[TeamTalk 217]: [753] trunk/moast-bth: Link monitor imports.
tk@edam.speech.cs.cmu.edu
tk at edam.speech.cs.cmu.edu
Wed Sep 19 16:48:52 EDT 2007
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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
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