Merge branch 'cleanups' into lines

.gitignore

@@ -37,6 +37,6 @@ noggin/util/fakeData/*
 /motion/README.log
 /motion/README.toc
 /motion/README.pdf
-docs*/
+docs*
 /noggin/offline/c++filt
 /noggin/offline/faker

Makefile

@@ -21,6 +21,7 @@ CROSS_TOOLCHAIN = $(abspath $(CURDIR)/cmake/geode.cmake)
 CMAKE_DEFS = -DOE_CROSS_BUILD=OFF -DSTRAIGHT=ON
 CMAKE_CROSS_DEFS = -DCMAKE_TOOLCHAIN_FILE=$(CROSS_TOOLCHAIN) -DOE_CROSS_BUILD=ON
 CMAKE_WEBOTS_DEFS = -DOE_CROSS_BUILD=OFF -DMAN_IS_REMOTE_=ON -DWEBOTS_BACKEND=ON -DCOLOR_TABLE=tables/webots.mtb
+CCMAKE_CROSS_OPT = -DCMAKE_SHARED_LINKER_FLAGS:STRING="" -DCMAKE_MODULE_LINKER_FLAGS:STRING=""
 
 TRUNK_REVISION = r0# $(shell svn info | grep Revision | awk 'FS=" " {print $$2}')
 export TRUNK_REVISION
@@ -70,7 +71,7 @@ $(STRAIGHT_FILE):
 cross: $(CROSS_FILE)
 	@set -e ; \
 		$(CD) $(BUILD_DIR); \
-		$(CCMAKE) .
+		$(CCMAKE) $(CCMAKE_CROSS_OPT) .
 
 $(CROSS_FILE):
 	@if [ -e $(STRAIGHT_FILE) ] || [ -e $(WEBOTS_FILE) ]; then \

Man.cpp

@@ -88,6 +88,7 @@ Man::Man (shared_ptr<Sensors> _sensors,
     noggin = shared_ptr<Noggin>(new Noggin(profiler,vision,comm,guardian,
                                            sensors, motion->getInterface()));
 #endif// USE_NOGGIN
+	PROF_ENTER(profiler.get(), P_GETIMAGE);
 }
 
 Man::~Man ()
@@ -166,9 +167,10 @@ Man::processFrame ()
     //if(camera_active)
     //vision->copyImage(sensors->getImage());
 #endif
-    PROF_EXIT(profiler.get(), P_GETIMAGE);
+
 
     PROF_ENTER(profiler.get(), P_FINAL);
+	PROF_EXIT(profiler.get(), P_GETIMAGE);
 #ifdef USE_VISION
     //if(camera_active)
     vision->notifyImage(sensors->getImage());
@@ -183,16 +185,16 @@ Man::processFrame ()
     lights->sendLights();
     PROF_EXIT(profiler.get(), P_LIGHTS);
 
+	PROF_ENTER(profiler.get(), P_GETIMAGE);
     PROF_EXIT(profiler.get(), P_FINAL);
     PROF_NFRAME(profiler.get());
-
-    PROF_ENTER(profiler.get(), P_GETIMAGE);
 }
 
 
 void Man::notifyNextVisionImage() {
     // Synchronize noggin's information about joint angles with the motion
     // thread's information
+
     sensors->updateVisionAngles();
 
     transcriber->postVisionSensors();

cmake.man/CMakeLists.txt

@@ -150,7 +150,7 @@ SET( ROBOT_NAME ${@ROBOT_NAME@} )
 ############################ COLOR TABLE SELECTION
 # Set the path to the color table you wish to be loaded into install/etc
 SET( COLOR_TABLE
-  "tables/lab120/joho850.mtb"
+  "tables/lab120/jack800.mtb"
   CACHE STRING
   "Path relative to man directory for the desired color table"
   )

cmake/base_definitions.cmake

@@ -4,6 +4,7 @@
 # The basic diefinitions for the Northern Bites cmake packages, used
 # throughout different packages' configurations
 
