[TeamTalk 196]: [732] trunk/moast-bth/moast: 1)Update from moast
tk@edam.speech.cs.cmu.edu
tk at edam.speech.cs.cmu.edu
Tue Sep 4 13:50:51 EDT 2007
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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. @@
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