pax_global_header00006660000000000000000000000064132277100730014514gustar00rootroot0000000000000052 comment=cb260fca437afbc1265763a4d9076ac41e6df0c7 aseba-1.6.0/000077500000000000000000000000001322771007300125735ustar00rootroot00000000000000aseba-1.6.0/.gitignore000066400000000000000000000000421322771007300145570ustar00rootroot00000000000000*~ *.pyc ._* .DS_Store .directory aseba-1.6.0/.gitmodules000066400000000000000000000002251322771007300147470ustar00rootroot00000000000000[submodule "blockly"] path = clients/studio/plugins/ThymioBlockly/blockly url = https://github.com/aseba-community/blockly.git branch = aseba-1.6 aseba-1.6.0/CMakeLists.txt000066400000000000000000000120601322771007300153320ustar00rootroot00000000000000# emacs: -*- CMake -*- # kate: replace-tabs off; tab-width 4; indent-width 4; tab-indents true; indent-mode normal # vim: ts=4:sw=4:noexpandtab # project name project(aseba) # ensure a minimal version of CMake cmake_minimum_required(VERSION 2.8.12) # additional CMake modules set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules) include(CMakeModules/ParseVersion.cmake) # check the compiler version as we need full C++11 support if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") # using Clang if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.4") message(FATAL_ERROR, "Your clang compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version 3.4 or later is required") endif () elseif(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") # using AppleClang if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5.1") message(FATAL_ERROR "Your XCode environment has version ${CMAKE_CXX_COMPILER_VERSION}, while version 5.1 or later is required") endif() elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") # using GCC if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5") message(FATAL_ERROR, "Your g++ compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version 5 or later is required") endif () elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") # using MSVC if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "19.0.23506") message(FATAL_ERROR "Your Microsoft Visual C++ compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version MSVC 2015 Update 1+ is required") endif() endif () # enable C++11 support if (CMAKE_VERSION VERSION_LESS "3.1") if (MSVC) message(FATAL_ERROR, "CMake version 3.1 or later is required to compiler Aseba with Microsoft Visual C++") endif () set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") else () set (CMAKE_CXX_STANDARD 14) endif () # reduce the amount of recursive include trash on Windows if (WIN32) add_definitions(-DWIN32_LEAN_AND_MEAN) endif() # Remove -Wl,--no-undefined which CMake 3.0.2 (on OpenSUSE 13.2) adds to the # linker options when building shared libs. That breaks building libs that use # callbacks that will be provided by other libs when the executable is linked. if (DEFINED CMAKE_SHARED_LINKER_FLAGS) STRING(REPLACE "-Wl,--no-undefined" "" CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS}") endif (DEFINED CMAKE_SHARED_LINKER_FLAGS) # testing and defines enable_testing() add_definitions(-Wall) add_definitions(-DASEBA_ASSERT) # Dashel find_package(dashel REQUIRED) include_directories(${dashel_INCLUDE_DIRS}) # Enki find_package(enki) # Qt # FindQt4 has a bug and does not support OPTIONAL_COMPONENTS # see https://cmake.org/pipermail/cmake/2016-March/063047.html #find_package(Qt4 COMPONENTS QtCore QtGui QtNetwork QtXml QtHelp QtSvg QtWebKit OPTIONAL_COMPONENTS QtDBus) # So we use a two-step mechanism, first try with DBus, and if not found, try without find_package(Qt4 COMPONENTS QtCore QtGui QtNetwork QtXml QtHelp QtSvg QtWebKit QtDBus) if (NOT QT_QTDBUS_FOUND) find_package(Qt4 COMPONENTS QtCore QtGui QtNetwork QtXml QtHelp QtSvg QtWebKit) endif () # Qwt find_path(QWT_INCLUDE_DIR qwt_plot.h PATHS /usr/include/ /usr/local/include PATH_SUFFIXES qwt5-qt4 qwt-qt4 qwt) find_library(QWT_LIBRARIES NAMES qwt5-qt4 qwt-qt4 qwt PATHS /usr/lib /usr/local/lib) if (QWT_LIBRARIES AND QWT_INCLUDE_DIR) message(STATUS "Qwt found") else (QWT_LIBRARIES AND QWT_INCLUDE_DIR) message(STATUS "Qwt not found") endif (QWT_LIBRARIES AND QWT_INCLUDE_DIR) # Zeroconf find_package(DNSSD) if (DNSSD_FOUND) if(AVAHI_COMMON_LIBRARIES) add_definitions(-DDNSSD_AVAHI) endif(AVAHI_COMMON_LIBRARIES) include_directories(${DNSSD_INCLUDE_DIRS}) find_package(Threads REQUIRED) add_definitions(-DZEROCONF_SUPPORT) endif() # Aseba itself set(LIB_INSTALL_DIR lib CACHE FILEPATH "Where to install libraries") set(LIB_VERSION_MAJOR 3) # Must be bumped for incompatible ABI changes set(LIB_VERSION_MINOR 0) set(LIB_VERSION_PATCH 0) set(LIB_VERSION_STRING ${LIB_VERSION_MAJOR}.${LIB_VERSION_MINOR}.${LIB_VERSION_PATCH}) # Core libraries add_subdirectory(common) add_subdirectory(transport) # define the core libraries variable, to be used by all Aseba programs set(ASEBA_CORE_LIBRARIES asebadashelplugins asebacommon ${dashel_LIBRARIES}) if (DNSSD_FOUND) if (AVAHI_COMMON_LIBRARIES) set(ASEBA_ZEROCONF_ADDITIONAL_LIBRARIES ${AVAHI_CLIENT_LIBRARIES} ${AVAHI_COMMON_LIBRARIES} ${DNSSD_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) else() set(ASEBA_ZEROCONF_ADDITIONAL_LIBRARIES ${DNSSD_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) if (WIN32) set(ASEBA_ZEROCONF_ADDITIONAL_LIBRARIES ${ASEBA_ZEROCONF_ADDITIONAL_LIBRARIES} -lws2_32) endif() endif() set(ASEBA_ZEROCONF_LIBRARIES asebazeroconf ${ASEBA_ZEROCONF_ADDITIONAL_LIBRARIES}) if (QT4_FOUND) set(ASEBA_ZEROCONFQT_LIBRARIES asebazeroconfqt asebazeroconf ${ASEBA_ZEROCONF_ADDITIONAL_LIBRARIES}) endif() endif() # Target and client specific libraries add_subdirectory(vm) add_subdirectory(compiler) # User programs add_subdirectory(clients) add_subdirectory(switches) add_subdirectory(targets) # Examples for developers add_subdirectory(examples) # Unit tests add_subdirectory(tests) # User entries if (UNIX) add_subdirectory(menu) endif() aseba-1.6.0/CMakeModules/000077500000000000000000000000001322771007300151045ustar00rootroot00000000000000aseba-1.6.0/CMakeModules/FindDNSSD.cmake000066400000000000000000000111121322771007300175560ustar00rootroot00000000000000# # Copyright 2011 Stefan Eilemann # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # - Redistributions of source code must retain the above copyright notice, this # list of conditions and the following disclaimer. # - Redistributions in binary form must reproduce the above copyright notice, # this list of conditions and the following disclaimer in the documentation # and/or other materials provided with the distribution. # - Neither the name of Eyescale Software GmbH nor the names of its # contributors may be used to endorse or promote products derived from this # software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # #================================== # # - Find ZeroConf headers # #================================== # # The following environment variables are respected for finding Dnssd. # CMAKE_PREFIX_PATH can also be used for this (see find_library() CMake # documentation). # # DNSSD_ROOT # # This module defines the following output variables: # # DNSSD_FOUND - Was Dnssd and all of the specified components found? # # DNSSD_INCLUDE_DIRS - Where to find the headers # # DNSSD_LIBRARIES - The Dnssd libraries # #================================== # Example Usage: # # find_package(DNSSD REQUIRED) # include_directories(${DNSSD_INCLUDE_DIRS}) # # add_executable(foo foo.cc) # target_link_libraries(foo ${DNSSD_LIBRARIES}) # #================================== # Naming convention: # Local variables of the form _dnssd_foo # Output variables of the form DNSSD_FOO # if(WIN32) if("$ENV{ProgramW6432}" STREQUAL "") set(_dnssd_lib_paths "$ENV{ProgramFiles}/Bonjour SDK") else() set(_dnssd_lib_paths "$ENV{ProgramW6432}/Bonjour SDK") endif() else() list(APPEND _dnssd_lib_paths /usr /usr/local /opt/local /opt) endif() find_path(_dnssd_INCLUDE_DIR dns_sd.h HINTS $ENV{DNSSD_ROOT} ${DNSSD_ROOT} PATH_SUFFIXES include PATHS ${_dnssd_lib_paths} ) if(DNSSD_FIND_REQUIRED) set(_dnssd_output_type FATAL_ERROR) set(_dnssd_output 1) else() set(_dnssd_output_type STATUS) if(NOT DNSSD_FIND_QUIETLY) set(_dnssd_output 1) endif() endif() if(NOT _dnssd_INCLUDE_DIR) set(_dnssd_EPIC_FAIL TRUE) if(_dnssd_output) message(${_dnssd_output_type} "Can't find dns_sd.h header file.") endif() endif() if(APPLE) find_library(_dnssd_LIBRARY System HINTS $ENV{DNSSD_ROOT} ${DNSSD_ROOT} PATH_SUFFIXES lib PATHS ${_dnssd_lib_paths} ) elseif(WIN32) if("${CMAKE_SHARED_LINKER_FLAGS}" MATCHES "x64") set(_dnssd_lib_postfix "x64") else() set(_dnssd_lib_postfix "Win32") endif() find_library(_dnssd_LIBRARY dnssd.lib HINTS $ENV{DNSSD_ROOT} ${DNSSD_ROOT} PATH_SUFFIXES lib PATHS ${_dnssd_lib_paths}/Lib/${_dnssd_lib_postfix}) else() find_library(_dnssd_LIBRARY dns_sd HINTS $ENV{DNSSD_ROOT} ${DNSSD_ROOT} PATH_SUFFIXES lib PATHS ${_dnssd_lib_paths} ) endif() if(DNSSD_FIND_REQUIRED) if(_dnssd_LIBRARY MATCHES "_dnssd_LIBRARY-NOTFOUND") set(_dnssd_EPIC_FAIL TRUE) message(FATAL_ERROR "Missing the ZeroConf library.\n" "Consider using CMAKE_PREFIX_PATH or the DNSSD_ROOT environment variable. " "See the ${CMAKE_CURRENT_LIST_FILE} for more details.") endif() endif() include(FindPackageHandleStandardArgs) FIND_PACKAGE_HANDLE_STANDARD_ARGS(DNSSD DEFAULT_MSG _dnssd_LIBRARY _dnssd_INCLUDE_DIR) # if(_dnssd_EPIC_FAIL) # # Zero out everything, we didn't meet version requirements # set(DNSSD_FOUND FALSE) # set(_dnssd_LIBRARY) # set(_dnssd_INCLUDE_DIR) # endif() set(DNSSD_INCLUDE_DIRS ${_dnssd_INCLUDE_DIR}) set(DNSSD_LIBRARIES ${_dnssd_LIBRARY}) if(DNSSD_FOUND AND _dnssd_output) message(STATUS "Found ZeroConf in ${DNSSD_INCLUDE_DIRS};${DNSSD_LIBRARIES}") endif() aseba-1.6.0/CMakeModules/FindSDL2.cmake000066400000000000000000000137661322771007300174300ustar00rootroot00000000000000 # This module defines # SDL2_LIBRARY, the name of the library to link against # SDL2_FOUND, if false, do not try to link to SDL2 # SDL2_INCLUDE_DIR, where to find SDL.h # # This module responds to the the flag: # SDL2_BUILDING_LIBRARY # If this is defined, then no SDL2main will be linked in because # only applications need main(). # Otherwise, it is assumed you are building an application and this # module will attempt to locate and set the the proper link flags # as part of the returned SDL2_LIBRARY variable. # # Don't forget to include SDLmain.h and SDLmain.m your project for the # OS X framework based version. (Other versions link to -lSDL2main which # this module will try to find on your behalf.) Also for OS X, this # module will automatically add the -framework Cocoa on your behalf. # # # Additional Note: If you see an empty SDL2_LIBRARY_TEMP in your configuration # and no SDL2_LIBRARY, it means CMake did not find your SDL2 library # (SDL2.dll, libsdl2.so, SDL2.framework, etc). # Set SDL2_LIBRARY_TEMP to point to your SDL2 library, and configure again. # Similarly, if you see an empty SDL2MAIN_LIBRARY, you should set this value # as appropriate. These values are used to generate the final SDL2_LIBRARY # variable, but when these values are unset, SDL2_LIBRARY does not get created. # # # $SDL2DIR is an environment variable that would # correspond to the ./configure --prefix=$SDL2DIR # used in building SDL2. # l.e.galup 9-20-02 # # Modified by Eric Wing. # Added code to assist with automated building by using environmental variables # and providing a more controlled/consistent search behavior. # Added new modifications to recognize OS X frameworks and # additional Unix paths (FreeBSD, etc). # Also corrected the header search path to follow "proper" SDL guidelines. # Added a search for SDL2main which is needed by some platforms. # Added a search for threads which is needed by some platforms. # Added needed compile switches for MinGW. # # On OSX, this will prefer the Framework version (if found) over others. # People will have to manually change the cache values of # SDL2_LIBRARY to override this selection or set the CMake environment # CMAKE_INCLUDE_PATH to modify the search paths. # # Note that the header path has changed from SDL2/SDL.h to just SDL.h # This needed to change because "proper" SDL convention # is #include "SDL.h", not . This is done for portability # reasons because not all systems place things in SDL2/ (see FreeBSD). #============================================================================= # Copyright 2003-2009 Kitware, Inc. # # Distributed under the OSI-approved BSD License (the "License"); # see accompanying file Copyright.txt for details. # # This software is distributed WITHOUT ANY WARRANTY; without even the # implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the License for more information. #============================================================================= # (To distribute this file outside of CMake, substitute the full # License text for the above reference.) SET(SDL2_SEARCH_PATHS ~/Library/Frameworks /Library/Frameworks /usr/local /usr /sw # Fink /opt/local # DarwinPorts /opt/csw # Blastwave /opt ${SDL2_PATH} ) FIND_PATH(SDL2_INCLUDE_DIR SDL.h HINTS $ENV{SDL2DIR} PATH_SUFFIXES include/SDL2 include PATHS ${SDL2_SEARCH_PATHS} ) FIND_LIBRARY(SDL2_LIBRARY_TEMP NAMES SDL2 HINTS $ENV{SDL2DIR} PATH_SUFFIXES lib64 lib PATHS ${SDL2_SEARCH_PATHS} ) IF(NOT SDL2_BUILDING_LIBRARY) IF(NOT ${SDL2_INCLUDE_DIR} MATCHES ".framework") # Non-OS X framework versions expect you to also dynamically link to # SDL2main. This is mainly for Windows and OS X. Other (Unix) platforms # seem to provide SDL2main for compatibility even though they don't # necessarily need it. FIND_LIBRARY(SDL2MAIN_LIBRARY NAMES SDL2main HINTS $ENV{SDL2DIR} PATH_SUFFIXES lib64 lib PATHS ${SDL2_SEARCH_PATHS} ) ENDIF(NOT ${SDL2_INCLUDE_DIR} MATCHES ".framework") ENDIF(NOT SDL2_BUILDING_LIBRARY) # SDL2 may require threads on your system. # The Apple build may not need an explicit flag because one of the # frameworks may already provide it. # But for non-OSX systems, I will use the CMake Threads package. IF(NOT APPLE) FIND_PACKAGE(Threads) ENDIF(NOT APPLE) # MinGW needs an additional library, mwindows # It's total link flags should look like -lmingw32 -lSDL2main -lSDL2 -lmwindows # (Actually on second look, I think it only needs one of the m* libraries.) IF(MINGW) SET(MINGW32_LIBRARY mingw32 CACHE STRING "mwindows for MinGW") ENDIF(MINGW) IF(SDL2_LIBRARY_TEMP) # For SDL2main IF(NOT SDL2_BUILDING_LIBRARY) IF(SDL2MAIN_LIBRARY) SET(SDL2_LIBRARY_TEMP ${SDL2MAIN_LIBRARY} ${SDL2_LIBRARY_TEMP}) ENDIF(SDL2MAIN_LIBRARY) ENDIF(NOT SDL2_BUILDING_LIBRARY) # For OS X, SDL2 uses Cocoa as a backend so it must link to Cocoa. # CMake doesn't display the -framework Cocoa string in the UI even # though it actually is there if I modify a pre-used variable. # I think it has something to do with the CACHE STRING. # So I use a temporary variable until the end so I can set the # "real" variable in one-shot. IF(APPLE) SET(SDL2_LIBRARY_TEMP ${SDL2_LIBRARY_TEMP} "-framework Cocoa") ENDIF(APPLE) # For threads, as mentioned Apple doesn't need this. # In fact, there seems to be a problem if I used the Threads package # and try using this line, so I'm just skipping it entirely for OS X. IF(NOT APPLE) SET(SDL2_LIBRARY_TEMP ${SDL2_LIBRARY_TEMP} ${CMAKE_THREAD_LIBS_INIT}) ENDIF(NOT APPLE) # For MinGW library IF(MINGW) SET(SDL2_LIBRARY_TEMP ${MINGW32_LIBRARY} ${SDL2_LIBRARY_TEMP}) ENDIF(MINGW) # Set the final string here so the GUI reflects the final state. SET(SDL2_LIBRARY ${SDL2_LIBRARY_TEMP} CACHE STRING "Where the SDL2 Library can be found") # Set the temp variable to INTERNAL so it is not seen in the CMake GUI SET(SDL2_LIBRARY_TEMP "${SDL2_LIBRARY_TEMP}" CACHE INTERNAL "") ENDIF(SDL2_LIBRARY_TEMP) INCLUDE(FindPackageHandleStandardArgs) FIND_PACKAGE_HANDLE_STANDARD_ARGS(SDL2 REQUIRED_VARS SDL2_LIBRARY SDL2_INCLUDE_DIR) aseba-1.6.0/CMakeModules/ParseVersion.cmake000066400000000000000000000044221322771007300205300ustar00rootroot00000000000000# This module checks for Git binaries, extracts the revision number, and writes it in version.h # The user can provide a version number through the USER_BUILD_VERSION variable # version management if (USER_BUILD_VERSION) message(STATUS "User version given: " ${USER_BUILD_VERSION}) file(WRITE ${CMAKE_BINARY_DIR}/version.h "#define ASEBA_BUILD_VERSION \"${USER_BUILD_VERSION}\"\n") return() endif (USER_BUILD_VERSION) ########## # detect git ########## find_package(Git QUIET) if (NOT GIT_FOUND) find_program(GIT_EXECUTABLE git NO_CMAKE_FIND_ROOT_PATH) if (GIT_EXECUTABLE) set(GIT_FOUND TRUE) endif (GIT_EXECUTABLE) endif (NOT GIT_FOUND) if (GIT_FOUND) message(STATUS "Git executable found") execute_process(COMMAND ${GIT_EXECUTABLE} rev-parse --short --verify HEAD OUTPUT_VARIABLE GIT_REV ERROR_VARIABLE git_rev_error RESULT_VARIABLE git_rev_result WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} OUTPUT_STRIP_TRAILING_WHITESPACE) if(${git_rev_result} EQUAL 0) set(HAS_GIT_REP 1) endif(${git_rev_result} EQUAL 0) else (GIT_FOUND) message(STATUS "Git executable NOT found") endif (GIT_FOUND) # react accordingly if (GIT_FOUND AND HAS_GIT_REP) message(STATUS "Git repository found") set(HAS_DYN_VERSION) # write a file with the GIT_REV define file(WRITE ${CMAKE_BINARY_DIR}/version.h.txt "#define ASEBA_BUILD_VERSION \"git-${GIT_REV}\"\n") # write NSIS version file (for Windows build) file(READ "${PROJECT_SOURCE_DIR}/common/consts.h" COMMON_CONSTS_H) string(REGEX MATCH [0-9]+\\.[0-9]+\\.[0-9]+ ASEBA_VERSION ${COMMON_CONSTS_H}) file(WRITE ${CMAKE_BINARY_DIR}/version.nsi "!define VERSION \"${ASEBA_VERSION}-git-${GIT_REV}\"\n") # copy the file to the final header only if the version changes # reduces needless rebuilds execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different version.h.txt version.h) add_custom_target(versionheader ALL DEPENDS ${CMAKE_BINARY_DIR}/version.h) set_source_files_properties(${CMAKE_BINARY_DIR}/version.h PROPERTIES GENERATED TRUE HEADER_FILE_ONLY TRUE) return() endif (GIT_FOUND AND HAS_GIT_REP) ########## # default ########## message(STATUS "(svn / git executable not found OR not a svn / git repository) and no user version given, version is unknown.") file(WRITE ${CMAKE_BINARY_DIR}/version.h "#define ASEBA_BUILD_VERSION \"unknown\"\n") aseba-1.6.0/Doxyfile000066400000000000000000001516431322771007300143130ustar00rootroot00000000000000# Doxyfile 1.5.3 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project # # All text after a hash (#) is considered a comment and will be ignored # The format is: # TAG = value [value, ...] # For lists items can also be appended using: # TAG += value [value, ...] # Values that contain spaces should be placed between quotes (" ") #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- # This tag specifies the encoding used for all characters in the config file that # follow. The default is UTF-8 which is also the encoding used for all text before # the first occurrence of this tag. Doxygen uses libiconv (or the iconv built into # libc) for the transcoding. See http://www.gnu.org/software/libiconv for the list of # possible encodings. DOXYFILE_ENCODING = UTF-8 # The PROJECT_NAME tag is a single word (or a sequence of words surrounded # by quotes) that should identify the project. PROJECT_NAME = Aseba # The PROJECT_NUMBER tag can be used to enter a project or revision number. # This could be handy for archiving the generated documentation or # if some version control system is used. PROJECT_NUMBER = "1.6.0" # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. # If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = doc # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create # 4096 sub-directories (in 2 levels) under the output directory of each output # format and will distribute the generated files over these directories. # Enabling this option can be useful when feeding doxygen a huge amount of # source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. # The default language is English, other supported languages are: # Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, # Croatian, Czech, Danish, Dutch, Finnish, French, German, Greek, Hungarian, # Italian, Japanese, Japanese-en (Japanese with English messages), Korean, # Korean-en, Lithuanian, Norwegian, Polish, Portuguese, Romanian, Russian, # Serbian, Slovak, Slovene, Spanish, Swedish, and Ukrainian. OUTPUT_LANGUAGE = English # If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will # include brief member descriptions after the members that are listed in # the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES # If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend # the brief description of a member or function before the detailed description. # Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES # This tag implements a quasi-intelligent brief description abbreviator # that is used to form the text in various listings. Each string # in this list, if found as the leading text of the brief description, will be # stripped from the text and the result after processing the whole list, is # used as the annotated text. Otherwise, the brief description is used as-is. # If left blank, the following values are used ("$name" is automatically # replaced with the name of the entity): "The $name class" "The $name widget" # "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" ABBREVIATE_BRIEF = # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then # Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all # inherited members of a class in the documentation of that class as if those # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO # If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full # path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = YES # If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag # can be used to strip a user-defined part of the path. Stripping is # only done if one of the specified strings matches the left-hand part of # the path. The tag can be used to show relative paths in the file list. # If left blank the directory from which doxygen is run is used as the # path to strip. STRIP_FROM_PATH = # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of # the path mentioned in the documentation of a class, which tells # the reader which header file to include in order to use a class. # If left blank only the name of the header file containing the class # definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. STRIP_FROM_INC_PATH = # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter # (but less readable) file names. This can be useful is your file systems # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO # If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen # will interpret the first line (until the first dot) of a JavaDoc-style # comment as the brief description. If set to NO, the JavaDoc # comments will behave just like regular Qt-style comments # (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = YES # If the QT_AUTOBRIEF tag is set to YES then Doxygen will # interpret the first line (until the first dot) of a Qt-style # comment as the brief description. If set to NO, the comments # will behave just like regular Qt-style comments (thus requiring # an explicit \brief command for a brief description.) QT_AUTOBRIEF = YES # The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen # treat a multi-line C++ special comment block (i.e. a block of //! or /// # comments) as a brief description. This used to be the default behaviour. # The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO # If the DETAILS_AT_TOP tag is set to YES then Doxygen # will output the detailed description near the top, like JavaDoc. # If set to NO, the detailed description appears after the member # documentation. DETAILS_AT_TOP = NO # If the INHERIT_DOCS tag is set to YES (the default) then an undocumented # member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce # a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO # The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 4 # This tag can be used to specify a number of aliases that acts # as commands in the documentation. An alias has the form "name=value". # For example adding "sideeffect=\par Side Effects:\n" will allow you to # put the command \sideeffect (or @sideeffect) in the documentation, which # will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. ALIASES = # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C # sources only. Doxygen will then generate output that is more tailored for C. # For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = NO # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java # sources only. Doxygen will then generate output that is more tailored for Java. # For instance, namespaces will be presented as packages, qualified scopes # will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want to # include (a tag file for) the STL sources as input, then you should # set this tag to YES in order to let doxygen match functions declarations and # definitions whose arguments contain STL classes (e.g. func(std::string); v.s. # func(std::string) {}). This also make the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. BUILTIN_STL_SUPPORT = NO # If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. CPP_CLI_SUPPORT = NO # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC # tag is set to YES, then doxygen will reuse the documentation of the first # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. DISTRIBUTE_GROUP_DOC = NO # Set the SUBGROUPING tag to YES (the default) to allow class member groups of # the same type (for instance a group of public functions) to be put as a # subgroup of that type (e.g. under the Public Functions section). Set it to # NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in # documentation are documented, even if no documentation was available. # Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = NO # If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = NO # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) # defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = NO # This flag is only useful for Objective-C code. When set to YES local # methods, which are defined in the implementation section but not in # the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO # If this flag is set to YES, the members of anonymous namespaces will be extracted # and appear in the documentation as a namespace called 'anonymous_namespace{file}', # where file will be replaced with the base name of the file that contains the anonymous # namespace. By default anonymous namespace are hidden. EXTRACT_ANON_NSPACES = NO # If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all # undocumented members of documented classes, files or namespaces. # If set to NO (the default) these members will be included in the # various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO # If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all # undocumented classes that are normally visible in the class hierarchy. # If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all # friend (class|struct|union) declarations. # If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO # If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any # documentation blocks found inside the body of a function. # If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO # The INTERNAL_DOCS tag determines if documentation # that is typed after a \internal command is included. If the tag is set # to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO # If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate # file names in lower-case letters. If set to YES upper-case letters are also # allowed. This is useful if you have classes or files whose names only differ # in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES # If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen # will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen # will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES # If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen # will sort the (detailed) documentation of file and class members # alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the # brief documentation of file, namespace and class members alphabetically # by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be # sorted by fully-qualified names, including namespaces. If set to # NO (the default), the class list will be sorted only by class name, # not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. # Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO # The GENERATE_TODOLIST tag can be used to enable (YES) or # disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES # The GENERATE_TESTLIST tag can be used to enable (YES) or # disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES # The GENERATE_BUGLIST tag can be used to enable (YES) or # disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or # disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES # The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines # the initial value of a variable or define consists of for it to appear in # the documentation. If the initializer consists of more lines than specified # here it will be hidden. Use a value of 0 to hide initializers completely. # The appearance of the initializer of individual variables and defines in the # documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 30 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated # at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES # If the sources in your project are distributed over multiple directories # then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy # in the documentation. The default is NO. SHOW_DIRECTORIES = NO # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from the # version control system). Doxygen will invoke the program by executing (via # popen()) the command , where is the value of # the FILE_VERSION_FILTER tag, and is the name of an input file # provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. FILE_VERSION_FILTER = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- # The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = NO # The WARNINGS tag can be used to turn on/off the warning messages that are # generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES # If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings # for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for # potential errors in the documentation, such as not documenting some # parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES # This WARN_NO_PARAMDOC option can be abled to get warnings for # functions that are documented, but have no documentation for their parameters # or return value. If set to NO (the default) doxygen will only warn about # wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO # The WARN_FORMAT tag determines the format of the warning messages that # doxygen can produce. The string should contain the $file, $line, and $text # tags, which will be replaced by the file and line number from which the # warning originated and the warning text. Optionally the format may contain # $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" # The WARN_LOGFILE tag can be used to specify a file to which warning # and error messages should be written. If left blank the output is written # to stderr. WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- # The INPUT tag can be used to specify the files and/or directories that contain # documented source files. You may enter file names like "myfile.cpp" or # directories like "/usr/src/myproject". Separate the files or directories # with spaces. INPUT = can common compiler enki msg studio switch vm utils docsource/doxygen # This tag can be used to specify the character encoding of the source files that # doxygen parses. Internally doxygen uses the UTF-8 encoding, which is also the default # input encoding. Doxygen uses libiconv (or the iconv built into libc) for the transcoding. # See http://www.gnu.org/software/libiconv for the list of possible encodings. INPUT_ENCODING = UTF-8 # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank the following patterns are tested: # *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx # *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py FILE_PATTERNS = *.h *.c *.cpp *.dox # The RECURSIVE tag can be used to turn specify whether or not subdirectories # should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = NO # The EXCLUDE tag can be used to specify files and/or directories that should # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. EXCLUDE = studio/RemoteBluetoothTarget.* studio/LocalVirtualMachine.* moc_* # The EXCLUDE_SYMLINKS tag can be used select whether or not files or # directories that are symbolic links (a Unix filesystem feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude # certain files from those directories. Note that the wildcards are matched # against the file with absolute path, so to exclude all test directories # for example use the pattern */test/* EXCLUDE_PATTERNS = # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the output. # The symbol name can be a fully qualified name, a word, or if the wildcard * is used, # a substring. Examples: ANamespace, AClass, AClass::ANamespace, ANamespace::*Test EXCLUDE_SYMBOLS = # The EXAMPLE_PATH tag can be used to specify one or more files or # directories that contain example code fragments that are included (see # the \include command). EXAMPLE_PATH = # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank all files are included. EXAMPLE_PATTERNS = # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be # searched for input files to be used with the \include or \dontinclude # commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO # The IMAGE_PATH tag can be used to specify one or more files or # directories that contain image that are included in the documentation (see # the \image command). IMAGE_PATH = docsource # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program # by executing (via popen()) the command , where # is the value of the INPUT_FILTER tag, and is the name of an # input file. Doxygen will then use the output that the filter program writes # to standard output. If FILTER_PATTERNS is specified, this tag will be # ignored. INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern # basis. Doxygen will compare the file name with each pattern and apply the # filter if there is a match. The filters are a list of the form: # pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further # info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER # is applied to all files. FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO #--------------------------------------------------------------------------- # configuration options related to source browsing #--------------------------------------------------------------------------- # If the SOURCE_BROWSER tag is set to YES then a list of source files will # be generated. Documented entities will be cross-referenced with these sources. # Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. If you have enabled CALL_GRAPH or CALLER_GRAPH # then you must also enable this option. If you don't then doxygen will produce # a warning and turn it on anyway SOURCE_BROWSER = NO # Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO # Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct # doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES (the default) # then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = YES # If the REFERENCES_RELATION tag is set to YES (the default) # then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = YES # If the REFERENCES_LINK_SOURCE tag is set to YES (the default) # and SOURCE_BROWSER tag is set to YES, then the hyperlinks from # functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will # link to the source code. Otherwise they will link to the documentstion. REFERENCES_LINK_SOURCE = YES # If the USE_HTAGS tag is set to YES then the references to source code # will point to the HTML generated by the htags(1) tool instead of doxygen # built-in source browser. The htags tool is part of GNU's global source # tagging system (see http://www.gnu.org/software/global/global.html). You # will need version 4.8.6 or higher. USE_HTAGS = NO # If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen # will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index # of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = NO # If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 # In case all classes in a project start with a common prefix, all # classes will be put under the same header in the alphabetical index. # The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- # If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = html # The HTML_FILE_EXTENSION tag can be used to specify the file extension for # each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html # The HTML_HEADER tag can be used to specify a personal HTML header for # each generated HTML page. If it is left blank doxygen will generate a # standard header. HTML_HEADER = # The HTML_FOOTER tag can be used to specify a personal HTML footer for # each generated HTML page. If it is left blank doxygen will generate a # standard footer. HTML_FOOTER = # The HTML_STYLESHEET tag can be used to specify a user-defined cascading # style sheet that is used by each HTML page. It can be used to # fine-tune the look of the HTML output. If the tag is left blank doxygen # will generate a default style sheet. Note that doxygen will try to copy # the style sheet file to the HTML output directory, so don't put your own # stylesheet in the HTML output directory as well, or it will be erased! HTML_STYLESHEET = # If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, # files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES # If the GENERATE_HTMLHELP tag is set to YES, additional index files # will be generated that can be used as input for tools like the # Microsoft HTML help workshop to generate a compressed HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. For this to work a browser that supports # JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox # Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). HTML_DYNAMIC_SECTIONS = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can # be used to specify the file name of the resulting .chm file. You # can add a path in front of the file if the result should not be # written to the html output directory. CHM_FILE = # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can # be used to specify the location (absolute path including file name) of # the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. HHC_LOCATION = # If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag # controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO # If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag # controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO # The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO # The DISABLE_INDEX tag can be used to turn on/off the condensed index at # top of each HTML page. The value NO (the default) enables the index and # the value YES disables it. DISABLE_INDEX = NO # This tag can be used to set the number of enum values (range [1..20]) # that doxygen will group on one line in the generated HTML documentation. ENUM_VALUES_PER_LINE = 4 # If the GENERATE_TREEVIEW tag is set to YES, a side panel will be # generated containing a tree-like index structure (just like the one that # is generated for HTML Help). For this to work a browser that supports # JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, # Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are # probably better off using the HTML help feature. GENERATE_TREEVIEW = NO # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be # used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 #--------------------------------------------------------------------------- # configuration options related to the LaTeX output #--------------------------------------------------------------------------- # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. GENERATE_LATEX = NO # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = latex # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. If left blank `latex' will be used as the default command name. LATEX_CMD_NAME = latex # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to # generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = makeindex # If the COMPACT_LATEX tag is set to YES Doxygen generates more compact # LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO # The PAPER_TYPE tag can be used to set the paper type that is used # by the printer. Possible values are: a4, a4wide, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4wide # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. EXTRA_PACKAGES = # The LATEX_HEADER tag can be used to specify a personal LaTeX header for # the generated latex document. The header should contain everything until # the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! LATEX_HEADER = # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated # is prepared for conversion to pdf (using ps2pdf). The pdf file will # contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = NO # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of # plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = NO # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. # command to the generated LaTeX files. This will instruct LaTeX to keep # running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = NO # If LATEX_HIDE_INDICES is set to YES then doxygen will not # include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO #--------------------------------------------------------------------------- # configuration options related to the RTF output #--------------------------------------------------------------------------- # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output # The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO # The RTF_OUTPUT tag is used to specify where the RTF docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf # If the COMPACT_RTF tag is set to YES Doxygen generates more compact # RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO # If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated # will contain hyperlink fields. The RTF file will # contain links (just like the HTML output) instead of page references. # This makes the output suitable for online browsing using WORD or other # programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO # Load stylesheet definitions from file. Syntax is similar to doxygen's # config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. RTF_STYLESHEET_FILE = # Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- # If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO # The MAN_OUTPUT tag is used to specify where the man pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man # The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 # If the MAN_LINKS tag is set to YES and Doxygen generates man output, # then it will generate one additional man file for each entity # documented in the real man page(s). These additional files # only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO #--------------------------------------------------------------------------- # configuration options related to the XML output #--------------------------------------------------------------------------- # If the GENERATE_XML tag is set to YES Doxygen will # generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO # The XML_OUTPUT tag is used to specify where the XML pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml # The XML_SCHEMA tag can be used to specify an XML schema, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_SCHEMA = # The XML_DTD tag can be used to specify an XML DTD, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_DTD = # If the XML_PROGRAMLISTING tag is set to YES Doxygen will # dump the program listings (including syntax highlighting # and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES #--------------------------------------------------------------------------- # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- # If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will # generate an AutoGen Definitions (see autogen.sf.net) file # that captures the structure of the code including all # documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO #--------------------------------------------------------------------------- # configuration options related to the Perl module output #--------------------------------------------------------------------------- # If the GENERATE_PERLMOD tag is set to YES Doxygen will # generate a Perl module file that captures the structure of # the code including all documentation. Note that this # feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO # If the PERLMOD_LATEX tag is set to YES Doxygen will generate # the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO # If the PERLMOD_PRETTY tag is set to YES the Perl module output will be # nicely formatted so it can be parsed by a human reader. This is useful # if you want to understand what is going on. On the other hand, if this # tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES # The names of the make variables in the generated doxyrules.make file # are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. # This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- # If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will # evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES # If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro # names in the source code. If set to NO (the default) only conditional # compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES # then the macro expansion is limited to the macros specified with the # PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # in the INCLUDE_PATH (see below) will be search if a #include is found. SEARCH_INCLUDES = YES # The INCLUDE_PATH tag can be used to specify one or more directories that # contain include files that are not input files but should be processed by # the preprocessor. INCLUDE_PATH = # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard # patterns (like *.h and *.hpp) to filter out the header-files in the # directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. INCLUDE_FILE_PATTERNS = # The PREDEFINED tag can be used to specify one or more macro names that # are defined before the preprocessor is started (similar to the -D option of # gcc). The argument of the tag is a list of macros of the form: name # or name=definition (no spaces). If the definition and the = are # omitted =1 is assumed. To prevent a macro definition from being # undefined via #undef or recursively expanded use the := operator # instead of the = operator. PREDEFINED = ASEBA_ASSERT ZEROCONF_SUPPORT # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then # this tag can be used to specify a list of macro names that should be expanded. # The macro definition that is found in the sources will be used. # Use the PREDEFINED tag if you want to use a different macro definition. EXPAND_AS_DEFINED = # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then # doxygen's preprocessor will remove all function-like macros that are alone # on a line, have an all uppercase name, and do not end with a semicolon. Such # function macros are typically used for boiler-plate code, and will confuse # the parser if not removed. SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- # Configuration::additions related to external references #--------------------------------------------------------------------------- # The TAGFILES option can be used to specify one or more tagfiles. # Optionally an initial location of the external documentation # can be added for each tagfile. The format of a tag file without # this location is as follows: # TAGFILES = file1 file2 ... # Adding location for the tag files is done as follows: # TAGFILES = file1=loc1 "file2 = loc2" ... # where "loc1" and "loc2" can be relative or absolute paths or # URLs. If a location is present for each tag, the installdox tool # does not have to be run to correct the links. # Note that each tag file must have a unique name # (where the name does NOT include the path) # If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. TAGFILES = # When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. GENERATE_TAGFILE = # If the ALLEXTERNALS tag is set to YES all external classes will be listed # in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO # If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed # in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES # The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl #--------------------------------------------------------------------------- # Configuration options related to the dot tool #--------------------------------------------------------------------------- # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will # generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base # or super classes. Setting the tag to NO turns the diagrams off. Note that # this option is superseded by the HAVE_DOT option below. This is only a # fallback. It is recommended to install and use dot, since it yields more # powerful graphs. CLASS_DIAGRAMS = YES # You can define message sequence charts within doxygen comments using the \msc # command. Doxygen will then run the mscgen tool (see http://www.mcternan.me.uk/mscgen/) to # produce the chart and insert it in the documentation. The MSCGEN_PATH tag allows you to # specify the directory where the mscgen tool resides. If left empty the tool is assumed to # be found in the default search path. MSCGEN_PATH = # If set to YES, the inheritance and collaboration graphs will hide # inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES # If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is # available from the path. This tool is part of Graphviz, a graph visualization # toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = NO # If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect inheritance relations. Setting this tag to YES will force the # the CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES # If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. COLLABORATION_GRAPH = YES # If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES # If the UML_LOOK tag is set to YES doxygen will generate inheritance and # collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO # If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. TEMPLATE_RELATIONS = NO # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT # tags are set to YES then doxygen will generate a graph for each documented # file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and # HAVE_DOT tags are set to YES then doxygen will generate a graph for each # documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES # If the CALL_GRAPH, SOURCE_BROWSER and HAVE_DOT tags are set to YES then doxygen will # generate a call dependency graph for every global function or class method. # Note that enabling this option will significantly increase the time of a run. # So in most cases it will be better to enable call graphs for selected # functions only using the \callgraph command. CALL_GRAPH = NO # If the CALLER_GRAPH, SOURCE_BROWSER and HAVE_DOT tags are set to YES then doxygen will # generate a caller dependency graph for every global function or class method. # Note that enabling this option will significantly increase the time of a run. # So in most cases it will be better to enable caller graphs for selected # functions only using the \callergraph command. CALLER_GRAPH = NO # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES # If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES # then doxygen will show the dependencies a directory has on other directories # in a graphical way. The dependency relations are determined by the #include # relations between the files in the directories. DIRECTORY_GRAPH = YES # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif # If left blank png will be used. DOT_IMAGE_FORMAT = png # The tag DOT_PATH can be used to specify the path where the dot tool can be # found. If left blank, it is assumed the dot tool can be found in the path. DOT_PATH = # The DOTFILE_DIRS tag can be used to specify one or more directories that # contain dot files that are included in the documentation (see the # \dotfile command). DOTFILE_DIRS = # The MAX_DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of # nodes that will be shown in the graph. If the number of nodes in a graph # becomes larger than this value, doxygen will truncate the graph, which is # visualized by representing a node as a red box. Note that doxygen if the number # of direct children of the root node in a graph is already larger than # MAX_DOT_GRAPH_NOTES then the graph will not be shown at all. Also note # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. DOT_GRAPH_MAX_NODES = 50 # The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the # graphs generated by dot. A depth value of 3 means that only nodes reachable # from the root by following a path via at most 3 edges will be shown. Nodes # that lay further from the root node will be omitted. Note that setting this # option to 1 or 2 may greatly reduce the computation time needed for large # code bases. Also note that the size of a graph can be further restricted by # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. MAX_DOT_GRAPH_DEPTH = 0 # Set the DOT_TRANSPARENT tag to YES to generate images with a transparent # background. This is disabled by default, which results in a white background. # Warning: Depending on the platform used, enabling this option may lead to # badly anti-aliased labels on the edges of a graph (i.e. they become hard to # read). DOT_TRANSPARENT = NO # Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output # files in one run (i.e. multiple -o and -T options on the command line). This # makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = NO # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will # generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will # remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES #--------------------------------------------------------------------------- # Configuration::additions related to the search engine #--------------------------------------------------------------------------- # The SEARCHENGINE tag specifies whether or not a search engine should be # used. If set to NO the values of all tags below this one will be ignored. SEARCHENGINE = NO aseba-1.6.0/Jenkinsfile000066400000000000000000000124201322771007300147560ustar00rootroot00000000000000#!groovy // Jenkinsfile for compiling, testing, and packaging Aseba. // Requires CMake plugin from https://github.com/davidjsherman/aseba-jenkins.git in global library. pipeline { agent any // Jenkins will prompt for parameters when a branch is build manually parameters { string(defaultValue: 'aseba-community/dashel/master', description: 'Dashel project', name: 'project_dashel') string(defaultValue: 'enki-community/enki/master', description: 'Enki project', name: 'project_enki') } // Trigger the build triggers { // Poll GitHub every two hours, in case webhooks aren't used pollSCM('H */2 * * *') // Rebuild if Dashel or Enki masters have been rebuilt upstream( upstreamProjects: 'aseba-community/dashel/master,enki-community/enki/master', threshold: hudson.model.Result.SUCCESS ) } // Everything will be built in the build/ directory. // Everything will be installed in the dist/ directory. stages { stage('Prepare') { steps { echo "project_dashel=${env.project_dashel}" echo "project_enki=${env.project_enki}" // Jenkins will automatically check out the source // Fixme: Stashed source includes .git otherwise submodule update fails sh 'git submodule update --init' // Dashel and Enki are retrieved from archived artifacts script { // Failsafe values for the benefit of automatic jobs def pr_dashel = env.project_dashel ?: 'aseba-community/dashel/master' def pr_enki = env.project_enki ?: 'enki-community/enki/master' def p = ['debian','macos','windows'].collectEntries{ [ (it): { node(it) { copyArtifacts projectName: "${pr_dashel}", filter: 'dist/'+it+'/**', selector: lastSuccessful() copyArtifacts projectName: "${pr_enki}", filter: 'dist/'+it+'/**', selector: lastSuccessful() stash includes: 'dist/**', name: 'dist-externals-' + it } } ] } parallel p; } } } stage('Compile') { parallel { stage("Compile on debian") { agent { label 'debian' } steps { sh 'git submodule update --init' unstash 'dist-externals-debian' CMake([label: 'debian']) stash includes: 'dist/**', name: 'dist-aseba-debian' stash includes: 'build/**', name: 'build-aseba-debian' } } stage("Compile on macos") { agent { label 'macos' } steps { sh 'git submodule update --init' unstash 'dist-externals-macos' script { env.macos_enki_DIR = sh ( script: 'dirname $(find $PWD/dist/macos -name enkiConfig.cmake | head -1)', returnStdout: true).trim() env.macos_dashel_DIR = sh ( script: 'dirname $(find $PWD/dist/macos -name dashelConfig.cmake | head -1)', returnStdout: true).trim() } echo "macos_enki_DIR=${env.macos_enki_DIR}" echo "macos_dashel_DIR=${env.macos_dashel_DIR}" CMake([label: 'macos', envs: [ "enki_DIR=${env.macos_enki_DIR}", "dashel_DIR=${env.macos_dashel_DIR}" ] ]) stash includes: 'dist/**', name: 'dist-aseba-macos' } } stage("Compile on windows") { agent { label 'windows' } steps { sh 'git submodule update --init' unstash 'dist-externals-windows' CMake([label: 'windows']) stash includes: 'dist/**', name: 'dist-aseba-windows' } } } } stage('Smoke Test') { // Only do some tests. To do: add test labels in CMakeLists to distinguish between // obligatory smoke tests (to be done for every PR) and extended tests only for // releases or for end-to-end testing. parallel { stage("Smoke test on debian") { agent { label 'debian' } steps { unstash 'build-aseba-debian' dir('build/debian') { sh "LANG=en_US.UTF-8 ctest -T Test -E 'e2e.*|simulate.*|.*http.*|valgrind.*'" } stash includes: 'build/debian/Testing/**', name: 'test-results', allowEmpty: true } } } } stage('Extended Test') { // Extended tests are only run for the master branch. when { expression { return env.BRANCH == 'master' } } parallel { stage("Extended test on debian") { agent { label 'debian' } steps { unstash 'build-aseba-debian' dir('build/debian') { sh "LANG=en_US.UTF-8 ctest -T Test -R 'e2e.*|simulate.*|.*http.*|valgrind.*'" } stash includes: 'build/debian/Testing/**', name: 'test-results', allowEmpty: true } } } } // No stage('Package'), packaging is handled by a separate job stage('Archive') { steps { unstash 'dist-aseba-debian' unstash 'dist-aseba-macos' unstash 'dist-aseba-windows' archiveArtifacts artifacts: 'dist/**', fingerprint: true, onlyIfSuccessful: true } } } post { always { unstash 'test-results' step([$class: 'XUnitPublisher', testTimeMargin: '3000', thresholdMode: 1, thresholds: [[$class: 'FailedThreshold', failureNewThreshold: '', failureThreshold: '', unstableNewThreshold: '', unstableThreshold: '5'], [$class: 'SkippedThreshold', failureNewThreshold: '', failureThreshold: '', unstableNewThreshold: '', unstableThreshold: '']], tools: [[$class: 'CTestType', deleteOutputFiles: true, failIfNotNew: false, pattern: 'build/debian/Testing/*/Test.xml', skipNoTestFiles: false, stopProcessingIfError: true]]]) } } } aseba-1.6.0/android/000077500000000000000000000000001322771007300142135ustar00rootroot00000000000000aseba-1.6.0/android/README.TXT000066400000000000000000000067261322771007300155640ustar00rootroot00000000000000 Android build system for ASEBA Requirements (using Necessitas bundled SDK and NDK): Download the Necessitas Qt Source Development Kit installer from http://community.kde.org/Necessitas . Run the installer to deploy Necessitas in a location of choice, e.g., /opt/necessitas. Choose to install at least API level 12. Install ubash. On Ubuntu, use the ASL launchpad repository ppa:kralf/asl: > (sudo) add-apt-repository ppa:kralf/asl > (sudo) apt-get update > (sudo) apt-get install ubash On other platform, use the source from: https://launchpad.net/~kralf/+archive/asl/+files/ubash_0.1-56%7Elucid.tar.gz Install the ant build system, on Ubuntu: > (sudo) apt-get install ant Requirements (using separated SDK and NDK) In addition to the previous step, install these: Download the official Android Native Development Kit (NDK) from http://developer.android.com/tools/sdk/ndk . Untar the archive in a location of choice, e.g., /opt/android/ndk. Download the official Android Source Development Kit (SDK) from http://developer.android.com/sdk . Untar the archive in a location of choice, e.g., /opt/android/sdk. Build instructions: Assuming the DaSHEL and ASEBA source trees to be located under the same root directory such as /path/to/dashel and /path/to/aseba, make.sh should do the job just fine. Simply launch the script as follows: > ./make.sh --ndk-root /path/to/android/ndk --sdk-root /path/to/android/sdk --necessitas-root /path/to/necessitas [--debug] [--install] Make sure to provide the correct paths under which the above build requirements can be found in your system. To perform a debug build, use the --debug option. To install the resulting application package to an Android device connected via USB, pass --install. For additional help concerning the command line parameters, issue > ./make.sh --help Note that all builds are performed out-of-source and that the generated binaries can be found under the specified build root, i.e., a directory named build unless overridden by the command line parameters. The convenience build script make.sh first runs mkdashel.sh to cross-compile DaSHEL for Android. Next, mkaseba.sh is invoked to generate the native library libthymiovpl.so from the ASEBA build configuration. Both these steps require the cross-compile toolchain defined in cmake/Android.cmake and run CMake to configure the build. On success, you will find libdashel.so and libthymiovpl.so below /path/to/build/root/thymiovpl/libs. The Android application package is then compiled by calling mkthymiovpl.sh which simply launches ant in the thymiovpl source directory. Debug instructions: To prepare the application for debugging, make sure to append the --debug flag for all build scripts. If you wish to debug Java-based API code, use the command > /path/to/android/sdk/platform-tools/adb logcat whilst the Android device is connected via USB, and launch the application installed on the device. In case of a Java exception, the log will contain the usual backtrace output. If you wish to debug native code, issue the helper script > ./debug.sh --ndk-root /path/to/android/ndk --sdk-root /path/to/android/sdk --necessitas-root /path/to/necessitas Just as for the build scripts, make sure to provide the correct paths under which the build requirements can be found in your system. Otherwise, gdb may fail to resolve and display the symbols. aseba-1.6.0/android/cmake/000077500000000000000000000000001322771007300152735ustar00rootroot00000000000000aseba-1.6.0/android/cmake/Android.cmake000066400000000000000000002371111322771007300176620ustar00rootroot00000000000000# Copyright (c) 2010-2011, Ethan Rublee # Copyright (c) 2011-2013, Andrey Kamaev # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # 1. Redistributions of source code must retain the above copyright notice, # this list of conditions and the following disclaimer. # # 2. Redistributions in binary form must reproduce the above copyright notice, # this list of conditions and the following disclaimer in the documentation # and/or other materials provided with the distribution. # # 3. The name of the copyright holders may be used to endorse or promote # products derived from this software without specific prior written # permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # ------------------------------------------------------------------------------ # Android CMake toolchain file, for use with the Android NDK r5-r8 # Requires cmake 2.6.3 or newer (2.8.5 or newer is recommended). # See home page: https://github.com/taka-no-me/android-cmake # # The file is mantained by the OpenCV project. The latest version can be get at # http://code.opencv.org/projects/opencv/repository/revisions/master/changes/android/android.toolchain.cmake # # Usage Linux: # $ export ANDROID_NDK=/absolute/path/to/the/android-ndk # $ mkdir build && cd build # $ cmake -DCMAKE_TOOLCHAIN_FILE=path/to/the/android.toolchain.cmake .. # $ make -j8 # # Usage Linux (using standalone toolchain): # $ export ANDROID_STANDALONE_TOOLCHAIN=/absolute/path/to/android-toolchain # $ mkdir build && cd build # $ cmake -DCMAKE_TOOLCHAIN_FILE=path/to/the/android.toolchain.cmake .. # $ make -j8 # # Usage Windows: # You need native port of make to build your project. # Android NDK r7 (or newer) already has make.exe on board. # For older NDK you have to install it separately. # For example, this one: http://gnuwin32.sourceforge.net/packages/make.htm # # $ SET ANDROID_NDK=C:\absolute\path\to\the\android-ndk # $ mkdir build && cd build # $ cmake.exe -G"MinGW Makefiles" # -DCMAKE_TOOLCHAIN_FILE=path\to\the\android.toolchain.cmake # -DCMAKE_MAKE_PROGRAM="%ANDROID_NDK%\prebuilt\windows\bin\make.exe" .. # $ cmake.exe --build . # # # Options (can be set as cmake parameters: -D=): # ANDROID_NDK=/opt/android-ndk - path to the NDK root. # Can be set as environment variable. Can be set only at first cmake run. # # ANDROID_STANDALONE_TOOLCHAIN=/opt/android-toolchain - path to the # standalone toolchain. This option is not used if full NDK is found # (ignored if ANDROID_NDK is set). # Can be set as environment variable. Can be set only at first cmake run. # # ANDROID_ABI=armeabi-v7a - specifies the target Application Binary # Interface (ABI). This option nearly matches to the APP_ABI variable # used by ndk-build tool from Android NDK. # # Possible targets are: # "armeabi" - matches to the NDK ABI with the same name. # See ${ANDROID_NDK}/docs/CPU-ARCH-ABIS.html for the documentation. # "armeabi-v7a" - matches to the NDK ABI with the same name. # See ${ANDROID_NDK}/docs/CPU-ARCH-ABIS.html for the documentation. # "armeabi-v7a with NEON" - same as armeabi-v7a, but # sets NEON as floating-point unit # "armeabi-v7a with VFPV3" - same as armeabi-v7a, but # sets VFPV3 as floating-point unit (has 32 registers instead of 16). # "armeabi-v6 with VFP" - tuned for ARMv6 processors having VFP. # "x86" - matches to the NDK ABI with the same name. # See ${ANDROID_NDK}/docs/CPU-ARCH-ABIS.html for the documentation. # "mips" - matches to the NDK ABI with the same name # (It is not tested on real devices by the authos of this toolchain) # See ${ANDROID_NDK}/docs/CPU-ARCH-ABIS.html for the documentation. # # ANDROID_NATIVE_API_LEVEL=android-8 - level of Android API compile for. # Option is read-only when standalone toolchain is used. # # ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-4.6 - the name of compiler # toolchain to be used. The list of possible values depends on the NDK # version. For NDK r8c the possible values are: # # * arm-linux-androideabi-4.4.3 # * arm-linux-androideabi-4.6 # * arm-linux-androideabi-clang3.1 # * mipsel-linux-android-4.4.3 # * mipsel-linux-android-4.6 # * mipsel-linux-android-clang3.1 # * x86-4.4.3 # * x86-4.6 # * x86-clang3.1 # # ANDROID_FORCE_ARM_BUILD=OFF - set ON to generate 32-bit ARM instructions # instead of Thumb. Is not available for "x86" (inapplicable) and # "armeabi-v6 with VFP" (is forced to be ON) ABIs. # # ANDROID_NO_UNDEFINED=ON - set ON to show all undefined symbols as linker # errors even if they are not used. # # ANDROID_SO_UNDEFINED=OFF - set ON to allow undefined symbols in shared # libraries. Automatically turned for NDK r5x and r6x due to GLESv2 # problems. # # LIBRARY_OUTPUT_PATH_ROOT=${CMAKE_SOURCE_DIR} - where to output binary # files. See additional details below. # # ANDROID_SET_OBSOLETE_VARIABLES=ON - if set, then toolchain defines some # obsolete variables which were used by previous versions of this file for # backward compatibility. # # ANDROID_STL=gnustl_static - specify the runtime to use. # # Possible values are: # none -> Do not configure the runtime. # system -> Use the default minimal system C++ runtime library. # Implies -fno-rtti -fno-exceptions. # Is not available for standalone toolchain. # system_re -> Use the default minimal system C++ runtime library. # Implies -frtti -fexceptions. # Is not available for standalone toolchain. # gabi++_static -> Use the GAbi++ runtime as a static library. # Implies -frtti -fno-exceptions. # Available for NDK r7 and newer. # Is not available for standalone toolchain. # gabi++_shared -> Use the GAbi++ runtime as a shared library. # Implies -frtti -fno-exceptions. # Available for NDK r7 and newer. # Is not available for standalone toolchain. # stlport_static -> Use the STLport runtime as a static library. # Implies -fno-rtti -fno-exceptions for NDK before r7. # Implies -frtti -fno-exceptions for NDK r7 and newer. # Is not available for standalone toolchain. # stlport_shared -> Use the STLport runtime as a shared library. # Implies -fno-rtti -fno-exceptions for NDK before r7. # Implies -frtti -fno-exceptions for NDK r7 and newer. # Is not available for standalone toolchain. # gnustl_static -> Use the GNU STL as a static library. # Implies -frtti -fexceptions. # gnustl_shared -> Use the GNU STL as a shared library. # Implies -frtti -fno-exceptions. # Available for NDK r7b and newer. # Silently degrades to gnustl_static if not available. # # ANDROID_STL_FORCE_FEATURES=ON - turn rtti and exceptions support based on # chosen runtime. If disabled, then the user is responsible for settings # these options. # # What?: # android-cmake toolchain searches for NDK/toolchain in the following order: # ANDROID_NDK - cmake parameter # ANDROID_NDK - environment variable # ANDROID_STANDALONE_TOOLCHAIN - cmake parameter # ANDROID_STANDALONE_TOOLCHAIN - environment variable # ANDROID_NDK - default locations # ANDROID_STANDALONE_TOOLCHAIN - default locations # # Make sure to do the following in your scripts: # SET( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${my_cxx_flags}" ) # SET( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${my_cxx_flags}" ) # The flags will be prepopulated with critical flags, so don't loose them. # Also be aware that toolchain also sets configuration-specific compiler # flags and linker flags. # # ANDROID and BUILD_ANDROID will be set to true, you may test any of these # variables to make necessary Android-specific configuration changes. # # Also ARMEABI or ARMEABI_V7A or X86 or MIPS will be set true, mutually # exclusive. NEON option will be set true if VFP is set to NEON. # # LIBRARY_OUTPUT_PATH_ROOT should be set in cache to determine where Android # libraries will be installed. # Default is ${CMAKE_SOURCE_DIR}, and the android libs will always be # under the ${LIBRARY_OUTPUT_PATH_ROOT}/libs/${ANDROID_NDK_ABI_NAME} # (depending on the target ABI). This is convenient for Android packaging. # # Change Log: # - initial version December 2010 # - April 2011 # [+] added possibility to build with NDK (without standalone toolchain) # [+] support cross-compilation on Windows (native, no cygwin support) # [+] added compiler option to force "char" type to be signed # [+] added toolchain option to compile to 32-bit ARM instructions # [+] added toolchain option to disable SWIG search # [+] added platform "armeabi-v7a with VFPV3" # [~] ARM_TARGETS renamed to ARM_TARGET # [+] EXECUTABLE_OUTPUT_PATH is set by toolchain (required on Windows) # [~] Fixed bug with ANDROID_API_LEVEL variable # [~] turn off SWIG search if it is not found first time # - May 2011 # [~] ANDROID_LEVEL is renamed to ANDROID_API_LEVEL # [+] ANDROID_API_LEVEL is detected by toolchain if not specified # [~] added guard to prevent changing of output directories on the first # cmake pass # [~] toolchain exits with error if ARM_TARGET is not recognized # - June 2011 # [~] default NDK path is updated for version r5c # [+] variable CMAKE_SYSTEM_PROCESSOR is set based on ARM_TARGET # [~] toolchain install directory is added to linker paths # [-] removed SWIG-related stuff from toolchain # [+] added macro find_host_package, find_host_program to search # packages/programs on the host system # [~] fixed path to STL library # - July 2011 # [~] fixed options caching # [~] search for all supported NDK versions # [~] allowed spaces in NDK path # - September 2011 # [~] updated for NDK r6b # - November 2011 # [*] rewritten for NDK r7 # [+] x86 toolchain support (experimental) # [+] added "armeabi-v6 with VFP" ABI for ARMv6 processors. # [~] improved compiler and linker flags management # [+] support different build flags for Release and Debug configurations # [~] by default compiler flags the same as used by ndk-build (but only # where reasonable) # [~] ANDROID_NDK_TOOLCHAIN_ROOT is splitted to ANDROID_STANDALONE_TOOLCHAIN # and ANDROID_TOOLCHAIN_ROOT # [~] ARM_TARGET is renamed to ANDROID_ABI # [~] ARMEABI_NDK_NAME is renamed to ANDROID_NDK_ABI_NAME # [~] ANDROID_API_LEVEL is renamed to ANDROID_NATIVE_API_LEVEL # - January 2012 # [+] added stlport_static support (experimental) # [+] added special check for cygwin # [+] filtered out hidden files (starting with .) while globbing inside NDK # [+] automatically applied GLESv2 linkage fix for NDK revisions 5-6 # [+] added ANDROID_GET_ABI_RAWNAME to get NDK ABI names by CMake flags # - February 2012 # [+] updated for NDK r7b # [~] fixed cmake try_compile() command # [~] Fix for missing install_name_tool on OS X # - March 2012 # [~] fixed incorrect C compiler flags # [~] fixed CMAKE_SYSTEM_PROCESSOR change on ANDROID_ABI change # [+] improved toolchain loading speed # [+] added assembler language support (.S) # [+] allowed preset search paths and extra search suffixes # - April 2012 # [+] updated for NDK r7c # [~] fixed most of problems with compiler/linker flags and caching # [+] added option ANDROID_FUNCTION_LEVEL_LINKING # - May 2012 # [+] updated for NDK r8 # [+] added mips architecture support # - August 2012 # [+] updated for NDK r8b # [~] all intermediate files generated by toolchain are moved to CMakeFiles # [~] libstdc++ and libsupc are removed from explicit link libraries # [+] added CCache support (via NDK_CCACHE environment or cmake variable) # [+] added gold linker support for NDK r8b # [~] fixed mips linker flags for NDK r8b # - September 2012 # [+] added NDK release name detection (see ANDROID_NDK_RELEASE) # [+] added support for all C++ runtimes from NDK # (system, gabi++, stlport, gnustl) # [+] improved warnings on known issues of NDKs # [~] use gold linker as default if available (NDK r8b) # [~] globally turned off rpath # [~] compiler options are aligned with NDK r8b # - October 2012 # [~] fixed C++ linking: explicitly link with math library (OpenCV #2426) # - November 2012 # [+] updated for NDK r8c # [+] added support for clang compiler # - December 2012 # [+] suppress warning about unused CMAKE_TOOLCHAIN_FILE variable # [+] adjust API level to closest compatible as NDK does # [~] fixed ccache full path search # [+] updated for NDK r8d # [~] compiler options are aligned with NDK r8d # - March 2013 # [+] updated for NDK r8e (x86 version) # [+] support x86_64 version of NDK # ------------------------------------------------------------------------------ cmake_minimum_required( VERSION 2.6.3 ) if( DEFINED CMAKE_CROSSCOMPILING ) # subsequent toolchain loading is not really needed return() endif() if( CMAKE_TOOLCHAIN_FILE ) # touch toolchain variable only to suppress "unused variable" warning endif() get_property( _CMAKE_IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE ) if( _CMAKE_IN_TRY_COMPILE ) include( "${CMAKE_CURRENT_SOURCE_DIR}/../android.toolchain.config.cmake" OPTIONAL ) endif() # this one is important set( CMAKE_SYSTEM_NAME Linux ) # this one not so much set( CMAKE_SYSTEM_VERSION 1 ) # rpath makes low sence for Android set( CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries." ) set( ANDROID_SUPPORTED_NDK_VERSIONS ${ANDROID_EXTRA_NDK_VERSIONS} -r8e -r8d -r8c -r8b -r8 -r7c -r7b -r7 -r6b -r6 -r5c -r5b -r5 "" ) if(NOT DEFINED ANDROID_NDK_SEARCH_PATHS) if( CMAKE_HOST_WIN32 ) file( TO_CMAKE_PATH "$ENV{PROGRAMFILES}" ANDROID_NDK_SEARCH_PATHS ) set( ANDROID_NDK_SEARCH_PATHS "${ANDROID_NDK_SEARCH_PATHS}/android-ndk" "$ENV{SystemDrive}/NVPACK/android-ndk" ) else() file( TO_CMAKE_PATH "$ENV{HOME}" ANDROID_NDK_SEARCH_PATHS ) set( ANDROID_NDK_SEARCH_PATHS /opt/android-ndk "${ANDROID_NDK_SEARCH_PATHS}/NVPACK/android-ndk" ) endif() endif() if(NOT DEFINED ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH) set( ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH /opt/android-toolchain ) endif() set( ANDROID_SUPPORTED_ABIS_arm "armeabi-v7a;armeabi;armeabi-v7a with NEON;armeabi-v7a with VFPV3;armeabi-v6 with VFP" ) set( ANDROID_SUPPORTED_ABIS_x86 "x86" ) set( ANDROID_SUPPORTED_ABIS_mipsel "mips" ) set( ANDROID_DEFAULT_NDK_API_LEVEL 8 ) set( ANDROID_DEFAULT_NDK_API_LEVEL_x86 9 ) set( ANDROID_DEFAULT_NDK_API_LEVEL_mips 9 ) macro( __LIST_FILTER listvar regex ) if( ${listvar} ) foreach( __val ${${listvar}} ) if( __val MATCHES "${regex}" ) list( REMOVE_ITEM ${listvar} "${__val}" ) endif() endforeach() endif() endmacro() macro( __INIT_VARIABLE var_name ) set( __test_path 0 ) foreach( __var ${ARGN} ) if( __var STREQUAL "PATH" ) set( __test_path 1 ) break() endif() endforeach() if( __test_path AND NOT EXISTS "${${var_name}}" ) unset( ${var_name} CACHE ) endif() if( "${${var_name}}" STREQUAL "" ) set( __values 0 ) foreach( __var ${ARGN} ) if( __var STREQUAL "VALUES" ) set( __values 1 ) elseif( NOT __var STREQUAL "PATH" ) set( __obsolete 0 ) if( __var MATCHES "^OBSOLETE_.*$" ) string( REPLACE "OBSOLETE_" "" __var "${__var}" ) set( __obsolete 1 ) endif() if( __var MATCHES "^ENV_.*$" ) string( REPLACE "ENV_" "" __var "${__var}" ) set( __value "$ENV{${__var}}" ) elseif( DEFINED ${__var} ) set( __value "${${__var}}" ) else() if( __values ) set( __value "${__var}" ) else() set( __value "" ) endif() endif() if( NOT "${__value}" STREQUAL "" ) if( __test_path ) if( EXISTS "${__value}" ) file( TO_CMAKE_PATH "${__value}" ${var_name} ) if( __obsolete AND NOT _CMAKE_IN_TRY_COMPILE ) message( WARNING "Using value of obsolete variable ${__var} as initial value for ${var_name}. Please note, that ${__var} can be completely removed in future versions of the toolchain." ) endif() break() endif() else() set( ${var_name} "${__value}" ) if( __obsolete AND NOT _CMAKE_IN_TRY_COMPILE ) message( WARNING "Using value of obsolete variable ${__var} as initial value for ${var_name}. Please note, that ${__var} can be completely removed in future versions of the toolchain." ) endif() break() endif() endif() endif() endforeach() unset( __value ) unset( __values ) unset( __obsolete ) elseif( __test_path ) file( TO_CMAKE_PATH "${${var_name}}" ${var_name} ) endif() unset( __test_path ) endmacro() macro( __DETECT_NATIVE_API_LEVEL _var _path ) SET( __ndkApiLevelRegex "^[\t ]*#define[\t ]+__ANDROID_API__[\t ]+([0-9]+)[\t ]*$" ) FILE( STRINGS ${_path} __apiFileContent REGEX "${__ndkApiLevelRegex}" ) if( NOT __apiFileContent ) message( SEND_ERROR "Could not get Android native API level. Probably you have specified invalid level value, or your copy of NDK/toolchain is broken." ) endif() string( REGEX REPLACE "${__ndkApiLevelRegex}" "\\1" ${_var} "${__apiFileContent}" ) unset( __apiFileContent ) unset( __ndkApiLevelRegex ) endmacro() macro( __DETECT_TOOLCHAIN_MACHINE_NAME _var _root ) if( EXISTS "${_root}" ) file( GLOB __gccExePath RELATIVE "${_root}/bin/" "${_root}/bin/*-gcc${TOOL_OS_SUFFIX}" ) __LIST_FILTER( __gccExePath "^[.].*" ) list( LENGTH __gccExePath __gccExePathsCount ) if( NOT __gccExePathsCount EQUAL 1 AND NOT _CMAKE_IN_TRY_COMPILE ) message( WARNING "Could not determine machine name for compiler from ${_root}" ) set( ${_var} "" ) else() get_filename_component( __gccExeName "${__gccExePath}" NAME_WE ) string( REPLACE "-gcc" "" ${_var} "${__gccExeName}" ) endif() unset( __gccExePath ) unset( __gccExePathsCount ) unset( __gccExeName ) else() set( ${_var} "" ) endif() endmacro() # fight against cygwin set( ANDROID_FORBID_SYGWIN TRUE CACHE BOOL "Prevent cmake from working under cygwin and using cygwin tools") mark_as_advanced( ANDROID_FORBID_SYGWIN ) if( ANDROID_FORBID_SYGWIN ) if( CYGWIN ) message( FATAL_ERROR "Android NDK and android-cmake toolchain are not welcome Cygwin. It is unlikely that this cmake toolchain will work under cygwin. But if you want to try then you can set cmake variable ANDROID_FORBID_SYGWIN to FALSE and rerun cmake." ) endif() if( CMAKE_HOST_WIN32 ) # remove cygwin from PATH set( __new_path "$ENV{PATH}") __LIST_FILTER( __new_path "cygwin" ) set(ENV{PATH} "${__new_path}") unset(__new_path) endif() endif() # detect current host platform if( NOT DEFINED ANDROID_NDK_HOST_X64 AND CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "amd64|x86_64|AMD64") set( ANDROID_NDK_HOST_X64 1 CACHE BOOL "Try to use 64-bit compiler toolchain" ) mark_as_advanced( ANDROID_NDK_HOST_X64 ) endif() set( TOOL_OS_SUFFIX "" ) if( CMAKE_HOST_APPLE ) set( ANDROID_NDK_HOST_SYSTEM_NAME "darwin-x86_64" ) set( ANDROID_NDK_HOST_SYSTEM_NAME2 "darwin-x86" ) elseif( CMAKE_HOST_WIN32 ) set( ANDROID_NDK_HOST_SYSTEM_NAME "windows-x86_64" ) set( ANDROID_NDK_HOST_SYSTEM_NAME2 "windows" ) set( TOOL_OS_SUFFIX ".exe" ) elseif( CMAKE_HOST_UNIX ) set( ANDROID_NDK_HOST_SYSTEM_NAME "linux-x86_64" ) set( ANDROID_NDK_HOST_SYSTEM_NAME2 "linux-x86" ) else() message( FATAL_ERROR "Cross-compilation on your platform is not supported by this cmake toolchain" ) endif() if( NOT ANDROID_NDK_HOST_X64 ) set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) endif() # see if we have path to Android NDK __INIT_VARIABLE( ANDROID_NDK PATH ENV_ANDROID_NDK ) if( NOT ANDROID_NDK ) # see if we have path to Android standalone toolchain __INIT_VARIABLE( ANDROID_STANDALONE_TOOLCHAIN PATH ENV_ANDROID_STANDALONE_TOOLCHAIN OBSOLETE_ANDROID_NDK_TOOLCHAIN_ROOT OBSOLETE_ENV_ANDROID_NDK_TOOLCHAIN_ROOT ) if( NOT ANDROID_STANDALONE_TOOLCHAIN ) #try to find Android NDK in one of the the default locations set( __ndkSearchPaths ) foreach( __ndkSearchPath ${ANDROID_NDK_SEARCH_PATHS} ) foreach( suffix ${ANDROID_SUPPORTED_NDK_VERSIONS} ) list( APPEND __ndkSearchPaths "${__ndkSearchPath}${suffix}" ) endforeach() endforeach() __INIT_VARIABLE( ANDROID_NDK PATH VALUES ${__ndkSearchPaths} ) unset( __ndkSearchPaths ) if( ANDROID_NDK ) message( STATUS "Using default path for Android NDK: ${ANDROID_NDK}" ) message( STATUS " If you prefer to use a different location, please define a cmake or environment variable: ANDROID_NDK" ) else() #try to find Android standalone toolchain in one of the the default locations __INIT_VARIABLE( ANDROID_STANDALONE_TOOLCHAIN PATH ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH ) if( ANDROID_STANDALONE_TOOLCHAIN ) message( STATUS "Using default path for standalone toolchain ${ANDROID_STANDALONE_TOOLCHAIN}" ) message( STATUS " If you prefer to use a different location, please define the variable: ANDROID_STANDALONE_TOOLCHAIN" ) endif( ANDROID_STANDALONE_TOOLCHAIN ) endif( ANDROID_NDK ) endif( NOT ANDROID_STANDALONE_TOOLCHAIN ) endif( NOT ANDROID_NDK ) # remember found paths if( ANDROID_NDK ) get_filename_component( ANDROID_NDK "${ANDROID_NDK}" ABSOLUTE ) # try to detect change if( CMAKE_AR ) string( LENGTH "${ANDROID_NDK}" __length ) string( SUBSTRING "${CMAKE_AR}" 0 ${__length} __androidNdkPreviousPath ) if( NOT __androidNdkPreviousPath STREQUAL ANDROID_NDK ) message( FATAL_ERROR "It is not possible to change the path to the NDK on subsequent CMake run. You must remove all generated files from your build folder first. " ) endif() unset( __androidNdkPreviousPath ) unset( __length ) endif() set( ANDROID_NDK "${ANDROID_NDK}" CACHE INTERNAL "Path of the Android NDK" FORCE ) set( BUILD_WITH_ANDROID_NDK True ) file( STRINGS "${ANDROID_NDK}/RELEASE.TXT" ANDROID_NDK_RELEASE_FULL LIMIT_COUNT 1 REGEX r[0-9]+[a-z]? ) string( REGEX MATCH r[0-9]+[a-z]? ANDROID_NDK_RELEASE "${ANDROID_NDK_RELEASE_FULL}" ) elseif( ANDROID_STANDALONE_TOOLCHAIN ) get_filename_component( ANDROID_STANDALONE_TOOLCHAIN "${ANDROID_STANDALONE_TOOLCHAIN}" ABSOLUTE ) # try to detect change if( CMAKE_AR ) string( LENGTH "${ANDROID_STANDALONE_TOOLCHAIN}" __length ) string( SUBSTRING "${CMAKE_AR}" 0 ${__length} __androidStandaloneToolchainPreviousPath ) if( NOT __androidStandaloneToolchainPreviousPath STREQUAL ANDROID_STANDALONE_TOOLCHAIN ) message( FATAL_ERROR "It is not possible to change path to the Android standalone toolchain on subsequent run." ) endif() unset( __androidStandaloneToolchainPreviousPath ) unset( __length ) endif() set( ANDROID_STANDALONE_TOOLCHAIN "${ANDROID_STANDALONE_TOOLCHAIN}" CACHE INTERNAL "Path of the Android standalone toolchain" FORCE ) set( BUILD_WITH_STANDALONE_TOOLCHAIN True ) else() list(GET ANDROID_NDK_SEARCH_PATHS 0 ANDROID_NDK_SEARCH_PATH) message( FATAL_ERROR "Could not find neither Android NDK nor Android standalone toolchain. You should either set an environment variable: export ANDROID_NDK=~/my-android-ndk or export ANDROID_STANDALONE_TOOLCHAIN=~/my-android-toolchain or put the toolchain or NDK in the default path: sudo ln -s ~/my-android-ndk ${ANDROID_NDK_SEARCH_PATH} sudo ln -s ~/my-android-toolchain ${ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH}" ) endif() # get all the details about standalone toolchain if( BUILD_WITH_STANDALONE_TOOLCHAIN ) __DETECT_NATIVE_API_LEVEL( ANDROID_SUPPORTED_NATIVE_API_LEVELS "${ANDROID_STANDALONE_TOOLCHAIN}/sysroot/usr/include/android/api-level.h" ) set( ANDROID_STANDALONE_TOOLCHAIN_API_LEVEL ${ANDROID_SUPPORTED_NATIVE_API_LEVELS} ) set( __availableToolchains "standalone" ) __DETECT_TOOLCHAIN_MACHINE_NAME( __availableToolchainMachines "${ANDROID_STANDALONE_TOOLCHAIN}" ) if( NOT __availableToolchainMachines ) message( FATAL_ERROR "Could not determine machine name of your toolchain. Probably your Android standalone toolchain is broken." ) endif() if( __availableToolchainMachines MATCHES i686 ) set( __availableToolchainArchs "x86" ) elseif( __availableToolchainMachines MATCHES arm ) set( __availableToolchainArchs "arm" ) elseif( __availableToolchainMachines MATCHES mipsel ) set( __availableToolchainArchs "mipsel" ) endif() execute_process( COMMAND "${ANDROID_STANDALONE_TOOLCHAIN}/bin/${__availableToolchainMachines}-gcc${TOOL_OS_SUFFIX}" -dumpversion OUTPUT_VARIABLE __availableToolchainCompilerVersions OUTPUT_STRIP_TRAILING_WHITESPACE ) string( REGEX MATCH "[0-9]+[.][0-9]+([.][0-9]+)?" __availableToolchainCompilerVersions "${__availableToolchainCompilerVersions}" ) if( EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/bin/clang${TOOL_OS_SUFFIX}" ) list( APPEND __availableToolchains "standalone-clang" ) list( APPEND __availableToolchainMachines ${__availableToolchainMachines} ) list( APPEND __availableToolchainArchs ${__availableToolchainArchs} ) list( APPEND __availableToolchainCompilerVersions ${__availableToolchainCompilerVersions} ) endif() endif() macro( __GLOB_NDK_TOOLCHAINS __availableToolchainsVar __availableToolchainsLst __host_system_name ) foreach( __toolchain ${${__availableToolchainsLst}} ) if( "${__toolchain}" MATCHES "-clang3[.][0-9]$" AND NOT EXISTS "${ANDROID_NDK}/toolchains/${__toolchain}/prebuilt/" ) string( REGEX REPLACE "-clang3[.][0-9]$" "-4.6" __gcc_toolchain "${__toolchain}" ) else() set( __gcc_toolchain "${__toolchain}" ) endif() __DETECT_TOOLCHAIN_MACHINE_NAME( __machine "${ANDROID_NDK}/toolchains/${__gcc_toolchain}/prebuilt/${__host_system_name}" ) if( __machine ) string( REGEX MATCH "[0-9]+[.][0-9]+([.][0-9]+)?$" __version "${__gcc_toolchain}" ) string( REGEX MATCH "^[^-]+" __arch "${__gcc_toolchain}" ) list( APPEND __availableToolchainMachines "${__machine}" ) list( APPEND __availableToolchainArchs "${__arch}" ) list( APPEND __availableToolchainCompilerVersions "${__version}" ) list( APPEND ${__availableToolchainsVar} "${__toolchain}" ) endif() unset( __gcc_toolchain ) endforeach() endmacro() # get all the details about NDK if( BUILD_WITH_ANDROID_NDK ) file( GLOB ANDROID_SUPPORTED_NATIVE_API_LEVELS RELATIVE "${ANDROID_NDK}/platforms" "${ANDROID_NDK}/platforms/android-*" ) string( REPLACE "android-" "" ANDROID_SUPPORTED_NATIVE_API_LEVELS "${ANDROID_SUPPORTED_NATIVE_API_LEVELS}" ) set( __availableToolchains "" ) set( __availableToolchainMachines "" ) set( __availableToolchainArchs "" ) set( __availableToolchainCompilerVersions "" ) if( ANDROID_TOOLCHAIN_NAME AND EXISTS "${ANDROID_NDK}/toolchains/${ANDROID_TOOLCHAIN_NAME}/" ) # do not go through all toolchains if we know the name set( __availableToolchainsLst "${ANDROID_TOOLCHAIN_NAME}" ) __GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst ${ANDROID_NDK_HOST_SYSTEM_NAME} ) if( NOT __availableToolchains AND NOT ANDROID_NDK_HOST_SYSTEM_NAME STREQUAL ANDROID_NDK_HOST_SYSTEM_NAME2 ) __GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) if( __availableToolchains ) set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) endif() endif() endif() if( NOT __availableToolchains ) file( GLOB __availableToolchainsLst RELATIVE "${ANDROID_NDK}/toolchains" "${ANDROID_NDK}/toolchains/*" ) if( __availableToolchains ) list(SORT __availableToolchainsLst) # we need clang to go after gcc endif() __LIST_FILTER( __availableToolchainsLst "^[.]" ) __LIST_FILTER( __availableToolchainsLst "llvm" ) __GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst ${ANDROID_NDK_HOST_SYSTEM_NAME} ) if( NOT __availableToolchains AND NOT ANDROID_NDK_HOST_SYSTEM_NAME STREQUAL ANDROID_NDK_HOST_SYSTEM_NAME2 ) __GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) if( __availableToolchains ) set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) endif() endif() endif() if( NOT __availableToolchains ) message( FATAL_ERROR "Could not find any working toolchain in the NDK. Probably your Android NDK is broken." ) endif() endif() # build list of available ABIs set( ANDROID_SUPPORTED_ABIS "" ) set( __uniqToolchainArchNames ${__availableToolchainArchs} ) list( REMOVE_DUPLICATES __uniqToolchainArchNames ) list( SORT __uniqToolchainArchNames ) foreach( __arch ${__uniqToolchainArchNames} ) list( APPEND ANDROID_SUPPORTED_ABIS ${ANDROID_SUPPORTED_ABIS_${__arch}} ) endforeach() unset( __uniqToolchainArchNames ) if( NOT ANDROID_SUPPORTED_ABIS ) message( FATAL_ERROR "No one of known Android ABIs is supported by this cmake toolchain." ) endif() # choose target ABI __INIT_VARIABLE( ANDROID_ABI OBSOLETE_ARM_TARGET OBSOLETE_ARM_TARGETS VALUES ${ANDROID_SUPPORTED_ABIS} ) # verify that target ABI is supported list( FIND ANDROID_SUPPORTED_ABIS "${ANDROID_ABI}" __androidAbiIdx ) if( __androidAbiIdx EQUAL -1 ) string( REPLACE ";" "\", \"", PRINTABLE_ANDROID_SUPPORTED_ABIS "${ANDROID_SUPPORTED_ABIS}" ) message( FATAL_ERROR "Specified ANDROID_ABI = \"${ANDROID_ABI}\" is not supported by this cmake toolchain or your NDK/toolchain. Supported values are: \"${PRINTABLE_ANDROID_SUPPORTED_ABIS}\" " ) endif() unset( __androidAbiIdx ) # set target ABI options if( ANDROID_ABI STREQUAL "x86" ) set( X86 true ) set( ANDROID_NDK_ABI_NAME "x86" ) set( ANDROID_ARCH_NAME "x86" ) set( ANDROID_ARCH_FULLNAME "x86" ) set( ANDROID_LLVM_TRIPLE "i686-none-linux-android" ) set( CMAKE_SYSTEM_PROCESSOR "i686" ) elseif( ANDROID_ABI STREQUAL "mips" ) set( MIPS true ) set( ANDROID_NDK_ABI_NAME "mips" ) set( ANDROID_ARCH_NAME "mips" ) set( ANDROID_ARCH_FULLNAME "mipsel" ) set( ANDROID_LLVM_TRIPLE "mipsel-none-linux-android" ) set( CMAKE_SYSTEM_PROCESSOR "mips" ) elseif( ANDROID_ABI STREQUAL "armeabi" ) set( ARMEABI true ) set( ANDROID_NDK_ABI_NAME "armeabi" ) set( ANDROID_ARCH_NAME "arm" ) set( ANDROID_ARCH_FULLNAME "arm" ) set( ANDROID_LLVM_TRIPLE "armv5te-none-linux-androideabi" ) set( CMAKE_SYSTEM_PROCESSOR "armv5te" ) elseif( ANDROID_ABI STREQUAL "armeabi-v6 with VFP" ) set( ARMEABI_V6 true ) set( ANDROID_NDK_ABI_NAME "armeabi" ) set( ANDROID_ARCH_NAME "arm" ) set( ANDROID_ARCH_FULLNAME "arm" ) set( ANDROID_LLVM_TRIPLE "armv5te-none-linux-androideabi" ) set( CMAKE_SYSTEM_PROCESSOR "armv6" ) # need always fallback to older platform set( ARMEABI true ) elseif( ANDROID_ABI STREQUAL "armeabi-v7a") set( ARMEABI_V7A true ) set( ANDROID_NDK_ABI_NAME "armeabi-v7a" ) set( ANDROID_ARCH_NAME "arm" ) set( ANDROID_ARCH_FULLNAME "arm" ) set( ANDROID_LLVM_TRIPLE "armv7-none-linux-androideabi" ) set( CMAKE_SYSTEM_PROCESSOR "armv7-a" ) elseif( ANDROID_ABI STREQUAL "armeabi-v7a with VFPV3" ) set( ARMEABI_V7A true ) set( ANDROID_NDK_ABI_NAME "armeabi-v7a" ) set( ANDROID_ARCH_NAME "arm" ) set( ANDROID_ARCH_FULLNAME "arm" ) set( ANDROID_LLVM_TRIPLE "armv7-none-linux-androideabi" ) set( CMAKE_SYSTEM_PROCESSOR "armv7-a" ) set( VFPV3 true ) elseif( ANDROID_ABI STREQUAL "armeabi-v7a with NEON" ) set( ARMEABI_V7A true ) set( ANDROID_NDK_ABI_NAME "armeabi-v7a" ) set( ANDROID_ARCH_NAME "arm" ) set( ANDROID_ARCH_FULLNAME "arm" ) set( ANDROID_LLVM_TRIPLE "armv7-none-linux-androideabi" ) set( CMAKE_SYSTEM_PROCESSOR "armv7-a" ) set( VFPV3 true ) set( NEON true ) else() message( SEND_ERROR "Unknown ANDROID_ABI=\"${ANDROID_ABI}\" is specified." ) endif() if( CMAKE_BINARY_DIR AND EXISTS "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeSystem.cmake" ) # really dirty hack # it is not possible to change CMAKE_SYSTEM_PROCESSOR after the first run... file( APPEND "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeSystem.cmake" "SET(CMAKE_SYSTEM_PROCESSOR \"${CMAKE_SYSTEM_PROCESSOR}\")\n" ) endif() if( ANDROID_ARCH_NAME STREQUAL "arm" AND NOT ARMEABI_V6 ) __INIT_VARIABLE( ANDROID_FORCE_ARM_BUILD OBSOLETE_FORCE_ARM VALUES OFF ) set( ANDROID_FORCE_ARM_BUILD ${ANDROID_FORCE_ARM_BUILD} CACHE BOOL "Use 32-bit ARM instructions instead of Thumb-1" FORCE ) mark_as_advanced( ANDROID_FORCE_ARM_BUILD ) else() unset( ANDROID_FORCE_ARM_BUILD CACHE ) endif() # choose toolchain if( ANDROID_TOOLCHAIN_NAME ) list( FIND __availableToolchains "${ANDROID_TOOLCHAIN_NAME}" __toolchainIdx ) if( __toolchainIdx EQUAL -1 ) list( SORT __availableToolchains ) string( REPLACE ";" "\n * " toolchains_list "${__availableToolchains}" ) set( toolchains_list " * ${toolchains_list}") message( FATAL_ERROR "Specified toolchain \"${ANDROID_TOOLCHAIN_NAME}\" is missing in your NDK or broken. Please verify that your NDK is working or select another compiler toolchain. To configure the toolchain set CMake variable ANDROID_TOOLCHAIN_NAME to one of the following values:\n${toolchains_list}\n" ) endif() list( GET __availableToolchainArchs ${__toolchainIdx} __toolchainArch ) if( NOT __toolchainArch STREQUAL ANDROID_ARCH_FULLNAME ) message( SEND_ERROR "Selected toolchain \"${ANDROID_TOOLCHAIN_NAME}\" is not able to compile binaries for the \"${ANDROID_ARCH_NAME}\" platform." ) endif() else() set( __toolchainIdx -1 ) set( __applicableToolchains "" ) set( __toolchainMaxVersion "0.0.0" ) list( LENGTH __availableToolchains __availableToolchainsCount ) math( EXPR __availableToolchainsCount "${__availableToolchainsCount}-1" ) foreach( __idx RANGE ${__availableToolchainsCount} ) list( GET __availableToolchainArchs ${__idx} __toolchainArch ) if( __toolchainArch STREQUAL ANDROID_ARCH_FULLNAME ) list( GET __availableToolchainCompilerVersions ${__idx} __toolchainVersion ) if( __toolchainVersion VERSION_GREATER __toolchainMaxVersion ) set( __toolchainMaxVersion "${__toolchainVersion}" ) set( __toolchainIdx ${__idx} ) endif() endif() endforeach() unset( __availableToolchainsCount ) unset( __toolchainMaxVersion ) unset( __toolchainVersion ) endif() unset( __toolchainArch ) if( __toolchainIdx EQUAL -1 ) message( FATAL_ERROR "No one of available compiler toolchains is able to compile for ${ANDROID_ARCH_NAME} platform." ) endif() list( GET __availableToolchains ${__toolchainIdx} ANDROID_TOOLCHAIN_NAME ) list( GET __availableToolchainMachines ${__toolchainIdx} ANDROID_TOOLCHAIN_MACHINE_NAME ) list( GET __availableToolchainCompilerVersions ${__toolchainIdx} ANDROID_COMPILER_VERSION ) unset( __toolchainIdx ) unset( __availableToolchains ) unset( __availableToolchainMachines ) unset( __availableToolchainArchs ) unset( __availableToolchainCompilerVersions ) # choose native API level __INIT_VARIABLE( ANDROID_NATIVE_API_LEVEL ENV_ANDROID_NATIVE_API_LEVEL ANDROID_API_LEVEL ENV_ANDROID_API_LEVEL ANDROID_STANDALONE_TOOLCHAIN_API_LEVEL ANDROID_DEFAULT_NDK_API_LEVEL_${ANDROID_ARCH_NAME} ANDROID_DEFAULT_NDK_API_LEVEL ) string( REGEX MATCH "[0-9]+" ANDROID_NATIVE_API_LEVEL "${ANDROID_NATIVE_API_LEVEL}" ) # adjust API level set( __real_api_level ${ANDROID_DEFAULT_NDK_API_LEVEL_${ANDROID_ARCH_NAME}} ) foreach( __level ${ANDROID_SUPPORTED_NATIVE_API_LEVELS} ) if( NOT __level GREATER ANDROID_NATIVE_API_LEVEL AND NOT __level LESS __real_api_level ) set( __real_api_level ${__level} ) endif() endforeach() if( __real_api_level AND NOT ANDROID_NATIVE_API_LEVEL EQUAL __real_api_level ) message( STATUS "Adjusting Android API level 'android-${ANDROID_NATIVE_API_LEVEL}' to 'android-${__real_api_level}'") set( ANDROID_NATIVE_API_LEVEL ${__real_api_level} ) endif() unset(__real_api_level) # validate list( FIND ANDROID_SUPPORTED_NATIVE_API_LEVELS "${ANDROID_NATIVE_API_LEVEL}" __levelIdx ) if( __levelIdx EQUAL -1 ) message( SEND_ERROR "Specified Android native API level 'android-${ANDROID_NATIVE_API_LEVEL}' is not supported by your NDK/toolchain." ) else() if( BUILD_WITH_ANDROID_NDK ) __DETECT_NATIVE_API_LEVEL( __realApiLevel "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include/android/api-level.h" ) if( NOT __realApiLevel EQUAL ANDROID_NATIVE_API_LEVEL ) message( SEND_ERROR "Specified Android API level (${ANDROID_NATIVE_API_LEVEL}) does not match to the level found (${__realApiLevel}). Probably your copy of NDK is broken." ) endif() unset( __realApiLevel ) endif() set( ANDROID_NATIVE_API_LEVEL "${ANDROID_NATIVE_API_LEVEL}" CACHE STRING "Android API level for native code" FORCE ) if( CMAKE_VERSION VERSION_GREATER "2.8" ) list( SORT ANDROID_SUPPORTED_NATIVE_API_LEVELS ) set_property( CACHE ANDROID_NATIVE_API_LEVEL PROPERTY STRINGS ${ANDROID_SUPPORTED_NATIVE_API_LEVELS} ) endif() endif() unset( __levelIdx ) # remember target ABI set( ANDROID_ABI "${ANDROID_ABI}" CACHE STRING "The target ABI for Android. If arm, then armeabi-v7a is recommended for hardware floating point." FORCE ) if( CMAKE_VERSION VERSION_GREATER "2.8" ) list( SORT ANDROID_SUPPORTED_ABIS_${ANDROID_ARCH_FULLNAME} ) set_property( CACHE ANDROID_ABI PROPERTY STRINGS ${ANDROID_SUPPORTED_ABIS_${ANDROID_ARCH_FULLNAME}} ) endif() # runtime choice (STL, rtti, exceptions) if( NOT ANDROID_STL ) # honor legacy ANDROID_USE_STLPORT if( DEFINED ANDROID_USE_STLPORT ) if( ANDROID_USE_STLPORT ) set( ANDROID_STL stlport_static ) endif() message( WARNING "You are using an obsolete variable ANDROID_USE_STLPORT to select the STL variant. Use -DANDROID_STL=stlport_static instead." ) endif() if( NOT ANDROID_STL ) set( ANDROID_STL gnustl_static ) endif() endif() set( ANDROID_STL "${ANDROID_STL}" CACHE STRING "C++ runtime" ) set( ANDROID_STL_FORCE_FEATURES ON CACHE BOOL "automatically configure rtti and exceptions support based on C++ runtime" ) mark_as_advanced( ANDROID_STL ANDROID_STL_FORCE_FEATURES ) if( BUILD_WITH_ANDROID_NDK ) if( NOT "${ANDROID_STL}" MATCHES "^(none|system|system_re|gabi\\+\\+_static|gabi\\+\\+_shared|stlport_static|stlport_shared|gnustl_static|gnustl_shared)$") message( FATAL_ERROR "ANDROID_STL is set to invalid value \"${ANDROID_STL}\". The possible values are: none -> Do not configure the runtime. system -> Use the default minimal system C++ runtime library. system_re -> Same as system but with rtti and exceptions. gabi++_static -> Use the GAbi++ runtime as a static library. gabi++_shared -> Use the GAbi++ runtime as a shared library. stlport_static -> Use the STLport runtime as a static library. stlport_shared -> Use the STLport runtime as a shared library. gnustl_static -> (default) Use the GNU STL as a static library. gnustl_shared -> Use the GNU STL as a shared library. " ) endif() elseif( BUILD_WITH_STANDALONE_TOOLCHAIN ) if( NOT "${ANDROID_STL}" MATCHES "^(none|gnustl_static|gnustl_shared)$") message( FATAL_ERROR "ANDROID_STL is set to invalid value \"${ANDROID_STL}\". The possible values are: none -> Do not configure the runtime. gnustl_static -> (default) Use the GNU STL as a static library. gnustl_shared -> Use the GNU STL as a shared library. " ) endif() endif() unset( ANDROID_RTTI ) unset( ANDROID_EXCEPTIONS ) unset( ANDROID_STL_INCLUDE_DIRS ) unset( __libstl ) unset( __libsupcxx ) if( NOT _CMAKE_IN_TRY_COMPILE AND ANDROID_NDK_RELEASE STREQUAL "r7b" AND ARMEABI_V7A AND NOT VFPV3 AND ANDROID_STL MATCHES "gnustl" ) message( WARNING "The GNU STL armeabi-v7a binaries from NDK r7b can crash non-NEON devices. The files provided with NDK r7b were not configured properly, resulting in crashes on Tegra2-based devices and others when trying to use certain floating-point functions (e.g., cosf, sinf, expf). You are strongly recommended to switch to another NDK release. " ) endif() if( NOT _CMAKE_IN_TRY_COMPILE AND X86 AND ANDROID_STL MATCHES "gnustl" AND ANDROID_NDK_RELEASE STREQUAL "r6" ) message( WARNING "The x86 system header file from NDK r6 has incorrect definition for ptrdiff_t. You are recommended to upgrade to a newer NDK release or manually patch the header: See https://android.googlesource.com/platform/development.git f907f4f9d4e56ccc8093df6fee54454b8bcab6c2 diff --git a/ndk/platforms/android-9/arch-x86/include/machine/_types.h b/ndk/platforms/android-9/arch-x86/include/machine/_types.h index 5e28c64..65892a1 100644 --- a/ndk/platforms/android-9/arch-x86/include/machine/_types.h +++ b/ndk/platforms/android-9/arch-x86/include/machine/_types.h @@ -51,7 +51,11 @@ typedef long int ssize_t; #endif #ifndef _PTRDIFF_T #define _PTRDIFF_T -typedef long ptrdiff_t; +# ifdef __ANDROID__ + typedef int ptrdiff_t; +# else + typedef long ptrdiff_t; +# endif #endif " ) endif() # setup paths and STL for standalone toolchain if( BUILD_WITH_STANDALONE_TOOLCHAIN ) set( ANDROID_TOOLCHAIN_ROOT "${ANDROID_STANDALONE_TOOLCHAIN}" ) set( ANDROID_CLANG_TOOLCHAIN_ROOT "${ANDROID_STANDALONE_TOOLCHAIN}" ) set( ANDROID_SYSROOT "${ANDROID_STANDALONE_TOOLCHAIN}/sysroot" ) if( NOT ANDROID_STL STREQUAL "none" ) set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/include/c++/${ANDROID_COMPILER_VERSION}" ) if( ARMEABI_V7A AND EXISTS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/${CMAKE_SYSTEM_PROCESSOR}/bits" ) list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/${CMAKE_SYSTEM_PROCESSOR}" ) elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/thumb/bits" ) list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/thumb" ) else() list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}" ) endif() # always search static GNU STL to get the location of libsupc++.a if( ARMEABI_V7A AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/thumb/libstdc++.a" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/thumb" ) elseif( ARMEABI_V7A AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libstdc++.a" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}" ) elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libstdc++.a" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb" ) elseif( EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libstdc++.a" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib" ) endif() if( __libstl ) set( __libsupcxx "${__libstl}/libsupc++.a" ) set( __libstl "${__libstl}/libstdc++.a" ) endif() if( NOT EXISTS "${__libsupcxx}" ) message( FATAL_ERROR "The required libstdsupc++.a is missing in your standalone toolchain. Usually it happens because of bug in make-standalone-toolchain.sh script from NDK r7, r7b and r7c. You need to either upgrade to newer NDK or manually copy $ANDROID_NDK/sources/cxx-stl/gnu-libstdc++/libs/${ANDROID_NDK_ABI_NAME}/libsupc++.a to ${__libsupcxx} " ) endif() if( ANDROID_STL STREQUAL "gnustl_shared" ) if( ARMEABI_V7A AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libgnustl_shared.so" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libgnustl_shared.so" ) elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libgnustl_shared.so" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libgnustl_shared.so" ) elseif( EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libgnustl_shared.so" ) set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libgnustl_shared.so" ) endif() endif() endif() endif() # clang if( "${ANDROID_TOOLCHAIN_NAME}" STREQUAL "standalone-clang" ) set( ANDROID_COMPILER_IS_CLANG 1 ) execute_process( COMMAND "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/clang${TOOL_OS_SUFFIX}" --version OUTPUT_VARIABLE ANDROID_CLANG_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE ) string( REGEX MATCH "[0-9]+[.][0-9]+" ANDROID_CLANG_VERSION "${ANDROID_CLANG_VERSION}") elseif( "${ANDROID_TOOLCHAIN_NAME}" MATCHES "-clang3[.][0-9]?$" ) string( REGEX MATCH "3[.][0-9]$" ANDROID_CLANG_VERSION "${ANDROID_TOOLCHAIN_NAME}") string( REGEX REPLACE "-clang${ANDROID_CLANG_VERSION}$" "-4.6" ANDROID_GCC_TOOLCHAIN_NAME "${ANDROID_TOOLCHAIN_NAME}" ) if( NOT EXISTS "${ANDROID_NDK}/toolchains/llvm-${ANDROID_CLANG_VERSION}/prebuilt/${ANDROID_NDK_HOST_SYSTEM_NAME}/bin/clang${TOOL_OS_SUFFIX}" ) message( FATAL_ERROR "Could not find the Clang compiler driver" ) endif() set( ANDROID_COMPILER_IS_CLANG 1 ) set( ANDROID_CLANG_TOOLCHAIN_ROOT "${ANDROID_NDK}/toolchains/llvm-${ANDROID_CLANG_VERSION}/prebuilt/${ANDROID_NDK_HOST_SYSTEM_NAME}" ) else() set( ANDROID_GCC_TOOLCHAIN_NAME "${ANDROID_TOOLCHAIN_NAME}" ) unset( ANDROID_COMPILER_IS_CLANG CACHE ) endif() string( REPLACE "." "" _clang_name "clang${ANDROID_CLANG_VERSION}" ) if( NOT EXISTS "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}${TOOL_OS_SUFFIX}" ) set( _clang_name "clang" ) endif() # setup paths and STL for NDK if( BUILD_WITH_ANDROID_NDK ) set( ANDROID_TOOLCHAIN_ROOT "${ANDROID_NDK}/toolchains/${ANDROID_GCC_TOOLCHAIN_NAME}/prebuilt/${ANDROID_NDK_HOST_SYSTEM_NAME}" ) set( ANDROID_SYSROOT "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}" ) if( ANDROID_STL STREQUAL "none" ) # do nothing elseif( ANDROID_STL STREQUAL "system" ) set( ANDROID_RTTI OFF ) set( ANDROID_EXCEPTIONS OFF ) set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/system/include" ) elseif( ANDROID_STL STREQUAL "system_re" ) set( ANDROID_RTTI ON ) set( ANDROID_EXCEPTIONS ON ) set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/system/include" ) elseif( ANDROID_STL MATCHES "gabi" ) if( ANDROID_NDK_RELEASE STRLESS "r7" ) message( FATAL_ERROR "gabi++ is not awailable in your NDK. You have to upgrade to NDK r7 or newer to use gabi++.") endif() set( ANDROID_RTTI ON ) set( ANDROID_EXCEPTIONS OFF ) set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/gabi++/include" ) set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gabi++/libs/${ANDROID_NDK_ABI_NAME}/libgabi++_static.a" ) elseif( ANDROID_STL MATCHES "stlport" ) if( NOT ANDROID_NDK_RELEASE STRLESS "r8d" ) set( ANDROID_EXCEPTIONS ON ) else() set( ANDROID_EXCEPTIONS OFF ) endif() if( ANDROID_NDK_RELEASE STRLESS "r7" ) set( ANDROID_RTTI OFF ) else() set( ANDROID_RTTI ON ) endif() set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/stlport/stlport" ) set( __libstl "${ANDROID_NDK}/sources/cxx-stl/stlport/libs/${ANDROID_NDK_ABI_NAME}/libstlport_static.a" ) elseif( ANDROID_STL MATCHES "gnustl" ) set( ANDROID_EXCEPTIONS ON ) set( ANDROID_RTTI ON ) if( EXISTS "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/${ANDROID_COMPILER_VERSION}" ) if( ARMEABI_V7A AND ANDROID_COMPILER_VERSION VERSION_EQUAL "4.7" AND ANDROID_NDK_RELEASE STREQUAL "r8d" ) # gnustl binary for 4.7 compiler is buggy :( # TODO: look for right fix set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/4.6" ) else() set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/${ANDROID_COMPILER_VERSION}" ) endif() else() set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++" ) endif() set( ANDROID_STL_INCLUDE_DIRS "${__libstl}/include" "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/include" ) if( EXISTS "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/libgnustl_static.a" ) set( __libstl "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/libgnustl_static.a" ) else() set( __libstl "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/libstdc++.a" ) endif() else() message( FATAL_ERROR "Unknown runtime: ${ANDROID_STL}" ) endif() # find libsupc++.a - rtti & exceptions if( ANDROID_STL STREQUAL "system_re" OR ANDROID_STL MATCHES "gnustl" ) if( ANDROID_NDK_RELEASE STRGREATER "r8" ) # r8b set( __libsupcxx "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/${ANDROID_COMPILER_VERSION}/libs/${ANDROID_NDK_ABI_NAME}/libsupc++.a" ) elseif( NOT ANDROID_NDK_RELEASE STRLESS "r7" AND ANDROID_NDK_RELEASE STRLESS "r8b") set( __libsupcxx "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/libs/${ANDROID_NDK_ABI_NAME}/libsupc++.a" ) else( ANDROID_NDK_RELEASE STRLESS "r7" ) if( ARMEABI_V7A ) if( ANDROID_FORCE_ARM_BUILD ) set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libsupc++.a" ) else() set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/thumb/libsupc++.a" ) endif() elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD ) set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libsupc++.a" ) else() set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libsupc++.a" ) endif() endif() if( NOT EXISTS "${__libsupcxx}") message( ERROR "Could not find libsupc++.a for a chosen platform. Either your NDK is not supported or is broken.") endif() endif() endif() # setup paths for Necessitas __INIT_VARIABLE( NECESSITAS PATH ENV_NECESSITAS ) set( NECESSITAS "${NECESSITAS}" CACHE INTERNAL "Path of Necessitas" FORCE ) if( NECESSITAS ) get_filename_component( NECESSITAS "${NECESSITAS}" ABSOLUTE ) set( BUILD_WITH_NECESSITAS True ) endif( NECESSITAS ) __INIT_VARIABLE( NECESSITAS_QT_VERSION ENV_NECESSITAS_QT_VERSION ) if( BUILD_WITH_NECESSITAS ) file( GLOB NECESSITAS_SUPPORTED_QT_VERSIONS RELATIVE "${NECESSITAS}/Android/Qt" "${NECESSITAS}/Android/Qt/*" ) if( NOT NECESSITAS_QT_VERSION ) list( GET NECESSITAS_SUPPORTED_QT_VERSIONS 0 NECESSITAS_QT_VERSION ) endif() set( NECESSITAS_QT_VERSION "${NECESSITAS_QT_VERSION}" CACHE STRING "Necessitas Qt version" FORCE ) set( NECESSITAS_TOOLCHAIN_ROOT "${NECESSITAS}/Android/Qt/${NECESSITAS_QT_VERSION}/${ANDROID_NDK_ABI_NAME}" ) set( NECESSITAS_SYSROOT "${NECESSITAS_TOOLCHAIN_ROOT}" ) set( NECESSITAS_INCLUDE_DIRS "${ANDROID_TOOLCHAIN_ROOT}/include" ) set( NECESSITAS_LINK_DIRS "${ANDROID_TOOLCHAIN_ROOT}/lib" ) endif( BUILD_WITH_NECESSITAS ) # case of shared STL linkage if( ANDROID_STL MATCHES "shared" AND DEFINED __libstl ) string( REPLACE "_static.a" "_shared.so" __libstl "${__libstl}" ) if( NOT _CMAKE_IN_TRY_COMPILE AND __libstl MATCHES "[.]so$" ) get_filename_component( __libstlname "${__libstl}" NAME ) execute_process( COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${__libstl}" "${LIBRARY_OUTPUT_PATH}/${__libstlname}" RESULT_VARIABLE __fileCopyProcess ) if( NOT __fileCopyProcess EQUAL 0 OR NOT EXISTS "${LIBRARY_OUTPUT_PATH}/${__libstlname}") message( SEND_ERROR "Failed copying of ${__libstl} to the ${LIBRARY_OUTPUT_PATH}/${__libstlname}" ) endif() unset( __fileCopyProcess ) unset( __libstlname ) endif() endif() # ccache support __INIT_VARIABLE( _ndk_ccache NDK_CCACHE ENV_NDK_CCACHE ) if( _ndk_ccache ) if( DEFINED NDK_CCACHE AND NOT EXISTS NDK_CCACHE ) unset( NDK_CCACHE CACHE ) endif() find_program( NDK_CCACHE "${_ndk_ccache}" DOC "The path to ccache binary") else() unset( NDK_CCACHE CACHE ) endif() unset( _ndk_ccache ) # setup the cross-compiler if( NOT CMAKE_C_COMPILER ) if( NDK_CCACHE ) set( CMAKE_C_COMPILER "${NDK_CCACHE}" CACHE PATH "ccache as C compiler" ) set( CMAKE_CXX_COMPILER "${NDK_CCACHE}" CACHE PATH "ccache as C++ compiler" ) if( ANDROID_COMPILER_IS_CLANG ) set( CMAKE_C_COMPILER_ARG1 "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}${TOOL_OS_SUFFIX}" CACHE PATH "C compiler") set( CMAKE_CXX_COMPILER_ARG1 "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler") else() set( CMAKE_C_COMPILER_ARG1 "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc${TOOL_OS_SUFFIX}" CACHE PATH "C compiler") set( CMAKE_CXX_COMPILER_ARG1 "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-g++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler") endif() else() if( ANDROID_COMPILER_IS_CLANG ) set( CMAKE_C_COMPILER "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}${TOOL_OS_SUFFIX}" CACHE PATH "C compiler") set( CMAKE_CXX_COMPILER "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler") else() set( CMAKE_C_COMPILER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc${TOOL_OS_SUFFIX}" CACHE PATH "C compiler" ) set( CMAKE_CXX_COMPILER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-g++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler" ) endif() endif() set( CMAKE_ASM_COMPILER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc${TOOL_OS_SUFFIX}" CACHE PATH "assembler" ) set( CMAKE_STRIP "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-strip${TOOL_OS_SUFFIX}" CACHE PATH "strip" ) set( CMAKE_AR "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ar${TOOL_OS_SUFFIX}" CACHE PATH "archive" ) set( CMAKE_LINKER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ld${TOOL_OS_SUFFIX}" CACHE PATH "linker" ) set( CMAKE_NM "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-nm${TOOL_OS_SUFFIX}" CACHE PATH "nm" ) set( CMAKE_OBJCOPY "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-objcopy${TOOL_OS_SUFFIX}" CACHE PATH "objcopy" ) set( CMAKE_OBJDUMP "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-objdump${TOOL_OS_SUFFIX}" CACHE PATH "objdump" ) set( CMAKE_RANLIB "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ranlib${TOOL_OS_SUFFIX}" CACHE PATH "ranlib" ) endif() set( _CMAKE_TOOLCHAIN_PREFIX "${ANDROID_TOOLCHAIN_MACHINE_NAME}-" ) if( CMAKE_VERSION VERSION_LESS 2.8.5 ) set( CMAKE_ASM_COMPILER_ARG1 "-c" ) endif() if( APPLE ) find_program( CMAKE_INSTALL_NAME_TOOL NAMES install_name_tool ) if( NOT CMAKE_INSTALL_NAME_TOOL ) message( FATAL_ERROR "Could not find install_name_tool, please check your installation." ) endif() mark_as_advanced( CMAKE_INSTALL_NAME_TOOL ) endif() # Force set compilers because standard identification works badly for us include( CMakeForceCompiler ) CMAKE_FORCE_C_COMPILER( "${CMAKE_C_COMPILER}" GNU ) if( ANDROID_COMPILER_IS_CLANG ) set( CMAKE_C_COMPILER_ID Clang) endif() set( CMAKE_C_PLATFORM_ID Linux ) set( CMAKE_C_SIZEOF_DATA_PTR 4 ) set( CMAKE_C_HAS_ISYSROOT 1 ) set( CMAKE_C_COMPILER_ABI ELF ) CMAKE_FORCE_CXX_COMPILER( "${CMAKE_CXX_COMPILER}" GNU ) if( ANDROID_COMPILER_IS_CLANG ) set( CMAKE_CXX_COMPILER_ID Clang) endif() set( CMAKE_CXX_PLATFORM_ID Linux ) set( CMAKE_CXX_SIZEOF_DATA_PTR 4 ) set( CMAKE_CXX_HAS_ISYSROOT 1 ) set( CMAKE_CXX_COMPILER_ABI ELF ) set( CMAKE_CXX_SOURCE_FILE_EXTENSIONS cc cp cxx cpp CPP c++ C ) # force ASM compiler (required for CMake < 2.8.5) set( CMAKE_ASM_COMPILER_ID_RUN TRUE ) set( CMAKE_ASM_COMPILER_ID GNU ) set( CMAKE_ASM_COMPILER_WORKS TRUE ) set( CMAKE_ASM_COMPILER_FORCED TRUE ) set( CMAKE_COMPILER_IS_GNUASM 1) set( CMAKE_ASM_SOURCE_FILE_EXTENSIONS s S asm ) # flags and definitions remove_definitions( -DANDROID ) add_definitions( -DANDROID ) if(ANDROID_SYSROOT MATCHES "[ ;\"]") set( ANDROID_CXX_FLAGS "--sysroot=\"${ANDROID_SYSROOT}\"" ) if( NOT _CMAKE_IN_TRY_COMPILE ) # quotes will break try_compile and compiler identification message(WARNING "Your Android system root has non-alphanumeric symbols. It can break compiler features detection and the whole build.") endif() else() set( ANDROID_CXX_FLAGS "--sysroot=${ANDROID_SYSROOT}" ) endif() # NDK flags if( ARMEABI OR ARMEABI_V7A ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fpic -funwind-tables" ) if( NOT ANDROID_FORCE_ARM_BUILD AND NOT ARMEABI_V6 ) set( ANDROID_CXX_FLAGS_RELEASE "-mthumb -fomit-frame-pointer -fno-strict-aliasing" ) set( ANDROID_CXX_FLAGS_DEBUG "-marm -fno-omit-frame-pointer -fno-strict-aliasing" ) if( NOT ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -finline-limit=64" ) endif() else() # always compile ARMEABI_V6 in arm mode; otherwise there is no difference from ARMEABI set( ANDROID_CXX_FLAGS_RELEASE "-marm -fomit-frame-pointer -fstrict-aliasing" ) set( ANDROID_CXX_FLAGS_DEBUG "-marm -fno-omit-frame-pointer -fno-strict-aliasing" ) if( NOT ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funswitch-loops -finline-limit=300" ) endif() endif() elseif( X86 ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funwind-tables" ) if( NOT ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funswitch-loops -finline-limit=300" ) else() set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fPIC" ) endif() set( ANDROID_CXX_FLAGS_RELEASE "-fomit-frame-pointer -fstrict-aliasing" ) set( ANDROID_CXX_FLAGS_DEBUG "-fno-omit-frame-pointer -fno-strict-aliasing" ) elseif( MIPS ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fpic -fno-strict-aliasing -finline-functions -ffunction-sections -funwind-tables -fmessage-length=0" ) set( ANDROID_CXX_FLAGS_RELEASE "-fomit-frame-pointer" ) set( ANDROID_CXX_FLAGS_DEBUG "-fno-omit-frame-pointer" ) if( NOT ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fno-inline-functions-called-once -fgcse-after-reload -frerun-cse-after-loop -frename-registers" ) set( ANDROID_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} -funswitch-loops -finline-limit=300" ) endif() elseif() set( ANDROID_CXX_FLAGS_RELEASE "" ) set( ANDROID_CXX_FLAGS_DEBUG "" ) endif() set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fsigned-char" ) # good/necessary when porting desktop libraries if( NOT X86 AND NOT ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "-Wno-psabi ${ANDROID_CXX_FLAGS}" ) endif() if( NOT ANDROID_COMPILER_VERSION VERSION_LESS "4.6" ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -no-canonical-prefixes" ) # see https://android-review.googlesource.com/#/c/47564/ endif() # ABI-specific flags if( ARMEABI_V7A ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -march=armv7-a -mfloat-abi=softfp" ) if( NEON ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -mfpu=neon" ) elseif( VFPV3 ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -mfpu=vfpv3" ) else() set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -mfpu=vfpv3-d16" ) endif() elseif( ARMEABI_V6 ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -march=armv6 -mfloat-abi=softfp -mfpu=vfp" ) # vfp == vfpv2 elseif( ARMEABI ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -march=armv5te -mtune=xscale -msoft-float" ) endif() # STL if( EXISTS "${__libstl}" OR EXISTS "${__libsupcxx}" ) if( ANDROID_STL MATCHES "gnustl" ) set( CMAKE_CXX_CREATE_SHARED_LIBRARY " -o " ) set( CMAKE_CXX_CREATE_SHARED_MODULE " -o " ) set( CMAKE_CXX_LINK_EXECUTABLE " -o " ) else() set( CMAKE_CXX_CREATE_SHARED_LIBRARY " -o " ) set( CMAKE_CXX_CREATE_SHARED_MODULE " -o " ) set( CMAKE_CXX_LINK_EXECUTABLE " -o " ) endif() if ( X86 AND ANDROID_STL MATCHES "gnustl" AND ANDROID_NDK_RELEASE STREQUAL "r6" ) # workaround "undefined reference to `__dso_handle'" problem set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} \"${ANDROID_SYSROOT}/usr/lib/crtbegin_so.o\"" ) set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} \"${ANDROID_SYSROOT}/usr/lib/crtbegin_so.o\"" ) endif() if( EXISTS "${__libstl}" ) set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} \"${__libstl}\"" ) set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} \"${__libstl}\"" ) set( CMAKE_CXX_LINK_EXECUTABLE "${CMAKE_CXX_LINK_EXECUTABLE} \"${__libstl}\"" ) endif() if( EXISTS "${__libsupcxx}" ) set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} \"${__libsupcxx}\"" ) set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} \"${__libsupcxx}\"" ) set( CMAKE_CXX_LINK_EXECUTABLE "${CMAKE_CXX_LINK_EXECUTABLE} \"${__libsupcxx}\"" ) # C objects: set( CMAKE_C_CREATE_SHARED_LIBRARY " -o " ) set( CMAKE_C_CREATE_SHARED_MODULE " -o " ) set( CMAKE_C_LINK_EXECUTABLE " -o " ) set( CMAKE_C_CREATE_SHARED_LIBRARY "${CMAKE_C_CREATE_SHARED_LIBRARY} \"${__libsupcxx}\"" ) set( CMAKE_C_CREATE_SHARED_MODULE "${CMAKE_C_CREATE_SHARED_MODULE} \"${__libsupcxx}\"" ) set( CMAKE_C_LINK_EXECUTABLE "${CMAKE_C_LINK_EXECUTABLE} \"${__libsupcxx}\"" ) endif() if( ANDROID_STL MATCHES "gnustl" ) set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} -lm" ) set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} -lm" ) set( CMAKE_CXX_LINK_EXECUTABLE "${CMAKE_CXX_LINK_EXECUTABLE} -lm" ) endif() endif() # variables controlling optional build flags if (ANDROID_NDK_RELEASE STRLESS "r7") # libGLESv2.so in NDK's prior to r7 refers to missing external symbols. # So this flag option is required for all projects using OpenGL from native. __INIT_VARIABLE( ANDROID_SO_UNDEFINED VALUES ON ) else() __INIT_VARIABLE( ANDROID_SO_UNDEFINED VALUES OFF ) endif() __INIT_VARIABLE( ANDROID_NO_UNDEFINED OBSOLETE_NO_UNDEFINED VALUES ON ) __INIT_VARIABLE( ANDROID_FUNCTION_LEVEL_LINKING VALUES ON ) __INIT_VARIABLE( ANDROID_GOLD_LINKER VALUES ON ) __INIT_VARIABLE( ANDROID_NOEXECSTACK VALUES ON ) __INIT_VARIABLE( ANDROID_RELRO VALUES ON ) set( ANDROID_NO_UNDEFINED ${ANDROID_NO_UNDEFINED} CACHE BOOL "Show all undefined symbols as linker errors" ) set( ANDROID_SO_UNDEFINED ${ANDROID_SO_UNDEFINED} CACHE BOOL "Allows or disallows undefined symbols in shared libraries" ) set( ANDROID_FUNCTION_LEVEL_LINKING ${ANDROID_FUNCTION_LEVEL_LINKING} CACHE BOOL "Allows or disallows undefined symbols in shared libraries" ) set( ANDROID_GOLD_LINKER ${ANDROID_GOLD_LINKER} CACHE BOOL "Enables gold linker (only avaialble for NDK r8b for ARM and x86 architectures on linux-86 and darwin-x86 hosts)" ) set( ANDROID_NOEXECSTACK ${ANDROID_NOEXECSTACK} CACHE BOOL "Allows or disallows undefined symbols in shared libraries" ) set( ANDROID_RELRO ${ANDROID_RELRO} CACHE BOOL "Enables RELRO - a memory corruption mitigation technique" ) mark_as_advanced( ANDROID_NO_UNDEFINED ANDROID_SO_UNDEFINED ANDROID_FUNCTION_LEVEL_LINKING ANDROID_GOLD_LINKER ANDROID_NOEXECSTACK ANDROID_RELRO ) # linker flags set( ANDROID_LINKER_FLAGS "" ) if( ARMEABI_V7A ) # this is *required* to use the following linker flags that routes around # a CPU bug in some Cortex-A8 implementations: set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--fix-cortex-a8" ) endif() if( ANDROID_NO_UNDEFINED ) set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--no-undefined" ) endif() if( ANDROID_SO_UNDEFINED ) set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,-allow-shlib-undefined" ) endif() if( ANDROID_FUNCTION_LEVEL_LINKING ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fdata-sections -ffunction-sections" ) set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--gc-sections" ) endif() if( ANDROID_COMPILER_VERSION VERSION_EQUAL "4.6" ) if( ANDROID_GOLD_LINKER AND (CMAKE_HOST_UNIX OR ANDROID_NDK_RELEASE STRGREATER "r8b") AND (ARMEABI OR ARMEABI_V7A OR X86) ) set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -fuse-ld=gold" ) elseif( ANDROID_NDK_RELEASE STRGREATER "r8b") set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -fuse-ld=bfd" ) elseif( ANDROID_NDK_RELEASE STREQUAL "r8b" AND ARMEABI AND NOT _CMAKE_IN_TRY_COMPILE ) message( WARNING "The default bfd linker from arm GCC 4.6 toolchain can fail with 'unresolvable R_ARM_THM_CALL relocation' error message. See https://code.google.com/p/android/issues/detail?id=35342 On Linux and OS X host platform you can workaround this problem using gold linker (default). Rerun cmake with -DANDROID_GOLD_LINKER=ON option in case of problems. " ) endif() endif() # version 4.6 if( ANDROID_NOEXECSTACK ) if( ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -Xclang -mnoexecstack" ) else() set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -Wa,--noexecstack" ) endif() set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,-z,noexecstack" ) endif() if( ANDROID_RELRO ) set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,-z,relro -Wl,-z,now" ) endif() if( ANDROID_COMPILER_IS_CLANG ) set( ANDROID_CXX_FLAGS "-Qunused-arguments ${ANDROID_CXX_FLAGS}" ) if( ARMEABI_V7A AND NOT ANDROID_FORCE_ARM_BUILD ) set( ANDROID_CXX_FLAGS_RELEASE "-target thumbv7-none-linux-androideabi ${ANDROID_CXX_FLAGS_RELEASE}" ) set( ANDROID_CXX_FLAGS_DEBUG "-target ${ANDROID_LLVM_TRIPLE} ${ANDROID_CXX_FLAGS_DEBUG}" ) else() set( ANDROID_CXX_FLAGS "-target ${ANDROID_LLVM_TRIPLE} ${ANDROID_CXX_FLAGS}" ) endif() if( BUILD_WITH_ANDROID_NDK ) set( ANDROID_CXX_FLAGS "-gcc-toolchain ${ANDROID_TOOLCHAIN_ROOT} ${ANDROID_CXX_FLAGS}" ) endif() endif() # cache flags set( CMAKE_CXX_FLAGS "" CACHE STRING "c++ flags" ) set( CMAKE_C_FLAGS "" CACHE STRING "c flags" ) set( CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG" CACHE STRING "c++ Release flags" ) set( CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG" CACHE STRING "c Release flags" ) set( CMAKE_CXX_FLAGS_DEBUG "-O0 -g -DDEBUG -D_DEBUG" CACHE STRING "c++ Debug flags" ) set( CMAKE_C_FLAGS_DEBUG "-O0 -g -DDEBUG -D_DEBUG" CACHE STRING "c Debug flags" ) set( CMAKE_SHARED_LINKER_FLAGS "" CACHE STRING "shared linker flags" ) set( CMAKE_MODULE_LINKER_FLAGS "" CACHE STRING "module linker flags" ) set( CMAKE_EXE_LINKER_FLAGS "-Wl,-z,nocopyreloc" CACHE STRING "executable linker flags" ) # put flags to cache (for debug purpose only) set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS}" CACHE INTERNAL "Android specific c/c++ flags" ) set( ANDROID_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE}" CACHE INTERNAL "Android specific c/c++ Release flags" ) set( ANDROID_CXX_FLAGS_DEBUG "${ANDROID_CXX_FLAGS_DEBUG}" CACHE INTERNAL "Android specific c/c++ Debug flags" ) set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS}" CACHE INTERNAL "Android specific c/c++ linker flags" ) # finish flags set( CMAKE_CXX_FLAGS "${ANDROID_CXX_FLAGS} ${CMAKE_CXX_FLAGS}" ) set( CMAKE_C_FLAGS "${ANDROID_CXX_FLAGS} ${CMAKE_C_FLAGS}" ) set( CMAKE_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_RELEASE}" ) set( CMAKE_C_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} ${CMAKE_C_FLAGS_RELEASE}" ) set( CMAKE_CXX_FLAGS_DEBUG "${ANDROID_CXX_FLAGS_DEBUG} ${CMAKE_CXX_FLAGS_DEBUG}" ) set( CMAKE_C_FLAGS_DEBUG "${ANDROID_CXX_FLAGS_DEBUG} ${CMAKE_C_FLAGS_DEBUG}" ) set( CMAKE_SHARED_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}" ) set( CMAKE_MODULE_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}" ) set( CMAKE_EXE_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}" ) if( MIPS AND BUILD_WITH_ANDROID_NDK AND ANDROID_NDK_RELEASE STREQUAL "r8" ) set( CMAKE_SHARED_LINKER_FLAGS "-Wl,-T,${ANDROID_NDK}/toolchains/${ANDROID_GCC_TOOLCHAIN_NAME}/mipself.xsc ${CMAKE_SHARED_LINKER_FLAGS}" ) set( CMAKE_MODULE_LINKER_FLAGS "-Wl,-T,${ANDROID_NDK}/toolchains/${ANDROID_GCC_TOOLCHAIN_NAME}/mipself.xsc ${CMAKE_MODULE_LINKER_FLAGS}" ) set( CMAKE_EXE_LINKER_FLAGS "-Wl,-T,${ANDROID_NDK}/toolchains/${ANDROID_GCC_TOOLCHAIN_NAME}/mipself.x ${CMAKE_EXE_LINKER_FLAGS}" ) endif() # configure rtti if( DEFINED ANDROID_RTTI AND ANDROID_STL_FORCE_FEATURES ) if( ANDROID_RTTI ) set( CMAKE_CXX_FLAGS "-frtti ${CMAKE_CXX_FLAGS}" ) else() set( CMAKE_CXX_FLAGS "-fno-rtti ${CMAKE_CXX_FLAGS}" ) endif() endif() # configure exceptios if( DEFINED ANDROID_EXCEPTIONS AND ANDROID_STL_FORCE_FEATURES ) if( ANDROID_EXCEPTIONS ) set( CMAKE_CXX_FLAGS "-fexceptions ${CMAKE_CXX_FLAGS}" ) set( CMAKE_C_FLAGS "-fexceptions ${CMAKE_C_FLAGS}" ) else() set( CMAKE_CXX_FLAGS "-fno-exceptions ${CMAKE_CXX_FLAGS}" ) set( CMAKE_C_FLAGS "-fno-exceptions ${CMAKE_C_FLAGS}" ) endif() endif() # global includes and link directories include_directories( SYSTEM "${ANDROID_SYSROOT}/usr/include" ${ANDROID_STL_INCLUDE_DIRS} ${NECESSITAS_INCLUDE_DIRS} ) link_directories( "${CMAKE_INSTALL_PREFIX}/libs/${ANDROID_NDK_ABI_NAME}" ${NECESSITAS_LINK_DIRS} ) # setup output directories set( LIBRARY_OUTPUT_PATH_ROOT ${CMAKE_SOURCE_DIR} CACHE PATH "root for library output, set this to change where android libs are installed to" ) set( CMAKE_INSTALL_PREFIX "${ANDROID_TOOLCHAIN_ROOT}/user" CACHE STRING "path for installing" ) if(NOT _CMAKE_IN_TRY_COMPILE) if( EXISTS "${CMAKE_SOURCE_DIR}/jni/CMakeLists.txt" ) set( EXECUTABLE_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/bin/${ANDROID_NDK_ABI_NAME}" CACHE PATH "Output directory for applications" ) else() set( EXECUTABLE_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/bin" CACHE PATH "Output directory for applications" ) endif() set( LIBRARY_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/libs/${ANDROID_NDK_ABI_NAME}" CACHE PATH "path for android libs" ) endif() # set these global flags for cmake client scripts to change behavior set( ANDROID True ) set( BUILD_ANDROID True ) # where is the target environment set( CMAKE_FIND_ROOT_PATH "${ANDROID_TOOLCHAIN_ROOT}/bin" "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}" "${ANDROID_SYSROOT}" "${CMAKE_INSTALL_PREFIX}" "${CMAKE_INSTALL_PREFIX}/share" "${NECESSITAS_TOOLCHAIN_ROOT}" ) set( CMAKE_LIBRARY_PATH "${CMAKE_LIBRARY_PATH}" "${LIBRARY_OUTPUT_PATH}" ) # only search for libraries and includes in the ndk toolchain set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY ) set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY ) set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY ) # macro to find packages on the host OS macro( find_host_package ) set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER ) set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER ) set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER ) if( CMAKE_HOST_WIN32 ) SET( WIN32 1 ) SET( UNIX ) elseif( CMAKE_HOST_APPLE ) SET( APPLE 1 ) SET( UNIX ) endif() find_package( ${ARGN} ) SET( WIN32 ) SET( APPLE ) SET( UNIX 1 ) set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY ) set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY ) set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY ) endmacro() # macro to find programs on the host OS macro( find_host_program ) set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER ) set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER ) set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER ) if( CMAKE_HOST_WIN32 ) SET( WIN32 1 ) SET( UNIX ) elseif( CMAKE_HOST_APPLE ) SET( APPLE 1 ) SET( UNIX ) endif() find_program( ${ARGN} ) SET( WIN32 ) SET( APPLE ) SET( UNIX 1 ) set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY ) set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY ) set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY ) endmacro() macro( ANDROID_GET_ABI_RAWNAME TOOLCHAIN_FLAG VAR ) if( "${TOOLCHAIN_FLAG}" STREQUAL "ARMEABI" ) set( ${VAR} "armeabi" ) elseif( "${TOOLCHAIN_FLAG}" STREQUAL "ARMEABI_V7A" ) set( ${VAR} "armeabi-v7a" ) elseif( "${TOOLCHAIN_FLAG}" STREQUAL "X86" ) set( ${VAR} "x86" ) elseif( "${TOOLCHAIN_FLAG}" STREQUAL "MIPS" ) set( ${VAR} "mips" ) else() set( ${VAR} "unknown" ) endif() endmacro() # export toolchain settings for the try_compile() command if( NOT PROJECT_NAME STREQUAL "CMAKE_TRY_COMPILE" ) set( __toolchain_config "") foreach( __var NDK_CCACHE LIBRARY_OUTPUT_PATH_ROOT ANDROID_FORBID_SYGWIN ANDROID_SET_OBSOLETE_VARIABLES ANDROID_NDK_HOST_X64 ANDROID_NDK ANDROID_STANDALONE_TOOLCHAIN ANDROID_TOOLCHAIN_NAME ANDROID_ABI ANDROID_NATIVE_API_LEVEL ANDROID_STL ANDROID_STL_FORCE_FEATURES ANDROID_FORCE_ARM_BUILD ANDROID_NO_UNDEFINED ANDROID_SO_UNDEFINED ANDROID_FUNCTION_LEVEL_LINKING ANDROID_GOLD_LINKER ANDROID_NOEXECSTACK ANDROID_RELRO ) if( DEFINED ${__var} ) if( "${__var}" MATCHES " ") set( __toolchain_config "${__toolchain_config}set( ${__var} \"${${__var}}\" CACHE INTERNAL \"\" )\n" ) else() set( __toolchain_config "${__toolchain_config}set( ${__var} ${${__var}} CACHE INTERNAL \"\" )\n" ) endif() endif() endforeach() file( WRITE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/android.toolchain.config.cmake" "${__toolchain_config}" ) unset( __toolchain_config ) endif() # set some obsolete variables for backward compatibility set( ANDROID_SET_OBSOLETE_VARIABLES ON CACHE BOOL "Define obsolete Andrid-specific cmake variables" ) mark_as_advanced( ANDROID_SET_OBSOLETE_VARIABLES ) if( ANDROID_SET_OBSOLETE_VARIABLES ) set( ANDROID_API_LEVEL ${ANDROID_NATIVE_API_LEVEL} ) set( ARM_TARGET "${ANDROID_ABI}" ) set( ARMEABI_NDK_NAME "${ANDROID_NDK_ABI_NAME}" ) endif() if( CMAKE_BUILD_TYPE STREQUAL "Debug" ) file(COPY ${ANDROID_NDK}/prebuilt/android-${ANDROID_ARCH_NAME}/gdbserver/gdbserver DESTINATION ${LIBRARY_OUTPUT_PATH}) file(COPY ${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gdb${TOOL_OS_SUFFIX} DESTINATION ${LIBRARY_OUTPUT_PATH_ROOT}/debug) file(RENAME ${LIBRARY_OUTPUT_PATH_ROOT}/debug/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gdb${TOOL_OS_SUFFIX} ${LIBRARY_OUTPUT_PATH_ROOT}/debug/gdbclient) endif( CMAKE_BUILD_TYPE STREQUAL "Debug" ) # Variables controlling behavior or set by cmake toolchain: # ANDROID_ABI : "armeabi-v7a" (default), "armeabi", "armeabi-v7a with NEON", "armeabi-v7a with VFPV3", "armeabi-v6 with VFP", "x86", "mips" # ANDROID_NATIVE_API_LEVEL : 3,4,5,8,9,14 (depends on NDK version) # ANDROID_STL : gnustl_static/gnustl_shared/stlport_static/stlport_shared/gabi++_static/gabi++_shared/system_re/system/none # ANDROID_FORBID_SYGWIN : ON/OFF # ANDROID_NO_UNDEFINED : ON/OFF # ANDROID_SO_UNDEFINED : OFF/ON (default depends on NDK version) # ANDROID_FUNCTION_LEVEL_LINKING : ON/OFF # ANDROID_GOLD_LINKER : ON/OFF # ANDROID_NOEXECSTACK : ON/OFF # ANDROID_RELRO : ON/OFF # ANDROID_FORCE_ARM_BUILD : ON/OFF # ANDROID_STL_FORCE_FEATURES : ON/OFF # ANDROID_SET_OBSOLETE_VARIABLES : ON/OFF # Can be set only at the first run: # ANDROID_NDK # ANDROID_STANDALONE_TOOLCHAIN # ANDROID_TOOLCHAIN_NAME : the NDK name of compiler toolchain # ANDROID_NDK_HOST_X64 : try to use x86_64 toolchain (default for x64 host systems) # LIBRARY_OUTPUT_PATH_ROOT : # NDK_CCACHE : # Obsolete: # ANDROID_API_LEVEL : superseded by ANDROID_NATIVE_API_LEVEL # ARM_TARGET : superseded by ANDROID_ABI # ARM_TARGETS : superseded by ANDROID_ABI (can be set only) # ANDROID_NDK_TOOLCHAIN_ROOT : superseded by ANDROID_STANDALONE_TOOLCHAIN (can be set only) # ANDROID_USE_STLPORT : superseded by ANDROID_STL=stlport_static # ANDROID_LEVEL : superseded by ANDROID_NATIVE_API_LEVEL (completely removed) # # Primary read-only variables: # ANDROID : always TRUE # ARMEABI : TRUE for arm v6 and older devices # ARMEABI_V6 : TRUE for arm v6 # ARMEABI_V7A : TRUE for arm v7a # NEON : TRUE if NEON unit is enabled # VFPV3 : TRUE if VFP version 3 is enabled # X86 : TRUE if configured for x86 # MIPS : TRUE if configured for mips # BUILD_ANDROID : always TRUE # BUILD_WITH_ANDROID_NDK : TRUE if NDK is used # BUILD_WITH_STANDALONE_TOOLCHAIN : TRUE if standalone toolchain is used # ANDROID_NDK_HOST_SYSTEM_NAME : "windows", "linux-x86" or "darwin-x86" depending on host platform # ANDROID_NDK_ABI_NAME : "armeabi", "armeabi-v7a", "x86" or "mips" depending on ANDROID_ABI # ANDROID_NDK_RELEASE : one of r5, r5b, r5c, r6, r6b, r7, r7b, r7c, r8, r8b, r8c, r8d, r8e; set only for NDK # ANDROID_ARCH_NAME : "arm" or "x86" or "mips" depending on ANDROID_ABI # ANDROID_SYSROOT : path to the compiler sysroot # TOOL_OS_SUFFIX : "" or ".exe" depending on host platform # ANDROID_COMPILER_IS_CLANG : TRUE if clang compiler is used # Obsolete: # ARMEABI_NDK_NAME : superseded by ANDROID_NDK_ABI_NAME # # Secondary (less stable) read-only variables: # ANDROID_COMPILER_VERSION : GCC version used # ANDROID_CXX_FLAGS : C/C++ compiler flags required by Android platform # ANDROID_SUPPORTED_ABIS : list of currently allowed values for ANDROID_ABI # ANDROID_TOOLCHAIN_MACHINE_NAME : "arm-linux-androideabi", "arm-eabi" or "i686-android-linux" # ANDROID_TOOLCHAIN_ROOT : path to the top level of toolchain (standalone or placed inside NDK) # ANDROID_CLANG_TOOLCHAIN_ROOT : path to clang tools # ANDROID_SUPPORTED_NATIVE_API_LEVELS : list of native API levels found inside NDK # ANDROID_STL_INCLUDE_DIRS : stl include paths # ANDROID_RTTI : if rtti is enabled by the runtime # ANDROID_EXCEPTIONS : if exceptions are enabled by the runtime # ANDROID_GCC_TOOLCHAIN_NAME : read-only, differs from ANDROID_TOOLCHAIN_NAME only if clang is used # ANDROID_CLANG_VERSION : version of clang compiler if clang is used # # Defaults: # ANDROID_DEFAULT_NDK_API_LEVEL # ANDROID_DEFAULT_NDK_API_LEVEL_${ARCH} # ANDROID_NDK_SEARCH_PATHS # ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH # ANDROID_SUPPORTED_ABIS_${ARCH} # ANDROID_SUPPORTED_NDK_VERSIONS aseba-1.6.0/android/debug.sh000077500000000000000000000123061322771007300156420ustar00rootroot00000000000000#!/bin/bash ############################################################################ # Copyright (C) 2013 by Ralf Kaestner # # ralf.kaestner@gmail.com # # # # This program is free software; you can redistribute it and or modify # # it under the terms of the GNU General Public License as published by # # the Free Software Foundation; either version 2 of the License, or # # (at your option) any later version. # # # # This program 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 General Public License for more details. # # # # You should have received a copy of the GNU General Public License # # along with this program; if not, write to the # # Free Software Foundation, Inc., # # 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # ############################################################################ . ubash script_init "Debug Thymio VPL on Android" script_setopt "--ndk-root" "PATH" ANDROIDNDKROOT "/opt/android/ndk" \ "path to the Android NDK root directory" script_setopt "--sdk-root" "PATH" ANDROIDSDKROOT "/opt/android/sdk" \ "path to the Android SDK root directory" script_setopt "--necessitas-root" "PATH" NECESSITASROOT "/opt/necessitas" \ "path to the Necessitas root directory" script_setopt "--build-root|-b" "PATH" BUILDROOT "build" \ "path to the build root directory" script_setopt "--debug-port|-p" "PORT" DEBUGPORT 5039 \ "network port used for debugging" script_checkopts $* fs_abspath $ANDROIDNDKROOT ANDROIDNDKROOT fs_abspath $ANDROIDSDKROOT ANDROIDSDKROOT fs_abspath $BUILDROOT BUILDROOT AWKSCRIPTS=$ANDROIDNDKROOT/build/awk MANIFEST=$BUILDROOT/thymiovpl/AndroidManifest.xml ADB=$ANDROIDSDKROOT/platform-tools/adb adb_var_shell() { local CMDOUT RET OUTPUT VARNAME REDIRECTSTDERR REDIRECTSTDERR=$1 VARNAME=$2 shift; shift; CMDOUT=`mktemp /tmp/ndk-gdb-cmdout-XXXXXX` if [ "$REDIRECTSTDERR" != 0 ]; then $ADB shell "$@" ";" echo \$? | sed -e 's![[:cntrl:]]!!g' > $CMDOUT 2>&1 else $ADB shell "$@" ";" echo \$? | sed -e 's![[:cntrl:]]!!g' > $CMDOUT fi RET=`sed -e '$!d' $CMDOUT` OUT=`sed -e '$d' $CMDOUT` rm -f $CMDOUT eval $VARNAME=\"\$OUT\" return $RET } PACKAGENAME=`awk -f $AWKSCRIPTS/extract-package-name.awk $MANIFEST` LAUNCHABLENAME=`awk -f $AWKSCRIPTS/extract-launchable.awk $MANIFEST | sed 2q` DASHELOUTPATH=`grep "LIBRARY_OUTPUT_PATH:" $BUILDROOT/dashel/CMakeCache.txt | \ sed s/"LIBRARY_OUTPUT_PATH:PATH=\(.*\)"/"\1"/` ASEBAOUTPATH=`grep "LIBRARY_OUTPUT_PATH:" $BUILDROOT/aseba/CMakeCache.txt | \ sed s/"LIBRARY_OUTPUT_PATH:PATH=\(.*\)"/"\1"/` QTLIBRARYDIR=`grep "QT_LIBRARY_DIR:" $BUILDROOT/aseba/CMakeCache.txt | \ sed s/"QT_LIBRARY_DIR:PATH=\(.*\)"/"\1"/` DEBUGOUTPATH=$BUILDROOT/thymiovpl/debug if `awk -f $AWKSCRIPTS/extract-debuggable.awk $MANIFEST` != "true"; then message_exit "Package is not debuggable" fi adb_var_shell 1 DEVICEGDBSERVER ls /data/data/${PACKAGENAME}/lib/gdbserver if [ $? != 0 ]; then message_exit "Application installed on device is not debuggable" fi adb_var_shell 1 DATADIR run-as $PACKAGENAME /system/bin/sh -c pwd if [ $? != 0 -o -z "$DATADIR" ]; then message_exit "Could not determine the application's data directory" fi $ADB shell am start -n $PACKAGENAME/$LAUNCHABLENAME if [ $? != 0 ]; then message_exit "Could not launch the application" fi $ADB shell sleep 2 PID=`$ADB shell ps | awk -f $AWKSCRIPTS/extract-pid.awk -v PACKAGE="$PACKAGENAME"` if [ $? != 0 -o "$PID" = "0" ]; then message_exit "Could not determine the application's PID" fi GDBPID=`$ADB shell ps | awk -f $AWKSCRIPTS/extract-pid.awk -v \ PACKAGE="lib/gdbserver"` if [ "$GDBPID" != "0" ]; then message_warn "Debugging session already active on device" $ADB shell run-as $PACKAGENAME kill -9 $GDBPID fi DEBUGSOCKET=debug-socket $ADB shell run-as $PACKAGENAME lib/gdbserver +$DEBUGSOCKET --attach $PID & if [ $? != 0 ]; then message_exit "Failed to launch the debugging server on the device" fi $ADB forward tcp:$DEBUGPORT localfilesystem:$DATADIR/$DEBUGSOCKET if [ $? != 0 ]; then message_exit "Failed to setup network redirection to debugging server" fi $ADB pull /system/bin/app_process $DEBUGOUTPATH/app_process $ADB pull /system/bin/linker $DEBUGOUTPATH/linker $ADB pull /system/lib/libc.so $DEBUGOUTPATH/libc.so $ADB pull /system/lib/libstdc++.so $DEBUGOUTPATH/libstdc++.so GDBSETUP=$DEBUGOUTPATH/gdb.setup echo -n > $GDBSETUP echo -n "set solib-search-path $DEBUGOUTPATH:$DASHELOUTPATH:" >> $GDBSETUP echo ":$ASEBAOUTPATH:$QTLIBRARYDIR" >> $GDBSETUP echo "file $DEBUGOUTPATH/app_process" >> $GDBSETUP echo "target remote :$DEBUGPORT" >> $GDBSETUP GDBCLIENT=$DEBUGOUTPATH/gdbclient $GDBCLIENT -x $GDBSETUP log_clean aseba-1.6.0/android/make.sh000077500000000000000000000070251322771007300154730ustar00rootroot00000000000000#!/bin/bash ############################################################################ # Copyright (C) 2013 by Ralf Kaestner # # ralf.kaestner@gmail.com # # # # This program is free software; you can redistribute it and or modify # # it under the terms of the GNU General Public License as published by # # the Free Software Foundation; either version 2 of the License, or # # (at your option) any later version. # # # # This program 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 General Public License for more details. # # # # You should have received a copy of the GNU General Public License # # along with this program; if not, write to the # # Free Software Foundation, Inc., # # 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # ############################################################################ . ubash script_init "Build Thymio VPL and dependencies for Android" script_setopt "--ndk-root" "PATH" ANDROIDNDKROOT "/opt/android/ndk" \ "path to the Android NDK root directory" script_setopt "--sdk-root" "PATH" ANDROIDSDKROOT "/opt/android/sdk" \ "path to the Android SDK root directory" script_setopt "--api-level|-a" "LEVEL" ANDROIDAPILEVEL 12 \ "level of the Android API" script_setopt "--abi" "ABI" ANDROIDABI "armeabi-v7a" \ "name of the Android ABI" script_setopt "--necessitas-root" "PATH" NECESSITASROOT "/opt/necessitas" \ "path to the Necessitas root directory" script_setopt "--dashel-sources" "PATH" DASHELSOURCES ../../dashel \ "path to the DaSHEL sources" script_setopt "--aseba-sources" "PATH" ASEBASOURCES ../ \ "path to the ASEBA sources" script_setopt "--thymiovpl-sources" "PATH" THYMIOVPLSOURCES thymiovpl \ "path to the Thymio VPL sources" script_setopt "--build-root|-b" "PATH" BUILDROOT "build" \ "path to the build root directory" script_setopt "--debug" "" BUILDDEBUG false \ "build debug targets instead of release" script_setopt "--emu" "" USEEMU false \ "use emulator instead of real device" script_setopt "--install" "" ALLINSTALL false \ "install package to Android device" script_setopt "--clean" "" ALLCLEAN false \ "remove build directories" script_setopt "--antprop" "" ANTPROP "ant.properties" \ "ant.properties file for signing" script_checkopts $* if false ALLCLEAN; then COMMONARGS="--build-root $BUILDROOT" COMMONARGS="$COMMONARGS --api-level $ANDROIDAPILEVEL" if true BUILDDEBUG; then COMMONARGS="$COMMONARGS --debug" fi if true ALLINSTALL; then THYMIOVPLARGS="--install" fi if true USEEMU; then THYMIOVPLARGS="$THYMIOVPLARGS --emu" fi ./mkdashel.sh $COMMONARGS --ndk-root $ANDROIDNDKROOT --abi $ANDROIDABI && \ ./mkaseba.sh $COMMONARGS --ndk-root $ANDROIDNDKROOT --necessitas-root \ $NECESSITASROOT --abi $ANDROIDABI && \ ./mkthymiovpl.sh $COMMONARGS $THYMIOVPLARGS --sdk-root $ANDROIDSDKROOT --antprop $ANTPROP else ./mkdashel.sh --clean && \ ./mkaseba.sh --clean && \ ./mkthymiovpl.sh --clean fi log_clean aseba-1.6.0/android/mkaseba.sh000077500000000000000000000071421322771007300161610ustar00rootroot00000000000000#!/bin/bash ############################################################################ # Copyright (C) 2013 by Ralf Kaestner # # ralf.kaestner@gmail.com # # # # This program is free software; you can redistribute it and or modify # # it under the terms of the GNU General Public License as published by # # the Free Software Foundation; either version 2 of the License, or # # (at your option) any later version. # # # # This program 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 General Public License for more details. # # # # You should have received a copy of the GNU General Public License # # along with this program; if not, write to the # # Free Software Foundation, Inc., # # 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # ############################################################################ . ubash script_init "Build ASEBA for Android" script_setopt "--ndk-root" "PATH" ANDROIDNDKROOT "/opt/android/ndk" \ "path to the Android NDK root directory" script_setopt "--api-level|-a" "LEVEL" ANDROIDAPILEVEL 9 \ "level of the Android API" script_setopt "--abi" "ABI" ANDROIDABI "armeabi-v7a" \ "name of the Android ABI" script_setopt "--necessitas-root" "PATH" NECESSITASROOT "/opt/necessitas" \ "path to the Necessitas root directory" script_setopt "--toolchain|-t" "FILE" CMAKETOOLCHAIN "cmake/Android.cmake" \ "name of the CMake toolchain file" script_setopt "--sources" "PATH" ASEBASOURCES ../ \ "path to the ASEBA sources" script_setopt "--dashel-sources" "PATH" DASHELSOURCES ../../dashel \ "path to the DaSHEL sources" script_setopt "--build-root|-b" "PATH" BUILDROOT "build" \ "path to the build root directory" script_setopt "--debug" "" BUILDDEBUG false \ "build debug targets instead of release" script_setopt "--jobs|-j" "" MAKEJOBS 3 "number of simultaneous make jobs" script_setopt "--clean" "" ASEBACLEAN false "remove build directory" script_checkopts $* [ -d "$BUILDROOT/aseba" ] || execute "mkdir -p $BUILDROOT/aseba" fs_abspath $BUILDROOT BUILDROOT if false ASEBACLEAN; then fs_abspath $ANDROIDNDKROOT ANDROIDNDKROOT fs_abspath $NECESSITASROOT NECESSITASROOT fs_abspath $CMAKETOOLCHAIN CMAKETOOLCHAIN fs_abspath $ASEBASOURCES ASEBASOURCES fs_abspath $DASHELSOURCES DASHELSOURCES CMAKEOPTS="-DANDROID_NDK=$ANDROIDNDKROOT" CMAKEOPTS="$CMAKEOPTS -DANDROID_NATIVE_API_LEVEL=$ANDROIDAPILEVEL" CMAKEOPTS="$CMAKEOPTS -DNECESSITAS=$NECESSITASROOT" CMAKEOPTS="$CMAKEOPTS -DCMAKE_TOOLCHAIN_FILE=$CMAKETOOLCHAIN" CMAKEOPTS="$CMAKEOPTS -DLIBRARY_OUTPUT_PATH_ROOT=$BUILDROOT/thymiovpl" CMAKEOPTS="$CMAKEOPTS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY=" CMAKEOPTS="$CMAKEOPTS -DCMAKE_INCLUDE_PATH=$DASHELSOURCES" CMAKEOPTS="$CMAKEOPTS -DANDROID_ABI=$ANDROIDABI" if true BUILDDEBUG; then CMAKEOPTS="$CMAKEOPTS -DCMAKE_BUILD_TYPE=Debug" else CMAKEOPTS="$CMAKEOPTS -DCMAKE_BUILD_TYPE=Release" fi cd $BUILDROOT/aseba && cmake $CMAKEOPTS $ASEBASOURCES && \ make -j $MAKEJOBS thymiovpl else execute "rm -rf $BUILDROOT/aseba" fi log_clean aseba-1.6.0/android/mkdashel.sh000077500000000000000000000064011322771007300163430ustar00rootroot00000000000000#!/bin/bash ############################################################################ # Copyright (C) 2013 by Ralf Kaestner # # ralf.kaestner@gmail.com # # # # This program is free software; you can redistribute it and or modify # # it under the terms of the GNU General Public License as published by # # the Free Software Foundation; either version 2 of the License, or # # (at your option) any later version. # # # # This program 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 General Public License for more details. # # # # You should have received a copy of the GNU General Public License # # along with this program; if not, write to the # # Free Software Foundation, Inc., # # 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # ############################################################################ . ubash script_init "Build DaSHEL for Android" script_setopt "--ndk-root" "PATH" ANDROIDNDKROOT "/opt/android/ndk" \ "path to the Android NDK root directory" script_setopt "--api-level|-a" "LEVEL" ANDROIDAPILEVEL 9 \ "level of the Android API" script_setopt "--abi" "ABI" ANDROIDABI "armeabi-v7a" \ "name of the Android ABI" script_setopt "--toolchain|-t" "FILE" CMAKETOOLCHAIN "cmake/Android.cmake" \ "name of the CMake toolchain file" script_setopt "--sources" "PATH" DASHELSOURCES ../../dashel \ "path to the DaSHEL sources" script_setopt "--build-root|-b" "PATH" BUILDROOT "build" \ "path to the build root directory" script_setopt "--debug" "" BUILDDEBUG false \ "build debug targets instead of release" script_setopt "--jobs|-j" "" MAKEJOBS 3 "number of simultaneous make jobs" script_setopt "--clean" "" DASHELCLEAN false "remove build directory" script_checkopts $* [ -d "$BUILDROOT/dashel" ] || execute "mkdir -p $BUILDROOT/dashel" fs_abspath $BUILDROOT BUILDROOT if false DASHELCLEAN; then fs_abspath $ANDROIDNDKROOT ANDROIDNDKROOT fs_abspath $CMAKETOOLCHAIN CMAKETOOLCHAIN fs_abspath $DASHELSOURCES DASHELSOURCES CMAKEOPTS="-DANDROID_NDK=$ANDROIDNDKROOT" CMAKEOPTS="$CMAKEOPTS -DANDROID_NATIVE_API_LEVEL=$ANDROIDAPILEVEL" CMAKEOPTS="$CMAKEOPTS -DCMAKE_TOOLCHAIN_FILE=$CMAKETOOLCHAIN" CMAKEOPTS="$CMAKEOPTS -DLIBRARY_OUTPUT_PATH_ROOT=$BUILDROOT/thymiovpl" CMAKEOPTS="$CMAKEOPTS -DBUILD_SHARED_LIBS=ON" CMAKEOPTS="$CMAKEOPTS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY=" CMAKEOPTS="$CMAKEOPTS -DANDROID_ABI=$ANDROIDABI" if true BUILDDEBUG; then CMAKEOPTS="$CMAKEOPTS -DCMAKE_BUILD_TYPE=Debug" else CMAKEOPTS="$CMAKEOPTS -DCMAKE_BUILD_TYPE=Release" fi cd $BUILDROOT/dashel && cmake $CMAKEOPTS $DASHELSOURCES && \ make -j $MAKEJOBS dashel else execute "rm -rf $BUILDROOT/dashel" fi log_clean aseba-1.6.0/android/mkthymiovpl.sh000077500000000000000000000070371322771007300171440ustar00rootroot00000000000000#!/bin/bash ############################################################################ # Copyright (C) 2013 by Ralf Kaestner # # ralf.kaestner@gmail.com # # # # This program is free software; you can redistribute it and or modify # # it under the terms of the GNU General Public License as published by # # the Free Software Foundation; either version 2 of the License, or # # (at your option) any later version. # # # # This program 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 General Public License for more details. # # # # You should have received a copy of the GNU General Public License # # along with this program; if not, write to the # # Free Software Foundation, Inc., # # 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # ############################################################################ . ubash script_init "Build Thymio VPL for Android" script_setopt "--sdk-root" "PATH" ANDROIDSDKROOT "/opt/android/sdk" \ "path to the Android SDK root directory" script_setopt "--api-level|-a" "LEVEL" ANDROIDAPILEVEL 12 \ "level of the Android API" script_setopt "--sources" "PATH" THYMIOVPLSOURCES thymiovpl \ "path to the Thymio VPL sources" script_setopt "--build-root|-b" "PATH" BUILDROOT "build" \ "path to the build root directory" script_setopt "--debug" "" BUILDDEBUG false \ "build debug targets instead of release" script_setopt "--emu" "" USEEMU false \ "use emulator instead of real device" script_setopt "--install" "" THYMIOVPLINSTALL false \ "install package to Android device" script_setopt "--clean" "" THYMIOVPLCLEAN false \ "remove build directory" script_setopt "--antprop" "" ANTPROP "ant.properties" \ "ant.properties file for signing" script_checkopts $* [ -d "$BUILDROOT/thymiovpl" ] || execute "mkdir -p $BUILDROOT/thymiovpl" fs_abspath $BUILDROOT BUILDROOT if false THYMIOVPLCLEAN; then fs_abspath $ANDROIDSDKROOT ANDROIDSDKROOT fs_abspath $THYMIOVPLSOURCES THYMIOVPLSOURCES if true BUILDDEBUG; then ANTBUILDTARGET=debug THYMIOVPLPKG=thymiovpl-debug.apk else ANTBUILDTARGET=release THYMIOVPLPREPKG=thymiovpl-release-unsigned.apk THYMIOVPLPKG=thymiovpl-release.apk fi cp -aT $THYMIOVPLSOURCES $BUILDROOT/thymiovpl && \ cd $BUILDROOT/thymiovpl && \ export ANDROID_SDK_ROOT=$ANDROIDSDKROOT && \ export ANDROID_API_LEVEL=$ANDROIDAPILEVEL && \ export DEBUGGABLE=$BUILDDEBUG && \ ant -propertyfile $ANTPROP $ANTBUILDTARGET && \ ANTBUILDSUCCESS=true if true ANTBUILDSUCCESS; then if true THYMIOVPLINSTALL; then if true USEEMU; then echo "Installing to emulator" $ANDROIDSDKROOT/platform-tools/adb -e install -r \ $BUILDROOT/thymiovpl/bin/$THYMIOVPLPKG else echo "Installing to real device" $ANDROIDSDKROOT/platform-tools/adb -d install -r \ $BUILDROOT/thymiovpl/bin/$THYMIOVPLPKG fi fi fi else execute "rm -rf $BUILDROOT/thymiovpl" fi log_clean aseba-1.6.0/android/thymiovpl/000077500000000000000000000000001322771007300162465ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/AndroidManifest.xml000066400000000000000000000042461322771007300220450ustar00rootroot00000000000000 aseba-1.6.0/android/thymiovpl/ant.properties000066400000000000000000000001201322771007300211370ustar00rootroot00000000000000key.alias=androiddebugkey key.store.password=android key.alias.password=android aseba-1.6.0/android/thymiovpl/build.xml000066400000000000000000000012451322771007300200710ustar00rootroot00000000000000 aseba-1.6.0/android/thymiovpl/res/000077500000000000000000000000001322771007300170375ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/drawable-hdpi/000077500000000000000000000000001322771007300215425ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/drawable-hdpi/icon.png000066400000000000000000000216271322771007300232100ustar00rootroot00000000000000‰PNG  IHDRHHUí³G OiCCPPhotoshop ICC profilexÚSgTSé=÷ÞôBKˆ€”KoR RB‹€‘&*! 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Ú¿¿ÍZŸ?ùä“Õ}õêU%''+99¹Oߟ§§§víÚ¥§žzj@œ5gÎ¥¤¤tºœ···/^ÌÔ õž7ožæÍ›§ÄÄD;vL)))ÊÉÉ‘¿¿¿¼‡ WµüÐÆÛzEÙ •}±P:¾M¦ß„kE˜I¿;Mà ý×xˆIâââtîÜ9­Y³Æ*_ìhooWuuµŠŠŠ¬@µdÉ:uÊ.è½BhWúÎôððPFF†{5úŒÙlÖåË—UXX¨ŠŠ «POOOmÚ´I¹¹¹6½ý!,,LÁÁÁv¹ÿçÍ›§¼¼üðCùúúÚÅ~www×–-[tðàA3fÀL&S§ó]\\ôÊ+¯pÀvQuS-…èGå —}à´ø«7UÙp¥Ï·GÅ€ª””}óÍ7š}Z«V­4¿ÿ¥¥¥Î_±bE¿]*«”ŽéáÝq:q±¨O·CÅ€5kÖ,8qBYYYZ»vm¿´B†……iÍš5***ÒöíÛõàƒ˜zY£%ô_Í;WGŽQVV–-ZÔç—@ƒ‚‚ôòË/+;;[ÉÉÉ ±Ûz»»»kݺu*))Qff¦V®\)>ßnPPÞ}÷]UTThË–-6 Á}嫯¾²8ÏÉÉ©ß»äBß™î÷(ƒÍüÔܨ¹ûÖéä¥ôÙ6Ú»Óóo444tÚ•‹›››ÔŽ(//ïô›Å½ºG®¿577wÚÑ·³³³]ŸÜ;SPP ÔÔT¥¦¦êäÉ“½^Ÿ···æÌ™#“É$“ÉÔ'};ö— .XüVñðáÃ`•ßÿŒŒ íÝ»WéééÝþ"ÙÝ„‡‡+::Z .ðc€ß¸qCééé:r䈲³³õý÷ß«¹¹¹Wë4 š4i’fÎœ©ÈÈH=ýôÓ¦ïÏž˜8q¢òòòî:ïùçŸïRï8þpd³¶ 6äé2\Y‹ÿª0OëŸÿ¬B{QQQ¡ï¾ûNUUUwLÕÕÕº|ù²\\\:ºÄùõäçç§iÓ¦õªÿÆ¡®­­M%%%ÊÏÏï˜JJJTWW§ºº:Õ×׫±±QƒA÷ß¿üýýåïï¯1cÆÈßß_ŠˆˆÐÁ¿+¡ôÔ©SÊÎÎÖ™3gtåÊ]½zµcª©©Q[[›<<<:z5j”¼¼¼¢3fhêÔ©êàÞ(**Ò¸qã,ÎÏÍÍð¨àv?ÝhPäžÿRî•ŠaCóƒ¦(mþÿBk1›ÍwŒ„þß}>§]«Ï>ûì®ó¢¢¢:½T«©åº–ÿm£R~8F1lèÈïÞÓSc¬;46G6 YœØíc@ùœvEii©vîÜiqþúõë)Ò åæìª/£þ[žü{ŠaC[óÓ­|£¬{·aË}ÊN›6M³fÍ¢Hƒ˜ƒƒƒÞžúïÚiZ'W'g bù5?Z¿r9`Ï***jñK\iiiš?>…*Ÿ‡úKúàômÍ? º–& ÒO†;»ª~å>«®“–P€]Û¸q£ÅúÈ#è™gž¡HCÈoîóÑ{ÓWê|ì.ýeútŸEé¡#­?Ø!`·ªªª´mÛ6‹ó×®]Ë}ÅCÔ}F7ýǤÅ*ù·ÏôÅÜ×9f’Ü ×ÚW¦úŽ³ú:¹°[qqqCè< âââAÝ/*º§ÍܦÓWKõmõY}{ñ¬¾­>«ü\IazÉÕÉY¹Ï'jœ§uûy'„ìÒñãÇ5cÆ Y:MmÙ²eP IŠ¾ñóF•ÕW«¼þ’Ê.©¼þrÇãë/ªª±Ff…:óÞ´8ýçcK¬¾^B(Àî´¶¶*<<ÜâèH***’««+ÅBï>kæ6o¸L/_ÿYµ7T{½þæ¿7nýû«Ç×ëõSs£ÚÚ̓¾6Fwýuæµbœ©OÖoàã°7 ¨$}ôÑGPX'9:)x„Ÿ‚Gøuù5íííªoiRíu Aµ#°Þ|üSsãmÁ¶ÕN¬³£“¬Ç¼CôØèP-™)w¯>Û-¡»R^^® &¨±±ñ®óŸ}öY¥¤¤P( X Í×TßÒ¤s›ZÌ­jnkU‹ùÖÔv×Ç¿,ó/óÛ~y®ÙÜrÇs-æVœåfpùçä*7g¹\oþßùæs>Ã<ôШ û±VB(À®DGG+--í®ó†®³gÏ* €B]4ìFbb¢Å*Io½õ$h Ø…'NhÆŒ;¦Ÿ4i’rrrè’ „`555 ×?Þ}|jGGGeeeéÉ'Ÿ¤XÀ Áåx€Mµ··kÙ²e¨$ÅÇÇ@A†–P€M½ñÆzûí·-Î÷óóSaa¡FŽI±€A„–P€Í|üñÇPéfŸ¡P`ð¡%`»wïÖ²eËÔÙihîܹÊÈÈ X!€Þ;xð ¢££ÕÒÒbq/// aseba-1.6.0/android/thymiovpl/res/values-de/000077500000000000000000000000001322771007300207245ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-de/strings.xml000066400000000000000000000007161322771007300231430ustar00rootroot00000000000000 Ministro-Dienst wurde nicht gefunden.\nAnwendung kann nicht gestartet werden Diese Anwendung benötigt den Ministro-Dienst. Möchten Sie ihn installieren? In Ihrer Anwendung ist ein schwerwiegender Fehler aufgetreten, sie kann nicht fortgesetzt werden aseba-1.6.0/android/thymiovpl/res/values-el/000077500000000000000000000000001322771007300207345ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-el/strings.xml000066400000000000000000000011541322771007300231500ustar00rootroot00000000000000 Δεν ήταν δυνατή η εÏÏεση της υπηÏεσίας Ministro. Δεν είναι δυνατή η εκκίνηση της εφαÏμογής. Η εφαÏμογή απαιτεί την υπηÏεσία Ministro. Îα εγκατασταθεί η υπηÏεσία? ΠαÏουσιάστηκε ένα κÏίσιμο σφάλμα και η εφαÏμογή δεν μποÏεί να συνεχίσει. aseba-1.6.0/android/thymiovpl/res/values-es/000077500000000000000000000000001322771007300207435ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-es/strings.xml000066400000000000000000000006211322771007300231550ustar00rootroot00000000000000 Servicio Ministro inesistente. Imposible ejecutar la aplicación. Esta aplicación requiere el servicio Ministro. Instalarlo? La aplicación ha causado un error grave y no es posible continuar. aseba-1.6.0/android/thymiovpl/res/values-et/000077500000000000000000000000001322771007300207445ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-et/strings.xml000066400000000000000000000006101322771007300231540ustar00rootroot00000000000000 Ei suuda leida Ministro teenust.\nProgrammi ei saa käivitada. See programm vajab Ministro teenust.\nKas soovite paigaldada? Programmiga juhtus fataalne viga.\nKahjuks ei saa jätkata. aseba-1.6.0/android/thymiovpl/res/values-fa/000077500000000000000000000000001322771007300207225ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-fa/strings.xml000066400000000000000000000010721322771007300231350ustar00rootroot00000000000000 سرویس Ministro را پیدا نمی‌کند. برنامه نمی‌تواند آغاز شود. این نرم‌اÙزار به سرویس Ministro احتیاج دارد. آیا دوست دارید آن را نصب کنید؟ خطایی اساسی در برنامه‌تان رخ داد Ùˆ اجرای برنامه نمی‌تواند ادامه یابد. aseba-1.6.0/android/thymiovpl/res/values-fr/000077500000000000000000000000001322771007300207435ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-fr/strings.xml000066400000000000000000000006601322771007300231600ustar00rootroot00000000000000 Le service Ministro est introuvable.\nL\'application ne peut pas démarrer. Cette application requiert le service Ministro. Voulez-vous l\'installer? Votre application a rencontré une erreur fatale et ne peut pas continuer. aseba-1.6.0/android/thymiovpl/res/values-id/000077500000000000000000000000001322771007300207305ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-id/strings.xml000066400000000000000000000006451322771007300231500ustar00rootroot00000000000000 Layanan Ministro tidak bisa ditemukan.\nAplikasi tidak bisa dimulai. Aplikasi ini membutuhkan layanan Ministro. Apakah Anda ingin menginstalnya? Aplikasi Anda mengalami kesalahan fatal dan tidak dapat melanjutkan. aseba-1.6.0/android/thymiovpl/res/values-it/000077500000000000000000000000001322771007300207505ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-it/strings.xml000066400000000000000000000006321322771007300231640ustar00rootroot00000000000000 Servizio Ministro inesistente. Impossibile eseguire \nl\'applicazione. Questa applicazione richiede il servizio Ministro.Installarlo? L\'applicazione ha provocato un errore grave e non puo\' continuare. aseba-1.6.0/android/thymiovpl/res/values-ja/000077500000000000000000000000001322771007300207265ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-ja/strings.xml000066400000000000000000000010211322771007300231330ustar00rootroot00000000000000 MinistroサービスãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“。\nアプリケーションãŒèµ·å‹•ã§ãã¾ã›ã‚“。 ã“ã®ã‚¢ãƒ—リケーションã«ã¯MinistroサービスãŒå¿…è¦ã§ã™ã€‚ インストールã—ã¦ã‚‚よã‚ã—ã„ã§ã™ã‹ï¼Ÿ アプリケーションã§è‡´å‘½çš„ãªã‚¨ãƒ©ãƒ¼ãŒç™ºç”Ÿã—ãŸãŸã‚続行ã§ãã¾ã›ã‚“。 aseba-1.6.0/android/thymiovpl/res/values-ms/000077500000000000000000000000001322771007300207535ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-ms/strings.xml000066400000000000000000000006301322771007300231650ustar00rootroot00000000000000 Tidak jumpa servis Ministro.\nAplikasi tidak boleh dimulakan. Aplikasi ini memerlukan servis Ministro. Adakah anda ingin pasang servis itu? Aplikasi anda menemui ralat muat dan tidak boleh diteruskan. aseba-1.6.0/android/thymiovpl/res/values-nb/000077500000000000000000000000001322771007300207335ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-nb/strings.xml000066400000000000000000000006221322771007300231460ustar00rootroot00000000000000 Kan ikke finne tjenesten Ministro. Applikasjonen kan ikke starte. Denne applikasjonen krever tjenesten Ministro. Vil du installere denne? Applikasjonen fikk en kritisk feil og kan ikke fortsette aseba-1.6.0/android/thymiovpl/res/values-nl/000077500000000000000000000000001322771007300207455ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-nl/strings.xml000066400000000000000000000006751322771007300231700ustar00rootroot00000000000000 De Ministro service is niet gevonden.\nDe applicatie kan niet starten. Deze applicatie maakt gebruik van de Ministro service. Wilt u deze installeren? Er is een fatale fout in de applicatie opgetreden. De applicatie kan niet verder gaan. aseba-1.6.0/android/thymiovpl/res/values-pl/000077500000000000000000000000001322771007300207475ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-pl/strings.xml000066400000000000000000000006401322771007300231620ustar00rootroot00000000000000 UsÅ‚uga Ministro nie zostaÅ‚a znaleziona.\nAplikacja nie może zostać uruchomiona. Aplikacja wymaga usÅ‚ugi Ministro. Czy chcesz jÄ… zainstalować? WystÄ…piÅ‚ bÅ‚Ä…d krytyczny. Aplikacja zostanie zamkniÄ™ta. aseba-1.6.0/android/thymiovpl/res/values-pt-rBR/000077500000000000000000000000001322771007300214425ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-pt-rBR/strings.xml000066400000000000000000000006501322771007300236560ustar00rootroot00000000000000 Não foi possível encontrar o serviço Ministro.\nA aplicação não pode iniciar. Essa aplicação requer o serviço Ministro. Gostaria de instalá-lo? Sua aplicação encontrou um erro fatal e não pode continuar. aseba-1.6.0/android/thymiovpl/res/values-ro/000077500000000000000000000000001322771007300207545ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-ro/strings.xml000066400000000000000000000006601322771007300231710ustar00rootroot00000000000000 Serviciul Ministro nu poate fi găsit.\nAplicaÅ£ia nu poate porni. Această aplicaÅ£ie necesită serviciul Ministro.\nDoriÅ£i să-l instalaÅ£i? AplicaÅ£ia dumneavoastră a întâmpinat o eroare fatală ÅŸi nu poate continua. aseba-1.6.0/android/thymiovpl/res/values-rs/000077500000000000000000000000001322771007300207605ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-rs/strings.xml000066400000000000000000000006501322771007300231740ustar00rootroot00000000000000 Ministro servise nije pronaÄ‘en. Aplikacija ne može biti pokrenuta. Ova aplikacija zahteva Ministro servis. Želite li da ga instalirate? VaÅ¡a aplikacija je naiÅ¡la na fatalnu greÅ¡ku i ne može nastaviti sa radom. aseba-1.6.0/android/thymiovpl/res/values-ru/000077500000000000000000000000001322771007300207625ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-ru/strings.xml000066400000000000000000000010621322771007300231740ustar00rootroot00000000000000 Ð¡ÐµÑ€Ð²Ð¸Ñ Ministro не найден.\nПриложение Ð½ÐµÐ»ÑŒÐ·Ñ Ð·Ð°Ð¿ÑƒÑтить. Этому приложению необходим ÑÐµÑ€Ð²Ð¸Ñ Ministro. Ð’Ñ‹ хотите его уÑтановить? Ваше приложение ÑтолкнулоÑÑŒ Ñ Ñ„Ð°Ñ‚Ð°Ð»ÑŒÐ½Ð¾Ð¹ ошибкой и не может более работать. aseba-1.6.0/android/thymiovpl/res/values-zh-rCN/000077500000000000000000000000001322771007300214355ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-zh-rCN/strings.xml000066400000000000000000000006111322771007300236460ustar00rootroot00000000000000 无法找到MinistroæœåŠ¡ã€‚\n应用程åºæ— æ³•å¯åŠ¨ã€‚ 此应用程åºéœ€è¦MinistroæœåŠ¡ã€‚您想安装它å—？ 您的应用程åºé‡åˆ°ä¸€ä¸ªè‡´å‘½é”™è¯¯å¯¼è‡´å®ƒæ— æ³•ç»§ç»­ã€‚ aseba-1.6.0/android/thymiovpl/res/values-zh-rTW/000077500000000000000000000000001322771007300214675ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values-zh-rTW/strings.xml000066400000000000000000000006111322771007300237000ustar00rootroot00000000000000 無法找到Ministroæœå‹™ã€‚\n應用程åºç„¡æ³•å•Ÿå‹•ã€‚ 此應用程åºéœ€è¦Ministroæœå‹™ã€‚您想安è£å®ƒå—Žï¼Ÿ 您的應用程åºé‡åˆ°ä¸€å€‹è‡´å‘½éŒ¯èª¤å°Žè‡´å®ƒç„¡æ³•ç¹¼çºŒã€‚ aseba-1.6.0/android/thymiovpl/res/values/000077500000000000000000000000001322771007300203365ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/values/libs.xml000066400000000000000000000004351322771007300220130ustar00rootroot00000000000000 QtCore QtGui QtSvg QtXml QtNetwork dashel aseba-1.6.0/android/thymiovpl/res/values/strings.xml000066400000000000000000000007061322771007300225540ustar00rootroot00000000000000 Thymio VPL Can\'t find Ministro service.\nThe application can\'t start. This application requires Ministro service. Would you like to install it? Your application encountered a fatal error and cannot continue. aseba-1.6.0/android/thymiovpl/res/xml/000077500000000000000000000000001322771007300176375ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/res/xml/device_filter.xml000066400000000000000000000001651322771007300231670ustar00rootroot00000000000000 aseba-1.6.0/android/thymiovpl/src/000077500000000000000000000000001322771007300170355ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/src/org/000077500000000000000000000000001322771007300176245ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/src/org/kde/000077500000000000000000000000001322771007300203675ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/000077500000000000000000000000001322771007300225305ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/ministro/000077500000000000000000000000001322771007300243745ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/ministro/IMinistro.aidl000066400000000000000000000053251322771007300271510ustar00rootroot00000000000000/* Copyright (c) 2011, BogDan Vatra Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ package org.kde.necessitas.ministro; import org.kde.necessitas.ministro.IMinistroCallback; interface IMinistro { /** * Check/download required libs to run the application * * param callback - interface used by Minsitro service to notify the client when the loader is ready * param parameters * parameters fields: * * Key Name Key type Explanations * "required.modules" StringArray Required modules by your application * "application.title" String Application name, used to show more informations to user * "qt.provider" String Qt libs provider, currently only "necessitas" is supported. * "minimum.ministro.api" Integer Minimum Ministro API level, used to check if Ministro service compatible with your application. Current API Level is 1 ! * "minimum.qt.version" Integer Minimim Qt version (e.g. 0x040800, which means Qt 4.8.0, check http://doc.trolltech.com/4.8/qtglobal.html#QT_VERSION)! * "3rd.party.repositories" StringArray 3rd party repositories, which should be downloaded by ministro, needs minimum.ministro.api >= 2 * Check http://community.kde.org/Necessitas/Ministro for more details. */ void requestLoader(in IMinistroCallback callback, in Bundle parameters); } aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/ministro/IMinistroCallback.aidl000066400000000000000000000052411322771007300305630ustar00rootroot00000000000000/* Copyright (c) 2011, BogDan Vatra Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ package org.kde.necessitas.ministro; oneway interface IMinistroCallback { /** * This method is called by the Ministro service back into the application which * implements this interface. * * param in - loaderParams * loaderParams fields: * * Key Name Key type Explanations * * "error.code" Integer See below * * "error.message" String Missing if no error, otherwise will contain the error message translated into phone language where available. * * "dex.path" String The list of jar/apk files containing classes and resources, needed to be passed to application DexClassLoader * * "lib.path" String The list of directories containing native libraries; may be missing, needed to be passed to application DexClassLoader * * "loader.class.name" String Loader class name. * * "error.code" field possible errors: * - 0 no error. * - 1 incompatible Ministro version. Ministro needs to be upgraded. * - 2 not all modules could be satisfy. * - 3 invalid parameters * * This parameter will contain additional fields which are used by the loader to start your application, so it must be passed to loader. */ void loaderReady(in Bundle loaderParams); } aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/origo/000077500000000000000000000000001322771007300236475ustar00rootroot00000000000000aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/origo/QtActivity.java000066400000000000000000001463071322771007300266260ustar00rootroot00000000000000/* Copyright (c) 2009-2011, BogDan Vatra All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the BogDan Vatra nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY BogDan Vatra ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BogDan Vatra BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ package org.kde.necessitas.origo; import java.io.File; import java.lang.reflect.Method; import java.util.ArrayList; import java.util.Arrays; import org.kde.necessitas.ministro.IMinistro; import org.kde.necessitas.ministro.IMinistroCallback; import android.app.Activity; import android.app.AlertDialog; import android.app.Dialog; import android.content.ComponentName; import android.content.Context; import android.content.DialogInterface; import android.content.Intent; import android.content.ServiceConnection; import android.content.pm.ActivityInfo; import android.content.pm.PackageManager; import android.content.pm.PackageManager.NameNotFoundException; import android.content.res.Configuration; import android.content.res.Resources.Theme; import android.graphics.Bitmap; import android.graphics.Canvas; import android.net.Uri; import android.os.Bundle; import android.os.IBinder; import android.os.RemoteException; import android.util.AttributeSet; import android.util.Log; import android.view.ContextMenu; import android.view.ContextMenu.ContextMenuInfo; import android.view.KeyEvent; import android.view.Menu; import android.view.MenuItem; import android.view.MotionEvent; import android.view.View; import android.view.Window; import android.view.WindowManager.LayoutParams; import android.view.accessibility.AccessibilityEvent; import dalvik.system.DexClassLoader; //@ANDROID-11 //QtCreator import android.app.Fragment; //QtCreator import android.view.ActionMode; //QtCreator import android.view.ActionMode.Callback; //@ANDROID-11 public class QtActivity extends Activity { private final static int MINISTRO_INSTALL_REQUEST_CODE = 0xf3ee; // request code used to know when Ministro instalation is finished private static final int MINISTRO_API_LEVEL=2; // Ministro api level (check IMinistro.aidl file) private static final int NECESSITAS_API_LEVEL=2; // Necessitas api level used by platform plugin private static final String QT_PROVIDER="necessitas"; private static final int QT_VERSION=0x040801; // Qt version 4.8.00 check http://qt-project.org/doc/qt-4.8/qtglobal.html#QT_VERSION private static final String ERROR_CODE_KEY="error.code"; private static final String ERROR_MESSAGE_KEY="error.message"; private static final String DEX_PATH_KEY="dex.path"; private static final String LIB_PATH_KEY="lib.path"; private static final String LOADER_CLASS_NAME_KEY="loader.class.name"; private static final String NATIVE_LIBRARIES_KEY="native.libraries"; private static final String ENVIRONMENT_VARIABLES_KEY="environment.variables"; private static final String APPLICATION_PARAMETERS_KEY="application.parameters"; private static final String BUNDLED_LIBRARIES_KEY="bundled.libraries"; private static final String MAIN_LIBRARY_KEY="main.library"; private static final String NECESSITAS_API_LEVEL_KEY="necessitas.api.level"; /// Ministro server parameter keys private static final String REQUIRED_MODULES_KEY="required.modules"; private static final String APPLICATION_TITLE_KEY="application.title"; private static final String QT_PROVIDER_KEY="qt.provider"; private static final String MINIMUM_MINISTRO_API_KEY="minimum.ministro.api"; private static final String MINIMUM_QT_VERSION_KEY="minimum.qt.version"; // private static final String REPOSITORIES="3rd.party.repositories"; // needs MINISTRO_API_LEVEL >=2 !!! // Use this key to specify any 3rd party repositories urls // Ministro will download these repositories into thier // own folders, check http://community.kde.org/Necessitas/Ministro // for more details. private static final String APPLICATION_PARAMETERS=null; // use this variable to pass any parameters to your application, // the parameters must not contain any white spaces // and must be separated with "\t" // e.g "-param1\t-param2=value2\t-param3\tvalue3" private static final String ENVIRONMENT_VARIABLES="QT_USE_ANDROID_NATIVE_STYLE=0\t"; // use this variable to add any environment variables to your application. // the env vars must be separated with "\t" // e.g. "ENV_VAR1=1\tENV_VAR2=2\t" // Currently the following vars are used by the android plugin: // * QT_USE_ANDROID_NATIVE_STYLE - 0 if you don't want to use android style plugin, it will save a few ms at startup. private static final int INCOMPATIBLE_MINISTRO_VERSION=1; // Incompatible Ministro version. Ministro needs to be upgraded. private ActivityInfo m_activityInfo = null; // activity info object, used to access the libs and the strings private DexClassLoader m_classLoader = null; // loader object private String[] m_qtLibs = null; // required qt libs private static QtActivity QtActivityInstance; public static QtActivity getQtActivityInstance() { return QtActivity.QtActivityInstance; } // this function is used to load and start the loader private void loadApplication(Bundle loaderParams) { try { final int errorCode = loaderParams.getInt(ERROR_CODE_KEY); if (errorCode != 0) { if (errorCode == INCOMPATIBLE_MINISTRO_VERSION) { downloadUpgradeMinistro(loaderParams.getString(ERROR_MESSAGE_KEY)); return; } // fatal error, show the error and quit AlertDialog errorDialog = new AlertDialog.Builder(QtActivity.this).create(); errorDialog.setMessage(loaderParams.getString(ERROR_MESSAGE_KEY)); errorDialog.setButton(getResources().getString(android.R.string.ok), new DialogInterface.OnClickListener() { @Override public void onClick(DialogInterface dialog, int which) { finish(); } }); errorDialog.show(); return; } // add all bundled Qt libs to loader params ArrayList libs = new ArrayList(); if ( m_activityInfo.metaData.containsKey("android.app.bundled_libs_resource_id") ) libs.addAll(Arrays.asList(getResources().getStringArray(m_activityInfo.metaData.getInt("android.app.bundled_libs_resource_id")))); String libName = null; if ( m_activityInfo.metaData.containsKey("android.app.lib_name") ) { libName = m_activityInfo.metaData.getString("android.app.lib_name"); loaderParams.putString(MAIN_LIBRARY_KEY, libName); //main library contains main() function } loaderParams.putStringArrayList(BUNDLED_LIBRARIES_KEY, libs); loaderParams.putInt(NECESSITAS_API_LEVEL_KEY, NECESSITAS_API_LEVEL); // load and start QtLoader class m_classLoader = new DexClassLoader(loaderParams.getString(DEX_PATH_KEY) // .jar/.apk files , getDir("outdex", Context.MODE_PRIVATE).getAbsolutePath() // directory where optimized DEX files should be written. , loaderParams.containsKey(LIB_PATH_KEY)?loaderParams.getString(LIB_PATH_KEY):null // libs folder (if exists) , getClassLoader()); // parent loader @SuppressWarnings("rawtypes") Class loaderClass = m_classLoader.loadClass(loaderParams.getString(LOADER_CLASS_NAME_KEY)); // load QtLoader class Object qtLoader = loaderClass.newInstance(); // create an instance Method perpareAppMethod=qtLoader.getClass().getMethod("loadApplication", Activity.class, ClassLoader.class, Bundle.class); if (!(Boolean)perpareAppMethod.invoke(qtLoader, this, m_classLoader, loaderParams)) throw new Exception(""); QtApplication.setQtActivityDelegate(qtLoader); QtActivity.QtActivityInstance = this; // now load the application library so it's accessible from this class loader if (libName != null) System.loadLibrary(libName); Method startAppMethod=qtLoader.getClass().getMethod("startApplication"); if (!(Boolean)startAppMethod.invoke(qtLoader)) throw new Exception(""); } catch (Exception e) { e.printStackTrace(); AlertDialog errorDialog = new AlertDialog.Builder(QtActivity.this).create(); if (m_activityInfo != null && m_activityInfo.metaData.containsKey("android.app.fatal_error_msg")) errorDialog.setMessage(m_activityInfo.metaData.getString("android.app.fatal_error_msg")); else errorDialog.setMessage("Fatal error, your application can't be started."); errorDialog.setButton(getResources().getString(android.R.string.ok), new DialogInterface.OnClickListener() { @Override public void onClick(DialogInterface dialog, int which) { finish(); } }); errorDialog.show(); } } private ServiceConnection m_ministroConnection=new ServiceConnection() { private IMinistro m_service = null; @Override public void onServiceConnected(ComponentName name, IBinder service) { m_service = IMinistro.Stub.asInterface(service); try { if (m_service!=null) { Bundle parameters= new Bundle(); parameters.putStringArray(REQUIRED_MODULES_KEY, m_qtLibs); parameters.putString(APPLICATION_TITLE_KEY, (String)QtActivity.this.getTitle()); parameters.putInt(MINIMUM_MINISTRO_API_KEY, MINISTRO_API_LEVEL); parameters.putString(QT_PROVIDER_KEY, QT_PROVIDER); parameters.putInt(MINIMUM_QT_VERSION_KEY, QT_VERSION); parameters.putString(ENVIRONMENT_VARIABLES_KEY, ENVIRONMENT_VARIABLES); if (null!=APPLICATION_PARAMETERS) parameters.putString(APPLICATION_PARAMETERS_KEY, APPLICATION_PARAMETERS); // parameters.putStringArray(REPOSITORIES, null); m_service.requestLoader(m_ministroCallback, parameters); } } catch (RemoteException e) { e.printStackTrace(); } } private IMinistroCallback m_ministroCallback = new IMinistroCallback.Stub() { // this function is called back by Ministro. @Override public void loaderReady(final Bundle loaderParams) throws RemoteException { runOnUiThread( new Runnable() { @Override public void run() { unbindService(m_ministroConnection); loadApplication(loaderParams); } }); } }; @Override public void onServiceDisconnected(ComponentName name) { m_service = null; } }; private void downloadUpgradeMinistro(String msg) { AlertDialog.Builder downloadDialog = new AlertDialog.Builder(this); downloadDialog.setMessage(msg); downloadDialog.setPositiveButton(android.R.string.yes, new DialogInterface.OnClickListener() { @Override public void onClick(DialogInterface dialogInterface, int i) { try { Uri uri = Uri.parse("market://search?q=pname:org.kde.necessitas.ministro"); Intent intent = new Intent(Intent.ACTION_VIEW, uri); startActivityForResult(intent, MINISTRO_INSTALL_REQUEST_CODE); } catch (Exception e) { e.printStackTrace(); ministroNotFound(); } } }); downloadDialog.setNegativeButton(android.R.string.no, new DialogInterface.OnClickListener() { @Override public void onClick(DialogInterface dialogInterface, int i) { QtActivity.this.finish(); } }); downloadDialog.show(); } private void ministroNotFound() { AlertDialog errorDialog = new AlertDialog.Builder(QtActivity.this).create(); if (m_activityInfo != null && m_activityInfo.metaData.containsKey("android.app.ministro_not_found_msg")) errorDialog.setMessage(m_activityInfo.metaData.getString("android.app.ministro_not_found_msg")); else errorDialog.setMessage("Can't find Ministro service.\nThe application can't start."); errorDialog.setButton(getResources().getString(android.R.string.ok), new DialogInterface.OnClickListener() { @Override public void onClick(DialogInterface dialog, int which) { finish(); } }); errorDialog.show(); } private void startApp(final boolean firstStart) { try { ActivityInfo ai=getPackageManager().getActivityInfo(getComponentName(), PackageManager.GET_META_DATA); if (ai.metaData.containsKey("android.app.qt_libs_resource_id")) { int resourceId = ai.metaData.getInt("android.app.qt_libs_resource_id"); m_qtLibs=getResources().getStringArray(resourceId); } if (getIntent().getExtras()!= null && getIntent().getExtras().containsKey("use_local_qt_libs") && getIntent().getExtras().getString("use_local_qt_libs").equals("true")) { ArrayList libraryList= new ArrayList(); String localPrefix="/data/local/qt/"; if (getIntent().getExtras().containsKey("libs_prefix")) localPrefix=getIntent().getExtras().getString("libs_prefix"); if (m_qtLibs != null) for(int i=0;i0) libraryList.add(localPrefix+lib); } String dexPaths = new String(); String pathSeparator = System.getProperty("path.separator", ":"); if (getIntent().getExtras().containsKey("load_local_jars")) { String []jarFiles=getIntent().getExtras().getString("load_local_jars").split(":"); for (String jar:jarFiles) if (jar.length()>0) { if (dexPaths.length()>0) dexPaths+=pathSeparator; dexPaths+=localPrefix+jar; } } Bundle loaderParams = new Bundle(); loaderParams.putInt(ERROR_CODE_KEY, 0); loaderParams.putString(DEX_PATH_KEY, dexPaths); loaderParams.putString(LOADER_CLASS_NAME_KEY, getIntent().getExtras().containsKey("loader_class_name") ?getIntent().getExtras().getString("loader_class_name") :"org.kde.necessitas.industrius.QtActivityDelegate"); loaderParams.putStringArrayList(NATIVE_LIBRARIES_KEY, libraryList); loaderParams.putString(ENVIRONMENT_VARIABLES_KEY,"QML_IMPORT_PATH="+localPrefix+"/imports\tQT_PLUGIN_PATH="+localPrefix+"/plugins"); loaderParams.putString(APPLICATION_PARAMETERS_KEY,"-platform\tandroid"); loadApplication(loaderParams); return; } try { if (!bindService(new Intent(org.kde.necessitas.ministro.IMinistro.class.getCanonicalName()), m_ministroConnection, Context.BIND_AUTO_CREATE)) throw new SecurityException(""); } catch (Exception e) { if (firstStart) { String msg="This application requires Ministro service. Would you like to install it?"; if (m_activityInfo != null && m_activityInfo.metaData.containsKey("android.app.ministro_needed_msg")) msg=m_activityInfo.metaData.getString("android.app.ministro_needed_msg"); downloadUpgradeMinistro(msg); } else { ministroNotFound(); } } } catch (Exception e) { Log.e(QtApplication.QtTAG, "Can't create main activity", e); } } /////////////////////////// forward all notifications //////////////////////////// /////////////////////////// Super class calls //////////////////////////////////// /////////////// PLEASE DO NOT CHANGE THE FOLLOWING CODE ////////////////////////// ////////////////////////////////////////////////////////////////////////////////// @Override public boolean dispatchKeyEvent(KeyEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.dispatchKeyEvent != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.dispatchKeyEvent, event); else return super.dispatchKeyEvent(event); } public boolean super_dispatchKeyEvent(KeyEvent event) { return super.dispatchKeyEvent(event); } //--------------------------------------------------------------------------- @Override public boolean dispatchPopulateAccessibilityEvent(AccessibilityEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.dispatchPopulateAccessibilityEvent != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.dispatchPopulateAccessibilityEvent, event); else return super.dispatchPopulateAccessibilityEvent(event); } public boolean super_dispatchPopulateAccessibilityEvent(AccessibilityEvent event) { return super_dispatchPopulateAccessibilityEvent(event); } //--------------------------------------------------------------------------- @Override public boolean dispatchTouchEvent(MotionEvent ev) { if (QtApplication.m_delegateObject != null && QtApplication.dispatchTouchEvent != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.dispatchTouchEvent, ev); else return super.dispatchTouchEvent(ev); } public boolean super_dispatchTouchEvent(MotionEvent event) { return super.dispatchTouchEvent(event); } //--------------------------------------------------------------------------- @Override public boolean dispatchTrackballEvent(MotionEvent ev) { if (QtApplication.m_delegateObject != null && QtApplication.dispatchTrackballEvent != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.dispatchTrackballEvent, ev); else return super.dispatchTrackballEvent(ev); } public boolean super_dispatchTrackballEvent(MotionEvent event) { return super.dispatchTrackballEvent(event); } //--------------------------------------------------------------------------- @Override protected void onActivityResult(int requestCode, int resultCode, Intent data) { if (QtApplication.m_delegateObject != null && QtApplication.onActivityResult != null) { QtApplication.invokeDelegateMethod(QtApplication.onActivityResult, requestCode, resultCode, data); return; } if (requestCode == MINISTRO_INSTALL_REQUEST_CODE) startApp(false); super.onActivityResult(requestCode, resultCode, data); } public void super_onActivityResult(int requestCode, int resultCode, Intent data) { super.onActivityResult(requestCode, resultCode, data); } //--------------------------------------------------------------------------- @Override protected void onApplyThemeResource(Theme theme, int resid, boolean first) { if (!QtApplication.invokeDelegate(theme, resid, first).invoked) super.onApplyThemeResource(theme, resid, first); } public void super_onApplyThemeResource(Theme theme, int resid, boolean first) { super.onApplyThemeResource(theme, resid, first); } //--------------------------------------------------------------------------- @Override protected void onChildTitleChanged(Activity childActivity, CharSequence title) { if (!QtApplication.invokeDelegate(childActivity, title).invoked) super.onChildTitleChanged(childActivity, title); } public void super_onChildTitleChanged(Activity childActivity, CharSequence title) { super.onChildTitleChanged(childActivity, title); } //--------------------------------------------------------------------------- @Override public void onConfigurationChanged(Configuration newConfig) { if (!QtApplication.invokeDelegate(newConfig).invoked) super.onConfigurationChanged(newConfig); } public void super_onConfigurationChanged(Configuration newConfig) { super.onConfigurationChanged(newConfig); } //--------------------------------------------------------------------------- @Override public void onContentChanged() { if (!QtApplication.invokeDelegate().invoked) super.onContentChanged(); } public void super_onContentChanged() { super.onContentChanged(); } //--------------------------------------------------------------------------- @Override public boolean onContextItemSelected(MenuItem item) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(item); if (res.invoked) return (Boolean)res.methodReturns; else return super.onContextItemSelected(item); } public boolean super_onContextItemSelected(MenuItem item) { return super.onContextItemSelected(item); } //--------------------------------------------------------------------------- @Override public void onContextMenuClosed(Menu menu) { if (!QtApplication.invokeDelegate(menu).invoked) super.onContextMenuClosed(menu); } public void super_onContextMenuClosed(Menu menu) { super.onContextMenuClosed(menu); } //--------------------------------------------------------------------------- @Override public void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); if (QtApplication.m_delegateObject != null && QtApplication.onCreate != null) { QtApplication.invokeDelegateMethod(QtApplication.onCreate, savedInstanceState); return; } requestWindowFeature(Window.FEATURE_NO_TITLE); try { m_activityInfo = getPackageManager().getActivityInfo(getComponentName(), PackageManager.GET_META_DATA); } catch (NameNotFoundException e) { e.printStackTrace(); finish(); return; } if (null == getLastNonConfigurationInstance()) { // if splash screen is defined, then show it if ( m_activityInfo.metaData.containsKey("android.app.splash_screen") ) setContentView(m_activityInfo.metaData.getInt("android.app.splash_screen")); startApp(true); } } //--------------------------------------------------------------------------- @Override public void onCreateContextMenu(ContextMenu menu, View v, ContextMenuInfo menuInfo) { if (!QtApplication.invokeDelegate(menu, v, menuInfo).invoked) super.onCreateContextMenu(menu, v, menuInfo); } public void super_onCreateContextMenu(ContextMenu menu, View v, ContextMenuInfo menuInfo) { super.onCreateContextMenu(menu, v, menuInfo); } //--------------------------------------------------------------------------- @Override public CharSequence onCreateDescription() { QtApplication.InvokeResult res = QtApplication.invokeDelegate(); if (res.invoked) return (CharSequence)res.methodReturns; else return super.onCreateDescription(); } public CharSequence super_onCreateDescription() { return super.onCreateDescription(); } //--------------------------------------------------------------------------- @Override protected Dialog onCreateDialog(int id) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(id); if (res.invoked) return (Dialog)res.methodReturns; else return super.onCreateDialog(id); } public Dialog super_onCreateDialog(int id) { return super.onCreateDialog(id); } //--------------------------------------------------------------------------- @Override public boolean onCreateOptionsMenu(Menu menu) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(menu); if (res.invoked) return (Boolean)res.methodReturns; else return super.onCreateOptionsMenu(menu); } public boolean super_onCreateOptionsMenu(Menu menu) { return super.onCreateOptionsMenu(menu); } //--------------------------------------------------------------------------- @Override public boolean onCreatePanelMenu(int featureId, Menu menu) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(featureId, menu); if (res.invoked) return (Boolean)res.methodReturns; else return super.onCreatePanelMenu(featureId, menu); } public boolean super_onCreatePanelMenu(int featureId, Menu menu) { return super.onCreatePanelMenu(featureId, menu); } //--------------------------------------------------------------------------- @Override public View onCreatePanelView(int featureId) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(featureId); if (res.invoked) return (View)res.methodReturns; else return super.onCreatePanelView(featureId); } public View super_onCreatePanelView(int featureId) { return super.onCreatePanelView(featureId); } //--------------------------------------------------------------------------- @Override public boolean onCreateThumbnail(Bitmap outBitmap, Canvas canvas) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(outBitmap, canvas); if (res.invoked) return (Boolean)res.methodReturns; else return super.onCreateThumbnail(outBitmap, canvas); } public boolean super_onCreateThumbnail(Bitmap outBitmap, Canvas canvas) { return super.onCreateThumbnail(outBitmap, canvas); } //--------------------------------------------------------------------------- @Override public View onCreateView(String name, Context context, AttributeSet attrs) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(name, context, attrs); if (res.invoked) return (View)res.methodReturns; else return super.onCreateView(name, context, attrs); } public View super_onCreateView(String name, Context context, AttributeSet attrs) { return super.onCreateView(name, context, attrs); } //--------------------------------------------------------------------------- @Override protected void onDestroy() { super.onDestroy(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override public boolean onKeyDown(int keyCode, KeyEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.onKeyDown != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onKeyDown, keyCode, event); else return super.onKeyDown(keyCode, event); } public boolean super_onKeyDown(int keyCode, KeyEvent event) { return super.onKeyDown(keyCode, event); } //--------------------------------------------------------------------------- @Override public boolean onKeyMultiple(int keyCode, int repeatCount, KeyEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.onKeyMultiple != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onKeyMultiple ,keyCode, repeatCount, event); else return super.onKeyMultiple(keyCode, repeatCount, event); } public boolean super_onKeyMultiple(int keyCode, int repeatCount, KeyEvent event) { return super.onKeyMultiple(keyCode, repeatCount, event); } //--------------------------------------------------------------------------- @Override public boolean onKeyUp(int keyCode, KeyEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.onKeyDown != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onKeyUp, keyCode, event); else return super.onKeyUp(keyCode, event); } public boolean super_onKeyUp(int keyCode, KeyEvent event) { return super.onKeyUp(keyCode, event); } //--------------------------------------------------------------------------- @Override public void onLowMemory() { if (!QtApplication.invokeDelegate().invoked) super.onLowMemory(); } //--------------------------------------------------------------------------- @Override public boolean onMenuItemSelected(int featureId, MenuItem item) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(featureId, item); if (res.invoked) return (Boolean)res.methodReturns; else return super.onMenuItemSelected(featureId, item); } public boolean super_onMenuItemSelected(int featureId, MenuItem item) { return super.onMenuItemSelected(featureId, item); } //--------------------------------------------------------------------------- @Override public boolean onMenuOpened(int featureId, Menu menu) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(featureId, menu); if (res.invoked) return (Boolean)res.methodReturns; else return super.onMenuOpened(featureId, menu); } public boolean super_onMenuOpened(int featureId, Menu menu) { return super.onMenuOpened(featureId, menu); } //--------------------------------------------------------------------------- @Override protected void onNewIntent(Intent intent) { if (!QtApplication.invokeDelegate(intent).invoked) super.onNewIntent(intent); } public void super_onNewIntent(Intent intent) { super.onNewIntent(intent); } //--------------------------------------------------------------------------- @Override public boolean onOptionsItemSelected(MenuItem item) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(item); if (res.invoked) return (Boolean)res.methodReturns; else return super.onOptionsItemSelected(item); } public boolean super_onOptionsItemSelected(MenuItem item) { return super.onOptionsItemSelected(item); } //--------------------------------------------------------------------------- @Override public void onOptionsMenuClosed(Menu menu) { if (!QtApplication.invokeDelegate(menu).invoked) super.onOptionsMenuClosed(menu); } public void super_onOptionsMenuClosed(Menu menu) { super.onOptionsMenuClosed(menu); } //--------------------------------------------------------------------------- @Override public void onPanelClosed(int featureId, Menu menu) { if (!QtApplication.invokeDelegate(featureId, menu).invoked) super.onPanelClosed(featureId, menu); } public void super_onPanelClosed(int featureId, Menu menu) { super.onPanelClosed(featureId, menu); } //--------------------------------------------------------------------------- @Override protected void onPause() { super.onPause(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override protected void onPostCreate(Bundle savedInstanceState) { super.onPostCreate(savedInstanceState); QtApplication.invokeDelegate(savedInstanceState); } //--------------------------------------------------------------------------- @Override protected void onPostResume() { super.onPostResume(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override protected void onPrepareDialog(int id, Dialog dialog) { if (!QtApplication.invokeDelegate(id, dialog).invoked) super.onPrepareDialog(id, dialog); } public void super_onPrepareDialog(int id, Dialog dialog) { super.onPrepareDialog(id, dialog); } //--------------------------------------------------------------------------- @Override public boolean onPrepareOptionsMenu(Menu menu) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(menu); if (res.invoked) return (Boolean)res.methodReturns; else return super.onPrepareOptionsMenu(menu); } public boolean super_onPrepareOptionsMenu(Menu menu) { return super.onPrepareOptionsMenu(menu); } //--------------------------------------------------------------------------- @Override public boolean onPreparePanel(int featureId, View view, Menu menu) { QtApplication.InvokeResult res = QtApplication.invokeDelegate(featureId, view, menu); if (res.invoked) return (Boolean)res.methodReturns; else return super.onPreparePanel(featureId, view, menu); } public boolean super_onPreparePanel(int featureId, View view, Menu menu) { return super.onPreparePanel(featureId, view, menu); } //--------------------------------------------------------------------------- @Override protected void onRestart() { super.onRestart(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override protected void onRestoreInstanceState(Bundle savedInstanceState) { if (!QtApplication.invokeDelegate(savedInstanceState).invoked) super.onRestoreInstanceState(savedInstanceState); } public void super_onRestoreInstanceState(Bundle savedInstanceState) { super.onRestoreInstanceState(savedInstanceState); } //--------------------------------------------------------------------------- @Override protected void onResume() { super.onResume(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override public Object onRetainNonConfigurationInstance() { QtApplication.InvokeResult res = QtApplication.invokeDelegate(); if (res.invoked) return res.methodReturns; else return super.onRetainNonConfigurationInstance(); } public Object super_onRetainNonConfigurationInstance() { return super.onRetainNonConfigurationInstance(); } //--------------------------------------------------------------------------- @Override protected void onSaveInstanceState(Bundle outState) { if (!QtApplication.invokeDelegate(outState).invoked) super.onSaveInstanceState(outState); } public void super_onSaveInstanceState(Bundle outState) { super.onSaveInstanceState(outState); } //--------------------------------------------------------------------------- @Override public boolean onSearchRequested() { QtApplication.InvokeResult res = QtApplication.invokeDelegate(); if (res.invoked) return (Boolean)res.methodReturns; else return super.onSearchRequested(); } public boolean super_onSearchRequested() { return super.onSearchRequested(); } //--------------------------------------------------------------------------- @Override protected void onStart() { super.onStart(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override protected void onStop() { super.onStop(); QtApplication.invokeDelegate(); } //--------------------------------------------------------------------------- @Override protected void onTitleChanged(CharSequence title, int color) { if (!QtApplication.invokeDelegate(title, color).invoked) super.onTitleChanged(title, color); } public void super_onTitleChanged(CharSequence title, int color) { super.onTitleChanged(title, color); } //--------------------------------------------------------------------------- @Override public boolean onTouchEvent(MotionEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.onTouchEvent != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onTouchEvent, event); else return super.onTouchEvent(event); } public boolean super_onTouchEvent(MotionEvent event) { return super.onTouchEvent(event); } //--------------------------------------------------------------------------- @Override public boolean onTrackballEvent(MotionEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.onTrackballEvent != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onTrackballEvent, event); else return super.onTrackballEvent(event); } public boolean super_onTrackballEvent(MotionEvent event) { return super.onTrackballEvent(event); } //--------------------------------------------------------------------------- @Override public void onUserInteraction() { if (!QtApplication.invokeDelegate().invoked) super.onUserInteraction(); } public void super_onUserInteraction() { super.onUserInteraction(); } //--------------------------------------------------------------------------- @Override protected void onUserLeaveHint() { if (!QtApplication.invokeDelegate().invoked) super.onUserLeaveHint(); } public void super_onUserLeaveHint() { super.onUserLeaveHint(); } //--------------------------------------------------------------------------- @Override public void onWindowAttributesChanged(LayoutParams params) { if (!QtApplication.invokeDelegate(params).invoked) super.onWindowAttributesChanged(params); } public void super_onWindowAttributesChanged(LayoutParams params) { super.onWindowAttributesChanged(params); } //--------------------------------------------------------------------------- @Override public void onWindowFocusChanged(boolean hasFocus) { if (!QtApplication.invokeDelegate(hasFocus).invoked) super.onWindowFocusChanged(hasFocus); } public void super_onWindowFocusChanged(boolean hasFocus) { super.onWindowFocusChanged(hasFocus); } //--------------------------------------------------------------------------- //////////////// Activity API 5 ///////////// //@ANDROID-5 @Override public void onAttachedToWindow() { if (!QtApplication.invokeDelegate().invoked) super.onAttachedToWindow(); } public void super_onAttachedToWindow() { super.onAttachedToWindow(); } //--------------------------------------------------------------------------- @Override public void onBackPressed() { if (!QtApplication.invokeDelegate().invoked) super.onBackPressed(); } public void super_onBackPressed() { super.onBackPressed(); } //--------------------------------------------------------------------------- @Override public void onDetachedFromWindow() { if (!QtApplication.invokeDelegate().invoked) super.onDetachedFromWindow(); } public void super_onDetachedFromWindow() { super.onDetachedFromWindow(); } //--------------------------------------------------------------------------- @Override public boolean onKeyLongPress(int keyCode, KeyEvent event) { if (QtApplication.m_delegateObject != null && QtApplication.onKeyLongPress != null) return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onKeyLongPress, keyCode, event); else return super.onKeyLongPress(keyCode, event); } public boolean super_onKeyLongPress(int keyCode, KeyEvent event) { return super.onKeyLongPress(keyCode, event); } //--------------------------------------------------------------------------- //@ANDROID-5 //////////////// Activity API 8 ///////////// //@ANDROID-8 //QtCreator @Override //QtCreator protected Dialog onCreateDialog(int id, Bundle args) //QtCreator { //QtCreator QtApplication.InvokeResult res = QtApplication.invokeDelegate(id, args); //QtCreator if (res.invoked) //QtCreator return (Dialog)res.methodReturns; //QtCreator else //QtCreator return super.onCreateDialog(id, args); //QtCreator } //QtCreator public Dialog super_onCreateDialog(int id, Bundle args) //QtCreator { //QtCreator return super.onCreateDialog(id, args); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator protected void onPrepareDialog(int id, Dialog dialog, Bundle args) //QtCreator { //QtCreator if (!QtApplication.invokeDelegate(id, dialog, args).invoked) //QtCreator super.onPrepareDialog(id, dialog, args); //QtCreator } //QtCreator public void super_onPrepareDialog(int id, Dialog dialog, Bundle args) //QtCreator { //QtCreator super.onPrepareDialog(id, dialog, args); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //@ANDROID-8 //////////////// Activity API 11 ///////////// //@ANDROID-11 //QtCreator @Override //QtCreator public boolean dispatchKeyShortcutEvent(KeyEvent event) //QtCreator { //QtCreator if (QtApplication.m_delegateObject != null && QtApplication.dispatchKeyShortcutEvent != null) //QtCreator return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.dispatchKeyShortcutEvent, event); //QtCreator else //QtCreator return super.dispatchKeyShortcutEvent(event); //QtCreator } //QtCreator public boolean super_dispatchKeyShortcutEvent(KeyEvent event) //QtCreator { //QtCreator return super.dispatchKeyShortcutEvent(event); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public void onActionModeFinished(ActionMode mode) //QtCreator { //QtCreator if (!QtApplication.invokeDelegate(mode).invoked) //QtCreator super.onActionModeFinished(mode); //QtCreator } //QtCreator public void super_onActionModeFinished(ActionMode mode) //QtCreator { //QtCreator super.onActionModeFinished(mode); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public void onActionModeStarted(ActionMode mode) //QtCreator { //QtCreator if (!QtApplication.invokeDelegate(mode).invoked) //QtCreator super.onActionModeStarted(mode); //QtCreator } //QtCreator public void super_onActionModeStarted(ActionMode mode) //QtCreator { //QtCreator super.onActionModeStarted(mode); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public void onAttachFragment(Fragment fragment) //QtCreator { //QtCreator if (!QtApplication.invokeDelegate(fragment).invoked) //QtCreator super.onAttachFragment(fragment); //QtCreator } //QtCreator public void super_onAttachFragment(Fragment fragment) //QtCreator { //QtCreator super.onAttachFragment(fragment); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public View onCreateView(View parent, String name, Context context, AttributeSet attrs) //QtCreator { //QtCreator QtApplication.InvokeResult res = QtApplication.invokeDelegate(parent, name, context, attrs); //QtCreator if (res.invoked) //QtCreator return (View)res.methodReturns; //QtCreator else //QtCreator return super.onCreateView(parent, name, context, attrs); //QtCreator } //QtCreator public View super_onCreateView(View parent, String name, Context context, //QtCreator AttributeSet attrs) { //QtCreator return super.onCreateView(parent, name, context, attrs); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public boolean onKeyShortcut(int keyCode, KeyEvent event) //QtCreator { //QtCreator if (QtApplication.m_delegateObject != null && QtApplication.onKeyShortcut != null) //QtCreator return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onKeyShortcut, keyCode,event); //QtCreator else //QtCreator return super.onKeyShortcut(keyCode, event); //QtCreator } //QtCreator public boolean super_onKeyShortcut(int keyCode, KeyEvent event) //QtCreator { //QtCreator return super.onKeyShortcut(keyCode, event); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public ActionMode onWindowStartingActionMode(Callback callback) //QtCreator { //QtCreator QtApplication.InvokeResult res = QtApplication.invokeDelegate(callback); //QtCreator if (res.invoked) //QtCreator return (ActionMode)res.methodReturns; //QtCreator else //QtCreator return super.onWindowStartingActionMode(callback); //QtCreator } //QtCreator public ActionMode super_onWindowStartingActionMode(Callback callback) //QtCreator { //QtCreator return super.onWindowStartingActionMode(callback); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //@ANDROID-11 //////////////// Activity API 12 ///////////// //@ANDROID-12 //QtCreator @Override //QtCreator public boolean dispatchGenericMotionEvent(MotionEvent ev) //QtCreator { //QtCreator if (QtApplication.m_delegateObject != null && QtApplication.dispatchGenericMotionEvent != null) //QtCreator return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.dispatchGenericMotionEvent, ev); //QtCreator else //QtCreator return super.dispatchGenericMotionEvent(ev); //QtCreator } //QtCreator public boolean super_dispatchGenericMotionEvent(MotionEvent event) //QtCreator { //QtCreator return super.dispatchGenericMotionEvent(event); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //QtCreator //QtCreator @Override //QtCreator public boolean onGenericMotionEvent(MotionEvent event) //QtCreator { //QtCreator if (QtApplication.m_delegateObject != null && QtApplication.onGenericMotionEvent != null) //QtCreator return (Boolean) QtApplication.invokeDelegateMethod(QtApplication.onGenericMotionEvent, event); //QtCreator else //QtCreator return super.onGenericMotionEvent(event); //QtCreator } //QtCreator public boolean super_onGenericMotionEvent(MotionEvent event) //QtCreator { //QtCreator return super.onGenericMotionEvent(event); //QtCreator } //QtCreator //--------------------------------------------------------------------------- //@ANDROID-12 } aseba-1.6.0/android/thymiovpl/src/org/kde/necessitas/origo/QtApplication.java000066400000000000000000000216361322771007300272720ustar00rootroot00000000000000/* Copyright (c) 2009-2011, BogDan Vatra All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the BogDan Vatra nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY BogDan Vatra ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BogDan Vatra BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ package org.kde.necessitas.origo; import java.lang.reflect.Field; import java.lang.reflect.Method; import java.util.ArrayList; import java.util.HashMap; import android.app.Application; public class QtApplication extends Application { public final static String QtTAG="Qt"; public static Object m_delegateObject = null; public static HashMap> m_delegateMethods= new HashMap>(); public static Method dispatchKeyEvent = null; public static Method dispatchPopulateAccessibilityEvent = null; public static Method dispatchTouchEvent = null; public static Method dispatchTrackballEvent = null; public static Method onKeyDown = null; public static Method onKeyMultiple = null; public static Method onKeyUp = null; public static Method onTouchEvent = null; public static Method onTrackballEvent = null; public static Method onActivityResult = null; public static Method onCreate = null; public static Method onKeyLongPress = null; public static Method dispatchKeyShortcutEvent = null; public static Method onKeyShortcut = null; public static Method dispatchGenericMotionEvent = null; public static Method onGenericMotionEvent = null; /* public static Method onTerminate = null; public static Method onApplyThemeResource = null; public static Method onChildTitleChanged = null; public static Method onConfigurationChanged = null; public static Method onContentChanged = null; public static Method onContextItemSelected = null; public static Method onContextMenuClosed = null; public static Method onCreateContextMenu = null; public static Method onCreateDescription = null; public static Method onCreateDialog = null; public static Method onCreateOptionsMenu = null; public static Method onCreatePanelMenu = null; public static Method onCreatePanelView = null; public static Method onCreateThumbnail = null; public static Method onCreateView = null; public static Method onDestroy = null; public static Method onLowMemory = null; public static Method onMenuItemSelected = null; public static Method onMenuOpened = null; public static Method onNewIntent = null; public static Method onOptionsItemSelected = null; public static Method onOptionsMenuClosed = null; public static Method onPanelClosed = null; public static Method onPause = null; public static Method onPostCreate = null; public static Method onPostResume = null; public static Method onPrepareDialog = null; public static Method onPrepareOptionsMenu = null; public static Method onPreparePanel = null; public static Method onRestart = null; public static Method onRestoreInstanceState = null; public static Method onResume = null; public static Method onRetainNonConfigurationInstance = null; public static Method onSaveInstanceState = null; public static Method onSearchRequested = null; public static Method onStart = null; public static Method onStop = null; public static Method onTitleChanged = null; public static Method onUserInteraction = null; public static Method onUserLeaveHint = null; public static Method onWindowAttributesChanged = null; public static Method onWindowFocusChanged = null; public static Method onAttachedToWindow = null; public static Method onBackPressed = null; public static Method onDetachedFromWindow = null; public static Method onCreateDialog8 = null; public static Method onPrepareDialog8 = null; public static Method onActionModeFinished = null; public static Method onActionModeStarted = null; public static Method onAttachFragment = null; public static Method onCreateView11 = null; public static Method onWindowStartingActionMode = null; */ public static void setQtActivityDelegate(Object listener) { QtApplication.m_delegateObject = listener; ArrayList delegateMethods = new ArrayList(); for (Method m: listener.getClass().getMethods()) if (m.getDeclaringClass().getName().startsWith("org.kde.necessitas")) delegateMethods.add(m); ArrayList applicationFields = new ArrayList(); for (Field f: QtApplication.class.getFields()) if (f.getDeclaringClass().getName().equals(QtApplication.class.getName())) applicationFields.add(f); for (Method delegateMethod:delegateMethods) { try { QtActivity.class.getDeclaredMethod(delegateMethod.getName(), delegateMethod.getParameterTypes()); if (QtApplication.m_delegateMethods.containsKey(delegateMethod.getName())) QtApplication.m_delegateMethods.get(delegateMethod.getName()).add(delegateMethod); else { ArrayList delegateSet = new ArrayList(); delegateSet.add(delegateMethod); QtApplication.m_delegateMethods.put(delegateMethod.getName(), delegateSet); } for(Field applicationField:applicationFields) { if (applicationField.getName().equals(delegateMethod.getName())) { try { applicationField.set(null, delegateMethod); } catch (Exception e) { e.printStackTrace(); } } } } catch (Exception e) { } } } @Override public void onTerminate() { if (m_delegateObject != null && m_delegateMethods.containsKey("onTerminate")) invokeDelegateMethod(m_delegateMethods.get("onTerminate").get(0)); super.onTerminate(); } public static class InvokeResult { public boolean invoked = false; public Object methodReturns = null; } private static int stackDeep=-1; public static InvokeResult invokeDelegate(Object... args) { InvokeResult result = new InvokeResult(); if (m_delegateObject==null) return result; StackTraceElement[] elements=Thread.currentThread().getStackTrace(); if (-1 == stackDeep) { String activityClassName=QtActivity.class.getCanonicalName(); for(int it=0;it and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ package org.mobsya.thymiovpl; import android.util.Log; import android.hardware.usb.UsbManager; import android.hardware.usb.UsbDevice; import android.hardware.usb.UsbDeviceConnection; import android.hardware.usb.UsbInterface; import android.hardware.usb.UsbEndpoint; import android.hardware.usb.UsbConstants; import android.content.Context; import android.content.Intent; import org.kde.necessitas.origo.QtActivity; import java.util.HashMap; import java.util.Iterator; import java.util.concurrent.CountDownLatch; import android.app.PendingIntent; import android.content.BroadcastReceiver; import android.content.IntentFilter; import android.app.PendingIntent; public class DashelSerial { private UsbDevice device; private int epin = -1; private int epout = -1; private UsbManager manager; private UsbDeviceConnection connection; private static final String ACTION_USB_PERMISSION = "com.android.example.USB_PERMISSION"; private CountDownLatch latch = new CountDownLatch(1); private final BroadcastReceiver mUsbReceiver = new BroadcastReceiver() { public void onReceive(Context context, Intent intent) { String action = intent.getAction(); if (ACTION_USB_PERMISSION.equals(action)) { // We don't need synchronization, as the other thread is waiting on us. device = (UsbDevice)intent.getParcelableExtra(UsbManager.EXTRA_DEVICE); latch.countDown(); } } }; void RequestPermission() throws InterruptedException { PendingIntent mPermissionIntent = PendingIntent.getBroadcast(QtActivity.getQtActivityInstance(), 0, new Intent(ACTION_USB_PERMISSION), 0); IntentFilter filter = new IntentFilter(ACTION_USB_PERMISSION); QtActivity.getQtActivityInstance().registerReceiver(mUsbReceiver, filter); manager.requestPermission(device, mPermissionIntent); latch.await(); } public DashelSerial() throws InterruptedException { manager = (UsbManager) QtActivity.getQtActivityInstance().getSystemService(Context.USB_SERVICE); device = (UsbDevice) QtActivity.getQtActivityInstance().getIntent().getParcelableExtra(UsbManager.EXTRA_DEVICE); if(device == null) { HashMap deviceList = manager.getDeviceList(); Iterator deviceIterator = deviceList.values().iterator(); while(deviceIterator.hasNext()){ device = deviceIterator.next(); if(device.getVendorId() == 0x0617 || device.getProductId() == 0x000a) { RequestPermission(); break; } } Log.i("DashelJ", "Unable to find usb device"); return; } } int OpenDevice() { if (device == null) return -1; connection = manager.openDevice(device); if(connection == null) { Log.i("DashelJ", "Unable to open device"); return -1; } int i; // Claim interface 0 (control) UsbInterface intf = device.getInterface(0); connection.claimInterface(intf, true); // Look for the cdc-acm data interface for(i = 0; i < device.getInterfaceCount(); i++) { intf = device.getInterface(i); if(intf.getInterfaceClass() == UsbConstants.USB_CLASS_CDC_DATA) { // Claim it, and look for Bulk IN and Bulk OUT endpoints connection.claimInterface(intf, true); int j; for(j = 0; j < intf.getEndpointCount() && (epin == -1 || epout == -1); j++) { UsbEndpoint ep = intf.getEndpoint(j); if(ep.getType() == UsbConstants.USB_ENDPOINT_XFER_BULK) { if(epin == -1 && ep.getDirection() == UsbConstants.USB_DIR_IN) epin = ep.getAddress(); if(epout == -1 && ep.getDirection() == UsbConstants.USB_DIR_OUT) epout = ep.getAddress(); } } break; } } if(epin == -1 || epout == -1) { Log.i("DashelJ", "Unable to get data endpoints"); return -1; } Log.i("DashelJ", "Device successfully opened"); return connection.getFileDescriptor(); } int GetEpIn() { return epin; } int GetEpOut() { return epout; } boolean CloseDevice() { connection.close(); // Linux take care of releasing everything else ... return true; } } aseba-1.6.0/android/thymiovpl/version.xml000066400000000000000000000002751322771007300204610ustar00rootroot00000000000000 AndroidManifest.xml libs.xml logo.png icon.png aseba-1.6.0/authors.txt000066400000000000000000000112211322771007300150160ustar00rootroot00000000000000Aseba - an event-based framework for distributed robot control. Copyright (C) 2007--2017 the authors, a complete list can be fetched from the git history. # Authors The following people have created significant portions of Aseba: * [Stéphane Magnenat](http://stephane.magnenat.net) [1] [2] [3] [4] project leader, original idea, architecture, core programmer all areas contributed to: all * Florian Vaussard [1] core software engineer, Windows maintainer until 2015 contributed to: core, studio, packaging * [David James Sherman](http://www.labri.fr/perso/david/Site/David_James_Sherman.html) [5] core software engineer, asebahttp, Zeroconf, Scratch integration contributed to: core, simulator * Jiwon Shin [2] software engineer for VPL contributed to: vpl * Thibault Laine [5] software engineer for Playground contributed to: simulator * Philippe Rétornaz [1] software engineer for embedded integration contributed to: core * Fabian Hahn [1] software engineer for Blockly integration contributed to: blockly # Contributors The following people have provided additional contributions: * Maria María Beltrán [1] VPL re-design - funded by Gebert Rüf Stiftung contributed to: vpl * Fanny Riedo [1] [3] macOS packaging, translation, quality insurance contributed to: packaging, translation * Michael Bonani [3] French translation, packaging, quality insurance contributed to: packaging, translation * Dean Brettle RPM packaging contributed to: packaging * Martin Voelkle [1] bug reporting and fixing contributed to: vpl * [Yves Piguet](https://www.calerga.com/people/piguet.html) [1] bug reporting and fixing contributed to: core, studio * Corentin Jabot bug fixing and coding contributions contributed to: core * Valentin Longchamp [1] inputs on framework architecture, additional coding contributed to: core * Severin Klingler VPL logging contributed to: vpl * Vincent Becker Textures for Thymio 3D model contributed to: simulator * [Francesco Mondada](https://people.epfl.ch/francesco.mondada) bug reporting and dissemination contributed to: studio, vpl, blockly * Stefan Witwicki Examples contributed to: example * Basilio Noris inputs on challenge, graphics design on challenge contributed to: simulator * Sandra Moser [2] German translation contributed to: translation * Francisco Javier Botero Herrera Spanish translation contributed to: translation * Ezio Somá Italian translation contributed to: translation * Detlef Rick German translation contributed to: translation * Shiling Wang Chinese translation contributed to: translation * Mamoru Oichi Japanese translation contributed to: translation * Ioanna Theodoropoulou Greek translation contributed to: translation * Vassilis Komis Greek translation contributed to: translation * Basil Stotz Italian translation contributed to: translation * Paolo Rossetti Italian translation contributed to: translation # Institutions Many of the authors and contributors have spent their free time on Aseba. In addition, the following institutions have supported the development: [1]: Mobots group, EPFL (http://mobots.epfl.ch) [2]: Autonomous Systems Lab, ETH Zurich (http://www.asl.ethz.ch) [3]: Mobsya Association (http://www.mobsya.org) [4]: Game Technology Center, ETH Zurich (http://www.gtc.inf.ethz.ch/) [5]: Inria, France (https://www.inria.fr/en/) # Other contributions The user manual is fetched from the Wiki at http://aseba.wikidot.com, see there for the list of contributors. The license is Creative Commons Attribution-ShareAlike 3.0 License The icons used in studio are from http://www.everaldo.com/crystal/ They can be found here: http://websvn.kde.org/branches/KDE/3.5/kdelibs/pics/crystalsvg/ aseba-1.6.0/changelog.md000066400000000000000000000412511322771007300150470ustar00rootroot00000000000000# Change Log All notable changes to this project will be documented in this file. The format is based on [Keep a Changelog](http://keepachangelog.com/) and this project adheres to [Semantic Versioning](http://semver.org/). ## [Unreleased] ## [1.6.0] - 2018-01-08 ### Added - Infrastructure: Added Jenkins file. - Core: Zeroconf support for robot discovery over the network. - Core: About box to VPL and Playground. - VM: Added deque functions to stdnative library. - Compiler: Implemented optimisation of absorbing element. - Asebahttp: New experimental bridge for accessing Aseba through http. - Playground: Added Thymio support with several example scenes. - Playground: Added pick up of objects. - Internationalization: Added Greek language. - Internationalization: Added Chinese language. ### Changed - Core: Aseba now depends on (a subset of) C++14. - Core: Moved part of the code to C++11/14. - Core: Use C99 fixed-size types instead of custom ones. - Core: Rewritten author book-keeping scripts and vastly improved about boxes. - Blockly: Moved into a standalone web-based application on Windown and macOS. - VPL: Support for codes for centre button. - Internationalization: Updated translations. ### Removed - Infrastructure: Removed support for subversion. ### Fixed - Core: Work-around bugs in old Android libstd++ version. - Core: Fixed disconnection of Dashel stream on Android. - Studio: Fixed reconnection on Windows 10. - VM: Fixed a critical bug in VM where a reset would modify bytecodes. - Packaging: Windows: Sign packages and drivers. - All: Fixed minor bugs. ## [1.5.5] - 2016-12-05 ### Fixed - Compiler: Fixed crash in compiler. - Studio: Fixed code generation in Blockly. - Packaging: Full support for certified bundles under Mac OS Sierra. ## [1.5.4] - 2016-11-21 ### Added - VPL: Added remote-control block in VPL. ### Changed - VPL: Refactored VPL compiler. ### Fixed - Core: Fixed compilation on Ubuntu Yakkety. - Compiler: Corrected bug in the optimizer when multiplying by zero. - Compiler: Corrected code emission bug when returning from subroutine from within a test. - Examples: Fixed wrong computation of timeout in examples. ## [1.5.3] - 2016-04-22 ### Added - Thymio Firmware Upgrader: Now Thymio upgrader can download latest official by itself. ### Changed - Connection dialogue: Improved connection error message when target is a Thymio. - VPL: Improved tooltips of blocks in VPL. - ThymioVPL: VPL standalone background now shows connection status. ### Fixed - Studio: Fixed bugs in Blockly plugin. - All: Minor cleanup. ## [1.5.2] - 2016-03-07 ### Changed - Studio: Improved load and save of files when using multiple Thymios in Studio. ### Fixed - VPL: Fixed bug with button "New" in VPL. ## [1.5.1] - 2016-02-22 ### Fixed - Studio: Fixed crash when VPL is used as plugin in Studio. ## [1.5.0] - 2016-02-17 ### Added - Infrastructure: Continuous integration for Ubuntu, OS X and Windows. - Core: Implemented proper support of Wireless Thymio by upgrading communication protocol to version 5. - Studio: Added Blockly language for Thymio in Studio. - Studio: Studio now provides the possibility to increase and decrease fonts size. - VPL: Added execution feedback to Thymio VPL. - VPL: Button "New" in Thymio VPL keeps the mode (simple or advanced). - Wireless Thymio Network Configurator: Added Wireless Thymio Network Configurator, a program to configure Wireless Thymio dongles. ### Fixed - All: Corrected multiple bugs, see commit log for details. ## [1.4.0] - 2015-10-22 ### Added - Compiler: Added anonymous _emit keyword. - VPL: New visual design. - VPL: Multiple actions per event. - VPL: Improved blocks. - VPL: Undo/Redo. - VPL: Export of program as svg or common raster image formats. - VPL: Optional user action logging. - VPL: Optional visual feedback of execution. ### Changed - Internationalization: Updated translations. - Core: Many small changes for building and packaging. - Core: Updated authors list. - VPL: Improved line and blocks interaction, drag & drop, and removal. - VPL: Changed event policy execution from if to when (see https://www.thymio.org/en:thymiovpl13to14 for details). - Packaging: New icons. - Packaging: New menu structure. ### Fixed - All: Fixed memory leaks and minor bugs - VM: Fixed error reporting in case of stack underflow. - VM: Fixed crash when modulo by zero. - Compiler: Fixed crash when modulo by zero. - Simulators: Fixed memory corruption on disconnection. ## [1.3.3] - 2014-06-22 ### Added - Studio: Implemented a plugin to stop the Thymio. ### Changed - Internationalization: Updated compiler translations and other minor updates. ### Fixed: - Compiler: Fixed bug in optimisation of not. - Compiler: Fixed bug in optimisation of substraction and division in presence of literal at the left. - Compiler: Fixed bug with arrays when rhs is assigned to lhs. - Compiler: Fixed emit statement when using a simple variable as argument. - Compiler: Fixed loops with a single element. - Compiler: Fixed memory leak. - Studio: Fixed crash in auto-completer. - VPL: Fixed thresholds for horizontal distance sensors. - VPL: Fixed wrong reporting of line number in case of line duplication. ## 1.3.2 - [YANKED] - Skipped because of too long RC ## [1.3.1] - 2013-09-10 ### Added - Connection dialogue: Added animation when there is a disconnection for ser: targets. ### Changed - Internationalization: Minor corrections to translations. ### Fixed - Compiler: Fixed memory leaks. - Studio: Fixed behaviour of VPL plugin upon disconnection/reconnection. - Studio: Fixed code in Studio being removed when VPL plugin is closed. - Studio: Fixed spurious autocompleter's context switch. - Studio: Show last used directory for load dialogue box. - VPL: Fixed crash when saving an empty VPL scene. - VPL: Fixed missing recompilation in VPL when an event-action pair was added. - VPL: Fixed disappearing robot in motor block. - VPL: Improved error message when action-pair is duplicated. - VPL: By default, set colour to black for LEDs block. - ThymioVPL: Fixed saved dialogue on OS X. - ThymioVPL: Show last used directory for load dialogue box. - ThymioVPL: Show version in title bar. ## [1.3.0] - 2013-07-15 ### Added - Studio: Implemented support for auto-completion of subroutine names. - VPL: Added timer event/action blocks. - VPL: Added go to line button for showing errors. - ThymioVPL: A standalone VPL client. - ThymioVPL: Added Android port. - Examples: Added asebashell, a command-line tool to interact with an Aseba network, whose goal is to demonstrate how to write client applications. - Examples: Added Qt4 client application example. - Internationalization: Added skeleton for Japanese translation. - Packaging: Windows: Added asebashell and ThymioVPL binaries. ### Changed - Core: Re-factored source tree, modularised Studio. - VM: Compressed documentation of native functions to fit the requirements of wireless operations. - Studio: Target list is dynamically updated in the target-selection dialogue. - Studio: Improved linear camera viewer. - Studio: Uses Dashel locking to prevent race conditions upon disconnections, this requires at least Dashel 1.0.7 on Windows (1.0.6 on Unix) to work properly. - VPL: major source code clean-up. - VPL: Reworked sound block. - VPL: Replaced colour-circle block with ground colour block. - VPL: Uses LEDs from colour circle to show state, reworked state filters. - VPL: Improved look and feel, consistency and user-friendliness of the user interface. - VPL: Improved window management, positioning and icon resizing. - VPL: Fixed disconnection crash under Windows. - VPL: Reduced number of recompilations, improved performances. - Thymio Firmware Upgrader: Renamed from ThymioUpdater to prevent warning dialogue on Windows. - Internationalization: Updated all translations. ### Removed - VM: Removed math.nzseq from default native functions. - Packaging: Windows: Removed support for the e-puck kit (please fetch it directly from the Wiki). ### Fixed - Compiler: Fixed a bug in the compiler that prevented writing back values from native functions on dynamically-indexed arrays. ## [1.2.2] - 2013-05-17 ### Added - Internationalization: Added Italian translation to Challenge. ### Changed - Internationalization: Updated all translations. - Packaging: Thymio Firmware Updater now consistently has the "Thymio Firmware Updater" name on all platforms. ### Fixed - Studio: Hidden function are now shown at start if the setting says so (issue #181). - Studio: Main windows now properly resizes on small screens (issue #172). - Packaging: Windows: Silent install now works, just use the '/S' switch on the command line (mind the uppercase). - Packaging: Windows: On a new install, the install.log was truncated due to the missing output directory at the beginning of the process. ## [1.2.1] - 2013-03-28 ### Changed - Thymio Firmware Updater: Thymio Firmware Updater is now a robust program, independent from Studio (issue #153). - Internationalization: Updated translations. - Studio: VPL plugin is now able to recover from disconnection. ### Fixed - Compiler: Fixed compiler crash (bug #162). - Studio: Incorrect filename in title bar (bug #171). - Studio: Help browser: navigation links (left menu) were not updated when navigating inside the documentation (bug #175). - Studio: When editing the name of a constant inside studio, the name was blanked (bug related to wish #98). - Studio: On Windows, fixed crash of when loading a Marxbot AESL (bug #120). - Tests: Fixed unicode unity test (bug #23). - Packaging: Windows: Fixed installation on Windows 8 (see wininstall). - Packaging: Windows: Fixed missing asebaswitch, added the new Thymio Firmware Updater. - Packaging: Windows: The development package was installed at the same location as the regular Aseba, due to a bug in the packaging script. The defaut location is now AsebaDev inside user's home. - Packaging: Windows: Fixed missing headers in the development package. - Packaging: Windows: When installed, the entries in the Start Menu are now better sorted. - Packaging: Windows: Use Qt 4.8.4, instead of Qt 4.8.2. - Packaging: Windows: Use gcc (mingw) 4.5, instead of 4.4 (fix for the windows-specific bug). ## [1.2.0] - 2012-09-02 ### Added - Core: Added helper tool to execute an external program upon reception of a given event. - Compiler: Simplify constant expressions at compile time: - Array sizes can be defined using constant expressions. - Constant expressions can be used to statically access arrays. - Compiler: Added return instruction. - Compiler: Make an error when a variable has the same name as a constant. - Compiler: Translation support of error messages. - Studio: Added Visual Programming Language (VPL) for Thymio as plugin. - Studio: Added configuration dialogue. - Studio: Added automatic reconnection support. - Studio: Added display of memory usage. - Studio: Auto-completion of names (variables, constants, local and user events, native functions) while typing. - Studio: Added the keyword toolbar. - Studio: Ensure line PC+1 is visible when in debugging in step-by-step. - Internationalization: Added Spanish translation. ### Changed - Compiler: Generalized the support of temporary variables at the end of the memory space: - Allow generic expressions in function calls. - Allow generic expressions for arrays' index. - Compiler: Generalized array/tuple support: - Anonymous arrays can be created with a comma-separated list of expressions enclosed by []. Anonymous arrays are accepted anywhere a static array was accepted, and their usage was further extended to any r-value. - Mathematical operators now work on arrays. - Array subscript can now be used as l-values. - Studio: Compiler error messages are now translated by Qt and displayed in the same language as Studio. - Studio: Improved management of constants and events: - Constants can be renamed. - Added reordering of events and constants by drag & drop. - Studio: Minor usability improvements (more consistent naming, re-factored menus). - Challenge: Widgets are not any more drawn on OpenGL as this caused problems. - Tests: Improved coverage of unit tests. ### Fixed - Studio: Fixed crash on OS X. - Studio: Fixed crash when stream closes unexpectedly. - Studio: Windows: fix editor's selection colour when using the find dialogue. ## [1.1.0] - 2012-05-03 ### Added - Core: Added dummy node for testing purposes (commit be2940ed56). - Compiler: Added new operators {+,-,/,*,&,|,^,~,«,»}= and {++,—} (commit 816a3f7f01). - VM: Added math.argbounds() to stdnative library (commit e2dcb1e6a9). - Studio: New offline help system, with script to update from the Wiki (pull request #41). - Studio: Added option to do automatic memory refresh (issue #32). - Studio: Added command-line option to show user manual instead of normal environment (issue #50). - Studio: Added the possibility to export the bytecode along with some VM information in the so-called aseba binary object format. (issue #49). - Studio: Added filter to variable list (commit 36a60b0585). - Studio: Added background compilation in a separate thread (commit bffe978091). - Studio: Added view/hide functionality to event log (issue #10). ### Changed - Infrastructure: Switched to git and github. - Tests: Improved coverage of unit tests (commit fb09698bb7). - Studio: Improved drag & drop (commit 53d5361f6e). - Studio: Improved variable tree (commit 5c9d063313). ### Fixed - VM: Fixed bug in vm when reporting out-of-bounds array acces (commit a25f3927f7). - Compiler: Fixed crash in optimiser (issue #24). ## [1.0.2] - 2012-03-23 ### Fixed - VM: Fixed bug in vm when reporting out-of-bounds array access (commit a0f314f4ed). ## [1.0.1] - 2011-09-28 ### Fixed - Compiler: Fixed crash in optimiser (issue #24) ## [1.0.0] - 2011-09-07 ### Added - Core: Added big-endian support. - Core: Added UTF8 support (yes, you can even write code in japanese 笑 :-) - Core: Added Icons for Linux. - Compiler: Compiler now provides intelligent name suggestion for variables, events, constants, native functions and subroutines. - VM: Added math.rand() to stdnative library. - Studio: Added German and updated French translations. - Studio: Target-selection dialog of Studio now remembers choice. - Studio: Studio now completes language structures when they are on an empty line. - Studio: Improved the event plot pane: - Added button to plot event in addition to contextual menu, - Added rec/stop and clear button, - Added option to limit record duration, - Add option to save events in file (similar feature to asebarec, but per event). - Studio: Added target-dependent entries in help menu. ### Changed - Studio: Improved the intelligence of drag-and-drop. For instance, when one drags-and-drops leds.circle, it prints call leds.circle(led1, led2, led3, led4, led5, led6, led7, led8) in relevant situations. - Studio: Global toolbar is visible only if there is more than one VM on the network. - Studio: Improved breakpoint management: - Breakpoints are shown in the margin. - When a breakpoint occurs, the editor is scrolled to the active line. If the tab is hidden, its name is highlighted in red. - The state of each node is shown by an icon in each tab. - Studio: Improved code editor: - Line numbers are displayed next to the code editor. - Code selection can be (un-)commented using keyboard and menu shortcut. - Code lines are highlighted on their full width. ### Fixed - VM: Fixed math.atan2() on C30 targets. - Studio: Fixed "click on exception does not go to line in studio". - Studio: De-indentation now works when indented with spaces. - Studio: Fixed crash if serial connection was in settings but not present any more. [Unreleased]: https://github.com/aseba-community/aseba/compare/1.5.5...master [1.5.5]: https://github.com/aseba-community/aseba/compare/1.5.4...1.5.5 [1.5.4]: https://github.com/aseba-community/aseba/compare/1.5.3...1.5.4 [1.5.3]: https://github.com/aseba-community/aseba/compare/1.5.2...1.5.3 [1.5.2]: https://github.com/aseba-community/aseba/compare/1.5.1...1.5.2 [1.5.1]: https://github.com/aseba-community/aseba/compare/1.5.0...1.5.1 [1.5.0]: https://github.com/aseba-community/aseba/compare/1.4.0...1.5.0 [1.4.0]: https://github.com/aseba-community/aseba/compare/1.3.3...1.4.0 [1.3.3]: https://github.com/aseba-community/aseba/compare/1.3.1...1.3.3 [1.3.1]: https://github.com/aseba-community/aseba/compare/1.3.0...1.3.1 [1.3.0]: https://github.com/aseba-community/aseba/compare/1.2.2...1.3.0 [1.2.2]: https://github.com/aseba-community/aseba/compare/1.2.1...1.2.2 [1.2.1]: https://github.com/aseba-community/aseba/compare/1.2.0...1.2.1 [1.2.0]: https://github.com/aseba-community/aseba/compare/1.1.0...1.2.0 [1.1.0]: https://github.com/aseba-community/aseba/compare/1.0.2...1.1.0 [1.0.2]: https://github.com/aseba-community/aseba/compare/1.0.1...1.0.2 [1.0.1]: https://github.com/aseba-community/aseba/compare/1.0.0...1.0.1 [1.0.0]: https://github.com/aseba-community/aseba/tree/1.0.0 aseba-1.6.0/clients/000077500000000000000000000000001322771007300142345ustar00rootroot00000000000000aseba-1.6.0/clients/CMakeLists.txt000066400000000000000000000004721322771007300167770ustar00rootroot00000000000000# text-based add_subdirectory(cmd) add_subdirectory(dump) add_subdirectory(replay) add_subdirectory(exec) add_subdirectory(joy) # text-based using QtCore add_subdirectory(massloader) # gui add_subdirectory(eventlogger) add_subdirectory(studio) add_subdirectory(thymioupgrader) add_subdirectory(thymiownetconfig) aseba-1.6.0/clients/cmd/000077500000000000000000000000001322771007300147775ustar00rootroot00000000000000aseba-1.6.0/clients/cmd/CMakeLists.txt000066400000000000000000000002171322771007300175370ustar00rootroot00000000000000add_executable(asebacmd cmd.cpp ) target_link_libraries(asebacmd ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebacmd RUNTIME DESTINATION bin ) aseba-1.6.0/clients/cmd/cmd.cpp000066400000000000000000000271061322771007300162540ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../common/utils/HexFile.h" #include "../../common/utils/FormatableString.h" #include "../../common/utils/BootloaderInterface.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include #include #include #include #include namespace Aseba { using namespace Dashel; using namespace std; //! Show list of known commands void dumpCommandList(ostream &stream) { stream << "* presence : broadcast presence message (node detection version < 5)\n"; stream << "* listnodes : list nodes on network (node detection version >= 5)\n"; stream << "* getnodedescr : get the description of a given onde (version >= 5)\n"; stream << "* usermsg: user message [type] [word0] ... [wordN]\n"; stream << "* rdpage : bootloader read page [dest] [page number]\n"; stream << "* rdpageusb : bootloader read page usb [dest] [page number]\n"; stream << "* whex : write hex file [dest] [file name] [reset]\n"; stream << "* rhex : read hex file [source] [file name]\n"; stream << "* eb: exit from bootloader, go back into user mode [dest]\n"; stream << "* sb: switch into bootloader: reboot node, then enter bootloader for a while [dest]\n"; stream << "* sleep: put the vm to sleep [dest]\n"; stream << "* wusb : write hex file to [dest] [file name] [reset]\n"; } //! Show usage void dumpHelp(ostream &stream, const char *programName) { stream << "Aseba cmd, send message over the aseba network, usage:\n"; stream << programName << " [-t target] [cmd destId (args)] ... [cmd destId (args)]\n"; stream << "where cmd is one af the following:\n"; dumpCommandList(stream); stream << std::endl; stream << "Other options:\n"; stream << " -h, --help : shows this help\n"; stream << " -V, --version : shows the version number\n"; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "Aseba cmd " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } //! Produce an error message and dump help and quit void errorMissingArgument(const char *programName) { cerr << "Error, missing argument.\n"; dumpHelp(cerr, programName); exit(4); } //! Produce an error message and dump help and quit void errorUnknownCommand(const char *cmd) { cerr << "Error, unknown command " << cmd << endl; cerr << "Known commands are:\n"; dumpCommandList(cerr); exit(5); } //! Produce an error message and quit void errorReadPage(int pageNumber) { cerr << "Error, can't read page " << pageNumber << endl; exit(6); } //! Produce an error message and quit void errorOpenFile(const char *fileName) { cerr << "Error, can't open file " << fileName << endl; exit(7); } //! Produce an error message and quit void errorServerDisconnected() { cerr << "Server closed connection before command was completely sent." << endl; exit(9); } //! Produce an error message and quit void errorHexFile(const string &message) { cerr << "HEX file error: " << message << endl; exit(10); } //! Produce an error message and quit void errorBootloader(const string& message) { cerr << "Error while interfacing with bootloader: " << message << endl; exit(9); } class CmdBootloaderInterface:public BootloaderInterface { public: CmdBootloaderInterface(Stream* stream, int dest): BootloaderInterface(stream, dest) {} protected: // reporting function virtual void writePageStart(unsigned pageNumber, const uint8_t* data, bool simple) { cout << "Writing page " << pageNumber << "... "; cout.flush(); //cout << "First data: " << hex << (int) data[0] << "," << hex << (int) data[1] << "," << hex << (int) data[2] << endl; } virtual void writePageWaitAck() { cout << "Waiting ack ... "; cout.flush(); } virtual void writePageSuccess() { cout << "Success" << endl; } virtual void writePageFailure() { cout << "Failure" << endl; } virtual void writeHexStart(const string &fileName, bool reset, bool simple) { cout << "Flashing " << fileName << endl; } virtual void writeHexEnteringBootloader() { cout << "Entering bootloader" << endl; } virtual void writeHexGotDescription(unsigned pagesCount) { cout << "In bootloader, about to write " << pagesCount << " pages" << endl; } virtual void writeHexWritten() { cout << "Write completed" << endl; } virtual void writeHexExitingBootloader() { cout << "Exiting bootloader" << endl; } virtual void errorWritePageNonFatal(unsigned pageNumber) { cerr << "Warning, error while writing page " << pageNumber << ", continuing ..." << endl; } }; //! Process a command, return the number of arguments eaten (not counting the command itself) int processCommand(Stream* stream, int argc, char *argv[]) { const char *cmd = argv[0]; int argEaten = 0; if (strcmp(cmd, "presence") == 0) { GetDescription message; message.serialize(stream); stream->flush(); } else if (strcmp(cmd, "listnodes") == 0) { ListNodes message; message.serialize(stream); stream->flush(); } else if (strcmp(cmd, "getnodedescr") == 0) { // arg is node id if (argc < 2) errorMissingArgument(argv[0]); argEaten = 1; GetNodeDescription message(atoi(argv[1])); message.serialize(stream); stream->flush(); } else if (strcmp(cmd, "usermsg") == 0) { // first arg is type, nexts are data if (argc < 2) errorMissingArgument(argv[0]); argEaten = argc; uint16_t type = atoi(argv[1]); uint16_t length = argc-2; VariablesDataVector data(length); for (size_t i = 0; i < length; i++) data[i] = atoi(argv[i+2]); UserMessage message(type, data); message.serialize(stream); stream->flush(); } else if (strcmp(cmd, "rdpage") == 0) { // first arg is dest, second is page number if (argc < 3) errorMissingArgument(argv[0]); argEaten = 2; CmdBootloaderInterface bootloader(stream, atoi(argv[1])); vector data(bootloader.getPageSize()); if (bootloader.readPage(atoi(argv[2]), &data[0])) { ofstream file("page.bin"); if (file.good()) copy(data.begin(), data.end(), ostream_iterator(file)); else errorOpenFile("page.bin"); } else errorReadPage(atoi(argv[2])); } else if(strcmp(cmd, "rdpageusb") == 0) { if (argc < 3) errorMissingArgument(argv[0]); argEaten = 2; CmdBootloaderInterface bootloader(stream, atoi(argv[1])); vector data(2048); cout << "Page: " << atoi(argv[2]) << endl; if(bootloader.readPageSimple(atoi(argv[2]), &data[0])) { ofstream file("page.bin"); if(file.good()) copy(data.begin(),data.end(),ostream_iterator(file)); else errorOpenFile("page.bin"); } else errorReadPage(atoi(argv[2])); } else if (strcmp(cmd, "whex") == 0) { bool reset = 0; // first arg is dest, second is file name if (argc < 3) errorMissingArgument(argv[0]); argEaten = 2; if (argc > 3 && !strcmp(argv[3], "reset")) { reset = 1; argEaten = 3; } // try to write hex file try { CmdBootloaderInterface bootloader(stream, atoi(argv[1])); bootloader.writeHex(argv[2], reset, false); } catch (HexFile::Error &e) { errorHexFile(e.toString()); } } else if (strcmp(cmd,"wusb") == 0) { bool reset = 0; if (argc < 3) errorMissingArgument(argv[0]); argEaten = 2; if(argc > 3 && !strcmp(argv[3], "reset")) { reset = 1; argEaten = 3; } try { CmdBootloaderInterface bootloader(stream, atoi(argv[1])); bootloader.writeHex(argv[2], reset, true); } catch (HexFile::Error &e) { errorHexFile(e.toString()); } } else if (strcmp(cmd, "rhex") == 0) { // first arg is source, second is file name if (argc < 3) errorMissingArgument(argv[0]); argEaten = 2; // try to read hex file try { CmdBootloaderInterface bootloader(stream, atoi(argv[1])); bootloader.readHex(argv[2]); } catch (HexFile::Error &e) { errorHexFile(e.toString()); } } else if (strcmp(cmd, "eb") == 0) { uint16_t dest; if(argc < 2) errorMissingArgument(argv[0]); argEaten = 1; dest = atoi(argv[1]); BootloaderReset msg(dest); msg.serialize(stream); stream->flush(); // Wait ack from bootloader (mean we got out of it) // Or bootloader description (mean we just entered it) // WRONG; FIXME while (true) { Message *message = Message::receive(stream); // handle ack BootloaderAck *ackMessage = dynamic_cast(message); if (ackMessage && (ackMessage->source == dest)) { cout << "Device is now in user-code" << endl; delete message; break; } //BootloaderDescription * bMessage = dynamic_cast(message); delete message; } } else if (strcmp(cmd, "sb") == 0) { uint16_t dest; if(argc < 2) errorMissingArgument(argv[0]); argEaten = 1; dest = atoi(argv[1]); Reboot msg(dest); msg.serialize(stream); stream->flush(); } else if (strcmp(cmd, "sleep") == 0) { uint16_t dest; if(argc < 2) errorMissingArgument(argv[0]); argEaten = 1; dest = atoi(argv[1]); Sleep msg(dest); msg.serialize(stream); stream->flush(); } else errorUnknownCommand(cmd); return argEaten; } } int main(int argc, char *argv[]) { Dashel::initPlugins(); const char *target = ASEBA_DEFAULT_TARGET; int argCounter = 1; if (argc == 1) { Aseba::dumpHelp(std::cout, argv[0]); return 0; } while (argCounter < argc) { const char *arg = argv[argCounter]; if (strcmp(arg, "-t") == 0) { if (++argCounter < argc) target = argv[argCounter]; else Aseba::errorMissingArgument(argv[0]); } else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { Aseba::dumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { Aseba::dumpVersion(std::cout); return 0; } else { Dashel::Hub client; Dashel::Stream* stream = client.connect(target); assert(stream); // process command try { argCounter += Aseba::processCommand(stream, argc - argCounter, &argv[argCounter]); stream->flush(); } catch (Dashel::DashelException e) { Aseba::errorServerDisconnected(); } catch (Aseba::BootloaderInterface::Error e) { Aseba::errorBootloader(e.what()); } } argCounter++; } return 0; } aseba-1.6.0/clients/dump/000077500000000000000000000000001322771007300152015ustar00rootroot00000000000000aseba-1.6.0/clients/dump/CMakeLists.txt000066400000000000000000000002231322771007300177360ustar00rootroot00000000000000add_executable(asebadump dump.cpp ) target_link_libraries(asebadump ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebadump RUNTIME DESTINATION bin ) aseba-1.6.0/clients/dump/dump.cpp000066400000000000000000000074631322771007300166640ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include namespace Aseba { using namespace Dashel; using namespace std; /** \defgroup dump Message dumper */ /*@{*/ //! A simple message dumper. //! This class calls Aseba::Message::dump() for each message class Dump : public Hub { private: bool rawTime; //!< should displayed timestamps be of the form sec:usec since 1970 public: Dump(bool rawTime) : rawTime(rawTime) { } protected: void connectionCreated(Stream *stream) { dumpTime(cout, rawTime); cout << stream->getTargetName() << " connection created." << endl; } void incomingData(Stream *stream) { Message *message = Message::receive(stream); dumpTime(cout, rawTime); cout << stream->getTargetName() << " "; if (message) message->dump(wcout); else cout << "unknown message received"; cout << endl; } void connectionClosed(Stream *stream, bool abnormal) { dumpTime(cout); cout << stream->getTargetName() << " connection closed"; if (abnormal) cout << " : " << stream->getFailReason(); cout << "." << endl; } }; /*@}*/ } //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba dump, print the content of aseba messages, usage:\n"; stream << programName << " [options] [targets]*\n"; stream << "Options:\n"; stream << "--rawtime : shows time in the form of sec:usec since 1970\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Targets are any valid Dashel targets." << std::endl << std::endl; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "Aseba dump " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } int main(int argc, char *argv[]) { Dashel::initPlugins(); bool rawTime = false; std::vector targets; int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter]; if (strcmp(arg, "--rawtime") == 0) { rawTime = true; } else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { dumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { dumpVersion(std::cout); return 0; } else { targets.push_back(argv[argCounter]); } argCounter++; } if (targets.empty()) targets.push_back(ASEBA_DEFAULT_TARGET); try { Aseba::Dump dump(rawTime); for (size_t i = 0; i < targets.size(); i++) dump.connect(targets[i]); dump.run(); } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; } return 0; } aseba-1.6.0/clients/eventlogger/000077500000000000000000000000001322771007300165555ustar00rootroot00000000000000aseba-1.6.0/clients/eventlogger/CMakeLists.txt000066400000000000000000000015061322771007300213170ustar00rootroot00000000000000if (QT4_FOUND) include(${QT_USE_FILE}) if (QWT_INCLUDE_DIR AND QWT_LIBRARIES) set(eventlogger_SRCS eventlogger.cpp) include_directories (${QWT_INCLUDE_DIR} ${QT_INCLUDE_DIR} ${CMAKE_BINARY_DIR}/eventlogger) #add_executable(asebastudio WIN32 ${eventlogger_SRCS} ${resfiles}) add_executable(asebaeventlogger WIN32 ${eventlogger_SRCS}) # Only include the qtmain lib if we are on the windows platform if (WIN32) target_link_libraries(asebaeventlogger ${QWT_LIBRARIES} ${QT_LIBRARIES} ${QT_QTMAIN_LIBRARY} ${ASEBA_CORE_LIBRARIES}) else (WIN32) target_link_libraries(asebaeventlogger ${QWT_LIBRARIES} ${QT_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) endif (WIN32) else (QWT_INCLUDE_DIR AND QWT_LIBRARIES) message(WARNING "Cannot find Qwt") endif (QWT_INCLUDE_DIR AND QWT_LIBRARIES) endif (QT4_FOUND) aseba-1.6.0/clients/eventlogger/eventlogger.cpp000066400000000000000000000105371322771007300216100ustar00rootroot00000000000000#include #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include #include #include #ifdef _MSC_VER #define QWT_DLL #endif // _MSC_VER #include #include #include #if QWT_VERSION >= 0x060000 #include #else #include #endif using namespace Dashel; using namespace Aseba; using namespace std; #if QWT_VERSION >= 0x060000 class EventDataWrapper : public QwtSeriesData { private: std::vector& _x; std::vector& _y; public: EventDataWrapper(std::vector& _x, std::vector& _y) : _x(_x), _y(_y) { } virtual QRectF boundingRect () const { return qwtBoundingRect(*this); } virtual QPointF sample (size_t i) const { return QPointF(_x[i], double(_y[i])); } virtual size_t size () const { return _x.size(); } }; #else class EventDataWrapper : public QwtData { private: std::vector& _x; std::vector& _y; public: EventDataWrapper(std::vector& _x, std::vector& _y) : _x(_x), _y(_y) { } virtual QwtData * copy () const { return new EventDataWrapper(*this); } virtual size_t size () const { return _x.size(); } virtual double x (size_t i) const { return _x[i]; } virtual double y (size_t i) const { return (double)_y[i]; } }; #endif class EventLogger : public Hub, public QwtPlot { protected: Stream* stream; int eventId; vector > values; vector timeStamps; QTime startingTime; ofstream outputFile; public: EventLogger(const char* target, int eventId, int eventVariablesCount, const char* filename) : QwtPlot(QwtText(QString(tr("Plot for event %0")).arg(eventId))), eventId(eventId), values(eventVariablesCount) { stream = Hub::connect(target); cout << "Connected to " << stream->getTargetName() << endl; startingTime = QTime::currentTime(); setCanvasBackground(Qt::white); setAxisTitle(xBottom, tr("Time (seconds)")); setAxisTitle(yLeft, tr("Values")); QwtLegend *legend = new QwtLegend; //legend->setItemMode(QwtLegend::CheckableItem); insertLegend(legend, QwtPlot::BottomLegend); for (size_t i = 0; i < values.size(); i++) { QwtPlotCurve *curve = new QwtPlotCurve(QString("%0").arg(i)); #if QWT_VERSION >= 0x060000 curve->setData(new EventDataWrapper(timeStamps, values[i])); #else curve->setData(EventDataWrapper(timeStamps, values[i])); #endif curve->attach(this); curve->setPen(QColor::fromHsv((i * 360) / values.size(), 255, 100)); } resize(1000, 600); if (filename) outputFile.open(filename); startTimer(10); } protected: virtual void timerEvent ( QTimerEvent * event ) { if (!step(0)) close(); } void incomingData(Stream *stream) { Message *message = Message::receive(stream); UserMessage *userMessage = dynamic_cast(message); if (userMessage) { if (userMessage->type == eventId) { double elapsedTime = (double)startingTime.msecsTo(QTime::currentTime()) / 1000.; if (outputFile.is_open()) outputFile << elapsedTime; timeStamps.push_back(elapsedTime); for (size_t i = 0; i < values.size(); i++) { if (i < userMessage->data.size()) { if (outputFile.is_open()) outputFile << " " << userMessage->data[i]; values[i].push_back(userMessage->data[i]); } else { if (outputFile.is_open()) outputFile << " " << 0; values[i].push_back(0); } } if (outputFile.is_open()) outputFile << endl; replot(); } } delete message; } void connectionClosed(Stream *stream, bool abnormal) { dumpTime(cerr); cout << "Connection closed to " << stream->getTargetName(); if (abnormal) cout << " : " << stream->getFailReason(); cout << endl; stop(); } }; int main(int argc, char *argv[]) { Dashel::initPlugins(); if (argc < 4) { cerr << "Usage " << argv[0] << " target event_id event_variables_count [output file]" << endl; return 1; } QApplication app(argc, argv); int res; try { EventLogger logger(argv[1], atoi(argv[2]), atoi(argv[3]), (argc > 4 ? argv[4] : 0)); logger.show(); res = app.exec(); } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; return 2; } return res; } aseba-1.6.0/clients/exec/000077500000000000000000000000001322771007300151605ustar00rootroot00000000000000aseba-1.6.0/clients/exec/CMakeLists.txt000066400000000000000000000002231322771007300177150ustar00rootroot00000000000000add_executable(asebaexec exec.cpp ) target_link_libraries(asebaexec ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebaexec RUNTIME DESTINATION bin ) aseba-1.6.0/clients/exec/exec.cpp000066400000000000000000000072111322771007300166110ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include namespace Aseba { using namespace Dashel; using namespace std; /** \defgroup Exec Execute an external command upon a given message */ /*@{*/ //! Execute an external command upon a given message class Exec : public Hub { private: const unsigned messageId; //!< message identifier to look for const char *programName; //!< program to execute public: Exec(const unsigned messageId, const char *programName) : messageId(messageId), programName(programName) { } protected: void incomingData(Stream *stream) { Message *message = Message::receive(stream); if (message->type == messageId) { const int ret(system(programName)); if (ret == -1) cerr << "Executable " << programName << " cannot be run" << endl; else if (ret > 0) cerr << "Warning, execution of " << programName << " returned value " << ret << endl; } } }; /*@}*/ } //! Show usage void DumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba Exec, execute an external command upon a given message, usage:\n"; stream << programName << " MSG_ID PROG_NAME [options] [targets]*\n"; stream << "Options:\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Targets are any valid Dashel targets." << std::endl << std::endl; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void DumpVersion(std::ostream &stream) { stream << "Aseba Exec " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } int main(int argc, char *argv[]) { Dashel::initPlugins(); std::vector targets; if (argc < 3) { DumpHelp(std::cerr, argv[0]); return 1; } const unsigned msgId(atoi(argv[1])); const char *programName(argv[2]); int argCounter = 3; while (argCounter < argc) { const char *arg = argv[argCounter]; if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { DumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { DumpVersion(std::cout); return 0; } else { targets.push_back(argv[argCounter]); } argCounter++; } if (targets.empty()) targets.push_back(ASEBA_DEFAULT_TARGET); try { Aseba::Exec Exec(msgId, programName); for (size_t i = 0; i < targets.size(); i++) Exec.connect(targets[i]); Exec.run(); } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; } return 0; } aseba-1.6.0/clients/joy/000077500000000000000000000000001322771007300150355ustar00rootroot00000000000000aseba-1.6.0/clients/joy/CMakeLists.txt000066400000000000000000000006461322771007300176030ustar00rootroot00000000000000find_package(SDL2) if (SDL2_FOUND) message(STATUS "SDL2 found, enabling joystick/joypad support") include_directories(${SDL2_INCLUDE_DIR}) add_executable(asebajoy asebajoy.cpp ) target_link_libraries(asebajoy ${ASEBA_CORE_LIBRARIES} ${SDL2_LIBRARY}) install(TARGETS asebajoy RUNTIME DESTINATION bin ) else (SDL2_FOUND) message(STATUS "SDL2 *not* found, disabling joystick/joypad support") endif (SDL2_FOUND) aseba-1.6.0/clients/joy/asebajoy.cpp000066400000000000000000000075111322771007300173420ustar00rootroot00000000000000#include #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include #include #include #include using namespace Dashel; using namespace Aseba; using namespace std; enum ExitCodes { EXIT_OK = 0, EXIT_DASHEL_EXCEPTION_OCCURED, EXIT_COULD_NOT_INIT_SDL, EXIT_NOT_SUITABLE_JOY_FOUND, }; enum MessagesTypes { MESSAGE_ID_AXIS0 = 0, MESSAGE_ID_AXIS1, MESSAGE_ID_AXIS2, MESSAGE_ID_AXIS3, MESSAGE_ID_AXIS4, MESSAGE_ID_HAT, MESSAGE_ID_BUTTON0, MESSAGE_ID_BUTTON1, MESSAGE_ID_BUTTON2, MESSAGE_ID_BUTTON3, MESSAGE_ID_BUTTON4, MESSAGE_ID_BUTTON5, MESSAGE_ID_BUTTON6, MESSAGE_ID_BUTTON7, MESSAGE_ID_BUTTON8, }; class Joystick { protected: int number; SDL_Joystick *joy; int oa[5]; int ob[9]; int ohat; public: Joystick(int number, SDL_Joystick *joy): number(number), joy(joy) { fill(oa, oa+5, 0); fill(ob, ob+9, 0); ohat = 0; } ~Joystick() { SDL_JoystickClose(joy); } void process(Stream* stream) { VariablesDataVector data(2); data[0] = number; // axes for (int i = 0; i < std::min(5, SDL_JoystickNumAxes(joy)); ++i) { int a = SDL_JoystickGetAxis(joy, i); if (a != oa[i]) { data[1] = short(a); UserMessage(MESSAGE_ID_AXIS0 + i, data).serialize(stream); stream->flush(); oa[i] = a; } } // hat if (SDL_JoystickNumHats(joy) > 0) { int hat = SDL_JoystickGetHat(joy, 0); if (hat != ohat) { data[1] = short(hat); UserMessage(MESSAGE_ID_HAT, data).serialize(stream); stream->flush(); ohat = hat; } } // buttons for (int i = 0; i < std::min(9, SDL_JoystickNumButtons(joy)); ++i) { int b = SDL_JoystickGetButton(joy, i); if (b != ob[i]) { data[1] = short(b); UserMessage(MESSAGE_ID_BUTTON0 + i, data).serialize(stream); stream->flush(); ob[i] = b; } } } }; class JoystickReader : public Hub { protected: Stream* stream; vector joysticks; public: JoystickReader(const char* target) { // SDL inint stuff if((SDL_Init(SDL_INIT_JOYSTICK)==-1)) { cerr << "Error : Could not initialize SDL: " << SDL_GetError() << endl; exit(EXIT_COULD_NOT_INIT_SDL); } // list all joysticks const int count = SDL_NumJoysticks(); for (int i = 0; i < count; ++i) { SDL_Joystick* joy = SDL_JoystickOpen(i); if (!joy) { cerr << "Warning: cannot open joystick " << i << endl; continue; } if (SDL_JoystickNumAxes(joy) < 2) { cerr << "Warning: not enough axis on joystick " << i << endl; continue; } joysticks.push_back(new Joystick(i, joy)); } // we need at least one if (joysticks.empty()) { cerr << "Error: not suitable joystick found" << endl; exit(EXIT_NOT_SUITABLE_JOY_FOUND); } cerr << "Found " << joysticks.size() << " joysticks" << endl; // connect to Dashel stream = Hub::connect(target); cout << "Connected to " << stream->getTargetName() << endl; } ~JoystickReader() { for (size_t i = 0; i < joysticks.size(); ++i) delete joysticks[i]; SDL_Quit(); } public: void processJoysticks() { SDL_JoystickUpdate(); for (size_t i = 0; i < joysticks.size(); ++i) joysticks[i]->process(stream); } protected: void incomingData(Stream *stream) { delete Message::receive(stream); } void connectionClosed(Stream *stream, bool abnormal) { dumpTime(cerr); cerr << "Connection closed to " << stream->getTargetName(); if (abnormal) cerr << " : " << stream->getFailReason(); cerr << endl; stop(); } }; int main(int argc, char *argv[]) { const char *target = ASEBA_DEFAULT_TARGET; if (argc >= 2) target = argv[1]; try { JoystickReader reader(target); while (reader.step(10)) reader.processJoysticks(); return 0; } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; return EXIT_DASHEL_EXCEPTION_OCCURED; } } aseba-1.6.0/clients/joy/joy-events.aesl000066400000000000000000000011671322771007300200130ustar00rootroot00000000000000 aseba-1.6.0/clients/massloader/000077500000000000000000000000001322771007300163665ustar00rootroot00000000000000aseba-1.6.0/clients/massloader/CMakeLists.txt000066400000000000000000000007641322771007300211350ustar00rootroot00000000000000if (QT4_FOUND) set(QT_USE_QTXML ON) set(QT_DONT_USE_QTGUI ON) include(${QT_USE_FILE}) # set(thymioupgrader_SRCS # ThymioUpgrader.cpp) # qt4_wrap_cpp(thymioupgrader_MOCS # ThymioUpgrader.h # ) #include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) add_executable(asebamassloader massloader.cpp) target_link_libraries(asebamassloader asebacompiler ${QT_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebamassloader RUNTIME DESTINATION bin) endif (QT4_FOUND) aseba-1.6.0/clients/massloader/massloader.cpp000066400000000000000000000166551322771007300212410ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/msg/NodesManager.h" #include "../../common/utils/utils.h" #include "../../compiler/compiler.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include #include #include namespace Aseba { using namespace Dashel; using namespace std; class MassLoader: public Hub, public NodesManager { protected: QString fileName; bool once; Stream* stream; public: MassLoader(const QString& fileName, bool once):fileName(fileName),once(once),stream(nullptr) {} void loadToTarget(const std::string& target); protected: // from Hub virtual void connectionCreated(Stream *stream); virtual void incomingData(Stream *stream); virtual void connectionClosed(Stream *stream, bool abnormal); // from NodesManager virtual void sendMessage(const Message& message); virtual void nodeDescriptionReceived(unsigned nodeId); // self void waitMs(int duration); }; void MassLoader::loadToTarget(const std::string& target) { bool first(true); while (true) { if (first) first = false; else UnifiedTime(100).sleep(); try { // attempt to open stream stream = connect(target); // verify that stream is valid if (!stream) continue; // TODO: make this timeout a parameter // wait 1 s waitMs(1000); // verify that stream is still valid if (!stream) continue; // requests descriptions pingNetwork(); // then run run(); // if we were interested to load only once, step for 1 second at most, then run for 1 second, and then stop execution if (once) { // wait max 1s until Hub::stop() is called step(1000); // wait 1s more waitMs(1000); return; } } catch (const DashelException& e) { // ignore Dsahel exceptions } } } void MassLoader::connectionCreated(Stream *stream) { //cerr << "Connection created to " << stream->getTargetName() << endl; } void MassLoader::incomingData(Stream *stream) { try { // get message unique_ptr message(Message::receive(stream)); /*wcerr << L" msg: "; message->dump(wcerr); wcerr << endl;*/ // process it processMessage(message.get()); } catch (const DashelException& e) { wcerr << L"Error while reading data: " << e.what() << endl; } } void MassLoader::connectionClosed(Stream *stream, bool abnormal) { //cerr << "Connection closed to " << stream->getTargetName() << endl; assert(stream == this->stream); this->stream = nullptr; stop(); reset(); } void MassLoader::sendMessage(const Message& message) { message.serialize(stream); stream->flush(); } void MassLoader::nodeDescriptionReceived(unsigned nodeId) { //cerr << "Description received" << endl; assert(stream); // we have a new node description, load file to see if there is code for it CommonDefinitions commonDefinitions; // open file QFile file(fileName); if (!file.open(QFile::ReadOnly)) { wcerr << QString("Cannot open file %0").arg(fileName).toStdWString() << endl; return; } // load document QDomDocument document("aesl-source"); QString errorMsg; int errorLine; int errorColumn; if (!document.setContent(&file, false, &errorMsg, &errorLine, &errorColumn)) { wcerr << QString("Error in XML source file: %0 at line %1, column %2").arg(errorMsg).arg(errorLine).arg(errorColumn).toStdWString() << endl; return; } // FIXME: this code depends on event and contants being before any code QDomNode domNode = document.documentElement().firstChild(); while (!domNode.isNull()) { if (domNode.isElement()) { QDomElement element = domNode.toElement(); if (element.tagName() == "node") { bool ok; const unsigned nodeId(getNodeId(element.attribute("name").toStdWString(), element.attribute("nodeId", 0).toUInt(), &ok)); if (ok) { std::wistringstream is(element.firstChild().toText().data().toStdWString()); Error error; BytecodeVector bytecode; unsigned allocatedVariablesCount; Compiler compiler; compiler.setTargetDescription(getDescription(nodeId)); compiler.setCommonDefinitions(&commonDefinitions); bool result = compiler.compile(is, bytecode, allocatedVariablesCount, error); if (result) { sendBytecode(stream, nodeId, std::vector(bytecode.begin(), bytecode.end())); Run(nodeId).serialize(stream); stream->flush(); wcerr << QString("! %1 bytecodes loaded to target %0, you can disconnect target !").arg(element.attribute("name")).arg(bytecode.size()).toStdWString() << endl; if (once) // if we have to run only once, stop now stop(); } else { wcerr << L"Compilation error: " << error.toWString() << endl; break; } } } else if (element.tagName() == "event") { const QString eventName(element.attribute("name")); const unsigned eventSize(element.attribute("size").toUInt()); if (eventSize > ASEBA_MAX_EVENT_ARG_SIZE) { wcerr << QString("Event %1 has a length %2 larger than maximum %3").arg(eventName).arg(eventSize).arg(ASEBA_MAX_EVENT_ARG_SIZE).toStdWString() << endl; break; } else { commonDefinitions.events.push_back(NamedValue(eventName.toStdWString(), eventSize)); } } else if (element.tagName() == "constant") { commonDefinitions.constants.push_back(NamedValue(element.attribute("name").toStdWString(), element.attribute("value").toUInt())); } } domNode = domNode.nextSibling(); } } void MassLoader::waitMs(int duration) { UnifiedTime now; while (true) { const UnifiedTime::Value delta((UnifiedTime() - now).value); if (delta >= duration) break; step(delta); } } } int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); Dashel::initPlugins(); QString target(ASEBA_DEFAULT_TARGET); if (app.arguments().size() < 2) { std::wcerr << L"Usage: " << app.arguments().first().toStdWString() << L" [--once] filename [target]" << std::endl; return 1; } const bool once = (app.arguments().at(1) == "--once"); const int fileNameArgPos(once ? 2 : 1); const int targeetArgPos(once ? 3 : 2); if (app.arguments().size() > targeetArgPos) target = app.arguments().at(targeetArgPos); Aseba::MassLoader massLoader(app.arguments().at(fileNameArgPos), once); massLoader.loadToTarget(target.toStdString()); return 0; } aseba-1.6.0/clients/replay/000077500000000000000000000000001322771007300155305ustar00rootroot00000000000000aseba-1.6.0/clients/replay/CMakeLists.txt000066400000000000000000000004431322771007300202710ustar00rootroot00000000000000add_executable(asebarec rec.cpp ) target_link_libraries(asebarec ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebarec RUNTIME DESTINATION bin ) add_executable(asebaplay play.cpp ) target_link_libraries(asebaplay ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebaplay RUNTIME DESTINATION bin ) aseba-1.6.0/clients/replay/play.cpp000066400000000000000000000147231322771007300172100ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include #include #include namespace Aseba { using namespace Dashel; using namespace std; /** \defgroup play Message replayer */ /*@{*/ //! A message player //! This class replay saved user messages class Player : public Hub { private: typedef deque StringList; bool respectTimings; int speedFactor; Stream* in; string line; UnifiedTime lastTimeStamp; UnifiedTime lastEventTime; public: Player(const char* inputFile, bool respectTimings, int speedFactor) : respectTimings(respectTimings), speedFactor(speedFactor), lastTimeStamp(0) { if (inputFile) in = connect("file:" + string(inputFile) + ";mode=read"); else in = connect("stdin:"); } StringList tokenize(const string& input) { StringList list; const size_t inputSize(input.size()); size_t pos(0); while ((pos != string::npos) && (pos < inputSize)) { const size_t next = input.find(' ', pos); string word; if (next != string::npos) word = input.substr(pos, next-pos); else word = input.substr(pos); if (!word.empty()) list.push_back(word); pos = next + 1; } return list; } void sendLine() { // parse line StringList tokenizedLine(tokenize(line)); UnifiedTime timeStamp(UnifiedTime::fromRawTimeString(tokenizedLine.front())); tokenizedLine.pop_front(); const uint16_t source = strtol(tokenizedLine.front().c_str(), 0, 16); tokenizedLine.pop_front(); const uint16_t type = strtol(tokenizedLine.front().c_str(), 0, 16); tokenizedLine.pop_front(); Message::SerializationBuffer buffer; buffer.rawData.reserve(atoi(tokenizedLine.front().c_str())); tokenizedLine.pop_front(); while (!tokenizedLine.empty()) { buffer.rawData.push_back(strtol(tokenizedLine.front().c_str(), 0, 16)); tokenizedLine.pop_front(); } // build message Message* message(Message::create(source, type, buffer)); // if required, sleep if ((respectTimings) && (lastTimeStamp.value != 0)) { const UnifiedTime lostTime(UnifiedTime() - lastEventTime); const UnifiedTime deltaTimeStamp(timeStamp - lastTimeStamp); if (lostTime < deltaTimeStamp) { UnifiedTime waitTime(deltaTimeStamp - lostTime); waitTime /= speedFactor; waitTime.sleep(); } } // write message on all connected streams for (StreamsSet::iterator it = dataStreams.begin(); it != dataStreams.end();++it) { Stream* destStream(*it); if (destStream != in) { message->serialize(destStream); destStream->flush(); } } lastEventTime = UnifiedTime(); lastTimeStamp = timeStamp; line.clear(); delete message; } protected: void connectionCreated(Stream *stream) { //cerr << "got connection " << stream->getTargetName() << endl; } void incomingData(Stream *stream) { char c(stream->read()); if (stream == in) { if (c == '\n') sendLine(); else line += c; } } void connectionClosed(Stream *stream, bool abnormal) { if (stream == in) stop(); } }; /*@}*/ } //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba play, play recorded user messages from a file or stdin, usage:\n"; stream << programName << " [options] [targets]*\n"; stream << "Options:\n"; stream << "--fast : replay messages twice the speed of real time\n"; stream << "--faster : replay messages four times the speed of real time\n"; stream << "--fastest : replay messages as fast as possible\n"; stream << "-f INPUT_FILE : open INPUT_FILE instead of stdin\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Targets are any valid Dashel targets." << std::endl; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "Aseba play " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } int main(int argc, char *argv[]) { Dashel::initPlugins(); bool respectTimings = true; int speedFactor = 1; std::vector targets; const char* inputFile = 0; int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter]; if (strcmp(arg, "--fastest") == 0) { respectTimings = false; } else if (strcmp(arg, "--fast") == 0) { speedFactor = 2; } else if (strcmp(arg, "--faster") == 0) { speedFactor = 4; } else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { dumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { dumpVersion(std::cout); return 0; } else if (strcmp(arg, "-f") == 0) { argCounter++; if (argCounter >= argc) { dumpHelp(std::cout, argv[0]); return 1; } else inputFile = argv[argCounter]; } else { targets.push_back(argv[argCounter]); } argCounter++; } if (targets.empty()) targets.push_back(ASEBA_DEFAULT_TARGET); try { Aseba::Player player(inputFile, respectTimings, speedFactor); for (size_t i = 0; i < targets.size(); i++) player.connect(targets[i]); player.run(); } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; } return 0; } aseba-1.6.0/clients/replay/rec.cpp000066400000000000000000000070361322771007300170130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include #include namespace Aseba { using namespace Dashel; using namespace std; /** \defgroup rec Message recorder */ /*@{*/ //! A message recorder. //! This class saves user messages class Recorder : public Hub { protected: void incomingData(Stream *stream) { dumpTime(cout, true); // receive and deserialize message Message *message = Message::receive(stream); Message::SerializationBuffer buffer; message->serializeSpecific(buffer); // system messages have their arguments as bytes in hexadecimal cout << hex << setw(4) << setfill('0') << message->source << " "; cout << hex << setw(4) << setfill('0') << message->type << dec << " "; cout << dec << buffer.rawData.size() << " "; cout << hex; for (std::vector::const_iterator it = buffer.rawData.begin(); it != buffer.rawData.end(); ++it) cout << setw(2) << setfill('0') << unsigned(*it) << " "; cout << dec << endl; } }; /*@}*/ } //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba rec, record the user messages to stdout for later replay, usage:\n"; stream << programName << " [options] [targets]*\n"; stream << "Options:\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Targets are any valid Dashel targets." << std::endl; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "Aseba rec " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } int main(int argc, char *argv[]) { Dashel::initPlugins(); std::vector targets; int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter]; if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { dumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { dumpVersion(std::cout); return 0; } else { targets.push_back(argv[argCounter]); } argCounter++; } if (targets.empty()) targets.push_back(ASEBA_DEFAULT_TARGET); try { Aseba::Recorder recorder; for (size_t i = 0; i < targets.size(); i++) recorder.connect(targets[i]); recorder.run(); } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; } return 0; } aseba-1.6.0/clients/studio/000077500000000000000000000000001322771007300155435ustar00rootroot00000000000000aseba-1.6.0/clients/studio/AeslEditor.cpp000066400000000000000000000662111322771007300203100ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "AeslEditor.h" #include "CustomWidgets.h" #include "../../common/utils/utils.h" #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ AeslHighlighter::AeslHighlighter(AeslEditor *editor, QTextDocument *parent) : QSyntaxHighlighter(parent), editor(editor) { HighlightingRule rule; // keywords QTextCharFormat keywordFormat; keywordFormat.setForeground(Qt::darkRed); QStringList keywordPatterns; keywordPatterns << "\\bemit\\b" << "\\bwhile\\b" << "\\bdo\\b" << "\\bfor\\b" << "\\bin\\b" << "\\bstep\\b" << "\\bif\\b" << "\\bthen\\b" << "\\belse\\b" << "\\belseif\\b" << "\\bend\\b" << "\\bvar\\b" << "\\bconst\\b" << "\\bcall\\b" << "\\bonevent\\b" << "\\bontimer\\b" << "\\bwhen\\b" << "\\band\\b" << "\\bor\\b" << "\\bnot\\b" << "\\babs\\b" << "\\bsub\\b" << "\\bcallsub\\b" << "\\breturn\\b"; foreach (QString pattern, keywordPatterns) { rule.pattern = QRegExp(pattern); rule.format = keywordFormat; highlightingRules.append(rule); } // literals QTextCharFormat literalsFormat; literalsFormat.setForeground(Qt::darkBlue); rule.pattern = QRegExp("\\b(-{0,1}\\d+|0x([0-9]|[a-f]|[A-F])+|0b[0-1]+)\\b"); rule.format = literalsFormat; highlightingRules.append(rule); // comments # QTextCharFormat commentFormat; commentFormat.setForeground(Qt::darkGreen); rule.pattern = QRegExp("(?!\\*)#(?!\\*).*"); // '#' without '*' right after or before rule.format = commentFormat; highlightingRules.append(rule); rule.pattern = QRegExp("^#(?!\\*).*"); // '#' without '*' right after + beginning of line rule.format = commentFormat; highlightingRules.append(rule); // comments #* ... *# rule.pattern = QRegExp("#\\*.*\\*#"); rule.format = commentFormat; highlightingRules.append(rule); // multilines block of comments #* ... [\n]* ... *# commentBlockRules.begin = QRegExp("#\\*(?!.*\\*#)"); // '#*' with no corresponding '*#' commentBlockRules.end = QRegExp(".*\\*#"); commentBlockRules.format = commentFormat; // todo/fixme QTextCharFormat todoFormat; todoFormat.setForeground(Qt::black); todoFormat.setBackground(QColor(255, 192, 192)); rule.pattern = QRegExp("#.*(\\bTODO\\b|\\bFIXME\\b).*"); rule.format = todoFormat; highlightingRules.append(rule); } void AeslHighlighter::highlightBlock(const QString &text) { AeslEditorUserData *uData = polymorphic_downcast_or_null(currentBlockUserData()); // current line background blue bool isActive = uData && uData->properties.contains("active"); bool isExecutionError = uData && uData->properties.contains("executionError"); bool isBreakpointPending = uData && uData->properties.contains("breakpointPending"); bool isBreakpoint = uData && uData->properties.contains("breakpoint"); QColor breakpointPendingColor(255, 240, 178); QColor breakpointColor(255, 211, 178); QColor activeColor(220, 220, 255); QColor errorColor(240, 100, 100); /* // This code causes trash, should be investigated in details. // use the QTextEdit::ExtraSelection class to highlight the background // of special lines (breakpoints, active line,...) QList extraSelections; if (currentBlock().blockNumber() != 0) // past the first line, we recall the previous "selections" extraSelections = editor->extraSelections(); // prepare the current "selection" QTextEdit::ExtraSelection selection; selection.format.setProperty(QTextFormat::FullWidthSelection, true); selection.cursor = QTextCursor(currentBlock()); if (isBreakpointPending) selection.format.setBackground(breakpointPendingColor); if (isBreakpoint) selection.format.setBackground(breakpointColor); if (editor->debugging) { if (isActive) selection.format.setBackground(activeColor); if (isExecutionError) selection.format.setBackground(errorColor); } // we are done extraSelections.append(selection); editor->setExtraSelections(extraSelections); */ // This is backup code in case the ExtraSelection creates trashes QColor specialBackground("white"); if (isBreakpointPending) specialBackground = breakpointPendingColor; if (isBreakpoint) specialBackground = breakpointColor; if (editor->debugging) { if (isActive) specialBackground = activeColor; if (isExecutionError) specialBackground = errorColor; } if (specialBackground != "white") { QTextCharFormat format; format.setBackground(specialBackground); setFormat(0, text.length(), format); } // syntax highlight foreach (HighlightingRule rule, highlightingRules) { QRegExp expression(rule.pattern); int index = text.indexOf(expression); while (index >= 0) { int length = expression.matchedLength(); QTextCharFormat format = rule.format; // This is backup code in case the ExtraSelection creates trashes if (specialBackground != "white") format.setBackground(specialBackground); setFormat(index, length, format); index = text.indexOf(expression, index + length); } } // Prepare the format for multilines comment block int index; QTextCharFormat format = commentBlockRules.format; // Comply with the breakpoint formatting if (isBreakpointPending) format.setBackground(breakpointPendingColor); // Search for a multilines comment block setCurrentBlockState(NO_COMMENT); // No comment if (previousBlockState() != COMMENT) { // Search for a beginning if ((index = text.indexOf(commentBlockRules.begin)) != -1) { // Found one setFormat(index, text.length() - index, format); setCurrentBlockState(COMMENT); } } else { // Search for an end if ((index = text.indexOf(commentBlockRules.end)) != -1) { // Found one int length = commentBlockRules.end.matchedLength(); setFormat(0, length, format); setCurrentBlockState(NO_COMMENT); } else { // Still inside a block setFormat(0, text.length(), format); setCurrentBlockState(COMMENT); } } // error word in red if (uData && uData->properties.contains("errorPos")) { int pos = uData->properties["errorPos"].toInt(); int len = 0; if (pos + len < text.length()) { // find length of number or word while (pos + len < text.length()) if ( (!text[pos + len].isDigit()) && (!text[pos + len].isLetter()) && (text[pos + len] != '_') && (text[pos + len] != '.') ) break; else len++; } len = len > 0 ? len : 1; setFormat(pos, len, Qt::red); } } AeslEditorSidebar::AeslEditorSidebar(AeslEditor* editor) : QWidget(editor), editor(editor), currentSizeHint(0,0), verticalScroll(0) { setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding); connect(editor->verticalScrollBar(), SIGNAL(valueChanged(int)), SLOT(scroll(int))); connect(editor, SIGNAL(textChanged()), SLOT(update())); } void AeslEditorSidebar::scroll(int dy) { verticalScroll = dy; update(); // repaint } QSize AeslEditorSidebar::sizeHint() const { return QSize(idealWidth(), 0); } void AeslEditorSidebar::paintEvent(QPaintEvent *event) { QSize newSizeHint = sizeHint(); if (currentSizeHint != newSizeHint) { // geometry has changed, recompute the layout based on sizeHint() updateGeometry(); currentSizeHint = newSizeHint; } } int AeslEditorSidebar::posToLineNumber(int y) { // iterate over all text blocks QTextBlock block = editor->document()->firstBlock(); int offset = editor->contentsRect().top(); // top margin while (block.isValid()) { QRectF bounds = block.layout()->boundingRect(); bounds.translate(0, offset + block.layout()->position().y() - verticalScroll); if (y > bounds.top() && y < bounds.bottom()) { // this is it return block.blockNumber(); } block = block.next(); } // not found return -1; } AeslLineNumberSidebar::AeslLineNumberSidebar(AeslEditor *editor) : AeslEditorSidebar(editor) { } void AeslLineNumberSidebar::showLineNumbers(bool state) { setVisible(state); } void AeslLineNumberSidebar::paintEvent(QPaintEvent *event) { AeslEditorSidebar::paintEvent(event); // begin painting QPainter painter(this); // fill the background painter.fillRect(event->rect(), QColor(210, 210, 210)); // get the editor's painting area QRect editorRect = editor->contentsRect(); // enable clipping to match the vertical painting area of the editor painter.setClipRect(QRect(0, editorRect.top(), width(), editorRect.bottom()), Qt::ReplaceClip ); painter.setClipping(true); // define the painting area for linenumbers (top / bottom are identic to the editor)) QRect region = editorRect; region.setLeft(0); region.setRight(idealWidth()); // get the first text block QTextBlock block = editor->document()->firstBlock(); painter.setPen(Qt::darkGray); // set font from editor painter.setFont(editor->font()); // iterate over all text blocks // FIXME: do clever painting while(block.isValid()) { if (block.isVisible()) { QString number = QString::number(block.blockNumber() + 1); // paint the line number int y = block.layout()->position().y() + region.top() - verticalScroll; painter.drawText(0, y, width(), editor->fontMetrics().height(), Qt::AlignRight, number); } block = block.next(); } } int AeslLineNumberSidebar::idealWidth() const { // This is based on the Qt code editor example // http://doc.qt.nokia.com/latest/widgets-codeeditor.html int digits = 1; int linenumber = editor->document()->blockCount(); while (linenumber >= 10) { linenumber /= 10; digits++; } int space = 3 + editor->fontMetrics().width(QLatin1Char('9')) * digits; return space; } AeslBreakpointSidebar::AeslBreakpointSidebar(AeslEditor *editor) : AeslEditorSidebar(editor), borderSize(1) { } void AeslBreakpointSidebar::paintEvent(QPaintEvent *event) { AeslEditorSidebar::paintEvent(event); // define the breakpoint geometry, according to the font metrics from the editor const int lineSpacing = editor->fontMetrics().lineSpacing(); const QRect breakpoint(borderSize, borderSize, lineSpacing - 2*borderSize, lineSpacing - 2*borderSize); // begin painting QPainter painter(this); // fill the background painter.fillRect(event->rect(), QColor(210, 210, 210)); // get the editor's painting area QRect editorRect = editor->contentsRect(); // enable clipping to match the vertical painting area of the editor painter.setClipRect(QRect(0, editorRect.top(), width(), editorRect.bottom()), Qt::ReplaceClip ); painter.setClipping(true); // define the painting area for breakpoints (top / bottom are identic to the editor) QRect region = editorRect; region.setLeft(0); region.setRight(idealWidth()); // get the first text block QTextBlock block = editor->document()->firstBlock(); painter.setPen(Qt::red); painter.setBrush(Qt::red); // iterate over all text blocks // FIXME: do clever painting while(block.isValid()) { if (block.isVisible()) { // get the block data and check for a breakpoint if (editor->isBreakpoint(block)) { // paint the breakpoint int y = block.layout()->position().y() + region.top() - verticalScroll; // FIXME: Hughly breakpoing design... painter.drawRect(breakpoint.translated(0, y)); } } block = block.next(); } } void AeslBreakpointSidebar::mousePressEvent(QMouseEvent *event) { // click in the breakpoint column int line = posToLineNumber(event->pos().y()); editor->toggleBreakpoint(editor->document()->findBlockByNumber(line)); } int AeslBreakpointSidebar::idealWidth() const { // get metrics from editor const int lineSpacing = editor->fontMetrics().lineSpacing(); const QRect breakpoint(borderSize, borderSize, lineSpacing - 2*borderSize, lineSpacing - 2*borderSize); return breakpoint.width() + 2*borderSize; } AeslEditor::AeslEditor() : debugging(false), completer(0), vardefRegexp("^var .*"), constdefRegexp("^const .*"), leftValueRegexp("^\\w+\\s*=.*"), previousContext(UnknownContext), editingLeftValue(false) { QFont font; font.setFamily(""); font.setStyleHint(QFont::TypeWriter); font.setFixedPitch(true); //font.setPointSize(10); setFont(font); setAcceptDrops(true); setAcceptRichText(false); setTabStopWidth( QFontMetrics(font).width(' ') * 4); #ifdef Q_WS_WIN // Fix selection color on Windows when the find dialog is active // See issue 93: https://github.com/aseba-community/aseba/issues/93 // Code from: http://stackoverflow.com/questions/9880441/qt-how-to-display-selected-text-in-an-inactive-window QPalette p = palette(); p.setColor(QPalette::Inactive, QPalette::Highlight, p.color(QPalette::Active, QPalette::Highlight)); p.setColor(QPalette::Inactive, QPalette::HighlightedText, p.color(QPalette::Active, QPalette::HighlightedText)); setPalette(p); #endif // Q_WS_WIN // create completer completer = new QCompleter(this); //completer->setModelSorting(QCompleter::CaseInsensitivelySortedModel); completer->setCaseSensitivity(Qt::CaseInsensitive); completer->setWrapAround(false); completer->setWidget(this); completer->setCompletionMode(QCompleter::PopupCompletion); QObject::connect(completer, SIGNAL(activated(QString)), SLOT(insertCompletion(QString))); } void AeslEditor::contextMenuEvent ( QContextMenuEvent * e ) { // create menu QMenu *menu = createStandardContextMenu(); if (!isReadOnly()) { QAction *breakpointAction; menu->addSeparator(); // check for breakpoint QTextBlock block = cursorForPosition(e->pos()).block(); //AeslEditorUserData *uData = polymorphic_downcast(block.userData()); bool breakpointPresent = isBreakpoint(block); // add action if (breakpointPresent) breakpointAction = menu->addAction(tr("Clear breakpoint")); else breakpointAction = menu->addAction(tr("Set breakpoint")); QAction *breakpointClearAllAction = menu->addAction(tr("Clear all breakpoints")); // execute menu QAction* selectedAction = menu->exec(e->globalPos()); // do actions if (selectedAction == breakpointAction) { // modify editor state if (breakpointPresent) { // clear breakpoint clearBreakpoint(block); } else { // set breakpoint setBreakpoint(block); } } if (selectedAction == breakpointClearAllAction) { clearAllBreakpoints(); } } else menu->exec(e->globalPos()); delete menu; } bool AeslEditor::isBreakpoint() { return isBreakpoint(textCursor().block()); } bool AeslEditor::isBreakpoint(QTextBlock block) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); return (uData && (uData->properties.contains("breakpoint") || uData->properties.contains("breakpointPending") )) ; } bool AeslEditor::isBreakpoint(int line) { QTextBlock block = document()->findBlockByNumber(line); return isBreakpoint(block); } void AeslEditor::toggleBreakpoint() { toggleBreakpoint(textCursor().block()); } void AeslEditor::toggleBreakpoint(QTextBlock block) { if (isBreakpoint(block)) clearBreakpoint(block); else setBreakpoint(block); } void AeslEditor::setBreakpoint() { setBreakpoint(textCursor().block()); } void AeslEditor::setBreakpoint(QTextBlock block) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); if (!uData) { // create user data uData = new AeslEditorUserData("breakpointPending"); block.setUserData(uData); } else uData->properties.insert("breakpointPending", QVariant()); emit breakpointSet(block.blockNumber()); } void AeslEditor::clearBreakpoint() { clearBreakpoint(textCursor().block()); } void AeslEditor::clearBreakpoint(QTextBlock block) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); uData->properties.remove("breakpointPending"); uData->properties.remove("breakpoint"); if (uData->properties.isEmpty()) { // garbage collect UserData block.setUserData(0); } emit breakpointCleared(block.blockNumber()); } void AeslEditor::clearAllBreakpoints() { for (QTextBlock it = document()->begin(); it != document()->end(); it = it.next()) { AeslEditorUserData *uData = polymorphic_downcast_or_null(it.userData()); if (uData) { uData->properties.remove("breakpoint"); uData->properties.remove("breakpointPending"); } } emit breakpointClearedAll(); } void AeslEditor::commentAndUncommentSelection(CommentOperation commentOperation) { QTextCursor cursor = textCursor(); bool moveFailed = false; // get the last line of the selection QTextBlock endBlock = document()->findBlock(cursor.selectionEnd()); int lineEnd = endBlock.blockNumber(); int positionInEndBlock = cursor.selectionEnd() - endBlock.position(); // if the end of the selection is at the begining of a line, // this last line should not be taken into account if (cursor.hasSelection() && (positionInEndBlock == 0)) lineEnd--; // begin of editing block cursor.beginEditBlock(); // start at the begining of the selection cursor.setPosition(cursor.selectionStart()); cursor.movePosition(QTextCursor::StartOfBlock); QTextCursor cursorRestore = cursor; while (cursor.block().blockNumber() <= lineEnd) { // prepare for insertion / deletion setTextCursor(cursor); if (commentOperation == CommentSelection) { // insert # cursor.insertText("#"); } else if (commentOperation == UncommentSelection) { // delete # if (cursor.block().text().at(0) == QChar('#')) cursor.deleteChar(); } // move to the next line if (!cursor.movePosition(QTextCursor::NextBlock)) { // end of the document moveFailed = true; break; } } // select the changed lines cursorRestore.movePosition(QTextCursor::StartOfBlock); if (!moveFailed) cursor.movePosition(QTextCursor::StartOfBlock); else cursor.movePosition(QTextCursor::EndOfBlock); cursorRestore.setPosition(cursor.position(), QTextCursor::KeepAnchor); setTextCursor(cursorRestore); // end of editing block cursor.endEditBlock(); } //! Replace current code using a sequence of elements (each can be multiple sloc) and highlight one of these elements void AeslEditor::replaceAndHighlightCode(const QList& code, int elementToHighlight) { QTextCharFormat format; QTextCursor cursor(textCursor()); cursor.beginEditBlock(); cursor.select(QTextCursor::Document); cursor.removeSelectedText(); int posStart = 0; int posEnd =0; for (int i=0; imodifiers() & Qt::ControlModifier) { if (event->delta() > 0) { zoomIn(); return; } else if (event->delta() < 0) { zoomOut(); return; } } QTextEdit::wheelEvent(event); } void AeslEditor::keyPressEvent(QKeyEvent * event) { // if read-only, only call parent if (isReadOnly()) { QTextEdit::keyPressEvent(event); return; } // handle special pressed if (handleCompleter(event)) return; if (handleTab(event)) return; if (handleNewLine(event)) return; // default handler QKeyEvent eventCopy(*event); QTextEdit::keyPressEvent(event); detectLocalContextChange(&eventCopy); doCompletion(&eventCopy); } bool AeslEditor::handleCompleter(QKeyEvent *event) { // if the popup is visible, forward special keys to the completer if (completer && completer->popup()->isVisible()) { switch (event->key()) { case Qt::Key_Enter: case Qt::Key_Return: case Qt::Key_Escape: case Qt::Key_Tab: case Qt::Key_Backtab: event->ignore(); return true; // let the completer do default behavior default: break; } } // not the case, go on with other handlers return false; } bool AeslEditor::handleTab(QKeyEvent *event) { // handle tab and control tab if (!(event->key() == Qt::Key_Tab) || !(textCursor().hasSelection())) // I won't handle this event return false; QTextCursor cursor(document()->findBlock(textCursor().selectionStart())); cursor.beginEditBlock(); while (cursor.position() < textCursor().selectionEnd()) { cursor.movePosition(QTextCursor::StartOfBlock); if (event->modifiers() & Qt::ControlModifier) { cursor.movePosition(QTextCursor::Right, QTextCursor::KeepAnchor); if ((cursor.selectedText() == "\t") || ( (cursor.selectedText() == " ") && (cursor.movePosition(QTextCursor::Right, QTextCursor::KeepAnchor, 3)) && (cursor.selectedText() == " ") ) ) cursor.removeSelectedText(); } else cursor.insertText("\t"); cursor.movePosition(QTextCursor::NextBlock); cursor.movePosition(QTextCursor::EndOfBlock); } cursor.movePosition(QTextCursor::StartOfBlock); if (event->modifiers() & Qt::ControlModifier) { cursor.movePosition(QTextCursor::Right, QTextCursor::KeepAnchor); if ((cursor.selectedText() == "\t") || ( (cursor.selectedText() == " ") && (cursor.movePosition(QTextCursor::Right, QTextCursor::KeepAnchor, 3)) && (cursor.selectedText() == " ") ) ) cursor.removeSelectedText(); } else cursor.insertText("\t"); cursor.endEditBlock(); // successfully handeled return true; } bool AeslEditor::handleNewLine(QKeyEvent *event) { // handle indentation and new line if (!(event->key() == Qt::Key_Return ) && !(event->key() == Qt::Key_Enter)) // I won't handle this event return false; QString headingSpace("\n"); const QString &line = textCursor().block().text(); for (size_t i = 0; i < (size_t)line.length(); i++) { const QChar c(line[(unsigned)i]); if (c.isSpace()) headingSpace += c; else break; } insertPlainText(headingSpace); // successfully handeled return true; } void AeslEditor::detectLocalContextChange(QKeyEvent *event) { // this function spy the events to detect the local context LocalContext currentContext = UnknownContext; QString previous = previousWord(); QString line = currentLine(); if (previous == "call") currentContext = FunctionContext; else if (previous == "callsub") currentContext = SubroutineCallContext; else if (previous == "onevent" || previous == "emit") currentContext = EventContext; else if (vardefRegexp.indexIn(line) != -1 || constdefRegexp.indexIn(line) != -1) currentContext = VarDefContext; else if (leftValueRegexp.indexIn(line) == -1) currentContext = LeftValueContext; else currentContext = GeneralContext; if (currentContext != previousContext) { // local context has changed previousContext = currentContext; emit refreshModelRequest(currentContext); } } void AeslEditor::doCompletion(QKeyEvent *event) { static QString eow("~!@#$%^&*()+{}|:\"<>?,/;'[]\\-="); // end of word QString completionPrefix = textUnderCursor(); // qDebug() << "Completion prefix: " << completionPrefix; // don't show the popup if the word is too short, or if we detect an "end of word" character if (event->text().isEmpty()|| completionPrefix.length() < 1 || eow.contains(event->text().right(1))) { completer->popup()->hide(); return; } // update the completion prefix if (completionPrefix != completer->completionPrefix()) { completer->setCompletionPrefix(completionPrefix); completer->popup()->setCurrentIndex(completer->completionModel()->index(0, 0)); } // qDebug() << completer->completionCount(); // if we match the only completion available, close the popup. if (completer->completionCount() == 1) if (completer->currentCompletion() == completionPrefix) { completer->popup()->hide(); return; } // show the popup QRect cr = cursorRect(); cr.setWidth(completer->popup()->sizeHintForColumn(0) + completer->popup()->verticalScrollBar()->sizeHint().width()); completer->complete(cr); } void AeslEditor::insertCompletion(const QString& completion) { QTextCursor tc = textCursor(); // move at the end of the word (make sure to be on it) tc.movePosition(QTextCursor::Left); tc.movePosition(QTextCursor::EndOfWord); // move the cursor left, by the number of completer's prefix characters tc.movePosition(QTextCursor::Left, QTextCursor::KeepAnchor, completer->completionPrefix().length()); tc.removeSelectedText(); // insert completion tc.insertText(completion); setTextCursor(tc); } QString AeslEditor::textUnderCursor() const { QTextCursor tc = textCursor(); // found the end tc.movePosition(QTextCursor::EndOfWord); int endPosition = tc.position(); // found the begining, including possible "." in the word tc.movePosition(QTextCursor::StartOfWord); while( (document()->characterAt(tc.position() - 1)) == QChar('.') ) { tc.movePosition(QTextCursor::Left); tc.movePosition(QTextCursor::WordLeft); } // select tc.setPosition(endPosition, QTextCursor::KeepAnchor); return tc.selectedText(); } QString AeslEditor::previousWord() const { QTextCursor tc = textCursor(); // if we are right after a '.', go left if ((document()->characterAt(tc.position() - 1)) == QChar('.')) tc.movePosition(QTextCursor::Left); // go at the begining of the current word (including possible '.' in the word) tc.movePosition(QTextCursor::WordLeft); while((document()->characterAt(tc.position() - 1)) == QChar('.') ) { tc.movePosition(QTextCursor::Left); tc.movePosition(QTextCursor::WordLeft); } // go to the previous word tc.movePosition(QTextCursor::PreviousWord); // select it tc.movePosition(QTextCursor::EndOfWord, QTextCursor::KeepAnchor); return tc.selectedText(); } QString AeslEditor::currentLine() const { // return everything between the start and the cursor QTextCursor tc = textCursor(); tc.movePosition(QTextCursor::StartOfLine, QTextCursor::KeepAnchor); return tc.selectedText(); } void AeslEditor::setCompleterModel(QAbstractItemModel *model) { completer->setModel(model); completer->setCompletionRole(Qt::DisplayRole); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/AeslEditor.h000066400000000000000000000122071322771007300177510ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef AESL_EDITOR_H #define AESL_EDITOR_H #include #include #include #include #include #include #include #include class QTextDocument; namespace Aseba { /** \addtogroup studio */ /*@{*/ class AeslEditor; class AeslHighlighter : public QSyntaxHighlighter { Q_OBJECT public: AeslHighlighter(AeslEditor *editor, QTextDocument *parent = 0); protected: void highlightBlock(const QString &text); private: struct HighlightingRule { QRegExp pattern; QTextCharFormat format; }; QVector highlightingRules; struct CommentBlockRule { QRegExp begin; QRegExp end; QTextCharFormat format; }; // For multi-lines comments CommentBlockRule commentBlockRules; enum BlockState { STATE_DEFAULT=-1, // Qt default NO_COMMENT=0, // Normal block COMMENT, // Block with multilines comments }; AeslEditor *editor; }; struct AeslEditorUserData : public QTextBlockUserData { QMap properties; AeslEditorUserData(const QString &property, const QVariant &value = QVariant()) { properties.insert(property, value); } virtual ~AeslEditorUserData() { } }; class AeslEditorSidebar : public QWidget { Q_OBJECT public: AeslEditorSidebar(AeslEditor* editor); virtual QSize sizeHint() const; public slots: virtual void scroll(int verticalScroll); protected: virtual void paintEvent(QPaintEvent *event); virtual void mousePressEvent(QMouseEvent *event) {QWidget::mousePressEvent(event);} virtual int idealWidth() const = 0; int posToLineNumber(int y); protected: AeslEditor* editor; QSize currentSizeHint; int verticalScroll; }; class AeslLineNumberSidebar : public AeslEditorSidebar { Q_OBJECT public: AeslLineNumberSidebar(AeslEditor* editor); public slots: void showLineNumbers(bool state); protected: virtual void paintEvent(QPaintEvent *event); virtual int idealWidth() const; }; class AeslBreakpointSidebar : public AeslEditorSidebar { Q_OBJECT public: AeslBreakpointSidebar(AeslEditor* editor); protected: virtual void paintEvent(QPaintEvent *event); virtual void mousePressEvent(QMouseEvent *event); virtual int idealWidth() const; protected: const int borderSize; }; enum LocalContext { UnknownContext, VarDefContext, LeftValueContext, FunctionContext, SubroutineCallContext, EventContext, GeneralContext }; class AeslEditor : public QTextEdit { Q_OBJECT signals: void breakpointSet(unsigned line); void breakpointCleared(unsigned line); void breakpointClearedAll(); void refreshModelRequest(LocalContext context); public: AeslEditor(); virtual ~AeslEditor() { } virtual void contextMenuEvent ( QContextMenuEvent * e ); bool isBreakpoint(); // apply to the current line bool isBreakpoint(QTextBlock block); bool isBreakpoint(int line); void toggleBreakpoint(); // apply to the current line void toggleBreakpoint(QTextBlock block); void setBreakpoint(); // apply to the current line void setBreakpoint(QTextBlock block); void clearBreakpoint(); // apply to the current line void clearBreakpoint(QTextBlock block); void clearAllBreakpoints(); void setCompleterModel(QAbstractItemModel* model); enum CommentOperation { CommentSelection, UncommentSelection }; void commentAndUncommentSelection(CommentOperation commentOperation); void replaceAndHighlightCode(const QList& code, int elementToHighlight); public: bool debugging; protected slots: void insertCompletion(const QString &completion); protected: virtual void wheelEvent(QWheelEvent * event); virtual void keyPressEvent(QKeyEvent * event); virtual bool handleCompleter(QKeyEvent * event); virtual bool handleTab(QKeyEvent * event); virtual bool handleNewLine(QKeyEvent * event); virtual void detectLocalContextChange(QKeyEvent * event); virtual void doCompletion(QKeyEvent * event); QString textUnderCursor() const; QString previousWord() const; QString currentLine() const; protected: QCompleter *completer; const QRegExp vardefRegexp; const QRegExp constdefRegexp; const QRegExp leftValueRegexp; LocalContext previousContext; bool editingLeftValue; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/CMakeLists.txt000066400000000000000000000147031322771007300203100ustar00rootroot00000000000000# kate: replace-tabs off; tab-width 4; indent-width 4; tab-indents true; indent-mode normal # vim: ts=4:sw=4:noexpandtab set(DOC_NAME aseba-doc) # file(TO_NATIVE_PATH ...) is broken with MSYS generator # (http://www.kwwidgets.org/Bug/bug_view_advanced_page.php?bug_id=5939) # This is a replacement... # From : http://www.cmake.org/pipermail/cmake/2006-July/010180.html MACRO(MAKE_WINDOWS_PATH pathname) # An extra \\ escape is necessary to get a \ through CMake's processing. STRING(REPLACE "/" "\\" ${pathname} "${${pathname}}") # Enclose with UNESCAPED quotes. This means we need to escape our # quotes once here, i.e. with \" SET(${pathname} \"${${pathname}}\") ENDMACRO(MAKE_WINDOWS_PATH) # link for Studio set(ADDITIONAL_LIBRARIES "") # Google protobuf find_package(Protobuf) if (PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE) add_definitions(-DPROTOBUF_FOUND) include_directories(${PROTOBUF_INCLUDE_DIR}) set(ADDITIONAL_LIBRARIES ${ADDITIONAL_LIBRARIES} ${PROTOBUF_LIBRARY}) message(STATUS "Google Protobuf library and compiler found, enabling usage logging") else (PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE) message(STATUS "Google Protobuf library and compiler *not* found, usage logging disabled.") endif (PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE) # Zeroconf if (DNSSD_FOUND) set(ADDITIONAL_LIBRARIES ${ADDITIONAL_LIBRARIES} ${ASEBA_ZEROCONFQT_LIBRARIES}) endif() if (QT4_FOUND AND QT_QTWEBKIT_FOUND) set(QT_USE_QTXML ON) set(QT_USE_QTNETWORK ON) set(QT_USE_QTMAIN ON) set(QT_USE_QTHELP ON) set(QT_USE_QTCONCURRENT ON) set(QT_USE_QTSVG ON) set(QT_USE_QTWEBKIT ON) include(${QT_USE_FILE}) # add a console for debug messages under Windows if (WIN32) set(CMAKE_EXE_LINKER_FLAGS_DEBUG "-Wl,-subsystem,console ${CMAKE_EXE_LINKER_FLAGS}") endif (WIN32) if(UNIX AND NOT APPLE) set(ASEBA_ENABLE_BLOCKLY_PLUGIN TRUE) add_definitions(-DASEBA_ENABLE_BLOCKLY_PLUGIN) endif(UNIX AND NOT APPLE) if (QWT_LIBRARIES AND QWT_INCLUDE_DIR) include_directories (${QWT_INCLUDE_DIR}) set(ADDITIONAL_LIBRARIES ${ADDITIONAL_LIBRARIES} ${QWT_LIBRARIES}) add_definitions(-DHAVE_QWT) endif (QWT_LIBRARIES AND QWT_INCLUDE_DIR) # generates the documentation if (QT_QTHELP_FOUND AND QT_QCOLLECTIONGENERATOR_EXECUTABLE) message(STATUS "qcollectiongenerator executable found") # Use PATH instead of DIRECTORY on next line to support CMake < 2.8.11 get_filename_component(QT_QCOLLECTIONGENERATOR_DIRECTORY ${QT_QCOLLECTIONGENERATOR_EXECUTABLE} PATH) get_filename_component(QT_QCOLLECTIONGENERATOR_EXT ${QT_QCOLLECTIONGENERATOR_EXECUTABLE} EXT) set(QT_QHELPGENERATOR_EXECUTABLE "${QT_QCOLLECTIONGENERATOR_DIRECTORY}/qhelpgenerator${QT_QCOLLECTIONGENERATOR_EXT}") add_custom_command( OUTPUT ${DOC_NAME}.qch COMMAND ${QT_QHELPGENERATOR_EXECUTABLE} ARGS ${CMAKE_CURRENT_SOURCE_DIR}/${DOC_NAME}.qhp -o ${CMAKE_CURRENT_BINARY_DIR}/${DOC_NAME}.qch DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${DOC_NAME}.qhp) add_custom_command( OUTPUT ${DOC_NAME}.qhc COMMAND ${QT_QCOLLECTIONGENERATOR_EXECUTABLE} ARGS ${DOC_NAME}.qhcp -o ${DOC_NAME}.qhc DEPENDS ${DOC_NAME}.qhcp ${DOC_NAME}.qch) else (QT_QTHELP_FOUND AND QT_QCOLLECTIONGENERATOR_EXECUTABLE) message(WARNING "Qt help support missing, studio online help disabled (hint: on Ubuntu, install package qt4-dev-tools)") endif (QT_QTHELP_FOUND AND QT_QCOLLECTIONGENERATOR_EXECUTABLE) # code common to the use of Aseba under Qt set(qt_common_SRCS Target.cpp DashelTarget.cpp TargetModels.cpp CustomWidgets.cpp AeslEditor.cpp Plugin.cpp translations/CompilerTranslator.cpp ) qt4_wrap_cpp(qt_common_MOCS Target.h DashelTarget.h TargetModels.h AeslEditor.h translations/CompilerTranslator.h ) add_library(asebaqtcommon STATIC ${qt_common_SRCS} ${qt_common_MOCS}) # plugins add_subdirectory(plugins) # resources qt4_add_resources(resfiles asebastudio.qrc) include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) if (QT_QTHELP_FOUND) # studio for desktop use set(studio_SRCS StudioAeslEditor.cpp PluginRegistry.cpp MainWindow.cpp NamedValuesVectorModel.cpp ClickableLabel.cpp CustomDelegate.cpp main.cpp FindDialog.cpp EventViewer.cpp HelpViewer.cpp ConfigDialog.cpp ModelAggregator.cpp ) qt4_wrap_cpp(studio_MOCS StudioAeslEditor.h MainWindow.h NamedValuesVectorModel.h ClickableLabel.h CustomDelegate.h FindDialog.h EventViewer.h HelpViewer.h ConfigDialog.h ModelAggregator.h ) if (QT_QCOLLECTIONGENERATOR_EXECUTABLE) file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/asebastudiohelp.qrc ${CMAKE_CURRENT_SOURCE_DIR}/aseba-doc.qhcp DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) qt4_add_resources(resfiles ${CMAKE_CURRENT_BINARY_DIR}/asebastudiohelp.qrc) endif (QT_QCOLLECTIONGENERATOR_EXECUTABLE) add_executable(asebastudio WIN32 ${studio_SRCS} ${studio_MOCS} ${resfiles} ${CMAKE_BINARY_DIR}/version.h) if (HAS_DYN_VERSION) add_dependencies(asebastudio versionheader) endif (HAS_DYN_VERSION) target_link_libraries(asebastudio asebaqtplugins asebaqtcommon asebaqtabout asebacompiler ${ASEBA_CORE_LIBRARIES} ${ADDITIONAL_LIBRARIES} ${QT_LIBRARIES}) install(TARGETS asebastudio RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (QT_QTHELP_FOUND) # Thymio VPL standalone include_directories(${CMAKE_CURRENT_BINARY_DIR}/plugins/ThymioVPL) set(thymiovpl_SRCS ThymioVPLStandalone.cpp thymiovpl.cpp ) qt4_wrap_cpp(thymiovpl_MOCS ThymioVPLStandalone.h ) if (ANDROID) add_library(thymiovpl SHARED ${thymiovpl_SRCS} ${thymiovpl_MOCS} ${resfiles} ${CMAKE_BINARY_DIR}/version.h) else (ANDROID) add_executable(thymiovpl WIN32 ${thymiovpl_SRCS} ${thymiovpl_MOCS} ${resfiles} ${CMAKE_BINARY_DIR}/version.h) endif (ANDROID) if (HAS_DYN_VERSION) add_dependencies(thymiovpl versionheader) endif (HAS_DYN_VERSION) target_link_libraries(thymiovpl asebaqtplugins asebaqtcommon asebaqtabout asebacompiler ${ASEBA_CORE_LIBRARIES} ${ADDITIONAL_LIBRARIES} ${QT_LIBRARIES}) # Render blocks helper set(rendervplblocks_SRCS rendervplblocks.cpp ) add_executable(rendervplblocks WIN32 ${rendervplblocks_SRCS} ${resfiles} ${CMAKE_BINARY_DIR}/version.h) # Note: it is ugly to link so much libraries that are not used, but it allows to avoid splitting VPL into several libraries target_link_libraries(rendervplblocks asebaqtplugins asebaqtcommon asebaqtabout ${ASEBA_CORE_LIBRARIES} ${ADDITIONAL_LIBRARIES} ${QT_LIBRARIES}) install(TARGETS thymiovpl RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (QT4_FOUND AND QT_QTWEBKIT_FOUND) aseba-1.6.0/clients/studio/ClickableLabel.cpp000066400000000000000000000020331322771007300210560ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "ClickableLabel.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ void ClickableLabel::mouseReleaseEvent(QMouseEvent * event) { QLabel::mouseReleaseEvent(event); emit clicked(); } /*@}*/ } aseba-1.6.0/clients/studio/ClickableLabel.h000066400000000000000000000021521322771007300205250ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef CLICKABLE_LABEL_H #define CLICKABLE_LABEL_H #include namespace Aseba { /** \addtogroup studio */ /*@{*/ class ClickableLabel : public QLabel { Q_OBJECT signals: void clicked(); protected: void mouseReleaseEvent(QMouseEvent * event); }; /*@}*/ } #endif aseba-1.6.0/clients/studio/ConfigDialog.cpp000066400000000000000000000246261322771007300206060ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "ConfigDialog.h" #include #define BOOL_TO_CHECKED(value) (value == true ? Qt::Checked : Qt::Unchecked) #define CHECKED_TO_BOOL(value) (value == Qt::Checked ? true : false) #define CONFIG_PROPERTY_CHECKBOX_HANDLER(name, page, keyword) \ const bool ConfigDialog::get##name() { \ if (me) \ return me->page->checkboxCache[#keyword].value; \ else \ return false; \ } \ \ void ConfigDialog::set##name(bool value) { \ if (me && !me->isVisible()) \ me->page->checkboxCache[#keyword].value = value; \ } #define TITLE_SPACING 10 #define HORIZONTAL_STRUT 700 namespace Aseba { CONFIG_PROPERTY_CHECKBOX_HANDLER(ShowLineNumbers, generalpage, showlinenumbers ) CONFIG_PROPERTY_CHECKBOX_HANDLER(ShowHidden, generalpage, showhidden ) CONFIG_PROPERTY_CHECKBOX_HANDLER(ShowKeywordToolbar, generalpage, keywordToolbar ) CONFIG_PROPERTY_CHECKBOX_HANDLER(ShowMemoryUsage, generalpage, memoryusage ) CONFIG_PROPERTY_CHECKBOX_HANDLER(AutoCompletion, editorpage, autoKeyword ) /*** ConfigPage ***/ ConfigPage::ConfigPage(QString title, QWidget *parent): QWidget(parent) { QLabel* myTitle = new QLabel(title); // bold & align center myTitle->setAlignment(Qt::AlignCenter); QFont current = myTitle->font(); current.setBold(true); myTitle->setFont(current); mainLayout = new QVBoxLayout(); mainLayout->addWidget(myTitle); mainLayout->addSpacing(TITLE_SPACING); mainLayout->addStrut(HORIZONTAL_STRUT); setLayout(mainLayout); } QCheckBox* ConfigPage::newCheckbox(QString label, QString ID, bool checked) { QCheckBox* widget = new QCheckBox(label); widget->setCheckState(BOOL_TO_CHECKED(checked)); WidgetCache cache(widget, checked); checkboxCache.insert(std::pair >(ID, cache)); connect(widget, SIGNAL(released()), ConfigDialog::getInstance(), SLOT(flushCache())); connect(widget, SIGNAL(released()), ConfigDialog::getInstance(), SIGNAL(settingsChanged())); return widget; } void ConfigPage::readSettings() { // update cache and widgets from disk QSettings settings; // iterate on checkboxes for (std::map >::iterator it = checkboxCache.begin(); it != checkboxCache.end(); it++) { QString name = it->first; QCheckBox* checkbox = dynamic_cast((it->second).widget); Q_ASSERT(checkbox); if (settings.contains(name)) { bool value = settings.value(name, false).toBool(); checkbox->setCheckState(BOOL_TO_CHECKED(value)); // update widget (it->second).value = value; // update cache } } } void ConfigPage::writeSettings() { // write the cache on disk QSettings settings; // iterate on checkboxes for (std::map >::iterator it = checkboxCache.begin(); it != checkboxCache.end(); it++) { QString name = it->first; QCheckBox* checkbox = dynamic_cast((it->second).widget); Q_ASSERT(checkbox); Q_UNUSED(checkbox); settings.setValue(name, (it->second).value); } } void ConfigPage::saveState() { // create a temporary cache checkboxCacheSave = checkboxCache; } void ConfigPage::flushCache() { // sync the cache with the widgets' state // iterate on checkboxes for (std::map >::iterator it = checkboxCache.begin(); it != checkboxCache.end(); it++) { QCheckBox* checkbox = dynamic_cast((it->second).widget); Q_ASSERT(checkbox); (it->second).value = CHECKED_TO_BOOL(checkbox->checkState()); } } void ConfigPage::discardChanges() { // reload values from the temporary cache checkboxCache = checkboxCacheSave; // update widgets accordingly reloadFromCache(); } void ConfigPage::reloadFromCache() { // update widgets based on the cache for (std::map >::iterator it = checkboxCache.begin(); it != checkboxCache.end(); it++) { QCheckBox* checkbox = dynamic_cast((it->second).widget); Q_ASSERT(checkbox); checkbox->setCheckState(BOOL_TO_CHECKED((it->second).value)); } } /*** GeneralPage ***/ GeneralPage::GeneralPage(QWidget *parent): ConfigPage(tr("General Setup"), parent) { QGroupBox* gb1 = new QGroupBox(tr("Layout")); QVBoxLayout* gb1layout = new QVBoxLayout(); gb1->setLayout(gb1layout); mainLayout->addWidget(gb1); // Show the keyword toolbar gb1layout->addWidget(newCheckbox(tr("Show keyword toolbar"), "keywordToolbar", true)); // Show the memory usage gauge gb1layout->addWidget(newCheckbox(tr("Show memory usage"), "memoryusage", false)); // Show hidden variables & functions gb1layout->addWidget(newCheckbox(tr("Show hidden variables"), "showhidden", false)); // Show line numbers gb1layout->addWidget(newCheckbox(tr("Show line numbers"), "showlinenumbers", true)); mainLayout->addStretch(); } void GeneralPage::readSettings() { QSettings settings; settings.beginGroup("general-config"); ConfigPage::readSettings(); settings.endGroup(); } void GeneralPage::writeSettings() { QSettings settings; settings.beginGroup("general-config"); ConfigPage::writeSettings(); settings.endGroup(); } /*** EditorPage ***/ EditorPage::EditorPage(QWidget *parent): ConfigPage(tr("Editor Setup"), parent) { // QGroupBox* gb1 = new QGroupBox(tr("Autocompletion")); QVBoxLayout* gb1layout = new QVBoxLayout(); gb1->setLayout(gb1layout); mainLayout->addWidget(gb1); // gb1layout->addWidget(newCheckbox(tr("Keywords"), "autoKeyword", true)); mainLayout->addStretch(); } void EditorPage::readSettings() { QSettings settings; settings.beginGroup("editor-config"); ConfigPage::readSettings(); settings.endGroup(); } void EditorPage::writeSettings() { QSettings settings; settings.beginGroup("editor-config"); ConfigPage::writeSettings(); settings.endGroup(); } /*** ConfigDialog ***/ void ConfigDialog::init(QWidget* parent) { if (!me) { me = new ConfigDialog(parent); me->setupWidgets(); } } void ConfigDialog::bye() { if (me) { delete me; me = nullptr; } } void ConfigDialog::showConfig() { me->setModal(true); me->reloadFromCache(); me->saveState(); me->show(); } ConfigDialog* ConfigDialog::me = nullptr; ConfigDialog::ConfigDialog(QWidget* parent): QDialog(parent) { } ConfigDialog::~ConfigDialog() { writeSettings(); } void ConfigDialog::setupWidgets() { // list of topics topicList = new QListWidget(); topicList->setViewMode(QListView::IconMode); topicList->setIconSize(QSize(64, 64)); topicList->setMovement(QListView::Static); topicList->setMaximumWidth(128); topicList->setGridSize(QSize(100, 100)); topicList->setMinimumHeight(300); // add topics QListWidgetItem* general = new QListWidgetItem(QIcon(":/images/exec.png"), tr("General")); general->setTextAlignment(Qt::AlignHCenter); topicList->addItem(general); QListWidgetItem* editor = new QListWidgetItem(QIcon(":/images/kedit.png"), tr("Editor")); editor->setTextAlignment(Qt::AlignHCenter); topicList->addItem(editor); // create pages configStack = new QStackedWidget(); generalpage = new GeneralPage(); configStack->addWidget(generalpage); editorpage = new EditorPage(); configStack->addWidget(editorpage); connect(topicList, SIGNAL(currentRowChanged(int)), configStack, SLOT(setCurrentIndex(int))); topicList->setCurrentRow(0); // buttons okButton = new QPushButton(tr("Ok")); cancelButton = new QPushButton(tr("Cancel")); connect(okButton, SIGNAL(clicked()), SLOT(accept())); connect(cancelButton, SIGNAL(clicked()), SLOT(reject())); // main layout QHBoxLayout* contentLayout = new QHBoxLayout(); contentLayout->addWidget(topicList); contentLayout->addWidget(configStack); QHBoxLayout* buttonLayout = new QHBoxLayout(); buttonLayout->addStretch(); buttonLayout->addWidget(okButton); buttonLayout->addWidget(cancelButton); QVBoxLayout* mainLayout = new QVBoxLayout(); mainLayout->addLayout(contentLayout); mainLayout->addLayout(buttonLayout); setLayout(mainLayout); setWindowTitle(tr("Aseba Studio - Settings")); readSettings(); } void ConfigDialog::saveState() { // save the state of pages, prior to editing for (int i = 0; i < configStack->count(); i++) { ConfigPage* config = dynamic_cast(configStack->widget(i)); if (config) config->saveState(); } } void ConfigDialog::reloadFromCache() { // reload values from the cache for (int i = 0; i < configStack->count(); i++) { ConfigPage* config = dynamic_cast(configStack->widget(i)); if (config) config->reloadFromCache(); } } void ConfigDialog::accept() { // update the cache with new values flushCache(); QDialog::accept(); } void ConfigDialog::reject() { // discard the cache and reload widgets with old values for (int i = 0; i < configStack->count(); i++) { ConfigPage* config = dynamic_cast(configStack->widget(i)); if (config) config->discardChanges(); } // GUI should adopt changes emit settingsChanged(); QDialog::reject(); } void ConfigDialog::flushCache() { // update the cache with new values for (int i = 0; i < configStack->count(); i++) { ConfigPage* config = dynamic_cast(configStack->widget(i)); if (config) config->flushCache(); } } void ConfigDialog::readSettings() { for (int i = 0; i < configStack->count(); i++) { ConfigPage* config = dynamic_cast(configStack->widget(i)); if (config) config->readSettings(); } } void ConfigDialog::writeSettings() { for (int i = 0; i < configStack->count(); i++) { ConfigPage* config = dynamic_cast(configStack->widget(i)); if (config) config->writeSettings(); } } } aseba-1.6.0/clients/studio/ConfigDialog.h000066400000000000000000000071641322771007300202510ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef CONFIG_DIALOG_H #define CONFIG_DIALOG_H #include #include #include #include #define CONFIG_PROPERTY_CHECKBOX_DECLARE(name) \ public: \ static const bool get##name(void); \ static void set##name(bool); namespace Aseba { class GeneralPage; class EditorPage; // ConfigDialog class ConfigDialog: public QDialog { Q_OBJECT public: // instantiate / kill the singleton static void init(QWidget* parent = 0); static void bye(void); static const ConfigDialog* getInstance() { return me; } static void showConfig(); // access to properties // layout properties CONFIG_PROPERTY_CHECKBOX_DECLARE(ShowHidden) CONFIG_PROPERTY_CHECKBOX_DECLARE(ShowLineNumbers) CONFIG_PROPERTY_CHECKBOX_DECLARE(ShowKeywordToolbar) CONFIG_PROPERTY_CHECKBOX_DECLARE(ShowMemoryUsage) // autocompletion behaviour CONFIG_PROPERTY_CHECKBOX_DECLARE(AutoCompletion) signals: void settingsChanged(); protected: ConfigDialog(QWidget* parent = 0); ~ConfigDialog(); void setupWidgets(); protected: static ConfigDialog* me; // pointer to the singleton QPushButton* okButton; QPushButton* cancelButton; QListWidget* topicList; QStackedWidget* configStack; // individual pages GeneralPage* generalpage; EditorPage* editorpage; void readSettings(); void writeSettings(); public slots: virtual void saveState(); virtual void reloadFromCache(); virtual void accept(); virtual void reject(); protected slots: void flushCache(); }; // ConfigPage class ConfigPage: public QWidget { Q_OBJECT public: ConfigPage(QString title = QString(), QWidget* parent = 0); ~ConfigPage(){} friend class ConfigDialog; protected: virtual void readSettings(); virtual void writeSettings(); virtual void saveState(); virtual void flushCache(); virtual void discardChanges(); virtual void reloadFromCache(); QCheckBox* newCheckbox(QString label, QString ID, bool checked = false); protected: template struct WidgetCache { WidgetCache() {} WidgetCache(QWidget* widget, T value):widget(widget),value(value){} QWidget* widget; T value; }; std::map > checkboxCache; std::map > checkboxCacheSave; // used to save the state prior to changes QVBoxLayout* mainLayout; }; // GeneralPage class GeneralPage: public ConfigPage { Q_OBJECT public: GeneralPage(QWidget* parent = 0); ~GeneralPage(){} friend class ConfigDialog; protected: virtual void readSettings(); virtual void writeSettings(); }; // EditorPage class EditorPage: public ConfigPage { Q_OBJECT public: EditorPage(QWidget* parent = 0); ~EditorPage(){} friend class ConfigDialog; protected: virtual void readSettings(); virtual void writeSettings(); }; } #endif // CONFIG_DIALOG_H aseba-1.6.0/clients/studio/CustomDelegate.cpp000066400000000000000000000041621322771007300211570ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "CustomDelegate.h" #include namespace Aseba { /** \addtogroup studio */ /*@{*/ SpinBoxDelegate::SpinBoxDelegate(int minValue, int maxValue, QObject *parent) : QItemDelegate(parent), minValue(minValue), maxValue(maxValue) { } QWidget *SpinBoxDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &/* option */, const QModelIndex &/* index */) const { QSpinBox *editor = new QSpinBox(parent); editor->setMinimum(minValue); editor->setMaximum(maxValue); editor->installEventFilter(const_cast(this)); return editor; } void SpinBoxDelegate::setEditorData(QWidget *editor, const QModelIndex &index) const { int value = index.model()->data(index, Qt::DisplayRole).toInt(); QSpinBox *spinBox = static_cast(editor); spinBox->setValue(value); } void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const { QSpinBox *spinBox = static_cast(editor); spinBox->interpretText(); int value = spinBox->value(); model->setData(index, value); } void SpinBoxDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &/* index */) const { editor->setGeometry(option.rect); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/CustomDelegate.h000066400000000000000000000030741322771007300206250ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef CUSTOM_DELEGATE_H #define CUSTOM_DELEGATE_H #include namespace Aseba { /** \addtogroup studio */ /*@{*/ class SpinBoxDelegate : public QItemDelegate { Q_OBJECT public: SpinBoxDelegate(int minValue, int maxValue, QObject *parent = 0); QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const; void setEditorData(QWidget *editor, const QModelIndex &index) const; void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const; void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const; protected: int minValue; int maxValue; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/CustomWidgets.cpp000066400000000000000000000105441322771007300210540ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "CustomWidgets.h" #include #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ QStringList DraggableListWidget::mimeTypes () const { QStringList types; types << "text/plain"; return types; } QMimeData * DraggableListWidget::mimeData ( const QList items ) const { QString texts; foreach (QListWidgetItem *item, items) { texts += item->text(); } QMimeData *mimeData = new QMimeData(); mimeData->setText(texts); return mimeData; } ////// FixedWidthTableView::FixedWidthTableView() { col1Width = 50; setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); } void FixedWidthTableView::setSecondColumnLongestContent(const QString& content) { Q_ASSERT((model ()->columnCount() == 2) || (model ()->columnCount() == 3)); QFontMetrics fm(font()); col1Width = fm.width(content); } void FixedWidthTableView::resizeEvent ( QResizeEvent * event ) { Q_ASSERT((model ()->columnCount() == 2) || (model ()->columnCount() == 3)); if (model()->columnCount() == 2) { int col0Width = event->size().width() - col1Width; setColumnWidth(0, col0Width); setColumnWidth(1, col1Width); } else if (model()->columnCount() == 3) { int col0Width = event->size().width() - col1Width - 22; setColumnWidth(0, col0Width); setColumnWidth(1, col1Width); setColumnWidth(2, 22); } } void FixedWidthTableView::startDrag(Qt::DropActions supportedActions) { QModelIndex item = currentIndex(); QModelIndexList list; list.append(item); QMimeData* mimeData = model()->mimeData(list); QDrag *drag = new QDrag(this); drag->setMimeData(mimeData); QPixmap pixmap = getDragPixmap(mimeData->text()); drag->setPixmap(pixmap); QPoint hotpoint(pixmap.width()+10, pixmap.height()/2); drag->setHotSpot(hotpoint); if (drag->exec(Qt::CopyAction|Qt::MoveAction, Qt::CopyAction) == Qt::MoveAction) { // item moved } else { // item copied } } void FixedWidthTableView::dragEnterEvent(QDragEnterEvent *event) { if (modelMatchMimeFormat(event->mimeData()->formats())) { event->setDropAction(Qt::MoveAction); event->accept(); } else event->ignore(); } void FixedWidthTableView::dragMoveEvent(QDragMoveEvent *event) { event->accept(); } void FixedWidthTableView::dropEvent(QDropEvent *event) { int row = rowAt(event->pos().y()); int col = columnAt(event->pos().x()); if (model()->dropMimeData(event->mimeData(), event->dropAction(), row, col, QModelIndex())) { event->accept(); } else event->ignore(); } QPixmap FixedWidthTableView::getDragPixmap(QString text) { // From the "Fridge Magnets" example QFontMetrics metric(font()); QSize size = metric.size(Qt::TextSingleLine, text); QImage image(size.width() + 12, size.height() + 12, QImage::Format_ARGB32_Premultiplied); image.fill(qRgba(0, 0, 0, 0)); QFont font; font.setStyleStrategy(QFont::ForceOutline); QPainter painter; painter.begin(&image); painter.setRenderHint(QPainter::Antialiasing); painter.setFont(font); painter.setBrush(Qt::black); painter.drawText(QRect(QPoint(6, 6), size), Qt::AlignCenter, text); painter.end(); return QPixmap::fromImage(image); } bool FixedWidthTableView::modelMatchMimeFormat(QStringList candidates) { QStringList acceptedMime = model()->mimeTypes(); for (QStringList::ConstIterator it = acceptedMime.constBegin(); it != acceptedMime.constEnd(); it++) { if (candidates.contains(*it)) return true; } return false; } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/CustomWidgets.h000066400000000000000000000033141322771007300205160ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef CUSTOM_WIDGETS_H #define CUSTOM_WIDGETS_H #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ class DraggableListWidget: public QListWidget { protected: virtual QStringList mimeTypes () const; virtual QMimeData * mimeData ( const QList items ) const; }; class FixedWidthTableView : public QTableView { protected: int col1Width; public: FixedWidthTableView(); void setSecondColumnLongestContent(const QString& content); protected: virtual void resizeEvent ( QResizeEvent * event ); void startDrag(Qt::DropActions supportedActions); void dragEnterEvent(QDragEnterEvent *event); void dragMoveEvent(QDragMoveEvent *event); void dropEvent(QDropEvent *event); QPixmap getDragPixmap(QString text); bool modelMatchMimeFormat(QStringList candidates); }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/DashelTarget.cpp000066400000000000000000001047451322771007300206310ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "DashelTarget.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include #include #include #include #include #include #include #include #include #include #include #include #ifdef WIN32 // for Sleep #include #endif namespace Aseba { using std::copy; using namespace Dashel; /** \addtogroup studio */ /*@{*/ void handleDashelException(Dashel::DashelException e) { switch(e.source) { case Dashel::DashelException::ConnectionLost: case Dashel::DashelException::IOError: // "normal" disconnections, managed internally in Dashel::Hub, so don't care about break; case Dashel::DashelException::ConnectionFailed: // should not happen here, but can because of typos in Dashel, catch it for now break; default: QMessageBox::critical(nullptr, QObject::tr("Unexpected Dashel Error"), QObject::tr("A communication error happened:") + " (" + QString::number(e.source) + ") " + e.what()); break; } } bool hasIntersection(const QList & addressesA, const QList & addressesB) { for (int i = 0; i < addressesA.size(); ++i) for (int j = 0; j < addressesB.size(); ++j) if (addressesA[i] == addressesB[j]) return true; return false; } DashelConnectionDialog::DashelConnectionDialog() { QSettings settings; QVBoxLayout* mainLayout = new QVBoxLayout(this); // discovered targets discoveredList = new QListWidget(); discoveredList->setSelectionMode(QAbstractItemView::SingleSelection); QPalette p = discoveredList->palette(); p.setColor(QPalette::Highlight, QColor("blue").lighter(175)); discoveredList->setPalette(p); mainLayout->addWidget(new QLabel(tr("Discovered targets"))); mainLayout->addWidget(discoveredList); // selected target mainLayout->addWidget(new QLabel(tr("Selected target"))); QHBoxLayout* targetLayout = new QHBoxLayout(); currentTarget = new QLineEdit(settings.value("current target", ASEBA_DEFAULT_TARGET).toString()); targetLayout->addWidget(currentTarget); auto templateButton = new QPushButton(QIcon(":/images/info.png"), ""); templateButton->setMaximumSize(80, 50); templateButton->setFocusPolicy(Qt::NoFocus); // otherwise it's displayed in red once clicked auto templateMenu = new QMenu("Target"); templateMenu->addAction(tr("Serial port"), this, SLOT(targetTemplateSerial())); templateMenu->addAction(tr("Local TCP"), this, SLOT(targetTemplateLocalTCP())); templateMenu->addAction(tr("TCP"), this, SLOT(targetTemplateTCP())); templateMenu->addSeparator(); templateMenu->addAction(tr("Documentation"), this, SLOT(targetTemplateDoc())); templateButton->setMenu(templateMenu); targetLayout->addWidget(templateButton); mainLayout->addLayout(targetLayout); // language dialogue languageSelectionBox = new QComboBox; languageSelectionBox->addItem(QString::fromUtf8("English"), "en"); languageSelectionBox->addItem(QString::fromUtf8("Français"), "fr"); languageSelectionBox->addItem(QString::fromUtf8("Deutsch"), "de"); languageSelectionBox->addItem(QString::fromUtf8("Español"), "es"); languageSelectionBox->addItem(QString::fromUtf8("Italiano"), "it"); languageSelectionBox->addItem(QString::fromUtf8("日本語"), "ja"); languageSelectionBox->addItem(QString::fromUtf8("汉语"), "zh"); languageSelectionBox->addItem(QString::fromUtf8("ελληνικά"), "el"); /* insert translation here (DO NOT REMOVE -> for automated script) */ //qDebug() << "locale is " << QLocale::system().name(); for (int i = 0; i < languageSelectionBox->count(); ++i) { if (QLocale::system().name().startsWith(languageSelectionBox->itemData(i).toString())) { languageSelectionBox->setCurrentIndex(i); break; } } mainLayout->addWidget(new QLabel(tr("Language"))); mainLayout->addWidget(languageSelectionBox); // ok/cancel buttons QHBoxLayout* buttonLayout = new QHBoxLayout(); connectButton = new QPushButton(QIcon(":/images/ok.png"), tr("Connect")); buttonLayout->addWidget(connectButton); QPushButton* cancelButton = new QPushButton(QIcon(":/images/no.png"), tr("Cancel")); buttonLayout->addWidget(cancelButton); mainLayout->addLayout(buttonLayout); setWindowTitle(tr("Aseba Target Selection")); resize(720, 580); // connect signals and slots connect(discoveredList, SIGNAL(itemSelectionChanged()), SLOT(updateCurrentTarget())); connect(discoveredList, SIGNAL(itemDoubleClicked(QListWidgetItem *)), SLOT(connectToItem(QListWidgetItem *))); connect(currentTarget, SIGNAL(textEdited(const QString &)), discoveredList, SLOT(clearSelection())); connect(connectButton, SIGNAL(clicked(bool)), SLOT(accept())); connect(cancelButton, SIGNAL(clicked(bool)), SLOT(reject())); #ifdef ZEROCONF_SUPPORT connect(&zeroconf, SIGNAL(zeroconfTargetFound(const Aseba::Zeroconf::TargetInformation&)), SLOT(zeroconfTargetFound(const Aseba::Zeroconf::TargetInformation&))); connect(&zeroconf, SIGNAL(zeroconfTargetRemoved(const Aseba::Zeroconf::TargetInformation&)), SLOT(zeroconfTargetRemoved(const Aseba::Zeroconf::TargetInformation&))); zeroconf.browse(); #endif // ZEROCONF_SUPPORT // start timer and force a first update startTimer(1000); timerEvent(nullptr); } #ifdef ZEROCONF_SUPPORT //! A target was found on zeroconf, add it to the list if not already present void DashelConnectionDialog::zeroconfTargetFound(const Aseba::Zeroconf::TargetInformation& target) { const auto dashelTarget(QString::fromUtf8(target.dashel().c_str())); const auto busy(target.properties.find("busy") != target.properties.end()); // only add new Dashel targets for (int i = 0; i < discoveredList->count(); ++i) { QListWidgetItem *item(discoveredList->item(i)); auto itemDashelTarget(item->data(Qt::UserRole)); if (itemDashelTarget == dashelTarget) { if (busy) delete discoveredList->takeItem(discoveredList->row(item)); return; } } // not found, if busy return if (busy) return; // resolve hostname and see if it is local const auto localAddresses(QNetworkInterface().allAddresses()); const auto hostAddresses(QHostInfo::fromName(QString::fromStdString(target.host)).addresses()); const bool isLocal(hasIntersection(localAddresses, hostAddresses)); // create and add the item QString additionalInfo; try { if (target.properties.find("type") != target.properties.end()) additionalInfo = QString(tr(" – type %1")).arg(QString::fromStdString(target.properties.at("type"))); } catch (std::out_of_range& e) {} const auto name(QString::fromUtf8(target.name.c_str())); const auto host(QString::fromUtf8(target.host.c_str())); addEntry(name, isLocal ? tr("local on computer") : tr("distant on network"), dashelTarget, additionalInfo, { name }); } //! A target was removed from zeroconf, remove it to the list if not already present void DashelConnectionDialog::zeroconfTargetRemoved(const Aseba::Zeroconf::TargetInformation& target) { for (int i = 0; i < discoveredList->count(); ++i) { const QListWidgetItem *item(discoveredList->item(i)); if (item->data(Qt::UserRole + 1).toString().toStdString() == target.name) { delete discoveredList->takeItem(i); return; } } } #endif // ZEROCONF_SUPPORT //! Update the port list, if toSelect is not empty, select the added item matching this name, return whether an item was selected bool DashelConnectionDialog::updatePortList(const QString& toSelect) { typedef std::map > PortsMap; const PortsMap ports = SerialPortEnumerator::getPorts(); bool discoveredListPortSet(false); const std::regex extractName("^(.*)\\ \\((.*)\\)$"); std::vector seen(discoveredList->count(), false); // mark non-serial targets as seen for (int i = 0; i < discoveredList->count(); ++i) { const QListWidgetItem *item(discoveredList->item(i)); auto dashelTarget(item->data(Qt::UserRole)); if (!dashelTarget.toString().startsWith("ser:")) seen[i] = true; } // FIXME: change this algo from O(n^2) to O(n log(n)) // add newly seen devices for (PortsMap::const_iterator it = ports.begin(); it != ports.end(); ++it) { const QString discoveredListDashelTarget(QString("ser:device=%0").arg(QString::fromUtf8(it->second.first.c_str()))); // look if item is already in the list bool found(false); for (int i = 0; i < discoveredList->count(); ++i) { const QListWidgetItem *item(discoveredList->item(i)); auto dashelTarget(item->data(Qt::UserRole)); // this entry is the same as the detected port if (dashelTarget == discoveredListDashelTarget) { seen[i] = true; found = true; } } // if not, add it if (!found) { QString text; QString additionalInfo; std::smatch match; if (regex_match(it->second.second, match, extractName) && match.size() > 2) { text = QString::fromStdString(match.str(1)); additionalInfo = tr(" – device %1").arg(QString::fromStdString(match.str(2))); } else text = QString::fromStdString(it->second.second); auto item = addEntry(text, tr("serial port or USB"), discoveredListDashelTarget, additionalInfo); if (!toSelect.isEmpty() && (toSelect == text)) { discoveredList->setCurrentItem(item); discoveredListPortSet = true; } } } // now removed unseen devices for (int i=seen.size()-1; i>=0; --i) { if (!seen[i]) delete discoveredList->takeItem(i); } return discoveredListPortSet; } QListWidgetItem* DashelConnectionDialog::addEntry(const QString& title, const QString& connectionType, const QString& dashelTarget, const QString& additionalInfo, const QVariantList& additionalData) { auto* item = new QListWidgetItem(); item->setSizeHint(QSize(200, discoveredList->fontMetrics().height() * 3.8)); item->setData(Qt::UserRole, dashelTarget); for (int i = 0; i < additionalData.size(); ++i) item->setData(Qt::UserRole + 1 + i, additionalData[i]); discoveredList->addItem(item); auto* label(new QLabel( QString("

