[Robotflow-cvs] RobotFlow/MARIE/src extractMarieDataBumper.cpp,NONE,1.1 extractMarieDataIR.cpp,NONE,

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Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21308

Modified Files:
	Makefile.am MarieCommandBehavior.cpp MarieCommandCamera.cpp 
	MarieCommandJoystick.cpp MarieCommandMotor.cpp 
	MarieDataBumper.cpp MarieDataCamera.cpp MarieDataIR.cpp 
	MarieDataLaser.cpp MarieDataMap.cpp MarieDataOdometry.cpp 
	MarieDataRaw.cpp MarieDataSonar.cpp MarieRequestSystem.cpp 
	newMarieCommandCamera.cpp newMarieRequestSystem.cpp 
Added Files:
	extractMarieDataBumper.cpp extractMarieDataIR.cpp 
	extractMarieDataRaw.cpp extractMarieRequestSystem.cpp 
	newMarieDataBumper.cpp newMarieDataIR.cpp newMarieDataRaw.cpp 
Log Message:
finished splitting objects, deprecated old nodes

--- NEW FILE: extractMarieDataIR.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 "MarieDataIR.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieDataIR;

  DECLARE_NODE(extractMarieDataIR)
  /*Node
   *
   * @name extractMarieDataIR
   * @category RobotFlow:MARIE:DATA
   * @description Extract data in the FlowDesigner format from MarieDataIR
   *
   * @input_name DATA_IR
   * @input_type MarieDataIR
   * @input_description MarieDataIR object
   *
   * @output_name RANGES
   * @output_description  Range contained in the MarieDataIR object
   * @output_type Vector<int>
   *    
  END*/
  
  
  using namespace std;

  class extractMarieDataIR : public BufferedNode 
  {
  
  private:
    //intputs
    int m_dataIRID;

    //outputs       
    int m_rangesID; 

  public:
        
  
    extractMarieDataIR(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {      
      //inputs
      m_dataIRID = addInput("DATA_IR");

      //outputs
      m_rangesID = addInput("RANGES");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {
	//get input
	RCPtr<MarieDataIR> data = getInput(m_dataIRID,count);

        unsigned int size = data->getNbIR();
        const unsigned int *ranges = data->getRanges();
        
        //copy range data into a vector
        Vector<int> *vect = Vector<int>::alloc(size);
        
        for (unsigned int i = 0; i < size; i++)
        {
           (*vect)[i] = (int) ranges[i];      
        }
        
        //output vector
        out[count] = ObjectRef(vect);
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieDataIR
}//namespace marie


--- NEW FILE: extractMarieDataBumper.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 "MarieDataBumper.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieDataBumper;

  DECLARE_NODE(extractMarieDataBumper)
  /*Node
   *
   * @name extractMarieDataBumper
   * @category RobotFlow:MARIE:DATA
   * @description Extract data in the FlowDesigner format from MarieDataBumper
   *
   * @input_name DATA_BUMPER
   * @input_type Input MarieDataBumper
   * @input_description input DataBumper, nilObject if not used
   *
   * @output_name NBBUMPERS
   * @output_type int 
   * @output_description output nb buttons, nilObject if not used
   *
   * @output_name BUMPERSTATE
   * @output_type int
   * @output_description output bumper state, nilObject if not used   
   * 
  END*/
  
  
  using namespace std;

  class extractMarieDataBumper : public BufferedNode 
  {
  
  private:
    //inputs
    int m_dataBumperInID;

    //outputs       
    int m_nbBumpersOutID;
    int m_bumperStateOutID;

  public:
        
    extractMarieDataBumper(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {      
      //inputs
      m_dataBumperInID = addInput("DATA_BUMPER"); 

      //outputs
      m_nbBumpersOutID = addOutput("NBBUMPERS");
      m_bumperStateOutID = addOutput("BUMPERSTATE");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {	
	//get input
	RCPtr<MarieDataBumper> data = getInput(m_dataBumperInID,count);
	//output data
	(*outputs[m_nbBumpersOutID].buffer)[count] = ObjectRef(Int::alloc(data->getNbBumpers()));
	(*outputs[m_bumperStateOutID].buffer)[count] = ObjectRef(Int::alloc(data->getBumperState()));
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieDataBumper
}//namespace marie


