Merge branch 'develop' into Team/teamball2

# Conflicts:
#	NaoTHSoccer/Config/platform/SimSpark/modules.cfg
#	NaoTHSoccer/Source/Cognition/Modules/Behavior/XABSLBehaviorControl/Symbols/BallSymbols.cpp

.gitattributes

@@ -7,12 +7,15 @@
 *.cpp    text diff=cpp
 *.c      text diff=cpp
 *.cc     text diff=cpp
-*.java	 text diff=java
-*.py	 text diff=python
+*.java   text diff=java
+*.py     text diff=python
 
 *.lua    text
 *.proto  text
 
+# Netbeans *.form files
+*.form   text
+
 # Declare files that will always have LF line endings on checkout.
 *.sh     text eol=lf
 *.bat    text
@@ -22,6 +25,7 @@
 *.properties text
 *.form   text
 *.html   text
+*.xabsl  text
 
 # Images should be treated as binary
 # (binary is a macro for -text -diff)

.gitignore

@@ -13,6 +13,8 @@ genfiles.properties
 
 #python
 *.pyc
+.idea/
+naoth.egg-info*
 
 #
 trace.dump.*

Framework/BuildTools/ansicolors.lua

@@ -115,38 +115,34 @@ local function replaceDebugCodes(str)
   -- parse keywords
   a,b = string.find(str, ":")
   if a ~= nil then
-	t = string.sub(str,1,a-1)
-	if mems[t] ~= nil then
-	  str = mems[t] .. string.sub(str,1,a) .. "%{reset}" .. string.sub(str,a+1)
-	  return str
-	end
+    t = string.sub(str,1,a-1)
+    if mems[t] ~= nil then
+      str = mems[t] .. string.sub(str,1,a) .. "%{reset}" .. string.sub(str,a+1)
+      return str
+    end
   end
 
   -- parse assignement
   a,b = string.find(str, "=")
   if a ~= nil then
-	str = "%{cyan}" .. string.sub(str,1,a-1) .. "%{reset}%{yellow}" .. string.sub(str,a)
-	return str
+    str = "%{cyan}" .. string.sub(str,1,a-1) .. "%{reset}%{yellow}" .. string.sub(str,a)
+    return str
   end
 
   -- highlight
   if string.sub(str,1,1) == ">" then
-	return str
+    return str
   end
 
   -- dim everything else
-  str = "%{dim}" .. str;
+  str = "%{dim}" .. str
   return str
 end
 
 
 -- redefine print
 function print (...)
-  if #arg == 0 then
-    std_print()
-  else
-    for i,v in ipairs(arg) do
-      std_print(ansicolors(replaceDebugCodes(tostring(v))))
-    end
+  for i = 1, select("#",...) do
+      std_print(ansicolors(replaceDebugCodes(tostring( select(i,...) ))))
   end
 end

Framework/BuildTools/protoc.lua

@@ -91,11 +91,10 @@ local function protocCompile(inputFiles, cppOut, javaOut, pythonOut, ipaths)
   print("INFO: executing " .. cmd)
   local returnCode = os.execute(cmd)
 
-  if _OPTIONS["Wno-conversion"] == nil and returnCode == 0 then
-	-- add few lines to suppress the conversion warnings to each of the generated *.cc files
-	add_gcc_ignore_pragmas(os.matchfiles(cppOut .. "**.pb.cc"))
-	add_gcc_ignore_pragmas(os.matchfiles(cppOut .. "**.pb.h"))
-	--
+  if returnCode == 0 then
+    -- add few lines to suppress the conversion warnings to each of the generated *.cc files
+    add_gcc_ignore_pragmas(os.matchfiles(cppOut .. "**.pb.cc"))
+    add_gcc_ignore_pragmas(os.matchfiles(cppOut .. "**.pb.h"))
   end
 
