[Robotflow-cvs] RobotFlow/MARIE/src extractMarieCommandJoystick.cpp,NONE,1.1 extractMarieCommandMotor.cpp,NONE,1.1 newMarieCommandJoystick.cpp,NONE,1.1 newMarieCommandMotor.cpp,NONE,1.1 Makefile.am,1.19,1.20

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14514

Modified Files:
	Makefile.am 
Added Files:
	extractMarieCommandJoystick.cpp extractMarieCommandMotor.cpp 
	newMarieCommandJoystick.cpp newMarieCommandMotor.cpp 
Log Message:
commands now have all new / extract nodes

--- NEW FILE: extractMarieCommandMotor.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / Carle Cote
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/

#include <sstream>
#include <string>
#include "MarieCommandMotor.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieCommandMotor;

  DECLARE_NODE(extractMarieCommandMotor)
  /*Node
   *
   * @name extractMarieCommandMotor
   * @category RobotFlow:MARIE:COMMAND
   * @description Extract data in the FlowDesigner format from MarieCommandMotor
   *
   * @input_name COMMAND_MOTOR
   * @input_type MarieCommandMotor
   * @input_description The MarieCommandMotor object
   *
   * @output_name VELOCITY
   * @output_type int
   * @output_description output velocity
   *
   * @output_name ROTATION
   * @output_type int
   * @output_description output rotation   
   *
   *    
  END*/
  
  
  using namespace std;

  class extractMarieCommandMotor : public BufferedNode 
  {
  
  private:
    //intputs
    int m_commandMotorID;

    //outputs       
    int m_velocityOutID;
    int m_rotationOutID;

  public:
        
  
    extractMarieCommandMotor(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {      
      //inputs
      m_commandMotorID = addInput("COMMAND_MOTOR");

      //outputs
      m_velocityOutID = addOutput("VELOCITY");
      m_rotationOutID = addOutput("ROTATION");      
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {
	//get input
	RCPtr<MarieCommandMotor> command = getInput(m_commandMotorID,count);

	//output data
	(*outputs[m_velocityOutID].buffer)[count] = ObjectRef(Int::alloc(command->getVelocity()));
	(*outputs[m_rotationOutID].buffer)[count] = ObjectRef(Int::alloc(command->getRotation()));
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieCommandMotor
}//namespace marie


--- NEW FILE: extractMarieCommandJoystick.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / Carle Cote
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/

#include <sstream>
#include <string>
#include "MarieCommandJoystick.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieCommandJoystick;

  DECLARE_NODE(extractMarieCommandJoystick)
  /*Node
   *
   * @name extractMarieCommandJoystick
   * @category RobotFlow:MARIE:COMMAND
   * @description Extract data in the FlowDesigner format from MarieCommandJoystick
   *
   * @input_name COMMAND_JOYSTICK
   * @input_type MarieCommandJoystick
   * @input_description The MarieCommandJoystick object
   *
   * @output_name X
   * @output_type int
   * @output_description input x, nilObject if not used
   *
   * @output_name Y
   * @output_type int
   * @output_description input y, nilObject if not used
   * 
   * @output_name XMIN
   * @output_type int 
   * @output_description input xmin, nilObject if not used
   *
   * @output_name YMIN
   * @output_type int
   * @output_description input ymin, nilObject if not used
   *
   * @output_name XMAX
   * @output_type int 
   * @output_description input xmax, nilObject if not used
   *
   * @output_name YMAX
   * @output_type int
   * @output_description input ymax, nilObject if not used
   *
   * @output_name NBBUTTONS
   * @output_type int 
   * @output_description output nb buttons, nilObject if not used
   *
   * @output_name BUTTONSTATE
   * @output_type int
   * @output_description output button state, nilObject if not used   
   *    
  END*/
  
  
  using namespace std;

  class extractMarieCommandJoystick : public BufferedNode 
  {
  
  private:

    //intputs
    int m_commandInID;

    //outputs
    int m_xOutID;
    int m_yOutID;
    int m_xminOutID;
    int m_yminOutID;
    int m_xmaxOutID;
    int m_ymaxOutID;
    int m_nbButtonsOutID;
    int m_buttonStateOutID;

  public:
        
  
    extractMarieCommandJoystick(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {           
      //inputs
      m_commandInID = addInput("COMMAND_JOYSTICK");

      //outputs
      m_xOutID = addOutput("X");
      m_yOutID = addOutput("Y");
      m_xminOutID = addOutput("XMIN");
      m_yminOutID = addOutput("YMIN");
      m_xmaxOutID = addOutput("XMAX");
      m_ymaxOutID = addOutput("YMAX");
      m_nbButtonsOutID = addOutput("NBBUTTONS");
      m_buttonStateOutID = addOutput("BUTTONSTATE"); 
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {
	RCPtr<MarieCommandJoystick> command = getInput(m_commandInID,count);

	int x, y, xmin, ymin, xmax, ymax, nbButtons, buttonState = 0;
            
	command->getXY(x, y);
	command->getMinXY(xmin, ymin);
	command->getMaxXY(xmax, ymax);
	nbButtons = command->getNbButtons();
	buttonState = command->getButtonState();

