }
   
   polygonNumber = 0;
+  // needed to get rid of getline
+  linePtSize = 300;
+  linePt = new char[linePtSize];
+  if(linePt == NULL )
+    {
+      printf( "unable to allocate string storage\n");
+      return(-1);
+    }
+  // end of getline stuff
+
   for( fileNo=0; fileNo<2; fileNo++ )
     {
       polygonNumber++;
@@ -53,13 +63,16 @@
 	  printf( "Unable to open input file\n" );
 	  return -1;
 	}
-      getline(&linePt, (size_t*)&linePtSize, fp);
+      //      getline(&linePt, (size_t*)&linePtSize, fp);
+      fgets(linePt, linePtSize, fp);
       sscanf( linePt, "%lf %lf %lf", &xOffset, &yOffset, &zOffset );
       xOffset /= amResolution;
       yOffset /= amResolution;
       dataSet = false;
-      while( (sizeRead=getline(&linePt, (size_t *)&linePtSize, fp)) != -1 )
+      //      while( (sizeRead=getline(&linePt, (size_t *)&linePtSize, fp)) != -1 )
+      while( (fgets(linePt, linePtSize, fp)) != NULL )
 	{
+	  sizeRead = strlen(linePt);
 	  if( sizeRead == 1 )
 	    {
 	      fprintf( stdout, "\n" );

From tk at edam.speech.cs.cmu.edu  Tue Sep 18 16:02:57 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 18 Sep 2007 16:02:57 -0400
Subject: [TeamTalk 214]: [750]
 trunk/TeamTalk/Resources/Grammar/TeamTalkTask.gra: Minor change to comments
 in grammar file.
Message-ID: <200709182002.l8IK2vS0027135@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070918/d4e0fce7/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Resources/Grammar/TeamTalkTask.gra
===================================================================
--- trunk/TeamTalk/Resources/Grammar/TeamTalkTask.gra	2007-09-18 19:28:54 UTC (rev 749)
+++ trunk/TeamTalk/Resources/Grammar/TeamTalkTask.gra	2007-09-18 20:02:56 UTC (rev 750)
@@ -1,6 +1,6 @@
 ###################################################################
 #
-# Z A P   T A S K   G R A M M A R
+# TEAMTALK   T A S K   G R A M M A R
 #
 # HISTORY: -------------------------------------------------------
 #

From tk at edam.speech.cs.cmu.edu  Wed Sep 19 00:17:40 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 19 Sep 2007 00:17:40 -0400
Subject: [TeamTalk 215]: [751] trunk/TeamTalk: 1) Added several svn ignores
	for build files.
Message-ID: <200709190417.l8J4HepG032104@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070919/e1b85f97/attachment-0001.html
-------------- next part --------------

Property changes on: trunk/TeamTalk
___________________________________________________________________
Name: svn:ignore
   - bin
logs
temp

   + bin
logs
temp
Ankh.Load
Ankh.Unload
*.ncb
*.suo


Modified: trunk/TeamTalk/Agents/PenDecoder/nbproject/project.properties
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/nbproject/project.properties	2007-09-18 20:02:56 UTC (rev 750)
+++ trunk/TeamTalk/Agents/PenDecoder/nbproject/project.properties	2007-09-19 04:17:39 UTC (rev 751)
@@ -16,14 +16,13 @@
 dist.dir=dist
 dist.jar=${dist.dir}/PenDecoder.jar
 dist.javadoc.dir=${dist.dir}/javadoc
-file.reference.galaxy.jar=..\\..\\Libraries\\Galaxy\\contrib\\MITRE\\bindings\\java\\lib\\galaxy.jar
 file.reference.bsh-core-2.0b4.jar=bsh-core-2.0b4.jar
 file.reference.bsh-util-2.0b4.jar=bsh-util-2.0b4.jar
-file.reference.jiu.jar=jiu.jar
+file.reference.galaxy.jar-1=../../Libraries/Galaxy/contrib/MITRE/bindings/java/lib/galaxy.jar
 file.reference.PenDecoder-src=src
 jar.compress=false
 javac.classpath=\
-    ${file.reference.galaxy.jar}:\
+    ${file.reference.galaxy.jar-1}:\
     ${file.reference.bsh-util-2.0b4.jar}:\
     ${file.reference.bsh-core-2.0b4.jar}
 # Space-separated list of extra javac options

Modified: trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-09-18 20:02:56 UTC (rev 750)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-09-19 04:17:39 UTC (rev 751)
@@ -26,7 +26,7 @@
 			<Tool
 				Name="VCPreBuildEventTool"
 				Description="Setting up directories for executable..."
-				CommandLine="IF NOT EXIST ..\..\bin\nul mkdir ..\..\bin; IF NOT EXIST ..\..\bin\x86-nt\nul mkdir ..\..\bin\x86-nt"
+				CommandLine="IF NOT EXIST  ..\..\..\bin\x86-nt\nul mkdir ..\..\..\bin\x86-nt"
 			/>
 			<Tool
 				Name="VCCustomBuildTool"
@@ -110,8 +110,8 @@
 			>
 			<Tool
 				Name="VCPreBuildEventTool"
-				Description="Make the directories to later copy the build to."
-				CommandLine="IF NOT EXIST ..\..\bin\nul mkdir ..\..\bin; IF NOT EXIST ..\..\bin\x86-nt\nul mkdir ..\..\bin\x86-nt"
+				Description="Setting up directories for executable..."
+				CommandLine="IF NOT EXIST  ..\..\..\bin\x86-nt\nul mkdir ..\..\..\bin\x86-nt"
 			/>
 			<Tool
 				Name="VCCustomBuildTool"

Deleted: trunk/TeamTalk/Agents/TeamTalkBackend/zapBackend.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/zapBackend.vcproj	2007-09-18 20:02:56 UTC (rev 750)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/zapBackend.vcproj	2007-09-19 04:17:39 UTC (rev 751)
@@ -1,314 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="8.00"
-	Name="TeamTalkBackend"
-	ProjectGUID="{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}"
-	RootNamespace="zapBackend"
-	SccProjectName="SAK"
-	SccAuxPath="SAK"
-	SccLocalPath="SAK"
-	SccProvider="SAK"
-	Keyword="Win32Proj"
-	>
-	<Platforms>
-		<Platform
-			Name="Win32"
-		/>
-	</Platforms>
-	<ToolFiles>
-	</ToolFiles>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="1"
-			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\shared"
-				PreprocessorDefinitions="WIN32;_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_DEPRECATE"
-				MinimalRebuild="true"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="3"
-				StructMemberAlignment="2"
-				RuntimeTypeInfo="true"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="4"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLinkerTool"
-				AdditionalDependencies="wsock32.lib ..\..\ExternalLibraries\Galaxy\lib\x86-nt\libgalaxy_debug.lib"
-				OutputFile="$(OutDir)/TeamTalkBackend.exe"
-				LinkIncremental="2"
-				GenerateDebugInformation="true"
-				ProgramDatabaseFile="$(OutDir)/zap2Backend.pdb"
-				SubSystem="1"
-				TargetMachine="1"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\bin\x86-nt\$(TargetName)-DEBUG.exe"
-			/>
-		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
-			ConfigurationType="1"
-			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\shared"
-				PreprocessorDefinitions="WIN32;NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_DEPRECATE"
-				RuntimeLibrary="2"
-				StructMemberAlignment="3"
-				RuntimeTypeInfo="true"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="3"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLinkerTool"
-				AdditionalDependencies="..\..\ExternalLibraries\Galaxy\lib\x86-nt\libgalaxy.lib ws2_32.lib"
-				OutputFile="$(OutDir)/TeamTalkBackend.exe"
-				LinkIncremental="1"
-				IgnoreAllDefaultLibraries="false"
-				GenerateDebugInformation="true"
-				SubSystem="1"
-				OptimizeReferences="2"
-				EnableCOMDATFolding="2"
-				TargetMachine="1"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-				CommandLine="copy $(TargetPath) ..\..\bin\x86-nt\$(TargetName).exe"
-			/>
-		</Configuration>
-		<Configuration
-			Name="ClydeDebug|Win32"
-			OutputDirectory="$(ConfigurationName)"
-			IntermediateDirectory="$(ConfigurationName)"
-			ConfigurationType="1"
-			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\..\ExternalLibraries\Galaxy\include;..\..\ExternalLibraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\shared"
-				PreprocessorDefinitions="WIN32;_DEBUG;_CONSOLE"
-				MinimalRebuild="true"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="3"
-				StructMemberAlignment="2"
-				RuntimeTypeInfo="true"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="4"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLinkerTool"
-				AdditionalDependencies="wsock32.lib ..\..\Galaxy\lib\x86-nt\libgalaxy_debug.lib"
-				OutputFile="$(OutDir)/TeamTalkBackend.exe"
-				LinkIncremental="2"
-				GenerateDebugInformation="true"
-				ProgramDatabaseFile="$(OutDir)/zap2Backend.pdb"
-				SubSystem="1"
-				TargetMachine="1"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
-	</Configurations>
-	<References>
-	</References>
-	<Files>
-		<Filter
-			Name="Source Files"
-			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
-			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
-			>
-			<File
-				RelativePath=".\gal_be.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\robot-galaxy_adapter.cpp"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="Header Files"
-			Filter="h;hpp;hxx;hm;inl;inc;xsd"
-			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
-			>
-			<File
-				RelativePath=".\backend_server.h"
-				>
-			</File>
-			<File
-				RelativePath=".\robot-galaxy_adapter.h"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="Resource Files"
-			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
-			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
-			>
-		</Filter>
-		<File
-			RelativePath=".\ReadMe.txt"
-			>
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>

Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-18 20:02:56 UTC (rev 750)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-19 04:17:39 UTC (rev 751)
@@ -26,7 +26,7 @@
 			<Tool
 				Name="VCPreBuildEventTool"
 				Description="Setting up directories for executable..."
-				CommandLine="IF NOT EXIST ..\..\bin\nul mkdir ..\..\bin; IF NOT EXIST ..\..\bin\x86-nt\nul mkdir ..\..\bin\x86-nt"
+				CommandLine="IF NOT EXIST  ..\..\..\bin\x86-nt\nul mkdir ..\..\..\bin\x86-nt"
 			/>
 			<Tool
 				Name="VCCustomBuildTool"
@@ -115,8 +115,8 @@
 			>
 			<Tool
 				Name="VCPreBuildEventTool"
-				Description="Make the directories to later copy the build to."
-				CommandLine="IF NOT EXIST ..\..\bin\nul mkdir ..\..\bin; IF NOT EXIST ..\..\bin\x86-nt\nul mkdir ..\..\bin\x86-nt"
+				Description="Setting up directories for executable..."
+				CommandLine="IF NOT EXIST  ..\..\..\bin\x86-nt\nul mkdir ..\..\..\bin\x86-nt"
 			/>
 			<Tool
 				Name="VCCustomBuildTool"

Deleted: trunk/TeamTalk/Agents/TeamTalkDM/zap2DM.cfg
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/zap2DM.cfg	2007-09-18 20:02:56 UTC (rev 750)
+++ trunk/TeamTalk/Agents/TeamTalkDM/zap2DM.cfg	2007-09-19 04:17:39 UTC (rev 751)
@@ -1,45 +0,0 @@
-# This is a configuration file for the zap2DM RavenClaw dialog manager
-
-# CORETHREAD_STREAM "CTH"
-# REGISTRY_STREAM "REG"
-# DMCORE_STREAM "COR"
-# EXPECTATIONAGENDA_STREAM "AGN"
-# DTTMANAGER_STREAM "DTT"
-# INPUTMANAGER_STREAM "INP"
-# OUTPUTMANAGER_STREAM "OTP"
-# OUTPUTHISTORY_STREAM "OTH"
-# STATEMANAGER_STREAM "STA"
-# TRAFFICMANAGER_STREAM "TMS"
-# TRAFFICMANAGERDUMP_STREAM "TMD"
-
-# the logged_streams indicates which streams get logged in the file
-# the displayed_streams indicates which streams are displayed and in which colors
-#  (RedGreenBlueIntensity)
-
-dmi_verbosity = 0
-
-logged_streams = CTH;REG;COR;AGN;DTT;INP;OTP;OTH;STA;TMS;TMD;GMS;GMX;DTS
-displayed_streams = CTH:1111;COR:1111;AGN:0111;DTT:1111;INP:1101;OTP:0101;OTH:0101;STA:1010;TMS:1011;DTS:1001;GMS:1101
-
-
-# the grounging manager configuration can be: 
-#  no_grounding
-#  requests
-#  concepts
-#  requests+concepts
-grounding_manager_configuration = requests
-
-# specifies a pointer to the grounding policies file
-grounding_policies_file = grounding.policies
-
-# broadcast state to helios (you can have multiple addresses separated by ;)
-broadcast_state = helios.set_dialog_state
-
-# default timeout period
-default_timeout = 16
-
-# specifies the file that gives the dialog states definition
-dialog_states_file = dialog_states.def
-
-# indicates whether or not the dialog manager will exit(terminate) on a fatal error
-exit_on_fatal_error = false
\ No newline at end of file

Deleted: trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-18 20:02:56 UTC (rev 750)
+++ trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-19 04:17:39 UTC (rev 751)
@@ -1,3022 +0,0 @@
-//=============================================================================
-//
-//   Copyright (c) 2000-2004, Carnegie Mellon University.  
-//   All rights reserved.
-//
-//   Redistribution and use in source and binary forms, with or without
-//   modification, are permitted provided that the following conditions
-//   are met:
-//
-//   1. Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer. 
-//
-//   2. Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in
-//      the documentation and/or other materials provided with the
-//      distribution.
-//
-//   This work was supported in part by funding from the Defense Advanced 
-//   Research Projects Agency and the National Science Foundation of the 
-//   United States of America, and the CMU Sphinx Speech Consortium.
-//
-//   THIS SOFTWARE IS PROVIDED BY CARNEGIE MELLON UNIVERSITY ``AS IS'' AND 
-//   ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
-//   THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-//   PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CARNEGIE MELLON UNIVERSITY
-//   NOR ITS EMPLOYEES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-//   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
-//   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
-//   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
-//   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
-//   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
-//   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-//=============================================================================
-
-//-----------------------------------------------------------------------------
-// 
-// ZAP2DIALOGTASK.CPP - This module contains the description of the dialog 
-//                          task, (i.e. all the user defined agencies, etc)
-//                          for the zap2 system
-// 
-// ----------------------------------------------------------------------------
-// 
-// BEFORE MAKING CHANGES TO THIS CODE, please read the appropriate 
-// documentation, available in the Documentation folder. 
-//
-// ANY SIGNIFICANT CHANGES made should be reflected back in the documentation
-// file(s)
-//
-// ANY CHANGES made (even small bug fixes, should be reflected in the history
-// below, in reverse chronological order
-// 
-// HISTORY --------------------------------------------------------------------
-//
-//   [2002-10-16] (dbohus): started working on this - created a skeleton DM
-//
-//-----------------------------------------------------------------------------
-
-#include "DialogTask.h"
-#include "BindingFilters.h"
-
-//-----------------------------------------------------------------------------
-//
-// DM GALAXY SERVER CONFIGURATION
-//
-//-----------------------------------------------------------------------------
-//#ifdef GALAXY
-//    DMSERVER_CONFIGURATION(NULL, 0)
-//#endif
-extern "C" {
-   char* lpszDMServerName;
-   int iDMServerPort;
-}
-
-//-----------------------------------------------------------------------------
-//
-// DIALOG CORE CONFIGURATION
-//
-//-----------------------------------------------------------------------------
-CORE_CONFIGURATION(
-
-	USE_ALL_GROUNDING_ACTIONS("")
-				   
-	// declare the NLG as the single output device
-	USE_OUTPUT_DEVICES(
-		DEFAULT_OUTPUT_DEVICE("nlg", "nlg.launch_query", 1)
-		OUTPUT_DEVICE("select_bot", "PenDecoder.select_bot", 1)
-	)
-
-    DEFINE_CONFIDENCE_SLOTNAME([h3_confidence])
-
-	// long timeout
-	DEFAULT_TIMEOUT_PERIOD(100000)
-
-	// declare the library agents to be used in the tree
-    // the terminate agent
-    USE_LIBRARY_AGENTS(
-	    LIBRARY_AGENT(CTerminate, Terminate, RegisterTerminateAgent, "")
-
-        // various help agents
-        LIBRARY_AGENT(CHelp, Help, RegisterHelpAgent, "")
-        LIBRARY_AGENT(CHelpGetTips, HelpGetTips, RegisterHelpGetTipsAgent, "")
-        LIBRARY_AGENT(CHelpEstablishContext, HelpEstablishContext, 
-            RegisterHelpEstablishContextAgent, "")
-        LIBRARY_AGENT(CHelpWhatCanISay, HelpWhatCanISay, 
-            RegisterHelpWhatCanISayAgent, "")
-		LIBRARY_AGENT(CHelpSystemCapabilities, HelpSystemCapabilities,
-			RegisterHelpSystemCapabilitiesAgent, "")
-
-        // repeat handling agent
-        LIBRARY_AGENT(CRepeat, Repeat, RegisterRepeatAgent, "")
-
-        // suspend handling agency
-        LIBRARY_AGENT(CSuspend, Suspend, RegisterSuspendAgency, "")
-
-        // timeout handling agency
-        LIBRARY_AGENT(CTimeoutTerminate, TimeoutTerminate, 
-            RegisterTimeoutTerminateAgency, "")
-
-        // start-over handling agency
-        LIBRARY_AGENT(CStartOver, StartOver, RegisterStartOverAgency, "")
-
-        // quit handling agency
-        LIBRARY_AGENT(CQuit, Quit, RegisterQuitAgency, "")
-    )
-
-    // declare the binding filters
-    USE_BINDING_FILTERS(
-        // the date-time binding filter
-        BINDING_FILTER("datetime", DateTime4_DateTimeBindingFilter)
-        // the end-time binding filter
-        BINDING_FILTER("endtime", DateTime4_EndTimeBindingFilter)
-        // the number binding filter (used for room sizes)
-        BINDING_FILTER("number", DateTime4_NumberBindingFilter)
-    )
-)
-
-//-----------------------------------------------------------------------------
-//
-// STRUCTURED CONCEPT TYPES SPECIFICATION
-//
-//-----------------------------------------------------------------------------
-
-//-----------------------------------------------------------------------------
-// D: Definition of the CDateTime structured concept class; this class follows
-//    the return specification of the DateTime4 Hub Galaxy agent
-//-----------------------------------------------------------------------------
-
-// Date concept
-/*
-DEFINE_FRAME_CONCEPT_TYPE( CDateConcept, 
-    INT_ITEM( month )
-    INT_ITEM( day )
-    INT_ITEM( year )
-    BOOL_ITEM( valid_date )
-    BOOL_ITEM( past_date )
-    INT_ITEM( weekday )
-    BOOL_ITEM( need_date )
-    BOOL_ITEM( date_exists )
-    BOOL_ITEM( ambiguous )
-    STRING_ITEM( date_choice )
-)
-
-// Time concept
-DEFINE_FRAME_CONCEPT_TYPE( CTimeConcept, 
-    INT_ITEM( start_time )
-    INT_ITEM( end_time )
-    INT_ITEM( time_duration )
-    STRING_ITEM( timeperiod_spec )
-    BOOL_ITEM( valid_time )
-    INT_ITEM( day_skip )
-    BOOL_ITEM( past_time )
-)
-
-// DateTime concept
-DEFINE_FRAME_CONCEPT_TYPE( CDateTimeConcept,
-	CUSTOM_ITEM(date, CDateConcept)
-	CUSTOM_ITEM(time, CTimeConcept)
-)
-
-// Room query concept
-DEFINE_FRAME_CONCEPT_TYPE( CRoomQuery,
-    CUSTOM_ITEM( date_time, CDateTimeConcept )
-    STRING_ITEM( room_location )
-    INT_ITEM( room_number )
-    INT_ITEM( room_size )
-    STRING_ITEM( room_size_spec )
-    BOOL_ITEM( room_projector )
-    BOOL_ITEM( room_network )
-    BOOL_ITEM( room_whiteboard )
-    BOOL_ITEM( room_computer )
-)
-
-// Room query refinement concept
-DEFINE_FRAME_CONCEPT_TYPE( CRoomQueryRefinement,
-    STRING_ITEM( location )
-    INT_ITEM( size )
-    STRING_ITEM( size_spec )
-    STRING_ITEM( equip )
-)
-
-// Room result concept
-DEFINE_FRAME_CONCEPT_TYPE( CRoomResult, 
-    CUSTOM_ITEM( date_time, CDateTimeConcept )
-    STRING_ITEM( room_location )
-    INT_ITEM( room_number )
-    INT_ITEM( room_size )
-    STRING_ITEM( room_size_spec )
-    BOOL_ITEM( room_projector )
-    BOOL_ITEM( room_network )
-    BOOL_ITEM( room_whiteboard )
-    BOOL_ITEM( room_computer )
-)
-*/
-
-// Array of results from the backend
-//DEFINE_ARRAY_CONCEPT_TYPE(CRoomResult, none, CQueryResults)
-
-//-----------------------------------------------------------------------------
-//
-// AGENT SPECIFICATIONS
-//
-//-----------------------------------------------------------------------------
- 
-//-----------------------------------------------------------------------------
-// /zap2
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(Czap2,
-	IS_MAIN_TOPIC()
-    DEFINE_CONCEPTS(
-        STRING_USER_CONCEPT(current_addressee, "")
-		STRING_SYSTEM_CONCEPT(robot_name)
-		STRING_SYSTEM_CONCEPT(everyone)
-	)
-	DEFINE_SUBAGENTS(
-    //SUBAGENT(InformAddressChange, CInformAddresseeChange, "")
-		//SUBAGENT(InformReport, CInformReport, "")
-		SUBAGENT(GetCurrentAddressee, CGetCurrentAddressee, "")
-		SUBAGENT(PerformTask, CTask, "")
-	)
-	ON_INITIALIZATION(
-		C("robot_name") = lpszDMServerName;
-		C("everyone") = "EVERYONE";
-		C("current_addressee") = "EVERYONE";
-	)
-)	
-
-//-----------------------------------------------------------------------------
-// /zap2/Welcome
-//-----------------------------------------------------------------------------
-//DEFINE_INFORM_AGENT( CWelcome,
-//    PROMPT(":non-interruptable inform welcome"))
-
-//-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY( CGetCurrentAddressee, 
-	// This agency consists of an expect agent which binds the value of the slot 
-	// [RobotName] to the concept current_addressee (so that we know who is being
-	// addressed currently) and an execute agent that reopens the current_addressee
-	// concept so that future occurrences of the [RobotName] slot can be bound too.
-			  
-	// We need to trigger this agency if the concept current_addressee just got 
-	// updated (as indicated by 0 TURNS_SINCE_LAST_UPDATED of concept 
-	// current_addressee being. However ReOpen() sets TURNS_SINCE_LAST_UPDATED to 0.
-	// To prevent that from triggering the agency, we also need to know that 
-	// current_addressee was UPDATED.
-
-  TRIGGERED_BY(UPDATED_IN_LAST_TURN(current_addressee))
-	PRECONDITION(false)
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectAddressee, CExpectAddressee, "")
-		SUBAGENT(InformAddresseeChange, CInformAddresseeChange, "")
-		SUBAGENT(ExecuteReopenAddressee, CExecuteReopenAddressee, "")
-	)
-	ON_COMPLETION(RESET)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee/ExpectAddressee
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT( CExpectAddressee, 
-	EXPECT_CONCEPT(current_addressee)
-    GRAMMAR_MAPPING("@(/zap2)[RobotName]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee/ExpectAddressee
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformAddresseeChange, 
-	PROMPT(":select_bot inform select_bot <current_addressee")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee/ExecuteReopenAddressee
-//-----------------------------------------------------------------------------
-DEFINE_EXECUTE_AGENT( CExecuteReopenAddressee, 
-	EXECUTE(C("current_addressee").ReOpen())
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY( CTask,
-	IS_MAIN_TOPIC()
-    DEFINE_CONCEPTS(
-		BOOL_USER_CONCEPT(report_command_issued, "")
-		BOOL_USER_CONCEPT(report_location_command_issued, "")
-		STRING_SYSTEM_CONCEPT(location_report)
-    STRING_SYSTEM_CONCEPT(move_report)
-		BOOL_USER_CONCEPT(move_cardinal_command_issued, "")
-		BOOL_USER_CONCEPT(move_relative_command_issued, "")
-		BOOL_USER_CONCEPT(move_to_goal_command_issued, "")
-		BOOL_USER_CONCEPT(search_command_issued, "")
-    BOOL_USER_CONCEPT(explore_command_issued, "")
-		BOOL_USER_CONCEPT(halt_command_issued, "")
-		BOOL_USER_CONCEPT(follow_command_issued, "")
-		BOOL_USER_CONCEPT(pause_command_issued, "")
-		BOOL_USER_CONCEPT(continue_command_issued, "")
-		BOOL_USER_CONCEPT(turn_command_issued, "")
-    BOOL_USER_CONCEPT(set_pose_command_issued, "")
-    BOOL_USER_CONCEPT(cancel_task_command_issued, "")
-		BOOL_USER_CONCEPT(cancel, "")
-	)
-	DEFINE_SUBAGENTS(
-		SUBAGENT(RequestWaitForCommands, CRequestWaitForCommands, "")
-		SUBAGENT(Report, CReport, "")
-	  SUBAGENT(QueryLocation, CQueryLocation, "")
-		SUBAGENT(ReportLocation, CReportLocation, "")
-		SUBAGENT(MoveCardinal, CMoveCardinal, "")
-		SUBAGENT(MoveToGoal, CMoveToGoal, "")
-		SUBAGENT(Search, CSearch, "")
-    SUBAGENT(Explore, CExplore, "")
-		SUBAGENT(CommandMoveRelative, CCommandMoveRelative, "")
-    SUBAGENT(ReportMove, CReportMove, "")
-		SUBAGENT(Halt, CHalt, "")
-		SUBAGENT(Follow, CFollow, "")
-		SUBAGENT(Pause, CPause, "")
-		SUBAGENT(Continue, CContinue, "")
-		SUBAGENT(Turn, CTurn, "")
-    SUBAGENT(SetPose, CSetPose, "")
-    SUBAGENT(CancelTask, CCancelTask, "")
-		SUBAGENT(ExpectCancel, CExpectCancel, "")
-		SUBAGENT(AllDoneDummy, CAllDoneDummy, "")
-	)
-	SUCCEEDS_WHEN(COMPLETED(AllDoneDummy))
-	ON_COMPLETION(RESET)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/RequestWaitForCommands
-//-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT( CRequestWaitForCommands, 
-	// PROMPT("request idle <robot_name")
-	TIMEOUT_PERIOD(1000000)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Report
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CReport,
- 	PRECONDITION(IS_TRUE(report_command_issued) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectReportCommand, CExpectReportCommand, "")
-		SUBAGENT(InformReport, CInformReport, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Report/ExpectReportCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectReportCommand,
-	EXPECT_CONCEPT(report_command_issued)
-	GRAMMAR_MAPPING("[HumanReportCommand]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Report/InformReport
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformReport, 
-	PROMPT("inform my_report <robot_name")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/QueryLocation
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CQueryLocation,
-	DEFINE_CONCEPTS(
-        STRING_SYSTEM_CONCEPT(location)
-	)
-	PRECONDITION(IS_TRUE(report_location_command_issued) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectQueryLocationCommand, CExpectQueryLocationCommand, "")
-		SUBAGENT(ExecuteGetLocation, CExecuteGetLocation, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/QueryLocation/ExpectQueryLocationCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectQueryLocationCommand,
-	EXPECT_CONCEPT(report_location_command_issued)
-	//EXPECT_WHEN(
- 	//	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanLocationQuery]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/QueryLocation/ExecuteGetLocation
-//-----------------------------------------------------------------------------
-DEFINE_EXECUTE_AGENT(CExecuteGetLocation,
-	CALL("gal_be.launch_query query=location_query <robot_name")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/ReportLocation
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CReportLocation,
-	PRECONDITION(UPDATED(location_report) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectReportLocationCommand, CExpectReportLocationCommand, "")
-		SUBAGENT(InformLocation, CInformLocation, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/ReportLocation/ExpectReportLocationCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectReportLocationCommand,
-	EXPECT_CONCEPT(location_report)
-	EXPECT_WHEN(
- 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[RobotMessage.Location]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/ReportLocation/InformLocation
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformLocation,
-	PROMPT("inform report_location <robot_name location<location_report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveCardinal
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CMoveCardinal,
-	DEFINE_CONCEPTS(
-		STRING_USER_CONCEPT(distance, "expl")
-    STRING_USER_CONCEPT(direction, "expl")
-		STRING_SYSTEM_CONCEPT(report)
-	)
-	PRECONDITION(IS_TRUE(move_cardinal_command_issued) 
-     && (UPDATED(distance) || UPDATED(direction)) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectMoveCardinalCommand, CExpectMoveCardinalCommand, "")
-		SUBAGENT(RequestDistance, CRequestDistance, "")
-		SUBAGENT(RequestCardinalDirection, CRequestCardinalDirection, "")
-		SUBAGENT(ExecuteMove, CExecuteMove, "")
-		SUBAGENT(InformReaction2Move, CInformReaction2Move, "")
-	)
-	SUCCEEDS_WHEN(COMPLETED(InformReaction2Move) || UPDATED_IN_LAST_TURN(cancel))
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/CommandMoveRelative
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CCommandMoveRelative,
-	DEFINE_CONCEPTS(
-    STRING_USER_CONCEPT(direction, "expl")
-		STRING_USER_CONCEPT(distance, "expl")
-		STRING_USER_CONCEPT(units, "")
-    STRING_SYSTEM_CONCEPT(report)
-	)
-	PRECONDITION(IS_TRUE(move_relative_command_issued) 
-    && (UPDATED(distance) || UPDATED(direction)) &&
-	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectMoveRelativeCommand, CExpectMoveRelativeCommand, "")
-		SUBAGENT(RequestMoveDirection, CRequestMoveDirection, "")
-		SUBAGENT(RequestRelativeDistance, CRequestRelativeDistance, "")
-		SUBAGENT(ExecuteRelativeMove, CExecuteRelativeMove, "")
-	)
-	SUCCEEDS_WHEN(COMPLETED(ExecuteRelativeMove) || UPDATED_IN_LAST_TURN(cancel))
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveCardinal/ExpectMoveCardinalCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectMoveCardinalCommand,
-	EXPECT_CONCEPT(move_cardinal_command_issued)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[MoveVectorCardinal]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveRelative/ExpectMoveRelativeCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectMoveRelativeCommand,
-	EXPECT_CONCEPT(move_relative_command_issued)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[MoveVectorRelative]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestCardinalDirection
-//-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT(CRequestCardinalDirection,
-	REQUEST_CONCEPT(direction)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	PROMPT("request direction <distance")
-	GRAMMAR_MAPPING("[MoveVectorCardinal.CardinalDirection],![CardinalDirection]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestMoveDirection
-//-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT(CRequestMoveDirection,
-	REQUEST_CONCEPT(direction)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	PROMPT("request direction <distance")
-	GRAMMAR_MAPPING("[MoveVectorRelative.MoveDirection],![MoveDirection]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestDistance	
-//-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT(CRequestDistance,
-	REQUEST_CONCEPT(distance)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	PROMPT("request distance <direction")
-	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorCardinal.AbsoluteDistance.Number-20]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestRelativeDistance	
-//-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT(CRequestRelativeDistance,
-	REQUEST_CONCEPT(distance)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	PROMPT("request distance <direction")
-	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorRelative.AbsoluteDistance.Number-20]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/ExecuteMove
-//-----------------------------------------------------------------------------
-DEFINE_EXECUTE_AGENT(CExecuteMove,
-	PRECONDITION(AVAILABLE(direction) && AVAILABLE(distance))
-    CALL("gal_be.launch_query query=move_cardinal_command <robot_name <distance <direction >report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/ExecuteRelativeMove
-//-----------------------------------------------------------------------------
-DEFINE_EXECUTE_AGENT(CExecuteRelativeMove,
-	PRECONDITION(AVAILABLE(direction) && AVAILABLE(distance))
-    CALL("gal_be.launch_query query=move_relative_command <robot_name <distance <direction >report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/ReportMove
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CReportMove,
-	PRECONDITION(UPDATED(move_report) &&
-	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectReportMove, CExpectReportMove, "")
-		SUBAGENT(InformMove, CInformMove, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/ReportMove/ExpectReportMove
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectReportMove,
-	EXPECT_CONCEPT(move_report)
-	EXPECT_WHEN(
- 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[RobotMessage.Move]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/ReportMove/InformMove
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformMove,
-	PROMPT("inform report_move_status <robot_name <move_report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Move/InformReaction2Move
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformReaction2Move,
-	PROMPT("inform report_move_relative <robot_name <direction <distance <report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CMoveToGoal,
-	DEFINE_CONCEPTS(
-        INT_USER_CONCEPT(relDist, "")
-		STRING_USER_CONCEPT(dir, "")
-		STRING_USER_CONCEPT(ordinal, "expl")
-		STRING_SYSTEM_CONCEPT(report)
-	)
-	PRECONDITION(IS_TRUE(move_to_goal_command_issued) && 
-		(UPDATED(dir) || UPDATED(ordinal) || UPDATED(relDist)) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectMoveToGoalCommand, CExpectMoveToGoalCommand, "")
-		SUBAGENT(ExpectRelDist, CExpectRelDist, "")
-		SUBAGENT(ExpectDir, CExpectDir, "")
-		SUBAGENT(ExpectOrdinal, CExpectOrdinal, "")
-		SUBAGENT(ExecuteMoveToGoal, CExecuteMoveToGoal, "")
-		SUBAGENT(InformMoveToGoalReport, CInformMoveToGoalReport, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectMoveToGoalCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectMoveToGoalCommand,
-	EXPECT_CONCEPT(move_to_goal_command_issued)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[MoveToGoal]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectRelDist
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectRelDist,
-	EXPECT_CONCEPT(relDist)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING(
-		"[MoveToGoal.RelativeDistance.ZapAll]>1,"\
-		"[MoveToGoal.RelativeDistance.ZapHalf]>2,"\
-		"[MoveToGoal.RelativeDistance.ZapThird]>3,"\
-		"[MoveToGoal.RelativeDistance.ZapOneQuarter]>4,"\
-		"[MoveToGoal.RelativeDistance.ZapTwoThird]>5,"\
-		"[MoveToGoal.RelativeDistance.ZapThreeQuarter]>6"
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectDir
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectDir,
-	EXPECT_CONCEPT(dir)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[MoveToGoal.Side]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectOrdinal
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectOrdinal,
-	EXPECT_CONCEPT(ordinal)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[MoveToGoal.Goal],[MoveToGoal.Home]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExecuteMoveToGoal
-//-----------------------------------------------------------------------------
-DEFINE_EXECUTE_AGENT(CExecuteMoveToGoal,
-    PRECONDITION(AVAILABLE(ordinal))
-    CALL("gal_be.launch_query query=move_to_goal_command <robot_name <relDist <dir <ordinal >report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/InformMoveToGoalReport
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformMoveToGoalReport,
-	PROMPT("inform report_move_to_goal <robot_name <ordinal <report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CSearch,
-	DEFINE_CONCEPTS(
-    FLOAT_USER_CONCEPT(x1, "")
-    FLOAT_USER_CONCEPT(x2, "")
-		FLOAT_USER_CONCEPT(x3, "")
-		FLOAT_USER_CONCEPT(x4, "")
-		FLOAT_USER_CONCEPT(x5, "")
-		FLOAT_USER_CONCEPT(x6, "")
-		FLOAT_USER_CONCEPT(x7, "")
-		FLOAT_USER_CONCEPT(x8, "")
-		FLOAT_USER_CONCEPT(x9, "")
-		FLOAT_USER_CONCEPT(x10, "")
-    FLOAT_USER_CONCEPT(y1, "")
-    FLOAT_USER_CONCEPT(y2, "")
-		FLOAT_USER_CONCEPT(y3, "")
-		FLOAT_USER_CONCEPT(y4, "")
-		FLOAT_USER_CONCEPT(y5, "")
-		FLOAT_USER_CONCEPT(y6, "")
-		FLOAT_USER_CONCEPT(y7, "")
-		FLOAT_USER_CONCEPT(y8, "")
-		FLOAT_USER_CONCEPT(y9, "")
-		FLOAT_USER_CONCEPT(y10, "")
-		STRING_SYSTEM_CONCEPT(report)
-	)
-	PRECONDITION(IS_TRUE(search_command_issued) && 
-		(UPDATED(x1) && UPDATED(y1)) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectSearchCommand, CExpectSearchCommand, "")
-		SUBAGENT(ExpectX1, CExpectX1, "")
-		SUBAGENT(ExpectX2, CExpectX2, "")
-		SUBAGENT(ExpectX3, CExpectX3, "")
-		SUBAGENT(ExpectX4, CExpectX4, "")
-		SUBAGENT(ExpectX5, CExpectX5, "")
-		SUBAGENT(ExpectX6, CExpectX6, "")
-		SUBAGENT(ExpectX7, CExpectX7, "")
-		SUBAGENT(ExpectX8, CExpectX8, "")
-		SUBAGENT(ExpectX9, CExpectX9, "")
-		SUBAGENT(ExpectX10, CExpectX10, "")
-		SUBAGENT(ExpectY1, CExpectY1, "")
-		SUBAGENT(ExpectY2, CExpectY2, "")
-		SUBAGENT(ExpectY3, CExpectY3, "")
-		SUBAGENT(ExpectY4, CExpectY4, "")
-		SUBAGENT(ExpectY5, CExpectY5, "")
-		SUBAGENT(ExpectY6, CExpectY6, "")
-		SUBAGENT(ExpectY7, CExpectY7, "")
-		SUBAGENT(ExpectY8, CExpectY8, "")
-		SUBAGENT(ExpectY9, CExpectY9, "")
-		SUBAGENT(ExpectY10, CExpectY10, "")
-		SUBAGENT(ExecuteSearch, CExecuteSearch, "")
-		SUBAGENT(InformSearchReport, CInformSearchReport, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectSearchCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectSearchCommand,
-	EXPECT_CONCEPT(search_command_issued)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX1
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX1,
-	EXPECT_CONCEPT(x1)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x1]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX2
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX2,
-	EXPECT_CONCEPT(x2)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x2]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX3
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX3,
-	EXPECT_CONCEPT(x3)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x3]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX4
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX4,
-	EXPECT_CONCEPT(x4)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x4]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX5
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX5,
-	EXPECT_CONCEPT(x5)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x5]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX6
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX6,
-	EXPECT_CONCEPT(x6)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x6]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX7
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX7,
-	EXPECT_CONCEPT(x7)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x7]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX8
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX8,
-	EXPECT_CONCEPT(x8)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x8]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX9
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX9,
-	EXPECT_CONCEPT(x9)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x9]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX10
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectX10,
-	EXPECT_CONCEPT(x10)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.x10]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY1
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY1,
-	EXPECT_CONCEPT(y1)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y1]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY2
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY2,
-	EXPECT_CONCEPT(y2)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y2]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY3
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY3,
-	EXPECT_CONCEPT(y3)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y3]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY4
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY4,
-	EXPECT_CONCEPT(y4)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y4]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY5
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY5,
-	EXPECT_CONCEPT(y5)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y5]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY6
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY6,
-	EXPECT_CONCEPT(y6)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y6]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY7
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY7,
-	EXPECT_CONCEPT(y7)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y7]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY8
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY8,
-	EXPECT_CONCEPT(y8)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y8]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY9
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY9,
-	EXPECT_CONCEPT(y9)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y9]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY10
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectY10,
-	EXPECT_CONCEPT(y10)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanSearchCommand.y10]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExecuteSearch
-//-----------------------------------------------------------------------------
-DEFINE_EXECUTE_AGENT(CExecuteSearch,
-    CALL("gal_be.launch_query query=search_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Search/InformSearchReport
-//-----------------------------------------------------------------------------
-DEFINE_INFORM_AGENT(CInformSearchReport,
-	PROMPT("inform report_search <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore
-//-----------------------------------------------------------------------------
-DEFINE_AGENCY(CExplore,
-	DEFINE_CONCEPTS(
-        FLOAT_USER_CONCEPT(x1, "")
-        FLOAT_USER_CONCEPT(x2, "")
-		FLOAT_USER_CONCEPT(x3, "")
-		FLOAT_USER_CONCEPT(x4, "")
-		FLOAT_USER_CONCEPT(x5, "")
-		FLOAT_USER_CONCEPT(x6, "")
-		FLOAT_USER_CONCEPT(x7, "")
-		FLOAT_USER_CONCEPT(x8, "")
-		FLOAT_USER_CONCEPT(x9, "")
-		FLOAT_USER_CONCEPT(x10, "")
-        FLOAT_USER_CONCEPT(y1, "")
-        FLOAT_USER_CONCEPT(y2, "")
-		FLOAT_USER_CONCEPT(y3, "")
-		FLOAT_USER_CONCEPT(y4, "")
-		FLOAT_USER_CONCEPT(y5, "")
-		FLOAT_USER_CONCEPT(y6, "")
-		FLOAT_USER_CONCEPT(y7, "")
-		FLOAT_USER_CONCEPT(y8, "")
-		FLOAT_USER_CONCEPT(y9, "")
-		FLOAT_USER_CONCEPT(y10, "")
-		STRING_SYSTEM_CONCEPT(report)
-	)
-	PRECONDITION(IS_TRUE(explore_command_issued) && 
-		(UPDATED(x1) && UPDATED(y1)) &&
-	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	DEFINE_SUBAGENTS(
-		SUBAGENT(ExpectExploreCommand, CExpectExploreCommand, "")
-		SUBAGENT(ExpectExploreX1, CExpectExploreX1, "")
-		SUBAGENT(ExpectExploreX2, CExpectExploreX2, "")
-		SUBAGENT(ExpectExploreX3, CExpectExploreX3, "")
-		SUBAGENT(ExpectExploreX4, CExpectExploreX4, "")
-		SUBAGENT(ExpectExploreX5, CExpectExploreX5, "")
-		SUBAGENT(ExpectExploreX6, CExpectExploreX6, "")
-		SUBAGENT(ExpectExploreX7, CExpectExploreX7, "")
-		SUBAGENT(ExpectExploreX8, CExpectExploreX8, "")
-		SUBAGENT(ExpectExploreX9, CExpectExploreX9, "")
-		SUBAGENT(ExpectExploreX10, CExpectX10, "")
-		SUBAGENT(ExpectExploreY1, CExpectExploreY1, "")
-		SUBAGENT(ExpectExploreY2, CExpectExploreY2, "")
-		SUBAGENT(ExpectExploreY3, CExpectExploreY3, "")
-		SUBAGENT(ExpectExploreY4, CExpectExploreY4, "")
-		SUBAGENT(ExpectExploreY5, CExpectExploreY5, "")
-		SUBAGENT(ExpectExploreY6, CExpectExploreY6, "")
-		SUBAGENT(ExpectExploreY7, CExpectExploreY7, "")
-		SUBAGENT(ExpectExploreY8, CExpectExploreY8, "")
-		SUBAGENT(ExpectExploreY9, CExpectExploreY9, "")
-		SUBAGENT(ExpectExploreY10, CExpectExploreY10, "")
-		SUBAGENT(ExecuteExplore, CExecuteExplore, "")
-		SUBAGENT(InformExploreReport, CInformExploreReport, "")
-	)
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreCommand
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreCommand,
-	EXPECT_CONCEPT(explore_command_issued)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand]>true")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX1
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreX1,
-	EXPECT_CONCEPT(x1)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand.x1]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX2
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreX2,
-	EXPECT_CONCEPT(x2)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand.x2]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX3
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreX3,
-	EXPECT_CONCEPT(x3)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand.x3]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX4
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreX4,
-	EXPECT_CONCEPT(x4)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand.x4]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX5
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreX5,
-	EXPECT_CONCEPT(x5)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand.x5]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX6
-//-----------------------------------------------------------------------------
-DEFINE_EXPECT_AGENT(CExpectExploreX6,
-	EXPECT_CONCEPT(x6)
-	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanExploreCommand.x6]")
-)
-
-//-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX7
-//-----------------------------------------------------------------------------