%1 – %2%3
%4

") .arg(title).arg(connectionType).arg(additionalInfo).arg(dashelTarget), discoveredList)); label->setStyleSheet("QLabel { border-bottom: 1px solid gray }"); discoveredList->setItemWidget(item, label); return item; } void DashelConnectionDialog::timerEvent(QTimerEvent * event) { updatePortList(""); } std::string DashelConnectionDialog::getTarget() { QSettings settings; settings.setValue("current target", currentTarget->text()); return currentTarget->text().toLocal8Bit().constData(); } QString DashelConnectionDialog::getLocaleName() { return languageSelectionBox->itemData(languageSelectionBox->currentIndex()).toString(); } void DashelConnectionDialog::updateCurrentTarget() { const QItemSelectionModel* model(discoveredList->selectionModel()); if (model && !model->selectedRows().isEmpty()) { const QModelIndex item(model->selectedRows().first()); currentTarget->setText(item.data(Qt::UserRole).toString()); } } void DashelConnectionDialog::connectToItem(QListWidgetItem *item) { currentTarget->setText(item->data(Qt::UserRole).toString()); accept(); } void DashelConnectionDialog::targetTemplateSerial() { currentTarget->setText("ser:device=/dev/ttyDev"); } void DashelConnectionDialog::targetTemplateLocalTCP() { currentTarget->setText("tcp:host=localhost;port=33333"); } void DashelConnectionDialog::targetTemplateTCP() { currentTarget->setText("tcp:host=192.168.1.200;port=33333"); } void DashelConnectionDialog::targetTemplateDoc() { QDesktopServices::openUrl(QUrl("http://aseba-community.github.io/dashel#TargetNamingSec")); } DashelInterface::DashelInterface(QVector translators, const QString& commandLineTarget) : isRunning(true), stream(0) { // first use local name const QString& systemLocale(QLocale::system().name()); assert(translators.size() == 4); translators[0]->load(QString("qt_") + systemLocale, QLibraryInfo::location(QLibraryInfo::TranslationsPath)); translators[1]->load(QString(":/asebastudio_") + systemLocale); translators[2]->load(QString(":/compiler_") + systemLocale); translators[3]->load(QString(":/qtabout_") + systemLocale); // try to connect to cammand line target, if any DashelConnectionDialog targetSelector; language = targetSelector.getLocaleName(); if (!commandLineTarget.isEmpty()) { bool failed = false; try { const std::string& testTarget(commandLineTarget.toStdString()); stream = Hub::connect(testTarget); lastConnectedTarget = testTarget; lastConnectedTargetName = stream->getTargetName(); } catch (DashelException e) { // exception, try again failed = true; } if (!failed) return; #ifndef ANDROID // have user-friendly Thymio-specific message if (commandLineTarget == "ser:name=Thymio-II") QMessageBox::warning(0, tr("Thymio not found"), tr("

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

")); else QMessageBox::warning(0, tr("Connection to command line target failed"), tr("Cannot connect to target %0").arg(commandLineTarget)); #endif } // show connection dialog while (true) { if (targetSelector.exec() == QDialog::Rejected) { throw std::runtime_error("connection dialog closed"); } try { //qDebug() << "Connecting to " << targetSelector.getTarget().c_str(); const std::string& testTarget(targetSelector.getTarget()); stream = Hub::connect(testTarget); lastConnectedTarget = testTarget; lastConnectedTargetName = stream->getTargetName(); assert(translators.size() == 4); language = targetSelector.getLocaleName(); translators[0]->load(QString("qt_") + language, QLibraryInfo::location(QLibraryInfo::TranslationsPath)); translators[1]->load(QString(":/asebastudio_") + language); translators[2]->load(QString(":/compiler_") + language); translators[3]->load(QString(":/qtabout_") + language); break; } catch (DashelException e) { // exception, try again } } } bool DashelInterface::attemptToReconnect() { try { lock(); assert(stream == 0); stream = Hub::connect(lastConnectedTarget); unlock(); reset(); } catch (DashelException e) { unlock(); } try { // we have to stop hub because otherwise it will be forever in poll() Dashel::Hub::stop(); } catch (DashelException e) { } return (stream != 0); } void DashelInterface::stop() { isRunning = false; Dashel::Hub::stop(); } // In QThread main function, we just make our Dashel hub switch listen for incoming data void DashelInterface::run() { while (isRunning) Dashel::Hub::run(); } void DashelInterface::incomingData(Stream *stream) { Message *message = Message::receive(stream); emit messageAvailable(message); } void DashelInterface::connectionClosed(Stream* stream, bool abnormal) { Q_UNUSED(stream); Q_UNUSED(abnormal); // mark all nodes as being disconnected for (NodesMap::iterator nodeIt = nodes.begin(); nodeIt != nodes.end(); ++nodeIt) { nodeIt->second.connected = false; nodeDisconnected(nodeIt->first); } // notify target for showing reconnection message emit dashelDisconnection(); Q_ASSERT(stream == this->stream); this->stream = 0; } void DashelInterface::sendMessage(const Message& message) { // this is called from the GUI thread through processMessage() or pingNetwork(), so we must lock the Hub before sending lock(); if (stream) { try { message.serialize(stream); stream->flush(); unlock(); } catch(Dashel::DashelException e) { unlock(); handleDashelException(e); } } else { unlock(); } } void DashelInterface::nodeProtocolVersionMismatch(unsigned nodeId, const std::wstring &nodeName, uint16_t protocolVersion) { // show a different warning in function of the mismatch if (protocolVersion > ASEBA_PROTOCOL_VERSION) { QMessageBox::warning(0, QApplication::tr("Protocol version mismatch"), QApplication::tr("Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio.").arg(QString::fromStdWString(nodeName.c_str())).arg(ASEBA_PROTOCOL_VERSION).arg(protocolVersion) ); } else if (protocolVersion < ASEBA_PROTOCOL_VERSION) { QMessageBox::warning(0, QApplication::tr("Protocol version mismatch"), QApplication::tr("Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware.").arg(QString::fromStdWString(nodeName.c_str())).arg(ASEBA_PROTOCOL_VERSION).arg(protocolVersion) ); } } void DashelInterface::nodeDescriptionReceived(unsigned nodeId) { emit nodeDescriptionReceivedSignal(nodeId); } void DashelInterface::nodeConnected(unsigned nodeId) { emit nodeConnectedSignal(nodeId); } void DashelInterface::nodeDisconnected(unsigned nodeId) { emit nodeDisconnectedSignal(nodeId); } enum InNextState { NOT_IN_NEXT, WAITING_INITAL_PC, WAITING_LINE_CHANGE }; DashelTarget::Node::Node() : steppingInNext(NOT_IN_NEXT), lineInNext(0), executionMode(EXECUTION_UNKNOWN) { } DashelTarget::DashelTarget(QVector translators, const QString& commandLineTarget) : dashelInterface(translators, commandLineTarget), writeBlocked(false) { userEventsTimer.setSingleShot(true); connect(&userEventsTimer, SIGNAL(timeout()), SLOT(updateUserEvents())); // we connect the events from the stream listening thread to slots living in our gui thread connect(&dashelInterface, SIGNAL(messageAvailable(Message *)), SLOT(messageFromDashel(Message *)), Qt::QueuedConnection); connect(&dashelInterface, SIGNAL(dashelDisconnection()), SLOT(disconnectionFromDashel()), Qt::QueuedConnection); // we also connect to the description manager to know when we have a new node available connect(&dashelInterface, SIGNAL(nodeDescriptionReceivedSignal(unsigned)), SLOT(nodeDescriptionReceived(unsigned))); // note: queued connections are necessary to prevent multiple locking of Hub by the GUI thread connect(&dashelInterface, SIGNAL(nodeConnectedSignal(unsigned)), SIGNAL(nodeConnected(unsigned))); connect(&dashelInterface, SIGNAL(nodeDisconnectedSignal(unsigned)), SIGNAL(nodeDisconnected(unsigned))); // table for handling incoming messages messagesHandlersMap[ASEBA_MESSAGE_VARIABLES] = &Aseba::DashelTarget::receivedVariables; messagesHandlersMap[ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS] = &Aseba::DashelTarget::receivedArrayAccessOutOfBounds; messagesHandlersMap[ASEBA_MESSAGE_DIVISION_BY_ZERO] = &Aseba::DashelTarget::receivedDivisionByZero; messagesHandlersMap[ASEBA_MESSAGE_EVENT_EXECUTION_KILLED] = &Aseba::DashelTarget::receivedEventExecutionKilled; messagesHandlersMap[ASEBA_MESSAGE_NODE_SPECIFIC_ERROR] = &Aseba::DashelTarget::receivedNodeSpecificError; messagesHandlersMap[ASEBA_MESSAGE_EXECUTION_STATE_CHANGED] = &Aseba::DashelTarget::receivedExecutionStateChanged; messagesHandlersMap[ASEBA_MESSAGE_BREAKPOINT_SET_RESULT] = &Aseba::DashelTarget::receivedBreakpointSetResult; messagesHandlersMap[ASEBA_MESSAGE_BOOTLOADER_ACK] = &Aseba::DashelTarget::receivedBootloaderAck; dashelInterface.start(); // list nodes every 1s connect(&listNodesTimer, SIGNAL(timeout()), SLOT(listNodes())); listNodesTimer.start(1000); } DashelTarget::~DashelTarget() { listNodesTimer.stop(); dashelInterface.stop(); dashelInterface.wait(); DashelTarget::disconnect(); } void DashelTarget::disconnect() { assert(writeBlocked == false); dashelInterface.lock(); if (dashelInterface.stream) { try { // detach all nodes for (NodesMap::const_iterator node = nodes.begin(); node != nodes.end(); ++node) { BreakpointClearAll(node->first).serialize(dashelInterface.stream); Run(node->first).serialize(dashelInterface.stream); } dashelInterface.stream->flush(); dashelInterface.unlock(); } catch(Dashel::DashelException e) { dashelInterface.unlock(); handleDashelException(e); } } else dashelInterface.unlock(); } QList DashelTarget::getNodesList() const { QList nodeIds; for (NodesMap::const_iterator node = nodes.begin(); node != nodes.end(); ++node) nodeIds.append(node->first); return nodeIds; } const TargetDescription * const DashelTarget::getDescription(unsigned node) const { return dashelInterface.getDescription(node); } void DashelTarget::uploadBytecode(unsigned node, const BytecodeVector &bytecode) { dashelInterface.lock(); if (dashelInterface.stream && !writeBlocked) { NodesMap::iterator nodeIt = nodes.find(node); assert(nodeIt != nodes.end()); // fill debug bytecode and build address map nodeIt->second.debugBytecode = bytecode; nodeIt->second.eventAddressToId = bytecode.getEventAddressesToIds(); // send bytecode try { sendBytecode(dashelInterface.stream, node, std::vector(bytecode.begin(), bytecode.end())); dashelInterface.stream->flush(); dashelInterface.unlock(); } catch(Dashel::DashelException e) { dashelInterface.unlock(); handleDashelException(e); } } else dashelInterface.unlock(); } void DashelTarget::writeBytecode(unsigned node) { if (!writeBlocked) { WriteBytecode writeBytecodeMessage(node); dashelInterface.sendMessage(writeBytecodeMessage); } } void DashelTarget::reboot(unsigned node) { if (!writeBlocked) { Reboot rebootMessage(node); dashelInterface.sendMessage(rebootMessage); } } void DashelTarget::sendEvent(unsigned id, const VariablesDataVector &data) { if (!writeBlocked) { UserMessage userMessage(id, data); dashelInterface.sendMessage(userMessage); } } void DashelTarget::setVariables(unsigned node, unsigned start, const VariablesDataVector &data) { if (!writeBlocked) { SetVariables setVariablesMessage(node, start, data); dashelInterface.sendMessage(setVariablesMessage); } } static QDateTime lastTime; static unsigned getVariablesCounter = 0; static unsigned VariablesCounter = 0; void DashelTarget::getVariables(unsigned node, unsigned start, unsigned length) { QElapsedTimer timer; timer.start(); dashelInterface.lock(); if (dashelInterface.stream && !writeBlocked) { const unsigned variablesPayloadSize = ASEBA_MAX_EVENT_ARG_COUNT-1; try { while (length > variablesPayloadSize) { getVariablesCounter++; GetVariables(node, start, variablesPayloadSize).serialize(dashelInterface.stream); start += variablesPayloadSize; length -= variablesPayloadSize; } getVariablesCounter++; GetVariables(node, start, length).serialize(dashelInterface.stream); dashelInterface.stream->flush(); dashelInterface.unlock(); } catch(Dashel::DashelException e) { dashelInterface.unlock(); handleDashelException(e); } } else dashelInterface.unlock(); //qDebug() << "getVariables duration: " << timer.elapsed(); QDateTime curTime(QDateTime::currentDateTime()); //qDebug() << "variable rate" << lastTime.msecsTo(curTime); lastTime = curTime; } void DashelTarget::reset(unsigned node) { if (!writeBlocked) { Reset resetMessage(node); dashelInterface.sendMessage(resetMessage); } } void DashelTarget::run(unsigned node) { dashelInterface.lock(); if (dashelInterface.stream && !writeBlocked) { NodesMap::iterator nodeIt = nodes.find(node); assert(nodeIt != nodes.end()); try { if (nodeIt->second.executionMode == EXECUTION_STEP_BY_STEP) Step(node).serialize(dashelInterface.stream); Run(node).serialize(dashelInterface.stream); dashelInterface.stream->flush(); dashelInterface.unlock(); } catch(Dashel::DashelException e) { dashelInterface.unlock(); handleDashelException(e); } } else dashelInterface.unlock(); } void DashelTarget::pause(unsigned node) { if (!writeBlocked) { Pause pauseMessage(node); dashelInterface.sendMessage(pauseMessage); } } void DashelTarget::next(unsigned node) { if (!writeBlocked) { NodesMap::iterator nodeIt = nodes.find(node); assert(nodeIt != nodes.end()); nodeIt->second.steppingInNext = WAITING_INITAL_PC; GetExecutionState getExecutionStateMessage(node); dashelInterface.sendMessage(getExecutionStateMessage); } } void DashelTarget::stop(unsigned node) { if (!writeBlocked) { Stop stopMessage(node); dashelInterface.sendMessage(stopMessage); } } void DashelTarget::setBreakpoint(unsigned node, unsigned line) { const int pc = getPCFromLine(node, line); if (pc < 0) return; if (!writeBlocked) { BreakpointSet breakpointSetMessage(node, pc); dashelInterface.sendMessage(breakpointSetMessage); } } void DashelTarget::clearBreakpoint(unsigned node, unsigned line) { const int pc = getPCFromLine(node, line); if (pc < 0) return; if (!writeBlocked) { BreakpointClear breakpointClearMessage(node, pc); dashelInterface.sendMessage(breakpointClearMessage); } } void DashelTarget::clearBreakpoints(unsigned node) { if (!writeBlocked) { BreakpointClearAll breakpointClearAllMessage(node); dashelInterface.sendMessage(breakpointClearAllMessage); } } void DashelTarget::blockWrite() { writeBlocked = true; } void DashelTarget::unblockWrite() { writeBlocked = false; } void DashelTarget::updateUserEvents() { // send only 20 latest user events if (userEventsQueue.size() > 20) emit userEventsDropped(userEventsQueue.size() - 20); while (userEventsQueue.size() > 20) { delete userEventsQueue.head(); userEventsQueue.dequeue(); } while (!userEventsQueue.isEmpty()) { emit userEvent(userEventsQueue.head()->type, userEventsQueue.head()->data); delete userEventsQueue.head(); userEventsQueue.dequeue(); } } //! regularly probe aseba network for new connections void DashelTarget::listNodes() { dashelInterface.pingNetwork(); } void DashelTarget::messageFromDashel(Message *message) { bool deleteMessage = true; //message->dump(std::cout); //std::cout << std::endl; // let the nodes manager filter the message if (!writeBlocked) dashelInterface.processMessage(message); // see if we have a registered handler for this message MessagesHandlersMap::const_iterator messageHandler = messagesHandlersMap.find(message->type); if (messageHandler == messagesHandlersMap.end()) { UserMessage *userMessage = dynamic_cast(message); if (userMessage) { userEventsQueue.enqueue(userMessage); if (!userEventsTimer.isActive()) userEventsTimer.start(50); deleteMessage = false; } /*else qDebug() << QString("Unhandeled non user message of type 0x%0 received from %1").arg(message->type, 6).arg(message->source);*/ } else { (this->*(messageHandler->second))(message); } // if required, garbage collect this message if (deleteMessage) delete message; } ReconnectionDialog::ReconnectionDialog(DashelInterface& dashelInterface): dashelInterface(dashelInterface), counter(0) { setWindowTitle(tr("Connection closed")); setText(tr("Warning, connection closed: I am trying to reconnect.")); addButton(tr("Stop trying"), QMessageBox::RejectRole); setEscapeButton(QMessageBox::Cancel); if (dashelInterface.lastConnectedTargetName.find("ser:") != 0) setIcon(QMessageBox::Warning); startTimer(200); } void ReconnectionDialog::timerEvent ( QTimerEvent * event ) { if (dashelInterface.lastConnectedTargetName.find("ser:") == 0) { // serial port, show Thymio animation const unsigned iconStep(counter%15); if (iconStep < 8) setIconPixmap(QPixmap(QString(":/images/thymio-plugin-anim%0.png").arg(iconStep))); } const unsigned connectStep(counter%5); if ((connectStep == 0) && dashelInterface.attemptToReconnect()) accept(); counter++; } void DashelTarget::disconnectionFromDashel() { // show a dialog box that is trying to reconnect ReconnectionDialog reconnectionDialog(dashelInterface); reconnectionDialog.exec(); } void DashelTarget::nodeDescriptionReceived(unsigned nodeId) { Node& node = nodes[nodeId]; node.steppingInNext = NOT_IN_NEXT; node.lineInNext = 0; } void DashelTarget::receivedVariables(Message *message) { VariablesCounter++; //qDebug() << "diff get recv variables" << int(getVariablesCounter) - int(VariablesCounter); Variables *variables = polymorphic_downcast(message); emit variablesMemoryChanged(variables->source, variables->start, variables->variables); } void DashelTarget::receivedArrayAccessOutOfBounds(Message *message) { ArrayAccessOutOfBounds *aa = polymorphic_downcast(message); int line = getLineFromPC(aa->source, aa->pc); if (line >= 0) { emit arrayAccessOutOfBounds(aa->source, line, aa->size, aa->index); emit executionModeChanged(aa->source, EXECUTION_STOP); } } void DashelTarget::receivedDivisionByZero(Message *message) { DivisionByZero *dz = polymorphic_downcast(message); int line = getLineFromPC(dz->source, dz->pc); if (line >= 0) { emit divisionByZero(dz->source, line); emit executionModeChanged(dz->source, EXECUTION_STOP); } } void DashelTarget::receivedEventExecutionKilled(Message *message) { EventExecutionKilled *eek = polymorphic_downcast(message); int line = getLineFromPC(eek->source, eek->pc); if (line >= 0) { emit eventExecutionKilled(eek->source, line); } } void DashelTarget::receivedNodeSpecificError(Message *message) { NodeSpecificError *nse = polymorphic_downcast(message); int line = getLineFromPC(nse->source, nse->pc); // The NodeSpecificError can be triggered even if the pc is not valid // if (line >= 0) // { emit nodeSpecificError(nse->source, line, QString::fromStdWString(nse->message)); emit executionModeChanged(nse->source, EXECUTION_STOP); // } } void DashelTarget::receivedExecutionStateChanged(Message *message) { ExecutionStateChanged *ess = polymorphic_downcast(message); Node &node = nodes[ess->source]; int line = getLineFromPC(ess->source, ess->pc); assert(writeBlocked == false); Target::ExecutionMode mode; if (ess->flags & ASEBA_VM_STEP_BY_STEP_MASK) { if (ess->flags & ASEBA_VM_EVENT_ACTIVE_MASK) { mode = EXECUTION_STEP_BY_STEP; if (line >= 0) { // Step by step, manage next if (node.steppingInNext == NOT_IN_NEXT) { emit executionPosChanged(ess->source, line); emit executionModeChanged(ess->source, mode); emit variablesMemoryEstimatedDirty(ess->source); } else if (node.steppingInNext == WAITING_INITAL_PC) { // we have line, do steps now node.lineInNext = line; node.steppingInNext = WAITING_LINE_CHANGE; dashelInterface.lock(); if (dashelInterface.stream) { try { Step(ess->source).serialize(dashelInterface.stream); dashelInterface.stream->flush(); dashelInterface.unlock(); } catch(Dashel::DashelException e) { dashelInterface.unlock(); handleDashelException(e); } } else dashelInterface.unlock(); } else if (node.steppingInNext == WAITING_LINE_CHANGE) { if ( (node.eventAddressToId.find(ess->pc) != node.eventAddressToId.end()) || (line != static_cast(node.lineInNext)) ) { node.steppingInNext = NOT_IN_NEXT; emit executionPosChanged(ess->source, line); emit executionModeChanged(ess->source, mode); emit variablesMemoryEstimatedDirty(ess->source); } else { dashelInterface.lock(); if (dashelInterface.stream) { try { Step(ess->source).serialize(dashelInterface.stream); dashelInterface.stream->flush(); dashelInterface.unlock(); } catch(Dashel::DashelException e) { dashelInterface.unlock(); handleDashelException(e); } } else dashelInterface.unlock(); } } else assert(false); // we can safely return here, all case that require // emitting signals have been handeled node.executionMode = mode; return; } } else { mode = EXECUTION_STOP; } } else { mode = EXECUTION_RUN; } emit executionModeChanged(ess->source, mode); if (node.executionMode != mode) { emit variablesMemoryEstimatedDirty(ess->source); node.executionMode = mode; } } void DashelTarget::receivedBreakpointSetResult(Message *message) { BreakpointSetResult *bsr = polymorphic_downcast(message); unsigned node = bsr->source; emit breakpointSetResult(node, getLineFromPC(node, bsr->pc), bsr->success); } void DashelTarget::receivedBootloaderAck(Message *message) { BootloaderAck *ack = polymorphic_downcast(message); emit bootloaderAck(ack->errorCode, ack->errorAddress); } int DashelTarget::getPCFromLine(unsigned node, unsigned line) { // first lookup node NodesMap::const_iterator nodeIt = nodes.find(node); if (nodeIt == nodes.end()) return -1; // then find PC for (size_t i = 0; i < nodeIt->second.debugBytecode.size(); i++) if (nodeIt->second.debugBytecode[i].line == line) return i; return -1; } int DashelTarget::getLineFromPC(unsigned node, unsigned pc) { // first lookup node NodesMap::const_iterator nodeIt = nodes.find(node); if (nodeIt == nodes.end()) return -1; // then get line if (pc < nodeIt->second.debugBytecode.size()) return nodeIt->second.debugBytecode[pc].line; return -1; } /*@}*/ } aseba-1.6.0/clients/studio/DashelTarget.h000066400000000000000000000167611322771007300202760ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef TCPTARGET_H #define TCPTARGET_H #include "Target.h" #include "../../common/consts.h" #include "../../common/msg/NodesManager.h" #include #include #include #include #include #include #include #include #include #include #include #include #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-qt.h" #endif // ZEROCONF_SUPPORT class QPushButton; class QGroupBox; class QLineEdit; class QSpinBox; class QListWidget; class QComboBox; class QTranslator; class QListWidgetItem; namespace Dashel { class Stream; } namespace Aseba { /** \addtogroup studio */ /*@{*/ class DashelConnectionDialog : public QDialog { Q_OBJECT protected: QPushButton* connectButton; QListWidget* discoveredList; QLineEdit* currentTarget; QComboBox* languageSelectionBox; #ifdef ZEROCONF_SUPPORT Aseba::QtZeroconf zeroconf; #endif // ZEROCONF_SUPPORT public: DashelConnectionDialog(); std::string getTarget(); QString getLocaleName(); protected: bool updatePortList(const QString& toSelect); virtual void timerEvent ( QTimerEvent * event ); protected slots: #ifdef ZEROCONF_SUPPORT void zeroconfTargetFound(const Aseba::Zeroconf::TargetInformation& target); void zeroconfTargetRemoved(const Aseba::Zeroconf::TargetInformation& target); #endif // ZEROCONF_SUPPORT void updateCurrentTarget(); void connectToItem(QListWidgetItem *item); QListWidgetItem* addEntry(const QString& title, const QString& connectionType, const QString& dashelTarget, const QString& additionalInfo = "", const QVariantList& additionalData = QVariantList()); private slots: void targetTemplateSerial(); void targetTemplateLocalTCP(); void targetTemplateTCP(); void targetTemplateDoc(); }; class Message; class UserMessage; class DashelInterface: public QThread, public Dashel::Hub, public NodesManager { Q_OBJECT public: bool isRunning; Dashel::Stream* stream; std::string lastConnectedTarget; std::string lastConnectedTargetName; QString language; public: DashelInterface(QVector translators, const QString& commandLineTarget); bool attemptToReconnect(); // from Dashel::Hub virtual void stop(); signals: void messageAvailable(Message *message); void dashelDisconnection(); void nodeDescriptionReceivedSignal(unsigned nodeId); void nodeConnectedSignal(unsigned nodeId); void nodeDisconnectedSignal(unsigned nodeId); protected: // from QThread virtual void run(); // from Dashel::Hub virtual void incomingData(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream *stream, bool abnormal); // from NodesManager virtual void nodeProtocolVersionMismatch(unsigned nodeId, const std::wstring &nodeName, uint16_t protocolVersion); virtual void nodeDescriptionReceived(unsigned nodeId); virtual void nodeConnected(unsigned nodeId); virtual void nodeDisconnected(unsigned nodeId); public: // from NodesManager, now as public as we want DashelTarget to call this method virtual void sendMessage(const Message& message); }; class ReconnectionDialog: public QMessageBox { Q_OBJECT public: ReconnectionDialog(DashelInterface& dashelInterface); protected: virtual void timerEvent ( QTimerEvent * event ); DashelInterface& dashelInterface; unsigned counter; }; class DashelTarget: public Target { Q_OBJECT protected: struct Node { Node(); BytecodeVector debugBytecode; //!< bytecode with debug information BytecodeVector::EventAddressesToIdsMap eventAddressToId; //!< map event start addresses to event identifiers unsigned steppingInNext; //!< state of node when in next and stepping unsigned lineInNext; //!< line of node to execute when in next and stepping ExecutionMode executionMode; //!< last known execution mode if this node }; typedef void (DashelTarget::*MessageHandler)(Message *message); typedef std::map MessagesHandlersMap; typedef std::map NodesMap; DashelInterface dashelInterface; MessagesHandlersMap messagesHandlersMap; QQueue userEventsQueue; NodesMap nodes; QTimer userEventsTimer; // Note: this timer is here rather than in DashelInterface because writeBlocked is here, if wiretBlocked is removed, this timer should be moved QTimer listNodesTimer; bool writeBlocked; //!< true if write is being blocked by invasive plugins, false if write is allowed public: friend class InvasivePlugin; DashelTarget(QVector translators, const QString& commandLineTarget); ~DashelTarget(); virtual QString getLanguage() const { return dashelInterface.language; } virtual QList getNodesList() const; virtual void disconnect(); virtual const TargetDescription * const getDescription(unsigned node) const; virtual void uploadBytecode(unsigned node, const BytecodeVector &bytecode); virtual void writeBytecode(unsigned node); virtual void reboot(unsigned node); virtual void sendEvent(unsigned id, const VariablesDataVector &data); virtual void setVariables(unsigned node, unsigned start, const VariablesDataVector &data); virtual void getVariables(unsigned node, unsigned start, unsigned length); virtual void reset(unsigned node); virtual void run(unsigned node); virtual void pause(unsigned node); virtual void next(unsigned node); virtual void stop(unsigned node); virtual void setBreakpoint(unsigned node, unsigned line); virtual void clearBreakpoint(unsigned node, unsigned line); virtual void clearBreakpoints(unsigned node); protected: virtual void blockWrite(); virtual void unblockWrite(); protected slots: void updateUserEvents(); void listNodes(); void messageFromDashel(Message *message); void disconnectionFromDashel(); void nodeDescriptionReceived(unsigned node); protected: void receivedDescription(Message *message); void receivedLocalEventDescription(Message *message); void receivedNativeFunctionDescription(Message *message); void receivedVariables(Message *message); void receivedArrayAccessOutOfBounds(Message *message); void receivedDivisionByZero(Message *message); void receivedEventExecutionKilled(Message *message); void receivedNodeSpecificError(Message *message); void receivedExecutionStateChanged(Message *message); void receivedBreakpointSetResult(Message *message); void receivedBootloaderAck(Message *message); protected: bool emitNodeConnectedIfDescriptionComplete(unsigned id, const Node& node); int getPCFromLine(unsigned node, unsigned line); int getLineFromPC(unsigned node, unsigned pc); }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/EventViewer.cpp000066400000000000000000000165611322771007300205230ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifdef HAVE_QWT #include "EventViewer.h" #include #include #include #include #include #include #include #include #include #include #include #include #if QWT_VERSION >= 0x060000 #include #else #include #endif namespace Aseba { /** \addtogroup studio */ /*@{*/ #if QWT_VERSION >= 0x060000 class EventDataWrapper : public QwtSeriesData { private: std::deque& _x; std::deque& _y; public: EventDataWrapper(std::deque& _x, std::deque& _y) : _x(_x), _y(_y) { } virtual QRectF boundingRect () const { return qwtBoundingRect(*this); } virtual QPointF sample (size_t i) const { return QPointF(_x[i], double(_y[i])); } virtual size_t size () const { return _x.size(); } }; #else class EventDataWrapper : public QwtData { private: std::deque& _x; std::deque& _y; public: EventDataWrapper(std::deque& _x, std::deque& _y) : _x(_x), _y(_y) { } virtual QwtData * copy () const { return new EventDataWrapper(*this); } virtual size_t size () const { return _x.size(); } virtual double x (size_t i) const { return _x[i]; } virtual double y (size_t i) const { return (double)_y[i]; } }; #endif EventViewer::EventViewer(unsigned eventId, const QString& eventName, unsigned eventVariablesCount, MainWindow::EventViewers* eventsViewers) : eventId(eventId), eventsViewers(eventsViewers), values(eventVariablesCount), startingTime(QTime::currentTime()) { QSettings settings; // create plot plot = new QwtPlot; plot->setCanvasBackground(Qt::white); plot->setAxisTitle(plot->xBottom, tr("Time (seconds)")); plot->setAxisTitle(plot->yLeft, tr("Values")); QwtLegend *legend = new QwtLegend; //legend->setItemMode(QwtLegend::CheckableItem); plot->insertLegend(legend, QwtPlot::BottomLegend); for (size_t i = 0; i < values.size(); i++) { QwtPlotCurve *curve = new QwtPlotCurve(QString("%0").arg(i)); #if QWT_VERSION >= 0x060000 curve->setData(new EventDataWrapper(timeStamps, values[i])); #else curve->setData(EventDataWrapper(timeStamps, values[i])); #endif curve->attach(plot); curve->setPen(QPen(QColor::fromHsv((i * 360) / values.size(), 255, 100), 2)); } QVBoxLayout *layout = new QVBoxLayout(this); layout->addWidget(plot); // add control QHBoxLayout *controlLayout = new QHBoxLayout; status = new QLabel(tr("Recording...")); controlLayout->addWidget(status); pauseRunButton = new QPushButton(QPixmap(QString(":/images/pause.png")), tr("&Pause")); connect(pauseRunButton, SIGNAL(clicked()), SLOT(pauseRunCapture())); controlLayout->addWidget(pauseRunButton); QPushButton *clearButton = new QPushButton(QPixmap(QString(":/images/reset.png")), tr("&Clear")); connect(clearButton, SIGNAL(clicked()), SLOT(clearPlot())); controlLayout->addWidget(clearButton); const bool timeWindowEnabled(settings.value("EventViewer/timeWindowEnabled", false).toBool()); timeWindowCheckBox = new QCheckBox(tr("time &window:")); controlLayout->addWidget(timeWindowCheckBox); timeWindowCheckBox->setChecked(timeWindowEnabled); timeWindowLength = new QDoubleSpinBox; timeWindowLength->setSuffix("s"); connect(timeWindowCheckBox, SIGNAL(toggled(bool)), timeWindowLength, SLOT(setEnabled(bool))); timeWindowLength->setValue(settings.value("EventViewer/timeWindowLength", 10.).toDouble()); timeWindowLength->setEnabled(timeWindowEnabled); controlLayout->addWidget(timeWindowLength); controlLayout->addStretch(); QPushButton *saveToFileButton = new QPushButton(QPixmap(QString(":/images/filesaveas.png")), tr("Save &As...")); connect(saveToFileButton, SIGNAL(clicked()), SLOT(saveToFile())); controlLayout->addWidget(saveToFileButton); layout->addLayout(controlLayout); // receive events eventsViewers->insert(eventId, this); isCapturing = true; } EventViewer::~EventViewer() { QSettings settings; settings.setValue("EventViewer/timeWindowEnabled", timeWindowCheckBox->isChecked()); settings.setValue("EventViewer/timeWindowLength", timeWindowLength->value()); if (eventsViewers && isCapturing) eventsViewers->remove(eventId, this); } void EventViewer::addData(const VariablesDataVector& data) { const double elapsedTime = (double)startingTime.msecsTo(QTime::currentTime()) / 1000.; if (timeWindowCheckBox->isChecked()) { // remove old data while ( (!timeStamps.empty()) && (elapsedTime - timeStamps[0] > timeWindowLength->value()) ) { timeStamps.pop_front(); for (size_t i = 0; i < values.size(); i++) values[i].pop_front(); } } timeStamps.push_back(elapsedTime); for (size_t i = 0; i < values.size(); i++) { if (i < data.size()) { values[i].push_back(data[i]); } else { values[i].push_back(0); } } plot->replot(); } void EventViewer::pauseRunCapture() { if (isCapturing) { if (eventsViewers) eventsViewers->remove(eventId, this); isCapturing = false; status->setText(tr("Paused...")); pauseRunButton->setIcon(QPixmap(QString(":/images/mix_record.png"))); pauseRunButton->setText(tr("&Record")); } else { if (eventsViewers) eventsViewers->insert(eventId, this); isCapturing = true; status->setText(tr("Recording...")); pauseRunButton->setIcon(QPixmap(QString(":/images/pause.png"))); pauseRunButton->setText(tr("&Pause")); } } void EventViewer::clearPlot() { for (size_t i = 0; i < values.size(); i++) values[i].clear(); timeStamps.clear(); startingTime = QTime::currentTime(); plot->replot(); } void EventViewer::saveToFile() { QSettings settings; QString lastFileName(settings.value("EventViewer/exportFileName", QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation)).toString()); QString filter = "Text files (*.txt);;CSV files (*.csv);;All Files (*)"; QString fileName = QFileDialog::getSaveFileName(this, tr("Save plot data to file"), lastFileName, filter); QFile file(fileName); if (!file.open(QFile::WriteOnly | QFile::Truncate)) return; settings.setValue("EventViewer/exportFileName", fileName); QTextStream out(&file); for (size_t i = 0; i < timeStamps.size(); ++i) { out << timeStamps[i] << " "; for (size_t j = 0; j < values.size(); ++j) { out << values[j][i]; if (j + 1 < values.size()) out << " "; } out << "\n"; } } /*@}*/ } // namespace Aseba #endif // HAVE_QWT aseba-1.6.0/clients/studio/EventViewer.h000066400000000000000000000037251322771007300201660ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef EVENT_VIEWER_H #define EVENT_VIEWER_H #ifdef HAVE_QWT #ifdef _MSC_VER #define QWT_DLL #endif // _MSC_VER #include #include #include "MainWindow.h" #include "../../common/types.h" class QwtPlot; class QDoubleSpinBox; class QPushButton; class QCheckBox; class QLabel; namespace Aseba { /** \addtogroup studio */ /*@{*/ class EventViewer: public QWidget { Q_OBJECT protected: unsigned eventId; MainWindow::EventViewers* eventsViewers; bool isCapturing; QwtPlot* plot; QLabel *status; QPushButton *pauseRunButton; QCheckBox *timeWindowCheckBox; QDoubleSpinBox *timeWindowLength; std::vector > values; std::deque timeStamps; QTime startingTime; public: EventViewer(unsigned eventId, const QString& eventName, unsigned eventVariablesCount, MainWindow::EventViewers* eventsViewers); virtual ~EventViewer(); void detachFromMain() { eventsViewers=0; } void addData(const VariablesDataVector& data); protected slots: void pauseRunCapture(); void clearPlot(); void saveToFile(); }; /*@}*/ } // namespace Aseba #endif // HAVE_QWT #endif // EVENT_VIEWER_H aseba-1.6.0/clients/studio/FindDialog.cpp000066400000000000000000000143441322771007300202550ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "FindDialog.h" #include #include #include #include #include #include #include #include #include #include namespace Aseba { FindDialog::FindDialog(QWidget *parent, QTextEdit* editor): QDialog(parent), editor(editor) { setWindowTitle(tr("Aseba Studio - Search and Replace")); QLabel* label = new QLabel(tr("&Search for:")); findLineEdit = new QLineEdit; label->setBuddy(findLineEdit); QHBoxLayout *entryLayout = new QHBoxLayout; entryLayout->addWidget(label); entryLayout->addWidget(findLineEdit); caseCheckBox = new QCheckBox(tr("&Case sensitive")); wholeWordsCheckBox = new QCheckBox(tr("&Whole words")); regularExpressionsCheckBox = new QCheckBox(tr("Re&gular expressions")); QHBoxLayout *optionsLayout = new QHBoxLayout; optionsLayout->addWidget(caseCheckBox); optionsLayout->addWidget(wholeWordsCheckBox); optionsLayout->addWidget(regularExpressionsCheckBox); findNextButton = new QPushButton(tr("&Find Next")); findNextButton->setDefault(true); findPreviousButton = new QPushButton(tr("Find &Previous")); findFromTopButton = new QPushButton(tr("Find from &Top")); QHBoxLayout *buttonsLayout = new QHBoxLayout; buttonsLayout->addWidget(findNextButton); buttonsLayout->addWidget(findPreviousButton); buttonsLayout->addWidget(findFromTopButton); warningText = new QLabel; warningText->setStyleSheet("color: darkred; font-weight: bold"); replaceGroupBox = new QGroupBox(tr("&Replace")); replaceGroupBox->setCheckable(true); replaceGroupBox->setChecked(false); label = new QLabel(tr("w&ith:")); QHBoxLayout *entryLayout2 = new QHBoxLayout; replaceLineEdit = new QLineEdit; label->setBuddy(replaceLineEdit); entryLayout2->addWidget(label); entryLayout2->addWidget(replaceLineEdit); replaceFindNextButton = new QPushButton(tr("Replace and\nFind &Next")); replaceFindPreviousButton = new QPushButton(tr("Replace and\nFind Previo&us")); replaceAllButton = new QPushButton(tr("Replace &All\nOccurrences")); QHBoxLayout *buttonsLayout2 = new QHBoxLayout; buttonsLayout2->addWidget(replaceFindNextButton); buttonsLayout2->addWidget(replaceFindPreviousButton); buttonsLayout2->addWidget(replaceAllButton); QVBoxLayout *replaceLayout = new QVBoxLayout; replaceLayout->addLayout(entryLayout2); replaceLayout->addLayout(buttonsLayout2); replaceGroupBox->setLayout(replaceLayout); QVBoxLayout* layout = new QVBoxLayout; layout->addLayout(entryLayout); layout->addLayout(optionsLayout); layout->addLayout(buttonsLayout); layout->addWidget(warningText); layout->addWidget(replaceGroupBox); setLayout(layout); connect(findNextButton, SIGNAL(clicked()), SLOT(findNext())); connect(findPreviousButton, SIGNAL(clicked()), SLOT(findPrevious())); connect(findFromTopButton, SIGNAL(clicked()), SLOT(findFromTop())); connect(replaceFindNextButton, SIGNAL(clicked()), SLOT(replaceFindNext())); connect(replaceFindPreviousButton, SIGNAL(clicked()), SLOT(replaceFindPrevious())); connect(replaceAllButton, SIGNAL(clicked()), SLOT(replaceAll())); } void FindDialog::setFindText(const QString& text) { findLineEdit->setText(text); } void FindDialog::findNext() { find(editor->textCursor(), QTextDocument::FindFlag(0)); } void FindDialog::findPrevious() { find(editor->textCursor(), QTextDocument::FindBackward); } void FindDialog::findFromTop() { find(QTextCursor(editor->document()), QTextDocument::FindFlag(0)); } void FindDialog::replaceFindNext() { replace(); find(editor->textCursor(), QTextDocument::FindFlag(0)); } void FindDialog::replaceFindPrevious() { replace(); find(editor->textCursor(), QTextDocument::FindBackward); } void FindDialog::replaceAll() { QTextCursor c(editor->document()); while (find(c, QTextDocument::FindFlag(0))) { replace(); c = editor->textCursor(); } } bool FindDialog::find(const QTextCursor cc, const QTextDocument::FindFlag dir) { assert(editor); //if (cc.hasSelection()) QTextDocument::FindFlags flags(dir); QTextCursor nc; // search text if (wholeWordsCheckBox->isChecked()) flags |= QTextDocument::FindWholeWords; if (regularExpressionsCheckBox->isChecked()) { Qt::CaseSensitivity cs; if (caseCheckBox->isChecked()) cs = Qt::CaseSensitive; else cs = Qt::CaseInsensitive; nc = editor->document()->find(QRegExp(findLineEdit->text(), cs), cc ,flags); } else { if (caseCheckBox->isChecked()) flags |= QTextDocument::FindCaseSensitively; nc = editor->document()->find(findLineEdit->text(), cc ,flags); } // do something with found text if (nc.isNull()) { nc = QTextCursor(editor->document()); if (dir == QTextDocument::FindBackward) nc.movePosition(QTextCursor::End); warningText->setText(tr("End of document reached!")); editor->setTextCursor(nc); return false; } else { warningText->setText(""); editor->setTextCursor(nc); return true; } } void FindDialog::replace() { QTextCursor cc(editor->textCursor()); if (cc.isNull() || !cc.hasSelection()) return; if (replaceGroupBox->isChecked()) { const int p = std::min(cc.anchor(), cc.position()); const int l = replaceLineEdit->text().length(); cc.insertText(replaceLineEdit->text()); cc.setPosition(p); cc.setPosition(p+l, QTextCursor::KeepAnchor); editor->setTextCursor(cc); } } } aseba-1.6.0/clients/studio/FindDialog.h000066400000000000000000000040551322771007300177200ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef FIND_DIALOG_H #define FIND_DIALOG_H #include #include #include class QLabel; class QLineEdit; class QPushButton; class QCheckBox; class QTextEdit; class QGroupBox; namespace Aseba { class FindDialog: public QDialog { Q_OBJECT public: FindDialog(QWidget *parent = 0, QTextEdit* editor = 0); void setFindText(const QString& text); protected slots: void findNext(); void findPrevious(); void findFromTop(); void replaceFindNext(); void replaceFindPrevious(); void replaceAll(); protected: bool find(const QTextCursor pos, const QTextDocument::FindFlag dir); void replace(); public: QTextEdit* editor; QGroupBox* replaceGroupBox; protected: QLineEdit *findLineEdit; QLineEdit *replaceLineEdit; // options QCheckBox *caseCheckBox; QCheckBox *wholeWordsCheckBox; QCheckBox *regularExpressionsCheckBox; // type of search QPushButton *findNextButton; QPushButton *findPreviousButton; QPushButton *findFromTopButton; QPushButton *replaceFindNextButton; QPushButton *replaceFindPreviousButton; QPushButton *replaceAllButton; //QPushButton *findFromTopButton; // warning lineEdit QLabel *warningText; }; } #endif // FIND_DIALOG_H aseba-1.6.0/clients/studio/HelpViewer.cpp000066400000000000000000000164641322771007300203340ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "HelpViewer.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include namespace Aseba { const QString HelpViewer::DEFAULT_LANGUAGE = "en"; HelpViewer::HelpViewer(QWidget* parent): QWidget(parent), tmpHelpSubDir(QString("aseba-studio-%1").arg(QCoreApplication::applicationPid())), tmpHelpFileNameHC(QDir::temp().filePath(tmpHelpSubDir + "/aseba-doc.qhc")), tmpHelpFileNameCH(QDir::temp().filePath(tmpHelpSubDir + "/aseba-doc.qch")) { // expanding help files into tmp QDir::temp().mkdir(tmpHelpSubDir); QFile(":aseba-doc.qhc").copy(tmpHelpFileNameHC); QFile(":aseba-doc.qch").copy(tmpHelpFileNameCH); // open files from tmp helpEngine = new QHelpEngine(tmpHelpFileNameHC, this); if (helpEngine->setupData() == false) { helpFound = false; QString message = tr("The help file %0 was not loaded successfully. " \ "The error was: %1." \ "The help file should be available in the temporary directory of your system. " \ "Please check your installation, or report a bug.").arg(tmpHelpFileNameHC).arg(helpEngine->error()); QMessageBox::warning(this, tr("Help file not found"), message); } else helpFound = true; } HelpViewer::~HelpViewer() { writeSettings(); // remove help files from tmp QFile(tmpHelpFileNameHC).remove(); QFile(tmpHelpFileNameCH).remove(); QDir::temp().rmdir(tmpHelpSubDir); } void HelpViewer::setupWidgets() { // navigation buttons previous = new QPushButton(tr("Previous")); previous->setEnabled(false); next = new QPushButton(tr("Next")); next->setEnabled(false); home = new QPushButton(tr("Home")); QHBoxLayout* buttonLayout = new QHBoxLayout(); buttonLayout->addWidget(previous); buttonLayout->addWidget(home); buttonLayout->addWidget(next); buttonLayout->addStretch(); // QTextBrower viewer = new HelpBrowser(helpEngine); // help layout QSplitter *helpSplitter = new QSplitter(Qt::Horizontal); helpSplitter->addWidget(helpEngine->contentWidget()); helpSplitter->addWidget(viewer); helpSplitter->setStretchFactor(helpSplitter->indexOf(viewer), 1); // main layout QVBoxLayout* mainLayout = new QVBoxLayout(); mainLayout->addLayout(buttonLayout); //mainLayout->addWidget(viewer); mainLayout->addWidget(helpSplitter); setLayout(mainLayout); // restore window state, if available if (readSettings() == false) resize(800, 500); setWindowTitle(tr("Aseba Studio Help")); } void HelpViewer::setupConnections() { connect(previous, SIGNAL(clicked()), this, SLOT(previousClicked())); connect(next, SIGNAL(clicked()), this, SLOT(nextClicked())); connect(home, SIGNAL(clicked()), this, SLOT(homeClicked())); connect(viewer, SIGNAL(backwardAvailable(bool)), this, SLOT(backwardAvailable(bool))); connect(viewer, SIGNAL(forwardAvailable(bool)), this, SLOT(forwardAvailable(bool))); connect(helpEngine->contentWidget(), SIGNAL(linkActivated(const QUrl&)), viewer, SLOT(setSource(const QUrl&))); connect(viewer, SIGNAL(sourceChanged(const QUrl&)), this, SLOT(sourceChanged(const QUrl&))); } void HelpViewer::setLanguage(const QString& lang) { if (!helpFound) return; // check if the language is part of the existing filters if (selectLanguage(lang) == false) { // rollback to default language QString message = tr("The help filter for the langauge \"%0\" has not been found. " \ "Falling back to the default language (%1). " \ "This is probably a bug, please report it.").arg(lang).arg(DEFAULT_LANGUAGE); //QMessageBox::warning(this, tr("Help filter not found"), message); helpEngine->setCurrentFilter(DEFAULT_LANGUAGE); this->language = DEFAULT_LANGUAGE; } } bool HelpViewer::selectLanguage(const QString& reqLang) { const QStringList& langList(helpEngine->customFilters()); for (QStringList::const_iterator it = langList.constBegin(); it != langList.constEnd(); ++it) { const QString& availableLang(*it); if (reqLang.startsWith(availableLang)) { helpEngine->setCurrentFilter(availableLang); this->language = availableLang; return true; } } return false; } void HelpViewer::showHelp(helpType type) { if (!helpFound) { this->show(); // show anyway, but will be blank return; } QString filename = "qthelp:///doc/doc/" + this->language + "_"; switch (type) { // help files generated by the wikidot parser case HelpViewer::USERMANUAL: filename += "asebausermanual.html"; break; case HelpViewer::STUDIO: filename += "asebastudio.html"; break; case HelpViewer::LANGUAGE: filename += "asebalanguage.html"; break; } QUrl result = helpEngine->findFile(QUrl(filename)); viewer->setSource(result); viewer->setWindowTitle(tr("Aseba Studio Help")); this->show(); } bool HelpViewer::readSettings() { bool result; QSettings settings; result = restoreGeometry(settings.value("HelpViewer/geometry").toByteArray()); move(settings.value("HelpViewer/position").toPoint()); return result; } void HelpViewer::writeSettings() { QSettings settings; settings.setValue("HelpViewer/geometry", saveGeometry()); settings.setValue("HelpViewer/position", pos()); } void HelpViewer::previousClicked() { viewer->backward(); } void HelpViewer::backwardAvailable(bool state) { previous->setEnabled(state); } void HelpViewer::nextClicked() { viewer->forward(); } void HelpViewer::forwardAvailable(bool state) { next->setEnabled(state); } void HelpViewer::homeClicked() { showHelp(HelpViewer::USERMANUAL); } void HelpViewer::sourceChanged(const QUrl& src) { QModelIndex item = helpEngine->contentWidget()->indexOf(src); if (item.isValid()) helpEngine->contentWidget()->setCurrentIndex(item); } HelpBrowser::HelpBrowser(QHelpEngine* helpEngine, QWidget* parent): QTextBrowser(parent), helpEngine(helpEngine) { setReadOnly(true); } void HelpBrowser::setSource(const QUrl &url) { if (url.scheme() == "http") { QDesktopServices::openUrl(url); } else QTextBrowser::setSource(url); } QVariant HelpBrowser::loadResource(int type, const QUrl& url) { //qDebug() << "Loading " << url; // from Qt Quarterly 28: // "Using QtHelp to Lend a Helping Hand" if (url.scheme() == "qthelp") return QVariant(helpEngine->fileData(url)); else return QTextBrowser::loadResource(type, url); } } aseba-1.6.0/clients/studio/HelpViewer.h000066400000000000000000000043461322771007300177750ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef HELP_VIEWER_H #define HELP_VIEWER_H #include #include #include #include #include #include namespace Aseba { class HelpBrowser; class HelpViewer: public QWidget { Q_OBJECT public: HelpViewer(QWidget* parent = 0); ~HelpViewer(); enum helpType { USERMANUAL, STUDIO, LANGUAGE }; static const QString DEFAULT_LANGUAGE; void setupWidgets(); void setupConnections(); void setLanguage(const QString& lang = DEFAULT_LANGUAGE); void showHelp(helpType type); protected: bool selectLanguage(const QString& reqLang); bool readSettings(); void writeSettings(); QHelpEngine *helpEngine; HelpBrowser* viewer; QPushButton* previous; QPushButton* next; QPushButton* home; QString language; bool helpFound; const QString tmpHelpSubDir; const QString tmpHelpFileNameHC; const QString tmpHelpFileNameCH; protected slots: void previousClicked(); void backwardAvailable(bool state); void nextClicked(); void forwardAvailable(bool state); void homeClicked(); void sourceChanged(const QUrl& src); }; class HelpBrowser: public QTextBrowser { public: HelpBrowser(QHelpEngine* helpEngine, QWidget* parent = 0); virtual void setSource(const QUrl& url); virtual QVariant loadResource(int type, const QUrl& url); protected: QHelpEngine* helpEngine; }; } #endif // HELP_VIEWER_H aseba-1.6.0/clients/studio/MainWindow.cpp000066400000000000000000003456701322771007300203420ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "MainWindow.h" #include "ClickableLabel.h" #include "DashelTarget.h" #include "TargetModels.h" #include "NamedValuesVectorModel.h" #include "StudioAeslEditor.h" #include "EventViewer.h" #include "FindDialog.h" #include "ModelAggregator.h" #include "translations/CompilerTranslator.h" #include "../../common/consts.h" #include "../../common/productids.h" #include "../../common/utils/utils.h" #include "../../common/about/AboutDialog.h" #include #include #include #include #include #include #include #include #include #include #include using std::copy; namespace Aseba { /** \addtogroup studio */ /*@{*/ StudioInterface::StudioInterface(NodeTab* nodeTab): nodeTab(nodeTab) { mainWindow = nodeTab->mainWindow; }; Target* StudioInterface::getTarget() { return nodeTab->target; } unsigned StudioInterface::getNodeId() const { return nodeTab->id; } unsigned StudioInterface::getProductId() const { return nodeTab->pid; } void StudioInterface::setCommonDefinitions(const CommonDefinitions& commonDefinitions) { mainWindow->eventsDescriptionsModel->clear(); for (NamedValuesVector::const_iterator it(commonDefinitions.events.begin()); it != commonDefinitions.events.end(); ++it) mainWindow->eventsDescriptionsModel->addNamedValue(*it); mainWindow->constantsDefinitionsModel->clear(); for (NamedValuesVector::const_iterator it(commonDefinitions.constants.begin()); it != commonDefinitions.constants.end(); ++it) mainWindow->constantsDefinitionsModel->addNamedValue(*it); } void StudioInterface::displayCode(const QList& code, int elementToHighlight) { nodeTab->editor->replaceAndHighlightCode(code, elementToHighlight); } void StudioInterface::loadAndRun() { nodeTab->loadClicked(); nodeTab->target->run(nodeTab->id); } void StudioInterface::stop() { nodeTab->target->stop(nodeTab->id); } TargetVariablesModel * StudioInterface::getVariablesModel() { return nodeTab->vmMemoryModel; } void StudioInterface::setVariableValues(unsigned addr, const VariablesDataVector &data) { nodeTab->setVariableValues(addr, data); } bool StudioInterface::saveFile(bool as) { if (as) return mainWindow->saveFile(); return mainWindow->save(); } void StudioInterface::openFile() { mainWindow->openFile(); } bool StudioInterface::newFile() { return mainWindow->newFile(); } void StudioInterface::clearOpenedFileName(bool isModified) { mainWindow->clearOpenedFileName(isModified); } QString StudioInterface::openedFileName() const { return mainWindow->actualFileName; } ////// CompilationLogDialog::CompilationLogDialog(QWidget *parent) : QDialog(parent), te(new QTextEdit()) { QVBoxLayout *l(new QVBoxLayout); l->addWidget(te); setLayout(l); QFont font; font.setFamily(""); font.setStyleHint(QFont::TypeWriter); font.setFixedPitch(true); font.setPointSize(10); te->setFont(font); te->setTabStopWidth( QFontMetrics(font).width(' ') * 4); te->setReadOnly(true); setWindowTitle(tr("Aseba Studio: Output of last compilation")); resize(600, 560); } void CompilationLogDialog::hideEvent( QHideEvent * event ) { if (!isVisible()) emit hidden(); } ////// EditorsPlotsTabWidget::EditorsPlotsTabWidget() { vmMemorySize[0] = -1; // not yet initialized vmMemorySize[1] = -1; // not yet initialized readSettings(); // read user's preferences connect(this, SIGNAL(currentChanged(int)), SLOT(tabChanged(int))); } EditorsPlotsTabWidget::~EditorsPlotsTabWidget() { // store user's preferences writeSettings(); } void EditorsPlotsTabWidget::addTab(QWidget* widget, const QString& label, bool closable) { const int index = QTabWidget::addTab(widget, label); #if QT_VERSION >= 0x040500 if (closable) { QPushButton* button = new QPushButton(QIcon(":/images/remove.png"), ""); button->setFlat(true); connect(button, SIGNAL(clicked(bool)), this, SLOT(removeAndDeleteTab())); tabBar()->setTabButton(index, QTabBar::RightSide, button); } #endif // QT_VERSION >= 0x040500 // manage the sections size for the vmMemoryView child widget NodeTab* tab = dynamic_cast(widget); if (tab) { vmMemoryViewResize(tab); connect(tab->vmMemoryView->header(), SIGNAL(sectionResized(int,int,int)), this, SLOT(vmMemoryResized(int,int,int))); } } void EditorsPlotsTabWidget::highlightTab(int index, QColor color) { tabBar()->setTabTextColor(index, color); } void EditorsPlotsTabWidget::setExecutionMode(int index, Target::ExecutionMode state) { if (state == Target::EXECUTION_UNKNOWN) { setTabIcon(index, QIcon()); } else if (state == Target::EXECUTION_RUN) { setTabIcon(index, QIcon(":/images/play.png")); } else if (state == Target::EXECUTION_STEP_BY_STEP) { setTabIcon(index, QIcon(":/images/pause.png")); } else if (state == Target::EXECUTION_STOP) { setTabIcon(index, QIcon(":/images/stop.png")); } } void EditorsPlotsTabWidget::removeAndDeleteTab(int index) { #if QT_VERSION >= 0x040500 if (index < 0) { QWidget* button(polymorphic_downcast(sender())); for (int i = 0; i < count(); ++i) { if (tabBar()->tabButton(i, QTabBar::RightSide) == button) { index = i; break; } } } #endif // QT_VERSION >= 0x040500 if (index >= 0) { QWidget* w(widget(index)); QTabWidget::removeTab(index); w->deleteLater(); } } void EditorsPlotsTabWidget::vmMemoryResized(int col, int oldSize, int newSize) { // keep track of the current value, to apply it on the other tabs vmMemorySize[col] = newSize; } void EditorsPlotsTabWidget::tabChanged(int index) { // resize the vmMemoryView, to match the user choice NodeTab* tab = dynamic_cast(currentWidget()); if (!tab) return; vmMemoryViewResize(tab); // reset the tab highlight resetHighlight(index); } void EditorsPlotsTabWidget::resetHighlight(int index) { tabBar()->setTabTextColor(index, Qt::black); } void EditorsPlotsTabWidget::vmMemoryViewResize(NodeTab *tab) { if (!tab) return; // resize the vmMemoryView QTreeView, according to the global value for (int i = 0; i < 2; i++) if (vmMemorySize[i] != -1) tab->vmMemoryView->header()->resizeSection(i, vmMemorySize[i]); } void EditorsPlotsTabWidget::readSettings() { QSettings settings; vmMemorySize[0] = settings.value("vmMemoryView/col0", -1).toInt(); vmMemorySize[1] = settings.value("vmMemoryView/col1", -1).toInt(); } void EditorsPlotsTabWidget::writeSettings() { QSettings settings; settings.setValue("vmMemoryView/col0", vmMemorySize[0]); settings.setValue("vmMemoryView/col1", vmMemorySize[1]); } ////// void ScriptTab::createEditor() { // editor widget editor = new StudioAeslEditor(this); breakpoints = new AeslBreakpointSidebar(editor); linenumbers = new AeslLineNumberSidebar(editor); highlighter = new AeslHighlighter(editor, editor->document()); } ////// AbsentNodeTab::AbsentNodeTab(const unsigned id, const QString& name, const QString& sourceCode, const SavedPlugins& savedPlugins) : ScriptTab(id), name(name), savedPlugins(savedPlugins) { createEditor(); editor->setReadOnly(true); editor->setPlainText(sourceCode); QVBoxLayout *layout = new QVBoxLayout; layout->addWidget(editor); setLayout(layout); } ////// NodeTab::CompilationResult* compilationThread(const TargetDescription targetDescription, const CommonDefinitions commonDefinitions, QString source, bool dump); NodeTab::NodeTab(MainWindow* mainWindow, Target *target, const CommonDefinitions *commonDefinitions, const unsigned id, QWidget *parent) : QSplitter(parent), ScriptTab(id), VariableListener(0), pid(ASEBA_PID_UNDEFINED), target(target), commonDefinitions(commonDefinitions), mainWindow(mainWindow), currentPC(0), previousMode(Target::EXECUTION_UNKNOWN), showHidden(mainWindow->showHiddenAct->isChecked()), compilationDirty(false), isSynchronized(true) { // setup some variables //rehighlighting = false; errorPos = -1; allocatedVariablesCount = 0; // create models vmFunctionsModel = new TargetFunctionsModel(target->getDescription(id), showHidden, this); vmMemoryModel = new TargetVariablesModel(this); variablesModel = vmMemoryModel; subscribeToVariableOfInterest(ASEBA_PID_VAR_NAME); // create gui setupWidgets(); setupConnections(); // create aggregated models // local and global events ModelAggregator* aggregator = new ModelAggregator(this); aggregator->addModel(vmLocalEvents->model()); aggregator->addModel(mainWindow->eventsDescriptionsModel); eventAggregator = aggregator; // variables and constants aggregator = new ModelAggregator(this); aggregator->addModel(vmMemoryModel); aggregator->addModel(mainWindow->constantsDefinitionsModel); variableAggregator = aggregator; // create the sorting proxy sortingProxy = new QSortFilterProxyModel(this); sortingProxy->setDynamicSortFilter(true); sortingProxy->setSortCaseSensitivity(Qt::CaseInsensitive); sortingProxy->setSortRole(Qt::DisplayRole); // create the chainsaw filter for native functions functionsFlatModel = new TreeChainsawFilter(this); functionsFlatModel->setSourceModel(vmFunctionsModel); // create the model for subroutines vmSubroutinesModel = new TargetSubroutinesModel(this); editor->setFocus(); setSizePolicy(QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding)); // get the value of the variables // compile in this thread the first time NodeTab::CompilationResult* result = compilationThread(*target->getDescription(id), *commonDefinitions, editor->toPlainText(), false); processCompilationResult(result); } NodeTab::~NodeTab() { // delete all tools for (NodeToolInterfaces::const_iterator it(tools.begin()); it != tools.end(); ++it) { NodeToolInterface* tool(*it); delete tool; } // wait until thread has finished compilationFuture.waitForFinished(); } void NodeTab::setupWidgets() { createEditor(); // editor related notification widgets cursorPosText = new QLabel; compilationResultImage = new ClickableLabel; compilationResultText = new ClickableLabel; compilationResultText->setWordWrap(true); compilationResultText->setAlignment(Qt::AlignRight|Qt::AlignVCenter); QHBoxLayout *compilationResultLayout = new QHBoxLayout; compilationResultLayout->addWidget(cursorPosText); compilationResultLayout->addWidget(compilationResultText, 1000); compilationResultLayout->addWidget(compilationResultImage); // memory usage notification area memoryUsageText = new QLabel(); memoryUsageText->setAlignment(Qt::AlignLeft); memoryUsageText->setWordWrap(true); // editor area QHBoxLayout *editorAreaLayout = new QHBoxLayout; editorAreaLayout->setSpacing(0); editorAreaLayout->addWidget(breakpoints); editorAreaLayout->addWidget(linenumbers); editorAreaLayout->addWidget(editor); // keywords keywordsToolbar = new QToolBar(); varButton = new QToolButton(); varButton->setText("var"); ifButton = new QToolButton(); ifButton->setText("if"); elseifButton = new QToolButton(); elseifButton->setText("elseif"); elseButton = new QToolButton(); elseButton->setText("else"); oneventButton = new QToolButton(); oneventButton->setText("onevent"); whileButton = new QToolButton(); whileButton->setText("while"); forButton = new QToolButton(); forButton->setText("for"); subroutineButton = new QToolButton(); subroutineButton->setText("sub"); callsubButton = new QToolButton(); callsubButton->setText("callsub"); keywordsToolbar->addWidget(new QLabel(tr("Keywords"))); keywordsToolbar->addSeparator(); keywordsToolbar->addWidget(varButton); keywordsToolbar->addWidget(ifButton); keywordsToolbar->addWidget(elseifButton); keywordsToolbar->addWidget(elseButton); keywordsToolbar->addWidget(oneventButton); keywordsToolbar->addWidget(whileButton); keywordsToolbar->addWidget(forButton); keywordsToolbar->addWidget(subroutineButton); keywordsToolbar->addWidget(callsubButton); QVBoxLayout *editorLayout = new QVBoxLayout; editorLayout->addWidget(keywordsToolbar); editorLayout->addLayout(editorAreaLayout); editorLayout->addLayout(compilationResultLayout); editorLayout->addWidget(memoryUsageText); // panel // buttons executionModeLabel = new QLabel(tr("unknown")); loadButton = new QPushButton(QIcon(":/images/upload.png"), tr("Load")); resetButton = new QPushButton(QIcon(":/images/reset.png"), tr("Reset")); resetButton->setEnabled(false); runInterruptButton = new QPushButton(QIcon(":/images/play.png"), tr("Run")); runInterruptButton->setEnabled(false); nextButton = new QPushButton(QIcon(":/images/step.png"), tr("Next")); nextButton->setEnabled(false); refreshMemoryButton = new QPushButton(QIcon(":/images/rescan.png"), tr("refresh")); autoRefreshMemoryCheck = new QCheckBox(tr("auto")); QGridLayout* buttonsLayout = new QGridLayout; buttonsLayout->addWidget(new QLabel(tr("Execution")), 0, 0); buttonsLayout->addWidget(executionModeLabel, 0, 1); buttonsLayout->addWidget(loadButton, 1, 0); buttonsLayout->addWidget(runInterruptButton, 1, 1); buttonsLayout->addWidget(resetButton, 2, 0); buttonsLayout->addWidget(nextButton, 2, 1); // memory vmMemoryView = new QTreeView; vmMemoryView->setModel(vmMemoryModel); vmMemoryView->setHorizontalScrollMode(QAbstractItemView::ScrollPerPixel); vmMemoryView->setItemDelegate(new SpinBoxDelegate(-32768, 32767, this)); vmMemoryView->setColumnWidth(0, 235-QFontMetrics(QFont()).width("-88888##")); vmMemoryView->setColumnWidth(1, QFontMetrics(QFont()).width("-88888##")); vmMemoryView->setSelectionMode(QAbstractItemView::SingleSelection); vmMemoryView->setSelectionBehavior(QAbstractItemView::SelectItems); vmMemoryView->setDragDropMode(QAbstractItemView::DragOnly); vmMemoryView->setDragEnabled(true); //vmMemoryView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); //vmMemoryView->setHeaderHidden(true); QVBoxLayout *memoryLayout = new QVBoxLayout; QHBoxLayout *memorySubLayout = new QHBoxLayout; memorySubLayout->addWidget(new QLabel(tr("Variables"))); memorySubLayout->addStretch(); memorySubLayout->addWidget(autoRefreshMemoryCheck); memorySubLayout->addWidget(refreshMemoryButton); memoryLayout->addLayout(memorySubLayout); memoryLayout->addWidget(vmMemoryView); memorySubLayout = new QHBoxLayout; QLabel* filterLabel(new QLabel(tr("F&ilter:"))); memorySubLayout->addWidget(filterLabel); vmMemoryFilter= new QLineEdit; filterLabel->setBuddy(vmMemoryFilter); memorySubLayout->addWidget(vmMemoryFilter); memoryLayout->addLayout(memorySubLayout); // functions vmFunctionsView = new QTreeView; vmFunctionsView->setMinimumHeight(40); vmFunctionsView->setMinimumSize(QSize(50,40)); vmFunctionsView->setModel(vmFunctionsModel); vmFunctionsView->setHorizontalScrollMode(QAbstractItemView::ScrollPerPixel); vmFunctionsView->setSelectionMode(QAbstractItemView::SingleSelection); vmFunctionsView->setSelectionBehavior(QAbstractItemView::SelectItems); vmFunctionsView->setDragDropMode(QAbstractItemView::DragOnly); vmFunctionsView->setDragEnabled(true); vmFunctionsView->setEditTriggers(QAbstractItemView::NoEditTriggers); vmFunctionsView->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding); #if QT_VERSION >= 0x040400 vmFunctionsView->setHeaderHidden(true); #elif (!defined(_MSC_VER)) #warning "Some feature have been disabled because you are using Qt < 4.4.0" #endif // local events vmLocalEvents = new DraggableListWidget; vmLocalEvents->setMinimumHeight(40); vmLocalEvents->setSelectionMode(QAbstractItemView::SingleSelection); vmLocalEvents->setDragDropMode(QAbstractItemView::DragOnly); vmLocalEvents->setDragEnabled(true); for (size_t i = 0; i < target->getDescription(id)->localEvents.size(); i++) { QListWidgetItem* item = new QListWidgetItem(QString::fromStdWString(target->getDescription(id)->localEvents[i].name)); item->setToolTip(QString::fromStdWString(target->getDescription(id)->localEvents[i].description)); vmLocalEvents->addItem(item); } // toolbox toolBox = new QToolBox; toolBox->addItem(vmFunctionsView, tr("Native Functions")); toolBox->addItem(vmLocalEvents, tr("Local Events")); QWidget* toolListWidget(new QWidget); toolListLayout = new QVBoxLayout; toolListWidget->setLayout(toolListLayout); toolListIndex = toolBox->addItem(toolListWidget, tr("Local Tools")); QVBoxLayout* toolBoxLayout = new QVBoxLayout; toolBoxLayout->addWidget(toolBox); QWidget* toolBoxWidget = new QWidget; toolBoxWidget->setLayout(toolBoxLayout); // panel QSplitter *panelSplitter = new QSplitter(Qt::Vertical); QWidget* buttonsWidget = new QWidget; buttonsWidget->setLayout(buttonsLayout); panelSplitter->addWidget(buttonsWidget); panelSplitter->setCollapsible(0, false); QWidget* memoryWidget = new QWidget; memoryWidget->setLayout(memoryLayout); panelSplitter->addWidget(memoryWidget); panelSplitter->setStretchFactor(1, 9); panelSplitter->addWidget(toolBoxWidget); panelSplitter->setStretchFactor(2, 4); addWidget(panelSplitter); QWidget *editorWidget = new QWidget; editorWidget->setLayout(editorLayout); addWidget(editorWidget); setSizes(QList() << 270 << 500); } void NodeTab::setupConnections() { // compiler connect(&compilationWatcher, SIGNAL(finished()), SLOT(compilationCompleted())); // execution connect(loadButton, SIGNAL(clicked()), SLOT(loadClicked())); connect(resetButton, SIGNAL(clicked()), SLOT(resetClicked())); connect(runInterruptButton, SIGNAL(clicked()), SLOT(runInterruptClicked())); connect(nextButton, SIGNAL(clicked()), SLOT(nextClicked())); connect(refreshMemoryButton, SIGNAL(clicked()), SLOT(refreshMemoryClicked())); connect(autoRefreshMemoryCheck, SIGNAL(stateChanged(int)), SLOT(autoRefreshMemoryClicked(int))); // memory connect(vmMemoryModel, SIGNAL(variableValuesChanged(unsigned, const VariablesDataVector &)), SLOT(setVariableValues(unsigned, const VariablesDataVector &))); connect(vmMemoryFilter, SIGNAL(textChanged(const QString &)), SLOT(updateHidden())); // editor connect(editor, SIGNAL(textChanged()), SLOT(editorContentChanged())); connect(editor, SIGNAL(cursorPositionChanged() ), SLOT(cursorMoved())); connect(editor, SIGNAL(breakpointSet(unsigned)), SLOT(setBreakpoint(unsigned))); connect(editor, SIGNAL(breakpointCleared(unsigned)), SLOT(clearBreakpoint(unsigned))); connect(editor, SIGNAL(breakpointClearedAll()), SLOT(breakpointClearedAll())); connect(editor, SIGNAL(refreshModelRequest(LocalContext)), SLOT(refreshCompleterModel(LocalContext))); connect(compilationResultImage, SIGNAL(clicked()), SLOT(goToError())); connect(compilationResultText, SIGNAL(clicked()), SLOT(goToError())); // tools plugins connect(mainWindow, SIGNAL(MainWindowClosed()), SLOT(closePlugins())); // keywords signalMapper = new QSignalMapper(this); signalMapper->setMapping(varButton, QString("var ")); signalMapper->setMapping(ifButton, QString("if")); signalMapper->setMapping(elseifButton, QString("elseif")); signalMapper->setMapping(elseButton, QString("else\n\t")); signalMapper->setMapping(oneventButton, QString("onevent ")); signalMapper->setMapping(whileButton, QString("while")); signalMapper->setMapping(forButton, QString("for")); signalMapper->setMapping(subroutineButton, QString("sub ")); signalMapper->setMapping(callsubButton, QString("callsub ")); connect(varButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(ifButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(elseifButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(elseButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(oneventButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(whileButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(forButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(subroutineButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(callsubButton, SIGNAL(clicked()), signalMapper, SLOT(map())); connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(keywordClicked(QString))); // following default settings if (mainWindow->autoMemoryRefresh) autoRefreshMemoryCheck->setChecked(true); } void NodeTab::timerEvent ( QTimerEvent * event ) { if (mainWindow->nodes->currentWidget() != this) return; // only fetch what is visible const QList variables(variablesModel->getVariables()); assert(variables.size() == variablesModel->rowCount()); unsigned currentReqCount(0); unsigned currentReqPos(0); for (int i = 0; i < variables.size(); ++i) { const TargetVariablesModel::Variable& var(variables[i]); if (((var.value.size() == 1) || (vmMemoryView->isExpanded(variablesModel->index(i, 0))) ) && (!vmMemoryView->isRowHidden(i, QModelIndex())) ) { if (currentReqCount == 0) { // new request currentReqPos = var.pos; currentReqCount = var.value.size(); } else if (currentReqPos + currentReqCount == var.pos) { // continuous, append currentReqCount += var.value.size(); } else { // flush and reset target->getVariables(id, currentReqPos, currentReqCount); // new request currentReqPos = var.pos; currentReqCount = var.value.size(); } } } if (currentReqCount != 0) { // flush request target->getVariables(id, currentReqPos, currentReqCount); } } void NodeTab::variableValueUpdated(const QString& name, const VariablesDataVector& values) { if ((name == ASEBA_PID_VAR_NAME) && (values.size() >= 1)) { // only regenerate if pid has changed if (values[0] != int(pid)) { pid = values[0]; nodeToolRegistrer.update(pid, this, tools); updateToolList(); mainWindow->regenerateHelpMenu(); } } } ScriptTab::SavedPlugins NodeTab::savePlugins() const { SavedPlugins savedPlugins; for (NodeToolInterfaces::const_iterator it(tools.begin()); it != tools.end(); ++it) { const SavedContent savedContent((*it)->getSaved()); if (!savedContent.first.isEmpty() && !savedContent.second.isNull()) savedPlugins.push_back(savedContent); } return savedPlugins; } void NodeTab::notifyPluginsAboutToLoad() { for (NodeToolInterfaces::const_iterator it(tools.begin()); it != tools.end(); ++it) { (*it)->aboutToLoad(); } } void NodeTab::restorePlugins(const SavedPlugins& savedPlugins, bool fromFile) { // first recreate plugins for (SavedPlugins::const_iterator it(savedPlugins.begin()); it != savedPlugins.end(); ++it) { nodeToolRegistrer.update(it->first, this, tools); } // then reload data for (SavedPlugins::const_iterator it(savedPlugins.begin()); it != savedPlugins.end(); ++it) { NodeToolInterface* interface(tools.getNamed(it->first)); interface->loadFromDom(it->second, fromFile); } } void NodeTab::updateToolList() { // delete menu entries int oldCount = toolListLayout->count(); QLayoutItem *child; while ((child = toolListLayout->takeAt(0)) != 0) { child->widget()->deleteLater(); delete child; } // generate menu entries for (NodeToolInterfaces::const_iterator it(tools.begin()); it != tools.end(); ++it) toolListLayout->addWidget((*it)->createMenuEntry()); // if elements were added, ensure that this tab is visible if (toolListLayout->count() != oldCount) toolBox->setCurrentIndex(toolListIndex); } void NodeTab::resetClicked() { clearExecutionErrors(); target->reset(id); } void NodeTab::loadClicked() { if (errorPos == -1) { clearEditorProperty("executionError"); target->uploadBytecode(id, bytecode); //target->getVariables(id, 0, allocatedVariablesCount); editor->debugging = true; reSetBreakpoints(); rehighlight(); } isSynchronized = true; mainWindow->resetStatusText(); } void NodeTab::runInterruptClicked() { if (runInterruptButton->text() == tr("Run")) target->run(id); else target->pause(id); } void NodeTab::nextClicked() { target->next(id); } void NodeTab::refreshMemoryClicked() { // as we explicitely clicked, refresh all variables target->getVariables(id, 0, allocatedVariablesCount); } void NodeTab::autoRefreshMemoryClicked(int state) { if (state == Qt::Checked) { refreshMemoryButton->setEnabled(false); refreshTimer = startTimer(200); // 5 Hz } else { refreshMemoryButton->setEnabled(true); killTimer(refreshTimer); refreshMemoryClicked(); } } void NodeTab::writeBytecode() { if (errorPos == -1) { loadClicked(); target->writeBytecode(id); } } void NodeTab::reboot() { markTargetUnsynced(); target->reboot(id); } static void write16(QIODevice& dev, const uint16_t v) { dev.write((const char*)&v, 2); } static void write16(QIODevice& dev, const VariablesDataVector& data, const char *varName) { if (data.empty()) { std::cerr << "Warning, cannot find " << varName << " required to save bytecode, using 0" << std::endl; write16(dev, 0); } else dev.write((const char *)&data[0], 2); } static uint16_t crcXModem(const uint16_t oldCrc, const QString& s) { return crcXModem(oldCrc, s.toStdWString()); } void NodeTab::saveBytecode() { const QString& nodeName(target->getName(id)); QString bytecodeFileName = QFileDialog::getSaveFileName(mainWindow, tr("Save the binary code of %0").arg(nodeName), QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation), "Aseba Binary Object (*.abo);;All Files (*)"); QFile file(bytecodeFileName); if (!file.open(QFile::WriteOnly | QFile::Truncate)) return; // See AS001 at https://aseba.wikidot.com/asebaspecifications // header const char* magic = "ABO"; file.write(magic, 4); write16(file, 0); // binary format version write16(file, target->getDescription(id)->protocolVersion); write16(file, vmMemoryModel->getVariableValue("_productId"), "product identifier (_productId)"); write16(file, vmMemoryModel->getVariableValue("_fwversion"), "firmware version (_fwversion)"); write16(file, id); write16(file, crcXModem(0, nodeName)); write16(file, target->getDescription(id)->crc()); // bytecode write16(file, bytecode.size()); uint16_t crc(0); for (size_t i = 0; i < bytecode.size(); ++i) { const uint16_t bc(bytecode[i]); write16(file, bc); crc = crcXModem(crc, bc); } write16(file, crc); } void NodeTab::setVariableValues(unsigned index, const VariablesDataVector &values) { target->setVariables(id, index, values); } void NodeTab::insertVariableName(const QModelIndex &index) { // only top level names have to be inserted if (!index.parent().isValid() && (index.column() == 0)) editor->insertPlainText(index.data().toString()); } void NodeTab::editorContentChanged() { // only recompile if source code has actually changed if (editor->toPlainText() == lastCompiledSource) return; lastCompiledSource = editor->toPlainText(); // notify plugins for (NodeToolInterfaces::const_iterator it(tools.begin()); it != tools.end(); ++it) (*it)->codeChangedInEditor(); // handle completion QTextCursor cursor(editor->textCursor()); if (ConfigDialog::getAutoCompletion() && cursor.atBlockEnd()) { // language completion const QString& line(cursor.block().text()); QString keyword(line); // make sure the string does not have any trailing space int nonWhitespace(0); while ((nonWhitespace < keyword.size()) && ((keyword.at(nonWhitespace) == ' ') || (keyword.at(nonWhitespace) == '\t'))) ++nonWhitespace; keyword.remove(0,nonWhitespace); if (!keyword.trimmed().isEmpty()) { QString prefix; QString postfix; if (keyword == "if") { const QString headSpace = line.left(line.indexOf("if")); prefix = " "; postfix = " then\n" + headSpace + "\t\n" + headSpace + "end"; } else if (keyword == "when") { const QString headSpace = line.left(line.indexOf("when")); prefix = " "; postfix = " do\n" + headSpace + "\t\n" + headSpace + "end"; } else if (keyword == "for") { const QString headSpace = line.left(line.indexOf("for")); prefix = " "; postfix = "i in 0:0 do\n" + headSpace + "\t\n" + headSpace + "end"; } else if (keyword == "while") { const QString headSpace = line.left(line.indexOf("while")); prefix = " "; postfix = " do\n" + headSpace + "\t\n" + headSpace + "end"; } else if ((keyword == "else") && cursor.block().next().isValid()) { const QString tab = QString("\t"); QString headSpace = line.left(line.indexOf("else")); if( headSpace.size() >= tab.size()) { headSpace = headSpace.left(headSpace.size() - tab.size()); if (cursor.block().next().text() == headSpace + "end") { prefix = "\n" + headSpace + "else"; postfix = "\n" + headSpace + "\t"; cursor.select(QTextCursor::BlockUnderCursor); cursor.removeSelectedText(); } } } else if (keyword == "elseif") { const QString headSpace = line.left(line.indexOf("elseif")); prefix = " "; postfix = " then"; } if (!prefix.isNull() || !postfix.isNull()) { cursor.beginEditBlock(); cursor.insertText(prefix); const int pos = cursor.position(); cursor.insertText(postfix); cursor.setPosition(pos); cursor.endEditBlock(); editor->setTextCursor(cursor); } } } // recompile recompile(); mainWindow->sourceChanged(); } void NodeTab::keywordClicked(QString keyword) { QTextCursor cursor(editor->textCursor()); cursor.beginEditBlock(); cursor.insertText(keyword); cursor.endEditBlock(); editorContentChanged(); } void NodeTab::showKeywords(bool show) { if(show) keywordsToolbar->show(); else keywordsToolbar->hide(); } void NodeTab::showMemoryUsage(bool show) { memoryUsageText->setVisible(show); } void NodeTab::updateHidden() { const QString& filterString(vmMemoryFilter->text()); const QRegExp filterRegexp(filterString); // Quick hack to hide hidden variable in the treeview and not in vmMemoryModel // FIXME use a model proxy to perform this task for(int i = 0; i < vmMemoryModel->rowCount(QModelIndex()); i++) { const QString name(vmMemoryModel->data(vmMemoryModel->index(i,0), Qt::DisplayRole).toString()); bool hidden(false); if ( (!showHidden && ((name.left(1) == "_") || name.contains(QString("._")))) || (!filterString.isEmpty() && name.indexOf(filterRegexp)==-1) ) hidden = true; vmMemoryView->setRowHidden(i,QModelIndex(), hidden); } } NodeTab::CompilationResult* compilationThread(const TargetDescription targetDescription, const CommonDefinitions commonDefinitions, QString source, bool dump) { NodeTab::CompilationResult* result(new NodeTab::CompilationResult(dump)); Compiler compiler; compiler.setTargetDescription(&targetDescription); compiler.setCommonDefinitions(&commonDefinitions); compiler.setTranslateCallback(CompilerTranslator::translate); std::wistringstream is(source.toStdWString()); if (dump) result->success = compiler.compile(is, result->bytecode, result->allocatedVariablesCount, result->error, &result->compilationMessages); else result->success = compiler.compile(is, result->bytecode, result->allocatedVariablesCount, result->error); if (result->success) { result->variablesMap = *compiler.getVariablesMap(); result->subroutineTable = *compiler.getSubroutineTable(); } return result; } void NodeTab::recompile() { // compile if (compilationFuture.isRunning()) compilationDirty = true; else { bool dump(mainWindow->nodes->currentWidget() == this); compilationFuture = QtConcurrent::run(compilationThread, *target->getDescription(id), *commonDefinitions, editor->toPlainText(), dump); compilationWatcher.setFuture(compilationFuture); compilationDirty = false; // show progress icon compilationResultImage->setPixmap(QPixmap(QString(":/images/busy.png"))); } } void NodeTab::compilationCompleted() { CompilationResult* result(compilationFuture.result()); assert(result); // as long as result is dirty, continue compilation if (compilationDirty) { delete result; recompile(); return; } // process results processCompilationResult(result); } void NodeTab::processCompilationResult(CompilationResult* result) { // clear old user data // doRehighlight is required to prevent infinite recursion because there are no slot // to differentiate user changes from highlight changes in documents bool doRehighlight = clearEditorProperty("errorPos"); if (result->dump) { mainWindow->compilationMessageBox->setWindowTitle( tr("Aseba Studio: Output of last compilation for %0").arg(target->getName(id)) ); if (result->success) mainWindow->compilationMessageBox->setText( tr("Compilation success.") + QString("\n\n") + QString::fromStdWString(result->compilationMessages.str()) ); else mainWindow->compilationMessageBox->setText( QString::fromStdWString(result->error.toWString()) + ".\n\n" + QString::fromStdWString(result->compilationMessages.str()) ); } // show memory usage if (result->success) { const unsigned variableCount = result->allocatedVariablesCount; const unsigned variableTotal = (*target->getDescription(id)).variablesSize; const unsigned bytecodeCount = result->bytecode.size(); const unsigned bytecodeTotal = (*target->getDescription(id)).bytecodeSize; assert(variableCount); assert(bytecodeCount); const QString variableText = tr("variables: %1 on %2 (%3\%)").arg(variableCount).arg(variableTotal).arg((double)variableCount*100./variableTotal, 0, 'f', 1); const QString bytecodeText = tr("bytecode: %1 on %2 (%3\%)").arg(bytecodeCount).arg(bytecodeTotal).arg((double)bytecodeCount*100./bytecodeTotal, 0, 'f', 1); memoryUsageText->setText(trUtf8("Memory usage : %1, %2").arg(variableText).arg(bytecodeText)); } // update state following result if (result->success) { bytecode = result->bytecode; allocatedVariablesCount = result->allocatedVariablesCount; vmMemoryModel->updateVariablesStructure(&result->variablesMap); // This is disabled because we do not want to override the user's choice. // The best would be to use this until the user has done any change, and // then stop using it. But as sizes are reloaded from settings, the // gain is not worth the implementation work. //vmMemoryView->resizeColumnToContents(0); vmSubroutinesModel->updateSubroutineTable(result->subroutineTable); updateHidden(); compilationResultText->setText(tr("Compilation success.")); compilationResultImage->setPixmap(QPixmap(QString(":/images/ok.png"))); loadButton->setEnabled(true); emit uploadReadynessChanged(true); errorPos = -1; } else { compilationResultText->setText(QString::fromStdWString(result->error.toWString())); compilationResultImage->setPixmap(QPixmap(QString(":/images/warning.png"))); loadButton->setEnabled(false); emit uploadReadynessChanged(false); // we have an error, set the correct user data if (result->error.pos.valid) { errorPos = result->error.pos.character; QTextBlock textBlock = editor->document()->findBlock(errorPos); int posInBlock = errorPos - textBlock.position(); if (textBlock.userData()) polymorphic_downcast(textBlock.userData())->properties["errorPos"] = posInBlock; else textBlock.setUserData(new AeslEditorUserData("errorPos", posInBlock)); doRehighlight = true; } } // we have finished with the results delete result; // clear bearkpoints of target if currently in debugging mode if (editor->debugging) { //target->stop(id); markTargetUnsynced(); doRehighlight = true; } if (doRehighlight) rehighlight(); } //! When code is changed or target is rebooted, remove breakpoints from target but keep them locally as pending for next code load void NodeTab::markTargetUnsynced() { editor->debugging = false; resetButton->setEnabled(false); runInterruptButton->setEnabled(false); nextButton->setEnabled(false); target->clearBreakpoints(id); switchEditorProperty("breakpoint", "breakpointPending"); executionModeLabel->setText(tr("unknown")); mainWindow->nodes->setExecutionMode(mainWindow->getIndexFromId(id), Target::EXECUTION_UNKNOWN); } void NodeTab::cursorMoved() { // fix tab cursorPosText->setText(QString("Line: %0 Col: %1").arg(editor->textCursor().blockNumber() + 1).arg(editor->textCursor().columnNumber() + 1)); } void NodeTab::goToError() { if (errorPos >= 0) { QTextCursor cursor = editor->textCursor(); cursor.setPosition(errorPos); editor->setTextCursor(cursor); editor->ensureCursorVisible(); } } void NodeTab::clearExecutionErrors() { // remove execution error if (clearEditorProperty("executionError")) rehighlight(); } void NodeTab::refreshCompleterModel(LocalContext context) { // qDebug() << "New context: " << context; disconnect(mainWindow->eventsDescriptionsModel, 0, sortingProxy, 0); switch (context) { case GeneralContext: // both variables and constants case UnknownContext: sortingProxy->setSourceModel(variableAggregator); break; case LeftValueContext: // only variables sortingProxy->setSourceModel(vmMemoryModel); break; case FunctionContext: // native functions sortingProxy->setSourceModel(functionsFlatModel); break; case SubroutineCallContext: // subroutines sortingProxy->setSourceModel(vmSubroutinesModel); break; case EventContext: // events sortingProxy->setSourceModel(eventAggregator); break; case VarDefContext: default: // disable auto-completion in this case editor->setCompleterModel(0); return; } sortingProxy->sort(0); editor->setCompleterModel(sortingProxy); } /* void NodeTab::sortCompleterModel() { sortingProxy->sort(0); editor->setCompleterModel(0); editor->setCompleterModel(sortingProxy); } */ void NodeTab::variablesMemoryChanged(unsigned start, const VariablesDataVector &variables) { // update memory view vmMemoryModel->setVariablesData(start, variables); } void NodeTab::setBreakpoint(unsigned line) { rehighlight(); target->setBreakpoint(id, line); } void NodeTab::clearBreakpoint(unsigned line) { rehighlight(); target->clearBreakpoint(id, line); } void NodeTab::breakpointClearedAll() { rehighlight(); target->clearBreakpoints(id); } void NodeTab::executionPosChanged(unsigned line) { // change active state currentPC = line; if (setEditorProperty("active", QVariant(), line, true)) rehighlight(); } void NodeTab::executionModeChanged(Target::ExecutionMode mode) { // ignore those messages if we are not in debugging mode if (!editor->debugging) return; resetButton->setEnabled(true); runInterruptButton->setEnabled(true); compilationResultImage->setPixmap(QPixmap(QString(":/images/ok.png"))); // Filter spurious messages, to detect a stop at a breakpoint if (previousMode != mode) { previousMode = mode; if ((mode == Target::EXECUTION_STEP_BY_STEP) && editor->isBreakpoint(currentPC)) { // we are at a breakpoint if (mainWindow->currentScriptTab != this) { // not the current tab -> hidden tab -> highlight me in red mainWindow->nodes->highlightTab(mainWindow->getIndexFromId(id), Qt::red); } // go to this line editor->setTextCursor(QTextCursor(editor->document()->findBlockByLineNumber(currentPC))); editor->ensureCursorVisible(); } } if (mode == Target::EXECUTION_RUN) { executionModeLabel->setText(tr("running")); runInterruptButton->setText(tr("Pause")); runInterruptButton->setIcon(QIcon(":/images/pause.png")); nextButton->setEnabled(false); if (clearEditorProperty("active")) rehighlight(); } else if (mode == Target::EXECUTION_STEP_BY_STEP) { executionModeLabel->setText(tr("step by step")); runInterruptButton->setText(tr("Run")); runInterruptButton->setIcon(QIcon(":/images/play.png")); nextButton->setEnabled(true); // go to this line and next line is visible editor->setTextCursor(QTextCursor(editor->document()->findBlockByLineNumber(currentPC+1))); editor->ensureCursorVisible(); editor->setTextCursor(QTextCursor(editor->document()->findBlockByLineNumber(currentPC))); } else if (mode == Target::EXECUTION_STOP) { executionModeLabel->setText(tr("stopped")); runInterruptButton->setText(tr("Run")); runInterruptButton->setIcon(QIcon(":/images/play.png")); nextButton->setEnabled(false); if (clearEditorProperty("active")) rehighlight(); } // set the tab icon to show the current execution mode mainWindow->nodes->setExecutionMode(mainWindow->getIndexFromId(id), mode); } void NodeTab::breakpointSetResult(unsigned line, bool success) { clearEditorProperty("breakpointPending", line); if (success) setEditorProperty("breakpoint", QVariant(), line); rehighlight(); } void NodeTab::closePlugins() { for (NodeToolInterfaces::const_iterator it(tools.begin()); it != tools.end(); ++it) (*it)->closeAsSoonAsPossible(); } void NodeTab::rehighlight() { //rehighlighting = true; highlighter->rehighlight(); } void NodeTab::reSetBreakpoints() { target->clearBreakpoints(id); QTextBlock block = editor->document()->begin(); unsigned lineCounter = 0; while (block != editor->document()->end()) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); if (uData && (uData->properties.contains("breakpoint") || uData->properties.contains("breakpointPending"))) target->setBreakpoint(id, lineCounter); block = block.next(); lineCounter++; } } bool NodeTab::setEditorProperty(const QString &property, const QVariant &value, unsigned line, bool removeOld) { bool changed = false; QTextBlock block = editor->document()->begin(); unsigned lineCounter = 0; while (block != editor->document()->end()) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); if (lineCounter == line) { // set propety if (uData) { if (!uData->properties.contains(property) || (uData->properties[property] != value)) { uData->properties[property] = value; changed = true; } } else { block.setUserData(new AeslEditorUserData(property, value)); changed = true; } } else { // remove if exists if (uData && removeOld && uData->properties.contains(property)) { uData->properties.remove(property); if (uData->properties.isEmpty()) { // garbage collect UserData block.setUserData(0); } changed = true; } } block = block.next(); lineCounter++; } return changed; } bool NodeTab::clearEditorProperty(const QString &property, unsigned line) { bool changed = false; // find line, remove property QTextBlock block = editor->document()->begin(); unsigned lineCounter = 0; while (block != editor->document()->end()) { if (lineCounter == line) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); if (uData && uData->properties.contains(property)) { uData->properties.remove(property); if (uData->properties.isEmpty()) { // garbage collect UserData block.setUserData(0); } changed = true; } } block = block.next(); lineCounter++; } return changed; } bool NodeTab::clearEditorProperty(const QString &property) { bool changed = false; // go through all blocks, remove property if found QTextBlock block = editor->document()->begin(); while (block != editor->document()->end()) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); if (uData && uData->properties.contains(property)) { uData->properties.remove(property); if (uData->properties.isEmpty()) { // garbage collect UserData block.setUserData(0); } changed = true; } block = block.next(); } return changed; } void NodeTab::switchEditorProperty(const QString &oldProperty, const QString &newProperty) { QTextBlock block = editor->document()->begin(); while (block != editor->document()->end()) { AeslEditorUserData *uData = polymorphic_downcast_or_null(block.userData()); if (uData && uData->properties.contains(oldProperty)) { uData->properties.remove(oldProperty); uData->properties[newProperty] = QVariant(); } block = block.next(); } } NewNamedValueDialog::NewNamedValueDialog(QString *name, int *value, int min, int max) : name(name), value(value) { // create the widgets label1 = new QLabel(tr("Name", "Name of the named value (can be a constant, event,...)")); line1 = new QLineEdit(*name); label2 = new QLabel(tr("Default description", "When no description is given for the named value")); line2 = new QSpinBox(); line2->setRange(min, max); line2->setValue(*value); QLabel* lineHelp = new QLabel(QString("(%1 ... %2)").arg(min).arg(max)); QDialogButtonBox* buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); // create the layout QVBoxLayout* mainLayout = new QVBoxLayout(); mainLayout->addWidget(label1); mainLayout->addWidget(line1); mainLayout->addWidget(label2); mainLayout->addWidget(line2); mainLayout->addWidget(lineHelp); mainLayout->addWidget(buttonBox); setLayout(mainLayout); // set modal setModal(true); // connections connect(buttonBox, SIGNAL(accepted()), this, SLOT(okSlot())); connect(buttonBox, SIGNAL(rejected()), this, SLOT(cancelSlot())); } bool NewNamedValueDialog::getNamedValue(QString *name, int *value, int min, int max, QString title, QString valueName, QString valueDescription) { NewNamedValueDialog dialog(name, value, min, max); dialog.setWindowTitle(title); dialog.label1->setText(valueName); dialog.label2->setText(valueDescription); dialog.resize(500, 0); // make it wide enough int ret = dialog.exec(); if (ret) return true; else return false; } void NewNamedValueDialog::okSlot() { *name = line1->text(); *value = line2->value(); accept(); } void NewNamedValueDialog::cancelSlot() { *name = ""; *value = -1; reject(); } MainWindow::MainWindow(QVector translators, const QString& commandLineTarget, bool autoRefresh, QWidget *parent) : QMainWindow(parent), sourceModified(false), autoMemoryRefresh(autoRefresh) { // create target target = new DashelTarget(translators, commandLineTarget); // create models eventsDescriptionsModel = new MaskableNamedValuesVectorModel(&commonDefinitions.events, tr("Event number %0"), this); eventsDescriptionsModel->setExtraMimeType("application/aseba-events"); constantsDefinitionsModel = new ConstantsModel(&commonDefinitions.constants, this); constantsDefinitionsModel->setExtraMimeType("application/aseba-constants"); constantsDefinitionsModel->setEditable(true); // create help viwer helpViewer.setupWidgets(); helpViewer.setupConnections(); // create config dialog + read settings on-disk ConfigDialog::init(this); // create gui setupWidgets(); setupMenu(); setupConnections(); setWindowIcon(QIcon(":/images/icons/asebastudio.svgz")); // cosmetic fix-up updateWindowTitle(); if (readSettings() == false) resize(1000,700); } MainWindow::~MainWindow() { #ifdef HAVE_QWT for (EventViewers::iterator it = eventsViewers.begin(); it != eventsViewers.end(); ++it) { it.value()->detachFromMain(); } #endif // HAVE_QWT delete target; } void MainWindow::about() { const AboutBox::Parameters aboutParameters = { "Aseba Studio", ":/images/icons/asebastudio.svgz", tr("Aseba Studio is an environment for interactively programming robots with a text language."), tr("https://www.thymio.org/en:asebastudio"), "", { "core", "studio", "vpl", "packaging", "translation" } }; AboutBox aboutBox(this, aboutParameters); aboutBox.exec(); } bool MainWindow::newFile() { if (askUserBeforeDiscarding()) { // clear content clearDocumentSpecificTabs(); // we must only have NodeTab* left, clear content of editors in tabs for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = polymorphic_downcast(nodes->widget(i)); Q_ASSERT(tab); tab->editor->clear(); } constantsDefinitionsModel->clear(); constantsDefinitionsModel->clearWasModified(); eventsDescriptionsModel->clear(); eventsDescriptionsModel->clearWasModified(); // reset opened file name clearOpenedFileName(false); return true; } return false; } void MainWindow::openFile(const QString &path) { // make sure we do not loose changes if (askUserBeforeDiscarding() == false) return; // notify plugins for (int i = 0; i < nodes->count(); i++) { NodeTab* tab(dynamic_cast(nodes->widget(i))); if (tab) tab->notifyPluginsAboutToLoad(); } // open the file QString fileName = path; // if no file to open is passed, show a dialog if (fileName.isEmpty()) { // try to guess the directory of the last opened or saved file QString dir; if (!actualFileName.isEmpty()) { // a document is opened, propose to open it again dir = actualFileName; } else { // no document is opened, try recent files QSettings settings; QStringList recentFiles = settings.value("recent files").toStringList(); if (recentFiles.size() > 0) dir = recentFiles[0]; else dir = QDesktopServices::displayName(QDesktopServices::DocumentsLocation); } fileName = QFileDialog::getOpenFileName(this, tr("Open Script"), dir, "Aseba scripts (*.aesl)"); } QFile file(fileName); if (!file.open(QFile::ReadOnly)) return; // load the document QDomDocument document("aesl-source"); QString errorMsg; int errorLine; int errorColumn; if (document.setContent(&file, false, &errorMsg, &errorLine, &errorColumn)) { // remove event and constant definitions eventsDescriptionsModel->clear(); constantsDefinitionsModel->clear(); // delete all absent node tabs clearDocumentSpecificTabs(); // we must only have NodeTab* left, clear content of editors in tabs for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = polymorphic_downcast(nodes->widget(i)); Q_ASSERT(tab); tab->editor->clear(); } // build list of tabs filled from file to be loaded QSet filledList; QDomNode domNode = document.documentElement().firstChild(); while (!domNode.isNull()) { if (domNode.isElement()) { QDomElement element = domNode.toElement(); if (element.tagName() == "node") { bool prefered; NodeTab* tab = getTabFromName(element.attribute("name"), element.attribute("nodeId", 0).toUInt(), &prefered); if (prefered) { const int index(nodes->indexOf(tab)); assert (index >= 0); filledList.insert(index); } } } domNode = domNode.nextSibling(); } // load file int noNodeCount = 0; actualFileName = fileName; domNode = document.documentElement().firstChild(); while (!domNode.isNull()) { if (domNode.isElement()) { QDomElement element = domNode.toElement(); if (element.tagName() == "node") { // load plugins xml data ScriptTab::SavedPlugins savedPlugins; QDomElement toolsPlugins(element.firstChildElement("toolsPlugins")); QDomElement toolPlugin(toolsPlugins.firstChildElement()); while (!toolPlugin.isNull()) { QDomDocument pluginDataDocument("tool-plugin-data"); pluginDataDocument.appendChild(pluginDataDocument.importNode(toolPlugin.firstChildElement(), true)); NodeToolInterface::SavedContent savedContent(toolPlugin.nodeName(), pluginDataDocument); savedPlugins.push_back(savedContent); toolPlugin = toolPlugin.nextSiblingElement(); } // get text QString text; for(QDomNode n = element.firstChild(); !n.isNull(); n = n.nextSibling()) { QDomText t = n.toText(); if (!t.isNull()) text += t.data(); } // reconstruct nodes bool prefered; const QString nodeName(element.attribute("name")); const unsigned nodeId(element.attribute("nodeId", 0).toUInt()); NodeTab* tab = getTabFromName(nodeName, nodeId, &prefered, &filledList); if (tab) { // matching tab name if (prefered) { // the node is the prefered one, fill now tab->editor->setPlainText(text); tab->restorePlugins(savedPlugins, true); // note that the node is already marked in filledList } else { const int index(nodes->indexOf(tab)); // the node is not filled, fill now tab->editor->setPlainText(text); tab->restorePlugins(savedPlugins, true); filledList.insert(index); } } else { // no matching name or no free slot, create an absent tab nodes->addTab(new AbsentNodeTab(nodeId, nodeName, text, savedPlugins), nodeName + tr(" (not available)")); noNodeCount++; } } else if (element.tagName() == "event") { const QString eventName(element.attribute("name")); const unsigned eventSize(element.attribute("size").toUInt()); eventsDescriptionsModel->addNamedValue(NamedValue(eventName.toStdWString(), std::min(unsigned(ASEBA_MAX_EVENT_ARG_SIZE), eventSize))); } else if (element.tagName() == "constant") { constantsDefinitionsModel->addNamedValue(NamedValue(element.attribute("name").toStdWString(), element.attribute("value").toInt())); } else if (element.tagName() == "keywords") { if( element.attribute("flag") == "true" ) showKeywordsAct->setChecked(true); else showKeywordsAct->setChecked(false); } } domNode = domNode.nextSibling(); } // check if there was some matching problem if (noNodeCount) QMessageBox::warning(this, tr("Loading"), tr("%0 scripts have no corresponding nodes in the current network and have not been loaded.").arg(noNodeCount) ); // update recent files updateRecentFiles(fileName); regenerateOpenRecentMenu(); // set source as unmodified sourceModified = false; constantsDefinitionsModel->clearWasModified(); eventsDescriptionsModel->clearWasModified(); updateWindowTitle(); } else { QMessageBox::warning(this, tr("Loading"), tr("Error in XML source file: %0 at line %1, column %2").arg(errorMsg).arg(errorLine).arg(errorColumn) ); } file.close(); } void MainWindow::openRecentFile() { QAction* entry = polymorphic_downcast(sender()); openFile(entry->text()); } bool MainWindow::save() { return saveFile(actualFileName); } bool MainWindow::saveFile(const QString &previousFileName) { QString fileName = previousFileName; if (fileName.isEmpty()) fileName = QFileDialog::getSaveFileName( this, tr("Save Script"), actualFileName.isEmpty() ? QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation) : actualFileName, "Aseba scripts (*.aesl)" ); if (fileName.isEmpty()) return false; if (fileName.lastIndexOf(".") < 0) fileName += ".aesl"; QFile file(fileName); if (!file.open(QFile::WriteOnly | QFile::Truncate)) return false; actualFileName = fileName; updateRecentFiles(fileName); // initiate DOM tree QDomDocument document("aesl-source"); QDomElement root = document.createElement("network"); document.appendChild(root); root.appendChild(document.createTextNode("\n\n\n")); root.appendChild(document.createComment("list of global events")); // events for (size_t i = 0; i < commonDefinitions.events.size(); i++) { QDomElement element = document.createElement("event"); element.setAttribute("name", QString::fromStdWString(commonDefinitions.events[i].name)); element.setAttribute("size", QString::number(commonDefinitions.events[i].value)); root.appendChild(element); } root.appendChild(document.createTextNode("\n\n\n")); root.appendChild(document.createComment("list of constants")); // constants for (size_t i = 0; i < commonDefinitions.constants.size(); i++) { QDomElement element = document.createElement("constant"); element.setAttribute("name", QString::fromStdWString(commonDefinitions.constants[i].name)); element.setAttribute("value", QString::number(commonDefinitions.constants[i].value)); root.appendChild(element); } // keywords root.appendChild(document.createTextNode("\n\n\n")); root.appendChild(document.createComment("show keywords state")); QDomElement keywords = document.createElement("keywords"); if( showKeywordsAct->isChecked() ) keywords.setAttribute("flag", "true"); else keywords.setAttribute("flag", "false"); root.appendChild(keywords); // source code for (int i = 0; i < nodes->count(); i++) { const ScriptTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { QString nodeName; const NodeTab* nodeTab = dynamic_cast(tab); if (nodeTab) nodeName = target->getName(nodeTab->nodeId()); const AbsentNodeTab* absentNodeTab = dynamic_cast(tab); if (absentNodeTab) nodeName = absentNodeTab->name; const QString& nodeContent = tab->editor->toPlainText(); ScriptTab::SavedPlugins savedPlugins(tab->savePlugins()); // is there something to save? if (!nodeContent.isEmpty() || !savedPlugins.isEmpty()) { root.appendChild(document.createTextNode("\n\n\n")); root.appendChild(document.createComment(QString("node %0").arg(nodeName))); QDomElement element = document.createElement("node"); element.setAttribute("name", nodeName); element.setAttribute("nodeId", tab->nodeId()); QDomText text = document.createTextNode(nodeContent); element.appendChild(text); if (!savedPlugins.isEmpty()) { QDomElement plugins = document.createElement("toolsPlugins"); for (ScriptTab::SavedPlugins::const_iterator it(savedPlugins.begin()); it != savedPlugins.end(); ++it) { const NodeToolInterface::SavedContent content(*it); QDomElement plugin(document.createElement(content.first)); plugin.appendChild(document.importNode(content.second.documentElement(), true)); plugins.appendChild(plugin); } element.appendChild(plugins); } root.appendChild(element); } } } root.appendChild(document.createTextNode("\n\n\n")); QTextStream out(&file); document.save(out, 0); sourceModified = false; constantsDefinitionsModel->clearWasModified(); eventsDescriptionsModel->clearWasModified(); updateWindowTitle(); return true; } void MainWindow::exportMemoriesContent() { QString exportFileName = QFileDialog::getSaveFileName(this, tr("Export memory content"), QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation), "All Files (*);;CSV files (*.csv);;Text files (*.txt)"); QFile file(exportFileName); if (!file.open(QFile::WriteOnly | QFile::Truncate)) return; QTextStream out(&file); for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { const QString nodeName(target->getName(tab->nodeId())); const QList& variables(tab->vmMemoryModel->getVariables()); for (int j = 0; j < variables.size(); ++j) { const TargetVariablesModel::Variable& variable(variables[j]); out << nodeName << "." << variable.name << " "; for (size_t k = 0; k < variable.value.size(); ++k) { out << variable.value[k] << " "; } out << "\n"; } } } } void MainWindow::importMemoriesContent() { QString importFileName = QFileDialog::getOpenFileName(this, tr("Import memory content"), "", "All Files (*);;CSV files (*.csv);;Text files (*.txt)"); QFile file(importFileName); if (!file.open(QFile::ReadOnly)) return; QTextStream in(&file); QSet nodesNotFound; QStringList variablesNotFound; while (!in.atEnd()) { QString line(in.readLine()); int pointPos(line.indexOf('.')); QString nodeName(line.left(pointPos)); NodeTab* tab(getTabFromName(nodeName)); if (tab) { int endVarNamePos(line.indexOf(' ', pointPos+1)); if (endVarNamePos != -1) { QString variableName(line.mid(pointPos+1, endVarNamePos-pointPos-1)); VariablesDataVector values; int index(endVarNamePos); while (index != -1) { int nextIndex(line.indexOf(' ', index+1)); QString value(line.mid(index+1, nextIndex - index - 1)); if (value.isEmpty()) break; values.push_back(value.toShort()); index = nextIndex; } if (!tab->vmMemoryModel->setVariableValues(variableName, values)) { variablesNotFound << tr("%0 on node %1").arg(variableName).arg(nodeName); } } } else nodesNotFound.insert(nodeName); } if (!nodesNotFound.isEmpty() || !variablesNotFound.isEmpty()) { QString msg; if (!nodesNotFound.isEmpty()) { msg += tr("The following nodes are not present in the current network and their associated content was not imported:\n"); foreach (QString value, nodesNotFound) msg += "• " + value + "\n"; } if (!variablesNotFound.isEmpty()) { msg += tr("The following variables are not present in the current network and their associated content was not imported:\n"); foreach (QString value, variablesNotFound) msg += "• " + value + "\n"; } QMessageBox::warning(this, tr("Some content was not imported"), msg ); } } void MainWindow::copyAll() { QString toCopy; for (int i = 0; i < nodes->count(); i++) { const NodeTab* nodeTab = dynamic_cast(nodes->widget(i)); if (nodeTab) { toCopy += QString("# node %0\n").arg(target->getName(nodeTab->nodeId())); toCopy += nodeTab->editor->toPlainText(); toCopy += "\n\n"; } const AbsentNodeTab* absentNodeTab = dynamic_cast(nodes->widget(i)); if (absentNodeTab) { toCopy += QString("# absent node named %0\n").arg(absentNodeTab->name); toCopy += absentNodeTab->editor->toPlainText(); toCopy += "\n\n"; } } QApplication::clipboard()->setText(toCopy); } void MainWindow::findTriggered() { ScriptTab* tab = dynamic_cast(nodes->currentWidget()); if (tab && tab->editor->textCursor().hasSelection()) findDialog->setFindText(tab->editor->textCursor().selectedText()); findDialog->replaceGroupBox->setChecked(false); findDialog->show(); } void MainWindow::replaceTriggered() { findDialog->replaceGroupBox->setChecked(true); findDialog->show(); } void MainWindow::commentTriggered() { assert(currentScriptTab); currentScriptTab->editor->commentAndUncommentSelection(AeslEditor::CommentSelection); } void MainWindow::uncommentTriggered() { assert(currentScriptTab); currentScriptTab->editor->commentAndUncommentSelection(AeslEditor::UncommentSelection); } void MainWindow::showLineNumbersChanged(bool state) { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = polymorphic_downcast(nodes->widget(i)); Q_ASSERT(tab); tab->linenumbers->showLineNumbers(state); } ConfigDialog::setShowLineNumbers(state); } void MainWindow::goToLine() { assert(currentScriptTab); QTextEdit* editor(currentScriptTab->editor); const QTextDocument* document(editor->document()); QTextCursor cursor(editor->textCursor()); bool ok; const int curLine = cursor.blockNumber() + 1; const int minLine = 1; const int maxLine = document->lineCount(); const int line = QInputDialog::getInt( this, tr("Go To Line"), tr("Line:"), curLine, minLine, maxLine, 1, &ok); if (ok) editor->setTextCursor(QTextCursor(document->findBlockByLineNumber(line-1))); } void MainWindow::zoomIn() { assert(currentScriptTab); QTextEdit* editor(currentScriptTab->editor); editor->zoomIn(); } void MainWindow::zoomOut() { assert(currentScriptTab); QTextEdit* editor(currentScriptTab->editor); editor->zoomOut(); } void MainWindow::showSettings() { ConfigDialog::showConfig(); } void MainWindow::toggleBreakpoint() { assert(currentScriptTab); currentScriptTab->editor->toggleBreakpoint(); } void MainWindow::clearAllBreakpoints() { assert(currentScriptTab); currentScriptTab->editor->clearAllBreakpoints(); } void MainWindow::resetAll() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->resetClicked(); } } void MainWindow::loadAll() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->loadClicked(); } } void MainWindow::runAll() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) target->run(tab->nodeId()); } } void MainWindow::pauseAll() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) target->pause(tab->nodeId()); } } void MainWindow::stopAll() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) target->stop(tab->nodeId()); } } void MainWindow::showHidden(bool show) { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { tab->vmFunctionsModel->recreateTreeFromDescription(show); tab->showHidden = show; tab->updateHidden(); } } ConfigDialog::setShowHidden(show); } void MainWindow::showKeywords(bool show) { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->showKeywords(show); } ConfigDialog::setShowKeywordToolbar(show); } void MainWindow::clearAllExecutionError() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->clearExecutionErrors(); } logger->setStyleSheet(""); } void MainWindow::uploadReadynessChanged() { bool ready = true; for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { if (!tab->loadButton->isEnabled()) { ready = false; break; } } } loadAllAct->setEnabled(ready); writeAllBytecodesAct->setEnabled(ready); } void MainWindow::sendEvent() { QModelIndex currentRow = eventsDescriptionsView->selectionModel()->currentIndex(); Q_ASSERT(currentRow.isValid()); const unsigned eventId = currentRow.row(); const QString eventName = QString::fromStdWString(commonDefinitions.events[eventId].name); const int argsCount = commonDefinitions.events[eventId].value; VariablesDataVector data(argsCount); if (argsCount > 0) { QString argList; while (true) { bool ok; argList = QInputDialog::getText(this, tr("Specify event arguments"), tr("Please specify the %0 arguments of event %1").arg(argsCount).arg(eventName), QLineEdit::Normal, argList, &ok); if (ok) { QStringList args = argList.split(QRegExp("[\\s,]+"), QString::SkipEmptyParts); if (args.size() != argsCount) { QMessageBox::warning(this, tr("Wrong number of arguments"), tr("You gave %0 arguments where event %1 requires %2").arg(args.size()).arg(eventName).arg(argsCount) ); continue; } for (int i = 0; i < args.size(); i++) { data[i] = args.at(i).toShort(&ok); if (!ok) { QMessageBox::warning(this, tr("Invalid value"), tr("Invalid value for argument %0 of event %1").arg(i).arg(eventName) ); break; } } if (ok) break; } else return; } } target->sendEvent(eventId, data); userEvent(eventId, data); } void MainWindow::sendEventIf(const QModelIndex &index) { if (index.column() == 0) sendEvent(); } void MainWindow::toggleEventVisibleButton(const QModelIndex &index) { if (index.column() == 2) eventsDescriptionsModel->toggle(index); } void MainWindow::plotEvent() { #ifdef HAVE_QWT QModelIndex currentRow = eventsDescriptionsView->selectionModel()->currentIndex(); Q_ASSERT(currentRow.isValid()); const unsigned eventId = currentRow.row(); plotEvent(eventId); #endif // HAVE_QWT } void MainWindow::eventContextMenuRequested(const QPoint & pos) { #ifdef HAVE_QWT const QModelIndex index(eventsDescriptionsView->indexAt(pos)); if (index.isValid() && (index.column() == 0)) { const QString eventName(eventsDescriptionsModel->data(index).toString()); QMenu menu; menu.addAction(tr("Plot event %1").arg(eventName)); const QAction* ret = menu.exec(eventsDescriptionsView->mapToGlobal(pos)); if (ret) { const unsigned eventId = index.row(); plotEvent(eventId); } } #endif // HAVE_QWT } void MainWindow::plotEvent(const unsigned eventId) { #ifdef HAVE_QWT const unsigned eventVariablesCount(eventsDescriptionsModel->data(eventsDescriptionsModel->index(eventId, 1)).toUInt()); const QString eventName(eventsDescriptionsModel->data(eventsDescriptionsModel->index(eventId, 0)).toString()); const QString tabTitle(tr("plot of %1").arg(eventName)); nodes->addTab(new EventViewer(eventId, eventName, eventVariablesCount, &eventsViewers), tabTitle, true); #endif // HAVE_QWT } void MainWindow::logEntryDoubleClicked(QListWidgetItem * item) { if (item->data(Qt::UserRole).type() == QVariant::Point) { int node = item->data(Qt::UserRole).toPoint().x(); int line = item->data(Qt::UserRole).toPoint().y(); NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); nodes->setCurrentWidget(tab); tab->editor->setTextCursor(QTextCursor(tab->editor->document()->findBlockByLineNumber(line))); tab->editor->setFocus(); } } void MainWindow::tabChanged(int index) { // remove old connections, if any if (currentScriptTab) { disconnect(cutAct, SIGNAL(triggered()), currentScriptTab->editor, SLOT(cut())); disconnect(copyAct, SIGNAL(triggered()), currentScriptTab->editor, SLOT(copy())); disconnect(pasteAct, SIGNAL(triggered()), currentScriptTab->editor, SLOT(paste())); disconnect(undoAct, SIGNAL(triggered()), currentScriptTab->editor, SLOT(undo())); disconnect(redoAct, SIGNAL(triggered()), currentScriptTab->editor, SLOT(redo())); disconnect(currentScriptTab->editor, SIGNAL(copyAvailable(bool)), cutAct, SLOT(setEnabled(bool))); disconnect(currentScriptTab->editor, SIGNAL(copyAvailable(bool)), copyAct, SLOT(setEnabled(bool))); disconnect(currentScriptTab->editor, SIGNAL(undoAvailable(bool)), undoAct, SLOT(setEnabled(bool))); disconnect(currentScriptTab->editor, SIGNAL(redoAvailable(bool)), redoAct, SLOT(setEnabled(bool))); pasteAct->setEnabled(false); findDialog->hide(); findDialog->editor = 0; findAct->setEnabled(false); replaceAct->setEnabled(false); goToLineAct->setEnabled(false); zoomInAct->setEnabled(false); zoomOutAct->setEnabled(false); } // reconnect to new if (index >= 0) { ScriptTab *tab = dynamic_cast(nodes->widget(index)); if (tab) { connect(copyAct, SIGNAL(triggered()), tab->editor, SLOT(copy())); connect(tab->editor, SIGNAL(copyAvailable(bool)), copyAct, SLOT(setEnabled(bool))); findDialog->editor = tab->editor; findAct->setEnabled(true); goToLineAct->setEnabled(true); zoomInAct->setEnabled(true); zoomOutAct->setEnabled(true); NodeTab *nodeTab = dynamic_cast(tab); if (nodeTab) { connect(cutAct, SIGNAL(triggered()), tab->editor, SLOT(cut())); connect(pasteAct, SIGNAL(triggered()), tab->editor, SLOT(paste())); connect(undoAct, SIGNAL(triggered()), tab->editor, SLOT(undo())); connect(redoAct, SIGNAL(triggered()), tab->editor, SLOT(redo())); connect(tab->editor, SIGNAL(copyAvailable(bool)), cutAct, SLOT(setEnabled(bool))); connect(tab->editor, SIGNAL(undoAvailable(bool)), undoAct, SLOT(setEnabled(bool))); connect(tab->editor, SIGNAL(redoAvailable(bool)), redoAct, SLOT(setEnabled(bool))); if (compilationMessageBox->isVisible()) nodeTab->recompile(); // because this is a new tab, get content of variables target->getVariables(nodeTab->id, 0, nodeTab->allocatedVariablesCount); showCompilationMsg->setEnabled(true); findDialog->replaceGroupBox->setEnabled(true); // paste and replace are only available when the editor is in read/write mode pasteAct->setEnabled(true); replaceAct->setEnabled(true); } else { showCompilationMsg->setEnabled(false); findDialog->replaceGroupBox->setEnabled(false); } // TODO: it would be nice to find a way to setup this correctly cutAct->setEnabled(false); copyAct->setEnabled(false); undoAct->setEnabled(false); redoAct->setEnabled(false); currentScriptTab = tab; } else currentScriptTab = 0; } else currentScriptTab = 0; } void MainWindow::showCompilationMessages(bool doShow) { // this slot shouldn't be callable when an unactive tab is show compilationMessageBox->setVisible(doShow); if (nodes->currentWidget()) polymorphic_downcast(nodes->currentWidget())->recompile(); } void MainWindow::compilationMessagesWasHidden() { showCompilationMsg->setChecked(false); } void MainWindow::showMemoryUsage(bool show) { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->showMemoryUsage(show); } ConfigDialog::setShowMemoryUsage(show); } void MainWindow::addEventNameClicked() { QString eventName; int eventNbArgs = 0; // prompt the user for the named value const bool ok = NewNamedValueDialog::getNamedValue(&eventName, &eventNbArgs, 0, ASEBA_MAX_EVENT_ARG_COUNT, tr("Add a new event"), tr("Name:"), tr("Number of arguments", "For the newly created event")); eventName = eventName.trimmed(); if (ok && !eventName.isEmpty()) { if (commonDefinitions.events.contains(eventName.toStdWString())) { QMessageBox::warning(this, tr("Event already exists"), tr("Event %0 already exists.").arg(eventName)); } else if (!QRegExp("\\w(\\w|\\.)*").exactMatch(eventName) || eventName[0].isDigit()) { QMessageBox::warning(this, tr("Invalid event name"), tr("Event %0 has an invalid name. Valid names start with an alphabetical character or an \"_\", and continue with any number of alphanumeric characters, \"_\" and \".\"").arg(eventName)); } else { eventsDescriptionsModel->addNamedValue(NamedValue(eventName.toStdWString(), eventNbArgs)); } } } void MainWindow::removeEventNameClicked() { QModelIndex currentRow = eventsDescriptionsView->selectionModel()->currentIndex(); Q_ASSERT(currentRow.isValid()); eventsDescriptionsModel->delNamedValue(currentRow.row()); for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->isSynchronized = false; } } void MainWindow::eventsUpdated(bool indexChanged) { if (indexChanged) { statusText->setText(tr("Desynchronised! Please reload.")); statusText->show(); } recompileAll(); updateWindowTitle(); } void MainWindow::eventsUpdatedDirty() { eventsUpdated(true); } void MainWindow::eventsDescriptionsSelectionChanged() { bool isSelected = eventsDescriptionsView->selectionModel()->currentIndex().isValid(); removeEventNameButton->setEnabled(isSelected); sendEventButton->setEnabled(isSelected); #ifdef HAVE_QWT plotEventButton->setEnabled(isSelected); #endif // HAVE_QWT } void MainWindow::resetStatusText() { bool flag = true; for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { if( !tab->isSynchronized ) { flag = false; break; } } } if (flag) { statusText->clear(); statusText->hide(); } } void MainWindow::addConstantClicked() { bool ok; QString constantName; int constantValue = 0; // prompt the user for the named value ok = NewNamedValueDialog::getNamedValue(&constantName, &constantValue, -32768, 32767, tr("Add a new constant"), tr("Name:"), tr("Value", "Value assigned to the constant")); if (ok && !constantName.isEmpty()) { if (constantsDefinitionsModel->validateName(constantName)) { constantsDefinitionsModel->addNamedValue(NamedValue(constantName.toStdWString(), constantValue)); recompileAll(); updateWindowTitle(); } } } void MainWindow::removeConstantClicked() { QModelIndex currentRow = constantsView->selectionModel()->currentIndex(); Q_ASSERT(currentRow.isValid()); constantsDefinitionsModel->delNamedValue(currentRow.row()); recompileAll(); updateWindowTitle(); } void MainWindow::constantsSelectionChanged() { bool isSelected = constantsView->selectionModel()->currentIndex().isValid(); removeConstantButton->setEnabled(isSelected); } void MainWindow::recompileAll() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->recompile(); } } void MainWindow::writeAllBytecodes() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->writeBytecode(); } } void MainWindow::rebootAllNodes() { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) tab->reboot(); } } void MainWindow::sourceChanged() { sourceModified = true; updateWindowTitle(); } void MainWindow::showUserManual() { helpViewer.showHelp(HelpViewer::USERMANUAL); } //! A new node has connected to the network. void MainWindow::nodeConnected(unsigned node) { // create a new tab for the node NodeTab* tab = new NodeTab(this, target, &commonDefinitions, node); tab->showKeywords(showKeywordsAct->isChecked()); tab->linenumbers->showLineNumbers(showLineNumbers->isChecked()); tab->showMemoryUsage(showMemoryUsageAct->isChecked()); // check if there is an absent node tab with this id and name, and copy data const int absentIndex(getAbsentIndexFromId(node)); const AbsentNodeTab* absentTab(getAbsentTabFromId(node)); if (absentTab && nodes->tabText(absentIndex) == target->getName(node)) { tab->editor->document()->setPlainText(absentTab->editor->document()->toPlainText()); tab->restorePlugins(absentTab->savePlugins(), false); tab->updateToolList(); nodes->removeAndDeleteTab(absentIndex); } // connect and show new tab connect(tab, SIGNAL(uploadReadynessChanged(bool)), SLOT(uploadReadynessChanged())); nodes->addTab(tab, target->getName(node)); regenerateToolsMenus(); } //! A node has disconnected from the network. void MainWindow::nodeDisconnected(unsigned node) { const int index = getIndexFromId(node); // Double disconnection might happen if the reception of the target description // hang. Studio handles this nicely, simply ignoring the message, but prints a warning // because this behaviour likely indicates a problem with the node or a bug somewhere. if (index < 0) { std::cerr << "Warning: Received double disconnection from node " << node << ", the node might experience connection problems!" << std::endl; return; } const NodeTab* tab = getTabFromId(node); const QString& tabName = nodes->tabText(index); nodes->addTab( new AbsentNodeTab( node, tabName, tab->editor->document()->toPlainText(), tab->savePlugins() ), tabName ); nodes->removeAndDeleteTab(index); regenerateToolsMenus(); regenerateHelpMenu(); } //! A user event has arrived from the network. void MainWindow::userEvent(unsigned id, const VariablesDataVector &data) { if (eventsDescriptionsModel->isVisible(id)) { QString text = QTime::currentTime().toString("hh:mm:ss.zzz"); if (id < commonDefinitions.events.size()) text += QString("\n%0 : ").arg(QString::fromStdWString(commonDefinitions.events[id].name)); else text += tr("\nevent %0 : ").arg(id); for (size_t i = 0; i < data.size(); i++) text += QString("%0 ").arg(data[i]); if (logger->count() > 50) delete logger->takeItem(0); QListWidgetItem * item = new QListWidgetItem(QIcon(":/images/info.png"), text, logger); logger->scrollToBottom(); Q_UNUSED(item); } #ifdef HAVE_QWT // iterate over all viewer for this event QList viewers = eventsViewers.values(id); for (int i = 0; i < viewers.size(); ++i) viewers.at(i)->addData(data); #endif // HAVE_QWT } //! Some user events have been dropped, i.e. not sent to the gui void MainWindow::userEventsDropped(unsigned amount) { QString text = QTime::currentTime().toString("hh:mm:ss.zzz"); text += QString("\n%0 user events not shown").arg(amount); if (logger->count() > 50) delete logger->takeItem(0); QListWidgetItem * item = new QListWidgetItem(QIcon(":/images/info.png"), text, logger); logger->scrollToBottom(); Q_UNUSED(item); logger->setStyleSheet(" QListView::item { background: rgb(255,128,128); }"); } //! A node did an access out of array bounds exception. void MainWindow::arrayAccessOutOfBounds(unsigned node, unsigned line, unsigned size, unsigned index) { addErrorEvent(node, line, tr("array access at %0 out of bounds [0..%1]").arg(index).arg(size-1)); } //! A node did a division by zero exception. void MainWindow::divisionByZero(unsigned node, unsigned line) { addErrorEvent(node, line, tr("division by zero")); } //! A new event was run and the current killed on a node void MainWindow::eventExecutionKilled(unsigned node, unsigned line) { addErrorEvent(node, line, tr("event execution killed")); } //! A node has produced an error specific to it void MainWindow::nodeSpecificError(unsigned node, unsigned line, const QString& message) { addErrorEvent(node, line, message); } //! Generic part of error events reporting void MainWindow::addErrorEvent(unsigned node, unsigned line, const QString& message) { NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); if (tab->setEditorProperty("executionError", QVariant(), line, true)) { //tab->rehighlighting = true; tab->highlighter->rehighlight(); } QString text = QTime::currentTime().toString("hh:mm:ss.zzz"); text += "\n" + tr("%0:%1: %2").arg(target->getName(node)).arg(line + 1).arg(message); if (logger->count() > 50) delete logger->takeItem(0); QListWidgetItem *item = new QListWidgetItem(QIcon(":/images/warning.png"), text, logger); item->setData(Qt::UserRole, QPoint(node, line)); logger->scrollToBottom(); } //! The program counter of a node has changed, causing a change of position in source code. void MainWindow::executionPosChanged(unsigned node, unsigned line) { NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); tab->executionPosChanged(line); } //! The mode of execution of a node (stop, run, step by step) has changed. void MainWindow::executionModeChanged(unsigned node, Target::ExecutionMode mode) { NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); tab->executionModeChanged(mode); } //! The execution state logic thinks variables might need a refresh void MainWindow::variablesMemoryEstimatedDirty(unsigned node) { NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); tab->refreshMemoryClicked(); } //! The content of the variables memory of a node has changed. void MainWindow::variablesMemoryChanged(unsigned node, unsigned start, const VariablesDataVector &variables) { NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); tab->vmMemoryModel->setVariablesData(start, variables); } //! The result of a set breakpoint is known void MainWindow::breakpointSetResult(unsigned node, unsigned line, bool success) { NodeTab* tab = getTabFromId(node); Q_ASSERT(tab); tab->breakpointSetResult(line, success); } //! Get the tab widget index of a corresponding node id int MainWindow::getIndexFromId(unsigned node) const { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { if (tab->nodeId() == node) return i; } } return -1; } //! Get the tab widget pointer of a corresponding node id NodeTab* MainWindow::getTabFromId(unsigned node) const { for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { if (tab->nodeId() == node) return tab; } } return 0; } //! Get the tab widget pointer of a corresponding node name, and of preferedId if found, but the first found otherwise. //! Do not consider tabs indices in filledList for non-prefered tabs NodeTab* MainWindow::getTabFromName(const QString& name, unsigned preferedId, bool* isPrefered, QSet* filledList) const { NodeTab* freeSlotFound(0); for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { const unsigned id(tab->nodeId()); if (target->getName(id) == name) { if (id == preferedId) { if (isPrefered) *isPrefered = true; return tab; } else if (!freeSlotFound) { if (!filledList || !filledList->contains(i)) freeSlotFound = tab; } } } } if (isPrefered) *isPrefered = false; return freeSlotFound; } //! Get the absent tab widget index of a corresponding node id int MainWindow::getAbsentIndexFromId(unsigned node) const { for (int i = 0; i < nodes->count(); i++) { AbsentNodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { if (tab->nodeId() == node) return i; } } return -1; } //! Get the absent tab widget pointer of a corresponding node id AbsentNodeTab* MainWindow::getAbsentTabFromId(unsigned node) const { for (int i = 0; i < nodes->count(); i++) { AbsentNodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { if (tab->nodeId() == node) return tab; } } return 0; } void MainWindow::clearDocumentSpecificTabs() { bool changed = false; do { changed = false; for (int i = 0; i < nodes->count(); i++) { QWidget* tab = nodes->widget(i); #ifdef HAVE_QWT if (dynamic_cast(tab) || dynamic_cast(tab)) #else // HAVE_QWT if (dynamic_cast(tab)) #endif // HAVE_QWT { nodes->removeAndDeleteTab(i); changed = true; break; } } } while (changed); } void MainWindow::setupWidgets() { currentScriptTab = 0; nodes = new EditorsPlotsTabWidget; nodes->setSizePolicy(QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding)); QSplitter *splitter = new QSplitter(); splitter->addWidget(nodes); setCentralWidget(splitter); addConstantButton = new QPushButton(QPixmap(QString(":/images/add.png")), ""); removeConstantButton = new QPushButton(QPixmap(QString(":/images/remove.png")), ""); addConstantButton->setToolTip(tr("Add a new constant")); removeConstantButton->setToolTip(tr("Remove this constant")); removeConstantButton->setEnabled(false); constantsView = new FixedWidthTableView; constantsView->setShowGrid(false); constantsView->verticalHeader()->hide(); constantsView->horizontalHeader()->hide(); constantsView->setModel(constantsDefinitionsModel); constantsView->setHorizontalScrollMode(QAbstractItemView::ScrollPerPixel); constantsView->setSelectionMode(QAbstractItemView::SingleSelection); constantsView->setSelectionBehavior(QAbstractItemView::SelectRows); constantsView->setDragDropMode(QAbstractItemView::InternalMove); constantsView->setDragEnabled(true); constantsView->setDropIndicatorShown(true); constantsView->setItemDelegateForColumn(1, new SpinBoxDelegate(-32768, 32767, this)); constantsView->setMinimumHeight(100); constantsView->setSecondColumnLongestContent("-88888##"); constantsView->resizeRowsToContents(); QGridLayout* constantsLayout = new QGridLayout; constantsLayout->addWidget(new QLabel(tr("Constants")),0,0); constantsLayout->setColumnStretch(0, 1); constantsLayout->addWidget(addConstantButton,0,1); constantsLayout->setColumnStretch(1, 0); constantsLayout->addWidget(removeConstantButton,0,2); constantsLayout->setColumnStretch(2, 0); constantsLayout->addWidget(constantsView, 1, 0, 1, 3); //setColumnStretch /*QHBoxLayout* constantsAddRemoveLayout = new QHBoxLayout;; constantsAddRemoveLayout->addStretch(); addConstantButton = new QPushButton(QPixmap(QString(":/images/add.png")), ""); constantsAddRemoveLayout->addWidget(addConstantButton); removeConstantButton = new QPushButton(QPixmap(QString(":/images/remove.png")), ""); removeConstantButton->setEnabled(false); constantsAddRemoveLayout->addWidget(removeConstantButton); eventsDockLayout->addLayout(constantsAddRemoveLayout); eventsDockLayout->addWidget(constantsView, 1);*/ /*eventsDockLayout->addWidget(new QLabel(tr("Events"))); QHBoxLayout* eventsAddRemoveLayout = new QHBoxLayout;; eventsAddRemoveLayout->addStretch(); addEventNameButton = new QPushButton(QPixmap(QString(":/images/add.png")), ""); eventsAddRemoveLayout->addWidget(addEventNameButton); removeEventNameButton = new QPushButton(QPixmap(QString(":/images/remove.png")), ""); removeEventNameButton->setEnabled(false); eventsAddRemoveLayout->addWidget(removeEventNameButton); sendEventButton = new QPushButton(QPixmap(QString(":/images/newmsg.png")), ""); sendEventButton->setEnabled(false); eventsAddRemoveLayout->addWidget(sendEventButton); eventsDockLayout->addLayout(eventsAddRemoveLayout); eventsDockLayout->addWidget(eventsDescriptionsView, 1);*/ addEventNameButton = new QPushButton(QPixmap(QString(":/images/add.png")), ""); removeEventNameButton = new QPushButton(QPixmap(QString(":/images/remove.png")), ""); removeEventNameButton->setEnabled(false); sendEventButton = new QPushButton(QPixmap(QString(":/images/newmsg.png")), ""); sendEventButton->setEnabled(false); addEventNameButton->setToolTip(tr("Add a new event")); removeEventNameButton->setToolTip(tr("Remove this event")); sendEventButton->setToolTip(tr("Send this event")); #ifdef HAVE_QWT plotEventButton = new QPushButton(QPixmap(QString(":/images/plot.png")), ""); plotEventButton->setEnabled(false); plotEventButton->setToolTip(tr("Plot this event")); #endif // HAVE_QWT eventsDescriptionsView = new FixedWidthTableView; eventsDescriptionsView->setShowGrid(false); eventsDescriptionsView->verticalHeader()->hide(); eventsDescriptionsView->horizontalHeader()->hide(); eventsDescriptionsView->setModel(eventsDescriptionsModel); eventsDescriptionsView->setHorizontalScrollMode(QAbstractItemView::ScrollPerPixel); eventsDescriptionsView->setSelectionMode(QAbstractItemView::SingleSelection); eventsDescriptionsView->setSelectionBehavior(QAbstractItemView::SelectRows); eventsDescriptionsView->setDragDropMode(QAbstractItemView::InternalMove); eventsDescriptionsView->setDragEnabled(true); eventsDescriptionsView->setDropIndicatorShown(true); eventsDescriptionsView->setItemDelegateForColumn(1, new SpinBoxDelegate(0, ASEBA_MAX_EVENT_ARG_COUNT, this)); eventsDescriptionsView->setMinimumHeight(100); eventsDescriptionsView->setSecondColumnLongestContent("255###"); eventsDescriptionsView->resizeRowsToContents(); eventsDescriptionsView->setContextMenuPolicy(Qt::CustomContextMenu); QGridLayout* eventsLayout = new QGridLayout; eventsLayout->addWidget(new QLabel(tr("Global Events")),0,0,1,4); eventsLayout->addWidget(addEventNameButton,1,0); //eventsLayout->setColumnStretch(2, 0); eventsLayout->addWidget(removeEventNameButton,1,1); //eventsLayout->setColumnStretch(3, 0); //eventsLayout->setColumnStretch(0, 1); eventsLayout->addWidget(sendEventButton,1,2); //eventsLayout->setColumnStretch(1, 0); #ifdef HAVE_QWT eventsLayout->addWidget(plotEventButton,1,3); #endif // HAVE_QWT eventsLayout->addWidget(eventsDescriptionsView, 2, 0, 1, 4); /*logger = new QListWidget; logger->setMinimumSize(80,100); logger->setSelectionMode(QAbstractItemView::NoSelection); eventsDockLayout->addWidget(logger, 3); clearLogger = new QPushButton(tr("Clear")); eventsDockLayout->addWidget(clearLogger);*/ logger = new QListWidget; logger->setMinimumSize(80,100); logger->setSelectionMode(QAbstractItemView::NoSelection); clearLogger = new QPushButton(tr("Clear")); statusText = new QLabel(""); statusText->hide(); QVBoxLayout* loggerLayout = new QVBoxLayout; loggerLayout->addWidget(statusText); loggerLayout->addWidget(logger); loggerLayout->addWidget(clearLogger); // panel QSplitter* rightPanelSplitter = new QSplitter(Qt::Vertical); QWidget* constantsWidget = new QWidget; constantsWidget->setLayout(constantsLayout); rightPanelSplitter->addWidget(constantsWidget); QWidget* eventsWidget = new QWidget; eventsWidget->setLayout(eventsLayout); rightPanelSplitter->addWidget(eventsWidget); QWidget* loggerWidget = new QWidget; loggerWidget->setLayout(loggerLayout); rightPanelSplitter->addWidget(loggerWidget); // main window splitter->addWidget(rightPanelSplitter); splitter->setSizes(QList() << 800 << 200); // dialog box compilationMessageBox = new CompilationLogDialog(this); connect(this, SIGNAL(MainWindowClosed()), compilationMessageBox, SLOT(close())); findDialog = new FindDialog(this); connect(this, SIGNAL(MainWindowClosed()), findDialog, SLOT(close())); // help viewer helpViewer.setLanguage(target->getLanguage()); connect(this, SIGNAL(MainWindowClosed()), &helpViewer, SLOT(close())); } void MainWindow::setupConnections() { // general connections connect(nodes, SIGNAL(currentChanged(int)), SLOT(tabChanged(int))); connect(logger, SIGNAL(itemDoubleClicked(QListWidgetItem *)), SLOT(logEntryDoubleClicked(QListWidgetItem *))); connect(ConfigDialog::getInstance(), SIGNAL(settingsChanged()), SLOT(applySettings())); // global actions connect(loadAllAct, SIGNAL(triggered()), SLOT(loadAll())); connect(resetAllAct, SIGNAL(triggered()), SLOT(resetAll())); connect(runAllAct, SIGNAL(triggered()), SLOT(runAll())); connect(pauseAllAct, SIGNAL(triggered()), SLOT(pauseAll())); // events connect(addEventNameButton, SIGNAL(clicked()), SLOT(addEventNameClicked())); connect(removeEventNameButton, SIGNAL(clicked()), SLOT(removeEventNameClicked())); connect(sendEventButton, SIGNAL(clicked()), SLOT(sendEvent())); #ifdef HAVE_QWT connect(plotEventButton, SIGNAL(clicked()), SLOT(plotEvent())); #endif // HAVE_QWT connect(eventsDescriptionsView->selectionModel(), SIGNAL(selectionChanged(const QItemSelection &, const QItemSelection &)), SLOT(eventsDescriptionsSelectionChanged())); connect(eventsDescriptionsView, SIGNAL(doubleClicked(const QModelIndex &)), SLOT(sendEventIf(const QModelIndex &))); connect(eventsDescriptionsView, SIGNAL(clicked(const QModelIndex &)), SLOT(toggleEventVisibleButton(const QModelIndex &)) ); connect(eventsDescriptionsModel, SIGNAL(dataChanged ( const QModelIndex &, const QModelIndex & ) ), SLOT(eventsUpdated())); connect(eventsDescriptionsModel, SIGNAL(publicRowsInserted()), SLOT(eventsUpdated())); connect(eventsDescriptionsModel, SIGNAL(publicRowsRemoved()), SLOT(eventsUpdatedDirty())); connect(eventsDescriptionsView, SIGNAL(customContextMenuRequested ( const QPoint & )), SLOT(eventContextMenuRequested(const QPoint & ))); // logger connect(clearLogger, SIGNAL(clicked()), logger, SLOT(clear())); connect(clearLogger, SIGNAL(clicked()), SLOT(clearAllExecutionError())); // constants connect(addConstantButton, SIGNAL(clicked()), SLOT(addConstantClicked())); connect(removeConstantButton, SIGNAL(clicked()), SLOT(removeConstantClicked())); connect(constantsView->selectionModel(), SIGNAL(selectionChanged(const QItemSelection &, const QItemSelection &)), SLOT(constantsSelectionChanged())); connect(constantsDefinitionsModel, SIGNAL(dataChanged ( const QModelIndex &, const QModelIndex & ) ), SLOT(recompileAll())); connect(constantsDefinitionsModel, SIGNAL(dataChanged ( const QModelIndex &, const QModelIndex & ) ), SLOT(updateWindowTitle())); // target events connect(target, SIGNAL(nodeConnected(unsigned)), SLOT(nodeConnected(unsigned))); connect(target, SIGNAL(nodeDisconnected(unsigned)), SLOT(nodeDisconnected(unsigned))); connect(target, SIGNAL(userEvent(unsigned, const VariablesDataVector &)), SLOT(userEvent(unsigned, const VariablesDataVector &))); connect(target, SIGNAL(userEventsDropped(unsigned)), SLOT(userEventsDropped(unsigned))); connect(target, SIGNAL(arrayAccessOutOfBounds(unsigned, unsigned, unsigned, unsigned)), SLOT(arrayAccessOutOfBounds(unsigned, unsigned, unsigned, unsigned))); connect(target, SIGNAL(divisionByZero(unsigned, unsigned)), SLOT(divisionByZero(unsigned, unsigned))); connect(target, SIGNAL(eventExecutionKilled(unsigned, unsigned)), SLOT(eventExecutionKilled(unsigned, unsigned))); connect(target, SIGNAL(nodeSpecificError(unsigned, unsigned, QString)), SLOT(nodeSpecificError(unsigned, unsigned, QString))); connect(target, SIGNAL(executionPosChanged(unsigned, unsigned)), SLOT(executionPosChanged(unsigned, unsigned))); connect(target, SIGNAL(executionModeChanged(unsigned, Target::ExecutionMode)), SLOT(executionModeChanged(unsigned, Target::ExecutionMode))); connect(target, SIGNAL(variablesMemoryEstimatedDirty(unsigned)), SLOT(variablesMemoryEstimatedDirty(unsigned))); connect(target, SIGNAL(variablesMemoryChanged(unsigned, unsigned, const VariablesDataVector &)), SLOT(variablesMemoryChanged(unsigned, unsigned, const VariablesDataVector &))); connect(target, SIGNAL(breakpointSetResult(unsigned, unsigned, bool)), SLOT(breakpointSetResult(unsigned, unsigned, bool))); } void MainWindow::regenerateOpenRecentMenu() { openRecentMenu->clear(); // Add all other actions excepted the one we are processing QSettings settings; QStringList recentFiles = settings.value("recent files").toStringList(); for (int i = 0; i < recentFiles.size(); i++) { const QString& fileName(recentFiles.at(i)); openRecentMenu->addAction(fileName, this, SLOT(openRecentFile())); } } void MainWindow::updateRecentFiles(const QString& fileName) { QSettings settings; QStringList recentFiles = settings.value("recent files").toStringList(); if (recentFiles.contains(fileName)) recentFiles.removeAt(recentFiles.indexOf(fileName)); recentFiles.push_front(fileName); const int maxRecentFiles = 8; if (recentFiles.size() > maxRecentFiles) recentFiles.pop_back(); settings.setValue("recent files", recentFiles); } void MainWindow::regenerateToolsMenus() { writeBytecodeMenu->clear(); rebootMenu->clear(); saveBytecodeMenu->clear(); unsigned activeVMCount(0); for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) { QAction *act = writeBytecodeMenu->addAction(tr("...inside %0").arg(target->getName(tab->nodeId())),tab, SLOT(writeBytecode())); connect(tab, SIGNAL(uploadReadynessChanged(bool)), act, SLOT(setEnabled(bool))); rebootMenu->addAction(tr("...%0").arg(target->getName(tab->nodeId())),tab, SLOT(reboot())); act = saveBytecodeMenu->addAction(tr("...of %0").arg(target->getName(tab->nodeId())),tab, SLOT(saveBytecode())); connect(tab, SIGNAL(uploadReadynessChanged(bool)), act, SLOT(setEnabled(bool))); ++activeVMCount; } } writeBytecodeMenu->addSeparator(); writeAllBytecodesAct = writeBytecodeMenu->addAction(tr("...inside all nodes"), this, SLOT(writeAllBytecodes())); rebootMenu->addSeparator(); rebootMenu->addAction(tr("...all nodes"), this, SLOT(rebootAllNodes())); globalToolBar->setVisible(activeVMCount > 1); } void MainWindow::generateHelpMenu() { helpMenu->addAction(tr("&User Manual..."), this, SLOT(showUserManual()), QKeySequence::HelpContents); helpMenu->addSeparator(); helpMenuTargetSpecificSeparator = helpMenu->addSeparator(); helpMenu->addAction(tr("Web site Aseba..."), this, SLOT(openToUrlFromAction()))->setData(QUrl(tr("http://aseba.wikidot.com/en:start"))); helpMenu->addAction(tr("Report bug..."), this, SLOT(openToUrlFromAction()))->setData(QUrl(tr("http://github.com/aseba-community/aseba/issues/new"))); #ifdef Q_WS_MAC helpMenu->addAction("about", this, SLOT(about())); helpMenu->addAction("About &Qt...", qApp, SLOT(aboutQt())); #else // Q_WS_MAC helpMenu->addSeparator(); helpMenu->addAction(tr("&About..."), this, SLOT(about())); helpMenu->addAction(tr("About &Qt..."), qApp, SLOT(aboutQt())); #endif // Q_WS_MAC } void MainWindow::regenerateHelpMenu() { // remove old target-specific actions while (!targetSpecificHelp.isEmpty()) { QAction *action(targetSpecificHelp.takeFirst()); helpMenu->removeAction(action); delete action; } // add back target-specific actions typedef std::set ProductIds; ProductIds productIds; for (int i = 0; i < nodes->count(); i++) { NodeTab* tab = dynamic_cast(nodes->widget(i)); if (tab) productIds.insert(tab->productId()); } for (ProductIds::const_iterator it(productIds.begin()); it != productIds.end(); ++it) { QAction *action; switch (*it) { case ASEBA_PID_THYMIO2: action = new QAction(tr("Thymio programming tutorial..."), helpMenu); connect(action, SIGNAL(triggered()), SLOT(openToUrlFromAction())); action->setData(QUrl(tr("http://aseba.wikidot.com/en:thymiotutoriel"))); targetSpecificHelp.append(action); helpMenu->insertAction(helpMenuTargetSpecificSeparator, action); action = new QAction(tr("Thymio programming interface..."), helpMenu); connect(action, SIGNAL(triggered()), SLOT(openToUrlFromAction())); action->setData(QUrl(tr("http://aseba.wikidot.com/en:thymioapi"))); targetSpecificHelp.append(action); helpMenu->insertAction(helpMenuTargetSpecificSeparator, action); break; case ASEBA_PID_CHALLENGE: action = new QAction(tr("Challenge tutorial..."), helpMenu); connect(action, SIGNAL(triggered()), SLOT(openToUrlFromAction())); action->setData(QUrl(tr("http://aseba.wikidot.com/en:gettingstarted"))); targetSpecificHelp.append(action); helpMenu->insertAction(helpMenuTargetSpecificSeparator, action); break; case ASEBA_PID_MARXBOT: action = new QAction(tr("MarXbot user manual..."), helpMenu); connect(action, SIGNAL(triggered()), SLOT(openToUrlFromAction())); action->setData(QUrl(tr("http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf"))); targetSpecificHelp.append(action); helpMenu->insertAction(helpMenuTargetSpecificSeparator, action); break; default: break; } } } void MainWindow::openToUrlFromAction() const { const QAction *action(reinterpret_cast(sender())); QDesktopServices::openUrl(action->data().toUrl()); } void MainWindow::setupMenu() { // File menu QMenu *fileMenu = new QMenu(tr("&File"), this); menuBar()->addMenu(fileMenu); fileMenu->addAction(QIcon(":/images/filenew.png"), tr("&New"), this, SLOT(newFile()), QKeySequence::New); fileMenu->addAction(QIcon(":/images/fileopen.png"), tr("&Open..."), this, SLOT(openFile()), QKeySequence::Open); openRecentMenu = new QMenu(tr("Open &Recent"), fileMenu); regenerateOpenRecentMenu(); fileMenu->addMenu(openRecentMenu)->setIcon(QIcon(":/images/fileopen.png")); fileMenu->addAction(QIcon(":/images/filesave.png"), tr("&Save..."), this, SLOT(save()), QKeySequence::Save); fileMenu->addAction(QIcon(":/images/filesaveas.png"), tr("Save &As..."), this, SLOT(saveFile()), QKeySequence::SaveAs); fileMenu->addSeparator(); fileMenu->addAction(QIcon(":/images/filesaveas.png"), tr("Export &memories content..."), this, SLOT(exportMemoriesContent())); fileMenu->addAction(QIcon(":/images/fileopen.png"), tr("&Import memories content..."), this, SLOT(importMemoriesContent())); fileMenu->addSeparator(); #ifdef Q_WS_MAC fileMenu->addAction(QIcon(":/images/exit.png"), "quit", this, SLOT(close()), QKeySequence::Quit); #else // Q_WS_MAC fileMenu->addAction(QIcon(":/images/exit.png"), tr("&Quit"), this, SLOT(close()), QKeySequence::Quit); #endif // Q_WS_MAC // Edit menu cutAct = new QAction(QIcon(":/images/editcut.png"), tr("Cu&t"), this); cutAct->setShortcut(QKeySequence::Cut); cutAct->setEnabled(false); copyAct = new QAction(QIcon(":/images/editcopy.png"), tr("&Copy"), this); copyAct->setShortcut(QKeySequence::Copy); copyAct->setEnabled(false); pasteAct = new QAction(QIcon(":/images/editpaste.png"), tr("&Paste"), this); pasteAct->setShortcut(QKeySequence::Paste); pasteAct->setEnabled(false); undoAct = new QAction(QIcon(":/images/undo.png"), tr("&Undo"), this); undoAct->setShortcut(QKeySequence::Undo); undoAct->setEnabled(false); redoAct = new QAction(QIcon(":/images/redo.png"), tr("Re&do"), this); redoAct->setShortcut(QKeySequence::Redo); redoAct->setEnabled(false); findAct = new QAction(QIcon(":/images/find.png"), tr("&Find..."), this); findAct->setShortcut(QKeySequence::Find); connect(findAct, SIGNAL(triggered()), SLOT(findTriggered())); findAct->setEnabled(false); replaceAct = new QAction(QIcon(":/images/edit.png"), tr("&Replace..."), this); replaceAct->setShortcut(QKeySequence::Replace); connect(replaceAct, SIGNAL(triggered()), SLOT(replaceTriggered())); replaceAct->setEnabled(false); goToLineAct = new QAction(QIcon(":/images/goto.png"), tr("&Go To Line..."), this); goToLineAct->setShortcut(tr("Ctrl+G", "Edit|Go To Line")); goToLineAct->setEnabled(false); connect(goToLineAct, SIGNAL(triggered()), SLOT(goToLine())); commentAct = new QAction(tr("Comment the selection"), this); commentAct->setShortcut(tr("Ctrl+D", "Edit|Comment the selection")); connect(commentAct, SIGNAL(triggered()), SLOT(commentTriggered())); uncommentAct = new QAction(tr("Uncomment the selection"), this); uncommentAct->setShortcut(tr("Shift+Ctrl+D", "Edit|Uncomment the selection")); connect(uncommentAct, SIGNAL(triggered()), SLOT(uncommentTriggered())); QMenu *editMenu = new QMenu(tr("&Edit"), this); menuBar()->addMenu(editMenu); editMenu->addAction(cutAct); editMenu->addAction(copyAct); editMenu->addAction(pasteAct); editMenu->addSeparator(); editMenu->addAction(QIcon(":/images/editcopy.png"), tr("Copy &all"), this, SLOT(copyAll())); editMenu->addSeparator(); editMenu->addAction(undoAct); editMenu->addAction(redoAct); editMenu->addSeparator(); editMenu->addAction(findAct); editMenu->addAction(replaceAct); editMenu->addSeparator(); editMenu->addAction(goToLineAct); editMenu->addSeparator(); editMenu->addAction(commentAct); editMenu->addAction(uncommentAct); // View menu showKeywordsAct = new QAction(tr("Show &keywords"), this); showKeywordsAct->setCheckable(true); connect(showKeywordsAct, SIGNAL(toggled(bool)), SLOT(showKeywords(bool))); showMemoryUsageAct = new QAction(tr("Show &memory usage"), this); showMemoryUsageAct->setCheckable(true); connect(showMemoryUsageAct, SIGNAL(toggled(bool)), SLOT(showMemoryUsage(bool))); showHiddenAct = new QAction(tr("S&how hidden variables and functions"), this); showHiddenAct->setCheckable(true); connect(showHiddenAct, SIGNAL(toggled(bool)), SLOT(showHidden(bool))); showLineNumbers = new QAction(tr("Show &Line Numbers"), this); showLineNumbers->setShortcut(tr("F11", "View|Show Line Numbers")); showLineNumbers->setCheckable(true); connect(showLineNumbers, SIGNAL(toggled(bool)), SLOT(showLineNumbersChanged(bool))); zoomInAct = new QAction(tr("&Increase font size"), this); zoomInAct->setShortcut(QKeySequence::ZoomIn); zoomInAct->setEnabled(false); connect(zoomInAct, SIGNAL(triggered()), SLOT(zoomIn())); zoomOutAct = new QAction(tr("&Decrease font size"), this); zoomOutAct->setShortcut(QKeySequence::ZoomOut); zoomOutAct->setEnabled(false); connect(zoomOutAct, SIGNAL(triggered()), SLOT(zoomOut())); QMenu *viewMenu = new QMenu(tr("&View"), this); viewMenu->addAction(showKeywordsAct); viewMenu->addAction(showMemoryUsageAct); viewMenu->addAction(showHiddenAct); viewMenu->addAction(showLineNumbers); viewMenu->addSeparator(); viewMenu->addAction(zoomInAct); viewMenu->addAction(zoomOutAct); viewMenu->addSeparator(); #ifdef Q_WS_MAC viewMenu->addAction("settings", this, SLOT(showSettings()), QKeySequence::Preferences); #else // Q_WS_MAC viewMenu->addAction(tr("&Settings"), this, SLOT(showSettings()), QKeySequence::Preferences); #endif // Q_WS_MAC menuBar()->addMenu(viewMenu); // Debug actions loadAllAct = new QAction(QIcon(":/images/upload.png"), tr("&Load all"), this); loadAllAct->setShortcut(tr("F7", "Load|Load all")); resetAllAct = new QAction(QIcon(":/images/reset.png"), tr("&Reset all"), this); resetAllAct->setShortcut(tr("F8", "Debug|Reset all")); runAllAct = new QAction(QIcon(":/images/play.png"), tr("Ru&n all"), this); runAllAct->setShortcut(tr("F9", "Debug|Run all")); pauseAllAct = new QAction(QIcon(":/images/pause.png"), tr("&Pause all"), this); pauseAllAct->setShortcut(tr("F10", "Debug|Pause all")); // Debug toolbar globalToolBar = addToolBar(tr("Debug")); globalToolBar->setObjectName("debug toolbar"); globalToolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); globalToolBar->addAction(loadAllAct); globalToolBar->addAction(resetAllAct); globalToolBar->addAction(runAllAct); globalToolBar->addAction(pauseAllAct); // Debug menu toggleBreakpointAct = new QAction(tr("Toggle breakpoint"), this); toggleBreakpointAct->setShortcut(tr("Ctrl+B", "Debug|Toggle breakpoint")); connect(toggleBreakpointAct, SIGNAL(triggered()), SLOT(toggleBreakpoint())); clearAllBreakpointsAct = new QAction(tr("Clear all breakpoints"), this); //clearAllBreakpointsAct->setShortcut(); connect(clearAllBreakpointsAct, SIGNAL(triggered()), SLOT(clearAllBreakpoints())); QMenu *debugMenu = new QMenu(tr("&Debug"), this); menuBar()->addMenu(debugMenu); debugMenu->addAction(toggleBreakpointAct); debugMenu->addAction(clearAllBreakpointsAct); debugMenu->addSeparator(); debugMenu->addAction(loadAllAct); debugMenu->addAction(resetAllAct); debugMenu->addAction(runAllAct); debugMenu->addAction(pauseAllAct); // Tool menu QMenu *toolMenu = new QMenu(tr("&Tools"), this); menuBar()->addMenu(toolMenu); /*toolMenu->addAction(QIcon(":/images/view_text.png"), tr("&Show last compilation messages"), this, SLOT(showCompilationMessages()), QKeySequence(tr("Ctrl+M", "Tools|Show last compilation messages")));*/ showCompilationMsg = new QAction(QIcon(":/images/view_text.png"), tr("&Show last compilation messages"), this); showCompilationMsg->setCheckable(true); toolMenu->addAction(showCompilationMsg); connect(showCompilationMsg, SIGNAL(toggled(bool)), SLOT(showCompilationMessages(bool))); connect(compilationMessageBox, SIGNAL(hidden()), SLOT(compilationMessagesWasHidden())); toolMenu->addSeparator(); writeBytecodeMenu = new QMenu(tr("Write the program(s)..."), toolMenu); toolMenu->addMenu(writeBytecodeMenu); rebootMenu = new QMenu(tr("Reboot..."), toolMenu); toolMenu->addMenu(rebootMenu); saveBytecodeMenu = new QMenu(tr("Save the binary code..."), toolMenu); toolMenu->addMenu(saveBytecodeMenu); // Help menu helpMenu = new QMenu(tr("&Help"), this); menuBar()->addMenu(helpMenu); generateHelpMenu(); regenerateHelpMenu(); // add dynamic stuff regenerateToolsMenus(); // Load the state from the settings (thus from hard drive) applySettings(); } //! Ask the user to save or discard or ignore the operation that would destroy the unmodified data. /*! \return true if it is ok to discard, false if operation must abort */ bool MainWindow::askUserBeforeDiscarding() { const bool anythingModified = sourceModified || constantsDefinitionsModel->checkIfModified() || eventsDescriptionsModel->checkIfModified(); if (anythingModified == false) return true; QString docName(tr("Untitled")); if (!actualFileName.isEmpty()) docName = actualFileName.mid(actualFileName.lastIndexOf("/") + 1); QMessageBox msgBox; msgBox.setWindowTitle(tr("Aseba Studio - Confirmation Dialog")); msgBox.setText(tr("The document \"%0\" has been modified.").arg(docName)); msgBox.setInformativeText(tr("Do you want to save your changes or discard them?")); msgBox.setStandardButtons(QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); msgBox.setDefaultButton(QMessageBox::Save); int ret = msgBox.exec(); switch (ret) { case QMessageBox::Save: // Save was clicked if (save()) return true; else return false; case QMessageBox::Discard: // Don't Save was clicked return true; case QMessageBox::Cancel: // Cancel was clicked return false; default: // should never be reached assert(false); break; } return false; } void MainWindow::closeEvent ( QCloseEvent * event ) { if (askUserBeforeDiscarding()) { writeSettings(); event->accept(); emit MainWindowClosed(); } else { event->ignore(); } } bool MainWindow::readSettings() { bool result; QSettings settings; result = restoreGeometry(settings.value("MainWindow/geometry").toByteArray()); restoreState(settings.value("MainWindow/windowState").toByteArray()); return result; } void MainWindow::writeSettings() { QSettings settings; settings.setValue("MainWindow/geometry", saveGeometry()); settings.setValue("MainWindow/windowState", saveState()); } void MainWindow::updateWindowTitle() { const bool anythingModified = sourceModified || constantsDefinitionsModel->checkIfModified() || eventsDescriptionsModel->checkIfModified(); QString modifiedText; if (anythingModified) modifiedText = tr("[modified] "); QString docName(tr("Untitled")); if (!actualFileName.isEmpty()) docName = actualFileName.mid(actualFileName.lastIndexOf("/") + 1); setWindowTitle(tr("%0 %1- Aseba Studio").arg(docName).arg(modifiedText)); } void MainWindow::applySettings() { showKeywordsAct->setChecked(ConfigDialog::getShowKeywordToolbar()); showMemoryUsageAct->setChecked(ConfigDialog::getShowMemoryUsage()); showHiddenAct->setChecked(ConfigDialog::getShowHidden()); showLineNumbers->setChecked(ConfigDialog::getShowLineNumbers()); } void MainWindow::clearOpenedFileName(bool isModified) { actualFileName.clear(); sourceModified = isModified; updateWindowTitle(); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/MainWindow.h000066400000000000000000000407621322771007300200010ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef MAINWINDOW_H #define MAINWINDOW_H #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "StudioAeslEditor.h" #include "CustomDelegate.h" #include "CustomWidgets.h" #include "ModelAggregator.h" #include "../../compiler/compiler.h" #include #include #include #include #include "Target.h" #include "TargetModels.h" #include "Plugin.h" #include "PluginRegistry.h" #include "HelpViewer.h" #include "ConfigDialog.h" class QLabel; class QSpinBox; class QGroupBox; class QPushButton; class QListWidget; class QListWidgetItem; class QTreeView; class QTranslator; //class QTextBrowser; class QToolBox; class QCheckBox; namespace Aseba { /** \addtogroup studio */ /*@{*/ class TargetVariablesModel; class TargetFunctionsModel; class TargetMemoryModel; class MaskableNamedValuesVectorModel; class NamedValuesVectorModel; class ConstantsModel; class StudioAeslEditor; class AeslLineNumberSidebar; class AeslBreakpointSidebar; class AeslHighlighter; class EventViewer; class EditorsPlotsTabWidget; class DraggableListWidget; class FindDialog; class NodeTab; class MainWindow; //! To access private members of MainWindow and its children, a plugin must inherit from this class struct StudioInterface: DevelopmentEnvironmentInterface { NodeTab* nodeTab; MainWindow *mainWindow; StudioInterface(NodeTab* nodeTab); Target * getTarget(); unsigned getNodeId() const; unsigned getProductId() const; void setCommonDefinitions(const CommonDefinitions& commonDefinitions); void displayCode(const QList& code, int elementToHighlight); void loadAndRun(); void stop(); TargetVariablesModel * getVariablesModel(); void setVariableValues(unsigned, const VariablesDataVector &); bool saveFile(bool as=false); void openFile(); bool newFile(); void clearOpenedFileName(bool isModified); QString openedFileName() const; }; class CompilationLogDialog: public QDialog { Q_OBJECT public: CompilationLogDialog(QWidget *parent = 0); void setText(const QString & text) { te->setText(text); } signals: void hidden(); protected: virtual void hideEvent ( QHideEvent * event ); QTextEdit* te; }; class EditorsPlotsTabWidget: public QTabWidget { Q_OBJECT public: EditorsPlotsTabWidget(); virtual ~EditorsPlotsTabWidget(); void addTab(QWidget* widget, const QString& label, bool closable = false); void highlightTab(int index, QColor color = Qt::red); void setExecutionMode(int index, Target::ExecutionMode state); public slots: void removeAndDeleteTab(int index = -1); protected slots: void vmMemoryResized(int, int, int); // for vmMemoryView QTreeView child widget void tabChanged(int index); protected: virtual void resetHighlight(int index); virtual void vmMemoryViewResize(NodeTab* tab); virtual void readSettings(); virtual void writeSettings(); int vmMemorySize[2]; }; //! Tab holding code (instead of plot) class ScriptTab { public: typedef NodeToolInterface::SavedContent SavedContent; typedef QList SavedPlugins; ScriptTab(const unsigned id):id(id) {} virtual ~ScriptTab() {} unsigned nodeId() const { return id; } virtual SavedPlugins savePlugins() const = 0; protected: void createEditor(); unsigned id; //!< node identifier friend class MainWindow; StudioAeslEditor* editor; AeslLineNumberSidebar* linenumbers; AeslBreakpointSidebar* breakpoints; AeslHighlighter *highlighter; }; //! Tab for a target node that is not connected class AbsentNodeTab : public QWidget, public ScriptTab { Q_OBJECT public: AbsentNodeTab(const unsigned id, const QString& name, const QString& sourceCode, const SavedPlugins& savedPlugins); virtual SavedPlugins savePlugins() const { return savedPlugins; } const QString name; SavedPlugins savedPlugins; }; //! Tab for a connected target node class NodeTab : public QSplitter, public ScriptTab, public VariableListener { Q_OBJECT public: struct CompilationResult { bool dump; bool success; BytecodeVector bytecode; unsigned allocatedVariablesCount; VariablesMap variablesMap; Compiler::SubroutineTable subroutineTable; Error error; std::wostringstream compilationMessages; CompilationResult(bool dump):dump(dump), success(false), allocatedVariablesCount(0) {} }; public: NodeTab(MainWindow* mainWindow, Target *target, const CommonDefinitions *commonDefinitions, const unsigned id, QWidget *parent = 0); ~NodeTab(); unsigned productId() const { return pid; } void variablesMemoryChanged(unsigned start, const VariablesDataVector &variables); signals: void uploadReadynessChanged(bool); protected: virtual void timerEvent ( QTimerEvent * event ); virtual void variableValueUpdated(const QString& name, const VariablesDataVector& values); void setupWidgets(); void setupConnections(); virtual SavedPlugins savePlugins() const; void notifyPluginsAboutToLoad(); void restorePlugins(const SavedPlugins& savedPlugins, bool fromFile); void updateToolList(); public slots: void clearExecutionErrors(); void refreshCompleterModel(LocalContext context); //void sortCompleterModel(); protected slots: void resetClicked(); void loadClicked(); void runInterruptClicked(); void nextClicked(); void refreshMemoryClicked(); void autoRefreshMemoryClicked(int state); void writeBytecode(); void reboot(); void saveBytecode(); void setVariableValues(unsigned, const VariablesDataVector &); void insertVariableName(const QModelIndex &); void editorContentChanged(); void recompile(); void markTargetUnsynced(); // keywords void keywordClicked(QString); void showKeywords(bool show); void showMemoryUsage(bool show); void cursorMoved(); void goToError(); void setBreakpoint(unsigned line); void clearBreakpoint(unsigned line); void breakpointClearedAll(); void executionPosChanged(unsigned line); void executionModeChanged(Target::ExecutionMode mode); void breakpointSetResult(unsigned line, bool success); void closePlugins(); void updateHidden(); void compilationCompleted(); protected: void processCompilationResult(CompilationResult* result); void rehighlight(); void reSetBreakpoints(); // editor properties code bool setEditorProperty(const QString &property, const QVariant &value, unsigned line, bool removeOld = false); bool clearEditorProperty(const QString &property, unsigned line); bool clearEditorProperty(const QString &property); void switchEditorProperty(const QString &oldProperty, const QString &newProperty); protected: friend class MainWindow; friend class StudioAeslEditor; friend class EditorsPlotsTabWidget; unsigned pid; //!< node product identifier friend struct StudioInterface; Target *target; //!< pointer to target const CommonDefinitions *commonDefinitions; //!< pointer to common definitions MainWindow* mainWindow; QLabel *cursorPosText; QLabel *compilationResultImage; QLabel *compilationResultText; QLabel *memoryUsageText; QLabel *executionModeLabel; QPushButton *loadButton; QPushButton *resetButton; QPushButton *runInterruptButton; QPushButton *nextButton; QPushButton *refreshMemoryButton; QCheckBox *autoRefreshMemoryCheck; // keywords QToolButton *varButton; QToolButton *ifButton; QToolButton *elseifButton; QToolButton *elseButton; QToolButton *oneventButton; QToolButton *whileButton; QToolButton *forButton; QToolButton *subroutineButton; QToolButton *callsubButton; QToolBar *keywordsToolbar; QSignalMapper *signalMapper; TargetVariablesModel *vmMemoryModel; TargetSubroutinesModel *vmSubroutinesModel; QTreeView *vmMemoryView; QLineEdit *vmMemoryFilter; TargetFunctionsModel *vmFunctionsModel; QTreeView *vmFunctionsView; DraggableListWidget* vmLocalEvents; QCompleter *completer; QAbstractItemModel* eventAggregator; QAbstractItemModel* variableAggregator; QSortFilterProxyModel* sortingProxy; TreeChainsawFilter* functionsFlatModel; QToolBox* toolBox; QVBoxLayout* toolListLayout; int toolListIndex; NodeToolInterfaces tools; int refreshTimer; //!< id of timer for auto refresh of variables, if active QString lastCompiledSource; //!< content of last source considered for compilation following a textChanged signal int errorPos; //!< position of last error, -1 if compilation was success int currentPC; //!< current program counter Target::ExecutionMode previousMode; bool showHidden; QFuture compilationFuture; QFutureWatcher compilationWatcher; bool compilationDirty; bool isSynchronized; BytecodeVector bytecode; //!< bytecode resulting of last successfull compilation unsigned allocatedVariablesCount; //!< number of allocated variables }; class NewNamedValueDialog : public QDialog { Q_OBJECT public: NewNamedValueDialog(QString* name, int* value, int min, int max); static bool getNamedValue(QString* name, int* value, int min, int max, QString title, QString valueName, QString valueDescription); protected slots: void okSlot(); void cancelSlot(); protected: QLabel* label1; QLineEdit* line1; QLabel* label2; QSpinBox* line2; QString* name; int* value; }; //! Studio main window class MainWindow : public QMainWindow { Q_OBJECT public: MainWindow(QVector translators, const QString& commandLineTarget, bool autoRefresh, QWidget *parent = 0); ~MainWindow(); signals: void MainWindowClosed(); private slots: void about(); bool newFile(); void openFile(const QString &path = QString()); void openRecentFile(); bool save(); bool saveFile(const QString &previousFileName = QString()); void exportMemoriesContent(); void importMemoriesContent(); void copyAll(); void findTriggered(); void replaceTriggered(); void commentTriggered(); void uncommentTriggered(); void showLineNumbersChanged(bool state); void goToLine(); void zoomIn(); void zoomOut(); void showSettings(); void showHidden(bool show); void showKeywords(bool show); void toggleBreakpoint(); void clearAllBreakpoints(); void loadAll(); void resetAll(); void runAll(); void pauseAll(); void stopAll(); void clearAllExecutionError(); void uploadReadynessChanged(); void tabChanged(int); void sendEvent(); void sendEventIf(const QModelIndex &); void toggleEventVisibleButton(const QModelIndex &); void plotEvent(); void eventContextMenuRequested(const QPoint & pos); void plotEvent(const unsigned eventId); void logEntryDoubleClicked(QListWidgetItem *); void showCompilationMessages(bool doShown); void compilationMessagesWasHidden(); void showMemoryUsage(bool show); void addEventNameClicked(); void removeEventNameClicked(); void eventsUpdated(bool indexChanged = false); void eventsUpdatedDirty(); void eventsDescriptionsSelectionChanged(); void resetStatusText(); // Jiwon void addConstantClicked(); void removeConstantClicked(); void constantsSelectionChanged(); void nodeConnected(unsigned node); void nodeDisconnected(unsigned node); void userEventsDropped(unsigned amount); void userEvent(unsigned id, const VariablesDataVector &data); void arrayAccessOutOfBounds(unsigned node, unsigned line, unsigned size, unsigned index); void divisionByZero(unsigned node, unsigned line); void eventExecutionKilled(unsigned node, unsigned line); void nodeSpecificError(unsigned node, unsigned line, const QString& message); void executionPosChanged(unsigned node, unsigned line); void executionModeChanged(unsigned node, Target::ExecutionMode mode); void variablesMemoryEstimatedDirty(unsigned node); void variablesMemoryChanged(unsigned node, unsigned start, const VariablesDataVector &variables); void breakpointSetResult(unsigned node, unsigned line, bool success); void recompileAll(); void writeAllBytecodes(); void rebootAllNodes(); void sourceChanged(); void updateWindowTitle(); void showUserManual(); void openToUrlFromAction() const; public slots: void applySettings(); private: // utility functions int getIndexFromId(unsigned node) const; NodeTab* getTabFromId(unsigned node) const; NodeTab* getTabFromName(const QString& name, unsigned preferedId = 0, bool* isPrefered = 0, QSet* filledList = 0) const; int getAbsentIndexFromId(unsigned node) const; AbsentNodeTab* getAbsentTabFromId(unsigned node) const; void addErrorEvent(unsigned node, unsigned line, const QString& message); void clearDocumentSpecificTabs(); bool askUserBeforeDiscarding(); // gui initialisation code void regenerateOpenRecentMenu(); void updateRecentFiles(const QString& fileName); void regenerateToolsMenus(); void generateHelpMenu(); void regenerateHelpMenu(); void setupWidgets(); void setupConnections(); void setupMenu(); void closeEvent ( QCloseEvent * event ); bool readSettings(); void writeSettings(); void clearOpenedFileName(bool isModified); // tabs and nodes friend class NodeTab; friend class StudioAeslEditor; friend struct StudioInterface; EditorsPlotsTabWidget* nodes; ScriptTab* currentScriptTab; #ifdef HAVE_QWT // events viewers. only one event per viewer friend class EventViewer; typedef QMultiMap EventViewers; EventViewers eventsViewers; #endif // HAVE_QWT // events QPushButton* addEventNameButton; QPushButton* removeEventNameButton; QPushButton* sendEventButton; #ifdef HAVE_QWT QPushButton* plotEventButton; #endif // HAVE_QWT QListWidget* logger; QPushButton* clearLogger; QLabel* statusText; // Jiwon FixedWidthTableView* eventsDescriptionsView; // constants QPushButton* addConstantButton; QPushButton* removeConstantButton; FixedWidthTableView* constantsView; // models MaskableNamedValuesVectorModel* eventsDescriptionsModel; ConstantsModel* constantsDefinitionsModel; // global buttons QAction* loadAllAct; QAction* resetAllAct; QAction* runAllAct; QAction* pauseAllAct; QToolBar* globalToolBar; // open recent actions QMenu *openRecentMenu; // tools QMenu *writeBytecodeMenu; QAction *writeAllBytecodesAct; QMenu *rebootMenu; QMenu *saveBytecodeMenu; QMenu *helpMenu; typedef QList ActionList; QAction* helpMenuTargetSpecificSeparator; ActionList targetSpecificHelp; // Menu action that need dynamic reconnection QAction *cutAct; QAction *copyAct; QAction *pasteAct; QAction *undoAct; QAction *redoAct; QAction *findAct; QAction *replaceAct; QAction *commentAct; QAction *uncommentAct; QAction *showLineNumbers; QAction *goToLineAct; QAction *zoomInAct; QAction *zoomOutAct; QAction *toggleBreakpointAct; QAction *clearAllBreakpointsAct; QAction *showHiddenAct; QAction *showKeywordsAct; QAction* showCompilationMsg; QAction* showMemoryUsageAct; // gui helper stuff CompilationLogDialog *compilationMessageBox; //!< box to show last compilation messages FindDialog* findDialog; //!< find dialog QString actualFileName; //!< name of opened file, "" if new bool sourceModified; //!< true if source code has been modified since last save bool autoMemoryRefresh; //! < true if auto memory refresh is on by default HelpViewer helpViewer; // compiler and source code related stuff CommonDefinitions commonDefinitions; Target *target; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/ModelAggregator.cpp000066400000000000000000000111471322771007300213160ustar00rootroot00000000000000#include "ModelAggregator.h" namespace Aseba { ModelAggregator::ModelAggregator(QObject* parent) : QAbstractItemModel(parent) { } void ModelAggregator::addModel(QAbstractItemModel* model, unsigned int column) { ModelDescription description; description.model = model; description.column = column; models.append(description); } int ModelAggregator::columnCount(const QModelIndex &parent) const { return 1; } int ModelAggregator::rowCount(const QModelIndex & /*parent*/) const { int count = 0; for (ModelList::ConstIterator it = models.begin(); it != models.end(); it++) count += (*it).model->rowCount(); return count; } QVariant ModelAggregator::data(const QModelIndex &index, int role) const { if (!index.isValid()) return QVariant(); int count = 0; int previousCount = 0; int modelID = 0; for (ModelList::ConstIterator it = models.begin(); it != models.end(); it++, modelID++) { previousCount = count; count += (*it).model->rowCount(); if (index.row() < count) { QAbstractItemModel* thisModel = (*it).model; unsigned int thisColumn = (*it).column; QModelIndex newIndex = thisModel->index(index.row()-previousCount, thisColumn); return thisModel->data(newIndex, role); } } return QVariant(); } bool ModelAggregator::hasIndex(int row, int column, const QModelIndex &parent) const { if (parent.isValid()) return false; if (column >= columnCount()) return false; if (row > rowCount()) return false; return true; } QModelIndex ModelAggregator::index(int row, int column, const QModelIndex &parent) const { return hasIndex(row, column, parent) ? createIndex(row, column, 0) : QModelIndex(); } QModelIndex ModelAggregator::parent(const QModelIndex &child) const { return QModelIndex(); } // *** TreeChainsawFilter *** void TreeChainsawFilter::setSourceModel(QAbstractItemModel *sourceModel) { QAbstractItemModel* oldSource = this->sourceModel(); if (oldSource) oldSource->disconnect(this); QAbstractProxyModel::setSourceModel(sourceModel); connect(sourceModel, SIGNAL(modelReset()), this, SLOT(resetInternalData())); sort(0, Qt::AscendingOrder); } int TreeChainsawFilter::rowCount(const QModelIndex &parent) const { return indexList.count(); } int TreeChainsawFilter::columnCount(const QModelIndex &parent) const { return 1; } bool TreeChainsawFilter::hasIndex(int row, int column, const QModelIndex &parent) const { if (parent.isValid()) return false; if (column >= columnCount()) return false; if (row > rowCount()) return false; return true; } QModelIndex TreeChainsawFilter::index(int row, int column, const QModelIndex &parent) const { return hasIndex(row, column, parent) ? createIndex(row, column, 0) : QModelIndex(); } QModelIndex TreeChainsawFilter::parent(const QModelIndex &child) const { return QModelIndex(); } void TreeChainsawFilter::resetInternalData(void) { sort(0, Qt::AscendingOrder); } // sourceIndex -> proxyIndex QModelIndex TreeChainsawFilter::mapFromSource(const QModelIndex &sourceIndex) const { if (!sourceIndex.isValid()) return QModelIndex(); IndexLinkList::ConstIterator it; for (it = indexList.constBegin(); it != indexList.constEnd(); it++) if (sourceIndex == it->source) return it->proxy; // not found return QModelIndex(); } // proxyIndex -> sourceIndex QModelIndex TreeChainsawFilter::mapToSource(const QModelIndex &proxyIndex) const { if (!proxyIndex.isValid()) return QModelIndex(); IndexLinkList::ConstIterator it; for (it = indexList.constBegin(); it != indexList.constEnd(); it++) if (proxyIndex == it->proxy) return it->source; // not found return QModelIndex(); } // rebuild the internal data structure void TreeChainsawFilter::sort(int /* column */, Qt::SortOrder /* order */) { if (!sourceModel()) return; indexList.clear(); // get the root and walk the tree sortWalkTree(QModelIndex()); } // rebuild the internal data structure, private function void TreeChainsawFilter::sortWalkTree(const QModelIndex &parent) { static int rowCounter = 0; if (!parent.isValid()) // root node rowCounter = 0; QAbstractItemModel* model = sourceModel(); int childCount = model->rowCount(parent); if (childCount == 0) { // leaf! ModelIndexLink indexLink; indexLink.source = parent; indexLink.proxy = createIndex(rowCounter++, 0, 0); indexList.append(indexLink); return; } // iterate on children for (int row = 0; row < childCount; row++) { //QModelIndex child = parent.child(row, 0); QModelIndex child = model->index(row, 0, parent); sortWalkTree(child); } } }; aseba-1.6.0/clients/studio/ModelAggregator.h000066400000000000000000000041341322771007300207610ustar00rootroot00000000000000#ifndef MODELAGGREGATOR_H #define MODELAGGREGATOR_H #include #include #include #include namespace Aseba { class ModelAggregator : public QAbstractItemModel { public: ModelAggregator(QObject* parent = 0); // interface for the aggregator void addModel(QAbstractItemModel* model, unsigned int column = 0); // interface for QAbstractItemModel int columnCount(const QModelIndex &parent = QModelIndex()) const; int rowCount(const QModelIndex &parent = QModelIndex()) const; QVariant data(const QModelIndex &index, int role) const; bool hasIndex(int row, int column, const QModelIndex &parent) const; QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const; QModelIndex parent(const QModelIndex &child) const; protected: struct ModelDescription { QAbstractItemModel* model; unsigned int column; }; typedef QList ModelList; ModelList models; }; // keep only the leaves of a tree, and present them as a table class TreeChainsawFilter : public QAbstractProxyModel { Q_OBJECT public: TreeChainsawFilter(QObject* parent = 0) : QAbstractProxyModel(parent) { } // model interface int rowCount(const QModelIndex &parent = QModelIndex()) const; int columnCount(const QModelIndex &parent = QModelIndex()) const; bool hasIndex(int row, int column, const QModelIndex &parent) const; QModelIndex index(int row, int column, const QModelIndex &parent) const; QModelIndex parent(const QModelIndex &child) const; public slots: void resetInternalData(void); public: // proxy interface void setSourceModel(QAbstractItemModel *sourceModel); QModelIndex mapFromSource(const QModelIndex & sourceIndex) const; QModelIndex mapToSource(const QModelIndex &proxyIndex) const; void sort(int column, Qt::SortOrder order); protected: struct ModelIndexLink { QModelIndex source; QModelIndex proxy; }; void sortWalkTree(const QModelIndex& parent); typedef QList IndexLinkList; IndexLinkList indexList; }; }; #endif // MODELAGGREGATOR_H aseba-1.6.0/clients/studio/NamedValuesVectorModel.cpp000066400000000000000000000252041322771007300226220ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "NamedValuesVectorModel.h" #include #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ NamedValuesVectorModel::NamedValuesVectorModel(NamedValuesVector* namedValues, const QString &tooltipText, QObject *parent) : QAbstractTableModel(parent), namedValues(namedValues), wasModified(false), tooltipText(tooltipText), editable(false) { Q_ASSERT(namedValues); } NamedValuesVectorModel::NamedValuesVectorModel(NamedValuesVector* namedValues, QObject *parent) : QAbstractTableModel(parent), namedValues(namedValues), wasModified(false), editable(false) { Q_ASSERT(namedValues); } int NamedValuesVectorModel::rowCount(const QModelIndex & parent) const { Q_UNUSED(parent) return namedValues->size(); } int NamedValuesVectorModel::columnCount(const QModelIndex & parent) const { Q_UNUSED(parent) return 2; } QVariant NamedValuesVectorModel::data(const QModelIndex &index, int role) const { if (!index.isValid()) return QVariant(); if (role == Qt::DisplayRole || role == Qt::EditRole) { if (index.column() == 0) return QString::fromStdWString(namedValues->at(index.row()).name); else return namedValues->at(index.row()).value; } else if (role == Qt::ToolTipRole && !tooltipText.isEmpty()) { return tooltipText.arg(index.row()); } else return QVariant(); } QVariant NamedValuesVectorModel::headerData(int section, Qt::Orientation orientation, int role) const { Q_UNUSED(section) Q_UNUSED(orientation) Q_UNUSED(role) return QVariant(); } Qt::ItemFlags NamedValuesVectorModel::flags(const QModelIndex & index) const { if (!index.isValid()) return Qt::ItemIsDropEnabled; Qt::ItemFlags commonFlags = Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsDragEnabled; if (index.column() == 0) { if (editable) return commonFlags | Qt::ItemIsEditable; else return commonFlags; } else return commonFlags | Qt::ItemIsEditable; } QStringList NamedValuesVectorModel::mimeTypes () const { QStringList types; types << "text/plain"; if (privateMimeType != "") types << privateMimeType; return types; } QMimeData * NamedValuesVectorModel::mimeData ( const QModelIndexList & indexes ) const { QMimeData *mimeData = new QMimeData(); // "text/plain" QString texts; foreach (QModelIndex index, indexes) { if (index.isValid() && (index.column() == 0)) { QString text = data(index, Qt::DisplayRole).toString(); texts += text; } } mimeData->setText(texts); if (privateMimeType == "") return mimeData; // privateMimeType QByteArray itemData; QDataStream dataStream(&itemData, QIODevice::WriteOnly); foreach (QModelIndex itemIndex, indexes) { if (!itemIndex.isValid()) continue; QString name = data(index(itemIndex.row(), 0), Qt::DisplayRole).toString(); int nbArgs = data(index(itemIndex.row(), 1), Qt::DisplayRole).toInt(); dataStream << name << nbArgs; } mimeData->setData(privateMimeType, itemData); return mimeData; } bool NamedValuesVectorModel::dropMimeData(const QMimeData *data, Qt::DropAction action, int row, int column, const QModelIndex &parent) { if (action == Qt::IgnoreAction) return true; if (!data->hasFormat(privateMimeType)) return false; // decode mime data QByteArray itemData = data->data(privateMimeType); QDataStream dataStream(&itemData, QIODevice::ReadOnly); QString name; int value; dataStream >> name >> value; // search for this element int oldIndex = 0; for (NamedValuesVector::iterator it = namedValues->begin(); it != namedValues->end(); it++, oldIndex++) if ((*it).name == name.toStdWString() && (*it).value == value) { // found! move it moveRow(oldIndex, row); return true; } // element not found return false; } Qt::DropActions NamedValuesVectorModel::supportedDragActions() { return Qt::CopyAction | Qt::MoveAction; } Qt::DropActions NamedValuesVectorModel::supportedDropActions() const { return Qt::CopyAction | Qt::MoveAction; } bool NamedValuesVectorModel::setData(const QModelIndex &index, const QVariant &value, int role) { Q_ASSERT(namedValues); if (index.isValid() && role == Qt::EditRole) { if (index.column() == 0) { if (!validateName(value.toString())) return false; namedValues->at(index.row()).name = value.toString().toStdWString(); emit dataChanged(index, index); wasModified = true; return true; } if (index.column() == 1) { namedValues->at(index.row()).value = value.toInt(); emit dataChanged(index, index); wasModified = true; return true; } } return false; } void NamedValuesVectorModel::setEditable(bool editable) { this->editable = editable; } void NamedValuesVectorModel::addNamedValue(const NamedValue &namedValue, int index) { Q_ASSERT(namedValues); Q_ASSERT(index < (int)namedValues->size()); if (index < 0) { // insert at the end beginInsertRows(QModelIndex(), namedValues->size(), namedValues->size()); namedValues->push_back(namedValue); endInsertRows(); } else { beginInsertRows(QModelIndex(), index, index); NamedValuesVector::iterator it = namedValues->begin() + index; namedValues->insert(it, namedValue); endInsertRows(); } wasModified = true; emit publicRowsInserted(); } void NamedValuesVectorModel::delNamedValue(int index) { Q_ASSERT(namedValues); Q_ASSERT(index < (int)namedValues->size()); beginRemoveRows(QModelIndex(), index, index); namedValues->erase(namedValues->begin() + index); wasModified = true; endRemoveRows(); emit publicRowsRemoved(); } bool NamedValuesVectorModel::moveRow(int oldRow, int& newRow) { if (oldRow == newRow || namedValues->size() <= 1) return false; // get values NamedValue value = namedValues->at(oldRow); delNamedValue(oldRow); // update index for the new model if (newRow > oldRow && newRow > 0) newRow--; addNamedValue(value, newRow); return true; } void NamedValuesVectorModel::clear() { Q_ASSERT(namedValues); if (namedValues->size() == 0) return; beginRemoveRows(QModelIndex(), 0, namedValues->size()-1); namedValues->clear(); wasModified = true; endRemoveRows(); } //! Validate name, returns true if valid, false and displays an error message otherwise bool NamedValuesVectorModel::validateName(const QString& name) const { return true; } // ****************************************************************************** // ConstantsModel::ConstantsModel(NamedValuesVector* namedValues, const QString &tooltipText, QObject *parent): NamedValuesVectorModel(namedValues, tooltipText, parent) { } ConstantsModel::ConstantsModel(NamedValuesVector* namedValues, QObject *parent): NamedValuesVectorModel(namedValues, parent) { } //! Name is valid if not already existing and not a keyword bool ConstantsModel::validateName(const QString& name) const { Q_ASSERT(namedValues); if (namedValues->contains(name.toStdWString())) { QMessageBox::warning(0, tr("Constant already defined"), tr("Constant %0 is already defined.").arg(name)); return false; } if (Compiler::isKeyword(name.toStdWString())) { QMessageBox::warning(0, tr("The name is a keyword"), tr("The name %0 cannot be used as a constant, because it is a language keyword.").arg(name)); return false; } return true; } // ****************************************************************************** // MaskableNamedValuesVectorModel::MaskableNamedValuesVectorModel(NamedValuesVector* namedValues, const QString &tooltipText, QObject *parent) : NamedValuesVectorModel(namedValues, tooltipText, parent), viewEvent() { } MaskableNamedValuesVectorModel::MaskableNamedValuesVectorModel(NamedValuesVector* namedValues, QObject *parent) : NamedValuesVectorModel(namedValues, parent), viewEvent() { } int MaskableNamedValuesVectorModel::columnCount(const QModelIndex & parent) const { return 3; } QVariant MaskableNamedValuesVectorModel::data(const QModelIndex &index, int role) const { if (index.column() != 2) return NamedValuesVectorModel::data(index, role); if (role == Qt::DisplayRole) { return QVariant(); } else if (role == Qt::DecorationRole) { return viewEvent[index.row()] ? QPixmap(QString(":/images/eye.png")) : QPixmap(QString(":/images/eyeclose.png")); } else if (role == Qt::ToolTipRole) { return viewEvent[index.row()] ? tr("Hide") : tr("View"); } else return QVariant(); } Qt::ItemFlags MaskableNamedValuesVectorModel::flags(const QModelIndex & index) const { if (index.column() == 2) return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsDropEnabled; else return NamedValuesVectorModel::flags(index); } bool MaskableNamedValuesVectorModel::isVisible(const unsigned id) { if (id >= viewEvent.size() || viewEvent[id]) return true; return false; } void MaskableNamedValuesVectorModel::addNamedValue(const NamedValue& namedValue) { NamedValuesVectorModel::addNamedValue(namedValue); viewEvent.push_back(true); } void MaskableNamedValuesVectorModel::delNamedValue(int index) { viewEvent.erase(viewEvent.begin() + index); NamedValuesVectorModel::delNamedValue(index); } bool MaskableNamedValuesVectorModel::moveRow(int oldRow, int& newRow) { if (!NamedValuesVectorModel::moveRow(oldRow, newRow)) return false; // get value bool value = viewEvent.at(oldRow); viewEvent.erase(viewEvent.begin() + oldRow); if (newRow < 0) viewEvent.push_back(value); else viewEvent.insert(viewEvent.begin() + newRow, value); return true; } void MaskableNamedValuesVectorModel::toggle(const QModelIndex &index) { Q_ASSERT(namedValues); Q_ASSERT(index.row() < (int)namedValues->size()); viewEvent[index.row()] = !viewEvent[index.row()]; wasModified = true; } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/NamedValuesVectorModel.h000066400000000000000000000074601322771007300222730ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef NAMED_VALUES_VECTOR_MODEL_H #define NAMED_VALUES_VECTOR_MODEL_H #include #include #include #include "../../compiler/compiler.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ class NamedValuesVectorModel: public QAbstractTableModel { Q_OBJECT public: NamedValuesVectorModel(NamedValuesVector* namedValues, const QString &tooltipText, QObject *parent = 0); NamedValuesVectorModel(NamedValuesVector* namedValues, QObject *parent = 0); int rowCount(const QModelIndex &parent = QModelIndex()) const; int columnCount(const QModelIndex &parent = QModelIndex()) const; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const; Qt::ItemFlags flags(const QModelIndex & index) const; QStringList mimeTypes () const; void setExtraMimeType(QString mime) { privateMimeType = mime; } QMimeData * mimeData ( const QModelIndexList & indexes ) const; bool dropMimeData(const QMimeData *data, Qt::DropAction action, int row, int column, const QModelIndex &parent); Qt::DropActions supportedDragActions(); Qt::DropActions supportedDropActions() const; bool setData(const QModelIndex &index, const QVariant &value, int role); bool checkIfModified() { return wasModified; } void clearWasModified() { wasModified = false; } void setEditable(bool editable); virtual bool moveRow(int oldRow, int& newRow); virtual bool validateName(const QString& name) const; public slots: void addNamedValue(const NamedValue& namedValue, int index = -1); void delNamedValue(int index); void clear(); signals: void publicRowsInserted(); void publicRowsRemoved(); protected: NamedValuesVector* namedValues; bool wasModified; QString privateMimeType; private: QString tooltipText; bool editable; }; class ConstantsModel: public NamedValuesVectorModel { Q_OBJECT public: ConstantsModel(NamedValuesVector* namedValues, const QString &tooltipText, QObject *parent = 0); ConstantsModel(NamedValuesVector* namedValues, QObject *parent = 0); virtual bool validateName(const QString& name) const; }; class MaskableNamedValuesVectorModel: public NamedValuesVectorModel { Q_OBJECT public: MaskableNamedValuesVectorModel(NamedValuesVector* namedValues, const QString &tooltipText, QObject *parent = 0); MaskableNamedValuesVectorModel(NamedValuesVector* namedValues, QObject *parent = 0); int columnCount(const QModelIndex &parent = QModelIndex()) const; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; Qt::ItemFlags flags(const QModelIndex & index) const; bool isVisible(const unsigned id); virtual bool moveRow(int oldRow, int& newRow); public slots: void addNamedValue(const NamedValue& namedValue); void delNamedValue(int index); void toggle(const QModelIndex &index); private: std::vector viewEvent; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/Plugin.cpp000066400000000000000000000031071322771007300175060ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "Plugin.h" #include "DashelTarget.h" #include "../../common/utils/utils.h" #include "../../common/productids.h" #include "NamedValuesVectorModel.h" // plugins namespace Aseba { /** \addtogroup studio */ /*@{*/ //! Returns whether there is a tool named name in the list bool NodeToolInterfaces::containsNamed(const QString& name) const { for (const_iterator it(begin()); it != end(); ++it) if ((*it)->name == name) return true; return false; } //! Returns a tool of a given name NodeToolInterface* NodeToolInterfaces::getNamed(const QString& name) const { for (const_iterator it(begin()); it != end(); ++it) if ((*it)->name == name) return *it; return 0; } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/Plugin.h000066400000000000000000000074771322771007300171710ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef PLUGIN_H #define PLUGIN_H #include #include #include #include #include #include #include #include #include "../../common/msg/msg.h" #include "../../compiler/compiler.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ class Target; class TargetVariablesModel; // TODO: constify DevelopmentEnvironmentInterface //! To access private members of the development environment (MainWindow and its children), a plugin must use the method of a subclass of this class. //! This class interfaces to a specific node struct DevelopmentEnvironmentInterface { //! Virtual destructor virtual ~DevelopmentEnvironmentInterface() {} //! Return the target Aseba network virtual Target * getTarget() = 0; //! Return the node ID of the node this plugin talks to virtual unsigned getNodeId() const = 0; //! Return the product ID of the node this plugin talks to virtual unsigned getProductId() const = 0; //! Set constants and global events virtual void setCommonDefinitions(const CommonDefinitions& commonDefinitions) = 0; //! Set the code of the editor from a sequence of elements (each can be multiple sloc) and highlight one of these elements virtual void displayCode(const QList& code, int elementToHighlight) = 0; //! Load code and runs it on the node virtual void loadAndRun() = 0; //! Stop execution of the node virtual void stop() = 0; //! Return the variables model of the node virtual TargetVariablesModel * getVariablesModel() = 0; //! Set variables on the node virtual void setVariableValues(unsigned addr, const VariablesDataVector &data) = 0; //! Request the DE to save the current file virtual bool saveFile(bool as=false) = 0; //! Request the DE to open an existing file virtual void openFile() = 0; //! Request the DE to create a new empty file virtual bool newFile() = 0; //! Request the DE to clear the name of the opened file, without any check for change virtual void clearOpenedFileName(bool isModified) = 0; //! Request the name of the opened file, if any virtual QString openedFileName() const = 0; }; //! A tool that is specific to a node struct NodeToolInterface { typedef QPair SavedContent; QString name; //!< name of the interface taken from the registrar virtual ~NodeToolInterface() {} virtual void aboutToLoad() {}; virtual void loadFromDom(const QDomDocument& content, bool fromFile) {}; virtual QDomDocument saveToDom() const { return QDomDocument(); } SavedContent getSaved() const { return SavedContent(name, saveToDom()); } virtual void codeChangedInEditor() {} virtual QWidget* createMenuEntry() = 0; virtual void closeAsSoonAsPossible() = 0; }; //! A list of NodeToolInterface pointers struct NodeToolInterfaces: std::vector { bool containsNamed(const QString& name) const; NodeToolInterface* getNamed(const QString& name) const; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/PluginRegistry.cpp000066400000000000000000000075671322771007300212550ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "Plugin.h" #include "DashelTarget.h" #include "MainWindow.h" #include "../../common/productids.h" #include "NamedValuesVectorModel.h" // plugins #include "plugins/VariablesViewPlugin.h" #include "plugins/StopThymioPlugin.h" #include "plugins/ThymioVPL/ThymioVisualProgramming.h" #ifdef ASEBA_ENABLE_BLOCKLY_PLUGIN #include "plugins/ThymioBlockly/ThymioBlockly.h" #endif namespace Aseba { /** \addtogroup studio */ /*@{*/ //! Create an instance of C, creating a StudioInterface to wrap node and pass it to the constructor of C template NodeToolInterface* createInstance(NodeTab* node) { return new C(new StudioInterface(node)); } //! Register a class with a name/a list of PIDs by storing a pointer to its constructor void NodeToolRegistrar::reg(const QString& name, const ProductIds& pid, const CreatorFunc func) { for (ProductIds::const_iterator it(pid.begin()); it != pid.end(); ++it) reg(name, *it, func); } //! Register a class with a name/a pid by storing a pointer to its constructor void NodeToolRegistrar::reg(const QString& name, const ProductId pid, const CreatorFunc func) { pidCreators.insert(pid, CreatorFuncNamePair(func, name)); namedCreators[name] = func; } //! Update tool list with onse for given pid void NodeToolRegistrar::update(const ProductId pid, NodeTab* node, NodeToolInterfaces& tools) const { typedef PidCreatorMap::const_iterator ConstIt; ConstIt it(pidCreators.find(pid)); while (it != pidCreators.end() && it.key() == pid) { const QString& name(it.value().second); if (!tools.containsNamed(name)) { const CreatorFunc& creatorFunc(it.value().first); tools.push_back(creatorFunc(node)); tools.back()->name = name; } ++it; } } //! Create tool list with one of a given name void NodeToolRegistrar::update(const QString& name, NodeTab* node, NodeToolInterfaces& tools) const { if (tools.containsNamed(name)) return; typedef NamedCreatorMap::const_iterator ConstIt; ConstIt it(namedCreators.find(name)); if (it == namedCreators.end()) return; const CreatorFunc& creatorFunc(it.value()); tools.push_back(creatorFunc(node)); tools.back()->name = name; } //! Print the list of registered classes to stream void NodeToolRegistrar::dump(std::ostream &stream) { for (PidCreatorMap::const_iterator it = pidCreators.begin(); it != pidCreators.end(); ++it) stream << "- " << it->first << "\n"; } NodeToolRegistrer::NodeToolRegistrer() { ProductIds linearCameraPids; linearCameraPids << ASEBA_PID_CHALLENGE << ASEBA_PID_PLAYGROUND_EPUCK << ASEBA_PID_EPUCK << ASEBA_PID_SMARTROB; reg("LinearCameraViewPlugin", linearCameraPids, &createInstance); reg("ThymioVisualProgramming", ASEBA_PID_THYMIO2, &createInstance); #ifdef ASEBA_ENABLE_BLOCKLY_PLUGIN reg("ThymioBlockly", ASEBA_PID_THYMIO2, &createInstance); #endif reg("StopThymioPlugin", ASEBA_PID_THYMIO2, &createInstance); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/PluginRegistry.h000066400000000000000000000044211322771007300207040ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef PLUGIN_REGISTRY_H #define PLUGIN_REGISTRY_H #include #include #include #include #include #include #include #include "../../compiler/compiler.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ class NodeTab; class Target; class TargetVariablesModel; class MainWindow; //! Node tools are available per product id struct NodeToolRegistrar { //! A product ID from Aseba typedef int ProductId; //! A list of product IDs typedef QList ProductIds; //! A function which creates an instance of a node tool typedef NodeToolInterface* (*CreatorFunc)(NodeTab* node); void reg(const QString& name, const ProductIds& pid, const CreatorFunc func); void reg(const QString& name, const ProductId pid, const CreatorFunc func); void update(const ProductId pid, NodeTab* node, NodeToolInterfaces& tools) const; void update(const QString& name, NodeTab* node, NodeToolInterfaces& tools) const; void dump(std::ostream &stream); protected: typedef QPair CreatorFuncNamePair; typedef QMultiMap PidCreatorMap; PidCreatorMap pidCreators; typedef QMap NamedCreatorMap; NamedCreatorMap namedCreators; }; struct NodeToolRegistrer: NodeToolRegistrar { NodeToolRegistrer(); }; static NodeToolRegistrer nodeToolRegistrer; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/StudioAeslEditor.cpp000066400000000000000000000072711322771007300215010ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "StudioAeslEditor.h" #include "MainWindow.h" #include #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ StudioAeslEditor::StudioAeslEditor(const ScriptTab* tab) : tab(tab), dropSourceWidget(0) { } void StudioAeslEditor::dropEvent(QDropEvent *event) { dropSourceWidget = event->source(); QTextEdit::dropEvent(event); dropSourceWidget = 0; setFocus(Qt::MouseFocusReason); } void StudioAeslEditor::insertFromMimeData ( const QMimeData * source ) { QTextCursor cursor(this->textCursor()); // check whether we are at the beginning of a line bool startOfLine(cursor.atBlockStart()); const int posInBlock(cursor.position() - cursor.block().position()); if (!startOfLine && posInBlock) { const QString startText(cursor.block().text().left(posInBlock)); startOfLine = !startText.contains(QRegExp("\\S")); } // if beginning of a line and source widget is known, add some helper text if (dropSourceWidget && startOfLine) { const NodeTab* nodeTab(dynamic_cast(tab)); assert(nodeTab); QString prefix(""); // before the text QString midfix(""); // between the text and the cursor QString postfix(""); // after the curser if (dropSourceWidget == nodeTab->vmFunctionsView) { // inserting function prefix = "call "; midfix = "("; // fill call from doc const TargetDescription *desc = nodeTab->vmFunctionsModel->descriptionRead; const std::wstring funcName = source->text().toStdWString(); for (size_t i = 0; i < desc->nativeFunctions.size(); i++) { const TargetDescription::NativeFunction native(desc->nativeFunctions[i]); if (native.name == funcName) { for (size_t j = 0; j < native.parameters.size(); ++j) { postfix += QString::fromStdWString(native.parameters[j].name); if (j + 1 < native.parameters.size()) postfix += ", "; } break; } } postfix += ")\n"; } else if (dropSourceWidget == nodeTab->vmMemoryView) { const std::wstring varName = source->text().toStdWString(); if (nodeTab->vmMemoryModel->getVariableSize(QString::fromStdWString(varName)) > 1) { midfix = "["; postfix = "] "; } else midfix = " "; } else if (dropSourceWidget == nodeTab->vmLocalEvents) { // inserting local event prefix = "onevent "; midfix = "\n"; } else if (dropSourceWidget == nodeTab->mainWindow->eventsDescriptionsView) { // inserting global event prefix = "onevent "; midfix = "\n"; } cursor.beginEditBlock(); cursor.insertText(prefix + source->text() + midfix); const int pos = cursor.position(); cursor.insertText(postfix); cursor.setPosition(pos); cursor.endEditBlock(); this->setTextCursor(cursor); } else cursor.insertText(source->text()); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/StudioAeslEditor.h000066400000000000000000000024721322771007300211440ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef STUDIO_AESL_EDITOR_H #define STUDIO_AESL_EDITOR_H #include "AeslEditor.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ class ScriptTab; class StudioAeslEditor : public AeslEditor { Q_OBJECT public: StudioAeslEditor(const ScriptTab* tab); protected: virtual void dropEvent(QDropEvent *event); virtual void insertFromMimeData ( const QMimeData * source ); protected: const ScriptTab* tab; QWidget *dropSourceWidget; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/Target.cpp000066400000000000000000000020231322771007300174720ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "Target.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ const QString Target::getName(unsigned node) const { return QString::fromStdWString(getDescription(node)->name); } /*@}*/ } aseba-1.6.0/clients/studio/Target.h000066400000000000000000000134721322771007300171510ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef TARGET_H #define TARGET_H #include #include #include "../../compiler/compiler.h" #include "../../common/msg/msg.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ struct TargetDescription; //! The interface to an aseba network. Used to interact with the nodes /*! The target is responsible for maintaining the state of the network, querying new nodes, etc. */ class Target: public QObject { Q_OBJECT public: //! Mode of execution of target enum ExecutionMode { //! Stop execution EXECUTION_STOP, //! Run the event until a breakpoint or a stop EXECUTION_RUN, //! Wait step command EXECUTION_STEP_BY_STEP, //! Execution mode of target is unknown EXECUTION_UNKNOWN, }; signals: //! A new node has connected to the network. void nodeConnected(unsigned node); //! A node has disconnected from the network. void nodeDisconnected(unsigned node); //! A user event has arrived from the network. void userEvent(unsigned id, const VariablesDataVector data); //! Some user events have been dropped, i.e. not sent to the gui void userEventsDropped(unsigned amount); //! A node did an access out of array bounds exception. void arrayAccessOutOfBounds(unsigned node, unsigned line, unsigned size, unsigned index); //! A node did a division by zero exception. void divisionByZero(unsigned node, unsigned line); //! A new event was run and the current killed on a node void eventExecutionKilled(unsigned node, unsigned line); //! A node has produced an error specific to it void nodeSpecificError(unsigned node, unsigned line, const QString& message); //! The program counter of a node has changed, causing a change of position in source code. void executionPosChanged(unsigned node, unsigned line); //! The mode of execution of a node (stop, run, step by step) has changed. void executionModeChanged(unsigned node, Target::ExecutionMode mode); //! The execution state logic thinks variables might need a refresh void variablesMemoryEstimatedDirty(unsigned node); //! The content of the variables memory of a node has changed. void variablesMemoryChanged(unsigned node, unsigned start, const VariablesDataVector &variables); //! The result of a set breakpoint call void breakpointSetResult(unsigned node, unsigned line, bool success); //! We received an ack from the bootloader void bootloaderAck(BootloaderAck::ErrorCode errorCode, unsigned errorAddress); public: //! Virtual destructor. virtual ~Target() { } public: //! Return the language that we choosen for this connection virtual QString getLanguage() const = 0; //! Return all the nodes virtual QList getNodesList() const = 0; //! Return the name of a node. Returned value is always valid if node exists const QString getName(unsigned node) const; //! Return a constant description of a node. Returned value is always valid if node exists virtual const TargetDescription * const getDescription(unsigned node) const = 0; //! Upload bytecode to target. virtual void uploadBytecode(unsigned node, const BytecodeVector &bytecode) = 0; //! Save the bytecode currently on target virtual void writeBytecode(unsigned node) = 0; //! Reboot (restart the whole microcontroller, not just reset the aseba VM) virtual void reboot(unsigned node) = 0; //! Send an event to the aseba network. virtual void sendEvent(unsigned id, const VariablesDataVector &data) = 0; // variables //! Set part of variables memory virtual void setVariables(unsigned node, unsigned start, const VariablesDataVector &data) = 0; //! Get part of variables memory virtual void getVariables(unsigned node, unsigned start, unsigned length) = 0; // execution //! Reset the execution of a node, do not clear bytecode nor breakpoints virtual void reset(unsigned node) = 0; //! Run the execution on a node. virtual void run(unsigned node) = 0; //! Interrupt (pause, go to step by step) the execution on a node. virtual void pause(unsigned node) = 0; //! Run bytecode on a node until next source line. virtual void next(unsigned node) = 0; //! Stop the execution on a node. virtual void stop(unsigned node) = 0; // breakpoints //! Set a breakpoint in a node at a specific line. virtual void setBreakpoint(unsigned node, unsigned line) = 0; //! Remove the breakpoint in a node at a specific line. virtual void clearBreakpoint(unsigned node, unsigned line) = 0; //! Remove all breakpoints in a node virtual void clearBreakpoints(unsigned node) = 0; protected: friend class ThymioBootloaderDialog; friend class ThymioVisualProgramming; //! Block all write operations, used by invasive plugins when they do something hacky with the underlying data stream virtual void blockWrite() = 0; //! Unblock write operatinos, used by invasive plugins when they do something hacky with the underlying data stream virtual void unblockWrite() = 0; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/TargetModels.cpp000066400000000000000000000454621322771007300206540ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "TargetModels.h" #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ VariableListener::VariableListener(TargetVariablesModel* variablesModel) : variablesModel(variablesModel) { } VariableListener::~VariableListener() { if (variablesModel) variablesModel->unsubscribeViewPlugin(this); } bool VariableListener::subscribeToVariableOfInterest(const QString& name) { return variablesModel->subscribeToVariableOfInterest(this, name); } void VariableListener::unsubscribeToVariableOfInterest(const QString& name) { variablesModel->unsubscribeToVariableOfInterest(this, name); } void VariableListener::unsubscribeToVariablesOfInterest() { variablesModel->unsubscribeToVariablesOfInterest(this); } void VariableListener::invalidateVariableModel() { variablesModel = 0; } TargetVariablesModel::~TargetVariablesModel() { for (VariableListenersNameMap::iterator it = variableListenersMap.begin(); it != variableListenersMap.end(); ++it) { it.key()->invalidateVariableModel(); } } int TargetVariablesModel::rowCount(const QModelIndex &parent) const { if (parent.isValid()) { if (parent.parent().isValid() || (variables.at(parent.row()).value.size() == 1)) return 0; else return variables.at(parent.row()).value.size(); } else return variables.size(); } TargetVariablesModel::TargetVariablesModel(QObject *parent) : QAbstractItemModel(parent) { setSupportedDragActions(Qt::CopyAction); } int TargetVariablesModel::columnCount(const QModelIndex & parent) const { return 2; } QModelIndex TargetVariablesModel::index(int row, int column, const QModelIndex &parent) const { if (parent.isValid()) return createIndex(row, column, parent.row()); else { // top-level indices shall not point outside the variable array if (row < 0 || row >= variables.length()) return QModelIndex(); else return createIndex(row, column, -1); } } QModelIndex TargetVariablesModel::parent(const QModelIndex &index) const { if (index.isValid() && (index.internalId() != -1)) return createIndex(index.internalId(), 0, -1); else return QModelIndex(); } QVariant TargetVariablesModel::data(const QModelIndex &index, int role) const { if (index.parent().isValid()) { if (role != Qt::DisplayRole) return QVariant(); if (index.column() == 0) return index.row(); else return variables.at(index.parent().row()).value[index.row()]; } else { QString name = variables.at(index.row()).name; // hidden variable if ((name.left(1) == "_") || name.contains(QString("._"))) { if (role == Qt::ForegroundRole) return QApplication::palette().color(QPalette::Disabled, QPalette::Text); else if (role == Qt::FontRole) { QFont font; font.setItalic(true); return font; } } if (index.column() == 0) { if (role == Qt::DisplayRole) return name; return QVariant(); } else { if (role == Qt::DisplayRole) { if (variables.at(index.row()).value.size() == 1) return variables.at(index.row()).value[0]; else return QString("(%0)").arg(variables.at(index.row()).value.size()); } else if (role == Qt::ForegroundRole) { if (variables.at(index.row()).value.size() == 1) return QVariant(); else return QApplication::palette().color(QPalette::Disabled, QPalette::Text); } else return QVariant(); } } } QVariant TargetVariablesModel::headerData(int section, Qt::Orientation orientation, int role) const { //Q_UNUSED(section) Q_UNUSED(orientation) Q_UNUSED(role) if (orientation == Qt::Horizontal && role == Qt::DisplayRole) { if (section == 0) return tr("names"); else return tr("values"); } return QVariant(); } Qt::ItemFlags TargetVariablesModel::flags(const QModelIndex &index) const { if (!index.isValid()) return 0; if (index.column() == 1) { if (index.parent().isValid()) return Qt::ItemIsEnabled | Qt::ItemIsEditable | Qt::ItemIsSelectable; else if (variables.at(index.row()).value.size() == 1) return Qt::ItemIsEnabled | Qt::ItemIsEditable | Qt::ItemIsSelectable; else return 0; } else { if (index.parent().isValid()) return Qt::ItemIsEnabled | Qt::ItemIsDragEnabled | Qt::ItemIsSelectable; else return Qt::ItemIsEnabled | Qt::ItemIsDragEnabled | Qt::ItemIsSelectable; } } bool TargetVariablesModel::setData(const QModelIndex &index, const QVariant &value, int role) { if (index.isValid() && role == Qt::EditRole) { if (index.parent().isValid()) { int variableValue; bool ok; variableValue = value.toInt(&ok); Q_ASSERT(ok); variables[index.parent().row()].value[index.row()] = variableValue; emit variableValuesChanged(variables[index.parent().row()].pos + index.row(), VariablesDataVector(1, variableValue)); return true; } else if (variables.at(index.row()).value.size() == 1) { int variableValue; bool ok; variableValue = value.toInt(&ok); Q_ASSERT(ok); variables[index.row()].value[0] = variableValue; emit variableValuesChanged(variables[index.row()].pos, VariablesDataVector(1, variableValue)); return true; } } return false; } QStringList TargetVariablesModel::mimeTypes () const { QStringList types; types << "text/plain"; return types; } QMimeData * TargetVariablesModel::mimeData ( const QModelIndexList & indexes ) const { QString texts; foreach (QModelIndex index, indexes) { if (index.isValid()) { const QString text = data(index, Qt::DisplayRole).toString(); if (index.parent().isValid()) { const QString varName = data(index.parent(), Qt::DisplayRole).toString(); texts += varName + "[" + text + "]"; } else texts += text; } } QMimeData *mimeData = new QMimeData(); mimeData->setText(texts); return mimeData; } unsigned TargetVariablesModel::getVariablePos(const QString& name) const { for (int i = 0; i < variables.size(); ++i) { const Variable& variable(variables[i]); if (variable.name == name) return variable.pos; } return 0; } unsigned TargetVariablesModel::getVariableSize(const QString& name) const { for (int i = 0; i < variables.size(); ++i) { const Variable& variable(variables[i]); if (variable.name == name) return variable.value.size(); } return 0; } VariablesDataVector TargetVariablesModel::getVariableValue(const QString& name) const { for (int i = 0; i < variables.size(); ++i) { const Variable& variable(variables[i]); if (variable.name == name) return variable.value; } return VariablesDataVector(); } void TargetVariablesModel::updateVariablesStructure(const VariablesMap *variablesMap) { // Build a new list of variables QList newVariables; for (VariablesMap::const_iterator it = variablesMap->begin(); it != variablesMap->end(); ++it) { // create new variable Variable var; var.name = QString::fromStdWString(it->first); var.pos = it->second.first; var.value.resize(it->second.second); // find its right place in the array int i; for (i = 0; i < newVariables.size(); ++i) { if (var.pos < newVariables[i].pos) break; } newVariables.insert(i, var); } // compute the difference int i(0); int count(std::min(variables.length(), newVariables.length())); while ( i < count && variables[i].name == newVariables[i].name && variables[i].pos == newVariables[i].pos && variables[i].value.size() == newVariables[i].value.size() ) ++i; // update starting from the first change point //qDebug() << "change from " << i << " to " << variables.length(); if (i != variables.length()) { beginRemoveRows(QModelIndex(), i, variables.length()-1); int removeCount(variables.length() - i); for (int j = 0; j < removeCount; ++j) variables.removeLast(); endRemoveRows(); } //qDebug() << "size: " << variables.length(); if (i != newVariables.length()) { beginInsertRows(QModelIndex(), i, newVariables.length()-1); for (int j = i; j < newVariables.length(); ++j) variables.append(newVariables[j]); endInsertRows(); } /*variables.clear(); for (Compiler::VariablesMap::const_iterator it = variablesMap->begin(); it != variablesMap->end(); ++it) { // create new variable Variable var; var.name = QString::fromStdWString(it->first); var.pos = it->second.first; var.value.resize(it->second.second); // find its right place in the array int i; for (i = 0; i < variables.size(); ++i) { if (var.pos < variables[i].pos) break; } variables.insert(i, var); } reset();*/ } void TargetVariablesModel::setVariablesData(unsigned start, const VariablesDataVector &data) { size_t dataLength = data.size(); for (int i = 0; i < variables.size(); ++i) { Variable &var = variables[i]; int varLen = (int)var.value.size(); int varStart = (int)start - (int)var.pos; int copyLen = (int)dataLength; int copyStart = 0; // crop data before us if (varStart < 0) { copyLen += varStart; copyStart -= varStart; varStart = 0; } // if nothing to copy, continue if (copyLen <= 0) continue; // crop data after us if (varStart + copyLen > varLen) { copyLen = varLen - varStart; } // if nothing to copy, continue if (copyLen <= 0) continue; // copy copy(data.begin() + copyStart, data.begin() + copyStart + copyLen, var.value.begin() + varStart); // notify gui QModelIndex parentIndex = index(i, 0); emit dataChanged(index(varStart, 0, parentIndex), index(varStart + copyLen, 0, parentIndex)); // and notify view plugins for (VariableListenersNameMap::iterator it = variableListenersMap.begin(); it != variableListenersMap.end(); ++it) { QStringList &list = it.value(); for (int v = 0; v < list.size(); v++) { if (list[v] == var.name) it.key()->variableValueUpdated(var.name, var.value); } } } } bool TargetVariablesModel::setVariableValues(const QString& name, const VariablesDataVector& values) { for (int i = 0; i < variables.size(); ++i) { Variable& variable(variables[i]); if (variable.name == name) { // setVariablesData(variable.pos, values); emit variableValuesChanged(variable.pos, values); return true; } } return false; } void TargetVariablesModel::unsubscribeViewPlugin(VariableListener* listener) { variableListenersMap.remove(listener); } bool TargetVariablesModel::subscribeToVariableOfInterest(VariableListener* listener, const QString& name) { QStringList &list = variableListenersMap[listener]; list.push_back(name); for (int i = 0; i < variables.size(); i++) if (variables[i].name == name) return true; return false; } void TargetVariablesModel::unsubscribeToVariableOfInterest(VariableListener* listener, const QString& name) { QStringList &list = variableListenersMap[listener]; list.removeAll(name); } void TargetVariablesModel::unsubscribeToVariablesOfInterest(VariableListener* plugin) { if (variableListenersMap.contains(plugin)) variableListenersMap.remove(plugin); } struct TargetFunctionsModel::TreeItem { TreeItem* parent; QList children; QString name; QString toolTip; bool enabled; bool draggable; TreeItem() : parent(0), name("root"), enabled(true), draggable(false) { } TreeItem(TreeItem* parent, const QString& name, bool enabled, bool draggable) : parent(parent), name(name), enabled(enabled), draggable(draggable) { } TreeItem(TreeItem* parent, const QString& name, const QString& toolTip, bool enabled, bool draggable) : parent(parent), name(name), toolTip(toolTip), enabled(enabled), draggable(draggable) { } ~TreeItem() { for (int i = 0; i < children.size(); i++) delete children[i]; } TreeItem *getEntry(const QString& name, bool enabled = true) { for (int i = 0; i < children.size(); i++) if (children[i]->name == name) return children[i]; children.push_back(new TreeItem(this, name, enabled, draggable)); return children.last(); } }; TargetFunctionsModel::TargetFunctionsModel(const TargetDescription *descriptionRead, bool showHidden, QObject *parent) : QAbstractItemModel(parent), root(0), descriptionRead(descriptionRead), regExp("\\b") { Q_ASSERT(descriptionRead); setSupportedDragActions(Qt::CopyAction); recreateTreeFromDescription(showHidden); } TargetFunctionsModel::~TargetFunctionsModel() { delete root; } TargetFunctionsModel::TreeItem *TargetFunctionsModel::getItem(const QModelIndex &index) const { if (index.isValid()) { TreeItem *item = static_cast(index.internalPointer()); if (item) return item; } return root; } QString TargetFunctionsModel::getToolTip(const TargetDescription::NativeFunction& function) const { // tooltip, display detailed information with pretty print of template parameters QString text; QSet variablesNames; text += QString("%1(").arg(QString::fromStdWString(function.name)); for (size_t i = 0; i < function.parameters.size(); i++) { QString variableName(QString::fromStdWString(function.parameters[i].name)); variablesNames.insert(variableName); text += variableName; if (function.parameters[i].size > 1) text += QString("[%1]").arg(function.parameters[i].size); else if (function.parameters[i].size < 0) { text += QString("[<T%1>]").arg(-function.parameters[i].size); } if (i + 1 < function.parameters.size()) text += QString(", "); } QString description = QString::fromStdWString(function.description); QStringList descriptionWords = description.split(regExp); for (int i = 0; i < descriptionWords.size(); ++i) if (variablesNames.contains(descriptionWords.at(i))) descriptionWords[i] = QString("%1").arg(descriptionWords[i]); text += QString(")
") + descriptionWords.join(" "); return text; } int TargetFunctionsModel::rowCount(const QModelIndex & parent) const { return getItem(parent)->children.count(); } int TargetFunctionsModel::columnCount(const QModelIndex & /* parent */) const { return 1; } void TargetFunctionsModel::recreateTreeFromDescription(bool showHidden) { beginResetModel(); if (root) delete root; root = new TreeItem; if (showHidden) root->getEntry(tr("hidden"), false); for (size_t i = 0; i < descriptionRead->nativeFunctions.size(); i++) { // get the name, split it, and managed hidden QString name = QString::fromStdWString(descriptionRead->nativeFunctions[i].name); QStringList splittedName = name.split(".", QString::SkipEmptyParts); // ignore functions with no name at all if (splittedName.isEmpty()) continue; // get first, check whether hidden, and then iterate TreeItem* entry = root; Q_ASSERT(!splittedName[0].isEmpty()); if (name.at(0) == '_' || name.contains(QString("._"))) { if (!showHidden) continue; entry = entry->getEntry(tr("hidden"), false); } for (int j = 0; j < splittedName.size() - 1; ++j) entry = entry->getEntry(splittedName[j], entry->enabled); // for last entry entry->children.push_back(new TreeItem(entry, name, getToolTip(descriptionRead->nativeFunctions[i]), entry->enabled, true)); } endResetModel(); } QModelIndex TargetFunctionsModel::parent(const QModelIndex &index) const { if (!index.isValid()) return QModelIndex(); TreeItem *childItem = getItem(index); TreeItem *parentItem = childItem->parent; if (parentItem == root) return QModelIndex(); if (parentItem->parent) return createIndex(parentItem->parent->children.indexOf(const_cast(parentItem)), 0, parentItem); else return createIndex(0, 0, parentItem); } QModelIndex TargetFunctionsModel::index(int row, int column, const QModelIndex &parent) const { TreeItem *parentItem = getItem(parent); TreeItem *childItem = parentItem->children.value(row); Q_ASSERT(childItem); if (childItem) return createIndex(row, column, childItem); else return QModelIndex(); } QVariant TargetFunctionsModel::data(const QModelIndex &index, int role) const { if (!index.isValid() || (role != Qt::DisplayRole && role != Qt::ToolTipRole && role != Qt::WhatsThisRole)) return QVariant(); if (role == Qt::DisplayRole) { return getItem(index)->name; } else { return getItem(index)->toolTip; } } QVariant TargetFunctionsModel::headerData(int section, Qt::Orientation orientation, int role) const { Q_UNUSED(section) Q_UNUSED(orientation) Q_UNUSED(role) return QVariant(); } Qt::ItemFlags TargetFunctionsModel::flags(const QModelIndex & index) const { TreeItem *item = static_cast(index.internalPointer()); if (item) { QFlags flags; flags |= item->enabled ? Qt::ItemIsEnabled : QFlags(); flags |= item->draggable ? Qt::ItemIsDragEnabled | Qt::ItemIsSelectable : QFlags(); return flags; } else return Qt::ItemIsEnabled; } QStringList TargetFunctionsModel::mimeTypes () const { QStringList types; types << "text/plain"; return types; } QMimeData * TargetFunctionsModel::mimeData ( const QModelIndexList & indexes ) const { QString texts; foreach (QModelIndex index, indexes) { if (index.isValid()) { QString text = data(index, Qt::DisplayRole).toString(); texts += text; } } QMimeData *mimeData = new QMimeData(); mimeData->setText(texts); return mimeData; } TargetSubroutinesModel::TargetSubroutinesModel(QObject * parent): QStringListModel(parent) {} void TargetSubroutinesModel::updateSubroutineTable(const Compiler::SubroutineTable& subroutineTable) { QStringList subroutineNames; for (Compiler::SubroutineTable::const_iterator it = subroutineTable.begin(); it != subroutineTable.end(); ++it) subroutineNames.push_back(QString::fromStdWString(it->name)); setStringList(subroutineNames); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/TargetModels.h000066400000000000000000000136061322771007300203140ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef TARGET_MODELS_H #define TARGET_MODELS_H #include #include #include #include #include #include #include #include #include "../../common/msg/msg.h" #include "../../compiler/compiler.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ struct TargetDescription; class TargetVariablesModel; //! Classes that want to listen to variable changes should inherit from this class class VariableListener { protected: TargetVariablesModel *variablesModel; public: VariableListener(TargetVariablesModel* variablesModel); virtual ~VariableListener(); bool subscribeToVariableOfInterest(const QString& name); void unsubscribeToVariableOfInterest(const QString& name); void unsubscribeToVariablesOfInterest(); void invalidateVariableModel(); protected: friend class TargetVariablesModel; //! New values are available for a variable this plugin is interested in virtual void variableValueUpdated(const QString& name, const VariablesDataVector& values) = 0; }; class TargetVariablesModel: public QAbstractItemModel { Q_OBJECT // FIXME: uses map for fast variable access public: // variables struct Variable { QString name; unsigned pos; VariablesDataVector value; }; public: TargetVariablesModel(QObject *parent = 0); virtual ~TargetVariablesModel(); int rowCount(const QModelIndex &parent = QModelIndex()) const; int columnCount(const QModelIndex &parent = QModelIndex()) const; QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const; QModelIndex parent(const QModelIndex &index) const; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const; Qt::ItemFlags flags(const QModelIndex & index) const; bool setData(const QModelIndex &index, const QVariant &value, int role); QStringList mimeTypes () const; QMimeData * mimeData ( const QModelIndexList & indexes ) const; const QList& getVariables() const { return variables; } unsigned getVariablePos(const QString& name) const; unsigned getVariableSize(const QString& name) const; VariablesDataVector getVariableValue(const QString& name) const; public slots: void updateVariablesStructure(const VariablesMap *variablesMap); void setVariablesData(unsigned start, const VariablesDataVector &data); bool setVariableValues(const QString& name, const VariablesDataVector& values); signals: //! Emitted on setData, when the user change the data, not when nodes have sent updated variables void variableValuesChanged(unsigned index, const VariablesDataVector &values); private: friend class VariableListener; // VariableListener API //! Unsubscribe the plugin from any variables it is listening to void unsubscribeViewPlugin(VariableListener* plugin); //! Subscribe to a variable of interest, return true if variable exists, false otherwise bool subscribeToVariableOfInterest(VariableListener* plugin, const QString& name); //! Unsubscribe to a variable of interest void unsubscribeToVariableOfInterest(VariableListener* plugin, const QString& name); //! Unsubscribe to all variables of interest for a given plugin void unsubscribeToVariablesOfInterest(VariableListener* plugin); private: QList variables; // VariablesViewPlugin API typedef QMap VariableListenersNameMap; VariableListenersNameMap variableListenersMap; }; class TargetFunctionsModel: public QAbstractItemModel { Q_OBJECT public: struct TreeItem; public: TargetFunctionsModel(const TargetDescription *descriptionRead, bool showHidden, QObject *parent = 0); ~TargetFunctionsModel(); int rowCount(const QModelIndex &parent = QModelIndex()) const; int columnCount(const QModelIndex &parent = QModelIndex()) const; QModelIndex parent(const QModelIndex &index) const; QModelIndex index(int row, int column, const QModelIndex &parent) const; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const; Qt::ItemFlags flags(const QModelIndex & index) const; QStringList mimeTypes () const; QMimeData * mimeData ( const QModelIndexList & indexes ) const; public slots: void recreateTreeFromDescription(bool showHidden); private: friend class AeslEditor; friend class StudioAeslEditor; TreeItem *getItem(const QModelIndex &index) const; QString getToolTip(const TargetDescription::NativeFunction& function) const; TreeItem* root; //!< root of functions description tree const TargetDescription *descriptionRead; //!< description for read access QRegExp regExp; }; class TargetSubroutinesModel: public QStringListModel { public: TargetSubroutinesModel(QObject * parent = 0); void updateSubroutineTable(const Compiler::SubroutineTable& subroutineTable); }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/ThymioVPLStandalone.cpp000066400000000000000000000411201322771007300221110ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "ThymioVPLStandalone.h" #include "AeslEditor.h" #include "plugins/ThymioVPL/ThymioVisualProgramming.h" #include "../../common/consts.h" #include "../../common/productids.h" #include "translations/CompilerTranslator.h" #include #include #include #include #include #include #include #include namespace Aseba { /** \addtogroup studio */ /*@{*/ using namespace ThymioVPL; using namespace std; ThymioVPLStandaloneInterface::ThymioVPLStandaloneInterface(ThymioVPLStandalone* vplStandalone): vplStandalone(vplStandalone) { }; Target* ThymioVPLStandaloneInterface::getTarget() { return vplStandalone->target.get(); } unsigned ThymioVPLStandaloneInterface::getNodeId() const { return vplStandalone->id; } unsigned ThymioVPLStandaloneInterface::getProductId() const { return ASEBA_PID_THYMIO2; } void ThymioVPLStandaloneInterface::setCommonDefinitions(const CommonDefinitions& commonDefinitions) { // ignore this for VPL Standalone, as it is done once in the main app } void ThymioVPLStandaloneInterface::displayCode(const QList& code, int elementToHighlight) { vplStandalone->editor->replaceAndHighlightCode(code, elementToHighlight); } void ThymioVPLStandaloneInterface::loadAndRun() { getTarget()->uploadBytecode(vplStandalone->id, vplStandalone->bytecode); getTarget()->run(vplStandalone->id); } void ThymioVPLStandaloneInterface::stop() { getTarget()->stop(vplStandalone->id); } TargetVariablesModel * ThymioVPLStandaloneInterface::getVariablesModel() { return vplStandalone->variablesModel; } void ThymioVPLStandaloneInterface::setVariableValues(unsigned addr, const VariablesDataVector &data) { getTarget()->setVariables(vplStandalone->id, addr, data); } bool ThymioVPLStandaloneInterface::saveFile(bool as) { return vplStandalone->saveFile(as); } void ThymioVPLStandaloneInterface::openFile() { vplStandalone->openFile(); } bool ThymioVPLStandaloneInterface::newFile() { Q_ASSERT(vplStandalone->vpl); if (vplStandalone->vpl->preDiscardWarningDialog(false)) { vplStandalone->fileName = ""; return true; } return false; } void ThymioVPLStandaloneInterface::clearOpenedFileName(bool isModified) { Q_UNUSED(isModified); // do nothing } QString ThymioVPLStandaloneInterface::openedFileName() const { return vplStandalone->fileName; } ////// ThymioVPLStandalone::ThymioVPLStandalone(QVector translators, const QString& commandLineTarget, bool useAnyTarget, bool debugLog, bool execFeedback): VariableListener(new TargetVariablesModel(this)), // create target target(new DashelTarget(translators, commandLineTarget)), // options useAnyTarget(useAnyTarget), debugLog(debugLog), execFeedback(execFeedback), // setup initial values id(0), vpl(0), allocatedVariablesCount(0) { subscribeToVariableOfInterest(ASEBA_PID_VAR_NAME); // create gui setupWidgets(); setupConnections(); setWindowIcon(QIcon(":/images/icons/thymiovpl.svgz")); // resize if not android #ifndef ANDROID resize(1000,700); #endif // ANDROID } ThymioVPLStandalone::~ThymioVPLStandalone() { // delete variablesModel from VariableListener and set it to 0 to prevent double deletion delete variablesModel; variablesModel = 0; } void ThymioVPLStandalone::setupWidgets() { // VPL part updateWindowTitle(false); vplLayout = new QVBoxLayout; #ifdef Q_WS_MACX vplLayout->setContentsMargins(0,0,0,0); #endif // Q_WS_MACX disconnectedMessage = new QLabel(tr("Connecting to Thymio...")); disconnectedMessage->setAlignment(Qt::AlignCenter); disconnectedMessage->setWordWrap(true); vplLayout->addWidget(disconnectedMessage); QWidget* vplContainer = new QWidget; vplContainer->setLayout(vplLayout); addWidget(vplContainer); // editor part editor = new AeslEditor; editor->setReadOnly(true); #ifdef ANDROID editor->setTextInteractionFlags(Qt::NoTextInteraction); editor->setStyleSheet( "QTextEdit { font-size: 10pt; font-family: \"Courrier\" }" ); editor->setTabStopWidth(QFontMetrics(editor->font()).width(' ')); #endif // ANDROID new AeslHighlighter(editor, editor->document()); /*QVBoxLayout* layout = new QVBoxLayout; layout->addWidget(editor, 1); const QString text = tr("Aseba ver. %0 (build %1/protocol %2); Dashel ver. %3"). arg(ASEBA_VERSION). arg(ASEBA_BUILD_VERSION). arg(ASEBA_PROTOCOL_VERSION). arg(DASHEL_VERSION); QLabel* label(new QLabel(text)); label->setWordWrap(true); label->setStyleSheet("QLabel { font-size: 8pt; }"); layout->addWidget(label); QWidget* textWidget = new QWidget; textWidget->setLayout(layout);*/ addWidget(editor); // shortcut QShortcut * shwHide = new QShortcut(QKeySequence("Ctrl+f"), this); connect(shwHide, SIGNAL(activated()), SLOT(toggleFullScreen())); } void ThymioVPLStandalone::setupConnections() { // editor connect(editor, SIGNAL(textChanged()), SLOT(editorContentChanged())); // target events connect(target.get(), SIGNAL(nodeConnected(unsigned)), SLOT(nodeConnected(unsigned))); connect(target.get(), SIGNAL(nodeDisconnected(unsigned)), SLOT(nodeDisconnected(unsigned))); // right now, we ignore errors /*connect(target, SIGNAL(arrayAccessOutOfBounds(unsigned, unsigned, unsigned, unsigned)), SLOT(arrayAccessOutOfBounds(unsigned, unsigned, unsigned, unsigned))); connect(target, SIGNAL(divisionByZero(unsigned, unsigned)), SLOT(divisionByZero(unsigned, unsigned))); connect(target, SIGNAL(eventExecutionKilled(unsigned, unsigned)), SLOT(eventExecutionKilled(unsigned, unsigned))); connect(target, SIGNAL(nodeSpecificError(unsigned, unsigned, QString)), SLOT(nodeSpecificError(unsigned, unsigned, QString))); */ connect(target.get(), SIGNAL(variablesMemoryEstimatedDirty(unsigned)), SLOT(variablesMemoryEstimatedDirty(unsigned))); connect(target.get(), SIGNAL(variablesMemoryChanged(unsigned, unsigned, const VariablesDataVector &)), SLOT(variablesMemoryChanged(unsigned, unsigned, const VariablesDataVector &))); } void ThymioVPLStandalone::resizeEvent( QResizeEvent *event ) { if (event->size().height() > event->size().width()) setOrientation(Qt::Vertical); else setOrientation(Qt::Horizontal); QSplitter::resizeEvent(event); //resetSizes(); } void ThymioVPLStandalone::resetSizes() { // make sure that VPL is larger than the editor QList sizes; if (orientation() == Qt::Vertical) { sizes.push_back((height() * 5) / 7); sizes.push_back((height() * 2) / 7); } else { sizes.push_back((width() * 2) / 3); sizes.push_back((width() * 1) / 3); } setSizes(sizes); } //! The content of a variable has changed void ThymioVPLStandalone::variableValueUpdated(const QString& name, const VariablesDataVector& values) { // we do not perform this check if we are forced to use any target if (useAnyTarget) return; if ((name == ASEBA_PID_VAR_NAME) && (values.size() >= 1)) { // make sure that pid is ASEBA_PID_THYMIO2, otherwise print an error and quit if (values[0] != ASEBA_PID_THYMIO2) { QMessageBox::critical(this, tr("Thymio VPL Error"), tr("You need to connect a Thymio II to use this application.") ); close(); } } } //! Received a close event, forward to VPL void ThymioVPLStandalone::closeEvent ( QCloseEvent * event ) { if (vpl && !vpl->closeFile()) event->ignore(); } //! Save a minimal but valid aesl file bool ThymioVPLStandalone::saveFile(bool as) { QSettings settings; // we need a valid VPL to save something if (!vpl) return false; // open file if (as || fileName.isEmpty()) { if (fileName.isEmpty()) { // get last file name #ifdef ANDROID fileName = settings.value("ThymioVPLStandalone/fileName", "/sdcard/").toString(); #else // ANDROID fileName = settings.value("ThymioVPLStandalone/fileName", QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation)).toString(); #endif // ANDROID // keep only the path of the directory fileName = QFileInfo(fileName).dir().path(); } fileName = QFileDialog::getSaveFileName(0, tr("Save Script"), fileName, "Aseba scripts (*.aesl)"); } if (fileName.isEmpty()) return false; if (fileName.lastIndexOf(".") < 0) fileName += ".aesl"; QFile file(fileName); if (!file.open(QFile::WriteOnly | QFile::Truncate)) return false; // save file name to settings settings.setValue("ThymioVPLStandalone/fileName", fileName); // initiate DOM tree QDomDocument document("aesl-source"); QDomElement root = document.createElement("network"); document.appendChild(root); // add a node for VPL QDomElement element = document.createElement("node"); element.setAttribute("name", target->getName(id)); element.setAttribute("nodeId", id); element.appendChild(document.createTextNode(editor->toPlainText())); QDomDocument vplDocument(vpl->saveToDom()); if (!vplDocument.isNull()) { QDomElement plugins = document.createElement("toolsPlugins"); QDomElement plugin(document.createElement("ThymioVisualProgramming")); plugin.appendChild(document.importNode(vplDocument.documentElement(), true)); plugins.appendChild(plugin); element.appendChild(plugins); } root.appendChild(element); QTextStream out(&file); document.save(out, 0); return true; } //! Load a aesl file void ThymioVPLStandalone::openFile() { // we need a valid VPL to save something if (!vpl) return; // ask user to save existing changes if (!vpl->preDiscardWarningDialog(false)) return; QString dir; if (fileName.isEmpty()) { QSettings settings; #ifdef ANDROID dir = settings.value("ThymioVPLStandalone/fileName", "/sdcard/").toString(); #else // ANDROID dir = settings.value("ThymioVPLStandalone/fileName", QDesktopServices::displayName(QDesktopServices::DocumentsLocation)).toString(); #endif // ANDROID } else dir = fileName; // get file name const QString newFileName(QFileDialog::getOpenFileName(0, tr("Open Script"), dir, "Aseba scripts (*.aesl)")); QFile file(newFileName); if (!file.open(QFile::ReadOnly)) return; // open DOM document QDomDocument document("aesl-source"); QString errorMsg; int errorLine; int errorColumn; if (document.setContent(&file, false, &errorMsg, &errorLine, &errorColumn)) { // load Thymio node data bool dataLoaded(false); QDomNode domNode = document.documentElement().firstChild(); while (!domNode.isNull()) { // if the element is a node if (domNode.isElement()) { QDomElement element = domNode.toElement(); if (element.tagName() == "node") { // if node corresponds to the connected robot if ((element.attribute("name") == target->getName(id)) && ((element.attribute("nodeId").toUInt() == id) || (target->getNodesList().size() == 1)) ) { // restore VPL QDomElement toolsPlugins(element.firstChildElement("toolsPlugins")); QDomElement toolPlugin(toolsPlugins.firstChildElement()); while (!toolPlugin.isNull()) { // if VPL found if (toolPlugin.nodeName() == "ThymioVisualProgramming") { // restore VPL data QDomDocument pluginDataDocument("tool-plugin-data"); pluginDataDocument.appendChild(pluginDataDocument.importNode(toolPlugin.firstChildElement(), true)); vpl->loadFromDom(pluginDataDocument, true); dataLoaded = true; break; } toolPlugin = toolPlugin.nextSiblingElement(); } } } } domNode = domNode.nextSibling(); } // check whether we did load data if (dataLoaded) { fileName = newFileName; QSettings().setValue("ThymioVPLStandalone/fileName", fileName); updateWindowTitle(vpl->isModified()); } else { QMessageBox::warning(this, tr("Loading"), tr("No Thymio VPL data were found in the script file, file ignored.") ); } } else { QMessageBox::warning(this, tr("Loading"), tr("Error in XML source file: %0 at line %1, column %2").arg(errorMsg).arg(errorLine).arg(errorColumn) ); } file.close(); } //! The content of the editor was changed by VPL, recompile void ThymioVPLStandalone::editorContentChanged() { const TargetDescription* targetDescription(target->getDescription(id)); if (targetDescription) { CommonDefinitions commonDefinitions; commonDefinitions.events.push_back(NamedValue(L"pair_run", 1)); commonDefinitions.events.push_back(NamedValue(L"debug_log", 14)); Compiler compiler; compiler.setTargetDescription(target->getDescription(id)); compiler.setTranslateCallback(CompilerTranslator::translate); compiler.setCommonDefinitions(&commonDefinitions); std::wistringstream is(editor->toPlainText().toStdWString()); Aseba::Error error; const bool success = compiler.compile(is, bytecode, allocatedVariablesCount, error); if (success) { variablesModel->updateVariablesStructure(compiler.getVariablesMap()); } else { wcerr << "AESL Compilation error: " << error.toWString() << endl; } } } //! A new node has connected to the network. void ThymioVPLStandalone::nodeConnected(unsigned node) { // only allow a single node connected at a given time if (vpl) { QMessageBox::critical( this, tr("Thymio VPL Error"), tr("This application only supports a single robot at a time.") ); close(); return; } // hide the disconnected message disconnectedMessage->hide(); disconnectedMessage->setText(tr("Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle")); // save node information id = node; // create the VPL widget and add it vpl = new ThymioVisualProgramming(new ThymioVPLStandaloneInterface(this), false, debugLog, execFeedback); vplLayout->addWidget(vpl); // connect callbacks connect(vpl, SIGNAL(modifiedStatusChanged(bool)), SLOT(updateWindowTitle(bool))); connect(vpl, SIGNAL(compilationOutcome(bool)), editor, SLOT(setEnabled(bool))); // reload data if (!savedContent.isNull()) vpl->loadFromDom(savedContent, false); // reset sizes resetSizes(); // do a first compilation editorContentChanged(); // read variables once to get PID target->getVariables(id, 0, allocatedVariablesCount); } //! A node has disconnected from the network. void ThymioVPLStandalone::nodeDisconnected(unsigned node) { if (vpl && (node == id)) { savedContent = vpl->saveToDom(); vplLayout->removeWidget(vpl); // explicitely set no parent to avoid crash on Windows vpl->setParent(0); delete vpl; //vpl->deleteLater(); vpl = 0; disconnectedMessage->show(); } } //! The execution state logic thinks variables might need a refresh void ThymioVPLStandalone::variablesMemoryEstimatedDirty(unsigned node) { if (node == id) target->getVariables(id, 0, allocatedVariablesCount); } //! Content of target memory has changed void ThymioVPLStandalone::variablesMemoryChanged(unsigned node, unsigned start, const VariablesDataVector &variables) { // update variables model if (node == id) variablesModel->setVariablesData(start, variables); } //! Update the window title with filename and modification status void ThymioVPLStandalone::updateWindowTitle(bool modified) { QString modifiedText; if (modified) modifiedText = tr("[modified] "); QString docName(tr("Untitled")); if (!fileName.isEmpty()) docName = fileName.mid(fileName.lastIndexOf("/") + 1); setWindowTitle(tr("%0 %1- Thymio Visual Programming Language - ver. %2").arg(docName).arg(modifiedText).arg(ASEBA_VERSION)); } //! Toggle on/off full screen void ThymioVPLStandalone::toggleFullScreen() { if (isFullScreen()) showNormal(); else showFullScreen(); } /*@}*/ } // namespace Aseba aseba-1.6.0/clients/studio/ThymioVPLStandalone.h000066400000000000000000000076141322771007300215700ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef THYMIO_VPL_STANDALONE_H #define THYMIO_VPL_STANDALONE_H #include "Plugin.h" #include "Target.h" #include "TargetModels.h" #include class QTranslator; class QVBoxLayout; namespace Aseba { /** \addtogroup studio */ /*@{*/ class ThymioVPLStandalone; struct ThymioVPLStandaloneInterface: DevelopmentEnvironmentInterface { ThymioVPLStandaloneInterface(ThymioVPLStandalone* vplStandalone); Target * getTarget(); unsigned getNodeId() const; unsigned getProductId() const; void setCommonDefinitions(const CommonDefinitions& commonDefinitions); void displayCode(const QList& code, int line); void loadAndRun(); void stop(); TargetVariablesModel * getVariablesModel(); void setVariableValues(unsigned, const VariablesDataVector &); bool saveFile(bool as=false); void openFile(); bool newFile(); void clearOpenedFileName(bool isModified); QString openedFileName() const; private: ThymioVPLStandalone* vplStandalone; }; namespace ThymioVPL { class ThymioVisualProgramming; } class AeslEditor; //! Container for VPL standalone and its code viewer class ThymioVPLStandalone: public QSplitter, public VariableListener { Q_OBJECT public: ThymioVPLStandalone(QVector translators, const QString& commandLineTarget, bool useAnyTarget, bool debugLog, bool execFeedback); ~ThymioVPLStandalone(); protected: void setupWidgets(); void setupConnections(); void resizeEvent( QResizeEvent *event ); void resetSizes(); void variableValueUpdated(const QString& name, const VariablesDataVector& values); void closeEvent ( QCloseEvent * event ); bool saveFile(bool as); void openFile(); protected slots: void editorContentChanged(); void nodeConnected(unsigned node); void nodeDisconnected(unsigned node); void variablesMemoryEstimatedDirty(unsigned node); void variablesMemoryChanged(unsigned node, unsigned start, const VariablesDataVector &variables); void updateWindowTitle(bool modified); void toggleFullScreen(); protected: friend struct ThymioVPLStandaloneInterface; std::unique_ptr target; //!< pointer to target const bool useAnyTarget; //!< if true, allow to connect to non-Thymoi II targets const bool debugLog; //!< if true, generate debug log events const bool execFeedback; //!< if true, blink executed events, imples debugLog = true unsigned id; //!< node identifier QLayout* vplLayout; //!< layout to add/remove VPL to/from ThymioVPL::ThymioVisualProgramming* vpl; //!< VPL widget QLabel* disconnectedMessage; //!< message for VPL area when disconnected QDomDocument savedContent; //!< saved VPL content across disconnections AeslEditor* editor; //! viewer of code produced by VPL BytecodeVector bytecode; //!< bytecode resulting of last successfull compilation unsigned allocatedVariablesCount; //!< number of allocated variables int getDescriptionTimer; //!< timer to periodically get description after a reconnection QString fileName; //!< file name of last saved/opened file }; /*@}*/ } // namespace Aseba #endif // THYMIO_VPL_STANDALONE_H aseba-1.6.0/clients/studio/aseba-doc.qhcp000066400000000000000000000011311322771007300202320ustar00rootroot00000000000000 Aseba Aseba/Aseba qthelp://aseba.main/doc/doc/en_asebausermanual.html About Aseba false true true aseba-doc.qch aseba-1.6.0/clients/studio/aseba-doc.qhp000066400000000000000000000535751322771007300201120ustar00rootroot00000000000000 aseba.main doc lang-fr lang-en lang-de lang-it lang-es lang-fr
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«Å^^÷ ±\‡6 ³ayL Àäkõ Àä}( ÷N.‹l âB–ï 4¤Y GnŽ ¸em· GÕ¦ 5ËîS} AÃtÅ BtÉ K`”Î RV®eµ `•2 ] aËî8« h9>Ž› s©Î2 „ê²*© •Ò¬// ›GŽê ºïs0Ÿ Ê£õÕ ÛÁuvI àe¿\f ä"d'À ñÔþ,à ü4Ü…| ¨ÚaF s®, Ì {°`% ]:†Ç m£è õ$ I—ÎR’ }Ñ)# ƒÈôfa †ã2× ‰PnA ‰Pƒ ÄÈ<¾ ìRb‡Š×.4 Cbh e0JDž_ÒO@ Š] >I‡†¢#qí\tEyòl^ö÷­i#ßú.:‚D•B— ÖÓ¤ù45¤D@®T®Y¾";åY¾"ŠyGŽ4­üPVd­üPŒ¶D´&~ÑßtXs×y>4.Ú{?·æ–~-i—«0Alle Haltepunkte löschenClear all breakpointsAseba::AeslEditor$Haltepunkt löschenClear breakpointAseba::AeslEditor"Haltepunkt setzenSet breakpointAseba::AeslEditorZAseba Studio: Ausgabe der letzten Übersetzung(Aseba Studio: Output of last compilationAseba::CompilationLogDialog8Aseba Studio - EinstellungenAseba Studio - SettingsAseba::ConfigDialogAbbrechenCancelAseba::ConfigDialog EditorEditorAseba::ConfigDialogAllgemeinGeneralAseba::ConfigDialogOKOkAseba::ConfigDialogFKonstante %0 ist bereits definiert.Constant %0 is already defined.Aseba::ConstantsModel6Konstante bereits definiertConstant already definedAseba::ConstantsModelÀDer Name <tt>%0</tt> kann nicht als Konstante benutzt werden, da dies ein reserviertes Wort ist.TThe name %0 cannot be used as a constant, because it is a language keyword.Aseba::ConstantsModel4Name ist ein SchlüsselwortThe name is a keywordAseba::ConstantsModel - Gerät %1 – device %1Aseba::DashelConnectionDialog - Typ %1 – type %1Aseba::DashelConnectionDialog(Aseba-Ziel auswählenAseba Target SelectionAseba::DashelConnectionDialogAbbrechenCancelAseba::DashelConnectionDialogVerbindenConnectAseba::DashelConnectionDialog"Entdeckte TargetsDiscovered targetsAseba::DashelConnectionDialogDokumetation DocumentationAseba::DashelConnectionDialogSpracheLanguageAseba::DashelConnectionDialoglokales TCP Local TCPAseba::DashelConnectionDialog Gewähltes TargetSelected targetAseba::DashelConnectionDialog,Serielle Schnittstelle Serial portAseba::DashelConnectionDialogTCPTCPAseba::DashelConnectionDialog.auf entferntem Netzwerkdistant on networkAseba::DashelConnectionDialog(auf lokalem Computerlocal on computerAseba::DashelConnectionDialog>Serielle Schnittstelle oder USBserial port or USBAseba::DashelConnectionDialog€<p><b>Kann Thymio nicht finden!</b></p><p>Schließen Sie einen Thymio über das USB-Kabel/Dongle an Ihren Computer an und stellen Sie sicher, dass kein anderes Programm den Thymio verwendet.</p>•

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

Aseba::DashelInterface@Kann nicht mit Ziel %0 verbindenCannot connect to target %0Aseba::DashelInterfacefVerbindung zu Ziel der Kommandozeile fehlgeschlagen(Connection to command line target failedAseba::DashelInterface*Thymio nicht gefundenThymio not foundAseba::DashelInterface,Auto-VervollständigungAutocompletionAseba::EditorPage(Editor-Einstellungen Editor SetupAseba::EditorPageSchlüsselwörterKeywordsAseba::EditorPage&Löschen&ClearAseba::EventViewer &Pause&PauseAseba::EventViewer&Aufnahme&RecordAseba::EventViewerAngehalten... Paused...Aseba::EventViewerAufnahme... Recording...Aseba::EventViewer&Speichern &unter... Save &As...Aseba::EventViewer:Plot-Daten in Datei speichernSave plot data to fileAseba::EventViewerZeit (Sekunden)Time (seconds)Aseba::EventViewer WerteValuesAseba::EventViewerZeit&fenster: time &window:Aseba::EventViewerFG&roß- und-Kleinschreibung beachten&Case sensitiveAseba::FindDialog.Suc&he nächsten Treffer &Find NextAseba::FindDialog&Ersetzen&ReplaceAseba::FindDialog&Suchen nach: &Search for:Aseba::FindDialog"Nur &ganze Wörter &Whole wordsAseba::FindDialogDAseba Studio - Suchen und Ersetzen!Aseba Studio - Search and ReplaceAseba::FindDialogBGanzes Dokument wurde durchsucht!End of document reached!Aseba::FindDialog2Suche vorherigen &TrefferFind &PreviousAseba::FindDialog"Suche v&on AnfangFind from &TopAseba::FindDialog&Regu&lärer AusdruckRe&gular expressionsAseba::FindDialog&Alles ersetzenReplace &All OccurrencesAseba::FindDialogJErsetzen und &nächsten Treffer suchenReplace and Find &NextAseba::FindDialogNErsetzen und &vorherigen Treffer suchenReplace and Find Previo&usAseba::FindDialogdu&rch:w&ith:Aseba::FindDialog0Allgemeine Einstellungen General SetupAseba::GeneralPage LayoutLayoutAseba::GeneralPage:Versteckte Variablen anzeigenShow hidden variablesAseba::GeneralPageFSchlüsselwort-Symbolleiste anzeigenShow keyword toolbarAseba::GeneralPage,Zeilennummern anzeigenShow line numbersAseba::GeneralPage0Speichernutzung anzeigenShow memory usageAseba::GeneralPage$Aseba Studio HilfeAseba Studio HelpAseba::HelpViewer2Hilfedatei nicht gefundenHelp file not foundAseba::HelpViewer AnfangHomeAseba::HelpViewerVorwärtsNextAseba::HelpViewer ZurückPreviousAseba::HelpViewer®Die Hilfedatei %0 wurde nicht geladen. Der Fehler war: %1. Die Hilfedatei sollte sich im temporären Verzeichnis Ihres Systems befinden. Bitte überprüfen Sie Ihre Installation und senden Sie ggf. einen Fehlerbericht.½The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug.Aseba::HelpViewerpDer Hilfefilter für die Sprache "%0" wurde nicht gefunden. Greife auf die Standardsprache (%1) zurück. Dies ist wahrscheinlich ein Programmfehler, senden Sie bitte einen Fehlerbericht.ŽThe help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it.Aseba::HelpViewer~Plugin für Zeilenkamera-Ansicht kann nicht initialisiert werden+Cannot initialize linear camera view pluginAseba::LinearCameraViewPlugin>Plugin für Zeilenkamera-AnsichtLinear Camera View PluginAseba::LinearCameraViewPluginxEine oder mehrere Variablen nicht gefunden in %1,%2 oder %3.0One or more variable not found in %1, %2, or %3.Aseba::LinearCameraViewPlugin(Zeilenkamera-Ansichtlinear camera viewerAseba::LinearCameraViewPlugin*8-Bit-Bereich (0 255)8 bits range (0–255)&Aseba::LinearCameraViewVariablesDialog>Plugin für Zeilenkamera-AnsichtLinear Camera View Plugin&Aseba::LinearCameraViewVariablesDialogOKOk&Aseba::LinearCameraViewVariablesDialog>Wählen Sie bitte Ihre VariablenPlease choose your variables&Aseba::LinearCameraViewVariablesDialogAuto-Bereich auto range&Aseba::LinearCameraViewVariablesDialogBlau-Anteilblue component&Aseba::LinearCameraViewVariablesDialogGrün-Anteilgreen component&Aseba::LinearCameraViewVariablesDialog.Prozent-Bereich (0 100)percent range (0–100)&Aseba::LinearCameraViewVariablesDialogWertebereichrange of values&Aseba::LinearCameraViewVariablesDialogRot-Anteil red component&Aseba::LinearCameraViewVariablesDialog Ereignis %0:  event %0 : Aseba::MainWindow$ (nicht verfügbar) (not available)Aseba::MainWindow&%0 %1- Aseba Studio%0 %1- Aseba StudioAseba::MainWindow2%0 auf Netzwerkelement %1 %0 on node %1Aseba::MainWindow¤%0 Skripte haben kein korrespondierendes Netzwerkelement und wurden nicht geladen.W%0 scripts have no corresponding nodes in the current network and have not been loaded.Aseba::MainWindow%0:%1: %2 %0:%1: %2Aseba::MainWindowÜ&ber... &About...Aseba::MainWindow&Kopieren&CopyAseba::MainWindow &Debug&DebugAseba::MainWindow2Schriftgröße ver&kleinern&Decrease font sizeAseba::MainWindow&Bearbeiten&EditAseba::MainWindow &Datei&FileAseba::MainWindow&Suchen...&Find...Aseba::MainWindow"&Gehe zu Zeile...&Go To Line...Aseba::MainWindow &Hilfe&HelpAseba::MainWindow<Speicherinhalt &importieren...&Import memories content...Aseba::MainWindow0Schriftgröße ver&größern&Increase font sizeAseba::MainWindow&Alles laden &Load allAseba::MainWindow&Neu&NewAseba::MainWindow&Öffnen...&Open...Aseba::MainWindow&Einfügen&PasteAseba::MainWindowAlles an&halten &Pause allAseba::MainWindowBe&enden&QuitAseba::MainWindow&Ersetzen... &Replace...Aseba::MainWindow&Alles &zurücksetzen &Reset allAseba::MainWindow&Speichern...&Save...Aseba::MainWindowEins&tellungen &SettingsAseba::MainWindowTMeldungen zu &letzter Übersetzung anzeigen&Show last compilation messagesAseba::MainWindow&Werkzeuge&ToolsAseba::MainWindow&Rückgängig&UndoAseba::MainWindow.&Bedienungsanleitung...&User Manual...Aseba::MainWindow&Ansicht&ViewAseba::MainWindow ...%0...%0Aseba::MainWindow0...alle Netzwerkelemente ...all nodesAseba::MainWindow...in %0 ...inside %0Aseba::MainWindow:...in allen Netzwerkelementen...inside all nodesAseba::MainWindow...von %0...of %0Aseba::MainWindow"<b>Konstanten</b>ConstantsAseba::MainWindow2<b>Globale Ereignisse</b>Global EventsAseba::MainWindowÜber &Qt... About &Qt...Aseba::MainWindow2Neue Konstante hinzufügenAdd a new constantAseba::MainWindow2Neues Ereignis hinzufügenAdd a new eventAseba::MainWindow4Aseba Studio - Bestätigung"Aseba Studio - Confirmation DialogAseba::MainWindowœAseba Studio ist eine Umgebung um Roboter interaktiv mit Text zu programmierenYAseba Studio is an environment for interactively programming robots with a text language.Aseba::MainWindow*Challenge Tutorial...Challenge tutorial...Aseba::MainWindowLöschenClearAseba::MainWindow0Alle Haltepunkte löschenClear all breakpointsAseba::MainWindow.Auswahl auskommentierenComment the selectionAseba::MainWindow&Alles kopieren Copy &allAseba::MainWindow Ctrl+BCtrl+BAseba::MainWindow Ctrl+DCtrl+DAseba::MainWindow Ctrl+GCtrl+GAseba::MainWindowAussch&neidenCu&tAseba::MainWindow DebugDebugAseba::MainWindowZSynchronisation verloren! Bitte erneut laden.Desynchronised! Please reload.Aseba::MainWindownMöchten Sie die Veränderungen speichern oder verwerfen?1Do you want to save your changes or discard them?Aseba::MainWindowbFehler in XML-Dokument: %0 in Zeile %1, Spalte %22Error in XML source file: %0 at line %1, column %2Aseba::MainWindow<Ereignis %0 existiert bereits.Event %0 already exists.Aseba::MainWindowlEreignis %0 hat einen ungültigen Namen. Gültige Namen bestehen aus einer beliebigen Anzahl von alphanumerischen Zeichen, "_" und ".", und beginnen mit einem Buchstaben oder einem "_"žEvent %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "."Aseba::MainWindow4Ereignis existiert bereitsEvent already existsAseba::MainWindow$Ereignis Nummer %0Event number %0Aseba::MainWindow<Speicherinhalt &exportieren...Export &memories content...Aseba::MainWindow4Speicherinhalt exportierenExport memory contentAseba::MainWindowF10F10Aseba::MainWindowF11F11Aseba::MainWindowF7F7Aseba::MainWindowF8F8Aseba::MainWindowF9F9Aseba::MainWindowGehe zu Zeile Go To LineAseba::MainWindow4Speicherinhalt importierenImport memory contentAseba::MainWindow.Ungültiger EreignisnameInvalid event nameAseba::MainWindowUngültiger Wert Invalid valueAseba::MainWindowdUngültiger Wert für Argument %0 des Ereignisses %1)Invalid value for argument %0 of event %1Aseba::MainWindow Zeile:Line:Aseba::MainWindow LadenLoadingAseba::MainWindow<MarXbot Bedienungsanleitung...MarXbot user manual...Aseba::MainWindow Name:Name:Aseba::MainWindow$Zahl der ArgumenteNumber of argumentsAseba::MainWindow$&Kürzlich geöffnet Open &RecentAseba::MainWindowSkript öffnen Open ScriptAseba::MainWindowfBitte geben Sie die %0 Argumente für Ereignis %1 an+Please specify the %0 arguments of event %1Aseba::MainWindow.Ereignis %1 aufzeichnen Plot event %1Aseba::MainWindow6Dieses Ereignis aufzeichnenPlot this eventAseba::MainWindow"&WiederherstellenRe&doAseba::MainWindowNeustart... Reboot...Aseba::MainWindow2Diese Konstante entfernenRemove this constantAseba::MainWindow2Dieses Ereignis entfernenRemove this eventAseba::MainWindow.Fehlerbericht senden... Report bug...Aseba::MainWindow Alles &ausführenRu&n allAseba::MainWindowZ&Versteckte Variabeln und Funktionen anzeigen$S&how hidden variables and functionsAseba::MainWindow&Speichern &unter... Save &As...Aseba::MainWindow Skript speichern Save ScriptAseba::MainWindow.Binär-Code speichern...Save the binary code...Aseba::MainWindow,Dieses Ereignis sendenSend this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindow.&Zeilennummern anzeigenShow &Line NumbersAseba::MainWindow.Schlüssel&wörter zeigenShow &keywordsAseba::MainWindow2&Speichernutzung anzeigenShow &memory usageAseba::MainWindow:Inhalt wurde nicht importiertSome content was not importedAseba::MainWindowDGeben Sie die Ereignisargumente anSpecify event argumentsAseba::MainWindowDDas Dokument "%0" wurde verändert.$The document "%0" has been modified.Aseba::MainWindowDie folgenden Netzwerkelemente existieren nicht im aktuellen Netzwerk und alle darauf bezogenen Inhalte konnten nicht importiert werden:jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindowDie folgenden Variabeln existieren nicht im aktuellen Netzwerk und alle darauf bezogenen Inhalte konnten nicht importiert werden:nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindowDThymio-Programmierschnittstelle...Thymio programming interface...Aseba::MainWindowJTutorial zur Thymio-Programmierung...Thymio programming tutorial...Aseba::MainWindow&Haltepunkt wechselnToggle breakpointAseba::MainWindow,Auswahl unkommentierenUncomment the selectionAseba::MainWindowUnbenanntUntitledAseba::MainWindowWertValueAseba::MainWindowAsebawebsite...Web site Aseba...Aseba::MainWindow0Programm(e) schreiben...Write the program(s)...Aseba::MainWindow4Falsche Zahl an ArgumentenWrong number of argumentsAseba::MainWindow€Sie gaben %0 Argumente an, aber Ereignis %1 braucht %2 Argumente0You gave %0 arguments where event %1 requires %2Aseba::MainWindow[geändert]  [modified] Aseba::MainWindow’Zugriff auf Array bei Index %0 außerhalb des definierten Bereichs [0..%1](array access at %0 out of bounds [0..%1]Aseba::MainWindow&Division durch Nulldivision by zeroAseba::MainWindowPAusführung des Ereignisses wurde beendetevent execution killedAseba::MainWindowThttp://aseba.wikidot.com/de:gettingstarted*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowBhttp://aseba.wikidot.com/de:start!http://aseba.wikidot.com/en:startAseba::MainWindowJhttp://aseba.wikidot.com/de:thymioapi%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowThttp://aseba.wikidot.com/de:thymiotutoriel*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowdhttp://github.com/aseba-community/aseba/issues/new2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowrhttp://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindowJhttps://www.thymio.org/de:asebastudio%https://www.thymio.org/en:asebastudioAseba::MainWindow&Aufzeichnung von %1 plot of %1Aseba::MainWindowVersteckenHide%Aseba::MaskableNamedValuesVectorModelAnzeigenView%Aseba::MaskableNamedValuesVectorModel(StandardbeschreibungDefault descriptionAseba::NewNamedValueDialogBezeichnerNameAseba::NewNamedValueDialog"<b>Ausführung</b>ExecutionAseba::NodeTab,<b>Schlüsselwörter</b>KeywordsAseba::NodeTab><b>Speichernutzung</b> : %1, %2Memory usage : %1, %2Aseba::NodeTab <b>Variablen</b>VariablesAseba::NodeTabhAseba Studio: Ausgabe der letzten Übersetzung für %0/Aseba Studio: Output of last compilation for %0Aseba::NodeTab0Übersetzung erfolgreich.Compilation success.Aseba::NodeTabF&ilter:F&ilter:Aseba::NodeTab LadenLoadAseba::NodeTab"Lokale Ereignisse Local EventsAseba::NodeTab Lokale Werkzeuge Local ToolsAseba::NodeTab0Vordefinierte FunktionenNative FunctionsAseba::NodeTab WeiterNextAseba::NodeTab PausePauseAseba::NodeTabZurücksetzenResetAseba::NodeTabAusführenRunAseba::NodeTab8Binär-Datei von %0 speichernSave the binary code of %0Aseba::NodeTabautoautoAseba::NodeTab4Byte-Code: %1 von %2 (%3%)bytecode: %1 on %2 (%3%)Aseba::NodeTabaktualisierenrefreshAseba::NodeTabwird ausgeführtrunningAseba::NodeTabschrittweise step by stepAseba::NodeTabangehaltenstoppedAseba::NodeTabunbekanntunknownAseba::NodeTab4Variablen: %1 von %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTab&Verbindung getrenntConnection closedAseba::ReconnectionDialogBeenden Stop tryingAseba::ReconnectionDialogœAchtung, Verbindung getrennt: Ich versuche, die Verbindung wiederherzustellen.5Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialogThymio stoppen Stop ThymioAseba::StopThymioPluginversteckthiddenAseba::TargetFunctionsModel NamennamesAseba::TargetVariablesModel WertevaluesAseba::TargetVariablesModel:Programm als Bild exportierenExport program as image#Aseba::ThymioBlockly::ThymioBlockly HilfeHelp#Aseba::ThymioBlockly::ThymioBlocklyBlockly startenLaunch Blockly#Aseba::ThymioBlockly::ThymioBlockly&Laden und ausführen Load & Run#Aseba::ThymioBlockly::ThymioBlocklyNeuNew#Aseba::ThymioBlockly::ThymioBlockly ÖffnenOpen#Aseba::ThymioBlockly::ThymioBlocklySpeichernSave#Aseba::ThymioBlockly::ThymioBlocklySpeichern unterSave as#Aseba::ThymioBlockly::ThymioBlocklyBildschirmfoto Screenshot#Aseba::ThymioBlockly::ThymioBlockly StoppStop#Aseba::ThymioBlockly::ThymioBlocklyœDas Blockly-Dokument wurde bearbeitet. Möchten Sie diese Änderungen speichern?JThe Blockly document has been modified.

Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlockly:Blockly-Oberfläche für ThymioThymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlocklyAchtungWarning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/de:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlockly2Farbe der unteren Lichter bottom colourAseba::ThymioVPL::Block TasterbuttonsAseba::ThymioVPL::Block Klatsch-Ereignisclap detectionAseba::ThymioVPL::Block0Bodenentfernungssensorenground proximity sensorsAseba::ThymioVPL::Block>Horizontale Entfernungssensorenhorizontal proximity sensorsAseba::ThymioVPL::BlockMotorenmotorsAseba::ThymioVPL::Block MusikmusicAseba::ThymioVPL::BlockZustandstateAseba::ThymioVPL::BlockZustandsfilter state filterAseba::ThymioVPL::Block0Klopf Ereignis / Neigungtap detection / tiltAseba::ThymioVPL::Block TimertimerAseba::ThymioVPL::Block6Wecker - abgelaufener Timer timer elapsedAseba::ThymioVPL::Block0Farbe der oberen Lichter top colourAseba::ThymioVPL::Block~Fehler im XML-Quelltext bei %0:%1: kann Block %2 nicht erzeugen9Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSetvFehler im XML-Quelltext bei %0:%1: unbekannter Block-Typ %28Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSet LadenLoading!Aseba::ThymioVPL::EventActionsSetAktionenActions)Aseba::ThymioVPL::ThymioVisualProgramming.Fortgeschrittener Modus Advanced mode)Aseba::ThymioVPL::ThymioVisualProgramming0Übersetzung erfolgreich.Compilation success.)Aseba::ThymioVPL::ThymioVisualProgrammingEreignisseEvents)Aseba::ThymioVPL::ThymioVisualProgrammingDProgramm als Bilddatei exportierenExport program as image)Aseba::ThymioVPL::ThymioVisualProgramming HilfeHelp)Aseba::ThymioVPL::ThymioVisualProgramming(Inkompatible VersionIncompatible Version)Aseba::ThymioVPL::ThymioVisualProgrammingVPL starten Launch VPL)Aseba::ThymioVPL::ThymioVisualProgramming&Laden und ausführen Load & Run)Aseba::ThymioVPL::ThymioVisualProgrammingNeuNew)Aseba::ThymioVPL::ThymioVisualProgramming ÖffnenOpen)Aseba::ThymioVPL::ThymioVisualProgrammingBBitte fügen Sie eine Aktion hinzuPlease add an action)Aseba::ThymioVPL::ThymioVisualProgrammingDBitte fügen Sie ein Ereignis hinzuPlease add an event)Aseba::ThymioVPL::ThymioVisualProgramming WiederherstellenRedo)Aseba::ThymioVPL::ThymioVisualProgramming4Zurück zum einfachen ModusReturning to simple mode)Aseba::ThymioVPL::ThymioVisualProgrammingSpeichernSave)Aseba::ThymioVPL::ThymioVisualProgrammingSpeichern unterSave as)Aseba::ThymioVPL::ThymioVisualProgrammingBildschirmfoto Screenshot)Aseba::ThymioVPL::ThymioVisualProgramming StoppStop)Aseba::ThymioVPL::ThymioVisualProgrammingŒDas VPL-Dokument wurde geändert. Möchten Sie die Änderungen speichern?FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgramming*Die Visuelle Prundogrammiersprache (VPL) für den Thymio Roboter ermöglicht es durch die Verbindung von Ereignis- und Aktionsblöcken zu programmieren.uThe Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks.)Aseba::ThymioVPL::ThymioVisualProgramming¸Diese Datei ist inkompatibel mit dieser Version von ThymioVPL. Es können Probleme auftreten.VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgrammingLVisuelle Programmiersprache für Thymio"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgrammingRückgängigUndo)Aseba::ThymioVPL::ThymioVisualProgrammingAchtungWarning)Aseba::ThymioVPL::ThymioVisualProgrammingFSie verwenden Zustände. Wenn Sie in den einfachen Modus wechseln, werden alle Zustandsfilter und Zustandseinstellungen gelöscht.<p>Möchten Sie wirklich fortfahren?’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingJhttp://aseba.wikidot.com/de:thymiovpl#https://www.thymio.org/en:thymiovpl)Aseba::ThymioVPL::ThymioVisualProgrammingZeile zeigen show line)Aseba::ThymioVPL::ThymioVisualProgramming LoginLoginAseba::ThymioVPL::UsageLoggerlBitte geben Sie Ihren Benutzer- oder Gruppennamen ein:%Please enter your user or group name:Aseba::ThymioVPL::UsageLoggern%0 %1- Visuelle Programmiersprache für Thymio - Ver. %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandaloneRVerbindung mit Thymio wird hergestellt...Connecting to Thymio...Aseba::ThymioVPLStandaloneVerbindung mit Thymio unterbrochen... Stellen Sie sicher, dass der Thymio eingeschaltet ist und verbinden Sie das USB-Kabel/DongleTConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandaloneRFeher in XML-Dokument: %0 in Zeile %1, %22Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandalone LadenLoadingAseba::ThymioVPLStandalone”Keine Thymio-VPL-Daten in der Skript-Datei gefunden, Datei wird ignoriert.?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandaloneSkript öffnen Open ScriptAseba::ThymioVPLStandalone Skript speichern Save ScriptAseba::ThymioVPLStandalonenDiese Anwendung unterstützt nur einen Roboter zur Zeit.8This application only supports a single robot at a time.Aseba::ThymioVPLStandalone"Thymio-VPL-FehlerThymio VPL ErrorAseba::ThymioVPLStandaloneUnbenanntUntitledAseba::ThymioVPLStandaloneŠSie müssen einen Thymio II anschließen, um diese Anwendung zu nutzen.8You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone[verändert]  [modified] Aseba::ThymioVPLStandaloneþAseba Studio benutzt ein älteres Protokoll (%1) als das Netzwerkelement %0 (%2) verlangt. Bitte aktualisieren Sie Aseba Studio.XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplication Netzwerkelement benutzt ein älteres Protokoll (%1) als Aseba Studio %0 (%2) verlangt. Bitte aktualisieren Sie die Firmware des Netzwerkelements.]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplicationRProtokoll-Versionen stimmen nicht übereinProtocol version mismatch QApplicationREin Kommunikationsfehler ist aufgetreten:A communication error happened:QObject.Übersetzung erfolgreichCompilation successQObject2Zeile %0: Fehlende AktionLine %0: Missing actionQObject8Zeile %0: Fehlendes EreignisLine %0: Missing eventQObjectšEreignis- und Zustandsbedingung in Zeile %0 sind die gleichen wie in Zeile %1GThe event and the state condition in line %0 are the same as in line %1QObjectpDas Ereignis in Zeile %0 ist das gleiche wie in Zeile %1.The event in line %0 is the same as in line %1QObject4Unerwarteter Dashel-FehlerUnexpected Dashel ErrorQObject(Unbekannt VPL-FehlerUnknown VPL errorQObjectˆaseba-1.6.0/clients/studio/asebastudio_de.ts000066400000000000000000002562641322771007300211050ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint Haltepunkt löschen Set breakpoint Haltepunkt setzen Clear all breakpoints Alle Haltepunkte löschen Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: Ausgabe der letzten Ãœbersetzung Aseba::ConfigDialog General Allgemein Editor Editor Ok OK Cancel Abbrechen Aseba Studio - Settings Aseba Studio - Einstellungen Aseba::ConstantsModel Constant already defined Konstante bereits definiert Constant %0 is already defined. Konstante %0 ist bereits definiert. The name is a keyword Name is a keyword Name ist ein Schlüsselwort The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Der Name <tt>%0</tt> kann nicht als Konstante benutzt werden, da dies ein reserviertes Wort ist. Name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Der Name <tt>%0</tt> kann nicht als Konstante benutzt werden, weil es ein Schlüsselwort ist. Aseba::DashelConnectionDialog Network (TCP) Netzwerk (TCP) Host Host Port Port Serial Serielle Schnittstelle Seriell Custom Benutzerdefiniert Discovered targets Entdeckte Targets Selected target Gewähltes Target Serial port Serielle Schnittstelle Local TCP lokales TCP TCP TCP Documentation Dokumetation Language Sprache Connect Verbinden Cancel Abbrechen Aseba Target Selection Aseba-Ziel auswählen – type %1 - Typ %1 local on computer auf lokalem Computer distant on network auf entferntem Netzwerk – device %1 - Gerät %1 serial port or USB Serielle Schnittstelle oder USB Aseba::DashelInterface Thymio not found Thymio nicht gefunden <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>Kann Thymio nicht finden!</b></p><p>Schließen Sie einen Thymio über das USB-Kabel/Dongle an Ihren Computer an und stellen Sie sicher, dass kein anderes Programm den Thymio verwendet.</p> Connection to command line target failed Verbindung zu Ziel der Kommandozeile fehlgeschlagen Cannot connect to target %0 Kann nicht mit Ziel %0 verbinden Aseba::DashelTarget Connection closed Verbindung getrennt Warning, connection closed, save your work and quit Studio. Achtung, Verbindung wurde getrennt, speichern Sie Ihre Arbeit und verlassen Sie das Studio. Unexpected Dashel Error Unerwarteter Dashel Fehler A communication error happened: Ein Kommunikationsfehler passiert: Aseba::EditorPage Editor Setup Editor-Einstellungen Autocompletion Auto-Vervollständigung Keywords Reservierte Wörter Schlüsselwörter Aseba::EventViewer Time (seconds) Zeit (Sekunden) Values Werte Recording... Aufnahme... &Pause &Pause &Clear &Löschen time &window: Zeit&fenster: Save &As... Speichern &unter... Paused... Angehalten... &Record &Aufnahme Save plot data to file Plot-Daten in Datei speichern Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - Suchen und Ersetzen &Search for: &Suchen nach: &Case sensitive G&roß- und-Kleinschreibung beachten &Whole words Nur &ganze Wörter Re&gular expressions Regu&lärer Ausdruck &Find Next Suc&he nächsten Treffer Find &Previous Suche vorherigen &Treffer Find from &Top Suche v&on Anfang &Replace &Ersetzen w&ith: du&rch: Replace and Find &Next Ersetzen und &nächsten Treffer suchen Replace and Find Previo&us Ersetzen und &vorherigen Treffer suchen Replace &All Occurrences &Alles ersetzen End of document reached! Ganzes Dokument wurde durchsucht! Aseba::FunctionParametersDialog OK OK Native function Vorgegebene Funktion Aseba::GeneralPage General Setup Allgemeine Einstellungen On startup Beim Start Show hidden variables Versteckte Variablen anzeigen Show line numbers Zeilennummern anzeigen Show keyword toolbar Schlüsselwort-Symbolleiste anzeigen Layout Layout Show memory usage Speichernutzung anzeigen Aseba::HelpViewer The help file %0 has not been found. It should be located in the same directory as the binary of Aseba Studio. Please check your installation, or report a bug. Die Hilfe-Datei %0 wurde nicht gefunden. Es sollte im selben Verzeichnis wie die binäre von Aseba Studio befinden. Bitte überprüfen Sie Ihre Installation, oder einen Fehler melden. The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. Die Hilfedatei %0 wurde nicht geladen. Der Fehler war: %1. Die Hilfedatei sollte sich im temporären Verzeichnis Ihres Systems befinden. Bitte überprüfen Sie Ihre Installation und senden Sie ggf. einen Fehlerbericht. Help file not found Hilfedatei nicht gefunden Previous Zurück Next Vorwärts Home Anfang Aseba Studio Help Aseba Studio Hilfe The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. Der Hilfefilter für die Sprache "%0" wurde nicht gefunden. Greife auf die Standardsprache (%1) zurück. Dies ist wahrscheinlich ein Programmfehler, senden Sie bitte einen Fehlerbericht. Help filter not found Hilfefilter nicht gefunden Aseba::LinearCameraViewPlugin Linear Camera View Plugin Plugin für Zeilenkamera-Ansicht linear camera viewer Zeilenkamera-Ansicht Cannot initialize linear camera view plugin Plugin für Zeilenkamera-Ansicht kann nicht initialisiert werden One or more variable not found in %1, %2, or %3. Eine oder mehrere Variablen nicht gefunden in %1,%2 oder %3. Aseba::LinearCameraViewVariablesDialog Please choose your variables Wählen Sie bitte Ihre Variablen red component Rot-Anteil green component Grün-Anteil blue component Blau-Anteil range of values Wertebereich Ok OK auto range Auto-Bereich 8 bits range (0–255) 8 bits range (0–255) 8-Bit-Bereich (0–255) percent range (0–100) percent range (0–100) Prozent-Bereich (0–100) Linear Camera View Plugin Plugin für Zeilenkamera-Ansicht Aseba::MainWindow Event number %0 Ereignis Nummer %0 <p>Aseba pre-release:</p><ul><li>Aseba ver. %0 / protocol ver. %1</li><li>Dashel ver. <p>Aseba Vorabversion:</p><ul><li>Aseba ver. %0 / Protokol ver. %1 </li></li>Dashel ver. About Aseba Studio Ãœber Aseba Studio Open Script Skript öffnen (not available) (nicht verfügbar) Loading Laden %0 scripts have no corresponding nodes in the current network and have not been loaded. %0 Skripte haben kein korrespondierendes Netzwerkelement und wurden nicht geladen. Error in XML source file: %0 at line %1, column %2 Fehler in XML-Dokument: %0 in Zeile %1, Spalte %2 Save Script Skript speichern Export memories content Zu exportierender Speicherinhalt Import memories content Zu importierender Speicherinhalt %0 on node %1 %0 auf Netzwerkelement %1 The following nodes are not present in the current network and their associated content was not imported: Die folgenden Netzwerkelemente existieren nicht im aktuellen Netzwerk und alle darauf bezogenen Inhalte konnten nicht importiert werden: The following variables are not present in the current network and their associated content was not imported: Die folgenden Variabeln existieren nicht im aktuellen Netzwerk und alle darauf bezogenen Inhalte konnten nicht importiert werden: Some content was not imported Inhalt wurde nicht importiert Go To Line Gehe zu Zeile Line: Zeile: Specify event arguments Geben Sie die Ereignisargumente an Please specify the %0 arguments of event %1 Bitte geben Sie die %0 Argumente für Ereignis %1 an Wrong number of arguments Falsche Zahl an Argumenten You gave %0 arguments where event %1 requires %2 Sie gaben %0 Argumente an, aber Ereignis %1 braucht %2 Argumente Invalid value Ungültiger Wert Invalid value for argument %0 of event %1 Ungültiger Wert für Argument %0 des Ereignisses %1 Plot event %1 Ereignis %1 aufzeichnen plot of %1 Aufzeichnung von %1 Add a new event Neues Ereignis hinzufügen Name: Name: Number of arguments For the newly created event für das neue Ereignis Zahl der Argumente Event already exists Ereignis existiert bereits Event %0 already exists. Ereignis %0 existiert bereits. Invalid event name Ungültiger Ereignisname Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." Ereignis %0 hat einen ungültigen Namen. Gültige Namen bestehen aus einer beliebigen Anzahl von alphanumerischen Zeichen, "_" und ".", und beginnen mit einem Buchstaben oder einem "_" Desynchronised! Please reload. Synchronisation verloren! Bitte erneut laden. Add a new constant Neue Konstante hinzufügen Value Value assigned to the constant der Konstanten zugewiesener Wert Wert Constant already defined Konstante ist schon definiert Constant %0 is already defined. Konstante %0 ist schon definiert. Aseba Studio Help: Language Aseba Studio Hilfe: Sprache Aseba Studio Help: Studio Aseba Studio Hilfe: Studio Export memory content Speicherinhalt exportieren Import memory content Speicherinhalt importieren event %0 : Ereignis %0: array access at %0 out of bounds [0..%1] Zugriff auf Array bei Index %0 außerhalb des definierten Bereichs [0..%1] division by zero Division durch Null event execution killed Ausführung des Ereignisses wurde beendet %0:%1: %2 %0:%1: %2 Remove this constant Diese Konstante entfernen <b>Constants</b> <b>Konstanten</b> Remove this event Dieses Ereignis entfernen Send this event Dieses Ereignis senden Plot this event Dieses Ereignis aufzeichnen <b>Events</b> <b>Ereignisse</b> <b>Global Events</b> <b>Globale Ereignisse</b> Clear Löschen ...inside %0 ...in %0 ...%0 ...%0 ...of %0 ...von %0 ...inside all nodes ...in allen Netzwerkelementen ...all nodes ...alle Netzwerkelemente &User Manual... &Bedienungsanleitung... F1 Help|User Manual F1 Thymio programming tutorial... Tutorial zur Thymio-Programmierung... http://aseba.wikidot.com/en:thymiotutoriel http://aseba.wikidot.com/de:thymiotutoriel Thymio programming interface... Thymio-Programmierschnittstelle... http://aseba.wikidot.com/en:thymioapi http://aseba.wikidot.com/de:thymioapi Challenge tutorial... Challenge Tutorial... http://aseba.wikidot.com/en:gettingstarted http://aseba.wikidot.com/de:gettingstarted MarXbot user manual... MarXbot Bedienungsanleitung... http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf Web site Aseba... Asebawebsite... <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>Ãœber Aseba</h1>Versionsinformationen<ul><li>Aseba Ver. %0<br/>(Build Ver. %1/Protokoll Ver. %2)</li><li>Dashel Ver. %3<br/>(unterstützt Stream-Typen: %4)</li></ul><p>Lesen Sie mehr auf <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> und anderen Mitwirkenden (klicken Sie auf "Details einblenden" für die vollständige Liste)</p><p>Aseba ist Open-Source unter der <a href="https://www.gnu.org/licenses/lgpl.html">LGPL Version 3</a> lizenziert.</p> Report bug... Fehlerbericht senden... http://github.com/aseba-community/aseba/issues/new http://github.com/aseba-community/aseba/issues/new &File &Datei &New &Neu Ctrl+N File|New Ctrl+N &Open... &Öffnen... Ctrl+O File|Open Ctrl+O Open &Recent &Kürzlich geöffnet &Save... &Speichern... Ctrl+S File|Save Ctrl+S Save &As... Speichern &unter... Export &memories content... Speicherinhalt &exportieren... &Import memories content... Speicherinhalt &importieren... &Quit Be&enden Ctrl+Q File|Quit Ctrl+W <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Version Informationen Aseba :</p><ul><li>Aseba ver. %0<br/>(Build ver. %1 / Protokoll ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> und anderen Mitwirkenden.</p><p><a href="%5">%5</a></p><p>Aseba ist Open-Source unter der LGPL Version 3 lizenziert.</p> Cu&t Aussch&neiden Ctrl+X Edit|Cut Ctrl+X &Copy &Kopieren Ctrl+C Edit|Copy Ctrl+C &Paste &Einfügen Ctrl+V Edit|Paste Ctrl+V &Undo &Rückgängig Ctrl+Z Edit|Undo Ctrl+Z Re&do &Wiederherstellen Ctrl+Shift+Z Edit|Redo Ctrl+Shift+Z &Find... &Suchen... Ctrl+F Edit|Find Ctrl+F &Replace... &Ersetzen... Ctrl+R Edit|Replace Ctrl+R Comment the selection Auswahl auskommentieren Ctrl+D Edit|Comment the selection Ctrl+D Unomment the selection Die Auswahl unkommentieren Shift+Ctrl+D Edit|Unomment the selection Shift+Ctrl+D Show Line Numbers Zeilennummern anzeigen F11 Edit|Show Line Numbers F11 &Go To Line... &Gehe zu Zeile... Ctrl+G Edit|Go To Line Bearbeiten|Gehe zu Zeile Ctrl+G &Edit &Bearbeiten <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Version Informationen Aseba :</p><ul><li>Aseba ver. %0<br/>(Build ver. %1 / Protokoll ver. %2)</li><li>Dashel ver. %3<br/>(unterstützt Stream-Typen: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> und anderen Mitwirkenden.</p><p><a href="%5">%5</a></p><p>Aseba ist Open-Source unter der LGPL Version 3 lizenziert.</p> Copy &all &Alles kopieren Show &memory usage &Speichernutzung anzeigen Show &Line Numbers &Zeilennummern anzeigen F11 View|Show Line Numbers Ansicht|Zeige Zeilennummern F11 &Increase font size Schriftgröße ver&größern &Decrease font size Schriftgröße ver&kleinern &View &Ansicht &Settings Settings Eins&tellungen &Load all &Alles laden F7 Load|Load all F7 &Reset all Alles &zurücksetzen F8 Debug|Reset all F8 Ru&n all Alles &ausführen F9 Debug|Run all F9 &Pause all Alles an&halten F10 Debug|Pause all F10 Debug Debug Toggle breakpoint Haltepunkt wechseln Ctrl+B Debug|Toggle breakpoint Debug|Haltepunkt wechseln Ctrl+B Clear all breakpoints Alle Haltepunkte löschen &Debug &Debug &Tools &Werkzeuge &Show last compilation messages Meldungen zu &letzter Ãœbersetzung anzeigen Show memory usage Speichernutzung zeigen Write the program(s)... Programm(e) schreiben... Reboot... Neustart... Save the binary code... Binär-Code speichern... S&how hidden variables and functions S&how hidden variables and functions... &Versteckte Variabeln und Funktionen anzeigen Aseba Studio is an environment for interactively programming robots with a text language. Aseba Studio ist eine Umgebung um Roboter interaktiv mit Text zu programmieren https://www.thymio.org/en:asebastudio https://www.thymio.org/de:asebastudio Show &keywords Show &keywords... Schlüssel&wörter zeigen &Help &Hilfe &Language... &Sprache... <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2011 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Version Informationen Aseba :</p><ul><li>Aseba ver. %0<br/>(Build ver. %1 / Protokoll ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2011 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> und anderen Mitwirkenden.</p><p><a href="%5">%5</a></p><p>Aseba ist Open-Source unter der LGPL Version 3 lizenziert.</p> http://aseba.wikidot.com/en:start http://aseba.wikidot.com/de:start &Studio... &Studio... &About... Ãœ&ber... About &Qt... Ãœber &Qt... Uncomment the selection Auswahl unkommentieren Shift+Ctrl+D Edit|Uncomment the selection Bearbeiten|Auswahl unkommentieren Shift+Ctrl+D Untitled Unbenannt Aseba Studio - Confirmation Dialog Aseba Studio - Bestätigung The document "%0" has been modified. Das Dokument "%0" wurde verändert. Do you want to save your changes or discard them? Möchten Sie die Veränderungen speichern oder verwerfen? [modified] [geändert] %0 %1- Aseba Studio %0 %1- Aseba Studio Aseba::MaskableNamedValuesVectorModel Hide Verstecken View Anzeigen Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) Bezeichner Default description When no description is given for the named value Standardbeschreibung Aseba::NodeTab Tools Werkzeuge Local Tools Lokale Werkzeuge <b>Keywords</b> <b>Keywords <> <b>Schlüsselwörter</b> unknown unbekannt Load Laden Reset Zurücksetzen Run Ausführen Next Weiter refresh aktualisieren auto auto <b>Execution</b> <b>Ausführung</b> <b>Variables</b> <b>Variablen</b> F&ilter: F&ilter: <b>Memory</b> <b>Speicher</b> Native Functions Vordefinierte Funktionen Local Events Lokale Ereignisse Save the binary code of %0 Binär-Datei von %0 speichern Aseba Studio: Output of last compilation for %0 Aseba Studio: Ausgabe der letzten Ãœbersetzung für %0 Compilation success. Ãœbersetzung erfolgreich. variables: %1 on %2 (%3%) Variablen: %1 von %2 (%3%) bytecode: %1 on %2 (%3%) Byte-Code: %1 von %2 (%3%) <b>Memory usage</b> : %1, %2 <b>Speichernutzung</b> : %1, %2 running wird ausgeführt Pause Pause step by step schrittweise stopped angehalten Aseba::ReconnectionDialog Aseba Studio - Connection closed Aseba Studio - Verbindung geschlossen Connection closed Verbindung getrennt Warning, connection closed: I am trying to reconnect. Achtung, Verbindung getrennt: Ich versuche, die Verbindung wiederherzustellen. Stop trying Beenden Aseba::StopThymioPlugin Stop Thymio Thymio stoppen Aseba::TargetFunctionsModel hidden versteckt Aseba::TargetVariablesModel variables Variablen names Namen values Werte Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Blockly-Oberfläche für Thymio New Neu Open Öffnen Save Speichern Save as Speichern unter Load & Run Laden und ausführen Stop Stopp Help Hilfe Screenshot Bildschirmfoto Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/de:blocklyprogramming http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/de:thymiovpl Export program as image Programm als Bild exportieren Launch Blockly Blockly starten Warning Achtung The Blockly document has been modified.<p>Do you want to save the changes? Das Blockly-Dokument wurde bearbeitet. Möchten Sie diese Änderungen speichern? Aseba::ThymioBootloaderDialog Thymio Firmware Updater Thymio Firmware Updater File... Datei... Update Aktualisierung Quit Verlassen Update firmware Firmware aktualisieren Select hex file Hex-Datei auswählen Hex files (*.hex) Hex Dateien (*.hex) Update Error Acktualisierung-Fehler Unable to read Hex file Kann nicht Hex-Datei zu lesen Dashel Unexpected Error Unerwarteter Dashel Fehler A communication error happened during the flashing process: Ein Kommunikationsfehler passiert während des Flash-Prozesses: Aseba::ThymioScene Missing event button Fehlende Ereignis Taste Missing action Missing action button fehlende Aktion Missing event Fehlende Ereignis Redeclaration of event Redeclaration of event. Ereignisse Redeklaration Unknown event/action type Unknown event/action type. Unbekannt Ereignis/Aktion Typ Line %0: Missing event Linie %0: Fehlende Ereignis Line %0: Missing action Linie %0: Fehlende Aktion Line %0: Redeclaration of event Linie %0: Ereignisse Redeklaration Line %0: Unknown event/action type Linie %0: Unbekannt Ereignis/Aktion Typ Compilation success Compilation success. Berechnung war erfolgreich Unknown VPL error Unbekannt VPLFehler Aseba::ThymioVPL::Block buttons Taster horizontal proximity sensors Horizontale Entfernungssensoren ground proximity sensors Bodenentfernungssensoren tap detection / tilt Klopf Ereignis / Neigung clap detection Klatsch-Ereignis timer elapsed Wecker - abgelaufener Timer state filter Zustandsfilter motors Motoren top colour Farbe der oberen Lichter bottom colour Farbe der unteren Lichter music Musik timer Timer state Zustand Aseba::ThymioVPL::EventActionsSet Loading Laden Error in XML source file at %0:%1: cannot create block %2 Error in XML source file at %0:%1 cannot create block %2 Fehler im XML-Quelltext bei %0:%1: kann Block %2 nicht erzeugen Error in XML source file at %0:%1: unknown block type %2 Fehler im XML-Quelltext bei %0:%1: unbekannter Block-Typ %2 Aseba::ThymioVPL::Scene Line %0: Missing event Linie %0: Fehlendes Ereignis Line %0: Missing action Linie %0: Fehlende Aktion Line %0: Twice the same event Line %0: Redeclaration of event Linie %0: Zweimal das gleiche Ereignis The event-action pair in line %0 is the same as in line %1 Das Ereigniss-Aktions-Paar in Linie %0 ist das selbe wie in Linie %1 Line %0: Unknown event/action type Linie %0: Unbekannter Ereignis/Aktion Typ Compilation success Berechnung war erfolgreich Unknown VPL error Unbekannt VPLFehler Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Visuelle Programmiersprache für Thymio New Neu Open Öffnen Save Speichern Save as Speichern unter Load & Run Laden und ausführen Stop Stopp Color scheme Farbschema Advanced mode Fortgeschrittener Modus Help Hilfe Events Ereignisse Actions Aktionen http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/de:thymiovpl Quit Verlassen Undo Rückgängig Redo Wiederherstellen Screenshot Bildschirmfoto <b>Events</b> <b>Ereignisse</b> Compilation success. Ãœbersetzung erfolgreich. show line Zeile zeigen <b>Actions</b> <b>Aktionen</b> The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. Die Visuelle Prundogrammiersprache (VPL) für den Thymio Roboter ermöglicht es durch die Verbindung von Ereignis- und Aktionsblöcken zu programmieren. https://www.thymio.org/en:thymiovpl http://aseba.wikidot.com/de:thymiovpl Export program as image Programm als Bilddatei exportieren Launch VPL VPL starten Returning to simple mode Zurück zum einfachen Modus You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? Sie verwenden Zustände. Wenn Sie in den einfachen Modus wechseln, werden alle Zustandsfilter und Zustandseinstellungen gelöscht.<p>Möchten Sie wirklich fortfahren? Warning Achtung The VPL document has been modified.<p>Do you want to save the changes? Das VPL-Dokument wurde geändert. Möchten Sie die Änderungen speichern? Incompatible Version Inkompatible Version This file is incompatible with this version of ThymioVPL. It might not work correctly. Diese Datei ist inkompatibel mit dieser Version von ThymioVPL. Es können Probleme auftreten. Please add an event Bitte fügen Sie ein Ereignis hinzu Please add an action Bitte fügen Sie eine Aktion hinzu Loading Laden Error in XML source file: %0 unknown event type Feher in XML Dokument: %0 unbekannter Ereignistyp Aseba::ThymioVPL::UsageLogger Login Login Please enter your user or group name: Bitte geben Sie Ihren Benutzer- oder Gruppennamen ein: Aseba::ThymioVPLStandalone Thymio VPL Error Thymio-VPL-Fehler You need to connect a Thymio II to use this application Sie müssen eine Verbindung Thymio II um diese Applikation zu nutzen Thymio Visual Programming Language Visuelle Programmiersprache für Thymio Connecting to Thymio... Verbindung mit Thymio wird hergestellt... You need to connect a Thymio II to use this application. Sie müssen einen Thymio II anschließen, um diese Anwendung zu nutzen. Save Script Skript speichern Open Script Skript öffnen Loading Laden No Thymio VPL data were found in the script file, file ignored. Keine Thymio-VPL-Daten in der Skript-Datei gefunden, Datei wird ignoriert. This application only supports a single robot at a time. Diese Anwendung unterstützt nur einen Roboter zur Zeit. Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle Verbindung mit Thymio unterbrochen... Stellen Sie sicher, dass der Thymio eingeschaltet ist und verbinden Sie das USB-Kabel/Dongle [modified] [verändert] Untitled Unbenannt %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Visuelle Programmiersprache für Thymio - Ver. %2 %0 %1- Thymio Visual Programming Language %2 %0 %1- Thymio Visual Programming Language %0 %1- Visuelle Programmiersprache für Thymio %2 No Thymio VPL data were found in the script file, file ignored Kein Thymio VPL Daten wurden in der Skript-Datei gefunden, ignoriert Datei Error in XML source file: %0 at line %1, column %2 Feher in XML-Dokument: %0 in Zeile %1, %2 This application only supports a single robot at a time Diese Applikation unterstützt nur ein Roboter in einer Zeit Aseba::ThymioVisualProgramming Thymio Visual Programming Language Visuelle Programmiersprache für Thymio New Neu Open Öffnen Save Speichern Save as Speichern als Load & Run Laden und ausführen Stop Halten Color scheme Farbschema Advanced mode Advanced Modus Quit Verlassen <b>Events</b> <b>Ereignisse</b> Compilation success. Berechnung war erfolgreich. <b>Actions</b> <b>Aktionen</b> Launch VPL VPL laden The VPL document has been modified. Das VPL Dokument wurde verändert. Open Visual Programming Language Öffnen visuelle Programmiersprache Save Visual Programming Language Speichern visuelle Programmiersprache Warning Achtung The document has been modified. Das Dokument wurde verändert. Do you want to save the changes? Möchten Sie die Veränderungen speichern? Loading Laden Error in XML source file: %0 unknown event type Feher in XML Dokument: %0 unbekannte Ereignistyp Error in XML source file: %0 at line %1, column %2 Feher in XML Dokument: %0 in Linie %1, %2 QApplication Protocol version mismatch Protokoll-Versionen stimmen nicht überein Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Aseba Studio benutzt ein älteres Protokoll (%1) als das Netzwerkelement %0 (%2) verlangt. Bitte aktualisieren Sie Aseba Studio. Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. Netzwerkelement benutzt ein älteres Protokoll (%1) als Aseba Studio %0 (%2) verlangt. Bitte aktualisieren Sie die Firmware des Netzwerkelements. QObject Native function %0 (sp = %1) Vorgegebene Funktion %0 (sp = %1) Native function called Vorgegebene Funktion aufgerufen Assertion at 0x%0 (sp = %2): Behauptung bei 0x%0 (sp = %2): unknown unbekannt unknown arithmetic binary operator unbekannter binärer Arithmetikoperator unknown bytecode unbekannter Bytecode execution stack underflow Ausführungsstapel Underrun stack overflow Ausführungsstapel Overrun out of variables bounds außerhalb der von Variablen definierten Datenmenge gesetzt out of bytecode bounds außerhalb der von Bytecode definierten Datenmenge gesetzt step called while not thread running Schritt aufgerufen während Thread nicht lief a breakpoint has been set out of bytecode bounds Ein Haltepunkt wurde außerhalb der von Bytecode definierten Datenmenge gesetzt tried to emit a buffer too long versucht ein zulagen Buffer auszuführen unknown assert define, your code seems broken unbekannter Behauptung, Ihr Code scheint kaputt zu sein VM Assertion Failed VM Behauptungsfehler Compilation success. Berechnung war erfolgreich. Compilation success Ãœbersetzung erfolgreich Line %0: Missing event Zeile %0: Fehlendes Ereignis Line %0: Missing action Zeile %0: Fehlende Aktion The event in line %0 is the same as in line %1 Das Ereignis in Zeile %0 ist das gleiche wie in Zeile %1 The event and the state condition in line %0 are the same as in line %1 Ereignis- und Zustandsbedingung in Zeile %0 sind die gleichen wie in Zeile %1 Line %0: Unknown event/action type Linie %0: Unbekannter Ereignis/Aktion Typ Unknown VPL error Unbekannt VPL-Fehler Unexpected Dashel Error Unerwarteter Dashel-Fehler A communication error happened: Ein Kommunikationsfehler ist aufgetreten: aseba-1.6.0/clients/studio/asebastudio_el.qm000066400000000000000000001220331322771007300210660ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB —Ec˜E™E»[-["·I@EIAE4TÇn5TÇ}Y¾fôÇ,ħÔ>ì0mì0{ïï¥`Ñö5©ö¤`5tdùH5aÝLôÛLôf"f¾n„f¾}Ôv”‹¯?˜ÅnΘŀ'«`oÝ«`Hį„¾ÏÇaŒ¯g€£brâz¤+*¦y).*»***Ð%*m*ì0+H+Œ-Ð+į0+ÏÇ0¾1€0ùF¬>¡J+‚;øJ¹·>RSŠHS]þˆÃTƒŠIVŒ•fWX|¯KàXÉÄf‰\ƒµX›efDtƒÃltÉóu0z¨¥uo{Âv„ŽM^“汚sMôÈ¢ã"øâÀ  ç9C1Êî(3Y® 4”OÏ'Nîj›+½¤vÉ=%4~´EBÞ+ƒU23f°²u²wñRÜe#ŸŒœÐfùª½.'mº1S»ÅþÁ»Åþ"ÙøeQ\å"žOPñYmiù2Se.•îD)³n@ÆS ~. aØ9$Ñi$ Nˆê•“–üŽ|?›Á4v ª+‚ ¯ª¹·)m«±~31¶Š¥-H¶Œ• ò»f3/ÔÄQel”ÄQe{^Ç4QÂÔ>“ à½ÞHŠñí~öñí~N”©~’} 2dKuÃ%S&æÎWW°HOW°ysW°mdZN~$ðo¡P¶_´£ÃŽOÁ„œðþXÎëž–Ê] ]¿h ‡¯S±1TîÙg·eB3Pðg²¥„gáôXiCeÇoü.Š•|(~2lj9¤6˜I¼p˜I¼‡ŸsŒ|³«Žò=p«Žô=¨«Ž÷=ଫ]» b¬ÁXÌų{ ÎÞbì4$Ll¢P†)ÄÅJDF;JôD”[n¯9¬vM,{‹orZ#]?p+ÿ…oœ|A£!êSj°·tXW°·tÑ´ÔéÁž“BÃNçÃ/È;Ã8ÌütIüÌütŽÃÑëŽaké~u‹ ðS.øõUßkr ›Wq$±—“!G-lÎmÏ-lÎ}l¾-rñá`…—Wµˆ\£ âw$«Ú’pÁn9RÆ7ÞV6諭kÑôfÕ,ûDäøÿ?)ä oé…–$ï&F¶“tìMØÎZËÞd]ZËÞzŒ[fÕ)³lXä:‹µº–˜`3˜`3<7 º;«y¾²ŽL=#¿9^;oÈ;ÃlTÐc¼Mªã<„$ãJgj8Ä×^ø8Ä>s~K·ÑJ_u¬³–qŠécŒF!Gg½Œèh6Ç%%¨Í³æ'ãtfð’r™™ &» ž‰ ½yii çSsê .ü?[È C¡4LÜ fI¾L l[~(ã n°a˜€ ÃCT ŒvÓo ŒvÓ€} Œƒ¾.ª ¡S§ ÄDÒw| Äàì.\ ÅP7hp ˶3s= ÖÓBbÏ ænù¬ îžnÜ ú5}[( 5s”P< 8a#IM C1Y&g Ht"p K3¿œ e!T ™ eKäÍ  xs­ ²•¾‚¶ µ:Ä\ ¶vÄhñ »šTÊ ÅH"A6 ë"Ð1‚ öÉ\^T ÏEç  •‚ q£/7 ŽÚò têcRS }Á~ R ‹¦¤+ “K ™ž « «Å^bk ±\‡:ß ³ayÙ Àäow Àä€Ü ÷N.± âB™4 4¤]6 Gr ¸eqK GÕs 5ËîWÚ AÃtë Bxƒ K`—1 RV®i1 aËî<º h9>‘ s©Î0O „ê²(¢ •Ò¬-Š ›GŽi ºïs.ô Ê£õJ ÛÁuz ä"d%³ ñÔþ*è ¨ÚdÀ s®*¦ Ì× {°c› ]:‰ m£ ] õÅ I—ÎVÅ }Ñ' ƒÈôiÙ †ã1. ‰PqÇ ‰P… ÄÈ<ò ìRb‰½×.N Ce{h h°JDžcFO@ ] >MK‡†¢!(í\tI¦÷­i!¤ú.>•D•F® ÖÓEù4:|D@®Y)Y¾"?þY¾"ŒœGŽ¯­üPZ×­üP’%¶D´$eÑßt\’×y>2sÚ{C¸æ–~[i™êD”¹±³Á±Æ® ̻ɽ Äɽ ÷¼µ¯É½ ´¹±º¿À®ÂClear all breakpointsAseba::AeslEditor6š±¸±Á¹Ã¼Ì Ã·¼µ¯¿Å ´¹±º¿À®ÂClear breakpointAseba::AeslEditor0ŸÁ¹Ã¼Ì Ã·¼µ¯¿Å ´¹±º¿À®ÂSet breakpointAseba::AeslEditorZAseba Studio: ˆ¾¿´¿ Äµ»µÅı¯± ¼µÄ±³³»ÎĹ÷Â(Aseba Studio: Output of last compilationAseba::CompilationLogDialog0Aseba Studio - ¡Å¸¼¯Ãµ¹ÂAseba Studio - SettingsAseba::ConfigDialog‘ºÍÁÉ÷CancelAseba::ConfigDialog•Àµ¾µÁ³±ÃÄ®ÂEditorAseba::ConfigDialog “µ½¹º¬GeneralAseba::ConfigDialogŸšOkAseba::ConfigDialog@— Ãı¸µÁ¬ %0 µ¯½±¹ ®´· ´·»É¼­½·.Constant %0 is already defined.Aseba::ConstantsModel(£Ä±¸µÁ¬ ®´· ´·»É¼­½·Constant already definedAseba::ConstantsModelФ¿ ̽¿¼± <tt>%0</tt> ´µ ¼À¿Áµ¯ ½± ÇÁ·Ã¹¼¿À¿¹·¸µ¯ É Ãı¸µÁ¬, ´¹ÌĹ ±À¿Äµ»µ¯ ´µÃ¼µÅ¼­½· »­¾· Ä· ³»ÎÃñÂ.TThe name %0 cannot be used as a constant, because it is a language keyword.Aseba::ConstantsModel<¤¿ ̽¿¼± µ¯½±¹ ´µÃ¼µÅ¼­½· »­¾·The name is a keywordAseba::ConstantsModel(•À¹»¿³® £ÄÌÇ¿Å AsebaAseba Target SelectionAseba::DashelConnectionDialog‘ºÍÁÉ÷CancelAseba::DashelConnectionDialog£Í½´µÃ·ConnectAseba::DashelConnectionDialog Á¿Ã±Á¼¿³®CustomAseba::DashelConnectionDialog”¹±º¿¼¹ÃÄ®ÂHostAseba::DashelConnectionDialog”¯ºÄÅ¿ (TCP) Network (TCP)Aseba::DashelConnectionDialog˜ÍÁ±PortAseba::DashelConnectionDialog£µ¹Á¹±ºÌSerialAseba::DashelConnectionDialog¸<p><b>¤¿ Thymio ´µ ¼À¿Áµ¯ ½± ²Áµ¸µ¯!</b></p><p>£Å½´­Ãĵ ­½± Thymio ÃÄ¿½ ÅÀ¿»¿³¹ÃÄ® ñ ÇÁ·Ã¹¼¿À¿¹Î½Ä± Ä¿ USB º±»Î´¹¿/±ÃÍÁ¼±Ä¿ À¿¼À¿´­ºÄ· (dongle), º±¹ ²µ²±¹É¸µ¯Äµ ÌĹ º±½­½± ¬»»¿ ÀÁ̳Á±¼¼± ´µ ÇÁ·Ã¹¼¿À¿¹µ¯ Ä¿ Thymio.</p>•

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

Aseba::DashelInterfaceR”µ½ µ¯½±¹ ´Å½±Ä® · Ãͽ´µÃ· ¼µ Ä¿ ÃÄÌÇ¿ %0Cannot connect to target %0Aseba::DashelInterfaceb— Ãͽ´µÃ· ¼µ Ä¿ ÃÄÌÇ¿ Ä· ³Á±¼¼® µ½Ä¿»Î½ ±À­ÄÅǵ(Connection to command line target failedAseba::DashelInterface"”µ ²Á­¸·ºµ ThymioThymio not foundAseba::DashelInterface&‘ÅÄ̼±Ä· ÃżÀ»®ÁÉ÷AutocompletionAseba::EditorPage&¡Í¸¼¹Ã· •Àµ¾µÁ³±ÃÄ® Editor SetupAseba::EditorPage$”µÃ¼µÅ¼­½µ »­¾µ¹ÂKeywordsAseba::EditorPage&š±¸±Á¹Ã¼ÌÂ&ClearAseba::EventViewer & ±Í÷&PauseAseba::EventViewer&•³³Á±Æ®&RecordAseba::EventViewer£µ À±Í÷... Paused...Aseba::EventViewer•³³Á±Æ®... Recording...Aseba::EventViewer"‘À¿¸®ºµÅ÷ &©Â... Save &As...Aseba::EventViewerR‘À¿¸®ºµÅ÷ ´µ´¿¼­½É½ ³Á±Æ®¼±Ä¿ Ãµ ±Áǵ¯¿Save plot data to fileAseba::EventViewer*§Á̽¿ (´µÅĵÁÌ»µÀı)Time (seconds)Aseba::EventViewer ¤¹¼­ÂValuesAseba::EventViewer"À±Á¬¸ÅÁ¿ &ÇÁ̽¿Å: time &window:Aseba::EventViewer^&”¹¬ºÁ¹Ã· ¼µÄ±¾Í Àµ¶Î½ º±¹ ºµÆ±»±¯É½ DZÁ±ºÄ®Áɽ&Case sensitiveAseba::FindDialog &•ÍÁµÃ· •À̼µ½¿Å &Find NextAseba::FindDialog&‘½Ä¹º±Ä¬Ãı÷&ReplaceAseba::FindDialog&‘½±¶®Ä·Ã· ³¹±: &Search for:Aseba::FindDialog"&Ÿ»Ìº»·Áµ »­¾µ¹Â &Whole wordsAseba::FindDialogTAseba Studio - ‘½±¶®Ä·Ã· º±¹ ‘½Ä¹º±Ä¬Ãı÷!Aseba Studio - Search and ReplaceAseba::FindDialog¤­»¿ µ³³Á¬Æ¿Å!End of document reached!Aseba::FindDialog(•ÍÁµÃ· & Á¿·³¿Í¼µ½¿ÅFind &PreviousAseba::FindDialog(•ÍÁµÃ· ±ÀÌ Ä·½ &‘ÁÇ®Find from &TopAseba::FindDialog(š±&½¿½¹º­ µºÆÁ¬Ãµ¹ÂRe&gular expressionsAseba::FindDialogF‘½Ä¹º±Ä¬Ãı÷ &Œ»É½ Äɽ •¼Æ±½¯ÃµÉ½Replace &All OccurrencesAseba::FindDialogF‘½Ä¹º±Ä¬Ãı÷ º±¹ •ÍÁµÃ· &•À¿¼­½¿ÅReplace and Find &NextAseba::FindDialogN‘½Ä¹º±Ä¬Ãı÷ º±¹ •ÍÁµÃ·  Á¿·³¿Í¼µ&½¿ÅReplace and Find Previo&usAseba::FindDialog&¼µ:w&ith:Aseba::FindDialog"“µ½¹º­ ¡Å¸¼¯Ãµ¹Â General SetupAseba::GeneralPage”¹¬Ä±¾·LayoutAseba::GeneralPage4•¼Æ¬½¹Ã· ºÁÅÆν ¼µÄ±²»·ÄνShow hidden variablesAseba::GeneralPage`•¼Æ¬½¹Ã· ³Á±¼¼® µÁ³±»µ¯É½ ¼µ ´µÃ¼µÅ¼­½µ »­¾µ¹ÂShow keyword toolbarAseba::GeneralPage0•¼Æ¬½¹Ã· ±Á¹¸¼Î½ ³Á±¼¼Î½Show line numbersAseba::GeneralPage,•¼Æ¬½¹Ã· ÇÁ®Ã· ¼½®¼·ÂShow memory usageAseba::GeneralPage(’¿®¸µ¹± Aseba StudioAseba Studio HelpAseba::HelpViewer:¤¿ ±Áǵ¯¿ ²¿®¸µ¹± ´µ ²Á­¸·ºµHelp file not foundAseba::HelpViewer‘ÁÇ®HomeAseba::HelpViewer•À̼µ½¿NextAseba::HelpViewer Á¿·³¿Í¼µ½¿PreviousAseba::HelpViewer¾¤¿ ±Áǵ¯¿ ²¿®¸µ¹± %0 ´µ Æ¿ÁÄθ·ºµ µÀ¹ÄÅÇÎÂ. ¤¿ ÃƬ»¼± ®Ä±½: %1.¤¿ ±Áǵ¯¿ ²¿®¸µ¹± ¸± ÀÁ­Àµ¹ ½± µ¯½±¹ ´¹±¸­Ã¹¼¿ ÃÄ¿½ ÀÁ¿ÃÉÁ¹½Ì Ƭºµ»¿ Ä¿Å ÃÅÃÄ®¼±Ä̠ñÂ.  ±Á±º±»Î ½± µ»­³¾µÄµ Ä·½ µ³º±Ä¬Ãıî ñÂ, ® ½± ±½±Æ­ÁµÄµ Ä¿ ÀÁ̲»·¼±.½The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug.Aseba::HelpViewer0¤¿ Ư»ÄÁ¿ ²¿®¸µ¹± ³¹± Ä· ³»ÎÃñ "%0" ´µ½ ­Çµ¹ ²Áµ¸µ¯. •À¹ÃÄÁ¿Æ® ÃÄ·½ ÀÁ¿º±¸¿Á¹Ã¼­½· ³»ÎÃñ (%1). ‘ÅÄÌ µ¯½±¹ À¹¸±½Ì½ ÀÁ̲»·¼±, À±Á±º±»Î ½± Ä¿ ±½±Æ­ÁµÄµ.ŽThe help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it.Aseba::HelpViewerˆ”µ½ µ¯½±¹ ´Å½±Ä® · µºº¯½·Ã· Ä¿Å ÀÁÌøµÄ¿Å ÀÁ¿²¿»® ³Á±¼¼¹º® º¬¼µÁ±Â+Cannot initialize linear camera view pluginAseba::LinearCameraViewPluginF ÁÌøµÄ¿  Á¿²¿»® “Á±¼¼¹º® š¬¼µÁ±ÂLinear Camera View PluginAseba::LinearCameraViewPlugintœ¯± ® ÀµÁ¹ÃÃÌĵÁµ ¼µÄ±²»·Ä­ ´µ ²Á­¸·º±½ õ %1, %2, ® %3.0One or more variable not found in %1, %2, or %3.Aseba::LinearCameraViewPlugin6ÀÁ¿²¿»­± ³Á±¼¼¹º® º¬¼µÁ±Âlinear camera viewerAseba::LinearCameraViewPlugin(µÍÁ¿ 8 bits (0-255)8 bits range (0–255)&Aseba::LinearCameraViewVariablesDialogF ÁÌøµÄ¿  Á¿²¿»® “Á±¼¼¹º® š¬¼µÁ±ÂLinear Camera View Plugin&Aseba::LinearCameraViewVariablesDialogŸšOk&Aseba::LinearCameraViewVariablesDialogP ±Á±º±»Î ½± µÀ¹»­¾µÄµ Ĺ ¼µÄ±²»·Ä­ Ã±ÂPlease choose your variables&Aseba::LinearCameraViewVariablesDialog±ÅÄ̼±Ä¿ µÍÁ¿Â auto range&Aseba::LinearCameraViewVariablesDialog¼À»µ ÃÅÃıĹºÌblue component&Aseba::LinearCameraViewVariablesDialog"ÀÁ¬Ã¹½¿ ÃÅÃıĹºÌgreen component&Aseba::LinearCameraViewVariablesDialog0À¿Ã¿Ãű¯¿ µÍÁ¿ (0-100)percent range (0–100)&Aseba::LinearCameraViewVariablesDialogµÍÁ¿ Ä¹¼Î½range of values&Aseba::LinearCameraViewVariablesDialog"ºÌºº¹½¿ ÃÅÃıĹºÌ red component&Aseba::LinearCameraViewVariablesDialogÃż²¬½ %0 :  event %0 : Aseba::MainWindow (¼· ´¹±¸­Ã¹¼¿) (not available)Aseba::MainWindow&%0 %1- Aseba Studio%0 %1- Aseba StudioAseba::MainWindow %0 ÃÄ¿½ ºÌ¼²¿ %1 %0 on node %1Aseba::MainWindow¸%0 õ½¬Á¹± (scripts) ´µ½ ­Ç¿Å½ ±½Ä¯ÃÄ¿¹Ç¿Å ºÌ¼²¿Å ÃÄ¿ À±Á̽ ´¯ºÄÅ¿ º±¹ ´µ½ ­Ç¿Å½ Æ¿ÁÄɸµ¯.W%0 scripts have no corresponding nodes in the current network and have not been loaded.Aseba::MainWindow%0:%1: %2 %0:%1: %2Aseba::MainWindow&£ÇµÄ¹º¬ ¼µ... &About...Aseba::MainWindow&‘½Ä¹³Á±Æ®&CopyAseba::MainWindow&•ºÃƱ»¼¬ÄÉ÷&DebugAseba::MainWindow>&œµ¯É÷ ¼µ³­¸¿Å ³Á±¼¼±Ä¿Ãµ¹Á¬Â&Decrease font sizeAseba::MainWindow&•Àµ¾µÁ³±Ã¯±&EditAseba::MainWindow&‘Áǵ¯¿&FileAseba::MainWindow&•ÍÁµÃ·...&Find...Aseba::MainWindow,& ®³±¹½µ £Ä· “Á±¼¼®...&Go To Line...Aseba::MainWindow&’¿®¸µ¹±&HelpAseba::MainWindow@&•¹Ã±³É³® ÀµÁ¹µÇ¿¼­½¿Å ¼½·¼Î½...&Import memories content...Aseba::MainWindow>&‘;·Ã· ¼µ³­¸¿Å ³Á±¼¼±Ä¿Ãµ¹Á¬Â&Increase font sizeAseba::MainWindow&¦ÌÁÄÉ÷ ̻ɽ &Load allAseba::MainWindow&”·¼¹¿ÅÁ³¯±&NewAseba::MainWindow&†½¿¹³¼±...&Open...Aseba::MainWindow&•À¹ºÌ»»·Ã·&PasteAseba::MainWindow& ±Í÷ ̻ɽ &Pause allAseba::MainWindow&ˆ¾¿´¿Â&QuitAseba::MainWindow"&‘½Ä¹º±Ä¬Ãı÷... &Replace...Aseba::MainWindow&•À±½±Æ¿Á¬ ̻ɽ &Reset allAseba::MainWindow&‘À¿¸®ºµÅ÷...&Save...Aseba::MainWindow&¡Å¸¼¯Ãµ¹Â &SettingsAseba::MainWindowX&•¼Æ¬½¹Ã· ĵ»µÅı¯É½ ¼·½Å¼¬Äɽ ¼µÄ±³»ÎÄĹ÷Â&Show last compilation messagesAseba::MainWindow&•Á³±»µ¯±&ToolsAseba::MainWindow&‘½±¯ÁµÃ·&UndoAseba::MainWindow:&•³Çµ¹Á¯´¹¿ Ÿ´·³¹Î½ §Á®ÃÄ·...&User Manual...Aseba::MainWindow& Á¿²¿»®&ViewAseba::MainWindow ...%0...%0Aseba::MainWindow"...Ì»¿¹ ¿¹ ºÌ¼²¿¹ ...all nodesAseba::MainWindow...µ½ÄÌ %0 ...inside %0Aseba::MainWindow0...µ½Ä̠̻ɽ Äɽ ºÌ¼²É½...inside all nodesAseba::MainWindow...Ä¿Å %0...of %0Aseba::MainWindow<b>£Ä±¸µÁ­Â</b>ConstantsAseba::MainWindow0<b>š±¸¿»¹º¬ £Å¼²¬½Ä±</b>Global EventsAseba::MainWindow"<h1>£ÇµÄ¹º¬ ¼µ Ä¿ Aseba</h1> »·Á¿Æ¿Á¯µ ˆº´¿Ã·Â<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(ÅÀ¿ÃÄ·Á¹¶Ì¼µ½¿¹ ÄÍÀ¿¹ Á¿® ´µ´¿¼­½É½: %4)</li></ul><p>”¹±²¬Ãĵ ÀµÁ¹ÃÃÌĵÁ± ÃÄ¿ <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> º±¹ »¿¹À¿¯ ÃŽµÁ³¬Äµ (º¬½Äµ º»¹º ÃÄ¿ "•¼Æ¬½¹Ã· »µÀÄ¿¼µÁµ¹Î½" ³¹± À»®Á· »¯Ãı)</p><p>¤¿ Aseba µ¯½±¹ ±½¿¹ºÄ¿Í ºÎ´¹º± ¼µ ¬´µ¹± ±ÀÌ <a href="https://www.gnu.org/licenses/lgpl.html">LGPL ­º´¿Ã· 3</a>.</p>Ù

About Aseba

Version information
  • Aseba ver. %0
    (build ver. %1/protocol ver. %2)
  • Dashel ver. %3
    (supported stream types: %4)

Read more on aseba.wikidot.com

(c) 2006-2015 Stéphane Magnenat and other contributors (click "Show details" for full list)

Aseba is open-source licensed under the LGPL version 3.