   return returnCode == 0
@@ -104,26 +103,18 @@ end
 
 function add_gcc_ignore_pragmas(files)
 	-- add gcc pragma to suppress the conversion warnings to each of the generated *.cc files
-	-- hack for the GCC version < 4.6.x
-	-- this is because "#pragma GCC diagnostic push/pop" was introduced in GCC 4.6
+	-- NOTE: we assume GCC version >= 4.9
 	local prefix = "// added by NaoTH \n" ..
-				 "#if defined(__GNUC__) && defined(_NAOTH_CHECK_CONVERSION_)\n" ..
-				 "#if (__GNUC__ > 3 && __GNUC_MINOR__ > 5) || (__GNUC__ > 4)\n" ..
+				 "#if defined(__GNUC__)\n" ..
 				 "#pragma GCC diagnostic push\n" ..
-				 "#endif\n" ..
 				 "#pragma GCC diagnostic ignored \"-Wconversion\"\n" ..
 				 "#pragma GCC diagnostic ignored \"-Wunused-parameter\"\n" ..
 				 "#endif\n\n"
-	
-	-- enable the warnings at the end
+         
+	-- restore the previous state at the end
 	local suffix = "\n\n// added by NaoTH \n" ..
-				 "#if defined(__GNUC__) && defined(_NAOTH_CHECK_CONVERSION_)\n" ..
-				 "#if (__GNUC__ > 3 && __GNUC_MINOR__ > 5) || (__GNUC__ > 4)\n" ..
+				 "#if defined(__GNUC__)\n" ..
 				 "#pragma GCC diagnostic pop\n" ..
-				 "#else\n" ..
-				 "#pragma GCC diagnostic error \"-Wconversion\"\n" ..
-				 "#pragma GCC diagnostic error \"-Wunused-parameter\"\n" ..
-				 "#endif\n" ..
 				 "#endif\n\n"
 
 	for i,v in ipairs(files) do

Framework/Commons/Messages/Framework-Representations.proto

@@ -88,9 +88,13 @@ message RobotInfo {
 }
 
 message FSRData {
-  repeated double force = 1;
+  repeated double force = 1 [deprecated=true];
   repeated double data = 2;
-  repeated bool valid = 3;
+  repeated bool valid = 3 [deprecated=true];
+
+  // should we separate them in the future?
+  //repeated double dataLeft = 4;
+  //repeated double dataRight = 5;
 }
 
 message AccelerometerData {

Framework/Commons/Source/DebugCommunication/DebugServer.cpp

@@ -23,34 +23,28 @@ DebugServer::DebugServer()
   : 
   lastSendTime(0),
   lastReceiveTime(0),
-  connectionThread(NULL),
   abort(false)
 {
-  m_executing = g_mutex_new();
-  m_abort = g_mutex_new();
-
   answers = g_async_queue_new();
   g_async_queue_ref(answers);
 }
 
 DebugServer::~DebugServer()
 {
   // notify the connectionThread to stop
-  g_mutex_lock(m_abort);
-  abort = true;
-  g_mutex_unlock(m_abort);
+  {
+    std::lock_guard<std::mutex> lock(m_abort);
+    abort = true;
+  }
 
   // wait for connectionThread to stop
-  if(connectionThread != NULL) {
-    g_thread_join(connectionThread);
+  if(connectionThread.joinable()) {
+    connectionThread.join();
   }
 
   clearQueues();
   comm.disconnect();
 
-  g_mutex_free(m_executing);
-  g_mutex_free(m_abort);
-
   g_async_queue_unref(answers);
 }
 
@@ -59,31 +53,22 @@ void DebugServer::start(unsigned short port)
 {
   comm.init(port);
 
-  if (!g_thread_supported()) {
-    g_thread_init(NULL);
-  }
-
-  GError* err = NULL;
-  g_debug("Starting debug server thread");
+  std::cout << "[INFO] Starting debug server thread" << std::endl;
 
-  connectionThread = g_thread_create(connection_thread_static, this, true, &err);
-  if(err) {
-    g_warning("Could not start debug server thread: %s", err->message);
-  }
+  connectionThread = std::thread([this] {this->run();});
 }//end start
 
 void DebugServer::run()
 {
   while(true)
   {
     // check if the stop is requested
-    g_mutex_lock(m_abort);
-    if(abort) {
-      g_mutex_unlock(m_abort);
-      break;
+    {
+      std::lock_guard<std::mutex> lock(m_abort);
+      if(abort) {
+        break;
+      }
     }
-    g_mutex_unlock(m_abort);
-
 
     if(comm.isConnected()) 
     {
@@ -96,10 +81,10 @@ void DebugServer::run()
         receive();
 
       } catch(const char* msg) {
-        g_warning("debug server exception: %s", msg);
+        std::cout << "[WARN] debug server exception: " << msg << std::endl;
         disconnect();
       } catch(...) {
-        g_warning("unexpected exception in debug server");
+        std::cout << "[WARN] unexpected exception in debug server" << std::endl;
         disconnect();
       }
     }
@@ -115,7 +100,7 @@ void DebugServer::run()
     g_usleep(1000);
 