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Wed Sep 19 14:47:37 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 19 Sep 2007 14:47:37 -0400
Subject: [TeamTalk 216]: [752] trunk/TeamTalk: 1) Moved PrimitiveComm and
 boeingLib from Agents to Libraries.
Message-ID: <200709191847.l8JIlbC8005825@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070919/701ae659/attachment-0001.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/Agents.sln
===================================================================
--- trunk/TeamTalk/Agents/Agents.sln	2007-09-19 04:17:39 UTC (rev 751)
+++ trunk/TeamTalk/Agents/Agents.sln	2007-09-19 18:47:35 UTC (rev 752)
@@ -16,8 +16,6 @@
 		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63} = {538B76FD-E289-4CF7-A7FF-1ACB429B4F63}
 	EndProjectSection
 EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "PrimitiveComm", "PrimitiveComm\PrimitiveComm.vcproj", "{4051C912-8C55-442F-9AF8-3F3AE9859776}"
-EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Kalliope", "Kalliope\Kalliope.vcproj", "{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Audio_Server", "MultiDecoder\Audio_Server\Audio_Server.vcproj", "{C31484B0-179B-432D-AE1E-75FB90591F23}"
@@ -48,329 +46,70 @@
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libsphinx2fe", "..\Libraries\sphinx2msdev\libsphinx2fe\libsphinx2fe.vcproj", "{D1928EF1-ABBB-4130-98E4-8BB293F982F3}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "PrimitiveComm", "..\Libraries\PrimitiveComm\PrimitiveComm.vcproj", "{4051C912-8C55-442F-9AF8-3F3AE9859776}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Win32 = Debug|Win32
-		DebugGalaxy|Win32 = DebugGalaxy|Win32
-		DebugOAA|Win32 = DebugOAA|Win32
-		FestivalDebug|Win32 = FestivalDebug|Win32
-		FestivalRelease|Win32 = FestivalRelease|Win32
-		halfreleaseaudio|Win32 = halfreleaseaudio|Win32
 		Release|Win32 = Release|Win32
-		ReleaseGalaxy|Win32 = ReleaseGalaxy|Win32
-		ReleaseOAA|Win32 = ReleaseOAA|Win32
-		SwiftDebug|Win32 = SwiftDebug|Win32
-		SwiftRelease|Win32 = SwiftRelease|Win32
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.Debug|Win32.ActiveCfg = Debug|Win32
 		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.Debug|Win32.Build.0 = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.Release|Win32.ActiveCfg = Release|Win32
 		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.Release|Win32.Build.0 = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{596C5D37-C409-4C46-BA28-B7F5EFB96851}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.Debug|Win32.ActiveCfg = Debug|Win32
 		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.Debug|Win32.Build.0 = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.Release|Win32.ActiveCfg = Release|Win32
 		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.Release|Win32.Build.0 = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{098CB2CB-4903-4D0E-83AA-C9781D6C1F2F}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.Debug|Win32.ActiveCfg = Debug|Win32
 		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.Debug|Win32.Build.0 = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.Release|Win32.ActiveCfg = Release|Win32
 		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.Release|Win32.Build.0 = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{8AD2EDB1-F154-40E3-8317-6799592E8B34}.SwiftRelease|Win32.Build.0 = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Debug|Win32.ActiveCfg = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Debug|Win32.Build.0 = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.halfreleaseaudio|Win32.Build.0 = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Release|Win32.ActiveCfg = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Release|Win32.Build.0 = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{4051C912-8C55-442F-9AF8-3F3AE9859776}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.Debug|Win32.ActiveCfg = SwiftDebug|Win32
 		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.Debug|Win32.Build.0 = SwiftDebug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.FestivalDebug|Win32.ActiveCfg = FestivalDebug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.FestivalDebug|Win32.Build.0 = FestivalDebug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.FestivalRelease|Win32.ActiveCfg = FestivalRelease|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.FestivalRelease|Win32.Build.0 = FestivalRelease|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.halfreleaseaudio|Win32.ActiveCfg = SwiftRelease|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.halfreleaseaudio|Win32.Build.0 = SwiftRelease|Win32
 		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.Release|Win32.ActiveCfg = SwiftRelease|Win32
 		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.Release|Win32.Build.0 = SwiftRelease|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.SwiftDebug|Win32.ActiveCfg = SwiftDebug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.SwiftDebug|Win32.Build.0 = SwiftDebug|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.SwiftRelease|Win32.ActiveCfg = SwiftRelease|Win32
-		{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}.SwiftRelease|Win32.Build.0 = SwiftRelease|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.Debug|Win32.ActiveCfg = Debug|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.Debug|Win32.Build.0 = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.Release|Win32.ActiveCfg = Release|Win32
 		{C31484B0-179B-432D-AE1E-75FB90591F23}.Release|Win32.Build.0 = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{C31484B0-179B-432D-AE1E-75FB90591F23}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.Debug|Win32.ActiveCfg = Debug|Win32
 		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.Debug|Win32.Build.0 = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.Release|Win32.ActiveCfg = Release|Win32
 		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.Release|Win32.Build.0 = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{FEB0A2B8-AF38-4237-A124-81EAD008CDDC}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.Debug|Win32.ActiveCfg = Debug|Win32
 		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.Debug|Win32.Build.0 = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.Release|Win32.ActiveCfg = Release|Win32
 		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.Release|Win32.Build.0 = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{93C8F5F8-6C43-4179-9B9F-A31AA6438513}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.Debug|Win32.ActiveCfg = Debug|Win32
 		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.Debug|Win32.Build.0 = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.Release|Win32.ActiveCfg = Release|Win32
 		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.Release|Win32.Build.0 = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{20678B74-4291-4384-B05A-A5EC04DC2BCF}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.Debug|Win32.ActiveCfg = Debug|Win32
 		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.Debug|Win32.Build.0 = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.Release|Win32.ActiveCfg = Release|Win32
 		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.Release|Win32.Build.0 = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{B2C82072-32EB-4320-B2B1-C97B8D4C68E1}.SwiftRelease|Win32.Build.0 = Release|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.Debug|Win32.ActiveCfg = DebugOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.Debug|Win32.Build.0 = DebugOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.DebugGalaxy|Win32.ActiveCfg = DebugGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.DebugGalaxy|Win32.Build.0 = DebugGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.DebugOAA|Win32.ActiveCfg = DebugOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.DebugOAA|Win32.Build.0 = DebugOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.FestivalDebug|Win32.ActiveCfg = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.FestivalDebug|Win32.Build.0 = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.FestivalRelease|Win32.ActiveCfg = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.FestivalRelease|Win32.Build.0 = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.halfreleaseaudio|Win32.ActiveCfg = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.halfreleaseaudio|Win32.Build.0 = ReleaseOAA|Win32
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.Debug|Win32.ActiveCfg = DebugGalaxy|Win32
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.Debug|Win32.Build.0 = DebugGalaxy|Win32
 		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.Release|Win32.ActiveCfg = ReleaseGalaxy|Win32
 		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.Release|Win32.Build.0 = ReleaseGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseGalaxy|Win32.ActiveCfg = ReleaseGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseGalaxy|Win32.Build.0 = ReleaseGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseOAA|Win32.ActiveCfg = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.ReleaseOAA|Win32.Build.0 = ReleaseOAA|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftDebug|Win32.ActiveCfg = DebugGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftDebug|Win32.Build.0 = DebugGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.ActiveCfg = ReleaseGalaxy|Win32
-		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.Build.0 = ReleaseGalaxy|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.Debug|Win32.ActiveCfg = Debug|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.Debug|Win32.Build.0 = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.halfreleaseaudio|Win32.ActiveCfg = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.halfreleaseaudio|Win32.Build.0 = Debug|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.Release|Win32.ActiveCfg = Release|Win32
 		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.Release|Win32.Build.0 = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{BB2093E6-97B7-47B1-9F6D-5F7417E69267}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.Debug|Win32.ActiveCfg = Debug|Win32
 		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.Debug|Win32.Build.0 = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.halfreleaseaudio|Win32.ActiveCfg = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.halfreleaseaudio|Win32.Build.0 = Release|Win32
 		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.Release|Win32.ActiveCfg = Release|Win32
 		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.Release|Win32.Build.0 = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{B1A99CB7-705E-41D0-A461-6CE24CB83C50}.SwiftRelease|Win32.Build.0 = Release|Win32
 		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.Debug|Win32.ActiveCfg = Debug|Win32
 		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.Debug|Win32.Build.0 = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.DebugGalaxy|Win32.ActiveCfg = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.DebugGalaxy|Win32.Build.0 = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.DebugOAA|Win32.ActiveCfg = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.DebugOAA|Win32.Build.0 = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.FestivalDebug|Win32.ActiveCfg = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.FestivalDebug|Win32.Build.0 = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.FestivalRelease|Win32.ActiveCfg = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.FestivalRelease|Win32.Build.0 = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.halfreleaseaudio|Win32.ActiveCfg = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.halfreleaseaudio|Win32.Build.0 = Debug|Win32
 		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.Release|Win32.ActiveCfg = Release|Win32
 		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.Release|Win32.Build.0 = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.ReleaseGalaxy|Win32.ActiveCfg = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.ReleaseGalaxy|Win32.Build.0 = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.ReleaseOAA|Win32.ActiveCfg = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.ReleaseOAA|Win32.Build.0 = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.SwiftDebug|Win32.ActiveCfg = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.SwiftDebug|Win32.Build.0 = Debug|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.SwiftRelease|Win32.ActiveCfg = Release|Win32
-		{D1928EF1-ABBB-4130-98E4-8BB293F982F3}.SwiftRelease|Win32.Build.0 = Release|Win32
+		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Debug|Win32.ActiveCfg = Debug|Win32
+		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Debug|Win32.Build.0 = Debug|Win32
+		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Release|Win32.ActiveCfg = Release|Win32
+		{4051C912-8C55-442F-9AF8-3F3AE9859776}.Release|Win32.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Copied: trunk/TeamTalk/Libraries/PrimitiveComm (from rev 746, trunk/TeamTalk/Agents/PrimitiveComm)

Copied: trunk/TeamTalk/Libraries/boeingLib (from rev 746, trunk/TeamTalk/Agents/boeingLib)

From tk at edam.speech.cs.cmu.edu  Wed Sep 19 16:48:52 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 19 Sep 2007 16:48:52 -0400
Subject: [TeamTalk 217]:  [753] trunk/moast-bth: Link monitor imports.
Message-ID: <200709192048.l8JKmqRA006105@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070919/d6fcb84f/attachment-0001.html
-------------- next part --------------

Property changes on: trunk/moast-bth
___________________________________________________________________
Name: svn:externals
   - PrimitiveComm http://edam.speech.cs.cmu.edu/repos/teamtalk/trunk/TeamTalk/Agents/PrimitiveComm
boeingLib http://edam.speech.cs.cmu.edu/repos/teamtalk/trunk/TeamTalk/Agents/boeingLib

   + PrimitiveComm http://edam.speech.cs.cmu.edu/repos/teamtalk/trunk/TeamTalk/Libraries/PrimitiveComm
boeingLib http://edam.speech.cs.cmu.edu/repos/teamtalk/trunk/TeamTalk/Libraries/boeingLib


Added: trunk/moast-bth/moast/bin/regression/2m_squre.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/2m_squre.exp	                        (rev 0)
+++ trunk/moast-bth/moast/bin/regression/2m_squre.exp	2007-09-19 20:48:52 UTC (rev 753)
@@ -0,0 +1,32 @@
+#!/usr/bin/expect -f
+
+set rt_time 12
+set rt_tol 6
+set prompt "> \r> "
+set timeout -1
+cd ..
+spawn ./vehShell
+match_max 100000
+expect $prompt
+send "mvl 25.0 8.5\r"
+expect $prompt
+sleep $rt_time
+send "\r"
+expect $prompt
+send "mvl 25.0 6.5\r"
+expect $prompt
+sleep $rt_time
+send "\r"
+expect $prompt
+send "mvl 27.0 6.5\r"
+expect $prompt
+sleep $rt_time
+send "\r"
+expect $prompt
+send "mvl 27.0 8.5\r"
+expect $prompt
+sleep $rt_time
+send "\r"
+expect $prompt
+send "quit\r"
+expect eof


Property changes on: trunk/moast-bth/moast/bin/regression/2m_squre.exp
___________________________________________________________________
Name: svn:executable
   + *

Added: trunk/moast-bth/moast/bin/regression/four_right_turns.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/four_right_turns.exp	                        (rev 0)
+++ trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-19 20:48:52 UTC (rev 753)
@@ -0,0 +1,31 @@
+#!/usr/bin/expect -f
+
+set rt_time 12
+set rt_tol 6
+set timeout -1
+cd ..
+spawn ./primShell
+match_max 100000
+expect "PrimMob> \rPrimMob> "
+send "rotate 270 $rt_tol cw\r"
+expect "PrimMob> \rPrimMob> "
+sleep $rt_time
+send -- "\r"
+expect "PrimMob> \rPrimMob> "
+send -- "rotate 0 $rt_tol cw\r"
+expect "PrimMob> \rPrimMob> "
+sleep $rt_time
+send -- "\r"
+expect "PrimMob> \rPrimMob> "
+send -- "rotate 90 $rt_tol cw\r"
+expect "PrimMob> \rPrimMob> "
+sleep $rt_time
+send -- "\r"
+expect "PrimMob> \rPrimMob> "
+send -- "rotate 180 $rt_tol cw\r"
+expect "PrimMob> \rPrimMob> "
+sleep $rt_time
+send -- "\r"
+expect "PrimMob> \rPrimMob> "
+send -- "quit\r"
+expect eof


Property changes on: trunk/moast-bth/moast/bin/regression/four_right_turns.exp
___________________________________________________________________
Name: svn:executable
   + *

Modified: trunk/moast-bth/moast/include/linkMonCtrl.hh
===================================================================
--- trunk/moast-bth/moast/include/linkMonCtrl.hh	2007-09-19 18:47:35 UTC (rev 752)
+++ trunk/moast-bth/moast/include/linkMonCtrl.hh	2007-09-19 20:48:52 UTC (rev 753)
@@ -18,8 +18,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.1 $
-  $Date: 2007/09/11 20:27:43 $
+  $Revision: 1.2 $
+  $Date: 2007/09/18 20:02:32 $
   \endcode
 
   \author Stephen Balakirsky
@@ -48,6 +48,7 @@
 #define LINK_MON_CMD_SHUTDOWN_TYPE      (LINK_MON_CMD_BASE + 4)
 #define LINK_MON_CMD_NOP_TYPE           (LINK_MON_CMD_BASE + 5)
 #define LINK_MON_CMD_MONITOR_TYPE       (LINK_MON_CMD_BASE + 6)
+#define LINK_MON_CMD_WRITE_TYPE         (LINK_MON_CMD_BASE + 7)
 
 #define LINK_MON_STAT_TYPE              (LINK_MON_STAT_BASE + 1)
 
@@ -104,6 +105,16 @@
   void update(CMS *);
 };
 
+
+class LinkMonCmdWrite:public RCS_CMD_MSG {
+public:
+  LinkMonCmdWrite():RCS_CMD_MSG
+    (LINK_MON_CMD_WRITE_TYPE, sizeof(LinkMonCmdWrite)) {};
+  void update(CMS *);
+  char robotToWrite[MOAST_WORLD_NAME_LEN];
+  char msg[255];
+};
+
 /*!
   Status message
 */
@@ -169,6 +180,9 @@
   Modification history:
 
   $Log: linkMonCtrl.hh,v $
+  Revision 1.2  2007/09/18 20:02:32  dr_steveb
+  Added write message to wss comm server for USARSim
+
   Revision 1.1  2007/09/11 20:27:43  dr_steveb
   Changes for link monitoring
 

Modified: trunk/moast-bth/moast/src/nml/linkMonCtrl.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/linkMonCtrl.cc	2007-09-19 18:47:35 UTC (rev 752)
+++ trunk/moast-bth/moast/src/nml/linkMonCtrl.cc	2007-09-19 20:48:52 UTC (rev 753)
@@ -18,7 +18,7 @@
 /*
 *	Initializer for RadioRoute
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_RadioRoute(RadioRoute* x)
 {
@@ -36,7 +36,7 @@
 #define MAX_LINKMONCTRL_NAME_LENGTH 20
 #endif
 #ifndef LINKMONCTRL_NAME_LIST_LENGTH
-#define LINKMONCTRL_NAME_LIST_LENGTH 12
+#define LINKMONCTRL_NAME_LIST_LENGTH 13
 #endif
 
 
@@ -48,11 +48,12 @@
 	"LinkMonCmdMonitor", /* 3,18006 */
 	"LinkMonCmdNop", /* 4,18005 */
 	"LinkMonCmdShutdown", /* 5,18004 */
-	"LinkMonStat", /* 6,18101 */
-	"linkMonCfgCycleTime", /* 8,18201 */
-	"linkMonCfgDebug", /* 9,18202 */
-	"linkMonCfgNop", /* 10,18203 */
-	"linkMonSet", /* 11,18301 */
+	"LinkMonCmdWrite", /* 6,18007 */
+	"LinkMonStat", /* 7,18101 */
+	"linkMonCfgCycleTime", /* 9,18201 */
+	"linkMonCfgDebug", /* 10,18202 */
+	"linkMonCfgNop", /* 11,18203 */
+	"linkMonSet", /* 12,18301 */
 	""};
 const NMLTYPE linkMonCtrl_id_list[LINKMONCTRL_NAME_LIST_LENGTH]= {
 	LINK_MON_CMD_ABORT_TYPE, /* 0,18002 */
@@ -61,11 +62,12 @@
 	LINK_MON_CMD_MONITOR_TYPE, /* 3,18006 */
 	LINK_MON_CMD_NOP_TYPE, /* 4,18005 */
 	LINK_MON_CMD_SHUTDOWN_TYPE, /* 5,18004 */
-	LINK_MON_STAT_TYPE, /* 6,18101 */
-	LINK_MON_CFG_CYCLE_TIME_TYPE, /* 8,18201 */
-	LINK_MON_CFG_DEBUG_TYPE, /* 9,18202 */
-	LINK_MON_CFG_NOP_TYPE, /* 10,18203 */
-	LINK_MON_SET_TYPE, /* 11,18301 */
+	LINK_MON_CMD_WRITE_TYPE, /* 6,18007 */
+	LINK_MON_STAT_TYPE, /* 7,18101 */
+	LINK_MON_CFG_CYCLE_TIME_TYPE, /* 9,18201 */
+	LINK_MON_CFG_DEBUG_TYPE, /* 10,18202 */
+	LINK_MON_CFG_NOP_TYPE, /* 11,18203 */
+	LINK_MON_SET_TYPE, /* 12,18301 */
 	-1};
 const size_t linkMonCtrl_size_list[LINKMONCTRL_NAME_LIST_LENGTH]= {
 	sizeof(LinkMonCmdAbort),
@@ -74,6 +76,7 @@
 	sizeof(LinkMonCmdMonitor),
 	sizeof(LinkMonCmdNop),
 	sizeof(LinkMonCmdShutdown),
+	sizeof(LinkMonCmdWrite),
 	sizeof(LinkMonStat),
 	sizeof(linkMonCfgCycleTime),
 	sizeof(linkMonCfgDebug),
@@ -368,6 +371,7 @@
 Estimated_size	LinkMonCmdMonitor	24
 Estimated_size	LinkMonCmdNop	24
 Estimated_size	LinkMonCmdShutdown	24
+Estimated_size	LinkMonCmdWrite	359
 Estimated_size	LinkMonStat	8472
 Estimated_size	RadioRoute	816
 Estimated_size	linkMonCfgCycleTime	32
@@ -379,7 +383,7 @@
 /*
 *	NML/CMS Format function : linkMonCtrl_format
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 int linkMonCtrl_format(NMLTYPE type, void *buffer, CMS *cms)
 {
@@ -411,6 +415,9 @@
 	case LINK_MON_CMD_SHUTDOWN_TYPE:
 		((LinkMonCmdShutdown *) buffer)->update(cms);
 		break;
+	case LINK_MON_CMD_WRITE_TYPE:
+		((LinkMonCmdWrite *) buffer)->update(cms);
+		break;
 	case LINK_MON_STAT_TYPE:
 		((LinkMonStat *) buffer)->update(cms);
 		break;
@@ -451,6 +458,8 @@
 		return "LinkMonCmdNop";
 	case LINK_MON_CMD_SHUTDOWN_TYPE:
 		return "LinkMonCmdShutdown";
+	case LINK_MON_CMD_WRITE_TYPE:
+		return "LinkMonCmdWrite";
 	case LINK_MON_STAT_TYPE:
 		return "LinkMonStat";
 	case LINK_MON_CFG_CYCLE_TIME_TYPE:
@@ -471,7 +480,7 @@
 /*
 *	NML/CMS Update function for LinkMonCmdAbort
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonCmdAbort::update(CMS *cms)
 {
@@ -487,7 +496,7 @@
 /*
 *	NML/CMS Update function for LinkMonCmdHalt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonCmdHalt::update(CMS *cms)
 {
@@ -503,7 +512,7 @@
 /*
 *	NML/CMS Update function for LinkMonCmdInit
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonCmdInit::update(CMS *cms)
 {
@@ -519,7 +528,7 @@
 /*
 *	NML/CMS Update function for LinkMonCmdMonitor
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonCmdMonitor::update(CMS *cms)
 {
@@ -535,7 +544,7 @@
 /*
 *	NML/CMS Update function for LinkMonCmdNop
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonCmdNop::update(CMS *cms)
 {
@@ -551,7 +560,7 @@
 /*
 *	NML/CMS Update function for LinkMonCmdShutdown
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonCmdShutdown::update(CMS *cms)
 {
@@ -565,9 +574,27 @@
 
 
 /*
+*	NML/CMS Update function for LinkMonCmdWrite
+*	Automatically generated by NML CodeGen Java Applet.
+*	on Tue Sep 18 15:32:52 EDT 2007
+*/
+void LinkMonCmdWrite::update(CMS *cms)
+{
+
+	cms->beginClass("LinkMonCmdWrite","RCS_CMD_MSG");
+	RCS_CMD_MSG::update_cmd_msg_base(cms);
+	cms->update_with_name("robotToWrite",robotToWrite,80);
+	cms->update_with_name("msg",(char *) msg,255);
+
+	cms->endClass("LinkMonCmdWrite","RCS_CMD_MSG");
+
+}
+
+
+/*
 *	NML/CMS Update function for LinkMonStat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void LinkMonStat::update(CMS *cms)
 {
@@ -596,7 +623,7 @@
 /*
 *	NML/CMS Update function for RadioRoute
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,RadioRoute *x)
 {
@@ -614,7 +641,7 @@
 /*
 *	NML/CMS Update function for linkMonCfgCycleTime
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void linkMonCfgCycleTime::update(CMS *cms)
 {
@@ -631,7 +658,7 @@
 /*
 *	NML/CMS Update function for linkMonCfgDebug
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void linkMonCfgDebug::update(CMS *cms)
 {
@@ -648,7 +675,7 @@
 /*
 *	NML/CMS Update function for linkMonCfgNop
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void linkMonCfgNop::update(CMS *cms)
 {
@@ -664,7 +691,7 @@
 /*
 *	NML/CMS Update function for linkMonSet
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Tue Sep 11 15:57:39 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void linkMonSet::update(CMS *cms)
 {

Modified: trunk/moast-bth/moast/src/nml/trafficCtrl.cc
===================================================================
--- trunk/moast-bth/moast/src/nml/trafficCtrl.cc	2007-09-19 18:47:35 UTC (rev 752)
+++ trunk/moast-bth/moast/src/nml/trafficCtrl.cc	2007-09-19 20:48:52 UTC (rev 753)
@@ -34,7 +34,7 @@
 /*
 *	Initializer for RobotInfo
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:51 EDT 2007
 */
 void initialize_RobotInfo(RobotInfo* x)
 {
@@ -49,7 +49,7 @@
 /*
 *	Initializer for TrafficCtrlAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_TrafficCtrlAckerman(TrafficCtrlAckerman* x)
 {
@@ -63,7 +63,7 @@
 /*
 *	Initializer for TrafficCtrlFlipperMsg
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_TrafficCtrlFlipperMsg(TrafficCtrlFlipperMsg* x)
 {
@@ -76,7 +76,7 @@
 /*
 *	Initializer for TrafficCtrlOmni
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_TrafficCtrlOmni(TrafficCtrlOmni* x)
 {
@@ -90,7 +90,7 @@
 /*
 *	Initializer for TrafficCtrlRotary
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_TrafficCtrlRotary(TrafficCtrlRotary* x)
 {
@@ -105,7 +105,7 @@
 /*
 *	Initializer for TrafficCtrlSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_TrafficCtrlSkid(TrafficCtrlSkid* x)
 {
@@ -118,7 +118,7 @@
 /*
 *	Initializer for TrafficCtrlSubmarine
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void initialize_TrafficCtrlSubmarine(TrafficCtrlSubmarine* x)
 {
@@ -519,7 +519,7 @@
 /*
 *	NML/CMS Format function : trafficCtrl_format
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 int trafficCtrl_format(NMLTYPE type, void *buffer, CMS *cms)
 {
@@ -656,7 +656,7 @@
 /*
 *	NML/CMS Update function for RobotInfo
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,RobotInfo *x)
 {
@@ -673,7 +673,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlAckerman *x)
 {
@@ -692,7 +692,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgCycleTime
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCfgCycleTime::update(CMS *cms)
 {
@@ -709,7 +709,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgDebug
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCfgDebug::update(CMS *cms)
 {
@@ -726,7 +726,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgMove
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCfgMove::update(CMS *cms)
 {
@@ -748,7 +748,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCfgNop
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCfgNop::update(CMS *cms)
 {
@@ -764,7 +764,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdAbort
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdAbort::update(CMS *cms)
 {
@@ -780,7 +780,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdAckerman
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdAckerman::update(CMS *cms)
 {
@@ -805,7 +805,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdFlipSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdFlipSkid::update(CMS *cms)
 {
@@ -839,7 +839,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdHalt
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdHalt::update(CMS *cms)
 {
@@ -855,7 +855,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdInit
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdInit::update(CMS *cms)
 {
@@ -871,7 +871,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdMoveArcSegment
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdMoveArcSegment::update(CMS *cms)
 {
@@ -895,7 +895,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdMoveWaypoint
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdMoveWaypoint::update(CMS *cms)
 {
@@ -919,7 +919,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdNop
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdNop::update(CMS *cms)
 {
@@ -935,7 +935,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdOmni
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdOmni::update(CMS *cms)
 {
@@ -960,7 +960,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdRotaryWing
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdRotaryWing::update(CMS *cms)
 {
@@ -985,7 +985,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdShutdown
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdShutdown::update(CMS *cms)
 {
@@ -1001,7 +1001,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdSkid::update(CMS *cms)
 {
@@ -1026,7 +1026,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdStop
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdStop::update(CMS *cms)
 {
@@ -1042,7 +1042,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlCmdSubmarine
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlCmdSubmarine::update(CMS *cms)
 {
@@ -1067,7 +1067,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlFlipperMsg
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlFlipperMsg *x)
 {
@@ -1085,7 +1085,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlOmni
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlOmni *x)
 {
@@ -1104,7 +1104,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlRotary
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlRotary *x)
 {
@@ -1124,7 +1124,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlSet
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlSet::update(CMS *cms)
 {
@@ -1158,7 +1158,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlSkid
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlSkid *x)
 {
@@ -1176,7 +1176,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlStat
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void TrafficCtrlStat::update(CMS *cms)
 {
@@ -1203,7 +1203,7 @@
 /*
 *	NML/CMS Update function for TrafficCtrlSubmarine
 *	Automatically generated by NML CodeGen Java Applet.
-*	on Wed Sep 05 13:59:36 EDT 2007
+*	on Tue Sep 18 15:32:52 EDT 2007
 */
 void nmlupdate(CMS *cms,TrafficCtrlSubmarine *x)
 {

Modified: trunk/moast-bth/moast/src/tools/linkMonitor/linkMon.cc
===================================================================
--- trunk/moast-bth/moast/src/tools/linkMonitor/linkMon.cc	2007-09-19 18:47:35 UTC (rev 752)
+++ trunk/moast-bth/moast/src/tools/linkMonitor/linkMon.cc	2007-09-19 20:48:52 UTC (rev 753)
@@ -26,8 +26,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.2 $
-  $Date: 2007/09/11 20:52:00 $
+  $Revision: 1.3 $
+  $Date: 2007/09/18 20:03:49 $
   \endcode
 
   \author Stephen Balakirsky
@@ -265,6 +265,20 @@
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////
+//// wss code from Chris and I
+/////////////////////////////////////////////////////////////////////////////////////////
+bool wssWrite( char *robotName, char *msg )
+{
+  printf( "Need to send message %s to robot %s\n", msg, robotName );
+  return true;
+}
+
+char *wssRead()
+{
+  return NULL;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////
 //// state tables
 /////////////////////////////////////////////////////////////////////////////////////////
 void doCmdNop(LinkMonStat * stat)
@@ -394,6 +408,39 @@
     state_default(stat);
 }
 
+void doCmdWrite( LinkMonStat * stat, LinkMonCmdWrite *cmdIn )
+{
+  if(state_match(stat, NEW_COMMAND)) 
+    {
+      state_new(stat);
+      if(stat->admin_state != ADMIN_INITIALIZED) 
+	{
+	  status_next(stat, RCS_ERROR);
+	  state_next(stat, S2);
+	} 
+      else 
+	{
+	  state_next(stat, S0);
+	  status_next(stat, RCS_EXEC);
+	}
+    }
+
+  if(state_match(stat, S0))
+    {
+
+      if( !wssWrite(cmdIn->robotToWrite, cmdIn->msg ) )
+	{
+	  status_next(stat, RCS_ERROR);
+	  state_next(stat, S2);
+	}
+      else
+	{
+	  status_next(stat, RCS_DONE);
+	  state_next(stat, S2);
+	}
+    }
+}
+
 void doCmdMonitor( LinkMonStat * stat )
 {
   int n;
@@ -547,6 +594,7 @@
 
 int main(int argc, char *argv[])
 {
+  char *msgIn;
   char nml_file_default[] = DEFAULT_NML_FILE;
   char *nml_file_env;
   char *NML_FILE = NULL;
@@ -668,10 +716,17 @@
   signal(SIGINT, quit);
   while (!done) 
     {
+      // clear stat buffer of routes
+      linkMonStat.route_length = 0;
+
       // read buffers
       cmd_type = linkMonCmdNml->read();
       trafficCtrlSetNml->read();
+      if( (msgIn=wssRead()) != NULL )
+	printf( "Message received: %s\n", msgIn );
 
+      // listen to all robots over USARSim commServer
+
       serial_number = linkMonCmdNml->get_address()->serial_number;
       switch (cmd_type) 
 	{
@@ -688,6 +743,7 @@
 	case LINK_MON_CMD_ABORT_TYPE:
 	case LINK_MON_CMD_MONITOR_TYPE:
 	case LINK_MON_CMD_SHUTDOWN_TYPE:
+	case LINK_MON_CMD_WRITE_TYPE:
 	  linkMonStat.command_type = cmd_type;
 	  if(serial_number != linkMonStat.echo_serial_number) 
 	    {
@@ -722,6 +778,8 @@
 	case LINK_MON_CMD_MONITOR_TYPE:
 	  doCmdMonitor(&linkMonStat);
 	  break;
+	case LINK_MON_CMD_WRITE_TYPE:
+	  doCmdWrite(&linkMonStat, (LinkMonCmdWrite*)linkMonCmdNml->get_address());
 	default:
 	  // no command to handle
 	  break;
@@ -745,6 +803,9 @@
   Modification history:
 
   $Log: linkMon.cc,v $
+  Revision 1.3  2007/09/18 20:03:49  dr_steveb
+  Added write command
+
   Revision 1.2  2007/09/11 20:52:00  dr_steveb
   Changed default cuttoff to read a negative value
 

Modified: trunk/moast-bth/moast/src/tools/linkMonitor/linkMonShell.cc
===================================================================
--- trunk/moast-bth/moast/src/tools/linkMonitor/linkMonShell.cc	2007-09-19 18:47:35 UTC (rev 752)
+++ trunk/moast-bth/moast/src/tools/linkMonitor/linkMonShell.cc	2007-09-19 20:48:52 UTC (rev 753)
@@ -16,8 +16,8 @@
 
   \code CVS Status:
   $Author: dr_steveb $
-  $Revision: 1.1 $
-  $Date: 2007/09/11 20:26:53 $
+  $Revision: 1.2 $
+  $Date: 2007/09/18 20:03:49 $
   \endcode
 
   \author Stephen Balakirsky
@@ -235,13 +235,14 @@
 
 static void printHelp(void)
 {
-  printf("q | quit          -- quit\n");
-  printf("? | help          -- print this help\n");
-  printf("init              -- initialize\n");
-  printf("halt              -- halt\n");
-  printf("abort             -- abort\n");
-  printf("shutdown          -- shutdown\n");
-  printf("monitor           -- monitor commands\n");
+  printf("q | quit            -- quit\n");
+  printf("? | help            -- print this help\n");
+  printf("init                -- initialize\n");
+  printf("halt                -- halt\n");
+  printf("abort               -- abort\n");
+  printf("shutdown            -- shutdown\n");
+  printf("monitor             -- monitor commands\n");
+  printf("write <robot> <msg> -- write the message <msg> to robot <robot> over the wss\n");
   /*
   printf("ct <secs>         -- set cycle time to <secs>\n");
   printf("mvl <x> <y>       -- move to <x> <y> in local coordinates\n");
@@ -275,6 +276,7 @@
   LinkMonCmdHalt linkMonCmdHalt;
   LinkMonCmdShutdown linkMonCmdShutdown;
   LinkMonCmdMonitor linkMonCmdWaypoint;
+  LinkMonCmdWrite linkMonCmdWrite;
 
 #ifdef HAVE_READLINE_READLINE_H
   using_history();
@@ -390,6 +392,18 @@
       linkMonCmdWaypoint.serial_number = serialNumber;
       serialNumber+=2;
       linkMonCmdNml->write(&linkMonCmdWaypoint);
+    } else if (!strwcmp(ptr, "write")) {
+      if( 2 !=
+	  sscanf(ptr, "%*s %s %s",
+		 linkMonCmdWrite.robotToWrite, linkMonCmdWrite.msg ))
+	printf( "need a robot name and message argument\n" );
+      else
+	{
+	  linkMonCmdWrite.serial_number = serialNumber;
+	  serialNumber+=2;
+	  linkMonCmdNml->write(&linkMonCmdWrite);
+	}
+
       /*
     } else if (!strwcmp(ptr, "wp")) {
       if (1 != sscanf(ptr, "%*s %i",
@@ -445,6 +459,9 @@
   Modification history:
 
   $Log: linkMonShell.cc,v $
+  Revision 1.2  2007/09/18 20:03:49  dr_steveb
+  Added write command
+
   Revision 1.1  2007/09/11 20:26:53  dr_steveb
   Initial check-in
 

From tk at edam.speech.cs.cmu.edu  Thu Sep 20 16:40:26 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 20 Sep 2007 16:40:26 -0400
Subject: [TeamTalk 218]: [754] trunk/moast-bth/moast/bin/regression: 1)
 Added see_each_other and long_traversal tests.
Message-ID: <200709202040.l8KKeQcG008772@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070920/07d53fa3/attachment.html
-------------- next part --------------
Modified: trunk/moast-bth/moast/bin/regression/four_right_turns.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-19 20:48:52 UTC (rev 753)
+++ trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-20 20:40:25 UTC (rev 754)
@@ -1,31 +1,35 @@
 #!/usr/bin/expect -f
 
-set rt_time 12
+set rt_time 20
 set rt_tol 6
+set adm_prompt "> \rAdm> "
+set mob_prompt "> \rMob> "
 set timeout -1
 cd ..
-spawn ./primShell
+spawn ./amShell
 match_max 100000
-expect "PrimMob> \rPrimMob> "
-send "rotate 270 $rt_tol cw\r"
-expect "PrimMob> \rPrimMob> "
+expect $adm_prompt
+send "mob\r"
+expect $mob_prompt
+send "spin SHORT 270 $rt_tol\r"
+expect $mob_prompt
 sleep $rt_time
 send -- "\r"
-expect "PrimMob> \rPrimMob> "
-send -- "rotate 0 $rt_tol cw\r"
-expect "PrimMob> \rPrimMob> "
+expect $mob_prompt
+send -- "spin SHORT 0 $rt_tol\r"
+expect $mob_prompt
 sleep $rt_time
 send -- "\r"
-expect "PrimMob> \rPrimMob> "
-send -- "rotate 90 $rt_tol cw\r"
-expect "PrimMob> \rPrimMob> "
+expect $mob_prompt
+send -- "spin SHORT 90 $rt_tol\r"
+expect $mob_prompt
 sleep $rt_time
 send -- "\r"
-expect "PrimMob> \rPrimMob> "
-send -- "rotate 180 $rt_tol cw\r"
-expect "PrimMob> \rPrimMob> "
+expect $mob_prompt
+send -- "spin SHORT 180 $rt_tol\r"
+expect $mob_prompt
 sleep $rt_time
 send -- "\r"
-expect "PrimMob> \rPrimMob> "
+expect $mob_prompt
 send -- "quit\r"
 expect eof

Added: trunk/moast-bth/moast/bin/regression/long_traversal.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/long_traversal.exp	                        (rev 0)
+++ trunk/moast-bth/moast/bin/regression/long_traversal.exp	2007-09-20 20:40:25 UTC (rev 754)
@@ -0,0 +1,16 @@
+#!/usr/bin/expect -f
+
+set rt_time 12
+set rt_tol 6
+set prompt "> \r> "
+set timeout -1
+cd ..
+spawn ./vehShell
+match_max 100000
+expect $prompt
+send "dump 5 ppm\r"
+expect $prompt
+sleep 5
+send "mvl 40.0 6.5\r"
+expect $prompt
+interact


Property changes on: trunk/moast-bth/moast/bin/regression/long_traversal.exp
___________________________________________________________________
Name: svn:executable
   + *

Added: trunk/moast-bth/moast/bin/regression/see_each_other.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/see_each_other.exp	                        (rev 0)
+++ trunk/moast-bth/moast/bin/regression/see_each_other.exp	2007-09-20 20:40:25 UTC (rev 754)
@@ -0,0 +1,20 @@
+#!/usr/bin/expect -f
+
+set rt_time 12
+set rt_tol 6
+set prompt "PrimMob> \rPrimMob> "
+set timeout -1
+cd ..
+spawn ./primShell
+match_max 100000
+expect $prompt
+send "rotate 90 $rt_tol ccw\r"
+expect $prompt
+send "quit\r"
+expect eof
+spawn ./primShell -d2
+expect $prompt
+send "rotate 270 $rt_tol cw\r"
+expect $prompt
+send "quit\r"
+expect eof


Property changes on: trunk/moast-bth/moast/bin/regression/see_each_other.exp
___________________________________________________________________
Name: svn:executable
   + *