Aseba::MainWindow(£ÇµÄ¹º¬ ¼µ Ä¿ &Qt... About &Qt...Aseba::MainWindow4£ÇµÄ¹º¬ ¼µ Ä¿ Aseba StudioAbout Aseba StudioAseba::MainWindow, Á¿Ã¸®º· ½­± Ãı¸µÁ¬ÂAdd a new constantAseba::MainWindow. Á¿Ã¸®º· ½­¿Å Ãż²¬½Ä¿ÂAdd a new eventAseba::MainWindowHAseba Studio - ”¹¬»¿³¿ •À¹²µ²±¯É÷Â"Aseba Studio - Confirmation DialogAseba::MainWindowN•³Çµ¹Á¯´¹¿ ´¹´±Ãº±»¯± Ä¿Å Challenge...Challenge tutorial...Aseba::MainWindowš±¸±Á¹Ã¼ÌÂClearAseba::MainWindowHš±¸±Á¹Ã¼Ì Ì»É½ Äɽ ÷¼µ¯É½ ´¹±º¿À®ÂClear all breakpointsAseba::MainWindow.£Ç¿»¹±Ã¼Ì Ä· µÀ¹»¿³®ÂComment the selectionAseba::MainWindow‘½Ä¹³Á±Æ® &̻ɽ Copy &allAseba::MainWindow Ctrl+BCtrl+BAseba::MainWindow Ctrl+DCtrl+DAseba::MainWindow Ctrl+GCtrl+GAseba::MainWindow&‘À¿º¿À®Cu&tAseba::MainWindow•ºÃƱ»¼¬ÄÉ÷DebugAseba::MainWindowP‘À¿ÃųÇÁ¿½¹Ã¼ÌÂ!  ±Á±º±»Î µÀ±½±Æ¿ÁÄÎÃĵ.Desynchronised! Please reload.Aseba::MainWindow~•À¹¸Å¼µ¯Äµ ½± ±À¿¸·ºµÍõĵ Ĺ ±»»±³­ Ã± ® ½± Ĺ ±À¿ÁÁ¯ÈµÄµ;1Do you want to save your changes or discard them?Aseba::MainWindowp£Æ¬»¼± ÃÄ¿ XML À·³±¯¿ ±Áǵ¯¿: %0 ÃÄ· ³Á±¼¼® %1, ÃÄ®»· %22Error in XML source file: %0 at line %1, column %2Aseba::MainWindow2¤¿ Ãż²¬½ %0 ÅÀ¬Áǵ¹ ®´·.Event %0 already exists.Aseba::MainWindowZ¤¿ Ãż²¬½ %0 ­Çµ¹ ¼· ­³ºÅÁ¿ ̽¿¼±. ¤± ­³ºÅÁ± ¿½Ì¼±Ä± ¾µº¹½¿Í½ ¼µ ­½±½ ±»Æ±²·Ä¹ºÌ DZÁ±ºÄ®Á± ® "_", º±¹ ÃŽµÇ¯¶¿Å½ ¼µ ¿À¿¹¿´®À¿Äµ À»®¸¿ ±»Æ±Á¹¸¼·Ä¹ºÎ½ DZÁ±ºÄ®Áɽ, "_" º±¹ "."žEvent %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "."Aseba::MainWindow*¤¿ Ãż²¬½ ÅÀ¬Áǵ¹ ®´·Event already existsAseba::MainWindow(‘Á¹¸¼Ì Ãż²¬½Ä¿ %0Event number %0Aseba::MainWindow>•¾±³É³® &ÀµÁ¹µÇ¿¼­½¿Å ¼½·¼Î½...Export &memories content...Aseba::MainWindow6•¾±³É³® ÀµÁ¹µÇ¿¼­½¿Å ¼½®¼·ÂExport memory contentAseba::MainWindowF10F10Aseba::MainWindowF11F11Aseba::MainWindowF7F7Aseba::MainWindowF8F8Aseba::MainWindowF9F9Aseba::MainWindow$ ®³±¹½µ ÃÄ· ³Á±¼¼® Go To LineAseba::MainWindow8•¹Ã±³É³® ÀµÁ¹µÇ¿¼­½¿Å ¼½®¼·ÂImport memory contentAseba::MainWindow2œ· ­³ºÅÁ¿ ̽¿¼± Ãż²¬½Ä¿ÂInvalid event nameAseba::MainWindowœ· ­³ºÅÁ· Ĺ¼® Invalid valueAseba::MainWindow`œ· ­³ºÅÁ· Ĺ¼® ³¹± Ä¿ ÌÁ¹Ã¼± %0 Ä¿Å Ãż²¬½Ä¿ %1)Invalid value for argument %0 of event %1Aseba::MainWindow“Á±¼¼®:Line:Aseba::MainWindow¦ÌÁÄÉ÷LoadingAseba::MainWindowP•³Çµ¹Á¯´¹¿ ¿´·³¹Î½ ÇÁ®ÃÄ· Ä¿Å MarXbot...MarXbot user manual...Aseba::MainWindow Œ½¿¼±:Name:Aseba::MainWindow  »®¸¿ ¿Á¹Ã¼¬ÄɽNumber of argumentsAseba::MainWindow$†½¿¹³¼± & ÁÌÃƱĿŠOpen &RecentAseba::MainWindow2†½¿¹³¼± £µ½±Á¯¿Å (Script) Open ScriptAseba::MainWindowj ±Á±º±»Î ÀÁ¿Ã´¹¿Á¯Ãĵ ı %0 ¿Á¯Ã¼±Ä± Ä¿Å Ãż²¬½Ä¿ %1+Please specify the %0 arguments of event %1Aseba::MainWindow(“Á¬Æ·¼± Ãż²¬½Ä¿ %1 Plot event %1Aseba::MainWindow6“Á¬Æ·¼± ±ÅÄ¿Í Ä¿Å Ãż²¬½Ä¿ÂPlot this eventAseba::MainWindow&•À±½¬»·È·Re&doAseba::MainWindow•À±½µºº¯½·Ã·... Reboot...Aseba::MainWindow6”¹±³Á±Æ® ±ÅÄ® Ä· Ãı¸µÁ¬ÂRemove this constantAseba::MainWindow8”¹±³Á±Æ® ±ÅÄ¿Í Ä¿Å Ãż²¬½Ä¿ÂRemove this eventAseba::MainWindow,‘½±Æ¿Á¬ ÀÁ¿²»®¼±Ä¿Â... Report bug...Aseba::MainWindow&•ºÄ­»µÃ· ̻ɽRu&n allAseba::MainWindowV&•¼Æ¬½¹Ã· ºÁÅÆν ¼µÄ±²»·Äν º±¹ ÃŽ±ÁĮõɽ$S&how hidden variables and functionsAseba::MainWindow"‘À¿¸®ºµÅ÷ &©Â... Save &As...Aseba::MainWindow8‘À¿¸®ºµÅ÷ £µ½±Á¯¿Å (Script) Save ScriptAseba::MainWindowB‘À¿¸®ºµÅ÷ Ä¿Å ´Å±´¹º¿Í ºÎ´¹º±...Save the binary code...Aseba::MainWindow8‘À¿ÃÄ¿»® ±ÅÄ¿Í Ä¿Å Ãż²¬½Ä¿ÂSend this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindow2•¼Æ¬½¹Ã· &‘Á¹¸¼Î½ “Á±¼¼Î½Show &Line NumbersAseba::MainWindow8•¼Æ¬½¹Ã· &´µÃ¼µÅ¼­½É½ »­¾µÉ½Show &keywordsAseba::MainWindow.•¼Æ¬½¹Ã· &ÇÁ®Ã· ¼½®¼·ÂShow &memory usageAseba::MainWindowN”µ½ ­³¹½µ µ¹Ã±³É³® ¼µÁ¹º¿Í ÀµÁ¹µÇ¿¼­½¿ÅSome content was not importedAseba::MainWindowL Á¿Ã´¹¿Á¯Ãĵ ı ¿Á¯Ã¼±Ä± Ä¿Å Ãż²¬½Ä¿ÂSpecify event argumentsAseba::MainWindowD¤¿ ­³³Á±Æ¿ "%0" ­Çµ¹ ÄÁ¿À¿À¿¹·¸µ¯.$The document "%0" has been modified.Aseba::MainWindowП¹ ±ºÌ»¿Å¸¿¹ ºÌ¼²¿¹ ´µ½ ÅÀ¬ÁǿŽ ÃÄ¿ À±Á̽ ´¯ºÄÅ¿ º±¹ ´µ½ ­³¹½µ µ¹Ã±³É³® Ä¿Å ÃǵĹº¿Í ÀµÁ¹µÇ¿¼­½¿Å Ä¿ÅÂ:jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindowØŸ¹ ±ºÌ»¿Å¸µ ¼µÄ±²»·Ä­ ´µ½ ÅÀ¬ÁǿŽ ÃÄ¿ À±Á̽ ´¯ºÄÅ¿ º±¹ ´µ½ ­³¹½µ µ¹Ã±³É³® Ä¿Å ÃǵĹº¿Í ÀµÁ¹µÇ¿¼­½¿Å Ä¿ÅÂ:nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindowJ”¹µÀ±Æ® ÀÁ¿³Á±¼¼±Ä¹Ã¼¿Í Ä¿Å Thymio...Thymio programming interface...Aseba::MainWindowh•³Çµ¹Á¯´¹¿ ´¹´±Ãº±»¯± ÀÁ¿³Á±¼¼±Ä¹Ã¼¿Í Ä¿Å Thymio...Thymio programming tutorial...Aseba::MainWindow2•½±»»±³® ÷¼µ¯¿Å ´¹±º¿À®ÂToggle breakpointAseba::MainWindow@‘½±¯ÁµÃ· ÃÇ¿»¹±Ã¼¿Í Ä· µÀ¹»¿³®ÂUncomment the selectionAseba::MainWindow§ÉÁ¯ Ä¯Ä»¿UntitledAseba::MainWindow¤¹¼®ValueAseba::MainWindow$™ÃÄÌÄ¿À¿ Aseba...Web site Aseba...Aseba::MainWindowH“Á¬È¹¼¿ ÀÁ¿³Á¬¼¼±Ä¿Â/ÀÁ¿³Á±¼¼¬Äɽ...Write the program(s)...Aseba::MainWindow6›±½¸±Ã¼­½¿ À»®¸¿ ¿Á¹Ã¼¬ÄɽWrong number of argumentsAseba::MainWindow^”Îñĵ %0 ¿Á¯Ã¼±Ä± ÌÀ¿Å Ä¿ Ãż²¬½ %1 ±À±¹Äµ¯ %20You gave %0 arguments where event %1 requires %2Aseba::MainWindow [ÄÁ¿À¿À¿¹·¼­½¿]  [modified] Aseba::MainWindowRÀÁÌò±Ã· À¯½±º± õ %0 µºÄÌ ¿Á¯É½ [0..%1](array access at %0 out of bounds [0..%1]Aseba::MainWindow"´¹±¯ÁµÃ· ¼µ ¼·´­½division by zeroAseba::MainWindow6´¹±º¿À® µºÄ­»µÃ· Ãż²¬½Ä¿Âevent execution killedAseba::MainWindowThttp://aseba.wikidot.com/en:gettingstarted*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowBhttp://aseba.wikidot.com/en:start!http://aseba.wikidot.com/en:startAseba::MainWindowJhttp://aseba.wikidot.com/en:thymioapi%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowThttp://aseba.wikidot.com/en:thymiotutoriel*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowdhttp://github.com/aseba-community/aseba/issues/new2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowrhttp://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindow³Á¬Æ·¼± Ä¿Å %1 plot of %1Aseba::MainWindow‘À̺ÁÅÈ·Hide%Aseba::MaskableNamedValuesVectorModel Á¿²¿»®View%Aseba::MaskableNamedValuesVectorModel0 Á¿º±¸¿Á¹Ã¼­½· ÀµÁ¹³Á±Æ®Default descriptionAseba::NewNamedValueDialog Œ½¿¼±NameAseba::NewNamedValueDialog<b>•ºÄ­»µÃ·</b>ExecutionAseba::NodeTab2<b>”µÃ¼µÅ¼­½µ »­¾µ¹Â</b>KeywordsAseba::NodeTab8<b>§Á®Ã· ¼½®¼·Â</b> : %1, %2Memory usage : %1, %2Aseba::NodeTab"<b>œµÄ±²»·Ä­Â</b>VariablesAseba::NodeTabpAseba Studio: ˆ¾¿´¿ Ä· Äµ»µÅı¯± ¼µÄ±³»ÎÄĹ÷ ³¹± %0/Aseba Studio: Output of last compilation for %0Aseba::NodeTab,•À¹ÄÅÇ® ¼µÄ±³»ÎÄĹ÷.Compilation success.Aseba::NodeTab&¦¯»ÄÁ¿F&ilter:Aseba::NodeTab¦ÌÁÄÉ÷LoadAseba::NodeTab¤¿À¹º¬ “µ³¿½Ìı Local EventsAseba::NodeTab¤¿À¹º¬ •Á³±»µ¯± Local ToolsAseba::NodeTab(•³³µ½µ¯ £Å½±ÁĮõ¹ÂNative FunctionsAseba::NodeTab•À̼µ½¿NextAseba::NodeTab  ±Í÷PauseAseba::NodeTab•À±½±Æ¿Á¬ResetAseba::NodeTab•ºÄ­»µÃ·RunAseba::NodeTabJ‘À¿¸®ºµÅ÷ Ä¿Å ´Å±´¹º¿Í ºÎ´¹º± Ä¿Å %0Save the binary code of %0Aseba::NodeTab±ÅÄ̼±Ä¿autoAseba::NodeTabDµ½´¹¬¼µÃ¿ ºÎ´¹º±Â: %1 õ %2 (%3%)bytecode: %1 on %2 (%3%)Aseba::NodeTab±½±½­É÷refreshAseba::NodeTabõ µºÄ­»µÃ·runningAseba::NodeTab²®¼±-²®¼± step by stepAseba::NodeTabÃı¼±Ä·¼­½¿stoppedAseba::NodeTab¬³½ÉÃÄ¿unknownAseba::NodeTab4¼µÄ±²»·Ä­Â: %1 õ %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTab ”¹±º¿À® Ãͽ´µÃ·ÂConnection closedAseba::ReconnectionDialog*£Ä±¼¬Ä·¼± ÀÁ¿ÃÀ¬¸µ¹±Â Stop tryingAseba::ReconnectionDialogt Á¿µ¹´¿À¿¯·Ã·, ´¹±º¿À® Ãͽ´µÃ·Â:  Á¿ÃÀ±¸Î ½± µÀ±½±ÃŽ´µ¸Î.5Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialog(£Ä±¼¬Ä·¼± Ä¿Å Thymio Stop ThymioAseba::StopThymioPlugin ºÁÅÆÌhiddenAseba::TargetFunctionsModel¿½Ì¼±Ä±namesAseba::TargetVariablesModel Ĺ¼­ÂvaluesAseba::TargetVariablesModel<•¾±³É³® ÀÁ¿³Á¬¼¼±Ä¿ É µ¹ºÌ½±Export program as image#Aseba::ThymioBlockly::ThymioBlockly’¿®¸µ¹±Help#Aseba::ThymioBlockly::ThymioBlockly •ºº¯½·Ã· BlocklyLaunch Blockly#Aseba::ThymioBlockly::ThymioBlockly$¦ÌÁÄÉ÷ & •ºÄ­»µÃ· Load & Run#Aseba::ThymioBlockly::ThymioBlockly”·¼¹¿ÅÁ³¯±New#Aseba::ThymioBlockly::ThymioBlockly†½¿¹³¼±Open#Aseba::ThymioBlockly::ThymioBlockly‘À¿¸®ºµÅ÷Save#Aseba::ThymioBlockly::ThymioBlockly‘À¿¸®ºµÅ÷ ÉÂSave 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Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlockly,”¹µÀ±Æ® Thymio BlocklyThymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlockly Á¿µ¹´¿À¿¯·Ã·Warning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/en:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlockly"ÇÁμ± º¬ÄÉ ¼­Á¿Å bottom colourAseba::ThymioVPL::BlockÀ»®ºÄÁ±buttonsAseba::ThymioVPL::Block2±½¯Ç½µÅ÷ ǵ¹Á¿ºÁ¿Ä®¼±Ä¿Âclap detectionAseba::ThymioVPL::Block8±¹Ã¸·Ä®Áµ µ³³Íķı µ´¬Æ¿ÅÂground proximity sensorsAseba::ThymioVPL::Block>±¹Ã¸·Ä®Áµ ¿Á¹¶Ì½Ä¹± µ³³ÍķıÂhorizontal proximity sensorsAseba::ThymioVPL::Blockº¹½·Ä®ÁµÂmotorsAseba::ThymioVPL::Block¼¿Åùº®musicAseba::ThymioVPL::Blockº±Ä¬Ãı÷stateAseba::ThymioVPL::Block"Ư»ÄÁ¿ º±Ä¬Ãı÷ state filterAseba::ThymioVPL::Block8±½¯Ç½µÅ÷ ÇÄÅÀ®¼±Ä¿ / º»¯Ã·tap detection / tiltAseba::ThymioVPL::BlockÇÁ¿½Ì¼µÄÁ¿timerAseba::ThymioVPL::Block"Ä­»¿ ÇÁ¿½Ì¼µÄÁ¿Å timer elapsedAseba::ThymioVPL::Block"ÇÁμ± À¬½É ¼­Á¿Å top colourAseba::ThymioVPL::Block˜£Æ¬»¼± ÃÄ¿ XML À·³±¯¿ ±Áǵ¯¿ õ %0:%1: ´µ ¼À¿Áµ¯ ½± ´·¼¹¿ÅÁ³·¸µ¯ Ä¿ ļ®¼± %29Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSet‚£Æ¬»¼± ÃÄ¿ XML À·³±¯¿ ±Áǵ¯¿ õ %0:%1: ¬³½ÉÃÄ¿ ÄÍÀ¿ Ä¼®¼±Ä¿ %28Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSet¦ÌÁÄÉ÷Loading!Aseba::ThymioVPL::EventActionsSet•½­Á³µ¹µÂActions)Aseba::ThymioVPL::ThymioVisualProgramming, Á¿ÇÉÁ·¼­½· »µ¹Ä¿ÅÁ³¯± Advanced mode)Aseba::ThymioVPL::ThymioVisualProgramming,•À¹ÄÅÇ® ¼µÄ±³»ÎÄĹ÷.Compilation success.)Aseba::ThymioVPL::ThymioVisualProgramming£Å¼²¬½Ä±Events)Aseba::ThymioVPL::ThymioVisualProgramming<•¾±³É³® ÀÁ¿³Á¬¼¼±Ä¿ É µ¹ºÌ½±Export program as image)Aseba::ThymioVPL::ThymioVisualProgramming’¿®¸µ¹±Help)Aseba::ThymioVPL::ThymioVisualProgramming"œ· Ãż²±Ä® ˆº´¿Ã·Incompatible Version)Aseba::ThymioVPL::ThymioVisualProgramming•ºº¯½·Ã· VPL Launch VPL)Aseba::ThymioVPL::ThymioVisualProgramming$¦ÌÁÄÉ÷ & •ºÄ­»µÃ· Load & Run)Aseba::ThymioVPL::ThymioVisualProgramming”·¼¹¿ÅÁ³¯±New)Aseba::ThymioVPL::ThymioVisualProgramming†½¿¹³¼±Open)Aseba::ThymioVPL::ThymioVisualProgramming> ±Á±º±»Î ÀÁ¿Ã¸­Ãĵ ¼¹± µ½­Á³µ¹±Please add an action)Aseba::ThymioVPL::ThymioVisualProgramming: ±Á±º±»Î ÀÁ¿Ã¸­Ãĵ ­½± Ãż²¬½Please add an event)Aseba::ThymioVPL::ThymioVisualProgramming•À±½¬»·È·Redo)Aseba::ThymioVPL::ThymioVisualProgramming>•À¹ÃÄÁ¿Æ® ÃÄ· ²±Ã¹º® »µ¹Ä¿ÅÁ³¯±Returning to simple mode)Aseba::ThymioVPL::ThymioVisualProgramming‘À¿¸®ºµÅ÷Save)Aseba::ThymioVPL::ThymioVisualProgramming‘À¿¸®ºµÅ÷ ÉÂSave as)Aseba::ThymioVPL::ThymioVisualProgramming$£Ä¹³¼¹ÌÄÅÀ¿ ¿¸Ì½·Â Screenshot)Aseba::ThymioVPL::ThymioVisualProgramming£Ä±¼¬Ä·¼±Stop)Aseba::ThymioVPL::ThymioVisualProgramming–¤¿ VPL ­³³Á±Æ¿ ­Çµ¹ ÄÁ¿À¿À¿¹·¸µ¯.<p>•À¹¸Å¼µ¯Äµ ½± ±À¿¸·ºµÍõĵ Ĺ ±»»±³­Â;FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgrammingÄ‘ÅÄÌ Ä¿ ±Áǵ¯¿ ´µ½ µ¯½±¹ Ãż²±ÄÌ ¼µ ±ÅÄ®½ Ä·½ ­º´¿Ã· Ä¿Å ThymioVPL. œÀ¿Áµ¯ ½± ¼· »µ¹Ä¿ÅÁ³µ¯ ÃÉÃĬ.VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgrammingPŸÀĹº® “»ÎÃñ  Á¿³Á±¼¼±Ä¹Ã¼¿Í Ä¿Å Thymio"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgramming‘½±¯ÁµÃ·Undo)Aseba::ThymioVPL::ThymioVisualProgramming Á¿µ¹´¿À¿¯·Ã·Warning)Aseba::ThymioVPL::ThymioVisualProgrammingp§Á·Ã¹¼¿À¿¹µ¯Äµ º±Ä±ÃĬõ¹ ±ÅÄ® Ä· ÃĹ³¼®. •À¹ÃÄÁ¿Æ® ÃÄ· ²±Ã¹º® »µ¹Ä¿ÅÁ³¯± ¸± ±À¿ÁÁ¯Èµ¹ º¬¸µ Ư»ÄÁ¿ º±Ä¬Ãı÷ ® º¬Áı ¿Á¹Ã¼¿Í º±Ä¬Ãı÷Â.<p>•¯Ãĵ ²­²±¹¿¹ ÌĹ µÀ¹¸Å¼µ¯Äµ ½± ÃŽµÇ¯ÃµÄµ;’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingJhttp://aseba.wikidot.com/en:thymiovpl%http://aseba.wikidot.com/en:thymiovpl)Aseba::ThymioVPL::ThymioVisualProgramming µ¼Æ¬½¹Ã· ³Á±¼¼®Â show line)Aseba::ThymioVPL::ThymioVisualProgramming•¯Ã¿´¿ÂLoginAseba::ThymioVPL::UsageLogger^ ±Á±º±»Î µ¹Ã¬³µÄµ Ä¿ ̽¿¼± ÇÁ®ÃÄ· ® ¿¼¬´± Ã±Â:%Please enter your user or group name:Aseba::ThymioVPL::UsageLoggerv%0 %1- ŸÀĹº® “»ÎÃñ  Á¿³Á±¼¼±Ä¹Ã¼¿Í Ä¿Å Thymio - ­º´¿Ã· %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandalone.£Í½´µÃ· ¼µ Ä¿ Thymio...Connecting to Thymio...Aseba::ThymioVPLStandalone— Ãͽ´µÃ· ¼µ Ä¿ Thymio Ǭ¸·ºµ... ²µ²±¹É¸µ¯Äµ ÌĹ Ä¿ Thymio µ¯½±¹ µ½µÁ³¿À¿¹·¼­½¿ º±¹ ÃŽ´­Ãĵ Ä¿ USB º±»Î´¹¿/±ÃÍÁ¼±Ä¿ À¿¼À¿´­ºÄ· (dongle)TConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandalonep£Æ¬»¼± ÃÄ¿ XML À·³±¯¿ ±Áǵ¯¿: %0 ÃÄ· ³Á±¼¼® %1, ÃÄ®»· %22Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandalone¦ÌÁÄÉ÷LoadingAseba::ThymioVPLStandalone¤”µ ²Á­¸·º±½ Thymio VPL ´µ´¿¼­½± ÃÄ¿ ±Áǵ¯¿ õ½±Á¯¿Å (script), Ä¿ ±Áǵ¯¿ ±³½¿®¸·ºµ.?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandalone2†½¿¹³¼± £µ½±Á¯¿Å (Script) Open ScriptAseba::ThymioVPLStandalone8‘À¿¸®ºµÅ÷ £µ½±Á¯¿Å (Script) Save ScriptAseba::ThymioVPLStandaloneh‘ÅÄ® · µÆ±Á¼¿³® ÅÀ¿ÃÄ·Á¯¶µ¹ ¼Ì½¿ ­½± Á¿¼ÀÌÄ Ä· Æ¿Á¬.8This application only supports a single robot at a time.Aseba::ThymioVPLStandalone"£Æ¬»¼± Thymio VPLThymio VPL ErrorAseba::ThymioVPLStandalone§ÉÁ¯ Ä¯Ä»¿UntitledAseba::ThymioVPLStandalone §Áµ¹¬¶µÄ±¹ ½± ÃŽ´­ÃµÄµ ­½± Thymio II ³¹± ½± ÇÁ·Ã¹¼¿À¿¹®ÃµÄµ ±ÅÄ®½ Ä·½ µÆ±Á¼¿³®.8You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone[ÄÁ¿À¿À¿¹·¼­½¿] [modified] Aseba::ThymioVPLStandalone𤿠Aseba Studio ÇÁ·Ã¹¼¿À¿¹µ¯ À±»±¹ÌĵÁ¿ ÀÁÉÄ̺¿»»¿ (%1) ±ÀÌ Ä¿½ ºÌ¼²¿ %0 (%2), À±Á±º±»Î ½± ±½±²±¸¼¯ÃµÄµ Ä¿ Aseba Studio.XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplicationŸ ºÌ¼²¿ %0 ÇÁ·Ã¹¼¿À¿¹µ¯ À±»±¹ÌĵÁ¿ ÀÁÉÄ̺¿»»¿ (%2) ±ÀÌ Ä¿ Aseba Studio (%1), À±Á±º±»Î ½± ±½±²±¸¼¯ÃµÄµ Ä¿ Å»¹º¿»¿³¹Ã¼¹ºÌ (firmware) Ä¿Å ºÌ¼²¿Å.]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplicationD”µ½ ı¹Á¹¬¶µ¹ · ­º´¿Ã· ÀÁÉÄ¿ºÌ»»É½Protocol version mismatch QApplication6£Å½­²· ÃƬ»¼± µÀ¹º¿¹½É½¯±Â:A communication error happened:QObject*•À¹ÄÅÇ® ¼µÄ±³»ÎÄĹ÷Compilation successQObject4“Á±¼¼® %0: ›µ¯Àµ¹ µ½­Á³µ¹±Line %0: Missing actionQObject0“Á±¼¼® %0: ›µ¯Àµ¹ Ãż²¬½Line %0: Missing eventQObjectŠ¤¿ Ãż²¬½ º±¹ · º±Ä¬Ãı÷ ÃÄ· ³Á±¼¼® %0 µ¯½±¹ ı ¯´¹± ¼µ Ä· ³Á±¼¼® %1GThe event and the state condition in line %0 are the same as in line %1QObjectj¤¿ Ãż²¬½ ÃÄ· ³Á±¼¼® %0 µ¯½±¹ Ä¿ ¯´¹¿ ¼µ Ä· ³Á±¼¼® %1.The event in line %0 is the same as in line %1QObject2‘ÀÁ¿Ã´Ìº·Ä¿ £Æ¬»¼± DashelUnexpected Dashel ErrorQObject$†³½ÉÃÄ¿ ÃƬ»¼± VPLUnknown VPL errorQObjectˆaseba-1.6.0/clients/studio/asebastudio_el.ts000066400000000000000000002214451322771007300211060ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint ΚαθαÏισμός σημείου διακοπής Set breakpoint ΟÏισμός σημείου διακοπής Clear all breakpoints ΔιαγÏαφή όλων των σημείων διακοπής Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: Έξοδος τελευταίας μεταγγλώτισης Aseba::ConfigDialog General Γενικά Editor ΕπεξεÏγαστής Ok ΟΚ Cancel ΑκÏÏωση Aseba Studio - Settings Aseba Studio - Ρυθμίσεις Aseba::ConstantsModel Constant already defined ΣταθεÏά ήδη δηλωμένη Constant %0 is already defined. Η σταθεÏά %0 είναι ήδη δηλωμένη. The name is a keyword Το όνομα είναι δεσμευμένη λέξη The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Το όνομα <tt>%0</tt> δε μποÏεί να χÏησιμοποιηθεί ως σταθεÏά, διότι αποτελεί δεσμευμένη λέξη της γλώσσας. Aseba::DashelConnectionDialog Network (TCP) Δίκτυο (TCP) Host Διακομιστής Port ΘÏÏα Serial ΣειÏιακό Custom ΠÏοσαÏμογή Discovered targets Selected target Serial port Local TCP TCP Documentation Language Connect ΣÏνδεση Cancel ΑκÏÏωση Aseba Target Selection Επιλογή Στόχου Aseba – type %1 local on computer distant on network – device %1 serial port or USB Aseba::DashelInterface Thymio not found Δε βÏέθηκε Thymio <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>Το Thymio δε μποÏεί να βÏεθεί!</b></p><p>Συνδέστε ένα Thymio στον υπολογιστή σας χÏησιμοποιώντας το USB καλώδιο/ασÏÏματο πομποδέκτη (dongle), και βεβαιωθείτε ότι κανένα άλλο Ï€ÏόγÏαμμα δε χÏησιμοποιεί το Thymio.</p> Connection to command line target failed Η σÏνδεση με το στόχο της γÏαμμής εντολών απέτυχε Cannot connect to target %0 Δεν είναι δυνατή η σÏνδεση με το στόχο %0 Aseba::EditorPage Editor Setup ΡÏθμιση ΕπεξεÏγαστή Autocompletion Αυτόματη συμπλήÏωση Keywords Δεσμευμένες λέξεις Aseba::EventViewer Time (seconds) ΧÏόνος (δευτεÏόλεπτα) Values Τιμές Recording... ΕγγÏαφή... &Pause &ΠαÏση &Clear &ΚαθαÏισμός time &window: παÏάθυÏο &χÏόνου: Save &As... Αποθήκευση &Ως... Paused... Σε παÏση... &Record &ΕγγÏαφή Save plot data to file Αποθήκευση δεδομένων γÏαφήματος σε αÏχείο Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - Αναζήτηση και Αντικατάσταση &Search for: &Αναζήτηση για: &Case sensitive &ΔιάκÏιση Î¼ÎµÏ„Î±Î¾Ï Ï€ÎµÎ¶ÏŽÎ½ και κεφαλαίων χαÏακτήÏων &Whole words &ΟλόκληÏες λέξεις Re&gular expressions Κα&νονικές εκφÏάσεις &Find Next &ΕÏÏεση Επόμενου Find &Previous ΕÏÏεση &ΠÏοηγοÏμενου Find from &Top ΕÏÏεση από την &ΑÏχή &Replace &Αντικατάσταση w&ith: &με: Replace and Find &Next Replace and Find &Next Αντικατάσταση και ΕÏÏεση &Επομένου Replace and Find Previo&us Replace and Find Previo&us Αντικατάσταση και ΕÏÏεση ΠÏοηγοÏμε&νου Replace &All Occurrences Replace &All Occurrences Αντικατάσταση &Όλων των Εμφανίσεων End of document reached! Τέλος εγγÏάφου! Aseba::GeneralPage General Setup Γενικές Ρυθμίσεις Layout Διάταξη Show keyword toolbar Εμφάνιση γÏαμμής εÏγαλείων με δεσμευμένες λέξεις Show memory usage Εμφάνιση χÏήσης μνήμης Show hidden variables Εμφάνιση κÏυφών μεταβλητών Show line numbers Εμφάνιση αÏιθμών γÏαμμών Aseba::HelpViewer The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. Το αÏχείο βοήθειας %0 δε φοÏτώθηκε επιτυχώς. Το σφάλμα ήταν: %1.Το αÏχείο βοήθειας θα Ï€Ïέπει να είναι διαθέσιμο στον Ï€ÏοσωÏινό φάκελο του συστήματός σας. ΠαÏακαλώ να ελέγξετε την εγκατάστασή σας, ή να αναφέÏετε το Ï€Ïόβλημα. Help file not found Το αÏχείο βοήθειας δε βÏέθηκε Previous ΠÏοηγοÏμενο Next Επόμενο Home ΑÏχή Aseba Studio Help Βοήθεια Aseba Studio The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. Το φίλτÏο βοήθειας για τη γλώσσα "%0" δεν έχει βÏεθεί. ΕπιστÏοφή στην Ï€ÏοκαθοÏισμένη γλώσσα (%1). Αυτό είναι πιθανόν Ï€Ïόβλημα, παÏακαλώ να το αναφέÏετε. Aseba::LinearCameraViewPlugin Linear Camera View Plugin ΠÏόσθετο ΠÏοβολής ΓÏαμμικής ΚάμεÏας linear camera viewer Ï€Ïοβολέας γÏαμμικής κάμεÏας Cannot initialize linear camera view plugin Δεν είναι δυνατή η εκκίνηση του Ï€Ïόσθετου Ï€Ïοβολής γÏαμμικής κάμεÏας One or more variable not found in %1, %2, or %3. Μία ή πεÏισσότεÏες μεταβλητές δε βÏέθηκαν σε %1, %2, ή %3. Aseba::LinearCameraViewVariablesDialog Please choose your variables ΠαÏακαλώ να επιλέξετε τις μεταβλητές σας red component κόκκινο συστατικό green component Ï€Ïάσινο συστατικό blue component μπλε συστατικό range of values εÏÏος τιμών Ok ΟΚ auto range αυτόματο εÏÏος 8 bits range (0–255) 8 bits range (0–255) εÏÏος 8 bits (0-255) percent range (0–100) percent range (0–100) ποσοστιαίο εÏÏος (0-100) Linear Camera View Plugin ΠÏόσθετο ΠÏοβολής ΓÏαμμικής ΚάμεÏας Aseba::MainWindow Event number %0 ΑÏιθμός συμβάντος %0 <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>Σχετικά με το Aseba</h1>ΠληÏοφοÏίες Έκδοσης<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(υποστηÏιζόμενοι Ï„Ïποι Ïοής δεδομένων: %4)</li></ul><p>Διαβάστε πεÏισσότεÏα στο <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> και λοιποί συνεÏγάτες (κάντε κλικ στο "Εμφάνιση λεπτομεÏειών" για πλήÏη λίστα)</p><p>Το Aseba είναι Î±Î½Î¿Î¹ÎºÏ„Î¿Ï ÎºÏŽÎ´Î¹ÎºÎ± με άδεια από <a href="https://www.gnu.org/licenses/lgpl.html">LGPL έκδοση 3</a>.</p> http://aseba.wikidot.com/en:start http://aseba.wikidot.com/en:start About Aseba Studio Σχετικά με το Aseba Studio Open Script Άνοιγμα ΣεναÏίου (Script) (not available) (μη διαθέσιμο) Loading ΦόÏτωση %0 scripts have no corresponding nodes in the current network and have not been loaded. %0 σενάÏια (scripts) δεν έχουν αντίστοιχους κόμβους στο παÏόν δίκτυο και δεν έχουν φοÏτωθεί. Error in XML source file: %0 at line %1, column %2 Σφάλμα στο XML πηγαίο αÏχείο: %0 στη γÏαμμή %1, στήλη %2 Save Script Αποθήκευση ΣεναÏίου (Script) Export memory content Εξαγωγή πεÏιεχομένου μνήμης Import memory content Εισαγωγή πεÏιεχομένου μνήμης %0 on node %1 %0 στον κόμβο %1 The following nodes are not present in the current network and their associated content was not imported: Οι ακόλουθοι κόμβοι δεν υπάÏχουν στο παÏόν δίκτυο και δεν έγινε εισαγωγή του ÏƒÏ‡ÎµÏ„Î¹ÎºÎ¿Ï Ï€ÎµÏιεχομένου τους: The following variables are not present in the current network and their associated content was not imported: Οι ακόλουθες μεταβλητές δεν υπάÏχουν στο παÏόν δίκτυο και δεν έγινε εισαγωγή του ÏƒÏ‡ÎµÏ„Î¹ÎºÎ¿Ï Ï€ÎµÏιεχομένου τους: Some content was not imported Δεν έγινε εισαγωγή μεÏÎ¹ÎºÎ¿Ï Ï€ÎµÏιεχομένου Go To Line Πήγαινε στη γÏαμμή Line: ΓÏαμμή: Specify event arguments ΠÏοσδιοÏίστε τα οÏίσματα του συμβάντος Please specify the %0 arguments of event %1 ΠαÏακαλώ Ï€ÏοσδιοÏίστε τα %0 οÏίσματα του συμβάντος %1 Wrong number of arguments Λανθασμένο πλήθος οÏισμάτων You gave %0 arguments where event %1 requires %2 Δώσατε %0 οÏίσματα όπου το συμβάν %1 απαιτεί %2 Invalid value Μη έγκυÏη τιμή Invalid value for argument %0 of event %1 Μη έγκυÏη τιμή για το ÏŒÏισμα %0 του συμβάντος %1 Plot event %1 ΓÏάφημα συμβάντος %1 plot of %1 γÏάφημα του %1 Add a new event ΠÏοσθήκη νέου συμβάντος Name: Όνομα: Number of arguments For the newly created event (Για το νέο συμβάν) Πλήθος οÏισμάτων Event already exists Το συμβάν υπάÏχει ήδη Event %0 already exists. Το συμβάν %0 υπάÏχει ήδη. Invalid event name Μη έγκυÏο όνομα συμβάντος Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." Το συμβάν %0 έχει μη έγκυÏο όνομα. Τα έγκυÏα ονόματα ξεκινοÏν με έναν αλφαβητικό χαÏακτήÏα ή "_", και συνεχίζουν με οποιοδήποτε πλήθος αλφαÏιθμητικών χαÏακτήÏων, "_" και "." Desynchronised! Please reload. ΑποσυγχÏονισμός! ΠαÏακαλώ επαναφοÏτώστε. Add a new constant ΠÏοσθήκη νέας σταθεÏάς Value Value assigned to the constant (Τιμή ανάθεσης στη μεταβλητή) Τιμή event %0 : συμβάν %0 : Aseba Studio is an environment for interactively programming robots with a text language. https://www.thymio.org/en:asebastudio Number of arguments For the newly created event Πλήθος οÏισμάτων Value Value assigned to the constant Τιμή event %0 : array access at %0 out of bounds [0..%1] Ï€Ïόσβαση πίνακα σε %0 εκτός οÏίων [0..%1] division by zero διαίÏεση με μηδέν event execution killed διακοπή εκτέλεσης συμβάντος %0:%1: %2 %0:%1: %2 Remove this constant ΔιαγÏαφή αυτής της σταθεÏάς <b>Constants</b> <b>ΣταθεÏές</b> Remove this event ΔιαγÏαφή Î±Ï…Ï„Î¿Ï Ï„Î¿Ï… συμβάντος Send this event Αποστολή Î±Ï…Ï„Î¿Ï Ï„Î¿Ï… συμβάντος Plot this event ΓÏάφημα Î±Ï…Ï„Î¿Ï Ï„Î¿Ï… συμβάντος <b>Global Events</b> <b>Καθολικά Συμβάντα</b> Clear ΚαθαÏισμός ...inside %0 ...εντός %0 ...%0 ...%0 ...of %0 ...του %0 ...inside all nodes ...εντός όλων των κόμβων ...all nodes ...όλοι οι κόμβοι &User Manual... &ΕγχειÏίδιο Οδηγιών ΧÏήστη... Web site Aseba... Ιστότοπος Aseba... Report bug... ΑναφοÏά Ï€Ïοβλήματος... http://github.com/aseba-community/aseba/issues/new http://github.com/aseba-community/aseba/issues/new &About... &Σχετικά με... About &Qt... Σχετικά με το &Qt... Thymio programming tutorial... ΕγχειÏίδιο διδασκαλίας Ï€ÏογÏÎ±Î¼Î¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï Ï„Î¿Ï… Thymio... http://aseba.wikidot.com/en:thymiotutoriel http://aseba.wikidot.com/en:thymiotutoriel Thymio programming interface... Διεπαφή Ï€ÏογÏÎ±Î¼Î¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï Ï„Î¿Ï… Thymio... http://aseba.wikidot.com/en:thymioapi http://aseba.wikidot.com/en:thymioapi Challenge tutorial... ΕγχειÏίδιο διδασκαλίας του Challenge... http://aseba.wikidot.com/en:gettingstarted http://aseba.wikidot.com/en:gettingstarted MarXbot user manual... ΕγχειÏίδιο οδηγιών χÏήστη του MarXbot... http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf &File &ΑÏχείο &New &ΔημιουÏγία &Open... &Άνοιγμα... Open &Recent Άνοιγμα &ΠÏόσφατου &Save... &Αποθήκευση... Save &As... Αποθήκευση &Ως... Export &memories content... Εξαγωγή &πεÏιεχομένου μνημών... &Import memories content... &Εισαγωγή πεÏιεχομένου μνημών... &Quit &Έξοδος Cu&t Re&do Ctrl+G Edit|Go To Line Ctrl+G Ctrl+D Edit|Comment the selection Ctrl+D Shift+Ctrl+D Edit|Uncomment the selection Shift+Ctrl+D F11 View|Show Line Numbers F11 F7 Load|Load all F7 F8 Debug|Reset all F8 F9 Debug|Run all F9 F10 Debug|Pause all F10 Ctrl+B Debug|Toggle breakpoint Ctrl+B &Cut &Αποκοπή &Copy &ΑντιγÏαφή &Paste &Επικόλληση &Undo &ΑναίÏεση &Redo &Επανάληψη &Find... &ΕÏÏεση... &Replace... &Αντικατάσταση... &Go To Line... &Πήγαινε Στη ΓÏαμμή... Ctrl+G Edit|Go To Line (ΕπεξεÏγασία|Πήγαινε Στη ΓÏαμμή) Ctrl+G Comment the selection Σχολιασμός της επιλογής Ctrl+D Edit|Comment the selection (ΕπεξεÏγασία|Σχολιασμός της επιλογής) Ctrl+D Uncomment the selection ΑναίÏεση ÏƒÏ‡Î¿Î»Î¹Î±ÏƒÎ¼Î¿Ï Ï„Î·Ï‚ επιλογής Shift+Ctrl+D Edit|Uncomment the selection (ΕπεξεÏγασία|ΑναίÏεση ÏƒÏ‡Î¿Î»Î¹Î±ÏƒÎ¼Î¿Ï Ï„Î·Ï‚ επιλογής) Shift+Ctrl+D &Edit &ΕπεξεÏγασία Copy &all ΑντιγÏαφή &όλων Show &keywords Εμφάνιση &δεσμευμένων λέξεων Show &memory usage Εμφάνιση &χÏήσης μνήμης S&how hidden variables and functions &Εμφάνιση κÏυφών μεταβλητών και συναÏτήσεων Show &Line Numbers Εμφάνιση &ΑÏιθμών ΓÏαμμών F11 View|Show Line Numbers (ΠÏοβολή|Εμφάνιση ΑÏιθμών ΓÏαμμών) F11 &Increase font size &ΑÏξηση μεγέθους γÏαμματοσειÏάς &Decrease font size &Μείωση μεγέθους γÏαμματοσειÏάς &View &ΠÏοβολή &Settings &Ρυθμίσεις &Load all &ΦόÏτωση όλων F7 Load|Load all (ΦόÏτωση|ΦόÏτωση όλων) F7 &Reset all &ΕπαναφοÏά όλων F8 Debug|Reset all (Εκσφαλμάτωση|ΕπαναφοÏά όλων) F8 Ru&n all &Εκτέλεση όλων F9 Debug|Run all (Εκσφαλμάτωση|Εκτέλεση όλων) F9 &Pause all &ΠαÏση όλων F10 Debug|Pause all (Εκσφαλμάτωση|ΠαÏση όλων) F10 Debug Εκσφαλμάτωση Toggle breakpoint Εναλλαγή σημείου διακοπής Ctrl+B Debug|Toggle breakpoint (Εκσφαλμάτωση|Εναλλαγή σημείου διακοπής) Ctrl+B Clear all breakpoints ΚαθαÏισμός όλων των σημείων διακοπής &Debug &Εκσφαλμάτωση &Tools &ΕÏγαλεία &Show last compilation messages &Εμφάνιση τελευταίων μηνυμάτων μεταγλώττισης Write the program(s)... ΓÏάψιμο Ï€ÏογÏάμματος/Ï€ÏογÏαμμάτων... Reboot... Επανεκκίνηση... Save the binary code... Αποθήκευση του Î´Ï…Î±Î´Î¹ÎºÎ¿Ï ÎºÏŽÎ´Î¹ÎºÎ±... &Help &Βοήθεια Untitled ΧωÏίς τίτλο Aseba Studio - Confirmation Dialog Aseba Studio - Διάλογος Επιβεβαίωσης The document "%0" has been modified. Το έγγÏαφο "%0" έχει Ï„Ïοποποιηθεί. Do you want to save your changes or discard them? Επιθυμείτε να αποθηκεÏσετε τις αλλαγές σας ή να τις αποÏÏίψετε; [modified] [Ï„Ïοποποιημένο] %0 %1- Aseba Studio %0 %1- Aseba Studio Aseba::MaskableNamedValuesVectorModel Hide ΑπόκÏυψη View ΠÏοβολή Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) [Όνομα της οÏισμένης τιμής (μποÏεί να είναι σταθεÏά, συμβάν,...)] Όνομα Default description When no description is given for the named value (Όταν δε δίνεται πεÏιγÏαφή της οÏισμένης τιμής) ΠÏοκαθοÏισμένη πεÏιγÏαφή Name Name of the named value (can be a constant, event,...) Όνομα Default description When no description is given for the named value ΠÏοκαθοÏισμένη πεÏιγÏαφή Aseba::NodeTab <b>Keywords</b> <b>Δεσμευμένες λέξεις</b> unknown άγνωστο Load ΦόÏτωση Reset ΕπαναφοÏά Run Εκτέλεση Next Επόμενο refresh ανανέωση auto αυτόματο <b>Execution</b> <b>Εκτέλεση</b> <b>Variables</b> <b>Μεταβλητές</b> F&ilter: &ΦίλτÏο Native Functions Εγγενείς ΣυναÏτήσεις Local Events Τοπικά Γεγονότα Local Tools Τοπικά ΕÏγαλεία Save the binary code of %0 Αποθήκευση του Î´Ï…Î±Î´Î¹ÎºÎ¿Ï ÎºÏŽÎ´Î¹ÎºÎ± του %0 Aseba Studio: Output of last compilation for %0 Aseba Studio: Έξοδος της τελευταίας μεταγλώττισης για %0 Compilation success. Επιτυχής μεταγλώττιση. variables: %1 on %2 (%3%) μεταβλητές: %1 σε %2 (%3%) bytecode: %1 on %2 (%3%) ενδιάμεσος κώδικας: %1 σε %2 (%3%) <b>Memory usage</b> : %1, %2 <b>ΧÏήση μνήμης</b> : %1, %2 running σε εκτέλεση Pause ΠαÏση step by step βήμα-βήμα stopped σταματημένο Aseba::ReconnectionDialog Connection closed Διακοπή σÏνδεσης Warning, connection closed: I am trying to reconnect. ΠÏοειδοποίηση, διακοπή σÏνδεσης: ΠÏοσπαθώ να επανασυνδεθώ. Stop trying Σταμάτημα Ï€Ïοσπάθειας Aseba::StopThymioPlugin Stop Thymio Σταμάτημα του Thymio Aseba::TargetFunctionsModel hidden κÏυφό Aseba::TargetVariablesModel names ονόματα values τιμές Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Διεπαφή Thymio Blockly New ΔημιουÏγία Open Άνοιγμα Save Αποθήκευση Save as Αποθήκευση ως Load & Run ΦόÏτωση & Εκτέλεση Stop Σταμάτημα Help Βοήθεια Screenshot Στιγμιότυπο οθόνης Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/en:blocklyprogramming Export program as image Εξαγωγή Ï€ÏογÏάμματος ως εικόνα Launch Blockly Εκκίνηση Blockly Warning ΠÏοειδοποίηση The Blockly document has been modified.<p>Do you want to save the changes? Το έγγÏαφο Blockly έχει Ï„Ïοποποιηθεί.<p>Επιθυμείτε να αποθηκεÏσετε τις αλλαγές; Aseba::ThymioVPL::Block buttons πλήκτÏα horizontal proximity sensors αισθητήÏες οÏιζόντιας εγγÏτητας ground proximity sensors αισθητήÏες εγγÏτητας εδάφους tap detection / tilt ανίχνευση χτυπήματος / κλίση clap detection ανίχνευση χειÏοκÏοτήματος timer elapsed τέλος χÏονόμετÏου state filter φίλτÏο κατάστασης motors κινητήÏες top colour χÏώμα πάνω μέÏους bottom colour χÏώμα κάτω μέÏους music μουσική timer χÏονόμετÏο state κατάσταση Aseba::ThymioVPL::EventActionsSet Loading ΦόÏτωση Error in XML source file at %0:%1: cannot create block %2 Σφάλμα στο XML πηγαίο αÏχείο σε %0:%1: δε μποÏεί να δημιουÏγηθεί το τμήμα %2 Error in XML source file at %0:%1: unknown block type %2 Σφάλμα στο XML πηγαίο αÏχείο σε %0:%1: άγνωστος Ï„Ïπος τμήματος %2 Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Οπτική Γλώσσα ΠÏογÏÎ±Î¼Î¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï Ï„Î¿Ï… Thymio New ΔημιουÏγία Open Άνοιγμα Save Αποθήκευση Save as Αποθήκευση ως Undo ΑναίÏεση Redo Επανάληψη Load & Run ΦόÏτωση & Εκτέλεση Stop Σταμάτημα Advanced mode ΠÏοχωÏημένη λειτουÏγία Help Βοήθεια Screenshot Στιγμιότυπο οθόνης Events Συμβάντα Compilation success. Επιτυχής μεταγλώττιση. show line εμφάνιση γÏαμμής Actions ΕνέÏγειες The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. https://www.thymio.org/en:thymiovpl http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/en:thymiovpl Export program as image Εξαγωγή Ï€ÏογÏάμματος ως εικόνα Launch VPL Εκκίνηση VPL Returning to simple mode ΕπιστÏοφή στη βασική λειτουÏγία You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? ΧÏησιμοποιείτε καταστάσεις αυτή τη στιγμή. ΕπιστÏοφή στη βασική λειτουÏγία θα αποÏÏίψει κάθε φίλτÏο κατάστασης ή κάÏτα οÏÎ¹ÏƒÎ¼Î¿Ï ÎºÎ±Ï„Î¬ÏƒÏ„Î±ÏƒÎ·Ï‚.<p>Είστε βέβαιοι ότι επιθυμείτε να συνεχίσετε; Warning ΠÏοειδοποίηση The VPL document has been modified.<p>Do you want to save the changes? Το VPL έγγÏαφο έχει Ï„Ïοποποιηθεί.<p>Επιθυμείτε να αποθηκεÏσετε τις αλλαγές; Incompatible Version Μη συμβατή Έκδοση This file is incompatible with this version of ThymioVPL. It might not work correctly. Αυτό το αÏχείο δεν είναι συμβατό με αυτήν την έκδοση του ThymioVPL. ΜποÏεί να μη λειτουÏγεί σωστά. Please add an event ΠαÏακαλώ Ï€Ïοσθέστε ένα συμβάν Please add an action ΠαÏακαλώ Ï€Ïοσθέστε μια ενέÏγεια Aseba::ThymioVPL::UsageLogger Login Είσοδος Please enter your user or group name: ΠαÏακαλώ εισάγετε το όνομα χÏήστη ή ομάδας σας: Aseba::ThymioVPLStandalone Connecting to Thymio... ΣÏνδεση με το Thymio... Thymio VPL Error Σφάλμα Thymio VPL You need to connect a Thymio II to use this application. ΧÏειάζεται να συνδέσετε ένα Thymio II για να χÏησιμοποιήσετε αυτήν την εφαÏμογή. Save Script Αποθήκευση ΣεναÏίου (Script) Open Script Άνοιγμα ΣεναÏίου (Script) Loading ΦόÏτωση No Thymio VPL data were found in the script file, file ignored. Δε βÏέθηκαν Thymio VPL δεδομένα στο αÏχείο σεναÏίου (script), το αÏχείο αγνοήθηκε. Error in XML source file: %0 at line %1, column %2 Σφάλμα στο XML πηγαίο αÏχείο: %0 στη γÏαμμή %1, στήλη %2 This application only supports a single robot at a time. Αυτή η εφαÏμογή υποστηÏίζει μόνο ένα Ïομπότ τη φοÏά. Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle Η σÏνδεση με το Thymio χάθηκε... βεβαιωθείτε ότι το Thymio είναι ενεÏγοποιημένο και συνδέστε το USB καλώδιο/ασÏÏματο πομποδέκτη (dongle) [modified] [Ï„Ïοποποιημένο] Untitled ΧωÏίς τίτλο %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Οπτική Γλώσσα ΠÏογÏÎ±Î¼Î¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï Ï„Î¿Ï… Thymio - έκδοση %2 QApplication Protocol version mismatch Δεν ταιÏιάζει η έκδοση Ï€Ïωτοκόλλων Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Το Aseba Studio χÏησιμοποιεί παλαιότεÏο Ï€Ïωτόκολλο (%1) από τον κόμβο %0 (%2), παÏακαλώ να αναβαθμίσετε το Aseba Studio. Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. Ο κόμβος %0 χÏησιμοποιεί παλαιότεÏο Ï€Ïωτόκολλο (%2) από το Aseba Studio (%1), παÏακαλώ να αναβαθμίσετε το υλικολογισμικό (firmware) του κόμβου. QObject Unexpected Dashel Error ΑπÏοσδόκητο Σφάλμα Dashel A communication error happened: Συνέβη σφάλμα επικοινωνίας: Compilation success Επιτυχής μεταγλώττιση Line %0: Missing event ΓÏαμμή %0: Λείπει συμβάν Line %0: Missing action ΓÏαμμή %0: Λείπει ενέÏγεια The event in line %0 is the same as in line %1 Το συμβάν στη γÏαμμή %0 είναι το ίδιο με τη γÏαμμή %1 The event and the state condition in line %0 are the same as in line %1 Το συμβάν και η κατάσταση στη γÏαμμή %0 είναι τα ίδια με τη γÏαμμή %1 Unknown VPL error Άγνωστο σφάλμα VPL aseba-1.6.0/clients/studio/asebastudio_es.qm000066400000000000000000001170501322771007300211000ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB P—@Š˜@¶™@â[[$I@@,IA@[TÇhTÇwX€ ÐY¾a]´Ç-ϧÔ9Ÿì0g‘ì0vï¥[qö5‚5t_‰H5\yLô¸Lô`´f¾hâf¾wØ‹¯y3˜Åi(˜Åz«`j1«`{įCÏÇ[½Œ¯b£bmz¤J*¦y*_*»+O*Ð%+ˆ*ì0,[+Œ.Å+į1 +ÏÇ1©1€1àF¬>‰ŽJ+‚7ƒJ¹·9×SŠC7S]þƒTƒŠD'VŒ•`íX|¯FÅXÉÄa\ƒµRŽefDytƒÃftÉóobz¨¥oŸ{Âp¸ŽM^•¼R Ò±šsH­È¢ã$_âÀ fç9C2»î(3S‰ 4”JV'Nîe+½¤q=%4x¬EBÞ,’U3,f°²oÜwñMe$úŒœÐa“ª½.(ĺ1Sé»Åþ!J»Åþ#ˆÙøeK§å"žIáñYg×ù2S_¼ .5Û•î?)³n;íS ~.üaØ9&$i$¥ˆê•yƒ–üŽvM›Á4p4ª+‚ª¹·*˜¶Š¥.E¶Œ•S»f30ÅÄQegÄQeurÇ4L Ô>“êà½ÞC«ðð£´ñí~[ñí~IC©~Œ8 2dFhÃ&¦&æÎ2W°CnW°sŸW°‡°dZNx$ðn¡P¶YÁ£ÃŽ-Á„„ðþRÃëžg] WÌS±HTîÙb=eB3KQg²¥~‹gáô‘iC`_oü.„à|(~3‰9¤˜I¼d˜I¼#ŸsŒvÇ«Žò8÷«Žô9/«Ž÷9g» b¢ÁXÌųu ÎÞ\¸ì4$GGd ¢Jù)ÄÌJDAXJô?«vM-ˆ‹orT]?j{ÿê£!êM³°·tRL°·tŠÆ´ÔÁž“gÃI”É8È;ÃqÌütEÌütˆæÑëŽ\ é~u…VðS.õUßeì ›QD$±‘0!B7-lÎh9-lÎw#l¾.l¡ñrñá['—Wµ‚¡£ âqZ«Ú’}Án4*Æ7ÞP'諭f?ôfÕ-ûDÒøÿ:šä ¬ì{ é…¿$ï'vF¶“o"MØÎ¥ZËÞ^ïZËÞt¦[fÕ*ÔlXä4|‹µº•˜`3˜`37¼ º8«s첎L8°¾¾d y¿9^7È;ÃfÄÐc¼Hcã<„%SãJgd°Ä×Y8Ä>m´K·ÑEZN²õ{u¬³ŠécÊŒF!B†½Œèb¨Ç%%ãÈ)Î|vͳôæ'ãn˜ð’r“` ( ž < ½ycã çSn .ü?UË C¡4G£ fI¾G l[~* n°a’A ~ ÐÁ Ã>e ŒvÓir ŒvÓzS Œƒ¾/™ ¡Sî ÄDÒq¬ Äàì/G ÅP7bæ ˶3ms ÖÓB][ îžn w ú5}U 5s”J¯ 8a#D` C1Y' Ht"Š] K3¿{n e!T ä eKäk  xsÀ ²•¾}) µ:ÄV# ¶vÄci »šNç ÅH"‹ s©Î1H „ê²)Õ •Ò¬.} ›GŽÎ ºïs/Ý Ê£õ­ ÛÁutA àe¿Z’ ä"d' ñÔþ, ü4Üö ¨Ú_N s®+à ̤ {°^) ]:ƒI m£È õ I—ÎP¶ }Ñ(w ƒÈôdQ †ã2 ‰Pl ‰P• ÄÈ<Ü ìRb„×.P C` h c$JDž]ÖO@ X] >Gö‡†¢"í\tDÁòl^"÷­i# ú.:D•AÍ ÖÓ†ù44æD@®SY¾";+Y¾"†åGŽ­üPTÄ­üP‹ä¶D´%ºÑßtVŸ×y>3jÚ{>Åæ–~Gi“·>Quitar todas las interrupcionesClear all breakpointsAseba::AeslEditor&Quitar interrupciónClear breakpointAseba::AeslEditor$Fijar interrupciónSet breakpointAseba::AeslEditordAseba Studio: Resultado de la compilación anterior(Aseba Studio: Output of last compilationAseba::CompilationLogDialog<Aseba Studio - ConfiguracionesAseba Studio - SettingsAseba::ConfigDialogCancelarCancelAseba::ConfigDialog EditorEditorAseba::ConfigDialogGeneralGeneralAseba::ConfigDialogOkOkAseba::ConfigDialogBLa constante %0 ya está definida.Constant %0 is already defined.Aseba::ConstantsModel<Constante previamente definidaConstant already definedAseba::ConstantsModel¶El nombre <tt>%0</tt> no puede ser una constante, porque es una comado propio del lenguaje.TThe name %0 cannot be used as a constant, because it is a language keyword.Aseba::ConstantsModel.El nombre es un comandoThe name is a keywordAseba::ConstantsModel"  dispositivo %1 – device %1Aseba::DashelConnectionDialog - tipo %1 – type %1Aseba::DashelConnectionDialog6Selección de objetivo AsebaAseba Target SelectionAseba::DashelConnectionDialogCancelarCancelAseba::DashelConnectionDialogConectarConnectAseba::DashelConnectionDialog*Objetivos encontradosDiscovered targetsAseba::DashelConnectionDialogDocuemntación DocumentationAseba::DashelConnectionDialog IdiomaLanguageAseba::DashelConnectionDialogTCP local Local TCPAseba::DashelConnectionDialog*Objetivo seleccionadoSelected targetAseba::DashelConnectionDialogPuerto serial Serial portAseba::DashelConnectionDialogTCPTCPAseba::DashelConnectionDialog*a distancia en la reddistant on networkAseba::DashelConnectionDialoglocal en PClocal on computerAseba::DashelConnectionDialog&Puerto serial o USBserial port or USBAseba::DashelConnectionDialog\<p><b>Thymio no encontrado!</b></p><p>Conecte el Thymio a su PC usando el cable USB o adaptador inalámbrico, y asegúrese de que ningún otro programa esté usando el robot.</p>•

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

Aseba::DashelInterfaceFNo se logró conectar al objetivo %0Cannot connect to target %0Aseba::DashelInterfacenFalló la conexión con el objetivo por línea de comandos(Connection to command line target failedAseba::DashelInterface8No se encontró ningún ThymioThymio not foundAseba::DashelInterfaceAutocompletarAutocompletionAseba::EditorPage0Configuración del editor Editor SetupAseba::EditorPageComandosKeywordsAseba::EditorPage &Limpiar gráfica&ClearAseba::EventViewer &Pausa&PauseAseba::EventViewerG&rabación&RecordAseba::EventViewerPausado... Paused...Aseba::EventViewerGrabando... Recording...Aseba::EventViewer G&uardar como... Save &As...Aseba::EventViewer0Guardar datos graficadosSave plot data to fileAseba::EventViewer"Tiempo (segundos)Time (seconds)Aseba::EventViewerValoresValuesAseba::EventViewer&Ventana de &tiempo: time &window:Aseba::EventViewerVSensible al uso de mayús&culas y minúsculas&Case sensitiveAseba::FindDialog"Buscar &siguiente &Find NextAseba::FindDialog&Remplazar&ReplaceAseba::FindDialog&Buscar: &Search for:Aseba::FindDialog&Palabras co&mpletas &Whole wordsAseba::FindDialogBAseba Studio - Buscar y Remplazar!Aseba Studio - Search and ReplaceAseba::FindDialogDHa llegado al final del documento!End of document reached!Aseba::FindDialog Buscar &anteriorFind &PreviousAseba::FindDialog4Buscar desde el &principioFind from &TopAseba::FindDialog.Expresiones &frecuentesRe&gular expressionsAseba::FindDialogRemplazar &todoReplace &All OccurrencesAseba::FindDialog:Remplazar y buscar siguie&nteReplace and Find &NextAseba::FindDialog8Remplazar y b&uscar anteriorReplace and Find Previo&usAseba::FindDialog p&or:w&ith:Aseba::FindDialog*Configuración General General SetupAseba::GeneralPageDisposiciónLayoutAseba::GeneralPage2Mostrar variables ocultasShow hidden variablesAseba::GeneralPage2Mostrar barra de comandosShow keyword toolbarAseba::GeneralPageEnumerar líneasShow line numbersAseba::GeneralPage,Mostrar uso de memoriaShow memory usageAseba::GeneralPage*Ayuda de Aseba StudioAseba Studio HelpAseba::HelpViewerDNo se encontró el archivo de ayudaHelp file not foundAseba::HelpViewer InicioHomeAseba::HelpViewerSiguienteNextAseba::HelpViewerAnteriorPreviousAseba::HelpViewerzEl archivo de ayuda %0 no se cargó correctamente. El error es: %1.El archivo de ayuda debe estar en el directorio temporal del sistema. Revise por favor su instalación o reporte este error.½The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug.Aseba::HelpViewer4No se encontró el filtro de ayuda para el idioma "%0". Regresando al idioma por defecto (%1). Probablemente sea un error del sistema, por favor repórtelo.ŽThe help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it.Aseba::HelpViewervNo se pudo inicializar el plugin de cámara de visión lineal+Cannot initialize linear camera view pluginAseba::LinearCameraViewPluginBPlugin de cámara de visión linealLinear Camera View PluginAseba::LinearCameraViewPlugindUna o más variables no encontradas en %1, %2 o %3.0One or more variable not found in %1, %2, or %3.Aseba::LinearCameraViewPlugin&Visor cámara lineallinear camera viewerAseba::LinearCameraViewPlugin.Rango de 8 bits (0 255)8 bits range (0–255)&Aseba::LinearCameraViewVariablesDialogBPlugin de cámara de visión linealLinear Camera View Plugin&Aseba::LinearCameraViewVariablesDialogOkOk&Aseba::LinearCameraViewVariablesDialogDPor favor seleccione sus variablesPlease choose your variables&Aseba::LinearCameraViewVariablesDialogauto-rango auto range&Aseba::LinearCameraViewVariablesDialogcomponente azulblue component&Aseba::LinearCameraViewVariablesDialog Componente verdegreen component&Aseba::LinearCameraViewVariablesDialog0rango porcentual (0 100)percent range (0–100)&Aseba::LinearCameraViewVariablesDialog rango de valoresrange of values&Aseba::LinearCameraViewVariablesDialogComponente rojo red component&Aseba::LinearCameraViewVariablesDialog evento %0 :  event %0 : Aseba::MainWindow (no disponible) (not available)Aseba::MainWindow&%0 %1- Aseba Studio%0 %1- Aseba StudioAseba::MainWindow%0 en nodo %1 %0 on node %1Aseba::MainWindow”%0 scripts no corresponden a ningún nodo de la red y no han sido cargados.W%0 scripts have no corresponding nodes in the current network and have not been loaded.Aseba::MainWindow%0:%1: %2 %0:%1: %2Aseba::MainWindow&Acerca de... &About...Aseba::MainWindow&Copiar&CopyAseba::MainWindow&Depurar&DebugAseba::MainWindowB&Disminuir el tamaño de la fuente&Decrease font sizeAseba::MainWindow&Editar&EditAseba::MainWindow&Archivo&FileAseba::MainWindow&Buscar...&Find...Aseba::MainWindow"&Ir a la línea...&Go To Line...Aseba::MainWindow Ay&uda&HelpAseba::MainWindowB&Importar contenido de memoria...&Import memories content...Aseba::MainWindow:&Aumentar tamaño de la fuente&Increase font sizeAseba::MainWindow&Cargar todo &Load allAseba::MainWindow &Nuevo&NewAseba::MainWindow&Abrir...&Open...Aseba::MainWindow &Pegar&PasteAseba::MainWindow&Pausar todo &Pause allAseba::MainWindow &Salir&QuitAseba::MainWindow&Remplazar... &Replace...Aseba::MainWindow"&Restablecer todo &Reset allAseba::MainWindow&Guardar...&Save...Aseba::MainWindowCo&nfiguración &SettingsAseba::MainWindowXMo&strar mensajes de la compilación anterior&Show last compilation messagesAseba::MainWindowHerramien&tas&ToolsAseba::MainWindowDes&hacer&UndoAseba::MainWindow,Man&ual del usuario...&User Manual...Aseba::MainWindow &Vista&ViewAseba::MainWindow ...%0...%0Aseba::MainWindow$...todos los nodos ...all nodesAseba::MainWindow...dentro de %0 ...inside %0Aseba::MainWindow8...dentro de todos los nodos...inside all nodesAseba::MainWindow...de %0...of %0Aseba::MainWindow"<b>Constantes</b>ConstantsAseba::MainWindow.<b>Eventos Globales</b>Global EventsAseba::MainWindow Acerca de &Qt... About &Qt...Aseba::MainWindow2Adicionar nueva constanteAdd a new constantAseba::MainWindow,Adicionar nuevo eventoAdd a new eventAseba::MainWindowLAseba Studio - Diálogo de confirmación"Aseba Studio - Confirmation DialogAseba::MainWindow¾Aseba Studio es un entorno para la programación interactiva de robots con un lenguaje de texto.YAseba Studio is an environment for interactively programming robots with a text language.Aseba::MainWindow0Tutorial de Challenge...Challenge tutorial...Aseba::MainWindowLimpiarClearAseba::MainWindow>Quitar todas las interrupcionesClear all breakpointsAseba::MainWindow@Marcar selección como comentarioComment the selectionAseba::MainWindowCopi&ar todo Copy &allAseba::MainWindow Ctrl+BCtrl+BAseba::MainWindow Ctrl+DCtrl+DAseba::MainWindow Ctrl+GCtrl+GAseba::MainWindowCor&tarCu&tAseba::MainWindowDepurarDebugAseba::MainWindowFDesincronizado! Recargar por favor.Desynchronised! Please reload.Aseba::MainWindow:¿Desea conservar los cambios?1Do you want to save your changes or discard them?Aseba::MainWindowjError en archivo fuente XML: %0, línea %1, columna %22Error in XML source file: %0 at line %1, column %2Aseba::MainWindow.El evento %0 ya existe.Event %0 already exists.Aseba::MainWindowHEl evento %0 tiene un nombre invalido. Los nombres válidos comienzan con un carácter alfanumérico o con "_", seguido por cualquier carácter alfanumérico , "_" y "."žEvent %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "."Aseba::MainWindow&El evento ya existeEvent already existsAseba::MainWindow Evento número %0Event number %0Aseba::MainWindowPExportar el contenido de la &memoria...Export &memories content...Aseba::MainWindowFExportar el contenido de la memoriaExport memory contentAseba::MainWindowF10F10Aseba::MainWindowF11F11Aseba::MainWindowF7F7Aseba::MainWindowF8F8Aseba::MainWindowF9F9Aseba::MainWindowIr a la línea Go To LineAseba::MainWindow:Importar contenido de memoriaImport memory contentAseba::MainWindow2Nombre de evento inválidoInvalid event nameAseba::MainWindowValor inválido Invalid valueAseba::MainWindowbValor inválido para el argumento %0 del evento %1)Invalid value for argument %0 of event %1Aseba::MainWindow Línea:Line:Aseba::MainWindowCargandoLoadingAseba::MainWindow@Manual del usuario de MarXbot...MarXbot user manual...Aseba::MainWindowNombre:Name:Aseba::MainWindow(Número de argumentosNumber of argumentsAseba::MainWindowAbrir &reciente Open &RecentAseba::MainWindowAbrir script Open ScriptAseba::MainWindowfPor favor especifique el argumento %0 del evento %1+Please specify the %0 arguments of event %1Aseba::MainWindow$Graficar evento %1 Plot event %1Aseba::MainWindow(Graficar este eventoPlot this eventAseba::MainWindowR&ehacerRe&doAseba::MainWindowReiniciar... Reboot...Aseba::MainWindow"Remover constanteRemove this constantAseba::MainWindowRemover eventoRemove this eventAseba::MainWindow:Reportar error del sistema... Report bug...Aseba::MainWindowE&jecutar todoRu&n allAseba::MainWindowLMos&trar variables y funciones ocultas$S&how hidden variables and functionsAseba::MainWindow G&uardar como... Save &As...Aseba::MainWindowGuardar Script Save ScriptAseba::MainWindow8Guardar el código binario...Save the binary code...Aseba::MainWindow$Enviar este eventoSend this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindow Enumerar &líneasShow &Line NumbersAseba::MainWindow"Mostrar c&omandosShow &keywordsAseba::MainWindow.Mostrar uso de &memoriaShow &memory usageAseba::MainWindowHParte del contenido no fue importadoSome content was not importedAseba::MainWindowJEspecificar los argumentos del eventoSpecify event argumentsAseba::MainWindowJEl documento "%0" ha sido modificado.$The document "%0" has been modified.Aseba::MainWindow¤Los siguientes nodos no se encontraron en la red y su contenido no fue importado: jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindow¬Las siguientes variables no se encontraron en la red y su contenido no fue importado: nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindowJInterfaz de programación de Thymio...Thymio programming interface...Aseba::MainWindowJTutorial de programación de Thymio...Thymio programming tutorial...Aseba::MainWindow<Alternar punto de interrupciónToggle breakpointAseba::MainWindowXEliminar marca de comentario de la selecciónUncomment the selectionAseba::MainWindowSin nombreUntitledAseba::MainWindow ValorValueAseba::MainWindow$Sitio web Aseba...Web site Aseba...Aseba::MainWindow.Escribir programa(s)...Write the program(s)...Aseba::MainWindow>Número incorrecto de argumentosWrong number of argumentsAseba::MainWindowhIngresó %0 argumentos, pero el evento %1 requiere %20You gave %0 arguments where event %1 requires %2Aseba::MainWindow[modificado]  [modified] Aseba::MainWindownLa posición %0 del arreglo está fuera del rango [0..%1](array access at %0 out of bounds [0..%1]Aseba::MainWindow"división por cerodivision by zeroAseba::MainWindow@Ejecución de evento interrumpidaevent execution killedAseba::MainWindowThttp://aseba.wikidot.com/es:gettingstarted*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowBhttp://aseba.wikidot.com/en:start!http://aseba.wikidot.com/en:startAseba::MainWindowJhttp://aseba.wikidot.com/es:thymioapi%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowThttp://aseba.wikidot.com/es:thymiotutoriel*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowdhttp://github.com/aseba-community/aseba/issues/new2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowrhttp://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindowJhttps://www.thymio.org/es:asebastudio%https://www.thymio.org/en:asebastudioAseba::MainWindowgráfica de %1 plot of %1Aseba::MainWindowOcultarHide%Aseba::MaskableNamedValuesVectorModelMostrarView%Aseba::MaskableNamedValuesVectorModel.Descripción por defectoDefault descriptionAseba::NewNamedValueDialog NombreNameAseba::NewNamedValueDialog <b>Ejecución</b>ExecutionAseba::NodeTab<b>Comandos</b>KeywordsAseba::NodeTab<<b>Uso de memoria</b> : %1, %2Memory usage : %1, %2Aseba::NodeTab <b>Variables</b>VariablesAseba::NodeTabtAseba Studio: resultado de la compilación anterior para %0/Aseba Studio: Output of last compilation for %0Aseba::NodeTab(Compilación exitosa.Compilation success.Aseba::NodeTabF&iltro:F&ilter:Aseba::NodeTab CargarLoadAseba::NodeTabEventos locales Local EventsAseba::NodeTab(Herramientas locales Local ToolsAseba::NodeTab"Funciones nativasNative FunctionsAseba::NodeTabSiguienteNextAseba::NodeTab PausaPauseAseba::NodeTabRestablecerResetAseba::NodeTabEjecutarRunAseba::NodeTab>Guardar el código binario de %0Save the binary code of %0Aseba::NodeTabautoautoAseba::NodeTab0bytecode: %1 en %2 (%3%)bytecode: %1 on %2 (%3%)Aseba::NodeTabActualizarrefreshAseba::NodeTabejecutandorunningAseba::NodeTabpaso a paso step by stepAseba::NodeTabdetenidostoppedAseba::NodeTabdesconocidounknownAseba::NodeTab2variables: %1 en %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTab Conexión cerradaConnection closedAseba::ReconnectionDialog&Dejar de intentarlo Stop tryingAseba::ReconnectionDialogzAtención, conexión cerrada: intentando conectarse nuevamente.5Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialogdetener Thymio Stop ThymioAseba::StopThymioPlugin ocultohiddenAseba::TargetFunctionsModelnombresnamesAseba::TargetVariablesModelvaloresvaluesAseba::TargetVariablesModel:Exportar programa como imagenExport program as image#Aseba::ThymioBlockly::ThymioBlockly AyudaHelp#Aseba::ThymioBlockly::ThymioBlocklyLanzar BlocklyLaunch Blockly#Aseba::ThymioBlockly::ThymioBlockly"Cargar y ejecutar Load & Run#Aseba::ThymioBlockly::ThymioBlockly NuevoNew#Aseba::ThymioBlockly::ThymioBlockly AbrirOpen#Aseba::ThymioBlockly::ThymioBlocklyGuardarSave#Aseba::ThymioBlockly::ThymioBlocklyGuardar comoSave as#Aseba::ThymioBlockly::ThymioBlockly&Captura de pantalla Screenshot#Aseba::ThymioBlockly::ThymioBlocklyDetenerStop#Aseba::ThymioBlockly::ThymioBlocklyˆEl documento Blockly ha sido modificado. Quiere guardar los cambios?JThe Blockly document has been modified.

Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlockly8Interfaz Blockly para ThymioThymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlocklyAtenciónWarning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/es:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlocklycolor inferior bottom colourAseba::ThymioVPL::BlockbotonesbuttonsAseba::ThymioVPL::Block(detección de aplausoclap detectionAseba::ThymioVPL::Block>sensores de proximidad de sueloground proximity sensorsAseba::ThymioVPL::BlockBsensores de proximidad horizontalhorizontal proximity sensorsAseba::ThymioVPL::BlockmotoresmotorsAseba::ThymioVPL::Block músicamusicAseba::ThymioVPL::Block estadostateAseba::ThymioVPL::Block filtro de estado state filterAseba::ThymioVPL::BlockDdetección de impacto / inclinacióntap detection / tiltAseba::ThymioVPL::BlocktemporizadortimerAseba::ThymioVPL::Block tiempo de espera timer elapsedAseba::ThymioVPL::Blockcolor superior top colourAseba::ThymioVPL::BlockŠError del archivo fuente XML en %0:%1: no se puede crear el bloque %29Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSetŒError en el archivo fuente XML en %0:%1: tipo de bloque desconocido %28Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSetCargandoLoading!Aseba::ThymioVPL::EventActionsSetAccionesActions)Aseba::ThymioVPL::ThymioVisualProgrammingModo Avanzado Advanced mode)Aseba::ThymioVPL::ThymioVisualProgramming(Compilación exitosa.Compilation success.)Aseba::ThymioVPL::ThymioVisualProgrammingEventosEvents)Aseba::ThymioVPL::ThymioVisualProgramming:Exportar programa como imagenExport program as image)Aseba::ThymioVPL::ThymioVisualProgramming AyudaHelp)Aseba::ThymioVPL::ThymioVisualProgramming(Versión incompatibleIncompatible Version)Aseba::ThymioVPL::ThymioVisualProgrammingLanzar VPL Launch VPL)Aseba::ThymioVPL::ThymioVisualProgramming"Cargar y ejecutar Load & Run)Aseba::ThymioVPL::ThymioVisualProgramming NuevoNew)Aseba::ThymioVPL::ThymioVisualProgramming AbrirOpen)Aseba::ThymioVPL::ThymioVisualProgramming6Por favor, añada una acciónPlease add an action)Aseba::ThymioVPL::ThymioVisualProgramming6Por favor, añadir un eventoPlease add an event)Aseba::ThymioVPL::ThymioVisualProgrammingRehacerRedo)Aseba::ThymioVPL::ThymioVisualProgramming*Volver al modo básicoReturning to simple mode)Aseba::ThymioVPL::ThymioVisualProgrammingGuardarSave)Aseba::ThymioVPL::ThymioVisualProgrammingGuardar comoSave as)Aseba::ThymioVPL::ThymioVisualProgramming&Captura de pantalla Screenshot)Aseba::ThymioVPL::ThymioVisualProgrammingDetenerStop)Aseba::ThymioVPL::ThymioVisualProgramming„El documento VPL ha sido modificado.<p>Quiere guardar los cambios?FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgrammingÿÿÿÿuThe Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks.)Aseba::ThymioVPL::ThymioVisualProgrammingÎEl archivo es incompatible con la versión actual de ThymioVPL. Es posible que no trabaje correctamente.VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgrammingXLenguaje gráfico de programación para Thymio"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgrammingDeshacerUndo)Aseba::ThymioVPL::ThymioVisualProgrammingAtenciónWarning)Aseba::ThymioVPL::ThymioVisualProgramming<Está trabajando en modo avanzado. Volver al modo básico eliminará qualquier filtro o modificador de estado que esté utilizando.<p>Seguro que quiere continuar?’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingJhttp://aseba.wikidot.com/es:thymiovpl#https://www.thymio.org/en:thymiovpl)Aseba::ThymioVPL::ThymioVisualProgramming mostrar la línea show line)Aseba::ThymioVPL::ThymioVisualProgramming LoginLoginAseba::ThymioVPL::UsageLoggerdPor favor introduzca su nombre de usuario o grupo:%Please enter your user or group name:Aseba::ThymioVPL::UsageLoggerz%0 %1- Lenguaje gráfico de programación para Thymio - ver. %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandalone0Conectándose a Thymio...Connecting to Thymio...Aseba::ThymioVPLStandalone Se perdió la conexión con Thymio... verifique que Thymio esté encendido y conectado a traves del cable USB o del adaptador inalámbricoTConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandalonejError en archivo fuente XML: %0, línea %1, columna %22Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandaloneCargandoLoadingAseba::ThymioVPLStandalone‚Este archivo no contiene datos del tipo VPL y ha sido descartado.?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandaloneAbrir script Open ScriptAseba::ThymioVPLStandaloneGuardar Script Save ScriptAseba::ThymioVPLStandalonehEsta aplicación no soporta más de un robot a la vez.8This application only supports a single robot at a time.Aseba::ThymioVPLStandalone*Error VPL desconocidoThymio VPL ErrorAseba::ThymioVPLStandaloneSin nombreUntitledAseba::ThymioVPLStandalonelDebe conectar Thymio II para utilizar esta aplicación.8You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone[modificado]  [modified] Aseba::ThymioVPLStandaloneäAseba Studio utiliza un protocolo anterior(%1) al utilizado por el nodo %0 (%2). Por favor actualice Aseba Studio.XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplicationôEl nodo %0 utiliza un protocolo anterior(%2) al utilizado por Aseba Studio (%1). Por favor actualice el firmware del nodo.]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplicationTIncompatibilidad en versiones de protocoloProtocol version mismatch QApplicationBOcurrió un error de comunicación:A communication error happened:QObject&Compilación exitosaCompilation successQObject2Línea %0: Acción faltanteLine %0: Missing actionQObject2Línea %0: Evento faltanteLine %0: Missing eventQObject®El evento y la condición de estado de la línea %0 son los mismos que los de la línea %1GThe event and the state condition in line %0 are the same as in line %1QObjecttEl evento de la línea %0 es el mismo que el de la línea %1.The event in line %0 is the same as in line %1QObject.Error Dashel inesperadoUnexpected Dashel ErrorQObject*Error VPL desconocidoUnknown VPL errorQObjectˆaseba-1.6.0/clients/studio/asebastudio_es.ts000066400000000000000000002442211322771007300211120ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint Quitar interrupción Set breakpoint Fijar interrupción Clear all breakpoints Quitar todas las interrupciones Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: Resultado de la compilación anterior Aseba::ConfigDialog General General Editor Editor Ok Ok Cancel Cancelar Aseba Studio - Settings Aseba Studio - Configuraciones Aseba::ConstantsModel Constant already defined Constante previamente definida Constant %0 is already defined. La constante %0 ya está definida. The name is a keyword Name is a keyword El nombre es un comando The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. El nombre <tt>%0</tt> no puede ser una constante, porque es una comado propio del lenguaje. Aseba::DashelConnectionDialog Network (TCP) Red (TCP) Host Anfitrión Port Puerto Serial Serial Custom Personalizado Discovered targets Objetivos encontrados Selected target Objetivo seleccionado Serial port Puerto serial Local TCP TCP local TCP TCP Documentation Docuemntación Language Idioma Connect Conectar Cancel Cancelar Aseba Target Selection Selección de objetivo Aseba – type %1 - tipo %1 local on computer local en PC distant on network a distancia en la red – device %1 – dispositivo %1 serial port or USB Puerto serial o USB Aseba::DashelInterface Thymio not found No se encontró ningún Thymio <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>Thymio no encontrado!</b></p><p>Conecte el Thymio a su PC usando el cable USB o adaptador inalámbrico, y asegúrese de que ningún otro programa esté usando el robot.</p> Connection to command line target failed Falló la conexión con el objetivo por línea de comandos Cannot connect to target %0 No se logró conectar al objetivo %0 Aseba::DashelTarget Connection closed Conexión cerrada Warning, connection closed, save your work and quit Studio. Atención, conexión cerrada, guarde su trabajo y salga de Studio. Unexpected Dashel Error Is there any translation for Dashel? Error Dashel inesperado A communication error happened: Ocurrió un error de comunicación: Aseba::EditorPage Editor Setup Configuración del editor Autocompletion Autocompletar Keywords Comandos Aseba::EventViewer Time (seconds) Tiempo (segundos) Values Valores Recording... Grabando... &Pause &Pausa &Clear &Limpiar gráfica time &window: Ventana de &tiempo: Save &As... G&uardar como... Paused... Pausado... &Record G&rabación Save plot data to file Guardar datos graficados Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - Buscar y Remplazar &Search for: &Buscar: &Case sensitive Sensible al uso de mayús&culas y minúsculas &Whole words Palabras co&mpletas Re&gular expressions Expresiones &frecuentes &Find Next Buscar &siguiente Find &Previous Buscar &anterior Find from &Top Buscar desde el &principio &Replace &Remplazar w&ith: p&or: Replace and Find &Next Remplazar y buscar siguie&nte Replace and Find Previo&us Remplazar y b&uscar anterior Replace &All Occurrences Remplazar &todo End of document reached! Ha llegado al final del documento! Aseba::FunctionParametersDialog OK ok Native function Función nativa Aseba::GeneralPage General Setup Configuración General Show hidden variables Mostrar variables ocultas Show line numbers Enumerar líneas Show keyword toolbar Mostrar barra de comandos Layout Disposición Show memory usage Mostrar uso de memoria Aseba::HelpViewer The help file %0 has not been found. It should be located in the same directory as the binary of Aseba Studio. Please check your installation, or report a bug. No se encontró el archivo de ayuda %0. Debe encontrarse en el mismo directorio que los binarios de Aseba Studio. Por favor revise su instalación o repórtelo como un error del sistema. The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. El archivo de ayuda %0 no se cargó correctamente. El error es: %1.El archivo de ayuda debe estar en el directorio temporal del sistema. Revise por favor su instalación o reporte este error. Help file not found No se encontró el archivo de ayuda Previous Anterior Next Siguiente Home Inicio Aseba Studio Help Ayuda de Aseba Studio The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. No se encontró el filtro de ayuda para el idioma "%0". Regresando al idioma por defecto (%1). Probablemente sea un error del sistema, por favor repórtelo. Help filter not found No se encontró el filtro de ayuda Aseba::LinearCameraViewPlugin Linear Camera View Plugin Plugin de cámara de visión lineal linear camera viewer Visor cámara lineal Cannot initialize linear camera view plugin No se pudo inicializar el plugin de cámara de visión lineal One or more variable not found in %1, %2, or %3. Una o más variables no encontradas en %1, %2 o %3. Aseba::LinearCameraViewVariablesDialog Please choose your variables Por favor seleccione sus variables red component Componente rojo green component Componente verde blue component componente azul range of values rango de valores Ok Ok auto range auto-rango 8 bits range (0–255) 8 bits range (0–255) Rango de 8 bits (0–255) percent range (0–100) percent range (0–100) rango porcentual (0–100) Linear Camera View Plugin Plugin de cámara de visión lineal Aseba::MainWindow Event number %0 Evento número %0 <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Información de la versión Aseba:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> http://aseba.wikidot.com/en:start http://aseba.wikidot.com/en:start About Aseba Studio Acerca de Aseba Studio Aseba Studio is an environment for interactively programming robots with a text language. Aseba Studio es un entorno para la programación interactiva de robots con un lenguaje de texto. https://www.thymio.org/en:asebastudio https://www.thymio.org/es:asebastudio Open Script Abrir script (not available) (no disponible) Loading Cargando %0 scripts have no corresponding nodes in the current network and have not been loaded. %0 scripts no corresponden a ningún nodo de la red y no han sido cargados. Error in XML source file: %0 at line %1, column %2 Error en archivo fuente XML: %0, línea %1, columna %2 Save Script Guardar Script Export memory content Exportar el contenido de la memoria Import memory content Importar contenido de memoria %0 on node %1 %0 en nodo %1 The following nodes are not present in the current network and their associated content was not imported: Los siguientes nodos no se encontraron en la red y su contenido no fue importado: The following variables are not present in the current network and their associated content was not imported: Las siguientes variables no se encontraron en la red y su contenido no fue importado: Some content was not imported Parte del contenido no fue importado Go To Line Ir a la línea Line: Línea: Specify event arguments Especificar los argumentos del evento Please specify the %0 arguments of event %1 Por favor especifique el argumento %0 del evento %1 Wrong number of arguments Número incorrecto de argumentos You gave %0 arguments where event %1 requires %2 Ingresó %0 argumentos, pero el evento %1 requiere %2 Invalid value Valor inválido Invalid value for argument %0 of event %1 Valor inválido para el argumento %0 del evento %1 Plot event %1 Graficar evento %1 plot of %1 gráfica de %1 Add a new event Adicionar nuevo evento Name: Nombre: Number of arguments For the newly created event Para el nuevo evento Número de argumentos Event already exists El evento ya existe Event %0 already exists. El evento %0 ya existe. Invalid event name Nombre de evento inválido Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." El evento %0 tiene un nombre invalido. Los nombres válidos comienzan con un carácter alfanumérico o con "_", seguido por cualquier carácter alfanumérico , "_" y "." Desynchronised! Please reload. Desincronizado! Recargar por favor. Add a new constant Adicionar nueva constante Value Value assigned to the constant Valor asignado a la constante Valor Constant already defined Constante previamente definida Constant %0 is already defined. La constante %0 ya está definida. event %0 : evento %0 : array access at %0 out of bounds [0..%1] La posición %0 del arreglo está fuera del rango [0..%1] division by zero división por cero event execution killed Ejecución de evento interrumpida %0:%1: %2 %0:%1: %2 Remove this constant Remover constante <b>Constants</b> <b>Constantes</b> Remove this event Remover evento Send this event Enviar este evento Plot this event Graficar este evento <b>Global Events</b> <b>Eventos Globales</b> Clear Limpiar ...inside %0 ...dentro de %0 ...%0 ...%0 ...of %0 ...de %0 ...inside all nodes ...dentro de todos los nodos ...all nodes ...todos los nodos &User Manual... Man&ual del usuario... F1 Help|User Manual F1 Web site Aseba... Sitio web Aseba... Report bug... Reportar error del sistema... http://github.com/aseba-community/aseba/issues/new http://github.com/aseba-community/aseba/issues/new &About... &Acerca de... About &Qt... Acerca de &Qt... Thymio programming tutorial... Tutorial de programación de Thymio... http://aseba.wikidot.com/en:thymiotutoriel http://aseba.wikidot.com/es:thymiotutoriel Thymio programming interface... Interfaz de programación de Thymio... http://aseba.wikidot.com/en:thymioapi http://aseba.wikidot.com/es:thymioapi Challenge tutorial... Tutorial de Challenge... http://aseba.wikidot.com/en:gettingstarted http://aseba.wikidot.com/es:gettingstarted MarXbot user manual... Manual del usuario de MarXbot... http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf &File &Archivo &New &Nuevo Ctrl+N File|New Ctrl+N &Open... &Abrir... Ctrl+O File|Open Ctrl+O Open &Recent Abrir &reciente &Save... &Guardar... Ctrl+S File|Save Ctrl+S Save &As... G&uardar como... Export &memories content... Exportar el contenido de la &memoria... &Import memories content... &Importar contenido de memoria... Ctrl+Q File|Quit Ctrl+Q &Quit &Salir Cu&t Cor&tar Ctrl+X Edit|Cut Ctrl+X &Copy &Copiar Ctrl+C Edit|Copy Ctrl+C &Paste &Pegar Ctrl+V Edit|Paste Ctrl+V &Undo Des&hacer Ctrl+Z Edit|Undo Ctrl+Z Re&do R&ehacer Ctrl+Shift+Z Edit|Redo Ctrl+Shift+Z &Find... &Buscar... Ctrl+F Edit|Find Ctrl+F &Replace... &Remplazar... Ctrl+R Edit|Replace Ctrl+R Comment the selection Marcar selección como comentario Ctrl+D Edit|Comment the selection Ctrl+D Uncomment the selection Eliminar marca de comentario de la selección Shift+Ctrl+D Edit|Uncomment the selection Shift+Ctrl+D Show Line Numbers Enumerar líneas F11 Edit|Show Line Numbers F11 &Go To Line... &Ir a la línea... Ctrl+G Edit|Go To Line Ctrl+G &Edit &Editar <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Información de la versión Aseba:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(tipos de flujo compatibles: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> Copy &all Copi&ar todo Show &memory usage Mostrar uso de &memoria Show &Line Numbers Enumerar &líneas F11 View|Show Line Numbers F11 &Increase font size &Aumentar tamaño de la fuente &Decrease font size &Disminuir el tamaño de la fuente &View &Vista &Settings Settings Co&nfiguración &Load all &Cargar todo F7 Load|Load all F7 &Reset all &Restablecer todo F8 Debug|Reset all F8 Ru&n all E&jecutar todo F9 Debug|Run all F9 &Pause all &Pausar todo F10 Debug|Pause all F10 Debug Depurar Toggle breakpoint Alternar punto de interrupción Ctrl+B Debug|Toggle breakpoint Ctrl+B Clear all breakpoints Quitar todas las interrupciones &Debug &Depurar &Tools Herramien&tas &Show last compilation messages Mo&strar mensajes de la compilación anterior Show memory usage Mostrar uso de memoria Write the program(s)... Escribir programa(s)... Reboot... Reiniciar... Save the binary code... Guardar el código binario... S&how hidden variables and functions S&how hidden variables and functions... Mos&trar variables y funciones ocultas <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>Sobre Aseba</h1>Información de la versión<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(tipos de flujo compatibles: %4)</li></ul><p>Leer más en <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> y otros colaboradores (haga clic en "Mostrar los detalles" para la lista completa)</p><p>Aseba es de código abierto bajo la licencia <a href="https://www.gnu.org/licenses/lgpl.html">LGPL versión 3</a>.</p> Show &keywords Show &keywords... Mostrar c&omandos &Help Ay&uda Untitled Sin nombre Aseba Studio - Confirmation Dialog Aseba Studio - Diálogo de confirmación The document "%0" has been modified. El documento "%0" ha sido modificado. Do you want to save your changes or discard them? ¿Desea conservar los cambios? [modified] [modificado] %0 %1- Aseba Studio %0 %1- Aseba Studio Aseba::MaskableNamedValuesVectorModel Hide Ocultar View Mostrar Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) Nombre del valor etiquetado (puede ser constante, evento,...) Nombre Default description When no description is given for the named value Descripción por defecto Aseba::NodeTab Tools Herramientas Local Tools Herramientas locales <b>Keywords</b> <b>Keywords <> <b>Comandos</b> unknown desconocido Load Cargar Reset Restablecer Run Ejecutar Next Siguiente refresh Actualizar auto auto <b>Execution</b> <b>Ejecución</b> <b>Variables</b> <b>Variables</b> F&ilter: F&iltro: Native Functions Funciones nativas Local Events Eventos locales Save the binary code of %0 Guardar el código binario de %0 Aseba Studio: Output of last compilation for %0 Aseba Studio: resultado de la compilación anterior para %0 Compilation success. Compilación exitosa. variables: %1 on %2 (%3%) variables: %1 en %2 (%3%) bytecode: %1 on %2 (%3%) bytecode: %1 en %2 (%3%) <b>Memory usage</b> : %1, %2 <b>Uso de memoria</b> : %1, %2 running ejecutando Pause Pausa step by step paso a paso stopped detenido Aseba::ReconnectionDialog Aseba Studio - Connection closed Aseba Studio - Conexión cerrada Connection closed Conexión cerrada Warning, connection closed: I am trying to reconnect. Atención, conexión cerrada: intentando conectarse nuevamente. Stop trying Dejar de intentarlo Aseba::StopThymioPlugin Stop Thymio detener Thymio Aseba::TargetFunctionsModel hidden oculto Aseba::TargetVariablesModel names nombres values valores Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Interfaz Blockly para Thymio New Nuevo Open Abrir Save Guardar Save as Guardar como Load & Run Cargar y ejecutar Stop Detener Help Ayuda Screenshot Captura de pantalla Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/es:blocklyprogramming Export program as image Exportar programa como imagen Launch Blockly Lanzar Blockly Warning Atención The Blockly document has been modified.<p>Do you want to save the changes? El documento Blockly ha sido modificado. Quiere guardar los cambios? Aseba::ThymioBootloaderDialog Thymio Firmware Updater Actualizador del firmware para Thymio File... Archivo... Update Actualizar Quit Salir Update firmware Actualizar firmware Select hex file Seleccionar archivo hex Hex files (*.hex) Archivos hex (*.hex) Pre-update warning Alerta previa a la actualización Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Está a punto de actualizar el firmware de Thymio II. Asegúrese de que el robot esté completamente cargado y que el cable USB esté bien conectado. <p><b>No desconecte el robot durante la actualización!</b></p>¿Desea continuar? Update Error Error de actualización Unable to read Hex file Imposible leer el archivo hex Dashel Unexpected Error Error de Dashel inesperado A communication error happened during the update process: Ocurrió un error de comunicación durante el proceso de actualización: A communication error happened during the flashing process: Ocurrió un error de comunicación durante el proceso de memoria flash: Aseba::ThymioScene Line %0: Missing event Línea %0: Evento faltante Line %0: Missing action Línea %0: Acción faltante Line %0: Redeclaration of event Línea %0: Evento redeclarado Line %0: Unknown event/action type Línea %0: Tipo de evento/acción desconocido Compilation success Compilation success. Compilación exitosa Unknown VPL error Error VPL desconocido Aseba::ThymioVPL::Block buttons botones horizontal proximity sensors sensores de proximidad horizontal ground proximity sensors sensores de proximidad de suelo tap detection / tilt detección de impacto / inclinación clap detection detección de aplauso timer elapsed tiempo de espera state filter filtro de estado motors motores top colour color superior bottom colour color inferior music música timer temporizador state estado Aseba::ThymioVPL::EventActionsSet Loading Cargando Error in XML source file at %0:%1: cannot create block %2 Error in XML source file at %0:%1 cannot create block %2 Error del archivo fuente XML en %0:%1: no se puede crear el bloque %2 Error in XML source file at %0:%1: unknown block type %2 Error en el archivo fuente XML en %0:%1: tipo de bloque desconocido %2 Aseba::ThymioVPL::Scene Line %0: Missing event Línea %0: Evento faltante Line %0: Missing action Línea %0: Acción faltante Line %0: Twice the same event Line %0: Redeclaration of event Línea %0: Evento repetido The event-action pair in line %0 is the same as in line %1 El par de evento-acción en la línea %0 es el mismo que en la línea %1 Line %0: Unknown event/action type Línea %0: Tipo de evento/acción desconocido Compilation success Compilación exitosa Unknown VPL error Error VPL desconocido Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Lenguaje gráfico de programación para Thymio New Nuevo Open Abrir Save Guardar Save as Guardar como Load & Run Cargar y ejecutar Stop Detener Color scheme Esquema de colores Advanced mode Modo Avanzado Help Ayuda Events Eventos Actions Acciones http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/es:thymiovpl Quit Salir Undo Deshacer Redo Rehacer Screenshot Captura de pantalla <b>Events</b> <b>Eventos</b> Compilation success. Compilación exitosa. show line mostrar la línea <b>Actions</b> <b>Acciones</b> The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. https://www.thymio.org/en:thymiovpl http://aseba.wikidot.com/es:thymiovpl Export program as image Exportar programa como imagen Launch VPL Lanzar VPL Returning to simple mode Volver al modo básico You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? Está trabajando en modo avanzado. Volver al modo básico eliminará qualquier filtro o modificador de estado que esté utilizando.<p>Seguro que quiere continuar? Warning Atención The VPL document has been modified.<p>Do you want to save the changes? El documento VPL ha sido modificado.<p>Quiere guardar los cambios? Incompatible Version Versión incompatible This file is incompatible with this version of ThymioVPL. It might not work correctly. El archivo es incompatible con la versión actual de ThymioVPL. Es posible que no trabaje correctamente. Please add an event Por favor, añadir un evento Please add an action Por favor, añada una acción Loading Cargando Error in XML source file: %0 unknown event type Error en archivo fuente XML: %0, tipo de evento desconocido Aseba::ThymioVPL::UsageLogger Login Login Please enter your user or group name: Por favor introduzca su nombre de usuario o grupo: Aseba::ThymioVPLStandalone Thymio Visual Programming Language Lenguaje gráfico de programación para Thymio Connecting to Thymio... Conectándose a Thymio... Thymio VPL Error Error VPL desconocido You need to connect a Thymio II to use this application. Debe conectar Thymio II para utilizar esta aplicación. Save Script Guardar Script Open Script Abrir script Loading Cargando No Thymio VPL data were found in the script file, file ignored. Este archivo no contiene datos del tipo VPL y ha sido descartado. This application only supports a single robot at a time. Esta aplicación no soporta más de un robot a la vez. Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle Se perdió la conexión con Thymio... verifique que Thymio esté encendido y conectado a traves del cable USB o del adaptador inalámbrico [modified] [modificado] Untitled Sin nombre %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Lenguaje gráfico de programación para Thymio - ver. %2 %0 %1- Thymio Visual Programming Language %2 %0 %1- Thymio Visual Programming Language %0 %1- Lenguaje gráfico de programación para Thymio %2 Error in XML source file: %0 at line %1, column %2 Error en archivo fuente XML: %0, línea %1, columna %2 Aseba::ThymioVisualProgramming Thymio Visual Programming Language Lenguaje gráfico de programación para Thymio New Nuevo Open Abrir Save Guardar Save as Guardar como Load & Run Cargar y ejecutar Stop Detener Color scheme Esquema de colores Advanced mode Modo Avanzado Quit Salir <b>Events</b> <b>Eventos</b> Compilation success. Compilación exitosa. <b>Actions</b> <b>Acciones</b> Launch VPL Lanzar VPL The VPL document has been modified. El VPL documento ha sido modificado. Open Visual Programming Language Abrir Lenguaje Gráfico de Programación Warning Atención The document has been modified. El documento ha sido modificdo. Do you want to save the changes? ¿Desea conservar los cambios? Loading Cargando Error in XML source file: %0 unknown event type Error en archivo fuente XML: %0, tipo de evento desconocido Error in XML source file: %0 at line %1, column %2 Error en archivo fuente XML: %0, línea %1, columna %2 QApplication Protocol version mismatch Incompatibilidad en versiones de protocolo Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Aseba Studio utiliza un protocolo anterior(%1) al utilizado por el nodo %0 (%2). Por favor actualice Aseba Studio. Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. El nodo %0 utiliza un protocolo anterior(%2) al utilizado por Aseba Studio (%1). Por favor actualice el firmware del nodo. QObject Native function %0 (sp = %1) Función nativa %0 (sp = %1) Native function called Llamada a función nativa Assertion at 0x%0 (sp = %2): Aserción en 0x%0 (sp = %2): unknown desconocido unknown arithmetic binary operator operador binario desconocido unknown bytecode código en bytes desconocido execution stack underflow subdesbordamiento de pila en ejecución stack overflow desbordamiento de pila out of variables bounds Fuera de los límites de variables out of bytecode bounds fuera de los límites del código en bytes step called while not thread running paso llamado mientras no se ejecutaba ningún subproceso a breakpoint has been set out of bytecode bounds Se estableció un punto de interrupción fuera de los límites del código en bytes tried to emit a buffer too long intento de emisión de un búfer demasiado largo unknown assert define, your code seems broken definición desconocida, el código parece incompleto VM Assertion Failed Falla en la aserción VM Compilation success. Compilación exitosa. Compilation success Compilación exitosa Line %0: Missing event Línea %0: Evento faltante Line %0: Missing action Línea %0: Acción faltante The event in line %0 is the same as in line %1 El evento de la línea %0 es el mismo que el de la línea %1 The event and the state condition in line %0 are the same as in line %1 El evento y la condición de estado de la línea %0 son los mismos que los de la línea %1 Line %0: Unknown event/action type Línea %0: Tipo de evento/acción desconocido Unknown VPL error Error VPL desconocido Unexpected Dashel Error Error Dashel inesperado A communication error happened: Ocurrió un error de comunicación: aseba-1.6.0/clients/studio/asebastudio_fr.qm000066400000000000000000001216341322771007300211030ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB P—C*˜CV™C‚[)[%¾I@BÌIABûTÇl+TÇ{IX€ ÐY¾dõ´Ç/á§Ô;»ì0kì0y¹ï¥_ö5t5tc3H5_ÿLô¬LôdVf¾ltf¾{˜‹¯|ù˜Ål¼˜Å}É«`mÍ«`~ìį„5ÏÇ_KŒ¯eª£bpÎz¤Ð*¦y,W*»-E*Ð%-€*ì0.a+Œ0ñ+į35+ÏÇ3Ç1€3úF¬>Ž¸J+‚9±J¹·;óSŠEëS]þˆTƒŠF÷VŒ•d‹X|¯I£XÉÄd½\ƒµVefD{tƒÃjtÉós z¨¥sK{ÂtTŽM^’ɼR 豚sK£È¢ã%ÿâÀ ¨ç9C4Ëî(3W 4”Mr'Nîh›+½¤t=%4|nEBÞ.–U52f°²s„wñP‘e&’ŒœÐe+ª½.*Žº1Sý»Åþ"Œ»Åþ%ÙøeNñå"žLùñYk]ù2Sch .8•îAÆ)³n>]S ~1,aØ9'Îi$ëˆê•}I–üŽz›Á4sÖª+‚Nª¹·,¶Š¥0]¶Œ•‹»f32ûÄQej˜ÄQey2Ç4OsÔ>“ºà½ÞFuðð£Æñí~¥ñí~LC©~‘v 2dIFÃ(V&æÎ$W°F"W°w/W°ŒšdZN{æð¡P¶]U£ÃŽCÁ„ ðþVKëž•Ó] [`S±ªTîÙeÙeB3Ng²¥ƒ{gáôáiCdoü.‰ø|(~5ʉ9¤ ˜I¼t˜I¼5ŸsŒz}«Žò;«Žô;K«Ž÷;ƒ» b°ÁX·ÌųxÚÎÞ`8ì4$J7d ¢N)ÄtJDCþJôBOvM/˜‹orW]?nÿ„Ü£!êQ°·tUÖ°·tø´Ô€Áž“ËÃLœÃŽRÈ;ÃíÌütG×ÌütöÑëŽ_‘é~uŠjðS.ÅõUßi‚ ›U$±–¸!Dã-lÎkÃ-lÎzÛl¾0l¡ rñá^»—Wµ‡›£ âtà«Ú’/Án66Æ7ÞSã諭iÕôfÕ/ûDäøÿ<¸ä (ì{ é…$ï).F¶“rÌMØοZËÞb}ZËÞxF[fÕ,ÎlXä6Œ‹µº”Õ˜`3˜`39ê ºÞ«w’²ŽL:̾¾d ¿9^9FÈ;ÃjTÐc¼KYã<„&ýãJgh@Ä×\™8Ä>qdK·ÑH*N²õ‡u¬³•dŠécŒF!E4½ŒèfFÇ%%?È)΀Tͳäæ'ãrDð’r˜Ö )Ö ž N ½ygo çSqÌ .ü?Ye C¡4JŸ fI¾Iî l[~, n°a—» ~ ÐÍ Ã@ÿ ŒvÓm ŒvÓ~! Œƒ¾1à ¡SR ÄDÒu4 Äàì1w ÅP7f„ ˶3q# ÖÓB`Ý îžn!¥ ú5}X£ 5s”MÑ 8a#G* C1Y)€ Ht"‘ K3¿< e!T eKä{  xsT ²•¾‚ µ:ÄY½ ¶vÄg »šRw ÅH">Ñ ë"Ð4… ìçñm öÉ\[õ ÏC®  ”= q£2T ŽÚ têcP }Á~#1 ‹¦¤Ä “Hå ™žH «Å^`‹ ±\‡7k ³ayš Àämm Àä~† ÷N.Œö âB˜q 4¤Z× Gp ¸eo1 GÕ, 5ËîUi AÃtá Bv7 K`–D RV®g7 `•2 y aËî:e h9>? s©Î3p „ê²+Ñ •Ò¬0— ›GŽ ºïs2 Ê£õÿ ÛÁuwå àe¿^& ä"d(Æ ñÔþ. ü4܆ð ¨Úbö s®-» ̬ {°aÁ ]:ˆQ m£ õ„ I—ÎTp }Ñ*7 ƒÈôgß †ã4/ ‰Po» ‰P„… ÄÈ<ì ìRb‰×.` Cc¹h fÀJDžanO@ z] >K‡†¢$í\tG‡òl^.÷­i$ú.<.D•D{ ÖÓêù47D@®V¨Y¾"=…Y¾"‹¹GŽP­üPX`­üP‘*¶D´'dÑßtZ3×y>5rÚ{Agæ–~Wi™+@Enlever tous les points d'arrêtsClear all breakpointsAseba::AeslEditor0Enlever le point d'arrêtClear breakpointAseba::AeslEditor.Mettre un point d'arrêtSet breakpointAseba::AeslEditorbAseba Studio: résultat de la dernière compilation(Aseba Studio: Output of last compilationAseba::CompilationLogDialog8Aseba Studio - ConfigurationAseba Studio - SettingsAseba::ConfigDialogAnnulerCancelAseba::ConfigDialogÉditeurEditorAseba::ConfigDialogGénéralGeneralAseba::ConfigDialogOKOkAseba::ConfigDialogDLa contstante %0 est déjà définie.Constant %0 is already defined.Aseba::ConstantsModel:La constante est déjà définieConstant already definedAseba::ConstantsModelÂLe nom <tt>%0</tt> ne peut pas être utilisé comme une constante, car c'est un mot clé du langage.TThe name %0 cannot be used as a constant, because it is a language keyword.Aseba::ConstantsModel*Le nom est un mot cléThe name is a keywordAseba::ConstantsModel$  périphérique %1 – device %1Aseba::DashelConnectionDialog  type %1 – type %1Aseba::DashelConnectionDialog.Choix d'une cible AsebaAseba Target SelectionAseba::DashelConnectionDialogAnnulerCancelAseba::DashelConnectionDialogConnecterConnectAseba::DashelConnectionDialog$Cibles découvertesDiscovered targetsAseba::DashelConnectionDialogDocumentation DocumentationAseba::DashelConnectionDialog LangueLanguageAseba::DashelConnectionDialogTCP local Local TCPAseba::DashelConnectionDialog$Cible sélectionnéeSelected targetAseba::DashelConnectionDialogPort série Serial portAseba::DashelConnectionDialogTCPTCPAseba::DashelConnectionDialog*distant sur le réseaudistant on networkAseba::DashelConnectionDialog,local sur l'ordinateurlocal on computerAseba::DashelConnectionDialog"port série ou USBserial port or USBAseba::DashelConnectionDialogl<p><b>Ne peut pas trouver Thymio !</b></p><p>Connectez un Thymio à l'ordinateur en utilisant le cable USB ou le dongle. Assurez-vous qu'aucun autre programme n'utilise le Thymio.</p>•

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

Aseba::DashelInterfaceXNe peut pas se connecter à la destination %0Cannot connect to target %0Aseba::DashelInterface€Échec de connection à la destination passée en ligne de commande(Connection to command line target failedAseba::DashelInterface"Thymio non trouvéThymio not foundAseba::DashelInterface,Complétion automatiqueAutocompletionAseba::EditorPage4Configuration de l'éditeur Editor SetupAseba::EditorPageMots clésKeywordsAseba::EditorPage&Effacer&ClearAseba::EventViewer &Pause&PauseAseba::EventViewer&Enregistrer&RecordAseba::EventViewerEn pause... Paused...Aseba::EventViewer"Enregistrement... Recording...Aseba::EventViewer(Enregistrer &sous... Save &As...Aseba::EventViewer^Sauvegarer les données du graph dans un fichierSave plot data to fileAseba::EventViewerTemps (seconde)Time (seconds)Aseba::EventViewerValeursValuesAseba::EventViewer(fenêtre &temporelle: time &window:Aseba::EventViewer(Sensible à la &casse&Case sensitiveAseba::FindDialog.Rechercher le prochai&n &Find NextAseba::FindDialog&Remplacer&ReplaceAseba::FindDialogR&echercher: &Search for:Aseba::FindDialog&Mots entiers &Whole wordsAseba::FindDialogLAseba Studio - Rechercher et remplacer!Aseba Studio - Search and ReplaceAseba::FindDialog4Fin du document atteinte !End of document reached!Aseba::FindDialog0Rechercher le précé&dentFind &PreviousAseba::FindDialog6Rechercher depuis le dé&butFind from &TopAseba::FindDialog.Expressions ré&gulièresRe&gular expressionsAseba::FindDialog@Remplacer toutes les occ&urencesReplace &All OccurrencesAseba::FindDialogHRemplacer et rechercher le pr&ochainReplace and Find &NextAseba::FindDialogJRemplacer et rechercher le précéden&tReplace and Find Previo&usAseba::FindDialog p&ar:w&ith:Aseba::FindDialog,Configuration générale General SetupAseba::GeneralPageDispositionLayoutAseba::GeneralPage<Afficher les variables cachéesShow hidden variablesAseba::GeneralPagePAfficher la barre d'outils des mots clésShow keyword toolbarAseba::GeneralPage:Afficher les numéros de ligneShow line numbersAseba::GeneralPageHAfficher l'utilisation de la mémoireShow memory usageAseba::GeneralPage&Aide d'Aseba StudioAseba Studio HelpAseba::HelpViewer2Fichier d'aide non trouvéHelp file not foundAseba::HelpViewerAccueilHomeAseba::HelpViewerSuivantNextAseba::HelpViewerPrécédentPreviousAseba::HelpViewer¾Le fichier d'aide %0 n'a pas été chargé correctement. L'erreur était : %1. Le fichier d'aide devrait être disponible dans le répertoire temporaire de votre système. Veuillez vérifier votre installation, ou rapporter un bug.½The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug.Aseba::HelpViewer,Le filtre d'aide pour la langue "%0" n'a pas été trouvé. Nous utilisons la langue par défaut (%1). Ceci est probablement un bug, merci de le signaler.ŽThe help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it.Aseba::HelpViewerŠNe peut pas initialiser le plugin de visualisation de caméra linéaire+Cannot initialize linear camera view pluginAseba::LinearCameraViewPluginZPlugin de visualisation de la caméra linéaireLinear Camera View PluginAseba::LinearCameraViewPlugintUne ou plusieurs variables non trouvées dans %1, %2 ou %3.0One or more variable not found in %1, %2, or %3.Aseba::LinearCameraViewPlugin@visualisation de caméra linéairelinear camera viewerAseba::LinearCameraViewPlugin2domaine de 8 bits (0 255)8 bits range (0–255)&Aseba::LinearCameraViewVariablesDialogZPlugin de visualisation de la caméra linéaireLinear Camera View Plugin&Aseba::LinearCameraViewVariablesDialogOKOk&Aseba::LinearCameraViewVariablesDialog<Veuillez choisir vos variablesPlease choose your variables&Aseba::LinearCameraViewVariablesDialog&domaine automatique auto range&Aseba::LinearCameraViewVariablesDialogcomposante bleublue component&Aseba::LinearCameraViewVariablesDialog composante vertegreen component&Aseba::LinearCameraViewVariablesDialog6domaine en pourcent (0 100)percent range (0–100)&Aseba::LinearCameraViewVariablesDialog&domaine des valeursrange of values&Aseba::LinearCameraViewVariablesDialog composante rouge red component&Aseba::LinearCameraViewVariablesDialog événement %0 :  event %0 : Aseba::MainWindow (pas disponible) (not available)Aseba::MainWindow(%0 %1 - Aseba Studio%0 %1- Aseba StudioAseba::MainWindow$%0 sur le noeud %1 %0 on node %1Aseba::MainWindowÆ%0 scriptes n'ont pas de noeuds correspondants dans le réseau actuel et n'ont donc pas été chargés.W%0 scripts have no corresponding nodes in the current network and have not been loaded.Aseba::MainWindow%0:%1:%2 %0:%1: %2Aseba::MainWindow&À propos... &About...Aseba::MainWindow&Copier&CopyAseba::MainWindow&Débugger&DebugAseba::MainWindow>&Réduire la taille de la police&Decrease font sizeAseba::MainWindow&Edition&EditAseba::MainWindow&Fichier&FileAseba::MainWindowR&echercher...&Find...Aseba::MainWindow(Aller a la li&gne...&Go To Line...Aseba::MainWindow &Aide&HelpAseba::MainWindowH&Importer le contenu des mémoires...&Import memories content...Aseba::MainWindow@&Agrandir la taille de la police&Increase font sizeAseba::MainWindow&Charger tout &Load allAseba::MainWindow&Nouveau&NewAseba::MainWindow&Ouvrir...&Open...Aseba::MainWindowC&oller&PasteAseba::MainWindow*Mettre tout en &pause &Pause allAseba::MainWindow&Quitter&QuitAseba::MainWindow&Remplacer... &Replace...Aseba::MainWindow&Resetter tout &Reset allAseba::MainWindow&Enregistrer...&Save...Aseba::MainWindow&Paramètres &SettingsAseba::MainWindowb&Afficher les messages de la dernière compilation&Show last compilation messagesAseba::MainWindowOu&tils&ToolsAseba::MainWindow&Annuler&UndoAseba::MainWindow"&Mode d'emploi...&User Manual...Aseba::MainWindow&Vue&ViewAseba::MainWindow ...%0...%0Aseba::MainWindow$...tous les noeuds ...all nodesAseba::MainWindow...dans %0 ...inside %0Aseba::MainWindow....dans tous les noeuds...inside all nodesAseba::MainWindow... de %0...of %0Aseba::MainWindow"<b>Constantes</b>ConstantsAseba::MainWindow2<b>Événements globaux</b>Global EventsAseba::MainWindow$À propos de &Qt... About &Qt...Aseba::MainWindow<Ajouter une nouvelle constanteAdd a new constantAseba::MainWindow6Ajouter un nouvel événementAdd a new eventAseba::MainWindowNAseba Studio - Dialogue de confirmation"Aseba Studio - Confirmation DialogAseba::MainWindowÆAseba Studio est un environnement pour programmer des robots interactivement avec un langage texte.YAseba Studio is an environment for interactively programming robots with a text language.Aseba::MainWindow0Didacticiel challenge...Challenge tutorial...Aseba::MainWindowEffacerClearAseba::MainWindow@Enlever tous les points d'arrêtsClear all breakpointsAseba::MainWindow,Commenter la sélectionComment the selectionAseba::MainWindowCopier &tout Copy &allAseba::MainWindow Ctrl+BCtrl+BAseba::MainWindow Ctrl+DCtrl+DAseba::MainWindow Ctrl+GCtrl+GAseba::MainWindowCo&uperCu&tAseba::MainWindowDébuggerDebugAseba::MainWindowFDésynchronisé ! Veuillez recharger.Desynchronised! Please reload.Aseba::MainWindowvVoulez-vous enregistrer vos changements ou les abandonner ?1Do you want to save your changes or discard them?Aseba::MainWindow€Erreur dans le fichier source XML : %0 à la ligne %1, colonne %22Error in XML source file: %0 at line %1, column %2Aseba::MainWindow6L'événement %0 existe déjà.Event %0 already exists.Aseba::MainWindowjL'événement %0 possède un nom invalid. Les nom valides commencent par un charactère alphabétique ou un "_", et continuent avec 0 ou plusieurs charactères alphanumériques, "_" et "."žEvent %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "."Aseba::MainWindow.L'événement existe déjàEvent already existsAseba::MainWindow*Numéro d'événement %0Event number %0Aseba::MainWindowHExporter le contenu des &mémoires...Export &memories content...Aseba::MainWindowBExporter le contenu de la mémoireExport memory contentAseba::MainWindowF10F10Aseba::MainWindowF11F11Aseba::MainWindowF7F7Aseba::MainWindowF8F8Aseba::MainWindowF9F9Aseba::MainWindow Aller à la ligne Go To LineAseba::MainWindowBImporter le contenu de la mémoireImport memory contentAseba::MainWindow0Nom d'événement invalideInvalid event nameAseba::MainWindowValeur invalide Invalid valueAseba::MainWindowhValeur invalide pour l'argument %0 de l'événement %1)Invalid value for argument %0 of event %1Aseba::MainWindow ligne:Line:Aseba::MainWindow&Chargement en coursLoadingAseba::MainWindowFMarXbot: manuel de l'utilisateur...MarXbot user manual...Aseba::MainWindowNom:Name:Aseba::MainWindow$Nombre d'argumentsNumber of argumentsAseba::MainWindowOuvrir &récents Open &RecentAseba::MainWindow"Ouvrir le scripte Open ScriptAseba::MainWindowjVeuillez spécifier les %0 arguments de l'événement %1+Please specify the %0 arguments of event %1Aseba::MainWindow.Graph de l'événement %1 Plot event %1Aseba::MainWindow(Tracer cet événementPlot this eventAseba::MainWindow A&nnuler AnnulerRe&doAseba::MainWindowRedémarrer... Reboot...Aseba::MainWindow.Enlever cette constanteRemove this constantAseba::MainWindow*Enlever cet événementRemove this eventAseba::MainWindow&Rapporter un bug... Report bug...Aseba::MainWindow&Éxécuter toutRu&n allAseba::MainWindowVMontrer les variables et fonctions cac&hées$S&how hidden variables and functionsAseba::MainWindow(Enregistrer &sous... Save &As...Aseba::MainWindow,Sauvegarder le scripte Save ScriptAseba::MainWindow<Sauvegarder le code binaire...Save the binary code...Aseba::MainWindow*Envoyer cet événementSend this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindow<Afficher les numéros de &ligneShow &Line NumbersAseba::MainWindow.Afficher les &mots clésShow &keywordsAseba::MainWindowJAfficher l'&utilisation de la mémoireShow &memory usageAseba::MainWindowRUne partie du contenu n'a pas été importéSome content was not importedAseba::MainWindowLSpécifiez les arguments de l'événementSpecify event argumentsAseba::MainWindow>Le document "%0" a été modifié.$The document "%0" has been modified.Aseba::MainWindowÎLes noeuds suivants ne sont pas présents sur le réseau actuel, leurs contenu n'a donc pas été importé: jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindowØLes variables suivantes ne sont pas présentes sur le réseau actuel, leurs contenu n'a donc pas été importé: nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindowHInterface de programmation Thymio...Thymio programming interface...Aseba::MainWindowLDidacticiel de programmation Thymio...Thymio programming tutorial...Aseba::MainWindow2Basculer le point d'arrêtToggle breakpointAseba::MainWindow0Décommenter la sélectionUncomment the selectionAseba::MainWindowSans nomUntitledAseba::MainWindow ValeurValueAseba::MainWindow&Site web d'Aseba...Web site Aseba...Aseba::MainWindow8Écrire le(s) programme(s)...Write the program(s)...Aseba::MainWindow4Mauvais nombre d'argumentsWrong number of argumentsAseba::MainWindowzVous avez donné %0 argument mais l'événement %1 en demande %20You gave %0 arguments where event %1 requires %2Aseba::MainWindow[modifié] [modified] Aseba::MainWindowtaccès au tableau à la position %0 hors des limites [0..%1](array access at %0 out of bounds [0..%1]Aseba::MainWindow"division par zérodivision by zeroAseba::MainWindow:exécution de l'événement tuéeevent execution killedAseba::MainWindowThttp://aseba.wikidot.com/fr:gettingstarted*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowBhttp://aseba.wikidot.com/fr:start!http://aseba.wikidot.com/en:startAseba::MainWindowJhttp://aseba.wikidot.com/fr:thymioapi%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowThttp://aseba.wikidot.com/fr:thymiotutoriel*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowdhttp://github.com/aseba-community/aseba/issues/new2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowrhttp://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindowJhttps://www.thymio.org/fr:asebastudio%https://www.thymio.org/en:asebastudioAseba::MainWindowgraph de %1 plot of %1Aseba::MainWindow CacherHide%Aseba::MaskableNamedValuesVectorModelVoirView%Aseba::MaskableNamedValuesVectorModel,Description par défautDefault descriptionAseba::NewNamedValueDialogNomNameAseba::NewNamedValueDialog <b>Éxécution</b>ExecutionAseba::NodeTab <b>Mots clés</b>KeywordsAseba::NodeTabR<b>Utilisation de la mémoire</b> : %1, %2Memory usage : %1, %2Aseba::NodeTab <b>Variables</b>VariablesAseba::NodeTabjAseba Studio: Sortie de la dernière compilation de %0/Aseba Studio: Output of last compilation for %0Aseba::NodeTabBCompilation terminée avec succès.Compilation success.Aseba::NodeTabF&iltre :F&ilter:Aseba::NodeTabChargerLoadAseba::NodeTab"Événements locaux Local EventsAseba::NodeTabOutils locaux Local ToolsAseba::NodeTab"Fonctions nativesNative FunctionsAseba::NodeTabSuivantNextAseba::NodeTab PausePauseAseba::NodeTabResetterResetAseba::NodeTabExécuterRunAseba::NodeTabBSauvegarder le code binaire de %0Save the binary code of %0Aseba::NodeTabautoautoAseba::NodeTab2bytecode: %1 sur %2 (%3%)bytecode: %1 on %2 (%3%)Aseba::NodeTabrafraîchirrefreshAseba::NodeTabexécutionrunningAseba::NodeTabpas à pas step by stepAseba::NodeTab arrétéstoppedAseba::NodeTabinconnuunknownAseba::NodeTab4variables: %1 sur %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTab"Connection perdueConnection closedAseba::ReconnectionDialog"Arrêter d'essayer Stop tryingAseba::ReconnectionDialog„Attention, la connection a été terminée : J'essaye de reconnecter.5Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialogArrêter Thymio Stop ThymioAseba::StopThymioPlugincachéeshiddenAseba::TargetFunctionsModelNomnamesAseba::TargetVariablesModelvaleursvaluesAseba::TargetVariablesModel2Exporter en tant qu'imageExport program as image#Aseba::ThymioBlockly::ThymioBlocklyAideHelp#Aseba::ThymioBlockly::ThymioBlockly Démarrer BlocklyLaunch Blockly#Aseba::ThymioBlockly::ThymioBlockly&Charger et exécuter Load & Run#Aseba::ThymioBlockly::ThymioBlocklyNouveauNew#Aseba::ThymioBlockly::ThymioBlockly OuvrirOpen#Aseba::ThymioBlockly::ThymioBlocklyEnregistrerSave#Aseba::ThymioBlockly::ThymioBlockly Enregistrer sousSave as#Aseba::ThymioBlockly::ThymioBlocklyCapture d'écran Screenshot#Aseba::ThymioBlockly::ThymioBlocklyArrêterStop#Aseba::ThymioBlockly::ThymioBlockly˜Le document Blockly a été modifié. Voulez-vous sauvegarder les changements ?JThe Blockly document has been modified.

Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlockly:Interface Blockly pour ThymioThymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlocklyAttentionWarning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/fr:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlocklycouleur du bas bottom colourAseba::ThymioVPL::BlockboutonsbuttonsAseba::ThymioVPL::Block.détection de claquementclap detectionAseba::ThymioVPL::Block4capteur de distance au solground proximity sensorsAseba::ThymioVPL::Block@capteurs de distance horizontauxhorizontal proximity sensorsAseba::ThymioVPL::BlockmoteursmotorsAseba::ThymioVPL::BlockmusiquemusicAseba::ThymioVPL::BlockétatstateAseba::ThymioVPL::Blockfiltre d'état state filterAseba::ThymioVPL::Block>détection de choc / inclinaisontap detection / tiltAseba::ThymioVPL::Block timertimerAseba::ThymioVPL::Blocktimer écoulé timer elapsedAseba::ThymioVPL::Blockcouleur du haut top colourAseba::ThymioVPL::Block”Erreur dans le fichier source XML à %0 : %1 : ne peut pas créer le bloc %29Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSetŠErreur dans le fichier source XML à %0 : %1 : type de bloc %2 inconnu8Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSet&Chargement en coursLoading!Aseba::ThymioVPL::EventActionsSetActionsActions)Aseba::ThymioVPL::ThymioVisualProgrammingMode avancé Advanced mode)Aseba::ThymioVPL::ThymioVisualProgrammingBCompilation terminée avec succès.Compilation success.)Aseba::ThymioVPL::ThymioVisualProgrammingÉvénementsEvents)Aseba::ThymioVPL::ThymioVisualProgramming2Exporter en tant qu'imageExport program as image)Aseba::ThymioVPL::ThymioVisualProgrammingAideHelp)Aseba::ThymioVPL::ThymioVisualProgramming(Version incompatibleIncompatible Version)Aseba::ThymioVPL::ThymioVisualProgrammingCharger VPL Launch VPL)Aseba::ThymioVPL::ThymioVisualProgramming&Charger et exécuter Load & Run)Aseba::ThymioVPL::ThymioVisualProgrammingNouveauNew)Aseba::ThymioVPL::ThymioVisualProgramming OuvrirOpen)Aseba::ThymioVPL::ThymioVisualProgramming6Veuillez ajouter une actionPlease add an action)Aseba::ThymioVPL::ThymioVisualProgramming:Veuillez ajouter un événementPlease add an event)Aseba::ThymioVPL::ThymioVisualProgrammingRefaireRedo)Aseba::ThymioVPL::ThymioVisualProgramming*Retour au mode simpleReturning to simple mode)Aseba::ThymioVPL::ThymioVisualProgrammingEnregistrerSave)Aseba::ThymioVPL::ThymioVisualProgramming Enregistrer sousSave as)Aseba::ThymioVPL::ThymioVisualProgrammingCapture d'écran Screenshot)Aseba::ThymioVPL::ThymioVisualProgrammingArrêterStop)Aseba::ThymioVPL::ThymioVisualProgramming”Le document VPL a été modifié.<p>Voulez-vous sauvegarder les changements ?FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgrammingLe langage de programmation visuel (VPL) pour le robot Thymio permet de programmer en associant des blocs d'événements et d'actions.uThe Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks.)Aseba::ThymioVPL::ThymioVisualProgrammingØCe fichier est incomatible avec cette version de ThymioVPL. Il se peut qu'il ne fonctionne pas correctement.VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgrammingZLangage de programmation visuelle pour Thymio"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgrammingAnnulerUndo)Aseba::ThymioVPL::ThymioVisualProgrammingAttentionWarning)Aseba::ThymioVPL::ThymioVisualProgrammingDVous utilisez actuellement des états. Le retour au mode simple effacera tout filtre d'états et carte de définition d'états.<p>Êtes-vous sûr de vouloir continuer ?’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingJhttp://aseba.wikidot.com/fr:thymiovpl#https://www.thymio.org/en:thymiovpl)Aseba::ThymioVPL::ThymioVisualProgramming montrer la ligne show line)Aseba::ThymioVPL::ThymioVisualProgrammingS'identifierLoginAseba::ThymioVPL::UsageLoggerrVeuillez entrer votre nom d'utilisateur ou nom de groupe:%Please enter your user or group name:Aseba::ThymioVPL::UsageLogger|%0 %1- Langage de programmation visuelle pour Thymio - ver. %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandalone,Connection à Thymio...Connecting to Thymio...Aseba::ThymioVPLStandaloneÌConnexion à Thymio perdue... assurez-vous que Thymio est allumé et connecter le cable USB ou le dongleTConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandalone€Erreur dans le fichier source XML : %0 à la ligne %1, colonne %22Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandalone&Chargement en coursLoadingAseba::ThymioVPLStandalone’Aucune donnée VPL n'a été trouvée dans le fichier script, fichier ignoré.?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandalone"Ouvrir le scripte Open ScriptAseba::ThymioVPLStandalone,Sauvegarder le scripte Save ScriptAseba::ThymioVPLStandalonerCette application ne supporte qu'un seul robot à la fois.8This application only supports a single robot at a time.Aseba::ThymioVPLStandalone(Erreure VPL inconnueThymio VPL ErrorAseba::ThymioVPLStandaloneSans nomUntitledAseba::ThymioVPLStandalone„Vous devez connecter un Thymio II pour utiliser cette application.8You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone[modifié] [modified] Aseba::ThymioVPLStandaloneÚAseba Studio utilise un protocole plus ancien (%1) que le noeud %0 (%2), veuillez mettre à jour Aseba Studio.XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplicationöLe noeud %0 utilise un protocole plus ancien (%2) que Aseba Studio (%1), veuillez mettre à jour le microprogramme du noeud.]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplication^Les version des protocoles ne correspondent pasProtocol version mismatch QApplicationTUne erreure de communication est survenue:A communication error happened:QObject@Compilation terminée avec succèsCompilation successQObject>Ligne %0 : Il manque une actionLine %0: Missing actionQObjectBLigne %0 : Il manque un événementLine %0: Missing eventQObject L'événement et la condition d'état à la ligne %0 sont les mêmes qu'à la ligne %1GThe event and the state condition in line %0 are the same as in line %1QObjectlL'événement à la ligne %0 est le même qu'à la ligne %1.The event in line %0 is the same as in line %1QObject2Erreure Dashel inattendueUnexpected Dashel ErrorQObject(Erreure VPL inconnueUnknown VPL errorQObjectˆaseba-1.6.0/clients/studio/asebastudio_fr.ts000066400000000000000000002647511322771007300211240ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint Enlever le point d'arrêt Set breakpoint Mettre un point d'arrêt Clear all breakpoints Enlever tous les points d'arrêts Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: résultat de la dernière compilation Aseba::ConfigDialog General Général Editor Éditeur Ok OK Cancel Annuler Aseba Studio - Settings Aseba Studio - Configuration Aseba::ConstantsModel Constant already defined La constante est déjà définie Constant %0 is already defined. La contstante %0 est déjà définie. The name is a keyword Name is a keyword Le nom est un mot clé The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Le nom <tt>%0</tt> ne peut pas être utilisé comme une constante, car c'est un mot clé du langage. Name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Le nom <tt>%0</tt> ne peut pas être utilisé comme une constante, car c'est un mot clé du langage. Aseba::DashelConnectionDialog Network (TCP) Réseau (TCP) Host Hôte Port Port Serial Port série Custom Personnalisé Discovered targets Cibles découvertes Selected target Cible sélectionnée Serial port Port série Local TCP TCP local TCP TCP Documentation Documentation Language Langue Connect Connecter Cancel Annuler Aseba Target Selection Choix d'une cible Aseba – type %1 – type %1 local on computer local sur l'ordinateur distant on network distant sur le réseau – device %1 – périphérique %1 serial port or USB port série ou USB Aseba::DashelInterface Thymio not found Thymio non trouvé <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>Ne peut pas trouver Thymio !</b></p><p>Connectez un Thymio à l'ordinateur en utilisant le cable USB ou le dongle. Assurez-vous qu'aucun autre programme n'utilise le Thymio.</p> Connection to command line target failed Échec de connection à la destination passée en ligne de commande Cannot connect to target %0 Ne peut pas se connecter à la destination %0 Aseba::DashelTarget Connection closed Connection perdue Warning, connection closed, save your work and quit Studio. Attention, la connection a été perdue, enregistrez votre travail et quittez Studio. Unexpected Dashel Error Erreure Dashel inattendue A communication error happened: Une erreure de communication est survenue: Aseba::EditorPage Editor Setup Configuration de l'éditeur Autocompletion Complétion automatique Keywords Mots clés Aseba::EventViewer Time (seconds) Temps (seconde) Values Valeurs Recording... Enregistrement... &Pause &Pause &Clear &Effacer time &window: fenêtre &temporelle: Save &As... Enregistrer &sous... Paused... En pause... &Record &Enregistrer Save plot data to file Sauvegarer les données du graph dans un fichier Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - Rechercher et remplacer &Search for: R&echercher: &Case sensitive Sensible à la &casse &Whole words &Mots entiers Re&gular expressions Expressions ré&gulières &Find Next Rechercher le prochai&n Find &Previous Rechercher le précé&dent Find from &Top Rechercher depuis le dé&but &Replace &Remplacer w&ith: p&ar: Replace and Find &Next Remplacer et rechercher le pr&ochain Replace and Find Previo&us Remplacer et rechercher le précéden&t Replace &All Occurrences Remplacer toutes les occ&urences End of document reached! Fin du document atteinte ! Aseba::FunctionParametersDialog OK OK Native function Fonctions natives Aseba::GeneralPage General Setup Configuration générale On startup Au démarrage Show hidden variables Afficher les variables cachées Show line numbers Afficher les numéros de ligne Show keyword toolbar Afficher la barre d'outils des mots clés Layout Disposition Show memory usage Afficher l'utilisation de la mémoire Aseba::HelpViewer The help file %0 has not been found. It should be located in the same directory as the binary of Aseba Studio. Please check your installation, or report a bug. Le fichier d'aide %0 n'a pas été trouvé. Il devrait se situer dans le même répertoire que le fichier exécutable d'Aseba Studio. Veuillez vérifier votre installation, ou signalez un bug. The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. Le fichier d'aide %0 n'a pas été chargé correctement. L'erreur était : %1. Le fichier d'aide devrait être disponible dans le répertoire temporaire de votre système. Veuillez vérifier votre installation, ou rapporter un bug. Help file not found Fichier d'aide non trouvé Previous Précédent Next Suivant Home Accueil Aseba Studio Help Aide d'Aseba Studio The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. Le filtre d'aide pour la langue "%0" n'a pas été trouvé. Nous utilisons la langue par défaut (%1). Ceci est probablement un bug, merci de le signaler. Help filter not found Filtre d'aide non trouvé Aseba::LinearCameraViewPlugin linear camera viewer visualisation de caméra linéaire Cannot initialize linear camera view plugin Ne peut pas initialiser le plugin de visualisation de caméra linéaire One or more variable not found in camR, camG, or camB. Une ou plusieurs variables non trouvées dans camR, camG ou camB. One or more variable not found in %1, %2, or %3. Une ou plusieurs variables non trouvées dans %1, %2 ou %3. Linear Camera View Plugin Plugin de visualisation de la caméra linéaire Aseba::LinearCameraViewVariablesDialog Please choose your variables Veuillez choisir vos variables red component composante rouge green component composante verte blue component composante bleu range of values domaine des valeurs Ok OK auto range domaine automatique 8 bits range (0–255) 8 bits range (0–255) domaine de 8 bits (0–255) percent range (0–100) percent range (0–100) domaine en pourcent (0–100) Linear Camera View Plugin Plugin de visualisation de la caméra linéaire Aseba::MainWindow About Aseba Studio A propos d'Aseba Studio Open Script Ouvrir le scripte Loading Chargement en cours %0 scripts have no corresponding nodes in the current network and have not been loaded. %0 scriptes n'ont pas de noeuds correspondants dans le réseau actuel et n'ont donc pas été chargés. Save Script Sauvegarder le scripte Add a new event Ajouter un nouvel événement Name: Nom: event %0 : événement %0 : <b>Events</b> <b>Événements</b> &File &Fichier &New &Nouveau Ctrl+N File|New Ctrl+N &Open... &Ouvrir... Ctrl+O File|Open Ctrl+O Save &As... Enregistrer &sous... &Save... &Enregistrer... <p>Aseba version informations:</p><ul><li>Aseba ver. <p>Informations de version d'Aseba:</p><ul><li>Aseba ver. Export memories content Exporter le contenu des mémoires Import memories content Importer le contenu des mémoires %0 on node %1 %0 sur le noeud %1 The following nodes are not present in the current network and their associated content was not imported: Les noeuds suivants ne sont pas présents sur le réseau actuel, leurs contenu n'a donc pas été importé: The following variables are not present in the current network and their associated content was not imported: Les variables suivantes ne sont pas présentes sur le réseau actuel, leurs contenu n'a donc pas été importé: Some content was not imported Une partie du contenu n'a pas été importé Go To Line Aller à la ligne Line: ligne: Plot event %1 Graph de l'événement %1 plot of %1 graph de %1 Aseba Studio Help: Studio Aide d'Aseba Studio: Studio Thymio programming tutorial... Didacticiel de programmation Thymio... http://aseba.wikidot.com/en:thymiotutoriel http://aseba.wikidot.com/fr:thymiotutoriel Thymio programming interface... Interface de programmation Thymio... http://aseba.wikidot.com/en:thymioapi http://aseba.wikidot.com/fr:thymioapi Challenge tutorial... Didacticiel challenge... http://aseba.wikidot.com/en:gettingstarted http://aseba.wikidot.com/fr:gettingstarted Web site Aseba... Site web d'Aseba... Aseba Studio is an environment for interactively programming robots with a text language. Aseba Studio est un environnement pour programmer des robots interactivement avec un langage texte. https://www.thymio.org/en:asebastudio https://www.thymio.org/fr:asebastudio http://aseba.wikidot.com/en:start http://aseba.wikidot.com/fr:start <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2011 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006–2011 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Informations de version d'Aseba :</p><ul><li>Aseba ver. %0<br/>(build ver. %1 / protocole ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2011 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> et autres contributeurs.</p><p><a href="%5">%5</a></p><p>Aseba est un logiciel libre sous license GPL 3.</p> Import memory content Importer le contenu de la mémoire Number of arguments For the newly created event Nombre d'arguments Invalid event name Nom d'événement invalide Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." L'événement %0 possède un nom invalid. Les nom valides commencent par un charactère alphabétique ou un "_", et continuent avec 0 ou plusieurs charactères alphanumériques, "_" et "." Value Value assigned to the constant Valeur Remove this constant Enlever cette constante Remove this event Enlever cet événement Send this event Envoyer cet événement Plot this event Tracer cet événement <b>Global Events</b> <b>Événements globaux</b> ...of %0 ... de %0 &User Manual... &Mode d'emploi... F1 Help|User Manual F1 MarXbot user manual... MarXbot: manuel de l'utilisateur... http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf Report bug... Rapporter un bug... <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Informations de version d'Aseba :</p><ul><li>Aseba ver. %0<br/>(build ver. %1 / protocole ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> et autres contributeurs.</p><p><a href="%5">%5</a></p><p>Aseba est un logiciel libre sous license GPL 3.</p> Desynchronised! Please reload. Désynchronisé ! Veuillez recharger. http://github.com/aseba-community/aseba/issues/new http://github.com/aseba-community/aseba/issues/new Ctrl+S File|Save Ctrl+S &Import memories content... &Importer le contenu des mémoires... &Quit &Quitter Cu&t Co&uper Ctrl+X Edit|Cut Ctrl+X &Copy &Copier Ctrl+C Edit|Copy Ctrl+C &Paste C&oller Ctrl+V Edit|Paste Ctrl+V &Undo &Annuler Ctrl+Z Edit|Undo Ctrl+Z Re&do A&nnuler Annuler Ctrl+Shift+Z Edit|Redo Ctrl+Shift+Z &Find... R&echercher... Ctrl+F Edit|Find Ctrl+F &Replace... &Remplacer... Ctrl+R Edit|Replace Ctrl+R Comment the selection Commenter la sélection Ctrl+D Edit|Comment the selection Ctrl+D Show &keywords Show &keywords... Afficher les &mots clés Unomment the selection Décommenter la sélection Shift+Ctrl+D Edit|Unomment the selection Shift+Ctrl+D Show Line Numbers Afficher les numéros de ligne F11 Edit|Show Line Numbers F11 &Go To Line... Aller a la li&gne... Ctrl+G Edit|Go To Line Ctrl+G &Edit &Edition <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>À propos d'Aseba</h1>Informations de version</p><ul><li>Aseba ver. %0<br/>(build ver. %1 / protocole ver. %2)</li><li>Dashel ver. %3<br/>(types de flux supportés: %4)</li></ul><p>Plus d'information sur <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> et autres contributeurs (cliquez « Montrer les détails » pour la liste complète)</p><p>Aseba est un logiciel libre sous license <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> Show &memory usage Afficher l'&utilisation de la mémoire Show &Line Numbers Afficher les numéros de &ligne F11 View|Show Line Numbers F11 &Increase font size &Agrandir la taille de la police &Decrease font size &Réduire la taille de la police &Reset all &Resetter tout F8 Debug|Reset all F8 Ru&n all &Éxécuter tout F9 Debug|Run all F9 &Pause all Mettre tout en &pause F10 Debug|Pause all F10 Debug Débugger Toggle breakpoint Basculer le point d'arrêt Ctrl+B Debug|Toggle breakpoint Ctrl+B Clear all breakpoints Enlever tous les points d'arrêts &Debug &Débugger Show memory usage Afficher l'utilisation de la mémoire Save the binary code... Sauvegarder le code binaire... S&how hidden variables and functions S&how hidden variables and functions... Montrer les variables et fonctions cac&hées &Linear Camera View... Vue de la caméra &linéaire... &Help &Aide &Language... &Language... &Studio... &Studio... &About... &À propos... About &Qt... À propos de &Qt... &About A &propos About &Qt A propos de &Qt Ctrl+Q File|Quit Ctrl+Q Error in XML source file: %0 at line %1, column %2 Erreur dans le fichier source XML : %0 à la ligne %1, colonne %2 <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Informations de version d'Aseba :</p><ul><li>Aseba ver. %0<br/>(build ver. %1 / protocole ver. %2)</li><li>Dashel ver. %3<br/>(types de flux supportés: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> et autres contributeurs.</p><p><a href="%5">%5</a></p><p>Aseba est un logiciel libre sous license GPL 3.</p> Specify event arguments Spécifiez les arguments de l'événement Please specify the %0 arguments of event %1 Veuillez spécifier les %0 arguments de l'événement %1 Wrong number of arguments Mauvais nombre d'arguments You gave %0 arguments where event %1 requires %2 Vous avez donné %0 argument mais l'événement %1 en demande %2 Invalid value Valeur invalide Invalid value for argument %0 of event %1 Valeur invalide pour l'argument %0 de l'événement %1 Event already exists L'événement existe déjà Event %0 already exists. L'événement %0 existe déjà. Add a new constant Ajouter une nouvelle constante Constant already defined La constante est déjà définie Constant %0 is already defined. La contstante %0 est déjà définie. <b>Constants</b> <b>Constantes</b> Clear Effacer Open &Recent Ouvrir &récents Uncomment the selection Décommenter la sélection Shift+Ctrl+D Edit|Uncomment the selection Shift+Ctrl+D &View &Vue &Settings Settings &Paramètres &Load all &Charger tout F7 Load|Load all F7 Event number %0 Numéro d'événement %0 <p>Aseba pre-release:</p><ul><li>Aseba SVN rev. %0 / protocol ver. %1</li><li>Dashel ver. <p>Aseba pre-version:</p><ul><li>Aseba SVN rev. %0 / protocole ver. %1</li><li>Dashel ver. Export memory content Exporter le contenu de la mémoire array access at %0 out of bounds [0..%1] accès au tableau à la position %0 hors des limites [0..%1] division by zero division par zéro event execution killed exécution de l'événement tuée %0:%1: %2 %0:%1:%2 Aseba Studio Help: Language Aide d'Aseba Studio: language Cannot open help file. Ne peut pas ouvrir le fichier d'aide. ...inside %0 ...dans %0 ...%0 ...%0 ...inside all nodes ...dans tous les noeuds ...all nodes ...tous les noeuds Export &memories content... Exporter le contenu des &mémoires... Copy &all Copier &tout &Tools Ou&tils &Show last compilation messages &Afficher les messages de la dernière compilation Write the program(s)... Écrire le(s) programme(s)... Reboot... Redémarrer... &Plug-ins P&lugins &Linear Camera View &Visualisation de caméra linéaire &Language &Langage Untitled Sans nom Aseba Studio - Confirmation Dialog Aseba Studio - Dialogue de confirmation The document "%0" has been modified. Le document "%0" a été modifié. Do you want to save your changes or discard them? Voulez-vous enregistrer vos changements ou les abandonner ? [modified] [modifié] %0 %1- Aseba Studio %0 %1 - Aseba Studio (not available) (pas disponible) Aseba::MaskableNamedValuesVectorModel Hide Cacher View Voir Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) Nom Default description When no description is given for the named value Description par défaut Aseba::NodeTab <b>Execution</b> <b>Éxécution</b> unknown inconnu Tools Outils Reset Resetter Run Exécuter Next Suivant refresh rafraîchir auto auto <b>Memory</b> <b>Mémoire</b> Save the binary code of %0 Sauvegarder le code binaire de %0 Compilation success. Compilation terminée avec succès. variables: %1 on %2 (%3%) variables: %1 sur %2 (%3%) bytecode: %1 on %2 (%3%) bytecode: %1 sur %2 (%3%) <b>Memory usage</b> : %1, %2 <b>Utilisation de la mémoire</b> : %1, %2 running exécution Pause Pause step by step pas à pas stopped arrété Load Charger Local Tools Outils locaux <b>Keywords</b> <b>Keywords <> <b>Mots clés</b> <b>Variables</b> <b>Variables</b> F&ilter: F&iltre : Native Functions Fonctions natives Local Events Événements locaux Aseba Studio: Output of last compilation for %0 Aseba Studio: Sortie de la dernière compilation de %0 Aseba::ReconnectionDialog Aseba Studio - Connection closed Aseba Studio - Connection terminée Connection closed Connection perdue Warning, connection closed: I am trying to reconnect. Attention, la connection a été terminée : J'essaye de reconnecter. Stop trying Arrêter d'essayer Aseba::StopThymioPlugin Stop Thymio Arrêter Thymio Aseba::TargetFunctionsModel hidden cachées Aseba::TargetVariablesModel variables variables names Nom values valeurs Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Interface Blockly pour Thymio New Nouveau Open Ouvrir Save Enregistrer Save as Enregistrer sous Load & Run Charger et exécuter Stop Arrêter Help Aide Screenshot Capture d'écran Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/fr:blocklyprogramming Export program as image Exporter en tant qu'image Launch Blockly Démarrer Blockly Warning Attention The Blockly document has been modified.<p>Do you want to save the changes? Le document Blockly a été modifié. Voulez-vous sauvegarder les changements ? Aseba::ThymioBootloaderDialog Flash firmware Flasher un firmware Thymio Firmware Updater Mise à jour du firmware du Thymio File... File ... Fichier... Update Mettre à jour Quit Quitter Update firmware Mettre à jour le firmware Select hex file Séléctionner un fichier hex Hex files (*.hex) Fichiers hex (*.hex) Pre-update warning Avis avant de mettre à jour Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Vous êtes en train d'écrire le firmware dans le Thymio II. Assurez-vous que le robot est chargé et que le câble USB est branché correctement. <p><b>Ne pas débrancher le robot pendant la mise à jour! </b> </p> Êtes-vous sûr de vouloir continuer? Update Error Erreur de mise à jour Unable to read Hex file Ne peut pas lire le fichier hex Dashel Unexpected Error Erreure Dashel inattendue A communication error happened during the flashing process: Une erreure de communication est survenue durant le processus de flashage : Aseba::ThymioScene Missing event button Il manque un bouton d'événement Missing action Missing action button Il manque une action Missing event Il manque un événement Redeclaration of event Redeclaration of event. Redéclaration de l'action Unknown event/action type Unknown event/action type. Type d'action/d'évenement inconnu Line %0: Missing event Ligne %0 : Il manque un événement Line %0: Missing action Ligne %0 : Il manque une action Line %0: Redeclaration of event Ligne %0 : Redéclaration de l'événement Line %0: Unknown event/action type Ligne %0 : Type d'action/d'évenement inconnu Compilation success Compilation success. Compilation terminée avec succès Unknown VPL error Erreure VPL inconnue Aseba::ThymioVPL::Block buttons boutons horizontal proximity sensors capteurs de distance horizontaux ground proximity sensors capteur de distance au sol tap detection / tilt détection de choc / inclinaison clap detection détection de claquement timer elapsed timer écoulé state filter filtre d'état motors moteurs top colour couleur du haut bottom colour couleur du bas music musique timer timer state état Aseba::ThymioVPL::EventActionsSet Loading Chargement en cours Error in XML source file at %0:%1: cannot create block %2 Error in XML source file at %0:%1 cannot create block %2 Erreur dans le fichier source XML à %0 : %1 : ne peut pas créer le bloc %2 Error in XML source file at %0:%1: unknown block type %2 Erreur dans le fichier source XML à %0 : %1 : type de bloc %2 inconnu Aseba::ThymioVPL::Scene Line %0: Missing event Ligne %0 : Il manque un événement Line %0: Missing action Ligne %0 : Il manque une action Line %0: Twice the same event Line %0: Redeclaration of event Ligne %0 : Deux fois le même événement The event-action pair in line %0 is the same as in line %1 La pair événement-action à la ligne %0 est la même que celle à la ligne %1 Line %0: Unknown event/action type Ligne %0 : Type d'action/d'évenement inconnu Compilation success Compilation terminée avec succès Unknown VPL error Erreure VPL inconnue Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Langage de programmation visuelle pour Thymio New Nouveau Open Ouvrir Save Enregistrer Save as Enregistrer sous Load & Run Charger et exécuter Stop Arrêter Color scheme Schéma des couleurs Advanced mode Mode avancé Help Aide Events Événements Actions Actions http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/fr:thymiovpl Quit Quitter Undo Annuler Redo Refaire Screenshot Capture d'écran <b>Events</b> <b>Événements</b> Compilation success. Compilation terminée avec succès. show line montrer la ligne <b>Actions</b> <b>Actions</b> The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. Le langage de programmation visuel (VPL) pour le robot Thymio permet de programmer en associant des blocs d'événements et d'actions. https://www.thymio.org/en:thymiovpl http://aseba.wikidot.com/fr:thymiovpl Export program as image Exporter en tant qu'image Launch VPL Charger VPL Returning to simple mode Retour au mode simple You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? Vous utilisez actuellement des états. Le retour au mode simple effacera tout filtre d'états et carte de définition d'états.<p>Êtes-vous sûr de vouloir continuer ? Warning Attention The VPL document has been modified.<p>Do you want to save the changes? Le document VPL a été modifié.<p>Voulez-vous sauvegarder les changements ? Incompatible Version Version incompatible This file is incompatible with this version of ThymioVPL. It might not work correctly. Ce fichier est incomatible avec cette version de ThymioVPL. Il se peut qu'il ne fonctionne pas correctement. Please add an event Veuillez ajouter un événement Please add an action Veuillez ajouter une action Loading Chargement en cours Error in XML source file: %0 unknown event type Erreur dans le fichier source XML : %0 type d'événement inconnu Aseba::ThymioVPL::UsageLogger Login S'identifier Please enter your user or group name: Veuillez entrer votre nom d'utilisateur ou nom de groupe: Aseba::ThymioVPLStandalone Thymio VPL Error Erreure VPL inconnue You need to connect a Thymio II to use this application Vous devez connecter un Thymio II pour utiliser cette application Thymio Visual Programming Language Langage de programmation visuelle pour Thymio Connecting to Thymio... Connection à Thymio... You need to connect a Thymio II to use this application. Vous devez connecter un Thymio II pour utiliser cette application. Save Script Sauvegarder le scripte Open Script Ouvrir le scripte Loading Chargement en cours No Thymio VPL data were found in the script file, file ignored. Aucune donnée VPL n'a été trouvée dans le fichier script, fichier ignoré. This application only supports a single robot at a time. Cette application ne supporte qu'un seul robot à la fois. Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle Connexion à Thymio perdue... assurez-vous que Thymio est allumé et connecter le cable USB ou le dongle [modified] [modifié] Untitled Sans nom %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Langage de programmation visuelle pour Thymio - ver. %2 %0 %1- Thymio Visual Programming Language %2 %0 %1- Thymio Visual Programming Language %0 %1- Langage de programmation visuelle pour Thymio %2 No Thymio VPL data were found in the script file, file ignored Aucune donnée VPL n'a été trouvée dans le fichier script, fichier ignoré Error in XML source file: %0 at line %1, column %2 Erreur dans le fichier source XML : %0 à la ligne %1, colonne %2 This application only supports a single robot at a time Cette application ne supporte qu'un seul robot à la fois Aseba::ThymioVisualProgramming Thymio Visual Programming Language Langage de programmation visuelle pour Thymio New Nouveau Open Ouvrir Save Enregistrer Save as Enregistrer sous Load & Run Charger et exécuter Stop Arrêter Color scheme Schéma des couleurs Advanced mode Mode avancé Quit Quitter <b>Events</b> <b>Événements</b> Compilation success. Compilation terminée avec succès. <b>Actions</b> <b>Actions</b> Launch VPL Charger VPL The VPL document has been modified. Le document VPL a été modifié. Open Visual Programming Language Ouvrir language de programmation visuelle Save Visual Programming Language Enregistrer language de programmation visuelle Warning Attention The document has been modified. Le document a été modifié. Do you want to save the changes? Voulez-vous enregistrer vos changements ? Loading Chargement en cours Error in XML source file: %0 unknown event type Erreur dans le fichier source XML : %0 type d'événement inconnu Error in XML source file: %0 at line %1, column %2 Erreur dans le fichier source XML : %0 à la ligne %1, colonne %2 QApplication Protocol version mismatch Les version des protocoles ne correspondent pas Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Aseba Studio utilise un protocole plus ancien (%1) que le noeud %0 (%2), veuillez mettre à jour Aseba Studio. Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. Le noeud %0 utilise un protocole plus ancien (%2) que Aseba Studio (%1), veuillez mettre à jour le microprogramme du noeud. QObject Native function %0 (sp = %1) Fonction native %0 (sp = %1) Native function called Fonction native appelée Assertion at 0x%0 (sp = %2): Assertion à 0x%0 (sp = %2): unknown inconnu unknown arithmetic binary operator opérateur arithmétique binaire inconnu unknown bytecode bytecode inconnu execution stack underflow pile d'exécution vide (underflow) stack overflow pile d'exécution pleine (overflow) out of variables bounds hors des limites des variables out of bytecode bounds hors des limites du bytecode step called while not thread running step appelé alors qu'aucun thread ne fonctionnait a breakpoint has been set out of bytecode bounds un point d'arrêt a été mis hors des limites du bytecode tried to emit a buffer too long un tampon trop grand a tenté d'être émis unknown assert define, your code seems broken assertion inconnue, votre code semble cassé VM Assertion Failed Assertion de la VM, échec Compilation success. Compilation terminée avec succès. Compilation success Compilation terminée avec succès Line %0: Missing event Ligne %0 : Il manque un événement Line %0: Missing action Ligne %0 : Il manque une action The event in line %0 is the same as in line %1 L'événement à la ligne %0 est le même qu'à la ligne %1 The event and the state condition in line %0 are the same as in line %1 L'événement et la condition d'état à la ligne %0 sont les mêmes qu'à la ligne %1 Line %0: Unknown event/action type Ligne %0 : Type d'action/d'évenement inconnu Unknown VPL error Erreure VPL inconnue Unexpected Dashel Error Erreure Dashel inattendue A communication error happened: Une erreure de communication est survenue: aseba-1.6.0/clients/studio/asebastudio_it.qm000066400000000000000000001207441322771007300211110ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB P—A´˜Aà™B [[%I@AVIAA…TÇjTÇy¹X€ ÞY¾c)´Ç/-§Ô:åì0i…ì0x-ï¥]ö5ê5taeH5^+LôLôb€f¾jÔf¾z‹¯{q˜Åk˜Å|Q«`l«`}tį‚«ÏÇ]iŒ¯cÒ£boz¤V*¦y+©*»,*Ð%,Ò*ì0-Ÿ+Œ07+į2s+ÏÇ31€3BF¬>@J+‚8ïJ¹·;SŠDaS]þ†ªTƒŠE]VŒ•b»X|¯GùXÉÄbí\ƒµTJefDotƒÃhotÉóqZz¨¥q—{ÂržŽM^‘S¼R 챚sIßÈ¢ã%SâÀ rç9C4î(3UA 4”KŽ'Nîfï+½¤rÙ=%4zàEBÞ-ÖU4vf°²qÒwñNe%茜Ðc[ª½.)äº1Sß»Åþ"$»Åþ$xÙøeMå"žKñYiËù2Sa˜ .7•î@\)³n=[S ~0paØ9'Di$»ˆê•{»–üŽxy›Á4r"ª+‚ ª¹·+ඊ¥/¡¶Œ•_»f323ÄQehîÄQewÇ4MsÔ>“8à½ÞDÛðð£Èñí~uñí~J©~  2dG–Ã'È&æÎœW°D˜W°u—W°‹BdZNzNð†¡P¶[k£ÃŽ'Á„„ðþTëž”E] YvS±NTîÙdeB3L£g²¥égáôiCb/oü.ˆª|(~5‰9¤˜I¼X˜I¼7ŸsŒx÷«Žò:=«Žô:u«Ž÷:­» b–ÁX-Ìųw@ÎÞ^fì4$Hqd "¢L7)ÄèJDB„Jô@évM.ä‹orU´]?l[ÿƒN£!êO!°·tT°·tŽ|´ÔÁž“uÃJÔÃŒèÈ;áÌütF=ÌütŒ’ÑëŽ]»é~u‰$ðS.WõUßgÚ ›S $±•!CU-lÎj--lÎySl¾/cl¡rñá\Ñ—Wµ†E£ âs0«Ú’¡Án5lÆ7ÞQí諭h)ôfÕ.]ûDÂøÿ;ää Úì{ é…Ã$ï(˜F¶“qMØλZËÞ`­ZËÞv¨[fÕ,lXä5Ê‹µº“I˜`3˜`39( ºP«u겎L9ö¾¾d ‡¿9^8hÈ;Ãh¬Ðc¼I—ã<„&uãJgf|Ä×Z¯8Ä>o¢K·ÑF„N²õu¬³“ÒŠécÆŒF!Cª½ŒèdlÇ%%ïÈ)Î~ÌͳZæ'ãp’ð’r— )8 ž V ½ye« çSp .ü?Ws C¡4HÝ fI¾H. l[~+V n°a– ~ ÐÓ Ã?§ ŒvÓk^ ŒvÓ| Œƒ¾1 ¡SØ ÄDÒs† Äàì0¿ ÅP7d¦ ˶3oa ÖÓB_ îžn!Y ú5}VÍ 5s”Kí 8a#E’ C1Y(Þ Ht"Ž K3¿}¾ e!T eKä  xsÒ ²•¾€ƒ µ:ÄWÍ ¶vÄe/ »šP ÅH"=Ç ë"Ð3Ç ìçñi öÉ\Z ÏB8  ’Ç q£1ž ŽÚ5 têcN }Á~"µ ‹¦¤˜ “GA ™ž «Å^^» ±\‡6¡ ³ayN Àäk± Àä|þ ÷N.‹Ž âB–» 4¤Xí GnF ¸emg GÕ¬ 5ËîS™ AÃtË Bt K`”ª RV®ek `•2 ƒ aËî9‘ h9>ŽË s©Î2¨ „ê²+ •Ò¬/Ý ›GŽØ ºïs1Q Ê£õË ÛÁuv; àe¿\< ä"d(0 ñÔþ-G ü4Ü…š ¨Úa* s®- Ì {°_ó ]:†ë m£Ø õ: I—ÎR† }Ñ)— ƒÈôf †ã3w ‰Pmó ‰P‚õ ÄÈ<Ð ìRb‡Ä×., Caáh dêJDž_ O@ z] >IB‡†¢#uí\tEñòl^2÷­i#ýú.;RD•Bñ ÖÓtù46<D@®TÚY¾"<‘Y¾"ŠoGŽ­üPV„­üPº¶D´&ÚÑßtXI×y>4´Ú{@æ–~=i—s4Elimina tutti i breakpointClear all breakpointsAseba::AeslEditor&Azzera i breakpointClear breakpointAseba::AeslEditor(Inserisci breakpointSet breakpointAseba::AeslEditor`Aseba Studio: Risultato dell'ultima compilazione(Aseba Studio: Output of last compilationAseba::CompilationLogDialog:Aseba Studio - ConfigurazioneAseba Studio - SettingsAseba::ConfigDialogCancellaCancelAseba::ConfigDialog EditorEditorAseba::ConfigDialogGeneraleGeneralAseba::ConfigDialogOkOkAseba::ConfigDialog<La costante %0 è già definita.Constant %0 is already defined.Aseba::ConstantsModel(Costante già defintaConstant already definedAseba::ConstantsModelÚIl nome <tt>%0</tt> non può essere usato come costante, perché si tratta di una parola chiave del linguaggio.TThe name %0 cannot be used as a constant, because it is a language keyword.Aseba::ConstantsModelDIl nome scelto è una parola chiaveThe name is a keywordAseba::ConstantsModel"  apparecchio %1 – device %1Aseba::DashelConnectionDialog  tipo %1 – type %1Aseba::DashelConnectionDialog4Selezione del target AsebaAseba Target SelectionAseba::DashelConnectionDialogCancellaCancelAseba::DashelConnectionDialogConnettiConnectAseba::DashelConnectionDialog&Target identificatiDiscovered targetsAseba::DashelConnectionDialogDocumentazione DocumentationAseba::DashelConnectionDialog LinguaLanguageAseba::DashelConnectionDialogTCP Locale Local TCPAseba::DashelConnectionDialog$Target selezionatiSelected targetAseba::DashelConnectionDialogPorta seriale Serial portAseba::DashelConnectionDialogTCPTCPAseba::DashelConnectionDialog&distante sulla retedistant on networkAseba::DashelConnectionDialog&locale sul computerlocal on computerAseba::DashelConnectionDialog&porta seriale o USBserial port or USBAseba::DashelConnectionDialogd<p><b>Impossibile trovare Thymio!</b></p><p>Collegare un Thymio al computer utilizzando il cavo USB o il dongle. Assicurarsi che nessun altro programma stia usando il Thymio.</p>•

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

Aseba::DashelInterfaceFImpossibile collegarsi al target %0Cannot connect to target %0Aseba::DashelInterfacebConnessione al target da linea di comando fallita(Connection to command line target failedAseba::DashelInterface$Thymio non trovatoThymio not foundAseba::DashelInterface$Auto-completamentoAutocompletionAseba::EditorPage4Configurazione dell'Editor Editor SetupAseba::EditorPageParole chiaveKeywordsAseba::EditorPage&Cancella&ClearAseba::EventViewer &Pausa&PauseAseba::EventViewer&Registra&RecordAseba::EventViewerIn pausa... Paused...Aseba::EventViewer$Sto registrando... Recording...Aseba::EventViewer$S&alva con nome... Save &As...Aseba::EventViewerFSalva i dati per il grafico su fileSave plot data to fileAseba::EventViewerTempo (secondi)Time (seconds)Aseba::EventViewer ValoriValuesAseba::EventViewer,&w finestra temporale: time &window:Aseba::EventViewer.&Sensibile al Maiuscolo&Case sensitiveAseba::FindDialog"&Trova successivo &Find NextAseba::FindDialog&Sostituisci&ReplaceAseba::FindDialog&Cerca: &Search for:Aseba::FindDialog&Parola intera &Whole wordsAseba::FindDialogDAseba Studio - Cerca e Sostituisci!Aseba Studio - Search and ReplaceAseba::FindDialog:Fine del documento raggiunta!End of document reached!Aseba::FindDialog"Trova &PrecedenteFind &PreviousAseba::FindDialog$Ricerca dall'&altoFind from &TopAseba::FindDialog*&Espressioni RegolariRe&gular expressionsAseba::FindDialog@Sostituisci tutte le &occorrenzeReplace &All OccurrencesAseba::FindDialog@Sostituisci e trova il &prossimoReplace and Find &NextAseba::FindDialog>&Sostituisci e trova precedenteReplace and Find Previo&usAseba::FindDialog &con:w&ith:Aseba::FindDialog.Configurazione Generale General SetupAseba::GeneralPageDisposizioneLayoutAseba::GeneralPage8Mostra le variabili nascosteShow hidden variablesAseba::GeneralPage\Mostra la barra strumenti per le parole chiaveShow keyword toolbarAseba::GeneralPage<Mostra la numerazione di lineaShow line numbersAseba::GeneralPage8Mostra l'utilizzo di memoriaShow memory usageAseba::GeneralPage,Aiuto per Aseba StudioAseba Studio HelpAseba::HelpViewer2File di Aiuto non trovatoHelp file not foundAseba::HelpViewerHomeHomeAseba::HelpViewerSuccessivoNextAseba::HelpViewerPrecedentePreviousAseba::HelpViewerØIl file di Aiuto %0 non è stato caricato correttamente. L'errore è stato: %1. Il file di aiuto dovrebbe essere disponibile nella cartella temporanea del vostro sistema. Cortesemente verificate la vostra installazione o riportate un bug.½The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug.Aseba::HelpViewerNIl file di Aiuto per la lingua "%0" non è stato trovato. Ripristinato linguaggio predefinito (%1). Si tratta probabilmente di un bug. Cortesemente vogliate riportarlo.ŽThe help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it.Aseba::HelpViewernImpossibile avviare plugin per vista telecamera lineare+Cannot initialize linear camera view pluginAseba::LinearCameraViewPluginFPlugin per vista telecamera lineareLinear Camera View PluginAseba::LinearCameraViewPlugin^Una o più variabili non trovate in %1, %2 o %3.0One or more variable not found in %1, %2, or %3.Aseba::LinearCameraViewPluginBVisualizzatore telecamera linearelinear camera viewerAseba::LinearCameraViewPlugin*gamma a 8 bit (0-255)8 bits range (0–255)&Aseba::LinearCameraViewVariablesDialogFPlugin per vista telecamera lineareLinear Camera View Plugin&Aseba::LinearCameraViewVariablesDialogOkOk&Aseba::LinearCameraViewVariablesDialog>Selezionate le vostre variabiliPlease choose your variables&Aseba::LinearCameraViewVariablesDialogHselezione automatica gamma di valori auto range&Aseba::LinearCameraViewVariablesDialogComponente blublue component&Aseba::LinearCameraViewVariablesDialog Componente verdegreen component&Aseba::LinearCameraViewVariablesDialog2gamma percentuale (0-100)percent range (0–100)&Aseba::LinearCameraViewVariablesDialoggamma di valorirange of values&Aseba::LinearCameraViewVariablesDialog Componente rosso red component&Aseba::LinearCameraViewVariablesDialogevento %0: event %0 : Aseba::MainWindow$ (non disponibile) (not available)Aseba::MainWindow&%0 %1- Aseba Studio%0 %1- Aseba StudioAseba::MainWindow%0 su nodo %1 %0 on node %1Aseba::MainWindow´gli script %0 non hanno nodi corrispondenti nella rete corrente e non sono stati caricati.W%0 scripts have no corresponding nodes in the current network and have not been loaded.Aseba::MainWindow%0:%1: %2 %0:%1: %2Aseba::MainWindow$&A proposito di... &About...Aseba::MainWindow &Copia&CopyAseba::MainWindow &Debug&DebugAseba::MainWindowL&Diminuire la dimensione del carattere&Decrease font sizeAseba::MainWindow &Edit&EditAseba::MainWindow &File&FileAseba::MainWindow&Trova...&Find...Aseba::MainWindow$Vai alla &linea...&Go To Line...Aseba::MainWindow &Aiuto&HelpAseba::MainWindowF&Importa contenuti delle memorie...&Import memories content...Aseba::MainWindowN&Ingrandire la dimensione del carattere&Increase font sizeAseba::MainWindowCarica &tutto &Load allAseba::MainWindow &Nuovo&NewAseba::MainWindow&Apri...&Open...Aseba::MainWindow&Incolla&PasteAseba::MainWindow*Metti in &pausa tutto &Pause allAseba::MainWindow&Chuidi&QuitAseba::MainWindow&Sostituisci... &Replace...Aseba::MainWindow"&Ripristina tutto &Reset allAseba::MainWindow&Salva...&Save...Aseba::MainWindow&Configurazione &SettingsAseba::MainWindowPMo&stra tutti i messaggi di compilazione&Show last compilation messagesAseba::MainWindowS&trumenti&ToolsAseba::MainWindow &Undo&UndoAseba::MainWindow$Manuale &Utente...&User Manual...Aseba::MainWindow&Visualizza&ViewAseba::MainWindow ...%0...%0Aseba::MainWindow...tutti i nodi ...all nodesAseba::MainWindow...dentro %0 ...inside %0Aseba::MainWindow,...dentro tutti i nodi...inside all nodesAseba::MainWindow...di %0...of %0Aseba::MainWindow<b>Costanti</b>ConstantsAseba::MainWindow*<b>Eventi globali</b>Global EventsAseba::MainWindow,Informazioni su &Qt... About &Qt...Aseba::MainWindow:Aggiungere una nuova costanteAdd a new constantAseba::MainWindow0Aggiungi un nuovo eventoAdd a new eventAseba::MainWindow.Aseba Studio - Conferma"Aseba Studio - Confirmation DialogAseba::MainWindowÒAseba Studio è un ambiente per la programmazione interattiva di robot utilizzando un linguaggio di testo.YAseba Studio is an environment for interactively programming robots with a text language.Aseba::MainWindowLTutorial per il programma Challenge...Challenge tutorial...Aseba::MainWindowPulisciClearAseba::MainWindow.Azzera tutti breakpointClear all breakpointsAseba::MainWindow*Commenta la selezioneComment the selectionAseba::MainWindowCopia &tutto Copy &allAseba::MainWindow Ctrl+BCtrl+BAseba::MainWindow Ctrl+DCtrl+DAseba::MainWindow Ctrl+GCtrl+GAseba::MainWindow&TagliaCu&tAseba::MainWindow DebugDebugAseba::MainWindowNDesincronizzato! Ricaricare per favore.Desynchronised! Please reload.Aseba::MainWindowVVuoi salvare le tue modifiche o annullarle?1Do you want to save your changes or discard them?Aseba::MainWindowrErrore nel file sorgente XML %0 alla linea %1, colonna %22Error in XML source file: %0 at line %1, column %2Aseba::MainWindow.L'evento %0 esiste già.Event %0 already exists.Aseba::MainWindowL'evento %0 ha un nome non valido. I nomi validi iniziano con una lettera o un "_"; e continuano con un numero qualsiasi di lettere, "_" o "."žEvent %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "."Aseba::MainWindow&L'evento esiste giàEvent already existsAseba::MainWindow Evento numero %0Event number %0Aseba::MainWindowLEsporta il contenuto delle &memorie...Export &memories content...Aseba::MainWindow2Esporta contenuto memoriaExport memory contentAseba::MainWindowF10F10Aseba::MainWindowF11F11Aseba::MainWindowF7F7Aseba::MainWindowF8F8Aseba::MainWindowF9F9Aseba::MainWindowVai alla linea Go To LineAseba::MainWindow2Importa contenuto memoriaImport memory contentAseba::MainWindow,Nome evento non validoInvalid event nameAseba::MainWindow"Valore non valido Invalid valueAseba::MainWindowhValore non valido per l'argomento %0 dell'evento %1)Invalid value for argument %0 of event %1Aseba::MainWindow Linea:Line:Aseba::MainWindowCaricamentoLoadingAseba::MainWindowFManuale utente del robot MarXbot...MarXbot user manual...Aseba::MainWindow Nome:Name:Aseba::MainWindow&Numero di argomentiNumber of argumentsAseba::MainWindowApri &Recente Open &RecentAseba::MainWindowApri Script Open ScriptAseba::MainWindowlCortesemente specificare l'argomento %0 dell'evento %1+Please specify the %0 arguments of event %1Aseba::MainWindow"Grafico evento %1 Plot event %1Aseba::MainWindow.Tracciare questo eventoPlot this eventAseba::MainWindow Re&doRe&doAseba::MainWindowRiavvia... Reboot...Aseba::MainWindow2Rimuovere questa costanteRemove this constantAseba::MainWindow.Rimuovere questo eventoRemove this eventAseba::MainWindow"Riporta un bug... Report bug...Aseba::MainWindow&Esegui tuttoRu&n allAseba::MainWindowVMostra le variabili e le funzioni &nascoste$S&how hidden variables and functionsAseba::MainWindow$Salva &con nome... Save &As...Aseba::MainWindowSalva script Save ScriptAseba::MainWindow4Salva il codice binario...Save the binary code...Aseba::MainWindow*Inviare questo eventoSend this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindow4Mostra il numero di &lineaShow &Line NumbersAseba::MainWindow*Mostra parole &chiaveShow &keywordsAseba::MainWindow:Mostra l'utilizzo di &memoriaShow &memory usageAseba::MainWindowRAlcuni contenuti non sono stati importatiSome content was not importedAseba::MainWindowJSpecificare gli argomenti dell'eventoSpecify event argumentsAseba::MainWindowHIl documento "%0"é stato modificato.$The document "%0" has been modified.Aseba::MainWindowÎI nodi seguenti non sono presenti nella rete corrente e i contenuti associati non sono stati importati:jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindowÚLe variabili seguenti non sono presenti nella rete corrente e i contenuti associati non sono stati importati:nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindowTInterfaccia di programmazione di Thymio...Thymio programming interface...Aseba::MainWindowVTutorial per la programmazione di Thymio...Thymio programming tutorial...Aseba::MainWindowBAttivare o disattivare breakpointToggle breakpointAseba::MainWindow.Decommenta la selezioneUncomment the selectionAseba::MainWindowSenza titoloUntitledAseba::MainWindow ValoreValueAseba::MainWindow"Sito web Aseba...Web site Aseba...Aseba::MainWindow*Scrivi i programmi...Write the program(s)...Aseba::MainWindow4Numero di argomenti erratoWrong number of argumentsAseba::MainWindowzAvete fornito %0 argomenti per l'evento %1 che ne richiede %20You gave %0 arguments where event %1 requires %2Aseba::MainWindow[modificato] [modified] Aseba::MainWindowXAccesso ad array %0 fuori dai limiti [0..%1](array access at %0 out of bounds [0..%1]Aseba::MainWindow$divisione per zerodivision by zeroAseba::MainWindow@esecuzione dell'evento soppressaevent execution killedAseba::MainWindowThttp://aseba.wikidot.com/it:gettingstarted*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowBhttp://aseba.wikidot.com/it:start!http://aseba.wikidot.com/en:startAseba::MainWindowJhttp://aseba.wikidot.com/it:thymioapi%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowThttp://aseba.wikidot.com/it:thymiotutoriel*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowdhttp://github.com/aseba-community/aseba/issues/new2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowrhttp://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindowJhttps://www.thymio.org/it:asebastudio%https://www.thymio.org/en:asebastudioAseba::MainWindowgrafico di %1 plot of %1Aseba::MainWindowNascondiHide%Aseba::MaskableNamedValuesVectorModelVisualizzaView%Aseba::MaskableNamedValuesVectorModel.Descrizione predefinitaDefault descriptionAseba::NewNamedValueDialogNomeNameAseba::NewNamedValueDialog"<b>Esecuzione</b>ExecutionAseba::NodeTab(<b>Parole chiave</b>KeywordsAseba::NodeTabL<b>Utilizzo della memoria</b> : %1, %2Memory usage : %1, %2Aseba::NodeTab <b>Variabili</b>VariablesAseba::NodeTabhAseba Studio: Output dell'ultima compilazione per %0/Aseba Studio: Output of last compilation for %0Aseba::NodeTabFCompilazione avvenuta con successo.Compilation success.Aseba::NodeTabF&iltro:F&ilter:Aseba::NodeTab CaricaLoadAseba::NodeTabEventi locali Local EventsAseba::NodeTab Strumenti locali Local ToolsAseba::NodeTabFunzioni nativeNative FunctionsAseba::NodeTabSuccessivoNextAseba::NodeTab PausaPauseAseba::NodeTabRipristinaResetAseba::NodeTab EseguiRunAseba::NodeTab:Salva il codice binario di %0Save the binary code of %0Aseba::NodeTabautoautoAseba::NodeTab0bytecode: %1 su %2 (%3%)bytecode: %1 on %2 (%3%)Aseba::NodeTabaggiornarefreshAseba::NodeTabin esecuzionerunningAseba::NodeTabpasso passo step by stepAseba::NodeTabarrestatostoppedAseba::NodeTabSconosciutounknownAseba::NodeTab2variabili: %1 su %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTab$Connessione chiusaConnection closedAseba::ReconnectionDialog:Rinunciare alla riconnessione Stop tryingAseba::ReconnectionDialogˆAttenzione, connessione chiusa: tentativo di riconnessione in corso.5Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialogFerma Thymio Stop ThymioAseba::StopThymioPluginnascostohiddenAseba::TargetFunctionsModelnominamesAseba::TargetVariablesModel valorivaluesAseba::TargetVariablesModelHEsportare il programma come immagineExport program as image#Aseba::ThymioBlockly::ThymioBlockly AiutoHelp#Aseba::ThymioBlockly::ThymioBlocklyLancio BlocklyLaunch Blockly#Aseba::ThymioBlockly::ThymioBlockly Carica ed esegui Load & Run#Aseba::ThymioBlockly::ThymioBlockly NuovoNew#Aseba::ThymioBlockly::ThymioBlocklyApriOpen#Aseba::ThymioBlockly::ThymioBlockly SalvaSave#Aseba::ThymioBlockly::ThymioBlocklySalva comeSave as#Aseba::ThymioBlockly::ThymioBlockly$Cattura di schermo Screenshot#Aseba::ThymioBlockly::ThymioBlocklyStopStop#Aseba::ThymioBlockly::ThymioBlocklyŠIl documento Blockly é stato modificato. Volete salvare le modifiche?JThe Blockly document has been modified.

Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlockly<Interfaccia Blockly per ThymioThymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlocklyAttenzioneWarning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/it:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlockly colore inferiore bottom colourAseba::ThymioVPL::BlockbottonibuttonsAseba::ThymioVPL::Block0rilevamento rumore forteclap detectionAseba::ThymioVPL::BlockBsensori di prossimità del terrenoground proximity sensorsAseba::ThymioVPL::BlockBsensori orizzontali di prossimitàhorizontal proximity sensorsAseba::ThymioVPL::Block motorimotorsAseba::ThymioVPL::Block musicamusicAseba::ThymioVPL::Block statostateAseba::ThymioVPL::Blockfiltro stato state filterAseba::ThymioVPL::Block<rilevamento urto /inclinazionetap detection / tiltAseba::ThymioVPL::Block timertimerAseba::ThymioVPL::Blocktempo trascorso timer elapsedAseba::ThymioVPL::Block colore superiore top colourAseba::ThymioVPL::BlockšErrore nel file sorgente XML alla linea %0:%1: non si può creare il blocco %29Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSetšErrore nel file sorgente XML alla linea %0:%1: tipo di blocco sconosciuto %2 8Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSetCaricamentoLoading!Aseba::ThymioVPL::EventActionsSet AzioniActions)Aseba::ThymioVPL::ThymioVisualProgramming"Modalità avanzata Advanced mode)Aseba::ThymioVPL::ThymioVisualProgrammingFCompilazione avvenuta con successo.Compilation success.)Aseba::ThymioVPL::ThymioVisualProgramming EventiEvents)Aseba::ThymioVPL::ThymioVisualProgrammingHEsportare il programma come immagineExport program as image)Aseba::ThymioVPL::ThymioVisualProgramming AiutoHelp)Aseba::ThymioVPL::ThymioVisualProgramming,Versione incompatibileIncompatible Version)Aseba::ThymioVPL::ThymioVisualProgrammingLancia VPL Launch VPL)Aseba::ThymioVPL::ThymioVisualProgrammingCarica & Esegui Load & Run)Aseba::ThymioVPL::ThymioVisualProgramming NuovoNew)Aseba::ThymioVPL::ThymioVisualProgrammingApriOpen)Aseba::ThymioVPL::ThymioVisualProgramming@Si prega di aggiungere un'azionePlease add an action)Aseba::ThymioVPL::ThymioVisualProgramming@Si prega di aggiungere un eventoPlease add an event)Aseba::ThymioVPL::ThymioVisualProgrammingRedoRedo)Aseba::ThymioVPL::ThymioVisualProgramming@Ritornare alla modalità di base Returning to simple mode)Aseba::ThymioVPL::ThymioVisualProgramming SalvaSave)Aseba::ThymioVPL::ThymioVisualProgrammingSalva con nomeSave as)Aseba::ThymioVPL::ThymioVisualProgramming.Cattura della schermata Screenshot)Aseba::ThymioVPL::ThymioVisualProgrammingStopStop)Aseba::ThymioVPL::ThymioVisualProgrammingŠIl documento VPL é stato modificato. <p> Volete salvare le modifiche?FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgrammingIl linguaggio di programmazione visiva (VPL) per il robot Thymio permette di programmare associando blocchi di eventi alle azioni.uThe Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks.)Aseba::ThymioVPL::ThymioVisualProgrammingÒQuesto documento é incompatibile con questa versione di ThymioVPL. Potrebbe non funzionare correttamente.VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgrammingbThymio VPL (Linguaggio di Programmazione Visuale)"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgrammingUndoUndo)Aseba::ThymioVPL::ThymioVisualProgrammingAttenzioneWarning)Aseba::ThymioVPL::ThymioVisualProgramming|Attualmente state usando degli stati. Tornando alla modalità di base si scarta qualsiasi icona evento di stato o icona di azione impostazione dello stato. <p>Si è sicuro di voler continuare?’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingJhttp://aseba.wikidot.com/it:thymiovpl#https://www.thymio.org/en:thymiovpl)Aseba::ThymioVPL::ThymioVisualProgrammingmostra la linea show line)Aseba::ThymioVPL::ThymioVisualProgramming LoginLoginAseba::ThymioVPL::UsageLogger‚Si prega di inserire il proprio nome utente o il nome del gruppo:%Please enter your user or group name:Aseba::ThymioVPL::UsageLogger„%0 %1- Thymio VPL (Linguaggio di Programmazione Visuale) - ver. %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandalone4Collegamento con Thymio...Connecting to Thymio...Aseba::ThymioVPLStandaloneÈCollegamento a Thymio perso... assicurarsi che Thymio sia acceso e collegare il cavo USB o il dongleTConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandalonerErrore nel file sorgente XML %0 alla linea %1, colonna %22Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandaloneCaricamentoLoadingAseba::ThymioVPLStandalone–Nessun dato VPLè stato trovato nel documento di script, documento ignorato.?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandaloneApri lo Script Open ScriptAseba::ThymioVPLStandaloneSalva lo Script Save ScriptAseba::ThymioVPLStandalonejQuest'applicazione supporta un solo robot alla volta.8This application only supports a single robot at a time.Aseba::ThymioVPLStandalone,Errore VPL sconosciutoThymio VPL ErrorAseba::ThymioVPLStandaloneSenza titoloUntitledAseba::ThymioVPLStandaloneˆÈ necessario collegare un Thymio per utilizzare questa applicazione.8You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone[modificato] [modified] Aseba::ThymioVPLStandaloneÎAseba Studio usa una versione di protocollo (%1) più vecchia del nodo %0 (%2), Aggironare Aseba Studio.XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplicationöIl Nodo %0 usa una versione di protocollo (%2) più vecchia di quello di Aseba Studio (%1), aggiornare il firmware del nodo.]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplicationHVersione del protocollo non correttaProtocol version mismatch QApplicationNE' avvenuto un errore di comunicazione:A communication error happened:QObjectDCompilazione avvenuta con successoCompilation successQObject2Linea %0: azione mancanteLine %0: Missing actionQObject2Linea %0: evento mancanteLine %0: Missing eventQObjectœL'evento e la condizione di stato alla linea %0 sono gli stessi della linea %1GThe event and the state condition in line %0 are the same as in line %1QObjectdL'evento nella linea %0 è lo stesso della linea %1.The event in line %0 is the same as in line %1QObject,Errore Dashel inattesoUnexpected Dashel ErrorQObject,Errore VPL sconosciutoUnknown VPL errorQObjectˆaseba-1.6.0/clients/studio/asebastudio_it.ts000066400000000000000000002410111322771007300211110ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint Azzera i breakpoint Set breakpoint Inserisci breakpoint Clear all breakpoints Elimina tutti i breakpoint Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: Risultato dell'ultima compilazione Aseba::ConfigDialog General Generale Editor Editor Ok Ok Cancel Cancella Aseba Studio - Settings Aseba Studio - Configurazione Aseba::ConstantsModel Constant already defined Costante già definta Constant %0 is already defined. La costante %0 è già definita. The name is a keyword Name is a keyword Il nome scelto è una parola chiave The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Il nome <tt>%0</tt> non può essere usato come costante, perché si tratta di una parola chiave del linguaggio. Name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. Il Nome <tt>%0</tt> non può essere usato come costante, perchè è una parola chiave del linguaggio. Aseba::DashelConnectionDialog Network (TCP) Rete (TCP) Host Host Port Porta Serial Seriale Custom Personalizzato Discovered targets Target identificati Selected target Target selezionati Serial port Porta seriale Local TCP TCP Locale TCP TCP Documentation Documentazione Language Lingua Connect Connetti Cancel Cancella Aseba Target Selection Selezione del target Aseba – type %1 – tipo %1 local on computer locale sul computer distant on network distante sulla rete – device %1 – apparecchio %1 serial port or USB porta seriale o USB Aseba::DashelInterface Thymio not found Thymio non trovato <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>Impossibile trovare Thymio!</b></p><p>Collegare un Thymio al computer utilizzando il cavo USB o il dongle. Assicurarsi che nessun altro programma stia usando il Thymio.</p> Connection to command line target failed Connessione al target da linea di comando fallita Cannot connect to target %0 Impossibile collegarsi al target %0 Aseba::DashelTarget Unexpected Dashel Error Errore Dashel inatteso A communication error happened: E' avvenuto un errore di comunicazione: Aseba::EditorPage Editor Setup Configurazione dell'Editor Autocompletion Auto-completamento Keywords Parole chiave Aseba::EventViewer Time (seconds) Tempo (secondi) Values Valori Recording... Sto registrando... &Pause &Pausa &Clear &Cancella time &window: &w finestra temporale: Save &As... S&alva con nome... Paused... In pausa... &Record &Registra Save plot data to file Salva i dati per il grafico su file Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - Cerca e Sostituisci &Search for: &Cerca: &Case sensitive &Sensibile al Maiuscolo &Whole words &Parola intera Re&gular expressions &Espressioni Regolari &Find Next &Trova successivo Find &Previous Trova &Precedente Find from &Top Ricerca dall'&alto &Replace &Sostituisci w&ith: &con: Replace and Find &Next Sostituisci e trova il &prossimo Replace and Find Previo&us &Sostituisci e trova precedente Replace &All Occurrences Sostituisci tutte le &occorrenze End of document reached! Fine del documento raggiunta! Aseba::FunctionParametersDialog OK OK Native function Funzione nativa Aseba::GeneralPage General Setup Configurazione Generale Layout Disposizione Show keyword toolbar Mostra la barra strumenti per le parole chiave Show memory usage Mostra l'utilizzo di memoria Show hidden variables Mostra le variabili nascoste Show line numbers Mostra la numerazione di linea Aseba::HelpViewer The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. Il file di Aiuto %0 non è stato caricato correttamente. L'errore è stato: %1. Il file di aiuto dovrebbe essere disponibile nella cartella temporanea del vostro sistema. Cortesemente verificate la vostra installazione o riportate un bug. Help file not found File di Aiuto non trovato Previous Precedente Next Successivo Home Home Aseba Studio Help Aiuto per Aseba Studio The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. Il file di Aiuto per la lingua "%0" non è stato trovato. Ripristinato linguaggio predefinito (%1). Si tratta probabilmente di un bug. Cortesemente vogliate riportarlo. Help filter not found Filtro di aiuto non trovato Aseba::LinearCameraViewPlugin Linear Camera View Plugin Plugin per vista telecamera lineare linear camera viewer Visualizzatore telecamera lineare Cannot initialize linear camera view plugin Impossibile avviare plugin per vista telecamera lineare One or more variable not found in %1, %2, or %3. Una o più variabili non trovate in %1, %2 o %3. Aseba::LinearCameraViewVariablesDialog Please choose your variables Selezionate le vostre variabili red component Componente rosso green component Componente verde blue component Componente blu range of values gamma di valori Ok Ok auto range selezione automatica gamma di valori 8 bits range (0–255) 8 bits range (0–255) gamma a 8 bit (0-255) percent range (0–100) percent range (0–100) gamma percentuale (0-100) Linear Camera View Plugin Plugin per vista telecamera lineare Aseba::MainWindow Event number %0 Evento numero %0 <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Informazioni sulla versione:</p><ul><li>Versione %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> e altri collaboratori.</p><p><a href="%5">%5</a></p><p>Aseba è open-source con licenza LGPL versione 3.</p> <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Aseba version informations:</p><ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>(c) 2006-2012 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors.</p><p><a href="%5">%5</a></p><p>Aseba is open-source licensed under the LGPL version 3.</p> <p>Informazioni sulla versione:</p><ul><li>Versione %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(tipi di flusso supportati: %4)</li></ul><p>(c) 2006-2013 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> e altri collaboratori.</p><p><a href="%5">%5</a></p><p>Aseba è open-source con licenza LGPL versione 3.</p> http://aseba.wikidot.com/en:start http://aseba.wikidot.com/it:start About Aseba Studio Riguardo Aseba Studio Open Script Apri Script (not available) (non disponibile) Loading Caricamento %0 scripts have no corresponding nodes in the current network and have not been loaded. gli script %0 non hanno nodi corrispondenti nella rete corrente e non sono stati caricati. Error in XML source file: %0 at line %1, column %2 Errore nel file sorgente XML %0 alla linea %1, colonna %2 Save Script Salva script Export memory content Esporta contenuto memoria Import memory content Importa contenuto memoria %0 on node %1 %0 su nodo %1 The following nodes are not present in the current network and their associated content was not imported: I nodi seguenti non sono presenti nella rete corrente e i contenuti associati non sono stati importati: The following variables are not present in the current network and their associated content was not imported: Le variabili seguenti non sono presenti nella rete corrente e i contenuti associati non sono stati importati: Some content was not imported Alcuni contenuti non sono stati importati Go To Line Vai alla linea Line: Linea: Specify event arguments Specificare gli argomenti dell'evento Please specify the %0 arguments of event %1 Cortesemente specificare l'argomento %0 dell'evento %1 Wrong number of arguments Numero di argomenti errato You gave %0 arguments where event %1 requires %2 Avete fornito %0 argomenti per l'evento %1 che ne richiede %2 Invalid value Valore non valido Invalid value for argument %0 of event %1 Valore non valido per l'argomento %0 dell'evento %1 Plot event %1 Grafico evento %1 plot of %1 grafico di %1 Add a new event Aggiungi un nuovo evento Name: Nome: Number of arguments For the newly created event Per l'evento appena creato Numero di argomenti Event already exists L'evento esiste già Event %0 already exists. L'evento %0 esiste già. Invalid event name Nome evento non valido Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." L'evento %0 ha un nome non valido. I nomi validi iniziano con una lettera o un "_"; e continuano con un numero qualsiasi di lettere, "_" o "." Desynchronised! Please reload. Desincronizzato! Ricaricare per favore. Add a new constant Aggiungere una nuova costante Value Value assigned to the constant Valore Constant already defined Costante già definta Constant %0 is already defined. La Costante %0 è già definita. <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>Informazioni su Aseba</h1>Informazioni sulla versione<ul><li>Versione. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(tipi di stream supportati: %4)</li></ul><p>Per saperne di più su <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> e altri collaboratori (fai clic su "Mostra dettagli" per l'elenco completo)</p><p>Aseba è un progetto open-source con licenza <a href="https://www.gnu.org/licenses/lgpl.html">LGPL versione 3</a>.</p> event %0 : evento %0: array access at %0 out of bounds [0..%1] Accesso ad array %0 fuori dai limiti [0..%1] division by zero divisione per zero event execution killed esecuzione dell'evento soppressa %0:%1: %2 %0:%1: %2 Remove this constant Rimuovere questa costante <b>Constants</b> <b>Costanti</b> Remove this event Rimuovere questo evento Send this event Inviare questo evento Plot this event Tracciare questo evento <b>Global Events</b> <b>Eventi globali</b> Clear Pulisci ...inside %0 ...dentro %0 ...%0 ...%0 ...of %0 ...di %0 ...inside all nodes ...dentro tutti i nodi ...all nodes ...tutti i nodi &User Manual... Manuale &Utente... F1 Help|User Manual F1 Web site Aseba... Sito web Aseba... Report bug... Riporta un bug... http://github.com/aseba-community/aseba/issues/new http://github.com/aseba-community/aseba/issues/new &About... &A proposito di... About &Qt... Informazioni su &Qt... Thymio programming tutorial... Tutorial per la programmazione di Thymio... http://aseba.wikidot.com/en:thymiotutoriel http://aseba.wikidot.com/it:thymiotutoriel Thymio programming interface... Interfaccia di programmazione di Thymio... http://aseba.wikidot.com/en:thymioapi http://aseba.wikidot.com/it:thymioapi Challenge tutorial... Tutorial per il programma Challenge... http://aseba.wikidot.com/en:gettingstarted http://aseba.wikidot.com/it:gettingstarted MarXbot user manual... Manuale utente del robot MarXbot... http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf &File &File &New &Nuovo Ctrl+N File|New Ctrl+N &Open... &Apri... Ctrl+O File|Open Ctrl+O Open &Recent Apri &Recente &Save... &Salva... Ctrl+S File|Save Ctrl+S Save &As... Salva &con nome... Export &memories content... Esporta il contenuto delle &memorie... &Import memories content... &Importa contenuti delle memorie... Ctrl+Q File|Quit Ctrl+Q &Quit &Chuidi Cu&t &Taglia Ctrl+X Edit|Cut Ctrl+X &Copy &Copia Ctrl+C Edit|Copy Ctrl+C &Paste &Incolla Ctrl+V Edit|Paste Ctrl+V &Undo &Undo Ctrl+Z Edit|Undo Ctrl+Z Re&do Re&do Ctrl+Shift+Z Edit|Redo Ctrl+Shift+Z &Find... &Trova... Ctrl+F Edit|Find Ctrl+F &Replace... &Sostituisci... Ctrl+R Edit|Replace Ctrl+R Comment the selection Commenta la selezione Ctrl+D Edit|Comment the selection Ctrl+D Uncomment the selection Decommenta la selezione Shift+Ctrl+D Edit|Uncomment the selection Shift+Ctrl+D &Edit &Edit Copy &all Copia &tutto Show &keywords Mostra parole &chiave Show memory usage Mostra l'utilizzo di memoria S&how hidden variables and functions Mostra le variabili e le funzioni &nascoste Show Line Numbers Mostra il numero di linea F11 Edit|Show Line Numbers F11 Aseba Studio is an environment for interactively programming robots with a text language. Aseba Studio è un ambiente per la programmazione interattiva di robot utilizzando un linguaggio di testo. https://www.thymio.org/en:asebastudio https://www.thymio.org/it:asebastudio &Go To Line... Vai alla &linea... Ctrl+G Edit|Go To Line Ctrl+G Show &memory usage Mostra l'utilizzo di &memoria Show &Line Numbers Mostra il numero di &linea F11 View|Show Line Numbers F11 &Increase font size &Ingrandire la dimensione del carattere &Decrease font size &Diminuire la dimensione del carattere &View &Visualizza &Settings &Configurazione &Load all Carica &tutto F7 Load|Load all F7 &Reset all &Ripristina tutto F8 Debug|Reset all F8 Ru&n all &Esegui tutto F9 Debug|Run all F9 &Pause all Metti in &pausa tutto F10 Debug|Pause all F10 Debug Debug Toggle breakpoint Attivare o disattivare breakpoint Ctrl+B Debug|Toggle breakpoint Ctrl+B Clear all breakpoints Azzera tutti breakpoint &Debug &Debug &Tools S&trumenti &Show last compilation messages Mo&stra tutti i messaggi di compilazione Write the program(s)... Scrivi i programmi... Reboot... Riavvia... Save the binary code... Salva il codice binario... &Help &Aiuto Untitled Senza titolo Aseba Studio - Confirmation Dialog Aseba Studio - Conferma The document "%0" has been modified. Il documento "%0"é stato modificato. Do you want to save your changes or discard them? Vuoi salvare le tue modifiche o annullarle? [modified] [modificato] %0 %1- Aseba Studio %0 %1- Aseba Studio Aseba::MaskableNamedValuesVectorModel Hide Nascondi View Visualizza Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) Nome Default description When no description is given for the named value Descrizione predefinita Aseba::NodeTab <b>Keywords</b> <b>Parole chiave</b> unknown Sconosciuto Load Carica Reset Ripristina Run Esegui Next Successivo refresh aggiorna auto auto <b>Execution</b> <b>Esecuzione</b> <b>Variables</b> <b>Variabili</b> F&ilter: F&iltro: Native Functions Funzioni native Local Events Eventi locali Local Tools Strumenti locali Save the binary code of %0 Salva il codice binario di %0 Aseba Studio: Output of last compilation for %0 Aseba Studio: Output dell'ultima compilazione per %0 Compilation success. Compilazione avvenuta con successo. variables: %1 on %2 (%3%) variabili: %1 su %2 (%3%) bytecode: %1 on %2 (%3%) bytecode: %1 su %2 (%3%) <b>Memory usage</b> : %1, %2 <b>Utilizzo della memoria</b> : %1, %2 running in esecuzione Pause Pausa step by step passo passo stopped arrestato Aseba::ReconnectionDialog Aseba Studio - Connection closed Aseba Studio - Connessione chiusa Connection closed Connessione chiusa Warning, connection closed: I am trying to reconnect. Attenzione, connessione chiusa: tentativo di riconnessione in corso. Stop trying Rinunciare alla riconnessione Aseba::StopThymioPlugin Stop Thymio Ferma Thymio Aseba::TargetFunctionsModel hidden nascosto Aseba::TargetVariablesModel names nomi values valori Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Interfaccia Blockly per Thymio New Nuovo Open Apri Save Salva Save as Salva come Load & Run Carica ed esegui Stop Stop Help Aiuto Screenshot Cattura di schermo Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/it:blocklyprogramming Export program as image Esportare il programma come immagine Launch Blockly Lancio Blockly Warning Attenzione The Blockly document has been modified.<p>Do you want to save the changes? Il documento Blockly é stato modificato. Volete salvare le modifiche? Aseba::ThymioBootloaderDialog Thymio Firmware Updater Aggiornamento del firmware di Thymio File... File... Update Aggiorna Quit Chiudi Update firmware Aggiorna il firmware Select hex file Seleziona file di tipo hex Hex files (*.hex) File di tipo hex (*.hex) Pre-update warning Avviso pre aggiornamento Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? State per caricare un nuovo firmware su Thymio II. Accertatevi che il robot sia completamente carico e che il cavo USB sia correttamente collegato.<p><b>Non scollegate il robot durante l'aggirnamento!</b></p>Siete sicuri di voler procedere? Update Error Errore durante l'aggiornamento Unable to read Hex file Impossibile leggere il file Hex Dashel Unexpected Error Errore Dashel inatteso A communication error happened during the update process: Rilevato un errore di comunicazione durante il processo di aggiornamento: Aseba::ThymioScene Line %0: Missing event Linea %0: evento mancante Line %0: Missing action Linea %0: azione mancante Line %0: Redeclaration of event Linea %0: evento ridichiarato Line %0: Unknown event/action type Linea %0: tipo di evento/azione sconosciuto Compilation success Compilazione avvenuta con successo Unknown VPL error Errore VPL sconosciuto Aseba::ThymioVPL::Block buttons bottoni horizontal proximity sensors sensori orizzontali di prossimità ground proximity sensors sensori di prossimità del terreno tap detection / tilt rilevamento urto /inclinazione clap detection rilevamento rumore forte timer elapsed tempo trascorso state filter filtro stato motors motori top colour colore superiore bottom colour colore inferiore music musica timer timer state stato Aseba::ThymioVPL::EventActionsSet Loading Caricamento Error in XML source file at %0:%1: cannot create block %2 Error in XML source file at %0:%1 cannot create block %2 Errore nel file sorgente XML alla linea %0:%1: non si può creare il blocco %2 Error in XML source file at %0:%1: unknown block type %2 Errore nel file sorgente XML alla linea %0:%1: tipo di blocco sconosciuto %2 Aseba::ThymioVPL::Scene Line %0: Missing event Linea %0: evento mancante Line %0: Missing action Linea %0: azione mancante Line %0: Twice the same event Line %0: Redeclaration of event Linea %0: Due volte il stesso evento The event-action pair in line %0 is the same as in line %1 La coppia di eventi-azioni della linea %0 è la stessa della linea %1 Line %0: Unknown event/action type Linea %0: tipo di evento/azione sconosciuto Compilation success Compilazione avvenuta con successo Unknown VPL error Errore VPL sconosciuto Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Thymio VPL (Linguaggio di Programmazione Visuale) New Nuovo Open Apri Save Salva Save as Salva con nome Load & Run Carica & Esegui Stop Stop Color scheme Schema colori Advanced mode Modalità avanzata Help Aiuto Events Eventi Actions Azioni http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/it:thymiovpl Quit Chiudi Undo Undo Redo Redo Screenshot Cattura della schermata <b>Events</b> <b>Eventi</b> Compilation success. Compilazione avvenuta con successo. show line mostra la linea <b>Actions</b> <b>Azioni</b> The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. Il linguaggio di programmazione visiva (VPL) per il robot Thymio permette di programmare associando blocchi di eventi alle azioni. https://www.thymio.org/en:thymiovpl http://aseba.wikidot.com/it:thymiovpl Export program as image Esportare il programma come immagine Launch VPL Lancia VPL Returning to simple mode Ritornare alla modalità di base You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? Attualmente state usando degli stati. Tornando alla modalità di base si scarta qualsiasi icona evento di stato o icona di azione impostazione dello stato. <p>Si è sicuro di voler continuare? Warning Attenzione The VPL document has been modified.<p>Do you want to save the changes? Il documento VPL é stato modificato. <p> Volete salvare le modifiche? Incompatible Version Versione incompatibile This file is incompatible with this version of ThymioVPL. It might not work correctly. Questo documento é incompatibile con questa versione di ThymioVPL. Potrebbe non funzionare correttamente. Please add an event Si prega di aggiungere un evento Please add an action Si prega di aggiungere un'azione Loading Caricamento Error in XML source file: %0 unknown event type Errore nel file sorgente XML: %0 tipo di evento sconosciuto Aseba::ThymioVPL::UsageLogger Login Login Please enter your user or group name: Si prega di inserire il proprio nome utente o il nome del gruppo: Aseba::ThymioVPLStandalone Thymio Visual Programming Language Thymio VPL (Linguaggio di Programmazione Visuale) Connecting to Thymio... Collegamento con Thymio... Thymio VPL Error Errore VPL sconosciuto You need to connect a Thymio II to use this application. È necessario collegare un Thymio per utilizzare questa applicazione. Save Script Salva lo Script Open Script Apri lo Script Loading Caricamento No Thymio VPL data were found in the script file, file ignored. Nessun dato VPLè stato trovato nel documento di script, documento ignorato. This application only supports a single robot at a time. Quest'applicazione supporta un solo robot alla volta. Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle Collegamento a Thymio perso... assicurarsi che Thymio sia acceso e collegare il cavo USB o il dongle [modified] [modificato] Untitled Senza titolo %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Thymio VPL (Linguaggio di Programmazione Visuale) - ver. %2 %0 %1- Thymio Visual Programming Language %2 %0 %1- Thymio Visual Programming Language %0 %1- Thymio VPL (Linguaggio di Programmazione Visuale) %2 Error in XML source file: %0 at line %1, column %2 Errore nel file sorgente XML %0 alla linea %1, colonna %2 Aseba::ThymioVisualProgramming Thymio Visual Programming Language Thymio VPL (Linguaggio di Programmazione Visuale) New Nuovo Open Apri Save Salva Save as Salva come Load & Run Carica ed esegui Stop Stop Color scheme Schema colori Advanced mode Modo avanzato Quit Chiudi <b>Events</b> <b>Eventi</b> Compilation success. Compilazione avvenuta con successo. <b>Actions</b> <b>Azioni</b> Launch VPL Lancio VPL Warning Attenzione The VPL document has been modified. il documento VPL é stato modificato. Do you want to save the changes? Volete salvare le modifiche? Loading Caricamento Error in XML source file: %0 unknown event type Errore nel file sorgente XML %0 tipo di evento sconosciuto QApplication Protocol version mismatch Versione del protocollo non corretta Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Aseba Studio usa una versione di protocollo (%1) più vecchia del nodo %0 (%2), Aggironare Aseba Studio. Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. Il Nodo %0 usa una versione di protocollo (%2) più vecchia di quello di Aseba Studio (%1), aggiornare il firmware del nodo. QObject Native function %0 (sp = %1) Funzione nativa %0 (sp = %1) Native function called Chiamata di una funzione nativa Assertion at 0x%0 (sp = %2): Assertion a 0x%0 (sp = %2): unknown sconosciuto unknown arithmetic binary operator operatore aritmetico binario sconosciuto unknown bytecode bytecode sconosciuto execution stack underflow underflow dell'esecuzione dello stack stack overflow stack overflow out of variables bounds fuori dai limiti delle variabili out of bytecode bounds fuori dai limiti del bytecode step called while not thread running chiamata di uno step quando nessun thread è in escuzione a breakpoint has been set out of bytecode bounds E' stato configurato un breakpoint fuori dai limiti del bytecode tried to emit a buffer too long Tentativo di emissione di un buffer troppo lungo unknown assert define, your code seems broken definizione di assert sconosciuta, il vostro codice sembra invalido VM Assertion Failed VM Assertion fallita Compilation success Compilazione avvenuta con successo Line %0: Missing event Linea %0: evento mancante Line %0: Missing action Linea %0: azione mancante The event in line %0 is the same as in line %1 L'evento nella linea %0 è lo stesso della linea %1 The event and the state condition in line %0 are the same as in line %1 L'evento e la condizione di stato alla linea %0 sono gli stessi della linea %1 Line %0: Unknown event/action type Linea %0: tipo di evento/azione sconosciuto Unknown VPL error Errore VPL sconosciuto Unexpected Dashel Error Errore Dashel inatteso A communication error happened: E' avvenuto un errore di comunicazione: aseba-1.6.0/clients/studio/asebastudio_ja.qm000066400000000000000000000721111322771007300210610ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB З,ƒ˜,¯™,Û[}[”I@,%IA,TTÇIûTÇV7Y¾D´Ça§Ô'œì0Iì0TÝï¥?Kö5Œ5tBŸH5@!Lô¼LôCŠf¾J:f¾V|‹¯W˜ÅJ|˜ÅXQ«`K_«`YFį[ÖÏÇ?Œ¯D”£bMîz¤h*¦y»*»s*Ð%¢*ì0G+Œ 5+į!Ù+ÏÇ"S1€"‚F¬>c J+‚%öJ¹·'ÎSŠ.€S]þ^TƒŠ/BVŒ•C³X|¯1DXÉÄCã\ƒµ: efDYtƒÃH5tÉóO˜z¨¥OÍ{ÂPšŽM^fK±šs2ºÈ¢ãÕâÀ ‚ç9C#;î(3:â 4”3ù'NîG+½¤PÓ=%4W2EBÞxU#Œf°²Pwñ6eBŒœÐD=ª½.fº1Sy»Åþ`»Åþ$Ùøe5å"ž3žñYIQù2SBΕî+ƒ)³n)rS ~ daØ9Fi$åˆê•Wç–üŽU%›Á4PHª+‚ ª¹·ì¶Š¥Å¶Œ• ;»f3!§ÄQeH¦ÄQeTnÇ45^Ô>“Nà½Þ.äñí~ ñí~3©~eB 2d0õú&æÎW°.¯W°RÏW°atdZNVÄð4¡P¶>®£ÃŽïÁ„Bðþ:>ëžh] =»S± TîÙDÁeB34Ìg²¥[Ngáô ½iCCIoü._l|(~$‰9¤5˜I¼Ú˜I¼ñŸsŒU«Žò' «Žô'8«Ž÷'p» bÁX¯ÌųT"ÎÞ@Xì4$1²¢4„)ÄxJD-?Jô+ÚvM&‹or;9]?KŸÿ\i£!ê6†°·t9Ñ°·td ´Ô ¢Áž“ _Ã3_ÃbÂÈ;à ýÌüt/öÌütbxÑëŽ?Ïé~u_ÔðS.¥õUßG² ›9/$±hÊ!-Ú-lÎI«-lÎUál¾rñá? —Wµ]±£ âQ"«Ú’ùÁn$hÆ7Þ8H諭GùôfÕÓûDøÿ(oä ,é… ™$ï`F¶“O^MØΕZËÞB!ZËÞSÀ[fÕ lXä$¨‹µºg§˜`3˜`3&- º«S²ŽL&Ó¿9^%¡È;ÃHnÐc¼2„ã<„“ãJgFÔÄ×>V8Ä>NfK·Ñ07u¬³gâŠéc fŒF!.½ŒèE"Ç%% õͳèæ'ãOð’rj ê žx ½yF) çSN° .ü?<Ž C¡41ú fI¾1w l[~| n°ai] Ã*î ŒvÓJ¼ ŒvÓX— Œƒ¾ × ¡S" ÄDÒQ^ Äàì › ÅP7EX ˶3N- ÖÓB@ç îžn× ú5}< 5s”4: 8a#/s C1Y¢ Ht"c¯ K3¿YŒ e!Tj eKä3  xs´ ²•¾ZP µ:Ä<Ì ¶vÄEà »š7f ÅH")Ä ë"Ð"û öÉ\> Ï-  gQ q£!B ŽÚ ' têc5Ç }Á~Ç ‹¦¤ p “0° ™ž< «Å^@ ±\‡%- ³ay ¾ ÀäK ÀäXì ÷N.a² âBiÑ 4¤=t GM, ¸eLk GÕ– 5Ëî9| AÃt¥ BR K`hv RV®Eù aËî&† h9>dM s©Î" „ê²; •Ò¬ù ›GŽ ¢ ºïs! 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Please reload.Aseba::MainWindow"Y fô0’OÝ[X0W0~0Y0K0RJ–d0W0~0Y0K?1Do you want to save your changes or discard them?Aseba::MainWindow2XML0½0ü0¹0Õ0¡0¤0ë0n0¨0é0ü:%1ˆL0%2R0n%02Error in XML source file: %0 at line %1, column %2Aseba::MainWindow%00n0o0‚xº[š0W0_0Event %0 already exists.Aseba::MainWindowf0¤0Ù0ó0È%00nT RM0Lq!R¹0g0Y0g R¹0jT RM0o‚ñ[W0‚0W0O0o"_"0k}š0O‚ñep[W0"_"0"."0K0‰YË0~0Š0~0YžEvent %0 has an invalid name. 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Reboot...Aseba::MainWindow0S0n[šep0’mˆ0YRemove this constantAseba::MainWindow0S0n0¤0Ù0ó0È0’mˆ0YRemove this eventAseba::MainWindow0Ð0°0ì0Ý0ü0È & Report bug...Aseba::MainWindowQh0f[ŸˆLRu&n allAseba::MainWindow–p0n[šep0h•¢ep0’ˆhy:0Y0‹$S&how hidden variables and functionsAseba::MainWindowT RM0’NØ0Q0fOÝ[X & Save &As...Aseba::MainWindow0¹0¯0ê0×0ÈOÝ[X Save ScriptAseba::MainWindow0Ð0¤0Ê0ê0³0ü0É0’OÝ[X0Y0‹...Save the binary code...Aseba::MainWindow 0¤0Ù0ó0È0‹Send this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindowˆLujS÷0’ˆhy:0Y0‹Show &Line NumbersAseba::MainWindow0­0ü0ï0ü0É0’ˆhy:Show &keywordsAseba::MainWindow0á0â0êOu(‘Ï0’ˆhy:0Y0‹Show &memory usageAseba::MainWindow&0D0O0d0K0nQ…[¹0LSÖ0Š¼0~0Œ0~0[0“0g0W0_Some content was not importedAseba::MainWindow0¤0Ù0ó0È_ep0’c[šSpecify event argumentsAseba::MainWindow&0É0­0å0á0ó0È"%0"0oY fô0U0Œ0~0W0_0$The document "%0" has been modified.Aseba::MainWindowPk!0n0Î0ü0É0osþW(0n0Í0Ã0È0ï0ü0¯0k0o[XW(0[0Z•¢#0Y0‹Q…[¹0oSÖ0Š¼0~0Œ0~0[0“0g0W0_:jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindowNk!0nY ep0osþW(0n0Í0Ã0È0ï0ü0¯0k0o[XW(0[0Z•¢#0Y0‹Q…[¹0oSÖ0Š¼0~0Œ0~0[0“0g0W0_:nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindow0Thymio0×0í0°0é0ß0ó0°0¤0ó0¿0ü0Õ0§0¤0¹...Thymio programming interface...Aseba::MainWindow.Thymio0×0í0°0é0ß0ó0°0Á0å0ü0È0ê0¢0ë...Thymio programming tutorial...Aseba::MainWindow0Ö0ì0ü0¯0Ý0¤0ó0È0’SÍŽâToggle breakpointAseba::MainWindowxbž0n0³0á0ó0È0’RJ–d0Y0‹Uncomment the selectionAseba::MainWindow 0¿0¤0È0ë0j0WUntitledAseba::MainWindow0¹0«0éP$ValueAseba::MainWindowAseba0n0¦0§0Ö0µ0¤0È &Web site Aseba...Aseba::MainWindow0×0í0°0é0à0’fø0O...Write the program(s)...Aseba::MainWindow_ep0nep0L•“U0c0f0D0~0YWrong number of argumentsAseba::MainWindow:%0_ep0LQeR›0U0Œ0~0W0_0L0¤0Ù0ó0È%10k_ʼn0j0n0o%20g0Y0You gave %0 arguments where event %1 requires %2Aseba::MainWindow [Y fôn0] [modified] Aseba::MainWindow:%00n‘MR0¢0¯0»0¹0oXƒuL[0..%1]0’…0H0_Š­0SÖ0Š0g0Y(array access at %0 out of bounds [0..%1]Aseba::MainWindow0¼0í–d{—division by zeroAseba::MainWindow0¤0Ù0ó0È0n[ŸˆL0’_7R6}BN†0Y0‹event execution killedAseba::MainWindowÿÿÿÿ*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowÿÿÿÿ!http://aseba.wikidot.com/en:startAseba::MainWindowÿÿÿÿ%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowÿÿÿÿ*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowÿÿÿÿ2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowÿÿÿÿ9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindow%10n0×0í0Ã0È plot of %1Aseba::MainWindow– 0YHide%Aseba::MaskableNamedValuesVectorModelˆhy:View%Aseba::MaskableNamedValuesVectorModel0Ç0Õ0©0ë0È0nŠ¬fDefault descriptionAseba::NewNamedValueDialogT RMNameAseba::NewNamedValueDialog<b>[ŸˆL</b>ExecutionAseba::NodeTab<b>0­0ü0ï0ü0É</b>KeywordsAseba::NodeTab, <b>0á0â0êOu(‘Ï</b> : %10%2Memory usage : %1, %2Aseba::NodeTab<b>Y ep</b>VariablesAseba::NodeTab8Aseba Studio: %00ng_Œ0n0³0ó0Ñ0¤0ë0nQúR›/Aseba Studio: Output of last compilation for %0Aseba::NodeTab0³0ó0Ñ0¤0ëbRŸ0Compilation success.Aseba::NodeTab 0Õ0£0ë0¿0ü:F&ilter:Aseba::NodeTabŠ­0¼0€LoadAseba::NodeTab0í0ü0«0ë0¤0Ù0ó0È Local EventsAseba::NodeTab0í0ü0«0ë0Ä0ü0ë Local ToolsAseba::NodeTab0Í0¤0Æ0£0Ö•¢epNative FunctionsAseba::NodeTabk!NextAseba::NodeTabNfBP\kbPauseAseba::NodeTab0ê0»0Ã0ÈResetAseba::NodeTab[ŸˆLRunAseba::NodeTab%00n0Ð0¤0Ê0ê0³0ü0É0’OÝ[XSave the binary code of %0Aseba::NodeTab0ª0ü0ÈautoAseba::NodeTab&0Ð0¤0È0³0ü0É; %2 (%3%)0n%1bytecode: %1 on %2 (%3%)Aseba::NodeTab 0ê0Õ0ì0Ã0·0årefreshAseba::NodeTab[ŸˆLN-runningAseba::NodeTab kµ–Ž0’ý0c0f step by stepAseba::NodeTab P\kb0W0~0W0_stoppedAseba::NodeTabN f0junknownAseba::NodeTab"Y ep: %1 / %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTabc¥}š0’0¯0í0ü0ºConnection closedAseba::ReconnectionDialog ŠfˆL0’P\kb Stop tryingAseba::ReconnectionDialog8‹fTJ0c¥}š0L0¯0í0ü0º0U0Œ0~0W0_: Qc¥}š0’Šf00f0D0~0Y05Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialogThymo0’P\kb Stop ThymioAseba::StopThymioPlugin– 0Œ0_hiddenAseba::TargetFunctionsModelT RMnamesAseba::TargetVariablesModelP$valuesAseba::TargetVariablesModel0×0í0°0é0à0’u;PÏ0kQúR›0Y0‹Export program as image#Aseba::ThymioBlockly::ThymioBlockly0Ø0ë0×Help#Aseba::ThymioBlockly::ThymioBlocklyBlockly0’wRÕLaunch Blockly#Aseba::ThymioBlockly::ThymioBlocklyŠ­0¼0&[ŸˆL Load & Run#Aseba::ThymioBlockly::ThymioBlocklye°‰New#Aseba::ThymioBlockly::ThymioBlockly•‹0Q0‹Open#Aseba::ThymioBlockly::ThymioBlocklyOÝ[XSave#Aseba::ThymioBlockly::ThymioBlocklyT RM0’NØ0Q0fOÝ[XSave as#Aseba::ThymioBlockly::ThymioBlockly0¹0¯0ê0ü0ó0·0ç0Ã0È Screenshot#Aseba::ThymioBlockly::ThymioBlocklyP\kbStop#Aseba::ThymioBlockly::ThymioBlocklyJBlockly0n0É0­0å0á0ó0È0oY fô0U0Œ0f0D0~0Y0<p>Y fô0’OÝ[X0W0~0Y0K?JThe Blockly document has been modified.

Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlockly.Thymio Blockly0n0¤0ó0¿0ü0Õ0§0¤0¹Thymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlockly‹fTJWarning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/en:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlockly^•è‚r bottom colourAseba::ThymioVPL::Block0Ü0¿0óbuttonsAseba::ThymioVPL::BlockbK0’Sé0O—ó0nawåclap detectionAseba::ThymioVPL::Blockc¥W0Ñc¥0»0ó0µ0üground proximity sensorsAseba::ThymioVPL::Blockj*N&0sÑc¥0»0ó0µ0ühorizontal proximity sensorsAseba::ThymioVPL::Block0â0ü0¿0ümotorsAseba::ThymioVPL::Block—ói}musicAseba::ThymioVPL::Blockr¶aKstateAseba::ThymioVPL::Blockr¶aK0Õ0£0ë0¿0ü state filterAseba::ThymioVPL::Block0¿0Ã0×0nawå/P¾0Otap detection / tiltAseba::ThymioVPL::Block0¿0¤0Þ0ütimerAseba::ThymioVPL::Block0¿0¤0Þ0ü0L}LN0W0~0W0_ timer elapsedAseba::ThymioVPL::BlockN è‚r top colourAseba::ThymioVPL::BlockH%0:%10nXML0½0ü0¹0Õ0¡0¤0ë0g0¨0é0ü: 0Ö0í0Ã0¯%20’O\b0g0M0~0[0“9Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSetL%0:%10nXML0½0ü0¹0Õ0¡0¤0ë0g0¨0é0ü: %20oN f0j0¿0¤0×0n0Ö0í0Ã0¯0g0Y8Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSet Š­0¼0N-Loading!Aseba::ThymioVPL::EventActionsSet 0¢0¯0·0ç0óActions)Aseba::ThymioVPL::ThymioVisualProgramming0¢0É0Ð0ó0¹0â0ü0É Advanced mode)Aseba::ThymioVPL::ThymioVisualProgramming0³0ó0Ñ0¤0ëbRŸ0Compilation success.)Aseba::ThymioVPL::ThymioVisualProgramming0¤0Ù0ó0ÈEvents)Aseba::ThymioVPL::ThymioVisualProgramming0×0í0°0é0à0’u;PÏ0kQúR›0Y0‹Export program as image)Aseba::ThymioVPL::ThymioVisualProgramming0Ø0ë0×Help)Aseba::ThymioVPL::ThymioVisualProgrammingN’cÛ`'0n0j0D0Ð0ü0¸0ç0óIncompatible Version)Aseba::ThymioVPL::ThymioVisualProgramming VPL0’wRÕ Launch VPL)Aseba::ThymioVPL::ThymioVisualProgrammingŠ­0¼0&[ŸˆL Load & Run)Aseba::ThymioVPL::ThymioVisualProgramminge°‰New)Aseba::ThymioVPL::ThymioVisualProgramming•‹0Q0‹Open)Aseba::ThymioVPL::ThymioVisualProgramming0¢0¯0·0ç0ó0’ýR 0W0f0O0`0U0DPlease add an action)Aseba::ThymioVPL::ThymioVisualProgramming0¤0Ù0ó0È0’ýR 0W0f0O0`0U0DPlease add an event)Aseba::ThymioVPL::ThymioVisualProgramming0„0Švô0YRedo)Aseba::ThymioVPL::ThymioVisualProgramming0·0ó0×0ë0â0ü0É0kb;0‹Returning to simple mode)Aseba::ThymioVPL::ThymioVisualProgrammingOÝ[XSave)Aseba::ThymioVPL::ThymioVisualProgrammingT RM0’NØ0Q0fOÝ[XSave as)Aseba::ThymioVPL::ThymioVisualProgramming0¹0¯0ê0ü0ó0·0ç0Ã0È Screenshot)Aseba::ThymioVPL::ThymioVisualProgrammingP\kbStop)Aseba::ThymioVPL::ThymioVisualProgramming@VPL0É0­0å0á0ó0È0oY fô0U0Œ0f0D0~0Y0<p>Y fô0’OÝ[X0W0~0Y0K?FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgrammingj0S0n0Õ0¡0¤0ë0o0S0n0Ð0ü0¸0ç0ó0nThymio VPL0hN’cÛ`'0L0B0Š0~0[0“0kc0W0OO\RÕ0W0j0DSï€ý`'0L0B0Š0~0Y0VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgramming(Thymio0Ó0¸0å0¢0ë0×0í0°0é0ß0ó0°ŠŠž"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgrammingQC0kb;0YUndo)Aseba::ThymioVPL::ThymioVisualProgramming‹fTJWarning)Aseba::ThymioVPL::ThymioVisualProgrammingxsþW(r¶aK0’Ou(0W0f0D0~0Y00·0ó0×0ë0â0ü0É0kb;0‹0hr¶aK0Õ0£0ë0¿0ü0„r¶aKŠ-[š0«0ü0É0oRJ–d0U0Œ0~0Y0<p>g,_S0k}™}š0W0~0Y0K?’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingˆL0’ˆhy: show line)Aseba::ThymioVPL::ThymioVisualProgramming0í0°0¤0óLoginAseba::ThymioVPL::UsageLogger*0æ0ü0¶0üT 0K0°0ë0ü0×T 0’QeR›0W0f0O0`0U0D:%Please enter your user or group name:Aseba::ThymioVPL::UsageLoggerJ%0 %1- Thymio0Ó0¸0å0¢0ë0×0í0°0é0ß0ó0°ŠŠž - ver. %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandalone"Thymio0kc¥}š0W0f0D0~0Y...Connecting to Thymio...Aseba::ThymioVPLStandaloneŠThymio0h0nc¥}š0LY100Œ0~0W0_...Thymio0n–ûn0LQe0c0f0D0‹0S0h0’xºŠ0W00±0ü0Ö0ë/0É0ó0°0ë0Lc¥}š0U0Œ0f0D0‹0S0h0’xºŠ0W0fN 0U0DTConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandalone2XML0½0ü0¹0Õ0¡0¤0ë0n0¨0é0ü:%1ˆL0%2R0n%02Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandaloneŠ­0¼0LoadingAseba::ThymioVPLStandaloneX0¹0¯0ê0×0È0Õ0¡0¤0ëQ…0gThymio VPL0n0Ç0ü0¿0L‰‹0d0K0‰0Z0Õ0¡0¤0ë0oq!‰–0U0Œ0~0W0_0?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandalone0¹0¯0ê0×0È•‹0Q0‹ Open ScriptAseba::ThymioVPLStandalone0¹0¯0ê0×0ÈOÝ[X Save ScriptAseba::ThymioVPLStandalone>0S0n0¢0×0ê0±0ü0·0ç0ó0oN^¦0k10n0í0Ü0Ã0È0n00’0µ0Ý0ü0È0W0~0Y08This application only supports a single robot at a time.Aseba::ThymioVPLStandaloneThymio VPL0n0¨0é0üThymio VPL ErrorAseba::ThymioVPLStandalone 0¿0¤0È0ë0j0WUntitledAseba::ThymioVPLStandaloneH0S0n0¢0×0ê0±0ü0·0ç0ó0’Ou(0Y0‹0k0oThymio II0’c¥}š0W0f0O0`0U0D08You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone [Y fôn0] [modified] Aseba::ThymioVPLStandaloneAseba Studio0o0Î0ü0É%0ÿ%2ÿ 0ˆ0ŠSä0D0×0í0È0³0ëÿ%1ÿ 0’Ou(0W0f0D0~0Y0n0gAseba Studio0’0¢0Ã0×0°0ì0ü0É0W0f0O0`0U0D0XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplicationˆ0Î0ü0É%0Aseba Studioÿ%1ÿ 0ˆ0ŠSä0D0×0í0È0³0ëÿ%2ÿ 0’Ou(0W0f0D0~0Y0n0Î0ü0É0Õ0¡0ü0à0¦0§0¢0’0¢0Ã0×0°0ì0ü0É0W0f0O0`0U0D0]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplication0×0í0È0³0ë0Ð0ü0¸0ç0ó0nN NôProtocol version mismatch QApplicationÿÿÿÿA communication error happened:QObject0³0ó0Ñ0¤0ëbRŸCompilation successQObject$%0ˆL: 0¢0¯0·0ç0ó0LN ³0W0f0D0~0YLine %0: Missing actionQObject"%0ˆL: 0¤0Ù0ó0È0LN ³0W0f0D0~0YLine %0: Missing eventQObject0%0ˆL0n0¤0Ù0ó0È0hr¶aKgaNö0o%10n0‚0n0hT 0X0g0YGThe event and the state condition in line %0 are the same as in line %1QObject*%0ˆL0n0¤0Ù0ó0È%1ˆL0n0¤0Ù0ó0È0hT 0X0g0Y.The event in line %0 is the same as in line %1QObjectNˆg0W0j0DDashel0¨0é0üUnexpected Dashel ErrorQObjectN f0jVPL0¨0é0üUnknown VPL errorQObjectaseba-1.6.0/clients/studio/asebastudio_ja.ts000066400000000000000000002012361322771007300210740ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint ブレークãƒã‚¤ãƒ³ãƒˆã‚’無効 Set breakpoint ブレークãƒã‚¤ãƒ³ãƒˆã‚’設定 Clear all breakpoints ã™ã¹ã¦ã®ãƒ–レークãƒã‚¤ãƒ³ãƒˆã‚’無効 Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: 最新ã®ã‚³ãƒ³ãƒ‘イルを出力 Aseba::ConfigDialog General 汎用 Editor エディター Ok ãã®ã¾ã¾ã«ã—ã¦ã„ã¾ã™ Ok Cancel キャンセル Aseba Studio - Settings Aseba Studio - 設定 Aseba::ConstantsModel Constant already defined ã“ã®å®šæ•°ã¯ã™ã§ã«å®šç¾©ã•ã‚Œã¦ã„ã¾ã™ Constant %0 is already defined. 定数%0ã¯ã™ã§ã«å®šç¾©ã•ã‚Œã¦ã„ã¾ã™ã€‚ The name is a keyword Name is a keyword åå‰ã¯ã‚­ãƒ¼ãƒ¯ãƒ¼ãƒ‰ã§ã™ The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. åå‰ <tt>%0</tt> ã¯è¨€èªžã‚­ãƒ¼ãƒ¯ãƒ‰ãªã®ã§å®šæ•°ã¨ã—ã¦ä½¿ç”¨ã§ãã¾ã›ã‚“。 Aseba::DashelConnectionDialog Network (TCP) ãƒãƒƒãƒˆãƒ¯ãƒ¼ã‚¯ Host ホスト Port ãƒãƒ¼ãƒˆ Serial シリアル Custom カスタム Discovered targets Selected target Serial port Local TCP TCP Documentation Language Connect ã²ã‚‚付ã‘ã™ã‚‹ Cancel キャンセル Aseba Target Selection Asebaã®æ¨™çš„é¸æŠž – type %1 local on computer distant on network – device %1 serial port or USB Aseba::DashelInterface Thymio not found ThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“ <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>ThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“!</b></p><p>USBケーブル/ドングルを使用ã—ã¦Thymioをコンピューターã«æŽ¥ç¶šã—ã€ä»–ã®ãƒ—ログラムãŒThymioを使用ã—ã¦ã„ãªã„ã“ã¨ã‚’確èªã—ã¦ãã ã•ã„。</p> Connection to command line target failed コマンドライン標的ã¸æŽ¥ç¶šã§ãã¾ã›ã‚“ã§ã—㟠Cannot connect to target %0 標的%0ã«æŽ¥ç¶šã§ãã¾ã›ã‚“ Aseba::EditorPage Editor Setup エディターセットアップ Autocompletion オートコンプリート Keywords キーワード Aseba::EventViewer Time (seconds) 時間（秒） Values 値 Recording... 記録中... &Pause 一時åœæ­¢ &Clear ã™ã¹ã¦ã‚¯ãƒªã‚¢ time &window: 時間ウインドウ: Save &As... åå‰ã‚’付ã‘ã¦ä¿å­˜â€¦ Paused... 一時åœæ­¢... &Record 記録 Save plot data to file プロットデータをフィアルã«ä¿å­˜ Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - æ¤œç´¢ç½®æ› &Search for: 検索: &Case sensitive 大文字ã¨å°æ–‡å­—を区別ã™ã‚‹ &Whole words å˜èªžå…¨ä½“ Re&gular expressions æ­£è¦è¡¨ç¾ &Find Next 次を検索 Find &Previous å‰ã‚’検索 Find from &Top 上ã‹ã‚‰æ¤œç´¢ &Replace ç½®æ› w&ith: 文脈ãŒåˆ†ã‹ã‚‰ãªã„ãŸã‚ä¸å®Œå…¨ã§ã™ ã¨: Replace and Find &Next ç½®æ›ã—ã¦æ¬¡ã‚’検索 Replace and Find Previo&us ç½®æ›ã—ã¦å‰ã‚’検索 Replace &All Occurrences å…¨ã¦ç½®æ› End of document reached! ドキュメントã®æœ€å¾Œã«åˆ°é”ã—ã¾ã—ãŸ! Aseba::GeneralPage General Setup 一般セットアップ Layout レイアウト Show keyword toolbar キーボードツールãƒãƒ¼ã‚’表示 Show memory usage メモリ使用é‡ã‚’表示 Show hidden variables é™°ã®å¤‰æ•°ã‚’表示 Show line numbers 行番å·ã‚’表示ã™ã‚‹ Aseba::HelpViewer The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. ヘルプファイル%0ã‚’æ­£ã—ã読ã¿è¾¼ã‚ã¾ã›ã‚“ã§ã—ãŸã€‚エラー: %1.ヘルプファイルã¯ã‚·ã‚¹ãƒ†ãƒ ã®ä¸€æ¬¡ãƒ‡ã‚£ãƒ¬ã‚¯ãƒˆãƒªã«ã‚ã‚Šã¾ã™ã€‚インストールã®ç¢ºèªã‚‚ã—ãã¯ãƒã‚°ã®å ±å‘Šã‚’ã—ã¦ãã ã•ã„。 Help file not found ヘルプファイルãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“ Previous å‰ Next 次 Home ホーム Aseba Studio Help Aseba Studioヘルプ The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. 言語"%0"ã®ãƒ˜ãƒ«ãƒ—ファイルãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“。デフォルトã®è¨€èªž(%1)ã«æˆ»ã‚Šã¾ã™ã€‚ãƒã‚°ã®å¯èƒ½æ€§ãŒã‚ã‚Šã¾ã™ã®ã§å ±å‘Šã—ã¦ãã ã•ã„。 Help filter not found ヘルプフィルターãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“ Aseba::LinearCameraViewPlugin Linear Camera View Plugin 直線カメラビューã®ãƒ—ラグイン linear camera viewer 直線カメラビューア Cannot initialize linear camera view plugin 直線カメラビュープラグインをåˆæœŸåŒ–ã§ãã¾ã›ã‚“ One or more variable not found in %1, %2, or %3. %1ã€%2ã€%3ã§1ã¤ä»¥ä¸Šã®å¤‰æ•°ãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“。 Aseba::LinearCameraViewVariablesDialog Please choose your variables 変数をé¸æŠžã—ã¦ãã ã•ã„ red component 赤コンãƒãƒ¼ãƒãƒ³ãƒˆ green component 緑コンãƒãƒ¼ãƒãƒ³ãƒˆ blue component é’コンãƒãƒ¼ãƒãƒ³ãƒˆ range of values 値域 Ok Ok auto range オートレンジ 8 bits range (0–255) 8 bits range (0–255) 8ビットレンジ(0–255) percent range (0–100) percent range (0–100) パーセントレンジ(0–100) Linear Camera View Plugin 直線カメラビューã®ãƒ—ラグイン Aseba::MainWindow Event number %0 イベント%0番 Aseba Studio is an environment for interactively programming robots with a text language. https://www.thymio.org/en:asebastudio http://aseba.wikidot.com/en:start About Aseba Studio Aseba Studio ã«ã¤ã„㦠Open Script スクリプト開ã‘ã‚‹ (not available) (利用ã§ãã¾ã›ã‚“) Loading 読ã¿è¾¼ã¿ %0 scripts have no corresponding nodes in the current network and have not been loaded. %0スクリプトã¯å¯¾å¿œã™ã‚‹ãƒŽãƒ¼ãƒ‰ãŒç¾åœ¨ã®ãƒãƒƒãƒˆãƒ¯ãƒ¼ã‚¯ã«å­˜åœ¨ã—ãªã„ãŸã‚読ã¿è¾¼ã‚ã¾ã›ã‚“ã§ã—ãŸã€‚ Error in XML source file: %0 at line %1, column %2 XMLソースファイルã®ã‚¨ãƒ©ãƒ¼:%1è¡Œã€%2列ã®%0 Save Script スクリプトä¿å­˜ Export memory content メモリ内容を出力 Import memory content メモリ内容をインãƒãƒ¼ãƒˆ %0 on node %1 ノード%1ã®%0 The following nodes are not present in the current network and their associated content was not imported: 次ã®ãƒŽãƒ¼ãƒ‰ã¯ç¾åœ¨ã®ãƒãƒƒãƒˆãƒ¯ãƒ¼ã‚¯ã«ã¯å­˜åœ¨ã›ãšé–¢é€£ã™ã‚‹å†…容ã¯å–ã‚Šè¾¼ã¾ã‚Œã¾ã›ã‚“ã§ã—ãŸ: The following variables are not present in the current network and their associated content was not imported: 次ã®å¤‰æ•°ã¯ç¾åœ¨ã®ãƒãƒƒãƒˆãƒ¯ãƒ¼ã‚¯ã«ã¯å­˜åœ¨ã›ãšé–¢é€£ã™ã‚‹å†…容ã¯å–ã‚Šè¾¼ã¾ã‚Œã¾ã›ã‚“ã§ã—ãŸ: Some content was not imported ã„ãã¤ã‹ã®å†…容ãŒå–ã‚Šè¾¼ã¾ã‚Œã¾ã›ã‚“ã§ã—㟠Go To Line è¡Œã«ç§»å‹• Line: è¡Œ: Specify event arguments イベント引数を指定 Please specify the %0 arguments of event %1 イベント%1ã®%0引数を指定ã—ã¦ãã ã•ã„ Wrong number of arguments 引数ã®æ•°ãŒé–“é•ã£ã¦ã„ã¾ã™ You gave %0 arguments where event %1 requires %2 %0引数ãŒå…¥åŠ›ã•ã‚Œã¾ã—ãŸãŒã‚¤ãƒ™ãƒ³ãƒˆ%1ã«å¿…è¦ãªã®ã¯%2ã§ã™ Invalid value 無効値 Invalid value for argument %0 of event %1 イベント%1ã®å¼•æ•°%0ã®ç„¡åŠ¹å€¤ Plot event %1 プロットイベン%1 plot of %1 %1ã®ãƒ—ロット Add a new event æ–°ã—ã„イベント Name: åå‰: Number of arguments For the newly created event 引数ã®æ•° Event already exists ã“ã®ã‚¤ãƒ™ãƒ³ãƒˆã¯ã‚‚確定ã—㟠Event %0 already exists. %0ã®ã¯ã‚‚確定ã—ãŸã€‚ Invalid event name 無効ãªã‚¤ãƒ™ãƒ³ãƒˆåå‰ Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." イベント%0ã®åå‰ãŒç„¡åŠ¹ã§ã™ã€‚有効ãªåå‰ã¯è‹±å­—ã‚‚ã—ãã¯"_"ã«ç¶šã英数字ã€"_"ã€"."ã‹ã‚‰å§‹ã¾ã‚Šã¾ã™ Desynchronised! Please reload. éžåŒæœŸåŒ–ã•ã‚Œã¾ã—ãŸ!リロードã—ã¦ãã ã•ã„。 Add a new constant æ–°ã—ã„定数 Value Value assigned to the constant スカラ値 Constant already defined n ã“ã®å®šæ•°ã¯ã‚‚確定ã—㟠Constant %0 is already defined. %0ã®å®šæ•°ã¯ã‚‚確定ã—ãŸã€‚ <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>Asebaã«ã¤ã„ã¦</h1>ãƒãƒ¼ã‚¸ãƒ§ãƒ³æƒ…å ±<ul><li>Asebaãƒãƒ¼ã‚¸ãƒ§ãƒ³%0<br/>(ビルドãƒãƒ¼ã‚¸ãƒ§ãƒ³%1/プロトコルãƒãƒ¼ã‚¸ãƒ§ãƒ³%2)</li><li>Dashelãƒãƒ¼ã‚¸ãƒ§ãƒ³%3<br/>(サãƒãƒ¼ãƒˆã•ã‚Œã¦ã„るストリームタイプ: %4)</li></ul><p>ã‚‚ã£ã¨èª­ã‚€ã«ã¯<a href="%5">aseba.wikidot.com</a>ã¸</p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a>他寄稿（完全リストã¯"詳細を表示"をクリック）</p><p>Asebaã¯<a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>ã«ã‚ˆã‚‹ã‚ªãƒ¼ãƒ—ンソースライセンスã§ã™ã€‚</p> event %0 : イベント　%0: array access at %0 out of bounds [0..%1] %0ã®é…列アクセスã¯å¢ƒç•Œ[0..%1]を超ãˆãŸèª­ã¿å–ã‚Šã§ã™ division by zero ゼロ除算 event execution killed イベントã®å®Ÿè¡Œã‚’強制終了ã™ã‚‹ %0:%1: %2 %0:%1: %2 Remove this constant ã“ã®å®šæ•°ã‚’消㙠<b>Constants</b> <b>定数</b> Remove this event ã“ã®ã‚¤ãƒ™ãƒ³ãƒˆã‚’消㙠Send this event イベントé€ã‚‹ Plot this event ã“ã®ã‚¤ãƒ™ãƒ³ãƒˆã‚’プロットã™ã‚‹ <b>Global Events</b> <b>グローãƒãƒ«ã‚¤ãƒ™ãƒ³ãƒˆ</b> Clear ã™ã¹ã¦ã‚¯ãƒªã‚¢ ...inside %0 ...%0ã®ä¸­ ...%0 ...%0 ...of %0 ...%0ã® ...inside all nodes ...å…¨ã¦ã®ãƒŽãƒ¼ãƒ‰ã®ä¸­ ...all nodes ...å…¨ã¦ã®ãƒŽãƒ¼ãƒ‰ &User Manual... 利用者マニュアル… F1 Help|User Manual F1 Web site Aseba... Asebaã®ã‚¦ã‚§ãƒ–サイト… Report bug... ãƒã‚°ãƒ¬ãƒãƒ¼ãƒˆâ€¦ http://github.com/aseba-community/aseba/issues/new &About... ãƒãƒ¼ã‚¸ãƒ§ãƒ³æƒ…報… About &Qt... Qtã«ã¤ã„ã¦â€¦ Thymio programming tutorial... Thymioプログラミングãƒãƒ¥ãƒ¼ãƒˆãƒªã‚¢ãƒ«... http://aseba.wikidot.com/en:thymiotutoriel Thymio programming interface... Thymioプログラミングインターフェイス... http://aseba.wikidot.com/en:thymioapi Challenge tutorial... ãƒãƒ¥ãƒ¼ãƒˆãƒªã‚¢ãƒ«ã«æŒ‘戦... http://aseba.wikidot.com/en:gettingstarted MarXbot user manual... MarXbotã®åˆ©ç”¨è€…マニュアル… http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf &File ファイル &New æ–°è¦ &Open... é–‹ã‘る… Open &Recent 最近ã®ã‚‚ã®ã‚’é–‹ã &Save... ä¿å­˜... Save &As... åå‰ã‚’付ã‘ã¦ä¿å­˜â€¦ Export &memories content... メモリ内容を出力... &Import memories content... メモリ内容をå–り込む... &Quit 中止 Cu&t 切りå–ã‚Š &Copy コピー &Paste 貼り付㑠&Undo å…ƒã«æˆ»ã™ Re&do ã‚„ã‚Šç›´ã™ &Find... 検索… Ctrl+F Edit|Find 　 &Replace... ç½®æ›â€¦ Comment the selection é¸æŠžã«ã‚³ãƒ¡ãƒ³ãƒˆã™ã‚‹ Ctrl+D Edit|Comment the selection Ctrl+D Uncomment the selection é¸æŠžã®ã‚³ãƒ¡ãƒ³ãƒˆã‚’削除ã™ã‚‹ Shift+Ctrl+D Edit|Uncomment the selection Shift+Ctrl+D &Edit 編集 Copy &all å…¨ã¦ã‚³ãƒ”ー Show &keywords キーワードを表示 S&how hidden variables and functions é™°ã®å®šæ•°ã¨é–¢æ•°ã‚’表示ã™ã‚‹ Show Line Numbers 行番å·ã‚’表示ã™ã‚‹ &Go To Line... è¡Œã«ç§»å‹•â€¦ Ctrl+G Edit|Go To Line Show &memory usage メモリ使用é‡ã‚’表示ã™ã‚‹ Show &Line Numbers 行番å·ã‚’表示ã™ã‚‹ F11 View|Show Line Numbers F11 &Increase font size フォントサイズを大ããã™ã‚‹ &Decrease font size フォントサイズをå°ã•ãã™ã‚‹ &View 表示 &Settings 設定 &Load all å…¨ã¦èª­ã¿è¾¼ã¿ F7 Load|Load all F7 &Reset all å…¨ã¦ãƒªã‚»ãƒƒãƒˆ F8 Debug|Reset all F8 Ru&n all å…¨ã¦å®Ÿè¡Œ F9 Debug|Run all F9 &Pause all å…¨ã¦ä¸€æ™‚åœæ­¢ F10 Debug|Pause all F10 Debug デãƒãƒƒã‚° Toggle breakpoint ブレークãƒã‚¤ãƒ³ãƒˆã‚’å転 Ctrl+B Debug|Toggle breakpoint Clear all breakpoints ã™ã¹ã¦ã®ãƒ–レークãƒã‚¤ãƒ³ãƒˆã‚’無効 &Debug デãƒãƒƒã‚° &Tools ツール &Show last compilation messages 最後ã®ã‚³ãƒ³ãƒ‘イルメッセージを表示 Write the program(s)... プログラムを書ã... Reboot... å†èµ·å‹•... Save the binary code... ãƒã‚¤ãƒŠãƒªã‚³ãƒ¼ãƒ‰ã‚’ä¿å­˜ã™ã‚‹... &Help ヘルプ Untitled タイトルãªã— Aseba Studio - Confirmation Dialog Aseba Studio - 確èªãƒ€ã‚¤ã‚¢ãƒ­ã‚° The document "%0" has been modified. ドキュメント"%0"ã¯å¤‰æ›´ã•ã‚Œã¾ã—ãŸã€‚ Do you want to save your changes or discard them? 変更をä¿å­˜ã—ã¾ã™ã‹ã€å‰Šé™¤ã—ã¾ã™ã‹? [modified] [変更済ã¿] %0 %1- Aseba Studio Aseba::MaskableNamedValuesVectorModel Hide éš ã™ View 表示 Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) åå‰ Default description When no description is given for the named value デフォルトã®èª¬æ˜Ž Aseba::NodeTab <b>Keywords</b> <b>キーワード</b> unknown ä¸æ˜Žãª Load 読ã¿è¾¼ã‚€ Reset リセット Run 実行 Next 次 refresh リフレッシュ auto オート <b>Execution</b> <b>実行</b> <b>Variables</b> <b>変数</b> F&ilter: フィルター: Native Functions ãƒã‚¤ãƒ†ã‚£ãƒ–関数 Local Events ローカルイベント Local Tools ローカルツール Save the binary code of %0 %0ã®ãƒã‚¤ãƒŠãƒªã‚³ãƒ¼ãƒ‰ã‚’ä¿å­˜ Aseba Studio: Output of last compilation for %0 Aseba Studio: %0ã®æœ€å¾Œã®ã‚³ãƒ³ãƒ‘イルã®å‡ºåŠ› Compilation success. コンパイルæˆåŠŸã€‚ variables: %1 on %2 (%3%) 変数: %1 / %2 (%3%) bytecode: %1 on %2 (%3%) ãƒã‚¤ãƒˆã‚³ãƒ¼ãƒ‰; %2 (%3%)ã®%1 <b>Memory usage</b> : %1, %2 <b>メモリ使用é‡</b> : %1ã€%2 running 実行中 Pause 一時åœæ­¢ step by step 段階を追ã£ã¦ stopped åœæ­¢ã—ã¾ã—㟠Aseba::ReconnectionDialog Connection closed 接続をクローズ Warning, connection closed: I am trying to reconnect. 警告ã€æŽ¥ç¶šãŒã‚¯ãƒ­ãƒ¼ã‚ºã•ã‚Œã¾ã—ãŸ: å†æŽ¥ç¶šã‚’試ã¿ã¦ã„ã¾ã™ã€‚ Stop trying 試行をåœæ­¢ Aseba::StopThymioPlugin Stop Thymio Thymoã‚’åœæ­¢ Aseba::TargetFunctionsModel hidden 隠れ㟠Aseba::TargetVariablesModel names åå‰ values 値 Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Thymio Blocklyã®ã‚¤ãƒ³ã‚¿ãƒ¼ãƒ•ã‚§ã‚¤ã‚¹ New æ–°è¦ Open é–‹ã‘ã‚‹ Save ä¿å­˜ Save as åå‰ã‚’付ã‘ã¦ä¿å­˜ Load & Run 読ã¿è¾¼ã¿&実行 Stop åœæ­¢ Help ヘルプ Screenshot スクリーンショット Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/en:blocklyprogramming Export program as image プログラムを画åƒã«å‡ºåŠ›ã™ã‚‹ Launch Blockly Blocklyã‚’èµ·å‹• Warning 警告 The Blockly document has been modified.<p>Do you want to save the changes? Blocklyã®ãƒ‰ã‚­ãƒ¥ãƒ¡ãƒ³ãƒˆã¯å¤‰æ›´ã•ã‚Œã¦ã„ã¾ã™ã€‚<p>変更をä¿å­˜ã—ã¾ã™ã‹? Aseba::ThymioVPL::Block buttons ボタン horizontal proximity sensors 横並ã³è¿‘接センサー ground proximity sensors 接地近接センサー tap detection / tilt タップã®æ„ŸçŸ¥/傾ã clap detection 手をå©ã音ã®æ„ŸçŸ¥ timer elapsed タイマーãŒçµŒéŽã—ã¾ã—㟠state filter 状態フィルター motors モーター top colour 上部色 bottom colour 底部色 music 音楽 timer タイマー state 状態 Aseba::ThymioVPL::EventActionsSet Loading 読ã¿è¾¼ã¿ä¸­ Error in XML source file at %0:%1: cannot create block %2 Error in XML source file at %0:%1 cannot create block %2 %0:%1ã®XMLソースファイルã§ã‚¨ãƒ©ãƒ¼: ブロック%2を作æˆã§ãã¾ã›ã‚“ Error in XML source file at %0:%1: unknown block type %2 %0:%1ã®XMLソースファイルã§ã‚¨ãƒ©ãƒ¼: %2ã¯ä¸æ˜Žãªã‚¿ã‚¤ãƒ—ã®ãƒ–ロックã§ã™ Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Thymioビジュアルプログラミング言語 New æ–°è¦ Open é–‹ã‘ã‚‹ Save ä¿å­˜ Save as åå‰ã‚’付ã‘ã¦ä¿å­˜ Load & Run 読ã¿è¾¼ã¿&実行 Stop åœæ­¢ Advanced mode アドãƒãƒ³ã‚¹ãƒ¢ãƒ¼ãƒ‰ Help ヘルプ Events イベント Actions アクション http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/en:thymiovpl Please add an event イベントを追加ã—ã¦ãã ã•ã„ Please add an action アクションを追加ã—ã¦ãã ã•ã„ Undo å…ƒã«æˆ»ã™ Redo ã‚„ã‚Šç›´ã™ Screenshot スクリーンショット Compilation success. コンパイルæˆåŠŸã€‚ show line 行を表示 The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. https://www.thymio.org/en:thymiovpl Export program as image プログラムを画åƒã«å‡ºåŠ›ã™ã‚‹ Launch VPL VPLã‚’èµ·å‹• Returning to simple mode シンプルモードã«æˆ»ã‚‹ You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? ç¾åœ¨çŠ¶æ…‹ã‚’使用ã—ã¦ã„ã¾ã™ã€‚シンプルモードã«æˆ»ã‚‹ã¨çŠ¶æ…‹ãƒ•ã‚£ãƒ«ã‚¿ãƒ¼ã‚„状態設定カードã¯å‰Šé™¤ã•ã‚Œã¾ã™ã€‚<p>本当ã«ç¶™ç¶šã—ã¾ã™ã‹? Warning 警告 The VPL document has been modified.<p>Do you want to save the changes? VPLドキュメントã¯å¤‰æ›´ã•ã‚Œã¦ã„ã¾ã™ã€‚<p>変更をä¿å­˜ã—ã¾ã™ã‹? Incompatible Version 互æ›æ€§ã®ãªã„ãƒãƒ¼ã‚¸ãƒ§ãƒ³ This file is incompatible with this version of ThymioVPL. It might not work correctly. ã“ã®ãƒ•ã‚¡ã‚¤ãƒ«ã¯ã“ã®ãƒãƒ¼ã‚¸ãƒ§ãƒ³ã®Thymio VPLã¨äº’æ›æ€§ãŒã‚ã‚Šã¾ã›ã‚“。正ã—ã作動ã—ãªã„å¯èƒ½æ€§ãŒã‚ã‚Šã¾ã™ã€‚ Loading 読ã¿è¾¼ã¿ Aseba::ThymioVPL::UsageLogger Login ログイン Please enter your user or group name: ユーザーåã‹ã‚°ãƒ«ãƒ¼ãƒ—åを入力ã—ã¦ãã ã•ã„: Aseba::ThymioVPLStandalone Connecting to Thymio... Thymioã«æŽ¥ç¶šã—ã¦ã„ã¾ã™... Thymio VPL Error Thymio VPLã®ã‚¨ãƒ©ãƒ¼ You need to connect a Thymio II to use this application. ã“ã®ã‚¢ãƒ—リケーションを使用ã™ã‚‹ã«ã¯Thymio IIを接続ã—ã¦ãã ã•ã„。 Save Script スクリプトä¿å­˜ Open Script スクリプト開ã‘ã‚‹ Loading 読ã¿è¾¼ã¿ No Thymio VPL data were found in the script file, file ignored. スクリプトファイル内ã§Thymio VPLã®ãƒ‡ãƒ¼ã‚¿ãŒè¦‹ã¤ã‹ã‚‰ãšãƒ•ã‚¡ã‚¤ãƒ«ã¯ç„¡è¦–ã•ã‚Œã¾ã—ãŸã€‚ This application only supports a single robot at a time. ã“ã®ã‚¢ãƒ—リケーションã¯ä¸€åº¦ã«1ã®ãƒ­ãƒœãƒƒãƒˆã®ã¿ã‚’サãƒãƒ¼ãƒˆã—ã¾ã™ã€‚ Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle Thymioã¨ã®æŽ¥ç¶šãŒå¤±ã‚ã‚Œã¾ã—ãŸ...Thymioã®é›»æºãŒå…¥ã£ã¦ã„ã‚‹ã“ã¨ã‚’確èªã—ã€ã‚±ãƒ¼ãƒ–ル/ドングルãŒæŽ¥ç¶šã•ã‚Œã¦ã„ã‚‹ã“ã¨ã‚’確èªã—ã¦ä¸‹ã•ã„ [modified] [変更済ã¿] Untitled タイトルãªã— %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Thymioビジュアルプログラミング言語 - ver. %2 Error in XML source file: %0 at line %1, column %2 XMLソースファイルã®ã‚¨ãƒ©ãƒ¼:%1è¡Œã€%2列ã®%0 Aseba::ThymioVisualProgramming New æ–°è¦ Save as åå‰ã‚’付ã‘ã¦ä¿å­˜ Loading 読ã¿è¾¼ã¿ä¸­ QApplication Protocol version mismatch プロトコルãƒãƒ¼ã‚¸ãƒ§ãƒ³ã®ä¸ä¸€è‡´ Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Aseba Studioã¯ãƒŽãƒ¼ãƒ‰%0（%2）よりå¤ã„プロトコル（%1）を使用ã—ã¦ã„ã¾ã™ã®ã§Aseba Studioをアップグレードã—ã¦ãã ã•ã„。 Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. ノード%0Aseba Studio（%1）よりå¤ã„プロトコル（%2）を使用ã—ã¦ã„ã¾ã™ã®ãƒŽãƒ¼ãƒ‰ãƒ•ã‚¡ãƒ¼ãƒ ã‚¦ã‚§ã‚¢ã‚’アップグレードã—ã¦ãã ã•ã„。 QObject Compilation success コンパイルæˆåŠŸ Line %0: Missing event %0è¡Œ: イベントãŒä¸è¶³ã—ã¦ã„ã¾ã™ Line %0: Missing action %0è¡Œ: アクションãŒä¸è¶³ã—ã¦ã„ã¾ã™ The event in line %0 is the same as in line %1 %0è¡Œã®ã‚¤ãƒ™ãƒ³ãƒˆ%1è¡Œã®ã‚¤ãƒ™ãƒ³ãƒˆã¨åŒã˜ã§ã™ The event and the state condition in line %0 are the same as in line %1 %0è¡Œã®ã‚¤ãƒ™ãƒ³ãƒˆã¨çŠ¶æ…‹æ¡ä»¶ã¯%1ã®ã‚‚ã®ã¨åŒã˜ã§ã™ Unknown VPL error ä¸æ˜ŽãªVPLエラー Unexpected Dashel Error 予期ã—ãªã„Dashelエラー A communication error happened: aseba-1.6.0/clients/studio/asebastudio_zh.qm000066400000000000000000000731531322771007300211170ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB P—.ì˜/™/D[;[zI@.ŽIA.½TÇMTÇXOX€4Y¾G{´Ç!§Ô*Qì0L5ì0W ï¥Bíö55tF#H5C»LôLLôFöf¾MNf¾X”‹¯Y™˜ÅMŽ˜ÅZA«`NY«`[į^aÏÇC/Œ¯Gö£bP¨z¤*¦yY*»*Ð%H*ì0 +Œ" +į#Õ+ÏÇ$W1€$ŠF¬>ezJ+‚(«J¹·*‡SŠ0ÑS]þaTƒŠ1‹VŒ•G#X|¯3eXÉÄGO\ƒµ;lefDGtƒÃKetÉóRDz¨¥Ry{ÂS6ŽM^hU¼R±šs4áÈ¢ã»âÀ  ç9C%Cî(3U%Žf°²R®wñ8eŒœÐG¥ª½.*º1SC»Åþr»ÅþÙøe7+å"ž5ÃñYLuù2SFN .'Ÿ•î-ô)³n+ýS ~"BaØ9i$ yˆê•Yß–üŽWO›Á4Rîª+‚ xª¹·¶Š¥!“¶Œ• ³»f3#ÄQeKÖÄQeV¤Ç47wÔ>“üà½Þ13ðð£Žñí~ ¥ñí~5E©~gj 2d3&Ãn&æΰW°1W°U!W°d dZNXÚðü¡P¶AM£ÃŽÁÁ„Ìðþ;™ëžj] ?XS± TîÙH!eB36åg²¥]ãgáô1iCF»oü.bP|(~&‰9¤Õ˜I¼¤˜I¼ŸsŒW««Žò)©«Žô)á«Ž÷*» bÖÁXiÌųV\ÎÞCòì4$3Ùd¤¢6)Ä8JD/¦Jô.KvM Þ‹or<|]?N™ÿ^ð£!ê8q°·t;8°·tfT´Ô2Áž“ïÃ5ŠÃe8È;à uÌüt2EÌütdöÑëŽCqé~ub°ðS.÷õUßJä ›:ª$±jŠ!0/-lÎLÃ-lÎWýl¾!Sl¡rñáB³—Wµ`É£ âS¬«Ú’±Án&jÆ7Þ9í諭K+ôfÕ •ûDÂøÿ+ä ¤ì{oé…1$ï F¶“RMØλZËÞE©ZËÞV[fÕÈlXä&²‹µºi}˜`3˜`3(Ú ºÄ«Ud²ŽL)j¾¾dï¿9^(bÈ;ÃKžÐc¼4£ã<„iãJgJÄ×@‘8Ä>Q K·Ñ2~N²õ!u¬³iÊŠécìŒF!0h½ŒèH‚Ç%%sÈ)Î\ͳ|æ'ãQ´ð’rkÄ ˆ žZ ½yIy çSQb .ü?=§ C¡44 fI¾3œ l[~ n°ak ~ Ð_ Ã-m ŒvÓMÎ ŒvÓZ‡ Œƒ¾"Å ¡SÈ ÄDÒSê Äàì"… ÅP7H° ˶3Pé ÖÓBD} îžný ú5}=5 5s”6S 8a#1¼ C1YH Ht"eý K3¿[d e!T  eKäQ  xsl ²•¾] µ:Ä=ã ¶vÄI »š9- ÅH",K ë"Ð$ÿ ìçñm öÉ\?í Ï/p  i5 q£#@ ŽÚ¯ têc7È }Á~Ë ‹¦¤ î “2ç ™ž Æ «Å^D7 ±\‡'3 ³ay 6 ÀäN ÀäZÒ ÷N.dH âBk{ 4¤>Ï GOæ ¸eO= GÕ< 5Ëî:é AÃt… BT… K`jF RV®IK `•2» aËî)! h9>f‘ s©Î$ „ê²× •Ò¬!Ë ›GŽ * ºïs# Ê£õ ë ÛÁuU­ àe¿B ä"d¾ ñÔþ¿ ü4Ü`" ¨ÚEê s® Ì€ {°E) ]:aQ m£ D õ ê I—Î:L }Ñç ƒÈôI× †ã$¿ ‰PO£ ‰P^§ ÄÈ< ìRba¶×. CF…h HàJDžDäO@ ¼] >4^‡†¢aí\t1ýòl^Þ÷­i±ú.*¶D•/é ÖÓ|ù4&ôD@®;äY¾"+{Y¾"cGŽ f­üP<ú­üPg&¶D´¶Ñßt>+×y>%ÒÚ{-³æ–~iil ‘Ínb@g e­p¹Clear all breakpointsAseba::AeslEditorSÖmˆe­p¹Clear breakpointAseba::AeslEditor‹¾ne­p¹Set breakpointAseba::AeslEditor*Aseba Studio: N Nk!‹Ñ“Qú(Aseba Studio: Output of last compilationAseba::CompilationLogDialog"Aseba Studio - ‹¾nAseba Studio - SettingsAseba::ConfigDialogSÖmˆCancelAseba::ConfigDialog‘EditorAseba::ConfigDialogu(GeneralAseba::ConfigDialogOKOkAseba::ConfigDialog^8‘Ï%0]ò[šNI.Constant %0 is already defined.Aseba::ConstantsModel ^8‘Ï]ò[šNIConstant already definedAseba::ConstantsModel@N €ýOu(<tt>%0<tt>O\N:^8‘ÏT yð,VàN:ÙN*T [Wf/Qs•.‹Í.TThe name %0 cannot be used as a constant, because it is a language keyword.Aseba::ConstantsModelÙN*T [Wf/Qs•.‹ÍThe name is a keywordAseba::ConstantsModel  Þc¥‹¾Y%1 – device %1Aseba::DashelConnectionDialog  g:VhNº%1 – type %1Aseba::DashelConnectionDialogAsebavîh ˜yAseba Target SelectionAseba::DashelConnectionDialogSÖmˆCancelAseba::DashelConnectionDialog”þc¥ConnectAseba::DashelConnectionDialog ]òSÑs°v„vîhDiscovered targetsAseba::DashelConnectionDialoge‡hc DocumentationAseba::DashelConnectionDialog‹íŠLanguageAseba::DashelConnectionDialog g,W0TCP Local TCPAseba::DashelConnectionDialog [šv„vîhSelected targetAseba::DashelConnectionDialogN2ˆLzïSã Serial portAseba::DashelConnectionDialogTCPTCPAseba::DashelConnectionDialogÜz Q~Üdistant on networkAseba::DashelConnectionDialogg,W0u5local on computerAseba::DashelConnectionDialogN2ˆLzïSãbUSBserial port or USBAseba::DashelConnectionDialog¢<p><b>b~N R0Thymio!</b></p><p>‹÷u(USBepcn~¿b‘MVh\Thymio”þc¥óO`v„‹¡{—g:N ,^vNxn‹¤l¡g QvNÖz ^kcW(Ou(Thymio.</p>•

Cannot find Thymio!

Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.

Aseba::DashelInterfaceeàlÕ”þc¥óvîh%0Cannot connect to target %0Aseba::DashelInterfaceT}NäˆLvîh”þc¥Y1%(Connection to command line target failedAseba::DashelInterfaceb~N R0ThymioThymio not foundAseba::DashelInterfaceêR¨[W{&N2ˆeQhAutocompletionAseba::EditorPage ‘Vh‹¾n Editor SetupAseba::EditorPageQs•.‹ÍKeywordsAseba::EditorPagen–ö (&C)&ClearAseba::EventViewerf‚P\ (&P)&PauseAseba::EventViewer‹°_U (&R)&RecordAseba::EventViewer ]òf‚P\... Paused...Aseba::EventViewer ‹°_UN-... Recording...Aseba::EventViewerSæ[XN:(&A)... Save &As...Aseba::EventViewerOÝ[XVþPÏóe‡hcSave plot data to fileAseba::EventViewer eö•ô(yÒ)Time (seconds)Aseba::EventViewerP<ValuesAseba::EventViewereö•ôz— (&W): time &window:Aseba::EventViewerY'\Q™eOa(&C)&Case sensitiveAseba::FindDialoggåb~N NN*(&F) &Find NextAseba::FindDialogfÿcb (&R)&ReplaceAseba::FindDialogd}"(&S): &Search for:Aseba::FindDialogQh[WS9‘M(&W) &Whole wordsAseba::FindDialog(Aseba Studio - d}"^vfÿcb!Aseba Studio - Search and ReplaceAseba::FindDialogNåóe‡hc~Ó\>!End of document reached!Aseba::FindDialoggåb~N NN*(&P)Find &PreviousAseba::FindDialogNΘvè_YËgåb~(&T)Find from &TopAseba::FindDialogkcRˆh¾_(&g)Re&gular expressionsAseba::FindDialogQhèfÿcb(&A)Replace &All OccurrencesAseba::FindDialogfÿcb^vgåb~N NN* (&N)Replace and Find &NextAseba::FindDialogfÿcb^vgåb~N NN*(&u)Replace and Find Previo&usAseba::FindDialog N(&i):w&ith:Aseba::FindDialogu(‹¾n General SetupAseba::GeneralPage^\@LayoutAseba::GeneralPage f>y:–…ÏSØ‘ÏShow hidden variablesAseba::GeneralPagef>y:Qs•.‹Í]åQwhShow keyword toolbarAseba::GeneralPagef>y:ˆLepShow line numbersAseba::GeneralPage f>y:Q…[XOu(Show memory usageAseba::GeneralPageAseba Studio ^.R©Aseba Studio HelpAseba::HelpViewerb~N R0^.R©e‡NöHelp file not foundAseba::HelpViewerN;vî_UHomeAseba::HelpViewerTNN*NextAseba::HelpViewerRMNN*PreviousAseba::HelpViewerd^.R©e‡hc%0g*R }bRŸ.•‹ïN::%1.^.R©e‡Nö^”‹åW(|û~ßv„N4eövî_UN .‹÷hÀgåO`v„[‰ˆÅ,b€b¥TJ•‹ï.½The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug.Aseba::HelpViewerRb~N R0N"%0"vøQsv„^.R©e‡Nö.VÞR0žØ‹¤‹íŠ(%1).Ù_ˆg Sï€ýf/N*•‹ï,‹÷b¥•.ŽThe help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it.Aseba::HelpViewereàlÕRYËSdDPÏY4‰Æz—cÒNö+Cannot initialize linear camera view pluginAseba::LinearCameraViewPlugindDPÏY4‰Æz—cÒNöLinear Camera View PluginAseba::LinearCameraViewPlugin4W(%1, %2, b %3N-,b~N R0NN*bYN*SØ‘Ï.0One or more variable not found in %1, %2, or %3.Aseba::LinearCameraViewPlugin dDPÏY4‰Æz—linear camera viewerAseba::LinearCameraViewPlugin8OMƒVô(0ó255)8 bits range (0–255)&Aseba::LinearCameraViewVariablesDialogdDPÏY4‰Æz—cÒNöLinear Camera View Plugin&Aseba::LinearCameraViewVariablesDialogOKOk&Aseba::LinearCameraViewVariablesDialog ‹÷ béSØ‘ÏPlease choose your variables&Aseba::LinearCameraViewVariablesDialogêR¨ƒVô auto range&Aseba::LinearCameraViewVariablesDialog„Ý‚rblue component&Aseba::LinearCameraViewVariablesDialog~ÿ‚rgreen component&Aseba::LinearCameraViewVariablesDialogv~RkÔƒVô(0ó100)percent range (0–100)&Aseba::LinearCameraViewVariablesDialogP<ƒVôrange of values&Aseba::LinearCameraViewVariablesDialog~¢‚r red component&Aseba::LinearCameraViewVariablesDialog N‹Nö%0 : event %0 : Aseba::MainWindow (N Sïu() (not available)Aseba::MainWindow&%0 %1- Aseba Studio%0 %1- Aseba StudioAseba::MainWindow‚‚p¹%1N v„%0 %0 on node %1Aseba::MainWindow0g,%0W(_SRMQ~Üeà[ù^”v„‚‚p¹,‹åg,g*ˆ«R }.W%0 scripts have no corresponding nodes in the current network and have not been loaded.Aseba::MainWindow%0:%1: %2 %0:%1: %2Aseba::MainWindowQsNŽ(&A)... &About...Aseba::MainWindow Y R6(&C)&CopyAseba::MainWindow Œ‹Õ(&D)&DebugAseba::MainWindowQÏ\[WOS(&D)&Decrease font sizeAseba::MainWindow ‘(&E)&EditAseba::MainWindow e‡hc(&F)&FileAseba::MainWindowgåb~(&F)...&Find...Aseba::MainWindowóóˆL(&G)...&Go To Line...Aseba::MainWindow ^.R©(&H)&HelpAseba::MainWindow[üQeSØ‘Ï(&I)...&Import memories content...Aseba::MainWindowXžY'[WOS(&I)&Increase font sizeAseba::MainWindowQhèR }(&L) &Load allAseba::MainWindow e°^ú(&N)&NewAseba::MainWindowbS_(&O)...&Open...Aseba::MainWindow |˜4(&P)&PasteAseba::MainWindowQhèf‚P\(&P) &Pause allAseba::MainWindow Qú(&Q)&QuitAseba::MainWindowfÿcb(&R)... &Replace...Aseba::MainWindowQhè‘Ín(&R) &Reset allAseba::MainWindowOÝ[X(&S)...&Save...Aseba::MainWindow ‹¾n(&S) &SettingsAseba::MainWindowf>y:N k!‹ÑOá`o(&S)&Show last compilation messagesAseba::MainWindow ]åQw(&T)&ToolsAseba::MainWindow d¤•(&U)&UndoAseba::MainWindowu(b7bKQŒ(&U)...&User Manual...Aseba::MainWindow‰Æz—&V&ViewAseba::MainWindow ...%0...%0Aseba::MainWindow...b@g ‚‚p¹ ...all nodesAseba::MainWindow...W(‚‚p¹%0Q… ...inside %0Aseba::MainWindow...W(b@g ‚‚p¹N-...inside all nodesAseba::MainWindowOÝ[X‚‚p¹%0v„NŒÛR6x...of %0Aseba::MainWindow<b>^8‘Ï</b>ConstantsAseba::MainWindow<b>Qh\@N‹Nö</b>Global EventsAseba::MainWindowQsNŽQt(&Q)... About &Qt...Aseba::MainWindow mûR e°^8‘ÏAdd a new constantAseba::MainWindow mûR e°N‹NöAdd a new eventAseba::MainWindow$Aseba Studio -xn‹¤[ù‹Ý"Aseba Studio - Confirmation DialogAseba::MainWindowDAseba Studiof/^”u(e‡[Wz ‹íŠ[ùg:VhNºÛˆLz v„z s¯XƒYAseba Studio is an environment for interactively programming robots with a text language.Aseba::MainWindowcbeYz ...Challenge tutorial...Aseba::MainWindown–dClearAseba::MainWindow ‘Ínb@g e­p¹Clear all breakpointsAseba::MainWindow\]ò èRlè‘ÊComment the selectionAseba::MainWindowQhèY R6(&a) Copy &allAseba::MainWindow Ctrl+BCtrl+BAseba::MainWindow Ctrl+DCtrl+DAseba::MainWindow Ctrl+GCtrl+GAseba::MainWindow RjR(&t)Cu&tAseba::MainWindowŒ‹ÕDebugAseba::MainWindowT keˆ«bpNq!‹÷‘Íe°R }.Desynchronised! 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Reboot...Aseba::MainWindow SÖmˆ‹å^8‘ÏRemove this constantAseba::MainWindow SÖmˆ‹åN‹NöRemove this eventAseba::MainWindowb¥TJ|û~ß•‹ï... Report bug...Aseba::MainWindowQhèЈL(&n)Ru&n allAseba::MainWindowf>y:–…ÏSØ‘ÏSÊQýep(&h)$S&how hidden variables and functionsAseba::MainWindowSæ[XN:(&A)... Save &As...Aseba::MainWindowOÝ[Xg, Save ScriptAseba::MainWindowOÝ[XNŒÛR6Nãx...Save the binary code...Aseba::MainWindow SÑ‹åN‹NöSend this eventAseba::MainWindowShift+Ctrl+D Shift+Ctrl+DAseba::MainWindowf>y:ˆLep(&L)Show &Line NumbersAseba::MainWindowf>y:Qs•.‹Í(&k)Show &keywordsAseba::MainWindowf>y:Q…[Xu(‘Ï(&m)Show &memory usageAseba::MainWindowèRQ…[¹g*[üQeSome content was not importedAseba::MainWindow c[šeö•ôSÂepSpecify event argumentsAseba::MainWindowe‡Nö"%0"]òˆ«Oîe9.$The document "%0" has been modified.Aseba::MainWindow,NåN ‚‚p¹W(s°Q~ÜN [XW(,QvvøQsQ…[¹g*ˆ«[üQe:jThe following nodes are not present in the current network and their associated content was not imported: Aseba::MainWindow,NåN SØ‘ÏW(s°Q~ÜN [XW(,QvvøQsQ…[¹g*ˆ«[üQe:nThe following variables are not present in the current network and their associated content was not imported: Aseba::MainWindowThymioz uL—b...Thymio programming interface...Aseba::MainWindowThymioz eYz ...Thymio programming tutorial...Aseba::MainWindowRcbe­p¹Toggle breakpointAseba::MainWindow\]ò èRSÖmˆlè‘ÊUncomment the selectionAseba::MainWindowg*T}T UntitledAseba::MainWindowP<ValueAseba::MainWindowAsebaQzÙ...Web site Aseba...Aseba::MainWindowQ™Qez ^...Write the program(s)...Aseba::MainWindow•‹ïv„SÂepep‘ÏWrong number of argumentsAseba::MainWindow(N‹Nö%1—‰%2N*SÂep,O`~ÙN†%0N*SÂep0You gave %0 arguments where event %1 requires %2Aseba::MainWindow []òOîe9] [modified] Aseba::MainWindow$ep~Ä‹¿•îó%0…QúuL–P[0..%1](array access at %0 out of bounds [0..%1]Aseba::MainWindowˆ«–ö–ddivision by zeroAseba::MainWindow ~Èe­N‹NöbgˆLevent execution killedAseba::MainWindowThttp://aseba.wikidot.com/en:gettingstarted*http://aseba.wikidot.com/en:gettingstartedAseba::MainWindowBhttp://aseba.wikidot.com/en:start!http://aseba.wikidot.com/en:startAseba::MainWindowJhttp://aseba.wikidot.com/en:thymioapi%http://aseba.wikidot.com/en:thymioapiAseba::MainWindowThttp://aseba.wikidot.com/en:thymiotutoriel*http://aseba.wikidot.com/en:thymiotutorielAseba::MainWindowdhttp://github.com/aseba-community/aseba/issues/new2http://github.com/aseba-community/aseba/issues/newAseba::MainWindowrhttp://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf9http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdfAseba::MainWindowJhttps://www.thymio.org/zh:asebastudio%https://www.thymio.org/en:asebastudioAseba::MainWindow %1v„Vþˆh plot of %1Aseba::MainWindow–…ÏHide%Aseba::MaskableNamedValuesVectorModelf>y:View%Aseba::MaskableNamedValuesVectorModelžØ‹¤cÏðDefault descriptionAseba::NewNamedValueDialogT yðNameAseba::NewNamedValueDialog<b>bgˆL</b>ExecutionAseba::NodeTab<b>Qs•.‹Í</b>KeywordsAseba::NodeTab(<b>Q…[Xu(‘Ï</b> : %1, %2Memory usage : %1, %2Aseba::NodeTab<b>SØ‘Ï</b>VariablesAseba::NodeTab.Aseba Studio:%0v„N Nk!‹Ñ“Qú/Aseba Studio: Output of last compilation for %0Aseba::NodeTab ‹ÑbRŸ.Compilation success.Aseba::NodeTab{[ (&i):F&ilter:Aseba::NodeTabR }LoadAseba::NodeTabg,W0N‹Nö Local EventsAseba::NodeTabg,W0]åQw Local ToolsAseba::NodeTabg,W0QýepNative FunctionsAseba::NodeTabN NN*NextAseba::NodeTabf‚P\PauseAseba::NodeTab‘ÍnResetAseba::NodeTabЈLRunAseba::NodeTabOÝ[X%0v„NŒÛR6NãxSave the binary code of %0Aseba::NodeTabêR¨autoAseba::NodeTab&[W‚‚x: %1 on %2 (%3%)bytecode: %1 on %2 (%3%)Aseba::NodeTabR7e°refreshAseba::NodeTabЈLN-runningAseba::NodeTab NkeNkebgˆL step by stepAseba::NodeTab]òP\kbstoppedAseba::NodeTabg*wåunknownAseba::NodeTab"SØ‘Ï:%1 on %2 (%3%)variables: %1 on %2 (%3%)Aseba::NodeTabÞc¥Qs•íConnection closedAseba::ReconnectionDialogP\kb\‹Õ Stop tryingAseba::ReconnectionDialog"‹fTJ,Þc¥Qs•í:kcW(\‹Õ‘Íe°Þc¥.5Warning, connection closed: I am trying to reconnect.Aseba::ReconnectionDialogP\kbThymio Stop ThymioAseba::StopThymioPlugin–…ÏhiddenAseba::TargetFunctionsModelT yðnamesAseba::TargetVariablesModelP<valuesAseba::TargetVariablesModel\z ^“QúN:VþPÏExport program as image#Aseba::ThymioBlockly::ThymioBlockly^.R©Help#Aseba::ThymioBlockly::ThymioBlocklyT/R¨j!WWLaunch Blockly#Aseba::ThymioBlockly::ThymioBlockly R }^vЈL Load & Run#Aseba::ThymioBlockly::ThymioBlocklye°^úNew#Aseba::ThymioBlockly::ThymioBlocklybS_Open#Aseba::ThymioBlockly::ThymioBlocklyOÝ[XSave#Aseba::ThymioBlockly::ThymioBlocklySæ[XN:Save as#Aseba::ThymioBlockly::ThymioBlocklyb*\O Screenshot#Aseba::ThymioBlockly::ThymioBlocklyP\kbStop#Aseba::ThymioBlockly::ThymioBlockly"j!WWSe‡Nö]òˆ«Oîe9.f/T&OÝ[Xe9R¨?JThe Blockly document has been modified.

Do you want to save the changes?#Aseba::ThymioBlockly::ThymioBlocklyThymioj!WWSuL—bThymio Blockly Interface#Aseba::ThymioBlockly::ThymioBlockly‹fTJWarning#Aseba::ThymioBlockly::ThymioBlockly\http://aseba.wikidot.com/en:blocklyprogramming.http://aseba.wikidot.com/en:blocklyprogramming#Aseba::ThymioBlockly::ThymioBlockly^•è˜œ‚r bottom colourAseba::ThymioVPL::Blockc ”®buttonsAseba::ThymioVPL::BlockXð—óc¢mKclap detectionAseba::ThymioVPL::Block^•èc¥ÑO aVhground proximity sensorsAseba::ThymioVPL::Blockl4^se¹Tc¥ÑO aVhhorizontal proximity sensorsAseba::ThymioVPL::Blockšl¾motorsAseba::ThymioVPL::Block—óNPmusicAseba::ThymioVPL::Blockr¶`stateAseba::ThymioVPL::Blockr¶`mK‹Õ state filterAseba::ThymioVPL::BlockerQûc¢mKtap detection / tiltAseba::ThymioVPL::Block‹¡eöVhtimerAseba::ThymioVPL::Blockeö•ôR0 timer elapsedAseba::ThymioVPL::Block˜v蘜‚r top colourAseba::ThymioVPL::Block,XMLnNãx•‹ï%0:%1:eàlÕR^ú%2j!WW9Error in XML source file at %0:%1: cannot create block %2!Aseba::ThymioVPL::EventActionsSet.XMLnNãx•‹ï%0:%1:g*wåv„%2j!WW|{W‹8Error in XML source file at %0:%1: unknown block type %2!Aseba::ThymioVPL::EventActionsSetR }N-Loading!Aseba::ThymioVPL::EventActionsSetˆLR¨Actions)Aseba::ThymioVPL::ThymioVisualProgrammingšØ~§j!_ Advanced mode)Aseba::ThymioVPL::ThymioVisualProgramming ‹ÑbRŸ.Compilation success.)Aseba::ThymioVPL::ThymioVisualProgrammingN‹NöEvents)Aseba::ThymioVPL::ThymioVisualProgramming\z ^epQúN:VþPÏExport program as image)Aseba::ThymioVPL::ThymioVisualProgramming^.R©Help)Aseba::ThymioVPL::ThymioVisualProgramming rHg,N S9‘MIncompatible Version)Aseba::ThymioVPL::ThymioVisualProgramming T/R¨VPL Launch VPL)Aseba::ThymioVPL::ThymioVisualProgramming R }^vЈL Load & Run)Aseba::ThymioVPL::ThymioVisualProgramminge°^úNew)Aseba::ThymioVPL::ThymioVisualProgrammingbS_Open)Aseba::ThymioVPL::ThymioVisualProgramming‹÷mûR NN*ˆLR¨Please add an action)Aseba::ThymioVPL::ThymioVisualProgramming‹÷mûR NN*N‹NöPlease add an event)Aseba::ThymioVPL::ThymioVisualProgramming‘ÍPZRedo)Aseba::ThymioVPL::ThymioVisualProgramming ÔVÞ{€SUj!_Returning to simple mode)Aseba::ThymioVPL::ThymioVisualProgrammingOÝ[XSave)Aseba::ThymioVPL::ThymioVisualProgrammingSæ[XN:Save as)Aseba::ThymioVPL::ThymioVisualProgrammingb*\O Screenshot)Aseba::ThymioVPL::ThymioVisualProgrammingP\kbStop)Aseba::ThymioVPL::ThymioVisualProgramming(VPLe‡Nö]òˆ«Oîe9.<p>f/T&OÝ[Xe9R¨?FThe VPL document has been modified.