     // TODO: do we really need this here?
-    g_thread_yield();
+    std::this_thread::yield();
   } // end while true
 }//end run
 
@@ -173,7 +158,7 @@ void DebugServer::send()
     {
       if(!comm.sendMessage(answer->id, answer->data.data(), answer->data.size()))
       {
-        g_warning("could not send message");
+        std::cout << "[WARN] could not send message" << std::endl;
         disconnect();
       }
       delete answer;
@@ -184,10 +169,10 @@ void DebugServer::send()
 void DebugServer::disconnect()
 {
   // stop executing (so it's not messing up with our queues)
-  g_mutex_lock(m_executing);
-  clearQueues();
-  g_mutex_unlock(m_executing);
-
+  {
+    std::lock_guard<std::mutex> lock(m_executing);
+    clearQueues();
+  }
   // all commands are "answered", disconnect
   comm.disconnect();
 }
@@ -209,14 +194,14 @@ void DebugServer::getDebugMessageInMotion(DebugMessageIn& buffer)
 
 void DebugServer::setDebugMessageOut(const DebugMessageOut& buffer)
 {
-  g_mutex_lock(m_executing);
-
-  for(std::list<DebugMessageOut::Message*>::const_iterator iter = buffer.answers.begin(); iter != buffer.answers.end(); ++iter)
   {
-    g_async_queue_push(answers, *iter);
-  }
+    std::lock_guard<std::mutex> lock(m_executing);
 
-  g_mutex_unlock(m_executing);
+    for(std::list<DebugMessageOut::Message*>::const_iterator iter = buffer.answers.begin(); iter != buffer.answers.end(); ++iter)
+    {
+      g_async_queue_push(answers, *iter);
+    }
+  }
 }
 
 // TODO: serializer?
@@ -252,9 +237,3 @@ void DebugServer::clearQueues()
   received_messages_motion.clear();
 }
 
-void* DebugServer::connection_thread_static(void* ref)
-{
-  static_cast<DebugServer*>(ref)->run();
-  return NULL;
-}
-

Framework/Commons/Source/DebugCommunication/DebugServer.h

@@ -19,6 +19,9 @@
 #include <map>
 #include <queue>
 
+#include <thread>
+#include <mutex>
+
 class DebugServer
 {
 public:
@@ -96,14 +99,14 @@ class DebugServer
   /** Communication interface */
   DebugCommunicator comm;
 
-  GThread* connectionThread;
+  std::thread connectionThread;
 
   GAsyncQueue* answers; // outgoing messages
   Channel received_messages_cognition;
   Channel received_messages_motion;
 
-  GMutex* m_executing;
-  GMutex* m_abort;
+  std::mutex m_executing;
+  std::mutex m_abort;
 
   bool abort;
 
@@ -113,8 +116,6 @@ class DebugServer
 
   void parseCommand(GString* cmdRaw, naoth::DebugMessageIn::Message& command) const;
 
-  static void* connection_thread_static(void* ref);
-
   void disconnect();
   void clearQueues();
 };

Framework/Commons/Source/Extern/libb64/cdecode.cpp

@@ -5,10 +5,11 @@ This is part of the libb64 project, and has been placed in the public domain.
 For details, see http://sourceforge.net/projects/libb64
 */
 
-#if defined(__GNUC__) && defined(_NAOTH_CHECK_CONVERSION_)
-#if __GNUC__ > 3 && __GNUC_MINOR__ > 5
+// NOTE: we assume GCC version >= 4.9
+#if defined(__GNUC__)
+// save the current state
 #pragma GCC diagnostic push
-#endif
+// ignore warnings
 #pragma GCC diagnostic ignored "-Wconversion"
 #endif
 
@@ -93,9 +94,7 @@ int base64_decode_block(const char* code_in, const int length_in, char* plaintex
   return plainchar - plaintext_out;
 }
 
-#if defined(__GNUC__) && defined(_NAOTH_CHECK_CONVERSION_)
-#if __GNUC__ > 3 && __GNUC_MINOR__ > 5
-#pragma GCC diagnostic push
-#endif
-#pragma GCC diagnostic error "-Wconversion"
+#if defined(__GNUC__)
+// restore the old state
+#pragma GCC diagnostic pop
 #endif