From tk at edam.speech.cs.cmu.edu  Fri Sep 21 00:16:42 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 00:16:42 -0400
Subject: [TeamTalk 219]: [755]
 trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp: reverted mistaken
 deletion
Message-ID: <200709210416.l8L4GgiT009624@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/667a9684/attachment-0001.html
-------------- next part --------------
Copied: trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp (from rev 750, trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp)
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	                        (rev 0)
+++ trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-21 04:16:42 UTC (rev 755)
@@ -0,0 +1,3022 @@
+//=============================================================================
+//
+//   Copyright (c) 2000-2004, Carnegie Mellon University.  
+//   All rights reserved.
+//
+//   Redistribution and use in source and binary forms, with or without
+//   modification, are permitted provided that the following conditions
+//   are met:
+//
+//   1. Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer. 
+//
+//   2. Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in
+//      the documentation and/or other materials provided with the
+//      distribution.
+//
+//   This work was supported in part by funding from the Defense Advanced 
+//   Research Projects Agency and the National Science Foundation of the 
+//   United States of America, and the CMU Sphinx Speech Consortium.
+//
+//   THIS SOFTWARE IS PROVIDED BY CARNEGIE MELLON UNIVERSITY ``AS IS'' AND 
+//   ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
+//   THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+//   PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CARNEGIE MELLON UNIVERSITY
+//   NOR ITS EMPLOYEES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+//   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+//   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+//   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+//   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+//   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+//   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+//=============================================================================
+
+//-----------------------------------------------------------------------------
+// 
+// ZAP2DIALOGTASK.CPP - This module contains the description of the dialog 
+//                          task, (i.e. all the user defined agencies, etc)
+//                          for the zap2 system
+// 
+// ----------------------------------------------------------------------------
+// 
+// BEFORE MAKING CHANGES TO THIS CODE, please read the appropriate 
+// documentation, available in the Documentation folder. 
+//
+// ANY SIGNIFICANT CHANGES made should be reflected back in the documentation
+// file(s)
+//
+// ANY CHANGES made (even small bug fixes, should be reflected in the history
+// below, in reverse chronological order
+// 
+// HISTORY --------------------------------------------------------------------
+//
+//   [2002-10-16] (dbohus): started working on this - created a skeleton DM
+//
+//-----------------------------------------------------------------------------
+
+#include "DialogTask.h"
+#include "BindingFilters.h"
+
+//-----------------------------------------------------------------------------
+//
+// DM GALAXY SERVER CONFIGURATION
+//
+//-----------------------------------------------------------------------------
+//#ifdef GALAXY
+//    DMSERVER_CONFIGURATION(NULL, 0)
+//#endif
+extern "C" {
+   char* lpszDMServerName;
+   int iDMServerPort;
+}
+
+//-----------------------------------------------------------------------------
+//
+// DIALOG CORE CONFIGURATION
+//
+//-----------------------------------------------------------------------------
+CORE_CONFIGURATION(
+
+	USE_ALL_GROUNDING_ACTIONS("")
+				   
+	// declare the NLG as the single output device
+	USE_OUTPUT_DEVICES(
+		DEFAULT_OUTPUT_DEVICE("nlg", "nlg.launch_query", 1)
+		OUTPUT_DEVICE("select_bot", "PenDecoder.select_bot", 1)
+	)
+
+    DEFINE_CONFIDENCE_SLOTNAME([h3_confidence])
+
+	// long timeout
+	DEFAULT_TIMEOUT_PERIOD(100000)
+
+	// declare the library agents to be used in the tree
+    // the terminate agent
+    USE_LIBRARY_AGENTS(
+	    LIBRARY_AGENT(CTerminate, Terminate, RegisterTerminateAgent, "")
+
+        // various help agents
+        LIBRARY_AGENT(CHelp, Help, RegisterHelpAgent, "")
+        LIBRARY_AGENT(CHelpGetTips, HelpGetTips, RegisterHelpGetTipsAgent, "")
+        LIBRARY_AGENT(CHelpEstablishContext, HelpEstablishContext, 
+            RegisterHelpEstablishContextAgent, "")
+        LIBRARY_AGENT(CHelpWhatCanISay, HelpWhatCanISay, 
+            RegisterHelpWhatCanISayAgent, "")
+		LIBRARY_AGENT(CHelpSystemCapabilities, HelpSystemCapabilities,
+			RegisterHelpSystemCapabilitiesAgent, "")
+
+        // repeat handling agent
+        LIBRARY_AGENT(CRepeat, Repeat, RegisterRepeatAgent, "")
+
+        // suspend handling agency
+        LIBRARY_AGENT(CSuspend, Suspend, RegisterSuspendAgency, "")
+
+        // timeout handling agency
+        LIBRARY_AGENT(CTimeoutTerminate, TimeoutTerminate, 
+            RegisterTimeoutTerminateAgency, "")
+
+        // start-over handling agency
+        LIBRARY_AGENT(CStartOver, StartOver, RegisterStartOverAgency, "")
+
+        // quit handling agency
+        LIBRARY_AGENT(CQuit, Quit, RegisterQuitAgency, "")
+    )
+
+    // declare the binding filters
+    USE_BINDING_FILTERS(
+        // the date-time binding filter
+        BINDING_FILTER("datetime", DateTime4_DateTimeBindingFilter)
+        // the end-time binding filter
+        BINDING_FILTER("endtime", DateTime4_EndTimeBindingFilter)
+        // the number binding filter (used for room sizes)
+        BINDING_FILTER("number", DateTime4_NumberBindingFilter)
+    )
+)
+
+//-----------------------------------------------------------------------------
+//
+// STRUCTURED CONCEPT TYPES SPECIFICATION
+//
+//-----------------------------------------------------------------------------
+
+//-----------------------------------------------------------------------------
+// D: Definition of the CDateTime structured concept class; this class follows
+//    the return specification of the DateTime4 Hub Galaxy agent
+//-----------------------------------------------------------------------------
+
+// Date concept
+/*
+DEFINE_FRAME_CONCEPT_TYPE( CDateConcept, 
+    INT_ITEM( month )
+    INT_ITEM( day )
+    INT_ITEM( year )
+    BOOL_ITEM( valid_date )
+    BOOL_ITEM( past_date )
+    INT_ITEM( weekday )
+    BOOL_ITEM( need_date )
+    BOOL_ITEM( date_exists )
+    BOOL_ITEM( ambiguous )
+    STRING_ITEM( date_choice )
+)
+
+// Time concept
+DEFINE_FRAME_CONCEPT_TYPE( CTimeConcept, 
+    INT_ITEM( start_time )
+    INT_ITEM( end_time )
+    INT_ITEM( time_duration )
+    STRING_ITEM( timeperiod_spec )
+    BOOL_ITEM( valid_time )
+    INT_ITEM( day_skip )
+    BOOL_ITEM( past_time )
+)
+
+// DateTime concept
+DEFINE_FRAME_CONCEPT_TYPE( CDateTimeConcept,
+	CUSTOM_ITEM(date, CDateConcept)
+	CUSTOM_ITEM(time, CTimeConcept)
+)
+
+// Room query concept
+DEFINE_FRAME_CONCEPT_TYPE( CRoomQuery,
+    CUSTOM_ITEM( date_time, CDateTimeConcept )
+    STRING_ITEM( room_location )
+    INT_ITEM( room_number )
+    INT_ITEM( room_size )
+    STRING_ITEM( room_size_spec )
+    BOOL_ITEM( room_projector )
+    BOOL_ITEM( room_network )
+    BOOL_ITEM( room_whiteboard )
+    BOOL_ITEM( room_computer )
+)
+
+// Room query refinement concept
+DEFINE_FRAME_CONCEPT_TYPE( CRoomQueryRefinement,
+    STRING_ITEM( location )
+    INT_ITEM( size )
+    STRING_ITEM( size_spec )
+    STRING_ITEM( equip )
+)
+
+// Room result concept
+DEFINE_FRAME_CONCEPT_TYPE( CRoomResult, 
+    CUSTOM_ITEM( date_time, CDateTimeConcept )
+    STRING_ITEM( room_location )
+    INT_ITEM( room_number )
+    INT_ITEM( room_size )
+    STRING_ITEM( room_size_spec )
+    BOOL_ITEM( room_projector )
+    BOOL_ITEM( room_network )
+    BOOL_ITEM( room_whiteboard )
+    BOOL_ITEM( room_computer )
+)
+*/
+
+// Array of results from the backend
+//DEFINE_ARRAY_CONCEPT_TYPE(CRoomResult, none, CQueryResults)
+
+//-----------------------------------------------------------------------------
+//
+// AGENT SPECIFICATIONS
+//
+//-----------------------------------------------------------------------------
+ 
+//-----------------------------------------------------------------------------
+// /zap2
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(Czap2,
+	IS_MAIN_TOPIC()
+    DEFINE_CONCEPTS(
+        STRING_USER_CONCEPT(current_addressee, "")
+		STRING_SYSTEM_CONCEPT(robot_name)
+		STRING_SYSTEM_CONCEPT(everyone)
+	)
+	DEFINE_SUBAGENTS(
+    //SUBAGENT(InformAddressChange, CInformAddresseeChange, "")
+		//SUBAGENT(InformReport, CInformReport, "")
+		SUBAGENT(GetCurrentAddressee, CGetCurrentAddressee, "")
+		SUBAGENT(PerformTask, CTask, "")
+	)
+	ON_INITIALIZATION(
+		C("robot_name") = lpszDMServerName;
+		C("everyone") = "EVERYONE";
+		C("current_addressee") = "EVERYONE";
+	)
+)	
+
+//-----------------------------------------------------------------------------
+// /zap2/Welcome
+//-----------------------------------------------------------------------------
+//DEFINE_INFORM_AGENT( CWelcome,
+//    PROMPT(":non-interruptable inform welcome"))
+
+//-----------------------------------------------------------------------------
+// /zap2/GetCurrentAddressee
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY( CGetCurrentAddressee, 
+	// This agency consists of an expect agent which binds the value of the slot 
+	// [RobotName] to the concept current_addressee (so that we know who is being
+	// addressed currently) and an execute agent that reopens the current_addressee
+	// concept so that future occurrences of the [RobotName] slot can be bound too.
+			  
+	// We need to trigger this agency if the concept current_addressee just got 
+	// updated (as indicated by 0 TURNS_SINCE_LAST_UPDATED of concept 
+	// current_addressee being. However ReOpen() sets TURNS_SINCE_LAST_UPDATED to 0.
+	// To prevent that from triggering the agency, we also need to know that 
+	// current_addressee was UPDATED.
+
+  TRIGGERED_BY(UPDATED_IN_LAST_TURN(current_addressee))
+	PRECONDITION(false)
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectAddressee, CExpectAddressee, "")
+		SUBAGENT(InformAddresseeChange, CInformAddresseeChange, "")
+		SUBAGENT(ExecuteReopenAddressee, CExecuteReopenAddressee, "")
+	)
+	ON_COMPLETION(RESET)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/GetCurrentAddressee/ExpectAddressee
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT( CExpectAddressee, 
+	EXPECT_CONCEPT(current_addressee)
+    GRAMMAR_MAPPING("@(/zap2)[RobotName]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/GetCurrentAddressee/ExpectAddressee
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformAddresseeChange, 
+	PROMPT(":select_bot inform select_bot <current_addressee")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/GetCurrentAddressee/ExecuteReopenAddressee
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT( CExecuteReopenAddressee, 
+	EXECUTE(C("current_addressee").ReOpen())
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY( CTask,
+	IS_MAIN_TOPIC()
+    DEFINE_CONCEPTS(
+		BOOL_USER_CONCEPT(report_command_issued, "")
+		BOOL_USER_CONCEPT(report_location_command_issued, "")
+		STRING_SYSTEM_CONCEPT(location_report)
+    STRING_SYSTEM_CONCEPT(move_report)
+		BOOL_USER_CONCEPT(move_cardinal_command_issued, "")
+		BOOL_USER_CONCEPT(move_relative_command_issued, "")
+		BOOL_USER_CONCEPT(move_to_goal_command_issued, "")
+		BOOL_USER_CONCEPT(search_command_issued, "")
+    BOOL_USER_CONCEPT(explore_command_issued, "")
+		BOOL_USER_CONCEPT(halt_command_issued, "")
+		BOOL_USER_CONCEPT(follow_command_issued, "")
+		BOOL_USER_CONCEPT(pause_command_issued, "")
+		BOOL_USER_CONCEPT(continue_command_issued, "")
+		BOOL_USER_CONCEPT(turn_command_issued, "")
+    BOOL_USER_CONCEPT(set_pose_command_issued, "")
+    BOOL_USER_CONCEPT(cancel_task_command_issued, "")
+		BOOL_USER_CONCEPT(cancel, "")
+	)
+	DEFINE_SUBAGENTS(
+		SUBAGENT(RequestWaitForCommands, CRequestWaitForCommands, "")
+		SUBAGENT(Report, CReport, "")
+	  SUBAGENT(QueryLocation, CQueryLocation, "")
+		SUBAGENT(ReportLocation, CReportLocation, "")
+		SUBAGENT(MoveCardinal, CMoveCardinal, "")
+		SUBAGENT(MoveToGoal, CMoveToGoal, "")
+		SUBAGENT(Search, CSearch, "")
+    SUBAGENT(Explore, CExplore, "")
+		SUBAGENT(CommandMoveRelative, CCommandMoveRelative, "")
+    SUBAGENT(ReportMove, CReportMove, "")
+		SUBAGENT(Halt, CHalt, "")
+		SUBAGENT(Follow, CFollow, "")
+		SUBAGENT(Pause, CPause, "")
+		SUBAGENT(Continue, CContinue, "")
+		SUBAGENT(Turn, CTurn, "")
+    SUBAGENT(SetPose, CSetPose, "")
+    SUBAGENT(CancelTask, CCancelTask, "")
+		SUBAGENT(ExpectCancel, CExpectCancel, "")
+		SUBAGENT(AllDoneDummy, CAllDoneDummy, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(AllDoneDummy))
+	ON_COMPLETION(RESET)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/RequestWaitForCommands
+//-----------------------------------------------------------------------------
+DEFINE_REQUEST_AGENT( CRequestWaitForCommands, 
+	// PROMPT("request idle <robot_name")
+	TIMEOUT_PERIOD(1000000)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Report
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CReport,
+ 	PRECONDITION(IS_TRUE(report_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectReportCommand, CExpectReportCommand, "")
+		SUBAGENT(InformReport, CInformReport, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Report/ExpectReportCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectReportCommand,
+	EXPECT_CONCEPT(report_command_issued)
+	GRAMMAR_MAPPING("[HumanReportCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Report/InformReport
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformReport, 
+	PROMPT("inform my_report <robot_name")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/QueryLocation
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CQueryLocation,
+	DEFINE_CONCEPTS(
+        STRING_SYSTEM_CONCEPT(location)
+	)
+	PRECONDITION(IS_TRUE(report_location_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectQueryLocationCommand, CExpectQueryLocationCommand, "")
+		SUBAGENT(ExecuteGetLocation, CExecuteGetLocation, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/QueryLocation/ExpectQueryLocationCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectQueryLocationCommand,
+	EXPECT_CONCEPT(report_location_command_issued)
+	//EXPECT_WHEN(
+ 	//	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanLocationQuery]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/QueryLocation/ExecuteGetLocation
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteGetLocation,
+	CALL("gal_be.launch_query query=location_query <robot_name")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/ReportLocation
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CReportLocation,
+	PRECONDITION(UPDATED(location_report) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectReportLocationCommand, CExpectReportLocationCommand, "")
+		SUBAGENT(InformLocation, CInformLocation, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportLocation/ExpectReportLocationCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectReportLocationCommand,
+	EXPECT_CONCEPT(location_report)
+	EXPECT_WHEN(
+ 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[RobotMessage.Location]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportLocation/InformLocation
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformLocation,
+	PROMPT("inform report_location <robot_name location<location_report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveCardinal
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CMoveCardinal,
+	DEFINE_CONCEPTS(
+		STRING_USER_CONCEPT(distance, "expl")
+    STRING_USER_CONCEPT(direction, "expl")
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(move_cardinal_command_issued) 
+     && (UPDATED(distance) || UPDATED(direction)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectMoveCardinalCommand, CExpectMoveCardinalCommand, "")
+		SUBAGENT(RequestDistance, CRequestDistance, "")
+		SUBAGENT(RequestCardinalDirection, CRequestCardinalDirection, "")
+		SUBAGENT(ExecuteMove, CExecuteMove, "")
+		SUBAGENT(InformReaction2Move, CInformReaction2Move, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(InformReaction2Move) || UPDATED_IN_LAST_TURN(cancel))
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/CommandMoveRelative
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CCommandMoveRelative,
+	DEFINE_CONCEPTS(
+    STRING_USER_CONCEPT(direction, "expl")
+		STRING_USER_CONCEPT(distance, "expl")
+		STRING_USER_CONCEPT(units, "")
+    STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(move_relative_command_issued) 
+    && (UPDATED(distance) || UPDATED(direction)) &&
+	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectMoveRelativeCommand, CExpectMoveRelativeCommand, "")
+		SUBAGENT(RequestMoveDirection, CRequestMoveDirection, "")
+		SUBAGENT(RequestRelativeDistance, CRequestRelativeDistance, "")
+		SUBAGENT(ExecuteRelativeMove, CExecuteRelativeMove, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(ExecuteRelativeMove) || UPDATED_IN_LAST_TURN(cancel))
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveCardinal/ExpectMoveCardinalCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectMoveCardinalCommand,
+	EXPECT_CONCEPT(move_cardinal_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[MoveVectorCardinal]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveRelative/ExpectMoveRelativeCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectMoveRelativeCommand,
+	EXPECT_CONCEPT(move_relative_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[MoveVectorRelative]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/RequestCardinalDirection
+//-----------------------------------------------------------------------------
+DEFINE_REQUEST_AGENT(CRequestCardinalDirection,
+	REQUEST_CONCEPT(direction)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	PROMPT("request direction <distance")
+	GRAMMAR_MAPPING("[MoveVectorCardinal.CardinalDirection],![CardinalDirection]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/RequestMoveDirection
+//-----------------------------------------------------------------------------
+DEFINE_REQUEST_AGENT(CRequestMoveDirection,
+	REQUEST_CONCEPT(direction)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	PROMPT("request direction <distance")
+	GRAMMAR_MAPPING("[MoveVectorRelative.MoveDirection],![MoveDirection]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/RequestDistance	
+//-----------------------------------------------------------------------------
+DEFINE_REQUEST_AGENT(CRequestDistance,
+	REQUEST_CONCEPT(distance)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	PROMPT("request distance <direction")
+	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorCardinal.AbsoluteDistance.Number-20]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/RequestRelativeDistance	
+//-----------------------------------------------------------------------------
+DEFINE_REQUEST_AGENT(CRequestRelativeDistance,
+	REQUEST_CONCEPT(distance)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	PROMPT("request distance <direction")
+	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorRelative.AbsoluteDistance.Number-20]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/ExecuteMove
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteMove,
+	PRECONDITION(AVAILABLE(direction) && AVAILABLE(distance))
+    CALL("gal_be.launch_query query=move_cardinal_command <robot_name <distance <direction >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/ExecuteRelativeMove
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteRelativeMove,
+	PRECONDITION(AVAILABLE(direction) && AVAILABLE(distance))
+    CALL("gal_be.launch_query query=move_relative_command <robot_name <distance <direction >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CReportMove,
+	PRECONDITION(UPDATED(move_report) &&
+	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectReportMove, CExpectReportMove, "")
+		SUBAGENT(InformMove, CInformMove, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove/ExpectReportMove
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectReportMove,
+	EXPECT_CONCEPT(move_report)
+	EXPECT_WHEN(
+ 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[RobotMessage.Move]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove/InformMove
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformMove,
+	PROMPT("inform report_move_status <robot_name <move_report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Move/InformReaction2Move
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformReaction2Move,
+	PROMPT("inform report_move_relative <robot_name <direction <distance <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CMoveToGoal,
+	DEFINE_CONCEPTS(
+        INT_USER_CONCEPT(relDist, "")
+		STRING_USER_CONCEPT(dir, "")
+		STRING_USER_CONCEPT(ordinal, "expl")
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(move_to_goal_command_issued) && 
+		(UPDATED(dir) || UPDATED(ordinal) || UPDATED(relDist)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectMoveToGoalCommand, CExpectMoveToGoalCommand, "")
+		SUBAGENT(ExpectRelDist, CExpectRelDist, "")
+		SUBAGENT(ExpectDir, CExpectDir, "")
+		SUBAGENT(ExpectOrdinal, CExpectOrdinal, "")
+		SUBAGENT(ExecuteMoveToGoal, CExecuteMoveToGoal, "")
+		SUBAGENT(InformMoveToGoalReport, CInformMoveToGoalReport, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal/ExpectMoveToGoalCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectMoveToGoalCommand,
+	EXPECT_CONCEPT(move_to_goal_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[MoveToGoal]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal/ExpectRelDist
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectRelDist,
+	EXPECT_CONCEPT(relDist)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING(
+		"[MoveToGoal.RelativeDistance.ZapAll]>1,"\
+		"[MoveToGoal.RelativeDistance.ZapHalf]>2,"\
+		"[MoveToGoal.RelativeDistance.ZapThird]>3,"\
+		"[MoveToGoal.RelativeDistance.ZapOneQuarter]>4,"\
+		"[MoveToGoal.RelativeDistance.ZapTwoThird]>5,"\
+		"[MoveToGoal.RelativeDistance.ZapThreeQuarter]>6"
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal/ExpectDir
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectDir,
+	EXPECT_CONCEPT(dir)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[MoveToGoal.Side]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal/ExpectOrdinal
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectOrdinal,
+	EXPECT_CONCEPT(ordinal)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[MoveToGoal.Goal],[MoveToGoal.Home]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal/ExecuteMoveToGoal
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteMoveToGoal,
+    PRECONDITION(AVAILABLE(ordinal))
+    CALL("gal_be.launch_query query=move_to_goal_command <robot_name <relDist <dir <ordinal >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/MoveToGoal/InformMoveToGoalReport
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformMoveToGoalReport,
+	PROMPT("inform report_move_to_goal <robot_name <ordinal <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CSearch,
+	DEFINE_CONCEPTS(
+    FLOAT_USER_CONCEPT(x1, "")
+    FLOAT_USER_CONCEPT(x2, "")
+		FLOAT_USER_CONCEPT(x3, "")
+		FLOAT_USER_CONCEPT(x4, "")
+		FLOAT_USER_CONCEPT(x5, "")
+		FLOAT_USER_CONCEPT(x6, "")
+		FLOAT_USER_CONCEPT(x7, "")
+		FLOAT_USER_CONCEPT(x8, "")
+		FLOAT_USER_CONCEPT(x9, "")
+		FLOAT_USER_CONCEPT(x10, "")
+    FLOAT_USER_CONCEPT(y1, "")
+    FLOAT_USER_CONCEPT(y2, "")
+		FLOAT_USER_CONCEPT(y3, "")
+		FLOAT_USER_CONCEPT(y4, "")
+		FLOAT_USER_CONCEPT(y5, "")
+		FLOAT_USER_CONCEPT(y6, "")
+		FLOAT_USER_CONCEPT(y7, "")
+		FLOAT_USER_CONCEPT(y8, "")
+		FLOAT_USER_CONCEPT(y9, "")
+		FLOAT_USER_CONCEPT(y10, "")
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(search_command_issued) && 
+		(UPDATED(x1) && UPDATED(y1)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectSearchCommand, CExpectSearchCommand, "")
+		SUBAGENT(ExpectX1, CExpectX1, "")
+		SUBAGENT(ExpectX2, CExpectX2, "")
+		SUBAGENT(ExpectX3, CExpectX3, "")
+		SUBAGENT(ExpectX4, CExpectX4, "")
+		SUBAGENT(ExpectX5, CExpectX5, "")
+		SUBAGENT(ExpectX6, CExpectX6, "")
+		SUBAGENT(ExpectX7, CExpectX7, "")
+		SUBAGENT(ExpectX8, CExpectX8, "")
+		SUBAGENT(ExpectX9, CExpectX9, "")
+		SUBAGENT(ExpectX10, CExpectX10, "")
+		SUBAGENT(ExpectY1, CExpectY1, "")
+		SUBAGENT(ExpectY2, CExpectY2, "")
+		SUBAGENT(ExpectY3, CExpectY3, "")
+		SUBAGENT(ExpectY4, CExpectY4, "")
+		SUBAGENT(ExpectY5, CExpectY5, "")
+		SUBAGENT(ExpectY6, CExpectY6, "")
+		SUBAGENT(ExpectY7, CExpectY7, "")
+		SUBAGENT(ExpectY8, CExpectY8, "")
+		SUBAGENT(ExpectY9, CExpectY9, "")
+		SUBAGENT(ExpectY10, CExpectY10, "")
+		SUBAGENT(ExecuteSearch, CExecuteSearch, "")
+		SUBAGENT(InformSearchReport, CInformSearchReport, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectSearchCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSearchCommand,
+	EXPECT_CONCEPT(search_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX1,
+	EXPECT_CONCEPT(x1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX2,
+	EXPECT_CONCEPT(x2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX3,
+	EXPECT_CONCEPT(x3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX4,
+	EXPECT_CONCEPT(x4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX5,
+	EXPECT_CONCEPT(x5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX6,
+	EXPECT_CONCEPT(x6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX7,
+	EXPECT_CONCEPT(x7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX8,
+	EXPECT_CONCEPT(x8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX9,
+	EXPECT_CONCEPT(x9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectX10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectX10,
+	EXPECT_CONCEPT(x10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.x10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY1,
+	EXPECT_CONCEPT(y1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY2,
+	EXPECT_CONCEPT(y2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY3,
+	EXPECT_CONCEPT(y3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY4,
+	EXPECT_CONCEPT(y4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY5,
+	EXPECT_CONCEPT(y5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY6,
+	EXPECT_CONCEPT(y6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY7,
+	EXPECT_CONCEPT(y7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY8,
+	EXPECT_CONCEPT(y8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY9,
+	EXPECT_CONCEPT(y9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExpectY10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectY10,
+	EXPECT_CONCEPT(y10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSearchCommand.y10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/ExecuteSearch
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteSearch,
+    CALL("gal_be.launch_query query=search_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Search/InformSearchReport
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformSearchReport,
+	PROMPT("inform report_search <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CExplore,
+	DEFINE_CONCEPTS(
+        FLOAT_USER_CONCEPT(x1, "")
+        FLOAT_USER_CONCEPT(x2, "")
+		FLOAT_USER_CONCEPT(x3, "")
+		FLOAT_USER_CONCEPT(x4, "")
+		FLOAT_USER_CONCEPT(x5, "")
+		FLOAT_USER_CONCEPT(x6, "")
+		FLOAT_USER_CONCEPT(x7, "")
+		FLOAT_USER_CONCEPT(x8, "")
+		FLOAT_USER_CONCEPT(x9, "")
+		FLOAT_USER_CONCEPT(x10, "")
+        FLOAT_USER_CONCEPT(y1, "")
+        FLOAT_USER_CONCEPT(y2, "")
+		FLOAT_USER_CONCEPT(y3, "")
+		FLOAT_USER_CONCEPT(y4, "")
+		FLOAT_USER_CONCEPT(y5, "")
+		FLOAT_USER_CONCEPT(y6, "")
+		FLOAT_USER_CONCEPT(y7, "")
+		FLOAT_USER_CONCEPT(y8, "")
+		FLOAT_USER_CONCEPT(y9, "")
+		FLOAT_USER_CONCEPT(y10, "")
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(explore_command_issued) && 
+		(UPDATED(x1) && UPDATED(y1)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectExploreCommand, CExpectExploreCommand, "")
+		SUBAGENT(ExpectExploreX1, CExpectExploreX1, "")
+		SUBAGENT(ExpectExploreX2, CExpectExploreX2, "")
+		SUBAGENT(ExpectExploreX3, CExpectExploreX3, "")
+		SUBAGENT(ExpectExploreX4, CExpectExploreX4, "")
+		SUBAGENT(ExpectExploreX5, CExpectExploreX5, "")
+		SUBAGENT(ExpectExploreX6, CExpectExploreX6, "")
+		SUBAGENT(ExpectExploreX7, CExpectExploreX7, "")
+		SUBAGENT(ExpectExploreX8, CExpectExploreX8, "")
+		SUBAGENT(ExpectExploreX9, CExpectExploreX9, "")
+		SUBAGENT(ExpectExploreX10, CExpectX10, "")
+		SUBAGENT(ExpectExploreY1, CExpectExploreY1, "")
+		SUBAGENT(ExpectExploreY2, CExpectExploreY2, "")
+		SUBAGENT(ExpectExploreY3, CExpectExploreY3, "")
+		SUBAGENT(ExpectExploreY4, CExpectExploreY4, "")
+		SUBAGENT(ExpectExploreY5, CExpectExploreY5, "")
+		SUBAGENT(ExpectExploreY6, CExpectExploreY6, "")
+		SUBAGENT(ExpectExploreY7, CExpectExploreY7, "")
+		SUBAGENT(ExpectExploreY8, CExpectExploreY8, "")
+		SUBAGENT(ExpectExploreY9, CExpectExploreY9, "")
+		SUBAGENT(ExpectExploreY10, CExpectExploreY10, "")
+		SUBAGENT(ExecuteExplore, CExecuteExplore, "")
+		SUBAGENT(InformExploreReport, CInformExploreReport, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreCommand,
+	EXPECT_CONCEPT(explore_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX1,
+	EXPECT_CONCEPT(x1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX2,
+	EXPECT_CONCEPT(x2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX3,
+	EXPECT_CONCEPT(x3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX4,
+	EXPECT_CONCEPT(x4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX5,
+	EXPECT_CONCEPT(x5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX6,
+	EXPECT_CONCEPT(x6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX7,
+	EXPECT_CONCEPT(x7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX8,
+	EXPECT_CONCEPT(x8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX9,
+	EXPECT_CONCEPT(x9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX10,
+	EXPECT_CONCEPT(x10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY1,
+	EXPECT_CONCEPT(y1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY2,
+	EXPECT_CONCEPT(y2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY3,
+	EXPECT_CONCEPT(y3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY4,
+	EXPECT_CONCEPT(y4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY5,
+	EXPECT_CONCEPT(y5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY6,
+	EXPECT_CONCEPT(y6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY7,
+	EXPECT_CONCEPT(y7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY8,
+	EXPECT_CONCEPT(y8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY9,
+	EXPECT_CONCEPT(y9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY10,
+	EXPECT_CONCEPT(y10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExecuteExplore
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteExplore,
+    CALL("gal_be.launch_query query=explore_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/InformExploreReport
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformExploreReport,
+	PROMPT("inform report_explore <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Halt
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CHalt,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(halt_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectHaltCommand, CExpectHaltCommand, "")
+		SUBAGENT(ExecuteHalt, CExecuteHalt, "")
+		SUBAGENT(InformHalt, CInformHalt, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Halt/ExpectHaltCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectHaltCommand,
+	EXPECT_CONCEPT(halt_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanHaltCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Halt/ExecuteHalt
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteHalt,
+    CALL("gal_be.launch_query query=halt_command <robot_name >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Halt/InformHalt
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformHalt,
+	PROMPT("inform report_halt <robot_name <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CFollow,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+		STRING_USER_CONCEPT(followee, "")
+	)
+	PRECONDITION(IS_TRUE(follow_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectFollowCommand, CExpectFollowCommand, "")
+		SUBAGENT(ExpectFollowee, CExpectFollowee, "")
+		SUBAGENT(ExecuteFollow, CExecuteFollow, "")
+		SUBAGENT(InformFollow, CInformFollow, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow/ExpectFollowCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectFollowCommand,
+	EXPECT_CONCEPT(follow_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanFollowCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow/ExpectFollowee
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectFollowee,
+	EXPECT_CONCEPT(followee)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[OBJ-Robot.RobotName]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow/ExecuteFollow
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteFollow,
+    CALL("gal_be.launch_query query=follow_command <robot_name <followee >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow/InformFollow
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformFollow,
+	PROMPT("inform report_follow <robot_name <followee <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Pause
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CPause,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	//PRECONDITION(IS_TRUE(pause_command_issued))
+  PRECONDITION(IS_TRUE(pause_command_issued) 
+    && (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectPauseCommand, CExpectPauseCommand, "")
+		SUBAGENT(ExecutePause, CExecutePause, "")
+		SUBAGENT(InformPause, CInformPause, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow/ExpectPauseCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectPauseCommand,
+	EXPECT_CONCEPT(pause_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanPauseCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Follow/ExecutePause
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecutePause,
+    CALL("gal_be.launch_query query=pause_command <robot_name >report")
+)
+

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Fri Sep 21 00:35:27 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 00:35:27 -0400
Subject: [TeamTalk 220]: [756] trunk/TeamTalk/Agents/TeamTalkDM: Migrated
 zap2DialogTask. cpp revisions into TeamTalkDialogTask.cpp.
Message-ID: <200709210435.l8L4ZR7N009650@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/48b19731/attachment-0001.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-21 04:16:42 UTC (rev 755)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-21 04:35:26 UTC (rev 756)
@@ -211,7 +211,7 @@
 				>
 			</File>
 			<File
-				RelativePath="zap2DialogTask.cpp"
+				RelativePath=".\TeamTalkDialogTask.cpp"
 				>
 			</File>
 		</Filter>
@@ -238,10 +238,6 @@
 				RelativePath="yesno.pol"
 				>
 			</File>
-			<File
-				RelativePath="zap2DM.cfg"
-				>
-			</File>
 		</Filter>
 		<Filter
 			Name="Documentation"

Deleted: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vsscc
===================================================================
(Binary files differ)

Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp	2007-09-21 04:16:42 UTC (rev 755)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp	2007-09-21 04:35:26 UTC (rev 756)
@@ -233,13 +233,15 @@
 		STRING_SYSTEM_CONCEPT(everyone)
 	)
 	DEFINE_SUBAGENTS(
+    //SUBAGENT(InformAddressChange, CInformAddresseeChange, "")
+		//SUBAGENT(InformReport, CInformReport, "")
 		SUBAGENT(GetCurrentAddressee, CGetCurrentAddressee, "")
 		SUBAGENT(PerformTask, CTask, "")
 	)
 	ON_INITIALIZATION(
 		C("robot_name") = lpszDMServerName;
 		C("everyone") = "EVERYONE";
-		C("current_addressee") = lpszDMServerName;
+		C("current_addressee") = "EVERYONE";
 	)
 )	
 
@@ -264,7 +266,7 @@
 	// To prevent that from triggering the agency, we also need to know that 
 	// current_addressee was UPDATED.
 
-	TRIGGERED_BY(UPDATED_IN_LAST_TURN(current_addressee))
+  TRIGGERED_BY(UPDATED_IN_LAST_TURN(current_addressee))
 	PRECONDITION(false)
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectAddressee, CExpectAddressee, "")
@@ -305,31 +307,39 @@
 		BOOL_USER_CONCEPT(report_command_issued, "")
 		BOOL_USER_CONCEPT(report_location_command_issued, "")
 		STRING_SYSTEM_CONCEPT(location_report)
+    STRING_SYSTEM_CONCEPT(move_report)
 		BOOL_USER_CONCEPT(move_cardinal_command_issued, "")
 		BOOL_USER_CONCEPT(move_relative_command_issued, "")
 		BOOL_USER_CONCEPT(move_to_goal_command_issued, "")
 		BOOL_USER_CONCEPT(search_command_issued, "")
+    BOOL_USER_CONCEPT(explore_command_issued, "")
 		BOOL_USER_CONCEPT(halt_command_issued, "")
 		BOOL_USER_CONCEPT(follow_command_issued, "")
 		BOOL_USER_CONCEPT(pause_command_issued, "")
 		BOOL_USER_CONCEPT(continue_command_issued, "")
 		BOOL_USER_CONCEPT(turn_command_issued, "")
+    BOOL_USER_CONCEPT(set_pose_command_issued, "")
+    BOOL_USER_CONCEPT(cancel_task_command_issued, "")
 		BOOL_USER_CONCEPT(cancel, "")
 	)
 	DEFINE_SUBAGENTS(
 		SUBAGENT(RequestWaitForCommands, CRequestWaitForCommands, "")
 		SUBAGENT(Report, CReport, "")
-	    SUBAGENT(QueryLocation, CQueryLocation, "")
+	  SUBAGENT(QueryLocation, CQueryLocation, "")
 		SUBAGENT(ReportLocation, CReportLocation, "")
 		SUBAGENT(MoveCardinal, CMoveCardinal, "")
 		SUBAGENT(MoveToGoal, CMoveToGoal, "")
 		SUBAGENT(Search, CSearch, "")
-		SUBAGENT(MoveRelative, CMoveRelative, "")
+    SUBAGENT(Explore, CExplore, "")
+		SUBAGENT(CommandMoveRelative, CCommandMoveRelative, "")
+    SUBAGENT(ReportMove, CReportMove, "")
 		SUBAGENT(Halt, CHalt, "")
 		SUBAGENT(Follow, CFollow, "")
 		SUBAGENT(Pause, CPause, "")
 		SUBAGENT(Continue, CContinue, "")
 		SUBAGENT(Turn, CTurn, "")
+    SUBAGENT(SetPose, CSetPose, "")
+    SUBAGENT(CancelTask, CCancelTask, "")
 		SUBAGENT(ExpectCancel, CExpectCancel, "")
 		SUBAGENT(AllDoneDummy, CAllDoneDummy, "")
 	)
@@ -380,7 +390,9 @@
 	DEFINE_CONCEPTS(
         STRING_SYSTEM_CONCEPT(location)
 	)
-	PRECONDITION(IS_TRUE(report_location_command_issued))
+	PRECONDITION(IS_TRUE(report_location_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectQueryLocationCommand, CExpectQueryLocationCommand, "")
 		SUBAGENT(ExecuteGetLocation, CExecuteGetLocation, "")
@@ -392,9 +404,9 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectQueryLocationCommand,
 	EXPECT_CONCEPT(report_location_command_issued)
-	EXPECT_WHEN(
- 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN(
+ 	//	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanLocationQuery]>true")
 )
 
@@ -409,7 +421,9 @@
 // /zap2/ReportLocation
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CReportLocation,
-	PRECONDITION(UPDATED(location_report))
+	PRECONDITION(UPDATED(location_report) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectReportLocationCommand, CExpectReportLocationCommand, "")
 		SUBAGENT(InformLocation, CInformLocation, "")
@@ -440,10 +454,13 @@
 DEFINE_AGENCY(CMoveCardinal,
 	DEFINE_CONCEPTS(
 		STRING_USER_CONCEPT(distance, "expl")
-        STRING_USER_CONCEPT(direction, "expl")
+    STRING_USER_CONCEPT(direction, "expl")
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(move_cardinal_command_issued) && (UPDATED(distance) || UPDATED(direction)))
+	PRECONDITION(IS_TRUE(move_cardinal_command_issued) 
+     && (UPDATED(distance) || UPDATED(direction)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectMoveCardinalCommand, CExpectMoveCardinalCommand, "")
 		SUBAGENT(RequestDistance, CRequestDistance, "")
@@ -455,24 +472,26 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveRelative
+// /zap2/Task/CommandMoveRelative
 //-----------------------------------------------------------------------------
-DEFINE_AGENCY(CMoveRelative,
+DEFINE_AGENCY(CCommandMoveRelative,
 	DEFINE_CONCEPTS(
-        STRING_USER_CONCEPT(direction, "expl")
+    STRING_USER_CONCEPT(direction, "expl")
 		STRING_USER_CONCEPT(distance, "expl")
 		STRING_USER_CONCEPT(units, "")
-		STRING_SYSTEM_CONCEPT(report)
+    STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(move_relative_command_issued) && (UPDATED(distance) || UPDATED(direction)))
+	PRECONDITION(IS_TRUE(move_relative_command_issued) 
+    && (UPDATED(distance) || UPDATED(direction)) &&
+	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectMoveRelativeCommand, CExpectMoveRelativeCommand, "")
-		SUBAGENT(RequestRelativeDirection, CRequestRelativeDirection, "")
+		SUBAGENT(RequestMoveDirection, CRequestMoveDirection, "")
 		SUBAGENT(RequestRelativeDistance, CRequestRelativeDistance, "")
 		SUBAGENT(ExecuteRelativeMove, CExecuteRelativeMove, "")
-		SUBAGENT(InformReaction2Move, CInformReaction2Move, "")
 	)
-	SUCCEEDS_WHEN(COMPLETED(InformReaction2Move) || UPDATED_IN_LAST_TURN(cancel))
+	SUCCEEDS_WHEN(COMPLETED(ExecuteRelativeMove) || UPDATED_IN_LAST_TURN(cancel))
 )
 
 //-----------------------------------------------------------------------------
@@ -480,8 +499,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveCardinalCommand,
 	EXPECT_CONCEPT(move_cardinal_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveVectorCardinal]>true")
 )
 
@@ -490,8 +509,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveRelativeCommand,
 	EXPECT_CONCEPT(move_relative_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveVectorRelative]>true")
 )
 
@@ -500,21 +519,21 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestCardinalDirection,
 	REQUEST_CONCEPT(direction)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request direction <distance")
 	GRAMMAR_MAPPING("[MoveVectorCardinal.CardinalDirection],![CardinalDirection]")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestRelativeDirection
+// /zap2/Task/Move/RequestMoveDirection
 //-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT(CRequestRelativeDirection,
+DEFINE_REQUEST_AGENT(CRequestMoveDirection,
 	REQUEST_CONCEPT(direction)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request direction <distance")
-	GRAMMAR_MAPPING("[MoveVectorRelative.RelativeDirection],![RelativeDirection]")
+	GRAMMAR_MAPPING("[MoveVectorRelative.MoveDirection],![MoveDirection]")
 )
 
 //-----------------------------------------------------------------------------
@@ -522,8 +541,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestDistance,
 	REQUEST_CONCEPT(distance)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request distance <direction")
 	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorCardinal.AbsoluteDistance.Number-20]")
 )
@@ -533,8 +552,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestRelativeDistance,
 	REQUEST_CONCEPT(distance)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request distance <direction")
 	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorRelative.AbsoluteDistance.Number-20]")
 )
@@ -556,6 +575,37 @@
 )
 
 //-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CReportMove,
+	PRECONDITION(UPDATED(move_report) &&
+	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectReportMove, CExpectReportMove, "")
+		SUBAGENT(InformMove, CInformMove, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove/ExpectReportMove
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectReportMove,
+	EXPECT_CONCEPT(move_report)
+	EXPECT_WHEN(
+ 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[RobotMessage.Move]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove/InformMove
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformMove,
+	PROMPT("inform report_move_status <robot_name <move_report")
+)
+
+//-----------------------------------------------------------------------------
 // /zap2/Task/Move/InformReaction2Move
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformReaction2Move,
@@ -573,7 +623,9 @@
 		STRING_SYSTEM_CONCEPT(report)
 	)
 	PRECONDITION(IS_TRUE(move_to_goal_command_issued) && 
-		(UPDATED(dir) || UPDATED(ordinal) || UPDATED(relDist)))
+		(UPDATED(dir) || UPDATED(ordinal) || UPDATED(relDist)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectMoveToGoalCommand, CExpectMoveToGoalCommand, "")
 		SUBAGENT(ExpectRelDist, CExpectRelDist, "")
@@ -589,8 +641,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveToGoalCommand,
 	EXPECT_CONCEPT(move_to_goal_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveToGoal]>true")
 )
 
@@ -599,8 +651,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectRelDist,
 	EXPECT_CONCEPT(relDist)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING(
 		"[MoveToGoal.RelativeDistance.ZapAll]>1,"\
 		"[MoveToGoal.RelativeDistance.ZapHalf]>2,"\
@@ -616,8 +668,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectDir,
 	EXPECT_CONCEPT(dir)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveToGoal.Side]")
 )
 
@@ -626,8 +678,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectOrdinal,
 	EXPECT_CONCEPT(ordinal)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveToGoal.Goal],[MoveToGoal.Home]")
 )
 
@@ -651,8 +703,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CSearch,
 	DEFINE_CONCEPTS(
-        FLOAT_USER_CONCEPT(x1, "")
-        FLOAT_USER_CONCEPT(x2, "")
+    FLOAT_USER_CONCEPT(x1, "")
+    FLOAT_USER_CONCEPT(x2, "")
 		FLOAT_USER_CONCEPT(x3, "")
 		FLOAT_USER_CONCEPT(x4, "")
 		FLOAT_USER_CONCEPT(x5, "")
@@ -661,8 +713,8 @@
 		FLOAT_USER_CONCEPT(x8, "")
 		FLOAT_USER_CONCEPT(x9, "")
 		FLOAT_USER_CONCEPT(x10, "")
-        FLOAT_USER_CONCEPT(y1, "")
-        FLOAT_USER_CONCEPT(y2, "")
+    FLOAT_USER_CONCEPT(y1, "")
+    FLOAT_USER_CONCEPT(y2, "")
 		FLOAT_USER_CONCEPT(y3, "")
 		FLOAT_USER_CONCEPT(y4, "")
 		FLOAT_USER_CONCEPT(y5, "")
@@ -674,7 +726,9 @@
 		STRING_SYSTEM_CONCEPT(report)
 	)
 	PRECONDITION(IS_TRUE(search_command_issued) && 
-		(UPDATED(x1) && UPDATED(y2)))
+		(UPDATED(x1) && UPDATED(y1)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectSearchCommand, CExpectSearchCommand, "")
 		SUBAGENT(ExpectX1, CExpectX1, "")
@@ -707,8 +761,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSearchCommand,
 	EXPECT_CONCEPT(search_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand]>true")
 )
 
@@ -717,8 +771,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX1,
 	EXPECT_CONCEPT(x1)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x1]")
 )
 
@@ -727,8 +781,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX2,
 	EXPECT_CONCEPT(x2)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x2]")
 )
 
@@ -737,8 +791,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX3,
 	EXPECT_CONCEPT(x3)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x3]")
 )
 
@@ -747,8 +801,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX4,
 	EXPECT_CONCEPT(x4)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x4]")
 )
 
@@ -757,8 +811,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX5,
 	EXPECT_CONCEPT(x5)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x5]")
 )
 
@@ -767,8 +821,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX6,
 	EXPECT_CONCEPT(x6)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x6]")
 )
 
@@ -777,8 +831,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX7,
 	EXPECT_CONCEPT(x7)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x7]")
 )
 
@@ -787,8 +841,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX8,
 	EXPECT_CONCEPT(x8)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x8]")
 )
 
@@ -797,8 +851,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX9,
 	EXPECT_CONCEPT(x9)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x9]")
 )
 
@@ -807,8 +861,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX10,
 	EXPECT_CONCEPT(x10)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x10]")
 )
 
@@ -817,8 +871,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY1,
 	EXPECT_CONCEPT(y1)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y1]")
 )
 
@@ -827,8 +881,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY2,
 	EXPECT_CONCEPT(y2)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y2]")
 )
 
@@ -837,8 +891,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY3,
 	EXPECT_CONCEPT(y3)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y3]")
 )
 
@@ -847,8 +901,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY4,
 	EXPECT_CONCEPT(y4)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y4]")
 )
 
@@ -857,8 +911,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY5,
 	EXPECT_CONCEPT(y5)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y5]")
 )
 
@@ -867,8 +921,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY6,
 	EXPECT_CONCEPT(y6)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y6]")
 )
 
@@ -877,8 +931,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY7,
 	EXPECT_CONCEPT(y7)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y7]")
 )
 
@@ -887,8 +941,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY8,
 	EXPECT_CONCEPT(y8)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y8]")
 )
 
@@ -897,8 +951,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY9,
 	EXPECT_CONCEPT(y9)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y9]")
 )
 
@@ -907,8 +961,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY10,
 	EXPECT_CONCEPT(y10)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y10]")
 )
 
@@ -927,13 +981,297 @@
 )
 
 //-----------------------------------------------------------------------------
+// /zap2/Task/Explore
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CExplore,
+	DEFINE_CONCEPTS(
+        FLOAT_USER_CONCEPT(x1, "")
+        FLOAT_USER_CONCEPT(x2, "")
+		FLOAT_USER_CONCEPT(x3, "")
+		FLOAT_USER_CONCEPT(x4, "")
+		FLOAT_USER_CONCEPT(x5, "")
+		FLOAT_USER_CONCEPT(x6, "")
+		FLOAT_USER_CONCEPT(x7, "")
+		FLOAT_USER_CONCEPT(x8, "")
+		FLOAT_USER_CONCEPT(x9, "")
+		FLOAT_USER_CONCEPT(x10, "")
+        FLOAT_USER_CONCEPT(y1, "")
+        FLOAT_USER_CONCEPT(y2, "")
+		FLOAT_USER_CONCEPT(y3, "")
+		FLOAT_USER_CONCEPT(y4, "")
+		FLOAT_USER_CONCEPT(y5, "")
+		FLOAT_USER_CONCEPT(y6, "")
+		FLOAT_USER_CONCEPT(y7, "")
+		FLOAT_USER_CONCEPT(y8, "")
+		FLOAT_USER_CONCEPT(y9, "")
+		FLOAT_USER_CONCEPT(y10, "")
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(explore_command_issued) && 
+		(UPDATED(x1) && UPDATED(y1)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectExploreCommand, CExpectExploreCommand, "")
+		SUBAGENT(ExpectExploreX1, CExpectExploreX1, "")
+		SUBAGENT(ExpectExploreX2, CExpectExploreX2, "")
+		SUBAGENT(ExpectExploreX3, CExpectExploreX3, "")
+		SUBAGENT(ExpectExploreX4, CExpectExploreX4, "")
+		SUBAGENT(ExpectExploreX5, CExpectExploreX5, "")
+		SUBAGENT(ExpectExploreX6, CExpectExploreX6, "")
+		SUBAGENT(ExpectExploreX7, CExpectExploreX7, "")
+		SUBAGENT(ExpectExploreX8, CExpectExploreX8, "")
+		SUBAGENT(ExpectExploreX9, CExpectExploreX9, "")
+		SUBAGENT(ExpectExploreX10, CExpectX10, "")
+		SUBAGENT(ExpectExploreY1, CExpectExploreY1, "")
+		SUBAGENT(ExpectExploreY2, CExpectExploreY2, "")
+		SUBAGENT(ExpectExploreY3, CExpectExploreY3, "")
+		SUBAGENT(ExpectExploreY4, CExpectExploreY4, "")
+		SUBAGENT(ExpectExploreY5, CExpectExploreY5, "")
+		SUBAGENT(ExpectExploreY6, CExpectExploreY6, "")
+		SUBAGENT(ExpectExploreY7, CExpectExploreY7, "")
+		SUBAGENT(ExpectExploreY8, CExpectExploreY8, "")
+		SUBAGENT(ExpectExploreY9, CExpectExploreY9, "")
+		SUBAGENT(ExpectExploreY10, CExpectExploreY10, "")
+		SUBAGENT(ExecuteExplore, CExecuteExplore, "")
+		SUBAGENT(InformExploreReport, CInformExploreReport, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreCommand,
+	EXPECT_CONCEPT(explore_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX1,
+	EXPECT_CONCEPT(x1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX2,
+	EXPECT_CONCEPT(x2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX3,
+	EXPECT_CONCEPT(x3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX4,
+	EXPECT_CONCEPT(x4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX5,
+	EXPECT_CONCEPT(x5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX6,
+	EXPECT_CONCEPT(x6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX7,
+	EXPECT_CONCEPT(x7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX8,
+	EXPECT_CONCEPT(x8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX9,
+	EXPECT_CONCEPT(x9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX10,
+	EXPECT_CONCEPT(x10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY1,
+	EXPECT_CONCEPT(y1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY2,
+	EXPECT_CONCEPT(y2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY3,
+	EXPECT_CONCEPT(y3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY4,
+	EXPECT_CONCEPT(y4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY5,
+	EXPECT_CONCEPT(y5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY6,
+	EXPECT_CONCEPT(y6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY7,
+	EXPECT_CONCEPT(y7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY8,
+	EXPECT_CONCEPT(y8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY9,
+	EXPECT_CONCEPT(y9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY10,
+	EXPECT_CONCEPT(y10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExecuteExplore
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteExplore,
+    CALL("gal_be.launch_query query=explore_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/InformExploreReport
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformExploreReport,
+	PROMPT("inform report_explore <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
+)
+
+//-----------------------------------------------------------------------------
 // /zap2/Task/Halt
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CHalt,
 	DEFINE_CONCEPTS(
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(halt_command_issued))
+	PRECONDITION(IS_TRUE(halt_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectHaltCommand, CExpectHaltCommand, "")
 		SUBAGENT(ExecuteHalt, CExecuteHalt, "")
@@ -946,8 +1284,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectHaltCommand,
 	EXPECT_CONCEPT(halt_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanHaltCommand]>true")
 )
 
@@ -973,7 +1311,9 @@
 		STRING_SYSTEM_CONCEPT(report)
 		STRING_USER_CONCEPT(followee, "")
 	)
-	PRECONDITION(IS_TRUE(follow_command_issued))
+	PRECONDITION(IS_TRUE(follow_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectFollowCommand, CExpectFollowCommand, "")
 		SUBAGENT(ExpectFollowee, CExpectFollowee, "")
@@ -987,8 +1327,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectFollowCommand,
 	EXPECT_CONCEPT(follow_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanFollowCommand]>true")
 )
 
@@ -997,8 +1337,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectFollowee,
 	EXPECT_CONCEPT(followee)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[OBJ-Robot.RobotName]")
 )
 
@@ -1023,7 +1363,10 @@
 	DEFINE_CONCEPTS(
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(pause_command_issued))
+	//PRECONDITION(IS_TRUE(pause_command_issued))
+  PRECONDITION(IS_TRUE(pause_command_issued) 
+    && (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectPauseCommand, CExpectPauseCommand, "")
 		SUBAGENT(ExecutePause, CExecutePause, "")
@@ -1036,8 +1379,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectPauseCommand,
 	EXPECT_CONCEPT(pause_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanPauseCommand]>true")
 )
 
@@ -1062,7 +1405,9 @@
 	DEFINE_CONCEPTS(
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(continue_command_issued))
+	PRECONDITION(IS_TRUE(continue_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectContinueCommand, CExpectContinueCommand, "")
 		SUBAGENT(ExecuteContinue, CExecuteContinue, "")
@@ -1075,8 +1420,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectContinueCommand,
 	EXPECT_CONCEPT(continue_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanContinueCommand]>true")
 )
 
@@ -1103,7 +1448,9 @@
 		STRING_USER_CONCEPT(direction, "")
 		STRING_USER_CONCEPT(increment, "")
 	)
-	PRECONDITION(IS_TRUE(turn_command_issued))
+	PRECONDITION(IS_TRUE(turn_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectTurnCommand, CExpectTurnCommand, "")
 		SUBAGENT(RequestTurnDirection, CRequestTurnDirection, "")
@@ -1119,8 +1466,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectTurnCommand,
 	EXPECT_CONCEPT(turn_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanTurnCommand]>true")
 )
 
@@ -1129,10 +1476,10 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestTurnDirection,
 	REQUEST_CONCEPT(direction)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request turn_direction")
-	GRAMMAR_MAPPING("[HumanTurnCommand.Direction.RelativeDirection],![Direction]")
+	GRAMMAR_MAPPING("[HumanTurnCommand.TurnDirection],![TurnDirection]")
 )
 
 //-----------------------------------------------------------------------------
@@ -1140,9 +1487,9 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectTurnIncrement,
 	EXPECT_CONCEPT(increment)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanTurnCommand.Direction.RelativeDirection.AngularQualifier.Number-180-by5]")
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanTurnCommand.TurnDirection.AngularQualifier.Number-180-by5]")
 )
 
 //-----------------------------------------------------------------------------
@@ -1160,12 +1507,144 @@
 )
 
 //-----------------------------------------------------------------------------
+// /zap2/Task/SetPose
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CSetPose,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+		STRING_USER_CONCEPT(x, "")
+		STRING_USER_CONCEPT(y, "")
+    STRING_USER_CONCEPT(angle, "")
+	)
+	PRECONDITION(IS_TRUE(set_pose_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectSetPoseCommand, CExpectSetPoseCommand, "")
+		SUBAGENT(ExpectSetPoseX, CExpectSetPoseX, "")
+    SUBAGENT(ExpectSetPoseY, CExpectSetPoseY, "")
+    SUBAGENT(ExpectSetPoseAngle, CExpectSetPoseAngle, "")
+		SUBAGENT(ExecuteSetPose, CExecuteSetPose, "")
+		SUBAGENT(InformSetPose, CInformSetPose, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(InformSetPose) || UPDATED_IN_LAST_TURN(cancel))
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseCommand,
+	EXPECT_CONCEPT(set_pose_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseX
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseX,
+	EXPECT_CONCEPT(x)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand.x]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseY
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseY,
+	EXPECT_CONCEPT(y)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand.y]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseAngle
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseAngle,
+	EXPECT_CONCEPT(angle)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand.angle]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExecuteSetPose
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteSetPose,
+    CALL("gal_be.launch_query query=setpos <robot_name <x <y <angle >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/InformSetPose
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformSetPose,
+	//PROMPT("inform report_turn <robot_name <x <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/CancelTask
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CCancelTask,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+		STRING_USER_CONCEPT(taskid, "")
+	)
+	PRECONDITION(IS_TRUE(cancel_task_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectCancelTaskCommand, CExpectCancelTaskCommand, "")
+		SUBAGENT(ExpectCancelTaskTaskid, CExpectCancelTaskTaskid, "")
+		SUBAGENT(ExecuteCancelTask, CExecuteCancelTask, "")
+		SUBAGENT(InformCancelTask, CInformCancelTask, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(InformCancelTask) || UPDATED_IN_LAST_TURN(cancel))
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectCancelTaskCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectCancelTaskCommand,
+	EXPECT_CONCEPT(cancel_task_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanCancelTaskCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectCancelTaskTaskid
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectCancelTaskTaskid,
+	EXPECT_CONCEPT(taskid)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanCancelTaskCommand.taskid]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExecuteCancelTask
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteCancelTask,
+    CALL("gal_be.launch_query query=cancel_task <robot_name <taskid >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/InformCancelTask
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformCancelTask,
+	//PROMPT("inform report_turn <robot_name <x <report")
+)
+
+//-----------------------------------------------------------------------------
 // /zap2/ExpectCancel
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectCancel,
 	EXPECT_CONCEPT(cancel)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[Cancel]>true")
 )
 