Do you want to save the changes?)Aseba::ThymioVPL::ThymioVisualProgrammingPOu(ThymioSï‰ÆSz ^‹¾‹¡‹íŠ(VPL)SïNåÇQs€TN‹NöTŒg:VhNºˆLN:ÛˆLz uThe Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks.)Aseba::ThymioVPL::ThymioVisualProgramming<‹åe‡NörHg,NThymioVPLrHg,N S9‘M.Sï€ýN €ýkc^8ЈL.VThis file is incompatible with this version of ThymioVPL. It might not work correctly.)Aseba::ThymioVPL::ThymioVisualProgrammingThymioSï‰ÆSz ^‹¾‹¡‹íŠ"Thymio Visual Programming Language)Aseba::ThymioVPL::ThymioVisualProgrammingd¤•Undo)Aseba::ThymioVPL::ThymioVisualProgramming‹fTJWarning)Aseba::ThymioVPL::ThymioVisualProgrammingbO`s°W(kcW(Ou(r¶`RŸ€ý.Y‚gœÔVÞó{€SUj!_,b@g r¶`ÇnäVhTŒr¶`‹¾nSaý\mˆY1.<p>xn[š~ç~íT?’You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?)Aseba::ThymioVPL::ThymioVisualProgrammingFhttps://www.thymio.org/zh:thymiovpl#https://www.thymio.org/en:thymiovpl)Aseba::ThymioVPL::ThymioVisualProgrammingf>y:ˆL show line)Aseba::ThymioVPL::ThymioVisualProgrammingv{–FLoginAseba::ThymioVPL::UsageLogger‹÷“Qeu(b7T :%Please enter your user or group name:Aseba::ThymioVPL::UsageLogger8%0 %1- ThymioSï‰ÆSz ^‹¾‹¡‹íŠ-rHg, %23%0 %1- Thymio Visual Programming Language - ver. %2Aseba::ThymioVPLStandaloneNThymioÞc¥N-...Connecting to Thymio...Aseba::ThymioVPLStandaloneNNThymiov„Þc¥N-e­...‹÷xn‹¤ThymioN:_g:r¶`^vNÞc¥W(USBzïSãTConnection to Thymio lost... make sure Thymio is on and connect the USB cable/dongleAseba::ThymioVPLStandalone*XMLnNãx•‹ï:%0W({,%1ˆL,{,%2R2Error in XML source file: %0 at line %1, column %2Aseba::ThymioVPLStandaloneR }N-LoadingAseba::ThymioVPLStandalone@W(kdg,e‡NöN-b~N R0Thymio VPLvøQsepcn,‹åe‡Nöˆ«_ýue.?No Thymio VPL data were found in the script file, file ignored.Aseba::ThymioVPLStandalonebS_g, Open ScriptAseba::ThymioVPLStandaloneOÝ[Xg, Save ScriptAseba::ThymioVPLStandalone‹å^”u(Nk!NÅe/cNN*g:VhNº.8This application only supports a single robot at a time.Aseba::ThymioVPLStandaloneThymio VPL•‹ïThymio VPL ErrorAseba::ThymioVPLStandaloneg*T}T UntitledAseba::ThymioVPLStandalone.ÙN*^”u(—‰Þc¥NN*Thymio IIg:VhNº.8You need to connect a Thymio II to use this application.Aseba::ThymioVPLStandalone []òOîe9] [modified] Aseba::ThymioVPLStandalonerAseba StudioOu(v„Q~ÜSO‹®(%1)ONNŽ‚‚p¹%0Ou(v„Q~ÜSO‹®(%2),‹÷SG~§Aseba Studio.XAseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. QApplicationb‚‚p¹%0Ou(v„Q~ÜSO‹®(%2)ONNŽAseba StudioOu(v„Q~ÜSO‹®(%1),‹÷SG~§‚‚p¹VúNö.]Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. QApplicationSO‹®rHg,N S9‘MProtocol version mismatch QApplicationQús°NN*‹¯•‹ï:A communication error happened:QObject‹ÑbRŸCompilation successQObject{,%0ˆL::\ˆLR¨Line %0: Missing actionQObject{,%0ˆL::\N‹NöLine %0: Missing eventQObject({,%0ˆLN{,%1ˆLv„N‹NöNåSÊgaNör¶`vøT GThe event and the state condition in line %0 are the same as in line %1QObject{,%0ˆLN{,%1ˆLv„N‹NövøT .The event in line %0 is the same as in line %1QObject_^8v„Dashel•‹ïUnexpected Dashel ErrorQObjectOMnv„VPL•‹ïUnknown VPL errorQObjectaseba-1.6.0/clients/studio/asebastudio_zh.ts000066400000000000000000001701741322771007300211310ustar00rootroot00000000000000 Aseba::AeslEditor Clear breakpoint å–消断点 Set breakpoint 设置断点 Clear all breakpoints é‡ç½®æ‰€æœ‰æ–­ç‚¹ Aseba::CompilationLogDialog Aseba Studio: Output of last compilation Aseba Studio: 上一次编译输出 Aseba::ConfigDialog General 通用 Editor 编辑 Ok OK Cancel å–消 Aseba Studio - Settings Aseba Studio - 设置 Aseba::ConstantsModel Constant already defined 常é‡å·²å®šä¹‰ Constant %0 is already defined. 常é‡%0已定义. The name is a keyword 这个åå­—æ˜¯å…³é”®è¯ The name <tt>%0</tt> cannot be used as a constant, because it is a language keyword. ä¸èƒ½ä½¿ç”¨<tt>%0<tt>作为常é‡å称,因为这个å字是关键è¯. Aseba::DashelConnectionDialog Network (TCP) 网络(TCP) Host 主机 Port ç«¯å£ Serial ä¸²è¡Œç«¯å£ Custom 用户 Discovered targets å·²å‘现的目标 Selected target 选定的目标 Serial port ä¸²è¡Œç«¯å£ Local TCP 本地TCP TCP TCP Documentation 文档 Language 语言 Connect 链接 Cancel å–消 Aseba Target Selection Aseba目标选项 – type %1 – 机器人%1 local on computer 本地电脑 distant on network 远程网络 – device %1 – 连接设备%1 serial port or USB 串行端å£æˆ–USB Aseba::DashelInterface Thymio not found 找ä¸åˆ°Thymio <p><b>Cannot find Thymio!</b></p><p>Connect a Thymio to your computer using the USB cable/dongle, and make sure no other program is using Thymio.</p> <p><b>找ä¸åˆ°Thymio!</b></p><p>请用USBæ•°æ®çº¿æˆ–适é…器将Thymio链接至你的计算机上,并且确认没有其他程åºæ­£åœ¨ä½¿ç”¨Thymio.</p> Connection to command line target failed 命令行目标链接失败 Cannot connect to target %0 无法链接至目标%0 Aseba::EditorPage Editor Setup 编辑器设置 Autocompletion 自动字符串补全 Keywords å…³é”®è¯ Aseba::EventViewer Time (seconds) 时间(秒) Values 值 Recording... 记录中... &Pause æš‚åœ (&P) &Clear 清零 (&C) time &window: 时间窗 (&W): Save &As... å¦å­˜ä¸º(&A)... Paused... 已暂åœ... &Record 记录 (&R) Save plot data to file ä¿å­˜å›¾åƒè‡³æ–‡æ¡£ Aseba::FindDialog Aseba Studio - Search and Replace Aseba Studio - æœç´¢å¹¶æ›¿æ¢ &Search for: æœç´¢(&S): &Case sensitive 大å°å†™æ•æ„Ÿ(&C) &Whole words 全字匹é…(&W) Re&gular expressions 正则表达å¼(&g) &Find Next 查找下一个(&F) Find &Previous 查找上一个(&P) Find from &Top 从顶部开始查找(&T) &Replace æ›¿æ¢ (&R) w&ith: 与(&i): Replace and Find &Next 替æ¢å¹¶æŸ¥æ‰¾ä¸‹ä¸€ä¸ª (&N) Replace and Find Previo&us 替æ¢å¹¶æŸ¥æ‰¾ä¸Šä¸€ä¸ª(&u) Replace &All Occurrences 全部替æ¢(&A) End of document reached! 以至文档结尾! Aseba::GeneralPage General Setup 通用设置 Layout 布局 Show keyword toolbar 显示关键è¯å·¥å…·æ  Show memory usage 显示内存使用 Show hidden variables 显示éšè—å˜é‡ Show line numbers 显示行数 Aseba::HelpViewer The help file %0 was not loaded successfully. The error was: %1.The help file should be available in the temporary directory of your system. Please check your installation, or report a bug. 帮助文档%0未加载æˆåŠŸ.错误为:%1.帮助文件应该在系统的临时目录下.请检查你的安装,或者报告错误. Help file not found 找ä¸åˆ°å¸®åŠ©æ–‡ä»¶ Previous å‰ä¸€ä¸ª Next åŽä¸€ä¸ª Home 主目录 Aseba Studio Help Aseba Studio 帮助 The help filter for the langauge "%0" has not been found. Falling back to the default language (%1). This is probably a bug, please report it. 找ä¸åˆ°ä¸Ž"%0"相关的帮助文件.回到默认语言(%1).这很有å¯èƒ½æ˜¯ä¸ªé”™è¯¯,请报错. Help filter not found 找ä¸åˆ°ç›¸å…³çš„帮助文件 Aseba::LinearCameraViewPlugin Linear Camera View Plugin æ‘„åƒå¤´è§†çª—æ’件 linear camera viewer æ‘„åƒå¤´è§†çª— Cannot initialize linear camera view plugin 无法åˆå§‹åŒ–æ‘„åƒå¤´è§†çª—æ’件 One or more variable not found in %1, %2, or %3. 在%1, %2, 或 %3中,找ä¸åˆ°ä¸€ä¸ªæˆ–多个å˜é‡. Aseba::LinearCameraViewVariablesDialog Please choose your variables 请选择å˜é‡ red component 红色 green component 绿色 blue component è“色 range of values 值范围 Ok OK auto range 自动范围 8 bits range (0–255) 8 bits range (0–255) 8ä½èŒƒå›´(0至255) percent range (0–100) percent range (0–100) 百分比范围(0至100) Linear Camera View Plugin æ‘„åƒå¤´è§†çª—æ’件 Aseba::MainWindow Event number %0 事件数é‡%0 <h1>About Aseba</h1>Version information<ul><li>Aseba ver. %0<br/>(build ver. %1/protocol ver. %2)</li><li>Dashel ver. %3<br/>(supported stream types: %4)</li></ul><p>Read more on <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and other contributors (click "Show details" for full list)</p><p>Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>.</p> <h1>关于Aseba</h1>版本信æ¯<ul><li>Aseba版本: %0<br/>(build版本. %1/å议版本. %2)</li><li>Dashel版本. %3<br/>(支æŒçš„æ•°æ®æµç±»åž‹: %4)</li></ul><p>更多资料 <a href="%5">aseba.wikidot.com</a></p><p>(c) 2006-2015 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> 以åŠå…¶ä»–å‚与者 (click "Show details" for full list)</p><p>Aseb为开æºé¡¹ç›®,许å¯è¯ <a href="https://www.gnu.org/licenses/lgpl.html">LGPL版本 3</a>.</p> http://aseba.wikidot.com/en:start http://aseba.wikidot.com/en:start About Aseba Studio 关于Aseba Studio Aseba Studio is an environment for interactively programming robots with a text language. Aseba Studio是应用文字编程语言对机器人进行编程的编程环境 https://www.thymio.org/en:asebastudio https://www.thymio.org/zh:asebastudio Open Script 打开脚本 (not available) (ä¸å¯ç”¨) Loading 加载中 %0 scripts have no corresponding nodes in the current network and have not been loaded. 脚本%0在当å‰ç½‘络无对应的节点,该脚本未被加载. Error in XML source file: %0 at line %1, column %2 XMLæºä»£ç é”™è¯¯:%0在第%1è¡Œ,第%2列 Save Script ä¿å­˜è„šæœ¬ Export memory content 输出å˜é‡ Import memory content 导入å˜é‡ %0 on node %1 节点%1上的%0 The following nodes are not present in the current network and their associated content was not imported: 以下节点在现网络ä¸å­˜åœ¨,其相关内容未被导入: The following variables are not present in the current network and their associated content was not imported: 以下å˜é‡åœ¨çŽ°ç½‘络ä¸å­˜åœ¨,其相关内容未被导入: Some content was not imported 部分内容未导入 Go To Line 跳至行 Line: è¡Œ: Specify event arguments 指定时间å‚æ•° Please specify the %0 arguments of event %1 请指定事件%1çš„%0å‚æ•° Wrong number of arguments 错误的å‚æ•°æ•°é‡ You gave %0 arguments where event %1 requires %2 事件%1需è¦%2个å‚æ•°,你给了%0个å‚æ•° Invalid value 无效值 Invalid value for argument %0 of event %1 事件%1çš„å‚æ•°%0为无效值 Plot event %1 绘制事件%1 plot of %1 %1的图表 Add a new event 添加新事件 Name: å称: Number of arguments For the newly created event å‚æ•°æ•°é‡ Event already exists 该事件已存在 Event %0 already exists. 事件%0已存在. Invalid event name 无效的事件å称 Event %0 has an invalid name. Valid names start with an alphabetical character or an "_", and continue with any number of alphanumeric characters, "_" and "." 事件%0å称无效.有效的å称首字符为字æ¯æˆ–者"_",其余部分å¯ä¸ºä»»ä½•å­—æ¯,æ•°å­—"_"以åŠ"." Desynchronised! Please reload. åŒæ­¥è¢«æ‰°ä¹±!请é‡æ–°åŠ è½½. Add a new constant æ·»åŠ æ–°å¸¸é‡ Value Value assigned to the constant 值 event %0 : 事件%0 : array access at %0 out of bounds [0..%1] 数组访问至%0超出界é™[0..%1] division by zero 被零除 event execution killed 终断事件执行 %0:%1: %2 %0:%1: %2 Remove this constant å–æ¶ˆè¯¥å¸¸é‡ <b>Constants</b> <b>常é‡</b> Remove this event å–消该事件 Send this event å‘é€è¯¥äº‹ä»¶ Plot this event 绘制该事件 <b>Global Events</b> <b>全局事件</b> Clear 清除 ...inside %0 ...在节点%0内 ...%0 ...%0 ...of %0 ä¿å­˜èŠ‚点%0çš„äºŒè¿›åˆ¶ç  ...inside all nodes ...在所有节点中 ...all nodes ...所有节点 &User Manual... 用户手册(&U)... Web site Aseba... Aseba网站... Report bug... 报告系统错误... http://github.com/aseba-community/aseba/issues/new http://github.com/aseba-community/aseba/issues/new &About... 关于(&A)... About &Qt... 关于Qt(&Q)... Thymio programming tutorial... Thymio编程教程... http://aseba.wikidot.com/en:thymiotutoriel http://aseba.wikidot.com/en:thymiotutoriel Thymio programming interface... Thymio编程界é¢... http://aseba.wikidot.com/en:thymioapi http://aseba.wikidot.com/en:thymioapi Challenge tutorial... 挑战教程... http://aseba.wikidot.com/en:gettingstarted http://aseba.wikidot.com/en:gettingstarted MarXbot user manual... MarXbot用户手册... http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf http://mobots.epfl.ch/data/robots/marxbot-user-manual.pdf &File 文档(&F) &New 新建(&N) &Open... 打开(&O)... Open &Recent 最近打开的文件(&R) &Save... ä¿å­˜(&S)... Save &As... å¦å­˜ä¸º(&A)... Export &memories content... 输出å˜é‡(&m)... &Import memories content... 导入å˜é‡(&I)... &Quit 退出(&Q) Cu&t 剪切(&t) &Copy å¤åˆ¶(&C) &Paste 粘贴(&P) &Undo 撤销(&U) Re&do é‡åš(&d) &Find... 查找(&F)... &Replace... 替æ¢(&R)... &Go To Line... 跳至行(&G)... Ctrl+G Edit|Go To Line Ctrl+G Comment the selection 将已选部分注释 Ctrl+D Edit|Comment the selection Ctrl+D Uncomment the selection 将已选部分å–消注释 Shift+Ctrl+D Edit|Uncomment the selection Shift+Ctrl+D &Edit 编辑(&E) Copy &all 全部å¤åˆ¶(&a) Show &keywords 显示关键è¯(&k) Show &memory usage 显示内存用é‡(&m) S&how hidden variables and functions 显示éšè—å˜é‡åŠå‡½æ•°(&h) Show &Line Numbers 显示行数(&L) F11 View|Show Line Numbers F11 &Increase font size 增大字体(&I) &Decrease font size å‡å°å­—体(&D) &View 视窗&V &Settings 设置(&S) &Load all 全部加载(&L) F7 Load|Load all F7 &Reset all 全部é‡ç½®(&R) F8 Debug|Reset all F8 Ru&n all 全部è¿è¡Œ(&n) F9 Debug|Run all F9 &Pause all 全部暂åœ(&P) F10 Debug|Pause all F10 Debug 调试 Toggle breakpoint 切æ¢æ–­ç‚¹ Ctrl+B Debug|Toggle breakpoint Ctrl+B Clear all breakpoints é‡ç½®æ‰€æœ‰æ–­ç‚¹ &Debug 调试(&D) &Tools 工具(&T) &Show last compilation messages 显示上次编译信æ¯(&S) Write the program(s)... 写入程åº... Reboot... é‡æ–°å¯åŠ¨... Save the binary code... ä¿å­˜äºŒè¿›åˆ¶ä»£ç ... &Help 帮助(&H) Untitled 未命å Aseba Studio - Confirmation Dialog Aseba Studio -ç¡®è®¤å¯¹è¯ The document "%0" has been modified. 文件"%0"已被修改. Do you want to save your changes or discard them? ä¿å­˜ä¿®æ”¹è¿˜æ˜¯å¿½ç•¥? [modified] [已修改] %0 %1- Aseba Studio %0 %1- Aseba Studio Aseba::MaskableNamedValuesVectorModel Hide éšè— View 显示 Aseba::NewNamedValueDialog Name Name of the named value (can be a constant, event,...) å称 Default description When no description is given for the named value 默认æè¿° Aseba::NodeTab <b>Keywords</b> <b>关键è¯</b> unknown 未知 Load 加载 Reset é‡ç½® Run è¿è¡Œ Next 下一个 refresh 刷新 auto 自动 <b>Execution</b> <b>执行</b> <b>Variables</b> <b>å˜é‡</b> F&ilter: 筛选(&i): Native Functions 本地函数 Local Events 本地事件 Local Tools 本地工具 Save the binary code of %0 ä¿å­˜%0çš„äºŒè¿›åˆ¶ä»£ç  Aseba Studio: Output of last compilation for %0 Aseba Studio:%0的上一次编译输出 Compilation success. 编译æˆåŠŸ. variables: %1 on %2 (%3%) å˜é‡:%1 on %2 (%3%) bytecode: %1 on %2 (%3%) 字节ç : %1 on %2 (%3%) <b>Memory usage</b> : %1, %2 <b>内存用é‡</b> : %1, %2 running è¿è¡Œä¸­ Pause æš‚åœ step by step 一步一步执行 stopped å·²åœæ­¢ Aseba::ReconnectionDialog Connection closed 连接关闭 Warning, connection closed: I am trying to reconnect. 警告,连接关闭:正在å°è¯•é‡æ–°è¿žæŽ¥. Stop trying åœæ­¢å°è¯• Aseba::StopThymioPlugin Stop Thymio åœæ­¢Thymio Aseba::TargetFunctionsModel hidden éšè— Aseba::TargetVariablesModel names å称 values 值 Aseba::ThymioBlockly::ThymioBlockly Thymio Blockly Interface Thymio模å—åŒ–ç•Œé¢ New 新建 Open 打开 Save ä¿å­˜ Save as å¦å­˜ä¸º Load & Run 加载并è¿è¡Œ Stop åœæ­¢ Help 帮助 Screenshot æˆªå± Blockly for Thymio robot allows to program by visually assembling elements. Blockly is a <a href="https://developers.google.com/blockly/">third-party software from Google</a>. http://aseba.wikidot.com/en:blocklyprogramming http://aseba.wikidot.com/en:blocklyprogramming Export program as image 将程åºè¾“å‡ºä¸ºå›¾åƒ Launch Blockly å¯åŠ¨æ¨¡å— Warning 警告 The Blockly document has been modified.<p>Do you want to save the changes? 模å—化文件已被修改.是å¦ä¿å­˜æ”¹åŠ¨? Aseba::ThymioVPL::Block buttons 按钮 horizontal proximity sensors 水平方å‘接近传感器 ground proximity sensors 底部接近传感器 tap detection / tilt 敲击探测 clap detection 声音探测 timer elapsed 时间到 state filter 状æ€æµ‹è¯• motors 马达 top colour 顶部颜色 bottom colour 底部颜色 music éŸ³ä¹ timer 计时器 state çŠ¶æ€ Aseba::ThymioVPL::EventActionsSet Loading 加载中 Error in XML source file at %0:%1: cannot create block %2 XMLæºä»£ç é”™è¯¯%0:%1:无法创建%2æ¨¡å— Error in XML source file at %0:%1: unknown block type %2 XMLæºä»£ç é”™è¯¯%0:%1:未知的%2模å—类型 Aseba::ThymioVPL::ThymioVisualProgramming Thymio Visual Programming Language Thymioå¯è§†åŒ–程åºè®¾è®¡è¯­è¨€ New 新建 Open 打开 Save ä¿å­˜ Save as å¦å­˜ä¸º Undo 撤销 Redo é‡åš Load & Run 加载并è¿è¡Œ Stop åœæ­¢ Advanced mode é«˜çº§æ¨¡å¼ Help 帮助 Screenshot æˆªå± Events 事件 Compilation success. 编译æˆåŠŸ. show line 显示行 Actions 行动 The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks. 使用Thymioå¯è§†åŒ–程åºè®¾è®¡è¯­è¨€(VPL)å¯ä»¥é€šè¿‡å…³è”事件和机器人行为进行编程 https://www.thymio.org/en:thymiovpl https://www.thymio.org/zh:thymiovpl http://aseba.wikidot.com/en:thymiovpl http://aseba.wikidot.com/en:thymiovpl Export program as image 将程åºæ•°å‡ºä¸ºå›¾åƒ Launch VPL å¯åŠ¨VPL Returning to simple mode 返回简å•æ¨¡å¼ You are currently using states. Returning to simple mode will discard any state filter or state setting card.<p>Are you sure you want to continue? 你现在正在使用状æ€åŠŸèƒ½.如果返回至简å•æ¨¡å¼,所有状æ€è¿‡æ»¤å™¨å’ŒçŠ¶æ€è®¾ç½®å¡éƒ½å°†æ¶ˆå¤±.<p>确定继续å—? Warning 警告 The VPL document has been modified.<p>Do you want to save the changes? VPL文件已被修改.<p>是å¦ä¿å­˜æ”¹åŠ¨? Incompatible Version 版本ä¸åŒ¹é… This file is incompatible with this version of ThymioVPL. It might not work correctly. 该文件版本与ThymioVPL版本ä¸åŒ¹é….å¯èƒ½ä¸èƒ½æ­£å¸¸è¿è¡Œ. Please add an event 请添加一个事件 Please add an action 请添加一个行动 Aseba::ThymioVPL::UsageLogger Login 登陆 Please enter your user or group name: 请输入用户å: Aseba::ThymioVPLStandalone Connecting to Thymio... 与Thymio连接中... Thymio VPL Error Thymio VPL错误 You need to connect a Thymio II to use this application. 这个应用需è¦è¿žæŽ¥ä¸€ä¸ªThymio II机器人. Save Script ä¿å­˜è„šæœ¬ Open Script 打开脚本 Loading 加载中 No Thymio VPL data were found in the script file, file ignored. 在此脚本文件中找ä¸åˆ°Thymio VPL相关数æ®,该文件被忽略. Error in XML source file: %0 at line %1, column %2 XMLæºä»£ç é”™è¯¯:%0在第%1è¡Œ,第%2列 This application only supports a single robot at a time. 该应用一次仅支æŒä¸€ä¸ªæœºå™¨äºº. Connection to Thymio lost... make sure Thymio is on and connect the USB cable/dongle 与Thymio的连接中断...请确认Thymio为开机状æ€å¹¶ä¸”连接在USBç«¯å£ [modified] [已修改] Untitled 未命å %0 %1- Thymio Visual Programming Language - ver. %2 %0 %1- Thymioå¯è§†åŒ–程åºè®¾è®¡è¯­è¨€-版本 %2 QApplication Protocol version mismatch å议版本ä¸åŒ¹é… Aseba Studio uses an older protocol (%1) than node %0 (%2), please upgrade Aseba Studio. Aseba Studio使用的网络åè®®(%1)低于节点%0使用的网络åè®®(%2),请å‡çº§Aseba Studio. Node %0 uses an older protocol (%2) than Aseba Studio (%1), please upgrade the node firmware. 节点%0使用的网络åè®®(%2)低于Aseba Studio使用的网络åè®®(%1),请å‡çº§èŠ‚点固件. QObject Unexpected Dashel Error 异常的Dashel错误 A communication error happened: 出现一个通讯错误: Compilation success 编译æˆåŠŸ Line %0: Missing event 第%0è¡Œ:缺少事件 Line %0: Missing action 第%0è¡Œ:缺少行动 The event in line %0 is the same as in line %1 第%0行与第%1è¡Œçš„äº‹ä»¶ç›¸åŒ The event and the state condition in line %0 are the same as in line %1 第%0行与第%1行的事件以åŠæ¡ä»¶çŠ¶æ€ç›¸åŒ Unknown VPL error ä½ç½®çš„VPL错误 aseba-1.6.0/clients/studio/asebastudiohelp.qrc000066400000000000000000000001721322771007300214260ustar00rootroot00000000000000 aseba-doc.qhc aseba-doc.qch aseba-1.6.0/clients/studio/compiler_de.qm000066400000000000000000000531011322771007300203640ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXbNhhDE×udMÆ@bgN*TAµZ½²LÙb!26joƒ"YåkG_+8Ó¯zUª·SôE|¼ ôK½ÂôKÎÊrôO®ÌbôP®Ö>ôL)ÖwôI˜×æôLöÙÒ7šþid‘J_À`© îk84JN€¥ô!ŸµO?§a5s«-Õ˽ˆ&÷>‰û¹â tHÐ'jYeDÌìx2à>sÀ0?žý˃;Xà”EŒ‰ ˆ2Yi&?¥IE«%’‰àbGŠ'¿;«mY yËÄ)Í0HÀ2Ž8¹3œ9 Î2Їù$qŠ¢Òñ ÁŽ 4Ÿ!Ý”º)7LMb.&ôQ 8Ä© z$ôO{üÞ~&ôP "t)¼tÅ@nÐxÄ=÷kä,}«s°QôIðàôJ²E¼/M"iôHryy‰œ6%?«GObâu•.k) vAó%0–ZMIã•g´$½ï"GÂøFž$F¾¼ÜE// ”:] ,ü?N œS¢Y žø‚‚ Ÿ,Ô õä™} e ÿ)L ie/ä 0þ/<Ù B³”  Åc5³ ÆÙ“` äßT'° õ{é ° è™û "‰Øe H†d&Í PDYD  Œ—Ù W µ€”I7 áž´Bx íþKk ·„Ó -pn45 >ÏòAV A¤Qg RV®Pg †Í9~ ŽÖà(f ¸ê4*© Ä+ˆ âF™C ñd\H îÒ1K ´N ˆ3‹?ä ŒQtN  Œá¥4Ä ŒýÔ! ö¿y UÈ D,<åiFJ!CO89 %ƒ9u˜‡¹S²Œ„c!iQÈ Spalte:  Col: Aseba::CompilerTranslator!= (ungleich)!= (not equal to)Aseba::CompilerTranslator~%0 ist ein lokales Ereignis, welches nicht gesendet werden kann(%0 is a local event that you cannot emitAseba::CompilerTranslator@%0 ist keine definierte Variable%0 is not a defined variableAseba::CompilerTranslatorb%0 ist keine definierte Variable, meintest Du %1?-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator<%0 ist kein bekanntes Ereignis%0 is not a known eventAseba::CompilerTranslator^%0 ist kein bekanntes Ereignis, meintest Du %1?(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator4( (öffnende runde Klammer)( (open parenthesis)Aseba::CompilerTranslator:) (schließende runde Klammer)) (close parenthesis)Aseba::CompilerTranslator* (Mal)* (time)Aseba::CompilerTranslator:*= (Malnehmen und Übertragen)*= (time equal)Aseba::CompilerTranslator+ (Plus)+ (plus)Aseba::CompilerTranslator&++ (Inkrementieren)++ (plus plus)Aseba::CompilerTranslator8+= (Addieren und Übertragen)+= (plus equal)Aseba::CompilerTranslator, (Komma) , (comma)Aseba::CompilerTranslator- (Minus) - (minus)Aseba::CompilerTranslator&-- (Dekrementieren)-- (minus minus)Aseba::CompilerTranslatorf-32768 hat kein positives 16-Bit-Integer-Äquivalent9-32768 has no positive correspondance in 16 bits integersAseba::CompilerTranslator@-= (Subtrahieren und Übertragen)-= (minus equal)Aseba::CompilerTranslator"/ (geteilt durch) / (divide)Aseba::CompilerTranslator</= (Dividieren und Übertragen)/= (divide equal)Aseba::CompilerTranslator: (Doppelpunkt) : (colon)Aseba::CompilerTranslator< (kleiner)< (smaller than)Aseba::CompilerTranslator8<< ( Verschieben nach links)<< (shift left)Aseba::CompilerTranslatorV<<= (Verschieben nach links und Übertragen)<<= (shift left equal)Aseba::CompilerTranslator0<= (kleiner oder gleich)<= (smaller or equal than)Aseba::CompilerTranslator= (Zuweisung)= (assignation)Aseba::CompilerTranslator== (ist gleich) == (equal to)Aseba::CompilerTranslator> (größer)> (bigger than)Aseba::CompilerTranslator.>= (größer oder gleich)>= (bigger or equal than)Aseba::CompilerTranslator8>> (Verschieben nach rechts)>> (shift right)Aseba::CompilerTranslatorX>>= (Verschieben nach rechts und Übertragen)>>= (shift right equal)Aseba::CompilerTranslatorÎZugriff auf Array %0 außerhalb der Grenzen, Zugriff auf Index %1, wohingegen das Array die Größe %2 hatNAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslatorÎArgument %0 (%1) der Funktion %2 hat die Größe %3, jedoch erwartet die Funktionsdefinition die Größe %4RArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorêArgument %0 (%1) der Funktion %2 hat die Größe %3, wohingegen eine vorhergehende Instanz der Vorlage die Größe %4 hatqArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslatorPArray %0 hat eine nicht definierte GrößeArray %0 has undefined sizeAseba::CompilerTranslatorJArraygröße: Ergebnis ist negativ (%0)#Array size: result is negative (%0)Aseba::CompilerTranslator:Arraygröße: Ergebnis ist nullArray size: result is nullAseba::CompilerTranslatorŠFehlerhafte Zielbeschreibung: zu wenig Speicher für interne VariablenABroken target description: not enough room for internal variablesAseba::CompilerTranslatorDIf-Bedingung kann kein Vektor sein&Condition of the if cannot be a vectorAseba::CompilerTranslatorJWhile-Bedingung kann kein Vektor sein)Condition of the while cannot be a vectorAseba::CompilerTranslatoršKonstante %0 hat den Wert %1, der außerhalb des Bereichs [-32768;32767] liegt>Constant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslator’Konstante %0 hat den Wert %1, der außerhalb des Bereichs [0; 32767] liegt9Constant %0 has value %1, which is out of [0;32767] rangeAseba::CompilerTranslatorDKonstante %0 ist bereits definiertConstant %0 is already definedAseba::CompilerTranslator8Konstante %0 nicht definiertConstant %0 not definedAseba::CompilerTranslatorZKonstante %0 nicht definiert, meintest Du %1?(Constant %0 not defined, do you mean %1?Aseba::CompilerTranslator&Division durch NullDivision by zeroAseba::CompilerTranslator€Endindex kann in rückwärts zählenden Schleifen nicht -32768 sein.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslator|Endindex kann in vorwärts zählenden Schleifen nicht 32767 sein-End index cannot be 32767 in increasing loopsAseba::CompilerTranslator®Endwert des Bereichsindex muss kleiner oder gleich dem Startwert des Bereichsindex seinAEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator&Fehler in BinärzahlError in binary numberAseba::CompilerTranslator2Fehler in HexadezimalzahlError in hexadecimal numberAseba::CompilerTranslator0Fehler in ZahlenausdruckError in numberAseba::CompilerTranslatorRFehler in Zahlenausdruck, ungültige BasisError in number, invalid baseAseba::CompilerTranslatorJEreignis %0 ist bereits implementiertEvent %0 is already implementedAseba::CompilerTranslatorÂEreignis %0 benötigt ein Array der Größe %1 oder kleiner, aber eines der Größe %2 wurde übergebenKEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslator¨Ereignis %0 benötigt ein Array der Größe %1, aber eines der Größe %2 wurde übergeben@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslatorBevorstehender Überlauf des Ausführungsstapels: Überprüfen Sie rekursive Prozeduraufrufe und verkürzen Sie lange mathematische AusdrückelExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslatordTyp %0 erwartet, stattdessen wurde Typ %1 gefunden(Expecting %0 type, found %1 type insteadAseba::CompilerTranslator6%0 erwartet, fand jedoch %1Expecting %0, found %1 insteadAseba::CompilerTranslatorjBedingung erwartet, stattdessen wurde ein %0 gefunden)Expecting a condition, found a %0 insteadAseba::CompilerTranslatornAls zweiter Index wird ein konstanter Ausdruck erwartet1Expecting a constant expression as a second indexAseba::CompilerTranslator~Zuweisung zu einer Variablen erwartet, jedoch wurde %0 gefunden7Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslatorbZuweisung erwartet, stattdessen wurde %0 gefunden&Expecting assignment, found %0 insteadAseba::CompilerTranslatordBezeichner erwartet, stattdessen wurde %0 gefundenExpecting identifier, found %0Aseba::CompilerTranslator`Erwartet wird: %0; stattdessen wurde %1 gefunden)Expecting one of %0; but found %1 insteadAseba::CompilerTranslator~Funktion %0 erwartet %1 Argumente, jedoch wurden mehr verwendet0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslatorzFunktion %0 benötigt %1 Argumente, jedoch wurden %2 verwendet7Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslator˜Funktion %0 benötigt kein Argument, jedoch wurde eins oder mehrere verwendet/Function %0 requires no argument, some are usedAseba::CompilerTranslatorÊBezeichner müssen mit _ oder einem Buchstaben beginnen, habe jedoch das Unicode-Zeichen 0x%0 gefunden`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorNUnendliche Schleifen sind nicht erlaubtInfinite loops not allowedAseba::CompilerTranslatorjGanzzahlwert %0 außerhalb des Bereichs [-32768;32767],Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslator`Ganzzahlwert %0 außerhalb des Bereichs [0;32767]'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslator^Ganzzahlwert %0 außerhalb des Bereichs [0;4095]&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslator`Ganzzahlwert %0 außerhalb des Bereichs [0;65535]'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslator¸Interner Compiler-Fehler, bitte melde einen Bug mit Angabe des fehlererzeugenden Quelltextes]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslatorZeile: Line: Aseba::CompilerTranslatorlMemoryVectorNode::getVectorSize: Unzulässige Operation2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslatorPKein weiterer Speicherplatz für VariableNo more free variable spaceAseba::CompilerTranslatorBKein gültiger konstanter AusdruckNot a valid constant expressionAseba::CompilerTranslatorŠNicht genügend Speicherplatz, um diese temporäre Variable zu erzeugen7Not enough free space to allocate this tempory variableAseba::CompilerTranslatorbNull Schritte sind in for-Schleifen nicht erlaubt'Null steps are not allowed in for loopsAseba::CompilerTranslator²Arrayzugriff außerhalb der Grenzen. Versuche Index %0 von Array %1 der Grösse %2 zu lesenPOut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatorºArrayzugriff außerhalb der Grenzen. Versuche Index %0 von Array %1 der Grösse %2 zu schreibenQOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslatorVSkript zu lang für Bytecode-Größe des Ziels'Script too big for target bytecode sizeAseba::CompilerTranslator|Dimensionsfehler! Größe von Array1 = %0; Größe von Array2 = %15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslatorStartindex muss höher sein als Endindex in rückwärts zählenden Schleifen=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslator–Startindex muss niedriger sein als Endindex in vorwärts zählenden Schleifen Aseba::CompilerTranslator Broken target description: not enough room for internal variables Fehlerhafte Zielbeschreibung: zu wenig Speicher für interne Variablen Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions Bevorstehender Ãœberlauf des Ausführungsstapels: Ãœberprüfen Sie rekursive Prozeduraufrufe und verkürzen Sie lange mathematische Ausdrücke Script too big for target bytecode size Skript zu lang für Bytecode-Größe des Ziels %0 is not a defined variable %0 ist keine definierte Variable %0 is not a defined variable, do you mean %1? %0 ist keine definierte Variable, meintest Du %1? Target does not provide function %0 Ziel verfügt nicht über die Funktion %0 Target does not provide function %0, do you mean %1? Ziel verfügt nicht über die Funktion %0, meintest Du %1? Constant %0 not defined Konstante %0 nicht definiert Constant %0 not defined, do you mean %1? Konstante %0 nicht definiert, meintest Du %1? %0 is not a known event %0 ist kein bekanntes Ereignis %0 is not a known event, do you mean %1? %0 ist kein bekanntes Ereignis, meintest Du %1? %0 is a local event that you cannot emit %0 ist ein lokales Ereignis, welches nicht gesendet werden kann Subroutine %0 does not exists Prozedur %0 existiert nicht Subroutine %0 does not exists, do you mean %1? Prozedur %0 existiert nicht, meintest Du %1? Line: Zeile: Col: Spalte: Unbalanced comment block Unbalanced comment block. Kommentarblock nicht ausbalanciert Syntax error syntax error Syntaxfehler Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead Bezeichner müssen mit _ oder einem Buchstaben beginnen, habe jedoch das Unicode-Zeichen 0x%0 gefunden Error in hexadecimal number error in hexadecimal number Fehler in Hexadezimalzahl Error in binary number error in binary number Fehler in Binärzahl Error in number, invalid base error in number, invalid base Fehler in Zahlenausdruck, ungültige Basis Error in number error in number Fehler in Zahlenausdruck Internal compiler error, please report a bug containing the source which triggered this error Interner Compiler-Fehler, bitte melde einen Bug mit Angabe des fehlererzeugenden Quelltextes Expecting %0, found %1 instead %0 erwartet, fand jedoch %1 Integer value %0 out of [0;4095] range Ganzzahlwert %0 außerhalb des Bereichs [0;4095] Integer value %0 out of [0;65535] range Ganzzahlwert %0 außerhalb des Bereichs [0;65535] Integer value %0 out of [0;32767] range Ganzzahlwert %0 außerhalb des Bereichs [0;32767] Integer value %0 out of [-32768;32767] range Ganzzahlwert %0 außerhalb des Bereichs [-32768;32767] Constant %0 has value %1, which is out of [0;32767] range Konstante %0 hat den Wert %1, der außerhalb des Bereichs [0; 32767] liegt Constant %0 has value %1, which is out of [-32768;32767] range Konstante %0 hat den Wert %1, der außerhalb des Bereichs [-32768;32767] liegt Expecting one of %0; but found %1 instead Erwartet wird: %0; stattdessen wurde %1 gefunden Not enough free space to allocate this tempory variable Nicht genügend Speicherplatz, um diese temporäre Variable zu erzeugen Variable definition is allowed only at the beginning of the program before any statement Variablendefinition nur am Anfang des Programms vor der ersten Anweisung erlaubt Expecting identifier, found %0 Bezeichner erwartet, stattdessen wurde %0 gefunden Constant %0 is already defined Konstante %0 ist bereits definiert Variable %0 is already defined Variable %0 ist bereits definiert Variable %0 has the same name as a constant Variable %0 hat den gleichen Namen wie eine Konstante Array %0 has undefined size Array %0 hat eine nicht definierte Größe No more free variable space Kein weiterer Speicherplatz für Variable Expecting assignment, found %0 instead Zuweisung erwartet, stattdessen wurde %0 gefunden Null steps are not allowed in for loops Null Schritte sind in for-Schleifen nicht erlaubt Start index must be lower than end index in increasing loops Startindex muss niedriger sein als Endindex in vorwärts zählenden Schleifen Start index must be higher than end index in decreasing loops Startindex muss höher sein als Endindex in rückwärts zählenden Schleifen End index cannot be 32767 in increasing loops Endindex kann in vorwärts zählenden Schleifen nicht 32767 sein End index cannot be -32768 in decreasing loops Endindex kann in rückwärts zählenden Schleifen nicht -32768 sein Event %0 is already implemented Ereignis %0 ist bereits implementiert Event %0 needs an array of size %1 or smaller, but one of size %2 is passed Ereignis %0 benötigt ein Array der Größe %1 oder kleiner, aber eines der Größe %2 wurde übergeben Event %0 needs an array of size %1, but one of size %2 is passed Ereignis %0 benötigt ein Array der Größe %1, aber eines der Größe %2 wurde übergeben Subroutine %0 is already defined Prozedur %0 wurde bereits definiert Expecting a constant expression as a second index Als zweiter Index wird ein konstanter Ausdruck erwartet End of range index must be lower or equal to start of range index end of range index must be lower or equal to start of range index Endwert des Bereichsindex muss kleiner oder gleich dem Startwert des Bereichsindex sein Array size: result is negative (%0) Arraygröße: Ergebnis ist negativ (%0) Array size: result is null Arraygröße: Ergebnis ist null Not a valid constant expression Kein gültiger konstanter Ausdruck Function %0 requires no argument, some are used Funktion %0 benötigt kein Argument, jedoch wurde eins oder mehrere verwendet Function %0 requires %1 arguments, only %2 are provided Funktion %0 benötigt %1 Argumente, jedoch wurden %2 verwendet Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 Argument %0 (%1) der Funktion %2 hat die Größe %3, jedoch erwartet die Funktionsdefinition die Größe %4 Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 Argument %0 (%1) der Funktion %2 hat die Größe %3, wohingegen eine vorhergehende Instanz der Vorlage die Größe %4 hat Function %0 requires %1 arguments, more are used Funktion %0 erwartet %1 Argumente, jedoch wurden mehr verwendet Unexpected token when building UnaryArithmeticAssignmentNode Unerwartetes Token beim Bauen von UnaryArithmeticAssignmentNode Expecting an assignment to a variable, found %0 instead Zuweisung zu einer Variablen erwartet, jedoch wurde %0 gefunden Access of array %0 out of bounds: accessing index %1 while array is of size %2 Zugriff auf Array %0 außerhalb der Grenzen, Zugriff auf Index %1, wohingegen das Array die Größe %2 hat Size error! Size of array1 = %0 ; size of array2 = %1 Dimensionsfehler! Größe von Array1 = %0; Größe von Array2 = %1 Condition of the if cannot be a vector If-Bedingung kann kein Vektor sein Condition of the while cannot be a vector While-Bedingung kann kein Vektor sein MemoryVectorNode::getVectorSize: illegal operation MemoryVectorNode::getVectorSize: Unzulässige Operation Infinite loops not allowed Unendliche Schleifen sind nicht erlaubt Division by zero Division by zero. Division durch Null -32768 has no positive correspondance in 16 bits integers -32768 has no positive correspondance in 16 bits integers. -32768 hat kein positives 16-Bit-Integer-Äquivalent Out of bound static array access. Trying to read index %0 of array %1 of size %2 Arrayzugriff außerhalb der Grenzen. Versuche Index %0 von Array %1 der Grösse %2 zu lesen Out of bound static array access. Trying to write index %0 of array %1 of size %2 Arrayzugriff außerhalb der Grenzen. Versuche Index %0 von Array %1 der Grösse %2 zu schreiben Expecting %0 type, found %1 type instead Typ %0 erwartet, stattdessen wurde Typ %1 gefunden Expecting a condition, found a %0 instead Bedingung erwartet, stattdessen wurde ein %0 gefunden end of stream Ende des Datenstroms when keyword when Schlüsselwort emit keyword emit Schlüsselwort _emit keyword _emit Schlüsselwort for keyword for Schlüsselwort in keyword in Schlüsselwort step keyword step Schlüsselwort while keyword while Schlüsselwort do keyword do Schlüsselwort if keyword if Schlüsselwort then keyword then Schlüsselwort else keyword else Schlüsselwort elseif keyword elseif Schlüsselwort end keyword end Schlüsselwort var keyword var Schlüsselwort const keyword const Schlüsselwort call keyword call Schlüsselwort sub keyword sub Schlüsselwort callsub keyword callsub Schlüsselwort onevent keyword onevent Schlüsselwort abs keyword abs Schlüsselwort return keyword return Schlüsselwort string Zeichenkette integer Ganze Zahl ( (open parenthesis) ( (öffnende runde Klammer) ) (close parenthesis) ) (schließende runde Klammer) [ (open bracket) [ (öffnende eckige Klammer) ] (close bracket) ] (schließende eckige Klammer) : (colon) : (Doppelpunkt) , (comma) , (Komma) = (assignation) = (Zuweisung) or oder and und not nicht binary or binäres Oder binary xor binäres Xor binary and binäres Und binary not binäres Nicht binary or equal binäres Oder-gleich binary xor equal binäres Xor-gleich binary and equal binäres Und-gleich == (equal to) == (ist gleich) != (not equal to) != (ungleich) > (bigger than) > (größer) >= (bigger or equal than) >= (größer oder gleich) < (smaller than) < (kleiner) <= (smaller or equal than) <= (kleiner oder gleich) << (shift left) << ( Verschieben nach links) >> (shift right) >> (Verschieben nach rechts) <<= (shift left equal) <<= (Verschieben nach links und Ãœbertragen) >>= (shift right equal) >>= (Verschieben nach rechts und Ãœbertragen) + (plus) + (Plus) - (minus) - (Minus) += (plus equal) += (Addieren und Ãœbertragen) -= (minus equal) -= (Subtrahieren und Ãœbertragen) ++ (plus plus) ++ (plus) plus ++ (Inkrementieren) -- (minus minus) -- (Dekrementieren) * (time) * (Mal) / (divide) / (geteilt durch) modulo Modulo *= (time equal) *= (Malnehmen und Ãœbertragen) /= (divide equal) /= (Dividieren und Ãœbertragen) modulo equal Modulo und Ãœbertragen unknown Unbekannt Unknown error Unbekannter Fehler aseba-1.6.0/clients/studio/compiler_el.qm000066400000000000000000000535251322771007300204060ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXbO^hDEÉudN°@b N*TA·Z½²M‡b!25Noƒ!µåkG‰+7Û¯zUœ·SôEj¼ ôK®½ÂôLpÊrôP²ÌbôQ¶Ö>ôLÏÖwôJ&×æôM+öÙÒ6–þidñJ_À`© 0k84J䀥ô{ŸµO>¬§a5c«,Í˽ˆ%6÷>‰Wû¹¼ tIV'jYOD̆x2à>À0?þý˃:Âà”EŒ‰ ¬2Yi?¥Iï«%‰àbG6Š'¿+«mY ÇËÄ(±0HÀ1‚8¹2”9 Î1Ƈù$ùŠ¢ÒG Á  4™!Ý”¬)7LN6.&ôR8Ä© 7z$ôP{üð~&ôQ"t(¼tÅ?þÐxÄ='÷kä+e«s6QôJ‚àôKLE¼/MÌiôHôyy œ6$“«GPdâu•-W) ²Aó%/dZMI›•g´$ï"GøøF ž$FܼÜE. ”9• ,ü?º œS¢ žø‚ Ÿ,j õä™ e & ÿ)Ø ie.¼ 0þ/ÏòA` A¤Rw RV®Qs †Í8À ŽÖà'd ¸ê4)¡ Ä*| âF™= ñd\Hh îÒ0 ´Nó ˆ3‹?~ ŒQtOš Œá¥3¦ ŒýÔ ö¿y±È D@<åiBJ «O89 gƒ9u‡¹S Œ„c;ì›ŠÉ ¦*) ¦-F#Wñs|Ff@syr‚©ã˜ÿ´BþÒDëÜÃâ=¹iRܣĮ»·:  Col: Aseba::CompilerTranslator!= (´¹¬Æ¿Á¿)!= (not equal to)Aseba::CompilerTranslatort¤¿ %0 µ¯½±¹ ­½± Ä¿À¹ºÌ Ãż²¬½ À¿Å ´µ ¼À¿Áµ¯Äµ ½± µºÀ­¼ÈµÄµ(%0 is a local event that you cannot emitAseba::CompilerTranslator>%0 ´µ½ µ¯½±¹ ´·»É¼­½· ¼µÄ±²»·Ä®%0 is not a defined variableAseba::CompilerTranslatorf%0 ´µ½ µ¯½±¹ ´·»É¼­½· ¼µÄ±²»·Ä®, ¼®ÀÉ µ½½¿µ¯Äµ %1;-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator:¤¿ %0 ´µ½ µ¯½±¹ ³½ÉÃÄÌ Ãż²¬½%0 is not a known eventAseba::CompilerTranslatorb¤¿ %0 ´µ½ µ¯½±¹ ³½ÉÃÄÌ Ãż²¬½, ¼®ÀÉ µ½½¿µ¯Äµ %1;(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator*( (±½¿¯³µ¹ À±Á­½¸µÃ·)( (open parenthesis)Aseba::CompilerTranslator*) (º»µ¯½µ¹ À±Á­½¸µÃ·)) (close parenthesis)Aseba::CompilerTranslator* (µÀ¯)* (time)Aseba::CompilerTranslator*= (µÀ¯ ¯Ã¿½)*= (time equal)Aseba::CompilerTranslator+ (ÃŽ)+ (plus)Aseba::CompilerTranslator++ (ÃŽ ÃŽ)++ (plus plus)Aseba::CompilerTranslator+= (ÃŽ ¯Ã¿½)+= (plus equal)Aseba::CompilerTranslator, (ºÌ¼¼±) , (comma)Aseba::CompilerTranslator- (¼µ¯¿½) - (minus)Aseba::CompilerTranslator -- (¼µ¯¿½ ¼µ¯¿½)-- (minus minus)Aseba::CompilerTranslatorr¤¿ -32768 ´µ½ ­Çµ¹ ¸µÄ¹ºÌ ±½Ä¯ÃÄ¿¹Ç¿ õ ±ºµÁ±¯¿Å 16 bits9-32768 has no positive correspondance in 16 bits integersAseba::CompilerTranslator-= (¼µ¯¿½ ¯Ã¿½)-= (minus equal)Aseba::CompilerTranslator/ (´¹±) / (divide)Aseba::CompilerTranslator/= (´¹± ¯Ã¿½)/= (divide equal)Aseba::CompilerTranslator&: (¬½É º¬ÄÉ Äµ»µ¯±) : (colon)Aseba::CompilerTranslator"< (¼¹ºÁÌĵÁ¿ ±ÀÌ)< (smaller than)Aseba::CompilerTranslator,<< (¿»¯Ã¸·Ã· ±Á¹ÃĵÁ¬)<< (shift left)Aseba::CompilerTranslator8<<= (¿»¯Ã¸·Ã· ±Á¹ÃĵÁ¬ ¯Ã¿½)<<= (shift left equal)Aseba::CompilerTranslator2<= (¼¹ºÁÌĵÁ¿ ±ÀÌ ® ¯Ã¿½)<= (smaller or equal than)Aseba::CompilerTranslator"= (±½¬¸µÃ· Ĺ¼®Â)= (assignation)Aseba::CompilerTranslator== (¯Ã¿ ¼µ) == (equal to)Aseba::CompilerTranslator$> (¼µ³±»ÍĵÁ¿ ±ÀÌ)> (bigger than)Aseba::CompilerTranslator4>= (¼µ³±»ÍĵÁ¿ ±ÀÌ ® ¯Ã¿½)>= (bigger or equal than)Aseba::CompilerTranslator&>> (¿»¯Ã¸·Ã· ´µ¾¹¬)>> (shift right)Aseba::CompilerTranslator2>>= (¿»¯Ã¸·Ã· ´µ¾¹¬ ¯Ã¿½)>>= (shift right equal)Aseba::CompilerTranslator® ÁÌò±Ã· ÃÄ¿½ À¯½±º± %0 µºÄÌ ¿Á¯É½: ÀÁÌò±Ã· ´µ¯ºÄ· %1 µ½Î ¿ À¯½±º± µ¯½±¹ ¼µ³­¸¿Å %2NAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslator̤¿ ÌÁ¹Ã¼± %0 (%1) Ä· ÃŽ¬Áķ÷ %2 µ¯½±¹ ¼µ³­¸¿Å %3, ̼ɠ· ´®»É÷ Ä· ÃŽ¬Áķ÷ ±À±¹Äµ¯ ¼­³µ¸¿ %4RArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorú¤¿ ÌÁ¹Ã¼± %0 (%1) Ä· ÃŽ¬Áķ÷ %2 µ¯½±¹ ¼µ³­¸¿Å %3, µ½Î ¼¹± ÀÁ¿·³¿Í¼µ½· ÀµÁ¯ÀÄÉ÷ Ä· À±Á±¼­ÄÁ¿Å ÀÁ¿ÄÍÀ¿Å ®Ä±½ ¼µ³­¸¿Å %4qArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslatorXŸ À¯½±º± %0 ´µ½ ­Çµ¹ ÀÁ¿Ã´¹¿Á¹Ã¼­½¿ ¼­³µ¸¿ÂArray %0 has undefined sizeAseba::CompilerTranslatorbœ­³µ¸¿ À¯½±º±: Ä¿ ±À¿Ä­»µÃ¼± µ¯½±¹ ±Á½·Ä¹ºÌ (%0)#Array size: result is negative (%0)Aseba::CompilerTranslatorPœ­³µ¸¿ À¯½±º±: Ä¿ ±À¿Ä­»µÃ¼± µ¯½±¹ ºµ½ÌArray size: result is nullAseba::CompilerTranslator– µÁ¹³Á±Æ® ±À¿ÃŽ´µ´µ¼­½¿Å ÃÄÌÇ¿Å: ±½µÀ±Áº® ÇÎÁ¿ ³¹± µÃÉĵÁ¹º­ ¼µÄ±²»·Ä­ÂABroken target description: not enough room for internal variablesAseba::CompilerTranslatorf— ÃŽ¸®º· Ä¿Å µ¬½ (if) ´µ ¼ÀÀ¿Áµ¯ ½± µ¯½±¹ ´¹¬½Åü±&Condition of the if cannot be a vectorAseba::CompilerTranslatorj— ÃŽ¸®º· Ä¿Å µ½Î (while) ´µ ¼À¿Áµ¯ ½± µ¯½±¹ ´¹¬½Åü±)Condition of the while cannot be a vectorAseba::CompilerTranslator— Ãı¸µÁ¬ %0 ­Çµ¹ Ĺ¼® %1, · ¿À¿¯± µ¯½±¹ µºÄÌ Ä¿Å µÍÁ¿Å [-32768;32767]>Constant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslator†— Ãı¸µÁ¬ %0 ­Çµ¹ Ĺ¼® %1, · ¿À¿¯± µ¯½±¹ µºÄÌ Ä¿Å µÍÁ¿Å [0;32767]9Constant %0 has value %1, which is out of [0;32767] rangeAseba::CompilerTranslator>— Ãı¸µÁ¬ %0 µ¯½±¹ ®´· ´·»É¼­½·Constant %0 is already definedAseba::CompilerTranslator>— Ãı¸µÁ¬ %0 ´µ½ µ¯½±¹ ´·»É¼­½·Constant %0 not definedAseba::CompilerTranslatorf— Ãı¸µÁ¬ %0 ´µ½ µ¯½±¹ ´·»É¼­½·, ¼®ÀÉ µ½½¿µ¯Äµ %1;(Constant %0 not defined, do you mean %1?Aseba::CompilerTranslator(”¹±¯ÁµÃ· ¼µ Ä¿ ¼·´­½Division by zeroAseba::CompilerTranslatorŽŸ ´µ¯ºÄ· ÄµÁ¼±Ä¹Ã¼¿Í ´µ ¼À¿Áµ¯ ½± µ¯½±¹ -32768 õ ²ÁÌÇ¿Å À¿Å ¼µ¹Î½¿Å½.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslatorŒŸ ´µ¯ºÄ· ÄµÁ¼±Ä¹Ã¼¿Í ´µ ¼À¿Áµ¯ ½± µ¯½±¹ 32767 õ ²ÁÌÇ¿Å À¿Å ±Å¾¬½¿Å½-End index cannot be 32767 in increasing loopsAseba::CompilerTranslator°Ÿ ´µ¯ºÄ· Ä­»¿Å µÍÁ¿Å ÀÁ­Àµ¹ ½± µ¯½±¹ ¼¹ºÁÌĵÁ¿ ±ÀÌ ® ¯Ã¿ ¼µ Ä¿ ´µ¯ºÄ· ±ÁÇ® µÍÁ¿Å AEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator2£Æ¬»¼± ÃÄ¿ ´Å±´¹ºÌ ±Á¹¸¼ÌError in binary numberAseba::CompilerTranslator:£Æ¬»¼± ÃÄ¿ ´µº±µ¾±´¹ºÌ ±Á¹¸¼ÌError in hexadecimal numberAseba::CompilerTranslator$£Æ¬»¼± ÃÄ¿½ ±Á¹¸¼ÌError in numberAseba::CompilerTranslatorD£Æ¬»¼± ÃÄ¿½ ±Á¹¸¼Ì, ¼· ­³ºÅÁ· ²¬Ã·Error in number, invalid baseAseba::CompilerTranslator8¤¿ Ãż²¬½ %0 ®´· µÆ±Á¼Ì¶µÄ±¹Event %0 is already implementedAseba::CompilerTranslator´¤¿ Ãż²¬½ %0 ÇÁµ¹¬¶µÄ±¹ À¯½±º± ¼µ³­¸¿Å %1 ® ¼¹ºÁÌĵÁ¿, ̼ɠÀµÁ½¹­Ä±¹ º¬À¿¹¿ ¼µ³­¸¿Å %2KEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslatorœ¤¿ Ãż²¬½ %0 ÇÁµ¹¬¶µÄ±¹ À¯½±º± ¼µ³­¸¿Å %1, ̼ɠÀµÁ½¹­Ä±¹ º¬À¿¹¿ ¼µ³­¸¿Å %2@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslator— ÃÄ¿¯²± µºÄ­»µÃ· ¸± ÅÀµÁǵ¹»¯Ãµ¹, µ»­³¾Äµ ³¹± ÌÀ¿¹± º»®Ã· ±½±´Á¿¼¹º® ÅÀ¿Á¿Åį½± º±¹ ÀµÁ¹ºÌÈĵ ¼±ºÁ¿Ãºµ»µ¯ ¼±¸·¼±Ä¹º­ µºÆÁ¬Ãµ¹ÂlExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslatorX‘½±¼¿½® ³¹± ÄÍÀ¿ %0, ÉÃÄÌÿ ²Á­¸·ºµ ÄÍÀ¿ %1(Expecting %0 type, found %1 type insteadAseba::CompilerTranslatorB‘½±¼¿½® ³¹± %0, ÉÃÄÌÿ ²Á­¸·ºµ %1Expecting %0, found %1 insteadAseba::CompilerTranslatorL‘½±¼¿½® ³¹± ÃŽ¸®º·, ÉÃÄÌÿ ²Á­¸·ºµ %1)Expecting a condition, found a %0 insteadAseba::CompilerTranslator\‘½±¼¿½® ³¹± ­ºÆÁ±Ã· Ãı¸µÁ¬ É ´µÍĵÁ¿ ´µ¯ºÄ·1Expecting a constant expression as a second indexAseba::CompilerTranslatorf‘½±¼¿½® ³¹± ±½¬¸µÃ· õ ¼µÄ±²»·Ä®, ÉÃÄÌÿ ²Á­¸·ºµ %07Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslatorT‘½±¼¿½® ³¹± ±½¬¸µÃ· Ĺ¼®Â, ̼ɠ²Á­¸·ºµ %0&Expecting assignment, found %0 insteadAseba::CompilerTranslatorX‘½±¼¿½® ³¹± ±½±³½ÉÁ¹ÃĹºÌ, ÉÃÄÌÿ ²Á­¸·ºµ %0Expecting identifier, found %0Aseba::CompilerTranslatorR‘½±¼¿½® ³¹± ­½± ±ÀÌ %0, ÉÃÄÌÿ ²Á­¸·ºµ %1)Expecting one of %0; but found %1 insteadAseba::CompilerTranslator’— ÃŽ¬Áķ÷ %0 ±À±¹Äµ¯ %1 µÀ¹Çµ¹Á®¼±Ä±, ̼ɠÇÁ·Ã¹¼¿À¿¹¿Í½Ä±¹ ÀµÁ¹ÃÃÌĵÁ±0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslatorv— ÃŽ¬Áķ÷ %0 ±À±¹Äµ¯ %1 ¿Á¯Ã¼±Ä±, ̼ɠÀ±Á­Ç¿½Ä±¹ ¼Ì½¿ %27Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslatorŒ— ÃŽ¬Áķ÷ %0 ´µ½ ±À±¹Äµ¯ º±½­½± ÌÁ¹Ã¼±, ̼ɠ¼µÁ¹º¬ ÇÁ·Ã¹¼¿À¿¹¿Í½Ä±¹/Function %0 requires no argument, some are usedAseba::CompilerTranslatorÚ¤± ±½±³½ÉÁ¹ÃĹº¬ ÀÁ­Àµ¹ ½± ¾µº¹½¿Í½ ¼µ _ ® ­½±½ ±»Æ±Á¹¸¼·Ä¹ºÌ DZÁ±ºÄ®Á±, ̼ɠ²Á­¸·ºµ DZÁ±ºÄ®Á± unicode 0x%0`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorB”µ½ µÀ¹ÄÁ­À¿½Ä±¹ ±Ä­Á¼¿½¿¹ ²ÁÌÇ¿¹Infinite loops not allowedAseba::CompilerTranslator`¤¹¼® ±ºµÁ±¯¿Å %0 µºÄÌ Ä¿Å µÍÁ¿Å [-32768;32767],Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslatorV¤¹¼® ±ºµÁ±¯¿Å %0 µºÄÌ Ä¿Å µÍÁ¿Å [0;32767]'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslatorT¤¹¼® ±ºµÁ±¯¿Å %0 µºÄÌ Ä¿Å µÍÁ¿Å [0;4095]&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslatorV¤¹¼® ±ºµÁ±¯¿Å %0 µºÄÌ Ä¿Å µÍÁ¿Å [0;65535]'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslatorè•ÃÉĵÁ¹ºÌ ÃƬ»¼± ¼µÄ±³»ÉÄĹÃÄ®, À±Á±º±»Î ±½±Æ­ÁµÄµ Ä¿ ÀÁ̲»·¼± ÀµÁ¹»±¼²¬½¿½Ä± Ä·½ À·³® À¿Å ÀÁ¿º¬»µÃµ ±ÅÄÌ Ä¿ ÃƬ»¼±]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslator“Á±¼¼®: Line: Aseba::CompilerTranslatornMemoryVectorNode::getVectorSize: ±À±³¿ÁµÅ¼­½¿ Äµ»µÃÄ®Â2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslatorH‘½µÀ±Áº® µ»µÍ¸µÁ¿ ¼µÄ±²»·ÄÌ ÇÎÁ¿ÂNo more free variable spaceAseba::CompilerTranslator4œ· ­³ºÅÁ· ­ºÆÁ±Ã· Ãı¸µÁ¬ÂNot a valid constant expressionAseba::CompilerTranslatorŒ‘½µÀ±Áº® µ»µÍ¸µÁ¿ ÇÎÁ¿ ³¹± º±Ä±½¿¼® ±ÅÄ® Ä· ÀÁ¿ÃÉÁ¹½® ¼µÄ±²»·Ä®Â7Not enough free space to allocate this tempory variableAseba::CompilerTranslatorb”µ½ µÀ¹ÄÁ­À¿½Ä±¹ ºµ½¬ ²®¼±Ä± õ ²ÁÌÇ¿Å ³¹± (for)'Null steps are not allowed in for loopsAseba::CompilerTranslatorÊ ÁÌò±Ã· õ ÃıĹºÌ À¯½±º± µºÄÌ ¿Á¯É½.  Á¿ÃÀ¬¸µ¹± ½± ´¹±²±Ãĵ¯ ´µ¯ºÄ· %0 ÃÄ¿½ À¯½±º± %1 ¼µ³­¸¿Å %2POut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatorÆ ÁÌò±Ã· õ ÃıĹºÌ À¯½±º± µºÄÌ ¿Á¯É½.  Á¿ÃÀ¬¸µ¹± ½± ³Á±Æĵ¯ ´µ¯ºÄ· %0 ÃÄ¿½ À¯½±º± %1 ¼µ³­¸¿Å %2QOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslator£µ½¬Á¹¿ (script) À¿»Í ¼µ³¬»¿ ³¹± Ä¿ ¼­³µ¸¿ µ½´¹¬¼µÃ¿Å ºÎ´¹º± Ä¿Å ÃÄÌÇ¿Å'Script too big for target bytecode sizeAseba::CompilerTranslatorr›¬¸¿ ¼­³µ¸¿Â! œ­³µ¸¿ À¯½±º±1 = %0, ¼­³µ¸¿ À¯½±º±2 = %15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslatorŸ ´µ¯ºÄ· µºº¯½·Ã· ÀÁ­Àµ¹ ½± µ¯½±¹ ¼µ³±»ÍĵÁ¿ ±ÀÌ Ä¿ ´µ¯ºÄ· ĵÁ¼±Ä¹Ã¼¿Í õ ²ÁÌÇ¿Å À¿Å ¼µ¹Î½¿Å½=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslatorÀŸ ´µ¯ºÄ· µºº¯½·Ã· ÀÁ­Àµ¹ ½± µ¯½±¹ ¼¹ºÁÌĵÁ¿ ±ÀÌ Ä¿ ´µ¯ºÄ· ĵÁ¼±Ä¹Ã¼¿Í õ ²ÁÌÇ¿Å À¿Å ±Å¾¬½¿Å½ Aseba::CompilerTranslator Broken target description: not enough room for internal variables ΠεÏιγÏαφή αποσυνδεδεμένου στόχου: ανεπαÏκής χώÏος για εσωτεÏικές μεταβλητές Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions Η στοίβα εκτέλεσης θα υπεÏχειλίσει, ελέγξτε για όποια κλήση αναδÏομικής υποÏουτίνας και πεÏικόψτε μακÏοσκελείς μαθηματικές εκφÏάσεις Script too big for target bytecode size ΣενάÏιο (script) Ï€Î¿Î»Ï Î¼ÎµÎ³Î¬Î»Î¿ για το μέγεθος ενδιάμεσου κώδικα του στόχου %0 is not a defined variable %0 δεν είναι δηλωμένη μεταβλητή %0 is not a defined variable, do you mean %1? %0 δεν είναι δηλωμένη μεταβλητή, μήπως εννοείτε %1; Target does not provide function %0 Ο στόχος δεν παÏέχει τη συνάÏτηση %0 Target does not provide function %0, do you mean %1? Ο στόχος δεν παÏέχει τη συνάÏτηση %0, μήπως εννοείτε %1; Constant %0 not defined Η σταθεÏά %0 δεν είναι δηλωμένη Constant %0 not defined, do you mean %1? Η σταθεÏά %0 δεν είναι δηλωμένη, μήπως εννοείτε %1; %0 is not a known event Το %0 δεν είναι γνωστό συμβάν %0 is not a known event, do you mean %1? Το %0 δεν είναι γνωστό συμβάν, μήπως εννοείτε %1; %0 is a local event that you cannot emit Το %0 είναι ένα τοπικό συμβάν που δε μποÏείτε να εκπέμψετε Subroutine %0 does not exists Η υποÏουτίνα %0 δεν υπάÏχει Subroutine %0 does not exists, do you mean %1? Η υποÏουτίνα %0 δεν υπάÏχει, μήπως εννοείτε %1; Line: ΓÏαμμή: Col: Στήλη: Unbalanced comment block Μη ισοÏÏοπημένο τμήμα σχολίων Syntax error Συντακτικό λάθος Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead Τα αναγνωÏιστικά Ï€Ïέπει να ξεκινοÏν με _ ή έναν αλφαÏιθμητικό χαÏακτήÏα, όμως βÏέθηκε χαÏακτήÏας unicode 0x%0 Error in hexadecimal number Σφάλμα στο δεκαεξαδικό αÏιθμό Error in binary number Σφάλμα στο δυαδικό αÏιθμό Error in number, invalid base Σφάλμα στον αÏιθμό, μη έγκυÏη βάση Error in number Σφάλμα στον αÏιθμό Internal compiler error, please report a bug containing the source which triggered this error ΕσωτεÏικό σφάλμα μεταγλωττιστή, παÏακαλώ αναφέÏετε το Ï€Ïόβλημα πεÏιλαμβάνοντας την πηγή που Ï€Ïοκάλεσε αυτό το σφάλμα Expecting %0, found %1 instead Αναμονή για %0, ωστόσο βÏέθηκε %1 Integer value %0 out of [0;4095] range Τιμή ακεÏαίου %0 εκτός του εÏÏους [0;4095] Integer value %0 out of [0;65535] range Τιμή ακεÏαίου %0 εκτός του εÏÏους [0;65535] Integer value %0 out of [0;32767] range Τιμή ακεÏαίου %0 εκτός του εÏÏους [0;32767] Integer value %0 out of [-32768;32767] range Τιμή ακεÏαίου %0 εκτός του εÏÏους [-32768;32767] Constant %0 has value %1, which is out of [0;32767] range Η σταθεÏά %0 έχει τιμή %1, η οποία είναι εκτός του εÏÏους [0;32767] Constant %0 has value %1, which is out of [-32768;32767] range Η σταθεÏά %0 έχει τιμή %1, η οποία είναι εκτός του εÏÏους [-32768;32767] Expecting one of %0; but found %1 instead Αναμονή για ένα από %0, ωστόσο βÏέθηκε %1 Not enough free space to allocate this tempory variable Not enough free space to allocate this temporary variable ΑνεπαÏκής ελεÏθεÏος χώÏος για κατανομή αυτής της Ï€ÏοσωÏινής μεταβλητής Variable definition is allowed only at the beginning of the program before any statement Η δήλωση μεταβλητών επιτÏέπεται μόνο στην αÏχή του Ï€ÏογÏάμματος Ï€Ïιν από οποιαδήποτε διατÏπωση Expecting identifier, found %0 Αναμονή για αναγνωÏιστικό, ωστόσο βÏέθηκε %0 Constant %0 is already defined Η σταθεÏά %0 είναι ήδη δηλωμένη Variable %0 is already defined Η μεταβλητή %0 είναι ήδη δηλωμένη Variable %0 has the same name as a constant Η μεταβλητή %0 έχει το ίδιο όνομα με μία σταθεÏά Array %0 has undefined size Ο πίνακας %0 δεν έχει Ï€ÏοσδιοÏισμένο μέγεθος No more free variable space ΑνεπαÏκής ελεÏθεÏος μεταβλητός χώÏος Expecting assignment, found %0 instead Αναμονή για ανάθεση τιμής, όμως βÏέθηκε %0 Null steps are not allowed in for loops Δεν επιτÏέπονται κενά βήματα σε βÏόχους για (for) Start index must be lower than end index in increasing loops Ο δείκτης εκκίνησης Ï€Ïέπει να είναι μικÏότεÏος από το δείκτη τεÏÎ¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï ÏƒÎµ βÏόχους που αυξάνουν Start index must be higher than end index in decreasing loops Ο δείκτης εκκίνησης Ï€Ïέπει να είναι μεγαλÏτεÏος από το δείκτη τεÏÎ¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï ÏƒÎµ βÏόχους που μειώνουν End index cannot be 32767 in increasing loops Ο δείκτης τεÏÎ¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï Î´Îµ μποÏεί να είναι 32767 σε βÏόχους που αυξάνουν End index cannot be -32768 in decreasing loops Ο δείκτης τεÏÎ¼Î±Ï„Î¹ÏƒÎ¼Î¿Ï Î´Îµ μποÏεί να είναι -32768 σε βÏόχους που μειώνουν Event %0 is already implemented Το συμβάν %0 ήδη εφαÏμόζεται Event %0 needs an array of size %1 or smaller, but one of size %2 is passed Το συμβάν %0 χÏειάζεται πίνακα μεγέθους %1 ή μικÏότεÏο, όμως πεÏνιέται κάποιος μεγέθους %2 Event %0 needs an array of size %1, but one of size %2 is passed Το συμβάν %0 χÏειάζεται πίνακα μεγέθους %1, όμως πεÏνιέται κάποιος μεγέθους %2 Subroutine %0 is already defined Η υποÏουτίνα %0 είναι ήδη δηλωμένη Expecting a constant expression as a second index Αναμονή για έκφÏαση σταθεÏάς ως δεÏτεÏο δείκτη End of range index must be lower or equal to start of range index Ο δείκτης τέλους εÏÏους Ï€Ïέπει να είναι μικÏότεÏος από ή ίσος με το δείκτη αÏχής εÏÏους Array size: result is negative (%0) Μέγεθος πίνακα: το αποτέλεσμα είναι αÏνητικό (%0) Array size: result is null Μέγεθος πίνακα: το αποτέλεσμα είναι κενό Not a valid constant expression Μη έγκυÏη έκφÏαση σταθεÏάς Function %0 requires no argument, some are used Η συνάÏτηση %0 δεν απαιτεί κανένα ÏŒÏισμα, όμως μεÏικά χÏησιμοποιοÏνται Function %0 requires %1 arguments, only %2 are provided Η συνάÏτηση %0 απαιτεί %1 οÏίσματα, όμως παÏέχονται μόνο %2 Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 Το ÏŒÏισμα %0 (%1) της συνάÏτησης %2 είναι μεγέθους %3, όμως η δήλωση της συνάÏτησης απαιτεί μέγεθος %4 Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 Το ÏŒÏισμα %0 (%1) της συνάÏτησης %2 είναι μεγέθους %3, ενώ μια Ï€ÏοηγοÏμενη πεÏίπτωση της παÏαμέτÏου Ï€ÏοτÏπου ήταν μεγέθους %4 Function %0 requires %1 arguments, more are used Η συνάÏτηση %0 απαιτεί %1 επιχειÏήματα, όμως χÏησιμοποιοÏνται πεÏισσότεÏα Unexpected token when building UnaryArithmeticAssignmentNode ΑπÏοσδόκητη λεκτική μονάδα (token) κατά την κατασκευή Κόμβου Μοναδιαίας ΑÏιθμητικής Ανάθεσης (UnaryArithmeticAssignmentNode) Expecting an assignment to a variable, found %0 instead Αναμονή για ανάθεση σε μεταβλητή, ωστόσο βÏέθηκε %0 Access of array %0 out of bounds: accessing index %1 while array is of size %2 ΠÏόσβαση στον πίνακα %0 εκτός οÏίων: Ï€Ïόσβαση δείκτη %1 ενώ ο πίνακας είναι μεγέθους %2 Size error! Size of array1 = %0 ; size of array2 = %1 Λάθος μέγεθος! Μέγεθος πίνακα1 = %0, μέγεθος πίνακα2 = %1 Condition of the if cannot be a vector Η συνθήκη του εάν (if) δε μπποÏεί να είναι διάνυσμα Condition of the while cannot be a vector Η συνθήκη του ενώ (while) δε μποÏεί να είναι διάνυσμα MemoryVectorNode::getVectorSize: illegal operation MemoryVectorNode::getVectorSize: απαγοÏευμένος τελεστής Infinite loops not allowed Δεν επιτÏέπονται ατέÏμονοι βÏόχοι Division by zero ΔιαίÏεση με το μηδέν -32768 has no positive correspondance in 16 bits integers Το -32768 δεν έχει θετικό αντίστοιχο σε ακεÏαίους 16 bits Out of bound static array access. Trying to read index %0 of array %1 of size %2 ΠÏόσβαση σε στατικό πίνακα εκτός οÏίων. ΠÏοσπάθεια να διαβαστεί δείκτης %0 στον πίνακα %1 μεγέθους %2 Out of bound static array access. Trying to write index %0 of array %1 of size %2 ΠÏόσβαση σε στατικό πίνακα εκτός οÏίων. ΠÏοσπάθεια να γÏαφτεί δείκτης %0 στον πίνακα %1 μεγέθους %2 Expecting %0 type, found %1 type instead Αναμονή για Ï„Ïπο %0, ωστόσο βÏέθηκε Ï„Ïπος %1 Expecting a condition, found a %0 instead Αναμονή για συνθήκη, ωστόσο βÏέθηκε %1 end of stream τέλος Ïοής δεδομένων when keyword δεσμευμένη λέξη when emit keyword δεσμευμένη λέξη emit _emit keyword δεσμευμένη λέξη _emit for keyword δεσμευμένη λέξη for in keyword δεσμευμένη λέξη in step keyword δεσμευμένη λέξη step while keyword δεσμευμένη λέξη while do keyword δεσμευμένη λέξη do if keyword δεσμευμένη λέξη if then keyword δεσμευμένη λέξη then else keyword δεσμευμένη λέξη else elseif keyword δεσμευμένη λέξη elseif end keyword δεσμευμένη λέξη end var keyword δεσμευμένη λέξη var const keyword δεσμευμένη λέξη const call keyword δεσμευμένη λέξη call sub keyword δεσμευμένη λέξη sub callsub keyword δεσμευμένη λέξη callsub onevent keyword δεσμευμένη λέξη onevent abs keyword δεσμευμένη λέξη abs return keyword δεσμευμένη λέξη return string αλφαÏιθμητικό integer ακέÏαιος ( (open parenthesis) ( (ανοίγει παÏένθεση) ) (close parenthesis) ) (κλείνει παÏένθεση) [ (open bracket) [ (ανοίγει αγκÏλη) ] (close bracket) ] (κλείνει αγκÏλη) : (colon) : (άνω κάτω τελεία) , (comma) , (κόμμα) = (assignation) = (ανάθεση τιμής) or ή (or) and και (and) not όχι (not) binary or δυαδικό ή (or) binary xor δυαδικό αποκλειστικό ή (xor) binary and δυαδικό και (and) binary not δυαδικό όχι (not) binary or equal δυαδικό ή ίσον (or equal) binary xor equal δυαδικό αποκλειστικό ή ίσον (xor equal) binary and equal δυαδικό και ίσον (and equal) == (equal to) == (ίσο με) != (not equal to) != (διάφοÏο) > (bigger than) > (μεγαλÏτεÏο από) >= (bigger or equal than) >= (μεγαλÏτεÏο από ή ίσον) < (smaller than) < (μικÏότεÏο από) <= (smaller or equal than) <= (μικÏότεÏο από ή ίσον) << (shift left) << (ολίσθηση αÏιστεÏά) >> (shift right) >> (ολίσθηση δεξιά) <<= (shift left equal) <<= (ολίσθηση αÏιστεÏά ίσον) >>= (shift right equal) >>= (ολίσθηση δεξιά ίσον) + (plus) + (συν) - (minus) - (μείον) += (plus equal) += (συν ίσον) -= (minus equal) -= (μείον ίσον) ++ (plus plus) ++ (συν συν) -- (minus minus) -- (μείον μείον) * (time) * (επί) / (divide) / (δια) modulo modulo (υπόλοιπο διαίÏεσης) *= (time equal) *= (επί ίσον) /= (divide equal) /= (δια ίσον) modulo equal υπόλοιπο διαίÏεσης (modulo ίσον) unknown άγνωστο Unknown error Άγνωστο σφάλμα aseba-1.6.0/clients/studio/compiler_es.qm000066400000000000000000000517371322771007300204200ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXbLLhDDwudK¼@bçN*T@…Z½²Jéb!24ˆoƒ!‰åkEç+7I¯zUœ·SôD(¼ ôI\½ÂôJÊrôM„ÌbôNpÖ>ôJQÖwôH×æôJöÙÒ5äþidJ_À`© 4k84H²€¥ô¥ŸµO=ê§a5W«,E˽ˆ$Ö÷>‰9û¹š tGd'jY-DÌhx2à=KÀ0?*ý˃:(à”CÓŒ‰ Ê2YiÞ?¥IÓ«%‰àbEžŠ'¿«mY µËÄ(k0HÀ0ä8¹1æ9 Î1$‡ù$ÉŠ¢ÒI Á 4£!Ý”š)7LKj.&ôN¿8Ä© Az$ôLÖ{üÞ~&ôMÓ"t'ļtÅ?HÐxÄ ÿ)¾ ie.> 0þ/;± B³”V Åc3Ù ÆÙ“p äßT&| õ{é ê è™W "‰Øç H†d%Ÿ PDYCn Œ—Ù — µ€”G¿ áž´AJ íþI« ·„ï -pn2u >Ïò@( A¤O RV®N% †Í8 ŽÖà'& ¸ê4); Ä*" âF™7 ñd\F° îÒ/• ´Kñ ˆ3‹>¼ ŒQtL~ Œá¥2ú ŒýÔ% ö¿y¥È C<åiDJ }O89 ]ƒ9u ‡¹SDŒ„c;4›ŠÉ 0¦*) ¦-."ùñs|Dô@syur‚©Å˜ÿ´AÒÒDÝÜÃâ<ïiOfColumna: Col: Aseba::CompilerTranslator != (diferente a)!= (not equal to)Aseba::CompilerTranslator^%0 es un evento local que usted no puede emitir(%0 is a local event that you cannot emitAseba::CompilerTranslator<%0 no es una variable definida%0 is not a defined variableAseba::CompilerTranslatorb%0 no es una variable definida. Se refiere ar %1?-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator6%0 no es un evento conocido%0 is not a known eventAseba::CompilerTranslatorZ%0 no es un evento conocido. Se refiere a %1?(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator&( (abre paréntesis)( (open parenthesis)Aseba::CompilerTranslator*) (cierra paréntesis)) (close parenthesis)Aseba::CompilerTranslator* (por)* (time)Aseba::CompilerTranslator*= (por, igual)*= (time equal)Aseba::CompilerTranslator+ (mas)+ (plus)Aseba::CompilerTranslator++ (mas, mas)++ (plus plus)Aseba::CompilerTranslator+= (mas, igual)+= (plus equal)Aseba::CompilerTranslator, (coma) , (comma)Aseba::CompilerTranslator- (menos) - (minus)Aseba::CompilerTranslator"-- (menos, menos)-- (minus minus)Aseba::CompilerTranslatorr-32768 no tiene un correspondiente en enteros de 16 bits9-32768 has no positive correspondance in 16 bits integersAseba::CompilerTranslator"-= (menos, igual)-= (minus equal)Aseba::CompilerTranslator/ (dividir) / (divide)Aseba::CompilerTranslator&/= (dividir, igual)/= (divide equal)Aseba::CompilerTranslator: (dos puntos) : (colon)Aseba::CompilerTranslator< (menor que)< (smaller than)Aseba::CompilerTranslatorB<< (desplazar hacia la izquierda)<< (shift left)Aseba::CompilerTranslatorR<<= (desplazar hacia la izquierda, igual)<<= (shift left equal)Aseba::CompilerTranslator,<= (menor o igual que)<= (smaller or equal than)Aseba::CompilerTranslator= (asignación)= (assignation)Aseba::CompilerTranslator== (igual a) == (equal to)Aseba::CompilerTranslator> (mayor que)> (bigger than)Aseba::CompilerTranslator,>= (mayor o igual que)>= (bigger or equal than)Aseba::CompilerTranslator>>> (desplazar hacia la derecha)>> (shift right)Aseba::CompilerTranslatorN>>= (desplazar hacia la derecha, igual)>>= (shift right equal)Aseba::CompilerTranslator°Acceso fuera de l'imites al arreglo %0: accediendo la posición %1 cuando el tamaño es %2NAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslator¶El argumento %0 (%1) de la función %2 es de tamaño %3, por definición el tamaño debe ser %4RArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorØEl argumento %0 (%1) de la función %2 es de tamaño %3, mientras que en una instancia previa el tamaño fue %4qArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslatorREl tamaño del arreglo %0 no está definidoArray %0 has undefined sizeAseba::CompilerTranslatorVtamaño del arreglo: resultado negativo (%0)#Array size: result is negative (%0)Aseba::CompilerTranslatorJtamaño del arreglo: resultado es ceroArray size: result is nullAseba::CompilerTranslator¦Descripción incorrecta del objetivo: sin espacio suficiente para variables internasABroken target description: not enough room for internal variablesAseba::CompilerTranslatorpLa condición de una estructura IF no puede ser un vector&Condition of the if cannot be a vectorAseba::CompilerTranslatorvLa condición de una estructura WHILE no puede ser un vector)Condition of the while cannot be a vectorAseba::CompilerTranslatoržLa constante %0 tiene el valor %1, que está por fuera del rango [-32768;32767]>Constant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslator”La constante %0 tiene el valor %1, que está por fuera del rango [0;32767]9Constant %0 has value %1, which is out of [0;32767] rangeAseba::CompilerTranslator>La constante %0 ya fue definidaConstant %0 is already definedAseba::CompilerTranslator@La constante %0 no está definidaConstant %0 not definedAseba::CompilerTranslatordLa constante %0 no está definida. Se refiere a %1?(Constant %0 not defined, do you mean %1?Aseba::CompilerTranslator"División por ceroDivision by zeroAseba::CompilerTranslatortEl índice final no puede ser -32768 en ciclos decrecientes.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslatorxEl índice final no puede llegar a 32767 en ciclos crecientes-End index cannot be 32767 in increasing loopsAseba::CompilerTranslator El índice final del rango debe ser menor o igual que el índice inicial del rangoAEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator.Error en número binarioError in binary numberAseba::CompilerTranslator6Error en número hexadecimalError in hexadecimal numberAseba::CompilerTranslatorError en númeroError in numberAseba::CompilerTranslator<Error en número. Base inválidaError in number, invalid baseAseba::CompilerTranslator@El evento %0 ya fue implementadoEvent %0 is already implementedAseba::CompilerTranslator®El evento %0 requiere de un arreglo de tamaño %1 o menor, pero se pasó uno de tamaño %2KEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslatoržEl evento %0 requiere de un arreglo de tamaño %1, pero se pasó uno de tamaño %2@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslatorÖDesbordamiento de la pila, revice llamadas a subrutinas recursivas y corte expresiones matemáticas extensaslExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslatorLSe espera tipo %0, se encontró tipo %1(Expecting %0 type, found %1 type insteadAseba::CompilerTranslator@Se espera %0 pero se encontró %1Expecting %0, found %1 insteadAseba::CompilerTranslatorXSe espera una condición, pero se encontró %0)Expecting a condition, found a %0 insteadAseba::CompilerTranslatorjSe espera una expresión constante como segundo índice1Expecting a constant expression as a second indexAseba::CompilerTranslatorxse espera una asignación a una variable, pero se encontró %07Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslatorVSe espera una signación pero se encontró %0&Expecting assignment, found %0 insteadAseba::CompilerTranslatorRse espera un identificador, se enconró %0Expecting identifier, found %0Aseba::CompilerTranslatorPSe espera uno de %0, pero se encontró %1)Expecting one of %0; but found %1 insteadAseba::CompilerTranslatorrLa función %0 requiere %1 argumentos, se estan usando más0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslator‚La función %0 requiere %1 argumentos, sólo se han suministrado %27Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslatorHLa función %0 no requiere argumentos/Function %0 requires no argument, some are usedAseba::CompilerTranslatorðLos identificadores deben comenzar con _ o algún caracter alfanumérico. En su lugar se encontró el caracter unicode 0x%0`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorHCiclos infinitos no están permitidosInfinite loops not allowedAseba::CompilerTranslatorbEl entero %0 está fuera del rango [-32768;32767],Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslatorXEl entero %0 está fuera del rango [0;32767]'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslatorVEl entero %0 está fuera del rango [0;4095]&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslatorXEl entero %0 está fuera del rango [0;65535]'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslatorÄError interno de compilación. Por favor reporte el error incluyendo la fuente que disparó el error]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslator Línea:Line: Aseba::CompilerTranslatorbMemoryVectorNode::getVectorSize: Operación ilegal2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslatorFNo hay espacio libre para variablesNo more free variable spaceAseba::CompilerTranslator8Expresión constante inválidaNot a valid constant expressionAseba::CompilerTranslatorzNo hay espacio suficiente para guardar esta variable temporal7Not enough free space to allocate this tempory variableAseba::CompilerTranslatorZNo se permiten pasos nulos en estructuras FOR'Null steps are not allowed in for loopsAseba::CompilerTranslatorÞAcceso estático por fuera delos límites del arreglo. Intentando leer la posición %0 del arreglo %1 de tamaño %2POut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatoræAcceso estático por fuera delos límites del arreglo. Intentando escribir la posición %0 del arreglo %1 de tamaño %2QOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslator‚Script demasiado extenso para el tamaño del bytecode del objetivo'Script too big for target bytecode sizeAseba::CompilerTranslator˜Error de tamaño! El tamaño del arreglo 1 = %0 ; el tamaño del arreglo 2 = %15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslator¢El indice inicial debe ser mayor que el índice final en estructuras decrementales=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslator¢El indice inicial debe ser menor que el índice final en estructuras incrementalesLa subrutina %0 ya fue definida Subroutine %0 is already definedAseba::CompilerTranslator"Error de sintáxis Syntax errorAseba::CompilerTranslatorNEl objetivo no dispone de la función %0#Target does not provide function %0Aseba::CompilerTranslatorpEl ojetivo no dispone de la función %0. Se refiere a %1?4Target does not provide function %0, do you mean %1?Aseba::CompilerTranslatorFBloque desbalanceado de comentariosUnbalanced comment blockAseba::CompilerTranslatorvToken inesperado al construír UnaryArithmeticAssignmentNode Aseba::CompilerTranslator Broken target description: not enough room for internal variables Descripción incorrecta del objetivo: sin espacio suficiente para variables internas Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions Desbordamiento de la pila, revice llamadas a subrutinas recursivas y corte expresiones matemáticas extensas Script too big for target bytecode size Script demasiado extenso para el tamaño del bytecode del objetivo %0 is not a defined variable %0 no es una variable definida %0 is not a defined variable, do you mean %1? %0 no es una variable definida. Se refiere ar %1? Target does not provide function %0 El objetivo no dispone de la función %0 Target does not provide function %0, do you mean %1? El ojetivo no dispone de la función %0. Se refiere a %1? Constant %0 not defined La constante %0 no está definida Constant %0 not defined, do you mean %1? La constante %0 no está definida. Se refiere a %1? %0 is not a known event %0 no es un evento conocido %0 is not a known event, do you mean %1? %0 no es un evento conocido. Se refiere a %1? %0 is a local event that you cannot emit %0 es un evento local que usted no puede emitir Subroutine %0 does not exists La subrutina %0 no existe Subroutine %0 does not exists, do you mean %1? La subrutina %0 no existe. Se refiere a %1? Line: Línea: Col: Columna: Unbalanced comment block Unbalanced comment block. Bloque desbalanceado de comentarios Syntax error syntax error Error de sintáxis Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead Los identificadores deben comenzar con _ o algún caracter alfanumérico. En su lugar se encontró el caracter unicode 0x%0 Error in hexadecimal number error in hexadecimal number Error en número hexadecimal Error in binary number error in binary number Error en número binario Error in number, invalid base error in number, invalid base Error en número. Base inválida Error in number error in number Error en número Internal compiler error, please report a bug containing the source which triggered this error Error interno de compilación. Por favor reporte el error incluyendo la fuente que disparó el error Expecting %0, found %1 instead Se espera %0 pero se encontró %1 Integer value %0 out of [0;4095] range El entero %0 está fuera del rango [0;4095] Integer value %0 out of [0;65535] range El entero %0 está fuera del rango [0;65535] Integer value %0 out of [0;32767] range El entero %0 está fuera del rango [0;32767] Integer value %0 out of [-32768;32767] range El entero %0 está fuera del rango [-32768;32767] Constant %0 has value %1, which is out of [0;32767] range La constante %0 tiene el valor %1, que está por fuera del rango [0;32767] Constant %0 has value %1, which is out of [-32768;32767] range La constante %0 tiene el valor %1, que está por fuera del rango [-32768;32767] Expecting one of %0; but found %1 instead Se espera uno de %0, pero se encontró %1 Not enough free space to allocate this tempory variable No hay espacio suficiente para guardar esta variable temporal Variable definition is allowed only at the beginning of the program before any statement Las variables solo pueden ser definidas al inicio del programa, antes que cualquier comando Expecting identifier, found %0 se espera un identificador, se enconró %0 Constant %0 is already defined La constante %0 ya fue definida Variable %0 is already defined La variable %0 ya fue definida Variable %0 has the same name as a constant La variable %0 tiene el mismo nombre que una constante Array %0 has undefined size El tamaño del arreglo %0 no está definido No more free variable space No hay espacio libre para variables Expecting assignment, found %0 instead Se espera una signación pero se encontró %0 Null steps are not allowed in for loops No se permiten pasos nulos en estructuras FOR Start index must be lower than end index in increasing loops El indice inicial debe ser menor que el índice final en estructuras incrementales Start index must be higher than end index in decreasing loops El indice inicial debe ser mayor que el índice final en estructuras decrementales End index cannot be 32767 in increasing loops El índice final no puede llegar a 32767 en ciclos crecientes End index cannot be -32768 in decreasing loops El índice final no puede ser -32768 en ciclos decrecientes Event %0 is already implemented El evento %0 ya fue implementado Event %0 needs an array of size %1 or smaller, but one of size %2 is passed El evento %0 requiere de un arreglo de tamaño %1 o menor, pero se pasó uno de tamaño %2 Event %0 needs an array of size %1, but one of size %2 is passed El evento %0 requiere de un arreglo de tamaño %1, pero se pasó uno de tamaño %2 Subroutine %0 is already defined La subrutina %0 ya fue definida Expecting a constant expression as a second index Se espera una expresión constante como segundo índice End of range index must be lower or equal to start of range index end of range index must be lower or equal to start of range index El índice final del rango debe ser menor o igual que el índice inicial del rango Array size: result is negative (%0) tamaño del arreglo: resultado negativo (%0) Array size: result is null tamaño del arreglo: resultado es cero Not a valid constant expression Expresión constante inválida Function %0 requires no argument, some are used La función %0 no requiere argumentos Function %0 requires %1 arguments, only %2 are provided La función %0 requiere %1 argumentos, sólo se han suministrado %2 Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 El argumento %0 (%1) de la función %2 es de tamaño %3, por definición el tamaño debe ser %4 Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 El argumento %0 (%1) de la función %2 es de tamaño %3, mientras que en una instancia previa el tamaño fue %4 Function %0 requires %1 arguments, more are used La función %0 requiere %1 argumentos, se estan usando más Unexpected token when building UnaryArithmeticAssignmentNode Token inesperado al construír UnaryArithmeticAssignmentNode Expecting an assignment to a variable, found %0 instead se espera una asignación a una variable, pero se encontró %0 Access of array %0 out of bounds: accessing index %1 while array is of size %2 Acceso fuera de l'imites al arreglo %0: accediendo la posición %1 cuando el tamaño es %2 Size error! Size of array1 = %0 ; size of array2 = %1 Error de tamaño! El tamaño del arreglo 1 = %0 ; el tamaño del arreglo 2 = %1 Condition of the if cannot be a vector La condición de una estructura IF no puede ser un vector Condition of the while cannot be a vector La condición de una estructura WHILE no puede ser un vector MemoryVectorNode::getVectorSize: illegal operation MemoryVectorNode::getVectorSize: Operación ilegal Infinite loops not allowed Ciclos infinitos no están permitidos Division by zero Division by zero. División por cero -32768 has no positive correspondance in 16 bits integers -32768 has no positive correspondance in 16 bits integers. -32768 no tiene un correspondiente en enteros de 16 bits Out of bound static array access. Trying to read index %0 of array %1 of size %2 Acceso estático por fuera delos límites del arreglo. Intentando leer la posición %0 del arreglo %1 de tamaño %2 Out of bound static array access. Trying to write index %0 of array %1 of size %2 Acceso estático por fuera delos límites del arreglo. Intentando escribir la posición %0 del arreglo %1 de tamaño %2 Expecting %0 type, found %1 type instead Se espera tipo %0, se encontró tipo %1 Expecting a condition, found a %0 instead Se espera una condición, pero se encontró %0 end of stream fin del stream when keyword ? comando WHEN emit keyword comando EMIT _emit keyword comando _EMIT for keyword comando FOR in keyword comando IN step keyword comando STEP while keyword comando WHILE do keyword comando DO if keyword comando IF then keyword comando THEN else keyword comando ELSE elseif keyword comando ELSEIF end keyword comando END var keyword comando VAR const keyword comando CONST call keyword comando CALL sub keyword comando SUB callsub keyword comando CALLSUB onevent keyword comando ONEVENT abs keyword comando ABS return keyword comando RETURN string cadena de caracteres integer entero ( (open parenthesis) ( (abre paréntesis) ) (close parenthesis) ) (cierra paréntesis) [ (open bracket) [ (abre corchete) ] (close bracket) ] (cierra corchete) : (colon) : (dos puntos) , (comma) , (coma) = (assignation) = (asignación) or ó and y not no binary or ó binario binary xor ó exclusivo ( xor) binario binary and y binario binary not no binario binary or equal ó binario, igual binary xor equal xor binario, igual binary and equal y binario, igual == (equal to) == (igual a) != (not equal to) != (diferente a) > (bigger than) > (mayor que) >= (bigger or equal than) >= (mayor o igual que) < (smaller than) < (menor que) <= (smaller or equal than) <= (menor o igual que) << (shift left) << (desplazar hacia la izquierda) >> (shift right) >> (desplazar hacia la derecha) <<= (shift left equal) <<= (desplazar hacia la izquierda, igual) >>= (shift right equal) >>= (desplazar hacia la derecha, igual) + (plus) + (mas) - (minus) - (menos) += (plus equal) += (mas, igual) -= (minus equal) -= (menos, igual) ++ (plus plus) ++ (plus) plus ++ (mas, mas) -- (minus minus) -- (menos, menos) * (time) * (por) / (divide) / (dividir) modulo módulo *= (time equal) *= (por, igual) /= (divide equal) /= (dividir, igual) modulo equal módulo igual unknown desconocido Unknown error Error desconocido aseba-1.6.0/clients/studio/compiler_fr.qm000066400000000000000000000521551322771007300204130ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXbLühDEEudLj@b³N*TAQZ½²K™b!25°oƒ!“åkFÁ+8¯zU¨·SôDö¼ ôJ½ÂôJ²ÊrôNÌbôNþÖ>ôKÖwôHÊ×æôKMöÙÒ6æþid¥J_À`© hk84Ih€¥ô1ŸµO>œ§a5[«,í˽ˆ%.÷>‰oû¹Ð tH'jY_DÌ(x2à=ÿÀ0?¸ý˃:¶à”D¡Œ‰ ä2Yi?¥I «%´‰àbFvŠ'¿/«mY ÿËÄ(Ó0HÀ1È8¹2Ô9 Î2 ‡ù$­Š¢Òû ÁÎ 4Ÿ!Ý”¬)7LL.&ôOM8Ä© kz$ôMˆ{üÈ~&ôNi"t(¼tÅ?üÐxÄ=÷kä+…«sZQôIàôIÀE¼/KÚiôGÈyy Ëœ6$«GMÚâu•-}) äAó%/ºZMIµ•g´#ñï"GøE|ž$F(¼ÜE.G ”9§ ,ü?| œS¢K žø‚ª Ÿ, õä™= e ^ ÿ)ü ie/ 0þ/ Åc5 ÆÙ“> äßT&Þ õ{é è™™ "‰Ø¹ H†d%ù PDYD< Œ—Ù ¹ µ€”Hu áž´B íþJa ·„û -pn3y >Ïò@ø A¤OŸ RV®N» †Í8¶ ŽÖà'Ž ¸ê4) Ä*€ âF™9 ñd\Gj îÒ0u ´L¡ ˆ3‹?v ŒQtM0 Œá¥4" ŒýÔ3 ö¿yéÈ CØ<åiBJ O89 ƒ9u´‡¹SÜŒ„c;À›ŠÉ N¦*) H¦-f#9ñs|EÊ@sy³r‚©ï˜ÿ´BŽÒDåÜÃâ=£iOô Col :  Col: Aseba::CompilerTranslator!= (pas égal à)!= (not equal to)Aseba::CompilerTranslatorf%0 est un événement local qui ne peut pas être émis(%0 is a local event that you cannot emitAseba::CompilerTranslator@%0 n'est pas une variable connue%0 is not a defined variableAseba::CompilerTranslatorl%0 n'est pas une variable connue, voulez-vous dire %1?-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator>%0 n'est pas un événement connu%0 is not a known eventAseba::CompilerTranslatorj%0 n'est pas un événement connu, voulez-vous dire %1?(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator.( (parenthèse ouvrante)( (open parenthesis)Aseba::CompilerTranslator.) (parenthèse fermante)) (close parenthesis)Aseba::CompilerTranslator* (fois)* (time)Aseba::CompilerTranslator*= (fois égal)*= (time equal)Aseba::CompilerTranslator+ (plus)+ (plus)Aseba::CompilerTranslator++ (plus plus)++ (plus plus)Aseba::CompilerTranslator+= (plus égal)+= (plus equal)Aseba::CompilerTranslator, (virgule) , (comma)Aseba::CompilerTranslator- (moins) - (minus)Aseba::CompilerTranslator -- (moins moins)-- (minus minus)Aseba::CompilerTranslator|-32768 n'a pas d'équivalent positif dans un entier sur 16 bits9-32768 has no positive correspondance in 16 bits integersAseba::CompilerTranslator-= (moins égal)-= (minus equal)Aseba::CompilerTranslator/ (division) / (divide)Aseba::CompilerTranslator /= (divisé égal)/= (divide equal)Aseba::CompilerTranslator: (deux points) : (colon)Aseba::CompilerTranslator$< (plus petit que)< (smaller than)Aseba::CompilerTranslator,<< (décalage à gauche)<< (shift left)Aseba::CompilerTranslator8<<= (décalage-égal à gauche)<<= (shift left equal)Aseba::CompilerTranslator2<= (plus petit ou égal à)<= (smaller or equal than)Aseba::CompilerTranslator= (affectation)= (assignation)Aseba::CompilerTranslator== (égal à) == (equal to)Aseba::CompilerTranslator$> (plus grand que)> (bigger than)Aseba::CompilerTranslator2>= (plus grand ou égal à)>= (bigger or equal than)Aseba::CompilerTranslator,>> (décalage à droite)>> (shift right)Aseba::CompilerTranslator8>>= (décalage-égal à droite)>>= (shift right equal)Aseba::CompilerTranslator´Accès au tableau %0 en dehors des limites : accès à l'index %1 sur un tableau de taille %2NAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslator¸L'argument %0 (%1) de la fonction %2 est de taille %3, la fonction requiert une taille de %4RArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorÖL'argument %0 (%1) de la fonction %2 est de taille %3, alors que les arguments précédents sont de taille %4qArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslatorHLe tableau %0 a une taille indéfinieArray %0 has undefined sizeAseba::CompilerTranslator>Taille du tableau négative (%0)#Array size: result is negative (%0)Aseba::CompilerTranslator.Taille du tableau nulleArray size: result is nullAseba::CompilerTranslatoržDescription de la cible cassée : pas assez de place pour les variables internesABroken target description: not enough room for internal variablesAseba::CompilerTranslator\La condition du if ne peut pas être un vecteur&Condition of the if cannot be a vectorAseba::CompilerTranslatorbLa condition du while ne peut pas être un vecteur)Condition of the while cannot be a vectorAseba::CompilerTranslator”La constante %0 a une valeur de %1, en dehors de l'interval [-32768;32767]>Constant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslatorŠLa constante %0 a une valeur de %1, en dehors de l'interval [0;32767]9Constant %0 has value %1, which is out of [0;32767] rangeAseba::CompilerTranslator@La constante %0 est déjà définieConstant %0 is already definedAseba::CompilerTranslatorBLa constante %0 n'est pas définieConstant %0 not definedAseba::CompilerTranslatornLa constante %0 n'est pas définie, voulez-vous dire %1?(Constant %0 not defined, do you mean %1?Aseba::CompilerTranslator"Division par zéroDivision by zeroAseba::CompilerTranslator–L'index de fin ne peut pas être -32769 dans les boucles à index décroissant.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslatorL'index de fin ne peut pas être 32767 dans les boucles à index croissant-End index cannot be 32767 in increasing loopsAseba::CompilerTranslator‚L'index de fin de la plage doit être supérieur à l'index de débutAEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator:Erreur dans le nombre binaireError in binary numberAseba::CompilerTranslatorBErreur dans le nombre hexadécimalError in hexadecimal numberAseba::CompilerTranslator*Erreur dans le nombreError in numberAseba::CompilerTranslatorHErreur dans le nombre, base invalideError in number, invalid baseAseba::CompilerTranslatorDL'événement %0 est déjà implémentéEvent %0 is already implementedAseba::CompilerTranslatorÊL'événement %0 requiert un tableau de taille %1 ou plus petit, mais un tableau de taille %2 est donnéKEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslator¤L'événement %0 requiert un tableau de taille %1, un tableau de taille %2 est donné@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslator La pile d'exécution fera un overflow, vérifiez les appels récursifs des sous-routines and coupez les longues expressions mathématiqueslExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslatorbRequiert le type %0, trouvé le type %1 à la place(Expecting %0 type, found %1 type insteadAseba::CompilerTranslatorBRequiert %0, trouvé %1 à la placeExpecting %0, found %1 insteadAseba::CompilerTranslatorXRequiert une condition, trouvé %0 à la place)Expecting a condition, found a %0 insteadAseba::CompilerTranslatorlRequiert une expression constante pour le second index1Expecting a constant expression as a second indexAseba::CompilerTranslator€Requiert une affectation vers une variable, trouvé %0 à la place7Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslator\Requiert une affectation, trouvé %0 à la place&Expecting assignment, found %0 insteadAseba::CompilerTranslatorDRequiert un identifiant, trouvé %0Expecting identifier, found %0Aseba::CompilerTranslator^Requiert un parmi %0, mais trouvé %1 à la place)Expecting one of %0; but found %1 insteadAseba::CompilerTranslatorlLa fonction %0 requiert %1 arguments, trop sont donnés0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslator~La fonction %0 requiert %1 arguments, seulement %2 sont fournis7Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslator¨La fonction %0 n'a pas besoin d'argument, mais un ou plusieurs arguments sont donnés/Function %0 requires no argument, some are usedAseba::CompilerTranslatorÚLes identifiants doivent commencer par _ ou un caractère alphanumérique, et non pas le caractère unicode 0x%0`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorHLes boucles infinies sont interditesInfinite loops not allowedAseba::CompilerTranslatorpValeur entière %0 en dehors de l'interval [-32768;32767],Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslatorfValeur entière %0 en dehors de l'interval [0;32767]'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslatordValeur entière %0 en dehors de l'interval [0;4095]&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslatorfValeur entière %0 en dehors de l'interval [0;65535]'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslatorÈErreur interne du compilateur, merci de signaler ce bug ainsi que le code qui a produit cette erreur]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslatorLigne : Line: Aseba::CompilerTranslatorhMemoryVectorNode::getVectorSize: opération interdite2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslator\Plus d'espace mémoire libre pour les variablesNo more free variable spaceAseba::CompilerTranslator\Ceci n'est pas une expression constante valideNot a valid constant expressionAseba::CompilerTranslator~Pas assez d'espace libre pour allouer cette variable temporaire7Not enough free space to allocate this tempory variableAseba::CompilerTranslatorVIncrément nul interdit dans les boucles for'Null steps are not allowed in for loopsAseba::CompilerTranslator¸Accès au tableau %1 en dehors des limites : lecture à l'index %0 sur un tableau de taille %2POut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatorºAccès au tableau %1 en dehors des limites : écriture à l'index %0 sur un tableau de taille %2QOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslatorBProgramme trop long pour la cible'Script too big for target bytecode sizeAseba::CompilerTranslatorŽErreur de dimension ! Taille du tableau1 = %0 ; taille du tableau2 = %15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslator¤L'index de début doit être supérieur à celui de fin dans les boucles décroissantes=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslator L'index de début doit être inférieur à celui de fin dans les boucles croissantesLa sous-routine %0 n'existe pasSubroutine %0 does not existsAseba::CompilerTranslatorjLa sous-routine %0 n'existe pas, voulez-vous dire %1?.Subroutine %0 does not exists, do you mean %1?Aseba::CompilerTranslatorFLa sous-routine %0 est déjà définie Subroutine %0 is already definedAseba::CompilerTranslator"Erreur de syntaxe Syntax errorAseba::CompilerTranslatorLLa cible ne fournit pas la fonction %0#Target does not provide function %0Aseba::CompilerTranslatorxLa cible ne fournit pas la fonction %0, voulez-vous dire %1?4Target does not provide function %0, do you mean %1?Aseba::CompilerTranslator@Bloc de commentaire déséquilibréUnbalanced comment blockAseba::CompilerTranslator’Lexème inattendu lors de la construction de UnaryArithmeticAssignmentNodeLa variable %0 est déjà définieVariable %0 is already definedAseba::CompilerTranslatorÄLa définition d'une variable n'est autorisée qu'au début du programme, avant tout autre expressionXVariable definition is allowed only at the beginning of the program before any statementAseba::CompilerTranslator&[ (crochet ouvrant)[ (open bracket)Aseba::CompilerTranslator&] (crochet fermant)] (close bracket)Aseba::CompilerTranslatormot-clé _emit _emit keywordAseba::CompilerTranslatormot-clé abs abs keywordAseba::CompilerTranslatorandandAseba::CompilerTranslatorand binaire binary andAseba::CompilerTranslator and-égal binairebinary and equalAseba::CompilerTranslatornot binaire binary notAseba::CompilerTranslatoror binaire binary orAseba::CompilerTranslatoror-égal binairebinary or equalAseba::CompilerTranslatorxor binaire binary xorAseba::CompilerTranslator xor-égal binairebinary xor equalAseba::CompilerTranslatormot-clé call call keywordAseba::CompilerTranslatormot-clé callsubcallsub keywordAseba::CompilerTranslatormot-clé const const keywordAseba::CompilerTranslatormot-clé do do keywordAseba::CompilerTranslatormot-clé else else keywordAseba::CompilerTranslatormot-clé elseifelseif keywordAseba::CompilerTranslatormot-clé emit emit keywordAseba::CompilerTranslatormot-clé end end keywordAseba::CompilerTranslatorfin de flux end of streamAseba::CompilerTranslatormot-clé for for keywordAseba::CompilerTranslatormot-clé if if keywordAseba::CompilerTranslatormot-clé in in keywordAseba::CompilerTranslator entierintegerAseba::CompilerTranslator modulomoduloAseba::CompilerTranslatormodulo égal modulo equalAseba::CompilerTranslatornotnotAseba::CompilerTranslatormot-clé oneventonevent keywordAseba::CompilerTranslatorororAseba::CompilerTranslatormot-clé returnreturn keywordAseba::CompilerTranslatormot-clé step step keywordAseba::CompilerTranslator chaînestringAseba::CompilerTranslatormot-clé sub sub keywordAseba::CompilerTranslatormot-clé then then keywordAseba::CompilerTranslatorinconnuunknownAseba::CompilerTranslatormot-clé var var keywordAseba::CompilerTranslatormot-clé when when keywordAseba::CompilerTranslatormot-clé while while keywordAseba::CompilerTranslatorˆaseba-1.6.0/clients/studio/compiler_fr.ts000066400000000000000000000665611322771007300204320ustar00rootroot00000000000000 Aseba::CompilerTranslator arg arg_fr oups oups_fr Broken target description: not enough room for internal variables Description de la cible cassée : pas assez de place pour les variables internes Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions La pile d'exécution fera un overflow, vérifiez les appels récursifs des sous-routines and coupez les longues expressions mathématiques Script too big for target bytecode size Programme trop long pour la cible %0 is not a defined variable %0 n'est pas une variable connue %0 is not a defined variable, do you mean %1? %0 n'est pas une variable connue, voulez-vous dire %1? Target does not provide function %0 La cible ne fournit pas la fonction %0 Target does not provide function %0, do you mean %1? La cible ne fournit pas la fonction %0, voulez-vous dire %1? Constant %0 not defined La constante %0 n'est pas définie Constant %0 not defined, do you mean %1? La constante %0 n'est pas définie, voulez-vous dire %1? %0 is not a known event %0 n'est pas un événement connu %0 is not a known event, do you mean %1? %0 n'est pas un événement connu, voulez-vous dire %1? %0 is a local event that you cannot emit %0 est un événement local qui ne peut pas être émis Subroutine %0 does not exists La sous-routine %0 n'existe pas Subroutine %0 does not exists, do you mean %1? La sous-routine %0 n'existe pas, voulez-vous dire %1? Line: Ligne : Col: Col : Unbalanced comment block Unbalanced comment block. Bloc de commentaire déséquilibré Syntax error syntax error Erreur de syntaxe Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead Les identifiants doivent commencer par _ ou un caractère alphanumérique, et non pas le caractère unicode 0x%0 Error in hexadecimal number error in hexadecimal number Erreur dans le nombre hexadécimal Error in binary number error in binary number Erreur dans le nombre binaire Error in number, invalid base error in number, invalid base Erreur dans le nombre, base invalide Error in number error in number Erreur dans le nombre Internal compiler error, please report a bug containing the source which triggered this error Erreur interne du compilateur, merci de signaler ce bug ainsi que le code qui a produit cette erreur Expecting %0, found %1 instead Requiert %0, trouvé %1 à la place Integer value %0 out of [0;4095] range Valeur entière %0 en dehors de l'interval [0;4095] Integer value %0 out of [0;65535] range Valeur entière %0 en dehors de l'interval [0;65535] Integer value %0 out of [0;32767] range Valeur entière %0 en dehors de l'interval [0;32767] Integer value %0 out of [-32768;32767] range Valeur entière %0 en dehors de l'interval [-32768;32767] Constant %0 has value %1, which is out of [0;32767] range La constante %0 a une valeur de %1, en dehors de l'interval [0;32767] Constant %0 has value %1, which is out of [-32768;32767] range La constante %0 a une valeur de %1, en dehors de l'interval [-32768;32767] Expecting one of %0; but found %1 instead Requiert un parmi %0, mais trouvé %1 à la place Not enough free space to allocate this tempory variable Pas assez d'espace libre pour allouer cette variable temporaire Variable definition is allowed only at the beginning of the program before any statement La définition d'une variable n'est autorisée qu'au début du programme, avant tout autre expression Expecting identifier, found %0 Requiert un identifiant, trouvé %0 Constant %0 is already defined La constante %0 est déjà définie Variable %0 is already defined La variable %0 est déjà définie Variable %0 has the same name as a constant La variable %0 a la même nom qu'une constante Array %0 has undefined size Le tableau %0 a une taille indéfinie No more free variable space Plus d'espace mémoire libre pour les variables Expecting assignment, found %0 instead Requiert une affectation, trouvé %0 à la place Null steps are not allowed in for loops Incrément nul interdit dans les boucles for Start index must be lower than end index in increasing loops L'index de début doit être inférieur à celui de fin dans les boucles croissantes Start index must be higher than end index in decreasing loops L'index de début doit être supérieur à celui de fin dans les boucles décroissantes End index cannot be 32767 in increasing loops L'index de fin ne peut pas être 32767 dans les boucles à index croissant End index cannot be -32768 in decreasing loops L'index de fin ne peut pas être -32769 dans les boucles à index décroissant Event %0 is already implemented L'événement %0 est déjà implémenté Event %0 needs an array of size %1 or smaller, but one of size %2 is passed L'événement %0 requiert un tableau de taille %1 ou plus petit, mais un tableau de taille %2 est donné Event %0 needs an array of size %1, but one of size %2 is passed L'événement %0 requiert un tableau de taille %1, un tableau de taille %2 est donné Subroutine %0 is already defined La sous-routine %0 est déjà définie Expecting a constant expression as a second index Requiert une expression constante pour le second index End of range index must be lower or equal to start of range index end of range index must be lower or equal to start of range index L'index de fin de la plage doit être supérieur à l'index de début Array size: result is negative (%0) Taille du tableau négative (%0) Array size: result is null Taille du tableau nulle Not a valid constant expression Ceci n'est pas une expression constante valide Function %0 requires no argument, some are used La fonction %0 n'a pas besoin d'argument, mais un ou plusieurs arguments sont donnés Function %0 requires %1 arguments, only %2 are provided La fonction %0 requiert %1 arguments, seulement %2 sont fournis Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 L'argument %0 (%1) de la fonction %2 est de taille %3, la fonction requiert une taille de %4 Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 L'argument %0 (%1) de la fonction %2 est de taille %3, alors que les arguments précédents sont de taille %4 Function %0 requires %1 arguments, more are used La fonction %0 requiert %1 arguments, trop sont donnés Unexpected token when building UnaryArithmeticAssignmentNode Lexème inattendu lors de la construction de UnaryArithmeticAssignmentNode Expecting an assignment to a variable, found %0 instead Requiert une affectation vers une variable, trouvé %0 à la place Access of array %0 out of bounds: accessing index %1 while array is of size %2 Accès au tableau %0 en dehors des limites : accès à l'index %1 sur un tableau de taille %2 Size error! Size of array1 = %0 ; size of array2 = %1 Erreur de dimension ! Taille du tableau1 = %0 ; taille du tableau2 = %1 Condition of the if cannot be a vector La condition du if ne peut pas être un vecteur Condition of the while cannot be a vector La condition du while ne peut pas être un vecteur MemoryVectorNode::getVectorSize: illegal operation MemoryVectorNode::getVectorSize: opération interdite Infinite loops not allowed Les boucles infinies sont interdites Division by zero Division by zero. Division par zéro -32768 has no positive correspondance in 16 bits integers -32768 has no positive correspondance in 16 bits integers. -32768 n'a pas d'équivalent positif dans un entier sur 16 bits Out of bound static array access. Trying to read index %0 of array %1 of size %2 Accès au tableau %1 en dehors des limites : lecture à l'index %0 sur un tableau de taille %2 Out of bound static array access. Trying to write index %0 of array %1 of size %2 Accès au tableau %1 en dehors des limites : écriture à l'index %0 sur un tableau de taille %2 Expecting %0 type, found %1 type instead Requiert le type %0, trouvé le type %1 à la place Expecting a condition, found a %0 instead Requiert une condition, trouvé %0 à la place end of stream fin de flux when keyword mot-clé when emit keyword mot-clé emit _emit keyword mot-clé _emit for keyword mot-clé for in keyword mot-clé in step keyword mot-clé step while keyword mot-clé while do keyword mot-clé do if keyword mot-clé if then keyword mot-clé then else keyword mot-clé else elseif keyword mot-clé elseif end keyword mot-clé end var keyword mot-clé var const keyword mot-clé const call keyword mot-clé call sub keyword mot-clé sub callsub keyword mot-clé callsub onevent keyword mot-clé onevent abs keyword mot-clé abs return keyword mot-clé return string chaîne integer entier ( (open parenthesis) ( (parenthèse ouvrante) ) (close parenthesis) ) (parenthèse fermante) [ (open bracket) [ (crochet ouvrant) ] (close bracket) ] (crochet fermant) : (colon) : (deux points) , (comma) , (virgule) = (assignation) = (affectation) or or and and not not binary or or binaire binary xor xor binaire binary and and binaire binary not not binaire binary or equal or-égal binaire binary xor equal xor-égal binaire binary and equal and-égal binaire == (equal to) == (égal à) != (not equal to) != (pas égal à) > (bigger than) > (plus grand que) >= (bigger or equal than) >= (plus grand ou égal à) < (smaller than) < (plus petit que) <= (smaller or equal than) <= (plus petit ou égal à) << (shift left) << (décalage à gauche) >> (shift right) >> (décalage à droite) <<= (shift left equal) <<= (décalage-égal à gauche) >>= (shift right equal) >>= (décalage-égal à droite) + (plus) + (plus) - (minus) - (moins) += (plus equal) += (plus égal) -= (minus equal) -= (moins égal) ++ (plus plus) ++ (plus) plus ++ (plus plus) -- (minus minus) -- (moins moins) * (time) * (fois) / (divide) / (division) modulo modulo *= (time equal) *= (fois égal) /= (divide equal) /= (divisé égal) modulo equal modulo égal unknown inconnu Unknown error Erreur inconnue CompilerTranslator arg arg_fr oups oups_fr Unknown error Erreur inconnue aseba-1.6.0/clients/studio/compiler_it.qm000066400000000000000000000537631322771007300204260ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXbPhDG)udOf@bYN*TBéZ½²N}b!26Ìoƒ#+åkH½+9¯zU ·SôFʼ ôL®½ÂôMfÊrôQHÌbôRTÖ>ôMÅÖwôK&×æôN!öÙÒ8,þidJ_À`© ôk84K䀥ôŸµO@8§a5_«.3˽ˆ&´÷>‰û¹ž tJV'jY3DÌÖx2à?ŸÀ0?Šý˃<ˆà”FeŒ‰ ’2Yiú?¥I+«%¨‰àbHrŠ'¿«mY ËÄ*0HÀ38¹4 9 Î3D‡ù$ ?Š¢Òë Án 4¥!Ý”œ)7LNþ.&ôR³8Ä© z$ôP¤{üh~&ôQ§"t)r¼tÅA ÐxÄ>µ÷kä,Á«s¤QôK‚àôLLE¼/N¾iôIôyy•œ6&«GQâu•.½) ŠAó%0èZMIÑ•g´%ï"I0øG`ž$H$¼ÜE/ ”; ,ü?0 œS¢3 žø‚` Ÿ,´ õ䙉 e  ÿ)H ie06 0þ/> B³” À Åc6' ÆÙ“ äßT(R õ{é ¸ è™ "‰ØC H†d'y PDYE𠌗٠a µ€”JÁ áž´C¤ íþM ·„õ -pn4³ >ÏòBŠ A¤S RV®R †Í:X ŽÖà(ä ¸ê4*ý Ä+î âF™« ñd\I~ îÒ1 ´O ˆ3‹A ŒQtP< Œá¥5> ŒýÔY ö¿y [È E|<åiHJ"O89 )ƒ9u¢‡¹S’Œ„c=Œ›ŠÉ ú¦*) ئ-¦$íñs|G®@syór‚©É˜ÿ´D,ÒDåÜÃâ?AiSz Colonna:  Col: Aseba::CompilerTranslator!= (diverso da)!= (not equal to)Aseba::CompilerTranslatord%0 è un evento locale che non è possibile emettere(%0 is a local event that you cannot emitAseba::CompilerTranslator<La variabile %0 non è definita%0 is not a defined variableAseba::CompilerTranslator\%0 non è una variabile definita, intendevi %1?-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator:%0 non è un evento conosciuto%0 is not a known eventAseba::CompilerTranslatorX%0 non è un evento conosciuto, intendevi %1?(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator(( (aperta parentesi)( (open parenthesis)Aseba::CompilerTranslator() (chiusa parentesi)) (close parenthesis)Aseba::CompilerTranslator&* (moltiplicazione)* (time)Aseba::CompilerTranslatorJ*= (moltiplicazione e riassegnazione)*= (time equal)Aseba::CompilerTranslator+ (addizione)+ (plus)Aseba::CompilerTranslator++ (incremento)++ (plus plus)Aseba::CompilerTranslator>+= (addizione e riassegnazione)+= (plus equal)Aseba::CompilerTranslator, (virgola) , (comma)Aseba::CompilerTranslator- (sottrazione) - (minus)Aseba::CompilerTranslator-- (decremento)-- (minus minus)Aseba::CompilerTranslator~-32768 non ha una corrispondenza positiva negli interi a 16 bit9-32768 has no positive correspondance in 16 bits integersAseba::CompilerTranslatorB-= (sottrazione e riassegnazione)-= (minus equal)Aseba::CompilerTranslator/ (divisione) / (divide)Aseba::CompilerTranslator>/= (divisione e riassegnazione)/= (divide equal)Aseba::CompilerTranslator: (due punti) : (colon)Aseba::CompilerTranslator< (minore di)< (smaller than)Aseba::CompilerTranslator6<< (scorrimento a sinistra)<< (shift left)Aseba::CompilerTranslatorZ<<= (scorrimento a sinistra e riassegnazione)<<= (shift left equal)Aseba::CompilerTranslator*< (minore o uguale a)<= (smaller or equal than)Aseba::CompilerTranslator = (assegnazione)= (assignation)Aseba::CompilerTranslator== (uguale a ) == (equal to)Aseba::CompilerTranslator> (maggiore di)> (bigger than)Aseba::CompilerTranslator0>= (maggiore o uguale a)>= (bigger or equal than)Aseba::CompilerTranslator2>> (scorrimento a destra)>> (shift right)Aseba::CompilerTranslatorV>>= (scorrimento a destra e riassegnazione)>>= (shift right equal)Aseba::CompilerTranslatoräAccesso alla matrice %0 fuori dai limiti: tentativo di accedere all'indice %1 mentre la matrice è di dimensione %2NAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslatoräL'argomento %0 (%1) della funzione %2 è di dimensione %3, la definizione della funzione richiede una dimensione %4RArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorL'argomento %0 (%1) della funzione %2 è di dimensione %3, mentre in una precedente istanza del template il parametro era di dimensione %4qArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslatorXla matrice %0 ha una dimensione non definitaArray %0 has undefined sizeAseba::CompilerTranslatorlDimensione della matrice: il risultato è negativo (%0)#Array size: result is negative (%0)Aseba::CompilerTranslatorZDImensione della matrice: il risultato è nullArray size: result is nullAseba::CompilerTranslatorºInterruzione della descrizione del target: non c'è abbastanza spazio per le variabili interneABroken target description: not enough room for internal variablesAseba::CompilerTranslatordLa condizione della "if" non può essere un vettore&Condition of the if cannot be a vectorAseba::CompilerTranslatorfLa condizione del "while" non può essere un vettore)Condition of the while cannot be a vectorAseba::CompilerTranslatorŽLa constante %0 ha valore %1 che è fuori dall'intervallo [-32768;32767]>Constant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslator„La constante %0 ha valore %1 che è fuori dall'intervallo [0;32767]9Constant %0 has value %1, which is out of [0;32767] rangeAseba::CompilerTranslator:La costante %0 è già definitaConstant %0 is already definedAseba::CompilerTranslator2Constante %0 non definitaConstant %0 not definedAseba::CompilerTranslatorPConstante %0 non definita, intendevi %1?(Constant %0 not defined, do you mean %1?Aseba::CompilerTranslator$Divisione per zeroDivision by zeroAseba::CompilerTranslator€L'indice finale non può essere -32768 per iterazioni decrescenti.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslatorzL'indice finale non può essere 32767 per iterazioni crescenti-End index cannot be 32767 in increasing loopsAseba::CompilerTranslator®L'indice di fine intervallo deve essere minore o uguale all'indice di inizio intervalloAEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator2Errore nel numero binarioError in binary numberAseba::CompilerTranslator:Errore nel numero esadecimaleError in hexadecimal numberAseba::CompilerTranslatorErrore numericoError in numberAseba::CompilerTranslator@Errore numerico, base non validaError in number, invalid baseAseba::CompilerTranslator4Evento %0 già implementatoEvent %0 is already implementedAseba::CompilerTranslatorÎL'evento %0 richiede una matrice di dimensione %1 o inferiore, ma ne viene passata una di dimensione %2KEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslator¶L'evento %0 richiede una matrice di dimensione %1, ma ne viene passata una di dimensione %2@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslator(Lo stack di esecuzione andrà fuori limiti, verificare se vi sono chiamate recursive a subroutine e spezzare le espressioni matematiche troppo lunghelExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslatorLAtteso tipo %0, trovato invece tipo %1(Expecting %0 type, found %1 type insteadAseba::CompilerTranslator8Atteso %0; trovato invece %1Expecting %0, found %1 insteadAseba::CompilerTranslatorJAttesa condizione, trovato invece %0 )Expecting a condition, found a %0 insteadAseba::CompilerTranslatorfAttesa una espressione costante come secondo indice1Expecting a constant expression as a second indexAseba::CompilerTranslatortAttesa una assegnazione a una variabile, trovato invece %07Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslator>Attesa assegnazione, trovato %0&Expecting assignment, found %0 insteadAseba::CompilerTranslatorBAtteso identificatore, trovato %0Expecting identifier, found %0Aseba::CompilerTranslatorLAtteso uno di %0; ma trovato invece %1)Expecting one of %0; but found %1 insteadAseba::CompilerTranslatorŠLa funzione %0 richiede %1 argomenti mentre ne vengono passati di più0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslatorŒLa funzione %0 richiede %1 argomenti mentre ne vengono passati solo %27Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslatorvLa funzione %0 non richiede argomenti, ma ce ne sono alcuni/Function %0 requires no argument, some are usedAseba::CompilerTranslatoräUn identificatore deve iniziare con "_" o con un carattere alfanumerico; trovato invece il carattere unicode 0x%0`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorBNon è consentito il loop infinitoInfinite loops not allowedAseba::CompilerTranslatorjValore intero %0 fuori dall'intervallo [-32768;32767],Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslator`Valore intero %0 fuori dall'intervallo [0;32767]'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslator^Valore intero %0 fuori dall'intervallo [0;4095]&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslator`Valore intero %0 fuori dall'intervallo [0;65535]'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslatorÚErrore interno del compilatore, cortesemente riportate un bug contenente il sorgente che ha generato l'errore]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslatorLinea: Line: Aseba::CompilerTranslatorhMemoryVectorNode::getVectorSize: operazione illegale2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslator^Non c'è più spazio disponibile per le variabiliNo more free variable spaceAseba::CompilerTranslator>Espressione costante non validaNot a valid constant expressionAseba::CompilerTranslator„Non c'è più spazio libero per allocare questa variabile temporanea7Not enough free space to allocate this tempory variableAseba::CompilerTranslatorPStep null non consentito nei loop "for"'Null steps are not allowed in for loopsAseba::CompilerTranslatorâAccesso fuori dei limiti statici di una matrice. Tentativo di leggere indice %0 della matrice %1 di dimensione %2POut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatoräAccesso fuori dei limiti statici di una matrice. Tentativo di scrivere indice %0 della matrice %1 di dimensione %2QOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslatortScript troppo grosso per la dimensione del target bytecode'Script too big for target bytecode sizeAseba::CompilerTranslatorÄErrore di dimensione! La dimensione della matrice 1 è %0 mentre la dimensione della matrice 2 è %15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslatoržL'indice di inizio deve essere maggiore di quello di fine nei loop a decremento=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslatoršL'indice di inizio deve essere minore di quello di fine nei loop a incrementoLa subroutine %0 è già definita Subroutine %0 is already definedAseba::CompilerTranslator$Errori di sintassi Syntax errorAseba::CompilerTranslatorHIl Targe non fornisce la funzione %0#Target does not provide function %0Aseba::CompilerTranslatorhIl Target non fornisce la funzione %0, vuoi dire %1?4Target does not provide function %0, do you mean %1?Aseba::CompilerTranslatorXBlocco commenti non correttamente delimitatoUnbalanced comment blockAseba::CompilerTranslator€Token inatteso durante building di UnaryArithmeticAssignmentNode Aseba::CompilerTranslator Broken target description: not enough room for internal variables Interruzione della descrizione del target: non c'è abbastanza spazio per le variabili interne Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions Lo stack di esecuzione andrà fuori limiti, verificare se vi sono chiamate recursive a subroutine e spezzare le espressioni matematiche troppo lunghe Script too big for target bytecode size Script troppo grosso per la dimensione del target bytecode %0 is not a defined variable La variabile %0 non è definita %0 is not a defined variable, do you mean %1? %0 non è una variabile definita, intendevi %1? Target does not provide function %0 Il Targe non fornisce la funzione %0 Target does not provide function %0, do you mean %1? Il Target non fornisce la funzione %0, vuoi dire %1? Constant %0 not defined Constante %0 non definita Constant %0 not defined, do you mean %1? Constante %0 non definita, intendevi %1? %0 is not a known event %0 non è un evento conosciuto %0 is not a known event, do you mean %1? %0 non è un evento conosciuto, intendevi %1? %0 is a local event that you cannot emit %0 è un evento locale che non è possibile emettere Subroutine %0 does not exists Subroutine %0 inesistente Subroutine %0 does not exists, do you mean %1? Subroutine %0 inesistente, intendevi %1? Line: Linea: Col: Colonna: Unbalanced comment block Blocco commenti non correttamente delimitato Syntax error Errori di sintassi Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead Un identificatore deve iniziare con "_" o con un carattere alfanumerico; trovato invece il carattere unicode 0x%0 Error in hexadecimal number Errore nel numero esadecimale Error in binary number Errore nel numero binario Error in number, invalid base Errore numerico, base non valida Error in number Errore numerico Internal compiler error, please report a bug containing the source which triggered this error Errore interno del compilatore, cortesemente riportate un bug contenente il sorgente che ha generato l'errore Expecting %0, found %1 instead Atteso %0; trovato invece %1 Integer value %0 out of [0;4095] range Valore intero %0 fuori dall'intervallo [0;4095] Integer value %0 out of [0;65535] range Valore intero %0 fuori dall'intervallo [0;65535] Integer value %0 out of [0;32767] range Valore intero %0 fuori dall'intervallo [0;32767] Integer value %0 out of [-32768;32767] range Valore intero %0 fuori dall'intervallo [-32768;32767] Constant %0 has value %1, which is out of [0;32767] range La constante %0 ha valore %1 che è fuori dall'intervallo [0;32767] Constant %0 has value %1, which is out of [-32768;32767] range La constante %0 ha valore %1 che è fuori dall'intervallo [-32768;32767] Expecting one of %0; but found %1 instead Atteso uno di %0; ma trovato invece %1 Not enough free space to allocate this tempory variable Non c'è più spazio libero per allocare questa variabile temporanea Variable definition is allowed only at the beginning of the program before any statement La definizione di variabili è consentita solo all'inizio del programma, prima di qualsiasi istruzione Expecting identifier, found %0 Atteso identificatore, trovato %0 Constant %0 is already defined La costante %0 è già definita Variable %0 is already defined La variabile %0 è già definita Variable %0 has the same name as a constant La variabile %0 ha lo stesso nome di una costante Array %0 has undefined size la matrice %0 ha una dimensione non definita No more free variable space Non c'è più spazio disponibile per le variabili Expecting assignment, found %0 instead Attesa assegnazione, trovato %0 Null steps are not allowed in for loops Step null non consentito nei loop "for" Start index must be lower than end index in increasing loops L'indice di inizio deve essere minore di quello di fine nei loop a incremento Start index must be higher than end index in decreasing loops L'indice di inizio deve essere maggiore di quello di fine nei loop a decremento End index cannot be 32767 in increasing loops L'indice finale non può essere 32767 per iterazioni crescenti End index cannot be -32768 in decreasing loops L'indice finale non può essere -32768 per iterazioni decrescenti Event %0 is already implemented Evento %0 già implementato Event %0 needs an array of size %1 or smaller, but one of size %2 is passed L'evento %0 richiede una matrice di dimensione %1 o inferiore, ma ne viene passata una di dimensione %2 Event %0 needs an array of size %1, but one of size %2 is passed L'evento %0 richiede una matrice di dimensione %1, ma ne viene passata una di dimensione %2 Subroutine %0 is already defined La subroutine %0 è già definita Expecting a constant expression as a second index Attesa una espressione costante come secondo indice End of range index must be lower or equal to start of range index It seems not a correct message but must be checked against the code L'indice di fine intervallo deve essere minore o uguale all'indice di inizio intervallo Array size: result is negative (%0) Dimensione della matrice: il risultato è negativo (%0) Array size: result is null DImensione della matrice: il risultato è null Not a valid constant expression Espressione costante non valida Function %0 requires no argument, some are used La funzione %0 non richiede argomenti, ma ce ne sono alcuni Function %0 requires %1 arguments, only %2 are provided La funzione %0 richiede %1 argomenti mentre ne vengono passati solo %2 Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 L'argomento %0 (%1) della funzione %2 è di dimensione %3, la definizione della funzione richiede una dimensione %4 Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 L'argomento %0 (%1) della funzione %2 è di dimensione %3, mentre in una precedente istanza del template il parametro era di dimensione %4 Function %0 requires %1 arguments, more are used La funzione %0 richiede %1 argomenti mentre ne vengono passati di più Unexpected token when building UnaryArithmeticAssignmentNode Token inatteso durante building di UnaryArithmeticAssignmentNode Expecting an assignment to a variable, found %0 instead Attesa una assegnazione a una variabile, trovato invece %0 Access of array %0 out of bounds: accessing index %1 while array is of size %2 Accesso alla matrice %0 fuori dai limiti: tentativo di accedere all'indice %1 mentre la matrice è di dimensione %2 Size error! Size of array1 = %0 ; size of array2 = %1 Errore di dimensione! La dimensione della matrice 1 è %0 mentre la dimensione della matrice 2 è %1 Condition of the if cannot be a vector La condizione della "if" non può essere un vettore Condition of the while cannot be a vector La condizione del "while" non può essere un vettore MemoryVectorNode::getVectorSize: illegal operation MemoryVectorNode::getVectorSize: operazione illegale Infinite loops not allowed Non è consentito il loop infinito Division by zero Divisione per zero -32768 has no positive correspondance in 16 bits integers -32768 non ha una corrispondenza positiva negli interi a 16 bit Out of bound static array access. Trying to read index %0 of array %1 of size %2 Accesso fuori dei limiti statici di una matrice. Tentativo di leggere indice %0 della matrice %1 di dimensione %2 Out of bound static array access. Trying to write index %0 of array %1 of size %2 Accesso fuori dei limiti statici di una matrice. Tentativo di scrivere indice %0 della matrice %1 di dimensione %2 Expecting %0 type, found %1 type instead Atteso tipo %0, trovato invece tipo %1 Expecting a condition, found a %0 instead Attesa condizione, trovato invece %0 end of stream fine del flusso when keyword Parole chiave "when" emit keyword Parola chiave "emit" _emit keyword Parola chiave "_emit" for keyword Parola chiave "for" in keyword Parola chiave "in" step keyword Parola chiave "step" while keyword Parole chiave "while" do keyword Parola chiave "do" if keyword Parola chiave "if" then keyword Parole chiave "then" else keyword Parola chiave "else" elseif keyword Parola chiave "elseif" end keyword Parola chiave "end" var keyword Parola chiave "var" const keyword Parole chiave "const" call keyword Parole chiave "call" sub keyword Parola chiave "sub" callsub keyword Parole chiave "callsub" onevent keyword Parole chiave "enevent" abs keyword Parola chiave "abs" return keyword Parole chiave "return" string stringa integer intero ( (open parenthesis) ( (aperta parentesi) ) (close parenthesis) ) (chiusa parentesi) [ (open bracket) [ (aperta parentesi quadra) ] (close bracket) ] (chiusa parentesi quadra) : (colon) : (due punti) , (comma) , (virgola) = (assignation) = (assegnazione) or or and and not not binary or or binaria binary xor xor binaria binary and and binaria binary not not binaria binary or equal or binaria e riassegnazione binary xor equal xor binaria e riassegnazione binary and equal and binaria e riassegnazione == (equal to) == (uguale a ) != (not equal to) != (diverso da) > (bigger than) > (maggiore di) >= (bigger or equal than) >= (maggiore o uguale a) < (smaller than) < (minore di) <= (smaller or equal than) < (minore o uguale a) << (shift left) << (scorrimento a sinistra) >> (shift right) >> (scorrimento a destra) <<= (shift left equal) <<= (scorrimento a sinistra e riassegnazione) >>= (shift right equal) >>= (scorrimento a destra e riassegnazione) + (plus) + (addizione) - (minus) - (sottrazione) += (plus equal) += (addizione e riassegnazione) -= (minus equal) -= (sottrazione e riassegnazione) ++ (plus plus) ++ (incremento) -- (minus minus) -- (decremento) * (time) * (moltiplicazione) / (divide) / (divisione) modulo modulo *= (time equal) *= (moltiplicazione e riassegnazione) /= (divide equal) /= (divisione e riassegnazione) modulo equal modulo e riassegnazione unknown sconosciuto Unknown error Errore Sconosciuto aseba-1.6.0/clients/studio/compiler_ja.qm000066400000000000000000000376361322771007300204050ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXb8^hD0ýud7Ð@b¹N*T.-Z½²7b!2&oƒuåk2s+'»¯zU j·Sô0²¼ ô5¦½Âô6>Êrô9nÌbô:BÖ>ô6‰Öwô4n×æô6ÑöÙÒ&æþid‡J_À`©fk845€¥ôퟵO,d§a5« -˽ˆú÷>‰%û¹Œ t3Æ'jY9DÌ`x2à+ùÀ0?Pý˃)œà”0aŒ‰È2YiÐ?¥I»«%B‰àb2*Š'¿e«mYËÄ£0HÀ#X8¹$(9 Î#‡ù$eŠ¢Òà Áº 4“!Ý”)7L7Š.&ô:8Ä© z$ô8æ{üH~&ô9¹"t¼tÅ-PÐxÄ+K÷käC«sôQô4¶àô5XE¼/7Riô3xyy !œ6y«G94âu• ‰) hAó%"ZMIi•g´ï"2Îø14ž$1Þ¼ÜE! ”(ã ,ü?Ø œS¢M žø‚ Ÿ, õä™ e ( ÿ)œ ie!Š 0þ/*½ B³”Ö Åc%ƒ ÆÙ“¨ äßT$ õ{é ¾ è™ç "‰ØS H†d‰ PDY0 Œ—Ù q µ€”4 áž´.¢ íþ5ñ ·„  -pn$‘ >Ïò-æ A¤:Û RV®: †Í(< ŽÖঠ¸ê43 ÄÈ âF™ × ñd\3 îÒ"y ´8 ˆ3‹,ô ŒQt8’ Œá¥$ì ŒýÔ Ë ö¿y+È /Ä<åi<J¹O89Ń9u쇹SŒ„c*T›ŠÉ ¾¦*)€¦-}ñs|1€@syUr‚©ç˜ÿ´/ÒDyÜÃâ+µi;,Col: Col: Aseba::CompilerTranslator!= (0Î0Ã0È0¤0³0ü0ë)!= (not equal to)Aseba::CompilerTranslator&%00oOá0g0M0j0D0í0ü0«0ë0¤0Ù0ó0È0g0Y(%0 is a local event that you cannot emitAseba::CompilerTranslator %00o[š©n0[šep0g0o0B0Š0~0[0“%0 is not a defined variableAseba::CompilerTranslator4%00o[š©n0[šep0g0o0B0Š0~0[0“0%10n0S0h0g0Y0K?-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator%00oN f0j0¤0Ù0ó0È0g0Y%0 is not a known eventAseba::CompilerTranslator,%00oN f0j0¤0Ù0ó0È0g0Y0%10n0S0h0g0Y0K?(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator( (•‹0Mbì_')( (open parenthesis)Aseba::CompilerTranslator) (•‰0Xbì_')) (close parenthesis)Aseba::CompilerTranslator* (0¿0¤0à)* (time)Aseba::CompilerTranslator*= (0¿0¤0à0¤0³0ü0ë)*= (time equal)Aseba::CompilerTranslator+ (0×0é0¹)+ (plus)Aseba::CompilerTranslator++ (0×0é0¹0×0é0¹)++ (plus plus)Aseba::CompilerTranslator+= (0×0é0¹0¤0³0ü0ë)+= (plus equal)Aseba::CompilerTranslator, (0³0ó0Þ) , (comma)Aseba::CompilerTranslator- (0Þ0¤0Ê0¹) - (minus)Aseba::CompilerTranslator-- (0Þ0¤0Ê0¹0Þ0¤0Ê0¹)-- (minus minus)Aseba::CompilerTranslator4-327680k0o160Ó0Ã0ÈetepQ…0k0×0é0¹0nNô0L0j0D9-32768 has no positive correspondance in 16 bits integersAseba::CompilerTranslator-= (0Þ0¤0Ê0¹0¤0³0ü0ë)-= (minus equal)Aseba::CompilerTranslator / (Rr0‹) / (divide)Aseba::CompilerTranslator/= (Rr0‹0¤0³0ü0ë)/= (divide equal)Aseba::CompilerTranslator: (0³0í0ó) : (colon)Aseba::CompilerTranslator< (\0j0Š)< (smaller than)Aseba::CompilerTranslator<< (]æ0k0·0Õ0È0Y0‹)<< (shift left)Aseba::CompilerTranslator<<= (]æ0k0·0Õ0È0¤0³0ü0ë)<<= (shift left equal)Aseba::CompilerTranslator<= (\0j0Š0¤0³0ü0ëÿ <= (smaller or equal than)Aseba::CompilerTranslator = (Rr_S)= (assignation)Aseba::CompilerTranslator== (0¤0³0ü0ë) == (equal to)Aseba::CompilerTranslator> (Y'0j0Š)> (bigger than)Aseba::CompilerTranslator>= (Y'0j0Š0¤0³0ü0ë)>= (bigger or equal than)Aseba::CompilerTranslator<< (Só0k0·0Õ0È0Y0‹)>> (shift right)Aseba::CompilerTranslator<<= (Só0k0·0Õ0È0¤0³0ü0ë)>>= (shift right equal)Aseba::CompilerTranslatord{ÄVò0nN-0n‘MR%00k0¢0¯0»0¹0W0f0D0~0Y: ‘MR0n0µ0¤0º0L%20n•“0¤0ó0Ç0Ã0¯0¹%10k0¢0¯0»0¹0W0f0D0~0YNAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslatorJ•¢ep%20n_ep%0ÿ%1ÿ 0o%30µ0¤0º0g0•¢ep[š©0o%40µ0¤0º0’‰lB0W0~0YRArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorÿÿÿÿqArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslator$‘MR%00k0og*[š©0n0µ0¤0º0L0B0Š0~0YArray %0 has undefined sizeAseba::CompilerTranslator ‘MR0µ0¤0º: }Pgœ0oŒ ep(%0)#Array size: result is negative (%0)Aseba::CompilerTranslator‘MR0µ0¤0º: }Pgœ0ozzP$Array size: result is nullAseba::CompilerTranslator6vîjŠð0Lx4d 0W0f0D0~0Y: Q…èY ep0nOYW00L0B0Š0~0[0“ABroken target description: not enough room for internal variablesAseba::CompilerTranslator"if0ngaNö0o0Ù0¯0¿0ü0k0o0g0M0~0[0“&Condition of the if cannot be a vectorAseba::CompilerTranslator(while0ngaNö0o0Ù0¯0¿0ü0k0o0g0M0~0[0“)Condition of the while cannot be a vectorAseba::CompilerTranslator>[šep%00nP$%10o[-32768;32767]{ÄVò0nN-0nP$0g0Y>Constant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslator4[šep%00nP$%10o[0;32767]{ÄVò0nN-0nP$0g0Y9Constant %0 has value %1, which is out of [0;32767] rangeAseba::CompilerTranslator[šep%00o0Y0g0k[š©n0g0YConstant %0 is already definedAseba::CompilerTranslator[šep%00o[š©n0g0o0B0Š0~0[0“Constant %0 not definedAseba::CompilerTranslator2[šep%00o[š©n0g0o0B0Š0~0[0“0%10n0S0h0g0Y0K?(Constant %0 not defined, do you mean %1?Aseba::CompilerTranslator0¼0í–d{—Division by zeroAseba::CompilerTranslator@n\0ë0ü0×0k0J0D0f}BN†0¤0ó0Ç0Ã0¯0¹0o3276780k0o0j0Š_—0~0[0“.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslator>X—R 0ë0ü0×0k0J0D0f}BN†0¤0ó0Ç0Ã0¯0¹0o327670k0o0j0Š_—0~0[0“-End index cannot be 32767 in increasing loopsAseba::CompilerTranslatorL}BN†{ÄVò0¤0ó0Ç0Ã0¯0¹0o•‹YË{ÄVò0¤0ó0Ç0Ã0¯0¹0ˆ0ŠON0D0KT {I0g0j0Q0Œ0p0j0Š0~0[0“AEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator22ep0n0¨0é0üError in binary numberAseba::CompilerTranslator162ep0n0¨0é0üError in hexadecimal numberAseba::CompilerTranslator ep[W0n0¨0é0üError in numberAseba::CompilerTranslatorep[W0n0¨0é0ü0q!R¹0jWúepError in number, invalid baseAseba::CompilerTranslator$0¤0Ù0ó0È%00o0Y0g0k[ŸˆÅ0U0Œ0f0D0~0YEvent %0 is already implementedAseba::CompilerTranslatorj0¤0Ù0ó0È%00k0o0µ0¤0º%10‚0W0O0o0]0Œ0ˆ0Š\0U0j0µ0¤0º0n‘MR0L_ʼn0g0Y0L00µ0¤0º%20n10d0o0Ñ0¹0U0Œ0~0W0_KEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslatorN0¤0Ù0ó0È%00k0o0µ0¤0º%10n‘MR0L_ʼn0g0Y0L00µ0¤0º%20n10d0o0Ñ0¹0U0Œ0~0W0_@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslatorn[ŸˆL0¹0¿0Ã0¯0L0ª0ü0Ð0ü0Õ0í0ü0W0~0Y0n0g00ê0«0ü0·0Ö0û0µ0Ö0ë0ü0Á0ó0nT|0sQú0W0’xºŠ0W•w0Dep_0’0«0Ã0È0W0f0O0`0U0DlExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslator0%00¿0¤0×0’g_…0W0Nã00Š0k%10L‰‹0d0K0Š0~0W0_(Expecting %0 type, found %1 type insteadAseba::CompilerTranslator*%00’g_…0W0Nã00Š0k%10L‰‹0d0K0Š0~0W0_Expecting %0, found %1 insteadAseba::CompilerTranslator*gaNö0’g_…0W0Nã00Š0k%00L‰‹0d0K0Š0~0W0_)Expecting a condition, found a %0 insteadAseba::CompilerTranslator0{,20n0¤0ó0Ç0Ã0¯0¹0h0W0f[šepˆhsþ0’g_…0W0f0D0~0Y1Expecting a constant expression as a second indexAseba::CompilerTranslator6Y ep0n Rr0Š_S0f0’g_…0W0Nã00Š0k%00L‰‹0d0K0Š0~0W0_7Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslator.Rr0Š_S0f0’g_…0W0Nã00Š0k%00L‰‹0d0K0Š0~0W0_&Expecting assignment, found %0 insteadAseba::CompilerTranslator$‹XR%[P0’g_…0W0%00L‰‹0d0K0Š0~0W0_Expecting identifier, found %0Aseba::CompilerTranslator6%00nN-0n10d0’0’g_…0W0Nã00Š0k%10L‰‹0d0K0Š0~0W0_)Expecting one of %0; but found %1 insteadAseba::CompilerTranslator2•¢ep%00o_ep%10L_ʼn00]0ŒNåN 0LOu(0U0Œ0~0W0_0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslator0•¢ep%00o_ep%10L_ʼn0%20n0N0H0‰0Œ0~0W0_7Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslator•¢ep%00k0o_epN ‰0NèOu(/Function %0 requires no argument, some are usedAseba::CompilerTranslator\‹XR%[P0o_0‚0W0O0o‚ñep[W0K0‰YË0~0‹_ʼn0L0B0Š0Nã00Š0k0æ0Ë0³0ü0Ée‡[W0x%00L‰‹0d0K0Š0~0W0_`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorq!–P0ë0ü0×0oykb0g0YInfinite loops not allowedAseba::CompilerTranslator.[-32768;32767]{ÄVòN-0netepP$%0,Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslator$[0;32767]{ÄVòN-0netepP$%0'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslator"[0;4095]{ÄVòN-0netepP$%0&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslator$[0;65535]{ÄVòN-0netepP$%0'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslatorTQ…è0³0ó0Ñ0¤0é0n0¨0é0ü00S0n0¨0é0ü0’_0Mw0S0W0_0½0ü0¹0’T+0€0Ð0°0nX1TJ0’0W0f0O0`0U0D]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslatorˆL:Line: Aseba::CompilerTranslator80á0â0ê0Ù0¯0¿0ü0Î0ü0É::0Ù0¯0¿0ü0µ0¤0º0’SÖ_—: UlÕdÍO\2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslator 0S0ŒNåN zz0MY ep‰˜0L0B0Š0~0[0“No more free variable spaceAseba::CompilerTranslatorq!R¹0j[šepˆhsþNot a valid constant expressionAseba::CompilerTranslator20S0n0Æ0ó0Ý0é0êY ep0’Rr0Š_S0f0‹zz0M[¹‘Ï0L³0Š0~0[0“7Not enough free space to allocate this tempory variableAseba::CompilerTranslator:Null0¹0Æ0Ã0×0ofor loops0g0oŠ1Sï0U0Œ0f0D0~0[0“'Null steps are not allowed in for loopsAseba::CompilerTranslatorV{ÄVòY—Yv„‘MR0¢0¯0»0¹00µ0¤0º%20n‘MR%10n0¤0ó0Ç0Ã0¯0¹%00’Š­0SÖ00F0h0W0f0D0~0YPOut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatorV{ÄVòY—Yv„‘MR0¢0¯0»0¹00µ0¤0º%20n‘MR%10n0¤0ó0Ç0Ã0¯0¹%00’fø0M¼0‚0F0h0W0f0D0~0YQOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslator,jv„0Ð0¤0È0³0ü0É0k[þ0W0¹0¯0ê0×0È0L•wN0N0~0Y'Script too big for target bytecode sizeAseba::CompilerTranslatorD0µ0¤0º0¨0é0ü! ‘MR10n0µ0¤0º = %0; ‘MR20n0µ0¤0º = %15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslatorNn\0ë0ü0×0k0J0D0f•‹YË0¤0ó0Ç0Ã0¯0¹0o}BN†0¤0ó0Ç0Ã0¯0¹0ˆ0ŠšØ0O0j0Q0Œ0p0j0Š0~0[0“=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslatorNX—R 0ë0ü0×0k0J0D0f•‹YË0¤0ó0Ç0Ã0¯0¹0o}BN†0¤0ó0Ç0Ã0¯0¹0ˆ0ŠON0O0j0Q0Œ0p0j0Š0~0[0“ Aseba::CompilerTranslator Broken target description: not enough room for internal variables 目標記述ãŒç ´æã—ã¦ã„ã¾ã™: 内部変数ã®ä½™åœ°ãŒã‚ã‚Šã¾ã›ã‚“ Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions 実行スタックãŒã‚ªãƒ¼ãƒãƒ¼ãƒ•ãƒ­ãƒ¼ã—ã¾ã™ã®ã§ã€ãƒªã‚«ãƒ¼ã‚·ãƒ–・サブルーãƒãƒ³ã®å‘¼ã³å‡ºã—を確èªã—é•·ã„æ•°å¼ã‚’カットã—ã¦ãã ã•ã„ Script too big for target bytecode size 標的ãƒã‚¤ãƒˆã‚³ãƒ¼ãƒ‰ã«å¯¾ã—スクリプトãŒé•·éŽãŽã¾ã™ %0 is not a defined variable %0ã¯å®šç¾©æ¸ˆã¿å®šæ•°ã§ã¯ã‚ã‚Šã¾ã›ã‚“ %0 is not a defined variable, do you mean %1? %0ã¯å®šç¾©æ¸ˆã¿å®šæ•°ã§ã¯ã‚ã‚Šã¾ã›ã‚“ã€%1ã®ã“ã¨ã§ã™ã‹? Target does not provide function %0 標的ã¯é–¢æ•°%0を与ãˆã¾ã›ã‚“ Target does not provide function %0, do you mean %1? 標的ã¯é–¢æ•°%0を与ãˆã¾ã›ã‚“ã€%1ã®ã“ã¨ã§ã™ã‹? Constant %0 not defined 定数%0ã¯å®šç¾©æ¸ˆã§ã¯ã‚ã‚Šã¾ã›ã‚“ Constant %0 not defined, do you mean %1? 定数%0ã¯å®šç¾©æ¸ˆã§ã¯ã‚ã‚Šã¾ã›ã‚“ã€%1ã®ã“ã¨ã§ã™ã‹? %0 is not a known event %0ã¯ä¸æ˜Žãªã‚¤ãƒ™ãƒ³ãƒˆã§ã™ %0 is not a known event, do you mean %1? %0ã¯ä¸æ˜Žãªã‚¤ãƒ™ãƒ³ãƒˆã§ã™ã€%1ã®ã“ã¨ã§ã™ã‹? %0 is a local event that you cannot emit %0ã¯é€ä¿¡ã§ããªã„ローカルイベントã§ã™ Subroutine %0 does not exists サブルーãƒãƒ³%0ã¯å­˜åœ¨ã—ã¾ã›ã‚“ Subroutine %0 does not exists, do you mean %1? サブルーãƒãƒ³%0ã¯å­˜åœ¨ã—ã¾ã›ã‚“ã€%1ã®ã“ã¨ã§ã™ã‹? Line: è¡Œ: Col: Computer oriented language（コンピューター言語） Col: Unbalanced comment block ä¸å¹³è¡¡ã‚³ãƒ¡ãƒ³ãƒˆãƒ–ロック Syntax error 構文エラー Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead 識別å­ã¯_ã‚‚ã—ãã¯è‹±æ•°å­—ã‹ã‚‰å§‹ã¾ã‚‹å¿…è¦ãŒã‚ã‚Šã€ä»£ã‚ã‚Šã«ãƒ¦ãƒ‹ã‚³ãƒ¼ãƒ‰æ–‡å­—0x%0ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Error in hexadecimal number 16進数ã®ã‚¨ãƒ©ãƒ¼ Error in binary number 2進数ã®ã‚¨ãƒ©ãƒ¼ Error in number, invalid base æ•°å­—ã®ã‚¨ãƒ©ãƒ¼ã€ç„¡åŠ¹ãªåŸºæ•° Error in number æ•°å­—ã®ã‚¨ãƒ©ãƒ¼ Internal compiler error, please report a bug containing the source which triggered this error 内部コンパイラã®ã‚¨ãƒ©ãƒ¼ã€ã“ã®ã‚¨ãƒ©ãƒ¼ã‚’引ãèµ·ã“ã—ãŸã‚½ãƒ¼ã‚¹ã‚’å«ã‚€ãƒã‚°ã®å ±å‘Šã‚’ã—ã¦ãã ã•ã„ Expecting %0, found %1 instead %0を期待ã—ã€ä»£ã‚ã‚Šã«%1ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Integer value %0 out of [0;4095] range [0;4095]範囲中ã®æ•´æ•°å€¤%0 Integer value %0 out of [0;65535] range [0;65535]範囲中ã®æ•´æ•°å€¤%0 Integer value %0 out of [0;32767] range [0;32767]範囲中ã®æ•´æ•°å€¤%0 Integer value %0 out of [-32768;32767] range [-32768;32767]範囲中ã®æ•´æ•°å€¤%0 Constant %0 has value %1, which is out of [0;32767] range 定数%0ã®å€¤%1ã¯[0;32767]範囲ã®ä¸­ã®å€¤ã§ã™ Constant %0 has value %1, which is out of [-32768;32767] range 定数%0ã®å€¤%1ã¯[-32768;32767]範囲ã®ä¸­ã®å€¤ã§ã™ Expecting one of %0; but found %1 instead %0ã®ä¸­ã®1ã¤ã‚’を期待ã—ã€ä»£ã‚ã‚Šã«%1ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Not enough free space to allocate this tempory variable ã“ã®ãƒ†ãƒ³ãƒãƒ©ãƒªå¤‰æ•°ã‚’割り当ã¦ã‚‹ç©ºã容é‡ãŒè¶³ã‚Šã¾ã›ã‚“ Variable definition is allowed only at the beginning of the program before any statement 変数定義ã¯å‘½ä»¤æ–‡ä»¥å‰ã®ãƒ—ログラム始ã‚ã«ã®ã¿è¨±å¯ã•ã‚Œã¾ã™ Expecting identifier, found %0 識別å­ã‚’期待ã—ã€%0ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Constant %0 is already defined 定数%0ã¯ã™ã§ã«å®šç¾©æ¸ˆã§ã™ Variable %0 is already defined 変数%0ã¯ã™ã§ã«å®šç¾©æ¸ˆã§ã™ Variable %0 has the same name as a constant 変数%0ãŒå®šæ•°ã¨åŒã˜åå‰ã§ã™ Array %0 has undefined size é…列%0ã«ã¯æœªå®šç¾©ã®ã‚µã‚¤ã‚ºãŒã‚ã‚Šã¾ã™ No more free variable space ã“れ以上空ã変数è¦é ˜ãŒã‚ã‚Šã¾ã›ã‚“ Expecting assignment, found %0 instead 割り当ã¦ã‚’期待ã—ã€ä»£ã‚ã‚Šã«%0ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Null steps are not allowed in for loops Nullステップã¯for loopsã§ã¯è¨±å¯ã•ã‚Œã¦ã„ã¾ã›ã‚“ Start index must be lower than end index in increasing loops 増加ループã«ãŠã„ã¦é–‹å§‹ã‚¤ãƒ³ãƒ‡ãƒƒã‚¯ã‚¹ã¯çµ‚了インデックスより低ããªã‘ã‚Œã°ãªã‚Šã¾ã›ã‚“ Start index must be higher than end index in decreasing loops 減少ループã«ãŠã„ã¦é–‹å§‹ã‚¤ãƒ³ãƒ‡ãƒƒã‚¯ã‚¹ã¯çµ‚了インデックスより高ããªã‘ã‚Œã°ãªã‚Šã¾ã›ã‚“ End index cannot be 32767 in increasing loops 増加ループã«ãŠã„ã¦çµ‚了インデックスã¯32767ã«ã¯ãªã‚Šå¾—ã¾ã›ã‚“ End index cannot be -32768 in decreasing loops 減少ループã«ãŠã„ã¦çµ‚了インデックスã¯327678ã«ã¯ãªã‚Šå¾—ã¾ã›ã‚“ Event %0 is already implemented イベント%0ã¯ã™ã§ã«å®Ÿè£…ã•ã‚Œã¦ã„ã¾ã™ Event %0 needs an array of size %1 or smaller, but one of size %2 is passed イベント%0ã«ã¯ã‚µã‚¤ã‚º%1ã‚‚ã—ãã¯ãれよりå°ã•ãªã‚µã‚¤ã‚ºã®é…列ãŒå¿…è¦ã§ã™ãŒã€ã‚µã‚¤ã‚º%2ã®1ã¤ã¯ãƒ‘スã•ã‚Œã¾ã—㟠Event %0 needs an array of size %1, but one of size %2 is passed イベント%0ã«ã¯ã‚µã‚¤ã‚º%1ã®é…列ãŒå¿…è¦ã§ã™ãŒã€ã‚µã‚¤ã‚º%2ã®1ã¤ã¯ãƒ‘スã•ã‚Œã¾ã—㟠Subroutine %0 is already defined サブルーãƒãƒ³%0ã¯å®šç¾©æ¸ˆã§ã™ Expecting a constant expression as a second index 第2ã®ã‚¤ãƒ³ãƒ‡ãƒƒã‚¯ã‚¹ã¨ã—ã¦å®šæ•°è¡¨ç¾ã‚’期待ã—ã¦ã„ã¾ã™ End of range index must be lower or equal to start of range index 終了範囲インデックスã¯é–‹å§‹ç¯„囲インデックスより低ã„ã‹åŒç­‰ã§ãªã‘ã‚Œã°ãªã‚Šã¾ã›ã‚“ Array size: result is negative (%0) é…列サイズ: çµæžœã¯è² æ•°(%0) Array size: result is null é…列サイズ: çµæžœã¯ç©ºå€¤ Not a valid constant expression 無効ãªå®šæ•°è¡¨ç¾ Function %0 requires no argument, some are used 関数%0ã«ã¯å¼•æ•°ä¸è¦ã€ä¸€éƒ¨ä½¿ç”¨ Function %0 requires %1 arguments, only %2 are provided 関数%0ã¯å¼•æ•°%1ãŒå¿…è¦ã€%2ã®ã¿ä¸Žãˆã‚‰ã‚Œã¾ã—㟠Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 関数%2ã®å¼•æ•°%0（%1）ã¯%3サイズã§ã€é–¢æ•°å®šç¾©ã¯%4サイズをè¦æ±‚ã—ã¾ã™ Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 Function %0 requires %1 arguments, more are used 関数%0ã¯å¼•æ•°%1ãŒå¿…è¦ã€ãれ以上ãŒä½¿ç”¨ã•ã‚Œã¾ã—㟠Unexpected token when building UnaryArithmeticAssignmentNode å˜é …算術割当ノードビルド中ã®äºˆæœŸã›ã¬ãƒˆãƒ¼ã‚¯ãƒ³ Expecting an assignment to a variable, found %0 instead 変数㮠割り当ã¦ã‚’期待ã—ã€ä»£ã‚ã‚Šã«%0ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Access of array %0 out of bounds: accessing index %1 while array is of size %2 範囲ã®ä¸­ã®é…列%0ã«ã‚¢ã‚¯ã‚»ã‚¹ã—ã¦ã„ã¾ã™: é…列ã®ã‚µã‚¤ã‚ºãŒ%2ã®é–“インデックス%1ã«ã‚¢ã‚¯ã‚»ã‚¹ã—ã¦ã„ã¾ã™ Size error! Size of array1 = %0 ; size of array2 = %1 サイズエラー! é…列1ã®ã‚µã‚¤ã‚º = %0; é…列2ã®ã‚µã‚¤ã‚º = %1 Condition of the if cannot be a vector ifã®æ¡ä»¶ã¯ãƒ™ã‚¯ã‚¿ãƒ¼ã«ã¯ã§ãã¾ã›ã‚“ Condition of the while cannot be a vector whileã®æ¡ä»¶ã¯ãƒ™ã‚¯ã‚¿ãƒ¼ã«ã¯ã§ãã¾ã›ã‚“ MemoryVectorNode::getVectorSize: illegal operation メモリベクターノード::ベクターサイズをå–å¾—: é•æ³•æ“作 Infinite loops not allowed ç„¡é™ãƒ«ãƒ¼ãƒ—ã¯ç¦æ­¢ã§ã™ Division by zero ゼロ除算 -32768 has no positive correspondance in 16 bits integers correspondence? -32768ã«ã¯16ビット整数内ã«ãƒ—ラスã®ä¸€è‡´ãŒãªã„ Out of bound static array access. Trying to read index %0 of array %1 of size %2 範囲外é™çš„é…列アクセス。サイズ%2ã®é…列%1ã®ã‚¤ãƒ³ãƒ‡ãƒƒã‚¯ã‚¹%0を読ã¿å–ã‚ã†ã¨ã—ã¦ã„ã¾ã™ Out of bound static array access. Trying to write index %0 of array %1 of size %2 範囲外é™çš„é…列アクセス。サイズ%2ã®é…列%1ã®ã‚¤ãƒ³ãƒ‡ãƒƒã‚¯ã‚¹%0を書ã込もã†ã¨ã—ã¦ã„ã¾ã™ Expecting %0 type, found %1 type instead %0タイプを期待ã—ã€ä»£ã‚ã‚Šã«%1ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠Expecting a condition, found a %0 instead æ¡ä»¶ã‚’期待ã—ã€ä»£ã‚ã‚Šã«%0ãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠end of stream ストリームã®çµ‚ã‚ã‚Š when keyword when キーワード emit keyword emit キーワード _emit keyword _emit キーワード for keyword for キーワード in keyword in キーワード step keyword step キーワード while keyword while キーワード do keyword do キーワード if keyword if キーワード then keyword then キーワード else keyword else キーワード elseif keyword elseif キーワード end keyword end キーワード var keyword var キーワード const keyword const キーワード call keyword call キーワード sub keyword sub キーワード callsub keyword callsub キーワード onevent keyword onevent キーワード abs keyword abs キーワード return keyword return キーワード string 文字列 integer æ•´æ•° ( (open parenthesis) ( (é–‹ã括弧) ) (close parenthesis) ) (é–‰ã˜æ‹¬å¼§) [ (open bracket) [(é–‹ã角括) ] (close bracket) ] (é–‰ã˜è§’括弧) : (colon) : (コロン) , (comma) , (コンマ) = (assignation) = (割当) or ã‚‚ã—ãã¯è«–ç†å’Œ or and è«–ç†ç© and not ã§ãªã„ not binary or 2進数ã®è«–ç†å’Œ binary or binary xor 2進数ã®æŽ’ä»–çš„è«–ç†å’Œ binary xor binary and 2進数ã®è«–ç†ç© binary and binary not 2進数ã§ãªã„ binary not binary or equal 2進数論ç†å’Œã‚¤ã‚³ãƒ¼ãƒ« binary or equal binary xor equal 2進数排他的論ç†å’Œã‚¤ã‚³ãƒ¼ãƒ« binary xor equal binary and equal 2進数åŠã³ã‚¤ã‚³ãƒ¼ãƒ« binary and equal == (equal to) == (イコール) != (not equal to) != (ノットイコール) > (bigger than) > (大ãªã‚Š) >= (bigger or equal than) >= (大ãªã‚Šã‚¤ã‚³ãƒ¼ãƒ«) < (smaller than) < (å°ãªã‚Š) <= (smaller or equal than) <= (å°ãªã‚Šã‚¤ã‚³ãƒ¼ãƒ«ï¼‰ << (shift left) << (å·¦ã«ã‚·ãƒ•ãƒˆã™ã‚‹) >> (shift right) << (å³ã«ã‚·ãƒ•ãƒˆã™ã‚‹) <<= (shift left equal) <<= (å·¦ã«ã‚·ãƒ•ãƒˆã‚¤ã‚³ãƒ¼ãƒ«) >>= (shift right equal) <<= (å³ã«ã‚·ãƒ•ãƒˆã‚¤ã‚³ãƒ¼ãƒ«) + (plus) + (プラス) - (minus) - (マイナス) += (plus equal) += (プラスイコール) -= (minus equal) -= (マイナスイコール) ++ (plus plus) ++ (プラスプラス) -- (minus minus) -- (マイナスマイナス) * (time) ã¾ãŸã¯* (時間) * (タイム) / (divide) / (割る) modulo 剰余 *= (time equal) ã‚‚ã—ãã¯*= (時間equal) *= (タイムイコール) /= (divide equal) /= (割るイコール) modulo equal 剰余イコール unknown ä¸æ˜Žãª Unknown error ä¸æ˜Žãªã‚¨ãƒ©ãƒ¼ aseba-1.6.0/clients/studio/compiler_zh.qm000066400000000000000000000361301322771007300204200ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBXb5BhD-çud4¸@bSN*T+5Z½²4b!2#¸oƒ³åk/ƒ+%I¯zU ´·Sô-¢¼ ô2°½Âô3>Êrô6HÌbô7Ö>ô3ƒÖwô1×æô3ÅöÙÒ$€þidJ_À`©Èk842€¥ôûŸµO)L§a5ÿ« ˽ˆ÷>‰Ëû¹< t0ô'jYëDÌüx2à(éÀ0?Ný˃&âà”-WŒ‰ 2Yi|?¥IY«%L‰àb/2Š'¿'«mY}ËÄ“0HÀ!8¹!þ9 Î!T‡ù$ùŠ¢Ò× Á’ 4‡!Ý”Ô)7L4x.&ô7S8Ä© Uz$ô5Æ{ü z~&ô6"t¼tÅ*$ÐxÄ(G÷kä5«s|Qô1Òàô2hE¼/4@iô0¬yy Sœ6—«G6âu•_) ®Aó%âZMI •g´1ï"/êø. ž$.Þ¼ÜEë ”&S ,ü? œS¢k žø‚¬ Ÿ,˜ õä™ e z ÿ), ieh 0þ/'Ë B³”X Åc#? ÆÙ“ Ô äßT& õ{é è™] "‰Ø H†d‘ PDY- Œ—Ùà µ€”1E áž´+¢ íþ2õ ·„ -pn"] >Ïò*ò A¤7› RV®6Õ †Í%¸ ŽÖà  ¸ê4# Ä® âF™  ñd\0@ îÒ _ ´4ñ ˆ3‹)Ð ŒQt5x Œá¥"¸ ŒýÔ Ë ö¿yŸÈ ,º<åi8JO893ƒ9uü‡¹SŒ„c'p›ŠÉ ú¦*)ð¦-¨¯ñs|.t@syër‚©›˜ÿ´,ÒDYÜÃâ(§i7æR: Col: Aseba::CompilerTranslator!= (N {INŽ)!= (not equal to)Aseba::CompilerTranslator"N €ýSÑ%0,VàN:‹åN‹NöN:g,W0N‹Nö(%0 is a local event that you cannot emitAseba::CompilerTranslator%0N:g*[šNISØ‘Ï%0 is not a defined variableAseba::CompilerTranslator %0N:g*[šNISØ‘Ï,O`f/c%1T?-%0 is not a defined variable, do you mean %1?Aseba::CompilerTranslator%0—^]òwåN‹Nö%0 is not a known eventAseba::CompilerTranslator%0—^]òwåN‹Nö,O`f/c%1T?(%0 is not a known event, do you mean %1?Aseba::CompilerTranslator( (]æbìS÷)( (open parenthesis)Aseba::CompilerTranslator) (SóbìS÷)) (close parenthesis)Aseba::CompilerTranslator * (NX)* (time)Aseba::CompilerTranslator*= (NX^vKP<)*= (time equal)Aseba::CompilerTranslator + (R )+ (plus)Aseba::CompilerTranslator++ (êR¨R 1)++ (plus plus)Aseba::CompilerTranslator+= (R ^vKP<)+= (plus equal)Aseba::CompilerTranslator , (S÷) , (comma)Aseba::CompilerTranslator - (QÏ) - (minus)Aseba::CompilerTranslator-- (êR¨QÏ1)-- (minus minus)Aseba::CompilerTranslator*W(16OMetW‹epN-,-32768v„kcP (Y'NŽ)> (bigger than)Aseba::CompilerTranslator>= (Y'NŽ{INŽ)>= (bigger or equal than)Aseba::CompilerTranslator>> (Sóyû)>> (shift right)Aseba::CompilerTranslator>>= (Sóyû{INŽ)>>= (shift right equal)Aseba::CompilerTranslator>‹¿•îep~Ä%0eö…QúƒVô:‹ÕVþ‹¿•î}"_%1,OFf/ep~Äv„•^¦N:%2NAccess of array %0 out of bounds: accessing index %1 while array is of size %2Aseba::CompilerTranslator>Qýep%2v„SÂep%0 (%1)•^¦N:%3,Qýep[šNI‰lB•^¦N:%4RArgument %0 (%1) of function %2 is of size %3, function definition demands size %4Aseba::CompilerTranslatorJQýep%2v„SÂep%0 (%1)•^¦N:%3,OFf/W(Ù‘ÌQús°N†NN*SÂep•^¦N:%4qArgument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4Aseba::CompilerTranslatorep~Ä%0g*[šNI•^¦Array %0 has undefined sizeAseba::CompilerTranslatorep~Ä•^¦:~Ógœg*(%0)#Array size: result is negative (%0)Aseba::CompilerTranslatorep~Ä•^¦:~ÓgœN:zzArray size: result is nullAseba::CompilerTranslator(vîh]òc_WO:l¡g ³Yv„zz•ôR‘M~ÙQ…èSØ‘ÏABroken target description: not enough room for internal variablesAseba::CompilerTranslatorif‹íSåv„gaNöN €ýN:T‘Ï&Condition of the if cannot be a vectorAseba::CompilerTranslatorwhile‹íSåv„gaNöN €ýN:T‘Ï)Condition of the while cannot be a vectorAseba::CompilerTranslatorD^8‘Ï%0v„PConstant %0 has value %1, which is out of [-32768;32767] rangeAseba::CompilerTranslator:^8‘Ï%0v„P}"_N €ýN:-32768.End index cannot be -32768 in decreasing loopsAseba::CompilerTranslator.Xž_ªs¯(loop)v„~Ó\>}"_N €ýN:32767-End index cannot be 32767 in increasing loopsAseba::CompilerTranslator"~Óg_ƒVô}"_‰\NŽ{INŽwY˃Vô}"_AEnd of range index must be lower or equal to start of range indexAseba::CompilerTranslator NŒÛR6ep•‹ïError in binary numberAseba::CompilerTranslatorSAQmÛR6ep•‹ïError in hexadecimal numberAseba::CompilerTranslatorep[W•‹ïError in numberAseba::CompilerTranslatorep[W•‹ï,‹åep^•epeàeHError in number, invalid baseAseba::CompilerTranslatorN‹Nö%0]ò~ψ«bgˆLEvent %0 is already implementedAseba::CompilerTranslator>N‹Nö%0—‰NN*\NŽ{INŽ%1•^¦v„ep~Ä,OFf/ÙN*ep~Ä•^¦N:%2KEvent %0 needs an array of size %1 or smaller, but one of size %2 is passedAseba::CompilerTranslator6N‹Nö%0—‰NN*%1•^¦v„ep~Ä,OFf/ÙN*ep~Ä•^¦N:%2@Event %0 needs an array of size %1, but one of size %2 is passedAseba::CompilerTranslatorbbgˆLepcnSs\n¢Qú(stack overflow),‹÷)wíÇ•v„ep[fˆh¾_^vNhÀgåf/T&Œu(_R[Pz _lExecution stack will overflow, check for any recursive subroutine call and cut long mathematical expressionsAseba::CompilerTranslator,Ù‘ÌQús°N†|{W‹%1,OFf/kcxnv„^”‹åf/|{W‹%0(Expecting %0 type, found %1 type insteadAseba::CompilerTranslatorÙ‘ÌSÑs°%1,OF^”‹åf/%0Expecting %0, found %1 insteadAseba::CompilerTranslator(Ù‘ÌQús°N†%0,OFf/kcxnv„^”‹åf/NN*gaNö)Expecting a condition, found a %0 insteadAseba::CompilerTranslator—‰NN*^8‘Ïgeˆhy:{,NŒN*}"_1Expecting a constant expression as a second indexAseba::CompilerTranslator0Ù‘ÌQús°N†%0,OFf/Ù‘Ì^”‹åf/NN*KNˆSØ‘Ïv„SÂep7Expecting an assignment to a variable, found %0 insteadAseba::CompilerTranslator&Ù‘ÌQús°N†%0,OFkcxnv„^”‹åf/NN*KP<&Expecting assignment, found %0 insteadAseba::CompilerTranslator*Ù‘ÌQús°N†%0,OFf/kcxnv„^”‹åf/NN*h‹Æ{&Expecting identifier, found %0Aseba::CompilerTranslator&Ù‘ÌQús°N†%1,OFf/^”‹åf/%0N-v„NN*)Expecting one of %0; but found %1 insteadAseba::CompilerTranslator2Qýep%0Sê—‰%1N*SÂep,OFf/Ù‘ÌQús°N†ÇYv„SÂep0Function %0 requires %1 arguments, more are usedAseba::CompilerTranslator&Qýep%0—‰%1N*SÂep,Ù‘ÌSêg %2N*7Function %0 requires %1 arguments, only %2 are providedAseba::CompilerTranslator*Ù‘ÌQús°N†NN›SÂep,OFf/Qýep%0N —‰SÂep/Function %0 requires no argument, some are usedAseba::CompilerTranslatorFh‹Æ{&_Y4_Ř{N:"_"b€ep[W[WkÍ,Ù‘ÌQús°N†unicode 0x%0`Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 insteadAseba::CompilerTranslatorN QA‹¸eà–P_ªs¯Infinite loops not allowedAseba::CompilerTranslator2etW‹epP<%0…QúN†ƒVô[-32767;32767],Integer value %0 out of [-32768;32767] rangeAseba::CompilerTranslator(etW‹epP<%0…QúN†ƒVô[0;32767]'Integer value %0 out of [0;32767] rangeAseba::CompilerTranslator&etW‹epP<%0…QúN†ƒVô[0;4095]&Integer value %0 out of [0;4095] rangeAseba::CompilerTranslator(etW‹epP<%0…QúN†ƒVô[0;65535]'Integer value %0 out of [0;65535] rangeAseba::CompilerTranslator2‹ÑVhQ…è•‹ï,‹÷b¥TJ‹å•‹ïNåSÊ_SÑ‹å•‹ïv„nNãx]Internal compiler error, please report a bug containing the source which triggered this errorAseba::CompilerTranslatorˆL:Line: Aseba::CompilerTranslatorJMemoryVectorNode::getVectorSize:݉Äv„dÍO\2MemoryVectorNode::getVectorSize: illegal operationAseba::CompilerTranslatorl¡g fôYv„zz•ô~ÙNSØ‘ÏNo more free variable spaceAseba::CompilerTranslatoreàeHv„^8‘ψhs°Not a valid constant expressionAseba::CompilerTranslator"l¡g fôYv„RiOYzz•ôR‘M~Ù‹åN4eöSØ‘Ï7Not enough free space to allocate this tempory variableAseba::CompilerTranslator$W(_ªs¯‹íSå(loop)N-N Sï_ªs¯0k!'Null steps are not allowed in for loopsAseba::CompilerTranslatorJ—Y`ep~Ä‹¿•îeö…QúƒVô. \‹Õ‹ûSÖep~Ä%1v„}"_%0,OF‹åep~Äv„•^¦N:%2POut of bound static array access. Trying to read index %0 of array %1 of size %2Aseba::CompilerTranslatorJ—Y`ep~Ä‹¿•îeö…QúƒVô. \‹ÕQ™Qeep~Ä%1v„}"_%0,OF‹åep~Äv„•^¦N:%2QOut of bound static array access. Trying to write index %0 of array %1 of size %2Aseba::CompilerTranslatorg,[ùNŽvîh[W‚‚x[¹‘ÏÇY''Script too big for target bytecode sizeAseba::CompilerTranslator8ep~Ä•^¦•‹ï! ep~Ä1v„•^¦N:%0; ep~Ä2v„•^¦N:%15Size error! Size of array1 = %0 ; size of array2 = %1Aseba::CompilerTranslator$W(QÏ_ªs¯N-,wYË}"_‰Y'NŽ~Óg_}"_=Start index must be higher than end index in decreasing loopsAseba::CompilerTranslator$W(Xž_ªs¯N-,wYË}"_‰\NŽ~Óg_}"_ end of streamAseba::CompilerTranslator Qs•.‹Ífor for keywordAseba::CompilerTranslator Qs•.‹Íif if keywordAseba::CompilerTranslator Qs•.‹Íin in keywordAseba::CompilerTranslatoretW‹integerAseba::CompilerTranslatorj!~ÄmoduloAseba::CompilerTranslatorlBOYep modulo equalAseba::CompilerTranslator—^notnotAseba::CompilerTranslatorQs•.‹Íoneventonevent keywordAseba::CompilerTranslatorbororAseba::CompilerTranslatorQs•.‹Íreturnreturn keywordAseba::CompilerTranslatorQs•.‹Ístep step keywordAseba::CompilerTranslator[W{&N2stringAseba::CompilerTranslator Qs•.‹Ísub sub keywordAseba::CompilerTranslatorQs•.‹Íthen then keywordAseba::CompilerTranslatorg*wåunknownAseba::CompilerTranslator Qs•.‹Ívar var keywordAseba::CompilerTranslatorQs•.‹Íwhen when keywordAseba::CompilerTranslatorQs•.‹Íwhile while keywordAseba::CompilerTranslatoraseba-1.6.0/clients/studio/compiler_zh.ts000066400000000000000000000615671322771007300204450ustar00rootroot00000000000000 Aseba::CompilerTranslator Broken target description: not enough room for internal variables 目标已æŸå:没有足够的空间分é…给内部å˜é‡ Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions 执行数æ®å³å°†æº¢å‡º(stack overflow),请缩短过长的数学表达å¼å¹¶ä¸”检查是å¦è°ƒç”¨é€’å½’å­ç¨‹å¼ Script too big for target bytecode size 脚本对于目标字节ç å®¹é‡è¿‡å¤§ %0 is not a defined variable %0为未定义å˜é‡ %0 is not a defined variable, do you mean %1? %0为未定义å˜é‡,你是指%1å—? Target does not provide function %0 目标ä¸æ供函数%0 Target does not provide function %0, do you mean %1? 目标ä¸æ供函数%0,你是指%1å—? Constant %0 not defined 常é‡%0未定义 Constant %0 not defined, do you mean %1? 常é‡%0未定义,你是指%1å—? %0 is not a known event %0éžå·²çŸ¥äº‹ä»¶ %0 is not a known event, do you mean %1? %0éžå·²çŸ¥äº‹ä»¶,你是指%1å—? %0 is a local event that you cannot emit ä¸èƒ½å‘é€%0,因为该事件为本地事件 Subroutine %0 does not exists å­ç¨‹åº%0ä¸å­˜åœ¨ Subroutine %0 does not exists, do you mean %1? å­ç¨‹åº%0ä¸å­˜åœ¨,你是指%1å—? Line: è¡Œ: Col: 列: Unbalanced comment block 注释模å—ä¸å¹³è¡¡ Syntax error 语法错误 Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead 标识符开头必须为"_"或者数字字æ¯,这里出现了unicode 0x%0 Error in hexadecimal number å六进制数错误 Error in binary number 二进制数错误 Error in number, invalid base 数字错误,该数底数无效 Error in number 数字错误 Internal compiler error, please report a bug containing the source which triggered this error 编译器内部错误,请报告该错误以åŠå¼•å‘该错误的æºä»£ç  Expecting %0, found %1 instead 这里å‘现%1,但应该是%0 Integer value %0 out of [0;4095] range 整型数值%0超出了范围[0;4095] Integer value %0 out of [0;65535] range 整型数值%0超出了范围[0;65535] Integer value %0 out of [0;32767] range 整型数值%0超出了范围[0;32767] Integer value %0 out of [-32768;32767] range 整型数值%0超出了范围[-32767;32767] Constant %0 has value %1, which is out of [0;32767] range 常é‡%0的值为%1,该值超过了[0;32767]的值域范围 Constant %0 has value %1, which is out of [-32768;32767] range 常é‡%0的值为%1,该值超过了[-32768;32767]的值域范围 Expecting one of %0; but found %1 instead 这里出现了%1,但是应该是%0中的一个 Not enough free space to allocate this tempory variable 没有更多的剩余空间分é…给该临时å˜é‡ Variable definition is allowed only at the beginning of the program before any statement åªå…许在程åºå¼€å¤´(在所有语å¥å£°æ˜Žä¹‹å‰)对å˜é‡è¿›è¡Œå®šä¹‰ Expecting identifier, found %0 这里出现了%0,但是正确的应该是一个标识符 Constant %0 is already defined 常é‡%0å·²ç»è¢«å®šä¹‰ Variable %0 is already defined å˜é‡%0å·²ç»è¢«å®šä¹‰ Variable %0 has the same name as a constant å˜é‡%0与æŸå¸¸é‡åŒå Array %0 has undefined size 数组%0未定义长度 No more free variable space 没有更多的空间给与å˜é‡ Expecting assignment, found %0 instead 这里出现了%0,但正确的应该是一个赋值 Null steps are not allowed in for loops 在循环语å¥(loop)中ä¸å¯å¾ªçŽ¯0次 Start index must be lower than end index in increasing loops 在递增循环中,起始索引è¦å°äºŽç»“æŸç´¢å¼• Start index must be higher than end index in decreasing loops 在递å‡å¾ªçŽ¯ä¸­,起始索引è¦å¤§äºŽç»“æŸç´¢å¼• End index cannot be 32767 in increasing loops 递增循环(loop)的结尾索引ä¸èƒ½ä¸º32767 End index cannot be -32768 in decreasing loops 递å‡å¾ªçŽ¯(loop)的结尾索引ä¸èƒ½ä¸º-32768 Event %0 is already implemented 事件%0å·²ç»è¢«æ‰§è¡Œ Event %0 needs an array of size %1 or smaller, but one of size %2 is passed 事件%0需è¦ä¸€ä¸ªå°äºŽç­‰äºŽ%1长度的数组,但是这个数组长度为%2 Event %0 needs an array of size %1, but one of size %2 is passed 事件%0需è¦ä¸€ä¸ª%1长度的数组,但是这个数组长度为%2 Subroutine %0 is already defined å­ç¨‹åº%0已被定义 Expecting a constant expression as a second index 需è¦ä¸€ä¸ªå¸¸é‡æ¥è¡¨ç¤ºç¬¬äºŒä¸ªç´¢å¼• End of range index must be lower or equal to start of range index 结æŸèŒƒå›´ç´¢å¼•è¦å°äºŽç­‰äºŽèµ·å§‹èŒƒå›´ç´¢å¼• Array size: result is negative (%0) 数组长度:结果未负(%0) Array size: result is null 数组长度:结果为空 Not a valid constant expression 无效的常é‡è¡¨çŽ° Function %0 requires no argument, some are used 这里出现了一些å‚æ•°,但是函数%0ä¸éœ€è¦å‚æ•° Function %0 requires %1 arguments, only %2 are provided 函数%0需è¦%1个å‚æ•°,这里åªæœ‰%2个 Argument %0 (%1) of function %2 is of size %3, function definition demands size %4 函数%2çš„å‚æ•°%0 (%1)长度为%3,函数定义è¦æ±‚长度为%4 Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4 函数%2çš„å‚æ•°%0 (%1)长度为%3,但是在这里出现了一个å‚数长度为%4 Function %0 requires %1 arguments, more are used 函数%0åªéœ€è¦%1个å‚æ•°,但是这里出现了过多的å‚æ•° Unexpected token when building UnaryArithmeticAssignmentNode 在建立UnaryArithmeticAssignmentNode(一元算术赋值节点)æ—¶å‡ºçŽ°äº†å¼‚å¸¸ç¬¦å· Expecting an assignment to a variable, found %0 instead 这里出现了%0,但是这里应该是一个赋予å˜é‡çš„å‚æ•° Access of array %0 out of bounds: accessing index %1 while array is of size %2 访问数组%0时超出范围:试图访问索引%1,但是数组的长度为%2 Size error! Size of array1 = %0 ; size of array2 = %1 数组长度错误! 数组1的长度为%0; 数组2的长度为%1 Condition of the if cannot be a vector if语å¥çš„æ¡ä»¶ä¸èƒ½ä¸ºå‘é‡ Condition of the while cannot be a vector while语å¥çš„æ¡ä»¶ä¸èƒ½ä¸ºå‘é‡ MemoryVectorNode::getVectorSize: illegal operation MemoryVectorNode::getVectorSize:è¿è§„çš„æ“作 Infinite loops not allowed ä¸å…许无é™å¾ªçŽ¯ Division by zero 被零除 -32768 has no positive correspondance in 16 bits integers 在16ä½æ•´åž‹æ•°ä¸­,-32768的正值ä¸å­˜åœ¨ Out of bound static array access. Trying to read index %0 of array %1 of size %2 é™æ€æ•°ç»„访问时超出范围. å°è¯•è¯»å–数组%1的索引%0,但该数组的长度为%2 Out of bound static array access. Trying to write index %0 of array %1 of size %2 é™æ€æ•°ç»„访问时超出范围. å°è¯•å†™å…¥æ•°ç»„%1的索引%0,但该数组的长度为%2 Expecting %0 type, found %1 type instead 这里出现了类型%1,但是正确的应该是类型%0 Expecting a condition, found a %0 instead 这里出现了%0,但是正确的应该是一个æ¡ä»¶ end of stream 已至数æ®æµç»“å°¾ when keyword 关键è¯when emit keyword 关键è¯emit _emit keyword 关键è¯_emit for keyword 关键è¯for in keyword 关键è¯in step keyword 关键è¯step while keyword 关键è¯while do keyword 关键è¯do if keyword 关键è¯if then keyword 关键è¯then else keyword 关键è¯else elseif keyword 关键è¯elseif end keyword 关键è¯end var keyword 关键è¯var const keyword 关键è¯const call keyword 关键è¯call sub keyword 关键è¯sub callsub keyword 关键è¯callsub onevent keyword 关键è¯onevent abs keyword 关键è¯abs return keyword 关键è¯return string 字符串 integer æ•´åž‹ ( (open parenthesis) ( (左括å·) ) (close parenthesis) ) (å³æ‹¬å·) [ (open bracket) [ (左中括å·) ] (close bracket) ] (å³ä¸­æ‹¬å·) : (colon) : (冒å·) , (comma) , (逗å·) = (assignation) = (赋值) or 或or and 与and not éžnot binary or 二进制或binary or binary xor 二进制异或binary xor binary and 二进制与binary and binary not 二进制å¦binary not binary or equal 二进制或等于binary or equal binary xor equal 二进制异或等于binary xor equal binary and equal 二进制与等于binary and equal == (equal to) == (等于) != (not equal to) != (ä¸ç­‰äºŽ) > (bigger than) > (大于) >= (bigger or equal than) >= (大于等于) < (smaller than) < (å°äºŽ) <= (smaller or equal than) <= (å°äºŽç­‰äºŽ) << (shift left) << (左移) >> (shift right) >> (å³ç§») <<= (shift left equal) <<= (左移等于) >>= (shift right equal) >>= (å³ç§»ç­‰äºŽ) + (plus) + (加) - (minus) - (å‡) += (plus equal) += (加并赋值) -= (minus equal) -= (å‡å¹¶èµ‹å€¼) ++ (plus plus) ++ (自动加1) -- (minus minus) -- (自动å‡1) * (time) * (乘) / (divide) / (除) modulo 模组 *= (time equal) *= (乘并赋值) /= (divide equal) /= (除并赋值) modulo equal 求余数 unknown 未知 Unknown error 未知错误 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Konzepte

Nachstehende Konzepte sind hilfreich, um Aseba besser zu verstehen.

Knoten

In Aseba können mehrere Roboter oder ein einzelner Roboter mit mehreren Prozessoren in demselben Netzwerk laufen. Dieses Netzwerk kann in Software (TCP), Hardware (CAN), oder durch einen Mix aus Software und Hardware aufgebaut sein. Jeder Prozessor im Netzwerk stellt einen sogenannten "Knoten" dar; auf jedem solchen Knoten läuft eine kleine virtuelle Maschine. Jeder Knoten hat seinen eigenen Tab in Aseba Studio, welcher es erlaubt, die verschiedenen Knoten unabhängig voneinander zu programmieren. Interaktionen zwischen den einzelnen Knoten bleiben aber durch Ereignisse möglich.

Ereignisse

Aseba ist eine ereignisgesteuerte Architektur. Das bedeutet, dass Programme durch Ereignisse ausgelöst werden und unregelmässig (asynchron) ablaufen. Ereignisse haben einen Bezeichner (Identifier) und optionale Nutzdaten. Es gibt 2 Arten von Ereignissen: Ereignisse, die Aseba-Knoten innerhalb eines Aseba-Netzwerkes austauschen, heissen "globale" Ereignisse. "Lokale" Ereignisse hingegen sind intern und werden im Innern eines einzelnen Knotens ausgetauscht. Ein Beispiel für ein lokales Ereignis ist ein Ereignis, das von einem Sensor ausgelöst wird, wenn neue Daten bereit stehen. Ist der Programmcode zum Empfangen von einem Ereignis einmal definiert, wird der entsprechende Block im Programmcode ausgeführt, sobald das Ereignis empfangen wurde. Programmcode kann auch mit dem Befehl "emit" Ereignisse erzeugen, welche dann ihrerseits zur Ausführung von Code auf anderen Knoten führen oder die Kommunikation mit einem externen Programm ermöglichen. Damit der Programmcode auch ausgeführt wird, sobald neue Ereignisse empfangen wurden, dürfen Skripte nicht blockieren und müssen daher frei von Endlosschleifen sein. Mit Bezug zu Anwendungen in der Robotik, wo herkömmliche Steuerungsprogramme von Robotern Prozesse in Endlosschleifen abarbeiten, führt ein Aseba-Skript dieselben Prozessschritte auf Grund von einem Sensor-basierten Ereignis aus.

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aseba-1.6.0/clients/studio/doc/de_asebalanguage.html000066400000000000000000000761241322771007300224370ustar00rootroot00000000000000 Programmiersprache Aseba

Programmiersprache Aseba

Diese Hilfe finden Sie auch innerhalb des Aseba Studios im Menu Hilfe -> Sprache. Technische Ausdrücke sind mit der entsprechenden Erklärung auf Wikipedia verlinkt. Die Seite stellt die Sprache ab der Version 1.2 von Aseba dar, für frühere Versionen lesen Sie bitte diese Seite.

Die Syntax der Programmiersprache Aseba gleicht derjenigen von Matlab (verbreitete wissenschaftliche Programmiersprache). Dies ermöglicht Programmierern mit Vorkenntnissen sich schnell zu orientieren und Aseba in Kürze zu erlernen. Semantisch gesehen, ist Aseba eine einfache, imperative Programmierung mit einem einzelnen Datentyp (16 Bit Ganzzahlen mit Vorzeichen) und Vektoren davon. Diese Einfachheit erlaubt auch Programmierern ohne Vorkenntnisse Mikrokontroller-basierte Roboter zu steuern.

Kommentare

Kommentare erlauben, in den Programmtext Information einzufügen, die vom Compiler ignoriert wird. Dies ist sehr nützlich um Informationen in natürlicher Sprache einzufügen oder zwischenzeitlich Code-Teile auszuschalten.
Kommentare beginnen mit dem Symbol # und enden auf derselben Zeile.

Beispiel: 

# dies ist ein Kommentar
var b    # ein anderer Kommentar

Bemerkungen über mehrere Linien sind auch möglich. Sie beginnen mit dem Symbol #* und enden mit *#.

Beispiel: 

#*
Dies ist ein Kommentar
über mehrere Linien verteilt.
*#
var b    # kurzer Kommentar

Skalare

Skalare Variablen sind Variablen, die Nummern enthalten. Sie können in allen Ausdrücken vorkommen, wie zum Beispiel bei der Initialisierung einer Variable, in einem mathematischen Ausdruck oder in einer logischen Bedingung.

Notation

Skalare können in verschiedenen Basen dargestellt werden. Für uns ist die natürlichste Basis die Basis 10, die zum Dezimalsystem führt, bei dem die Ziffern von 0 bis 9 verwendet werden. Eine negative Zahl wird durch ein vorangestelltes - (Minus-) Zeichen gekennzeichnet. 

i = 42
i = 31415
i = -7

Sowohl das Dualsystem als auch das Hexadezimalsystem werden unterstützt. Binäre (Dual-) Zahlen bekommen ein 0b vorangestellt, hexadezimale Zahlen ein 0x. 

# Binäre Schreibweise
i = 0b110         # i = 6
i = 0b11111111    # i = 255

# Hexadezimale Schreibweise
i = 0x10    # i = 16
i = 0xff    # i = 255

Variablen

Variablen beziehen sich entweder auf einfache ganze Zahlen oder Vektoren von ganzen Zahlen. Die zulässigen Werte sind alle ganzen Zahlen zwischen -32768 und 32767, was einem Speicherbereich von 16 Bit (2 Byte) entspricht. Man kann Vektorkomponenten mit eckigen Klammern [Zahl] aufrufen. Die Indexierung der Vektoren beginnt bei Null. Alle benutzerdefinierten Variablen müssen am Anfang des Asebaprogramms definiert werden, vor allen weiteren Programmteilen.

Der Name einer Variablen muss diesen drei Regeln genügen:

  • Der Name darf nur gross- und kleingeschriebene Buchstaben enthalten, sowie '_' und '.'.
  • Der Name muss mit einem Buchstaben oder einem '_' anfangen.
  • Beim Namen wird Gross- und Kleinschreibung unterschieden. Die Variable "foo" ist nicht gleich der Variable "Foo".
  • Der Name darf keines der reservierten Schlüsselwörter von Aseba sein.

Variablen dürfen während der Deklaration initialisiert werden, indem das Zuweisungssymbol mit einem beliebigen gültigen mathematischen Ausdruck verbunden wird. Eine Variable, die nicht initialisiert wurde, enthält einen nicht-deterministischen Wert. Dieser ist höchstwahrscheinlich nicht null!

Beispiel: 

var a
var b = 0
var c = 2*a + b        # Warnung: 'a' wurde nicht initialisiert

Reservierte Schlüsselwörter

Die folgenden Schlüsselwörter dürfen nicht als Namen für Variablen benutzt werden, da sie Bestandteil der Aseba-Sprache sind.

Schlüsselwörter
abs call callsub do
else elseif emit end
for if in onevent
return step sub then
var when while

Konstanten

Konstanten können in Aseba Studio im "Konstanten"-Panel definiert werden, aber nicht direkt im Programm-Code. Eine Konstante ist eine Zahl, die überall dort benutzt werden kann, wo eine einfach Zahl direkt benutzt werden könnte. Der Unterschied zu einer herkömmlichen Variable ist der, dass Konstanten nach ihrer Definition nicht mehr verändert werden können. Dies ist nützlich, wenn Sie das Verhalten verschiedener Abläufe an einer zentralen Stelle kontrollieren möchten, wie zum Beispiel einen Schwellwert anpassen, der von mehreren Aseba-Knoten genutzt wird. Eine Konstante muss einen eindeutigen Namen haben, insbesondere nicht den Namen einer bereits bestehenden Variable. Andernfalls wird bei der Code-Übersetzung ein Fehler bemängelt. 

# angenommen, wir haben eine Konstante mit dem Namen THRESHOLD definiert
var i = 600

if i > THRESHOLD then
    i = THRESHOLD - 1
end

Vektoren

Vektoren entsprechen einem zusammenhängenden Bereich im Speicher, der wie eine einzelne logische Instanz verwendet werden kann. Sie können mit den üblichen eckigen Klammern [] deklariert werden. Die Zahl zwischen den eckigen Klammern legt die Anzahl der in diesem Vektor enthaltenen Elemente fest. Dies ist die Grösse des Vektors und kann im Nachhinein nicht verändert werden. Die Grösse wird durch einen konstanten Ausdruck angegeben, der auch mathematische Operationen mit Skalaren und Konstanten umfassen darf. Optional können dem Vektor mit dem Vektor-Konstruktor (Beispiel siehe unten) Werte zugewiesen werden. Wird dieser Konstruktor benutzt, so muss die Grösse des Vektors nicht mehr angegeben werden.

Beispiel: 

var a[10]                   # Vektor mit 10 Element
var b[3] = [2, 3, 4]        # Initialisierung
var c[] = [3, 1, 4, 1, 5]   # Grösse wird implizit auf 5 gesetzt
var d[3*FOO-1]              # Grösse wird durch einen konstanten Ausdruck bestimmt (FOO ist eine Konstante)

Auf Vektoren kann auf verschiedene Weise zugegriffen werden:

  • Auf ein einzelnes Element kann mit eckigen Klammern zugegriffen werden, die einen einzelnen Wert umschliessen. Der kleinste Index des Vektors ist 0. Beliebige mathematische Ausdrücke mit anderen Variablen können als Index verwendet werden.
  • Eine Auswahl an Elementen kann durch eckige Klammen getroffen werden, die mehrere konstante Ausdrücke enthalten, die durch einen Doppelpunkt ':' von einander getrennt werden.
  • Werden die eckigen Klammern weggelassen, so greift man auf den gesamten Vektor zu.

Beispiel: 

var foo[5] = [1,2,3,4,5]
var i = 1
var a
var b[3]
var c[5]
var d[5]

a = foo[0]       # Kopiere das erste Element
a = foo[2*i-2]       # von 'foo' nach 'a'

b = foo[1:3]       # Kopiere das 2., 3. und 4. Element
b = foo[1:2*2-1]   # aus 'foo' nach 'b'

c = foo           # Kopiere alle 5 Element von 'foo' nach 'c'
d = c * foo       # Multipliziere die Vektoren 'foo' und 'c' ein Element nach dem anderen und speichere das Ergebnis in 'd'

Vektor-Konstruktoren

Mithilfe von Vektor-Konstruktoren können Arrays aus Variablen, anderen Arrays, Skalaren und sogar komplexen Ausdrücken erzeugt werden. Sie kommen vor allem bei der Initialisierung anderer Arrays oder als Operanden in Ausdrücken, Funktionen und Ereignissen vor. Ein Vektor wird mit eckigen Klammern konstruiert, die mehrere Ausdrücke enthalten können, die jeweils durch ein Komma ',' getrennt werden. Die Grösse des Konstruktors ist die Summe der Grössen aller individueller Ausdrücke und muss mit der Grösse des Vektors, in dem der Konstruktor gespeichert werden soll, übereinstimmen.

Beispiel: 

var a[5] = [1,2,3,4,5]    # Konstruktor um einen Vektor zu initialisieren
var b[3] = [a[1:2],0]    # b wird mit [2,3,0] initialisiert
a = a + [1,1,1,1,1]    # addiere zu jedem Element aus 'a' eins dazu
a = [b[1]+2,a[0:3]]    # a ist jetzt [5,2,3,4,5]

Ausdrücke und Zuweisungen

Ausdrücke erlauben mathematische Berechnungen und sind in einer normalen traditionellen mathematischen Notation (Infix syntax) geschrieben. Zuweisungen benutzen = und weisen das Resultat einer Ausdrucksberechnung einer Variable zu (oder einer Komponente einer Variable, falls die Variable ein Vektor ist). In Aseba gibt es verschiedene Operatoren, welche in der Tabelle unten mit ihrer Priorität aufgeführt sind. Um einen Ausdruck in einer anderen Reihenfolge zu evaluieren, können Klammern benutzt werden.

Priorität Operator Beschreibung Assoziativität Stelligkeit
1 () Gruppieren eines Unter-Ausdrucks unär
2 * / Multiplikation, Division binär
% Modulo binär
3 + - Addition, Subtraktion binär
4 << >> Linksverschiebung, Rechtsverschiebung binär
5 | binäres oder (or) links assoziativ binär
6 ^ binäres, exklusives oder (xor) links assoziativ binär
7 & binäres und links assoziativ binär
8 - unäres minus unär
9 ~ binäres nicht unär
10 abs absoluter Wert unär
11 = Zuweisung binär
|= ^= &= Zuweisung durch binäres oder, xor, und binär
~= Zuweisung durch binäres nicht binär
*= /= Zuweisung durch Produkt und Quotient binär
%= Zuweisung durch modulo binär
+= -= Zuweisung durch Summe und Differenz binär
<<= >>= Zuweisung durch Links- oder Rechtsverschiebung binär
++ -- unäres Inkrement und Dekrement unär

Die Zuweisung durch Versionen der binären Operatoren funktionieren, indem sie den Operator auf eine Variable anwenden und das Resultat in derselben Variablen speichern. Zum Beispiel bedeutet A* = 2 das Gleiche wie A = A*2. Diese Abkürzungen sollen den Code einfacher lesbar machen.

Beispiel: 

a = 1 + 1
# Resultat: a = 2
a *= 3
# Resultat: a = 6
a++
# Resultat: a = 7

b = b + d[0]
b = (a - 7) % 5
c[a] = d[a]
c[0:1] = d[2:3] * [3,2]

Benutzung

Mathematische Ausdrücke sind ein sehr allgemeines Werkzeug. Sie können in vielen verschiedenen Situationen benutzt werden, zum Beispiel:

  • auf der rechten Seite einer Zuweisung
  • als Index beim Zugriff auf Element eines Vektors
  • in Funktions-Aufrufen
  • als Argumente beim Auslösen von Ereignissen

Ablaufsteuerung

Bedingungen

Aseba stellt zwei Arten von Bedingungen zur Verfügung: if und when. Vergleichende Operatoren sind ==, !=, >, >=, <, und <=; beliebige Ausdrücke können verglichen werden. Vergleiche können gruppiert werden mit Hilfe von and (logische Konjunktion), or (logische Disjunktion), und not (logische Negation) Operatoren sowie mit Klammern.
Ein Vergleich besteht aus einem Operator und zwei Operanden und kann entweder richtig oder falsch sein. Die Operanden können beliebige Ausdrücke sein. Die folgende Tabelle listet die Vergleichsoperatoren auf:

Operator Wahrheitswert
== richtig, wenn die Operanden gleich sind (gleich)
!= richtig, wenn die Operanden unterschiedlich sind (ungleich)
> richtig, wenn der erste Operand grösser ist als der zweite (grösser)
>= richtig, wenn der erste Operand grösser oder gleich gross ist wie der zweite (grösser-gleich)
< richtig, wenn der erste Operand kleiner ist als der zweite (kleiner)
<= richtig, falls der erste Operand kleiner oder gleich gross ist wie der zweite (kleiner-gleich)

Sowohl if als auch when führen den darauffolgenden Befehlsblock aus, falls die Bedingung nach if bzw when erfüllt ist. Allerdings führt when den darauffolgenden Befehlsblock ausschliesslich dann aus, wenn die letzte Auswertung der Bedingung falsch war und die momentane Bedingung richtig ist. Dies ermöglicht eine effizientere Arbeitsweise, da der Befehlsblock nur dann ausgeführt wird, wenn sich etwas geändert hat.

Beispiel: 

if a - b > c[0] then
#wenn a - b > [0] dann
    c[0] = a
elseif a > 0 then
#falls die erste Bedingung (a - b > c[0]) falsch war und (a>0) richtig, dann
       b = a
else
#falls keine der vorhergehenden Bedingungen richtig war
       b = 0
end
#Ende des if Befehlsblocks 

when a > b do
#wenn a > b mach
    leds[0] = 1
end
#Ende des when Befehlsblocks

Hier wird der Befehlsblock when nur ausgeführt, falls a grösser als b ist.

Schleifen

Zwei Konstruktionen ermöglichen Schleifen: while und for.

Eine while Schleife wiederholt einen Befehlsblock solange wie die verlangte Bedingung am Ende zutrifft. Die Funktion hat dieselbe Form wie wenn man if benutzt.

Beispiel: 

while i < 10 do
#während i < 10 führe den folgenden Befehlsblock aus
    v = v + i * i
    i = i + 1
end
#Ende des while Blocks

Eine for-Schleife erlaubt es, eine Variable über einen Bereich ganzer Zahlen laufen zu lassen, optional mit einer Schrittweite.

Beispiel: 

for i in 1:10 do
#für i in 1,2,3,...,9,10 führe aus
    v = v + i * i
end
#Ende
for i in 30:1 step -3 do
#für i in 30,27,24,21,...,6,3 führe aus
    v = v - i * i
end
#Ende

Blöcke

Unterprogramme

Falls dieselben Sequenzen von Operatoren an zwei oder mehreren Orten innerhalb des Codes auftreten, genügt es, ein Unterprogramm zu schreiben und dieses von diversen Orten her aufzurufen. Ein Unterprogramm kann mit dem Stichwort sub gefolgt vom Namen des Unterprogramms definiert werden. Ein Unterprogramm kann mit dem Stichwort callsub aufgerufen werden. Unterprogramme müssen immer erst definiert werden, bevor sie aufgerufen werden können. Unterprogramme können weder Argumente beinhalten noch rekursiv sich selbst aufrufen, weder direkt noch indirekt. Allerdings haben Unterprogramme Zugriff auf alle Variablen.

Beispiel: 

var v = 0

sub toto
#Unterprogramm Namens toto
v = 1

onevent test
#falls Ereignis Namens test eintritt, dann
callsub toto
#rufe Unterprogramm toto auf

Ereignisse

Aseba besitzt eine ereignisbasierte (event-based) Architektur, was eine asynchrone Ereignisauslösung ermöglicht. Extern können Ereignisse zum Beispiel von einem anderen Aseba-Netzwerkelement ausgelöst werden. Intern können Ereignisse zum Beispiel von einem Sensor mit aktualisierten Daten ausgelöst werden.

Die Wahrnehmung eines Ereignisses kann einen Codeblock aktivieren, falls dieser zuvor mit dem Stichwort onevent und der Bezeichnung des Ereignisses definiert worden ist. Der Code am Anfang des Befehls bestimmt, wann die darauf folgenden Befehle ausgeführt oder zurückgesetzt werden. Befehle können auch Ereignisse senden mit dem Stichwort emit, gefolgt von der Bezeichnung des Ereignisses und gegebenenfalls den zu sendenden Variablen. Falls eine Variable gegeben wird, muss die Grösse des Ereignisses der Grösse des zu schickenden Arguments entsprechen. Ereignisse erlauben Befehle an anderen Netzwerkelementen auszulösen oder mit einem externen Programm zu kommunizieren.

Um die Ausführung von ähnlichen Codes bei neuen Ereignissen zu ermöglichen, dürfen die Befehle nicht blockieren und dürfen deshalb keine Endlosschlaufen enthalten. In der Robotik bedeutet dies, dass ein traditionelles Robotersteuerungsprogramm gewisse Vorgänge in einer Endlosschlaufe durchführt, während die Befehlssprache Aseba dieselben Vorgänge nur in einem auf Sensoren bezogenen Ereigniss ausführt.

Beispiel: 

var run = 0

onevent start
#falls das Ereignis 'start' eintritt, starte
run = 1

onevent stop
#falls das Ereignis 'stop' eintritt, halte an
run = 0

onevent ir_sensors
if run == 1 then
#wenn==1, dann
    emit sensors_values proximity_sensors_values
    #Gib das Ereignis 'sensors_values' aus mit den Variablen 'proximity_sensors_values'
end  
#Ende des 'if' blocks

Return-Befehl

Mit einem return-Befehl ist es möglich ein Unterprogramm früh zu verlassen oder die Ausführung einer Ereignisse abzubrechen.

Beispiel: 

var v = 0

sub toto
if v == 0 then
    return
end
v = 1

onevent test
callsub toto
return
v = 2

Vorgegebene Funktionen

Die Befehlssprache Aseba wurde entwickelt mit dem Ziel, auch Programmierern ohne Vorkenntnissen zu ermöglichen, die einfachen Befehle schnell zu verstehen und effizient in Mikrosteuerungen zu implementieren. Um komplexe oder stark Ressourcen verbrauchende Prozesse zu programmieren, werden gewisse vorprogrammierte Funktionen zur Verfügung gestellt. Zum Beipiel gibt es in Aseba eine vorgegebene Funktion, die das Skalarprodukt berechnet.

Vorgegebene Funktionen sind sicher, weil sie die Argumente spezifizieren und überprüfen. Argumente können Konstanten, Variablen oder Feldzugänge sein. Später können auf ganze Felder, einzelne Elemente oder Teilfelder zugegriffen werden. Vorgegebene Funktionen sehen ihre Argumente als Referenz an und können ihre Inhalte verändern, aber keine Werte generieren. Durch das Stichwort call können vorgegebene Funktionen aufgerufen werden.

Beispiel: 

var a[3] = 1, 2, 3
var b[3] = 2, 3, 4
var c[5] = 5, 10, 15
var d
call math.dot(d, a, b, 3)
call math.dot(d, a, c[0:2], 3)
call math.dot(a[0], c[0:2], 3)

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cL0Î%‹4öY”Q€i>^ÆQÁ2wÔì3¶)Ç/¤a*ªšN7Ë¥Œò~9°è(=%!F¡‚ÔSqæsüj9Mm[—DéÆ´̲só•q™WLç|pY6‡Ïñ³cm’Æ(;6'£e,¨.RG9ÊúG"Ò¼xQ›MhØ—øˆÒ âmiqÔÒ³EçD‘ª–Æe’žc)¬-¾äÈƆAjàb;ÎñW¯ó@}l—O4Ü84m+)þíºè­ã.ó6meÁË«þÄÿî—1‹™¢R%tEXtdate:create2013-03-22T15:59:40+01:00‚_}ð%tEXtdate:modify2013-03-22T15:59:40+01:00óÅL!tEXtps:HiResBoundingBox55x10+148+655¸ÂÞ!'tEXtps:LevelAdobeFont-1.0: CMMI10 003.002 5âF†IEND®B`‚aseba-1.6.0/clients/studio/doc/de_asebastdnative.html000066400000000000000000000205331322771007300226460ustar00rootroot00000000000000 Vorgegebene Funktionen Standard-Bibliothek

Vorgegebene Funktionen Standard-Bibliothek

Aseba bringt eine Standard-Bibliothek mit, die von Haus aus bereits viele Funktionen enthält. Die meisten Geräte liefern diese Standard-Bibliothek mit.1 Falls die Firmware Ihres Gerätes schon etwas älter ist, unterstützt sie möglicherweise noch nicht neu hinzugekommene Funktionen. Seit Aseba 1.1 sind folgende Funktionen verfügbar2:

math.copy(A,B)
Kopiert eines nach dem anderen jedes Element des Vektors in den Vektor : .
math.fill(A,c)
Schreibt die Konstante in jedes Element des Vektors : .
math.addscalar(A, B, c)
Berechne , wobei ein Skalar ist.
math.add(A, B, C)
Berechne , wobei, und drei gleichgrosse Vektoren sind.
math.sub(A, B, C)
Berechne , wobei , und drei gleichgrosse Vektoren sind.
math.mul(A, B, C)
Berechne , wobei , und gleichgrosse Vektoren sind. Beachte: Dies ist kein Skalarprodukt!
math.div(A, B, C)
Berechne , wobei , und drei gleichgrosse Vektoren sind. Eine Division durch Null führt zu einer Ausnahmesituation.
math.min(A, B, C)
Speichere für jedes Element das Minimum der Vektoren und in , wobei , und drei Vektoren gleicher Grösse sind: .
math.max(A, B, C)
Speichere für jedes Element das Maximum der Vektoren und in , wobei , and drei Vektoren gleicher Grösse sind: .
math.dot(r, A, B, n)
Berechne das Skalarprodukt zweier gleichgrosser Vektoren und :
math.stat(V, min, max, mean)
Berechne das Maximum, den Mittelwert und das Minimum des Vektors .
math.argbounds(A, argmin, argmax)
Bestimme die Indizes argmin und argmax, die dem kleinsten und dem grössten Wert aus entsprechen.
math.sort(A)
Sortiere den Vektor in situ.
math.muldiv(A, B, C, D)
Berechne die Multiplikations-Division mit 32-bit-Genauigkeit. . Eine Division durch Null führt zu einer Ausnahmesituation.
math.atan2(A, Y, X)
Berechne , wobei die Zeichen von und den Ausgabe-Quandranten festlegen. , und müssen Vektoren gleicher Grösse sein. Beachte, dass und zu dem Ergebnis führen..
math.sin(A, B)
Berechne , wobei und zwei Vektoren gleicher Grösse sind.
math.cos(A, B)
Berechne , wobei und zwei Vektoren gleicher Grösse sind.
math.rot2(A, B, Winkel)
Rotiere den Vektor um Winkel und speichere das Ergebnis in . Beachte: und müssen beide genau 2 Elemente enthalten.
math.sqrt(A, B)
Berechne , wobei und zwei Vektoren gleicher Grösse sind.
math.nzseq(a, B, m)
Speichere in den mittleren Index der längsten Aufeinanderfolge von Zahlen in , die nicht Null sind oder falls es keine solche gibt oder dessen Länge kleiner als ist.
math.rand(v)
Bestimme einen zufälligen Wert aus dem zwischen und .
Footnotes
aseba-1.6.0/clients/studio/doc/de_asebastudio.html000066400000000000000000000122551322771007300221560ustar00rootroot00000000000000 Aseba Studio

Aseba Studio

Aseba Studio ist die Umgebung, in welcher wir arbeiten und Fehler in den Aseba Befehlen an alle Netzwerkelemente suchen.

Die Umgebung endecken

studio-overlay-en.png

1. Gleichzeitiges Editieren

Innerhalb des Studios, hat jeder Netzwerkpunkt von Aseba sein eigenes Etikett mit Befehlen, Speicherinhalt, Ausführstatus und Fehlersuchkommandos. Zusätzlich ermöglicht eine Werkzeugliste generelle Befehle an alle Netzwerkelemente. Dies erlaubt sowohl eine Gesamtkontrolle über das Netzwerk als auch eine gezielte Kontrolle jedes einzelnen Netzwerkelements.

2. Intelligente Eingabe

Die Syntax der Befehle wird im Eingabefeld automatisch farblich hervorgehoben, Absätze eingerückt und Variablen für den Speicher abgekürzt. Ausserdem wird die momentane Position im Modus "Schritt für Schritt" laufend aktualisiert und Fehler werden in rot hervorgehoben.

3. Sofortige Kompilierung

Studio kompiliert die Befehle noch während der Benutzer am schreiben ist.
Das Resultat der Kompilierung (Erfolg oder Beschreibung des Fehlers) wird unter dem Eingabefeld angezeigt. Dies ist äusserst nützlich, da die Fehler sofort behoben werden können und damit die Qualität des Codes erhöht wird.

4. Überprüfen der Daten

Studio listet die verfügbaren Variablen jedes Netzwerkelemts auf. Mit einem einzigen Klick kann diese Liste aktualisiert werden. Diese Liste gibt einen Gesamtüberblick aller momentanen Werte der Netzwerkelemente.

5. Fehlersucher

Studio beinhaltet einen Fehlersucher. Für jedes Netzwerkelement wird der aktuelle Ausführungsstatus angezeigt. Die kontinuierliche Ausführung und die Haltepunkte werden Schritt für Schritt angezeigt. Ein Klick mit die rechte Maustaste innerhalb des Befehlseingabefeldes erlaubt es in der ausgewählten Linie, einen Haltepunkt zu setzen oder zu entfernen. Nach jedem Haltepunkt oder Schritt werden die Variablen aktualisiert.

6. Konstanten definieren

Es ist möglich, Konstanten für alle vorhandenen Netzwerkelemente zu definieren.

7. Netzwerk-weit Ereignisse

Die Namen der Ereignisse können vom Benutzer selbst definiert werden und mit einem Doppelklick auf den Namen wird das korrespondierende Ereignis gesendet. Unter der Liste aller Ereignisnamen, zeigt ein Bildschirm die kürzlich eingetretenen Ereignisse über eine gewisse Zeit mit ihren Parametern an. Dies erlaubt das Überwachen des Verteilungsverhaltens des Netzwerks.

8. Lokale Ereignisse und vorgegebene Funktionen

Studio zeigt die lokalen Ereignisse jedes Netzwerkelements und die vorgegebenen Funktionen an. In der Werkzeughilfe wird jede vorgegebene Funktion kurz beschrieben.

Tipps

1. Zeit sparen

Sie können die Namen von Funktionen, Variablen, Ereignissen, und Konstanten abkürzen und so viel Zeit beim Eintippen sparen.

2. Hilfe

Das Menu Hilfe in Studio verbindet Sie sofort mit dieser Dokumentation und der der Aseba Befehlsprache.

Wo erhält man sonst noch Informationen?

Dieses Dokument ist empfehlenswert:

aseba-1.6.0/clients/studio/doc/de_asebaswitchremap.html000066400000000000000000000051311322771007300231700ustar00rootroot00000000000000 Geräte-Kennungen mit asebaswitch neu zuordnen

Geräte-Kennungen mit asebaswitch neu zuordnen

Mit Aseba wird auch asebaswitch mitgeliefert, ein Kommando-Zeilen-Programm, das mehrere Geräte miteinander verbinden kann. Die Syntax ist: 

asebaswitch [Optionen] [weitere Geräte]*

Falls du mehr wissen möchtest, gib folgenden Befehl ein: 
asebaswitch --help

Beachte, dass alle weiteren Geräte der Dashel-Namenskonvention folgen müssen.

Weitergehende Benutzung

Damit Aseba Daten optimal durch das Netzwerk senden kann, muss jeder Netzwerk-Knoten eine unterschiedliche Kennung haben. Problematisch sind hierfür bestimmte Geräte, wie zum Beispiel der Thymio, die eine fest einprogrammierte Kennung beinhalten. Um auch solche Knoten zu unterstützen, bietet asebaswitch eine Kennungs-Zuordnung an, mit der einem Gerät eine neue Kennung zugeordnet wird.

Somit ist es also auch möglich, mehrere Thymios im gleichen Aseba-Netzwerk zusammenzuschalten. Unter Linux geht das mit folgendem Befehl: 

asebaswitch -d "ser:device=/dev/ttyACM0;remapLocal=1" "ser:device=/dev/ttyACM1;remapLocal=2"

Der Zuordnungs-Mechanismus erwartet zwei weitere Optionen für die Zeichenkette, die das Gerät beschreibt:

  • remapLocal, die neue lokale Kennung für den Netzwerkknoten.
  • remapTarget (standardmässig: 1), die bisherige Kennung des Knotens, der neu zugeordnet werden soll.

Momentan unterstützt dieser Mechanismus nur die Umbenennung eines Knotens pro Gerät. Je nach Bedarf wird dies aber noch erweitert.

aseba-1.6.0/clients/studio/doc/de_asebausermanual.html000066400000000000000000000033361322771007300230230ustar00rootroot00000000000000 Bedienungsanleitung

Bedienungsanleitung

Sie haben folgende Anleitungen zur Auswahl:

  • Start, eine genaue Anleitung unterstützt vom Simulationsroboter challenge, wie man was mit Aseba programmieren kann,
  • Konzepte, eine Beschreibung der grundlegenden Konzepte in Aseba.
  • Studio, eine Beschreibung des Programmes Studio, in welchem Aseba geschrieben wurde,
  • Programmiersprache Aseba, eine detailierte Erklärung mit Beispielen der Programmiersprache Aseba.
  • Vorgegebene Funktionen Standard-Bibliothek, die Funktionen, die auf meisten Asebaziel sind.

Und diese fortgeschrittene Themen (in englischer Sprache):

aseba-1.6.0/clients/studio/doc/de_gettingstarted.html000066400000000000000000000346721322771007300227120ustar00rootroot00000000000000 Ãœbung macht den Meister

Ãœbung macht den Meister

Hier werden die ersten Programmierschritte mit Aseba erklärt, die man auch ohne Roboter ausprobieren kann. Falls Sie bereits den Roboter Thymio II besitzen, gibt es eine spezifisch für Thymio II geschriebene Bedienungsanleitung.

Simulationsspiel Challenge

asebachallenge.png


Aseba Challenge (rechtes Bild) ist eine simulierte Welt in welcher mit Aseba programmierte Roboter um Energie kämpfen. Diese simulierte Welt ist als Trainingspiel aufgebaut und gut für den Programmierunterricht geeignet.

Zuerst muss Aseba Challenge in Betrieb genommen werden. Falls Sie Aseba noch nicht installiert haben, folgen Sie bitte der Installationsanleitung. Sobald Challenge gestartet wurde, drücken Sie “Neuen Roboter hinzufügenâ€. Dann wählen Sie einen Namen für Ihren Roboter. Dabei braucht jeder Spieler in einer Gruppe einen eigenen Roboter. Sämtliche Roboter können mit einem Klick auf “Alle Roboter entfernen†gelöscht werden. Die Tasten können durch “Automatisches Verstecken†vorübergehend unsichtbar gemacht werden. Die Tasten erscheinen erst wieder, wenn der Mauspfeil in dessen Nähe ist. Die Kameraführung kann automatisch erfolgen durch einen Klick auf “Automatische Kamera†oder manuell mit folgenden Befehlen gesteuert werden:

  • ctrl + linke Maustaste: rotierende Ansicht
  • ctrl + shift + linke Maustaste: Zweidimensionale Ortung auf einer X/Y-Achse
  • ctrl + shift + rechte Maustaste: Ortung auf der Z-Achse
studio-connect-en.png

Das Ziel des Spiels Challenge besteht darin, durch das Sammeln von Energie am Leben zu bleiben. Die Punkte der einzelnen Roboter werden an einer lichtdurchlässigen Anzeigetafel über dem Spielfeld angezeigt. Die Punkte vermehren sich solange ein Roboter am Leben bleibt, sobald der Roboter stirbt, werden die Punkte durch zwei geteilt. Vier blaue Energiequellen versorgen die Roboter mit Energie. Von Zeit zu Zeit verschwinden die Energiequellen in den Boden und werden auf diese Weise unsichtbar für die Roboter. Wenn eine Energiequelle vollständig augebraucht ist, verfärbt sich die Energiequelle rot und gibt keine Energie mehr an Roboter ab.

Sobald Aseba Challenge gestartet wurde, sollten Sie Aseba studio ebenfalls starten, um Ihren Roboter zu programmieren. Für jeden einzelnen Roboter muss eine Sequenz auf Studio auf irgendeinem Computer laufen. Zu Beginn, fordert Aseba studio Sie auf, mit einem Aseba Ziel zu verbinden (Bild rechts). Falls Sie Aseba Challenge öffnen, während noch ein Roboter mit Ihrem Computer verbunden ist, wird der Computer automatisch eine Verbindung mit dem Roboter herstellen. Falls Sie Challenge von einem Computer ohne angeschlossenem Roboter öffnen oder sich mehrere Roboer in der Nähe befinden, registrieren Sie sich bitte unter Gast und wählen Ihren Roboter unter port. Das lichtdurchlässige Fenster über der Arena in Challenge zeigt die verschiedenen Verbindungen zu den Robotern an.

Eine simple Robotersteuerung

studio-challenge-en.png

Sobald studio läuft (Bild rechts), können Sie Ihre erste Programme in das mittlere Eingabefeld schreiben. Diese Eingaben werden automatisch in Echtzeit überprüft und Fehler im Syntax werden sofort mitgeteilt. Weitere Informationen dazu erhalten Sie unter studio, welches Sie im Menu Hilfe->Studio finden. Zusätzlich finden Sie im Menu Hilfe->Sprache eine detaillierte Dokumentation der Programmiersprache Aseba.

Um einen Roboter zu programmieren, müssen Sie zuerst verstehen, wie er funktioniert. Ein Roboter interagiert mit der Umgebung in einem Kreislauf: Durch Sensoren nimmt der Roboter die Umgebung wahr und reagiert mit einigen vorinstallierten Programmen, welche verschiedene Aktivitäten auslösen können. Dadurch wird die Umgebung verändert und der Roboter nimmt die Veränderung der Umwelt mit seinen Sensoren wahr.

In Challenge können Sie einen simulierten E-puck-Roboter programmieren. Dieser Roboter hat 8 Distanzsenoren und einer nach vorne gerichteten, einfache Kamera mit 3 Pixels mit einem Öffnungswinkel von je 20° pro Pixel. Diese Werte können von Ihnen abgelesen werden und die Geschwindigkeit der Räder gesteuert werden.
epuck-sensors-wiki-en.png

Jetzt wissen Sie genug, um die erste Robotersteuerung zu programmieren. Schreiben Sie in das Textfeld in der Mitte des studio-Fensters folgendes: 

wheel_left_speed = 5
#Rad_links_Geschwindigkeit = 5
wheel_right_speed = -5
#Rad_rechts_Geschwindigkeit = -5

Klicken Sie auf “Laden†und dann auf “Startâ€. Nun sollten Sie sehen, wie sich Ihr Roboter um einen imaginären Punkt dreht. Dieser Kode definiert nur beim Start die Geschwindigkeit der Räder des Roboters und danach löst dieser Kode nichts mehr aus. Um ein interessanteres Verhalten des Roboters zu sehen, sollte man dem Roboter erlauben, seine Umgebung wahrzunehmen. Zum Beispiel könnte man programmieren, dass der Roboter Hindernisse wahrnimmt und diesen selbstständig ausweichen kann.
Um selbstständig mit der Umwelt zu interagieren, braucht der Roboter periodische Befehle. Dies kann mit dem Befehl onevent timer (wenn dieses Ereignis eintritt, dann…) erreicht werden. Eine andere Möglichkeit besteht darin, den Distanzsensor so zu benützen, dass man die Geschwindigkeit der Räder auf Hindernisse abstimmen kann: 
onevent timer
wheel_left_speed = dist[0] - 6
wheel_right_speed = dist[0] - 6

Klicken Sie auf “Laden†und dann auf “Startâ€. Der Distanzsensor kann Werte zwischen 0 und 12cm annehmen. Distanzen von mehr als 12cm werden trotzdem mit einer 12 angezeigt. Der Roboter wird mit dem oben geschriebenen Programm eine Geschwindigkeit von -6 cm/s annehmen, wenn das Hindernis nahe ist, und 0 cm/s, wenn das Objekt etwa 6cm vom Roboter entfernt ist. Aus diesem Grund wird der Roboter jeweils 6 cm vor einem Hindernis zum Stillstand kommen. Falls das Hindernis weit entfernt ist, wird der Roboter mit einer Geschwindigkeit von 6 cm/s unterwegs sein.

Eine kompliziertere Robotersteuerung

Einen sicheren Abstand vor Hindernissen zu bewahren ist gut, aber mit diesem Programm wird der Roboter nicht mehr weiterfahren. Um einen Roboter frei herumfahren zu lassen, müssen Sie verstehen, auf welche Art und Weise er sich bewegt.

Der simulierte E-puck Roboter in Challenge kann sich dank verschiedener Geschwindigkeiten auf seinen Rädern freier bewegen. Wenn beide Räder die gleiche Geschwindigkeit aufweisen, fährt der Roboter geradeaus, ansonsten wendet der Roboter. Wenn die Räder mit genau entgegengesetzte Geschwindigkeiten fahren, dreht sich der Roboter um sich selbst an einem Punkt. Industriell gefertigte Raupenantriebe funktionieren nach demselben Prinzip.

Schreiben Sie jetzt einen einfachen Kode, der es dem Roboter erlaubt, Hindernisse zu umfahren und sich sonst geradeaus fortzubewegen: 

onevent timer
wheel_left_speed = dist[1] - 6
wheel_right_speed = dist[6] - 6

Diese Steuerung liest die vorderen linken und rechten Distanzsensoren. Wenn kein Hindernis in der Nähe ist, senden die Distanzsensoren dist[1] und dist[6] den Wert 12. Darauf fährt der Roboter mit einer Geschwindigkeit von 6 cm/s geradeaus. Falls nun aber ein Hindernis auftaucht, reduziert sich der von den Sensoren gemeldete Wert. Wenn zum Beispiel ein Hindernis auf der linken Seite auftaucht, wird der Distanzsensor dist[6], welcher nach links blickt, einen Wert von z.B. 10 senden, währen der Distanzsensor dist[1], welcher nach rechts blickt, immer noch einen Wert von 12 zurückmeldet. Daher wird sich beiwheel_right_speed die Geschwindigkeit auf 4 cm/s reduzieren, während die Geschwindigkeit von wheel_left_speed konstant bei 6 cm/s bleibt. Diese Anpassung der Geschwindigkeit veranlasst den Roboter, eine Drehung nach rechts zu fahren und auf diese Weise das Hindernis zu umfahren.

Entscheidungen treffen

Die bisher erläuterten Steuerungen verknüpfen durch mathematische Ausdrücke die Werte der Sensoren mit der Geschwindigkeit der Räder. Bislang wurden noch keine “wenn…, dann…†Entscheidungen getroffen. In gewissen Situation wäre dies aber wünschenswert, zum Beispiel, wenn der Roboter entweder geradeaus oder im Kreis fahren sollte. In diesem Fall können Sie programmieren: 

onevent timer
var dists = dist[6] + dist[7] + dist[0] + dist[1]
if dists < 48 then
    wheel_left_speed = 5
    wheel_right_speed = -5
else
    wheel_left_speed = 5
    wheel_right_speed = 5
end

Diese Steuerung zählt die Werte aller Distanzsensoren zusammen. Falls die Summe weniger als 48 ergibt, bedeutet dies, dass zumindest einer der Distanzsensoren ein Hindernis entdeckt haben muss. Falls die Summe also 48 beträgt, fährt der Roboter geradeaus weiter, ansonsten beginnt der Roboter sich um einen Punkt zu drehen.

Eine Programmiersprache enthält aber auch andere interessante Möglichkeiten, wie zum Beispiel eine while Schleife, die ermöglicht, denselben Kodeblock mehrmals durchzuführen, bis die Anfangsbedingung nicht mehr zutrifft. Eine weitere Möglichkeit bietet die for Schleife, wobei die Werte jedes Mal erneuert werden. Im Menu Hilfe -> Sprache findet sich eine Liste mit allen möglichen Befehlen und dazugehörigen Beispielen.

Die Herausforderung

Spielen Sie zur Übung ein wenig mit dem Ausweichen von Hindernissen, um ein gutes Verständnis für die Sensoren zu erhalten. Experimentieren Sie mit allem Möglichen, denn der Roboter in Challenge ist nur ein Simulator und kann nicht kaputt gehen.

Sobald Sie sich sicher beim Programmieren fühlen, versuchen Sie, den Roboter so zu programmieren, dass er automatisch auf die blauen Energiequellen (0, 0, 100) (in R, G, B), zusteuert und automatisch rote Energiequellen vermeidet (100, 0, 0), während die Farbe des Hintergrundes konstant grau (50, 50, 50) bleibt.

Versuchen Sie Ihre Freunde mit der besten Roboterprogrammierung zu übertreffen. Die Farbe Ihres Roboters können Sie durch die Variablen color_red, color_green und color_blue verändern und so Energiequellen imitieren. Falls Ihre Mitspieler versuchen, Sie auf diese Weise hinters Licht zu führen, können Sie anhand einer Überprüfung der Energievariablen herausfinden, ob es sich um echte oder simulierte Energiequellen handelt. Wenn der Roboter blau sieht, seine Variablen sich aber nicht erhöhen, wurden Sie ausgetrickst.

Das Ziel vom Trainingsspiel Aseba Challenge besteht darin, auf spielerische Weise das Programmieren von Robotern zu erlernen.

Weiterführende Webseiten:

aseba-1.6.0/clients/studio/doc/en_asebaconcepts.html000066400000000000000000000073251322771007300225010ustar00rootroot00000000000000 Concepts

Concepts

Table of Contents

This page presents concepts that are important to understand when reading about Aseba.

Node

In Aseba, there can be several robots or a robot with multiple processors running in the same network. This network can be software (TCP), hardware (CAN), or a mix of both. Each processor within a network runs a small virtual machine and is called a node. Each node has its own tab in Aseba Studio, allowing you to program them independently, but with possible interactions through events.

Event

Aseba is an event-based architecture, which means that events trigger code execution asynchronously. Events have an identifier and optional payload data. Aseba nodes can exchange events, and these can be of two types. The events that Aseba nodes exchange within an Aseba network are called global events. The events that are internal to a node are called local events. An example of a local event is the one emitted by a sensor that provides updated data. If the code for receiving an event is defined, then the corresponding block of code is executed when the event is received. Code can also emit events, which can trigger the execution of code on another node or enable communication with an external program. To start the execution of related code upon receiving new events, scripts must not block and thus must not contain any infinite loops. For instance, in the context of robotics, where a traditional robot control program would do some processing inside an infinite loop, an Aseba script would just do the processing inside a sensor-related event.

What to read next?

You might be interested to read:

aseba-1.6.0/clients/studio/doc/en_asebalanguage-1-1.html000066400000000000000000000467431322771007300227510ustar00rootroot00000000000000 The Aseba language (up to version 1.1)

The Aseba language (up to version 1.1)

This help is also available within Aseba Studio in the Help->Language menu. When using technical words, these are linked to the corresponding Wikipedia article. You might also want to read the concepts page first. The page presents the language as of version 1.1 of Aseba and earlier, for later versions, please read this page.

The Aseba language resembles Matlab (a common scientific programming language); this similarity allows developers with previous knowledge of some scripting language to feel quickly at ease with Aseba and thus lowers the learning curve. Semantically, it is a simple imperative programming language with a single basic type (16 bit signed integers) and arrays. This simplicity allows developers to program behaviours with no prior knowledge of a type system, integers being the most natural type of variables and well suited to programming microcontroller-based mobile robots.

Comments

Comments allow to add information that is ignored by the compiler. Comments are very useful to annotate your code with human-readable notes or to temporary disable some code. Comments begin with a # and terminate at the end of the line.

Example: 

# this is a comment
var b    # another comment

Comments spanning several lines are also possible. They begin with #* and end with *#.

Example: 

#*
this is a comment spanning
several lines
*#
var b    # a simple comment

Variables

Variables refer either to single scalar values or to arrays of scalar values. The values are comprised between -32768 and 32767, which is the range of 16 bit signed integers. You can access array elements using the usual square parenthesis operator; array indexes begin at zero. You must declare all user-defined variables at the beginning of the Aseba script before doing any processing.

Example: 

var a
var c[10]
var b = 0
var d[3] = 2, 3, 4

Events

Aseba is an event-based architecture, which means that events trigger code execution asynchronously.
Events can be external, for instance a user-defined event coming from another Aseba node, or internal, for instance emitted by a sensor which provides updated data. The reception of an event executes, if defined, the block of code that begins with the onevent keyword followed by the name of the event; the code at the top of the script is executed when the script is started or reset. The script can also send events by using the emit keyword, followed by the name of the event and the name of the variable to send, if any. If a variable is provided, the size of the event must match the size of the argument to be emitted. Events allow the script to trigger the execution of code on another node or to communicate with an external program.

To allow the execution of related code upon new events, scripts must not block and thus must not contain any infinite loop. For instance in the context of robotics, where a traditional robot control program would do some processing inside an infinite loop, an Aseba script would just do the processing inside a sensor-related event.

Example: 

var run = 0

onevent start
run = 1

onevent stop
run = 0

onevent ir_sensors
if run == 1 then
    emit sensors_values proximity_sensors_values
end

Expressions and Assignations

Expressions allow mathematical computations and are written using the normal mathematical infix syntax. Assignations use the keyword = and set the result of the computation of an expression into a scalar variable or an array element. Aseba provides several operators. Please refer to the table below for a brief description, as well as for the precedence of each operator. To evaluate an expression in a different order, you can use a pair of parentheses to group a sub-expression.

Precedence Operator Description Associativity Arity
1 () Group a sub-expression unary
2 * / Multiplication, division binary
% Modulo binary
3 + - Addition, subtraction binary
4 << >> Left shift, right shift binary
5 | Binary or Left associative binary
6 ^ Binary exclusive or (xor) Left associative binary
7 & Binary and Left associative binary
8 - Unary minus unary
9 ~ Binary not unary
10 abs Absolute value unary
11 = Assignment binary
|= ^= &= Assignment by binary or, xor, and binary
~= Assignment by binary not binary
*= /= Assignment by product and quotient binary
%= Assignment by modulo binary
+= -= Assignment by sum and difference binary
<<= >>= Assignment by left / right shift binary
++ -- Unary increment and decrement unary

The assignment by versions of the binary operators work by applying the operator to a variable and storing the result in this same variable. For instance, A *= 2 is equal to A = A * 2. These short-cuts aim at making the code more readable.

Example: 

a = 1 + 1
# Result: a = 2
a *= 3
# Result: a = 6
a++
# Result: a = 7

b = b + d[0]
b = (a - 7) % 5
c[a] = d[a]

Conditionals

Aseba provides two types of conditionals: if and when. These consist of a test of conditions and blocks of code. The test consists in comparisons, optionally grouped using the and (logical conjunction), or (logical disjunction), and not (logical negation) operators, and parentheses.
A comparison consists of an operator and two operands, and can either be true or false. The operands can be arbitrary expressions. The following table lists the comparison operators.

Operator Truth value
== true if operands are equal
!= true if operands are different
> true if first operand is strictly larger than the second one
>= true if the operand is larger or equal to the second one
< true if first operand is strictly smaller than the second one
<= true if the operand is smaller or equal to the second one

Both if and when execute a different block of code according to whether a condition is true or false; but when executes the block corresponding to true only if the last evaluation of the condition was false and the current one is true. This allows the execution of code only when something changes. The if conditional executes a first block of code if the condition is true, a second block of code to execute if the condition is false can be added using the else keyword. Furthermore, additional conditions can be chained using the elseif keyword.

Example: 

if a - b > c[0] then
    c[0] = a
elseif a > 0 then
    b = a
else
    b = 0
end

if a < 2 and a > 2 then
    b = 1
else
    b = 0
end

when a > b do
    leds[0] = 1
end

Here the when block executes only when a becomes larger than b.

Loops

Two constructs allow the creation of loops: while and for.

A while loop repeatedly executes a block of code as long as the condition is true. The condition is of the same form as the one if uses.

Example: 

while i < 10 do
    v = v + i * i
    i = i + 1
end

A for loop allows a variable to iterate over a range of integers, with an optional step size.

Example: 

for i in 1:10 do
    v = v + i * i
end
for i in 30:1 step -3 do
    v = v - i * i
end

Subroutines

When you want to perform the same sequence of operations at two or more different places in the code, you can write common code just once in a subroutine and then call this subroutine from different places. You define a subroutine using the sub keyword followed by the name of the subroutine. You call the subroutine using the callsub keyword, followed by the name of the subroutine. Subroutines must be defined before they are called. Subroutines cannot have arguments, nor be recursive, either directly or indirectly. Subroutines can access any variable.

Example: 

var v = 0

sub toto
v = 1

onevent test
callsub toto

Return Statement

It is possible to early return from subroutines and stop the execution of events with the return statement.

Example: 

var v = 0

sub toto
if v == 0 then
    return
end
v = 1

onevent test
callsub toto
return
v = 2

Native Functions

We designed Aseba script to be simple so as to allow a quick understanding even by novice developers and to implement the virtual machine efficiently on a micro-controller. To perform complex or resource consuming processing, we provide native functions that are implemented in native code for efficiency. For instance, a native function is the natural way to implement a scalar product.

Native functions are safe, as they specify and check the size of their arguments, which can be constants, variables, or array accesses. In the latter, you can access the whole array, a single element, or a sub-range of the array. Native functions take their arguments by reference and can modify their contents but do not return any value. You can use native functions through the call keyword.

Example: 

var a[3] = 1, 2, 3
var b[3] = 2, 3, 4
var c[5] = 5, 10, 15
var d
call math.dot(d, a, b, 3)
call math.dot(d, a, c[0:2], 3)
call math.dot(a[0], c[0:2], 3)
aseba-1.6.0/clients/studio/doc/en_asebalanguage.html000066400000000000000000000712471322771007300224520ustar00rootroot00000000000000 The Aseba language

The Aseba language

This help is also available within Aseba Studio in the Help->Language menu. When using technical words, these are linked to the corresponding Wikipedia article. You might also want to read the concepts page first. The page presents the language as it is from version 1.2 of Aseba, for earlier versions, please read this page.

The Aseba language resembles Matlab (a common scientific programming language); this similarity allows developers with previous knowledge of some scripting language to feel quickly at ease with Aseba and thus lowers the learning curve. Semantically, it is a simple imperative programming language with a single basic data type (16 bit signed integers) and arrays. This simplicity allows developers to program behaviours with no prior knowledge of a type system, integers being the most natural type of variables and well suited to programming microcontroller-based mobile robots.

Comments

Comments allow information to be added which is ignored by the compiler. Comments are very useful to annotate the code with human-readable notes or to temporarily disable some code. Comments begin with a # and terminate at the end of the line.

Example: 

# this is a comment
var b # another comment

Comments spanning several lines are also possible. They begin with #* and end with *#.

Example: 

#*
this is a comment spanning
several lines
*#
var b # a simple comment

Scalars

Scalar values are used in Aseba to represent numbers. They can be used in any expressions, like the initialisation of a variable, a mathematical expression or in a logical condition.

Notation

Scalars can be given using several radices. The most natural way is the decimal system, using digits from 0 to 9. Negative numbers are declared using a - (minus) sign in front of the number. 

i = 42
i = 31415
i = -7

Both binary and hexadecimal numbers can also be used. Binary numbers are prefixed by 0b, whereas hexadecimal numbers are prefixed by 0x. 

# binary notation
i = 0b110         # i = 6
i = 0b11111111    # i = 255

# hexadecimal notation
i = 0x10    # i = 16
i = 0xff    # i = 255

Variables

Variables refer either to single scalar values or to arrays of scalar values. The values are comprised between -32768 and 32767, which is the range of 16 bit signed integers. You must declare all user-defined variables, using the keyword var, at the beginning of the Aseba script before doing any processing.

The name of a variable is defined by these rules:

  • The name can only contain upper or lower case alphabetic characters, '_' or '.'
  • The name must start with a valid alphabetic character or '_'
  • The name is case sensitive: a variable named "foo" is different from one named "Foo"
  • The name cannot be identical with one of Aseba's keywords (see reserved keywords)

Variables may be initialised in the declaration, using the assignation symbol and combined with any valid mathematical expression. A variable without any prior initialisation may have a random value, it should never be assumed to be zero.

Example: 

var a
var b = 0
var c = 2*a + b        # warning: 'a' is not initialised

Reserved keywords

The following keywords cannot be used as a valid name for variables, as they are already used by the Aseba language.

Keywords
abs call callsub do
else elseif emit end
for if in onevent
return step sub then
var when while

Constants

Constants can be defined in Aseba Studio, using the "Constants" panel, but they cannot be defined directly in the code. A constant represents a numeric value, which can be used wherever a number can be used. But unlike a variable, a constant cannot be modified during execution. Constants are useful when you want to easily change the behaviour between different executions, such as while adapting a threshold value, with a scope spanning several Aseba nodes. A constant cannot have the same name as a variable, otherwise an error is raised. 

# assuming a constant named THRESHOLD
var i = 600

if i > THRESHOLD then
    i = THRESHOLD - 1
end

Arrays

Arrays represent a contiguous area in memory, addressed as a single logical entity. The size of an array is fixed and must be specified in the declaration. Arrays can be declared using the usual square bracket operator []. The number between the square brackets specifies the number of elements to be assigned to the array, thereafter referred to as its size. It can be any constant expression, including mathematical operations using scalars and constants. An optional assignation can be made using the array constructor (see below). If this is done, the size of the array need not be specified.

Example: 

var a[10]                   # array of 10 elements
var b[3] = [2, 3, 4]        # initialisation
var c[] = [3, 1, 4, 1, 5]   # implicit size of 5 elements
var d[3*FOO-1]              # size declared using a constant expression (FOO declared as a constant)

Arrays can be accessed in several ways:

  • A single element is accessed by using the square bracket operator with a single value. Array indexes begin at zero. Any expression can be used as index, including mathematical expressions involving other variables.
  • A range of elements can be accessed by using the square bracket operator with two constant expressions separated by a colon ':'.
  • If the square brackets are omitted, the entire array is accessed.

Example: 

var foo[5] = [1,2,3,4,5]
var i = 1
var a
var b[3]
var c[5]
var d[5]

a = foo[0]       # copy first element from 'foo' to 'a'
a = foo[2*i-2]       # same
b = foo[1:3]       # take 2nd, 3rd and 4th elements of 'foo', copy to 'b'
b = foo[1:2*2-1]   # same
c = foo           # copy 5 elements from array 'foo' to array 'c'
d = c * foo       # multiply arrays 'foo' and 'c' element by element, copy result to 'd'

Array constructors

Array constructors are a way to build arrays from variables, other arrays, scalars, or even complex expressions. They are useful in several cases, for example when initialising another array, or as operands in expressions, functions and events. An array constructor is made by using square brackets enclosing several expressions separated by a , (comma). The size of an array constructor is the sum of the sizes of the individual elements, and it must match the size of the array in which the result is stored.

Example: 

var a[5] = [1,2,3,4,5]    # array constructor to initialise an array
var b[3] = [a[1:2],0]    # results in array b initialised to [2,3,0]
a = a + [1,1,1,1,1]    # add 1 to each element of array a
a = [b[1]+2,a[0:3]]    # results in [5,2,3,4,5]

Expressions and assignations

Expressions allow mathematical computations and are written using the normal mathematical infix syntax. Assignations use the keyword = and set the result of the computation of an expression into a scalar variable, an array element or a whole array, depending on the size of the operands. Aseba provides several operators. Please refer to the table below for a brief description, as well as for the precedence of each operator. To evaluate an expression in a different order, pairs of parentheses can be used to group sub-expressions.

Precedence Operator Description Associativity Arity
1 () Group a sub-expression unary
2 * / Multiplication, division binary
% Modulo binary
3 + - Addition, subtraction binary
4 << >> Left shift, right shift binary
5 | Binary or Left associative binary
6 ^ Binary exclusive or (xor) Left associative binary
7 & Binary and Left associative binary
8 - Unary minus unary
9 ~ Binary not unary
10 abs Absolute value unary
11 = Assignment binary
|= ^= &= Assignment by binary or, xor, and binary
*= /= Assignment by product and quotient binary
%= Assignment by modulo binary
+= -= Assignment by sum and difference binary
<<= >>= Assignment by left / right shift binary
++ -- Unary increment and decrement unary

The assignment by versions of the binary operators work by applying the operator to a variable and storing the result in this same variable. For instance, A *= 2 is equal to A = A * 2. These short-cuts aim at making the code more readable.

Example: 

a = 1 + 1
# Result: a = 2
a *= 3
# Result: a = 6
a++
# Result: a = 7

b = b + d[0]
b = (a - 7) % 5
c[a] = d[a]
c[0:1] = d[2:3] * [3,2]

Usage

Mathematical expressions are a general tool. As such, they can be used in a great variety of situations. Just to mention a few:

  • On the right side of an assignation
  • As an index when accessing elements of arrays
  • Inside function calls
  • As argument when emitting an event

Flow control

Conditionals

Aseba provides two types of conditionals: if and when. These consist of a test of conditions and blocks of code. The test consists of comparisons, optionally grouped using the and (logical conjunction), or (logical disjunction), and not (logical negation) operators, and parentheses.
A comparison consists of an operator and two operands, and can either be true or false. The operands can be arbitrary expressions. The following table lists the comparison operators.

Operator Truth value
== true if operands are equal
!= true if operands are different
> true if first operand is strictly larger than the second one
>= true if the operand is larger or equal to the second one
< true if first operand is strictly smaller than the second one
<= true if the operand is smaller or equal to the second one

Both if and when execute a different block of code according to whether a condition is true or false; but when executes the block corresponding to true only if the last evaluation of the condition was false and the current one is true. This allows the execution of code only when something changes. The if conditional executes a first block of code if the condition is true, a second block of code to execute if the condition is false can be added using the else keyword. Furthermore, additional conditions can be chained using the elseif keyword.

Example: 

if a - b > c[0] then
    c[0] = a
elseif a > 0 then
    b = a
else
    b = 0
end

if a < 2 and a > 2 then
    b = 1
else
    b = 0
end

when a > b do
    leds[0] = 1
end

Here the when block executes only when a becomes larger than b.

Loops

Two constructs allow the creation of loops: while and for.

A while loop repeatedly executes a block of code as long as the condition is true. The condition is of the same form as the one if uses.

Example: 

while i < 10 do
    v = v + i * i
    i = i + 1
end

A for loop allows a variable to iterate over a range of integers, with an optional step size.

Example: 

for i in 1:10 do
    v = v + i * i
end
for i in 30:1 step -3 do
    v = v - i * i
end

Blocks

Subroutines

When you want to perform the same sequence of operations at two or more different places in the code, you can write common code just once in a subroutine and then call this subroutine from different places. You define a subroutine using the sub keyword followed by the name of the subroutine. You call the subroutine using the callsub keyword, followed by the name of the subroutine. Subroutines must be defined before they are called. Subroutines cannot have arguments, nor be recursive, either directly or indirectly. Subroutines can access any variable.

Example: 

var v = 0

sub toto
v = 1

onevent test
callsub toto

Events

Aseba is an event-based architecture, which means that events trigger code execution asynchronously.
Events can be external, for instance a user-defined event coming from another Aseba node, or internal, for instance emitted by a sensor that provides updated data. The reception of an event executes, if defined, the block of code that begins with the onevent keyword followed by the name of the event; the code at the top of the script is executed when the script is started or reset. The script can also send events by using the emit keyword, followed by the name of the event and the name of the variable to send, if any. If a variable is provided, the size of the event must match the size of the argument to be emitted. Instead of a variable, array constructors and mathematical expressions can also be used in more complex situations. Events allow the script to trigger the execution of code on another node or to communicate with an external program.

To allow the execution of related code upon new events, scripts must not block and thus must not contain any infinite loop. For instance in the context of robotics, where a traditional robot control program would do some processing inside an infinite loop, an Aseba script would just do the processing inside a sensor-related event.

Example: 

var run = 0

onevent start
run = 1

onevent stop
run = 0

onevent ir_sensors
if run == 1 then
    emit sensors_values proximity_sensors_values
end

Return Statement

It is possible to early return from subroutines and stop the execution of events with the return statement.

Example: 

var v = 0

sub toto
if v == 0 then
    return
end
v = 1

onevent test
callsub toto
return
v = 2

Native functions

We designed Aseba script to be simple in order to allow a quick understanding even by novice developers and to implement the virtual machine efficiently on a micro-controller. To perform complex or resource-intensive processing, we provide native functions that are implemented in native code for efficiency. For instance, a native function is the natural way to implement a scalar product.

Native functions are safe, as they specify and check the size of their arguments, which can be constants, variables, array accesses, array constructors and expressions. In the case of an array, you can access the whole array, a single element, or a sub-range of the array. Native functions take their arguments by reference and can modify their contents but do not return any value. You can use native functions through the call keyword.

Example: 

var a[3] = 1, 2, 3
var b[3] = 2, 3, 4
var c[5] = 5, 10, 15
var d
call math.dot(d, a, b, 3)
call math.dot(d, a, c[0:2], 3)
call math.dot(a[0], c[0:2], 3)

What to read next?

You might be interested to read:

aseba-1.6.0/clients/studio/doc/en_asebaplayground.html000066400000000000000000000171571322771007300230530ustar00rootroot00000000000000 Aseba Playground

Aseba Playground

This document contains additional information on how to program robots in Playground, a multi-robot simulator bundled with Aseba.

Events

Local Events

Proximity sensors

The code following the instruction onevent ir_sensors will be executed at regular intervals, just after the distance to obstacles (prox) has been updated.

Camera

The code following the instruction onevent camera will be executed at regular intervals, just after the linear camera pixels camR, camG, camB have been updated.

Emit

emit name [arguments]

emit specifies that a given robot should send an event of type name to all other robots. The event may contain up to 32 arguments. Note that you cannot choose to which robot the event will be sent, since just like a radio signal, it is broadcast to all robots (see the example below in [args] for how you can address individual robots). Note also that the name of the event and the number of arguments have to be declared in the Global Events pane of Aseba Studio.

Internal Variables

id

An identifier whose value is unique for every robot.

source

The id of the robot from which the most recent event was received.

args

The arguments of the most recent event received on this robot.

Example: This example shows how events can target individual robots even if the signal was broadcast to all robots. The idea is to use a vector in which each position is allocated to a specific robot: when receiving the event a robot will read only a specific part of this vector.

The robot 1 sends a move-ahead event to robot 2, waits, then sends a move-ahead event to robot 3 and a stop to robot 2, waits, and finally sends a general stop message.

Code for robot 1: 

# variables
var counter = 0

onevent ir_sensors

if counter == 10 then
    emit move [1,0]
end

if counter == 100 then 
    emit move [0,1]
end

counter += 1

Code for robot 2: 

# events
onevent move
    if args[0] == 1 then
        leftSpeed = 400
        rightSpeed = 400
    else
        leftSpeed = 0
        rightSpeed = 0        
    end

onevent stop
    leftSpeed = 0
    rightSpeed = 0

Code for robot 3: 

# events
onevent move
    if args[1] == 1 then
        leftSpeed = 400
        rightSpeed = 400
    else
        leftSpeed = 0
        rightSpeed = 0        
    end

onevent stop
    leftSpeed = 0
    rightSpeed = 0

leftSpeed, rightSpeed

Wheel speed. Choose 400 for slow motion.

colorR, colorG, colorB

The red, green and blue components of the robot's colour.

prox

The distance to obstacles perceived by the sensors. Note that noise produces fluctuations in the measurements. See schema here.

camR, camG, camB

Array of length 60. The red, green and blue components of values returned by the robot's camera.

energy

Integer: [0 9]. The robot's energy level.

Create your own environment

Playground allows specific simulation environments to be defined. For instance, the following code creates a box containing four robots: 

<!DOCTYPE aseba-playground>
<aseba-playground>
    <color name="wall" r="0.9" g="0.9" b="0.9" />
    <color name="red" r="0.77" g="0.2" b="0.15" />
    <color name="green" r="0" g="0." b="0.17" />
    <color name="blue" r="0" g="0.38" b="0.61" />

    <world w="110.4" h="110.4" color="wall"/>

    <e-puck x="40" y="40"/>
    <e-puck x="40" y="60"/>
    <e-puck x="60" y="40"/>
    <e-puck x="60" y="60"/>
</aseba-playground>

Example: Get here a model of the German Pavilion, 1929, designed by Mies van der Rohe.

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cL0Î%‹4öY”Q€i>^ÆQÁ2wÔì3¶)Ç/¤a*ªšN7Ë¥Œò~9°è(=%!F¡‚ÔSqæsüj9Mm[—DéÆ´̲só•q™WLç|pY6‡Ïñ³cm’Æ(;6'£e,¨.RG9ÊúG"Ò¼xQ›MhØ—øˆÒ âmiqÔÒ³EçD‘ª–Æe’žc)¬-¾äÈƆAjàb;ÎñW¯ó@}l—O4Ü84m+)þíºè­ã.ó6meÁË«þÄÿî—1‹™¢R%tEXtdate:create2013-03-22T15:59:00+01:00s %tEXtdate:modify2013-03-22T15:59:00+01:00wH˶!tEXtps:HiResBoundingBox55x10+148+655¸ÂÞ!'tEXtps:LevelAdobeFont-1.0: CMMI10 003.002 5âF†IEND®B`‚aseba-1.6.0/clients/studio/doc/en_asebastdnative.html000066400000000000000000000177661322771007300226760ustar00rootroot00000000000000 Native functions standard library

Native functions standard library

Aseba provides a standard library of native functions. Targets should normally1 provide this library. If your target's firmware holds an old version of Aseba, not all functions might be available. In Aseba version 1.1, the following functions are available2:

math.copy(A,B)
Copy the array in the array , element by element: .
math.fill(A,c)
Fill each element of the array with the constant : .
math.addscalar(A, B, c)
Compute where is a scalar.
math.add(A, B, C)
Compute where , and are three arrays of the same size.
math.sub(A, B, C)
Compute where , and are three arrays of the same size.
math.mul(A, B, C)
Compute where , and are three arrays of the same size. Note that this is not a dot product.
math.div(A, B, C)
Compute where , and are three arrays of the same size. An exception will be triggered if a division by zero occurs.
math.min(A, B, C)
Write the minimum of each element of and in where , and are three arrays of the same size: .
math.max(A, B, C)
Write the maximum of each element of and in where , and are three arrays of the same size: .
math.dot(r, A, B, n)
Compute the dot product between two arrays of the same size and :
math.stat(V, min, max, mean)
Compute the minimum, the maximum and the mean values of array .
math.argbounds(A, argmin, argmax)
Get the indices argmin and argmax corresponding to the minimum respectively maximum values of array .
math.sort(A)
Sort the array in place.
math.muldiv(A, B, C, D)
Compute multiplication-division using internal 32-bit precision: . An exception will be triggered if a division by zero occurs.
math.atan2(A, Y, X)
Compute using the signs of and to determine the quadrant of the output, where , and are three arrays of the same size. Note that and will produce ..
math.sin(A, B)
Compute where and are two arrays of the same size.
math.cos(A, B)
Compute where and are two arrays of the same size.
math.rot2(A, B, angle)
Rotate the array by angle, write the result to . Note that and must both be arrays of size 2.
math.sqrt(A, B)
Compute where and are two arrays of the same size.
math.nzseq(a, B, m)
Write to the middle index of the largest sequence of non-zero elements from , if not found or if the sequence is smaller than .
math.rand(v)
Return a random value in the range .
Footnotes
aseba-1.6.0/clients/studio/doc/en_asebastudio.html000066400000000000000000000113071322771007300221650ustar00rootroot00000000000000 Aseba Studio

Aseba Studio

Aseba Studio is an integrated development environment within which we edit and debug the scripts of all nodes of an Aseba network.

Discover the environment

studio-overlay-en.png

1. Concurrent editing

Within Studio, each node of an Aseba network has its own tab with its script, memory content, execution status, and debugging commands. In addition, a toolbar provides general commands which affect all the nodes. This allows both an overall control of the network and a specific control of each node.

2. Powerful editor

The script editor provides syntax highlighting, indentation of blocks, and dragging of variables' names from memory. It also shows the current position of execution in step by step mode and colours errors in red.

3. Instant compilation

Studio recompiles the script while the developer is typing it. The result of compilation (success or a description of the error) is displayed below the editor. This permits the correction of errors as soon as they appear, which increases the quality of the code.

4. Data inspection

Studio lists the variables available on each node with their values. We can update this list in a single click. This list provides a quick overview of the state of the node.

5. Debugger

Studio has an integrated debugger; for each node, it gives the current execution status. It supports continuous execution, step by step, and breakpoints. A right click inside the script editor allows to set or clear a breakpoint on a specific line. After a breakpoint or a step, the values of the variables are updated.

6. Constants definition

We can define constants which are available on all the nodes.

7. Network-wide events

We can specify the names of the events, and by double-clicking on a name, we can send the corresponding event. Below the list of event names, a log shows the recent events along with their time stamps and parameters. This allows the monitoring of the distributed behaviour in the network.

8. Local events and native functions

Studio shows the local events available on each node. It also lists its native functions. The tool-tip of each function gives a short documentation.

Tips

1. Save time

You can drag the names of variables, native functions, events, and constants and thus save typing.

2. Get help

The Help menu of Studio gives instant access to this documentation and to the documentation of the Aseba programming language.

What to read next?

You might be interested to read:

aseba-1.6.0/clients/studio/doc/en_asebaswitchremap.html000066400000000000000000000045671322771007300232160ustar00rootroot00000000000000 Remap Identifiers using asebaswitch

Remap Identifiers using asebaswitch

Aseba provides asebaswitch, a command-line utility that can connect several targets. The syntax is the following: 

asebaswitch [options] [additional targets]*

For detailed informations, please type: 
asebaswitch --help

Note that additional targets must follow the Dashel naming convention.

Advanced use

Aseba demands that every node in a network has a different identifier, because Aseba uses the latter to route data. However, some targets, such as the Thymio, have an identifier hard-coded in their firmware. Fortunately, asebaswitch provides an identifier remapping mechanism, that allows to remap the identifier of a target.

This mechanism allows, for example, to have two Thymios on the same Aseba network. Under Linux, this translates into this command line: 

asebaswitch -d "ser:device=/dev/ttyACM0;remapLocal=1" "ser:device=/dev/ttyACM1;remapLocal=2"

The remapping mechanism adds two options to the target-description string:

  • remapLocal, the identifier under which the target node should appear locally,
  • remapTarget (default: 1), the identifer of the target node to remap.

Currently, this mechanism allows to remap only one node per target. We might generalize this depending on the needs.

aseba-1.6.0/clients/studio/doc/en_asebausermanual.html000066400000000000000000000033601322771007300230320ustar00rootroot00000000000000 User manual

User manual

The Aseba user manual comprises the following introductory topics:

  • Getting started, a step-by-step introduction on how to program with Aseba, using the robot simulator challenge,
  • Concepts, a description of Aseba-related basic concepts,
  • Studio, a description of Studio, the Aseba integrated development environment,
  • Language, a detailed description of the Aseba programming language, with examples.
  • Native functions standard library, a description of the functions available on most targets.

And these advanced topics:

aseba-1.6.0/clients/studio/doc/en_gettingstarted.html000066400000000000000000000305661322771007300227220ustar00rootroot00000000000000 Getting started with Aseba

Getting started with Aseba

This page teaches you how to get started with Aseba if you do not have any physical robot. If you have a Thymio II, there exists a specific page.

To start, launch challenge

Aseba challenge (right image) is a simulated world where Aseba-controlled robots compete for food. You can use it as a playground to explore writing Aseba scripts or as an educational game to learn and teach programming.

To get started, you have to launch Aseba challenge. If Aseba is not yet installed, please follow the installation instructions. Once challenge is started, you have to click on “Add a new robotâ€, and to choose a name for it.

asebachallenge.png

If you are a group, you have to add one robot for each player. You can remove all the robots by clicking “Remove all robotsâ€. You can hide the buttons by checking “Auto hideâ€: the buttons will only show up when the mouse pointer is around them.
You can have the camera move automatically by checking “Auto cameraâ€. If you are moving the camera manually, the controls are the following:

  • ctrl + left mouse button: rotate view
  • ctrl + shift + left mouse button: displace view on x/y
  • ctrl + shift + right mouse button: displace view on z

Challenge shows the score of each robot on translucid boards hanging over the arena. The goal is to stay alive by collecting energy.

studio-connect-en.png

As long as a robot is alive, its points increase; when it dies, they are halved. Four blue sources provide energy to nearby robots. When a source is depleted, it becomes red and does not provide energy any more. From time to time, a source will sink into the ground and robots will no longer see it until it reappears.

Once Aseba challenge is running, you have to start Aseba studio to program your robot. For each robot, you have to run one instance of studio, which can run on any computer. At startup, studio proposes you to connect to an Aseba target (right image). If you have launched challenge on your computer and added a robot, the default option will connect to this robot. If challenge is running on another computer, or if there are several robots in the arena, please specify the computer in host and the robot in port. The translucent screen over the arena in challenge shows the ports corresponding to the different robots

Your first robot controller

studio-challenge-en.png

Once studio is running (right image), you can edit the robot's program in the centre area. The latter is a program editor which checks and compiles your program in real time, telling you whether the program's syntax is correct or not. You can learn more about studio in the menu Help->Studio. The menu Help->Language provides a detailed documentation of the Aseba programming language.

To program a robot, you first have to understand how it works. A robot interacts with the world in a loop: it perceives the state of the world through its sensors, takes some decisions with its onboard computer, and performs actions with its actuators; these actions change the state of the world, and the robot perceives this new state when it reads its sensors again.

In challenge, you program a simulated e-puck robot. This robot has 8 proximity sensors around its body and a simple camera of 3 pixels pointing forward, with an aperture angle of 20° per pixel. You can read these values and also choose the speed of the wheels:
epuck-sensors-wiki-en.png

Now, let us write your first robot controller. In the text editor in the middle of the studio window, write the following lines: 

wheel_left_speed = 5
wheel_right_speed = -5

Click “Load†and then “Runâ€. You should see your robot turning on the spot. This code just sets the speed of the wheels when the robot starts and then does nothing. To have a better behaviour, we should allow the robot to perceive its environment, for instance any obstacles; and make decisions, for instance to avoid the obstacles.

To interact with the world continuously, the robot must execute a script periodically. This is achieved with the onevent timer keywords. For instance, using a front proximity sensor, we can set the speed of the wheels with respect to the distance to the object in front of the robot: 

onevent timer
wheel_left_speed = dist[0] - 6
wheel_right_speed = dist[0] - 6

Click “Load†and then “Runâ€. As the proximity sensors return a distance between 0 to 12 cm (if the object is farther than 12 cm, they nevertheless return 12), the speed of the robot will be -6 cm/s when the object is close, 0 cm/s when the object is 6 cm away, and 6 cm/s when the object is far away. The robot will thus tend to stay 6 cm away from any object in front of it.

A more elaborate robot controller

Keeping a safe distance to an object in front is good, but right now the robot cannot move elsewhere. To have the robot wander around, we need to understand how it moves.

The simulated e-puck robot in challenge is an example of a differential wheeled robot; this type of robot changes its direction by setting different speeds for its right and left wheels. If each wheel has the same speed, the robot goes forward; otherwise it turns; if the speeds are in opposite directions, the robot turns on the spot. Industrial caterpillar vehicles use the same movement modality.

Let us write a small code that makes the robot avoid obstacles and go straight ahead otherwise: 

onevent timer
wheel_left_speed = dist[1] - 6
wheel_right_speed = dist[6] - 6

This controller looks at the front left and front right proximity sensors. As long there is no obstacle, both dist[1] and dist[6] report 12 and thus the robot goes forward at speed 6. But when there is an obstacle at one side, the value of the corresponding sensor goes down. For instance, if there is an obstacle on the left, dist[6] (which looks to the left) could be 10 but dist[1] (which looks to the right) will stay at 12; and thus wheel_left_speed would still be 6 but wheel_right_speed would be 4, causing the robot to turn to the right and thus avoid the obstacle on its left.

Taking decisions

The controllers we have seen so far link the values of the sensors to the speed of the wheels through mathematical expressions, but do not make “if, then†choices. Yet this is sometimes desirable; for instance if we want the robot either to go straight or to turn on the spot, but not perform curved trajectories, we can write: 

onevent timer
var dists = dist[6] + dist[7] + dist[0] + dist[1]
if dists < 48 then
    wheel_left_speed = 5
    wheel_right_speed = -5
else
    wheel_left_speed = 5
    wheel_right_speed = 5
end

This controller sums the distances of the 4 front proximity sensors, and if this sum is below 48 cm, which means that at least one of the sensor sees an obstacle, the robot turns on the spot. Otherwise, it goes straight ahead.
The scripting language provides other interesting constructs, such as the while loop, which executes a block of code repeatedly as long as a condition is true, or the for loop, which executes a block of code a certain number of times and changes the value of a variable each time. The menu Help -> Language gives access to a page which lists all available constructs together with examples; feel free to have a look.

Your turn

Play for a while with obstacle avoidance in order to get a good understanding of the sensors, actuators and dynamics of the robot. Feel free to explore, the robot is in a simulator and does not risk being harmed.

Once you feel confident, try to make the robot direct itself to the food sources when they are blue (0, 0, 100) (in R, G, B), and avoid them when they are red (100, 0, 0). The colour of the background is gray (50, 50, 50). Try to play with your friends and to get the best robot controller. You can change the colour of your robot (by changing variables color_red, color_green and color_blue), and thus pretend to be a food source. If the others trick your robot like this, check the energy variable; if it is not increasing while seeing blue, you are being tricked.

The goal of challenge is to learn robotics, programming, and Aseba while having fun.

What to read next?

You might be interested to read:

aseba-1.6.0/clients/studio/doc/en_playground-barcelona.html000066400000000000000000000046061322771007300237760ustar00rootroot00000000000000 Playground Barcelona

Playground Barcelona

A model of the German Pavilion, Barcelona, 1929, by Mies van der Rohe. See
http://en.wikipedia.org/wiki/Barcelona_Pavilion.

playground-barcelona.png 
<!DOCTYPE aseba-playground>
<!-- plan of the German Pavillion, Barcelona, 1929, by Mies van der Rohe -->
<!-- see http://en.wikipedia.org/wiki/Barcelona_Pavilion -->
<!-- created 2012.09.26 by Vlad Atanasiu atanasiu@alum.mit.edu -->

<aseba-playground>

    <!-- colors definitions -->
    <color name="wall" r="0.9" g="0.9" b="0.9"/>
    <color name="water" r="0.2" g="0.6" b="1"/>

    <!-- playground topology -->
    <world w="600" h="276" color="wall"/>

    <wall x="359" y="240" l1="481" l2="74" h="11" color="wall"/>
    <wall x="506" y="24" l1="189" l2="51" h="11" color="wall"/>
    <wall x="192" y="180" l1="224" l2="5" h="11" color="wall"/>
    <wall x="402" y="162" l1="113" l2="5" h="11" color="wall"/>
    <wall x="361" y="125" l1="10" l2="68" h="11" color="wall"/>
    <wall x="338" y="89" l1="99" l2="5" h="11" color="wall"/>
    <wall x="455" y="133" l1="62" l2="5" h="11" color="wall"/>
    <wall x="513" y="125" l1="5" l2="87" h="11" color="wall"/>

    <wall x="127" y="66" l1="228" l2="107" h="0.01" color="water"/>
    <wall x="562" y="124" l1="43" l2="123" h="0.01" color="water"/>

    <!-- robots initial positions -->
    <e-puck x="373" y="25"/>
    <e-puck x="50" y="140"/>
    <e-puck x="445" y="110"/>

</aseba-playground>
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!ûA¯ÿóÿçÙ1!RIEND®B`‚aseba-1.6.0/clients/studio/doc/es_asebaconcepts.html000066400000000000000000000101021322771007300224710ustar00rootroot00000000000000 Conceptos básicos

Conceptos básicos

Esta página define algunos conceptos que debes entender antes de aprender ASEBA.

Nodo

En ASEBA puede haber uno o varios robots, cada uno con uno o más procesadores interactuando en la misma red. La red puede ser de software (TCP), hardware (CAN), o una mezcla entre ambas. cada procesador de la red, ejecuta una pequeña máquina virtual llamada nodo. En Aseba Studio, cada nodo puede ser programado independientemente (a través de su respectiva pestaña), pero también puede interactuar por medio de eventos.

Evento

ASEBA es una arquitectura de programación dirigida por eventos, lo que significa que un evento desencadena la ejecución de un bloque de código de manera no sincrónica. Los eventos se etiquetan con un identificador, pero también pueden contener información (datos). Los nodos ASEBA pueden intercambiar eventos que pueden ser de dos tipos:

  • eventos globales, que son los eventos que los nodos ASEBA intercambian dentro de una red ASEBA; y
  • eventos locales, que son los eventos al interior de cada nodo. Un ejemplo de evento local es aquel generado por la actualización de datos provenientes de un sensor.

La realización de un evento ejecuta, si se definió, el bloque de código correspondiente. También se pueden generar eventos desde el código, lo que permite ejecutar código en otro nodo o comunicarse con un programa externo. Para permitir la ejecución de un determinado código cuando se genera un evento, las instrucciones no se deben bloquear ni contener ciclos infinitos. En el contexto de la robótica, los tradicionales programas de control ejecutan procesos dentro de un ciclo infinito; en ASEBA, los procesos se ejecutan al interior de eventos vinculados a sensores.

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aseba-1.6.0/clients/studio/doc/es_asebalanguage.html000066400000000000000000000770061322771007300224560ustar00rootroot00000000000000 Lenguaje Aseba

Lenguaje Aseba

Este documento también se encuentra disponible en el menú Help->Language de ASEBA. Te sugerimos revisar primero, los conceptos básicos definidos aquí, así como algunos términos técnicos que encuentras en esta página y que están directamente vinculados con el correspondiente artículo en Wikipedia. Esta página describe el lenguaje Aseba a partir de la versión 1.2; para versiones anteriores, por favor lee esta esta página.

El lenguaje de programación ASEBA permite implementar control distribuido entre nodos ASEBA.

Sintácticamente hablando, ASEBA se asemeja a MatLab u Octave; esta similitud le permite a los desarrolladores que tengan conocimientos previos en esos lenguajes, sentirse más cómodos con Aseba y reducir la curva de aprendizaje.

Semánticamente hablando, este es un lenguaje de programación imperativo con un solo tipo de valores (enteros de 16 bits con signo) y vectores. Esta simplicidad le permite a los desarrolladores programar comportamientos sin tener conocimientos previos en otros sistemas de tipos (como el hexadecimal). Los enteros nos resultan muy naturales, cómodos y adecuados para programar robots móviles basados en microcontroladores.

Comentarios

Los comentarios te permiten incluir en tus programas, información que el compilador no considera. Los comentarios se utilizan con frecuencia para incluir notas aclaratorias que puedan ser interpretadas por humanos, o también para deshabilitar temporalmente algunas líneas del código. Los comentarios comienzan con # y terminan al final de la línea.

Ejemplo: 

# este es un comentario.
var b # otro comentario

También es puedes introducir comentarios de más de una línea: comienzan con #* y terminan con *#.

Ejemplo: 

#*
Este es un
comentario con
más de una línea.*#
var b # este es un comentario sencillo

Escalares

Los escalares se usan en Aseba para representar números. Se pueden utilizar en cualquier expresión, como en la inicialización de una variable, una fórmula matemática o una condición lógica.

Notación

Los escalares pueden definirse utilizando diferentes bases. La base más natural es el sistema de numeración decimal, usando dígitos del 0 al 9. Los números negativos se declaran usando el signo - (menos) frente al número. 

i = 42
i = 31415
i = -7

Se puede usar tanto el sistema binario como el hexadecimal. Los números binarios estan precedidos por 0b, mientras que los números hexadecimales usan el prefijo 0x. 

# Notación binaria:
i = 0b110         # i = 6
i = 0b11111111    # i = 255

# Notación hexadecimal
i = 0x10    # i = 16
i = 0xff    # i = 255

Las variables

Las variables son espacios de memoria que pueden contener un escalar o un vector de escalares. Pueden tomar valores entre -32768 y 32767, que es el rango para los enteros de 16 bits con signo. Debes declarar todas las variables personales (definidas por el usuario), usando el comando var, al comienzo de tu script Aseba, incluso antes de ejecutar cualquier proceso.

El nombre de una variable se define siguiendo estas reglas:

  • Solo puede contener caracteres alfabéticos en mayúscula o minúscula, '_' o '.'
  • Debe comenzar con una carácter alfabético válido o '_'.
  • Es case sensitive: la variable "foo" es diferente a la variable "Foo"
  • No se permite usar nombres de comandos Aseba (ver nombres reservados)

Las variables se pueden inicializar cuando son declaradas,combinando el símbolo de asignación con una expresión matemática válida. Una variable no inicializada puede contener un valor aleatorio; no se puede asumir cómo cero.

Ejemplo: 

var a
var b = 0
var c = 2*a + b        # Atención: 'a' no fue inicializada.

Nombres reservados

[[#nombres-reservados]]

Las siguientes palabras no pueden ser usadas como nombres de variables porque ya son usadas en el lenguaje Aseba:

Palabras
abs call callsub do
else elseif emit end
for if in onevent
return step sub then
var when while

Constantes

Las constantes se pueden definir, en Aseba Studio, usando el panel de "Constantes", pero no se pueden definir directamente en el código. Una constante representa un valor numérico en cualquier parte que se requiera un número, pero a diferencia de las variables, una constante no se puede modificar durante la ejecución. Las constantes resultan útiles cuando se desea cambiar fácilmente el comportamiento entre diferentes ejecuciones, como cuando se adapta un umbral, para un alcance de varios nodos Aseba. Una constante no puede tener el mismo nombre que una variable, de otro modo, se producirá un error. 

# asumir una constante nombrada UMBRAL
var i = 600

if i > UMBRAL then
    i = UMBRAL - 1
end

Vectores

Los vectores representan un espacio continuo en la memoria, direccionado como una sola entidad lógica. El tamaño de un vector es fijo y se debe especificar cuando se declara. Los vectores se pueden declarar usando el operador corchetes []. El número entre corchetes especifica la cantidad de elementos asignados al vector, por eso hace referencia a su tamaño. Puede ser cualquier expresión constante, incluyendo operaciones matemáticas con escalares y constantes. Una alternativa consiste en usar el constructor de vectores (descrito más abajo); en ese caso no se especifica el tamaño del vector.

Ejemplo: 

var a[10]                   # vector de 10 elementos
var b[3] = [2, 3, 4]        # inicialización
var c[] = [3, 1, 4, 1, 5]   # tamaño implícito: 5 elementos
var d[3*FOO-1]              # tamaño declarado usando una expresión constante (FOO declarada como constante)

El contenido de un vector se puede acceder de diferentes maneras:

  • Para acceder a un sólo elemento se usa una expresión constante que indique su posición y encerrada en corchetes. Las posiciones (índices) comienzan con cero. Cualquier expresión se puede usar como índice, incluyendo expresiones matemáticas con otras variables.
  • Para acceder un rango de elementos se usan dos expresiones contantes, separadas por ':' y encerradas por corchetes.
  • Si se omiten los corchetes, se accede a la totalidad del vector.

Ejemplo: 

var foo[5] = [1,2,3,4,5]
var i = 1
var a
var b[3]
var c[5]
var d[5]

a = foo[0]       # copia el primer elemento de 'foo' en 'a'
a = foo[2*i-2]       # lo mismo
b = foo[1:3]       # copia el 2°, 3° y 4° elemento de 'foo' en 'b'
b = foo[1:2*2-1]   # lo mismo
c = foo           # copia los 5 elementos del vector 'foo' al vector 'c'
d = c * foo       # multiplica los vectores 'foo' y 'c', elemento por elemento, y copia el resultado en 'd'

Constructores de vectores

Los constructores de vectores son un método para construir vectores a partir de variables, otros vectores, escalares o incluso expresiones complejas. Reesultan útiles en varias situaciones; por ejemplo, para inicializar otro vector, o como operando en expresiones, funciones y eventos. Un constructor de vectores consiste en una serie de expresiones separadas por , (comas) y encerradas en corchetes. El tamaño del vector será la suma de los tamaños individuales de sus elementos y debe coincidir con el tamaño del vector que almacenará el resultado.

Ejemplo: 

var a[5] = [1,2,3,4,5]    # constructor de vectores para inicializar un vector
var b[3] = [a[1:2],0]    # b se inicializa con [2,3,0]
a = a + [1,1,1,1,1]    # suma 1 a cada elemento del vector a
a = [b[1]+2,a[0:3]]    # es igual a [5,2,3,4,5]

Expresiones y asignaciones

Las expresiones permiten ejecutar operaciones matemáticas utilizando la convencional notación de infijo convencional.

Las asignaciones se usan para vincular el resultado de un cómputo o de una expresión a una variable escalar o a un elemento de un vector o un vector completo. Para asignar un valor a una variable se utiliza el operador =. Puedes usar paréntesis para agrupar subexpresiones y evaluar expresiones en un orden determinado.

ASEBA dispone de los siguientes operadores:

Precedencia Operador Descripción Asociatividad Aridad
1 () Agrupar subexpresiones unario
2 * / Multiplicación, división binario
% Módulo binario
3 + - Suma, resta binario
4 << >> desplazamiento a izquierda, desplazamiento a derecha binario
5 | ó binario (or) asociativo a izquierda binario
6 ^ ó exclusivo (xor) asociativo a izquierda binario
7 & y binario (and) asociativo a izquierda binario
8 - menos unario unario
9 ~ no binario (not) unario
10 abs Valor absoluto unario
11 = Asignación binario
|= ^= &= Asignación or, xor, and binario
~= Asignación not binario
*= /= Asignación producto y cociente binario
%= Asignación módulo binario
+= -= Asignación suma y resta binario
<<= >>= Asignación desplazamiento derecha / izquierda binario
++ -- Incremento y decremento unario unario

Las asignaciones con operadores binarios funcionan aplicando el operador a una variable y almacenando el resultado en ella misma. Por ejemplo, A *= 2 es lo mismo que A = A * 2. Estos operadores buscan hacer el código más legible.

Ejemplo: 

a = 1 + 1
# Resulta: a = 2
a *= 3
# Resulta: a = 6
a++
# Resulta: a = 7

b = b + d[0]
b = (a - 7) % 5
c[a] = d[a]
c[0:1] = d[2:3] * [3,2]

Utilización

Las expresiones matemáticas son una herramienta general. Como tal, pueden ser usadas en muchos casos, por ejemplo:

  • Al lado derecho de una asignación.
  • Cómo índice para acceder a los elementos de un vector.
  • Dentro de los llamados a funciones.
  • Cómo argumento al emitir un evento.

Control de flujo

Condicionales

Aseba incluye dos tipos de condicionales: if y when. Ambos constan de la evaluación de una condición (sentencia) y de un bloque de código. La evaluación es normalmente una comparación utilizando los operadores and (conjunción lógica), or (disyunción lógica), y not (negación lógica), y paréntesis.

Una comparación consta de un operador y dos operandos; el resultado puede ser verdadero o falso. Los operandos pueden ser expresiones arbitrarias.

La siguiente es una lista con los operadores de comparación:

Operador Valor de verdad
== verdadero si los operandos son iguales
!= verdadero si los operandos son diferentes
> verdadero si el primer operando es estrictamente mayor que el segundo
>= verdadero si el primer operando es mayor o igual que el segundo
< verdadero si el primer operando es estrictamente menor que el segundo
<= verdadero si el primer operando es menor o igual que el segundo

Las estructuras condicionales if y when ejecutan un bloque de código específico si se cumple o no una determinada condición (verdadero/falso):

  • if ejecuta un primer bloque de código si se cumple la condición (verdadero). un segundo bloque de código puede ser ejecutado en caso de no cumplirse la condición (falso); basta con incluir la instrucción else. Además, otras condiciones pueden ser tenidas en cuenta utilizando la instrucción elseif.
  • when solo ejecuta las instrucciones correspondientes cuando ocurre un cambio en el estado de la condición. Es decir, el conjunto de instrucciones asociadas al cumplimiento de la condición (verdadero) so lo se ejecuta si la última vez que se evaluó fue falso.

Ejemplo: 

if a - b > c[0] then
    c[0] = a
elseif a > 0 then
    b = a
else
    b = 0
end

if a < 2 and a > 2 then
    b = 1
else
    b = 0
end

when a > b do
    leds[0] = 1
end

En el código anterior, la instrucción correspondiente al when se ejecuta solo cuando a se vuelve mayor que b.

Ciclos (bucles)

Dos estructuras permiten crear ciclos iterativos: while y for.

Un ciclo while ejecuta una conjunto de instrucciones, repetidamente, siempre y cuando se cumpla una determinada condición.Las condiciones se pueden construir de igual manera que para los condicionales if y when. El siguiente ejemplo, ejecuta las instrucciones asociadas al ciclo while mientras que el valor que tome i sea menor que 10. 

while i < 10 do
    v = v + i * i
    i = i + 1
end

Un ciclo for le permite a una variable tomar diferentes valores enteros dentro de un rango establecido y con un incremento determinado. En el primer ciclo for del siguiente ejemplo, la variable i toma valores desde 1 hasta 10 incrementándose en 1 para cada iteració; es decir, para la primera iteración i=1, para la segunda i=2 y así sucesivamente, hasta la última iteración en donde i=10. En el segundo ciclo, la variable toma el valor de 30 para la primera iteración y va disminuyendo de 3 en 3 hasta llegar a 1; es decir, i=27 para la segunda iteración, i=24 para la tercera y así sucesivamente. 

for i in 1:10 do
    v = v + i * i
end
for i in 30:1 step -3 do
    v = v - i * i
end

Bloques

Subrutinas

Cuando quieras utilizar una secuencia de instrucciones en dos o más lugares de tu código, puedes escribir una subrutina con la secuencia de instrucciones y luego llamarla donde la la necesites. Para definir una subrutina debes usar la instrucción sub seguida por el nombre de la subrutina. Para llamarla, utilizas la instrucción callsub, seguida por el nombre de la subrutina. Debes escribir las subrutinas antes de llamarlas. Las subrutinas tienen acceso a todas la variables, pero no pueden tener argumentos, ni pueden ser recursivas (llamarse a si mismas), directa o indirectamente. Este es un ejemplo: 

var v = 0

sub toto
v = 1

onevent test
callsub toto

Eventos

La arquitectura de Aseba se basa en eventos. Esto quiere decir que los eventos pueden hacer que el código se ejecute asincrónicamente.

Los eventos pueden ser:

  • externos, como por ejemplo los eventos definidos por el usuario que provienen de otro nodo Aseba; ó
  • internos, como aquellos generados por un sensor.

La realización de un evento ejecuta el bloque de código que se encuentra después de la instrucción onevent seguido por el nombre del evento; el código que se encuentra antes de esa instrucción solo se ejecuta una vez al comienzo o cada vez que hay un reset. El script también puede generar un evento usando la instrucción emit, seguida por el nombre del evento y el nombre de la variable a enviar, si es el caso. Si se suministra el nombre de una variable, el tamaño del evento debe coincidir con el tamaño del argumento que se emite. Los eventos le permite a los scripts, ejecutar códigos en otros nodos o comunicarse con un programa externo.

Para permitir que los códigos relacionados con otros eventos puedan ser ejecutados, los scripts no se pueden bloquear ni tener ciclos infinitos. En el contexto de la robótica, los programas tradicionales para controlar los robots realizaban procesos dentro de ciclos infinitos; un script de Aseba realiza los procesos dentro de eventos relacionados con los sensores.

Este es un ejemplo: 

var run = 0

onevent start
run = 1

onevent stop
run = 0

onevent ir_sensors
if run == 1 then
    emit sensors_values proximity_sensors_values
end

Declaración de retorno (return)

Es posible interrumpir la ejecución de una subrutina o de un evento utilizando el comando return.

Ejemplo: 

var v = 0

sub toto
if v == 0 then
    return
end
v = 1

onevent test
callsub toto
return
v = 2

Funciones nativas

Aseba está concebido para ser tan simple que permite un rápido aprendizaje por parte de los desarrolladores (incluso novatos) y la implementación de la máquina virtual en un micro-controlador de manera eficiente. Las funciones nativas se encargan de los procesos complejos o que requieren de muchos recursos. Ellas están escritas en lenguaje de máquina para mejorar la eficiencia. Además son seguras. Ellas especifican y verifican el tamaño de sus argumentos, los cuales pueden ser constantes, variables o elementos de vectores. Para el último caso, puedes extraer todos los elementos de un vector, un solo elemento o una porción. Las funciones nativas asignan sus argumentos por referencia y pueden modificar sus contenidos pero no devuelven ningún valor. Puedes usar funciones nativas usando la instrucción call. Por ejemplo: 

var a[3] = 1, 2, 3
var b[3] = 2, 3, 4
var c[5] = 5, 10, 15
var d
call math.dot(d, a, b, 3)
call math.dot(d, a, c[0:2], 3)
call math.dot(a[0], c[0:2], 3)

Qué más puedo leer ahora?

Con seguridad te interesará consultar:

aseba-1.6.0/clients/studio/doc/es_asebaplayground.html000066400000000000000000000177121322771007300230550ustar00rootroot00000000000000 El Aseba Playground

El Aseba Playground

Este material proporciona información adicional sobre como programar robots para Aseba Playground, un simulador multi-robot incluido en Aseba.

Eventos

Eventos Locales

Proximity sensors

El código que se encuentra luego de la instrucción onevent ir_sensors será ejecutado periódicamente, inmediatamente después de actualizar la variable (prox) - distancia hasta obstáculos.

Camera

El código que se encuentra luego de la instrucción onevent camera será ejecutado periódicamente, inmediatamente después de actualizar las variables camR, camG, camB - pixeles de la cámara lineal.

Emit

emit nombre [argumentos]

emit sirve para que un determinado robot emita un evento tipo (nombre) a los demás. El evento puede incluir hasta 32 argumentos. El evento no puede ser dirigido a un robot en particular - Este se transmite a todos los robots como si fuese una emisora radial (el siguiente ejemplo en [args] te muestra cómo dirigirse a un robot en especial). Es importante además, que el nombre del evento y el número de argumentos estén declarados en el panel de Eventos Globales de Aseba Studio.

Variables Internas

id

Es el identificador propio de cada robot.

source

Es la {id} del robot del cual se recibió el evento más reciente.

args

Los argumentos del evento más reciente recibido en este robot.

Ejemplo: Este ejemplo muestra como los eventos pueden dirigirse a un robot en especial, incluso si fueron transmitidas a todos. La idea es crear un vector en el que cada posición/casilla se destina a cada robot - al recibir el evento, el robot consultará únicamente su propia casilla.

El robot 1 envía el evento {avanzar} al robot 2, {espera}, luego envía el evento {avanzar} al robot 3 y {detenerse} al robot 2, {espera} y finalmente envía el evento {detenerse} a todos.

Código para el robot 1: 

# variables
var counter = 0

onevent ir_sensors

if counter == 10 then
    emit avanzar [1,0]
end

if counter == 100 then 
    emit avanzar [0,1]
end

counter += 1

Código para el robot 2: 

# eventos
onevent avanzar
    if args[0] == 1 then
        leftSpeed = 400
        rightSpeed = 400
    else
        leftSpeed = 0
        rightSpeed = 0        
    end

onevent detenerse
    leftSpeed = 0
    rightSpeed = 0

Código para el robot 3: 

# eventos
onevent avanzar
    if args[1] == 1 then
        leftSpeed = 400
        rightSpeed = 400
    else
        leftSpeed = 0
        rightSpeed = 0        
    end

onevent detenerse
    leftSpeed = 0
    rightSpeed = 0

leftSpeed, rightSpeed

Velocidad de las ruedas. Use 400 para avanzar lentamente.

colorR, colorG, colorB

Son los componentes rojo, verde y azul del color del cuerpo del robot.

prox

La distancia a un obstáculo percibida por los sensores de proximidad. Las mediciones pueden fluctuar debido al ruido/interferencias. Consultar el esquema aquí.

camR, camG, camB

Arreglo de 60 elementos. Los componentes rojo, verde y azul entregados por la cámara del robot.

energy

Número entero: [0 9]. El nivel de energía del robot.

Crea tu propio entorno

Playground te permite definir escenarios personalizados. Por ejemplo, el siguiente código crea una caja con cuatro robots en ella: 

<!DOCTYPE aseba-playground>
<aseba-playground>
    <color name="wall" r="0.9" g="0.9" b="0.9" />
    <color name="red" r="0.77" g="0.2" b="0.15" />
    <color name="green" r="0" g="0." b="0.17" />
    <color name="blue" r="0" g="0.38" b="0.61" />

    <world w="110.4" h="110.4" color="wall"/>

    <e-puck x="40" y="40"/>
    <e-puck x="40" y="60"/>
    <e-puck x="60" y="40"/>
    <e-puck x="60" y="60"/>
</aseba-playground>

Ejemplo: Encuentra aquí un modelo del Pabellón Alemán, Barcelon 1929, diseñado por Mies van der Rohe.

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cL0Î%‹4öY”Q€i>^ÆQÁ2wÔì3¶)Ç/¤a*ªšN7Ë¥Œò~9°è(=%!F¡‚ÔSqæsüj9Mm[—DéÆ´̲só•q™WLç|pY6‡Ïñ³cm’Æ(;6'£e,¨.RG9ÊúG"Ò¼xQ›MhØ—øˆÒ âmiqÔÒ³EçD‘ª–Æe’žc)¬-¾äÈƆAjàb;ÎñW¯ó@}l—O4Ü84m+)þíºè­ã.ó6meÁË«þÄÿî—1‹™¢R%tEXtdate:create2013-03-22T16:01:03+01:00è·éï%tEXtdate:modify2013-03-22T16:01:03+01:00™êQS!tEXtps:HiResBoundingBox55x10+148+655¸ÂÞ!'tEXtps:LevelAdobeFont-1.0: CMMI10 003.002 5âF†IEND®B`‚aseba-1.6.0/clients/studio/doc/es_asebastdnative.html000066400000000000000000000205371322771007300226710ustar00rootroot00000000000000 Librería estándar de funciones nativas

Librería estándar de funciones nativas

Aseba cuenta con una librería estándar de funciones nativas. Los objetivos, normalmente1 incorporan esta librería. Si el firmware de tu dispositivo es portador de una versión de Aseba desactualizada, es posible que no estén disponibles todas las funciones. Las funciones disponibles en Aseba versión 1.1 son2:

math.copy(A,B)
Copia el vector en el vector , elemento por elemento: .
math.fill(A,c)
Llena cada posición de un vector con una constante : .
math.addscalar(A, B, c)
Calcula donde es un escalar.
math.add(A, B, C)
Calcula donde , y son tres vectores del mismo tamaño.
math.sub(A, B, C)
Calcula donde , y son tres vectores del mismo tamaño.
math.mul(A, B, C)
Calcula donde , y son tres vectores del mismo tamaño. Tenga en cuenta que no se trata de un producto escalar.
math.div(A, B, C)
Calcula donde , y son tres vectores del mismo tamaño. Ocurrirá una excepción si se intenta dividir por cero.
math.min(A, B, C)
Escribe en el menor valor entre cada elemento de y donde , y son tres vectores del mismo tamaño: .
math.max(A, B, C)
Escribe en el mayor valor entre cada elemento de y donde , y son tres vectores del mismo tamaño: .
math.dot(r, A, B, n)
Calcula el producto escalar entre dos vectores del mismo tamaño and :
math.stat(V, min, max, mean)
Calcula la media y los valores máximo y mínimo del vector .
math.argbounds(A, argmin, argmax)
Obtiene los índices argmin y argmax que corresponden a los valores mínimo y máximo de , respectivamente.
math.sort(A)
Ordena el vector .
math.muldiv(A, B, C, D)
Computa una multiplicación-división usando una presición interna de 32\,bits: . Ocurrirá una excepción si se intenta dividir por cero.
math.atan2(A, Y, X)
Calcula usando los signos de y para determinar el cuadrante de la respuesta., donde , y son tres vectores del mismo tamaño. Tenga en cuenta que y produce .
math.sin(A, B)
Calcula donde y son dos vectores del mismo tamaño.
math.cos(A, B)
Calcula donde y son dos vectores del mismo tamaño.
math.rot2(A, B, angle)
Rota el vector un ángulo angle, escribe el resultado en . Tenga en cuenta que y son vectores de dos elementos cada uno (tamaño =2 ).
math.sqrt(A, B)
Calcula donde y son dos vectores del mismo tamaño.
math.nzseq(a, B, m)
Escribe en el índice medio de la mayor secuencia de elementos diferentes que cero que se encuentran en . El resultado será si no se encuentran o si el tamaño de la secuencia es menor que .
math.rand(v)
Genera un valor aleatorio entre .
Notas
aseba-1.6.0/clients/studio/doc/es_asebastudio.html000066400000000000000000000124651322771007300222000ustar00rootroot00000000000000 ASEBA Studio

ASEBA Studio

Aseba Studio es un entorno de desarrollo integrado en el que puedes editar y depurar los scripts de cualquier nodo de una red Aseba.

Descubre el entorno

Te presentamos cada uno de los componentes del entorno enumerados de 1 a 8:

studio-overlay-en.png

1. Los nodos de la red

En cada pestaña encuentras la información particular para cada nodo. Es es decir, su script, su contenido en memoria, su estado de ejecución y los comando para depurar. También puedes encontrar una barra de comandos generales de depuración, que actúan sobre todos los nodos al mismo tiempo. Con ella puedes controlar la red de manera global y cada nodo de manera particular.

2. El editor

Este es un poderoso editor de scripts que incluye varias ayudas como: color del texto de acurdo a la sintaxis, indentación de bloques y la posibilidad de arrastrar nombres de variables desde la memória. También, indica la posición de la ejecución en el modo paso-a-paso y marca con rojo los errores.

3. Compilación instantánea

Studio recompila los scripts mientras los escribes. El resultado de la compilación (exitosa o descripción del error) se muestra bajo el editor. Esto te permite mejorar la calidad de tu código porque puedes corregir los errores en el mismo momento en que aparecen.

4. Inspección de información

Studio lista las variables disponibles en cada nodo con sus respectivos valores. Para actualizar los valores, presiona el botón refresh.

5. Depurador

Studio incluye un depurador para cada nodo que muestra el estado actual de la ejecución. El depurador soporta la ejecución continua, paso-a-paso y con puntos de control (parada). Para establecer o remover un punto de parada, debes dar clic derecho sobre la linea de código deseada. Los valores de las variables se actualizan automáticamente después de cada paso o punto de parada.

6. Definición de constantes globales

Aquí puedes definir constantes que estarán disponibles para todos los nodos.

7. Eventos globales de red

Aquí puedes crear eventos y darles un nombre. Para enviar un evento debes hacer doble-clic sobre su nombre. Debajo de la lista, encuentras un registro con los eventos más recientes, sus parámetros y la hora a la que ocurrió.Así puedes monitorear el comportamiento distribuido de la red.

8. Eventos locales y funciones nativas

Aquí encuentras la lista de eventos locales y las funciones nativas disponibles para cada nodo. Si dejas el cursor del mouse durante unos instantes sobre una función en particular, aparecerá un recuadro un una breve documentación.

Consejos y trucos

1. Ahorra tiempo

Puedes arrastrar los nombres de tus variables, funciones nativas, eventos y constantes directamente hasta el editor. Así tendras menos texto a teclear.

2. Como buscar ayuda

El menu de ayuda (help) de Studio te ofrece un acceso instantáneo a la información detallada de soporte para el lenguaje de programación Aseba.

Qué más puedo leer ahora?

Con seguridad te interesará consultar:

aseba-1.6.0/clients/studio/doc/es_asebaswitchremap.html000066400000000000000000000047011322771007300232110ustar00rootroot00000000000000 Conexión entre varios objetivos

Conexión entre varios objetivos

ASEBA ofrece una utilidad de linea de comandos llamada asebaswitch, que puede conectar diferentes objetivos. La sintaxis es: 

asebaswitch [opciones] [objetivos adicionales]*

Para obtener más detalles, digita: 
asebaswitch --help

Los objetivos adicionales deben seguir la nomenclatura Dashel.

Uso avanzado

ASEBA requiere que cada nodo de una red tenga un identificador diferente. Sin embargo, algunos objetivos como Thymio, tienen un identificador incorporado el el firmware. Afortunadamente, asebaswitch dispone de un mecanismo para remapear los identificadores, que permite cambiar el identificador de un objetivo.

Tal mecanismo permite, por ejemplo, incluir dos o más Thymios en la misma red ASEBA.

En Linux, esto se traduce en la siguiente linea de comandos: 

asebaswitch -d "ser:device=/dev/ttyACM0;remapLocal=1" "ser:device=/dev/ttyACM1;remapLocal=2"

El mecanismo de remapeo tiene dos opciones más en la cadena de caracteres que describen el objetivo:

  • remapLocal. El identificador local con el que debe aparecer el nodo objetivo.
  • remapTarget (default: 1). El identificador del nodo objetivo a remapear.

Actualmente, este mecanismo permite remapear solo un nodo por objetivo. Esto se puede generalizar, dependiendo de las necesidades.

aseba-1.6.0/clients/studio/doc/es_asebausermanual.html000066400000000000000000000035431322771007300230420ustar00rootroot00000000000000 Manual del usuario: ASEBA

Manual del usuario: ASEBA

El manual del usuario de ASEBA incluye los siguientes temas instroductorios:

  • Primeros pasos con ASEBA. Un totorial que te enseña a programar robots virtuales en el robot simulator challenge de ASEBA.
  • Conceptos. Descripción de algunos conceptos básicos relacionados con ASEBA.
  • ASEBA Studio. Una introducción a Studio, el entorno de desarrollo integrado de ASEBA.
  • Lenguaje ASEBA. Una descripción detallada, algunos ejemplos del lenguaje de programación ASEBA.
  • Librería estándar de funciones nativas. Descripción de las funciones disponibles en la mayoría de los objetivos.

Y además, estos temas avanzados:

aseba-1.6.0/clients/studio/doc/es_gettingstarted.html000066400000000000000000000313511322771007300227200ustar00rootroot00000000000000 Primeros pasos con ASEBA

Primeros pasos con ASEBA

Esta página te enseña a utilizar ASEBA sin disponer de un robot físico. Si tienes un Thymio II, te invitamos a visitar su página aquí.

Comienza con un reto. ASEBA challenge

asebachallenge.png

ASEBA challenge (imagen derecha) es un escenario simulado en el que robots controlados con Aseba compiten por energía (food). Puedes utilizarlo como un lugar para explorar tus códigos o como un juego educativo para el aprendizaje y la enseñanza de programación.

Para comenzar, ejecuta ASEBA challenge. Si aún no has instalado ASEBA, sigue las instrucciones de instalación. Una vez iniciado, has clic en ''Add a new robot'' para crear un nuevo robot, y luego asígnale un nombre. Si son varios jugadores, debes crear un robot para cada uno. Puedes suprimir todos los robots haciendo clic en “Remove all robotsâ€. Puedes esconder los botones marcando la opción “Auto hideâ€: los botones solo se muestran cuando el puntero del mouse pasa cerca a ellos. Puedes tener una cámara automática, marcando la opción “Auto cameraâ€: la posición de la cámara cambia automáticamente. Si prefieres mover la cámara manualmente, los controles son los siguientes:

  • ctrl + botón izquierdo del mouse: rotar vista.
  • ctrl + shift + botón izquierdo del mouse: desplazar la vista en x/y.
  • ctrl + shift + botón derecho del mouse: desplazar la vista en z.
studio-connect-en.png

Challenge indica la puntuación de cada robot en unos paneles translúcidos, suspendidos sobre la arena (terreno de juego). El objetivos es mantener el robot con vida, recolectando energía. Mientras el robot sobreviva, su marcador aumenta; si muere, se reducen a la mitad. Cuatro fuentes azules suministran energía a los robots que se acerquen a ellas. Cuando una fuente se agota, se vuelve roja y no suministra más energía. De vez en cuando, las fuentes se esconden, y los robots no pueden verlas sino hasta que reaparecen.

Cuando ASEBA challenge se esté ejecutando, puedes ejecutar ASEBA studio para programar tu robot. Debes ejecutar una instancia de studio desde cualquier PC, para controlar cada robot en la arena. Al inicio, studio te propone conectarte a un objetivo ASEBA (imagen de la derecha). Si has lanzado challenge en tu PC y has adicionado un robot, la opción por defecto será conectarte a ese robot. Si challenge se está ejecutando en otro PC, o si hay varios robots en la misma arena, debes especificar el PC en host y el robot en port. Los paneles translucidos indican el puerto (port) que corresponde a cada robot.

Tu primer controlador

studio-challenge-en.png

Si studio se está ejecutando (imagen derecha), podras utilizar la parte central de la ventana para editar el programa del robot. Se trata de un editor que revisa y compila tu código en tiempo real, indicándote si la sintaxis es correcta o no.Puedes consultar más detalles sobre studio en el menú Help->Studio. El menú Help->Language te ofrece información detallada del lenguaje de programación ASEBA.

Para programar un robot, primero debes entender cómo funciona. Un robot interactúa con el mundo en el siguiente ciclo: percibe el estado del mundo por medio de sensores, toma algunas decisiones con su computador incorporado, y ejecuta acciones a través de actuadores. Este ciclo se repite constantemente.

En challenge tu programas un robot e-puck. Este robot tiene 8 sensores de proximidad alrededor de su cuerpo y una cámara de 3 pixeles (20°/pixel) dirigida hacia adelante. Puedes leer cada pixel y además controlar la velocidad de las ruedas.
epuck-sensors-wiki-en.png

Ahora escribe tu primer controlador de robot. Digita las siguientes líneas en el editor: 

wheel_left_speed = 5
wheel_right_speed = -5

Click en “Load†y luego en “Runâ€. Debes ver a tu robot dando vueltas en un mismo sitio. Este código solo define la velocidad de las ruedas cuando el robot inicia. Para mejorar su comportamiento, permítele al robot percibir su entorno para tomar decisiones. Por ejemplo para evadir obstáculos.

Para ejecutar el programa constantemente, puedes usar la función onevent timer. Por ejemplo, usando el sensor de proximidad frontal, podemos definir la velocidad de las ruedas con respecto a la distancia al objeto. 

onevent timer
wheel_left_speed = dist[0] - 6
wheel_right_speed = dist[0] - 6

Click en “Load†y luego en “Runâ€. Como el sensor de proximidad entrega una distancia entre 0 y 12 cm, la velocidd de las ruedas será -6 cm/s s hay un objeto demasiado cerca, 0 cm/s si el objeto está a 6 cm, y 6 cm/s si no hay obstáculos a la vista. De este modo, el robot tiende a mantenerse a una distancia de 6 cm de un obstáculo.

Un controlador más elaborado

Mantener una distancia prudente a un objeto cercano es bueno, pero por ahora, el robot no puede moverse a ninguna otra parte. Para hacer que el robot se pasee por ahí, debes entender cómo se desplaza.

El e-puck simulado en challenge es un ejemplo de un robot con ruedas diferenciales; para cambiar la dirección se definen velocidades diferentes en sus ruedas derecha e izquierda. Si ambas ruedas tienen la misma velocidad, el robot se desplaza hacia adelante (o atrás). Si las velocidades de las ruedas son en sentidos opuestos, el robot comenzará a girar alrededor del mismo punto. Los vehículos industriales con orugas (caterpillar) utilizan el mismo principio.

El siguiente código hace que el robot evite obstáculos y se mueva hacia a delante: 

onevent timer
wheel_left_speed = dist[1] - 6
wheel_right_speed = dist[6] - 6

este controlador monitorea los sensores de proximidad frontales: derecho e izquierdo. Mientras no se detecten obstáculos, dist[1] y dist[6] equivalen a 12 y entonces el robot se desplaza hacia adelante a una velocidad de 6 cm/s. Pero si se detecta un obstáculo a uno de los lados, el valor del respectivo sensor disminuirá. Por ejemplo, si se detecta un obstáculo a la izquierda, dist[6] (que mira hacia la izquierda) puede tomar el valor de 10, pero dist[1] (que mira hacia la derecha) se mantendrá en 12. Entonces, la velocidad de la rueda derecha wheel_right_speed se disminuirá a 4 haciendo que el robot gire hacia la derecha para evadir el obstáculo.

Tomando decisiones

Los controladores que hemos visto hasta ahora, vinculan los valores de los sensores a la velocidad de las ruedas por medio de expresiones matemáticas, pero no se toman decisiones de tipo ''si…entonces…''. En algunos casos, resulta conveniente tomar decisiones; por ejemplo, si queremos que el robot se mueva hacia adelante o gire en el mismo punto si realizar trayectorias curvas. Mira este ejemplo: 

onevent timer
var dists = dist[6] + dist[7] + dist[0] + dist[1]
if dists < 48 then
    wheel_left_speed = 5
    wheel_right_speed = -5
else
    wheel_left_speed = 5
    wheel_right_speed = 5
end

Este controlador suma las distancias de los 4 sensores frontales, y si el total es menor que 48, lo que indica que por lo menos uno de los sensores detectó un obstáculo, entonces el robot gira sobre si mismo. De lo contrario, se desplaza hacia adelante.

El lenguaje de programación ofrece otras estructuras interesantes, como el ciclo while, que ejecuta un bloque de código iterativamente, siempre y cuando se cumpla una determinada condición. Otra estructura es el ciclo for, que ejecuta un bloque de código un determinado número de veces y actualiza cada vez, el valor de una variable (contador). El menú Help -> Language te lleva a una lista de todas las estructuras disponibles, acompañadas de ejemplos.

Es tu turno

Juega un momento con el evasor de obstáculos para que entiendas mejor el funcionamiento de los sensores, los actuadores y la dinámica del robot. Explora tranquilamente otras posibilidades: se trata de un simulador y no hay ningún riesgo de que sufrir daños.

Si ya cogiste confianza, trata de hacer que tu robot se dirija a las fuentes de energía cuando estén azules (0,100,100 en RGB) y las evite cuando estén rojas. Ten en cuenta que el color del fondo es gris (50,50,50). Reta a tus amigos y has el mejor controlador para tu robot!. Puedes cambiar el color del robot modificando las variables color_red, color_green y color_blue, así podrás fingir ser una fuente de energía. Para saber si alguien engaña a tu robot, revisa la variable de energía; si no aumenta mientras observas obstáculo azul, quiere decir que te están engañando!.

Challenge está diseñado para que tu aprendas robótica, programación y ASEBA, al mismo tiempo que te diviertes.

Qué más puedo leer ahora?

Con seguridad te interesará consultar:

aseba-1.6.0/clients/studio/doc/es_playground-barcelona.html000066400000000000000000000045431322771007300240030ustar00rootroot00000000000000 Playground Barcelona (Pabellón Alemán)

Playground Barcelona (Pabellón Alemán)

Modelo del Pabellón Alemán, Barcelona, 1929, por Mies van der Rohe.

playground-barcelona.png 
<!DOCTYPE aseba-playground>
<!-- plan of the German Pavillion, Barcelona, 1929, by Mies van der Rohe -->
<!-- see http://en.wikipedia.org/wiki/Barcelona_Pavilion -->
<!-- created 2012.09.26 by Vlad Atanasiu atanasiu@alum.mit.edu -->

<aseba-playground>

    <!-- colors definitions -->
    <color name="wall" r="0.9" g="0.9" b="0.9"/>
    <color name="water" r="0.2" g="0.6" b="1"/>

    <!-- playground topology -->
    <world w="600" h="276" color="wall"/>

    <wall x="359" y="240" l1="481" l2="74" h="11" color="wall"/>
    <wall x="506" y="24" l1="189" l2="51" h="11" color="wall"/>
    <wall x="192" y="180" l1="224" l2="5" h="11" color="wall"/>
    <wall x="402" y="162" l1="113" l2="5" h="11" color="wall"/>
    <wall x="361" y="125" l1="10" l2="68" h="11" color="wall"/>
    <wall x="338" y="89" l1="99" l2="5" h="11" color="wall"/>
    <wall x="455" y="133" l1="62" l2="5" h="11" color="wall"/>
    <wall x="513" y="125" l1="5" l2="87" h="11" color="wall"/>

    <wall x="127" y="66" l1="228" l2="107" h="0.01" color="water"/>
    <wall x="562" y="124" l1="43" l2="123" h="0.01" color="water"/>

    <!-- robots initial positions -->
    <e-puck x="373" y="25"/>
    <e-puck x="50" y="140"/>
    <e-puck x="445" y="110"/>

</aseba-playground>
aseba-1.6.0/clients/studio/doc/fr_asebaconcepts.html000066400000000000000000000076441322771007300225120ustar00rootroot00000000000000 Concepts

Concepts

Cette page présente les concepts importants pour comprendre Aseba.

NÅ“ud

Dans Aseba, il peut y avoir plusieurs robots ou un robot avec plusieurs processors fonctionnant dans le même réseau. Ce réseau peut être logiciel (TCP), matériel (CAN), ou une combinaison des deux. Chaque processeur d'un réseau Aseba, appelé nœud, fait tourner une petite machine virtuelle. Chaque nœud possède son propre onglet dans Aseba Studio, ce qui vous permet de le programmer indépendamment des autres nœuds. Les nœuds communiquent ensemble à travers des événements.

Événement

Aseba est une architecture basée sur des événements, c'est à dire que des événements déclenchent l'exécution du code de façon asynchrone. Les événements ont un identificateur et transportent optionnellement des données. Les nœuds s'échangent des événements à l'intérieur d'un réseau Aseba. De plus, les événements peuvent être internes à un nœud, par exemple émis par un capteur qui possède un valeur nouvellement acquise. La réception d'un événement exécute, si défini, le bloc de code correspondant. Un script peut aussi envoyer des événements, ce qui lui permet de déclencher l'exécution de code sur un autre nœud ou de communiquer avec un programme externe. Afin de permettre l'exécution du code lors de la réception d'un nouvel événement, aucun script ne doit bloquer et donc les scripts ne doivent pas contenir de boucle infinie. Par exemple dans le contexte de la robotique, où un programme de contrôle de robot traditionnel travaillerait à l'intérieur d'une boucle infinie, un script Aseba ferait simplement le travail lors d'un événement lié aux capteurs.

Que lire ensuite ?

Les pages suivantes peuvent vous intéresser :

aseba-1.6.0/clients/studio/doc/fr_asebalanguage.html000066400000000000000000000755611322771007300224620ustar00rootroot00000000000000 Le langage d'Aseba

Le langage d'Aseba

Cet aide est aussi disponible dans Aseba Studio dans le menu Aide -> Langage. Lorsque nous utilisons des mots techniques, nous les lions vers l'article Wikipedia correspondant. De plus, la page concepts explique quelques concepts importants liés à Aseba. Cette page présente le langage de la version 1.2 d'Aseba, pour des versions précédentes, veuillez lire cette page.

Le langage de programmation d'Aseba permet de programmer le comportement des nœuds Aseba. Syntaxiquement, ce langage ressemble à Matlab (un langage de programmation scientifique commun) : cette ressemblance permet aux développeurs ayant des connaissances préalables sur les langages de scripts de se sentir à l'aise et d'apprendre rapidement. Sémantiquement, c'est un langage de programmation impératif avec un seul type simple (nombres entiers signés sur 16 bits) et des tableaux. Cette simplicité permet aux développeurs sans connaissances préalables d'un système de type de programmer des comportement ; les nombres entiers étant le type de variable le plus naturel. De plus, les nombres entiers sont particulièrement adaptés aux robots à micro-contrôleurs.

Commentaires

Les commentaires permettent d'ajouter des informations qui seront ignorées par le compilateur. Les commentaires sont très utiles pour annoter votre code avec des informations compréhensibles par un humain ou pour désactiver certaines parties du code. Les commentaires commencent avec un # et finissent à la fin de la ligne.

Exemple : 

# ceci est un commentaire
var b    # un autre commentaire

Les commentaires sur plusieurs lignes sont également possibles. Ils commencent par #* et finissent par *#.

Exemple : 

#*
ceci est un commentaire
sur plusieurs lignes
*#
var b    # commentaire simple

Scalaires

Les valeurs scalaires sont utilisées dans Aseba pour représenter des nombres. Elles peuvent être utilisées dans n'importe quelle expression, telle que l'initialisation d'une variable, dans une expression mathématique, ou dans une condition logique.

Notation

Les scalaires peuvent être écrit en utilisant plusieurs bases différentes. La façon la plus naturelle correspond au système décimal, en utilisant les chiffres de 0 à 9. Les nombres négatifs sont déclarés en utilisant un signe - (moins) devant le nombre. 

i = 42
i = 31415
i = -7

Les nombres binaires et hexadécimales peuvent également être utilisés. Les nombres binaires sont préfixés par 0b, alors que les nombres hexadécimales sont préfixés par 0x. 

# notation binaire
i = 0b110         # i = 6
i = 0b11111111    # i = 255

# notation hexadécimale
i = 0x10    # i = 16
i = 0xff    # i = 255

Variables

Les variables font référence soit à des valeurs scalaires, soit à des tableaux de valeurs scalaires. Les valeurs sont comprises entre -32768 et 32767, ce qui correspond à la plage des nombres entiers signés sur 16 bits. Les variables utilisateurs doivent être déclarées au début du script Aseba, en utilisant le mot clé var, avant tout autre opération.

Le nom d'une variable doit suivre un certain nombre de règles :

  • Le nom fait la différence entre majuscules et minuscules : une variable appelée "foo" est différente d'une autre appelée "Foo"
  • Le nom doit commencer par un caractère alphabétique valide, ou '_'
  • Le nom ne peut contenir que des caractères alphabétiques, '_' ou '.'
  • Le nom ne peut pas être identique à un des mots clés d'Aseba (voir mots clés réservés)

Les variables peuvent être initialisées durant la déclaration, en utilisant le symbole d'assignation combiné à n'importe quelle expression mathématique. Une variable qui n'a pas été initialisée au préalable aura une valeur aléatoire, rien ne garantit qu'elle sera égale à zéro.

Exemple : 

var a
var b = 0
var c = 2*a + b # attention: 'a' n'est pas initialisée

Mot clés réservés

Les mots clés suivants ne peuvent pas être utilisés pour nommer des variables, car ils sont déjà utilisés par la langage Aseba.

Mots clés
abs call callsub do
else elseif emit end
for if in onevent
return step sub then
var when while

Constantes

Des constantes peuvent être définies dans Aseba Studio, en utilisant le panneau "Constantes", car elles ne peuvent pas être définies directement dans le code. Tout comme une variable normale, une constante contient une valeur numérique, qui peut être utilisée plusieurs fois dans le programme. Mais contrairement aux variables, une constante ne peut pas être modifiée durant l'exécution. Les constantes sont utiles quand on veut facilement changer le comportement d'un programme d'une exécution à l'autre, comme le changement d'une valeur de seuil. Une constante a une portée couvrant l'ensemble des noeuds Aseba. Une constante ne peut pas avoir le même nom qu'une variable, une erreur est produite dans le cas contraire. Les constantes se comportent exactement comme des valeurs numériques. 

# en supposant une constante appelée SEUIL
var i = 600

if i > SEUIL then
    i = SEUIL - 1
end

Tableaux

Un tableau représente une zone contiguë de mémoire, manipulée comme une seule entité logique. La taille d'une tableau est fixe, et elle doit être définie au moment de la déclaration. On peut déclarer des tableaux en utilisant l'opérateur crochet habituel []. Le nombre entre les crochets déclare le nombre d'éléments attribués au tableau, c'est-à-dire la taille du tableau. Il peut s'agir de n'importe quelle expression constante, incluant des opérations mathématiques portants sur des scalaires et des constantes. Une initialisation optionnelle peut avoir lieu, en utilisant le constructeur de tableau (voir ci-dessous). Dans le cas où une initialisation est effectuée, la taille du tableau peut être omise.

Exemple: 

var a[10]                   # tableau de 10 éléments
var b[3] = [2, 3, 4]        # initialisation
var c[] = [3, 1, 4, 1, 5]   # taille implicite de 5 éléments
var d[3*FOO-1]              # taille déclarée en utilisant une expression constante (FOO déclarée en tant que constante)

Les tableaux peuvent être accédés selon plusieurs syntaxes :

  • On accède à un seul élément en utilisant l'opérateur crochet encadrant une seule valeur. Les indexes d'un tableau commencent à zéro. N'importe quelle expression peut être utilisée comme index, incluant des expressions mathématiques impliquant d'autres variables.
  • Une plage de valeurs peut être accédée en utilisant l'opérateur crochet encadrant deux expressions constantes séparées par deux-points ':'.
  • En l'absence de l'opérateur crochet, le tableau est accédé dans son ensemble.

Exemple : 

var foo[5] = [1,2,3,4,5]
var i = 1
var a
var b[3]
var c[5]
var d[5]

a = foo[0]        # copie le 1er élément depuis 'foo' vers 'a'
a = foo[2*i-2]    # identique
b = foo[1:3]      # prends le 2ème, 3ème et 4ème éléments de 'foo', copie vers 'b'
b = foo[1:2*2-1]  # identique
c = foo           # copie les 5 éléments de 'foo' vers 'c'
d = c * foo       # multiplie élément par élément les tableaux 'c' et 'foo', copie vers 'd'

Constructeur de tableau

Un constructeur de tableau permet de construire un tableau à partir de variables, d'autres tableaux, de scalaires, ou même n'importe quelle expression. Ils sont utiles dans plusieurs cas, par exemple lors de l'initialisation d'un autre tableau, ou comme opérande dans des expressions, fonctions ou événements. Un constructeur de tableau est déclaré en utilisant des crochets entourant plusieurs expressions séparées par une , (virgule). La taille d'un constructeur de tableau est la somme de la taille des éléments le constituant, et elle doit correspondre à la taille du tableau servant à stocker le résultat.

Exemple : 

var a[5] = [1,2,3,4,5]    # constructeur de tableau pour initialiser un tableau
var b[3] = [a[1:2],0]    # contenu du tableau 'b' : [2,3,0]
a = a + [1,1,1,1,1]    # ajoute 1 à chaque élément du tableau 'a'
a = [b[1]+2,a[0:3]]    # le résultat est [3,2,3,4,5]

Expressions et assignations

Les expressions permettent les calculs mathématiques et sont écrites en syntaxe mathématique infixée commune. L'assignation utilise le mot clé = et affecte le résultat du calcul d'une expression à une variable scalaire, à l'élément d'un tableau, ou dans tout ou partie d'un tableau. Aseba fournit plusieurs opérateurs. Le tableau ci-dessous fournit une brève description, ainsi que la préséance de chaque opérateur. Pour évaluer une expression dans un ordre différent, nous pouvons utiliser une paire de parenthèses afin de grouper une sous-expression.

Préséance Opérateur Description Associativité Arité
1 () Groupe une sous-expression Unaire
2 * / Multiplication, division Binaire
% Modulo Binaire
3 + - Addition, soustraction Binaire
4 << >> Décalage à gauche, à droite Binaire
5 | OU binaire Associatif à gauche Binaire
6 ^ OU exclusif binaire Associatif à gauche Binaire
7 & ET binaire Associatif à gauche Binaire
8 - Moins unaire Unaire
9 ~ NON binaire Unaire
10 abs Valeur absolue Unaire
11 = Assignation Binaire
|= ^= &= Assignation avec un OU, OU exclusif, ET binaire Binaire
*= /= Assignation avec un produit ou quotient Binaire
%= Assignation avec un modulo Binaire
+= -= Assignation avec une somme ou différence Binaire
<<= >>= Assignation avec un décalage à gauche / droite Binaire
++ -- Incrément, décrément unaire Unaire

La version assignation avec des opérateurs binaires consiste à appliquer l'opérateur à une variable et à stocker le résultat dans cette même variable. Par exemple A *= 2 est équivalent à A = A * 2. Ces raccourcis ont pour but de rendre le code plus lisible.

Exemple : 

a = 1 + 1
# Résultat : a = 2
a *= 3
# Résultat : a = 6
a++
# Résultat : a = 7

b = b + d[0]
b = (a - 7) % 5
c[a] = d[a]
c[0:1] = d[2:3] * [3,2]

Utilisation

Les expressions mathématiques sont un outil qui peut être appliqué dans une grande variété de situations. Voici quelques utilisations :

  • Du côté droit d'une affectation
  • Comme index lors de l'accès à un tableau
  • A l'intérieur d'appels de fonctions
  • Comme argument lors de l'émission d'un évènement

Contrôle de flux

Conditions

Aseba fournit deux types de conditions : if et when. Elles consistent en un test de conditions et des blocs de code. Le test consiste en des comparaisons éventuellement groupées en utilisant les opérateurs and (conjonction logique), or (disjonction logique), not (négation logique) et les parenthèses. Une comparaison consiste en un opérateur et deux opérandes, et peut être soit vraie soit fausse. L’opérande peut être une expression quelconque. La table suivante liste les opérateurs de comparaison.

Opérateur Valeur de vérité
== vrai si les opérandes sont égaux
!= vrai si les opérandes sont différents
> vrai si le premier opérande est strictement plus grand que le second
>= vrai si le premier opérande est plus grand ou égal au second
< vrai si le premier opérande est strictement plus petit que le second
<= vrai si le premier opérande est plus petit ou égal au second

Tant if que when exécutent un bloc de code différent selon qu'une condition est vraie ou fausse ; mais when exécute le bloc correspondant à vrai seulement si la dernière évaluation de la condition était fausse et que l'évaluation courante est vraie. Cette différentiation permet l'exécution de code seulement quand quelque chose change. Le if exécute un premier bloc de code si la condition est vrai, un second bloc à exécuter si la condition est fausse peut être ajouté par le mot-clé else. De plus, d'autres conditions peuvent être chaînées grâce au mot-clé elseif.

Exemple : 

if a - b > c[0] then
    c[0] = a
elseif a > 0 then
    b = a
else
    b = 0
end

if a < 2 and a > 2 then
    b = 1
else
    b = 0
end

when a > b do
    leds[0] = 1
end

Ici le bloc when s'exécute seulement quand a devient plus grand que b.

Boucles

Deux constructions permettent la création de boucles : while et for.

Une boucle while exécute un bloc de code plusieurs fois tant qu'une condition est vraie. La condition est de même type que celle utilisée par if.

Exemple: 

while i < 10 do
    v = v + i * i
    i = i + 1
end

Une boucle for fait itérer une variable sur un intervalle d'entiers, avec en option une taille de pas.

Exemple: 

for i in 1:10 do
    v = v + i * i
end
for i in 30:1 step -3 do
    v = v - i * i
end

Blocs

Sous-routines

Lorsque vous effectuez une même suite d'opérations à plusieurs endroits dans le code, il est bon de mettre le code commun une seule fois dans une sous-routine, puis d'appeler cette dernière depuis les divers endroits. Vous pouvez définir une sous-routine en utilisant le mot-clé sub suivi du nom de la sous-routine. Vous pouvez appeler la sous-routine en utilisant le mot-clé callsub suivi du nom de la sous-routine. Les sous-routines doivent être définies avant leur utilisation. Les sous-routines ne peuvent pas avoir d'arguments, ni être récursives, que ce soit directement ou indirectement. Les sous-routines peuvent accéder à toutes les variables.

Exemple: 

var v = 0

sub toto
v = 1

onevent test
callsub toto

Événements

Aseba a une architecture par programmation événementielle, ce qui signifie que des événements peuvent déclencher l'exécution de code de façon asynchrone. Les événements peuvent être externes, par exemple un événement défini par l'utilisateur venant d'un autre nœud Aseba, ou internes, par exemple émis par un capteur qui possède un valeur nouvellement acquise. La réception d'un événement exécute, si défini, le bloc de code commençant par le mot clé onevent suivi du nom de l'événement. Le code au début du script est exécuté quand ce dernier est chargé ou au reset. Un script peut aussi envoyer des événements en utilisant le mot clé emit, suivi par le nom de l'événement ainsi que du nom de la variable à envoyer, s'il y a lieu. Si une variable est fournie, la taille de l'événement doit correspondre à celle de l'argument à envoyer. En lieu et place d'une variable, des constructeurs de tableau et des expressions mathématiques peuvent aussi être utilisées pour les situations plus complexes. Les événements permettent ainsi à un script de déclencher l'exécution de code sur un autre nœud ou de communiquer avec un programme externe.

Afin de permettre l'exécution du code lors de la réception d'un nouvel événement, le script ne doit pas bloquer et donc ne pas contenir de boucle infinie. Par exemple dans le contexte de la robotique, où un programme de contrôle de robot traditionnel travaillerait à l'intérieur d'une boucle infinie, un script Aseba ferait simplement le travail lors d'un événement lié aux capteurs.

Exemple : 

var run = 0

onevent start
run = 1

onevent stop
run = 0

onevent ir_sensors
if run == 1 then
    emit valeurs_des_capteurs valeurs_des_capteurs_de_proximite
end

Instruction return

Il est possible de sortir prématurément d'une sous-routine et de stopper l'exécution d'un événement en utilisant le mot clé return.

Exemple : 

var v = 0

sub toto
if v == 0 then
    return
end
v = 1

onevent test
callsub toto
return
v = 2

Fonctions natives

Nous avons conçu le langage de script d'Aseba simple afin de permettre une compréhension aisée par des développeurs novices et pour implémenter la machine virtuelle efficacement. Pour implémenter des calculs complexes ou lourds, nous fournissons des fonctions natives implémentées en code natif pour une exécution rapide. Par exemple, une fonction native est la solution de choix pour effectuer un calcul de produit scalaire.

Les fonctions natives sont sûrs, dans le sens qu'elles spécifient et vérifient les tailles de leurs arguments, qui peuvent être des constantes, des variables, des accès à des tableaux, des constructeurs de tableau et des expressions. Dans le cas d'un tableau, nous pouvons accéder à tout le tableau, à un élément discret ou à un sous-intervalle du tableau. Les fonctions natives prennent leurs arguments par référence et peuvent modifier leurs contenus, mais ne retournent aucune valeur. Les fonctions natives sont appelées par le mot-clé call.

Exemple: 

var a[3] = 1, 2, 3
var b[3] = 2, 3, 4
var c[5] = 5, 10, 15
var d
call math.dot(d, a, b, 3)
call math.dot(d, a, c[0:2], 3)
call math.dot(a[0], c[0:2], 3)

Que lire ensuite ?

La page suivante peut vous intéresser :

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cL0Î%‹4öY”Q€i>^ÆQÁ2wÔì3¶)Ç/¤a*ªšN7Ë¥Œò~9°è(=%!F¡‚ÔSqæsüj9Mm[—DéÆ´̲só•q™WLç|pY6‡Ïñ³cm’Æ(;6'£e,¨.RG9ÊúG"Ò¼xQ›MhØ—øˆÒ âmiqÔÒ³EçD‘ª–Æe’žc)¬-¾äÈƆAjàb;ÎñW¯ó@}l—O4Ü84m+)þíºè­ã.ó6meÁË«þÄÿî—1‹™¢R%tEXtdate:create2013-03-22T15:58:18+01:00’VÍ%tEXtdate:modify2013-03-22T15:58:18+01:00gÏîq!tEXtps:HiResBoundingBox55x10+148+655¸ÂÞ!'tEXtps:LevelAdobeFont-1.0: CMMI10 003.002 5âF†IEND®B`‚aseba-1.6.0/clients/studio/doc/fr_asebastdnative.html000066400000000000000000000206471322771007300226730ustar00rootroot00000000000000 Bibliothèque standard de fonctions natives

Bibliothèque standard de fonctions natives

Aseba fournit une bibliothèque standard de fonctions natives. Les micro-contrôleurs devraient normalement1 fournir cette bibliothèque. Dans la version 1.1 d'Aseba, les fonctions suivantes sont disponibles2:

math.copy(A,B)
Copie le tableau dans le tableau , élément par élément: .
math.fill(A,c)
Rempli chaque élément du tableau par la constante : .
math.addscalar(A, B, c)
Effectue l'opération où est un nombre scalaire.
math.add(A, B, C)
Effectue l'opération où , et sont des tableaux de même taille.
math.sub(A, B, C)
Effectue l'opération où , et sont des tableaux de même taille.
math.mul(A, B, C)
Effectue l'opération où , et sont des tableaux de même taille. Ceci n'est pas le produit scalaire.
math.div(A, B, C)
Effectue l'opération where , et sont des tableaux de même taille. Une erreur sera envoyée en cas de division par zéro.
math.min(A, B, C)
Écrit le plus petit élément entre et dans où , et sont des tableaux de même taille: .
math.max(A, B, C)
Écrit le plus grand élement entre et dans où , et sont des tableaux de même taille: .
math.dot(r, A, B, n)
Effectue le produit scalaire entre deux tableaux et de même taille:
math.stat(V, min, max, mean)
Calcule le minimum, le maximum et la moyenne des éléments d'un tableau .
math.argbounds(A, argmin, argmax)
Fournit les indices argmin et argmax correspondant au minimum respectivement au maximum des éléments de .
math.sort(A)
Trie le tableau du minimum au maximum, directement dans .
math.muldiv(A, B, C, D)
Calcule la multiplication-division en utilisant une précision interne de 32\,bits: . Une erreur sera envoyée en cas de division par zéro.
math.atan2(A, Y, X)
Calcule en utilisant le signe de et pour déterminer le quadrant de sortie, où , et sont des tableaux de même taille. Si et alors ..
math.sin(A, B)
Calcule où et sont deux tableaux de même taille.
math.cos(A, B)
Calcule où et sont deux tableaux de même taille.
math.rot2(A, B, angle)
Rotation du tableau par l'angle, écrit le résultat dans . et Doivent être des tableaux de taille 2
math.sqrt(A, B)
Calcule où et ont deux tableaux de même taille.
math.nzseq(a, B, m)
Écrit dans l'index du milieu de la plus grand séquence d'éléments non-zéro de , écrit si aucune séquence n'est trouvée ou si la taille de la séquence est plus courte que .
math.rand(v)
Retourne une valeur aléatoire de intervalle .
Footnotes
aseba-1.6.0/clients/studio/doc/fr_asebastudio.html000066400000000000000000000120571322771007300221750ustar00rootroot00000000000000 Aseba Studio

Aseba Studio

Aseba Studio est un environnement de développement intégré dans lequel nous éditons et debugons les scripts pour tous les nœuds d'un réseau aseba.

Découvrez l'environnement

studio-overlay-fr.png

1. Édition concurrente

Chaque nœud possède son propre onglet avec son script, le contenu de sa mémoire, son statut d'exécution et ses commandes de debug. De plus, une barre fournit des commandes générales de debug qui affectent tous les nœuds. Ceci permet à la fois un contrôle global du réseau et un contrôle particulier de chaque nœud.

2. Éditeur puissant

L'éditeur de script fournit la colorisation de syntaxe, l'indentation de blocs, et le glisser du nom des variables depuis la mémoire. Il affiche la position de l'exécution en mode pas à pas et colories les erreurs en rouge.

3. Compilation instantanée

Studio recompile les scripts pendant que le développeur les écrit. Le résultat de la compilation (succès ou description de l'erreur) est affiché sous l'éditeur. Ceci permet la correction des erreurs dès qu'elles apparaissent, ce qui améliore la qualité du code.

4. Inspection des données

Studio liste les variables disponibles sur chaque nœud avec leurs valeurs. Nous pouvons mettre à jour cette liste en un click. Cette liste fournit une vision rapide de l'état du nœud.

5. Debugger

Studio intègre un debugger ; pour chaque nœud, il donne l'état courant d'exécution. Ce debugger supporte l'exécution continue, pas à pas, ainsi que les points d'arrêts. Un click droit dans l'éditeur de script permet de mettre ou d'enlever un point d'arrêt sur une ligne donnée. Après un point d'arrêt ou un pas, les valeurs des variables sont mises à jour.

6. Définition des constantes

Nous pouvons définir des constantes qui sont disponibles sur tous les nœuds.

7. Événement sur l'ensemble du réseau

Nous pouvons spécifier les noms des événements, et, en double-cliquant sur un nom, nous pouvons envoyer l'événement correspondant. Sous la liste des événements, un journal affiche les événements récents avec leur heure et leurs paramètres. Ceci permet d'inspecter le comportement distribué du réseau.

8. Événements locaux et fonctions natives

Studio liste les événements locaux disponibles sur chaque nœud. Il liste aussi ses fonctions natives. La bulle d'aide de chaque fonction donne une brève documentation.

Astuces

1. Économisez du temps

Vous pouvez glisser les noms des variables, des fonctions natives, des événements et des constantes et ainsi avoir moins de texte à taper.

2. Trouver de l'aide

Le menu Aide de Studio donne un accès instantané à ce document et à l'aide du langage de programmation d'Aseba.

Que lire ensuite ?

Les pages suivantes peuvent vous intéresser :

aseba-1.6.0/clients/studio/doc/fr_asebaswitchremap.html000066400000000000000000000050471322771007300232150ustar00rootroot00000000000000 Remapper les identificateurs avec asebaswitch

Remapper les identificateurs avec asebaswitch

Aseba fournit asebaswitch, un outils en ligne de commande qui permet de connecter ensemble plusieurs cibles. La syntaxe est la suivante : 

asebaswitch [options] [cibles additionnelles]*

Pour plus d'informations, veuillez taper : 
asebaswitch --help

Notez que les cibles additionnelles doivent suivre la convention de nommage de Dashel.

Usage avancé

Aseba exige que chaque nœud d'un réseau ait un identificateur différent, parce qu'aseba utilise ces derniers pour router les données. Néanmoins, certaines cibles, telle que le Thymio, ont un identificateur codé en dur dans leur firmware. Heureusement, asebaswitch fournit un mécanisme de remapping d'identificateur qui permet de remapper l'identificateur d'une cible.

Ce mécanisme permet, par exemple, d'avoir deux Thymios sur le même réseau. Sous Linux, cela ce traduit dans la ligne de commande suivante : 

asebaswitch -d "ser:device=/dev/ttyACM0;remapLocal=1" "ser:device=/dev/ttyACM1;remapLocal=2"

Le mécanisme de remapping ajoute deux options à la chaîne de description de cible :

  • remapLocal, l'identificateur sous lequel le nÅ“ud cible va apparaître localement,
  • remapTarget (défault: 1), l'identificateur du nÅ“ud cible à remapper.

Actuellement, ce mécanisme ne permet de remapper qu'un seul nœud par cible. Il se peut que nous le généralisions, suivant les besoins.

aseba-1.6.0/clients/studio/doc/fr_asebausermanual.html000066400000000000000000000034351322771007300230420ustar00rootroot00000000000000 Mode d'emploi

Mode d'emploi

Le mode d'emploi d'Aseba comprend les sujets introductifs suivants :

  • Démarrer avec Aseba, une introduction pas à pas sur comment programmer avec Aseba, en utilisant le simulateur de robot challenge,
  • Concepts, une description des concepts liés à Aseba,
  • Studio, une description de Studio, l'environnement de développement intégré d'Aseba,
  • Langage, une description détaillée du langage de programmation d'Aseba, avec des exemples.
  • Bibliothèque standard de fonctions natives, une description des fonctions disponibles sur la plupart des cibles Aseba.

Ainsi que les explications avancées suivantes :

aseba-1.6.0/clients/studio/doc/fr_gettingstarted.html000066400000000000000000000325511322771007300227230ustar00rootroot00000000000000 Démarrer avec Aseba

Démarrer avec Aseba

Cette page vous explique comment démarrer avec Aseba si vous n'avez pas de robot physique. Si vous avez un Thymio II, il existe une page spécialisée.

Pour commencer, démarrer challenge

asebachallenge.png

Aseba challenge (image à droite) est un monde simulé où des robots contrôlés par Aseba cherchent de la nourriture. Vous pouvez l'utiliser comme espace de jeu pour écrire des scripts Aseba ou comme un jeu éducatif pour apprendre ou enseigner la programmation.

Pour démarrer, vous devez lancer Aseba challenge, qui est disponible une fois Aseba installé. Si Aseba n'est pas encore installé, veuillez suivre les instructions d'installation. Une fois challenge démarré, il faut cliquer sur «Ajouter un robot» et lui choisir un nom. Si vous êtes un groupe, il faut ajouter un robot pour chaque joueur. Vous pouvez enlever tous les robots en cliquant sur «Enlever tous les robots». Vous pouvez cacher les boutons en cliquant sur «Cacher auto» : les boutons ne seront visibles que lorsque le curseur de la souris sera proche. Vous pouvez laisser la caméra bouger automatiquement en cliquant sur «Caméra auto». Si vous bougez la caméra manuellement, les contrôles sont les suivants :

  • ctrl + bouton gauche souris : rotation
  • ctrl + maj. + bouton gauche souris : déplacement sur x/y
  • ctrl + maj. + bouton droite souris : déplacement sur z
studio-connect-fr.png

Challenge affiche le score de chaque robot sur des tableaux translucides suspendus au dessus de l'arène. Le but de chaque robot est de rester vivant en collectant de l'énergie. Tant que le robot est vivant, ses points augmentent ; quand il meurt, ils sont divisés par deux. Quatre sources d'énergie bleues nourrissent les robots à proximité. Quand une source est vide, elle devient rouge et ne fournit plus d'énergie. De temps à autres, une source plonge dans le sol et les robots ne la voient plus jusqu'à ce qu'elle réapparaisse.

Une fois qu'Aseba challenge fonctionne, vous devez démarrer Aseba studio pour programmer votre robot. Pour chaque robot, vous devez lancer une instance de studio, qui peut être sur n'importe quel ordinateur. Au démarrage, studio vous propose de vous connecter à une cible Aseba (image à droite). Si vous avez lancé challenge sur votre ordinateur et ajouté un robot, l'option par défaut permet de s'y connecter. Si challenge tourne sur un autre ordinateur ou s'il y a plusieurs robots dans l'arène, veuillez spécifier l'ordinateur dans hôte et le robot dans port. L'écran translucide au dessus de l'arène dans challenge affiche les ports correspondant aux différents robots.

Votre premier contrôleur de robot

studio-challenge-fr.png

Une fois studio lancé (image de droite), vous pouvez éditer le programme du robot dans la zone centrale. C'est un éditeur de programme qui vérifie et compile votre programme en temps réel, vous indiquant en bas si le programme est correct ou non. Vous pouvez en apprendre plus sur studio dans le menu Aide -> Studio. Le menu Aide -> Langage fournit une documentation détaillée du langage de programmation d'Aseba.

Pour programmer un robot, vous devez d'abord comprendre comment il fonctionne. Un robot interagit en boucle avec le monde : il perçoit son état à grâce à ses capteurs, prends des décisions avec son ordinateur intégré, et effectue des actions avec ses actuateurs ; ces actions changent l'état du monde, et le robot perçoit ce nouvel état au moment où il lit ses capteurs à nouveau.

Dans challenge, vous programmez un robot e-puck simulé. Il possède 8 capteurs de proximité répartis autour de son corps et une caméra simplifiée pointée en avant et composée de 3 pixels de 20° d'ouverture chacun. Vous pouvez lire ces valeurs et aussi choisir la vitesse des roues :
epuck-sensors-wiki-fr.png

Écrivons maintenant votre premier contrôleur de robot. Dans l'éditeur de texte au milieu de la fenêtre de studio, écrivez les lignes suivantes : 

roues_vitesse_gauche = 5
roues_vitesse_droite = -5

Cliquez «Charger» et puis «Exécuter». Vous devriez voir votre robot tourner sur place. Ce code ne fait que spécifier la vitesse des roues au démarrage du robot puis ne fait rien. Pour avoir un meilleur comportement, il nous faut permettre au robot de percevoir son environnement, par exemple les obstacles ; et prendre des décisions, par exemple éviter les obstacles.

Pour interagir avec le monde en continu, le robot doit exécuter un script périodiquement. Ceci est possible grâce aux mots clés onevent timer. Par exemple, en utilisant un capteur de proximité avant, nous pouvons spécifier la vitesse des roues en fonction de la distance à l'objet devant le robot : 

onevent timer
roues_vitesse_gauche = dist[0] - 6
roues_vitesse_droite = dist[0] - 6

Cliquez «Charger» et puis «Exécuter». Comme les capteurs de proximité retournent des distances entre 0 et 12 cm (si l'objet est plus loin que 12 cm, ils retournent quand même 12), la vitesse du robot sera de -6 cm/s quand l'objet est proche, 0 cm/s quand l'objet est à 6 cm de distance, et 6 cm/s quand l'objet est éloigné. Le robot aura donc tendance à rester à 6 cm de tout objet devant lui.

Un contrôleur de robot plus élaboré

Garder une distance de sécurité à l'objet devant le robot est une bonne chose, mais pour l'instant le robot ne peut pas aller ailleurs. Pour faire que le robot se promène, nous devons comprendre son principe de déplacement.

Le robot e-puck simulé dans challenge est de type robot à roues différentielles ; ce type de robot choisit sa direction en fixant des vitesses différentes à ses roues gauche et droite. Si chaque roue a la même vitesse, le robot va en avant ; sinon il tourne ; si les vitesses sont opposées, le robot tourne sur place. Les véhicules à chenilles comme les pelleteuses de chantier utilisent le même principe.

Écrivons maintenant un petit code qui permet au robot d'éviter les obstacles et d'aller tout droit s'il n'y en a aucun : 

onevent timer
roues_vitesse_gauche = dist[1] - 6
roues_vitesse_droite = dist[6] - 6

Ce contrôleur lit la valeur des capteurs de proximité avant gauche et droite. Tant qu'il n'y a pas d'obstacle, tant prox[1] que prox[6] retournent 12 et donc le robot avance tout droit à vitesse 6. Mais lorsqu'il y a un obstacle d'un côté, la valeur du capteur correspondant descend. Par exemple, s'il y a un obstacle à gauche, prox[6] (qui regarde à gauche) pourrait valoir 10 alors que prox[1] (qui regarde à droite) restera à 12 ; et donc wheel_left_speed vaudra encore 6 mais wheel_right_speed vaudra 4, ce qui fera tourner le robot à droite et donc éviter l'obstacle présent à gauche.

Prendre des décisions

Les contrôleurs que nous avons vus jusqu'à maintenant liaient les valeurs des capteurs aux vitesses des roues à travers des expressions mathématiques, mais ne prenaient pas de décision de type «si, alors». Néanmoins c'est parfois désirable ; par exemple lorsque nous voulons que le robot aille soit tout droit, soit qu'il tourne sur place, et non pas qu'il fasse des trajectoires courbes, nous pouvons écrire : 

var dists
onevent timer
dists = dist[6] + dist[7] + dist[0] + dist[1]
if dists < 48 then
    roues_vitesse_gauche = 5
    roues_vitesse_droite = -5
else
    roues_vitesse_gauche = 5
    roues_vitesse_droite = 5
end

Ce contrôleur somme les distances à tous les capteurs de proximité avant, et si cette somme est inférieur à 48 cm (ce qui signifie qu'au moins un capteur voit un obstacle), le robot tourne sur place. Sinon il va tout droit.
Le langage de script fournit aussi d'autres constructions intéressantes, comme la boucle while qui exécute un bloc de code plusieurs fois tant qu'une condition est vraie, ou la boucle for qui exécute un bloc de code un certain nombre de fois et change la valeur qu'une variable à chaque fois. Le menu Aide -> Langage donne accès à une page qui liste toutes les constructions disponibles ; n'hésitez pas à aller la voir.

Votre tour

Jouez un moment avec l'évitement d'obstacle afin de bien comprendre les capteurs, les actuateurs, et la dynamique du robot. N'hésitez pas à essayer des choses, le robot est dans un simulateur et donc ne risque rien.

Une fois que vous vous sentez à l'aise, essayez de programmer le robot pour qu'il se dirige vers les sources de nourriture quand elles sont bleues (0, 0, 100) (en rouge, vert, bleu), et de les éviter quand elles sont rouges (100, 0, 0). Les murs de l'arène sont gris (50, 50, 50). Essayez de jouer avec vos amis et de programmer le meilleur contrôleur de robot. Vous pouvez changer la couleur de votre robot (en modifiant les variables couleur_rouge, couleur_vert et couleur_bleu), et donc feindre d'être une source de nourriture. Si les autres trompent votre robot de cette façon, vérifiez la variable energie ; si sa valeur n'augmente pas alors que le robot voit du bleu, c'est qu'un autre robot le trompe.

Le but de challenge est d'apprendre la robotique, la programmation et Aseba tout en s'amusant.

Que lire ensuite ?

Les pages suivantes peuvent vous intéresser :

aseba-1.6.0/clients/studio/doc/it_asebaconcepts.html000066400000000000000000000103561322771007300225110ustar00rootroot00000000000000 Concetti base

Concetti base

Questa pagina presenta concetti importanti da comprendere quando si legge la documentazione di Aseba.

Nodi

In Aseba, ci possono essere diversi robot o robot con unità centrali di processamento multiple in esecuzione sulla stessa rete.
Questa rete può essere software (TCP), hardware (CAN), o un misto di entrambe. Ciascun processore nella rete esegue una piccola macchina virtuale ed è chiamato nodo. Ciascun nodo ha il suo proprio tab in Aseba Studio, consentendo di programmare indipendentemente ciascun nodo, ma con possibili interazioni attraverso gli eventi.

Eventi

Aseba è un ambiente di programmazione ad eventi, il che significa che gli eventi scatenano l'esecuzione del codice ad essi associato in maniera totalmente asincrona. Gli eventi hanno un identificatore e un "carico utile" opzionale (informazioni associate all'evento che possono essewre lette dal codice). I nodi Aseba nodes possono scambiare eventi e questi possono essere di due tipi.

  • Gli eventi che i nodi Aseba scambiano nella rete Aseba sono chiamati eventi globali.
  • Gli eventi che sono interni ad un nodo sono chiamati eventi locali. Un esempio di eventi locali sono quelli emessi da un sensore che fornisce un aggiornamento sui dati.

Se è stato definito del codice in grado di gestire un evento, questo viene esguito quando il corrispondente evento viene riconosciuto.
Il codice può anche emettere eventi, che possono scatenare l'esecuzione di codice di un altro nodo o abilitare la comunicazione verso un programma esterno. Per avviare l'esecuzione del codice relativo quando viene emesso un evento, gli script non devono essere bloccanti e quindi non devono contenere loop infiniti.Per esempio nel contesto della robotica là dove tradizionalmente il programma di controllo avrebbe eseguito un qualche processamento all'interno di un loop infinito, uno script Aseba esegue il processamento all'interno del codice legato a un evento generato da un sensore.

Cosa leggere ora?

Potreste essere interessati a leggere:

aseba-1.6.0/clients/studio/doc/it_asebalanguage.html000066400000000000000000000772051322771007300224640ustar00rootroot00000000000000 Linguaggio Aseba

Linguaggio Aseba

Questa documentazione è anche disponibile in Aseba Studio nell'item di menu Help->Language. Quando si utilizzano parole tecniche, queste sono collegate ai corrispondenti articoli di Wikipedia, in Italiano dove disponibili, oppure in Inglese. Si consiglia di leggere prima la pagina relativa ai concetti di base di Aseba. Questa documentazione presenta il linguaggio com'è a partire dalla versione 1.2 di Aseba. Per versioni più vecchie leggere questa pagina.

Il linguaggio di Aseba assomiglia a quello di Matlab (un linguaggio comune di programmazione scientifica); questa somiglianza consente agli sviluppatori con una conoscenza precedente di qualche linguaggio di scripting di trovarsi velocemente a proprio agio con Aseba e quindi abbassare la curva di apprendimento. Semanticamente, è un semplice linguaggio di programmazione imperativo con un singolo tipo di dato (intero a 16 bit con segno ) e arrays. Questa semplicità consente agli sviluppatori di programmare comportamenti senza una precedente conoscenza di un sistema dei tipi, essendo gli interi il più naturale tipo di variabile e molto indicato per programmare robot basati su microcontrollori.

Commenti

I commenti consento di aggiungere nel codice delle informazioni testuali che vengono ignorate dal compilatore. I commenti sono molto utili per annotare il codice con informazioni comprensibili dall'essere umano o per disabilitare temporaneamente dei pezzi di codice.I commenti iniziano con # e termiano alla fine della linea.

Esempio 

# Questo è un commento
var b # un altro commento

Sono anche possibili commenti su più linee. Essi iniziano con #* e terminano con *#.

Esempio: 

#*
Questo è un commento
su più linee
*#
var b # semplice commento

Scalari

I valori scalari sono utilizzati in Aseba per rappresentare in umeri. Essi possono essere utilizzati in qualsiasi espressione, come l'inizializzazione di variabili, espressioni matematiche o condizioni logiche.

Notazione

Gli scalari possono essere rappresentati utilizzando varie basi. Il modo più naturale è il sistema numerico decimale, usando cifre da 0 a 9. I numeri negativi sono dichiarati utilizzando il segno meno - di fronte al numero.

Esempio: 

i = 42
i = 31415
i = -7

Possono essere anche utilizzati numeri binari e esadecimali. I numeri binari sono prefissati da 0b, mentre i numeri esadecimali sono prefissati da 0x.

Esempio 

# notazione binaria
i = 0b110         # i = 6
i = 0b11111111    # i = 255

# notazione esadecimale
i = 0x10    # i = 16
i = 0xff    # i = 255

Variabili

Le variabili si riferiscono sia singoli valori scalari o array di valori scalari. I valori sono compresi tra -32768 e 32767, che è l'intervallo di validità per gli interi a 16 bit con segno. E' necessario dichiarare tutte le variabili definite dall'utente, utilizzando la parola chiave var all'inizio di uno script Aseba, prima di fare qualsiasi elaborazione.

Il nome delle variabili è definito secondo queste semplici regole:

  • Il nome può solo contenere caratteri alfabetici maiuscoli o minuscoli ed i caratteri '_' o '.'
  • Il nome deve iniziare con un carattere alfabetico valido, oppure con '_'
  • Il nome è sensibile alle maiuscole o minuscole: una variabile con nome "foo" è differente da un'altra chiamata "Foo"
  • Il nome non può coincidere con una parola chiave Aseba (vedere l'elenco delle parole chiave riservate)

Le Variabili possono essere inizializzate nella dichiarazioni, utilizzando il simbolo di assegnazione in combinazione con qualsiasi espressione matematica valida.
Una variabile non precedentemente inizializzata può contenere qualsiasi valore. Non si deve mai assumere che una variabile non inizializzata abbia valore zero.

Esempio: 

var a
var b = 0
var c = 2*a + b        # attenzione: 'a' non viene inizializzata

Parole chiave riservate

Le seguenti parole chiave non possono essere utilizzate come nomi validi per variabili, perchè sono già utilizzate dal linguaggio Aseba.

Parole chiave
abs call callsub do
else elseif emit end
for if in onevent
return step sub then
var when while

Costanti

In Aseba Studio si possono definire delle costanti utilizzando il pannello "Constants" ma non possono essere definite direttamente nel codice. Una costante rappresenta un valore numerico che può essere utilizzato in tutti i punti del codice dove si può utilizzare un numero.
Diversamente da una variabile, una costante non può essere modificata durante l'esecuzione. Le costanti sono utili quando si vuole facilmente cambiare il comportamento tra differenti esecuzioni, come ad esempio quando si vuole adattare un valore di soglia condiviso da diversi nodi Aseba. Una costante non può avere lo stesso nome di una variabile, altrimenti viene rilevato un errore dal compilatore.

Esempio: 

# assumiamo l'esistenza di una costante di nome THRESHOLD
var i = 600

if i > THRESHOLD then
    i = THRESHOLD - 1
end

Array

Gli Array rappresentano aree contigue di memoria, indirizzate da una singola unità logica. La dimensione di un array è fissa e deve essere specificata nella dichiarazione. Gli array possono essere dichiarati usando le solite parentesi quadre []. Il numero tra parentesi quadre specifica il numero di elementi che devono essere assegnati all'array e che ne rappresenta la dimensione. Può essere una espressione costante, comprese operazioni matematiche tra scalari e costanti. Utilizzando il costruttore dell'array (vedi sotto) è possibile definire una assegnazione opzionale dei valori dell'array. Se si fa in questo modo, non è necessario definire la dimensione dell'array.

Esempio: 

var a[10]                   # array di 10 elementi
var b[3] = [2, 3, 4]        # inizializzazione
var c[] = [3, 1, 4, 1, 5]   # dimensione implicita di 5 elementi
var d[3*FOO-1]              # dimensione definita utilizzando una espressione costante (FOO è dichiarata come costante)

Gli arrays possono essere acceduti in vari modi:

  • Un singolo elemento è acceduto utilizzando le parentesi quadre con un singolo valore. L'indice di un array parte da zero e arriva fino alla dimensione meno uno. Qualsiasi espressione può essere utilizzata come indice comprese espressioni matematiche che includono altre variabili.
  • un sottoinsieme di elmenti può essere acceduto specificando le parentesi quadre e due espressioni cstanti separate da due punti ':'.
  • Se le parentesi quadre sono omesse, l'intero array è acceduto.

Esempio: 

var foo[5] = [1,2,3,4,5]
var i = 1
var a
var b[3]
var c[5]
var d[5]

a = foo[0]       # copia il primo elemento di  'foo' in 'a'
a = foo[2*i-2]       # idem
b = foo[1:3]       # prendi il secondo, terzo e quarto elemento  di 'foo' e copiali in 'b'
b = foo[1:2*2-1]   # idem
c = foo           # copia i 5 elementi dall'array 'foo' nell'array 'c'
d = c * foo       # moltiplica gli elementi degli arrays 'foo' e 'c' elemento per  elemento e copia il risultato in 'd'

Costruttori di Array

I costruttori di array sono un modo per costruire array partendo da variabili, altri array, scalari, o anche espressioni complesse. Sono utili in molti casi, per esempio quando si inizializzano altri array, o come operandi in espressioni, funzioni ed eventi. Un costruttore di un array è fatto utilizzando le parentesi quadre che racchiudono diverse espressioni separate da , (virgola). la dimensione di un costruttore di un array è pari alla somma delle dimensioni dei singoli elementi, e deve coincidere con la dimensione dell'array in cui il risultato è memorizzato.

Esempio: 

var a[5] = [1,2,3,4,5]    # costruttore per inizializzare un array
var b[3] = [a[1:2],0]    # l'array b viene inizializzato a [2,3,0]
a = a + [1,1,1,1,1]    # aggiungi 1 a ciascun elemento dell'array a
a = [b[1]+2,a[0:3]]    # l'array a conterrà [5,2,3,4,5]

Espressioni e assegnazioni

Le espressioni consentono di effettuare calcoli matematici e sono scritte usando la normale notazione matematica infissa. Le assegnazioni utilizzano la parola chiave = e assegnano il risultato del calcolo di una espressione ad una variabilie scalare, un elemento di un array o un intero array, a seconda della dimensione dell'operando. Aseba fornisce vari operatori. Fare riferimento alla tabella seguente per una breve descrizione e per conoscere la precedenza di ciascun operatore. Per eseguire le espressioni in un ordine diverso da quello stabilito dalla precedenza degli operatori si possono usare le parentesi.

Precedenza Operatore Descrizione Associatività Numero argomenti
1 () raggruppa in sottoespressioni unaria
2 * / moltiplicazione e divisione binaria
% Modulo binaria
3 + - Addizione, sottrazione binaria
4 << >> scorrimento a destra, scorrimento a sinistra binaria
5 | Or binaria associativa a sinistra binaria
6 ^ or esclusiva binaria (xor) associativa a sinistra binaria
7 & AND binaria associativa a sinstra binaria
8 - meno unario unaria
9 ~ NOT binario unaria
10 abs valore assoluto unaria
11 = Assegnazione binaria
|= ^= &= Assegnazione con or, xor, and binaria
*= /= Assegnazione con prodotto e quoziente binaria
%= Assegnazione con modulo binaria
+= -= Assegnazione con somma e differenza binaria
<<= >>= Assegnazione by left / right shift binaria
++ -- incremento e decremento unaria

La versione con assegnazione dell'operatore binario funziona applicando l'operatore ad una variabile e memorizzando il risultato nella variabile stessa. Per esempio A *= 2 è equivalente a scrivere A = A * 2. Queste forme abbreviate hanno lo scopo di rendere il codice più leggibile.

Esempio: 

a = 1 + 1
# Risultato: a = 2
a *= 3
# Risultato: a = 6
a++
# Risultato: a = 7

b = b + d[0]
b = (a - 7) % 5
c[a] = d[a]
c[0:1] = d[2:3] * [3,2]

Uso

Le espressioni matematiche sono strumenti di tipo generale. Come tali possono essere usate in una grande varietà di situazioni. Eccone alcune:

  • Sulla parte destra di una assegnazione
  • Come indice quando si accede ad un elemento di un array
  • All'interno di chiamate di funzioni
  • Come argomenti quando si emette un evento

Controllo di flusso

Condizioni

Aseba fornisce due tipi di condizionali: if e when. Questi consistono nella verifica di una condizione e in un blocco di codice. Il test consiste in un confronti opzionalmente raggruppati usando and (congiunzione logica), or (disgiunzione logica), e not (negazione logica) operatori e parentesi.
Un confronto è fatto da un operatore e due operandi, e può essere vero o falso. Gli operandi possono essere espressioni arbitrarie. La seguente tabella elenca gli operatori di confronto.

Operatore Funzione di verità
== vero se i due operandi sono uguali
!= vero se i due operandi sono differenti
> vero se il priomo operando è strettamente maggiore del secondo
>= vero se il primo operando è maggiore o uguale al secondo
< vero se il primo operando è strettamente minore del secondo
<= vero se il primo operando è minore o uguale al secondo

Sia if che when eseguono differenti blocchi di codice a seconda se la condizione è vera o falsa; ma when esegue il blocco corrispondente a vero solo se l'ultima valutazione del codice era falsa e quella corrente è vera. Questo consente l'esecuzione del codice solo quando qualcosa cambia. Il condizionale if esegue un primo blocco di codice se la condizione è vera. Si può aggiungere un secondo blocco di codice da eseguire quando la condizione è falsa tramite la parola chiave else. E' possibile concatenare ulterioni condizionali if usando la parola chiave elseif.

Esempio: 

if a - b > c[0] then
    c[0] = a
elseif a > 0 then
    b = a
else
    b = 0
end

if a < 2 and a > 2 then
    b = 1
else
    b = 0
end

when a > b do
    leds[0] = 1
end

Il blocco when viene eseguito solo quando a diventa maggiore di b.

Loop

Due costrutti consentono la creazione di iterazioni ad anello (loop) while e for.

Una iterazione ad anello con while esegue ripetutamente un blocco di codice fintanto che la condizione specificata sia vera. La condizione è della stessa forma di quella usata da if.

Esempio: 

while i < 10 do
    v = v + i * i
    i = i + 1
end

Una iterazione ad anello con for consente ad una variabile di iterare su un intervallo di interi, con una dimensione del passo di incremento specificabile. Il passo di incremento può anche essere negativo. In questo caso la variabile si decrementa della quantità specificata andando dal valore maggiore al valore minore indicato dopo la parola chiave in.

Esempio: 

for i in 1:10 do
    v = v + i * i
end
# ad ogni iterazione la variabile i viene incrementata di 1 e si andrà da 1 a 10
for i in 30:1 step -3 do
    v = v - i * i
end
# ad ogni iterazione la variabile i viene decrementata di 3 e si andrà da 30 a 1

Blocchi

Subroutine

Quando volete eseguire la stessa sequenza di codice in due o tre posti nel programma, è possibile scrivere il codice in comune in un sottoprogramma e quindi richiamare questo sottoprogramma da posti diversi. E' possibile definire un sottoprogramma usando la parola chiave sub seguita dal nome del sottoprogramma. Potete chiamare il sottoprogramma usando la parola chiave callsub, seguita dal nome del sottoprogramma. I sottoprogrammi devono essere definiti prima di essere chiamati. I sottoprogrammi non possono avere argomenti né essere recursivi recursive, cioè non possono richiamare se stessi né direttamente, nè indirettamente .
I sottoprogrammi possono accedere a qualsiasi variabile (in Aseba tutte le variabili sono globali).

Esempio: 

var v = 0

sub toto
v = 1

onevent test
callsub toto

Eventi

Aseba ha una architettura basata su eventi, cioè gli eventi possono scatenare l'esecuzione di codice in maniera asincrona.

Gli eventi possono essere esterni, per esempio eventi definiti dall'utente in arrivo da altrun altro nodo Aseba, o interni, per esempio emessi da un sensore che fornisca un dato aggiornato.
Il ricevimento di una notifica di un evento fa eseguire, se definito, il blocco di codice che inizia con la parola chiave onevent seguita dal nome dell'evento.Il codice in cima al programma è eseguito quando il programma è avviato o riavviato.
Il programma può anche emettere un evento utilizzando la parola chiave emit, seguita dal nome dell'evento e dagli argomenti dell'evento stesso (se previsti). Se viene fornita una variabile questa deve avere una dimensione corrispondente a quella specificata negli argomenti dell'evento che deve essere emesso. Invece di una variabile, in situazioni più complesse è anche possibile utilizzare come argomenti di un evento costruttori di array ed espressioni matematiche. Gli eventi consentono al programma di causare l'esecuzione di codice su un altro nodo o di comunicare con un programma esterno.

Per consentire l'esecuzione del codice relativo ad un nuovo evento gli script non devono bloccarsi e non devono contenere iterazioni ad anello infinite. Per esempio nel contesto della robotica spesso si ricorre ad una iterazione ad anello infinita all'interno della quale vengono eseguite tutte le elaborazioni legate ai valori dei sensori. Nel linguaggio Aseba invece il codice viene eseguito se specificato per un dato evento. Se l'evento si realizza allora verrà richiamato il sottoprogramma relativo.

Esempio: 

var run = 0

onevent start
run = 1

onevent stop
run = 0

onevent ir_sensors
if run == 1 then
    emit sensors_values proximity_sensors_values
end

Direttiva Return

E' possibile uscire da una subroutine e sospendere l'esecuzione di uno script attivato da un evento con la direttiva return.

Esempio: 

var v = 0

sub toto
if v == 0 then
    return
end
v = 1

onevent test
callsub toto
return
v = 2

Funzioni native

Il linguaggio di script Aseba è stato progettato per essere semplice e consentire una rapida comprensione anche per sviluppatori inesperti e per realizzare la macchina virtuale efficientemente su un micro-controller. Per eseguire calcoli complessi o che fanno uso intenso di risorse, forniamo funzioni native realizzate in codice nativo per maggior efficienza.
Per esempio una funzione nativa è il modo naturale di realizzare un prodotto scalare.

Le funzioni native sono sicure poiché specificano e verificano la dimensione dei loro argomenti, che possono essere costanti, variabili, celle di array, costruttori di array ed espressioni. Nel caso di array, potete accedere all'intero array, un singolo elemento, o un sotto-insieme dell'array. Le funzioni native accettano i loro argomenti per reference e possono modificare il loro contenuto, ma non restituiscono alcun valore. Si possono richiamare le funzioni native per mezzo della parola chiave call.

Esempio: 

var a[3] = 1, 2, 3
var b[3] = 2, 3, 4
var c[5] = 5, 10, 15
var d
call math.dot(d, a, b, 3)
call math.dot(d, a, c[0:2], 3)
call math.dot(a[0], c[0:2], 3)

Cosa leggere ora?

Potreste essere interessati a leggere:

aseba-1.6.0/clients/studio/doc/it_asebaplayground.html000066400000000000000000000175711322771007300230650ustar00rootroot00000000000000 Aseba Playground

Aseba Playground

Questo documento contiene informazioni aggiuntive su come programmare i robot nell'ambiente Playground, un simulatore multi-robot incluso con Aseba

Eventi

Eventi Locali

Sensore di prossimità

Il codice che segue l'istruzione onevent ir_sensors sarà eseguito ad intervalli regolari, appena dopo che la distanza da un'ostacolo (prox) viene aggiornato.

Camera

Il codice che segue l'istruzione onevent camera sarà eseguito ad intervalli regolari, appena dopo che i valori dei pixel camR, camG, camB della telelcamera lineare sono stati aggiornati.

Emit

emit signal [arguments]

emit specifica che un dato robot deve inviare un segnale di evento (signal) a tutti gli altri robot. Il segnale può contenere fino a 32 argomenti. Notare che non è possibile specificare un robot in particolare a cui il segnale deve essere inviato. Il segnale, come un segnale radio è trasmesso a tutti i robot (vedere l'esempio successivo in [args] su come sia possibile indirizzare il singolo robot.). Notare anche che il nome del segnale e il numero di argomenti deve essere dichiarato nel pannello Global Events di Aseba Studio.

Variabili interne

id

Un identificatore univoco per ciascun robot.

source

L'identificatore del robot da cui è stato ricevuto il segnale più recente.

args

Gli argomenti dell'evento più recente ricevuto dal robot.

Esempio: Questo esempio mostra come i segnali possano essere indirizzati ad un robot ben preciso snche se inviati indistintamente a tutti. L'idea è di utilizzare un vettore dove ciascuna posizione sia allocata a uno specifico robot. Quando riceve un segnale il robot leggerà solo una parte specifica del vettore ricevuto.

Codice per il robot 1

Il robot 1 invia un segnale di movimento in avanti al robot 2, attende, quindi invia un segnale di movimento in avanti al robot 3 e di stop al robot 2, attende, ed infine invia un messaggio di stop generale. 

# variables
var counter = 0

onevent ir_sensors

if counter == 10 then
    emit move [1,0]
end

if counter == 100 then 
    emit move [0,1]
end

counter += 1

Codice per robot 2 

# events
onevent move
    if args[0] == 1 then
        leftSpeed = 400
        rightSpeed = 400
    else
        leftSpeed = 0
        rightSpeed = 0        
    end

onevent stop
    leftSpeed = 0
    rightSpeed = 0

Codice per robot 3 

# events
onevent move
    if args[1] == 1 then
        leftSpeed = 400
        rightSpeed = 400
    else
        leftSpeed = 0
        rightSpeed = 0        
    end

onevent stop
    leftSpeed = 0
    rightSpeed = 0

leftSpeed, rightSpeed

Velocità delle ruote. Scegliere 400 per movimento lento.

colorR, colorG, colorB

Le componenti rossa, verde e blu del colore del robot.

prox

La distanza dagli ostacoli percepita dai sensori. Notare che il rumore produce fluttuazioni nella misura. Vedere questo schema.

camR, camG, camB

Array di lunghezza 60. I valori delle componenti rossa, verde e blu restituite dalla telecamera del robot.

energy

Intero: [0 9]. Il livello di energia del robot.

Create il vostro ambiente

Playground consente di definre un ambiente di simulazione specifico per i robot. Per esempio il codice seguente crea una box con 4 robot dentro: 

<!DOCTYPE aseba-playground>
<aseba-playground>
    <color name="wall" r="0.9" g="0.9" b="0.9" />
    <color name="red" r="0.77" g="0.2" b="0.15" />
    <color name="green" r="0" g="0." b="0.17" />
    <color name="blue" r="0" g="0.38" b="0.61" />

    <world w="110.4" h="110.4" color="wall"/>

    <e-puck x="40" y="40"/>
    <e-puck x="40" y="60"/>
    <e-puck x="60" y="40"/>
    <e-puck x="60" y="60"/>
</aseba-playground>

Esempio: Scaricate qui un modello del German Pavilion, 1929, disegnato Mies van der Rohe.

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cL0Î%‹4öY”Q€i>^ÆQÁ2wÔì3¶)Ç/¤a*ªšN7Ë¥Œò~9°è(=%!F¡‚ÔSqæsüj9Mm[—DéÆ´̲só•q™WLç|pY6‡Ïñ³cm’Æ(;6'£e,¨.RG9ÊúG"Ò¼xQ›MhØ—øˆÒ âmiqÔÒ³EçD‘ª–Æe’žc)¬-¾äÈƆAjàb;ÎñW¯ó@}l—O4Ü84m+)þíºè­ã.ó6meÁË«þÄÿî—1‹™¢R%tEXtdate:create2013-03-22T16:00:20+01:00t¸Ÿ1%tEXtdate:modify2013-03-22T16:00:20+01:00å'!tEXtps:HiResBoundingBox55x10+148+655¸ÂÞ!'tEXtps:LevelAdobeFont-1.0: CMMI10 003.002 5âF†IEND®B`‚aseba-1.6.0/clients/studio/doc/it_asebastdnative.html000066400000000000000000000206671322771007300227020ustar00rootroot00000000000000 Librerie standard delle funzioni native

Librerie standard delle funzioni native

Aseba fornisce una libreria standard delle funzioni native. Le piattaforme a microcontrollore utilizzate dovrebbero normalmente1 fornire questa libreria. Se il vostro firmware contiene una vecchia versione della macchina virtuale Aseba, non tutte le funzioni possono essere disponibili. Nelle versioni 1.1 e successive di Aseba sono disponibili le seguenti funzioni2:

math.copy(A,B)
Copia l'array nell'array , elemento per elemento: .
math.fill(A,c)
Assegna a ciascun elemento dell'array la costante : .
math.addscalar(A, B, c)
Calcola dove è uno scalare.
math.add(A, B, C)
Calcola dove , e sono tre arrays della stessa dimensione.
math.sub(A, B, C)
Calcola dove , e sono tre arrays della stessa dimensione.
math.mul(A, B, C)
Calcola dove , e sono tre array della stessa dimensione. Notare che questo non è un prodotto scalare
math.div(A, B, C)
Calcola dove , e sono tre array della stessa dimensione. Viene sollevata una eccezione nel caso in cui uno degli elementi di C contenga zero.
math.min(A, B, C)
Secrive il minimo valore di ciascun elemento di e in dove , e sono tre array della stessa dimensione: .
math.max(A, B, C)
Scrive il massimo di ciascun elemento di e in dove , e sono tre array della stessa dimensione: .
math.dot(r, A, B, n)
Calcola il prodotto scalare tra due arrays della stessa dimensione and :
math.stat(V, min, max, mean)
Calcola il minimo, il massimo e il valore medio dell'array .
math.argbounds(A, argmin, argmax)
Scrive in argmin e argmax l'indice corrispondente rispettivamente al valore minimo e massimo degli elementi dell'array .
math.sort(A)
Ordina l'array .
math.muldiv(A, B, C, D)
Calcola una moltiplicazione-divisione usando una precisione interna di 32\,bit : . Viene sollevata una eccezione in caso di divisione per zero.
math.atan2(A, Y, X)
Calcola utilizzando i segni di e per determinare il quadrante di uscita. , e sono tre array della stessa dimensione. Notare che e produrranno .
math.sin(A, B)
Calcola dove e sono due array della stessa diensione.
math.cos(A, B)
Calcola dove e sono due array della stessa dimensione.
math.rot2(A, B, angle)
Ruota l'array di angle, e scrive il risultato in . Notare che e devono essere entrambi di dimensione 2.
math.sqrt(A, B)
Calcola dove e sono due array della stessa dimensione.
math.nzseq(a, B, m)
scrive in l'indice medio della più lunga sequenza di elementi non nulli di , se non trovato o se la sequenza è di lunghezza minore di elementi.
math.rand(v)
Restituisce un valore casuale nell'intervallo .
Footnotes
aseba-1.6.0/clients/studio/doc/it_asebastudio.html000066400000000000000000000130051322771007300221740ustar00rootroot00000000000000 Aseba Studio

Aseba Studio

Aseba Studio è un un ambiente di sviluppo integrato in cui è possibile creare e verificare gli script di tutti i nodi di una rete Aseba.

Scoprire l'ambiente

studio-overlay-en.png

1. Modifica concorrente

In Studio, ciascun nodo di una rete Aseba ha il proprio pannello (tab) con lo script, la visualizzazione dei contenuti della memoria, lo stato di esecuzione, e i comandi di debug. In aggiunta una barra di strumenti fornisce comandi generali che agiscono su tutti i nodi. Questo consente sia un controllo complessivo della rete che un controllo specifico di ciascun nodo.

2. Editor avanzato

L'editor dello script è sensibile alla sintassi del linguaggio Aseba e ne evidenzia le parole chiave, gestisce l'indentazione dei blocchi e il trascinamento nel testo dei nomi delle variabili. Mostra anche la posizione corrente durante l'esecuzione in modalità passo-passo ed evidenzia gli errori in rosso.

3. Compilazione istantanea

Studio ricompila gli script mentre lo sviluppatore li sta scrivendo. Il risultato della compilazione (successo o descrizione dell'errore) è mostrato in basso nell'editor, Ciò permette la correzione degli errori non appena questi appaiono, garantendo la qualità del codice e migliorando la produttività.

4. Verifica dei dati

Studio elenca le variabili disponibili su ciascun nodo con il proprio valore. E' possibile aggiornare questa lista con un singolo click. La lista fornisce una rapida vista d'insieme dello stato del nodo.

5. Debugger

Studio ha un debugger integrato; per ciascun nodo fornisce lo stato corrente di esecuzione. Supporta l'esecuzione continua, passo-passo e con breakpoints. Un click con il tasto destro del mouse consente di predisporre o cancellare un breakpoint ad una certa linea all'interno dello script. La visualizzazione delle variabili viene aggiornata automaticamente dopo l'esecuzione di ogni passo o al raggiungimento di un breakpoint.

6. Definizione delle costanti

E' possibile definire delle costanti che sono disponibili per tutti i nodi e quindi utilizzabili negli script. Le costanti consentono di definire in un unico punto valori che devono essere in comune per tutti i nodi della rete.

7. Eventi distribuiti sulla rete

E' possibile specificare i nomi degli eventi e facendo doppio click su un nome è possibile generare ed inviare l'evento corrispondente. Al di sotto della lista degli eventi un log mostra gli eventi recenti con l'indicazione dell'istante di tempo in cui sono verificati e i relativi parametri. Questo consente di monitorare il comportamento distribuito della rete.

8. Eventi locali e funzioni native

Studio mostra gli eventi locali disponibili su ciascun nodo. Mostra anche le funzioni native e il tool-tip di ciascuna funzione riporta anche una breve documentazione.

Suggerimenti

1. Risparmiare tempo

E' possibile trascinare (drag and drop) direttamente nel testo dello script i nomi delle variabili, delle funzioni native, degli eventi e costanti, evitando di doverle riscrivere, con conseguente risparmio di tempo e eliminazione degli errori di battitura.

2. Ottenere un aiuto

Il menu Help di Studio fornisce accesso istantaneo a questa documentazione e alla documentazione del linguaggio di programmazione Aseba.

Cosa leggere ora?

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aseba-1.6.0/clients/studio/doc/it_asebaswitchremap.html000066400000000000000000000052261322771007300232210ustar00rootroot00000000000000 Rimappare gli Identificatori usando asebaswitch

Rimappare gli Identificatori usando asebaswitch

Aseba fornisce asebaswitch, una utilità a livello di riga di comando che consente di connetere varie piattaforme a microcontrollore (targe). La sintassi è la seguente: 

asebaswitch [opzioni] [target aggiuntivi]*

per ottenre informazioni di dettaglio sul comando digitare: 
asebaswitch --help

Notare che i target aggiuntivi devono seguire la naming convention Dashel.

Uso avanzato

Aseba richiede che ciascun nodo nella rete abbia un identificatore univoco, perche Aseba lo utilizza per indirizzare i dati. Tuttavia alcuni target come Thymio, hanno un identificatore preconfigurato nel firmware. Fortunatamente asebaswitch fornisce un meccanismo di rimappatura degli identificatori, che consente di rimappare l'identificatore di un target attarverso il nome del dispositivo associato dal sistema operativo al target.

Questo meccanismo consente, per esempio, di avere due Thymio sulla stessa rete Aseba. Sotto Linux, questo si traduce nel seguente comando: 

asebaswitch -d "ser:device=/dev/ttyACM0;remapLocal=1" "ser:device=/dev/ttyACM1;remapLocal=2"

Il meccanismo di remapping aggiunge due opzioni alla stringa di descrizione del target:

  • remapLocal, l'identificatore associato al target localmente,
  • remapTarget (default: 1), l'identificatore del nodo target da rimappare.

Attualmente questo meccanismo consente di rimappare solo un nodo per target.
E' possibile modificare e generalizzare questo comportamento sulla base della effettiva necessità.

aseba-1.6.0/clients/studio/doc/it_asebausermanual.html000066400000000000000000000034141322771007300230440ustar00rootroot00000000000000 Manuale d'uso

Manuale d'uso

Il manuale utente di Aseba comprende i seguenti argomenti introduttivi:

  • Iniziare, una introduzione passo passo su come programmare con Aseba, usando il simulatore della sfida tra robot,
  • Concetti base, una descrizione dei concetti di base relativi a Aseba,
  • Aseba Studio, una descrizione di Studio, l'ambiente di sviluppo integrato di Aseba,
  • Linguaggio, una descrizione dettagliata del linguaggio di programmazione di Aseba.
  • Libreria standard delle funzioni native, descrizione delle funzioni disponibili su molte piattaforme.

E i seguenti argomenti avanzati:

aseba-1.6.0/clients/studio/doc/it_gettingstarted.html000066400000000000000000000326141322771007300227300ustar00rootroot00000000000000 Iniziare ad usare Aseba

Iniziare ad usare Aseba

Queste pagine inesgnano come incominciare ad utilizzare Aseba anche se non si ha un robot fisico. Se avete Thymio II, si rimanda alla pagina specifica.

Per iniziare, lanciare challenge

asebachallenge.png

Aseba challenge (immagine a destra) è un modno simulato dove i robot controllati da Aseba competono per il cibo. Potete utilizzarlo come terreno di gioco per esplorare la scrittura di script Aseba o come un gioco educativo per imparare ed insegnare la programmazione.

Per iniziare dovete lanciare Aseba challenge. Se Aseba non è ancora installato, seguite le istruzioni di installazione. Una volta che challenge è partito, dovete fare click su "Aggiungi un nuovo robot", e scegliere un nome. Se siete un gruppo potete aggiungere un robot per ciascun giocatore. Potete rimuovere tutti i robot facendo click su "rimuovi tutti i robot". Potete nascondere i bottoni selezionando "Auto nascondi"': i bottoni verranno mostrati solo quando il puntatore del mouse sarà nelle vicinanze. Potete fare in modo che la telecamera si muova automaticamente selezionando "Auto camera". Se muovete la telecamera manualmente i controlli sono i seguenti:

  • ctrl + pulsante di sinistra del mouse: ruota la vista
  • ctrl + shift + pulsante di sinistra del mouse: sposta la vista sugli assi x/y
  • ctrl + shift + pulsante di destra del mouse: sposta la vista sull'asse z
studio-connect-en.png

Challenge mostra il punteggio di ciascun robot su un tabellone traslucido appeso sull'arena. L'obiettivo è rimanere vivi raccogliendo energia. Per tanto che un robot è vivo, il suo punteggio aumenta; quando muore viene dimezzato. Quattro soregenti di colore blu forniscono energia ai robot che si avvicinano. quando la sorgente è esaurita, diventa rossa e non fornisce più energia. Ogni tanto la sorgente sparisce nel terreno e i robots non possono più utilizzarla fintanto che non riappaia.

Una volta che Aseba challenge è in esecuzione, dovete avviare Aseba studio per programmare i robot. Per ciascun robot dovete eseguire una istanza di studio, che può essere eseguita su qualsiasi computer. All'avvio studio propone di connettersi ad un target Aseba (Immagine a destra). Se avete lanciato challenge sul vostro computer e aggiunto un robot, se non diversamente specificato e quindi per difetto studio si collegherà a questo. Se challenge è in esecuzione su un altro computer o vi sono più robot nell'arena, specificare il computer in host e il robot in port. Uno schermo traslucido al di sopra dell'arena in challenge mostra le porte corrispondenti ai vari robot.

Il vostro primo programma di controllo per robot

studio-challenge-en.png

Una volta che studio sia in esecuzione (immagine a destra), potete modificare il programma del robot nell'area centrale di studio. In quest'area vi è un editor di programma che verifica e compila in tempo reale il codice, verificando se la sintassi del codice è corretta o no. Potete apprendere di più su studio selezionando la voce di menu Help->Studio. La voce di menu Help->Language fornisce una documentazione dettagliata del linguaggio di programmazione Aseba.

Per programmare un robot prima di tutto dovete comprendere come funziona. Un robot interagisce con il mondo eseguendo un loop: percepisce lo stato del mondo circostante attraverso i suoi sensori, prende delle decisioni per mezzo del computer che vi è a bordo ed esegue delle azioni attraverso gli attuatori; queste azioni modificano lo stato del mondo e il robot percepisce questo nuovo stato quando legge nuovamente i sensori.

In challenge, programmate un robot e-puck simulato. Questo robot ha 8 sensori di prossimità intorno al suo corpo e una semplice telecamera di 3 pixels puntata in avanti, con un angolo di apertura di 20° gradi per pixel. Potete leggere questi valori e anche sceglier la velocità delle ruote:

epuck-sensors-wiki-en.png

file svg originale, vista di e-puck

Ora scriviamo il vostro primo programma di controllo per robot. Nell'editor di testo al centro della finestra di studio scrivete le seguenti linee: 

wheel_left_speed = 5
wheel_right_speed = -5

Fare click su "Load" e quindi su "Run". Dovreste vedere il vostro robot girare su se stesso. Questo codice fissa la velocità delle ruote in termini di cm/s quando parte e quindi non fa più nulla. Per avere un comportamento migliore, dobbiamo consentire al robot di percepire l'ambiente, per esempio gli ostacoli, e prendere delle decisioni, ad esempio evitare gli ostacoli.

Per interagire con il mondo circostante con continuità, il robot deve eseguire uno script periodicamente. Questo si ottiene con la direttiva onevent timer. Per esempio usando un sensore di prossimità frontale possiamo fissare la velocità delle ruote rispetto alla distanza dell'oggetto di fronte al robot: 

onevent timer
wheel_left_speed = dist[0] - 6
wheel_right_speed = dist[0] - 6

Fare click su "Load" e quindi su "Run". Poichè i sensori di prossimità misurano una distanza tra 0 e 12 cm (se l'oggetto è più distante restituiscono comunque 12), la velocità del robot sarà -6 cm/s quando il robot è vicino, 0 cm/s quando l'oggetto è lontano 6 cm e 6 cm/s quando l'oggetto è lontno 12 cm o più. Il robot tenderà quindi a rimanere a 6 cm di distanza dagli oggetti che ha di fronte.

Un programma di controllo più elaborato

Mantenere una distanza di sicurezza da un oggetto che vi sta davanti è una buona norma, ma ora il robot non si muove più in nessun modo. Per far sì che il robot se ne vada a spasso nell'arena, dobbiamo comprendere come si muove.

Il robot e-puck simulato in challenge è un esempio di robot con ruote differenziali. Questo tipo di robot modifica la propria direzione variando in modo differente la velocità delle ruote destra e sinistra. Se ciascuna ruota ha la stessa velocità in avanti, il robot va dritto, altrimenti sterza dal lato della ruota che gira più adagio. Se le ruote girano in direzione opposta con la stessa velocità il robot gira su se stesso. I caterpillar industriali usano la stessa modalità di movimento, utlizzando dei cingoli.

Scriviamo ora un breve pezzo di codice che fa in modo che il robot eviti gli ostacoli e poi prosegua avanti: 

onevent timer
wheel_left_speed = dist[1] - 6
wheel_right_speed = dist[6] - 6

Questo codice verifica i sensori di prossimità anteriori di destra e di sinistra. Finchè non ci sono ostacoli sia dist[1] che dist[6] riportano 12 e quindi il robot va avanti dritto alla velocità di 6 cm/s. Quando c'è un ostacolo da un lato, il valore del corrispondente sensore diminuisce. Per esempio se vi è un ostacolo sulla sinistra, dist[6] (che corrisponde alla lettura del sensore di sinistra) può essere 10 mentre dist[1] (che corrisponde alla lettura del sensore di destra) rimane a 12; quindi wheel_left_speed rimarrà a 6 cm/s ma wheel_right_speed scenderà a 4, facendo in modo che il robot giri a destra quindi evitando l'ostacolo sulla sinistra.

Prendere decisioni

I programmi di controllo che abbiamo visto finora collegano direttamente il valore del sensore alla velocità delle ruote attraverso espressioni matematiche, ma non fa delle scelte di tipo "if, then". CIò in certi casi è necessario; per esempio se vogliamo che il robot o vada dritto o giri sul posto, ma non faccia traiettorie curve, possiamo scrivere: 

onevent timer
var dists = dist[6] + dist[7] + dist[0] + dist[1]
if dists < 48 then
    wheel_left_speed = 5
    wheel_right_speed = -5
else
    wheel_left_speed = 5
    wheel_right_speed = 5
end

Questo programma somma le distanze dei 4 sensori di prossimità frontali e se questa somma è inferiore a 48 cm, che significa che almeno uno dei sensori è in vista di un ostacolo, il robot gira sul posto, altrimenti va avanti dritto.
Il linguaggio di programmazione fornisce altri interessanti costrutti, come il loop while, che esegue un blocco di codice ripetutamente per tutto il tempo che la condizione specificata è vera, o il loop for, che esegue un blocco di codice un certo numero di volte e modifica il valore di una variabile incrementandola ad ogni giro. Il menu Help->Language da accesso a una pagina che elenca tutti i costrutti disponibili insieme con esempi; può essere utile dargli un'occhiata.

Tocca a Voi

Sperimentate per un po' con l'evitamento degli ostacoli per ottenere una buona comprensione dei sensori, attuatori e le dinamiche del robot. Sentitevi liberi di fare delle prove ed esplorare: il robot è simulato e non rischia di essere danneggiato.

Una volta che vi sentiate confidenti, cercate di fare in modo che il robot si diriga alle sorgenti di cipo quando sono blue (0,0, 100) (in R, G, B), ed evitarle quando sono rosse (100, 0, 0). Il colore dello sfondo è grigio (50, 50, 50). Provate a giocare con i vostri amici e creare il miglior programma ronotico di controllo. Potete cambiare il colore del vostro robot (modificando le variabili color_red, color_green e color_blue), e quindi cercare di spacciarsi per una sorgente di cibo. Se qualcuno cerca di ingannare in questo modo, verificare la variabile dell'energia; se non aumenta il valore mentre vede blu, sei stato ingannato.

L'obiettivo di challenge è imparare la robotica, la programmazione e Aseba, mentre ci si diverte.

Cosa leggere ora?

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`'s´âz‡s"ßÙâ¾à¶Rü$Œ“Þ ph·"-êxå5ÚСÜF€·ô7ú«’þæQåþFù+ýEz &ÉoåWnäwÇìÞXWü6Ö) ^Ë×·ƒ¢UY¿º­ dEÉkö]W´s2>ŒTéÆ*‚ƒA i…X §Í o8¸Õ=¦´éêóvÐ÷Æêýù ’R„„ðªƒÙ¨è£>&ßÉx1´ÀÎs\ÓRþ5S\×/jºŽ5ß]ú‘Ú ƒ6ÇßwF<×g/ÅëtOíÔ„ßɺzQA»n{ã‹û½¶ûϲW•)¦pªW(”OBTÀ¥ a!¼Š—0p Ç=MŸ«ï}š&ÄR[¬gnZé1ßéË·‡¢ö¶Â&¤BMâóõpIwÎý¬ã1þ,‰ç¿]å2aseba-1.6.0/clients/studio/images/warning.png000066400000000000000000000010731322771007300211640ustar00rootroot00000000000000‰PNG  IHDRóÿa pHYs  ÒÝ~ügAMA±Ž|ûQ“ cHRMz%€ƒùÿ€éu0ê`:˜o’_ÅF±IDATxÚbüÿÿ?% €qI¬ fèRPî„ µ …ØÔ.Í@üÿÕ‚ÿïOü±AbØÔCæk'0¼¹0áí j¶1l ˆ ‹í \b ü.­g`¸´‰APš“A$‡® €˜Ð4+©|½¨V¦pq6'03ªÝý"Ú’jþ!‰Ù2š BR  5Ȉ 9à€T€qЂ?c÷?Äcw0/9@ˆ =ุ¶ÿeÀpóð30¨›  (@1!œ²Ðæ¿ °¸„U´>0p À €¡rÞ8=A@NÃ/ ï7ß=Äv²!B „\j8Æ´‰Á €@.¨œœÉ¸- üíÃ@| È~Ï€"'¯ Pp€ÖÈ€M?HÀ¡ð hÇ·YŽè%]}°çˆDþþ.Àðçª3¹&¯ñ‚€(Ðüï¨òŸ?@‚ €¡QOffl FJ³3@€ S’ͶAu„IEND®B`‚aseba-1.6.0/clients/studio/lupdatestudio.sh000077500000000000000000000002531322771007300207700ustar00rootroot00000000000000#!/bin/bash # update all translation ts files from the source code of Studio lupdate *.cpp *.h plugins/*.h plugins/*.cpp plugins/*/*.h plugins/*/*.cpp -ts asebastudio*.ts aseba-1.6.0/clients/studio/main.cpp000066400000000000000000000101201322771007300171650ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include "MainWindow.h" #include "HelpViewer.h" #include "../../transport/dashel_plugins/dashel-plugins.h" using namespace std; void usage(const char *execName) { cout << "Usage: " << execName << " (OPTIONS|TARGET)* " << endl; cout << " where" << endl; cout << "OPTION is one of:" << endl; cout << " -h this help" << endl; cout << " -ar auto memory refresh enabled by default" << endl; cout << " -doc show documentation instead of studio" << endl; cout << "TARGET is a Dashel target (the last one is always considered)" << endl; } /** \defgroup studio Integrated Development Editor */ int main(int argc, char *argv[]) { Q_INIT_RESOURCE(asebaqtabout); bool autoRefresh(false); bool showDoc(false); QApplication app(argc, argv); Dashel::initPlugins(); // Information used by QSettings with default constructor QCoreApplication::setOrganizationName(ASEBA_ORGANIZATION_NAME); QCoreApplication::setOrganizationDomain(ASEBA_ORGANIZATION_DOMAIN); QCoreApplication::setApplicationName("Aseba Studio"); QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8")); QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8")); // override dashel signal handling signal(SIGTERM, SIG_DFL); signal(SIGINT, SIG_DFL); QString commandLineTarget; for (int i = 1; i < argc; ++i) { if (argv[i][0] != '-') { commandLineTarget = argv[i]; break; } else if (argv[i][1] != 0) { QString cmd(&(argv[i][1])); if (cmd == "h") { usage(argv[0]); return 0; } else if (cmd == "ar") { autoRefresh = true; } else if (cmd == "doc") { showDoc = true; } } } // translation files are loaded in DashelTarget.cpp // these translators are useful both for documentation and normal GUI QTranslator qtTranslator; app.installTranslator(&qtTranslator); QTranslator translator; app.installTranslator(&translator); if (showDoc) { const QString language(QLocale::system().name()); // load translations qtTranslator.load(QString("qt_") + language, QLibraryInfo::location(QLibraryInfo::TranslationsPath)); qtTranslator.load(QString(":/asebastudio_") + language); // directly show doc browser Aseba::HelpViewer helpViewer; helpViewer.setupWidgets(); helpViewer.setupConnections(); helpViewer.setLanguage(language); helpViewer.show(); return app.exec(); } else { // these translators are useful only for normal GUI QTranslator compilerTranslator; app.installTranslator(&compilerTranslator); QTranslator aboutTranslator; app.installTranslator(&aboutTranslator); // start normal aseba studio try { QVector translators; translators.push_back(&qtTranslator); translators.push_back(&translator); translators.push_back(&compilerTranslator); translators.push_back(&aboutTranslator); Aseba::MainWindow window(translators, commandLineTarget, autoRefresh); window.show(); return app.exec(); } catch (const std::runtime_error& e) { std::cerr << "Program terminated with runtime error: " << e.what() << std::endl; return -1; } } } aseba-1.6.0/clients/studio/plugins/000077500000000000000000000000001322771007300172245ustar00rootroot00000000000000aseba-1.6.0/clients/studio/plugins/CMakeLists.txt000066400000000000000000000030111322771007300217570ustar00rootroot00000000000000set(qt_plugins_SRCS VariablesViewPlugin.cpp StopThymioPlugin.cpp ThymioVPL/ThymioVisualProgramming.cpp ThymioVPL/ResizingView.cpp ThymioVPL/Buttons.cpp ThymioVPL/Block.cpp ThymioVPL/EventBlocks.cpp ThymioVPL/StateBlocks.cpp ThymioVPL/ActionBlocks.cpp ThymioVPL/EventActionsSet.cpp ThymioVPL/Scene.cpp ThymioVPL/Compiler.cpp ThymioVPL/CompilerVisitors.cpp ThymioVPL/Style.cpp ThymioVPL/Utils.cpp ThymioVPL/LogSignalMapper.cpp ) qt4_wrap_cpp(qt_plugins_MOCS VariablesViewPlugin.h StopThymioPlugin.h ThymioVPL/ThymioVisualProgramming.h ThymioVPL/ResizingView.h ThymioVPL/Buttons.h ThymioVPL/Block.h ThymioVPL/EventBlocks.h ThymioVPL/ActionBlocks.h ThymioVPL/EventActionsSet.h ThymioVPL/Scene.h ThymioVPL/UsageLogger.h ThymioVPL/LogSignalMapper.h ) if(ASEBA_ENABLE_BLOCKLY_PLUGIN) list(APPEND qt_plugins_SRCS ThymioBlockly/ThymioBlockly.cpp) qt4_wrap_cpp(qt_plugins_MOCS ThymioBlockly/AsebaJavascriptInterface.h ThymioBlockly/ThymioBlockly.h) endif(ASEBA_ENABLE_BLOCKLY_PLUGIN) if (PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE) execute_process(COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} --cpp_out=${CMAKE_CURRENT_BINARY_DIR}/ThymioVPL -I${CMAKE_CURRENT_SOURCE_DIR}/ThymioVPL ${CMAKE_CURRENT_SOURCE_DIR}/ThymioVPL/UsageProfile.proto) include_directories(${CMAKE_CURRENT_BINARY_DIR}/ThymioVPL) set(qt_plugins_SRCS ${qt_plugins_SRCS} ThymioVPL/UsageProfile.pb.cc ThymioVPL/UsageLogger.cpp) endif (PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE) add_library(asebaqtplugins STATIC ${qt_plugins_SRCS} ${qt_plugins_MOCS}) aseba-1.6.0/clients/studio/plugins/StopThymioPlugin.cpp000066400000000000000000000032661322771007300232350ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2014: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "StopThymioPlugin.h" #include "../TargetModels.h" #include #include namespace Aseba { StopThymioPlugin::StopThymioPlugin(DevelopmentEnvironmentInterface *_de) : de(_de) {} QWidget* StopThymioPlugin::createMenuEntry() { QPushButton *button(new QPushButton(QIcon(":/images/icons/stop.svgz"), tr("Stop Thymio"))); button->setIconSize(QSize(32,32)); connect(button, SIGNAL(clicked()), SLOT(stopThymio())); return button; } void StopThymioPlugin::stopThymio() { de->stop(); const unsigned leftSpeedVarPos = de->getVariablesModel()->getVariablePos("motor.left.target"); de->setVariableValues(leftSpeedVarPos, VariablesDataVector(1, 0)); const unsigned rightSpeedVarPos = de->getVariablesModel()->getVariablePos("motor.right.target"); de->setVariableValues(rightSpeedVarPos, VariablesDataVector(1, 0)); } } // namespace Aseba aseba-1.6.0/clients/studio/plugins/StopThymioPlugin.h000066400000000000000000000025421322771007300226760ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2014: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef STOP_THYMIO_PLUGIN_H #define STOP_THYMIO_PLUGIN_H #include "../Plugin.h" namespace Aseba { /** \addtogroup studio */ /*@{*/ class StopThymioPlugin: public QObject, public NodeToolInterface { Q_OBJECT public: StopThymioPlugin(DevelopmentEnvironmentInterface *_de); virtual void closeAsSoonAsPossible() {} virtual QWidget* createMenuEntry(); private slots: void stopThymio(); private: std::unique_ptr de; }; /*@}*/ } // namespace Aseba #endif // STOP_THYMIO_PLUGIN_H aseba-1.6.0/clients/studio/plugins/ThymioBlockly/000077500000000000000000000000001322771007300220155ustar00rootroot00000000000000aseba-1.6.0/clients/studio/plugins/ThymioBlockly/AsebaJavascriptInterface.h000066400000000000000000000026431322771007300270560ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_JAVASCRIPT_INTERFACE_H #define ASEBA_JAVASCRIPT_INTERFACE_H #include namespace Aseba { namespace ThymioBlockly { /** \addtogroup studio */ /*@{*/ class AsebaJavascriptInterface : public QObject { Q_OBJECT public: void requestReset() { emit reset(); } void requestLoad(const QString& xml) { emit load(xml); } void requestSave() { emit save(); } signals: void reset(); void load(const QString& xml); void save(); void compiled(const QString& code); void saved(const QString& xml); }; /*@}*/ } } // namespace ThymioBlockly / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioBlockly/ThymioBlockly.cpp000066400000000000000000000372121322771007300253170ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "ThymioBlockly.h" #include "../../TargetModels.h" #include "../../../../common/utils/utils.h" #include "../../../../common/about/AboutDialog.h" using namespace std; QPixmap pixmapFromSVG(const QString& fileName, int size) { QSvgRenderer renderer(fileName); QPixmap pixmap(size, size); pixmap.fill(Qt::transparent); QPainter painter(&pixmap); renderer.render(&painter); return pixmap; } namespace Aseba { namespace ThymioBlockly { // Visual Programming ThymioBlockly::ThymioBlockly(DevelopmentEnvironmentInterface *_de, bool showCloseButton, bool debugLog, bool execFeedback): de(_de), webview(new QWebView(this)), skipNextUpdate(false) { // Create the gui ... setWindowTitle(tr("Thymio Blockly Interface")); setMinimumSize(QSize(400,400)); mainLayout = new QVBoxLayout(this); toolLayout = new QHBoxLayout(); //toolLayout->setHorizontalSpacing(0); //toolLayout->setVerticalSpacing(0); mainLayout->addLayout(toolLayout); // add back the spacing we removed mainLayout->addSpacing(style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing)); newButton = new QPushButton(); newButton->setIcon(QIcon(":/images/icons/filenew.svgz")); newButton->setToolTip(tr("New")); newButton->setFlat(true); newButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(newButton); openButton = new QPushButton(); openButton->setIcon(QIcon(":/images/icons/fileopen.svgz")); openButton->setToolTip(tr("Open")); openButton->setFlat(true); openButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(openButton); saveButton = new QPushButton(); saveButton->setIcon(QIcon(":/images/icons/save.svgz")); saveButton->setToolTip(tr("Save")); saveButton->setFlat(true); saveButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(saveButton); saveAsButton = new QPushButton(); saveAsButton->setIcon(QIcon(":/images/icons/saveas.svgz")); saveAsButton->setToolTip(tr("Save as")); saveAsButton->setFlat(true); saveAsButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(saveAsButton); spacer1 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer1); firstSeparator = new QFrame(); firstSeparator->setFrameShape(QFrame::VLine); firstSeparator->setFrameShadow(QFrame::Sunken); toolLayout->addWidget(firstSeparator); spacer2 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer2); spacer3 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer3); runButton = new QPushButton(); runButton->setIcon(QIcon(":/images/icons/play.svgz")); runButton->setToolTip(tr("Load & Run")); runButton->setFlat(true); runButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(runButton); spacerRunStop = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacerRunStop); stopButton = new QPushButton(); stopButton->setIcon(QIcon(":/images/icons/stop.svgz")); stopButton->setToolTip(tr("Stop")); stopButton->setFlat(true); stopButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(stopButton); spacer4 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer4); spacer5 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer5); secondSeparator = new QFrame(); secondSeparator->setFrameShape(QFrame::VLine); secondSeparator->setFrameShadow(QFrame::Sunken); toolLayout->addWidget(secondSeparator); spacer6 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer6); helpButton = new QPushButton(); helpButton->setIcon(QIcon(":/images/icons/info.svgz")); helpButton->setToolTip(tr("Help")); helpButton->setFlat(true); helpButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(helpButton); snapshotButton = new QPushButton(); snapshotButton->setIcon(QIcon(":/images/icons/screenshot.svgz")); snapshotButton->setToolTip(tr("Screenshot")); snapshotButton->setFlat(true); snapshotButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(snapshotButton); connect(newButton, SIGNAL(clicked()), this, SLOT(newFile())); connect(openButton, SIGNAL(clicked()), this, SLOT(openFile())); connect(saveButton, SIGNAL(clicked()), this, SLOT(save())); connect(saveAsButton, SIGNAL(clicked()), this, SLOT(saveAs())); connect(runButton, SIGNAL(clicked()), this, SLOT(run())); connect(stopButton, SIGNAL(clicked()), this, SLOT(stop())); connect(helpButton, SIGNAL(clicked()), this, SLOT(openHelp())); connect(snapshotButton, SIGNAL(clicked()), this, SLOT(saveSnapshot())); horizontalLayout = new QHBoxLayout(); mainLayout->addLayout(horizontalLayout); sceneLayout = new QVBoxLayout(); const QString lang(de->getTarget()->getLanguage().left(2)); if(lang == "de") { webview->load(QUrl("qrc:/plugins/ThymioBlockly/blockly/tests/asebastudio.de.html")); } else if(lang == "fr") { webview->load(QUrl("qrc:/plugins/ThymioBlockly/blockly/tests/asebastudio.fr.html")); } else if(lang == "es") { webview->load(QUrl("qrc:/plugins/ThymioBlockly/blockly/tests/asebastudio.es.html")); } else if(lang == "it") { webview->load(QUrl("qrc:/plugins/ThymioBlockly/blockly/tests/asebastudio.it.html")); } else { webview->load(QUrl("qrc:/plugins/ThymioBlockly/blockly/tests/asebastudio.html")); } webview->setRenderHints(QPainter::Antialiasing | QPainter::HighQualityAntialiasing | QPainter::NonCosmeticDefaultPen | QPainter::SmoothPixmapTransform | QPainter::TextAntialiasing); webview->setContextMenuPolicy(Qt::CustomContextMenu); QWebPage *page = webview->page(); QWebFrame *frame = page->mainFrame(); connect(frame, SIGNAL(javaScriptWindowObjectCleared()), this, SLOT(initAsebaJavascriptInterface())); connect(&asebaJavascriptInterface, SIGNAL(compiled(const QString&)), this, SLOT(codeUpdated(const QString&))); connect(&asebaJavascriptInterface, SIGNAL(saved(const QString&)), this, SLOT(workspaceSaved(const QString&))); connect(webview, SIGNAL(loadFinished(bool)), this, SLOT(blocklyLoaded())); sceneLayout->addWidget(webview); horizontalLayout->addLayout(sceneLayout); // window properties setWindowModality(Qt::ApplicationModal); setWindowIcon(QIcon(":/images/icons/thymioblockly.svgz")); } ThymioBlockly::~ThymioBlockly() { saveGeometryIfVisible(); } void ThymioBlockly::openHelp() const { const AboutBox::Parameters aboutParameters = { "Thymio Blockly", ":/images/icons/thymioblockly.svgz", tr("Blockly for Thymio robot allows to program by visually assembling elements.\nBlockly is a third-party software from Google."), tr("http://aseba.wikidot.com/en:blocklyprogramming"), "", { "core", "blockly", "packaging", "translation" } }; // we use nullptr here as parent might disappear under our eyes if the Thymio node gets disconnected AboutBox aboutBox(nullptr, aboutParameters); aboutBox.exec(); } void ThymioBlockly::saveSnapshot() const { QSettings settings; QString initialFileName(settings.value("ThymioVPL/snapshotFileName", QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation)).toString()); if (initialFileName.isEmpty() && !de->openedFileName().isEmpty()) { const QFileInfo pf(de->openedFileName()); initialFileName = (pf.absolutePath() + QDir::separator() + pf.baseName() + ".png"); } QString selectedFilter; QString fileName(QFileDialog::getSaveFileName(0, tr("Export program as image"), initialFileName, "Images (*.png *.jpg *.bmp *.ppm *.tiff)", &selectedFilter)); if (fileName.isEmpty()) return; // save file name to settings settings.setValue("ThymioBlockly/snapshotFileName", fileName); // image if (fileName.lastIndexOf(".") < 0) fileName += ".png"; QImage image(webview->rect().size(), QImage::Format_ARGB32_Premultiplied); { // paint into image QPainter painter(&image); webview->render(&painter); } image.save(fileName); } QWidget* ThymioBlockly::createMenuEntry() { QPushButton *vplButton = new QPushButton(QIcon(":/images/icons/thymioblockly.svgz"), tr("Launch Blockly")); vplButton->setIconSize(QSize(32,32)); connect(vplButton, SIGNAL(clicked()), SLOT(newFile())); return vplButton; } void ThymioBlockly::closeAsSoonAsPossible() { close(); } //! prevent recursion of changes triggered by VPL itself void ThymioBlockly::clearSceneWithoutRecompilation() { skipNextUpdate = true; asebaJavascriptInterface.requestReset(); } void ThymioBlockly::showAtSavedPosition() { QSettings settings; restoreGeometry(settings.value("ThymioBlockly/geometry").toByteArray()); QWidget::show(); } void ThymioBlockly::newFile() { if(de->newFile()) { asebaJavascriptInterface.requestReset(); showAtSavedPosition(); } } void ThymioBlockly::openFile() { de->openFile(); } bool ThymioBlockly::save() { asebaJavascriptInterface.requestSave(); de->saveFile(false); return true; } bool ThymioBlockly::saveAs() { asebaJavascriptInterface.requestSave(); de->saveFile(true); return true; } bool ThymioBlockly::closeFile() { if(!isVisible()) { return true; } if(preDiscardWarningDialog(true)) { de->clearOpenedFileName(true); clearSceneWithoutRecompilation(); return true; } else { de->clearOpenedFileName(true); return false; } } void ThymioBlockly::run() { if(runButton->isEnabled()) { de->loadAndRun(); } } void ThymioBlockly::stop() { de->stop(); const unsigned leftSpeedVarPos = de->getVariablesModel()->getVariablePos("motor.left.target"); de->setVariableValues(leftSpeedVarPos, VariablesDataVector(1, 0)); const unsigned rightSpeedVarPos = de->getVariablesModel()->getVariablePos("motor.right.target"); de->setVariableValues(rightSpeedVarPos, VariablesDataVector(1, 0)); } void ThymioBlockly::initAsebaJavascriptInterface() { QWebPage *page = webview->page(); QWebFrame *frame = page->mainFrame(); frame->addToJavaScriptWindowObject("asebaJavascriptInterface", &asebaJavascriptInterface); } void ThymioBlockly::codeUpdated(const QString& code) { if(skipNextUpdate) { skipNextUpdate = false; } else { de->displayCode(QStringList() << code, 0); } } void ThymioBlockly::workspaceSaved(const QString& xml) { currentSavedXml = xml; } void ThymioBlockly::blocklyLoaded() { if (!currentSavedXml.isEmpty()) { asebaJavascriptInterface.requestLoad(currentSavedXml); } } void ThymioBlockly::closeEvent ( QCloseEvent * event ) { if (!closeFile()) event->ignore(); else saveGeometryIfVisible(); } void ThymioBlockly::saveGeometryIfVisible() { if (isVisible()) { QSettings settings; settings.setValue("ThymioBlockly/geometry", saveGeometry()); } } bool ThymioBlockly::preDiscardWarningDialog(bool keepCode) { QMessageBox msgBox; msgBox.setWindowTitle(tr("Warning")); msgBox.setText(tr("The Blockly document has been modified.