Index: MarieDataSonar.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataSonar.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** MarieDataSonar.cpp	10 Jun 2004 20:47:53 -0000	1.3
--- MarieDataSonar.cpp	29 Oct 2004 14:07:20 -0000	1.4
***************
*** 31,35 ****
     *
     * @name MarieDataSonar
!    * @category RobotFlow:MARIE:DATA
     * @description Save an object
     *
--- 31,35 ----
     *
     * @name MarieDataSonar
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

Index: MarieCommandBehavior.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieCommandBehavior.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** MarieCommandBehavior.cpp	31 May 2004 14:10:09 -0000	1.2
--- MarieCommandBehavior.cpp	29 Oct 2004 14:07:20 -0000	1.3
***************
*** 33,37 ****
     *
     * @name MarieCommandBehavior
!    * @category RobotFlow:MARIE:COMMAND
     * @description Save an object
     *
--- 33,37 ----
     *
     * @name MarieCommandBehavior
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

Index: MarieDataOdometry.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataOdometry.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** MarieDataOdometry.cpp	10 Jun 2004 20:47:53 -0000	1.3
--- MarieDataOdometry.cpp	29 Oct 2004 14:07:20 -0000	1.4
***************
*** 30,34 ****
     *
     * @name MarieDataOdometry
!    * @category RobotFlow:MARIE:DATA
     * @description Read content of MarieDataOdometry
     *
--- 30,34 ----
     *
     * @name MarieDataOdometry
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Read content of MarieDataOdometry
     *

Index: MarieDataCamera.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataCamera.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** MarieDataCamera.cpp	10 Jun 2004 20:47:53 -0000	1.3
--- MarieDataCamera.cpp	29 Oct 2004 14:07:20 -0000	1.4
***************
*** 31,35 ****
     *
     * @name MarieDataCamera
!    * @category RobotFlow:MARIE:DATA
     * @description Save an object
     *
--- 31,35 ----
     *
     * @name MarieDataCamera
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

Index: MarieCommandJoystick.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieCommandJoystick.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** MarieCommandJoystick.cpp	4 Aug 2004 17:49:50 -0000	1.2
--- MarieCommandJoystick.cpp	29 Oct 2004 14:07:20 -0000	1.3
***************
*** 31,35 ****
     *
     * @name MarieCommandJoystick
!    * @category RobotFlow:MARIE:COMMAND
     * @description Read & Create MarieCommandJoystick data object
     *
--- 31,35 ----
     *
     * @name MarieCommandJoystick
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Read & Create MarieCommandJoystick data object
     *

--- NEW FILE: extractMarieRequestSystem.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau
*
*    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 "MarieRequestSystem.h"
#include <sstream>
#include <string>

namespace marie
{
  class extractMarieRequestSystem;

  DECLARE_NODE(extractMarieRequestSystem)
  /*Node
   *
   * @name extractMarieRequestSystem
   * @category RobotFlow:MARIE:REQUEST
   * @description Extract MARIE request system information
   *
   * @input_name REQUEST_SYSTEM
   * @input_type MarieRequestSystem
   * @input_description MarieRequestSystem Object
   *
   * @output_name COMMAND
   * @output_description Command stored in the Request System
   * @output_type string
   *
   * @output_name DATA
   * @output_description Data stored in the Request System
   * @output_type string 
   *
   * @output_name REQUEST_ID
   * @output_description Request ID stored in the Request System
   * @output_type int
   *
   * @output_name STATE
   * @output_description State stored in the Request System
   * @output_type string
   *
  END*/

  using namespace std;

  class extractMarieRequestSystem : public BufferedNode {

  private:
    //inputs
    int m_requestSystemID;
    
    //outputs
    int m_commandID;
    int m_dataID;
    int m_requestIDID;
    int m_stateID;
     
  public:

    extractMarieRequestSystem(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs
      m_requestSystemID = addInput("REQUEST_SYSTEM");
      
      //outputs
      m_commandID = addOutput("COMMAND");
      m_dataID = addOutput("DATA");
      m_requestIDID = addOutput("REQUEST_ID");
      m_stateID = addOutput("STATE");    
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {      
      try 
      {
	//get input
	RCPtr<MarieRequestSystem> request = getInput(m_requestSystemID,count);
       