@@ -2426,7 +2905,6 @@
 			DECLARE_AGENT(CQueryLocation)
 				DECLARE_AGENT(CExpectQueryLocationCommand)
 				DECLARE_AGENT(CExecuteGetLocation)
-				// DECLARE_AGENT(CInformLocation)
 			DECLARE_AGENT(CReportLocation)
 				DECLARE_AGENT(CExpectReportLocationCommand)
 				DECLARE_AGENT(CInformLocation)
@@ -2436,11 +2914,14 @@
 				DECLARE_AGENT(CRequestCardinalDirection)
 				DECLARE_AGENT(CExecuteMove)
 				DECLARE_AGENT(CInformReaction2Move)
-			DECLARE_AGENT(CMoveRelative)
+			DECLARE_AGENT(CCommandMoveRelative)
 				DECLARE_AGENT(CExpectMoveRelativeCommand)
-				DECLARE_AGENT(CRequestRelativeDirection)
+				DECLARE_AGENT(CRequestMoveDirection)
 				DECLARE_AGENT(CRequestRelativeDistance)
 				DECLARE_AGENT(CExecuteRelativeMove)
+      DECLARE_AGENT(CReportMove)
+        DECLARE_AGENT(CExpectReportMove)
+        DECLARE_AGENT(CInformMove)
 			DECLARE_AGENT(CMoveToGoal)
 				DECLARE_AGENT(CExpectMoveToGoalCommand)
 				DECLARE_AGENT(CExpectRelDist)
@@ -2472,6 +2953,30 @@
 				DECLARE_AGENT(CExpectY10)
 				DECLARE_AGENT(CExecuteSearch)
 				DECLARE_AGENT(CInformSearchReport)
+			DECLARE_AGENT(CExplore)
+				DECLARE_AGENT(CExpectExploreCommand)
+				DECLARE_AGENT(CExpectExploreX1)
+				DECLARE_AGENT(CExpectExploreX2)
+				DECLARE_AGENT(CExpectExploreX3)
+				DECLARE_AGENT(CExpectExploreX4)
+				DECLARE_AGENT(CExpectExploreX5)
+				DECLARE_AGENT(CExpectExploreX6)
+				DECLARE_AGENT(CExpectExploreX7)
+				DECLARE_AGENT(CExpectExploreX8)
+				DECLARE_AGENT(CExpectExploreX9)
+				DECLARE_AGENT(CExpectExploreX10)
+				DECLARE_AGENT(CExpectExploreY1)
+				DECLARE_AGENT(CExpectExploreY2)
+				DECLARE_AGENT(CExpectExploreY3)
+				DECLARE_AGENT(CExpectExploreY4)
+				DECLARE_AGENT(CExpectExploreY5)
+				DECLARE_AGENT(CExpectExploreY6)
+				DECLARE_AGENT(CExpectExploreY7)
+				DECLARE_AGENT(CExpectExploreY8)
+				DECLARE_AGENT(CExpectExploreY9)
+				DECLARE_AGENT(CExpectExploreY10)
+				DECLARE_AGENT(CExecuteExplore)
+				DECLARE_AGENT(CInformExploreReport)
 			DECLARE_AGENT(CHalt)
 				DECLARE_AGENT(CExpectHaltCommand)
 				DECLARE_AGENT(CExecuteHalt)
@@ -2486,7 +2991,7 @@
 				DECLARE_AGENT(CExecutePause)
 				DECLARE_AGENT(CInformPause)
 			DECLARE_AGENT(CContinue)
-			    DECLARE_AGENT(CExpectContinueCommand)
+			  DECLARE_AGENT(CExpectContinueCommand)
 				DECLARE_AGENT(CExecuteContinue)
 				DECLARE_AGENT(CInformContinue)
 			DECLARE_AGENT(CTurn)
@@ -2495,6 +3000,18 @@
 				DECLARE_AGENT(CExpectTurnIncrement)
 				DECLARE_AGENT(CExecuteTurn)
 				DECLARE_AGENT(CInformTurn)
+			DECLARE_AGENT(CSetPose)
+				DECLARE_AGENT(CExpectSetPoseCommand)
+				DECLARE_AGENT(CExpectSetPoseX)
+				DECLARE_AGENT(CExpectSetPoseY)
+				DECLARE_AGENT(CExpectSetPoseAngle)
+				DECLARE_AGENT(CExecuteSetPose)
+				DECLARE_AGENT(CInformSetPose)
+      DECLARE_AGENT(CCancelTask)
+        DECLARE_AGENT(CExpectCancelTaskCommand)
+        DECLARE_AGENT(CExpectCancelTaskTaskid)
+        DECLARE_AGENT(CExecuteCancelTask)
+        DECLARE_AGENT(CInformCancelTask)
 			DECLARE_AGENT(CExpectCancel)
 			DECLARE_AGENT(CAllDoneDummy)
 )

Deleted: trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-21 04:16:42 UTC (rev 755)
+++ trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-21 04:35:26 UTC (rev 756)
@@ -1,3022 +0,0 @@
-//=============================================================================
-//
-//   Copyright (c) 2000-2004, Carnegie Mellon University.  
-//   All rights reserved.
-//
-//   Redistribution and use in source and binary forms, with or without
-//   modification, are permitted provided that the following conditions
-//   are met:
-//
-//   1. Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer. 
-//
-//   2. Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in
-//      the documentation and/or other materials provided with the
-//      distribution.
-//
-//   This work was supported in part by funding from the Defense Advanced 
-//   Research Projects Agency and the National Science Foundation of the 
-//   United States of America, and the CMU Sphinx Speech Consortium.
-//
-//   THIS SOFTWARE IS PROVIDED BY CARNEGIE MELLON UNIVERSITY ``AS IS'' AND 
-//   ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
-//   THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-//   PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CARNEGIE MELLON UNIVERSITY
-//   NOR ITS EMPLOYEES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-//   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
-//   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
-//   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
-//   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
-//   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Fri Sep 21 00:49:24 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 00:49:24 -0400
Subject: [TeamTalk 221]:  [757] trunk/TeamTalk: Name changes zap2->TeamTalk
Message-ID: <200709210449.l8L4nOl4009669@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/291fd8e6/attachment-0001.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp	2007-09-21 04:35:26 UTC (rev 756)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp	2007-09-21 04:49:24 UTC (rev 757)
@@ -35,9 +35,9 @@
 
 //-----------------------------------------------------------------------------
 // 
-// ZAP2DIALOGTASK.CPP - This module contains the description of the dialog 
+// TeamTalkDIALOGTASK.CPP - This module contains the description of the dialog 
 //                          task, (i.e. all the user defined agencies, etc)
-//                          for the zap2 system
+//                          for the TeamTalk system
 // 
 // ----------------------------------------------------------------------------
 // 
@@ -223,9 +223,9 @@
 //-----------------------------------------------------------------------------
  
 //-----------------------------------------------------------------------------
-// /zap2
+// /TeamTalk
 //-----------------------------------------------------------------------------
-DEFINE_AGENCY(Czap2,
+DEFINE_AGENCY(CTeamTalk,
 	IS_MAIN_TOPIC()
     DEFINE_CONCEPTS(
         STRING_USER_CONCEPT(current_addressee, "")
@@ -246,13 +246,13 @@
 )	
 
 //-----------------------------------------------------------------------------
-// /zap2/Welcome
+// /TeamTalk/Welcome
 //-----------------------------------------------------------------------------
 //DEFINE_INFORM_AGENT( CWelcome,
 //    PROMPT(":non-interruptable inform welcome"))
 
 //-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee
+// /TeamTalk/GetCurrentAddressee
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY( CGetCurrentAddressee, 
 	// This agency consists of an expect agent which binds the value of the slot 
@@ -277,29 +277,29 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee/ExpectAddressee
+// /TeamTalk/GetCurrentAddressee/ExpectAddressee
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT( CExpectAddressee, 
 	EXPECT_CONCEPT(current_addressee)
-    GRAMMAR_MAPPING("@(/zap2)[RobotName]")
+    GRAMMAR_MAPPING("@(/TeamTalk)[RobotName]")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee/ExpectAddressee
+// /TeamTalk/GetCurrentAddressee/ExpectAddressee
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformAddresseeChange, 
 	PROMPT(":select_bot inform select_bot <current_addressee")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/GetCurrentAddressee/ExecuteReopenAddressee
+// /TeamTalk/GetCurrentAddressee/ExecuteReopenAddressee
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT( CExecuteReopenAddressee, 
 	EXECUTE(C("current_addressee").ReOpen())
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task
+// /TeamTalk/Task
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY( CTask,
 	IS_MAIN_TOPIC()
@@ -348,7 +348,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/RequestWaitForCommands
+// /TeamTalk/Task/RequestWaitForCommands
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT( CRequestWaitForCommands, 
 	// PROMPT("request idle <robot_name")
@@ -356,7 +356,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Report
+// /TeamTalk/Task/Report
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CReport,
  	PRECONDITION(IS_TRUE(report_command_issued) &&
@@ -369,7 +369,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Report/ExpectReportCommand
+// /TeamTalk/Task/Report/ExpectReportCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectReportCommand,
 	EXPECT_CONCEPT(report_command_issued)
@@ -377,14 +377,14 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Report/InformReport
+// /TeamTalk/Task/Report/InformReport
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformReport, 
 	PROMPT("inform my_report <robot_name")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/QueryLocation
+// /TeamTalk/QueryLocation
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CQueryLocation,
 	DEFINE_CONCEPTS(
@@ -400,7 +400,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/QueryLocation/ExpectQueryLocationCommand
+// /TeamTalk/Task/QueryLocation/ExpectQueryLocationCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectQueryLocationCommand,
 	EXPECT_CONCEPT(report_location_command_issued)
@@ -411,14 +411,14 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/QueryLocation/ExecuteGetLocation
+// /TeamTalk/Task/QueryLocation/ExecuteGetLocation
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteGetLocation,
 	CALL("gal_be.launch_query query=location_query <robot_name")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/ReportLocation
+// /TeamTalk/ReportLocation
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CReportLocation,
 	PRECONDITION(UPDATED(location_report) &&
@@ -431,7 +431,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/ReportLocation/ExpectReportLocationCommand
+// /TeamTalk/Task/ReportLocation/ExpectReportLocationCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectReportLocationCommand,
 	EXPECT_CONCEPT(location_report)
@@ -442,14 +442,14 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/ReportLocation/InformLocation
+// /TeamTalk/Task/ReportLocation/InformLocation
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformLocation,
 	PROMPT("inform report_location <robot_name location<location_report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveCardinal
+// /TeamTalk/Task/MoveCardinal
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CMoveCardinal,
 	DEFINE_CONCEPTS(
@@ -472,7 +472,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/CommandMoveRelative
+// /TeamTalk/Task/CommandMoveRelative
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CCommandMoveRelative,
 	DEFINE_CONCEPTS(
@@ -495,7 +495,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveCardinal/ExpectMoveCardinalCommand
+// /TeamTalk/Task/MoveCardinal/ExpectMoveCardinalCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveCardinalCommand,
 	EXPECT_CONCEPT(move_cardinal_command_issued)
@@ -505,7 +505,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveRelative/ExpectMoveRelativeCommand
+// /TeamTalk/Task/MoveRelative/ExpectMoveRelativeCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveRelativeCommand,
 	EXPECT_CONCEPT(move_relative_command_issued)
@@ -515,7 +515,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestCardinalDirection
+// /TeamTalk/Task/Move/RequestCardinalDirection
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestCardinalDirection,
 	REQUEST_CONCEPT(direction)
@@ -526,7 +526,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestMoveDirection
+// /TeamTalk/Task/Move/RequestMoveDirection
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestMoveDirection,
 	REQUEST_CONCEPT(direction)
@@ -537,7 +537,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestDistance	
+// /TeamTalk/Task/Move/RequestDistance	
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestDistance,
 	REQUEST_CONCEPT(distance)
@@ -548,7 +548,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestRelativeDistance	
+// /TeamTalk/Task/Move/RequestRelativeDistance	
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestRelativeDistance,
 	REQUEST_CONCEPT(distance)
@@ -559,7 +559,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/ExecuteMove
+// /TeamTalk/Task/Move/ExecuteMove
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteMove,
 	PRECONDITION(AVAILABLE(direction) && AVAILABLE(distance))
@@ -567,7 +567,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/ExecuteRelativeMove
+// /TeamTalk/Task/Move/ExecuteRelativeMove
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteRelativeMove,
 	PRECONDITION(AVAILABLE(direction) && AVAILABLE(distance))
@@ -575,7 +575,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/ReportMove
+// /TeamTalk/Task/ReportMove
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CReportMove,
 	PRECONDITION(UPDATED(move_report) &&
@@ -588,7 +588,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/ReportMove/ExpectReportMove
+// /TeamTalk/Task/ReportMove/ExpectReportMove
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectReportMove,
 	EXPECT_CONCEPT(move_report)
@@ -599,21 +599,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/ReportMove/InformMove
+// /TeamTalk/Task/ReportMove/InformMove
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformMove,
 	PROMPT("inform report_move_status <robot_name <move_report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/InformReaction2Move
+// /TeamTalk/Task/Move/InformReaction2Move
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformReaction2Move,
 	PROMPT("inform report_move_relative <robot_name <direction <distance <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal
+// /TeamTalk/Task/MoveToGoal
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CMoveToGoal,
 	DEFINE_CONCEPTS(
@@ -637,7 +637,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectMoveToGoalCommand
+// /TeamTalk/Task/MoveToGoal/ExpectMoveToGoalCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveToGoalCommand,
 	EXPECT_CONCEPT(move_to_goal_command_issued)
@@ -647,24 +647,24 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectRelDist
+// /TeamTalk/Task/MoveToGoal/ExpectRelDist
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectRelDist,
 	EXPECT_CONCEPT(relDist)
 	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
 	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING(
-		"[MoveToGoal.RelativeDistance.ZapAll]>1,"\
-		"[MoveToGoal.RelativeDistance.ZapHalf]>2,"\
-		"[MoveToGoal.RelativeDistance.ZapThird]>3,"\
-		"[MoveToGoal.RelativeDistance.ZapOneQuarter]>4,"\
-		"[MoveToGoal.RelativeDistance.ZapTwoThird]>5,"\
-		"[MoveToGoal.RelativeDistance.ZapThreeQuarter]>6"
+		"[MoveToGoal.RelativeDistance.TeamTalkAll]>1,"\
+		"[MoveToGoal.RelativeDistance.TeamTalkHalf]>2,"\
+		"[MoveToGoal.RelativeDistance.TeamTalkThird]>3,"\
+		"[MoveToGoal.RelativeDistance.TeamTalkOneQuarter]>4,"\
+		"[MoveToGoal.RelativeDistance.TeamTalkTwoThird]>5,"\
+		"[MoveToGoal.RelativeDistance.TeamTalkThreeQuarter]>6"
 	)
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectDir
+// /TeamTalk/Task/MoveToGoal/ExpectDir
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectDir,
 	EXPECT_CONCEPT(dir)
@@ -674,7 +674,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExpectOrdinal
+// /TeamTalk/Task/MoveToGoal/ExpectOrdinal
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectOrdinal,
 	EXPECT_CONCEPT(ordinal)
@@ -684,7 +684,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/ExecuteMoveToGoal
+// /TeamTalk/Task/MoveToGoal/ExecuteMoveToGoal
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteMoveToGoal,
     PRECONDITION(AVAILABLE(ordinal))
@@ -692,14 +692,14 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveToGoal/InformMoveToGoalReport
+// /TeamTalk/Task/MoveToGoal/InformMoveToGoalReport
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformMoveToGoalReport,
 	PROMPT("inform report_move_to_goal <robot_name <ordinal <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search
+// /TeamTalk/Task/Search
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CSearch,
 	DEFINE_CONCEPTS(
@@ -757,7 +757,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectSearchCommand
+// /TeamTalk/Task/Search/ExpectSearchCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSearchCommand,
 	EXPECT_CONCEPT(search_command_issued)
@@ -767,7 +767,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX1
+// /TeamTalk/Task/Search/ExpectX1
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX1,
 	EXPECT_CONCEPT(x1)
@@ -777,7 +777,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX2
+// /TeamTalk/Task/Search/ExpectX2
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX2,
 	EXPECT_CONCEPT(x2)
@@ -787,7 +787,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX3
+// /TeamTalk/Task/Search/ExpectX3
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX3,
 	EXPECT_CONCEPT(x3)
@@ -797,7 +797,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX4
+// /TeamTalk/Task/Search/ExpectX4
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX4,
 	EXPECT_CONCEPT(x4)
@@ -807,7 +807,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX5
+// /TeamTalk/Task/Search/ExpectX5
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX5,
 	EXPECT_CONCEPT(x5)
@@ -817,7 +817,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX6
+// /TeamTalk/Task/Search/ExpectX6
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX6,
 	EXPECT_CONCEPT(x6)
@@ -827,7 +827,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX7
+// /TeamTalk/Task/Search/ExpectX7
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX7,
 	EXPECT_CONCEPT(x7)
@@ -837,7 +837,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX8
+// /TeamTalk/Task/Search/ExpectX8
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX8,
 	EXPECT_CONCEPT(x8)
@@ -847,7 +847,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX9
+// /TeamTalk/Task/Search/ExpectX9
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX9,
 	EXPECT_CONCEPT(x9)
@@ -857,7 +857,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectX10
+// /TeamTalk/Task/Search/ExpectX10
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX10,
 	EXPECT_CONCEPT(x10)
@@ -867,7 +867,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY1
+// /TeamTalk/Task/Search/ExpectY1
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY1,
 	EXPECT_CONCEPT(y1)
@@ -877,7 +877,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY2
+// /TeamTalk/Task/Search/ExpectY2
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY2,
 	EXPECT_CONCEPT(y2)
@@ -887,7 +887,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY3
+// /TeamTalk/Task/Search/ExpectY3
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY3,
 	EXPECT_CONCEPT(y3)
@@ -897,7 +897,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY4
+// /TeamTalk/Task/Search/ExpectY4
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY4,
 	EXPECT_CONCEPT(y4)
@@ -907,7 +907,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY5
+// /TeamTalk/Task/Search/ExpectY5
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY5,
 	EXPECT_CONCEPT(y5)
@@ -917,7 +917,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY6
+// /TeamTalk/Task/Search/ExpectY6
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY6,
 	EXPECT_CONCEPT(y6)
@@ -927,7 +927,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY7
+// /TeamTalk/Task/Search/ExpectY7
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY7,
 	EXPECT_CONCEPT(y7)
@@ -937,7 +937,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY8
+// /TeamTalk/Task/Search/ExpectY8
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY8,
 	EXPECT_CONCEPT(y8)
@@ -947,7 +947,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY9
+// /TeamTalk/Task/Search/ExpectY9
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY9,
 	EXPECT_CONCEPT(y9)
@@ -957,7 +957,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExpectY10
+// /TeamTalk/Task/Search/ExpectY10
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY10,
 	EXPECT_CONCEPT(y10)
@@ -967,21 +967,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/ExecuteSearch
+// /TeamTalk/Task/Search/ExecuteSearch
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteSearch,
     CALL("gal_be.launch_query query=search_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Search/InformSearchReport
+// /TeamTalk/Task/Search/InformSearchReport
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformSearchReport,
 	PROMPT("inform report_search <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore
+// /TeamTalk/Task/Explore
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CExplore,
 	DEFINE_CONCEPTS(
@@ -1039,7 +1039,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreCommand
+// /TeamTalk/Task/Explore/ExpectExploreCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreCommand,
 	EXPECT_CONCEPT(explore_command_issued)
@@ -1049,7 +1049,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX1
+// /TeamTalk/Task/Explore/ExpectExploreX1
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX1,
 	EXPECT_CONCEPT(x1)
@@ -1059,7 +1059,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX2
+// /TeamTalk/Task/Explore/ExpectExploreX2
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX2,
 	EXPECT_CONCEPT(x2)
@@ -1069,7 +1069,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX3
+// /TeamTalk/Task/Explore/ExpectExploreX3
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX3,
 	EXPECT_CONCEPT(x3)
@@ -1079,7 +1079,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX4
+// /TeamTalk/Task/Explore/ExpectExploreX4
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX4,
 	EXPECT_CONCEPT(x4)
@@ -1089,7 +1089,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX5
+// /TeamTalk/Task/Explore/ExpectExploreX5
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX5,
 	EXPECT_CONCEPT(x5)
@@ -1099,7 +1099,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX6
+// /TeamTalk/Task/Explore/ExpectExploreX6
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX6,
 	EXPECT_CONCEPT(x6)
@@ -1109,7 +1109,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX7
+// /TeamTalk/Task/Explore/ExpectExploreX7
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX7,
 	EXPECT_CONCEPT(x7)
@@ -1119,7 +1119,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX8
+// /TeamTalk/Task/Explore/ExpectExploreX8
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX8,
 	EXPECT_CONCEPT(x8)
@@ -1129,7 +1129,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX9
+// /TeamTalk/Task/Explore/ExpectExploreX9
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX9,
 	EXPECT_CONCEPT(x9)
@@ -1139,7 +1139,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreX10
+// /TeamTalk/Task/Explore/ExpectExploreX10
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreX10,
 	EXPECT_CONCEPT(x10)
@@ -1149,7 +1149,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY1
+// /TeamTalk/Task/Explore/ExpectExploreY1
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY1,
 	EXPECT_CONCEPT(y1)
@@ -1159,7 +1159,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY2
+// /TeamTalk/Task/Explore/ExpectExploreY2
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY2,
 	EXPECT_CONCEPT(y2)
@@ -1169,7 +1169,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY3
+// /TeamTalk/Task/Explore/ExpectExploreY3
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY3,
 	EXPECT_CONCEPT(y3)
@@ -1179,7 +1179,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY4
+// /TeamTalk/Task/Explore/ExpectExploreY4
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY4,
 	EXPECT_CONCEPT(y4)
@@ -1189,7 +1189,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY5
+// /TeamTalk/Task/Explore/ExpectExploreY5
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY5,
 	EXPECT_CONCEPT(y5)
@@ -1199,7 +1199,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY6
+// /TeamTalk/Task/Explore/ExpectExploreY6
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY6,
 	EXPECT_CONCEPT(y6)
@@ -1209,7 +1209,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY7
+// /TeamTalk/Task/Explore/ExpectExploreY7
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY7,
 	EXPECT_CONCEPT(y7)
@@ -1219,7 +1219,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY8
+// /TeamTalk/Task/Explore/ExpectExploreY8
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY8,
 	EXPECT_CONCEPT(y8)
@@ -1229,7 +1229,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY9
+// /TeamTalk/Task/Explore/ExpectExploreY9
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY9,
 	EXPECT_CONCEPT(y9)
@@ -1239,7 +1239,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExpectExploreY10
+// /TeamTalk/Task/Explore/ExpectExploreY10
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectExploreY10,
 	EXPECT_CONCEPT(y10)
@@ -1249,21 +1249,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/ExecuteExplore
+// /TeamTalk/Task/Explore/ExecuteExplore
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteExplore,
     CALL("gal_be.launch_query query=explore_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Explore/InformExploreReport
+// /TeamTalk/Task/Explore/InformExploreReport
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformExploreReport,
 	PROMPT("inform report_explore <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Halt
+// /TeamTalk/Task/Halt
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CHalt,
 	DEFINE_CONCEPTS(
@@ -1280,7 +1280,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Halt/ExpectHaltCommand
+// /TeamTalk/Task/Halt/ExpectHaltCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectHaltCommand,
 	EXPECT_CONCEPT(halt_command_issued)
@@ -1290,21 +1290,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Halt/ExecuteHalt
+// /TeamTalk/Task/Halt/ExecuteHalt
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteHalt,
     CALL("gal_be.launch_query query=halt_command <robot_name >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Halt/InformHalt
+// /TeamTalk/Task/Halt/InformHalt
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformHalt,
 	PROMPT("inform report_halt <robot_name <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow
+// /TeamTalk/Task/Follow
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CFollow,
 	DEFINE_CONCEPTS(
@@ -1323,7 +1323,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExpectFollowCommand
+// /TeamTalk/Task/Follow/ExpectFollowCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectFollowCommand,
 	EXPECT_CONCEPT(follow_command_issued)
@@ -1333,7 +1333,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExpectFollowee
+// /TeamTalk/Task/Follow/ExpectFollowee
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectFollowee,
 	EXPECT_CONCEPT(followee)
@@ -1343,21 +1343,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExecuteFollow
+// /TeamTalk/Task/Follow/ExecuteFollow
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteFollow,
     CALL("gal_be.launch_query query=follow_command <robot_name <followee >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/InformFollow
+// /TeamTalk/Task/Follow/InformFollow
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformFollow,
 	PROMPT("inform report_follow <robot_name <followee <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Pause
+// /TeamTalk/Task/Pause
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CPause,
 	DEFINE_CONCEPTS(
@@ -1375,7 +1375,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExpectPauseCommand
+// /TeamTalk/Task/Follow/ExpectPauseCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectPauseCommand,
 	EXPECT_CONCEPT(pause_command_issued)
@@ -1385,21 +1385,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExecutePause
+// /TeamTalk/Task/Follow/ExecutePause
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecutePause,
     CALL("gal_be.launch_query query=pause_command <robot_name >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/InformPause
+// /TeamTalk/Task/Follow/InformPause
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformPause,
 	PROMPT("inform report_pause <robot_name <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Continue
+// /TeamTalk/Task/Continue
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CContinue,
 	DEFINE_CONCEPTS(
@@ -1416,7 +1416,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExpectContinueCommand
+// /TeamTalk/Task/Follow/ExpectContinueCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectContinueCommand,
 	EXPECT_CONCEPT(continue_command_issued)
@@ -1426,21 +1426,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/ExecuteContinue
+// /TeamTalk/Task/Follow/ExecuteContinue
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteContinue,
     CALL("gal_be.launch_query query=continue_command <robot_name >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Follow/InformContinue
+// /TeamTalk/Task/Follow/InformContinue
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformContinue,
 	PROMPT("inform report_continue <robot_name <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn
+// /TeamTalk/Task/Turn
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CTurn,
 	DEFINE_CONCEPTS(
@@ -1462,7 +1462,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectTurnCommand
+// /TeamTalk/Task/Turn/ExpectTurnCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectTurnCommand,
 	EXPECT_CONCEPT(turn_command_issued)
@@ -1472,7 +1472,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/RequestTurnDirection
+// /TeamTalk/Task/Turn/RequestTurnDirection
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestTurnDirection,
 	REQUEST_CONCEPT(direction)
@@ -1483,7 +1483,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectTurnIncrement
+// /TeamTalk/Task/Turn/ExpectTurnIncrement
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectTurnIncrement,
 	EXPECT_CONCEPT(increment)
@@ -1493,21 +1493,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExecuteTurn
+// /TeamTalk/Task/Turn/ExecuteTurn
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteTurn,
     CALL("gal_be.launch_query query=turn_command <robot_name <direction <increment >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/InformTurn
+// /TeamTalk/Task/Turn/InformTurn
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformTurn,
 	PROMPT("inform report_turn <robot_name <direction <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/SetPose
+// /TeamTalk/Task/SetPose
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CSetPose,
 	DEFINE_CONCEPTS(
@@ -1531,7 +1531,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectSetPoseCommand
+// /TeamTalk/Task/Turn/ExpectSetPoseCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSetPoseCommand,
 	EXPECT_CONCEPT(set_pose_command_issued)
@@ -1541,7 +1541,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectSetPoseX
+// /TeamTalk/Task/Turn/ExpectSetPoseX
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSetPoseX,
 	EXPECT_CONCEPT(x)
@@ -1551,7 +1551,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectSetPoseY
+// /TeamTalk/Task/Turn/ExpectSetPoseY
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSetPoseY,
 	EXPECT_CONCEPT(y)
@@ -1561,7 +1561,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectSetPoseAngle
+// /TeamTalk/Task/Turn/ExpectSetPoseAngle
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSetPoseAngle,
 	EXPECT_CONCEPT(angle)
@@ -1571,21 +1571,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExecuteSetPose
+// /TeamTalk/Task/Turn/ExecuteSetPose
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteSetPose,
     CALL("gal_be.launch_query query=setpos <robot_name <x <y <angle >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/InformSetPose
+// /TeamTalk/Task/Turn/InformSetPose
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformSetPose,
 	//PROMPT("inform report_turn <robot_name <x <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/CancelTask
+// /TeamTalk/Task/CancelTask
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CCancelTask,
 	DEFINE_CONCEPTS(
@@ -1605,7 +1605,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectCancelTaskCommand
+// /TeamTalk/Task/Turn/ExpectCancelTaskCommand
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectCancelTaskCommand,
 	EXPECT_CONCEPT(cancel_task_command_issued)
@@ -1615,7 +1615,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExpectCancelTaskTaskid
+// /TeamTalk/Task/Turn/ExpectCancelTaskTaskid
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectCancelTaskTaskid,
 	EXPECT_CONCEPT(taskid)
@@ -1625,21 +1625,21 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/ExecuteCancelTask
+// /TeamTalk/Task/Turn/ExecuteCancelTask
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT(CExecuteCancelTask,
     CALL("gal_be.launch_query query=cancel_task <robot_name <taskid >report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Turn/InformCancelTask
+// /TeamTalk/Task/Turn/InformCancelTask
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformCancelTask,
 	//PROMPT("inform report_turn <robot_name <x <report")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/ExpectCancel
+// /TeamTalk/ExpectCancel
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectCancel,
 	EXPECT_CONCEPT(cancel)
@@ -1649,7 +1649,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/AllDoneDummy
+// /TeamTalk/Task/AllDoneDummy
 //-----------------------------------------------------------------------------
 DEFINE_EXECUTE_AGENT( CAllDoneDummy, 
 	// whenever one (or more) of the subagents of PerformTask get executed 
@@ -1660,7 +1660,7 @@
 )
 
       /*
-// /zap2/Task/GetQuery
+// /TeamTalk/Task/GetQuery
 DEFINE_AGENCY( CGetQuery,
 	IS_MAIN_TOPIC()
     DEFINE_CONCEPTS(
@@ -1686,7 +1686,7 @@
             (int)(C("room_query.date_time.time.start_time")))
 )
 
-// /zap2/Task/GetQuery/HowMayIHelpYou
+// /TeamTalk/Task/GetQuery/HowMayIHelpYou
 DEFINE_REQUEST_AGENT( CHowMayIHelpYou, 
     PRECONDITION(NOT_AVAILABLE(room_query) && !A("..").WasReset())
     PROMPT(":non-interruptable request how_may_i_help_you")
@@ -1695,7 +1695,7 @@
     MAX_ATTEMPTS(2)
 )
 
-// /zap2/Task/GetQuery/HowMayIHelpYouAgain
+// /TeamTalk/Task/GetQuery/HowMayIHelpYouAgain
 DEFINE_REQUEST_AGENT( CHowMayIHelpYouAgain, 
     PRECONDITION(NOT_AVAILABLE(room_query) && A("..").WasReset())
     PROMPT("request how_may_i_help_you_again")
@@ -1703,7 +1703,7 @@
     MAX_ATTEMPTS(2)
 )
 
-// /zap2/Task/GetQuery/RequestDateTime
+// /TeamTalk/Task/GetQuery/RequestDateTime
 DEFINE_AGENCY( CRequestDateTime,	
     DEFINE_SUBAGENTS(
         SUBAGENT(RequestWhen, CRequestWhen, request_default)
@@ -1723,44 +1723,44 @@
         C("room_query.date_time.time.start_time") < C("room_query.date_time.time.end_time"))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/RequestWhen
+// /TeamTalk/Task/GetQuery/RequestDateTime/RequestWhen
 DEFINE_REQUEST_AGENT( CRequestWhen, 
     PRECONDITION(!IS_TRUE(room_query.date_time.date.valid_date) &&
                  !(AVAILABLE(room_query.date_time.time.start_time) ||
                    AVAILABLE(room_query.date_time.time.end_time)))
 	REQUEST_CONCEPT(room_query.date_time)
 	PROMPT("request room_when")
-    GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.date_time]>:datetime,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[DateTimeSpec.date_time]>:datetime")
+    GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.date_time]>:datetime,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[DateTimeSpec.date_time]>:datetime")
     SUCCEEDS_WHEN(IS_TRUE(room_query.date_time.date.valid_date))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/RequestDay
+// /TeamTalk/Task/GetQuery/RequestDateTime/RequestDay
 DEFINE_REQUEST_AGENT( CRequestDay, 
     PRECONDITION(!IS_TRUE(room_query.date_time.date.valid_date) &&
                  (AVAILABLE(room_query.date_time.time.start_time) ||
                   AVAILABLE(room_query.date_time.time.end_time)))
 	REQUEST_CONCEPT(room_query.date_time)
 	PROMPT("request room_day")
-    GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.date_time]>:datetime,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[DateTimeSpec.date_time]>:datetime")
+    GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.date_time]>:datetime,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[DateTimeSpec.date_time]>:datetime")
     SUCCEEDS_WHEN(IS_TRUE(room_query.date_time.date.valid_date))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/RequestTime
+// /TeamTalk/Task/GetQuery/RequestDateTime/RequestTime
 DEFINE_REQUEST_AGENT( CRequestTime,	
     PRECONDITION(!IS_TRUE(room_query.date_time.time.valid_time))
 	REQUEST_CONCEPT(room_query.date_time)
 	PROMPT("request what_time")
-    GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.date_time]>:datetime,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[DateTimeSpec.date_time]>:datetime")
+    GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.date_time]>:datetime,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[DateTimeSpec.date_time]>:datetime")
     SUCCEEDS_WHEN(
         AVAILABLE(room_query.date_time.time.start_time) ||
         AVAILABLE(room_query.date_time.time.end_time) ||
         AVAILABLE(room_query.date_time.time.timeperiod_spec))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/RequestSpecificTimes
+// /TeamTalk/Task/GetQuery/RequestDateTime/RequestSpecificTimes
 DEFINE_REQUEST_AGENT( CRequestSpecificTimes,
     PRECONDITION(SAME_AS_TRIGGER)
     TRIGGERED_BY(AVAILABLE(room_query.date_time.time.timeperiod_spec) &&
@@ -1768,14 +1768,14 @@
                  NOT_AVAILABLE(room_query.date_time.time.end_time))
 	REQUEST_CONCEPT(room_query.date_time)
 	PROMPT("request what_specific_time <room_query.date_time.time.timeperiod_spec")
-    GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.date_time]>:datetime,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[DateTimeSpec.date_time]>:datetime")
+    GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.date_time]>:datetime,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[DateTimeSpec.date_time]>:datetime")
     SUCCEEDS_WHEN(
         AVAILABLE(room_query.date_time.time.start_time) ||
         AVAILABLE(room_query.date_time.time.end_time))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/RequestStartTime
+// /TeamTalk/Task/GetQuery/RequestDateTime/RequestStartTime
 DEFINE_REQUEST_AGENT( CRequestStartTime,
     PRECONDITION(NOT_AVAILABLE(room_query.date_time.time.start_time))
 	REQUEST_CONCEPT(room_query.date_time)
@@ -1785,7 +1785,7 @@
     SUCCEEDS_WHEN(AVAILABLE(room_query.date_time.time.start_time))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/RequestEndTime
+// /TeamTalk/Task/GetQuery/RequestDateTime/RequestEndTime
 DEFINE_REQUEST_AGENT( CRequestEndTime,
     PRECONDITION(
         NOT_AVAILABLE(room_query.date_time.time.end_time) && 
@@ -1800,7 +1800,7 @@
         (C("room_query.date_time.time.start_time") <= C("room_query.date_time.time.end_time")))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/DisambiguateDate
+// /TeamTalk/Task/GetQuery/RequestDateTime/DisambiguateDate
 DEFINE_AGENCY( CDisambiguateDate, 
     PRECONDITION(SAME_AS_TRIGGER)
     TRIGGERED_BY(IS_TRUE(room_query.date_time.date.ambiguous))
@@ -1816,7 +1816,7 @@
     RESET_ON_COMPLETION
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/DisambiguateDate/RequestUnambiguousDate
+// /TeamTalk/Task/GetQuery/RequestDateTime/DisambiguateDate/RequestUnambiguousDate
 DEFINE_REQUEST_AGENT( CRequestUnambiguousDate,
     REQUEST_CONCEPT(disambiguated_date_time)
     PROMPT("request disambiguated_date_time date_choice<room_query.date_time.date.date_choice")
@@ -1829,13 +1829,13 @@
     )
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/DisambiguateDate/NeitherDate
+// /TeamTalk/Task/GetQuery/RequestDateTime/DisambiguateDate/NeitherDate
 DEFINE_EXECUTE_AGENT( CNeitherDate, 
     TRIGGERED_BY_COMMANDS("@(..)[Neither]", none)
     EXECUTE(CLEAR(room_query.date_time.date))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/DisambiguateDate/FirstDate
+// /TeamTalk/Task/GetQuery/RequestDateTime/DisambiguateDate/FirstDate
 DEFINE_EXECUTE_AGENT( CFirstDate, 
     TRIGGERED_BY_COMMANDS("@(..)[FirstOne]", none)
     CALL("gal_be.launch_query query=disambiguate_date "
@@ -1843,7 +1843,7 @@
          "date>disambiguated_date_time.date")
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/DisambiguateDate/SecondDate
+// /TeamTalk/Task/GetQuery/RequestDateTime/DisambiguateDate/SecondDate
 DEFINE_EXECUTE_AGENT( CSecondDate, 
     TRIGGERED_BY_COMMANDS("@(..)[SecondOne]", none)
     CALL("gal_be.launch_query query=disambiguate_date "
@@ -1851,7 +1851,7 @@
          "date>disambiguated_date_time.date")
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/PastDate
+// /TeamTalk/Task/GetQuery/RequestDateTime/PastDate
 DEFINE_INFORM_AGENT( CPastDate, 
     PRECONDITION(SAME_AS_TRIGGER)
     TRIGGERED_BY(IS_TRUE(room_query.date_time.date.past_date))
@@ -1862,7 +1862,7 @@
     )
 )       
 
-// /zap2/Task/GetQuery/RequestDateTime/WrongTimeOrder
+// /TeamTalk/Task/GetQuery/RequestDateTime/WrongTimeOrder
 DEFINE_INFORM_AGENT( CWrongTimeOrder,
 	PRECONDITION(SAME_AS_TRIGGER)
     TRIGGERED_BY(
@@ -1884,7 +1884,7 @@
         CLEAR(room_query.date_time.time.end_time))
 )
 
-// /zap2/Task/GetQuery/RequestDateTime/ComputeEndTimeFromDuration
+// /TeamTalk/Task/GetQuery/RequestDateTime/ComputeEndTimeFromDuration
 DEFINE_EXECUTE_AGENT( CComputeEndTimeFromDuration, 
     PRECONDITION(SAME_AS_TRIGGER)
     TRIGGERED_BY(
@@ -1898,85 +1898,85 @@
     )
 )
 
-// /zap2/Task/GetQuery/ExpectRoomNumber
+// /TeamTalk/Task/GetQuery/ExpectRoomNumber
 DEFINE_EXPECT_AGENT( CExpectRoomNumber,	
 	EXPECT_CONCEPT(room_query.room_number)
     GRAMMAR_MAPPING(
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.4625]>4625,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.4623]>4623,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.7220]>7220,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.8220]>8220,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.4632]>4632,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.4513]>4513,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.3509]>3509,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.1505]>1505,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.1507]>1507,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.2507]>2507,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.3001]>3001,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.3305]>3305,"\
-        "@(..;/zap2/AnythingElse)[NeedRoom.room.room_number.3501]>3501")
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.4625]>4625,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.4623]>4623,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.7220]>7220,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.8220]>8220,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.4632]>4632,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.4513]>4513,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.3509]>3509,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.1505]>1505,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.1507]>1507,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.2507]>2507,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.3001]>3001,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.3305]>3305,"\
+        "@(..;/TeamTalk/AnythingElse)[NeedRoom.room.room_number.3501]>3501")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomLocation
+// /TeamTalk/Task/GetQuery/ExpectRoomLocation
 DEFINE_EXPECT_AGENT( CExpectRoomLocation,	
 	EXPECT_CONCEPT(room_query.room_location)
-	GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[RoomLocationSpec.location],"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.location],"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.room.location]")
+	GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[RoomLocationSpec.location],"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.location],"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.room.location]")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomSize
+// /TeamTalk/Task/GetQuery/ExpectRoomSize
 DEFINE_EXPECT_AGENT( CExpectRoomSize,	
 	EXPECT_CONCEPT(room_query.room_size)
-    GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[RoomSizeSpec.room_size.number]>:number,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.room_size.number]>:number")
+    GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[RoomSizeSpec.room_size.number]>:number,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.room_size.number]>:number")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomSizeSpec
+// /TeamTalk/Task/GetQuery/ExpectRoomSizeSpec
 DEFINE_EXPECT_AGENT( CExpectRoomSizeSpec,	
 	EXPECT_CONCEPT(room_query.room_size_spec)
-    GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[RoomSizeSpec.room_size_spec.rss_large]>large,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.room_size_spec.rss_large]>large,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[RoomSizeSpec.room_size_spec.rss_small]>small,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.room_size_spec.rss_small]>small")
+    GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[RoomSizeSpec.room_size_spec.rss_large]>large,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.room_size_spec.rss_large]>large,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[RoomSizeSpec.room_size_spec.rss_small]>small,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.room_size_spec.rss_small]>small")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomProjector
+// /TeamTalk/Task/GetQuery/ExpectRoomProjector
 DEFINE_EXPECT_AGENT( CExpectRoomProjector,	
 	EXPECT_CONCEPT(room_query.room_projector)
-	GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[ProjectorSpec.projector]>true,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.projector]>true")
+	GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[ProjectorSpec.projector]>true,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.projector]>true")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomNetwork
+// /TeamTalk/Task/GetQuery/ExpectRoomNetwork
 DEFINE_EXPECT_AGENT( CExpectRoomNetwork,	
 	EXPECT_CONCEPT(room_query.room_network)
-	GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[NetworkingSpec.networking]>true,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.networking]>true")
+	GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NetworkingSpec.networking]>true,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.networking]>true")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomWhiteboard
+// /TeamTalk/Task/GetQuery/ExpectRoomWhiteboard
 DEFINE_EXPECT_AGENT( CExpectRoomWhiteboard,	
 	EXPECT_CONCEPT(room_query.room_whiteboard)
-	GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[WhiteboardSpec.whiteboard]>true,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.whiteboard]>true")
+	GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[WhiteboardSpec.whiteboard]>true,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.whiteboard]>true")
 )
 
-// /zap2/Task/GetQuery/ExpectRoomComputer
+// /TeamTalk/Task/GetQuery/ExpectRoomComputer
 DEFINE_EXPECT_AGENT( CExpectRoomComputer,	
 	EXPECT_CONCEPT(room_query.room_computer)
-	GRAMMAR_MAPPING("@(/zap2/Task;/zap2/AnythingElse)[ComputerSpec.computer]>true,"\
-                    "@(/zap2/Task;/zap2/AnythingElse)[NeedRoom.computer]>true")
+	GRAMMAR_MAPPING("@(/TeamTalk/Task;/TeamTalk/AnythingElse)[ComputerSpec.computer]>true,"\
+                    "@(/TeamTalk/Task;/TeamTalk/AnythingElse)[NeedRoom.computer]>true")
 )
 
-// /zap2/Task/GetQuery/ExpectNeedRoom
+// /TeamTalk/Task/GetQuery/ExpectNeedRoom
 DEFINE_EXPECT_AGENT( CExpectNeedRoom,	
 	EXPECT_CONCEPT(need_room)
-	GRAMMAR_MAPPING("@(/zap2/Task/GetQuery;/zap2/AnythingElse)[NeedRoom]>true,"\
-                    "@(/zap2/Task/GetQuery;/zap2/AnythingElse)[ListRooms]>true")
+	GRAMMAR_MAPPING("@(/TeamTalk/Task/GetQuery;/TeamTalk/AnythingElse)[NeedRoom]>true,"\
+                    "@(/TeamTalk/Task/GetQuery;/TeamTalk/AnythingElse)[ListRooms]>true")
 )
 
-// /zap2/Task/PerformQuery
+// /TeamTalk/Task/PerformQuery
 DEFINE_EXECUTE_AGENT( CPerformQuery,
 	PRECONDITION(COMPLETED(../GetQuery))
 	CALL("gal_be.launch_query query=room_query <room_query >results >suggested_refine")
@@ -1987,7 +1987,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/DiscussResults
+// /TeamTalk/Task/DiscussResults
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY( CDiscussResults,
     DEFINE_CONCEPTS(
@@ -2002,7 +2002,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/DiscussResults/PresentResults
+// /TeamTalk/Task/DiscussResults/PresentResults
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY( CPresentResults,
 	DEFINE_SUBAGENTS(
@@ -2013,7 +2013,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/DiscussResults/PresentResults/NoResults
+// /TeamTalk/Task/DiscussResults/PresentResults/NoResults
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT( CNoResults,
     PRECONDITION(SIZE(results) == 0)
@@ -2022,7 +2022,7 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/DiscussResults/PresentResults/SingleResult
+// /TeamTalk/Task/DiscussResults/PresentResults/SingleResult
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY( CSingleResult,
     IS_MAIN_TOPIC()
@@ -2042,20 +2042,20 @@
                             "{inform room_details room_details<results.0}")
 )
 
-// /zap2/Task/DiscussResults/PresentResults/SingleResult/InformSingleResult
+// /TeamTalk/Task/DiscussResults/PresentResults/SingleResult/InformSingleResult
 DEFINE_INFORM_AGENT( CInformSingleResult,
     PROMPT("{inform single_result <results <room_query.-1}"\
            "{inform room_details room_details<results.0}")
 )
 
-// /zap2/Task/DiscussResults/PresentResults/SingleResult/RequestWantReservation
+// /TeamTalk/Task/DiscussResults/PresentResults/SingleResult/RequestWantReservation
 DEFINE_REQUEST_AGENT( CRequestWantReservation,
     REQUEST_CONCEPT(want_reservation_single)
     PROMPT("request want_reservation_single <results.0")
     GRAMMAR_MAPPING("![Yes]>true, ![No]>false")
 )
 
-// /zap2/Task/DiscussResults/PresentResults/SingleResult/QuerySingleRoomDetails
+// /TeamTalk/Task/DiscussResults/PresentResults/SingleResult/QuerySingleRoomDetails
 DEFINE_INFORM_AGENT( CQuerySingleRoomDetails,
 	PRECONDITION(FALSE)
 	TRIGGERED_BY_COMMANDS("[QueryRoomDetails], [QueryProjector], [QueryWhiteboard],"\
@@ -2064,7 +2064,7 @@
 	RESET_ON_COMPLETION
 )
 
-// /zap2/Task/DiscussResults/PresentResults/SingleResult/QueryOtherRooms
+// /TeamTalk/Task/DiscussResults/PresentResults/SingleResult/QueryOtherRooms
 DEFINE_INFORM_AGENT( CQueryOtherRooms, 
 	PRECONDITION(FALSE)
 	TRIGGERED_BY_COMMANDS("[QueryOtherRooms], [ListRooms], "\
@@ -2073,13 +2073,13 @@
 	RESET_ON_COMPLETION
 )
 
-// /zap2/Task/DiscussResults/PresentResults/SingleResult/RecordReservation

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Fri Sep 21 01:58:36 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 01:58:36 -0400
Subject: [TeamTalk 222]: [758] trunk/TeamTalk: 1) Removed faulty prebuild
 command from backendstub. vcproj
Message-ID: <200709210558.l8L5waSF009742@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/5191901b/attachment-0001.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-09-21 04:49:24 UTC (rev 757)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-09-21 05:58:36 UTC (rev 758)
@@ -43,7 +43,7 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="0"
-				AdditionalIncludeDirectories="..\..\Libraries\Galaxy\include;..\..\Libraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\coralshared;..\Pythia\PythiaDynamicClient"
+				AdditionalIncludeDirectories="..\..\Libraries\Galaxy\include;..\..\Libraries\Galaxy\contrib\MITRE\utilities\include;..\..\Libraries\PrimitiveComm;..\..\Libraries\boeingLib\boeing;..\..\Libraries\boeingLib\coralshared;..\Pythia\PythiaDynamicClient"
 				PreprocessorDefinitions="WIN32;_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_DEPRECATE"
 				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
@@ -127,7 +127,7 @@
 			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\..\Libraries\Galaxy\include;..\..\Libraries\Galaxy\contrib\MITRE\utilities\include;..\PrimitiveComm;..\boeingLib\boeing;..\boeingLib\coralshared;..\Pythia\PythiaDynamicClient"
+				AdditionalIncludeDirectories="..\..\Libraries\Galaxy\include;..\..\Libraries\Galaxy\contrib\MITRE\utilities\include;..\..\Libraries\PrimitiveComm;..\..\Libraries\boeingLib\boeing;..\..\Libraries\boeingLib\coralshared;..\Pythia\PythiaDynamicClient"
 				PreprocessorDefinitions="WIN32;NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_DEPRECATE"
 				RuntimeLibrary="2"
 				StructMemberAlignment="3"

Modified: trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj	2007-09-21 04:49:24 UTC (rev 757)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj	2007-09-21 05:58:36 UTC (rev 758)
@@ -26,7 +26,7 @@
 			<Tool
 				Name="VCPreBuildEventTool"
 				Description="Setting up directories for executable..."
-				CommandLine="IF NOT EXIST ..\..\bin\nul mkdir ..\..\bin; IF NOT EXIST ..\..\bin\x86-nt\nul mkdir ..\..\bin\x86-nt"
+				CommandLine=""
 			/>
 			<Tool
 				Name="VCCustomBuildTool"

Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-21 04:49:24 UTC (rev 757)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-21 05:58:36 UTC (rev 758)
@@ -69,7 +69,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="..\Libraries\RavenClaw\Lib\DebugGalaxy\RavenClaw_debug.lib user32.lib ws2_32.lib ..\Libraries\Galaxy\lib\x86-nt\libGalaxy_debug.lib"
+				AdditionalDependencies="user32.lib ws2_32.lib ..\..\Libraries\Galaxy\lib\x86-nt\libGalaxy_debug.lib"
 				OutputFile="$(OutDir)/TeamTalkDM.exe"
 				LinkIncremental="2"
 				SuppressStartupBanner="true"

Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-21 04:49:24 UTC (rev 757)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-21 05:58:36 UTC (rev 758)
@@ -1,7 +1,8 @@
 @echo off
 
 :: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer=5.5.1
+SET NetBeansVer=5.5.1
+REM SET CYGWIN_DIR=E:\cygwin
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
@@ -18,17 +19,16 @@
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
 
-:Build the Visual Studio solutions
-
 ::Get the home directory of Visual Studio
+echo Looking for visual studio 8.0 (2005)...
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
 type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
 if errorlevel 1 goto VSERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
 if errorlevel 1 goto VSERROR
-echo Visual Studio 8.0 home path (per registry) = %VSTemp%
-::del reg1.txt
-::del reg2.txt
+::echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+del reg1.txt
+del reg2.txt
 
 ::Convert double backslashes to single backslashes
 set VSHome=
@@ -40,39 +40,23 @@
   goto VSWHILE
 :VSWEND
 set VSTemp=
-echo Visual Studio 8.0 home path (long, with spaces) = %VSHome%
+echo Visual Studio 8.0 home path (per registry) = %VSHome%
 
 ::Test the devenv path to see if there really is a devenv.exe
 if not exist "%VSHome%\devenv.exe" goto VSERROR
 
-::Compile
-cd Agents
-CALL "%VSHome%\devenv" Agents.sln /Build Release
-cd ..
-goto TOOLS
+::Check for cygwin
+echo Looking for Cygwin...
+IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGWINCHK2
+echo Found Cygwin.
+goto JAVACHK
 
-:: Do Not build TeamTalk Tools as there is nothing to build.
+:CYGWINCHK2
+IF not exist "%windir%\system32\cygwin1.dll" goto CYGERR
+echo Found Cygwin.
 