	//output data
	(*outputs[m_xOutID].buffer)[count] = ObjectRef(Int::alloc(x));
	(*outputs[m_yOutID].buffer)[count] = ObjectRef(Int::alloc(y)); 
	(*outputs[m_xminOutID].buffer)[count] = ObjectRef(Int::alloc(xmin));    
	(*outputs[m_yminOutID].buffer)[count] = ObjectRef(Int::alloc(ymin)); 
	(*outputs[m_xmaxOutID].buffer)[count] = ObjectRef(Int::alloc(xmax)); 
	(*outputs[m_ymaxOutID].buffer)[count] = ObjectRef(Int::alloc(ymax));
	(*outputs[m_nbButtonsOutID].buffer)[count] = ObjectRef(Int::alloc(nbButtons));
	(*outputs[m_buttonStateOutID].buffer)[count] = ObjectRef(Int::alloc(buttonState));    	
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieCommandJoystick
}//namespace marie


--- NEW FILE: newMarieCommandMotor.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / Carle Cote
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/

#include <sstream>
#include <string>
#include "MarieCommandMotor.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class newMarieCommandMotor;

  DECLARE_NODE(newMarieCommandMotor)
  /*Node
   *
   * @name newMarieCommandMotor
   * @category RobotFlow:MARIE:COMMAND
   * @description Create an object of type MarieCommandMotor
   *
   * @input_name VELOCITY
   * @input_type int
   * @input_description input velocity
   *
   * @input_name ROTATION
   * @input_type int
   * @input_description input rotation
   *
   * @output_name COMMAND_MOTOR
   * @output_description Output MARIE BehaviorCommand data object
   * @output_type MarieCommandBahavior
   * 
  END*/
  
  
  using namespace std;

  class newMarieCommandMotor : public BufferedNode 
  {
  
  private:
    //intputs
    int m_velocityInID;
    int m_rotationInID;

    //outputs
    int m_commandOutID;

  public:
        
  
    newMarieCommandMotor(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //intputs
      m_velocityInID = addInput("VELOCITY");
      m_rotationInID = addInput("ROTATION");
      
      //outputs
      m_commandOutID = addOutput("COMMAND_MOTOR");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
       try 
      {	
	RCPtr<Int> velocity = getInput(m_velocityInID,count);
	RCPtr<Int> rotation = getInput(m_rotationInID,count);

	MarieCommandMotor *command = new MarieCommandMotor();
	
	command->setVelocity(*velocity);
	command->setRotation(*rotation);
	
	//output result
	out[count] = command;
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class newMarieCommandMotor
}//namespace marie


Index: Makefile.am
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/Makefile.am,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** Makefile.am	28 Oct 2004 15:03:29 -0000	1.19
--- Makefile.am	28 Oct 2004 18:11:48 -0000	1.20
***************
*** 18,36 ****
  	MarieDataOdometry.cpp \
  	MarieDataNull.cpp \
  	MarieCommandBehavior.cpp \
  	MarieCommandCamera.cpp \
  	MarieCommandMotor.cpp \
!   	MarieDataRaw.cpp \
!   	MarieCommandJoystick.cpp \
!   	MarieDataIR.cpp \
!   	MarieDataBumper.cpp \
! 	MarieDataMap.cpp \
! 	newMarieDataMap.cpp \
  	MarieRequestSystem.cpp \
  	newMarieRequestSystem.cpp \
- 	extractMarieCommandBehavior.cpp \
  	newMarieCommandBehavior.cpp \
  	extractMarieCommandCamera.cpp \
! 	newMarieCommandCamera.cpp
  
  install-data-local:
--- 18,40 ----
  	MarieDataOdometry.cpp \
  	MarieDataNull.cpp \
+ 	MarieDataRaw.cpp \
+ 	MarieDataIR.cpp \
+ 	MarieDataBumper.cpp \
+ 	MarieDataMap.cpp \
  	MarieCommandBehavior.cpp \
  	MarieCommandCamera.cpp \
  	MarieCommandMotor.cpp \
! 	MarieCommandJoystick.cpp \
  	MarieRequestSystem.cpp \
+ 	newMarieDataMap.cpp \
  	newMarieRequestSystem.cpp \
  	newMarieCommandBehavior.cpp \
+ 	newMarieCommandCamera.cpp \
+ 	newMarieCommandMotor.cpp \
+ 	newMarieCommandJoystick.cpp \
+ 	extractMarieCommandBehavior.cpp \
  	extractMarieCommandCamera.cpp \
! 	extractMarieCommandMotor.cpp \
! 	extractMarieCommandJoystick.cpp
  
  install-data-local:

--- NEW FILE: newMarieCommandJoystick.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / Carle Cote
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/

#include <sstream>
#include <string>
#include "MarieCommandJoystick.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class newMarieCommandJoystick;