	(*outputs[m_commandID].buffer)[count] = ObjectRef(new String(request->getCommand()));
	(*outputs[m_dataID].buffer)[count] = ObjectRef(new String(request->getData()));
	(*outputs[m_requestIDID].buffer)[count] = ObjectRef(Int::alloc(request->getID())); 
	(*outputs[m_stateID].buffer)[count] = ObjectRef(new String(request->getState()));       
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }   
  };//class extractMarieRequestSystem
}//namespace marie

Index: MarieDataBumper.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataBumper.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** MarieDataBumper.cpp	4 Aug 2004 17:49:50 -0000	1.1
--- MarieDataBumper.cpp	29 Oct 2004 14:07:20 -0000	1.2
***************
*** 31,35 ****
     *
     * @name MarieDataBumper
!    * @category RobotFlow:MARIE:DATA
     * @description Read & Create MarieDataBumper data object
     *
--- 31,35 ----
     *
     * @name MarieDataBumper
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Read & Create MarieDataBumper data object
     *

--- NEW FILE: newMarieDataBumper.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 "MarieDataBumper.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class newMarieDataBumper;

  DECLARE_NODE(newMarieDataBumper)
  /*Node
   *
   * @name newMarieDataBumper
   * @category RobotFlow:MARIE:DATA
   * @description Create an object of type MarieDataBumper
   *
   * @input_name NBBUMPERS
   * @input_type int 
   * @input_description input nb buttons, nilObject if not used
   *
   * @input_name BUMPERSTATE
   * @input_type int
   * @input_description input bumper state, nilObject if not used   
   *
   * @output_name DATA_BUMPER
   * @output_type MarieDataBumper
   * @output_description Output DataBumper
   *
  END*/
  
  
  using namespace std;

  class newMarieDataBumper : public BufferedNode 
  {
  
  private:
    //inputs
    int m_nbBumpersInID;
    int m_bumperStateInID;
    
    //outputs
    int m_dataBumperOutID;

  public:
        
  
    newMarieDataBumper(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs
      m_nbBumpersInID = addInput("NBBUMPERS");
      m_bumperStateInID = addInput("BUMPERSTATE");
      
      //outputs
      m_dataBumperOutID = addOutput("DATA_BUMPER"); 
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
       try 
      {	
	RCPtr<Int> nbBumpers = getInput(m_nbBumpersInID,count);
	RCPtr<Int> bumperState = getInput(m_bumperStateInID,count);
	MarieDataBumper *data = new MarieDataBumper();

	//set the data
	data->setNbBumpers(*nbBumpers);
	data->setBumperState(*bumperState);

	//output object
	out[count] = ObjectRef(data);
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class newMarieDataBumper
}//namespace marie


Index: newMarieRequestSystem.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/newMarieRequestSystem.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** newMarieRequestSystem.cpp	22 Sep 2004 20:45:55 -0000	1.3
--- newMarieRequestSystem.cpp	29 Oct 2004 14:07:20 -0000	1.4
***************
*** 31,35 ****
     *
     * @name newMarieRequestSystem
!    * @category RobotFlow:MARIE:DATA
     * @description Create MARIE request system
     *
--- 31,35 ----
     *
     * @name newMarieRequestSystem
!    * @category RobotFlow:MARIE:REQUEST
     * @description Create MARIE request system
     *
***************
*** 86,122 ****
      void calculate(int output_id, int count, Buffer &out)
      {
!       
!       ObjectRef commandValue = getInput(m_commandID,count);
!       ObjectRef dataValue = getInput(m_dataID,count);
!       ObjectRef requestIDValue = getInput(m_requestIDID,count);
!       ObjectRef stateValue = getInput(m_stateID,count);
! 
!       if (!commandValue->isNil() &&
! 	  !dataValue->isNil() &&
! 	  !requestIDValue->isNil() &&
! 	  !stateValue->isNil())
!       {   
  	