-:TOOLS build
-::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-::IF NOT VSDrive == "Non-Existent" cd Tools
-::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
-::IF NOT VSDrive == "Non-Existent" cd ..
-
-goto Run
-
-:VSERROR
-echo Can't find Visual Studio 8.0. Is it installed?
-
-goto Pause
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl --projectname TeamTalk
-cd ..\..
-
+:JAVACHK
+echo Looking for java JDK...
 ::Find the current (most recent) Java version
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
 type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
@@ -89,7 +73,7 @@
 if errorlevel 1 goto JAVAERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
 if errorlevel 1 goto JAVAERROR
-echo Java home path (per registry) = %JavaTemp%
+::echo Java home path (per registry) = %JavaTemp%
 del reg1.txt
 del reg2.txt
 
@@ -103,120 +87,138 @@
   goto WHILE
 :WEND
 set JavaTemp=
-echo Java home path (long, with spaces) = %JavaHome%
+echo Java home path (per registy) = %JavaHome%
 
-::Convert long path (with spaces) into a short path
-::for %%x in ("%JavaHome%") do set JavaHome=%%~dpsx
-::echo Java home path (short path, no spaces) = %JavaHome%
-
 ::Test the java path to see if there really is a javac.exe
 IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Java Compilation via Ant Environment Variable Setup
-
-set JAVA_HOME=%JavaHome%
-
-:Ant Compilation
-
+:ANTCHK
 FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
 goto NETBEANSERROR
 
 :NBA
 SET NetBeansDrive=A
-goto JBUILD
+goto Compile
 :NBB
 SET NetBeansDrive=B
-goto JBUILD
+goto Compile
 :NBC
 SET NetBeansDrive=C
-goto JBUILD
+goto Compile
 :NBD
 SET NetBeansDrive=D
-goto JBUILD
+goto Compile
 :NBE
 SET NetBeansDrive=E
-goto JBUILD
+goto Compile
 :NBF
 SET NetBeansDrive=F
-goto JBUILD
+goto Compile
 :NBG
 SET NetBeansDrive=G
-goto JBUILD
+goto Compile
 :NBH
 SET NetBeansDrive=H
-goto JBUILD
+goto Compile
 :NBI
 SET NetBeansDrive=I
-goto JBUILD
+goto Compile
 :NBJ
 SET NetBeansDrive=J
-goto JBUILD
+goto Compile
 :NBK
 SET NetBeansDrive=K
-goto JBUILD
+goto Compile
 :NBL
 SET NetBeansDrive=L
-goto JBUILD
+goto Compile
 :NBM
 SET NetBeansDrive=M
-goto JBUILD
+goto Compile
 :NBN
 SET NetBeansDrive=N
-goto JBUILD
+goto Compile
 :NBO
 SET NetBeansDrive=O
-goto JBUILD
+goto Compile
 :NBP
 SET NetBeansDrive=P
-goto JBUILD
+goto Compile
 :NBQ
 SET NetBeansDrive=Q
-goto JBUILD
+goto Compile
 :NBR
 SET NetBeansDrive=R
-goto JBUILD
+goto Compile
 :NBS
 SET NetBeansDrive=S
-goto JBUILD
+goto Compile
 :NBT
 SET NetBeansDrive=T
-goto JBUILD
+goto Compile
 :NBU
 SET NetBeansDrive=U
-goto JBUILD
+goto Compile
 :NBV
 SET NetBeansDrive=V
-goto JBUILD
+goto Compile
 :NBW
 SET NetBeansDrive=W
-goto JBUILD
+goto Compile
 :NBX
 SET NetBeansDrive=X
-goto JBUILD
+goto Compile
 :NBY
 SET NetBeansDrive=Y
-goto JBUILD
+goto Compile
 :NBZ
 SET NetBeansDrive=Z
-goto JBUILD
 
+:Compile
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Build Release
+cd ..
+
+:: Do Not build TeamTalk Tools as there is nothing to build.
+:TOOLS build
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
+::IF NOT VSDrive == "Non-Existent" cd ..
+
+:Java Compilation via Ant Environment Variable Setup
+
+set JAVA_HOME=%JavaHome%
+
+:Ant Compilation
 :JBUILD
 CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
 
+:Run MakeLM
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl --projectname TeamTalk
+cd ..\..
 goto Pause
 
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+goto Pause
+
+:CYGERROR
+echo Can't find cygwin. Please set the environment variable CYGWIN_DIR to your root cygwin installation.
+goto Pause
+
 :JAVAERROR
 echo Can't find Java Development Kit. Is it installed?
 goto Pause
 
 :NETBEANSERROR
 echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
 goto Pause
 
 :Error message that says that the script was run outside of the TeamTalk directory.
-
 echo. 
 echo This script must be run with the current directory being that of the script.  
 echo (For example, click directly on the script in Windows Explorer instead of 

Modified: trunk/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-21 04:49:24 UTC (rev 757)
+++ trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-21 05:58:36 UTC (rev 758)
@@ -1,156 +1,224 @@
 @echo off
 
-:: If Netbeans and/or Java is updated change the NetBeans and/or version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer=5.5.1
-set JDKVer=1.6.0_02
+:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
+SET NetBeansVer=5.5.1
+REM SET CYGWIN_DIR=E:\cygwin
 
 :Check to make sure the file is not running with a wrong working directory
-title TeamTalk Code Debug Build - Win32
-IF NOT EXIST TeamTalkDebugBuild.bat goto Error
+title TeamTalk Code Build - Win32
+IF NOT EXIST TeamTalkBuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
 
 :Make directories for logs, temp files, and builds if they do not exist already
 echo Creating Working Directories
-If NOT EXIST logs\nul mkdir logs > nul
+IF NOT EXIST logs\nul mkdir logs > nul
 IF NOT EXIST bin\nul mkdir bin > nul
 cd bin
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
 
-:Build the Visual Studio solutions
+::Get the home directory of Visual Studio
+echo Looking for visual studio 8.0 (2005)...
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
+type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
+if errorlevel 1 goto VSERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
+if errorlevel 1 goto VSERROR
+::echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+del reg1.txt
+del reg2.txt
 
-set VSDrive=Non-Existent
+::Convert double backslashes to single backslashes
+set VSHome=
+:VSWHILE
+  if "%VSTemp%"=="" goto VSWEND
+  if not "%VSHome%"=="" set VSHome=%VSHome%\
+  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
+  goto VSWHILE
+:VSWEND
+set VSTemp=
+echo Visual Studio 8.0 home path (per registry) = %VSHome%
 
-IF EXIST "A:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=A
-IF EXIST "B:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=B
-IF EXIST "C:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=C
-IF EXIST "D:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=D
-IF EXIST "E:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=E
-IF EXIST "F:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=F
-IF EXIST "G:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=G
-IF EXIST "H:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=H
-IF EXIST "I:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=I
-IF EXIST "J:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=J
-IF EXIST "K:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=K
-IF EXIST "L:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=L
-IF EXIST "M:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=M
-IF EXIST "N:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=N
-IF EXIST "O:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=O
-IF EXIST "P:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=P
-IF EXIST "Q:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Q
-IF EXIST "R:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=R
-IF EXIST "S:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=S
-IF EXIST "T:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=T
-IF EXIST "U:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=U
-IF EXIST "V:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=V
-IF EXIST "W:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=W
-IF EXIST "X:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=X
-IF EXIST "Y:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Y
-IF EXIST "Z:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv.com" set VSDrive=Z
+::Test the devenv path to see if there really is a devenv.exe
+if not exist "%VSHome%\devenv.exe" goto VSERROR
 
-IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Agents -- This may take 3-9 Minutes, Please Wait...
-IF NOT VSDrive == "Non-Existent" cd Agents
-IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Agents.sln /Build Debug
-IF NOT VSDrive == "Non-Existent" cd ..
+::Check for cygwin
+echo Looking for Cygwin...
+IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGWINCHK2
+echo Found Cygwin.
+goto JAVACHK
 
-:: Do Not build TeamTalk Tools as there is nothing to build.
+:CYGWINCHK2
+IF not exist "%windir%\system32\cygwin1.dll" goto CYGERR
+echo Found Cygwin.
 
-::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-::IF NOT VSDrive == "Non-Existent" cd Tools
-::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
-::IF NOT VSDrive == "Non-Existent" cd ..
+:JAVACHK
+echo Looking for java JDK...
+::Find the current (most recent) Java version
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
+type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+echo Java Version = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
-IF VSDrive == "Non-Existent" echo TeamTalk Tools and Agents can not be built because the location of Microsoft Visual Studio 2005 can not be determined
+::Get the home directory of the most recent Java
+start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
+type reg1.txt | %windir%\system32\find.exe "JavaHome" > reg2.txt
+if errorlevel 1 goto JAVAERROR
+for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
+if errorlevel 1 goto JAVAERROR
+::echo Java home path (per registry) = %JavaTemp%
+del reg1.txt
+del reg2.txt
 
-:Run MakeLM
+::Convert double backslashes to single backslashes
+set JavaHome=
+:WHILE
+  if "%JavaTemp%"=="" goto WEND
+  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
+  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
+  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
+  goto WHILE
+:WEND
+set JavaTemp=
+echo Java home path (per registy) = %JavaHome%
 
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl
-cd ..\..
+::Test the java path to see if there really is a javac.exe
+IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Java Compilation via Ant Environment Variable Setup
+:ANTCHK
+FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
+goto NETBEANSERROR
 
-set JavaDrive=Non-Existent
+:NBA
+SET NetBeansDrive=A
+goto Compile
+:NBB
+SET NetBeansDrive=B
+goto Compile
+:NBC
+SET NetBeansDrive=C
+goto Compile
+:NBD
+SET NetBeansDrive=D
+goto Compile
+:NBE
+SET NetBeansDrive=E
+goto Compile
+:NBF
+SET NetBeansDrive=F
+goto Compile
+:NBG
+SET NetBeansDrive=G
+goto Compile
+:NBH
+SET NetBeansDrive=H
+goto Compile
+:NBI
+SET NetBeansDrive=I
+goto Compile
+:NBJ
+SET NetBeansDrive=J
+goto Compile
+:NBK
+SET NetBeansDrive=K
+goto Compile
+:NBL
+SET NetBeansDrive=L
+goto Compile
+:NBM
+SET NetBeansDrive=M
+goto Compile
+:NBN
+SET NetBeansDrive=N
+goto Compile
+:NBO
+SET NetBeansDrive=O
+goto Compile
+:NBP
+SET NetBeansDrive=P
+goto Compile
+:NBQ
+SET NetBeansDrive=Q
+goto Compile
+:NBR
+SET NetBeansDrive=R
+goto Compile
+:NBS
+SET NetBeansDrive=S
+goto Compile
+:NBT
+SET NetBeansDrive=T
+goto Compile
+:NBU
+SET NetBeansDrive=U
+goto Compile
+:NBV
+SET NetBeansDrive=V
+goto Compile
+:NBW
+SET NetBeansDrive=W
+goto Compile
+:NBX
+SET NetBeansDrive=X
+goto Compile
+:NBY
+SET NetBeansDrive=Y
+goto Compile
+:NBZ
+SET NetBeansDrive=Z
 
-IF EXIST "A:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=A
-IF EXIST "B:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=B
-IF EXIST "C:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=C
-IF EXIST "D:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=D
-IF EXIST "E:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=E
-IF EXIST "F:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=F
-IF EXIST "G:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=G
-IF EXIST "H:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=H
-IF EXIST "I:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=I
-IF EXIST "J:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=J
-IF EXIST "K:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=K
-IF EXIST "L:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=L
-IF EXIST "M:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=M
-IF EXIST "N:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=N
-IF EXIST "O:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=O
-IF EXIST "P:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=P
-IF EXIST "Q:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Q
-IF EXIST "R:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=R
-IF EXIST "S:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=S
-IF EXIST "T:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=T
-IF EXIST "U:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=U
-IF EXIST "V:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=V
-IF EXIST "W:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=W
-IF EXIST "X:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=X
-IF EXIST "Y:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Y
-IF EXIST "Z:\Program Files\Java\jdk%JDKVer%\bin\javac.exe" set JavaDrive=Z
+:Compile
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Build Debug
+cd ..
 
-IF NOT %JavaDrive% == "Non-Existent" set JAVA_HOME=%JavaDrive%:\Program Files\Java\jdk%JDKVer%
+:: Do Not build TeamTalk Tools as there is nothing to build.
+:TOOLS build
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
+::IF NOT VSDrive == "Non-Existent" cd ..
 
-:Clean Up Before Doing the Ant Compilation which Ends the Script
-:: ---------------------
-:: Remove the environment variables
+:Java Compilation via Ant Environment Variable Setup
 
-set VSDrive=
-set JavaDrive=
-set JDKVer=
+set JAVA_HOME=%JavaHome%
 
 :Ant Compilation
+:JBUILD
+CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
 
-set NetBeansDrive=Non-Existent
+:Run MakeLM
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl --projectname TeamTalk
+cd ..\..
+goto Pause
 
-IF EXIST "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "A:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "B:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "C:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "D:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "E:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "F:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "G:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "H:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "I:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "J:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "K:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "L:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "M:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "N:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "O:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "P:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Q:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "R:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "S:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "T:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "U:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "V:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "W:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "X:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Y:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-IF EXIST "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" "Z:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+goto Pause
 
-echo The Pen Decoder cannot be built because the location of NetBeans %NetBeansVer% can not be determined.
+:CYGERROR
+echo Can't find cygwin. Please set the environment variable CYGWIN_DIR to your root cygwin installation.
+goto Pause
 
-:: Don't display the message that the script was run in the wrong working directory as that was not the case
+:JAVAERROR
+echo Can't find Java Development Kit. Is it installed?
 goto Pause
 
+:NETBEANSERROR
+echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
+goto Pause
+
 :Error message that says that the script was run outside of the TeamTalk directory.
-
 echo. 
 echo This script must be run with the current directory being that of the script.  
 echo (For example, click directly on the script in Windows Explorer instead of 
@@ -160,4 +228,5 @@
 echo.  
 
 :Pause the script execution so the DOS windows does not disappear too soon.
-pause
\ No newline at end of file
+pause
+exit
\ No newline at end of file

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-21 04:49:24 UTC (rev 757)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-21 05:58:36 UTC (rev 758)
@@ -1,11 +1,12 @@
 @echo off
 
 :: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-set NetBeansVer=5.5.1
+SET NetBeansVer=5.5.1
+REM SET CYGWIN_DIR=E:\cygwin
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
-IF NOT EXIST TeamTalkRebuild.bat goto Error
+IF NOT EXIST TeamTalkBuild.bat goto Error
 IF NOT EXIST Agents\Agents.sln goto Error
 IF NOT EXIST Tools\Tools.sln goto Error
 IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
@@ -18,17 +19,16 @@
 IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
 cd ..
 
-:Build the Visual Studio solutions
-
 ::Get the home directory of Visual Studio
+echo Looking for visual studio 8.0 (2005)...
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
 type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
 if errorlevel 1 goto VSERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
 if errorlevel 1 goto VSERROR
-echo Visual Studio 8.0 home path (per registry) = %VSTemp%
-::del reg1.txt
-::del reg2.txt
+::echo Visual Studio 8.0 home path (per registry) = %VSTemp%
+del reg1.txt
+del reg2.txt
 
 ::Convert double backslashes to single backslashes
 set VSHome=
@@ -40,39 +40,23 @@
   goto VSWHILE
 :VSWEND
 set VSTemp=
-echo Visual Studio 8.0 home path (long, with spaces) = %VSHome%
+echo Visual Studio 8.0 home path (per registry) = %VSHome%
 
 ::Test the devenv path to see if there really is a devenv.exe
 if not exist "%VSHome%\devenv.exe" goto VSERROR
 
-::Compile
-cd Agents
-CALL "%VSHome%\devenv" Agents.sln /Rebuild Release
-cd ..
-goto TOOLS
+::Check for cygwin
+echo Looking for Cygwin...
+IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGWINCHK2
+echo Found Cygwin.
+goto JAVACHK
 
-:: Do Not build TeamTalk Tools as there is nothing to build.
+:CYGWINCHK2
+IF not exist "%windir%\system32\cygwin1.dll" goto CYGERR
+echo Found Cygwin.
 
-:TOOLS build
-::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-::IF NOT VSDrive == "Non-Existent" cd Tools
-::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
-::IF NOT VSDrive == "Non-Existent" cd ..
-
-goto Run
-
-:VSERROR
-echo Can't find Visual Studio 8.0. Is it installed?
-
-goto Pause
-
-:Run MakeLM
-
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl --projectname TeamTalk
-cd ..\..
-
+:JAVACHK
+echo Looking for java JDK...
 ::Find the current (most recent) Java version
 start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
 type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
@@ -89,7 +73,7 @@
 if errorlevel 1 goto JAVAERROR
 for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
 if errorlevel 1 goto JAVAERROR
-echo Java home path (per registry) = %JavaTemp%
+::echo Java home path (per registry) = %JavaTemp%
 del reg1.txt
 del reg2.txt
 
@@ -103,120 +87,143 @@
   goto WHILE
 :WEND
 set JavaTemp=
-echo Java home path (long, with spaces) = %JavaHome%
+echo Java home path (per registy) = %JavaHome%
 
-::Convert long path (with spaces) into a short path
-::for %%x in ("%JavaHome%") do set JavaHome=%%~dpsx
-::echo Java home path (short path, no spaces) = %JavaHome%
-
 ::Test the java path to see if there really is a javac.exe
 IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
 
-:Java Compilation via Ant Environment Variable Setup
-
-set JAVA_HOME=%JavaHome%
-
-:Ant Compilation
-
+:ANTCHK
+echo Looking for NetBeans version %NetBeansVer%...
 FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 
 goto NETBEANSERROR
 
 :NBA
 SET NetBeansDrive=A
-goto JBUILD
+goto Compile
 :NBB
 SET NetBeansDrive=B
-goto JBUILD
+goto Compile
 :NBC
 SET NetBeansDrive=C
-goto JBUILD
+goto Compile
 :NBD
 SET NetBeansDrive=D
-goto JBUILD
+goto Compile
 :NBE
 SET NetBeansDrive=E
-goto JBUILD
+goto Compile
 :NBF
 SET NetBeansDrive=F
-goto JBUILD
+goto Compile
 :NBG
 SET NetBeansDrive=G
-goto JBUILD
+goto Compile
 :NBH
 SET NetBeansDrive=H
-goto JBUILD
+goto Compile
 :NBI
 SET NetBeansDrive=I
-goto JBUILD
+goto Compile
 :NBJ
 SET NetBeansDrive=J
-goto JBUILD
+goto Compile
 :NBK
 SET NetBeansDrive=K
-goto JBUILD
+goto Compile
 :NBL
 SET NetBeansDrive=L
-goto JBUILD
+goto Compile
 :NBM
 SET NetBeansDrive=M
-goto JBUILD
+goto Compile
 :NBN
 SET NetBeansDrive=N
-goto JBUILD
+goto Compile
 :NBO
 SET NetBeansDrive=O
-goto JBUILD
+goto Compile
 :NBP
 SET NetBeansDrive=P
-goto JBUILD
+goto Compile
 :NBQ
 SET NetBeansDrive=Q
-goto JBUILD
+goto Compile
 :NBR
 SET NetBeansDrive=R
-goto JBUILD
+goto Compile
 :NBS
 SET NetBeansDrive=S
-goto JBUILD
+goto Compile
 :NBT
 SET NetBeansDrive=T
-goto JBUILD
+goto Compile
 :NBU
 SET NetBeansDrive=U
-goto JBUILD
+goto Compile
 :NBV
 SET NetBeansDrive=V
-goto JBUILD
+goto Compile
 :NBW
 SET NetBeansDrive=W
-goto JBUILD
+goto Compile
 :NBX
 SET NetBeansDrive=X
-goto JBUILD
+goto Compile
 :NBY
 SET NetBeansDrive=Y
-goto JBUILD
+goto Compile
 :NBZ
 SET NetBeansDrive=Z
-goto JBUILD
 
+:Compile
+echo Compiling Agents...
+cd Agents
+CALL "%VSHome%\devenv" Agents.sln /Rebuild Release
+cd ..
+pause
+
+:: Do Not build TeamTalk Tools as there is nothing to build.
+:TOOLS build
+::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::IF NOT VSDrive == "Non-Existent" cd Tools
+::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
+::IF NOT VSDrive == "Non-Existent" cd ..
+::pause
+
+:Java Compilation via Ant Environment Variable Setup
+
+set JAVA_HOME=%JavaHome%
+
+:Ant Compilation
 :JBUILD
-CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml clean default
+CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+pause
 
+:Run MakeLM
+echo Now Executing MakeLM
+cd Tools\MakeLM
+perl makelm.pl --projectname TeamTalk
+cd ..\..
 goto Pause
 
+:VSERROR
+echo Can't find Visual Studio 8.0. Is it installed?
+goto Pause
+
+:CYGERROR
+echo Can't find cygwin. Please set the environment variable CYGWIN_DIR to your root cygwin installation.
+goto Pause
+
 :JAVAERROR
 echo Can't find Java Development Kit. Is it installed?
 goto Pause
 
 :NETBEANSERROR
 echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-
 goto Pause
 
 :Error message that says that the script was run outside of the TeamTalk directory.
-
 echo. 
 echo This script must be run with the current directory being that of the script.  
 echo (For example, click directly on the script in Windows Explorer instead of 
@@ -227,4 +234,4 @@
 
 :Pause the script execution so the DOS windows does not disappear too soon.
 pause
-exit
+exit
\ No newline at end of file

From air at edam.speech.cs.cmu.edu  Fri Sep 21 13:29:40 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 13:29:40 -0400
Subject: [TeamTalk 223]: [759] trunk/TeamTalk/Agents/TeamTalkBackend: fixed
 paths and minor text output change
Message-ID: <200709211729.l8LHTeIp010842@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/d913ace1/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/TeamTalkBackend/agent.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/agent.cpp	2007-09-21 05:58:36 UTC (rev 758)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/agent.cpp	2007-09-21 17:29:39 UTC (rev 759)
@@ -441,7 +441,7 @@
   const Point<float> p = location_.getLocation();
 	double distanceFromHome = p.length();
 	if(distanceFromHome < precision) {
-		ossMessage << "I am home";
+		ossMessage << "I am home.";
 	} else {
 		ossMessage << setiosflags(ios_base::fixed) << setprecision(1);
 		ossMessage << "I am "

Modified: trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj	2007-09-21 05:58:36 UTC (rev 758)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.vcproj	2007-09-21 17:29:39 UTC (rev 759)
@@ -43,7 +43,7 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="0"
-				AdditionalIncludeDirectories="..\..\PrimitiveComm;..\..\boeingLib\boeing;..\..\boeingLib\coralshared"
+				AdditionalIncludeDirectories="..\..\..\Libraries\PrimitiveComm;..\..\..\Libraries\boeingLib\boeing;..\..\..\Libraries\boeingLib\coralshared"
 				PreprocessorDefinitions="_SCL_SECURE_NO_DEPRECATE;_CRT_SECURE_NO_DEPRECATE;WIN32;_DEBUG;_CONSOLE;_WIN32_WINNT=0x501"
 				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
@@ -126,7 +126,7 @@
 			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\..\PrimitiveComm;..\..\boeingLib\boeing;..\..\boeingLib\coralshared"
+				AdditionalIncludeDirectories="..\..\..\Libraries\PrimitiveComm;..\..\..\Libraries\boeingLib\boeing;..\..\..\Libraries\boeingLib\coralshared"
 				PreprocessorDefinitions="_SCL_SECURE_NO_DEPRECATE;_CRT_SECURE_NO_DEPRECATE;WIN32;NDEBUG;_CONSOLE;_WIN32_WINNT=0x501"
 				RuntimeLibrary="2"
 				StructMemberAlignment="3"

From tk at edam.speech.cs.cmu.edu  Fri Sep 21 19:23:15 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 19:23:15 -0400
Subject: [TeamTalk 224]: [760] trunk/TeamTalk: 1) Consolidated build code
	into TeamTalkBuild.bat.
Message-ID: <200709212323.l8LNNFXK011237@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/070d2238/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-21 17:29:39 UTC (rev 759)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-21 23:23:15 UTC (rev 760)
@@ -1,8 +1,11 @@
 @echo off
 
+IF "%BUILD_TYPE%"=="" SET BUILD_TYPE=Build
+IF "%BUILD_CONF%"=="" SET BUILD_CONF=Release
+
 :: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
 SET NetBeansVer=5.5.1
-REM SET CYGWIN_DIR=E:\cygwin
+IF "%CYGWIN_DIR%"=="" SET CYGWIN_DIR=C:\cygwin
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Code Build - Win32
@@ -47,14 +50,9 @@
 
 ::Check for cygwin
 echo Looking for Cygwin...
-IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGWINCHK2
+IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGERR
 echo Found Cygwin.
-goto JAVACHK
 
-:CYGWINCHK2
-IF not exist "%windir%\system32\cygwin1.dll" goto CYGERR
-echo Found Cygwin.
-
 :JAVACHK
 echo Looking for java JDK...
 ::Find the current (most recent) Java version
@@ -78,23 +76,22 @@
 del reg2.txt
 
 ::Convert double backslashes to single backslashes
-set JavaHome=
+set JAVA_HOME=
 :WHILE
   if "%JavaTemp%"=="" goto WEND
-  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
-  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
+  if not "%JAVA_HOME%"=="" set JAVA_HOME=%JAVA_HOME%\
+  for /f "delims=\" %%x in ("%JavaTemp%") do set JAVA_HOME=%JAVA_HOME%%%x
   for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
   goto WHILE
 :WEND
 set JavaTemp=
-echo Java home path (per registy) = %JavaHome%
+echo Java home path (per registy) = %JAVA_HOME%
 
 ::Test the java path to see if there really is a javac.exe
-IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
+IF NOT EXIST "%JAVA_HOME%\bin\javac.exe" goto JAVAERROR
 
 :ANTCHK
 FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
-
 goto NETBEANSERROR
 
 :NBA
@@ -177,23 +174,21 @@
 
 :Compile
 cd Agents
-CALL "%VSHome%\devenv" Agents.sln /Build Release
+CALL "%VSHome%\devenv" Agents.sln /%BUILD_TYPE% %BUILD_CONF%
 cd ..
+pause
 
 :: Do Not build TeamTalk Tools as there is nothing to build.
 :TOOLS build
-::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-::IF NOT VSDrive == "Non-Existent" cd Tools
-::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Release
-::IF NOT VSDrive == "Non-Existent" cd ..
+REM echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+REM cd Tools
+REM CALL "%VSHome%\devenv" Tools.sln /%BUILD_TYPE% %BUILD_CONF%
+REM cd ..
 
-:Java Compilation via Ant Environment Variable Setup
-
-set JAVA_HOME=%JavaHome%
-
 :Ant Compilation
 :JBUILD
 CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
+pause
 
 :Run MakeLM
 echo Now Executing MakeLM
@@ -228,5 +223,7 @@
 echo.  
 
 :Pause the script execution so the DOS windows does not disappear too soon.
+SET BUILD_TYPE=
+SET BUILD_CONF=
+SET NetBeansVer=
 pause
-exit
\ No newline at end of file

Modified: trunk/TeamTalk/TeamTalkDebugBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-21 17:29:39 UTC (rev 759)
+++ trunk/TeamTalk/TeamTalkDebugBuild.bat	2007-09-21 23:23:15 UTC (rev 760)
@@ -1,232 +1,5 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-SET NetBeansVer=5.5.1
-REM SET CYGWIN_DIR=E:\cygwin
+SET BUILD_CONF=Debug
 
-:Check to make sure the file is not running with a wrong working directory
-title TeamTalk Code Build - Win32
-IF NOT EXIST TeamTalkBuild.bat goto Error
-IF NOT EXIST Agents\Agents.sln goto Error
-IF NOT EXIST Tools\Tools.sln goto Error
-IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
-
-:Make directories for logs, temp files, and builds if they do not exist already
-echo Creating Working Directories
-IF NOT EXIST logs\nul mkdir logs > nul
-IF NOT EXIST bin\nul mkdir bin > nul
-cd bin
-IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
-cd ..
-
-::Get the home directory of Visual Studio
-echo Looking for visual studio 8.0 (2005)...
-start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
-type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
-if errorlevel 1 goto VSERROR
-for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
-if errorlevel 1 goto VSERROR
-::echo Visual Studio 8.0 home path (per registry) = %VSTemp%
-del reg1.txt
-del reg2.txt
-
-::Convert double backslashes to single backslashes
-set VSHome=
-:VSWHILE
-  if "%VSTemp%"=="" goto VSWEND
-  if not "%VSHome%"=="" set VSHome=%VSHome%\
-  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
-  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
-  goto VSWHILE
-:VSWEND
-set VSTemp=
-echo Visual Studio 8.0 home path (per registry) = %VSHome%
-
-::Test the devenv path to see if there really is a devenv.exe
-if not exist "%VSHome%\devenv.exe" goto VSERROR
-
-::Check for cygwin
-echo Looking for Cygwin...
-IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGWINCHK2
-echo Found Cygwin.
-goto JAVACHK
-
-:CYGWINCHK2
-IF not exist "%windir%\system32\cygwin1.dll" goto CYGERR
-echo Found Cygwin.
-
-:JAVACHK
-echo Looking for java JDK...
-::Find the current (most recent) Java version
-start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
-type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
-if errorlevel 1 goto JAVAERROR
-for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
-if errorlevel 1 goto JAVAERROR
-echo Java Version = %JavaTemp%
-del reg1.txt
-del reg2.txt
-
-::Get the home directory of the most recent Java
-start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
-type reg1.txt | %windir%\system32\find.exe "JavaHome" > reg2.txt
-if errorlevel 1 goto JAVAERROR
-for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
-if errorlevel 1 goto JAVAERROR
-::echo Java home path (per registry) = %JavaTemp%
-del reg1.txt
-del reg2.txt
-
-::Convert double backslashes to single backslashes
-set JavaHome=
-:WHILE
-  if "%JavaTemp%"=="" goto WEND
-  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
-  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
-  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
-  goto WHILE
-:WEND
-set JavaTemp=
-echo Java home path (per registy) = %JavaHome%
-
-::Test the java path to see if there really is a javac.exe
-IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
-
-:ANTCHK
-FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
-
-goto NETBEANSERROR
-
-:NBA
-SET NetBeansDrive=A
-goto Compile
-:NBB
-SET NetBeansDrive=B
-goto Compile
-:NBC
-SET NetBeansDrive=C
-goto Compile
-:NBD
-SET NetBeansDrive=D
-goto Compile
-:NBE
-SET NetBeansDrive=E
-goto Compile
-:NBF
-SET NetBeansDrive=F
-goto Compile
-:NBG
-SET NetBeansDrive=G
-goto Compile
-:NBH
-SET NetBeansDrive=H
-goto Compile
-:NBI
-SET NetBeansDrive=I
-goto Compile
-:NBJ
-SET NetBeansDrive=J
-goto Compile
-:NBK
-SET NetBeansDrive=K
-goto Compile
-:NBL
-SET NetBeansDrive=L
-goto Compile
-:NBM
-SET NetBeansDrive=M
-goto Compile
-:NBN
-SET NetBeansDrive=N
-goto Compile
-:NBO
-SET NetBeansDrive=O
-goto Compile
-:NBP
-SET NetBeansDrive=P
-goto Compile
-:NBQ
-SET NetBeansDrive=Q
-goto Compile
-:NBR
-SET NetBeansDrive=R
-goto Compile
-:NBS
-SET NetBeansDrive=S
-goto Compile
-:NBT
-SET NetBeansDrive=T
-goto Compile
-:NBU
-SET NetBeansDrive=U
-goto Compile
-:NBV
-SET NetBeansDrive=V
-goto Compile
-:NBW
-SET NetBeansDrive=W
-goto Compile
-:NBX
-SET NetBeansDrive=X
-goto Compile
-:NBY
-SET NetBeansDrive=Y
-goto Compile
-:NBZ
-SET NetBeansDrive=Z
-
-:Compile
-cd Agents
-CALL "%VSHome%\devenv" Agents.sln /Build Debug
-cd ..
-
-:: Do Not build TeamTalk Tools as there is nothing to build.
-:TOOLS build
-::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-::IF NOT VSDrive == "Non-Existent" cd Tools
-::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Build Debug
-::IF NOT VSDrive == "Non-Existent" cd ..
-
-:Java Compilation via Ant Environment Variable Setup
-
-set JAVA_HOME=%JavaHome%
-
-:Ant Compilation
-:JBUILD
-CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-
-:Run MakeLM
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl --projectname TeamTalk
-cd ..\..
-goto Pause
-
-:VSERROR
-echo Can't find Visual Studio 8.0. Is it installed?
-goto Pause
-
-:CYGERROR
-echo Can't find cygwin. Please set the environment variable CYGWIN_DIR to your root cygwin installation.
-goto Pause
-
-:JAVAERROR
-echo Can't find Java Development Kit. Is it installed?
-goto Pause
-
-:NETBEANSERROR
-echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-goto Pause
-
-:Error message that says that the script was run outside of the TeamTalk directory.
-echo. 
-echo This script must be run with the current directory being that of the script.  
-echo (For example, click directly on the script in Windows Explorer instead of 
-echo entering the full path to the script at the command prompt.)
-echo.  
-echo If this is not the case, please contact bfrisch at gmail.com.
-echo.  
-
-:Pause the script execution so the DOS windows does not disappear too soon.
-pause
-exit
\ No newline at end of file
+TeamTalkBuild.bat

Added: trunk/TeamTalk/TeamTalkDebugRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkDebugRebuild.bat	                        (rev 0)
+++ trunk/TeamTalk/TeamTalkDebugRebuild.bat	2007-09-21 23:23:15 UTC (rev 760)
@@ -0,0 +1,6 @@
+ at echo off
+
+SET BUILD_TYPE=Rebuild
+SET BUILD_CONF=Debug
+
+TeamTalkBuild.bat

Modified: trunk/TeamTalk/TeamTalkRebuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-21 17:29:39 UTC (rev 759)
+++ trunk/TeamTalk/TeamTalkRebuild.bat	2007-09-21 23:23:15 UTC (rev 760)
@@ -1,237 +1,5 @@
 @echo off
 
-:: If Netbeans is updated change the NetBeans version to the current version of NetBeans as the default folder name will likely change.
-SET NetBeansVer=5.5.1
-REM SET CYGWIN_DIR=E:\cygwin
+SET BUILD_TYPE=Rebuild
 
-:Check to make sure the file is not running with a wrong working directory
-title TeamTalk Code Build - Win32
-IF NOT EXIST TeamTalkBuild.bat goto Error
-IF NOT EXIST Agents\Agents.sln goto Error
-IF NOT EXIST Tools\Tools.sln goto Error
-IF NOT EXIST Tools\MakeLM\makelm.pl goto Error
-
-:Make directories for logs, temp files, and builds if they do not exist already
-echo Creating Working Directories
-IF NOT EXIST logs\nul mkdir logs > nul
-IF NOT EXIST bin\nul mkdir bin > nul
-cd bin
-IF NOT EXIST x86-nt\nul mkdir x86-nt > nul
-cd ..
-
-::Get the home directory of Visual Studio
-echo Looking for visual studio 8.0 (2005)...
-start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\VisualStudio\8.0
-type reg1.txt | %windir%\system32\find.exe """InstallDir""=" > reg2.txt
-if errorlevel 1 goto VSERROR
-for /f "tokens=2 delims==" %%x in (reg2.txt) do set VSTemp=%%~x
-if errorlevel 1 goto VSERROR
-::echo Visual Studio 8.0 home path (per registry) = %VSTemp%
-del reg1.txt
-del reg2.txt
-
-::Convert double backslashes to single backslashes
-set VSHome=
-:VSWHILE
-  if "%VSTemp%"=="" goto VSWEND
-  if not "%VSHome%"=="" set VSHome=%VSHome%\
-  for /f "delims=\" %%x in ("%VSTemp%") do set VSHome=%VSHome%%%x
-  for /f "tokens=1,* delims=\" %%x in ("%VSTemp%") do set VSTemp=%%y
-  goto VSWHILE
-:VSWEND
-set VSTemp=
-echo Visual Studio 8.0 home path (per registry) = %VSHome%
-
-::Test the devenv path to see if there really is a devenv.exe
-if not exist "%VSHome%\devenv.exe" goto VSERROR
-
-::Check for cygwin
-echo Looking for Cygwin...
-IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGWINCHK2
-echo Found Cygwin.
-goto JAVACHK
-
-:CYGWINCHK2
-IF not exist "%windir%\system32\cygwin1.dll" goto CYGERR
-echo Found Cygwin.
-
-:JAVACHK
-echo Looking for java JDK...
-::Find the current (most recent) Java version
-start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit"
-type reg1.txt | %windir%\system32\find.exe "CurrentVersion" > reg2.txt
-if errorlevel 1 goto JAVAERROR
-for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
-if errorlevel 1 goto JAVAERROR
-echo Java Version = %JavaTemp%
-del reg1.txt
-del reg2.txt
-
-::Get the home directory of the most recent Java
-start /w regedit /e reg1.txt "HKEY_LOCAL_MACHINE\SOFTWARE\JavaSoft\Java Development Kit\%JavaTemp%"
-type reg1.txt | %windir%\system32\find.exe "JavaHome" > reg2.txt
-if errorlevel 1 goto JAVAERROR
-for /f "tokens=2 delims==" %%x in (reg2.txt) do set JavaTemp=%%~x
-if errorlevel 1 goto JAVAERROR
-::echo Java home path (per registry) = %JavaTemp%
-del reg1.txt
-del reg2.txt
-
-::Convert double backslashes to single backslashes
-set JavaHome=
-:WHILE
-  if "%JavaTemp%"=="" goto WEND
-  if not "%JavaHome%"=="" set JavaHome=%JavaHome%\
-  for /f "delims=\" %%x in ("%JavaTemp%") do set JavaHome=%JavaHome%%%x
-  for /f "tokens=1,* delims=\" %%x in ("%JavaTemp%") do set JavaTemp=%%y
-  goto WHILE
-:WEND
-set JavaTemp=
-echo Java home path (per registy) = %JavaHome%
-
-::Test the java path to see if there really is a javac.exe
-IF NOT EXIST "%JavaHome%\bin\javac.exe" goto JAVAERROR
-
-:ANTCHK
-echo Looking for NetBeans version %NetBeansVer%...
-FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
-
-goto NETBEANSERROR
-
-:NBA
-SET NetBeansDrive=A
-goto Compile
-:NBB
-SET NetBeansDrive=B
-goto Compile
-:NBC
-SET NetBeansDrive=C
-goto Compile
-:NBD
-SET NetBeansDrive=D
-goto Compile
-:NBE
-SET NetBeansDrive=E
-goto Compile
-:NBF
-SET NetBeansDrive=F
-goto Compile
-:NBG
-SET NetBeansDrive=G
-goto Compile
-:NBH
-SET NetBeansDrive=H
-goto Compile
-:NBI
-SET NetBeansDrive=I
-goto Compile
-:NBJ
-SET NetBeansDrive=J
-goto Compile
-:NBK
-SET NetBeansDrive=K
-goto Compile
-:NBL
-SET NetBeansDrive=L
-goto Compile
-:NBM
-SET NetBeansDrive=M
-goto Compile
-:NBN
-SET NetBeansDrive=N
-goto Compile
-:NBO
-SET NetBeansDrive=O
-goto Compile
-:NBP
-SET NetBeansDrive=P
-goto Compile
-:NBQ
-SET NetBeansDrive=Q
-goto Compile
-:NBR
-SET NetBeansDrive=R
-goto Compile
-:NBS
-SET NetBeansDrive=S
-goto Compile
-:NBT
-SET NetBeansDrive=T
-goto Compile
-:NBU
-SET NetBeansDrive=U
-goto Compile
-:NBV
-SET NetBeansDrive=V
-goto Compile
-:NBW
-SET NetBeansDrive=W
-goto Compile
-:NBX
-SET NetBeansDrive=X
-goto Compile
-:NBY
-SET NetBeansDrive=Y
-goto Compile
-:NBZ
-SET NetBeansDrive=Z
-
-:Compile
-echo Compiling Agents...
-cd Agents
-CALL "%VSHome%\devenv" Agents.sln /Rebuild Release
-cd ..
-pause
-
-:: Do Not build TeamTalk Tools as there is nothing to build.
-:TOOLS build
-::IF NOT VSDrive == "Non-Existent" echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-::IF NOT VSDrive == "Non-Existent" cd Tools
-::IF NOT VSDrive == "Non-Existent" "%VSDrive%:\Program Files\Microsoft Visual Studio 8\Common7\IDE\devenv" Tools.sln /Rebuild Release
-::IF NOT VSDrive == "Non-Existent" cd ..
-::pause
-
-:Java Compilation via Ant Environment Variable Setup
-
-set JAVA_HOME=%JavaHome%
-
-:Ant Compilation
-:JBUILD
-CALL "%NetBeansDrive%:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" -buildfile Agents\PenDecoder\build.xml
-pause
-
-:Run MakeLM
-echo Now Executing MakeLM
-cd Tools\MakeLM
-perl makelm.pl --projectname TeamTalk
-cd ..\..
-goto Pause
-
-:VSERROR
-echo Can't find Visual Studio 8.0. Is it installed?
-goto Pause
-
-:CYGERROR
-echo Can't find cygwin. Please set the environment variable CYGWIN_DIR to your root cygwin installation.
-goto Pause
-
-:JAVAERROR
-echo Can't find Java Development Kit. Is it installed?
-goto Pause
-
-:NETBEANSERROR
-echo The Pen Decoder can not be built because the location of NetBeans %NetBeansVer% can not be determined.
-goto Pause
-
-:Error message that says that the script was run outside of the TeamTalk directory.
-echo. 
-echo This script must be run with the current directory being that of the script.  
-echo (For example, click directly on the script in Windows Explorer instead of 
-echo entering the full path to the script at the command prompt.)
-echo.  
-echo If this is not the case, please contact bfrisch at gmail.com.
-echo.  
-
-:Pause the script execution so the DOS windows does not disappear too soon.
-pause
-exit
\ No newline at end of file
+TeamTalkBuild.bat

From tk at edam.speech.cs.cmu.edu  Fri Sep 21 19:26:51 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 21 Sep 2007 19:26:51 -0400
Subject: [TeamTalk 225]: [761] trunk/moast-bth/moast/bin/regression: Added
 an autonomous mobility version of the long_traversal test,
 since the vehicle-mode version fails.
Message-ID: <200709212326.l8LNQpiT011247@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070921/50d8710d/attachment-0001.html
-------------- next part --------------
Modified: trunk/moast-bth/moast/bin/regression/four_right_turns.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-21 23:23:15 UTC (rev 760)
+++ trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-21 23:26:51 UTC (rev 761)
@@ -14,22 +14,22 @@
 send "spin SHORT 270 $rt_tol\r"
 expect $mob_prompt
 sleep $rt_time
-send -- "\r"
+send "\r"
 expect $mob_prompt
-send -- "spin SHORT 0 $rt_tol\r"
+send "spin SHORT 0 $rt_tol\r"
 expect $mob_prompt
 sleep $rt_time
-send -- "\r"
+send "\r"
 expect $mob_prompt
-send -- "spin SHORT 90 $rt_tol\r"
+send "spin SHORT 90 $rt_tol\r"
 expect $mob_prompt
 sleep $rt_time
-send -- "\r"
+send "\r"
 expect $mob_prompt
-send -- "spin SHORT 180 $rt_tol\r"
+send "spin SHORT 180 $rt_tol\r"
 expect $mob_prompt
 sleep $rt_time
-send -- "\r"
+send "\r"
 expect $mob_prompt
-send -- "quit\r"
+send "quit\r"
 expect eof

Copied: trunk/moast-bth/moast/bin/regression/long_traversal_am.exp (from rev 754, trunk/moast-bth/moast/bin/regression/long_traversal.exp)
===================================================================
--- trunk/moast-bth/moast/bin/regression/long_traversal_am.exp	                        (rev 0)
+++ trunk/moast-bth/moast/bin/regression/long_traversal_am.exp	2007-09-21 23:26:51 UTC (rev 761)
@@ -0,0 +1,18 @@
+#!/usr/bin/expect -f
+
+set rt_time 12
+set rt_tol 6
+set adm_prompt "> \rAdm> "
+set mob_prompt "> \rMob> "
+set timeout -1
+cd ..
+spawn ./amShell
+match_max 100000
+expect $adm_prompt
+send "mob\r"
+expect $mob_prompt
+send "dump 1\r"
+expect $mob_prompt
+send "move 40.0 6.5 0.8\r"
+expect $mob_prompt
+interact

From tk at edam.speech.cs.cmu.edu  Sat Sep 22 00:45:17 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 22 Sep 2007 00:45:17 -0400
Subject: [TeamTalk 226]:  [762] vendor/: Created folder remotely
Message-ID: <200709220445.l8M4jHts011757@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070922/a2981683/attachment.html
-------------- next part --------------


From tk at edam.speech.cs.cmu.edu  Sat Sep 22 01:11:09 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 22 Sep 2007 01:11:09 -0400
Subject: [TeamTalk 227]: [763] trunk/TeamTalk: 1) Import minor build changes
 for boeingLib from integration repository.
Message-ID: <200709220511.l8M5B93u011794@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070922/e0d4dec7/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Libraries/boeingLib/Makefile
===================================================================
--- trunk/TeamTalk/Libraries/boeingLib/Makefile	2007-09-22 04:45:17 UTC (rev 762)
+++ trunk/TeamTalk/Libraries/boeingLib/Makefile	2007-09-22 05:11:09 UTC (rev 763)
@@ -25,7 +25,7 @@
 # Compilation options
 #======================================================================#
 
-CC := g++-3.4
+CC := g++-4.1
 
 # CFlags base
 CFLAGS += -Wall -D_GNU_SOURCE

Modified: trunk/TeamTalk/Libraries/boeingLib/Makefile.config
===================================================================
--- trunk/TeamTalk/Libraries/boeingLib/Makefile.config	2007-09-22 04:45:17 UTC (rev 762)
+++ trunk/TeamTalk/Libraries/boeingLib/Makefile.config	2007-09-22 05:11:09 UTC (rev 763)
@@ -1,4 +1,4 @@
 # Directory where lib and include directories will be placed
 # For system wide usual use /usr/local/
 
-INSTALLDIR=~/software/external/boeingLib
+INSTALLDIR=~/rCommerce/software/external/boeingLib

Modified: trunk/TeamTalk/Libraries/boeingLib/coralshared/configreader.h
===================================================================
--- trunk/TeamTalk/Libraries/boeingLib/coralshared/configreader.h	2007-09-22 04:45:17 UTC (rev 762)
+++ trunk/TeamTalk/Libraries/boeingLib/coralshared/configreader.h	2007-09-22 05:11:09 UTC (rev 763)
@@ -179,7 +179,7 @@
   DataMap *FindDataMapping(char *_fname, char *_dataname, int _type);
 
   // Update a data mapping (also used when first added)
-  bool ConfigReader::UpdateDataMap(PDataMap dmap);
+  bool UpdateDataMap(PDataMap dmap);
 
   // Add a new data mapping and also sanity check the number of vectors
   DataMap *FindDataMapping(char *_fname, char *_dataname, int _type, 

Modified: trunk/TeamTalk/TeamTalkBuild.bat
===================================================================
--- trunk/TeamTalk/TeamTalkBuild.bat	2007-09-22 04:45:17 UTC (rev 762)
+++ trunk/TeamTalk/TeamTalkBuild.bat	2007-09-22 05:11:09 UTC (rev 763)
@@ -50,7 +50,11 @@
 
 ::Check for cygwin
 echo Looking for Cygwin...
-IF not exist "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGERR
+IF NOT EXIST "%windir%\system32\cygwin1.dll" goto CYG_CHK2
+goto JAVACHK
+
+:CYG_CHK2
+IF NOT EXIST "%CYGWIN_DIR%\bin\cygwin1.dll" goto CYGERR
 echo Found Cygwin.
 