Do you want to save the changes?")); msgBox.setStandardButtons(QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); msgBox.setDefaultButton(QMessageBox::Save); int ret = msgBox.exec(); switch (ret) { case QMessageBox::Save: { if (save()) return true; else return false; } case QMessageBox::Discard: { return true; } case QMessageBox::Cancel: default: return false; } return false; } QDomDocument ThymioBlockly::saveToDom() const { asebaJavascriptInterface.requestSave(); if (currentSavedXml.isEmpty() || currentSavedXml == "") { return QDomDocument(); } else { QDomDocument document("tool-plugin-data"); if (document.setContent(currentSavedXml)) { return document; } else { // this is an error - I'm not sure if it still occurs under any circumstance, but if it does, some diagnostic output may be helpful printf("ThymioBlockly::saveToDom(): invalid XML content\n%s\n", currentSavedXml.toUtf8().constData()); // document is in an invalid state now that would make MainWindow::saveFile crash, return a null document instead return QDomDocument(); } } } void ThymioBlockly::aboutToLoad() { saveGeometryIfVisible(); hide(); } void ThymioBlockly::loadFromDom(const QDomDocument& document, bool fromFile) { currentSavedXml = document.toString(); // remove , blockly can't handle it... currentSavedXml.remove(""); asebaJavascriptInterface.requestLoad(currentSavedXml); showAtSavedPosition(); } void ThymioBlockly::codeChangedInEditor() { if(!isVisible()) { clearSceneWithoutRecompilation(); } } bool ThymioBlockly::isModified() const { return false; } qreal ThymioBlockly::getViewScale() const { return 1.0; } void ThymioBlockly::resizeEvent( QResizeEvent *event) { // compute size of elements for toolbar const float toolbarWidgetCount(16); // get width of combox box element (not content) int desiredIconSize(( event->size().width() - ( /*(toolbarWidgetCount-1) * 2 * style()->pixelMetric(QStyle::PM_DefaultFrameWidth) + */ toolbarWidgetCount * 2 * style()->pixelMetric(QStyle::PM_ButtonMargin) + style()->pixelMetric(QStyle::PM_LayoutLeftMargin) + style()->pixelMetric(QStyle::PM_LayoutRightMargin) + 6 // vertical lines /*#ifdef Q_WS_MAC 55 // safety factor, as it seems that metrics do miss some space #else // Q_WS_MAC 20 #endif // Q_WS_MAC //20 // safety factor, as it seems that metrics do miss some space*/ ) ) / (toolbarWidgetCount)); desiredIconSize = qMin(desiredIconSize, event->size().height()/14); // set toolbar const QSize tbIconSize(QSize(desiredIconSize, desiredIconSize)); const QSize importantIconSize(tbIconSize * 1.41); newButton->setIconSize(tbIconSize); openButton->setIconSize(tbIconSize); saveButton->setIconSize(tbIconSize); saveAsButton->setIconSize(tbIconSize); runButton->setIconSize(importantIconSize); stopButton->setIconSize(importantIconSize); helpButton->setIconSize(tbIconSize); snapshotButton->setIconSize(tbIconSize); spacerRunStop->changeSize(desiredIconSize/4, desiredIconSize); toolLayout->invalidate(); } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioBlockly/ThymioBlockly.h000066400000000000000000000065661322771007300247740ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef THYMIO_BLOCKLY_H #define THYMIO_BLOCKLY_H #include #include #include #include #include #include #include #include #include #include #include #include "../../Plugin.h" #include "../../DashelTarget.h" #include "AsebaJavascriptInterface.h" namespace Aseba { namespace ThymioBlockly { /** \addtogroup studio */ /*@{*/ class ThymioBlockly : public QWidget, public NodeToolInterface { Q_OBJECT public: ThymioBlockly(DevelopmentEnvironmentInterface *_de, bool showCloseButton = true, bool debugLog = false, bool execFeedback = false); ~ThymioBlockly(); virtual QWidget* createMenuEntry(); virtual void closeAsSoonAsPossible(); virtual void aboutToLoad(); virtual void loadFromDom(const QDomDocument& content, bool fromFile); virtual QDomDocument saveToDom() const; virtual void codeChangedInEditor(); bool isModified() const; qreal getViewScale() const; signals: void modifiedStatusChanged(bool modified); void compilationOutcome(bool success); protected slots: bool closeFile(); private slots: void openHelp() const; void saveSnapshot() const; void newFile(); void openFile(); bool save(); bool saveAs(); void run(); void stop(); void initAsebaJavascriptInterface(); void codeUpdated(const QString& code); void workspaceSaved(const QString& xml); void blocklyLoaded(); private: void clearSceneWithoutRecompilation(); void showAtSavedPosition(); protected: std::unique_ptr de; QWebView *webview; mutable AsebaJavascriptInterface asebaJavascriptInterface; QString currentSavedXml; bool skipNextUpdate; QToolBar *toolBar; QHBoxLayout *toolLayout; QPushButton *newButton; QPushButton *openButton; QPushButton *saveButton; QPushButton *saveAsButton; QPushButton *runButton; QPushButton *stopButton; QPushButton *helpButton; QPushButton *snapshotButton; QFrame *firstSeparator; QFrame *secondSeparator; QSpacerItem *spacer1; QSpacerItem *spacer2; QSpacerItem *spacer3; QSpacerItem *spacerRunStop; QSpacerItem *spacer4; QSpacerItem *spacer5; QSpacerItem *spacer6; QVBoxLayout *mainLayout; QHBoxLayout *horizontalLayout; QVBoxLayout *sceneLayout; protected: void saveGeometryIfVisible(); bool preDiscardWarningDialog(bool keepCode); void closeEvent(QCloseEvent * event); virtual void resizeEvent( QResizeEvent *event ); }; /*@}*/ } } // namespace ThymioBlockly / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioBlockly/blockly/000077500000000000000000000000001322771007300234545ustar00rootroot00000000000000aseba-1.6.0/clients/studio/plugins/ThymioVPL/000077500000000000000000000000001322771007300210575ustar00rootroot00000000000000aseba-1.6.0/clients/studio/plugins/ThymioVPL/ActionBlocks.cpp000066400000000000000000000354121322771007300241430ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include "ActionBlocks.h" #include "Buttons.h" #include "UsageLogger.h" namespace Aseba { namespace ThymioVPL { // Move Action MoveActionBlock::MoveActionBlock( QGraphicsItem *parent ) : Block("action", "move", parent) { new QGraphicsSvgItem (":/images/vpl_background_motor.svgz", this); for(int i=0; i<2; i++) { QSlider *s = new QSlider(Qt::Vertical); s->setRange(-10,10); s->setStyleSheet( "QSlider { border: 0px; padding: 0px; background: transparent; }" "QSlider::groove:vertical { " "border: none; " "background: transparent; }" "QSlider::handle:vertical { " "background: transparent; " "border: 4px solid black; height: 40px; margin: 0px; }" ); s->setSliderPosition(0); QGraphicsProxyWidget *w = new QGraphicsProxyWidget(this); w->setAcceptDrops(false); w->setWidget(s); w->resize(48, 226); w->setPos(10+i*188, 15); sliders.push_back(s); connect(s, SIGNAL(valueChanged(int)), SLOT(valueChangeDetected())); connect(s, SIGNAL(valueChanged(int)), SIGNAL(contentChanged())); connect(s, SIGNAL(sliderPressed()), SLOT(clearChangedFlag())); connect(s, SIGNAL(sliderMoved(int)), SLOT(setChangedFlag())); connect(s, SIGNAL(sliderReleased()), SLOT(emitUndoCheckpointAndClearIfChanged())); USAGE_LOG(logSignal(s,SIGNAL(sliderReleased()),i,this)); } thymioBody = new ThymioBody(this, -70); thymioBody->setUp(false); thymioBody->setPos(128,128); thymioBody->setScale(0.2); timer = new QTimeLine(2000, this); timer->setFrameRange(0, 150); timer->setCurveShape(QTimeLine::LinearCurve); timer->setLoopCount(1); connect(timer, SIGNAL(frameChanged(int)), SLOT(frameChanged(int))); } MoveActionBlock::~MoveActionBlock() { } void MoveActionBlock::frameChanged(int frame) { qreal pt[2]; for(int i=0; i<2; i++) pt[i] = (sliders[i]->value())*0.06*50; // [-30,30] const qreal step = frame/200.0; const qreal angle = (pt[0]-pt[1])*3*step; if (fabs(pt[1]-pt[0]) < 10e-4) { thymioBody->setPos(QPointF(128,128-(pt[1]+pt[0])*1.2*step)); } else { const qreal center = -23.5*(pt[1]+pt[0])/(pt[1]-pt[0]); const qreal radNegAngle = -angle*3.14/180; thymioBody->setPos(QPointF(center*(1-cos(radNegAngle))+128,center*sin(radNegAngle)+128)); } thymioBody->setRotation(angle); } void MoveActionBlock::valueChangeDetected() { timer->stop(); timer->start(); } int MoveActionBlock::getValue(unsigned i) const { if (int(i)value()*50; return -1; } void MoveActionBlock::setValue(unsigned i, int value) { if(int(i)setSliderPosition(value/50); } QVector MoveActionBlock::getValuesCompressed() const { return QVector(1, ((sliders[0]->value()+10) << 8) | (sliders[1]->value()+10) ); } // Color Action ColorActionBlock::ColorActionBlock( QGraphicsItem *parent, bool top) : BlockWithBody("action", top ? "colortop" : "colorbottom", top, parent) { const char *sliderColors[] = { "FF0000", "00FF00", "0000FF" }; for(unsigned i=0; i<3; i++) { QSlider *s = new QSlider(Qt::Horizontal); s->setRange(0,32); s->setStyleSheet(QString( "QSlider { border: 0px; padding: 0px; }" "QSlider::groove:horizontal { " "border: transparent;" "background: qlineargradient(x1:0, y1:0, x2:1, y2:0, stop:0 #000000, stop:1 #%0); " "}" "QSlider::handle:horizontal { " "background: white; " "border: 4px solid black; width: 40px; margin: 0px;" "}" ";").arg(sliderColors[i])); s->setSliderPosition(0); QGraphicsProxyWidget *w = new QGraphicsProxyWidget(this); w->setAcceptDrops(false); w->setWidget(s); w->resize(202, 48); w->setPos(27, 60+i*64); sliders.push_back(s); connect(s, SIGNAL(valueChanged(int)), SLOT(valueChangeDetected())); connect(s, SIGNAL(valueChanged(int)), SIGNAL(contentChanged())); connect(s, SIGNAL(sliderPressed()), SLOT(clearChangedFlag())); connect(s, SIGNAL(sliderMoved(int)), SLOT(setChangedFlag())); connect(s, SIGNAL(sliderReleased()), SLOT(emitUndoCheckpointAndClearIfChanged())); USAGE_LOG(logSignal(s,SIGNAL(sliderReleased()),i,this)); } } int ColorActionBlock::getValue(unsigned i) const { if (int(i)value(); return -1; } void ColorActionBlock::setValue(unsigned i, int value) { if (int(i)setSliderPosition(value); } QVector ColorActionBlock::getValuesCompressed() const { unsigned value(0); for (int i=0; ivalue(); } assert(value <= 65535); return QVector(1, value); } void ColorActionBlock::valueChangeDetected() { update(); } void ColorActionBlock::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { bodyColor = QColor( sliders[0]->value()*5.46875+80, sliders[1]->value()*5.46875+80, sliders[2]->value()*5.46875+80); BlockWithBody::paint(painter, option, widget); if (!up) { painter->setBrush(Qt::white); const QRect myRect(128-15, 25, 30, 30); QRadialGradient gradient(128, 40, 15); gradient.setColorAt(0, Qt::white); gradient.setColorAt(1, Qt::transparent); painter->fillRect(myRect, gradient); } } TopColorActionBlock::TopColorActionBlock(QGraphicsItem *parent): ColorActionBlock(parent, true) {} BottomColorActionBlock::BottomColorActionBlock(QGraphicsItem *parent): ColorActionBlock(parent, false) {} // Sound Action SoundActionBlock::SoundActionBlock(QGraphicsItem *parent) : Block("action", "sound", parent), dragging(false) { notes[0] = 3; durations[0] = 1; notes[1] = 4; durations[1] = 1; notes[2] = 3; durations[2] = 2; notes[3] = 2; durations[3] = 1; notes[4] = 1; durations[4] = 1; notes[5] = 2; durations[5] = 2; new QGraphicsSvgItem (":/images/notes.svgz", this); } void SoundActionBlock::paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Block::paint(painter, option, widget); painter->setPen(QPen(Qt::black, 2, Qt::SolidLine)); for (unsigned row = 0; row < 5; ++row) { //painter->fillRect(17, 60 + row*37, 222, 37, QColor::fromHsv((5-row)*51, 100, 255)); painter->fillRect(17, 60 + row*37 + 2, 222, 33, Qt::lightGray); for (unsigned col = 0; col < 6; ++col) { if (notes[col] == 4-row) { if (durations[col] == 2) { painter->setPen(QPen(Qt::black, 4, Qt::SolidLine)); painter->setBrush(Qt::white); painter->drawEllipse(17 + col*37 + 3, 60 + row*37 + 3, 31, 31); } else { painter->setPen(Qt::NoPen); painter->setBrush(Qt::black); painter->drawEllipse(17 + col*37 + 2, 60 + row*37 + 2, 33, 33); } } } } } void SoundActionBlock::mousePressEvent(QGraphicsSceneMouseEvent * event) { if (event->button() == Qt::LeftButton) { unsigned noteIdx, noteVal; bool ok; idxAndValFromPos(event->pos(), &ok, noteIdx, noteVal); if (ok) { const unsigned& note(notes[noteIdx]); if (note == 5) { setDuration(noteIdx, 1); setNote(noteIdx, noteVal); } else if (note == noteVal) { if (durations[noteIdx] == 2) { setDuration(noteIdx, 2); setNote(noteIdx, 5); } else setDuration(noteIdx, (durations[noteIdx] % 2) + 1); } else setNote(noteIdx, noteVal); dragging = true; setChangedFlag(); return; } } Block::mousePressEvent(event); } void SoundActionBlock::mouseMoveEvent(QGraphicsSceneMouseEvent * event) { if (dragging) { unsigned noteIdx, noteVal; bool ok; idxAndValFromPos(event->pos(), &ok, noteIdx, noteVal); if (ok) setNote(noteIdx, noteVal); } else Block::mouseMoveEvent(event); } void SoundActionBlock::mouseReleaseEvent(QGraphicsSceneMouseEvent * event) { if (dragging) { dragging = false; emitUndoCheckpointAndClearIfChanged(); } else Block::mouseReleaseEvent(event); } void SoundActionBlock::idxAndValFromPos(const QPointF& pos, bool* ok, unsigned& noteIdx, unsigned& noteVal) { if (QRectF(17,60,220,185).contains(pos)) { noteIdx = (int(pos.x())-17)/37; noteVal = 4-(int(pos.y())-60)/37; if (ok) *ok = true; } else { if (ok) *ok = false; } } void SoundActionBlock::setNote(unsigned noteIdx, unsigned noteVal) { unsigned& note(notes[noteIdx]); if (note != noteVal) { note = noteVal; update(); USAGE_LOG(logBlockAction(SET_NOTE, getName(), getType(), UsageLogger::getRow(this), noteIdx, nullptr, ¬eVal, nullptr, nullptr)); emit contentChanged(); } } void SoundActionBlock::setDuration(unsigned noteIdx, unsigned durationVal) { unsigned& duration(durations[noteIdx]); if (duration != durationVal) { duration = durationVal; update(); USAGE_LOG(logBlockAction(SET_DURATION, getName(), getType(), UsageLogger::getRow(this), noteIdx, nullptr, &durationVal, nullptr, nullptr)); emit contentChanged(); } } int SoundActionBlock::getValue(unsigned i) const { if (i<6) return notes[i] | (durations[i] << 8); return -1; } void SoundActionBlock::setValue(unsigned i, int value) { if (i<6) { notes[i] = value & 0xff; durations[i] = (value >> 8) & 0xff; update(); emit contentChanged(); } } QVector SoundActionBlock::getValuesCompressed() const { unsigned compressedNotes = 0; unsigned compressedDurations = 0; for (unsigned i = 0; i < 6; ++i) { compressedNotes *= 6; compressedNotes += notes[i]; compressedDurations *= 3; compressedDurations += durations[i]; } return (QVector() << compressedNotes << compressedDurations); } // TimerActionBlock TimerActionBlock::TimerActionBlock(QGraphicsItem *parent) : Block("action", "timer", parent), dragging(false), duration(1.0) { new QGraphicsSvgItem (":/images/timer.svgz", this); timer = new QTimeLine(duration, this); timer->setFrameRange(0, duration/40); timer->setCurveShape(QTimeLine::LinearCurve); timer->setLoopCount(1); connect(timer, SIGNAL(frameChanged(int)), SLOT(frameChanged(int))); } void TimerActionBlock::paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); Block::paint(painter, option, widget); painter->setBrush(Qt::white); painter->drawEllipse(128-72, 136-72, 72*2, 72*2); const float angle(float(duration) * 2.f * M_PI / 4000.f); painter->setBrush(Qt::darkBlue); painter->drawPie(QRectF(128-50, 136-50, 100, 100), 16*90, -angle*16*360/(2*M_PI)); const float leftDuration(duration-float(timer->currentFrame())*40.f); if (timer->state() == QTimeLine::Running) { const float leftAngle(leftDuration * 2.f * M_PI / (4000.f)); painter->setBrush(Qt::red); painter->drawPie(QRectF(128-50, 136-50, 100, 100), 16*90, -leftAngle*16*360/(2*M_PI)); } painter->setPen(QPen(Qt::black, 10, Qt::SolidLine, Qt::RoundCap)); // drawing handle { static const QPointF points[5] = { QPointF(0, 5), QPointF(35, 12), QPointF(60, 0), QPointF(35, -12), QPointF(0, -5) }; painter->save(); painter->translate(128,136); painter->rotate((angle-M_PI/2) * 180 / M_PI); painter->setBrush(Qt::white); painter->setPen(QPen(Qt::black, 5, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->drawConvexPolygon(points, 5); painter->setBrush(Qt::lightGray); painter->drawEllipse(-10,-10,20,20); painter->restore(); } //painter->drawLine(128, 136, 128+sinf(angle)*50, 136-cosf(angle)*50); } void TimerActionBlock::frameChanged(int frame) { update(); } void TimerActionBlock::mousePressEvent(QGraphicsSceneMouseEvent * event) { bool ok; const unsigned duration(durationFromPos(event->pos(), &ok)); if (event->button() == Qt::LeftButton && ok) { clearChangedFlag(); setDuration(duration); dragging = true; } else Block::mousePressEvent(event); } void TimerActionBlock::mouseMoveEvent(QGraphicsSceneMouseEvent * event) { if (dragging) { bool ok; const unsigned duration(durationFromPos(event->pos(), &ok)); if (ok) setDuration(duration); } else Block::mouseMoveEvent(event); } void TimerActionBlock::mouseReleaseEvent(QGraphicsSceneMouseEvent * event) { if (dragging) { dragging = false; emitUndoCheckpointAndClearIfChanged(); USAGE_LOG(logBlockAction(TIMER, getName(), getType(), UsageLogger::getRow(this), 0, nullptr, nullptr, &this->duration, nullptr)); } else Block::mouseReleaseEvent(event); } unsigned TimerActionBlock::durationFromPos(const QPointF& pos, bool* ok) const { const double TIMER_RESOLUTION = 4; const QPointF localPos(pos-QPointF(128,136)); if (sqrt(localPos.x()*localPos.x()+localPos.y()*localPos.y()) <= 70) { if (ok) *ok = true; double duration = (atan2(-localPos.x(), localPos.y()) + M_PI) * 4. / (2*M_PI); return round(duration * TIMER_RESOLUTION) * 1000 / TIMER_RESOLUTION; } if (ok) *ok = false; return 0; } int TimerActionBlock::getValue(unsigned i) const { return duration; } void TimerActionBlock::setValue(unsigned i, int value) { setDuration(value); } QVector TimerActionBlock::getValuesCompressed() const { return QVector(1, duration); } void TimerActionBlock::setDuration(unsigned duration) { if (duration != this->duration) { this->duration = duration; update(); emit contentChanged(); setChangedFlag(); timer->stop(); timer->setDuration(duration); timer->setFrameRange(0, duration/40); timer->start(); } } // State Filter Action StateFilterActionBlock::StateFilterActionBlock(QGraphicsItem *parent) : StateFilterBlock("action", "setstate", parent) { } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/ActionBlocks.h000066400000000000000000000103741322771007300236100ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_ACTION_BLOCKS_H #define VPL_ACTION_BLOCKS_H #include #include "Block.h" class QSlider; class QTimeLine; namespace Aseba { namespace ThymioVPL { /** \addtogroup studio */ /*@{*/ class MoveActionBlock : public Block { Q_OBJECT public: MoveActionBlock(QGraphicsItem *parent=0); virtual ~MoveActionBlock(); virtual unsigned valuesCount() const { return 2; } virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; private slots: void frameChanged(int frame); void valueChangeDetected(); private: QList sliders; QTimeLine *timer; ThymioBody* thymioBody; }; class ColorActionBlock : public BlockWithBody { Q_OBJECT protected: ColorActionBlock(QGraphicsItem *parent, bool top); virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); public: virtual unsigned valuesCount() const { return 3; } virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; private slots: void valueChangeDetected(); private: QList sliders; }; struct TopColorActionBlock : public ColorActionBlock { TopColorActionBlock(QGraphicsItem *parent=0); }; struct BottomColorActionBlock : public ColorActionBlock { BottomColorActionBlock(QGraphicsItem *parent=0); }; class SoundActionBlock : public Block { public: SoundActionBlock(QGraphicsItem *parent=0); virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); virtual unsigned valuesCount() const { return 6; } virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; protected: virtual void mousePressEvent ( QGraphicsSceneMouseEvent * event ); virtual void mouseMoveEvent(QGraphicsSceneMouseEvent * event); virtual void mouseReleaseEvent(QGraphicsSceneMouseEvent * event); void idxAndValFromPos(const QPointF& pos, bool* ok, unsigned& noteIdx, unsigned& noteVal); void setNote(unsigned noteIdx, unsigned noteVal); void setDuration(unsigned noteIdx, unsigned durationVal); protected: bool dragging; unsigned notes[6]; unsigned durations[6]; }; class TimerActionBlock: public Block { Q_OBJECT public: TimerActionBlock(QGraphicsItem *parent=0); void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); virtual unsigned valuesCount() const { return 1; } virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; virtual bool isAdvancedBlock() const { return true; } protected slots: void frameChanged(int frame); protected: virtual void mousePressEvent(QGraphicsSceneMouseEvent * event); virtual void mouseMoveEvent(QGraphicsSceneMouseEvent * event); virtual void mouseReleaseEvent(QGraphicsSceneMouseEvent * event); unsigned durationFromPos(const QPointF& pos, bool* ok) const; void setDuration(unsigned duration); protected: bool dragging; unsigned duration; QTimeLine *timer; }; class StateFilterActionBlock : public StateFilterBlock { public: StateFilterActionBlock(QGraphicsItem *parent=0); }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/Block.cpp000066400000000000000000000552231322771007300226240ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "Block.h" #include "Buttons.h" #include "EventBlocks.h" #include "StateBlocks.h" #include "ActionBlocks.h" #include "EventActionsSet.h" #include "Style.h" #include "ResizingView.h" #include "UsageLogger.h" #include "../../../../common/utils/utils.h" namespace Aseba { namespace ThymioVPL { void Block::ThymioBody::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); drawBody(painter, 0, yShift, up, bodyColor); } void Block::ThymioBody::drawBody(QPainter * painter, int xShift, int yShift, bool up, const QColor& bodyColor) { // button shape painter->setPen(Qt::NoPen); painter->setBrush(bodyColor); painter->drawChord(-124+xShift, -118+yShift, 248, 144, 0, 2880); painter->drawRoundedRect(-124+xShift, -52+yShift, 248, 176, 5, 5); if(!up) { painter->setBrush(Qt::black); painter->drawRect(-128+xShift, 30+yShift, 18, 80); painter->drawRect(110+xShift, 30+yShift, 18, 80); } } //! Factory for buttons Block* Block::createBlock(const QString& name, bool advanced, QGraphicsItem *parent) { if ( name == "button" ) return new ArrowButtonsEventBlock(advanced, parent); else if ( name == "prox" ) return new ProxEventBlock(advanced, parent); else if ( name == "proxground" ) return new ProxGroundEventBlock(advanced, parent); else if ( name == "acc" ) return new AccEventBlock(advanced, parent); else if ( name == "clap" ) return new ClapEventBlock(parent); else if ( name == "timeout" ) return new TimeoutEventBlock(parent); else if ( name == "statefilter" ) return new StateFilterCheckBlock(parent); else if ( name == "move" ) return new MoveActionBlock(parent); else if ( name == "colortop" ) return new TopColorActionBlock(parent); else if ( name == "colorbottom" ) return new BottomColorActionBlock(parent); else if ( name == "sound" ) return new SoundActionBlock(parent); else if ( name == "timer" ) return new TimerActionBlock(parent); else if ( name == "setstate" ) return new StateFilterActionBlock(parent); else return 0; } Block::Block(const QString& type, const QString& name, QGraphicsItem *parent) : QGraphicsObject(parent), type(type), name(name), beingDragged(false), changed(false) { setFlag(QGraphicsItem::ItemIsMovable); setAcceptedMouseButtons(Qt::LeftButton); } Block::~Block() { // doing nothing } //! Return the name of the block translated in the local language QString Block::getTranslatedName() const { if (name == "button") return tr("buttons"); else if (name == "prox") return tr("horizontal proximity sensors"); else if (name == "proxground") return tr("ground proximity sensors"); else if (name == "acc") return tr("tap detection / tilt"); else if (name == "clap") return tr("clap detection"); else if (name == "timeout") return tr("timer elapsed"); else if (name == "statefilter") return tr("state filter"); else if (name == "move") return tr("motors"); else if (name == "colortop") return tr("top colour"); else if (name == "colorbottom") return tr("bottom colour"); else if (name == "sound") return tr("music"); else if (name == "timer") return tr("timer"); else if (name == "setstate") return tr("state"); else return "unknown block name"; } //! Return a 4-bit unsigned integer encoding the name unsigned Block::getNameAsUInt4() const { // 0 is reserved if ( name == "button" ) return 1; else if ( name == "prox" ) return 2; else if ( name == "proxground" ) return 3; else if ( name == "acc" ) return 4; else if ( name == "clap" ) return 5; else if ( name == "timeout" ) return 6; else if ( name == "statefilter" ) return 7; else if ( name == "move" ) return 8; else if ( name == "colortop" ) return 9; else if ( name == "colorbottom" ) return 10; else if ( name == "sound" ) return 11; else if ( name == "timer" ) return 12; else if ( name == "setstate" ) return 13; else throw std::runtime_error("unknown name"); } bool Block::isAnyValueSet() const { for (unsigned i=0; i 0) return true; } return false; } void Block::resetValues() { for (unsigned i=0; isetData("Block", document.toByteArray()); return mime; } QDomElement Block::serialize(QDomDocument& document) const { // create element QDomElement element = document.createElement("block"); // populate attributes from this block's informations element.setAttribute("name", getName()); element.setAttribute("type", getType()); for (unsigned i=0; ivaluesCount(); ++i) block->setValue(i, element.attribute(QString("value%0").arg(i), QString("%0").arg(block->getValue(i))).toInt()); return block; } Block* Block::deserialize(const QByteArray& data, bool advanced) { QDomDocument document; document.setContent(data); return deserialize(document.documentElement(), advanced); } QString Block::deserializeType(const QByteArray& data) { QDomDocument document; document.setContent(data); const QDomElement element(document.documentElement()); return element.attribute("type"); } QString Block::deserializeName(const QByteArray& data) { QDomDocument document; document.setContent(data); const QDomElement element(document.documentElement()); return element.attribute("name"); } void Block::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); painter->setPen(Qt::NoPen); painter->setBrush(Style::blockCurrentColor(type)); painter->drawRoundedRect(0, 0, 256, 256, 5, 5); } QImage Block::image(qreal factor) { const QRectF br(boundingRect()); QImage img(br.width()*factor, br.height()*factor, QImage::Format_ARGB32); img.fill(Qt::transparent); QPainter painter(&img); painter.setRenderHint(QPainter::Antialiasing); painter.scale(factor, factor); painter.translate(-br.topLeft()); render(painter); painter.end(); return img; } QImage Block::translucidImage(qreal factor) { QImage img(image(factor)); // Set transparent block FIXME: test ugly #ifdef Q_WS_X11 if (!QX11Info::isCompositingManagerRunning()) { // Note: disabled for now as this is slow /*for (int y = 0; y < img.height(); ++y) { QRgb *row = (QRgb*)img.scanLine(y); for (int x = 0; x < img.width(); ++x) { ((unsigned char*)&row[x])[3] = (x+y) % 2 == 0 ? 255 : 0; } }*/ } else #endif // Q_WS_X11 { for (int y = 0; y < img.height(); ++y) { QRgb *row = (QRgb*)img.scanLine(y); for (int x = 0; x < img.width(); ++x) { ((unsigned char*)&row[x])[3] = 128; } } } return img; } //! Manual rendering of this block and its children, do not use a scene void Block::render(QPainter& painter) { QStyleOptionGraphicsItem opt; opt.exposedRect = boundingRect(); paint(&painter, &opt, 0); renderChildItems(painter, this, opt); } //! Manual rendering of this block and its children, do not use a scene, for child items void Block::renderChildItems(QPainter& painter, QGraphicsItem* item, QStyleOptionGraphicsItem& opt) { if (!item) return; QGraphicsItem *child; foreach(child, item->childItems()) { if (!child->isVisible()) continue; painter.save(); painter.translate(child->pos()); painter.translate(child->transformOriginPoint()); painter.rotate(child->rotation()); painter.translate(-child->transformOriginPoint()); painter.scale(child->scale(), child->scale()); painter.setOpacity(painter.opacity() * child->opacity()); renderChildItems(painter, child, opt); child->paint(&painter, &opt, 0); painter.restore(); } } void Block::clearChangedFlag() { changed = false; } void Block::setChangedFlag() { changed = true; } void Block::emitUndoCheckpointAndClearIfChanged() { if (changed) emit undoCheckpoint(); changed = false; } void Block::mouseMoveEvent( QGraphicsSceneMouseEvent *event ) { #ifndef ANDROID if (QLineF(event->screenPos(), event->buttonDownScreenPos(Qt::LeftButton)).length() < QApplication::startDragDistance()) return; Q_ASSERT(scene()); Q_ASSERT(scene()->views().size() > 0); ResizingView* view(polymorphic_downcast(scene()->views()[0])); const QRectF sceneRect(mapRectToScene(boundingRect())); const QRect viewRect(view->mapFromScene(sceneRect).boundingRect()); const QPoint hotspot(view->mapFromScene(event->scenePos()) - viewRect.topLeft()); const bool isCopy((event->modifiers() & Qt::ControlModifier) || (name == "statefilter")); QDrag *drag = new QDrag(event->widget()); drag->setMimeData(mimeData()); drag->setHotSpot(hotspot); drag->setPixmap(QPixmap::fromImage(translucidImage(view->getScale()))); beingDragged = true; keepAfterDrop = false; USAGE_LOG(logBlockMouseMove(this->name, this->type, event)); Qt::DropAction dragResult(drag->exec(isCopy ? Qt::CopyAction : Qt::MoveAction)); if (dragResult != Qt::IgnoreAction) { EventActionsSet* eventActionsSet(dynamic_cast(parentItem())); if (eventActionsSet) { if (!isCopy && !keepAfterDrop) eventActionsSet->removeBlock(this); emit eventActionsSet->contentChanged(); emit eventActionsSet->undoCheckpoint(); } } beingDragged = false; #endif // ANDROID } void Block::mousePressEvent(QGraphicsSceneMouseEvent * event) { EventActionsSet* parentSet(dynamic_cast(parentItem())); if (parentSet) { parentSet->setSoleSelection(); } QGraphicsItem::mousePressEvent(event); } ///// BlockWithNoValues::BlockWithNoValues(const QString& type, const QString& name, QGraphicsItem *parent): Block(type, name, parent) {} BlockWithBody::BlockWithBody(const QString& type, const QString& name, bool up, QGraphicsItem *parent) : Block(type, name, parent), up(up), bodyColor(Qt::white) { } void BlockWithBody::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Block::paint(painter, option, widget); ThymioBody::drawBody(painter, 128, 128, up, bodyColor); } BlockWithButtons::BlockWithButtons(const QString& type, const QString& name, bool up, QGraphicsItem *parent) : BlockWithBody(type, name, up, parent) { } unsigned BlockWithButtons::valuesCount() const { return buttons.size(); } int BlockWithButtons::getValue(unsigned i) const { if (i < (unsigned)buttons.size()) return buttons.at(i)->getValue(); return -1; } void BlockWithButtons::setValue(unsigned i, int value) { if (i < (unsigned)buttons.size()) buttons.at(i)->setValue(value); emit contentChanged(); } QVector BlockWithButtons::getValuesCompressed() const { unsigned value(0); for (int i=0; ivaluesCount(); value += buttons[i]->getValue(); } assert(value <= 65535); return QVector(1, value); } BlockWithButtonsAndRange::BlockWithButtonsAndRange(const QString& type, const QString& name, bool up, const PixelToValModel pixelToValModel, int lowerBound, int upperBound, int defaultLow, int defaultHigh, const QColor& lowColor, const QColor& highColor, bool advanced, QGraphicsItem *parent) : BlockWithButtons(type, name, up, parent), pixelToValModel(pixelToValModel), lowerBound(lowerBound), upperBound(upperBound), range(upperBound-lowerBound), defaultLow(defaultLow), defaultHigh(defaultHigh), lowColor(lowColor), highColor(highColor), low(defaultLow), high(defaultHigh), buttonsCountSimple(-1), lastPressedIn(false), showRangeControl(advanced) { } void BlockWithButtonsAndRange::paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { // paint parent BlockWithButtons::paint(painter, option, widget); if (showRangeControl) { // draw selectors const int x(32); const int y(100); const int w(192); const int h(96); const int lowPos(valToPixel(low)); const int highPos(valToPixel(high)); // compute what we should show bool isAnyClose(false); bool isAnyFar(false); bool isAnyRange(false); for (int i=0; igetValue()); isAnyClose = isAnyClose || value == 1; isAnyFar = isAnyFar || value == 2; isAnyRange = isAnyRange || value == 3; } // background painter->setPen(QPen(Style::unusedButtonStrokeColor, 4, Qt::SolidLine, Qt::SquareCap, Qt::RoundJoin)); painter->setBrush(Qt::NoBrush); painter->fillRect(x,y,w,h,Style::unusedButtonFillColor); painter->drawRect(x,y,w,h/2); painter->drawRect(x,y+h/2,w,h/2); if (isAnyClose) { painter->setPen(QPen(Qt::red, 4, Qt::SolidLine, Qt::SquareCap, Qt::RoundJoin)); painter->fillRect(x+highPos,y,w-highPos,48,highColor); painter->drawRect(x+highPos,y,w-highPos,48); } painter->setPen(QPen(Qt::black, 4, Qt::SolidLine, Qt::SquareCap, Qt::RoundJoin)); if (isAnyFar) { painter->fillRect(x,y+48,lowPos,48,lowColor); painter->drawRect(x,y+48,lowPos,48); } painter->setPen(QPen(QColor(128,0,0), 4, Qt::SolidLine, Qt::SquareCap, Qt::RoundJoin)); if (isAnyRange) { //painter->fillRect(x+highPos,y+24,lowPos-highPos,48,Qt::darkGray); QLinearGradient linearGrad(QPointF(x+highPos, 0), QPointF(x+lowPos, 0)); linearGrad.setColorAt(0,highColor); linearGrad.setColorAt(1,lowColor); painter->fillRect(x+highPos,y+24,lowPos-highPos,48,QBrush(linearGrad)); painter->drawRect(x+highPos,y+24,lowPos-highPos,48); } // cursors painter->setPen(QPen(Qt::black, 4, Qt::SolidLine, Qt::SquareCap, Qt::RoundJoin)); painter->setBrush(Qt::white); if (isAnyClose || isAnyRange) { QPolygon highCursor; highCursor << QPoint(x+highPos+23, y) << QPoint(x+highPos-23, y) << QPoint(x+highPos-23, y+23) << QPoint(x+highPos, y+46) << QPoint(x+highPos+23, y+23); painter->drawConvexPolygon(highCursor); } if (isAnyFar || isAnyRange) { QPolygon lowCursor; lowCursor << QPoint(x+lowPos, y+50) << QPoint(x+lowPos+23, y+50+23) << QPoint(x+lowPos+23, y+96) << QPoint(x+lowPos-23, y+96) << QPoint(x+lowPos-23, y+50+23); painter->drawConvexPolygon(lowCursor); } } } void BlockWithButtonsAndRange::mousePressEvent(QGraphicsSceneMouseEvent * event) { if (!showRangeControl) { BlockWithButtons::mousePressEvent(event); return; } QPointF pos(event->pos()); lastPressedIn = (event->button() == Qt::LeftButton && rangeRect().contains(pos)); if (lastPressedIn) mouseMoveEvent(event); } void BlockWithButtonsAndRange::mouseMoveEvent(QGraphicsSceneMouseEvent * event) { if (!showRangeControl || !lastPressedIn) { BlockWithButtons::mouseMoveEvent(event); return; } const QRectF& r(rangeRect()); QPointF pos(event->pos()); if (!((event->buttons() & Qt::LeftButton) && r.contains(pos))) { pos -= r.topLeft(); if (pos.y() < 48 && pos.x() >= r.width()) { high = upperBound; update(); emit contentChanged(); } if (pos.y() >= 48 && pos.x() <= 0) { low = lowerBound; update(); emit contentChanged(); } return; } pos -= r.topLeft(); if (pos.y() >= 48) { low = pixelToVal(pos.x()); low = std::min(low, pixelToVal(r.width()-23)); high = std::max(low, high); } else { high = pixelToVal(pos.x()); high = std::max(high, pixelToVal(23)); low = std::min(low, high); } update(); emit contentChanged(); } void BlockWithButtonsAndRange::mouseReleaseEvent(QGraphicsSceneMouseEvent * event) { BlockWithButtons::mouseReleaseEvent(event); USAGE_LOG(logBlockMouseRelease(this->name, this->type, event)); emit undoCheckpoint(); } unsigned BlockWithButtonsAndRange::valuesCount() const { return BlockWithButtons::valuesCount() + 2; } int BlockWithButtonsAndRange::getValue(unsigned i) const { const unsigned buttonsCount(buttons.size()); if (i < buttonsCount) return BlockWithButtons::getValue(i); i -= buttonsCount; if (i == 0) return low; else return high; } void BlockWithButtonsAndRange::setValue(unsigned i, int value) { const unsigned buttonsCount(buttons.size()); if (i < buttonsCount) { BlockWithButtons::setValue(i, value); } else { i -= buttonsCount; if (i == 0) low = value; else high = value; emit contentChanged(); } updateIndicationLEDsOpacity(); } QVector BlockWithButtonsAndRange::getValuesCompressed() const { QVector values(BlockWithButtons::getValuesCompressed()); values.append(low); values.append(high); return values; } bool BlockWithButtonsAndRange::isAnyValueSet() const { for (unsigned i=0; i 0) return true; } return false; } bool BlockWithButtonsAndRange::isAnyAdvancedFeature() const { bool isButtonAdvanced(false); // check whether any button is in advanced mode if (buttonsCountSimple >= 0) for (int i=0; igetValue() >= buttonsCountSimple); return (low != defaultLow) || (high != defaultHigh) || isButtonAdvanced; } void BlockWithButtonsAndRange::setAdvanced(bool advanced) { if (!advanced) { low = defaultLow; high = defaultHigh; // make sure no button is in advanced mode if (buttonsCountSimple >= 0) for (int i=0; isetStateCountLimit(buttonsCountSimple); } else { // disable limit in any case for (int i=0; isetStateCountLimit(-1); } BlockWithButtons::setAdvanced(advanced); showRangeControl = advanced; emit contentChanged(); } QRectF BlockWithButtonsAndRange::rangeRect() const { return QRectF(32,100,192,96); } float BlockWithButtonsAndRange::pixelToVal(float pixel) const { // pixel to relative const float width(rangeRect().width() - 46); pixel -= 23; pixel = std::min(std::max(0.f, pixel), width); const float factor(pixel/width); // log/linear correction and precision setting int v, precision; if (pixelToValModel == PIXEL_TO_VAL_LINEAR) { v = range * factor + lowerBound; precision = 25; } else { v = range * factor * factor + lowerBound; const int midpoint_table[] = { 10, 100, 200, 500, 750, 1000, 2000, 4000, -1 }; int bestDist = std::numeric_limits::max(); precision = 10; int i = 0; while (midpoint_table[i] != -1) { int d = abs(midpoint_table[i] - v); if (d < bestDist) { bestDist = d; precision = midpoint_table[i] / 10; } ++i; } } // rounding v = round(v / precision) * precision; return std::min(std::max(lowerBound, v), lowerBound + range); } float BlockWithButtonsAndRange::valToPixel(float val) const { val = std::min(std::max((float)lowerBound, val), (float)upperBound); const float width(rangeRect().width() - 46); if (pixelToValModel == PIXEL_TO_VAL_LINEAR) return 23+width*((val-lowerBound)/float(range)); else return 23+width*(sqrt((val-lowerBound)/float(range))); } //! Create a point with a gradient representing a LED on the robot QGraphicsItem* BlockWithButtonsAndRange::createIndicationLED(int x, int y) { QGraphicsEllipseItem* ledIndication = new QGraphicsEllipseItem(x-12,y-12,24,24,this); QRadialGradient grad(x,y,12); grad.setColorAt(0, Qt::red); grad.setColorAt(1, Qt::transparent); ledIndication->setBrush(grad); ledIndication->setPen(Qt::NoPen); return ledIndication; } //! For every button, update the indication LED accordingly void BlockWithButtonsAndRange::updateIndicationLEDsOpacity(void) { // we need to have one LED per button for this function to work if (indicationLEDs.size() != buttons.size()) return; for (int i=0; igetValue()) { case 0: indicationLEDs[i]->setOpacity(0); break; case 1: indicationLEDs[i]->setOpacity(1); break; case 2: indicationLEDs[i]->setOpacity(0); break; case 3: indicationLEDs[i]->setOpacity(0.5); break; default: assert(false); } } } // State Filter Action StateFilterBlock::StateFilterBlock(const QString& type, const QString& name, QGraphicsItem *parent) : BlockWithButtons(type, name, true, parent) { const int angles[4] = {0,90,270,180}; for(uint i=0; i<4; i++) { GeometryShapeButton *button = new GeometryShapeButton(QRectF(-30,-30,60,60), GeometryShapeButton::QUARTER_CIRCLE_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); button->setPos(128 + (i%2)*90 - 45, 128 + (i/2)*90 - 45 + 5); button->setRotation(angles[i]); button->addState(QColor(255,128,0)); button->addState(Qt::white); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); } } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/Block.h000066400000000000000000000165031322771007300222670ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_CARD_H #define VPL_CARD_H #include #include #include #include class QMimeData; class QSlider; class QDomDocument; namespace Aseba { namespace ThymioVPL { /** \addtogroup studio */ /*@{*/ class GeometryShapeButton; /** An "event" or "action" block. These blocks have a type (event or action) and a name (prox, etc.) and may provide several values (set/get by setValue()/getValue()). These values are set by the user through buttons (typically GeometryShapeButton), sliders, or specific widgets. */ class Block : public QGraphicsObject { Q_OBJECT public: // TODO: move that somewhere else class ThymioBody : public QGraphicsItem { public: ThymioBody(QGraphicsItem *parent = 0, int yShift = 0) : QGraphicsItem(parent), bodyColor(Qt::white), yShift(yShift), up(true) { } void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); QRectF boundingRect() const { return QRectF(-128, -128+yShift, 256, 256); } void setUp(bool u) { up = u; } static void drawBody(QPainter * painter, int xShift, int yShift, bool up, const QColor& bodyColor); QColor bodyColor; private: const int yShift; bool up; }; static Block* createBlock(const QString& name, bool advanced=false, QGraphicsItem *parent=0); Block(const QString& type, const QString& name, QGraphicsItem *parent=0); virtual ~Block(); QString getType() const { return type; } QString getName() const { return name; } QString getTranslatedName() const; unsigned getNameAsUInt4() const; virtual unsigned valuesCount() const = 0; virtual int getValue(unsigned i) const = 0; virtual void setValue(unsigned i, int value) = 0; virtual QVector getValuesCompressed() const = 0; virtual bool isAnyValueSet() const; void resetValues(); virtual bool isAdvancedBlock() const { return false; } virtual bool isAnyAdvancedFeature() const { return isAdvancedBlock(); } virtual void setAdvanced(bool advanced) {} QMimeData* mimeData() const; QDomElement serialize(QDomDocument& document) const; static Block* deserialize(const QDomElement& element, bool advanced); static Block* deserialize(const QByteArray& data, bool advanced); static QString deserializeType(const QByteArray& data); static QString deserializeName(const QByteArray& data); virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); QRectF boundingRect() const { return QRectF(0, 0, 256, 256); } virtual QImage image(qreal factor=1); QImage translucidImage(qreal factor=1); void render(QPainter& painter); protected slots: void clearChangedFlag(); void setChangedFlag(); void emitUndoCheckpointAndClearIfChanged(); signals: void contentChanged(); void undoCheckpoint(); public: const QString type; const QString name; bool beingDragged; bool keepAfterDrop; protected: void renderChildItems(QPainter& painter, QGraphicsItem* item, QStyleOptionGraphicsItem& opt); virtual void mouseMoveEvent(QGraphicsSceneMouseEvent *event); virtual void mousePressEvent(QGraphicsSceneMouseEvent * event); bool changed; }; class BlockWithNoValues: public Block { public: BlockWithNoValues(const QString& type, const QString& name, QGraphicsItem *parent); virtual unsigned valuesCount() const { return 0; } virtual int getValue(unsigned i) const { return -1; } virtual void setValue(unsigned i, int value) {} virtual QVector getValuesCompressed() const { return QVector(); } }; class BlockWithBody: public Block { public: BlockWithBody(const QString& type, const QString& name, bool up, QGraphicsItem *parent); virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); public: const bool up; protected: QColor bodyColor; }; class BlockWithButtons: public BlockWithBody { public: BlockWithButtons(const QString& type, const QString& name, bool up, QGraphicsItem *parent); virtual unsigned valuesCount() const; virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; protected: QList buttons; }; class BlockWithButtonsAndRange: public BlockWithButtons { Q_OBJECT public: enum PixelToValModel { PIXEL_TO_VAL_LINEAR, PIXEL_TO_VAL_SQUARE }; public: BlockWithButtonsAndRange(const QString& type, const QString& name, bool up, const PixelToValModel pixelToValModel, int lowerBound, int upperBound, int defaultLow, int defaultHigh, const QColor& lowColor, const QColor& highColor, bool advanced, QGraphicsItem *parent); virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); virtual unsigned valuesCount() const; virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; virtual bool isAnyValueSet() const; virtual bool isAnyAdvancedFeature() const; virtual void setAdvanced(bool advanced); public: const PixelToValModel pixelToValModel; //< whether we have a linear or square mapping const int lowerBound; const int upperBound; const int range; const int defaultLow; const int defaultHigh; const QColor lowColor; const QColor highColor; protected: virtual void mousePressEvent( QGraphicsSceneMouseEvent * event); virtual void mouseMoveEvent(QGraphicsSceneMouseEvent * event); virtual void mouseReleaseEvent(QGraphicsSceneMouseEvent * event); QRectF rangeRect() const; float pixelToVal(float pixel) const; float valToPixel(float val) const; QGraphicsItem* createIndicationLED(int x, int y); protected slots: void updateIndicationLEDsOpacity(void); protected: int low; //< low activation threshold (at right) int high; //< high activation threshold (at left) int buttonsCountSimple; //< only show that number of buttons in basic mode, default is -1, no limitation bool lastPressedIn; //< whether last mouse press event was in bool showRangeControl; //< whether we are in advanced mode QList indicationLEDs; //< indication LEDs on the robot's body }; class StateFilterBlock: public BlockWithButtons { public: StateFilterBlock(const QString& type, const QString& name, QGraphicsItem *parent=0); virtual bool isAdvancedBlock() const { return true; } }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/Buttons.cpp000066400000000000000000000205611322771007300232250ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "Buttons.h" #include "Block.h" #include "EventBlocks.h" #include "ActionBlocks.h" #include "Scene.h" #include "ThymioVisualProgramming.h" #include "Style.h" #include "../../../../common/utils/utils.h" #include "UsageLogger.h" namespace Aseba { namespace ThymioVPL { // Clickable button GeometryShapeButton::GeometryShapeButton (const QRectF rect, const ButtonType type, QGraphicsItem *parent, const QColor& initBrushColor, const QColor& initPenColor) : QGraphicsObject(parent), buttonType(type), boundingRectangle(rect), stateCountLimit(-1), curState(0), toggleState(true) { colors.push_back(qMakePair(initBrushColor, initPenColor)); } //! Return the number of states unsigned GeometryShapeButton::valuesCount() const { return colors.size(); } void GeometryShapeButton::setValue(int state) { if (state < colors.size()) { curState = state; update(); } } void GeometryShapeButton::setStateCountLimit(int limit) { stateCountLimit = limit; if (limit > 0 && curState >= limit) { setValue(limit-1); emit stateChanged(); } } void GeometryShapeButton::addState(const QColor& brushColor, const QColor& penColor) { colors.push_back(qMakePair(brushColor, penColor)); } void GeometryShapeButton::paint ( QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget ) { painter->setBrush(colors[curState].first); painter->setPen(QPen(colors[curState].second, 5, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); // outline switch (buttonType) { case CIRCULAR_BUTTON: painter->drawEllipse(boundingRectangle); break; case TRIANGULAR_BUTTON: { QPointF points[3]; points[0] = (boundingRectangle.topLeft() + boundingRectangle.topRight())*0.5; points[1] = boundingRectangle.bottomLeft(); points[2] = boundingRectangle.bottomRight(); painter->drawPolygon(points, 3); } break; case QUARTER_CIRCLE_BUTTON: { const int x(boundingRectangle.x()); const int y(boundingRectangle.y()); const int w(boundingRectangle.width()); const int h(boundingRectangle.height()); painter->setPen(QPen(colors[curState].second, 35, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->drawArc(x,y,2*w,2*h,(90+15)*16, (90-30)*16); painter->setPen(QPen(colors[curState].first, 25, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->drawArc(x,y,2*w,2*h,(90+15)*16, (90-30)*16); } break; default: painter->drawRect(boundingRectangle); break; } } void GeometryShapeButton::mousePressEvent ( QGraphicsSceneMouseEvent * event ) { if( event->button() == Qt::LeftButton ) { if( toggleState ) { int stateCount(stateCountLimit > 0 ? qMin(colors.size(), stateCountLimit) : colors.size()); curState = (curState + 1) % stateCount; } else { curState = 1; for( QList::iterator itr = siblings.begin(); itr != siblings.end(); ++itr ) (*itr)->setValue(0); } update(); emit stateChanged(); } } AddRemoveButton::AddRemoveButton(bool add, QGraphicsItem *parent) : QGraphicsObject(parent), add(add) { setAcceptedMouseButtons(Qt::LeftButton); } void AddRemoveButton::paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); // background painter->setPen(Qt::NoPen); painter->setBrush(Style::addRemoveButtonBackgroundColor); painter->drawRoundedRect(boundingRect(), Style::addRemoveButtonCornerSize, Style::addRemoveButtonCornerSize); const int hx(boundingRect().width()/2); const int hy(boundingRect().height()/2); painter->setPen(QPen(Qt::white,5,Qt::SolidLine,Qt::RoundCap)); if (add) { painter->drawLine(hx+-16,hy+0,hx+16,hy+0); painter->drawLine(hx+0,hy+-16,hx+0,hy+16); } else { painter->drawLine(hx+-11,hy+-11,hx+11,hy+11); painter->drawLine(hx+-11,hy+11,hx+11,hy+-11); } } QRectF AddRemoveButton::boundingRect() const { return QRectF(0, 0, Style::addRemoveButtonWidth, Style::addRemoveButtonHeight); } void AddRemoveButton::mousePressEvent ( QGraphicsSceneMouseEvent * event ) { } void AddRemoveButton::mouseReleaseEvent ( QGraphicsSceneMouseEvent * event ) { if (boundingRect().contains(event->pos())) emit clicked(); } RemoveBlockButton::RemoveBlockButton(QGraphicsItem *parent) : QGraphicsObject(parent) { setAcceptedMouseButtons(Qt::LeftButton); } void RemoveBlockButton::paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); // background painter->setPen(Qt::NoPen); painter->setBrush(Qt::white); painter->drawRoundedRect(boundingRect(), Style::addRemoveButtonCornerSize, Style::addRemoveButtonCornerSize); const int hx(boundingRect().width()/2); const int hy(boundingRect().height()/2); painter->setPen(QPen(Style::addRemoveButtonBackgroundColor,5,Qt::SolidLine,Qt::RoundCap)); painter->drawLine(hx+-11,hy+-11,hx+11,hy+11); painter->drawLine(hx+-11,hy+11,hx+11,hy+-11); } QRectF RemoveBlockButton::boundingRect() const { return QRectF(0, 0, Style::removeBlockButtonWidth, Style::removeBlockButtonHeight); } void RemoveBlockButton::mousePressEvent ( QGraphicsSceneMouseEvent * event ) { } void RemoveBlockButton::mouseReleaseEvent ( QGraphicsSceneMouseEvent * event ) { if (boundingRect().contains(event->pos())) emit clicked(); } BlockButton::BlockButton(const QString& name, ThymioVisualProgramming* vpl, QWidget *parent) : QPushButton(parent), block(Block::createBlock(name)), vpl(vpl) { setToolTip(block->getTranslatedName()); setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum); setStyleSheet("QPushButton {border: none; }"); updateBlockImage(false); setAcceptDrops(true); } BlockButton::~BlockButton() { assert(block); delete(block); } QString BlockButton::getName() const { assert(block); return block->getName(); } //! Re-render the block image void BlockButton::updateBlockImage(bool advanced) { block->setAdvanced(advanced); setIcon(QPixmap::fromImage(block->image(1.))); } void BlockButton::mouseMoveEvent( QMouseEvent *event ) { #ifndef ANDROID assert(block); QDrag *drag = new QDrag(this); drag->setMimeData(block->mimeData()); drag->setPixmap(QPixmap::fromImage(block->translucidImage(vpl->getViewScale()))); const qreal thisScale = width() / 256.; drag->setHotSpot(event->pos()*vpl->getViewScale() / thisScale); Qt::DropAction dragResult(drag->exec(Qt::CopyAction)); if (dragResult != Qt::IgnoreAction) { emit contentChanged(); USAGE_LOG(logButtonDrag(block->name, block->type, event, drag)); emit undoCheckpoint(); } #endif // ANDROID } void BlockButton::dragEnterEvent( QDragEnterEvent *event ) { if (event->mimeData()->hasFormat("Block") && (Block::deserializeType(event->mimeData()->data("Block")) == block->getType()) ) event->accept(); else event->ignore(); } void BlockButton::dropEvent( QDropEvent *event ) { if (event->mimeData()->hasFormat("Block") && (Block::deserializeType(event->mimeData()->data("Block")) == block->getType()) ){ event->accept(); USAGE_LOG(logDropButton(this, event)); } else event->ignore(); } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/Buttons.h000066400000000000000000000100111322771007300226570ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_BUTTONS_H #define VPL_BUTTONS_H #include #include class QSlider; class QTimeLine; class QMimeData; // FIXME: split this file into two namespace Aseba { namespace ThymioVPL { /** \addtogroup studio */ /*@{*/ class Block; class ThymioVisualProgramming; class GeometryShapeButton : public QGraphicsObject { Q_OBJECT public: enum ButtonType { CIRCULAR_BUTTON = 0, TRIANGULAR_BUTTON, RECTANGULAR_BUTTON, QUARTER_CIRCLE_BUTTON }; //! Create a button with initially one state GeometryShapeButton (const QRectF rect, const ButtonType type, QGraphicsItem *parent=0, const QColor& initBrushColor = Qt::white, const QColor& initPenColor = Qt::black); void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); QRectF boundingRect() const { return boundingRectangle; } int getValue() const { return curState; } void setValue(int state); unsigned valuesCount() const; void setStateCountLimit(int limit); void setToggleState(bool state) { toggleState = state; update(); } void addState(const QColor& brushColor = Qt::white, const QColor& penColor = Qt::black); void addSibling(GeometryShapeButton *s) { siblings.push_back(s); } signals: void stateChanged(); protected: const ButtonType buttonType; const QRectF boundingRectangle; int stateCountLimit; //!< limit of the value of curState, -1 if disabled int curState; bool toggleState; //! a (brush,pen) color pair typedef QPair ColorPair; QList colors; QList siblings; virtual void mousePressEvent ( QGraphicsSceneMouseEvent * event ); }; class AddRemoveButton : public QGraphicsObject { Q_OBJECT public: AddRemoveButton(bool add, QGraphicsItem *parent=0); virtual void paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); QRectF boundingRect() const; signals: void clicked(); protected: virtual void mousePressEvent ( QGraphicsSceneMouseEvent * event ); virtual void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event ); protected: bool add; }; class RemoveBlockButton : public QGraphicsObject { Q_OBJECT public: RemoveBlockButton(QGraphicsItem *parent=0); virtual void paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); QRectF boundingRect() const; signals: void clicked(); protected: virtual void mousePressEvent ( QGraphicsSceneMouseEvent * event ); virtual void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event ); }; class BlockButton : public QPushButton { Q_OBJECT signals: void contentChanged(); void undoCheckpoint(); public: BlockButton(const QString& name, ThymioVisualProgramming* vpl, QWidget *parent=0); ~BlockButton(); QString getName() const; void updateBlockImage(bool advanced); protected: virtual void mouseMoveEvent( QMouseEvent *event ); virtual void dragEnterEvent( QDragEnterEvent *event ); virtual void dropEvent( QDropEvent *event ); protected: Block *block; ThymioVisualProgramming* vpl; }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif // VPL_BUTTONS_H aseba-1.6.0/clients/studio/plugins/ThymioVPL/Compiler.cpp000066400000000000000000000100721322771007300233350ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "Compiler.h" #include "Scene.h" namespace Aseba { namespace ThymioVPL { using namespace std; //! Create a compilation result object representing a success Compiler::CompilationResult::CompilationResult(): errorType(NO_ERROR), errorLine(-1), referredLine(-1) {} //! Create a compilation result object with a given error type and lines Compiler::CompilationResult::CompilationResult(ErrorType errorType, int errorLine, int referredLine): errorType(errorType), errorLine(errorLine), referredLine(referredLine) {} //! Return whether the compilation was a success or not bool Compiler::CompilationResult::isSuccessful() const { return errorType == NO_ERROR; } //! Return the error message for this result QString Compiler::CompilationResult::getMessage(bool advanced) const { switch (errorType) { case NO_ERROR: { return QObject::tr("Compilation success"); } case MISSING_EVENT: { return QObject::tr("Line %0: Missing event").arg(errorLine+1); } case MISSING_ACTION: { return QObject::tr("Line %0: Missing action").arg(errorLine+1); } case DUPLICATED_EVENT: { if (!advanced) return QObject::tr("The event in line %0 is the same as in line %1").arg(errorLine+1).arg(referredLine+1); else return QObject::tr("The event and the state condition in line %0 are the same as in line %1").arg(errorLine+1).arg(referredLine+1); } default: return QObject::tr("Unknown VPL error"); } } ////// //! Compile a scene, return the result Compiler::CompilationResult Compiler::compile(const Scene* scene) { definedEventMap.clear(); codeGenerator.reset(scene->getAdvanced()); unsigned errorLine = 0; for (Scene::SetConstItr it(scene->setsBegin()); it != scene->setsEnd(); ++it, ++errorLine) { const EventActionsSet& eventActionsSet(*(*it)); // ignore empty sets if (eventActionsSet.isEmpty()) continue; // we need an event if (!eventActionsSet.hasEventBlock()) return CompilationResult(MISSING_EVENT, errorLine); // we need at least one action if (!eventActionsSet.hasAnyActionBlock()) return CompilationResult(MISSING_ACTION, errorLine); // event and state filter configurations must be unique const QString hash(eventActionsSet.getEventAndStateFilterHash()); if (definedEventMap.contains(hash)) return CompilationResult(DUPLICATED_EVENT, errorLine, definedEventMap[hash]); definedEventMap[hash] = errorLine; // dispatch to code generator codeGenerator.visit(eventActionsSet, scene->debugLog()); } codeGenerator.link(); return CompilationResult(); } //! Return the mapping between a set identifier (its row) and the corresponding block of code int Compiler::getSetToCodeIdMap(int id) const { if ((id >= 0) && (id < int(codeGenerator.setToCodeIdMap.size()))) return codeGenerator.setToCodeIdMap[id]; return -1; } //! Iterator to te start of the code Compiler::CodeConstIterator Compiler::beginCode() const { return codeGenerator.generatedCode.begin(); } //! Iterator to te end of the code Compiler::CodeConstIterator Compiler::endCode() const { return codeGenerator.generatedCode.end(); } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/Compiler.h000066400000000000000000000121311322771007300230000ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_COMPILER_H #define VPL_COMPILER_H #include #include #include #include #include #include #include #include #include #include namespace Aseba { namespace ThymioVPL { class Scene; class Block; class EventActionsSet; //! The VPL compiler class Compiler { public: //! Possible errors that can happen during compilation enum ErrorType { NO_ERROR = 0, MISSING_EVENT, MISSING_ACTION, DUPLICATED_EVENT }; //! Result of a compilation struct CompilationResult { CompilationResult(); CompilationResult(ErrorType errorType, int errorLine=-1, int referredLine=-1); ErrorType errorType; int errorLine; //!< error line number, counting from 0 int referredLine; //!< referred line number, counting from 0 bool isSuccessful() const; QString getMessage(bool advanced) const; }; //! An iterator on the generated code typedef std::vector::const_iterator CodeConstIterator; protected: //! Everything needed to generate code class CodeGenerator { public: CodeGenerator(); ~CodeGenerator(); void reset(bool advanced); void visit(const EventActionsSet& eventActionsSet, bool debugLog); void link(); protected: void clearEventHandlers(); std::wstring generateInitialisationCode() const; std::wstring indentText() const; void visitEndOfLine(std::wstring& currentCode); void visitExecFeedback(const EventActionsSet& eventActionsSet, std::wstring& currentCode); void visitDebugLog(const EventActionsSet& eventActionsSet, std::wstring& currentCode); void visitEventAndStateFilter(const Block* block, const Block* stateFilterBlock, std::wstring& currentCode); std::wstring visitEventArrowButtons(const Block* block); std::wstring visitEventProx(const Block* block); std::wstring visitEventProxGround(const Block* block); std::wstring visitEventAccPre(const Block* block); std::wstring visitEventAcc(const Block* block); void visitAction(const Block* block, std::wstring& currentCode, bool& isStateSet); std::wstring visitActionMove(const Block* block); std::wstring visitActionTopColor(const Block* block); std::wstring visitActionBottomColor(const Block* block); std::wstring visitActionSound(const Block* block); std::wstring visitActionTimer(const Block* block); std::wstring visitActionSetState(const Block* block, bool& isStateSet); public: std::vector generatedCode; std::vector setToCodeIdMap; protected: struct EventHandler { typedef QPair PairCodeAndIndex; QVector code; bool isStateSet; virtual ~EventHandler() {} void clear() { code.clear(); isStateSet = false; } virtual void generateAdditionalCode(); }; struct ButtonEventHandler: EventHandler { virtual void generateAdditionalCode(); }; struct ProxEventHandler: EventHandler { virtual void generateAdditionalCode(); }; struct TapEventHandler: EventHandler { virtual void generateAdditionalCode(); }; struct AccEventHandler: EventHandler { virtual void generateAdditionalCode(); }; struct ClapEventHandler: EventHandler { virtual void generateAdditionalCode(); }; struct TimeoutEventHandler: EventHandler { virtual void generateAdditionalCode(); }; struct RemoteControlEventHandler: EventHandler { virtual void generateAdditionalCode(); }; typedef QMap EventHandlers; EventHandlers eventHandlers; std::wstring initCode; bool advancedMode; bool useSound; bool inWhenBlock; bool inIfBlock; }; public: CompilationResult compile(const Scene* scene); int getSetToCodeIdMap(int id) const; CodeConstIterator beginCode() const; CodeConstIterator endCode() const; protected: //! Map of defined events, for duplication checking typedef QMap DefinedEventMap; protected: //! The code generator holds the result of compilation CodeGenerator codeGenerator; //! The map of defined events, for duplication checking DefinedEventMap definedEventMap; }; } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/CompilerVisitors.cpp000066400000000000000000000553421322771007300251110ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include "Compiler.h" #include "Block.h" #include "EventActionsSet.h" #include "EventBlocks.h" namespace Aseba { namespace ThymioVPL { using namespace std; static wstring toWstring(int val) { wstringstream streamVal; streamVal << val; return streamVal.str(); } ////// void Compiler::CodeGenerator::EventHandler::generateAdditionalCode() { if (isStateSet) code.append(EventHandler::PairCodeAndIndex( L"\tcall math.copy(state, new_state)" L"\n\tcallsub display_state\n\n", -1)); } void Compiler::CodeGenerator::ButtonEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex(L"\nonevent buttons\n", -1)); } void Compiler::CodeGenerator::ProxEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex(L"\nonevent prox\n", -1)); } void Compiler::CodeGenerator::TapEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex(L"\nonevent tap\n", -1)); } void Compiler::CodeGenerator::AccEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex(L"\nonevent acc\n", -1)); } void Compiler::CodeGenerator::ClapEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex(L"\nonevent mic\n", -1)); } void Compiler::CodeGenerator::TimeoutEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex( L"\nonevent timer0\n" L"\ttimer.period[0] = 0\n", -1)); } void Compiler::CodeGenerator::RemoteControlEventHandler::generateAdditionalCode() { EventHandler::generateAdditionalCode(); code.prepend(EventHandler::PairCodeAndIndex(L"\nonevent rc5\n", -1)); }; ////// //! Create a compiler ready to be used Compiler::CodeGenerator::CodeGenerator() : advancedMode(false), useSound(false), inWhenBlock(false), inIfBlock(false) { eventHandlers["button"] = new ButtonEventHandler(); eventHandlers["prox"] = new ProxEventHandler(); eventHandlers["tap"] = new TapEventHandler(); eventHandlers["acc"] = new AccEventHandler(); eventHandlers["clap"] = new ClapEventHandler(); eventHandlers["timeout"] = new TimeoutEventHandler(); eventHandlers["rc5"] = new RemoteControlEventHandler(); } Compiler::CodeGenerator::~CodeGenerator() { for (EventHandlers::iterator it(eventHandlers.begin()); it != eventHandlers.end(); ++it) delete *it; } //! reset the compiler to its initial state, for advanced or basic mode void Compiler::CodeGenerator::reset(bool advanced) { clearEventHandlers(); generatedCode.clear(); setToCodeIdMap.clear(); advancedMode = advanced; useSound = false; inWhenBlock = false; inIfBlock = false; } //! Initialize the map of events and their code void Compiler::CodeGenerator::clearEventHandlers() { for (EventHandlers::iterator it(eventHandlers.begin()); it != eventHandlers.end(); ++it) (*it)->clear(); } //! Link all event handles together into their void Compiler::CodeGenerator::link() { // complete the code of the different event handlers bool wasCode(false); for (EventHandlers::iterator it(eventHandlers.begin()); it != eventHandlers.end(); ++it) { EventHandler* eventHandler(*it); if (!eventHandler->code.isEmpty()) { wasCode = true; eventHandler->generateAdditionalCode(); } } // if no code, do not generate any initial code if (!wasCode) return; // generate initialisation code generatedCode.push_back(generateInitialisationCode()); // collect code from all handlers map rowIdToCode; int maxRow(0); for (EventHandlers::iterator it(eventHandlers.begin()); it != eventHandlers.end(); ++it) { EventHandler* eventHandler(*it); for (QVector::const_iterator jt(eventHandler->code.begin()); jt != eventHandler->code.end(); ++jt) { const EventHandler::PairCodeAndIndex codeAndIndex(*jt); rowIdToCode[codeAndIndex.second] = generatedCode.size(); generatedCode.push_back(codeAndIndex.first); maxRow = std::max(maxRow, codeAndIndex.second); } } // copy the collected set to the vector setToCodeIdMap.resize(maxRow+1); for (int i = 0; i <= maxRow; ++i) { map::const_iterator codeIndex(rowIdToCode.find(i)); if (codeIndex != rowIdToCode.end()) setToCodeIdMap[i] = codeIndex->second; else setToCodeIdMap[i] = -1; } } //! Add initialization code after all pairs have been parsed wstring Compiler::CodeGenerator::generateInitialisationCode() const { wstring text; if (advancedMode) { text += L"# variables for state\n"; text += L"var state[4] = [0,0,0,0]\n"; text += L"var new_state[4] = [0,0,0,0]\n"; text += L"\n"; } if (!eventHandlers["acc"]->code.isEmpty()) { text += L"# variable for angle\n"; text += L"var angle\n"; } if (useSound) { text += L"# variables for notes\n"; text += L"var notes[6]\n"; text += L"var durations[6]\n"; text += L"var note_index = 6\n"; text += L"var note_count = 6\n"; text += L"var wave[142]\n"; text += L"var i\n"; text += L"var wave_phase\n"; text += L"var wave_intensity\n"; text += L"\n# compute a sinus wave for sound\n"; text += L"for i in 0:141 do\n"; text += L"\twave_phase = (i-70)*468\n"; text += L"\tcall math.cos(wave_intensity, wave_phase)\n"; text += L"\twave[i] = wave_intensity/256\n"; text += L"end\n"; text += L"call sound.wave(wave)\n"; } if (!eventHandlers["timeout"]->code.isEmpty()) { text += L"# stop timer 0\n"; text += L"timer.period[0] = 0\n"; } if (!eventHandlers["clap"]->code.isEmpty()) { text += L"# setup threshold for detecting claps\n"; text += L"mic.threshold = 250\n"; } text += L"# reset outputs\n"; text += L"call sound.system(-1)\n"; text += L"call leds.top(0,0,0)\n"; text += L"call leds.bottom.left(0,0,0)\n"; text += L"call leds.bottom.right(0,0,0)\n"; text += L"call leds.circle(0,0,0,0,0,0,0,0)\n"; if (advancedMode) { text += L"\n# subroutine to display the current state\n"; text += L"sub display_state\n"; text += L"\tcall leds.circle(0,state[1]*32,0,state[3]*32,0,state[2]*32,0,state[0]*32)\n"; } if (useSound) { text += L"\n# when a note is finished, play the next note\n"; text += L"onevent sound.finished\n"; text += L"\tif note_index != note_count then\n"; text += L"\t\tcall sound.freq(notes[note_index], durations[note_index])\n"; text += L"\t\tnote_index += 1\n"; text += L"\tend\n"; } return text; } wstring Compiler::CodeGenerator::indentText() const { wstring text(L"\t"); if (inWhenBlock) text += L"\t"; if (inIfBlock) text += L"\t"; return text; } //! Generate code for an event-actions set void Compiler::CodeGenerator::visit(const EventActionsSet& eventActionsSet, bool debugLog) { // action and event name const QString& eventName(eventActionsSet.getEventBlock()->getName()); QString lookupEventName; if (eventName == "proxground") lookupEventName = "prox"; else lookupEventName = eventName; // the second and third modes of buttons are rc if ((eventName == "button") && (eventActionsSet.getEventBlock()->getValue(5) != ArrowButtonsEventBlock::MODE_ARROW)) lookupEventName = "rc5"; // the first mode of the acc event is just a tap if ((eventName == "acc") && (eventActionsSet.getEventBlock()->getValue(0) == AccEventBlock::MODE_TAP)) lookupEventName = "tap"; // get the corresponding event handler EventHandlers::iterator eventIt(eventHandlers.find(lookupEventName)); assert(eventIt != eventHandlers.end()); EventHandler* eventHandler(*eventIt); // add a new entry // if non-conditional code, put before any conditional code size_t codeEntryIndex(eventHandler->code.size()); if (!eventActionsSet.isAnyAdvancedFeature() && !eventActionsSet.getEventBlock()->isAnyValueSet()) { // find where "if" block starts for the current event handler for (int i = 0; i < eventHandler->code.size(); ++i) { if ((eventHandler->code[i].first.find(L"if ") != wstring::npos) || (eventHandler->code[i].first.find(L"when ") != wstring::npos)) { codeEntryIndex = i; break; } } } eventHandler->code.insert(codeEntryIndex, EventHandler::PairCodeAndIndex(L"", eventActionsSet.getRow())); wstring& currentCode(eventHandler->code[codeEntryIndex].first); // add event and actions details visitEventAndStateFilter(eventActionsSet.getEventBlock(), eventActionsSet.getStateFilterBlock(), currentCode); for (int i=0; iisStateSet); // possibly add the debug event visitExecFeedback(eventActionsSet, currentCode); if (debugLog) visitDebugLog(eventActionsSet, currentCode); // possibly close condition and add code visitEndOfLine(currentCode); currentCode.append(L"\n"); } //! Generate the debug log event for this set void Compiler::CodeGenerator::visitExecFeedback(const EventActionsSet& eventActionsSet, wstring& currentCode) { wstring text(indentText()); text += L"emit pair_run " + toWstring(eventActionsSet.getRow()) + L"\n"; currentCode.append(text); } //! Generate the debug log event for this set void Compiler::CodeGenerator::visitDebugLog(const EventActionsSet& eventActionsSet, wstring& currentCode) { wstring text(indentText()); text += L"_emit debug_log ["; wstringstream ostr; ostr << hex << showbase; const QVector compressedContent(eventActionsSet.getContentCompressed()); copy(compressedContent.begin(), compressedContent.end(), ostream_iterator(ostr, L", ")); text += ostr.str(); text.erase(text.size() - 2); text += L"]\n"; currentCode.append(text); } void Compiler::CodeGenerator::visitEventAndStateFilter(const Block* block, const Block* stateFilterBlock, wstring& currentCode) { // generate event code wstring text; // if block generates a test if (block->isAnyValueSet()) { // pre-test code if (block->getName() == "acc") { text += visitEventAccPre(block); } // test code, special case for remote control const bool isIf((block->getName() == "button") && (block->getValue(5) != ArrowButtonsEventBlock::MODE_ARROW)); if (isIf) text += L"\tif "; else text += L"\twhen "; // event-specific code if (block->getName() == "button") { text += visitEventArrowButtons(block); } else if (block->getName() == "prox") { text += visitEventProx(block); } else if (block->getName() == "proxground") { text += visitEventProxGround(block); } else if (block->getName() == "acc") { text += visitEventAcc(block); } else { // internal compiler error abort(); } if (isIf) text += L" then\n "; else text += L" do\n"; inWhenBlock = true; } // if state filter does generate a test if (stateFilterBlock && stateFilterBlock->isAnyValueSet()) { if (inWhenBlock) text += L"\t"; text += L"\tif "; bool first(true); for (unsigned i=0; ivaluesCount(); ++i) { switch (stateFilterBlock->getValue(i)) { case 1: if (!first) text += L" and "; text += L"state[" + toWstring(i) + L"] == 1"; first = false; break; case 2: if (!first) text += L" and "; text += L"state[" + toWstring(i) + L"] == 0"; first = false; break; default: break; } } text += L" then\n"; inIfBlock = true; } currentCode = text; } //! End the generated code of a VPL line, close whens and ifs void Compiler::CodeGenerator::visitEndOfLine(wstring& currentCode) { if (inIfBlock) { if (inWhenBlock) currentCode.append(L"\t"); currentCode.append(L"\tend\n"); inIfBlock = false; } if (inWhenBlock) { currentCode.append(L"\tend\n"); inWhenBlock = false; } } wstring Compiler::CodeGenerator::visitEventArrowButtons(const Block* block) { wstring text; const int mode(block->getValue(5)); if (mode == ArrowButtonsEventBlock::MODE_ARROW) { bool first(true); for (unsigned i=0; i<5; ++i) { if (block->getValue(i) > 0) { static const wchar_t* directions[] = { L"forward", L"left", L"backward", L"right", L"center" }; text += (first ? L"": L" and "); text += L"button."; text += directions[i]; text += L" == 1"; first = false; } } } else if (mode == ArrowButtonsEventBlock::MODE_RC_ARROW) { const int value(block->getValue(6)); assert(value >= 0); assert(value < 5); // top, left, bottom, right, center const unsigned mapping[5][3] = { {80, 32, unsigned(-1) }, {85, 17, 77}, {81, 33, unsigned(-1) }, {86, 16, 78}, {87, 13, unsigned(-1)} }; text += L"rc5.command == " + toWstring(mapping[value][0]); if (mapping[value][1] != unsigned(-1)) text += L" or rc5.command == " + toWstring(mapping[value][1]); if (mapping[value][2] != unsigned(-1)) text += L" or rc5.command == " + toWstring(mapping[value][2]); } else if (mode == ArrowButtonsEventBlock::MODE_RC_KEYPAD) { const int value(block->getValue(6)); assert(value >= 0); assert(value < 12); // row, then column const unsigned mapping[12] = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 17, 0, 16 }; text += L"rc5.command == " + toWstring(mapping[value]); } else assert(false); return text; } wstring Compiler::CodeGenerator::visitEventProx(const Block* block) { wstring text; bool first(true); const unsigned slidersIndex(block->valuesCount()-2); for(unsigned i=0; ivaluesCount(); ++i) { if (block->getValue(i) == 1) { text += (first ? L"": L" and "); text += L"prox.horizontal["; text += toWstring(i); text += L"] >= " + toWstring(block->getValue(slidersIndex+1)); first = false; } else if(block->getValue(i) == 2) { text += (first ? L"": L" and "); text += L"prox.horizontal["; text += toWstring(i); text += L"] <= " + toWstring(block->getValue(slidersIndex)); first = false; } else if (block->getValue(i) == 3) { text += (first ? L"": L" and "); text += L"prox.horizontal["; text += toWstring(i); text += L"] >= " + toWstring(block->getValue(slidersIndex)); text += L" and prox.horizontal["; text += toWstring(i); text += L"] <= " + toWstring(block->getValue(slidersIndex+1)); first = false; } } return text; } wstring Compiler::CodeGenerator::visitEventProxGround(const Block* block) { wstring text; bool first(true); const unsigned slidersIndex(block->valuesCount()-2); for(unsigned i=0; igetValue(i) == 1) { text += (first ? L"": L" and "); text += L"prox.ground.delta["; text += toWstring(i); text += L"] >= " + toWstring(block->getValue(slidersIndex+1)); first = false; } else if (block->getValue(i) == 2) { text += (first ? L"": L" and "); text += L"prox.ground.delta["; text += toWstring(i); text += L"] <= " + toWstring(block->getValue(slidersIndex)); first = false; } else if (block->getValue(i) == 3) { text += (first ? L"": L" and "); text += L"prox.ground.delta["; text += toWstring(i); text += L"] >= " + toWstring(block->getValue(slidersIndex)); text += L" and prox.ground.delta["; text += toWstring(i); text += L"] <= " + toWstring(block->getValue(slidersIndex+1)); first = false; } } return text; } //! Pretest, compute angle wstring Compiler::CodeGenerator::visitEventAccPre(const Block* block) { if (block->getValue(0) == AccEventBlock::MODE_PITCH) return L"\tcall math.atan2(angle, acc[1], acc[2])\n"; else if (block->getValue(0) == AccEventBlock::MODE_ROLL) return L"\tcall math.atan2(angle, acc[0], acc[2])\n"; else abort(); } //! Test, use computed angle wstring Compiler::CodeGenerator::visitEventAcc(const Block* block) { int testValue(0); if (block->getValue(0) == AccEventBlock::MODE_PITCH) testValue = block->getValue(1); else if (block->getValue(0) == AccEventBlock::MODE_ROLL) testValue = -block->getValue(1); else abort(); const int middleValue(testValue * 16384 / AccEventBlock::resolution); const int lowBound(middleValue - 8192 / AccEventBlock::resolution); const int highBound(middleValue + 8192 / AccEventBlock::resolution); wstring text; if (testValue != -AccEventBlock::resolution) text += L"angle > " + toWstring(lowBound); if (!text.empty() && (testValue != AccEventBlock::resolution)) text += L" and "; if (testValue != AccEventBlock::resolution) text += L"angle < " + toWstring(highBound); return text; } //! Visit an action block, if 0 return directly void Compiler::CodeGenerator::visitAction(const Block* block, wstring& currentCode, bool& isStateSet) { if (!block) return; wstring text; if (block->getName() == "move") { text += visitActionMove(block); } else if (block->getName() == "colortop") { text += visitActionTopColor(block); } else if (block->getName() == "colorbottom") { text += visitActionBottomColor(block); } else if (block->getName() == "sound") { text += visitActionSound(block); } else if (block->getName() == "timer") { text += visitActionTimer(block); } else if (block->getName() == "setstate") { text += visitActionSetState(block, isStateSet); } else { // internal compiler error abort(); } currentCode.append(text); } wstring Compiler::CodeGenerator::visitActionMove(const Block* block) { wstring text; const wstring indString(indentText()); text += indString; text += L"motor.left.target = "; text += toWstring(block->getValue(0)); text += L"\n"; text += indString; text += L"motor.right.target = "; text += toWstring(block->getValue(1)); text += L"\n"; return text; } wstring Compiler::CodeGenerator::visitActionTopColor(const Block* block) { wstring text; const wstring indString(indentText()); text += indString; text += L"call leds.top("; text += toWstring(block->getValue(0)); text += L","; text += toWstring(block->getValue(1)); text += L","; text += toWstring(block->getValue(2)); text += L")\n"; return text; } wstring Compiler::CodeGenerator::visitActionBottomColor(const Block* block) { wstring text; const wstring indString(indentText()); text += indString; text += L"call leds.bottom.left("; text += toWstring(block->getValue(0)); text += L","; text += toWstring(block->getValue(1)); text += L","; text += toWstring(block->getValue(2)); text += L")\n"; text += indString; text += L"call leds.bottom.right("; text += toWstring(block->getValue(0)); text += L","; text += toWstring(block->getValue(1)); text += L","; text += toWstring(block->getValue(2)); text += L")\n"; return text; } wstring Compiler::CodeGenerator::visitActionSound(const Block* block) { static const int noteTable[6] = { 262, 311, 370, 440, 524, 0 }; static const int durationTable[3] = {-1, 7, 14}; // find last non-silent note unsigned noteCount(block->valuesCount()); assert(noteCount > 0); while ((noteCount > 0) && ((block->getValue(noteCount-1) & 0xff) == 5)) --noteCount; // if there is no note, return if (noteCount == 0) return indentText() + L"# zero notes in sound block\n"; // generate code for notes wstring notesCopyText; wstring durationsCopyText; unsigned accumulatedDuration(0); unsigned activeNoteCount(0); for (unsigned i = 0; igetValue(i) & 0xff); const unsigned duration((block->getValue(i)>>8) & 0xff); if (note == 5 && i+1 < noteCount && (block->getValue(i+1) & 0xff) == 5) { // next note is silence, skip accumulatedDuration += durationTable[duration]; } else { notesCopyText += toWstring(noteTable[note]); if (i+1 != noteCount) notesCopyText += L", "; durationsCopyText += toWstring(durationTable[duration]+accumulatedDuration); if (i+1 != noteCount) durationsCopyText += L", "; ++activeNoteCount; accumulatedDuration = 0; } } // enable sound useSound = true; // prepare target string wstring text; const wstring indString(indentText()); // notes text += indString; text += L"call math.copy(notes[0:"; text += toWstring(activeNoteCount-1); text += L"], ["; text += notesCopyText; text += L"])\n"; // durations text += indString; text += L"call math.copy(durations[0:"; text += toWstring(activeNoteCount-1); text += L"], ["; text += durationsCopyText; text += L"])\n"; // write variables text += indString; text += L"note_index = 1\n"; text += indString; text += L"note_count = " + toWstring(activeNoteCount) + L"\n"; // start playing text += indString; text += L"call sound.freq(notes[0], durations[0])\n"; return text; } wstring Compiler::CodeGenerator::visitActionTimer(const Block* block) { wstring text; const wstring indString(indentText()); text += indString; text += L"timer.period[0] = "+ toWstring(block->getValue(0)) + L"\n"; return text; } wstring Compiler::CodeGenerator::visitActionSetState(const Block* block, bool& isStateSet) { wstring text; const wstring indString(indentText()); for(unsigned i=0; ivaluesCount(); ++i) { switch (block->getValue(i)) { case 1: text += indString + L"new_state[" + toWstring(i) + L"] = 1\n"; isStateSet = true; break; case 2: text += indString + L"new_state[" + toWstring(i) + L"] = 0\n"; isStateSet = true; break; default: break; // do nothing } } return text; } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/EventActionsSet.cpp000066400000000000000000001053221322771007300246440ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "EventActionsSet.h" #include "Buttons.h" #include "Block.h" #include "EventBlocks.h" #include "StateBlocks.h" #include "ActionBlocks.h" #include "Scene.h" #include "Style.h" #include "../../../../common/utils/utils.h" #include "UsageLogger.h" namespace Aseba { namespace ThymioVPL { //! Construct an new event-action set EventActionsSet::EventActionsSet(int row, bool advanced, QGraphicsItem *parent) : QGraphicsObject(parent), event(0), stateFilter(0), blinkGraphicsItem(new QGraphicsSvgItem(":/images/vpl/blink.svg", this)), deleteButton(new AddRemoveButton(false, this)), addButton(new AddRemoveButton(true, this)), deleteBlockButton(new RemoveBlockButton(this)), highlightMode(HIGHLIGHT_NONE), removeBlockIndex(-1), dropAreaXPos(0), dropIndex(-1), currentWidth(0), basicWidth(0), totalWidth(0), columnPos(0), row(row), errorType(Compiler::NO_ERROR), beingDragged(false), wasDroppedTarget(false) { setFlags(QGraphicsItem::ItemIsMovable | QGraphicsItem::ItemIsSelectable); setAcceptHoverEvents(true); setAcceptedMouseButtons(Qt::LeftButton); setAcceptDrops(true); setAdvanced(advanced); blinkGraphicsItem->setVisible(false); blinkGraphicsItem->setPos(-90, (innerBoundingRect().height()-160)/2); clearBlinkTimer = new QTimer(this); connect(clearBlinkTimer, SIGNAL(timeout()), SLOT(clearBlink())); deleteBlockButton->setZValue(1); deleteBlockButton->setVisible(false); connect(deleteButton, SIGNAL(clicked()), SLOT(removeClicked())); connect(addButton, SIGNAL(clicked()), SLOT(addClicked())); connect(deleteBlockButton, SIGNAL(clicked()), SLOT(removeBlockClicked())); connect(this, SIGNAL(contentChanged()), SLOT(setSoleSelection())); } QRectF EventActionsSet::boundingRect() const { const qreal xmargin(qMax(Style::blockSpacing/2,4)); // we consider the space for the error marker return QRectF(-xmargin, -4, totalWidth+2*xmargin, Style::blockHeight+2*Style::blockSpacing+50+4); } //! Bounding rect of visible area QRectF EventActionsSet::innerBoundingRect() const { return QRectF(0, 0, currentWidth, Style::blockHeight+2*Style::blockSpacing); } void EventActionsSet::setRow(int row) { // set row and pos this->row = row; setPos(0, row*Style::eventActionsSetRowStep); // update scene rect Scene* vplScene(dynamic_cast(scene())); if (vplScene) vplScene->recomputeSceneRect(); } //! Add an event block, call the event holder void EventActionsSet::addEventBlock(Block *block) { setBlock(event, block); emit contentChanged(); USAGE_LOG(logAddEventBlock(this->row,block)); emit undoCheckpoint(); } //! Add an action block, optionally at a given position (which must be valid, i.e. >= 0) void EventActionsSet::addActionBlock(Block *block, int number) { addActionBlockNoEmit(block, number); emit contentChanged(); USAGE_LOG(logAddActionBlock(this->row, block, number)); emit undoCheckpoint(); } //! Return whether the event holder has a block const bool EventActionsSet::hasEventBlock() const { return event != 0; } //! Return the block in the event holder const Block *EventActionsSet::getEventBlock() const { return event; } //! Return the block in the state filter holder if it exists, 0 otherwise const Block *EventActionsSet::getStateFilterBlock() const { return stateFilter; } //! Return a string representing the event and the state filter, suitable for checking code duplications QString EventActionsSet::getEventAndStateFilterHash() const { // create document QDomDocument document("sethash"); QDomElement element(document.createElement("sethash")); // add event if (event) element.appendChild(event->serialize(document)); // add state if (stateFilter) element.appendChild(stateFilter->serialize(document)); // return document as a string document.appendChild(element); return document.toString(); } //! Return whether the action holders have any block bool EventActionsSet::hasAnyActionBlock() const { return actions.size() >= 1; } //! Return whether a given block name is already present in this set bool EventActionsSet::hasActionBlock(const QString& blockName) const { foreach (Block* action, actions) { if (action->name == blockName) return true; } return false; } //! Return the index of an action block given its name, -1 if not present int EventActionsSet::getActionBlockIndex(const QString& blockName) const { for (int i=0; iname == blockName) return i; return -1; } //! Return an action block given its name, 0 if not present, const version const Block *EventActionsSet::getActionBlock(const QString& blockName) const { foreach (const Block* action, actions) { if (action->name == blockName) return action; } return 0; } //! Return an action block given its name, 0 if not present Block *EventActionsSet::getActionBlock(const QString& blockName) { foreach (Block* action, actions) { if (action->name == blockName) return action; } return 0; } //! Return the block in one of the action holders const Block *EventActionsSet::getActionBlock(int index) const { return actions.at(index); } //! Return how many action blocks this set has (with possible empty ones) int EventActionsSet::actionBlocksCount() const { return actions.size(); } //! Does this set uses any feature from the advanced mode? bool EventActionsSet::isAnyAdvancedFeature() const { // is the event using an advanced feature if (event && (event->isAnyAdvancedFeature())) return true; // is the state filter set? if (stateFilter && stateFilter->isAnyValueSet()) return true; // is any action using an advanced feature foreach (Block* action, actions) { if (action->isAnyAdvancedFeature()) return true; } return false; } //! Does the action list contains a set state? bool EventActionsSet::hasSetStateAction() const { foreach (Block* action, actions) { if (action->getName() == "setstate") return true; } return false; } //! Is this pair empty? bool EventActionsSet::isEmpty() const { if (hasEventBlock()) return false; if (stateFilter && stateFilter->isAnyValueSet()) return false; if (hasAnyActionBlock()) return false; return true; } //! Switch to or from advanced mode void EventActionsSet::setAdvanced(bool advanced) { // Note: we do not emit contentChanged on purpose, as we know that the caller will recompile // switch event and actions to given mode if (event) { if (event->isAdvancedBlock()) setBlock(event, 0); else event->setAdvanced(advanced); } // delete action if not valid any more int i = 0; while (iisAdvancedBlock()) { Block* action(actions[i]); actions.removeAt(i); action->deleteLater(); } else { actions[i]->setAdvanced(advanced); ++i; } } // create and delete state filter if (advanced && !stateFilter) { // switching to advanced mode, create state filter setBlock(stateFilter, new StateFilterCheckBlock()); } else if (!advanced && stateFilter) { // switching from advanced mode, delete state filter setBlock(stateFilter, 0); } // we might have to reposition some elements, because we might have removed some actions repositionElements(); } //! Return whether we are in advanced mode by testing whether stateFilter is not null bool EventActionsSet::isAdvanced() const { return stateFilter != 0; } //! Set whether or not this set has an error void EventActionsSet::setErrorType(Compiler::ErrorType errorType) { if (this->errorType != errorType) { this->errorType = errorType; update(); } } //! Blink the set void EventActionsSet::blink() { blinkGraphicsItem->setVisible(true); update(); clearBlinkTimer->start(300); } //! Return the content compressed into a uint16_t vector, to be used as debug events QVector EventActionsSet::getContentCompressed() const { // invalid sets have no content if ((!event) || actions.empty()) return QVector(); // the first word of the content is the number of the set QVector content(1, row); // the second word is the number of blocks in this set content.push_back(1 + (stateFilter ? 1 : 0) + actions.size()); // the next words are the types of the blocks, as uint4, compressed 4-by-4 into uint16_ts, big-endian uint16_t curWord(event->getNameAsUInt4()); unsigned bitUsed(4); if (stateFilter) { curWord |= (stateFilter->getNameAsUInt4() << bitUsed); bitUsed += 4; } foreach (Block* action, actions) { if (bitUsed == 16) { content += curWord; curWord = 0; bitUsed = 4; } curWord |= (action->getNameAsUInt4() << bitUsed); bitUsed += 4; } content += curWord; // then comes the data from the blocks content += event->getValuesCompressed(); if (stateFilter) content += stateFilter->getValuesCompressed(); foreach (Block* action, actions) content += action->getValuesCompressed(); return content; } //! Clear set to its default status void EventActionsSet::resetSet() { // disconnect the selection setting mechanism, as we do not want a reset to select this set disconnect(this, SIGNAL(contentChanged()), this, SLOT(setSoleSelection())); // delete event setBlock(event, 0); // clear filter if (stateFilter) stateFilter->resetValues(); // delete all actions foreach (Block* action, actions) action->deleteLater(); actions.clear(); repositionElements(); connect(this, SIGNAL(contentChanged()), SLOT(setSoleSelection())); } //! Recompute the positions of the different elements for this set void EventActionsSet::repositionElements() { // constants and initialization const qreal ypos = Style::blockSpacing; qreal xpos = Style::blockSpacing; // add event block holder if (event) event->setPos(xpos, ypos); xpos += Style::blockWidth + Style::blockSpacing; // if state filter holder, add it if (stateFilter) { stateFilter->setPos(xpos, ypos); xpos += Style::blockWidth + Style::blockSpacing; } // add column columnPos = xpos; xpos += Style::eventActionsSetColumnWidth + Style::blockSpacing; dropAreaXPos = xpos; // add every action holder foreach (Block* action, actions) { action->setPos(xpos, ypos); xpos += Style::blockWidth + Style::blockSpacing; } // if we have no action, we leave space for one xpos += (actions.empty() ? Style::blockWidth + Style::blockSpacing : 0); // leave space for delete button xpos += deleteButton->boundingRect().width() + Style::blockSpacing; deleteButton->setPos(xpos-deleteButton->boundingRect().width()-Style::blockSpacing, Style::blockSpacing); // add button, under column addButton->setPos(columnPos+(Style::eventActionsSetColumnWidth-64)/2, innerBoundingRect().height() + Style::blockSpacing/2); // store width basicWidth = xpos; currentWidth = basicWidth; // handle case when we cannot add more if (actions.empty()) totalWidth = basicWidth; else if (actions.size() == 6) totalWidth = basicWidth; else totalWidth = basicWidth + Style::blockWidth + Style::blockSpacing; //totalWidth = (actions.empty() ? basicWidth : basicWidth + Style::blockWidth + Style::blockSpacing); // clear highlight highlightMode = HIGHLIGHT_NONE; // compute global position setPos(0, row*Style::eventActionsSetRowStep); // notify scene of changes prepareGeometryChange(); // update scene rect Scene* vplScene(dynamic_cast(scene())); if (vplScene) vplScene->recomputeSceneRect(); } //! Recompute the positions of the actions for this set void EventActionsSet::updateActionPositions(qreal dropXPos) { const qreal ypos = Style::blockSpacing; qreal xpos = columnPos + Style::eventActionsSetColumnWidth + Style::blockSpacing; dropAreaXPos = xpos + actions.size() * (Style::blockWidth + Style::blockSpacing); for (int i=0; i xpos && dropXPos < xpos + Style::blockWidth + Style::blockSpacing) { dropAreaXPos = xpos; xpos += Style::blockSpacing + Style::blockWidth; } actions[i]->setPos(xpos, ypos); xpos += Style::blockSpacing + Style::blockWidth; } } //! Recompute the drop index for a given position void EventActionsSet::updateDropIndex(qreal dropXPos) { const int oldIndex(dropIndex); // start of actions dropXPos -= columnPos + Style::eventActionsSetColumnWidth + Style::blockSpacing; if (dropXPos < 0) dropIndex = -1; else dropIndex = dropXPos / (Style::blockSpacing + Style::blockWidth); // if action already exists, restrict index if (highlightMode == HIGHLIGHT_EXISTING_ACTION) { dropIndex = qMax(0, qMin(dropIndex, actions.size()-1)); if (dropIndex != oldIndex) update(); } } //! Select only this set and nothing else void EventActionsSet::setSoleSelection() { if (scene()) { scene()->clearSelection(); setSelected(true); } } void EventActionsSet::removeClicked() { polymorphic_downcast(scene())->removeSet(row); } void EventActionsSet::addClicked() { polymorphic_downcast(scene())->insertSet(row+1); } void EventActionsSet::removeBlockClicked() { if (removeBlockIndex == -2) { removeBlock(event); emit contentChanged(); emit undoCheckpoint(); } else if (removeBlockIndex >= 0) { removeBlock(actions.at(removeBlockIndex)); emit contentChanged(); emit undoCheckpoint(); } } void EventActionsSet::clearBlink() { blinkGraphicsItem->setVisible(false); update(); } QMimeData* EventActionsSet::mimeData() const { // create a DOM document and serialize the content of this block in it QDomDocument document("set"); document.appendChild(serialize(document)); // create a MIME data for this block QMimeData *mime = new QMimeData; mime->setData("EventActionsSet", document.toByteArray()); return mime; } QDomElement EventActionsSet::serialize(QDomDocument& document) const { // create element QDomElement element = document.createElement("set"); // event if (event) element.appendChild(event->serialize(document)); // state if (stateFilter) element.appendChild(stateFilter->serialize(document)); // actions foreach (Block* action, actions) element.appendChild(action->serialize(document)); return element; } void EventActionsSet::deserialize(const QDomElement& element) { // this function assumes an empty set const bool advanced(stateFilter != 0); assert(isEmpty()); // iterate on all stored block QDomElement blockElement(element.firstChildElement("block")); while (!blockElement.isNull()) { // following type ... const QString& type(blockElement.attribute("type")); const QString& name(blockElement.attribute("name")); // deserialize block Block* block(Block::deserialize(blockElement, advanced)); if (!block) { QMessageBox::warning(0,tr("Loading"), tr("Error in XML source file at %0:%1: cannot create block %2").arg(blockElement.lineNumber()).arg(blockElement.columnNumber()).arg(name)); return; } if (type == "event") { setBlock(event, block); } else if (type == "state") { assert(advanced); setBlock(stateFilter, block); } else if (type == "action") { addActionBlockNoEmit(block); } else { QMessageBox::warning(0,tr("Loading"), tr("Error in XML source file at %0:%1: unknown block type %2").arg(blockElement.lineNumber()).arg(blockElement.columnNumber()).arg(type)); return; } // get next element blockElement = blockElement.nextSiblingElement("block"); } } void EventActionsSet::deserialize(const QByteArray& data) { QDomDocument document; document.setContent(data); return deserialize(document.documentElement()); } //! Remove this block for this set if present, does not select the set void EventActionsSet::removeBlock(Block* block) { // disconnect the selection setting mechanism, as we do not want this removal to select our set disconnect(this, SIGNAL(contentChanged()), this, SLOT(setSoleSelection())); if (block == event) { setBlock(event, 0); } else { int i = 0; while (ideleteLater(); } else ++i; } } repositionElements(); connect(this, SIGNAL(contentChanged()), this, SLOT(setSoleSelection())); } //! Add an action block, optionally at a given position (which must be valid, i.e. >= 0), do not emit changes or undo checkpoint void EventActionsSet::addActionBlockNoEmit(Block *block, int number) { // add block if (number == -1) { actions.push_back(0); setBlock(actions.last(), block); } else { number = qMin(number, actions.size()); actions.insert(number, 0); setBlock(actions[number], block); } } //! Replace an existing block of this set with a new one void EventActionsSet::setBlock(Block*& blockPointer, Block* newBlock) { // remove existing block if (blockPointer) { disconnect(blockPointer, SIGNAL(contentChanged()), this, SIGNAL(contentChanged())); // remove and delete block blockPointer->deleteLater(); } // add new one blockPointer = newBlock; // if non zero, add it to the scene if (blockPointer) { blockPointer->setParentItem(this); blockPointer->setPos(0,0); connect(blockPointer, SIGNAL(contentChanged()), SIGNAL(contentChanged())); connect(blockPointer, SIGNAL(undoCheckpoint()), SIGNAL(undoCheckpoint())); } // change element positions repositionElements(); } //! Update the delete block button position and visibility while hovering void EventActionsSet::hoverMoveEvent(QGraphicsSceneHoverEvent * hoverEvent) { const int x(hoverEvent->pos().x()); const int y(hoverEvent->pos().y()); const int dw(Style::addRemoveButtonWidth/2); const int dh(Style::addRemoveButtonHeight/2); const int dl(0); const int dr(Style::blockWidth+dw); const int bw(dr-dl); const int bstride(Style::blockWidth+Style::blockSpacing); // if out of bound on y, hide and return if ((y < Style::blockSpacing - dh) || (y >= Style::blockSpacing + Style::blockHeight)) { deleteBlockButton->hide(); removeBlockIndex = -1; return; } const qreal actionsXPos(columnPos + Style::eventActionsSetColumnWidth + Style::blockSpacing); const int actionsStartPos(actionsXPos + dl); const int actionsStopPos(actionsXPos + actions.size() * bstride + dr); // delete button if ( event && (x >= event->pos().x() + dl) && (x < event->pos().x() + dr) ) { deleteBlockButton->setPos(event->pos().x() + Style::blockWidth - dw, Style::blockSpacing - dh); deleteBlockButton->show(); removeBlockIndex = -2; } else if ( (x >= actionsStartPos) && (x < actionsStopPos) && (fmod(x-dl-actionsXPos, bstride) < bw) && ((x-dl-actionsXPos) / bstride < actions.size()) ) { removeBlockIndex = (x-dl-actionsXPos) / bstride; deleteBlockButton->setPos(actionsXPos + removeBlockIndex * bstride + Style::blockWidth - dw, Style::blockSpacing - dh); deleteBlockButton->show(); } else { deleteBlockButton->hide(); removeBlockIndex = -1; } } //! Disable delete block button void EventActionsSet::hoverLeaveEvent(QGraphicsSceneHoverEvent *event) { deleteBlockButton->hide(); removeBlockIndex = -1; } void EventActionsSet::mouseMoveEvent(QGraphicsSceneMouseEvent *event) { // drag and drop start #ifndef ANDROID if (QLineF(event->screenPos(), event->buttonDownScreenPos(Qt::LeftButton)).length() < QApplication::startDragDistance()) return; Q_ASSERT(scene()->views().size() > 0); QGraphicsView* view(scene()->views()[0]); const QRectF sceneRect(mapRectToScene(innerBoundingRect())); const QRect viewRect(view->mapFromScene(sceneRect).boundingRect()); const QPoint hotspot(view->mapFromScene(event->scenePos()) - viewRect.topLeft()); QPixmap pixmap(viewRect.size()); pixmap.fill(Qt::transparent); QPainter painter(&pixmap); painter.setRenderHint(QPainter::Antialiasing); scene()->render(&painter, QRectF(), sceneRect); painter.end(); const bool isCopy(event->modifiers() & Qt::ControlModifier); QDrag *drag = new QDrag(event->widget()); drag->setMimeData(mimeData()); QMimeData* myData(mimeData()); drag->setHotSpot(hotspot); drag->setPixmap(pixmap); USAGE_LOG(logActionSetDrag(this->row,event, drag)); beingDragged = true; Qt::DropAction dragResult(drag->exec(isCopy ? Qt::CopyAction : Qt::MoveAction)); if (dragResult != Qt::IgnoreAction) { // find on which set the drag was droppes EventActionsSet* target(0); Scene* vplScene(polymorphic_downcast(scene())); for (Scene::SetItr it(vplScene->setsBegin()); it != vplScene->setsEnd(); ++it) { if ((*it)->wasDroppedTarget) { target = *it; target->wasDroppedTarget = false; } } // if it is this one, there is a bug assert(target != this); if (!isCopy) { // copy target content to this resetSet(); deserialize(target->mimeData()->data("EventActionsSet")); repositionElements(); } // copy this content to target target->resetSet(); target->deserialize(myData->data("EventActionsSet")); target->repositionElements(); target->setSoleSelection(); // make sure that we have an empty set at the end polymorphic_downcast(scene())->ensureOneEmptySetAtEnd(); // disconnect the selection setting mechanism, emit, and then re-enable disconnect(this, SIGNAL(contentChanged()), this, SLOT(setSoleSelection())); emit contentChanged(); emit undoCheckpoint(); connect(this, SIGNAL(contentChanged()), SLOT(setSoleSelection())); } delete myData; beingDragged = false; #endif // ANDROID } void EventActionsSet::dragEnterEvent( QGraphicsSceneDragDropEvent *event ) { if (isDnDValid(event)) { event->accept(); setVisualFromEvent(event); } else event->ignore(); } void EventActionsSet::dragLeaveEvent(QGraphicsSceneDragDropEvent *event) { if (isDnDValid(event)) { event->accept(); clearVisualFromEvent(event); updateActionPositions(-1); } else event->ignore(); } void EventActionsSet::dragMoveEvent(QGraphicsSceneDragDropEvent *event) { // we assume the event has been accepted assert(isDnDValid(event)); if (isDnDAction(event)) { if (isDnDNewAction(event)) updateActionPositions(event->pos().x()); updateDropIndex(event->pos().x()); } } void EventActionsSet::dropEvent(QGraphicsSceneDragDropEvent *event) { if (isDnDValid(event)) { const bool advanced(polymorphic_downcast(scene())->getAdvanced()); USAGE_LOG(logEventActionSetDrop(this->row, event)); // It is a set if (event->mimeData()->hasFormat("EventActionsSet")) { wasDroppedTarget = true; // we just take note that this set was the target of the drop, as the drop // initiator will take care of changing our content } // It is a block else if (event->mimeData()->hasFormat("Block")) { // create block from mime data Block *newBlock(Block::deserialize(event->mimeData()->data("Block"), advanced)); assert(newBlock); if (newBlock->type == "event") { setBlock(this->event, newBlock); } else if (newBlock->type == "state") { setBlock(this->stateFilter, newBlock); } else if (newBlock->type == "action") { Block* actionBlock(getActionBlock(newBlock->name)); if (actionBlock) { assert(actionBlock->beingDragged); // tell the block not to delete itself actionBlock->keepAfterDrop = true; // exchange the blocks const int thatIndex(getActionBlockIndex(newBlock->name)); assert(dropIndex < actions.size()); assert(thatIndex < actions.size()); qSwap(actions[dropIndex], actions[thatIndex]); repositionElements(); // delete the newly created one delete newBlock; } else { addActionBlockNoEmit(newBlock, dropIndex); } } else abort(); setSoleSelection(); } else abort(); if (scene()) polymorphic_downcast(scene())->ensureOneEmptySetAtEnd(); } } //! Set the visual elements of this set given the stuff being dragged in void EventActionsSet::setVisualFromEvent(QGraphicsSceneDragDropEvent *event) { if (event->mimeData()->hasFormat("EventActionsSet")) { highlightMode = HIGHLIGHT_SET; } else if (isDnDAction(event)) { if (isDnDNewAction(event)) { currentWidth = totalWidth; deleteButton->setPos(currentWidth-deleteButton->boundingRect().width()-Style::blockSpacing, Style::blockSpacing); highlightMode = HIGHLIGHT_NEW_ACTION; } else { highlightMode = HIGHLIGHT_EXISTING_ACTION; } updateDropIndex(event->pos().x()); } else if (Block::deserializeType(event->mimeData()->data("Block")) == "event") { highlightMode = HIGHLIGHT_EVENT; } update(); } //! Remove the visual elements that were linked to the stuff being dragged in void EventActionsSet::clearVisualFromEvent(QGraphicsSceneDragDropEvent *event) { if (isDnDNewAction(event)) { currentWidth = basicWidth; deleteButton->setPos(currentWidth-deleteButton->boundingRect().width()-Style::blockSpacing, Style::blockSpacing); } highlightMode = HIGHLIGHT_NONE; update(); } //! Return whether the proposed drag&drop is valid (i.e. acceptable) bool EventActionsSet::isDnDValid(QGraphicsSceneDragDropEvent *event) const { if (beingDragged) return false; if (event->mimeData()->hasFormat("EventActionsSet")) return true; if (event->mimeData()->hasFormat("Block")) { if (Block::deserializeType(event->mimeData()->data("Block")) == "action") { // only allow to d&d existing actions from within the same set const QString& name(Block::deserializeName(event->mimeData()->data("Block"))); if (hasActionBlock(name) && !getActionBlock(name)->beingDragged) return false; else return true; } else if (Block::deserializeType(event->mimeData()->data("Block")) == "event") { if (this->event && this->event->beingDragged) return false; else return true; } else if (Block::deserializeType(event->mimeData()->data("Block")) == "state") { if (this->stateFilter && this->stateFilter->beingDragged) return false; else return true; } else return true; } return false; } //! Return whether the drag&drop is about an action bool EventActionsSet::isDnDAction(QGraphicsSceneDragDropEvent *event) const { if (!event->mimeData()->hasFormat("Block")) return false; if (Block::deserializeType(event->mimeData()->data("Block")) != "action") return false; return true; } //! Return whether the drag&drop is about an action not currently present in the set bool EventActionsSet::isDnDNewAction(QGraphicsSceneDragDropEvent *event) const { if (!isDnDAction(event)) return false; if (hasActionBlock(Block::deserializeName(event->mimeData()->data("Block")))) return false; return true; } void EventActionsSet::paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); const qreal borderWidth(Style::blockDropAreaBorderWidth); //const qreal borderWidth(Style::eventActionsSetCornerSize); int colorId = (isSelected() ? 1 : 0); // if we are the last one, do not show buttons Scene* vplScene(dynamic_cast(scene())); if (vplScene) { assert(vplScene->setsBegin() != vplScene->setsEnd()); //const bool isFirst(*vplScene->setsBegin() == this); const bool isLast(*(vplScene->setsEnd()-1) == this); addButton->setVisible(!isLast); deleteButton->setVisible(!isLast); if (stateFilter) stateFilter->setVisible(!isEmpty()); // if last and not drop target, draw dotted area //if (/*isLast && */(highlightMode == HIGHLIGHT_NONE)) //if (!isFirst && isEmpty() && (highlightMode == HIGHLIGHT_NONE)) /*if (false) { const qreal hb(borderWidth/2); painter->setBrush(Qt::transparent); painter->setPen(QPen(Style::eventActionsSetBackgroundColors[0], borderWidth, Qt::DotLine, Qt::RoundCap, Qt::RoundJoin)); //painter->drawRoundedRect(innerBoundingRect().adjusted(hb,hb,-hb,-hb), borderWidth, borderWidth); painter->drawRoundedRect(innerBoundingRect().adjusted(hb,hb,-hb,-hb), Style::eventActionsSetCornerSize, Style::eventActionsSetCornerSize); return; }*/ } // extension drop area if (!actions.empty()) { const qreal hb(borderWidth/2); painter->setBrush(Qt::NoBrush); painter->setPen(QPen(Style::eventActionsSetBackgroundColors[0], borderWidth, Qt::DotLine, Qt::RoundCap, Qt::RoundJoin)); const QRectF rect(QRectF(totalWidth-Style::blockWidth-Style::blockSpacing,0,Style::blockWidth+Style::blockSpacing,innerBoundingRect().height()).adjusted(-hb,hb,-hb,-hb)); painter->drawRoundedRect(rect, Style::eventActionsSetCornerSize, Style::eventActionsSetCornerSize); } // background //if (errorType != Compiler::NO_ERROR) if (errorType == Compiler::DUPLICATED_EVENT) painter->setPen(QPen(Qt::red, 8)); else if (blinkGraphicsItem->isVisible()) painter->setPen(QPen(QColor("#f5e800"), 8)); else painter->setPen(Qt::NoPen); painter->setBrush(Style::eventActionsSetBackgroundColors[colorId]); if (highlightMode == HIGHLIGHT_SET) painter->drawRoundedRect(-Style::blockSpacing/2,0,currentWidth+Style::blockSpacing,Style::blockHeight+2*Style::blockSpacing,borderWidth,borderWidth); else painter->drawRoundedRect(innerBoundingRect(), Style::eventActionsSetCornerSize, Style::eventActionsSetCornerSize); // event drop area if (!event) { drawBlockArea(painter, "event", QPointF(Style::blockSpacing, Style::blockSpacing), highlightMode == HIGHLIGHT_EVENT); } else { // if event drag&drop if (highlightMode == HIGHLIGHT_EVENT) { painter->setBrush(Style::blockCurrentColor("event")); painter->setPen(Qt::NoPen); painter->drawRoundedRect(Style::blockSpacing, Style::blockSpacing/2, Style::blockWidth, Style::blockSpacing+Style::blockHeight, borderWidth, borderWidth); } } // column painter->setPen(Qt::NoPen); painter->setBrush(Style::eventActionsSetForegroundColors[colorId]); const qreal ymiddle(innerBoundingRect().height()/2); painter->drawEllipse(columnPos, ymiddle-2*Style::eventActionsSetColumnWidth, Style::eventActionsSetColumnWidth, Style::eventActionsSetColumnWidth); painter->drawEllipse(columnPos, ymiddle+Style::eventActionsSetColumnWidth, Style::eventActionsSetColumnWidth, Style::eventActionsSetColumnWidth); /* Note: that was arrow code: painter->setPen(Qt::NoPen); painter->setBrush(QColor(fgColors[i][0], fgColors[i][1], fgColors[i][2])); painter->drawRect(350+trans, 143, 55, 55); QPointF pts[3]; pts[0] = QPointF(404.5+trans, 118); pts[1] = QPointF(404.5+trans, 218); pts[2] = QPointF(456+trans, 168); painter->drawPolygon(pts, 3); */ // action drop area if ((actions.empty() || currentWidth == totalWidth) && (actions.size() != 6)) drawBlockArea(painter, "action", QPointF(dropAreaXPos, Style::blockSpacing), highlightMode == HIGHLIGHT_NEW_ACTION); // if inner drag&drop, show drop indicator if (highlightMode == HIGHLIGHT_EXISTING_ACTION) { qreal xpos(columnPos + Style::eventActionsSetColumnWidth + Style::blockSpacing); xpos += dropIndex * (Style::blockSpacing + Style::blockWidth); painter->setBrush(Style::blockCurrentColor("action")); painter->setPen(Qt::NoPen); painter->drawRoundedRect(xpos, Style::blockSpacing/2, Style::blockWidth, Style::blockSpacing+Style::blockHeight, borderWidth, borderWidth); } // line number painter->setPen(Style::eventActionsSetForegroundColors[colorId]); painter->setFont(QFont("Arial", 50)); painter->drawText(QRect(currentWidth-Style::blockSpacing-128, Style::blockHeight+Style::blockSpacing-128, 128, 128), Qt::AlignRight|Qt::AlignBottom, QString("%0").arg(getRow()+1)); // error marker painter->setPen(Qt::NoPen); //painter->setBrush(Qt::red); painter->setBrush(QColor(Qt::red).lighter()); if (errorType == Compiler::MISSING_EVENT) { const qreal x(Style::blockSpacing + Style::blockWidth / 2); const qreal y(Style::blockSpacing + Style::blockHeight + Style::blockSpacing + 20); const QPointF points[3] = { QPointF(x - 40, y + 30), QPointF(x, y), QPointF(x + 40, y + 30), }; painter->drawConvexPolygon(points, 3); } else if (errorType == Compiler::MISSING_ACTION) { const qreal x(dropAreaXPos + Style::blockWidth / 2); const qreal y(Style::blockSpacing + Style::blockHeight + Style::blockSpacing + 20); const QPointF points[3] = { QPointF(x - 40, y + 30), QPointF(x, y), QPointF(x + 40, y + 30), }; painter->drawConvexPolygon(points, 3); } } //! Draw the drop area for block void EventActionsSet::drawBlockArea(QPainter * painter, const QString& type, const QPointF& pos, bool highlight) const { // get color const qreal borderWidth(Style::blockDropAreaBorderWidth); QColor color(Style::blockCurrentColor(type)); if (!highlight) { qreal h,s,v,a; color.getHsvF(&h, &s, &v, &a); s *= Style::blockDropAreaSaturationFactor; v = std::min(1.0, v*Style::blockDropAreaValueFactor); color.setHsvF(h,s,v,a); //color.setAlpha(130); painter->setPen(QPen(color, borderWidth, Qt::DotLine, Qt::RoundCap, Qt::RoundJoin)); } else { painter->setPen(QPen(color, borderWidth)); } painter->setBrush(Qt::transparent); // compute size and draw const qreal halfBorderWidth(borderWidth/2); painter->drawRoundedRect(pos.x()+halfBorderWidth, pos.y()+halfBorderWidth, Style::blockWidth-borderWidth, Style::blockHeight-borderWidth, borderWidth, borderWidth); } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/EventActionsSet.h000066400000000000000000000116541322771007300243150ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_EVENT_ACTIONS_SET_H #define VPL_EVENT_ACTIONS_SET_H #include #include #include "Compiler.h" class QMimeData; class QDomDocument; namespace Aseba { namespace ThymioVPL { /** \addtogroup studio */ /*@{*/ class Block; class AddRemoveButton; class RemoveBlockButton; class StateFilterEventBlock; class EventActionsSet : public QGraphicsObject { Q_OBJECT public: EventActionsSet(int row, bool advanced, QGraphicsItem *parent=0); // from QGraphicsObject virtual QRectF boundingRect() const; // specific QRectF innerBoundingRect() const; void setRow(int row); int getRow() const { return row; } void addEventBlock(Block *block); void addActionBlock(Block *block, int number = -1); const bool hasEventBlock() const; const Block *getEventBlock() const; const Block *getStateFilterBlock() const; QString getEventAndStateFilterHash() const; bool hasAnyActionBlock() const; bool hasActionBlock(const QString& blockName) const; int getActionBlockIndex(const QString& blockName) const; const Block *getActionBlock(int index) const; const Block *getActionBlock(const QString& blockName) const; int actionBlocksCount() const; void removeBlock(Block* block); bool isAnyAdvancedFeature() const; bool hasSetStateAction() const; bool isEmpty() const; void setAdvanced(bool advanced); bool isAdvanced() const; void setErrorType(Compiler::ErrorType errorType); void blink(); QVector getContentCompressed() const; QDomElement serialize(QDomDocument& document) const; void deserialize(const QDomElement& element); void deserialize(const QByteArray& data); void repositionElements(); signals: friend class Block; void contentChanged(); void undoCheckpoint(); public slots: void setSoleSelection(); protected slots: void removeClicked(); void addClicked(); void removeBlockClicked(); void clearBlink(); protected: // from QGraphicsObject virtual void hoverMoveEvent(QGraphicsSceneHoverEvent *event); virtual void hoverLeaveEvent(QGraphicsSceneHoverEvent *event); virtual void mouseMoveEvent(QGraphicsSceneMouseEvent *event); virtual void dragEnterEvent(QGraphicsSceneDragDropEvent *event); virtual void dragLeaveEvent(QGraphicsSceneDragDropEvent *event); virtual void dragMoveEvent(QGraphicsSceneDragDropEvent *event); virtual void dropEvent(QGraphicsSceneDragDropEvent *event); virtual void paint (QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); void drawBlockArea(QPainter * painter, const QString& type, const QPointF& pos, bool highlight) const; // specific void setVisualFromEvent(QGraphicsSceneDragDropEvent *event); void clearVisualFromEvent(QGraphicsSceneDragDropEvent *event); bool isDnDValid(QGraphicsSceneDragDropEvent *event) const; bool isDnDAction(QGraphicsSceneDragDropEvent *event) const; bool isDnDNewAction(QGraphicsSceneDragDropEvent *event) const; QMimeData* mimeData() const; void resetSet(); void ensureOneEmptyActionHolderAtEnd(); void updateActionPositions(qreal dropXPos); void updateDropIndex(qreal dropXPos); void addActionBlockNoEmit(Block *block, int number = -1); void setBlock(Block*& blockPointer, Block* newBlock); Block *getActionBlock(const QString& blockName); protected: Block* event; Block* stateFilter; QList actions; QGraphicsItem* blinkGraphicsItem; QTimer* clearBlinkTimer; AddRemoveButton *deleteButton; AddRemoveButton *addButton; RemoveBlockButton *deleteBlockButton; enum HighlightMode { HIGHLIGHT_NONE = 0, HIGHLIGHT_EVENT, HIGHLIGHT_NEW_ACTION, HIGHLIGHT_EXISTING_ACTION, HIGHLIGHT_SET } highlightMode; int removeBlockIndex; // -1: none, -2: event, 0 or larger: action qreal dropAreaXPos; int dropIndex; qreal currentWidth; qreal basicWidth; qreal totalWidth; qreal columnPos; int row; Compiler::ErrorType errorType; bool beingDragged; public: bool wasDroppedTarget; //!< true if this set was target of set drag & drop }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/EventBlocks.cpp000066400000000000000000000500421322771007300240030ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include "EventBlocks.h" #include "Buttons.h" #include "UsageLogger.h" #include "Style.h" #define deg2rad(x) ((x) * M_PI / 180.) namespace Aseba { namespace ThymioVPL { // Buttons Event const QRectF ArrowButtonsEventBlock::buttonPoses[3] = { QRectF(32+(40+36)*0, 204, 40, 40), QRectF(32+(40+36)*1, 204, 40, 40), QRectF(32+(40+36)*2, 204, 40, 40) }; ArrowButtonsEventBlock::ArrowButtonsEventBlock(bool advanced, QGraphicsItem *parent) : BlockWithButtons("event", "button", true, parent), advanced(advanced), mode(MODE_ARROW) { const QColor color(Qt::red); // robot arrows // top, left, bottom, right for(int i=0; i<4; i++) { GeometryShapeButton *button = new GeometryShapeButton(QRectF(-25, -21.5, 50, 43), GeometryShapeButton::TRIANGULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); qreal offset = (qreal)i; button->setRotation(-90*offset); button->addState(color); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),buttons.size()-1,this)); } // center GeometryShapeButton *button = new GeometryShapeButton(QRectF(-25, -25, 50, 50), GeometryShapeButton::CIRCULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); button->addState(color); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),buttons.size()-1,this)); setButtonsPos(advanced); // rc arrows // top, left, bottom, right for(int i=0; i<4; i++) { button = new GeometryShapeButton(QRectF(-25, -25, 50, 50), GeometryShapeButton::QUARTER_CIRCLE_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); qreal offset = (qreal)i; button->setRotation(-90*offset+45); button->setPos(128 - 54*qSin(1.57079633*offset), 100 - 54*qCos(1.57079633*offset)); button->addState(color); button->setVisible(false); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SLOT(ensureSingleRCArrowButtonSelected())); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),buttons.size()-1,this)); } // center button = new GeometryShapeButton(QRectF(-25, -25, 50, 50), GeometryShapeButton::CIRCULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); button->addState(color); button->setPos(128, 100); button->setVisible(false); button->setValue(1); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SLOT(ensureSingleRCArrowButtonSelected())); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),buttons.size()-1,this)); // rc keypad for (int row=0; row<4; ++row) for (int col=0; col<3; ++col) { button = new GeometryShapeButton(QRectF(0, 0, 48, 30), GeometryShapeButton::RECTANGULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); button->addState(color); button->setPos(40+col*64, 12+row*48); button->setVisible(false); if (row == 0 && col == 0) button->setValue(1); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SLOT(ensureSingleRCKeypadButtonSelected())); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),buttons.size()-1,this)); } } void ArrowButtonsEventBlock::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); // if simple mode, simply return if (!advanced) { // paint parent BlockWithButtons::paint(painter, option, widget); return; } // paint block Block::paint(painter, option, widget); painter->setPen(Qt::NoPen); painter->setBrush(Qt::white); if (mode == MODE_ARROW) { painter->drawChord(128-110, 128-122, 220, 130, 0, 2880); painter->drawRoundedRect(128-110, 128-63, 220, 127, 5, 5); } else painter->drawRoundedRect(128-110, 128-122, 220, 186, 5, 5); // draw buttons for (unsigned i=0; i<3; ++i) { if (mode == i) { painter->setPen(QPen(Qt::black, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->setBrush(Qt::red); } else { painter->setPen(QPen(Style::unusedButtonStrokeColor, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->setBrush(Style::unusedButtonFillColor); } painter->drawEllipse(buttonPoses[i]); } } int ArrowButtonsEventBlock::getValue(unsigned i) const { if (i < 5 && mode == MODE_ARROW) return BlockWithButtons::getValue(i); else if (i == 5) return mode; else if (i == 6 && mode == MODE_RC_ARROW) return getSelectedRCArrowButton(); else if (i == 6 && mode == MODE_RC_KEYPAD) return getSelectedRCKeypadButton(); else return 0; } void ArrowButtonsEventBlock::setValue(unsigned i, int value) { if (i < 5) { BlockWithButtons::setValue(i, value); } else if (i == 5) { setMode(value); } else if (i == 6 && mode == MODE_RC_ARROW) { assert(value >= 0); assert(value < 5); buttons.at(5+value)->setValue(1); ensureSingleRCArrowButtonSelected(value); emit contentChanged(); } else if (i == 6 && mode == MODE_RC_KEYPAD) { assert(value >= 0); assert(value < 12); buttons.at(10+value)->setValue(1); ensureSingleRCKeypadButtonSelected(value); emit contentChanged(); } } QVector ArrowButtonsEventBlock::getValuesCompressed() const { QVector result; // mode result.push_back(mode); if (mode == MODE_ARROW) { // robot buttons unsigned value(0); for (int i=0; i<5; ++i) { value *= buttons[i]->valuesCount(); value += buttons[i]->getValue(); } assert(value <= 65535); result.push_back(value); } else if (mode == MODE_RC_ARROW) { const int value(getSelectedRCArrowButton()); assert(value >= 0); result.push_back(unsigned(value)); } else if (mode == MODE_RC_KEYPAD) { const int value(getSelectedRCKeypadButton()); assert(value >= 0); result.push_back(unsigned(value)); } else assert(false); return result; } bool ArrowButtonsEventBlock::isAnyAdvancedFeature() const { return mode != MODE_ARROW; } void ArrowButtonsEventBlock::setAdvanced(bool advanced) { if (!advanced) { setMode(MODE_ARROW); } this->advanced = advanced; setButtonsPos(advanced); update(); } void ArrowButtonsEventBlock::mousePressEvent(QGraphicsSceneMouseEvent * event) { if (event->button() == Qt::LeftButton) { for (unsigned i=0; i<3; ++i) { if (buttonPoses[i].contains(event->pos())) { setMode(i); USAGE_LOG(logEventBlockMode(this->name, this->type,i)); emit undoCheckpoint(); return; } } } Block::mousePressEvent(event); } void ArrowButtonsEventBlock::setMode(unsigned mode) { if (!advanced) return; if (mode != this->mode) { this->mode = mode; if (mode == MODE_ARROW) { for (size_t i = 0; i<5; ++i) buttons[i]->setVisible(true); for (size_t i = 5; i<10; ++i) buttons[i]->setVisible(false); for (size_t i = 10; i<22; ++i) buttons[i]->setVisible(false); } else if (mode == MODE_RC_ARROW) { for (size_t i = 0; i<5; ++i) buttons[i]->setVisible(false); for (size_t i = 5; i<10; ++i) buttons[i]->setVisible(true); for (size_t i = 10; i<22; ++i) buttons[i]->setVisible(false); // select one if none is selected if (getSelectedRCArrowButton() < 0) buttons[9]->setValue(1); } else if (mode == MODE_RC_KEYPAD) { for (size_t i = 0; i<5; ++i) buttons[i]->setVisible(false); for (size_t i = 5; i<10; ++i) buttons[i]->setVisible(false); for (size_t i = 10; i<22; ++i) buttons[i]->setVisible(true); // select one if none is selected if (getSelectedRCKeypadButton() < 0) buttons[10]->setValue(1); } else assert(false); update(); emit contentChanged(); } } void ArrowButtonsEventBlock::setButtonsPos(bool advanced) { if (advanced) { for (int i=0; i<4; i++) { qreal offset = (qreal)i; buttons[i]->setPos(128 - 64*qSin(1.57079633*offset), 100 - 64*qCos(1.57079633*offset)); } buttons[4]->setPos(128, 100); } else { for (int i=0; i<4; i++) { qreal offset = (qreal)i; buttons[i]->setPos(128 - 70*qSin(1.57079633*offset), 128 - 70*qCos(1.57079633*offset)); } buttons[4]->setPos(128, 128); } } //! Return the currently-selected RC arrow button, or -1 if none is selected int ArrowButtonsEventBlock::getSelectedRCArrowButton() const { for (size_t i=5; i<10; ++i) if (buttons[i]->getValue()) return i-5; return -1; } //! Return the currently-selected RC keypad, or -1 if none is selected int ArrowButtonsEventBlock::getSelectedRCKeypadButton() const { for (size_t i=10; igetValue()) return i-10; return -1; } void ArrowButtonsEventBlock::ensureSingleRCArrowButtonSelected(int current) { for (size_t i=5; i<10; ++i) if ((current + 5 != i) && buttons[i] != sender()) buttons[i]->setValue(0); else if (buttons[i] == sender()) buttons[i]->setValue(1); } void ArrowButtonsEventBlock::ensureSingleRCKeypadButtonSelected(int current) { for (size_t i=10; isetValue(0); else if (buttons[i] == sender()) buttons[i]->setValue(1); } // Prox Event ProxEventBlock::ProxEventBlock(bool advanced, QGraphicsItem *parent) : BlockWithButtonsAndRange("event", "prox", true, PIXEL_TO_VAL_SQUARE, 700, 4000, 1000, 2000, Qt::black, Qt::white, advanced, parent) { buttonsCountSimple = 3; // indication LEDs for front sensors indicationLEDs.push_back(createIndicationLED(15,78)); indicationLEDs.push_back(createIndicationLED(54,43)); QGraphicsItemGroup* frontIndicationLEDs(new QGraphicsItemGroup(this)); frontIndicationLEDs->addToGroup(createIndicationLED(104,26)); frontIndicationLEDs->addToGroup(createIndicationLED(152,26)); indicationLEDs.push_back(frontIndicationLEDs); indicationLEDs.push_back(createIndicationLED(202,43)); indicationLEDs.push_back(createIndicationLED(241,78)); // indication LEDs for back sensors indicationLEDs.push_back(createIndicationLED(40,234)); indicationLEDs.push_back(createIndicationLED(216,234)); // front sensors for(int i=0; i<5; ++i) { GeometryShapeButton *button = new GeometryShapeButton(QRectF(-16,-16,32,32), GeometryShapeButton::RECTANGULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); const qreal offset = (qreal)2-i; button->setRotation(-20*offset); button->setPos(128 - 150*qSin(0.34906585*offset) , 175 - 150*qCos(0.34906585*offset) ); button->addState(Qt::white, Qt::red); button->addState(Qt::black, Qt::black); button->addState(Qt::darkGray, QColor(128,0,0)); if (!advanced) button->setStateCountLimit(buttonsCountSimple); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); connect(button, SIGNAL(stateChanged()), SLOT(updateIndicationLEDsOpacity())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),i,this)); } // back sensors for(int i=0; i<2; ++i) { GeometryShapeButton *button = new GeometryShapeButton(QRectF(-16,-16,32,32), GeometryShapeButton::RECTANGULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); button->setPos(QPointF(64 + i*128, 234)); button->addState(Qt::white, Qt::red); button->addState(Qt::black, Qt::black); button->addState(Qt::darkGray, QColor(128,0,0)); if (!advanced) button->setStateCountLimit(buttonsCountSimple); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); connect(button, SIGNAL(stateChanged()), SLOT(updateIndicationLEDsOpacity())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),i+5,this)); } updateIndicationLEDsOpacity(); } // Prox Ground Event ProxGroundEventBlock::ProxGroundEventBlock(bool advanced, QGraphicsItem *parent) : BlockWithButtonsAndRange("event", "proxground", false, PIXEL_TO_VAL_LINEAR, 0, 1023, 400, 450, Qt::black, Qt::white, advanced, parent) { buttonsCountSimple = 3; // indication LEDs indicationLEDs.push_back(createIndicationLED(72,40)); indicationLEDs.push_back(createIndicationLED(184,40)); // sensors for(int i=0; i<2; ++i) { GeometryShapeButton *button = new GeometryShapeButton(QRectF(-16,-16,32,32), GeometryShapeButton::RECTANGULAR_BUTTON, this, Style::unusedButtonFillColor, Style::unusedButtonStrokeColor); button->setPos(QPointF(98 + i*60, 40)); button->addState(Qt::white, Qt::red); button->addState(Qt::black, Qt::black); button->addState(Qt::darkGray, QColor(128,0,0)); if (!advanced) button->setStateCountLimit(buttonsCountSimple); buttons.push_back(button); connect(button, SIGNAL(stateChanged()), SIGNAL(contentChanged())); connect(button, SIGNAL(stateChanged()), SIGNAL(undoCheckpoint())); connect(button, SIGNAL(stateChanged()), SLOT(updateIndicationLEDsOpacity())); USAGE_LOG(logSignal(button,SIGNAL(stateChanged()),i,this)); } updateIndicationLEDsOpacity(); } // Acc Event const QRectF AccEventBlock::buttonPoses[3] = { QRectF(32+(40+36)*0, 200, 40, 40), QRectF(32+(40+36)*1, 200, 40, 40), QRectF(32+(40+36)*2, 200, 40, 40) }; const int AccEventBlock::resolution = 6; AccEventBlock::AccEventBlock(bool advanced, QGraphicsItem *parent) : Block("event", "acc", parent), mode(MODE_TAP), orientation(0), dragging(false), tapSimpleSvg(new QGraphicsSvgItem (":/images/vpl_block_acc_tap_simple.svgz", this)), tapAdvancedSvg(new QGraphicsSvgItem (":/images/vpl_block_acc_tap_advanced.svgz", this)), quadrantSvg(new QGraphicsSvgItem (":/images/vpl_block_acc_quadrant.svgz", this)), pitchSvg(new QGraphicsSvgItem (":/images/vpl_block_acc_pitch.svgz", this)), rollSvg(new QGraphicsSvgItem (":/images/vpl_block_acc_roll.svgz", this)) { tapSimpleSvg->setVisible(!advanced); tapAdvancedSvg->setVisible(advanced); quadrantSvg->setVisible(false); pitchSvg->setVisible(false); pitchSvg->setTransformOriginPoint(128, 128); rollSvg->setVisible(false); rollSvg->setTransformOriginPoint(128, 128); } void AccEventBlock::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget) { Q_UNUSED(option); Q_UNUSED(widget); // paint parent Block::paint(painter, option, widget); // if simple mode, simply return if (tapSimpleSvg->isVisible()) return; // draw buttons for (unsigned i=0; i<3; ++i) { if (mode == i) { painter->setPen(QPen(Qt::black, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->setBrush(Qt::red); } else { painter->setPen(QPen(Style::unusedButtonStrokeColor, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); painter->setBrush(Style::unusedButtonFillColor); } painter->drawEllipse(buttonPoses[i]); } } int AccEventBlock::getValue(unsigned i) const { if (i == 0) return mode; else return orientation; } void AccEventBlock::setValue(unsigned i, int value) { if (i == 0) setMode(value); else setOrientation(value); } QVector AccEventBlock::getValuesCompressed() const { return QVector(1, (orientation<<2) | mode); } void AccEventBlock::mousePressEvent(QGraphicsSceneMouseEvent * event) { if (event->button() == Qt::LeftButton) { for (unsigned i=0; i<3; ++i) { if (buttonPoses[i].contains(event->pos())) { setMode(i); USAGE_LOG(logEventBlockMode(this->name, this->type,i)); emit undoCheckpoint(); return; } } } if (mode != MODE_TAP) { bool ok; const int orientation(orientationFromPos(event->pos(), &ok)); if (ok) { clearChangedFlag(); setOrientation(orientation); dragging = true; return; } } Block::mousePressEvent(event); } void AccEventBlock::mouseMoveEvent(QGraphicsSceneMouseEvent * event) { if (dragging) { bool ok; const int orientation(orientationFromPos(event->pos(), &ok)); if (ok) setOrientation(orientation); } else Block::mouseMoveEvent(event); } void AccEventBlock::mouseReleaseEvent(QGraphicsSceneMouseEvent * event) { if (dragging) { dragging = false; emitUndoCheckpointAndClearIfChanged(); } else Block::mouseReleaseEvent(event); } int AccEventBlock::orientationFromPos(const QPointF& pos, bool* ok) const { const QPointF localPos(pos-QPointF(128,128)); if (sqrt(localPos.x()*localPos.x()+localPos.y()*localPos.y()) <= 124) { const qreal angle(atan2(-localPos.y(), localPos.x()) - M_PI/2.); if (angle > deg2rad(-97.5) && angle < deg2rad(97.5)) { if (ok) *ok = true; return int(round((angle * 2 * resolution) / M_PI)); } } if (ok) *ok = false; return 0; } void AccEventBlock::setMode(unsigned mode) { if (tapSimpleSvg->isVisible()) return; if (mode != this->mode) { this->mode = mode; if (mode == MODE_TAP) { pitchSvg->setRotation(0); rollSvg->setRotation(0); orientation = 0; } tapAdvancedSvg->setVisible(mode == MODE_TAP); quadrantSvg->setVisible(mode != MODE_TAP); pitchSvg->setVisible(mode == MODE_PITCH); rollSvg->setVisible(mode == MODE_ROLL); update(); emit contentChanged(); } } void AccEventBlock::setOrientation(int orientation) { if (orientation != this->orientation) { this->orientation = orientation; pitchSvg->setRotation(-orientation * 90 / resolution); rollSvg->setRotation(-orientation * 90 / resolution); update(); emit contentChanged(); setChangedFlag(); } } bool AccEventBlock::isAnyAdvancedFeature() const { return (!tapSimpleSvg->isVisible() && !tapAdvancedSvg->isVisible()); } void AccEventBlock::setAdvanced(bool advanced) { if (!advanced) { setMode(MODE_TAP); tapAdvancedSvg->setVisible(false); tapSimpleSvg->setVisible(true); } else { tapAdvancedSvg->setVisible(true); tapSimpleSvg->setVisible(false); } } // Clap Event ClapEventBlock::ClapEventBlock( QGraphicsItem *parent ) : BlockWithNoValues("event", "clap", parent) { new QGraphicsSvgItem (":/images/thymioclap.svgz", this); } // TimeoutEventBlock TimeoutEventBlock::TimeoutEventBlock(QGraphicsItem *parent): BlockWithNoValues("event", "timeout", parent) { new QGraphicsSvgItem (":/images/timeout.svgz", this); } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/EventBlocks.h000066400000000000000000000076631322771007300234630ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_EVENT_BLOCKS_H #define VPL_EVENT_BLOCKS_H #include "Block.h" class QGraphicsSvgItem; namespace Aseba { namespace ThymioVPL { /** \addtogroup studio */ /*@{*/ class ArrowButtonsEventBlock : public BlockWithButtons { Q_OBJECT public: enum { MODE_ARROW = 0, MODE_RC_ARROW, MODE_RC_KEYPAD }; public: ArrowButtonsEventBlock(bool advanced, QGraphicsItem *parent=0); virtual unsigned valuesCount() const { return 7; } virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; virtual bool isAnyAdvancedFeature() const; virtual void setAdvanced(bool advanced); unsigned getMode() const { return mode; } int getSelectedRCArrowButton() const; int getSelectedRCKeypadButton() const; protected: virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); virtual void mousePressEvent(QGraphicsSceneMouseEvent * event); void setMode(unsigned mode); void setButtonsPos(bool advanced); protected slots: void ensureSingleRCArrowButtonSelected(int current = -1); void ensureSingleRCKeypadButtonSelected(int current = -1); protected: static const QRectF buttonPoses[3]; bool advanced; unsigned mode; }; class ProxEventBlock : public BlockWithButtonsAndRange { public: ProxEventBlock(bool advanced, QGraphicsItem *parent=0); }; class ProxGroundEventBlock : public BlockWithButtonsAndRange { public: ProxGroundEventBlock(bool advanced, QGraphicsItem *parent=0); }; class AccEventBlock : public Block { public: enum { MODE_TAP = 0, MODE_ROLL, MODE_PITCH }; static const int resolution; public: AccEventBlock(bool advanced, QGraphicsItem *parent=0); virtual void paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget = 0); virtual unsigned valuesCount() const { return 2; } virtual int getValue(unsigned i) const; virtual void setValue(unsigned i, int value); virtual QVector getValuesCompressed() const; virtual bool isAnyAdvancedFeature() const; virtual void setAdvanced(bool advanced); protected: virtual void mousePressEvent(QGraphicsSceneMouseEvent * event); virtual void mouseMoveEvent(QGraphicsSceneMouseEvent * event); virtual void mouseReleaseEvent(QGraphicsSceneMouseEvent * event); int orientationFromPos(const QPointF& pos, bool* ok) const; void setMode(unsigned mode); void setOrientation(int orientation); protected: static const QRectF buttonPoses[3]; unsigned mode; int orientation; bool dragging; QGraphicsSvgItem* tapSimpleSvg; QGraphicsSvgItem* tapAdvancedSvg; QGraphicsSvgItem* quadrantSvg; QGraphicsSvgItem* pitchSvg; QGraphicsSvgItem* rollSvg; }; class ClapEventBlock : public BlockWithNoValues { public: ClapEventBlock(QGraphicsItem *parent=0); }; class TimeoutEventBlock : public BlockWithNoValues { public: TimeoutEventBlock(QGraphicsItem *parent=0); virtual bool isAdvancedBlock() const { return true; } }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/LogSignalMapper.cpp000066400000000000000000000025701322771007300246130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "LogSignalMapper.h" namespace Aseba { namespace ThymioVPL { LogSignalMapper::LogSignalMapper(){ } LogSignalMapper::~LogSignalMapper(){ } void LogSignalMapper::setMapping(const QObject *sender, unsigned int senderId, QObject * logicalParent){ senderHash.insert(sender,SenderInfo(senderId,logicalParent)); } void LogSignalMapper::map() { map(sender()); } void LogSignalMapper::map(QObject *sender) { if (senderHash.contains(sender)) { SenderInfo p = senderHash.value(sender); emit mapped(p.first, sender, p.second); } } }} aseba-1.6.0/clients/studio/plugins/ThymioVPL/LogSignalMapper.h000066400000000000000000000026411322771007300242570ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef LOG_SIGNAL_MAPPER_H #define LOG_SIGNAL_MAPPER_H #include #include namespace Aseba { namespace ThymioVPL { typedef QPair SenderInfo; class LogSignalMapper : public QObject{ Q_OBJECT signals: void mapped(unsigned int senderId, QObject *originalSender, QObject *logicalParent); public slots: void map(); void map(QObject *sender); public: LogSignalMapper(); ~LogSignalMapper(); void setMapping(const QObject *sender, unsigned int senderId, QObject * logicalParent); private: QHash senderHash; }; }} #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/ResizingView.cpp000066400000000000000000000046251322771007300242170ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "ResizingView.h" namespace Aseba { namespace ThymioVPL { ResizingView::ResizingView(QGraphicsScene * scene, QWidget * parent): QGraphicsView(scene, parent), computedScale(1)/*, ignoreResize(false)*/ { assert(scene); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn); recomputeTimer = new QTimer(this); //ignoreResizeTimer = new QTimer(this); connect(recomputeTimer, SIGNAL(timeout()), SLOT(recomputeScale())); //connect(ignoreResizeTimer, SIGNAL(timeout()), SLOT(clearIgnoreResize())); connect(scene, SIGNAL(sceneSizeChanged()), recomputeTimer, SLOT(start())); } void ResizingView::resizeEvent(QResizeEvent * event) { //qDebug() << "resive event"; QGraphicsView::resizeEvent(event); /*if (ignoreResize) return;*/ recomputeTimer->start(); } void ResizingView::recomputeScale() { //qDebug() << "recompute scale"; disconnect(scene(), SIGNAL(sceneSizeChanged()), this, SLOT(recomputeScale())); // set transform resetTransform(); const qreal widthScale(0.95*qreal(viewport()->width())/qreal(scene()->width())); const qreal heightScale(qreal(viewport()->height()) / qreal(80+410*3)); computedScale = qMin(widthScale, heightScale); scale(computedScale, computedScale); connect(scene(), SIGNAL(sceneSizeChanged()), this, SLOT(recomputeScale())); recomputeTimer->stop(); /*ignoreResize = true; ignoreResizeTimer->start();*/ } /* void ResizingView::clearIgnoreResize() { ignoreResize = false; ignoreResizeTimer->stop(); }*/ } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/ResizingView.h000066400000000000000000000030571322771007300236620ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_RESIZING_VIEW_H #define VPL_RESIZING_VIEW_H #include namespace Aseba { namespace ThymioVPL { class Scene; class BlockButton; /** \addtogroup studio */ /*@{*/ class ResizingView: public QGraphicsView { Q_OBJECT public: ResizingView(QGraphicsScene * scene, QWidget * parent = 0); qreal getScale() const { return computedScale; } public slots: void recomputeScale(); /*protected slots: void clearIgnoreResize();*/ protected: virtual void resizeEvent(QResizeEvent * event); protected: qreal computedScale; //bool ignoreResize; QTimer *recomputeTimer; //QTimer *ignoreResizeTimer; }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif // VPL_RESIZING_VIEW_H aseba-1.6.0/clients/studio/plugins/ThymioVPL/Scene.cpp000066400000000000000000000375151322771007300226330ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include "Scene.h" #include "Block.h" #include "ThymioVisualProgramming.h" #include "Style.h" #include "UsageLogger.h" using namespace std; namespace Aseba { namespace ThymioVPL { Scene::Scene(ThymioVisualProgramming *vpl) : QGraphicsScene(vpl), vpl(vpl), warningGraphicsItem(new QGraphicsSvgItem(":/images/vpl/missing_block.svgz")), errorGraphicsItem(new QGraphicsSvgItem(":/images/vpl/error.svgz")), referredGraphicsItem(new QGraphicsSvgItem(":/images/vpl/error.svgz")), referredLineItem(addLine(0, 0, 0, 0, QPen(Qt::red, 8, Qt::DashLine))), sceneModified(false), advancedMode(false), zoomLevel(1) { addItem(warningGraphicsItem); warningGraphicsItem->setVisible(false); addItem(errorGraphicsItem); errorGraphicsItem->setVisible(false); addItem(referredGraphicsItem); referredGraphicsItem->setVisible(false); referredLineItem->setVisible(false); // create initial set EventActionsSet *p(createNewEventActionsSet()); buttonSetHeight = p->boundingRect().height(); connect(this, SIGNAL(selectionChanged()), SIGNAL(highlightChanged())); USAGE_LOG(setScene(this)); } Scene::~Scene() { clear(false); } //! Add an action block of a given name to the scene, find the right place to put it QGraphicsItem *Scene::addAction(const QString& name) { Block* item(Block::createBlock(name, advancedMode)); EventActionsSet* selectedSet(getSelectedSet()); if (selectedSet) { // add action to the selected set, if not already present if (!selectedSet->hasActionBlock(item->getName())) { selectedSet->addActionBlock(item); ensureOneEmptySetAtEnd(); } return selectedSet; } else { // find a set without any action for (SetItr itr(setsBegin()); itr != setsEnd(); ++itr) { EventActionsSet* eventActionsSet(*itr); //if (!eventActionsSet->hasActionBlock(item->getName())) if (!eventActionsSet->hasAnyActionBlock()) { eventActionsSet->addActionBlock(item); clearSelection(); ensureOneEmptySetAtEnd(); return eventActionsSet; } } // none found, add a new set and acc action there EventActionsSet* eventActionsSet(createNewEventActionsSet()); eventActionsSet->addActionBlock(item); clearSelection(); ensureOneEmptySetAtEnd(); return eventActionsSet; } } //! Add an event block of a given name to the scene, find the right place to put it QGraphicsItem *Scene::addEvent(const QString& name) { Block* item(Block::createBlock(name, advancedMode)); EventActionsSet* selectedSet(getSelectedSet()); if (selectedSet) { // replaced action of selected set selectedSet->addEventBlock(item); ensureOneEmptySetAtEnd(); return selectedSet; } else { // find a set without any action for (SetItr itr(setsBegin()); itr != setsEnd(); ++itr) { EventActionsSet* eventActionsSet(*itr); if (!eventActionsSet->hasEventBlock()) { eventActionsSet->addEventBlock(item); clearSelection(); ensureOneEmptySetAtEnd(); return eventActionsSet; } } // none found, add a new set and add event there EventActionsSet* eventActionsSet(createNewEventActionsSet()); eventActionsSet->addEventBlock(item); clearSelection(); ensureOneEmptySetAtEnd(); return eventActionsSet; } } //! Add a new event-actions set from a DOM Element, used by load void Scene::addEventActionsSet(const QDomElement& element) { EventActionsSet *eventActionsSet(new EventActionsSet(eventActionsSets.size(), advancedMode)); eventActionsSet->deserialize(element); addEventActionsSet(eventActionsSet); } //! Makes sure that there is at least one empty event-actions set at the end of the scene void Scene::ensureOneEmptySetAtEnd() { EventActionsSet *newSet(0); if (eventActionsSets.empty()) newSet = createNewEventActionsSet(); else if (!eventActionsSets.last()->isEmpty()) newSet = createNewEventActionsSet(); if (newSet) { relayout(); // make sure the newly set is visible QGraphicsView* view; foreach (view, views()) view->ensureVisible(newSet); } } //! Create a new event-actions set and adds it EventActionsSet *Scene::createNewEventActionsSet() { EventActionsSet *eventActionsSet(new EventActionsSet(eventActionsSets.size(), advancedMode)); addEventActionsSet(eventActionsSet); return eventActionsSet; } //! Adds an existing event-actions set, *must not* be in the scene already void Scene::addEventActionsSet(EventActionsSet *eventActionsSet) { eventActionsSets.push_back(eventActionsSet); addItem(eventActionsSet); recomputeSceneRect(); connect(eventActionsSet, SIGNAL(contentChanged()), this, SLOT(recompile())); connect(eventActionsSet, SIGNAL(undoCheckpoint()), this, SIGNAL(undoCheckpoint())); } //! Return whether we have to generate debug log information bool Scene::debugLog() const { return vpl->debugLog; } //! Return whether the scene is as when started bool Scene::isEmpty() const { if (eventActionsSets.isEmpty()) return true; if (eventActionsSets.size() > 1 || !eventActionsSets[0]->isEmpty()) return false; return true; } //! Reset the scene to an empty one void Scene::reset() { clear(advancedMode); createNewEventActionsSet(); lastCompilationResult = compiler.compile(this); } //! Remove everything from the scene, leaving it with no object (hence not usable directly), and set advanced mode or not void Scene::clear(bool advanced) { disconnect(this, SIGNAL(selectionChanged()), this, SIGNAL(highlightChanged())); for(int i=0; isetVisible(false); errorGraphicsItem->setVisible(false); referredGraphicsItem->setVisible(false); referredLineItem->setVisible(false); connect(this, SIGNAL(selectionChanged()), SIGNAL(highlightChanged())); setModified(false); advancedMode = advanced; } //! Set the modified boolean to mod, emit status change void Scene::setModified(bool mod) { sceneModified = mod; emit modifiedStatusChanged(sceneModified); } //! Switch the scene to and from advanced mode void Scene::setAdvanced(bool advanced) { if (advanced != advancedMode) { advancedMode = advanced; for(SetItr itr(setsBegin()); itr != setsEnd(); ++itr) { EventActionsSet* p(*itr); p->disconnect(SIGNAL(contentChanged()), this, SLOT(recompile())); p->setAdvanced(advanced); connect(p, SIGNAL(contentChanged()), SLOT(recompile())); } recompile(); USAGE_LOG(logSetAdvanced(advanced)); emit undoCheckpoint(); } } //! Return whether the scene is using any advanced feature bool Scene::isAnyAdvancedFeature() const { for (SetConstItr itr(setsBegin()); itr != setsEnd(); ++itr) if ((*itr)->isAnyAdvancedFeature()) return true; return false; } //! Serialize the scene to DOM QDomElement Scene::serialize(QDomDocument& document) const { QDomElement program = document.createElement("program"); program.setAttribute("advanced_mode", advancedMode); for (Scene::SetConstItr itr(setsBegin()); itr != setsEnd(); ++itr) program.appendChild((*itr)->serialize(document)); return program; } //! Clear the existing scene and deserialize from DOM void Scene::deserialize(const QDomElement& programElement) { // remove current content and set mode clear(programElement.attribute("advanced_mode", "false").toInt()); // deserialize QDomElement element(programElement.firstChildElement()); while (!element.isNull()) { if (element.tagName() == "set") { addEventActionsSet(element); } element = element.nextSiblingElement(); } // reset visuals ensureOneEmptySetAtEnd(); } //! Serialize to string through DOM document QString Scene::toString() const { QDomDocument document("scene"); document.appendChild(serialize(document)); return document.toString(); } //! Deserialize from string through DOM document void Scene::fromString(const QString& text) { QDomDocument document("scene"); document.setContent(text); deserialize(document.firstChildElement()); } void Scene::removeSet(int row) { Q_ASSERT( row < eventActionsSets.size() ); EventActionsSet *p(eventActionsSets[row]); disconnect(p, SIGNAL(contentChanged()), this, SLOT(recompile())); eventActionsSets.removeAt(row); removeItem(p); p->deleteLater(); rearrangeSets(row); ensureOneEmptySetAtEnd(); recomputeSceneRect(); recompile(); USAGE_LOG(logRemoveSet(row)); emit undoCheckpoint(); } void Scene::insertSet(int row) { Q_ASSERT( row <= eventActionsSets.size() ); EventActionsSet *p(new EventActionsSet(row, advancedMode)); eventActionsSets.insert(row, p); addItem(p); connect(p, SIGNAL(contentChanged()), this, SLOT(recompile())); connect(p, SIGNAL(undoCheckpoint()), this, SIGNAL(undoCheckpoint())); rearrangeSets(row+1); relayout(); recompile(); USAGE_LOG(logInsertSet(row)); emit undoCheckpoint(); p->setSoleSelection(); QGraphicsView* view; foreach (view, views()) view->ensureVisible(p); setModified(true); } void Scene::recomputeSceneRect() { QRectF r; for(int i=0; iscenePos(), p->boundingRect().size()); } setSceneRect(r.adjusted(-(40+errorGraphicsItem->boundingRect().width()+40),-40,40,Style::addRemoveButtonHeight+Style::blockSpacing+40)); emit sceneSizeChanged(); } //! Is a set, given by its id, the last non-empty set of the scene? bool Scene::isSetLast(unsigned setId) const { if (setId+1 >= (unsigned)eventActionsSets.size()) return true; for (unsigned i=setId+1; i<(unsigned)eventActionsSets.size(); ++i) if (!eventActionsSets[i]->isEmpty()) return false; return true; } /*void Scene::dragEnterEvent(QGraphicsSceneDragDropEvent *event) { Scene::dragEnterEvent(event); if (isDnDValid(event)) { event->setDropAction(Qt::MoveAction); event->accept(); } } void Scene::dragMoveEvent(QGraphicsSceneDragDropEvent *event) { Scene::dragMoveEvent(event); if (isDnDValid(event)) { event->setDropAction(Qt::MoveAction); event->accept(); } } void Scene::dropEvent(QGraphicsSceneDragDropEvent *event) { Scene::dropEvent(event); if (isDnDValid(event)) { event->setDropAction(Qt::MoveAction); event->accept(); } } bool Scene::isDnDValid(QGraphicsSceneDragDropEvent *event) const { if (event->mimeData()->hasFormat("EventActionsSet") || event->mimeData()->hasFormat("Block") ) { if (items(event->pos(), Qt::ContainsItemBoundingRect, Qt::AscendingOrder).empty()) return true; } return false; }*/ void Scene::rearrangeSets(int row) { for(int i=row; isetRow(i); } void Scene::relayout() { for(SetItr itr(setsBegin()); itr != setsEnd(); ++itr) (*itr)->repositionElements(); recomputeSceneRect(); } QList Scene::getCode() const { QList out; for (std::vector::const_iterator itr = compiler.beginCode(); itr != compiler.endCode(); ++itr) out.push_back(QString::fromStdWString(*itr)); return out; } int Scene::getSelectedSetCodeId() const { EventActionsSet* selectedSet(getSelectedSet()); if (selectedSet) return compiler.getSetToCodeIdMap(selectedSet->getRow()); else return -1; } EventActionsSet *Scene::getSelectedSet() const { if (selectedItems().empty()) return 0; QGraphicsItem *item; foreach (item, selectedItems()) { EventActionsSet* eventActionsSet(dynamic_cast(item)); if (eventActionsSet) return eventActionsSet; } return 0; } EventActionsSet *Scene::getSetRow(int row) const { return eventActionsSets.at(row); } void Scene::recompile() { setModified(true); recompileWithoutSetModified(); } void Scene::recompileWithoutSetModified() { //qDebug() << "recompiling"; lastCompilationResult = compiler.compile(this); const bool isWarning( isSetLast(lastCompilationResult.errorLine) && ((lastCompilationResult.errorType == Compiler::MISSING_ACTION) || (lastCompilationResult.errorType == Compiler::MISSING_EVENT)) ); warningGraphicsItem->setVisible(isWarning); errorGraphicsItem->setVisible(!isWarning && lastCompilationResult.errorLine != -1); referredGraphicsItem->setVisible(lastCompilationResult.referredLine != -1); referredLineItem->setVisible(lastCompilationResult.referredLine != -1); EventActionsSet* warningEventActionsSet(0); EventActionsSet* errorEventActionsSet(0); EventActionsSet* referredEventActionsSet(0); for (int i = 0; i < eventActionsSets.size(); ++i) { EventActionsSet* eventActionsSet(eventActionsSets[i]); Compiler::ErrorType errorType; if (i == lastCompilationResult.errorLine) { errorType = lastCompilationResult.errorType; if (isWarning) warningEventActionsSet = eventActionsSet; else errorEventActionsSet = eventActionsSet; } else if (i == lastCompilationResult.referredLine) { errorType = lastCompilationResult.errorType; referredEventActionsSet = eventActionsSet; } else { errorType = Compiler::NO_ERROR; } eventActionsSet->setErrorType(errorType); } // force update when error notification changed position to work around issue 360 bool forceUpdate(false); if (warningEventActionsSet) { QSizeF errorSize(errorGraphicsItem->boundingRect().size()); qreal errorY(warningEventActionsSet->scenePos().y() + warningEventActionsSet->innerBoundingRect().height() / 2); qreal oldPosY(warningGraphicsItem->pos().y()); warningGraphicsItem->setPos(-(errorSize.width() + 40), errorY - errorSize.height() / 2); if (warningGraphicsItem->pos().y() != oldPosY) forceUpdate = true; } if (errorEventActionsSet) { QSizeF errorSize(errorGraphicsItem->boundingRect().size()); qreal errorY(errorEventActionsSet->scenePos().y() + errorEventActionsSet->innerBoundingRect().height() / 2); qreal oldPosY(errorGraphicsItem->pos().y()); errorGraphicsItem->setPos(-(errorSize.width() + 40), errorY - errorSize.height() / 2); if (errorGraphicsItem->pos().y() != oldPosY) forceUpdate = true; if (referredEventActionsSet) { qreal referredY(referredEventActionsSet->scenePos().y() + referredEventActionsSet->innerBoundingRect().height() / 2); oldPosY = referredGraphicsItem->pos().y(); referredGraphicsItem->setPos(-(errorSize.width() + 40), referredY - errorSize.height() / 2); if (referredGraphicsItem->pos().y() != oldPosY) forceUpdate = true; referredLineItem->setLine(-(errorSize.width() / 2 + 40), referredY + errorSize.height() / 2 + 10, -(errorSize.width() / 2 + 40), errorY - errorSize.height() / 2 - 10); } } if (forceUpdate) update(); emit contentRecompiled(); } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/Scene.h000066400000000000000000000076611322771007300222770ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_SCENE_H #define VPL_SCENE_H #include #include #include "EventActionsSet.h" namespace Aseba { namespace ThymioVPL { class ThymioVisualProgramming; class Scene : public QGraphicsScene { Q_OBJECT public: Scene(ThymioVisualProgramming *vpl); ~Scene(); QGraphicsItem *addAction(const QString& name); QGraphicsItem *addEvent(const QString& name); void addEventActionsSet(const QDomElement& element); void ensureOneEmptySetAtEnd(); bool debugLog() const; bool isEmpty() const; void reset(); void clear(bool advanced); bool isModified() const { return sceneModified; } void setModified(bool mod); void setScale(qreal scale); void setAdvanced(bool advanced); bool getAdvanced() const { return advancedMode; } bool isAnyAdvancedFeature() const; QDomElement serialize(QDomDocument& document) const; void deserialize(const QDomElement& programElement); QString toString() const; void fromString(const QString& text); QString getErrorMessage() const; QList getCode() const; const Compiler::CompilationResult& compilationResult() { return lastCompilationResult; } int getSelectedSetCodeId() const; EventActionsSet *getSelectedSet() const; EventActionsSet *getSetRow(int row) const; void removeSet(int row); void insertSet(int row); void recomputeSceneRect(); typedef QList::iterator SetItr; typedef QList::const_iterator SetConstItr; SetItr setsBegin() { return eventActionsSets.begin(); } SetItr setsEnd() { return eventActionsSets.end(); } SetConstItr setsBegin() const { return eventActionsSets.begin(); } SetConstItr setsEnd() const { return eventActionsSets.end(); } unsigned setsCount() const { return eventActionsSets.size(); } bool isSetLast(unsigned setId) const; unsigned getZoomLevel() const { return zoomLevel; } signals: void highlightChanged(); void contentRecompiled(); void undoCheckpoint(); void modifiedStatusChanged(bool modified); void sceneSizeChanged(); public slots: void recompile(); void recompileWithoutSetModified(); protected: /*void dragEnterEvent(QGraphicsSceneDragDropEvent *event); void dragMoveEvent(QGraphicsSceneDragDropEvent *event); void dropEvent(QGraphicsSceneDragDropEvent *event); bool isDnDValid(QGraphicsSceneDragDropEvent *event) const; */ void rearrangeSets(int row=0); void relayout(); void addEventActionsSet(EventActionsSet *eventActionsSet); EventActionsSet *createNewEventActionsSet(); protected: ThymioVisualProgramming* vpl; QGraphicsSvgItem* warningGraphicsItem; QGraphicsSvgItem* errorGraphicsItem; QGraphicsSvgItem* referredGraphicsItem; QGraphicsLineItem* referredLineItem; QList eventActionsSets; Compiler compiler; Compiler::CompilationResult lastCompilationResult; // TODO: set this always through a function and emit a signal when it is changed, to update windows title (see issue 154) bool sceneModified; qreal buttonSetHeight; bool advancedMode; unsigned zoomLevel; }; } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/StateBlocks.cpp000066400000000000000000000021161322771007300240010ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "StateBlocks.h" namespace Aseba { namespace ThymioVPL { // State Filter Event StateFilterCheckBlock::StateFilterCheckBlock(QGraphicsItem *parent) : StateFilterBlock("state", "statefilter", parent) { } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/StateBlocks.h000066400000000000000000000022231322771007300234450ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_STATE_BLOCKS_H #define VPL_STATE_BLOCKS_H #include "Block.h" namespace Aseba { namespace ThymioVPL { /** \addtogroup studio */ /*@{*/ class StateFilterCheckBlock : public StateFilterBlock { public: StateFilterCheckBlock(QGraphicsItem *parent=0); }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/Style.cpp000066400000000000000000000116031322771007300226640ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "Style.h" #include #include #include namespace Aseba { namespace ThymioVPL { // private // sizes //! Width of a block const int Style::blockWidth = 256; //! Height of a block const int Style::blockHeight = 256; //! Spacing between block in an event-actions set const int Style::blockSpacing = 40; //! The width of the border of the block drop area const int Style::blockDropAreaBorderWidth = 10; //! The multiplicative factor to apply to the color saturation (in HSV) of the block drop area when it is not highlighted const qreal Style::blockDropAreaSaturationFactor = 0.7; //! The multiplicative factor to apply to the color value (in HSV) of the block drop area when it is not highlighted const qreal Style::blockDropAreaValueFactor = 1.0; //! The width of the add/remove button const int Style::addRemoveButtonWidth = 64; //! The height of the add/remove button const int Style::addRemoveButtonHeight = 64; //! The width of the remove block button const int Style::removeBlockButtonWidth = 58; //! The height of the remove block button const int Style::removeBlockButtonHeight = 58; //! The width of the column in the middle of the set const int Style::eventActionsSetColumnWidth = 40; //! Step size between event-actions sets const int Style::eventActionsSetRowStep = Style::blockHeight + 3*Style::blockSpacing + 64; //! Size of the rounded corner of event-actions sets const int Style::eventActionsSetCornerSize = 5; //! The normal/selected background colors of event-actions sets const QColor Style::eventActionsSetBackgroundColors[2] = { QColor(234, 234, 234), QColor(255, 255, 180) }; //! The normal/selected foreground colors of event-actions sets const QColor Style::eventActionsSetForegroundColors[2] = { QColor(204, 204, 204), QColor(237, 237, 80) }; //! Size of the rounded corner of add/remove buttons const int Style::addRemoveButtonCornerSize = 5; //! Background color of add/remove buttons const QColor Style::addRemoveButtonBackgroundColor(170, 170, 170); // global colors static struct PrivateStyle { typedef QList ColorList; ColorList eventColors; ColorList stateColors; ColorList actionColors; unsigned currentColor; PrivateStyle(): eventColors(ColorList() //<< QColor(0,191,255) << QColor(246,135,31) << QColor(155,48,255) << QColor(67,205,128) << QColor(255,215,0) << QColor(255,97,3) << QColor(125,158,192) ), stateColors(ColorList() << QColor(0, 218, 3) << QColor(122, 204, 0) << QColor(122, 204, 0) << QColor(122, 204, 0) << QColor(122, 204, 0) << QColor(122, 204, 0) ), actionColors(ColorList() //<< QColor(218,112,214) << QColor(0,150,219) << QColor(159,182,205) << QColor(0,197,205) << QColor(255,99,71) << QColor(142,56,142) << QColor(56,142,142) ), currentColor(0) { assert(eventColors.size() == actionColors.size()); assert(eventColors.size() == stateColors.size()); } } privateStyle; //! Return the current color of a block of a given type QColor Style::blockCurrentColor(const QString& type) { return blockColor(type, privateStyle.currentColor); } //! Return the color of a block of a given type at a certain index QColor Style::blockColor(const QString& type, unsigned index) { if (type == "event") return privateStyle.eventColors[index]; else if (type == "state") return privateStyle.stateColors[index]; else return privateStyle.actionColors[index]; } //! Set the current index for block colors void Style::blockSetCurrentColorIndex(unsigned index) { if (int(index) < privateStyle.eventColors.size()) privateStyle.currentColor = index; } //! Return the number of colors unsigned Style::blockColorsCount() { return privateStyle.eventColors.size(); } //! The color to fill unused buttons QColor Style::unusedButtonFillColor = QColor(220,220,220); //! The color to draw the stroke of unused buttons QColor Style::unusedButtonStrokeColor = Qt::lightGray; } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/Style.h000066400000000000000000000041251322771007300223320ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_STYLE_H #define VPL_STYLE_H #include namespace Aseba { namespace ThymioVPL { //! Style metrics for VPL struct Style { static const int blockWidth; static const int blockHeight; static const int blockSpacing; static const int blockDropAreaBorderWidth; static const qreal blockDropAreaSaturationFactor; static const qreal blockDropAreaValueFactor; static const int addRemoveButtonWidth; static const int addRemoveButtonHeight; static const int removeBlockButtonWidth; static const int removeBlockButtonHeight; static const int eventActionsSetColumnWidth; static const int eventActionsSetRowStep; static const int eventActionsSetCornerSize; static const QColor eventActionsSetBackgroundColors[2]; static const QColor eventActionsSetForegroundColors[2]; static const int addRemoveButtonCornerSize; static const QColor addRemoveButtonBackgroundColor; static QColor blockCurrentColor(const QString& type); static QColor blockColor(const QString& type, unsigned index); static void blockSetCurrentColorIndex(unsigned index); static unsigned blockColorsCount(); static QColor unusedButtonFillColor; static QColor unusedButtonStrokeColor; }; } } // namespace ThymioVPL / namespace Aseba #endif // VPL_STYLE_H aseba-1.6.0/clients/studio/plugins/ThymioVPL/ThymioVisualProgramming.cpp000066400000000000000000001156011322771007300264270ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "ThymioVisualProgramming.h" #include "ResizingView.h" #include "Block.h" #include "EventBlocks.h" #include "ActionBlocks.h" #include "Scene.h" #include "Buttons.h" #include "Style.h" #include "Utils.h" #include "UsageLogger.h" #include "../../TargetModels.h" #include "../../../../common/utils/utils.h" #include "../../../../common/about/AboutDialog.h" // for backtrace //#include using namespace std; namespace Aseba { namespace ThymioVPL { // Visual Programming ThymioVisualProgramming::ThymioVisualProgramming(DevelopmentEnvironmentInterface *_de, bool showCloseButton, bool debugLog, bool execFeedback): debugLog(debugLog), execFeedback(execFeedback), de(_de), scene(new Scene(this)), loading(false), undoPos(-1), runAnimFrame(0), runAnimTimer(0) { runAnimFrames.resize(17); // Create the gui ... setWindowTitle(tr("Thymio Visual Programming Language")); setMinimumSize(QSize(400,400)); mainLayout = new QVBoxLayout(this); toolLayout = new QGridLayout(); toolLayout->setHorizontalSpacing(0); toolLayout->setVerticalSpacing(0); mainLayout->addLayout(toolLayout); // add back the spacing we removed mainLayout->addSpacing(style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing)); newButton = new QPushButton(); newButton->setIcon(QIcon(":/images/icons/filenew.svgz")); newButton->setToolTip(tr("New")); newButton->setFlat(true); newButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(newButton,0,0); openButton = new QPushButton(); openButton->setIcon(QIcon(":/images/icons/fileopen.svgz")); openButton->setToolTip(tr("Open")); openButton->setFlat(true); openButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(openButton,0,1); saveButton = new QPushButton(); saveButton->setIcon(QIcon(":/images/icons/save.svgz")); saveButton->setToolTip(tr("Save")); saveButton->setFlat(true); saveButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(saveButton,1,0); saveAsButton = new QPushButton(); saveAsButton->setIcon(QIcon(":/images/icons/saveas.svgz")); saveAsButton->setToolTip(tr("Save as")); saveAsButton->setFlat(true); saveAsButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(saveAsButton,1,1); spacer1 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer1,0,2,2,1); firstSeparator = new QFrame(); firstSeparator->setFrameShape(QFrame::VLine); firstSeparator->setFrameShadow(QFrame::Sunken); toolLayout->addWidget(firstSeparator,0,3,2,1); spacer2 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer2,0,4,2,1); undoButton = new QPushButton(); undoButton->setIcon(QIcon(":/images/icons/edit-undo.svgz")); undoButton->setToolTip(tr("Undo")); undoButton->setFlat(true); undoButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); undoButton->setEnabled(false); undoButton->setShortcut(QKeySequence::Undo); toolLayout->addWidget(undoButton,0,5,2,1); redoButton = new QPushButton(); redoButton->setIcon(QIcon(":/images/icons/edit-redo.svgz")); redoButton->setToolTip(tr("Redo")); redoButton->setFlat(true); redoButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); redoButton->setEnabled(false); redoButton->setShortcut(QKeySequence::Redo); toolLayout->addWidget(redoButton,0,6,2,1); spacer3 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer3,0,7,2,1); runButton = new QPushButton(); runButton->setIcon(QIcon(":/images/icons/play.svgz")); runButton->setToolTip(tr("Load & Run")); runButton->setFlat(true); runButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(runButton,0,8,2,1); spacerRunStop = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacerRunStop,0,9,2,1); stopButton = new QPushButton(); stopButton->setIcon(QIcon(":/images/icons/stop.svgz")); stopButton->setToolTip(tr("Stop")); stopButton->setFlat(true); stopButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(stopButton,0,10,2,1); spacer4 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer4,0,11,2,1); advancedButton = new QPushButton(); advancedButton->setIcon(QIcon(":/images/icons/vpl-advanced_off.svgz")); advancedButton->setToolTip(tr("Advanced mode")); advancedButton->setFlat(true); advancedButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(advancedButton,0,12,2,1); spacer5 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer5,0,13,2,1); secondSeparator = new QFrame(); secondSeparator->setFrameShape(QFrame::VLine); secondSeparator->setFrameShadow(QFrame::Sunken); toolLayout->addWidget(secondSeparator,0,14,2,1); spacer6 = new QSpacerItem(1,1,QSizePolicy::Expanding); toolLayout->addItem(spacer6,0,15,2,1); helpButton = new QPushButton(); helpButton->setIcon(QIcon(":/images/icons/info.svgz")); helpButton->setToolTip(tr("Help")); helpButton->setFlat(true); helpButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(helpButton,0,16); snapshotButton = new QPushButton(); snapshotButton->setIcon(QIcon(":/images/icons/screenshot.svgz")); snapshotButton->setToolTip(tr("Screenshot")); snapshotButton->setFlat(true); snapshotButton->setStyleSheet("QPushButton:pressed { border: 1px solid white }"); toolLayout->addWidget(snapshotButton,1,16); connect(newButton, SIGNAL(clicked()), this, SLOT(newFile())); connect(openButton, SIGNAL(clicked()), this, SLOT(openFile())); connect(saveButton, SIGNAL(clicked()), this, SLOT(save())); connect(saveAsButton, SIGNAL(clicked()), this, SLOT(saveAs())); connect(undoButton, SIGNAL(clicked()), this, SLOT(undo())); connect(redoButton, SIGNAL(clicked()), this, SLOT(redo())); connect(runButton, SIGNAL(clicked()), this, SLOT(run())); connect(stopButton, SIGNAL(clicked()), this, SLOT(stop())); connect(advancedButton, SIGNAL(clicked()), this, SLOT(toggleAdvancedMode())); connect(helpButton, SIGNAL(clicked()), this, SLOT(openHelp())); connect(snapshotButton, SIGNAL(clicked()), this, SLOT(saveSnapshot())); horizontalLayout = new QHBoxLayout(); mainLayout->addLayout(horizontalLayout); // events eventsLayout = new QVBoxLayout(); eventButtons.push_back(new BlockButton("button", this)); eventButtons.push_back(new BlockButton("prox", this)); eventButtons.push_back(new BlockButton("proxground", this)); eventButtons.push_back(new BlockButton("acc", this)); eventButtons.push_back(new BlockButton("clap", this)); eventButtons.push_back(new BlockButton("timeout", this)); eventsLabel = new QLabel(tr("Events")); eventsLabel->setStyleSheet("QLabel { font-size: 10pt; font-weight: bold; }"); #ifdef Q_WS_MACX eventsLayout->setSpacing(20); #else // Q_WS_MACX eventsLayout->setSpacing(10); #endif // Q_WS_MACX eventsLayout->setAlignment(Qt::AlignTop); eventsLayout->addWidget(eventsLabel); BlockButton* button; foreach (button, eventButtons) { eventsLayout->addWidget(button); connect(button, SIGNAL(clicked()), SLOT(addEvent())); connect(button, SIGNAL(contentChanged()), scene, SLOT(recompile())); connect(button, SIGNAL(undoCheckpoint()), SLOT(pushUndo())); } eventButtons[eventButtons.size()-1]->hide(); // timeout horizontalLayout->addLayout(eventsLayout); sceneLayout = new QVBoxLayout(); // compilation compilationResultImage = new QLabel(); compilationResult = new QLabel(tr("Compilation success.")); compilationResult->setStyleSheet("QLabel { font-size: 10pt; }"); const int fontSize(QFontMetrics(compilationResult->font()).lineSpacing()); compilationResultImage->setPixmap(pixmapFromSVG(":/images/vpl/success.svgz", fontSize*1.2)); compilationResult->setWordWrap(true); compilationResult->setAlignment(Qt::AlignLeft|Qt::AlignVCenter); showCompilationError = new QPushButton(tr("show line")); showCompilationError->setStyleSheet("QPushButton { font-size: 10pt; }"); showCompilationError->hide(); connect(showCompilationError, SIGNAL(clicked()), SLOT(showErrorLine())); compilationResultLayout = new QHBoxLayout; compilationResultLayout->addWidget(compilationResultImage); compilationResultLayout->addWidget(compilationResult,10000); compilationResultLayout->addWidget(showCompilationError); sceneLayout->addLayout(compilationResultLayout); // view view = new ResizingView(scene); view->setRenderHint(QPainter::Antialiasing); view->setAcceptDrops(true); view->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); sceneLayout->addWidget(view); Q_ASSERT(scene->setsCount() > 0); view->centerOn(*scene->setsBegin()); connect(scene, SIGNAL(contentRecompiled()), SLOT(processCompilationResult())); connect(scene, SIGNAL(undoCheckpoint()), SLOT(pushUndo())); connect(scene, SIGNAL(highlightChanged()), SLOT(processHighlightChange())); connect(scene, SIGNAL(modifiedStatusChanged(bool)), SIGNAL(modifiedStatusChanged(bool))); connect(de->getTarget(), SIGNAL(userEvent(unsigned, const VariablesDataVector)), SLOT(userEvent(unsigned, const VariablesDataVector))); /*zoomSlider = new QSlider(Qt::Horizontal); zoomSlider->setRange(1,10); zoomSlider->setValue(1); zoomSlider->setInvertedAppearance(true); zoomSlider->setInvertedControls(true); sceneLayout->addWidget(zoomSlider); connect(zoomSlider, SIGNAL(valueChanged(int)), scene, SLOT(updateZoomLevel()));*/ horizontalLayout->addLayout(sceneLayout); // actions actionsLayout = new QVBoxLayout(); actionButtons.push_back(new BlockButton("move", this)); actionButtons.push_back(new BlockButton("colortop", this)); actionButtons.push_back(new BlockButton("colorbottom", this)); actionButtons.push_back(new BlockButton("sound", this)); actionButtons.push_back(new BlockButton("timer", this)); actionButtons.push_back(new BlockButton("setstate", this)); actionsLabel = new QLabel(tr("Actions")); actionsLabel->setStyleSheet("QLabel { font-size: 10pt; font-weight: bold; }"); #ifdef Q_WS_MACX actionsLayout->setSpacing(20); #else // Q_WS_MACX actionsLayout->setSpacing(10); #endif // Q_WS_MACX actionsLayout->setAlignment(Qt::AlignTop); actionsLayout->addWidget(actionsLabel); foreach (button, actionButtons) { actionsLayout->addWidget(button); connect(button, SIGNAL(clicked()), SLOT(addAction())); connect(button, SIGNAL(contentChanged()), scene, SLOT(recompile())); connect(button, SIGNAL(undoCheckpoint()), SLOT(pushUndo())); } actionButtons[actionButtons.size()-2]->hide(); // timer actionButtons[actionButtons.size()-1]->hide(); // set state horizontalLayout->addLayout(actionsLayout); // window properties setWindowModality(Qt::ApplicationModal); setWindowIcon(QIcon(":/images/icons/thymiovpl.svgz")); // save initial state pushUndo(); } ThymioVisualProgramming::~ThymioVisualProgramming() { saveGeometryIfVisible(); } void ThymioVisualProgramming::openHelp() { USAGE_LOG(logOpenHelp()); const AboutBox::Parameters aboutParameters = { "Thymio VPL", ":/images/icons/thymiovpl.svgz", tr("The Visual Programming Language (VPL) for the Thymio robot allows to program by associating event and actions blocks."), tr("https://www.thymio.org/en:thymiovpl"), "", { "core", "vpl", "packaging", "translation" } }; // we use nullptr here as parent might disappear under our eyes if the Thymio node gets disconnected AboutBox aboutBox(nullptr, aboutParameters); aboutBox.exec(); } void ThymioVisualProgramming::saveSnapshot() const { QSettings settings; USAGE_LOG(logSaveSnapshot()); QString initialFileName(settings.value("ThymioVPL/snapshotFileName", QDesktopServices::storageLocation(QDesktopServices::DocumentsLocation)).toString()); if (initialFileName.isEmpty() && !de->openedFileName().isEmpty()) { const QFileInfo pf(de->openedFileName()); initialFileName = (pf.absolutePath() + QDir::separator() + pf.baseName() + ".png"); } QString selectedFilter; QString fileName(QFileDialog::getSaveFileName(0, tr("Export program as image"), initialFileName, "Images (*.png *.jpg *.bmp *.ppm *.tiff);;Scalable Vector Graphics (*.svg)", &selectedFilter)); if (fileName.isEmpty()) return; // save file name to settings settings.setValue("ThymioVPL/snapshotFileName", fileName); if (selectedFilter.at(0) == 'S') { // SVG if (fileName.lastIndexOf(".") < 0) fileName += ".svg"; QSvgGenerator generator; generator.setFileName(fileName); generator.setSize(scene->sceneRect().size().toSize()); generator.setViewBox(scene->sceneRect()); generator.setTitle(QString("VPL program %0").arg(de->openedFileName())); generator.setDescription("This image was generated with Thymio VPL from Aseba, get it at http://thymio.org"); QPainter painter(&generator); scene->render(&painter); } else { // image if (fileName.lastIndexOf(".") < 0) fileName += ".png"; QImage image(scene->sceneRect().size().toSize(), QImage::Format_ARGB32_Premultiplied); { // paint into image QPainter painter(&image); scene->render(&painter); } image.save(fileName); } } void ThymioVisualProgramming::setColors(QComboBox *comboBox) { assert(comboBox); for (unsigned i=0; iaddItem(drawColorScheme(Style::blockColor("event", i), Style::blockColor("state", i), Style::blockColor("action", i)), ""); } QPixmap ThymioVisualProgramming::drawColorScheme(const QColor& eventColor, const QColor& stateColor, const QColor& actionColor) { QPixmap pixmap(192,58); pixmap.fill(Qt::transparent); QPainter painter(&pixmap); painter.setBrush(eventColor); painter.drawRoundedRect(0,0,54,54,4,4); painter.setBrush(stateColor); painter.drawRoundedRect(66,0,54,54,4,4); painter.setBrush(actionColor); painter.drawRoundedRect(130,0,54,54,4,4); return pixmap; } QWidget* ThymioVisualProgramming::createMenuEntry() { QPushButton *vplButton = new QPushButton(QIcon(":/images/icons/thymiovpl.svgz"), tr("Launch VPL")); vplButton->setIconSize(QSize(32,32)); connect(vplButton, SIGNAL(clicked()), SLOT(showVPLModal())); return vplButton; } void ThymioVisualProgramming::closeAsSoonAsPossible() { close(); } //! prevent recursion of changes triggered by VPL itself void ThymioVisualProgramming::clearSceneWithoutRecompilation() { loading = true; toggleAdvancedMode(false, true); scene->reset(); clearUndo(); loading = false; } void ThymioVisualProgramming::showAtSavedPosition() { QSettings settings; restoreGeometry(settings.value("ThymioVisualProgramming/geometry").toByteArray()); QWidget::show(); } void ThymioVisualProgramming::showVPLModal() { if (de->newFile()) { toggleAdvancedMode(false, true); scene->reset(); clearUndo(); setupGlobalEvents(); showAtSavedPosition(); processCompilationResult(); } } void ThymioVisualProgramming::setupGlobalEvents() { CommonDefinitions commonDefinitions; commonDefinitions.events.push_back(NamedValue(L"pair_run", 1)); de->setCommonDefinitions(commonDefinitions); } void ThymioVisualProgramming::newFile() { if (de->newFile()) { USAGE_LOG(logNewFile()); scene->reset(); clearUndo(); setupGlobalEvents(); processCompilationResult(); } } void ThymioVisualProgramming::openFile() { USAGE_LOG(logOpenFile()); de->openFile(); } bool ThymioVisualProgramming::save() { USAGE_LOG(logSave()); return de->saveFile(false); } bool ThymioVisualProgramming::saveAs() { USAGE_LOG(logSaveAs()); return de->saveFile(true); } bool ThymioVisualProgramming::closeFile() { USAGE_LOG(logCloseFile()); if (!isVisible()) return true; if (scene->isEmpty() || preDiscardWarningDialog(true)) { de->clearOpenedFileName(scene->isModified()); clearHighlighting(true); clearSceneWithoutRecompilation(); return true; } else { de->clearOpenedFileName(scene->isModified()); return false; } } void ThymioVisualProgramming::showErrorLine() { if (!scene->compilationResult().isSuccessful()) view->ensureVisible(scene->getSetRow(scene->compilationResult().errorLine)); } void ThymioVisualProgramming::setColorScheme(int index) { Style::blockSetCurrentColorIndex(index); scene->update(); updateBlockButtonImages(); } void ThymioVisualProgramming::updateBlockButtonImages() { for(QList::iterator itr(eventButtons.begin()); itr != eventButtons.end(); ++itr) (*itr)->updateBlockImage(scene->getAdvanced()); for(QList::iterator itr(actionButtons.begin()); itr != actionButtons.end(); ++itr) (*itr)->updateBlockImage(scene->getAdvanced()); } void ThymioVisualProgramming::run() { USAGE_LOG(logRun()); if(runButton->isEnabled()) { de->loadAndRun(); stopRunButtonAnimationTimer(); } } void ThymioVisualProgramming::stop() { USAGE_LOG(logStop()); de->stop(); const unsigned leftSpeedVarPos = de->getVariablesModel()->getVariablePos("motor.left.target"); de->setVariableValues(leftSpeedVarPos, VariablesDataVector(1, 0)); const unsigned rightSpeedVarPos = de->getVariablesModel()->getVariablePos("motor.right.target"); de->setVariableValues(rightSpeedVarPos, VariablesDataVector(1, 0)); } void ThymioVisualProgramming::toggleAdvancedMode() { toggleAdvancedMode(!scene->getAdvanced()); } void ThymioVisualProgramming::toggleAdvancedMode(bool advanced, bool force, bool ignoreSceneCheck) { if (!ignoreSceneCheck && (scene->getAdvanced() == advanced)) return; if (advanced) { advancedButton->setIcon(QIcon(":/images/icons/vpl-advanced_on.svgz")); eventButtons[eventButtons.size()-1]->show(); // timeout actionButtons[actionButtons.size()-2]->show(); // timer actionButtons[actionButtons.size()-1]->show(); // set state scene->setAdvanced(true); } else { bool doClear(true); if (!force && scene->isAnyAdvancedFeature()) { if (QMessageBox::warning(this, tr("Returning to simple mode"), tr("You are currently using states. Returning to simple mode will discard any state filter or state setting card.

Are you sure you want to continue?"), QMessageBox::Yes|QMessageBox::No, QMessageBox::No) == QMessageBox::No) doClear = false; } if (doClear) { advancedButton->setIcon(QIcon(":/images/icons/vpl-advanced_off.svgz")); eventButtons[eventButtons.size()-1]->hide(); // timeout actionButtons[actionButtons.size()-2]->hide(); // timer actionButtons[actionButtons.size()-1]->hide(); // set state scene->setAdvanced(false); } } updateBlockButtonImages(); } void ThymioVisualProgramming::closeEvent ( QCloseEvent * event ) { if (!closeFile()) event->ignore(); else saveGeometryIfVisible(); } void ThymioVisualProgramming::saveGeometryIfVisible() { if (isVisible()) { QSettings settings; settings.setValue("ThymioVisualProgramming/geometry", saveGeometry()); } } bool ThymioVisualProgramming::preDiscardWarningDialog(bool keepCode) { if (!scene->isModified()) return true; QMessageBox msgBox; msgBox.setWindowTitle(tr("Warning")); msgBox.setText(tr("The VPL document has been modified.

Do you want to save the changes?")); msgBox.setStandardButtons(QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); msgBox.setDefaultButton(QMessageBox::Save); int ret = msgBox.exec(); switch (ret) { case QMessageBox::Save: { //clearHighlighting(keepCode); if (save()) return true; else return false; } case QMessageBox::Discard: { //clearHighlighting(keepCode); return true; } case QMessageBox::Cancel: default: return false; } return false; } void ThymioVisualProgramming::clearHighlighting(bool keepCode) { if (keepCode && scene->compilationResult().isSuccessful()) de->displayCode(scene->getCode(), -1); else de->displayCode(QList(), -1); } QDomDocument ThymioVisualProgramming::saveToDom() const { // if VPL is in its virign state, do not return a valid document // to prevent erasing of text-base code if (scene->isEmpty()) return QDomDocument(); QDomDocument document("tool-plugin-data"); QDomElement vplroot = document.createElement("vplroot"); vplroot.setAttribute("xml-format-version", 1); document.appendChild(vplroot); vplroot.appendChild(scene->serialize(document)); scene->setModified(false); return document; } void ThymioVisualProgramming::aboutToLoad() { clearHighlighting(false); saveGeometryIfVisible(); hide(); } void ThymioVisualProgramming::loadFromDom(const QDomDocument& document, bool fromFile) { const QDomElement vplroot(document.documentElement()); const QString version(vplroot.attribute("xml-format-version")); if (version.isNull()) { loadFromDom(transformDomToVersion1(document), fromFile); return; } if (version != "1") { QMessageBox::warning(0, tr("Incompatible Version"), tr("This file is incompatible with this version of ThymioVPL. It might not work correctly.")); } loading = true; // load program const QDomElement programElement(vplroot.firstChildElement("program")); if (!programElement.isNull()) { scene->deserialize(programElement); toggleAdvancedMode(scene->getAdvanced(), true, true); } scene->setModified(!fromFile); scene->recompileWithoutSetModified(); if (!scene->isEmpty()) { setupGlobalEvents(); showAtSavedPosition(); } clearUndo(); loading = false; // once loaded, process the result of compilation if there is anything to compile if (!scene->isEmpty()) processCompilationResult(); } QDomDocument ThymioVisualProgramming::transformDomToVersion1(const QDomDocument& document0) { const QDomElement vplroot0(document0.documentElement()); const QDomElement settings0(vplroot0.firstChildElement("settings")); QDomDocument document1; QDomElement vplroot1(document1.createElement("vplroot")); document1.appendChild(vplroot1); vplroot1.setAttribute("xml-format-version", "1"); QDomElement settings1(document1.createElement("settings")); vplroot1.appendChild(settings1); settings1.setAttribute("color-scheme", settings0.attribute("color-scheme")); QDomElement program1(document1.createElement("program")); vplroot1.appendChild(program1); program1.setAttribute("advanced_mode", settings0.attribute("advanced-mode") == "true"); // track duplicate events QMap setsByEvent; for (QDomElement buttonset0(vplroot0.firstChildElement("buttonset")); !buttonset0.isNull(); buttonset0 = buttonset0.nextSiblingElement("buttonset")) { QDomElement set1(document1.createElement("set")); QString eventName(buttonset0.attribute("event-name")); if (!eventName.isNull()) { if (eventName == "tap") { // tap event was renamed to acc eventName = "acc"; } QDomElement event1(document1.createElement("block")); set1.appendChild(event1); event1.setAttribute("type", "event"); event1.setAttribute("name", eventName); for (unsigned i(0);; ++i) { QString value(buttonset0.attribute(QString("eb%0").arg(i))); if (value.isNull()) break; if (eventName == "prox" || eventName == "proxground") { // values 1 and 2 have exchanged semantics if (value == "1") value = "2"; else if (value == "2") value = "1"; } event1.setAttribute(QString("value%0").arg(i), value); } } int state(buttonset0.attribute("state").toInt()); if (state >= 0) { QDomElement state1(document1.createElement("block")); set1.appendChild(state1); state1.setAttribute("type", "state"); state1.setAttribute("name", "statefilter"); for (unsigned i(0); i < 4; ++i) { const unsigned value((state >> (i * 2)) & 0x3); state1.setAttribute(QString("value%0").arg(i), value); } } { // check for duplicate events QString setKey; QTextStream setKeyStream(&setKey); set1.save(setKeyStream, 0); if (!setsByEvent.contains(setKey)) { // new event => insert the new set in the document setsByEvent.insert(setKey, set1); program1.appendChild(set1); } else { // duplicate event => reuse previously-inserted set set1 = setsByEvent.value(setKey); } } QString actionName(buttonset0.attribute("action-name")); if (!actionName.isNull()) { if (actionName == "statefilter") { // statefilter action was renamed to setstate actionName = "setstate"; } QDomElement action1(document1.createElement("block")); set1.appendChild(action1); action1.setAttribute("type", "action"); action1.setAttribute("name", actionName); for (unsigned i(0);; ++i) { QString value(buttonset0.attribute(QString("ab%0").arg(i))); if (value.isNull()) break; action1.setAttribute(QString("value%0").arg(i), value); } } } return document1; } void ThymioVisualProgramming::codeChangedInEditor() { if (!isVisible() && !loading) { clearSceneWithoutRecompilation(); } } bool ThymioVisualProgramming::isModified() const { return scene->isModified(); } qreal ThymioVisualProgramming::getViewScale() const { return view->getScale(); } void ThymioVisualProgramming::pushUndo() { /* Useful code for printing backtrace #ifdef Q_OS_LINUX // dump call stack const size_t SIZE(100); void *buffer[SIZE]; char **strings; int nptrs = backtrace(buffer, SIZE); printf("backtrace() returned %d addresses\n", nptrs); strings = backtrace_symbols(buffer, nptrs); if (strings == nullptr) { perror("backtrace_symbols"); exit(EXIT_FAILURE); } for (int j = 0; j < nptrs; j++) printf("%s\n", strings[j]); printf("\n"); #endif // Q_OS_LINUX */ undoStack.push(scene->toString()); undoPos = undoStack.size()-2; undoButton->setEnabled(undoPos >= 0); if (undoStack.size() > 50) undoStack.pop_front(); redoButton->setEnabled(false); } void ThymioVisualProgramming::clearUndo() { undoButton->setEnabled(false); redoButton->setEnabled(false); undoStack.clear(); undoPos = -1; pushUndo(); } void ThymioVisualProgramming::undo() { if (undoPos < 0) return; scene->fromString(undoStack[undoPos]); toggleAdvancedMode(scene->getAdvanced(), true, true); scene->setModified(true); scene->recompileWithoutSetModified(); --undoPos; undoButton->setEnabled(undoPos >= 0); redoButton->setEnabled(true); } void ThymioVisualProgramming::redo() { if (undoPos >= undoStack.size()-2) return; ++undoPos; scene->fromString(undoStack[undoPos+1]); toggleAdvancedMode(scene->getAdvanced(), true, true); scene->setModified(true); scene->recompileWithoutSetModified(); undoButton->setEnabled(true); redoButton->setEnabled(undoPos < undoStack.size()-2); } void ThymioVisualProgramming::processCompilationResult() { if (loading) return; const Compiler::CompilationResult compilation(scene->compilationResult()); compilationResult->setText(compilation.getMessage(scene->getAdvanced())); const int fontSize(QFontMetrics(compilationResult->font()).lineSpacing()); if (compilation.isSuccessful()) { compilationResult->setStyleSheet("QLabel { font-size: 10pt; }"); compilationResultImage->setPixmap(pixmapFromSVG(":/images/vpl/success.svgz", fontSize*1.2)); de->displayCode(scene->getCode(), scene->getSelectedSetCodeId()); runButton->setEnabled(true); // content changed but not uploaded, show animation startRunButtonAnimationTimer(); showCompilationError->hide(); emit compilationOutcome(true); } else if ((compilation.errorType == Compiler::MISSING_EVENT) && (scene->isSetLast(compilation.errorLine))) { compilationResult->setText(tr("Please add an event")); compilationResult->setStyleSheet("QLabel { font-size: 10pt; }"); compilationResultImage->setPixmap(pixmapFromSVG(":/images/vpl/missing_block.svgz", fontSize*1.2)); runButton->setEnabled(false); // error, cannot upload, stop animation stopRunButtonAnimationTimer(); showCompilationError->show(); emit compilationOutcome(false); } else if ((compilation.errorType == Compiler::MISSING_ACTION) && (scene->isSetLast(compilation.errorLine))) { compilationResult->setText(tr("Please add an action")); compilationResult->setStyleSheet("QLabel { font-size: 10pt; }"); compilationResultImage->setPixmap(pixmapFromSVG(":/images/vpl/missing_block.svgz", fontSize*1.2)); runButton->setEnabled(false); // error, cannot upload, stop animation stopRunButtonAnimationTimer(); showCompilationError->show(); emit compilationOutcome(false); } else { compilationResult->setStyleSheet("QLabel { font-size: 10pt; color: rgb(231,19,0); }"); compilationResultImage->setPixmap(pixmapFromSVG(":/images/vpl/error.svgz", fontSize*1.2)); runButton->setEnabled(false); // error, cannot upload, stop animation stopRunButtonAnimationTimer(); showCompilationError->show(); emit compilationOutcome(false); } } void ThymioVisualProgramming::processHighlightChange() { if (scene->compilationResult().isSuccessful()) de->displayCode(scene->getCode(), scene->getSelectedSetCodeId()); } void ThymioVisualProgramming::userEvent(unsigned id, const VariablesDataVector& data) { // if hidden, do not react if (isHidden()) return; // here we can add react to incoming events if (id == 2) USAGE_LOG(logTabletData(data)); else if (id > 2) USAGE_LOG(logUserEvent(id,data)); // a set was executed on target, highlight in program if the code in the robot is the same as in this editor if (id == 0 && runButton->isEnabled() && !runAnimTimer && !data.empty()) { const unsigned index(data[0]); if (index < scene->setsCount()) (*(scene->setsBegin() + index))->blink(); } } void ThymioVisualProgramming::addEvent() { BlockButton* button(polymorphic_downcast(sender())); view->ensureVisible(scene->addEvent(button->getName())); } void ThymioVisualProgramming::addAction() { BlockButton* button(polymorphic_downcast(sender())); view->ensureVisible(scene->addAction(button->getName())); } static QImage blend(const QImage& firstImage, const QImage& secondImage, qreal ratio) { // only attempt to blend images of similar sizes and formats if (firstImage.size() != secondImage.size()) return QImage(); if (firstImage.format() != secondImage.format()) return QImage(); if ((firstImage.format() != QImage::Format_ARGB32) && (firstImage.format() != QImage::Format_ARGB32_Premultiplied)) return QImage(); // handcoded blend, because Qt painter-based function have problems on many platforms QImage destImage(firstImage.size(), firstImage.format()); const quint32 a(ratio*255.); const quint32 oma(255-a); for (int y=0; y(firstImage.scanLine(y))); const quint32 *pS(reinterpret_cast(secondImage.scanLine(y))); quint32 *pD(reinterpret_cast(destImage.scanLine(y))); for (int x=0; x> 24) & 0xff) * a + ((vS >> 24) & 0xff) * oma) & 0xff00) << 16) | (((((vF >> 16) & 0xff) * a + ((vS >> 16) & 0xff) * oma) & 0xff00) << 8) | (((((vF >> 8) & 0xff) * a + ((vS >> 8) & 0xff) * oma) & 0xff00) ) | (((((vF >> 0) & 0xff) * a + ((vS >> 0) & 0xff) * oma) & 0xff00) >> 8); } } return destImage; } #ifndef Q_OS_WIN void ThymioVisualProgramming::regenerateRunButtonAnimation(const QSize& iconSize) { // load the play animation // first image QImageReader playReader(":/images/icons/play.svgz"); playReader.setScaledSize(iconSize); const QImage playImage(playReader.read()); // last image QImageReader playRedReader(":/images/icons/play-green.svgz"); playRedReader.setScaledSize(iconSize); const QImage playRedImage(playRedReader.read()); const int count(runAnimFrames.size()); for (int i = 0; isetIcon(QIcon(":/images/icons/play.svgz")); #else // Q_OS_WIN runButton->setIcon(runAnimFrames[0]); #endif // Q_OS_WIN } } float ThymioVisualProgramming::computeScale(QResizeEvent *event, int desiredToolbarIconSize) { // FIXME: scale computation should be updated // desired sizes for height const int idealContentHeight(6*256); const int uncompressibleHeight( max(actionsLabel->height(), eventsLabel->height()) + desiredToolbarIconSize * 2 + 4 * style()->pixelMetric(QStyle::PM_ButtonMargin) + 4 * style()->pixelMetric(QStyle::PM_DefaultFrameWidth) + style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing) + 6 * 10 + 2 * style()->pixelMetric(QStyle::PM_LayoutTopMargin) + 2 * style()->pixelMetric(QStyle::PM_LayoutBottomMargin) ); const int availableHeight(event->size().height() - uncompressibleHeight); const qreal scaleHeight(qreal(availableHeight)/qreal(idealContentHeight)); // desired sizes for width const int idealContentWidth(1088+256*2); const int uncompressibleWidth( 2 * style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing) + style()->pixelMetric(QStyle::PM_LayoutLeftMargin) + style()->pixelMetric(QStyle::PM_LayoutRightMargin) + #ifdef ANDROID 40 + #else // ANDROID style()->pixelMetric(QStyle::PM_ScrollBarSliderMin) + #endif // ANDROID 2 * 20 ); const int availableWidth(event->size().width() - uncompressibleWidth); const qreal scaleWidth(qreal(availableWidth)/qreal(idealContentWidth)); // compute and set scale const qreal scale(qMin(scaleHeight, scaleWidth)); return scale; } void ThymioVisualProgramming::resizeEvent( QResizeEvent *event) { // compute size of elements for toolbar const float toolbarWidgetCount(12.25); // get width of combox box element (not content) int desiredIconSize(( event->size().width() - ( /*(toolbarWidgetCount-1) * 2 * style()->pixelMetric(QStyle::PM_DefaultFrameWidth) + */ toolbarWidgetCount * 2 * style()->pixelMetric(QStyle::PM_ButtonMargin) + style()->pixelMetric(QStyle::PM_LayoutLeftMargin) + style()->pixelMetric(QStyle::PM_LayoutRightMargin) + 6 // vertical lines /*#ifdef Q_WS_MAC 55 // safety factor, as it seems that metrics do miss some space #else // Q_WS_MAC 20 #endif // Q_WS_MAC //20 // safety factor, as it seems that metrics do miss some space*/ ) ) / (toolbarWidgetCount)); // two pass of layout computation, should be a good-enough approximation qreal testScale(computeScale(event, desiredIconSize)); desiredIconSize = qMin(desiredIconSize, int(256.*testScale)); desiredIconSize = qMin(desiredIconSize, event->size().height()/14); const qreal scale(computeScale(event, desiredIconSize)); // set toolbar const QSize tbIconSize(QSize(desiredIconSize, desiredIconSize)); const QSize importantIconSize(tbIconSize * 1.41); #ifndef Q_OS_WIN regenerateRunButtonAnimation(importantIconSize); #endif // Q_OS_WIN newButton->setIconSize(tbIconSize); openButton->setIconSize(tbIconSize); saveButton->setIconSize(tbIconSize); saveAsButton->setIconSize(tbIconSize); undoButton->setIconSize(tbIconSize); redoButton->setIconSize(tbIconSize); runButton->setIconSize(importantIconSize); stopButton->setIconSize(importantIconSize); advancedButton->setIconSize(tbIconSize); helpButton->setIconSize(tbIconSize); snapshotButton->setIconSize(tbIconSize); spacer1->changeSize(desiredIconSize/4, desiredIconSize); spacer2->changeSize(desiredIconSize/4, desiredIconSize); spacer3->changeSize(desiredIconSize, desiredIconSize); spacerRunStop->changeSize(desiredIconSize/4, desiredIconSize); spacer4->changeSize(desiredIconSize, desiredIconSize); spacer5->changeSize(desiredIconSize/4, desiredIconSize); spacer6->changeSize(desiredIconSize/4, desiredIconSize); toolLayout->invalidate(); // set view and cards on sides #ifdef Q_WS_MACX // we have to work around bugs in size reporting in OS X const QSize iconSize(243*scale, 243*scale); #else // Q_WS_MACX const QSize iconSize(256*scale, 256*scale); #endif // Q_WS_MACX for(QList::iterator itr = eventButtons.begin(); itr != eventButtons.end(); ++itr) (*itr)->setIconSize(iconSize); for(QList::iterator itr = actionButtons.begin(); itr != actionButtons.end(); ++itr) (*itr)->setIconSize(iconSize); } void ThymioVisualProgramming::timerEvent ( QTimerEvent * event ) { #ifdef Q_OS_WIN // for unknown reason, animation does not work some times on Windows, so setting image directly from QIcon if (runAnimFrame >= 0) runButton->setIcon(QIcon(":/images/icons/play.svgz")); else runButton->setIcon(QIcon(":/images/icons/play-green.svgz")); #else // Q_OS_WIN if (runAnimFrame >= 0) runButton->setIcon(runAnimFrames[runAnimFrame]); else runButton->setIcon(runAnimFrames[-runAnimFrame]); #endif // Q_OS_WIN runAnimFrame++; if (runAnimFrame == runAnimFrames.size()) runAnimFrame = -runAnimFrames.size()+1; } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/ThymioVisualProgramming.h000066400000000000000000000130001322771007300260620ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef THYMIO_VISUAL_PROGRAMMING_H #define THYMIO_VISUAL_PROGRAMMING_H #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "../../Plugin.h" #include "../../DashelTarget.h" namespace Aseba { struct ThymioVPLStandaloneInterface; class ThymioVPLStandalone; } namespace Aseba { namespace ThymioVPL { class Scene; class BlockButton; class ResizingView; /** \addtogroup studio */ /*@{*/ class ThymioVisualProgramming : public QWidget, public NodeToolInterface { Q_OBJECT public: ThymioVisualProgramming(DevelopmentEnvironmentInterface *_de, bool showCloseButton = true, bool debugLog = false, bool execFeedback = false); ~ThymioVisualProgramming(); virtual QWidget* createMenuEntry(); virtual void closeAsSoonAsPossible(); virtual void aboutToLoad(); virtual void loadFromDom(const QDomDocument& content, bool fromFile); virtual QDomDocument transformDomToVersion1(const QDomDocument& content0); virtual QDomDocument saveToDom() const; virtual void codeChangedInEditor(); bool isModified() const; qreal getViewScale() const; signals: void modifiedStatusChanged(bool modified); void compilationOutcome(bool success); protected slots: void showErrorLine(); bool closeFile(); private slots: void openHelp(); void saveSnapshot() const; void showVPLModal(); void addEvent(); void addAction(); void newFile(); void openFile(); bool save(); bool saveAs(); void setColorScheme(int index); void run(); void stop(); void toggleAdvancedMode(); void pushUndo(); void undo(); void redo(); void processCompilationResult(); void processHighlightChange(); void userEvent(unsigned id, const VariablesDataVector& data); private: void clearUndo(); void toggleAdvancedMode(bool advanced, bool force=false, bool ignoreSceneCheck=false); void clearSceneWithoutRecompilation(); void showAtSavedPosition(); void setupGlobalEvents(); public: const bool debugLog; const bool execFeedback; protected: friend class Aseba::ThymioVPL::BlockButton; friend class Aseba::ThymioVPL::Scene; std::unique_ptr de; ResizingView *view; Scene *scene; bool loading; //!< true during load, to prevent recursion of changes triggered by VPL itself QStack undoStack; //!< keep string version of QDomDocument int undoPos; //!< current position of undo in the stack, -1 if invalid // Event & Action buttons QList eventButtons; QList actionButtons; QLabel *eventsLabel; QLabel *actionsLabel; QLabel *compilationResult; QLabel *compilationResultImage; QPushButton *showCompilationError; //QSlider *zoomSlider; QToolBar *toolBar; QGridLayout *toolLayout; QPushButton *newButton; QPushButton *openButton; QPushButton *saveButton; QPushButton *saveAsButton; QPushButton *undoButton; QPushButton *redoButton; QPushButton *runButton; QPushButton *stopButton; QPushButton *advancedButton; QPushButton *helpButton; QPushButton *snapshotButton; QFrame *firstSeparator; QFrame *secondSeparator; QSpacerItem *spacer1; QSpacerItem *spacer2; QSpacerItem *spacer3; QSpacerItem *spacerRunStop; QSpacerItem *spacer4; QSpacerItem *spacer5; QSpacerItem *spacer6; // run button animation QVector runAnimFrames; int runAnimFrame; int runAnimTimer; QVBoxLayout *mainLayout; QHBoxLayout *horizontalLayout; QVBoxLayout *eventsLayout; QVBoxLayout *sceneLayout; QHBoxLayout *compilationResultLayout; QVBoxLayout *actionsLayout; protected: friend class Aseba::ThymioVPLStandalone; friend struct Aseba::ThymioVPLStandaloneInterface; QPixmap drawColorScheme(const QColor& eventColor, const QColor& stateColor, const QColor& actionColor); void saveGeometryIfVisible(); bool preDiscardWarningDialog(bool keepCode); void clearHighlighting(bool keepCode); void setColors(QComboBox *comboBox); void updateBlockButtonImages(); void closeEvent(QCloseEvent * event); #ifndef Q_OS_WIN void regenerateRunButtonAnimation(const QSize& iconSize); #endif // Q_OS_WIN void startRunButtonAnimationTimer(); void stopRunButtonAnimationTimer(); float computeScale(QResizeEvent *event, int desiredToolbarIconSize); virtual void resizeEvent( QResizeEvent *event ); virtual void timerEvent ( QTimerEvent * event ); }; /*@}*/ } } // namespace ThymioVPL / namespace Aseba #endif aseba-1.6.0/clients/studio/plugins/ThymioVPL/UsageLogger.cpp000066400000000000000000000322041322771007300237700ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "UsageLogger.h" #include #include #include #include #include #include #include #include #include "EventActionsSet.h" #include "Block.h" using namespace std; namespace Aseba{ namespace ThymioVPL { bool UsageLogger::loggingEnabled = false; UsageLogger::UsageLogger() { if(loggingEnabled){ askForGroupName(); QString homePath = QDir::homePath(); QString filePath = homePath + "/" + groupName + "_" + getTimeStampString() + ".log"; fileOut = new ofstream(filePath.toUtf8().constData(), ios::app | ios::binary); scene = 0; connect(&signalMapper, SIGNAL(mapped(unsigned int, QObject *, QObject *)),this, SLOT(logGUIEvents(unsigned int, QObject*, QObject *))); } action = new Action(); } UsageLogger::~UsageLogger() { delete action; if(fileOut != 0){ fileOut->close(); delete fileOut; } } void UsageLogger::setLoggingState(bool enabled){ loggingEnabled = enabled; } void UsageLogger::askForGroupName(){ QSettings settings; groupName = settings.value("logging/groupname","group").toString(); bool ok; QString text = QInputDialog::getText(0, tr("Login"), tr("Please enter your user or group name:"), QLineEdit::Normal, groupName, &ok); if (ok && !text.isEmpty()){ groupName = text; settings.setValue("logging/groupname", groupName); } } int UsageLogger::getRow(Block * b){ int row = -1; QGraphicsItem *parent = b->parentItem(); if(parent){ EventActionsSet * eas = dynamic_cast(parent); if(eas){ row = eas->getRow(); } } return row; } void UsageLogger::setScene(Scene * scene) { this->scene = scene; } UsageLogger& UsageLogger::getLogger() { static UsageLogger instance; return instance; } void UsageLogger::logGUIEvents(unsigned int senderId, QObject *originalSender, QObject * logicalParent){ if(originalSender == 0){ return; } Block *b = dynamic_cast(logicalParent); if(b != 0){ int row = getRow(b); QSlider * slider = dynamic_cast(originalSender); GeometryShapeButton * button = dynamic_cast(originalSender); if(slider != 0){ int sliderValue = slider->value(); logBlockAction(SLIDER,b->getName(),b->getType(), row, senderId, &sliderValue, nullptr, nullptr, nullptr); } else if(button != 0){ int buttonValue = button->getValue(); logBlockAction(BUTTON,b->getName(),b->getType(), row, senderId, nullptr, nullptr, nullptr, &buttonValue); } } } void UsageLogger::logBlockAction(BlockActionType type, QString blockName, QString blockType, int row, int elementId, int * sliderValue, unsigned int * soundValue, unsigned int * timerValue, int * buttonValue){ Action * wrapper = getActionWithCurrentState(); BlockAction *a = new BlockAction(); a->set_type(type); a->set_blockname(blockName.toUtf8().constData()); a->set_blocktype(blockType.toUtf8().constData()); a->set_row(row); a->set_elementid(elementId); if(sliderValue){ a->set_slidervalue(*sliderValue); } if(soundValue){ a->set_soundvalue(*soundValue); } if(timerValue){ a->set_timervalue(*timerValue); } if(buttonValue){ a->set_buttonvalue(*buttonValue); } wrapper->set_type(Action_ActionType_BLOCK_ACTION); wrapper->set_allocated_blockaction(a); storeAction(wrapper); } void UsageLogger::logSignal(const QObject * sender, const char * signal, unsigned int senderId, QObject * logicalParent){ connect(sender, signal, &signalMapper, SLOT(map())); signalMapper.setMapping(sender, senderId, logicalParent); } void UsageLogger::logInsertSet(int row) { logSetAction(RowAction::INSERT,row); } void UsageLogger::logRemoveSet(int row){ logSetAction(RowAction::REMOVE,row); } void UsageLogger::logSetAction(RowAction_ActionType type, int row){ Action * wrapper = getActionWithCurrentState(); RowAction * rowAction = new RowAction(); rowAction->set_row(row); rowAction->set_type(type); wrapper->set_type(Action_ActionType_ROW); wrapper->set_allocated_rowaction(rowAction); storeAction(wrapper); } void UsageLogger::logSetAdvanced(bool advanced){ Action * wrapper = getActionWithCurrentState(); AdvancedModeAction *a = new AdvancedModeAction(); a->set_isadvanced(advanced); wrapper->set_type(Action_ActionType_ADVANCED_MODE); wrapper->set_allocated_advancedmodeaction(a); storeAction(wrapper); } void UsageLogger::logAddEventBlock(int row, Block *block){ logAddBlock(EVENT,row,block); } void UsageLogger::logAddActionBlock(int row, Block *block, int position){ logAddBlock(ACTION,row,block); } void UsageLogger::logAddBlock(BlockType type,int row, Block *block){ Action * wrapper = getActionWithCurrentState(); AddBlockAction *a = new AddBlockAction(); a->set_type(type); a->set_blockname(block->getName().toUtf8().constData()); a->set_blocktype(block->getType().toUtf8().constData()); a->set_row(row); wrapper->set_type(Action_ActionType_ADD_BLOCK); wrapper->set_allocated_addblockaction(a); storeAction(wrapper); } void UsageLogger::logEventBlockMode(QString name, QString type, int mode){ Action * wrapper = getActionWithCurrentState(); AccBlockModeAction *a = new AccBlockModeAction(); a->set_blockname(name.toUtf8().constData()); a->set_blocktype(type.toUtf8().constData()); a->set_mode(mode); wrapper->set_type(Action_ActionType_BLOCK_MODE); wrapper->set_allocated_accblockmodeaction(a); storeAction(wrapper); } void UsageLogger::logMenuAction(MenuEntry entry){ Action * wrapper = getActionWithCurrentState(); MenuAction *a = new MenuAction(); a->set_entry(entry); wrapper->set_type(Action_ActionType_MENU); wrapper->set_allocated_menuaction(a); storeAction(wrapper); } void UsageLogger::logBlockMouseMove(QString name, QString type, QGraphicsSceneMouseEvent *event){ logMouseAction(MOVE_BLOCK,event->scenePos().x(),event->scenePos().y(),mapButtons(event->button()),nullptr,name.toUtf8().constData(),type.toUtf8().constData()); } void UsageLogger::logBlockMouseRelease(QString name, QString type, QGraphicsSceneMouseEvent *event){ logMouseAction(RELEASE_BLOCK,event->scenePos().x(),event->scenePos().y(),mapButtons(event->button()),nullptr,name.toUtf8().constData(),type.toUtf8().constData()); } void UsageLogger::logButtonDrag(QString name, QString type, QMouseEvent *event, QDrag *drag){ logMouseAction(DRAG_BUTTON,event->posF().x(),event->posF().y(),mapButtons(event->button()),nullptr,name.toUtf8().constData(),type.toUtf8().constData()); } void UsageLogger::logActionSetDrag(int row,QGraphicsSceneMouseEvent *event, QDrag *drag){ logMouseAction(DRAG_ACTION_SET,event->scenePos().x(),event->scenePos().y(),mapButtons(event->button()),&row,nullptr,nullptr); } void UsageLogger::logDropButton(BlockButton *button, QDropEvent *event){ logMouseAction(DROP_BUTTON,event->pos().x(),event->pos().y(),mapButtons(event->mouseButtons()),nullptr,button->getName().toUtf8().constData(),nullptr); } void UsageLogger::logEventActionSetDrop(int row, QGraphicsSceneDragDropEvent *event){ logMouseAction(DROP_ACTION_SET,event->pos().x(),event->pos().y(),mapButtons(event->buttons()),&row,nullptr,nullptr); } void UsageLogger::logMouseAction(MouseActionType type, double xPos, double yPos, MouseButton button, const int * row, const char * blockName, const char * blockType){ Action * wrapper = getActionWithCurrentState(); MouseAction *a = new MouseAction(); a->set_type(type); a->set_button(button); a->set_xpos(xPos); a->set_ypos(yPos); if(row != 0){ a->set_row(*row); } if(blockName != 0){ a->set_blockname(blockName); } if(blockType != 0){ a->set_blocktype(blockType); } wrapper->set_type(Action_ActionType_MOUSE_ACTION); wrapper->set_allocated_mouseaction(a); storeAction(wrapper); } void UsageLogger::logOpenHelp(){ logMenuAction(OPEN_HELP); } void UsageLogger::logSaveSnapshot(){ logMenuAction(SAVE_SNAPSHOT); } void UsageLogger::logSave(){ logMenuAction(SAVE); } void UsageLogger::logNewFile(){ logMenuAction(NEW_FILE); } void UsageLogger::logOpenFile(){ logMenuAction(OPEN_FILE); } void UsageLogger::logSaveAs(){ logMenuAction(SAVE_AS); } void UsageLogger::logCloseFile(){ logMenuAction(CLOSE_FILE); } void UsageLogger::logStop(){ logMenuAction(STOP); } void UsageLogger::logRun(){ logMenuAction(RUN); } void UsageLogger::logUserEvent(unsigned id, const VariablesDataVector& data){ Action * wrapper = getActionWithCurrentState(); DeviceAction *a = new DeviceAction(); a->set_id(id); for(unsigned i=0; i < data.size(); i++){ a->add_variable(data[i]); } wrapper->set_type(Action_ActionType_DEVICE_ACTION); wrapper->set_allocated_deviceaction(a); storeAction(wrapper); } void UsageLogger::logTabletData(const VariablesDataVector& data){ assert(data.size() == 15); const float cam_x = float(data[0]) * 0.001; const float cam_y = float(data[1]) * 0.001; const float cam_z = float(data[2]) * 0.001; const float cam_ax = float(data[3]) * 0.1; const float cam_ay = float(data[4]) * 0.1; const float cam_az = float(data[5]) * 0.1; const float thymio_x = float(data[6]) * 0.001; const float thymio_z = float(data[7]) * 0.001; const float thymio_ay = float(data[8]) * 0.1; qDebug() << "pos data" << cam_x << cam_y << cam_z << cam_ax << cam_ay << cam_az << thymio_x << thymio_z << thymio_ay; const unsigned recording_duration = data[9]; const float timeline_left = float(data[10]) / 10000.f; const float timeline_right = float(data[11]) / 10000.f; const unsigned selected_set_id = data[12]; const float selected_set_time = float(data[11]) / 10000.f; const bool app_recording = data[14] & (1<<0); const bool board_is_tracked = data[14] & (1<<1); const bool thymio_is_tracked = data[14] & (1<<2); qDebug() << "app state" << recording_duration << timeline_left << timeline_right << selected_set_id << selected_set_time << app_recording << board_is_tracked << thymio_is_tracked; Action * wrapper = getActionWithCurrentState(); TabletAction *a = new TabletAction(); a->set_camerax(cam_x); a->set_cameray(cam_y); a->set_cameraz(cam_z); a->set_cameraanglex(cam_ax); a->set_cameraangley(cam_ay); a->set_cameraanglez(cam_az); a->set_thymiox(thymio_x); a->set_thymioangley(thymio_ay); a->set_thymioz(thymio_z); a->set_recordingduration(recording_duration); a->set_lefttimelinepos(timeline_left); a->set_righttimelinepos(timeline_right); a->set_selectedsetid(selected_set_id); a->set_selectedsettime(selected_set_time); a->set_apprecording(app_recording); a->set_boardistracked(board_is_tracked); a->set_thymioistracked(thymio_is_tracked); wrapper->set_type(Action_ActionType_TABLET); wrapper->set_allocated_tabletaction(a); storeAction(wrapper); } void UsageLogger::storeAction(Action * a){ if(loggingEnabled){ int size = a->ByteSize(); fileOut->write((char*)&size,4); fileOut->flush(); a->SerializeToOstream(fileOut); } } Action * UsageLogger::getActionWithCurrentState() { action->Clear(); if(scene != 0){ action->set_programstateasxml(scene->toString().toUtf8().constData()); } TimeStamp *t = new TimeStamp(); t->set_timestamp(time(nullptr)); t->set_milliseconds(getMilliseconds()); action->set_allocated_time(t); return action; } QString UsageLogger::getTimeStampString(){ // For debugging if(groupName == "test"){ return QString("000"); } time_t rawtime; struct tm * timeinfo; char buffer[100]; time (&rawtime); timeinfo = localtime (&rawtime); strftime(buffer,80,"%Y%m%d_%I-%M-%S_",timeinfo); QString str(buffer); return str; } // Taken from stackoverflow void UsageLogger::gen_random(char *s, const int len) { srand(time(nullptr)); static const char alphanum[] = "0123456789" "ABCDEFGHIJKLMNOPQRSTUVWXYZ"; for (int i = 0; i < len; ++i) { s[i] = alphanum[rand() % (sizeof(alphanum) - 1)]; } s[len] = 0; } unsigned int UsageLogger::getMilliseconds(){ unsigned int millis = 0; timeval t; gettimeofday(&t, nullptr); millis = t.tv_usec; return millis; } MouseButton UsageLogger::mapButtons(Qt::MouseButton b){ MouseButton button; switch(b){ case Qt::NoButton: button = NO; break; case Qt::LeftButton: button = LEFT; break; case Qt::RightButton: button = RIGHT; break; case Qt::MidButton: button = MIDDLE; break; default: button = NO; break; } return button; } MouseButton UsageLogger::mapButtons(Qt::MouseButtons b){ MouseButton button; if(b.testFlag(Qt::LeftButton)){ button = LEFT; } else if(b.testFlag(Qt::RightButton)){ button = RIGHT; } else if(b.testFlag(Qt::MidButton)){ button = MIDDLE; } else{ button = NO; } return button; } } } aseba-1.6.0/clients/studio/plugins/ThymioVPL/UsageLogger.h000066400000000000000000000101031322771007300234270ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_USAGE_LOGGER_H #define VPL_USAGE_LOGGER_H #ifdef PROTOBUF_FOUND #include #define USAGE_LOG(x) UsageLogger::getLogger().x #define ENABLE_USAGE_LOG() Aseba::ThymioVPL::UsageLogger::setLoggingState(true) #include #include #include #include #include #include #include #include #include #include #include "Scene.h" #include "Buttons.h" #include "../../../../common/msg/msg.h" #include "../../../../compiler/compiler.h" #include #include "LogSignalMapper.h" namespace Aseba { namespace ThymioVPL { class UsageLogger : public QObject { Q_OBJECT public: static UsageLogger & getLogger(); static int getRow(Block * b); static void setLoggingState(bool enabled); public slots: void logGUIEvents(unsigned int senderId, QObject *originalSender, QObject * logicalParent); public: void setScene(Scene * scene); // Actions logged void logOpenHelp(); void logSaveSnapshot(); void logNewFile(); void logOpenFile(); void logSave(); void logSaveAs(); void logCloseFile(); void logStop(); void logRun(); void logInsertSet(int row); void logRemoveSet(int row); void logBlockMouseMove(QString name, QString type, QGraphicsSceneMouseEvent *event); void logBlockMouseRelease(QString name, QString type, QGraphicsSceneMouseEvent *event); void logButtonDrag(QString name, QString type, QMouseEvent *event, QDrag *drag); void logSetAdvanced(bool advanced); void logAddEventBlock(int row, Block *block); void logAddActionBlock(int row, Block *block, int position); void logActionSetDrag(int row,QGraphicsSceneMouseEvent *event, QDrag *drag); void logEventBlockMode(QString name, QString type, int mode); void logDropButton(BlockButton *block, QDropEvent *event); void logEventActionSetDrop(int row, QGraphicsSceneDragDropEvent *event); void logUserEvent(unsigned id, const VariablesDataVector& data); void logTabletData(const VariablesDataVector& data); void logSignal(const QObject * sender, const char * signal, unsigned int senderId, QObject * logicalParent); void logBlockAction(BlockActionType type, QString blockName, QString blockType, int row, int elementId, int * sliderValue, unsigned int * soundValue, unsigned int * timeValue, int * buttonValue); private: UsageLogger(); virtual ~UsageLogger(); Action *action; LogSignalMapper signalMapper; QString groupName; static bool loggingEnabled; protected: virtual void storeAction(Action * action); Action * getActionWithCurrentState(); QString getTimeStampString(); void gen_random(char *s, const int len); MouseButton mapButtons(Qt::MouseButton b); MouseButton mapButtons(Qt::MouseButtons b); void logMenuAction(MenuEntry entry); void logMouseAction(MouseActionType type, double xPos, double yPos, MouseButton button, const int * row, const char * blockName, const char * blockType); void logSetAction(RowAction_ActionType type, int row); void logAddBlock(BlockType type,int row, Block *block); void askForGroupName(); unsigned int getMilliseconds(); std::ofstream * fileOut; Scene * scene; }; }} #else /*PROTOBUF_FOUND*/ #define USAGE_LOG(x) #define ENABLE_USAGE_LOG() #endif #endif // VPL_USAGE_LOGGER_H aseba-1.6.0/clients/studio/plugins/ThymioVPL/UsageProfile.proto000066400000000000000000000062371322771007300245410ustar00rootroot00000000000000package Aseba.ThymioVPL; enum MouseButton{ LEFT =1; MIDDLE = 2; RIGHT = 3; NO=4; } enum BlockType{ EVENT = 1; ACTION = 2; } enum MouseActionType{ MOVE_BLOCK = 1; RELEASE_BLOCK = 2; DRAG_BUTTON = 3; DRAG_ACTION_SET = 4; DROP_BUTTON = 5; DROP_ACTION_SET = 6; } enum MenuEntry{ OPEN_HELP=1; SAVE=2; SAVE_AS=3; NEW_FILE=4; OPEN_FILE=5; CLOSE_FILE=6; SAVE_SNAPSHOT=7; STOP=8; RUN = 9; } enum BlockActionType{ SLIDER = 1; BUTTON = 2; SET_NOTE = 3; SET_DURATION = 4; TIMER = 5; } message RowAction{ enum ActionType{ REMOVE = 1; INSERT = 2; } optional int32 row = 1; required ActionType type = 2; } message DeviceAction{ required int32 id = 1; repeated int32 variable = 2 [packed=true]; } message TabletAction{ required float cameraX = 1; required float cameraY = 2; required float cameraZ = 3; required float cameraAngleX = 4; required float cameraAngleY = 5; required float cameraAngleZ = 6; required float thymioX = 7; required float thymioZ = 8; required float thymioAngleY = 9; required int32 recordingDuration = 10; required float leftTimelinePos = 11; required float rightTimelinePos = 12; required bool appRecording = 13; required bool thymioIsTracked = 14; required bool boardIsTracked = 15; optional int32 selectedSetId = 16; optional float selectedSetTime = 17; } message MouseAction{ required MouseActionType type = 1; required MouseButton button = 2; optional double xPos = 3; optional double yPos = 4; // Drag and drop events (either button or action set) optional string blockName = 5; optional string blockType = 6; optional int32 row= 7; } message AccBlockModeAction{ required int32 mode =1; optional string blockName = 2; optional string blockType = 3; } message AdvancedModeAction{ required bool isAdvanced=1; } message AddBlockAction{ required BlockType type =1; optional string blockName = 2; optional string blockType = 3; optional int32 row=4; } message BlockAction{ required BlockActionType type = 1; optional int32 row =2; optional string blockName = 3; optional string blockType = 4; optional int32 elementId = 5; optional int32 sliderValue = 6; optional int32 soundValue = 7; optional int32 timerValue = 8; optional int32 buttonValue = 9; } message MenuAction{ required MenuEntry entry=1; } message TimeStamp{ required uint32 timestamp = 1; // UNIX timestamp required uint32 milliseconds = 2; // For fine graind timing requirements, absolut value might not be meaningful } message Action{ enum ActionType{ ADVANCED_MODE=1; ADD_BLOCK = 2; BLOCK_MODE = 3; MENU = 4; MOUSE_ACTION =5; DEVICE_ACTION =6; BLOCK_ACTION=7; ROW = 8; TABLET=9; } required ActionType type = 1; optional string programStateAsXml = 2; // The current program state (before! the action is applied) required TimeStamp time = 3; oneof actual_action { RowAction rowAction = 10; AdvancedModeAction advancedModeAction=11; AddBlockAction addBlockAction=12; AccBlockModeAction accBlockModeAction=13; MenuAction menuAction=14; MouseAction mouseAction = 15; DeviceAction deviceAction = 16; BlockAction blockAction = 17; TabletAction tabletAction = 18; } } message Usage{ repeated Action action = 1; } aseba-1.6.0/clients/studio/plugins/ThymioVPL/Utils.cpp000066400000000000000000000023071322771007300226650ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "Utils.h" #include #include namespace Aseba { namespace ThymioVPL { QPixmap pixmapFromSVG(const QString& fileName, int size) { QSvgRenderer renderer(fileName); QPixmap pixmap(size, size); pixmap.fill(Qt::transparent); QPainter painter(&pixmap); renderer.render(&painter); return pixmap; } } } // namespace ThymioVPL / namespace Aseba aseba-1.6.0/clients/studio/plugins/ThymioVPL/Utils.h000066400000000000000000000020761322771007300223350ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef VPL_UTILS_H #define VPL_UTILS_H #include #include namespace Aseba { namespace ThymioVPL { QPixmap pixmapFromSVG(const QString& fileName, int size); } } // namespace ThymioVPL / namespace Aseba #endif // VPL_UTILS_H aseba-1.6.0/clients/studio/plugins/VariablesViewPlugin.cpp000066400000000000000000000156111322771007300236560ustar00rootroot00000000000000#include "VariablesViewPlugin.h" #include "../Target.h" #include "../../../common/productids.h" #include #include #include #include namespace Aseba { LinearCameraViewVariablesDialog::LinearCameraViewVariablesDialog(TargetVariablesModel* variablesModel) : redVariable(new QComboBox), greenVariable(new QComboBox), blueVariable(new QComboBox), valuesRanges(new QComboBox) { QVBoxLayout* layout = new QVBoxLayout(this); layout->addWidget(new QLabel(tr("Please choose your variables"))); layout->addWidget(new QLabel(tr("red component"))); layout->addWidget(redVariable); layout->addWidget(new QLabel(tr("green component"))); layout->addWidget(greenVariable); layout->addWidget(new QLabel(tr("blue component"))); layout->addWidget(blueVariable); layout->addWidget(new QLabel(tr("range of values"))); layout->addWidget(valuesRanges); QPushButton* okButton = new QPushButton(QIcon(":/images/ok.png"), tr("Ok")); connect(okButton, SIGNAL(clicked(bool)), SLOT(accept())); layout->addWidget(okButton); valuesRanges->addItem(tr("auto range")); valuesRanges->addItem(tr("8 bits range (0–255)")); valuesRanges->addItem(tr("percent range (0–100)")); const QList& variables(variablesModel->getVariables()); for (int i = 0; i < variables.size(); ++i) { redVariable->addItem(variables[i].name); greenVariable->addItem(variables[i].name); blueVariable->addItem(variables[i].name); } const int redIndex(redVariable->findText("cam.red")); if (redIndex != -1) redVariable->setCurrentIndex(redIndex); const int greenIndex(redVariable->findText("cam.green")); if (greenIndex != -1) greenVariable->setCurrentIndex(greenIndex); const int blueIndex(redVariable->findText("cam.blue")); if (blueIndex != -1) blueVariable->setCurrentIndex(blueIndex); setWindowTitle(tr("Linear Camera View Plugin")); } //! Construct the plugin, taking ownership of an interface to a development environment LinearCameraViewPlugin::LinearCameraViewPlugin(DevelopmentEnvironmentInterface *_de) : VariableListener(_de->getVariablesModel()), de(_de), componentsReceived(0), timerId(0) { QVBoxLayout *layout = new QVBoxLayout(this); image = new QLabel; image->setScaledContents(true); layout->addWidget(image); setWindowTitle(tr("Linear Camera View Plugin")); resize(200, 40); } QWidget* LinearCameraViewPlugin::createMenuEntry() { QCheckBox *checkbox = new QCheckBox(tr("linear camera viewer")); connect(checkbox, SIGNAL(clicked(bool)), SLOT(setEnabled(bool))); connect(this, SIGNAL(dialogBoxResult(bool)), checkbox, SLOT(setChecked(bool))); return checkbox; } void LinearCameraViewPlugin::closeAsSoonAsPossible() { close(); } void LinearCameraViewPlugin::setEnabled(bool enabled) { if (enabled) enablePlugin(); else close(); } void LinearCameraViewPlugin::enablePlugin() { // unsubscribe to existing variables, if any disablePlugin(); { LinearCameraViewVariablesDialog linearCameraViewVariablesDialog(variablesModel); if (linearCameraViewVariablesDialog.exec() != QDialog::Accepted) { emit dialogBoxResult(false); return; } redName = linearCameraViewVariablesDialog.redVariable->currentText(); greenName = linearCameraViewVariablesDialog.greenVariable->currentText(); blueName = linearCameraViewVariablesDialog.blueVariable->currentText(); valuesRange = (ValuesRange)linearCameraViewVariablesDialog.valuesRanges->currentIndex(); } bool ok = true; ok &= subscribeToVariableOfInterest(redName); ok &= subscribeToVariableOfInterest(greenName); ok &= subscribeToVariableOfInterest(blueName); if (!ok) { QMessageBox::warning(this, tr("Cannot initialize linear camera view plugin"), tr("One or more variable not found in %1, %2, or %3.").arg(redName).arg(greenName).arg(blueName)); unsubscribeToVariablesOfInterest(); emit dialogBoxResult(false); return; } redPos = de->getVariablesModel()->getVariablePos(redName); greenPos = de->getVariablesModel()->getVariablePos(greenName); bluePos = de->getVariablesModel()->getVariablePos(blueName); redSize = de->getVariablesModel()->getVariableSize(redName); greenSize = de->getVariablesModel()->getVariableSize(greenName); blueSize = de->getVariablesModel()->getVariableSize(blueName); de->getTarget()->getVariables(de->getNodeId(), redPos, redSize); de->getTarget()->getVariables(de->getNodeId(), greenPos, greenSize); de->getTarget()->getVariables(de->getNodeId(), bluePos, blueSize); if (!timerId) { if (de->getProductId() == ASEBA_PID_EPUCK) timerId = startTimer(200); else timerId = startTimer(100); } show(); } void LinearCameraViewPlugin::disablePlugin() { // unsubscribe to existing variables, if any unsubscribeToVariablesOfInterest(); if (timerId) { killTimer(timerId); timerId = 0; } } void LinearCameraViewPlugin::timerEvent ( QTimerEvent * event ) { de->getTarget()->getVariables(de->getNodeId(), redPos, redSize); de->getTarget()->getVariables(de->getNodeId(), greenPos, greenSize); de->getTarget()->getVariables(de->getNodeId(), bluePos, blueSize); } void LinearCameraViewPlugin::closeEvent ( QCloseEvent * event ) { disablePlugin(); emit dialogBoxResult(false); } void LinearCameraViewPlugin::variableValueUpdated(const QString& name, const VariablesDataVector& values) { if (name == redName) { red = values; componentsReceived |= 1 << 0; } if (name == greenName) { green = values; componentsReceived |= 1 << 1; } if (name == blueName) { blue = values; componentsReceived |= 1 << 2; } const int width = qMin(red.size(), qMin(green.size(), blue.size())); if ((componentsReceived == 0x7) && width) { componentsReceived = 0; QPixmap pixmap(width, 1); QPainter painter(&pixmap); int min = std::numeric_limits::max(); int max = std::numeric_limits::min(); switch (valuesRange) { case VALUES_RANGE_AUTO: { // get min and max values for auto range adjustment for (int i = 0; i < width; i++) { min = std::min(min, (int)red[i]); min = std::min(min, (int)green[i]); min = std::min(min, (int)blue[i]); max = std::max(max, (int)red[i]); max = std::max(max, (int)green[i]); max = std::max(max, (int)blue[i]); } } break; case VALUES_RANGE_8BITS: { min = 0; max = 255; } break; case VALUES_RANGE_PERCENT: { min = 0; max = 100; } break; default: assert(false); break; } for (int i = 0; i < width; i++) { int range = max - min; if (range == 0) range = 1; int r = ((red[i] - min) * 255) / range; int g = ((green[i] - min) * 255) / range; int b = ((blue[i] - min) * 255) / range; painter.fillRect(i, 0, 1, 1, QColor(r, g, b)); } image->setPixmap(pixmap); } } } aseba-1.6.0/clients/studio/plugins/VariablesViewPlugin.h000066400000000000000000000032451322771007300233230ustar00rootroot00000000000000#ifndef VARIABLE_VIEW_PLUGIN_H #define VARIABLE_VIEW_PLUGIN_H #include #include #include "../Plugin.h" #include "../TargetModels.h" #include "../../../compiler/compiler.h" class QLabel; class QComboBox; namespace Aseba { /** \addtogroup studio */ /*@{*/ class TargetVariablesModel; class LinearCameraViewVariablesDialog : public QDialog { Q_OBJECT public: QComboBox* redVariable; QComboBox* greenVariable; QComboBox* blueVariable; QComboBox* valuesRanges; LinearCameraViewVariablesDialog(TargetVariablesModel* variablesModel); virtual ~LinearCameraViewVariablesDialog() {} }; class LinearCameraViewPlugin: public QWidget, public NodeToolInterface, public VariableListener { Q_OBJECT public: LinearCameraViewPlugin(DevelopmentEnvironmentInterface *_de); virtual QWidget* createMenuEntry(); virtual void closeAsSoonAsPossible(); signals: void dialogBoxResult(bool ok); private slots: void setEnabled(bool enabled); private: void enablePlugin(); void disablePlugin(); virtual void timerEvent ( QTimerEvent * event ); virtual void closeEvent ( QCloseEvent * event ); virtual void variableValueUpdated(const QString& name, const VariablesDataVector& values); private: std::unique_ptr de; enum ValuesRange { VALUES_RANGE_AUTO = 0, VALUES_RANGE_8BITS, VALUES_RANGE_PERCENT } valuesRange; QLabel *image; QString redName, greenName, blueName; unsigned redPos, greenPos, bluePos; unsigned redSize, greenSize, blueSize; VariablesDataVector red, green, blue; unsigned componentsReceived; int timerId; }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/clients/studio/rendervplblocks.cpp000066400000000000000000000074161322771007300214560ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include "plugins/ThymioVPL/EventBlocks.h" #include "plugins/ThymioVPL/ActionBlocks.h" #include "plugins/ThymioVPL/StateBlocks.h" using namespace std; /** \defgroup rendervplblocks Helper application that generates SVG files of VPL blocks */ namespace Aseba { namespace ThymioVPL { void setupGenerator(QSvgGenerator& generator, QString& templateName) { generator.setFileName(templateName + ".svg"); generator.setSize(QSize(256, 256)); generator.setViewBox(QRectF(0, 0, 256, 256)); generator.setTitle("VPL " + templateName); generator.setDescription("This image was generated by an helper tool part of Aseba, get it at http://thymio.org"); } template void renderBlock(QString templateName) { QSvgGenerator generator; setupGenerator(generator, templateName); QPainter painter(&generator); T block; block.render(painter); } template void renderBlock(QString templateName, bool advanced) { QSvgGenerator generator; setupGenerator(generator, templateName); QPainter painter(&generator); T block(advanced); block.render(painter); } template void renderBlockValue(QString templateName, unsigned i, unsigned value) { QSvgGenerator generator; setupGenerator(generator, templateName); QPainter painter(&generator); T block(true); block.setValue(i,value); block.render(painter); } void renderBlocks() { // events renderBlock("event-buttons", false); renderBlock("event-buttons-advanced", true); renderBlockValue("event-rc-arrow", 5, 1); renderBlockValue("event-rc-keypad", 5, 2); renderBlock("event-prox", false); renderBlock("event-prox-advanced", true); renderBlock("event-prox-ground", false); renderBlock("event-prox-ground-advanced", true); renderBlock("event-tap", false); renderBlock("event-tap-advanced", true); renderBlockValue("event-roll", 0, 1); renderBlockValue("event-pitch", 0, 2); renderBlock("event-clap"); renderBlock(""); // filters renderBlock("state-filter"); // actions renderBlock("action-motors"); renderBlock("action-colors-up"); renderBlock("action-colors-down"); renderBlock("action-music"); renderBlock("action-timer"); renderBlock("action-states"); } } } // namespace ThymioVPL / namespace Aseba int main(int argc, char *argv[]) { QApplication app(argc, argv); Aseba::ThymioVPL::renderBlocks(); return 0; } aseba-1.6.0/clients/studio/testscripts/000077500000000000000000000000001322771007300201325ustar00rootroot00000000000000aseba-1.6.0/clients/studio/testscripts/article-iros.aesl000066400000000000000000000011461322771007300233770ustar00rootroot00000000000000 # periodically ontimer var maxValue = 32767 var maxIndex = 0 var i = 0 var params[2] # find if something is close while i < 180 do if args[i] < maxValue then maxValue = distances[i] maxIndex = i end end # if so, send an event with direction and dist if maxValue < 32767 then params[0] = maxIndex params[1] = maxValue emit ObstacleDetected params end aseba-1.6.0/clients/studio/testscripts/events chain.aesl000066400000000000000000000007461322771007300233560ustar00rootroot00000000000000 var isRunning = 0 ontimer if isRunning == 1 then emit e1 end onevent start isRunning = 1 onevent stop isRunning = 0 onevent e1 emit e2 onevent e2 emit e3 aseba-1.6.0/clients/studio/testscripts/test.aesl000066400000000000000000000004701322771007300217600ustar00rootroot00000000000000 var a = 0 var b = 1 var c = 2 var d = 3 var e = 0 ontimer a = a + 1 onevent 1 e = 1 onevent 2 e = 2 aseba-1.6.0/clients/studio/thymiovpl.cpp000066400000000000000000000111351322771007300203030ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ /* Current issues: - improve layout Possible issues: - udev not available on tablet? */ #include #include #include #include #include #include #include #include #include #include #include #include "DashelTarget.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include "ThymioVPLStandalone.h" #include "plugins/ThymioVPL/UsageLogger.h" using namespace std; void usage(const char *execName) { cout << "Thymio VPL, a standalone VPL editor" << endl << endl; cout << "Usage: " << execName << " (OPTIONS|TARGET)* " << endl; cout << " where" << endl; cout << "OPTION is one of:" << endl; cout << " -anytarget allows to connect to non-Thymio-II targets, note that the generated code will not compile" << endl; cout << " -debuglog emit debug log events" << endl; cout << " -execfeedback blink set being executed" << endl; #ifdef PROTOBUF_FOUND // only show if it actually works cout << " -usagelog create a usage log of all the user events" << endl; #endif // PROTOBUF_FOUND cout << " -h this help" << endl; cout << "TARGET is a Dashel target (the last one is always considered)" << endl; cout << endl; cout << "Version " << ASEBA_VERSION << ", Aseba protocol " << ASEBA_PROTOCOL_VERSION << endl; cout << "Licence LGPLv3: GNU LGPL version 3 " << endl; cout << "Report bugs to: https://github.com/aseba-community/aseba/issues/new" << endl; } /** \defgroup thymiovpl VPL-only container application */ int main(int argc, char *argv[]) { Q_INIT_RESOURCE(asebaqtabout); QApplication app(argc, argv); Dashel::initPlugins(); // Information used by QSettings with default constructor QCoreApplication::setOrganizationName(ASEBA_ORGANIZATION_NAME); QCoreApplication::setOrganizationDomain(ASEBA_ORGANIZATION_DOMAIN); QCoreApplication::setApplicationName("Thymio VPL"); QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8")); QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8")); // override dashel signal handling signal(SIGTERM, SIG_DFL); signal(SIGINT, SIG_DFL); bool useAnyTarget(false); bool debugLog(false); bool execFeedback(false); QString commandLineTarget; for (int i = 1; i < argc; ++i) { if (argv[i][0] != '-') { commandLineTarget = argv[i]; break; } else if (argv[i][1] != 0) { QString cmd(&(argv[i][1])); if (cmd == "h") { usage(argv[0]); return 0; } else if (cmd == "anytarget") { useAnyTarget = true; } else if (cmd == "debuglog") { debugLog = true; } else if (cmd == "usagelog") { ENABLE_USAGE_LOG(); } else if (cmd == "execfeedback") { debugLog = true; execFeedback = true; } } } // translation files are loaded in DashelTarget.cpp QTranslator qtTranslator; app.installTranslator(&qtTranslator); QTranslator translator; app.installTranslator(&translator); QTranslator compilerTranslator; app.installTranslator(&compilerTranslator); QTranslator aboutTranslator; app.installTranslator(&aboutTranslator); #ifdef ANDROID if (commandLineTarget.length() == 0) { commandLineTarget = "android:"; } #endif // start normal aseba studio try { QVector translators; translators.push_back(&qtTranslator); translators.push_back(&translator); translators.push_back(&compilerTranslator); translators.push_back(&aboutTranslator); Aseba::ThymioVPLStandalone vpl(translators, commandLineTarget, useAnyTarget, debugLog, execFeedback); vpl.show(); app.setOverrideCursor(Qt::ArrowCursor); return app.exec(); } catch (std::runtime_error e) { std::cerr << "Program terminated with runtime error: " << e.what() << std::endl; return -1; } } aseba-1.6.0/clients/studio/translations/000077500000000000000000000000001322771007300202645ustar00rootroot00000000000000aseba-1.6.0/clients/studio/translations/CompilerTranslator.cpp000066400000000000000000000320631322771007300246200ustar00rootroot00000000000000 #include "CompilerTranslator.h" #include "../../../compiler/errors_code.h" namespace Aseba { CompilerTranslator::CompilerTranslator() { } const std::wstring CompilerTranslator::translate(ErrorCode error) { QString msg; switch (error) { case ERROR_BROKEN_TARGET: msg = tr("Broken target description: not enough room for internal variables"); break; case ERROR_STACK_OVERFLOW: msg = tr("Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions"); break; case ERROR_SCRIPT_TOO_BIG: msg = tr("Script too big for target bytecode size"); break; case ERROR_VARIABLE_NOT_DEFINED: msg = tr("%0 is not a defined variable"); break; case ERROR_VARIABLE_NOT_DEFINED_GUESS: msg = tr("%0 is not a defined variable, do you mean %1?"); break; case ERROR_FUNCTION_NOT_DEFINED: msg = tr("Target does not provide function %0"); break; case ERROR_FUNCTION_NOT_DEFINED_GUESS: msg = tr("Target does not provide function %0, do you mean %1?"); break; case ERROR_CONSTANT_NOT_DEFINED: msg = tr("Constant %0 not defined"); break; case ERROR_CONSTANT_NOT_DEFINED_GUESS: msg = tr("Constant %0 not defined, do you mean %1?"); break; case ERROR_EVENT_NOT_DEFINED: msg = tr("%0 is not a known event"); break; case ERROR_EVENT_NOT_DEFINED_GUESS: msg = tr("%0 is not a known event, do you mean %1?"); break; case ERROR_EMIT_LOCAL_EVENT: msg = tr("%0 is a local event that you cannot emit"); break; case ERROR_SUBROUTINE_NOT_DEFINED: msg = tr("Subroutine %0 does not exists"); break; case ERROR_SUBROUTINE_NOT_DEFINED_GUESS: msg = tr("Subroutine %0 does not exists, do you mean %1?"); break; case ERROR_LINE: msg = tr("Line: "); break; case ERROR_COL: msg = tr(" Col: "); break; case ERROR_UNBALANCED_COMMENT_BLOCK: msg = tr("Unbalanced comment block"); break; case ERROR_SYNTAX: msg = tr("Syntax error"); break; case ERROR_INVALID_IDENTIFIER: msg = tr("Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead"); break; case ERROR_INVALID_HEXA_NUMBER: msg = tr("Error in hexadecimal number"); break; case ERROR_INVALID_BINARY_NUMBER: msg = tr("Error in binary number"); break; case ERROR_NUMBER_INVALID_BASE: msg = tr("Error in number, invalid base"); break; case ERROR_IN_NUMBER: msg = tr("Error in number"); break; case ERROR_INTERNAL: msg = tr("Internal compiler error, please report a bug containing the source which triggered this error"); break; case ERROR_EXPECTING: msg = tr("Expecting %0, found %1 instead"); break; case ERROR_UINT12_OUT_OF_RANGE: msg = tr("Integer value %0 out of [0;4095] range"); break; case ERROR_UINT16_OUT_OF_RANGE: msg = tr("Integer value %0 out of [0;65535] range"); break; case ERROR_PINT16_OUT_OF_RANGE: msg = tr("Integer value %0 out of [0;32767] range"); break; case ERROR_INT16_OUT_OF_RANGE: msg = tr("Integer value %0 out of [-32768;32767] range"); break; case ERROR_PCONSTANT_OUT_OF_RANGE: msg = tr("Constant %0 has value %1, which is out of [0;32767] range"); break; case ERROR_CONSTANT_OUT_OF_RANGE: msg = tr("Constant %0 has value %1, which is out of [-32768;32767] range"); break; case ERROR_EXPECTING_ONE_OF: msg = tr("Expecting one of %0; but found %1 instead"); break; case ERROR_NOT_ENOUGH_TEMP_SPACE: msg = tr("Not enough free space to allocate this tempory variable"); break; case ERROR_MISPLACED_VARDEF: msg = tr("Variable definition is allowed only at the beginning of the program before any statement"); break; case ERROR_EXPECTING_IDENTIFIER: msg = tr("Expecting identifier, found %0"); break; case ERROR_CONST_ALREADY_DEFINED: msg = tr("Constant %0 is already defined"); break; case ERROR_VAR_ALREADY_DEFINED: msg = tr("Variable %0 is already defined"); break; case ERROR_VAR_CONST_COLLISION: msg = tr("Variable %0 has the same name as a constant"); break; case ERROR_UNDEFINED_SIZE: msg = tr("Array %0 has undefined size"); break; case ERROR_NOT_ENOUGH_SPACE: msg = tr("No more free variable space"); break; case ERROR_EXPECTING_ASSIGNMENT: msg = tr("Expecting assignment, found %0 instead"); break; case ERROR_FOR_NULL_STEPS: msg = tr("Null steps are not allowed in for loops"); break; case ERROR_FOR_START_HIGHER_THAN_END: msg = tr("Start index must be lower than end index in increasing loops"); break; case ERROR_FOR_START_LOWER_THAN_END: msg = tr("Start index must be higher than end index in decreasing loops"); break; case ERROR_FOR_INVALID_INC_END_INDEX: msg = tr("End index cannot be 32767 in increasing loops"); break; case ERROR_FOR_INVALID_DEC_END_INDEX: msg = tr("End index cannot be -32768 in decreasing loops"); break; case ERROR_EVENT_ALREADY_IMPL: msg = tr("Event %0 is already implemented"); break; case ERROR_EVENT_ARG_TOO_BIG: msg = tr("Event %0 needs an array of size %1 or smaller, but one of size %2 is passed"); break; case ERROR_EVENT_WRONG_ARG_SIZE: msg = tr("Event %0 needs an array of size %1, but one of size %2 is passed"); break; case ERROR_SUBROUTINE_ALREADY_DEF: msg = tr("Subroutine %0 is already defined"); break; case ERROR_INDEX_EXPECTING_CONSTANT: msg = tr("Expecting a constant expression as a second index"); break; case ERROR_INDEX_WRONG_END: msg = tr("End of range index must be lower or equal to start of range index"); break; case ERROR_SIZE_IS_NEGATIVE: msg = tr("Array size: result is negative (%0)"); break; case ERROR_SIZE_IS_NULL: msg = tr("Array size: result is null"); break; case ERROR_NOT_CONST_EXPR: msg = tr("Not a valid constant expression"); break; case ERROR_FUNCTION_HAS_NO_ARG: msg = tr("Function %0 requires no argument, some are used"); break; case ERROR_FUNCTION_NO_ENOUGH_ARG: msg = tr("Function %0 requires %1 arguments, only %2 are provided"); break; case ERROR_FUNCTION_WRONG_ARG_SIZE: msg = tr("Argument %0 (%1) of function %2 is of size %3, function definition demands size %4"); break; case ERROR_FUNCTION_WRONG_ARG_SIZE_TEMPLATE: msg = tr("Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4"); break; case ERROR_FUNCTION_TOO_MANY_ARG: msg = tr("Function %0 requires %1 arguments, more are used"); break; case ERROR_UNARY_ARITH_BUILD_UNEXPECTED: msg = tr("Unexpected token when building UnaryArithmeticAssignmentNode"); break; case ERROR_INCORRECT_LEFT_VALUE: msg = tr("Expecting an assignment to a variable, found %0 instead"); break; case ERROR_ARRAY_OUT_OF_BOUND: msg = tr("Access of array %0 out of bounds: accessing index %1 while array is of size %2"); break; case ERROR_ARRAY_SIZE_MISMATCH: msg = tr("Size error! Size of array1 = %0 ; size of array2 = %1"); break; case ERROR_IF_VECTOR_CONDITION: msg = tr("Condition of the if cannot be a vector"); break; case ERROR_WHILE_VECTOR_CONDITION: msg = tr("Condition of the while cannot be a vector"); break; case ERROR_ARRAY_ILLEGAL_ACCESS: msg = tr("MemoryVectorNode::getVectorSize: illegal operation"); break; case ERROR_INFINITE_LOOP: msg = tr("Infinite loops not allowed"); break; case ERROR_DIVISION_BY_ZERO: msg = tr("Division by zero"); break; case ERROR_ABS_NOT_POSSIBLE: msg = tr("-32768 has no positive correspondance in 16 bits integers"); break; case ERROR_ARRAY_OUT_OF_BOUND_READ: msg = tr("Out of bound static array access. Trying to read index %0 of array %1 of size %2"); break; case ERROR_ARRAY_OUT_OF_BOUND_WRITE: msg = tr("Out of bound static array access. Trying to write index %0 of array %1 of size %2"); break; case ERROR_EXPECTING_TYPE: msg = tr("Expecting %0 type, found %1 type instead"); break; case ERROR_EXPECTING_CONDITION: msg = tr("Expecting a condition, found a %0 instead"); break; case ERROR_TOKEN_END_OF_STREAM: msg = tr("end of stream"); break; case ERROR_TOKEN_STR_when: msg = tr("when keyword"); break; case ERROR_TOKEN_STR_emit: msg = tr("emit keyword"); break; case ERROR_TOKEN_STR_hidden_emit: msg = tr("_emit keyword"); break; case ERROR_TOKEN_STR_for: msg = tr("for keyword"); break; case ERROR_TOKEN_STR_in: msg = tr("in keyword"); break; case ERROR_TOKEN_STR_step: msg = tr("step keyword"); break; case ERROR_TOKEN_STR_while: msg = tr("while keyword"); break; case ERROR_TOKEN_STR_do: msg = tr("do keyword"); break; case ERROR_TOKEN_STR_if: msg = tr("if keyword"); break; case ERROR_TOKEN_STR_then: msg = tr("then keyword"); break; case ERROR_TOKEN_STR_else: msg = tr("else keyword"); break; case ERROR_TOKEN_STR_elseif: msg = tr("elseif keyword"); break; case ERROR_TOKEN_STR_end: msg = tr("end keyword"); break; case ERROR_TOKEN_STR_var: msg = tr("var keyword"); break; case ERROR_TOKEN_STR_const: msg = tr("const keyword"); break; case ERROR_TOKEN_STR_call: msg = tr("call keyword"); break; case ERROR_TOKEN_STR_sub: msg = tr("sub keyword"); break; case ERROR_TOKEN_STR_callsub: msg = tr("callsub keyword"); break; case ERROR_TOKEN_STR_onevent: msg = tr("onevent keyword"); break; case ERROR_TOKEN_STR_abs: msg = tr("abs keyword"); break; case ERROR_TOKEN_STR_return: msg = tr("return keyword"); break; case ERROR_TOKEN_STRING_LITERAL: msg = tr("string"); break; case ERROR_TOKEN_INT_LITERAL: msg = tr("integer"); break; case ERROR_TOKEN_PAR_OPEN: msg = tr("( (open parenthesis)"); break; case ERROR_TOKEN_PAR_CLOSE: msg = tr(") (close parenthesis)"); break; case ERROR_TOKEN_BRACKET_OPEN: msg = tr("[ (open bracket)"); break; case ERROR_TOKEN_BRACKET_CLOSE: msg = tr("] (close bracket)"); break; case ERROR_TOKEN_COLON: msg = tr(": (colon)"); break; case ERROR_TOKEN_COMMA: msg = tr(", (comma)"); break; case ERROR_TOKEN_ASSIGN: msg = tr("= (assignation)"); break; case ERROR_TOKEN_OP_OR: msg = tr("or"); break; case ERROR_TOKEN_OP_AND: msg = tr("and"); break; case ERROR_TOKEN_OP_NOT: msg = tr("not"); break; case ERROR_TOKEN_OP_BIT_OR: msg = tr("binary or"); break; case ERROR_TOKEN_OP_BIT_XOR: msg = tr("binary xor"); break; case ERROR_TOKEN_OP_BIT_AND: msg = tr("binary and"); break; case ERROR_TOKEN_OP_BIT_NOT: msg = tr("binary not"); break; case ERROR_TOKEN_OP_BIT_OR_EQUAL: msg = tr("binary or equal"); break; case ERROR_TOKEN_OP_BIT_XOR_EQUAL: msg = tr("binary xor equal"); break; case ERROR_TOKEN_OP_BIT_AND_EQUAL: msg = tr("binary and equal"); break; case ERROR_TOKEN_OP_EQUAL: msg = tr("== (equal to)"); break; case ERROR_TOKEN_OP_NOT_EQUAL: msg = tr("!= (not equal to)"); break; case ERROR_TOKEN_OP_BIGGER: msg = tr("> (bigger than)"); break; case ERROR_TOKEN_OP_BIGGER_EQUAL: msg = tr(">= (bigger or equal than)"); break; case ERROR_TOKEN_OP_SMALLER: msg = tr("< (smaller than)"); break; case ERROR_TOKEN_OP_SMALLER_EQUAL: msg = tr("<= (smaller or equal than)"); break; case ERROR_TOKEN_OP_SHIFT_LEFT: msg = tr("<< (shift left)"); break; case ERROR_TOKEN_OP_SHIFT_RIGHT: msg = tr(">> (shift right)"); break; case ERROR_TOKEN_OP_SHIFT_LEFT_EQUAL: msg = tr("<<= (shift left equal)"); break; case ERROR_TOKEN_OP_SHIFT_RIGHT_EQUAL: msg = tr(">>= (shift right equal)"); break; case ERROR_TOKEN_OP_ADD: msg = tr("+ (plus)"); break; case ERROR_TOKEN_OP_NEG: msg = tr("- (minus)"); break; case ERROR_TOKEN_OP_ADD_EQUAL: msg = tr("+= (plus equal)"); break; case ERROR_TOKEN_OP_NEG_EQUAL: msg = tr("-= (minus equal)"); break; case ERROR_TOKEN_OP_PLUS_PLUS: msg = tr("++ (plus plus)"); break; case ERROR_TOKEN_OP_MINUS_MINUS: msg = tr("-- (minus minus)"); break; case ERROR_TOKEN_OP_MULT: msg = tr("* (time)"); break; case ERROR_TOKEN_OP_DIV: msg = tr("/ (divide)"); break; case ERROR_TOKEN_OP_MOD: msg = tr("modulo"); break; case ERROR_TOKEN_OP_MULT_EQUAL: msg = tr("*= (time equal)"); break; case ERROR_TOKEN_OP_DIV_EQUAL: msg = tr("/= (divide equal)"); break; case ERROR_TOKEN_OP_MOD_EQUAL: msg = tr("modulo equal"); break; case ERROR_TOKEN_UNKNOWN: msg = tr("unknown"); break; case ERROR_UNKNOWN_ERROR: msg = tr("Unknown error"); break; default: msg = tr("Unknown error"); } return msg.toStdWString(); } }; aseba-1.6.0/clients/studio/translations/CompilerTranslator.h000066400000000000000000000005061322771007300242620ustar00rootroot00000000000000#ifndef _TRANSLATOR_H #define _TRANSLATOR_H #include "../../../compiler/errors_code.h" #include #include namespace Aseba { class CompilerTranslator: public QObject { Q_OBJECT public: CompilerTranslator(); static const std::wstring translate(ErrorCode error); }; }; #endif // _TRANSLATOR_H aseba-1.6.0/clients/thymioupgrader/000077500000000000000000000000001322771007300172775ustar00rootroot00000000000000aseba-1.6.0/clients/thymioupgrader/CMakeLists.txt000066400000000000000000000015721322771007300220440ustar00rootroot00000000000000if (QT4_FOUND) set(QT_USE_QTMAIN ON) set(QT_USE_QTCONCURRENT ON) include(${QT_USE_FILE}) # add a console for debug messages under Windows if (WIN32) set(CMAKE_EXE_LINKER_FLAGS_DEBUG "-Wl,-subsystem,console ${CMAKE_EXE_LINKER_FLAGS}") endif (WIN32) set(thymioupgrader_SRCS ThymioUpgrader.cpp) qt4_wrap_cpp(thymioupgrader_MOCS ThymioUpgrader.h ) qt4_add_resources(resfiles thymioupgrader.qrc) include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) add_executable(thymioupgrader WIN32 ${thymioupgrader_SRCS} ${thymioupgrader_MOCS} ${resfiles} ${CMAKE_BINARY_DIR}/version.h) if (HAS_DYN_VERSION) add_dependencies(thymioupgrader versionheader) endif (HAS_DYN_VERSION) target_link_libraries(thymioupgrader ${QT_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS thymioupgrader RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (QT4_FOUND) aseba-1.6.0/clients/thymioupgrader/ThymioUpgrader.cpp000066400000000000000000000372151322771007300227560ustar00rootroot00000000000000#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/HexFile.h" #include "../../common/utils/utils.h" #include "ThymioUpgrader.h" namespace Aseba { using namespace Dashel; using namespace std; //! Hub that receives messages and deletes them class MessageHub: public Hub { public: QQueue messages; public: MessageHub() {} virtual ~MessageHub() { while (!messages.empty()) delete messages.dequeue(); } virtual void incomingData(Stream * stream) { messages.enqueue(Message::receive(stream)); } bool isMessage() const { return !messages.empty(); } Message* getMessage() const { return messages.head(); } void clearMessage() { if (!messages.empty()) delete messages.dequeue(); } }; typedef std::map > PortsMap; QtBootloaderInterface::QtBootloaderInterface(Stream* stream, int dest, int bootloaderDest): BootloaderInterface(stream, dest, bootloaderDest), pagesCount(0), pagesDoneCount(0) {} void QtBootloaderInterface::writeHexGotDescription(unsigned pagesCount) { this->pagesCount = pagesCount; this->pagesDoneCount = 0; } void QtBootloaderInterface::writePageStart(unsigned pageNumber, const uint8_t* data, bool simple) { pagesDoneCount += 1; emit flashProgress((100*pagesDoneCount)/pagesCount); } void QtBootloaderInterface::errorWritePageNonFatal(unsigned pageNumber) { qDebug() << "Warning, error while writing page" << pageNumber << "continuing ..."; } ThymioUpgraderDialog::ThymioUpgraderDialog(const std::string& target): target(target), currentVersion(0), currentDevStatus(-1), officialVersion(0), officialDevStatus(-1) { // Create the gui ... setWindowTitle(tr("Thymio Firmware Upgrader")); setWindowIcon(QIcon(":/images/thymioupgrader.svgz")); QVBoxLayout* mainLayout = new QVBoxLayout(this); // image QHBoxLayout *imageLayout = new QHBoxLayout(); QLabel* image = new QLabel(this); QPixmap logo(":/images/thymioupgrader.svgz"); image->setPixmap(logo.scaledToWidth(384)); imageLayout->addStretch(); imageLayout->addWidget(image); imageLayout->addStretch(); mainLayout->addLayout(imageLayout); // current firmware and node identifier firmwareVersion = new QLabel("unknown firmware version", this); mainLayout->addWidget(firmwareVersion); nodeIdText = new QLabel(this); mainLayout->addWidget(nodeIdText); // latest file officialGroupBox = new QGroupBox(tr("Latest official firmware")); QVBoxLayout *officialLayout = new QVBoxLayout(); officialFirmwareText = new QLabel("Connection to official firmware server in progress..."); officialFirmwareText->setWordWrap(true); officialLayout->addWidget(officialFirmwareText); officialGroupBox->setLayout(officialLayout); connect(officialGroupBox, SIGNAL(clicked(bool)), SLOT(officialGroupChecked(bool))); mainLayout->addWidget(officialGroupBox); // file selector fileGroupBox = new QGroupBox(tr("Custom firmware file")); QHBoxLayout *fileLayout = new QHBoxLayout(); lineEdit = new QLineEdit(this); fileButton = new QPushButton(tr("Select..."), this); fileButton->setIcon(QIcon(":/images/fileopen.svgz")); fileLayout->addWidget(fileButton); fileLayout->addWidget(lineEdit); fileGroupBox->setLayout(fileLayout); connect(fileGroupBox, SIGNAL(clicked(bool)), SLOT(fileGroupChecked(bool))); mainLayout->addWidget(fileGroupBox); // progress bar progressBar = new QProgressBar(this); progressBar->setValue(0); progressBar->setRange(0, 100); mainLayout->addWidget(progressBar); // flash and quit buttons QHBoxLayout *flashLayout = new QHBoxLayout(); flashButton = new QPushButton(tr("Upgrade"), this); flashButton->setEnabled(false); flashLayout->addWidget(flashButton); quitButton = new QPushButton(tr("Quit"), this); flashLayout->addWidget(quitButton); mainLayout->addItem(flashLayout); // connections connect(fileButton, SIGNAL(clicked()), SLOT(openFile())); connect(flashButton, SIGNAL(clicked()), SLOT(doFlash())); connect(quitButton, SIGNAL(clicked()), SLOT(close())); connect(&flashFutureWatcher, SIGNAL(finished()), SLOT(flashFinished())); // read id and version readIdVersion(); // create network stuff to get latest firmware networkManager = new QNetworkAccessManager(this); connect(networkManager, SIGNAL(finished(QNetworkReply*)), SLOT(networkReplyFinished(QNetworkReply*))); networkManager->get(QNetworkRequest(QUrl("http://firmwarefiles.thymio.org/Thymio2-firmware-meta.xml"))); show(); } ThymioUpgraderDialog::~ThymioUpgraderDialog() { flashFuture.waitForFinished(); } void ThymioUpgraderDialog::officialGroupChecked(bool on) { if (on) selectOfficialFirmware(); else selectUserFirmware(); } void ThymioUpgraderDialog::fileGroupChecked(bool on) { if (on) selectUserFirmware(); else selectOfficialFirmware(); } void ThymioUpgraderDialog::selectOfficialFirmware() { officialGroupBox->setChecked(true); fileGroupBox->setChecked(false); setupFlashButtonState(); } void ThymioUpgraderDialog::selectUserFirmware() { officialGroupBox->setChecked(false); fileGroupBox->setChecked(true); setupFlashButtonState(); } void ThymioUpgraderDialog::setupFlashButtonState() { if (flashFuture.isRunning()) { flashButton->setEnabled(false); } else { if (officialGroupBox->isChecked()) flashButton->setEnabled(true); else flashButton->setEnabled(!lineEdit->text().isEmpty()); } } void ThymioUpgraderDialog::openFile(void) { QString name = QFileDialog::getOpenFileName(this, tr("Select hex file"), QString(), tr("Hex files (*.hex)")); lineEdit->setText(name); setupFlashButtonState(); } unsigned ThymioUpgraderDialog::readId(MessageHub& hub, Dashel::Stream* stream) const { // default id unsigned nodeId = 1; // list nodes to get ids ListNodes().serialize(stream); GetDescription().serialize(stream);; stream->flush(); // process data for up to two seconds QTime listNodeTime(QTime::currentTime()); int restDuration(2000); while (restDuration > 0) { hub.step(restDuration); while (hub.isMessage()) { // if node present, store id from source and quit (protocol 5) NodePresent* nodePresent(dynamic_cast(hub.getMessage())); if (nodePresent) { nodeId = nodePresent->source; hub.clearMessage(); break; } // if description, store id from source, but continue reading (protocol 4) Description* description(dynamic_cast(hub.getMessage())); if (description) { nodeId = description->source; } hub.clearMessage(); } restDuration = 2000 - listNodeTime.msecsTo(QTime::currentTime()); } return nodeId; } void ThymioUpgraderDialog::readIdVersion(void) { // open stream MessageHub hub; Dashel::Stream* stream(0); try { stream = hub.connect(target); } catch (Dashel::DashelException& e) { QMessageBox::warning(this, tr("Cannot connect to Thymio II"), tr("Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

").arg(e.what())); return; } // read node id const unsigned nodeId(readId(hub, stream)); nodeIdText->setText(tr("Thymio node identifier: %1").arg(nodeId)); // read firmware version const unsigned firmwareAddress(34); GetVariables(nodeId, firmwareAddress, 2).serialize(stream); stream->flush(); // process data for up to one second QTime getVariablesTime(QTime::currentTime()); int restDuration(1000); while (restDuration > 0) { hub.step(restDuration); while (hub.isMessage()) { Variables* variables(dynamic_cast(hub.getMessage())); if (variables && variables->start == firmwareAddress && variables->variables.size() == 2) { const unsigned currentVersion = variables->variables[0]; const unsigned currentDevStatus = variables->variables[1]; firmwareVersion->setText(tr("Current firmware: %1").arg(versionDevStatusToString(currentVersion, currentDevStatus))); hub.clearMessage(); break; } hub.clearMessage(); } restDuration = 1000 - getVariablesTime.msecsTo(QTime::currentTime()); } } QString ThymioUpgraderDialog::versionDevStatusToString(unsigned version, unsigned devStatus) const { if (devStatus == 0) return tr("version %1 - production").arg(version); else return tr("version %1 - development %2").arg(version).arg(devStatus); } void ThymioUpgraderDialog::doFlash(void) { // warning message const int warnRet = QMessageBox::warning(this, tr("Pre-upgrade warning"), tr("Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?"), QMessageBox::No|QMessageBox::Yes, QMessageBox::No); if (warnRet != QMessageBox::Yes) return; // disable buttons while flashing quitButton->setEnabled(false); flashButton->setEnabled(false); officialGroupBox->setEnabled(false); fileGroupBox->setEnabled(false); // start flash thread Q_ASSERT(!flashFuture.isRunning()); string hexFileName; if (officialGroupBox->isChecked()) hexFileName = officialHexFile.fileName().toStdString(); else hexFileName = lineEdit->text().toLocal8Bit().constData(); flashFuture = QtConcurrent::run(this, &ThymioUpgraderDialog::flashThread, target, hexFileName); flashFutureWatcher.setFuture(flashFuture); } ThymioUpgraderDialog::FlashResult ThymioUpgraderDialog::flashThread(const std::string& _target, const std::string& hexFileName) const { // open stream MessageHub hub; Dashel::Stream* stream(0); try { stream = hub.connect(_target); } catch (Dashel::DashelException& e) { return FlashResult(FlashResult::WARNING, tr("Cannot connect to Thymio II"), tr("Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

").arg(e.what())); } // do flash try { // read again node id, in case a different robot was plugged in const unsigned nodeId(readId(hub, stream)); // then flash QtBootloaderInterface bootloaderInterface(stream, nodeId, 1); connect(&bootloaderInterface, SIGNAL(flashProgress(int)), this, SLOT(flashProgress(int)), Qt::QueuedConnection); bootloaderInterface.writeHex(hexFileName, true, true); } catch (HexFile::Error& e) { return FlashResult(FlashResult::WARNING, tr("Upgrade Error"), tr("Unable to read Hex file: %1").arg(e.toString().c_str())); } catch (BootloaderInterface::Error& e) { return FlashResult(FlashResult::FAILURE, tr("Upgrade Error"), tr("A bootloader error happened during the upgrade process: %1").arg(e.what())); } catch (Dashel::DashelException& e) { return FlashResult(FlashResult::FAILURE, tr("Upgrade Error"), tr("A communication error happened during the upgrade process: %1").arg(e.what())); } // sleep 100 ms UnifiedTime(100).sleep(); return FlashResult(); } void ThymioUpgraderDialog::flashProgress(int percentage) { progressBar->setValue(percentage); } void ThymioUpgraderDialog::flashFinished() { // re-enable buttons quitButton->setEnabled(true); officialGroupBox->setEnabled(true); fileGroupBox->setEnabled(true); setupFlashButtonState(); // handle flash result const FlashResult& result(flashFutureWatcher.result()); if (result.status == FlashResult::WARNING) { QMessageBox::warning(this, result.title, result.text); } else if (result.status == FlashResult::FAILURE) { QMessageBox::critical(this, result.title, result.text); close(); } else { // re-read version readIdVersion(); } } void ThymioUpgraderDialog::networkReplyFinished(QNetworkReply* reply) { QVariant redirectionTarget = reply->attribute(QNetworkRequest::RedirectionTargetAttribute); if (reply->error()) { networkError(); } else if (!redirectionTarget.isNull()) { networkManager->get(QNetworkRequest(redirectionTarget.toUrl())); } else { if (officialDevStatus == unsigned(-1)) { QDomDocument document; document.setContent(reply->readAll(), true); QDomElement firmwareMeta(document.firstChildElement("firmware")); if (!firmwareMeta.isNull()) { officialVersion = firmwareMeta.attribute("version").toUInt(); officialDevStatus = firmwareMeta.attribute("devStatus").toUInt(); networkManager->get(QNetworkRequest(QUrl(firmwareMeta.attribute("url")))); } else { networkError(); } } else { if (officialHexFile.open()) { officialHexFile.write(reply->readAll()); officialHexFile.waitForBytesWritten(-1); officialFirmwareText->setText(tr("Official firmware: %1").arg(versionDevStatusToString(officialVersion, officialDevStatus))); officialGroupBox->setCheckable(true); fileGroupBox->setCheckable(true); selectOfficialFirmware(); } else officialFirmwareText->setText(tr("Cannot open temporary file!")); } } reply->deleteLater(); } void ThymioUpgraderDialog::networkError() { officialFirmwareText->setText(tr("Error connecting to official firmware server!")); } }; int main(int argc, char *argv[]) { QApplication app(argc, argv); QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8")); QTranslator qtTranslator; QTranslator translator; app.installTranslator(&qtTranslator); app.installTranslator(&translator); qtTranslator.load(QString("qt_") + QLocale::system().name(), QLibraryInfo::location(QLibraryInfo::TranslationsPath)); translator.load(QString(":/thymioupgrader_") + QLocale::system().name()); const Aseba::PortsMap ports = Dashel::SerialPortEnumerator::getPorts(); std::string target("ser:device="); bool wirelessThymioFound(false); bool thymioFound(false); bool thymiosFound(false); for (Aseba::PortsMap::const_iterator it = ports.begin(); it != ports.end(); ++it) { if ((it->second.second.compare(0, 18, "Thymio-II Wireless") == 0) || (it->second.second.compare(0, 18, "Thymio_II Wireless") == 0)) { wirelessThymioFound = true; } else if ((it->second.second.compare(0, 9, "Thymio-II") == 0) || (it->second.second.compare(0, 9, "Thymio_II") == 0)) { if (thymioFound) thymiosFound = true; thymioFound = true; target += it->second.first; //std::cout << target << std::endl; } } if (wirelessThymioFound) { QMessageBox::critical(0, QApplication::tr("Wireless Thymio found"), QApplication::tr("

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

")); return 3; } if (!thymioFound) { QMessageBox::critical(0, QApplication::tr("Thymio not found"), QApplication::tr("

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

")); return 1; } if (thymiosFound) { QMessageBox::critical(0, QApplication::tr("Multiple Thymios found"), QApplication::tr("

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

")); return 2; } Aseba::ThymioUpgraderDialog upgrader(target); return app.exec(); } aseba-1.6.0/clients/thymioupgrader/ThymioUpgrader.h000066400000000000000000000054361322771007300224230ustar00rootroot00000000000000#ifndef THYMIO_FLASHER_H #define THYMIO_FLASHER_H #include #include #include #include #include #include "../../common/utils/BootloaderInterface.h" class QVBoxLayout; class QHBoxLayout; class QLabel; class QProgressBar; class QPushButton; class QLineEdit; class QListWidget; class QGroupBox; class QNetworkAccessManager; class QNetworkReply; namespace Aseba { /** \addtogroup thymioupdater */ /*@{*/ class MessageHub; class QtBootloaderInterface:public QObject, public BootloaderInterface { Q_OBJECT public: QtBootloaderInterface(Dashel::Stream* stream, int dest, int bootloaderDest); protected: virtual void writeHexGotDescription(unsigned pagesCount); virtual void writePageStart(unsigned pageNumber, const uint8_t* data, bool simple); virtual void errorWritePageNonFatal(unsigned pageNumber); protected: unsigned pagesCount; unsigned pagesDoneCount; signals: void flashProgress(int percentage); }; class ThymioUpgraderDialog : public QWidget { Q_OBJECT private: struct FlashResult { enum Status { SUCCESS = 0, WARNING, FAILURE } status; QString title; QString text; FlashResult():status(SUCCESS) {} FlashResult(Status status, const QString& title, const QString& text):status(status), title(title), text(text) {} }; private: std::string target; unsigned currentVersion; unsigned currentDevStatus; unsigned officialVersion; unsigned officialDevStatus; QTemporaryFile officialHexFile; QGroupBox* officialGroupBox; QGroupBox* fileGroupBox; QVBoxLayout* mainLayout; QHBoxLayout* fileLayout; QHBoxLayout* flashLayout; QLabel* officialFirmwareText; QLabel* firmwareVersion; QLabel* nodeIdText; QLineEdit* lineEdit; QPushButton* fileButton; QProgressBar* progressBar; QPushButton* flashButton; QPushButton* quitButton; QFuture flashFuture; QFutureWatcher flashFutureWatcher; QNetworkAccessManager *networkManager; public: ThymioUpgraderDialog(const std::string& target); ~ThymioUpgraderDialog(); private: unsigned readId(MessageHub& hub, Dashel::Stream* stream) const; void readIdVersion(); FlashResult flashThread(const std::string& _target, const std::string& hexFileName) const; void networkError(); QString versionDevStatusToString(unsigned version, unsigned devStatus) const; void selectOfficialFirmware(); void selectUserFirmware(); private slots: void officialGroupChecked(bool on); void fileGroupChecked(bool on); void setupFlashButtonState(); void openFile(void); void doFlash(void); void flashProgress(int percentage); void flashFinished(); void networkReplyFinished(QNetworkReply*); }; /*@}*/ } // namespace Aseba #endif // THYMIO_FLASHER_H aseba-1.6.0/clients/thymioupgrader/images/000077500000000000000000000000001322771007300205445ustar00rootroot00000000000000aseba-1.6.0/clients/thymioupgrader/images/fileopen.svgz000066400000000000000000000041041322771007300232570ustar00rootroot00000000000000‹_ Dcrsc-action-fileopen.svgåY[oÛÆ~÷¯Ð‘_œˆÜûE±Ò‡- ¤8@› Ï¹’ØP¤@R‘_ßÙ]R%Z¶b»íA$"ggoó}sÙõÍ·ëlôÅ”UZä³1Ðxdò¸HÒ|9úøÓDGUåI”¹™óbüû«›ÿL&£KÕ&íÒz5ú%ÿ\ÅÑÆŒ^­êz3 ÃÝn¤0(Êeøz4™@ÏêËòj4Á´y5MâÙ¸ÑßlËÌé%qh2³6y]…8Àá¸S;õ™¥©ŠmûáãøP³L*¬dGÖZ‡ˆ„„L@cRÝåut;ɫ냮°À¡®!B[§ù8­émf¸w1®õpv0ýþöö6ô{]@Oä¦ß|¶Ú$ur0LÛ«7oŽÐ«ª‹M«Ûl$ CǸX,*SÛM!ÿ9h«ê»Ìø^“¸ÈŠrz/|±xëDX>­ï¦¸íúv< žÌŽ7ûœq<;:ý&ì›å¼[|aŽÌÄ°˜(ÛEwÕ~%ŽÝÓUiÀ¯ì}¢u7 vÌ¡”k*:ñ¶»'BA‹ì”‰•*©4¤Ó%CºËf¶OyZƒ?o+Sþn}âù§Êœh},£¼\ÏÆë¨.ÓÛW(КqÍß´–쬘 o( ¤D¹-µ~Ýû±ä$„ÐûÈ9€õ‚Óø½L{ƒ[ÚÁÜü~rÍ®à{ÉìC >˜]þýätö> GŸœ8 ” ŠI›•‘’ˆ Liž@%V’ñK"‰æOçgm3Hϯ(X—S‰ßP7¼–ß@? 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Wenn schon ein Aseba Studio oder ein anderes Firmware Upgrader Fenster geöffnet ist, bitte schliessen Sie es und versuchen Sie es erneut.</p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialogVTemporäre Datei kann nicht geöffnet werden!Cannot open temporary file!Aseba::ThymioUpgraderDialog*Aktuelle Firmware: %1Current firmware: %1Aseba::ThymioUpgraderDialogBBenutzerdefinierte Firmware-DateiCustom firmware fileAseba::ThymioUpgraderDialoglFehler beim Verbinden mit offiziellen Firmware-Server!-Error connecting to official firmware server!Aseba::ThymioUpgraderDialog&Hex Dateien (*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialog4Letzte offizielle FirmwareLatest official firmwareAseba::ThymioUpgraderDialog.Offizielle Firmware: %1Official firmware: %1Aseba::ThymioUpgraderDialog$Vorupgrade WarnungPre-upgrade warningAseba::ThymioUpgraderDialogVerlassenQuitAseba::ThymioUpgraderDialog&Hex-Datei auswählenSelect hex fileAseba::ThymioUpgraderDialogAuswählen... Select...Aseba::ThymioUpgraderDialog0Thymio Firmware UpgraderThymio Firmware UpgraderAseba::ThymioUpgraderDialog@Thymio Knotenidentifizierer : %1Thymio node identifier: %1Aseba::ThymioUpgraderDialogBKann nicht Hex-Datei zu lesen: %1Unable to read Hex file: %1Aseba::ThymioUpgraderDialogUpgradeUpgradeAseba::ThymioUpgraderDialogUpgrade-Fehler Upgrade ErrorAseba::ThymioUpgraderDialog Sie schreiben eine neue Firmware für Thymio II. Stellen Sie sicher, dass der Roboter geladen und das USB-Kabel korrekt angeschlossen ist.<p><b>Trennen Sie nicht die Verbindung zum Roboter während des Upgrades!</b></p>Sind Sie sicher, dass Sie fortfahren möchten?äYour are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?Aseba::ThymioUpgraderDialog8Version %1 - Entwicklung %2 version %1 - development %2Aseba::ThymioUpgraderDialog.Version %1 - Produktionversion %1 - productionAseba::ThymioUpgraderDialogÒ<p><b>Thymio nicht gefunden!</b></p><p>Stecken Sie einen Thymio an Ihren Computer über das USB-Kabel.</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplicationê<p><b>Mehrere Thymio gefunden!</b></p><p>Stecken Sie einen einzelnen Thymio an Ihren Computer über das USB-Kabel.</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication<p><b>Verbindung zu Wireless Thymio gefunden!</b></p><p>Stecken Sie einen einzelnen Thymio an Ihren Computer über das USB-Kabel.</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication.Mehrere Thymio gefundenMultiple Thymios found QApplication*Thymio nicht gefundenThymio not found QApplication0Wireless Thymio gefundenWireless Thymio found QApplicationˆaseba-1.6.0/clients/thymioupgrader/thymioupgrader_de.ts000066400000000000000000000365301322771007300233710ustar00rootroot00000000000000 Aseba::ThymioFlasherDialog Thymio Firmware Updater Thymio Firmware Updater Firmware file Firmwaredatei Select... Auswählen... Update Aktualisierung Quit Verlassen Select hex file Hex-Datei auswählen Hex files (*.hex) Hex Dateien (*.hex) Pre-update warning Vorupdate Warnung Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Sie schreiben eine neue Firmware für Thymio II. Stellen Sie sicher, dass der Roboter geladen und das USB-Kabel korrekt angeschlossen ist.<p><b>Trennen Sie nicht die Verbindung zum Roboter während des Updates!</b></p>Sind Sie sicher, dass Sie fortfahren möchten? Cannot connect to target Kann nicht zu Ziel verbinden Cannot connect to target: %1 Kann nicht zu Ziel verbinden: %1 Update Error Acktualisierung-Fehler Unable to read Hex file: %1 Kann nicht Hex-Datei zu lesen: %1 A bootloader error happened during the update process: %1 Ein Kommunikationsfehler passiert während des Acktualisierung-Prozesses: %1 A communication error happened during the update process: %1 Ein Kommunikationsfehler passiert während des Flash-Prozesses: %1 Aseba::ThymioUpdaterDialog Thymio Firmware Updater Thymio Firmware Updater Firmware file Firmwaredatei Select... Auswählen... Update Aktualisierung Quit Verlassen Select hex file Hex-Datei auswählen Hex files (*.hex) Hex Dateien (*.hex) Pre-update warning Vorupdate Warnung Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Sie schreiben eine neue Firmware für Thymio II. Stellen Sie sicher, dass der Roboter geladen und das USB-Kabel korrekt angeschlossen ist.<p><b>Trennen Sie nicht die Verbindung zum Roboter während des Updates!</b></p>Sind Sie sicher, dass Sie fortfahren möchten? Cannot connect to Thymio II Cannot connect to target Kann nicht zu Thymio II verbinden Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Updater running and try again.</p> Die Verbindung mit Thymio II kann nicht hergestellt werden: %1.<p>Wahrscheinlich ist derzeit ein anderes Programm mit Thymio II verbunden. Wenn schon ein Aseba Studio oder ein anderes Firmware Updater Fenster geöffnet ist, bitte schliessen Sie es und versuchen Sie es erneut.</p> Update Error Acktualisierung-Fehler Unable to read Hex file: %1 Kann nicht Hex-Datei zu lesen: %1 A bootloader error happened during the update process: %1 Ein Kommunikationsfehler passiert während des Acktualisierung-Prozesses: %1 A communication error happened during the update process: %1 Ein Kommunikationsfehler passiert während des Flash-Prozesses: %1 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Thymio Firmware Upgrader Firmware file Firmwaredatei Select... Auswählen... Upgrade Upgrade Quit Verlassen Select hex file Hex-Datei auswählen Hex files (*.hex) Hex Dateien (*.hex) Thymio node identifier: %1 Thymio Knotenidentifizierer : %1 Current firmware: version %1 - production Aktuelle Firmware: Version %1 - Produktion Current firmware: version %1 - development %2 Aktuelle Firmware: Version %1 - Entwicklung %2 Pre-upgrade warning Vorupgrade Warnung Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? Sie schreiben eine neue Firmware für Thymio II. Stellen Sie sicher, dass der Roboter geladen und das USB-Kabel korrekt angeschlossen ist.<p><b>Trennen Sie nicht die Verbindung zum Roboter während des Upgrades!</b></p>Sind Sie sicher, dass Sie fortfahren möchten? Cannot connect to Thymio II Kann nicht zu Thymio II verbinden Latest official firmware Letzte offizielle Firmware Custom firmware file Benutzerdefinierte Firmware-Datei Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> Die Verbindung mit Thymio II kann nicht hergestellt werden: %1.<p>Wahrscheinlich ist derzeit ein anderes Programm mit Thymio II verbunden. Wenn schon ein Aseba Studio oder ein anderes Firmware Upgrader Fenster geöffnet ist, bitte schliessen Sie es und versuchen Sie es erneut.</p> Current firmware: %1 Aktuelle Firmware: %1 version %1 - production Version %1 - Produktion version %1 - development %2 Version %1 - Entwicklung %2 Upgrade Error Upgrade-Fehler Unable to read Hex file: %1 Kann nicht Hex-Datei zu lesen: %1 A bootloader error happened during the upgrade process: %1 Ein Kommunikationsfehler passiert während des Upgrade-Prozesses: %1 A communication error happened during the upgrade process: %1 Ein Kommunikationsfehler passiert während des Upgrade-Prozesses: %1 Official firmware: %1 Offizielle Firmware: %1 Cannot open temporary file! Temporäre Datei kann nicht geöffnet werden! Error connecting to official firmware server! Fehler beim Verbinden mit offiziellen Firmware-Server! QApplication Wireless Thymio found Wireless Thymio II found Wireless Thymio gefunden <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Verbindung zu Wireless Thymio gefunden!</b></p><p>Stecken Sie einen einzelnen Thymio an Ihren Computer über das USB-Kabel.</p> <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b>Thymio nicht gefunden!</b></p><p>Stecken Sie einen Thymio an Ihren Computer über das USB-Kabel.</p> <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Mehrere Thymio gefunden!</b></p><p>Stecken Sie einen einzelnen Thymio an Ihren Computer über das USB-Kabel.</p> Multiple Thymios found Multiple Thymio found Mehrere Thymio gefunden Thymio not found Thymio II not found Thymio nicht gefunden <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Thymio II nicht gefunden!</b></p><p>Verbinden Sie Thymio II oder benutzen Sie den Kommandozeilen-Upgrader (asebacmd).</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Mehrere Thymio II gefunden!</b></p><p>Verbinden Sie nur einen Thymio II oder benutzen Sie den Kommandozeilen-Upgrader (asebacmd).</p> <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line updater.</p> <p><b>Thymio II nicht gefunden!</b></p><p>Verbinden Sie Thymio II oder benutzen Sie den Kommandozeilen-Updater.</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line updater.</p> <p><b>Mehrere Thymio II gefunden!</b></p><p>Verbinden Sie nur einen Thymio II oder benutzen Sie den Kommandozeilen-Updater.</p> aseba-1.6.0/clients/thymioupgrader/thymioupgrader_el.qm000066400000000000000000000123231322771007300233620ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBàŒ ¤>Q <³.i$ºJÎ ]Áôq®à—‘Òˆ¥ '‘?D¸Ñcþ’ƒ_Öãé«in& q6ž ¤ ÒÚeH >^% ­Ûió ÜÑ " ’ Ê ôn n‡õ  Ì@) ܹ®‘ñ æ.øÑ Äÿž² +B ªò,!þiÒ” ±Á¿Åù¬ÃÄ·ºµ ÃƬ»¼± ÆÌÁÄÉ÷ µºº¯½·Ã· º±Ä¬ Ä· ´¹±´¹º±Ã¯± ±½±²¬¸¼¹Ã·Â: %1:A bootloader error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogˆ ±Á¿Åù¬ÃÄ·ºµ ÃƬ»¼± µÀ¹º¿¹½É½¯± º±Ä¬ Ä· ´¹±´¹º±Ã¯± ±½±²¬¸¼¹Ã·Â: %1=A communication error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogT”µ½ µ¯½±¹ ´Å½±Ä® · Ãͽ´µÃ· ¼µ Ä¿ Thymio IICannot connect to Thymio IIAseba::ThymioUpgraderDialog®”µ½ µ¯½±¹ ´Å½±Ä® · Ãͽ´µÃ· ¼µ Ä¿ Thymio II: %1.<p> ¹¸±½Ìıı ­½± ¬»»¿ ÀÁ̳Á±¼¼± µ¯½±¹ ÃŽ´µ´µ¼­½¿ ±ÅÄ® Ä· ÃĹ³¼® ¼µ Ä¿ Thymio II. ’µ²±¹É¸µ¯Äµ ÌĹ ´µ½ µºÄµ»¿Í½Ä±¹ Ä¿ Studio ® ¬»»· ‘½±²¬¸¼¹Ã· º±¹ ÀÁ¿ÃÀ±¸®Ãĵ ¾±½¬.</p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialog^”µ½ µ¯½±¹ ´Å½±ÄÌ Ä¿ ¬½¿¹³¼± ÀÁ¿ÃÉÁ¹½¿Í ±Áǵ¯¿Å!Cannot open temporary file!Aseba::ThymioUpgraderDialog2¤Á­Ç¿½ Å»¹º¿»¿³¹Ã¼¹ºÌ: %1Current firmware: %1Aseba::ThymioUpgraderDialogJ‘Áǵ¯¿ ÀÁ¿Ã±Á¼¿Ã¼­½¿Å Å»¹º¿»¿³¹Ã¼¹º¿ÍCustom firmware fileAseba::ThymioUpgraderDialogx£Æ¬»¼± Ãͽ´µÃ·Â ¼µ Ä¿½ µ¾ÅÀ·ÁµÄ·Ä® µÀ¯Ã·¼¿Å Å»¹º¿»¿³¹Ã¼¹º¿Í!-Error connecting to official firmware server!Aseba::ThymioUpgraderDialog4”µº±µ¾±´¹º¬ ±Áǵ¯± (*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialogF ¹¿ ÀÁÌÃƱĿ µÀ¯Ã·¼¿ Å»¹º¿»¿³¹Ã¼¹ºÌLatest official firmwareAseba::ThymioUpgraderDialog4•À¯Ã·¼¿ Å»¹º¿»¿³¹Ã¼¹ºÌ: %1Official firmware: %1Aseba::ThymioUpgraderDialog: Á¿µ¹´¿À¿¯·Ã· ÀÁ¿-±½±²¬¸¼¹Ã·ÂPre-upgrade warningAseba::ThymioUpgraderDialog‘ºÍÁÉ÷QuitAseba::ThymioUpgraderDialog8•À¹»¿³® ´µº±µ¾±´¹º¿Í ±Áǵ¯¿ÅSelect hex fileAseba::ThymioUpgraderDialog•À¹»¿³®... Select...Aseba::ThymioUpgraderDialogJ‘½±²¬¸¼¹Ã· Å»¹º¿»¿³¹Ã¼¹º¿Í Ä¿Å ThymioThymio Firmware UpgraderAseba::ThymioUpgraderDialog>‘½±³½ÉÁ¹ÃĹºÌ ºÌ¼²¿Å Thymio: %1Thymio node identifier: %1Aseba::ThymioUpgraderDialogp”µ½ µ¯½±¹ ´Å½±Ä® · ±½¬³½É÷ Ä¿Å ”µº±µ¾±´¹º¿Í ±Áǵ¯¿Å: %1Unable to read Hex file: %1Aseba::ThymioUpgraderDialog‘½±²¬¸¼¹Ã·UpgradeAseba::ThymioUpgraderDialog$£Æ¬»¼± ‘½±²¬¸¼¹Ã·Â Upgrade ErrorAseba::ThymioUpgraderDialog.­º´¿Ã· %1 - ±½¬ÀÄž· %2version %1 - development %2Aseba::ThymioUpgraderDialog(­º´¿Ã· %1 - À±Á±³É³®version %1 - productionAseba::ThymioUpgraderDialog<p><b>”µ½ µ¯½±¹ ´Å½±Ä® · µÍÁµÃ· Ä¿Å Thymio!</b></p><p>£Å½´­Ãĵ ­½± Thymio ÃÄ¿½ ÅÀ¿»¿³¹ÃÄ® ñ ÇÁ·Ã¹¼¿À¿¹Î½Ä±Â Ä¿ USB º±»Î´¹¿.</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplication <p><b>’Á­¸·º±½ ÀµÁ¹ÃÃÌĵÁ± ±ÀÌ ­½± Thymio!</b></p><p>£Å½´­Ãĵ ¼Ì½¿ ­½± Thymio ÃÄ¿½ ÅÀ¿»¿³¹ÃÄ® ñ ÇÁ·Ã¹¼¿À¿¹Î½Ä±Â Ä¿ USB º±»Î´¹¿.</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplicationþ<p><b>’Á­¸·ºµ ±ÃÍÁ¼±Ä· Ãͽ´µÃ· ¼µ Thymio!</b></p><p>£Å½´­Ãĵ ­½± Thymio ÃÄ¿½ ÅÀ¿»¿³¹ÃÄ® ñ ÇÁ·Ã¹¼¿À¿¹Î½Ä±Â Ä¿ USB º±»Î´¹¿.</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication,’Á­¸·º±½ À¿»»¬ ThymiosMultiple Thymios found QApplication"”µ ²Á­¸·ºµ ThymioThymio not found QApplication.’Á­¸·ºµ ±ÃÍÁ¼±Ä¿ ThymioWireless Thymio found QApplicationˆaseba-1.6.0/clients/thymioupgrader/thymioupgrader_el.ts000066400000000000000000000207611322771007300234000ustar00rootroot00000000000000 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Αναβάθμιση Ï…Î»Î¹ÎºÎ¿Î»Î¿Î³Î¹ÏƒÎ¼Î¹ÎºÎ¿Ï Ï„Î¿Ï… Thymio Latest official firmware Πιο Ï€Ïόσφατο επίσημο υλικολογισμικό Custom firmware file ΑÏχείο Ï€ÏοσαÏμοσμένου Ï…Î»Î¹ÎºÎ¿Î»Î¿Î³Î¹ÏƒÎ¼Î¹ÎºÎ¿Ï Select... Επιλογή... Upgrade Αναβάθμιση Quit ΑκÏÏωση Select hex file Επιλογή Î´ÎµÎºÎ±ÎµÎ¾Î±Î´Î¹ÎºÎ¿Ï Î±Ïχείου Hex files (*.hex) Δεκαεξαδικά αÏχεία (*.hex) Cannot connect to Thymio II Δεν είναι δυνατή η σÏνδεση με το Thymio II Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> Δεν είναι δυνατή η σÏνδεση με το Thymio II: %1.<p>Πιθανότατα ένα άλλο Ï€ÏόγÏαμμα είναι συνδεδεμένο αυτή τη στιγμή με το Thymio II. Βεβαιωθείτε ότι δεν εκτελοÏνται το Studio ή άλλη Αναβάθμιση και Ï€Ïοσπαθήστε ξανά.</p> Thymio node identifier: %1 ΑναγνωÏιστικό κόμβου Thymio: %1 Current firmware: %1 ΤÏέχον υλικολογισμικό: %1 version %1 - production έκδοση %1 - παÏαγωγή version %1 - development %2 έκδοση %1 - ανάπτυξη %2 Pre-upgrade warning ΠÏοειδοποίηση Ï€Ïο-αναβάθμισης Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? You are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? ΠÏόκειται να γÏάψετε νέο υλικολογισμικό στο Thymio II. Βεβαιωθείτε ότι το Ïομπότ είναι φοÏτισμένο και ότι το καλώδιο USB είναι κατάλληλα συνδεδεμένο.<p><b>Μην αποσυνδέσετε το Ïομπότ κατά τη διάÏκεια της αναβάθμισης!</b></p>Είστε βέβαιοι ότι επιθυμείτε να συνεχίσετε; Upgrade Error Σφάλμα Αναβάθμισης Unable to read Hex file: %1 Δεν είναι δυνατή η ανάγνωση του Î”ÎµÎºÎ±ÎµÎ¾Î±Î´Î¹ÎºÎ¿Ï Î±Ïχείου: %1 A bootloader error happened during the upgrade process: %1 ΠαÏουσιάστηκε σφάλμα φόÏτωσης εκκίνησης κατά τη διαδικασία αναβάθμισης: %1 A communication error happened during the upgrade process: %1 ΠαÏουσιάστηκε σφάλμα επικοινωνίας κατά τη διαδικασία αναβάθμισης: %1 Official firmware: %1 Επίσημο υλικολογισμικό: %1 Cannot open temporary file! Δεν είναι δυνατό το άνοιγμα Ï€ÏοσωÏÎ¹Î½Î¿Ï Î±Ïχείου! Error connecting to official firmware server! Σφάλμα σÏνδεσης με τον εξυπηÏετητή επίσημου υλικολογισμικοÏ! QApplication Wireless Thymio found Î’Ïέθηκε ασÏÏματο Thymio <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Î’Ïέθηκε ασÏÏματη σÏνδεση με Thymio!</b></p><p>Συνδέστε ένα Thymio στον υπολογιστή σας χÏησιμοποιώντας το USB καλώδιο.</p> Thymio not found Δε βÏέθηκε Thymio <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b>Δεν είναι δυνατή η εÏÏεση του Thymio!</b></p><p>Συνδέστε ένα Thymio στον υπολογιστή σας χÏησιμοποιώντας το USB καλώδιο.</p> Multiple Thymios found Î’Ïέθηκαν πολλά Thymios <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Î’Ïέθηκαν πεÏισσότεÏα από ένα Thymio!</b></p><p>Συνδέστε μόνο ένα Thymio στον υπολογιστή σας χÏησιμοποιώντας το USB καλώδιο.</p> aseba-1.6.0/clients/thymioupgrader/thymioupgrader_es.qm000066400000000000000000000133451322771007300233760ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBèŒ R>Q ä³.ci$ ºJÎ ýÁôqbà—‘Äˆ¥Ï‘?D˜Ñcþxƒ_´ãéƒin q6žþ ÒÚe. >^%ì ­Ûií ÜÑ " ’ P UÂÏ ¹ ôv n‡õ  Ì@- ܹ®¯ñ .øÑ xÿž²B Rò,!ði܆Ocurrió un error de aranque durante el proceso de actualización: %1:A bootloader error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogOcurrió un error de comunicación durante el proceso de actualización: %1=A communication error happened during the upgrade process: %1Aseba::ThymioUpgraderDialog@No se pudo conectar al Thymio IICannot connect to Thymio IIAseba::ThymioUpgraderDialogÌNo se puede conectar a Thymio II: %1.<p>Lo más probable es que otro programa esté conectado a él. Asegúrese de que Aseba Studio está cerrado, de que sólo hay un Thymio Firmware Upgrader en funcionamiento y vuelva a intentarlo.</p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialogLNo se puede abrir el archivo temporal!Cannot open temporary file!Aseba::ThymioUpgraderDialog&Firmware actual: %1Current firmware: %1Aseba::ThymioUpgraderDialogBArchivo de firmware personalizadoCustom firmware fileAseba::ThymioUpgraderDialogrError al conectarse con el servidor del firmware oficial!-Error connecting to official firmware server!Aseba::ThymioUpgraderDialog(Archivos hex (*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialog.Último firmware oficialLatest official firmwareAseba::ThymioUpgraderDialog(Firmware oficial: %1Official firmware: %1Aseba::ThymioUpgraderDialog@Alerta previa a la actualizaciónPre-upgrade warningAseba::ThymioUpgraderDialog SalirQuitAseba::ThymioUpgraderDialog.Seleccionar archivo hexSelect hex fileAseba::ThymioUpgraderDialogSeleccionar... Select...Aseba::ThymioUpgraderDialogJActualizador del firmware para ThymioThymio Firmware UpgraderAseba::ThymioUpgraderDialogJIdentificador de nudo del Thymio : %1Thymio node identifier: %1Aseba::ThymioUpgraderDialogBImposible leer el archivo hex: %1Unable to read Hex file: %1Aseba::ThymioUpgraderDialogActualizarUpgradeAseba::ThymioUpgraderDialog,Error de actualización Upgrade ErrorAseba::ThymioUpgraderDialogÂEstá a punto de actualizar el firmware de Thymio II. Asegúrese de que el robot esté completamente cargado y que el cable USB esté bien conectado. <p><b>No desconecte el robot durante la actualización!</b></p>¿Desea continuar?äYour are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?Aseba::ThymioUpgraderDialog$%1 - desarrollo %2version %1 - development %2Aseba::ThymioUpgraderDialog%1 - producciónversion %1 - productionAseba::ThymioUpgraderDialogÐ<p><b> No se puede encontrar Thymio!</b></p><p>Conecte un Thymio al ordenador mediante el cable USB.</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplicationÜ<p><b>Se encuentró más de un Thymio !</b></p><p>Conecte un solo Thymio al ordenador mediante el cable USB.</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplicationî<p><b>Conexión inalámbrica a Thymio encontrado</b></p><p>Conecte un solo Thymio al ordenador mediante el cable USB.</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication>Se encontraron múltiples ThymioMultiple Thymios found QApplication8No se encontró ningún ThymioThymio not found QApplication0Wireless Thymio encontróWireless Thymio found QApplicationˆaseba-1.6.0/clients/thymioupgrader/thymioupgrader_es.ts000066400000000000000000000365451322771007300234160ustar00rootroot00000000000000 Aseba::ThymioFlasherDialog Thymio Firmware Updater Actualizador del firmware para Thymio Connection Conexión Firmware file Archivo de firmware Select... Seleccionar... Update Actualizar Quit Salir Select hex file Seleccionar archivo hex Hex files (*.hex) Archivos hex (*.hex) Pre-update warning Alerta previa a la actualización Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Está a punto de actualizar el firmware de Thymio II. Asegúrese de que el robot esté completamente cargado y que el cable USB esté bien conectado. <p><b>No desconecte el robot durante la actualización!</b></p>¿Desea continuar? Cannot connect to target No se pudo conectar al objetivo Cannot connect to target: %1 No se pudo conectar al objetivo: %1 Update Error Error de actualización Unable to read Hex file: %1 Imposible leer el archivo hex: %1 A bootloader error happened during the update process: %1 Ocurrió un error de aranque durante el proceso de actualización: %1 A communication error happened during the update process: %1 Ocurrió un error de comunicación durante el proceso de actualización: %1 Aseba::ThymioUpdaterDialog Thymio Firmware Updater Actualizador del firmware para Thymio Firmware file Archivo de firmware Select... Seleccionar... Update Actualizar Quit Salir Select hex file Seleccionar archivo hex Hex files (*.hex) Archivos hex (*.hex) Pre-update warning Alerta previa a la actualización Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Está a punto de actualizar el firmware de Thymio II. Asegúrese de que el robot esté completamente cargado y que el cable USB esté bien conectado. <p><b>No desconecte el robot durante la actualización!</b></p>¿Desea continuar? Cannot connect to Thymio II Cannot connect to target No se pudo conectar al Thymio II Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Updater running and try again.</p> No se puede conectar a Thymio II: %1.<p>Lo más probable es que otro programa esté conectado a él. Asegúrese de que Aseba Studio está cerrado, de que sólo hay un Thymio Firmware Updater en funcionamiento y vuelva a intentarlo.</p> Update Error Error de actualización Unable to read Hex file: %1 Imposible leer el archivo hex: %1 A bootloader error happened during the update process: %1 Ocurrió un error de aranque durante el proceso de actualización: %1 A communication error happened during the update process: %1 Ocurrió un error de comunicación durante el proceso de actualización: %1 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Actualizador del firmware para Thymio Firmware file Archivo de firmware Select... Seleccionar... Upgrade Actualizar Quit Salir Select hex file Seleccionar archivo hex Hex files (*.hex) Archivos hex (*.hex) Thymio node identifier: %1 Identificador de nudo del Thymio : %1 Current firmware: version %1 - production Firmware actual: %1 - producción Current firmware: version %1 - development %2 Firmware actual: %1 - desarrollo %2 Pre-upgrade warning Alerta previa a la actualización Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? Está a punto de actualizar el firmware de Thymio II. Asegúrese de que el robot esté completamente cargado y que el cable USB esté bien conectado. <p><b>No desconecte el robot durante la actualización!</b></p>¿Desea continuar? Cannot connect to Thymio II No se pudo conectar al Thymio II Latest official firmware Último firmware oficial Custom firmware file Archivo de firmware personalizado Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> No se puede conectar a Thymio II: %1.<p>Lo más probable es que otro programa esté conectado a él. Asegúrese de que Aseba Studio está cerrado, de que sólo hay un Thymio Firmware Upgrader en funcionamiento y vuelva a intentarlo.</p> Current firmware: %1 Firmware actual: %1 version %1 - production %1 - producción version %1 - development %2 %1 - desarrollo %2 Upgrade Error Error de actualización Unable to read Hex file: %1 Imposible leer el archivo hex: %1 A bootloader error happened during the upgrade process: %1 Ocurrió un error de aranque durante el proceso de actualización: %1 A communication error happened during the upgrade process: %1 Ocurrió un error de comunicación durante el proceso de actualización: %1 Official firmware: %1 Firmware oficial: %1 Cannot open temporary file! No se puede abrir el archivo temporal! Error connecting to official firmware server! Error al conectarse con el servidor del firmware oficial! QApplication Wireless Thymio found Wireless Thymio II found Wireless Thymio encontró <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Conexión inalámbrica a Thymio encontrado</b></p><p>Conecte un solo Thymio al ordenador mediante el cable USB.</p> <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b> No se puede encontrar Thymio!</b></p><p>Conecte un Thymio al ordenador mediante el cable USB.</p> <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Se encuentró más de un Thymio !</b></p><p>Conecte un solo Thymio al ordenador mediante el cable USB.</p> Multiple Thymios found Multiple Thymio found Se encontraron múltiples Thymio Thymio not found Thymio II not found No se encontró ningún Thymio <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>No se encontró ningún Thymio II!</b></p><p>Conecte un Thymio II o use la linea de comandos (asebacmd).</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Se encuentró más de un Thymio II !</b></p><p>Conecte solo un Thymio II o utilice el actualizador de la línea de comandos (asebacmd).</p> <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line updater.</p> <p><b>No se encontró ningún Thymio II!</b></p><p>Conecte un Thymio II o use la linea de comandos.</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line updater.</p> <p><b>Se encuentró más de un Thymio II !</b></p><p>Conecte solo un Thymio II o utilice el actualizador de la línea de comandos.</p> aseba-1.6.0/clients/thymioupgrader/thymioupgrader_fr.qm000066400000000000000000000135351322771007300233770ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBèŒ ^>Q ú³.Ñi$ŸºJÎ Áôqzà—‘ìˆ¥ë‘?D8Ñcþ¬ƒ_Ðãé—in– q6žl ÒÚeX >^% ­Ûi ÜÑ " ’ v UÂÏ á ôò n‡õ ! Ì@O ܹ®)ñ  .øÑ Žÿž²÷B lò,!iTœUne erreur de bootloader est apparue durant le processus de mise à niveau : %1:A bootloader error happened during the upgrade process: %1Aseba::ThymioUpgraderDialog¤Une erreur de communication est survenue durant le processus de mise à niveau : %1=A communication error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogJNe peut pas se connecter au Thymio IICannot connect to Thymio IIAseba::ThymioUpgraderDialogºNe peut pas se connecter au Thymio II: %1.<p>Un autre programme est probablement actuellement connecté au Thymio II. Assurez-vous qu'il n'y ait pas de Studio ou autre application de mise à niveau en cours d'exécution.</p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialogRNe peut pas ouvrir de fichier temporaire!Cannot open temporary file!Aseba::ThymioUpgraderDialog(Firmware actuel : %1Current firmware: %1Aseba::ThymioUpgraderDialog4Fichier de firmware tierceCustom firmware fileAseba::ThymioUpgraderDialogjErreur de connexion au serveur officiel de firmware !-Error connecting to official firmware server!Aseba::ThymioUpgraderDialog(Fichiers hex (*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialog2Dernier firmware officielLatest official firmwareAseba::ThymioUpgraderDialog,Firmware officiel : %1Official firmware: %1Aseba::ThymioUpgraderDialog0Alerte pré mise à niveauPre-upgrade warningAseba::ThymioUpgraderDialogQuitterQuitAseba::ThymioUpgraderDialog6Séléctionner un fichier hexSelect hex fileAseba::ThymioUpgraderDialogSélectionner... Select...Aseba::ThymioUpgraderDialogFMise à niveau du firmware du ThymioThymio Firmware UpgraderAseba::ThymioUpgraderDialogJIdentificateur de nSud du Thymio : %1Thymio node identifier: %1Aseba::ThymioUpgraderDialogHNe peut pas lire le fichier hex : %1Unable to read Hex file: %1Aseba::ThymioUpgraderDialogMettre à niveauUpgradeAseba::ThymioUpgraderDialog.Erreur de mise à niveau Upgrade ErrorAseba::ThymioUpgraderDialogVous êtes sur le point d'écrire un nouveau firmware dans le Thymio II. Assurez-vous que le robot est chargé et que le cable USB est connecté correctement.<p><b>Ne déconnectez pas le robot durant la mise à niveau !</b></p>Êtes-vous sûr de vouloir continuer ?äYour are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?Aseba::ThymioUpgraderDialog*%1 - développement %2version %1 - development %2Aseba::ThymioUpgraderDialog%1 - productionversion %1 - productionAseba::ThymioUpgraderDialogÜ<p><b>Ne peut pas trouver Thymio !</b></p><p>Connectez un Thymio à l'ordinateur en utilisant le cable USB.</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplicationâ<p><b>Plusieurs Thymio trouvés !</b></p><p>Connectez un seul Thymio à l'ordinateur en utilisant le cable USB.</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication<p><b>Une connection sans fil à Thymio a été trouvée !</b></p><p>Connectez un seul Thymio à l'ordinateur en utilisant le cable USB.</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication0Plusieurs Thymio trouvésMultiple Thymios found QApplication"Thymio non trouvéThymio not found QApplication,Wireless Thymio trouvéWireless Thymio found QApplicationˆaseba-1.6.0/clients/thymioupgrader/thymioupgrader_fr.ts000066400000000000000000000414771322771007300234160ustar00rootroot00000000000000 Aseba::ThymioFlasherDialog Thymio Firmware Updater Mise à jour du firmware du Thymio Connection Connection Firmware file Fichier du firmware Select... Sélectionner... Update Mettre à jour Quit Quitter Select hex file Séléctionner un fichier hex Hex files (*.hex) Fichiers hex (*.hex) Pre-update warning Alerte pré mise à jour Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Vous êtes sur le point d'écrire un nouveau firmware dans le Thymio II. Assurez-vous que le robot est chargé et que le cable USB est connecté correctement.<p><b>Ne déconnectez pas le robot durant la mise à jour !</b></p>Êtes-vous sûr de vouloir continuer ? Cannot connect to target Ne peut pas se connecter à la destination Cannot connect to target: %1 Ne peut pas se connecter à la destination : %1 Update Error Erreur de mise à jour Unable to read Hex file: %1 Ne peut pas lire le fichier hex : %1 A bootloader error happened during the update process: %1 Une erreur de bootloader est apparue durant le processus de mise à jour : %1 A communication error happened during the update process: %1 Une erreur de communication est survenue durant le processus de mise à jour : %1 Aseba::ThymioUpdaterDialog Thymio Firmware Updater Mise à jour du firmware du Thymio Firmware file Fichier du firmware Select... Sélectionner... Update Mettre à jour Quit Quitter Select hex file Séléctionner un fichier hex Hex files (*.hex) Fichiers hex (*.hex) Pre-update warning Alerte pré mise à jour Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Vous êtes sur le point d'écrire un nouveau firmware dans le Thymio II. Assurez-vous que le robot est chargé et que le cable USB est connecté correctement.<p><b>Ne déconnectez pas le robot durant la mise à jour !</b></p>Êtes-vous sûr de vouloir continuer ? Cannot connect to Thymio II Cannot connect to target Ne peut pas se connecter au Thymio II Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Updater running and try again.</p> Ne peut pas se connecter au Thymio II: %1.<p>Un autre programme est probablement actuellement connecté au Thymio II. Assurez-vous qu'il n'y ait pas de Studio ou autre application de mise à jour en cours d'exécution.</p> Update Error Erreur de mise à jour Unable to read Hex file: %1 Ne peut pas lire le fichier hex : %1 A bootloader error happened during the update process: %1 Une erreur de bootloader est apparue durant le processus de mise à jour : %1 A communication error happened during the update process: %1 Une erreur de communication est survenue durant le processus de mise à jour : %1 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Mise à niveau du firmware du Thymio Firmware file Fichier du firmware Select... Sélectionner... Upgrade Mettre à niveau Quit Quitter Select hex file Séléctionner un fichier hex Hex files (*.hex) Fichiers hex (*.hex) Thymio node identifier: %1 Identificateur de nÅ“ud du Thymio : %1 Current firmware: version %1 - production Firmware actuel : %1 - production Current firmware: version %1 - development %2 Firmware actuel : %1 - développement %2 Pre-upgrade warning Alerte pré mise à niveau Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? Vous êtes sur le point d'écrire un nouveau firmware dans le Thymio II. Assurez-vous que le robot est chargé et que le cable USB est connecté correctement.<p><b>Ne déconnectez pas le robot durant la mise à niveau !</b></p>Êtes-vous sûr de vouloir continuer ? Cannot connect to Thymio II Ne peut pas se connecter au Thymio II Latest official firmware Dernier firmware officiel Custom firmware file Fichier de firmware tierce Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> Ne peut pas se connecter au Thymio II: %1.<p>Un autre programme est probablement actuellement connecté au Thymio II. Assurez-vous qu'il n'y ait pas de Studio ou autre application de mise à niveau en cours d'exécution.</p> Current firmware: %1 Firmware actuel : %1 version %1 - production %1 - production version %1 - development %2 %1 - développement %2 Upgrade Error Erreur de mise à niveau Unable to read Hex file: %1 Ne peut pas lire le fichier hex : %1 A bootloader error happened during the upgrade process: %1 Une erreur de bootloader est apparue durant le processus de mise à niveau : %1 A communication error happened during the upgrade process: %1 Une erreur de communication est survenue durant le processus de mise à niveau : %1 Official firmware: %1 Firmware officiel : %1 Cannot open temporary file! Ne peut pas ouvrir de fichier temporaire! Error connecting to official firmware server! Erreur de connexion au serveur officiel de firmware ! QApplication Wireless Thymio found Wireless Thymio II found Wireless Thymio trouvé <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Une connection sans fil à Thymio a été trouvée !</b></p><p>Connectez un seul Thymio à l'ordinateur en utilisant le cable USB.</p> <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b>Ne peut pas trouver Thymio !</b></p><p>Connectez un Thymio à l'ordinateur en utilisant le cable USB.</p> <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Plusieurs Thymio trouvés !</b></p><p>Connectez un seul Thymio à l'ordinateur en utilisant le cable USB.</p> Multiple Thymios found Plusieurs Thymio trouvés <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio using the USB cable.</p> <p><b>Une connection sans fil à Thymio a été trouvée !</b></p><p>Connectez un seul Thymio à l'ordinateur en utilisant un cable USB.</p> <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio using the USB cable.</p> <p><b>Ne peut pas trouver Thymio !</b></p><p>Connectez un Thymio à l'ordinateur en utilisant un cable USB.</p> <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio using the USB cable.</p> <p><b>Plusieurs Thymio trouvés !</b></p><p>Connectez un seul Thymio à l'ordinateur en utilisant un cable USB.</p> Thymio not found Thymio II not found Thymio non trouvé <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Ne peut pas trouver Thymio II !</b></p><p>Connectez Thymio II ou utilisez l'outil de mise à niveau en ligne de commande (asebacmd).</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Plusieurs Thymio II trouvés !</b></p><p>Connectez un seul Thymio II ou utilisez l'outil de mise à niveau en ligne de commande (asebacmd).</p> <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line updater.</p> <p><b>Ne peut pas trouver Thymio II !</b></p><p>Connectez Thymio II ou utilisez l'outil de mise à jour en ligne de commande.</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line updater.</p> <p><b>Plusieurs Thymio II trouvés !</b></p><p>Connectez un seul Thymio II ou utilisez l'outil de mise à jour en ligne de commande.</p> aseba-1.6.0/clients/thymioupgrader/thymioupgrader_it.qm000066400000000000000000000133631322771007300234030ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBèŒ R>Q Þ³.ui$1ºJÎ ýÁôqhà—‘Ðˆ¥Ù‘?DÎÑcþ¢ƒ_Àãéin, q6ž ÒÚe< >^%î ­Ûi ÜÑ " ’ J UÂÏ µ ô† n‡õ  Ì@9 ܹ®Ãñ š.øÑ tÿž²¥B Nò,!iêšE' successo un errore del bootloader durante il processo di aggiornamento: %1:A bootloader error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogžE' successo un errore di comunicazione durante il processo di aggiornamento: %1=A communication error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogHImpossibile connettersi al Thymio IICannot connect to Thymio IIAseba::ThymioUpgraderDialog®Impossibile di connettersi al Thymio II:%1.<p>Un altro programma è probabilmente attualmente connesso al Thymio II. Assicurarsi che non vi sia Asebastudio o un'altra applicazione di aggiornamento in esecuzione. </p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialogLImpossibile aprire il file temporaneo!Cannot open temporary file!Aseba::ThymioUpgraderDialog(Firmware attuale: %1Current firmware: %1Aseba::ThymioUpgraderDialog@File del firmware personalizzatoCustom firmware fileAseba::ThymioUpgraderDialogpErrore di connessione al server ufficiale del firmware !-Error connecting to official firmware server!Aseba::ThymioUpgraderDialog File Hex (*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialog2Ultimo firmware ufficialeLatest official firmwareAseba::ThymioUpgraderDialog,Firmware ufficiale: %1Official firmware: %1Aseba::ThymioUpgraderDialog6Avviso di pre-aggiornamentoPre-upgrade warningAseba::ThymioUpgraderDialogInterrompiQuitAseba::ThymioUpgraderDialog$Seleziona file hexSelect hex fileAseba::ThymioUpgraderDialogSeleziona... Select...Aseba::ThymioUpgraderDialogHAggiornamento del Firmware di ThymioThymio Firmware UpgraderAseba::ThymioUpgraderDialogLIdentificativo del nodo del Thymio :%1Thymio node identifier: %1Aseba::ThymioUpgraderDialogDImpossibile leggere il file Hex %1Unable to read Hex file: %1Aseba::ThymioUpgraderDialogAggiornaUpgradeAseba::ThymioUpgraderDialog.Errore di aggiornamento Upgrade ErrorAseba::ThymioUpgraderDialogÜStai per scrivere un nuovo firmware in Thymio II. Assicurarsi che il robot sia carico al massimo e che il cavo USB sia collegato corretttamente.<p><b>Non scollegare il robot durante l'aggiornamento!</b></p>Siete sicuri di voler procedere?äYour are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?Aseba::ThymioUpgraderDialog %1 - sviluppo %2version %1 - development %2Aseba::ThymioUpgraderDialog%1 - produzioneversion %1 - productionAseba::ThymioUpgraderDialogÒ<p><b>Impossibile trovare Thymio!</b></p><p> Collegare un Thymio al computer utilizzando il cavo USB.</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplicationÞ<p><b>Trovati più di un Thymio !</b></p><p>Collegare un singolo Thymio al computer utilizzando il cavo USB.</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication<p><b>Una connessione wireless a Thymio è stato trovato!</b></p><p>Collegare un singolo Thymio al computer utilizzando il cavo USB.</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication,Diversi Thymio trovatiMultiple Thymios found QApplication$Thymio non trovatoThymio not found QApplication.Wireless Thymio trovatoWireless Thymio found QApplicationˆaseba-1.6.0/clients/thymioupgrader/thymioupgrader_it.ts000066400000000000000000000364641322771007300234230ustar00rootroot00000000000000 Aseba::ThymioFlasherDialog Thymio Firmware Updater Aggiornamento del Firmware di Thymio Firmware file File del firmware Select... Seleziona... Update Aggiorna Quit Interrompi Select hex file Seleziona file hex Hex files (*.hex) File Hex (*.hex) Pre-update warning Avviso di pre-aggiornamento Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Stai per scrivere un nuovo firmware in Thymio II. Assicurarsi che il robot sia carico al massimo e che il cavo USB sia collegato corretttamente.<p><b>Non scollegare il robot durante l'aggiornamento!</b></p>Siete sicuri di voler procedere? Cannot connect to target Impossibile collegarsi al target Cannot connect to target: %1 Impossibile collegarsi al target: %1 Update Error Errore di aggiornamento Unable to read Hex file: %1 Impossibile leggere il file Hex %1 A bootloader error happened during the update process: %1 E' successo un errore del bootloader durante il processo di aggiornamento: %1 A communication error happened during the update process: %1 E' successo un errore di comunicazione durante il processo di aggiornamento: %1 Aseba::ThymioUpdaterDialog Thymio Firmware Updater Aggiornamento del Firmware di Thymio Firmware file File del firmware Select... Seleziona... Update Aggiorna Quit Interrompi Select hex file Seleziona file hex Hex files (*.hex) File Hex (*.hex) Pre-update warning Avviso di pre-aggiornamento Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed? Stai per scrivere un nuovo firmware in Thymio II. Assicurarsi che il robot sia carico al massimo e che il cavo USB sia collegato corretttamente.<p><b>Non scollegare il robot durante l'aggiornamento!</b></p>Siete sicuri di voler procedere? Cannot connect to Thymio II Cannot connect to target Impossibile di connettersi al Thymio II Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Updater running and try again.</p> Impossibile di connettersi al Thymio II:%1.<p>Un altro programma è probabilmente attualmente connesso al Thymio II. Assicurarsi che non ce Asebastudio o un altra applicazione di aggiornamento in esecuzione. </p> Update Error Errore di aggiornamento Unable to read Hex file: %1 Impossibile leggere il file Hex %1 A bootloader error happened during the update process: %1 E' successo un errore del bootloader durante il processo di aggiornamento: %1 A communication error happened during the update process: %1 E' successo un errore di comunicazione durante il processo di aggiornamento: %1 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Aggiornamento del Firmware di Thymio Firmware file File del firmware Select... Seleziona... Upgrade Aggiorna Quit Interrompi Select hex file Seleziona file hex Hex files (*.hex) File Hex (*.hex) Thymio node identifier: %1 Identificativo del nodo del Thymio :%1 Current firmware: version %1 - production Firmware attuale: %1 - produzione Current firmware: version %1 - development %2 Firmware attuale: %1 - sviluppo %2 Pre-upgrade warning Avviso di pre-aggiornamento Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? Stai per scrivere un nuovo firmware in Thymio II. Assicurarsi che il robot sia carico al massimo e che il cavo USB sia collegato corretttamente.<p><b>Non scollegare il robot durante l'aggiornamento!</b></p>Siete sicuri di voler procedere? Cannot connect to Thymio II Impossibile connettersi al Thymio II Latest official firmware Ultimo firmware ufficiale Custom firmware file File del firmware personalizzato Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> Impossibile di connettersi al Thymio II:%1.<p>Un altro programma è probabilmente attualmente connesso al Thymio II. Assicurarsi che non vi sia Asebastudio o un'altra applicazione di aggiornamento in esecuzione. </p> Current firmware: %1 Firmware attuale: %1 version %1 - production %1 - produzione version %1 - development %2 %1 - sviluppo %2 Upgrade Error Errore di aggiornamento Unable to read Hex file: %1 Impossibile leggere il file Hex %1 A bootloader error happened during the upgrade process: %1 E' successo un errore del bootloader durante il processo di aggiornamento: %1 A communication error happened during the upgrade process: %1 E' successo un errore di comunicazione durante il processo di aggiornamento: %1 Official firmware: %1 Firmware ufficiale: %1 Cannot open temporary file! Impossibile aprire il file temporaneo! Error connecting to official firmware server! Errore di connessione al server ufficiale del firmware ! QApplication Wireless Thymio found Wireless Thymio II found Wireless Thymio trovato <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Una connessione wireless a Thymio è stato trovato!</b></p><p>Collegare un singolo Thymio al computer utilizzando il cavo USB.</p> <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b>Impossibile trovare Thymio!</b></p><p> Collegare un Thymio al computer utilizzando il cavo USB.</p> <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Trovati più di un Thymio !</b></p><p>Collegare un singolo Thymio al computer utilizzando il cavo USB.</p> Multiple Thymios found Multiple Thymio found Diversi Thymio trovati Thymio not found Thymio II not found Thymio non trovato <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Impossibile trovare Thymio II!</b></p><p>Collegare Thymio II o utilizzare l'aggiornamento tramite linea di comando (asebacmd).</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line firmware upgrader (asebacmd).</p> <p><b>Trovati più di un Thymio II!</b></p><p>Collegare un solo Thymio II o utilizzare l'aggiornamento tramite linea di comando (asebacmd).</p> <p><b>Cannot find Thymio II!</b></p><p>Plug Thymio II or use the command-line updater.</p> <p><b>Impossibile trovare Thymio II!</b></p><p>Collegare Thymio II o utilizzare l'aggiornamento tramite linea di comando.</p> <p><b>More than one Thymio II found!</b></p><p>Plug a single Thymio II or use the command-line updater.</p> <p><b>Trovati più di un Thymio II!</b></p><p>Collegare un solo Thymio II o utilizzare l'aggiornamento tramite linea di comando.</p> aseba-1.6.0/clients/thymioupgrader/thymioupgrader_ja.qm000066400000000000000000000107061322771007300233570ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB茼>Q³. [i$ºJÎKÁôqüà—‘èˆ¥c‘?DÂÑcþă_ªãé7inŠ q6ž ð ÒÚeH >^%” ­ÛiW ÜÑ " ’  UÂÏ g ôh n‡õÑ Ì@ƒ ܹ® cñø.øÑlÿž² yBò,!°iÄF0¢0Ã0×0°0ì0ü0É0×0í0»0¹N-0k0Ö0ü0È0í0ü0À0ü0n0¨0é0ü0Lvzu0W0~0W0_: %1:A bootloader error happened during the upgrade process: %1Aseba::ThymioUpgraderDialog:0¢0Ã0×0°0ì0ü0É0×0í0»0¹N-0kOá0¨0é0ü0Lvzu0W0~0W0_: %1=A communication error happened during the upgrade process: %1Aseba::ThymioUpgraderDialog"Thymio II0kc¥}š0g0M0~0[0“Cannot connect to Thymio IIAseba::ThymioUpgraderDialogÖThymio II0kc¥}š0g0M0~0[0“: %1.<p>sþW(R%0n0×0í0°0é0à0LThymio II0kc¥}š0U0Œ0f0D0‹Sï€ý`'0L0B0Š0~0Y0 NÖ0kStudio0„0¢0Ã0×0°0ì0ü0À0ü0L[ŸˆLN-0g0j0D0S0h0’xºŠ0W0fQŠfˆL0W0f0O0`0U0D0</p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialogNfB0Õ0¡0¤0ë0’•‹0Q0~0[0“!Cannot open temporary file!Aseba::ThymioUpgraderDialogsþW(0n0Õ0¡0ü0à0¦0§0¢: %1Current firmware: %1Aseba::ThymioUpgraderDialog0«0¹0¿0à0Õ0¡0ü0à0¦0§0¢0Õ0¡0¤0ëCustom firmware fileAseba::ThymioUpgraderDialog00ª0Õ0£0·0ã0ë0Õ0¡0ü0à0¦0§0¢0µ0ü0Ð0ü0x0nc¥}š0¨0é0ü-Error connecting to official firmware server!Aseba::ThymioUpgraderDialogHex0Õ0£0¢0ë(*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialog ge°0n0ª0Õ0£0·0ã0ë0Õ0¡0ü0à0¦0§0¢Latest official firmwareAseba::ThymioUpgraderDialog"0ª0Õ0£0·0ã0ë0Õ0¡0ü0à0¦0§0¢: %1Official firmware: %1Aseba::ThymioUpgraderDialog0¢0Ã0×0°0ì0ü0ÉRM0nlèaPre-upgrade warningAseba::ThymioUpgraderDialog}BN†0Y0‹QuitAseba::ThymioUpgraderDialoghex0Õ0¡0¤0ë0’xbžSelect hex fileAseba::ThymioUpgraderDialog ...0’xbž Select...Aseba::ThymioUpgraderDialog*Thymio0Õ0¡0ü0à0¦0§0¢0¢0Ã0×0°0ì0ü0À0üThymio Firmware UpgraderAseba::ThymioUpgraderDialog Thymio0Î0ü0É‹XR%[P: %1Thymio node identifier: %1Aseba::ThymioUpgraderDialogHex0Õ0¡0¤0ë0’Š­00~0[0“Unable to read Hex file: %1Aseba::ThymioUpgraderDialog0¢0Ã0×0°0ì0ü0ÉUpgradeAseba::ThymioUpgraderDialog0¢0Ã0×0°0ì0ü0É0¨0é0ü Upgrade ErrorAseba::ThymioUpgraderDialogþThymio II0ke°0W0D0Õ0¡0ü0à0¦0§0¢0’fø0M¼0‚0F0h0W0f0D0~0Y0 0í0Ü0Ã0È0LQE–û0U0ŒUSB0±0ü0Ö0ë0Lkc0W0Oc¥}š0U0Œ0f0D0‹0S0h0’xºŠ0W0f0O0`0U0D0<p><b>0¢0Ã0×0°0ì0ü0É0ngN-0o0í0Ü0Ã0È0n0±0ü0Ö0ë0’bœ0K0j0D0gN 0U0D!</b></p>g,_S0k}šˆL0W0~0Y0K?äYour are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?Aseba::ThymioUpgraderDialog,0Ð0ü0¸0ç0ó %1 - 0Ç0Ù0í0Ã0×0á0ó0È %2version %1 - development %2Aseba::ThymioUpgraderDialog$0Ð0ü0¸0ç0ó %1 - 0×0í0À0¯0·0ç0óversion %1 - productionAseba::ThymioUpgraderDialogŒ<p><b>Thymio0L‰‹0d0K0Š0~0[0“!</b></p><p>USB0±0ü0Ö0ë0’O0c0fThymio0’0³0ó0Ô0å0ü0¿0kc¥}š0W0f0O0`0U0D0</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplicationœ<p><b>1SðNåN 0nThymio0L‰‹0d0K0Š0~0W0_!</b></p><p>USB0±0ü0Ö0ë0’O0c0f1Sð0nThymio0’0³0ó0Ô0å0ü0¿0kc¥}š0W0f0O0`0U0D0</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication¤<p><b>Thymio0x0n0ï0¤0ä0ì0¹c¥}š0L‰‹0d0K0Š0~0W0_!</b></p><p>USB0±0ü0Ö0ë0’O0c0f1Sð0nThymio0’0³0ó0Ô0å0ü0¿0kc¥}š0W0f0O0`0U0D0</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplication"‰ep0nThymio0L‰‹0d0K0Š0~0W0_Multiple Thymios found QApplicationThymio0L‰‹0d0K0Š0~0[0“Thymio not found QApplication&0ï0¤0ä0ì0¹Thymio0L‰‹0d0K0Š0~0W0_Wireless Thymio found QApplicationaseba-1.6.0/clients/thymioupgrader/thymioupgrader_ja.ts000066400000000000000000000165641322771007300234000ustar00rootroot00000000000000 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Thymioファームウェアアップグレーダー Latest official firmware official firmwareã¯OFWã¨ã‚‚ 最新ã®ã‚ªãƒ•ã‚£ã‚·ãƒ£ãƒ«ãƒ•ã‚¡ãƒ¼ãƒ ã‚¦ã‚§ã‚¢ Custom firmware file カスタムファームウェアファイル Select... ...ã‚’é¸æŠž Upgrade アップグレード Quit 終了ã™ã‚‹ Select hex file hexファイルをé¸æŠž Hex files (*.hex) Hexフィアル(*.hex) Cannot connect to Thymio II Thymio IIã«æŽ¥ç¶šã§ãã¾ã›ã‚“ Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> Thymio IIã«æŽ¥ç¶šã§ãã¾ã›ã‚“: %1.<p>ç¾åœ¨åˆ¥ã®ãƒ—ログラムãŒThymio IIã«æŽ¥ç¶šã•ã‚Œã¦ã„ã‚‹å¯èƒ½æ€§ãŒã‚ã‚Šã¾ã™ã€‚ ä»–ã«StudioやアップグレーダーãŒå®Ÿè¡Œä¸­ã§ãªã„ã“ã¨ã‚’確èªã—ã¦å†è©¦è¡Œã—ã¦ãã ã•ã„。</p> Thymio node identifier: %1 Thymioノード識別å­: %1 Current firmware: %1 ç¾åœ¨ã®ãƒ•ã‚¡ãƒ¼ãƒ ã‚¦ã‚§ã‚¢: %1 version %1 - production ãƒãƒ¼ã‚¸ãƒ§ãƒ³ %1 - プロダクション version %1 - development %2 ãƒãƒ¼ã‚¸ãƒ§ãƒ³ %1 - デベロップメント %2 Pre-upgrade warning アップグレードå‰ã®æ³¨æ„ Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? Thymio IIã«æ–°ã—ã„ファームウェアを書ã込もã†ã¨ã—ã¦ã„ã¾ã™ã€‚ ロボットãŒå……é›»ã•ã‚ŒUSBケーブルãŒæ­£ã—ã接続ã•ã‚Œã¦ã„ã‚‹ã“ã¨ã‚’確èªã—ã¦ãã ã•ã„。<p><b>アップグレードã®æœ€ä¸­ã¯ãƒ­ãƒœãƒƒãƒˆã®ã‚±ãƒ¼ãƒ–ルを抜ã‹ãªã„ã§ä¸‹ã•ã„!</b></p>本当ã«ç¶šè¡Œã—ã¾ã™ã‹? Upgrade Error アップグレードエラー Unable to read Hex file: %1 Hexファイルを読ã‚ã¾ã›ã‚“ A bootloader error happened during the upgrade process: %1 アップグレードプロセス中ã«ãƒ–ートローダーã®ã‚¨ãƒ©ãƒ¼ãŒç™ºç”Ÿã—ã¾ã—ãŸ: %1 A communication error happened during the upgrade process: %1 アップグレードプロセス中ã«é€šä¿¡ã‚¨ãƒ©ãƒ¼ãŒç™ºç”Ÿã—ã¾ã—ãŸ: %1 Official firmware: %1 オフィシャルファームウェア: %1 Cannot open temporary file! 一時ファイルを開ã‘ã¾ã›ã‚“! Error connecting to official firmware server! オフィシャルファームウェアサーãƒãƒ¼ã¸ã®æŽ¥ç¶šã‚¨ãƒ©ãƒ¼ QApplication Wireless Thymio found ワイヤレスThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠<p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>Thymioã¸ã®ãƒ¯ã‚¤ãƒ¤ãƒ¬ã‚¹æŽ¥ç¶šãŒè¦‹ã¤ã‹ã‚Šã¾ã—ãŸ!</b></p><p>USBケーブルを使ã£ã¦1å°ã®Thymioをコンピュータã«æŽ¥ç¶šã—ã¦ãã ã•ã„。</p> Thymio not found ThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“ <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b>ThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“!</b></p><p>USBケーブルを使ã£ã¦Thymioをコンピュータã«æŽ¥ç¶šã—ã¦ãã ã•ã„。</p> Multiple Thymios found 複数ã®ThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠<p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>1å°ä»¥ä¸Šã®ThymioãŒè¦‹ã¤ã‹ã‚Šã¾ã—ãŸ!</b></p><p>USBケーブルを使ã£ã¦1å°ã®Thymioをコンピュータã«æŽ¥ç¶šã—ã¦ãã ã•ã„。</p> aseba-1.6.0/clients/thymioupgrader/thymioupgrader_zh.qm000066400000000000000000000075041322771007300234100ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB茾>Qæ³. ›i$ µºJÎCÁôqà—‘Vˆ¥q‘?D jÑcþzƒ_üãéqin f q6ž @ ÒÚeª >^%Ê ­Ûi ÜÑ " ’ê UÂÏ/ ô ø n‡õ¯ Ì@ù ܹ® wñö.øÑJÿž² ßB†ò,!ŒiB"SG~§Çz N-SÑu_[üz ^•‹ï: %1:A bootloader error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogSG~§Çz N-SÑuOáeE–œ: %1=A communication error happened during the upgrade process: %1Aseba::ThymioUpgraderDialogÞc¥N N ThymioIICannot connect to Thymio IIAseba::ThymioUpgraderDialog–Þc¥N N ThymioII:%1.<p>_ˆg Sï€ýf/SæNN*z ^s°W(Þc¥N ThymioII. ‹÷xn‹¤StudioTŒQvNÖSG~§z ^l¡g W(ЈLq6TQ‹ÕNk!</p>¹Cannot connect to Thymio II: %1.

Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.

Aseba::ThymioUpgraderDialogbS_N4eöe‡NöY1%!Cannot open temporary file!Aseba::ThymioUpgraderDialog_SRMoNö: %1Current firmware: %1Aseba::ThymioUpgraderDialogê[šNIoNöe‡NöCustom firmware fileAseba::ThymioUpgraderDialogÞc¥[˜e¹oNög R¡VhY1%!-Error connecting to official firmware server!Aseba::ThymioUpgraderDialogHexe‡Nö(*.hex)Hex files (*.hex)Aseba::ThymioUpgraderDialog ge°[˜e¹oNöLatest official firmwareAseba::ThymioUpgraderDialog[˜e¹oNö:%1Official firmware: %1Aseba::ThymioUpgraderDialog SG~§RM‹fTJPre-upgrade warningAseba::ThymioUpgraderDialogQúQuitAseba::ThymioUpgraderDialog béhexe‡NöSelect hex fileAseba::ThymioUpgraderDialog bé... Select...Aseba::ThymioUpgraderDialogThymiooNöSG~§z ^Thymio Firmware UpgraderAseba::ThymioUpgraderDialogThymio‚‚p¹‹ÆR+:%1Thymio node identifier: %1Aseba::ThymioUpgraderDialog‹ûSÖHexe‡NöY1%: %1Unable to read Hex file: %1Aseba::ThymioUpgraderDialogSG~§UpgradeAseba::ThymioUpgraderDialogSG~§•‹ï Upgrade ErrorAseba::ThymioUpgraderDialogœe°v„z ^\Q™QeThymio II. ‹÷xnOÝg:VhNºÞc¥óu5n^vNUSBc¥SãÞc¥kcxn.<p><b>‹÷N ‰W(g:VhNºSG~§Çz N-bÔ_g:VhNº!</b></p>xn[š~ç~í?äYour are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.

Do not unplug the robot during the upgrade!

Are you sure you want to proceed?Aseba::ThymioUpgraderDialogrHg,%1 - _SÑ%2version %1 - development %2Aseba::ThymioUpgraderDialogrHg, %1 - N§TÁversion %1 - productionAseba::ThymioUpgraderDialog`<p><b>b~N R0Thymio!</b></p><p>‹÷Þc¥NSêThymioR0u5USB</p>[

Cannot find Thymio!

Plug a Thymio to your computer using the USB cable.

 QApplicationd<p><b>b~R0YSêThymio!</b></p><p>‹÷SêÞc¥NSêThymioR0u5USB</p>j

More than one Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplicationp<p><b>SÑs°]ò[XW(Thymioeà~¿Þc¥!</b></p><p>Sê€ýg NN*ThymioÞc¥R0u5USB</p>s

Wireless connection to Thymio found!

Plug a single Thymio to your computer using the USB cable.