+cmake_policy(SET CMP0011 OLD)
 
 ############################ TRUNK PATH
 # Ensure the TRUNK_PATH variable is set

comm/Comm.cpp

@@ -466,6 +466,10 @@ void Comm::run ()
     running = true;
     trigger->on();
 
+	struct timespec interval, remainder;
+	interval.tv_sec = 0;
+	interval.tv_nsec = SLEEP_MILLIS * 1000;
+
     try {
         bind();
 
@@ -476,7 +480,7 @@ void Comm::run ()
 
             while (running && !timer.time_for_packet()) {
                 receive();
-                usleep(SLEEP_MILLIS);
+                nanosleep(&interval, &remainder);
             }
         }
     }catch (socket_error &e) {
@@ -703,13 +707,17 @@ void Comm::send (const char *msg, int len, sockaddr_in &addr) throw(socket_error
     // send the udp message
     int result = -2;
 
+	struct timespec interval, remainder;
+	interval.tv_sec = 0;
+	interval.tv_nsec = 100000;
+
     while (result == -2) {
         result = ::sendto(sockn, msg, len, 0, (struct sockaddr*)&addr,
                           sizeof(broadcast_addr));
         // except if error is blocking error
         if (result == -1 && errno == EAGAIN) {
             result = -2;
-            usleep(100);
+            nanosleep(&interval, &remainder);
         }
     }
 

corpus/ALEnactor.cpp

@@ -40,6 +40,7 @@ void ALEnactor::run() {
     Thread::trigger->on();
 
     long long currentTime;
+	struct timespec interval, remainder;
     while (running) {
         currentTime = micro_time();
             sendCommands();
@@ -55,8 +56,10 @@ void ALEnactor::run() {
                  << processTime <<endl;
             //Don't sleep at all
         } else{
-            usleep(static_cast<useconds_t>(MOTION_FRAME_LENGTH_uS
-                                           - static_cast<float>(processTime)));
+			interval.tv_sec = 0;
+			interval.tv_nsec = static_cast<long long int>(MOTION_FRAME_LENGTH_uS
+														  - static_cast<float>(processTime));
+			nanosleep(&interval,&remainder);
         }
 #endif
 

corpus/ALImageTranscriber.cpp

@@ -55,6 +55,8 @@ void ALImageTranscriber::run() {
     Thread::trigger->on();
 
 	long long lastProcessTimeAvg = VISION_FRAME_LENGTH_uS;
+
+	struct timespec interval, remainder;
     while (Thread::running) {
         //start timer
         const long long startTime = micro_time();
@@ -74,12 +76,15 @@ void ALImageTranscriber::run() {
 					 << " frame length: " << processTime <<endl;
             //Don't sleep at all
         } else{
-            // cout << "Sleeping for " << VISION_FRAME_LENGTH_uS
-            //    -processTime << endl;
+			//cout << "Sleeping for " << VISION_FRAME_LENGTH_uS
+			//-processTime << endl;
+
+            //nanosleep(10000000);
+			interval.tv_sec = 0;
+			interval.tv_nsec = static_cast<long long int>((VISION_FRAME_LENGTH_uS
+														   -processTime) * 1000);
 
-            //usleep(10000000);
-            usleep(static_cast<useconds_t>(VISION_FRAME_LENGTH_uS
-                                           -processTime));
+            nanosleep(&interval, &remainder);
         }
     }
     Thread::trigger->off();

corpus/RoboGuardian.cpp

@@ -83,6 +83,9 @@ void RoboGuardian::run(){
     Thread::running = true;
     Thread::trigger->on();
 
+	struct timespec interval, remainder;
+	interval.tv_sec = 0;
+	interval.tv_nsec = static_cast<long long int>(GUARDIAN_FRAME_LENGTH_uS * 1000);
     while(Thread::running){
 
         countButtonPushes();
@@ -92,7 +95,7 @@ void RoboGuardian::run(){
         checkTemperatures();
         processFallingProtection();
         processChestButtonPushes();
-         usleep(static_cast<useconds_t>(GUARDIAN_FRAME_LENGTH_uS));
+		nanosleep(&interval, &remainder);
     }
 