 :JAVACHK
@@ -91,6 +95,7 @@
 IF NOT EXIST "%JAVA_HOME%\bin\javac.exe" goto JAVAERROR
 
 :ANTCHK
+echo Looking for NetBeans...
 FOR %%d in (C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, A, B) DO IF EXIST "%%d:\Program Files\netbeans-%NetBeansVer%\ide7\ant\bin\ant.bat" goto NB%%d
 goto NETBEANSERROR
 
@@ -180,10 +185,10 @@
 
 :: Do Not build TeamTalk Tools as there is nothing to build.
 :TOOLS build
-REM echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
-REM cd Tools
-REM CALL "%VSHome%\devenv" Tools.sln /%BUILD_TYPE% %BUILD_CONF%
-REM cd ..
+::echo Building TeamTalk Tools -- This may take 1-3 Minutes, Please Wait..
+::cd Tools
+::CALL "%VSHome%\devenv" Tools.sln /%BUILD_TYPE% %BUILD_CONF%
+::cd ..
 
 :Ant Compilation
 :JBUILD

From tk at edam.speech.cs.cmu.edu  Sat Sep 22 01:14:31 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 22 Sep 2007 01:14:31 -0400
Subject: [TeamTalk 228]: [764] vendor/: Extern to integration repository for
	boeingLib.
Message-ID: <200709220514.l8M5EVQ2011805@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070922/c1c4d427/attachment.html
-------------- next part --------------

Property changes on: vendor
___________________________________________________________________
Name: svn:externals
   + boeingLib svn://metropolis.cta.ri.cmu.edu/treasureHuntIntegration/src/boeingLib


From tk at edam.speech.cs.cmu.edu  Sat Sep 22 01:34:13 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 22 Sep 2007 01:34:13 -0400
Subject: [TeamTalk 229]: [765] vendor: Initial import of liveMaps from
	integration repository.
Message-ID: <200709220534.l8M5YDh2011829@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070922/4e22a0b3/attachment-0001.html
-------------- next part --------------
Added: vendor/liveMaps/current/Makefile
===================================================================
--- vendor/liveMaps/current/Makefile	                        (rev 0)
+++ vendor/liveMaps/current/Makefile	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,98 @@
+# High Level Make file
+
+BASEDIR = ./
+BUILDDIR = $(BASEDIR)/build
+
+include $(BUILDDIR)/Makefile.head
+
+help:
+	$(ECHO) $(PROJECT_STRING)
+	$(ECHO) $(CONTACT_STRING)
+	$(SILENT) cat $(BUILDDIR)/helptext
+	$(ECHO) $(COPYRIGHT_STRING)
+
+all: include lib libshared test example targets cgfile
+
+ifdef INSTALLDIRINC
+ifdef INSTALLDIRLIB
+install: include libexport
+	@echo Installing include files to $(INSTALLDIRINC)
+	$(SILENT) cp include/*.h $(INSTALLDIRINC)
+	@echo Installing library files to $(INSTALLDIRLIB)
+	$(SILENT) cp lib/lib$(FULLARNAME).a $(INSTALLDIRLIB)
+else
+install:
+	@echo Error: INSTALLDIRLIB not defined : Edit makefile.config to set target
+endif
+else
+install:
+	@echo Error: INSTALLDIRINC not defined : Edit makefile.config to set target
+endif
+						
+
+lib: libexport force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+libexport:
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+libshared: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+include: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+test: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+example: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+targets: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+cgfile: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+depend: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+clean: force
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+
+# Files are deleted if and only if they exisits
+
+LS01 = $(shell ls include/*.h 2> /dev/null)
+ifneq ($(LS01), )
+cleaninclude:
+	@echo "Removing files from include/"
+	$(SILENT) -$(RM) $(RMFLAGS) $(LS01)
+else
+cleaninclude:
+endif
+
+
+LS02 = $(shell ls lib/*.a lib/*.so 2> /dev/null)
+ifneq ($(LS02), )
+cleanlib:
+	@echo "Removing files from lib/"
+	$(SILENT) -$(RM) $(RMFLAGS) $(LS02)
+else
+cleanlib:
+endif
+
+LS03 = $(filter-out EMPTY, $(filter-out bin/CVS, $(shell ls -d bin/* 2> /dev/null)))
+ifneq ($(LS03), )
+cleanbin:
+	@echo "Removing files from bin/"
+	$(SILENT) -$(RM) $(RMFLAGS) $(LS03)
+else
+cleanbin:
+endif
+
+
+distclean: force cleaninclude cleanlib cleanbin
+	$(SILENT) $(MAKE) $(MFLAGS) -C src $@
+
+force:

Added: vendor/liveMaps/current/Makefile.base
===================================================================
--- vendor/liveMaps/current/Makefile.base	                        (rev 0)
+++ vendor/liveMaps/current/Makefile.base	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1 @@
+BASEDIR := $(BASEDIR)

Added: vendor/liveMaps/current/Makefile.config
===================================================================
--- vendor/liveMaps/current/Makefile.config	                        (rev 0)
+++ vendor/liveMaps/current/Makefile.config	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,26 @@
+PROJECT_STRING = "rCommerce Lab Software: Boeing Release Branch"
+CONTACT_STRING = "Contact: Marc Benjamin Zinck mbz at cmu.edu www.cs.cmu.edu/~mbz"
+COPYRIGHT_STRING = "Copyright 2005-2007 Carnegie Mellon University"
+
+#EXPORTLIBTARGET = rCommerce
+#FULLARNAME = rCommerce
+
+# Specifies the destination for library and header files
+# when make install is used
+INSTALLDIRINC = 
+INSTALLDIRLIB =
+
+# Global Include and Library Paths
+GLOBALINCLUDEPATH += 
+
+GLOBALLIBPATH +=
+
+FLUID = $(BASEDIR)/external/fltk/bin/fluid
+
+#CC  = gcc-3.3
+#CXX = g++-3.3
+#LD  = g++-3.3
+
+CC  = gcc-4.1
+CXX = g++-4.1
+LD  = g++-4.1

Added: vendor/liveMaps/current/README
===================================================================
--- vendor/liveMaps/current/README	                        (rev 0)
+++ vendor/liveMaps/current/README	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,39 @@
+LiveMaps Release v1320
+
+1) Demo Instructions
+
+  a) Build the source tree
+    % make all
+
+  b) Run the server in demo mode
+    % cd bin
+    % ./liveMapsServer -c 1
+
+  c) Run Viewer in a separate xterm
+    Launch xterm
+    % cd bin
+    % ./liveMapsViewer -P 300:0
+
+  liveMapsServer launches 3 windows with balls bouncing around a map 
+  representing map data from from three robots. The three maps 
+  are combined in the mapIntegrationServer which exposes a 
+  boeing_map_server.  A boeing_map_client compatible application 
+  can connect to the liveMapsServer and access the aggregate map.
+
+  liveMapsViewer implements a boeing_map_client and displays the
+  aggregate map.
+
+  run liveMapsServer -h and liveMapsViewer -h for more options.
+
+2) Integrating other input into liveMapsServer.
+
+  Source code for liveMaps Server is located /src/modules/liveMaps/liveMapsServer
+
+  Access to external data is provided through the liveMapsClient class.
+  Data from robots or other sources can be included by inheriting
+  from liveMapsClient and implementing the functions init() and processEvents().
+
+  See the liveMapsDemo class for an example.
+
+EOF
+

Added: vendor/liveMaps/current/README.bak
===================================================================
--- vendor/liveMaps/current/README.bak	                        (rev 0)
+++ vendor/liveMaps/current/README.bak	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,39 @@
+LiveMaps Release v1320
+
+1) Demo Instructions
+
+  a) Build the source tree
+    % make all
+
+  b) Run the server in demo mode
+    % cd bin
+    % ./liveMapsServer -c 1
+
+  c) Run Viewer in a separate xterm
+    Launch xterm
+    % cd bin
+    % ./liveMapsViewer -P 300:0
+
+  liveMapsServer launches 3 windows with balls bouncing around a map 
+  representing map data from from three robots. The three maps 
+  are combined in the mapIntegrationServer which exposes a 
+  boeing_map_server.  A boeing_map_client compatible application 
+  can connect to the liveMapsServer and access the aggregate map.
+
+  liveMapsViewer implements a boeing_map_client and displays the
+  aggregate map.
+
+  run liveMapsServer -h and liveMapsViewer -h for more options.
+
+2) Integrating other input into liveMapsServer.
+
+  Source code for liveMaps Server is located /src/modules/liveMaps/liveMapsServer
+
+  Access to external data is provided through the liveMapsClient class.
+  Data from robots or other sources can be included by inheriting
+  from liveMapsClient and implimenting the functions init() and processEvents().
+
+  See the liveMapsDemo class for an example.
+
+EOF
+

Added: vendor/liveMaps/current/build/Makefile.compile
===================================================================
--- vendor/liveMaps/current/build/Makefile.compile	                        (rev 0)
+++ vendor/liveMaps/current/build/Makefile.compile	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,44 @@
+# Makefile.compile
+
+#.SUFFIXES: .cc .cpp .cxx .c .fl
+
+%$(SUF).o : %.cc
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CXX) -c $(CXXFLAGS) $< -o $@
+
+%.o : %.cc
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CXX) -c $(CXXFLAGS) $< -o $@
+
+%$(SUF).o : %.cpp
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CXX) -c $(CXXFLAGS) $< -o $@
+
+%.o : %.cpp
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CXX) -c $(CXXFLAGS) $< -o $@
+
+%$(SUF).o : %.cxx
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CXX) -c $(CXXFLAGS) $< -o $@
+
+%.o : %.cxx
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CXX) -c $(CXXFLAGS) $< -o $@
+
+%$(SUF).o : %.c
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CC) -c $(CFLAGS) $< -o $@
+
+%.o : %.c
+	@echo "$(NAME): Compiling $@"
+	$(SILENT) $(CC) -c $(CFLAGS) $< -o $@
+
+%.cc : %.fl
+	@echo "$(NAME): Creating $@"
+	$(SILENT) $(FLUID) -c $< 
+
+%.h : %.fl
+	@echo "$(NAME): Creating $@"
+	$(SILENT) $(FLUID) -c $< 
+

Added: vendor/liveMaps/current/build/Makefile.head
===================================================================
--- vendor/liveMaps/current/build/Makefile.head	                        (rev 0)
+++ vendor/liveMaps/current/build/Makefile.head	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,107 @@
+# Makefile.head
+# Defines Variables
+
+CXX = g++
+CC = gcc
+
+DSUFFIX = _dbg
+STATICSUFFIX = _static
+
+SVNCMD := svnversion
+SVNCMDCHECK := $(findstring $(SVNCMD), $(shell which $(SVNCMD) ) )
+ifeq ($(SVNCMDCHECK),$(SVNCMD))
+SVNDEF := -D'SVN_REV="$(shell $(SVNCMD) -n .)"'
+else
+SVNDEF := -D'SVN_REV=""'
+endif
+
+# this is used for shared library targets
+ifdef DEBUG
+	LIBS2 := $(DBGLIBS)
+else
+	LIBS2 := $(LIBS)
+endif
+
+
+OS  := $(shell uname -s)
+ifeq ($(findstring Linux,$(OS)), Linux)
+  OS_DEF = -DLINUX
+  LIBS += $(LIBS_LINUX)
+  DBGLIBS += $(DBGLIBS_LINUX)
+endif
+ifeq ($(findstring Darwin,$(OS)), Darwin)
+  OS_DEF = -DDARWIN
+  LIBS += $(LIBS_DARWIN)
+  DBGLIBS += $(DBGLIBS_DARWIN)
+endif
+ifeq ($(findstring CYGWIN,$(OS)), CYGWIN)
+  OS_DEF = -DCYGWIN
+  LIBS += $(LIBS_CYGWIN)
+  DBGLIBS += $(DBGLIBS_CYGWIN)
+endif
+ifeq ($(findstring QNX,$(OS)), QNX)
+  OS_DEF = -DQNX
+  LIBS += $(LIBS_QNX)
+  DBGLIBS += $(DBGLIBS_QNX)
+endif
+
+LD = g++
+LDFLAGS=
+
+ifdef DEBUG
+	CXXFLAGS += -Wall -g -DDEBUG $(OS_DEF) $(SVNDEF)
+	CFLAGS += -Wall -g -DDEBUG $(OS_DEF) $(SVNDEF)
+	SUF = $(DSUFFIX)
+	SUF_T = $(SUF)
+else
+	CXXFLAGS += -Wall -O3 $(OS_DEF) $(SVNDEF)
+	CFLAGS += -Wall -O3 $(OS_DEF) $(SVNDEF)
+	LDFLAGS =
+	SUF =
+	SUF_T = $(SUF)
+endif
+
+ifdef PROFILE
+	CXXFLAGS += -pg
+	CFLAGS += -pg
+	LDFLAGS += -pg
+else
+
+endif
+
+ifdef STATIC
+	LDFLAGS += -static
+	SUF_T := $(STATICSUFFIX)$(SUF_T)
+else
+
+endif
+
+
+
+FLUID = fluid
+
+CGC = cgc
+CGCFLAGS = -profile fp40 -nocode
+
+RM = rm
+RMFLAGS = -f
+
+ECHO = @echo
+
+PROJECTINCLUDEPATH = -I$(BASEDIR)/include
+PROJECTLIBPATH = -L$(BASEDIR)/lib
+
+ifdef VERBOSE
+	SILENT =
+	SENDTODEVNULL =
+else
+	MAKEFLAGS += -s
+	MAKE = make -s
+	SILENT = @
+	SENDTODEVNULL = &> /dev/null
+endif
+
+STATSCALC=$(BASEDIR)/tools/misc/srcStats 1
+
+
+include $(BASEDIR)/Makefile.config

Added: vendor/liveMaps/current/build/Makefile.module
===================================================================
--- vendor/liveMaps/current/build/Makefile.module	                        (rev 0)
+++ vendor/liveMaps/current/build/Makefile.module	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,290 @@
+# Module makefile
+
+include $(BASEDIR)/build/Makefile.recurse
+
+LIBINSTALLPATH = $(BASEDIR)/lib
+INCLUDEINSTALLPATH = $(BASEDIR)/include
+TARGETDIR = $(BASEDIR)/bin/
+
+INCLUDEPATH2 = $(INCLUDEPATH) $(GLOBALINCLUDEPATH) $(PROJECTINCLUDEPATH)
+
+CFLAGS += $(INCLUDEPATH2)
+CXXFLAGS += $(INCLUDEPATH2) 
+
+NAME = $(subst $(shell cd $(BASEDIR);pwd)/,,$(shell cd .;pwd))
+
+ifndef NAME
+ $(warning Warning: NAME not defined in $(shell pwd)/Makefile)
+endif 
+
+ifdef DEBUG
+TARGETLIBS_0 = $(DBGLIBS)
+else
+TARGETLIBS_0 = $(LIBS)
+endif
+
+TARGETLIBS = $(GLOBALLIBPATH) $(PROJECTLIBPATH) $(TARGETLIBS_0)
+
+OBJFILES:=$(OBJFILES:.o=$(SUF).o)
+TARGETSFULL:=$(foreach i,$(TARGETS),$(TARGETDIR)$(i)$(SUF_T))
+EXAMPLETARGETSFULL:=$(foreach i,$(EXAMPLETARGETS),$(i)$(SUF_T))
+TESTTARGETSFULL:=$(foreach i,$(TESTTARGETS),$(i)$(SUF_T))
+
+ifdef LIBTARGET
+LIBTARGET:=$(LIBTARGET)$(SUF)
+FULLARNAME:=$(FULLARNAME)$(SUF)
+endif
+
+ifdef LIBSHAREDTARGET
+LIBSHAREDTARGET:=$(LIBSHAREDTARGET)$(SUF)
+endif
+
+include $(BASEDIR)/build/Makefile.compile
+
+help:
+	@echo "Module $(NAME)"
+	$(ECHO) $(PROJECT_STRING)
+	$(ECHO) $(CONTACT_STRING)
+	$(SILENT) cat $(BASEDIR)/build/helptext
+	$(ECHO) $(COPYRIGHT_STRING)
+
+all: include lib libshared test example targets cgfile
+	$(RECURSE)
+
+makefiletest:
+	@echo $(TARGETSFULL)
+	@echo $(addsuffix .o,$(TARGETS))
+	@echo $(subst $(TARGETDIR),,$(TARGETS))
+
+ifdef HEADERFILES
+#include: $(HEADERFILES)
+#	@echo "$(NAME): Copying $(HEADERFILES)"
+#	$(SILENT) cp $(HEADERFILES) $(INCLUDEINSTALLPATH)/
+
+include: $(foreach header,$(HEADERFILES),$(INCLUDEINSTALLPATH)/$(header))
+	$(RECURSE)
+else
+include:
+	$(RECURSE)
+endif
+
+$(INCLUDEINSTALLPATH)/%.h: %.h
+	@echo "$(NAME): Copying: $<"
+	$(SILENT) cp $< $(INCLUDEINSTALLPATH)/
+
+
+ifdef LIBTARGET
+ifdef OBJFILES 
+lib: $(LIBINSTALLPATH)/lib$(LIBTARGET).a libexport
+	$(RECURSE)
+ifndef SURPRESSEXPORTLIBTARGET
+ifdef EXPORTLIBTARGET
+libexport: $(LIBINSTALLPATH)/lib$(FULLARNAME).a 
+	$(RECURSE)
+else
+libexport:
+	$(RECURSE)
+endif
+else
+libexport:
+	$(RECURSE)
+endif
+else
+lib:
+	$(RECURSE)
+libexport:
+	$(RECURSE)
+endif
+else
+lib:
+	$(RECURSE)
+libexport:
+	$(RECURSE)
+endif
+
+
+ifdef LIBTARGET
+ifdef EXPORTLIBTARGET
+$(LIBINSTALLPATH)/lib$(FULLARNAME).a: $(OBJFILES)
+	@echo "$(NAME): Building library (lib$(FULLARNAME).a)"
+	$(SILENT) $(AR) $(ARFLAGS) $@ $^
+endif
+
+$(LIBINSTALLPATH)/lib$(LIBTARGET).a: $(OBJFILES)
+	@echo "$(NAME): Building library (lib$(LIBTARGET).a)"
+	$(SILENT) $(AR) $(ARFLAGS) $@ $^ $(SENDTODEVNULL)
+endif
+	
+
+# Shared libraries
+	
+ifdef LIBSHAREDTARGET
+ifdef OBJFILES 
+libshared: $(LIBINSTALLPATH)/lib$(LIBSHAREDTARGET).so
+	$(RECURSE)
+else
+libshared:
+	$(RECURSE)
+endif
+else
+libshared:
+	$(RECURSE)
+endif
+
+ifdef LIBSHAREDTARGET
+$(LIBINSTALLPATH)/lib$(LIBSHAREDTARGET).so: $(OBJFILES)
+	@echo "$(NAME): Building shared library (lib$(LIBSHAREDTARGET).so)"
+	$(SILENT) $(CC) $^ $(LDFLAGS) $(TARGETLIBS) -shared -o $@ $(addsuffix .a,$(subst -l,$(LIBINSTALLPATH)/lib,$(LIBS2)))
+endif
+
+
+
+	
+example: $(EXAMPLETARGETSFULL)
+	$(RECURSE)
+
+test: $(TESTTARGETSFULL)
+	$(RECURSE)
+
+targets : $(TARGETSFULL)
+	$(RECURSE)
+
+cgfile: 
+	-for cgf in $(CGFILES) ; do \
+		$(CGC) $(CGCFLAGS) $$cgf ;  \
+	done 
+	$(RECURSE)
+
+stats:
+	echo $(NAME) `$(STATSCALC)` 
+	$(RECURSE)
+
+$(TARGETSFULL): $(OBJFILES) $(addsuffix $(SUF).o,$(TARGETS))
+	$(ECHO) "$(NAME): Linking $@"
+	$(SILENT) $(LD) $(OBJFILES) $(subst $(TARGETDIR),, $(subst $(STATICSUFFIX),,$@.o)) $(LDFLAGS) $(TARGETLIBS) -o $@
+  
+$(TESTTARGETSFULL): $(OBJFILES) $(addsuffix $(SUF).o,$(TESTTARGETS))
+	$(ECHO) "$(NAME): Linking Test $@"
+	$(SILENT) $(LD) $(OBJFILES) $(subst $(STATICSUFFIX),,$@.o) $(LDFLAGS) $(TARGETLIBS) -o $@
+
+$(EXAMPLETARGETSFULL): $(OBJFILES) $(addsuffix $(SUF).o,$(EXAMPLETARGETS))
+	$(ECHO) "$(NAME): Linking Example $@"
+	$(SILENT) $(LD) $(OBJFILES) $(subst $(STATICSUFFIX),,$@.o) $(LDFLAGS) $(TARGETLIBS) -o $@
+
+
+LSDEPEND =  $(shell ls *.c *.cpp *.cc *.cxx 2> /dev/null)
+ifneq ($(LSDEPEND), )
+depend:
+	@echo "$(NAME) Creating Dependency File"
+	$(SILENT) -$(CC) -M $(CFLAGS) $(LSDEPEND) > makedepend
+	$(RECURSE)
+else
+depend:
+	$(RECURSE)
+endif
+
+
+
+ifdef TEMPFILES
+
+LS00 =  $(shell ls $(TEMPFILES) 2> /dev/null)
+ifneq ($(LS00), )
+clean00:
+	@echo "$(NAME): Removing Temporary Files"
+	$(SILENT) $(RM) $(RMFLAGS) $(LS00)
+else
+clean00:
+endif
+
+else
+clean00:
+endif
+
+LS01 =  $(shell ls *.o *.a core 2> /dev/null)
+ifneq ($(LS01), )
+clean01:
+	@echo "$(NAME): Removing .o .a and core"
+	$(SILENT) $(RM) $(RMFLAGS) $(LS01) 
+else
+clean01:
+endif
+
+ifdef TESTTARGETSFULL
+LS02 =  $(shell ls $(TESTTARGETS) $(addsuffix $(DSUFFIX),$(TESTTARGETS)) $(addsuffix $(STATICSUFFIX),$(TESTTARGETS))  $(addsuffix $(STATICSUFFIX)$(DSUFFIX),$(TESTTARGETS)) 2> /dev/null)
+ifneq ($(LS02), )
+clean02:
+	@echo "$(NAME): Removing Test Targets"
+	$(SILENT) $(RM) $(RMFLAGS) $(LS02)
+else
+clean02:
+endif
+else
+clean02:
+endif
+
+ifdef EXAMPLETARGETSFULL
+#LS03 =  $(shell ls $(EXAMPLETARGETSFULL) $(EXAMPLETARGETSFULL:=$(DSUFFIX)) 2> /dev/null)
+LS03 =  $(shell ls $(EXAMPLETARGETS) $(addsuffix $(DSUFFIX),$(EXAMPLETARGETS)) $(addsuffix $(STATICSUFFIX),$(EXAMPLETARGETS))  $(addsuffix $(STATICSUFFIX)$(DSUFFIX),$(EXAMPLETARGETS)) 2> /dev/null)
+ifneq ($(LS03), )
+clean03:
+	@echo "$(NAME): Removing Example Targets"
+	$(SILENT) $(RM) $(RMFLAGS) $(LS03)
+else
+clean03:
+endif
+else
+clean03:
+endif
+
+LS04 =  $(shell ls makedepend 2> /dev/null)
+ifneq ($(LS04), )
+clean04:
+	@echo "$(NAME): Removing makedepend file"
+	$(SILENT) $(RM) $(RMFLAGS) $(LS04)
+else
+clean04:
+endif
+
+LS05 =  $(shell ls *_fl.cc *_fl.h 2> /dev/null)
+ifneq ($(LS05), )
+clean05:
+	@echo "$(NAME): Removing fluid created files"
+	#$(SILENT) $(RM) $(RMFLAGS) $(LS05)
+	$(RM) $(RMFLAGS) $(LS05)
+else
+clean05:
+endif
+
+ifdef TARGETS
+LS06 =  $(shell ls $(TARGETS) $(TARGETS:=$(DSUFFIX)) 2> /dev/null)
+ifneq ($(LS06), )
+clean06:
+	@echo "$(NAME): Removing Targets"
+	$(SILENT) $(RM) $(RMFLAGS) $(LS06)
+else
+clean06:
+endif
+else
+clean06:
+endif
+
+LS07 =  $(shell ls gmon.out 2> /dev/null)
+ifneq ($(LS07), )
+clean07:
+	@echo "$(NAME): Removing profile files (gmon.out)"
+	#$(SILENT) $(RM) $(RMFLAGS) $(LS07)
+	$(RM) $(RMFLAGS) $(LS07)
+else
+clean07:
+endif
+
+
+clean: clean00 clean01 clean04 clean05
+	$(RECURSE)
+
+distclean: clean clean02 clean03 clean06 clean07
+	$(RECURSE)
+
+force:
+
+-include makedepend

Added: vendor/liveMaps/current/build/Makefile.recurse
===================================================================
--- vendor/liveMaps/current/build/Makefile.recurse	                        (rev 0)
+++ vendor/liveMaps/current/build/Makefile.recurse	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,15 @@
+MODULES = $(patsubst %/, %, $(filter-out CVS%, $(filter %/, $(shell ls -dF * 2> /dev/null)) ) )
+
+RECURSE = \
+	@for d in $(MODULES) ; do \
+		if [ -d $$d ] ; then \
+		  if [ -f $$d/Makefile ] ; then \
+				if [ !  -f $$d/Makefile.donotbuild  ] ; then \
+					if ! $(MAKE) $(MFLAGS) -C $$d $@ ; then \
+			  		echo "Error building $$d"; \
+						exit -1;\
+					fi; \
+				fi; \
+			fi; \
+		fi \
+	done

Added: vendor/liveMaps/current/build/helptext
===================================================================
--- vendor/liveMaps/current/build/helptext	                        (rev 0)
+++ vendor/liveMaps/current/build/helptext	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,30 @@
+  Commands:
+    make <OPTIONS> all         include, lib, test, example, target
+
+    make <OPTIONS> include     Place include files include/
+    make <OPTIONS> lib         compile and create libraries 
+    make <OPTIONS> libshared   compile and create shared libraries 
+    make <OPTIONS> test        compile and run tests
+    make <OPTIONS> examples    compile examples
+    make <OPTIONS> targets     compile target programs
+    make <OPTIONS> depend      create dependency files
+
+    make <OPTIONS> clean       remove intermediate files
+    make <OPTIONS> distclean   returns source tree to distribution state
+
+  Options:
+    VERBOSE=1                  display more output
+
+    DEBUG=1                    Compiles with debugging options 
+                                 CFLAGS/CXXFLAGS = -g -Wall -Werror -DDEBUG
+                                 normally compiles with
+                                 CFLAGS/CXXFLAGS = -Wall -O2
+                                 
+                                 Object files and executables build with this option
+                                 have the suffix _dbg (i.e. foo.c -> foo_dbg.o)
+                                 
+    PROFILE=1                  Compile with support for profiling (gprof)
+                                 CFLAGS/CXXFLAGS/LDFLAGS += -pg
+                                 
+    STATIC=1                   Prevents linking with shared libraries.
+                                 LDFLAGS += -static

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_converter.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_converter.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_converter.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,30 @@
+#ifndef __BOEING_CONVERTER_H__
+#define __BOEING_CONVERTER_H__
+
+#include <stdio.h>
+#include <string>
+#include <vector>
+#include "boeing_robot_packet.h"
+
+using std::string;
+using std::vector;
+
+namespace Boeing {
+
+  //==== Conversion methods ===============================
+
+  /** convert from an action message into one of the predefined
+      command message packets. Returns the type of the message,
+      or -1 on failure to match a message. The result is put in the
+      union msgcmd
+  */
+  int convert(Boeing::MsgCmdAction *mcpa,Boeing::MsgCmd &result);
+
+  /**
+   * strip off the brackets so that we are compatable with the language
+   * syntax. We just replace them with spaces
+   */
+  string stripBraces(char const *msg);
+};
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_client.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_client.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_client.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,61 @@
+/**
+   Boeing Map client ==
+*/
+
+#ifndef __BOEING_MAP_CLIENT_H__
+#define __BOEING_MAP_CLIENT_H__
+
+#include <vector>
+#include <string>
+using std::vector;
+using std::string;
+
+#include "boeing_map_packet.h"
+
+class UDPSocket;
+
+// client class to manage UDP connections to robots
+namespace Boeing {
+
+  class MapClient {
+  private:
+    UDPSocket *sock;
+    MsgMapClient rxdata;
+
+  public:
+    //=== Initiialization ===================================
+
+    // fill out any constructor/destructor info you need
+    MapClient();
+    ~MapClient();
+
+    /// returns the target client number
+    int open(char const *h, int p = MAP_PORT);
+    void close();
+
+    //=== Sending ==========================================
+
+    bool sendSubscribe(short invoice);
+    bool sendUnsubscribe(short invoice);
+    bool sendKeepAlive(short invoice);
+    bool sendAck(short invoice, int seq);
+
+    //=== Receiving ======================================
+
+    /** returns a pointer to the next received message.
+        REturns NULL on failure. Sets the client to be 
+        the id of the sending client */
+    const MsgMapClient *getNextMessage();
+
+    int isConnected();
+    int getFD();
+
+  private:
+    //=== Local methods ==========================
+    // private method to actually send stuff out the socket
+    bool sendPacket(MsgHeader *msg);
+
+  };
+};
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_packet.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_packet.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_packet.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,139 @@
+/**
+   Boeing Map Packet. This file contains all of the packet structures
+   for sending using the Boeing server/clients
+ */
+#ifndef __BOEING_MAP_PACKET_H__
+#define __BOEING_MAP_PACKET_H__
+
+#include <string.h>
+
+#include "boeing_net.h"
+
+#ifdef __cplusplus
+namespace Boeing {
+#endif
+
+#ifdef WIN32
+#pragma pack(1)
+#endif
+#ifndef PACKED
+#ifdef WIN32
+#define PACKED
+#else
+#define PACKED __attribute__((packed))
+#endif
+#endif
+
+  //===================================================-
+  // Message ID's
+
+  // we combine all of them into one
+  enum MapMsgID { MAP_SUBSCRIBE=0,
+		              MAP_KEEPALIVE,
+                  MAP_UNSUBSCRIBE,
+                  MAP_ACK,
+                  MAP_FULL,
+		              MAP_DIFF
+  };
+               
+  enum MapMsgEncoding { MAP_RAW=0, // a raster of bytes
+                        MAP_RLE, // a run-length enoding
+                        MAP_JPEG // a jpeg
+  };
+
+  //=== Commands for Map ===========================
+  // these are the commands received by the server, 
+  // and sent by the client
+
+  struct MsgMapReq : public MsgHeader {
+    short invoice;
+    int seq;
+    static MsgMapReq factory(short invoice=0, int seq=0) {
+      MsgMapReq m;
+      m.MsgHeaderFill(MAP_SUBSCRIBE, sizeof(MsgMapReq));
+      m.invoice = invoice; m.seq = seq;
+      return m;
+    }
+  } PACKED;
+
+  // all the command messages. Note that action messages
+  // are variable length so this union is inappropriate
+  // to use as the receive buffer
+  union MsgMapServer {
+    MsgHeader hdr;
+    MsgMapReq msg_req;
+    char      buff[1];
+  } PACKED;
+
+  //===================================================
+  // Map to client messages
+  // 
+
+  // map messages: Note these are variable length!!!
+  struct MsgMap : public MsgHeader {
+    short invoice;
+    short encoding;
+    int seq;
+    int resolution; //cell size in centimenters
+    int x, y; //# of cells in x and y dimention
+    float x_origin, y_origin; //vector to the origin from map's ul corner (in meters)
+    int array_length; //size of compressed map array
+    int map[1];
+
+    static const int MAX_RUNLENGTH = 1<<23;
+
+    //puts a MsgMap into the buf
+    //interpretation of raw_map cell chars
+    //   0x00 -> unchanged
+    //   0x20 -> clear
+    //   0x40 -> unseen/unknown
+    //   0xff -> occupied
+    //raw map is interpreted to be left-handed and height-major
+    static void MsgMapFactory(MapMsgEncoding encodingType, 
+			      MsgMap *buf, const void* raw_map, int raw_map_size,
+			      short invoice, int seq, 
+			      int x_in, int y_in, float x_o, float y_o,
+			      int resolution_in = 10);
+
+    static void MsgMapFactory(MapMsgEncoding encodingType, 
+			      MsgMap *buf, const void* raw_map, int raw_map_size,
+			      short invoice, int seq, 
+			      int x_in, int y_in,
+			      int resolution_in = 10);
+
+    int getSize() const; //returns actual size of struct given the array_length (in bytes)
+    int getBuffSize() const; //returns the minimum size of the required decode buf (in bytes)
+
+    //decode
+    static void unencodeMap(MapMsgEncoding encoding, 
+      unsigned char *raw_map, const unsigned char* compressed_map, int compressed_map_size);
+    static void unencodeMap_RLE(unsigned char *raw_map, 
+			    unsigned const char* compressed_map, 
+			    int compressed_map_size);
+    static void unencodeMap_JPEG(unsigned char *raw_map,
+      unsigned const char *compressed_map, int compressed_map_size);
+    void decode(unsigned char *raw_map) const;
+
+    //encode
+    static int encodeMap(MapMsgEncoding encoding, unsigned char *buf, const unsigned char* rawmap, unsigned int j);
+    static int encodeMap_RLE(unsigned char *buf, const unsigned char* rawmap, unsigned int j);
+    static int encodeMap_JPEG(unsigned char *buf, const unsigned char* rawmap, unsigned int j);
+
+  } PACKED;
+
+  union MsgMapClient {
+    MsgHeader  hdr;
+    MsgMap     map;
+    unsigned char       buff[sizeof(MsgMap)+sizeof(int)*2000*2000];
+  } PACKED;
+
+#ifdef WIN32
+  // reset packing....
+#pragma pack()
+#endif
+
+#ifdef __cplusplus
+}; // namespace Boeing
+#endif
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_server.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_server.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_map_server.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,51 @@
+/**
+   Boeing Map Server ==
+*/
+
+#ifndef __BOEING_MAP_SERVER_H__
+#define __BOEING_MAP_SERVER_H__
+
+#include "boeing_map_packet.h"
+
+class UDPSocket;
+
+namespace Boeing {
+
+  class MapServer {
+  public:
+    //=== Initialization ==================================
+    MapServer();
+    ~MapServer();
+    
+    bool open(int p = MAP_PORT);
+    void close();
+
+    //=== Rx Methods ======================================
+
+    /// get the next message (if there is one). Returns NULL if there is none
+    const MsgMapServer* getNextMessage();
+    
+    //=== Send Methods ====================================
+   
+    // sending operations
+    bool sendFullMap(MsgMap *msg);
+    bool sendDiffMap(MsgMap *msg);
+
+    //=== Accessors ========================================
+    int getFD();
+    bool isConnected();
+
+  private:
+    // raw send methods...use wisely
+    bool doSend(MsgHeader *msg);
+
+  private:
+    // socket controls
+    UDPSocket *sock;
+    MsgMapServer rxdata;
+
+  };
+  
+}
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_net.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_net.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_net.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,91 @@
+/**
+   Boeing Net. This file contains all of the shared packet information
+   for sending using the Boeing server/clients
+ */
+#ifndef __BOEING_NET_H__
+#define __BOEING_NET_H__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+namespace Boeing {
+#endif
+
+#ifdef WIN32
+#pragma pack(1)
+#endif
+#ifndef PACKED
+#ifdef WIN32
+#define PACKED
+#else
+#define PACKED __attribute__((packed))
+#endif
+#endif
+
+#ifndef SOCKET
+#ifndef WIN32
+#define SOCKET int
+#endif
+#endif
+
+  //==== PORTS =======================================
+  // socket port
+  static const int ROBOT_PORT  = 32788;
+  static const int TRADER_PORT = 5001;
+  static const int MAP_PORT    = 5002;
+
+  //===================================================-
+  // header packet used by all messages. Std TLV
+
+  // number of bytes defining a senders hostname
+  static const int SADDR_LENGTH=64;
+
+  //   len       - length in bytes of whole packet (including header)
+  //   type      - msg id
+  //   tstamp    - time of transmission in secs since Jan 1, 1970
+  //   sender    - senders hostname
+  struct MsgHeader {
+    uint16_t type;
+    uint16_t len;
+    double tstamp;
+
+    static MsgHeader factory(uint16_t _type, uint16_t _len, double _tstamp=0) {
+      MsgHeader m;
+      return m.MsgHeaderFill(_type, _len, _tstamp);
+    }
+
+    MsgHeader MsgHeaderFill(uint16_t _type, uint16_t _len, double _tstamp=0) {
+      type = _type;
+      len = _len;
+      tstamp = _tstamp;
+      return *this;
+    }
+  } PACKED;
+
+  // standard types
+  typedef uint16_t TaskID;
+  typedef uint16_t Priority;
+
+  // max string length
+  static const int MAX_STRING_LENGTH=1024;
+   
+
+  // standard status returns
+  static const int16_t ABORTED    = -2;
+  static const int16_t FAILED     = -1;
+  static const int16_t INPROGRESS = 0;
+  static const int16_t SUCCEEDED  = 1;
+
+  inline int hasFailed(int v) { return v<=FAILED; }
+
+#ifdef WIN32
+  // reset packing....
+#pragma pack()
+#endif
+#undef PACKED
+
+#ifdef __cplusplus
+}; // namespace Boeing
+#endif
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_client.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_client.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_client.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,100 @@
+/**
+   Boeing robot client ==
+*/
+#ifndef __BOEING_ROBOT_CLIENT_H__
+#define __BOEING_ROBOT_CLIENT_H__
+
+#include <vector>
+#include <string>
+
+#include "boeing_robot_packet.h"
+#include "boeing_map_packet.h"
+
+using std::vector;
+using std::string;
+
+class UDPSocket;
+
+// client class to manage UDP connections to robots
+namespace Boeing {
+
+  class RobotClient {
+  private:
+    // put your sock data here
+    // put list of robot servers here too
+    UDPSocket* sock;
+    int port;
+    string host;
+
+    // our host name
+    string our_host;
+    bool set_host;
+
+    MsgRobot rxdata;
+  public:
+    //=== Initiialization ===================================
+
+    // fill out any constructor/destructor info you need
+    RobotClient(); 
+    RobotClient(const RobotClient& x);
+    ~RobotClient();
+
+    /// returns the target client number
+    int open(char const *h, int p = ROBOT_PORT);
+    int reopen();
+    void close();
+
+    //=== Sending ==========================================
+
+    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);
+
+    /// send goto command
+    bool sendGoToCmd(Priority p,TaskID tid, float x, float y, float a, 
+                     bool use_angle = false, bool rel = false);
+  
+    bool sendSetPos(Priority p, TaskID tid, float x, float y, float a);
+
+    /// passing return to absolute 0,0
+    bool sendHome(Priority p,TaskID tid);
+
+    /// passing pause command
+    bool sendPause(Priority p,TaskID tid);
+
+    /// passing resume command
+    bool sendResume(Priority p,TaskID tid);
+
+    /// passing follow command
+    bool sendFollow(Priority p,TaskID tid);
+
+    /// request the location of the robot
+    bool sendReqLocation();
+
+    /// request an image from the bot's camera
+    bool sendReqImage();
+
+    //=== Receiving ======================================
+
+    /** returns a pointer to the next received message.
+        REturns NULL on failure. Sets the client to be 
+        the id of the sending client */
+    MsgRobot const *getNextMessage();
+
+    int isConnected() const;
+    int getFD();
+
+    bool sendPacket(MsgHeader *msg);
+
+	//=== Exposed attributes =============================
+
+	int getPort() const {return port;}
+	string getHost() const {return host;}
+
+  };
+};
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_packet.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_packet.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_packet.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,314 @@
+/**
+   Boeing Robot Packet. This file contains all of the packet structures
+   for sending using the Boeing server/clients
+ */
+#ifndef __BOEING_ROBOT_PACKET_H__
+#define __BOEING_ROBOT_PACKET_H__
+
+#include <string.h>
+
+#include "boeing_net.h"
+#include "boeing_map_packet.h"
+
+#ifdef __cplusplus
+namespace Boeing {
+#endif
+
+  /// required for compilation under Win32 and linux
+#ifdef WIN32
+#pragma pack(1)
+#endif
+#ifndef PACKED
+#ifdef WIN32
+#define PACKED
+#else
+#define PACKED __attribute__((packed))
+#endif
+#endif
+
+  //===================================================-
+  // Message ID's
+
+  /// These are IDs for messages being sent to the server (ie commands)
+  enum CmdMsgID { 
+    CMD_ACTION=0, 
+    CMD_HALT,CMD_GOTO,CMD_HOME,CMD_FOLLOW,
+    CMD_COVER,CMD_SETPOS,CMD_PAUSE,CMD_RESUME,
+    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_EVAL
+  };
+               
+  static const uint16_t CmdMsgIdMask = 0x00FF;
+  static const uint16_t RobMsgIdMask = 0xFF00;
+
+  //=== Commands for Robot ================================================-
+  /// Task Requests
+  struct MsgCmdTask : public MsgHeader {
+    Priority priority;
+    TaskID taskid;
+
+    static MsgCmdTask factory(Priority _priority, TaskID _taskid, 
+      uint16_t _type, uint16_t _len) {
+      MsgCmdTask m;
+      return m.MsgCmdTaskFill(_priority, _taskid, _type, _len);
+    }
+
+    MsgCmdTask MsgCmdTaskFill(Priority _priority, TaskID _taskid, uint16_t _type, 
+      uint16_t _len) {
+      MsgHeaderFill(_type, _len);
+      priority = _priority;
+      taskid = _taskid;
+      return *this;
+    }
+  } PACKED;
+
+  /** message packets
+      Halt message -> for stopping robots _now_
+  */
+  struct MsgCmdHalt : public MsgCmdTask {
+    int16_t ignore_play_stop;
+  } PACKED;
+
+  /** Go to an x,y location in absolute/relative coord frame
+      default is in global frame
+      (x,y)    - point in meters
+      angle    - orientation in radians
+      attr     - attributes, default - no angle, global frame
+  */
+  struct MsgCmdGoTo : public MsgCmdTask {
+    static const uint16_t UseAngle = 0x0100;
+    static const uint16_t Relative = 0x0001;
+
+    uint16_t attr;
+    float x, y;
+    float angle;
+
+    bool useAngle() const {    return ((attr & UseAngle) != 0); }
+    bool useRelative() const { return ((attr & Relative) != 0); }
+    bool useGlobal() const {   return (!useRelative()); }
+  } PACKED;
+
+  struct MsgCmdSetPos : public MsgCmdTask {
+    float x, y;
+    float angle;
+  } PACKED;
+
+
+  /// execute the follow command
+  struct MsgCmdFollow : public MsgCmdTask {
+    char ip[MAX_STRING_LENGTH];
+    char search[MAX_STRING_LENGTH];
+  } PACKED;
+
+  /// Request robot location in absolute absolute frame
+  struct MsgReqLocation : public MsgCmdTask {
+    static MsgReqLocation factory(Priority priority, TaskID taskid) {
+      MsgReqLocation m;
+      m.MsgHeaderFill(REQ_LOCATION, sizeof(MsgReqLocation));
+      m.priority = priority;
+      m.taskid = taskid;
+      return m;
+    }
+  } PACKED;
+
+  /// Note req image is actually defined in boeing_map_packet.h
+
+  typedef MsgCmdTask MsgCmdHome;
+  typedef MsgCmdTask MsgCmdPause;
+  typedef MsgCmdTask MsgCmdResume;
+
+  /// N-sided polygon
+  struct RP_Polygon {
+    static const int MAX_POLYGON=6;
+
+    int n; //number of vertices
+    float xpoint[MAX_POLYGON+1];
+    float ypoint[MAX_POLYGON+1];
+    int taskIDs[MAX_POLYGON+1];
+  } PACKED;
+
+  ///only axis-aligned rectangles -a type of polygon- are currently supported
+  struct MsgCmdCover : public MsgCmdTask{
+    RP_Polygon cover_shape;
+  } PACKED;
+
+  /** play manager messages. Note these are variable length!!!
+      action will be a null terminated string. It will be no longer
+      than max_action
+  */
+  struct MsgCmdAction : public MsgCmdTask {
+    char action[MAX_STRING_LENGTH];
+
+    static MsgCmdAction factory(const char* _action, 
+      Priority _priority, TaskID _taskid) {
+        MsgCmdAction m;
+        return m.MsgCmdActionFill(_action, _priority, _taskid);
+    }
+
+    MsgCmdAction MsgCmdActionFill(const char* _action, Priority _priority, 
+      TaskID _taskid) {
+        MsgCmdTaskFill(_priority, _taskid, CMD_ACTION, 0);
+        strncpy(action, _action, MAX_STRING_LENGTH-1);
+        len = getSize();
+        return *this;
+    }
+
+    int getSize() const { 
+      return (int) strnlen(action,MAX_STRING_LENGTH-1)+1+sizeof(MsgCmdTask);
+    }
+  } 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;
+    MsgCmdHalt     msg_halt;
+    MsgCmdGoTo     msg_goto;
+    MsgCmdSetPos   msg_setpos;
+    MsgCmdHome     msg_home;
+    MsgCmdPause    msg_pause;
+    MsgCmdResume   msg_resume;
+    MsgCmdFollow   msg_follow;
+    MsgCmdCover    msg_cover;
+    MsgCmdAction   msg_action;
+    MsgCmdEval     msg_eval;
+
+    MsgMapReq      msg_image;
+    MsgReqLocation req_location;
+
+    char           buff[1000];
+  } PACKED;
+   
+
+  //===================================================
+  /// Robot to Human messages
+
+  /// acknowledgement messages
+  /// responding task id
+  struct MsgRobAck : public MsgHeader {
+    TaskID taskid; 
+    static MsgRobAck factory(TaskID taskID) {
+      MsgRobAck m;
+      m.MsgHeaderFill(ROB_ACK, sizeof(MsgRobAck));
+      m.taskid = taskID;
+      return m;
+    };
+  } PACKED;
+
+  /** Message to indicate that the play the robot is participating in
+      should halt */
+  typedef MsgHeader MsgRobPlayHalt;
+
+  /// the echo message...
+  typedef MsgCmdAction MsgActionEcho;
+
+  /// acknowledgement message for play manager
+  struct MsgActionAck : public MsgHeader {
+    TaskID taskid;
+    int16_t status;
+    static MsgActionAck factory(TaskID taskID, int16_t status) {
+      MsgActionAck m;
+      m.MsgHeaderFill(ROB_ACTION_ACK, sizeof(MsgActionAck));
+      m.taskid = taskID; m.status = status;
+      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]
+  */
+  struct MsgRobDone : public MsgHeader {  
+    
+    TaskID taskid; //task that has been completed
+    int16_t status;
+    static MsgRobDone factory(TaskID taskID, int16_t status) {
+      MsgRobDone m;
+      m.MsgHeaderFill(ROB_DONE, sizeof(MsgRobDone));
+      m.taskid = taskID; m.status = status;
+      return m;
+    };
+  } PACKED;
+
+  /** robot location status message
+      (x,y) - location in global frame in meters
+      angle - angle in global frame in radians
+      moving - flag to indicate robot is in motion
+  */
+  struct MsgRobLocation : public MsgHeader {
+    float x, y;
+    float angle;
+    int16_t moving;
+    static MsgRobLocation factory(float x, float y, float angle, int16_t moving) {
+      MsgRobLocation m;
+      m.x = x; m.y = y; m.angle = angle; m.moving = moving;
+      return m;
+    }
+	  bool operator!=(const MsgRobLocation& rhs) {
+		  return x != rhs.x || y != rhs.y || angle != rhs.angle;
+	  }
+	  bool operator==(const MsgRobLocation& rhs) {
+		  return !this->operator!=(rhs);
+	  }
+  } PACKED;
+
+  /// Handshaking...why is this so large???
+  struct MsgPing : public MsgHeader {
+    char handle[0xff];
+  } PACKED;
+
+  union MsgRobot {
+    MsgHeader      hdr;
+    MsgRobAck      ack;
+    MsgRobDone     done;
+    MsgRobLocation location;
+    MsgActionEcho  echo;
+    MsgActionAck   action_ack;
+    MsgEvalResult  eval_result;
+
+    MsgRobPlayHalt play_halt;
+    MsgMap         image;
+    char           buff[50000];
+  } PACKED;
+
+#ifdef WIN32
+  // reset packing....
+#pragma pack()
+#endif
+#undef PACKED
+
+#ifdef __cplusplus
+}; // namespace Boeing
+#endif
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_server.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_server.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_robot_server.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,92 @@
+/**
+   Boeing robot server ==
+*/
+
+#ifndef __BOEING_ROBOT_SERVER_H__
+#define __BOEING_ROBOT_SERVER_H__
+
+#include <stdint.h>
+
+#ifdef WIN32
+
+#else
+//#include "geometry.h"
+#endif
+#include "boeing_robot_packet.h"
+
+class UDPSocket;
+
+namespace Boeing {
+
+  class RobotServer {
+  private:
+    // socket controls
+    UDPSocket* socket_s;
+    int socket_port;
+    char host[SADDR_LENGTH];
+    
+    // raw send methods...use wisely
+    bool doSend(MsgHeader *msg);
+
+    double tlast_cmd,timeout;
+    MsgCmd rxdata;
+    Priority priority;
+  public:
+    //=== Initialization ==================================
+    RobotServer();
+    ~RobotServer();
+    
+    bool open(int port = ROBOT_PORT);
+    void close();
+
+    //=== Rx Methods ======================================
+
+    /// get the next message (if there is one). Returns NULL if there is none
+    MsgCmd const *getNextMessage();
+    
+    //=== Send Methods ====================================
+   
+    /// send a task acknowledgement
+    bool sendTaskAck(int taskid);
+
+    /// 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();
+
+    /// send a task done
+    bool sendDone(int taskid,bool ok);
+    bool sendAborted(int taskid);
+
+    /// send the updated robot pose
+    bool sendLocation(float x, float y, float a, bool moving);
+
+    /** Send a compressed image to the server 
+        the image is a pointer to a jpeg image file
+        the image size is the size of the image file in bytes
+    */
+    bool sendJPEGImage(const void *image, int image_size,
+      int width, int height, int invoice);
+
+    //=== Accessors ========================================
+
+    /// get the file descriptor for the socket
+    int getFD();
+
+    /// return true if connected
+    bool isConnected();
+
+    /// set various timeouts
+    void setTimeout(double t) { timeout=t; }
+    double getTimeout() const { return timeout; }
+    double getLastCmdTime() const { return tlast_cmd; }
+  };
+  
+}
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_client.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_client.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_client.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,60 @@
+/**
+   Boeing Trader client ==
+*/
+
+#ifndef __BOEING_TRADER_CLIENT_H__
+#define __BOEING_TRADER_CLIENT_H__
+
+#include <vector>
+#include <string>
+using std::vector;
+using std::string;
+
+#include "boeing_trader_packet.h"
+
+class UDPSocket;
+
+// client class to manage UDP connections to robots
+namespace Boeing {
+
+  class TraderClient {
+  private:
+    UDPSocket* sock;
+    MsgTraderClient rxdata;
+
+  public:
+    //=== Initiialization ===================================
+
+    // fill out any constructor/destructor info you need
+    TraderClient();
+    ~TraderClient();
+
+    /// returns the target client number
+    int open(char const *h, int p = ROBOT_PORT);
+    void close();
+
+    //=== Sending ==========================================
+
+    bool sendTask(TaskID tid,char const *task);
+
+    bool sendCancel(TaskID tid);
+    
+    //=== Receiving ======================================
+
+    /** returns a pointer to the next received message.
+        REturns NULL on failure. Sets the client to be 
+        the id of the sending client */
+    MsgTraderClient const *getNextMessage();
+
+    int isConnected();
+    int getFD();
+
+  private:
+    //=== Local methods ==========================
+    // private method to actually send stuff out the socket
+    bool sendPacket(MsgHeader *msg);
+
+  };
+};
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_packet.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_packet.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_packet.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,100 @@
+/**
+   Boeing Trader Packet. This file contains all of the packet structures
+   for sending using the Boeing server/clients
+ */
+#ifndef __BOEING_TRADER_PACKET_H__
+#define __BOEING_TRADER_PACKET_H__
+
+#include <string.h>
+
+#include "boeing_net.h"
+
+#ifdef __cplusplus
+namespace Boeing {
+#endif
+
+#ifndef PACKED
+#ifdef WIN32
+#pragma pack(1)
+#define PACKED
+#else
+#define PACKED __attribute__((packed))
+#endif
+#endif
+
+
+  //===================================================-
+  // Message ID's
+
+  // we combine all of them into one
+  enum TraderMsgID { TRADER_TASK=0,
+                     TASK_ACK=0x100,
+		     TASK_CANCEL,
+		     TASK_DONE,
+		     INFO};
+               
+  //=== Commands for Trader ===========================
+  // these are the commands received by the server, 
+  // and sent by the client
+
+  // trader messages: Note these are variable length!!!
+  // action will be a null terminated string. It will be no longer
+  // than max_string
+  struct MsgTask : public MsgHeader {
+    TaskID taskid;
+    char task[MAX_STRING_LENGTH];
+
+    int getSize() const { 
+      return (int) strnlen(task,MAX_STRING_LENGTH-1)+1+sizeof(MsgTask)-MAX_STRING_LENGTH;
+    }
+  } PACKED;
+
+  struct MsgTraderCancel : public MsgHeader {
+    TaskID taskid;
+  } PACKED;
+
+  // task string syntax: ({IP}: )?object [0-9a-ZA-Z]+ at "("{FLOAT} {FLOAT}")"
+  typedef MsgTask MsgInform;
+
+  // all the command messages. Note that action messages
+  // are variable length so this union is inappropriate
+  // to use as the receive buffer
+  union MsgTraderServer {
+    MsgHeader hdr;
+    MsgTask   msg_task;
+    MsgTraderCancel cancel;
+    char      buff[1];
+  } PACKED;
+
+  //===================================================
+  // Trader to client messages
+
+  // responding task id
+  struct MsgTraderAck : public MsgHeader {
+    TaskID taskid; 
+  } PACKED;
+
+  // responding task id
+  struct MsgTraderDone : public MsgHeader {
+    TaskID taskid;
+    int16_t status;
+  } PACKED;
+
+  union MsgTraderClient {
+    MsgHeader     hdr;
+    MsgTraderAck  ack;
+    MsgTraderDone done;
+    MsgInform     info;
+    char          buff[1];
+  } PACKED;
+
+#ifdef WIN32
+  // reset packing....
+#pragma pack()
+#endif
+
+#ifdef __cplusplus
+}; // namespace Boeing
+#endif
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_server.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_server.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/boeing/boeing_trader_server.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,53 @@
+/**
+   Boeing Trader Server ==
+*/
+
+#ifndef __BOEING_TRADER_SERVER_H__
+#define __BOEING_TRADER_SERVER_H__
+
+#include <stdint.h>
+
+#include "boeing_trader_packet.h"
+
+class UDPSocket;
+
+namespace Boeing {
+
+  class TraderServer {
+  private:
+    // socket controls
+    UDPSocket* sock;
+    MsgTraderServer rxdata;
+  public:
+    //=== Initialization ==================================
+    TraderServer();
+    ~TraderServer();
+    
+    bool open(int p = TRADER_PORT);
+    void close();
+
+    //=== Rx Methods ======================================
+
+    /// get the next message (if there is one). Returns NULL if there is none
+    MsgTraderServer const *getNextMessage();
+    
+    //=== Send Methods ====================================
+   
+    // sending operations
+    bool sendTaskAck(int taskid);
+    bool sendDone(int taskid,int status);
+    bool sendInfo(TaskID tid, char const *info);
+
+    //=== Accessors ========================================
+    int getFD();
+    bool isConnected();
+
+  private:
+    // raw send methods...use wisely
+    bool doSend(MsgHeader *msg);
+
+  };
+  
+}
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/ansicolor.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/ansicolor.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/ansicolor.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,41 @@
+#ifndef __ANSI_COLOR_H__
+#define __ANSI_COLOR_H__
+
+#include <stdio.h>
+
+namespace AnsiColor{
+  enum Color{
+    Black   = 0,
+    Red     = 1,
+    Green   = 2,
+    Yellow  = 3,
+    Blue    = 4,
+    Magenta = 5,
+    Cyan    = 6,
+    White   = 7,
+    Default = 9,
+  };
+
+  static inline void emit(FILE *out,int code) {fprintf(out,"%c[%dm",27,code);}
+
+  static inline void Reset(FILE *out) {emit(out,0);}
+
+  static inline void Bold(FILE *out)      {emit(out,1);}
+  static inline void Italics(FILE *out)   {emit(out,3);}
+  static inline void Underline(FILE *out) {emit(out,4);}
+  static inline void Inverse(FILE *out)   {emit(out,7);}
+  static inline void Strike(FILE *out)    {emit(out,9);}
+
+  static inline void BoldOff(FILE *out)      {emit(out,22);}
+  static inline void ItalicsOff(FILE *out)   {emit(out,23);}
+  static inline void UnderlineOff(FILE *out) {emit(out,24);}
+  static inline void InverseOff(FILE *out)   {emit(out,27);}
+  static inline void StrikeOff(FILE *out)    {emit(out,29);}
+
+  static inline void SetFgColor(FILE *out,Color fg) {emit(out,30+fg);}
+  static inline void SetBgColor(FILE *out,Color bg) {emit(out,40+bg);}
+  static inline void SetColor(FILE *out,Color fg,Color bg)
+    {emit(out,30+fg); emit(out,30+bg);}
+};
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/battery.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/battery.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/battery.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,71 @@
+// reads the apm to fidn out battery stats
+
+#ifndef __BATTERY_H__
+#define __BATTERY_H__
+
+
+class Battery {
+public:
+  double charge; // [0, 1]
+  double time_left; // in seconds
+private:
+  bool has_apm;
+  static const double warning_level = 15.0 * 60.0;
+
+public:
+  Battery() { 
+    charge = 1.0;
+    time_left = HUGE_VAL;
+    has_apm = true;
+
+    struct stat s;
+    if (stat("/proc/apm", &s) != 0)
+      has_apm = false;
+  }
+
+  bool reachedWarningLevel() {
+    if (has_apm) 
+      return (time_left < warning_level);
+    else
+      return (false);
+  }
+
+  double minutesToDischarge() {
+    if (has_apm)
+      return (time_left / 60.0);
+    else
+      return (10000.0);
+  }
+
+  // returns true if APM works okay
+  bool readStats() {
+    if (has_apm) {
+      FILE *f;
+      if ((f = fopen("/proc/apm", "r")) == NULL) {
+        has_apm = false;
+        return (false);
+      }
+      
+      float ignore1, ignore2;
+      int ignore3, ignore4, ignore5, ignore6;
+      int val, t;
+      fscanf(f, "%f %f %i %i %i %i %i%% %i", 
+             &ignore1, &ignore2, &ignore3, &ignore4,
+             &ignore5, &ignore6, &val, &t);
+      fclose(f);
+      
+      charge = (double) val / 100.0;
+      time_left = (double) t * 60.0;
+    } 
+      
+    return (true);
+  }
+
+  void print(FILE *f = stdout) {
+   fprintf(f, "charge = %f\%, time left = %ih:%im\n",
+           charge * 100.0, (int) time_left / 60.0 / 60.0,
+           (int) fmod(time_left / 60.0, 60.0));
+  }
+};
+
+#endif