! 	MarieRequestSystem *request =  new MarieRequestSystem();
! 
! 	RCPtr<String> commandString = commandValue;
! 	RCPtr<String> dataString = dataValue;
! 	RCPtr<Int> requestID = requestIDValue;
! 	RCPtr<String> stateString = stateValue;
! 
! 	request->setCommand(*commandString);
! 	request->setData(*dataString);
! 	request->setID(*requestID);
! 	request->setState(*stateString);
! 
! 	out[count] = ObjectRef(request);
!        
        }
!       else
        {
! 	out[count] = nilObject;
        }
!     }
!    
    };//class newMarieRequestSystem
  }//namespace marie
--- 86,127 ----
      void calculate(int output_id, int count, Buffer &out)
      {
!       try {
! 	ObjectRef commandValue = getInput(m_commandID,count);
! 	ObjectRef dataValue = getInput(m_dataID,count);
! 	ObjectRef requestIDValue = getInput(m_requestIDID,count);
! 	ObjectRef stateValue = getInput(m_stateID,count);
  	
! 	if (!commandValue->isNil() &&
! 	    !dataValue->isNil() &&
! 	    !requestIDValue->isNil() &&
! 	    !stateValue->isNil())
! 	{   
! 	  
! 	  MarieRequestSystem *request =  new MarieRequestSystem();
! 	  
! 	  RCPtr<String> commandString = commandValue;
! 	  RCPtr<String> dataString = dataValue;
! 	  RCPtr<Int> requestID = requestIDValue;
! 	  RCPtr<String> stateString = stateValue;
! 	  
! 	  request->setCommand(*commandString);
! 	  request->setData(*dataString);
! 	  request->setID(*requestID);
! 	  request->setState(*stateString);
! 	  
! 	  out[count] = ObjectRef(request);
! 	  
! 	}
! 	else
! 	{
! 	  out[count] = nilObject;
! 	}
        }
!       catch(BaseException *e) 
        {
! 	e->print(cerr);
! 	throw e->add(new GeneralException("",__FILE__,__LINE__));
        }
!     }   
    };//class newMarieRequestSystem
  }//namespace marie

Index: MarieDataIR.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataIR.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** MarieDataIR.cpp	4 Aug 2004 17:49:50 -0000	1.1
--- MarieDataIR.cpp	29 Oct 2004 14:07:20 -0000	1.2
***************
*** 32,36 ****
     *
     * @name MarieDataIR
!    * @category RobotFlow:MARIE:DATA
     * @description Save an object
     *
--- 32,36 ----
     *
     * @name MarieDataIR
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

--- NEW FILE: newMarieDataIR.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 "MarieDataIR.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class newMarieDataIR;

  DECLARE_NODE(newMarieDataIR)
  /*Node
   *
   * @name newMarieDataIR
   * @category RobotFlow:MARIE:DATA
   * @description Create an object of type MarieDataIR
   *
   * @input_name RANGES
   * @input_description  Range to be transformed into a MarieDataIR object
   * @input_type Vector<int>
   *
   * @output_name DATA_IR
   * @output_type MarieDataIR
   * @output_description MarieDataIR object
   * 
  END*/
  
  
  using namespace std;

  class newMarieDataIR : public BufferedNode 
  {
  
  private:
    //inputs
    int m_rangesID;
    
    //outputs
    int m_dataIRID;

  public:
        
  
    newMarieDataIR(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs
      m_rangesID = addInput("RANGES");
            
      //outputs
      m_dataIRID = addOutput("DATA_IR");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
       try 
      {	
	RCPtr<Vector<int> > ranges = getInput(m_rangesID,count);
	
	MarieDataIR *data = new MarieDataIR();
		
	data->setNbIR(ranges->size());

	if (ranges->size() > 0) 
	{
	  data->setRanges((unsigned int*) &(*ranges)[0]);
	}

	//output result
	out[count] = ObjectRef(data);
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class newMarieDataIR
}//namespace marie


Index: newMarieCommandCamera.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/newMarieCommandCamera.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** newMarieCommandCamera.cpp	28 Oct 2004 15:03:30 -0000	1.1
--- newMarieCommandCamera.cpp	29 Oct 2004 14:07:20 -0000	1.2
***************
*** 32,36 ****
     *
     * @name newMarieCommandCamera
!    * @category RobotFlow:MARIE:DATA
     * @description Create MARIE DataCamera object
     *
--- 32,36 ----
     *
     * @name newMarieCommandCamera
!    * @category RobotFlow:MARIE:COMMAND
     * @description Create MARIE DataCamera object
     *

--- NEW FILE: newMarieDataRaw.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 "MarieDataRaw.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class newMarieDataRaw;