     Thread::trigger->off();

motion/AbstractGait.cpp

@@ -1,7 +1,8 @@
 
 #include "AbstractGait.h"
 #include <iostream>
-#include <string.h>
+#include "string.h"
+#include "stdio.h"
 using namespace std;
 AbstractGait::AbstractGait(){}
 AbstractGait::~AbstractGait(){}

noggin/players/SweetStates.py

@@ -0,0 +1,32 @@
+#
+# Defines states for SweetMove testing
+#
+
+import man.motion.SweetMoves as SweetMoves
+
+def gameInitial(player):
+    player.gainsOn()
+    return player.stay()
+
+def gameReady(player):
+    return player.goLater('doMove')
+def gameSet(player):
+    return player.goLater('doMove')
+def gamePlaying(player):
+    return player.goLater('doMove')
+def gamePenalized(player):
+    return player.goLater('doMove')
+
+def doMove(player):
+    if player.firstFrame():
+        player.gainsOn()
+        player.executeMove(SweetMoves.ZERO_POS)
+
+    if player.counter == 1:
+        return player.goLater('done')
+    return player.stay()
+
+def done(player):
+    if player.firstFrame():
+        return player.stay()
+    return player.stay()

noggin/players/pSweet.py

@@ -0,0 +1,15 @@
+#
+# A behavior to test SweetMoves.
+#
+
+from . import SoccerFSA
+from . import SweetStates
+
+class SoccerPlayer(SoccerFSA.SoccerFSA):
+    def __init__(self, brain):
+        SoccerFSA.SoccerFSA.__init__(self,brain)
+        self.addStates(SweetStates)
+        self.setName('pSweet')
+        # No fall protection when testing sweetMoves
+        brain.roboguardian.enableFallProtection(False)
+

scripts/setup-autologin

@@ -0,0 +1,39 @@
+#!/bin/sh
+###############################################################################
+# This script will setup auto-login into a remote machine. Specifically,
+# this is is useful for seting up auto-login for the Naos.
+# Instructions filtched from http://linuxproblem.org/art_9.html
+#
+# NOTE: If you run this script twice on the same robot, your hostname will
+# appear twice in .ssh/authorized_keys. Login will still work, but you will
+# bloat the file
+#
+# jstrom, June 2008
+#
+##############################################################################
+
+REMOTE_USERNAME=root
+SSH=~/.ssh
+ID_RSA_FILE=$SSH/id_rsa
+RSA_PUBLIC_KEY_FILE=$SSH/id_rsa.pub
+
+if [ "$1"  == "" ]; then
+    echo "Usage: ./setup-autologin <robot-ip>"
+    exit 1
+fi
+
+echo "Configuring auto login. Only run this once per robot "
+
+
+if [ ! -e $RSA_PUBLIC_KEY_FILE ] || [ ! -e $ID_RSA_FILE ]; then
+    echo "Generating a public key"
+    ssh-keygen -t rsa -N "" -f $ID_RSA_FILE
+else
+    echo "Detected an exisiting public key, so won't generate a new one"
+fi
+
+echo "Configuring remote robot with your public key."
+echo "Please enter the password for the robot when promted:"
+cat $RSA_PUBLIC_KEY_FILE | ssh $REMOTE_USERNAME@$1 'mkdir -p .ssh && cat >> .ssh/authorized_keys'
+
+echo "setup complete"

vision/VisualFieldObject.h

@@ -14,6 +14,7 @@ class VisualFieldObject;
 #include "VisionStructs.h"
 #include "VisionHelpers.h"
 #include "Blob.h"
+#include "stdio.h"
 
 // This class should eventually inheret from VisualLandmark, once it is
 // cleaned a bit