Added: vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/colors.h
===================================================================
--- vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/colors.h	                        (rev 0)
+++ vendor/liveMaps/current/external/boeingLib.gcc-4.1/include/coralshared/colors.h	2007-09-22 05:34:12 UTC (rev 765)
@@ -0,0 +1,397 @@
+/*========================================================================
+    colors.h : Color definitions for CMVision2 and the Simple Image class
+  ------------------------------------------------------------------------
+    Copyright (C) 1999-2002  James R. Bruce
+    School of Computer Science, Carnegie Mellon University
+  ------------------------------------------------------------------------
+    This software is distributed under the GNU General Public License,
+    version 2.  If you do not have a copy of this licence, visit
+    www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
+    Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
+    in the hope that it will be useful, but WITHOUT ANY WARRANTY,
+    including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  ========================================================================*/
+
+/** Modified by Brett Browning */
+
+#ifndef __COLORS_H__
+#define __COLORS_H__
+
+#include "util.h"
+
+// this is not always defined for some reason
+typedef unsigned char uchar;
+
+namespace Colors {
+
+
+  //==== Color Classes =================================================//
+
+  //== Non-Planar representations ===/
+
+  // Details on these can be found 
+  // from http://www.fourcc.org/
+
+  struct rgb {
+    uchar r,g,b;
+  };
+
+  struct bgr {
+    uchar b,g,r;
+  };
+
+  struct rgba {
+    uchar r,g,b,a;
+  };
+
+  struct bgra {
+    uchar b,g,r,a;
+  };
+
+  struct yuv {
+    uchar y,u,v;
+  };
+
+  struct uyv {
+    uchar u,y,v;
+  };
+
+  struct yuvi{
+    int y,u,v;
+  };
+  
+  struct yuyv{
+    uchar y1,u,y2,v;
+  };
+
+  struct uyvy {
+    uchar u,y1,v,y2;
+  };
+
+  static const int uyvy_offset[4]={1,3};
+
+  // a macro pixel consisting of 4*Y, 1*U,1*v
+  // the u,v are probably at position 3...but it is not clear
+  struct uyyvyy {
+    uchar u,y1,y2,v,y3,y4;
+  };
+
+  typedef uyyvyy yuv411;
+  typedef uyyvyy uy2vy2;
+
+  static const int uyyvyy_offset[4]={1,2,4,5};
+
+
+  // Pixel sizes 
+  inline int nrPixels(rgb c) { return 1; }
+  inline int nrPixels(bgr c) { return 1; }
+  inline int nrPixels(rgba c) { return 1; }
+  inline int nrPixels(bgra c) { return 1; }
+  inline int nrPixels(yuv c) { return 1; }
+  inline int nrPixels(uyv c) { return 1; }
+  inline int nrPixels(yuvi c) { return 1; }
+  inline int nrPixels(yuyv c) { return 2; }
+  inline int nrPixels(uyvy c) { return 2; }
+
+  // a macro pixel consisting of 4*Y, 1*U,1*v
+  // the u,v are probably at position 3...but it is not clear
+  inline int nrPixels(uyyvyy  c) { return 4; }
+
+  //=== Predefined color values ========================================//
+
+  // RGB:
+
+  // standardized colors
+  const rgb Black  = {  0,   0,   0};
+  const rgb Brown  = {128,  64,   0};
+  const rgb Red    = {255,   0,   0};
+  const rgb Orange = {255, 128,   0};
+  const rgb Yellow = {255, 255,   0};
+  const rgb Green  = {  0, 255,   0};
+  const rgb Blue   = {  0,   0, 255};
+  const rgb Purple = {255,   0, 255};
+  const rgb Cyan   = {0  , 255, 255};
+  const rgb Gray   = {128, 128, 128};
+  const rgb Pink   = {255,   0, 128};
+  const rgb White  = {255, 255, 255};
+
+  const uchar dark = 160;
+  const rgb DarkBlue   = {   0,   0,dark};
+  const rgb DarkGreen  = {   0,dark,   0};
+  const rgb DarkRed    = {dark,   0,   0};
+  const rgb DarkYellow = {dark,dark,   0};
+  const rgb DarkCyan   = {   0,dark,dark};
+  const rgb DarkPurple = {dark,   0,dark};
+  const rgb DarkGray   = {  32,  32,  48};
+  const rgb DarkPink   = {dark,   0,  dark/2};
+
+
+  // standardized colors
+  const uchar uvo = 128;
+  const yuv yuvBlack  = {  0, uvo, uvo};
+  const yuv yuvGray   = {128, uvo, uvo};
+  const yuv yuvWhite  = {255, uvo, uvo};
+
+  const yuv yuvBlue   = { 29, 107, 256};
+  const yuv yuvGreen  = {150,  21,  44};
+  const yuv yuvRed    = { 76, 255,  85};
+
+  const yuv yuvYellow = {226, 149,   0};
+  const yuv yuvCyan   = {179,   0, 171};
+  const yuv yuvPurple = {105, 235, 212};
+  const yuv yuvPink   = { 91, 245, 149};
+
+
+  //=== Initializers ================================//
+
+  inline rgb mkrgb(uchar r,uchar g,uchar b) {
+    return (rgb) {r,g,b};
+  }
+
+  inline bgr mkbgr(uchar r,uchar g,uchar b) {
+    return (bgr) {b,g,r};
+  }
+
+  // Logical operations. Note on floating point == and != don't
+  // make sense
+#define RGB_LOGIC_OP(opr,comb,type)                              \
+  inline bool operator opr (const type a, const type b) {        \
+    return ((a.r opr b.r) comb (a.g opr b.g)                     \
+            comb (a.b opr b.b));                                 \
+  }
+
+  RGB_LOGIC_OP(==,&&,rgb);
+  RGB_LOGIC_OP(!=,||,rgb);
+  RGB_LOGIC_OP(> ,&&,rgb);
+  RGB_LOGIC_OP(>=,&&,rgb);
+  RGB_LOGIC_OP(< ,&&,rgb);
+  RGB_LOGIC_OP(<=,&&,rgb);
+
+  RGB_LOGIC_OP(==,&&,bgr);
+  RGB_LOGIC_OP(!=,||,bgr);
+  RGB_LOGIC_OP(> ,&&,bgr);
+  RGB_LOGIC_OP(>=,&&,bgr);
+  RGB_LOGIC_OP(< ,&&,bgr);
+  RGB_LOGIC_OP(<=,&&,bgr);
+
+
+  // Arithmetic operations. Note on RGB +- can wrap
+#define RGB_ARITHM_OP(opr,type)                                  \
+  inline type operator opr (const type a, const type b) {        \
+    type r;                                                      \
+    r.r = a.r opr b.r;                                           \
+    r.g = a.g opr b.g;                                           \
+    r.b = a.b opr b.b;                                           \
+    return (r);                                                  \
+  }
+
+  // note these may wrap
+  //  rgb operators
+  RGB_ARITHM_OP(+,rgb);
+  RGB_ARITHM_OP(-,rgb);
+  RGB_ARITHM_OP(&,rgb);
+  RGB_ARITHM_OP(|,rgb);
+  RGB_ARITHM_OP(^,rgb);
+
+  RGB_ARITHM_OP(+,bgr);
+  RGB_ARITHM_OP(-,bgr);
+  RGB_ARITHM_OP(&,bgr);
+  RGB_ARITHM_OP(|,bgr);
+  RGB_ARITHM_OP(^,bgr);
+
+  // scalar arithmetic
+#define RGB_SCALAR_OP(opr,type,stype)                        \
+  inline type operator opr (const type a, const stype s) {   \
+    type r;                                                  \
+    r.r = a.r opr s;                                         \
+    r.g = a.g opr s;                                         \
+    r.b = a.b opr s;                                         \
+    return r;                                                \
+  }
+
+  // note these may (and probably will) wrap
+  RGB_SCALAR_OP(*,rgb,int);
+  RGB_SCALAR_OP(/,rgb,int);
+
+  RGB_SCALAR_OP(*,bgr,int);
+  RGB_SCALAR_OP(/,bgr,int);
+
+  // Color Arithmetic
+  inline rgb blend(const rgb a,const rgb b,const float t) {
+    rgb r;
+    r.r = (int)((a.r * (1.0 - t)) + (b.r * t));
+    r.g = (int)((a.g * (1.0 - t)) + (b.g * t));
+    r.b = (int)((a.b * (1.0 - t)) + (b.b * t));
+    return(r);
+  }
+
+  inline int sum(const rgb a) {
+    return (((int)a.r+(int)a.g+(int)a.b));
+  }
+  inline int getGray(const rgb a) {

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Sat Sep 22 01:38:44 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 22 Sep 2007 01:38:44 -0400
Subject: [TeamTalk 230]: [766] vendor/liveMaps/v1320/: Tagging liveMaps
	version.
Message-ID: <200709220538.l8M5ciwM011839@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070922/751d0c06/attachment.html
-------------- next part --------------
Copied: vendor/liveMaps/v1320 (from rev 765, vendor/liveMaps/current)

From tk at edam.speech.cs.cmu.edu  Sat Sep 22 22:59:43 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 22 Sep 2007 22:59:43 -0400
Subject: [TeamTalk 231]: [767] vendor: Added AlwaysOnTop executable to
 disable on-top status of unreal tournament window .
Message-ID: <200709230259.l8N2xhFv017738@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070922/01f71e10/attachment.html
-------------- next part --------------
Added: vendor/Phil_Seyer/AlwaysOnTop.exe
===================================================================
(Binary files differ)


Property changes on: vendor/Phil_Seyer/AlwaysOnTop.exe
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From tk at edam.speech.cs.cmu.edu  Mon Sep 24 00:59:03 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 00:59:03 -0400
Subject: [TeamTalk 232]: [768] trunk/moast-bth: Switched from vehicle-mode
 to autonomous-mobility-mode moves in teamtalksimulator
Message-ID: <200709240459.l8O4x3iE017529@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/104bc4d5/attachment.html
-------------- next part --------------
Modified: trunk/moast-bth/TeamTalkSimulator/robot.cc
===================================================================
--- trunk/moast-bth/TeamTalkSimulator/robot.cc	2007-09-23 02:59:43 UTC (rev 767)
+++ trunk/moast-bth/TeamTalkSimulator/robot.cc	2007-09-24 04:59:03 UTC (rev 768)
@@ -539,7 +539,11 @@
       debug << "interpreting as turn relative: " << goTo->getAngle() << endl;
       float r = getYaw();
       AmMobJACmdSpin spin;
-      spin.absAngle = canonical_angle(r - goTo->getAngle());
+      //we are right-handed, moast is also right-handed, but since 
+      //z points down in moast it appears left-handeed on the xy plane
+      //so we take the opposite of the difference 
+      //from the current yaw to the goal yaw
+      spin.absAngle = canonical_angle(-(goTo->getAngle()-r)); 
       spin.tolerance = PI/40;
       spin.direction = MOAST_ROTATE_SHORTEST;
       spin.serial_number = amStatP->echo_serial_number + 1;
@@ -558,15 +562,17 @@
 	destination = 
 	  loc + Point<float>::Polar(vec.length(), getYaw()+vec.angle());
       }
-      VehMobPLCmdMoveWaypoint move = VehMobPLCmdMoveWaypoint();
-      move.p.x = destination.x;
-      move.p.y = destination.y;
-      move.serial_number = statP->echo_serial_number+1;
-      move.isGlobal = true;
-      move.neighborhood = 1;
-      move.startTime = 0;
-      vehMobPLCmdBuf->write(&move);
-      setNewWorkingMsg(goTo, VEHWORK, move.serial_number);
+      AmMobJACmdMoveWaypoint move = AmMobJACmdMoveWaypoint();
+      move.waypoint[0].p.x = destination.x;
+      move.waypoint[0].p.y = destination.y;
+      move.waypoint[0].p.z = 0;
+      move.serial_number = amStatP->echo_serial_number+1;
+      move.waypoint[0].neighborhood = 0.2;
+      move.waypoint[0].speed = 1.0;
+      move.waypoint_length = 1;
+      move.computeHorizonCosts =  false;
+      amMobJACmdBuf->write(&move);
+      setNewWorkingMsg(goTo, AMWORK, move.serial_number);
     }
     return;
   } else if(const MsgCmdHalt* halt = dynamic_cast<const MsgCmdHalt*>(msgp)) {
@@ -575,14 +581,17 @@
     return;
   } else if(const MsgCmdHome* home = dynamic_cast<const MsgCmdHome*>(msgp)) {
     debug << "got: " << home << endl;
-    VehMobPLCmdMoveWaypoint move = VehMobPLCmdMoveWaypoint();
-    move.p.x = 0;
-    move.p.y = 0;
-    move.serial_number = statP->echo_serial_number+1;
-    move.isGlobal = true;
-    move.neighborhood = 1;
-    move.startTime = 0;
-    vehMobPLCmdBuf->write(&move);
+    AmMobJACmdMoveWaypoint move = AmMobJACmdMoveWaypoint();
+    move.waypoint[0].p.x = 0;
+    move.waypoint[0].p.y = 0;
+    move.waypoint[0].p.z = 0;
+    move.serial_number = amStatP->echo_serial_number+1;
+    move.waypoint[0].neighborhood = 0.2;
+    move.waypoint[0].speed = 1.0;
+    move.waypoint_length = 1;
+    move.computeHorizonCosts =  false;
+    amMobJACmdBuf->write(&move);
+    setNewWorkingMsg(goTo, AMWORK, move.serial_number);
     return;
   } else if(const MsgCmdPause* pause = dynamic_cast<const MsgCmdPause*>(msgp)) {
     debug << "got: " << pause << endl;

Modified: trunk/moast-bth/moast/bin/regression/four_right_turns.exp
===================================================================
--- trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-23 02:59:43 UTC (rev 767)
+++ trunk/moast-bth/moast/bin/regression/four_right_turns.exp	2007-09-24 04:59:03 UTC (rev 768)
@@ -1,7 +1,7 @@
 #!/usr/bin/expect -f
 
 set rt_time 20
-set rt_tol 6
+set rt_tol 4.5
 set adm_prompt "> \rAdm> "
 set mob_prompt "> \rMob> "
 set timeout -1

From tk at edam.speech.cs.cmu.edu  Mon Sep 24 01:05:14 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 01:05:14 -0400
Subject: [TeamTalk 233]: [769] trunk/TeamTalk/Agents/TeamTalkBackend: Minor
 debug statements for launching processes in pythia.
Message-ID: <200709240505.l8O55ETM017559@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/6cb9fb8f/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-09-24 04:59:03 UTC (rev 768)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/TeamTalkBackend.vcproj	2007-09-24 05:05:13 UTC (rev 769)
@@ -231,10 +231,6 @@
 			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
 			>
 		</Filter>
-		<File
-			RelativePath=".\ReadMe.txt"
-			>
-		</File>
 	</Files>
 	<Globals>
 	</Globals>

Modified: trunk/TeamTalk/Agents/TeamTalkBackend/agent.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/agent.cpp	2007-09-24 04:59:03 UTC (rev 768)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/agent.cpp	2007-09-24 05:05:13 UTC (rev 769)
@@ -35,6 +35,7 @@
   ostringstream cmd, title;
   cmd << HUB << " -verbosity 3 -pgm_file " << cfilename;
   title << uppername << " Hub";
+  debug << "sending to pythia: " << cmd.str() << endl;
   Pythia::Message(cmd.str(), title.str()).send("localhost");
 }
 
@@ -50,6 +51,7 @@
   ostringstream cmd, title;
   cmd << HELIOS << " -port " << iHeliosPort << " -config " << cfilename;
   title << uppername << " Helios";
+  debug << "sending to pythia: " << cmd.str() << endl;
   Pythia::Message(cmd.str(), title.str()).send("localhost");
 }
 
@@ -79,6 +81,7 @@
   ostringstream cmd, title;
   cmd << DM << " -maxconns 6 -config " << cfilename;
   title << uppername << " DM";
+  debug << "sending to pythia: " << cmd.str() << endl;
   Pythia::Message(cmd.str(), title.str()).send("localhost");
 }
 

From tk at edam.speech.cs.cmu.edu  Mon Sep 24 01:51:20 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 01:51:20 -0400
Subject: [TeamTalk 234]: [770] tags/BTH-0.2/moast-bth/: pegging extern
	revisions for tagged code
Message-ID: <200709240551.l8O5pKrQ017634@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/0b4f5729/attachment.html
-------------- next part --------------

Property changes on: tags/BTH-0.2/moast-bth
___________________________________________________________________
Name: svn:externals
   - PrimitiveComm http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/PrimitiveComm
boeingLib http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/boeingLib

   + PrimitiveComm -r739 http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/PrimitiveComm
boeingLib -r739 http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/boeingLib


From tk at edam.speech.cs.cmu.edu  Mon Sep 24 01:58:49 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 01:58:49 -0400
Subject: [TeamTalk 235]: [771] tags/BTH-0.2/moast-bth/: undoing last commit,
 externs were within-tag externs
Message-ID: <200709240558.l8O5wntA017645@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/f6bf650e/attachment.html
-------------- next part --------------

Property changes on: tags/BTH-0.2/moast-bth
___________________________________________________________________
Name: svn:externals
   - PrimitiveComm -r739 http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/PrimitiveComm
boeingLib -r739 http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/boeingLib

   + PrimitiveComm http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/PrimitiveComm
boeingLib http://edam.speech.cs.cmu.edu/repos/teamtalk/tags/BTH-0.2/TeamTalk/Agents/boeingLib


From tk at edam.speech.cs.cmu.edu  Mon Sep 24 14:52:01 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 14:52:01 -0400
Subject: [TeamTalk 236]:  [772] vendor/USARSim/: Created folder remotely
Message-ID: <200709241852.l8OIq1Di028354@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/3ec73787/attachment.html
-------------- next part --------------


From tk at edam.speech.cs.cmu.edu  Mon Sep 24 16:16:07 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 16:16:07 -0400
Subject: [TeamTalk 237]: [773] trunk/TeamTalk/Tools/: Now uses trunk version
	of MakeLM.
Message-ID: <200709242016.l8OKG7NQ028508@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/31331961/attachment.html
-------------- next part --------------

Property changes on: trunk/TeamTalk/Tools
___________________________________________________________________
Name: svn:externals
   + MakeLM http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Tools/MakeLM/trunk


From tk at edam.speech.cs.cmu.edu  Mon Sep 24 16:17:58 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 16:17:58 -0400
Subject: [TeamTalk 238]:  [774] trunk/TeamTalk/:
Message-ID: <200709242017.l8OKHwfd028518@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/75454cbd/attachment.html
-------------- next part --------------

Property changes on: trunk/TeamTalk
___________________________________________________________________
Name: svn:externals
   - Tools http://edam.speech.cs.cmu.edu/repos/olympus/trunk/Tools


From tk at edam.speech.cs.cmu.edu  Mon Sep 24 19:36:14 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 19:36:14 -0400
Subject: [TeamTalk 239]: [775] vendor/USARSim: importing usarsim basefiles
	drops
Message-ID: <200709242336.l8ONaE2L029211@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/20f6daef/attachment-0001.html
-------------- next part --------------
Added: vendor/USARSim/BaseFiles/current/Animations/UDN_CharacterModels_K.ukx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Animations/UDN_CharacterModels_K.ukx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Sounds/SEERVoices.uax
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Sounds/SEERVoices.uax
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_LeggedRobots_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_LeggedRobots_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Manufacturing_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Manufacturing_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Objects_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Objects_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_VehicleParts_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_VehicleParts_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Vehicles_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Vehicles_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/SEERSTextures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/SEERSTextures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/SEERSTexturesSG.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/SEERSTexturesSG.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/SEERS_Wounded.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/SEERS_Wounded.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/SEERS_gWounded.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/SEERS_gWounded.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/SEERS_girls.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/SEERS_girls.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/USARSim_LeggedRobots_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/USARSim_LeggedRobots_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/USARSim_Manufacturing_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/USARSim_Manufacturing_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/USARSim_Objects_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/USARSim_Objects_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/USARSim_VehicleParts_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/USARSim_VehicleParts_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/current/Textures/USARSim_Vehicles_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/current/Textures/USARSim_Vehicles_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Animations/UDN_CharacterModels_K.ukx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Animations/UDN_CharacterModels_K.ukx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Sounds/SEERVoices.uax
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Sounds/SEERVoices.uax
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_LeggedRobots_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_LeggedRobots_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_Objects_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_Objects_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_VehicleParts_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_VehicleParts_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_Vehicles_Meshes.usx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/StaticMeshes/USARSim_Vehicles_Meshes.usx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/SEERSTextures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/SEERSTextures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/SEERSTexturesSG.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/SEERSTexturesSG.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/SEERS_Wounded.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/SEERS_Wounded.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/SEERS_gWounded.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/SEERS_gWounded.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/SEERS_girls.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/SEERS_girls.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_LeggedRobots_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_LeggedRobots_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_Objects_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_Objects_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_VehicleParts_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_VehicleParts_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_Vehicles_Textures.utx
===================================================================
(Binary files differ)


Property changes on: vendor/USARSim/BaseFiles/v3.14/Textures/USARSim_Vehicles_Textures.utx
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From tk at edam.speech.cs.cmu.edu  Mon Sep 24 19:46:06 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 19:46:06 -0400
Subject: [TeamTalk 240]: [776] vendor/USARSim/BaseFiles/v3.15/: tagging
	current BaseFiles drop
Message-ID: <200709242346.l8ONk6DS029229@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/0daa290f/attachment.html
-------------- next part --------------
Copied: vendor/USARSim/BaseFiles/v3.15 (from rev 775, vendor/USARSim/BaseFiles/current)

From tk at edam.speech.cs.cmu.edu  Mon Sep 24 23:56:00 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 24 Sep 2007 23:56:00 -0400
Subject: [TeamTalk 241]: [777] trunk/usarsim: Update USARSim with v3.15 base
	files.
Message-ID: <200709250356.l8P3u0bZ029748@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070924/600b0a93/attachment.html
-------------- next part --------------

Property changes on: trunk/usarsim
___________________________________________________________________
Name: svn:ignore
   - CVS
Animations
Benchmark
ForceFeedback
Help
KarmaData
Manual
Music
Prefabs
Sounds
Speech
StaticMeshes
Textures
Web

   + CVS
Benchmark
ForceFeedback
Help
KarmaData
Manual
Music
Prefabs
Speech
StaticMeshes
Textures
Web


Copied: trunk/usarsim/Animations (from rev 776, vendor/USARSim/BaseFiles/current/Animations)

Deleted: trunk/usarsim/Animations/UDN_CharacterModels_K.ukx
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Animations/UDN_CharacterModels_K.ukx (from rev 776, vendor/USARSim/BaseFiles/current/Animations/UDN_CharacterModels_K.ukx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Sounds (from rev 776, vendor/USARSim/BaseFiles/current/Sounds)

Deleted: trunk/usarsim/Sounds/SEERVoices.uax
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Sounds/SEERVoices.uax (from rev 776, vendor/USARSim/BaseFiles/current/Sounds/SEERVoices.uax)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/StaticMeshes/USARSim_LeggedRobots_Meshes.usx (from rev 776, vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_LeggedRobots_Meshes.usx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/StaticMeshes/USARSim_Manufacturing_Meshes.usx (from rev 776, vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Manufacturing_Meshes.usx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/StaticMeshes/USARSim_Objects_Meshes.usx (from rev 776, vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Objects_Meshes.usx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/StaticMeshes/USARSim_VehicleParts_Meshes.usx (from rev 776, vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_VehicleParts_Meshes.usx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/StaticMeshes/USARSim_Vehicles_Meshes.usx (from rev 776, vendor/USARSim/BaseFiles/current/StaticMeshes/USARSim_Vehicles_Meshes.usx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/SEERSTextures.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/SEERSTextures.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/SEERSTexturesSG.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/SEERSTexturesSG.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/SEERS_Wounded.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/SEERS_Wounded.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/SEERS_gWounded.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/SEERS_gWounded.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/SEERS_girls.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/SEERS_girls.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/USARSim_LeggedRobots_Textures.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/USARSim_LeggedRobots_Textures.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/USARSim_Manufacturing_Textures.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/USARSim_Manufacturing_Textures.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/USARSim_Objects_Textures.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/USARSim_Objects_Textures.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/USARSim_VehicleParts_Textures.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/USARSim_VehicleParts_Textures.utx)
===================================================================
(Binary files differ)

Copied: trunk/usarsim/Textures/USARSim_Vehicles_Textures.utx (from rev 776, vendor/USARSim/BaseFiles/current/Textures/USARSim_Vehicles_Textures.utx)
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Tue Sep 25 00:13:25 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 00:13:25 -0400
Subject: [TeamTalk 242]: [778] AlwaysOnTop.exe: Install AlwaysOnTop binary
 to control Unreal Tournament client window.
Message-ID: <200709250413.l8P4DPIo029794@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/68ef04f8/attachment.html
-------------- next part --------------
Copied: AlwaysOnTop.exe (from rev 777, vendor/Phil_Seyer/AlwaysOnTop.exe)
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Tue Sep 25 01:15:45 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 01:15:45 -0400
Subject: [TeamTalk 243]: [779] trunk/TeamTalk: Removed tools external as
 tools is now a proper teamtalk dir.
Message-ID: <200709250515.l8P5Fjoi029865@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/79a4ff68/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/TeamTalkRun.bat
===================================================================
--- trunk/TeamTalk/TeamTalkRun.bat	2007-09-25 04:13:25 UTC (rev 778)
+++ trunk/TeamTalk/TeamTalkRun.bat	2007-09-25 05:15:45 UTC (rev 779)
@@ -1,13 +1,5 @@
 @echo off
 
-:Clean Up Residue from Build Script that Could not be removed otherwise.
-:: ---------------------
-:: Remove the environment variables
-
-set JAVA_HOME=
-set NetBeansVer= 
-
-
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Lanucher for Win32
 IF NOT EXIST Configurations\DesktopConfiguration\startlist-desktop.config goto Error

From tk at edam.speech.cs.cmu.edu  Tue Sep 25 01:28:36 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 01:28:36 -0400
Subject: [TeamTalk 244]: [780] trunk/TeamTalk/AlwaysOnTop.exe: Installing
	AlwaysOnTop.
Message-ID: <200709250528.l8P5Sa3g029883@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/641637a5/attachment-0001.html
-------------- next part --------------
Copied: trunk/TeamTalk/AlwaysOnTop.exe (from rev 779, vendor/Phil_Seyer/AlwaysOnTop.exe)
===================================================================
(Binary files differ)

From tk at edam.speech.cs.cmu.edu  Tue Sep 25 02:02:00 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 02:02:00 -0400
Subject: [TeamTalk 245]: [781] trunk/TeamTalk/TeamTalkVirtRun.bat: A version
 of run that will also launch the unreal client.
Message-ID: <200709250602.l8P620Fv029942@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/de7afbda/attachment.html
-------------- next part --------------
Copied: trunk/TeamTalk/TeamTalkVirtRun.bat (from rev 780, trunk/TeamTalk/TeamTalkRun.bat)
===================================================================
--- trunk/TeamTalk/TeamTalkVirtRun.bat	                        (rev 0)
+++ trunk/TeamTalk/TeamTalkVirtRun.bat	2007-09-25 06:02:00 UTC (rev 781)
@@ -0,0 +1,25 @@
+ at echo off
+
+:Check to make sure the file is not running with a wrong working directory
+title TeamTalk Lanucher for Win32
+IF NOT EXIST Configurations\DesktopConfiguration\startlist-desktop.config goto Error
+IF NOT EXIST Agents\Pythia\dist\process_monitor.exe goto Error
+
+cd Configurations\DesktopConfiguration
+START ..\..\Agents\Pythia\dist\process_monitor.exe startlist-desktop.config
+cd ..\..
+
+:: Don't display the message that the script was run in the wrong working directory as that was not the case
+goto End
+
+:Error message that says that the script was run outside of the TeamTalk directory.
+
+echo. 
+echo This script must be run with the current directory being that of the script.  
+echo (For example, click directly on the script in Windows Explorer instead of 
+echo entering the full path to the script at the command prompt.)
+echo.  
+echo If this is not the case, please contact bfrisch at gmail.com.
+echo.  
+
+:End script execution
\ No newline at end of file

From tk at edam.speech.cs.cmu.edu  Tue Sep 25 02:04:36 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 02:04:36 -0400
Subject: [TeamTalk 246]: [782]
 trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.
 config: A version of the startlist that also launches the unreal client.
Message-ID: <200709250604.l8P64aKV029953@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/7dd1ee16/attachment.html
-------------- next part --------------
Copied: trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.config (from rev 781, trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config)
===================================================================
--- trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.config	                        (rev 0)
+++ trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.config	2007-09-25 06:04:36 UTC (rev 782)
@@ -0,0 +1,55 @@
+EXPAND: $GC_HOME ..\..\Libraries\Galaxy
+EXPAND: $MITRE_ROOT $GC_HOME\contrib\MITRE
+EXPAND: $TEAMTALK ..\..
+EXPAND: $CONFIGURATION $TEAMTALK\Configurations\DesktopConfiguration
+EXPAND: $AGENTS $TEAMTALK\Agents
+EXPAND: $PENDECODER $AGENTS\PenDecoder
+EXPAND: $BIN $TEAMTALK\Bin\x86-nt
+EXPAND: $NLG $AGENTS\TeamTalkNLG
+EXPAND: $RESOURCES $TEAMTALK\Resources
+EXPAND: $GRAMMAR $RESOURCES\Grammar
+EXPAND: $DECODER $RESOURCES\DecoderConfig
+
+EXPAND: $JAVAEXE java
+EXPAND: $PERL perl
+
+TITLE: TeamTalk
+
+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-DEBUG.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  Tue Sep 25 02:07:49 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 02:07:49 -0400
Subject: [TeamTalk 247]: [783] trunk/TeamTalk: New config that launches
 TeamTalk and Unreal client together.
Message-ID: <200709250607.l8P67nVd029963@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/78c6d8b7/attachment.html
-------------- next part --------------
Modified: trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.config
===================================================================
--- trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.config	2007-09-25 06:04:36 UTC (rev 782)
+++ trunk/TeamTalk/Configurations/DesktopConfiguration/startlist-virtual.config	2007-09-25 06:07:48 UTC (rev 783)
@@ -1,3 +1,4 @@
+#directories
 EXPAND: $GC_HOME ..\..\Libraries\Galaxy
 EXPAND: $MITRE_ROOT $GC_HOME\contrib\MITRE
 EXPAND: $TEAMTALK ..\..
@@ -9,10 +10,15 @@
 EXPAND: $RESOURCES $TEAMTALK\Resources
 EXPAND: $GRAMMAR $RESOURCES\Grammar
 EXPAND: $DECODER $RESOURCES\DecoderConfig
+EXPAND: $UT2004 C:\UT2004
 
+#programs
 EXPAND: $JAVAEXE java
 EXPAND: $PERL perl
 
+#other config
+EXPAND: $BTHSIM_SERVER rampsold.speech.cs.cmu.edu
+
 TITLE: TeamTalk
 
 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
@@ -53,3 +59,8 @@
 PROCESS: $GC_HOME\bin\x86-nt\HUB.exe -verbosity 3 -pgm_file TeamTalk-hub-desktop-skeleton.pgm
 PROCESS_MONITOR_ARGS: --start
 PROCESS_TITLE: Hub
+
+PROCESS: $UT2004\System\UT2004 $BTHSIM_SERVER?quickstart=true
+PROCESS_WORKDIR: $UT2004\System
+PROCESS_MONITOR_ARGS: --start
+PROCESS_TITLE: BTH Sim Client
\ No newline at end of file

Modified: trunk/TeamTalk/TeamTalkVirtRun.bat
===================================================================
--- trunk/TeamTalk/TeamTalkVirtRun.bat	2007-09-25 06:04:36 UTC (rev 782)
+++ trunk/TeamTalk/TeamTalkVirtRun.bat	2007-09-25 06:07:48 UTC (rev 783)
@@ -2,11 +2,12 @@
 
 :Check to make sure the file is not running with a wrong working directory
 title TeamTalk Lanucher for Win32
-IF NOT EXIST Configurations\DesktopConfiguration\startlist-desktop.config goto Error
+IF NOT EXIST Configurations\DesktopConfiguration\startlist-virtual.config goto Error
 IF NOT EXIST Agents\Pythia\dist\process_monitor.exe goto Error
 
+START AlwaysOnTop Unreal 0
 cd Configurations\DesktopConfiguration
-START ..\..\Agents\Pythia\dist\process_monitor.exe startlist-desktop.config
+START ..\..\Agents\Pythia\dist\process_monitor.exe startlist-virtual.config
 cd ..\..
 