  DECLARE_NODE(newMarieDataRaw)
  /*Node
   *
   * @name newMarieDataRaw
   * @category RobotFlow:MARIE:DATA
   * @description Create an object of type MarieDataRaw
   *
   * @input_name OBJREF
   * @input_type MarieDataRaw
   * @input_description MarieDataRaw object
   *   
   * @input_name CUSTOM_ID
   * @input_type MarieDataRaw
   * @input_description MarieDataRaw object
   * 
   * @output_name DATA_RAW
   * @output_description  Range contained in the MarieDataRaw object
   * @output_type MarieDataRaw
   *
  END*/
  
  
  using namespace std;

  class newMarieDataRaw : public BufferedNode 
  {
  
  private:
    //inputs
    int m_objRefInID;
    int m_customIDInID;
    
    //outputs
    int m_rawMarieOutID;

  public:
        
  
    newMarieDataRaw(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs
      m_objRefInID = addInput("OBJREF"); 
      m_customIDInID = addInput("CUSTOM_ID");
            
      //outputs
      m_rawMarieOutID = addOutput("DATA_RAW");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
       try 
      {		
	ObjectRef inputObject = getInput(m_objRefInID,count);
	RCPtr<String> customID = getInput(m_customIDInID,count);

	//output object in a temporary stream
	MarieDataRaw *dataRaw = new MarieDataRaw();
	ostringstream tempStr;
	
	//printOn on the stream
	tempStr << inputObject;	
	dataRaw->setRawData(tempStr.str());	
	dataRaw->setCustomID(*customID); 
	
	//output result
	out[count] = ObjectRef(dataRaw);
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class newMarieDataRaw
}//namespace marie


Index: MarieCommandCamera.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieCommandCamera.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** MarieCommandCamera.cpp	31 Aug 2004 17:30:24 -0000	1.6
--- MarieCommandCamera.cpp	29 Oct 2004 14:07:20 -0000	1.7
***************
*** 32,36 ****
     *
     * @name MarieCommandCamera
!    * @category RobotFlow:MARIE:COMMAND
     * @description Read & Create MarieCommandCamera data object
     *
--- 32,36 ----
     *
     * @name MarieCommandCamera
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Read & Create MarieCommandCamera data object
     *

--- NEW FILE: extractMarieDataRaw.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 "MarieDataRaw.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieDataRaw;

  DECLARE_NODE(extractMarieDataRaw)
  /*Node
   *
   * @name extractMarieDataRaw
   * @category RobotFlow:MARIE:DATA
   * @description Extract data in the FlowDesigner format from MarieDataRaw
   *
   * @input_name DATA_RAW
   * @input_type MarieDataRaw
   * @input_description MarieDataRaw object
   *  
   * @output_name OBJREF
   * @output_description  Range contained in the MarieDataRaw object
   * @output_type any
   *
   * @output_name DATA_RAW
   * @output_description  Range contained in the MarieDataRaw object
   * @output_type MarieDataRaw
   *
   * @output_name CUSTOM_ID
   * @output_description  Range contained in the MarieDataRaw object
   * @output_type string
   *
  END*/
  
  
  using namespace std;

  class extractMarieDataRaw : public BufferedNode 
  {
  
  private:
    //intputs
    int m_dataRawID;

    //outputs       
    int m_objRefOutID; 
    int m_customIDOutID;

  public:
          
    extractMarieDataRaw(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {      
      //inputs
      m_dataRawID = addInput("DATA_RAW");

      //outputs
      m_objRefOutID = addOutput("OBJREF"); 
      m_customIDOutID = addOutput("CUSTOM_ID");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {
	//get input
	RCPtr<MarieDataRaw> data = getInput(m_dataRawID,count);

	ObjectRef objRefOutValue = nilObject;
        
	//read raw data (FlowDesigner object)
	try {
	  stringstream tempStr(data->getRawData());
	  tempStr >> objRefOutValue;
	}
	catch(BaseException *e) {
	  e->print(cerr);
	  delete e;
	  objRefOutValue = nilObject;
	}
	
	//Output result
	(*outputs[m_objRefOutID].buffer)[count] = objRefOutValue;
	(*outputs[m_customIDOutID].buffer)[count] = ObjectRef(new String(data->getCustomID()));
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieDataRaw
}//namespace marie