 QApplicationb~R0YSêThymioMultiple Thymios found QApplicationb~N R0ThymioThymio not found QApplicationSÑs°eà~¿ThymioWireless Thymio found QApplicationaseba-1.6.0/clients/thymioupgrader/thymioupgrader_zh.ts000066400000000000000000000145521322771007300234220ustar00rootroot00000000000000 Aseba::ThymioUpgraderDialog Thymio Firmware Upgrader Thymio软件å‡çº§ç¨‹åº Latest official firmware 最新官方软件 Custom firmware file 自定义软件文件 Select... 选择... Upgrade å‡çº§ Quit 退出 Select hex file 选择hex文件 Hex files (*.hex) Hex文件(*.hex) Cannot connect to Thymio II 连接ä¸ä¸ŠThymioII Cannot connect to Thymio II: %1.<p>Most probably another program is currently connected to the Thymio II. Make sure that there are no Studio or other Upgrader running and try again.</p> 连接ä¸ä¸ŠThymioII:%1.<p>很有å¯èƒ½æ˜¯å¦ä¸€ä¸ªç¨‹åºçŽ°åœ¨è¿žæŽ¥ä¸ŠThymioII. 请确认Studio和其他å‡çº§ç¨‹åºæ²¡æœ‰åœ¨è¿è¡Œç„¶åŽå†è¯•ä¸€æ¬¡</p> Thymio node identifier: %1 Thymio节点识别:%1 Current firmware: %1 当å‰è½¯ä»¶: %1 version %1 - production 版本 %1 - äº§å“ version %1 - development %2 版本%1 - å¼€å‘%2 Pre-upgrade warning å‡çº§å‰è­¦å‘Š Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the upgrade!</b></p>Are you sure you want to proceed? 新的程åºå°†å†™å…¥Thymio II. 请确ä¿æœºå™¨äººè¿žæŽ¥è‡³ç”µæºå¹¶ä¸”USB接å£è¿žæŽ¥æ­£ç¡®.<p><b>请ä¸è¦åœ¨æœºå™¨äººå‡çº§è¿‡ç¨‹ä¸­æ‹”开机器人!</b></p>确定继续? Upgrade Error å‡çº§é”™è¯¯ Unable to read Hex file: %1 读å–Hex文件失败: %1 A bootloader error happened during the upgrade process: %1 å‡çº§è¿‡ç¨‹ä¸­å‘生引导程åºé”™è¯¯: %1 A communication error happened during the upgrade process: %1 å‡çº§è¿‡ç¨‹ä¸­å‘生通信故障: %1 Official firmware: %1 官方软件:%1 Cannot open temporary file! 打开临时文件失败! Error connecting to official firmware server! 连接官方软件æœåŠ¡å™¨å¤±è´¥! QApplication Wireless Thymio found å‘现无线Thymio <p><b>Wireless connection to Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>å‘现已存在Thymio无线连接!</b></p><p>åªèƒ½æœ‰ä¸€ä¸ªThymio连接到电脑USB</p> Thymio not found 找ä¸åˆ°Thymio <p><b>Cannot find Thymio!</b></p><p>Plug a Thymio to your computer using the USB cable.</p> <p><b>找ä¸åˆ°Thymio!</b></p><p>请连接一åªThymio到电脑USB</p> Multiple Thymios found 找到多åªThymio <p><b>More than one Thymio found!</b></p><p>Plug a single Thymio to your computer using the USB cable.</p> <p><b>找到多åªThymio!</b></p><p>请åªè¿žæŽ¥ä¸€åªThymio到电脑USB</p> aseba-1.6.0/clients/thymiownetconfig/000077500000000000000000000000001322771007300176315ustar00rootroot00000000000000aseba-1.6.0/clients/thymiownetconfig/CMakeLists.txt000066400000000000000000000015721322771007300223760ustar00rootroot00000000000000if (QT4_FOUND) set(QT_USE_QTMAIN ON) include(${QT_USE_FILE}) set(thymiownetconfig_SRCS ThymioWNetConfig.cpp) qt4_wrap_cpp(thymiownetconfig_MOCS ThymioWNetConfig.h ) qt4_add_resources(resfiles thymiownetconfig.qrc) include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) add_executable(thymiownetconfig WIN32 ${thymiownetconfig_SRCS} ${thymiownetconfig_MOCS} ${resfiles} ${CMAKE_BINARY_DIR}/version.h) if (HAS_DYN_VERSION) add_dependencies(thymiownetconfig versionheader) endif (HAS_DYN_VERSION) target_link_libraries(thymiownetconfig ${QT_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS thymiownetconfig RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (QT4_FOUND) if (UNIX) add_executable(thymiownetconfig-cli thymiownetconfig-cli.c) install(TARGETS thymiownetconfig-cli RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (UNIX) aseba-1.6.0/clients/thymiownetconfig/ThymioWNetConfig.cpp000066400000000000000000000177131322771007300235430ustar00rootroot00000000000000#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "../../common/consts.h" #include "ThymioWNetConfig.h" class Hex16SpinBox : public QSpinBox { public: Hex16SpinBox(QWidget *parent = 0) : QSpinBox(parent) { validator = new QRegExpValidator(QRegExp("[0-9A-Fa-f]{1,4}"), this); setPrefix("0x"); setValue(0); } protected: QString textFromValue(int value) const { return QString::number(value, 16).toUpper(); } int valueFromText(const QString &text) const { return text.toInt(0, 16); } QValidator::State validate(QString &text, int &pos) const { QString copy(text); if (copy.startsWith("0x")) copy.remove(0, 2); return validator->validate(copy, pos); } private: QRegExpValidator *validator; }; namespace Aseba { using namespace Dashel; using namespace std; typedef std::map > PortsMap; #ifdef MSVC #define PACK( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) ) #else #define PACK( __Declaration__ ) __Declaration__ __attribute__((__packed__)) #endif PACK(struct Settings { unsigned short nodeId; unsigned short panId; unsigned char channel; unsigned char txPower; unsigned char version; unsigned char ctrl; }); static Settings settings; ThymioWNetConfigDialog::ThymioWNetConfigDialog(const std::string& target): target(target), pairing(false) { // Create the gui ... setWindowTitle(tr("Wireless Thymio Network Configurator")); setWindowIcon(QIcon(":/images/thymiownetconfig.svgz")); QVBoxLayout* mainLayout = new QVBoxLayout(this); // image QHBoxLayout *imageLayout = new QHBoxLayout(); QLabel* image = new QLabel(this); QPixmap logo(":/images/thymiownetconfig.svgz"); image->setPixmap(logo.scaledToWidth(384)); imageLayout->addStretch(); imageLayout->addWidget(image); imageLayout->addStretch(); mainLayout->addLayout(imageLayout); // version versionLabel = new QLabel(); mainLayout->addWidget(versionLabel); // channel channel0 = new QRadioButton(tr("0")); channel1 = new QRadioButton(tr("1")); channel2 = new QRadioButton(tr("2")); QHBoxLayout* channelLayout = new QHBoxLayout(); channelLayout->addWidget(new QLabel(tr("Channel:"))); channelLayout->addStretch(); channelLayout->addSpacing(10); channelLayout->addWidget(channel0); channelLayout->addWidget(channel1); channelLayout->addWidget(channel2); mainLayout->addLayout(channelLayout); // network identifier networkId = new Hex16SpinBox(); networkId->setRange(1,65534); QHBoxLayout* networkIdLayout = new QHBoxLayout(); networkIdLayout->addWidget(new QLabel(tr("Network identifier:"))); networkIdLayout->addStretch(); networkIdLayout->addSpacing(10); networkIdLayout->addWidget(networkId); mainLayout->addLayout(networkIdLayout); // network identifier nodeId = new Hex16SpinBox(); nodeId->setRange(1,65534); QHBoxLayout* nodeIdLayout = new QHBoxLayout(); nodeIdLayout->addWidget(new QLabel(tr("Dongle node identifier:"))); nodeIdLayout->addStretch(); nodeIdLayout->addSpacing(10); nodeIdLayout->addWidget(nodeId); mainLayout->addLayout(nodeIdLayout); // buttons pairButton = new QPushButton(tr("Enable pairing")); flashButton = new QPushButton(tr("Flash into dongle")); quitButton = new QPushButton(tr("Quit")); mainLayout->addWidget(pairButton); mainLayout->addWidget(flashButton); mainLayout->addWidget(quitButton); // open stream and read initial data try { std::string modifiedTarget = target + ";fc=hard;dtr=false"; stream = hub.connect(modifiedTarget); // we want to read values, not set them settings.nodeId = 0xffff; settings.panId = 0xffff; settings.channel = 0xff; settings.txPower = 0; settings.version = 0; settings.ctrl = 0; stream->write(&settings, sizeof(settings)); stream->read(&settings, sizeof(settings)-1); versionLabel->setText(tr("Wireless dongle firmware version %0").arg(settings.version)); networkId->setValue(settings.panId); nodeId->setValue(settings.nodeId); if (settings.channel == 15) channel0->setChecked(true); if (settings.channel == 20) channel1->setChecked(true); if (settings.channel == 25) channel2->setChecked(true); } catch (Dashel::DashelException& e) { QMessageBox::critical(0, tr("Connection error"), tr("

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

")); return; } // connections connect(networkId, SIGNAL(valueChanged(int)), SLOT(updateSettings())); connect(nodeId, SIGNAL(valueChanged(int)), SLOT(updateSettings())); connect(channel0, SIGNAL(toggled(bool)), SLOT(updateSettings())); connect(channel1, SIGNAL(toggled(bool)), SLOT(updateSettings())); connect(channel2, SIGNAL(toggled(bool)), SLOT(updateSettings())); connect(pairButton, SIGNAL(clicked()), SLOT(togglePairingMode())); connect(flashButton, SIGNAL(clicked()), SLOT(flashSettings())); connect(quitButton, SIGNAL(clicked()), SLOT(quit())); show(); } ThymioWNetConfigDialog::~ThymioWNetConfigDialog() { } void ThymioWNetConfigDialog::updateSettings() { settings.panId = networkId->value(); settings.nodeId = nodeId->value(); if (channel0->isChecked()) settings.channel = 15; if (channel1->isChecked()) settings.channel = 20; if (channel2->isChecked()) settings.channel = 25; settings.ctrl = 0; stream->write(&settings, sizeof(settings)); stream->read(&settings, sizeof(settings)-1); } void ThymioWNetConfigDialog::flashSettings() { settings.ctrl = 0x1; stream->write(&settings, sizeof(settings)); stream->read(&settings, sizeof(settings)-1); } void ThymioWNetConfigDialog::togglePairingMode() { settings.ctrl = 0x4; stream->write(&settings, sizeof(settings)); stream->read(&settings, sizeof(settings)-1); if (!pairing) { pairButton->setText(tr("Disable pairing")); } else { pairButton->setText(tr("Enable pairing")); } pairing = !pairing; } void ThymioWNetConfigDialog::quit() { if (pairing) { settings.ctrl = 0x4; stream->write(&settings, sizeof(settings)); stream->read(&settings, sizeof(settings)-1); } close(); } }; int main(int argc, char *argv[]) { QApplication app(argc, argv); QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8")); QTranslator qtTranslator; QTranslator translator; app.installTranslator(&qtTranslator); app.installTranslator(&translator); qtTranslator.load(QString("qt_") + QLocale::system().name(), QLibraryInfo::location(QLibraryInfo::TranslationsPath)); translator.load(QString(":/thymiownetconfig_") + QLocale::system().name()); const Aseba::PortsMap ports = Dashel::SerialPortEnumerator::getPorts(); std::string target("ser:device="); bool thymioFound(false); bool thymiosFound(false); for (Aseba::PortsMap::const_iterator it = ports.begin(); it != ports.end(); ++it) { if ((it->second.second.compare(0, 18, "Thymio-II Wireless") == 0) || (it->second.second.compare(0, 18, "Thymio_II Wireless") == 0)) { if (thymioFound) thymiosFound = true; thymioFound = true; target += it->second.first; } } if (!thymioFound) { QMessageBox::critical(0, QApplication::tr("Wireless Thymio dongle not found"), QApplication::tr("

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

")); return 1; } if (thymiosFound) { QMessageBox::critical(0, QApplication::tr("Multiple Wireless Thymio dongles found"), QApplication::tr("

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

")); return 2; } int retCode(1); { Aseba::ThymioWNetConfigDialog configurator(target); if (configurator.isVisible()) retCode = app.exec(); } return retCode; } aseba-1.6.0/clients/thymiownetconfig/ThymioWNetConfig.h000066400000000000000000000017131322771007300232010ustar00rootroot00000000000000#ifndef THYMIO_WNET_CONFIG_H #define THYMIO_WNET_CONFIG_H #include #include class QPushButton; class QVBoxLayout; class QHBoxLayout; class QRadioButton; class QSpinBox; class QLabel; namespace Aseba { /** \addtogroup thymiownetconfig */ /*@{*/ class ThymioWNetConfigDialog : public QWidget { Q_OBJECT private: std::string target; QVBoxLayout* mainLayout; QLabel* versionLabel; QRadioButton* channel0; QRadioButton* channel1; QRadioButton* channel2; QSpinBox* networkId; QSpinBox* nodeId; QPushButton* pairButton; QPushButton* flashButton; QPushButton* quitButton; Dashel::Hub hub; Dashel::Stream* stream; bool pairing; public: ThymioWNetConfigDialog(const std::string& target); ~ThymioWNetConfigDialog(); private slots: void updateSettings(); void flashSettings(); void togglePairingMode(); void quit(); }; /*@}*/ } // namespace Aseba #endif // THYMIO_WNET_CONFIG_H aseba-1.6.0/clients/thymiownetconfig/images/000077500000000000000000000000001322771007300210765ustar00rootroot00000000000000aseba-1.6.0/clients/thymiownetconfig/images/thymiownetconfig.svgz000066400000000000000000000136361322771007300254170ustar00rootroot00000000000000‹´>SVthymiownetconfig.svgí]moG’þ¬ö?Ì*_6À̸ß_|ö-¼Ú$  Å[Ý~3”1#êÂH‚(Óv~ýÖSÝóBšG2yÞÄ´áa{z¦«úí©ª®žêyÿˬXLîæW7×/e-Ž‹ÉusóæêúòåñÛûŸªpü—ÿüã^ü©ªŠï&ד»‹û›»çÅ«77?NŠïg³·ó{¾UÈXÓÛeñÃùwÅ7ïooîî‹ÿž½½¬¾¿.j¾yžˆK|<Ÿß^4“—Ç·w“ùän19F/¹J‹ÛÙqñæj~;» ê×7לyD¹ÝÍ«kâ2Ý>zq{q?-~ºšÍ^õ­ NQQ1—RˆZWJ¨ZŸj«kßT¶¥¨¤¨mI<¥. o\íQâÊ)»¾L9ÔŽ.‚ïVíƒ\΢â‡N$Ñ­C%£¯]IiWËÄC9dè×ãgîo¨1®îÑÖµÜÜ–ô'Õ, [«J¹:P½dC|hª•'Ætíø7Ôra½­#UÉP%4ý£{eΛZkj™êÃ/#£¢—ù—8¯d¨ýI”Ä®®UE¤j‚bÙ_®CîùM4S‰Ï`QmMs*é­ý¶ÿ¹‘'Ôùhb° õí²g#süâÙ%†[º¦A7¿ûæêæõ{ûíëû铇߰òRDWGêíXGª>Mþ†ºÆ£úºŽ¥£Fä.‹¨átƒGNÙåðeÊÙ©ú\ß­Ú¹ê±Ø >%4šF Cã9(‡ì´Ç%¾¸»xsu1û?“ë{n B£Œ* Íwåb­… ô?ª¼#óÆÒ0½#(pT¨wÇÅe~ýî.®ç?ÝÜýòòø—‹û»«÷&~„rµ~t–~t ®¨è¿Ú™¢ 4£Õ 4]‚’_÷Eýãúêží-áËÿºþÇ<7úÑ‹ùýÍmQÜüôÓ|ri£­%Dœß˜MЙ7·Us3#þJðŸ\áß3ʸõïYüý¾•§çsªJTrcYV³¶,©ñwµ,ï‚Ù\VˆzmYêþ®–å´ ËrÞ‡µe™Wø»Z–‰Ñn,Ë»¸¾½ÆßÕ²´ ›Û‹f«_[Ö+‡¿«e)©âƲ¢uëÛþ‰¿Ëe9ªM?©„ÚPâúJ~ËVkQðÙòDZï–jœÀâíÝìÏ_µíëí ï„.Ptj"Í÷Í@ |\§³#²,笲x©Bm)kSB¹³®ÜÎ/s‹, Vþ“8Ñ–EŠ–µmD*ÊÀ™`‘‡kJ7”g¬‘gÊÁ3óª¿3|—‰âΗF£™b”å€ö¯]×mbtPýi%%©4­jsª¥«uƒ;ŽàX‘2U²xC—… E'?:tY|™J’¬‹ŠÊU‰Yj/IòXnnÌ‹9Ò–k™n.ðÎT:}B˜‚¥ÆQó ÖH  5È:—.Ô:7G$`§<'é ìR½ÊA»dÁ¶YÊÄÏ:•Å›ô$ЂÑI¼R!¬ÊâÍE‚CÒähÎÒƒT: ‹hð_z’Æl¨…òêaéir‘Ø#ö ~ÄXúb“ô«‰œ,Œ§Þ³Ú„ßAø}qÂOíMøY<¥<¬?Ö?AÚYJ q'šB€°^±iQ2HL jèÍ*ÁÛ[ˆœÉÝn–\~óJ^²yƒÍJ¦N°2°R,1aä'½µ×AdøÖFk{û±ÿʼn}½S±o‚̶ØY ܈¥"9OµÖu˜U:H*)ž ýaÕé,KØädgÎÍV,^¶¦ðÐ̵KñGæï‰%Ð ¥¡éÒ*ØžL¸01Öèåúÿ›½çVÅÑ6¯&°n—’Í« Øe¶y¹Zå Š+Žšåföáòæzµeno®®¬ÎKŠST‘²Æa:=aœaáÊOÓÈQÎ׶ðF²”ÇÝ££ Ê÷Ó¿\ÝüïÕÝd6™Ï“8}Pl¢+ÒJyÀJù'‹Í“eQñ3InUa’oÂ@­ÈKî=?¹¹m7JMÓšÒ4Ó¬p2IÍà4YÏÞ²Ôô4ü¢JMYú[áÇÒ|fœd|¢`Ü¡\Ü¡XÜ¡TÜ¡PÜ¡LÜ¡HܹDüT¸Nvˆ´M"šm±Å0i‹J[B#C iKãÉÎ)¢×”ò„a`™€·ài›Y»çpœßßÝü<€RºQ½»zs?¥©[{]w÷—«ûÉÝìŠ~ˆ•Œ` B•\0jyÂÐüƒËylí^d”Ú¾Lµ6Mw;ýðËçUL.̶ÐþrbuLËŽvŸZë™ IÉJ‚¤&„zàX¾™EÖ˜)ñ?6«}’qEê‡2”í’ð–/¼BlS½O6µQª`EÒ¡Ò„žÄ9)ú¶Šl®SOdd³‚‘¤2á®fÏpÏÎ’‹r ìÚ »BYøì “Tee‚]G2Ë“!ódcrA:á eIP“x<`ò“û˜<ÆD±cL4RB9µÒ‘Ö¥“Ö¥)˹¥9nQ¡³ŒÓ§ÆÀ…º/#aÄÙ °_·Ã6“·XÅÚº9+ðë•”’|…}‚|Ãlõ÷ÓuÎתÏL¯2¦8‹= 6`y‹ i,Ä·".u*,ª)ökøSGÖCÐ3&àIê_¤QÕrPíed_Ó±¼î6ÆKÒ¹ÆXÏЩóm¬Êý)/yt>(¥cÀª˜‘íj(É;ô4YwªÂº9µzå#¯´º5ý¹wþhÈa O“3ƒ+¯IÔ‹Xin%õ††q>‹:‚Æþ§Ì¢Ã2¬CJ*ë±â¨` ³Ÿ½Ë‚~aZ›ºá¾F¯ÓôÉ}Ž-cÔ韣5ƒit«rGn`îiêrƒ½tèñÏÁŸl9S{åÍrÜÍŽ}ègt8åþ^éë^¼„:é8,Ô–—òï2l*-¿m—¼'R†!²ß;Wµ{çòÆCoLÞ9×ï©ãÔ¼Ýk×o¦[(‘ˆø€Ý¤çÑ»Þcñ‰i•Õ_ æÀPí“ãCÇÓ*;ª-Êî—xvZ@«ì¨2¼EW7¥|Ì?¦>íH ¶..sóƒ÷Ì\~9 Êdbì•2öy¶”{ZDÙAßß#eçDGy@‹([xmöI™w%ÊZ ¬Ã^)§-X™rO‹(CsØ'e¨*-å-PVûaFõ#l@‹(ë€õUÕŒ'ÎìL|ý?Ñnsm€áö}¢Uèv\(²Ë·pÑÖôq0“¹P!t\0­r@·çB›‡¸È<ìZ.´è¹Ð¦çéŽ IhÛÚîr3Ò«Ž ¦Uèþš wÌð.€}fFšžzf–÷)´î…ö÷#Þ\Ý5³ÉªÇê ’¼sšìº´*cÜ. fFSÑŠúKÖªÓ”VË^ÑBTA¾ùÖ8¥³ â`ïíMðؾa+ß'0­²£ !è’ µOŒL«ì¨¶H¿_¤ê9­²£ ,M²>ö¤8M(¿Ðe!öKY¸žrO *ˆQ{¥ìØ’L”´ ³WÊ6ŠŽò€(+·_ÊZõ”{ZPÜ~G˜ñýÐe¹ßfd?´ ð<îi³Uø?U 0pµfáï±2¥Ó8ëév\¨ð ðÿ„¹PAt\¨4æzº=ûQAJõ\¤ñ×Óí¸ÀÎ÷=© Ì…t¦ãB¦±ØÓ¨ é¦|º†ºEIÌð*Cf& Ïžî“UV„³ âTÒlôŸ¬‚ fF³ÛÉUA–öI`wáe^‰Ùág X¤ýظ´—"ð^ŠØíAä5ë!Cî:ÖB+öŒš¦2[Šè’RRêĉõµœY£xɆ®gRR˜¶Ff¤×&AIbMC†0í€iLk§ÙHL©>¡Ä#ða#XE*Àæ¡evœTÌINZÞÒÖT¼Í€w"h¬.ZlÎÐü%£YÄJ°›U¼);Ûç,é•¥ áˆÏ$GãW‡_° ¼D˜˜#.¤Ä·®0v{GEóŸ \Iþdö`;X;ÏFØhÌH5z<Ö?aó7w3DW«'{("8ØꡘNf·kÜ«þ‰ ^ Ã!!ôŠAÃ%á’K"´. –«Ã"Å‘Ùð@ö4„þ2ålÔ°áøfë‘\ ¾œPüå©‚8 ¡D%‚! M({V†(7õÈµ 2µ2¾Þd;Ò{Y k»E0ÊŒêIH}ˆ~vˆ~öïýìcTÞ€[AzÔGVa­¥IÍ€Ü`U,Dï"RÐX”QœygË@ÓQO%A²‘Ý*-¨'OläO5VÌ,ŸÞ–Ó}áãPaôÖ}]Kcböò À(Úí%ƶyX\²mÞ¨ðûB…§öñÀ°uç~¹Öó9ø»ð1éRküu’’Co2ÂA¶•CNÂ/§H—ó…çÓN¤FúhŒÜü®ÜOzâåeÍŸòd½Q·yyÙ„Pžä; À~—°uë{‹Æq„L2Éh^“^€Ãxú{Á3[zšÙ¶¯È‹.võ˜shÁF {× B:G>ЖONò•ô(×°§ÿ_<Ÿˆ 唲4§„Fâ]|ϯpŽDh cR×åy®5Bf–ÇØF%†Ïs@ì—–¸‰ºb%ÂâöÈúDhPA¨Æ× #œËXj8ús,iœ`+W”Ï,0¦”à ¢TªB\Vƒx¤‹ïŸi:i€]*`OaÝP^LáK±Ñ $±#')â©6à&a(6F(æ8­æS ®AKàaŸ—óó9À9ØŠ†2á,@Å87W–4;)JÒ°ì´òŠžò=IŠŒ¨Ù"ÚÄ¿ÔÒsQ)>' '7‹Š£ã Ù¬LDÕ¦Nà£$*»!¹ƒÐXì ¾l“Bo#¸.ŒN—f=4‡s”’OKVïöù$ æÒç-$Ù»AvŠd6e•vª®_Ñ–-Åqsé™9U ¥0ò%MLaßQOõRõé.ŸàŒ›–8ã¿iÏ#ÇzáÂE:r+¤ý=õöÄkáð/L\“ñÁ΃b¬òý8çªà€­ª-*XmëF_êë̃oªÄŸÛ¤´yPG>“›Z–ê9O'~q€ØÜL› m”ÊWm;’”úCSåÎp˜ƒŽÙ|¤õ»É¯n×.1vn>ö9¶aåa9-Ûèe8ªY§ý¹½‡Ó<:ÒïXGÚ9þñ Ò¨/pRlõ´&Â^åÔMg] œh"‹8áÁÇŸÒ¬åÙ °.–<ÏòWww7ï^«ãµ:U¨g£*¸²jÜêu/–·…ˆù0LWjž‡^•Óéy)Ærjä—B>W†lÈáD­´¯†\ <þn0yâc-äay÷Q¿iˆÚ¥§¶~&´<ÝÓôMÓ:¥Q§”§xš·Ü68i?êéŠz¨–¿6obkR©--–Œ¨[_l/ …Ëÿ-»ÿ¦{¸T]?ÌúÞ‰õPþtÄZµÕ._Hm= #—¸ÓSh§6’Òª[u19â’R—s²bY£ulÉv÷ù2•zQ™öìYĨƒÁ`8r=äE’)ÝpžH·ø™rðÌ¥L·FNñµ’š‡ ðØœ‡9Ä×È'øµáƒO‚åÈv' +ó¹Œd_öu]=ã±éù<%O„ã:ȬFЧ|D/5W‡ÿiR3ÖÛ醈W6-5?DÒœÝÆ°=SL¿Ü|0Ÿ¸ÄÀv7ŒF{†ßù>Ûo³3VÀR'ËN0Òí™ ÌжuaóÎÇ)¾ô;ÍG5¤š„\»¶&1Ù¬( å0¥ÎÍ>çšåzÙ&YÚxÊV©~8`¡«_›és=`ÆYHõPƒz¸ õ°¹\ô‡ža¨Fœy`ÎG ÈvÕëãQ¹çÙzÃk’ÈÁ(Û:"aØÞÿˆt‡ù‘\ÄJÆFæ`´}$ÊÖf|ÈÜl¯ó~ÿÄmÐr‘aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig-cli.c000066400000000000000000000121761322771007300241460ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ /* This file was originally created by Philippe Rétornaz */ #include "../../common/consts.h" #include #include #include #include #include #include #include #include static struct termios oldtio; int open_port(char * file) { struct termios newtio; int fd; fd = open(file, O_RDWR); if (fd < 0) return fd; tcgetattr(fd, &oldtio); memset(&newtio, 0, sizeof(newtio)); newtio.c_cflag |= CLOCAL; newtio.c_cflag |= CREAD; newtio.c_cflag |= CS8; newtio.c_cflag |= CRTSCTS; newtio.c_cflag |= B0; // So DTR is not set newtio.c_iflag = IGNPAR; newtio.c_oflag = 0; newtio.c_lflag = 0; newtio.c_cc[VTIME] = 0; newtio.c_cc[VMIN] = 1; tcflush(fd, TCIOFLUSH); tcsetattr(fd,TCSANOW, &newtio); return fd; } void close_port(int fd) { if (fd < 0) return; tcsetattr(fd,TCSANOW, &oldtio); close(fd); } #define CHANNEL(x) (15+5*x) struct __attribute((packed)) { unsigned short nodeid; unsigned short panid; unsigned char channel; unsigned char txpower; unsigned char version; unsigned char c; } settings = {0xffff, 0xffff, 0, 0, 0}; static void usage(char * s) { printf("Thymio Wireless Network Configurator CLI %s\n", ASEBA_VERSION); printf("Aseba protocol %d\n", ASEBA_PROTOCOL_VERSION); printf("Licence LGPLv3: GNU LGPL version 3 \n\n"); printf("Usage:\n"); printf("\t%s [-w] [-i] [-n NodeID] [-p PanID] [-c 0-2] serialPort\n\n", s); printf("Mandatory arguements:\n"); printf("\t serialPort : The serial port file\n"); printf("\nOptional arguments:\n"); printf("\t -w : Write into flash\n"); printf("\t -i : Enter/exit paring mode\n"); //ADD MIC launch paring printf("\t -n NodeID : Set the node ID (do not change if not mandatory)\n"); printf("\t -p PanID : Set the Pan ID\n"); printf("\t -c 0-2 : Set the channel number\n"); //printf("\t -t power : Set the TX Power (unused)\n"); exit(1); } static void option_error(char * s, const char *e) { fprintf(stderr, "Error in command line option: %s\n\n", e); usage(s); } int main(int argc, char ** argv) { int i; int fd; int count; settings.c = 0; if (argc < 2) option_error(argv[0], "missing serial port file"); for(i = 1; i < argc; i++) { if (!strcmp(argv[i], "-w")) { settings.c += 0x1; continue; } if (!strcmp(argv[i], "-i")) //ADD MIC launch paring { settings.c += 0x4; continue; } if (!strcmp(argv[i], "-n")) { i++; if (argc == i) option_error(argv[0], "missing NodeID"); settings.nodeid = strtol(argv[i],NULL,0); if (settings.nodeid == 0 || settings.nodeid == 0xFFFF) option_error(argv[i], "invalid NodeID"); continue; } if (!strcmp(argv[i], "-p")) { i++; if (argc == i) option_error(argv[0], "missing PanID"); settings.panid = strtol(argv[i],NULL,0); if (settings.panid == 0 || settings.panid == 0xFFFF) option_error(argv[0], "invalid PanID"); continue; } if (!strcmp(argv[i], "-c")) { int c; i++; if (argc == i) option_error(argv[0], "missing channel"); c = atoi(argv[i]); if (c < 0 || c > 2) option_error(argv[0], "invalid channel"); settings.channel = CHANNEL(c); continue; } if (!strcmp(argv[i], "-t")) { i++; if(argc == i) option_error(argv[0], "missing power"); // Unused for now... continue; } if (i+1 != argc) { // Not an option but still some option .. error option_error(argv[0], "unknown option"); } } fd = open_port(argv[argc-1]); if (fd < 0) { fprintf(stderr, "Error opening serial port file %s\n", argv[argc-1]); usage(argv[0]); } count = write(fd, &settings, sizeof(settings)); if (count != sizeof(settings)) { fprintf(stderr, "Error writing settings, written %d instead of %lu bytes\n", count, sizeof(settings)); exit(2); } count = read(fd, &settings, sizeof(settings) - 1); if (count != sizeof(settings)-1) { fprintf(stderr, "Error reading settings, read %d instead of %lu bytes\n", count, sizeof(settings)-1); exit(3); } printf("Got back:\n"); printf("\tNodeID: 0x%04x\n", settings.nodeid); printf("\tPanID: 0x%04x\n", settings.panid); printf("\tchannel: %d\n",(settings.channel-15)/5); printf("\ttxpower: %d\n",settings.txpower); printf("\tVersion: %d\n",settings.version); close_port(fd); return 0; } aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig.qrc000066400000000000000000000006421322771007300237370ustar00rootroot00000000000000 images/thymiownetconfig.svgz thymiownetconfig_fr.qm thymiownetconfig_de.qm thymiownetconfig_it.qm thymiownetconfig_es.qm thymiownetconfig_ja.qm thymiownetconfig_zh.qm thymiownetconfig_el.qm aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_de.qm000066400000000000000000000057271322771007300242500ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0152jŒõR®vŒ” ›«nÒ=­÷±X²Ú~bú€ÛÒ“rar“^F'¤  LΟ —?¥…Ojä7Å­gJ.i &00Aseba::ThymioWNetConfigDialog11Aseba::ThymioWNetConfigDialog22Aseba::ThymioWNetConfigDialogê<p><b>Keine Verbindung an den Dongle!</b></p><p>Stellen Sie sicher, ein wireless Thymio Dongle angeschlossen ist!</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialogKanal :Channel:Aseba::ThymioWNetConfigDialog"VerbindungsfehlerConnection errorAseba::ThymioWNetConfigDialog(Paarung deaktivierenDisable pairingAseba::ThymioWNetConfigDialog:Dongle Knotenidentifizierer :Dongle node identifier:Aseba::ThymioWNetConfigDialog$Paarung aktivierenEnable pairingAseba::ThymioWNetConfigDialog&Speichern im DongleFlash into dongleAseba::ThymioWNetConfigDialog2Netzwerkidentifizierung :Network identifier:Aseba::ThymioWNetConfigDialogVerlassenQuitAseba::ThymioWNetConfigDialogHWireless Thymio Netzwerkkonfigurator$Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialogFWireless Dongle Firmware-Version %0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialog><p><b>Es konnte kein Wireless Thymio Dongle gefunden werden!</b></p><p>Schließen Sie einen Dongle an einen der USB-Anschlüsse und versuchen es noch einmal.</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplication&<p><b>Mehr als ein Wireless Thymio Dongle gefunden!</b></p><p>Stecken Sie einen einzigen Dongle in Ihrem Computer und versuchen es noch einmal.</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplicationPMehrere Wireless Thymio Dongles gefunden&Multiple Wireless Thymio dongles found QApplicationJWireless Thymio Dongle nicht gefunden Wireless Thymio dongle not found QApplicationˆaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_de.ts000066400000000000000000000150421322771007300242500ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator Thymio Wireless Network Configurator Wireless Thymio Netzwerkkonfigurator 0 0 1 1 2 2 Channel: Kanal : Network identifier: Netzwerkidentifizierung : Dongle node identifier: Dongle Knotenidentifizierer : Enable pairing Paarung aktivieren Flash into dongle Speichern im Dongle Quit Verlassen Wireless dongle firmware version %0 Wireless Dongle Firmware-Version %0 Connection error Verbindungsfehler <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>Keine Verbindung an den Dongle!</b></p><p>Stellen Sie sicher, ein wireless Thymio Dongle angeschlossen ist!</p> <p><b>Cannot connect to dongle!</b></p><p>Make sure a Thymio Wireless dongle is connected!</p> <p><b>Ne peut pas se connecter au dongle !</b></p><p>Assurez-vous qu'un dongle de Thymio Wireless est connecté !</p> Disable pairing Paarung deaktivieren QApplication Thymio Wireless dongle not found Thymio II Wireless dongle not found Configurateur de Réseau pour Thymio Wireless <p><b>Cannot find a Thymio Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> <p><b>More than one Thymio Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> <p><b>Cannot find a Thymio II Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try aggitkain.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> Multiple Thymio Wireless dongles found Multiple Thymio II Wireless dongles found Plusieurs dongles de Thymio Wireless trouvés <p><b>More than one Thymio II Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> Wireless Thymio dongle not found Wireless Thymio Dongle nicht gefunden <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Es konnte kein Wireless Thymio Dongle gefunden werden!</b></p><p>Schließen Sie einen Dongle an einen der USB-Anschlüsse und versuchen es noch einmal.</p> Multiple Wireless Thymio dongles found Mehrere Wireless Thymio Dongles gefunden <p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Mehr als ein Wireless Thymio Dongle gefunden!</b></p><p>Stecken Sie einen einzigen Dongle in Ihrem Computer und versuchen es noch einmal.</p> aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_el.qm000066400000000000000000000063751322771007300242600ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0152jŒ‹R®(Œ” ««nÒÏ­÷X²Úbú€eÒ“r©r“^ '¤ ø LΟ —?¥‘…Ojaä7 ­gJ‚i L00Aseba::ThymioWNetConfigDialog11Aseba::ThymioWNetConfigDialog22Aseba::ThymioWNetConfigDialog2<p><b>”µ½ µ¯½±¹ ´Å½±Ä® · Ãͽ´µÃ· ¼µ Ä¿½ À¿¼À¿´­ºÄ· (dongle)!</b></p><p>’µ²±¹É¸µ¯Äµ ÌĹ µ¯½±¹ ÃŽ´µ´µ¼­½¿ ­½± À¿¼À¿´­ºÄ· (dongle) ‘ÃÍÁ¼±Ä¿Å Thymio!</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialogš±½¬»¹:Channel:Aseba::ThymioWNetConfigDialog£Æ¬»¼± Ãͽ´µÃ·ÂConnection errorAseba::ThymioWNetConfigDialog8‘Àµ½µÁ³¿À¿¯·Ã· ±½Ä¹ÃÄ¿¯Ç¹Ã·ÂDisable pairingAseba::ThymioWNetConfigDialogR‘½±³½ÉÁ¹ÃĹºÌ ºÌ¼²¿Å À¿¼À¿´­ºÄ· (dongle):Dongle node identifier:Aseba::ThymioWNetConfigDialog4•½µÁ³¿À¿¯·Ã· ±½Ä¹ÃÄ¿¯Ç¹Ã·ÂEnable pairingAseba::ThymioWNetConfigDialogF‘À¿¸®ºµÅ÷ ÃÄ¿½ À¿¼À¿´­ºÄ· (dongle)Flash into dongleAseba::ThymioWNetConfigDialog,‘½±³½ÉÁ¹ÃĹºÌ ”¹ºÄÍ¿Å:Network identifier:Aseba::ThymioWNetConfigDialog‘ºÍÁÉ÷QuitAseba::ThymioWNetConfigDialog@¡Í¸¼¹Ã· ”¹ºÄÍ¿Å ‘ÃÍÁ¼±Ä¿Å Thymio$Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialognˆº´¿Ã· Å»¹º¿»¿³¹Ã¼¹º¿Í ±ÃÍÁ¼±Ä¿Å À¿¼À¿´­ºÄ· (dongle) %0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialogP<p><b>”µ½ µ¯½±¹ ´Å½±Ä® · µÍÁµÃ· À¿¼À¿´­ºÄ· (dongle) ‘ÃÍÁ¼±Ä¿Å Thymio!</b></p><p>£Å½´­Ãĵ ­½±½ À¿¼À¿´­ºÄ· (dongle) õ ¼¯± ±ÀÌ Ä¹Â USB ¸ÍÁµÂ ñ º±¹ ÀÁ¿ÃÀ±¸®Ãĵ ¾±½¬.</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplicationV<p><b>’Á­¸·º±½ ÀµÁ¹ÃÃÌĵÁ¿¹ ±ÀÌ ­½±Â À¿¼À¿´­ºÄµÂ (dongles) ‘ÃÍÁ¼±Ä¿Å Thymio!</b></p><p>£Å½´­Ãĵ ¼Ì½¿ ­½±½ À¿¼À¿´­ºÄ· (dongle) ÃÄ¿½ ÅÀ¿»¿³¹ÃÄ® ñ º±¹ ÀÁ¿ÃÀ±¸®Ãĵ ¾±½¬.</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplicationl’Á­¸·º±½ À¿»»¿¯ À¿¼À¿´­ºÄµ (dongles) ‘ÃÍÁ¼±Ä¿Å Thymio&Multiple Wireless Thymio dongles found QApplication`”µ ²Á­¸·ºµ À¿¼À¿´­ºÄ· (dongle) ‘ÃÍÁ¼±Ä¿Å Thymio Wireless Thymio dongle not found QApplicationˆaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_el.ts000066400000000000000000000111661322771007300242630ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator ΡÏθμιση ΔικτÏου ΑσÏÏματου Thymio 0 0 1 1 2 2 Channel: Κανάλι: Network identifier: ΑναγνωÏιστικό ΔικτÏου: Dongle node identifier: ΑναγνωÏιστικό κόμβου πομποδέκτη (dongle): Enable pairing ΕνεÏγοποίηση αντιστοίχισης Flash into dongle Αποθήκευση στον πομποδέκτη (dongle) Quit ΑκÏÏωση Wireless dongle firmware version %0 Έκδοση Ï…Î»Î¹ÎºÎ¿Î»Î¿Î³Î¹ÏƒÎ¼Î¹ÎºÎ¿Ï Î±ÏƒÏÏματου πομποδέκτη (dongle) %0 Connection error Σφάλμα σÏνδεσης <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>Δεν είναι δυνατή η σÏνδεση με τον πομποδέκτη (dongle)!</b></p><p>Βεβαιωθείτε ότι είναι συνδεδεμένος ένας πομποδέκτης (dongle) ΑσÏÏματου Thymio!</p> Disable pairing ΑπενεÏγοποίηση αντιστοίχισης QApplication Wireless Thymio dongle not found Δε βÏέθηκε πομποδέκτης (dongle) ΑσÏÏματου Thymio <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Δεν είναι δυνατή η εÏÏεση πομποδέκτη (dongle) ΑσÏÏματου Thymio!</b></p><p>Συνδέστε έναν πομποδέκτη (dongle) σε μία από τις USB θÏÏες σας και Ï€Ïοσπαθήστε ξανά.</p> Multiple Wireless Thymio dongles found Î’Ïέθηκαν πολλοί πομποδέκτες (dongles) ΑσÏÏματου Thymio <p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Î’Ïέθηκαν πεÏισσότεÏοι από ένας πομποδέκτες (dongles) ΑσÏÏματου Thymio!</b></p><p>Συνδέστε μόνο έναν πομποδέκτη (dongle) στον υπολογιστή σας και Ï€Ïοσπαθήστε ξανά.</p> aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_es.qm000066400000000000000000000060471322771007300242630ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0152jŒR®ÆŒ” Ù«nÒW­÷ÃX²Ú¦bú€Ò“rEr“^”'¤ ( LΟ —?¥+…Ojÿä7©­gJi v00Aseba::ThymioWNetConfigDialog11Aseba::ThymioWNetConfigDialog22Aseba::ThymioWNetConfigDialogÐ<p><b>No se puede conectar con lel adaptador inalámbrico!</b></p><p>Asegúrese de que esté conectado!</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialog Canal:Channel:Aseba::ThymioWNetConfigDialog"Error de conexiónConnection errorAseba::ThymioWNetConfigDialog.desactivar acoplamientoDisable pairingAseba::ThymioWNetConfigDialogbIdentificador del adaptador inalámbrico del nodo:Dongle node identifier:Aseba::ThymioWNetConfigDialog(Activar acoplamientoEnable pairingAseba::ThymioWNetConfigDialog8Guardar en llave inalámbricaFlash into dongleAseba::ThymioWNetConfigDialog,Identificador de red :Network identifier:Aseba::ThymioWNetConfigDialog SalirQuitAseba::ThymioWNetConfigDialogdAsstente para configurar red de Thymio inalámbrico$Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialog`Versión del firmware de la llave inalámbrica %0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialog<<p><b>No se encontró un adaptador inalámbrico Thymio!</b></p><p>Conecte un adaptador inalámbrico en uno de los puertos USB de su PC y vuelva a intentarlo.</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplicationü<p><b>Se encontró más de un adaptador inalámbrico Thymio!</b></p><p>Conecte solo un adaptador al PC y vuelva a intentarlo.</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplicationjse encontraron varios adaptadores inalámbricos Thymio&Multiple Wireless Thymio dongles found QApplication\No se encontró el adaptador inalámbrico Thymio Wireless Thymio dongle not found QApplicationˆaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_es.ts000066400000000000000000000151261322771007300242720ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator Thymio Wireless Network Configurator Asstente para configurar red de Thymio inalámbrico 0 0 1 1 2 2 Channel: Canal: Network identifier: Identificador de red : Dongle node identifier: Identificador del adaptador inalámbrico del nodo: Enable pairing Activar acoplamiento Flash into dongle Guardar en llave inalámbrica Quit Salir Wireless dongle firmware version %0 Versión del firmware de la llave inalámbrica %0 Connection error Error de conexión <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>No se puede conectar con lel adaptador inalámbrico!</b></p><p>Asegúrese de que esté conectado!</p> <p><b>Cannot connect to dongle!</b></p><p>Make sure a Thymio Wireless dongle is connected!</p> <p><b>Ne peut pas se connecter au dongle !</b></p><p>Assurez-vous qu'un dongle de Thymio Wireless est connecté !</p> Disable pairing desactivar acoplamiento QApplication Thymio Wireless dongle not found Thymio II Wireless dongle not found Configurateur de Réseau pour Thymio Wireless <p><b>Cannot find a Thymio Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> <p><b>More than one Thymio Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> <p><b>Cannot find a Thymio II Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> Multiple Thymio Wireless dongles found Multiple Thymio II Wireless dongles found Plusieurs dongles de Thymio Wireless trouvés <p><b>More than one Thymio II Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> Wireless Thymio dongle not found No se encontró el adaptador inalámbrico Thymio <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>No se encontró un adaptador inalámbrico Thymio!</b></p><p>Conecte un adaptador inalámbrico en uno de los puertos USB de su PC y vuelva a intentarlo.</p> Multiple Wireless Thymio dongles found se encontraron varios adaptadores inalámbricos Thymio <p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Se encontró más de un adaptador inalámbrico Thymio!</b></p><p>Conecte solo un adaptador al PC y vuelva a intentarlo.</p> aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_fr.qm000066400000000000000000000056371322771007300242670ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0152jŒR®ªŒ” g«nÒS­÷»X²Ú–bú€Ò“rYr“^<'¤ Î LΟ —?¥…Ojä7ígJ.i î00Aseba::ThymioWNetConfigDialog11Aseba::ThymioWNetConfigDialog22Aseba::ThymioWNetConfigDialogâ<p><b>Ne peut pas se connecter au dongle !</b></p><p>Assurez-vous qu'un dongle wireless Thymio est connecté !</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialogCanal :Channel:Aseba::ThymioWNetConfigDialog(Erreure de connexionConnection errorAseba::ThymioWNetConfigDialog*Désactiver le pairageDisable pairingAseba::ThymioWNetConfigDialogDIdentificateur de nSud du dongle :Dongle node identifier:Aseba::ThymioWNetConfigDialog$Activer le pairageEnable pairingAseba::ThymioWNetConfigDialog4Enregistrer dans le dongleFlash into dongleAseba::ThymioWNetConfigDialog4Identificateur de réseau :Network identifier:Aseba::ThymioWNetConfigDialogQuitterQuitAseba::ThymioWNetConfigDialogZConfigurateur de réseau pour Wireless Thymio $Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialogRVersion du firmware du dongle wireless %0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialog<p><b>Ne peut pas trouver un dongle wireless Thymio !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplicationú<p><b>Plus d'un dongle pour Wireless Thymio trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplicationRPlusieurs dongles Wireless Thymio trouvés&Multiple Wireless Thymio dongles found QApplicationFAucun dongle Wireless Thymio trouvé Wireless Thymio dongle not found QApplicationˆaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_fr.ts000066400000000000000000000150351322771007300242710ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator Thymio Wireless Network Configurator Configurateur de réseau pour Wireless Thymio 0 0 1 1 2 2 Channel: Canal : Network identifier: Identificateur de réseau : Dongle node identifier: Identificateur de nÅ“ud du dongle : Enable pairing Activer le pairage Flash into dongle Enregistrer dans le dongle Quit Quitter Wireless dongle firmware version %0 Version du firmware du dongle wireless %0 Connection error Erreure de connexion <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>Ne peut pas se connecter au dongle !</b></p><p>Assurez-vous qu'un dongle wireless Thymio est connecté !</p> <p><b>Cannot connect to dongle!</b></p><p>Make sure a Thymio Wireless dongle is connected!</p> <p><b>Ne peut pas se connecter au dongle !</b></p><p>Assurez-vous qu'un dongle de Thymio Wireless est connecté !</p> Disable pairing Désactiver le pairage QApplication Thymio Wireless dongle not found Thymio II Wireless dongle not found Configurateur de Réseau pour Thymio Wireless <p><b>Cannot find a Thymio Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> <p><b>More than one Thymio Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> <p><b>Cannot find a Thymio II Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> Multiple Thymio Wireless dongles found Multiple Thymio II Wireless dongles found Plusieurs dongles de Thymio Wireless trouvés <p><b>More than one Thymio II Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> Wireless Thymio dongle not found Aucun dongle Wireless Thymio trouvé <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle wireless Thymio !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> Multiple Wireless Thymio dongles found Plusieurs dongles Wireless Thymio trouvés <p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Wireless Thymio trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_it.qm000066400000000000000000000056571322771007300242760ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0152jŒ?R®ÒŒ” s«nÒ}­÷áX²ÚÌbú€%Ò“rUr“^`'¤ Ú LΟ —?¥e…Oj ä7Á­gJRi þ00Aseba::ThymioWNetConfigDialog11Aseba::ThymioWNetConfigDialog22Aseba::ThymioWNetConfigDialogÞ<p><b>Impossibile connettersi al dongle!</b></p><p>Assicurarsi che un dongle wireless Thymio sia collegato!</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialogCanale:Channel:Aseba::ThymioWNetConfigDialog*Errore di connessioneConnection errorAseba::ThymioWNetConfigDialogPDisattivare l'accoppiamento robot-dongleDisable pairingAseba::ThymioWNetConfigDialogFIdentificativo del nodo del Dongle:Dongle node identifier:Aseba::ThymioWNetConfigDialogDAbilita accoppiamento robot-dongleEnable pairingAseba::ThymioWNetConfigDialog$Salvare nel DongleFlash into dongleAseba::ThymioWNetConfigDialog.Identificatore di rete:Network identifier:Aseba::ThymioWNetConfigDialogEsciQuitAseba::ThymioWNetConfigDialogRConfiguratore di rete per Wireless Thymio$Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialogXVersione del firmware del Wireless Dongle %0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialogü<p><b>Non riesco a trovare un Dongle Wireless Thymio!</b></p><p>Collega un Dongle in una delle porte USB libere e riprova.</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplicationâ<p><b>Più di un Dongle Wireless Thymio trovato !</b></p><p>Collegare un solo Dongle nel computer e riprovare.</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplicationRMolteplici Dongle Wireless Thymio trovati&Multiple Wireless Thymio dongles found QApplicationJNessun Dongle Wireless Thymio trovato Wireless Thymio dongle not found QApplicationˆaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_it.ts000066400000000000000000000150161322771007300242750ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator Thymio Wireless Network Configurator Configuratore di rete per Wireless Thymio 0 0 1 1 2 2 Channel: Canale: Network identifier: Identificatore di rete: Dongle node identifier: Identificativo del nodo del Dongle: Enable pairing Abilita accoppiamento robot-dongle Flash into dongle Salvare nel Dongle Quit Esci Wireless dongle firmware version %0 Versione del firmware del Wireless Dongle %0 Connection error Errore di connessione <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>Impossibile connettersi al dongle!</b></p><p>Assicurarsi che un dongle wireless Thymio sia collegato!</p> <p><b>Cannot connect to dongle!</b></p><p>Make sure a Thymio Wireless dongle is connected!</p> <p><b>Ne peut pas se connecter au dongle !</b></p><p>Assurez-vous qu'un dongle de Thymio Wireless est connecté !</p> Disable pairing Disattivare l'accoppiamento robot-dongle QApplication Thymio Wireless dongle not found Thymio II Wireless dongle not found Configurateur de Réseau pour Thymio Wireless <p><b>Cannot find a Thymio Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> <p><b>More than one Thymio Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> <p><b>Cannot find a Thymio II Wireless dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Ne peut pas trouver un dongle de Thymio Wireless !</b></p><p>Connectez un dongle dans l'un de vos ports USB et réessayez.</p> Multiple Thymio Wireless dongles found Multiple Thymio II Wireless dongles found Plusieurs dongles de Thymio Wireless trouvés <p><b>More than one Thymio II Wireless dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Plus d'un dongle pour Thymio Wireless trouvés !</b></p><p>Connectez un seul dongle à votre ordinateur et réessayez.</p> <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>Non riesco a trovare un Dongle Wireless Thymio!</b></p><p>Collega un Dongle in una delle porte USB libere e riprova.</p> Wireless Thymio dongle not found Nessun Dongle Wireless Thymio trovato <p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>Più di un Dongle Wireless Thymio trovato !</b></p><p>Collegare un solo Dongle nel computer e riprovare.</p> Multiple Wireless Thymio dongles found Molteplici Dongle Wireless Thymio trovati aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_ja.qm000066400000000000000000000044761322771007300242520ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0132fŒR®RŒ”%«nÒE­÷ûX²Ú®bú€ÍÒ“rùr“^t'¤ª LΙ —?¥Q…Oj³ä7E­gJœi”ÿÿÿÿ0Aseba::ThymioWNetConfigDialogÿÿÿÿ1Aseba::ThymioWNetConfigDialogÿÿÿÿ2Aseba::ThymioWNetConfigDialogŠ<p><b>0É0ó0°0ë0kc¥}š0g0M0~0[0“ÿ</b></p><p>0ï0¤0ä0ì0¹Thymio0É0ó0°0ë0Lc¥}š0U0Œ0f0D0‹0S0h0’xºŠ0W0f0O0`0U0Dÿ</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialog 0Á0ã0ó0Í0ë:Channel:Aseba::ThymioWNetConfigDialog c¥}š0¨0é0üConnection errorAseba::ThymioWNetConfigDialog0Ú0¢0ê0ó0°0’q!R¹0k0Y0‹Disable pairingAseba::ThymioWNetConfigDialog0É0ó0°0ë0Î0ü0É‹XR%[P:Dongle node identifier:Aseba::ThymioWNetConfigDialog0Ú0¢0ê0ó0°0’g R¹0k0Y0‹Enable pairingAseba::ThymioWNetConfigDialog0É0ó0°0ëQ…0k0Õ0é0Ã0·0å0Y0‹Flash into dongleAseba::ThymioWNetConfigDialog0Í0Ã0È0ï0ü0¯‹XR%[P:Network identifier:Aseba::ThymioWNetConfigDialog}BN†0Y0‹QuitAseba::ThymioWNetConfigDialog20ï0¤0ä0ì0¹Thymio0Í0Ã0È0ï0ü0¯0³0ó0Õ0£0°0ì0ü0¿$Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialog00ï0¤0ä0ì0¹0É0ó0°0ë0Õ0¡0ü0à0¦0§0¢00Ð0ü0¸0ç0ó%0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialog<p><b>0ï0¤0ä0ì0¹Thymio0É0ó0°0ë0L‰‹0d0K0Š0~0[0“ÿ</b></p><p>0É0ó0°0ë0’USB0Ý0ü0È0k]î0W¼0“0gQŠfˆL0W0f0O0`0U0D0</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplicationž<p><b>‰ep0n0ï0¤0ä0ì0¹Thymio0É0ó0°0ë0L‰‹0d0K0Š0~0W0_ÿ</b></p><p>0É0ó0°0ë0’10d0`0Q0³0ó0Ô0å0ü0¿0k]î0W¼0“0gQŠfˆL0W0f0O0`0U0D0</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplication4‰ep0n0ï0¤0ä0ì0¹Thymio0É0ó0°0ë0L‰‹0d0K0Š0~0W0_&Multiple Wireless Thymio dongles found QApplication.0ï0¤0ä0ì0¹Thymio0É0ó0°0ë0L‰‹0d0K0Š0~0[0“ Wireless Thymio dongle not found QApplicationaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_ja.ts000066400000000000000000000107241322771007300242540ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator ãƒãƒƒãƒˆä¸Šã§ã¯network configuratorã¨ã„ã†è‹±èªžè¡¨è¨˜ã®æ–¹ãŒå¤šã見られãŸã®ã§ã€è‹±èªžè¡¨è¨˜ã®ã¾ã¾ã«ã™ã‚‹ã¨ã„ã†é¸æŠžã‚‚ã‚ã‚Šã¾ã™ ワイヤレスThymioãƒãƒƒãƒˆãƒ¯ãƒ¼ã‚¯ã‚³ãƒ³ãƒ•ã‚£ã‚°ãƒ¬ãƒ¼ã‚¿ 0 1 2 Channel: ãƒãƒ£ãƒ³ãƒãƒ«: Network identifier: ãƒãƒƒãƒˆãƒ¯ãƒ¼ã‚¯è­˜åˆ¥å­: Dongle node identifier: ドングルノード識別å­: Enable pairing ペアリングを有効ã«ã™ã‚‹ Flash into dongle åŒæ§˜ã®æ–‡ãŒæ—¥æœ¬èªžåˆ†ã§è¦‹å½“ãŸã‚Šã¾ã›ã‚“ã§ã—ãŸã®ã§ã”確èªãŠé¡˜ã„致ã—ã¾ã™ ドングル内ã«ãƒ•ãƒ©ãƒƒã‚·ãƒ¥ã™ã‚‹ Quit 終了ã™ã‚‹ Wireless dongle firmware version %0 ワイヤレスドングルファームウェア　ãƒãƒ¼ã‚¸ãƒ§ãƒ³%0 Connection error 接続エラー <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>ドングルã«æŽ¥ç¶šã§ãã¾ã›ã‚“ï¼</b></p><p>ワイヤレスThymioドングルãŒæŽ¥ç¶šã•ã‚Œã¦ã„ã‚‹ã“ã¨ã‚’確èªã—ã¦ãã ã•ã„ï¼</p> Disable pairing ペアリングを無効ã«ã™ã‚‹ QApplication Wireless Thymio dongle not found ワイヤレスThymioドングルãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“ <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>ワイヤレスThymioドングルãŒè¦‹ã¤ã‹ã‚Šã¾ã›ã‚“ï¼</b></p><p>ドングルをUSBãƒãƒ¼ãƒˆã«å·®ã—込んã§å†è©¦è¡Œã—ã¦ãã ã•ã„。</p> Multiple Wireless Thymio dongles found 複数ã®ãƒ¯ã‚¤ãƒ¤ãƒ¬ã‚¹ThymioドングルãŒè¦‹ã¤ã‹ã‚Šã¾ã—㟠<p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>複数ã®ãƒ¯ã‚¤ãƒ¤ãƒ¬ã‚¹ThymioドングルãŒè¦‹ã¤ã‹ã‚Šã¾ã—ãŸï¼</b></p><p>ドングルを1ã¤ã ã‘コンピュータã«å·®ã—込んã§å†è©¦è¡Œã—ã¦ãã ã•ã„。</p> aseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_zh.qm000066400000000000000000000040301322771007300242630ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB0152jŒ›R®ªŒ”«nÒÕ­÷µX²ÚJbú€CÒ“rÍr“^¢'¤¬ LΟ —?¥ý…Ojä7­gJ`in00Aseba::ThymioWNetConfigDialog11Aseba::ThymioWNetConfigDialog22Aseba::ThymioWNetConfigDialog^<p><b>eàlÕÞc¥óR [Ær×</b></p><p>‹÷xn‹¤]òÞc¥Thymioeà~¿R [Ær×!</p>^

Cannot connect to dongle!

Make sure a Wireless Thymio dongle is connected!

Aseba::ThymioWNetConfigDialog˜‘S:Channel:Aseba::ThymioWNetConfigDialogÞc¥•‹ïConnection errorAseba::ThymioWNetConfigDialogP\kb‘M[ùDisable pairingAseba::ThymioWNetConfigDialog R [Æx‹ÆR+:Dongle node identifier:Aseba::ThymioWNetConfigDialogQA‹¸‘M[ùEnable pairingAseba::ThymioWNetConfigDialog pçQeR [Ær×Flash into dongleAseba::ThymioWNetConfigDialog Q~Ü‹ÆR+x:Network identifier:Aseba::ThymioWNetConfigDialogQúQuitAseba::ThymioWNetConfigDialogeà~¿ThymioQ~Ü‘Mn$Wireless Thymio Network ConfiguratorAseba::ThymioWNetConfigDialogeà~¿R [Ær×rHg,%0#Wireless dongle firmware version %0Aseba::ThymioWNetConfigDialogf<p><b>b~N R0Thymioeà~¿R [Ær×</b></p><p>‹÷\R [Ær×cÒQeUSBzïSãQ‹ÕNk!</p>q

Cannot find a Wireless Thymio dongle!

Plug a dongle into one of your USB ports and try again.

 QApplicationr<p><b>b~R0YN*Thymioeà~¿R [Ær×!</b></p><p>‹÷xnOÝSêg NN*R [Ær×Þc¥R0u5^vQ‹ÕNk!</p>w

More than one Wireless Thymio dongles found!

Plug a single dongle into your computer and try again.

 QApplicationb~R0YN*Thymioeà~¿R [Ær×&Multiple Wireless Thymio dongles found QApplicationb~N R0Thymioeà~¿R [Ær× Wireless Thymio dongle not found QApplicationaseba-1.6.0/clients/thymiownetconfig/thymiownetconfig_zh.ts000066400000000000000000000072701322771007300243050ustar00rootroot00000000000000 Aseba::ThymioWNetConfigDialog Wireless Thymio Network Configurator 无线Thymio网络é…ç½® 0 0 1 1 2 2 Channel: 频é“: Network identifier: 网络识别ç : Dongle node identifier: 加密ç è¯†åˆ«: Enable pairing å…许é…对 Flash into dongle 烧入加密狗 Quit 退出 Wireless dongle firmware version %0 无线加密狗版本%0 Connection error 连接错误 <p><b>Cannot connect to dongle!</b></p><p>Make sure a Wireless Thymio dongle is connected!</p> <p><b>无法连接至加密狗</b></p><p>请确认已连接Thymio无线加密狗!</p> Disable pairing åœæ­¢é…对 QApplication Wireless Thymio dongle not found 找ä¸åˆ°Thymio无线加密狗 <p><b>Cannot find a Wireless Thymio dongle!</b></p><p>Plug a dongle into one of your USB ports and try again.</p> <p><b>找ä¸åˆ°Thymio无线加密狗</b></p><p>请将加密狗æ’å…¥USB端å£å†è¯•ä¸€æ¬¡</p> Multiple Wireless Thymio dongles found 找到多个Thymio无线加密狗 <p><b>More than one Wireless Thymio dongles found!</b></p><p>Plug a single dongle into your computer and try again.</p> <p><b>找到多个Thymio无线加密狗!</b></p><p>请确ä¿åªæœ‰ä¸€ä¸ªåŠ å¯†ç‹—连接到电脑并å†è¯•ä¸€æ¬¡</p> aseba-1.6.0/common/000077500000000000000000000000001322771007300140635ustar00rootroot00000000000000aseba-1.6.0/common/CMakeLists.txt000066400000000000000000000016131322771007300166240ustar00rootroot00000000000000set (ASEBACOMMON_SRC utils/FormatableString.cpp utils/utils.cpp utils/HexFile.cpp utils/BootloaderInterface.cpp msg/msg.cpp msg/NodesManager.cpp msg/TargetDescription.cpp ) add_library(asebacommon ${ASEBACOMMON_SRC}) set_target_properties(asebacommon PROPERTIES VERSION ${LIB_VERSION_STRING}) install(TARGETS asebacommon LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBACORE_HDR_UTILS utils/utils.h utils/FormatableString.h ) set (ASEBACORE_HDR_MSG msg/msg.h msg/NodesManager.h msg/TargetDescription.h ) set (ASEBACORE_HDR_COMMON consts.h types.h productids.h ) install(FILES ${ASEBACORE_HDR_UTILS} DESTINATION include/aseba/common/utils ) install(FILES ${ASEBACORE_HDR_MSG} DESTINATION include/aseba/common/msg ) install(FILES ${ASEBACORE_HDR_COMMON} DESTINATION include/aseba/common ) add_subdirectory(about) add_subdirectory(zeroconf) aseba-1.6.0/common/about/000077500000000000000000000000001322771007300151755ustar00rootroot00000000000000aseba-1.6.0/common/about/AboutDialog.cpp000066400000000000000000000244151322771007300201010ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "AboutDialog.h" #include "../consts.h" #include "../authors.h" #include "dashel/dashel.h" #include #include #include #include #include #include #include #include #include #include #ifdef HAVE_QWT #include #endif // HAVE_QWT #include #include #include #include #include namespace Aseba { // Assume T is a sorted container template static bool haveCommonElements(const T& container1, const T& container2) { using I = typename T::const_iterator; I first1(container1.begin()); I last1(container1.end()); I first2(container2.begin()); I last2(container2.end()); while (first1 != last1 && first2 != last2) { if (*first1 < *first2) ++first1; else if (*first2 < *first1) ++first2; else return true; } return false; } AboutBox::AboutBox(QWidget* parent, const Parameters& parameters): QDialog(parent) { // title entry auto titleLayout = new QHBoxLayout(); QSvgRenderer iconRenderer(parameters.iconFile); QPixmap iconPixmap(64, 64); iconPixmap.fill(Qt::transparent); QPainter iconPainter(&iconPixmap); iconRenderer.render(&iconPainter); auto iconLabel = new QLabel(); iconLabel->setPixmap(iconPixmap); titleLayout->addWidget(iconLabel); titleLayout->addSpacing(16); auto titleLabel = new QLabel(QString( "

%1

%2

") .arg(parameters.applicationName) .arg(tr("Version %1").arg(ASEBA_VERSION)) ); titleLayout->addWidget(titleLabel); titleLayout->addStretch(); // create widget for holding tabs auto tabs = new QTabWidget; // about tab const QString aboutText = "

" + parameters.description + "

" + (parameters.helpUrl.isEmpty() ? "" : "

" + tr("You can find more information online at %2.").arg(parameters.helpUrl.toString()).arg(parameters.helpUrl.toString(QUrl::RemoveScheme|QUrl::RemoveUserInfo|QUrl::StripTrailingSlash).remove(0,2)) + "

" ) + "

" + tr("This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1.").arg("aseba.io") + "

" + "

" + tr("(c) 2006-2017 Stéphane Magnenat and other contributors. See tabs \"Authors\" and \"Thanks To\" for more information.") + " " + tr("Aseba is open-source licensed under the LGPL version 3.") + "