 :: Don't display the message that the script was run in the wrong working directory as that was not the case

From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:04:58 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:04:58 -0400
Subject: [TeamTalk 248]: [784] trunk/TeamTalk/branches/: Created folder
	remotely
Message-ID: <200709251604.l8PG4w8B031082@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/4d320509/attachment.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:10:37 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:10:37 -0400
Subject: [TeamTalk 249]:  [785] branches/: Created folder remotely
Message-ID: <200709251610.l8PGAbfe031096@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/8f4db004/attachment.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:10:49 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:10:49 -0400
Subject: [TeamTalk 250]:  [786] branches/air/: Created folder remotely
Message-ID: <200709251610.l8PGAn10031107@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/666f58f8/attachment.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:11:14 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:11:14 -0400
Subject: [TeamTalk 251]: [787] branches/air/Resources/: Created folder
	remotely
Message-ID: <200709251611.l8PGBE24031121@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/38d2969d/attachment.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:11:26 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:11:26 -0400
Subject: [TeamTalk 252]: [788] branches/air/MakeLM/: Created folder remotely
Message-ID: <200709251611.l8PGBQhE031131@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/e570c675/attachment.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:12:31 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:12:31 -0400
Subject: [TeamTalk 253]:  [789] branches/air/MakeLM/: Removed file/folder
Message-ID: <200709251612.l8PGCVmG031141@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/75d8b7e5/attachment.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:12:36 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:12:36 -0400
Subject: [TeamTalk 254]: [790] branches/air/Resources/: Removed file/folder
Message-ID: <200709251612.l8PGCaiZ031151@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/72d4e19a/attachment-0001.html
-------------- next part --------------


From air at edam.speech.cs.cmu.edu  Tue Sep 25 12:13:35 2007
From: air at edam.speech.cs.cmu.edu (air@edam.speech.cs.cmu.edu)
Date: Tue, 25 Sep 2007 12:13:35 -0400
Subject: [TeamTalk 255]:  [791] branches/air/Resources/: made a copy
Message-ID: <200709251613.l8PGDZa2031161@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070925/05a643c5/attachment.html
-------------- next part --------------
Copied: branches/air/Resources (from rev 790, trunk/TeamTalk/Resources)

From tk at edam.speech.cs.cmu.edu  Thu Sep 27 02:27:55 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 27 Sep 2007 02:27:55 -0400
Subject: [TeamTalk 256]: [792] trunk/TeamTalk: Put code in to handle both
 row and column ordered maps
Message-ID: <200709270627.l8R6RtW3004131@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070927/337b2209/attachment-0001.html
-------------- next part --------------
Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapBufferedImage.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapBufferedImage.java	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapBufferedImage.java	2007-09-27 06:27:53 UTC (rev 792)
@@ -19,6 +19,11 @@
   static public final int FULL = 0;
   static public final int DIFF = 1;
   
+  static public final short MAP_UNCHANGED = 0x00;
+  static public final short MAP_CLEAR     = 0x20;
+  static public final short MAP_UNKNOWN   = 0x40;
+  static public final short MAP_OCCUPIED  = 0xff;
+
   /**
    * Creates a new instance of MapBufferedImage 
    */
@@ -35,9 +40,9 @@
   
   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();
+    colors[MAP_CLEAR] = Color.BLACK.getRGB();
+    colors[MAP_UNKNOWN] = Color.GRAY.getRGB();
+    colors[MAP_OCCUPIED] = 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);
@@ -47,23 +52,16 @@
     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);
-      }
-    }
+    for(int i=0; i<h*w; i++) wr.setSample(i%w, i/w, 0, ras[i]);
   }
 
   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);
-      }
+    for(int i=0; i<h*w; i++) {
+        byte val = ras[i];
+        if(val!=0) wr.setSample(i%w, i/w, 0, val);
     }
   }
 }
\ No newline at end of file

Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/MapCanvas.java	2007-09-27 06:27:53 UTC (rev 792)
@@ -25,6 +25,8 @@
  */
 public class MapCanvas extends JComponent implements Scrollable {    
   
+    public enum RowOrder {Y_MAJOR, X_MAJOR};
+    
     /**
      * Constructor for map canvas.
      * @param penDecoderDisplay Link to parent class.
@@ -274,6 +276,7 @@
     /**
      * Update the map.
      * @param type Is this a full map or just a diff?
+     * @param row_order whether the map is encoded as y-major or x-major
      * @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
@@ -281,9 +284,9 @@
      * @param resolution The length of a side of a cell (in centimeters)
      * @param encoded_map The run-length compressed map
      */
-    public void mapUpdate(int type, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
+    public void mapUpdate(int type, RowOrder row_order, 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 (!decodeMap(decoded_map, row_order, x_dim, y_dim, encoded_map)) return;
         if (type == MapBufferedImage.FULL) {
             if (image_width_in_pixels != x_dim || image_height_in_pixels != y_dim) {
                 int colors[] = new int[3];
@@ -330,20 +333,29 @@
      * @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
+     * @return true if the map has any changes
      */
-    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;
+    protected boolean decodeMap(byte[] decoded_map, RowOrder row_order, int x, int y, int[] encoded_map) {
+        int j = 0;
+        boolean dirty = false;
         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;
+            int run_length = (encoded_map[i] & 0xFFFFFF00) >> 8;
+            int run_terminus = j+run_length;
+            byte run_value = (byte) (encoded_map[i] & 0x000000FF);
+            dirty |= run_value != MapBufferedImage.MAP_UNCHANGED;
+            switch(row_order) {
+                case Y_MAJOR:
+                    Arrays.fill(decoded_map, j, run_terminus, run_value);
+                    j = run_terminus;
+                    break;
+                case X_MAJOR:
+                    for (; j < run_terminus; j++) decoded_map[(j%y)*x+j/y] = run_value;
+                    break;
+                default:
+                    System.err.println("unknown row_order: " + row_order);
             }
-            k = j;
         }
+        return dirty;
     }
     
     /**
@@ -461,7 +473,7 @@
     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);
+        map_to_screen.translate(-x_origin, -y_origin);            
         try {
             screen_to_map = map_to_screen.createInverse();
         } catch (NoninvertibleTransformException e) {

Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderDisplay.java	2007-09-27 06:27:53 UTC (rev 792)
@@ -292,6 +292,7 @@
     /**
      * Update map image with new map.
      * @param type full image or image diff
+     * @param row_order whether the map is encoded as y-major or x-major
      * @param x_dim width of map (in meters)
      * @param y_dim height of map (in meters)
      * @param x_origin distance (in meters) from the left-hand side of the map to
@@ -301,8 +302,8 @@
      * also the size of a side of the map cells
      * @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) {
-        mapCanvas.mapUpdate(type, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
+    public void mapUpdate(int type, MapCanvas.RowOrder row_order, int x_dim, int y_dim, float x_origin, float y_origin, int resolution, int[] encoded_map) {
+        mapCanvas.mapUpdate(type, row_order, x_dim, y_dim, x_origin, y_origin, resolution, encoded_map);
     }
     
     /**

Modified: trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java
===================================================================
--- trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/PenDecoderServer.java	2007-09-27 06:27:53 UTC (rev 792)
@@ -200,6 +200,7 @@
   public GFrame serverOpMapUpdate(GFrame f) {
     System.err.println("got map update");
     String type = (String)f.getProperty(":type");
+    MapCanvas.RowOrder row_order = MapCanvas.RowOrder.valueOf((String)f.getProperty(":order"));
     int x_dim = ((Integer)f.getProperty(":x_size")).intValue();
     int y_dim = ((Integer)f.getProperty(":y_size")).intValue();
     float x_origin = ((Float)f.getProperty(":x_origin")).floatValue();
@@ -208,10 +209,10 @@
     int compressed_map[] = f.getInt32(":encoded_map").getIntArray();
     if(type.equals(new String("full"))) {
       System.err.println("got a full map");
-      frame.mapUpdate(MapBufferedImage.FULL, x_dim, y_dim, x_origin, y_origin, resolution, compressed_map);
+      frame.mapUpdate(MapBufferedImage.FULL, row_order, x_dim, y_dim, x_origin, y_origin, resolution, compressed_map);
     } else if(type.equals(new String("diff"))) {
       System.err.println("got a diff map");
-      frame.mapUpdate(MapBufferedImage.DIFF, x_dim, y_dim, x_origin, y_origin, resolution, compressed_map);
+      frame.mapUpdate(MapBufferedImage.DIFF, row_order, x_dim, y_dim, x_origin, y_origin, resolution, compressed_map);
     } else {
       System.err.println("got unknow update type: " + type);
     }

Modified: trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.cpp	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/backendstub/backendstub.cpp	2007-09-27 06:27:53 UTC (rev 792)
@@ -68,7 +68,7 @@
 		}
     switch(msg->hdr.type) {
       case Boeing::MAP_SUBSCRIBE:
-        Boeing::MsgMap::MsgMapFactory(Boeing::MAP_RLE, 
+        Boeing::MsgMap::MsgMapFactory(Boeing::MAP_Y_MAJOR, 
                                       msgMap, mapData, mapWidth*mapHeight,
                                       0, 0, mapWidth, mapHeight); 
         debug << "raw: " << msgMap->map[0]

Modified: trunk/TeamTalk/Agents/TeamTalkBackend/robot-galaxy_adapter.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkBackend/robot-galaxy_adapter.cpp	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Agents/TeamTalkBackend/robot-galaxy_adapter.cpp	2007-09-27 06:27:53 UTC (rev 792)
@@ -7,7 +7,7 @@
 //adds undiscoverable robots from a file
 vector<string> GalaxyRobots::processPeerfile(const string& fname) 
 {
-  vector<string> names;
+	vector<string> names;
 	debug << "about to add robots" << endl;
 	ifstream Frobotips(fname.c_str());
 	if(!Frobotips) error << "problem opening " << fname << endl;
@@ -32,49 +32,49 @@
 				info << "adding optrader@" << rip << ':' << port << endl;
 				t_client->open(rip.c_str(), port);
 			} else if(rname == "MAPSERVER") {
-        ignoreToEndOfLine(Frobotips);
-        info << "adding mapserver@" << rip << ':' << port << endl;
-        if(port) m_client->open(rip.c_str(), port);
-        else m_client->open(rip.c_str());
-      } else {
+				ignoreToEndOfLine(Frobotips);
+				info << "adding mapserver@" << rip << ':' << port << endl;
+				if(port) m_client->open(rip.c_str(), port);
+				else m_client->open(rip.c_str());
+			} else {
 				string voice, safeness;
 				Frobotips >> voice >> safeness;
 				ignoreToEndOfLine(Frobotips);
 				info << "adding robot@" << rip << ':' << port << ' ' << voice << ' ' << safeness << endl;
-        if(!r_client->addRobot(rname, rip, voice, safeness, port, this)) {
-          error << "couldn't add " << rname << endl;
-        } else {
-          names.push_back(rname);
-        }
+				if(!r_client->addRobot(rname, rip, voice, safeness, port, this)) {
+					error << "couldn't add " << rname << endl;
+				} else {
+					names.push_back(rname);
+				}
 			}
-    } catch(TeamTalk::RobotClientException e) {
+		} catch(TeamTalk::RobotClientException e) {
 			error << "unable to add robot " << rname << '(' << rip << ')' << endl;
 			error << e.what() << endl;
 		}
 	}
-  return names;
+	return names;
 }
 
 void GalaxyRobots::addRobotNamesToGrammar(const vector<string>& names) 
 {
-  debug << "adding robot names to grammar:";
- 	ofstream namefile("..\\..\\Resources\\Grammar\\TeamTalkRobots");
-  for(vector<string>::const_iterator i = names.begin(); i != names.end(); i++) {
-    namefile << tolower(*i) << endl;
+	debug << "adding robot names to grammar:";
+	ofstream namefile("..\\..\\Resources\\Grammar\\TeamTalkRobots");
+	for(vector<string>::const_iterator i = names.begin(); i != names.end(); i++) {
+		namefile << tolower(*i) << endl;
 	}
 
 	PROCESS_INFORMATION lm_build_proc = 
-    spawn(true, "Language Build", "..\\..\\Tools\\MakeLM", "perl", "makelm.pl");
+		spawn(true, "Language Build", "..\\..\\Tools\\MakeLM", "perl", "makelm.pl");
 }
 
 void GalaxyRobots::traderlistener(void *p) 
 {
-  GalaxyRobots* me = (GalaxyRobots *)p;
-  Boeing::TraderClient* t_client = me->t_client;
-  
-  //this is bogus, but need to ping trader to get on its client list
-  t_client->sendCancel(0);
+	GalaxyRobots* me = (GalaxyRobots *)p;
+	Boeing::TraderClient* t_client = me->t_client;
 
+	//this is bogus, but need to ping trader to get on its client list
+	t_client->sendCancel(0);
+
 	for(;;) {
 		const Boeing::MsgTraderClient* msg = t_client->getNextMessage();
 		if(!msg) {
@@ -82,70 +82,70 @@
 			continue;
 		}
 		Gal_Frame f = Gal_MakeFrame("trader_message", GAL_CLAUSE);
-    if(msg->hdr.type == Boeing::INFO) {
-      Gal_SetProp(f, ":type", Gal_StringObject("info"));
-      debug << "got info message: " << msg->info.task << endl;
-      istringstream input(msg->info.task);
-      string token;
-      string ip;
-      string object;
-      float x, y;
-      input >> token;
-      debug << "got info token " << token << endl;
-      if(token != "object") {
-        ip = token;
-        input >> token;
-        if(token != "object") {
-          error << "was expecting 'object'" << endl;
-          continue;
-        }
-      }
-      input >> object;
-      debug << "got info object " << object << endl;
-      input >> token;
-      debug << "got info token " << token << endl;
-      if(token != "at") {
-        error << "was expecting 'at'" << endl;
-        continue;
-      }
-      input >> token;
-      debug << "got info token " << token << endl;
-      if(token.empty() || token.at(0) != '(') {
-        error << "was expecting (..." << endl;
-        continue;
-      }
-      if(token == "(") {
-        input >> token;
-        debug << "got info token " << token << endl;
-        x = (float)atof(token.c_str());
-      } else {
-        x = (float)atof(token.c_str()+1);
-      }
-      debug << "got info x: " << x << endl;
-      input >> token;
-      debug << "got info token " << token << endl;
-      if(token.empty()) {
-        error << "was expecting ...)" << endl;
-        continue;
-      } else if(token.at(token.length()-1) != ')') {
-        token.resize(token.length()-1);
-      }
-      y = (float)atof(token.c_str());
-      Gal_SetProp(f, ":ip", Gal_StringObject(ip.c_str()));
-      Gal_SetProp(f, ":object", Gal_StringObject(object.c_str()));
-      Gal_SetProp(f, ":x", Gal_FloatObject(x));
-      Gal_SetProp(f, ":y", Gal_FloatObject(y));
-    } else if(msg->hdr.type == Boeing::TASK_ACK) {
-      Gal_SetProp(f, ":type", Gal_StringObject("ack"));
-      Gal_SetProp(f, ":taskid", Gal_IntObject(msg->ack.taskid));
-      debug << "got task ack: " << msg->ack.taskid << endl;
-    } else if(msg->hdr.type == Boeing::TASK_DONE) {
-      Gal_SetProp(f, ":type", Gal_StringObject("done"));
-      Gal_SetProp(f, ":taskid", Gal_IntObject(msg->done.taskid));
-      Gal_SetProp(f, ":status", Gal_IntObject(msg->done.status));
-      debug << "got task done: " << msg->done.taskid << ' ' << msg->done.status << endl;
-    } else { 
-      warn << "unknown message type '" << msg->hdr.type << "' in traderlistener" << endl;
+		if(msg->hdr.type == Boeing::INFO) {
+			Gal_SetProp(f, ":type", Gal_StringObject("info"));
+			debug << "got info message: " << msg->info.task << endl;
+			istringstream input(msg->info.task);
+			string token;
+			string ip;
+			string object;
+			float x, y;
+			input >> token;
+			debug << "got info token " << token << endl;
+			if(token != "object") {
+				ip = token;
+				input >> token;
+				if(token != "object") {
+					error << "was expecting 'object'" << endl;
+					continue;
+				}
+			}
+			input >> object;
+			debug << "got info object " << object << endl;
+			input >> token;
+			debug << "got info token " << token << endl;
+			if(token != "at") {
+				error << "was expecting 'at'" << endl;
+				continue;
+			}
+			input >> token;
+			debug << "got info token " << token << endl;
+			if(token.empty() || token.at(0) != '(') {
+				error << "was expecting (..." << endl;
+				continue;
+			}
+			if(token == "(") {
+				input >> token;
+				debug << "got info token " << token << endl;
+				x = (float)atof(token.c_str());
+			} else {
+				x = (float)atof(token.c_str()+1);
+			}
+			debug << "got info x: " << x << endl;
+			input >> token;
+			debug << "got info token " << token << endl;
+			if(token.empty()) {
+				error << "was expecting ...)" << endl;
+				continue;
+			} else if(token.at(token.length()-1) != ')') {
+				token.resize(token.length()-1);
+			}
+			y = (float)atof(token.c_str());
+			Gal_SetProp(f, ":ip", Gal_StringObject(ip.c_str()));
+			Gal_SetProp(f, ":object", Gal_StringObject(object.c_str()));
+			Gal_SetProp(f, ":x", Gal_FloatObject(x));
+			Gal_SetProp(f, ":y", Gal_FloatObject(y));
+		} else if(msg->hdr.type == Boeing::TASK_ACK) {
+			Gal_SetProp(f, ":type", Gal_StringObject("ack"));
+			Gal_SetProp(f, ":taskid", Gal_IntObject(msg->ack.taskid));
+			debug << "got task ack: " << msg->ack.taskid << endl;
+		} else if(msg->hdr.type == Boeing::TASK_DONE) {
+			Gal_SetProp(f, ":type", Gal_StringObject("done"));
+			Gal_SetProp(f, ":taskid", Gal_IntObject(msg->done.taskid));
+			Gal_SetProp(f, ":status", Gal_IntObject(msg->done.status));
+			debug << "got task done: " << msg->done.taskid << ' ' << msg->done.status << endl;
+		} else { 
+			warn << "unknown message type '" << msg->hdr.type << "' in traderlistener" << endl;
 			Gal_FreeFrame(f);
 			continue;
 		}
@@ -156,8 +156,8 @@
 
 void GalaxyRobots::maplistener(void *p) 
 {
-  GalaxyRobots* me = (GalaxyRobots*)p;
-  Boeing::MapClient* m_client = me->m_client;
+	GalaxyRobots* me = (GalaxyRobots*)p;
+	Boeing::MapClient* m_client = me->m_client;
 	for(int t=0;;) {
 		const Boeing::MsgMapClient* msg = m_client->getNextMessage();
 		if(!msg) {
@@ -173,20 +173,32 @@
 				Gal_SetProp(f, ":type", Gal_StringObject("diff"));
 				break;
 			default: 
-        error << "unknown message type '" << msg->hdr.type << "' in maplistener" << endl;
+				error << "unknown message type '" << msg->hdr.type << "' in maplistener" << endl;
 				Gal_FreeFrame(f);
 				continue;
 		}
+		switch(msg->map.encoding) {
+			case Boeing::MAP_Y_MAJOR:
+				Gal_SetProp(f, ":order", Gal_StringObject("Y_MAJOR"));
+				break;
+			case Boeing::MAP_X_MAJOR:
+				Gal_SetProp(f, ":order", Gal_StringObject("X_MAJOR"));
+				break;
+			default:
+				error << "unhandled order: " << msg->map.encoding << endl;
+				Gal_FreeFrame(f);
+				continue;
+		}
 		Gal_SetProp(f, ":x_size", Gal_IntObject(msg->map.x));
 		Gal_SetProp(f, ":y_size", Gal_IntObject(msg->map.y));
-    Gal_SetProp(f, ":x_origin", Gal_FloatObject(msg->map.x_origin));
+		Gal_SetProp(f, ":x_origin", Gal_FloatObject(msg->map.x_origin));
 		Gal_SetProp(f, ":y_origin", Gal_FloatObject(msg->map.y_origin));
 		Gal_SetProp(f, ":resolution", Gal_IntObject(msg->map.resolution));
 		int *temp = new int[msg->map.array_length];
 		for(int i=0; i<msg->map.array_length; i++) temp[i] = msg->map.map[i];
-    debug << "got raw: " << temp[0] 
-      << " rl: " << ((temp[0]&0xFFFFFF00)>>8) 
-      << " rv: " << (temp[0]&0x000000FF) << endl;
+		debug << "got raw: " << temp[0] 
+		<< " rl: " << ((temp[0]&0xFFFFFF00)>>8) 
+			<< " rv: " << (temp[0]&0x000000FF) << endl;
 		Gal_SetProp(f, ":encoded_map", 
 			Gal_CreateInt32Object((void *) temp, msg->map.array_length, 1));
 		me->writeFrameSkeletonHub(f);
@@ -196,8 +208,8 @@
 
 void GalaxyRobots::trackmap(void *thisp) 
 { 
-  GalaxyRobots* me = (GalaxyRobots*)thisp;
-  Boeing::MapClient* m_client = me->m_client;
+	GalaxyRobots* me = (GalaxyRobots*)thisp;
+	Boeing::MapClient* m_client = me->m_client;
 	debug << "starting trackmap thread" << endl;
 	for(int t=0; true; t++) {
 		Sleep(1000);
@@ -209,11 +221,11 @@
 
 void GalaxyRobots::writeFrameAllHubs(Gal_Frame f) 
 {
-  debug << "writing to all hubs" << endl;
+	debug << "writing to all hubs" << endl;
 	for(set<Agent>::iterator i = agents_.begin(); i != agents_.end(); i++) {
-    i->writeFrame(f);
-  }
-  writeFrameSkeletonHub(f);
+		i->writeFrame(f);
+	}
+	writeFrameSkeletonHub(f);
 };
 
 void GalaxyRobots::writeFrameSkeletonHub(Gal_Frame f) 
@@ -223,73 +235,73 @@
 			GalIO_CommWriteFrame(skeleton_comm_, f, GAL_FALSE);
 			return;
 		}
-    error << "skeleton unavailable" << endl;
+		error << "skeleton unavailable" << endl;
 		Sleep(1000);
 	}
 };
 
 GalaxyRobots::GalaxyRobots(Gal_Server *s, int argc, char **argv) 
 {
-  skeleton_comm_ = NULL;
+	skeleton_comm_ = NULL;
 
-  iTraderTaskId = rand();
+	iTraderTaskId = rand();
 
-  debug << "about to get the p_client" << endl;
-  try {
-    t_client = new Boeing::TraderClient();
-    m_client = new Boeing::MapClient();
+	debug << "about to get the p_client" << endl;
+	try {
+		t_client = new Boeing::TraderClient();
+		m_client = new Boeing::MapClient();
 
-    //startup robot client
-    TeamTalk::RobotClient::spawnback = &Agent::spawnMinorGalaxy;
-    r_client = new TeamTalk::RobotsClient("tester");
-    vector<string> names = processPeerfile("peerfile.txt");
-    if(!testLastConfig("peerfile.txt", 
-      "..\\..\\Resources\\Grammar\\TeamTalkRobots")) {
-      addRobotNamesToGrammar(names);
-    }
-    if(!m_client->isConnected()) {
-      fatal << "mapserver not found" << endl;
-    }	else if(!m_client->sendSubscribe(0)) {
-      fatal << "couldn't send subscribe message to map server" << endl;
-    } else {
-      _beginthread(maplistener, 0, (void*) this);
-      _beginthread(trackmap, 0, (void*) this);
-    }
-    if(!t_client->isConnected()) {
-      fatal << "optraderserver not found" << endl;
-    } else {
-      debug << "connected to trader" << endl;
-      //start listening threads
-      _beginthread(traderlistener, 0, (void*) this);
-    }
-  } catch(exception e) {
-    fatal << "couldn't start GalaxyRobots: " << e.what() << ": " << endl;
-    throw e;
-  }
+		//startup robot client
+		TeamTalk::RobotClient::spawnback = &Agent::spawnMinorGalaxy;
+		r_client = new TeamTalk::RobotsClient("tester");
+		vector<string> names = processPeerfile("peerfile.txt");
+		if(!testLastConfig("peerfile.txt", 
+			"..\\..\\Resources\\Grammar\\TeamTalkRobots")) {
+				addRobotNamesToGrammar(names);
+		}
+		if(!m_client->isConnected()) {
+			fatal << "mapserver not found" << endl;
+		}	else if(!m_client->sendSubscribe(0)) {
+			fatal << "couldn't send subscribe message to map server" << endl;
+		} else {
+			_beginthread(maplistener, 0, (void*) this);
+			_beginthread(trackmap, 0, (void*) this);
+		}
+		if(!t_client->isConnected()) {
+			fatal << "optraderserver not found" << endl;
+		} else {
+			debug << "connected to trader" << endl;
+			//start listening threads
+			_beginthread(traderlistener, 0, (void*) this);
+		}
+	} catch(exception e) {
+		fatal << "couldn't start GalaxyRobots: " << e.what() << ": " << endl;
+		throw e;
+	}
 }
 
 GalaxyRobots::~GalaxyRobots() {
-//kill all of the spawned children
-  while(!Agent::serverChildren_.empty()) {
-    TerminateProcess(Agent::serverChildren_.top(),1);
-    Agent::serverChildren_.pop();
+	//kill all of the spawned children
+	while(!Agent::serverChildren_.empty()) {
+		TerminateProcess(Agent::serverChildren_.top(),1);
+		Agent::serverChildren_.pop();
 	}
 }
 
 void GalaxyRobots::setSkeletonComm(GalIO_CommStruct* comm) 
 {
-  skeleton_comm_ = comm;
+	skeleton_comm_ = comm;
 }
 
 void GalaxyRobots::setRobotVoices() 
 {
-  debug << "attempting to set robot voices" << endl;
-  for(TeamTalk::RobotsClient::const_iterator i = r_client->begin();
-    i != r_client->end(); i++) {
-      string name(toupper((*i)->getName()));
-      string voice(toupper((*i)->getVoice()));
-      debug << "adding voice " << voice << " to name " << name << endl;
-      SendRobotConfigMessage(name, voice);
+	debug << "attempting to set robot voices" << endl;
+	for(TeamTalk::RobotsClient::const_iterator i = r_client->begin();
+		i != r_client->end(); i++) {
+			string name(toupper((*i)->getName()));
+			string voice(toupper((*i)->getVoice()));
+			debug << "adding voice " << voice << " to name " << name << endl;
+			SendRobotConfigMessage(name, voice);
 	}
 }
 
@@ -297,7 +309,7 @@
 // [2006-07-22] (tk): send a robot_config message to galaxy hubs
 //-------------------------------------------------------------------
 void GalaxyRobots::SendRobotConfigMessage(const string& sName, 
-                                          const string& sVoice) 
+										  const string& sVoice) 
 {
 	// variables holding the nested galaxy parse frame
 	Gal_Frame f = Gal_MakeFrame("robot_config", GAL_CLAUSE);
@@ -309,24 +321,24 @@
 
 void GalaxyRobots::addRobot(const string& name, GalIO_CommStruct* comm) 
 {
-  TeamTalk::RobotClient *robotClient = r_client->find(name);
-  if(!robotClient) error << "Couldn't find robotclient for: " << name << endl;
-  else agents_.insert(Agent(robotClient, comm));
+	TeamTalk::RobotClient *robotClient = r_client->find(name);
+	if(!robotClient) error << "Couldn't find robotclient for: " << name << endl;
+	else agents_.insert(Agent(robotClient, comm));
 }
 
 void GalaxyRobots::processRobotMessage(const Msg* m) 
 {
-  Agent* agent = find(m->getSender());
-  if(agent == NULL) {
-    error << "agent not found for: " << m->getSender() << endl;
-    error << "agents are: ";
-    for(set<Agent>::const_iterator i = agents_.begin(); i != agents_.end(); i++)
-      error << '"' << i->getName() << "\" ";
-    error << endl;
-    return;
-  }
-  agent->processMessage(m);
-  Gal_Frame f = Agent::galaxyFrame(m);
+	Agent* agent = find(m->getSender());
+	if(agent == NULL) {
+		error << "agent not found for: " << m->getSender() << endl;
+		error << "agents are: ";
+		for(set<Agent>::const_iterator i = agents_.begin(); i != agents_.end(); i++)
+			error << '"' << i->getName() << "\" ";
+		error << endl;
+		return;
+	}
+	agent->processMessage(m);
+	Gal_Frame f = Agent::galaxyFrame(m);
 	char *frame_name = Gal_FrameName(f);
 	if(frame_name != NULL && strcmp(frame_name, "robot_message")) {
 		debug << "sending to skeleton hub: " << m->render() << endl;
@@ -338,9 +350,9 @@
 void GalaxyRobots::halt_command()
 {
 	debug << "sending halt query to backend" << endl;
-  for(set<Agent>::iterator i = agents_.begin(); i != agents_.end(); i++) {
+	for(set<Agent>::iterator i = agents_.begin(); i != agents_.end(); i++) {
 		i->halt_command();
-  }
+	}
 }
 
 void GalaxyRobots::search_or_explore(const char* query, const Gal_Frame& inframe)
@@ -377,24 +389,24 @@
 
 void GalaxyRobots::cancel_task(const Gal_Frame& inframe)
 {
-  debug << "sending cancel task to backend" << endl;
-  const char* s = Gal_GetString(inframe, ":taskid");
-  if(!s) {
-    error << "no taskid for cancel command" << endl;
-    return;
-  }
-  istringstream in(s);
-  int taskid;
-  if((in >> taskid).fail()) {
-    error << "couldn't parse taskid: " << s << endl;
-    return;
-  }
-  t_client->sendCancel(taskid);
+	debug << "sending cancel task to backend" << endl;
+	const char* s = Gal_GetString(inframe, ":taskid");
+	if(!s) {
+		error << "no taskid for cancel command" << endl;
+		return;
+	}
+	istringstream in(s);
+	int taskid;
+	if((in >> taskid).fail()) {
+		error << "couldn't parse taskid: " << s << endl;
+		return;
+	}
+	t_client->sendCancel(taskid);
 }
 
 void GalaxyRobots::processGalaxyMessage(const Gal_Frame& inframe) 
 {
-  char* query = Gal_GetString(inframe, ":query");
+	char* query = Gal_GetString(inframe, ":query");
 	char* robot = Gal_GetString(inframe, ":robot_name");
 	if(!query) {
 		error << "there is no query" << endl;
@@ -408,40 +420,40 @@
 	}
 
 	debug << "robot is " << robot << endl;
-  Agent* agent = find(robot);
-  if(!agent) {
-    error << "cannot find client for robot: " << robot << endl;
-    return;
-  }
+	Agent* agent = find(robot);
+	if(!agent) {
+		error << "cannot find client for robot: " << robot << endl;
+		return;
+	}
 	if(!strcmp(query, "location_query")) 
-    agent->location_query(); 
+		agent->location_query(); 
 	else if(!strcmp(query, "move_cardinal_command")) 
-    agent->move_cardinal_command(inframe);
+		agent->move_cardinal_command(inframe);
 	else if(!strcmp(query, "move_relative_command")) 
-    agent->move_relative_command(inframe);
+		agent->move_relative_command(inframe);
 	else if(!strcmp(query, "halt_command")) 
-    halt_command();
+		halt_command();
 	else if(!strcmp(query, "follow_command")) 
-    agent->follow_command(inframe);
+		agent->follow_command(inframe);
 	else if(!strcmp(query, "search_command") || !strcmp(query, "explore_command")) 
 		search_or_explore(query, inframe);
 	else if(!strcmp(query, "move_to_goal_command")) 
-    agent->move_to_goal_command(inframe);
+		agent->move_to_goal_command(inframe);
 	else if(!strcmp(query, "turn_command")) 
-    agent->turn_command(inframe);
+		agent->turn_command(inframe);
 	else if(!strcmp(query, "setpos")) 
-    agent->set_pose_command(inframe);
-  else if(!strcmp(query, "cancel_task"))
-    cancel_task(inframe);
+		agent->set_pose_command(inframe);
+	else if(!strcmp(query, "cancel_task"))
+		cancel_task(inframe);
 	else error << "unhandled query: " << query << endl;
 }
 
 Agent* GalaxyRobots::find(const string& name) {
-  set<Agent>::iterator i = agents_.find(Agent(name));
-  return i == agents_.end()? NULL: &*i;
+	set<Agent>::iterator i = agents_.find(Agent(name));
+	return i == agents_.end()? NULL: &*i;
 }
 
 const Agent* GalaxyRobots::find(const string& name) const {
-  set<Agent>::const_iterator i = agents_.find(Agent(name));
-  return i == agents_.end()? NULL: &*i;
+	set<Agent>::const_iterator i = agents_.find(Agent(name));
+	return i == agents_.end()? NULL: &*i;
 }

Modified: trunk/TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-skeleton.pgm
===================================================================
--- trunk/TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-skeleton.pgm	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-skeleton.pgm	2007-09-27 06:27:53 UTC (rev 792)
@@ -181,7 +181,7 @@
 
 PROGRAM: map_message
 RULE: --> PenDecoder.map_update
-IN: :type :x_size :y_size :x_origin :y_origin :resolution :encoded_map
+IN: :type :order :x_size :y_size :x_origin :y_origin :resolution :encoded_map
 OUT:
 
 PROGRAM: trader_message

Modified: trunk/TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-template.pgm
===================================================================
--- trunk/TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-template.pgm	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-template.pgm	2007-09-27 06:27:53 UTC (rev 792)
@@ -259,8 +259,3 @@
 RULE: :voice --> kalliope.add_voice
 IN: :name :voice
 OUT:
-
-;;PROGRAM: map_message
-;;RULE: --> PenDecoder.map_update
-;;IN: :type :x_size :y_size :resolution :encoded_map
-;;OUT:

Modified: trunk/TeamTalk/Libraries/PrimitiveComm/robot_packet2.cpp
===================================================================
--- trunk/TeamTalk/Libraries/PrimitiveComm/robot_packet2.cpp	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Libraries/PrimitiveComm/robot_packet2.cpp	2007-09-27 06:27:53 UTC (rev 792)
@@ -663,10 +663,10 @@
   Boeing::MapMsgEncoding e;
   switch(encoding_) {
     case MsgMap::RAW:
-      e = Boeing::MAP_RLE;
+      e = Boeing::MAP_Y_MAJOR;
       break;
     case MsgMap::JPEG:
-      e = Boeing::MAP_RAW;
+      e = Boeing::MAP_JPEG;
       break;
     default: throw MalformedPacketException("MsgMap::renderBoeingPacket()", "");
   }

Modified: trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.cc
===================================================================
--- trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.cc	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.cc	2007-09-27 06:27:53 UTC (rev 792)
@@ -5,6 +5,16 @@
 using namespace Boeing;
 using namespace std;
 
+MapCodingException::MapCodingException() throw() {}
+
+MapCodingException::MapCodingException(const string& x) throw(): error_str(x) {}
+
+MapCodingException::~MapCodingException() throw() {}
+
+const char* MapCodingException::what() const throw() {
+  return error_str.c_str();
+}
+
 void MsgMap::MsgMapFactory(MapMsgEncoding encoding, 
 			   MsgMap *buf, const void* raw_map, int raw_map_size,
 			   short invoice, int seq,
@@ -31,61 +41,87 @@
 
 int MsgMap::getSize() const {
   switch(encoding) {
-    case MAP_RLE:
-      return sizeof(MsgMap)+sizeof(int)*(array_length-1);
-    case MAP_RAW:
-    case MAP_JPEG:
-      return sizeof(MsgMap)-sizeof(int)+array_length;
-    default:
-      cerr << "unknown encoding" << endl;
+  case MAP_Y_MAJOR:
+  case MAP_X_MAJOR:
+    return sizeof(MsgMap)+sizeof(int)*(array_length-1);
+  case MAP_JPEG:
+    return sizeof(MsgMap)-sizeof(int)+array_length;
+  default:
+    cerr << "unknown encoding" << endl;
   }
   return 0;
 }
 
 int MsgMap::getBuffSize() const {
   switch(encoding) {
-    case MAP_RAW:
-    case MAP_JPEG:
-      return array_length;
-    case MAP_RLE:
-      return x*y;
-    default: cerr << "unknown encoding" << endl;
+  case MAP_JPEG:
+    return array_length;
+  case MAP_Y_MAJOR:
+  case MAP_X_MAJOR:
+    return x*y;
+  default: cerr << "unknown encoding" << endl;
   }
   return 0;
 }
 
-void MsgMap::unencodeMap(MapMsgEncoding encoding, 
-                         unsigned char *raw_map, 
-                         const unsigned char* compressed_map, 
-                         int compressed_map_size) {
-  switch(encoding) {
-    case MAP_RAW: 
+bool MsgMap::decode(MapMsgEncoding raw_map_encoding, 
+		    unsigned char *raw_map) const {
+  switch(raw_map_encoding) {
+  case MAP_JPEG:
+    switch(encoding) {
     case MAP_JPEG:
-      memcpy(raw_map, compressed_map, compressed_map_size);
-      break;
-    case MAP_RLE:
-      unencodeMap_RLE(raw_map, compressed_map, compressed_map_size);
-      break;
-    default: cerr << "unknown encoding" << endl;
+      memcpy(raw_map, map, array_length);
+      return true;
+    default: throw MapCodingException("JPEG unencoding not supported");
+    }
+    break;
+  case MAP_Y_MAJOR:
+    switch(encoding) {
+    case MAP_JPEG: throw MapCodingException("JPEG encoding not supported");
+    case MAP_Y_MAJOR: return unencodeMap_RLE(raw_map);
+    case MAP_X_MAJOR: return unencodeMap_RLE_trans(x, y, raw_map);
+    default: throw MapCodingException("unknown encoding in message");
+    }
+    break;
+  case MAP_X_MAJOR:
+    switch(encoding) {
+    case MAP_JPEG: throw MapCodingException("JPEG encoding not supported");
+    case MAP_Y_MAJOR: return unencodeMap_RLE_trans(y, x, raw_map);
+    case MAP_X_MAJOR: return unencodeMap_RLE(raw_map);
+    default: throw MapCodingException("unknown encoding in message");
+    }
+    break;    
+  default: throw MapCodingException("unknown encoding");
   }
 }  
 
-void MsgMap::decode(unsigned char *raw_map) const {
-  unencodeMap((MapMsgEncoding)encoding, raw_map, (const unsigned char *)map, array_length);
+bool MsgMap::unencodeMap_RLE(unsigned char *raw_map) const {
+  bool changed = false;
+  
+  for(int i=0; i<array_length; i++) {
+    int run_length = (map[i]&0xFFFFFF00)>>8;
+    char run_value = (char) (map[i]&0x000000FF);
+    memset(&(raw_map[i]),run_value,run_length);
+    changed |= (run_value != MAP_CELL_UNCHANGED);
+  }
+  return changed;
 }
 
-void MsgMap::unencodeMap_RLE(unsigned char *raw_map, 
-			 const unsigned char* compressed_map, 
-			 int compressed_map_size) {
+bool MsgMap::unencodeMap_RLE_trans(int old_major_dim,
+				   int new_major_dim,
+				   unsigned char *raw_map) const {
+  bool changed = false;
   int j=0, k=0;
-  for(int i=0; i<compressed_map_size; i++) {
-    int run_length = (compressed_map[i]&0xFFFFFF00)>>8;
-    char run_value = (char) (compressed_map[i]&0x000000FF);
-    for(; j<k+run_length; j++) {
-      raw_map[j] = run_value;
-    }
+
+  for(int i=0; i<array_length; i++) {
+    int run_length = (map[i]&0xFFFFFF00)>>8;
+    char run_value = (char) (map[i]&0x000000FF);
+    for(; j<k+run_length; j++) 
+      raw_map[j%old_major_dim*new_major_dim+j/old_major_dim] = run_value;
     k=j;
+    changed |= (run_value != MAP_CELL_UNCHANGED);
   }
+  return changed;
 }
 
 int MsgMap::encodeMap(MapMsgEncoding encoding, 
@@ -93,22 +129,22 @@
                       const unsigned char* raw_map, 
                       unsigned int raw_map_size) {
   switch (encoding) {
-    case MAP_RAW:
-    case MAP_JPEG:
-      memcpy(buf, raw_map, raw_map_size);
-      return raw_map_size;
-    case MAP_RLE:
-      return encodeMap_RLE(buf, raw_map, raw_map_size);
-    default:
-      cerr << "unknown encoding: " << encoding << endl;
+  case MAP_JPEG:
+    memcpy(buf, raw_map, raw_map_size);
+    return raw_map_size;
+  case MAP_Y_MAJOR:
+  case MAP_X_MAJOR:
+    return encodeMap_RLE(buf, raw_map, raw_map_size);
+  default:
+    cerr << "unknown encoding: " << encoding << endl;
   }
   return -1;
 }
 
 //encode, returns the compressed map size
 int MsgMap::encodeMap_RLE(unsigned char *compressed_map, 
-		                      const unsigned char* raw_map, 
-		                      unsigned int raw_map_size) {
+			  const unsigned char* raw_map, 
+			  unsigned int raw_map_size) {
   if(!raw_map_size) { //odd, map has no area
     return 0;
   }

Modified: trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.h
===================================================================
--- trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.h	2007-09-25 16:13:35 UTC (rev 791)
+++ trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.h	2007-09-27 06:27:53 UTC (rev 792)
@@ -6,6 +6,8 @@
 #define __BOEING_MAP_PACKET_H__
 
 #include <string.h>
+#include <exception>
+#include <string>
 
 #include "boeing_net.h"
 
@@ -24,23 +26,45 @@
 #endif
 #endif
 
-  //===================================================-
+  //================================================
   // Message ID's
 
   // we combine all of them into one
   enum MapMsgID { MAP_SUBSCRIBE=0,
-		              MAP_KEEPALIVE,
+		  MAP_KEEPALIVE,
                   MAP_UNSUBSCRIBE,
                   MAP_ACK,
                   MAP_FULL,
-		              MAP_DIFF
+		  MAP_DIFF
   };
                
-  enum MapMsgEncoding { MAP_RAW=0, // a raster of bytes
-                        MAP_RLE, // a run-length enoding
+  //================================================
+  // Other enums
+
+  enum MapMsgEncoding { MAP_Y_MAJOR=0, // a y-major raster of bytes
+			MAP_X_MAJOR, // an x-major raster of bytes
                         MAP_JPEG // a jpeg
   };
 
+  //interpretation of raw_map cell chars
+
+  enum MapCellType { MAP_CELL_UNCHANGED=0,
+		     MAP_CELL_CLEAR=    0x20,
+		     MAP_CELL_UNKNOWN=  0x40,
+		     MAP_CELL_OCCUPIED= 0xff };
+
+  //================================================
+  // Packet manipulation exceptions
+
+  class MapCodingException: public std::exception {
+    std::string error_str;
+  public:
+    MapCodingException() throw();
+    MapCodingException(const std::string& x) throw();
+    ~MapCodingException() throw();
+    const char* what() const throw();
+  };
+
   //=== Commands for Map ===========================
   // these are the commands received by the server, 
   // and sent by the client
@@ -70,7 +94,8 @@
   // 
 
   // map messages: Note these are variable length!!!
-  struct MsgMap : public MsgHeader {
+  class MsgMap : public MsgHeader {
+  public:
     short invoice;
     short encoding;
     int seq;
@@ -82,13 +107,24 @@
 
     static const int MAX_RUNLENGTH = 1<<23;
 
+  protected:
+    bool unencodeMap_RLE(unsigned char *raw_map) const;
+    bool unencodeMap_RLE_trans(int old_major_dim,
+			       int new_major_dim,
+			       unsigned char *raw_map) const;
+    //void unencodeMap_JPEG(unsigned char *raw_map,
+    //			  unsigned const char 
+    //			  *compressed_map, 
+    //			  int compressed_map_size);
+    static int encodeMap_RLE(unsigned char *buf, 
+			     const unsigned char* rawmap,
+			     unsigned int j);
+    static int encodeMap_JPEG(unsigned char *buf, 
+			      const unsigned char* rawmap, 
+			      unsigned int j);
+
+  public:
     //puts a MsgMap into the buf
-    //interpretation of raw_map cell chars
-    //   0x00 -> unchanged
-    //   0x20 -> clear
-    //   0x40 -> unseen/unknown
-    //   0xff -> occupied
-    //raw map is interpreted to be left-handed and height-major
     static void MsgMapFactory(MapMsgEncoding encodingType, 
 			      MsgMap *buf, const void* raw_map, int raw_map_size,
 			      short invoice, int seq, 
@@ -105,20 +141,10 @@
     int getBuffSize() const; //returns the minimum size of the required decode buf (in bytes)
 
     //decode
-    static void unencodeMap(MapMsgEncoding encoding, 
-      unsigned char *raw_map, const unsigned char* compressed_map, int compressed_map_size);
-    static void unencodeMap_RLE(unsigned char *raw_map, 
-			    unsigned const char* compressed_map, 
-			    int compressed_map_size);
-    static void unencodeMap_JPEG(unsigned char *raw_map,
-      unsigned const char *compressed_map, int compressed_map_size);
-    void decode(unsigned char *raw_map) const;
+    bool decode(MapMsgEncoding raw_map_encoding, unsigned char *raw_map) const;
 
     //encode
     static int encodeMap(MapMsgEncoding encoding, unsigned char *buf, const unsigned char* rawmap, unsigned int j);
-    static int encodeMap_RLE(unsigned char *buf, const unsigned char* rawmap, unsigned int j);
-    static int encodeMap_JPEG(unsigned char *buf, const unsigned char* rawmap, unsigned int j);
-
   } PACKED;
 
   union MsgMapClient {

From tk at edam.speech.cs.cmu.edu  Thu Sep 27 14:21:27 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 27 Sep 2007 14:21:27 -0400
Subject: [TeamTalk 257]:  [793] trunk/TeamTalk: Some minor cleanup
Message-ID: <200709271821.l8RILRxn005423@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070927/4de5685e/attachment.html
-------------- next part --------------
Deleted: AlwaysOnTop.exe
===================================================================
(Binary files differ)

Modified: trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.cc
===================================================================
--- trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.cc	2007-09-27 06:27:53 UTC (rev 792)
+++ trunk/TeamTalk/Libraries/boeingLib/boeing/boeing_map_packet.cc	2007-09-27 18:21:25 UTC (rev 793)
@@ -111,14 +111,14 @@
 				   int new_major_dim,
 				   unsigned char *raw_map) const {
   bool changed = false;
-  int j=0, k=0;
+  int j=0;
 
   for(int i=0; i<array_length; i++) {
     int run_length = (map[i]&0xFFFFFF00)>>8;
     char run_value = (char) (map[i]&0x000000FF);
-    for(; j<k+run_length; j++) 
+    int run_terminus = j+run_length;
+    for(; j<run_terminus; j++) 
       raw_map[j%old_major_dim*new_major_dim+j/old_major_dim] = run_value;
-    k=j;
     changed |= (run_value != MAP_CELL_UNCHANGED);
   }
   return changed;

From tk at edam.speech.cs.cmu.edu  Fri Sep 28 19:00:10 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 28 Sep 2007 19:00:10 -0400
Subject: [TeamTalk 258]: [794] trunk/TeamTalk/branches/: Removed unused
	branches folder.
Message-ID: <200709282300.l8SN0AFA011736@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070928/7674d5ca/attachment.html
-------------- next part --------------