Index: Makefile.am
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/Makefile.am,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** Makefile.am	28 Oct 2004 20:30:07 -0000	1.21
--- Makefile.am	29 Oct 2004 14:07:19 -0000	1.22
***************
*** 31,34 ****
--- 31,37 ----
  	newMarieDataCamera.cpp \
  	newMarieDataOdometry.cpp \
+ 	newMarieDataRaw.cpp \
+ 	newMarieDataIR.cpp \
+ 	newMarieDataBumper.cpp \
  	newMarieDataMap.cpp \
  	newMarieRequestSystem.cpp \
***************
*** 37,49 ****
  	newMarieCommandMotor.cpp \
  	newMarieCommandJoystick.cpp \
- 	extractMarieCommandBehavior.cpp \
- 	extractMarieCommandCamera.cpp \
- 	extractMarieCommandMotor.cpp \
- 	extractMarieCommandJoystick.cpp \
  	extractMarieDataLaser.cpp \
  	extractMarieDataSonar.cpp \
  	extractMarieDataCamera.cpp \
  	extractMarieDataOdometry.cpp \
! 	extractMarieDataMap.cpp
  
  install-data-local:
--- 40,56 ----
  	newMarieCommandMotor.cpp \
  	newMarieCommandJoystick.cpp \
  	extractMarieDataLaser.cpp \
  	extractMarieDataSonar.cpp \
  	extractMarieDataCamera.cpp \
  	extractMarieDataOdometry.cpp \
! 	extractMarieDataRaw.cpp \
! 	extractMarieDataIR.cpp \
! 	extractMarieDataBumper.cpp \
! 	extractMarieDataMap.cpp \
! 	extractMarieRequestSystem.cpp \
! 	extractMarieCommandBehavior.cpp \
! 	extractMarieCommandCamera.cpp \
! 	extractMarieCommandMotor.cpp \
! 	extractMarieCommandJoystick.cpp 
  
  install-data-local:

Index: MarieCommandMotor.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieCommandMotor.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** MarieCommandMotor.cpp	17 Jun 2004 17:37:30 -0000	1.4
--- MarieCommandMotor.cpp	29 Oct 2004 14:07:20 -0000	1.5
***************
*** 31,35 ****
     *
     * @name MarieCommandMotor
!    * @category RobotFlow:MARIE:COMMAND
     * @description Save an object
     *
--- 31,35 ----
     *
     * @name MarieCommandMotor
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

Index: MarieDataMap.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataMap.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** MarieDataMap.cpp	22 Sep 2004 13:55:53 -0000	1.1
--- MarieDataMap.cpp	29 Oct 2004 14:07:20 -0000	1.2
***************
*** 32,36 ****
     *
     * @name MarieDataMap
!    * @category RobotFlow:MARIE:DATA
     * @description Read MARIE data maps
     *
--- 32,36 ----
     *
     * @name MarieDataMap
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Read MARIE data maps
     *

Index: MarieDataRaw.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataRaw.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** MarieDataRaw.cpp	11 Aug 2004 15:04:08 -0000	1.3
--- MarieDataRaw.cpp	29 Oct 2004 14:07:20 -0000	1.4
***************
*** 32,36 ****
     *
     * @name MarieDataRaw
!    * @category RobotFlow:MARIE:DATA
     * @description Save an object
     *
--- 32,36 ----
     *
     * @name MarieDataRaw
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

Index: MarieDataLaser.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieDataLaser.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** MarieDataLaser.cpp	10 Jun 2004 20:47:53 -0000	1.4
--- MarieDataLaser.cpp	29 Oct 2004 14:07:20 -0000	1.5
***************
*** 32,36 ****
     *
     * @name MarieDataLaser
!    * @category RobotFlow:MARIE:DATA
     * @description Save an object
     *
--- 32,36 ----
     *
     * @name MarieDataLaser
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Save an object
     *

Index: MarieRequestSystem.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieRequestSystem.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** MarieRequestSystem.cpp	22 Sep 2004 19:47:07 -0000	1.1
--- MarieRequestSystem.cpp	29 Oct 2004 14:07:20 -0000	1.2
***************
*** 31,35 ****
     *
     * @name MarieRequestSystem
!    * @category RobotFlow:MARIE:DATA
     * @description Load an object of RequestSystem type
     *
--- 31,35 ----
     *
     * @name MarieRequestSystem
!    * @category RobotFlow:MARIE:zdeprecated
     * @description Load an object of RequestSystem type
     *