  DECLARE_NODE(newMarieCommandJoystick)
  /*Node
   *
   * @name newMarieCommandJoystick
   * @category RobotFlow:MARIE:COMMAND
   * @description Create an object of type MarieCommandJoystick
   *
   * @input_name X
   * @input_type int
   * @input_description input x, nilObject if not used
   *
   * @input_name Y
   * @input_type int
   * @input_description input y, nilObject if not used
   * 
   * @input_name XMIN
   * @input_type int 
   * @input_description input xmin, nilObject if not used
   *
   * @input_name YMIN
   * @input_type int
   * @input_description input ymin, nilObject if not used
   *
   * @input_name XMAX
   * @input_type int 
   * @input_description input xmax, nilObject if not used
   *
   * @input_name YMAX
   * @input_type int
   * @input_description input ymax, nilObject if not used
   *
   * @input_name NBBUTTONS
   * @input_type int 
   * @input_description input nb buttons, nilObject if not used
   *
   * @input_name BUTTONSTATE
   * @input_type int
   * @input_description input button state, nilObject if not used   
   * 
   * @output_name COMMAND_JOYSTICK
   * @output_description Output MARIE CommandJoystick data object
   * @output_type MarieCommandJoystick
   * 
  END*/
    
  using namespace std;

  class newMarieCommandJoystick : public BufferedNode 
  {
  
  private:

    //inputs     
    int m_xInID;
    int m_yInID;
    int m_xminInID;
    int m_yminInID;
    int m_xmaxInID;
    int m_ymaxInID;
    int m_nbButtonsInID;
    int m_buttonStateInID;
    
    //outputs
    int m_commandOutID;

  public:
        
  
    newMarieCommandJoystick(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs     
      m_xInID = addInput("X");
      m_yInID = addInput("Y");
      m_xminInID = addInput("XMIN");
      m_yminInID = addInput("YMIN");
      m_xmaxInID = addInput("XMAX");
      m_ymaxInID = addInput("YMAX");
      m_nbButtonsInID = addInput("NBBUTTONS");
      m_buttonStateInID = addInput("BUTTONSTATE");
      
      //outputs
      m_commandOutID = addOutput("COMMAND_JOYSTICK");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {
      try
      {         
	//get all inputs       	
	ObjectRef xInValue = getInput(m_xInID,count);
	ObjectRef yInValue = getInput(m_yInID,count);
	ObjectRef xminInValue = getInput(m_xminInID,count);
	ObjectRef yminInValue = getInput(m_yminInID,count);
	ObjectRef xmaxInValue = getInput(m_xmaxInID,count);
	ObjectRef ymaxInValue = getInput(m_ymaxInID,count);
	ObjectRef nbButtonsInValue = getInput(m_nbButtonsInID,count);
	ObjectRef buttonStateInValue = getInput(m_buttonStateInID,count);

	//create command object
	MarieCommandJoystick *command = new MarieCommandJoystick();

	int x, y, xmin, ymin, xmax, ymax, nbButtons, buttonState = 0;

	//get x
	if (!xInValue->isNil())
        {
	  RCPtr<Int> xPtr = xInValue;
	  x = *xPtr;
	}       
	//get y
	if (!yInValue->isNil())
        {
	  RCPtr<Int> yPtr = yInValue;
	  y = *yPtr;
	}
	//get xmin
	if (!xminInValue->isNil())
        {
	  RCPtr<Int> xminPtr = xminInValue;
	  xmin = *xminPtr;
	}
	//get ymin
	if (!yminInValue->isNil())
        {
	  RCPtr<Int> yminPtr = yminInValue;
	  ymin = *yminPtr;
	}
	//get xmax
	if (!xmaxInValue->isNil())
        {
	  RCPtr<Int> xmaxPtr = xmaxInValue;
	  xmax = *xmaxPtr;
	}
         
        //get ymax
	if (!ymaxInValue->isNil())
	{
	  RCPtr<Int> ymaxPtr = ymaxInValue;
	  ymax = *ymaxPtr;
	}  
	//get nbButtons
	if (!nbButtonsInValue->isNil())
        {
	  RCPtr<Int> nbButtonsPtr = nbButtonsInValue;
	  nbButtons = *nbButtonsPtr;
	}          
	//get buttonState
	if (!buttonStateInValue->isNil())
        {
	  RCPtr<Int> buttonStatePtr = buttonStateInValue;
	  buttonState = *buttonStatePtr;
	} 

	//set PTZ	 
	command->setXY(x, y);
	command->setMinXY(xmin, ymin);
	command->setMaxXY(xmax, ymax);
	command->setNbButtons(nbButtons);
	command->setButtonState(buttonState);
      
	//output command object
	out[count] = ObjectRef(command);
      }
      catch(BaseException *e) 
      {
	e->print(cerr);
	throw e->add(new GeneralException("",__FILE__,__LINE__));
      }
    }  
  };//class newMarieCommandJoystick
}//namespace marie