" ; auto aboutTextLabel = new QLabel(aboutText); aboutTextLabel->setWordWrap(true); aboutTextLabel->setOpenExternalLinks(true); auto aboutEnclosingLayout = new QHBoxLayout; aboutEnclosingLayout->addWidget(aboutTextLabel); auto aboutEnclosingWidget = new QWidget; aboutEnclosingWidget->setLayout(aboutEnclosingLayout); tabs->addTab(aboutEnclosingWidget, tr("About")); // usage text if (!parameters.usage.isEmpty()) { auto usageTextLabel = new QLabel(parameters.usage); auto usageEnclosingLayout = new QHBoxLayout; usageEnclosingLayout->addWidget(usageTextLabel); auto usageEnclosingWidget = new QWidget; usageEnclosingWidget->setLayout(usageEnclosingLayout); tabs->addTab(usageEnclosingWidget, tr("Usage")); } // author and thanksTo informations for (const auto& personList : { std::make_pair(tr("Authors"), &authorList), std::make_pair(tr("Thanks To"), &thankToList) }) { auto personListWidget = new QListWidget; personListWidget->setSelectionMode(QAbstractItemView::NoSelection); for (const auto& person: *personList.second) { auto email = std::regex_replace(person.email, std::regex(" at "), "@"); email = std::regex_replace(email, std::regex(" dot "), "."); if (!haveCommonElements(person.tags, parameters.tags) && !person.tags.count("all")) continue; const QString text = "" + QString::fromStdString(person.name) + "
" + QString::fromStdString(person.role) + "
" + (email.empty() ? "" : " email") + (person.web.empty() ? "" : " web") ; auto label = new QLabel(text); label->setOpenExternalLinks(true); label->setStyleSheet("QLabel { margin: 3px }"); auto item = new QListWidgetItem; item->setSizeHint(QSize(200, personListWidget->fontMetrics().height() * 4)); personListWidget->addItem(item); personListWidget->setItemWidget(item, label); } if (personList.second == &thankToList) { using Institution = std::pair; using Institutions = std::vector; const Institutions institutions = { { "Mobots group, EPFL", "http://mobots.epfl.ch" }, { "Autonomous Systems Lab, ETH Zurich", "http://www.asl.ethz.ch/" }, { "Mobsya Association", "http://www.mobsya.org" }, { "Game Technology Center, ETH Zurich", "http://www.gtc.inf.ethz.ch/" }, { "Inria, France", "https://www.inria.fr/en/" } }; for (const auto& institution: institutions) { const QString text(QString("%1
web").arg(institution.first).arg(institution.second)); auto label = new QLabel(text); label->setOpenExternalLinks(true); label->setStyleSheet("QLabel { margin: 3px }"); auto item = new QListWidgetItem; item->setSizeHint(QSize(200, personListWidget->fontMetrics().height() * 3)); personListWidget->addItem(item); personListWidget->setItemWidget(item, label); } struct Grant { QString funder; QString id; QString name; }; using Grants = std::vector; const Grants grants = { { "Swiss National Center of Competence in Research", "", "Robotics" }, { "GebertRuf Stiftung", "GRS-017/13", "Robot Design for Understanding" }, { "Swiss Commission for Technology and Innovation", "17479.2", "Combining Augmented Reality and Robotics for Innovative Accessible Educational Tools" } }; for (const auto& grant: grants) { QString text; if (!grant.id.isEmpty()) text = tr("%1 grant %2
%3").arg(grant.funder).arg(grant.id).arg(grant.name); else text = QString("%1
%2").arg(grant.funder).arg(grant.name); auto label = new QLabel(text); label->setOpenExternalLinks(true); label->setStyleSheet("QLabel { margin: 3px }"); auto item = new QListWidgetItem; item->setSizeHint(QSize(200, personListWidget->fontMetrics().height() * 3)); personListWidget->addItem(item); personListWidget->setItemWidget(item, label); } } auto personListEnclosingLayout = new QHBoxLayout; personListEnclosingLayout->addWidget(personListWidget); auto personListEnclosingWidget = new QWidget; personListEnclosingWidget->setLayout(personListEnclosingLayout); tabs->addTab(personListEnclosingWidget, personList.first); } // libraries tab const QString welcomeText = tr("The following software are used in Aseba:"); const QString libEntryText = tr("%1 version %2"); const QString asebaBuildInfo = tr("build version %1, protocol version %2").arg(ASEBA_BUILD_VERSION).arg(ASEBA_PROTOCOL_VERSION); const QString dashelStreamInfo = tr("supported stream types: %1").arg(QString::fromStdString(Dashel::streamTypeRegistry.list())); const QString liStart = "
  • "; const QString libraryText = welcomeText + "
      " + liStart + libEntryText.arg("Aseba").arg(ASEBA_VERSION).arg("http://aseba.io") + "
      " + asebaBuildInfo + "" + liStart + libEntryText.arg("Dashel").arg(DASHEL_VERSION).arg("http://aseba-community.github.io/dashel/") + "
      " + dashelStreamInfo + "" + liStart + libEntryText.arg("Qt").arg(qVersion()).arg("https://www.qt.io/") + "" + #ifdef HAVE_QWT liStart + libEntryText.arg("Qwt").arg(QWT_VERSION_STR).arg("http://qwt.sourceforge.net/") + "" + #endif // HAVE_QWT #ifdef HAVE_ENKI liStart + libEntryText.arg("Enki").arg("2.0~pre").arg("https://github.com/enki-community/enki") + "" + #endif // HAVE_ENKI "
    " ; auto libraryTextLabel = new QLabel(libraryText); libraryTextLabel->setOpenExternalLinks(true); auto libraryEnclosingLayout = new QHBoxLayout; libraryEnclosingLayout->addWidget(libraryTextLabel); auto libraryEnclosingWidget = new QWidget; libraryEnclosingWidget->setLayout(libraryEnclosingLayout); // add elements into a tab widget tabs->addTab(libraryEnclosingWidget, tr("Libraries")); // close button auto buttonLayout = new QHBoxLayout(); buttonLayout->addStretch(); auto closeButton = new QPushButton(QIcon::fromTheme("window-close"), tr("close")); buttonLayout->addWidget(closeButton); // TODO: provide icon on resource path for Windows and macOS // add all elements to a main layout auto mainLayout = new QVBoxLayout(); mainLayout->addLayout(titleLayout); mainLayout->addSpacing(8); mainLayout->addWidget(tabs); mainLayout->addLayout(buttonLayout); setLayout(mainLayout); // set window title and minimum size setWindowTitle(tr("About %1").arg(parameters.applicationName)); //resize(640, 460); // uncomment to be able to resize the dialog // setSizeGripEnabled(true); // connections connect(closeButton, SIGNAL(clicked()), SLOT(close())); } } // namespace Aseba aseba-1.6.0/common/about/AboutDialog.h000066400000000000000000000025601322771007300175430ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ABOUT_DIALOG #define ASEBA_ABOUT_DIALOG #include #include #include #include namespace Aseba { /** \addtogroup common */ /*@{*/ class AboutBox: public QDialog { Q_OBJECT public: using Tags = std::set; struct Parameters { QString applicationName; QString iconFile; QString description; QUrl helpUrl; QString usage; Tags tags; }; public: AboutBox(QWidget* parent, const Parameters& parameters); }; /*@}*/ } // namespace Aseba #endif // ASEBA_ABOUT_DIALOG aseba-1.6.0/common/about/CMakeLists.txt000066400000000000000000000014541322771007300177410ustar00rootroot00000000000000if (QT4_FOUND AND QT_QTWEBKIT_FOUND) set(QT_USE_QTSVG ON) include(${QT_USE_FILE}) include_directories(${CMAKE_BINARY_DIR}) if (QWT_LIBRARIES AND QWT_INCLUDE_DIR) include_directories (${QWT_INCLUDE_DIR}) add_definitions(-DHAVE_QWT) endif (QWT_LIBRARIES AND QWT_INCLUDE_DIR) if (ENKI_FOUND) add_definitions(-DHAVE_ENKI) endif (ENKI_FOUND) qt4_add_resources(resfiles asebaqtabout.qrc) qt4_wrap_cpp(qt_about_MOCS AboutDialog.h) add_library(asebaqtabout AboutDialog.cpp ${qt_about_MOCS} ${resfiles}) if (HAS_DYN_VERSION) add_dependencies(asebaqtabout versionheader) endif (HAS_DYN_VERSION) set_target_properties(asebaqtabout PROPERTIES VERSION ${LIB_VERSION_STRING}) install(TARGETS asebaqtabout LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) endif () aseba-1.6.0/common/about/asebaqtabout.qrc000066400000000000000000000004701322771007300203600ustar00rootroot00000000000000 qtabout_fr.qm qtabout_de.qm qtabout_es.qm qtabout_it.qm qtabout_ja.qm qtabout_zh.qm qtabout_el.qm aseba-1.6.0/common/about/qtabout_de.qm000066400000000000000000000062131322771007300176650ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBˆG–Äë\—Õ Yj6• -a¥¾)ebXƒòóåZ‚}ßZVROFÊöÓÈ lfñ ˆÝ3 Î ’ ©} j ïhÞ* OFÎ Ô¶ÿÒ œi âÖ(c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> und <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">weitere Mitwirkende </a>. Siehe Tab "Autoren" und "Danke" für mehr Informationen.ë(c) 2006-2017 Stéphane Magnenat and other contributors. See tabs "Authors" and "Thanks To" for more information.Aseba::AboutBox6<b>%1</b> gewährt %2<br/>%3%1 grant %2
    %3Aseba::AboutBoxJ<b><a href="%3">%1</a></b> Version %2%%1 version %2Aseba::AboutBoxÜberAboutAseba::AboutBoxÜber %1About %1Aseba::AboutBoxâAseba ist als opensource unter <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a> lizenziert. lAseba is open-source licensed under the LGPL version 3.Aseba::AboutBoxAutorenAuthorsAseba::AboutBoxBibliotheken LibrariesAseba::AboutBox Danke Thanks ToAseba::AboutBox`Die folgenden Programme werden in Aseba benutzt:)The following software are used in Aseba:Aseba::AboutBoxrDieses Programm ist Teil von Aseba, einem Satz von Werkzeugen, welcher es Anfängern ermöglicht Roboter einfach und effizient zu programmieren. Besuchen Sie %1 für weitere Informationen.™This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1.Aseba::AboutBoxGebrauchUsageAseba::AboutBoxVersion %1 Version %1Aseba::AboutBoxhSie finden mehr Information auf <a href="%1">%2</a>.%2.Aseba::AboutBoxHBuildversion %1, Protokollversion %2%build version %1, protocol version %2Aseba::AboutBoxschliessencloseAseba::AboutBox:unterstützte Stream-Typen: %1supported stream types: %1Aseba::AboutBoxˆaseba-1.6.0/common/about/qtabout_de.ts000066400000000000000000000101161322771007300176730ustar00rootroot00000000000000 Aseba::AboutBox Version %1 Version %1 You can find more information online at <a href="%1">%2</a>. Sie finden mehr Information auf <a href="%1">%2</a>. This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. Dieses Programm ist Teil von Aseba, einem Satz von Werkzeugen, welcher es Anfängern ermöglicht Roboter einfach und effizient zu programmieren. Besuchen Sie %1 für weitere Informationen. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other contributors</a>. See tabs "Authors" and "Thanks To" for more information. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> und <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">weitere Mitwirkende </a>. Siehe Tab "Autoren" und "Danke" für mehr Informationen. Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>. Aseba ist als opensource unter <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a> lizenziert. About Ãœber Usage Gebrauch Authors Autoren Thanks To Danke <b>%1</b> grant %2<br/>%3 <b>%1</b> gewährt %2<br/>%3 The following software are used in Aseba: Die folgenden Programme werden in Aseba benutzt: <b><a href="%3">%1</a></b> version %2 <b><a href="%3">%1</a></b> Version %2 build version %1, protocol version %2 Buildversion %1, Protokollversion %2 supported stream types: %1 unterstützte Stream-Typen: %1 Libraries Bibliotheken close schliessen About %1 Ãœber %1 aseba-1.6.0/common/about/qtabout_el.qm000066400000000000000000000000271322771007300176720ustar00rootroot00000000000000<¸dÊÍ!¿`¡½Ýˆaseba-1.6.0/common/about/qtabout_el.ts000066400000000000000000000066361322771007300177170ustar00rootroot00000000000000 Aseba::AboutBox Version %1 You can find more information online at <a href="%1">%2</a>. This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other contributors</a>. See tabs "Authors" and "Thanks To" for more information. Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>. About Usage Authors Thanks To <b>%1</b> grant %2<br/>%3 The following software are used in Aseba: <b><a href="%3">%1</a></b> version %2 build version %1, protocol version %2 supported stream types: %1 Libraries close About %1 aseba-1.6.0/common/about/qtabout_es.qm000066400000000000000000000062161322771007300177070ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB€G–Ħ\—Õ (j6• 6a¥¾)ebZ‚^ßZ%ROÊöÓ› lfñá ˆÝ3Ô Î g ©} k ïhÞë OFÎ ©¶ÿÒ ‰i í(c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> y <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other colaboradores</a>. Consulta las pestañas "Autores" y "Agradecimientos" para obtener más información.ë(c) 2006-2017 Stéphane Magnenat and other contributors. See tabs "Authors" and "Thanks To" for more information.Aseba::AboutBoxJ<b><a href="%3">%1</a></b> versión %2%%1 version %2Aseba::AboutBoxAcerca deAboutAseba::AboutBoxAcerca de %1About %1Aseba::AboutBoxæAseba tiene licencia de código abierto bajo la <a href="https://www.gnu.org/licenses/lgpl.html">LGPL versión 3</a>.lAseba is open-source licensed under the LGPL version 3.Aseba::AboutBoxAutoresAuthorsAseba::AboutBoxLibrerías LibrariesAseba::AboutBoxAgradecimientos Thanks ToAseba::AboutBox@Aseba usa el siguiente software:)The following software are used in Aseba:Aseba::AboutBox€Este programa es parte de Aseba, un conjunto de herramientas que permiten a principiantes programar robots de manera fácil y eficiente. Para obtener más información acerca de Aseba, visite %1.™This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1.Aseba::AboutBoxUtilizaciónUsageAseba::AboutBoxVersión %1 Version %1Aseba::AboutBox€Puede encontrar más información en línea en <a href="%1">%2</a>.%2.Aseba::AboutBoxdversión de compilación %1, versión de protocolo %2%build version %1, protocol version %2Aseba::AboutBox CerrarcloseAseba::AboutBoxDtipos de transmisión admitidos: %1supported stream types: %1Aseba::AboutBoxˆaseba-1.6.0/common/about/qtabout_es.ts000066400000000000000000000101751322771007300177170ustar00rootroot00000000000000 Aseba::AboutBox Version %1 Versión %1 You can find more information online at <a href="%1">%2</a>. Puede encontrar más información en línea en <a href="%1">%2</a>. This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. Este programa es parte de Aseba, un conjunto de herramientas que permiten a principiantes programar robots de manera fácil y eficiente. Para obtener más información acerca de Aseba, visite %1. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other contributors</a>. See tabs "Authors" and "Thanks To" for more information. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> y <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other colaboradores</a>. Consulta las pestañas "Autores" y "Agradecimientos" para obtener más información. Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>. Aseba tiene licencia de código abierto bajo la <a href="https://www.gnu.org/licenses/lgpl.html">LGPL versión 3</a>. About Acerca de Usage Utilización Authors Autores Thanks To Agradecimientos <b>%1</b> grant %2<br/>%3 The following software are used in Aseba: Aseba usa el siguiente software: <b><a href="%3">%1</a></b> version %2 <b><a href="%3">%1</a></b> versión %2 build version %1, protocol version %2 versión de compilación %1, versión de protocolo %2 supported stream types: %1 tipos de transmisión admitidos: %1 Libraries Librerías close Cerrar About %1 Acerca de %1 aseba-1.6.0/common/about/qtabout_fr.qm000066400000000000000000000063631322771007300177120ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBˆG–Ä\—Õ •j6• Ÿa¥¾)eb„ƒòó Z‚ÇßZ˜RO€ÊöÓ lfñP ˆÝ39 Î Ô ©} Ô ïhÞv OFÎ ¶ÿÒ i Jü(c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> et <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">autres contributeurs</a>. Pour plus d'information, voir les onglets « Auteurs » et « Remerciements ».ë(c) 2006-2017 Stéphane Magnenat and other contributors. See tabs "Authors" and "Thanks To" for more information.Aseba::AboutBox<<b>%1</b> subvention %2<br/>%3%1 grant %2
    %3Aseba::AboutBoxJ<b><a href="%3">%1</a></b> version %2%%1 version %2Aseba::AboutBoxÀ proposAboutAseba::AboutBoxÀ propos de %1About %1Aseba::AboutBoxØAseba est un logiciel libre sous license <a href="https://www.gnu.org/licenses/lgpl.html">GPL version 3</a>.lAseba is open-source licensed under the LGPL version 3.Aseba::AboutBoxAuteursAuthorsAseba::AboutBoxBibliothèques LibrariesAseba::AboutBoxRemerciements Thanks ToAseba::AboutBoxbLes logiciels suivants sont utilisés dans Aseba :)The following software are used in Aseba:Aseba::AboutBoxbCe programme fait partie d'Aseba, un ensemble d'outils qui permet aux novices de programmer facilement et efficacement des robots. Pour plus d'information sur Aseba, visitez %1.™This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1.Aseba::AboutBoxUtilisationUsageAseba::AboutBoxVersion %1 Version %1Aseba::AboutBox”Vous trouverez plus d'information en ligne à l'adresse <a href="%1>%2</a>.%2.Aseba::AboutBoxLbuild version %1, protocole version %2%build version %1, protocol version %2Aseba::AboutBox fermercloseAseba::AboutBox8types de flux supportés : %1supported stream types: %1Aseba::AboutBoxˆaseba-1.6.0/common/about/qtabout_fr.ts000066400000000000000000000102111322771007300177060ustar00rootroot00000000000000 Aseba::AboutBox Version %1 Version %1 You can find more information online at <a href="%1">%2</a>. Vous trouverez plus d'information en ligne à l'adresse <a href="%1>%2</a>. This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. Ce programme fait partie d'Aseba, un ensemble d'outils qui permet aux novices de programmer facilement et efficacement des robots. Pour plus d'information sur Aseba, visitez %1. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other contributors</a>. See tabs "Authors" and "Thanks To" for more information. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> et <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">autres contributeurs</a>. Pour plus d'information, voir les onglets « Auteurs » et « Remerciements ». Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>. Aseba est un logiciel libre sous license <a href="https://www.gnu.org/licenses/lgpl.html">GPL version 3</a>. About À propos Usage Utilisation Authors Auteurs Thanks To Remerciements <b>%1</b> grant %2<br/>%3 <b>%1</b> subvention %2<br/>%3 The following software are used in Aseba: Les logiciels suivants sont utilisés dans Aseba : <b><a href="%3">%1</a></b> version %2 <b><a href="%3">%1</a></b> version %2 build version %1, protocol version %2 build version %1, protocole version %2 supported stream types: %1 types de flux supportés : %1 Libraries Bibliothèques close fermer About %1 À propos de %1 aseba-1.6.0/common/about/qtabout_it.qm000066400000000000000000000061241322771007300177120ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB€G–ÄŒ\—Õ j6• a¥¾)eb÷Z‚:ßZROýÊöÓ‰ lfñÍ ˆÝ3À Î ; ©} ; ïhÞÏ OFÎ ¶ÿÒ ii ³è(c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> e <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">altri collaboratori</a>. Per ulteriori informazioni, vedere le schede "Autori" e "Grazie a".ë(c) 2006-2017 Stéphane Magnenat and other contributors. See tabs "Authors" and "Thanks To" for more information.Aseba::AboutBoxL<b><a href="%3">%1</a></b> versione %2%%1 version %2Aseba::AboutBoxInformazioniAboutAseba::AboutBox$informazioni su %1About %1Aseba::AboutBoxÜAseba è software open-source con licenza <a href="https://www.gnu.org/licenses/lgpl.html">LGPL versione 3</a>.lAseba is open-source licensed under the LGPL version 3.Aseba::AboutBox AutoriAuthorsAseba::AboutBoxLibrerie LibrariesAseba::AboutBoxGrazie a Thanks ToAseba::AboutBoxHAseba utilizza il seguente software:)The following software are used in Aseba:Aseba::AboutBoxvQuesto programma fa parte di Aseba, una serie di strumenti che permettono a chiunque di programmare i robot in modo semplice ed efficiente. Per ulteriori informazioni su Aseba, visita %1.™This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1.Aseba::AboutBoxUtilizzoUsageAseba::AboutBoxVersione %1 Version %1Aseba::AboutBoxŠMaggiori informazioni sono disponibili online su <a href="%1">%2</a>.%2.Aseba::AboutBoxTbuild versione %1, protocollo versione %2%build version %1, protocol version %2Aseba::AboutBox chiudicloseAseba::AboutBox:Tipi di flusso supportati: %1supported stream types: %1Aseba::AboutBoxˆaseba-1.6.0/common/about/qtabout_it.ts000066400000000000000000000101161322771007300177170ustar00rootroot00000000000000 Aseba::AboutBox Version %1 Versione %1 You can find more information online at <a href="%1">%2</a>. Maggiori informazioni sono disponibili online su <a href="%1">%2</a>. This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. Questo programma fa parte di Aseba, una serie di strumenti che permettono a chiunque di programmare i robot in modo semplice ed efficiente. Per ulteriori informazioni su Aseba, visita %1. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other contributors</a>. See tabs "Authors" and "Thanks To" for more information. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> e <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">altri collaboratori</a>. Per ulteriori informazioni, vedere le schede "Autori" e "Grazie a". Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>. Aseba è software open-source con licenza <a href="https://www.gnu.org/licenses/lgpl.html">LGPL versione 3</a>. About Informazioni Usage Utilizzo Authors Autori Thanks To Grazie a <b>%1</b> grant %2<br/>%3 The following software are used in Aseba: Aseba utilizza il seguente software: <b><a href="%3">%1</a></b> version %2 <b><a href="%3">%1</a></b> versione %2 build version %1, protocol version %2 build versione %1, protocollo versione %2 supported stream types: %1 Tipi di flusso supportati: %1 Libraries Librerie close chiudi About %1 informazioni su %1 aseba-1.6.0/common/about/qtabout_ja.qm000066400000000000000000000000201322771007300176550ustar00rootroot00000000000000<¸dÊÍ!¿`¡½Ýaseba-1.6.0/common/about/qtabout_ja.ts000066400000000000000000000066361322771007300177110ustar00rootroot00000000000000 Aseba::AboutBox Version %1 You can find more information online at <a href="%1">%2</a>. This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. 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About Usage Authors Thanks To <b>%1</b> grant %2<br/>%3 The following software are used in Aseba: <b><a href="%3">%1</a></b> version %2 build version %1, protocol version %2 supported stream types: %1 Libraries close About %1 aseba-1.6.0/common/about/qtabout_zh.qm000066400000000000000000000045761322771007300177300ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBˆG–Ä_\—Õj6•aa¥¾)ebÚƒòóuZ‚{ßZÀROJÊöÓè lfñŒ ˆÝ3 Î4 ©}Ž ïhÞâ OFÎj¶ÿÒþiÜf(c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a>NåSÊ<a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">QvNÖTO\€</a>.fôYOá`o‹÷w "O\€" TŒ "aŒ"".ë(c) 2006-2017 Stéphane Magnenat and other contributors. See tabs "Authors" and "Thanks To" for more information.Aseba::AboutBox(<b>%1</b>D‘Ñ%2<br/>%3%1 grant %2
    %3Aseba::AboutBox<<b><a href="%3">%1</a></b>rHg,%2%%1 version %2Aseba::AboutBoxQsNŽAboutAseba::AboutBoxQsNŽ%1About %1Aseba::AboutBox˜Asebaf/W(<a href="https://www.gnu.org/licenses/lgpl.html">LGPLrHg,3</a>_n‹¸Sï‹ÁN v„oNölAseba is open-source licensed under the LGPL version 3.Aseba::AboutBoxO\€AuthorsAseba::AboutBoxQý_^“ LibrariesAseba::AboutBoxaŒ" Thanks ToAseba::AboutBoxAseba^”u(N†NåN z ^:)The following software are used in Aseba:Aseba::AboutBoxh‹åz ^N:Asebav„NèR. Asebaf/N~ÄQA‹¸R[f€[ùg:VhNºÛˆL{€SUz v„]åQw. N†‰ãfôY‹÷‹¿•î%1™This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1.Aseba::AboutBoxu(UsageAseba::AboutBoxrHg,%1 Version %1Aseba::AboutBox4fôYOá`o‹÷gåw <a href="%1">%2</a>%2.Aseba::AboutBoxR^úrHg,%1,SO‹®rHg,%2%build version %1, protocol version %2Aseba::AboutBoxQs•ícloseAseba::AboutBoxe/c[WN2mA:%1supported stream types: %1Aseba::AboutBoxaseba-1.6.0/common/about/qtabout_zh.ts000066400000000000000000000076511322771007300177360ustar00rootroot00000000000000 Aseba::AboutBox Version %1 版本%1 You can find more information online at <a href="%1">%2</a>. 更多信æ¯è¯·æŸ¥çœ‹<a href="%1">%2</a> This program is part of Aseba, a set of tools which allow beginners to program robots easily and efficiently. For more information about Aseba, visit %1. 该程åºä¸ºAseba的一部分. Aseba是一组å…许åˆå­¦è€…对机器人进行简å•ç¼–程的工具. 了解更多请访问%1 (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a> and <a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">other contributors</a>. See tabs "Authors" and "Thanks To" for more information. (c) 2006-2017 <a href="http://stephane.magnenat.net">Stéphane Magnenat</a>以åŠ<a href="https://github.com/aseba-community/aseba/blob/master/authors.txt">其他åˆä½œè€…</a>.更多信æ¯è¯·çœ‹"作者" å’Œ "æ„Ÿè°¢". Aseba is open-source licensed under the <a href="https://www.gnu.org/licenses/lgpl.html">LGPL version 3</a>. Aseba是在<a href="https://www.gnu.org/licenses/lgpl.html">LGPL版本3</a>å¼€æºè®¸å¯è¯ä¸‹çš„软件 About 关于 Usage 用途 Authors 作者 Thanks To æ„Ÿè°¢ <b>%1</b> grant %2<br/>%3 <b>%1</b>资金%2<br/>%3 The following software are used in Aseba: Aseba应用了以下程åº: <b><a href="%3">%1</a></b> version %2 <b><a href="%3">%1</a></b>版本%2 build version %1, protocol version %2 创建版本%1,å议版本%2 supported stream types: %1 支æŒå­—串æµ:%1 Libraries 函å¼åº“ close 关闭 About %1 关于%1 aseba-1.6.0/common/authors.h000066400000000000000000000117601322771007300157260ustar00rootroot00000000000000#ifndef __ASEBA_AUTHORS_H #define __ASEBA_AUTHORS_H #include #include namespace Aseba { struct AuthorInfo { using Tags = std::set; std::string name; std::string email; std::string web; std::string role; Tags tags; }; using AuthorInfos = std::vector; struct InstitutionInfo { std::string name; std::string web; }; using InstitutionInfos = std::vector; static const AuthorInfos authorList = { { u8"Stéphane Magnenat", u8"stephane at magnenat dot net", u8"http://stephane.magnenat.net", u8"project leader, original idea, architecture, core programmer all areas", { u8"all", } }, { u8"Florian Vaussard", u8"florian dot vaussard at bluewin dot ch", u8"", u8"core software engineer, Windows maintainer until 2015", { u8"core", u8"studio", u8"packaging", } }, { u8"David James Sherman", u8"david dot sherman at inria dot fr", u8"http://www.labri.fr/perso/david/Site/David_James_Sherman.html", u8"core software engineer, asebahttp, Zeroconf, Scratch integration", { u8"core", u8"simulator", } }, { u8"Jiwon Shin", u8"jiwon at shin dot ch", u8"", u8"software engineer for VPL", { u8"vpl", } }, { u8"Thibault Laine", u8"thibault dot laine at inria dot fr", u8"", u8"software engineer for Playground", { u8"simulator", } }, { u8"Philippe Rétornaz", u8"philippe dot retornaz at a3 dot epfl dot ch", u8"", u8"software engineer for embedded integration", { u8"core", } }, { u8"Fabian Hahn", u8"fabian at hahn dot graphics", u8"", u8"software engineer for Blockly integration", { u8"blockly", } }, }; static const AuthorInfos thankToList = { { u8"Maria María Beltrán", u8"mari_tran at yahoo dot com", u8"", u8"VPL re-design - funded by Gebert Rüf Stiftung", { u8"vpl", } }, { u8"Fanny Riedo", u8"fanny dot riedo at mobsya dot org", u8"", u8"macOS packaging, translation, quality insurance", { u8"packaging", u8"translation", } }, { u8"Michael Bonani", u8"michael dot bonani at mobsya dot org", u8"", u8"French translation, packaging, quality insurance", { u8"packaging", u8"translation", } }, { u8"Dean Brettle", u8"dean at brettle dot com", u8"", u8"RPM packaging", { u8"packaging", } }, { u8"Martin Voelkle", u8"martin dot voelkle at sampla dot ch", u8"", u8"bug reporting and fixing", { u8"vpl", } }, { u8"Yves Piguet", u8"yves dot piguet at epfl dot ch", u8"https://www.calerga.com/people/piguet.html", u8"bug reporting and fixing", { u8"core", u8"studio", } }, { u8"Corentin Jabot", u8"corentin dot jabot at gmail dot com", u8"", u8"bug fixing and coding contributions", { u8"core", } }, { u8"Valentin Longchamp", u8"valentin dot longchamp at gmail dot com", u8"", u8"inputs on framework architecture, additional coding", { u8"core", } }, { u8"Severin Klingler", u8"severin dot klinger at ethz dot ch", u8"", u8"VPL logging", { u8"vpl", } }, { u8"Vincent Becker", u8"vincent dot becker at mobsya dot org", u8"", u8"Textures for Thymio 3D model", { u8"simulator", } }, { u8"Francesco Mondada", u8"francesco dot mondada at epfl dot ch", u8"https://people.epfl.ch/francesco.mondada", u8"bug reporting and dissemination", { u8"studio", u8"vpl", u8"blockly", } }, { u8"Stefan Witwicki", u8"", u8"", u8"Examples", { u8"example", } }, { u8"Basilio Noris", u8"basilio dot noris at gmail dot com", u8"", u8"inputs on challenge, graphics design on challenge", { u8"simulator", } }, { u8"Sandra Moser ", u8"", u8"", u8"German translation", { u8"translation", } }, { u8"Francisco Javier Botero Herrera", u8"fboteroh at gmail dot com", u8"", u8"Spanish translation", { u8"translation", } }, { u8"Ezio Somá", u8"ezio dot soma at gmail dot com", u8"", u8"Italian translation", { u8"translation", } }, { u8"Detlef Rick", u8"detlef dot rick at gymnasium-hittfeld dot de", u8"", u8"German translation", { u8"translation", } }, { u8"Shiling Wang", u8"shilingwang0621 at gmail dot com", u8"", u8"Chinese translation", { u8"translation", } }, { u8"Mamoru Oichi", u8"moichi at exseed-inc dot jp", u8"", u8"Japanese translation", { u8"translation", } }, { u8"Ioanna Theodoropoulou", u8"ioannatheodoropou at hotmail dot com", u8"", u8"Greek translation", { u8"translation", } }, { u8"Vassilis Komis", u8"komis at upatras dot gr", u8"", u8"Greek translation", { u8"translation", } }, { u8"Basil Stotz", u8"basil dot stotz at gmail dot com", u8"", u8"Italian translation", { u8"translation", } }, { u8"Paolo Rossetti", u8"paolo dot rossetti at mobsya dot org", u8"", u8"Italian translation", { u8"translation", } }, }; } // namespace Aseba #endif // __ASEBA_AUTHORS_H aseba-1.6.0/common/consts.h000066400000000000000000000156511322771007300155550ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ASEBA_CONSTS_H #define __ASEBA_CONSTS_H /** \defgroup common Constants and types common to all subsystems */ /*@{*/ /*! version of Aseba as string */ #define ASEBA_VERSION "1.6.0" /*! version of Aseba as an int */ #define ASEBA_VERSION_INT 10600 /*! version of aseba protocol, including bytecodes types and constants */ #define ASEBA_PROTOCOL_VERSION 5 /*! minimal accepted protocol version in targets */ #define ASEBA_MIN_TARGET_PROTOCOL_VERSION 4 /*! default listen target for aseba */ #define ASEBA_DEFAULT_LISTEN_TARGET "tcpin:33333" /*! default target for aseba */ #define ASEBA_DEFAULT_TARGET "tcp:localhost;33333" /*! default host for aseba */ #define ASEBA_DEFAULT_HOST "localhost" /*! default port for aseba */ #define ASEBA_DEFAULT_PORT 33333 /*! Name of the organization supporting Aseba and related software*/ #define ASEBA_ORGANIZATION_NAME "Aseba community" /*! Domain of the organization supporting Aseba and related software*/ #define ASEBA_ORGANIZATION_DOMAIN "aseba.io" /*! List of bytecodes identifiers */ typedef enum { ASEBA_BYTECODE_STOP = 0x0, ASEBA_BYTECODE_SMALL_IMMEDIATE = 0x1, ASEBA_BYTECODE_LARGE_IMMEDIATE = 0x2, ASEBA_BYTECODE_LOAD = 0x3, ASEBA_BYTECODE_STORE = 0x4, ASEBA_BYTECODE_LOAD_INDIRECT = 0x5, ASEBA_BYTECODE_STORE_INDIRECT = 0x6, ASEBA_BYTECODE_UNARY_ARITHMETIC = 0x7, ASEBA_BYTECODE_BINARY_ARITHMETIC = 0x8, ASEBA_BYTECODE_JUMP = 0x9, ASEBA_BYTECODE_CONDITIONAL_BRANCH = 0xA, ASEBA_BYTECODE_EMIT = 0xB, ASEBA_BYTECODE_NATIVE_CALL = 0xC, ASEBA_BYTECODE_SUB_CALL = 0xD, ASEBA_BYTECODE_SUB_RET = 0xE } AsebaBytecodeId; /*! List of binary operators */ typedef enum { // arithmetic ASEBA_OP_SHIFT_LEFT = 0x0, ASEBA_OP_SHIFT_RIGHT, ASEBA_OP_ADD, ASEBA_OP_SUB, ASEBA_OP_MULT, ASEBA_OP_DIV, ASEBA_OP_MOD, // binary arithmetic ASEBA_OP_BIT_OR, ASEBA_OP_BIT_XOR, ASEBA_OP_BIT_AND, // comparison ASEBA_OP_EQUAL, ASEBA_OP_NOT_EQUAL, ASEBA_OP_BIGGER_THAN, ASEBA_OP_BIGGER_EQUAL_THAN, ASEBA_OP_SMALLER_THAN, ASEBA_OP_SMALLER_EQUAL_THAN, // logic ASEBA_OP_OR, ASEBA_OP_AND } AsebaBinaryOperator; /*! Mask of available binary operators */ #define ASEBA_BINARY_OPERATOR_MASK 0xff /*! List of unary operators */ typedef enum { ASEBA_UNARY_OP_SUB = 0x0, ASEBA_UNARY_OP_ABS, ASEBA_UNARY_OP_BIT_NOT, ASEBA_UNARY_OP_NOT // < not used for the VM, only for parsing, reduced by compiler using de Morgan and comparison inversion } AsebaUnaryOperator; /*! Mask of available unary operators */ #define ASEBA_UNARY_OPERATOR_MASK 0xff /*! Bit inside if opcode that indicates it is a when condition */ #define ASEBA_IF_IS_WHEN_BIT 8 /*! Bit inside if opcode that indicates that the last evaluation was true */ #define ASEBA_IF_WAS_TRUE_BIT 9 /*! List of masks for flags in AsebaVMState */ typedef enum { /*! This flag is enabled when a thread is being executed. */ ASEBA_VM_EVENT_ACTIVE_MASK = 0x1, /*! This flag is enabled when the VM is running stey by step. It is disabled when running normally. */ ASEBA_VM_STEP_BY_STEP_MASK = 0x2, /*! This flag is enabled when an event is running inside the debugger's fast loop, and cleared to make the debugger get out of the loop. This is usefull to allow an interrupt to stop the VM. */ ASEBA_VM_EVENT_RUNNING_MASK = 0x4 } AsebaExecutionStates; /*! List of special event ID */ typedef enum { ASEBA_EVENT_INIT = 0xFFFF, ASEBA_EVENT_LOCAL_EVENTS_START = 0xFFFE, } AsebaSpecialEventId; /*! Return a bare bytecode from its identifier */ #define AsebaBytecodeFromId(id) ((id) << 12) /*! Identifiers for remote bootloader and debug protocol */ typedef enum { /* from bootloader control program to a specific node */ ASEBA_MESSAGE_BOOTLOADER_RESET = 0x8000, ASEBA_MESSAGE_BOOTLOADER_READ_PAGE, ASEBA_MESSAGE_BOOTLOADER_WRITE_PAGE, ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_WRITE, /* from node to bootloader control program */ ASEBA_MESSAGE_BOOTLOADER_DESCRIPTION, ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_READ, ASEBA_MESSAGE_BOOTLOADER_ACK, /* from a specific node */ ASEBA_MESSAGE_DESCRIPTION = 0x9000, ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION, ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION, ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION, ASEBA_MESSAGE_DISCONNECTED, ASEBA_MESSAGE_VARIABLES, ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS, ASEBA_MESSAGE_DIVISION_BY_ZERO, ASEBA_MESSAGE_EVENT_EXECUTION_KILLED, ASEBA_MESSAGE_NODE_SPECIFIC_ERROR, ASEBA_MESSAGE_EXECUTION_STATE_CHANGED, ASEBA_MESSAGE_BREAKPOINT_SET_RESULT, ASEBA_MESSAGE_NODE_PRESENT, /* from IDE to all nodes */ ASEBA_MESSAGE_GET_DESCRIPTION = 0xA000, /* from IDE to a specific node */ ASEBA_MESSAGE_SET_BYTECODE, ASEBA_MESSAGE_RESET, ASEBA_MESSAGE_RUN, ASEBA_MESSAGE_PAUSE, ASEBA_MESSAGE_STEP, ASEBA_MESSAGE_STOP, ASEBA_MESSAGE_GET_EXECUTION_STATE, ASEBA_MESSAGE_BREAKPOINT_SET, ASEBA_MESSAGE_BREAKPOINT_CLEAR, ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL, ASEBA_MESSAGE_GET_VARIABLES, ASEBA_MESSAGE_SET_VARIABLES, ASEBA_MESSAGE_WRITE_BYTECODE, ASEBA_MESSAGE_REBOOT, ASEBA_MESSAGE_SUSPEND_TO_RAM, ASEBA_MESSAGE_GET_NODE_DESCRIPTION, /* from IDE to all nodes, here because it was added later */ ASEBA_MESSAGE_LIST_NODES, ASEBA_MESSAGE_INVALID = 0xFFFF } AsebaSystemMessagesTypes; /*! Identifiers for destinations */ typedef enum { ASEBA_DEST_DEBUG = 0, ASEBA_DEST_INVALID = 0xFFFF } AsebaMessagesDests; /*! Limits for static buffers allocation */ typedef enum { ASEBA_MAX_EVENT_ARG_COUNT = 258, /*!< Maximum number of arguments in an event (in word) */ } AsebaLimits; /*! Maximum size of arguments in a user-defined event (in bytes) */ #define ASEBA_MAX_EVENT_ARG_SIZE (ASEBA_MAX_EVENT_ARG_COUNT*2) /*! Maximum size of an event (in bytes), including its type, but not the source and the length */ #define ASEBA_MAX_INNER_PACKET_SIZE (ASEBA_MAX_EVENT_ARG_SIZE+2) /*! Maximum size of an event (in bytes), including its type plus the source and the length */ #define ASEBA_MAX_OUTER_PACKET_SIZE (ASEBA_MAX_INNER_PACKET_SIZE+4) /*! *DEPRECATED*, please use one of the more explicit defines above */ #define ASEBA_MAX_PACKET_SIZE ASEBA_MAX_INNER_PACKET_SIZE /*! Macro to avoid the warning "unused variable", if we have a valid reason to keep this variable */ #define ASEBA_UNUSED(x) do { (void)(x); } while (0) /*@}*/ #endif aseba-1.6.0/common/msg/000077500000000000000000000000001322771007300146515ustar00rootroot00000000000000aseba-1.6.0/common/msg/NodesManager.cpp000066400000000000000000000214571322771007300177310ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "NodesManager.h" #include "msg.h" #include using namespace std; namespace Aseba { NodesManager::Node::Node(const TargetDescription& targetDescription) : TargetDescription(targetDescription), namedVariablesReceptionCounter(0), localEventsReceptionCounter(0), nativeFunctionReceptionCounter(0) { } bool NodesManager::Node::isComplete() const { return (namedVariablesReceptionCounter == namedVariables.size()) && (localEventsReceptionCounter == localEvents.size()) && (nativeFunctionReceptionCounter == nativeFunctions.size()); } void NodesManager::pingNetwork() { // check whether there are new nodes in the network, for new targets (protocol >= 5) ListNodes listNodes; sendMessage(listNodes); // check nodes that have not been seen for long, mark them as disconnected const UnifiedTime now; const UnifiedTime delayToDisconnect(3000); bool isAnyConnected(false); for (auto & node : nodes) { // if node supports listing, if (node.second.protocolVersion >= 5 && (now - node.second.lastSeen) > delayToDisconnect && node.second.connected) { node.second.connected = false; nodeDisconnected(node.first); } // is this node connected? isAnyConnected = isAnyConnected || node.second.connected; } // if no node is connected, broadcast get description as well, for old targets (protocol 4) if (!isAnyConnected) { GetDescription getDescription; sendMessage(getDescription); } } void NodesManager::processMessage(const Message* message) { // check whether the node is known auto nodeIt(nodes.find(message->source)); if (nodeIt == nodes.end()) { // node is not known, so ignore excepted if the message type // is node present and it is not a known mismatch protocol, // in that case, request description... if ((message->type == ASEBA_MESSAGE_NODE_PRESENT) && mismatchingNodes.find(message->source) == mismatchingNodes.end()) { GetNodeDescription getNodeDescription(message->source); sendMessage(getNodeDescription); } // or if message type is description, in that case, proceed further if (message->type != ASEBA_MESSAGE_DESCRIPTION) return; } else { // node is known, check if connected... if (!nodeIt->second.connected) { // if not, build complete, set as connected and notify client nodeIt->second.connected = true; if (nodeIt->second.isComplete()) { // only notify connections of completed known nodes nodeConnected(nodeIt->first); } } // update last seen time nodeIt->second.lastSeen = UnifiedTime(); } // if we have a disconnection message { // FIXME: handle disconnected state const auto *disconnected = dynamic_cast(message); if (disconnected) { auto nodeIt = nodes.find(disconnected->source); assert (nodeIt != nodes.end()); nodes.erase(nodeIt); } } // if we have an initial description { const auto *description = dynamic_cast(message); if (description) { auto nodeIt = nodes.find(description->source); // We can receive a description twice, for instance if there is another IDE connected if (nodeIt != nodes.end() || (mismatchingNodes.find(description->source) != mismatchingNodes.end())) return; // Call a user function when a node protocol version mismatches if ((description->protocolVersion < ASEBA_MIN_TARGET_PROTOCOL_VERSION) || (description->protocolVersion > ASEBA_PROTOCOL_VERSION)) { nodeProtocolVersionMismatch(description->source, description->name, description->protocolVersion); mismatchingNodes.insert(description->source); return; } // create node and copy description into it nodes[description->source] = Node(*description); checkIfNodeDescriptionComplete(description->source, nodes[description->source]); } } // if we have a named variable description { const auto *description = dynamic_cast(message); if (description) { auto nodeIt = nodes.find(description->source); assert (nodeIt != nodes.end()); // copy description into array if array is empty if (nodeIt->second.namedVariablesReceptionCounter < nodeIt->second.namedVariables.size()) { nodeIt->second.namedVariables[nodeIt->second.namedVariablesReceptionCounter++] = *description; checkIfNodeDescriptionComplete(nodeIt->first, nodeIt->second); } } } // if we have a local event description { const auto *description = dynamic_cast(message); if (description) { auto nodeIt = nodes.find(description->source); assert (nodeIt != nodes.end()); // copy description into array if array is empty if (nodeIt->second.localEventsReceptionCounter < nodeIt->second.localEvents.size()) { nodeIt->second.localEvents[nodeIt->second.localEventsReceptionCounter++] = *description; checkIfNodeDescriptionComplete(nodeIt->first, nodeIt->second); } } } // if we have a native function description { const auto *description = dynamic_cast(message); if (description) { auto nodeIt = nodes.find(description->source); assert (nodeIt != nodes.end()); // copy description into array if (nodeIt->second.nativeFunctionReceptionCounter < nodeIt->second.nativeFunctions.size()) { nodeIt->second.nativeFunctions[nodeIt->second.nativeFunctionReceptionCounter++] = *description; checkIfNodeDescriptionComplete(nodeIt->first, nodeIt->second); } } } } void NodesManager::checkIfNodeDescriptionComplete(unsigned id, const Node& description) { // we will call the virtual function only when we have received all local events and native functions if (description.isComplete() && description.connected) { nodeDescriptionReceived(id); nodeConnected(id); } } std::wstring NodesManager::getNodeName(unsigned nodeId) const { auto nodeIt = nodes.find(nodeId); if (nodeIt != nodes.end()) { return nodeIt->second.name; } else { return L""; } } unsigned NodesManager::getNodeId(const std::wstring& name, unsigned preferedId, bool *ok) const { // search for the first node with a given name bool found(false); unsigned foundId(0); for (const auto & node : nodes) { if (node.second.name == name) { if (ok) *ok = true; if (node.first == preferedId) return node.first; else if (!found) foundId = node.first; found = true; } } // node found, but with another id than prefered if (found) return foundId; // node not found if (ok) *ok = false; return 0xFFFFFFFF; } const TargetDescription * NodesManager::getDescription(unsigned nodeId, bool *ok) const { auto nodeIt = nodes.find(nodeId); // node not found if (nodeIt == nodes.end()) { if (ok) *ok = false; return nullptr; } if (ok) *ok = true; return &(nodeIt->second); } unsigned NodesManager::getVariablePos(unsigned nodeId, const std::wstring& name, bool *ok) const { auto nodeIt = nodes.find(nodeId); // node not found if (nodeIt != nodes.end()) { size_t pos = 0; for (const auto & namedVariable : nodeIt->second.namedVariables) { if (namedVariable.name == name) { if (ok) *ok = true; return pos; } pos += namedVariable.size; } } // node not found or variable not found if (ok) *ok = false; return 0xFFFFFFFF; } unsigned NodesManager::getVariableSize(unsigned nodeId, const std::wstring& name, bool *ok) const { auto nodeIt = nodes.find(nodeId); // node not found if (nodeIt != nodes.end()) { for (const auto & namedVariable : nodeIt->second.namedVariables) { if (namedVariable.name == name) { if (ok) *ok = true; return namedVariable.size; } } } // node not found or variable not found if (ok) *ok = false; return 0xFFFFFFFF; } void NodesManager::reset() { nodes.clear(); } } // namespace Aseba aseba-1.6.0/common/msg/NodesManager.h000066400000000000000000000114251322771007300173700ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_DESCRIPTIONS_MANAGER_H #define ASEBA_DESCRIPTIONS_MANAGER_H #include "msg.h" #include "../utils/utils.h" #include #include namespace Aseba { /** \addtogroup msg */ /*@{*/ //! This helper class builds complete descriptions out of multiple message parts. //! For now, it does not support the disconnection of a whole network nor the update of the description of any node class NodesManager { protected: //! Potentially partial Descriptions of nodes along with their reception status struct Node: public TargetDescription { Node() = default; Node(const TargetDescription& targetDescription); unsigned namedVariablesReceptionCounter{0}; //!< what is the status of the reception of named variables unsigned localEventsReceptionCounter{0}; //!< what is the status of the reception of local events unsigned nativeFunctionReceptionCounter{0}; //!< what is the status of the reception of native functions bool connected{true}; //!< whether this node is considered connected, on a "physical" level UnifiedTime lastSeen; //!< when this node was last seen? bool isComplete() const; }; //! Map from nodes id to nodes descriptions typedef std::map NodesMap; NodesMap nodes; //!< all known nodes descriptions and connection status std::set mismatchingNodes; // (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "TargetDescription.h" #include "../utils/utils.h" namespace Aseba { //! Compute the XModem CRC of the description, as defined in AS001 at https://aseba.wikidot.com/asebaspecifications uint16_t TargetDescription::crc() const { uint16_t crc(0); crc = crcXModem(crc, bytecodeSize); crc = crcXModem(crc, variablesSize); crc = crcXModem(crc, stackSize); for (const auto & namedVariable : namedVariables) { crc = crcXModem(crc, namedVariable.size); crc = crcXModem(crc, namedVariable.name); } for (const auto & localEvent : localEvents) { crc = crcXModem(crc, localEvent.name); } for (const auto & nativeFunction : nativeFunctions) { crc = crcXModem(crc, nativeFunction.name); for (size_t j = 0; j < nativeFunction.parameters.size(); ++j) { crc = crcXModem(crc, nativeFunction.parameters[j].size); crc = crcXModem(crc, nativeFunction.parameters[j].name); } } return crc; } //! Get a VariablesMap out of namedVariables, overwrite freeVariableIndex VariablesMap TargetDescription::getVariablesMap(unsigned& freeVariableIndex) const { freeVariableIndex = 0; VariablesMap variablesMap; for (const auto & namedVariable : namedVariables) { variablesMap[namedVariable.name] = std::make_pair(freeVariableIndex, namedVariable.size); freeVariableIndex += namedVariable.size; } return variablesMap; } //! Get a FunctionsMap out of nativeFunctions FunctionsMap TargetDescription::getFunctionsMap() const { FunctionsMap functionsMap; for (unsigned i = 0; i < nativeFunctions.size(); i++) { functionsMap[nativeFunctions[i].name] = i; } return functionsMap; } } // namespace Aseba aseba-1.6.0/common/msg/TargetDescription.h000066400000000000000000000063411322771007300204600ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_TARGET_DESCRIPTION #define ASEBA_TARGET_DESCRIPTION #include #include #include namespace Aseba { /** \addtogroup msg */ /*@{*/ //! Lookup table for variables name => (pos, size)) using VariablesMap = std::map >; //! Lookup table for functions (name => id in target description) using FunctionsMap = std::map; //! Description of target VM struct TargetDescription { //! Description of target VM named variable struct NamedVariable { NamedVariable(std::wstring name, unsigned size) : name(std::move(name)), size(size) {} NamedVariable() = default; std::wstring name; //!< name of the variable unsigned size = 0; //!< size of variable in words }; //! Description of local event; struct LocalEvent { std::wstring name; //!< name of the event std::wstring description; //!< description (some short documentation) of the event }; //! Typed parameter of native functions struct NativeFunctionParameter { NativeFunctionParameter(std::wstring name, int size) : name(std::move(name)), size(size) {} NativeFunctionParameter() = default; std::wstring name; //!< name of the parameter int size = 0; //!< if > 0 size of the parameter, if < 0 template id, if 0 any size }; //! Description of target VM native function struct NativeFunction { std::wstring name; //!< name of the function std::wstring description; //!< description (some short documentation) of the function std::vector parameters; //!< for each argument of the function, its size in words or, if negative, its template ID }; std::wstring name; //!< node name unsigned protocolVersion{0}; //!< version of the aseba protocol unsigned bytecodeSize{0}; //!< total amount of bytecode space unsigned variablesSize{0}; //!< total amount of variables space unsigned stackSize{0}; //!< depth of execution stack std::vector namedVariables; //!< named variables std::vector localEvents; //!< events available locally on target std::vector nativeFunctions; //!< native functions TargetDescription() = default; uint16_t crc() const; VariablesMap getVariablesMap(unsigned& freeVariableIndex) const; FunctionsMap getFunctionsMap() const; }; /*@}*/ } // namespace Aseba #endif // ASEBA_TARGET_DESCRIPTION aseba-1.6.0/common/msg/endian.h000066400000000000000000000065411322771007300162660ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ENDIAN #define ASEBA_ENDIAN namespace Aseba { /** \addtogroup msg */ /*@{*/ //! ByteSwapper, code inspired by DPS (http://dps.epfl.ch/), released in GPL /** Mail to ask for LPGL relicensing sent to the author, Sebastian Gerlach */ struct ByteSwapper { /*! Swap bytes at data (generic) */ /** \param data pointer to data of size to swap */ template static inline void swapp(void *data) { uint8_t temp[size]; for (size_t i = 0; i < size; ++i) temp[i] = reinterpret_cast(data); for (size_t i = 0; i < size; ++i) reinterpret_cast(data)[i] = temp[size-1-i]; } /*! Swap value v (generic, mutable-value version) */ /** \param data reference to value to swap */ template static void swap(T& v) { swapp(&v); } /*! Swap value v (generic, const-value version) */ /** \param data const reference to value to swap * \return swapped value */ template static T swap(const T& v) { T temp(v); swapp(&temp); return temp; } }; //! Swap bytes for 8-bit word, do nothing template<> inline void ByteSwapper::swapp<1>(void * /*data*/) { } //! Swap bytes for 16-bit word template<> inline void ByteSwapper::swapp<2>(void *data) { const uint16_t a=*reinterpret_cast(data); *reinterpret_cast(data)= ((a&0x00ff)<< 8)| ((a>> 8)&0x00ff); } //! Swap bytes for 32-bit word template<> inline void ByteSwapper::swapp<4>(void *data) { const uint32_t a=*reinterpret_cast(data); *reinterpret_cast(data)= ((a&0x000000ff)<<24)| ((a&0x0000ff00)<< 8)| ((a>> 8)&0x0000ff00)| ((a>>24)&0x000000ff); } //! Swap bytes for 64-bit word template<> inline void ByteSwapper::swapp<8>(void *data) { const uint64_t a=*reinterpret_cast(data); *reinterpret_cast(data)= ((a&0x00000000000000ffLL)<<56)| ((a&0x000000000000ff00LL)<<40)| ((a&0x0000000000ff0000LL)<<24)| ((a&0x00000000ff000000LL)<< 8)| ((a>> 8)&0x00000000ff000000LL)| ((a>>24)&0x0000000000ff0000LL)| ((a>>40)&0x000000000000ff00LL)| ((a>>56)&0x00000000000000ffLL); } #ifdef __BIG_ENDIAN__ template T swapEndianCopy(const T& v) { return ByteSwapper::swap(v); } template void swapEndian(T& v) { ByteSwapper::swap(v); } #else template T swapEndianCopy(const T& v) { return v; } template void swapEndian(T& v) { /* do nothing */ } #endif /*@}*/ } // namespace Aseba #endif // ASEBA_ENDIAN aseba-1.6.0/common/msg/msg.cpp000066400000000000000000001107561322771007300161550ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "msg.h" #include "endian.h" #include "../utils/utils.h" #include #include #include #include #include #include #include using namespace std; namespace Aseba { using namespace Dashel; //! Static class that fills a table of known messages types in its constructor class MessageTypesInitializer { public: //! Constructor, register all known messages types MessageTypesInitializer() { registerMessageType(ASEBA_MESSAGE_BOOTLOADER_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_READ); registerMessageType(ASEBA_MESSAGE_BOOTLOADER_ACK); registerMessageType(ASEBA_MESSAGE_LIST_NODES); registerMessageType(ASEBA_MESSAGE_NODE_PRESENT); registerMessageType(ASEBA_MESSAGE_GET_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_GET_NODE_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION); registerMessageType(ASEBA_MESSAGE_DISCONNECTED); registerMessageType(ASEBA_MESSAGE_VARIABLES); registerMessageType(ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS); registerMessageType(ASEBA_MESSAGE_DIVISION_BY_ZERO); registerMessageType(ASEBA_MESSAGE_EVENT_EXECUTION_KILLED); registerMessageType(ASEBA_MESSAGE_NODE_SPECIFIC_ERROR); registerMessageType(ASEBA_MESSAGE_EXECUTION_STATE_CHANGED); registerMessageType(ASEBA_MESSAGE_BREAKPOINT_SET_RESULT); registerMessageType(ASEBA_MESSAGE_BOOTLOADER_RESET); registerMessageType(ASEBA_MESSAGE_BOOTLOADER_READ_PAGE); registerMessageType(ASEBA_MESSAGE_BOOTLOADER_WRITE_PAGE); registerMessageType(ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_WRITE); registerMessageType(ASEBA_MESSAGE_SET_BYTECODE); registerMessageType(ASEBA_MESSAGE_RESET); registerMessageType(ASEBA_MESSAGE_RUN); registerMessageType(ASEBA_MESSAGE_PAUSE); registerMessageType(ASEBA_MESSAGE_STEP); registerMessageType(ASEBA_MESSAGE_STOP); registerMessageType(ASEBA_MESSAGE_GET_EXECUTION_STATE); registerMessageType(ASEBA_MESSAGE_BREAKPOINT_SET); registerMessageType(ASEBA_MESSAGE_BREAKPOINT_CLEAR); registerMessageType(ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL); registerMessageType(ASEBA_MESSAGE_GET_VARIABLES); registerMessageType(ASEBA_MESSAGE_SET_VARIABLES); registerMessageType(ASEBA_MESSAGE_WRITE_BYTECODE); registerMessageType(ASEBA_MESSAGE_REBOOT); registerMessageType(ASEBA_MESSAGE_SUSPEND_TO_RAM); } //! Register a message type by storing a pointer to its constructor template void registerMessageType(uint16_t type) { messagesTypes[type] = &Creator; } //! Create an instance of a registered message type Message *createMessage(uint16_t type) { if (messagesTypes.find(type) == messagesTypes.end()) return new UserMessage; else return messagesTypes[type](); } //! Print the list of registered messages types to stream void dumpKnownMessagesTypes(wostream &stream) const { stream << hex << showbase; for (const auto& messageTypeKV: messagesTypes) stream << "\t" << setw(4) << messageTypeKV.first << "\n"; stream << dec << noshowbase; } protected: //! Pointer to constructor of class Message using CreatorFunc = Message *(*)(); map messagesTypes; //!< table of known messages types //! Create a new message of type Sub template static Message* Creator() { return new Sub(); } } messageTypesInitializer; //!< static instance, used only to have its constructor called on startup // //! Compare all data members bool operator ==(const TargetDescription::NamedVariable &lhs, const TargetDescription::NamedVariable &rhs) { return lhs.size == rhs.size && lhs.name == rhs.name; } //! Compare all data members bool operator ==(const TargetDescription::LocalEvent &lhs, const TargetDescription::LocalEvent &rhs) { return lhs.name == rhs.name && lhs.description == rhs.description; } //! Compare all data members bool operator ==(const TargetDescription::NativeFunctionParameter &lhs, const TargetDescription::NativeFunctionParameter &rhs) { return lhs.size == rhs.size && lhs.name == rhs.name; } //! Compare all data members bool operator ==(const TargetDescription::NativeFunction &lhs, const TargetDescription::NativeFunction &rhs) { return lhs.name == rhs.name && lhs.description == rhs.description && lhs.parameters == rhs.parameters; } // void Message::serialize(Stream* stream) const { SerializationBuffer buffer; serializeSpecific(buffer); auto len = static_cast(buffer.rawData.size()); if (len > ASEBA_MAX_EVENT_ARG_SIZE) { cerr << "Message::serialize() : fatal error: message size exceeds maximum packet size.\n"; cerr << "message payload size: " << len << ", maximum packet payload size (excluding type): " << ASEBA_MAX_EVENT_ARG_SIZE << ", message type: " << hex << showbase << type << dec << noshowbase; cerr << endl; terminate(); } uint16_t t; swapEndian(len); stream->write(&len, 2); t = swapEndianCopy(source); stream->write(&t, 2); t = swapEndianCopy(type); stream->write(&t, 2); if (buffer.rawData.size()) stream->write(&buffer.rawData[0], buffer.rawData.size()); } Message *Message::receive(Stream* stream) { // read header uint16_t len, source, type; stream->read(&len, 2); swapEndian(len); stream->read(&source, 2); swapEndian(source); stream->read(&type, 2); swapEndian(type); // read content SerializationBuffer buffer; buffer.rawData.resize(len); if (len) stream->read(&buffer.rawData[0], len); // deserialize message return create(source, type, buffer); } Message *Message::create(uint16_t source, uint16_t type, SerializationBuffer& buffer) { // create message Message *message = messageTypesInitializer.createMessage(type); // prepare message message->source = source; message->type = type; // deserialize it message->deserializeSpecific(buffer); if (buffer.readPos != buffer.rawData.size()) { cerr << "Message::create() : fatal error: message not fully deserialized.\n"; cerr << "type: " << type << ", readPos: " << buffer.readPos << ", rawData size: " << buffer.rawData.size() << endl; buffer.dump(wcerr); terminate(); } return message; } Message* Message::clone() const { // create message Message *message = messageTypesInitializer.createMessage(type); // fill headers message->source = source; message->type = type; // copy content through the serialization buffer SerializationBuffer content; serializeSpecific(content); message->deserializeSpecific(content); return message; } void Message::dump(wostream &stream) const { stream << hex << setw(4) << setfill(wchar_t('0')) << type << " "; stream << dec << setfill(wchar_t(' ')) << *this << " from "; stream << source << " : "; dumpSpecific(stream); } bool operator ==(const Message &lhs, const Message &rhs) { return lhs.source == rhs.source && lhs.type == rhs.type ; } template void Message::SerializationBuffer::add(const T& val) { const size_t pos = rawData.size(); rawData.reserve(pos + sizeof(T)); const T swappedVal(swapEndianCopy(val)); const auto *ptr = reinterpret_cast(&swappedVal); copy(ptr, ptr + sizeof(T), back_inserter(rawData)); } template<> void Message::SerializationBuffer::add(const string& val) { if (val.length() > 255) { cerr << "Message::SerializationBuffer::add() : fatal error, string length exceeds 255 characters.\n"; cerr << "string size: " << val.length(); cerr << endl; dump(wcerr); terminate(); } add(static_cast(val.length())); for (const uint8_t c: val) add(c); } template T Message::SerializationBuffer::get() { if (readPos + sizeof(T) > rawData.size()) { cerr << "Message::SerializationBuffer::get<" << typeid(T).name() << ">() : fatal error: attempt to overread.\n"; cerr << "readPos: " << readPos << ", rawData size: " << rawData.size() << ", element size: " << sizeof(T); cerr << endl; dump(wcerr); terminate(); } size_t pos = readPos; readPos += sizeof(T); T val; auto *ptr = reinterpret_cast(&val); copy(rawData.cbegin() + pos, rawData.cbegin() + pos + sizeof(T), ptr); swapEndian(val); return val; } template<> string Message::SerializationBuffer::get() { string s; size_t len = get(); s.resize(len); for (auto& c: s) c = get(); return s; } void Message::SerializationBuffer::dump(std::wostream &stream) const { for (const auto word: rawData) stream << unsigned(word) << " (" << word << "), "; stream << endl; } // UserMessage::UserMessage(uint16_t type, const int16_t* data, const size_t length): Message(type) { this->data.resize(length); copy(data, data+length, this->data.begin()); } void UserMessage::serializeSpecific(SerializationBuffer& buffer) const { for (const auto word: data) buffer.add(word); } void UserMessage::deserializeSpecific(SerializationBuffer& buffer) { if (buffer.rawData.size() % 2 != 0) { cerr << "UserMessage::deserializeSpecific(SerializationBuffer& buffer) : fatal error: odd size.\n"; cerr << "message size: " << buffer.rawData.size() << ", message type: " << type; cerr << endl; terminate(); } data.resize(buffer.rawData.size() / 2); for (auto& word: data) word = buffer.get(); } void UserMessage::dumpSpecific(wostream &stream) const { stream << dec << "user message of size " << data.size() << " : "; for (const auto word: data) stream << setw(4) << word << " "; stream << dec << setfill(wchar_t(' ')); } bool operator ==(const UserMessage &lhs, const UserMessage &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.data == rhs.data ; } // void CmdMessage::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(dest); } void CmdMessage::deserializeSpecific(SerializationBuffer& buffer) { dest = buffer.get(); } void CmdMessage::dumpSpecific(wostream &stream) const { stream << "dest " << dest << " "; } bool operator ==(const CmdMessage &lhs, const CmdMessage &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.dest == rhs.dest ; } // void BootloaderDescription::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pageSize); buffer.add(pagesStart); buffer.add(pagesCount); } void BootloaderDescription::deserializeSpecific(SerializationBuffer& buffer) { pageSize = buffer.get(); pagesStart = buffer.get(); pagesCount = buffer.get(); } void BootloaderDescription::dumpSpecific(wostream &stream) const { stream << pagesCount << " pages of size " << pageSize << " starting at page " << pagesStart; } bool operator ==(const BootloaderDescription &lhs, const BootloaderDescription &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pageSize == rhs.pageSize && lhs.pagesStart == rhs.pagesStart && lhs.pagesCount == rhs.pagesCount ; } // void BootloaderDataRead::serializeSpecific(SerializationBuffer& buffer) const { for (const auto word: data) buffer.add(word); } void BootloaderDataRead::deserializeSpecific(SerializationBuffer& buffer) { for (auto& word: data) word = buffer.get(); } void BootloaderDataRead::dumpSpecific(wostream &stream) const { stream << hex << setfill(wchar_t('0')); for (const auto word: data) stream << setw(2) << unsigned(word) << " "; stream << dec << setfill(wchar_t(' ')); } bool operator ==(const BootloaderDataRead &lhs, const BootloaderDataRead &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.data == rhs.data ; } // void BootloaderAck::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(static_cast(errorCode)); if (errorCode == ErrorCode::PROGRAMMING_FAILED) buffer.add(errorAddress); } void BootloaderAck::deserializeSpecific(SerializationBuffer& buffer) { errorCode = static_cast(buffer.get()); if (errorCode == ErrorCode::PROGRAMMING_FAILED) errorAddress = buffer.get(); } void BootloaderAck::dumpSpecific(wostream &stream) const { switch (errorCode) { case ErrorCode::SUCCESS: stream << "success"; break; case ErrorCode::INVALID_FRAME_SIZE: stream << "error, invalid frame size"; break; case ErrorCode::PROGRAMMING_FAILED: stream << "error, programming failed at low address " << hex << showbase << errorAddress; break; case ErrorCode::NOT_PROGRAMMING: stream << "error, not programming"; break; default: stream << "unknown error"; break; } stream << dec << noshowbase; } bool operator ==(const BootloaderAck &lhs, const BootloaderAck &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.errorCode == rhs.errorCode && lhs.errorAddress == rhs.errorAddress ; } // void ListNodes::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(version); } void ListNodes::deserializeSpecific(SerializationBuffer& buffer) { version = buffer.get(); } void ListNodes::dumpSpecific(std::wostream &stream) const { stream << "protocol version " << version; } bool operator ==(const ListNodes &lhs, const ListNodes &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.version == rhs.version ; } // void NodePresent::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(version); } void NodePresent::deserializeSpecific(SerializationBuffer& buffer) { version = buffer.get(); } void NodePresent::dumpSpecific(std::wostream &stream) const { stream << "protocol version " << version; } bool operator ==(const NodePresent &lhs, const NodePresent &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.version == rhs.version ; } // void GetDescription::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(version); } void GetDescription::deserializeSpecific(SerializationBuffer& buffer) { version = buffer.get(); } void GetDescription::dumpSpecific(std::wostream &stream) const { stream << "protocol version " << version; } bool operator ==(const GetDescription &lhs, const GetDescription &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.version == rhs.version ; } // void GetNodeDescription::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(version); } void GetNodeDescription::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); version = buffer.get(); } void GetNodeDescription::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "protocol version " << version; } bool operator ==(const GetNodeDescription &lhs, const GetNodeDescription &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.version == rhs.version ; } // void Description::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(WStringToUTF8(name)); buffer.add(static_cast(protocolVersion)); buffer.add(static_cast(bytecodeSize)); buffer.add(static_cast(stackSize)); buffer.add(static_cast(variablesSize)); buffer.add(static_cast(namedVariables.size())); // named variables are sent separately buffer.add(static_cast(localEvents.size())); // local events are sent separately buffer.add(static_cast(nativeFunctions.size())); // native functions are sent separately } void Description::deserializeSpecific(SerializationBuffer& buffer) { name = UTF8ToWString(buffer.get()); protocolVersion = buffer.get(); bytecodeSize = buffer.get(); stackSize = buffer.get(); variablesSize = buffer.get(); namedVariables.resize(buffer.get()); // named variables are received separately localEvents.resize(buffer.get()); // local events are received separately nativeFunctions.resize(buffer.get()); // native functions are received separately } void Description::dumpSpecific(wostream &stream) const { stream << "Node " << name << " using protocol version " << protocolVersion << "\n"; stream << "bytecode: " << bytecodeSize << ", stack: " << stackSize << ", variables: " << variablesSize; stream << "\nnamed variables: " << namedVariables.size() << "\n"; // named variables are available separately stream << "\nlocal events: " << localEvents.size() << "\n"; // local events are available separately stream << "native functions: " << nativeFunctions.size(); // native functions are available separately } bool operator ==(const Description &lhs, const Description &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.name == rhs.name && lhs.protocolVersion == rhs.protocolVersion && lhs.bytecodeSize == rhs.bytecodeSize && lhs.stackSize == rhs.stackSize && lhs.variablesSize == rhs.variablesSize && lhs.namedVariables == rhs.namedVariables && lhs.localEvents == rhs.localEvents && lhs.nativeFunctions == rhs.nativeFunctions ; } // void NamedVariableDescription::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(static_cast(size)); buffer.add(WStringToUTF8(name)); } void NamedVariableDescription::deserializeSpecific(SerializationBuffer& buffer) { size = buffer.get(); name = UTF8ToWString(buffer.get()); } void NamedVariableDescription::dumpSpecific(std::wostream &stream) const { stream << name << " of size " << size; } bool operator ==(const NamedVariableDescription &lhs, const NamedVariableDescription &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.size == rhs.size && lhs.name == rhs.name ; } // void LocalEventDescription::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(WStringToUTF8(name)); buffer.add(WStringToUTF8(description)); } void LocalEventDescription::deserializeSpecific(SerializationBuffer& buffer) { name = UTF8ToWString(buffer.get()); description = UTF8ToWString(buffer.get()); } void LocalEventDescription::dumpSpecific(std::wostream &stream) const { stream << name << " : " << description; } bool operator ==(const LocalEventDescription &lhs, const LocalEventDescription &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.name == rhs.name && lhs.description == rhs.description ; } // void NativeFunctionDescription::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(WStringToUTF8(name)); buffer.add(WStringToUTF8(description)); buffer.add(static_cast(parameters.size())); for (const auto& parameter: parameters) { buffer.add(static_cast(parameter.size)); buffer.add(WStringToUTF8(parameter.name)); } } void NativeFunctionDescription::deserializeSpecific(SerializationBuffer& buffer) { name = UTF8ToWString(buffer.get()); description = UTF8ToWString(buffer.get()); parameters.resize(buffer.get()); for (auto& parameter: parameters) { parameter.size = buffer.get(); parameter.name = UTF8ToWString(buffer.get()); } } void NativeFunctionDescription::dumpSpecific(std::wostream &stream) const { stream << name << " ("; for (size_t j = 0; j < parameters.size(); j++) { stream << parameters[j].name; stream << "<" << parameters[j].size << ">"; if (j + 1 < parameters.size()) stream << ", "; } stream << ") : " << description; } bool operator ==(const NativeFunctionDescription &lhs, const NativeFunctionDescription &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.name == rhs.name && lhs.description == rhs.description && lhs.parameters == rhs.parameters ; } // bool operator ==(const Disconnected &lhs, const Disconnected &rhs) { return static_cast(lhs) == static_cast(rhs); } // void Variables::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(start); for (const auto variable: variables) buffer.add(variable); } void Variables::deserializeSpecific(SerializationBuffer& buffer) { start = buffer.get(); variables.resize((buffer.rawData.size() - buffer.readPos) / 2); for (auto& variable: variables) variable = buffer.get(); } void Variables::dumpSpecific(wostream &stream) const { stream << "start " << start << ", variables vector of size " << variables.size(); /*for (size_t i = 0; i < variables.size(); i++) stream << "\n " << i << " : " << variables[i]; stream << "\n";*/ } bool operator ==(const Variables &lhs, const Variables &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.start == rhs.start && lhs.variables == rhs.variables ; } // void ArrayAccessOutOfBounds::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pc); buffer.add(size); buffer.add(index); } void ArrayAccessOutOfBounds::deserializeSpecific(SerializationBuffer& buffer) { pc = buffer.get(); size = buffer.get(); index = buffer.get(); } void ArrayAccessOutOfBounds::dumpSpecific(wostream &stream) const { stream << "pc " << pc << ", size " << size << ", index " << index ; } bool operator ==(const ArrayAccessOutOfBounds &lhs, const ArrayAccessOutOfBounds &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc && lhs.size == rhs.size && lhs.index == rhs.index ; } // void DivisionByZero::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pc); } void DivisionByZero::deserializeSpecific(SerializationBuffer& buffer) { pc = buffer.get(); } void DivisionByZero::dumpSpecific(wostream &stream) const { stream << "pc " << pc; } bool operator ==(const DivisionByZero &lhs, const DivisionByZero &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc ; } // void EventExecutionKilled::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pc); } void EventExecutionKilled::deserializeSpecific(SerializationBuffer& buffer) { pc = buffer.get(); } void EventExecutionKilled::dumpSpecific(wostream &stream) const { stream << "pc " << pc; } bool operator ==(const EventExecutionKilled &lhs, const EventExecutionKilled &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc ; } // void NodeSpecificError::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pc); buffer.add(WStringToUTF8(message)); } void NodeSpecificError::deserializeSpecific(SerializationBuffer& buffer) { pc = buffer.get(); message = UTF8ToWString(buffer.get()); } void NodeSpecificError::dumpSpecific(wostream &stream) const { stream << "pc " << pc << " " << message; } bool operator ==(const NodeSpecificError &lhs, const NodeSpecificError &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc && lhs.message == rhs.message ; } // void ExecutionStateChanged::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pc); buffer.add(flags); } void ExecutionStateChanged::deserializeSpecific(SerializationBuffer& buffer) { pc = buffer.get(); flags = buffer.get(); } void ExecutionStateChanged::dumpSpecific(wostream &stream) const { stream << "pc " << pc << ", flags "; stream << hex << showbase << setw(4) << flags; stream << dec << noshowbase; } bool operator ==(const ExecutionStateChanged &lhs, const ExecutionStateChanged &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc && lhs.flags == rhs.flags ; } // void BreakpointSetResult::serializeSpecific(SerializationBuffer& buffer) const { buffer.add(pc); buffer.add(success); } void BreakpointSetResult::deserializeSpecific(SerializationBuffer& buffer) { pc = buffer.get(); success = buffer.get(); } void BreakpointSetResult::dumpSpecific(wostream &stream) const { stream << "pc " << pc << ", success " << success; } bool operator ==(const BreakpointSetResult &lhs, const BreakpointSetResult &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc && lhs.success == rhs.success ; } // bool operator ==(const BootloaderReset &lhs, const BootloaderReset &rhs) { return static_cast(lhs) == static_cast(rhs); } // void BootloaderReadPage::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(pageNumber); } void BootloaderReadPage::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); pageNumber = buffer.get(); } void BootloaderReadPage::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "page " << pageNumber; } bool operator ==(const BootloaderReadPage &lhs, const BootloaderReadPage &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pageNumber == rhs.pageNumber ; } // void BootloaderWritePage::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(pageNumber); } void BootloaderWritePage::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); pageNumber = buffer.get(); } void BootloaderWritePage::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "page " << pageNumber; } bool operator ==(const BootloaderWritePage &lhs, const BootloaderWritePage &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pageNumber == rhs.pageNumber ; } // void BootloaderPageDataWrite::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); for (const auto word: data) buffer.add(word); } void BootloaderPageDataWrite::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); for (auto& word: data) word = buffer.get(); } void BootloaderPageDataWrite::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << hex << setfill(wchar_t('0')); for (const auto word: data) stream << setw(2) << unsigned(word) << " "; stream << dec << setfill(wchar_t(' ')); } bool operator ==(const BootloaderPageDataWrite &lhs, const BootloaderPageDataWrite &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.data == rhs.data ; } // void SetBytecode::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(start); for (const auto word: bytecode) buffer.add(word); } void SetBytecode::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); start = buffer.get(); bytecode.resize((buffer.rawData.size() - buffer.readPos) / 2); for (auto& word: bytecode) word = buffer.get(); } void SetBytecode::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << bytecode.size() << " words of bytecode of starting at " << start; } bool operator ==(const SetBytecode &lhs, const SetBytecode &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.start == rhs.start && lhs.bytecode == rhs.bytecode ; } void sendBytecode(Dashel::Stream* stream, uint16_t dest, const std::vector& bytecode) { const unsigned bytecodePayloadSize = ASEBA_MAX_EVENT_ARG_COUNT-2; unsigned bytecodeStart = 0; unsigned bytecodeCount = bytecode.size(); while (bytecodeCount > bytecodePayloadSize) { SetBytecode setBytecodeMessage(dest, bytecodeStart); setBytecodeMessage.bytecode.resize(bytecodePayloadSize); copy(bytecode.begin()+bytecodeStart, bytecode.begin()+bytecodeStart+bytecodePayloadSize, setBytecodeMessage.bytecode.begin()); setBytecodeMessage.serialize(stream); bytecodeStart += bytecodePayloadSize; bytecodeCount -= bytecodePayloadSize; } { SetBytecode setBytecodeMessage(dest, bytecodeStart); setBytecodeMessage.bytecode.resize(bytecodeCount); copy(bytecode.begin()+bytecodeStart, bytecode.end(), setBytecodeMessage.bytecode.begin()); setBytecodeMessage.serialize(stream); } } void sendBytecode(std::vector>& messagesVector, uint16_t dest, const std::vector& bytecode) { const unsigned bytecodePayloadSize = ASEBA_MAX_EVENT_ARG_COUNT-2; unsigned bytecodeStart = 0; unsigned bytecodeCount = bytecode.size(); while (bytecodeCount > bytecodePayloadSize) { auto setBytecodeMessage = make_unique(dest, bytecodeStart); setBytecodeMessage->bytecode.resize(bytecodePayloadSize); copy(bytecode.begin()+bytecodeStart, bytecode.begin()+bytecodeStart+bytecodePayloadSize, setBytecodeMessage->bytecode.begin()); messagesVector.push_back(move(setBytecodeMessage)); bytecodeStart += bytecodePayloadSize; bytecodeCount -= bytecodePayloadSize; } { auto setBytecodeMessage = make_unique(dest, bytecodeStart); setBytecodeMessage->bytecode.resize(bytecodeCount); copy(bytecode.begin()+bytecodeStart, bytecode.end(), setBytecodeMessage->bytecode.begin()); messagesVector.push_back(move(setBytecodeMessage)); } } // bool operator ==(const Reset &lhs, const Reset &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const Run &lhs, const Run &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const Pause &lhs, const Pause &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const Step &lhs, const Step &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const Stop &lhs, const Stop &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const GetExecutionState &lhs, const GetExecutionState &rhs) { return static_cast(lhs) == static_cast(rhs); } // void BreakpointSet::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(pc); } void BreakpointSet::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); pc = buffer.get(); } void BreakpointSet::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "pc " << pc; } bool operator ==(const BreakpointSet &lhs, const BreakpointSet &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc ; } // void BreakpointClear::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(pc); } void BreakpointClear::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); pc = buffer.get(); } void BreakpointClear::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "pc " << pc; } bool operator ==(const BreakpointClear &lhs, const BreakpointClear &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.pc == rhs.pc ; } // bool operator ==(const BreakpointClearAll &lhs, const BreakpointClearAll &rhs) { return static_cast(lhs) == static_cast(rhs); } // GetVariables::GetVariables(uint16_t dest, uint16_t start, uint16_t length) : CmdMessage(ASEBA_MESSAGE_GET_VARIABLES, dest), start(start), length(length) { } void GetVariables::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(start); buffer.add(length); } void GetVariables::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); start = buffer.get(); length = buffer.get(); } void GetVariables::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "start " << start << ", length " << length; } bool operator ==(const GetVariables &lhs, const GetVariables &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.start == rhs.start && lhs.length == rhs.length ; } // SetVariables::SetVariables(uint16_t dest, uint16_t start, VariablesDataVector variables) : CmdMessage(ASEBA_MESSAGE_SET_VARIABLES, dest), start(start), variables(std::move(variables)) { } void SetVariables::serializeSpecific(SerializationBuffer& buffer) const { CmdMessage::serializeSpecific(buffer); buffer.add(start); for (const auto variable: variables) buffer.add(variable); } void SetVariables::deserializeSpecific(SerializationBuffer& buffer) { CmdMessage::deserializeSpecific(buffer); start = buffer.get(); variables.resize((buffer.rawData.size() - buffer.readPos) / 2); for (auto& variable: variables) variable = buffer.get(); } void SetVariables::dumpSpecific(wostream &stream) const { CmdMessage::dumpSpecific(stream); stream << "start " << start << ", variables vector of size " << variables.size(); } bool operator ==(const SetVariables &lhs, const SetVariables &rhs) { return static_cast(lhs) == static_cast(rhs) && lhs.start == rhs.start && lhs.variables == rhs.variables ; } // bool operator ==(const WriteBytecode &lhs, const WriteBytecode &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const Reboot &lhs, const Reboot &rhs) { return static_cast(lhs) == static_cast(rhs); } // bool operator ==(const Sleep &lhs, const Sleep &rhs) { return static_cast(lhs) == static_cast(rhs); } } // namespace Aseba aseba-1.6.0/common/msg/msg.h000066400000000000000000000624601322771007300156200ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_MSG #define ASEBA_MSG #include "../types.h" #include "../consts.h" #include "TargetDescription.h" #include #include #include #include #include namespace Dashel { class Stream; } namespace Aseba { /** \defgroup msg Messages exchanged over the network Aseba messages payload data must be 512 bytes or smaller, which means that the total packets size (len + source + type + payload) must be 518 bytes or smaller. */ /*@{*/ // comparison operators for inner classes of compiler, we need them here because messages use them bool operator ==(const TargetDescription::NamedVariable &lhs, const TargetDescription::NamedVariable &rhs); bool operator ==(const TargetDescription::LocalEvent &lhs, const TargetDescription::LocalEvent &rhs); bool operator ==(const TargetDescription::NativeFunctionParameter &lhs, const TargetDescription::NativeFunctionParameter &rhs); bool operator ==(const TargetDescription::NativeFunction &lhs, const TargetDescription::NativeFunction &rhs); //! Vector of data of variables using VariablesDataVector = std::vector; //! Parent class of any message exchanged over the network class Message { public: //! Helper class that contains the raw data being (de-)serialialized struct SerializationBuffer { std::vector rawData; size_t readPos = 0; template void add(const T& val); template T get(); void dump(std::wostream &stream) const; }; // data members uint16_t source = ASEBA_DEST_DEBUG; uint16_t type; // constructor and auto-generated members constexpr Message(uint16_t type) noexcept: type(type) {} Message(const Message&) = default; Message& operator=(const Message&) = default; Message(Message&&) = default; Message& operator=(Message&&) = default; virtual ~Message() = default; // (de-)serialization methods void serialize(Dashel::Stream* stream) const; static Message *receive(Dashel::Stream* stream); static Message *create(uint16_t source, uint16_t type, SerializationBuffer& buffer); Message* clone() const; void dump(std::wostream &stream) const; // purely-virtual methods for children virtual void serializeSpecific(SerializationBuffer& buffer) const = 0; virtual void deserializeSpecific(SerializationBuffer& buffer) = 0; virtual void dumpSpecific(std::wostream &stream) const = 0; protected: virtual operator const char * () const { return "message super class"; } }; bool operator ==(const Message &lhs, const Message &rhs); //! Any message sent by a script on a node class UserMessage : public Message { public: VariablesDataVector data; public: UserMessage() : Message(ASEBA_MESSAGE_INVALID) { } UserMessage(uint16_t type, VariablesDataVector data = VariablesDataVector()) : Message(type), data(std::move(data)) { } UserMessage(uint16_t type, const int16_t* data, const size_t length); protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "user message"; } }; bool operator ==(const UserMessage &lhs, const UserMessage &rhs); //! Commands messages talk to a specific node class CmdMessage : public Message { public: uint16_t dest; protected: CmdMessage(uint16_t type, uint16_t dest) : Message(type), dest(dest) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "command message super class"; } }; bool operator ==(const CmdMessage &lhs, const CmdMessage &rhs); //! Message for bootloader: description of the flash memory layout class BootloaderDescription : public Message { public: uint16_t pageSize; uint16_t pagesStart; uint16_t pagesCount; public: BootloaderDescription() : Message(ASEBA_MESSAGE_BOOTLOADER_DESCRIPTION) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "bootloader description"; } }; bool operator ==(const BootloaderDescription &lhs, const BootloaderDescription &rhs); //! Message for bootloader: data from the flash class BootloaderDataRead : public Message { public: std::array data; public: BootloaderDataRead() : Message(ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_READ) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "bootloader page data read"; } }; bool operator ==(const BootloaderDataRead &lhs, const BootloaderDataRead &rhs); //! Message for bootloader: acknowledge, with optional error code class BootloaderAck : public Message { public: enum class ErrorCode: uint16_t { SUCCESS = 0, INVALID_FRAME_SIZE, PROGRAMMING_FAILED, NOT_PROGRAMMING }; public: ErrorCode errorCode; uint16_t errorAddress; public: BootloaderAck() : Message(ASEBA_MESSAGE_BOOTLOADER_ACK) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "bootloader ack"; } }; bool operator ==(const BootloaderAck &lhs, const BootloaderAck &rhs); //! Request nodes to notify their presence class ListNodes : public Message { public: uint16_t version = ASEBA_PROTOCOL_VERSION; public: ListNodes() : Message(ASEBA_MESSAGE_LIST_NODES) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &) const override; operator const char * () const override { return "list nodes"; } }; bool operator ==(const ListNodes &lhs, const ListNodes &rhs); //! Answer of a node notifying its presence class NodePresent : public Message { public: uint16_t version = ASEBA_PROTOCOL_VERSION; public: NodePresent() : Message(ASEBA_MESSAGE_NODE_PRESENT) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &) const override; operator const char * () const override { return "node present"; } }; bool operator ==(const NodePresent &lhs, const NodePresent &rhs); //! Request all nodes to send their description class GetDescription : public Message { public: uint16_t version = ASEBA_PROTOCOL_VERSION; public: GetDescription() : Message(ASEBA_MESSAGE_GET_DESCRIPTION) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &) const override; operator const char * () const override { return "presence"; } }; bool operator ==(const GetDescription &lhs, const GetDescription &rhs); //! Request a specific node to send its description class GetNodeDescription : public CmdMessage { public: uint16_t version = ASEBA_PROTOCOL_VERSION; public: GetNodeDescription(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_GET_NODE_DESCRIPTION, dest) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &) const override; operator const char * () const override { return "get node description"; } }; bool operator ==(const GetNodeDescription &lhs, const GetNodeDescription &rhs); //! Description of a node, local events and native functions are omitted and further received by other messages class Description : public Message, public TargetDescription { public: Description() : Message(ASEBA_MESSAGE_DESCRIPTION) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "description"; } }; bool operator ==(const Description &lhs, const Description &rhs); //! Description of a named variable available on a node, the description of the node itself must have been sent first class NamedVariableDescription : public Message, public TargetDescription::NamedVariable { public: NamedVariableDescription() : Message(ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "named variable"; } }; bool operator ==(const NamedVariableDescription &lhs, const NamedVariableDescription &rhs); //! Description of a local event available on a node, the description of the node itself must have been sent first class LocalEventDescription : public Message, public TargetDescription::LocalEvent { public: LocalEventDescription() : Message(ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "local event"; } }; bool operator ==(const LocalEventDescription &lhs, const LocalEventDescription &rhs); //! Description of a native function available on a node, the description of the node itself must have been sent first class NativeFunctionDescription : public Message, public TargetDescription::NativeFunction { public: NativeFunctionDescription() : Message(ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "native function description"; } }; bool operator ==(const NativeFunctionDescription &lhs, const NativeFunctionDescription &rhs); //! A node has disconnected from the network class Disconnected : public Message { public: Disconnected() : Message(ASEBA_MESSAGE_DISCONNECTED) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override {} void deserializeSpecific(SerializationBuffer& buffer) override {} void dumpSpecific(std::wostream &) const override {} operator const char * () const override { return "disconnected"; } }; bool operator ==(const Disconnected &lhs, const Disconnected &rhs); //! Content of some variables class Variables : public Message { public: uint16_t start; VariablesDataVector variables; public: Variables() : Message(ASEBA_MESSAGE_VARIABLES) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "variables"; } }; bool operator ==(const Variables &lhs, const Variables &rhs); //! Exception: an array acces attempted to read past memory class ArrayAccessOutOfBounds : public Message { public: uint16_t pc; uint16_t size; uint16_t index; public: ArrayAccessOutOfBounds() : Message(ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "array access out of bounds"; } }; bool operator ==(const ArrayAccessOutOfBounds &lhs, const ArrayAccessOutOfBounds &rhs); //! Exception: division by zero class DivisionByZero : public Message { public: uint16_t pc; public: DivisionByZero() : Message(ASEBA_MESSAGE_DIVISION_BY_ZERO) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "division by zero"; } }; bool operator ==(const DivisionByZero &lhs, const DivisionByZero &rhs); //! Exception: an event execution was killed by a new event class EventExecutionKilled : public Message { public: uint16_t pc; public: EventExecutionKilled() : Message(ASEBA_MESSAGE_EVENT_EXECUTION_KILLED) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "event execution killed"; } }; bool operator ==(const EventExecutionKilled &lhs, const EventExecutionKilled &rhs); //! A node as produced an error specific to it class NodeSpecificError : public Message { public: uint16_t pc; std::wstring message; public: NodeSpecificError() : Message(ASEBA_MESSAGE_NODE_SPECIFIC_ERROR) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &) const override; operator const char * () const override { return "node specific error"; } }; bool operator ==(const NodeSpecificError &lhs, const NodeSpecificError &rhs); //! The Program Counter or the flags have changed class ExecutionStateChanged : public Message { public: uint16_t pc; uint16_t flags; public: ExecutionStateChanged() : Message(ASEBA_MESSAGE_EXECUTION_STATE_CHANGED) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "execution state"; } }; bool operator ==(const ExecutionStateChanged &lhs, const ExecutionStateChanged &rhs); //! A breakpoint has been set class BreakpointSetResult : public Message { public: uint16_t pc; uint16_t success; public: BreakpointSetResult() : Message(ASEBA_MESSAGE_BREAKPOINT_SET_RESULT) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "breakpoint set result"; } }; bool operator ==(const BreakpointSetResult &lhs, const BreakpointSetResult &rhs); //! Message for bootloader: reset node class BootloaderReset : public CmdMessage { public: BootloaderReset(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_BOOTLOADER_RESET, dest) { } protected: operator const char * () const override { return "bootloader reset"; } }; bool operator ==(const BootloaderReset &lhs, const BootloaderReset &rhs); //! Message for bootloader: read a page of flash class BootloaderReadPage : public CmdMessage { public: uint16_t pageNumber; public: BootloaderReadPage(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_BOOTLOADER_READ_PAGE, dest) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "bootloader read page"; } }; bool operator ==(const BootloaderReadPage &lhs, const BootloaderReadPage &rhs); //! Message for bootloader: write a page of flash class BootloaderWritePage : public CmdMessage { public: uint16_t pageNumber; public: BootloaderWritePage(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_BOOTLOADER_WRITE_PAGE, dest) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override{ return "bootloader write page"; } }; bool operator ==(const BootloaderWritePage &lhs, const BootloaderWritePage &rhs); //! Message for bootloader: data for flash class BootloaderPageDataWrite : public CmdMessage { public: std::array data; public: BootloaderPageDataWrite(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_WRITE, dest) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "bootloader page data write"; } }; bool operator ==(const BootloaderPageDataWrite &lhs, const BootloaderPageDataWrite &rhs); //! Upload bytecode to a node class SetBytecode : public CmdMessage { public: uint16_t start = 0; std::vector bytecode; public: SetBytecode() : CmdMessage(ASEBA_MESSAGE_SET_BYTECODE, ASEBA_DEST_INVALID) { } SetBytecode(uint16_t dest, uint16_t start) : CmdMessage(ASEBA_MESSAGE_SET_BYTECODE, dest), start(start) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "set bytecode"; } }; bool operator ==(const SetBytecode &lhs, const SetBytecode &rhs); //! Call the SetBytecode multiple time in order to send all the bytecode void sendBytecode(Dashel::Stream* stream, uint16_t dest, const std::vector& bytecode); //! Call the SetBytecode multiple time in order to send all the bytecode void sendBytecode(std::vector>& messagesVector, uint16_t dest, const std::vector& bytecode); //! Reset a node class Reset : public CmdMessage { public: Reset(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_RESET, dest) { } protected: operator const char * () const override { return "reset"; } }; bool operator ==(const Reset &lhs, const Reset &rhs); //! Run a node class Run : public CmdMessage { public: Run(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_RUN, dest) { } protected: operator const char * () const override { return "run"; } }; bool operator ==(const Run &lhs, const Run &rhs); //! Pause a node class Pause : public CmdMessage { public: Pause(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_PAUSE, dest) { } protected: operator const char * () const override { return "pause"; } }; bool operator ==(const Pause &lhs, const Pause &rhs); //! Step a node class Step : public CmdMessage { public: Step(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_STEP, dest) { } protected: operator const char * () const override { return "step"; } }; bool operator ==(const Step &lhs, const Step &rhs); //! Stop a node class Stop : public CmdMessage { public: Stop(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_STOP, dest) { } protected: operator const char * () const override { return "stop"; } }; bool operator ==(const Stop &lhs, const Stop &rhs); //! Request the current execution state of a node class GetExecutionState : public CmdMessage { public: GetExecutionState(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_GET_EXECUTION_STATE, dest) { } protected: operator const char * () const override { return "get execution state"; } }; bool operator ==(const GetExecutionState &lhs, const GetExecutionState &rhs); //! Set a breakpoint on a node class BreakpointSet : public CmdMessage { public: uint16_t pc; public: BreakpointSet() : CmdMessage(ASEBA_MESSAGE_BREAKPOINT_SET, ASEBA_DEST_INVALID) { } BreakpointSet(uint16_t dest, uint16_t pc) : CmdMessage(ASEBA_MESSAGE_BREAKPOINT_SET, dest), pc(pc) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "breakpoint set"; } }; bool operator ==(const BreakpointSet &lhs, const BreakpointSet &rhs); //! Clear a breakpoint on a node class BreakpointClear : public CmdMessage { public: uint16_t pc; public: BreakpointClear() : CmdMessage(ASEBA_MESSAGE_BREAKPOINT_CLEAR, ASEBA_DEST_INVALID) { } BreakpointClear(uint16_t dest, uint16_t pc) : CmdMessage(ASEBA_MESSAGE_BREAKPOINT_CLEAR, dest), pc(pc) { } protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "breakpoint clear"; } }; bool operator ==(const BreakpointClear &lhs, const BreakpointClear &rhs); //! Clear all breakpoints on a node class BreakpointClearAll : public CmdMessage { public: BreakpointClearAll(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL, dest) { } protected: operator const char * () const override { return "breakpoint clear all"; } }; bool operator ==(const BreakpointClearAll &lhs, const BreakpointClearAll &rhs); //! Read some variables from a node class GetVariables : public CmdMessage { public: uint16_t start; uint16_t length; public: GetVariables() : CmdMessage(ASEBA_MESSAGE_GET_VARIABLES, ASEBA_DEST_INVALID) { } GetVariables(uint16_t dest, uint16_t start, uint16_t length); protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "get variables"; } }; bool operator ==(const GetVariables &lhs, const GetVariables &rhs); //! Set some variables on a node class SetVariables : public CmdMessage { public: uint16_t start; VariablesDataVector variables; public: SetVariables() : CmdMessage(ASEBA_MESSAGE_SET_VARIABLES, ASEBA_DEST_INVALID) { } SetVariables(uint16_t dest, uint16_t start, VariablesDataVector variables); protected: void serializeSpecific(SerializationBuffer& buffer) const override; void deserializeSpecific(SerializationBuffer& buffer) override; void dumpSpecific(std::wostream &stream) const override; operator const char * () const override { return "set variables"; } }; bool operator ==(const SetVariables &lhs, const SetVariables &rhs); //! Save the current bytecode of a node class WriteBytecode : public CmdMessage { public: WriteBytecode(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_WRITE_BYTECODE, dest) { } protected: operator const char * () const override { return "save bytecode"; } }; bool operator ==(const WriteBytecode &lhs, const WriteBytecode &rhs); //! Reboot a node, useful to go into its bootloader, if present class Reboot : public CmdMessage { public: Reboot(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_REBOOT, dest) { } protected: operator const char * () const override { return "reboot"; } }; bool operator ==(const Reboot &lhs, const Reboot &rhs); //! Put the node in sleep mode. After receiving this event, the node might go into sleep depending on its //! internal state. If it goes to sleep, the node will not receive events any //! more, until it is waken up by an implementation-specific action. class Sleep : public CmdMessage { public: Sleep(uint16_t dest = ASEBA_DEST_INVALID) : CmdMessage(ASEBA_MESSAGE_SUSPEND_TO_RAM, dest) { } protected: operator const char * () const override { return "sleep"; } }; bool operator ==(const Sleep &lhs, const Sleep &rhs); /*@}*/ } // namespace Aseba #endif aseba-1.6.0/common/productids.h000066400000000000000000000025441322771007300164210ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ASEBA_PIDS_H #define __ASEBA_PIDS_H /** \addtogroup common */ /*@{*/ /*! List of product identifiers */ /** Used for instance by studio for device-specific functions such as custom flasher protocol. */ typedef enum { ASEBA_PID_UNDEFINED = 0, ASEBA_PID_CHALLENGE, ASEBA_PID_PLAYGROUND_EPUCK, ASEBA_PID_MARXBOT, ASEBA_PID_HANDBOT, ASEBA_PID_EPUCK, ASEBA_PID_SMARTROB, ASEBA_PID_SMARTROBASL, ASEBA_PID_THYMIO2 } AsebaProductIds; /*! name of the product-id variable */ #define ASEBA_PID_VAR_NAME "_productId" /*@}*/ #endif aseba-1.6.0/common/types.h000066400000000000000000000025031322771007300154000ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ASEBA_TYPES_H #define __ASEBA_TYPES_H #include #include /** \addtogroup common */ /*@{*/ /* Aseba network protocol is little-endian, if big, swap We only need to swap 16-bit integers, as this is the largest word supported on Aseba targets. */ #ifdef __BIG_ENDIAN__ /* gcc-specific extension, but anyway __BIG_ENDIAN__ is for Mac PPC, which use gcc */ #define bswap16(v) ({uint16_t _v = v; _v = (_v << 8) | (_v >> 8);}) #else #define bswap16(v) (v) #endif /*@}*/ #endif aseba-1.6.0/common/utils/000077500000000000000000000000001322771007300152235ustar00rootroot00000000000000aseba-1.6.0/common/utils/BootloaderInterface.cpp000066400000000000000000000234141322771007300216460ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "BootloaderInterface.h" #include "../consts.h" #include "../msg/msg.h" #include "utils.h" #include "HexFile.h" #include "FormatableString.h" #include #include #include #include namespace Aseba { using namespace Dashel; using namespace std; BootloaderInterface::BootloaderInterface(Stream* stream, int dest) : stream(stream), dest(dest), bootloaderDest(dest), pageSize(0), pagesStart(0), pagesCount(0) { } BootloaderInterface::BootloaderInterface(Dashel::Stream* stream, int dest, int bootloaderDest) : stream(stream), dest(dest), bootloaderDest(bootloaderDest), pageSize(0), pagesStart(0), pagesCount(0) { } bool BootloaderInterface::readPage(unsigned pageNumber, uint8_t* data) { if ((pageNumber < pagesStart) || (pageNumber >= pagesStart + pagesCount)) { throw Error(FormatableString("Error, page index %0 out of page range [%1:%2]").arg(pageNumber).arg(pagesStart).arg(pagesStart+pagesCount)); } // send command BootloaderReadPage message; message.dest = dest; message.pageNumber = pageNumber; message.serialize(stream); stream->flush(); unsigned dataRead = 0; // get data while (true) { unique_ptr message(Message::receive(stream)); // handle ack BootloaderAck *ackMessage = dynamic_cast(message.get()); if (ackMessage && (ackMessage->source == dest)) { if (ackMessage->errorCode == BootloaderAck::ErrorCode::SUCCESS) { if (dataRead < pageSize) cerr << "Warning, got acknowledgement but page not fully read (" << dataRead << "/" << pageSize << ") bytes.\n"; return true; } else return false; } // handle data BootloaderDataRead *dataMessage = dynamic_cast(message.get()); if (dataMessage && (dataMessage->source == dest)) { if (dataRead >= pageSize) cerr << "Warning, reading oversized page (" << dataRead << "/" << pageSize << ") bytes.\n"; copy(dataMessage->data.cbegin(), dataMessage->data.cend(), data); data += sizeof(dataMessage->data); dataRead += sizeof(dataMessage->data); cout << "Page read so far (" << dataRead << "/" << pageSize << ") bytes.\n"; } } return true; } bool BootloaderInterface::readPageSimple(unsigned pageNumber, uint8_t * data) { BootloaderReadPage message; message.dest = dest; message.pageNumber = pageNumber; message.serialize(stream); stream->flush(); stream->read(data, 2048); return true; } bool BootloaderInterface::writePage(unsigned pageNumber, const uint8_t *data, bool simple) { writePageStart(pageNumber, data, simple); // send command BootloaderWritePage writePage; writePage.dest = bootloaderDest; writePage.pageNumber = pageNumber; writePage.serialize(stream); if (simple) { // just write the complete page at ounce stream->write(data,pageSize); } else { // flush command stream->flush(); // wait ACK while (true) { unique_ptr message(Message::receive(stream)); // handle ack BootloaderAck *ackMessage = dynamic_cast(message.get()); if (ackMessage && (ackMessage->source == bootloaderDest)) { if (ackMessage->errorCode == BootloaderAck::ErrorCode::SUCCESS) break; else return false; } } // write data for (unsigned dataWritten = 0; dataWritten < pageSize;) { BootloaderPageDataWrite pageData; pageData.dest = bootloaderDest; copy(data + dataWritten, data + dataWritten + sizeof(pageData.data), pageData.data.begin()); pageData.serialize(stream); dataWritten += sizeof(pageData.data); //cout << "." << std::flush; /* while (true) { unique_ptr message(Message::receive(stream)); // handle ack BootloaderAck *ackMessage = dynamic_cast(message); if (ackMessage && (ackMessage->source == dest)) { if (ackMessage->errorCode == BootloaderAck::ErrorCode::SUCCESS) break; else return false; } } */ } } // flush only here to save bandwidth stream->flush(); while (true) { writePageWaitAck(); unique_ptr message(Message::receive(stream)); // handle ack BootloaderAck *ackMessage = dynamic_cast(message.get()); if (ackMessage && (ackMessage->source == bootloaderDest)) { if (ackMessage->errorCode == BootloaderAck::ErrorCode::SUCCESS) { writePageSuccess(); return true; } else { writePageFailure(); return false; } } } // should not happen return true; } void BootloaderInterface::writeHex(const string &fileName, bool reset, bool simple) { // Load hex file HexFile hexFile; hexFile.read(fileName); writeHexStart(fileName, reset, simple); if (reset) { Reboot msg(dest); msg.serialize(stream); stream->flush(); writeHexEnteringBootloader(); } // Get page layout if (simple) { /* This would be cleaner for non-broken robot, but would not work for recovery. Waiting works for robots in any states // wait for disconnected message while (true) { unique_ptr message(Message::receive(stream)); Disconnected* disconnectedMessage(dynamic_cast(message.get())); if (disconnectedMessage) break; }*/ // give 10 ms to the robot the time to reset UnifiedTime(10).sleep(); pageSize = 2048; } else { // get bootloader description while (true) { unique_ptr message(Message::receive(stream)); BootloaderDescription *bDescMessage = dynamic_cast(message.get()); if (bDescMessage && (bDescMessage->source == bootloaderDest)) { pageSize = bDescMessage->pageSize; pagesStart = bDescMessage->pagesStart; pagesCount = bDescMessage->pagesCount; break; } } } // Build a map of pages out of the map of addresses typedef map > PageMap; PageMap pageMap; for (HexFile::ChunkMap::iterator it = hexFile.data.begin(); it != hexFile.data.end(); it ++) { // get page number unsigned chunkAddress = it->first; // index inside data chunk unsigned chunkDataIndex = 0; // size of chunk in bytes unsigned chunkSize = it->second.size(); // copy data from chunk to page do { // get page number unsigned pageIndex = (chunkAddress + chunkDataIndex) / pageSize; // get address inside page unsigned byteIndex = (chunkAddress + chunkDataIndex) % pageSize; // if page does not exists, create it if (pageMap.find(pageIndex) == pageMap.end()) { // std::cout << "New page N° " << pageIndex << " for address 0x" << std::hex << chunkAddress << endl; pageMap[pageIndex] = vector(pageSize, (uint8_t)0); } // copy data unsigned amountToCopy = min(pageSize - byteIndex, chunkSize - chunkDataIndex); copy(it->second.begin() + chunkDataIndex, it->second.begin() + chunkDataIndex + amountToCopy, pageMap[pageIndex].begin() + byteIndex); // increment chunk data pointer chunkDataIndex += amountToCopy; } while (chunkDataIndex < chunkSize); } writeHexGotDescription(pageMap.size()); if (simple) { // Write pages for (PageMap::iterator it = pageMap.begin(); it != pageMap.end(); it ++) { unsigned pageIndex = it->first; if (pageIndex != 0) if (!writePage(pageIndex, &it->second[0], true)) errorWritePageNonFatal(pageIndex); } // Now look for the index 0 page for (PageMap::iterator it = pageMap.begin(); it != pageMap.end(); it ++) { unsigned pageIndex = it->first; if (pageIndex == 0) if (!writePage(pageIndex, &it->second[0], true)) errorWritePageNonFatal(pageIndex); } } else { // Write pages for (PageMap::iterator it = pageMap.begin(); it != pageMap.end(); it ++) { unsigned pageIndex = it->first; if ((pageIndex >= pagesStart) && (pageIndex < pagesStart + pagesCount)) if (!writePage(pageIndex, &it->second[0], false)) throw Error(FormatableString("Error while writing page %0").arg(pageIndex)); } } writeHexWritten(); if (reset) { BootloaderReset msg(bootloaderDest); msg.serialize(stream); stream->flush(); writeHexExitingBootloader(); } } void BootloaderInterface::readHex(const string &fileName) { HexFile hexFile; // Create memory unsigned address = pagesStart * pageSize; hexFile.data[address] = vector(); hexFile.data[address].reserve(pagesCount * pageSize); // Read pages for (unsigned page = pagesStart; page < pagesCount; page++) { vector buffer((uint8_t)0, pageSize); if (!readPage(page, &buffer[0])) throw Error(FormatableString("Error, cannot read page %0").arg(page)); copy(&buffer[0], &buffer[pageSize], back_inserter(hexFile.data[address])); } // Write hex file hexFile.strip(pageSize); hexFile.write(fileName); } } // namespace Aseba aseba-1.6.0/common/utils/BootloaderInterface.h000066400000000000000000000070441322771007300213140ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_BOOTLOADER_INTERFACE_H #define ASEBA_BOOTLOADER_INTERFACE_H #include #include #include "../types.h" namespace Dashel { class Stream; } namespace Aseba { // TODO: change API to use HexFile instead of file names //! Manage interactions with an aseba-compatible bootloader /** There are two versions of the bootloader: the complete and the simple. The complete version works on any Aseba network including over switches as it transmits all data using the Aseba message protocol. The simple version requires direct access to the device to be flashed, because it breaks the Aseba message protocol for page transmission. */ class BootloaderInterface { public: //! An error in link with the bootloader struct Error:public std::runtime_error { Error(const std::string& what): std::runtime_error(what) {} }; public: // main interface //! Create an interface to bootloader with id dest using a socket BootloaderInterface(Dashel::Stream* stream, int dest); //! Create an interface to bootloader with id dest and different id within bootloader bootloaderDest (currently only deployed for simple mode), using a socket BootloaderInterface(Dashel::Stream* stream, int dest, int bootloaderDest); //! Return the size of a page int getPageSize() const { return pageSize; } //! Read a page bool readPage(unsigned pageNumber, uint8_t* data); //! Read a page, simplified protocol bool readPageSimple(unsigned pageNumber, uint8_t * data); //! Write a page, if simple is true, use simplified protocol, otherwise use complete protocol bool writePage(unsigned pageNumber, const uint8_t *data, bool simple); //! Write an hex file void writeHex(const std::string &fileName, bool reset, bool simple); //! Read an hex file and write it to fileName void readHex(const std::string &fileName); protected: // reporting function // progress virtual void writePageStart(unsigned pageNumber, const uint8_t* data, bool simple) {} virtual void writePageWaitAck() {} virtual void writePageSuccess() {} virtual void writePageFailure() {} virtual void writeHexStart(const std::string &fileName, bool reset, bool simple) {} virtual void writeHexEnteringBootloader() {} virtual void writeHexGotDescription(unsigned pagesCount) {} virtual void writeHexWritten() {} virtual void writeHexExitingBootloader() {} // non-fatal errors //! Warn about an error but do not quit virtual void errorWritePageNonFatal(unsigned pageNumber) {} protected: // member variables Dashel::Stream* stream; int dest, bootloaderDest; unsigned pageSize; unsigned pagesStart; unsigned pagesCount; }; } // namespace Aseba #endif // ASEBA_BOOTLOADER_INTERFACE_H aseba-1.6.0/common/utils/FormatableString.cpp000066400000000000000000000072361322771007300212020ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include "FormatableString.h" namespace Aseba { /** \addtogroup utils */ /*@{*/ template void BasicFormatableString::proceedReplace(const S &replacement) { typename std::basic_ostringstream search; search << "%" << this->argLevel; typename S::size_type pos = this->find(search.str(), 0); assert(pos != S::npos); this->replace(pos, search.str().length(), replacement); ++argLevel; } template template BasicFormatableString &BasicFormatableString::argInt(intT value, int fieldWidth, int base, charT fillChar) { typename std::basic_ostringstream oss; oss << std::setbase(base); oss.width(fieldWidth); oss.fill(fillChar); // transform value into S oss << value; proceedReplace(oss.str()); // return reference to this so that .arg can proceed further return *this; } template template BasicFormatableString &BasicFormatableString::argFloat(floatT value, int fieldWidth, int precision, charT fillChar) { typename std::basic_ostringstream oss; oss.precision(precision); oss.width(fieldWidth); oss.fill(fillChar); oss.setf(oss.fixed, oss.floatfield); // transform value into S oss << value; proceedReplace(oss.str()); // return reference to this so that .arg can proceed further return *this; } template BasicFormatableString &BasicFormatableString::arg(int value, int fieldWidth, int base, charT fillChar) { return argInt(value, fieldWidth, base, fillChar); } template BasicFormatableString &BasicFormatableString::arg(long int value, int fieldWidth, int base, charT fillChar) { return argInt(value, fieldWidth, base, fillChar); } template BasicFormatableString &BasicFormatableString::arg(unsigned value, int fieldWidth, int base, charT fillChar) { return argInt(value, fieldWidth, base, fillChar); } template BasicFormatableString &BasicFormatableString::arg(float value, int fieldWidth, int precision, charT fillChar) { return argFloat(value, fieldWidth, precision, fillChar); } template BasicFormatableString &BasicFormatableString::arg(double value, int fieldWidth, int precision, charT fillChar) { return argFloat(value, fieldWidth, precision, fillChar); } template BasicFormatableString &BasicFormatableString::operator=(const S& str) { this->assign(str); this->argLevel = 0; return (*this); } template class BasicFormatableString; template class BasicFormatableString; /*@}*/ } aseba-1.6.0/common/utils/FormatableString.h000066400000000000000000000134251322771007300206440ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef FORMATABLESTRING_H #define FORMATABLESTRING_H #include #include namespace Aseba { /** \addtogroup utils */ /*@{*/ /*! * string that can be used for argument substitution. * Example : * FormatableString fs("Hello %0"); * cout << fs.arg("World"); */ template class BasicFormatableString : public std::basic_string { protected: //! String type using S = std::basic_string; /*! * Next argument to be replaced. */ int argLevel{0}; /*! * Replace the next argument by replacement. */ void proceedReplace(const S &replacement); /*! * Replace the next arg by an int-ish value. * Templatized on the int type to implement arg() with as little code * duplication as possible. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number * \param base Radix of the number (8, 10 or 16) * \param fillChar Character used to pad the number to reach fieldWidth * \see arg(const T& value) */ template BasicFormatableString &argInt(intT value, int fieldWidth, int base, charT fillChar); /*! * Replace the next arg by a float-ish value. * Templatized on the float type to implement arg() with as little code * duplication as possible. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number. * \param precision Number of digits displayed. * \param fillChar Character used to pad the number to reach fieldWidth. * \see arg(const T& value) */ template BasicFormatableString &argFloat(floatT value, int fieldWidth, int precision, charT fillChar); public: BasicFormatableString() : S() { } /*! * Creates a new FormatableString with format string set to s. * \param s A string with indicators for argument substitution. * Each indicator is the % symbol followed by a number. The number * is the index of the corresponding argument (starting at %0). */ BasicFormatableString(const S &s) : S(s) { } /*! * Replace the next arg by an int value. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number * \param base Radix of the number (8, 10 or 16) * \param fillChar Character used to pad the number to reach fieldWidth * \see arg(const T& value) */ BasicFormatableString &arg(int value, int fieldWidth = 0, int base = 10, charT fillChar = ' '); /*! * Replace the next arg by a long int value. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number * \param base Radix of the number (8, 10 or 16) * \param fillChar Character used to pad the number to reach fieldWidth * \see arg(const T& value) */ BasicFormatableString &arg(long int value, int fieldWidth = 0, int base = 10, charT fillChar = ' '); /*! * Replace the next arg by an unsigned value. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number * \param base Radix of the number (8, 10 or 16) * \param fillChar Character used to pad the number to reach fieldWidth * \see arg(const T& value) */ BasicFormatableString &arg(unsigned value, int fieldWidth = 0, int base = 10, charT fillChar = ' '); /*! * Replace the next arg by a float value. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number. * \param precision Number of digits displayed. * \param fillChar Character used to pad the number to reach fieldWidth. * \see arg(const T& value) */ BasicFormatableString &arg(float value, int fieldWidth = 0, int precision = 6, charT fillChar = ' '); /*! * Replace the next arg by a double value. * \param value Value used to replace the current argument. * \param fieldWidth min width of the displayed number. * \param precision Number of digits displayed. * \param fillChar Character used to pad the number to reach fieldWidth. * \see arg(const T& value) */ BasicFormatableString &arg(double value, int fieldWidth = 0, int precision = 6, charT fillChar = ' '); /*! * Replace the next arg by a value that can be passed to an ostringstream. * The first call to arg replace %0, the second %1, and so on. * \param value Value used to replace the current argument. */ template BasicFormatableString &arg(const T& value) { // transform value into S std::basic_ostringstream oss; oss << value; proceedReplace(oss.str()); // return reference to this so that .arg can proceed further return *this; } /*! * Affects a new value to the format string and reset the arguments * counter. * \param str New format string. */ BasicFormatableString& operator=(const S& str); }; using FormatableString = BasicFormatableString; using WFormatableString = BasicFormatableString; /*@}*/ } #endif // FORMATABLESTRING_H // aseba-1.6.0/common/utils/HexFile.cpp000066400000000000000000000254201322771007300172560ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "HexFile.h" #include #include #include #include #include #include #include #include #include namespace Aseba { const char* HexFile::Error::what() const noexcept { return toString().c_str(); } std::string HexFile::EarlyEOF::toString() const { return FormatableString("Early end of file after %0 lines").arg(line); } std::string HexFile::InvalidRecord::toString() const { return FormatableString("Invalid record at line %0").arg(line); } std::string HexFile::WrongCheckSum::toString() const { return FormatableString("Wrong checksum (%0 instead of %1) at line %2").arg(computedCheckSum, 0, 16).arg(recordCheckSum, 0, 16).arg(line); } std::string HexFile::UnknownRecordType::toString() const { return FormatableString("Unknown record type (%1) at line %0").arg(line).arg(recordType, 0, 16); } std::string HexFile::FileOpeningError::toString() const { return FormatableString("Can't open file %0").arg(fileName); } unsigned HexFile::getUint4(std::istream &stream) { int c = stream.get(); if (c <= '9') return c - '0'; else if (c <= 'F') return c - 'A' + 10; else return c - 'a' + 10; } unsigned HexFile::getUint8(std::istream &stream) { return (getUint4(stream) << 4) | getUint4(stream); } unsigned HexFile::getUint16(std::istream &stream) { return (getUint8(stream) << 8) | getUint8(stream); } void HexFile::read(const std::string &fileName) { std::ifstream ifs(fileName.c_str()); if (ifs.bad()) throw FileOpeningError(fileName); int lineCounter = 0; uint32_t baseAddress = 0; while (ifs.good()) { // leading ":" character char c; ifs >> c; if (c != ':') throw InvalidRecord(lineCounter); uint8_t computedCheckSum = 0; // record data length uint8_t dataLength = getUint8(ifs); computedCheckSum += dataLength; // short address uint16_t lowAddress = getUint16(ifs); computedCheckSum += lowAddress; computedCheckSum += lowAddress >> 8; // record type uint8_t recordType = getUint8(ifs); computedCheckSum += recordType; switch (recordType) { case 0: // data record { // read data std::vector recordData; for (int i = 0; i != dataLength; i++) { uint8_t d = getUint8(ifs); computedCheckSum += d; recordData.push_back(d); //std::cout << "data " << std::hex << (unsigned)d << "\n"; } // verify checksum uint8_t checkSum = getUint8(ifs); computedCheckSum = 1 + ~computedCheckSum; if (checkSum != computedCheckSum) throw WrongCheckSum(lineCounter, checkSum, computedCheckSum); // compute address uint32_t address = lowAddress; address += baseAddress; //std::cout << "data record at address 0x" << std::hex << address << "\n"; // is some place to add bool found = false; for (auto & it : data) { size_t chunkSize = it.second.size(); if (address == it.first + chunkSize) { // copy new std::copy(recordData.begin(), recordData.end(), std::back_inserter(it.second)); found = true; //std::cout << "tail fusable chunk found\n"; break; } else if (address + recordData.size() == it.first) { // resize it.second.resize(chunkSize + recordData.size()); // move std::copy_backward(it.second.begin(), it.second.begin() + chunkSize, it.second.end()); // copy new std::copy(recordData.begin(), recordData.end(), it.second.begin()); found = true; //std::cout << "head fusable chunk found\n"; break; } } if (!found) data[address] = recordData; } break; case 1: // end of file record for (auto it = data.begin(); it != data.end(); ++it) { //std::cout << "End of file found. Address " << it->first << " size " << it->second.size() << "\n"; } ifs.close(); return; break; case 2: // extended segment address record { if (dataLength != 2) throw InvalidRecord(lineCounter); // read data uint16_t highAddress = getUint16(ifs); computedCheckSum += highAddress; computedCheckSum += highAddress >> 8; baseAddress = highAddress; baseAddress <<= 4; //std::cout << "Extended segment address record (?!): 0x" << std::hex << baseAddress << "\n"; // verify checksum uint8_t checkSum = getUint8(ifs); computedCheckSum = 1 + ~computedCheckSum; if (checkSum != computedCheckSum) throw WrongCheckSum(lineCounter, checkSum, computedCheckSum); } break; case 4: // extended linear address record { if (dataLength != 2) throw InvalidRecord(lineCounter); // read data uint16_t highAddress = getUint16(ifs); computedCheckSum += highAddress; computedCheckSum += highAddress >> 8; baseAddress = highAddress; baseAddress <<= 16; //std::cout << "Linear address record: 0x" << std::hex << baseAddress << "\n"; // verify checksum uint8_t checkSum = getUint8(ifs); computedCheckSum = 1 + ~computedCheckSum; if (checkSum != computedCheckSum) throw WrongCheckSum(lineCounter, checkSum, computedCheckSum); } break; case 5: // start linear address record { // Start linear address record are not used by the Aseba // bootloader protocol so we can ignore them. // Skip data for (int i = 0; i < 4; i++) computedCheckSum += getUint8(ifs); computedCheckSum = 1 + ~computedCheckSum; uint8_t checkSum = getUint8(ifs); if (checkSum != computedCheckSum) throw WrongCheckSum(lineCounter, checkSum, computedCheckSum); } break; default: throw UnknownRecordType(lineCounter, recordType); break; } lineCounter++; } throw EarlyEOF(lineCounter); } void HexFile::writeExtendedLinearAddressRecord(std::ofstream &stream, unsigned addr16) { assert(addr16 <= 65535); uint8_t checkSum = 0; stream << ":02000004"; checkSum += 0x02; checkSum += 0x00; checkSum += 0x00; checkSum += 0x04; stream << std::setw(2); stream << (addr16 >> 8); checkSum += (addr16 >> 8); stream << std::setw(2); stream << (addr16 & 0xFF); checkSum += (addr16 & 0xFF); checkSum = (~checkSum) + 1; stream << std::setw(2); stream << (unsigned)checkSum; stream << "\n"; } void HexFile::writeData(std::ofstream &stream, unsigned addr16, unsigned count8, uint8_t *data) { assert(addr16 <= 65535); assert(count8 <= 255); uint8_t checkSum = 0; stream << ":"; stream << std::setw(2); stream << count8; checkSum += count8; stream << std::setw(2); stream << (addr16 >> 8); checkSum += (addr16 >> 8); stream << std::setw(2); stream << (addr16 & 0xFF); checkSum += (addr16 & 0xFF); stream << "00"; checkSum += 0x00; for (unsigned i = 0; i < count8; i++) { stream << std::setw(2); stream << (unsigned)data[i]; checkSum += data[i]; } checkSum = (~checkSum) + 1; stream << std::setw(2); stream << (unsigned)checkSum; stream << "\n"; } void HexFile::strip(unsigned pageSize) { // Build a page map. typedef std::map > PageMap; PageMap pageMap; for (auto & it : data) { // get page number unsigned chunkAddress = it.first; // index inside data chunk unsigned chunkDataIndex = 0; // size of chunk in bytes unsigned chunkSize = it.second.size(); // copy data from chunk to page do { // get page number unsigned pageIndex = (chunkAddress + chunkDataIndex) / pageSize; // get address inside page unsigned byteIndex = (chunkAddress + chunkDataIndex) % pageSize; // if page does not exists, create it if (pageMap.find(pageIndex) == pageMap.end()) { // std::cout << "New page N° " << pageIndex << " for address 0x" << std::hex << chunkAddress << endl; pageMap[pageIndex] = std::vector(pageSize, (uint8_t)0xFF); // New page is created uninitialized } // copy data unsigned amountToCopy = std::min(pageSize - byteIndex, chunkSize - chunkDataIndex); copy(it.second.begin() + chunkDataIndex, it.second.begin() + chunkDataIndex + amountToCopy, pageMap[pageIndex].begin() + byteIndex); // increment chunk data pointer chunkDataIndex += amountToCopy; } while (chunkDataIndex < chunkSize); } // Now, for each page, drop it if empty data.clear(); for(auto & it : pageMap) { int isempty = 1; unsigned int i; for(i = 0; i < pageSize; i+=4) if(it.second[i] != 0xff || it.second[i+1] != 0xff || it.second[i+2] != 0xff) { isempty = 0; break; } if(!isempty) data[it.first * pageSize] = it.second; } } void HexFile::write(const std::string &fileName) const { int first = 1; unsigned highAddress = 0; std::ofstream ofs(fileName.c_str()); if (ofs.bad()) throw FileOpeningError(fileName); // set format ofs.flags(std::ios::hex | std::ios::uppercase); ofs.fill('0'); // for each chunk for (const auto & it : data) { // split address unsigned address = it.first; unsigned amount = it.second.size(); for (unsigned count = 0; count < amount;) { // check if we have changed 64 K boundary, if so, write new high address unsigned newHighAddress = (address + count) >> 16; if (newHighAddress != highAddress || first) writeExtendedLinearAddressRecord(ofs, newHighAddress); first = 0; highAddress = newHighAddress; // write data unsigned rowCount = std::min(amount - count, (unsigned)16); unsigned lowAddress = (address + count) & 0xFFFF; std::valarray buffer(rowCount); std::copy(it.second.begin() + count, it.second.begin() + count + rowCount, &buffer[0]); writeData(ofs, lowAddress, rowCount , &buffer[0]); // increment counters count += rowCount; } } // write EOF ofs << ":00000001FF"; } } aseba-1.6.0/common/utils/HexFile.h000066400000000000000000000055731322771007300167320ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HEX_FILE_H #define ASEBA_HEX_FILE_H #include "../types.h" #include "FormatableString.h" #include #include #include #include namespace Aseba { /** \addtogroup utils */ /*@{*/ //! A class to read and write .hex files class HexFile { public: struct Error : std::exception { virtual ~Error () = default; virtual std::string toString() const = 0; virtual const char* what() const noexcept override; }; struct EarlyEOF : Error { int line; EarlyEOF(int line) : line(line) { } std::string toString() const override; }; struct InvalidRecord : Error { int line; InvalidRecord(int line) : line(line) { } std::string toString() const override; }; struct WrongCheckSum : Error { int line; uint8_t recordCheckSum; uint8_t computedCheckSum; WrongCheckSum (int line, uint8_t recordCheckSum, uint8_t computedCheckSum) : line(line), recordCheckSum(recordCheckSum), computedCheckSum(computedCheckSum) { } std::string toString() const override; }; struct UnknownRecordType : Error { int line; uint8_t recordType; UnknownRecordType(int line, uint8_t recordType) : line(line), recordType(recordType) { } std::string toString() const override; }; struct FileOpeningError : Error { std::string fileName; FileOpeningError(std::string fileName) : fileName(std::move(fileName)) { } std::string toString() const override; }; public: typedef std::map > ChunkMap; ChunkMap data; public: void read(const std::string &fileName); void write(const std::string &fileName) const; void strip(unsigned pageSize); protected: static unsigned getUint4(std::istream &stream); static unsigned getUint8(std::istream &stream); static unsigned getUint16(std::istream &stream); static void writeExtendedLinearAddressRecord(std::ofstream &stream, unsigned addr16); static void writeData(std::ofstream &stream, unsigned addr16, unsigned count8, uint8_t *data); }; /*@}*/ } #endif aseba-1.6.0/common/utils/utils.cpp000066400000000000000000000225071322771007300170750ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #ifndef WIN32 #include #else // WIN32 #include #include #define atoll _atoi64 #endif // WIN32 #include #include #include #include #include #include #include #include #include #include #include "utils.h" // workaround for broken libstdc++ on Android // see https://github.com/android-ndk/ndk/issues/82 #ifdef __ANDROID__ namespace std { size_t log2(size_t v) { return log2(v); } } #endif // __ANDROID__ namespace Aseba { /** \addtogroup utils */ /*@{*/ UnifiedTime::UnifiedTime() { #ifndef WIN32 struct timeval tv; gettimeofday(&tv, nullptr); value = (Value(tv.tv_sec) * 1000) + Value(tv.tv_usec) / 1000; #else // WIN32 FILETIME ft; LARGE_INTEGER li; __int64 t; GetSystemTimeAsFileTime(&ft); li.LowPart = ft.dwLowDateTime; li.HighPart = ft.dwHighDateTime; t = li.QuadPart; // In 100-nanosecond intervals value = t / 10000l; // In milliseconds #endif // WIN32 } UnifiedTime::UnifiedTime(Value ms) : value(ms) { } UnifiedTime::UnifiedTime(Value seconds, Value milliseconds) : value(seconds * 1000 + milliseconds) { } void UnifiedTime::sleep() const { #ifndef WIN32 struct timespec ts; ts.tv_sec = (value / 1000); ts.tv_nsec = ((value % 1000) * 1000000); nanosleep(&ts, nullptr); #else // WIN32 assert(value <= 4294967295); Sleep((DWORD)value); #endif // WIN32 } std::string UnifiedTime::toHumanReadableStringFromEpoch() const { std::ostringstream oss; Value seconds(value / 1000); Value milliseconds(value % 1000); time_t t(seconds); char *timeString = ctime(&t); timeString[strlen(timeString) - 1] = 0; oss << "["; oss << timeString << " "; oss << std::setfill('0') << std::setw(3) << milliseconds; oss << "]"; return oss.str(); } std::string UnifiedTime::toRawTimeString() const { std::ostringstream oss; Value seconds(value / 1000); Value milliseconds(value % 1000); oss << std::dec << seconds << "." << std::setfill('0') << std::setw(3) << milliseconds; return oss.str(); } UnifiedTime UnifiedTime::fromRawTimeString(const std::string& rawTimeString) { size_t dotPos(rawTimeString.find('.')); assert(dotPos != std::string::npos); return UnifiedTime(atoll(rawTimeString.substr(0, dotPos).c_str()), atoll(rawTimeString.substr(dotPos + 1, std::string::npos).c_str())); } void dumpTime(std::ostream &stream, bool raw) { if (raw) stream << UnifiedTime().toRawTimeString(); else stream << UnifiedTime().toHumanReadableStringFromEpoch(); stream << " "; } SoftTimer::SoftTimer(Callback callback, double period): callback(callback), period(period), left(period) { if (period < 0) throw std::domain_error("Period must be greater or equal to zero"); } void SoftTimer::step(double dt) { if (period == 0) return; assert(dt >= 0); left -= dt; while (left < 0) { callback(); left += period; } } void SoftTimer::setPeriod(double period) { if (period < 0) throw std::domain_error("Period must be greater or equal to zero"); this->period = period; left = period; } std::string WStringToUTF8(const std::wstring& s) { std::string os; for (wchar_t c : s) { if (c < 0x80) { os += static_cast(c); } else if (c < 0x800) { os += static_cast(((c>>6)&0x1F)|0xC0); os += static_cast((c&0x3F)|0x80); } else if (c < 0xd800) { os += static_cast(((c>>12)&0x0F)|0xE0); os += static_cast(((c>>6)&0x3F)|0x80); os += static_cast((c&0x3F)|0x80); } else { os += '?'; } } // TODO: add >UTF16 support return os; } /* This code is heavily inspired by http://www.cplusplus.com/forum/general/7142/ released under the following license: * Copyright (c) 2009, Helios (helios.vmg@gmail.com) * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * THIS SOFTWARE IS PROVIDED BY HELIOS "AS IS" AND ANY EXPRESS OR IMPLIED * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO * EVENT SHALL HELIOS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED * OF THE POSSIBILITY OF SUCH DAMAGE. */ std::wstring UTF8ToWString(const std::string& s) { std::wstring res; size_t left(s.size()); for (const char & c : s) { const char *a = &c; if (!(*a&128)) { //Byte represents an ASCII character. Direct copy will do. res += *a; } else if ((*a&192)==128) { //Byte is the middle of an encoded character. Ignore. continue; } else if ((*a&224)==192) { //Byte represents the start of an encoded character in the range //U+0080 to U+07FF if (left < 2) throw std::runtime_error("Invalid UTF8 string"); res += ((*a&31)<<6)|(a[1]&63); } else if ((*a&240)==224) { //Byte represents the start of an encoded character in the range //U+07FF to U+FFFF if (left < 3) throw std::runtime_error("Invalid UTF8 string"); res += ((*a&15)<<12)|((a[1]&63)<<6)|(a[2]&63); } else if ((*a&248)==240) { //Byte represents the start of an encoded character beyond the //U+FFFF limit of 16-bit integers res += '?'; } --left; } // TODO: add >UTF16 support return res; } /* * Code from http://www.nongnu.org/avr-libc/ * Released under http://www.nongnu.org/avr-libc/LICENSE.txt * which is GPL- and DFSG- compatible */ static uint16_t crc_xmodem_update (uint16_t crc, uint8_t data) { int i; crc = crc ^ ((uint16_t)data << 8); for (i=0; i<8; i++) { if (crc & 0x8000) crc = (crc << 1) ^ 0x1021; else crc <<= 1; } return crc; } static uint16_t crc_xmodem_update (uint16_t crc, const uint8_t* data, size_t len) { for (size_t i = 0; i < len; ++i) crc = crc_xmodem_update(crc, data[i]); return crc; } uint16_t crcXModem(const uint16_t oldCrc, const std::wstring& s) { std::string utf8s(WStringToUTF8(s)); size_t l = utf8s.size(); if (l & 0x1) ++l; return crc_xmodem_update(oldCrc, reinterpret_cast(utf8s.c_str()), l); } uint16_t crcXModem(const uint16_t oldCrc, const uint16_t v) { return crc_xmodem_update(oldCrc, reinterpret_cast(&v), 2); } template std::vector split(const T& s, const T& delim) { std::vector result; size_t delimPos(0); size_t nextPos(0); while ((nextPos=s.find_first_of(delim, delimPos)) != T::npos) { result.push_back(s.substr(delimPos, nextPos-delimPos)); delimPos = s.find_first_not_of(delim, nextPos); } if (delimPos != T::npos && delimPos < s.size()) result.push_back(s.substr(delimPos)); return result; } template<> std::vector split(const std::string& s) { return split(s, "\t "); } template<> std::vector split(const std::wstring& s) { return split(s, L"\t "); } template T join(typename std::vector::const_iterator first, typename std::vector::const_iterator last, const T& delim) { T result; while (first != last) { result += *first; if (first + 1 != last) result += delim; ++first; } return result; } template typename C::value_type join(const C& values, const typename C::value_type& delim) { return join(values.begin(), values.end(), delim); } template std::string join(const std::vector&, const std::string& delim); template std::wstring join(const std::vector&, const std::wstring& delim); /*@}*/ } aseba-1.6.0/common/utils/utils.h000066400000000000000000000152741322771007300165450ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_UTILS_H #define ASEBA_UTILS_H #include #include #include #include #include #include #include #include #include "../types.h" // workaround for broken libstdc++ on Android // see https://github.com/android-ndk/ndk/issues/82 #ifdef __ANDROID__ namespace std { size_t log2(size_t v); } #endif // __ANDROID__ namespace Aseba { /** \defgroup utils General helper functions and classes */ /*@{*/ //! Asserts a dynamic cast. Similar to the one in boost/cast.hpp template static inline Derived polymorphic_downcast(Base base) { auto derived = dynamic_cast(base); if (!derived) abort(); return derived; } //! Asserts a dynamic cast or a null. Similar to the one in boost/cast.hpp template static inline Derived polymorphic_downcast_or_null(Base base) { if (!base) return nullptr; auto derived = dynamic_cast(base); if (!derived) abort(); return derived; } //! Hash references to T using their underlying pointer template struct PointerHash { //! Use the pointer shifted right by the number of 0 LSB size_t operator()(const T& value) const { static const auto shift = (size_t)std::log2(1 + sizeof(&value)); return (size_t)(&value) >> shift; } }; //! Hash for enum types as this C++14 feature is not implemented for g++ < 6.1 template class EnumHash { using sfinae = typename std::enable_if::value, E>::type; public: size_t operator()(const E&e) const { using int_type = std::underlying_type_t; return std::hash{}(static_cast(e)); } }; //! Time or durations, in milliseconds struct UnifiedTime { //! storage for time using Value = unsigned long long; //! time Value value; //! Constructor, set time to current time UnifiedTime(); //! Constructor, from a specific number of ms UnifiedTime(Value ms); //! Constructor, from a specific number of seconds and ms UnifiedTime(Value seconds, Value milliseconds); //! Add times void operator +=(const UnifiedTime &that) { value += that.value; } //! Substract times void operator -=(const UnifiedTime &that) { value -= that.value; } //! Divide time by an amount void operator /=(const long long unsigned factor) { assert(factor); value /= factor; } //! Multiply time by an amount void operator *=(const long long unsigned factor) { value *= factor; } //! Add times UnifiedTime operator +(const UnifiedTime &that) const { return {value + that.value}; } //! Substract times UnifiedTime operator -(const UnifiedTime &that) const { return {value - that.value}; } //! Divide time by an amount UnifiedTime operator /(const long long unsigned factor) const { assert(factor); return {value / factor}; } //! Multiply time by an amount UnifiedTime operator *(const long long unsigned factor) const { return {value * factor}; } bool operator <(const UnifiedTime &that) const { return value < that.value; } bool operator <=(const UnifiedTime &that) const { return value <= that.value; } bool operator >(const UnifiedTime &that) const { return value > that.value; } bool operator >=(const UnifiedTime &that) const { return value >= that.value; } bool operator ==(const UnifiedTime &that) const { return value == that.value; } bool operator !=(const UnifiedTime &that) const { return value != that.value; } //! Sleep for this amount of time void sleep() const; //! Create a human readable string with this time std::string toHumanReadableStringFromEpoch() const; //! Return the raw time string representing this time std::string toRawTimeString() const; //! Return the time from the raw time string static UnifiedTime fromRawTimeString(const std::string& rawTimeString); }; //! Dump the current time to a stream void dumpTime(std::ostream &stream, bool raw = false); // Soft timer class SoftTimer { public: //! A callback function using Callback = const std::function; //! The callback function, cannot change once initialized Callback callback; //! The current period, 0 disables the timer double period; protected: //! time left until next call to callback double left = 0; public: //! Constructor, using callback and firing every period s, 0 disables the timer SoftTimer(Callback callback, double period); //! Step dt s, calls callback any necessary number of times void step(double dt); //! Set the period in s, 0 disables the timer void setPeriod(double period); }; //! Transform a wstring into an UTF8 string, this function is thread-safe std::string WStringToUTF8(const std::wstring& s); //! Transform a UTF8 string into a wstring, this function is thread-safe std::wstring UTF8ToWString(const std::string& s); //! Update the XModem CRC (x^16 + x^12 + x^5 + 1 (0x1021)) with a wstring uint16_t crcXModem(const uint16_t oldCrc, const std::wstring& s); //! Update the XModem CRC (x^16 + x^12 + x^5 + 1 (0x1021)) with a uint16_t value uint16_t crcXModem(const uint16_t oldCrc, const uint16_t v); //! Split a string using given delimiters template std::vector split(const T& s, const T& delim); //! Split a string using whitespaces template std::vector split(const T& s); //! Join a sequence using operator += and adding delim in-between elements template T join(typename std::vector::const_iterator first, typename std::vector::const_iterator last, const T& delim); //! Join a sequence using operator += and adding delim in-between elements template typename C::value_type join(const C& values, const typename C::value_type& delim); //! Clamp a value to a range template constexpr T clamp(T v, T minV, T maxV) { return v < minV ? minV : (v > maxV ? maxV : v); } /*@}*/ }; #endif aseba-1.6.0/common/zeroconf/000077500000000000000000000000001322771007300157105ustar00rootroot00000000000000aseba-1.6.0/common/zeroconf/CMakeLists.txt000066400000000000000000000031361322771007300204530ustar00rootroot00000000000000if (DNSSD_FOUND) # Zeroconf without Qt set(ASEBA_ZEROCONF_SRC zeroconf.cpp txtrecord.cpp target.cpp zeroconf-thread.cpp zeroconf-dashelhub.cpp ) find_library(AVAHI_COMMON_LIBRARIES avahi-common) find_library(AVAHI_CLIENT_LIBRARIES avahi-client) if (AVAHI_COMMON_LIBRARIES) set(ASEBA_ZEROCONF_SRC ${ASEBA_ZEROCONF_SRC} avahi-compat-libdns_sd/compat.c) endif () add_library(asebazeroconf ${ASEBA_ZEROCONF_SRC}) set_target_properties(asebazeroconf PROPERTIES VERSION ${LIB_VERSION_STRING}) target_include_directories(asebazeroconf PUBLIC ${DNSSD_INCLUDE_DIRS}) install(TARGETS asebazeroconf LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBAZEROCONF_HDR zeroconf.h zeroconf-thread.h zeroconf-dashelhub.h ) install(FILES ${ASEBAZEROCONF_HDR} DESTINATION include/aseba/common/zeroconf ) # Zeroconf with Qt if (QT4_FOUND) set(QT_DONT_USE_QTGUI ON) include(${QT_USE_FILE}) qt4_wrap_cpp(asebacommon_zeroconf_MOCS zeroconf-qt.h ) set(ASEBA_ZEROCONFQT_SRC ${asebacommon_zeroconf_MOCS} zeroconf-qt.cpp ) add_library(asebazeroconfqt ${ASEBA_ZEROCONFQT_SRC}) set_target_properties(asebazeroconfqt PROPERTIES VERSION ${LIB_VERSION_STRING}) target_include_directories(asebazeroconfqt PUBLIC ${DNSSD_INCLUDE_DIRS}) install(TARGETS asebazeroconfqt LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBAZEROCONFQT_HDR zeroconf-qt.h ) install(FILES ${ASEBAZEROCONFQT_HDR} DESTINATION include/aseba/common/zeroconf ) endif (QT4_FOUND) endif (DNSSD_FOUND) aseba-1.6.0/common/zeroconf/avahi-compat-libdns_sd/000077500000000000000000000000001322771007300222205ustar00rootroot00000000000000aseba-1.6.0/common/zeroconf/avahi-compat-libdns_sd/compat.c000066400000000000000000001244771322771007300236660ustar00rootroot00000000000000/*** This file is part of avahi. avahi 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. avahi 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 avahi; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. ***/ #ifdef HAVE_CONFIG_H #include #endif #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "warn.h" #include "dns_sd.h" enum { COMMAND_POLL = 'p', COMMAND_QUIT = 'q', COMMAND_POLL_DONE = 'P', COMMAND_POLL_FAILED = 'F' }; struct type_info { char *type; AvahiStringList *subtypes; int n_subtypes; }; struct browse_list_s { DNSServiceRef sdref; DNSServiceFlags flags; uint32_t interface; DNSServiceErrorType errors; const char *name; const char *type; const char *domain; void *userdata; AVAHI_LLIST_FIELDS(struct browse_list_s, list); }; typedef struct browse_list_s browse_list_t; struct query_list_s { DNSServiceRef sdref; DNSServiceFlags flags; uint32_t interface; DNSServiceErrorType errors; const char *name; uint16_t type; uint16_t clazz; uint16_t size; const void *rdata; uint32_t ttl; void *userdata; AVAHI_LLIST_FIELDS(struct query_list_s, list); }; typedef struct query_list_s query_list_t; struct domain_list_s { DNSServiceRef sdref; DNSServiceFlags flags; uint32_t interface; DNSServiceErrorType errors; const char *domain; void *userdata; AVAHI_LLIST_FIELDS(struct domain_list_s, list); }; typedef struct domain_list_s domain_list_t; struct _DNSServiceRef_t { int n_ref; AvahiSimplePoll *simple_poll; int thread_fd, main_fd; pthread_t thread; int thread_running; pthread_mutex_t mutex; void *context; DNSServiceBrowseReply service_browser_callback; DNSServiceResolveReply service_resolver_callback; DNSServiceDomainEnumReply domain_browser_callback; DNSServiceRegisterReply service_register_callback; DNSServiceQueryRecordReply query_resolver_callback; AvahiClient *client; AvahiServiceBrowser *service_browser; AvahiServiceResolver *service_resolver; AvahiDomainBrowser *domain_browser; AvahiRecordBrowser *record_browser; struct type_info type_info; char *service_name, *service_name_chosen, *service_domain, *service_host; uint16_t service_port; AvahiIfIndex service_interface; AvahiStringList *service_txt; AvahiEntryGroup *entry_group; AVAHI_LLIST_HEAD(browse_list_t, browse_list); AVAHI_LLIST_HEAD(query_list_t, query_list); AVAHI_LLIST_HEAD(domain_list_t, domain_list); }; #define ASSERT_SUCCESS(r) { int __ret = (r); assert(__ret == 0); } static DNSServiceErrorType map_error(int error) { switch (error) { case AVAHI_OK : return kDNSServiceErr_NoError; case AVAHI_ERR_BAD_STATE : return kDNSServiceErr_BadState; case AVAHI_ERR_INVALID_HOST_NAME: case AVAHI_ERR_INVALID_DOMAIN_NAME: case AVAHI_ERR_INVALID_TTL: case AVAHI_ERR_IS_PATTERN: case AVAHI_ERR_INVALID_RECORD: case AVAHI_ERR_INVALID_SERVICE_NAME: case AVAHI_ERR_INVALID_SERVICE_TYPE: case AVAHI_ERR_INVALID_PORT: case AVAHI_ERR_INVALID_KEY: case AVAHI_ERR_INVALID_ADDRESS: case AVAHI_ERR_INVALID_SERVICE_SUBTYPE: return kDNSServiceErr_BadParam; case AVAHI_ERR_COLLISION: return kDNSServiceErr_NameConflict; case AVAHI_ERR_TOO_MANY_CLIENTS: case AVAHI_ERR_TOO_MANY_OBJECTS: case AVAHI_ERR_TOO_MANY_ENTRIES: case AVAHI_ERR_ACCESS_DENIED: return kDNSServiceErr_Refused; case AVAHI_ERR_INVALID_OPERATION: case AVAHI_ERR_INVALID_OBJECT: return kDNSServiceErr_Invalid; case AVAHI_ERR_NO_MEMORY: return kDNSServiceErr_NoMemory; case AVAHI_ERR_INVALID_INTERFACE: case AVAHI_ERR_INVALID_PROTOCOL: return kDNSServiceErr_BadInterfaceIndex; case AVAHI_ERR_INVALID_FLAGS: return kDNSServiceErr_BadFlags; case AVAHI_ERR_NOT_FOUND: return kDNSServiceErr_NoSuchName; case AVAHI_ERR_VERSION_MISMATCH: return kDNSServiceErr_Incompatible; case AVAHI_ERR_NO_NETWORK: case AVAHI_ERR_OS: case AVAHI_ERR_INVALID_CONFIG: case AVAHI_ERR_TIMEOUT: case AVAHI_ERR_DBUS_ERROR: case AVAHI_ERR_DISCONNECTED: case AVAHI_ERR_NO_DAEMON: break; } return kDNSServiceErr_Unknown; } static void type_info_init(struct type_info *i) { assert(i); i->type = NULL; i->subtypes = NULL; i->n_subtypes = 0; } static void type_info_free(struct type_info *i) { assert(i); avahi_free(i->type); avahi_string_list_free(i->subtypes); type_info_init(i); } static int type_info_parse(struct type_info *i, const char *t) { char *token = NULL; assert(i); assert(t); type_info_init(i); for (;;) { size_t l; if (*t == 0) break; l = strcspn(t, ","); if (l <= 0) goto fail; token = avahi_strndup(t, l); if (!token) goto fail; if (!i->type) { /* This is the first token, hence the main type */ if (!avahi_is_valid_service_type_strict(token)) goto fail; i->type = token; token = NULL; } else { char *fst; /* This is not the first token, hence a subtype */ if (!(fst = avahi_strdup_printf("%s._sub.%s", token, i->type))) goto fail; if (!avahi_is_valid_service_subtype(fst)) { avahi_free(fst); goto fail; } i->subtypes = avahi_string_list_add(i->subtypes, fst); avahi_free(fst); avahi_free(token); token = NULL; i->n_subtypes++; } t += l; if (*t == ',') t++; } if (i->type) return 0; fail: type_info_free(i); avahi_free(token); return -1; } static const char *add_trailing_dot(const char *s, char *buf, size_t buf_len) { if (!s) return NULL; if (*s == 0) return s; if (s[strlen(s)-1] == '.') return s; snprintf(buf, buf_len, "%s.", s); return buf; } static int read_command(int fd) { ssize_t r; char command; assert(fd >= 0); if ((r = read(fd, &command, 1)) != 1) { fprintf(stderr, __FILE__": read() failed: %s\n", r < 0 ? strerror(errno) : "EOF"); return -1; } return command; } static int write_command(int fd, char reply) { assert(fd >= 0); if (write(fd, &reply, 1) != 1) { fprintf(stderr, __FILE__": write() failed: %s\n", strerror(errno)); return -1; } return 0; } static int poll_func(struct pollfd *ufds, unsigned int nfds, int timeout, void *userdata) { DNSServiceRef sdref = userdata; int ret; assert(sdref); ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); /* fprintf(stderr, "pre-syscall\n"); */ ret = poll(ufds, nfds, timeout); /* fprintf(stderr, "post-syscall\n"); */ ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); return ret; } static void * thread_func(void *data) { DNSServiceRef sdref = data; sigset_t mask; sigfillset(&mask); pthread_sigmask(SIG_BLOCK, &mask, NULL); sdref->thread = pthread_self(); sdref->thread_running = 1; for (;;) { char command; if ((command = read_command(sdref->thread_fd)) < 0) break; /* fprintf(stderr, "Command: %c\n", command); */ switch (command) { case COMMAND_POLL: { int ret; ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); for (;;) { errno = 0; if ((ret = avahi_simple_poll_run(sdref->simple_poll)) < 0) { if (errno == EINTR) continue; fprintf(stderr, __FILE__": avahi_simple_poll_run() failed: %s\n", strerror(errno)); } break; } ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); if (write_command(sdref->thread_fd, ret < 0 ? COMMAND_POLL_FAILED : COMMAND_POLL_DONE) < 0) break; break; } case COMMAND_QUIT: return NULL; } } return NULL; } static DNSServiceRef sdref_new(void) { int fd[2] = { -1, -1 }; DNSServiceRef sdref = NULL; pthread_mutexattr_t mutex_attr; if (socketpair(AF_UNIX, SOCK_STREAM, 0, fd) < 0) goto fail; if (!(sdref = avahi_new(struct _DNSServiceRef_t, 1))) goto fail; sdref->n_ref = 1; sdref->thread_fd = fd[0]; sdref->main_fd = fd[1]; sdref->client = NULL; sdref->service_browser = NULL; sdref->service_resolver = NULL; sdref->domain_browser = NULL; sdref->entry_group = NULL; sdref->service_name = sdref->service_name_chosen = sdref->service_domain = sdref->service_host = NULL; sdref->service_txt = NULL; type_info_init(&sdref->type_info); ASSERT_SUCCESS(pthread_mutexattr_init(&mutex_attr)); pthread_mutexattr_settype(&mutex_attr, PTHREAD_MUTEX_RECURSIVE); ASSERT_SUCCESS(pthread_mutex_init(&sdref->mutex, &mutex_attr)); AVAHI_LLIST_HEAD_INIT(browse_list_t, sdref->browse_list); AVAHI_LLIST_HEAD_INIT(query_list_t, sdref->query_list); AVAHI_LLIST_HEAD_INIT(domain_list_t, sdref->domain_list); sdref->thread_running = 0; if (!(sdref->simple_poll = avahi_simple_poll_new())) goto fail; avahi_simple_poll_set_func(sdref->simple_poll, poll_func, sdref); /* Start simple poll */ if (avahi_simple_poll_prepare(sdref->simple_poll, -1) < 0) goto fail; /* Queue an initial POLL command for the thread */ if (write_command(sdref->main_fd, COMMAND_POLL) < 0) goto fail; if (pthread_create(&sdref->thread, NULL, thread_func, sdref) != 0) goto fail; sdref->thread_running = 1; return sdref; fail: if (sdref) DNSServiceRefDeallocate(sdref); return NULL; } static void sdref_free(DNSServiceRef sdref) { assert(sdref); if (sdref->thread_running) { ASSERT_SUCCESS(write_command(sdref->main_fd, COMMAND_QUIT)); avahi_simple_poll_wakeup(sdref->simple_poll); ASSERT_SUCCESS(pthread_join(sdref->thread, NULL)); } if (sdref->client) avahi_client_free(sdref->client); if (sdref->simple_poll) avahi_simple_poll_free(sdref->simple_poll); if (sdref->thread_fd >= 0) close(sdref->thread_fd); if (sdref->main_fd >= 0) close(sdref->main_fd); ASSERT_SUCCESS(pthread_mutex_destroy(&sdref->mutex)); avahi_free(sdref->service_name); avahi_free(sdref->service_name_chosen); avahi_free(sdref->service_domain); avahi_free(sdref->service_host); type_info_free(&sdref->type_info); avahi_string_list_free(sdref->service_txt); avahi_free(sdref); } static void sdref_ref(DNSServiceRef sdref) { assert(sdref); assert(sdref->n_ref >= 1); sdref->n_ref++; } static void sdref_unref(DNSServiceRef sdref) { assert(sdref); assert(sdref->n_ref >= 1); if (--(sdref->n_ref) <= 0) sdref_free(sdref); } int DNSSD_API DNSServiceRefSockFD(DNSServiceRef sdref) { AVAHI_WARN_LINKAGE; if (!sdref || sdref->n_ref <= 0) return -1; return sdref->main_fd; } DNSServiceErrorType DNSSD_API DNSServiceProcessResult(DNSServiceRef sdref) { DNSServiceErrorType ret = kDNSServiceErr_Unknown; AVAHI_WARN_LINKAGE; if (!sdref || sdref->n_ref <= 0) return kDNSServiceErr_BadParam; sdref_ref(sdref); ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); /* Cleanup notification socket */ if (read_command(sdref->main_fd) != COMMAND_POLL_DONE) goto finish; if (avahi_simple_poll_dispatch(sdref->simple_poll) < 0) goto finish; if (sdref->n_ref > 1) /* Perhaps we should die */ /* Dispatch events */ if (avahi_simple_poll_prepare(sdref->simple_poll, -1) < 0) goto finish; if (sdref->n_ref > 1) /* Request the poll */ if (write_command(sdref->main_fd, COMMAND_POLL) < 0) goto finish; ret = kDNSServiceErr_NoError; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); sdref_unref(sdref); return ret; } void DNSSD_API DNSServiceRefDeallocate(DNSServiceRef sdref) { AVAHI_WARN_LINKAGE; if (sdref) sdref_unref(sdref); } static void service_browser_callback( AvahiServiceBrowser *b, AvahiIfIndex interface, AVAHI_GCC_UNUSED AvahiProtocol protocol, AvahiBrowserEvent event, const char *name, const char *type, const char *domain, AvahiLookupResultFlags flags, void *userdata) { DNSServiceRef sdref = userdata; char type_fixed[AVAHI_DOMAIN_NAME_MAX], domain_fixed[AVAHI_DOMAIN_NAME_MAX]; assert(b); assert(sdref); assert(sdref->n_ref >= 1); type = add_trailing_dot(type, type_fixed, sizeof(type_fixed)); domain = add_trailing_dot(domain, domain_fixed, sizeof(domain_fixed)); switch (event) { case AVAHI_BROWSER_NEW: if (flags & AVAHI_LOOKUP_RESULT_CACHED) { browse_list_t *entry = calloc(1, sizeof(browse_list_t)); /* store the entry */ AVAHI_LLIST_INIT(browse_list_t, list, entry); entry->sdref = sdref; entry->flags = kDNSServiceFlagsAdd; entry->interface = interface; entry->errors = kDNSServiceErr_NoError; entry->name = strdup(name); entry->type = strdup(type); entry->domain = strdup(domain); entry->userdata = sdref->context; AVAHI_LLIST_PREPEND(browse_list_t, list, sdref->browse_list, entry); } else { sdref->service_browser_callback(sdref, kDNSServiceFlagsAdd, interface, kDNSServiceErr_NoError, name, type, domain, sdref->context); } break; case AVAHI_BROWSER_REMOVE: sdref->service_browser_callback(sdref, 0, interface, kDNSServiceErr_NoError, name, type, domain, sdref->context); break; case AVAHI_BROWSER_FAILURE: sdref->service_browser_callback(sdref, 0, interface, map_error(avahi_client_errno(sdref->client)), NULL, NULL, NULL, sdref->context); break; case AVAHI_BROWSER_CACHE_EXHAUSTED: /* send items in llist */ if (!sdref->browse_list) break; browse_list_t *entry = sdref->browse_list; while ( entry ) { /* send it */ int new_flags = entry->flags; if (entry->list_next) new_flags |= kDNSServiceFlagsMoreComing; entry->sdref->service_browser_callback(entry->sdref, new_flags, entry->interface, entry->errors, entry->name, entry->type, entry->domain, entry->userdata); /* remove entry */ browse_list_t *tmp = entry->list_next; free(entry->name); free(entry->type); free(entry->domain); free(entry); entry = tmp; } sdref->browse_list = NULL; break; case AVAHI_BROWSER_ALL_FOR_NOW: break; } } static void generic_client_callback(AvahiClient *s, AvahiClientState state, void* userdata) { DNSServiceRef sdref = userdata; int error = kDNSServiceErr_Unknown; assert(s); assert(sdref); assert(sdref->n_ref >= 1); switch (state) { case AVAHI_CLIENT_FAILURE: if (sdref->service_browser_callback) sdref->service_browser_callback(sdref, 0, 0, error, NULL, NULL, NULL, sdref->context); else if (sdref->service_resolver_callback) sdref->service_resolver_callback(sdref, 0, 0, error, NULL, NULL, 0, 0, NULL, sdref->context); else if (sdref->domain_browser_callback) sdref->domain_browser_callback(sdref, 0, 0, error, NULL, sdref->context); else if (sdref->query_resolver_callback) sdref->query_resolver_callback(sdref, 0, 0, error, NULL, 0, 0, 0, NULL, 0, sdref->context); break; case AVAHI_CLIENT_S_RUNNING: case AVAHI_CLIENT_S_COLLISION: case AVAHI_CLIENT_S_REGISTERING: case AVAHI_CLIENT_CONNECTING: break; } } DNSServiceErrorType DNSSD_API DNSServiceBrowse( DNSServiceRef *ret_sdref, DNSServiceFlags flags, uint32_t interface, const char *regtype, const char *domain, DNSServiceBrowseReply callback, void *context) { DNSServiceErrorType ret = kDNSServiceErr_Unknown; int error; DNSServiceRef sdref = NULL; AvahiIfIndex ifindex; struct type_info type_info; AVAHI_WARN_LINKAGE; if (!ret_sdref || !regtype) return kDNSServiceErr_BadParam; *ret_sdref = NULL; if (interface == kDNSServiceInterfaceIndexLocalOnly || flags != 0) { AVAHI_WARN_UNSUPPORTED; return kDNSServiceErr_Unsupported; } type_info_init(&type_info); if (type_info_parse(&type_info, regtype) < 0 || type_info.n_subtypes > 1) { type_info_free(&type_info); if (!avahi_is_valid_service_type_generic(regtype)) return kDNSServiceErr_Unsupported; } else regtype = type_info.subtypes ? (char*) type_info.subtypes->text : type_info.type; if (!(sdref = sdref_new())) { type_info_free(&type_info); return kDNSServiceErr_Unknown; } sdref->context = context; sdref->service_browser_callback = callback; ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); if (!(sdref->client = avahi_client_new(avahi_simple_poll_get(sdref->simple_poll), 0, generic_client_callback, sdref, &error))) { ret = map_error(error); goto finish; } ifindex = interface == kDNSServiceInterfaceIndexAny ? AVAHI_IF_UNSPEC : (AvahiIfIndex) interface; if (!(sdref->service_browser = avahi_service_browser_new(sdref->client, ifindex, AVAHI_PROTO_UNSPEC, regtype, domain, 0, service_browser_callback, sdref))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } ret = kDNSServiceErr_NoError; *ret_sdref = sdref; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); if (ret != kDNSServiceErr_NoError) DNSServiceRefDeallocate(sdref); type_info_free(&type_info); return ret; } static void service_resolver_callback( AvahiServiceResolver *r, AvahiIfIndex interface, AVAHI_GCC_UNUSED AvahiProtocol protocol, AvahiResolverEvent event, const char *name, const char *type, const char *domain, const char *host_name, AVAHI_GCC_UNUSED const AvahiAddress *a, uint16_t port, AvahiStringList *txt, AVAHI_GCC_UNUSED AvahiLookupResultFlags flags, void *userdata) { DNSServiceRef sdref = userdata; assert(r); assert(sdref); assert(sdref->n_ref >= 1); switch (event) { case AVAHI_RESOLVER_FOUND: { char host_name_fixed[AVAHI_DOMAIN_NAME_MAX]; char full_name[AVAHI_DOMAIN_NAME_MAX]; int ret; char *p = NULL; size_t l = 0; host_name = add_trailing_dot(host_name, host_name_fixed, sizeof(host_name_fixed)); if ((p = avahi_new0(char, (l = avahi_string_list_serialize(txt, NULL, 0))+1))) avahi_string_list_serialize(txt, p, l); ret = avahi_service_name_join(full_name, sizeof(full_name), name, type, domain); assert(ret == AVAHI_OK); strcat(full_name, "."); sdref->service_resolver_callback(sdref, 0, interface, kDNSServiceErr_NoError, full_name, host_name, htons(port), l, (unsigned char*) p, sdref->context); avahi_free(p); break; } case AVAHI_RESOLVER_FAILURE: sdref->service_resolver_callback(sdref, 0, interface, map_error(avahi_client_errno(sdref->client)), NULL, NULL, 0, 0, NULL, sdref->context); break; } } DNSServiceErrorType DNSSD_API DNSServiceResolve( DNSServiceRef *ret_sdref, DNSServiceFlags flags, uint32_t interface, const char *name, const char *regtype, const char *domain, DNSServiceResolveReply callback, void *context) { DNSServiceErrorType ret = kDNSServiceErr_Unknown; int error; DNSServiceRef sdref = NULL; AvahiIfIndex ifindex; AVAHI_WARN_LINKAGE; if (!ret_sdref || !name || !regtype || !domain || !callback) return kDNSServiceErr_BadParam; *ret_sdref = NULL; if (interface == kDNSServiceInterfaceIndexLocalOnly || flags != 0) { AVAHI_WARN_UNSUPPORTED; return kDNSServiceErr_Unsupported; } if (!(sdref = sdref_new())) return kDNSServiceErr_Unknown; sdref->context = context; sdref->service_resolver_callback = callback; ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); if (!(sdref->client = avahi_client_new(avahi_simple_poll_get(sdref->simple_poll), 0, generic_client_callback, sdref, &error))) { ret = map_error(error); goto finish; } ifindex = interface == kDNSServiceInterfaceIndexAny ? AVAHI_IF_UNSPEC : (AvahiIfIndex) interface; if (!(sdref->service_resolver = avahi_service_resolver_new(sdref->client, ifindex, AVAHI_PROTO_UNSPEC, name, regtype, domain, AVAHI_PROTO_UNSPEC, 0, service_resolver_callback, sdref))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } ret = kDNSServiceErr_NoError; *ret_sdref = sdref; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); if (ret != kDNSServiceErr_NoError) DNSServiceRefDeallocate(sdref); return ret; } int DNSSD_API DNSServiceConstructFullName ( char *fullName, const char *service, const char *regtype, const char *domain) { AVAHI_WARN_LINKAGE; if (!fullName || !regtype || !domain) return -1; if (avahi_service_name_join(fullName, kDNSServiceMaxDomainName, service, regtype, domain) < 0) return -1; return 0; } static void domain_browser_callback( AvahiDomainBrowser *b, AvahiIfIndex interface, AVAHI_GCC_UNUSED AvahiProtocol protocol, AvahiBrowserEvent event, const char *domain, AvahiLookupResultFlags flags, void *userdata) { DNSServiceRef sdref = userdata; static char domain_fixed[AVAHI_DOMAIN_NAME_MAX]; assert(b); assert(sdref); assert(sdref->n_ref >= 1); domain = add_trailing_dot(domain, domain_fixed, sizeof(domain_fixed)); switch (event) { case AVAHI_BROWSER_NEW: if (flags & AVAHI_LOOKUP_RESULT_CACHED) { domain_list_t *entry = calloc(1, sizeof(domain_list_t)); /* store the entry */ AVAHI_LLIST_INIT(domain_list_t, list, entry); entry->sdref = sdref; entry->flags = kDNSServiceFlagsAdd; entry->interface = interface; entry->errors = kDNSServiceErr_NoError; entry->domain = strdup(domain); entry->userdata = sdref->context; AVAHI_LLIST_PREPEND(domain_list_t, list, sdref->domain_list, entry); } else { sdref->domain_browser_callback(sdref, kDNSServiceFlagsAdd, interface, kDNSServiceErr_NoError, domain, sdref->context); } break; case AVAHI_BROWSER_REMOVE: sdref->domain_browser_callback(sdref, 0, interface, kDNSServiceErr_NoError, domain, sdref->context); break; case AVAHI_BROWSER_FAILURE: sdref->domain_browser_callback(sdref, 0, interface, map_error(avahi_client_errno(sdref->client)), domain, sdref->context); break; case AVAHI_BROWSER_CACHE_EXHAUSTED: /* send items in llist */ if (!sdref->domain_list) break; domain_list_t *entry = sdref->domain_list; while ( entry ) { /* send it */ int new_flags = entry->flags; if (entry->list_next) new_flags |= kDNSServiceFlagsMoreComing; entry->sdref->domain_browser_callback(entry->sdref, new_flags, entry->interface, entry->errors, entry->domain, entry->userdata); /* remove entry */ domain_list_t *tmp = entry->list_next; free(entry->domain); free(entry); entry = tmp; } sdref->domain_list = NULL; break; case AVAHI_BROWSER_ALL_FOR_NOW: break; } } DNSServiceErrorType DNSSD_API DNSServiceEnumerateDomains( DNSServiceRef *ret_sdref, DNSServiceFlags flags, uint32_t interface, DNSServiceDomainEnumReply callback, void *context) { DNSServiceErrorType ret = kDNSServiceErr_Unknown; int error; DNSServiceRef sdref = NULL; AvahiIfIndex ifindex; AVAHI_WARN_LINKAGE; if (!ret_sdref || !callback) return kDNSServiceErr_BadParam; *ret_sdref = NULL; if (interface == kDNSServiceInterfaceIndexLocalOnly || (flags != kDNSServiceFlagsBrowseDomains && flags != kDNSServiceFlagsRegistrationDomains)) { AVAHI_WARN_UNSUPPORTED; return kDNSServiceErr_Unsupported; } if (!(sdref = sdref_new())) return kDNSServiceErr_Unknown; sdref->context = context; sdref->domain_browser_callback = callback; ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); if (!(sdref->client = avahi_client_new(avahi_simple_poll_get(sdref->simple_poll), 0, generic_client_callback, sdref, &error))) { ret = map_error(error); goto finish; } ifindex = interface == kDNSServiceInterfaceIndexAny ? AVAHI_IF_UNSPEC : (AvahiIfIndex) interface; if (!(sdref->domain_browser = avahi_domain_browser_new(sdref->client, ifindex, AVAHI_PROTO_UNSPEC, "local", flags == kDNSServiceFlagsRegistrationDomains ? AVAHI_DOMAIN_BROWSER_REGISTER : AVAHI_DOMAIN_BROWSER_BROWSE, 0, domain_browser_callback, sdref))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } ret = kDNSServiceErr_NoError; *ret_sdref = sdref; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); if (ret != kDNSServiceErr_NoError) DNSServiceRefDeallocate(sdref); return ret; } static void reg_report_error(DNSServiceRef sdref, DNSServiceErrorType error) { char regtype_fixed[AVAHI_DOMAIN_NAME_MAX], domain_fixed[AVAHI_DOMAIN_NAME_MAX]; const char *regtype, *domain; assert(sdref); assert(sdref->n_ref >= 1); if (!sdref->service_register_callback) return; regtype = add_trailing_dot(sdref->type_info.type, regtype_fixed, sizeof(regtype_fixed)); domain = add_trailing_dot(sdref->service_domain, domain_fixed, sizeof(domain_fixed)); sdref->service_register_callback( sdref, 0, error, sdref->service_name_chosen ? sdref->service_name_chosen : sdref->service_name, regtype, domain, sdref->context); } static int reg_create_service(DNSServiceRef sdref) { int ret; AvahiStringList *l; assert(sdref); assert(sdref->n_ref >= 1); if ((ret = avahi_entry_group_add_service_strlst( sdref->entry_group, sdref->service_interface, AVAHI_PROTO_UNSPEC, 0, sdref->service_name_chosen, sdref->type_info.type, sdref->service_domain, sdref->service_host, sdref->service_port, sdref->service_txt)) < 0) return ret; for (l = sdref->type_info.subtypes; l; l = l->next) { /* Create a subtype entry */ if (avahi_entry_group_add_service_subtype( sdref->entry_group, sdref->service_interface, AVAHI_PROTO_UNSPEC, 0, sdref->service_name_chosen, sdref->type_info.type, sdref->service_domain, (const char*) l->text) < 0) return ret; } if ((ret = avahi_entry_group_commit(sdref->entry_group)) < 0) return ret; return 0; } static void reg_client_callback(AvahiClient *s, AvahiClientState state, void* userdata) { DNSServiceRef sdref = userdata; assert(s); assert(sdref); assert(sdref->n_ref >= 1); /* We've not been setup completely */ if (!sdref->entry_group) return; switch (state) { case AVAHI_CLIENT_FAILURE: reg_report_error(sdref, kDNSServiceErr_Unknown); break; case AVAHI_CLIENT_S_RUNNING: { int ret; if (!sdref->service_name) { const char *n; /* If the service name is taken from the host name, copy that */ avahi_free(sdref->service_name_chosen); sdref->service_name_chosen = NULL; if (!(n = avahi_client_get_host_name(sdref->client))) { reg_report_error(sdref, map_error(avahi_client_errno(sdref->client))); return; } if (!(sdref->service_name_chosen = avahi_strdup(n))) { reg_report_error(sdref, kDNSServiceErr_NoMemory); return; } } if (!sdref->service_name_chosen) { assert(sdref->service_name); if (!(sdref->service_name_chosen = avahi_strdup(sdref->service_name))) { reg_report_error(sdref, kDNSServiceErr_NoMemory); return; } } /* Register the service */ if ((ret = reg_create_service(sdref)) < 0) { reg_report_error(sdref, map_error(ret)); return; } break; } case AVAHI_CLIENT_S_COLLISION: case AVAHI_CLIENT_S_REGISTERING: /* Remove our entry */ avahi_entry_group_reset(sdref->entry_group); break; case AVAHI_CLIENT_CONNECTING: /* Ignore */ break; } } static void reg_entry_group_callback(AvahiEntryGroup *g, AvahiEntryGroupState state, void *userdata) { DNSServiceRef sdref = userdata; assert(g); switch (state) { case AVAHI_ENTRY_GROUP_ESTABLISHED: /* Inform the user */ reg_report_error(sdref, kDNSServiceErr_NoError); break; case AVAHI_ENTRY_GROUP_COLLISION: { char *n; int ret; /* Remove our entry */ avahi_entry_group_reset(sdref->entry_group); assert(sdref->service_name_chosen); /* Pick a new name */ if (!(n = avahi_alternative_service_name(sdref->service_name_chosen))) { reg_report_error(sdref, kDNSServiceErr_NoMemory); return; } avahi_free(sdref->service_name_chosen); sdref->service_name_chosen = n; /* Register the service with that new name */ if ((ret = reg_create_service(sdref)) < 0) { reg_report_error(sdref, map_error(ret)); return; } break; } case AVAHI_ENTRY_GROUP_REGISTERING: case AVAHI_ENTRY_GROUP_UNCOMMITED: /* Ignore */ break; case AVAHI_ENTRY_GROUP_FAILURE: /* Inform the user */ reg_report_error(sdref, map_error(avahi_client_errno(sdref->client))); break; } } DNSServiceErrorType DNSSD_API DNSServiceRegister ( DNSServiceRef *ret_sdref, DNSServiceFlags flags, uint32_t interface, const char *name, const char *regtype, const char *domain, const char *host, uint16_t port, uint16_t txtLen, const void *txtRecord, DNSServiceRegisterReply callback, void *context) { DNSServiceErrorType ret = kDNSServiceErr_Unknown; int error; DNSServiceRef sdref = NULL; AvahiStringList *txt = NULL; struct type_info type_info; AVAHI_WARN_LINKAGE; if (!ret_sdref || !regtype) return kDNSServiceErr_BadParam; *ret_sdref = NULL; if (!txtRecord) { txtLen = 1; txtRecord = ""; } if (interface == kDNSServiceInterfaceIndexLocalOnly || flags) { AVAHI_WARN_UNSUPPORTED; return kDNSServiceErr_Unsupported; } if (txtLen > 0) if (avahi_string_list_parse(txtRecord, txtLen, &txt) < 0) return kDNSServiceErr_Invalid; if (type_info_parse(&type_info, regtype) < 0) { avahi_string_list_free(txt); return kDNSServiceErr_Invalid; } if (!(sdref = sdref_new())) { avahi_string_list_free(txt); type_info_free(&type_info); return kDNSServiceErr_Unknown; } sdref->context = context; sdref->service_register_callback = callback; sdref->type_info = type_info; sdref->service_name = avahi_strdup(name); sdref->service_domain = domain ? avahi_normalize_name_strdup(domain) : NULL; sdref->service_host = host ? avahi_normalize_name_strdup(host) : NULL; sdref->service_interface = interface == kDNSServiceInterfaceIndexAny ? AVAHI_IF_UNSPEC : (AvahiIfIndex) interface; sdref->service_port = ntohs(port); sdref->service_txt = txt; /* Some OOM checking would be cool here */ ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); if (!(sdref->client = avahi_client_new(avahi_simple_poll_get(sdref->simple_poll), 0, reg_client_callback, sdref, &error))) { ret = map_error(error); goto finish; } if (!sdref->service_domain) { const char *d; if (!(d = avahi_client_get_domain_name(sdref->client))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } if (!(sdref->service_domain = avahi_strdup(d))) { ret = kDNSServiceErr_NoMemory; goto finish; } } if (!(sdref->entry_group = avahi_entry_group_new(sdref->client, reg_entry_group_callback, sdref))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } if (avahi_client_get_state(sdref->client) == AVAHI_CLIENT_S_RUNNING) { const char *n; if (sdref->service_name) n = sdref->service_name; else { if (!(n = avahi_client_get_host_name(sdref->client))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } } if (!(sdref->service_name_chosen = avahi_strdup(n))) { ret = kDNSServiceErr_NoMemory; goto finish; } if ((error = reg_create_service(sdref)) < 0) { ret = map_error(error); goto finish; } } ret = kDNSServiceErr_NoError; *ret_sdref = sdref; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); if (ret != kDNSServiceErr_NoError) DNSServiceRefDeallocate(sdref); return ret; } DNSServiceErrorType DNSSD_API DNSServiceUpdateRecord( DNSServiceRef sdref, DNSRecordRef rref, DNSServiceFlags flags, uint16_t rdlen, const void *rdata, AVAHI_GCC_UNUSED uint32_t ttl) { int ret = kDNSServiceErr_Unknown; AvahiStringList *txt = NULL; AVAHI_WARN_LINKAGE; if (!sdref || sdref->n_ref <= 0) return kDNSServiceErr_BadParam; if (flags || rref) { AVAHI_WARN_UNSUPPORTED; return kDNSServiceErr_Unsupported; } if (rdlen > 0) if (avahi_string_list_parse(rdata, rdlen, &txt) < 0) return kDNSServiceErr_Invalid; ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); if (!avahi_string_list_equal(txt, sdref->service_txt)) { avahi_string_list_free(sdref->service_txt); sdref->service_txt = txt; if (avahi_client_get_state(sdref->client) == AVAHI_CLIENT_S_RUNNING && sdref->entry_group && (avahi_entry_group_get_state(sdref->entry_group) == AVAHI_ENTRY_GROUP_ESTABLISHED || avahi_entry_group_get_state(sdref->entry_group) == AVAHI_ENTRY_GROUP_REGISTERING)) if (avahi_entry_group_update_service_txt_strlst( sdref->entry_group, sdref->service_interface, AVAHI_PROTO_UNSPEC, 0, sdref->service_name_chosen, sdref->type_info.type, sdref->service_domain, sdref->service_txt) < 0) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } } else avahi_string_list_free(txt); ret = kDNSServiceErr_NoError; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); return ret; } static void query_resolver_callback( AvahiRecordBrowser *r, AvahiIfIndex interface, AVAHI_GCC_UNUSED AvahiProtocol protocol, AvahiBrowserEvent event, const char *name, uint16_t clazz, uint16_t type, const void* rdata, size_t size, AvahiLookupResultFlags flags, void *userdata) { DNSServiceRef sdref = userdata; assert(r); assert(sdref); assert(sdref->n_ref >= 1); switch (event) { case AVAHI_BROWSER_NEW: case AVAHI_BROWSER_REMOVE: { DNSServiceFlags qflags = 0; if (event == AVAHI_BROWSER_NEW) qflags |= kDNSServiceFlagsAdd; if (flags & AVAHI_LOOKUP_RESULT_CACHED) { query_list_t *entry = calloc(1, sizeof(query_list_t)); /* store the entry */ AVAHI_LLIST_INIT(query_list_t, list, entry); entry->sdref = sdref; entry->flags = qflags; entry->interface = interface; entry->errors = kDNSServiceErr_NoError; entry->name = strdup(name); entry->type = type; entry->clazz = clazz; entry->size = size; entry->rdata = rdata; entry->ttl = 0; entry->userdata = sdref->context; AVAHI_LLIST_PREPEND(query_list_t, list, sdref->query_list, entry); } else { sdref->query_resolver_callback(sdref, qflags, interface, kDNSServiceErr_NoError, name, type, clazz, size, rdata, 0, sdref->context); } break; } case AVAHI_BROWSER_ALL_FOR_NOW: break; case AVAHI_BROWSER_CACHE_EXHAUSTED: /* send items in llist */ if (!sdref->query_list) break; query_list_t *entry = sdref->query_list; while (entry ) { /* send it */ int new_flags = entry->flags; if (entry->list_next) new_flags |= kDNSServiceFlagsMoreComing; entry->sdref->query_resolver_callback(entry->sdref, new_flags, entry->interface, entry->errors, entry->name, entry->type, entry->clazz, entry->size, entry->rdata, entry->ttl, entry->userdata); /* remove entry */ query_list_t *tmp = entry->list_next; free(entry->name); free(entry); entry = tmp; } sdref->query_list = NULL; break; case AVAHI_BROWSER_FAILURE: sdref->query_resolver_callback(sdref, 0, interface, map_error(avahi_client_errno(sdref->client)), NULL, 0, 0, 0, NULL, 0, sdref->context); break; } } DNSServiceErrorType DNSSD_API DNSServiceQueryRecord ( DNSServiceRef *ret_sdref, DNSServiceFlags flags, uint32_t interface, const char *fullname, uint16_t type, uint16_t clazz, DNSServiceQueryRecordReply callback, void *context) { DNSServiceErrorType ret = kDNSServiceErr_Unknown; int error; DNSServiceRef sdref = NULL; AvahiIfIndex ifindex; AVAHI_WARN_LINKAGE; if (!ret_sdref || !fullname) return kDNSServiceErr_BadParam; *ret_sdref = NULL; if (interface == kDNSServiceInterfaceIndexLocalOnly || flags != 0) { AVAHI_WARN_UNSUPPORTED; return kDNSServiceErr_Unsupported; } if (!(sdref = sdref_new())) return kDNSServiceErr_Unknown; sdref->context = context; sdref->query_resolver_callback = callback; ASSERT_SUCCESS(pthread_mutex_lock(&sdref->mutex)); if (!(sdref->client = avahi_client_new(avahi_simple_poll_get(sdref->simple_poll), 0, generic_client_callback, sdref, &error))) { ret = map_error(error); goto finish; } ifindex = interface == kDNSServiceInterfaceIndexAny ? AVAHI_IF_UNSPEC : (AvahiIfIndex) interface; if (!(sdref->record_browser = avahi_record_browser_new(sdref->client, ifindex, AVAHI_PROTO_UNSPEC, fullname, clazz, type, 0, query_resolver_callback, sdref))) { ret = map_error(avahi_client_errno(sdref->client)); goto finish; } ret = kDNSServiceErr_NoError; *ret_sdref = sdref; finish: ASSERT_SUCCESS(pthread_mutex_unlock(&sdref->mutex)); if (ret != kDNSServiceErr_NoError) DNSServiceRefDeallocate(sdref); return ret; } aseba-1.6.0/common/zeroconf/avahi-compat-libdns_sd/warn.h000066400000000000000000000023361322771007300233440ustar00rootroot00000000000000#ifndef foowarnhfoo #define foowarnhfoo /*** This file is part of avahi. avahi 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. avahi 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 avahi; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. ***/ /* This routine works on Linux only, so don't rely on it */ const char *avahi_exe_name(void); void avahi_warn_unsupported(const char *function); void avahi_warn_linkage(void); void avahi_warn(const char *fmt, ...); #define AVAHI_WARN_LINKAGE do { } while(0) #define AVAHI_WARN_UNSUPPORTED do { avahi_warn_linkage(); avahi_warn_unsupported(__FUNCTION__); } while(0) #define AVAHI_WARN_UNSUPPORTED_ABORT do { AVAHI_WARN_UNSUPPORTED; abort(); } while(0) #endif aseba-1.6.0/common/zeroconf/target.cpp000066400000000000000000000127271322771007300177130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "zeroconf.h" #include "../../common/utils/FormatableString.h" using namespace std; namespace Aseba { //! Return the hash of the key of target std::size_t Zeroconf::TargetInformationKeyHash::operator()(TargetInformation const& target) const noexcept { auto nameHash = std::hash{}(target.name); auto regTypeHash = std::hash{}(target.regtype); auto domainHash = std::hash{}(target.domain); return nameHash ^ regTypeHash ^ domainHash; } //! Return whether the keys of lhs and rhs are equal bool Zeroconf::TargetInformationKeyCompareEqual::operator()( const TargetInformation& lhs, const TargetInformation& rhs ) const { return static_cast(lhs) == static_cast(rhs); }; //! Two target keys are equal if all their members are equal bool operator ==(const Zeroconf::TargetKey &lhs, const Zeroconf::TargetKey &rhs) { return lhs.name == rhs.name && lhs.regtype == rhs.regtype && lhs.domain == rhs.domain ; } //! This target is described by a human-readable name, regtype, and domain. //! It corresponds to a remote target on which that we want to resolve Zeroconf::TargetInformation::TargetInformation(std::string name, std::string regtype, std::string domain): Zeroconf::TargetKey{std::move(name), std::move(regtype), std::move(domain)} {} //! This target is described by a human-readable name and a port. //! It corresponds to a local target being advertised. Zeroconf::TargetInformation::TargetInformation(std::string name, const int port): Zeroconf::TargetKey{std::move(name)}, port(port) {} //! This target describes an existing Dashel stream. //! It corresponds to a local target being advertised. //! Raises Dashel::DashelException(Parameter missing: port) if not a tcp target. Zeroconf::TargetInformation::TargetInformation(std::string name, const Dashel::Stream* stream): Zeroconf::TargetKey{std::move(name)}, port(atoi(stream->getTargetParameter("port").c_str())) {} //! Return a valid Dashel target string std::string Zeroconf::TargetInformation::dashel() const { return FormatableString("tcp:%0;port=%1").arg(host).arg(port); } //! Assign this->serviceRef to rhs.serviceRef and set the later to nullptr, and move other fields. Zeroconf::Target::Target(Target && rhs): TargetInformation(std::move(rhs)), state(std::move(rhs.state)), container(std::move(rhs.container)) { serviceRef = rhs.serviceRef; rhs.serviceRef = nullptr; } //! Assign this->serviceRef to rhs.serviceRef and set the later to nullptr, and move other fields. Zeroconf::Target& Zeroconf::Target::operator=(Target&& rhs) { if (serviceRef) container.get().releaseServiceRef(serviceRef); TargetInformation::operator = (std::move(rhs)); state = std::move(rhs.state); container = std::move(rhs.container); serviceRef = rhs.serviceRef; rhs.serviceRef = nullptr; return *this; } //! This target is described by a human-readable name, regtype and domain. //! It corresponds to a remote target on which that we want to resolve. Zeroconf::Target::Target(std::string name, std::string regtype, std::string domain, Zeroconf & container): Zeroconf::TargetInformation(std::move(name), std::move(regtype), std::move(domain)), container(container) {} //! This target is described by a human-readable name and a port. //! It corresponds to a local target being advertised. Zeroconf::Target::Target(std::string name, const int port, Zeroconf & container): Zeroconf::TargetInformation(std::move(name), port), container(container) {} //! This target describes an existing Dashel stream //! It corresponds to a local target being advertised. //! Raises Dashel::DashelException(Parameter missing: port) if not a tcp target Zeroconf::Target::Target(std::string name, const Dashel::Stream* dashelStream, Zeroconf & container): Zeroconf::TargetInformation(std::move(name), dashelStream), container(container) {} //! Destructor, release the serviceRef through the container, //! which thus must be a valid object at that time. Zeroconf::Target::~Target() { container.get().releaseServiceRef(serviceRef); } //! Ask the containing Zeroconf to indicate that this register is completed void Zeroconf::Target::registerCompleted() const { container.get().registerCompleted(*this); } //! Ask the containing Zeroconf to indicate this resolve is completed void Zeroconf::Target::updateCompleted() const { container.get().updateCompleted(*this); } //! Ask the containing Zeroconf to indicate that this target has been found void Zeroconf::Target::targetFound() const { container.get().targetFound(*this); } } // namespace Aseba aseba-1.6.0/common/zeroconf/txtrecord.cpp000066400000000000000000000102551322771007300204350ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "zeroconf.h" using namespace std; namespace Aseba { //! TXT data for an Aseba target, with node ids and product ids Zeroconf::TxtRecord::TxtRecord(const unsigned int protovers, const std::string& type, bool busy, const std::vector& ids, const std::vector& pids) { assign("txtvers", 1); assign("protovers", int(protovers)); assign("type", type); assign("busy", busy); assign("ids", ids); assign("pids", pids); } //! TXT data for an Aseba target, deserialized from a TXT record string Zeroconf::TxtRecord::TxtRecord(const std::string & txtRecord) { istringstream txt{txtRecord}; do { char length; txt >> length; string data; txt >> setw(int(length)) >> data; auto key_pos = data.find('='); fields[data.substr(0, key_pos)] = (key_pos==std::string::npos) ? "" : data.substr(key_pos+1); } while (txt.peek() != std::char_traits::eof()); } //! TXT data for an Aseba target, deserialized from a TXT record buffer Zeroconf::TxtRecord::TxtRecord(const unsigned char * txtRecord, uint16_t txtLen) { size_t pos = 0; while (pos < txtLen) { size_t length{size_t(txtRecord[pos++])}; string data{reinterpret_cast(txtRecord)+pos, min(length,txtLen-pos)}; auto key_pos = data.find('='); fields[data.substr(0, key_pos)] = (key_pos==std::string::npos) ? "" : data.substr(key_pos+1); pos += length; } } //! A string value in the TXT record is a sequence of bytes void Zeroconf::TxtRecord::assign(const std::string& key, const std::string& value) { fields[key] = value.substr(0,20); // silently truncate name to 20 characters } //! A simple integer value in the TXT record is the string of its decimal value void Zeroconf::TxtRecord::assign(const std::string& key, const int value) { ostringstream field; field << value; assign(key, field.str()); } //! A vector of integers in the TXT record is a sequence of big-endian 16-bit values //! note that the size of the vector is implicit in the record length: (record.length()-record.find("=")-1)/2. void Zeroconf::TxtRecord::assign(const std::string& key, const std::vector& values) { ostringstream field; for (const auto &value : values) field.put(value<<8), field.put(value % 0xff); assign(key, field.str()); } //! A boolean value in the TXT record is either the key (true) or nothing (false) void Zeroconf::TxtRecord::assign(const std::string& key, const bool value) { if (value) fields[key] = ""; // length will be 0, so no "=" in the record } //! Retrieve the encoded TXT record. //! A serialized TXT record is composed of length-prefixed strings of the form KEY[=VALUE] string Zeroconf::TxtRecord::record() const { ostringstream txt; serializeField(txt, "txtvers"); serializeField(txt, "protovers"); serializeField(txt, "type"); serializeField(txt, "busy"); serializeField(txt, "ids"); serializeField(txt, "pids"); return txt.str(); } //!< serialize a field into the encoded TXT record void Zeroconf::TxtRecord::serializeField(ostringstream& txt, const std::string& key) const { if (fields.find(key) != fields.end()) // key will be absent if it was boolean and false { string record{key}; if (fields.at(key).length() > 0) record += "=" + fields.at(key); txt.put(record.length()); txt << record; } } } // namespace Aseba aseba-1.6.0/common/zeroconf/zeroconf-dashelhub.cpp000066400000000000000000000077631322771007300222130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../consts.h" #include "../utils/utils.h" #include "../utils/FormatableString.h" #include "zeroconf-dashelhub.h" #include "dns_sd.h" using namespace std; namespace Aseba { using namespace Dashel; //! Constructor, taking a reference to a Dashel::Hub DashelhubZeroconf::DashelhubZeroconf(Hub& hub): hub(hub) {} //! Clear all targets and clean-up remaining streams DashelhubZeroconf::~DashelhubZeroconf() { // clear all targets targets.clear(); // release browse serviceRef releaseServiceRef(browseServiceRef); // clean-up remaining streams cleanUpStreams(zeroconfStreams); cleanUpStreams(pendingReleaseStreams); } //! Create a Dashel tcppoll stream to watch the underlying file description of the provided service reference void DashelhubZeroconf::processServiceRef(DNSServiceRef serviceRef) { assert(serviceRef); int socket = DNSServiceRefSockFD(serviceRef); if (socket != -1) { string dashelTarget = FormatableString("tcppoll:sock=%0").arg(socket); auto stream = hub.connect(dashelTarget); assert(stream); zeroconfStreams.emplace(stream, serviceRef); } } //! Move the Dashel stream corresponding to the provided service reference to pendingReleaseStreams, //! the list of streams that will be released after the end of the current Dashel step. void DashelhubZeroconf::releaseServiceRef(DNSServiceRef serviceRef) { if (!serviceRef) return; int socket = DNSServiceRefSockFD(serviceRef); assert (socket != -1); auto streamIt(zeroconfStreams.begin()); while (streamIt != zeroconfStreams.end()) { if (streamIt->second == serviceRef) { pendingReleaseStreams[streamIt->first] = streamIt->second; streamIt = zeroconfStreams.erase(streamIt); } else ++streamIt; } } //! Check if data were coming on one of our streams, and if so process void DashelhubZeroconf::dashelIncomingData(Dashel::Stream * stream) { if (zeroconfStreams.find(stream) != zeroconfStreams.end()) { auto serviceRef = zeroconfStreams.at(stream); DNSServiceErrorType err = DNSServiceProcessResult(serviceRef); if (err != kDNSServiceErr_NoError) throw Zeroconf::Error(FormatableString("DNSServiceProcessResult (service ref %1): error %0").arg(err).arg(serviceRef)); } } //! Check if one of our streams was disconnected, and if so take note void DashelhubZeroconf::dashelConnectionClosed(Stream * stream) { zeroconfStreams.erase(stream); } //! Call Dashel::step and then delete all streams whose release where pending bool DashelhubZeroconf::dashelStep(int timeout) { bool ret(hub.step(timeout)); cleanUpStreams(pendingReleaseStreams); return ret; } //! Return whether stream is handled by Zeroconf bool DashelhubZeroconf::isStreamHandled(Dashel::Stream * stream) const { if (zeroconfStreams.count(stream) != 0) return true; if (pendingReleaseStreams.count(stream) != 0) return true; return false; } //! Close all streams and deallocate their service reference void DashelhubZeroconf::cleanUpStreams(std::map& streams) { for (auto& streamKV: streams) { hub.closeStream(streamKV.first); DNSServiceRefDeallocate(streamKV.second); } streams.clear(); } } // namespace Aseba aseba-1.6.0/common/zeroconf/zeroconf-dashelhub.h000066400000000000000000000046411322771007300216500ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ZEROCONF_DASHELHUB #define ASEBA_ZEROCONF_DASHELHUB #include #include "zeroconf.h" namespace Aseba { //! Use the Dashel run loop to watch the DNS Service for updates, and trigger callback //! processing as necessary. //! Call dashelIncomingData and dashelConnectionClosed from the equivalent Dashel functions, //! and call dashelStep instead of Dashel::Hub::step(), in order to close the pendingReleaseStreams. class DashelhubZeroconf : public Zeroconf { public: DashelhubZeroconf(Dashel::Hub& hub); ~DashelhubZeroconf() override; // To be called from similar functions in Dashel::Hub void dashelIncomingData(Dashel::Stream * stream); void dashelConnectionClosed(Dashel::Stream * stream); // To be called instead the functions in Dashel::Hub bool dashelStep(int timeout = 0); // Helper function for integration bool isStreamHandled(Dashel::Stream * stream) const; protected: // From Zeroconf void processServiceRef(DNSServiceRef serviceRef) override; void releaseServiceRef(DNSServiceRef serviceRef) override; private: //! Reference to the hub to create connections from processDiscoveryRequest Dashel::Hub& hub; //! Collection of (tcp:) SocketStreams that watch the serviceRef file descriptors. std::map zeroconfStreams; //! Streams that dashelStep() will call closeStream() on, after the current Hub::step() is finished std::map pendingReleaseStreams; private: void cleanUpStreams(std::map& streams); }; } #endif /* ASEBA_ZEROCONF_DASHELHUB */ aseba-1.6.0/common/zeroconf/zeroconf-qt.cpp000066400000000000000000000103541322771007300206660ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "../utils/FormatableString.h" #include "zeroconf-qt.h" #include "dns_sd.h" using namespace std; namespace Aseba { //! Destructor, clear all targets QtZeroconf::~QtZeroconf() { // clear all targets targets.clear(); // release browse serviceRef releaseServiceRef(browseServiceRef); } //! Create a socket notifier for the provided service reference, and start watching //! its file descriptor for activity. void QtZeroconf::processServiceRef(DNSServiceRef serviceRef) { assert(serviceRef); auto notifier = new ServiceRefSocketNotifier(serviceRef, this); QObject::connect(notifier, SIGNAL(activated(int)), this, SLOT(doIncoming(int))); zeroconfSockets.emplace(notifier->socket(), notifier); } //! Remove the socket notifier associated with the provided service reference, //! and later deallocate it (through Qt's deleteLater mechanism). void QtZeroconf::releaseServiceRef(DNSServiceRef serviceRef) { if (!serviceRef) return; // safety check int socket = DNSServiceRefSockFD(serviceRef); assert(socket != -1); // remove the notifier and delete it later auto socketNotifierIt(zeroconfSockets.find(socket)); if (socketNotifierIt != zeroconfSockets.end()) { socketNotifierIt->second->deleteLater(); zeroconfSockets.erase(socketNotifierIt); } } //! Emit signal when register completed. //! If you override this method you take responsibility for emitting signals as you see fit. void QtZeroconf::registerCompleted(const Aseba::Zeroconf::TargetInformation & target) { emit zeroconfRegisterCompleted(target); } //! Emit signal when update completed. //! If you override this method you take responsibility for emitting signals as you see fit. void QtZeroconf::updateCompleted(const Aseba::Zeroconf::TargetInformation & target) { emit zeroconfUpdateCompleted(target); } //! Emit signal when resolve completed. //! If you override this method you take responsibility for emitting signals as you see fit. void QtZeroconf::targetFound(const Aseba::Zeroconf::TargetInformation & target) { emit zeroconfTargetFound(target); } //! Emit signal when target is removed. //! If you override this method you take responsibility for emitting signals as you see fit. void QtZeroconf::targetRemoved(const Aseba::Zeroconf::TargetInformation & target) { emit zeroconfTargetRemoved(target); } //! Data are available on a zeroconf socket void QtZeroconf::doIncoming(int socket) { auto streamIt(zeroconfSockets.find(socket)); if (streamIt != zeroconfSockets.end()) incomingData(streamIt->second->serviceRef); } //! Process incoming data associated to a service reference void QtZeroconf::incomingData(DNSServiceRef serviceRef) { DNSServiceErrorType err = DNSServiceProcessResult(serviceRef); if (err != kDNSServiceErr_NoError) throw Zeroconf::Error(FormatableString("DNSServiceProcessResult (service ref %1): error %0").arg(err).arg(serviceRef)); } //! Create a Qt socket notifier in read mode for the file descriptor of the provided service reference QtZeroconf::ServiceRefSocketNotifier::ServiceRefSocketNotifier(DNSServiceRef serviceRef, QObject *parent): QSocketNotifier(DNSServiceRefSockFD(serviceRef), QSocketNotifier::Read, parent), serviceRef(serviceRef) { } //! Deallocate the service reference QtZeroconf::ServiceRefSocketNotifier::~ServiceRefSocketNotifier() { DNSServiceRefDeallocate(serviceRef); } } // namespace Aseba aseba-1.6.0/common/zeroconf/zeroconf-qt.h000066400000000000000000000055001322771007300203300ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ZEROCONF_QT #define ASEBA_ZEROCONF_QT #include #include #include "zeroconf.h" namespace Aseba { //! Use the QT event loop to watch the DNS Service for updates, and triggers callback //! processing as necessary. class QtZeroconf : public QObject, public Zeroconf { Q_OBJECT signals: void zeroconfRegisterCompleted(const Aseba::Zeroconf::TargetInformation &); //!< emitted when a register is completed void zeroconfUpdateCompleted(const Aseba::Zeroconf::TargetInformation &); //!< emitted when an update is completed void zeroconfTargetFound(const Aseba::Zeroconf::TargetInformation &); //!< emitted when a target is resolved void zeroconfTargetRemoved(const Aseba::Zeroconf::TargetInformation &); //!< emitted when a previously found target is removed public: QtZeroconf(QObject *parent = nullptr): QObject(parent) {} ~QtZeroconf() override; protected slots: void doIncoming(int socket); protected: // From Zeroconf void registerCompleted(const Aseba::Zeroconf::TargetInformation & target) override; void updateCompleted(const Aseba::Zeroconf::TargetInformation & target) override; void targetFound(const Aseba::Zeroconf::TargetInformation & target) override; void targetRemoved(const Aseba::Zeroconf::TargetInformation &) override; void processServiceRef(DNSServiceRef serviceRef) override; void releaseServiceRef(DNSServiceRef serviceRef) override; protected: void incomingData(DNSServiceRef serviceRef); private: struct ServiceRefSocketNotifier; //! A collection of QSocketNotifier that watch the serviceref file descriptors. std::map zeroconfSockets; }; //! Extends a Qt socket notifier with the associated service reference struct QtZeroconf::ServiceRefSocketNotifier: QSocketNotifier { ServiceRefSocketNotifier(DNSServiceRef serviceRef, QObject *parent); ~ServiceRefSocketNotifier() override; DNSServiceRef serviceRef; //!< the associated service reference }; } #endif /* ASEBA_ZEROCONF_QT */ aseba-1.6.0/common/zeroconf/zeroconf-thread.cpp000066400000000000000000000106541322771007300215140ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../utils/utils.h" #include "../utils/FormatableString.h" #include #include "zeroconf-thread.h" #include "dns_sd.h" #ifdef WIN32 #include #endif using namespace std; namespace Aseba { using namespace Dashel; //! Destructor, need to terminate the thread, clear all targets, and deallocate remaining service references ThreadZeroconf::~ThreadZeroconf() { running = false; threadWait.notify_one(); watcher.join(); // tell watcher to stop // clear all targets targets.clear(); // deallocate remaining service references for (auto serviceRef: serviceRefs) DNSServiceRefDeallocate(serviceRef); for (auto serviceRef: pendingReleaseServiceRefs) DNSServiceRefDeallocate(serviceRef); } //! Wait for the watcher thread to complete, rethrowing exceptions void ThreadZeroconf::run() { watcher.join(); if (watcherException) std::rethrow_exception(watcherException); } //! With the lock held, insert the provided service reference to serviceRefs void ThreadZeroconf::processServiceRef(DNSServiceRef serviceRef) { assert(serviceRef); { std::lock_guard locker(watcherLock); serviceRefs.insert(serviceRef); } threadWait.notify_one(); } //! With the lock held, move the provided service reference from serviceRefs to //! pendingReleaseServiceRefs, so that it will be released after the current call to select has completed. void ThreadZeroconf::releaseServiceRef(DNSServiceRef serviceRef) { if (!serviceRef) return; std::lock_guard locker(watcherLock); serviceRefs.erase(serviceRef); pendingReleaseServiceRefs.insert(serviceRef); } //! When serviceRefs is not empty, for each service reference collect their associated //! file descriptor and wait on them for activity using select. void ThreadZeroconf::handleDnsServiceEvents() { struct timeval tv{1,0}; //!< maximum time to learn about a new service (1 sec) while (true) { {// lock std::unique_lock locker(watcherLock); // we use a condition variable to avoid infinite loops here threadWait.wait(locker, [&] { return !serviceRefs.empty() || !running; }); }// unlock if (!running) break; fd_set fds; int max_fds(0); FD_ZERO(&fds); std::map serviceFd; int fd_count(0); {// lock std::lock_guard locker(watcherLock); for (auto serviceRef: serviceRefs) { int fd = DNSServiceRefSockFD(serviceRef); if (fd != -1) { max_fds = max_fds > fd ? max_fds : fd; FD_SET(fd, &fds); serviceFd[serviceRef] = fd; fd_count++; } } }// unlock int result = select(max_fds+1, &fds, (fd_set*)nullptr, (fd_set*)nullptr, &tv); try { if (result >= 0) { // lock std::lock_guard locker(watcherLock); // release old service refs for (auto serviceRef: pendingReleaseServiceRefs) DNSServiceRefDeallocate(serviceRef); pendingReleaseServiceRefs.clear(); // check for activity if (result > 0) { // no timeout for (auto serviceRef: serviceRefs) { auto fdIt(serviceFd.find(serviceRef)); if (fdIt != serviceFd.end()) { if (FD_ISSET(fdIt->second, &fds)) DNSServiceProcessResult(serviceRef); } } } else ; // timeout // unlock } else throw Zeroconf::Error(FormatableString("handleDnsServiceEvents: select returned %0 errno %1").arg(result).arg(errno)); } catch (...) { watcherException = std::current_exception(); break; } } } } // namespace Aseba aseba-1.6.0/common/zeroconf/zeroconf-thread.h000066400000000000000000000050041322771007300211520ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ZEROCONF_THREAD #define ASEBA_ZEROCONF_THREAD #include #include #include #include #include #include "zeroconf.h" namespace Aseba { //! Run a thread to watch the DNS Service for updates, and trigger callback //! processing as necessary. //! This class creates a thread processing zeroconf requests in background //! until this object is destroyed. //! Completion callbacks such as registeredCompleted, updateCompleted and //! targetFound are called within the background thread with the watcherLock held. class ThreadZeroconf : public Zeroconf { public: ~ThreadZeroconf() override; void run(); protected: // From Zeroconf void processServiceRef(DNSServiceRef serviceRef) override; void releaseServiceRef(DNSServiceRef serviceRef) override; protected: void handleDnsServiceEvents(); private: // all the requests we are handling std::unordered_set serviceRefs; //!< service references to wait for activity using select std::unordered_set pendingReleaseServiceRefs; //!< service references to be released once select exits // threading support std::atomic_bool running{true}; //!< are we watching for DNS service updates? std::recursive_mutex watcherLock; //!< the lock for accessing zeroconfDRs std::exception_ptr watcherException{nullptr}; //!< pointer to rethrow exceptions in the outer thread std::thread watcher{&ThreadZeroconf::handleDnsServiceEvents, this}; //!< thread in which select loop occurs std::condition_variable_any threadWait; //!< notify that either the serviceRefs array has at least one element or that we should stop }; } #endif /* ASEBA_ZEROCONF_THREAD */ aseba-1.6.0/common/zeroconf/zeroconf.cpp000066400000000000000000000275011322771007300202460ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef WIN32 #include #else #include #endif #include "../utils/FormatableString.h" #include #include "zeroconf.h" #include "dns_sd.h" using namespace std; namespace Aseba { using namespace Dashel; //! Callbacks for the DNS Service Discovery API, in a class to make it friend with Zeroconf //! while not exposing the #include "dns_sd.h" in zeroconf.h struct ZeroconfCallbacks { static void DNSSD_API registerReply(DNSServiceRef sdRef, DNSServiceFlags flags, DNSServiceErrorType errorCode, const char *name, const char *regtype, const char *domain, void *context); static void DNSSD_API browseReply(DNSServiceRef sdRef, DNSServiceFlags flags, uint32_t interfaceIndex, DNSServiceErrorType errorCode, const char *serviceName, const char *regtype, const char *replyDomain, void *context); static void DNSSD_API resolveReply(DNSServiceRef sdRef, DNSServiceFlags flags, uint32_t interfaceIndex, DNSServiceErrorType errorCode, const char *fullname, const char *hosttarget, uint16_t port, /* In network byte order */ uint16_t txtLen, const unsigned char *txtRecord, void *context); }; const Zeroconf::Target::StateNameMap Zeroconf::Target::stateToString { { State::UNINITIALIZED, "uninitialized" }, { State::REGISTRATING, "registering" }, { State::REGISTERED, "registered" }, { State::RESOLVING, "resolving" } }; //! Advertise a target with a given name and port, with associated txtrec. //! If the target already exists, its txtrec is updated. void Zeroconf::advertise(const std::string & name, const int port, const TxtRecord & txtrec) { auto targetIt(getTarget(name, port)); if (targetIt == targets.end()) { // Target does not exist, create targets.emplace_back(name, port, *this); registerTarget(targets.back(), txtrec); } else { // Target does exist, update updateTarget(*targetIt, txtrec); } } //! Advertise a target for a given Dashel stream, with associated txtrec. //! If the target already exists, its txtrec is updated. void Zeroconf::advertise(const std::string & name, const Dashel::Stream * stream, const TxtRecord & txtrec) { auto targetIt(getTarget(name, stream)); if (targetIt == targets.end()) { // Target does not exist, create targets.emplace_back(name, stream, *this); registerTarget(targets.back(), txtrec); } else { // Target does exist, update updateTarget(*targetIt, txtrec); } } //! Forget a target with a given name and port, if the target is unknown, do nothing. void Zeroconf::forget(const std::string & name, const int port) { forget(getTarget(name, port)); } //! Forget a target for a given Dashel stream, if the target is unknown, do nothing. void Zeroconf::forget(const std::string & name, const Dashel::Stream * stream) { forget(getTarget(name, stream)); } //! Forget a target referenced by its iterator void Zeroconf::forget(Targets::iterator targetIt) { if (targetIt != targets.end()) { const Target& target(*targetIt); if (target.state != Target::State::REGISTERED && target.state != Target::State::REGISTRATING) throw Zeroconf::Error(FormatableString("forget: target in invalid state: %0").arg(target.stateToString.at(target.state))); if (target.state == Target::State::REGISTRATING) targetsToRemoveUponRegistration.insert(target.serviceRef); else targets.erase(targetIt); } } //! A target can ask Zeroconf to register it in DNS, with additional information in a TXT record void Zeroconf::registerTarget(Zeroconf::Target & target, const TxtRecord& txtrec) { string txt{txtrec.record()}; uint16_t len = txt.size(); const char* record = txt.c_str(); auto err = DNSServiceRegister(&(target.serviceRef), 0, // no flags 0, // default all interfaces target.name.c_str(), "_aseba._tcp", nullptr, // use default domain, usually "local." nullptr, // use this host name htons(target.port), len, // TXT length record, // TXT record ZeroconfCallbacks::registerReply, this); // context pointer is Zeroconf target.state = Zeroconf::Target::State::REGISTRATING; if (err != kDNSServiceErr_NoError) { // register failed, remove target and throw exception auto targetIt(getTarget(target.serviceRef)); assert(targetIt != targets.end()); targets.erase(targetIt); throw Zeroconf::Error(FormatableString("DNSServiceRegister: error %0").arg(err)); } else processServiceRef(target.serviceRef); } //! DNSSD callback for registerTarget, update Zeroconf::Target record with results of registration void DNSSD_API ZeroconfCallbacks::registerReply(DNSServiceRef sdRef, DNSServiceFlags flags, DNSServiceErrorType errorCode, const char *name, const char *regtype, const char *domain, void *context) { // retrieve target auto zeroconf(static_cast(context)); auto targetIt(zeroconf->getTarget(sdRef)); if (targetIt == zeroconf->targets.end()) return; if (errorCode != kDNSServiceErr_NoError) { zeroconf->targets.erase(targetIt); throw Zeroconf::Error(FormatableString("DNSServiceRegisterReply: error %0").arg(errorCode)); } else { Zeroconf::Target& target(*targetIt); // fill informations target.name = name; target.domain = domain; target.regtype = regtype; target.state = Zeroconf::Target::State::REGISTERED; target.registerCompleted(); // find if this target should be directly deleted auto targetRemoveIt(zeroconf->targetsToRemoveUponRegistration.find(target.serviceRef)); if (targetRemoveIt != zeroconf->targetsToRemoveUponRegistration.end()) { zeroconf->targetsToRemoveUponRegistration.erase(targetRemoveIt); zeroconf->targets.erase(zeroconf->getTarget(*targetRemoveIt)); } } } //! A target can ask Zeroconf to update its TXT record void Zeroconf::updateTarget(Zeroconf::Target & target, const TxtRecord& txtrec) { assert(target.serviceRef); if (target.state != Target::State::REGISTERED) throw Zeroconf::Error(FormatableString("updateTarget: target in invalid state: %0").arg(target.stateToString.at(target.state))); const string rawdata{txtrec.record()}; DNSServiceErrorType err = DNSServiceUpdateRecord(target.serviceRef, nullptr, // update primary TXT record 0, // no flags rawdata.length(), rawdata.c_str(), 0); if (err != kDNSServiceErr_NoError) throw Zeroconf::Error(FormatableString("DNSServiceUpdateRecord: error %0").arg(err)); target.updateCompleted(); } //! Update the set of known targets with remote ones found by browsing DNS. void Zeroconf::browse() { // browse() does nothing if called more then once if (browseServiceRef) return; auto err = DNSServiceBrowse(&browseServiceRef, 0, // no flags 0, // default all interfaces "_aseba._tcp", nullptr, // use default domain, usually "local." ZeroconfCallbacks::browseReply, this ); if (err != kDNSServiceErr_NoError) throw Zeroconf::Error(FormatableString("DNSServiceBrowse: error %0").arg(err)); else processServiceRef(browseServiceRef); } //! DNSSD callback for browse, update DiscoveryRequest record with results of browse void DNSSD_API ZeroconfCallbacks::browseReply(DNSServiceRef sdRef, DNSServiceFlags flags, uint32_t interfaceIndex, DNSServiceErrorType errorCode, const char *name, const char *regtype, const char *domain, void *context) { if (errorCode != kDNSServiceErr_NoError) { throw Zeroconf::Error(FormatableString("DNSServiceBrowseReply: error %0").arg(errorCode)); } else { auto zeroconf(static_cast(context)); if (flags & kDNSServiceFlagsAdd) { zeroconf->resolveTarget(name, regtype, domain); } else { Zeroconf::TargetInformation targetInformationKey(name, regtype, domain); auto targetInformationIt(zeroconf->detectedTargets.find(targetInformationKey)); if (targetInformationIt != zeroconf->detectedTargets.end()) { zeroconf->targetRemoved(*targetInformationIt); zeroconf->detectedTargets.erase(targetInformationIt); } } } } //! A remote target can ask Zeroconf to resolve its host name and port void Zeroconf::resolveTarget(const std::string & name, const std::string & regtype, const std::string & domain) { targets.emplace_back(name, regtype, domain, *this); Target& target(targets.back()); auto err = DNSServiceResolve(&target.serviceRef, 0, // no flags 0, // default all interfaces name.c_str(), regtype.c_str(), domain.c_str(), ZeroconfCallbacks::resolveReply, this); target.state = Zeroconf::Target::State::RESOLVING; if (err != kDNSServiceErr_NoError) { targets.pop_back(); throw Zeroconf::Error(FormatableString("DNSServiceResolve: error %0").arg(err)); } else processServiceRef(target.serviceRef); } //! DNSSD callback for resolveTarget, update Zeroconf::Target record with results of lookup void DNSSD_API ZeroconfCallbacks::resolveReply(DNSServiceRef sdRef, DNSServiceFlags flags, uint32_t interfaceIndex, DNSServiceErrorType errorCode, const char * fullname, const char * hosttarget, uint16_t port, uint16_t txtLen, const unsigned char * txtRecord, void *context) { auto zeroconf(static_cast(context)); auto targetIt(zeroconf->getTarget(sdRef)); if (targetIt == zeroconf->targets.end()) return; if (errorCode != kDNSServiceErr_NoError) { zeroconf->targets.erase(targetIt); throw Zeroconf::Error(FormatableString("DNSServiceResolveReply: error %0").arg(errorCode)); } else { Zeroconf::Target& target(*targetIt); target.host = hosttarget; target.port = ntohs(port); Aseba::Zeroconf::TxtRecord tnew{ txtRecord,txtLen }; target.properties.clear(); for (auto const & field: tnew) target.properties[field.first] = field.second; target.properties["fullname"] = string(fullname); zeroconf->detectedTargets.insert(target); target.targetFound(); zeroconf->targets.erase(targetIt); } } //! Return an iterator to the target holding a given service reference, return targets.end() if not found. Zeroconf::Targets::iterator Zeroconf::getTarget(DNSServiceRef serviceRef) { return find_if(targets.begin(), targets.end(), [=] (const Target& target) { return target.serviceRef == serviceRef; } ); } //! Return an iterator to the target with a name and port, return targets.end() if not found. Zeroconf::Targets::iterator Zeroconf::getTarget(const std::string & name, const int port) { return find_if(targets.begin(), targets.end(), [=] (const Target& target) { return target.name == name && target.port == port; } ); } //! Return an iterator to the target for a given Dashel stream, return targets.end() if not found. Zeroconf::Targets::iterator Zeroconf::getTarget(const std::string & name, const Dashel::Stream * stream) { return getTarget(name, atoi(stream->getTargetParameter("port").c_str())); } } // namespace Aseba aseba-1.6.0/common/zeroconf/zeroconf.h000066400000000000000000000251701322771007300177130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ZEROCONF #define ASEBA_ZEROCONF #include #include #include #include #include #include #include #include #include #include #include "../utils/utils.h" namespace Dashel { class Stream; } struct _DNSServiceRef_t; typedef struct _DNSServiceRef_t *DNSServiceRef; namespace Aseba { /** \defgroup zeroconf Zeroconf (mDNS-SD multicast DNS Service Discovery) Using Zeroconf, an Aseba target announces itself on the TCP/IP network as a service of type _aseba._tcp, and can be discovered by clients. A target might be an individual node or an Aseba switch. The zeroconf service provides minimal information about a target: Dashel target (host name, IP port), target name, target type, Aseba protocol version, a list of node ids, and a list of node product ids. A client may obtain complete node descriptions by connecting to the Dashel target and requesting them using the Aseba protocol */ /*@{*/ //! Aseba::Zeroconf provides methods for registering targets, updating target //! descriptions, and browsing for targets. The communication with the DNSSD //! deamon is done through sockets, whose synchronisations are handled by //! different subclasses: ThreadZeroconf, DashelhubZeroconf, and QtZeroconf. class Zeroconf { public: //! An error in registering or browsing Zeroconf struct Error: public std::runtime_error { Error(const std::string & what): std::runtime_error(what) {} }; //! A TargetKey allows to uniquely identify a target on the network within Zeroconf. //! It contains the informations returned by browse(). struct TargetKey { std::string name; //!< the full name of this target std::string regtype{"_aseba._tcp"}; //!< the mDNS registration type std::string domain{"local."}; //!< the domain of the host }; //! A TargetInformation allows client classes to choose and access Aseba targets. struct TargetInformation: TargetKey { // metadata about this target after resolution std::string host; //!< the Dashel target connection ports int port{0}; //!< the Dashel target connection port std::map properties; //!< user-modifiable metadata about this target TargetInformation(std::string name, std::string regtype, std::string domain); TargetInformation(std::string name, const int port); TargetInformation(std::string name, const Dashel::Stream* dashelStream); std::string dashel() const; }; //! A Target allows client classes to choose and access Aseba targets. class Target: public TargetInformation { public: Target(std::string name, std::string regtype, std::string domain, Zeroconf & container); Target(std::string name, const int port, Zeroconf & container); Target(std::string name, const Dashel::Stream* dashelStream, Zeroconf & container); ~Target(); // disable copy constructor and copy assigment operator Target(const Target &) = delete; Target& operator=(const Target&) = delete; // implement move versions instead Target(Target && rhs); Target& operator=(Target&& rhs); protected: // we do not want user code to use callbacks or play with the serviceRef friend class Zeroconf; friend struct ZeroconfCallbacks; void registerCompleted() const; void updateCompleted() const; void targetFound() const; DNSServiceRef serviceRef{nullptr}; //!< Attached serviceRef //! Possible states of a target with respect to the daemon enum class State { UNINITIALIZED, //!< just created, not initialized REGISTRATING, //!< being registered with the daemon REGISTERED, //!< fully registered RESOLVING //!< being resolved with the daemon }; State state = State::UNINITIALIZED; //!< State of this target, by default not initalized std::reference_wrapper container; //!< Back reference to containing Aseba::Zeroconf object using StateNameMap = std::unordered_map>; static const StateNameMap stateToString; //!< A map to display State as string }; //! The list of targets being processed. //! We do not care much of the O(n) performance when fetching a target as this vector is small and the lookup infrequent. using Targets = std::vector; //! A set of reference wrapper to targets, through their DNSServiceRef using TargetRefSet = std::unordered_set; //! Compute the hash of a TargetInformation object, using data from its parent TargetKey struct TargetInformationKeyHash { std::size_t operator()(TargetInformation const& target) const noexcept; }; //! Compute whether two TargetInformation objects are equal, using data from their parent TargetKey struct TargetInformationKeyCompareEqual { bool operator()( const TargetInformation& lhs, const TargetInformation& rhs ) const; }; //! Detected targets is a set of TargetInformation indexed by their TargetKey using DetectedTargets = std::unordered_set; /** Zeroconf records three DNS records for each service: a PTR for the symbolic name, an SRV for the actual host and port number, and a TXT for extra information. The TXT record is used by clients to help choose the hosts it wishes to connect to. The syntax of TXT records is defined in https://tools.ietf.org/html/rfc6763#section-6. The TXT record for Aseba targets specifies the target type, the Aseba protocol version, a list of node ids, and a list of node product ids. */ class TxtRecord { public: //! The fields are contained as a map of strings to strings, the constraints are enforced through the assign functions. using Fields = std::map; public: TxtRecord(const unsigned int protovers, const std::string& type, bool busy = false, const std::vector& ids = {}, const std::vector& pids = {}); TxtRecord(const std::string & txtRecord); TxtRecord(const unsigned char * txtRecord, uint16_t txtLen); // Different kinds of keys can be encoded into TXT records void assign(const std::string& key, const std::string& value); void assign(const std::string& key, const int value); void assign(const std::string& key, const std::vector& values); void assign(const std::string& key, const bool value); const std::string at (const std::string& k) const { return fields.at(k); } Fields::const_iterator begin() const { return fields.begin(); } Fields::const_iterator end() const { return fields.end(); } std::string record() const; private: void serializeField(std::ostringstream& txt, const std::string& key) const; private: Fields fields; }; public: // Default constructors and assignment operators Zeroconf() = default; Zeroconf(const Zeroconf&) = default; Zeroconf& operator=(const Zeroconf&) = default; Zeroconf(Zeroconf&&) = default; Zeroconf& operator=(Zeroconf&& rhs) = default; // Default virtual destructor virtual ~Zeroconf() = default; // Aseba::Zeroconf can advertise local targets void advertise(const std::string & name, const int port, const TxtRecord & txtrec); void advertise(const std::string & name, const Dashel::Stream * stream, const TxtRecord & txtrec); void forget(const std::string & name, const int port); void forget(const std::string & name, const Dashel::Stream * stream); // Aseba::Zeroconf can request the listing of non-local targets by browsing the network void browse(); protected: // helper functions friend struct ZeroconfCallbacks; void forget(Targets::iterator targetIt); void registerTarget(Target & target, const TxtRecord & txtrec); void updateTarget(Target & target, const TxtRecord & txtrec); void resolveTarget(const std::string & name, const std::string & regtype, const std::string & domain); Targets::iterator getTarget(DNSServiceRef serviceRef); Targets::iterator getTarget(const std::string & name, const int port); Targets::iterator getTarget(const std::string & name, const Dashel::Stream * stream); protected: // information callback for sub-class virtual void registerCompleted(const Aseba::Zeroconf::TargetInformation &) {} //!< Called when a register is completed virtual void updateCompleted(const Aseba::Zeroconf::TargetInformation &) {} //!< Called when a txt update is completed virtual void targetFound(const Aseba::Zeroconf::TargetInformation &) {} //!< Called for each resolved target virtual void targetRemoved(const Aseba::Zeroconf::TargetInformation &) {} //!< Called when a previously found target is removed // serviceRef registering/de-registering, to be implemented by subclasses //! Watch the file description associated with the service reference and call DNSServiceProcessResult when data are available. //! The service reference must be valid. virtual void processServiceRef(DNSServiceRef serviceRef) = 0; //! Stop watching the file description associated with the service reference, and deallocate it afterwards (calling DNSServiceRefDeallocate). //! If the service reference is a nullptr, do nothing. virtual void releaseServiceRef(DNSServiceRef serviceRef) = 0; protected: //! All target that have been detected from the network DetectedTargets detectedTargets; //! A list of all targets currently being processed, i.e. whose serviceRefs are handled by subclasses //! This is mostly targets being advertised, but also targets being resolved. Targets targets; //! Targets that were requested to be de-registered while not having completed registration yet TargetRefSet targetsToRemoveUponRegistration; //! The serviceRef for browse requests isn't attached to a target DNSServiceRef browseServiceRef{nullptr}; }; bool operator ==(const Zeroconf::TargetKey &lhs, const Zeroconf::TargetKey &rhs); /*@}*/ } // namespace Aseba #endif /* ASEBA_ZEROCONF */ aseba-1.6.0/compile.Linux.md000066400000000000000000000070641322771007300156520ustar00rootroot00000000000000# Compile Aseba on Linux Aseba depends on [several open-source libraries](compile.deps.md). On Linux, most are available as packages in your distribution. For instance, on Debian derivatives such as Ubuntu, you can install them, along cmake and the compiler, with: sudo apt-get install libqt4-dev libqtwebkit-dev qt4-dev-tools libqwt5-qt4-dev libudev-dev libxml2-dev libsdl2-dev libavahi-compat-libdnssd-dev cmake g++ git make _On other Linux distributions, please see what are the corresponding packages and install them. For instance in Fedora `libudev-dev` is replaced by `systemd-devel`_. Dashel and Enki are developed by us, so you need to fetch and compile them. Then, you can fetch Aseba, tell it where it can find Dashel and Enki, and compile it. The following script does this for you: # create build tree mkdir -p aseba/build-dashel aseba/build-enki aseba/build-aseba cd aseba # fetch and compile dashel git clone https://github.com/aseba-community/dashel.git cd build-dashel cmake ../dashel -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_SHARED_LIBS=OFF make cd .. # fetch and compile enki git clone https://github.com/enki-community/enki.git cd build-enki cmake ../enki -DCMAKE_BUILD_TYPE=RelWithDebInfo make cd .. # fetch and compile aseba, telling it where to find dashel and enki git clone --recursive https://github.com/aseba-community/aseba.git # cd aseba && git checkout release-1.5.x && cd .. cd build-aseba cmake ../aseba -DCMAKE_BUILD_TYPE=RelWithDebInfo -Ddashel_DIR=../build-dashel -Denki_DIR=../build-enki make Once this script has run, you can find the executables in `build-aseba/`, in their respective sub-directories. You can install them system-wide by running: sudo make install Or launch them directly from their built location; for example, you can then launch studio by typing: clients/studio/asebastudio Tests can be run with: make test ## A note about permissions If you will be connecting to your robot through a serial port, you might need to add yourself to the group that has permission for that port. In many distributions, this is the "dialout" group and you can add yourself to that group and use the associated permissions by running the following commands: sudo usermod -a -G dialout $USER newgrp dialout ## Compiling a different branch This will compile the master version of Aseba. If you want to compile a specific branch instead, for instance `release-1.5.x`, just uncomment the line `cd aseba && git checkout release-1.5.x && cd ..`. Change `release-1.5.x` with the branch or tag you want to compile. ## Building packages ### Debian-based On Debian-based distributions (Debian, Ubuntu, etc.), you can build *deb* packages. First, install the necessary build scripts: sudo apt-get install build-essential devscripts equivs Then, install the build dependencies for Dashel and Enki, build them as packages and install them, install the additional build dependencies for Aseba, and build the Aseba package. # build Dashel package and install it cd dashel sudo mk-build-deps -i # install dependencies debuild -i -us -uc -b # build package cd .. sudo dpkg -i libdashel*.deb # install package # build Enki package and install it cd enki sudo mk-build-deps -i # install dependencies debuild -i -us -uc -b # build package cd .. sudo dpkg -i libenki*.deb # install package # build Aseba package cd aseba sudo mk-build-deps -i # install dependencies debuild -i -us -uc -b # build package cd .. aseba-1.6.0/compile.Windows.md000066400000000000000000000047651322771007300162120ustar00rootroot00000000000000# Compile Aseba on Windows Aseba depends on [several open-source libraries](compile.deps.md). An easy way to compile Aseba on Windows is to use [msys2](http://www.msys2.org). ## Preliminary: download, install and update msys2 Download and install msys2 from [www.msys2.org](http://www.msys2.org). If you have a 64-bit version of Windows, take the `x86_64` installer, otherwise the `i686` one. Once msys2 is installed, start the shell by running the `MSYS2 MSYS` application. In the shell, update msys2 by typing: pacman -Syu Then restart the shell and update the packages by typing: pacman -Su ## Install the dependencies In the msys2 shell, install the dependencies by typing: pacman -S mingw-w64-i686-{toolchain,cmake,qt4,qwt-qt4,libxml2,SDL2} git make If you want to build Windows 64 binaries, replace `i686` by `x86_64` ## Fetch and compile Aseba Dashel and Enki are developed by us, so you need to fetch and compile them. Then, you can fetch Aseba, tell it where it can find Dashel and Enki, and compile it. The following script does this for you: # change mwing32 to mingw64 if you installed `x86_64` versions at prev. step export PATH=$PATH:/mingw32/bin # create build tree mkdir -p aseba/build-dashel aseba/build-enki aseba/build-aseba cd aseba # fetch and compile dashel git clone https://github.com/aseba-community/dashel.git cd build-dashel cmake ../dashel -G 'Unix Makefiles' -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_SHARED_LIBS=OFF make cd .. # fetch and compile enki git clone https://github.com/enki-community/enki.git cd build-enki cmake ../enki -G 'Unix Makefiles' -DCMAKE_BUILD_TYPE=RelWithDebInfo make cd .. # fetch and compile aseba, telling it where to find dashel and enki git clone --recursive https://github.com/aseba-community/aseba.git # cd aseba && git checkout release-1.5.x && cd .. cd build-aseba cmake ../aseba -G 'Unix Makefiles' -DCMAKE_BUILD_TYPE=RelWithDebInfo -Ddashel_DIR=../build-dashel -Denki_DIR=../build-enki make Once this script has run, you can find the executables in `build-aseba/`, in their respective sub-directories. You can launch them directly from their built location; for example, you can then launch studio by typing: clients/studio/asebastudio ## Compiling a different branch This will compile the master version of Aseba. If you want to compile a specific branch instead, for instance `release-1.5.x`, just uncomment the line `cd aseba && git checkout release-1.5.x && cd ..`. Change `release-1.5.x` with the branch or tag you want to compile. aseba-1.6.0/compile.deps.md000066400000000000000000000014021322771007300154740ustar00rootroot00000000000000# Aseba dependencies To compile Aseba, you need CMake 2.8.10 or later (http://www.cmake.org/). The CMake website provides documentation on how to use CMake on the different platforms: http://www.cmake.org/cmake/help/runningcmake.html Aseba depends on the following open-source libraries: - Dashel (http://home.gna.org/dashel/) - Enki (http://home.gna.org/enki/, optional, for simulators) - Qt4 (http://qt-project.org/, optional, for simulators and IDE) - Qwt (http://qwt.sourceforge.net/, optional, for graphs in IDE) - libxml2 (http://www.xmlsoft.org/, optional, for switches) - libSDL2 (https://www.libsdl.org/, optional, for joystick support) - libudev (http://www.freedesktop.org/software/systemd/man/libudev.html, optional, for serial port enumeration on Linux) aseba-1.6.0/compile.macOS.md000066400000000000000000000017331322771007300155520ustar00rootroot00000000000000# Compile Aseba on macOS It is very easy to compile from source Aseba for OS X, using [homebrew](https://brew.sh). ## Preliminary, check your shell Open a terminal and check which shell you have by typing: echo $SHELL If the answer is `/bin/tcsh`, please run the commands in bash. To do so, type: bash Otherwise skip this step and continue. ## Preliminary, install homebrew You should not have ad hoc package system installed such as MacPorts. To install homebrew, run the following command: ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" ## Add the Aseba repository In the terminal, run the following command: brew tap stephanemagnenat/aseba ## Install Aseba You can choose to install either the stable version or the latest development version. In the terminal, run the following command: ### For the stable version brew install aseba ### For the development version brew reinstall --HEAD aseba aseba-1.6.0/compiler/000077500000000000000000000000001322771007300144055ustar00rootroot00000000000000aseba-1.6.0/compiler/CMakeLists.txt000066400000000000000000000012641322771007300171500ustar00rootroot00000000000000set (ASEBACOMPILER_SRC compiler.cpp errors.cpp identifier-lookup.cpp lexer.cpp parser.cpp analysis.cpp tree-build.cpp tree-expand.cpp tree-dump.cpp tree-typecheck.cpp tree-optimize.cpp tree-emit.cpp ) add_library(asebacompiler ${ASEBACOMPILER_SRC}) set_target_properties(asebacompiler PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebacompiler LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBACORE_HDR_COMPILER compiler.h errors_code.h ) install(FILES ${ASEBACORE_HDR_COMPILER} DESTINATION include/aseba/compiler ) aseba-1.6.0/compiler/analysis.cpp000066400000000000000000000064471322771007300167470ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "compiler.h" #include "../common/consts.h" #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ //! Verify that no call path can create a stack overflow bool Compiler::verifyStackCalls(PreLinkBytecode& preLinkBytecode) { // check stack for events for (auto it = preLinkBytecode.events.begin(); it != preLinkBytecode.events.end(); ++it) { if (it->second.maxStackDepth > targetDescription->stackSize) return false; const BytecodeVector& bytecode = it->second; for (size_t pc = 0; pc < bytecode.size();) { switch (bytecode[pc] >> 12) { case ASEBA_BYTECODE_SUB_CALL: { unsigned id = bytecode[pc] & 0x0fff; auto destIt = preLinkBytecode.subroutines.find(id); assert(destIt != preLinkBytecode.subroutines.end()); destIt->second.callDepth = 1; pc += 1; } break; case ASEBA_BYTECODE_LARGE_IMMEDIATE: case ASEBA_BYTECODE_LOAD_INDIRECT: case ASEBA_BYTECODE_STORE_INDIRECT: case ASEBA_BYTECODE_CONDITIONAL_BRANCH: pc += 2; break; case ASEBA_BYTECODE_EMIT: pc += 3; break; default: pc += 1; break; } } } // check stack for subroutines bool wasActivity; do { wasActivity = false; for (auto it = preLinkBytecode.subroutines.begin(); it != preLinkBytecode.subroutines.end(); ++it) { unsigned myDepth = it->second.callDepth; if (myDepth + it->second.maxStackDepth > targetDescription->stackSize) { return false; } const BytecodeVector& bytecode = it->second; for (size_t pc = 0; pc < bytecode.size();) { switch (bytecode[pc] >> 12) { case ASEBA_BYTECODE_SUB_CALL: { unsigned id = bytecode[pc] & 0x0fff; auto destIt = preLinkBytecode.subroutines.find(id); assert(destIt != preLinkBytecode.subroutines.end()); if (myDepth + 1 > destIt->second.callDepth) { wasActivity = true; destIt->second.callDepth = myDepth + 1; } pc += 1; } break; case ASEBA_BYTECODE_LARGE_IMMEDIATE: case ASEBA_BYTECODE_LOAD_INDIRECT: case ASEBA_BYTECODE_STORE_INDIRECT: case ASEBA_BYTECODE_CONDITIONAL_BRANCH: pc += 2; break; case ASEBA_BYTECODE_EMIT: pc += 3; break; default: pc += 1; break; } } } } while (wasActivity); return true; } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/compiler.cpp000066400000000000000000000343711322771007300167330ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "compiler.h" #include "tree.h" #include "errors_code.h" #include "../common/consts.h" #include "../common/utils/utils.h" #include "../common/utils/FormatableString.h" #include #include #include #include #include #include #include #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ //! Return the number of words this element takes in memory unsigned BytecodeElement::getWordSize() const { switch (bytecode >> 12) { case ASEBA_BYTECODE_LARGE_IMMEDIATE: case ASEBA_BYTECODE_LOAD_INDIRECT: case ASEBA_BYTECODE_STORE_INDIRECT: case ASEBA_BYTECODE_CONDITIONAL_BRANCH: return 2; case ASEBA_BYTECODE_EMIT: return 3; default: return 1; } } //! Constructor. You must setup a description using setTargetDescription() before any call to compile(). Compiler::Compiler() { targetDescription = nullptr; commonDefinitions = nullptr; freeVariableIndex = 0; endVariableIndex = 0; TranslatableError::setTranslateCB(ErrorMessages::defaultCallback); } //! Set the description of the target as returned by the microcontroller. You must call this function before any call to compile(). void Compiler::setTargetDescription(const TargetDescription *description) { targetDescription = description; } //! Set the common definitions, such as events or some constants void Compiler::setCommonDefinitions(const CommonDefinitions *definitions) { commonDefinitions = definitions; } //! Compile a new condition //! \param source stream to read the source code from //! \param bytecode destination array for bytecode //! \param allocatedVariablesCount amount of allocated variables //! \param errorDescription error is copied there on error //! \param dump stream to send dump messages to //! \return returns true on success bool Compiler::compile(std::wistream& source, BytecodeVector& bytecode, unsigned& allocatedVariablesCount, Error &errorDescription, std::wostream* dump) { assert(targetDescription); assert(commonDefinitions); unsigned indent = 0; // we need to build maps at each compilation in case previous ones produced errors and messed maps up buildMaps(); if (freeVariableIndex > targetDescription->variablesSize) { errorDescription = TranslatableError(SourcePos(), ERROR_BROKEN_TARGET).toError(); return false; } // tokenization try { tokenize(source); } catch (TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "Dumping tokens:\n"; dumpTokens(*dump); *dump << "\n\n"; } // parsing std::unique_ptr program; try { program.reset(parseProgram()); } catch (TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "Vectorial syntax tree:\n"; program->dump(*dump, indent); *dump << "\n\n"; *dump << "Checking the vectors' size:\n"; } // check vectors' size try { program->checkVectorSize(); } catch(TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "Ok\n"; *dump << "\n\n"; *dump << "Expanding the syntax tree...\n"; } // expand the syntax tree to Aseba-like syntax try { Node* expandedProgram(program->expandAbstractNodes(dump)); program.release(); program.reset(expandedProgram); } catch (TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "Expanded syntax tree (pass 1):\n"; program->dump(*dump, indent); *dump << "\n\n"; *dump << "Second pass for vectorial operations:\n"; } // expand the vectorial nodes into scalar operations try { Node* expandedProgram(program->expandVectorialNodes(dump, this)); program.release(); program.reset(expandedProgram); } catch (TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "Expanded syntax tree (pass 2):\n"; program->dump(*dump, indent); *dump << "\n\n"; *dump << "Type checking:\n"; } // typecheck try { program->typeCheck(this); } catch(TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "correct.\n"; *dump << "\n\n"; *dump << "Optimizations:\n"; } // optimization try { Node* optimizedProgram(program->optimize(dump)); program.release(); program.reset(optimizedProgram); } catch (TranslatableError error) { errorDescription = error.toError(); return false; } if (dump) { *dump << "\n\n"; *dump << "Syntax tree after optimization:\n"; program->dump(*dump, indent); *dump << "\n\n"; } // set the number of allocated variables allocatedVariablesCount = freeVariableIndex; if (dump) { const float fillPercentage = float(allocatedVariablesCount * 100.f) / float(targetDescription->variablesSize); *dump << "Using " << allocatedVariablesCount << " on " << targetDescription->variablesSize << " (" << fillPercentage << " %) words of variable space\n"; *dump << "\n\n"; } // code generation PreLinkBytecode preLinkBytecode; program->emit(preLinkBytecode); // fix-up (add of missing STOP and RET bytecodes at code generation) preLinkBytecode.fixup(subroutineTable); // stack check if (!verifyStackCalls(preLinkBytecode)) { errorDescription = TranslatableError(SourcePos(), ERROR_STACK_OVERFLOW).toError(); return false; } // linking (flattening of complex structure into linear vector) if (!link(preLinkBytecode, bytecode)) { errorDescription = TranslatableError(SourcePos(), ERROR_SCRIPT_TOO_BIG).toError(); return false; } if (dump) { *dump << "Bytecode:\n"; disassemble(bytecode, preLinkBytecode, *dump); *dump << "\n\n"; } return true; } //! Create the final bytecode for a microcontroller bool Compiler::link(const PreLinkBytecode& preLinkBytecode, BytecodeVector& bytecode) { bytecode.clear(); // event vector table size unsigned addr = preLinkBytecode.events.size() * 2 + 1; bytecode.push_back(addr); // events for (const auto & event : preLinkBytecode.events) { bytecode.push_back(event.first); // id bytecode.push_back(addr); // addr addr += event.second.size(); // next bytecode addr } // evPreLinkBytecode::ents bytecode for (const auto & event : preLinkBytecode.events) { std::copy(event.second.begin(), event.second.end(), std::back_inserter(bytecode)); } // subrountines bytecode for (const auto & subroutine : preLinkBytecode.subroutines) { subroutineTable[subroutine.first].address = bytecode.size(); std::copy(subroutine.second.begin(), subroutine.second.end(), std::back_inserter(bytecode)); } // resolve subroutines call addresses for (size_t pc = 0; pc < bytecode.size();) { BytecodeElement &element(bytecode[pc]); if (element.bytecode >> 12 == ASEBA_BYTECODE_SUB_CALL) { const unsigned id = element.bytecode & 0x0fff; assert(id < subroutineTable.size()); const unsigned address = subroutineTable[id].address; element.bytecode &= 0xf000; element.bytecode |= address; } pc += element.getWordSize(); } // check size return bytecode.size() <= targetDescription->bytecodeSize; } //! Change "stop" bytecode to "return from subroutine" void BytecodeVector::changeStopToRetSub() { const unsigned bytecodeEndPos(size()); for (unsigned pc = 0; pc < bytecodeEndPos;) { BytecodeElement &element((*this)[pc]); if ((element.bytecode >> 12) == ASEBA_BYTECODE_STOP) element.bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_SUB_RET); pc += element.getWordSize(); } } //! Return the type of last bytecode element unsigned short BytecodeVector::getTypeOfLast() const { unsigned short type(16); // invalid type for (size_t pc = 0; pc < size();) { const BytecodeElement &element((*this)[pc]); type = element.bytecode >> 12; pc += element.getWordSize(); } return type; } //! Get the map of event addresses to identifiers BytecodeVector::EventAddressesToIdsMap BytecodeVector::getEventAddressesToIds() const { EventAddressesToIdsMap eventAddr; const unsigned eventVectSize = (*this)[0]; unsigned pc = 1; while (pc < eventVectSize) { eventAddr[(*this)[pc + 1]] = (*this)[pc]; pc += 2; } return eventAddr; } //! Disassemble a microcontroller bytecode and dump it void Compiler::disassemble(BytecodeVector& bytecode, const PreLinkBytecode& preLinkBytecode, std::wostream& dump) const { // address of threads and subroutines const BytecodeVector::EventAddressesToIdsMap eventAddr(bytecode.getEventAddressesToIds()); std::map subroutinesAddr; // build subroutine map for (size_t id = 0; id < subroutineTable.size(); ++id) subroutinesAddr[subroutineTable[id].address] = id; // event table const unsigned eventCount = eventAddr.size(); const float fillPercentage = float(bytecode.size() * 100.f) / float(targetDescription->bytecodeSize); dump << "Disassembling " << eventCount + subroutineTable.size() << " segments (" << bytecode.size() << " words on " << targetDescription->bytecodeSize << ", " << fillPercentage << "% filled):\n"; // bytecode unsigned pc = eventCount*2 + 1; while (pc < bytecode.size()) { if (eventAddr.find(pc) != eventAddr.end()) { const unsigned eventId = eventAddr.at(pc); if (eventId == ASEBA_EVENT_INIT) dump << "init: "; else { if (eventId < 0x1000) { if (eventId < commonDefinitions->events.size()) dump << "event " << commonDefinitions->events[eventId].name << ": "; else dump << "unknown global event " << eventId << ": "; } else { int index = ASEBA_EVENT_LOCAL_EVENTS_START - eventId; if (index < (int)targetDescription->localEvents.size()) dump << "event " << targetDescription->localEvents[index].name << ": "; else dump << "unknown local event " << index << ": "; } } auto it = preLinkBytecode.events.find(eventId); assert(it != preLinkBytecode.events.end()); dump << " (max stack " << it->second.maxStackDepth << ")\n"; } if (subroutinesAddr.find(pc) != subroutinesAddr.end()) { auto it = preLinkBytecode.subroutines.find(subroutinesAddr[pc]); assert(it != preLinkBytecode.subroutines.end()); dump << "sub " << subroutineTable[subroutinesAddr[pc]].name << ": (max stack " << it->second.maxStackDepth << ")\n"; } dump << " "; dump << pc << " (" << bytecode[pc].line << ") : "; switch (bytecode[pc] >> 12) { case ASEBA_BYTECODE_STOP: dump << "STOP\n"; pc++; break; case ASEBA_BYTECODE_SMALL_IMMEDIATE: dump << "SMALL_IMMEDIATE " << ((signed short)(bytecode[pc] << 4) >> 4) << "\n"; pc++; break; case ASEBA_BYTECODE_LARGE_IMMEDIATE: dump << "LARGE_IMMEDIATE " << ((signed short)bytecode[pc+1]) << "\n"; pc += 2; break; case ASEBA_BYTECODE_LOAD: dump << "LOAD " << (bytecode[pc] & 0x0fff) << "\n"; pc++; break; case ASEBA_BYTECODE_STORE: dump << "STORE " << (bytecode[pc] & 0x0fff) << "\n"; pc++; break; case ASEBA_BYTECODE_LOAD_INDIRECT: dump << "LOAD_INDIRECT in array at " << (bytecode[pc] & 0x0fff) << " of size " << bytecode[pc+1] << "\n"; pc += 2; break; case ASEBA_BYTECODE_STORE_INDIRECT: dump << "STORE_INDIRECT in array at " << (bytecode[pc] & 0x0fff) << " of size " << bytecode[pc+1] << "\n"; pc += 2; break; case ASEBA_BYTECODE_UNARY_ARITHMETIC: dump << "UNARY_ARITHMETIC "; dump << unaryOperatorToString((AsebaUnaryOperator)(bytecode[pc] & ASEBA_UNARY_OPERATOR_MASK)) << "\n"; pc++; break; case ASEBA_BYTECODE_BINARY_ARITHMETIC: dump << "BINARY_ARITHMETIC "; dump << binaryOperatorToString((AsebaBinaryOperator)(bytecode[pc] & ASEBA_BINARY_OPERATOR_MASK)) << "\n"; pc++; break; case ASEBA_BYTECODE_JUMP: dump << "JUMP " << ((signed short)(bytecode[pc] << 4) >> 4) << "\n"; pc++; break; case ASEBA_BYTECODE_CONDITIONAL_BRANCH: dump << "CONDITIONAL_BRANCH "; dump << binaryOperatorToString((AsebaBinaryOperator)(bytecode[pc] & ASEBA_BINARY_OPERATOR_MASK)); if (bytecode[pc] & (1 << ASEBA_IF_IS_WHEN_BIT)) dump << " (edge), "; else dump << ", "; dump << "skip " << ((signed short)bytecode[pc+1]) << " if false" << "\n"; pc += 2; break; case ASEBA_BYTECODE_EMIT: { unsigned eventId = (bytecode[pc] & 0x0fff); dump << "EMIT "; if (eventId < commonDefinitions->events.size()) dump << commonDefinitions->events[eventId].name; else dump << eventId; dump << " addr " << bytecode[pc+1] << " size " << bytecode[pc+2] << "\n"; pc += 3; } break; case ASEBA_BYTECODE_NATIVE_CALL: dump << "CALL " << (bytecode[pc] & 0x0fff) << "\n"; pc++; break; case ASEBA_BYTECODE_SUB_CALL: { unsigned address = (bytecode[pc] & 0x0fff); std::wstring name(L"unknown"); for (const auto & i : subroutineTable) if (i.address == address) name = i.name; dump << "SUB_CALL to " << name << " @ " << address << "\n"; pc++; } break; case ASEBA_BYTECODE_SUB_RET: dump << "SUB_RET\n"; pc++; break; default: dump << "?\n"; pc++; break; } } } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/compiler.h000066400000000000000000000351771322771007300164050ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ASEBA_COMPILER_H #define __ASEBA_COMPILER_H #include #include #include #include #include #include #include #include #include "errors_code.h" #include "../common/types.h" #include "../common/msg/TargetDescription.h" #include "../common/utils/FormatableString.h" namespace Aseba { /** \defgroup compiler AESL Compiler */ /*@{*/ // pre-declaration struct Node; struct ProgramNode; struct StatementNode; struct BinaryArithmeticNode; struct AssignmentNode; struct TupleVectorNode; struct MemoryVectorNode; //! A bytecode element struct BytecodeElement { BytecodeElement() = default; BytecodeElement(unsigned short bytecode) : bytecode(bytecode), line(0) { } BytecodeElement(unsigned short bytecode, unsigned short line) : bytecode(bytecode), line(line) { } operator unsigned short () const { return bytecode; } unsigned getWordSize() const; unsigned short bytecode{0xffff}; //! bytecode itself unsigned short line{0}; //!< line in source code }; //! Bytecode array in the form of a dequeue, for construction struct BytecodeVector: std::deque { //! Constructor BytecodeVector() = default; unsigned maxStackDepth{0}; //!< maximum depth of the stack used by all the computations of the bytecode unsigned callDepth{0}; //!< for callable bytecode (i.e. subroutines), used in analysis of stack check unsigned lastLine{0}; //!< last line added, normally equal *this[this->size()-1].line, but may differ for instance on loops void push_back(const BytecodeElement& be) { std::deque::push_back(be); lastLine = be.line; } void changeStopToRetSub(); unsigned short getTypeOfLast() const; //! A map of event addresses to identifiers typedef std::map EventAddressesToIdsMap; EventAddressesToIdsMap getEventAddressesToIds() const; }; // predeclaration struct PreLinkBytecode; //! Position in a source file or string. First is line, second is column struct SourcePos { unsigned character{0}; //!< position in source text unsigned row{0}; //!< line in source text unsigned column{0}; //!< column in source text bool valid{false}; //!< true if character, row and column hold valid values SourcePos(unsigned character, unsigned row, unsigned column) : character(character - 1), row(row), column(column - 1) { valid = true; } SourcePos() = default; std::wstring toWString() const; }; //! Return error messages based on error ID (needed to translate messages for other applications) struct ErrorMessages { ErrorMessages(); //! Type of the callback using ErrorCallback = const std::wstring (*)(ErrorCode); //! Default callback static const std::wstring defaultCallback(ErrorCode error); }; //! Compilation error struct Error { SourcePos pos; //!< position of error in source string std::wstring message = L"not defined"; //!< message //! Create an error at pos Error(const SourcePos& pos, std::wstring message) : pos(pos), message(std::move(message)) { } //! Create an empty error Error() = default; //! Return a string describing the error std::wstring toWString() const; }; struct TranslatableError : public Error { TranslatableError() : Error() {} TranslatableError(const SourcePos& pos, ErrorCode error); TranslatableError &arg(int value, int fieldWidth = 0, int base = 10, wchar_t fillChar = ' '); TranslatableError &arg(long int value, int fieldWidth = 0, int base = 10, wchar_t fillChar = ' '); TranslatableError &arg(unsigned value, int fieldWidth = 0, int base = 10, wchar_t fillChar = ' '); TranslatableError &arg(float value, int fieldWidth = 0, int precision = 6, wchar_t fillChar = ' '); TranslatableError &arg(const std::wstring& value); Error toError(); static void setTranslateCB(ErrorMessages::ErrorCallback newCB); static ErrorMessages::ErrorCallback translateCB; WFormatableString message; }; //! Vector of names of variables using VariablesNamesVector = std::vector; //! A name - value pair struct NamedValue { //! Create a filled pair NamedValue(std::wstring name, int value) : name(std::move(name)), value(value) {} std::wstring name; //!< name part of the pair int value; //!< value part of the pair }; //! An event description is a name - value pair using EventDescription = NamedValue; //! An constant definition is a name - value pair using ConstantDefinition = NamedValue; //! Generic vector of name - value pairs struct NamedValuesVector: public std::vector { bool contains(const std::wstring& s, size_t* position = nullptr) const; }; //! Vector of events descriptions using EventsDescriptionsVector = NamedValuesVector; //! Vector of constants definitions using ConstantsDefinitions = NamedValuesVector; //! Definitions common to several nodes, such as events or some constants struct CommonDefinitions { //! All defined events EventsDescriptionsVector events; //! All globally defined constants ConstantsDefinitions constants; //! Clear all the content void clear() { events.clear(); constants.clear(); } }; //! Aseba Event Scripting Language compiler class Compiler { public: //! A token is a parsed element of inputs struct Token { enum Type { TOKEN_END_OF_STREAM = 0, TOKEN_STR_when, TOKEN_STR_emit, TOKEN_STR_hidden_emit, TOKEN_STR_for, TOKEN_STR_in, TOKEN_STR_step, TOKEN_STR_while, TOKEN_STR_do, TOKEN_STR_if, TOKEN_STR_then, TOKEN_STR_else, TOKEN_STR_elseif, TOKEN_STR_end, TOKEN_STR_var, TOKEN_STR_const, TOKEN_STR_call, TOKEN_STR_sub, TOKEN_STR_callsub, TOKEN_STR_onevent, TOKEN_STR_abs, TOKEN_STR_return, TOKEN_STRING_LITERAL, TOKEN_INT_LITERAL, TOKEN_PAR_OPEN, TOKEN_PAR_CLOSE, TOKEN_BRACKET_OPEN, TOKEN_BRACKET_CLOSE, TOKEN_COLON, TOKEN_COMMA, TOKEN_ASSIGN, TOKEN_OP_OR, TOKEN_OP_AND, TOKEN_OP_NOT, TOKEN_OP_EQUAL, // group of tokens, don't split or mess up TOKEN_OP_NOT_EQUAL, // TOKEN_OP_BIGGER, // TOKEN_OP_BIGGER_EQUAL, // TOKEN_OP_SMALLER, // TOKEN_OP_SMALLER_EQUAL, // TOKEN_OP_ADD, // group of 2 tokens, don't split or mess up TOKEN_OP_NEG, // TOKEN_OP_MULT, // group of 3 tokens, don't split or mess up TOKEN_OP_DIV, // TOKEN_OP_MOD, // TOKEN_OP_SHIFT_LEFT, // group of 2 tokens, don't split or mess up TOKEN_OP_SHIFT_RIGHT, // TOKEN_OP_BIT_OR, // group of 4 tokens, don't split or mess up TOKEN_OP_BIT_XOR, // TOKEN_OP_BIT_AND, // TOKEN_OP_BIT_NOT, // TOKEN_OP_ADD_EQUAL, // group of 12 tokens, don't split or mess up TOKEN_OP_NEG_EQUAL, // TOKEN_OP_MULT_EQUAL, // TOKEN_OP_DIV_EQUAL, // TOKEN_OP_MOD_EQUAL, // TOKEN_OP_SHIFT_LEFT_EQUAL, // TOKEN_OP_SHIFT_RIGHT_EQUAL, // TOKEN_OP_BIT_OR_EQUAL, // TOKEN_OP_BIT_XOR_EQUAL, // TOKEN_OP_BIT_AND_EQUAL, // TOKEN_OP_PLUS_PLUS, TOKEN_OP_MINUS_MINUS } type{TOKEN_END_OF_STREAM}; //!< type of this token std::wstring sValue; //!< string version of the value int iValue{0}; //!< int version of the value, 0 if not applicable SourcePos pos;//!< position of token in source code Token() = default; Token(Type type, SourcePos pos = SourcePos(), const std::wstring& value = L""); const std::wstring typeName() const; std::wstring toWString() const; operator Type () const { return type; } }; //! Description of a subroutine struct SubroutineDescriptor { std::wstring name; unsigned address; unsigned line; SubroutineDescriptor(std::wstring name, unsigned address, unsigned line) : name(std::move(name)), address(address), line(line) {} }; //! Lookup table for subroutines id => (name, address, line) using SubroutineTable = std::vector; //! Reverse Lookup table for subroutines name => id typedef std::map SubroutineReverseTable; //! Lookup table to keep track of implemented events using ImplementedEvents = std::set; //! Lookup table for constant name => value typedef std::map ConstantsMap; //! Lookup table for event name => id typedef std::map EventsMap; friend struct AssignmentNode; friend struct CallSubNode; public: Compiler(); void setTargetDescription(const TargetDescription *description); const TargetDescription *getTargetDescription() const { return targetDescription;} const VariablesMap *getVariablesMap() const { return &variablesMap; } const SubroutineTable *getSubroutineTable() const { return &subroutineTable; } void setCommonDefinitions(const CommonDefinitions *definitions); bool compile(std::wistream& source, BytecodeVector& bytecode, unsigned& allocatedVariablesCount, Error &errorDescription, std::wostream* dump = nullptr); void setTranslateCallback(ErrorMessages::ErrorCallback newCB) { TranslatableError::setTranslateCB(newCB); } static std::wstring translate(ErrorCode error) { return TranslatableError::translateCB(error); } static bool isKeyword(const std::wstring& word); protected: void internalCompilerError() const; void expect(const Token::Type& type) const; unsigned expectUInt12Literal() const; unsigned expectUInt16Literal() const; unsigned expectPositiveInt16Literal() const; int expectAbsoluteInt16Literal(bool negative) const; unsigned expectPositiveConstant() const; int expectConstant() const; unsigned expectPositiveInt16LiteralOrConstant() const; int expectInt16Literal(); int expectInt16LiteralOrConstant(); unsigned expectGlobalEventId() const; unsigned expectAnyEventId() const; std::wstring eventName(unsigned eventId) const; template bool isOneOf(const Token::Type types[length]) const; template void expectOneOf(const Token::Type types[length]) const; void freeTemporaryMemory(); unsigned allocateTemporaryMemory(const SourcePos varPos, const unsigned size); AssignmentNode* allocateTemporaryVariable(const SourcePos varPos, Node* rValue); VariablesMap::const_iterator findVariable(const std::wstring& name, const SourcePos& pos) const; FunctionsMap::const_iterator findFunction(const std::wstring& name, const SourcePos& pos) const; ConstantsMap::const_iterator findConstant(const std::wstring& name, const SourcePos& pos) const; EventsMap::const_iterator findGlobalEvent(const std::wstring& name, const SourcePos& pos) const; EventsMap::const_iterator findAnyEvent(const std::wstring& name, const SourcePos& pos) const; SubroutineReverseTable::const_iterator findSubroutine(const std::wstring& name, const SourcePos& pos) const; bool constantExists(const std::wstring& name) const; void buildMaps(); void tokenize(std::wistream& source); wchar_t getNextCharacter(std::wistream& source, SourcePos& pos); bool testNextCharacter(std::wistream& source, SourcePos& pos, wchar_t test, Token::Type tokenIfTrue); void dumpTokens(std::wostream &dest) const; bool verifyStackCalls(PreLinkBytecode& preLinkBytecode); bool link(const PreLinkBytecode& preLinkBytecode, BytecodeVector& bytecode); void disassemble(BytecodeVector& bytecode, const PreLinkBytecode& preLinkBytecode, std::wostream& dump) const; protected: Node* parseProgram(); Node* parseStatement(); Node* parseBlockStatement(); Node* parseReturn(); void parseConstDef(); Node* parseVarDef(); AssignmentNode* parseVarDefInit(MemoryVectorNode* lValue); Node* parseAssignment(); Node* parseIfWhen(bool edgeSensitive); Node* parseFor(); Node* parseWhile(); Node* parseOnEvent(); Node* parseEmit(bool shorterArgsAllowed = false); Node* parseSubDecl(); Node* parseCallSub(); Node* parseOr(); Node* parseAnd(); Node* parseNot(); Node* parseCondition(); Node *parseBinaryOrExpression(); Node *parseBinaryXorExpression(); Node *parseBinaryAndExpression(); Node* parseShiftExpression(); Node* parseAddExpression(); Node* parseMultExpression(); Node* parseUnaryExpression(); Node* parseFunctionCall(); TupleVectorNode* parseTupleVector(bool compatibility = false); Node* parseConstantAndVariable(); MemoryVectorNode* parseVariable(); unsigned parseVariableDefSize(); Node* tryParsingConstantExpression(SourcePos pos, int& constantResult); int expectConstantExpression(SourcePos pos, Node* tree); protected: std::deque tokens; //!< parsed tokens VariablesMap variablesMap; //!< variables lookup ImplementedEvents implementedEvents; //!< list of implemented events FunctionsMap functionsMap; //!< functions lookup ConstantsMap constantsMap; //!< constants map EventsMap globalEventsMap; //!< global-events map EventsMap allEventsMap; //!< all-events map SubroutineTable subroutineTable; //!< subroutine lookup SubroutineReverseTable subroutineReverseTable; //!< subroutine reverse lookup unsigned freeVariableIndex; //!< index pointing to the first free variable unsigned endVariableIndex; //!< (endMemory - endVariableIndex) is pointing to the first free variable at the end const TargetDescription *targetDescription; //!< description of the target VM const CommonDefinitions *commonDefinitions; //!< common definitions, such as events or some constants ErrorMessages translator; }; // Compiler //! Bytecode use for compilation previous to linking struct PreLinkBytecode { //! Map of events id to event bytecode typedef std::map EventsBytecode; EventsBytecode events; //!< bytecode for events //! Map of routines id to routine bytecode typedef std::map SubroutinesBytecode; SubroutinesBytecode subroutines; //!< bytecode for routines BytecodeVector *current; //!< pointer to bytecode being constructed PreLinkBytecode(); void fixup(const Compiler::SubroutineTable &subroutineTable); }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/compiler/errors.cpp000066400000000000000000000325201322771007300164270ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "errors_code.h" #include "compiler.h" #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ static const wchar_t* error_map[ERROR_END]; ErrorMessages::ErrorMessages() { // compiler.cpp error_map[ERROR_BROKEN_TARGET] = L"Broken target description: not enough room for internal variables"; error_map[ERROR_STACK_OVERFLOW] = L"Execution stack will overflow, check for any recursive subroutine call and cut long mathematical expressions"; error_map[ERROR_SCRIPT_TOO_BIG] = L"Script too big for target bytecode size"; // identifier-lookup.cpp error_map[ERROR_VARIABLE_NOT_DEFINED] = L"%0 is not a defined variable"; error_map[ERROR_VARIABLE_NOT_DEFINED_GUESS] = L"%0 is not a defined variable, do you mean %1?"; error_map[ERROR_FUNCTION_NOT_DEFINED] = L"Target does not provide function %0"; error_map[ERROR_FUNCTION_NOT_DEFINED_GUESS] = L"Target does not provide function %0, do you mean %1?"; error_map[ERROR_CONSTANT_NOT_DEFINED] = L"Constant %0 not defined"; error_map[ERROR_CONSTANT_NOT_DEFINED_GUESS] = L"Constant %0 not defined, do you mean %1?"; error_map[ERROR_EVENT_NOT_DEFINED] = L"%0 is not a known event"; error_map[ERROR_EVENT_NOT_DEFINED_GUESS] = L"%0 is not a known event, do you mean %1?"; error_map[ERROR_EMIT_LOCAL_EVENT] = L"%0 is a local event that you cannot emit"; error_map[ERROR_SUBROUTINE_NOT_DEFINED] = L"Subroutine %0 does not exists"; error_map[ERROR_SUBROUTINE_NOT_DEFINED_GUESS] = L"Subroutine %0 does not exists, do you mean %1?"; // lexer.cpp error_map[ERROR_LINE] = L"Line: "; error_map[ERROR_COL] = L" Col: "; error_map[ERROR_UNBALANCED_COMMENT_BLOCK] = L"Unbalanced comment block"; error_map[ERROR_SYNTAX] = L"Syntax error"; error_map[ERROR_INVALID_IDENTIFIER] = L"Identifiers must begin with _ or an alphanumeric character, found unicode character 0x%0 instead"; error_map[ERROR_INVALID_HEXA_NUMBER] = L"Error in hexadecimal number"; error_map[ERROR_INVALID_BINARY_NUMBER] = L"Error in binary number"; error_map[ERROR_NUMBER_INVALID_BASE] = L"Error in number, invalid base"; error_map[ERROR_IN_NUMBER] = L"Error in number"; // parser.cpp error_map[ERROR_INTERNAL] = L"Internal compiler error, please report a bug containing the source which triggered this error"; error_map[ERROR_EXPECTING] = L"Expecting %0, found %1 instead"; error_map[ERROR_UINT12_OUT_OF_RANGE] = L"Integer value %0 out of [0;4095] range"; error_map[ERROR_UINT16_OUT_OF_RANGE] = L"Integer value %0 out of [0;65535] range"; error_map[ERROR_PINT16_OUT_OF_RANGE] = L"Integer value %0 out of [0;32767] range"; error_map[ERROR_INT16_OUT_OF_RANGE] = L"Integer value %0 out of [-32768;32767] range"; error_map[ERROR_PCONSTANT_OUT_OF_RANGE] = L"Constant %0 has value %1, which is out of [0;32767] range"; error_map[ERROR_CONSTANT_OUT_OF_RANGE] = L"Constant %0 has value %1, which is out of [-32768;32767] range"; error_map[ERROR_EXPECTING_ONE_OF] = L"Expecting one of %0; but found %1 instead"; error_map[ERROR_NOT_ENOUGH_TEMP_SPACE] = L"Not enough free space to allocate this tempory variable"; error_map[ERROR_MISPLACED_VARDEF] = L"Variable definition is allowed only at the beginning of the program before any statement"; error_map[ERROR_EXPECTING_IDENTIFIER] = L"Expecting identifier, found %0"; error_map[ERROR_CONST_ALREADY_DEFINED] = L"Constant %0 is already defined"; error_map[ERROR_VAR_ALREADY_DEFINED] = L"Variable %0 is already defined"; error_map[ERROR_VAR_CONST_COLLISION] = L"Variable %0 has the same name as a constant"; error_map[ERROR_UNDEFINED_SIZE] = L"Array %0 has undefined size"; error_map[ERROR_NOT_ENOUGH_SPACE] = L"No more free variable space"; error_map[ERROR_EXPECTING_ASSIGNMENT] = L"Expecting assignment, found %0 instead"; error_map[ERROR_FOR_NULL_STEPS] = L"Null steps are not allowed in for loops"; error_map[ERROR_FOR_START_HIGHER_THAN_END] = L"Start index must be lower than end index in increasing loops"; error_map[ERROR_FOR_START_LOWER_THAN_END] = L"Start index must be higher than end index in decreasing loops"; error_map[ERROR_FOR_INVALID_INC_END_INDEX] = L"End index cannot be 32767 in increasing loops"; error_map[ERROR_FOR_INVALID_DEC_END_INDEX] = L"End index cannot be -32768 in decreasing loops"; error_map[ERROR_EVENT_ALREADY_IMPL] = L"Event %0 is already implemented"; error_map[ERROR_EVENT_ARG_TOO_BIG] = L"Event %0 needs an array of size %1 or smaller, but one of size %2 is passed"; error_map[ERROR_EVENT_WRONG_ARG_SIZE] = L"Event %0 needs an array of size %1, but one of size %2 is passed"; error_map[ERROR_SUBROUTINE_ALREADY_DEF] = L"Subroutine %0 is already defined"; error_map[ERROR_INDEX_EXPECTING_CONSTANT] = L"Expecting a constant expression as a second index"; error_map[ERROR_INDEX_WRONG_END] = L"End of range index must be lower or equal to start of range index"; error_map[ERROR_SIZE_IS_NEGATIVE] = L"Array size: result is negative (%0)"; error_map[ERROR_SIZE_IS_NULL] = L"Array size: result is null"; error_map[ERROR_NOT_CONST_EXPR] = L"Not a valid constant expression"; error_map[ERROR_FUNCTION_HAS_NO_ARG] = L"Function %0 requires no argument, some are used"; error_map[ERROR_FUNCTION_NO_ENOUGH_ARG] = L"Function %0 requires %1 arguments, only %2 are provided"; error_map[ERROR_FUNCTION_WRONG_ARG_SIZE] = L"Argument %0 (%1) of function %2 is of size %3, function definition demands size %4"; error_map[ERROR_FUNCTION_WRONG_ARG_SIZE_TEMPLATE] = L"Argument %0 (%1) of function %2 is of size %3, while a previous instance of the template parameter was of size %4"; error_map[ERROR_FUNCTION_TOO_MANY_ARG] = L"Function %0 requires %1 arguments, more are used"; // tree-build.cpp error_map[ERROR_UNARY_ARITH_BUILD_UNEXPECTED] = L"Unexpected token when building UnaryArithmeticAssignmentNode"; // tree-expand.cpp error_map[ERROR_INCORRECT_LEFT_VALUE] = L"Expecting an assignment to a variable, found %0 instead"; error_map[ERROR_ARRAY_OUT_OF_BOUND] = L"Access of array %0 out of bounds: accessing index %1 while array is of size %2"; error_map[ERROR_ARRAY_SIZE_MISMATCH] = L"Size error! Size of array1 = %0 ; size of array2 = %1"; error_map[ERROR_IF_VECTOR_CONDITION] = L"Condition of the if cannot be a vector"; error_map[ERROR_WHILE_VECTOR_CONDITION] = L"Condition of the while cannot be a vector"; error_map[ERROR_ARRAY_ILLEGAL_ACCESS] = L"MemoryVectorNode::getVectorSize: illegal operation"; // tree-optimize.cpp error_map[ERROR_INFINITE_LOOP] = L"Infinite loops not allowed"; error_map[ERROR_DIVISION_BY_ZERO] = L"Division by zero"; error_map[ERROR_ABS_NOT_POSSIBLE] = L"-32768 has no positive correspondance in 16 bits integers"; error_map[ERROR_ARRAY_OUT_OF_BOUND_READ] = L"Out of bound static array access. Trying to read index %0 of array %1 of size %2"; error_map[ERROR_ARRAY_OUT_OF_BOUND_WRITE] = L"Out of bound static array access. Trying to write index %0 of array %1 of size %2"; // tree-typecheck.cpp error_map[ERROR_EXPECTING_TYPE] = L"Expecting %0 type, found %1 type instead"; error_map[ERROR_EXPECTING_CONDITION] = L"Expecting a condition, found a %0 instead"; // lexer.cpp Token::typeName() error_map[ERROR_TOKEN_END_OF_STREAM] = L"end of stream"; error_map[ERROR_TOKEN_STR_when] = L"when keyword"; error_map[ERROR_TOKEN_STR_emit] = L"emit keyword"; error_map[ERROR_TOKEN_STR_hidden_emit] = L"_emit keyword"; error_map[ERROR_TOKEN_STR_for] = L"for keyword"; error_map[ERROR_TOKEN_STR_in] = L"in keyword"; error_map[ERROR_TOKEN_STR_step] = L"step keyword"; error_map[ERROR_TOKEN_STR_while] = L"while keyword"; error_map[ERROR_TOKEN_STR_do] = L"do keyword"; error_map[ERROR_TOKEN_STR_if] = L"if keyword"; error_map[ERROR_TOKEN_STR_then] = L"then keyword"; error_map[ERROR_TOKEN_STR_else] = L"else keyword"; error_map[ERROR_TOKEN_STR_elseif] = L"elseif keyword"; error_map[ERROR_TOKEN_STR_end] = L"end keyword"; error_map[ERROR_TOKEN_STR_var] = L"var keyword"; error_map[ERROR_TOKEN_STR_const] = L"const keyword"; error_map[ERROR_TOKEN_STR_call] = L"call keyword"; error_map[ERROR_TOKEN_STR_sub] = L"sub keyword"; error_map[ERROR_TOKEN_STR_callsub] = L"callsub keyword"; error_map[ERROR_TOKEN_STR_onevent] = L"onevent keyword"; error_map[ERROR_TOKEN_STR_abs] = L"abs keyword"; error_map[ERROR_TOKEN_STR_return] = L"return keyword"; error_map[ERROR_TOKEN_STRING_LITERAL] = L"string"; error_map[ERROR_TOKEN_INT_LITERAL] = L"integer"; error_map[ERROR_TOKEN_PAR_OPEN] = L"( (open parenthesis)"; error_map[ERROR_TOKEN_PAR_CLOSE] = L") (close parenthesis)"; error_map[ERROR_TOKEN_BRACKET_OPEN] = L"[ (open bracket)"; error_map[ERROR_TOKEN_BRACKET_CLOSE] = L"] (close bracket)"; error_map[ERROR_TOKEN_COLON] = L": (colon)"; error_map[ERROR_TOKEN_COMMA] = L", (comma)"; error_map[ERROR_TOKEN_ASSIGN] = L"= (assignation)"; error_map[ERROR_TOKEN_OP_OR] = L"or"; error_map[ERROR_TOKEN_OP_AND] = L"and"; error_map[ERROR_TOKEN_OP_NOT] = L"not"; error_map[ERROR_TOKEN_OP_BIT_OR] = L"binary or"; error_map[ERROR_TOKEN_OP_BIT_XOR] = L"binary xor"; error_map[ERROR_TOKEN_OP_BIT_AND] = L"binary and"; error_map[ERROR_TOKEN_OP_BIT_NOT] = L"binary not"; error_map[ERROR_TOKEN_OP_BIT_OR_EQUAL] = L"binary or equal"; error_map[ERROR_TOKEN_OP_BIT_XOR_EQUAL] = L"binary xor equal"; error_map[ERROR_TOKEN_OP_BIT_AND_EQUAL] = L"binary and equal"; error_map[ERROR_TOKEN_OP_EQUAL] = L"== (equal to)"; error_map[ERROR_TOKEN_OP_NOT_EQUAL] = L"!= (not equal to)"; error_map[ERROR_TOKEN_OP_BIGGER] = L"> (bigger than)"; error_map[ERROR_TOKEN_OP_BIGGER_EQUAL] = L">= (bigger or equal than)"; error_map[ERROR_TOKEN_OP_SMALLER] = L"< (smaller than)"; error_map[ERROR_TOKEN_OP_SMALLER_EQUAL] = L"<= (smaller or equal than)"; error_map[ERROR_TOKEN_OP_SHIFT_LEFT] = L"<< (shift left)"; error_map[ERROR_TOKEN_OP_SHIFT_RIGHT] = L">> (shift right)"; error_map[ERROR_TOKEN_OP_SHIFT_LEFT_EQUAL] = L"<<= (shift left equal)"; error_map[ERROR_TOKEN_OP_SHIFT_RIGHT_EQUAL] = L">>= (shift right equal)"; error_map[ERROR_TOKEN_OP_ADD] = L"+ (plus)"; error_map[ERROR_TOKEN_OP_NEG] = L"- (minus)"; error_map[ERROR_TOKEN_OP_ADD_EQUAL] = L"+= (plus equal)"; error_map[ERROR_TOKEN_OP_NEG_EQUAL] = L"-= (minus equal)"; error_map[ERROR_TOKEN_OP_PLUS_PLUS] = L"++ (plus plus)"; error_map[ERROR_TOKEN_OP_MINUS_MINUS] = L"-- (minus minus)"; error_map[ERROR_TOKEN_OP_MULT] = L"* (time)"; error_map[ERROR_TOKEN_OP_DIV] = L"/ (divide)"; error_map[ERROR_TOKEN_OP_MOD] = L"modulo"; error_map[ERROR_TOKEN_OP_MULT_EQUAL] = L"*= (time equal)"; error_map[ERROR_TOKEN_OP_DIV_EQUAL] = L"/= (divide equal)"; error_map[ERROR_TOKEN_OP_MOD_EQUAL] = L"modulo equal"; error_map[ERROR_TOKEN_UNKNOWN] = L"unknown"; error_map[ERROR_UNKNOWN_ERROR] = L"Unknown error"; } const std::wstring ErrorMessages::defaultCallback(ErrorCode error) { if (error >= ERROR_END) return std::wstring(error_map[ERROR_UNKNOWN_ERROR]); else return std::wstring(error_map[error]); } //! Return the string version of this error std::wstring Error::toWString() const { std::wostringstream oss; if (pos.valid) oss << "Error at Line: " << pos.row + 1 << " Col: " << pos.column + 1 << " : " << message; else oss << "Error : " << message; return oss.str(); } ErrorMessages::ErrorCallback TranslatableError::translateCB = nullptr; TranslatableError::TranslatableError(const SourcePos& pos, ErrorCode error) { this->pos = pos; message = translateCB(error); } Error TranslatableError::toError() { return Error(pos, message); } void TranslatableError::setTranslateCB(ErrorMessages::ErrorCallback newCB) { translateCB = newCB; } TranslatableError &TranslatableError::arg(int value, int fieldWidth, int base, wchar_t fillChar) { message.arg(value, fieldWidth, base, fillChar); return *this; } TranslatableError &TranslatableError::arg(long int value, int fieldWidth, int base, wchar_t fillChar) { message.arg(value, fieldWidth, base, fillChar); return *this; } TranslatableError &TranslatableError::arg(unsigned value, int fieldWidth, int base, wchar_t fillChar) { message.arg(value, fieldWidth, base, fillChar); return *this; } TranslatableError &TranslatableError::arg(float value, int fieldWidth, int precision, wchar_t fillChar ) { message.arg(value, fieldWidth, precision, fillChar); return *this; } TranslatableError &TranslatableError::arg(const std::wstring& value) { message.arg(value); return *this; } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/errors_code.h000066400000000000000000000103701322771007300170650ustar00rootroot00000000000000 #ifndef __ERRORS_H #define __ERRORS_H /* This file was automatically generated. Do not modify it, or your changes will be lost! You can manually run the script 'sync_translation.py' to generate a new version, based on errors.cpp */ // define error codes namespace Aseba { enum ErrorCode { // compiler.cpp ERROR_BROKEN_TARGET = 0, ERROR_STACK_OVERFLOW, ERROR_SCRIPT_TOO_BIG, // identifier-lookup.cpp ERROR_VARIABLE_NOT_DEFINED, ERROR_VARIABLE_NOT_DEFINED_GUESS, ERROR_FUNCTION_NOT_DEFINED, ERROR_FUNCTION_NOT_DEFINED_GUESS, ERROR_CONSTANT_NOT_DEFINED, ERROR_CONSTANT_NOT_DEFINED_GUESS, ERROR_EVENT_NOT_DEFINED, ERROR_EVENT_NOT_DEFINED_GUESS, ERROR_EMIT_LOCAL_EVENT, ERROR_SUBROUTINE_NOT_DEFINED, ERROR_SUBROUTINE_NOT_DEFINED_GUESS, // lexer.cpp ERROR_LINE, ERROR_COL, ERROR_UNBALANCED_COMMENT_BLOCK, ERROR_SYNTAX, ERROR_INVALID_IDENTIFIER, ERROR_INVALID_HEXA_NUMBER, ERROR_INVALID_BINARY_NUMBER, ERROR_NUMBER_INVALID_BASE, ERROR_IN_NUMBER, // parser.cpp ERROR_INTERNAL, ERROR_EXPECTING, ERROR_UINT12_OUT_OF_RANGE, ERROR_UINT16_OUT_OF_RANGE, ERROR_PINT16_OUT_OF_RANGE, ERROR_INT16_OUT_OF_RANGE, ERROR_PCONSTANT_OUT_OF_RANGE, ERROR_CONSTANT_OUT_OF_RANGE, ERROR_EXPECTING_ONE_OF, ERROR_NOT_ENOUGH_TEMP_SPACE, ERROR_MISPLACED_VARDEF, ERROR_EXPECTING_IDENTIFIER, ERROR_CONST_ALREADY_DEFINED, ERROR_VAR_ALREADY_DEFINED, ERROR_VAR_CONST_COLLISION, ERROR_UNDEFINED_SIZE, ERROR_NOT_ENOUGH_SPACE, ERROR_EXPECTING_ASSIGNMENT, ERROR_FOR_NULL_STEPS, ERROR_FOR_START_HIGHER_THAN_END, ERROR_FOR_START_LOWER_THAN_END, ERROR_FOR_INVALID_INC_END_INDEX, ERROR_FOR_INVALID_DEC_END_INDEX, ERROR_EVENT_ALREADY_IMPL, ERROR_EVENT_ARG_TOO_BIG, ERROR_EVENT_WRONG_ARG_SIZE, ERROR_SUBROUTINE_ALREADY_DEF, ERROR_INDEX_EXPECTING_CONSTANT, ERROR_INDEX_WRONG_END, ERROR_SIZE_IS_NEGATIVE, ERROR_SIZE_IS_NULL, ERROR_NOT_CONST_EXPR, ERROR_FUNCTION_HAS_NO_ARG, ERROR_FUNCTION_NO_ENOUGH_ARG, ERROR_FUNCTION_WRONG_ARG_SIZE, ERROR_FUNCTION_WRONG_ARG_SIZE_TEMPLATE, ERROR_FUNCTION_TOO_MANY_ARG, // tree-build.cpp ERROR_UNARY_ARITH_BUILD_UNEXPECTED, // tree-expand.cpp ERROR_INCORRECT_LEFT_VALUE, ERROR_ARRAY_OUT_OF_BOUND, ERROR_ARRAY_SIZE_MISMATCH, ERROR_IF_VECTOR_CONDITION, ERROR_WHILE_VECTOR_CONDITION, ERROR_ARRAY_ILLEGAL_ACCESS, // tree-optimize.cpp ERROR_INFINITE_LOOP, ERROR_DIVISION_BY_ZERO, ERROR_ABS_NOT_POSSIBLE, ERROR_ARRAY_OUT_OF_BOUND_READ, ERROR_ARRAY_OUT_OF_BOUND_WRITE, // tree-typecheck.cpp ERROR_EXPECTING_TYPE, ERROR_EXPECTING_CONDITION, // lexer.cpp Token::typeName() ERROR_TOKEN_END_OF_STREAM, ERROR_TOKEN_STR_when, ERROR_TOKEN_STR_emit, ERROR_TOKEN_STR_hidden_emit, ERROR_TOKEN_STR_for, ERROR_TOKEN_STR_in, ERROR_TOKEN_STR_step, ERROR_TOKEN_STR_while, ERROR_TOKEN_STR_do, ERROR_TOKEN_STR_if, ERROR_TOKEN_STR_then, ERROR_TOKEN_STR_else, ERROR_TOKEN_STR_elseif, ERROR_TOKEN_STR_end, ERROR_TOKEN_STR_var, ERROR_TOKEN_STR_const, ERROR_TOKEN_STR_call, ERROR_TOKEN_STR_sub, ERROR_TOKEN_STR_callsub, ERROR_TOKEN_STR_onevent, ERROR_TOKEN_STR_abs, ERROR_TOKEN_STR_return, ERROR_TOKEN_STRING_LITERAL, ERROR_TOKEN_INT_LITERAL, ERROR_TOKEN_PAR_OPEN, ERROR_TOKEN_PAR_CLOSE, ERROR_TOKEN_BRACKET_OPEN, ERROR_TOKEN_BRACKET_CLOSE, ERROR_TOKEN_COLON, ERROR_TOKEN_COMMA, ERROR_TOKEN_ASSIGN, ERROR_TOKEN_OP_OR, ERROR_TOKEN_OP_AND, ERROR_TOKEN_OP_NOT, ERROR_TOKEN_OP_BIT_OR, ERROR_TOKEN_OP_BIT_XOR, ERROR_TOKEN_OP_BIT_AND, ERROR_TOKEN_OP_BIT_NOT, ERROR_TOKEN_OP_BIT_OR_EQUAL, ERROR_TOKEN_OP_BIT_XOR_EQUAL, ERROR_TOKEN_OP_BIT_AND_EQUAL, ERROR_TOKEN_OP_EQUAL, ERROR_TOKEN_OP_NOT_EQUAL, ERROR_TOKEN_OP_BIGGER, ERROR_TOKEN_OP_BIGGER_EQUAL, ERROR_TOKEN_OP_SMALLER, ERROR_TOKEN_OP_SMALLER_EQUAL, ERROR_TOKEN_OP_SHIFT_LEFT, ERROR_TOKEN_OP_SHIFT_RIGHT, ERROR_TOKEN_OP_SHIFT_LEFT_EQUAL, ERROR_TOKEN_OP_SHIFT_RIGHT_EQUAL, ERROR_TOKEN_OP_ADD, ERROR_TOKEN_OP_NEG, ERROR_TOKEN_OP_ADD_EQUAL, ERROR_TOKEN_OP_NEG_EQUAL, ERROR_TOKEN_OP_PLUS_PLUS, ERROR_TOKEN_OP_MINUS_MINUS, ERROR_TOKEN_OP_MULT, ERROR_TOKEN_OP_DIV, ERROR_TOKEN_OP_MOD, ERROR_TOKEN_OP_MULT_EQUAL, ERROR_TOKEN_OP_DIV_EQUAL, ERROR_TOKEN_OP_MOD_EQUAL, ERROR_TOKEN_UNKNOWN, ERROR_UNKNOWN_ERROR, ERROR_END }; }; #endif // __ERRORS_H aseba-1.6.0/compiler/identifier-lookup.cpp000066400000000000000000000166511322771007300205530ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "compiler.h" #include "tree.h" #include "../common/consts.h" #include "../common/utils/FormatableString.h" #include #include #include #include #include #include #include #include #include #ifndef __APPLE__ #include #endif namespace Aseba { /** \file identifier-lookup.cpp Functions for quick lookup of identifiers (variables, events, subroutines, native functions, constants) using maps. \addtogroup compiler */ /*@{*/ //! Return the string version of this position std::wstring SourcePos::toWString() const { if (valid) { std::wostringstream oss; oss << std::setw(4) << row + 1 << ':' << std::setw(4) << std::left << column; return oss.str(); } else return L""; } //! Return whether a named-value vector contains a certain value, by iterating bool NamedValuesVector::contains(const std::wstring& s, size_t* position) const { for (size_t i = 0; i < size(); i++) { if ((*this)[i].name == s) { if (position) *position = i; return true; } } return false; } //! Compute the edit distance between two vector-style containers, inspired from http://en.wikibooks.org/wiki/Algorithm_Implementation/Strings/Levenshtein_distance#C.2B.2B template unsigned int editDistance(const T& s1, const T& s2, const unsigned maxDist) { // Dynamic programming implementation. // Uses only O(len(s2)) space and O(len(s1)*len(s2)) time. const auto l1(s1.size()); const auto l2(s2.size()); // States on s1 are folded into current (Dn) and last (Do), // achieving O(len(s2)) in space. std::vector Do(l2+1, 0); std::vector Dn(l2+1, 0); // first row, nothing matches empty string for (size_t j = 1; j <= l2; ++j) Do[j] = Do[j-1] + 1; // note: j indices for accessing s2 are shifted by 1 compared to i indices for accessing s // all rows for (size_t i = 0; i < l1; ++i) { // all elements in row i+1 Dn[0] = Do[0] + 1; // nothing matches empty string for (size_t j = 1; j <= l2; ++j) { Dn[j] = std::min(std::min( Do[j] + 1, Dn[j-1] + 1), Do[j-1] + (s1[i] == s2[j-1] ? 0 : 1) ); } std::swap(Dn, Do); } return Do.back(); } //! Helper function to find for something in one of the map, using edit-distance to check for candidates if not found template typename MapType::const_iterator findInTable(const MapType& map, const std::wstring& name, const SourcePos& pos, const ErrorCode notFoundError, const ErrorCode misspelledError) { auto it(map.find(name)); if (it == map.end()) { const unsigned maxDist(3); std::wstring bestName; unsigned bestDist(std::numeric_limits::max()); for (auto jt(map.begin()); jt != map.end(); ++jt) { const std::wstring thatName(jt->first); const unsigned d(editDistance(name, thatName, maxDist)); if (d < bestDist && d < maxDist) { bestDist = d; bestName = thatName; } } if (bestDist < maxDist) throw TranslatableError(pos, misspelledError).arg(name).arg(bestName); else throw TranslatableError(pos, notFoundError).arg(name); } return it; } //! Look for a variable of a given name, and if found, return an iterator; if not, return an exception VariablesMap::const_iterator Compiler::findVariable(const std::wstring& varName, const SourcePos& varPos) const { return findInTable(variablesMap, varName, varPos, ERROR_VARIABLE_NOT_DEFINED, ERROR_VARIABLE_NOT_DEFINED_GUESS); } //! Look for a function of a given name, and if found, return an iterator; if not, return an exception FunctionsMap::const_iterator Compiler::findFunction(const std::wstring& funcName, const SourcePos& funcPos) const { return findInTable(functionsMap, funcName, funcPos, ERROR_FUNCTION_NOT_DEFINED, ERROR_FUNCTION_NOT_DEFINED_GUESS); } //! Look for a constant of a given name, and if found, return an iterator; if not, return an exception Compiler::ConstantsMap::const_iterator Compiler::findConstant(const std::wstring& name, const SourcePos& pos) const { return findInTable(constantsMap, name, pos, ERROR_CONSTANT_NOT_DEFINED, ERROR_CONSTANT_NOT_DEFINED_GUESS); } //! Return true if a constant of a given name exists bool Compiler::constantExists(const std::wstring& name) const { return constantsMap.find(name) != constantsMap.end(); } //! Look for a global event of a given name, and if found, return an iterator; if not, return an exception Compiler::EventsMap::const_iterator Compiler::findGlobalEvent(const std::wstring& name, const SourcePos& pos) const { try { return findInTable(globalEventsMap, name, pos, ERROR_EVENT_NOT_DEFINED, ERROR_EVENT_NOT_DEFINED_GUESS); } catch (TranslatableError e) { if (allEventsMap.find(name) != allEventsMap.end()) throw TranslatableError(pos, ERROR_EMIT_LOCAL_EVENT).arg(name); else throw e; } } Compiler::EventsMap::const_iterator Compiler::findAnyEvent(const std::wstring& name, const SourcePos& pos) const { return findInTable(allEventsMap, name, pos, ERROR_EVENT_NOT_DEFINED, ERROR_EVENT_NOT_DEFINED_GUESS); } //! Look for a subroutine of a given name, and if found, return an iterator; if not, return an exception Compiler::SubroutineReverseTable::const_iterator Compiler::findSubroutine(const std::wstring& name, const SourcePos& pos) const { return findInTable(subroutineReverseTable, name, pos, ERROR_SUBROUTINE_NOT_DEFINED, ERROR_SUBROUTINE_NOT_DEFINED_GUESS); } //! Build variables and functions maps void Compiler::buildMaps() { assert(targetDescription); // erase tables implementedEvents.clear(); subroutineTable.clear(); subroutineReverseTable.clear(); // fill variables map variablesMap = targetDescription->getVariablesMap(freeVariableIndex); // fill functions map functionsMap = targetDescription->getFunctionsMap(); // fill contants maps constantsMap.clear(); for (unsigned i = 0; i < commonDefinitions->constants.size(); i++) { const NamedValue &constant(commonDefinitions->constants[i]); constantsMap[constant.name] = constant.value; } // fill global events map globalEventsMap.clear(); for (unsigned i = 0; i < commonDefinitions->events.size(); i++) { globalEventsMap[commonDefinitions->events[i].name] = i; } // fill all events map allEventsMap = globalEventsMap; for (unsigned i = 0; i < targetDescription->localEvents.size(); ++i) { allEventsMap[targetDescription->localEvents[i].name] = ASEBA_EVENT_LOCAL_EVENTS_START - i; } } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/lexer.cpp000066400000000000000000000436171322771007300162430ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "compiler.h" #include "../common/utils/FormatableString.h" #include #include #include #include #include #include namespace Aseba { #ifdef ANDROID long int wcstol_fix( const wchar_t * str, wchar_t ** endptr, int base ) { long int v(0); while (*str) { v *= base; if (str[0] <= '9') { v += (str[0] - '0'); } else { const long int maskedVal(str[0] & (~(1<<5))); v += (maskedVal - 'A') + 10; } ++str; } return v; } #define wcstol wcstol_fix #endif // ANDROID //! Construct a new token of given type and value Compiler::Token::Token(Type type, SourcePos pos, const std::wstring& value) : type(type), sValue(value), pos(pos) { if (type == TOKEN_INT_LITERAL) { long int decode; bool wasUnsigned = false; // all values are assumed to be signed 16-bits if ((value.length() > 1) && (value[1] == 'x')) { decode = wcstol(value.c_str() + 2, nullptr, 16); wasUnsigned = true; } else if ((value.length() > 1) && (value[1] == 'b')) { decode = wcstol(value.c_str() + 2, nullptr, 2); wasUnsigned = true; } else decode = wcstol(value.c_str(), nullptr, 10); if (decode >= 65536) throw TranslatableError(pos, ERROR_INT16_OUT_OF_RANGE).arg(decode); if (wasUnsigned && decode > 32767) decode -= 65536; iValue = decode; } else iValue = 0; pos.column--; // column has already been incremented when token is created, so we remove one pos.character--; // character has already been incremented when token is created, so we remove one } //! Return the name of the type of this token const std::wstring Compiler::Token::typeName() const { switch (type) { case TOKEN_END_OF_STREAM: return translate(ERROR_TOKEN_END_OF_STREAM); case TOKEN_STR_when: return translate(ERROR_TOKEN_STR_when); case TOKEN_STR_emit: return translate(ERROR_TOKEN_STR_emit); case TOKEN_STR_hidden_emit: return translate(ERROR_TOKEN_STR_hidden_emit); case TOKEN_STR_for: return translate(ERROR_TOKEN_STR_for); case TOKEN_STR_in: return translate(ERROR_TOKEN_STR_in); case TOKEN_STR_step: return translate(ERROR_TOKEN_STR_step); case TOKEN_STR_while: return translate(ERROR_TOKEN_STR_while); case TOKEN_STR_do: return translate(ERROR_TOKEN_STR_do); case TOKEN_STR_if: return translate(ERROR_TOKEN_STR_if); case TOKEN_STR_then: return translate(ERROR_TOKEN_STR_then); case TOKEN_STR_else: return translate(ERROR_TOKEN_STR_else); case TOKEN_STR_elseif: return translate(ERROR_TOKEN_STR_elseif); case TOKEN_STR_end: return translate(ERROR_TOKEN_STR_end); case TOKEN_STR_var: return translate(ERROR_TOKEN_STR_var); case TOKEN_STR_const: return translate(ERROR_TOKEN_STR_const); case TOKEN_STR_call: return translate(ERROR_TOKEN_STR_call); case TOKEN_STR_sub: return translate(ERROR_TOKEN_STR_sub); case TOKEN_STR_callsub: return translate(ERROR_TOKEN_STR_callsub); case TOKEN_STR_onevent: return translate(ERROR_TOKEN_STR_onevent); case TOKEN_STR_abs: return translate(ERROR_TOKEN_STR_abs); case TOKEN_STR_return: return translate(ERROR_TOKEN_STR_return); case TOKEN_STRING_LITERAL: return translate(ERROR_TOKEN_STRING_LITERAL); case TOKEN_INT_LITERAL: return translate(ERROR_TOKEN_INT_LITERAL); case TOKEN_PAR_OPEN: return translate(ERROR_TOKEN_PAR_OPEN); case TOKEN_PAR_CLOSE: return translate(ERROR_TOKEN_PAR_CLOSE); case TOKEN_BRACKET_OPEN: return translate(ERROR_TOKEN_BRACKET_OPEN); case TOKEN_BRACKET_CLOSE: return translate(ERROR_TOKEN_BRACKET_CLOSE); case TOKEN_COLON: return translate(ERROR_TOKEN_COLON); case TOKEN_COMMA: return translate(ERROR_TOKEN_COMMA); case TOKEN_ASSIGN: return translate(ERROR_TOKEN_ASSIGN); case TOKEN_OP_OR: return translate(ERROR_TOKEN_OP_OR); case TOKEN_OP_AND: return translate(ERROR_TOKEN_OP_AND); case TOKEN_OP_NOT: return translate(ERROR_TOKEN_OP_NOT); case TOKEN_OP_BIT_OR: return translate(ERROR_TOKEN_OP_BIT_OR); case TOKEN_OP_BIT_XOR: return translate(ERROR_TOKEN_OP_BIT_XOR); case TOKEN_OP_BIT_AND: return translate(ERROR_TOKEN_OP_BIT_AND); case TOKEN_OP_BIT_NOT: return translate(ERROR_TOKEN_OP_BIT_NOT); case TOKEN_OP_BIT_OR_EQUAL: return translate(ERROR_TOKEN_OP_BIT_OR_EQUAL); case TOKEN_OP_BIT_XOR_EQUAL: return translate(ERROR_TOKEN_OP_BIT_XOR_EQUAL); case TOKEN_OP_BIT_AND_EQUAL: return translate(ERROR_TOKEN_OP_BIT_AND_EQUAL); case TOKEN_OP_EQUAL: return translate(ERROR_TOKEN_OP_EQUAL); case TOKEN_OP_NOT_EQUAL: return translate(ERROR_TOKEN_OP_NOT_EQUAL); case TOKEN_OP_BIGGER: return translate(ERROR_TOKEN_OP_BIGGER); case TOKEN_OP_BIGGER_EQUAL: return translate(ERROR_TOKEN_OP_BIGGER_EQUAL); case TOKEN_OP_SMALLER: return translate(ERROR_TOKEN_OP_SMALLER); case TOKEN_OP_SMALLER_EQUAL: return translate(ERROR_TOKEN_OP_SMALLER_EQUAL); case TOKEN_OP_SHIFT_LEFT: return translate(ERROR_TOKEN_OP_SHIFT_LEFT); case TOKEN_OP_SHIFT_RIGHT: return translate(ERROR_TOKEN_OP_SHIFT_RIGHT); case TOKEN_OP_SHIFT_LEFT_EQUAL: return translate(ERROR_TOKEN_OP_SHIFT_LEFT_EQUAL); case TOKEN_OP_SHIFT_RIGHT_EQUAL: return translate(ERROR_TOKEN_OP_SHIFT_RIGHT_EQUAL); case TOKEN_OP_ADD: return translate(ERROR_TOKEN_OP_ADD); case TOKEN_OP_NEG: return translate(ERROR_TOKEN_OP_NEG); case TOKEN_OP_ADD_EQUAL: return translate(ERROR_TOKEN_OP_ADD_EQUAL); case TOKEN_OP_NEG_EQUAL: return translate(ERROR_TOKEN_OP_NEG_EQUAL); case TOKEN_OP_PLUS_PLUS: return translate(ERROR_TOKEN_OP_PLUS_PLUS); case TOKEN_OP_MINUS_MINUS: return translate(ERROR_TOKEN_OP_MINUS_MINUS); case TOKEN_OP_MULT: return translate(ERROR_TOKEN_OP_MULT); case TOKEN_OP_DIV: return translate(ERROR_TOKEN_OP_DIV); case TOKEN_OP_MOD: return translate(ERROR_TOKEN_OP_MOD); case TOKEN_OP_MULT_EQUAL: return translate(ERROR_TOKEN_OP_MULT_EQUAL); case TOKEN_OP_DIV_EQUAL: return translate(ERROR_TOKEN_OP_DIV_EQUAL); case TOKEN_OP_MOD_EQUAL: return translate(ERROR_TOKEN_OP_MOD_EQUAL); default: return translate(ERROR_TOKEN_UNKNOWN); } } //! Return a string representation of the token std::wstring Compiler::Token::toWString() const { std::wostringstream oss; oss << pos.toWString() << " "; oss << typeName(); if (type == TOKEN_INT_LITERAL) oss << L" : " << iValue; if (type == TOKEN_STRING_LITERAL) oss << L" : " << sValue; return oss.str(); } //! Parse source and build tokens vector //! \param source source code void Compiler::tokenize(std::wistream& source) { tokens.clear(); SourcePos pos(0, 0, 0); const unsigned tabSize = 4; // tokenize text source while (source.good()) { wchar_t c = source.get(); if (source.eof()) break; pos.column++; pos.character++; switch (c) { // simple cases of one character case ' ': break; //case '\t': pos.column += tabSize - 1; break; case '\t': break; case '\n': pos.row++; pos.column = -1; break; // -1 so next call to pos.column++ result set 0 case '\r': pos.column = -1; break; // -1 so next call to pos.column++ result set 0 case '(': tokens.emplace_back(Token::TOKEN_PAR_OPEN, pos); break; case ')': tokens.emplace_back(Token::TOKEN_PAR_CLOSE, pos); break; case '[': tokens.emplace_back(Token::TOKEN_BRACKET_OPEN, pos); break; case ']': tokens.emplace_back(Token::TOKEN_BRACKET_CLOSE, pos); break; case ':': tokens.emplace_back(Token::TOKEN_COLON, pos); break; case ',': tokens.emplace_back(Token::TOKEN_COMMA, pos); break; // special case for comment case '#': { // check if it's a comment block #* ... *# if (source.peek() == '*') { // comment block // record position of the begining SourcePos begin(pos); // move forward by 2 characters then search for the end int step = 2; while ((step > 0) || (c != '*') || (source.peek() != '#')) { if (step) step--; if (c == '\t') pos.column += tabSize; else if (c == '\n') { pos.row++; pos.column = 0; } else pos.column++; c = source.get(); pos.character++; if (source.eof()) { // EOF -> unbalanced block throw TranslatableError(begin, ERROR_UNBALANCED_COMMENT_BLOCK); } } // fetch the # getNextCharacter(source, pos); } else { // simple comment while ((c != '\n') && (c != '\r') && (!source.eof())) { if (c == '\t') pos.column += tabSize; else pos.column++; c = source.get(); pos.character++; } if (c == '\n') { pos.row++; pos.column = 0; } else if (c == '\r') pos.column = 0; } } break; // cases that require one character look-ahead case '+': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_ADD_EQUAL)) break; if (testNextCharacter(source, pos, '+', Token::TOKEN_OP_PLUS_PLUS)) break; tokens.emplace_back(Token::TOKEN_OP_ADD, pos); break; case '-': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_NEG_EQUAL)) break; if (testNextCharacter(source, pos, '-', Token::TOKEN_OP_MINUS_MINUS)) break; tokens.emplace_back(Token::TOKEN_OP_NEG, pos); break; case '*': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_MULT_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_MULT, pos); break; case '/': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_DIV_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_DIV, pos); break; case '%': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_MOD_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_MOD, pos); break; case '|': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_BIT_OR_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_BIT_OR, pos); break; case '^': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_BIT_XOR_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_BIT_XOR, pos); break; case '&': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_BIT_AND_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_BIT_AND, pos); break; case '~': tokens.emplace_back(Token::TOKEN_OP_BIT_NOT, pos); break; case '!': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_NOT_EQUAL)) break; throw TranslatableError(pos, ERROR_SYNTAX); break; case '=': if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_EQUAL)) break; tokens.emplace_back(Token::TOKEN_ASSIGN, pos); break; // cases that require two characters look-ahead case '<': if (source.peek() == '<') { // << getNextCharacter(source, pos); if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_SHIFT_LEFT_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_SHIFT_LEFT, pos); break; } // < if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_SMALLER_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_SMALLER, pos); break; case '>': if (source.peek() == '>') { // >> getNextCharacter(source, pos); if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_SHIFT_RIGHT_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_SHIFT_RIGHT, pos); break; } // > if (testNextCharacter(source, pos, '=', Token::TOKEN_OP_BIGGER_EQUAL)) break; tokens.emplace_back(Token::TOKEN_OP_BIGGER, pos); break; // cases that require to look for a while default: { // check first character if (!std::iswalnum(c) && (c != '_')) throw TranslatableError(pos, ERROR_INVALID_IDENTIFIER).arg((unsigned)c, 0, 16); // get a string std::wstring s; s += c; wchar_t nextC = source.peek(); int posIncrement = 0; while ((source.good()) && (std::iswalnum(nextC) || (nextC == '_') || (nextC == '.'))) { s += nextC; source.get(); posIncrement++; nextC = source.peek(); } // we now have a string, let's check what it is if (std::iswdigit(s[0])) { // check if hex or binary if ((s.length() > 1) && (s[0] == '0') && (!std::iswdigit(s[1]))) { // check if we have a valid number if (s[1] == 'x') { for (unsigned i = 2; i < s.size(); i++) if (!std::iswxdigit(s[i])) throw TranslatableError(pos, ERROR_INVALID_HEXA_NUMBER); } else if (s[1] == 'b') { for (unsigned i = 2; i < s.size(); i++) if ((s[i] != '0') && (s[i] != '1')) throw TranslatableError(pos, ERROR_INVALID_BINARY_NUMBER); } else throw TranslatableError(pos, ERROR_NUMBER_INVALID_BASE); } else { // check if we have a valid number for (unsigned i = 1; i < s.size(); i++) if (!std::iswdigit(s[i])) throw TranslatableError(pos, ERROR_IN_NUMBER); } tokens.emplace_back(Token::TOKEN_INT_LITERAL, pos, s); } else { // check if it is a known keyword // FIXME: clean-up that with a table if (s == L"when") tokens.emplace_back(Token::TOKEN_STR_when, pos); else if (s == L"emit") tokens.emplace_back(Token::TOKEN_STR_emit, pos); else if (s == L"_emit") tokens.emplace_back(Token::TOKEN_STR_hidden_emit, pos); else if (s == L"for") tokens.emplace_back(Token::TOKEN_STR_for, pos); else if (s == L"in") tokens.emplace_back(Token::TOKEN_STR_in, pos); else if (s == L"step") tokens.emplace_back(Token::TOKEN_STR_step, pos); else if (s == L"while") tokens.emplace_back(Token::TOKEN_STR_while, pos); else if (s == L"do") tokens.emplace_back(Token::TOKEN_STR_do, pos); else if (s == L"if") tokens.emplace_back(Token::TOKEN_STR_if, pos); else if (s == L"then") tokens.emplace_back(Token::TOKEN_STR_then, pos); else if (s == L"else") tokens.emplace_back(Token::TOKEN_STR_else, pos); else if (s == L"elseif") tokens.emplace_back(Token::TOKEN_STR_elseif, pos); else if (s == L"end") tokens.emplace_back(Token::TOKEN_STR_end, pos); else if (s == L"var") tokens.emplace_back(Token::TOKEN_STR_var, pos); else if (s == L"const") tokens.emplace_back(Token::TOKEN_STR_const, pos); else if (s == L"call") tokens.emplace_back(Token::TOKEN_STR_call, pos); else if (s == L"sub") tokens.emplace_back(Token::TOKEN_STR_sub, pos); else if (s == L"callsub") tokens.emplace_back(Token::TOKEN_STR_callsub, pos); else if (s == L"onevent") tokens.emplace_back(Token::TOKEN_STR_onevent, pos); else if (s == L"abs") tokens.emplace_back(Token::TOKEN_STR_abs, pos); else if (s == L"return") tokens.emplace_back(Token::TOKEN_STR_return, pos); else if (s == L"or") tokens.emplace_back(Token::TOKEN_OP_OR, pos); else if (s == L"and") tokens.emplace_back(Token::TOKEN_OP_AND, pos); else if (s == L"not") tokens.emplace_back(Token::TOKEN_OP_NOT, pos); else tokens.emplace_back(Token::TOKEN_STRING_LITERAL, pos, s); } pos.column += posIncrement; pos.character += posIncrement; } break; } // switch (c) } // while (source.good()) tokens.emplace_back(Token::TOKEN_END_OF_STREAM, pos); } wchar_t Compiler::getNextCharacter(std::wistream &source, SourcePos &pos) { pos.column++; pos.character++; return source.get(); } bool Compiler::testNextCharacter(std::wistream &source, SourcePos &pos, wchar_t test, Token::Type tokenIfTrue) { if ((int)source.peek() == int(test)) { tokens.emplace_back(tokenIfTrue, pos); getNextCharacter(source, pos); return true; } return false; } //! Debug print of tokens void Compiler::dumpTokens(std::wostream &dest) const { for (const auto & token : tokens) dest << token.toWString() << std::endl; } //! Return whether a string is a language keyword bool Compiler::isKeyword(const std::wstring& s) { // FIXME: clean-up that with a table if (s == L"when") return true; else if (s == L"emit") return true; else if (s == L"_emit") return true; else if (s == L"for") return true; else if (s == L"in") return true; else if (s == L"step") return true; else if (s == L"while") return true; else if (s == L"do") return true; else if (s == L"if") return true; else if (s == L"then") return true; else if (s == L"else") return true; else if (s == L"elseif") return true; else if (s == L"end") return true; else if (s == L"var") return true; else if (s == L"const") return true; else if (s == L"call") return true; else if (s == L"sub") return true; else if (s == L"callsub") return true; else if (s == L"onevent") return true; else if (s == L"abs") return true; else if (s == L"return") return true; else if (s == L"or") return true; else if (s == L"and") return true; else if (s == L"not") return true; else return false; } } // namespace Aseba aseba-1.6.0/compiler/parser.cpp000066400000000000000000001264271322771007300164210ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "compiler.h" #include "tree.h" #include "../common/utils/FormatableString.h" #include "../common/utils/utils.h" #include #include #include #include #include #include #define IS_ONE_OF(array) (isOneOf(array)) #define EXPECT_ONE_OF(array) (expectOneOf(array)) #define STRICT false namespace Aseba { //! There is a bug in the compiler, ask for a bug report void Compiler::internalCompilerError() const { throw TranslatableError(tokens.front().pos, ERROR_INTERNAL); } //! Check if next token is of type, produce an exception otherwise void Compiler::expect(const Token::Type& type) const { if (tokens.front() != type) throw TranslatableError(tokens.front().pos, ERROR_EXPECTING) .arg(Token(type).typeName()) .arg(tokens.front().typeName()); } //! Check if next token is an unsigned 12 bits integer literal. If so, return it, if not, throw an exception unsigned Compiler::expectUInt12Literal() const { expect(Token::TOKEN_INT_LITERAL); if (tokens.front().iValue < 0 || tokens.front().iValue > 4095) throw TranslatableError(tokens.front().pos, ERROR_UINT12_OUT_OF_RANGE) .arg(tokens.front().iValue); return tokens.front().iValue; } //! Check if next token is an unsigned 16 bits integer literal. If so, return it, if not, throw an exception unsigned Compiler::expectUInt16Literal() const { expect(Token::TOKEN_INT_LITERAL); if (tokens.front().iValue < 0 || tokens.front().iValue > 65535) throw TranslatableError(tokens.front().pos, ERROR_UINT16_OUT_OF_RANGE) .arg(tokens.front().iValue); return tokens.front().iValue; } //! Check if next token is the positive part of a 16 bits signed integer literal. If so, return it, if not, throw an exception unsigned Compiler::expectPositiveInt16Literal() const { expect(Token::TOKEN_INT_LITERAL); if (tokens.front().iValue < 0 || tokens.front().iValue > 32767) throw TranslatableError(tokens.front().pos, ERROR_PINT16_OUT_OF_RANGE) .arg(tokens.front().iValue); return tokens.front().iValue; } //! Check if next token is the absolute part of a 16 bits signed integer literal. If so, return it, if not, throw an exception int Compiler::expectAbsoluteInt16Literal(bool negative) const { expect(Token::TOKEN_INT_LITERAL); int limit(32767); if (negative) limit++; if (tokens.front().iValue < 0 || tokens.front().iValue > limit) throw TranslatableError(tokens.front().pos, ERROR_INT16_OUT_OF_RANGE) .arg(tokens.front().iValue); return tokens.front().iValue; } //! Check if next toxen is a valid positive part of a 16 bits signed integer constant unsigned Compiler::expectPositiveConstant() const { expect(Token::TOKEN_STRING_LITERAL); const std::wstring name = tokens.front().sValue; const SourcePos pos = tokens.front().pos; const ConstantsMap::const_iterator constIt(findConstant(name, pos)); const int value = constIt->second; if (value < 0 || value > 32767) throw TranslatableError(tokens.front().pos, ERROR_PCONSTANT_OUT_OF_RANGE) .arg(tokens.front().sValue) .arg(value); return value; } //! Check if next toxen is a valid 16 bits signed integer constant int Compiler::expectConstant() const { expect(Token::TOKEN_STRING_LITERAL); const std::wstring name = tokens.front().sValue; const SourcePos pos = tokens.front().pos; const ConstantsMap::const_iterator constIt(findConstant(name, pos)); const int value = constIt->second; if (value < -32768 || value > 32767) throw TranslatableError(tokens.front().pos, ERROR_CONSTANT_OUT_OF_RANGE) .arg(tokens.front().sValue) .arg(value); return value; } //! Check and return either the positive part of a 16 bits signed integer or the value of a valid constant unsigned Compiler::expectPositiveInt16LiteralOrConstant() const { if (tokens.front() == Token::TOKEN_INT_LITERAL) return expectPositiveInt16Literal(); else return expectPositiveConstant(); } //! Check and return a 16 bits signed integer int Compiler::expectInt16Literal() { if (tokens.front() == Token::TOKEN_OP_NEG) { tokens.pop_front(); return -expectAbsoluteInt16Literal(true); } else { if (tokens.front().iValue < 0) { tokens.front().iValue *= -1; return -expectAbsoluteInt16Literal(true); } else return expectAbsoluteInt16Literal(false); } } //! Check and return either a 16 bits signed integer or the value of a valid constant int Compiler::expectInt16LiteralOrConstant() { if (tokens.front() == Token::TOKEN_OP_NEG || tokens.front() == Token::TOKEN_INT_LITERAL) return expectInt16Literal(); else return expectConstant(); } //! Check if next token is a known global event identifier unsigned Compiler::expectGlobalEventId() const { assert(commonDefinitions); expect(Token::TOKEN_STRING_LITERAL); const std::wstring & name = tokens.front().sValue; const SourcePos pos = tokens.front().pos; const EventsMap::const_iterator eventIt(findGlobalEvent(name, pos)); return eventIt->second; } //! Check if next token is a known local or global event identifier unsigned Compiler::expectAnyEventId() const { assert(targetDescription); expect(Token::TOKEN_STRING_LITERAL); const std::wstring & name = tokens.front().sValue; const SourcePos pos = tokens.front().pos; const EventsMap::const_iterator eventIt(findAnyEvent(name, pos)); return eventIt->second; } //! Return the name of an event given its identifier std::wstring Compiler::eventName(unsigned eventId) const { // search for global if (eventId < commonDefinitions->events.size()) return commonDefinitions->events[eventId].name; // then for local int localId = ASEBA_EVENT_LOCAL_EVENTS_START - eventId; if ((localId >= 0) && (localId < (int)targetDescription->localEvents.size())) return targetDescription->localEvents[localId].name; return L"unknown"; } //! Return true if next token is of the following types template bool Compiler::isOneOf(const Token::Type types[length]) const { for (size_t i = 0; i < length; i++) { if (tokens.front() == types[i]) return true; } return false; } //! Check if next token is of one of the following types, produce an exception otherwise template void Compiler::expectOneOf(const Token::Type types[length]) const { if (!isOneOf(types)) { std::wstring expectedTypes; for (size_t i = 0; i < length; i++) { expectedTypes += Token(types[i]).typeName(); if (i + 1 < length) expectedTypes += L", "; } throw TranslatableError(tokens.front().pos, ERROR_EXPECTING_ONE_OF).arg(expectedTypes).arg(tokens.front().typeName()); } } void Compiler::freeTemporaryMemory() { endVariableIndex = 0; } unsigned Compiler::allocateTemporaryMemory(const SourcePos varPos, const unsigned size) { // allocate space at the end of the variables' memory unsigned endOfMemory = targetDescription->variablesSize - endVariableIndex; unsigned varAddr = endOfMemory - size; endVariableIndex += size; // free space check if (freeVariableIndex + endVariableIndex > targetDescription->variablesSize) throw TranslatableError(varPos, ERROR_NOT_ENOUGH_TEMP_SPACE); return varAddr; } AssignmentNode* Compiler::allocateTemporaryVariable(const SourcePos varPos, Node* rValue) { static unsigned uid = 0; // allocate the temporary variable const unsigned size = rValue->getVectorSize(); const unsigned addr = allocateTemporaryMemory(varPos, size); // create assignment MemoryVectorNode* lValue = new MemoryVectorNode(varPos, addr, size, WFormatableString(L"temp%0").arg(uid++)); return new AssignmentNode(varPos, lValue, rValue); } //! Parse "program" grammar element. Node* Compiler::parseProgram() { std::unique_ptr block(new ProgramNode(tokens.front().pos)); // parse all declarations for constants while (tokens.front() == Token::TOKEN_STR_const) { parseConstDef(); } // parse all vars declarations while (tokens.front() == Token::TOKEN_STR_var) { // we may receive null pointers because non initialized variables produce no code Node *child = parseVarDef(); if (child) block->children.push_back(child); } // parse the rest of the code while (tokens.front() != Token::TOKEN_END_OF_STREAM) { // only var declaration are allowed to return null node, so we assert on node Node *child = parseStatement(); assert(child); block->children.push_back(child); } return block.release(); } //! Parse "statement" grammar element. Node* Compiler::parseStatement() { // reset temporary variables freeTemporaryMemory(); switch (tokens.front()) { case Token::TOKEN_STR_var: throw TranslatableError(tokens.front().pos, ERROR_MISPLACED_VARDEF); case Token::TOKEN_STR_onevent: return parseOnEvent(); case Token::TOKEN_STR_sub: return parseSubDecl(); default: return parseBlockStatement(); } } //! Parse "block statement" grammar element. Node* Compiler::parseBlockStatement() { switch (tokens.front()) { case Token::TOKEN_STR_if: return parseIfWhen(false); case Token::TOKEN_STR_when: return parseIfWhen(true); case Token::TOKEN_STR_for: return parseFor(); case Token::TOKEN_STR_while: return parseWhile(); case Token::TOKEN_STR_emit: return parseEmit(); case Token::TOKEN_STR_hidden_emit: return parseEmit(true); case Token::TOKEN_STR_call: return parseFunctionCall(); case Token::TOKEN_STR_callsub: return parseCallSub(); case Token::TOKEN_STR_return: return parseReturn(); default: return parseAssignment(); } } //! Parse "return statement" grammar element. Node* Compiler::parseReturn() { SourcePos pos = tokens.front().pos; tokens.pop_front(); return new ReturnNode(pos); } //! Parse "const def" elements. void Compiler::parseConstDef() { tokens.pop_front(); // check for string literal if (tokens.front() != Token::TOKEN_STRING_LITERAL) throw TranslatableError(tokens.front().pos, ERROR_EXPECTING_IDENTIFIER).arg(tokens.front().toWString()); std::wstring constName = tokens.front().sValue; SourcePos constPos = tokens.front().pos; tokens.pop_front(); // check if constant exists if (constantsMap.find(constName) != constantsMap.end()) throw TranslatableError(constPos, ERROR_CONST_ALREADY_DEFINED).arg(constName); // mandatory assignation, must resolve to a constant expression if (tokens.front() != Token::TOKEN_ASSIGN) throw TranslatableError(tokens.front().pos, ERROR_EXPECTING_ASSIGNMENT).arg(tokens.front().toWString()); tokens.pop_front(); int constValue = expectConstantExpression(constPos, parseBinaryOrExpression()); // save constant constantsMap[constName] = constValue; } //! Parse "var def" grammar element. Node* Compiler::parseVarDef() { tokens.pop_front(); // check for string literal if (tokens.front() != Token::TOKEN_STRING_LITERAL) throw TranslatableError(tokens.front().pos, ERROR_EXPECTING_IDENTIFIER).arg(tokens.front().toWString()); // save variable std::wstring varName = tokens.front().sValue; SourcePos varPos = tokens.front().pos; unsigned varSize = Node::E_NOVAL; unsigned varAddr = freeVariableIndex; tokens.pop_front(); // optional array varSize = parseVariableDefSize(); // check if variable exists if (variablesMap.find(varName) != variablesMap.end()) throw TranslatableError(varPos, ERROR_VAR_ALREADY_DEFINED).arg(varName); // check if variable conflicts with a constant if (constantsMap.find(varName) != constantsMap.end()) throw TranslatableError(varPos, ERROR_VAR_CONST_COLLISION).arg(varName); // optional assignation std::unique_ptr me(new MemoryVectorNode(varPos, varAddr, varSize, varName)); std::unique_ptr temp; temp.reset(parseVarDefInit(me.get())); if (temp.get()) { // valid varSize = me->getVectorSize(); me.release(); } // sanity check for array if (varSize == 0 || varSize == Node::E_NOVAL) throw TranslatableError(varPos, ERROR_UNDEFINED_SIZE).arg(varName); // save variable variablesMap[varName] = std::make_pair(varAddr, varSize); freeVariableIndex += varSize; // check space if (freeVariableIndex > targetDescription->variablesSize) throw TranslatableError(varPos, ERROR_NOT_ENOUGH_SPACE); if (temp.get()) return temp.release(); else return nullptr; } AssignmentNode *Compiler::parseVarDefInit(MemoryVectorNode* lValue) { if (tokens.front() == Token::TOKEN_ASSIGN) { SourcePos pos = tokens.front().pos; tokens.pop_front(); // try old style initialization 1,2,3 std::unique_ptr rValue(parseTupleVector(true)); if (rValue.get() == nullptr) { // no -> other type of initialization rValue.reset(parseBinaryOrExpression()); } if (lValue->getVectorSize() == Node::E_NOVAL) { // infere the variable's size based on the initilization lValue->arraySize = rValue->getVectorSize(); } return new AssignmentNode(pos, lValue, rValue.release()); } return nullptr; } //! Parse "assignment" grammar element Node* Compiler::parseAssignment() { expect(Token::TOKEN_STRING_LITERAL); static const Token::Type compoundBinaryAssignment[] = { Token::TOKEN_OP_ADD_EQUAL, Token::TOKEN_OP_NEG_EQUAL, Token::TOKEN_OP_MULT_EQUAL, Token::TOKEN_OP_DIV_EQUAL, Token::TOKEN_OP_MOD_EQUAL, Token::TOKEN_OP_BIT_AND_EQUAL, Token::TOKEN_OP_BIT_OR_EQUAL, Token::TOKEN_OP_BIT_XOR_EQUAL, Token::TOKEN_OP_SHIFT_LEFT_EQUAL, Token::TOKEN_OP_SHIFT_RIGHT_EQUAL}; // parse left value std::unique_ptr lValue(parseBinaryOrExpression()); SourcePos pos = tokens.front().pos; Compiler::Token op = tokens.front(); // parse right value if (tokens.front() == Token::TOKEN_ASSIGN) { tokens.pop_front(); return new AssignmentNode(pos, lValue.release(), parseBinaryOrExpression()); } else if ((tokens.front() == Token::TOKEN_OP_PLUS_PLUS) || (tokens.front() == Token::TOKEN_OP_MINUS_MINUS)) { tokens.pop_front(); std::unique_ptr assignment( new UnaryArithmeticAssignmentNode( pos, op, lValue.release())); return assignment.release(); } else if (IS_ONE_OF(compoundBinaryAssignment)) { tokens.pop_front(); std::unique_ptr assignment( ArithmeticAssignmentNode::fromArithmeticAssignmentToken( pos, op, lValue.release(), parseBinaryOrExpression())); return assignment.release(); } else throw TranslatableError(tokens.front().pos, ERROR_EXPECTING_ASSIGNMENT).arg(tokens.front().toWString()); return nullptr; } //! Parse "if" grammar element. Node* Compiler::parseIfWhen(bool edgeSensitive) { const Token::Type elseEndTypes[] = { Token::TOKEN_STR_else, Token::TOKEN_STR_elseif, Token::TOKEN_STR_end }; std::unique_ptr ifNode(new IfWhenNode(tokens.front().pos)); // eat "if" / "when" ifNode->edgeSensitive = edgeSensitive; tokens.pop_front(); // condition ifNode->children.push_back(parseOr()); // then keyword if (edgeSensitive) expect(Token::TOKEN_STR_do); else expect(Token::TOKEN_STR_then); tokens.pop_front(); // parse true condition ifNode->children.push_back(new BlockNode(tokens.front().pos)); while (!IS_ONE_OF(elseEndTypes)) ifNode->children[1]->children.push_back(parseBlockStatement()); /*// parse false condition (only for if) if (!edgeSensitive && (tokens.front() == Token::TOKEN_STR_else)) { tokens.pop_front(); ifNode->children.push_back(new BlockNode(tokens.front().pos)); while (tokens.front() != Token::TOKEN_STR_end) ifNode->children[2]->children.push_back(parseBlockStatement()); }*/ // parse false condition (only for if) if (!edgeSensitive) { if (tokens.front() == Token::TOKEN_STR_else) { tokens.pop_front(); ifNode->children.push_back(new BlockNode(tokens.front().pos)); while (tokens.front() != Token::TOKEN_STR_end) ifNode->children[2]->children.push_back(parseBlockStatement()); } // if elseif, queue new if directly after and return before parsing trailing end if (tokens.front() == Token::TOKEN_STR_elseif) { ifNode->children.push_back(parseIfWhen(false)); return ifNode.release(); } } // end keyword ifNode->endLine = tokens.front().pos.row; expect(Token::TOKEN_STR_end); tokens.pop_front(); return ifNode.release(); } //! Parse "for" grammar element. Node* Compiler::parseFor() { // eat "for" SourcePos whilePos = tokens.front().pos; tokens.pop_front(); // variable std::unique_ptr variable(parseVariable()); MemoryVectorNode* variableRef = variable.get(); // used to create copies SourcePos varPos = variable->sourcePos; // in keyword expect(Token::TOKEN_STR_in); tokens.pop_front(); // range start index int rangeStartIndex = expectInt16LiteralOrConstant(); SourcePos rangeStartIndexPos = tokens.front().pos; tokens.pop_front(); // : keyword expect(Token::TOKEN_COLON); tokens.pop_front(); // range end index int rangeEndIndex = expectInt16LiteralOrConstant(); SourcePos rangeEndIndexPos = tokens.front().pos; tokens.pop_front(); // check for step int step = 1; if (tokens.front() == Token::TOKEN_STR_step) { tokens.pop_front(); step = expectInt16LiteralOrConstant(); if (step == 0) throw TranslatableError(tokens.front().pos, ERROR_FOR_NULL_STEPS); tokens.pop_front(); } // check conditions if (step > 0) { if (rangeStartIndex > rangeEndIndex) throw TranslatableError(rangeStartIndexPos, ERROR_FOR_START_HIGHER_THAN_END); if (rangeEndIndex == 32767) throw TranslatableError(rangeEndIndexPos, ERROR_FOR_INVALID_INC_END_INDEX); } else { if (rangeStartIndex < rangeEndIndex) throw TranslatableError(rangeStartIndexPos, ERROR_FOR_START_LOWER_THAN_END); if (rangeEndIndex == -32768) throw TranslatableError(rangeEndIndexPos, ERROR_FOR_INVALID_DEC_END_INDEX); } // do keyword expect(Token::TOKEN_STR_do); tokens.pop_front(); // create enclosing block and initial variable state std::unique_ptr blockNode(new BlockNode(whilePos)); blockNode->children.push_back(new AssignmentNode( rangeStartIndexPos, variable.release(), new TupleVectorNode(rangeStartIndexPos, rangeStartIndex)) ); // build while content if (rangeStartIndex == rangeEndIndex) { // start and end indexes are the same, do not loop // if start and end indexes are the same, do not loop while (tokens.front() != Token::TOKEN_STR_end) blockNode->children.push_back(parseBlockStatement()); } else { // start and end indexes are the same, loop // create while and condition auto* whileNode = new WhileNode(whilePos); blockNode->children.push_back(whileNode); auto* comparisonNode = new BinaryArithmeticNode(whilePos); whileNode->children.push_back(comparisonNode); comparisonNode->children.push_back(variableRef->deepCopy()); if (rangeStartIndex <= rangeEndIndex) comparisonNode->op = ASEBA_OP_SMALLER_EQUAL_THAN; else comparisonNode->op = ASEBA_OP_BIGGER_EQUAL_THAN; comparisonNode->children.push_back(new TupleVectorNode(rangeEndIndexPos, rangeEndIndex)); // block and end keyword whileNode->children.push_back(new BlockNode(tokens.front().pos)); while (tokens.front() != Token::TOKEN_STR_end) whileNode->children[1]->children.push_back(parseBlockStatement()); // increment variable auto* assignmentNode = new AssignmentNode(varPos, variableRef->deepCopy(), new BinaryArithmeticNode(varPos, ASEBA_OP_ADD, variableRef->deepCopy(), new TupleVectorNode(varPos, step))); whileNode->children[1]->children.push_back(assignmentNode); } tokens.pop_front(); return blockNode.release(); } //! Parse "while" grammar element. Node* Compiler::parseWhile() { std::unique_ptr whileNode(new WhileNode(tokens.front().pos)); // eat "while" tokens.pop_front(); // condition whileNode->children.push_back(parseOr()); // do keyword expect(Token::TOKEN_STR_do); tokens.pop_front(); // block and end keyword whileNode->children.push_back(new BlockNode(tokens.front().pos)); while (tokens.front() != Token::TOKEN_STR_end) whileNode->children[1]->children.push_back(parseBlockStatement()); tokens.pop_front(); return whileNode.release(); } //! Parse "onevent" grammar element Node* Compiler::parseOnEvent() { SourcePos pos = tokens.front().pos; tokens.pop_front(); const unsigned eventId = expectAnyEventId(); if (implementedEvents.find(eventId) != implementedEvents.end()) throw TranslatableError(tokens.front().pos, ERROR_EVENT_ALREADY_IMPL).arg(eventName(eventId)); implementedEvents.insert(eventId); tokens.pop_front(); return new EventDeclNode(pos, eventId); } //! Parse "event" grammar element Node* Compiler::parseEmit(bool shorterArgsAllowed) { SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr emitNode(new EmitNode(pos)); // event id emitNode->eventId = expectGlobalEventId(); tokens.pop_front(); // event argument unsigned eventSize = commonDefinitions->events[emitNode->eventId].value; if (eventSize > 0) { std::unique_ptr preNode(parseBinaryOrExpression()); bool memoryAllocated = false; // allocate memory? if (!dynamic_cast(preNode.get()) || preNode->getVectorAddr() == Node::E_NOVAL) { Node* temp = allocateTemporaryVariable(pos, preNode.get()); preNode.release(); preNode.reset(temp); emitNode->children.push_back(preNode.get()); memoryAllocated = true; } //allocateTemporaryVariable(pos) emitNode->arrayAddr = preNode->getVectorAddr(); emitNode->arraySize = preNode->getVectorSize(); if (memoryAllocated) preNode.release(); else preNode.reset(); // we do not need a pointer to it anymore if (shorterArgsAllowed) { if (emitNode->arraySize > eventSize) throw TranslatableError(pos, ERROR_EVENT_ARG_TOO_BIG).arg(commonDefinitions->events[emitNode->eventId].name).arg(eventSize).arg(emitNode->arraySize); } else { if (emitNode->arraySize != eventSize) throw TranslatableError(pos, ERROR_EVENT_WRONG_ARG_SIZE).arg(commonDefinitions->events[emitNode->eventId].name).arg(eventSize).arg(emitNode->arraySize); } } else { emitNode->arrayAddr = 0; emitNode->arraySize = 0; } return emitNode.release(); } //! Parse "sub" grammar element, declaration of subroutine Node* Compiler::parseSubDecl() { const SourcePos pos = tokens.front().pos; tokens.pop_front(); expect(Token::TOKEN_STRING_LITERAL); const std::wstring& name = tokens.front().sValue; const SubroutineReverseTable::const_iterator it = subroutineReverseTable.find(name); if (it != subroutineReverseTable.end()) throw TranslatableError(tokens.front().pos, ERROR_SUBROUTINE_ALREADY_DEF).arg(name); const unsigned subroutineId = subroutineTable.size(); subroutineTable.emplace_back(name, 0, pos.row); subroutineReverseTable[name] = subroutineId; tokens.pop_front(); return new SubDeclNode(pos, subroutineId); } //! Parse "subcall" grammar element, call of subroutine Node* Compiler::parseCallSub() { const SourcePos pos = tokens.front().pos; tokens.pop_front(); expect(Token::TOKEN_STRING_LITERAL); const std::wstring name = tokens.front().sValue; tokens.pop_front(); return new CallSubNode(pos, name); } //! Parse "or" grammar element. Node* Compiler::parseOr() { std::unique_ptr node(parseAnd()); while (tokens.front() == Token::TOKEN_OP_OR) { SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseAnd()); Node* temp = new BinaryArithmeticNode(pos, ASEBA_OP_OR, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "and" grammar element. Node* Compiler::parseAnd() { std::unique_ptr node(parseNot()); while (tokens.front() == Token::TOKEN_OP_AND) { SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseNot()); Node* temp = new BinaryArithmeticNode(pos, ASEBA_OP_AND, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "not" grammar element. Node* Compiler::parseNot() { SourcePos pos = tokens.front().pos; // eat all trailing not bool odd = false; while (tokens.front() == Token::TOKEN_OP_NOT) { odd = !odd; tokens.pop_front(); } if (odd) return new UnaryArithmeticNode(pos, ASEBA_UNARY_OP_NOT, parseCondition()); else return parseCondition(); /* std::unique_ptr expression(parseCondition()); // recurse on parenthesis if (tokens.front() == Token::TOKEN_PAR_OPEN) { tokens.pop_front(); expression.reset(parseOr()); expect(Token::TOKEN_PAR_CLOSE); tokens.pop_front(); } else { expression.reset(parseCondition()); } // apply de Morgan to remove the not if (odd) expression->deMorganNotRemoval(); return expression.release(); */ } //! Parse "condition" grammar element. Node* Compiler::parseCondition() { /*const Token::Type conditionTypes[] = { Token::TOKEN_OP_EQUAL, Token::TOKEN_OP_NOT_EQUAL, Token::TOKEN_OP_BIGGER, Token::TOKEN_OP_BIGGER_EQUAL, Token::TOKEN_OP_SMALLER, Token::TOKEN_OP_SMALLER_EQUAL }; std::unique_ptr leftExprNode(parseBinaryOrExpression()); EXPECT_ONE_OF(conditionTypes); Token::Type op = tokens.front(); SourcePos pos = tokens.front().pos; tokens.pop_front(); Node *rightExprNode = parseBinaryOrExpression(); return BinaryArithmeticNode::fromComparison(pos, op, leftExprNode.release(), rightExprNode);*/ const Token::Type conditionTypes[] = { Token::TOKEN_OP_EQUAL, Token::TOKEN_OP_NOT_EQUAL, Token::TOKEN_OP_BIGGER, Token::TOKEN_OP_BIGGER_EQUAL, Token::TOKEN_OP_SMALLER, Token::TOKEN_OP_SMALLER_EQUAL }; std::unique_ptr node(parseBinaryOrExpression()); while (IS_ONE_OF(conditionTypes)) { Token::Type op = tokens.front(); SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseBinaryOrExpression()); Node* temp = BinaryArithmeticNode::fromComparison(pos, op, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "binary or" grammar element. Node *Compiler::parseBinaryOrExpression() { std::unique_ptr node(parseBinaryXorExpression()); while (tokens.front() == Token::TOKEN_OP_BIT_OR) { SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseBinaryXorExpression()); Node* temp = new BinaryArithmeticNode(pos, ASEBA_OP_BIT_OR, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "binary xor" grammar element. Node *Compiler::parseBinaryXorExpression() { std::unique_ptr node(parseBinaryAndExpression()); while (tokens.front() == Token::TOKEN_OP_BIT_XOR) { SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseBinaryAndExpression()); Node* temp = new BinaryArithmeticNode(pos, ASEBA_OP_BIT_XOR, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "binary and" grammar element. Node *Compiler::parseBinaryAndExpression() { std::unique_ptr node(parseShiftExpression()); while (tokens.front() == Token::TOKEN_OP_BIT_AND) { SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseShiftExpression()); Node* temp = new BinaryArithmeticNode(pos, ASEBA_OP_BIT_AND, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "shift_expression" grammar element. Node *Compiler::parseShiftExpression() { const Token::Type opTypes[] = { Token::TOKEN_OP_SHIFT_LEFT, Token::TOKEN_OP_SHIFT_RIGHT }; std::unique_ptr node(parseAddExpression()); while (IS_ONE_OF(opTypes)) { Token::Type op = tokens.front(); SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseAddExpression()); Node* temp = BinaryArithmeticNode::fromShiftExpression(pos, op, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "add_expression" grammar element. Node *Compiler::parseAddExpression() { const Token::Type opTypes[] = { Token::TOKEN_OP_ADD, Token::TOKEN_OP_NEG }; std::unique_ptr node(parseMultExpression()); while (IS_ONE_OF(opTypes)) { Token::Type op = tokens.front(); SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseMultExpression()); Node* temp = BinaryArithmeticNode::fromAddExpression(pos, op, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "mult_expression" grammar element. Node *Compiler::parseMultExpression() { const Token::Type opTypes[] = { Token::TOKEN_OP_MULT, Token::TOKEN_OP_DIV, Token::TOKEN_OP_MOD }; std::unique_ptr node(parseUnaryExpression()); while (IS_ONE_OF(opTypes)) { Token::Type op = tokens.front(); SourcePos pos = tokens.front().pos; tokens.pop_front(); std::unique_ptr subExpression(parseUnaryExpression()); Node* temp = BinaryArithmeticNode::fromMultExpression(pos, op, node.get(), subExpression.get()); subExpression.release(); node.release(); node.reset(temp); } return node.release(); } //! Parse "unary_expression" grammar element. Node *Compiler::parseUnaryExpression() { const Token::Type acceptableTypes[] = { Token::TOKEN_PAR_OPEN, Token::TOKEN_BRACKET_OPEN, Token::TOKEN_OP_NEG, Token::TOKEN_OP_BIT_NOT, Token::TOKEN_STR_abs, Token::TOKEN_STRING_LITERAL, Token::TOKEN_INT_LITERAL }; EXPECT_ONE_OF(acceptableTypes); SourcePos pos = tokens.front().pos; switch (tokens.front()) { case Token::TOKEN_PAR_OPEN: { tokens.pop_front(); std::unique_ptr expression(parseOr()); expect(Token::TOKEN_PAR_CLOSE); tokens.pop_front(); return expression.release(); } case Token::TOKEN_BRACKET_OPEN: { return parseTupleVector(); } case Token::TOKEN_OP_NEG: { // do we have an immediate after? If yes, we have a negative number (special case) if (tokens.size() >= 2 && tokens[1] == Token::TOKEN_INT_LITERAL) { // immediate -> negate it, then perform again the switch tokens.pop_front(); tokens[0].iValue *= -1; tokens[0].sValue = L"-" + tokens[0].sValue; return parseUnaryExpression(); // recursive call } else { tokens.pop_front(); return new UnaryArithmeticNode(pos, ASEBA_UNARY_OP_SUB, parseUnaryExpression()); } } case Token::TOKEN_OP_BIT_NOT: { tokens.pop_front(); return new UnaryArithmeticNode(pos, ASEBA_UNARY_OP_BIT_NOT, parseUnaryExpression()); }; case Token::TOKEN_STR_abs: { tokens.pop_front(); return new UnaryArithmeticNode(pos, ASEBA_UNARY_OP_ABS, parseUnaryExpression()); } case Token::TOKEN_INT_LITERAL: { // immediate std::unique_ptr arrayCtor(new TupleVectorNode(pos, expectInt16Literal())); tokens.pop_front(); return arrayCtor.release(); } case Token::TOKEN_STRING_LITERAL: { return parseConstantAndVariable(); } default: internalCompilerError(); return nullptr; } } //! Parse "[ .... ]" grammar element TupleVectorNode* Compiler::parseTupleVector(bool compatibility) { if (!compatibility) { expect(Token::TOKEN_BRACKET_OPEN); tokens.pop_front(); } else { // check if 2nd token is a comma if ( !( (tokens.size() >= 2 && tokens[1] == Token::TOKEN_COMMA) || (tokens.size() >= 3 && tokens[0] == Token::TOKEN_OP_NEG && tokens[2] == Token::TOKEN_COMMA) ) ) { // no return nullptr; } } SourcePos varPos = tokens.front().pos; std::unique_ptr arrayCtor(new TupleVectorNode(varPos)); do { if (tokens.front() == Token::TOKEN_BRACKET_OPEN) { // nested tuples arrayCtor->children.push_back(parseTupleVector()); } else { arrayCtor->children.push_back(parseBinaryOrExpression()); } if (tokens.front() != Token::TOKEN_COMMA) break; else tokens.pop_front(); } while (true); if (!compatibility) { expect(Token::TOKEN_BRACKET_CLOSE); tokens.pop_front(); } return arrayCtor.release(); } Node* Compiler::parseConstantAndVariable() { expect(Token::TOKEN_STRING_LITERAL); std::wstring varName = tokens.front().sValue; if (constantExists(varName)) { std::unique_ptr arrayCtor(new TupleVectorNode(tokens.front().pos)); arrayCtor->addImmediateValue(expectConstant()); tokens.pop_front(); return arrayCtor.release(); } else { return parseVariable(); } } MemoryVectorNode* Compiler::parseVariable() { expect(Token::TOKEN_STRING_LITERAL); std::wstring varName = tokens.front().sValue; SourcePos varPos = tokens.front().pos; auto varIt(findVariable(varName, varPos)); std::unique_ptr vector( new MemoryVectorNode( varPos, varIt->second.first, varIt->second.second, varName)); // check if it is a const array access tokens.pop_front(); if (tokens.front() == Token::TOKEN_BRACKET_OPEN) { SourcePos pos = tokens.front().pos; tokens.pop_front(); int start; std::unique_ptr startIndex(tryParsingConstantExpression(pos, start)); if (startIndex.get() == nullptr) { // constant index std::unique_ptr index(new TupleVectorNode(pos)); index->addImmediateValue(start); // do we have array subscript? if (tokens.front() == Token::TOKEN_COLON) { pos = tokens.front().pos; tokens.pop_front(); int end; std::unique_ptr endIndex(tryParsingConstantExpression(pos, end)); if (endIndex.get() != nullptr) throw TranslatableError(pos, ERROR_INDEX_EXPECTING_CONSTANT); // check if second index is within bounds if (end < start) throw TranslatableError(tokens.front().pos, ERROR_INDEX_WRONG_END); index->addImmediateValue(end); } vector->children.push_back(index.release()); } else { // general expression as index vector->children.push_back(startIndex.release()); } expect(Token::TOKEN_BRACKET_CLOSE); tokens.pop_front(); } return vector.release(); } unsigned Compiler::parseVariableDefSize() { int result = 0; if (tokens.front() == Token::TOKEN_BRACKET_OPEN) { SourcePos pos = tokens.front().pos; tokens.pop_front(); if (tokens.front() == Token::TOKEN_BRACKET_CLOSE) { result = Node::E_NOVAL; } else { result = expectConstantExpression(pos, parseBinaryOrExpression()); if (result < 0) // what?? throw TranslatableError(pos, ERROR_SIZE_IS_NEGATIVE).arg(result); else if (result == 0) throw TranslatableError(pos, ERROR_SIZE_IS_NULL); expect(Token::TOKEN_BRACKET_CLOSE); } tokens.pop_front(); } else // not an array result = 1; return result; } //! Use parseBinaryOrExpression() and try to reduce the result into an integer //! If successful, return nullptr and the integer in constantResult //! If unsuccessful, return the parsed tree (constantResult useless in this case) Node* Compiler::tryParsingConstantExpression(SourcePos pos, int& constantResult) { std::unique_ptr tree(parseBinaryOrExpression()); try { constantResult = expectConstantExpression(pos, tree->deepCopy()); tree.reset(); return nullptr; } catch (TranslatableError error) { // oops, tree cannot be resolved to a constant, return it return tree.release(); } } //! This is a generalization of expectPositiveInt16LiteralOrConstant() //! Try to reduce the expression into a single figure, if not raise an exception //! The tree pointed by "tree" is deleted during execution, not safe to use it after int Compiler::expectConstantExpression(SourcePos pos, Node* tree) { int result = 0; // create a temporary "var = expr" tree // used to access the facility offered by the AssignmentNode (size check,...) std::unique_ptr tempTree1(new AssignmentNode(pos, new MemoryVectorNode(pos, 0, 1, L"fake"), tree)); //tempTree1->children.push_back(parseBinaryOrExpression()); //unsigned indent = 0; //std::cerr << "Tree before expanding" << std::endl; //tempTree1->dump(std::wcerr, indent); tempTree1->expandAbstractNodes(nullptr); // root node (AssignmentNode) is not abstract, so modify in place std::unique_ptr tempTree2(tempTree1->expandVectorialNodes(nullptr)); //std::cerr << "Tree after expanding" << std::endl; //tempTree2->dump(std::wcerr, indent); tempTree1.reset(); tempTree2->optimize(nullptr); //std::cerr << "Tree after optimization" << std::endl; //tempTree2->dump(std::wcerr, indent); //std::cerr << std::endl; // valid optimization? if ( !tempTree2.get() || tempTree2->children.size() == 0 ) throw TranslatableError(pos, ERROR_NOT_CONST_EXPR); auto* assignment = dynamic_cast(tempTree2->children[0]); if ( !assignment || assignment->children.size() != 2 ) throw TranslatableError(pos, ERROR_NOT_CONST_EXPR); // resolve to an ImmediateNode? auto* immediate = dynamic_cast(assignment->children[1]); if (immediate) result = immediate->value; else throw TranslatableError(pos, ERROR_NOT_CONST_EXPR); // delete the tree tempTree2.reset(); return result; } //! Parse "function_call" grammar element. Node* Compiler::parseFunctionCall() { SourcePos pos = tokens.front().pos; tokens.pop_front(); expect(Token::TOKEN_STRING_LITERAL); std::wstring funcName = tokens.front().sValue; auto funcIt(findFunction(funcName, pos)); const TargetDescription::NativeFunction &function = targetDescription->nativeFunctions[funcIt->second]; std::unique_ptr callNode(new CallNode(pos, funcIt->second)); tokens.pop_front(); expect(Token::TOKEN_PAR_OPEN); tokens.pop_front(); if (function.parameters.size() == 0) { if (tokens.front() != Token::TOKEN_PAR_CLOSE) throw TranslatableError(tokens.front().pos, ERROR_FUNCTION_HAS_NO_ARG).arg(funcName); tokens.pop_front(); } else { // count the number of template parameters and build array int minTemplateId = 0; for (const auto & parameter : function.parameters) minTemplateId = std::min(parameter.size, minTemplateId); std::valarray templateParameters(-1, -minTemplateId); // trees for arguments for (unsigned i = 0; i < function.parameters.size(); i++) { // check if it is an argument if (tokens.front() == Token::TOKEN_PAR_CLOSE) throw TranslatableError(tokens.front().pos, ERROR_FUNCTION_NO_ENOUGH_ARG).arg(funcName).arg((unsigned int)function.parameters.size()).arg(i); // we need to fill those two variables unsigned varAddr; unsigned varSize; SourcePos varPos = tokens.front().pos; std::unique_ptr preNode(parseBinaryOrExpression()); // get the address and size varAddr = preNode->getVectorAddr(); varSize = preNode->getVectorSize(); // is the argument a tuple? if (!dynamic_cast(preNode.get())) { // allocate memory and generate code to evaluate tuple arguments Node* temp = allocateTemporaryVariable(pos, preNode.get()); preNode.release(); preNode.reset(temp); varAddr = preNode->getVectorAddr(); auto* block(new BlockNode(varPos)); block->children.push_back(preNode.release()); block->children.push_back(new ImmediateNode(varPos, varAddr)); callNode->children.push_back(block); } // if not, is it an unresolved memory node? else if (varAddr == Node::E_NOVAL) { // free space check const unsigned tempAddr = allocateTemporaryMemory(varPos, 1); // create a load native argument node to get address at run time callNode->children.push_back(new LoadNativeArgNode( polymorphic_downcast(preNode.get()), tempAddr )); preNode.release(); } // otherwise it is resolved else { // we will just store the address callNode->children.push_back(new ImmediateNode(varPos, varAddr)); } // check if variable size is correct if (function.parameters[i].size > 0) { if (varSize != (unsigned)function.parameters[i].size) throw TranslatableError(varPos, ERROR_FUNCTION_WRONG_ARG_SIZE).arg(i).arg(function.parameters[i].name).arg(funcName).arg(varSize).arg(function.parameters[i].size); } else if (function.parameters[i].size < 0) { int templateIndex = -function.parameters[i].size - 1; if (templateParameters[templateIndex] < 0) { // template not initialised, store templateParameters[templateIndex] = varSize; } else if ((unsigned)templateParameters[templateIndex] != varSize) { throw TranslatableError(varPos, ERROR_FUNCTION_WRONG_ARG_SIZE_TEMPLATE).arg(i).arg(function.parameters[i].name).arg(funcName).arg(varSize).arg(templateParameters[templateIndex]); } } else { // any size, store variable size callNode->templateArgs.push_back(varSize); } // parse comma or end parenthesis if (i + 1 == function.parameters.size()) { if (tokens.front() == Token::TOKEN_COMMA) throw TranslatableError(tokens.front().pos, ERROR_FUNCTION_TOO_MANY_ARG).arg(funcName).arg((unsigned int)function.parameters.size()); else expect(Token::TOKEN_PAR_CLOSE); } else { if (tokens.front() == Token::TOKEN_PAR_CLOSE) throw TranslatableError(tokens.front().pos, ERROR_FUNCTION_NO_ENOUGH_ARG).arg(funcName).arg((unsigned int)function.parameters.size()).arg(i + 1); else expect(Token::TOKEN_COMMA); } tokens.pop_front(); } // for // store template parameters size when initialized for (unsigned i = 0; i < templateParameters.size(); i++) if (templateParameters[i] >= 0) callNode->templateArgs.push_back(templateParameters[i]); } // if // return the node for the function call return callNode.release(); } } // namespace Aseba aseba-1.6.0/compiler/power-of-two.h000066400000000000000000000030031322771007300171170ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __POWER_OF_TWO_H #define __POWER_OF_TWO_H // helper functions for power of two numbers namespace Aseba { /** \addtogroup compiler */ /*@{*/ //! Return true if number is a power of two template bool isPOT(T number) { if (number == 0) return false; while ((number & 1) == 0) number >>= 1; return number == 1; } //! If number is a power of two, number = (1 << shift) and this function returns shift, otherwise return value is undefined template unsigned shiftFromPOT(T number) { unsigned i = 0; if (number == 0) return 0; while ((number & 1) == 0) { number >>= 1; i++; } return i; } /*@}*/ } // namespace Aseba #endif aseba-1.6.0/compiler/tree-build.cpp000066400000000000000000000170741322771007300171560ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "tree.h" #include #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ const AsebaBinaryOperator ArithmeticAssignmentNode::operatorMap[] = { ASEBA_OP_ADD, // TOKEN_OP_ADD_EQUAL ASEBA_OP_SUB, // TOKEN_OP_NEG_EQUAL ASEBA_OP_MULT, // TOKEN_OP_MULT_EQUAL ASEBA_OP_DIV, // TOKEN_OP_DIV_EQUAL ASEBA_OP_MOD, // TOKEN_OP_MOD_EQUAL ASEBA_OP_SHIFT_LEFT, // TOKEN_OP_SHIFT_LEFT_EQUAL ASEBA_OP_SHIFT_RIGHT, // TOKEN_OP_SHIFT_RIGHT_EQUAL ASEBA_OP_BIT_OR, // TOKEN_OP_BIT_OR_EQUAL ASEBA_OP_BIT_XOR, // TOKEN_OP_BIT_XOR_EQUAL ASEBA_OP_BIT_AND // TOKEN_OP_BIT_AND_EQUAL }; //! Destructor, delete all children. Node::~Node() { // we assume that if children is nullptr, another node has taken ownership of it for (auto & child : children) { if (child) { delete child; child = nullptr; } } } Node* Node::deepCopy() const { Node* newCopy = shallowCopy(); for (size_t i = 0; i < children.size(); i++) if (children[i]) newCopy->children[i] = children[i]->deepCopy(); return newCopy; } //! Constructor AssignmentNode::AssignmentNode(const SourcePos &sourcePos, Node *left, Node *right) : Node(sourcePos) { children.push_back(left); children.push_back(right); } //! Constructor EventDeclNode::EventDeclNode(const SourcePos& sourcePos, unsigned eventId) : Node(sourcePos), eventId(eventId) { } //! Constructor SubDeclNode::SubDeclNode(const SourcePos& sourcePos, unsigned subroutineId) : Node(sourcePos), subroutineId(subroutineId) { } //! Constructor CallSubNode::CallSubNode(const SourcePos& sourcePos, std::wstring subroutineName) : Node(sourcePos), subroutineName(std::move(subroutineName)), subroutineId(-1) { } //! Constructor BinaryArithmeticNode::BinaryArithmeticNode(const SourcePos& sourcePos, AsebaBinaryOperator op, Node *left, Node *right) : Node(sourcePos), op(op) { children.push_back(left); children.push_back(right); } //! Create a binary arithmetic node for comparaison operation op BinaryArithmeticNode *BinaryArithmeticNode::fromComparison(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right) { return new BinaryArithmeticNode( sourcePos, static_cast((op - Compiler::Token::TOKEN_OP_EQUAL) + ASEBA_OP_EQUAL), left, right ); } //! Create a binary arithmetic node for shift operation op BinaryArithmeticNode *BinaryArithmeticNode::fromShiftExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right) { return new BinaryArithmeticNode( sourcePos, static_cast((op - Compiler::Token::TOKEN_OP_SHIFT_LEFT) + ASEBA_OP_SHIFT_LEFT), left, right ); } //! Create a binary arithmetic node for add/sub operation op BinaryArithmeticNode *BinaryArithmeticNode::fromAddExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right) { return new BinaryArithmeticNode( sourcePos, static_cast((op - Compiler::Token::TOKEN_OP_ADD) + ASEBA_OP_ADD), left, right ); } //! Create a binary arithmetic node for mult/div/mod operation op BinaryArithmeticNode *BinaryArithmeticNode::fromMultExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right) { return new BinaryArithmeticNode( sourcePos, static_cast((op - Compiler::Token::TOKEN_OP_MULT) + ASEBA_OP_MULT), left, right ); } //! Create a binary arithmetic node for or/xor/and operation op BinaryArithmeticNode *BinaryArithmeticNode::fromBinaryExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right) { return new BinaryArithmeticNode( sourcePos, static_cast((op - Compiler::Token::TOKEN_OP_BIT_OR) + ASEBA_OP_BIT_OR), left, right ); } //! Constructor UnaryArithmeticNode::UnaryArithmeticNode(const SourcePos& sourcePos, AsebaUnaryOperator op, Node *child) : Node(sourcePos), op(op) { children.push_back(child); } //! Constructor ArrayWriteNode::ArrayWriteNode(const SourcePos& sourcePos, unsigned arrayAddr, unsigned arraySize, std::wstring arrayName) : Node(sourcePos), arrayAddr(arrayAddr), arraySize(arraySize), arrayName(std::move(arrayName)) { } //! Constructor ArrayReadNode::ArrayReadNode(const SourcePos& sourcePos, unsigned arrayAddr, unsigned arraySize, std::wstring arrayName) : Node(sourcePos), arrayAddr(arrayAddr), arraySize(arraySize), arrayName(std::move(arrayName)) { } //! Constructor, delete the provided memoryNode LoadNativeArgNode::LoadNativeArgNode(MemoryVectorNode* memoryNode, unsigned tempAddr): Node(memoryNode->sourcePos), tempAddr(tempAddr), arrayAddr(memoryNode->arrayAddr), arraySize(memoryNode->arraySize), arrayName(memoryNode->arrayName) { // safety check assert(memoryNode); assert(memoryNode->children.size() == 1); assert(memoryNode->children[0]); assert(!dynamic_cast(memoryNode->children[0])); // get the child from memoryNode children.push_back(memoryNode->children[0]); memoryNode->children[0] = nullptr; delete memoryNode; } //! Constructor MemoryVectorNode::MemoryVectorNode(const SourcePos &sourcePos, unsigned arrayAddr, unsigned arraySize, std::wstring arrayName) : AbstractTreeNode(sourcePos), arrayAddr(arrayAddr), arraySize(arraySize), arrayName(std::move(arrayName)), write(false) { } //! Constructor CallNode::CallNode(const SourcePos& sourcePos, unsigned funcId) : Node(sourcePos), funcId(funcId) { } //! Constructor ArithmeticAssignmentNode::ArithmeticAssignmentNode(const SourcePos& sourcePos, AsebaBinaryOperator op, Node *left, Node *right) : AbstractTreeNode(sourcePos), op(op) { children.push_back(left); children.push_back(right); } ArithmeticAssignmentNode* ArithmeticAssignmentNode::fromArithmeticAssignmentToken(const SourcePos& sourcePos, Compiler::Token::Type token, Node *left, Node *right) { return new ArithmeticAssignmentNode(sourcePos, getBinaryOperator(token), left, right); } AsebaBinaryOperator ArithmeticAssignmentNode::getBinaryOperator(Compiler::Token::Type token) { return operatorMap[token - Compiler::Token::TOKEN_OP_ADD_EQUAL]; } //! Constructor UnaryArithmeticAssignmentNode::UnaryArithmeticAssignmentNode(const SourcePos& sourcePos, Compiler::Token::Type token, Node *memory) : AbstractTreeNode(sourcePos) { switch (token) { case Compiler::Token::TOKEN_OP_PLUS_PLUS: arithmeticOp = ASEBA_OP_ADD; break; case Compiler::Token::TOKEN_OP_MINUS_MINUS: arithmeticOp = ASEBA_OP_SUB; break; default: throw TranslatableError(sourcePos, ERROR_UNARY_ARITH_BUILD_UNEXPECTED); break; } children.push_back(memory); } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/tree-dump.cpp000066400000000000000000000144631322771007300170230ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "tree.h" #include "../common/utils/FormatableString.h" #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ std::wstring binaryOperatorToString(AsebaBinaryOperator op) { switch (op) { case ASEBA_OP_SHIFT_LEFT: return L"<<"; case ASEBA_OP_SHIFT_RIGHT: return L">>"; case ASEBA_OP_ADD: return L"+"; case ASEBA_OP_SUB: return L"-"; case ASEBA_OP_MULT: return L"*"; case ASEBA_OP_DIV: return L"/"; case ASEBA_OP_MOD: return L"modulo"; case ASEBA_OP_BIT_OR: return L"binary or"; case ASEBA_OP_BIT_XOR: return L"binary xor"; case ASEBA_OP_BIT_AND: return L"binary and"; case ASEBA_OP_EQUAL: return L"=="; case ASEBA_OP_NOT_EQUAL: return L"!="; case ASEBA_OP_BIGGER_THAN: return L">"; case ASEBA_OP_BIGGER_EQUAL_THAN: return L">="; case ASEBA_OP_SMALLER_THAN: return L"<"; case ASEBA_OP_SMALLER_EQUAL_THAN: return L"<="; case ASEBA_OP_OR: return L"or"; case ASEBA_OP_AND: return L"and"; default: return L"? (binary operator)"; } } std::wstring unaryOperatorToString(AsebaUnaryOperator op) { switch (op) { case ASEBA_UNARY_OP_SUB: return L"unary -"; case ASEBA_UNARY_OP_ABS: return L"abs"; case ASEBA_UNARY_OP_BIT_NOT: return L"binary not"; case ASEBA_UNARY_OP_NOT: return L"not"; default: return L"? (unary operator)"; } } void Node::dump(std::wostream& dest, unsigned& indent) const { dest << sourcePos.toWString() << " "; for (unsigned i = 0; i < indent; i++) dest << L" "; dest << toWString() << L"\n"; indent++; for (auto child : children) child->dump(dest, indent); indent--; } void TupleVectorNode::dump(std::wostream& dest, unsigned& indent) const { dest << sourcePos.toWString() << " "; for (unsigned i = 0; i < indent; i++) dest << L" "; dest << toWString() << L"\n"; indent++; for (size_t i = 0; i < children.size(); i++) { dest << sourcePos.toWString() << " "; for (unsigned j = 0; j < indent; j++) dest << L" "; dest << WFormatableString(L"[%0]:\n").arg(i); indent++; children[i]->dump(dest, indent); indent--; } indent--; } std::wstring IfWhenNode::toWString() const { std::wstring s; if (edgeSensitive) s += L"When: "; else s += L"If: "; return s; } std::wstring FoldedIfWhenNode::toWString() const { std::wstring s; if (edgeSensitive) s += L"Folded When: "; else s += L"Folded If: "; s += binaryOperatorToString(op); return s; } std::wstring WhileNode::toWString() const { std::wstring s = L"While: "; return s; }; std::wstring FoldedWhileNode::toWString() const { std::wstring s = L"Folded While: "; s += binaryOperatorToString(op); return s; }; std::wstring EventDeclNode::toWString() const { if (eventId == ASEBA_EVENT_INIT) return L"ContextSwitcher: to init"; else return WFormatableString(L"ContextSwitcher: to event %0").arg(eventId); } std::wstring EmitNode::toWString() const { std::wstring s = WFormatableString(L"Emit: %0 ").arg(eventId); if (arraySize) s += WFormatableString(L"addr %0 size %1 ").arg(arrayAddr).arg(arraySize); return s; } std::wstring SubDeclNode::toWString() const { return WFormatableString(L"Sub: %0").arg(subroutineId); } std::wstring CallSubNode::toWString() const { std::wstring s = L"CallSub: "; s += subroutineName; return s; } std::wstring BinaryArithmeticNode::toWString() const { std::wstring s = L"BinaryArithmetic: "; s += binaryOperatorToString(op); return s; } std::wstring UnaryArithmeticNode::toWString() const { std::wstring s = L"UnaryArithmetic: "; s += unaryOperatorToString(op); return s; } std::wstring ImmediateNode::toWString() const { return WFormatableString(L"Immediate: %0").arg(value); } std::wstring LoadNode::toWString() const { return WFormatableString(L"Load: addr %0").arg(varAddr); } std::wstring StoreNode::toWString() const { return WFormatableString(L"Store: addr %0").arg(varAddr); } std::wstring ArrayReadNode::toWString() const { return WFormatableString(L"ArrayRead: addr %0 size %1 (var %2)").arg(arrayAddr).arg(arraySize).arg(arrayName); } std::wstring ArrayWriteNode::toWString() const { return WFormatableString(L"ArrayWrite: addr %0 size %1 (var %2)").arg(arrayAddr).arg(arraySize).arg(arrayName); } std::wstring LoadNativeArgNode::toWString() const { return WFormatableString(L"LoadNativeArgNode: addr %0 size %1 (var %2) using temp %3").arg(arrayAddr).arg(arraySize).arg(arrayName).arg(tempAddr); } std::wstring CallNode::toWString() const { std::wstring s = WFormatableString(L"Call: id %0").arg(funcId); for (unsigned i = 0; i < templateArgs.size(); i++) s += WFormatableString(L", template %0 has size %1").arg(i).arg(templateArgs[i]); return s; } std::wstring TupleVectorNode::toWString() const { return WFormatableString(L"Tuple Vector: size %0").arg(getVectorSize()); } std::wstring MemoryVectorNode::toWString() const { return WFormatableString(L"Memory Vector Access: addr %0 size %1 (var %2)").arg(arrayAddr).arg(arraySize).arg(arrayName); } std::wstring ArithmeticAssignmentNode::toWString() const { std::wstring s = L"BinaryArithmeticAssign: "; s += binaryOperatorToString(op); return s; } std::wstring UnaryArithmeticAssignmentNode::toWString() const { std::wstring s = L"UnaryArithmeticAssign: "; if (arithmeticOp == ASEBA_OP_ADD) s += L"++"; else if (arithmeticOp == ASEBA_OP_SUB) s += L"--"; else s += L"unknown"; return s; } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/tree-emit.cpp000066400000000000000000000362521322771007300170140ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "tree.h" #include "../common/utils/utils.h" #include #include #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ // helper function static void addImmediateToBytecodes(int value, const SourcePos& sourcePos, PreLinkBytecode& bytecodes) { unsigned short bytecode; if ((abs(value) >> 11) == 0) { bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_SMALL_IMMEDIATE); bytecode |= ((unsigned)value) & 0x0fff; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } else { bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_LARGE_IMMEDIATE); bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(value, sourcePos.row)); } } //! Add init event and point to currentBytecode it PreLinkBytecode::PreLinkBytecode() { events[ASEBA_EVENT_INIT] = BytecodeVector(); current = &events[ASEBA_EVENT_INIT]; }; //! Fixup prelinked bytecodes by making sure that each vector is closed correctly, //! i.e. with a STOP for events and a RET for subroutines void PreLinkBytecode::fixup(const Compiler::SubroutineTable &subroutineTable) { // clear empty events entries for (auto it = events.begin(); it != events.end();) { auto curIt = it; ++it; size_t bytecodeSize = curIt->second.size(); if (bytecodeSize == 0) { events.erase(curIt); } } // add terminals for (auto & event : events) { BytecodeVector& bytecode = event.second; bytecode.push_back(BytecodeElement(AsebaBytecodeFromId(ASEBA_BYTECODE_STOP), bytecode.lastLine)); } for (auto & subroutine : subroutines) { BytecodeVector& bytecode = subroutine.second; if (bytecode.size()) { bytecode.changeStopToRetSub(); if (bytecode.getTypeOfLast() != ASEBA_BYTECODE_SUB_RET) bytecode.push_back(BytecodeElement(AsebaBytecodeFromId(ASEBA_BYTECODE_SUB_RET), bytecode.lastLine)); } else bytecode.push_back(BytecodeElement(AsebaBytecodeFromId(ASEBA_BYTECODE_SUB_RET), subroutineTable[subroutine.first].line)); } } unsigned Node::getStackDepth() const { unsigned stackDepth = 0; for (auto child : children) stackDepth = std::max(stackDepth, child->getStackDepth()); return stackDepth; } void BlockNode::emit(PreLinkBytecode& bytecodes) const { for (auto child : children) child->emit(bytecodes); } void ProgramNode::emit(PreLinkBytecode& bytecodes) const { BlockNode::emit(bytecodes); // analyze blocks for stack depth BytecodeVector* currentBytecode = &bytecodes.events[ASEBA_EVENT_INIT]; unsigned maxStackDepth = 0; for (auto child : children) { auto* eventDecl = dynamic_cast(child); auto* subDecl = dynamic_cast(child); if (eventDecl || subDecl) { currentBytecode->maxStackDepth = maxStackDepth; maxStackDepth = 0; if (eventDecl) currentBytecode = &bytecodes.events[eventDecl->eventId]; else currentBytecode = &bytecodes.subroutines[subDecl->subroutineId]; } else maxStackDepth = std::max(maxStackDepth, child->getStackDepth()); } currentBytecode->maxStackDepth = maxStackDepth; } void AssignmentNode::emit(PreLinkBytecode& bytecodes) const { assert(children.size() % 2 == 0); for (size_t i = 0; i < children.size(); i += 2) { children[i+1]->emit(bytecodes); children[i+0]->emit(bytecodes); } } void IfWhenNode::emit(PreLinkBytecode& bytecodes) const { abort(); } void FoldedIfWhenNode::emit(PreLinkBytecode& bytecodes) const { unsigned short bytecode; /* What we want in bytecodes.currentBytecode afterwards: [ bytecode of left expression (ble) ] [ bytecode of right expression (bre) ] CondBranch bytecode 3 3 + btb.size + 1 [ bytecode of true block (btb) ] Jump bfb.size + 1 [ bytecode of false block (bfb) ] */ BytecodeVector ble; BytecodeVector bre; BytecodeVector btb; BytecodeVector bfb; // save real current bytecode BytecodeVector* currentBytecode = bytecodes.current; // generate code for left expression bytecodes.current = &ble; children[0]->emit(bytecodes); // generate code for right expression bytecodes.current = &bre; children[1]->emit(bytecodes); // generate code for true block bytecodes.current = &btb; children[2]->emit(bytecodes); // generate code for false block bytecodes.current = &bfb; if (children.size() > 3) children[3]->emit(bytecodes); // restore real current bytecode bytecodes.current = currentBytecode; // fit everything together std::copy(ble.begin(), ble.end(), std::back_inserter(*bytecodes.current)); std::copy(bre.begin(), bre.end(), std::back_inserter(*bytecodes.current)); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_CONDITIONAL_BRANCH); bytecode |= op; bytecode |= edgeSensitive ? (1 << ASEBA_IF_IS_WHEN_BIT) : 0; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); if (children.size() == 4) bytecodes.current->push_back(BytecodeElement(2 + btb.size() + 1, sourcePos.row)); else bytecodes.current->push_back(BytecodeElement(2 + btb.size(), sourcePos.row)); std::copy(btb.begin(), btb.end(), std::back_inserter(*bytecodes.current)); if (children.size() == 4) { bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_JUMP) | (bfb.size() + 1); unsigned short jumpLine; if (btb.size()) jumpLine = (btb.end()-1)->line; else jumpLine = sourcePos.row; bytecodes.current->push_back(BytecodeElement(bytecode , jumpLine)); std::copy(bfb.begin(), bfb.end(), std::back_inserter(*bytecodes.current)); } bytecodes.current->lastLine = endLine; } unsigned FoldedIfWhenNode::getStackDepth() const { unsigned stackDepth = children[0]->getStackDepth() + children[1]->getStackDepth(); stackDepth = std::max(stackDepth, children[2]->getStackDepth()); if (children.size() == 4) stackDepth = std::max(stackDepth, children[3]->getStackDepth()); return stackDepth; } void WhileNode::emit(PreLinkBytecode& bytecodes) const { abort(); } void FoldedWhileNode::emit(PreLinkBytecode& bytecodes) const { unsigned short bytecode; /* What we want in bytecodes.currentBytecode afterwards: [ bytecode of left expression (ble) ] [ bytecode of right expression (bre) ] CondBranch bytecode 3 3 + bb.size + 1 [ bytecode of block (bb) ] Jump -(bb.size + ble.size + bre.size + 3) */ BytecodeVector ble; BytecodeVector bre; BytecodeVector bb; // save real current bytecode BytecodeVector* currentBytecode = bytecodes.current; // generate code for left expression bytecodes.current = &ble; children[0]->emit(bytecodes); // generate code for right expression bytecodes.current = &bre; children[1]->emit(bytecodes); // generate code for block bytecodes.current = &bb; children[2]->emit(bytecodes); // restore real current bytecode bytecodes.current = currentBytecode; // fit everything together std::copy(ble.begin(), ble.end(), std::back_inserter(*bytecodes.current)); std::copy(bre.begin(), bre.end(), std::back_inserter(*bytecodes.current)); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_CONDITIONAL_BRANCH) | op; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(2 + bb.size() + 1, sourcePos.row)); std::copy(bb.begin(), bb.end(), std::back_inserter(*bytecodes.current)); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_JUMP); bytecode |= ((unsigned)(-(int)(ble.size() + bre.size() + bb.size() + 2))) & 0x0fff; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } unsigned FoldedWhileNode::getStackDepth() const { unsigned stackDepth = children[0]->getStackDepth() + children[1]->getStackDepth(); stackDepth = std::max(stackDepth, children[2]->getStackDepth()); return stackDepth; } void EventDeclNode::emit(PreLinkBytecode& bytecodes) const { // make sure that we do not have twice the same event assert(bytecodes.events.find(eventId) == bytecodes.events.end()); // create new bytecode for event bytecodes.events[eventId] = BytecodeVector(); bytecodes.current = &bytecodes.events[eventId]; } void EmitNode::emit(PreLinkBytecode& bytecodes) const { // emit code for children. They might contain code to store constants somewhere for (auto child : children) child->emit(bytecodes); unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_EMIT) | eventId; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(arrayAddr, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(arraySize, sourcePos.row)); } void SubDeclNode::emit(PreLinkBytecode& bytecodes) const { // make sure that we do not have twice the same subroutine assert(bytecodes.subroutines.find(subroutineId) == bytecodes.subroutines.end()); // create new bytecode for subroutine bytecodes.subroutines[subroutineId] = BytecodeVector(); bytecodes.current = &bytecodes.subroutines[subroutineId]; } void CallSubNode::emit(PreLinkBytecode& bytecodes) const { unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_SUB_CALL); bytecode |= subroutineId; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } void BinaryArithmeticNode::emit(PreLinkBytecode& bytecodes) const { children[0]->emit(bytecodes); children[1]->emit(bytecodes); unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_BINARY_ARITHMETIC) | op; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } unsigned BinaryArithmeticNode::getStackDepth() const { return children[0]->getStackDepth() + children[1]->getStackDepth(); } void UnaryArithmeticNode::emit(PreLinkBytecode& bytecodes) const { children[0]->emit(bytecodes); unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_UNARY_ARITHMETIC) | op; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } void ImmediateNode::emit(PreLinkBytecode& bytecodes) const { addImmediateToBytecodes(value, sourcePos, bytecodes); } unsigned ImmediateNode::getStackDepth() const { return 1; } void LoadNode::emit(PreLinkBytecode& bytecodes) const { unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_LOAD) | varAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } unsigned LoadNode::getStackDepth() const { return 1; } void StoreNode::emit(PreLinkBytecode& bytecodes) const { unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_STORE) | varAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } void ArrayWriteNode::emit(PreLinkBytecode& bytecodes) const { // constant index should have been optimized out already auto* immediateChild = dynamic_cast(children[0]); assert(immediateChild == nullptr); ASEBA_UNUSED(immediateChild); children[0]->emit(bytecodes); unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_STORE_INDIRECT) | arrayAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(arraySize, sourcePos.row)); } void ArrayReadNode::emit(PreLinkBytecode& bytecodes) const { // constant index should have been optimized out already auto* immediateChild = dynamic_cast(children[0]); assert(immediateChild == nullptr); ASEBA_UNUSED(immediateChild); children[0]->emit(bytecodes); unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_LOAD_INDIRECT) | arrayAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(arraySize, sourcePos.row)); } void LoadNativeArgNode::emit(PreLinkBytecode& bytecodes) const { unsigned short bytecode; // constant index should have been optimized out already auto* immediateChild = dynamic_cast(children[0]); assert(immediateChild == nullptr); ASEBA_UNUSED(immediateChild); // load variable children[0]->emit(bytecodes); // duplicate it: store once, load twice bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_STORE) | tempAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_LOAD) | tempAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_LOAD) | tempAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); // load indirect to check for access error, store to discard bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_LOAD_INDIRECT) | arrayAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); bytecodes.current->push_back(BytecodeElement(arraySize, sourcePos.row)); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_STORE) | tempAddr; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); // compute address by pushing array address and adding addImmediateToBytecodes(arrayAddr, sourcePos, bytecodes); bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_BINARY_ARITHMETIC) | ASEBA_OP_ADD; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } unsigned LoadNativeArgNode::getStackDepth() const { return std::max(children[0]->getStackDepth(), unsigned(2)); } void CallNode::emit(PreLinkBytecode& bytecodes) const { // generate load for template parameters in reverse order int i = (int)templateArgs.size() - 1; while (i >= 0) { addImmediateToBytecodes(templateArgs[i], sourcePos, bytecodes); i--; } // emit code for argument addresses in reverse order for (auto it(children.rbegin()); it != children.rend(); ++it) (*it)->emit(bytecodes); // generate call itself const unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_NATIVE_CALL) | funcId; bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } unsigned CallNode::getStackDepth() const { unsigned stackDepth = 0; for (size_t i = 0; i < children.size(); i++) stackDepth = std::max(stackDepth, unsigned(templateArgs.size()+i)+children[i]->getStackDepth()); return stackDepth; } void ReturnNode::emit(PreLinkBytecode& bytecodes) const { const unsigned short bytecode = AsebaBytecodeFromId(ASEBA_BYTECODE_STOP); bytecodes.current->push_back(BytecodeElement(bytecode, sourcePos.row)); } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/tree-expand.cpp000066400000000000000000000451731322771007300173370ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "compiler.h" #include "tree.h" #include "../common/utils/utils.h" #include "../common/utils/FormatableString.h" #include #include #include namespace Aseba { /* * Tree expansion: PASS 1 (Abstract nodes) * - Nodes inherited from AbstractTreeNode are expanded into "real" nodes (one that can emit bytecode) * - However, data and memory access nodes (TupleVectorNode and MemoryVectorNode) are not expanded, as they * will be expanded during the second pass * - Memory management rule: if a node must transform itself into another node, it create the new node, reparent * the children to the new node, and return the newly created node. It is the responsability of the parent * to remark the new node and delete the orphaned child (generically implemented in Node::expandAbstractNodes()) * * Ex: * i++ i = i + 1 * * UnaryArithmeticAssignmentNode (++) => => AssignmentNode * | | * | --------------------------- * MemoryVectorNode (i) | | * MemoryVectorNode (i) BinaryArithmeticNode (+) * | * ---------------------------- * | | * MemoryVectorNode (i) TupleVectorNode (1) * * In this case, UnaryArithmeticAssignmentNode will create the new AssignmentNode, reparent its child, create the new subtree, * and return the pointer to AssignmentNode. The parent of UnaryArithmeticAssignmentNode must delete its old child, and * perform the substitution with the new one. Failing to do so will result in memory leaks. */ //! Generically traverse the tree, expand the children, and perform garbagge collection Node* Node::expandAbstractNodes(std::wostream *dump) { Node * child; // recursively walk the tree and expand children // if the child return a new pointer, delete the orphaned node for (auto it = children.begin(); it != children.end();) { child = (*it)->expandAbstractNodes(dump); if (child != *(it)) { delete *(it); } *(it) = child; ++it; } return this; } //! Dummy function, the node will be expanded during the vectorial pass Node* TupleVectorNode::expandAbstractNodes(std::wostream *dump) { return this; } //! Dummy function, the node will be expanded during the vectorial pass Node* MemoryVectorNode::expandAbstractNodes(std::wostream *dump) { return this; } //! Expand "vector (opop)" to "vector (op)= 1", and then call for the expansion of this last expression Node* UnaryArithmeticAssignmentNode::expandAbstractNodes(std::wostream* dump) { assert(children.size() == 1); Node* memoryVector = children[0]; // create a vector of 1's std::unique_ptr constant(new TupleVectorNode(sourcePos)); for (unsigned int i = 0; i < memoryVector->getVectorSize(); i++) constant->addImmediateValue(1); // expand to "vector (op)= 1" std::unique_ptr assignment(new ArithmeticAssignmentNode(sourcePos, arithmeticOp, memoryVector, constant.get())); constant.release(); // perform the expansion of ArithmeticAssignmentNode std::unique_ptr finalBlock(assignment->expandAbstractNodes(dump)); if (assignment.get() != finalBlock.get()) // delete the orphaned node assignment.reset(); else assignment.release(); // let our children to stay with the new node // otherwise they will be freed when we are cleared children.clear(); return finalBlock.release(); } //! Expand "left (op)= right" to "left = left (op) right" Node* ArithmeticAssignmentNode::expandAbstractNodes(std::wostream* dump) { assert(children.size() == 2); // expand the sub-trees Node::expandAbstractNodes(dump); Node* leftVector = children[0]; Node* rightVector = children[1]; // create the replacement node std::unique_ptr binary(new BinaryArithmeticNode(sourcePos, op, leftVector, rightVector)); std::unique_ptr assignment(new AssignmentNode(sourcePos, leftVector->deepCopy(), binary.release())); // let our children to stay with the new AssignmentNode // otherwise they will be freed when we are cleared children.clear(); return assignment.release();; } /* * Tree expansion: PASS 2 (Vectorial nodes) * - Nodes performing operations on vectors are expanded into several equivalent operations on scalars * - Memory management rule: To make it simple, the whole tree is duplicated (each node as to copy itself, * or create new nodes to replace it). Then the old tree is deleted as a whole. I agree, this could * be more subtle, but it is the easiest solution. A similar mechanism to pass 1 could be considered. * * Ex: buffer[0] = 1 * buffer = [1,2] buffer[1] = 2 * * AssignmentNode => => BlockNode * | | * --------------------- ---------------------------- * | | | | * MemoryVectorNode TupleVectorNode AssignmentNode AssignmentNode * (buffer) | | | * | ----------------- --------------- * --------------------- | | | | * | | StoreNode ImmediateNode StoreNode ImmediateNode * ImmediateNode (1) ImmediateNode(2) (buffer[0]) (1) (buffer[1]) (2) * */ /* * helper function to know if a MemoryVectorNode belonging to the tree of 'root' as a name * matching 'name' */ static bool matchNameInMemoryVector(const Node *root, std::wstring name) { // do I match? auto* vector = dynamic_cast(root); if (vector && vector->arrayName == name) return true; // search inside children for (const auto child : root->children) if (matchNameInMemoryVector(child, name)) return true; // definitly no match return false; } //! This is the root node, take in charge the tree creation / deletion Node* ProgramNode::expandVectorialNodes(std::wostream *dump, Compiler* compiler, unsigned int index) { Node* newMe = Node::expandVectorialNodes(dump, compiler, index); delete this; // delete the whole (obsolete) vectorial tree return newMe; } //! Generic implementation for non-vectorial nodes Node* Node::expandVectorialNodes(std::wostream *dump, Compiler* compiler, unsigned int index) { // duplicate me std::unique_ptr newMe(this->shallowCopy()); newMe->children.clear(); // recursively walk the tree and expand children (of the newly created tree) for (auto & child : this->children) newMe->children.push_back(child->expandVectorialNodes(dump, compiler, index)); return newMe.release(); } //! Assignment between vectors is expanded into multiple scalar assignments Node* AssignmentNode::expandVectorialNodes(std::wostream *dump, Compiler* compiler, unsigned int index) { assert(children.size() == 2); // left vector should reference a memory location auto* leftVector = dynamic_cast(children[0]); if (!leftVector) throw TranslatableError(sourcePos, ERROR_INCORRECT_LEFT_VALUE).arg(children[0]->toNodeName()); leftVector->setWrite(true); // right vector can be anything Node* rightVector = children[1]; // check if the left vector appears somewhere on the right side if (matchNameInMemoryVector(rightVector, leftVector->arrayName) && leftVector->getVectorSize() > 1) { // in such case, there is a risk of involuntary overwriting the content // we need to throw in a temporary variable to avoid this risk std::unique_ptr tempBlock(new BlockNode(sourcePos)); // tempVar = rightVector std::unique_ptr temp(compiler->allocateTemporaryVariable(sourcePos, rightVector->deepCopy())); auto* tempVar = dynamic_cast(temp->children[0]); assert(tempVar); tempBlock->children.push_back(temp.release()); // leftVector = tempVar temp = std::make_unique(sourcePos, leftVector->deepCopy(), tempVar->deepCopy()); tempBlock->children.push_back(temp.release()); return tempBlock->expandVectorialNodes(dump, compiler); // tempBlock will be reclaimed } // else std::unique_ptr block(new BlockNode(sourcePos)); // top-level block for (unsigned int i = 0; i < leftVector->getVectorSize(); i++) { // expand to left[i] = right[i] block->children.push_back(new AssignmentNode(sourcePos, leftVector->expandVectorialNodes(dump, compiler, i), rightVector->expandVectorialNodes(dump, compiler, i))); } return block.release(); } //! Expand to vector[index] Node* TupleVectorNode::expandVectorialNodes(std::wostream *dump, Compiler* compiler, unsigned int index) { size_t total = 0; size_t prevTotal = 0; // as a TupleVectorNode can be composed of several sub-vectors, find which child // corresponds to the index for (auto & child : children) { prevTotal = total; total += child->getVectorSize(); if (index < total) { // the index points to this child return child->expandVectorialNodes(dump, compiler, index-prevTotal); } } // should not happen !! assert(0); return nullptr; } //! Expand to memory[index] Node* MemoryVectorNode::expandVectorialNodes(std::wostream *dump, Compiler* compiler, unsigned int index) { assert(index < getVectorSize()); // get the optional index given in the Aseba code TupleVectorNode* accessIndex = nullptr; if (children.size() > 0) accessIndex = dynamic_cast(children[0]); if (accessIndex || children.size() == 0) { // direct access. Several cases: // -> an immediate index "foo[n]" or "foo[n:m]" // -> full array access "foo" // => use a StoreNode (lvalue) or LoadNode (rvalue) unsigned pointer = getVectorAddr() + index; // check if index is within bounds if (pointer >= arrayAddr + arraySize) throw TranslatableError(sourcePos, ERROR_ARRAY_OUT_OF_BOUND).arg(arrayName).arg(index).arg(arraySize); if (write == true) return new StoreNode(sourcePos, pointer); else return new LoadNode(sourcePos, pointer); } else { // indirect access foo[expr] // => use a ArrayWriteNode (lvalue) or ArrayReadNode (rvalue) std::unique_ptr array; if (write == true) array = std::make_unique(sourcePos, arrayAddr, arraySize, arrayName); else array = std::make_unique(sourcePos, arrayAddr, arraySize, arrayName); array->children.push_back(children[0]->expandVectorialNodes(dump, compiler, index)); return array.release(); } } //! Expand into a copy of itself Node* ImmediateNode::expandVectorialNodes(std::wostream *dump, Compiler* compiler, unsigned int index) { assert(index == 0); return shallowCopy(); } /* * Functions used to check vectors' consistency */ void Node::checkVectorSize() const { // recursively walk the tree and expand children for (auto it = children.begin(); it != children.end();) { (*it)->checkVectorSize(); ++it; } } void AssignmentNode::checkVectorSize() const { assert(children.size() == 2); // will recursively check the whole tree belonging to "=" unsigned lSize = children[0]->getVectorSize(); unsigned rSize = children[1]->getVectorSize(); // top-level check if (lSize != rSize) throw TranslatableError(sourcePos, ERROR_ARRAY_SIZE_MISMATCH).arg(lSize).arg(rSize); } void ArithmeticAssignmentNode::checkVectorSize() const { assert(children.size() == 2); // will recursively check the whole tree belonging to "=" unsigned lSize = children[0]->getVectorSize(); unsigned rSize = children[1]->getVectorSize(); // top-level check if (lSize != rSize) throw TranslatableError(sourcePos, ERROR_ARRAY_SIZE_MISMATCH).arg(lSize).arg(rSize); } void IfWhenNode::checkVectorSize() const { assert(children.size() > 0); unsigned conditionSize = children[0]->getVectorSize(); if (conditionSize != 1) throw TranslatableError(sourcePos, ERROR_IF_VECTOR_CONDITION); // check true block if (children.size() > 1 && children[1]) children[1]->checkVectorSize(); // check false block if (children.size() > 2 && children[2]) children[2]->checkVectorSize(); } void FoldedIfWhenNode::checkVectorSize() const { assert(children.size() > 1); unsigned conditionLeftSize = children[0]->getVectorSize(); unsigned conditionRightSize = children[1]->getVectorSize(); if (conditionLeftSize != 1 || conditionRightSize != 1) throw TranslatableError(sourcePos, ERROR_IF_VECTOR_CONDITION); // check true block if (children.size() > 2 && children[2]) children[2]->checkVectorSize(); // check false block if (children.size() > 3 && children[3]) children[3]->checkVectorSize(); } void WhileNode::checkVectorSize() const { assert(children.size() > 0); unsigned conditionSize = children[0]->getVectorSize(); if (conditionSize != 1) throw TranslatableError(sourcePos, ERROR_WHILE_VECTOR_CONDITION); // check inner block if (children.size() > 1 && children[1]) children[1]->checkVectorSize(); } void FoldedWhileNode::checkVectorSize() const { assert(children.size() > 1); unsigned conditionLeftSize = children[0]->getVectorSize(); unsigned conditionRightSize = children[1]->getVectorSize(); if (conditionLeftSize != 1 || conditionRightSize != 1) throw TranslatableError(sourcePos, ERROR_WHILE_VECTOR_CONDITION); // check inner block if (children.size() > 2 && children[2]) children[2]->checkVectorSize(); } /* * Functions used to compute vectors' size and base memory address */ //! return the address of the left-most operand, or E_NOVAL if none unsigned Node::getVectorAddr() const { if (children.size() > 0) return children[0]->getVectorAddr(); else return E_NOVAL; } //! return the children's size, check for equal size, or E_NOVAL if no child unsigned Node::getVectorSize() const { unsigned size = E_NOVAL; unsigned new_size = E_NOVAL; for (auto it : children) { new_size = it->getVectorSize(); if (size == E_NOVAL) size = new_size; else if (size != new_size) throw TranslatableError(sourcePos, ERROR_ARRAY_SIZE_MISMATCH).arg(size).arg(new_size); } return size; } unsigned TupleVectorNode::getVectorSize() const { unsigned size = 0; NodesVector::const_iterator it; for (it = children.begin(); it != children.end(); it++) size += (*it)->getVectorSize(); return size; } //! return the compile-time base address of the memory range, taking //! into account an immediate index foo[n] or foo[n:m] //! return E_NOVAL if foo[expr] unsigned MemoryVectorNode::getVectorAddr() const { assert(children.size() <= 1); int shift = 0; // index(es) given? if (children.size() == 1) { auto* index = dynamic_cast(children[0]); if (index) { shift = index->getImmediateValue(0); } else // not know at compile time return E_NOVAL; } if (shift < 0 || shift >= int(arraySize)) throw TranslatableError(sourcePos, ERROR_ARRAY_OUT_OF_BOUND).arg(arrayName).arg(shift).arg(arraySize); return arrayAddr + shift; } //! return the vector's length unsigned MemoryVectorNode::getVectorSize() const { assert(children.size() <= 1); if (children.size() == 1) { auto* index = dynamic_cast(children[0]); if (index) { unsigned numberOfIndex = index->getVectorSize(); // immediate indexes if (numberOfIndex == 1) { // foo[n] -> 1 dimension return 1; } else if (numberOfIndex == 2) { const int im0(index->getImmediateValue(0)); const int im1(index->getImmediateValue(1)); if (im1 < 0 || im1 >= int(arraySize)) throw TranslatableError(sourcePos, ERROR_ARRAY_OUT_OF_BOUND).arg(arrayName).arg(im1).arg(arraySize); // foo[n:m] -> compute the span return im1 - im0 + 1; } else // whaaaaat? Are you trying foo[[1,2,3]]? throw TranslatableError(sourcePos, ERROR_ARRAY_ILLEGAL_ACCESS); } else // random access foo[expr] return 1; } else // full array access return arraySize; } /* * Convenience functions */ //! return whether this node accesses a static address bool MemoryVectorNode::isAddressStatic() const { if (children.empty()) return true; auto* index = dynamic_cast(children[0]); if (index && index->children.size() <= 2 && index->isImmediateVector()) return true; return false; } bool TupleVectorNode::isImmediateVector() const { NodesVector::const_iterator it; for (it = children.begin(); it != children.end(); it++) { auto* node = dynamic_cast(*it); if (!node) return false; } return true; } //! return the n-th vector's element int TupleVectorNode::getImmediateValue(unsigned index) const { assert(index < getVectorSize()); assert(isImmediateVector()); auto* node = dynamic_cast(children[index]); assert(node); return node->value; } } aseba-1.6.0/compiler/tree-optimize.cpp000066400000000000000000000414761322771007300177220ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "tree.h" #include "power-of-two.h" #include "../common/utils/FormatableString.h" #include "../common/utils/utils.h" #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ Node* BlockNode::optimize(std::wostream* dump) { for (auto it = children.begin(); it != children.end();) { // generic optimization and removal Node *optimizedChild = (*it)->optimize(dump); if (!optimizedChild) { it = children.erase(it); continue; } else *it = optimizedChild; // special case for empty blocks if (dynamic_cast(*it) && (*it)->children.empty()) { delete *it; it = children.erase(it); continue; } ++it; } return this; } Node* AssignmentNode::optimize(std::wostream* dump) { children[0] = children[0]->optimize(dump); assert(children[0]); children[1] = children[1]->optimize(dump); assert(children[1]); return this; } Node* IfWhenNode::optimize(std::wostream* dump) { children[0] = children[0]->optimize(dump); assert(children[0]); // optimise true block, which may be null afterwards children[1] = children[1]->optimize(dump); Node *trueBlock = children[1]; // optimise false block, which may be null afterwards Node *falseBlock; if (children.size() > 2) { children[2] = children[2]->optimize(dump); falseBlock = children[2]; if (children[2] == nullptr) children.resize(2); } else falseBlock = nullptr; // check if both block are null or do not contain any data, in this case return if ( ((trueBlock == nullptr) || (dynamic_cast(trueBlock) && trueBlock->children.empty())) && ((falseBlock == nullptr) || (dynamic_cast(falseBlock) && falseBlock->children.empty())) ) { if (dump) *dump << sourcePos.toWString() << L" if test removed because it had no associated code\n"; delete this; return nullptr; } // check for if on constants auto* constantExpression = dynamic_cast(children[0]); if (constantExpression) { if (constantExpression->value != 0) { if (dump) *dump << sourcePos.toWString() << L" if test simplified because condition was always true\n"; children[1] = nullptr; delete this; return trueBlock; } else { if (dump) *dump << sourcePos.toWString() << L" if test simplified because condition was always false\n"; if (children.size() > 2) children[2] = nullptr; delete this; return falseBlock; } } // create a dummy block for true if none exist if (trueBlock == nullptr) children[1] = new BlockNode(sourcePos); // fold operation inside if auto* operation = polymorphic_downcast(children[0]); auto *foldedNode = new FoldedIfWhenNode(sourcePos); foldedNode->op = operation->op; foldedNode->edgeSensitive = edgeSensitive; foldedNode->endLine = endLine; foldedNode->children.push_back(operation->children[0]); foldedNode->children.push_back(operation->children[1]); operation->children.clear(); foldedNode->children.push_back(children[1]); children[1] = nullptr; if (children.size() > 2) { foldedNode->children.push_back(children[2]); children[2] = nullptr; } if (dump) *dump << sourcePos.toWString() << L" if condition folded inside node\n"; delete this; return foldedNode; } Node* FoldedIfWhenNode::optimize(std::wostream* dump) { abort(); return nullptr; } Node* WhileNode::optimize(std::wostream* dump) { children[0] = children[0]->optimize(dump); assert(children[0]); // block may be nullptr children[1] = children[1]->optimize(dump); // check for loops on constants auto* constantExpression = dynamic_cast(children[0]); if (constantExpression) { if (constantExpression->value != 0) { throw TranslatableError(sourcePos, ERROR_INFINITE_LOOP); } else { if (dump) *dump << sourcePos.toWString() << L" while removed because condition is always false\n"; delete this; return nullptr; } } // check for loops with empty content if ((children[1] == nullptr) || (dynamic_cast(children[1]) && children[1]->children.empty())) { if (dump) *dump << sourcePos.toWString() << L" while removed because it contained no statement\n"; delete this; return nullptr; } // fold operation inside loop auto* operation = polymorphic_downcast(children[0]); auto *foldedNode = new FoldedWhileNode(sourcePos); foldedNode->op = operation->op; foldedNode->children.push_back(operation->children[0]); foldedNode->children.push_back(operation->children[1]); operation->children.clear(); foldedNode->children.push_back(children[1]); children[1] = nullptr; if (dump) *dump << sourcePos.toWString() << L" while condition folded inside node\n"; delete this; return foldedNode; } Node* FoldedWhileNode::optimize(std::wostream* dump) { abort(); return nullptr; } Node* EventDeclNode::optimize(std::wostream* dump) { return this; } Node* EmitNode::optimize(std::wostream* dump) { for (auto it = children.begin(); it != children.end();) { // generic optimization and removal *it = (*it)->optimize(dump); ++it; } return this; } Node* SubDeclNode::optimize(std::wostream* dump) { return this; } Node* CallSubNode::optimize(std::wostream* dump) { return this; } Node* BinaryArithmeticNode::optimize(std::wostream* dump) { children[0] = children[0]->optimize(dump); assert(children[0]); children[1] = children[1]->optimize(dump); assert(children[1]); // constants elimination // if both children are constants, pre-compute the result auto* immediateLeftChild = dynamic_cast(children[0]); auto* immediateRightChild = dynamic_cast(children[1]); if (immediateLeftChild && immediateRightChild) { int valueOne = immediateLeftChild->value; int valueTwo = immediateRightChild->value; int result; SourcePos pos = sourcePos; switch (op) { case ASEBA_OP_SHIFT_LEFT: result = valueOne << valueTwo; break; case ASEBA_OP_SHIFT_RIGHT: result = valueOne >> valueTwo; break; case ASEBA_OP_ADD: result = valueOne + valueTwo; break; case ASEBA_OP_SUB: result = valueOne - valueTwo; break; case ASEBA_OP_MULT: result = valueOne * valueTwo; break; case ASEBA_OP_DIV: if (valueTwo == 0) throw TranslatableError(sourcePos, ERROR_DIVISION_BY_ZERO); else result = valueOne / valueTwo; break; case ASEBA_OP_MOD: if (valueTwo == 0) throw TranslatableError(sourcePos, ERROR_DIVISION_BY_ZERO); else result = valueOne % valueTwo; break; case ASEBA_OP_BIT_OR: result = valueOne | valueTwo; break; case ASEBA_OP_BIT_XOR: result = valueOne ^ valueTwo; break; case ASEBA_OP_BIT_AND: result = valueOne & valueTwo; break; case ASEBA_OP_EQUAL: result = valueOne == valueTwo; break; case ASEBA_OP_NOT_EQUAL: result = valueOne != valueTwo; break; case ASEBA_OP_BIGGER_THAN: result = valueOne > valueTwo; break; case ASEBA_OP_BIGGER_EQUAL_THAN: result = valueOne >= valueTwo; break; case ASEBA_OP_SMALLER_THAN: result = valueOne < valueTwo; break; case ASEBA_OP_SMALLER_EQUAL_THAN: result = valueOne <= valueTwo; break; case ASEBA_OP_OR: result = valueOne || valueTwo; break; case ASEBA_OP_AND: result = valueOne && valueTwo; break; default: abort(); } if (dump) *dump << sourcePos.toWString() << L" binary arithmetic expression simplified\n"; delete this; return new ImmediateNode(pos, result); } // neutral element optimisation // multiplications/division by 1, addition/substraction of 0, OR with 0 or false, AND with -1 or true { Node **survivor(nullptr); if (op == ASEBA_OP_MULT || op == ASEBA_OP_DIV) { if (immediateRightChild && (immediateRightChild->value == 1)) survivor = &children[0]; if (immediateLeftChild && (immediateLeftChild->value == 1) && (op == ASEBA_OP_MULT)) survivor = &children[1]; } else if (op == ASEBA_OP_ADD || op == ASEBA_OP_SUB) { if (immediateRightChild && (immediateRightChild->value == 0)) survivor = &children[0]; if (immediateLeftChild && (immediateLeftChild->value == 0) && (op == ASEBA_OP_ADD)) survivor = &children[1]; } else if (op == ASEBA_OP_BIT_OR || op == ASEBA_OP_OR) { if (immediateRightChild && (immediateRightChild->value == 0)) survivor = &children[0]; if (immediateLeftChild && (immediateLeftChild->value == 0)) survivor = &children[1]; } else if (op == ASEBA_OP_BIT_AND) { if (immediateRightChild && (immediateRightChild->value == -1)) survivor = &children[0]; if (immediateLeftChild && (immediateLeftChild->value == -1)) survivor = &children[1]; } else if (op == ASEBA_OP_AND) { if (immediateRightChild && (immediateRightChild->value != 0)) survivor = &children[0]; if (immediateLeftChild && (immediateLeftChild->value != 0)) survivor = &children[1]; } if (survivor) { if (dump) *dump << sourcePos.toWString() << L" operation with neutral element removed\n"; Node *returNode = *survivor; *survivor = nullptr; delete this; return returNode; } } // absorbing element optimisation { SourcePos pos = sourcePos; if (op == ASEBA_OP_MULT || op == ASEBA_OP_BIT_AND || op == ASEBA_OP_AND) { if ((immediateRightChild && (immediateRightChild->value == 0)) || (immediateLeftChild && (immediateLeftChild->value == 0))) { if (dump) *dump << sourcePos.toWString() << L" operation with absorbing element removed\n"; delete this; return new ImmediateNode(pos, 0); } } if (op == ASEBA_OP_BIT_OR) { if ((immediateRightChild && (immediateRightChild->value == -1)) || (immediateLeftChild && (immediateLeftChild->value == -1))) { if (dump) *dump << sourcePos.toWString() << L" operation with absorbing element removed\n"; delete this; return new ImmediateNode(pos, -1); } } if (op == ASEBA_OP_OR) { if ((immediateRightChild && (immediateRightChild->value != 0)) || (immediateLeftChild && (immediateLeftChild->value != 0))) { if (dump) *dump << sourcePos.toWString() << L" operation with absorbing element removed\n"; delete this; return new ImmediateNode(pos, 1); } } } // POT mult/div to shift conversion if (immediateRightChild && isPOT(immediateRightChild->value)) { if (op == ASEBA_OP_MULT) { op = ASEBA_OP_SHIFT_LEFT; immediateRightChild->value = shiftFromPOT(immediateRightChild->value); if (dump) *dump << sourcePos.toWString() << L" multiplication transformed to left shift\n"; } else if (op == ASEBA_OP_DIV) { op = ASEBA_OP_SHIFT_RIGHT; immediateRightChild->value = shiftFromPOT(immediateRightChild->value); if (dump) *dump << sourcePos.toWString() << L" division transformed to right shift\n"; } } // detect static division by zero if (op == ASEBA_OP_DIV && immediateRightChild && immediateRightChild->value == 0) { throw TranslatableError(sourcePos, ERROR_DIVISION_BY_ZERO); } return this; } //! Recursively apply de Morgan law as long as nodes are logic operations, and then invert comparisons void BinaryArithmeticNode::deMorganNotRemoval() { switch (op) { // comparison: invert case ASEBA_OP_EQUAL: op = ASEBA_OP_NOT_EQUAL; break; case ASEBA_OP_NOT_EQUAL: op = ASEBA_OP_EQUAL; break; case ASEBA_OP_BIGGER_THAN: op = ASEBA_OP_SMALLER_EQUAL_THAN; break; case ASEBA_OP_BIGGER_EQUAL_THAN: op = ASEBA_OP_SMALLER_THAN; break; case ASEBA_OP_SMALLER_THAN: op = ASEBA_OP_BIGGER_EQUAL_THAN; break; case ASEBA_OP_SMALLER_EQUAL_THAN: op = ASEBA_OP_BIGGER_THAN; break; // logic: invert and call recursively case ASEBA_OP_OR: op = ASEBA_OP_AND; polymorphic_downcast(children[0])->deMorganNotRemoval(); polymorphic_downcast(children[1])->deMorganNotRemoval(); break; case ASEBA_OP_AND: op = ASEBA_OP_OR; polymorphic_downcast(children[0])->deMorganNotRemoval(); polymorphic_downcast(children[1])->deMorganNotRemoval(); break; default: abort(); }; } Node* UnaryArithmeticNode::optimize(std::wostream* dump) { children[0] = children[0]->optimize(dump); assert(children[0]); // constants elimination auto* immediateChild = dynamic_cast(children[0]); if (immediateChild) { int result; SourcePos pos = sourcePos; switch (op) { case ASEBA_UNARY_OP_SUB: result = -immediateChild->value; break; case ASEBA_UNARY_OP_ABS: if (immediateChild->value == -32768) throw TranslatableError(sourcePos, ERROR_ABS_NOT_POSSIBLE); else result = abs(immediateChild->value); break; case ASEBA_UNARY_OP_BIT_NOT: result = ~immediateChild->value; break; case ASEBA_UNARY_OP_NOT: result = !immediateChild->value; break; default: abort(); } if (dump) *dump << sourcePos.toWString() << L" unary arithmetic expression simplified\n"; delete this; return new ImmediateNode(pos, result); } else if (op == ASEBA_UNARY_OP_NOT) { auto* binaryNodeChild(dynamic_cast(children[0])); if (binaryNodeChild) { // de Morgan removal of not if (dump) *dump << sourcePos.toWString() << L" not removed using de Morgan\n"; binaryNodeChild->deMorganNotRemoval(); children.clear(); delete this; return binaryNodeChild; } else return this; } else return this; } Node* ImmediateNode::optimize(std::wostream* dump) { return this; } Node* LoadNode::optimize(std::wostream* dump) { return this; } Node* StoreNode::optimize(std::wostream* dump) { return this; } Node* ArrayReadNode::optimize(std::wostream* dump) { // optimize index expression children[0] = children[0]->optimize(dump); assert(children[0]); // if the index is just an integer and not an expression of any variable, // replace array acces by simple load and verify boundary conditions auto* immediateChild = dynamic_cast(children[0]); if (immediateChild) { unsigned index = immediateChild->value; if (index >= arraySize) { throw TranslatableError(sourcePos, ERROR_ARRAY_OUT_OF_BOUND_READ).arg(index).arg(arrayName).arg(arraySize); } unsigned varAddr = arrayAddr + index; SourcePos pos = sourcePos; if (dump) *dump << sourcePos.toWString() << L" array access transformed to single variable access\n"; delete this; return new LoadNode(pos, varAddr); } else return this; } Node* ArrayWriteNode::optimize(std::wostream* dump) { // optimize index expression children[0] = children[0]->optimize(dump); assert(children[0]); // if the index is just an integer and not an expression of any variable, // replace array acces by simple load and verify boundary conditions auto* immediateChild = dynamic_cast(children[0]); if (immediateChild) { unsigned index = immediateChild->value; if (index >= arraySize) { throw TranslatableError(sourcePos, ERROR_ARRAY_OUT_OF_BOUND_WRITE).arg(index).arg(arrayName).arg(arraySize); } unsigned varAddr = arrayAddr + index; SourcePos pos = sourcePos; if (dump) *dump << sourcePos.toWString() << L" array access transformed to single variable access\n"; delete this; return new StoreNode(pos, varAddr); } else return this; } Node* LoadNativeArgNode::optimize(std::wostream* dump) { // optimize index expression children[0] = children[0]->optimize(dump); assert(children[0]); // we should not have an immediate assert(dynamic_cast(children[0]) == nullptr); return this; } Node* CallNode::optimize(std::wostream* dump) { for (auto it = children.begin(); it != children.end();) { // generic optimization and removal *it = (*it)->optimize(dump); assert(*it); ++it; } return this; } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/tree-typecheck.cpp000066400000000000000000000121401322771007300200230ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "tree.h" #include "../common/utils/FormatableString.h" #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ std::wstring Node::typeName(const Node::ReturnType& type) const { switch (type) { case ReturnType::UNIT: return L"unit"; case ReturnType::BOOL: return L"bool"; case ReturnType::INT: return L"integer"; default: return L""; // cannot because ReturnType is a class enum, but gcc is too dump to notice } } void Node::expectType(const Node::ReturnType& expected, const Node::ReturnType& type) const { if (type != expected) throw TranslatableError(sourcePos, ERROR_EXPECTING_TYPE).arg(typeName(expected)).arg(typeName(type)); }; Node::ReturnType Node::typeCheck(Compiler* compiler) { for (NodesVector::const_iterator it = children.begin(); it != children.end(); ++it) { (*it)->typeCheck(compiler); } return ReturnType::UNIT; } Node::ReturnType AssignmentNode::typeCheck(Compiler* compiler) { expectType(ReturnType::UNIT, children[0]->typeCheck(compiler)); expectType(ReturnType::INT, children[1]->typeCheck(compiler)); return ReturnType::UNIT; } Node::ReturnType IfWhenNode::typeCheck(Compiler* compiler) { expectType(ReturnType::BOOL, children[0]->typeCheck(compiler)); expectType(ReturnType::UNIT, children[1]->typeCheck(compiler)); if (children.size() > 2) expectType(ReturnType::UNIT, children[2]->typeCheck(compiler)); auto* binaryOp = dynamic_cast(children[0]); auto* unaryOp = dynamic_cast(children[0]); bool ok(false); if (binaryOp && binaryOp->op >= ASEBA_OP_EQUAL && binaryOp->op <= ASEBA_OP_AND) ok = true; if (unaryOp && unaryOp->op == ASEBA_UNARY_OP_NOT) ok = true; if (!ok) throw TranslatableError(children[0]->sourcePos, ERROR_EXPECTING_CONDITION).arg(children[0]->toNodeName()); return ReturnType::UNIT; } Node::ReturnType WhileNode::typeCheck(Compiler* compiler) { expectType(ReturnType::BOOL, children[0]->typeCheck(compiler)); expectType(ReturnType::UNIT, children[1]->typeCheck(compiler)); auto* binaryOp = dynamic_cast(children[0]); auto* unaryOp = dynamic_cast(children[0]); bool ok(false); if (binaryOp && binaryOp->op >= ASEBA_OP_EQUAL && binaryOp->op <= ASEBA_OP_AND) ok = true; if (unaryOp && unaryOp->op == ASEBA_UNARY_OP_NOT) ok = true; if (!ok) throw TranslatableError(children[0]->sourcePos, ERROR_EXPECTING_CONDITION).arg(children[0]->toNodeName()); return ReturnType::UNIT; } Node::ReturnType CallSubNode::typeCheck(Compiler* compiler) { subroutineId = compiler->findSubroutine(subroutineName, sourcePos)->second; return ReturnType::UNIT; } Node::ReturnType BinaryArithmeticNode::typeCheck(Compiler* compiler) { switch (op) { case ASEBA_OP_SHIFT_LEFT: case ASEBA_OP_SHIFT_RIGHT: case ASEBA_OP_ADD: case ASEBA_OP_SUB: case ASEBA_OP_MULT: case ASEBA_OP_DIV: case ASEBA_OP_MOD: case ASEBA_OP_BIT_OR: case ASEBA_OP_BIT_XOR: case ASEBA_OP_BIT_AND: expectType(ReturnType::INT, children[0]->typeCheck(compiler)); expectType(ReturnType::INT, children[1]->typeCheck(compiler)); return ReturnType::INT; case ASEBA_OP_EQUAL: case ASEBA_OP_NOT_EQUAL: case ASEBA_OP_BIGGER_THAN: case ASEBA_OP_BIGGER_EQUAL_THAN: case ASEBA_OP_SMALLER_THAN: case ASEBA_OP_SMALLER_EQUAL_THAN: expectType(ReturnType::INT, children[0]->typeCheck(compiler)); expectType(ReturnType::INT, children[1]->typeCheck(compiler)); return ReturnType::BOOL; case ASEBA_OP_OR: case ASEBA_OP_AND: expectType(ReturnType::BOOL, children[0]->typeCheck(compiler)); expectType(ReturnType::BOOL, children[1]->typeCheck(compiler)); return ReturnType::BOOL; default: abort(); return ReturnType::UNIT; } } Node::ReturnType UnaryArithmeticNode::typeCheck(Compiler* compiler) { switch (op) { case ASEBA_UNARY_OP_SUB: case ASEBA_UNARY_OP_ABS: case ASEBA_UNARY_OP_BIT_NOT: expectType(ReturnType::INT, children[0]->typeCheck(compiler)); return ReturnType::INT; case ASEBA_UNARY_OP_NOT: expectType(ReturnType::BOOL, children[0]->typeCheck(compiler)); return ReturnType::BOOL; default: abort(); return ReturnType::UNIT; } } /*@}*/ } // namespace Aseba aseba-1.6.0/compiler/tree.h000066400000000000000000000631151322771007300155230ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __TREE_H #define __TREE_H #include "compiler.h" #include "../common/consts.h" #include "../common/utils/FormatableString.h" #include #include #include #include #include #include namespace Aseba { /** \addtogroup compiler */ /*@{*/ //! Return the string corresponding to the binary operator std::wstring binaryOperatorToString(AsebaBinaryOperator op); //! Return the string corresponding to the unary operator std::wstring unaryOperatorToString(AsebaUnaryOperator op); //! An abstract node of syntax tree struct Node { //! A type a node can return enum ReturnType { UNIT = 0, BOOL, INT }; //! Constructor Node(const SourcePos& sourcePos) : sourcePos(sourcePos) { } protected: // default copy-constructor, protected because we only want children to use it in their override of shallowCopy() Node(const Node&) = default; public: // deleted assignment operator Node& operator=(const Node&) = delete; // deleted move constructor and assignment operator Node(Node&&) = delete; Node& operator=(Node&& rhs) = delete; //! Destructor, delete all children virtual ~Node(); //! Return a shallow copy of the object (children point to the same objects) virtual Node* shallowCopy() const = 0; //! Return a deep copy of the object (children are also copied) virtual Node* deepCopy() const; //! Check the consistency in vectors' size virtual void checkVectorSize() const; //! Second pass to expand "abstract" nodes into more concrete ones virtual Node* expandAbstractNodes(std::wostream* dump); //! Third pass to expand vectorial operations into mutliple scalar ones virtual Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0); //! Typecheck this node, throw an exception if there is any type violation virtual ReturnType typeCheck(Compiler* compiler); //! Optimize this node, return the optimized node virtual Node* optimize(std::wostream* dump) = 0; //! Return the stack depth requirement for this node and its children virtual unsigned getStackDepth() const; //! Generate bytecode virtual void emit(PreLinkBytecode& bytecodes) const = 0; //! Return a string representation of this node virtual std::wstring toWString() const = 0; //! Return a string representation of the name of this node virtual std::wstring toNodeName() const = 0; //! Dump this node and the rest of the tree virtual void dump(std::wostream& dest, unsigned& indent) const; //! Return the name of a type std::wstring typeName(const Node::ReturnType& type) const; //! Check for a specific type, throw an exception otherwise void expectType(const Node::ReturnType& expected, const Node::ReturnType& type) const; enum MemoryErrorCode { E_NOVAL = UINT_MAX }; virtual unsigned getVectorAddr() const; virtual unsigned getVectorSize() const; //! Vector for children of a node using NodesVector = std::vector; NodesVector children; //!< children of this node SourcePos sourcePos; //!< position is source }; //! Node for L"block", i.e. a vector of statements struct BlockNode : Node { //! Constructor BlockNode(const SourcePos& sourcePos) : Node(sourcePos) { } BlockNode* shallowCopy() const override { return new BlockNode(*this); } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override { return L"Block"; } std::wstring toNodeName() const override { return L"block"; } }; //! Node for L"program", i.e. a block node with some special behaviour later on struct ProgramNode: BlockNode { //! Constructor ProgramNode(const SourcePos& sourcePos) : BlockNode(sourcePos) { } ProgramNode* shallowCopy() const override { return new ProgramNode(*this); } Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override { return L"ProgramBlock"; } std::wstring toNodeName() const override { return L"program block"; } }; //! Node for assignation. //! children[0] is store code //! children[1] expression to store struct AssignmentNode : Node { //! Constructor AssignmentNode(const SourcePos& sourcePos) : Node(sourcePos) { } AssignmentNode(const SourcePos& sourcePos, Node* left, Node* right); AssignmentNode* shallowCopy() const override { return new AssignmentNode(*this); } void checkVectorSize() const override; Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override; ReturnType typeCheck(Compiler* compiler) override; Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override { return L"Assign"; } std::wstring toNodeName() const override { return L"assignment"; } }; //! Node for L"if" and L"when". //! children[0] is expression //! children[1] is true block //! children[2] is false block struct IfWhenNode : Node { bool edgeSensitive; //!< if true, true block is triggered only if previous comparison was false ("when" block). If false, true block is triggered every time comparison is true unsigned endLine; //!< line of end keyword //! Constructor IfWhenNode(const SourcePos& sourcePos) : Node(sourcePos) { } IfWhenNode* shallowCopy() const override { return new IfWhenNode(*this); } void checkVectorSize() const override; ReturnType typeCheck(Compiler* compiler) override; Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"if/when"; } }; //! Node for L"if" and L"when" with operator folded inside. //! children[0] is left part of expression //! children[1] is right part of expression //! children[2] is true block //! children[3] is false block struct FoldedIfWhenNode : Node { AsebaBinaryOperator op; //!< operator bool edgeSensitive; //!< if true, true block is triggered only if previous comparison was false ("when" block). If false, true block is triggered every time comparison is true unsigned endLine; //!< line of end keyword //! Constructor FoldedIfWhenNode(const SourcePos& sourcePos) : Node(sourcePos) { } FoldedIfWhenNode* shallowCopy() const override { return new FoldedIfWhenNode(*this); } void checkVectorSize() const override; Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"folded if/when"; } }; //! Node for L"while". //! children[0] is expression //! children[1] is block struct WhileNode : Node { //! Constructor WhileNode(const SourcePos& sourcePos) : Node(sourcePos) { } WhileNode* shallowCopy() const override { return new WhileNode(*this); } void checkVectorSize() const override; ReturnType typeCheck(Compiler* compiler) override; Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"while"; } }; //! Node for L"while" with operator folded inside. //! children[0] is left part of expression //! children[1] is right part of expression //! children[2] is block struct FoldedWhileNode : Node { AsebaBinaryOperator op; //!< operator //! Constructor FoldedWhileNode(const SourcePos& sourcePos) : Node(sourcePos) { } FoldedWhileNode* shallowCopy() const override { return new FoldedWhileNode(*this); } void checkVectorSize() const override; Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"folded while"; } }; //! Node for L"onevent" //! no children struct EventDeclNode : Node { unsigned eventId; //!< the event id associated with this context EventDeclNode(const SourcePos& sourcePos, unsigned eventId = 0); EventDeclNode* shallowCopy() const override { return new EventDeclNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"event declaration"; } }; //! Node for L"emit". //! may have children for pushing constants somewhere struct EmitNode : Node { unsigned eventId; //!< id of event to emit unsigned arrayAddr; //!< address of the first element of the array to send unsigned arraySize; //!< size of the array to send. 0 if event has no argument //! Constructor EmitNode(const SourcePos& sourcePos) : Node(sourcePos), eventId(0), arrayAddr(0), arraySize(0) { } EmitNode* shallowCopy() const override { return new EmitNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"emit"; } }; //! Node for L"sub" //! no children struct SubDeclNode : Node { unsigned subroutineId; //!< the associated subroutine SubDeclNode(const SourcePos& sourcePos, unsigned subroutineId); SubDeclNode* shallowCopy() const override { return new SubDeclNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"subroutine declaration"; } }; //! Node for L"callsub" //! no children struct CallSubNode : Node { std::wstring subroutineName; //!< the subroutine to call unsigned subroutineId; CallSubNode(const SourcePos& sourcePos, std::wstring subroutineName); CallSubNode* shallowCopy() const override { return new CallSubNode(*this); } ReturnType typeCheck(Compiler* compiler) override; Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"subroutine call"; } }; //! Node for binary arithmetic. //! children[0] is left expression //! children[1] is right expression struct BinaryArithmeticNode : Node { AsebaBinaryOperator op; //!< operator BinaryArithmeticNode(const SourcePos& sourcePos) : Node(sourcePos) { } BinaryArithmeticNode(const SourcePos& sourcePos, AsebaBinaryOperator op, Node *left, Node *right); BinaryArithmeticNode* shallowCopy() const override { return new BinaryArithmeticNode(*this); } void deMorganNotRemoval(); ReturnType typeCheck(Compiler* compiler) override; Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"binary function"; } static BinaryArithmeticNode *fromComparison(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right); static BinaryArithmeticNode *fromShiftExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right); static BinaryArithmeticNode *fromAddExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right); static BinaryArithmeticNode *fromMultExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right); static BinaryArithmeticNode *fromBinaryExpression(const SourcePos& sourcePos, Compiler::Token::Type op, Node *left, Node *right); }; //! Node for unary arithmetic //! children[0] is the expression to negate struct UnaryArithmeticNode : Node { AsebaUnaryOperator op; //!< operator //! Constructor UnaryArithmeticNode(const SourcePos& sourcePos) : Node(sourcePos) { } UnaryArithmeticNode(const SourcePos& sourcePos, AsebaUnaryOperator op, Node *child); UnaryArithmeticNode* shallowCopy() const override { return new UnaryArithmeticNode(*this); } ReturnType typeCheck(Compiler* compiler) override; Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"unary function"; } }; //! Node for pushing immediate value on stack. //! Might generate either Small Immediate or Large Immediate bytecode //! depending on the range of value //! no children struct ImmediateNode : Node { int value; //!< value to push on stack //! Constructor ImmediateNode(const SourcePos& sourcePos, int value) : Node(sourcePos), value(value) { } ImmediateNode* shallowCopy() const override { return new ImmediateNode(*this); } Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override; ReturnType typeCheck(Compiler* compiler) override { return ReturnType::INT; } Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"constant"; } unsigned getVectorSize() const override { return 1; } }; //! Node for storing a variable from stack. //! no children struct StoreNode : Node { unsigned varAddr; //!< address of variable to store to //! Constructor StoreNode(const SourcePos& sourcePos, unsigned varAddr) : Node(sourcePos), varAddr(varAddr) { } StoreNode* shallowCopy() const override { return new StoreNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"variable access (write)"; } unsigned getVectorAddr() const override { return varAddr; } unsigned getVectorSize() const override { return 1; } }; //! Node for loading a variable on stack. //! no children struct LoadNode : Node { unsigned varAddr; //!< address of variable to load from //! Constructor LoadNode(const SourcePos& sourcePos, unsigned varAddr) : Node(sourcePos), varAddr(varAddr) { } LoadNode* shallowCopy() const override { return new LoadNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::INT; } Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"variable access (read)"; } unsigned getVectorAddr() const override { return varAddr; } unsigned getVectorSize() const override { return 1; } }; //! Node for writing to an array. Value to store is supposed to be on the stack already //! children[0] is the index in the array struct ArrayWriteNode : Node { unsigned arrayAddr; //!< address of the first element of the array unsigned arraySize; //!< size of the array, might be used to assert compile-time access checks std::wstring arrayName; //!< name of the array (for debug) ArrayWriteNode(const SourcePos& sourcePos, unsigned arrayAddr, unsigned arraySize, std::wstring arrayName); ArrayWriteNode* shallowCopy() const override { return new ArrayWriteNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"array access (write)"; } unsigned getVectorAddr() const override { return arrayAddr; } unsigned getVectorSize() const override { return 1; } }; //! Node for reading from an array. //! children[0] is the index in the array struct ArrayReadNode : Node { unsigned arrayAddr; //!< address of the first element of the array unsigned arraySize; //!< size of the array, might be used to assert compile-time access checks std::wstring arrayName; //!< name of the array (for debug) ArrayReadNode(const SourcePos& sourcePos, unsigned arrayAddr, unsigned arraySize, std::wstring arrayName); ArrayReadNode* shallowCopy() const override { return new ArrayReadNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::INT; } Node* optimize(std::wostream* dump) override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"array access (read)"; } unsigned getVectorAddr() const override { return arrayAddr; } unsigned getVectorSize() const override { return 1; } }; //! Node for loading the address of the argument of a native function //! that is not known at compile time, but that does exist in memory struct LoadNativeArgNode : Node { unsigned tempAddr; //!< address of temporary (end of memory) for stack value duplication unsigned arrayAddr; //!< address of the first element of the array unsigned arraySize; //!< size of the array, might be used to assert compile-time access checks std::wstring arrayName; //!< name of the array (for debug) LoadNativeArgNode(MemoryVectorNode* memoryNode, unsigned tempAddr); LoadNativeArgNode* shallowCopy() const override { return new LoadNativeArgNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::INT; } Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"load native arg"; } }; //! Node for calling a native function //! may have children for pushing constants somewhere struct CallNode : Node { unsigned funcId; //!< identifier of the function to be called std::vector templateArgs; //!< sizes of templated arguments CallNode(const SourcePos& sourcePos, unsigned funcId); CallNode* shallowCopy() const override { return new CallNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override; unsigned getStackDepth() const override; void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"native function call"; } }; //! Node for returning from an event or subroutine //! has no children, just a jump of 0 offset that will be resolved at link time struct ReturnNode : Node { ReturnNode(const SourcePos& sourcePos) : Node(sourcePos) {} ReturnNode* shallowCopy() const override { return new ReturnNode(*this); } ReturnType typeCheck(Compiler* compiler) override { return ReturnType::UNIT; } Node* optimize(std::wostream* dump) override { return this; } unsigned getStackDepth() const override { return 0; } void emit(PreLinkBytecode& bytecodes) const override; std::wstring toWString() const override { return L"Return"; } std::wstring toNodeName() const override { return L"return"; } }; /*** Nodes for abstract operations (e.g. vectors) ***/ //! Virtual class for abstraction nodes //! abort() if you try to typeCheck(), optimize() or emit() //! to force correct expansion into regular Aseba nodes struct AbstractTreeNode : Node { //! Constructor AbstractTreeNode(const SourcePos& sourcePos) : Node(sourcePos) {} Node* expandAbstractNodes(std::wostream* dump) override = 0; // Following operations should not be performed on abstraction nodes ReturnType typeCheck(Compiler* compiler) override { abort(); } Node* optimize(std::wostream* dump) override { abort(); } unsigned getStackDepth() const override { abort(); } void emit(PreLinkBytecode& bytecodes) const override { abort(); } }; //! Node for assembling values into an array //! children[x] is the x-th Node to be assembled struct TupleVectorNode : AbstractTreeNode { //! Constructor TupleVectorNode(const SourcePos& sourcePos) : AbstractTreeNode(sourcePos) {} TupleVectorNode(const SourcePos& sourcePos, int value) : AbstractTreeNode(sourcePos) { children.push_back(new ImmediateNode(sourcePos, value)); } TupleVectorNode* shallowCopy() const override { return new TupleVectorNode(*this); } Node* expandAbstractNodes(std::wostream* dump) override; Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"array of constants"; } void dump(std::wostream& dest, unsigned& indent) const override; unsigned getVectorSize() const override; virtual bool isImmediateVector() const; virtual int getImmediateValue(unsigned index) const; virtual void addImmediateValue(int value) { children.push_back(new ImmediateNode(sourcePos, value)); } }; //! Node for accessing a memory as a vector, in read or write operations //! If write == true, will expand to StoreNode or ArrayWriteNode //! If write == false, will expand to LoadNode or ArrayReadNode //! children[0] is an optional index //! If children[0] is a TupleVectorNode of one elements (int), it will be foo[x] //! If children[0] is a TupleVectorNode of two elements (int), it will be foo[x:y] //! If children[0] is another type of node, it will be foo[whatever] //! If children[0] doesn't exist, access to the full array is considered struct MemoryVectorNode : AbstractTreeNode { unsigned arrayAddr; //!< address of the first element of the array unsigned arraySize; //!< size of the array, might be used to assert compile-time access checks std::wstring arrayName; //!< name of the array (for debug) bool write; //!< expand to a node for storing or loading data? MemoryVectorNode(const SourcePos& sourcePos, unsigned arrayAddr, unsigned arraySize, std::wstring arrayName); MemoryVectorNode* shallowCopy() const override { return new MemoryVectorNode(*this); } Node* expandAbstractNodes(std::wostream* dump) override; Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override; std::wstring toWString() const override; std::wstring toNodeName() const override { return L"vector access"; } unsigned getVectorAddr() const override; unsigned getVectorSize() const override; bool isAddressStatic() const; virtual void setWrite(bool write) { this->write = write; } }; //! Node for operations like "vector (op)= something" //! Will expand to "vector = vector (op) something" //! children[0] is a MemoryVectorNode //! children[1] is whatever Node for the right operand struct ArithmeticAssignmentNode : AbstractTreeNode { AsebaBinaryOperator op; //!< operator //! Constructor ArithmeticAssignmentNode(const SourcePos& sourcePos, AsebaBinaryOperator op, Node *left, Node *right); ArithmeticAssignmentNode* shallowCopy() const override { return new ArithmeticAssignmentNode(*this); } void checkVectorSize() const override; Node* expandAbstractNodes(std::wostream* dump) override; Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override { abort(); } // should not happen std::wstring toWString() const override; std::wstring toNodeName() const override { return L"arithmetic assignment"; } static ArithmeticAssignmentNode* fromArithmeticAssignmentToken(const SourcePos& sourcePos, Compiler::Token::Type token, Node *left, Node *right); protected: const static AsebaBinaryOperator operatorMap[]; static AsebaBinaryOperator getBinaryOperator(Compiler::Token::Type token); }; //! Node for operations like "vector(op)", may be ++ or -- //! Will expand to "vector (op)= [1,...,1]" //! children[0] is a MemoryVectorNode struct UnaryArithmeticAssignmentNode : AbstractTreeNode { AsebaBinaryOperator arithmeticOp; //!< operator //! Constructor UnaryArithmeticAssignmentNode(const SourcePos& sourcePos, Compiler::Token::Type token, Node *memory); UnaryArithmeticAssignmentNode* shallowCopy() const override { return new UnaryArithmeticAssignmentNode(*this); } Node* expandAbstractNodes(std::wostream* dump) override; Node* expandVectorialNodes(std::wostream* dump, Compiler* compiler=nullptr, unsigned int index = 0) override { abort(); } // should not happen std::wstring toWString() const override; std::wstring toNodeName() const override { return L"unary arithmetic assignment"; } }; /*@}*/ } // namespace Aseba #endif aseba-1.6.0/contributing.md000066400000000000000000000166561322771007300156420ustar00rootroot00000000000000# Contributing guidelines ## Reporting bugs and suggesting improvements Bugs and improvements are tracked using [github's issues](https://guides.github.com/features/issues/). If you found a bug or wish to suggest an improvement, please first look at the [existing issues](https://github.com/aseba-community/aseba/issues) to see if it has already been reported. If not, please [open a new issue](https://github.com/aseba-community/aseba/issues/new). Similarly, to contact us, please also open an issue with your question. If you want to help us translating Aseba or its documentation, please read the [localization guide](localization.md). ## Software development work flow Aseba is using [git](https://git-scm.com/) and the repository is stored on [github](https://github.com/aseba-community/aseba). Please read the [description of the source tree](readme.sourcetree.md) before modifying the source code. To integrate contributions, we work through [github's pull request mechanism](https://help.github.com/articles/about-pull-requests/). To contribute to Aseba, [fork the repository](https://github.com/aseba-community/aseba#fork-destination-box) and submit pull requests. The maintainer will comment on your pull request, a discussion will follow, and if an agreement is reached and requested changes are implemented, your contribution will be merged. ## Roadmap The maintainer, in discussion with the stakeholders of the project on the mailing list, defines the project roadmap as a set of [milestones](https://github.com/aseba-community/aseba/milestones). Each milestone collects issues that need to be solved or implemented to reach the milestone. If an issue is assigned to a contributor, she or he is working on it. Feel free to comment on the issue if you have elements to add. If you want to work on an issue that is not assigned, please go on, assign yourself. The maintainer might overrun assignation in case of critical issues, although that should not happen often. ### Commit Policy We warmly welcome patches and contributions. To maintain a proper and easy-to-debug code base, commits must be clean. So please check twice your commits, in order to ensure a smooth debugging process should a bug arise. Especially: * Your commit must always compile. * Your commit must work by itself. * Your commits should be organized in a logical set of atomically small changes. Commit as often as possible. Do not forget to include all your files (`git add`), check twice before committing (`git status`). Do rework your commit history if not satisfactory enough (`git rebase -i`). Ask others if you are not sure about using git. ### Pull request policy Your pull request must pass all unit tests. When changes are pushed into the github repository, we will not be able to fix them flawlessly, but we may revert them if they are too harmful. You might be asked to rework your commit history to produce a cleaner one before your pull request is merged. Thank you for your understanding, by doing so you also help other contributors. ## Release process Releasing a software smoothly is not completely trivial. This section contains the best practice for the Aseba release process, it should be updated according to the evolution of the process. ### Branch/tag naming We follow these naming conventions: * `master` : stable development branch, no funky experimental features here. * `release-M.N.y` : branch for applying bugfix to last major release for Aseba version M.N, for instance release-1.1.x. * `X.Y.Z` : tags corresponding to releases, for instance 1.0.1. ### Reminder * Do not forget to bump version numbers in `common/consts.h`, in the library version numbers in the `.so`, in the `Doxyfile`, and for the packages (deb,rpm) rules before doing a release. * When you make changes, including bug fixes to release branches, do not forget to update the [changelog](changelog.md) following the guidelines on [keepachangelog.com](http://keepachangelog.com). ## C++ coding style The intended purpose is to have coherent-looking code through the project. Sorry if this different to your usual conventions. Aseba is currently programming in C++14. ### Readability and maintainability are paramount All new code written in Aseba should be elegant and its behavior obvious. Do not use clever tricks, avoid over-design, do not be obsessed about pure object-oriented style or getters/setters. Everything should be kept as simple as possible, but no simpler. This is a fundamental principle, and all new code should be kept with KISS—keep it simple, stupid—in mind. ### Pointers, references and ownership Please follow as much as possible the [resource acquisition is initialization](https://en.wikipedia.org/wiki/Resource_acquisition_is_initialization) programming idiom. Whenever possible, use simple to understand and exception-safe ownership, such as `std::unique_ptr`. When passing objects to non-owning classes and methods, use a reference if the object cannot be `nullptr`, or a normal pointer if it can. If a reference cannot be used because the target objects might be copyable, use `std::reference_wrapper`. Use STL containers as much as possible, and avoid duplicating the information whenever possible. ### Class hierarchy and inheritance Use simple and clean class hierarchy whenever possible, use virtual inheritance only in the last resort. If a member can simply be accessed as public, let it so, do not put it private and add accessors. Always put a virtual destructor in base classes having virtual members, you can generate the default one using `virtual ~C() = default;`. Always use `override` keyword for inherited virtual methods, do no re-specify `virtual`, as an overriden method must be virtual. ### File formats Source files must use Unix End-Of-Line characters (\n) and be encoded in UTF-8. Header files have included guards of the form `__FILE_NAME_H` for a file named `FileName.h`. ### Indentation Code should be indented by tabs. A tab should be equivalent to 4 spaces. ### Class and struct naming Aseba uses [CamelCase](https://en.wikipedia.org/wiki/Camel_case), that is, classes should begin with capitals, new words should be denoted by a capital, and words should not be separated by underscores or dashes. For example, use: ```C++ class TotoIsMyFriend { }; // correct ``` instead of: ```C++ class toto_is_my_friend{}; // wrong ``` Class members, variables, and C function follow the same convention but without the initial capital: ```C++ void totoIsMyFriend(void); // correct ``` instead of: ```C++ void Toto-is-my-friend(void); // wrong ``` ### Bracket placement Brackets `{}` should be placed alone on a line, except if there is no or only one function call within them. For example, use: ```C++ class Toto { int i; void totoIsMyFriend(void) { return i; }; }; // correct ``` instead of: ```C++ class Toto { int i; void Toto-is-my-friend(void) { return i; }; }; // wrong ``` ## Naming conventions The following conventions apply in the Aseba context: * Always use similar names as in the documentation for [Aseba concepts](https://www.thymio.org/en:asebaconcepts), [the language](https://www.thymio.org/en:asebalanguage), [the native functions](https://www.thymio.org/en:asebastdnative), the [integrated development environment](https://www.thymio.org/en:asebastudio) and the [Thymio visual programming environment](https://www.thymio.org/en:thymiovpl). * In Aseba, one writes _programs_, being them text or graphical. The old use _script_ for Aseba text programs is deprecated. aseba-1.6.0/debian/000077500000000000000000000000001322771007300140155ustar00rootroot00000000000000aseba-1.6.0/debian/README.Debian000066400000000000000000000011421322771007300160540ustar00rootroot00000000000000 ASEBA README.Debian ------------------- This is the debian package for ASEBA. Executables are installed in /usr/bin and are prefixed by aseba-. They are: asebastudio IDE asebaswitch software switch asebadump dump ASEBA packets asebacmd debug control of nodes (bootloader, ...) asebachallenge programming game, multiple players in a single arena asebaplayground programming game, multiple robots for one player, compatible with physical e-puck. aseba-1.6.0/debian/changelog000066400000000000000000000040111322771007300156630ustar00rootroot00000000000000aseba (1.6.0) xenial; urgency=medium * Upstream 1.6.0 -- Stéphane Magnenat Mon, 08 Jan 2018 12:15:43 +0100 aseba (1.5.3) trusty; urgency=medium * Upstream 1.5.3 -- Stéphane Magnenat Thu, 21 Apr 2016 15:46:38 +0200 aseba (1.5.2) trusty; urgency=medium * Upstream 1.5.2 -- Stéphane Magnenat Mon, 07 Mar 2016 15:38:55 +0100 aseba (1.5.1) trusty; urgency=medium * Upstream 1.5.1 -- Stéphane Magnenat Mon, 22 Feb 2016 15:19:01 +0100 aseba (1.5.0) trusty; urgency=low * Upstream 1.5.0 -- Stéphane Magnenat Mon, 16 Nov 2015 12:54:01 +0100 aseba (1.4.0) trusty; urgency=low * Upstream 1.4.0 -- Stéphane Magnenat Wed, 09 Sep 2015 15:41:41 +0200 aseba (1.3.1) precise; urgency=low * Upstream 1.3.1 -- Stéphane Magnenat Wed, 04 Sep 2013 09:28:05 +0200 aseba (1.3.0) precise; urgency=low * Upstream 1.3.0 -- Stéphane Magnenat Thu, 20 Jun 2013 11:59:01 +0200 aseba (1.2.2) precise; urgency=low * Upstream 1.2.2 -- Stéphane Magnenat Fri, 26 Apr 2013 16:09:52 +0200 aseba (1.2.1) precise; urgency=low * Upstream 1.2.1 -- Stéphane Magnenat Thu, 31 Jan 2013 09:09:27 +0100 aseba (1.2.0) precise; urgency=low * Upstream 1.2.0 -- Stéphane Magnenat Thu, 06 Sep 2012 09:24:45 +0200 aseba (1.1.0) natty; urgency=low * Upstream 1.1.0 -- Stéphane Magnenat Wed, 02 May 2012 13:47:27 +0200 aseba (1.0.0) natty; urgency=low * Upstream 1.0.0 -- Stéphane Magnenat Fri, 26 Aug 2011 09:48:20 +0200 aseba (0.9-svn476) natty; urgency=low * First official debian packages on aseba.wikidot.com -- Stéphane Magnenat Wed, 04 May 2011 14:46:59 +0200 aseba-1.6.0/debian/control000066400000000000000000000014371322771007300154250ustar00rootroot00000000000000Source:aseba Maintainer: Stephane Magnenat Section:devel Priority:optional Standards-Version: 3.7.2 Build-Depends: cmake (>=2.6), libdashel (>=1.1.0), libenki (>=2.0~git.20180109), libqt4-dev, libqt4-opengl-dev, libqtwebkit-dev, qt4-dev-tools, libqwt5-qt4-dev, libudev-dev, libxml2-dev, libsdl2-dev, libavahi-compat-libdnssd-dev, g++ (>=5.0) | g++-5 | g++-7 Package:aseba Architecture: any Depends: libqt4-sql-sqlite, ${shlibs:Depends} Description: Aseba is an event-based framework for distributed mobile robots control. Its core is a lightweight virtual machine, small enough to run on any 16 bits microcontroller. In Aseba, all virtual machines are linked in a network and all their programs are developed and debugged from a single application, Aseba Studio. aseba-1.6.0/debian/copyright000066400000000000000000000014521322771007300157520ustar00rootroot00000000000000Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see .aseba-1.6.0/debian/rules000077500000000000000000000033221322771007300150750ustar00rootroot00000000000000#!/usr/bin/make -f DEBVERS := $(shell dpkg-parsechangelog | sed -n -e 's/^Version: //p') VERSION := $(shell echo '$(DEBVERS)' | sed -e 's/^[[:digit:]]*://' -e 's/[~-].*//') build: mkdir -p debian/build cd debian/build && cmake -D USER_BUILD_VERSION=${DEBVERS} -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=../tmp/usr ../.. cd debian/build && $(MAKE) clean: rm -rf debian/files debian/substvars debian/tmp debian/build binary: binary-arch binary-indep binary-indep: binary-arch: install -d debian/tmp/DEBIAN install -d debian/tmp/usr/bin install -d debian/tmp/usr/share/doc/aseba install -d debian/tmp/usr/share/doc/aseba/example-code install -d debian/tmp/usr/share/doc/aseba/example-scenarios cp changelog.md debian/tmp/usr/share/doc/aseba/changelog cp debian/changelog debian/tmp/usr/share/doc/aseba/changelog.debian cp debian/copyright debian/tmp/usr/share/doc/aseba cp targets/playground/examples/*.png debian/tmp/usr/share/doc/aseba/example-scenarios cp targets/playground/examples/*.playground debian/tmp/usr/share/doc/aseba/example-scenarios cp targets/playground/examples/thymio-default-behaviours.aesl debian/tmp/usr/share/doc/aseba/example-scenarios cp targets/playground/examples/*.aesl debian/tmp/usr/share/doc/aseba/example-code cp targets/challenge/examples/challenge-goto-energy.aesl debian/tmp/usr/share/doc/aseba/example-code strip --strip-unneeded -R .note -R .comment debian/build/*/*.a strip --strip-unneeded -R .note -R .comment debian/build/*/*/*.a cd debian/build && $(MAKE) install cp debian/README.Debian debian/tmp/usr/share/doc/aseba/ dpkg-shlibdeps debian/tmp/usr/bin/* chown -R root.root debian/tmp chmod -R o-s,go=u,go-ws debian/tmp dpkg-gencontrol dpkg --build debian/tmp .. 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Aseba provides hardware modularity, better efficiency, and improved scalability by embedding a lightweight virtual machine in each microcontroller and providing an Integrated Development Environment to develop and debug the whole robot from a single place. A short presentation is available at http://stephane.magnenat.net/data/aseba-presentation.pdf and a 6 pages article at http://stephane.magnenat.net/data/aseba-iros2007-workshop.pdf . For more informations about Aseba, please have a look at its homepage at http://mobots.epfl.ch/aseba.html . \section Architecture \image html architecture.png This figure shows a high level scheme of the architecture. It consists of the following modules: - first, a common communication bus for \ref msg. On our physical robot, it is a CAN bus and messages are transmitted through a \ref can. - nodes, that use the \ref vm. On our physical robot, they are microcontrollers. In the simulator - studio, which is the \ref studio, containing the \ref compiler - switch, which is a \ref switch that connects the physical CAN bus (when available) and the software nodes through TCP. - dump, a command line logger. - cmd, a command line tool to flash microcontrollers. In addition, there are \ref common and \ref utils. \section Compilation In this Developer Preview, the robot is simulated using the Enki simulator (http://home.gna.org/enki). We provide Enki in this package. This Developer Preview uses cmake (http://www.cmake.org) and Qt 4 (http://trolltech.com/products/qt). To compile it on Unix, type: \verbatim cmake . \endverbatim and then \verbatim make \endverbatim in Aseba top level directory. On Windows, cmake comes with a GUI. For more informations on cmake, please refer to its manual. \section Test To test aseba, first launch the switch: \verbatim switch/asebaswitch \endverbatim Then the Enki simulator: \verbatim enki/asebaenki \endverbatim Then studio, the IDE: \verbatim studio/asebastudio \endverbatim You can then open \c enki/marxbot-obstacle-avoidance.aesl from studio. You can rotate the 3D view by moving mouse while pressing right button. You can move the 3D view by moving mouse while pressing right button and shift. You can change the height in the 3D view by moving mouse wheel while pressing shift. */aseba-1.6.0/docsource/figures/000077500000000000000000000000001322771007300162255ustar00rootroot00000000000000aseba-1.6.0/docsource/figures/bytecode_layout.svg000066400000000000000000001170051322771007300221450ustar00rootroot00000000000000 image/svg+xml ... Event 1 0x00 ... Event ASEBA_EVENT_INIT 0x00 AddrOf k ID event k ... ... 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C1C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C ÀC#C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C ò ÿ1 ÿ1 ÿ1ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ &ÿ ÿ &ÿ ÿ &ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ Q.ìïìì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì+ì ì+ì ì+ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+Q.CïCC<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C+C C+C C+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+ÀÀÿ €@@ì €@@C €ÀÀÿ €@@ì €@@C €ÀÀÿ €Ë0ì0ì1ì1ì1ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ìË0C0C1C1C1C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C 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C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì#ì ì#ì ì#ì<ì<ì<ì<ì<ì<ì<ì<ì<ì ì#ì ì#ì ì#ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C#C C#C C#C<C<C<C<C<C<C<C<C<C C#C C#C C#C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ#ÿ ÿ#ÿ ÿ#ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ ÿ#ÿ ÿ#ÿ ÿ#ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+Àìì<ì<ì<ì<ì<ì<ì<ì<ì:Àìì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+ÀCC<C<C<C<C<C<C<C<C:ÀCC C-C C+ ÀÀÿ@Àÿ€ ÀÀì@Àì€ ÀÀC@ÀC€ ÀÀÿ@Àÿ€ ÀÀì@Àì€ ÀÀC@ÀC€ ÀÀÿ@Àÿ€-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì1ì1ì1ìô1ì1ì1ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C1C1C1Cô1C1C1C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ1ÿ1ÿ1ÿô1ÿ1ÿ1ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<:ì:ì:ì:ì:ì:ìì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<:C:C:C:C:C:CC<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<:ÿ:ÿ:ÿ:ÿ:ÿ:ÿÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ÀÀìÀìÀÀÀCÀCÀÀÀÿÀÿÀÀÀìÀìÀÀÀCÀCÀÀÀÿÀÿÀÀÀìÀìÀÀÀCÀCÀÀÀÿÀÿÀìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìììììììì<ì<ì<ì<ì<ì<ì<ì<ììììììì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCCCCCCC<C<C<C<C<C<C<C<CCCCCCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿÿÿÿÿÿÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿÿÿÿÿÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì+C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C-C C+-ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì2ì-C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C2C À.ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿ3ÿì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì<ì7C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C<C7ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ<ÿ7ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìììììììììììì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ìì2ììCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCCCCCCCCCCC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CC2CCÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿÿÿÿÿÿÿÿÿÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ2ÿÿ À@ì À@C À@ÿ À@ì À@C À@ÿ À@ì À@C À@ÿ À@ì À@C À@ÿ À@ì À@C À@ÿ À@ì À@C À@ÿ À@ì À@C À@ÿ À@ì À@C À@ÿ#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì @ì#ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì.ì ì #C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C @C#C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C.C C #ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ &ÿ ÿ &ÿ ÿ &ÿ ÿ &ÿ ÿ &ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ.ÿ ÿ ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì ì-ì 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find_path(aseba_INCLUDE_DIR common/types.h PATHS .. NO_DEFAULT_PATH) find_path(aseba_INCLUDE_DIR common/types.h PATH_SUFFIXES aseba CMAKE_FIND_ROOT_PATH_BOTH) include_directories(${aseba_INCLUDE_DIR}) # Otherwise #find_package(aseba REQUIRED) # How to find Dashel #find_package(dashel REQUIRED) #include_directories(${dashel_INCLUDE_DIRS}) # How to link Dashel and Aseba together #set(ASEBA_CORE_LIBRARIES asebadashelplugins asebacommon ${dashel_LIBRARIES}) # Different types of examples add_subdirectory(clients) add_subdirectory(switches) if (DNSSD_FOUND) add_subdirectory(zeroconf) endif() aseba-1.6.0/examples/clients/000077500000000000000000000000001322771007300160525ustar00rootroot00000000000000aseba-1.6.0/examples/clients/CMakeLists.txt000066400000000000000000000001271322771007300206120ustar00rootroot00000000000000add_subdirectory(cpp-shell) add_subdirectory(cpp-qt-gui) add_subdirectory(cpp-qt-dbus) aseba-1.6.0/examples/clients/cpp-qt-dbus/000077500000000000000000000000001322771007300202115ustar00rootroot00000000000000aseba-1.6.0/examples/clients/cpp-qt-dbus/CMakeLists.txt000066400000000000000000000015351322771007300227550ustar00rootroot00000000000000include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX0X) if(QT4_FOUND AND QT_QTDBUS_FOUND) set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") set(QT_USE_QTMAIN ON) set(QT_USE_QTDBUS ON) set(QT_USE_QTTEST ON) include(${QT_USE_FILE}) set(aseba-qt-dbus_SRCS main.cpp dbusinterface.cpp ) set(aseba-qt-dbus_MOC_HDRS dbusinterface.h ) qt4_wrap_cpp(aseba-qt-dbus_MOC_SRCS ${aseba-qt-dbus_MOC_HDRS}) include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) add_executable(aseba-qt-dbus ${aseba-qt-dbus_SRCS} ${aseba-qt-dbus_MOC_SRCS}) target_link_libraries(aseba-qt-dbus ${QT_LIBRARIES}) endif() else() message(WARNING "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support, so we will skip building the example interface qt-dbus.") endif() aseba-1.6.0/examples/clients/cpp-qt-dbus/ScriptDBusThymio.aesl000066400000000000000000000013441322771007300242750ustar00rootroot00000000000000 var sum onevent prox call math.dot(sum, prox.horizontal,[1,1,1,1,1,1,1],0) #if prox.horizontal[2] > 2000 then if sum >0 then emit ObstacleDetected prox.horizontal end onevent acc if acc[2]<15 then emit Falling end onevent Stop motor.left.target = 0 motor.right.target = 0 onevent PlaySound call sound.system(event.args[0]) aseba-1.6.0/examples/clients/cpp-qt-dbus/dbusinterface.cpp000066400000000000000000000126271322771007300235430ustar00rootroot00000000000000/* A Qt binding for Aseba that relies on DBus Supports event sending/receiving, Aseba scripts Loading, as well as setting/getting an Aseba variable. Authors: Frank Bonnet, Stefan Witwicki Copyright (C) 2007--2016 This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "dbusinterface.h" namespace Aseba { // Create DBus connection with the interface ch.epfl.mobots.AsebaNetwork DBusInterface::DBusInterface() : bus(QDBusConnection::sessionBus()), callbacks({}), dbusMainInterface("ch.epfl.mobots.Aseba", "/", "ch.epfl.mobots.AsebaNetwork",bus) { checkConnection(); // setup event filter QDBusMessage eventfilterMessage = dbusMainInterface.call("CreateEventFilter"); QDBusObjectPath eventfilterPath = eventfilterMessage.arguments().at(0).value(); eventfilterInterface = new QDBusInterface("ch.epfl.mobots.Aseba", eventfilterPath.path(), "ch.epfl.mobots.EventFilter",bus); if(!bus.connect("ch.epfl.mobots.Aseba", eventfilterPath.path(), "ch.epfl.mobots.EventFilter", "Event", this, SLOT(dispatchEvent(const QDBusMessage&)))) { qDebug() << "failed to connect eventfilter signal to dispatchEvent slot!"; } } // Convert QList Values to QVariant QVariant DBusInterface::valuetoVariant(const Values& value) { QDBusArgument qdbarg; qdbarg << value; QVariant qdbvar; qdbvar.setValue(qdbarg); return qdbvar; } // Convert QDBusMessage to QList Values, extracting data at a particular index of the construct Values DBusInterface::dBusMessagetoValues(const QDBusMessage& dbmess, int index) { QDBusArgument read = dbmess.arguments().at(index).value(); Values values; read >> values; return values; } // Display a list of qint's nicely as a string std::string DBusInterface::toString(const Values& v) { std::string out = "["; for (int i=0;i(); } displayNodeList(); return true; } //Display the list of Aseba Nodes connected on the Aseba Network void DBusInterface::displayNodeList() { qDebug() << "Aseba nodes list: "; qDebug() << nodeList; } //Load an Aseba script (.aesl) on an Aseba Node void DBusInterface::loadScript(const QString& script) { // check to ensure that we can find the file QFile file(script); QFileInfo fi(script); // include absolute path QString path_to_script = fi.absoluteFilePath(); if(!file.exists()) { qDebug() << "Cannot find file: " << path_to_script << "."; } else { // load the script dbusMainInterface.call("LoadScripts",path_to_script); } } //Get an Aseba variable from a Aseba node Values DBusInterface::getVariable(const QString& node, const QString& variable) { return dBusMessagetoValues(dbusMainInterface.call( "GetVariable",node, variable),0); } //Set an Aseba variable from a Aseba node void DBusInterface::setVariable(const QString& node, const QString& variable, const Values& value) { dbusMainInterface.call("SetVariable",node,variable,valuetoVariant(value)); } // Flag an event to listen for, and associate callback function (passed by pointer) void DBusInterface::connectEvent(const QString& eventName, EventCallback callback) { // associate callback with event name callbacks[eventName] = callback; // listen eventfilterInterface->call("ListenEventName", eventName); } //Send Aseba Event using the ID of the Event void DBusInterface::sendEvent(uint16_t eventID, const Values& value) { QDBusArgument argument; argument<(); Values eventReceivedValues = dBusMessagetoValues(message,2); // find and trigger matching callback if( callbacks.count(eventReceivedName) > 0) { callbacks[eventReceivedName](eventReceivedValues); } } } aseba-1.6.0/examples/clients/cpp-qt-dbus/dbusinterface.h000066400000000000000000000040151322771007300232000ustar00rootroot00000000000000/* A Qt binding for Aseba that relies on DBus Supports event sending/receiving, Aseba scripts Loading, as well as setting/getting an Aseba variable. Authors: Frank Bonnet, Stefan Witwicki Copyright (C) 2007--2016 This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef DBUSINTERFACE_H #define DBUSINTERFACE_H #include #include Q_DECLARE_METATYPE( QList ); typedef QList Values; namespace Aseba { class DBusInterface : public QObject { Q_OBJECT private: QDBusConnection bus; typedef std::function EventCallback; std::map callbacks; QDBusInterface dbusMainInterface; QDBusInterface* eventfilterInterface; public: DBusInterface(); QList nodeList; static QVariant valuetoVariant(const Values& value); static Values dBusMessagetoValues(const QDBusMessage& dbmess, int index); static std::string toString(const Values& v); bool checkConnection(); void displayNodeList(); void loadScript(const QString& script); Values getVariable(const QString& node, const QString& variable); void setVariable(const QString& node, const QString& variable, const Values& value); void connectEvent(const QString& eventName, EventCallback callback); void sendEvent(uint16_t eventID, const Values& value); void sendEventName(const QString& eventName, const Values& value); public slots: void dispatchEvent(const QDBusMessage& message); }; } #endif // DBUSINTERFACE_H aseba-1.6.0/examples/clients/cpp-qt-dbus/main.cpp000066400000000000000000000055051322771007300216460ustar00rootroot00000000000000/* A Qt binding for Aseba that relies on DBus Supports event sending/receiving, Aseba scripts Loading, as well as setting/getting an Aseba variable. Authors: Frank Bonnet, Stefan Witwicki Copyright (C) 2007--2016 This program 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, version 3 of the License. This program 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 program. If not, see . */ // You need to add qdbus in the configuration file of the project (.pro) // CONFIG += qdbus // This code uses C++11 #include #include #include "dbusinterface.h" #include using namespace std; using namespace Aseba; // global pointer to an object of class DBusInterface, which serves as the interface to our Aseba network DBusInterface *ThymioIIInterface; // Example of a custom callback function, to connect to ThymioIIInterface // Note: connected callbacks need not be global (see std::function documentation in C++11 for more information) void my_callback(const Values& event_values) { cout << "\nThymio encountered an obstacle " << DBusInterface::toString(event_values) << endl; // the bearing of the obstacle determines the sound played qint16 max_index=0; qint16 max=-1; for(int i=0; i max) { max = event_values[i]; max_index = i; } } Values sound_index({max_index}); ThymioIIInterface->sendEventName("PlaySound", sound_index); } int main(int argc, char *argv[]) { // Qt init QCoreApplication a(argc, argv); // interface instantiation cout << "\n-attempting DBus connection-" << endl; ThymioIIInterface = new DBusInterface(); // load an Aseba script onto Thymio II cout << "\n-loading an aesl script onto the robot-" << endl; ThymioIIInterface->loadScript("ScriptDBusThymio.aesl"); // set Aseba variables cout << "\n-setting wheel speeds to move forward-" << endl; ThymioIIInterface->setVariable("thymio-II", "motor.left.target", Values({100})); ThymioIIInterface->setVariable("thymio-II", "motor.right.target", Values({100})); QTest::qSleep(5000); // send an Event cout << "\n-sending stop event-" << endl; Values event_args({}); ThymioIIInterface->sendEventName("Stop", event_args); // flag an envent to be listened to, and connect its occurence with your own callback funtion cout << "\n-listening for ObstacleDetected events-" << endl; ThymioIIInterface->connectEvent("ObstacleDetected", my_callback); return a.exec(); } aseba-1.6.0/examples/clients/cpp-qt-dbus/qt-dbus.pro000066400000000000000000000007471322771007300223220ustar00rootroot00000000000000#------------------------------------------------- # # Project created by QtCreator 2015-07-16T15:29:29 # #------------------------------------------------- QT += core QT -= gui CONFIG += console CONFIG -= app_bundle CONFIG += qdbus TEMPLATE = app SOURCES += main.cpp \ dbusinterface.cpp HEADERS += \ dbusinterface.h DESTDIR = ./ TARGET = qt-dbus # With C++11 support greaterThan(QT_MAJOR_VERSION, 4) { CONFIG += c++11 } \ else { QMAKE_CXXFLAGS += -std=c++0x } aseba-1.6.0/examples/clients/cpp-qt-gui/000077500000000000000000000000001322771007300200405ustar00rootroot00000000000000aseba-1.6.0/examples/clients/cpp-qt-gui/CMakeLists.txt000066400000000000000000000010621322771007300225770ustar00rootroot00000000000000if (QT4_FOUND) set(QT_USE_QTNETWORK ON) set(QT_USE_QTMAIN ON) include(${QT_USE_FILE}) set(aseba-qt-gui_SRCS main.cpp dashelinterface.cpp mainwindow.cpp ) set(aseba-qt-gui_MOC_HDRS dashelinterface.h mainwindow.h ) qt4_wrap_cpp(aseba-qt-gui_MOC_SRCS ${aseba-qt-gui_MOC_HDRS}) include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) add_executable(aseba-qt-gui WIN32 ${aseba-qt-gui_SRCS} ${aseba-qt-gui_MOC_SRCS}) target_link_libraries(aseba-qt-gui ${ASEBA_CORE_LIBRARIES} ${QT_LIBRARIES} ${EXTRA_LIBS}) endif (QT4_FOUND) aseba-1.6.0/examples/clients/cpp-qt-gui/dashelinterface.cpp000066400000000000000000000061771322771007300237000ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This example is based on a first work of Olivier Marti (2010 - 2011). Stripped down & cleaned version by Florian Vaussard (2013). This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "dashelinterface.h" #include #include DashelInterface::DashelInterface() : stream(0), isRunning(false), isConnected(false) { } DashelInterface::~DashelInterface() { } // Connect to any kind of valid Dashel target (TCP, serial, CAN,...) void DashelInterface::connectAseba(const QString& dashelTarget) { dashelParams = dashelTarget; isRunning = true; start(); } // Connect through a TCP socket void DashelInterface::connectAseba(const QString& ip, const QString& port) { connectAseba("tcp:" + ip + ";port=" + port); } // Cleanly disconnect void DashelInterface::disconnectAseba() { isRunning = false; Dashel::Hub::stop(); wait(); } // Message coming from a node. // Consider _only_ UserMessage. Discard other types of messages (debug, etc.) void DashelInterface::incomingData(Dashel::Stream *stream) { Aseba::Message *message = Aseba::Message::receive(stream); Aseba::UserMessage *userMessage = dynamic_cast(message); if (userMessage) emit messageAvailable(userMessage); else delete message; } // Send a UserMessage with ID 'id', and optionnally some data values void DashelInterface::sendEvent(unsigned id, const QVector& values) { if (this->isConnected) { Aseba::VariablesDataVector data(values.size()); QVectorIterator it(values); unsigned i = 0; while (it.hasNext()) data[i++] = it.next(); Aseba::UserMessage(id, data).serialize(stream); stream->flush(); } } // Dashel connection was closed void DashelInterface::connectionClosed(Dashel::Stream* stream, bool abnormal) { Q_UNUSED(stream); Q_UNUSED(abnormal); emit dashelDisconnection(); this->stream = 0; } // internals void DashelInterface::run() { while (1) { try { stream = Dashel::Hub::connect(dashelParams.toStdString()); emit dashelConnection(); qDebug() << "Connected to target: " << dashelParams; isConnected = true; break; } catch (Dashel::DashelException e) { qDebug() << "Cannot connect to target: " << dashelParams; sleep(1000000L); // 1s } } while (isRunning) Dashel::Hub::run(); } aseba-1.6.0/examples/clients/cpp-qt-gui/dashelinterface.h000066400000000000000000000037661322771007300233460ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This example is based on a first work of Olivier Marti (2010 - 2011). Stripped down & cleaned version by Florian Vaussard (2013). This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef DASHELINTERFACE_H #define DASHELINTERFACE_H #include #include #include #include #include "common/msg/msg.h" #include "common/msg/NodesManager.h" class DashelInterface : public QThread, public Dashel::Hub { Q_OBJECT public: DashelInterface(); ~DashelInterface(); void connectAseba(const QString& dashelTarget); void connectAseba(const QString& ip, const QString& port); void disconnectAseba(); void sendEvent(unsigned id, const QVector &values = QVector(0)); signals: void messageAvailable(Aseba::UserMessage *message); void dashelDisconnection(); void dashelConnection(); protected: // from QThread virtual void run(); // from Dashel::Hub virtual void incomingData(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream *stream, bool abnormal); // members Dashel::Stream* stream; QString dashelParams; bool isRunning; bool isConnected; }; #endif // DASHELINTERFACE_H aseba-1.6.0/examples/clients/cpp-qt-gui/main.cpp000066400000000000000000000024041322771007300214700ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This example is based on a first work of Olivier Marti (2010 - 2011). Stripped down & cleaned version by Florian Vaussard (2013). This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "mainwindow.h" #include "transport/dashel_plugins/dashel-plugins.h" int main(int argc, char *argv[]) { QApplication a(argc, argv); // initialize Dashel plugins Dashel::initPlugins(); MainWindow w; w.show(); return a.exec(); } aseba-1.6.0/examples/clients/cpp-qt-gui/mainwindow.cpp000066400000000000000000000105211322771007300227170ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This example is based on a first work of Olivier Marti (2010 - 2011). Stripped down & cleaned version by Florian Vaussard (2013). This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "mainwindow.h" #include "dashelinterface.h" MainWindow::MainWindow( QWidget *parent) : QWidget(parent) { ip = new QLineEdit("127.0.0.1"); port = new QLineEdit("33333"); status = new QLabel(tr("Not connected")); connectBtn = new QPushButton(tr("Connect")); msgId = new QLineEdit("0"); msgValue = new QLineEdit("0"); sendMsg = new QPushButton(tr("Send Message")); quitBtn = new QPushButton(tr("Quit")); // Connection parameters QGroupBox* grp1 = new QGroupBox(tr("Connection")); QVBoxLayout* grp1layout = new QVBoxLayout(); grp1->setLayout(grp1layout); grp1layout->addWidget(new QLabel(tr("IP"))); grp1layout->addWidget(ip); grp1layout->addWidget(new QLabel(tr("Port"))); grp1layout->addWidget(port); grp1layout->addWidget(status); grp1layout->addWidget(connectBtn); // UserMessage parameters QGroupBox* grp2 = new QGroupBox(tr("User message")); QVBoxLayout* grp2layout = new QVBoxLayout(); grp2->setLayout(grp2layout); grp2layout->addWidget(new QLabel(tr("Message ID"))); grp2layout->addWidget(msgId); grp2layout->addWidget(new QLabel(tr("Data 0"))); grp2layout->addWidget(msgValue); grp2layout->addWidget(sendMsg); // Overall layout QVBoxLayout* main_layout = new QVBoxLayout(); main_layout->addWidget(grp1); main_layout->addWidget(grp2); main_layout->addWidget(quitBtn); setLayout(main_layout); // connect widgets connect(connectBtn, SIGNAL(clicked()), this, SLOT(connectToDashel())); connect(sendMsg, SIGNAL(clicked()), this, SLOT(sendUserMessage())); connect(quitBtn, SIGNAL(clicked()), this, SLOT(close())); // connect signals from dashel connect(&dashelInterface, SIGNAL(messageAvailable(Aseba::UserMessage *)), SLOT(messageFromDashel(Aseba::UserMessage *)), Qt::QueuedConnection); connect(&dashelInterface, SIGNAL(dashelDisconnection()), SLOT(disconnectionFromDashel()), Qt::QueuedConnection); connect(&dashelInterface, SIGNAL(dashelConnection()), SLOT(connectionFromDashel()), Qt::QueuedConnection); } MainWindow::~MainWindow() { dashelInterface.disconnectAseba(); } void MainWindow::connectToDashel() { dashelInterface.connectAseba(ip->text(), port->text()); } /* * Example on how to broadcast a message to Aseba nodes. * The message ID depend on the events defined inside your Aseba code. * In this simple example, we send 1 data with the message (can be zero, * or more). */ void MainWindow::sendUserMessage() { QVector values(0); values.append(msgValue->text().toInt()); dashelInterface.sendEvent(msgId->text().toInt(), values); } /* * Receive messages sent by Aseba nodes * * userMessage->source * ID of the Aseba node sending the event * userMessage->type * Type (EVENT_ID) of event. Depend on the node * userMessage->data * Data associated with the event */ void MainWindow::messageFromDashel(Aseba::UserMessage *message) { // Process the message _here_ // ... // do not remove this line delete message; } /* * We are now connected... */ void MainWindow::connectionFromDashel() { status->setText(tr("Connected")); connectBtn->setEnabled(false); // If you need to initialize the nodes, perform the // work here // dashelInterface.sendEvent(...) } /* * Oops, we have lost the connection... */ void MainWindow::disconnectionFromDashel() { status->setText(tr("Not connected")); connectBtn->setEnabled(true); QMessageBox::warning(0, tr("Oops"), tr("Disconnected from Dashel")); } aseba-1.6.0/examples/clients/cpp-qt-gui/mainwindow.h000066400000000000000000000033221322771007300223650ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This example is based on a first work of Olivier Marti (2010 - 2011). Stripped down & cleaned version by Florian Vaussard (2013). This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef MAINWINDOW_H #define MAINWINDOW_H #include #include #include "dashelinterface.h" class MainWindow : public QWidget { Q_OBJECT public: explicit MainWindow(QWidget *parent = 0); ~MainWindow(); protected: DashelInterface dashelInterface; // QLineEdit* ip; QLineEdit* port; QLabel* status; QPushButton* connectBtn; // QLineEdit* msgId; QLineEdit* msgValue; QPushButton* sendMsg; // QPushButton* quitBtn; protected slots: void connectToDashel(); void sendUserMessage(); // interface with Dashel void connectionFromDashel(); void disconnectionFromDashel(); void messageFromDashel(Aseba::UserMessage *message); }; #endif // MAINWINDOW_H aseba-1.6.0/examples/clients/cpp-qt-gui/qt-gui.pro000066400000000000000000000013031322771007300217650ustar00rootroot00000000000000#------------------------------------------------- # # Project created by QtCreator 2013-04-02T16:25:05 # #------------------------------------------------- QT += core gui greaterThan(QT_MAJOR_VERSION, 4): QT += widgets TARGET = qt-gui TEMPLATE = app INCLUDEPATH += "../../.." INCLUDEPATH += "../../../../dashel" LIBS += "../../../../dashel-build/libdashel.a" LIBS += "../../../../aseba-build/transport/dashel_plugins/libasebadashelplugins.a" LIBS += "../../../../aseba-build/common/libasebacommon.a" unix:LIBS += -ludev win32:LIBS += -lwinspool -lws2_32 -lsetupapi -luuid SOURCES += main.cpp\ mainwindow.cpp \ dashelinterface.cpp HEADERS += mainwindow.h \ dashelinterface.h aseba-1.6.0/examples/clients/cpp-shell/000077500000000000000000000000001322771007300177415ustar00rootroot00000000000000aseba-1.6.0/examples/clients/cpp-shell/CMakeLists.txt000066400000000000000000000003761322771007300225070ustar00rootroot00000000000000# libxml2 find_package(LibXml2) if (LIBXML2_FOUND) include_directories(${LIBXML2_INCLUDE_DIR}) add_executable(asebashell shell.cpp ) target_link_libraries(asebashell asebacompiler ${LIBXML2_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) endif (LIBXML2_FOUND)aseba-1.6.0/examples/clients/cpp-shell/shell.cpp000066400000000000000000000430751322771007300215650ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #if defined(_WIN32) && defined(__MINGW32__) /* This is a workaround for MinGW32, see libxml/xmlexports.h */ #define IN_LIBXML #endif #include #include #include "shell.h" #include "common/utils/utils.h" #include "transport/dashel_plugins/dashel-plugins.h" using namespace std; using namespace Dashel; using namespace Aseba; // code of the shell Shell::Shell(const char* target): // connect to a Dashel stdin stream shellStream(connect("stdin:")), // connect to the Aseba target targetStream(connect(target)) { // first prompt wcerr << "> "; } bool Shell::isValid() const { return shellStream && targetStream; } bool Shell::run1s() { int timeout(1000); UnifiedTime startTime; while (timeout > 0) { if (!step(timeout)) return false; const UnifiedTime now; timeout -= (now - startTime).value; startTime = now; } return true; } void Shell::sendMessage(const Message& message) { message.serialize(targetStream); targetStream->flush(); } void Shell::nodeDescriptionReceived(unsigned nodeId) { wcerr << '\r'; wcerr << "Received description for node " << getNodeName(nodeId) << endl; wcerr << endl; wcerr << "> " << UTF8ToWString(curShellCmd); } void Shell::incomingData(Dashel::Stream *stream) { // dispatch to correct method in function of stream if (stream == shellStream) incomingShellData(stream); if (stream == targetStream) incomingTargetData(stream); } void Shell::incomingTargetData(Dashel::Stream *stream) { // receive message Message *message = 0; try { // deserialize message using Aseba::Message::receive() static function message = Message::receive(stream); } catch (DashelException e) { // if this stream has a problem, ignore it for now, // and let Hub call connectionClosed later. wcerr << "error while receiving message: " << e.what() << endl; return; } // pass message to description manager, which builds // the node descriptions in background NodesManager::processMessage(message); // if variables, print const Variables *variables(dynamic_cast(message)); if (variables) { // as this is a shell, we just print the result of the variable // message as we assumes that it was linked to the last // GetVariables request, but in case a third-party is requesting // variables there might be many response before the one corresponding // to the query. In that case, the variables->start value // must be checked against the variable map wcerr << '\r'; for (size_t i = 0; i < variables->variables.size(); ++i) wcerr << variables->variables[i] << " "; wcerr << endl; wcerr << "> " << UTF8ToWString(curShellCmd); } // if user event, print const UserMessage *userMessage(dynamic_cast(message)); if (userMessage) { wcerr << '\r'; if (userMessage->type < commonDefinitions.events.size()) wcerr << commonDefinitions.events[userMessage->type].name; else wcerr << "unknown event " << userMessage->type; wcerr << ": "; for (size_t i = 0; i < userMessage->data.size(); ++i) wcerr << userMessage->data[i] << " "; wcerr << endl; wcerr << "> " << UTF8ToWString(curShellCmd); } delete message; } void Shell::incomingShellData(Dashel::Stream *stream) { // read one character char c; stream->read(&c, 1); // ignore \r on Windows #ifdef WIN32 if (c == '\r') return; #endif // WIN32 // if end of line, execute command, else store character if (c == '\n') processShellCmd(); else curShellCmd += c; } void Shell::processShellCmd() { // split command using whitespaces const strings args(split(curShellCmd)); if (args.empty()) return; // following command, do different things if (args[0] == "ls") { if (args.size() == 1) listNodes(); else listVariables(args); } else if (args[0] == "get") { getVariable(args); } else if (args[0] == "set") { setVariable(args); } else if (args[0] == "emit") { emit(args); } else if (args[0] == "load") { load(args); } else if (args[0] == "stop") { stop(args); } else if (args[0] == "run") { run(args); } else if (args[0] == "quit") { Hub::stop(); return; } else { if (args[0] != "help") { wcerr << "Unknown command: " << UTF8ToWString(curShellCmd) << endl; wcerr << "Valid commands are:" << endl; } else wcerr << "Available commands are: " << endl; wcerr << " ls list all nodes on network" << endl; wcerr << " ls NODE_NAME list the variables of a node" << endl; wcerr << " get NODE_NAME VAR_NAME get the value of a variable" << endl; wcerr << " set NODE_NAME VAR_NAME VAR_DATA+ set the value of a variable" << endl; wcerr << " emit EVENT_NAME EVENT_DATA* emit an event along with payload" << endl; wcerr << " load FILENAME load an aesl file" << endl; wcerr << " stop NODE_NAME stop the execution on a node" << endl; wcerr << " run NODE_NAME run the execution on a node" << endl; wcerr << " quit quit shell" << endl; wcerr << " help show this summary" << endl; } // read for new command curShellCmd = ""; wcerr << endl << "> "; } void Shell::listNodes() { for (NodesMap::const_iterator it(nodes.begin()); it != nodes.end(); ++it) wcerr << (it->second).name << endl; } void Shell::listVariables(const strings& args) { // get target description if (args.size() < 2) { wcerr << "missing argument" << endl; return; } bool ok; const unsigned nodeId(getNodeId(UTF8ToWString(args[1]), 0, &ok)); if (!ok) { wcerr << "invalid node name " << UTF8ToWString(args[1]) << endl; return; } const TargetDescription* desc(getDescription(nodeId)); if (!desc) return; // dump target description wcerr << "Target name " << desc->name << endl; wcerr << "protocol version " << desc->protocolVersion << endl; wcerr << "bytecode size " << desc->bytecodeSize << endl; wcerr << "variables size " << desc->variablesSize << endl; wcerr << "stack size " << desc->stackSize << endl; wcerr << "variables:" << endl; // if we have a result from the compiler for this node... const NodeNameToVariablesMap::const_iterator allVarMapIt(allVariables.find(args[1])); if (allVarMapIt != allVariables.end()) { // ... use it const VariablesMap& varMap(allVarMapIt->second); VariablesMap::const_iterator it(varMap.begin()); for (;it != varMap.end(); ++it) wcerr << " " << it->first << " " << it->second.second << endl; } else { // ... otherwise shows variables from the target description for (size_t i=0; inamedVariables.size(); ++i) { const TargetDescription::NamedVariable& var(desc->namedVariables[i]); wcerr << " " << var.name << " " << var.size << endl; } } wcerr << "local events: " << endl; for (size_t i=0; ilocalEvents.size(); ++i) { const TargetDescription::LocalEvent &event(desc->localEvents[i]); wcerr << " " << event.name << " - " << event.description << endl; } wcerr << "native functions:" << endl; for (size_t i=0; inativeFunctions.size(); ++i) { const TargetDescription::NativeFunction& func(desc->nativeFunctions[i]); wcerr << " " << func.name << "("; for (size_t j=0; j 0) wcerr << param.size; else wcerr << "T<" << -param.size << ">"; wcerr << "]"; if (j+1 != func.parameters.size()) wcerr << ", "; } wcerr << ") - "; wcerr << func.description << endl; } } void Shell::getVariable(const strings& args) { // check that there is the correct number of arguments if (args.size() != 3) { wcerr << "wrong number of arguments, usage: get NODE_NAME VAR_NAME" << endl; return; } // get node id, variable position and length unsigned nodeId, pos; const bool exists(getNodeAndVarPos(args[1], args[2], nodeId, pos)); if (!exists) return; bool ok; const unsigned length(getVariableSize(nodeId, UTF8ToWString(args[2]), &ok)); if (!ok) return; // send the message GetVariables getVariables(nodeId, pos, length); getVariables.serialize(targetStream); targetStream->flush(); } void Shell::setVariable(const strings& args) { // check that there are enough arguments if (args.size() < 4) { wcerr << "missing argument, usage: set NODE_NAME VAR_NAME VAR_DATA+" << endl; return; } // get node id, variable position and length unsigned nodeId, pos; const bool exists(getNodeAndVarPos(args[1], args[2], nodeId, pos)); if (!exists) return; // send the message VariablesDataVector data; for (size_t i=3; iflush(); } void Shell::emit(const strings& args) { // check that there are enough arguments if (args.size() < 2) { wcerr << "missing argument, usage: emit EVENT_NAME EVENT_DATA*" << endl; return; } size_t pos; if (!commonDefinitions.events.contains(UTF8ToWString(args[1]), &pos)) { wcerr << "event " << UTF8ToWString(args[1]) << " is unknown" << endl; return; } // build event and emit VariablesDataVector data; for (size_t i=2; iflush(); } void Shell::load(const strings& args) { // check that there is the correct number of arguments if (args.size() != 2) { wcerr << "wrong number of arguments, usage: load FILENAME" << endl; return; } // open document const string& fileName(args[1]); xmlDoc *doc(xmlReadFile(fileName.c_str(), nullptr, 0)); if (!doc) { wcerr << "cannot read XML from file " << UTF8ToWString(fileName) << endl; return; } xmlNode *domRoot(xmlDocGetRootElement(doc)); // clear existing data commonDefinitions.events.clear(); commonDefinitions.constants.clear(); allVariables.clear(); // load new data int noNodeCount(0); bool wasError(false); if (!xmlStrEqual(domRoot->name, BAD_CAST("network"))) { wcerr << "root node is not \"network\", XML considered invalid" << endl; wasError = true; } else for (xmlNode *domNode(xmlFirstElementChild(domRoot)); domNode; domNode = domNode->next) { if (domNode->type == XML_ELEMENT_NODE) { // an Aseba node, which contains a virtual machine if (xmlStrEqual(domNode->name, BAD_CAST("node"))) { // get attributes, child and content xmlChar *name(xmlGetProp(domNode, BAD_CAST("name"))); if (!name) { wcerr << "missing \"name\" attribute in \"node\" entry" << endl; } else { const string _name((const char *)name); xmlChar * text(xmlNodeGetContent(domNode)); if (!text) { wcerr << "missing text in \"node\" entry" << endl; } else { // got the identifier of the node and compile the code unsigned preferedId(0); xmlChar *storedId = xmlGetProp(domNode, BAD_CAST("nodeId")); if (storedId) preferedId = unsigned(atoi((char*)storedId)); bool ok; unsigned nodeId(getNodeId(UTF8ToWString(_name), preferedId, &ok)); if (ok) { if (!compileAndSendCode(UTF8ToWString((const char *)text), nodeId, _name)) wasError = true; } else noNodeCount++; // free attribute and content xmlFree(text); } xmlFree(name); } } // a global event else if (xmlStrEqual(domNode->name, BAD_CAST("event"))) { // get attributes xmlChar *name(xmlGetProp(domNode, BAD_CAST("name"))); if (!name) wcerr << "missing \"name\" attribute in \"event\" entry" << endl; xmlChar *size(xmlGetProp(domNode, BAD_CAST("size"))); if (!size) wcerr << "missing \"size\" attribute in \"event\" entry" << endl; // add event if (name && size) { int eventSize(atoi((const char *)size)); if (eventSize > ASEBA_MAX_EVENT_ARG_SIZE) { wcerr << "Event " << name << " has a length " << eventSize << "larger than maximum" << ASEBA_MAX_EVENT_ARG_SIZE << endl; wasError = true; break; } else { commonDefinitions.events.push_back(NamedValue(UTF8ToWString((const char *)name), eventSize)); } } // free attributes if (name) xmlFree(name); if (size) xmlFree(size); } // a global constant else if (xmlStrEqual(domNode->name, BAD_CAST("constant"))) { // get attributes xmlChar *name(xmlGetProp(domNode, BAD_CAST("name"))); if (!name) wcerr << "missing \"name\" attribute in \"constant\" entry" << endl; xmlChar *value(xmlGetProp(domNode, BAD_CAST("value"))); if (!value) wcerr << "missing \"value\" attribute in \"constant\" entry" << endl; // add constant if attributes are valid if (name && value) { commonDefinitions.constants.push_back(NamedValue(UTF8ToWString((const char *)name), atoi((const char *)value))); } // free attributes if (name) xmlFree(name); if (value) xmlFree(value); } else wcerr << "Unknown XML node seen in .aesl file: " << domNode->name << endl; } } // release memory xmlFreeDoc(doc); // check if there was an error if (wasError) { wcerr << "There was an error while loading script " << UTF8ToWString(fileName) << endl; commonDefinitions.events.clear(); commonDefinitions.constants.clear(); allVariables.clear(); } // check if there was some matching problem if (noNodeCount) { wcerr << noNodeCount << " scripts have no corresponding nodes in the current network and have not been loaded." << endl; } } bool Shell::compileAndSendCode(const wstring& source, unsigned nodeId, const string& nodeName) { // compile code std::wistringstream is(source); Error error; BytecodeVector bytecode; unsigned allocatedVariablesCount; Compiler compiler; compiler.setTargetDescription(getDescription(nodeId)); compiler.setCommonDefinitions(&commonDefinitions); bool result = compiler.compile(is, bytecode, allocatedVariablesCount, error); if (result) { // send bytecode sendBytecode(targetStream, nodeId, std::vector(bytecode.begin(), bytecode.end())); // run node Run msg(nodeId); msg.serialize(targetStream); targetStream->flush(); // retrieve user-defined variables for use in get/set allVariables[nodeName] = *compiler.getVariablesMap(); return true; } else { wcerr << "compilation for node " << UTF8ToWString(nodeName) << " failed: " << error.toWString() << endl; return false; } } void Shell::stop(const strings& args) { // check arguments if (args.size() != 2) { wcerr << "wrong number of arguments, usage: stop NODE_NAME" << endl; return; } bool ok; const unsigned nodeId(getNodeId(UTF8ToWString(args[1]), 0, &ok)); if (!ok) { wcerr << "invalid node name " << UTF8ToWString(args[1]) << endl; return; } // build stop message and send Stop stopMsg(nodeId); stopMsg.serialize(targetStream); targetStream->flush(); } void Shell::run(const strings& args) { // check arguments if (args.size() != 2) { wcerr << "wrong number of arguments, usage: run NODE_NAME" << endl; return; } bool ok; const unsigned nodeId(getNodeId(UTF8ToWString(args[1]), 0, &ok)); if (!ok) { wcerr << "invalid node name " << UTF8ToWString(args[1]) << endl; return; } // build run message and send Run runMsg(nodeId); runMsg.serialize(targetStream); targetStream->flush(); } bool Shell::getNodeAndVarPos(const string& nodeName, const string& variableName, unsigned& nodeId, unsigned& pos) const { // make sure the node exists bool ok; nodeId = getNodeId(UTF8ToWString(nodeName), 0, &ok); if (!ok) { wcerr << "invalid node name " << UTF8ToWString(nodeName) << endl; return false; } pos = unsigned(-1); // check whether variable is knwon from a compilation, if so, get position const NodeNameToVariablesMap::const_iterator allVarMapIt(allVariables.find(nodeName)); if (allVarMapIt != allVariables.end()) { const VariablesMap& varMap(allVarMapIt->second); const VariablesMap::const_iterator varIt(varMap.find(UTF8ToWString(variableName))); if (varIt != varMap.end()) pos = varIt->second.first; } // if variable is not user-defined, check whether it is provided by this node if (pos == unsigned(-1)) { bool ok; pos = getVariablePos(nodeId, UTF8ToWString(variableName), &ok); if (!ok) { wcerr << "variable " << UTF8ToWString(variableName) << " does not exists in node " << UTF8ToWString(nodeName); return false; } } return true; } int main(int argc, char *argv[]) { // check command line arguments if (argc != 2) { wcerr << "Usage: " << argv[0] << " TARGET" << endl; return 1; } // initialize Dashel plugins Dashel::initPlugins(); // create the shell Shell shell(argv[1]); // check whether connection was successful if (!shell.isValid()) { wcerr << "Connection failure" << endl; return 2; } // run the Dashel Hub do { shell.pingNetwork(); } while (shell.run1s()); return 0; } aseba-1.6.0/examples/clients/cpp-shell/shell.h000066400000000000000000000061611322771007300212250ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef SHELL_H #define SHELL_H #include #include #include #include "common/msg/NodesManager.h" #include "compiler/compiler.h" /* This is the main class of the Aseba client, called Shell because this example provides a simple command-line shell to interact with an Aseba network. Start this program and type "help" to see the list of commands. This class inherits from Dashel::Hub and Aseba::NodesManager. The first provides the synchronisation between the command-line inputs and the Aseba messages from an Aseba target, through the streams shellStream and targetStream. The second reconstruct target descriptions by filtering Aseba messages through NodesManager::processMessage(). */ struct Shell: public Dashel::Hub, public Aseba::NodesManager { public: typedef std::vector strings; typedef std::map NodeNameToVariablesMap; protected: // streams Dashel::Stream* shellStream; Dashel::Stream* targetStream; // current command line std::string curShellCmd; // result of last compilation and load used to interprete messages Aseba::CommonDefinitions commonDefinitions; NodeNameToVariablesMap allVariables; public: // interface with main() Shell(const char* target); bool isValid() const; bool run1s(); protected: // reimplemented from parent classes virtual void sendMessage(const Aseba::Message& message); virtual void nodeDescriptionReceived(unsigned nodeId); virtual void incomingData(Dashel::Stream *stream); // main handlers for activites on streams void incomingTargetData(Dashel::Stream *stream); void incomingShellData(Dashel::Stream *stream); // process curShellCmd once a '\n' is detected on shellStream void processShellCmd(); // implementation of all commands void listNodes(); void listVariables(const strings& args); void getVariable(const strings& args); void setVariable(const strings& args); void emit(const strings& args); void load(const strings& args); void stop(const strings& args); void run(const strings& args); // helper functions bool getNodeAndVarPos(const std::string& nodeName, const std::string& variableName, unsigned& nodeId, unsigned& pos) const; bool compileAndSendCode(const std::wstring& source, unsigned nodeId, const std::string& nodeName); }; #endif // SHELL_H aseba-1.6.0/examples/clients/python-dbus/000077500000000000000000000000001322771007300203265ustar00rootroot00000000000000aseba-1.6.0/examples/clients/python-dbus/aseba.py000077500000000000000000000172321322771007300217630ustar00rootroot00000000000000#!/usr/bin/python # -*- coding: utf-8 -*- """ A Python binding for Aseba that relies on DBus for IPC. Supports event sending/receiving as well as setting/getting an Aseba variable. Typical usage: def my_callback(evt): pass with Aseba as aseba: aseba.on_event("evt_name", my_callback) aseba.send_event("evt_name or evt_id", [arg1, arg2, ...]) aseba.set("node_name", "var_name", value) value = aseba.get("node_name", "var_name") Aseba.event_freq is a dictionary that store the frequency at which each (subscribed) event is received. For events that are emitted at fixed period, it may be a convenient way to make sure the connection is in good state. """ __author__ = "Séverin Lemaignan, Stéphane Magnenat" import dbus import time from dbus.mainloop.glib import DBusGMainLoop import gobject # required to prevent the glib main loop to interfere with Python threads gobject.threads_init() dbus.mainloop.glib.threads_init() class AsebaException(Exception): def __init__(self, value): self.value = value def __str__(self): return repr(self.value) class Aseba(object): NB_EVTS_FREQ = 10 # nb of events to be received before computing frequency def __init__(self, system_bus = False, dummy = False): self.dummy = dummy self.callbacks = {} self._events_last_evt = {} self._events_periods = {} self.events_freq = {} if not dummy: DBusGMainLoop(set_as_default=True) # init if system_bus: self.bus = dbus.SystemBus() else: self.bus = dbus.SessionBus() try: self.network = dbus.Interface( self.bus.get_object('ch.epfl.mobots.Aseba', '/'), dbus_interface='ch.epfl.mobots.AsebaNetwork') except dbus.exceptions.DBusException: raise AsebaException("Can not connect to Aseba DBus services! " "Is asebamedulla running?") # Configure event management eventfilter = self.network.CreateEventFilter() self.events = dbus.Interface( self.bus.get_object('ch.epfl.mobots.Aseba', eventfilter), dbus_interface='ch.epfl.mobots.EventFilter') self.dispatch_handler = self.events.connect_to_signal('Event', self._dispatch_events) def clear_events(self): """ Use DBus introspection to get the list of event filters, and remove them. """ try: introspect = dbus.Interface( self.bus.get_object('ch.epfl.mobots.Aseba', "/events_filters"), dbus_interface=dbus.INTROSPECTABLE_IFACE) interface = introspect.Introspect() except dbus.exceptions.DBusException: # /events_filters not yet created -> no events to delete return import xml.etree.ElementTree as ET root = ET.fromstring(interface) for n in root.iter("node"): if 'name' in n.attrib: evtfilter = dbus.Interface( self.bus.get_object('ch.epfl.mobots.Aseba', "/events_filters/%s" % n.attrib['name']), dbus_interface='ch.epfl.mobots.EventFilter') evtfilter.Free() def __enter__(self): self.run() return self def __exit__(self, type, value, traceback): self.close() def run(self): # run event loop self.loop = gobject.MainLoop() self.loop.run() def close(self): self.loop.quit() if not self.dummy: self.dispatch_handler.remove() self.events.Free() def dbus_reply(self): # correct replay on D-Bus, ignore pass def dbus_error(self, e): assert(not self.dummy) # there was an error on D-Bus, stop loop self.close() raise Exception('dbus error: %s' % str(e)) def get_nodes_list(self): if self.dummy: return [] dbus_array = self.network.GetNodesList() size = len(dbus_array) return [str(dbus_array[x]) for x in range(0,size)] def set(self, node, var, value): if self.dummy: return self.network.SetVariable(node, var, value) def get(self, node, var): if self.dummy: return [0] * 10 dbus_array = self.network.GetVariable(node, var) size = len(dbus_array) if (size == 1): return int(dbus_array[0]) else: return [int(dbus_array[x]) for x in range(0,size)] def send_event(self, event_id, event_args): if isinstance(event_id, basestring): return self.send_event_name(event_id, event_args) if self.dummy: return # events are sent asynchronously self.network.SendEvent(event_id, event_args, reply_handler=self.dbus_reply, error_handler=self.dbus_error) def send_event_name(self, event_name, event_args): if self.dummy: return # events are sent asynchronously self.network.SendEventName(event_name, event_args, reply_handler=self.dbus_reply, error_handler=self.dbus_error) def load_scripts(self, path): """ Loads a given Aseba script (aesl) on the Aseba network. """ if self.dummy: return self.network.LoadScripts(path) def _dispatch_events(self, *args): id, name, vals = args key = None if name in self.callbacks: key = name elif id in self.callbacks: # event registered from ID, not from name key = id if key: self.callbacks[key](vals) # update frequency for this event now = time.time() self._events_periods[key].append(now - self._events_last_evt[key]) self._events_last_evt[key] = now if len(self._events_periods[key]) == Aseba.NB_EVTS_FREQ: self.events_freq[key] = 1. / (sum(self._events_periods[key]) / float(Aseba.NB_EVTS_FREQ)) self._events_periods[key] = [] def on_event(self, event_id, cb): """ Subscribe to an Aseba event :param event_id: the event name or the event numerical ID :param cb: the callback function that will be called with the content of the event as parameter """ if self.dummy: return self.callbacks[event_id] = cb self._events_last_evt[event_id] = time.time() self._events_periods[event_id] = [] self.events_freq[event_id] = 0. if isinstance(event_id, basestring): self.events.ListenEventName(event_id) else: self.events.ListenEvent(event_id) # *** TEST *** if __name__ == '__main__': from optparse import OptionParser parser = OptionParser() parser.add_option("-s", "--system", action="store_true", dest="system", default=False, help="use the system bus instead of the session bus") (options, args) = parser.parse_args() def my_callback(evt): print(evt) with Aseba(options.system) as aseba: # 'timer0' is the name of the Aseba event you want to subscribe to. aseba.on_event("timer0", my_callback) print "List of nodes: ", aseba.get_nodes_list() aseba.set("thymio-II", "event.source", [1]) aseba.send_event(0, []) print "Get variable temperature: ", aseba.get("thymio-II", "temperature") print "Get array acc: ", aseba.get("thymio-II", "acc") aseba-1.6.0/examples/clients/python-dbus/setup.py000077500000000000000000000005451322771007300220470ustar00rootroot00000000000000 #!/usr/bin/env python # -*- coding: utf-8 -*- import os from distutils.core import setup setup(name='aseba', version='1.0', license='LGPL-v3', description='A DBus-based Python binding for Aseba', author='Séverin Lemaignan, Stéphane Magnenat', author_email='severin.lemaignan@epfl.ch', py_modules=['aseba'], ) aseba-1.6.0/examples/clients/readme.md000066400000000000000000000025051322771007300176330ustar00rootroot00000000000000Examples ======== This directory contains several examples to help users build their own program using Aseba, enabling them to communicate with Aseba nodes using customized interfaces. Here is a short summary of the content: - cpp-qt-dbus This is a C++/QT project showing how to interface with Aseba (medulla) using D-Bus (QDBus). The class dbusinterface contains methods that establish the D-Bus interface with an Aseba Network. An interface with Thymio II is shown in the main.cpp as an example, in which an Aseba script (ScriptDBusThymio.aesl) is loaded on Thymio II and the user can then manage the Aseba variables/events. The project is compatible with QT4/QT5 and uses some C++11 functionalities. - cpp-shell This is a basic command-line shell done in pure C++, using Dashel and libxml2. - cpp-qt-gui This is a very basic GUI done in C++ / Qt to exchange messages with Aseba nodes. This program can be compiled either by using cmake, either by using qmake with the provided .pro file. The latest is useful when you create an out-of-tree program. In this case, you will need to comment the "#include " from the .cpp files. The .pro file was tested under windows and unix. - python-dbus This is a Python script showing how to interface with Aseba (medulla) using D-Bus. aseba-1.6.0/examples/http/000077500000000000000000000000001322771007300153705ustar00rootroot00000000000000aseba-1.6.0/examples/http/node-red/000077500000000000000000000000001322771007300170655ustar00rootroot00000000000000aseba-1.6.0/examples/http/node-red/thymio-breathe.json000066400000000000000000000046771322771007300227170ustar00rootroot00000000000000[ { "id": "578e9f0f.a8716", "type": "inject", "name": "every minute", "topic": "", "payload": "", "payloadType": "date", "repeat": "", "crontab": "*\/1 * * * *", "once": false, "x": 100, "y": 240, "z": "460ba41.fb9f45c", "wires": [ [ "93eb914c.6c147" ] ] }, { "id": "93eb914c.6c147", "type": "http request", "name": "beep thymio-II", "method": "GET", "url": "http:\/\/127.0.0.1:3000\/nodes\/thymio-II\/A_sound_system\/8", "x": 300, "y": 180, "z": "460ba41.fb9f45c", "wires": [ [ "24eb13b2.db14ec" ] ] }, { "id": "1a145ef5.e5eba1", "type": "inject", "name": "300 msec", "topic": "", "payload": "", "payloadType": "date", "repeat": "0.3", "crontab": "", "once": true, "x": 100, "y": 60, "z": "460ba41.fb9f45c", "wires": [ [ "1d14413.fe2ebbf" ] ] }, { "id": "1d14413.fe2ebbf", "type": "function", "name": "breathe leds", "func": "var tick = Math.floor(msg.payload \/ 300) % 13;\nmsg.green = tick<5 ? 8 + 8*(3-Math.abs(tick-2)) : 0;\nmsg.red = tick>2 && tick<7 ? 5*(3-Math.abs(tick-4)) : 0;\nmsg.blue = 0;\nmsg.payload = \"rgb=(\"+ msg.red +\" \"+ msg.green +\" \"+ msg.blue +\")\";\nreturn msg;", "outputs": 1, "x": 300, "y": 60, "z": "460ba41.fb9f45c", "wires": [ [ "e8c06fe3.173f9", "fd51c6b5.02ae38" ] ] }, { "id": "e8c06fe3.173f9", "type": "http request", "name": "top leds thymio-II", "method": "GET", "url": "http:\/\/127.0.0.1:3000\/nodes\/thymio-II\/V_leds_top\/{{red}}\/{{green}}\/{{blue}}", "x": 500, "y": 60, "z": "460ba41.fb9f45c", "wires": [ [ ] ] }, { "id": "fd51c6b5.02ae38", "type": "debug", "name": "debug RGB", "active": false, "console": "false", "complete": "false", "x": 500, "y": 120, "z": "460ba41.fb9f45c", "wires": [ ] }, { "id": "7e30981a.81cf68", "type": "http in", "name": "", "url": "\/beep", "method": "get", "x": 100, "y": 180, "z": "460ba41.fb9f45c", "wires": [ [ "93eb914c.6c147" ] ] }, { "id": "24eb13b2.db14ec", "type": "http response", "name": "http ack", "x": 500, "y": 180, "z": "460ba41.fb9f45c", "wires": [ ] } ] aseba-1.6.0/examples/switches/000077500000000000000000000000001322771007300162425ustar00rootroot00000000000000aseba-1.6.0/examples/switches/CMakeLists.txt000066400000000000000000000000321322771007300207750ustar00rootroot00000000000000add_subdirectory(botspeak)aseba-1.6.0/examples/switches/botspeak/000077500000000000000000000000001322771007300200525ustar00rootroot00000000000000aseba-1.6.0/examples/switches/botspeak/CMakeLists.txt000066400000000000000000000001711322771007300226110ustar00rootroot00000000000000add_executable(asebabotspeak botspeak.cpp ) target_link_libraries(asebabotspeak asebacompiler ${ASEBA_CORE_LIBRARIES}) aseba-1.6.0/examples/switches/botspeak/botspeak.cpp000066400000000000000000000636601322771007300224010ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include "botspeak.h" #include "common/utils/utils.h" #include "transport/dashel_plugins/dashel-plugins.h" namespace Aseba { using namespace std; using namespace Dashel; static bool isNumber(const std::string& s) { std::string::const_iterator it(s.begin()); if (it != s.end() && *it == '-') ++it; while (it != s.end() && std::isdigit(*it)) ++it; return !s.empty() && (it == s.end()); } static struct OperationMap: public map { OperationMap() { (*this)["ADD"] = "+="; (*this)["SUB"] = "-="; (*this)["MUL"] = "*="; (*this)["DIV"] = "/="; (*this)["MOD"] = "%="; (*this)["SHR"] = ">>="; (*this)["SHL"] = "<<="; } int exec(const string& op, int a, int b) { if (op == "ADD") return a+b; else if (op == "SUB") return a-b; else if (op == "MUL") return a*b; else if (op == "DIV") return b ? a/b : 0; else if (op == "MOD") return b ? a%b : 0; else if (op == "SHR") return a>>b; else if (op == "SHL") return a<(arg, "[] ")); assert(parts.size() >= 1); if (parts.size() == 2) { if (isNumber(parts[1])) { unsigned index(atoi(parts[1].c_str())); const unsigned varSize(bridge->getVarSize(parts[0])); assert(varSize != 0); if (index >= varSize) { cerr << FormatableString("Attempting to access variable %0 at index %1 past its size %2, accessing last element %3 instead").arg(parts[0]).arg(index).arg(varSize).arg(varSize-1) << endl; index = varSize-1; } address = bridge->getVarAddress(parts[0]) + index; GetVariables(bridge->nodeId, address, 1).serialize(bridge->asebaStream); bridge->asebaStream->flush(); state = PENDING_DIRECT_VALUE; } else { address = bridge->getVarAddress(parts[0]); indirectAddress = bridge->getVarAddress(parts[1]); GetVariables(bridge->nodeId, indirectAddress, 1).serialize(bridge->asebaStream); bridge->asebaStream->flush(); state = PENDING_INDIRECT_VALUE; } } else { indirectAddress = -1; if (isNumber(parts[0])) { address = -1; value = atoi(parts[0].c_str()); state = RESOLVED; } else { address = bridge->getVarAddress(parts[0]); GetVariables(bridge->nodeId, address, 1).serialize(bridge->asebaStream); bridge->asebaStream->flush(); state = PENDING_DIRECT_VALUE; } } } bool BotSpeakBridge::Value::update(BotSpeakBridge* bridge, unsigned addr, int val) { if (state == PENDING_INDIRECT_VALUE && addr == indirectAddress) { address += val; GetVariables(bridge->nodeId, address, 1).serialize(bridge->asebaStream); bridge->asebaStream->flush(); state = PENDING_DIRECT_VALUE; return true; } else if (state == PENDING_DIRECT_VALUE && addr == address) { value = val; state = RESOLVED; return true; } return false; } BotSpeakBridge::Operation::Operation(BotSpeakBridge* bridge, const std::string& op, const std::string& lhs, const std::string& rhs): op(op), lhs(bridge, lhs), rhs(bridge, rhs) {} //! Update operation, exec if ready, return whether was executed bool BotSpeakBridge::Operation::update(BotSpeakBridge* bridge, unsigned addr, int val) { if (!lhs.update(bridge, addr, val)) rhs.update(bridge, addr, val); if (isReady()) { exec(bridge); return true; } return false; } bool BotSpeakBridge::Operation::isReady() { return (lhs.state == Value::RESOLVED) && (rhs.state == Value::RESOLVED); } void BotSpeakBridge::Operation::exec(BotSpeakBridge* bridge) { assert(isReady()); const int result(operationMap.exec(op, lhs.value, rhs.value)); // output result bridge->outputBotspeak(result); // write back result SetVariables(bridge->nodeId, lhs.address, VariablesDataVector(1, result)).serialize(bridge->asebaStream); // update outputs UserMessage(bridge->eventId(L"update_outputs")).serialize(bridge->asebaStream); bridge->asebaStream->flush(); if (bridge->verbose) cout << "Set address " << lhs.address << " to value " << result << endl; } BotSpeakBridge::BotSpeakBridge(unsigned botSpeakPort, const char* asebaTarget): botSpeakStream(0), asebaStream(0), nodeId(0), freeVariableIndex(0), recordScript(false), runAndWait(false), verbose(true) { // fill common definitions commonDefinitions.events.push_back(NamedValue(L"start", 0)); commonDefinitions.events.push_back(NamedValue(L"stopped", 0)); commonDefinitions.events.push_back(NamedValue(L"running_ping", 0)); commonDefinitions.events.push_back(NamedValue(L"update_inputs", 0)); commonDefinitions.events.push_back(NamedValue(L"update_outputs", 0)); // connect to the Aseba target connect(asebaTarget); // connect a server stream for BotSpeak ostringstream oss; oss << "tcpin:port=" << botSpeakPort; connect(oss.str()); // request a description for aseba target GetDescription getDescription; getDescription.serialize(asebaStream); asebaStream->flush(); } bool BotSpeakBridge::run1s() { int timeout(1000); UnifiedTime startTime; while (timeout > 0) { if (!step(timeout)) return false; const UnifiedTime now; timeout -= (now - startTime).value; startTime = now; } return true; } void BotSpeakBridge::connectionCreated(Dashel::Stream *stream) { if (!asebaStream) { if (verbose) cout << "Incoming Aseba connection from " << stream->getTargetName() << endl; asebaStream = stream; } else { if (nodeId == 0) throw runtime_error("Got BotSpeak connection before Aseba target description"); if (botSpeakStream) closeStream(botSpeakStream); if (verbose) cout << "Incoming BotSpeak connection from " << stream->getTargetName() << endl; botSpeakStream = stream; } } void BotSpeakBridge::connectionClosed(Stream * stream, bool abnormal) { if (stream == asebaStream) { asebaStream = 0; cout << "Connection closed to Aseba target" << endl; stop(); } else if (stream == botSpeakStream) { botSpeakStream = 0; cout << "Connection closed to botspeak client" << endl; } else abort(); } void BotSpeakBridge::sendMessage(const Message& message) { message.serialize(asebaStream); asebaStream->flush(); } void BotSpeakBridge::nodeDescriptionReceived(unsigned nodeId) { if (verbose) wcout << L"Received description for " << getNodeName(nodeId) << endl; this->nodeId = nodeId; // getting variables from target, and allocate variables for BotSpeak runtime variablesMap = getDescription(nodeId)->getVariablesMap(freeVariableIndex); botspeakVariables.clear(); // Botspeak defineVar(L"_currentBasicBlock", 1); // Thymio defineVar(L"DIO", 13); defineVar(L"AI", 16); defineVar(L"AO", 2); defineVar(L"PWM", 9); defineVar(L"TMR", 1); // Generate an empty script compileAndRunScript(); } void BotSpeakBridge::incomingData(Stream *stream) { // dispatch to correct method in function of stream if (stream == asebaStream) incomingAsebaData(stream); else if (stream == botSpeakStream) incomingBotspeakData(stream); else abort(); } void BotSpeakBridge::incomingAsebaData(Stream *stream) { // receive message Message *message(Message::receive(stream)); // pass message to description manager, which builds // the node descriptions in background NodesManager::processMessage(message); // if variables, check for pending requests const Variables *variables(dynamic_cast(message)); if (variables) { if (getValue.get() && (variables->variables.size() == 1)) { if (verbose) cout << "Received variable value, updating pending get" << endl; getValue->update(this, variables->start, variables->variables[0]); if (getValue->state == Value::RESOLVED) { outputBotspeak(getValue->value); if (verbose) cout << "Received result of get: " << getValue->value << endl; getValue.reset(); startNextOperationIfPossible(); } } else if ((currentOperation.get()) && (variables->variables.size() == 1)) { if (verbose) cout << "Received variable value, updating pending operation" << endl; if (currentOperation->update(this, variables->start, variables->variables[0])) { if (verbose) cout << "Operation completed" << endl; currentOperation.reset(); startNextOperationIfPossible(); } } } // if event const UserMessage *userMsg(dynamic_cast(message)); if (userMsg) { if (userMsg->type == eventId(L"stopped")) { if (verbose) cout << "Execution completed" << endl; if (runAndWait) outputBotspeak("Done"); runAndWait = 0; } else if (userMsg->type == eventId(L"running_ping")) { if (verbose) cout << "." << endl; outputBotspeak(".", true); } } delete message; } void BotSpeakBridge::incomingBotspeakData(Stream *stream) { uint8_t c; string command; while ((c = stream->read()) != '\r') { if (c == '\n') { processCommand(command); command.clear(); } else command += c; } processCommand(command); c = stream->read(); if (c != '\n') throw runtime_error( FormatableString("Invalid BotSpeak protocol, expecting '\\n' but got character 0x%0 instead").arg(unsigned(c),2,16,'0') ); } void BotSpeakBridge::processCommand(const string& command) { if (command.empty()) return; if (command == "ENDSCRIPT") { if (verbose) cout << "stopping recording script" << endl; recordScript = false; outputBotspeak("end script"); return; } if (recordScript) { if (verbose) cout << "recording command: " << script.size() << " " << command << endl; script.push_back(command); } else { if (verbose) cout << "processing command: " << command << endl; interpreteCommand(command); } } template static bool isSize(const T& name); template<> bool isSize(const string& name) { return (name.length() > 5 && name.rfind("_SIZE") == name.length()-5); } template<> bool isSize(const wstring& name) { return (name.length() > 5 && name.rfind(L"_SIZE") == name.length()-5); } template static T baseNameSize(const T& name) { return name.substr(0, name.length()-5); } void BotSpeakBridge::interpreteCommand(const string& command) { const StringVector cmd(split(command)); if (cmd.size()) { if (cmd[0] == "SCRIPT") { script.clear(); recordScript = true; outputBotspeak("start script"); } else if (cmd[0] == "RUN") { compileAndRunScript(); outputBotspeak(1); } else if (cmd[0] == "RUN&WAIT") { compileAndRunScript(); runAndWait = true; } else if (cmd[0] == "SET") { const StringVector tokens(split(cmd.at(1), "[,] \t")); createBotspeakVarIfUndefined(UTF8ToWString(tokens.at(0)), atoi(tokens.back().c_str())); if (!isSize(tokens.at(0))) { const StringVector args(split(cmd.at(1), ",")); scheduleOperation("SET", args.at(0), args.at(1)); } } else if (operationMap.find(cmd[0]) != operationMap.end()) { const StringVector args(split(cmd.at(1), ",")); scheduleOperation(cmd[0], args.at(0), args.at(1)); } else if (command == "GET VER") { if (verbose) cout << "Reporting version" << endl; outputBotspeak(1); } else if (cmd[0] == "GET") { scheduleGet(cmd.at(1)); } else { cerr << "unknown: \"" + command + "\"" << endl; if (botSpeakStream) { const char* version("\r\n"); botSpeakStream->write(version, 2); botSpeakStream->flush(); } } } } void BotSpeakBridge::compileAndRunScript() { // extraction of basic blocks and variable definitions set splits; if (verbose) cout << "Compiling " << script.size() << " lines" << endl; for (size_t i(0); i= 2 && script[i][0] == '/' && script[i][1] == '/') { if (verbose) cout << "comment: " << script[i] << endl; continue; } const StringVector cmd(split(script[i])); if (cmd.size()) { if ((cmd[0] == "WAIT") && (i+1 1)) { const StringVector tokens(split(cmd[1], "[,] \t")); createBotspeakVarIfUndefined(UTF8ToWString(tokens.at(0)), atoi(tokens.back().c_str())); } } } if (verbose) { cout << "Found " << splits.size()+1 << " basic blocs starting at lines 0 "; for (set::const_iterator it(splits.begin()); it!=splits.end(); ++it) cout << *it << " "; cout << endl; } // build basic block lookup table vector blocToLineTable(script.size(), 0); unsigned line(0); unsigned bb(0); for (set::const_iterator it(splits.begin()); it!=splits.end(); ++it) { while (line < *it) blocToLineTable[line++] = bb; ++bb; } while (line < script.size()) blocToLineTable[line++] = bb; // generate aseba source wstring asebaSource; // generate variable definition for (vector::const_iterator it(botspeakVariables.begin()); it!=botspeakVariables.end(); ++it) { asebaSource += L"var " + it->name; if (it->size != 1) asebaSource += WFormatableString(L"[%0]").arg(it->size); asebaSource += L"\n"; } // and initialization header asebaSource += asebaCodeHeader(); // macro acting like a local function #define args1 (isSize(args.at(1)) ? FormatableString("%0").arg(variablesMap.at(UTF8ToWString(baseNameSize(args.at(1)))).second) : args.at(1)) // subroutines for basic blocks set::const_iterator bbIt(splits.begin()); asebaSource += L"sub bb0\n"; bb = 0; bool nextBBDefined(false); // transform the source and put the result in the right basic block for (size_t i(0); i(script[i])); if (cmd.empty()) continue; if (cmd[0] == "SET") { const StringVector args(split(cmd.at(1), ",")); if (!isSize(args.at(0))) asebaSource += L"\t" + UTF8ToWString(args.at(0)) + L" = " + UTF8ToWString(args1) + L"\n"; } else if (operationMap.find(cmd[0]) != operationMap.end()) { const StringVector args(split(cmd.at(1), ",")); asebaSource += L"\t" + UTF8ToWString(args.at(0)) + L" " + UTF8ToWString(operationMap.at(cmd[0])) + L" " + UTF8ToWString(args1) + L"\n"; } else if (cmd[0] == "WAIT") { if (cmd.at(1).find('.') != string::npos) asebaSource += WFormatableString(L"\ttimer.period[0] = %0\n").arg(unsigned(atof(cmd.at(1).c_str())*1000.)); else asebaSource += WFormatableString(L"\ttimer.period[0] = %0\n").arg(atoi(cmd.at(1).c_str())); } else if (cmd[0] == "IF") { const unsigned destLine(atoi(cmd.back().c_str())); if (cmd.size() == 4) { // direct goto asebaSource += WFormatableString(L"\t_currentBasicBlock = %0\n").arg(blocToLineTable[destLine]); } else if (cmd.size() == 6) { // test asebaSource += L"\tif " + UTF8ToWString(cmd[1]+cmd[2]+cmd[3]) + L" then\n"; asebaSource += WFormatableString(L"\t\t_currentBasicBlock = %0\n").arg(blocToLineTable[destLine]); asebaSource += L"\telse\n"; asebaSource += WFormatableString(L"\t\t_currentBasicBlock = %0\n").arg(bb+1); asebaSource += L"\tend\n"; } nextBBDefined = true; } else if (cmd[0] == "GOTO") { const unsigned destLine(atoi(cmd.back().c_str())); asebaSource += WFormatableString(L"\t_currentBasicBlock = %0\n").arg(blocToLineTable[destLine]); nextBBDefined = true; } else { cerr << "Ignoring unknown BotSpeak instruction " << cmd[0] << endl; } } if (!nextBBDefined) { asebaSource += WFormatableString(L"\t_currentBasicBlock = %0\n").arg(bb+1); asebaSource += L"\temit stopped\n"; } // basic block dispatch asebaSource += L"\nsub dispatchBB\n"; asebaSource += L"\ttimer.period[0] = 0\n"; asebaSource += WFormatableString(L"\twhile timer.period[0] == 0 and _currentBasicBlock < %0 do\n").arg(splits.size()+1); for (unsigned i(0); i(bytecode.begin(), bytecode.end())); Run(nodeId).serialize(asebaStream); UserMessage(eventId(L"start")).serialize(asebaStream); asebaStream->flush(); } else { wcerr << L"Compilation failed: " << error.toWString() << endl; } } void BotSpeakBridge::scheduleOperation(const string& op, const string& arg0, const string& arg1) { if (verbose) cout << "Scheduling operation " << op << " " << arg0 << "," << arg1 << "" <flush(); // depending whether it is a get or a binary operation if (nextOperationsOp.front() == "GET") { getValue.reset(new Value(this, nextOperationsArg0.front())); if (verbose) cout << "Next get started" << endl; } else { currentOperation.reset(new Operation(this, nextOperationsOp.front(), nextOperationsArg0.front(), nextOperationsArg1.front())); if (verbose) cout << "Next operation started" << endl; } nextOperationsOp.pop(); nextOperationsArg0.pop(); nextOperationsArg1.pop(); } } std::wstring BotSpeakBridge::asebaCodeHeader() const { std::wstring code; code += L"_currentBasicBlock = 0\n"; code += L"TMR = 0\n"; code += L"\n"; code += L"timer.period[1] = 10\n"; code += L"\n"; code += L"sub updateInputs\n"; code += L"\tDIO[8] = button.backward\n"; code += L"\tDIO[9] = button.left\n"; code += L"\tDIO[10] = button.center\n"; code += L"\tDIO[11] = button.forward\n"; code += L"\tDIO[12] = button.right\n"; code += L"\tcall math.copy(AI[0:6], prox.horizontal)\n"; code += L"\tcall math.copy(AI[7:8], prox.ground.delta)\n"; code += L"\tAI[9] = temperature\n"; code += L"\tcall math.copy(AI[10:12], acc)\n"; code += L"\tAI[13] = motor.left.speed\n"; code += L"\tAI[14] = motor.right.speed\n"; code += L"\tAI[15] = mic.intensity\n"; code += L"\n"; code += L"sub updateOutputs\n"; code += L"\tcall leds.circle(DIO[0]*32, DIO[1]*32, DIO[2]*32, DIO[3]*32, DIO[4]*32, DIO[5]*32, DIO[6]*32, DIO[7]*32)\n"; code += L"\tcall leds.top(PWM[0], PWM[1], PWM[2])\n"; code += L"\tcall leds.bottom.left(PWM[3], PWM[4], PWM[5])\n"; code += L"\tcall leds.bottom.right(PWM[6], PWM[7], PWM[8])\n"; code += L"\tmotor.left.target = AO[0]\n"; code += L"\tmotor.right.target = AO[1]\n"; code += L"\n"; return code; } std::wstring BotSpeakBridge::asebaCodeFooter() const { std::wstring code; // execution flow code += L"\nonevent timer0\n"; code += L"\tcallsub updateInputs\n"; code += L"\tcallsub dispatchBB\n"; code += L"\nonevent start\n"; code += L"\tcallsub updateInputs\n"; code += L"\tcallsub dispatchBB\n"; // user timer code += L"\nonevent timer1\n"; code += L"\tTMR += 10\n"; code += L"\tif timer.period[0] != 0 and (TMR % 1000) == 0 then\n"; code += L"\t\temit running_ping\n"; code += L"\tend\n"; // to force I/o refresh code += L"\nonevent update_inputs\n"; code += L"\tcallsub updateInputs\n"; code += L"\nonevent update_outputs\n"; code += L"\tcallsub updateOutputs\n"; return code; } //! define a new Aseba variable void BotSpeakBridge::defineVar(const wstring& varName, unsigned varSize) { assert(variablesMap.find(varName) == variablesMap.end()); // check for freeVariableIndex overflow const unsigned requiredSize(freeVariableIndex+varSize); const unsigned variablesSize(nodes.at(nodeId).variablesSize); if (requiredSize > variablesSize) throw runtime_error(WStringToUTF8(WFormatableString(L"Error, not enough space in target for variable %0 of size %1: requiring %2 words, only %3 available").arg(varName).arg(varSize).arg(requiredSize).arg(variablesSize))); // ok, allocate variable botspeakVariables.push_back(NamedVariable(varName, varSize)); variablesMap[varName] = std::make_pair(freeVariableIndex, varSize); freeVariableIndex += varSize; if (verbose) wcout << L"Allocating variable " << varName << " of size " << varSize << endl; } //! create an Aseba variable for the corresponding BotSpeak variable, manage _SIZE, optionally give a size void BotSpeakBridge::createBotspeakVarIfUndefined(const wstring& varName, unsigned varSize) { // look in the allocated variables VariablesMap::const_iterator varIt(variablesMap.find(varName)); if (varIt == variablesMap.end()) { // create if (isSize(varName) && varSize) defineVar(baseNameSize(varName), varSize); else defineVar(varName, 1); } } //! return the address of a variable, make an exception if not found unsigned BotSpeakBridge::getVarAddress(const string& varName) { VariablesMap::const_iterator varIt(variablesMap.find(UTF8ToWString(varName))); if (varIt == variablesMap.end()) throw runtime_error("Variable " + varName + " is not defined"); return varIt->second.first; } //! return the size of a variable, make an exception if not found unsigned BotSpeakBridge::getVarSize(const std::string& varName) { VariablesMap::const_iterator varIt(variablesMap.find(UTF8ToWString(varName))); if (varIt == variablesMap.end()) throw runtime_error("Variable " + varName + " is not defined"); return varIt->second.second; } //! return the identifier of a global event given by name, the event must exist unsigned BotSpeakBridge::eventId(const std::wstring& eventName) const { size_t id; const bool ok(commonDefinitions.events.contains(eventName, &id)); assert(ok); ASEBA_UNUSED(ok); return id; } //! output a value to the Botspeak client, if any void BotSpeakBridge::outputBotspeak(int value) { if (botSpeakStream) { if (verbose) cout << "Writing value " << value << " to Botspeak" << endl; string data(FormatableString("%0\r\n").arg(value)); botSpeakStream->write(data.c_str(), data.length()); botSpeakStream->flush(); } else { if (verbose) cout << "Cannot write to BotSpeak, connection closed" << endl; } } //! output a value to the Botspeak client, if any void BotSpeakBridge::outputBotspeak(const std::string& message, bool noEol) { if (botSpeakStream) { if (verbose) cout << "Writing message " << message << " to Botspeak" << endl; string data(message + (noEol ? "" : "\r\n")); botSpeakStream->write(data.c_str(), data.length()); botSpeakStream->flush(); } else { if (verbose) cout << "Cannot write to BotSpeak, connection closed" << endl; } } } // namespace Aseba int showHelp(const char* programName) { std::cerr << "Usage: " << programName << " ASEBA_TARGET [BOTSPEAK_PORT]" << std::endl; return 1; } int main(int argc, char *argv[]) { unsigned botSpeakPort(9999); // process command line if (argc < 2) return showHelp(argv[0]); if (argc > 2) botSpeakPort = atoi(argv[2]); // initialize Dashel plugins Dashel::initPlugins(); // create and run bridge, catch Dashel exceptions try { Aseba::BotSpeakBridge bridge(botSpeakPort, argv[1]); while (true) { // ping the network bridge.pingNetwork(); // wait 1s if (!bridge.run1s()) break; } } catch(Dashel::DashelException e) { std::cerr << "Unhandled Dashel exception: " << e.what() << std::endl; } return 0; } aseba-1.6.0/examples/switches/botspeak/botspeak.h000066400000000000000000000104141322771007300220330ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef BOTSPEAK_H #define BOTSPEAK_H #include #include #include #include "common/msg/NodesManager.h" #include "compiler/compiler.h" namespace Aseba { /** \defgroup botspeak Bridge with BotSpeak (sites.google.com/site/botspeak), using TinySpeak protocol */ /*@{*/ class BotSpeakBridge: public Dashel::Hub, public Aseba::NodesManager { protected: typedef std::vector StringVector; typedef TargetDescription::NamedVariable NamedVariable; struct Value { enum { RESOLVED, PENDING_DIRECT_VALUE, PENDING_INDIRECT_VALUE } state; int value; //! resolved value unsigned address; //! address to which the value belong unsigned indirectAddress; //! address to which the index belongs Value(BotSpeakBridge* bridge, const std::string& arg); bool update(BotSpeakBridge* bridge, unsigned addr, int val); }; struct Operation { std::string op; Value lhs; Value rhs; Operation(BotSpeakBridge* bridge, const std::string& op, const std::string& lhs, const std::string& rhs); bool update(BotSpeakBridge* bridge, unsigned addr, int val); protected: bool isReady(); void exec(BotSpeakBridge* bridge); }; protected: // streams Dashel::Stream* botSpeakStream; Dashel::Stream* asebaStream; unsigned nodeId; // events used for running botspeak code CommonDefinitions commonDefinitions; // known variables until now unsigned freeVariableIndex; VariablesMap variablesMap; std::vector botspeakVariables; // script being recorded StringVector script; bool recordScript; // is in run&wait mode? bool runAndWait; // current operation bool getInProgress; std::unique_ptr getValue; std::unique_ptr currentOperation; // and pending ones std::queue nextOperationsOp; std::queue nextOperationsArg0; std::queue nextOperationsArg1; // debug variables bool verbose; public: BotSpeakBridge(unsigned botSpeakPort, const char* asebaTarget); bool run1s(); protected: // reimplemented from parent classes virtual void connectionCreated(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream * stream, bool abnormal); virtual void incomingData(Dashel::Stream *stream); virtual void sendMessage(const Message& message); virtual void nodeDescriptionReceived(unsigned nodeId); // main handlers for activites on streams void incomingAsebaData(Dashel::Stream *stream); void incomingBotspeakData(Dashel::Stream *stream); // commands implementation void processCommand(const std::string& command); void interpreteCommand(const std::string& command); void compileAndRunScript(); // helper functions void scheduleGet(const std::string& arg); void scheduleOperation(const std::string& op, const std::string& arg0, const std::string& arg1); void startNextOperationIfPossible(); std::wstring asebaCodeHeader() const; std::wstring asebaCodeFooter() const; void defineVar(const std::wstring& varName, unsigned varSize); void createBotspeakVarIfUndefined(const std::wstring& varName, unsigned varSize); unsigned getVarAddress(const std::string& varName); unsigned getVarSize(const std::string& varName); unsigned eventId(const std::wstring& eventName) const; void outputBotspeak(int value); void outputBotspeak(const std::string& message, bool noEol=false); }; /*@}*/ }; #endif // BOTSPEAK_H aseba-1.6.0/examples/switches/botspeak/test-wait.botspeak000066400000000000000000000001251322771007300235230ustar00rootroot00000000000000SCRIPT SET DIO[1],0 WAIT 100 SET DIO[1],1 WAIT 100 IF 1 GOTO 0 ENDSCRIPT RUN aseba-1.6.0/examples/zeroconf/000077500000000000000000000000001322771007300162365ustar00rootroot00000000000000aseba-1.6.0/examples/zeroconf/CMakeLists.txt000066400000000000000000000020131322771007300207720ustar00rootroot00000000000000# assuming DNSSD_FOUND add_executable(asebatargetadvertise targetadvertise.cpp ) target_link_libraries(asebatargetadvertise ${ASEBA_ZEROCONF_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) # Using DashelhubZeroconf add_executable(asebatargetlist-dashelhub targetlist-dashelhub.cpp ) target_link_libraries(asebatargetlist-dashelhub ${ASEBA_ZEROCONF_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) # Using ThreadZeroconf add_executable(asebatargetlist-thread targetlist-thread.cpp ) target_link_libraries(asebatargetlist-thread ${ASEBA_ZEROCONF_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) # Using QtZeroconf if (QT4_FOUND) set(QT_USE_QTNETWORK ON) set(QT_DONT_USE_QTGUI ON) qt4_wrap_cpp(examples_targetlist_qt_MOCS targetlist-qt.h ) include(${QT_USE_FILE}) include_directories (${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}) add_executable(asebatargetlist-qt ${examples_targetlist_qt_MOCS} targetlist-qt.cpp ) target_link_libraries(asebatargetlist-qt ${ASEBA_ZEROCONFQT_LIBRARIES} ${ASEBA_CORE_LIBRARIES} ${QT_LIBRARIES}) endif (QT4_FOUND) aseba-1.6.0/examples/zeroconf/targetadvertise.cpp000066400000000000000000000124611322771007300221430ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "../../common/productids.h" #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/msg/NodesManager.h" #include "../../common/utils/utils.h" #include "../../common/zeroconf/zeroconf-dashelhub.h" namespace Aseba { using namespace Dashel; using namespace std; //! StreamNodesManager encapsulates a Dashel::Stream with its own NodesManager, to avoid node id conflicts. class StreamNodesManager : NodesManager { private: Stream* stream; //!< encapsulated stream map> pidMap; //!< remember each node's _productId pos and value public: StreamNodesManager(Stream* stream) : stream(stream) {} void advertiseNodes(Aseba::Zeroconf & zeroconf) { vector ids; vector pids; vector names; unsigned protocolVersion{99}; for (auto const & node: nodes) { bool ok; auto description = getDescription(node.first, &ok); if (ok) { ids.push_back(node.first); names.push_back(WStringToUTF8(description->name)); protocolVersion = min(protocolVersion, description->protocolVersion); if (pidMap.find(node.first) != pidMap.end()) pids.push_back(pidMap.at(node.first).second); } } Aseba::Zeroconf::TxtRecord txt{protocolVersion, join(names," "), false, ids, pids}; try { zeroconf.advertise("Aseba Local " + stream->getTargetParameter("port"), stream, txt); } catch (const runtime_error& e) { cerr << "Can't advertise stream " << stream->getTargetName() << " (" << join(names," ") << "): " << e.what() << endl; } } void requestProductIds() { for (auto const & node: nodes) { bool ok; auto pos = getVariablePos(node.first, L"_productId", &ok); if (ok) { pidMap[node.first] = make_pair(pos,0); GetVariables getVariables(node.first,pos,1); getVariables.serialize(stream); stream->flush(); } } } void incomingVariable(const Variables * message) { auto nodeId = message->source; if (pidMap.find(nodeId) != pidMap.end() && pidMap.at(nodeId).first == message->start) pidMap.at(nodeId).second = message->variables[0]; } void sendMessage(const Message& message) { message.serialize(stream); stream->flush(); } void processMessage(const Message* message) { NodesManager::processMessage(message); } }; //! Dashel::Hub::Advertiser collects node descriptions from a set of tcp Dashel streams //! and advertises them on the local network using Zeroconf. class Advertiser: public Hub { protected: map streamMap; Aseba::DashelhubZeroconf zeroconf; protected: virtual void incomingData(Stream *stream) override { Message *message(Message::receive(stream)); streamMap.at(stream).processMessage(message); const Variables *variables(dynamic_cast(message)); if (variables) streamMap.at(stream).incomingVariable(variables); } virtual void connectionClosed(Stream *stream, bool abnormal) override { zeroconf.forget("Aseba Local " + stream->getTargetParameter("port"), stream); } public: Advertiser(const vector & dashel_targets): zeroconf(*this) { for (auto const & dashel: dashel_targets) { try { if (Dashel::Stream* cxn = connect(dashel)) streamMap.emplace(cxn,StreamNodesManager(cxn)); } catch(Dashel::DashelException e) { cerr << "Can't connect target " << dashel << ": " << e.what() << endl; } } ListNodes listNodes; for (auto const & stream: streamMap) { listNodes.serialize(stream.first); stream.first->flush(); } run5s(); // wait for descriptions } void advertiseNodes() { for (auto & stream: streamMap) stream.second.advertiseNodes(zeroconf); } void requestProductIds() { for (auto & stream: streamMap) stream.second.requestProductIds(); run5s(); // wait for product id values } void run5s() { int timeout{5000}; UnifiedTime startTime; while (timeout > 0) { if (!step(100)) break; const UnifiedTime now; timeout -= (now - startTime).value; startTime = now; } } }; } int main(int argc, char* argv[]) { std::vector dashel_targets; int argCounter = 1; while (argCounter < argc) { auto arg = argv[argCounter++]; if (strncmp(arg, "-", 1) != 0) dashel_targets.push_back(arg); } Aseba::Advertiser hub(dashel_targets); hub.requestProductIds(); hub.advertiseNodes(); hub.run(); } aseba-1.6.0/examples/zeroconf/targetlist-dashelhub.cpp000066400000000000000000000052571322771007300230720ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include "../../common/utils/utils.h" #include "../../common/zeroconf/zeroconf-dashelhub.h" namespace Aseba { using namespace Dashel; using namespace std; class TargetLister : public Dashel::Hub, public DashelhubZeroconf { // from Dashel::Hub virtual void incomingData(Dashel::Stream *stream) override { dashelIncomingData(stream); } virtual void connectionClosed(Stream * stream, bool abnormal) override { dashelConnectionClosed(stream); } virtual void targetFound(const Aseba::Zeroconf::TargetInformation & target) override { // output could be JSON but for now is Dashel target [Target name (DNS domain)] cout << target.host << ";port=" << target.port; cout << " [" << target.name << " (" << target.regtype+"."+target.domain << ")]" << endl; // also output properties, typically the DNS-encoded full host name and fields from TXT record for (auto const& field: target.properties) { cout << "\t" << field.first << ":"; // ids and pids are a special case because they contain vectors of 16-bit integers if (field.first.rfind("ids") == field.first.size()-3) for (size_t i = 0; i < field.second.length(); i += 2) cout << " " << (int(field.second[i])<<8) + int(field.second[i+1]); else cout << " " << field.second; cout << endl; } } public: // Constructor, register self TargetLister(): DashelhubZeroconf(static_cast(*this)) {} void run() { UnifiedTime left(10, 0); do { UnifiedTime start; dashelStep(left.value); auto elapsed(UnifiedTime() - start); if (elapsed > left) break; } while(true); } }; } int main(int argc, char* argv[]) { // Browse for _aseba._tcp services on all interfaces Aseba::TargetLister lister; lister.browse(); lister.run(); } aseba-1.6.0/examples/zeroconf/targetlist-qt.cpp000066400000000000000000000043041322771007300215470ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "targetlist-qt.h" using namespace std; QtTargetLister::QtTargetLister(int argc, char* argv[]) : QCoreApplication(argc, argv) { connect(&targets, SIGNAL(zeroconfTargetFound(const Aseba::Zeroconf::TargetInformation&)), SLOT(targetFound(const Aseba::Zeroconf::TargetInformation&))); // Browse for _aseba._tcp services on all interfaces targets.browse(); // Run for 10 seconds QTimer::singleShot(10000, this, SLOT(quit())); } void QtTargetLister::targetFound(const Aseba::Zeroconf::TargetInformation& target) { // output could be JSON but for now is Dashel target [Target name (DNS domain)] cout << target.host << ";port=" << target.port; cout << " [" << target.name << " (" << target.regtype+"."+target.domain << ")]" << endl; // also output properties, typically the DNS-encoded full host name and fields from TXT record for (auto const& field: target.properties) { cout << "\t" << field.first << ":"; // ids and pids are a special case because they contain vectors of 16-bit integers if (field.first.rfind("ids") == field.first.size()-3) for (size_t i = 0; i < field.second.length(); i += 2) cout << " " << (int(field.second[i])<<8) + int(field.second[i+1]); else cout << " " << field.second; cout << endl; } } int main(int argc, char* argv[]) { QtTargetLister app(argc, argv); return app.exec(); } aseba-1.6.0/examples/zeroconf/targetlist-qt.h000066400000000000000000000022471322771007300212200ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "../../common/zeroconf/zeroconf-qt.h" class QtTargetLister : public QCoreApplication { Q_OBJECT protected: Aseba::QtZeroconf targets; public: QtTargetLister(int argc, char* argv[]); public slots: void targetFound(const Aseba::Zeroconf::TargetInformation& target); }; aseba-1.6.0/examples/zeroconf/targetlist-thread.cpp000066400000000000000000000042011322771007300223660ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "../../common/utils/utils.h" #include "../../common/zeroconf/zeroconf-thread.h" namespace Aseba { using namespace std; class TargetLister : public ThreadZeroconf { virtual void targetFound(const Aseba::Zeroconf::TargetInformation & target) override { // output could be JSON but for now is Dashel target [Target name (DNS domain)] cout << target.host << ";port=" << target.port; cout << " [" << target.name << " (" << target.regtype + "." + target.domain << ")]" << endl; // also output properties, typically the DNS-encoded full host name and fields from TXT record for (auto const& field: target.properties) { cout << "\t" << field.first << ":"; // ids and pids are a special case because they contain vectors of 16-bit integers if (field.first.rfind("ids") == field.first.size()-3) for (size_t i = 0; i < field.second.length(); i += 2) cout << " " << (int(field.second[i])<<8) + int(field.second[i+1]); else cout << " " << field.second; cout << endl; } } public: void run() { // run 10 seconds UnifiedTime(10, 0).sleep(); } }; } int main(int argc, char* argv[]) { // Browse for _aseba._tcp services on all interfaces Aseba::TargetLister lister; lister.browse(); lister.run(); } aseba-1.6.0/license.txt000066400000000000000000000167431322771007300147710ustar00rootroot00000000000000 GNU LESSER GENERAL PUBLIC LICENSE Version 3, 29 June 2007 Copyright (C) 2007 Free Software Foundation, Inc. Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. This version of the GNU Lesser General Public License incorporates the terms and conditions of version 3 of the GNU General Public License, supplemented by the additional permissions listed below. 0. Additional Definitions. As used herein, "this License" refers to version 3 of the GNU Lesser General Public License, and the "GNU GPL" refers to version 3 of the GNU General Public License. "The Library" refers to a covered work governed by this License, other than an Application or a Combined Work as defined below. An "Application" is any work that makes use of an interface provided by the Library, but which is not otherwise based on the Library. Defining a subclass of a class defined by the Library is deemed a mode of using an interface provided by the Library. A "Combined Work" is a work produced by combining or linking an Application with the Library. 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You may convey a Combined Work under terms of your choice that, taken together, effectively do not restrict modification of the portions of the Library contained in the Combined Work and reverse engineering for debugging such modifications, if you also do each of the following: a) Give prominent notice with each copy of the Combined Work that the Library is used in it and that the Library and its use are covered by this License. b) Accompany the Combined Work with a copy of the GNU GPL and this license document. c) For a Combined Work that displays copyright notices during execution, include the copyright notice for the Library among these notices, as well as a reference directing the user to the copies of the GNU GPL and this license document. d) Do one of the following: 0) Convey the Minimal Corresponding Source under the terms of this License, and the Corresponding Application Code in a form suitable for, and under terms that permit, the user to recombine or relink the Application with a modified version of the Linked Version to produce a modified Combined Work, in the manner specified by section 6 of the GNU GPL for conveying Corresponding Source. 1) Use a suitable shared library mechanism for linking with the Library. A suitable mechanism is one that (a) uses at run time a copy of the Library already present on the user's computer system, and (b) will operate properly with a modified version of the Library that is interface-compatible with the Linked Version. e) Provide Installation Information, but only if you would otherwise be required to provide such information under section 6 of the GNU GPL, and only to the extent that such information is necessary to install and execute a modified version of the Combined Work produced by recombining or relinking the Application with a modified version of the Linked Version. (If you use option 4d0, the Installation Information must accompany the Minimal Corresponding Source and Corresponding Application Code. If you use option 4d1, you must provide the Installation Information in the manner specified by section 6 of the GNU GPL for conveying Corresponding Source.) 5. Combined Libraries. You may place library facilities that are a work based on the Library side by side in a single library together with other library facilities that are not Applications and are not covered by this License, and convey such a combined library under terms of your choice, if you do both of the following: a) Accompany the combined library with a copy of the same work based on the Library, uncombined with any other library facilities, conveyed under the terms of this License. b) Give prominent notice with the combined library that part of it is a work based on the Library, and explaining where to find the accompanying uncombined form of the same work. 6. Revised Versions of the GNU Lesser General Public License. The Free Software Foundation may publish revised and/or new versions of the GNU Lesser General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns. Each version is given a distinguishing version number. If the Library as you received it specifies that a certain numbered version of the GNU Lesser General Public License "or any later version" applies to it, you have the option of following the terms and conditions either of that published version or of any later version published by the Free Software Foundation. If the Library as you received it does not specify a version number of the GNU Lesser General Public License, you may choose any version of the GNU Lesser General Public License ever published by the Free Software Foundation. If the Library as you received it specifies that a proxy can decide whether future versions of the GNU Lesser General Public License shall apply, that proxy's public statement of acceptance of any version is permanent authorization for you to choose that version for the Library. aseba-1.6.0/localization.md000066400000000000000000000046031322771007300156100ustar00rootroot00000000000000# Localization guidelines Several Aseba tools are translated into several languages. For now, Aseba Studio, Aseba Challenge, and the error messages from the Aseba compiler are available in French, German, Spanish, Italian, Greek, Chinese. The translations for Japanese are incomplete. ## Help us We are always looking for motivated translators. The amount of work is currently around 500 translations for the whole project, mainly single words and short sentences. The reference language is English. Here are the steps to help us: ### Your language is German, Spanish, Greek, French, Italian, Japanese or Chinese In that case, the translation files already exist. To modify the translation, first [fork the Aseba repository](https://github.com/aseba-community/aseba#fork-destination-box) ([understand github forking](https://help.github.com/articles/fork-a-repo/)). Then, modify the relevant files using Qt Linguist, these files are: * For about boxes: `common/about/qtabout_LL.ts` * For Studio: `clients/studio/asebastudio_LL.ts` and `clients/studio/compiler_LL.ts` * For Thymio Firmware Updater: `clients/thymioupgrader/thymioupgrader_LL.ts` * For Thymio Wireless Configurator: `clients/thymiownetconfig/thymiownetconfig_LL.ts` * For Aseba Playground: `targets/challenge/asebaplayground_LL.ts` * For Aseba Challenge: `targets/challenge/asebachallenge_LL.ts` Where `LL` is the [ISO 639-1](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) code of your language. Then, submit a [pull request](https://help.github.com/articles/about-pull-requests/) with the updated files. ### Your language is a new one Please open an [new issue](https://github.com/aseba-community/aseba/issues/new) requesting the addition of your language. Once the issue is processed, follow the instructions above. ### Useful Resources Qt translation tools (Qt Linguist): * [Main user manual](http://qt-project.org/doc/qt-4.8/linguist-manual.html) * [For translators](http://qt-project.org/doc/qt-4.8/linguist-translators.html) * [For release managers](http://qt-project.org/doc/qt-4.8/linguist-manager.html) Databases with existing translations: * [KDE Localization search engine](http://i18n.kde.org/dictionary/search-translations.php) ### For Maintainers In [`/maintainer/translations`](https://github.com/aseba-community/aseba/tree/master/maintainer/translations) you will find a set of scripts to help you maintain the translation files. aseba-1.6.0/maintainer/000077500000000000000000000000001322771007300147225ustar00rootroot00000000000000aseba-1.6.0/maintainer/authors/000077500000000000000000000000001322771007300164075ustar00rootroot00000000000000aseba-1.6.0/maintainer/authors/01_update_author_list.py000077500000000000000000000073051322771007300231700ustar00rootroot00000000000000#!/usr/bin/env python # -*- coding: UTF-8 -*- # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2015: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import os.path import re top_level_path = "../.." authors_source_file = os.path.join(top_level_path, "authors.txt") authors_dest_file = os.path.join(top_level_path, "common/authors.h") authors_file_head = \ """\ #ifndef __ASEBA_AUTHORS_H #define __ASEBA_AUTHORS_H #include #include namespace Aseba { struct AuthorInfo { using Tags = std::set; std::string name; std::string email; std::string web; std::string role; Tags tags; }; using AuthorInfos = std::vector; struct InstitutionInfo { std::string name; std::string web; }; using InstitutionInfos = std::vector; static const AuthorInfos authorList = { """ authors_file_contrib_step = \ """\ }; static const AuthorInfos thankToList = { """ authors_file_tail = \ """\ }; } // namespace Aseba #endif // __ASEBA_AUTHORS_H """ # enum for sections AUTHORS, CONTRIBUTORS, INSTITUITONS = range(3) author = None authorLine = -1 currentSection = AUTHORS with open(authors_dest_file, 'wb') as f: f.write(authors_file_head) for line in open(authors_source_file): # strip newlines line = line.strip('\n\r') # switch sections if line == '# Contributors': currentSection = CONTRIBUTORS f.write(authors_file_contrib_step) elif line == '# Institutions': currentSection = CONTRIBUTORS # if first author line if len(line) > 2 and line[0:2] == '*\t': authorLine = 0 line = line[2:] # otherwise only keep tabbed content elif len(line) != 0 and line[0] == '\t': line = line[1:] else: continue # strip tabs and spaces line = line.strip(' \t') # if first line if authorLine == 0: author = {} nameLine = line.split('<') if len(nameLine) < 2: author["name"] = line.split('[')[0] else: name, rest = nameLine if name[0] == '[': name, web = name.split('(') author["name"] = name.strip(' \t\n\r[]') author["web"] = web.strip(' \t\n\r()') else: author["name"] = name.strip(' \t\n\r') if '>' in rest: email = rest.split('>')[0] author["email"] = email.strip(' \t\n\r') elif authorLine == 1: author["role"] = line pass elif authorLine == 2: line = line[len('contributed to: '):] tags = line.split(', ') author["tags"] = tags if currentSection == AUTHORS: print 'Adding author ' + author["name"] else: print 'Adding contributor ' + author["name"] f.write(' {\n') f.write(' u8"' + author.get("name","") + '",\n') f.write(' u8"' + author.get("email","") + '",\n') f.write(' u8"' + author.get("web","") + '",\n') f.write(' u8"' + author.get("role","") + '",\n') f.write(' { ') for tag in author.get("tags",[]): f.write('u8"' + tag + '", ') f.write('}\n') f.write(' },\n') else: continue authorLine += 1 f.write(authors_file_tail) aseba-1.6.0/maintainer/authors/README000066400000000000000000000001561322771007300172710ustar00rootroot00000000000000The script in this folder updates common/authors.h from authors.txt Please run this script form its directory.aseba-1.6.0/maintainer/translations/000077500000000000000000000000001322771007300174435ustar00rootroot00000000000000aseba-1.6.0/maintainer/translations/01_new_language.py000077500000000000000000000133221322771007300227550ustar00rootroot00000000000000#!/usr/bin/env python # -*- coding: UTF-8 -*- # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2015: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import sys import os import os.path import subprocess import shutil import re from path import * import translation_tools # some tags inside the files to help us cpp_tag = re.compile(r"/\* insert translation here") studio_qrc_tag = re.compile(r" {}:\t{:^20}\t{:^20}\t{:^20.1f}%\t{:^20}".format(l, stat["translated"], total, percent, stat["obsolete"]) aseba-1.6.0/maintainer/translations/README000066400000000000000000000014671322771007300203330ustar00rootroot00000000000000 In this directory, you will find a bunch of scripts to maintain the translation files. When you want to add a new language, it is necessary to generate several files, and update others as well. The script "01_new_language.py" will help you in this task. Just run it, and answer to the questions. At the end, just perform a "git commit" to commit the newly created / updated files. For regular updates, use the following scripts: |-> - 02_sync_compiler_translation.py | Takes the error codes from the compiler, and generates the | corresponding C++ source file in Aseba Studio. | | - 03_sync_all_translations.py | Takes all the existing .ts, then performs lupate / lrelease | |-- - 04_translation_statistics.py Gives some statistics about the current translations aseba-1.6.0/maintainer/translations/path.py000066400000000000000000000053751322771007300207630ustar00rootroot00000000000000# -*- coding: UTF-8 -*- # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2015: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import sys import os.path QTABOUT_PATH = "../../common/about/" STUDIO_PATH = "../../clients/studio/" COMPILER_PATH = "../../compiler" PLAYGROUND_PATH = "../../targets/playground/" CHALLENGE_PATH = "../../targets/challenge/" THYMIOUPGRADER_PATH = "../../clients/thymioupgrader/" THYMIOWNETCONFIG_PATH = "../../clients/thymiownetconfig/" # will be the working directory my_path = os.path.dirname(os.path.abspath(sys.argv[0])) # getcwd won't work in all cases updatedoc_path = os.path.abspath(os.path.join(my_path, "../updatedoc/")) qtabout_path = os.path.abspath(QTABOUT_PATH) compiler_path = os.path.abspath(COMPILER_PATH) studio_path = os.path.abspath(STUDIO_PATH) compiler_ts_path = os.path.join(studio_path, "translations/") playground_path = os.path.abspath(PLAYGROUND_PATH) challenge_path = os.path.abspath(CHALLENGE_PATH) thymioupgrader_path = os.path.abspath(THYMIOUPGRADER_PATH) thymiownetconfig_path = os.path.abspath(THYMIOWNETCONFIG_PATH) # files used when updating translations for the compiler # errors_cpp -> errors_code_h -> compiler_ts_cpp errors_cpp = os.path.join(compiler_path, 'errors.cpp') errors_code_h = os.path.join(compiler_path, 'errors_code.h') compiler_ts_cpp = os.path.join(compiler_ts_path, 'CompilerTranslator.cpp') # path for strings to be translated plugin_path = os.path.join(studio_path, "plugins/") vpl_path = os.path.join(plugin_path, "ThymioVPL/") blockly_path = os.path.join(plugin_path, "ThymioBlockly/") # path to file that must be updated when adding a new language dashel_target = os.path.join(studio_path, "DashelTarget.cpp") studio_qrc = os.path.join(studio_path, "asebastudio.qrc") sync_compiler_py = os.path.join(my_path, "sync_compiler_translation.py") updatedoc = os.path.join(updatedoc_path, "updatedoc.py") challenge_cpp = os.path.join(challenge_path, "challenge.cpp") challenge_qrc = os.path.join(challenge_path, "challenge-textures.qrc") aseba-1.6.0/maintainer/translations/translation_tools.py000066400000000000000000000075201322771007300235770ustar00rootroot00000000000000# -*- coding: UTF-8 -*- # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2015: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import sys import os import os.path import subprocess import re _lupdate = "" _lrelease = "" _git = "" def _verbose_call(cmd): print cmd return subprocess.call(cmd, shell=True) def _silent_call(cmd): with open(os.devnull, 'w') as tempf: return subprocess.call(cmd, shell=True, stdout=tempf, stderr=tempf) def _find_cmd(possible_cmds, args): for cmd in possible_cmds: print "Trying... [{}]".format(cmd) retcode = _silent_call("{} {}".format(cmd, args)) if retcode == 0: print "OK\n" return cmd else: print "No" return "" def do_lupdate_lrelease(output_name, lang_code, input_files): filename = "{}_{}.ts".format(output_name, lang_code) filename_qm = "{}_{}.qm".format(output_name, lang_code) # _lupdate retcode = _verbose_call("{} -no-recursive {} -target-language {} -locations relative -ts {}".format(_lupdate, input_files, lang_code, filename)) if retcode != 0: print sys.stderr, "Ooops... Something wrong happened with lupdate {}".format(filename) exit(3) if _git: _verbose_call("{} add {}".format(_git, filename)) # _lrelease retcode = _verbose_call("{} {} -qm {}".format(_lrelease, filename, filename_qm)) if retcode != 0: print sys.stderr, "Ooops... Something wrong happened with lrelease {}".format(filename) exit(4) if _git: _verbose_call("{} add {}".format(_git, filename_qm)) def do_lupdate_lrelease_all(directory, generic_name, input_files): old_path = os.getcwd() os.chdir(directory) # search all the existing languages corresponding to this file file_re = re.compile("{}_(\w+?).ts".format(generic_name)) files = [ f for f in os.listdir(directory) if os.path.isfile(os.path.join(directory, f)) ] for f in files: match = file_re.match(f) if not match: continue # get the language lang = match.group(1) do_lupdate_lrelease(generic_name, lang, input_files) os.chdir(old_path) def do_git_add(filename): if _git: _verbose_call("{} add {}".format(_git, filename)) def init_commands(): global _lupdate global _lrelease global _git print "First, we will test for a valid lupdate binary..." _lupdate = _find_cmd(["lupdate", "lupdate-qt4"], "-version") if _lupdate == "": print sys.stderr, "No valide lupdate found :-(" exit(1) print "...and for a valid lrelease..." _lrelease = _find_cmd(["lrelease", "lrelease-qt4"], "-version") if _lrelease == "": print sys.stderr, "No valide lrelease found :-(" exit(1) print "Trying to find a valid git binary (not mandatory)..." _git = _find_cmd(["git"], "--version") if _git == "": print "No git found, won't be able to add newly created files.\n" else: if raw_input("Git found: do you want to automatically 'git add' the files? [y/N] ") != 'y': _git = "" aseba-1.6.0/maintainer/updatedoc/000077500000000000000000000000001322771007300166725ustar00rootroot00000000000000aseba-1.6.0/maintainer/updatedoc/README000066400000000000000000000053721322771007300175610ustar00rootroot00000000000000PURPOSE This script will fetch the Aseba wikidot to retrieve locally the documentation. It is intended to be used solely by the release manager, upgrading the documentation just before each release. If this is not your purpose, please don't commit upstream the result. INSTALLATION Python > 2.6 should be installed on your computer. Moreover, the script invokes HTML-tidy (http://tidy.sourceforge.net/), in order to clean up the generated HTML. The script will try to invoke the 'tidy' process. If different on your system, update the 'tidy' function in wikidot/tools.py. You can also disable this step, by commenting out the line in wikidot/fetch.py. USAGE It is very simple. Just run: ./updatedoc.py It will perform the following operations: - Clean the previous run (output directory and files). - For each language in the map, create a dedicated output directory, recursively fetch / convert / clean the documentation, build the doc structure, copy the files to the final directory. - Generate the Qt Help File, based on the doc structure and file listing. - Remove the old documentation from the Aseba Studio directory, and copy the new ones there. Be careful, it will brutally remove the studio/doc/ directory, so do not manually edit files there, or your changes will be lost! CUSTOMIZATION The important parameters are defined at the top of updatedoc.py. You can for example change the path to Aseba Studio, update the wikidot links to the documentation for each language, add another language, or use another CSS. SOME EXPLANATIONS The wikidot has a flat structure, so we don't care about the full URL, but just about the page's name. Each URL is converted to a local-storage name, using the 'urltoname' function located in the wikidot/urltoname.py module. If you want to change the naming scheme, you can do it there. Qt is using the QtHelp framework. It needs as input a Qt Help Project file (.qhp), which is generated by the qthelp.py module. It keeps track of the documentation's hierarchy, using the wikidot/structure.py module. It uses the breadcrumbs located on top of each page, in order to build the hierarchy of the documentation. It is important to keep those breadcrumbs up-to-date, or the package will fail to work properly. You can get more help on the Qt Help Framework here: http://doc.qt.nokia.com/stable/qthelp-framework.html A potential issue is if a child is parsed before its parent. As the parent does not yet exist in the tree, the child will fail to get inserted. This will happen if a link is pointing to the child from an upper level, short-circuiting the legitimate parent. Either fix the links on the wikidot, either buffering the pages before building the tree. For now, each page is inserted into the tree from the wikidot/tools.py module. aseba-1.6.0/maintainer/updatedoc/css/000077500000000000000000000000001322771007300174625ustar00rootroot00000000000000aseba-1.6.0/maintainer/updatedoc/css/aseba.css000066400000000000000000000045561322771007300212610ustar00rootroot00000000000000 /* general font settings */ body { font-family: verdana,arial,helvetica,sans-serif; font-size: 0.82em; } /* HEADINGS */ h1,h2,h3,h4,h5,h6{ font-family: "Trebuchet MS", Trebuchet, Verdana, Arial, Helvetica; } h1{ font-size: 180%; font-weight: normal; } h1.title{ font-size: 200%; text-decoration: underline; margin-bottom: 20px; } h2{ font-weight: normal; font-size: 150%; } h3{ font-weight: bold; font-size: 130%; } h4{ font-weight: bold; font-size: 120%; } h5 { font-weight: bold; font-size: 100%; } h6 { font-weight: bold; font-size: 90%; } img{ border-width: 0px; } img.inline-math{ vertical-align: middle; } td { text-align: left; } a{ color: #00A; } a:hover{ background-color: #EEE; } /* * LAYOUT */ #container-wrap-wrap { position: relative; } #page-content{ } #container { margin: 0; padding: 0; } /* header */ #header { position: relative; z-index: 30; height: 7em; } #header h1{ margin: 0; padding: 0; } #header h2{ margin: 0; padding: 0; } #toc-table{ margin: 20px; } #toc{ margin: 1em auto 1em 0; padding: 0em 0.5em; background-color: #E0E0E0; display: table; } #toc .title { font-weight: bold; margin: 0.2em 0 ; padding: 0 2em; text-align: center; } #toc-list{ margin: 0.5em 0; } #toc.floatright{ float: right; margin: 1em; } #toc.floatleft{ float: left; margin: 1em; } tt{ font-family: 'Andale Mono', 'Courier New', Courier, monospace; font-size: 98%; } pre{ font-family: 'Andale Mono', 'Courier New', Courier, monospace; } .code { border-style:solid; /* No effect in QTextBrowser :-( */ border-width: 1px; /* No effect in QTextBrowser :-( */ background-color: #D0D0D0; font-family: 'Andale Mono', 'Courier New', Courier, monospace; padding: 0 1em; /* No effect in QTextBrowser :-( */ margin: 20px; overflow: auto; } code { font-family: 'Andale Mono', 'Courier New', Courier, monospace; } .math-equation{ text-align: center; padding: 0.5em 0; height: 1%; /* for IE to blink ;-) */ display: none; } .equation-number{ float: right; margin-top: 1em; font-size: 110%; } .math-inline { display: none; } .math-inline span.merror { color: red !important; } a.inline-math-error { padding: 0 0.5em; font-weight: bold; } a.math-equation-error { padding: 0 2em; font-weight: bold; } div.wiki-note{ width: auto; margin: 0.5em 5em; border: 1px solid #999; text-align: center; } aseba-1.6.0/maintainer/updatedoc/qrc.py000066400000000000000000000014111322771007300200260ustar00rootroot00000000000000import os import sys from string import Template qrc_template = \ """ ${filelist} """ item_template = """ ${filename}\n""" def generate(directory, qrc_file): files = [x for x in os.listdir(directory)] files.sort() print >> sys.stderr, "\nCreating {}, based on the content of {}...".format(qrc_file, directory) items = "" item = Template(item_template) qrc = Template(qrc_template) for x in files: filename = os.path.join(directory, x) print >> sys.stderr, "Processing ", filename items += item.substitute(filename=filename) f = open(qrc_file, 'w') f.write(qrc.substitute(filelist=items)) f.close print >> sys.stderr, "Done." aseba-1.6.0/maintainer/updatedoc/qthelp.py000066400000000000000000000064461322771007300205530ustar00rootroot00000000000000import os import sys from string import Template import wikidot.structure from wikidot.tree import WikiNode qhp_template = \ """ aseba.main doc ${filter_def} ${filter_section} """ filter_def_template = \ """ lang-${lang} """ filter_section_template = \ """ lang-${lang} ${sections} ${files} """ section_root_template = \ """
    ${subsection}
    """ section_root = Template(section_root_template) section_leaf_template = \ """
    """ section_leaf = Template(section_leaf_template) file_element_template = \ """ ${filename} """ item_template = """ ${filename}\n""" def __generate_sections__(node, output_directory): result = "" filename = os.path.join(output_directory, node.link) if len(node.children) == 0: # we are a leaf result += section_leaf.substitute(title=node.title, ref=filename) return result # pass through the children subsections = "" for x in node.children: subsections += __generate_sections__(x, output_directory) # assemble if node.link == '': # this node is "virtual" (maybe the root?) return subsections else: result += section_root.substitute(title=node.title, ref=filename, subsection=subsections) return result def generate(source_directories, output_directory, languages, qhp_file): """ directory / language should be lists """ print >> sys.stderr, "\nCreating {}, based on the content of {}...".format(qhp_file, source_directories) qhp = Template(qhp_template) filterdefs = "" filterdef = Template(filter_def_template) filtersections = "" filtersection = Template(filter_section_template) for index, directory in enumerate(source_directories): lang = languages[index] # Build the filter definitions filterdefs += filterdef.substitute(lang=lang) # Build the sections listing tree = wikidot.structure.get_structure(lang) sections = __generate_sections__(tree, output_directory) # List files files = [x for x in os.listdir(directory)] files.sort() filelist = "" fileitem = Template(file_element_template) for x in files: filename = os.path.join(output_directory, x) #print >> sys.stderr, "Processing ", filename filelist += fileitem.substitute(filename=filename) # Generate the chunk for the current language filtersections += filtersection.substitute(lang=lang, files=filelist, sections=sections) f = open(qhp_file, 'w') f.write(qhp.substitute(filter_def=filterdefs, filter_section=filtersections)) f.close print >> sys.stderr, "Done." aseba-1.6.0/maintainer/updatedoc/updatedoc.py000077500000000000000000000110551322771007300212210ustar00rootroot00000000000000#! /usr/bin/env python # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2015: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . # System lib import os import os.path import sys from shutil import rmtree from shutil import copytree from shutil import copy # Custom lib from wikidot.fetch import fetchwikidot import wikidot.structure import qthelp complete_language_map = { 'en':'http://aseba.wikidot.com/en:asebausermanual', 'fr':'http://aseba.wikidot.com/fr:asebausermanual', 'de':'http://aseba.wikidot.com/de:asebausermanual', 'es':'http://aseba.wikidot.com/es:asebausermanual', 'it':'http://aseba.wikidot.com/it:asebausermanual' # insert translation here (DO NOT REMOVE -> used by automated script) } # used for updating help index language_map = complete_language_map.copy() # used for fetching OUTPUT_DIR = 'doc' QHP_FILE = './aseba-doc.qhp' CSS_FILE = './css/aseba.css' STUDIO_PATH = '../../studio/' STRUCTURE_CACHE = 'structure.cache' # Update only one language? if len(sys.argv) == 2: lang = sys.argv[1] url = None try: url = language_map[lang] except KeyError: print >> sys.stderr, "The language ", lang, " is not valid" exit(1) else: # reset language map language_map.clear() language_map[lang] = url # Clean html/png/css if len(sys.argv) == 2: # Clean only one language lang = sys.argv[1] print >> sys.stderr, "Performing a partial update" files = os.listdir(OUTPUT_DIR) for f in files: if f.find(lang + '_') == 0: os.remove(os.path.join(OUTPUT_DIR, f)) else: # Complete update print >> sys.stderr, "Performing a complete update" rmtree(OUTPUT_DIR, True) os.mkdir(OUTPUT_DIR) # Clean qhp try: os.remove(QHP_FILE) except OSError: # File doesn't exist pass # Reload the cached structure try: cache = open(STRUCTURE_CACHE, 'rb') wikidot.structure.unserialize(cache) except IOError: pass # Fetch the wiki, for all languages available_languages = language_map.keys() for lang in available_languages: print >> sys.stderr, "\n*** Getting doc for language ", lang, " ***" # Get + clean the output directory for the current language output = OUTPUT_DIR + '_' + lang rmtree(output, True) # Prepare the tree before fetching this language wikidot.structure.add_language(lang) wikidot.structure.set_current_language(lang) # Fetch! fetchwikidot(language_map[lang], output) # Add the CSS to output directory copy(CSS_FILE, output) # Copy from output to OUTPUT_DIR # copytree not possible, as OUTPUT_DIR already exists listing = os.listdir(output) for y in listing: copy(os.path.join(output, y), os.path.join(OUTPUT_DIR, y)) # Save the structure for future use cache = open(STRUCTURE_CACHE, 'wb') wikidot.structure.serialize(cache) # Generate the Qt Help files # Collect all the output directories output_directories = list() available_languages = list() for lang in complete_language_map.keys(): f = OUTPUT_DIR + '_' + lang if os.path.isdir(f): output_directories.append(f) available_languages.append(lang) qthelp.generate(output_directories, OUTPUT_DIR, available_languages, QHP_FILE) # Clean Aseba Studio files print >> sys.stderr, "\nCleaning Aseba Studio directory..." studio_output_dir = os.path.join(STUDIO_PATH, OUTPUT_DIR) studio_doc_qhp = os.path.join(STUDIO_PATH, QHP_FILE) rmtree(studio_output_dir) try: os.remove(studio_doc_qhp) except OSError: # File doesn't exist pass # Copy new files print >> sys.stderr, "\nCopying new files to Aseba Studio..." copytree(OUTPUT_DIR, studio_output_dir) copy(QHP_FILE, STUDIO_PATH) print >> sys.stderr, "Finished!!! :-)" aseba-1.6.0/maintainer/updatedoc/wikidot/000077500000000000000000000000001322771007300203445ustar00rootroot00000000000000aseba-1.6.0/maintainer/updatedoc/wikidot/__init__.py000066400000000000000000000000001322771007300224430ustar00rootroot00000000000000aseba-1.6.0/maintainer/updatedoc/wikidot/debug.py000066400000000000000000000016561322771007300220140ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . # Define debugging constants ENABLE_DEBUG = False aseba-1.6.0/maintainer/updatedoc/wikidot/fetch.py000077500000000000000000000076361322771007300220260ustar00rootroot00000000000000#! /usr/bin/env python # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . # System lib import sys import os.path import urlparse import re # Custom lib from wikidot.tools import fetchurl from wikidot.fixurl import fixurls from wikidot.tools import tidy from wikidot.tools import fix_latex from wikidot.urltoname import urltoname from wikidot.orderedset import OrderedSet ALTERNATE_SERVERS = { 'wikidot': set(['wikidot', 'wdfiles']), } # TODO: somewhat ugly hack... def _get_alternate_server(url): for base_server, servers in ALTERNATE_SERVERS.iteritems(): for server in servers: if server in url: #print "Replacing ", server, " with ", base_server, "..." return re.sub(server, base_server, url) # no match return url def fetchwikidot(starturl, outputdir): # Create the output directory, if needed try: os.stat(outputdir) except OSError, e: print >> sys.stderr, "Creating output directory; ", outputdir os.mkdir(outputdir) # Fetch root page output = os.path.join(outputdir, urltoname(starturl)) retval = fetchurl(starturl, output) newlinks = retval['links'] breadcrumbs = retval['breadcrumbs'] # get the last element of the list if len(breadcrumbs) > 0: breadcrumbs = breadcrumbs[len(breadcrumbs)-1] else: breadcrumbs = '' # Create a set with fetched links (avoid loops...) links = OrderedSet(starturl) # Iterate on the links, and recursively download / convert fetchlinks = newlinks while len(fetchlinks) > 0: newlinks = OrderedSet() for url in fetchlinks: url = urlparse.urljoin(starturl, url) output = os.path.join(outputdir, urltoname(url)) print >> sys.stderr, "\nProcessing ", url # Link on the same server? If no match, search the list of alternative servers start_server = urlparse.urlparse(starturl).netloc link_server = urlparse.urlparse(url).netloc if (link_server == start_server or _get_alternate_server(link_server) == _get_alternate_server(start_server)): retval = fetchurl(url, output, breadcrumbs) newlinks.update(retval['links']) else: print >> sys.stderr, "*** {} is not on the same server. Link skipped.".format(url) # Update sets of links links.update(fetchlinks) fetchlinks = newlinks - links # Fix local urls for the files of the output directory fixurls(outputdir, starturl) # Clean HTML code tidy(outputdir) # Convert equations to PNG fix_latex(outputdir) # We are done print >> sys.stderr, "\nDone!" # When executed from the command line if __name__ == "__main__": # Input arguments if len(sys.argv) == 3: starturl = sys.argv[1] outputdir = sys.argv[2] else: print >> sys.stderr, "Wrong number of arguments.\n" print >> sys.stderr, "Usage:" print >> sys.stderr, " {} root_page output_dir".format(sys.argv[0]) exit(1) fetchwikidot(starturl, outputdir) aseba-1.6.0/maintainer/updatedoc/wikidot/fixurl.py000066400000000000000000000115611322771007300222330ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . # System lib import os import os.path import sys import urlparse # Custom lib from wikidot.myparser import MyParser from wikidot.urltoname import urltoname class FixURL(MyParser): """Fix HTML links (as well as images), so they point to the local files. If a local file is not available, the full link to the remote file is built. The list of available local files is given at initialization.""" def __init__(self, links, host): """Initialization. links: set of available local files host: full path to remote host""" MyParser.__init__(self) self.local_links = links self.remote_host = host self.reset() def reset(self): MyParser.reset(self) self.local_set = set() # Set of local links self.remote_set = set() # Set of remote links # Public functions def get_local_links(self): return self.local_set def get_remote_links(self): return self.remote_set # Private functions def __is_link_local__(self, link): """Private - Tell if a link match a local file. Output: True if a local file match the link False otherwise""" if urltoname(link) in self.local_links: return True else: return False def __is_link_toc__(self, link): """Private - Tell if the link is part of the Table of Content. Output: True if the link is of the form #tocXYZ False otherwise""" if link.find('#toc') == 0: return True else: return False def __fix_link__(self, link): """Private - Take a link and convert it, either as a local link, either as a link pointing to the remote host.""" if self.__is_link_toc__(link) == True: # don't touch it! return link if self.__is_link_local__(link) == True: # Convert link new_link = urltoname(link) self.local_set.add(new_link) else: # Remote link new_link = urlparse.urljoin(self.remote_host, link) self.remote_set.add(new_link) return new_link # Inherited functions def handle_starttag(self, tag, attrs): """Overidden - Parse links and convert them. and tags are looked for links.""" # Special case 1: links if tag == 'a': for index, attr in enumerate(attrs): if attr[0] == 'href': attrs[index] = attr[0], self.__fix_link__(attr[1]) break # Special case 2: images elif tag == 'img': for index, attr in enumerate(attrs): if attr[0] == 'src': attrs[index] = attr[0], self.__fix_link__(attr[1]) break MyParser.handle_starttag(self, tag, attrs) def fixurls(directory, base_url): """Iterate over the files of a directory, and fix the links to point to local files.""" # List all files, then HTML files to be fixed files = os.listdir(directory) html_files = [x for x in files if '.html' in x] # Create the 'fixer' fix = FixURL(files, base_url) print >> sys.stderr, "\nFixing URLs..." local_set = set() remote_set = set() for x in html_files: file_name = os.path.join(directory, x) print >> sys.stderr, "Processing ", file_name # Parse the file f = open(file_name, 'r') fix.feed(f.read()) f.close() # Write result to the file f = open(file_name, 'w') f.write(fix.get_doc()) f.close() # Reset parser local_set.update(fix.get_local_links()) remote_set.update(fix.get_remote_links()) fix.reset() print >> sys.stderr, "\nUpdated local URLs: " for x in sorted(local_set): print >> sys.stderr, " ", x print >> sys.stderr, "\nRemote URLs: " for x in sorted(remote_set): print >> sys.stderr, " ", x aseba-1.6.0/maintainer/updatedoc/wikidot/myparser.py000066400000000000000000000060411322771007300225610ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . from HTMLParser import HTMLParser class MyParser(HTMLParser): """Custom HTML parser, derived from HTMLParser lib. Member functions are overidden to output the HTML document as it, without any changes. The document is retrieved with the get_doc() function.""" def __init__(self): """Initialize the parser""" HTMLParser.__init__(self) self.reset() # Public interface def reset(self): """Reset the parser's state""" self.out_doc = "" HTMLParser.reset(self) def get_doc(self): """Return the parsed document""" return self.out_doc # Private functions def format_start_tag(self, tag, attrs): """Private - Format a """ # Format back attributes attributes = "" for attr in attrs: if ~isinstance(attr[1], str): attr = (attr[0], str(attr[1])) attributes += (attr[0] + "=\"" + attr[1] + "\" ") return "<{} {}>".format(tag, attributes) def format_end_tag(self, tag): """Private - Format an """ return "".format(tag) # Inherited functions def handle_starttag(self, tag, attrs): """Overidden - Called when a start tag is parsed""" self.out_doc += self.format_start_tag(tag, attrs) def handle_endtag(self, tag): """Overidden - Called when an end tag is parsed""" self.out_doc += self.format_end_tag(tag) def handle_data(self, data): """Overidden - Called when some data is encountered""" """ chars = self.badchars_regex.findall(data) if len(chars) > 0: print >> sys.stderr, "Found bad characters: ", chars """ self.out_doc += data def handle_charref(self, name): """Overidden - Called when a charref (&#xyz) is parsed""" self.out_doc += ("&#" + name + ";") def handle_entityref(self, name): """Overidden - Called when an entityref (&xyz) is parsed""" self.out_doc += ("&" + name + ";") def handle_decl(self, decl): """Overidden - Called when a SGML declaration (") aseba-1.6.0/maintainer/updatedoc/wikidot/orderedset.py000066400000000000000000000017701322771007300230630ustar00rootroot00000000000000 class OrderedSet(list): """Naive and minimalist implementation of an ordered set""" def __init__(self, iterable=None): """x.__init__(...) initializes x.""" if iterable != None: self.update(iterable) def __sub__(self, orderedset): """x.__sub__(y) <==> x-y""" # Type checking if not isinstance(orderedset, OrderedSet): return OrderedSet() result = OrderedSet() for x in self: if not (x in orderedset): result.append(x) return result def add(self, item): """Add an element to the ordered set""" if item in self: return self.append(item) def difference(self, orderedset): """Return the difference of two ordered sets as a new ordered set.""" return (self - orderedset) def update(self, iterable): """Update an ordered set with the union of itself and another.""" for x in iterable: self.add(x) aseba-1.6.0/maintainer/updatedoc/wikidot/parser.py000066400000000000000000000233341322771007300222170ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . # Python lib import sys from myparser import MyParser from string import Template # Local module import wikidot.debug from wikidot.orderedset import OrderedSet header = \ """ ${title}

    ${title}

    ${toc} """ footer = \ """ """ class WikidotParser(MyParser): """WikidotParser is used to clean a page from www.wikidot.com, keeping only the interesting content.""" def __init__(self): """Intialize internal variables""" MyParser.__init__(self) self.div_level = 0 self.div_bookmark = [-1] # List managed as a stack self.state = ["none"] # List managed as a stack self.current_state = "none" # Point to the top of the stack # map for div tag attribute -> state # (attribute name, attribute property, state) self.div_state_map = \ [ ('id', 'page-title', 'title'), ('id', 'breadcrumbs', 'breadcrumbs'), ('id', 'page-content', 'body'), ('id', 'toc-action-bar', 'useless'), ('id', 'toc', 'toc'), ('style','position:absolute', 'useless')] self.page_title = "" self.toc = "" self.links = OrderedSet() self.breadcrumbs = list() # Public interface def get_doc(self): """Retrieve the parsed and cleaned document""" # format the TOC if self.toc != "": self.toc = """
    """ + self.toc self.toc += "
    " # Add header header_template = Template(header) self.out_doc = header_template.substitute(title=self.page_title, toc=self.toc) + self.out_doc # Add footer self.out_doc += footer return self.out_doc def get_links(self): """Retrieve the links embedded in the page (including images)""" return self.links def get_title(self): return self.page_title def get_breadcrumbs(self): return self.breadcrumbs # Inherited functions def handle_starttag(self, tag, attrs): """Overridden - Called when a start tag is parsed The heart of this function is the state machine. When a
    tag is detected, the attributes are compared with a map of the form (name,value) -> state. If a match occurs, the state is pushed on top of the stack. Depending on the current state, the start tag is queued for output, or not.""" # Debug if wikidot.debug.ENABLE_DEBUG == True: print >> sys.stderr, "<{}> {}".format(tag, attrs) # Update the state machine state_changed = self.__update_state_machine_start__(tag, attrs) if (state_changed == True) and (self.current_state == "body"): # We have just entered the body, don't output this
    tag return if self.current_state == "body": # Handle special tags self.__handle_body_tag__(tag, attrs) # Add the tag to output MyParser.handle_starttag(self, tag, attrs) elif self.current_state == "toc": # Handle the content of the TOC self.toc += MyParser.format_start_tag(self, tag, attrs) elif (self.current_state == "breadcrumbs") and (tag == 'a'): # Register the breadcrumbs for attr in attrs: if (attr[0] == 'href'): self.breadcrumbs.append(attr[1]) break def handle_endtag(self, tag): """Overridden - Called when an end tag is parsed The state machine is updated when a
    tag is encountered. Depending on the current state, the end tag is queued for output, or not.""" if self.current_state == "toc": # Add the tag to the TOC self.toc += MyParser.format_end_tag(self, tag) # Update the state machine state_changed = self.__update_state_machine_end__(tag) if state_changed == True: return if self.current_state == "body": # Add the tag to output MyParser.handle_endtag(self, tag) def handle_data(self, data): """Overridden - Called when some data is parsed Depending on the current state, the data is queued for output, or not.""" if self.current_state == "title": # Register the title self.page_title += data.strip() elif self.current_state == "body": # Add data to the output MyParser.handle_data(self, data) elif self.current_state == "toc": # Add data to the TOC self.toc += data def handle_charref(self, name): """Overridden - Called when a charref (&#xyz) is parsed Depending on the current state, the charref is queued for output, or not.""" if self.current_state == "title": # Add charref to the title self.page_title += ("&#" + name + ";") elif self.current_state == "body": # Add charref to the output MyParser.handle_charref(self, name) elif self.current_state == "toc": # Add charref to the TOC self.toc += ("&#" + name + ";") def handle_entityref(self, name): """Overridden - Called when an entityref (&xyz) tag is parsed Depending on the current state, the entityref is queued for output, or not.""" if self.current_state == "title": # Add the entityref to the title self.page_title += ("&" + name + ";") elif self.current_state == "body": # Add the entityref to the output MyParser.handle_entityref(self, name) elif self.current_state == "toc": # Add the entityref to the TOC self.toc += ("&" + name + ";") def handle_decl(self, decl): """Overridden - Called when a SGML declaration (> sys.stderr, self.state, self.div_bookmark # Look for the id = xyz attribute for attr in attrs: for div_attr in self.div_state_map: if (div_attr[0] == attr[0]) and (div_attr[1] in attr[1]): # Match ! self.state.append(div_attr[2]) self.div_bookmark.append(self.div_level) state_changed = True break # Increment div level self.div_level += 1 # Update the current state self.current_state = self.__get_current_state__() return state_changed def __update_state_machine_end__(self, tag): state_changed = False if tag == 'div': if wikidot.debug.ENABLE_DEBUG == True: print >> sys.stderr, self.state, self.div_bookmark self.div_level -= 1 if self.div_level == self.div_bookmark[-1]: # Matching closing
    tag -> pop the state self.state.pop() self.div_bookmark.pop() state_changed = True # Update the current state self.current_state = self.__get_current_state__() return state_changed def __get_current_state__(self): return self.state[-1] def __handle_body_tag__(self, tag, attrs): # Special case 1: links if tag == 'a': for index, attr in enumerate(attrs): if attr[0] == 'href': # Register the link self.links.add(attr[1]) break # Special case 2: images elif tag == 'img': for index, attr in enumerate(attrs): if attr[0] == 'src': # Register the link self.links.add(attr[1]) elif attr[0] == 'width': # Fix the width=xx attribute # Wikidot gives width="600px", instead of width=600 pos = attr[1].find('px') if pos >= 0: attrs[index] = (attr[0], attr[1][0:pos]) aseba-1.6.0/maintainer/updatedoc/wikidot/structure.py000066400000000000000000000046251322771007300227650ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import sys import pickle from wikidot.urltoname import urltoname from wikidot.tree import WikiNode # Global variables used to build the wiki's structure __structure__ = dict() __lang__ = '' def add_language(lang): """Create a new entry for this language in the dictionary""" global __structure__ __structure__[lang] = WikiNode('root_' + lang, '') def set_current_language(lang): """Set the current language, for future insertions""" global __lang__ __lang__ = lang def get_structure(lang): """Return the tree corresponding to a specific language""" return __structure__[lang] def insert(title, url, breadcrumbs = set()): """Insert a page into the current tree Set the current language using the 'set_current_language()' function.""" global __structure__ # convert url page_link = urltoname(url) # convert breadcrumbs page_breadcrumbs = list() for x in breadcrumbs: page_breadcrumbs.append(urltoname(x)) if __lang__ != '': __structure__[__lang__].insert(title, page_link, page_breadcrumbs) # print >> sys.stderr, "**** Dump after insert:" # __structure__[__lang__].dump() else: print >> sys.stderr, "*** Error in wikidot.structure.insert: set the language beforehand" def serialize(f): pickler = pickle.Pickler(f) pickler.dump(__lang__) pickler.dump(__structure__) def unserialize(f): global __lang__ global __structure__ pickler = pickle.Unpickler(f) __lang__ = pickler.load() __structure__ = pickler.load() aseba-1.6.0/maintainer/updatedoc/wikidot/tex2png.py000066400000000000000000000114201322771007300223030ustar00rootroot00000000000000#!/usr/bin/env python # Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import os import os.path import shutil import sys import re from string import Template import subprocess tex_file = \ r""" \documentclass{article} \pagestyle{empty} \begin{document} ${formula} \end{document} """ tex_file_template = Template(tex_file) tex_math_re = re.compile(r"(.*?)") def from_tex(tex_code, filename, density = 100): """Given a LaTeX string, generates a PNG file at a given density. Temporary files are generated in the current folder, prefixed by filename, then erased. Inputs: tex_code: String with a valid LaTeX code (ex: $a_i = b_i$) filename Filename, without the extension. Can be located in another directory density (Optional) Output density, by default at 100 Output: No output.""" basename = os.path.basename(filename) # process in the current folder, result will be copied later f = open("{0}.tex".format(basename),'w') f.write(tex_file_template.substitute(formula=tex_code)) f.close() devnull = open(os.devnull) retcode = subprocess.call(["texi2dvi","{0}.tex".format(basename)], stdout=devnull, stderr=devnull) retcode = subprocess.call(["dvips","-E","{0}.dvi".format(basename)], stdout=devnull, stderr=devnull) retcode = subprocess.call(["convert","-density","{0}x{0}".format(density),"{0}.ps".format(basename),"{0}.png".format(basename)]) # copy the result to the final file (if directory differes) if basename != filename: local_png = "{0}.png".format(basename) new_png = "{0}.png".format(filename) shutil.copy(local_png, new_png) os.remove(local_png) os.remove("{0}.tex".format(basename)) os.remove("{0}.aux".format(basename)) os.remove("{0}.dvi".format(basename)) os.remove("{0}.log".format(basename)) os.remove("{0}.ps".format(basename)) def from_html(source_html_file, output_basename): """Given an HTML file, convert all LaTeX codes enclosed between tags. Inputs: source_html_file Path to the HTML file output_basename Basename for the output files, without any extension. Corresponding .html and .png files will be generated. Output: No output.""" try: f = open(source_html_file, 'r') except IOError: print >> sys.stderr, "No such file: {0}".format(source_html_file) return else: html = f.read() f.close() # counter i = 0 # lookup dictionnary tex_lookup = dict() # loop search for the regular expression pos = 0 while 1: match = tex_math_re.search(html, pos) if match: tex_expr = match.group(1) if tex_lookup.has_key(tex_expr): # already encountered this expression, retrive the file filename = tex_lookup[tex_expr] else: # we must convert to png filename = output_basename + "-eq" + str(i) i += 1 print " " + filename + ".png" from_tex(tex_expr, filename) # register into the lookup tex_lookup[tex_expr] = filename #html = tex_math_re.sub("", html, 1) html = tex_math_re.sub("", html, 1) else: break # Save the file output_html = output_basename + ".html" try: f = open(output_html, 'w') except IOError: print >> sys.stderr, "Unable to write the result to: {0}".format(output_html) return else: f.write(html) f.close() # Test the module if __name__ == "__main__": # from_tex(r"$\frac{a}{b} = c$", "test", 200) # from_html("test.html", "test-out") from_html("en_asebastdnative.html", "test-out") aseba-1.6.0/maintainer/updatedoc/wikidot/tidy.config000066400000000000000000000000731322771007300225040ustar00rootroot00000000000000char-encoding: utf8 output-xhtml: yes indent: yes wrap: 0 aseba-1.6.0/maintainer/updatedoc/wikidot/tools.py000066400000000000000000000117411322771007300220620ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . # System lib import os import os.path import sys import urllib2 import mimetypes import subprocess # Custom lib import wikidot.debug import wikidot.structure from wikidot.urltoname import urltoname from wikidot.parser import WikidotParser import wikidot.tex2png def __fix_breadcrumbs__(breadcrumbs, toplevel): # check if toplevel is part of the breadcrumbs, # and rebase the basecrumb on this level if toplevel == '': return breadcrumbs output = list() output_enable = False for bc in breadcrumbs: if output_enable: output.append(bc) if toplevel in bc: output_enable = True return output def fetchurl(page, offline_name, breadcrumbs = ''): """Given a wikidot URL, fetch it, convert it and store it locally. Inputs: page: URL of the wikidot page offline_name Local file name for storage purpose breadcrumbs (Optional) Name of the root page. If given, checks that the breadcrumbs reference this page (child page). If not, page is discarded Output: Links to other pages / images.""" try: # Get the page print >> sys.stderr, "Connecting to {}...".format(page) response = urllib2.urlopen(page) except urllib2.HTTPError, e: print >> sys.stderr, e.code except urllib2.URLError, e: print >> sys.stderr, e.reason else: retval = dict() retval['links'] = set() retval['breadcrumbs'] = list() # Check MIME type mime = mimetypes.guess_type(page)[0] if (mime == None) or ('html' in mime): # HTML or unknown type # Convert the wikidot page and check the breakcrumbs print >> sys.stderr, "Parsing..." parser = WikidotParser() parser.feed(response.read()) # Test if the breadcrumbs links to the main page page_breadcrumbs = parser.get_breadcrumbs() page_breadcrumbs = __fix_breadcrumbs__(page_breadcrumbs, breadcrumbs) retval['breadcrumbs'].extend(page_breadcrumbs) if (breadcrumbs == '') or (len(page_breadcrumbs) > 0): # Ok, page valid wikidot.structure.insert(parser.get_title(), page, page_breadcrumbs if breadcrumbs != '' else set()) data = parser.get_doc() retval['links'] = parser.get_links() else: # Page is not linked to the main page print >> sys.stderr, "*** Page is not part of the documentation. Page skipped." return retval elif ('image' in mime): # Image data = response.read() else: # Type is not supported if wikidot.debug.ENABLE_DEBUG == True: print >> sys.stderr, "*** This is not a supported type of file. File skipped." return retval # Save print >> sys.stderr, "Saving the result to {}...".format(offline_name) f = open(offline_name, 'w') f.write(data) f.close() if wikidot.debug.ENABLE_DEBUG == True: print >> sys.stderr, "***DEBUG: links: ", reval['links'] return retval def tidy(directory): html_files = [x for x in os.listdir(directory) if '.html' in x] print >> sys.stderr, "\nCleaning HTML files..." for x in html_files: filename = os.path.join(directory, x) print >> sys.stderr, "Processing ", filename retcode = subprocess.call(["tidy","-config", "wikidot/tidy.config", "-q", "-o", filename, filename]) def fix_latex(directory): """Given a directory, convert LaTeX code to PNG images for every HTML file. Inputs: directory: Source directory Output: No output.""" html_files = [x for x in os.listdir(directory) if '.html' in x] print >> sys.stderr, "\nConverting LaTeX equations embedded in HTML files..." for x in html_files: filename = os.path.join(directory, x) print >> sys.stderr, "Processing ", filename wikidot.tex2png.from_html(filename, os.path.splitext(filename)[0]) aseba-1.6.0/maintainer/updatedoc/wikidot/tree.py000066400000000000000000000053221322771007300216570ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import sys class WikiNode: """Build a tree, mirroring the structure of a wikidot-based wiki""" def __init__(self, title, link): """x.__init__(title, link) creates a new node x. This node corresponds to a page with the title set to 'title' and whose link is 'link'.""" self.title = title self.link = link self.children = list() def __repr__(self): """x.__repr__() <==> repr(x)""" return "{} ({}) - {} children".format(self.title, self.link, len(self.children)) def __getitem__(self, y): """x.__getitem__(y) <==> x[y] Return the y-th child of the node""" return self.children[y] def insert(self, title, link, breadcrumbs): """Insert a new node into the tree. Inputs: title: The page's title link: The page's URL (can be just the name, or full URL, or a partial path) breadcrumbs: list listing the URL of the parents, starting from the root The URLs should be coherent between all inputs. Output: Newly inserted node. 'None' if no corresponding parents. """ if breadcrumbs == []: # it is a leaf, insert it child = WikiNode(title, link) self.children.append(child) return child else: # search a corresponding child for x in self.children: if x.link == breadcrumbs[0]: # match return x.insert(title, link, breadcrumbs[1:]) # failure return None def dump(self, level=0): """Recursively dump to stderr the whole tree""" print >> sys.stderr, level * ' ' + str(level) + " {} - {}".format(self.title, self.link) level += 1 for x in self.children: x.dump(level) aseba-1.6.0/maintainer/updatedoc/wikidot/urltoname.py000066400000000000000000000022361322771007300227270ustar00rootroot00000000000000# Aseba - an event-based framework for distributed robot control # Copyright (C) 2007--2011: # Stephane Magnenat # (http://stephane.magnenat.net) # and other contributors, see authors.txt for details # # This program 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, version 3 of the License. # # This program 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 program. If not, see . import urlparse import os.path def urltoname(page): o = urlparse.urlparse(page) name = os.path.basename(o.path) # Convert ':' to '_' name = name.replace(':', '_') # Fix missing extension if os.path.splitext(name)[1] == '': name += '.html' return name aseba-1.6.0/menu/000077500000000000000000000000001322771007300135375ustar00rootroot00000000000000aseba-1.6.0/menu/CMakeLists.txt000066400000000000000000000000641322771007300162770ustar00rootroot00000000000000add_subdirectory(freedesktop) add_subdirectory(src) aseba-1.6.0/menu/freedesktop/000077500000000000000000000000001322771007300160525ustar00rootroot00000000000000aseba-1.6.0/menu/freedesktop/48x48/000077500000000000000000000000001322771007300166515ustar00rootroot00000000000000aseba-1.6.0/menu/freedesktop/48x48/CMakeLists.txt000066400000000000000000000002001322771007300214010ustar00rootroot00000000000000file(GLOB files "*.png") foreach(file ${files}) install(FILES ${file} DESTINATION share/icons/hicolor/48x48/apps) 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generate-pixmaps.py from this directory on a Unix system to re-create all pixmap icons from the SVG ones This requires inkscape (for all) and imagemagick (for Windows icons) and makeicns (for OS X icons) to be available in the path. aseba-1.6.0/menu/src/asebachallenge.svg000066400000000000000000000225421322771007300177720ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/asebahelp.svg000066400000000000000000000143121322771007300167740ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/asebaplayground.svg000066400000000000000000000225411322771007300202330ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/asebastudio.svg000066400000000000000000000063071322771007300173600ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/asebastudiothymio.svg000066400000000000000000000056141322771007300206120ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/generate-pixmaps.py000077500000000000000000000040211322771007300201510ustar00rootroot00000000000000#!/usr/bin/env python # -*- coding: utf-8 -*- import glob import os import sys import subprocess # note: to be launched from where the svg files are # this script requires inkscape, imagemagick and makeicns def cmd_exists(cmd): return subprocess.call("type " + cmd, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) == 0 if __name__ == '__main__': if not cmd_exists('inkscape'): print 'Install Inkscape!' sys.exit(1) if not cmd_exists('convert'): print 'convert not found, Windows icons generation disabled' if not cmd_exists('makeicns'): print 'makeicns not found, OS X icons generation disabled' for file in glob.glob('*.svg'): def convert(target_dir, target_size, add=''): source_file = os.path.join(os.getcwd(), file) target_file = os.path.join(os.getcwd(), target_dir, os.path.splitext(file)[0] + add + '.png') print source_file print target_file cmd = 'inkscape --export-png={0} --export-width={1} --export-height={1} {2}' os.system(cmd.format(target_file, target_size, source_file)) base_source_file = os.path.splitext(file)[0] print 'Processing ' + base_source_file print 'Generating freedesktop files' convert('../freedesktop/48x48', '48') if cmd_exists('convert'): print 'Generating Windows ico' convert('../windows/', '256', '-256') convert('../windows/', '48', '-48') os.system('convert ../windows/{0}-48.png ../windows/{0}-256.png ../windows/{0}.ico'.format(base_source_file)) os.system('rm ../windows/{0}-48.png ../windows/{0}-256.png'.format(base_source_file)) if cmd_exists('makeicns'): print 'Generating OS X icns' convert('../osx/', '512', '-512') convert('../osx/', '256', '-256') convert('../osx/', '128', '-128') convert('../osx/', '32', '-32') convert('../osx/', '16', '-16') os.system('makeicns -512 ../osx/{0}-512.png -256 ../osx/{0}-256.png -128 ../osx/{0}-128.png -32 ../osx/{0}-32.png -16 ../osx/{0}-16.png -out ../osx/{0}.icns'.format(base_source_file)) os.system('rm ../osx/{0}-*.png'.format(base_source_file)) aseba-1.6.0/menu/src/scratchblock.svg000066400000000000000000000037721322771007300175220ustar00rootroot00000000000000 aseba-1.6.0/menu/src/thymioupgrader.svg000066400000000000000000000060321322771007300201130ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/thymiovpl.svg000066400000000000000000000025441322771007300171070ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/thymiowebbridge.svg000066400000000000000000000133401322771007300202340ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/src/thymiownetconfig.svg000066400000000000000000000257151322771007300204560ustar00rootroot00000000000000 image/svg+xmlaseba-1.6.0/menu/windows/000077500000000000000000000000001322771007300152315ustar00rootroot00000000000000aseba-1.6.0/menu/windows/asebachallenge.ico000066400000000000000000000510361322771007300206500ustar00rootroot0000000000000000 ¨%& P,Î%(0` 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@ È„cRxCš‚n5-7ÛXÜ…÷þq v<}Æ/þ4FÍ?DªÎºxZj;^¾ÛŸ»ÙÁ݆?›Ïë4·5à'ðú±ÎôJ_O/Þê{Ç=Ž-Sø}Lc•(+°Ç¸’ÕÂçûÕ§+@º¯×ÕÒ#¹šŽÊ z²º58ÿì4Ò‰®ù'¢kÿŸ¶D.oï;-=„þu/c÷²‡°gåS`êð×ñ÷›ûïk¢çïLwÿ*|xãeòÛ…?ßB¨Žð;LÿÜ*Ñ°ý…9c¿çÌ ®­XÓvÍÆyÂhdÂ1!4„ a—…Æ,ó§ú°ûÕ»±ûÕ»A•¢S":i.Âcg Ô5 4Ü)gX:-5€ÔîMHw¿‡ÄÖUHl}Û\Ì„ ÔÙ­(4Üä%ð>:ÀWØíùÅü~Boüö|ÀiÚÛ¯åîäw5ò…ßx&Õ~/Óß*¬CR?G P FŒf0EÉb·æäZ"ëEæÙ^FbÃËÎå!Œx¯BÝ›J“Ô2ñ:½TG ×ùå¾—¹ä÷õ½Žõëï›ÃWø­kÙæçÛ„ß^¾Óœ÷6ý­^ˆhy$Â1NBœ†°[‹Beva!Ž°TÀéyò_b¿‡CA…/k€>¾H× TÁ÷ëëÇëïëéÎuø¼„ßÙr¿m÷豺[øí^½{P™"B401šA˜d±G‹!ÁSpmïaî·Ñ]ÈýÎ¥»÷“7¨VÛâ÷ºzMçÍ?Æ»œRZ{gž÷yÅZ} pß*»°Ùo/Ç(ŸšBÍ×3ûý†éoëç·r¨B48á+!ÉCأŠæF )þš8w›±¥ûïç (uÑÏB‡ ðî2T&ø€sxÏ8ÏÝêW[øíÁßêëyÎþ¾#˜§bá×ûýv¯¾Ý2Èó#Ô¡FáE%!ô²4ùçêx9kÕ È]Þ;xç{µòFz1ë P÷À8ÖËÜ/§Õ·&ïÀSø-a6Ûwk?Ø#ýò~våßﯿ `!Œ£Yô±R\ °Z^Ò+å•^J#TJ+ïw¬ÛÉå'ðö2Kqù…_ÿîßêÛÏs;û¸1 㳪Cøͱ~oá· ‚ë÷Û `„"ŽÑÒÒÈ¢ŸÅ q{¯Õ»åç®YlnÊÙù¨`¾Gé…LwŠ ½û}>‚-¤Þ‚_¬¯o›7öï)ü.ÁyÑ–ßÜÀŸBŒpÂÈ`,U1È#Hð°Í(ÍÇáö8 B@ÁÀbùþæ¿¿Ð;î”{ÿä ~ÁV?÷`ìÂoŸ¢ëäc9aFžðB4 í$0Éb€Ç¡qâjùãòÓªZRŽ#PO/&ôÖ”Úâ[«óú·ú€‡ÉoKóï¹ÂÐT„ÅhÒ!5}€-.Í;~¹¯c1ƒ¡”9zñ=§T¡×—/øv¯¿ŸÉ¯{ñó…?×üSøyl2 A,Ò0´a!’Áâpø™Iáwo8¯e9J@?žøæÏsœBoä;Zo ¨àç í!wÉoõüVß‘fÔ‹ÛÇùBÊþÀ•@Z¿§lLã k#¨.!dÑ…~DHÄöϾÂá<3>tâñq\Ãum÷õ Û*Ë0¹NkXÖu‰§à›à™J"·n¿¹l—aîs×âœösÍP`«Õ7ʶ ¸}Þ€SØ^øð7\€ò=~OÐUT†8D˜(H Éñê¹[ãáZ¦ÅG ç=2‘?àxóûÄOçž«Å澑îÕ×·®Ï]Š"—fŸø3¢„IòÇ3úñôS9!ßçû‚)è ª 'IĨJ,߀ƊZðÃF¢Ö›n9Ëòñ 4~x: meÙãÌe:ʱ+ n™òÜîø3Î#yßÝùÎ9zU4ÃJÉ Ä²Ü½zŒñß÷Oü5P隶o­+èÊ‚€ùÿˆ®— AIEND®B`‚aseba-1.6.0/porting.txt000066400000000000000000000046451322771007300150270ustar00rootroot00000000000000Porting ASEBA Porting ASEBA can mean two different things: 1. porting the development and support tools to a new desktop platform; 2. porting the virtual machine to a new microcontroller. 1. Porting the development and support tools Porting the development tools only requires a compilation; providing that cmake, Qt and Dashel support your platform, which is the case for all major desktop platforms. Some tools, such as Medulla, depend on D-Bus and thus will only run under Unix. That should not bother you, as these tools usually will run in a Linux-powered robot or device. 2. Porting the virtual machine to a new microcontroller The virtual machine itself is straightforward to port, as it is plain C. The interfaces to the external world require slightly more work. First, the interface to the ASEBA network will depend on the type of bus you use. Currently, ASEBA supports the CAN bus and direct links (usually serial). The "transport/" directory contains adapters, that one one end provide functions to the virtual machine for communication and on the other end provide on interface to your communication bus. A CAN adapter is available in "transport/can", and a generic adapter for stream-based communication link is available in "transport/buffer". Second, the interfaces to your sensors, actuators, and execution-flow sources (typically interrupts) depend on the feature-set of your microcontroller and on your the application. The directory "targets/" contains several examples. The directories "targets/challenge" and "targets/playground" provide examples of virtual machine controlling virtual e-puck robots inside the Enki simulator. The directory "targets/e-puck" contains the implementation of ASEBA on the real e-puck robot. All these examples use the buffer transport interface. In opposite, the directory "targets/dspic33" contains a generic structure for running ASEBA inside a dspic33 using CAN as a communication layer. The directory "targets/can-translator/" contains the code and the schematics of a CAN to UART translator using a dspic33. This code uses Molole [1] to access the dspic's peripherals. In summary, to port ASEBA to a new microcontroller, you first have to select the type of communication you are interested in, and then choose an example close to your need, and start hacking from there. The development mailing list are available, should you have any question. Enjoy ASEBA ! [1] http://mobots.epfl.ch/molole.htmlaseba-1.6.0/readme.md000066400000000000000000000035641322771007300143620ustar00rootroot00000000000000# Aseba Copyright (C) 2007–2017: Stéphane Magnenat (http://stephane.magnenat.net) and other contributors, see [authors.txt](authors.txt) for details. Released under LGPL3, see [license.txt](license.txt) for details. Aseba means **a**ctuator and **s**ensor **e**vent-**b**ased **a**rchitecture. It is a set of tools which allow beginners to program robots easily and efficiently. For more information, see: http://aseba.wikidot.com ## Supported platforms The following platforms are supported: - Linux ([compilation instructions](compile.Linux.md)) - macOS ([compilation instructions](compile.macOS.md)) - Windows ([compilation instructions](compile.Windows.md)) - embedded systems ([see the dependency list](compile.deps.md)) ## Use Aseba Informations on how to use Aseba is available on [http://aseba.wikidot.com](https://www.thymio.org/en:asebausermanual). If you use Aseba in an academic project leading to a publication, please cite: > ASEBA: A Modular Architecture for Event-Based Control of Complex Robots > Stéphane Magnenat, Philippe Rétornaz, Michael Bonani, Valentin Longchamp, and Francesco Mondada. > In IEEE/ASME Transactions on Mechatronics, 16(2), pages 321–329, April, 2011, DOI: 10.1109/TMECH.2010.2042722. [full text document](https://infoscience.epfl.ch/record/144059/files/aseba-ieee-tr.pdf) ## Hack and contribute If you found a bug with Aseba, please look at the [existing issues](https://github.com/aseba-community/aseba/issues) to see if your problem has already been reported. If not, please [open a new issue](https://github.com/aseba-community/aseba/issues/new). If you want to help us translating Aseba or its documentation, please read the [localization guide](localization.md). If you are interested in contributing to programming Aseba, please read the [contributor guide](contributing.md). Enjoy Aseba! The developers aseba-1.6.0/readme.sourcetree.md000066400000000000000000000064151322771007300165370ustar00rootroot00000000000000# Understanding the Aseba source tree This file describes the source tree of Aseba. ## Conventions Aseba is written in C++11, with the exception of embedded code such as the VM which is C99. While the existing code is not fully migrated to C++11 features yet, all new code should make best use of modern C++11 features. Issue [#615](https://github.com/aseba-community/aseba/issues/615) describes the state of C++11 within Aseba, and a list of C++11 features that should be used. ## Content of Aseba sources These directories contain source code: * `common`: definitions common to both targets, studio and tools * `msg`: message serialization/de-serialization in C++ * `utils`: some miscellaneous utility functions * `zeroconf`: Aseba target discovery through zeroconf/Bonjour * `compiler`: compiler * `vm`: virtual machine and the standard library of native functions * `targets`: some targets running virtual machines: * `dummy`: simple PC target just running a vm * `challenge`: competitive robot simulator using Enki * `playground`: generic robot simulator using Enki * `enki-marxbot`: simplified simulation of the marXbot robot * `dspic33`: common code for running aseba on dspic33 * `can-translator`: translator UART<->CAN on dsPIC * `mobots-mx31`: script for Mobots robots using iMX31 board * `transport`: different transport layers: * `buffer`: in-memory buffers * `dashel-plugins`: extensions to Dashel: socketcan on Linux and Android serial port * `can`: CAN bus * `microchip_usb`: serial-over-USB implementation for PIC24 microcontrollers * `switches`: software switches to create networks: * `switch`: connect several aseba nodes and tools together * `medulla`: like switch, but provides a DBus interface as well * `clients`: clients: * `cmd`: command line tool for sending messages * `dump`: tool to dump all incoming messages * `eventlogger`: tool to log all incoming messages * `exec`: tool to execute an external command upon the reception of an event * `replay`: can record and replay messages * `studio`: integrated development environment * `joy`: joystick client using SDL2 * `thymioupdater`: firmware updater for the Thymio II robot * `thymiownetconfig`: GUI to configure the network settings of Wireless Thymio * `massloader`: very quickly load the same code to several robots * `tests`: unit tests * `compiler`: for compiler * `simulator`: for the integration with the Enki simulator * `vm`: for the virtual machine * `examples` * `clients`: examples how to build your own clients * `cpp-shell`: command-line using the C++ library * `cpp-qt-gui`: GUI using the C++ library and Qt * `python-dbus`: library to access Aseba from Python using D-Bus * `zeroconf`: examples on how to use zeroconf to advertise or discover targets * `switches/botspeak`: an example of switch that compiles a sequencial BASIC-like script into AESL These directories contain support files: * `CMakeModules`: detection support for DNSSD and SDL2 and version parsing module * `android`: files to build Aseda for Android * `debian`: files to build a DEB package * `rpm`: files to build a RMP package * `docsource`: some source files to generate documentation * `maintainer`: scripts to maintain help files & translations * `menu`: entries for operating system menus aseba-1.6.0/rpm/000077500000000000000000000000001322771007300133715ustar00rootroot00000000000000aseba-1.6.0/rpm/README.txt000066400000000000000000000053431322771007300150740ustar00rootroot00000000000000To build RPMs you need to have the rpmdevtools package installed and an RPM building environment configured with rpmdev-setuptree. Then, for each release, do the following: To create RPMs from an existing github release --------------------------------------------- 0. For what follows, use the following definitions. You can even set shell variables accordingly so you can just copy paste commands. PACKAGE_NAME= SOURCE_RELEASE_TAG= 1. [NOTE: Ideally, this would be done before making the source release.] If there have been any ABI-breaking changes to a shared library since the last RPM release, bump the LIB_VERSION_MAJOR number that is set in the CMakeLists.txt file in the directory containing library source or in a higher-level directory. The line looks like this: set(LIB_VERSION_MAJOR 1) # Must be bumped for incompatible ABI changes 2. Determine the commit hash of the source release either by copying it from the github releases web page or running: git show-ref -s --tags $SOURCE_RELEASE_TAG 3. Follow the directions in the spec file for updating the release information. 4. Run: rpmdev-bumpspec -u "Your Name " \ -c "changelog comment" ${PACKAGE_NAME}.spec That will increment the RPM release number and add a changelog entry to the spec file. 5. Download the appropriate sources into ~/rpmbuild/SOURCES with: spectool -g -R ${PACKAGE_NAME}.spec 6. Create a patch file containing all the changes since the specified commit by running: git diff $GITHUB_RELEASE_NUMBER \ > ~/rpmbuild/SOURCES/${PACKAGE_NAME}-rpm.patch 7. Build the RPMs and SRPM with: rpmbuild -ba ${PACKAGE_NAME}.spec If there are problems, fix them, update the most recent changelog entry in the %changelog section at the bottom of the spec file and return to step 6. 8. Commit and push the updated spec file and your changes to the official github repository. 9. Publish the RPMs and SRPM found in ~/rpmbuild/RPMS and ~/rpmbuild/SRPMS To create pre-release or post-release RPMs ------------------------------------------ If you want to create pre-release RPMs for an upcoming github source release or post-release RPMS based on a commit that occurred after the most recent github source release, follow the directions above with the following changes: Instead of step 2, determine the commit hash from the official github repository that you want the RPMs to be based on. When editing the spec file in step 3, set the "Version:" tag to the future github source release number (for pre-release RPMs) or past github source release number (for post-release RPMS) and follow the other directions in that file concerning pre-release and post-release RPMs. aseba-1.6.0/rpm/aseba.spec000066400000000000000000000214341322771007300153240ustar00rootroot00000000000000Name: aseba # Update the following lines to reflect the source release version you will be # referencing below %global source_major 1 %global source_minor 5 %global source_patch 3 Version: %{source_major}.%{source_minor}.%{source_patch} # Update the following line with the git commit hash of the revision to use # for example by running git show-ref -s --tags RELEASE_TAG %global commit b18fb8f21a866495ef379c551ef104f88d37bd72 %global shortcommit %(c=%{commit}; echo ${c:0:7}) # Update the following line with the git commit has of the revision of Catch # associated with the Catch submodule. Run 'git submodule' to find it. %global catchcommit 3b18d9e962835100d7e12ac80d22882e408e40dc # Update the following line with the git commit has of the revision of blockly # associated with the blockly submodule. Run 'git submodule' to find it. %global blocklycommit 38e4085359a7b9578d0d5d26e9e291413d97e335 # Update the following line to set commit_is_tagged_as_source_release to 0 if # and only if the commit hash is not from a git tag for an existing source # release (i.e. it is a commit hash for a pre-release or post-release # revision). Otherwise set it to 1. %global commit_is_tagged_as_source_release 1 %if %{commit_is_tagged_as_source_release} == 0 %global snapshot .%(date +%%Y%%m%%d)git%{shortcommit} %endif # Update the number(s) in the "Release:" line below as follows. If this is # the first RPM release for a particular source release version, then set the # number to 0. If this is the first RPM pre-release for a future source # release version (i.e. the "Version:" line above refers to a future # source release version), then set the number to 0.0. Otherwise, leave the # the number unchanged. It will get bumped when you run rpmdev-bumpspec. Release: 4%{?snapshot}%{?dist} Summary: A set of tools which allow beginners to program robots easily and efficiently %global lib_pkg_name lib%{name}%{source_major} %if 0%{?suse_version} %global buildoutdir build %else %global buildoutdir . %endif %if 0%{?suse_version} License: LGPL-3.0 %else License: LGPLv3 %endif URL: http://aseba.wikidot.com Source0: https://github.com/aseba-community/aseba/archive/%{commit}.tar.gz Source1: https://github.com/philsquared/Catch/archive/%{catchcommit}.tar.gz Source2: https://github.com/aseba-community/blockly/archive/%{blocklycommit}.tar.gz Patch0: aseba-rpm.patch BuildRequires: ImageMagick BuildRequires: ImageMagick-devel BuildRequires: SDL-devel BuildRequires: binutils BuildRequires: cmake BuildRequires: dashel-devel >= 1.1.0 BuildRequires: desktop-file-utils BuildRequires: elfutils BuildRequires: enki-devel BuildRequires: file BuildRequires: gdb BuildRequires: glibc-devel BuildRequires: kernel-headers BuildRequires: libstdc++-devel BuildRequires: libxml2-devel %if 0%{?suse_version} BuildRequires: hicolor-icon-theme BuildRequires: Mesa-libGL-devel BuildRequires: Mesa-libGLU-devel BuildRequires: libQtWebKit-devel # SUSE puts qcollectiongenerator in qt-devel-doc instead of qt-devel BuildRequires: qt-devel-doc %else BuildRequires: mesa-libGL-devel BuildRequires: mesa-libGLU-devel BuildRequires: qtwebkit-devel %endif BuildRequires: qt-devel BuildRequires: qwt-devel BuildRequires: gcc-c++ BuildRequires: doxygen %description Aseba is an event-based architecture for real-time distributed control of mobile robots. It targets integrated multiprocessor robots or groups of single-processor units, real or simulated. The core of aseba is a lightweight virtual machine tiny enough to run even on microcontrollers. With aseba, we program robots in a user-friendly programming language using a cozy integrated development environment. %package -n %{lib_pkg_name} Summary: Libraries for %{name} Group: System/Libraries Requires: libdashel1 >= 1.1.0 %description -n %{lib_pkg_name} The %{lib_pkg_name} package contains libraries running applications that use %{name}. %package devel Summary: Development files for %{name} Requires: %{lib_pkg_name}%{?_isa} = %{version}-%{release} %description devel The %{name}-devel package contains libraries and header files for developing applications that use %{name}. %prep %setup -q -n %{name}-%{commit} %setup -q -T -D -b 1 -n %{name}-%{commit} %setup -q -T -D -b 2 -n %{name}-%{commit} rm -rf tests/externals/Catch mv ../Catch-%{catchcommit} tests/externals/Catch rm -rf clients/studio/plugins/ThymioBlockly/blockly mv ../blockly-%{blocklycommit} clients/studio/plugins/ThymioBlockly/blockly %patch0 -p1 %build %cmake make doxygen %{_builddir}/%{buildsubdir}/Doxyfile %install rm -rf $RPM_BUILD_ROOT cd %{buildoutdir} make install DESTDIR=$RPM_BUILD_ROOT rm -rf ${RPM_BUILD_ROOT}%{_bindir}/asebatest rm -rf ${RPM_BUILD_ROOT}%{_bindir}/aseba-test-natives-count rm -rf ${RPM_BUILD_ROOT}%{_bindir}/asebashell rm -rf ${RPM_BUILD_ROOT}%{_bindir}/aseba-qt-gui rm -rf ${RPM_BUILD_ROOT}%{_bindir}/aseba-qt-dbus cd examples make clean rm -rf *.cmake CMakeFiles Makefile rm -rf clients/*.cmake clients/CMakeFiles rm -rf clients/*/*.cmake clients/*/CMakeFiles cd %{_builddir}/%{buildsubdir} desktop-file-install --remove-category="Aseba" --dir=${RPM_BUILD_ROOT}%{_datadir}/applications ${RPM_BUILD_ROOT}%{_datadir}/applications/*.desktop %check #ctest %post /bin/touch --no-create %{_datadir}/icons/hicolor &>/dev/null || : %post -n %{lib_pkg_name} /sbin/ldconfig %postun if [ $1 -eq 0 ] ; then /bin/touch --no-create %{_datadir}/icons/hicolor &>/dev/null /usr/bin/gtk-update-icon-cache %{_datadir}/icons/hicolor &>/dev/null || : fi %postun -n %{lib_pkg_name} /sbin/ldconfig %posttrans /usr/bin/gtk-update-icon-cache %{_datadir}/icons/hicolor &>/dev/null || : %files %doc debian/copyright debian/changelog readme.md targets/playground/unifr.playground targets/challenge/examples/challenge-goto-energy.aesl debian/README.Debian %{_bindir}/* %{_datadir}/applications/* %{_datadir}/icons/hicolor/48x48/apps/* %{_datadir}/icons/hicolor/scalable/apps/* %files -n %{lib_pkg_name} %doc debian/copyright %{_libdir}/*.so.* %files devel %doc %{buildoutdir}/doc/* examples/* %{_includedir}/* %{_libdir}/*.so %changelog * Mon Jun 13 2016 Dean Brettle - 1.5.3-4 - Use libQtWebKit-devel on SUSE * Mon Jun 13 2016 Dean Brettle - 1.5.3-3 - Add blockly submodule fix build * Mon Jun 13 2016 Dean Brettle - 1.5.3-2 - Add qt-webkit-devel build dependency so that Qt binaries are built * Fri Apr 22 2016 Dean Brettle - 1.5.3-1 - Sync with upstream 1.5.3 * Mon Mar 07 2016 Dean Brettle - 1.5.2-1 - Sync with upstream 1.5.2 * Mon Feb 29 2016 Dean Brettle - 1.5.1-1 - Sync with upstream 1.5.1 * Thu Nov 19 2015 Dean Brettle - 1.5.0-0.4.20151119git2fae615 - Require libdashel1 >= 1.1.0 * Tue Oct 13 2015 Dean Brettle - 1.4.0-0.3.20151013gitb2255c6 - Incorporate fixes needed by other platforms and package systems * Fri Sep 11 2015 Dean Brettle - 1.4.0-0.2.20150910git04b42d4 - Sync with latest upstream master and fix build errors. * Wed Sep 09 2015 Dean Brettle - 1.4.0-0.1.20150909git10ef28e - Sync with latest upstream master * Fri Jun 20 2014 Dean Brettle - 1.4.0-0.3.20140620gitaaf2e88 - Sync with latest upstream master. - Make build require at least 1.0.8 of dashel-devel to get required dashelConfig.cmake file. * Tue May 06 2014 Dean Brettle - 1.4.0-0.2.20140505gitaaf2e88 - Removed dashel's dependencies since linking to dashel should pull them in automatically. * Fri Apr 18 2014 Dean Brettle - 1.4.0-0.1.20140419git38a1847 - Using 1.4.0-0.xYYYYMMDDgitSHORTCOMMIT for releases based on master snapshots. * Wed Apr 16 2014 Dean Brettle - 1.3.2-0.5.20140416git96fb018 - Updated to latest 1.3.2 prerelease, added asebavmbuffer shared lib and headers, and made examples/clients buildable after installation. * Mon Apr 14 2014 Dean Brettle - 1.3.2-0.4.20140414git8358704 - Added vm/*.h to the aseba-devel package. * Fri Apr 11 2014 Dean Brettle - 1.3.2-0.4.20140411git8358704 - Updated to latest 1.3.2 prerelease and made some libs static and not installed. * Mon Mar 03 2014 Dean Brettle - 1.3.2-0.3.20140303gitf44652d - Updated spec to build on openSUSE and put libs in libaseba1 package. * Sat Mar 01 2014 Dean Brettle - 1.3.2-0.2.20140228gitf44652d - Changed SO_VERSION to SOVERSION so that libs only use major version number and added rpm directory with spec file and RPM building instructions. * Thu Feb 27 2014 Dean Brettle - 1.3.2-0.1.20140223gitf44652d - Built shared libs for additional -devel subpackage * Sun Feb 23 2014 Dean Brettle - 1.3-1.20140223gitf44652d - Initial release aseba-1.6.0/switches/000077500000000000000000000000001322771007300144245ustar00rootroot00000000000000aseba-1.6.0/switches/CMakeLists.txt000066400000000000000000000002131322771007300171600ustar00rootroot00000000000000add_subdirectory(switch) add_subdirectory(medulla) #FIXME: rename http2 and remove this one add_subdirectory(http) add_subdirectory(http2) aseba-1.6.0/switches/http/000077500000000000000000000000001322771007300154035ustar00rootroot00000000000000aseba-1.6.0/switches/http/CMakeLists.txt000077500000000000000000000017201322771007300201460ustar00rootroot00000000000000# asebahttp - a switch to bridge HTTP to Aseba # 2014-12-01 David James Sherman # need libxml2 to read aesl files find_package(LibXml2) if (LIBXML2_FOUND) include_directories(${LIBXML2_INCLUDE_DIR}) set(http_SRCS http.cpp main.cpp ) set(http_MOCS http.h ) add_executable(asebahttp ${http_SRCS} ${http_MOCS}) target_link_libraries(asebahttp asebacompiler asebacommon ${LIBXML2_LIBRARIES} ${ASEBA_ZEROCONF_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebahttp RUNTIME DESTINATION bin ) add_library(asebahttphub ${http_SRCS}) set_target_properties(asebahttphub PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebahttphub LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBACORE_HDR_HTTP http.h ) install(FILES ${ASEBACORE_HDR_HTTP} DESTINATION include/aseba/switches/http ) endif (LIBXML2_FOUND) aseba-1.6.0/switches/http/README.md000066400000000000000000000100371322771007300166630ustar00rootroot00000000000000asebahttp - a switch to bridge Aseba to HTTP 2015-01-01 David James Sherman Provide a simple REST interface with introspection for Aseba devices. - GET /nodes - JSON list of all known nodes - GET /nodes/:NODENAME - JSON attributes for :NODENAME - PUT /nodes/:NODENAME - write new Aesl program - GET /nodes/:NODENAME/:VARIABLE - retrieve JSON value for :VARIABLE - POST /nodes/:NODENAME/:VARIABLE - send new values(s) for :VARIABLE - POST /nodes/:NODENAME/:EVENT - call an event :EVENT - GET /events\[/:EVENT\]* - create SSE stream for all known nodes - GET /nodes/:NODENAME/events\[/:EVENT\]* - create SSE stream for :NODENAME Typical use: `asebahttp --port 3000 --aesl vmcode.aesl ser:name=Thymio-II &` After vmcode.aesl is compiled and uploaded, check with `curl http://127.0.0.1:3000/nodes/thymio-II` Substitute appropriate values for :NODENAME, :VARIABLE, :EVENT and their parameters. In most cases, :NODENAME is `thymio-II`) For example. - `curl http://localhost:3000/nodes/thymio-II/motor.left.target/100` sets the speed of the left motor - `curl http://nodes/thymio-II/sound_system/4/10` might record sound number 4 for 10 seconds, if such an event were defined in AESL. Variables and events are learned from the node description and parsed from AESL source when provided. Server-side event (SSE) streams are updated as events arrive. If a variable and an event have the same name, it is the EVENT that is called. On a local machine the server can handle 600 requests/sec with 10 concurrent connections, more (up to 2.5 times more) if the requests are pipelined as is the HTTP/1.1 default. Start an 'asebadummynode 0' and run 'make test' to execute some basic unit tests. Example [Node-RED](http://nodered.org) flows can be found in ../../examples/http/node-red. DONE: - Dashel connection to nodes and round-robin scheduling between Aseba and HTTP connections - read Aesl program at launch, upload to Thymio-II, and record interface for introspection - GET /nodes, GET /nodes/:NODENAME with introspection - POST /nodes/:NODENAME/:VARIABLE (sloppily allows GET /nodes/:NODENAME/:VARIABLE/:VALUE\[/:VALUE\]*) - POST /nodes/:NODENAME/:EVENT (sloppily allows GET /nodes/:NODENAME/:EVENT\[/:VALUE\]*) - form processing for updates and events (POST /.../:VARIABLE) and (POST /.../:EVENT) - handle asynchronous variable reporting (GET /nodes/:NODENAME/:VARIABLE) - JSON format for variable reporting (GET /nodes/:NODENAME/:VARIABLE) - implement SSE streams and event filtering (GET /events) and (GET /nodes/:NODENAME/events) - Aesl program bytecode upload (PUT /nodes/:NODENAME) use curl --data-ascii "file=$(cat vmcode.aesl)" -X PUT http://127.0.0.1:3000/nodes/thymio-II - accept JSON payload rather than HTML form for updates and events (POST /.../:VARIABLE) and (POST /.../:EVENT) - connect more than one node on an aesl bus like asebaswitch TODO: - gracefully shut down TCP/IP connections (half-close, wait, close) This code borrows from the rest of Aseba, especially switches/medulla and examples/clients/cpp-shell, which bear the copyright and LGPL 3 licensing notice below. /* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2015: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */aseba-1.6.0/switches/http/http.cpp000066400000000000000000002156211322771007300170750ustar00rootroot00000000000000/* asebahttp - a switch to bridge Aseba to HTTP 2014-12-01 2015-01-01 2016-01-27 David James Sherman Provide a simple REST interface with introspection for Aseba devices. GET /nodes - JSON list of all known nodes GET /nodes/:NODENAME - JSON attributes for :NODENAME PUT /nodes/:NODENAME - write new Aesl program GET /nodes/:NODENAME/:VARIABLE - retrieve JSON value for :VARIABLE POST /nodes/:NODENAME/:VARIABLE - send new values(s) for :VARIABLE POST /nodes/:NODENAME/:EVENT - call an event :EVENT GET /events[/:EVENT]* - create SSE stream for all known nodes GET /nodes/:NODENAME/events[/:EVENT]* - create SSE stream for :NODENAME Typical use: asebahttp --port 3000 --aesl vmcode.aesl ser:name=Thymio-II & After vmcode.aesl is compiled and uploaded, check with curl http://127.0.0.1:3000/nodes/thymio-II Substitute appropriate values for :NODENAME, :VARIABLE, :EVENT and their parameters. In most cases, :NODENAME is thymio-II. For example. - curl http://localhost:3000/nodes/thymio-II/motor.left.target/100 sets the speed of the left motor - curl http://nodes/thymio-II/sound_system/4/10 might record sound number 4 for 10 seconds, if such an event were defined in AESL. Variables and events are learned from the node description and parsed from AESL source when provided. Server-side event (SSE) streams are updated as events arrive. If a variable and an event have the same name, it is the EVENT that is called. On a local machine the server can handle 600 requests/sec with 10 concurrent connections, more (up to 2.5 times more) if the requests are pipelined as is the HTTP/1.1 default. Start an 'asebadummynode 0' and run 'make test' to execute some basic unit tests. Example Node-RED flows can be found in ../../examples/http/node-red. DONE: - Dashel connection to nodes and round-robin scheduling between Aseba and HTTP connections - read Aesl program at launch, upload to Thymio-II, and record interface for introspection - GET /nodes, GET /nodes/:NODENAME with introspection - POST /nodes/:NODENAME/:VARIABLE (sloppily allows GET /nodes/:NODENAME/:VARIABLE/:VALUE[/:VALUE]*) - POST /nodes/:NODENAME/:EVENT (sloppily allows GET /nodes/:NODENAME/:EVENT[/:VALUE]*) - form processing for updates and events (POST /.../:VARIABLE) and (POST /.../:EVENT) - handle asynchronous variable reporting (GET /nodes/:NODENAME/:VARIABLE) - JSON format for variable reporting (GET /nodes/:NODENAME/:VARIABLE) - implement SSE streams and event filtering (GET /events) and (GET /nodes/:NODENAME/events) - Aesl program bytecode upload (PUT /nodes/:NODENAME) use curl -H 'Content-Type: application/octet-stream' --data-ascii "$(cat vmcode.aesl)" -X PUT http://127.0.0.1:3000/nodes/thymio-II - accept JSON payload rather than HTML form for updates and events (POST /.../:VARIABLE) and (POST /.../:EVENT) - connect more than one node on an aesl bus like asebaswitch TODO: - gracefully shut down TCP/IP connections (half-close, wait, close) This code borrows from the rest of Aseba, especially switches/medulla and examples/clients/cpp-shell, which bear the copyright and LGPL 3 licensing notice below. */ /* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include "http.h" #include "../../common/consts.h" #include "../../common/types.h" #include "../../common/productids.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #if defined(_WIN32) && defined(__MINGW32__) /* This is a workaround for MinGW32, see libxml/xmlexports.h */ #define IN_LIBXML #endif #include #include #if DASHEL_VERSION_INT < 10003 # error "You need at least Dashel version 1.0.3 to compile Http" #endif // DAHSEL_VERSION_INT #ifdef ZEROCONF_SUPPORT // zeroconf requires gethostname #ifdef _WIN32 #include #else // _WIN32 #include #endif // _WIN32 #endif // ZEROCONF_SUPPORT //== Some utility functions and diverse hacks ============================================== // close the stream, this is a hack because Dashel lacks a proper shutdown mechanism void shutdownStream(Dashel::Stream* stream) { stream->fail(Dashel::DashelException::Unknown, 0, "Request handling complete"); } std::string readLine(Dashel::Stream* stream) { char c; std::string line; do { stream->read(&c, 1); line += c; } while (c != '\n'); return line; } //== Main event ============================================================================ namespace Aseba { using namespace std; using namespace Dashel; /** \addtogroup http */ /*@{*/ //-- Subclassing Dashel::Hub ----------------------------------------------------------- HttpInterface::HttpInterface(const strings& targets, const std::string& http_port, const std::string& aseba_port, const int iterations, bool dump, bool verbose) : Hub(false), // don't resolve hostnames for incoming connections (there are a lot of them!) asebaStreams(), inHttpStream(0), inAsebaStream(0), inHttpPort(http_port), inAsebaPort(aseba_port), verbose(verbose), iterations(iterations), do_dump(dump) #ifdef ZEROCONF_SUPPORT ,zeroconf(*this) #endif // ZEROCONF_SUPPORT // created empty: pendingResponses, pendingVariables, eventSubscriptions, httpRequests, streamsToShutdown { for (strings::const_iterator it = targets.cbegin(); it != targets.end(); ++it) { streamInitParameters.insert(std::pair(*it, NULL)); } // listen for incoming HTTP and Aseba requests if (! inHttpPort.empty()) inHttpStream = connect("tcpin:port=" + inHttpPort); if (! inAsebaPort.empty()) inAsebaStream = connect("tcpin:port=" + inAsebaPort); //attempt to connect to targets here first. //This needs to be done once, before we load aesl files connectToTargets(); // wait for descriptions for (int i = 0; i < 20; i++) // 20 seconds { // ask for descriptions this->pingNetwork(); if (!run1s()) break; if (nodeDescriptionsReceived.size() >= targets.size()) break; } } void HttpInterface::broadcastGetDescription() { GetDescription getDescription; for (StreamNodeIdMap::iterator it = asebaStreams.begin(); it != asebaStreams.end(); it++ ) { getDescription.serialize(it->first); it->first->flush(); } } // void HttpInterface::run() // { // do // { // sendAvailableResponses(); // if (!run1s()) // break; // if (verbose && streamsToShutdown.size() > 0) // { // cerr << "HttpInterface::run "<< streamsToShutdown.size() <<" streams to shut down"; // for (StreamSet::iterator si = streamsToShutdown.begin(); si != streamsToShutdown.end(); si++) // cerr << " " << *si; // cerr << endl; // } // if (!streamsToShutdown.empty()) // { // StreamSet::iterator i = streamsToShutdown.begin(); // Dashel::Stream* stream_to_shutdown = *i; // streamsToShutdown.erase(*i); // invalidates iterator // try // { // if (verbose) // cerr << stream_to_shutdown << " shutting down stream" << endl; // shutdownStream(stream_to_shutdown); // } // catch(Dashel::DashelException& e) // { } // } // } while (iterations-- != 0 and asebaStreams.size() != 0); // for (StreamResponseQueueMap::iterator i = pendingResponses.begin(); i != pendingResponses.end(); i++) // unscheduleAllResponses(i->first); // } void HttpInterface::connectionCreated(Dashel::Stream *stream) { if (verbose) std::cout << stream << " Incoming connection from " << stream->getTargetName() << endl; // assert( pendingResponses[stream].empty() ); } void HttpInterface::connectionClosed(Stream * stream, bool abnormal) { #ifdef ZEROCONF_SUPPORT if (zeroconf.isStreamHandled(stream)) { zeroconf.dashelConnectionClosed(stream); } #endif // ZEROCONF_SUPPORT discardStream(stream); if (verbose) cout << stream << " Connection closed to " << stream->getTargetName() << endl; unscheduleAllResponses(stream); pendingResponses.erase(stream); unsigned num = streamsToShutdown.erase(stream); if (verbose) cout << stream << " Connection closed, removed " << num << " pending shutdowns" << endl; } bool HttpInterface::run1s() { int timeout(1000); UnifiedTime startTime; while (timeout > 0) { //Attempt to reconnect to disconnected targets connectToTargets(); // special handling for HTTP streams sendAvailableResponses(); if (verbose && streamsToShutdown.size() > 0) { cerr << "HttpInterface::run "<< streamsToShutdown.size() <<" streams to shut down"; for (StreamSet::iterator si = streamsToShutdown.begin(); si != streamsToShutdown.end(); si++) cerr << " " << *si; cerr << endl; } if (!streamsToShutdown.empty()) { StreamSet::iterator i = streamsToShutdown.begin(); Dashel::Stream* stream_to_shutdown = *i; streamsToShutdown.erase(*i); // invalidates iterator try { if (verbose) cerr << stream_to_shutdown << " shutting down stream" << endl; shutdownStream(stream_to_shutdown); } catch(Dashel::DashelException& e) { } } // standard Aseba run loop #ifdef ZEROCONF_SUPPORT if (!zeroconf.dashelStep(50)) #else // ZEROCONF_SUPPORT if (!step(50)) #endif // ZEROCONF_SUPPORT return false; const UnifiedTime now; timeout -= (now - startTime).value; startTime = now; if (iterations > 0 && --iterations == 0) // never if infinite Kiter (iterations < 0) return false; } return true; } void HttpInterface::connectToTargets() { // connect to each Aseba target std::map::iterator it = streamInitParameters.begin(); for (; it != streamInitParameters.end(); it++) { if (it->second) continue; try { if (verbose) std::cout << "HttpInterface connect asebaTarget " << it->first << "\n"; if ((it->second = connect(it->first))) // triggers connectionCreated { asebaStreams[it->second].clear(); // no node id until description is received Dashel::ParameterSet parser; parser.add("dummy:remapLocal=0;remapTarget=0;remapAesl=0"); parser.add(it->first.c_str()); const unsigned localId(parser.get("remapLocal")); const unsigned targetId(parser.get("remapTarget")); const unsigned aeslId(parser.get("remapAesl")); // remember localId and aeslId as wishes to be answered when node description arrives if (localId > 0 && targetId > 0) localIdWishes[it->second][targetId] = localId; if (aeslId > 0) aeslIdWishes[it->second][targetId] = aeslId; GetNodeDescription().serialize(it->second); it->second->flush(); } } catch(Dashel::DashelException e) { std::cout << "HttpInterface can't connect target " << it->first << ": " << e.what() << std::endl; } } } void HttpInterface::sendMessage(const Message& message) { for (StreamNodeIdMap::iterator it = asebaStreams.begin(); it != asebaStreams.end(); it++ ) { // patch message source if target id is remapped // but really, node id remapping should be handled closer to the dashel target NodeIdSubstitution subs = targetToNodeIdSubstitutions[it->first]; const CmdMessage *cmdMsg(dynamic_cast(&message)); if (cmdMsg) { for (NodeIdSubstitution::iterator m = subs.begin(); m != subs.end(); ++m) if (m->first != m->second && m->second == cmdMsg->dest) { // ugly hack to copy normally const message CmdMessage patched_message = *cmdMsg; patched_message.dest = m->first; patched_message.serialize(it->first); it->first->flush(); // patched_message.dump(std::wcout); // std::wcout << std::endl; return; // found a substitution, message sent to break out } } // serialize and send message message.serialize(it->first); it->first->flush(); } } void HttpInterface::propagateCmdMessage(Message* message) { CmdMessage *cmdMsg(dynamic_cast(message)); if (cmdMsg) { for (auto& stream_nodeid: asebaStreams) { NodeIdSubstitution subs = targetToNodeIdSubstitutions[stream_nodeid.first]; // UGLY: subs doesn't have a reverse index, so we have to scan through // FRAGILE: rely on identity substitution in targetToNodeIdSubstitutions for (NodeIdSubstitution::iterator node2sub = subs.begin(); node2sub != subs.end(); ++node2sub) if (node2sub->second == cmdMsg->dest) // the dest node is remapped to here, so reverse the map { if (node2sub->second != node2sub->second) { const uint16_t oldDest(cmdMsg->dest); // save previous value cmdMsg->dest = node2sub->first; // original node id is rewritten destination message->serialize(stream_nodeid.first); // send message with rewritten destination cmdMsg->dest = oldDest; // restore previous value } else message->serialize(stream_nodeid.first); } stream_nodeid.first->flush(); } } } void HttpInterface::nodeDescriptionReceived(unsigned targetId) { if (!targetId) return; unsigned nodeId = targetId; nodeDescriptionsReceived.insert(nodeId); // verbose if (verbose) wcerr << this << L" Received description for node " << targetId << " " << getNodeName(targetId) << " given nodeId " << nodeId << endl; // if we known a program for this target and it hasn't been sent yet, send it if (nodeProgramsSent.find(targetId) == nodeProgramsSent.end() && nodeProgram.find(targetId) != nodeProgram.end()) compileAndSendCode(targetId, nodeProgram[targetId]); #ifdef ZEROCONF_SUPPORT if (!inAsebaStream) return; // update zeroconf TXT field try { char hostname[256]; if (gethostname(hostname, sizeof(hostname)) != 0) strcpy(hostname, "unknown host"); std::vector ids; std::vector pids; for (const auto& nodeKV: nodes) { ids.push_back(nodeKV.first); // TODO: add support for productId, this requires reading the right target variable // probably this should be done in the new Switch, not here pids.push_back(ASEBA_PID_UNDEFINED); } Aseba::Zeroconf::TxtRecord txt{ ASEBA_PROTOCOL_VERSION, "Http", false, ids, pids }; zeroconf.advertise(Aseba::FormatableString("Http on %0").arg(hostname), inAsebaStream, txt); } catch (const std::runtime_error& e) { std::cerr << "Can't advertise stream " << inAsebaStream->getTargetName() << ": " << e.what() << std::endl; } #endif // ZEROCONF_SUPPORT } void HttpInterface::incomingData(Stream *stream) { #ifdef ZEROCONF_SUPPORT if (zeroconf.isStreamHandled(stream)) { zeroconf.dashelIncomingData(stream); return; } #endif // ZEROCONF_SUPPORT if (asebaStreams.count(stream) != 0) { // this is a dashel target incomingDataTarget(stream); } else if (stream->getTargetParameter("connectionPort").compare(inAsebaPort) == 0) { // this is a new Aseba connection incomingDataAseba(stream); incomingDataTarget(stream); } else { // this is an HTTP stream incomingDataHTTP(stream); } } // incoming HTTP request void HttpInterface::incomingDataHTTP(Stream *stream) { if (verbose) cerr << "incoming for HTTP stream " << stream << endl; HttpRequest* req = new HttpRequest; // [promise] we will eventually delete req in sendAvailableResponses, unscheduleResponse, or stream shutdown if ( ! req->initialize(stream)) { // protocol failure, shut down connection stream->write("HTTP/1.1 400 Bad request\r\n"); stream->fail(DashelException::Unknown, 0, "400 Bad request"); unscheduleAllResponses(stream); delete req; // not yet in queue, so delete it here [promise] return; } if (verbose) { cerr << stream << " Request " << req->method.c_str() << " " << req->uri.c_str() << " [ "; for (unsigned int i = 0; i < req->tokens.size(); ++i) cerr << req->tokens[i] << " "; cerr << "] " << req->protocol_version << " new req " << req << endl; } // continue with incomingData scheduleResponse(stream, req); req->incomingData(); // read request all at once if (req->ready) routeRequest(req); // run response queues immediately to save time sendAvailableResponses(); } // incoming Aseba request void HttpInterface::incomingDataAseba(Stream *stream) { if (verbose) cerr << "new incoming for asebaStream " << stream << " con port " << stream->getTargetParameter("connectionPort") << endl; asebaStreams[stream].clear(); } // incoming Aseba message void HttpInterface::incomingDataTarget(Stream *stream) { // if (verbose) // cerr << "incoming for asebaStream " << stream << endl; // Message *message(Message::receive(stream)); // rewrite message source using targetToNodeIdSubstitutions unsigned newId = updateNodeId(stream, message->source); message->source = newId; // pass message to description manager, which builds the node descriptions in background // warning: do this before dynamic casts because otherwise the parsing doesn't work (why?) NodesManager::processMessage(message); // if description, record the stream -- node id correspondence const Description *description = dynamic_cast(message); if (description) { const std::string target = targetFromString(stream); if (!target.empty()) targetsToNodeId[target] = message->source; asebaStreams[stream].insert(message->source); } // if variables, check for pending requests const Variables *variables(dynamic_cast(message)); if (variables) incomingVariables(variables); // if event, retransmit it on an HTTP SSE channel if one exists const UserMessage *userMsg(dynamic_cast(message)); if (userMsg) incomingUserMsg(userMsg); // act like asebaswitch: rebroadcast this message to the other streams for (StreamNodeIdMap::iterator it = asebaStreams.begin(); it != asebaStreams.end(); ++it) { Stream* outStream = it->first; if (outStream == stream) continue; // don't echo! try { message->serialize(outStream); outStream->flush(); } catch (DashelException e) { std::cerr << "error while writing to stream " << outStream << std::endl; } } // propagate rewritten Cmd message to all connected Aseba streams propagateCmdMessage(message); // if (do_dump) { dumpTime(cout, true); std::wcout << message->source << " "; std::wcout << message->type << " "; message->dump(std::wcout); std::wcout << endl; } delete message; } // Incoming Variables void HttpInterface::incomingVariables(const Variables *variables) { // first, build result string from message std::stringstream result; result << "["; for (size_t i = 0; i < variables->variables.size(); ++i) result << (i ? "," : "") << variables->variables[i]; result << "]"; string result_str = result.str(); VariableAddress address = std::make_pair(variables->source,variables->start); ResponseSet *pending = &pendingVariables[address]; if (verbose) { cerr << "incomingVariables var (" << variables->source << "," << variables->start << ") = " << result_str << endl << "\tupdates " << pending->size() << " pending"; for (ResponseSet::iterator i = pending->begin(); i != pending->end(); i++) cerr << " " << *i; cerr << endl; } for (ResponseSet::iterator i = pending->begin(); i != pending->end(); ) { // i points to an HttpRequest* that is waiting for this variable value if (verbose) cerr << *i << " updating response var (" << variables->source << "," << variables->start << ")" << endl; finishResponse(*i, 200, result_str); pending->erase(i++); } if (verbose) { cerr << "\tcheck " << pendingVariables[address].size() << " pending"; for (ResponseSet::iterator i = pendingVariables[address].begin(); i != pendingVariables[address].end(); i++) cerr << " " << *i; cerr << endl; } sendAvailableResponses(); } // Incoming User Messages void HttpInterface::incomingUserMsg(const UserMessage *userMsg) { if (verbose) cerr << "incomingUserMsg msg ("<< userMsg->type <<","<< &userMsg->data <<")" << endl; unsigned nodeId = userMsg->source; if (eventSubscriptions.size() > 0) { // set up SSE message std::stringstream reply; string event_name; try { commonDefinitions[nodeId].events.at(userMsg->type); event_name = WStringToUTF8(commonDefinitions[nodeId].events[userMsg->type].name); } catch (const std::out_of_range& oor) { // event not known (yet, aesl probably not loaded) // use type instead (0-based index) event_name = std::to_string(userMsg->type); } reply << "data: " << event_name; for (size_t i = 0; i < userMsg->data.size(); ++i) reply << " " << userMsg->data[i]; reply << "\r\n\r\n"; // In the HTTP world we set up a stream of Server-Sent Events for this. // Note that event name is in commonDefinitions.events[userMsg->type].name for (StreamEventSubscriptionMap::iterator subscriber = eventSubscriptions.begin(); subscriber != eventSubscriptions.end(); ++subscriber) { if (subscriber->second.count("*") >= 1 || subscriber->second.count(event_name) >= 1) { if (subscriber->first->sse_todo > 0) subscriber->first->sse_todo -= 1; appendResponse(subscriber->first, 200, (subscriber->first->sse_todo != 0), reply.str().c_str()); } } } } //-- Routing for HTTP requests --------------------------------------------------------- void HttpInterface::routeRequest(HttpRequest* req) { // route based on uri prefix if (req->tokens[0].find("nodes")==0) { req->tokens.erase(req->tokens.begin(),req->tokens.begin()+1); if (req->tokens.size() <= 1) { // one named node if (req->method.find("PUT")==0) evLoad(req, req->tokens); // load bytecode for one node else if (req->method.find("OPTIONS")==0) evOptions(req, req->tokens); // get supported methods for CORS preflight else evNodes(req, req->tokens); // get info for one node } else if (req->tokens.size() >= 2 && req->tokens[1].find("events")==0) { // subscribe to event stream for this node req->tokens.erase(req->tokens.begin(),req->tokens.begin()+1); evSubscribe(req, req->tokens); } else { // request for a varibale or an event evVariableOrEvent(req, req->tokens); } return; } if (req->tokens[0].find("events")==0) { // subscribe to event stream for all nodes return evSubscribe(req, req->tokens); } if (req->tokens[0].find("reset")==0 || req->tokens[0].find("reset_all")==0) { // reset nodes return evReset(req, req->tokens); } else finishResponse(req, 404, ""); } // Handler: Node descriptions void HttpInterface::evNodes(HttpRequest* req, strings& args) { bool do_one_node(args.size() > 0); int successful_output = 0; std::stringstream json; json << (do_one_node ? "" : "["); // hack, should first select list of matching nodes, then check size for (NodesMap::iterator descIt = nodes.begin(); descIt != nodes.end(); ++descIt) { const Node& description(descIt->second); string nodeName = WStringToUTF8(description.name); unsigned nodeId = descIt->first; if (! do_one_node) { json << (descIt == nodes.begin() ? "" : ","); json << "{"; json << "\"node\":" << nodeId; json << ",\"name\":\"" << nodeName << "\""; json << ",\"protocolVersion\":" << description.protocolVersion; json << ",\"aeslId\":" << (nodeToAeslIdSubstitutions.find(nodeId) != nodeToAeslIdSubstitutions.end() ? nodeToAeslIdSubstitutions[nodeId] : nodeId); json << ",\"connected\":" << description.connected; json << "}"; successful_output++; } else // (do_one_node) { if (! (int(nodeId) == atoi(args[0].c_str()) || nodeName.find(args[0])==0) ) continue; // this is not a match, skip to next candidate json << "{"; // begin node json << "\"node\":" << nodeId; json << ",\"name\":\"" << nodeName << "\""; json << ",\"protocolVersion\":" << description.protocolVersion; json << ",\"aeslId\":" << (nodeToAeslIdSubstitutions.find(nodeId) != nodeToAeslIdSubstitutions.end() ? nodeToAeslIdSubstitutions[nodeId] : nodeId); json << ",\"connected\":" << description.connected; json << ",\"bytecodeSize\":" << description.bytecodeSize; json << ",\"variablesSize\":" <first; // VariablesMap vm = n->second; for (VariablesMap::iterator i = vm.begin(); i != vm.end(); ++i) { json << (i == vm.begin() ? "" : ",") << "\"" << WStringToUTF8(i->first) << "\":" << i->second.second; seen_named_variables = true; } } if ( ! seen_named_variables ) { // failsafe: if compiler hasn't found any variables, get them from the node description for (vector::const_iterator i(description.namedVariables.begin()); i != description.namedVariables.end(); ++i) json << (i == description.namedVariables.begin() ? "" : ",") << "\"" << WStringToUTF8(i->name) << "\":" << i->size; } json << "}"; // local events variables json << ",\"localEvents\":{"; for (size_t i = 0; i < description.localEvents.size(); ++i) { string ev(WStringToUTF8(description.localEvents[i].name)); json << (i == 0 ? "" : ",") << "\"" << ev << "\":" << "\"" << WStringToUTF8(description.localEvents[i].description) << "\""; } json << "}"; // constants from introspection json << ",\"constants\":{"; for (size_t i = 0; i < commonDefinitions[nodeId].constants.size(); ++i) json << (i == 0 ? "" : ",") << "\"" << WStringToUTF8(commonDefinitions[nodeId].constants[i].name) << "\":" << commonDefinitions[nodeId].constants[i].value; json << "}"; // events from introspection json << ",\"events\":{"; for (size_t i = 0; i < commonDefinitions[nodeId].events.size(); ++i) json << (i == 0 ? "" : ",") << "\"" << WStringToUTF8(commonDefinitions[nodeId].events[i].name) << "\":" << commonDefinitions[nodeId].events[i].value; json << "}"; json << "}"; // end node successful_output++; break; // only show first matching node :-( } } json <<(do_one_node ? "" : "]"); if (json.str().size() == 0) json << "[]"; finishResponse(req, successful_output > 0 ? 200 : 404, json.str()); } // Handler: Variable get/set or Event call void HttpInterface::evVariableOrEvent(HttpRequest* req, strings& args) { std::vector todo = getIdsFromURI(args); size_t eventPos; for (std::vector::const_iterator it = todo.begin(); it != todo.end(); ++it) { unsigned nodeId = *it; if ( ! commonDefinitions[nodeId].events.contains(UTF8ToWString(args[1]), &eventPos)) { // this is a variable if (req->method.find("POST") == 0 || args.size() >= 3) { // set variable value strings values; if (args.size() >= 3) values.assign(args.begin()+1, args.end()); else { // Parse POST form data values.push_back(args[1]); parse_json_form(req->content, values); } if (values.size() == 0) { finishResponse(req, 404, ""); if (verbose) cerr << req << " evVariableOrEevent 404 can't set variable " << args[0] << ", no values" << endl; continue; } sendSetVariable(nodeId, values); finishResponse(req, 204, ""); // succeeds with 204 NO CONTENT if (verbose) cerr << req << " evVariableOrEevent 204 set variable " << values[0] << endl; } else { // get variable value strings values; values.assign(args.begin()+1, args.begin()+2); unsigned start; if ( ! getVarPos(nodeId, values[0], start)) { finishResponse(req, 404, ""); if (verbose) cerr << req << " evVariableOrEevent 404 no such variable " << values[0] << endl; continue; } sendGetVariables(nodeId, values); pendingVariables[std::make_pair(nodeId,start)].insert(req); if (verbose) cerr << req << " evVariableOrEevent schedule var " << values[0] << "(" << nodeId << "," << start << ") add " << req << " to subscribers" << endl; continue; } } else { // this is an event // arguments are args 1..N strings data; data.push_back(args[1]); if (args.size() >= 3) for (size_t i=2; imethod.find("POST") == 0) { // Parse POST form data string formdata(req->content.c_str(), req->content.size()); parse_json_form(formdata, data); } sendEvent(nodeId, data); finishResponse(req, 204, ""); // or perhaps {"return_value":null,"cmd":"sendEvent","name":nodeName}? continue; } } } // Handler: Subscribe to an event stream void HttpInterface::evSubscribe(HttpRequest* req, strings& args) { // eventSubscriptions[conn] is an unordered set of strings if (args.size() == 1) eventSubscriptions[req].insert("*"); else for (strings::iterator i = args.begin()+1; i != args.end(); ++i) eventSubscriptions[req].insert(*i); strings headers; headers.push_back("Content-Type: text/event-stream"); headers.push_back("Access-Control-Allow-Origin: *"); headers.push_back("Cache-Control: no-cache"); headers.push_back("Connection: keep-alive"); addHeaders(req, headers); appendResponse(req,200,true,""); // connection must stay open! } // Handler: Reply with supported methods to support CORS preflight void HttpInterface::evOptions(HttpRequest* req, strings& args) { strings headers; headers.push_back("Content-Type: text/plain"); headers.push_back("Content-Length: 0"); headers.push_back("Access-Control-Allow-Origin: *"); headers.push_back("Access-Control-Allow-Methods: GET, POST, PUT, OPTIONS"); headers.push_back("Allow: GET, POST, PUT, OPTIONS"); headers.push_back("Connection: keep-alive"); addHeaders(req, headers); appendResponse(req,200,true,""); // connection must stay open! } // Handler: Compile and store a program into the node, and remember it for introspection void HttpInterface::evLoad(HttpRequest* req, strings& args) { if (verbose) cerr << "PUT /nodes/" << args[0].c_str() << " trying to load aesl script\n"; const char* buffer = req->content.c_str(); std::vector todo = getIdsFromURI(args); for (std::vector::const_iterator node_it = todo.begin(); node_it != todo.end(); ++node_it) { try { aeslLoadMemory(*node_it, buffer, req->content.size()); } catch ( runtime_error(e) ) { finishResponse(req, 400, e.what()); return; } } finishResponse(req, 204, ""); } // Handler: Reset nodes and rerun void HttpInterface::evReset(HttpRequest* req, strings& args) { for (NodesMap::iterator descIt = nodes.begin(); descIt != nodes.end(); ++descIt) { bool ok = true; // nodeId = getNodeId(descIt->second.name, 0, &ok); if (!ok) continue; string nodeName = WStringToUTF8(descIt->second.name); for (StreamNodeIdMap::iterator it=asebaStreams.begin(); it!=asebaStreams.end(); ++it) { Dashel::Stream* stream = it->first; for (auto nodeId: it->second) { // unsigned nodeId = it->second; Reset(nodeId).serialize(stream); // reset node stream->flush(); Run(nodeId).serialize(stream); // re-run node stream->flush(); if (descIt->second.name.find(L"thymio-II") == 0) { // Special case for Thymio-II. Should we instead just check whether motor.*.target exists? strings args; args.push_back("motor.left.target"); args.push_back("0"); sendSetVariable(nodeId, args); args[0] = "motor.right.target"; sendSetVariable(nodeId, args); } size_t eventPos; if (commonDefinitions[nodeId].events.contains(UTF8ToWString("reset"), &eventPos)) { // bug: assumes AESL file is common to all nodes // can we get this from the node description? strings data; data.push_back("reset"); sendEvent(nodeId,data); } } } finishResponse(req, 204, ""); } } //-- Sending messages on the Aseba bus ------------------------------------------------- void HttpInterface::sendEvent(const unsigned nodeId, const strings& args) { size_t eventPos; // bug: assumes AESL file is common to all nodes // can we get this from the node description? if (commonDefinitions[nodeId].events.contains(UTF8ToWString(args[0]), &eventPos)) { Dashel::Stream* stream; try { stream = getStreamFromNodeId(nodeId); // may fail } catch(runtime_error(e)) { cerr << "sendEvent node id " << nodeId << ": bad node id" << endl; // HTTP response should be 400 BAD REQUEST, response body should be bad node id return; // hack, should be using exceptions for HTTP errors } // build event and emit VariablesDataVector data; for (size_t i=1; iflush(); } else if (verbose) cerr << "sendEvent node id " << nodeId << ": no event " << args[0] << endl; } std::pair HttpInterface::sendGetVariables(const unsigned nodeId, const strings& args) { unsigned varPos; Dashel::Stream* stream; try { stream = getStreamFromNodeId(nodeId); // may fail } catch(runtime_error(e)) { cerr << "sendEvent node id " << nodeId << ": bad node id" << endl; // HTTP response should be 400 BAD REQUEST, response body should be bad node id return std::pair(0,0); // hack, should be using exceptions for HTTP errors } for (strings::const_iterator it(args.begin()); it != args.end(); ++it) { // get node id, variable position and length if (verbose) cerr << "getVariables node id " << nodeId << " " << *it; const bool exists(getVarPos(nodeId, *it, varPos)); if (!exists) continue; VariablesMap vm = allVariables[nodeId]; const unsigned length(vm[UTF8ToWString(*it)].second); if (verbose) cerr << " (" << nodeId << "," << varPos << "):" << length << "\n"; // send the message GetVariables getVariables(nodeId, varPos, length); getVariables.serialize(stream); } stream->flush(); return std::pair(nodeId,varPos); // just last one } void HttpInterface::sendSetVariable(const unsigned nodeId, const strings& args) { // get node id, variable position and length if (verbose) cerr << "setVariables " << nodeId << " " << args[0]; unsigned varPos; const bool exists(getVarPos(nodeId, args[0], varPos)); if (!exists) return; if (verbose) cerr << " (" << nodeId << "," << varPos << "):" << args.size()-1 << endl; // send the message VariablesDataVector data; Dashel::Stream* stream; try { stream = getStreamFromNodeId(nodeId); // may fail } catch(runtime_error(e)) { cerr << "sendEvent node id " << nodeId << ": bad node id" << endl; // HTTP response should be 400 BAD REQUEST, response body should be bad node id return; // hack, should be using exceptions for HTTP errors } for (size_t i=1; iflush(); } // Utility: find variable address from node id and variable name bool HttpInterface::getVarPos(const unsigned nodeId, const std::string& variableName, unsigned& pos) { pos = unsigned(-1); // check whether variable is known from a compilation, if so, get position const NodeIdVariablesMap::const_iterator allVarMapIt(allVariables.find(nodeId)); if (allVarMapIt != allVariables.end()) { const VariablesMap& varMap(allVarMapIt->second); const VariablesMap::const_iterator varIt(varMap.find(UTF8ToWString(variableName))); if (varIt != varMap.end()) pos = varIt->second.first; } // if variable is not user-defined, check whether it is provided by this node if (pos == unsigned(-1)) { bool ok; pos = getVariablePos(nodeId, UTF8ToWString(variableName), &ok); if (!ok) { if (verbose) wcerr << "no variable " << UTF8ToWString(variableName) << " in node id " << nodeId; return false; } } return true; } // Utility: request update of all variables, used for variable caching void HttpInterface::updateVariables(const unsigned nodeId) { strings all_variables; for(VariablesMap::iterator it = allVariables[nodeId].begin(); it != allVariables[nodeId].end(); ++it) all_variables.push_back(WStringToUTF8(it->first)); sendGetVariables(nodeId, all_variables); } // Utility: extract argument values from JSON request body void HttpInterface::parse_json_form(const std::string content, strings& values) { std::string buffer = content; buffer.erase(std::remove_if(buffer.begin(), buffer.end(), ::isspace), buffer.end()); std::stringstream ss(buffer); if (ss.get() == '[') { int i; while (ss >> i) { // values.push_back(std::to_string(short(i))); std::stringstream valss; valss << short(i); values.push_back(valss.str()); if (ss.peek() == ']') break; else if (ss.peek() == ',') ss.ignore(); } if (ss.get() != ']') values.erase(values.begin(),values.end()); } return; } // Utility: search stream map to find a given node id std::vector HttpInterface::getIdsFromURI(const strings& args) { std::vector found; // first, look for named nodes for (NodesMap::iterator descIt = nodes.begin(); descIt != nodes.end(); ++descIt) if (descIt->second.name.find(UTF8ToWString(args[0])) == 0) found.push_back(descIt->first); if (found.size() > 0) return found; // otherwise, try to convert to a node id unsigned nodeId; if (istringstream ( args[0] ) >> nodeId) found.push_back(nodeId); return found; } // Utility: search stream map to find a given node id Dashel::Stream* HttpInterface::getStreamFromNodeId(const unsigned nodeId) { for (StreamNodeIdMap::iterator it = asebaStreams.begin(); it != asebaStreams.end(); it++ ) { if (it->second.find(nodeId) != it->second.end()) return it->first; } for (std::map::const_iterator it = targetsToNodeId.begin(); it != targetsToNodeId.end(); ++it) { if (it->second != nodeId) continue; std::map::iterator found = streamInitParameters.find(it->first); if (found != streamInitParameters.end()) { if(found->second) return found->second; break; } } // otherwise, raise exception throw runtime_error(FormatableString("getStreamFromNodeId: can't find stream for node id %0").arg(nodeId)); return NULL; } // Load Aesl file from file void HttpInterface::aeslLoadFile(const unsigned nodeId, const std::string& filename) { // local file or URL xmlDoc *doc(xmlReadFile(filename.c_str(), NULL, 0)); if (!doc) throw runtime_error(FormatableString("Cannot read aesl script XML from file %1 for nodeId %0").arg(nodeId).arg(filename)); // wcerr << "cannot read aesl script XML from file " << UTF8ToWString(filename) << endl; else { aeslLoad(nodeId, doc); if (verbose) cerr << "Loaded aesl script from " << filename.c_str() << "\n"; } xmlFreeDoc(doc); xmlCleanupParser(); } // Load Aesl file from memory void HttpInterface::aeslLoadMemory(const unsigned nodeId, const char * buffer, const int size) { // open document xmlDoc *doc(xmlReadMemory(buffer, size, "vmcode.aesl", NULL, 0)); if (!doc) throw runtime_error(FormatableString("Cannot read aesl script XML from memory for nodeId %0").arg(nodeId)); // wcerr << "cannot read XML from memory " << buffer << endl; else { aeslLoad(nodeId, doc); if (verbose) cerr << "Loaded aesl script in-memory buffer " << buffer << "\n"; } xmlFreeDoc(doc); xmlCleanupParser(); } // Parse Aesl program using XPath void HttpInterface::aeslLoad(const unsigned nodeId, xmlDoc* doc) { // clear existing data commonDefinitions[nodeId].events.clear(); commonDefinitions[nodeId].constants.clear(); allVariables[nodeId].clear(); nodeProgram[nodeId].clear(); // load new data int noNodeCount(0); bool wasError(false); xmlXPathContextPtr context = xmlXPathNewContext(doc); xmlXPathObjectPtr obj; // 1. Path network/event if ((obj = xmlXPathEvalExpression(BAD_CAST"/network/event", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *name (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("name"))); xmlChar *size (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("size"))); if (name && size) { int eventSize = atoi((const char *)size); if (eventSize > ASEBA_MAX_EVENT_ARG_SIZE) { wcerr << "Event " << name << " has a length " << eventSize << " larger than maximum" << ASEBA_MAX_EVENT_ARG_SIZE << endl; wasError = true; break; } else commonDefinitions[nodeId].events.push_back(NamedValue(UTF8ToWString((const char *)name), eventSize)); } xmlFree(name); xmlFree(size); } xmlXPathFreeObject(obj); // also frees nodeset } // 2. Path network/constant if ((obj = xmlXPathEvalExpression(BAD_CAST"/network/constant", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *name (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("name"))); xmlChar *value (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("value"))); if (name && value) commonDefinitions[nodeId].constants.push_back(NamedValue(UTF8ToWString((const char *)name), atoi((const char *)value))); xmlFree(name); // nop if name is NULL xmlFree(value); // nop if value is NULL } xmlXPathFreeObject(obj); // also frees nodeset } // 3. Path network/keywords if ((obj = xmlXPathEvalExpression(BAD_CAST"/network/keywords", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *flag (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("flag"))); // do nothing because compiler doesn't pay attention to keywords xmlFree(flag); } xmlXPathFreeObject(obj); // also frees nodeset } // 4. Path network/node if ((obj = xmlXPathEvalExpression(BAD_CAST"/network/node", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *name (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("name"))); xmlChar *storedId (xmlGetProp(nodeset->nodeTab[i], BAD_CAST("nodeId"))); xmlChar *text (xmlNodeGetContent(nodeset->nodeTab[i])); if (!name) wcerr << "missing \"name\" attribute in \"node\" entry" << endl; else if (!text) wcerr << "missing text in \"node\" entry" << endl; else { // get the identifier of the node and compile the code wstring program = UTF8ToWString((const char *)text); unsigned preferredId = nodeToAeslIdSubstitutions[nodeId] ? nodeToAeslIdSubstitutions[nodeId] : nodeId; if (preferredId == unsigned(atoi((char*)storedId)) || (nodeProgram[nodeId].size()==0 && i == nodeset->nodeNr - 1)) // hack: failsafe is last program in set { nodeProgram[nodeId] = program; if (nodeDescriptionsReceived.find(nodeId) != nodeDescriptionsReceived.end()) compileAndSendCode(nodeId,program); } // else send to all XML nodes (really should only send to those without preferred!) } // free attribute and content xmlFree(name); // nop if name is NULL xmlFree(storedId); // nop if name is NULL xmlFree(text); // nop if text is NULL } xmlXPathFreeObject(obj); // also frees nodeset } // release memory xmlXPathFreeContext(context); // // check if there was an error // if (wasError) // { // wcerr << "There was an error while loading script " << endl; // commonDefinitions[nodeId].events.clear(); // commonDefinitions[nodeId].constants.clear(); // allVariables.clear(); // throw runtime_error(FormatableString("Error compiling aesl script XML for nodeId %0").arg(nodeId)); // } // check if there was some matching problem if (noNodeCount) { wcerr << noNodeCount << " scripts have no corresponding nodes in the current network and have not been loaded." << endl; } } // Upload bytecode to node bool HttpInterface::compileAndSendCode(const unsigned nodeId, const wstring& program) { // compile code std::wistringstream is(program); Error error; BytecodeVector bytecode; unsigned allocatedVariablesCount; bool is_failsafe = (program.empty() || program.compare(UTF8ToWString("\n")) == 0); Compiler compiler; compiler.setTargetDescription(getDescription(nodeId)); compiler.setCommonDefinitions(&(commonDefinitions[nodeId])); bool result = compiler.compile(is, bytecode, allocatedVariablesCount, error); if (result) { Dashel::Stream* stream; try { stream = getStreamFromNodeId(nodeId); // may fail } catch(runtime_error(e)) { cerr << "sendEvent node id " << nodeId << ": bad node id" << endl; // HTTP response should be 400 BAD REQUEST, response body should be bad node id return false; // hack, should be using exceptions for HTTP errors } if (! is_failsafe) { // send bytecode sendBytecode(stream, nodeId, std::vector(bytecode.begin(), bytecode.end())); // run node Run msg(nodeId); msg.serialize(stream); stream->flush(); } // retrieve user-defined variables for use in get/set allVariables[nodeId] = *compiler.getVariablesMap(); // remember that this node has received a program nodeProgramsSent.insert(nodeId); return true; } else { wcerr << "Compilation for node " << getNodeName(nodeId) << " failed: " << error.toWString() << endl; commonDefinitions[nodeId].events.clear(); commonDefinitions[nodeId].constants.clear(); // allVariables.clear(); throw runtime_error(FormatableString("Error compiling aesl script XML for nodeId %0").arg(nodeId)); // HTTP response should be 400 BAD REQUEST, response body should be compiler messages return false; } } // Manipulate response queues void HttpInterface::scheduleResponse(Dashel::Stream* stream, HttpRequest* req) { pendingResponses[stream].push_back(req); } void HttpInterface::unscheduleResponse(Dashel::Stream* stream, HttpRequest* req) { for (ResponseQueue::iterator i = pendingResponses[stream].begin(); i != pendingResponses[stream].end(); ++i) if (*i == req) { delete req; // [promise] pendingResponses[stream].erase(i); break; } } void HttpInterface::unscheduleAllResponses(Dashel::Stream* stream) { while(!pendingResponses[stream].empty()) { eventSubscriptions.erase(pendingResponses[stream].front()); delete pendingResponses[stream].front(); // [promise] pendingResponses[stream].pop_front(); } } void HttpInterface::addHeaders(HttpRequest* req, strings& outheaders) { req->outheaders = outheaders; } void HttpInterface::finishResponse(HttpRequest* req, unsigned status, std::string result) { req->result = result; req->status = status; req->more = false; if (verbose) cerr << req << " finishResponse " << status << " <" << result << ">" << endl; } void HttpInterface::appendResponse(HttpRequest* req, unsigned status, const bool& keep_open, std::string result) { req->status = status; req->result += result; req->more = keep_open; if (verbose) cerr << req << " appendResponse " << req->status << " <" << req->result.substr(0,7) << "...>" <<(keep_open?", keep open":"")<< endl; } void HttpInterface::sendAvailableResponses() { // scan through all streams; use while to post-increment when we remove a stream for (StreamResponseQueueMap::iterator m = pendingResponses.begin(); m != pendingResponses.end(); m++) { if (verbose) { cerr << m->first << " sendAvailableResponses " << m->second.size() << " in queue"; for (ResponseQueue::iterator qi = m->second.begin(); qi != m->second.end(); qi++) cerr << " " << *qi; cerr << endl; } bool close_this_stream = false; ResponseQueue* q = &(m->second); // scan through queue for this stream q->begin(); while (! q->empty() && q->front()->status != 0) { HttpRequest* req = q->front(); req->sendResponse(); if ( req->more ) break; // keep this request open if (req->headers["Connection"].find("close")==0 || (req->protocol_version == "HTTP/1.0" && !(req->headers["Connection"].find("keep-alive")==0)) ) { // delete all requests, including this one, and remove them from queue unscheduleAllResponses(req->stream); close_this_stream = true; } else { // just this request is finished, delete and remove from queue delete req; // [promise] q->pop_front(); } } if (verbose) cerr << m->first << " available responses sent, now " << m->second.size() << " in queue" << endl; if (close_this_stream || q->size() == 0) streamsToShutdown.insert(m->first); } } std::set HttpInterface::allNodeIds() { std::set nodeIds; for(auto i: nodes) nodeIds.insert( i.first ); for(auto k: targetToNodeIdSubstitutions) for(auto t: targetToNodeIdSubstitutions[k.first]) nodeIds.insert( t.second ); return nodeIds; } unsigned HttpInterface::updateNodeId(Dashel::Stream* stream, unsigned targetId) { NodeIdSubstitution known = targetToNodeIdSubstitutions[stream]; NodeIdSubstitution::iterator it = known.find(targetId); if (it != known.end()) // already know about this targetId in this stream, return its assigned nodeId return it->second; else { // this is a new source, find an available nodeId NodeIdSubstitution localWishes = localIdWishes[stream]; std::set used = allNodeIds(); unsigned newId = targetId ? targetId : 1; NodeIdSubstitution::iterator localWish = localWishes.find(targetId); if (localWish != localWishes.end()) newId = localWish->second; while (used.count(newId) != 0 && (newId += 20)); // unsigned newId will wrap around if (newId == 0) // throw runtime_error(FormatableString("Can't allocate an unused node id for target id %0 in stream %1").arg(targetId).arg(stream)); // remember the assigned nodeId for this targetId in this stream targetToNodeIdSubstitutions[stream][targetId] = newId; // if we had a promise for aeslId, add the substitution NodeIdSubstitution aeslWishes = aeslIdWishes[stream]; NodeIdSubstitution::iterator aeslWish = aeslWishes.find(targetId); if (aeslWish != aeslWishes.end()) nodeToAeslIdSubstitutions[newId] = aeslWish->second; else if (localWish != localWishes.end()) nodeToAeslIdSubstitutions[newId] = localWish->second; else nodeToAeslIdSubstitutions[newId] = targetId; return newId; } } void HttpInterface::discardStream(Dashel::Stream* stream) { //closeStream(stream); if (asebaStreams.count(stream)) asebaStreams.erase(stream); for (std::map::iterator it = streamInitParameters.begin(); it != streamInitParameters.end(); ++it) { if (it->second == stream) it->second = NULL; } } std::string HttpInterface::targetFromString(Dashel::Stream* stream) const { for (std::map::const_iterator it = streamInitParameters.begin(); it != streamInitParameters.end(); ++it) { if (it->second == stream) return it->first; } return std::string(); } //== end of class HttpInterface ============================================================ HttpRequest::HttpRequest(): verbose(false) {}; bool HttpRequest::initialize( Dashel::Stream *_stream) { string start_line = readLine(_stream); return initialize(start_line, _stream); } bool HttpRequest::initialize( std::string const& start_line, Dashel::Stream *_stream) { strings parts = split(start_line, " "); if (parts.size() == 3 && (parts[0].find("GET",0)==0 || parts[0].find("PUT",0)==0 || parts[0].find("POST",0)==0 || parts[0].find("OPTIONS",0)==0) && (parts[2].find("HTTP/1.1\r\n",0)==0 || parts[2].find("HTTP/1.0\r\n",0)==0) ) { // valid start-line, parse uri return initialize(parts[0], parts[1], parts[2].substr(0,8), _stream); } else return false; } bool HttpRequest::initialize(std::string const& _method, std::string const& _uri, std::string const& _protocol_version, Dashel::Stream *_stream) { tokens.clear(); // parsed URI headers.clear(); // incoming headers content.clear(); // incoming payload ready = false; status = 0; // outging status result.clear(); // outgoing payload outheaders.clear(); // outgoing payload more = false; sse_todo = -1; headers_done = false; status_sent = false; method = std::string(_method); uri = std::string(_uri); protocol_version = std::string(_protocol_version); stream = _stream; // Also allow %2F as URL part delimiter (see Scratch v430) std::string::size_type n = 0; while ( (n=uri.find("%2F",n)) != std::string::npos) uri.replace(n,3,"/"), n += 1; tokens = split(uri, "/"); if (tokens[0].size() == 0) tokens.erase(tokens.begin(),tokens.begin()+1); strings query = split(uri, "?"); if (query.size() > 1 && query[1].find("todo=",0,5)==0) sse_todo = atoi(query[1].substr(5).c_str()); return true; } void HttpRequest::incomingData() { // for now, snarf complete request from stream while (! headers_done) { const string header_field(readLine(stream)); int term = header_field.find("\r\n",0); if (term != 0) { // // LLVM regexp search is incredibly slow // std::smatch field; // std::regex e ("([-A-Za-z0-9_]+): (.*)\r\n"); // std::regex_match (header_field,field,e); // if (field.size() == 3) // headers[field[1]] = field[2]; if (header_field.find("Content-Length: ",0,16)==0 || header_field.find("content-length: ",0,16)==0) headers["Content-Length"] = header_field.substr(16,term-16); else if (header_field.find("Connection: ",0,12)==0 || header_field.find("connection: ",0,12)==0) headers["Connection"] = header_field.substr(12,term-12); } else headers_done = true; } if (verbose) { cerr << stream << " Headers complete; (" << headers.size() << " headers)"; for (std::map::iterator i = headers.begin(); i != headers.end(); ++i) cerr << " " << i->first.c_str() << ":" << i->second.c_str(); cerr << endl; } int content_length = atoi(headers["Content-Length"].c_str()); content_length = (content_length > 40000) ? 40000 : content_length; // truncate at 40000 bytes char* buffer = new char[ content_length ]; stream->read(buffer, content_length); content = std::string(buffer,content_length); delete []buffer; ready = true; } void HttpRequest::sendResponse() { if (verbose) cerr << this << " sendResponse, status " << (status_sent?"":"not ") << "already sent, have " << (result.empty()?"no ":"") << "result" << (more?", more":"") << endl; assert( status >= 100 and status <= 599 ); if ( ! status_sent ) sendStatus(); if ( ! result.empty() ) sendPayload(); stream->flush(); } void HttpRequest::sendStatus() { if (verbose) cerr << this << " sendStatus " << status << endl; std::stringstream reply; reply << "HTTP/1.1 " << status << " "; switch (status) { case 200: reply << "OK"; break; case 201: reply << "Created"; break; case 204: reply << "No Content"; break; case 400: reply << "Bad Request"; break; case 403: reply << "Forbidden"; break; case 408: reply << "Request Timeout"; break; case 500: reply << "Internal Server Error"; break; case 501: reply << "Not Implemented"; break; case 503: reply << "Service Unavailable"; break; case 404: default: reply << "Not Found"; } reply << "\r\n"; if (outheaders.size() == 0) { reply << "Content-Length: " << result.size() << "\r\n"; reply << "Content-Type: application/json\r\n"; // NO ";charset=UTF-8" cf. RFC 7159 reply << "Access-Control-Allow-Origin: *\r\n"; if (headers["Connection"].find("Keep-Alive")==0) reply << "Connection: Keep-Alive\r\n"; } else { for (strings::iterator i = outheaders.begin(); i != outheaders.end(); i++) reply << *i << "\r\n"; } reply << "\r\n"; int reply_len = reply.str().size(); char* reply_str = (char*)malloc(reply_len); memcpy(reply_str, reply.str().c_str(), reply_len); stream->write(reply_str, reply_len); free(reply_str); stream->flush(); status_sent = true; } void HttpRequest::sendPayload() { if (verbose) cerr << this << " sendPayload " << result.size() << " bytes" << endl; stream->write(result.c_str(), result.size()); result = ""; } //== end of class HttpInterface ============================================================ }; //== end of namespace Aseba ================================================================ aseba-1.6.0/switches/http/http.h000066400000000000000000000227751322771007300165500ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP #define ASEBA_HTTP #include #include #include #include #include "../../common/msg/msg.h" #include "../../common/msg/NodesManager.h" #include "../../compiler/compiler.h" #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-dashelhub.h" #endif // ZEROCONF_SUPPORT #if defined(_WIN32) && defined(__MINGW32__) /* This is a workaround for MinGW32, see libxml/xmlexports.h */ #define IN_LIBXML #endif #include #include #include #include namespace Aseba { /** \defgroup http Software router of messages on TCP and HTTP-over-TCP. */ /*@{*/ class HttpRequest; //! HTTP interface for aseba network class HttpInterface: public Dashel::Hub, public Aseba::NodesManager { public: typedef std::vector strings; typedef std::list ResponseQueue; typedef std::set ResponseSet; typedef std::pair VariableAddress; typedef std::map NodeIdSubstitution; typedef std::map NodeNameVariablesMap; typedef std::map NodeIdVariablesMap; typedef std::map VariableResponseSetMap; typedef std::map StreamResponseQueueMap; typedef std::map StreamRequestMap; typedef std::map > StreamEventSubscriptionMap; typedef std::map > StreamNodeIdMap; typedef std::set StreamSet; typedef std::map StreamNodeIdSubstitutionMap; typedef std::map NodeIdCommonDefinitionsMap; typedef std::map NodeIdProgramMap; protected: std::map streamInitParameters; std::map targetsToNodeId; StreamNodeIdMap asebaStreams; Dashel::Stream* inHttpStream; Dashel::Stream* inAsebaStream; std::string inHttpPort; std::string inAsebaPort; StreamNodeIdSubstitutionMap targetToNodeIdSubstitutions; NodeIdSubstitution nodeToAeslIdSubstitutions; StreamNodeIdSubstitutionMap localIdWishes; StreamNodeIdSubstitutionMap aeslIdWishes; StreamResponseQueueMap pendingResponses; VariableResponseSetMap pendingVariables; StreamEventSubscriptionMap eventSubscriptions; StreamRequestMap httpRequests; StreamSet streamsToShutdown; std::set nodeDescriptionsReceived; std::set nodeProgramsSent; NodeIdProgramMap nodeProgram; // debug variables bool verbose; int iterations; bool do_dump; // Extract definitions from AESL files NodeIdCommonDefinitionsMap commonDefinitions; NodeIdVariablesMap allVariables; //variable cache std::map, std::vector > variable_cache; #ifdef ZEROCONF_SUPPORT DashelhubZeroconf zeroconf; #endif // ZEROCONF_SUPPORT public: //default values needed for unit testing HttpInterface(const strings& targets = std::vector(), const std::string& http_port="3000", const std::string& aseba_port="33332", const int iterations=-1, bool dump=false, bool verbose=false); //virtual void run(); virtual void broadcastGetDescription(); virtual void evNodes(HttpRequest* req, strings& args); virtual void evVariableOrEvent(HttpRequest* req, strings& args); virtual void evSubscribe(HttpRequest* req, strings& args); virtual void evOptions(HttpRequest* req, strings& args); virtual void evLoad(HttpRequest* req, strings& args); virtual void evReset(HttpRequest* req, strings& args); virtual void aeslLoadFile(const unsigned nodeId, const std::string& filename); virtual void aeslLoadMemory(const unsigned nodeId, const char* buffer, const int size); virtual void updateVariables(const unsigned nodeId); virtual void scheduleResponse(Dashel::Stream* stream, HttpRequest* req); virtual void addHeaders(HttpRequest* req, strings& headers); virtual void finishResponse(HttpRequest* req, unsigned status, std::string result); virtual void appendResponse(HttpRequest* req, unsigned status, const bool& keep_open, std::string result); virtual void sendAvailableResponses(); virtual void unscheduleResponse(Dashel::Stream* stream, HttpRequest* req); virtual void unscheduleAllResponses(Dashel::Stream* stream); virtual std::set allNodeIds(); virtual unsigned updateNodeId(Dashel::Stream* stream, unsigned targetId); virtual bool run1s(); protected: /* // reimplemented from parent classes */ virtual void connectionCreated(Dashel::Stream* stream); virtual void connectionClosed(Dashel::Stream* stream, bool abnormal); virtual void incomingData(Dashel::Stream* stream); virtual void sendMessage(const Message& message); virtual void nodeDescriptionReceived(unsigned nodeId); // helpers for standard methods virtual void incomingDataHTTP(Dashel::Stream* stream); virtual void incomingDataAseba(Dashel::Stream* stream); virtual void incomingDataTarget(Dashel::Stream* stream); virtual void propagateCmdMessage(Message* message); // specific to http interface virtual void sendEvent(const unsigned nodeId, const strings& args); virtual void sendSetVariable(const unsigned nodeId, const strings& args); virtual std::pair sendGetVariables(const unsigned nodeId, const strings& args); virtual bool getVarPos(const unsigned nodeId, const std::string& variableName, unsigned& pos); virtual void aeslLoad(const unsigned nodeId, xmlDoc* doc); virtual void incomingVariables(const Variables *variables); virtual void incomingUserMsg(const UserMessage *userMsg); virtual void routeRequest(HttpRequest* req); // helper functions //bool getNodeAndVarPos(const std::string& nodeName, const std::string& variableName, unsigned& nodeId, unsigned& pos) const; // bool getVarPos(const unsigned nodeId, const std::string& variableName, unsigned& pos) const; bool compileAndSendCode(const unsigned nodeId, const std::wstring& program); virtual void parse_json_form(const std::string content, strings& values); std::vector getIdsFromURI(const strings& args); Dashel::Stream* getStreamFromNodeId(const unsigned nodeId); void discardStream(Dashel::Stream* stream); std::string targetFromString(Dashel::Stream* stream) const; void connectToTargets(); }; class HttpRequest { public: typedef std::vector strings; std::string method; std::string uri; std::string protocol_version; Dashel::Stream* stream; strings tokens; // parsed URI std::map headers; // incoming headers std::string content; // incoming payload bool ready; // incoming request is ready unsigned status; // outging status std::string result; // outgoing payload strings outheaders; bool more; // keep connection open for SSE int sse_todo; protected: bool headers_done; // flag for header parsing bool status_sent; // flag for SSE bool verbose; public: HttpRequest(); virtual ~HttpRequest() {}; virtual bool initialize( Dashel::Stream *stream); // virtual bool initialize( std::string const& start_line, Dashel::Stream *stream); // virtual bool initialize( std::string const& method, std::string const& uri, std::string const& _protocol_version, Dashel::Stream *stream); virtual void incomingData(); virtual void sendResponse(); virtual void sendStatus(); virtual void sendPayload(); }; class InterruptException : public std::exception { public: InterruptException(int s) : S(s) {} int S; }; /*@}*/ }; #endif aseba-1.6.0/switches/http/main.cpp000066400000000000000000000134531322771007300170410ustar00rootroot00000000000000// // main.cpp // // // Created by David Sherman on 2014-12-30. // // /* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "http.h" #include "../../common/consts.h" #include "../../common/types.h" #include "../../common/utils/utils.h" #include "../../common/msg/NodesManager.h" #include "../../transport/dashel_plugins/dashel-plugins.h" //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba http, connects aseba components together and with HTTP, usage:\n"; stream << programName << " [options] [additional targets]*\n"; stream << "Options:\n"; stream << "-v, --verbose : makes the switch verbose\n"; stream << "-d, --dump : makes the switch dump the content of messages\n"; stream << "-p, --http port : listens to incoming HTTP connection on this port\n"; stream << "-s, --port port : listens to incoming Aseba connection on this port\n"; stream << "-a, --aesl file : load program definitions from AESL file\n"; stream << "--autorestart : restart switch in case of error (else exit)\n"; stream << "-K, --Kiter n : run I/O loop n thousand times (for profiling)\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Additional targets are any valid Dashel targets." << std::endl; stream << "Report bugs to: david.sherman@inria.fr" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "asebahttp 2015-01-01 David James Sherman " << std::endl; stream << "Aseba version " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Aseba library licence LGPLv3: GNU LGPL version 3 \n"; } // Main int main(int argc, char *argv[]) { Dashel::initPlugins(); std::string http_port = "3000"; std::string aseba_port; std::string aesl_filename; std::vector dashel_target_list; bool verbose = false; bool dump = false; bool autoRestart = false; int Kiterations = -1; // set to > 0 to limit run time e.g. for valgrind // process command line int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter++]; if ((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0)) verbose = true; else if ((strcmp(arg, "-d") == 0) || (strcmp(arg, "--dump") == 0)) dump = true; else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) dumpHelp(std::cout, argv[0]), exit(1); else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) dumpVersion(std::cout), exit(1); else if ((strcmp(arg, "-p") == 0) || (strcmp(arg, "--http") == 0)) http_port = argv[argCounter++]; else if ((strcmp(arg, "-s") == 0) || (strcmp(arg, "--port") == 0)) aseba_port = argv[argCounter++]; else if ((strcmp(arg, "-a") == 0) || (strcmp(arg, "--aesl") == 0)) aesl_filename = argv[argCounter++]; else if (strcmp(arg, "--autorestart") == 0) autoRestart = true; else if ((strcmp(arg, "-K") == 0) || (strcmp(arg, "--Kiter") == 0)) Kiterations = atoi(argv[argCounter++]); else if (strncmp(arg, "-", 1) != 0) dashel_target_list.push_back(arg); } // initialize Dashel plugins Dashel::initPlugins(); // create and run bridge, catch Dashel exceptions do { try { Aseba::HttpInterface network(dashel_target_list, http_port, aseba_port, Kiterations > 0 ? 1000*Kiterations : 5, dump, verbose); for (auto nodeId: network.allNodeIds()) try { if (aesl_filename.size() > 0) network.aeslLoadFile(nodeId, aesl_filename); else { const char* failsafe = "\n"; network.aeslLoadMemory(nodeId, failsafe,strlen(failsafe)); } } catch ( std::runtime_error(e) ) { std::cerr << "Error loading aesl for nodeId " << nodeId << std::endl; } do { network.pingNetwork(); // possibly not, if do_ping == false } while (network.run1s()); return 0; // normal exit (exit autoRestart loop) } catch(Dashel::DashelException e) { std::cerr << "Unhandled Dashel exception: " << e.what() << std::endl; } catch (Aseba::InterruptException& e) { std::cerr << " attempting graceful network shutdown" << std::endl; return 0; // normal exit (exit autoRestart loop) } } while (autoRestart); return 1; // error following an exception } aseba-1.6.0/switches/http2/000077500000000000000000000000001322771007300154655ustar00rootroot00000000000000aseba-1.6.0/switches/http2/AeslProgram.cpp000066400000000000000000000115631322771007300204130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "../../common/consts.h" #include "../../common/utils/utils.h" #include "AeslProgram.h" using Aseba::Http::AeslProgram; using std::cerr; using std::endl; AeslProgram::AeslProgram(const std::string& filename) : loaded(false) { // local file or URL xmlDoc *doc(xmlReadFile(filename.c_str(), nullptr, 0)); if(!doc) { cerr << "Cannot read AESL script XML from file " << filename << endl; } else { load(doc); } xmlFreeDoc(doc); xmlCleanupParser(); } AeslProgram::AeslProgram(const char *buffer, const int size) : loaded(false) { // local file or URL xmlDoc *doc(xmlReadMemory(buffer, size, "vmcode.aesl", nullptr, 0)); if(!doc) { cerr << "Cannot read AESL script XML from memory " << buffer << endl; } else { load(doc); } xmlFreeDoc(doc); xmlCleanupParser(); } AeslProgram::~AeslProgram() { } void AeslProgram::load(xmlDoc *doc) { loaded = true; // clear existing data commonDefinitions.events.clear(); commonDefinitions.constants.clear(); // load new data xmlXPathContextPtr context = xmlXPathNewContext(doc); xmlXPathObjectPtr obj; // 1. Path network/event if((obj = xmlXPathEvalExpression(BAD_CAST"/network/event", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *name(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("name"))); xmlChar *size(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("size"))); if(name && size) { int eventSize = atoi((const char *) size); if(eventSize > ASEBA_MAX_EVENT_ARG_SIZE) { cerr << "Event " << name << " has a length " << eventSize << " larger than maximum" << ASEBA_MAX_EVENT_ARG_SIZE << endl; loaded = false; break; } else commonDefinitions.events.push_back(NamedValue(UTF8ToWString((const char *) name), eventSize)); } xmlFree(name); xmlFree(size); } xmlXPathFreeObject(obj); // also frees nodeset } // 2. Path network/constant if((obj = xmlXPathEvalExpression(BAD_CAST"/network/constant", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *name(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("name"))); xmlChar *value(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("value"))); if(name && value) commonDefinitions.constants.push_back(NamedValue(UTF8ToWString((const char *) name), atoi((const char *) value))); xmlFree(name); // nop if name is nullptr xmlFree(value); // nop if value is nullptr } xmlXPathFreeObject(obj); // also frees nodeset } // 3. Path network/keywords if((obj = xmlXPathEvalExpression(BAD_CAST"/network/keywords", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *flag(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("flag"))); // do nothing because compiler doesn't pay attention to keywords xmlFree(flag); } xmlXPathFreeObject(obj); // also frees nodeset } // 4. Path network/node if((obj = xmlXPathEvalExpression(BAD_CAST"/network/node", context))) { xmlNodeSetPtr nodeset = obj->nodesetval; for(int i = 0; i < (nodeset ? nodeset->nodeNr : 0); ++i) { xmlChar *name(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("name"))); xmlChar *storedId(xmlGetProp(nodeset->nodeTab[i], BAD_CAST("nodeId"))); xmlChar *text(xmlNodeGetContent(nodeset->nodeTab[i])); if(text != nullptr) { NodeEntry entry; entry.nodeName = (name == nullptr ? "": (const char *) name); entry.nodeId = (storedId == nullptr ? "": (const char *) storedId); entry.code = (const char *) text; entries.push_back(entry); } else { cerr << "Encountered node with no code" << endl; loaded = false; } // free attribute and content xmlFree(name); // nop if name is nullptr xmlFree(storedId); // nop if name is nullptr xmlFree(text); // nop if text is nullptr } xmlXPathFreeObject(obj); // also frees nodeset } // release memory xmlXPathFreeContext(context); // check if there was an error if(!loaded) { entries.clear(); commonDefinitions.events.clear(); commonDefinitions.constants.clear(); } } aseba-1.6.0/switches/http2/AeslProgram.h000066400000000000000000000042571322771007300200620ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_AESL_LOADER #define ASEBA_AESL_LOADER #include #include #if defined(_WIN32) && defined(__MINGW32__) /* This is a workaround for MinGW32, see libxml/xmlexports.h */ #define IN_LIBXML #endif #include #include #include #include #include "../../compiler/compiler.h" namespace Aseba { namespace Http { /** * Class representing an AESL program with several code entries that can later be compiled and * executed on nodes matching a specified node name or id. * * AESL programs can be constructed either from a file or a memory buffer - in either case make * sure to call isLoaded() to see if they were successfully parsed. */ class AeslProgram { public: struct NodeEntry { std::string nodeName; std::string nodeId; std::string code; }; AeslProgram(const std::string& filename); AeslProgram(const char *buffer, const int size); virtual ~AeslProgram(); virtual bool isLoaded() const { return loaded; } virtual const std::vector& getEntries() const { return entries; } virtual const CommonDefinitions& getCommonDefinitions() const { return commonDefinitions; } protected: void load(xmlDoc *doc); private: bool loaded; std::vector entries; CommonDefinitions commonDefinitions; }; } } #endif aseba-1.6.0/switches/http2/CMakeLists.txt000066400000000000000000000020021322771007300202170ustar00rootroot00000000000000# need libxml2 to read aesl files find_package(LibXml2) if(LIBXML2_FOUND) include_directories(${LIBXML2_INCLUDE_DIR}) set(http2_SRCS AeslProgram.cpp HttpDashelTarget.cpp HttpInterface.cpp HttpInterfaceHandlers.cpp HttpRequest.cpp HttpResponse.cpp main.cpp ) add_executable(asebahttp2 ${http2_SRCS}) target_link_libraries(asebahttp2 asebacompiler asebacommon ${LIBXML2_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebahttp2 RUNTIME DESTINATION bin ) add_library(asebahttp2hub ${http2_SRCS}) set_target_properties(asebahttp2hub PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebahttp2hub LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set(ASEBACORE_HDR_HTTP2 AeslProgram.h HttpDashelTarget.h HttpHandler.h HttpInterface.h HttpInterfaceHandlers.h HttpRequest.h HttpResponse.h ) install(FILES ${ASEBACORE_HDR_HTTP2} DESTINATION include/aseba/switches/http2 ) endif(LIBXML2_FOUND) aseba-1.6.0/switches/http2/HttpDashelTarget.cpp000066400000000000000000000236541322771007300214120ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "HttpDashelTarget.h" #include "HttpRequest.h" #include "HttpInterface.h" using Aseba::NodesManager; using Aseba::Http::DashelHttpRequest; using Aseba::Http::HttpDashelTarget; using Aseba::Http::HttpInterface; using std::cerr; using std::endl; using std::make_pair; using std::map; using std::set; using std::string; using std::vector; HttpDashelTarget::HttpDashelTarget(HttpInterface *interface_, const std::string& address_, Dashel::Stream *stream_) : interface(interface_), address(address_), stream(stream_) { } HttpDashelTarget::~HttpDashelTarget() { } bool HttpDashelTarget::sendEvent(const std::vector& args) { if(args.empty()) { return false; } size_t eventPos; if(interface->getProgram().getCommonDefinitions().events.contains(UTF8ToWString(args[0]), &eventPos)) { try { // build event and emit VariablesDataVector data; for(size_t i = 1; i < args.size(); ++i) { data.push_back(atoi(args[i].c_str())); } UserMessage userMessage(eventPos, data); userMessage.serialize(stream); stream->flush(); } catch(Dashel::DashelException e) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to send event message to stream: " << e.what() << endl; } return false; } return true; } else { if(interface->isVerbose()) { cerr << "Target " << address << " failed to send event: No event " << args[0] << endl; } return false; } } bool HttpDashelTarget::sendGetVariables(unsigned globalNodeId, const std::vector& args, HttpRequest *request) { vector positions; map::iterator query = nodes.find(globalNodeId); if(query == nodes.end()) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to send get variables message for node " << globalNodeId << ": No such node" << endl; } return false; } Node& node = query->second; assert(globalNodeId == node.globalId); for(vector::const_iterator it(args.begin()); it != args.end(); ++it) { unsigned position; unsigned size; if(getVariableInfo(node, *it, position, size)) { try { // send the message GetVariables getVariables(node.localId, position, size); getVariables.serialize(stream); stream->flush(); } catch(Dashel::DashelException e) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to send get variables message for node " << node.globalId << " (" << node.name << ") to stream: " << e.what() << endl; } return false; } positions.push_back(position); } else { return false; } } if(!positions.empty()) { DashelHttpRequest *dashelRequest = static_cast(request); node.pendingVariables[positions[0]].insert(make_pair(dashelRequest->getStream(), dashelRequest)); if(interface->isVerbose()) { cerr << "Target " << address << " scheduled variables request for node " << node.globalId << " (" << node.name << "): " << join(args, ", ") << endl; } } return true; } bool HttpDashelTarget::sendSetVariable(unsigned globalNodeId, const std::vector& args) { map::iterator query = nodes.find(globalNodeId); if(query == nodes.end()) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to send set variables message for node " << globalNodeId << ": No such node" << endl; } return false; } Node& node = query->second; assert(globalNodeId == node.globalId); if(args.empty()) { return false; } unsigned position; unsigned size; if(!getVariableInfo(node, args[0], position, size)) { return false; } try { // send the message VariablesDataVector data; for(size_t i = 1; i < args.size(); ++i) { data.push_back(atoi(args[i].c_str())); } SetVariables setVariables(node.localId, position, data); setVariables.serialize(stream); stream->flush(); } catch(Dashel::DashelException e) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to send set variables message for node " << node.globalId << " (" << node.name << ") to stream: " << e.what() << endl; } return false; } return true; } bool HttpDashelTarget::compileAndRunCode(unsigned globalNodeId, const std::string& code, std::string& errorString) { map::iterator query = nodes.find(globalNodeId); if(query == nodes.end()) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to compile and run code for node " << globalNodeId << ": No such node" << endl; } return false; } Node& node = query->second; assert(globalNodeId == node.globalId); // compile code std::wistringstream is(UTF8ToWString(code)); Error error; BytecodeVector bytecode; unsigned allocatedVariablesCount; Compiler compiler; compiler.setTargetDescription(getDescription(node.localId)); compiler.setCommonDefinitions(&interface->getProgram().getCommonDefinitions()); if(compiler.compile(is, bytecode, allocatedVariablesCount, error)) { try { // send bytecode sendBytecode(stream, node.localId, std::vector(bytecode.begin(), bytecode.end())); // run node Run msg(node.localId); msg.serialize(stream); stream->flush(); } catch(Dashel::DashelException e) { errorString = e.what(); if(interface->isVerbose()) { cerr << "Target " << address << " failed to send bytecode and run message for node " << node.globalId << " (" << node.name << ") to stream: " << e.what() << endl; } return false; } // retrieve user-defined variables for use in get/set node.variablesMap = *compiler.getVariablesMap(); return true; } else { errorString = WStringToUTF8(error.toWString()); if(interface->isVerbose()) { cerr << "Target " << address << " failed to compile program for node " << globalNodeId << " (" << node.name << "): " << errorString << endl; } return false; } } bool HttpDashelTarget::removePendingVariable(unsigned globalNodeId, unsigned start) { map::iterator query = nodes.find(globalNodeId); if(query == nodes.end()) { if(interface->isVerbose()) { cerr << "Target " << address << " failed to remove pending variable for node " << globalNodeId << ": No such node" << endl; } return false; } Node& node = query->second; assert(globalNodeId == node.globalId); return node.pendingVariables.erase(start) == 1; } std::set HttpDashelTarget::getNodesByName(const std::string& name) const { set result; // todo: maybe make this more efficient by caching node access by name? map::const_iterator end = nodes.end(); for(map::const_iterator iter = nodes.begin(); iter != end; ++iter) { const Node& node = iter->second; if(node.name == name) { result.insert(&node); } } return result; } const HttpDashelTarget::Node *HttpDashelTarget::getNodeById(unsigned globalNodeId) const { map::const_iterator query = nodes.find(globalNodeId); if(query != nodes.end()) { return &query->second; } else { return nullptr; } } const HttpDashelTarget::Node *HttpDashelTarget::getNodeByLocalId(unsigned localNodeId) const { map::const_iterator query = globalIds.find(localNodeId); if(query != globalIds.end()) { return getNodeById(query->second); } else { return nullptr; } } bool HttpDashelTarget::getVariableInfo(const Node& node, const std::string& variableName, unsigned& position, unsigned& size) { VariablesMap::const_iterator query = node.variablesMap.find(UTF8ToWString(variableName)); if(query != node.variablesMap.end()) { position = query->second.first; size = query->second.second; return true; } // if variable is not user-defined, check whether it is provided by this node bool ok; position = getVariablePos(node.localId, UTF8ToWString(variableName), &ok); if(ok) { size = getVariableSize(node.localId, UTF8ToWString(variableName), &ok); if(ok) { return true; } } if(interface->isVerbose()) { cerr << "Target " << address << " failed to find variable '" << variableName << "' address for node " << node.globalId << " (" << node.name << ")" << endl; } return false; } void HttpDashelTarget::sendMessage(const Message& message) { message.serialize(stream); stream->flush(); } void HttpDashelTarget::nodeDescriptionReceived(unsigned localNodeId) { std::map::iterator query = globalIds.find(localNodeId); if(query == globalIds.end()) { Node node; node.localId = localNodeId; node.name = WStringToUTF8(getNodeName(localNodeId)); node.globalId = interface->registerNode(this, localNodeId); nodes[node.globalId] = node; globalIds[node.localId] = node.globalId; if(interface->isVerbose()) { cerr << "Target " << address << " received description for node " << node.globalId << " (" << node.name << ")" << endl; } std::vector data; data.push_back(node.globalId); interface->notifyEventSubscribers("connect", data); } else if(interface->isVerbose()) { cerr << "Target " << address << " received description for local node id " << localNodeId << ", but that node was already registered to node " << query->second << endl; } } aseba-1.6.0/switches/http2/HttpDashelTarget.h000066400000000000000000000114751322771007300210550ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP_DASHEL_TARGET #define ASEBA_HTTP_DASHEL_TARGET #include #include #include #include #include "../../common/msg/NodesManager.h" #include "AeslProgram.h" namespace Aseba { namespace Http { class HttpInterface; // foward declaration class HttpRequest; // foward declaration class DashelHttpRequest; // foward declaration /** * A HTTP Dashel target represents a connection that was established to one of the specified peers * on the Aseba network. It is typically identified by its address which also specifies the target * for the corresponding Dashel stream. * * Every target stores a list of nodes as reported by the integrated descriptions manager over the * Aseba network. Nodes also store a list of their defined variables for the currently compiled * AESL program, as well as a list of pending variable values requested by HTTP requests. */ class HttpDashelTarget : public NodesManager { public: struct Node { unsigned localId; unsigned globalId; std::string name; VariablesMap variablesMap; std::map< unsigned, std::set< std::pair > > pendingVariables; }; HttpDashelTarget(HttpInterface *interface, const std::string& address, Dashel::Stream *stream); virtual ~HttpDashelTarget(); /** * Send an event to all nodes registered by this target on the Aseba bus. The first element * of the args array is expected to contain the name of the event, followed by its * arguments. * * Returns true if the event was successfully sent to all nodes. */ virtual bool sendEvent(const std::vector& args); /** * Send a get variables request to one of this target's specified nodes. The args array * contains the names of all variables to lookup. The supplied HTTP request will be * notified as soon as an answer with the requested variable values arrives. * * Returns true if the request was successfully sent to the specified node. */ virtual bool sendGetVariables(unsigned globalNodeId, const std::vector& args, HttpRequest *request); /** * Send a set variables request to one of this target's specified nodes. The first element * of the args array is expected to contain the name of the variable to set, followed by * values for each of its (array) values. * * Returns true if the request was successfully sent to the specified node. */ virtual bool sendSetVariable(unsigned globalNodeId, const std::vector& args); /** * Compiles a specified code entry from an AESL program for one of this target's specified * nodes and sends the resulting bytecode as well as a run request to the node. In case * false is returned on failure, errorString will contain a description of the problem * that has occurred. */ virtual bool compileAndRunCode(unsigned globalNodeId, const std::string& code, std::string& errorString); /** * Remove a pending variable request from one of this target's specified nodes. * * Returns true on success. */ virtual bool removePendingVariable(unsigned globalNodeId, unsigned start); virtual std::set getNodesByName(const std::string& name) const; virtual const Node *getNodeById(unsigned globalNodeId) const; virtual const Node *getNodeByLocalId(unsigned localNodeId) const; virtual const std::string& getAddress() const { return address; } virtual Dashel::Stream *getStream() { return stream; } virtual const std::map& getNodes() const { return nodes; } protected: virtual bool getVariableInfo(const Node& node, const std::string& variableName, unsigned& position, unsigned& size); virtual void sendMessage(const Message& message); virtual void nodeDescriptionReceived(unsigned localNodeId); private: HttpInterface *interface; std::string address; Dashel::Stream *stream; std::map nodes; std::map globalIds; }; } } #endif aseba-1.6.0/switches/http2/HttpHandler.h000066400000000000000000000107331322771007300200570ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP_HANDLER #define ASEBA_HTTP_HANDLER #include #include #include #include "HttpRequest.h" #include "HttpResponse.h" namespace Aseba { namespace Http { class HttpInterface; // forward declaration /** * Base class for HTTP handlers. Handlers need to be able to check if they are responsible for an * incoming request, and the need to handle it in some way if a previous call to the checking * function was successful. * * This base class is intended to be used with multiple inheritance, so make sure to always * virtually inheriting from it. */ class HttpHandler { public: HttpHandler() { } virtual ~HttpHandler() { } virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const = 0; virtual void handleRequest(HttpRequest *request, const std::vector& tokens) = 0; }; class InterfaceHttpHandler : public virtual HttpHandler { public: InterfaceHttpHandler(HttpInterface *interface_) : interface(interface_) { } virtual const HttpInterface *getInterface() const { return interface; } protected: virtual HttpInterface *getInterface() { return interface; } private: HttpInterface *interface; }; class WildcardHttpHandler : public virtual HttpHandler { public: WildcardHttpHandler() { } virtual ~WildcardHttpHandler() { } virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const { return true; } }; class HierarchicalHttpHandler : public virtual HttpHandler { public: HierarchicalHttpHandler() { } virtual ~HierarchicalHttpHandler() { for(int i = 0; i < getNumSubhandlers(); i++) { delete subhandlers[i]; } } virtual void handleRequest(HttpRequest *request, const std::vector& tokens) { for(int i = 0; i < getNumSubhandlers(); i++) { if(subhandlers[i]->checkIfResponsible(request, tokens)) { subhandlers[i]->handleRequest(request, tokens); return; } } request->respond().setStatus(HttpResponse::HTTP_STATUS_NOT_FOUND); } virtual void addSubhandler(HttpHandler *subhandler) { subhandlers.push_back(subhandler); } virtual int getNumSubhandlers() const { return (int) subhandlers.size(); } private: std::vector subhandlers; }; class RootHttpHandler : public WildcardHttpHandler, public HierarchicalHttpHandler { public: RootHttpHandler() { } virtual ~RootHttpHandler() { } }; class TokenHttpHandler : public virtual HttpHandler { public: TokenHttpHandler() { } virtual ~TokenHttpHandler() { } virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const { if(tokens.empty()) { return false; } for(int i = 0; i < getNumTokens(); i++) { if(this->tokens[i] == tokens[0]) { return true; } } return false; } virtual void addToken(const std::string& token) { tokens.push_back(token); } virtual const std::vector& getTokens() const { return tokens; } virtual int getNumTokens() const { return (int) tokens.size(); } private: std::vector tokens; }; class HierarchicalTokenHttpHandler : public HierarchicalHttpHandler, public TokenHttpHandler { public: HierarchicalTokenHttpHandler() { } virtual ~HierarchicalTokenHttpHandler() { } virtual void handleRequest(HttpRequest *request, const std::vector& tokens) { assert(!tokens.empty()); std::vector newTokens(tokens.begin() + 1, tokens.end()); // eat first token HierarchicalHttpHandler::handleRequest(request, newTokens); } }; } } #endif aseba-1.6.0/switches/http2/HttpInterface.cpp000066400000000000000000000600331322771007300207330ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "HttpInterface.h" #include "HttpInterfaceHandlers.h" #define RECONNECT_TIMEOUT 1000 using Aseba::Http::EventsHandler; using Aseba::Http::HttpDashelTarget; using Aseba::Http::HttpInterface; using Aseba::Http::LoadHandler; using Aseba::Http::NodesHandler; using Aseba::Http::OptionsHandler; using Aseba::Http::ResetHandler; using std::cerr; using std::cerr; using std::endl; using std::find; using std::istringstream; using std::make_pair; using std::map; using std::pair; using std::set; using std::string; using std::stringstream; using std::vector; HttpInterface::HttpInterface(const std::string& httpPort) : verbose(true), program(defaultProgram.c_str(), defaultProgram.size()) { addSubhandler(new OptionsHandler()); addSubhandler(new LoadHandler(this)); addSubhandler(new NodesHandler(this)); addSubhandler(new EventsHandler(this)); addSubhandler(new ResetHandler(this)); addSubhandler(new FileHandler(this)); // listen for incoming HTTP requests httpStream = connect("tcpin:port=" + httpPort); } HttpInterface::~HttpInterface() { } bool HttpInterface::addTarget(const std::string& address) { if(targetAddressStreams.find(address) == targetAddressStreams.end()) { // target is not yet in our list of targets targetAddressStreams[address] = nullptr; // mark this as a new target to initialize targetAddressReconnectionTime[address] = UnifiedTime(0); return true; } return false; } void HttpInterface::step() { map::iterator end = targetAddressStreams.end(); for(map::iterator iter = targetAddressStreams.begin(); iter != end; iter++) { const std::string& address = iter->first; if(iter->second == nullptr) { UnifiedTime now; if((now - targetAddressReconnectionTime[address]).value > RECONNECT_TIMEOUT) { // trying to reconnect to disconnected targets Dashel::Stream *stream = nullptr; try { stream = connect(address); targets[stream] = new HttpDashelTarget(this, address, stream); iter->second = stream; if(verbose) { cerr << "Successfully connected target " << address << " with stream " << stream << endl; } } catch(Dashel::DashelException e) { if(verbose) { cerr << "Failed to connect target " << address << ": " << e.what() << endl; } if(stream != nullptr) { // uncreate target std::map::iterator query = targets.find(stream); if(query != targets.end()) { delete query->second; targets.erase(query); } } targetAddressReconnectionTime[address] = now; } // ping the connected networks for(map::iterator iter = targets.begin(); iter != targets.end(); ++iter) { HttpDashelTarget *target = iter->second; target->pingNetwork(); } } } } closeClosingHttpConnections(); sendHttpResponses(); Dashel::Hub::step(2); } bool HttpInterface::sendEvent(const std::vector& args) { map::iterator end = targets.begin(); for(map::iterator iter = targets.begin(); iter != end; ++iter) { HttpDashelTarget *target = iter->second; if(!target->sendEvent(args)) { return false; } } return true; } void HttpInterface::notifyEventSubscribers(const std::string& event, const std::vector& data) { // set up SSE message std::stringstream reply; reply << "data: " << event; int dataSize = (int) data.size(); for(int i = 0; i < dataSize; i++) { reply << " " << data[i]; } reply << "\r\n\r\n"; string replyString = reply.str(); map::iterator end = httpConnections.end(); for(map::iterator iter = httpConnections.begin(); iter != end; ++iter) { Dashel::Stream *stream = iter->first; HttpConnection& connection = iter->second; if(connection.eventSubscriptions.find("*") != connection.eventSubscriptions.end() || connection.eventSubscriptions.find(event) != connection.eventSubscriptions.end()) { try { stream->write(replyString.c_str(), replyString.size()); stream->flush(); } catch(Dashel::DashelException e) { if(verbose) { cerr << stream << " Failed to send HTTP event subscriber notification: " << e.what() << endl; } closingHttpConnections.insert(stream); } } } } void HttpInterface::addEventSubscription(HttpRequest *request, const std::string& subscription) { assert(dynamic_cast(request) != nullptr); DashelHttpRequest *dashelHttpRequest = static_cast(request); Dashel::Stream *stream = dashelHttpRequest->getStream(); httpConnections[stream].eventSubscriptions.insert(subscription); if(verbose) { cerr << stream << " Added HTTP request " << request << " event subscription for '" << subscription << "'" << endl; } } unsigned HttpInterface::registerNode(HttpDashelTarget *target, unsigned localNodeId) { bool found = false; unsigned globalNodeId = localNodeId; while(!found) { std::map< unsigned, std::pair >::iterator query = nodeIds.find(globalNodeId); if(query != nodeIds.end()) { globalNodeId++; } else { found = true; } } nodeIds[globalNodeId] = make_pair(target, localNodeId); if(verbose) { cerr << "Registered node with remapped global id " << globalNodeId << " from target " << target->getAddress() << " with local id " << localNodeId << endl; } return globalNodeId; } bool HttpInterface::runProgram(std::string& errorString) { const vector& entries = program.getEntries(); for(int i = 0; i < (int) entries.size(); i++) { const AeslProgram::NodeEntry& entry = entries[i]; set< pair > matchingNodes; if(!entry.nodeId.empty()) { // if there is a node id, both it and the name have to match exactly pair nodeReference = getNodeByIdString(entry.nodeId); if(entry.nodeName.empty() || nodeReference.second->name == entry.nodeName) { matchingNodes.insert(nodeReference); } } else { // if there is only a name, multiples can match matchingNodes = getNodesByName(entry.nodeName); } if(matchingNodes.empty()) { if(verbose) { cerr << "Warning: No target nodes match program entry with node name '" << entry.nodeName << "' and node id '" << entry.nodeId << "', skipping..." << endl; } continue; } set< pair >::iterator end = matchingNodes.end(); for(set< pair >::iterator iter = matchingNodes.begin(); iter != end; ++iter) { HttpDashelTarget *target = iter->first; const HttpDashelTarget::Node *node = iter->second; if(!target->compileAndRunCode(node->globalId, entry.code, errorString)) { return false; } if(verbose) { cerr << "Compiled and sent AESL entry for node " << (entry.nodeId.empty() ? "*" : entry.nodeId) << " (" << (entry.nodeName.empty() ? "*" : entry.nodeName) << ") to node " << node->globalId << " (" << node->name << ")" << endl; } } } return true; } std::set< std::pair > HttpInterface::getNodesByName(const std::string& name) { set< pair > results; // search by name map::iterator end = targets.end(); for(map::iterator iter = targets.begin(); iter != end; ++iter) { HttpDashelTarget *target = iter->second; set nodes = target->getNodesByName(name); set::iterator nodesEnd = nodes.end(); for(set::iterator nodesIter = nodes.begin(); nodesIter != nodesEnd; ++nodesIter) { const HttpDashelTarget::Node *node = *nodesIter; results.insert(make_pair(target, node)); } } return results; } std::pair HttpInterface::getNodeByIdString(const std::string& nodeIdString) { unsigned nodeId; if(istringstream(nodeIdString) >> nodeId) { return getNodeById(nodeId); } return make_pair((HttpDashelTarget *) nullptr, (const HttpDashelTarget::Node *) nullptr); } std::pair HttpInterface::getNodeById(unsigned nodeId) { // search by global id std::map< unsigned, std::pair >::iterator query = nodeIds.find(nodeId); if(query != nodeIds.end()) { HttpDashelTarget *target = query->second.first; const HttpDashelTarget::Node *node = target->getNodeById(nodeId); if(node != nullptr) { return make_pair(target, node); } } return make_pair((HttpDashelTarget *) nullptr, (const HttpDashelTarget::Node *) nullptr); } std::set< std::pair > HttpInterface::getNodesByNameOrId(const std::string& nameOrId) { set< pair > result = getNodesByName(nameOrId); if(result.empty()) { std::pair nodeReference = getNodeByIdString(nameOrId); if(nodeReference.first != nullptr) { result.insert(nodeReference); } } return result; } void HttpInterface::connectionCreated(Dashel::Stream *stream) { if(verbose) { cerr << stream << " Incoming connection from " << stream->getTargetName() << endl; } } void HttpInterface::connectionClosed(Dashel::Stream *stream, bool abnormal) { // handle dashel target disconnection map::iterator targetQuery = targets.find(stream); if(targetQuery != targets.end()) { // target stream HttpDashelTarget *target = targetQuery->second; const std::map& nodes = target->getNodes(); std::map::const_iterator end = nodes.end(); for(std::map::const_iterator iter = nodes.begin(); iter != end; ++iter) { const HttpDashelTarget::Node& node = iter->second; // free up global node id nodeIds.erase(node.globalId); // cancel all pending variable requests for the disconnected node map< unsigned, set< pair > >::const_iterator pendingVariablesEnd = node.pendingVariables.end(); for(map< unsigned, set< pair > >::const_iterator pendingVariablesIter = node.pendingVariables.begin(); pendingVariablesIter != pendingVariablesEnd; ++pendingVariablesIter) { const set< pair >& pendingRequests = pendingVariablesIter->second; set< pair >::const_iterator pendingRequestsEnd = pendingRequests.end(); for(set< pair >::const_iterator pendingRequestsIter = pendingRequests.begin(); pendingRequestsIter != pendingRequestsEnd; ++pendingRequestsIter) { Dashel::Stream *stream = pendingRequestsIter->first; DashelHttpRequest *request = pendingRequestsIter->second; // We store pending requests as pair to be able to check here if they still exist. // It could be that a request was pending but then destroyed because the HTTP connection died, so we // need to first make sure everything is still okay before trusting these pointers... map::const_iterator connectionQuery = httpConnections.find(stream); if(connectionQuery != httpConnections.end()) { // we can trust stream for here on... const HttpConnection& connection = connectionQuery->second; if(find(connection.queue.begin(), connection.queue.end(), request) != connection.queue.end()) { // we can trust request from here on... request->respond().setStatus(HttpResponse::HTTP_STATUS_INTERNAL_SERVER_ERROR); } } } } sendHttpResponses(); // notify event subscribers about the disconnected node std::vector data; data.push_back(node.globalId); notifyEventSubscribers("disconnect", data); } if(verbose) { cerr << "Target " << target->getAddress() << " disconnected, trying to reconnect..." << endl; } targetAddressStreams[target->getAddress()] = nullptr; targetAddressReconnectionTime[target->getAddress()] = UnifiedTime(0); targets.erase(targetQuery); delete target; return; } // handle http connection disconnection map::iterator httpQuery = httpConnections.find(stream); if(httpQuery != httpConnections.end()) { // http connection if(verbose) { cerr << stream << " HTTP connection reset by peer" << endl; } closeHttpConnection(httpQuery->second); return; } } void HttpInterface::incomingData(Dashel::Stream *stream) { map::iterator query = targets.find(stream); if(query != targets.end()) { // target stream HttpDashelTarget *target = query->second; Message *message(Message::receive(stream)); // pass message to description manager, which builds the node descriptions in background // warning: do this before dynamic casts because otherwise the parsing doesn't work (why?) target->processMessage(message); // See if we know this node already or if the source is 0 (meaning coming from IDE) const HttpDashelTarget::Node *node = target->getNodeByLocalId(message->source); if(node != nullptr || message->source == 0) { // else if we cannot remap the source, discard the message and do not relay it // remap source node to global node id if not sent from IDE if (node != nullptr) message->source = node->globalId; // check for execution error messages switch(message->type) { case ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS: case ASEBA_MESSAGE_DIVISION_BY_ZERO: case ASEBA_MESSAGE_EVENT_EXECUTION_KILLED: case ASEBA_MESSAGE_NODE_SPECIFIC_ERROR: incomingErrorMessage(target, message); } // if variables, check for pending requests const Variables *variables(dynamic_cast(message)); if(variables != nullptr) { incomingVariables(target, variables); } // if event, retransmit it on an HTTP SSE channel if one exists const UserMessage *userMessage(dynamic_cast(message)); if(userMessage != nullptr) { incomingUserMessage(target, userMessage); } // act like asebaswitch: rebroadcast this message to the other streams CmdMessage *cmdMessage(dynamic_cast(message)); if(cmdMessage != nullptr) { // targeted message, only rebroadcast to correct target with remapped destination std::map< unsigned, std::pair >::iterator query = nodeIds.find(cmdMessage->dest); if(query != nodeIds.end()) { // only relay it to known targets, else if we cannot remap the target, discard the message and do not relay it HttpDashelTarget *target = query->second.first; unsigned localNodeId = query->second.second; try { cmdMessage->dest = localNodeId; cmdMessage->serialize(target->getStream()); target->getStream()->flush(); } catch(Dashel::DashelException e) { cerr << "Error while rebroadcasting to stream " << target->getStream() << " of target " << target->getAddress() << endl; } } } else { // not a targeted message, just rebroadcast to all other targets map::const_iterator end = targets.end(); for(map::const_iterator iter = targets.begin(); iter != targets.end(); ++iter) { Dashel::Stream *outStream = iter->first; if(outStream != stream) { try { message->serialize(outStream); outStream->flush(); } catch(Dashel::DashelException e) { cerr << "Error while rebroadcasting to stream " << outStream << " of target " << iter->second->getAddress() << endl; } } } } } delete message; } else { // HTTP stream HttpConnection& connection = httpConnections[stream]; connection.stream = stream; DashelHttpRequest *request = new DashelHttpRequest(stream); if(verbose) { cerr << stream << " Incoming HTTP connection, creating request " << request << endl; request->setVerbose(verbose); } try { if(!request->receive()) { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); request->respond().send(); stream->fail(Dashel::DashelException::Unknown, 0, "400 Bad request"); closeHttpConnection(connection); delete request; return; } } catch(Dashel::DashelException e) { cerr << stream << " Incoming HTTP connection unexpectedly closed: " << e.what() << endl; closeHttpConnection(connection); delete request; return; } connection.queue.push_back(request); handleRequest(request, request->getTokens()); // run response queues immediately to save time sendHttpResponses(); } } void HttpInterface::sendHttpResponses() { map::iterator end = httpConnections.end(); for(map::iterator iter = httpConnections.begin(); iter != end; ++iter) { HttpConnection& connection = iter->second; while(!connection.queue.empty() && connection.queue.front()->isResponseReady()) { HttpRequest *request = connection.queue.front(); try { request->respond().send(); } catch(Dashel::DashelException e) { if(verbose) { cerr << request << " Failed to send HTTP response: " << e.what() << endl; } closingHttpConnections.insert(connection.stream); break; } if(request->getHeader("Connection") == "close" || (request->getProtocol() == "HTTP/1.0" && request->getHeader("Connection") != "keep-alive")) { closingHttpConnections.insert(connection.stream); break; } else { // just this request is finished, delete and remove from queue delete request; connection.queue.pop_front(); } } } } void HttpInterface::closeClosingHttpConnections() { std::set::iterator end = closingHttpConnections.end(); for(std::set::iterator iter = closingHttpConnections.begin(); iter != end; ++iter) { std::map::iterator query = httpConnections.find(*iter); if(query != httpConnections.end()) { // make sure the connection exists, it could have been closed already closeHttpConnection(query->second); } } closingHttpConnections.clear(); } void HttpInterface::closeHttpConnection(HttpConnection& connection) { // delete all requests that are still in the queue while(!connection.queue.empty()) { delete connection.queue.front(); connection.queue.pop_front(); } // disconnect the stream if not yet done so if(!connection.stream->failed()) { try { connection.stream->fail(Dashel::DashelException::Unknown, 0, "Request handling complete"); } catch(Dashel::DashelException& e) { if(verbose) { cerr << connection.stream << " Closed HTTP connection" << endl; } } } httpConnections.erase(connection.stream); } void HttpInterface::incomingVariables(HttpDashelTarget *target, const Variables *variables) { if(verbose) { cerr << "Incoming variable for target " << target->getAddress() << endl; } // first, build result string from message stringstream result; result << "["; int numVariables = (int) variables->variables.size(); for(int i = 0; i < numVariables; ++i) { result << (i ? "," : "") << variables->variables[i]; } result << "]"; string resultString = result.str(); const HttpDashelTarget::Node *node = target->getNodeById(variables->source); if(node != nullptr) { map< unsigned, set< pair > >::const_iterator query = node->pendingVariables.find(variables->start); if(query != node->pendingVariables.end()) { const set< pair >& pendingRequests = query->second; set< pair >::const_iterator end = pendingRequests.end(); for(set< pair >::const_iterator iter = pendingRequests.begin(); iter != end; ++iter) { Dashel::Stream *stream = iter->first; DashelHttpRequest *request = iter->second; // We store pending requests as pair to be able to check here if they still exist. // It could be that a request was pending but then destroyed because the HTTP connection died, so we // need to first make sure everything is still okay before trusting these pointers... map::const_iterator connectionQuery = httpConnections.find(stream); if(connectionQuery != httpConnections.end()) { // we can trust stream for here on... const HttpConnection& connection = connectionQuery->second; if(find(connection.queue.begin(), connection.queue.end(), request) != connection.queue.end()) { // we can trust request from here on... request->respond().setContent(resultString); } else { if(verbose) { cerr << "Target " << target->getAddress() << " received variables for node " << node->globalId << " (" << node->name << "), but the originating HTTP request was discarded in the meanwhile" << endl; } } } else { if(verbose) { cerr << "Target " << target->getAddress() << " received variables for node " << node->globalId << " (" << node->name << "), but the originating HTTP connection was closed in the meanwhile" << endl; } } } target->removePendingVariable(node->globalId, variables->start); } else if(verbose) { cerr << "Target " << target->getAddress() << " received variables for node " << node->globalId << " (" << node->name << "), but there was no pending variable request for them" << endl; } } else if(verbose) { cerr << "Target " << target->getAddress() << " received variables for node " << variables->source << " but no node with this id is known" << endl; } sendHttpResponses(); } void HttpInterface::incomingUserMessage(HttpDashelTarget *target, const UserMessage *userMessage) { if(verbose) { cerr << "Incoming user message for target " << target->getAddress() << endl; } const CommonDefinitions& commonDefinitions = program.getCommonDefinitions(); if(userMessage->type >= 0 && userMessage->type < commonDefinitions.events.size()) { string eventName = WStringToUTF8(commonDefinitions.events[userMessage->type].name); notifyEventSubscribers(eventName, userMessage->data); } else if(verbose) { cerr << "Target " << target->getAddress() << " received user message with type " << userMessage->type << ", but no such event is known" << endl; } } void HttpInterface::incomingErrorMessage(HttpDashelTarget *target, const Message *message) { if(verbose) { cerr << "Incoming error message for target " << target->getAddress() << endl; } const char *errorString = nullptr; if(message->type == ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS) { errorString = "array_access_out_of_bounds"; } else if(message->type == ASEBA_MESSAGE_DIVISION_BY_ZERO) { errorString = "division_by_zero"; } else if(message->type == ASEBA_MESSAGE_EVENT_EXECUTION_KILLED) { errorString = "event_execution_killed"; } else if(message->type == ASEBA_MESSAGE_NODE_SPECIFIC_ERROR) { errorString = "node_specific_error"; } notifyEventSubscribers(errorString); } const std::string HttpInterface::defaultProgram = "\n"; aseba-1.6.0/switches/http2/HttpInterface.h000066400000000000000000000202731322771007300204020ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP_INTERFACE #define ASEBA_HTTP_INTERFACE #include #include #include #include #include #include "../../common/msg/NodesManager.h" #include "../../common/utils/utils.h" #include "AeslProgram.h" #include "HttpDashelTarget.h" #include "HttpHandler.h" #include "HttpRequest.h" #include "HttpResponse.h" namespace Aseba { namespace Http { /** * The HTTP interface is the central class implementing the asebahttp switch. It manages three kinds of Dashel streams: * - httpStream: a listening server socket waiting for incoming HTTP connections * - httpConnections: incoming HTTP client connections making requests to the interface * - targets: connected Dashel targets to this Aseba network hub, where messages are switched between * * The interface is able to handle disconnections and reconnections of both HTTP client connections and Dashel targets. * * On the HTTP side, it reacts to several kinds of requests provided by HTTP handlers registered with the interface. * There are broadly three different ways of handling a request: * - immediate response: if the request can be answered as it arrives, it will be * - delayed response: some requests require sending and receiving messages on the aseba bus. In this case, the * originating HTTP request is stalled until it can be answered * - event streams: HTTP requests can subscribe to event streams, in which case they will block the Dashel stream for * other requests, but will instead be provided a live feed of incoming events on the Aseba bus * * On the Dashel side, node ids are automatically remapped if a collision occurs between several targets to make them * unique. Further, the interface reacts to several kinds of messages observed on the Aseba bus: * - node descriptions: are parsed and added to a list of nodes for each Dashel target * - variables: are reacted to if there were incoming HTTP requests for variables * - user messages: are reacted to if there were incoming HTTP requests for events * - error messages: are reacted to if there were incoming HTTP requests for execution events (divison by zero, etc.) * * The HTTP interface is also able to distribute an AESL program received over HTTP to its network. In that case, it * is assumed that all nodes share the AESL file and different code entries are provided for the different nodes to * be programmed. */ class HttpInterface : public Dashel::Hub, public RootHttpHandler { public: struct HttpConnection { Dashel::Stream *stream; std::deque queue; std::set eventSubscriptions; }; HttpInterface(const std::string& httpPort = "3000"); virtual ~HttpInterface(); /** * Adds a Dashel target to the HTTP interface by its address (e.g. use "ser:device=/dev/ttyACM0" on Linux to * connect to a Thymio. It is fine to call this method while the interface is already running, it will simply * treat the new target as disconnected and attempt to automatically reconnect it. * * Returns true if the target didn't exist yet. */ virtual bool addTarget(const std::string& address); /** * Steps the HTTP interface forward by switching messages on the Aseba bus and reacting to Http requests */ virtual void step(); /** * Send an event to all connected targets on the Aseba bus. The first element of the args array is expected to * contain the name of the event, followed by its arguments. * * Returns true if the event was successfully sent to all targets. */ virtual bool sendEvent(const std::vector& args); /** * Notifies all HTTP event subscribers about an SSE event with a given name and a vector of argument data */ virtual void notifyEventSubscribers(const std::string& event, const std::vector& data = std::vector()); /** * Adds an event subscription to a HTTP connection specified by one of its requests that should receive the * streamed SSE updates. If subscription is "*", the connection will subscribe to all events. */ virtual void addEventSubscription(HttpRequest *request, const std::string& subscription); /** * Registers a node on the HTTP interface with its target and its local node id. This method will remap the id * to a non-colliding global node id and return it. */ virtual unsigned registerNode(HttpDashelTarget *target, unsigned localNodeId); virtual void setVerbose(bool verbose) { this->verbose = verbose; } virtual bool isVerbose() const { return verbose; } virtual void setDocumentRoot(const std::string &docRoot) { this->docRoot = docRoot; if (docRoot.length() > 0 && docRoot.back() != '/') this->docRoot += "/"; this->serveLocalFiles = true; } virtual std::string prependDocumentRoot(std::string &filename) const { std::string path; if (serveLocalFiles) path = docRoot + filename; return path; } /** * Runs the current AESL program for the interface by compiling all the code entries for matching nodes on the * network and running them. In case false is returned on failure, errorString will contain a description of the * problem that has occurred. */ virtual bool runProgram(std::string& errorString); virtual void setProgram(const AeslProgram& program) { this->program = program; } virtual const AeslProgram& getProgram() const { return program; } virtual std::set< std::pair > getNodesByName(const std::string& name); virtual std::pair getNodeByIdString(const std::string& nodeIdString); virtual std::pair getNodeById(unsigned nodeId); virtual std::set< std::pair > getNodesByNameOrId(const std::string& nameOrId); virtual std::map& getTargets() { return targets; } protected: virtual void connectionCreated(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream *stream, bool abnormal); virtual void incomingData(Dashel::Stream *stream); /** * Sends all queued responses for HTTP requests. This method does not actually handle the requests, it simply * sends out the responses that were queued from elsewhere. */ virtual void sendHttpResponses(); virtual void closeClosingHttpConnections(); virtual void closeHttpConnection(HttpConnection& connection); virtual void incomingVariables(HttpDashelTarget *target, const Variables *variables); virtual void incomingUserMessage(HttpDashelTarget *target, const UserMessage *userMessage); virtual void incomingErrorMessage(HttpDashelTarget *target, const Message *message); private: bool verbose; bool serveLocalFiles; // true to also serve local files in docRoot std::string docRoot; AeslProgram program; Dashel::Stream *httpStream; std::map httpConnections; std::set closingHttpConnections; std::map targetAddressStreams; std::map targetAddressReconnectionTime; std::map targets; std::map< unsigned, std::pair > nodeIds; static const std::string defaultProgram; }; } } #endif aseba-1.6.0/switches/http2/HttpInterfaceHandlers.cpp000066400000000000000000000431711322771007300224200ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include "../../common/utils/utils.h" #include "HttpInterface.h" #include "HttpInterfaceHandlers.h" using Aseba::Http::EventsHandler; using Aseba::Http::HttpDashelTarget; using Aseba::Http::HttpInterface; using Aseba::Http::InterfaceHttpHandler; using Aseba::Http::LoadHandler; using Aseba::Http::NodeInfoHandler; using Aseba::Http::NodesHandler; using Aseba::Http::OptionsHandler; using Aseba::Http::ResetHandler; using Aseba::Http::VariableOrEventHandler; using Aseba::Http::FileHandler; using std::cerr; using std::endl; using std::map; using std::pair; using std::set; using std::string; using std::stringstream; using std::vector; OptionsHandler::OptionsHandler() { } OptionsHandler::~OptionsHandler() { } bool OptionsHandler::checkIfResponsible(HttpRequest *request, const std::vector& tokens) const { return request->getMethod() == "OPTIONS"; } void OptionsHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { // we only use OPTIONS for CORS preflighting, so just reply to the client that everything is okay request->respond().setHeader("Access-Control-Allow-Origin", "*"); request->respond().setHeader("Access-Control-Allow-Methods", "GET, POST, PUT"); request->respond().setHeader("Access-Control-Allow-Headers", "Content-Type"); } NodesHandler::NodesHandler(HttpInterface *interface) : InterfaceHttpHandler(interface) { addToken("nodes"); addSubhandler(new NodeInfoHandler(interface)); addSubhandler(new VariableOrEventHandler(interface)); } NodesHandler::~NodesHandler() { } EventsHandler::EventsHandler(HttpInterface *interface) : InterfaceHttpHandler(interface) { addToken("events"); } EventsHandler::~EventsHandler() { } void EventsHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { if(tokens.size() == 1) { getInterface()->addEventSubscription(request, "*"); } else { for(vector::const_iterator i = tokens.begin() + 1; i != tokens.end(); ++i) { getInterface()->addEventSubscription(request, *i); } } request->respond().setHeader("Content-Type", "text/event-stream"); request->respond().setHeader("Cache-Control", "no-cache"); request->respond().setHeader("Connection", "keep-alive"); try { request->respond().send(); // send header immediately request->setBlocking(true); // connection must stay open! } catch(Dashel::DashelException e) { if(getInterface()->isVerbose()) { cerr << request << " Failed to immediately send header back for events request: " << e.what() << endl; } } } ResetHandler::ResetHandler(HttpInterface *interface) : InterfaceHttpHandler(interface) { addToken("reset"); addToken("reset_all"); } ResetHandler::~ResetHandler() { } void ResetHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { map& targets = getInterface()->getTargets(); map::iterator end = targets.begin(); for(std::map::iterator iter = targets.begin(); iter != end; ++iter) { Dashel::Stream *stream = iter->first; HttpDashelTarget *target = iter->second; const map& nodes = target->getNodes(); map::const_iterator nodesEnd = nodes.end(); for(map::const_iterator nodesIter = nodes.begin(); nodesIter != nodesEnd; ++nodesIter) { const HttpDashelTarget::Node& node = nodesIter->second; try { Reset(node.localId).serialize(stream); // reset node stream->flush(); Run(node.localId).serialize(stream); // re-run node stream->flush(); } catch(Dashel::DashelException e) { if(getInterface()->isVerbose()) { cerr << request << " Failed to reset and re-run node: " << e.what() << endl; } return; } if(node.name.find("thymio-II") == 0) { // Special case for Thymio-II. Should we instead just check whether motor.*.target exists? vector tokens; tokens.push_back("motor.left.target"); tokens.push_back("0"); if(!target->sendSetVariable(node.globalId, tokens)) { request->respond().setStatus(HttpResponse::HTTP_STATUS_INTERNAL_SERVER_ERROR); request->respond().setContent("Failed to set Thymio left motor target"); return; } tokens[0] = "motor.right.target"; if(!target->sendSetVariable(node.globalId, tokens)) { request->respond().setStatus(HttpResponse::HTTP_STATUS_INTERNAL_SERVER_ERROR); request->respond().setContent("Failed to set Thymio left motor target"); return; } } size_t eventPos; if(getInterface()->getProgram().getCommonDefinitions().events.contains(UTF8ToWString("reset"), &eventPos)) { vector data; data.push_back("reset"); if(!getInterface()->sendEvent(data)) { request->respond().setStatus(HttpResponse::HTTP_STATUS_INTERNAL_SERVER_ERROR); request->respond().setContent("Failed to send reset event"); return; } } } } request->respond(); } LoadHandler::LoadHandler(HttpInterface *interface) : InterfaceHttpHandler(interface) { } LoadHandler::~LoadHandler() { } bool LoadHandler::checkIfResponsible(HttpRequest *request, const std::vector& tokens) const { return request->getMethod() == "PUT"; } void LoadHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { if(request->getContent().find("file=") == 0) { string xml(request->getContent().c_str() + 5, request->getContent().size() - 5); AeslProgram program(xml.c_str(), xml.size()); if(program.isLoaded()) { getInterface()->setProgram(program); std::string errorString; if(getInterface()->runProgram(errorString)) { request->respond(); } else { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); request->respond().setContent(errorString); } } else { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); request->respond().setContent("Failed to parse provided AESL file"); } } else { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); request->respond().setContent("No file= payload present"); } } NodeInfoHandler::NodeInfoHandler(HttpInterface *interface) : InterfaceHttpHandler(interface) { } NodeInfoHandler::~NodeInfoHandler() { } bool NodeInfoHandler::checkIfResponsible(HttpRequest *request, const std::vector& tokens) const { return tokens.size() <= 1; } void NodeInfoHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { int n = (int) tokens.size(); vector parts; if(n == 0) { // list all nodes std::map& targets = getInterface()->getTargets(); std::map::iterator end = targets.end(); for(std::map::iterator iter = targets.begin(); iter != end; ++iter) { HttpDashelTarget *target = iter->second; const std::map& nodes = target->getNodes(); std::map::const_iterator nodesEnd = nodes.end(); for(std::map::const_iterator nodesIter = nodes.begin(); nodesIter != nodesEnd; ++nodesIter) { const HttpDashelTarget::Node& node = nodesIter->second; bool ok; const TargetDescription *description = target->getDescription(node.localId, &ok); if(ok) { std::stringstream part; part << "{\"node\":" << node.globalId << ",\"name\":\"" << node.name << "\",\"protocolVersion\":" << description->protocolVersion << "}"; parts.push_back(part.str()); } else { stringstream errorStream; errorStream << "Target " << target->getAddress() << " failed to get description for node " << node.globalId << " (" << node.name << ")"; request->respond().setStatus(HttpResponse::HTTP_STATUS_INTERNAL_SERVER_ERROR); request->respond().setContent(errorStream.str()); if(getInterface()->isVerbose()) { cerr << errorStream.str() << endl; } } } } } else { const CommonDefinitions& commonDefinitions = getInterface()->getProgram().getCommonDefinitions(); for(int i = 0; i < n; i++) { set< pair > matchingNodes = getInterface()->getNodesByNameOrId(tokens[i]); set< pair >::iterator end = matchingNodes.end(); for(set< pair >::iterator iter = matchingNodes.begin(); iter != end; ++iter) { HttpDashelTarget *target = iter->first; const HttpDashelTarget::Node& node = *(iter->second); bool ok; const TargetDescription *description = target->getDescription(node.localId, &ok); if(ok) { std::stringstream part; part << "{\"node\":" << node.globalId; part << ",\"name\":\"" << node.name << "\""; part << ",\"protocolVersion\":" << description->protocolVersion; part << ",\"bytecodeSize\":" << description->bytecodeSize; part << ",\"variablesSize\":" << description->variablesSize; part << ",\"stackSize\":" << description->stackSize; // named variables part << ",\"namedVariables\":{"; bool seenNamedVariables = false; VariablesMap::const_iterator vmEnd = node.variablesMap.end(); for(VariablesMap::const_iterator vmIter = node.variablesMap.begin(); vmIter != vmEnd; ++vmIter) { part << (vmIter == node.variablesMap.begin() ? "" : ",") << "\"" << WStringToUTF8(vmIter->first) << "\":" << vmIter->second.second; seenNamedVariables = true; } if(!seenNamedVariables) { // failsafe: if compiler hasn't found any variables, get them from the node description int numVariables = description->namedVariables.size(); for(int j = 0; j < numVariables; j++) { part << (j == 0 ? "" : ",") << "\"" << WStringToUTF8(description->namedVariables[j].name) << "\":" << description->namedVariables[j].size; } } part << "}"; // local events variables part << ",\"localEvents\":{"; int numEvents = (int) description->localEvents.size(); for(int j = 0; j < numEvents; j++) { part << (j == 0 ? "" : ",") << "\"" << WStringToUTF8(description->localEvents[j].name) << "\":" << "\"" << WStringToUTF8(description->localEvents[j].description) << "\""; } part << "}"; // constants from introspection part << ",\"constants\":{"; int numConstants = (int) commonDefinitions.constants.size(); for(int j = 0; j < numConstants; j++) { part << (j == 0 ? "" : ",") << "\"" << WStringToUTF8(commonDefinitions.constants[j].name) << "\":" << commonDefinitions.constants[j].value; } part << "}"; // events from introspection part << ",\"events\":{"; int numCommonEvents = commonDefinitions.events.size(); for(int j = 0; j < numCommonEvents; j++) { part << (j == 0 ? "" : ",") << "\"" << WStringToUTF8(commonDefinitions.events[j].name) << "\":" << commonDefinitions.events[j].value; } part << "}"; part << "}"; // end node parts.push_back(part.str()); } else { stringstream errorStream; errorStream << "Target " << target->getAddress() << " failed to get description for node " << node.globalId << " (" << node.name << ")"; request->respond().setStatus(HttpResponse::HTTP_STATUS_INTERNAL_SERVER_ERROR); request->respond().setContent(errorStream.str()); if(getInterface()->isVerbose()) { cerr << errorStream.str() << endl; } } } } } request->respond().setContent("[" + join(parts, ",") + "]"); } VariableOrEventHandler::VariableOrEventHandler(HttpInterface *interface) : InterfaceHttpHandler(interface) { } VariableOrEventHandler::~VariableOrEventHandler() { } void VariableOrEventHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { const CommonDefinitions& commonDefinitions = getInterface()->getProgram().getCommonDefinitions(); int n = (int) tokens.size(); if(n < 2) { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); return; } set< pair > matchingNodes = getInterface()->getNodesByNameOrId(tokens[0]); if(matchingNodes.empty()) { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); return; } set< pair >::iterator end = matchingNodes.end(); for(set< pair >::iterator iter = matchingNodes.begin(); iter != end; ++iter) { HttpDashelTarget *target = iter->first; const HttpDashelTarget::Node& node = *(iter->second); size_t eventPos; if(commonDefinitions.events.contains(UTF8ToWString(tokens[1]), &eventPos)) { // this is an event // arguments are tokens 1..N vector data; data.push_back(tokens[1]); if(tokens.size() >= 3) { for(size_t i = 2; i < tokens.size(); ++i) { data.push_back((tokens[i].c_str())); } } else if(request->getMethod().find("POST") == 0) { // Parse POST form data parseJsonForm(std::string(request->getContent(), request->getContent().size()), data); } if(target->sendEvent(data)) { request->respond(); // or perhaps {"return_value":null,"cmd":"sendEvent","name":nodeName}? } else { request->respond().setStatus(HttpResponse::HTTP_STATUS_NOT_FOUND); } } else if(request->getMethod().find("POST") == 0 || tokens.size() >= 3) { // set variable value vector values; if(tokens.size() >= 3) { values.assign(tokens.begin() + 1, tokens.end()); } else { // Parse POST form data values.push_back(tokens[1]); parseJsonForm(request->getContent(), values); } if(!values.empty()) { if(target->sendSetVariable(node.globalId, values)) { request->respond(); } else { request->respond().setStatus(HttpResponse::HTTP_STATUS_NOT_FOUND); } } else { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); } } else { // get variable value vector values; values.assign(tokens.begin() + 1, tokens.begin() + 2); if(!target->sendGetVariables(node.globalId, values, request)) { request->respond().setStatus(HttpResponse::HTTP_STATUS_BAD_REQUEST); } } } } void VariableOrEventHandler::parseJsonForm(std::string content, std::vector& values) { std::string buffer = content; buffer.erase(std::remove_if(buffer.begin(), buffer.end(), ::isspace), buffer.end()); std::stringstream ss(buffer); if(ss.get() == '[') { int i; while(ss >> i) { // values.push_back(std::to_string(short(i))); std::stringstream valss; valss << short(i); values.push_back(valss.str()); if(ss.peek() == ']') break; else if(ss.peek() == ',') ss.ignore(); } if(ss.get() != ']') values.erase(values.begin(), values.end()); } return; } FileHandler::FileHandler(HttpInterface *interface): InterfaceHttpHandler(interface) { } FileHandler::~FileHandler() { } std::string FileHandler::filePath(HttpRequest *request) const { // check that url has a single leading slash, not followed by a dot // if invalid, return empty string std::string url = request->getUri(); if (url.length() < 2 || url[0] != '/' || url[1] == '.') return std::string(); std::string filename = url.substr(1); return getInterface()->prependDocumentRoot(filename); } bool FileHandler::doesFileExist(HttpRequest *request) const { std::string path = filePath(request); if (path.empty()) return false; std::ifstream f(path.c_str()); return f.good(); } bool FileHandler::checkIfResponsible(HttpRequest *request, const std::vector& tokens) const { return request->getMethod() == "GET" && doesFileExist(request); } static std::string getSuffix(std::string &path) { auto i = path.rfind("."); std::string suffix; if (i != std::string::npos) suffix = path.substr(i + 1); return suffix; } std::map const FileHandler::suffixMapping = { { "css", "text/css" }, { "gif", "image/gif" }, { "htm", "text/html" }, { "html", "text/html" }, { "jpg", "image/jpg" }, { "js", "text/javascript" }, { "pdf", "application/pdf" }, { "png", "image/png" }, { "txt", "text/plain" }, { "xml", "application/xml" } }; void FileHandler::handleRequest(HttpRequest *request, const std::vector& tokens) { std::string path = filePath(request); std::ifstream f(path.c_str()); if (f.good()) { auto type = suffixMapping.find(getSuffix(path)); if (type != suffixMapping.end()) { std::stringbuf content; while (!f.eof()) { const size_t bufferSize = 1024; char buffer[bufferSize]; f.read(buffer, bufferSize); content.sputn(buffer, f.gcount()); } request->respond().setHeader("Content-Type", type->second); request->respond().setContent(content.str()); return; } } // not served request->respond().setStatus(HttpResponse::HTTP_STATUS_NOT_FOUND); } aseba-1.6.0/switches/http2/HttpInterfaceHandlers.h000066400000000000000000000071071322771007300220640ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP_INTERFACE_HANDLERS #define ASEBA_HTTP_INTERFACE_HANDLERS #include "HttpHandler.h" namespace Aseba { namespace Http { /** * Handles OPTIONS requests for CORS preflighting requests */ class OptionsHandler : public HttpHandler { public: OptionsHandler(); virtual ~OptionsHandler(); virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const; virtual void handleRequest(HttpRequest *request, const std::vector& tokens); }; class NodesHandler : public HierarchicalTokenHttpHandler, public InterfaceHttpHandler { public: NodesHandler(HttpInterface *interface); virtual ~NodesHandler(); }; class EventsHandler : public TokenHttpHandler, public InterfaceHttpHandler { public: EventsHandler(HttpInterface *interface); virtual ~EventsHandler(); virtual void handleRequest(HttpRequest *request, const std::vector& tokens); }; class ResetHandler : public TokenHttpHandler, public InterfaceHttpHandler { public: ResetHandler(HttpInterface *interface); virtual ~ResetHandler(); virtual void handleRequest(HttpRequest *request, const std::vector& tokens); }; class LoadHandler : public virtual InterfaceHttpHandler { public: LoadHandler(HttpInterface *interface); virtual ~LoadHandler(); virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const; virtual void handleRequest(HttpRequest *request, const std::vector& tokens); }; class NodeInfoHandler : public virtual InterfaceHttpHandler { public: NodeInfoHandler(HttpInterface *interface); virtual ~NodeInfoHandler(); virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const; virtual void handleRequest(HttpRequest *request, const std::vector& tokens); }; class VariableOrEventHandler : public virtual WildcardHttpHandler, public virtual InterfaceHttpHandler { public: VariableOrEventHandler(HttpInterface *interface); virtual ~VariableOrEventHandler(); virtual void handleRequest(HttpRequest *request, const std::vector& tokens); private: void parseJsonForm(std::string content, std::vector& values); }; class FileHandler: public InterfaceHttpHandler { public: FileHandler(HttpInterface *interface); virtual ~FileHandler(); virtual bool checkIfResponsible(HttpRequest *request, const std::vector& tokens) const; virtual void handleRequest(HttpRequest *request, const std::vector& tokens); private: std::string filePath(HttpRequest *request) const; bool doesFileExist(HttpRequest *request) const; static std::map const suffixMapping; }; } } #endif aseba-1.6.0/switches/http2/HttpRequest.cpp000066400000000000000000000112641322771007300204650ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "HttpRequest.h" #include "HttpResponse.h" #include "../../common/utils/utils.h" using Aseba::Http::DashelHttpRequest; using Aseba::Http::DashelHttpResponse; using Aseba::Http::HttpRequest; using Aseba::Http::HttpResponse; using std::cerr; using std::endl; using std::map; using std::string; using std::vector; HttpRequest::HttpRequest() : verbose(false), valid(false), blocking(false), response(NULL) { } HttpRequest::~HttpRequest() { delete response; } bool HttpRequest::receive() { valid = false; if(!readRequestLine()) { return false; } if(!readHeaders()) { return false; } if(!readContent()) { return false; } valid = true; if(verbose) { cerr << this << " Received valid " << getProtocol() << " " << getMethod() << " request for " << getUri() << " with " << content.size() << " byte(s) payload "; cerr << "(headers:"; map::const_iterator end = headers.end(); for(map::const_iterator iter = headers.begin(); iter != end; ++iter) { cerr << " " << iter->first << "=" << iter->second; } cerr << ")" << endl; } return true; } HttpResponse& HttpRequest::respond() { if(response == nullptr) { response = createResponse(); response->setVerbose(verbose); } return *response; } bool HttpRequest::readRequestLine() { string requestLine = readLine(); vector parts = split(requestLine, " "); if(parts.size() != 3) { if(verbose) { cerr << this << " Header line doesn't have three parts" << endl; } return false; } method = parts[0]; uri = parts[1]; protocol = trim(parts[2]); if(!(method.find("GET", 0) == 0 || method.find("PUT", 0) == 0 || method.find("POST", 0) == 0 || method.find("OPTIONS", 0) == 0)) { if(verbose) { cerr << this << " Unsupported method" << endl; } return false; } if(!(protocol == "HTTP/1.0" || protocol == "HTTP/1.1")) { if(verbose) { cerr << this << " Unsupported HTTP protocol version" << endl; } return false; } // Also allow %2F as URL part delimiter (see Scratch v430) std::string::size_type n = 0; while((n = uri.find("%2F", n)) != std::string::npos) { uri.replace(n, 3, "/"), n += 1; } tokens = split(uri, "/"); // eat leading empty tokens, but leave at least one while(tokens.size() > 1 && tokens[0].size() == 0) { tokens.erase(tokens.begin(), tokens.begin() + 1); } return true; } bool HttpRequest::readHeaders() { headers.clear(); while(true) { const string headerLine(trim(readLine())); if(headerLine.empty()) { // header section ends with empty line break; } size_t firstColon = headerLine.find(": "); if(firstColon != string::npos) { string header = headerLine.substr(0, firstColon); string value = headerLine.substr(firstColon + 2); headers[header] = value; } else { if(verbose) { cerr << this << " Invalid header line: " << headerLine << endl; } return false; } } return true; } bool HttpRequest::readContent() { // to make our life easier, we will require the presence of Content-Length in order to parse content int contentLength = atoi(headers["Content-Length"].c_str()); contentLength = (contentLength > CONTENT_BYTES_LIMIT) ? CONTENT_BYTES_LIMIT : contentLength; // truncate at limit if(contentLength > 0) { char *buffer = new char[contentLength]; readRaw(buffer, contentLength); content = string(buffer, contentLength); delete[] buffer; } else { content = ""; } return true; } DashelHttpRequest::DashelHttpRequest(Dashel::Stream *stream_) : stream(stream_) { } DashelHttpRequest::~DashelHttpRequest() { } HttpResponse *DashelHttpRequest::createResponse() { return new DashelHttpResponse(this); } std::string DashelHttpRequest::readLine() { char c; std::string line; do { stream->read(&c, 1); line += c; } while(c != '\n'); return line; } void DashelHttpRequest::readRaw(char *buffer, int size) { stream->read(buffer, size); } aseba-1.6.0/switches/http2/HttpRequest.h000066400000000000000000000103541322771007300201310ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP_REQUEST #define ASEBA_HTTP_REQUEST #include #include #include #include namespace Aseba { namespace Http { class HttpResponse; // forward declaration /** * Represents HTTP requests being parsed and responded to. * * Incoming requests start out without a HTTP response and are stalled in the HTTP interface * until a response was created by using the HTTP request's respond() method. Since a request * can have only one response, calling respond() repeatedly will simply return a reference * to the same response, which makes it very easy to add things like multiple output headers. */ class HttpRequest { public: static const int CONTENT_BYTES_LIMIT = 40000; HttpRequest(); virtual ~HttpRequest(); /** * Receive the HTTP request and parse its headers and content. * * Returns true if successful. */ virtual bool receive(); /** * Returns a HTTP response for this object. Repeated calls to this method will * always return the same HTTP response reference. The HTTP request is stalled * in the HTTP interface until this method is called for the first time. */ virtual HttpResponse& respond(); virtual bool isResponseReady() const { return !blocking && response != NULL; } virtual void setVerbose(bool verbose) { this->verbose = verbose; } virtual bool isValid() const { return valid; } virtual void setBlocking(bool blocking) { this->blocking = blocking; } virtual bool isBlocking() { return blocking; } virtual const std::string& getMethod() const { return method; } virtual const std::string& getUri() const { return uri; } virtual const std::string& getProtocol() const { return protocol; } virtual const std::vector& getTokens() const { return tokens; } virtual const std::map& getHeaders() const { return headers; } virtual const std::string& getContent() const { return content; } std::string getHeader(const std::string& header) const { std::map::const_iterator query = headers.find(header); if(query != headers.end()) { return query->second; } else { return ""; } } protected: virtual bool readRequestLine(); virtual bool readHeaders(); virtual bool readContent(); virtual HttpResponse *createResponse() = 0; virtual std::string readLine() = 0; virtual void readRaw(char *buffer, int size) = 0; private: static std::string trim(const std::string& s) { static const char *whitespaceChars = "\n\r\t "; std::string::size_type start = s.find_first_not_of(whitespaceChars); std::string::size_type end = s.find_last_not_of(whitespaceChars); return start != std::string::npos ? s.substr(start, 1 + end - start) : ""; } bool verbose; bool valid; bool blocking; HttpResponse *response; std::string method; std::string uri; std::string protocol; std::vector tokens; std::map headers; std::string content; }; class DashelHttpRequest : public HttpRequest { public: DashelHttpRequest(Dashel::Stream *stream); virtual ~DashelHttpRequest(); virtual Dashel::Stream *getStream() { return stream; } protected: virtual HttpResponse *createResponse(); virtual std::string readLine(); virtual void readRaw(char *buffer, int size); private: Dashel::Stream *stream; }; } } #endif aseba-1.6.0/switches/http2/HttpResponse.cpp000066400000000000000000000067501322771007300206370ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include "HttpResponse.h" using Aseba::Http::HttpRequest; using Aseba::Http::HttpResponse; using std::cerr; using std::endl; using std::map; using std::ostringstream; using std::string; HttpResponse::HttpResponse(const HttpRequest *originatingRequest_) : originatingRequest(originatingRequest_), verbose(false), status(HTTP_STATUS_OK) { // add some default headers, these can be overwritten later setHeader("Content-Length", ""); setHeader("Content-Type", "application/json"); setHeader("Access-Control-Allow-Origin", "*"); if(originatingRequest->getHeader("Connection") == "keep-alive") { setHeader("Connection", "keep-alive"); } } HttpResponse::~HttpResponse() { } void HttpResponse::send() { // send reply with status and headers first ostringstream reply; addStatusReply(reply); addHeadersReply(reply); std::string replyString(reply.str()); writeRaw(replyString.c_str(), replyString.size()); // send content payload second writeRaw(content.c_str(), content.size()); if(verbose) { cerr << getOriginatingRequest() << " Sent HTTP response with status " << status << " and " << content.size() << " byte(s) payload" << endl; } } void HttpResponse::addStatusReply(std::ostringstream& reply) { if(originatingRequest->getProtocol() == "HTTP/1.0" || originatingRequest->getProtocol() == "HTTP/1.1") { reply << originatingRequest->getProtocol(); } else { reply << "HTTP/1.1"; } reply << " " << status << " "; switch(status) { case HTTP_STATUS_OK: reply << "OK"; break; case HTTP_STATUS_CREATED: reply << "Created"; break; case HTTP_STATUS_BAD_REQUEST: reply << "Bad Request"; break; case HTTP_STATUS_FORBIDDEN: reply << "Forbidden"; break; case HTTP_STATUS_NOT_FOUND: reply << "Not Found"; break; case HTTP_STATUS_REQUEST_TIMEOUT: reply << "Request Timeout"; break; case HTTP_STATUS_INTERNAL_SERVER_ERROR: reply << "Internal Server Error"; break; case HTTP_STATUS_NOT_IMPLEMENTED: reply << "Not Implemented"; break; case HTTP_STATUS_SERVICE_UNAVAILABLE: reply << "Service Unavailable"; break; default: reply << "Unknown"; break; } reply << "\r\n"; } void HttpResponse::addHeadersReply(std::ostringstream& reply) { map::const_iterator end = headers.end(); for(map::const_iterator iter = headers.begin(); iter != end; ++iter) { if(iter->first == "Content-Length") { // override with actual size if(getHeader("Content-Type") != "text/event-stream") { // but only if this is not an event stream reply << iter->first << ": " << content.size() << "\r\n"; } } else { reply << iter->first << ": " << iter->second << "\r\n"; } } reply << "\r\n"; } aseba-1.6.0/switches/http2/HttpResponse.h000066400000000000000000000065651322771007300203100ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_HTTP_RESPONSE #define ASEBA_HTTP_RESPONSE #include #include #include #include #include #include "HttpRequest.h" namespace Aseba { namespace Http { /** * Represents HTTP responses being sent as a reply to incoming HTTP requests. */ class HttpResponse { public: typedef enum { HTTP_STATUS_OK = 200, HTTP_STATUS_CREATED = 201, HTTP_STATUS_BAD_REQUEST = 400, HTTP_STATUS_FORBIDDEN = 403, HTTP_STATUS_NOT_FOUND = 404, HTTP_STATUS_REQUEST_TIMEOUT = 408, HTTP_STATUS_INTERNAL_SERVER_ERROR = 500, HTTP_STATUS_NOT_IMPLEMENTED = 501, HTTP_STATUS_SERVICE_UNAVAILABLE = 503, } HttpStatus; HttpResponse(const HttpRequest *originatingRequest); virtual ~HttpResponse(); /** * Sends the HTTP response using the output method defined in an inheriting class. */ virtual void send(); virtual const HttpRequest *getOriginatingRequest() const { return originatingRequest; } virtual void setVerbose(bool verbose) { this->verbose = verbose; } virtual void setStatus(HttpStatus status) { this->status = status; } virtual HttpStatus getStatus() const { return status; } virtual void setHeader(const std::string& header, const std::string& value) { headers[header] = value; } virtual const std::map& getHeaders() const { return headers; } virtual void setContent(const std::string& content) { this->content = content; } virtual const std::string& getContent() const { return content; } std::string getHeader(const std::string& header) const { std::map::const_iterator query = headers.find(header); if(query != headers.end()) { return query->second; } else { return ""; } } protected: virtual void addStatusReply(std::ostringstream& reply); virtual void addHeadersReply(std::ostringstream& reply); virtual void writeRaw(const char *buffer, int length) = 0; private: const HttpRequest *originatingRequest; bool verbose; HttpStatus status; std::map headers; std::string content; }; class DashelHttpResponse : public HttpResponse { public: DashelHttpResponse(DashelHttpRequest *originatingRequest) : HttpResponse(originatingRequest), stream(originatingRequest->getStream()) { } virtual ~DashelHttpResponse() {} protected: virtual void writeRaw(const char *buffer, int length) { stream->write(buffer, length); stream->flush(); } private: Dashel::Stream *stream; }; } } #endif aseba-1.6.0/switches/http2/asebahttp2client.html000066400000000000000000000135421322771007300216140ustar00rootroot00000000000000 asebahttp2 client
    asebahttp2 bridge:
    Thymio:
    Status:
     


    aseba-1.6.0/switches/http2/main.cpp000066400000000000000000000075261322771007300171270ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include "HttpInterface.h" #include "../../common/consts.h" #include "../../common/types.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba http, connects aseba components together and with HTTP, usage:\n"; stream << programName << " [options] [additional targets]*\n"; stream << "Options:\n"; stream << "-v, --verbose : makes the switch verbose\n"; stream << "-p, --port port : listens to incoming connection HTTP on this port\n"; stream << "--doc dir : also serves static files in directory dir\n"; stream << "-K, --Kiter n : run I/O loop n thousand times (for profiling)\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Additional targets are any valid Dashel targets." << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "asebahttp2" << std::endl; stream << "Aseba version " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Aseba library licence LGPLv3: GNU LGPL version 3 \n"; } // Main int main(int argc, char *argv[]) { Dashel::initPlugins(); std::string httpPort = "3000"; std::vector < std::string > dashelTargetList; bool verbose = false; int Kiterations = -1; // set to > 0 to limit run time e.g. for valgrind char const *docRoot = nullptr; // process command line int argCounter = 1; while(argCounter < argc) { const char *arg = argv[argCounter++]; if((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0)) verbose = true; else if((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) dumpHelp(std::cout, argv[0]), exit(1); else if((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) dumpVersion (std::cout), exit(1); else if((strcmp(arg, "-p") == 0) || (strcmp(arg, "--port") == 0)) httpPort = argv[argCounter++]; else if(strcmp(arg, "--doc") == 0) docRoot = argv[argCounter++]; else if((strcmp(arg, "-K") == 0) || (strcmp(arg, "--Kiter") == 0)) Kiterations = atoi(argv[argCounter++]); else if(strncmp(arg, "-", 1) != 0) dashelTargetList.push_back(arg); } // initialize Dashel plugins Dashel::initPlugins(); // create and run bridge, catch Dashel exceptions try { std::auto_ptr interface(new Aseba::Http::HttpInterface(httpPort)); interface->setVerbose(verbose); if (docRoot != nullptr) { interface->setDocumentRoot(docRoot); } int numTargets = (int) dashelTargetList.size(); for(int i = 0; i < numTargets; i++) { interface->addTarget(dashelTargetList[i]); } while(Kiterations < 0 || Kiterations > 0) { interface->step(); if(Kiterations > 0) { Kiterations--; } } } catch(Dashel::DashelException e) { std::cerr << "Unhandled Dashel exception: " << e.what() << std::endl; return 1; } return 0; } aseba-1.6.0/switches/medulla/000077500000000000000000000000001322771007300160475ustar00rootroot00000000000000aseba-1.6.0/switches/medulla/CMakeLists.txt000066400000000000000000000007411322771007300206110ustar00rootroot00000000000000if (QT4_FOUND AND QT_QTDBUS_FOUND) set(QT_USE_QTDBUS ON) set(QT_USE_QTXML ON) set(QT_USE_QTMAIN ON) set(QT_DONT_USE_QTGUI ON) include(${QT_USE_FILE}) set(medulla_SRCS medulla.cpp) qt4_wrap_cpp(medulla_MOCS medulla.h) add_executable(asebamedulla ${medulla_SRCS} ${medulla_MOCS}) target_link_libraries(asebamedulla asebacompiler ${QT_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebamedulla RUNTIME DESTINATION bin ) endif (QT4_FOUND AND QT_QTDBUS_FOUND) aseba-1.6.0/switches/medulla/medulla.cpp000066400000000000000000000534271322771007300202110ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include "medulla.h" #include "../../common/consts.h" #include "../../common/types.h" #include "../../common/utils/utils.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include #include #include #if DASHEL_VERSION_INT < 10003 # error "You need at least Dashel version 1.0.3 to compile Medulla" #endif // DAHSEL_VERSION_INT namespace Aseba { using namespace std; using namespace Dashel; /** \addtogroup medulla */ /*@{*/ std::vector toAsebaVector(const Values& values) { std::vector data; data.reserve(values.size()); for (int i = 0; i < values.size(); ++i) data.push_back(values[i]); return data; } Values fromAsebaVector(const std::vector& values) { Values data; for (size_t i = 0; i < values.size(); ++i) data.push_back(values[i]); return data; } void EventFilterInterface::emitEvent(const uint16_t id, const QString& name, const Values& data) { emit Event(id, name, data); } void EventFilterInterface::ListenEvent(const uint16_t event) { network->listenEvent(this, event); } void EventFilterInterface::ListenEventName(const QString& name, const QDBusMessage &message) { size_t event; if (network->commonDefinitions.events.contains(name.toStdWString(), &event)) network->listenEvent(this, event); else network->DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("no event named %0").arg(name))); } void EventFilterInterface::IgnoreEvent(const uint16_t event) { network->ignoreEvent(this, event); } void EventFilterInterface::IgnoreEventName(const QString& name, const QDBusMessage &message) { size_t event; if (network->commonDefinitions.events.contains(name.toStdWString(), &event)) network->ignoreEvent(this, event); else network->DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("no event named %0").arg(name))); } void EventFilterInterface::Free() { network->filterDestroyed(this); deleteLater(); } AsebaNetworkInterface::AsebaNetworkInterface(Hub* hub, bool systemBus) : QDBusAbstractAdaptor(hub), hub(hub), systemBus(systemBus), eventsFiltersCounter(0) { qDBusRegisterMetaType(); //FIXME: here no error handling is done, with system bus these calls can fail DBusConnectionBus().registerObject("/", hub); DBusConnectionBus().registerService("ch.epfl.mobots.Aseba"); // regular network pinging QTimer *timer = new QTimer(this); connect(timer, SIGNAL(timeout()), this, SLOT(PingNetwork())); timer->start(1000); } void AsebaNetworkInterface::processMessage(Message *message, const Dashel::Stream* sourceStream) { // send messages to Dashel peers hub->sendMessage(message, sourceStream); // scan this message for nodes descriptions NodesManager::processMessage(message); // if user message, send to D-Bus as well UserMessage *userMessage = dynamic_cast(message); if (userMessage) { sendEventOnDBus(userMessage->type, fromAsebaVector(userMessage->data)); } // if variables, check for pending answers Variables *variables = dynamic_cast(message); if (variables) { const unsigned nodeId(variables->source); const unsigned pos(variables->start); for (RequestsList::iterator it = pendingReads.begin(); it != pendingReads.end(); ++it) { RequestData* request(*it); if (request->nodeId == nodeId && request->pos == pos) { QDBusMessage &reply(request->reply); Values values(fromAsebaVector(variables->variables)); reply << QVariant::fromValue(values); DBusConnectionBus().send(reply); delete request; pendingReads.erase(it); break; } } } delete message; } void AsebaNetworkInterface::sendEventOnDBus(const uint16_t event, const Values& data) { QList filters = eventsFilters.values(event); QString name; if (event < commonDefinitions.events.size()) name = QString::fromStdWString(commonDefinitions.events[event].name); else name = "?"; for (int i = 0; i < filters.size(); ++i) filters.at(i)->emitEvent(event, name, data); } void AsebaNetworkInterface::listenEvent(EventFilterInterface* filter, uint16_t event) { eventsFilters.insert(event, filter); } void AsebaNetworkInterface::ignoreEvent(EventFilterInterface* filter, uint16_t event) { eventsFilters.remove(event, filter); } void AsebaNetworkInterface::filterDestroyed(EventFilterInterface* filter) { QList events = eventsFilters.keys(filter); for (int i = 0; i < events.size(); ++i) eventsFilters.remove(events.at(i), filter); } void AsebaNetworkInterface::LoadScripts(const QString& fileName, const QDBusMessage &message) { QFile file(fileName); if (!file.open(QFile::ReadOnly)) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("file %0 does not exists").arg(fileName))); return; } QDomDocument document("aesl-source"); QString errorMsg; int errorLine; int errorColumn; if (!document.setContent(&file, false, &errorMsg, &errorLine, &errorColumn)) { DBusConnectionBus().send(message.createErrorReply(QDBusError::Other, QString("Error in XML source file: %0 at line %1, column %2").arg(errorMsg).arg(errorLine).arg(errorColumn))); return; } commonDefinitions.events.clear(); commonDefinitions.constants.clear(); userDefinedVariablesMap.clear(); int noNodeCount = 0; QDomNode domNode = document.documentElement().firstChild(); // FIXME: this code depends on event and constants being before any code bool wasError = false; while (!domNode.isNull()) { if (domNode.isElement()) { QDomElement element = domNode.toElement(); if (element.tagName() == "node") { bool ok; const unsigned nodeId(getNodeId(element.attribute("name").toStdWString(), element.attribute("nodeId", 0).toUInt(), &ok)); if (ok) { std::wistringstream is(element.firstChild().toText().data().toStdWString()); Error error; BytecodeVector bytecode; unsigned allocatedVariablesCount; Compiler compiler; compiler.setTargetDescription(getDescription(nodeId)); compiler.setCommonDefinitions(&commonDefinitions); bool result = compiler.compile(is, bytecode, allocatedVariablesCount, error); if (result) { typedef std::vector> MessageVector; MessageVector messages; sendBytecode(messages, nodeId, std::vector(bytecode.begin(), bytecode.end())); for (const auto& message: messages) hub->sendMessage(*message); Run msg(nodeId); hub->sendMessage(msg); } else { DBusConnectionBus().send(message.createErrorReply(QDBusError::Failed, QString::fromStdWString(error.toWString()))); wasError = true; break; } // retrieve user-defined variables for use in get/set userDefinedVariablesMap[element.attribute("name")] = *compiler.getVariablesMap(); } else noNodeCount++; } else if (element.tagName() == "event") { const QString eventName(element.attribute("name")); const unsigned eventSize(element.attribute("size").toUInt()); if (eventSize > ASEBA_MAX_EVENT_ARG_SIZE) { DBusConnectionBus().send(message.createErrorReply(QDBusError::Failed, QString("Event %1 has a length %2 larger than maximum %3").arg(eventName).arg(eventSize).arg(ASEBA_MAX_EVENT_ARG_SIZE))); wasError = true; break; } else { commonDefinitions.events.push_back(NamedValue(eventName.toStdWString(), eventSize)); } } else if (element.tagName() == "constant") { commonDefinitions.constants.push_back(NamedValue(element.attribute("name").toStdWString(), element.attribute("value").toInt())); } } domNode = domNode.nextSibling(); } // check if there was an error if (wasError) { std::wcerr << QString("There was an error while loading script %1").arg(fileName).toStdWString() << std::endl; commonDefinitions.events.clear(); commonDefinitions.constants.clear(); userDefinedVariablesMap.clear(); } // check if there was some matching problem if (noNodeCount) { std::wcerr << QString("%0 scripts have no corresponding nodes in the current network and have not been loaded.").arg(noNodeCount).toStdWString() << std::endl; } } QStringList AsebaNetworkInterface::GetNodesList() const { QStringList list; for (NodesNamesMap::const_iterator it = nodesNames.begin(); it != nodesNames.end(); ++it) { list.push_back(it.key()); } return list; } qint16 AsebaNetworkInterface::GetNodeId(const QString& node, const QDBusMessage &message) const { NodesNamesMap::const_iterator nodeIt(nodesNames.find(node)); if (nodeIt == nodesNames.end()) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node))); return 0; } return nodeIt.value(); } QString AsebaNetworkInterface::GetNodeName(const uint16_t nodeId, const QDBusMessage &message) const { const QString nodeName(QString::fromStdWString(getNodeName(nodeId))); if (nodeName.isEmpty()) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(nodeId))); return 0; } return nodeName; } bool AsebaNetworkInterface::IsConnected(const QString& node, const QDBusMessage &message) const { NodesNamesMap::const_iterator nodeIt(nodesNames.find(node)); if (nodeIt == nodesNames.end()) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node))); return 0; } return nodes.find(nodeIt.value())->second.connected; } //! Send the list of variables if the node is fully known, or an empty list otherwise QStringList AsebaNetworkInterface::GetVariablesList(const QString& node) const { NodesNamesMap::const_iterator it(nodesNames.find(node)); if (it != nodesNames.end()) { // node defined variables const unsigned nodeId(it.value()); const NodesMap::const_iterator descIt(nodes.find(nodeId)); const Node& description(descIt->second); QStringList list; for (size_t i = 0; i < description.namedVariables.size(); ++i) { list.push_back(QString::fromStdWString(description.namedVariables[i].name)); } // user defined variables const UserDefinedVariablesMap::const_iterator userVarMapIt(userDefinedVariablesMap.find(node)); if (userVarMapIt != userDefinedVariablesMap.end()) { const VariablesMap& variablesMap(*userVarMapIt); for (VariablesMap::const_iterator jt = variablesMap.begin(); jt != variablesMap.end(); ++jt) { list.push_back(QString::fromStdWString(jt->first)); } } return list; } else { return QStringList(); } } void AsebaNetworkInterface::SetVariable(const QString& node, const QString& variable, const Values& data, const QDBusMessage &message) const { // make sure the node exists NodesNamesMap::const_iterator nodeIt(nodesNames.find(node)); if (nodeIt == nodesNames.end()) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node))); return; } const unsigned nodeId(nodeIt.value()); unsigned pos(unsigned(-1)); // check whether variable is user-defined const UserDefinedVariablesMap::const_iterator userVarMapIt(userDefinedVariablesMap.find(node)); if (userVarMapIt != userDefinedVariablesMap.end()) { const VariablesMap& userVarMap(userVarMapIt.value()); const VariablesMap::const_iterator userVarIt(userVarMap.find(variable.toStdWString())); if (userVarIt != userVarMap.end()) { pos = userVarIt->second.first; } } // if variable is not user-defined, check whether it is provided by this node if (pos == unsigned(-1)) { bool ok; pos = getVariablePos(nodeId, variable.toStdWString(), &ok); if (!ok) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("variable %0 does not exists in node %1").arg(variable).arg(node))); return; } } SetVariables msg(nodeId, pos, toAsebaVector(data)); hub->sendMessage(msg); } Values AsebaNetworkInterface::GetVariable(const QString& node, const QString& variable, const QDBusMessage &message) { // make sure the node exists NodesNamesMap::const_iterator nodeIt(nodesNames.find(node)); if (nodeIt == nodesNames.end()) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node))); return Values(); } const unsigned nodeId(nodeIt.value()); unsigned pos(unsigned(-1)); unsigned length(unsigned(-1)); // check whether variable is user-defined const UserDefinedVariablesMap::const_iterator userVarMapIt(userDefinedVariablesMap.find(node)); if (userVarMapIt != userDefinedVariablesMap.end()) { const VariablesMap& userVarMap(userVarMapIt.value()); const VariablesMap::const_iterator userVarIt(userVarMap.find(variable.toStdWString())); if (userVarIt != userVarMap.end()) { pos = userVarIt->second.first; length = userVarIt->second.second; } } // if variable is not user-defined, check whether it is provided by this node if (pos == unsigned(-1)) { bool ok1, ok2; pos = getVariablePos(nodeId, variable.toStdWString(), &ok1); length = getVariableSize(nodeId, variable.toStdWString(), &ok2); if (!(ok1 && ok2)) { DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("variable %0 does not exists in node %1").arg(variable).arg(node))); return Values(); } } // send request to aseba network { GetVariables msg(nodeId, pos, length); hub->sendMessage(msg); } // build bookkeeping for async reply RequestData *request = new RequestData; request->nodeId = nodeId; request->pos = pos; message.setDelayedReply(true); request->reply = message.createReply(); pendingReads.push_back(request); return Values(); } void AsebaNetworkInterface::SendEvent(const uint16_t event, const Values& data) { // send event to DBus listeners sendEventOnDBus(event, data); // send on TCP UserMessage msg(event, toAsebaVector(data)); hub->sendMessage(msg); } void AsebaNetworkInterface::SendEventName(const QString& name, const Values& data, const QDBusMessage &message) { size_t event; if (commonDefinitions.events.contains(name.toStdWString(), &event)) SendEvent(event, data); else DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("no event named %0").arg(name))); } QDBusObjectPath AsebaNetworkInterface::CreateEventFilter() { QDBusObjectPath path(QString("/events_filters/%0").arg(eventsFiltersCounter++)); DBusConnectionBus().registerObject(path.path(), new EventFilterInterface(this), QDBusConnection::ExportScriptableContents); return path; } void AsebaNetworkInterface::PingNetwork() { pingNetwork(); } void AsebaNetworkInterface::sendMessage(const Message& message) { hub->sendMessage(message); } void AsebaNetworkInterface::nodeDescriptionReceived(unsigned nodeId) { nodesNames[QString::fromStdWString(nodes[nodeId].name)] = nodeId; } inline QDBusConnection AsebaNetworkInterface::DBusConnectionBus() const { if (systemBus) return QDBusConnection::systemBus(); else return QDBusConnection::sessionBus(); } // the following methods run in the main thread (event loop) Hub::Hub(unsigned port, bool verbose, bool dump, bool forward, bool rawTime, bool systemBus) : #ifdef DASHEL_VERSION_INT Dashel::Hub(verbose || dump), #endif // DASHEL_VERSION_INT verbose(verbose), dump(dump), forward(forward), rawTime(rawTime) { // TODO: work in progress to remove ugly delay AsebaNetworkInterface* network(new AsebaNetworkInterface(this, systemBus)); QObject::connect(this, SIGNAL(messageAvailable(Message*, const Dashel::Stream*)), network, SLOT(processMessage(Message*, const Dashel::Stream*))); ostringstream oss; oss << "tcpin:port=" << port; Dashel::Hub::connect(oss.str()); } void Hub::sendMessage(const Message *message, const Stream* sourceStream) { // dump if requested if (dump) { dumpTime(cout, rawTime); message->dump(wcout); cout << std::endl; } // Called from the dbus thread, not the Hub thread, need to lock lock(); // write on all connected streams for (StreamsSet::iterator it = dataStreams.begin(); it != dataStreams.end();++it) { Stream* destStream(*it); if ((forward) && (destStream == sourceStream)) continue; try { message->serialize(destStream); destStream->flush(); } catch (DashelException e) { // if this stream has a problem, ignore it for now, and let Hub call connectionClosed later. std::cerr << "error while writing message" << std::endl; } } unlock(); } void Hub::sendMessage(const Message& message, const Stream* sourceStream) { sendMessage(&message, sourceStream); } // the following methods run in the blocking reception thread // In QThread main function, we just make our Dashel hub switch listen for incoming data void Hub::run() { Dashel::Hub::run(); } // the following method run in the blocking reception thread void Hub::incomingData(Stream *stream) { // receive message Message *message(0); try { message = Message::receive(stream); } catch (DashelException e) { // if this stream has a problem, ignore it for now, and let Hub call connectionClosed later. std::cerr << "error while reading message" << std::endl; } // send on DBus, the receiver can delete it emit messageAvailable(message, stream); } void Hub::connectionCreated(Stream *stream) { if (verbose) { dumpTime(cout, rawTime); cout << "Incoming connection from " << stream->getTargetName() << endl; } } void Hub::connectionClosed(Stream* stream, bool abnormal) { if (verbose) { dumpTime(cout); if (abnormal) cout << "Abnormal connection closed to " << stream->getTargetName() << " : " << stream->getFailReason() << endl; else cout << "Normal connection closed to " << stream->getTargetName() << endl; } } /*@}*/ }; //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba medulla, connects aseba components together and with D-Bus, usage:\n"; stream << programName << " [options] [additional targets]*\n"; stream << "Options:\n"; stream << "-v, --verbose : makes the switch verbose\n"; stream << "-d, --dump : makes the switch dump the content of messages\n"; stream << "-l, --loop : makes the switch transmit messages back to the send, not only forward them.\n"; stream << "-p port : listens to incoming connection on this port\n"; stream << "--rawtime : shows time in the form of sec:usec since 1970\n"; stream << "--system : connects medulla to the system d-bus bus\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Additional targets are any valid Dashel targets." << std::endl; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "Aseba medulla " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); Dashel::initPlugins(); unsigned port = ASEBA_DEFAULT_PORT; bool verbose = false; bool dump = false; bool forward = true; bool rawTime = false; bool systemBus = false; std::vector additionalTargets; int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter]; if ((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0)) { verbose = true; } else if ((strcmp(arg, "-d") == 0) || (strcmp(arg, "--dump") == 0)) { dump = true; } else if ((strcmp(arg, "-l") == 0) || (strcmp(arg, "--loop") == 0)) { forward = false; } else if (strcmp(arg, "-p") == 0) { arg = argv[++argCounter]; port = atoi(arg); } else if (strcmp(arg, "--rawtime") == 0) { rawTime = true; } else if (strcmp(arg, "--system") == 0) { systemBus = true; } else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { dumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { dumpVersion(std::cout); return 0; } else { additionalTargets.push_back(argv[argCounter]); } argCounter++; } Aseba::Hub hub(port, verbose, dump, forward, rawTime, systemBus); try { for (size_t i = 0; i < additionalTargets.size(); i++) ((Dashel::Hub&)hub).connect(additionalTargets[i]); } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; } hub.start(); return app.exec(); } aseba-1.6.0/switches/medulla/medulla.h000066400000000000000000000154331322771007300176510ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_MEDULLA #define ASEBA_MEDULLA #include #include #include #include #include #include #include #include #include #include "../../common/msg/msg.h" #include "../../common/msg/NodesManager.h" #include "../../compiler/compiler.h" typedef QList Values; namespace Aseba { /** \defgroup medulla Software router of messages on TCP and D-Bus. */ /*@{*/ class Hub; class AsebaNetworkInterface; //! DBus interface for an event filter class EventFilterInterface: public QObject { Q_OBJECT Q_CLASSINFO("D-Bus Interface", "ch.epfl.mobots.EventFilter") public: EventFilterInterface(AsebaNetworkInterface* network) : network(network) { ListenEvent(0); } void emitEvent(const uint16_t id, const QString& name, const Values& data); public slots: Q_SCRIPTABLE Q_NOREPLY void ListenEvent(const uint16_t event); Q_SCRIPTABLE Q_NOREPLY void ListenEventName(const QString& name, const QDBusMessage &message); Q_SCRIPTABLE Q_NOREPLY void IgnoreEvent(const uint16_t event); Q_SCRIPTABLE Q_NOREPLY void IgnoreEventName(const QString& name, const QDBusMessage &message); Q_SCRIPTABLE Q_NOREPLY void Free(); signals: Q_SCRIPTABLE void Event(const uint16_t, const QString& name, const Values& values); Q_SCRIPTABLE void Test0(const uint16_t); Q_SCRIPTABLE void Test1(const QString& ); Q_SCRIPTABLE void Test2(const Values& ); Q_SCRIPTABLE void Test0_1(const uint16_t, const QString& ); Q_SCRIPTABLE void Test0_2(const uint16_t, const Values& ); Q_SCRIPTABLE void Test1_2(const QString&, const Values& ); protected: AsebaNetworkInterface* network; }; //! DBus interface for aseba network class AsebaNetworkInterface: public QDBusAbstractAdaptor, public NodesManager { Q_OBJECT Q_CLASSINFO("D-Bus Interface", "ch.epfl.mobots.AsebaNetwork") protected: struct RequestData { unsigned nodeId; unsigned pos; QDBusMessage reply; }; public: AsebaNetworkInterface(Hub* hub, bool systemBus); private slots: friend class Hub; void processMessage(Message *message, const Dashel::Stream* sourceStream); friend class EventFilterInterface; void sendEventOnDBus(const uint16_t event, const Values& data); void listenEvent(EventFilterInterface* filter, uint16_t event); void ignoreEvent(EventFilterInterface* filter, uint16_t event); void filterDestroyed(EventFilterInterface* filter); public slots: Q_NOREPLY void LoadScripts(const QString& fileName, const QDBusMessage &message); QStringList GetNodesList() const; qint16 GetNodeId(const QString& node, const QDBusMessage &message) const; QString GetNodeName(const uint16_t nodeId, const QDBusMessage &message) const; bool IsConnected(const QString& node, const QDBusMessage &message) const; QStringList GetVariablesList(const QString& node) const; Q_NOREPLY void SetVariable(const QString& node, const QString& variable, const Values& data, const QDBusMessage &message) const; Values GetVariable(const QString& node, const QString& variable, const QDBusMessage &message); Q_NOREPLY void SendEvent(const uint16_t event, const Values& data); Q_NOREPLY void SendEventName(const QString& name, const Values& data, const QDBusMessage &message); QDBusObjectPath CreateEventFilter(); void PingNetwork(); protected: virtual void sendMessage(const Message& message); virtual void nodeDescriptionReceived(unsigned nodeId); QDBusConnection DBusConnectionBus() const; protected: Hub* hub; CommonDefinitions commonDefinitions; typedef QMap NodesNamesMap; NodesNamesMap nodesNames; typedef QMap UserDefinedVariablesMap; UserDefinedVariablesMap userDefinedVariablesMap; typedef QList RequestsList; RequestsList pendingReads; typedef QMultiMap EventsFiltersMap; EventsFiltersMap eventsFilters; bool systemBus; unsigned eventsFiltersCounter; }; /*! Route Aseba messages on the TCP part of the network. This thread only *receives* messages. All dispatch, including forwarding, is done in the main thread called by the AsebaNetworkInterface class. */ class Hub: public QThread, public Dashel::Hub { Q_OBJECT public: /*! Creates the hub, listen to TCP on port, and creates a DBus interace. @param port port on which to listen for incoming connections @param verbose should we print a notification on each message @param dump should we dump content of each message @param forward should we only forward messages instead of transmit them back to the sender @param rawTime should the time be printed as integer */ Hub(unsigned port, bool verbose, bool dump, bool forward, bool rawTime, bool systemBus); /*! Sends a message to Dashel peers. Does not delete the message, should be called by the main thread. @param message aseba message to send @param sourceStream originate of the message, if from Dashel. */ void sendMessage(const Message *message, const Dashel::Stream* sourceStream = 0); /*! Sends a message to Dashel peers. Convenience overload */ void sendMessage(const Message& message, const Dashel::Stream* sourceStream = 0); signals: void messageAvailable(Message *message, const Dashel::Stream* sourceStream); private: virtual void run(); virtual void connectionCreated(Dashel::Stream *stream); virtual void incomingData(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream *stream, bool abnormal); private: bool verbose; //!< should we print a notification on each message bool dump; //!< should we dump content of CAN messages bool forward; //!< should we only forward messages instead of transmit them back to the sender bool rawTime; //!< should displayed timestamps be of the form sec:usec since 1970 }; /*@}*/ }; Q_DECLARE_METATYPE(Values); #endif aseba-1.6.0/switches/switch/000077500000000000000000000000001322771007300157255ustar00rootroot00000000000000aseba-1.6.0/switches/switch/CMakeLists.txt000066400000000000000000000002711322771007300204650ustar00rootroot00000000000000add_executable(asebaswitch switch.cpp ) target_link_libraries(asebaswitch ${ASEBA_ZEROCONF_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebaswitch RUNTIME DESTINATION bin ) aseba-1.6.0/switches/switch/switch.cpp000066400000000000000000000224121322771007300177330ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include "switch.h" #include "../../transport/dashel_plugins/dashel-plugins.h" #include "../../common/consts.h" #include "../../common/utils/utils.h" #include "../../common/utils/FormatableString.h" #include "../../common/msg/msg.h" #include "../../common/msg/endian.h" #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-dashelhub.h" #include "../../common/productids.h" #endif // ZEROCONF_SUPPORT #ifdef ZEROCONF_SUPPORT // zeroconf requires gethostname #ifdef _WIN32 #include #else // _WIN32 #include #endif // _WIN32 #endif // ZEROCONF_SUPPORT namespace Aseba { using namespace std; using namespace Dashel; /** \addtogroup switch */ /*@{*/ //! Broadcast messages form any data stream to all others data streams including itself. Switch::Switch(unsigned port, std::string name, bool verbose, bool dump, bool forward, bool rawTime) : #ifdef DASHEL_VERSION_INT Dashel::Hub(verbose || dump), #endif // DASHEL_VERSION_INT #ifdef ZEROCONF_SUPPORT zeroconf(*this), zeroconfName(std::move(name)), #endif // ZEROCONF_SUPPORT verbose(verbose), dump(dump), forward(forward), rawTime(rawTime) { ostringstream oss; oss << "tcpin:port=" << port; auto tcpin = connect(oss.str()); #ifdef ZEROCONF_SUPPORT // advertise target try { char hostname[256]; if (gethostname(hostname, sizeof(hostname)) != 0) strcpy(hostname, "unknown host"); Aseba::Zeroconf::TxtRecord txt{ ASEBA_PROTOCOL_VERSION, zeroconfName }; zeroconf.advertise(Aseba::FormatableString("%0 on %1").arg(zeroconfName).arg(hostname), tcpin, txt); } catch (const std::runtime_error& e) { std::cerr << "Can't advertise switch " << zeroconfName << ": " << e.what() << std::endl; } #endif // ZEROCONF_SUPPORT } void Switch::connectionCreated(Stream *stream) { if (verbose) { dumpTime(cout, rawTime); cout << "* Incoming connection from " << stream->getTargetName() << endl; } } void Switch::incomingData(Stream *stream) { #ifdef ZEROCONF_SUPPORT if (zeroconf.isStreamHandled(stream)) { zeroconf.dashelIncomingData(stream); return; } #endif // ZEROCONF_SUPPORT Message* message(Message::receive(stream)); // remap source { const IdRemapTable::const_iterator remapIt(idRemapTable.find(stream)); if (remapIt != idRemapTable.end() && (message->source == remapIt->second.second) ) message->source = remapIt->second.first; } // if requested, dump if (dump) { dumpTime(cout, rawTime); std::cout << " "; message->dump(std::wcout); std::wcout << std::endl; } // write on all connected streams CmdMessage* cmdMessage(dynamic_cast(message)); for (StreamsSet::iterator it = dataStreams.begin(); it != dataStreams.end();++it) { Stream* destStream = *it; if ((forward) && (destStream == stream)) continue; try { const IdRemapTable::const_iterator remapIt(idRemapTable.find(destStream)); if (cmdMessage && remapIt != idRemapTable.end()) { if (cmdMessage->dest == remapIt->second.first) { const uint16_t oldDest(cmdMessage->dest); cmdMessage->dest = remapIt->second.second; message->serialize(destStream); cmdMessage->dest = oldDest; } } else { message->serialize(destStream); } destStream->flush(); } catch (DashelException e) { // if this stream has a problem, ignore it for now, and let Hub call connectionClosed later. std::cerr << "error while writing" << std::endl; } } delete message; } void Switch::connectionClosed(Stream *stream, bool abnormal) { #ifdef ZEROCONF_SUPPORT if (zeroconf.isStreamHandled(stream)) { zeroconf.dashelConnectionClosed(stream); return; } #endif // ZEROCONF_SUPPORT if (verbose) { dumpTime(cout, rawTime); if (abnormal) cout << "* Abnormal connection closed to " << stream->getTargetName() << " : " << stream->getFailReason() << endl; else cout << "* Normal connection closed to " << stream->getTargetName() << endl; } } void Switch::broadcastDummyUserMessage() { Aseba::UserMessage uMsg; uMsg.type = 0; //for (int i = 0; i < 80; i++) for (StreamsSet::iterator it = dataStreams.begin(); it != dataStreams.end();++it) { uMsg.serialize(*it); (*it)->flush(); } } void Switch::remapId(Dashel::Stream* stream, const uint16_t localId, const uint16_t targetId) { idRemapTable[stream] = IdPair(localId, targetId); } /*@}*/ }; //! Show usage void dumpHelp(std::ostream &stream, const char *programName) { stream << "Aseba switch, connects aseba components together, usage:\n"; stream << programName << " [options] [additional targets]*\n"; stream << "Options:\n"; stream << "-v, --verbose : makes the switch verbose\n"; stream << "-d, --dump : makes the switch dump all data\n"; stream << "-l, --loop : makes the switch transmit messages back to the send, not only forward them.\n"; stream << "-p port : listens to incoming connection on this port\n"; stream << "-n, --name name : use this name if advertising\n"; stream << "--rawtime : shows time in the form of sec:usec since 1970\n"; stream << "-h, --help : shows this help\n"; stream << "-V, --version : shows the version number\n"; stream << "Additional targets are any valid Dashel targets." << std::endl; stream << "Report bugs to: aseba-dev@gna.org" << std::endl; } //! Show version void dumpVersion(std::ostream &stream) { stream << "Aseba switch " << ASEBA_VERSION << std::endl; stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl; stream << "Licence LGPLv3: GNU LGPL version 3 \n"; } int main(int argc, char *argv[]) { Dashel::initPlugins(); unsigned port = ASEBA_DEFAULT_PORT; std::string name = "Aseba Switch"; bool verbose = false; bool dump = false; bool forward = true; bool rawTime = false; std::vector additionalTargets; int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter]; if ((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0)) { verbose = true; } else if ((strcmp(arg, "-d") == 0) || (strcmp(arg, "--dump") == 0)) { dump = true; verbose = true; } else if ((strcmp(arg, "-l") == 0) || (strcmp(arg, "--loop") == 0)) { forward = false; } else if (strcmp(arg, "-p") == 0) { if (argCounter + 1 >= argc) { std::cerr << "port value needed" << std::endl; return 1; } arg = argv[++argCounter]; port = atoi(arg); } else if ((strcmp(arg, "-n") == 0) || (strcmp(arg, "--name") == 0)) { if (argCounter + 1 >= argc) { std::cerr << "name needed" << std::endl; return 1; } arg = argv[++argCounter]; name = arg; } else if (strcmp(arg, "--rawtime") == 0) { rawTime = true; } else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) { dumpHelp(std::cout, argv[0]); return 0; } else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) { dumpVersion(std::cout); return 0; } else { additionalTargets.push_back(argv[argCounter]); } argCounter++; } try { Aseba::Switch aswitch(port, name, verbose, dump, forward, rawTime); for (size_t i = 0; i < additionalTargets.size(); i++) { const std::string& target(additionalTargets[i]); Dashel::Stream* stream = aswitch.connect(target); // see whether we have to remap the id of this stream Dashel::ParameterSet remapIdDecoder; remapIdDecoder.add("dummy:remapLocal=-1;remapTarget=1"); remapIdDecoder.add(target.c_str()); const int remappedLocalId(remapIdDecoder.get("remapLocal")); const int remappedTargetId(remapIdDecoder.get("remapTarget")); if (target.find("remapLocal=") != std::string::npos) { aswitch.remapId(stream, uint16_t(remappedLocalId), uint16_t(remappedTargetId)); if (verbose) std::cout << "* Remapping local " << remappedLocalId << " with remote " << remappedTargetId << std::endl; } } /* Uncomment this and comment aswitch.run() to flood all peers with dummy user messages while (1) { aswitch.step(10); aswitch.broadcastDummyUserMessage(); }*/ #ifdef ZEROCONF_SUPPORT while(aswitch.zeroconf.dashelStep(-1)); #else // ZEROCONF_SUPPORT while(aswitch.step(-1)); #endif // ZEROCONF_SUPPORT } catch(Dashel::DashelException e) { std::cerr << e.what() << std::endl; } return 0; } aseba-1.6.0/switches/switch/switch.h000066400000000000000000000066041322771007300174050ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_SWITCH #define ASEBA_SWITCH #include #include #include "../../common/types.h" #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-dashelhub.h" #endif // ZEROCONF_SUPPORT namespace Aseba { /** \defgroup switch Software router of messages. */ /*@{*/ /*! Route Aseba messages on the TCP part of the network. */ class Switch: public Dashel::Hub { public: /*! Creates the switch, listen to TCP on port. @param verbose should we print a notification on each message @param dump should we dump content of each message @param forward should we only forward messages instead of transmit them back to the sender */ Switch(unsigned port, std::string name, bool verbose, bool dump, bool forward, bool rawTime); /*! Forwards the data received for a connections to the other ones. If forward is false, transmit it back to the sender too. @param stream the stream the packet was received from */ void forwardDataFrom(Dashel::Stream* stream); /*! Send a dummy user message to all connected pears. */ void broadcastDummyUserMessage(); /*! Remap the node identifier for messages coming on a stream @param stream the stream from which node id will be remapped @param localId the new local node id to use @param targetId the target node id to remap */ void remapId(Dashel::Stream* stream, const uint16_t localId, const uint16_t targetId); #ifdef ZEROCONF_SUPPORT /*! The switch provides a Zeroconf service, used to advertise the switch and potentially the nodes it provides. */ Aseba::DashelhubZeroconf zeroconf; #endif // ZEROCONF_SUPPORT private: virtual void connectionCreated(Dashel::Stream *stream); virtual void incomingData(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream *stream, bool abnormal); private: #ifdef ZEROCONF_SUPPORT std::string zeroconfName; //!< name of this switch, if we want to advertise it #endif // ZEROCONF_SUPPORT bool verbose; //!< should we print a notification on each message bool dump; //!< should we dump content of CAN messages bool forward; //!< should we only forward messages instead of transmit them back to the sender bool rawTime; //!< should displayed timestamps be of the form sec:usec since 1970 //! A pair of id: local, target typedef std::pair IdPair; //! A table allowing to remap the aseba node id of streams typedef std::map IdRemapTable; IdRemapTable idRemapTable; //!< table for remapping id }; /*@}*/ }; #endif aseba-1.6.0/targets/000077500000000000000000000000001322771007300142445ustar00rootroot00000000000000aseba-1.6.0/targets/CMakeLists.txt000066400000000000000000000001571322771007300170070ustar00rootroot00000000000000add_subdirectory(dummy) add_subdirectory(enki-marxbot) add_subdirectory(challenge) add_subdirectory(playground)aseba-1.6.0/targets/can-translator/000077500000000000000000000000001322771007300171745ustar00rootroot00000000000000aseba-1.6.0/targets/can-translator/hardware.h000066400000000000000000000022021322771007300211360ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef _HARDWARE_H_ #define _HARDWARE_H_ #include #define U_UART UART_1 #define CAN_SELECT_MODE GPIO_MAKE_ID(GPIO_PORTD,2) #define UART_CTS GPIO_MAKE_ID(GPIO_PORTD,9) #define UART_RTS GPIO_MAKE_ID(GPIO_PORTF,6) #define LED0 GPIO_MAKE_ID(GPIO_PORTD, 0) #define LED1 GPIO_MAKE_ID(GPIO_PORTD, 1) #endif aseba-1.6.0/targets/can-translator/main.c000066400000000000000000000155021322771007300202670ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "hardware.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "morse.h" _FWDT(FWDTEN_OFF); // Watchdog Timer disabled _FOSCSEL(FNOSC_FRCPLL); // override oscillator configuration bits _FOSC(POSCMD_NONE & OSCIOFNC_ON); // ICD communicates on PGC1/EMUC1 and disable JTAG _FICD(ICS_PGD1 & JTAGEN_OFF); #define PRIO_CAN 5 #define PRIO_UART 5 #define PRIO_UART_TH 6 #define TIMER_UART TIMER_1 /* buffers for can-net */ #define SEND_QUEUE_SIZE 260 static __attribute((far)) CanFrame sendQueue[SEND_QUEUE_SIZE]; #define RECV_QUEUE_SIZE 1100 static __attribute((far)) CanFrame recvQueue[RECV_QUEUE_SIZE]; /* buffers for uart */ static __attribute((far)) __attribute((aligned(2))) unsigned char uartSendBuffer[ASEBA_MAX_OUTER_PACKET_SIZE]; static unsigned uartSendPos; static unsigned uartSendSize; static __attribute((far)) __attribute((aligned(2))) unsigned char uartRecvBuffer[ASEBA_MAX_OUTER_PACKET_SIZE]; static unsigned uartRecvPos; volatile int global_flag = 0; #define OUTPUT_ERROR(err) do{ for(;;) output_error(err,LED0,0,1); }while(0) static void can_tx_cb(void) { if(global_flag) OUTPUT_ERROR(global_flag); global_flag = 1; AsebaCanFrameSent(); // A message is waiting on the uart (it's complete but still waiting because we were full) // Check if we can send it now if ((uartRecvPos >= 6) && (uartRecvPos == 6 + ((uint16_t *)uartRecvBuffer)[0])) { uint16_t source = ((uint16_t *)uartRecvBuffer)[1]; if (AsebaCanSendSpecificSource(uartRecvBuffer+4, uartRecvPos-4, source) == 1) { uartRecvPos = 0; uart_read_pending_data(U_UART); } } global_flag = 0; } static void can_rx_cb(const can_frame* frame) { if(global_flag) OUTPUT_ERROR(global_flag); global_flag = 2; // we do a nasty cast because the two data structure are compatible, i.e. they have the same leading members AsebaCanFrameReceived((CanFrame *) frame); uint16_t source; if(uartSendPos == uartSendSize) { int amount = AsebaCanRecv(uartSendBuffer+4, ASEBA_MAX_INNER_PACKET_SIZE, &source); if (amount > 0) { ((uint16_t *)uartSendBuffer)[0] = (uint16_t)amount - 2; ((uint16_t *)uartSendBuffer)[1] = source; uartSendSize = (unsigned)amount + 4; if(uart_transmit_byte(U_UART, uartSendBuffer[0])) uartSendPos = 1; else uartSendPos = 0; } } global_flag = 0; } static bool uart_rx_cb(int __attribute((unused)) uart_id, unsigned char data, void * __attribute((unused)) user_data) { if(global_flag) OUTPUT_ERROR(global_flag); global_flag = 3; // TODO: in case of bug, we might want to test for overflow here, but it should never happen if higher layer conform to specification uartRecvBuffer[uartRecvPos++] = data; // if we have received the header and all the message payload data forward it to the can layer if ((uartRecvPos >= 6) && (uartRecvPos == 6 + ((uint16_t *)uartRecvBuffer)[0])) { uint16_t source = ((uint16_t *)uartRecvBuffer)[1]; if (AsebaCanSendSpecificSource(uartRecvBuffer+4, uartRecvPos-4, source) == 1) { // Was able to queue frame to can layer. Setup the buffer pointer for next reception uartRecvPos = 0; global_flag = 0; return true; } else { // Stop reception, flow control will help us to not lose any packet global_flag = 0; return false; } } global_flag = 0; return true; } static bool uart_tx_cb(int __attribute((unused)) uart_id, unsigned char* data, void* __attribute((unused)) user_data) { if(global_flag) OUTPUT_ERROR(global_flag); global_flag = 4; if (uartSendPos < uartSendSize) { *data = uartSendBuffer[uartSendPos++]; global_flag = 0; return true; } else { // We finished sending the previous packet // ...and if there is a new message on CAN, read it uint16_t source; int amount = AsebaCanRecv(uartSendBuffer+4, ASEBA_MAX_INNER_PACKET_SIZE, &source); if (amount > 0) { ((uint16_t *)uartSendBuffer)[0] = (uint16_t)amount - 2; ((uint16_t *)uartSendBuffer)[1] = source; uartSendSize = (unsigned)amount + 4; uartSendPos = 1; *data = uartSendBuffer[0]; global_flag = 0; return true; } global_flag = 0; return false; } } void AsebaIdle(void) { // Should NEVER be called OUTPUT_ERROR(5); } uint16_t AsebaShouldDropPacket(uint16_t source, const uint8_t* data) { return 0; } static void received_packet_dropped(void) { // light a LED, we have dropped an aseba message from the CAN because we were not able to send previous ones fast enough on UART gpio_write(LED1, 0); } static void sent_packet_dropped(void) { // light a LED, the packet is in fact not dropped because UART has flow control and the translator will try again later gpio_write(LED1, 0); } void __attribute__((noreturn)) error_handler(const char __attribute((unused)) * file, int __attribute((unused)) line, int id, void* __attribute((unused)) arg) { OUTPUT_ERROR(id); } /* initialization and main loop */ int main(void) { int i; if(_POR) { _POR = 0; asm __volatile("reset"); } clock_init_internal_rc_30(); // Wait about 1 s before really starting. The Bluetooth chip need a LOT of time before // having stable output (else we recieve "Phantom" character on uart) for(i = 0; i < 1000; i++) clock_delay_us(1000); gpio_write(LED0, 1); gpio_write(LED1, 1); gpio_set_dir(LED0, GPIO_OUTPUT); gpio_set_dir(LED1, GPIO_OUTPUT); error_register_callback(error_handler); adc1_init_simple(NULL, 1, 0x0UL, 30); can_init(can_rx_cb, can_tx_cb, DMA_CHANNEL_0, DMA_CHANNEL_1, CAN_SELECT_MODE, 1000, PRIO_CAN); uart_init(U_UART, 921600, UART_CTS, UART_RTS, TIMER_UART, uart_rx_cb, uart_tx_cb, PRIO_UART_TH, PRIO_UART, NULL); AsebaCanInit(0, (AsebaCanSendFrameFP)can_send_frame, can_is_frame_room, received_packet_dropped, sent_packet_dropped, sendQueue, SEND_QUEUE_SIZE, recvQueue, RECV_QUEUE_SIZE); while (1) { // Sleep until something happens Idle(); }; } aseba-1.6.0/targets/can-translator/morse.c000066400000000000000000000104461322771007300204720ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include // One dot is 0.5 sec // One dash is 3 dots // a space between two letter is three dots // a space between two words is seven dots static void wait_dot(void) { int i; for(i = 0; i < 50; i++) clock_delay_us(10000); } static void wait_dash(void) { int i; for(i = 0; i < 3; i++) wait_dot(); } static void wait_morse_letter(void) { int i; for(i = 0; i < 3; i++) wait_dot(); } static void wait_morse_word(void) { int i; for(i = 0; i < 7; i++) wait_dot(); } static void morse_dash(gpio led, int on, int off) { gpio_write(led, on); wait_dash(); gpio_write(led, off); wait_dot(); } static void morse_dot(gpio led, int on, int off) { gpio_write(led, on); wait_dot(); gpio_write(led, off); wait_dot(); } static void morse_number(unsigned int disp, gpio led, int on, int off) { switch(disp) { case 0: morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); break; case 1: morse_dot(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); break; case 2: morse_dot(led, on, off); morse_dot(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); break; case 3: morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); break; case 4: morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dash(led, on, off); break; case 5: morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); break; case 6: morse_dash(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); break; case 7: morse_dash(led, on, off); morse_dash(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); break; case 8: morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); break; case 9: morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dash(led, on, off); morse_dot(led, on, off); break; case 0xa: morse_dot(led, on, off); morse_dash(led, on, off); break; case 0xb: morse_dash(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); break; case 0xc: morse_dash(led, on, off); morse_dot(led, on, off); morse_dash(led, on, off); morse_dot(led, on, off); break; case 0xd: morse_dash(led, on, off); morse_dot(led, on, off); morse_dot(led, on, off); break; case 0xe: morse_dot(led, on, off); break; case 0xf: morse_dot(led, on, off); morse_dot(led, on, off); morse_dash(led, on, off); morse_dot(led, on, off); break; } } void output_error(unsigned int value, gpio led, int on, int off) { int shift; bool hasSent = false; for (shift = 12; shift >= 0; shift -= 4) { unsigned disp = ((value & (0xF << shift)) >> shift); if ((disp != 0) || (hasSent) || (shift == 0)) { hasSent = true; morse_number(disp, led, on, off); wait_morse_letter(); } } wait_morse_word(); } aseba-1.6.0/targets/can-translator/morse.h000066400000000000000000000017431322771007300204770ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef _MORSE_H_ #define _MORSE_H_ #include #include void output_error(unsigned int value, gpio led, int on, int off); #endif aseba-1.6.0/targets/can-translator/readme.schematics.txt000066400000000000000000000003621322771007300233150ustar00rootroot00000000000000Release notes on translator's schematics In our setup, the "BT" connector links to a Bluetooth module. The link is a UART with flow control using 0-3.3V voltage levels. 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SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -fomit-frame-pointer TraceCmdString= DebugOptions= [File008] Location=Z:\svn_robot\trunk\translator\dspics\can-net.o Folder=Intermediary DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={069BD372-6CA0-40D4-BF2F-5DC806D05083} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -O3 TraceCmdString= DebugOptions= [File009] Location=Z:\svn_robot\trunk\translator\dspics\can-buffer.o Folder=Intermediary DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={069BD372-6CA0-40D4-BF2F-5DC806D05083} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -O3 TraceCmdString= DebugOptions= [File010] Location=Z:\svn_robot\trunk\translator\dspics\ei.o Folder=Intermediary DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={069BD372-6CA0-40D4-BF2F-5DC806D05083} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -O3 TraceCmdString= DebugOptions= [File011] Location=Z:\svn_robot\trunk\translator\dspics\uart-software-fc.o Folder=Intermediary DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={069BD372-6CA0-40D4-BF2F-5DC806D05083} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -O3 TraceCmdString= DebugOptions= [File012] Location=Z:\svn_robot\trunk\translator\dspics\adc.o Folder=Intermediary DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={069BD372-6CA0-40D4-BF2F-5DC806D05083} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -O3 TraceCmdString= DebugOptions= [File013] Location=Z:\svn_robot\trunk\translator\dspics\morse.o Folder=Intermediary DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={069BD372-6CA0-40D4-BF2F-5DC806D05083} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-g -Wall -O3 TraceCmdString= DebugOptions= [File014] Location=Z:\svn_robot\trunk\translator\dspics\translateur.cof Folder=Output DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={433C3D55-811D-409D-A6BF-159CF9355B42} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-ld.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-Map="$(BINDIR_)$(TARGETBASE).map" --report-mem -o"$(BINDIR_)$(TARGETBASE).$(TARGETSUFFIX)" TraceCmdString= DebugOptions= [File015] Location=Z:\svn_robot\trunk\translator\dspics\translateur.hex Folder=Output DeviceName=dsPIC33FJ256GP506 LanguageToolSuiteID={479DDE59-4D56-455E-855E-FFF59A3DB57E} LanguageToolID={433C3D55-811D-409D-A6BF-159CF9355B42} LanguageToolLocation=C:\Program Files\Microchip\MPLAB C30\bin\pic30-ld.exe PPAD=$(BINDIR)||$(TMPDIR)||$(AINDIR)||$(INCDIR)|Z:\molole||$(LIBDIR)|C:\Program Files\Microchip\MPLAB C30\lib||$(LKRDIR)|| SOLK=|main.c|Z:\molole\can\can.c|Z:\molole\clock\clock.c|Z:\molole\dma\dma.c|Z:\molole\error\error.c|Z:\molole\gpio\gpio.c|Z:\molole\timer\timer.c|Z:\marxbotmot2\trap.c|Z:\aseba\trunk\transport\can\can-net.c|Z:\aseba\trunk\transport\can\can-buffer.c|Z:\molole\ei\ei.c|Z:\molole\uart\uart-software-fc.c|Z:\molole\adc\adc.c|morse.c|||||||| SuiteArgsString= ToolArgsString=-Map="$(BINDIR_)$(TARGETBASE).map" --report-mem -o"$(BINDIR_)$(TARGETBASE).$(TARGETSUFFIX)" TraceCmdString= DebugOptions= [TOOL_LOC_STAMPS] tool_loc{069BD372-6CA0-40D4-BF2F-5DC806D05083}=C:\Program Files\Microchip\MPLAB C30\bin\pic30-gcc.exe tool_loc{433C3D55-811D-409D-A6BF-159CF9355B42}=C:\Program Files\Microchip\MPLAB C30\bin\pic30-ld.exe aseba-1.6.0/targets/can-translator/translateur.mcw000066400000000000000000146020001322771007300222530ustar00rootroot00000000000000ÐÏࡱá>þÿ 4þÿÿÿ€€€€€€€€€ € € € € € 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÷D~€ecvQueue.usedô6Frtæ„Ustô6Kô&l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kõ&l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kö&l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K÷&l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kø&€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kø&€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kø&€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kú&hÉ[273]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kú&lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kú&l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kû&l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kü&l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ký&l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kþ&l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kÿ&l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K'€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K'€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K'hÉ[274]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K 'l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K 'l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K 'l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K '€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K '€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K '€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K'hÉ[275]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6Kî'l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kï'l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kð'l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kñ'l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kò'€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kò'€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kò'€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kô'hÉ[298]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kô'lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kô'l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kõ'l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kö'l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K÷'l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kø'l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kù'l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kú'l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kû'l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kü'€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kü'€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kü'€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedôýÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ6Frtæ„Ustô6K (l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K(hÉ[301]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K(hÉ[302]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K (l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K!(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K"(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K#(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K$(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K$(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K$(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K&(hÉ[303]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K&(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K&(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K'(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K((l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K)(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K*(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K+(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K,(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K-(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K.(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K.(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K.(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K0(hÉ[304]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K0(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K0(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K1(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K2(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K3(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K4(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K5(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K6(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K7(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K8(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K8(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K8(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K:(hÉ[305]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K:(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K:(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K;(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K<(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K=(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K>(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K?(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K@(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KA(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KB(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6KB(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6KB(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6KD(hÉ[306]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KD(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KD(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KE(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KF(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KG(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KH(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KI(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KJ(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KK(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KL(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6KL(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6KL(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6KN(hÉ[307]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KN(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KN(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KO(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KP(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KQ(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KR(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KS(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KT(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KU(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KV(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6KV(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6K_(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K`(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K`(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K`(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kb(hÉ[309]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kb(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kb(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kc(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kd(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ke(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kf(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kg(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kh(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ki(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kj(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kj(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kj(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kl(hÉ[310]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kl(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kl(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Km(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kn(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ko(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kp(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kq(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kr(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ks(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kt(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kt(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kt(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kv(hÉ[311]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kv(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kv(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kw(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kx(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ky(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kz(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K{(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K|(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K}(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K~(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K~(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K~(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K€(hÉ[312]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K€(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K€(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K‚(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kƒ(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K„(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6K”(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K”(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K•(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K–(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K—(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K˜(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K™(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kš(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K›(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kœ(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6K¤(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K¥(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K¦(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K¦(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K¦(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K¨(hÉ[316]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K¨(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K¨(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K©(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kª(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K«(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K¬(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K­(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K®(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K¯(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K°(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6K°(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6K°(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6K²(hÉ[317]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K²(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€recvQueue.usedô6Frtæ„Ustô6KÚ(hÉ[321]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÚ(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÚ(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÛ(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÜ(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÝ(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÞ(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kß(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kà(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ká(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kâ(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kâ(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kâ(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kä(hÉ[322]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kä(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kä(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kå(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kæ(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kç(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kè(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ké(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kê(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kë(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kì(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kì(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kì(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kî(hÉ[323]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kî(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kî(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kï(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kð(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kñ(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kò(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kó(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kô(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kõ(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kö(€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.iddô6Frtæ„Ustô6Kö(€leneueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.lenô6Frtæ„Ustô6Kö(€usedeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€recvQueue.usedô6Frtæ„Ustô6Kø(hÉ[324]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kø(lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kø(l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kù(l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kú(l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kû(l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kü(l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ký(l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kþ(l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kÿ(l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K)€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6Kà,lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kà,l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Ká,l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kâ,l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kã,l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kä,l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kå,l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kæ,l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kç,l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6Kè,€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6KÔ.lˆdataeueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÔ.l€[0]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÕ.l€[1]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÖ.l€[2]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6K×.l€[3]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KØ.l€[4]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÙ.l€[5]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÚ.l€[6]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÛ.l€[7]eueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó ÷D~€ecvQueue.usedô6Frtæ„Ustô6KÜ.€ideueC~ Ÿr ” O¨>s| O¨|ö¸ó¼ó)w|9"|/·A~ÔŠ>s|ƒ{|/·A~ O¨ÔŠÐó ŸrØó 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÷D~€ecvQueue.usedô6Frtæ„Ustô6K£9lýÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿaseba-1.6.0/targets/challenge/000077500000000000000000000000001322771007300161665ustar00rootroot00000000000000aseba-1.6.0/targets/challenge/CMakeLists.txt000066400000000000000000000015751322771007300207360ustar00rootroot00000000000000if (QT4_FOUND AND ENKI_FOUND) find_package(OpenGL REQUIRED) set(QT_USE_QTMAIN ON) set(QT_USE_QTOPENGL ON) include(${QT_USE_FILE}) include_directories(${enki_INCLUDE_DIR}) set(challenge_SRCS challenge.cpp challenge-vm-description.c objects/food_base.cpp objects/food_charge0.cpp objects/food_charge1.cpp objects/food_charge2.cpp objects/food_charge3.cpp objects/food_ring.cpp ) qt4_wrap_cpp(challenge_MOCS challenge.h ) qt4_add_resources(challenge_RCC_SRCS challenge-textures.qrc) add_executable(asebachallenge WIN32 ${challenge_SRCS} ${challenge_RCC_SRCS} ${challenge_MOCS}) target_link_libraries(asebachallenge asebavmbuffer asebavm ${enki_VIEWER_LIBRARIES} ${enki_LIBRARY} ${QT_LIBRARIES} ${OPENGL_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebachallenge RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (QT4_FOUND AND ENKI_FOUND) aseba-1.6.0/targets/challenge/asebachallenge_de.qm000066400000000000000000000026671322771007300221260ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[‹ì0…ŒÂE™N3M:êÚà÷‘Û×I^; ¯ø`n »P3 ±Å¥>ÍF5½lloЛAŒi&0Einen Roboter hinzufügenAdd a new robotEnki::ChallengeApplication*Aseba Challenge HilfeAseba Challenge HelpEnki::ChallengeApplication&Automatische Kamera Auto cameraEnki::ChallengeApplicationVollbild Full screenEnki::ChallengeApplication HilfeHelpEnki::ChallengeApplicationBeendenQuitEnki::ChallengeApplication,Alle Roboter entfernerRemove all robotsEnki::ChallengeApplication2Eines Roboters hinzufügenAdd a new robotEnki::ChallengeViewer$Name des Roboters: Robot name:Enki::ChallengeViewerSprachauswahlLanguage selectionLanguageSelectionDialogOkOkLanguageSelectionDialog:Bitte wählen Sie Ihre SprachePlease choose your languageLanguageSelectionDialogAseba ChallengeAseba Challenge QApplicationVAbhörport %0 kann nicht erstellt werden: %1#Cannot create listening port %0: %1 QApplicationˆaseba-1.6.0/targets/challenge/asebachallenge_de.ts000066400000000000000000000064061322771007300221320ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help Aseba Challenge Hilfe Add a new robot Einen Roboter hinzufügen Remove all robots Alle Roboter entferner Auto camera Automatische Kamera Full screen Vollbild Help Hilfe Quit Beenden Enki::ChallengeViewer Aseba Challenge Help Aseba Challenge Hilfe Add a new robot Eines Roboters hinzufügen Remove all robots Alle Roboter entferner Auto camera Automatische Kamera Auto hide Autohide Help Hilfe Simulator control Simulatorkontroll Robot name: Name des Roboters: LanguageSelectionDialog Please choose your language Bitte wählen Sie Ihre Sprache Ok Ok Language selection Sprachauswahl QApplication Aseba Challenge Aseba Challenge Cannot create listening port %0: %1 Abhörport %0 kann nicht erstellt werden: %1 aseba-1.6.0/targets/challenge/asebachallenge_el.qm000066400000000000000000000026531322771007300221310ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[}ì0ŒÂE™N!M:êÒà÷‘××I^/ ¯ø`f »P3 ±Å¥4ÍF5¯llqЛA‚i( Á¿Ã¸®º· ½­¿Å Á¿¼ÀÌÄAdd a new robotEnki::ChallengeApplication.’¿®¸µ¹± Aseba ChallengeAseba Challenge HelpEnki::ChallengeApplication‘ÅÄ̼±Ä· º¬¼µÁ± Auto cameraEnki::ChallengeApplication »®Á· ¿¸Ì½· Full screenEnki::ChallengeApplication’¿®¸µ¹±HelpEnki::ChallengeApplication ˆ¾¿´¿ÂQuitEnki::ChallengeApplication0‘Ʊ¯ÁµÃ· ̻ɽ Äɽ Á¿¼ÀÌÄRemove all robotsEnki::ChallengeApplication( Á¿Ã¸®º· ½­¿Å Á¿¼ÀÌÄAdd a new robotEnki::ChallengeViewerŒ½¿¼± Á¿¼ÀÌÄ: Robot name:Enki::ChallengeViewer•À¹»¿³® ³»ÎÃñÂLanguage selectionLanguageSelectionDialogŸšOkLanguageSelectionDialog> ±Á±º±»Î µÀ¹»­¾Äµ Ä· ³»ÎÃñ ñÂPlease choose your languageLanguageSelectionDialogAseba ChallengeAseba Challenge QApplicationT‘À¿ÄÅǯ± ´·¼¹¿ÅÁ³¯± ¸ÍÁ± ±ºÁ̱÷ %0: %1#Cannot create listening port %0: %1 QApplicationˆaseba-1.6.0/targets/challenge/asebachallenge_el.ts000066400000000000000000000052111322771007300221330ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help Βοήθεια Aseba Challenge Add a new robot ΠÏοσθήκη νέου Ïομπότ Remove all robots ΑφαίÏεση όλων των Ïομπότ Auto camera Αυτόματη κάμεÏα Full screen ΠλήÏης οθόνη Help Βοήθεια Quit Έξοδος Enki::ChallengeViewer Add a new robot ΠÏοσθήκη νέου Ïομπότ Robot name: Όνομα Ïομπότ: LanguageSelectionDialog Please choose your language ΠαÏακαλώ επιλέξτε τη γλώσσα σας Ok ΟΚ Language selection Επιλογή γλώσσας QApplication Aseba Challenge Aseba Challenge Cannot create listening port %0: %1 Αποτυχία δημιουÏγίας θÏÏας ακÏόασης %0: %1 aseba-1.6.0/targets/challenge/asebachallenge_es.qm000066400000000000000000000026771322771007300221460ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[—ì0‘ŒÎE™N1M:êÚà÷‘Ù×I^5 ¯ø`d »P3 ±Å¥LÍF5Éll{ЛAši.&Agregar robot nuevoAdd a new robotEnki::ChallengeApplication2Ayuda del Aseba ChallengeAseba Challenge HelpEnki::ChallengeApplication"Cámara automática Auto cameraEnki::ChallengeApplication"Pantalla completa Full screenEnki::ChallengeApplication AyudaHelpEnki::ChallengeApplication SalirQuitEnki::ChallengeApplication0Retirar todos los robotsRemove all robotsEnki::ChallengeApplication&Agregar robot nuevoAdd a new robotEnki::ChallengeViewer"Nombre del robot: Robot name:Enki::ChallengeViewer(Selección del idiomaLanguage selectionLanguageSelectionDialogOkOkLanguageSelectionDialog<Por favor seleccione el idiomaPlease choose your languageLanguageSelectionDialogAseba ChallengeAseba Challenge QApplicationPImposible crear puerto de escucha %0: %1#Cannot create listening port %0: %1 QApplicationˆaseba-1.6.0/targets/challenge/asebachallenge_es.ts000066400000000000000000000051241322771007300221450ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help El reto Aseba Ayuda del Aseba Challenge Add a new robot Agregar robot nuevo Remove all robots Retirar todos los robots Auto camera Cámara automática Full screen Pantalla completa Help Ayuda Quit Salir Enki::ChallengeViewer Add a new robot Agregar robot nuevo Robot name: Nombre del robot: LanguageSelectionDialog Please choose your language Por favor seleccione el idioma Ok Ok Language selection Selección del idioma QApplication Aseba Challenge El reto Aseba Aseba Challenge Cannot create listening port %0: %1 Imposible crear puerto de escucha %0: %1 aseba-1.6.0/targets/challenge/asebachallenge_fr.qm000066400000000000000000000026231322771007300221350ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[iì0mŒ¨E™NÿM:ê°à÷‘Í×I^ ¯ø`^ »P3é ±Å¥ÍF5›llWЛAji Ajouter un robotAdd a new robotEnki::ChallengeApplication,Aide d'Aseba ChallengeAseba Challenge HelpEnki::ChallengeApplicationCaméra auto Auto cameraEnki::ChallengeApplicationPlein écran Full screenEnki::ChallengeApplicationAideHelpEnki::ChallengeApplicationQuitterQuitEnki::ChallengeApplication.Enlever tous les robotsRemove all robotsEnki::ChallengeApplication Ajouter un robotAdd a new robotEnki::ChallengeViewerNom du robot: Robot name:Enki::ChallengeViewer,Séléction de la langueLanguage selectionLanguageSelectionDialogOkOkLanguageSelectionDialog:Veuillez choisir votre languePlease choose your languageLanguageSelectionDialogAseba ChallengeAseba Challenge QApplicationTNe peut pas créer le port d'écoute %0 : %1#Cannot create listening port %0: %1 QApplicationˆaseba-1.6.0/targets/challenge/asebachallenge_fr.ts000066400000000000000000000064051322771007300221500ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help Aide d'Aseba Challenge Add a new robot Ajouter un robot Remove all robots Enlever tous les robots Auto camera Caméra auto Full screen Plein écran Help Aide Quit Quitter Enki::ChallengeViewer Aseba Challenge Help Aide d'Aseba Challenge Add a new robot Ajouter un robot Remove all robots Enlever tous les robots Auto camera Caméra auto Auto hide Cacher auto Help Aide Simulator control Contrôle du simulateur Robot name: Nom du robot: LanguageSelectionDialog Please choose your language Veuillez choisir votre langue Ok Ok Language selection Séléction de la langue QApplication Aseba Challenge Aseba Challenge Cannot create listening port %0: %1 Ne peut pas créer le port d'écoute %0 : %1 aseba-1.6.0/targets/challenge/asebachallenge_it.qm000066400000000000000000000026611322771007300221440ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[‹ì0‘ŒÎE™N-M:êÚà÷‘Ý×I^; ¯ø`l »P3 ±Å¥,ÍF5½llsЛAzi .Aggiungi un nuovo robotAdd a new robotEnki::ChallengeApplication.Aseba Challenge - AiutoAseba Challenge HelpEnki::ChallengeApplication$Ripresa Automatica Auto cameraEnki::ChallengeApplicationSchermo intero Full screenEnki::ChallengeApplication AiutoHelpEnki::ChallengeApplicationEsciQuitEnki::ChallengeApplication*Rimuovi tutti i robotRemove all robotsEnki::ChallengeApplication.Aggiungi un nuovo robotAdd a new robotEnki::ChallengeViewerNome del robot: Robot name:Enki::ChallengeViewer Selezione linguaLanguage selectionLanguageSelectionDialogOkOkLanguageSelectionDialog(Scegli la tua linguaPlease choose your languageLanguageSelectionDialogAseba ChallengeAseba Challenge QApplicationbNon è possibile creare la porta di ascolto %0: %1#Cannot create listening port %0: %1 QApplicationˆaseba-1.6.0/targets/challenge/asebachallenge_it.ts000066400000000000000000000047211322771007300221540ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help Aseba Challenge - Aiuto Add a new robot Aggiungi un nuovo robot Remove all robots Rimuovi tutti i robot Auto camera Ripresa Automatica Full screen Schermo intero Help Aiuto Quit Esci Enki::ChallengeViewer Add a new robot Aggiungi un nuovo robot Robot name: Nome del robot: LanguageSelectionDialog Please choose your language Scegli la tua lingua Ok Ok Language selection Selezione lingua QApplication Aseba Challenge Aseba Challenge Cannot create listening port %0: %1 Non è possibile creare la porta di ascolto %0: %1 aseba-1.6.0/targets/challenge/asebachallenge_ja.qm000066400000000000000000000022501322771007300221140ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[ëì0GŒ€E™N£M:ê^à÷‘»×I^ÿ ¯ø`R »P3· ±Å¥nÍF5llЛA¼ie°0W0D0í0Ü0Ã0È0’ýR Add a new robotEnki::ChallengeApplication&Aseba Challenge0n0Ø0ë0×Aseba Challenge HelpEnki::ChallengeApplication êRÕ0«0á0é Auto cameraEnki::ChallengeApplication0Õ0ë0¹0¯0ê0ü0ó Full screenEnki::ChallengeApplication0Ø0ë0×HelpEnki::ChallengeApplication}BN†QuitEnki::ChallengeApplication0Y0y0f0n0í0Ü0Ã0È0’RJ–d0Y0‹Remove all robotsEnki::ChallengeApplicatione°0W0D0í0Ü0Ã0È0’ýR Add a new robotEnki::ChallengeViewer0í0Ü0Ã0È0nT RM: Robot name:Enki::ChallengeViewer ŠŠž0nxbžLanguage selectionLanguageSelectionDialogOKOkLanguageSelectionDialog ŠŠž0’x0vPlease choose your languageLanguageSelectionDialogAseba ChallengeAseba Challenge QApplication_…0aS×0Q0Ý0ü0È0’O\b0g0M0~0[0“#Cannot create listening port %0: %1 QApplicationaseba-1.6.0/targets/challenge/asebachallenge_ja.ts000066400000000000000000000050151322771007300221270ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help Aseba Challengeã®ãƒ˜ãƒ«ãƒ— Add a new robot æ–°ã—ã„ロボットを追加 Remove all robots ã™ã¹ã¦ã®ãƒ­ãƒœãƒƒãƒˆã‚’削除ã™ã‚‹ Auto camera 自動カメラ Full screen フルスクリーン Help ヘルプ Quit 終了 Enki::ChallengeViewer Add a new robot æ–°ã—ã„ロボットを追加 Robot name: ロボットã®åå‰: LanguageSelectionDialog Please choose your language 言語をé¸ã¶ Ok OK Language selection 言語ã®é¸æŠž QApplication Aseba Challenge Aseba Challenge Cannot create listening port %0: %1 å¾…ã¡å—ã‘ãƒãƒ¼ãƒˆã‚’作æˆã§ãã¾ã›ã‚“ aseba-1.6.0/targets/challenge/asebachallenge_zh.qm000066400000000000000000000021401322771007300221410ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝBp[µì0'Œ^E™NoM:ê.à÷‘¥×I^é ¯ø`P »P3• ±Å¥8ÍF5çllãЛAviÖmûR NN*e°v„g:VhNºAdd a new robotEnki::ChallengeApplicationAsebacb^.R©Aseba Challenge HelpEnki::ChallengeApplication dDPÏY4j!_ Auto cameraEnki::ChallengeApplicationQh\O Full screenEnki::ChallengeApplication^.R©HelpEnki::ChallengeApplicationQúQuitEnki::ChallengeApplicationyû–db@g g:VhNºRemove all robotsEnki::ChallengeApplicationmûR NN*e°v„g:VhNºAdd a new robotEnki::ChallengeViewer g:VhNºT [W: Robot name:Enki::ChallengeViewer‹íŠ ˜yLanguage selectionLanguageSelectionDialogOkOkLanguageSelectionDialog ‹÷ bé‹íŠPlease choose your languageLanguageSelectionDialogAsebacbAseba Challenge QApplicationR^úvÑT,zïSã%0: %1Y1%#Cannot create listening port %0: %1 QApplicationaseba-1.6.0/targets/challenge/asebachallenge_zh.ts000066400000000000000000000046531322771007300221650ustar00rootroot00000000000000 Enki::ChallengeApplication Aseba Challenge Help Aseba挑战帮助 Add a new robot 添加一个新的机器人 Remove all robots 移除所有机器人 Auto camera æ‘„åƒå¤´æ¨¡å¼ Full screen å…¨å± Help 帮助 Quit 退出 Enki::ChallengeViewer Add a new robot 添加一个新的机器人 Robot name: 机器人åå­—: LanguageSelectionDialog Please choose your language 请选择语言 Ok Ok Language selection 语言选项 QApplication Aseba Challenge Aseba挑战 Cannot create listening port %0: %1 创建监å¬ç«¯å£%0: %1失败 aseba-1.6.0/targets/challenge/challenge-textures.qrc000066400000000000000000000012241322771007300224770ustar00rootroot00000000000000 textures/feeder.png textures/feederr.png asebachallenge_fr.qm asebachallenge_de.qm asebachallenge_es.qm asebachallenge_it.qm asebachallenge_ja.qm asebachallenge_zh.qm asebachallenge_el.qm fonts/SF Old Republic SC.ttf doc/challenge.en.html doc/challenge.fr.html doc/challenge.es.html doc/challenge.it.html textures/asebachallenge.svgz aseba-1.6.0/targets/challenge/challenge-vm-description.c000066400000000000000000000063171322771007300232240ustar00rootroot00000000000000/* Challenge - Virtual Robot Challenge System Copyright (C) 1999--2008: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../vm/natives.h" #include "../../common/productids.h" #define SIMPLIFIED_EPUCK AsebaVMDescription vmDescription_en = { "e-puck", { { 1, ASEBA_PID_VAR_NAME }, { 1, "wheel.left_speed" }, { 1, "wheel.right_speed" }, { 1, "color.red" }, { 1, "color.green" }, { 1, "color.blue" }, #ifdef SIMPLIFIED_EPUCK { 1, "prox.front_front_right" }, { 1, "prox.front_right" }, { 1, "prox.right" }, { 1, "prox.back_right" }, { 1, "prox.back_left" }, { 1, "prox.left" }, { 1, "prox.front_left" }, { 1, "prox.front_front_left" }, { 8, "prox" }, #else { 8, "prox" }, #endif #ifdef SIMPLIFIED_EPUCK { 1, "cam.red_left" }, { 1, "cam.red_middle" }, { 1, "cam.red_right" }, { 3, "cam.red" }, #else { 60, "cam.red" }, #endif #ifdef SIMPLIFIED_EPUCK { 1, "cam.green_left" }, { 1, "cam.green_middle" }, { 1, "cam.green_right" }, { 3, "cam.green" }, #else { 60, "cam.green" }, #endif #ifdef SIMPLIFIED_EPUCK { 1, "cam.blue_left" }, { 1, "cam.blue_middle" }, { 1, "cam.blue_right" }, { 3, "cam.blue" }, #else { 60, "cam.blue" }, #endif { 1, "energy" }, { 0, NULL } } }; AsebaVMDescription vmDescription_fr = { "e-puck", { { 1, ASEBA_PID_VAR_NAME }, { 1, "roues_vitesse_gauche" }, { 1, "roues_vitesse_droite" }, { 1, "couleur_rouge" }, { 1, "couleur_vert" }, { 1, "couleur_bleu" }, #ifdef SIMPLIFIED_EPUCK { 1, "dist_avant_avant_droite" }, { 1, "dist_avant_droite" }, { 1, "dist_droite" }, { 1, "dist_arriere_droite" }, { 1, "dist_arriere_gauche" }, { 1, "dist_gauche" }, { 1, "dist_avant_gauche" }, { 1, "dist_avant_avant_gauche" }, { 8, "dist" }, #else { 8, "prox" }, #endif #ifdef SIMPLIFIED_EPUCK { 1, "cam_rouge_gauche" }, { 1, "cam_rouge_milieu" }, { 1, "cam_rouge_droite" }, { 3, "cam_rouge" }, #else { 60, "camR" }, #endif #ifdef SIMPLIFIED_EPUCK { 1, "cam_vert_gauche" }, { 1, "cam_vert_milieu" }, { 1, "cam_vert_droite" }, { 3, "cam_vert" }, #else { 60, "camG" }, #endif #ifdef SIMPLIFIED_EPUCK { 1, "cam_bleu_gauche" }, { 1, "cam_bleu_milieu" }, { 1, "cam_bleu_droite" }, { 3, "cam_bleu" }, #else { 60, "camB" }, #endif { 1, "energie" }, { 0, NULL } } }; aseba-1.6.0/targets/challenge/challenge.cpp000066400000000000000000001042401322771007300206150ustar00rootroot00000000000000/* Challenge - Virtual Robot Challenge System Copyright (C) 1999--2008: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ASSERT #define ASEBA_ASSERT #endif #include "../../vm/vm.h" #include "../../vm/natives.h" #include "../../common/productids.h" #include "../../common/consts.h" #include "../../transport/buffer/vm-buffer.h" #include #include #include #include #include #include #include "challenge.h" #include #define SIMPLIFIED_EPUCK static void initTexturesResources() { Q_INIT_RESOURCE(challenge_textures); } //! Asserts a dynamic cast. Similar to the one in boost/cast.hpp template inline Derived polymorphic_downcast(Base base) { Derived derived = dynamic_cast(base); assert(derived); return derived; } // Definition of the aseba glue namespace Enki { class AsebaFeedableEPuck; } // map for aseba glue code typedef QMap VmEPuckMap; static VmEPuckMap asebaEPuckMap; static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, }; static const AsebaNativeFunctionDescription* nativeFunctionsDescriptions[] = { ASEBA_NATIVES_STD_DESCRIPTIONS, 0 }; // changed by selection dialog static QString localName; extern "C" AsebaVMDescription vmDescription_en; extern "C" AsebaVMDescription vmDescription_fr; namespace Enki { #define EPUCK_FEEDER_INITIAL_ENERGY 10 #define EPUCK_FEEDER_THRESHOLD_HIDE 2 #define EPUCK_FEEDER_THRESHOLD_SHOW 4 #define EPUCK_FEEDER_RADIUS 5 #define EPUCK_FEEDER_RADIUS_DEAD 6 #define EPUCK_FEEDER_RANGE 10 #define EPUCK_FEEDER_COLOR_ACTIVE Color::blue #define EPUCK_FEEDER_COLOR_INACTIVE Color::red #define EPUCK_FEEDER_COLOR_DEAD Color::gray #define EPUCK_FEEDER_D_ENERGY 4 #define EPUCK_FEEDER_RECHARGE_RATE 0.5 #define EPUCK_FEEDER_MAX_ENERGY 100 #define EPUCK_FEEDER_LIFE_SPAN 60 #define EPUCK_FEEDER_DEATH_SPAN 10 #define EPUCK_INITIAL_ENERGY 10 #define EPUCK_ENERGY_CONSUMPTION_RATE 1 #define DEATH_ANIMATION_STEPS 30 #define PORT_BASE ASEBA_DEFAULT_PORT extern GLint GenFeederBase(); extern GLint GenFeederCharge0(); extern GLint GenFeederCharge1(); extern GLint GenFeederCharge2(); extern GLint GenFeederCharge3(); extern GLint GenFeederRing(); class FeedableEPuck: public EPuck { public: double energy; double score; QString name; int diedAnimation; public: FeedableEPuck() : EPuck(CAPABILITY_BASIC_SENSORS | CAPABILITY_CAMERA), energy(EPUCK_INITIAL_ENERGY), score(0), diedAnimation(-1) { } virtual void controlStep(double dt) { EPuck::controlStep(dt); energy -= dt * EPUCK_ENERGY_CONSUMPTION_RATE; score += dt; if (energy < 0) { score /= 2; energy = EPUCK_INITIAL_ENERGY; diedAnimation = DEATH_ANIMATION_STEPS; } else if (diedAnimation >= 0) diedAnimation--; } }; class AsebaFeedableEPuck : public FeedableEPuck, public Dashel::Hub { public: // public because accessed from a glue function Dashel::Stream* stream; // all streams that must be disconnected at next step std::vector toDisconnect; AsebaVMState vm; std::valarray bytecode; std::valarray stack; struct Variables { int16_t productId; // product id int16_t speedL; // left motor speed int16_t speedR; // right motor speed int16_t colorR; // body red [0..100] % int16_t colorG; // body green [0..100] % int16_t colorB; // body blue [0..100] % #ifdef SIMPLIFIED_EPUCK int16_t dist_A[8]; // proximity sensors in dist [cm] as variables, normal e-puck order int16_t dist_B[8]; // proximity sensors in dist [cm] as array, normal e-puck order #else int16_t prox[8]; // proximity sensors, normal e-puck order #endif #ifdef SIMPLIFIED_EPUCK int16_t camR_A[3]; // camera red as variables (left, middle, right) [0..100] % int16_t camR_B[3]; // camera red as array (left, middle, right) [0..100] % int16_t camG_A[3]; // camera green as variables (left, middle, right) [0..100] % int16_t camG_B[3]; // camera green as array (left, middle, right) [0..100] % int16_t camB_A[3]; // camera blue as variables (left, middle, right) [0..100] % int16_t camB_B[3]; // camera blue as array (left, middle, right) [0..100] % #else int16_t camR[60]; // camera red (left, middle, right) [0..100] % int16_t camG[60]; // camera green (left, middle, right) [0..100] % int16_t camB[60]; // camera blue (left, middle, right) [0..100] % #endif int16_t energy; int16_t user[1024]; } variables; int port; uint16_t lastMessageSource; std::valarray lastMessageData; public: AsebaFeedableEPuck(int id) : stream(0) { asebaEPuckMap[&vm] = this; vm.nodeId = 1; bytecode.resize(512); vm.bytecode = &bytecode[0]; vm.bytecodeSize = bytecode.size(); stack.resize(64); vm.stack = &stack[0]; vm.stackSize = stack.size(); vm.variables = reinterpret_cast(&variables); vm.variablesSize = sizeof(variables) / sizeof(int16_t); port = PORT_BASE+id; try { Dashel::Hub::connect(QString("tcpin:port=%1").arg(port).toStdString()); } catch (Dashel::DashelException e) { QMessageBox::critical(0, QApplication::tr("Aseba Challenge"), QApplication::tr("Cannot create listening port %0: %1").arg(port).arg(e.what())); abort(); } AsebaVMInit(&vm); variables.productId = ASEBA_PID_CHALLENGE; variables.colorG = 100; } virtual ~AsebaFeedableEPuck() { asebaEPuckMap.remove(&vm); } public: void connectionCreated(Dashel::Stream *stream) { std::string targetName = stream->getTargetName(); if (targetName.substr(0, targetName.find_first_of(':')) == "tcp") { // schedule current stream for disconnection if (this->stream) toDisconnect.push_back(this->stream); // set new stream as current stream this->stream = stream; qDebug() << this << " : New client connected."; } } void incomingData(Dashel::Stream *stream) { uint16_t temp; uint16_t len; stream->read(&temp, 2); len = bswap16(temp); stream->read(&temp, 2); lastMessageSource = bswap16(temp); lastMessageData.resize(len+2); stream->read(&lastMessageData[0], lastMessageData.size()); if (bswap16(*(uint16_t*)&lastMessageData[0]) >= 0xA000) AsebaProcessIncomingEvents(&vm); else qDebug() << this << " : Non debug event dropped."; } void connectionClosed(Dashel::Stream *stream, bool abnormal) { if (stream == this->stream) { this->stream = 0; // clear breakpoints vm.breakpointsCount = 0; } if (abnormal) qDebug() << this << " : Client has disconnected unexpectedly."; else qDebug() << this << " : Client has disconnected properly."; } double toDoubleClamp(int16_t val, double mul, double min, double max) { double v = static_cast(val) * mul; if (v > max) v = max; else if (v < min) v = min; return v; } void controlStep(double dt) { // get physical variables #ifdef SIMPLIFIED_EPUCK variables.dist_A[0] = static_cast(infraredSensor0.getDist()); variables.dist_A[1] = static_cast(infraredSensor1.getDist()); variables.dist_A[2] = static_cast(infraredSensor2.getDist()); variables.dist_A[3] = static_cast(infraredSensor3.getDist()); variables.dist_A[4] = static_cast(infraredSensor4.getDist()); variables.dist_A[5] = static_cast(infraredSensor5.getDist()); variables.dist_A[6] = static_cast(infraredSensor6.getDist()); variables.dist_A[7] = static_cast(infraredSensor7.getDist()); for (size_t i = 0; i < 8; ++i) variables.dist_B[i] = variables.dist_A[i]; #else variables.prox[0] = static_cast(infraredSensor0.getValue()); variables.prox[1] = static_cast(infraredSensor1.getValue()); variables.prox[2] = static_cast(infraredSensor2.getValue()); variables.prox[3] = static_cast(infraredSensor3.getValue()); variables.prox[4] = static_cast(infraredSensor4.getValue()); variables.prox[5] = static_cast(infraredSensor5.getValue()); variables.prox[6] = static_cast(infraredSensor6.getValue()); variables.prox[7] = static_cast(infraredSensor7.getValue()); #endif #ifdef SIMPLIFIED_EPUCK for (size_t i = 0; i < 3; i++) { double sumR = 0; double sumG = 0; double sumB = 0; for (size_t j = 0; j < 20; j++) { size_t index = 59 - (i * 20 + j); sumR += camera.image[index].r(); sumG += camera.image[index].g(); sumB += camera.image[index].b(); } variables.camR_A[i] = variables.camR_B[i] = static_cast(sumR * 100. / 20.); variables.camG_A[i] = variables.camG_B[i] = static_cast(sumG * 100. / 20.); variables.camB_A[i] = variables.camB_B[i] = static_cast(sumB * 100. / 20.); } #else for (size_t i = 0; i < 60; i++) { variables.camR[i] = static_cast(camera.image[i].r() * 100.); variables.camG[i] = static_cast(camera.image[i].g() * 100.); variables.camB[i] = static_cast(camera.image[i].b() * 100.); } #endif variables.energy = static_cast(energy); // do a network step Hub::step(); // disconnect old streams for (size_t i = 0; i < toDisconnect.size(); ++i) { closeStream(toDisconnect[i]); qDebug() << this << " : Disconnected old client."; } toDisconnect.clear(); // run VM AsebaVMRun(&vm, 65535); // reschedule a periodic event if we are not in step by step if (AsebaMaskIsClear(vm.flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vm.flags, ASEBA_VM_EVENT_ACTIVE_MASK)) AsebaVMSetupEvent(&vm, ASEBA_EVENT_LOCAL_EVENTS_START); // set physical variables leftSpeed = toDoubleClamp(variables.speedL, 1, -13, 13); rightSpeed = toDoubleClamp(variables.speedR, 1, -13, 13); Color c; c.setR(toDoubleClamp(variables.colorR, 0.01, 0, 1)); c.setG(toDoubleClamp(variables.colorG, 0.01, 0, 1)); c.setB(toDoubleClamp(variables.colorB, 0.01, 0, 1)); setColor(c); // set motion FeedableEPuck::controlStep(dt); } }; class EPuckFeeding : public LocalInteraction { public: double energy; double age; bool alive; public : EPuckFeeding(Robot *owner, double age) : energy(EPUCK_FEEDER_INITIAL_ENERGY), age(age) { r = EPUCK_FEEDER_RANGE; this->owner = owner; alive = true; } void objectStep(double dt, World *w, PhysicalObject *po) { if (alive) { FeedableEPuck *epuck = dynamic_cast(po); if (epuck && energy > 0) { double dEnergy = dt * EPUCK_FEEDER_D_ENERGY; epuck->energy += dEnergy; energy -= dEnergy; if (energy < EPUCK_FEEDER_THRESHOLD_HIDE) owner->setColor(EPUCK_FEEDER_COLOR_INACTIVE); } } } void finalize(double dt, World *w) { age += dt; if (alive) { if ((energy < EPUCK_FEEDER_THRESHOLD_SHOW) && (energy+dt >= EPUCK_FEEDER_THRESHOLD_SHOW)) owner->setColor(EPUCK_FEEDER_COLOR_ACTIVE); energy += EPUCK_FEEDER_RECHARGE_RATE * dt; if (energy > EPUCK_FEEDER_MAX_ENERGY) energy = EPUCK_FEEDER_MAX_ENERGY; if (age > EPUCK_FEEDER_LIFE_SPAN) { alive = false; age = 0; owner->setColor(EPUCK_FEEDER_COLOR_DEAD); owner->setCylindric(EPUCK_FEEDER_RADIUS_DEAD, owner->getHeight(), owner->getMass()); } } else { if (age > EPUCK_FEEDER_DEATH_SPAN) { alive = true; age = 0; owner->setColor(EPUCK_FEEDER_COLOR_ACTIVE); owner->setCylindric(EPUCK_FEEDER_RADIUS, owner->getHeight(), owner->getMass()); } } } }; class EPuckFeeder : public Robot { public: EPuckFeeding feeding; public: EPuckFeeder(double age) : feeding(this, age) { setCylindric(EPUCK_FEEDER_RADIUS, 5, -1); addLocalInteraction(&feeding); setColor(EPUCK_FEEDER_COLOR_ACTIVE); } }; class FeederModel : public ViewerWidget::CustomRobotModel { public: FeederModel(ViewerWidget* viewer) { textures.resize(2); textures[0] = viewer->bindTexture(QPixmap(QString(":/textures/feeder.png")), GL_TEXTURE_2D); textures[1] = viewer->bindTexture(QPixmap(QString(":/textures/feederr.png")), GL_TEXTURE_2D, GL_LUMINANCE8); lists.resize(6); lists[0] = GenFeederBase(); lists[1] = GenFeederCharge0(); lists[2] = GenFeederCharge1(); lists[3] = GenFeederCharge2(); lists[4] = GenFeederCharge3(); lists[5] = GenFeederRing(); } void cleanup(ViewerWidget* viewer) { for (int i = 0; i < textures.size(); i++) viewer->deleteTexture(textures[i]); for (int i = 0; i < lists.size(); i++) glDeleteLists(lists[i], 1); } virtual void draw(PhysicalObject* object) const { EPuckFeeder* feeder = polymorphic_downcast(object); double age = feeder->feeding.age; bool alive = feeder->feeding.alive; glEnable(GL_TEXTURE_2D); glBindTexture(GL_TEXTURE_2D, textures[0]); glPushMatrix(); double disp; if (age < M_PI/2) { //glTranslated(0, 0, -0.2); if (alive) disp = -1 + sin(age); else disp = -sin(age); } else { if (alive) disp = 0; else disp = -1; } glTranslated(0, 0, 4.3*disp-0.2); // body glColor3d(1, 1, 1); glCallList(lists[0]); // ring glColor3d(0.6+object->getColor().components[0]-0.3*object->getColor().components[1]-0.3*object->getColor().components[2], 0.6+object->getColor().components[1]-0.3*object->getColor().components[0]-0.3*object->getColor().components[2], 0.6+object->getColor().components[2]-0.3*object->getColor().components[0]-0.3*object->getColor().components[1]); glCallList(lists[5]); // food glColor3d(0.3, 0.3, 1); int foodAmount = (int)((feeder->feeding.energy * 5) / (EPUCK_FEEDER_MAX_ENERGY + 0.001)); assert(foodAmount <= 4); for (int i = 0; i < foodAmount; i++) glCallList(lists[1+i]); glPopMatrix(); // shadow glColor3d(1, 1, 1); glBindTexture(GL_TEXTURE_2D, textures[1]); glDisable(GL_LIGHTING); glEnable(GL_BLEND); glBlendFunc(GL_ZERO, GL_SRC_COLOR); // bottom shadow glPushMatrix(); // disable writing of z-buffer glDepthMask( GL_FALSE ); glEnable(GL_POLYGON_OFFSET_FILL); //glScaled(1-disp*0.1, 1-disp*0.1, 1); glBegin(GL_QUADS); glTexCoord2f(1.f, 0.f); glVertex2f(-7.5f, -7.5f); glTexCoord2f(1.f, 1.f); glVertex2f(7.5f, -7.5f); glTexCoord2f(0.f, 1.f); glVertex2f(7.5f, 7.5f); glTexCoord2f(0.f, 0.f); glVertex2f(-7.5f, 7.5f); glEnd(); glDisable(GL_POLYGON_OFFSET_FILL); glDepthMask( GL_TRUE ); glPopMatrix(); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glDisable(GL_BLEND); glEnable(GL_LIGHTING); glDisable(GL_TEXTURE_2D); } virtual void drawSpecial(PhysicalObject* object, int param) const { /*glEnable(GL_BLEND); glBlendFunc(GL_ONE, GL_ONE); glDisable(GL_TEXTURE_2D); glCallList(lists[0]); glDisable(GL_BLEND);*/ } }; // Challenge Viewer ChallengeViewer::ChallengeViewer(World* world, int ePuckCount) : ViewerWidget(world), ePuckCount(ePuckCount) { savingVideo = false; autoCamera = false; initTexturesResources(); int res = QFontDatabase::addApplicationFont(":/fonts/SF Old Republic SC.ttf"); Q_ASSERT(res != -1); Q_UNUSED(res); //qDebug() << QFontDatabase::applicationFontFamilies(res); titleFont = QFont("SF Old Republic SC", 20); entryFont = QFont("SF Old Republic SC", 23); labelFont = QFont("SF Old Republic SC", 16); setMouseTracking(true); setAttribute(Qt::WA_OpaquePaintEvent); setAttribute(Qt::WA_NoSystemBackground); setAutoFillBackground(false); //resize(780, 560); } void ChallengeViewer::addNewRobot() { bool ok; QString eventName = QInputDialog::getText(this, tr("Add a new robot"), tr("Robot name:"), QLineEdit::Normal, "", &ok); if (ok && !eventName.isEmpty()) { // TODO change ePuckCount to port Enki::AsebaFeedableEPuck* epuck = new Enki::AsebaFeedableEPuck(ePuckCount++); epuck->pos.x = Enki::random.getRange(120)+10; epuck->pos.y = Enki::random.getRange(120)+10; epuck->name = eventName; world->addObject(epuck); } } void ChallengeViewer::removeRobot() { std::set toFree; // TODO: for now, remove all robots; later, show a gui box to choose which robot to remove for (World::ObjectsIterator it = world->objects.begin(); it != world->objects.end(); ++it) { AsebaFeedableEPuck *epuck = dynamic_cast(*it); if (epuck) toFree.insert(epuck); } for (std::set::iterator it = toFree.begin(); it != toFree.end(); ++it) { world->removeObject(*it); delete *it; } ePuckCount = 0; } void ChallengeViewer::autoCameraStateChanged(bool state) { autoCamera = state; } void ChallengeViewer::timerEvent(QTimerEvent * event) { if (autoCamera) { camera.altitude = 70; camera.yaw -= 0.002; camera.pos = QPointF(world->w/2 - 120*sin(-camera.yaw+M_PI/2), world->h/2 - 120*cos(-camera.yaw+M_PI/2)); if (camera.yaw < 0) camera.yaw += 2*M_PI; camera.pitch = -M_PI/7; } ViewerWidget::timerEvent(event); } /* void ChallengeViewer::mouseMoveEvent ( QMouseEvent * event ) { #ifndef Q_WS_MAC bool isInButtonArea = event->y() < addRobotButton->y() + addRobotButton->height() + 10; if (hideButtons->isChecked()) { if (isInButtonArea && !addRobotButton->isVisible()) { menuFrame->show(); } if (!isInButtonArea && addRobotButton->isVisible()) { menuFrame->hide(); } } #endif // Q_WS_MAC ViewerWidget::mouseMoveEvent(event); } */ void ChallengeViewer::keyPressEvent ( QKeyEvent * event ) { if (event->key() == Qt::Key_V) savingVideo = true; else ViewerWidget::keyPressEvent(event); } void ChallengeViewer::keyReleaseEvent ( QKeyEvent * event ) { if (event->key() == Qt::Key_V) savingVideo = false; else ViewerWidget::keyReleaseEvent (event); } void ChallengeViewer::drawQuad2D(double x, double y, double w, double ar) { double thisAr = (double)width() / (double)height(); double h = (w * thisAr) / ar; glBegin(GL_QUADS); glTexCoord2d(0, 1); glVertex2d(x, y); glTexCoord2d(1, 1); glVertex2d(x+w, y); glTexCoord2d(1, 0); glVertex2d(x+w, y+h); glTexCoord2d(0, 0); glVertex2d(x, y+h); glEnd(); } void ChallengeViewer::initializeGL() { ViewerWidget::initializeGL(); } void ChallengeViewer::displayWidgets() { // do not display any Enki widgets in challenge } void ChallengeViewer::clickWidget(QMouseEvent *event) { // do not handle any Enki widgets in challenge } void ChallengeViewer::renderObjectsTypesHook() { // render vrcs specific static types managedObjects[&typeid(EPuckFeeder)] = new FeederModel(this); managedObjectsAliases[&typeid(AsebaFeedableEPuck)] = &typeid(EPuck); } void ChallengeViewer::displayObjectHook(PhysicalObject *object) { FeedableEPuck *epuck = dynamic_cast(object); if ((epuck) && (epuck->diedAnimation >= 0)) { ViewerUserData *userData = dynamic_cast(epuck->userData); assert(userData); double dist = (double)(DEATH_ANIMATION_STEPS - epuck->diedAnimation); double coeff = (double)(epuck->diedAnimation) / DEATH_ANIMATION_STEPS; glColor3d(0.2*coeff, 0.2*coeff, 0.2*coeff); glTranslated(0, 0, 2. * dist); userData->drawSpecial(object); } /*FeedableEPuck *epuck = dynamic_cast(object); { }*/ } void ChallengeViewer::sceneCompletedHook() { // create a map with names and scores qglColor(Qt::black); QMultiMap scores; for (World::ObjectsIterator it = world->objects.begin(); it != world->objects.end(); ++it) { AsebaFeedableEPuck *epuck = dynamic_cast(*it); if (epuck) { QStringList entry; entry << epuck->name << QString::number(epuck->port) << QString::number((int)epuck->energy) << QString::number((int)epuck->score); scores.insert((int)epuck->score, entry); renderText(epuck->pos.x, epuck->pos.y, 10, epuck->name, labelFont); } } // build score texture QImage scoreBoard(512, 256, QImage::Format_ARGB32); scoreBoard.setDotsPerMeterX(2350); scoreBoard.setDotsPerMeterY(2350); QPainter painter(&scoreBoard); //painter.fillRect(scoreBoard.rect(), QColor(224,224,255,196)); painter.fillRect(scoreBoard.rect(), QColor(224,255,224,196)); // draw lines painter.setBrush(Qt::NoBrush); QPen pen(Qt::black); pen.setWidth(2); painter.setPen(pen); painter.drawRect(scoreBoard.rect()); pen.setWidth(1); painter.setPen(pen); painter.drawLine(22, 34, 504, 34); painter.drawLine(312, 12, 312, 247); painter.drawLine(312, 240, 504, 240); // draw title painter.setFont(titleFont); painter.drawText(35, 28, "name"); painter.drawText(200, 28, "port"); painter.drawText(324, 28, "energy"); painter.drawText(430, 28, "points"); // display entries QMapIterator it(scores); it.toBack(); int pos = 61; while (it.hasPrevious()) { it.previous(); painter.drawText(200, pos, it.value().at(1)); pos += 24; } it.toBack(); painter.setFont(entryFont); pos = 61; while (it.hasPrevious()) { it.previous(); painter.drawText(35, pos, it.value().at(0)); painter.drawText(335, pos, it.value().at(2)); painter.drawText(445, pos, it.value().at(3)); pos += 24; } glDisable(GL_LIGHTING); glEnable(GL_TEXTURE_2D); GLuint tex = bindTexture(scoreBoard, GL_TEXTURE_2D); glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glCullFace(GL_FRONT); glColor4d(1, 1, 1, 0.75); for (int i = 0; i < 4; i++) { glPushMatrix(); glTranslated(world->w/2, world->h/2, 50); glRotated(90*i, 0, 0, 1); glBegin(GL_QUADS); glTexCoord2d(0, 0); glVertex3d(-20, -20, 0); glTexCoord2d(1, 0); glVertex3d(20, -20, 0); glTexCoord2d(1, 1); glVertex3d(20, -20, 20); glTexCoord2d(0, 1); glVertex3d(-20, -20, 20); glEnd(); glPopMatrix(); } glCullFace(GL_BACK); glColor3d(1, 1, 1); for (int i = 0; i < 4; i++) { glPushMatrix(); glTranslated(world->w/2, world->h/2, 50); glRotated(90*i, 0, 0, 1); glBegin(GL_QUADS); glTexCoord2d(0, 0); glVertex3d(-20, -20, 0); glTexCoord2d(1, 0); glVertex3d(20, -20, 0); glTexCoord2d(1, 1); glVertex3d(20, -20, 20); glTexCoord2d(0, 1); glVertex3d(-20, -20, 20); glEnd(); glPopMatrix(); } deleteTexture(tex); glDisable(GL_TEXTURE_2D); glColor4d(7./8.,7./8.,1,0.75); glPushMatrix(); glTranslated(world->w/2, world->h/2, 50); glBegin(GL_QUADS); glVertex3d(-20,-20,20); glVertex3d(20,-20,20); glVertex3d(20,20,20); glVertex3d(-20,20,20); glVertex3d(-20,20,0); glVertex3d(20,20,0); glVertex3d(20,-20,0); glVertex3d(-20,-20,0); glEnd(); glPopMatrix(); // save image static int imageCounter = 0; if (savingVideo) grabFrameBuffer().save(QString("frame%0.bmp").arg(imageCounter++), "BMP"); } void ChallengeViewer::helpActivated() { // do not react to Enki's help activation } ChallengeApplication::ChallengeApplication(World* world, int ePuckCount) : viewer(world, ePuckCount) { // help viewer helpViewer = new QTextBrowser(); helpViewer->setReadOnly(true); helpViewer->resize(600, 500); // help files generated by txt2tags, xhtml mode, with TOC if (localName.left(2) == "fr") helpViewer->setSource(QString("qrc:/doc/challenge.fr.html")); else if (localName.left(2) == "es") helpViewer->setSource(QString("qrc:/doc/challenge.es.html")); else if (localName.left(2) == "it") helpViewer->setSource(QString("qrc:/doc/challenge.it.html")); else helpViewer->setSource(QString("qrc:/doc/challenge.en.html")); helpViewer->moveCursor(QTextCursor::Start); helpViewer->setWindowTitle(tr("Aseba Challenge Help")); connect(this, SIGNAL(windowClosed()), helpViewer, SLOT(close())); // main windows layout QVBoxLayout *vLayout = new QVBoxLayout; QHBoxLayout *hLayout = new QHBoxLayout; hLayout->addStretch(); // construction of menu frame QFrame* menuFrame = new QFrame(); //menuFrame->setFrameStyle(QFrame::Box | QFrame::Plain); menuFrame->setFrameStyle(QFrame::NoFrame | QFrame::Plain); QHBoxLayout *frameLayout = new QHBoxLayout; QPushButton* addRobotButton = new QPushButton(tr("Add a new robot")); frameLayout->addWidget(addRobotButton); QPushButton* delRobotButton = new QPushButton(tr("Remove all robots")); frameLayout->addWidget(delRobotButton); QCheckBox* autoCamera = new QCheckBox(tr("Auto camera")); frameLayout->addWidget(autoCamera); QCheckBox* fullScreen = new QCheckBox(tr("Full screen")); frameLayout->addWidget(fullScreen); //hideButtons = new QCheckBox(tr("Auto hide")); //frameLayout->addWidget(hideButtons); QPushButton* helpButton = new QPushButton(tr("Help")); frameLayout->addWidget(helpButton); QPushButton* quitButton = new QPushButton(tr("Quit")); frameLayout->addWidget(quitButton); menuFrame->setLayout(frameLayout); // menuFrame->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum); viewer.setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding); resize(780, 560); // construction of the screen layout hLayout->addWidget(menuFrame); hLayout->addStretch(); vLayout->addLayout(hLayout); vLayout->addWidget(&viewer); vLayout->setContentsMargins(0,4,0,0); setLayout(vLayout); connect(addRobotButton, SIGNAL(clicked()), &viewer, SLOT(addNewRobot())); connect(delRobotButton, SIGNAL(clicked()), &viewer, SLOT(removeRobot())); connect(autoCamera, SIGNAL(toggled(bool)), &viewer, SLOT(autoCameraStateChanged(bool))); connect(fullScreen, SIGNAL(toggled(bool)), SLOT(fullScreenStateChanged(bool))); connect(helpButton, SIGNAL(clicked()), helpViewer, SLOT(show())); connect(quitButton, SIGNAL(clicked()), SLOT(close())); autoCamera->setCheckState(Qt::Checked); /* #else // Q_WS_MAC QMenuBar *menuBar = new QMenuBar(0); QMenu *menu = menuBar->addMenu(tr("Simulator control")); menu->addAction(tr("Add a new robot"), this, SLOT(addNewRobot())); menu->addAction(tr("Remove all robots"), this, SLOT(removeRobot())); menu->addSeparator(); autoCamera = new QAction(tr("Auto camera"), 0); autoCamera->setCheckable(true); menu->addAction(autoCamera); menu->addSeparator(); menu->addAction(tr("Help"), helpViewer, SLOT(show())); #endif // Q_WS_MAC */ } void ChallengeApplication::fullScreenStateChanged(bool fullScreen) { if (fullScreen) showFullScreen(); else showNormal(); } void ChallengeApplication::closeEvent ( QCloseEvent * event ) { if (event->isAccepted()) emit windowClosed(); } } // Implementation of aseba glue code extern "C" void AsebaPutVmToSleep(AsebaVMState *vm) { } extern "C" void AsebaSendBuffer(AsebaVMState *vm, const uint8_t* data, uint16_t length) { Dashel::Stream* stream = asebaEPuckMap[vm]->stream; assert(stream); try { uint16_t temp; temp = bswap16(length - 2); stream->write(&temp, 2); temp = bswap16(vm->nodeId); stream->write(&temp, 2); stream->write(data, length); stream->flush(); } catch (Dashel::DashelException e) { std::cerr << "Cannot write to socket: " << stream->getFailReason() << std::endl; } } extern "C" uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source) { if (asebaEPuckMap[vm]->lastMessageData.size()) { *source = asebaEPuckMap[vm]->lastMessageSource; memcpy(data, &asebaEPuckMap[vm]->lastMessageData[0], asebaEPuckMap[vm]->lastMessageData.size()); } return asebaEPuckMap[vm]->lastMessageData.size(); } extern "C" const AsebaVMDescription* AsebaGetVMDescription(AsebaVMState *vm) { if (localName == "fr") return &vmDescription_fr; else return &vmDescription_en; } static const AsebaLocalEventDescription localEvents[] = { { "timer", "periodic timer at 50 Hz" }, { nullptr, nullptr }}; extern "C" const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm) { return localEvents; } extern "C" const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) { return nativeFunctionsDescriptions; } extern "C" void AsebaNativeFunction(AsebaVMState *vm, uint16_t id) { nativeFunctions[id](vm); } extern "C" void AsebaWriteBytecode(AsebaVMState *vm) { } extern "C" void AsebaResetIntoBootloader(AsebaVMState *vm) { } extern "C" void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) { std::cerr << "\nFatal error: "; switch (vm->nodeId) { case 1: std::cerr << "left motor module"; break; case 2: std::cerr << "right motor module"; break; case 3: std::cerr << "proximity sensors module"; break; case 4: std::cerr << "distance sensors module"; break; default: std::cerr << "unknown module"; break; } std::cerr << " has produced exception: "; switch (reason) { case ASEBA_ASSERT_UNKNOWN: std::cerr << "undefined"; break; case ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR: std::cerr << "unknown unary operator"; break; case ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR: std::cerr << "unknown binary operator"; break; case ASEBA_ASSERT_UNKNOWN_BYTECODE: std::cerr << "unknown bytecode"; break; case ASEBA_ASSERT_STACK_OVERFLOW: std::cerr << "stack overflow"; break; case ASEBA_ASSERT_STACK_UNDERFLOW: std::cerr << "stack underflow"; break; case ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS: std::cerr << "out of variables bounds"; break; case ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "out of bytecode bounds"; break; case ASEBA_ASSERT_STEP_OUT_OF_RUN: std::cerr << "step out of run"; break; case ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "breakpoint out of bytecode bounds"; break; case ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG: std::cerr << "tried to emit a buffer too long"; break; default: std::cerr << "unknown exception"; break; } std::cerr << ".\npc = " << vm->pc << ", sp = " << vm->sp; std::cerr << "\nResetting VM" << std::endl; assert(false); AsebaVMInit(vm); } LanguageSelectionDialog::LanguageSelectionDialog() { QVBoxLayout* layout = new QVBoxLayout(this); QLabel* text = new QLabel(tr("Please choose your language")); layout->addWidget(text); languageSelectionBox = new QComboBox(this); languageSelectionBox->addItem(QString::fromUtf8("English"), "en"); languageSelectionBox->addItem(QString::fromUtf8("Français"), "fr"); languageSelectionBox->addItem(QString::fromUtf8("German"), "de"); languageSelectionBox->addItem(QString::fromUtf8("Español"), "es"); languageSelectionBox->addItem(QString::fromUtf8("Italiano"), "it"); languageSelectionBox->addItem(QString::fromUtf8("日本語"), "ja"); languageSelectionBox->addItem(QString::fromUtf8("汉语"), "zh"); languageSelectionBox->addItem(QString::fromUtf8("ελληνικά"), "el"); /* insert translation here (DO NOT REMOVE -> for automated script) */ //qDebug() << "locale is " << QLocale::system().name(); for (int i = 0; i < languageSelectionBox->count(); ++i) { if (QLocale::system().name().startsWith(languageSelectionBox->itemData(i).toString())) { languageSelectionBox->setCurrentIndex(i); break; } } layout->addWidget(languageSelectionBox); QPushButton* okButton = new QPushButton(QIcon(":/images/ok.png"), tr("Ok")); connect(okButton, SIGNAL(clicked(bool)), SLOT(accept())); layout->addWidget(okButton); setWindowTitle(tr("Language selection")); } int main(int argc, char *argv[]) { QApplication app(argc, argv); // Translation support QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8")); QTranslator qtTranslator; qtTranslator.load("qt_" + QLocale::system().name(), QLibraryInfo::location(QLibraryInfo::TranslationsPath)); app.installTranslator(&qtTranslator); //qDebug() << QLocale::system().name(); QTranslator translator; translator.load(QString(":/asebachallenge_") + QLocale::system().name()); app.installTranslator(&translator); // choose the language { LanguageSelectionDialog languageSelectionDialog; languageSelectionDialog.show(); languageSelectionDialog.exec(); localName = languageSelectionDialog.languageSelectionBox->itemData(languageSelectionDialog.languageSelectionBox->currentIndex()).toString(); qtTranslator.load(QString("qt_") + localName, QLibraryInfo::location(QLibraryInfo::TranslationsPath)); translator.load(QString(":/asebachallenge_") + localName); } // Create the world Enki::World world(140, 140, Enki::Color(0.4, 0.4, 0.4)); // Add feeders Enki::EPuckFeeder* feeders[4]; feeders[0] = new Enki::EPuckFeeder(0); feeders[0]->pos.x = 40; feeders[0]->pos.y = 40; world.addObject(feeders[0]); feeders[1] = new Enki::EPuckFeeder(15); feeders[1]->pos.x = 100; feeders[1]->pos.y = 40; world.addObject(feeders[1]); feeders[2] = new Enki::EPuckFeeder(45); feeders[2]->pos.x = 40; feeders[2]->pos.y = 100; world.addObject(feeders[2]); feeders[3] = new Enki::EPuckFeeder(30); feeders[3]->pos.x = 100; feeders[3]->pos.y = 100; world.addObject(feeders[3]); // Add e-puck int ePuckCount = 0; for (int i = 1; i < argc; i++) { Enki::AsebaFeedableEPuck* epuck = new Enki::AsebaFeedableEPuck(i-1); epuck->pos.x = Enki::random.getRange(120)+10; epuck->pos.y = Enki::random.getRange(120)+10; epuck->name = argv[i]; world.addObject(epuck); ePuckCount++; } // Create viewer Enki::ChallengeApplication viewer(&world, ePuckCount); // Show and run viewer.setWindowTitle("ASEBA Challenge - Stephane Magnenat (code) - Basilio Noris (gfx)"); viewer.setWindowIcon(QIcon(":/textures/asebachallenge.svgz")); viewer.show(); return app.exec(); } aseba-1.6.0/targets/challenge/challenge.h000066400000000000000000000051101322771007300202560ustar00rootroot00000000000000/* Challenge - Virtual Robot Challenge System Copyright (C) 1999--2008: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __CHALLENGE_H #define __CHALLENGE_H #include #include #include class QPushButton; class QCheckBox; class QComboBox; class QTextBrowser; namespace Enki { class ChallengeViewer : public ViewerWidget { Q_OBJECT protected: bool savingVideo; int ePuckCount; bool autoCamera; QFont titleFont; QFont entryFont; QFont labelFont; public: ChallengeViewer(World* world, int ePuckCount); public slots: void addNewRobot(); void removeRobot(); void autoCameraStateChanged(bool state); protected: void timerEvent(QTimerEvent * event) override; void keyPressEvent ( QKeyEvent * event ) override; void keyReleaseEvent ( QKeyEvent * event ) override; void drawQuad2D(double x, double y, double w, double ar); void initializeGL() override; void displayWidgets() override; void clickWidget(QMouseEvent *event) override; void renderObjectsTypesHook() override; void displayObjectHook(PhysicalObject *object) override; void sceneCompletedHook() override; void helpActivated(); }; class ChallengeApplication : public QWidget { Q_OBJECT protected: ChallengeViewer viewer; QTextBrowser* helpViewer; public: ChallengeApplication(World* world, int ePuckCount); public slots: void fullScreenStateChanged(bool fullScreen); signals: void windowClosed(); protected: virtual void closeEvent ( QCloseEvent * event ); }; } class LanguageSelectionDialog : public QDialog { Q_OBJECT public: QComboBox* languageSelectionBox; LanguageSelectionDialog(); }; #endif aseba-1.6.0/targets/challenge/doc/000077500000000000000000000000001322771007300167335ustar00rootroot00000000000000aseba-1.6.0/targets/challenge/doc/challenge.en.html000066400000000000000000000050621322771007300221470ustar00rootroot00000000000000 An overview of Challenge

    An overview of Challenge

    Stéphane Magnenat

    Introduction

    Aseba challenge is a simulated world where aseba-controlled robots compete for energy. You can use it as a playground to explore writing aseba scripts or as an educational game to learn and teach programming.

    Challenge shows the score of each robot on translucid boards hanging over the arena. The goal is to stay alive by collecting energy. As long as a robot is alive, its points increase; when it dies, they get divided by two. Four blue sources provide energy to nearby robots. When a source is depleted, it becomes red and does not provide energy any more. From time to time, a source will sunken into the ground and robots will not see it anymore until it reappears.

    Adding robots

    To get started, you have to click "Add a new robot", and choose a name for it. If you are a group, you have to add one robot for each player. You can remove all the robots by clicking "Remove all robots".

    Programming robots

    Once aseba challenge is running, you have to start aseba studio to program your robot. For each robot, you have to run one instance of studio, which can run on any computer. Set the hostname of the computer running challenge in Host and set the port number of the robot in Port. In challenge, the port number is printed beside the robot name on the score boards.

    Moving camera

    You can hide the buttons by checking "Auto hide": the buttons will only show up when the mouse pointer is around them.

    You can have the camera move automatically by checking "Auto camera". If you are moving the camera manually, the controls are the following:

    • ctrl + left mouse button: rotate view
    • ctrl + shift + left mouse button: displace view on x/y
    • ctrl + shift + right mouse button: displace view on z
    aseba-1.6.0/targets/challenge/doc/challenge.es.html000066400000000000000000000053231322771007300221540ustar00rootroot00000000000000 Generalidades del Challenge

    Generalidades del Challenge

    Stéphane Magnenat

    Introducción

    Aseba Challenge es un mundo simulado en el que los robots controlados por Aseba, compiten por energía. Puedes utilizarlo como un lugar para explorar tus códigos o como un juego educativo para el aprendizaje y la enseñanza de programación.

    El puntaje de cada robot se muestra en los tableros translúcidos que cuelgan sobre la arena del Challenge. La meta es mantenerse con vida recolectando energía. Mientras el robot esté vivo, su puntaje aumenta; cuando muere, se divide por dos. Cuatro fuentes azules suministran energía a los robots que se acerquen. Cuando una fuente se descarga, cambia a rojo y no suministra más energía. De vez en cuando, las fuentes se entierran de modo que los robots no pueden verla hasta que reaparece nuevamente.

    Agregar robots

    Para comenzar, debes presionar “Agregar robot nuevo†e ingresar un nombre para el. Si ustedes conforman un grupo, pueden agregar un robot para cada jugador. Puedes retirar todos los robots presionando sobre “Retirar todos los robotsâ€.

    Programar los robots

    Cuando se esté ejecutando Aseba Challenge, debes iniciar Aseba Studio para programar tu robot. Para cada robot se debe ejecutar una instancia de Studio en cualquier computador. Ingrese el nombre (hostname) del computador que ejecuta Challenge como Host e ingrese el número del puerto del robot en Puerto. El número del Puerto se encuentra justo al lado del nombre del robot en el tablero de puntaje.

    Mover la cámara

    Puedes ocultar los botones seleccionando la opción “ocultar automáticamenteâ€: los botones aparecen solamente cuando el puntero del mouse está cerca. Puedes hacer que la cámara se ajuste automáticamente seleccionando “Cámara automáticaâ€. Si decides mover la cámara manualmente, los controles son los siguientes:

    • ctrl +botón izquierdo del mouse: rotar cámara.
    • ctrl + shift + botón izquierdo del mouse: desplazar la cámara en x/y.
    • ctrl + shift + botón derecho del mouse: desplazar la cámara en z.
    aseba-1.6.0/targets/challenge/doc/challenge.fr.html000066400000000000000000000055721322771007300221620ustar00rootroot00000000000000 Un survol de challenge

    Un survol de challenge

    Stéphane Magnenat

    Introduction

    Aseba challenge est un monde simulé où des robots contrôlés par aseba cherchent de l'énergie. Vous pouvez l'utiliser comme espace de jeu pour écrire des scripts aseba ou comme un jeu éducatif pour apprendre ou enseigner la programmation.

    Challenge affiche le score de chaque robot sur des tableaux translucides suspendus au dessus de l'arène. Le but de chaque robot est de rester vivant en collectant de l'énergie. Tant que le robot est vivant, ses points augmentent ; quand il meurt, ils sont divisés par deux. Quatre sources d'énergie bleues rechargent les robots à proximité. Quand une source est vide, elle devient rouge et ne fournit plus d'énergie. De temps à autres, une source plonge dans le sol et les robots ne la voient plus jusqu'à ce qu'elle réapparaisse.

    Ajouter des robots

    Pour démarrer, vous devez lancer cliquer sur «Ajouter un robot» et lui choisir un nom. Si vous êtes un groupe, il faut ajouter un robot pour chaque joueur. Vous pouvez enlever tous les robots en cliquant sur «Enlever tous les robots».

    Programmer des robots

    Une fois qu'aseba challenge fonctionne, vous devez démarrer aseba studio pour programmer votre robot. Pour chaque robot, vous devez lancer une instance de studio, qui peut être sur n'importe quel ordinateur. Choisissez comme nom de l'hôte l'ordinateur sur lequel tourne challenge et mettez le numéro de port du robot dans port. Dans challenge, le numéro de port est affiché à côté du nom du robot sur les tableaux de score.

    Bouger la caméra

    Vous pouvez cacher les boutons en cliquant sur «Cacher auto» : les boutons ne seront visibles que lorsque le curseur de la souris sera proche.

    Vous pouvez laisser la caméra bouger automatiquement en cliquant sur «Caméra auto». Si vous bougez la caméra manuellement, les contrôles sont les suivants :

    • ctrl + bouton gauche souris : rotation
    • ctrl + maj. + bouton gauche souris : déplacement sur x/y
    • ctrl + maj. + bouton droite souris : déplacement sur z
    aseba-1.6.0/targets/challenge/doc/challenge.it.html000066400000000000000000000053671322771007300221710ustar00rootroot00000000000000 Una panoramica di Challenge

    Una panoramica di Challenge

    Stéphane Magnenat

    Introduzione

    Aseba challenge è un mondo simulato dove i robot controllati da Aseba competono per il cibo. Potete utilizzarlo come terreno di gioco per esplorare la scrittura di script Aseba o come un gioco educativo per imparare ed insegnare la programmazione.

    Challenge mostra il punteggio di ciascun robot su un tabellone traslucido appeso sull'arena. L'obiettivo è rimanere vivi raccogliendo energia. Per tanto che un robot è vivo, il suo punteggio aumenta; quando muore viene dimezzato. Quattro soregenti di colore blu forniscono energia ai robot che si avvicinano. quando la sorgente è esaurita, diventa rossa e non fornisce più energia. Ogni tanto la sorgente sparisce nel terreno e i robots non possono più utilizzarla fintanto che non riappaia.

    Aggiungere robot

    Per partire, dovete fare click su "Aggiungi un nuovo robot", e scegliere un nome. Se siete un gruppo potete aggiungere un robot per ciascun giocatore. Potete rimuovere tutti i robot facendo click su "rimuovi tutti i robot".

    Programming robots

    Una volta che Aseba challenge è in esecuzione, dovete avviare Aseba studio per programmare i robot. Per ciascun robot dovete eseguire una istanza di studio, che può essere eseguita su qualsiasi computer. Specificare il nome del computer in Host e indicare la porta del robot in Port. Uno schermo traslucido al di sopra dell'arena in challenge mostra le porte corrispondenti ai vari robot.

    Muovere la telecamera

    Potete nascondere i bottoni selezionando "Auto nascondi": i bottoni verranno mostrati solo quando il puntatore del mouse sarà nelle vicinanze.

    Potete fare in modo che la telecamera si muova automaticamente selezionando "Auto camera". Se muovete la telecamera manualmente i controlli sono i seguenti: * ctrl + pulsante di sinistra del mouse: ruota la vista * ctrl + shift + pulsante di sinistra del mouse: sposta la vista sugli assi x/y * ctrl + shift + pulsante di destra del mouse: sposta la vista sull'asse z

    aseba-1.6.0/targets/challenge/examples/000077500000000000000000000000001322771007300200045ustar00rootroot00000000000000aseba-1.6.0/targets/challenge/examples/challenge-goto-energy.aesl000066400000000000000000000016261322771007300250360ustar00rootroot00000000000000 var maxBlueVal var maxBluePos var i wheel.left_speed = 100 wheel.right_speed = 100 onevent timer maxBlueVal = 0 maxBluePos = 0 i = 0 while i < 3 do if cam.blue[i] > maxBlueVal then maxBluePos = i maxBlueVal = cam.blue[i] end i = i + 1 end if maxBluePos == 0 then wheel.left_speed = 0 wheel.right_speed = 13 else if maxBluePos == 1 then wheel.left_speed = 10 wheel.right_speed = 10 else wheel.left_speed = 13 wheel.right_speed = 0 end end if maxBlueVal <= 50 then wheel.left_speed = -10 wheel.right_speed = -5 end aseba-1.6.0/targets/challenge/fonts/000077500000000000000000000000001322771007300173175ustar00rootroot00000000000000aseba-1.6.0/targets/challenge/fonts/SF Old Republic SC.ttf000066400000000000000000000464501322771007300230720ustar00rootroot000000000000000ÀOS/2QÆ} LVPCLT…b[·Lt6cmapY*'À?cvt `Ç_ˆÌfpgmƒ3ÂO¸glyf#/)(7hdmx]|áFheadÉÌÖUL¬6hheaG>Lä$hmtxݵ©<¬xloca þn;0|maxpèCM nameÚp´Íü»posteîi,>$ìprept¾Zè>&p8$ºå$;$bw•8¨Þ)ó_h• p8 $º å $; $ b w •Created by Shywedge, 1999. (http://welcome.to/ShyFonts)Created by Shywedge, 1999. (http://welcome.to/ShyFonts)SF Old Republic SCSF Old Republic SCRegularRegularSF Old Republic SCSF Old Republic SCSF Old Republic SCSF Old Republic SC1.11.1SFOldRepublicSCSFOldRepublicSC@,vE °%E#ah#h`D-ÿûÔ%aÈaŒ`ï,ZbZb@ ¸ÿ…EhDEhDEhDEhDEhDEhD³F+³F+±EhD±EhDEá„V@ @ Fv/7?54&'3@IW/þÑdî g@+@   Fv/7?Âþ¢^þ¢^ dúdúd& \@$ @  Fv/7?ddÂd^þ¢ þ¢^dÈ @@@Fv/7? @         Fv/7?ddÂdlý” ý”l2ÿöf* G@@  Fv/7??ýý/ý/ý10Ih¹Iha°@RX87¹ÿÀ8Y#"&546324&#"326fï««ïï««ïdµµµµ«ïï««ï﫵µµµdø Y@#@ Fv/7?íÐþ˜hþ˜dSÐK@@Fv/7? @         Fv/7?MppMÂÿçfÐl@/@Fv/7??@DEFGHIJKLMNOPQRSTUVWXYZ[\]^_`£¢¶·Ä´µÅ quotereversedèèÊà  !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]"),;?]}¡¿ ÿÿ ',.?Aa¡¿ ÿÿ88p¨¨¨ÿÿ  !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[`                                                                                                                                                                                                                                        gËËò7MACR@ *ÿ°*P€Ð` uSF Old Repub ÿÿÿÿ7ÿÿþSF R00k)Û£_<õL³|Hî³|Hîÿçÿ°Ù„„ÿ8ÀÿçÿçÙ^^,@ sÔaseba-1.6.0/targets/challenge/objects/000077500000000000000000000000001322771007300176175ustar00rootroot00000000000000aseba-1.6.0/targets/challenge/objects/food_base.cpp000066400000000000000000005263171322771007300222620ustar00rootroot00000000000000/* Challenge - Virtual Robot Challenge System Copyright (C) 1999--2008: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include namespace Enki { // 906 Verticies // 1336 Texture Coordinates // 1120 Normals // 1742 Triangles static short face_indicies[1742][9] = { // Object #-1 {815,814,792 ,0,0,0 ,0,0,0 }, {792,814,793 ,0,0,0 ,0,0,0 }, {814,813,793 ,0,0,0 ,0,0,0 }, {812,793,813 ,0,0,0 ,0,0,0 }, {793,812,794 ,0,0,0 ,0,0,0 }, {811,794,812 ,0,0,0 ,0,0,0 }, {794,811,795 ,0,0,0 ,0,0,0 }, {810,795,811 ,0,0,0 ,0,0,0 }, {795,810,796 ,0,0,0 ,0,0,0 }, {809,796,810 ,0,0,0 ,0,0,0 }, {796,809,797 ,0,0,0 ,0,0,0 }, {808,797,809 ,0,0,0 ,0,0,0 }, {797,808,798 ,0,0,0 ,0,0,0 }, {807,798,808 ,0,0,0 ,0,0,0 }, {798,807,799 ,0,0,0 ,0,0,0 }, {806,799,807 ,0,0,0 ,0,0,0 }, {799,806,800 ,0,0,0 ,0,0,0 }, {805,800,806 ,0,0,0 ,0,0,0 }, {800,805,801 ,0,0,0 ,0,0,0 }, {804,801,805 ,0,0,0 ,0,0,0 }, {804,802,801 ,0,0,0 ,0,0,0 }, {803,802,804 ,0,0,0 ,0,0,0 }, {626,625,628 ,0,0,0 ,1,2,3 }, {624,628,625 ,0,0,0 ,4,3,2 }, {628,624,630 ,0,0,0 ,3,4,5 }, {627,630,624 ,0,0,0 ,6,5,4 }, {630,627,632 ,0,0,0 ,5,6,7 }, {632,627,634 ,0,0,0 ,7,6,8 }, {627,629,634 ,0,0,0 ,6,9,8 }, {631,634,629 ,0,0,0 ,10,8,9 }, {634,631,636 ,0,0,0 ,8,10,11 }, {633,636,631 ,0,0,0 ,12,11,10 }, {636,633,638 ,0,0,0 ,11,12,13 }, {635,638,633 ,0,0,0 ,14,13,12 }, {638,635,640 ,0,0,0 ,13,14,15 }, {637,640,635 ,0,0,0 ,16,15,14 }, {640,637,643 ,0,0,0 ,15,16,17 }, {639,643,637 ,0,0,0 ,18,17,16 }, {643,639,644 ,0,0,0 ,17,18,19 }, {644,639,647 ,0,0,0 ,19,18,20 }, {639,641,647 ,0,0,0 ,18,21,20 }, {642,647,641 ,0,0,0 ,22,20,21 }, {647,642,646 ,0,0,0 ,20,22,23 }, {645,646,642 ,0,0,0 ,24,23,22 }, {780,782,781 ,1,2,3 ,25,26,27 }, {778,782,780 ,4,2,1 ,28,26,25 }, {778,784,782 ,4,5,2 ,28,29,26 }, {779,784,778 ,6,5,4 ,30,29,28 }, {779,783,784 ,6,7,5 ,30,31,29 }, {777,783,779 ,8,7,6 ,32,31,30 }, {777,785,783 ,8,9,7 ,32,33,31 }, {776,785,777 ,10,9,8 ,34,33,32 }, {776,786,785 ,10,11,9 ,34,35,33 }, {775,786,776 ,12,11,10 ,36,35,34 }, {775,787,786 ,12,13,11 ,36,37,35 }, {768,787,775 ,14,13,12 ,38,37,36 }, {768,769,787 ,14,15,13 ,38,39,37 }, {774,769,768 ,16,15,14 ,40,39,38 }, {774,788,769 ,16,17,15 ,40,41,39 }, {773,788,774 ,18,17,16 ,42,41,40 }, {788,773,770 ,17,18,19 ,41,42,43 }, {770,773,789 ,19,18,20 ,43,42,44 }, {773,791,789 ,18,21,20 ,42,45,44 }, {789,791,771 ,20,21,22 ,44,45,46 }, {772,771,791 ,23,22,21 ,47,46,45 }, {790,771,772 ,24,22,23 ,48,46,47 }, {25,12,24 ,25,26,27 ,49,50,51 }, {25,13,12 ,25,28,26 ,49,52,50 }, {26,13,25 ,29,28,25 ,53,52,49 }, {26,14,13 ,29,30,28 ,53,54,52 }, {27,14,26 ,31,30,29 ,55,54,53 }, {27,15,14 ,31,32,30 ,55,56,54 }, {28,15,27 ,33,32,31 ,57,56,55 }, {28,16,15 ,33,34,32 ,57,58,56 }, {29,16,28 ,35,34,33 ,59,58,57 }, {29,17,16 ,35,36,34 ,59,60,58 }, {30,17,29 ,37,36,35 ,61,60,59 }, {30,18,17 ,37,38,36 ,61,62,60 }, {31,18,30 ,39,38,37 ,63,62,61 }, {31,19,18 ,39,40,38 ,63,64,62 }, {32,19,31 ,41,40,39 ,65,64,63 }, {32,20,19 ,41,42,40 ,65,66,64 }, {33,20,32 ,43,42,41 ,67,66,65 }, {33,21,20 ,43,44,42 ,67,68,66 }, {34,21,33 ,45,44,43 ,69,68,67 }, {34,22,21 ,45,46,44 ,69,70,68 }, {35,22,34 ,47,46,45 ,71,70,69 }, {35,23,22 ,47,48,46 ,71,72,70 }, {36,23,35 ,49,48,47 ,73,72,71 }, {36,0,23 ,49,50,48 ,73,74,72 }, {37,0,36 ,51,50,49 ,75,74,73 }, {37,1,0 ,51,52,50 ,75,76,74 }, {38,1,37 ,53,52,51 ,77,76,75 }, {38,2,1 ,53,54,52 ,77,78,76 }, {39,2,38 ,55,54,53 ,79,78,77 }, {39,3,2 ,55,56,54 ,79,80,78 }, {40,3,39 ,57,56,55 ,81,80,79 }, {40,4,3 ,57,58,56 ,81,82,80 }, {41,4,40 ,59,58,57 ,83,82,81 }, {41,5,4 ,59,60,58 ,83,84,82 }, {42,5,41 ,61,60,59 ,85,84,83 }, {42,6,5 ,61,62,60 ,85,86,84 }, {43,6,42 ,63,62,61 ,87,86,85 }, {43,7,6 ,63,64,62 ,87,88,86 }, {44,7,43 ,65,64,63 ,89,88,87 }, {44,8,7 ,65,66,64 ,89,90,88 }, {45,8,44 ,67,66,65 ,91,90,89 }, {45,9,8 ,67,68,66 ,91,92,90 }, {46,9,45 ,69,68,67 ,93,92,91 }, {46,10,9 ,69,70,68 ,93,94,92 }, {47,10,46 ,71,70,69 ,95,94,93 }, {47,11,10 ,71,72,70 ,95,96,94 }, {24,11,47 ,27,72,71 ,97,96,95 }, {24,12,11 ,27,26,72 ,97,98,96 }, {49,29,48 ,73,35,74 ,99,59,100 }, {49,30,29 ,73,37,35 ,99,61,59 }, {50,30,49 ,75,37,73 ,101,61,99 }, {50,31,30 ,75,39,37 ,101,63,61 }, {51,31,50 ,76,39,75 ,102,63,101 }, {51,32,31 ,76,41,39 ,102,65,63 }, {52,32,51 ,77,41,76 ,103,65,102 }, {52,33,32 ,77,43,41 ,103,67,65 }, {53,33,52 ,78,43,77 ,104,67,103 }, {53,34,33 ,78,45,43 ,104,69,67 }, {54,34,53 ,79,45,78 ,105,69,104 }, {54,35,34 ,79,47,45 ,105,71,69 }, {55,35,54 ,80,47,79 ,106,71,105 }, {55,36,35 ,80,49,47 ,106,73,71 }, {56,36,55 ,81,49,80 ,107,73,106 }, {56,37,36 ,81,51,49 ,107,75,73 }, {57,37,56 ,82,51,81 ,108,75,107 }, {57,38,37 ,82,53,51 ,108,77,75 }, {58,38,57 ,83,53,82 ,109,77,108 }, {58,39,38 ,83,55,53 ,109,79,77 }, {59,39,58 ,84,55,83 ,110,79,109 }, {59,40,39 ,84,57,55 ,110,81,79 }, {60,40,59 ,85,57,84 ,111,81,110 }, {60,41,40 ,85,59,57 ,111,83,81 }, {61,41,60 ,86,59,85 ,112,83,111 }, {61,42,41 ,86,61,59 ,112,85,83 }, {62,42,61 ,87,61,86 ,113,85,112 }, {62,43,42 ,87,63,61 ,113,87,85 }, {63,43,62 ,88,63,87 ,114,87,113 }, {63,44,43 ,88,65,63 ,114,89,87 }, {64,44,63 ,89,65,88 ,115,89,114 }, {64,45,44 ,89,67,65 ,115,91,89 }, {65,45,64 ,90,67,89 ,116,91,115 }, 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,589,571,590 ,643,629,644 }, {552,400,397 ,589,573,571 ,643,630,629 }, {540,399,526 ,590,569,591 ,645,627,646 }, {540,397,399 ,590,571,569 ,645,629,627 }, {526,385,527 ,591,567,592 ,647,648,649 }, {526,399,385 ,591,569,567 ,647,627,648 }, {392,566,564 ,580,586,593 ,634,650,651 }, {392,393,566 ,580,579,586 ,634,633,650 }, {396,564,548 ,582,593,594 ,635,652,653 }, {396,392,564 ,582,580,593 ,635,634,652 }, {395,548,546 ,584,594,595 ,636,654,655 }, {395,396,548 ,584,582,594 ,636,635,654 }, {391,546,538 ,540,595,596 ,612,656,657 }, {391,395,546 ,540,584,595 ,612,636,656 }, {394,538,523 ,538,596,597 ,611,658,659 }, {394,391,538 ,538,540,596 ,611,612,658 }, {378,523,522 ,542,597,598 ,613,660,661 }, {378,394,523 ,542,538,597 ,613,611,660 }, {387,487,486 ,557,599,600 ,620,662,663 }, {387,381,487 ,557,554,599 ,620,619,662 }, {390,486,498 ,559,600,601 ,621,664,665 }, {390,387,486 ,559,557,600 ,621,620,664 }, {389,498,500 ,561,601,602 ,622,666,667 }, {389,390,498 ,561,559,601 ,622,621,666 }, 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,690,689,691 }, {492,508,507 ,617,618,619 ,693,694,695 }, {492,493,508 ,617,616,618 ,693,691,694 }, {507,509,506 ,619,620,621 ,695,696,697 }, {507,508,509 ,619,618,620 ,695,694,696 }, {506,521,520 ,621,622,623 ,698,699,700 }, {506,509,521 ,621,620,622 ,698,696,699 }, {520,536,535 ,623,624,625 ,701,702,703 }, {520,521,536 ,623,622,624 ,701,704,702 }, {535,537,534 ,625,626,627 ,705,706,707 }, {535,536,537 ,625,624,626 ,705,708,706 }, {534,545,544 ,627,628,629 ,709,710,711 }, {534,537,545 ,627,626,628 ,709,706,710 }, {544,561,560 ,629,630,631 ,711,712,713 }, {544,545,561 ,629,628,630 ,711,710,712 }, {560,562,559 ,631,632,633 ,714,715,716 }, {560,561,562 ,631,630,632 ,714,712,715 }, {559,563,558 ,633,634,635 ,717,718,719 }, {559,562,563 ,633,632,634 ,717,715,718 }, {563,555,558 ,634,636,635 ,718,720,719 }, {563,556,555 ,634,637,636 ,718,721,720 }, {556,554,555 ,637,638,636 ,721,722,720 }, {556,557,554 ,637,639,638 ,721,723,722 }, {557,542,554 ,639,640,638 ,723,724,722 }, {557,543,542 ,639,641,640 ,723,725,724 }, {543,531,542 ,641,642,640 ,725,726,724 }, {543,532,531 ,641,643,642 ,725,727,726 }, {532,530,531 ,643,644,642 ,727,728,726 }, {532,533,530 ,643,645,644 ,727,729,728 }, {533,518,530 ,645,646,644 ,729,730,728 }, {533,519,518 ,645,647,646 ,729,731,730 }, {519,503,518 ,647,648,646 ,731,732,733 }, {519,504,503 ,647,649,648 ,731,734,732 }, {504,502,503 ,649,650,648 ,734,735,736 }, {504,505,502 ,649,651,650 ,734,737,735 }, {505,490,502 ,651,652,650 ,737,738,739 }, {505,491,490 ,651,653,652 ,737,740,738 }, {491,475,490 ,653,654,652 ,740,741,742 }, {491,476,475 ,653,655,654 ,740,743,741 }, {476,474,475 ,655,656,654 ,743,744,741 }, {476,477,474 ,655,657,656 ,743,745,744 }, {477,479,474 ,657,610,656 ,745,746,747 }, {477,481,479 ,657,613,610 ,745,687,746 }, {377,533,532 ,658,659,660 ,748,749,750 }, {377,376,533 ,658,661,659 ,748,751,749 }, {376,519,533 ,661,662,659 ,751,752,749 }, {376,375,519 ,661,663,662 ,751,753,752 }, {375,504,519 ,663,664,662 ,753,754,752 }, 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,778,779,780 }, {521,363,362 ,687,686,688 ,778,781,779 }, {536,361,537 ,689,690,691 ,780,782,783 }, {536,362,361 ,689,688,690 ,780,779,782 }, {537,360,545 ,691,692,693 ,783,784,785 }, {537,361,360 ,691,690,692 ,783,782,784 }, {545,359,561 ,693,694,695 ,785,786,787 }, {545,360,359 ,693,692,694 ,785,784,786 }, {561,358,562 ,695,696,697 ,787,788,789 }, {561,359,358 ,695,694,696 ,787,786,788 }, {562,357,563 ,697,698,699 ,789,790,791 }, {562,358,357 ,697,696,698 ,789,788,790 }, {357,556,563 ,698,700,699 ,790,792,791 }, {357,356,556 ,698,701,700 ,790,793,792 }, {356,557,556 ,701,702,700 ,793,794,792 }, {356,355,557 ,701,703,702 ,793,795,794 }, {355,543,557 ,703,704,702 ,795,796,794 }, {355,354,543 ,703,705,704 ,795,797,796 }, {354,532,543 ,705,660,704 ,797,750,796 }, {354,377,532 ,705,658,660 ,797,748,750 }, {352,377,353 ,145,145,145 ,798,748,799 }, {352,376,377 ,145,145,145 ,798,751,748 }, {351,376,352 ,145,145,145 ,800,751,798 }, {351,375,376 ,145,145,145 ,800,753,751 }, {351,374,375 ,145,145,145 ,800,755,753 }, {351,350,374 ,145,145,145 ,800,801,755 }, {350,373,374 ,145,145,145 ,801,757,755 }, {350,349,373 ,145,145,145 ,801,802,757 }, {349,372,373 ,145,145,145 ,802,759,757 }, {349,348,372 ,145,145,145 ,802,803,759 }, {348,371,372 ,145,145,145 ,803,761,759 }, {348,347,371 ,145,145,145 ,803,804,761 }, {347,370,371 ,145,145,145 ,804,763,761 }, {347,346,370 ,145,145,145 ,804,805,763 }, {346,369,370 ,145,145,145 ,805,765,763 }, {346,345,369 ,145,145,145 ,805,806,765 }, {369,344,368 ,145,145,145 ,765,807,766 }, {369,345,344 ,145,145,145 ,765,806,807 }, {368,343,367 ,145,145,145 ,766,808,768 }, {368,344,343 ,145,145,145 ,766,807,808 }, {367,342,366 ,145,145,145 ,768,809,770 }, {367,343,342 ,145,145,145 ,768,808,809 }, {366,341,365 ,145,145,145 ,770,810,772 }, {366,342,341 ,145,145,145 ,770,809,810 }, {365,340,364 ,145,145,145 ,772,811,774 }, {365,341,340 ,145,145,145 ,772,810,811 }, {364,339,363 ,145,145,145 ,774,812,776 }, {364,340,339 ,145,145,145 ,774,811,812 }, 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,726,725,727 ,811,836,837 }, {339,314,338 ,728,729,730 ,813,838,814 }, {339,315,314 ,728,727,729 ,813,839,838 }, {338,313,337 ,730,525,731 ,814,840,815 }, {338,314,313 ,730,729,525 ,814,838,840 }, {337,312,336 ,731,732,733 ,815,841,816 }, {337,313,312 ,731,525,732 ,815,840,841 }, {336,311,335 ,733,734,530 ,816,842,817 }, {336,312,311 ,733,732,734 ,816,841,842 }, {335,310,334 ,530,735,736 ,817,843,818 }, {335,311,310 ,530,734,735 ,817,842,843 }, {334,309,333 ,736,280,280 ,818,844,819 }, {334,310,309 ,736,735,280 ,818,843,844 }, {309,332,333 ,280,737,280 ,844,820,819 }, {309,308,332 ,280,738,737 ,844,845,820 }, {308,331,332 ,738,534,737 ,845,821,820 }, {308,307,331 ,738,739,534 ,845,846,821 }, {307,330,331 ,739,740,534 ,846,822,821 }, {307,306,330 ,739,741,740 ,846,847,822 }, {306,353,330 ,741,707,740 ,847,799,822 }, {306,329,353 ,741,498,707 ,847,823,799 }, {298,329,295 ,742,743,744 ,848,823,849 }, {298,328,329 ,742,745,743 ,848,824,823 }, {282,328,298 ,746,745,742 ,850,824,848 }, 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,837,861,862 }, {315,316,292 ,770,768,769 ,837,836,861 }, {314,289,303 ,772,771,773 ,838,863,864 }, {314,315,289 ,772,770,771 ,838,839,863 }, {313,303,301 ,774,773,775 ,840,864,865 }, {313,314,303 ,774,772,773 ,840,838,864 }, {312,301,304 ,776,775,777 ,841,865,866 }, {312,313,301 ,776,774,775 ,841,840,865 }, {311,304,305 ,778,777,779 ,842,866,867 }, {311,312,304 ,778,776,777 ,842,841,866 }, {310,305,302 ,780,779,781 ,843,867,868 }, {310,311,305 ,780,778,779 ,843,842,867 }, {309,302,297 ,782,781,783 ,844,868,869 }, {309,310,302 ,782,780,781 ,844,843,868 }, {296,309,297 ,784,782,783 ,870,844,869 }, {296,308,309 ,784,785,782 ,870,845,844 }, {300,308,296 ,786,785,784 ,871,845,870 }, {300,307,308 ,786,787,785 ,871,846,845 }, {299,307,300 ,788,787,786 ,872,846,871 }, {299,306,307 ,788,789,787 ,872,847,846 }, {295,306,299 ,744,789,788 ,849,847,872 }, {295,329,306 ,744,743,789 ,849,823,847 }, {558,302,559 ,790,781,791 ,873,868,874 }, {558,297,302 ,790,783,781 ,873,869,868 }, {559,305,560 ,791,779,792 ,874,867,875 }, {559,302,305 ,791,781,779 ,874,868,867 }, {560,304,544 ,792,777,793 ,875,866,876 }, {560,305,304 ,792,779,777 ,875,867,866 }, {544,301,534 ,793,775,794 ,876,865,877 }, {544,304,301 ,793,777,775 ,876,866,865 }, {534,303,535 ,794,773,795 ,877,864,878 }, {534,301,303 ,794,775,773 ,877,865,864 }, {535,289,520 ,795,771,796 ,878,879,880 }, {535,303,289 ,795,773,771 ,878,864,879 }, {296,558,555 ,784,790,797 ,870,873,881 }, {296,297,558 ,784,783,790 ,870,869,873 }, {300,555,554 ,786,797,798 ,871,881,882 }, {300,296,555 ,786,784,797 ,871,870,881 }, {299,554,542 ,788,798,799 ,872,882,883 }, {299,300,554 ,788,786,798 ,872,871,882 }, {295,542,531 ,744,799,800 ,849,883,884 }, {295,299,542 ,744,788,799 ,849,872,883 }, {298,531,530 ,742,800,801 ,848,884,885 }, {298,295,531 ,742,744,800 ,848,849,884 }, {282,530,518 ,746,801,802 ,850,885,886 }, {282,298,530 ,746,742,801 ,850,848,885 }, {291,479,478 ,761,803,804 ,857,887,888 }, {291,285,479 ,761,758,803 ,857,856,887 }, 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,899,902,900 }, {486,499,498 ,815,471,816 ,903,904,905 }, {486,489,499 ,815,469,471 ,903,906,904 }, {498,501,500 ,816,473,817 ,907,908,909 }, {498,499,501 ,816,471,473 ,907,910,908 }, {500,513,512 ,817,475,818 ,911,912,913 }, {500,501,513 ,817,473,475 ,911,914,912 }, {512,517,516 ,818,477,819 ,915,916,917 }, {512,513,517 ,818,475,477 ,915,918,916 }, {516,528,527 ,819,479,820 ,919,920,921 }, {516,517,528 ,819,477,479 ,919,922,920 }, {527,529,526 ,820,481,821 ,923,924,925 }, {527,528,529 ,820,479,481 ,923,926,924 }, {526,541,540 ,821,483,822 ,927,928,929 }, {526,529,541 ,821,481,483 ,927,930,928 }, {540,553,552 ,822,485,823 ,931,932,933 }, {540,541,553 ,822,483,485 ,931,934,932 }, {552,551,550 ,823,487,824 ,935,936,937 }, {552,553,551 ,823,485,487 ,935,938,936 }, {550,568,567 ,824,489,825 ,939,940,941 }, {550,551,568 ,824,487,489 ,939,942,940 }, {567,569,566 ,825,491,826 ,943,944,945 }, {567,568,569 ,825,489,491 ,943,946,944 }, {569,564,566 ,491,827,826 ,947,948,949 }, {569,565,564 ,491,492,827 ,947,950,948 }, {565,548,564 ,492,828,827 ,951,952,953 }, {565,549,548 ,492,494,828 ,951,954,952 }, {549,546,548 ,494,829,828 ,955,956,957 }, {549,547,546 ,494,496,829 ,955,958,956 }, {547,538,546 ,496,830,829 ,959,960,961 }, {547,539,538 ,496,452,830 ,959,962,960 }, {539,523,538 ,452,831,830 ,963,964,965 }, {539,524,523 ,452,451,831 ,963,966,964 }, {524,522,523 ,451,832,831 ,967,968,969 }, {524,525,522 ,451,454,832 ,967,970,968 }, {525,514,522 ,454,833,832 ,971,972,973 }, {525,515,514 ,454,456,833 ,971,974,972 }, {515,510,514 ,456,834,833 ,975,976,977 }, {515,511,510 ,456,458,834 ,975,978,976 }, {511,494,510 ,458,835,834 ,979,980,981 }, {511,495,494 ,458,460,835 ,979,982,980 }, {495,496,494 ,460,836,835 ,983,984,985 }, {495,497,496 ,460,462,836 ,983,986,984 }, {497,484,496 ,462,837,836 ,987,988,989 }, {497,485,484 ,462,464,837 ,987,990,988 }, {485,487,484 ,464,814,837 ,991,992,993 }, {485,488,487 ,464,466,814 ,991,994,992 }, {646,667,647 ,303,838,839 ,995,996,997 }, 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,859,855,856 ,1030,1023,1031 }, {662,634,636 ,857,270,858 ,1033,1034,1035 }, {662,657,634 ,857,861,270 ,1033,1036,1034 }, {633,660,635 ,290,859,860 ,1037,1030,1038 }, {633,655,660 ,290,862,859 ,1037,1039,1030 }, {657,632,634 ,861,863,270 ,1036,1040,1041 }, {657,658,632 ,861,864,863 ,1036,1042,1040 }, {631,655,633 ,865,862,290 ,1043,1039,1044 }, {631,656,655 ,865,866,862 ,1043,1045,1039 }, {658,630,632 ,864,274,863 ,1042,1046,1047 }, {658,651,630 ,864,867,274 ,1042,1048,1046 }, {629,656,631 ,732,866,865 ,1049,1045,1050 }, {629,648,656 ,732,868,866 ,1049,1051,1045 }, {651,628,630 ,867,869,274 ,1048,1052,1053 }, {651,652,628 ,867,870,869 ,1048,1054,1052 }, {627,648,629 ,871,868,732 ,1055,1051,1056 }, {627,649,648 ,871,872,868 ,1055,1057,1051 }, {652,626,628 ,870,873,869 ,1054,1058,1059 }, {652,653,626 ,870,874,873 ,1054,1060,1058 }, {624,649,627 ,875,872,871 ,1061,1057,1062 }, {624,650,649 ,875,876,872 ,1061,1063,1057 }, {653,625,626 ,874,280,873 ,1060,1064,1065 }, {653,654,625 ,874,877,280 ,1060,1066,1064 }, {625,650,624 ,280,876,875 ,1067,1063,1068 }, {625,654,650 ,280,877,876 ,1067,1066,1063 }, {695,652,651 ,878,870,867 ,1069,1054,1048 }, {695,672,652 ,878,879,870 ,1069,1070,1054 }, {672,653,652 ,879,874,870 ,1070,1060,1054 }, {672,673,653 ,879,880,874 ,1070,1071,1060 }, {673,654,653 ,880,877,874 ,1071,1066,1060 }, {673,674,654 ,880,881,877 ,1071,1072,1066 }, {654,675,650 ,877,882,876 ,1066,1073,1063 }, {654,674,675 ,877,881,882 ,1066,1072,1073 }, {650,676,649 ,876,883,872 ,1063,1074,1057 }, {650,675,676 ,876,882,883 ,1063,1073,1074 }, {649,677,648 ,872,884,868 ,1057,1075,1051 }, {649,676,677 ,872,883,884 ,1057,1074,1075 }, {648,678,656 ,868,885,866 ,1051,1076,1045 }, {648,677,678 ,868,884,885 ,1051,1075,1076 }, {656,679,655 ,866,886,862 ,1045,1077,1039 }, {656,678,679 ,866,885,886 ,1045,1076,1077 }, {655,680,660 ,862,887,859 ,1039,1078,1030 }, {655,679,680 ,862,886,887 ,1039,1077,1078 }, {660,681,659 ,859,888,855 ,1030,1079,1023 }, {660,680,681 ,859,887,888 ,1030,1078,1079 }, {659,682,666 ,855,889,851 ,1023,1080,1017 }, {659,681,682 ,855,888,889 ,1023,1079,1080 }, {666,683,665 ,851,890,850 ,1017,1081,1014 }, {666,682,683 ,851,889,890 ,1017,1080,1081 }, {665,684,664 ,850,891,845 ,1014,1082,1005 }, {665,683,684 ,850,890,891 ,1014,1081,1082 }, {664,685,663 ,845,892,843 ,1005,1083,1002 }, {664,684,685 ,845,891,892 ,1005,1082,1083 }, {663,686,668 ,843,893,840 ,1002,1084,998 }, {663,685,686 ,843,892,893 ,1002,1083,1084 }, {686,667,668 ,893,838,840 ,1084,996,998 }, {686,687,667 ,893,894,838 ,1084,1085,996 }, {687,669,667 ,894,841,838 ,1085,1000,996 }, {687,688,669 ,894,895,841 ,1085,1086,1000 }, {688,670,669 ,895,847,841 ,1086,1009,1000 }, {688,689,670 ,895,896,847 ,1086,1087,1009 }, {689,671,670 ,896,848,847 ,1087,1012,1009 }, {689,690,671 ,896,897,848 ,1087,1088,1012 }, {690,661,671 ,897,853,848 ,1088,1021,1012 }, {690,691,661 ,897,898,853 ,1088,1089,1021 }, {691,662,661 ,898,857,853 ,1089,1090,1021 }, {691,692,662 ,898,899,857 ,1089,1091,1090 }, {692,657,662 ,899,861,857 ,1092,1036,1033 }, {692,693,657 ,899,900,861 ,1092,1093,1036 }, {693,658,657 ,900,864,861 ,1093,1042,1036 }, {693,694,658 ,900,901,864 ,1093,1094,1042 }, {694,651,658 ,901,867,864 ,1094,1048,1042 }, {694,695,651 ,901,878,867 ,1094,1069,1048 }, {697,765,696 ,902,903,904 ,1095,1096,1097 }, {697,764,765 ,902,905,903 ,1095,1098,1096 }, {763,672,764 ,906,879,905 ,1099,1070,1098 }, {763,673,672 ,906,880,879 ,1099,1071,1070 }, {699,763,698 ,907,906,908 ,1100,1099,1101 }, {699,762,763 ,907,909,906 ,1100,1102,1099 }, {675,762,761 ,882,909,910 ,1073,1102,1103 }, {675,674,762 ,882,881,909 ,1073,1072,1102 }, {760,701,700 ,911,912,913 ,1104,1105,1106 }, {760,761,701 ,911,910,912 ,1104,1103,1105 }, {677,760,759 ,884,911,914 ,1075,1104,1107 }, {677,676,760 ,884,883,911 ,1075,1074,1104 }, {758,703,702 ,915,916,917 ,1108,1109,1110 }, {758,759,703 ,915,914,916 ,1108,1107,1109 }, {679,758,757 ,886,915,918 ,1077,1108,1111 }, {679,678,758 ,886,885,915 ,1077,1076,1108 }, {756,705,704 ,919,920,921 ,1112,1113,1114 }, {756,757,705 ,919,918,920 ,1112,1111,1113 }, {680,755,681 ,887,922,888 ,1078,1115,1079 }, {680,756,755 ,887,919,922 ,1078,1112,1115 }, {755,706,754 ,922,923,924 ,1115,1116,1117 }, {755,707,706 ,922,925,923 ,1115,1118,1116 }, {682,753,683 ,889,926,890 ,1080,1119,1081 }, {682,754,753 ,889,924,926 ,1080,1117,1119 }, {753,708,752 ,926,927,928 ,1119,1120,1121 }, {753,709,708 ,926,929,927 ,1119,1122,1120 }, {684,751,685 ,891,930,892 ,1082,1123,1083 }, {684,752,751 ,891,928,930 ,1082,1121,1123 }, {751,710,750 ,930,931,932 ,1123,1124,1125 }, {751,711,710 ,930,933,931 ,1123,1126,1124 }, {750,687,686 ,932,894,893 ,1125,1085,1084 }, {750,749,687 ,932,934,894 ,1125,1127,1085 }, {713,748,749 ,935,936,934 ,1128,1129,1127 }, {713,712,748 ,935,937,936 ,1128,1130,1129 }, {748,689,688 ,936,896,895 ,1129,1087,1086 }, {748,747,689 ,936,938,896 ,1129,1131,1087 }, {715,746,747 ,939,940,938 ,1132,1133,1131 }, {715,714,746 ,939,941,940 ,1132,1134,1133 }, {746,691,690 ,940,898,897 ,1133,1089,1088 }, {746,745,691 ,940,942,898 ,1133,1135,1089 }, {717,744,745 ,943,944,942 ,1136,1137,1135 }, {717,716,744 ,943,945,944 ,1136,1138,1137 }, {767,692,744 ,946,899,944 ,1139,1092,1140 }, {767,693,692 ,946,900,899 ,1139,1093,1092 }, {719,767,718 ,947,946,948 ,1141,1139,1142 }, {719,766,767 ,947,949,946 ,1141,1143,1139 }, {765,694,766 ,903,901,949 ,1096,1094,1143 }, {765,695,694 ,903,878,901 ,1096,1069,1094 }, {721,696,720 ,950,904,951 ,1144,1097,1145 }, {721,697,696 ,950,902,904 ,1144,1095,1097 }, {768,764,774 ,14,905,16 ,1146,1098,0 }, {768,763,764 ,14,906,905 ,1146,1099,1098 }, {723,698,722 ,952,908,953 ,1147,1101,1148 }, {723,699,698 ,952,907,908 ,1147,1100,1101 }, {761,775,776 ,910,12,10 ,1103,1149,1150 }, {761,762,775 ,910,909,12 ,1103,1102,1149 }, {700,725,724 ,913,954,955 ,1106,1151,1152 }, {700,701,725 ,913,912,954 ,1106,1105,1151 }, {759,777,779 ,914,8,6 ,1107,1153,1154 }, {759,760,777 ,914,911,8 ,1107,1104,1153 }, {702,727,726 ,917,956,957 ,1110,1155,1156 }, {702,703,727 ,917,916,956 ,1110,1109,1155 }, {757,778,780 ,918,4,1 ,1111,1157,1158 }, {757,758,778 ,918,915,4 ,1111,1108,1157 }, {704,729,728 ,921,958,959 ,1114,1159,1160 }, {704,705,729 ,921,920,958 ,1114,1113,1159 }, {755,781,782 ,922,3,2 ,1115,1161,1162 }, {755,756,781 ,922,919,3 ,1115,1112,1161 }, {706,731,730 ,923,960,961 ,1116,1163,1164 }, {706,707,731 ,923,925,960 ,1116,1118,1163 }, {753,784,783 ,926,5,7 ,1119,1165,1166 }, {753,754,784 ,926,924,5 ,1119,1117,1165 }, {708,733,732 ,927,962,963 ,1120,1167,1168 }, {708,709,733 ,927,929,962 ,1120,1122,1167 }, {751,785,786 ,930,9,11 ,1123,1169,1170 }, {751,752,785 ,930,928,9 ,1123,1121,1169 }, {710,735,734 ,931,964,965 ,1124,1171,1172 }, {710,711,735 ,931,933,964 ,1124,1126,1171 }, {769,750,787 ,15,932,13 ,1173,1125,1174 }, {769,749,750 ,15,934,932 ,1173,1127,1125 }, {737,713,736 ,966,935,967 ,1175,1128,1176 }, {737,712,713 ,966,937,935 ,1175,1130,1128 }, {770,748,788 ,19,936,17 ,1177,1129,1178 }, {770,747,748 ,19,938,936 ,1177,1131,1129 }, {739,715,738 ,968,939,969 ,1179,1132,1180 }, {739,714,715 ,968,941,939 ,1179,1134,1132 }, {771,746,789 ,22,940,20 ,1181,1133,1182 }, {771,745,746 ,22,942,940 ,1181,1135,1133 }, {741,717,740 ,970,943,971 ,1183,1136,1184 }, {741,716,717 ,970,945,943 ,1183,1185,1136 }, {772,744,790 ,23,944,24 ,1186,1140,1187 }, {772,767,744 ,23,946,944 ,1186,1139,1140 }, {743,718,742 ,972,948,973 ,1188,1142,1189 }, {743,719,718 ,972,947,948 ,1188,1141,1142 }, {773,766,791 ,18,949,21 ,1190,1143,1191 }, {773,765,766 ,18,903,949 ,1190,1096,1143 }, {774,720,773 ,16,951,18 ,0,1145,1192 }, {774,721,720 ,16,950,951 ,0,1144,1145 }, {775,722,768 ,12,953,14 ,1193,1148,1194 }, {775,723,722 ,12,952,953 ,1193,1147,1148 }, {724,776,777 ,955,10,8 ,1152,1195,1196 }, {724,725,776 ,955,954,10 ,1152,1151,1195 }, {726,779,778 ,957,6,4 ,1156,1197,1198 }, {726,727,779 ,957,956,6 ,1156,1155,1197 }, {728,780,781 ,959,1,3 ,1160,1199,1200 }, {728,729,780 ,959,958,1 ,1160,1159,1199 }, {730,782,784 ,961,2,5 ,1164,1201,1202 }, {730,731,782 ,961,960,2 ,1164,1163,1201 }, {732,783,785 ,963,7,9 ,1168,1203,1204 }, {732,733,783 ,963,962,7 ,1168,1167,1203 }, {734,786,787 ,965,11,13 ,1172,1205,1206 }, {734,735,786 ,965,964,11 ,1172,1171,1205 }, {788,736,769 ,17,967,15 ,1178,1176,1173 }, {788,737,736 ,17,966,967 ,1178,1175,1176 }, {789,738,770 ,20,969,19 ,1182,1180,1177 }, {789,739,738 ,20,968,969 ,1182,1179,1180 }, {790,740,771 ,24,971,22 ,1207,1184,1181 }, {790,741,740 ,24,970,971 ,1207,1208,1184 }, {791,742,772 ,21,973,23 ,1209,1189,1186 }, {791,743,742 ,21,972,973 ,1209,1188,1189 }, {764,695,765 ,905,878,903 ,1098,1069,1096 }, {764,672,695 ,905,879,878 ,1098,1070,1069 }, {762,673,763 ,909,880,906 ,1102,1071,1099 }, {762,674,673 ,909,881,880 ,1102,1072,1071 }, {676,761,760 ,883,910,911 ,1074,1103,1104 }, {676,675,761 ,883,882,910 ,1074,1073,1103 }, {678,759,758 ,885,914,915 ,1076,1107,1108 }, {678,677,759 ,885,884,914 ,1076,1075,1107 }, {680,757,756 ,887,918,919 ,1078,1111,1112 }, {680,679,757 ,887,886,918 ,1078,1077,1111 }, {682,755,754 ,889,922,924 ,1080,1115,1117 }, {682,681,755 ,889,888,922 ,1080,1079,1115 }, {684,753,752 ,891,926,928 ,1082,1119,1121 }, {684,683,753 ,891,890,926 ,1082,1081,1119 }, {686,751,750 ,893,930,932 ,1084,1123,1125 }, {686,685,751 ,893,892,930 ,1084,1083,1123 }, {748,687,749 ,936,894,934 ,1129,1085,1127 }, {748,688,687 ,936,895,894 ,1129,1086,1085 }, {746,689,747 ,940,896,938 ,1133,1087,1131 }, {746,690,689 ,940,897,896 ,1133,1088,1087 }, {744,691,745 ,944,898,942 ,1210,1089,1135 }, {744,692,691 ,944,899,898 ,1210,1091,1089 }, {766,693,767 ,949,900,946 ,1143,1093,1139 }, {766,694,693 ,949,901,900 ,1143,1094,1093 }, {696,773,720 ,315,315,315 ,1097,1192,1145 }, {696,765,773 ,315,315,315 ,1097,1096,1192 }, {774,697,721 ,974,974,975 ,1211,1095,1144 }, {774,764,697 ,974,976,974 ,1211,1098,1095 }, {775,699,723 ,860,860,860 ,1212,1100,1147 }, {775,762,699 ,860,860,860 ,1212,1102,1100 }, {703,779,727 ,977,977,977 ,1213,1214,1215 }, {703,759,779 ,977,977,977 ,1213,1216,1214 }, {707,782,731 ,978,978,979 ,1118,1217,1163 }, {707,755,782 ,978,980,978 ,1118,1115,1217 }, {784,706,730 ,981,981,982 ,1218,1116,1164 }, {784,754,706 ,981,983,981 ,1218,1117,1116 }, {709,783,733 ,984,984,984 ,1122,1219,1167 }, {709,753,783 ,984,984,984 ,1122,1119,1219 }, {785,708,732 ,985,985,986 ,1220,1221,1222 }, {785,752,708 ,985,987,985 ,1220,1223,1221 }, {711,786,735 ,988,988,989 ,1126,1224,1171 }, {711,751,786 ,988,990,988 ,1126,1123,1224 }, {787,710,734 ,858,858,858 ,1174,1124,1172 }, {787,750,710 ,858,858,858 ,1174,1125,1124 }, {713,769,736 ,991,991,992 ,1128,1173,1176 }, {713,749,769 ,991,993,991 ,1128,1127,1173 }, {788,712,737 ,994,994,995 ,1178,1130,1175 }, {788,748,712 ,994,996,994 ,1178,1129,1130 }, {715,770,738 ,322,322,322 ,1132,1177,1180 }, {715,747,770 ,322,322,322 ,1132,1131,1177 }, {789,714,739 ,997,997,998 ,1182,1134,1179 }, {789,746,714 ,997,999,997 ,1182,1133,1134 }, {717,771,740 ,1000,1000,1001 ,1136,1225,1184 }, {717,745,771 ,1000,1002,1000 ,1136,1135,1225 }, {790,716,741 ,280,280,280 ,1226,1227,1228 }, {790,744,716 ,280,280,280 ,1226,1229,1227 }, {718,772,742 ,1003,1003,1004 ,1142,1186,1189 }, {718,767,772 ,1003,1005,1003 ,1142,1139,1186 }, {791,719,743 ,1006,1006,1007 ,1230,1141,1188 }, {791,766,719 ,1006,1008,1006 ,1230,1143,1141 }, {705,780,729 ,1009,1009,1010 ,1113,1231,1159 }, {705,757,780 ,1009,1011,1009 ,1113,1111,1231 }, {781,704,728 ,303,303,303 ,1232,1114,1160 }, {781,756,704 ,303,303,303 ,1232,1112,1114 }, {778,702,726 ,1012,1012,1013 ,1233,1110,1156 }, {778,758,702 ,1012,1014,1012 ,1233,1108,1110 }, {777,700,724 ,1015,1015,1016 ,1196,1106,1152 }, {777,760,700 ,1015,1017,1015 ,1196,1104,1106 }, {701,776,725 ,1018,1018,1019 ,1105,1234,1151 }, {701,761,776 ,1018,1020,1018 ,1105,1103,1234 }, {698,768,722 ,1021,1021,1022 ,1101,1235,1148 }, {698,763,768 ,1021,1023,1021 ,1101,1099,1235 }, {838,840,839 ,145,145,145 ,1236,1237,1238 }, {840,838,841 ,145,145,145 ,1237,1236,1239 }, {837,841,838 ,145,145,145 ,1240,1239,1236 }, {841,837,842 ,145,145,145 ,1239,1240,1241 }, {836,842,837 ,145,145,145 ,1242,1241,1240 }, {842,836,843 ,145,145,145 ,1241,1242,1243 }, {835,843,836 ,145,145,145 ,1244,1243,1242 }, {843,835,844 ,145,145,145 ,1243,1244,1245 }, {834,844,835 ,145,145,145 ,1246,1245,1244 }, {844,834,845 ,145,145,145 ,1245,1246,1247 }, {833,845,834 ,145,145,145 ,1248,1247,1246 }, {845,833,846 ,145,145,145 ,1247,1248,1249 }, {832,846,833 ,145,145,145 ,1250,1249,1248 }, {846,832,847 ,145,145,145 ,1249,1250,1251 }, {831,847,832 ,145,145,145 ,1252,1251,1250 }, {847,831,848 ,145,145,145 ,1251,1252,1253 }, {830,848,831 ,145,145,145 ,1254,1253,1252 }, {848,830,825 ,145,145,145 ,1253,1254,1255 }, {829,825,830 ,145,145,145 ,1256,1255,1254 }, {825,829,826 ,145,145,145 ,1255,1256,1257 }, {828,826,829 ,145,145,145 ,1258,1257,1256 }, {827,826,828 ,145,145,145 ,1259,1257,1258 }, {18,858,17 ,38,1024,36 ,62,1260,60 }, {18,859,858 ,38,1025,1024 ,62,1261,1260 }, {859,278,858 ,1025,1026,1024 ,1261,218,1260 }, {859,277,278 ,1025,1027,1026 ,1261,216,218 }, {19,859,18 ,40,1025,38 ,64,1261,62 }, {19,860,859 ,40,1028,1025 ,64,1262,1261 }, {860,277,859 ,1028,1027,1025 ,1262,216,1261 }, {860,276,277 ,1028,1029,1027 ,1262,214,216 }, {20,860,19 ,42,1028,40 ,66,1262,64 }, {20,861,860 ,42,1030,1028 ,66,1263,1262 }, {861,276,860 ,1030,1029,1028 ,1263,214,1262 }, {861,145,276 ,1030,1031,1029 ,1263,211,214 }, {21,861,20 ,44,1030,42 ,68,1263,66 }, {21,862,861 ,44,1032,1030 ,68,1264,1263 }, {862,145,861 ,1032,1031,1030 ,1264,211,1263 }, {862,275,145 ,1032,1033,1031 ,1264,209,211 }, {22,862,21 ,46,1032,44 ,70,1264,68 }, {22,863,862 ,46,1034,1032 ,70,1265,1264 }, {863,275,862 ,1034,1033,1032 ,1265,209,1264 }, {863,274,275 ,1034,1035,1033 ,1265,206,209 }, {23,863,22 ,48,1034,46 ,72,1265,70 }, {23,864,863 ,48,1036,1034 ,72,1266,1265 }, {864,274,863 ,1036,1035,1034 ,1266,206,1265 }, {864,273,274 ,1036,1037,1035 ,1266,204,206 }, {0,864,23 ,50,1036,48 ,74,1266,72 }, {0,865,864 ,50,1038,1036 ,74,1267,1266 }, {865,273,864 ,1038,1037,1036 ,1267,204,1266 }, {865,144,273 ,1038,1039,1037 ,1267,199,204 }, {1,865,0 ,52,1038,50 ,76,1267,74 }, {1,866,865 ,52,1040,1038 ,76,1268,1267 }, {866,144,865 ,1040,1039,1038 ,1268,199,1267 }, {866,155,144 ,1040,1041,1039 ,1268,202,199 }, {2,866,1 ,54,1040,52 ,78,1268,76 }, {2,867,866 ,54,1042,1040 ,78,1269,1268 }, {867,155,866 ,1042,1041,1040 ,1269,202,1268 }, {867,154,155 ,1042,1043,1041 ,1269,255,202 }, {3,867,2 ,56,1042,54 ,80,1269,78 }, {3,868,867 ,56,1044,1042 ,80,1270,1269 }, {868,154,867 ,1044,1043,1042 ,1270,255,1269 }, {868,153,154 ,1044,1045,1043 ,1270,253,255 }, {4,868,3 ,58,1044,56 ,82,1270,80 }, {4,869,868 ,58,1046,1044 ,82,1271,1270 }, {869,153,868 ,1046,1045,1044 ,1271,253,1270 }, {869,152,153 ,1046,1047,1045 ,1271,250,253 }, {5,869,4 ,60,1046,58 ,84,1271,82 }, {5,870,869 ,60,1048,1046 ,84,1272,1271 }, {870,152,869 ,1048,1047,1046 ,1272,250,1271 }, {870,272,152 ,1048,1049,1047 ,1272,248,250 }, {6,870,5 ,62,1048,60 ,86,1272,84 }, {6,871,870 ,62,1050,1048 ,86,1273,1272 }, {871,272,870 ,1050,1049,1048 ,1273,248,1272 }, {871,271,272 ,1050,1051,1049 ,1273,247,248 }, {7,871,6 ,64,1050,62 ,88,1273,86 }, {7,872,871 ,64,1052,1050 ,88,1274,1273 }, {872,271,871 ,1052,1051,1050 ,1274,247,1273 }, {872,270,271 ,1052,1053,1051 ,1274,244,247 }, {8,872,7 ,66,1052,64 ,90,1274,88 }, {8,873,872 ,66,1054,1052 ,90,1275,1274 }, {873,270,872 ,1054,1053,1052 ,1275,244,1274 }, {873,151,270 ,1054,1055,1053 ,1275,242,244 }, {9,873,8 ,68,1054,66 ,92,1275,90 }, {9,874,873 ,68,1056,1054 ,92,1276,1275 }, {874,151,873 ,1056,1055,1054 ,1276,242,1275 }, {874,150,151 ,1056,1057,1055 ,1276,240,242 }, {10,874,9 ,70,1056,68 ,94,1276,92 }, {10,875,874 ,70,1058,1056 ,94,1277,1276 }, {875,150,874 ,1058,1057,1056 ,1277,240,1276 }, {875,149,150 ,1058,1059,1057 ,1277,238,240 }, {11,875,10 ,72,1058,70 ,96,1277,94 }, {11,876,875 ,72,1060,1058 ,96,1278,1277 }, {876,149,875 ,1060,1059,1058 ,1278,238,1277 }, {876,148,149 ,1060,1061,1059 ,1278,236,238 }, {12,876,11 ,26,1060,72 ,98,1278,96 }, {12,877,876 ,26,1062,1060 ,98,1279,1278 }, {877,148,876 ,1062,1061,1060 ,1279,236,1278 }, {877,147,148 ,1062,1063,1061 ,1279,234,236 }, {13,877,12 ,28,1062,26 ,52,1280,50 }, {13,878,877 ,28,1064,1062 ,52,1281,1280 }, {878,147,877 ,1064,1063,1062 ,1281,231,1280 }, {878,281,147 ,1064,1065,1063 ,1281,228,231 }, {14,878,13 ,30,1064,28 ,54,1281,52 }, {14,879,878 ,30,1066,1064 ,54,1282,1281 }, {879,281,878 ,1066,1065,1064 ,1282,228,1281 }, {879,280,281 ,1066,1067,1065 ,1282,226,228 }, {15,879,14 ,32,1066,30 ,56,1282,54 }, {15,880,879 ,32,1068,1066 ,56,1283,1282 }, {880,280,879 ,1068,1067,1066 ,1283,226,1282 }, {880,279,280 ,1068,1069,1067 ,1283,223,226 }, {16,880,15 ,34,1068,32 ,58,1283,56 }, {16,881,880 ,34,1070,1068 ,58,1284,1283 }, {881,279,880 ,1070,1069,1068 ,1284,223,1283 }, {881,146,279 ,1070,1071,1069 ,1284,221,223 }, {17,881,16 ,36,1070,34 ,60,1284,58 }, {17,858,881 ,36,1024,1070 ,60,1260,1284 }, {858,146,881 ,1024,1071,1070 ,1260,221,1284 }, {858,278,146 ,1024,1026,1071 ,1260,218,221 }, {49,882,50 ,73,1072,75 ,99,1285,101 }, {49,883,882 ,73,1073,1072 ,99,1286,1285 }, {883,98,882 ,1073,1074,1072 ,1286,1287,1285 }, {883,97,98 ,1073,1075,1074 ,1286,1288,1287 }, {48,883,49 ,74,1073,73 ,100,1286,99 }, {48,884,883 ,74,1076,1073 ,100,1289,1286 }, {884,97,883 ,1076,1075,1073 ,1289,1288,1286 }, {884,96,97 ,1076,1077,1075 ,1289,1290,1288 }, {71,884,48 ,96,1076,74 ,123,1289,100 }, {71,885,884 ,96,1078,1076 ,123,1291,1289 }, {885,96,884 ,1078,1077,1076 ,1291,1290,1289 }, {885,119,96 ,1078,1079,1077 ,1291,1292,1290 }, {70,885,71 ,95,1078,96 ,122,1291,123 }, {70,886,885 ,95,1080,1078 ,122,1293,1291 }, {886,119,885 ,1080,1079,1078 ,1293,1292,1291 }, {886,118,119 ,1080,1081,1079 ,1293,1294,1292 }, {69,886,70 ,94,1080,95 ,121,1293,122 }, {69,887,886 ,94,1082,1080 ,121,1295,1293 }, {887,118,886 ,1082,1081,1080 ,1295,1294,1293 }, {887,117,118 ,1082,1083,1081 ,1295,1296,1294 }, {68,887,69 ,93,1082,94 ,119,1295,121 }, {68,888,887 ,93,1084,1082 ,119,1297,1295 }, {888,117,887 ,1084,1083,1082 ,1297,1296,1295 }, {888,116,117 ,1084,1085,1083 ,1297,1298,1296 }, {67,888,68 ,92,1084,93 ,120,1297,119 }, {67,889,888 ,92,1086,1084 ,120,1299,1297 }, {889,116,888 ,1086,1085,1084 ,1300,1298,1297 }, {889,115,116 ,1086,1087,1085 ,1300,1301,1298 }, {66,889,67 ,91,1086,92 ,117,1302,118 }, {66,890,889 ,91,1088,1086 ,117,1303,1302 }, {890,115,889 ,1088,1087,1086 ,1303,1304,1302 }, {890,114,115 ,1088,1089,1087 ,1303,1305,1304 }, {65,890,66 ,90,1088,91 ,116,1303,117 }, {65,891,890 ,90,1090,1088 ,116,1306,1303 }, {891,114,890 ,1090,1089,1088 ,1306,1305,1303 }, {891,113,114 ,1090,1091,1089 ,1306,1307,1305 }, {64,891,65 ,89,1090,90 ,115,1306,116 }, {64,892,891 ,89,1092,1090 ,115,1308,1306 }, {892,113,891 ,1092,1091,1090 ,1308,1307,1306 }, {892,112,113 ,1092,1093,1091 ,1308,1309,1307 }, {63,892,64 ,88,1092,89 ,114,1308,115 }, {63,893,892 ,88,1094,1092 ,114,1310,1308 }, {893,112,892 ,1094,1093,1092 ,1310,1309,1308 }, {893,111,112 ,1094,1095,1093 ,1310,1311,1309 }, {62,893,63 ,87,1094,88 ,113,1310,114 }, {62,894,893 ,87,1096,1094 ,113,1312,1310 }, {894,111,893 ,1096,1095,1094 ,1312,1311,1310 }, {894,110,111 ,1096,1097,1095 ,1312,1313,1311 }, {61,894,62 ,86,1096,87 ,112,1312,113 }, {61,895,894 ,86,1098,1096 ,112,1314,1312 }, {895,110,894 ,1098,1097,1096 ,1314,1313,1312 }, {895,109,110 ,1098,1099,1097 ,1314,1315,1313 }, {60,895,61 ,85,1098,86 ,111,1314,112 }, {60,896,895 ,85,1100,1098 ,111,1316,1314 }, {896,109,895 ,1100,1099,1098 ,1316,1315,1314 }, {896,108,109 ,1100,1101,1099 ,1316,1317,1315 }, {59,896,60 ,84,1100,85 ,110,1316,111 }, {59,897,896 ,84,1102,1100 ,110,1318,1316 }, {897,108,896 ,1102,1101,1100 ,1318,1317,1316 }, {897,107,108 ,1102,1103,1101 ,1318,1319,1317 }, {58,897,59 ,83,1102,84 ,109,1318,110 }, {58,898,897 ,83,1104,1102 ,109,1320,1318 }, {898,107,897 ,1104,1103,1102 ,1320,1319,1318 }, {898,106,107 ,1104,1105,1103 ,1320,1321,1319 }, {57,898,58 ,82,1104,83 ,108,1320,109 }, {57,899,898 ,82,1106,1104 ,108,1322,1320 }, {899,106,898 ,1106,1105,1104 ,1322,1321,1320 }, {899,105,106 ,1106,1107,1105 ,1322,1323,1321 }, {56,899,57 ,81,1106,82 ,107,1322,108 }, {56,900,899 ,81,1108,1106 ,107,1324,1322 }, {900,105,899 ,1108,1107,1106 ,1324,1323,1322 }, {900,104,105 ,1108,1109,1107 ,1324,1325,1323 }, {55,900,56 ,80,1108,81 ,106,1324,107 }, {55,901,900 ,80,1110,1108 ,106,1326,1324 }, {901,104,900 ,1110,1109,1108 ,1326,1325,1324 }, {901,103,104 ,1110,1111,1109 ,1326,1327,1325 }, {54,901,55 ,79,1110,80 ,105,1326,106 }, {54,902,901 ,79,1112,1110 ,105,1328,1326 }, {902,103,901 ,1112,1111,1110 ,1328,1327,1326 }, {902,102,103 ,1112,1113,1111 ,1328,1329,1327 }, {53,902,54 ,78,1112,79 ,104,1328,105 }, {53,903,902 ,78,1114,1112 ,104,1330,1328 }, {903,102,902 ,1114,1113,1112 ,1330,1329,1328 }, {903,101,102 ,1114,1115,1113 ,1330,1331,1329 }, {52,903,53 ,77,1114,78 ,103,1330,104 }, {52,904,903 ,77,1116,1114 ,103,1332,1330 }, {904,101,903 ,1116,1115,1114 ,1332,1331,1330 }, {904,100,101 ,1116,1117,1115 ,1332,1333,1331 }, {51,904,52 ,76,1116,77 ,102,1332,103 }, {51,905,904 ,76,1118,1116 ,102,1334,1332 }, {905,100,904 ,1118,1117,1116 ,1334,1333,1332 }, {905,99,100 ,1118,1119,1117 ,1334,1335,1333 }, {50,905,51 ,75,1118,76 ,101,1334,102 }, {50,882,905 ,75,1072,1118 ,101,1285,1334 }, {882,99,905 ,1072,1119,1118 ,1285,1335,1334 }, {882,98,99 ,1072,1074,1119 ,1285,1287,1335 } }; static GLfloat vertices [906][3] = { {0.05f,0.0f,0.0585f},{0.0482963f,0.012941f,0.0585f},{0.0433013f,0.025f,0.0585f}, {0.0353553f,0.0353553f,0.0585f},{0.025f,0.0433013f,0.0585f},{0.012941f,0.0482963f,0.0585f}, {0.0f,0.05f,0.0585f},{-0.012941f,0.0482963f,0.0585f},{-0.025f,0.0433013f,0.0585f}, {-0.0353553f,0.0353553f,0.0585f},{-0.0433013f,0.025f,0.0585f},{-0.0482963f,0.012941f,0.0585f}, {-0.05f,0.0f,0.0585f},{-0.0482963f,-0.012941f,0.0585f},{-0.0433013f,-0.025f,0.0585f}, {-0.0353553f,-0.0353553f,0.0585f},{-0.025f,-0.0433013f,0.0585f},{-0.012941f,-0.0482963f,0.0585f}, {0.0f,-0.05f,0.0585f},{0.012941f,-0.0482963f,0.0585f},{0.025f,-0.0433013f,0.0585f}, {0.0353553f,-0.0353553f,0.0585f},{0.0433013f,-0.025f,0.0585f},{0.0482963f,-0.012941f,0.0585f}, {-0.054f,0.0f,0.054f},{-0.05216f,-0.0139762f,0.054f},{-0.0467654f,-0.027f,0.054f}, {-0.0381838f,-0.0381838f,0.054f},{-0.027f,-0.0467654f,0.054f},{-0.0139762f,-0.05216f,0.054f}, {0.0f,-0.054f,0.054f},{0.0139762f,-0.05216f,0.054f},{0.027f,-0.0467654f,0.054f}, {0.0381838f,-0.0381838f,0.054f},{0.0467654f,-0.027f,0.054f},{0.05216f,-0.0139762f,0.054f}, {0.054f,0.0f,0.054f},{0.05216f,0.0139762f,0.054f},{0.0467654f,0.027f,0.054f}, {0.0381838f,0.0381838f,0.054f},{0.027f,0.0467654f,0.054f},{0.0139762f,0.05216f,0.054f}, {0.0f,0.054f,0.054f},{-0.0139762f,0.05216f,0.054f},{-0.027f,0.0467654f,0.054f}, {-0.0381838f,0.0381838f,0.054f},{-0.0467654f,0.027f,0.054f},{-0.05216f,0.0139762f,0.054f}, 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{0.0f,0.0192798f,0.112f},{0.0096399f,0.0166968f,0.112f},{0.00498998f,0.0186229f,0.112f}, {0.0166968f,0.0096399f,0.112f},{0.0136329f,0.0136329f,0.112f},{0.0192798f,0.0f,0.112f}, {0.0186229f,0.00498998f,0.112f},{0.0166968f,-0.0096399f,0.112f},{0.0186229f,-0.00498998f,0.112f}, {0.0096399f,-0.0166968f,0.112f},{0.0136329f,-0.0136329f,0.112f},{0.0f,-0.0192798f,0.112f}, {0.00498998f,-0.0186229f,0.112f},{-0.0096399f,-0.0166968f,0.112f},{-0.00498998f,-0.0186229f,0.112f}, {-0.0166968f,-0.0096399f,0.112f},{-0.0136329f,-0.0136329f,0.112f},{-0.0192798f,0.0f,0.112f}, {-0.0186229f,-0.00498998f,0.112f},{-0.0186229f,0.00498998f,0.112f},{-0.0166968f,0.0096399f,0.112f}, {-0.0129696f,0.0129696f,0.1115f},{-0.00917089f,0.0158844f,0.1115f},{-0.0047472f,0.0177168f,0.1115f}, {0.0f,0.0183418f,0.1115f},{0.00917089f,0.0158844f,0.1115f},{0.0047472f,0.0177168f,0.1115f}, {0.0158844f,0.00917089f,0.1115f},{0.0129696f,0.0129696f,0.1115f},{0.0183418f,0.0f,0.1115f}, {0.0177168f,0.0047472f,0.1115f},{0.0158844f,-0.00917089f,0.1115f},{0.0177168f,-0.0047472f,0.1115f}, {0.00917089f,-0.0158844f,0.1115f},{0.0129696f,-0.0129696f,0.1115f},{0.0f,-0.0183418f,0.1115f}, {0.0047472f,-0.0177168f,0.1115f},{-0.0047472f,-0.0177168f,0.1115f},{-0.00917089f,-0.0158844f,0.1115f}, {-0.0129696f,-0.0129696f,0.1115f},{-0.0158844f,-0.00917089f,0.1115f},{-0.0177168f,-0.0047472f,0.1115f}, {-0.0183418f,0.0f,0.1115f},{-0.0177168f,0.0047472f,0.1115f},{-0.0158844f,0.00917089f,0.1115f}, {-0.020731f,0.0f,0.112f},{-0.0200246f,-0.00536557f,0.112f},{-0.0179535f,-0.0103655f,0.112f}, {-0.014659f,-0.014659f,0.112f},{-0.0103655f,-0.0179535f,0.112f},{-0.00536557f,-0.0200246f,0.112f}, {0.0f,-0.020731f,0.112f},{0.00536557f,-0.0200246f,0.112f},{0.0103655f,-0.0179535f,0.112f}, {0.014659f,-0.014659f,0.112f},{0.0179535f,-0.0103655f,0.112f},{0.0200246f,-0.00536557f,0.112f}, {0.020731f,0.0f,0.112f},{0.0200246f,0.00536557f,0.112f},{0.0179535f,0.0103655f,0.112f}, {0.014659f,0.014659f,0.112f},{0.0103655f,0.0179535f,0.112f},{0.00536557f,0.0200246f,0.112f}, {0.0f,0.020731f,0.112f},{-0.00536557f,0.0200246f,0.112f},{-0.0103655f,0.0179535f,0.112f}, {-0.014659f,0.014659f,0.112f},{-0.0179535f,0.0103655f,0.112f},{-0.0200246f,0.00536557f,0.112f}, {-0.00473931f,0.0176874f,0.1105f},{-0.00473931f,-0.0176874f,0.1105f},{-0.012948f,-0.012948f,0.1105f}, {-0.0176874f,-0.00473931f,0.1105f},{-0.0176874f,0.00473931f,0.1105f},{-0.012948f,0.012948f,0.1105f}, {-0.00915565f,0.015858f,0.1105f},{0.0f,0.0183113f,0.1105f},{0.00473931f,0.0176874f,0.1105f}, {0.00915565f,0.015858f,0.1105f},{0.015858f,0.00915565f,0.1105f},{0.012948f,0.012948f,0.1105f}, {0.0176874f,0.00473931f,0.1105f},{0.0183113f,0.0f,0.1105f},{0.0176874f,-0.00473931f,0.1105f}, {0.012948f,-0.012948f,0.1105f},{0.015858f,-0.00915565f,0.1105f},{0.00915565f,-0.015858f,0.1105f}, {0.00473931f,-0.0176874f,0.1105f},{0.0f,-0.0183113f,0.1105f},{-0.00915565f,-0.015858f,0.1105f}, {-0.015858f,-0.00915565f,0.1105f},{-0.0183113f,0.0f,0.1105f},{-0.015858f,0.00915565f,0.1105f}, {0.04723f,0.0f,9.71445e-018f},{0.0456207f,0.012224f,9.71445e-018f},{0.0409024f,0.023615f,9.71445e-018f}, {0.0333967f,0.0333967f,9.71445e-018f},{0.023615f,0.0409024f,9.71445e-018f},{0.012224f,0.0456207f,9.71445e-018f}, {0.0f,0.04723f,9.71445e-018f},{-0.012224f,0.0456207f,9.71445e-018f},{-0.023615f,0.0409024f,9.71445e-018f}, {-0.0333967f,0.0333967f,9.71445e-018f},{-0.0409024f,0.023615f,9.71445e-018f},{-0.0456207f,0.012224f,9.71445e-018f}, {-0.04723f,0.0f,9.71445e-018f},{-0.0456207f,-0.012224f,9.71445e-018f},{-0.0409024f,-0.023615f,9.71445e-018f}, {-0.0333967f,-0.0333967f,9.71445e-018f},{-0.023615f,-0.0409024f,9.71445e-018f},{-0.012224f,-0.0456207f,9.71445e-018f}, {0.0f,-0.04723f,9.71445e-018f},{0.012224f,-0.0456207f,9.71445e-018f},{0.023615f,-0.0409024f,9.71445e-018f}, {0.0333967f,-0.0333967f,9.71445e-018f},{0.0409024f,-0.023615f,9.71445e-018f},{0.0456207f,-0.012224f,9.71445e-018f}, {0.0200427f,-0.00537043f,0.073f},{0.0179698f,-0.0103749f,0.073f},{0.0146723f,-0.0146723f,0.073f}, {-0.0146723f,-0.0146723f,0.073f},{-0.0179698f,-0.0103749f,0.073f},{-0.0200427f,-0.00537043f,0.073f}, {-0.00537043f,0.0200427f,0.073f},{0.0f,0.0207498f,0.073f},{0.00537043f,0.0200427f,0.073f}, {0.0207498f,0.0f,0.059f},{0.0200427f,-0.00537043f,0.059f},{0.0179698f,-0.0103749f,0.059f}, {0.0146723f,-0.0146723f,0.059f},{0.0103749f,-0.0179698f,0.059f},{0.00537043f,-0.0200427f,0.059f}, {0.0f,-0.0207498f,0.059f},{-0.00537043f,-0.0200427f,0.059f},{-0.0103749f,-0.0179698f,0.059f}, {-0.0146723f,-0.0146723f,0.059f},{-0.0179698f,-0.0103749f,0.059f},{-0.0200427f,-0.00537043f,0.059f}, {-0.0207498f,0.0f,0.059f},{-0.0200427f,0.00537043f,0.059f},{-0.0179698f,0.0103749f,0.059f}, {-0.0146723f,0.0146723f,0.059f},{-0.0103749f,0.0179698f,0.059f},{-0.00537043f,0.0200427f,0.059f}, {0.0f,0.0207498f,0.059f},{0.00537043f,0.0200427f,0.059f},{0.0103749f,0.0179698f,0.059f}, {0.0146723f,0.0146723f,0.059f},{0.0179698f,0.0103749f,0.059f},{0.0200427f,0.00537043f,0.059f}, {0.0236789f,-0.013671f,0.073f},{0.0264103f,-0.00707663f,0.073f},{0.0193337f,-0.0193337f,0.073f}, {-0.0236789f,-0.013671f,0.073f},{-0.0193337f,-0.0193337f,0.073f},{-0.0264103f,-0.00707663f,0.073f}, {0.0f,0.027342f,0.073f},{-0.00707663f,0.0264103f,0.073f},{0.00707663f,0.0264103f,0.073f}, {-0.0107935f,-0.0402819f,0.0605f},{0.0f,-0.0417029f,0.0605f},{0.0107935f,-0.0402819f,0.0605f}, {0.0208515f,-0.0361158f,0.0605f},{0.0294884f,-0.0294884f,0.0605f},{0.0361158f,-0.0208515f,0.0605f}, {0.0402819f,-0.0107935f,0.0605f},{0.0417029f,0.0f,0.0605f},{0.0402819f,0.0107935f,0.0605f}, {0.0361158f,0.0208515f,0.0605f},{0.0294884f,0.0294884f,0.0605f},{0.0208515f,0.0361158f,0.0605f}, {0.0107935f,0.0402819f,0.0605f},{0.0f,0.0417029f,0.0605f},{-0.0107935f,0.0402819f,0.0605f}, {-0.0208515f,0.0361158f,0.0605f},{-0.0294884f,0.0294884f,0.0605f},{-0.0361158f,0.0208515f,0.0605f}, {-0.0402819f,0.0107935f,0.0605f},{-0.0417029f,0.0f,0.0605f},{-0.0402819f,-0.0107935f,0.0605f}, {-0.0361158f,-0.0208515f,0.0605f},{-0.0294884f,-0.0294884f,0.0605f},{-0.0208515f,-0.0361158f,0.0605f}, {0.0127727f,-0.0476684f,0.0436563f},{0.0f,-0.04935f,0.0436563f},{-0.0127727f,-0.0476684f,0.0436563f}, {-0.024675f,-0.0427384f,0.0436563f},{-0.0348957f,-0.0348957f,0.0436563f},{-0.0427384f,-0.024675f,0.0436563f}, {-0.0476684f,-0.0127727f,0.0436563f},{-0.04935f,0.0f,0.0436563f},{-0.0476684f,0.0127727f,0.0436563f}, {-0.0427384f,0.024675f,0.0436563f},{-0.0348957f,0.0348957f,0.0436563f},{-0.024675f,0.0427384f,0.0436563f}, {-0.0127727f,0.0476684f,0.0436563f},{0.0f,0.04935f,0.0436563f},{0.0127727f,0.0476684f,0.0436563f}, {0.024675f,0.0427384f,0.0436563f},{0.0348957f,0.0348957f,0.0436563f},{0.0427384f,0.024675f,0.0436563f}, {0.0476684f,0.0127727f,0.0436563f},{0.04935f,0.0f,0.0436563f},{0.0476684f,-0.0127727f,0.0436563f}, {0.0427384f,-0.024675f,0.0436563f},{0.0348957f,-0.0348957f,0.0436563f},{0.024675f,-0.0427384f,0.0436563f} }; static GLfloat normals [1120][3] = { {0.0f,0.0f,-1.0f},{-0.642879f,-0.120633f,0.756409f},{-0.510493f,0.179497f,0.840939f}, {-0.599576f,0.00232919f,0.800314f},{-0.344303f,-0.197004f,0.917957f},{-0.342762f,0.199673f,0.917957f}, {-0.410695f,-0.352352f,0.840938f},{-0.352352f,0.410695f,0.840938f},{-0.199673f,-0.342762f,0.917957f}, {-0.197004f,0.344303f,0.917957f},{-0.179497f,-0.510493f,0.840939f},{-0.0997984f,0.531849f,0.840938f}, {0.0217163f,-0.537577f,0.842935f},{-0.0147114f,0.364173f,0.931215f},{0.104156f,-0.382762f,0.917957f}, {0.101179f,0.38356f,0.917957f},{0.305506f,-0.446642f,0.840938f},{0.234051f,0.487896f,0.840939f}, {0.238465f,-0.236619f,0.941884f},{0.338546f,0.341187f,0.876914f},{0.446642f,0.305506f,0.840938f}, {0.487896f,-0.234051f,0.840939f},{0.382762f,0.104156f,0.917957f},{0.464749f,-0.122596f,0.876914f}, {0.794308f,0.060733f,0.604471f},{-0.919649f,-0.252459f,0.300848f},{-0.513813f,-0.0117484f,0.857822f}, {-0.953654f,-0.0058336f,0.300848f},{-0.493264f,-0.144333f,0.857822f},{-0.822972f,-0.481879f,0.300848f}, {-0.439101f,-0.267081f,0.857822f},{-0.67021f,-0.67846f,0.300848f},{-0.355013f,-0.371628f,0.857822f}, {-0.471775f,-0.828806f,0.300848f},{-0.246732f,-0.450849f,0.857822f},{-0.241189f,-0.922669f,0.300848f}, {-0.121636f,-0.499346f,0.857822f},{0.0058336f,-0.953654f,0.300848f},{0.0117484f,-0.513813f,0.857822f}, {0.252459f,-0.919649f,0.300848f},{0.144333f,-0.493264f,0.857822f},{0.481879f,-0.822972f,0.300848f}, {0.267081f,-0.439101f,0.857822f},{0.67846f,-0.67021f,0.300848f},{0.371628f,-0.355013f,0.857822f}, {0.828806f,-0.471775f,0.300848f},{0.450849f,-0.246732f,0.857822f},{0.922669f,-0.241189f,0.300848f}, {0.499346f,-0.121636f,0.857822f},{0.953654f,0.0058336f,0.300848f},{0.513813f,0.0117484f,0.857822f}, 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{0.583333f,0.940066f},{0.625f,0.932128f},{0.625f,0.932128f}, {0.666667f,0.940066f},{0.625f,0.940066f},{0.666667f,0.932128f}, {0.666667f,0.932128f},{0.708333f,0.940066f},{0.666667f,0.940066f}, {0.708333f,0.932128f},{0.708333f,0.932128f},{0.75f,0.940066f}, {0.708333f,0.940066f},{0.75f,0.932128f},{0.25f,0.688802f}, {0.208333f,0.718573f},{0.208333f,0.688802f},{0.25f,0.718573f}, {0.208333f,0.688802f},{0.166667f,0.718573f},{0.166667f,0.688802f}, {0.291667f,0.718573f},{0.25f,0.688802f},{0.291667f,0.688802f}, {0.333333f,0.718573f},{0.291667f,0.688802f},{0.333333f,0.688802f}, {0.166667f,0.688802f},{0.125f,0.718573f},{0.125f,0.688802f}, {0.125f,0.688802f},{0.0833333f,0.718573f},{0.0833333f,0.688802f}, {0.375f,0.718573f},{0.333333f,0.688802f},{0.375f,0.688802f}, {0.416667f,0.718573f},{0.375f,0.688802f},{0.416667f,0.688802f}, {0.0833333f,0.688802f},{0.0416667f,0.718573f},{0.0416667f,0.688802f}, {0.458333f,0.718573f},{0.416667f,0.688802f},{0.458333f,0.688802f}, {0.0416667f,0.688802f},{-4.64916e-008f,0.718573f},{-4.64916e-008f,0.688802f}, {0.0416667f,0.718573f},{0.5f,0.718573f},{0.458333f,0.688802f}, {0.5f,0.688802f},{1.0f,0.718573f},{0.958333f,0.688802f}, {1.0f,0.688802f},{0.958333f,0.718573f},{0.541667f,0.688802f}, {0.5f,0.688802f},{0.541667f,0.718573f},{0.916667f,0.688802f}, {0.958333f,0.688802f},{0.916667f,0.718573f},{0.583333f,0.688802f}, {0.541667f,0.688802f},{0.583333f,0.718573f},{0.875f,0.688802f}, {0.916667f,0.688802f},{0.875f,0.718573f},{0.625f,0.688802f}, {0.583333f,0.688802f},{0.625f,0.718573f},{0.833333f,0.688802f}, {0.875f,0.688802f},{0.833333f,0.718573f},{0.666667f,0.688802f}, {0.625f,0.688802f},{0.666667f,0.718573f},{0.791667f,0.688802f}, {0.833333f,0.688802f},{0.791667f,0.718573f},{0.708333f,0.688802f}, {0.666667f,0.688802f},{0.708333f,0.718573f},{0.75f,0.688802f}, {0.791667f,0.688802f},{0.75f,0.718573f},{0.75f,0.688802f}, {0.708333f,0.688802f},{0.875f,0.759873f},{0.833333f,0.759873f}, {0.791667f,0.759873f},{0.75f,0.759873f},{0.708333f,0.759873f}, {0.666667f,0.759873f},{0.625f,0.759873f},{0.583333f,0.759873f}, {0.541667f,0.759873f},{0.5f,0.759873f},{0.458333f,0.759873f}, {0.416667f,0.759873f},{0.375f,0.759873f},{0.333333f,0.759873f}, {0.291667f,0.759873f},{0.25f,0.759873f},{0.208333f,0.759873f}, {0.166667f,0.759873f},{0.125f,0.759873f},{0.0833333f,0.759873f}, {0.0416667f,0.759873f},{-4.64916e-008f,0.718573f},{-4.64916e-008f,0.759873f}, {1.0f,0.759873f},{0.958333f,0.759873f},{0.916667f,0.759873f}, {0.847333f,0.826228f},{0.875f,0.787382f},{0.859f,0.826228f}, {0.833333f,0.787382f},{0.791667f,0.787382f},{0.764f,0.826228f}, {0.775667f,0.826228f},{0.75f,0.787382f},{0.708333f,0.787382f}, {0.666667f,0.787382f},{0.692333f,0.826228f},{0.680667f,0.826228f}, {0.625f,0.787382f},{0.583333f,0.787382f},{0.609f,0.826228f}, {0.597333f,0.826228f},{0.541667f,0.787382f},{0.5f,0.787382f}, {0.525667f,0.826228f},{0.514f,0.826228f},{0.458333f,0.787382f}, {0.430667f,0.826228f},{0.416667f,0.787382f},{0.442333f,0.826228f}, {0.375f,0.787382f},{0.347333f,0.826228f},{0.333333f,0.787382f}, {0.359f,0.826228f},{0.291667f,0.787382f},{0.264f,0.826228f}, {0.25f,0.787382f},{0.275667f,0.826228f},{0.208333f,0.787382f}, {0.192333f,0.826228f},{0.166667f,0.787382f},{0.180667f,0.826228f}, {0.125f,0.787382f},{0.109f,0.826228f},{0.0833333f,0.787382f}, {0.0973333f,0.826228f},{0.0416667f,0.787382f},{0.0256667f,0.826228f}, {-4.64916e-008f,0.787382f},{0.014f,0.826228f},{0.958333f,0.787382f}, {1.0f,0.787382f},{0.930667f,0.826228f},{0.942333f,0.826228f}, {0.916667f,0.787382f},{0.847333f,0.856245f},{0.859f,0.856245f}, {0.791667f,0.877434f},{0.764f,0.856245f},{0.775667f,0.856245f}, {0.75f,0.877434f},{0.708333f,0.877434f},{0.692333f,0.856245f}, {0.680667f,0.856245f},{0.666667f,0.877434f},{0.625f,0.877434f}, {0.609f,0.856245f},{0.597333f,0.856245f},{0.583333f,0.877434f}, {0.541667f,0.877434f},{0.525667f,0.856245f},{0.514f,0.856245f}, {0.5f,0.877434f},{0.458333f,0.877434f},{0.442333f,0.856245f}, {0.430667f,0.856245f},{0.416667f,0.877434f},{0.375f,0.877434f}, {0.359f,0.856245f},{0.347333f,0.856245f},{0.333333f,0.877434f}, {0.291667f,0.877434f},{0.275667f,0.856245f},{0.264f,0.856245f}, {0.208333f,0.877434f},{0.25f,0.877434f},{0.180667f,0.856245f}, {0.192333f,0.856245f},{0.125f,0.877434f},{0.166667f,0.877434f}, {0.0973333f,0.856245f},{0.109f,0.856245f},{0.0416667f,0.877434f}, {0.0833333f,0.877434f},{0.014f,0.856245f},{0.0256667f,0.856245f}, {0.014f,0.826228f},{0.958333f,0.877434f},{1.0f,0.8774f}, {0.930667f,0.856245f},{0.942333f,0.856245f},{0.875f,0.877434f}, {0.916667f,0.877434f},{0.875f,0.877434f},{0.75f,0.877434f}, {0.791667f,0.877434f},{0.708333f,0.877434f},{0.666667f,0.877434f}, {0.625f,0.877434f},{0.583333f,0.877434f},{0.541667f,0.877434f}, {0.5f,0.877434f},{0.458333f,0.877434f},{0.416667f,0.877434f}, {0.375f,0.877434f},{0.333333f,0.877434f},{0.291667f,0.877434f}, {0.25f,0.877434f},{-4.64916e-008f,0.877434f},{0.014f,0.856245f}, {0.916667f,0.877434f},{-4.64916e-008f,0.787382f},{0.833333f,0.877434f}, {0.75f,0.877434f},{0.609f,0.826228f},{0.625f,0.877434f}, {0.609f,0.856245f},{0.625f,0.787382f},{0.458333f,0.877434f}, {0.416667f,0.877434f},{0.375f,0.877434f},{0.333333f,0.877434f}, {0.347333f,0.826228f},{0.347333f,0.856245f},{0.333333f,0.787382f}, {0.291667f,0.877434f},{0.0416667f,0.877434f},{1.22488e-007f,0.8774f}, {0.0139999f,0.826228f},{0.0139999f,0.856245f},{-5.63264e-008f,0.787382f}, {0.916667f,0.877434f},{0.541667f,0.877434f},{0.5f,0.877434f}, {0.583333f,0.877434f},{0.708333f,0.877434f},{0.791667f,0.877434f}, {0.591642f,0.121618f},{0.60326f,0.14174f},{0.596126f,0.132444f}, {0.612556f,0.148874f},{0.590112f,0.11f},{0.623382f,0.153358f}, {0.591642f,0.0983822f},{0.635f,0.154888f},{0.596126f,0.0875561f}, {0.646618f,0.153358f},{0.60326f,0.0782596f},{0.657444f,0.148874f}, {0.612556f,0.0711261f},{0.66674f,0.14174f},{0.623382f,0.0666418f}, {0.673874f,0.132444f},{0.635f,0.0651123f},{0.678358f,0.121618f}, {0.646618f,0.0666418f},{0.679888f,0.11f},{0.657444f,0.0711261f}, {0.678358f,0.0983822f},{0.66674f,0.0782596f},{0.673874f,0.0875561f}, {0.210595f,0.528618f},{0.251939f,0.528618f},{0.293282f,0.528618f}, {0.334626f,0.528618f},{0.375969f,0.528618f},{0.417313f,0.528618f}, {0.458656f,0.528618f},{0.5f,0.528618f},{0.541343f,0.528618f}, {0.582687f,0.528618f},{0.62403f,0.528618f},{0.665374f,0.528618f}, {0.706717f,0.528618f},{0.748061f,0.528618f},{0.789404f,0.528618f}, {0.830748f,0.528618f},{0.872092f,0.528618f},{0.913435f,0.528618f}, {0.954778f,0.528618f},{0.996122f,0.528618f},{0.00387793f,0.528618f}, {0.0452214f,0.528618f},{0.086565f,0.528618f},{0.127908f,0.528618f}, {0.169252f,0.528618f},{0.293282f,0.441509f},{0.251939f,0.441509f}, {0.293282f,0.428389f},{0.251939f,0.428389f},{0.210595f,0.441509f}, {0.210595f,0.428389f},{0.169252f,0.441509f},{0.169252f,0.428389f}, {0.127908f,0.441509f},{0.127908f,0.428389f},{0.086565f,0.441509f}, {0.086565f,0.428389f},{0.0452214f,0.441509f},{0.0452214f,0.428389f}, {0.00387793f,0.441509f},{0.00387793f,0.441406f},{0.00387793f,0.428389f}, {0.996122f,0.441509f},{0.954778f,0.441509f},{0.996122f,0.428389f}, {0.954778f,0.428389f},{0.913435f,0.441509f},{0.913435f,0.428389f}, {0.872092f,0.441509f},{0.872092f,0.428389f},{0.830748f,0.441509f}, {0.830748f,0.428389f},{0.789404f,0.441509f},{0.789404f,0.428389f}, {0.748061f,0.441509f},{0.748061f,0.428389f},{0.706717f,0.441509f}, {0.706717f,0.428389f},{0.665374f,0.441509f},{0.665374f,0.428389f}, {0.62403f,0.441509f},{0.62403f,0.428389f},{0.582687f,0.441509f}, {0.582687f,0.428389f},{0.541343f,0.441509f},{0.541343f,0.428389f}, {0.5f,0.441509f},{0.5f,0.428389f},{0.458656f,0.441509f}, {0.458656f,0.428389f},{0.417313f,0.441509f},{0.417313f,0.428389f}, {0.375969f,0.441509f},{0.375969f,0.428389f},{0.334626f,0.441509f}, {0.334626f,0.428389f} }; GLint GenFeederBase() { GLint lid=glGenLists(1); glNewList(lid, GL_COMPILE); glBegin (GL_TRIANGLES); for(size_t i=0;i (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #define BYTE unsigned char namespace Enki { // 48 Verticies // 74 Texture Coordinates // 49 Normals // 70 Triangles static BYTE face_indicies[70][9] = { // Object #-1 {38,34,37 ,0,0,0 ,0,1,2 }, {45,34,38 ,0,0,0 ,3,1,0 }, {45,33,34 ,0,0,0 ,3,4,1 }, {46,33,45 ,0,0,0 ,5,4,3 }, {46,30,33 ,0,0,0 ,5,6,4 }, {47,30,46 ,0,0,0 ,7,6,5 }, {47,29,30 ,0,0,0 ,7,8,6 }, {43,29,47 ,0,0,0 ,9,8,7 }, {43,28,29 ,0,0,0 ,9,10,8 }, {44,28,43 ,0,0,0 ,11,10,9 }, {44,27,28 ,0,0,0 ,11,12,10 }, {41,27,44 ,0,0,0 ,13,12,11 }, {41,26,27 ,0,0,0 ,13,14,12 }, {42,26,41 ,0,0,0 ,15,14,13 }, {42,25,26 ,0,0,0 ,15,16,14 }, {39,25,42 ,0,0,0 ,17,16,15 }, {39,24,25 ,0,0,0 ,17,18,16 }, {40,24,39 ,0,0,0 ,19,18,17 }, {40,32,24 ,0,0,0 ,19,20,18 }, {35,32,40 ,0,0,0 ,21,20,19 }, {32,35,31 ,0,0,0 ,20,21,22 }, {31,35,36 ,0,0,0 ,22,21,23 }, {5,25,4 ,1,2,3 ,24,25,26 }, {5,26,25 ,1,4,2 ,24,27,25 }, {6,26,5 ,5,4,1 ,28,27,24 }, {6,27,26 ,5,6,4 ,28,29,27 }, {7,27,6 ,7,6,5 ,30,29,28 }, {7,28,27 ,7,8,6 ,30,31,29 }, {8,28,7 ,9,8,7 ,32,31,30 }, {8,29,28 ,9,10,8 ,32,33,31 }, {9,29,8 ,11,10,9 ,34,33,32 }, {9,30,29 ,11,12,10 ,34,35,33 }, {10,30,9 ,13,12,11 ,36,35,34 }, {10,33,30 ,13,14,12 ,36,37,35 }, {11,33,10 ,15,14,13 ,38,37,36 }, {11,34,33 ,15,16,14 ,38,39,37 }, {12,34,11 ,17,16,15 ,40,39,38 }, {12,37,34 ,17,18,16 ,40,41,39 }, {13,37,12 ,19,18,17 ,42,43,44 }, {13,38,37 ,19,20,18 ,42,45,43 }, {14,38,13 ,21,20,19 ,46,45,42 }, {14,45,38 ,21,22,20 ,46,47,45 }, {15,45,14 ,23,22,21 ,48,47,46 }, {15,46,45 ,23,24,22 ,48,49,47 }, {16,46,15 ,25,24,23 ,50,49,48 }, {16,47,46 ,25,26,24 ,50,51,49 }, {17,47,16 ,27,26,25 ,52,51,50 }, {17,43,47 ,27,28,26 ,52,53,51 }, {18,43,17 ,29,28,27 ,54,53,52 }, {18,44,43 ,29,30,28 ,54,55,53 }, {19,44,18 ,31,30,29 ,56,55,54 }, {19,41,44 ,31,32,30 ,56,57,55 }, {20,41,19 ,33,32,31 ,58,57,56 }, {20,42,41 ,33,34,32 ,58,59,57 }, {21,42,20 ,35,34,33 ,60,59,58 }, {21,39,42 ,35,36,34 ,60,61,59 }, {22,39,21 ,37,36,35 ,62,61,60 }, {22,40,39 ,37,38,36 ,62,63,61 }, {23,40,22 ,39,38,37 ,64,63,62 }, {23,35,40 ,39,40,38 ,64,65,63 }, {0,35,23 ,41,40,39 ,66,65,64 }, {0,36,35 ,41,42,40 ,66,67,65 }, {1,36,0 ,43,42,41 ,68,67,66 }, {1,31,36 ,43,44,42 ,68,69,67 }, {2,31,1 ,45,44,43 ,70,69,68 }, {2,32,31 ,45,46,44 ,70,71,69 }, {3,32,2 ,47,46,45 ,72,71,70 }, {3,24,32 ,47,48,46 ,72,73,71 }, {4,24,3 ,3,48,47 ,26,73,72 }, {4,25,24 ,3,2,48 ,26,25,73 } }; static GLfloat vertices [48][3] = { {0.02f,0.0f,0.066f},{0.0193185f,0.00517638f,0.066f},{0.0173205f,0.01f,0.066f}, {0.0141421f,0.0141421f,0.066f},{0.01f,0.0173205f,0.066f},{0.00517638f,0.0193185f,0.066f}, {0.0f,0.02f,0.066f},{-0.00517638f,0.0193185f,0.066f},{-0.01f,0.0173205f,0.066f}, {-0.0141421f,0.0141421f,0.066f},{-0.0173205f,0.01f,0.066f},{-0.0193185f,0.00517638f,0.066f}, {-0.02f,0.0f,0.066f},{-0.0193185f,-0.00517638f,0.066f},{-0.0173205f,-0.01f,0.066f}, {-0.0141421f,-0.0141421f,0.066f},{-0.01f,-0.0173205f,0.066f},{-0.00517638f,-0.0193185f,0.066f}, {0.0f,-0.02f,0.066f},{0.00517638f,-0.0193185f,0.066f},{0.01f,-0.0173205f,0.066f}, {0.0141421f,-0.0141421f,0.066f},{0.0173205f,-0.01f,0.066f},{0.0193185f,-0.00517638f,0.066f}, {0.0146159f,0.0146159f,0.07475f},{0.010335f,0.0179007f,0.07475f},{0.00534979f,0.0199657f,0.07475f}, {0.0f,0.02067f,0.07475f},{-0.00534979f,0.0199657f,0.07475f},{-0.010335f,0.0179007f,0.07475f}, {-0.0146159f,0.0146159f,0.07475f},{0.0199657f,0.00534979f,0.07475f},{0.0179007f,0.010335f,0.07475f}, {-0.0179007f,0.010335f,0.07475f},{-0.0199657f,0.00534979f,0.07475f},{0.0199657f,-0.00534979f,0.07475f}, {0.02067f,0.0f,0.07475f},{-0.02067f,0.0f,0.07475f},{-0.0199657f,-0.00534979f,0.07475f}, {0.0146159f,-0.0146159f,0.07475f},{0.0179007f,-0.010335f,0.07475f},{0.00534979f,-0.0199657f,0.07475f}, {0.010335f,-0.0179007f,0.07475f},{-0.00534979f,-0.0199657f,0.07475f},{0.0f,-0.02067f,0.07475f}, {-0.0179007f,-0.010335f,0.07475f},{-0.0146159f,-0.0146159f,0.07475f},{-0.010335f,-0.0179007f,0.07475f} }; static GLfloat normals [49][3] = { {0.0f,0.0f,1.0f},{0.300042f,0.950872f,-0.0762749f},{0.460207f,0.884529f,-0.0762749f}, {0.535922f,0.840815f,-0.0762749f},{0.215592f,0.9735f,-0.076275f},{0.0437142f,0.996128f,-0.076275f}, {-0.0437142f,0.996128f,-0.076275f},{-0.215592f,0.9735f,-0.076275f},{-0.300042f,0.950872f,-0.0762749f}, {-0.460207f,0.884529f,-0.0762749f},{-0.535922f,0.840815f,-0.0762749f},{-0.673458f,0.73528f,-0.0762749f}, {-0.73528f,0.673458f,-0.0762749f},{-0.840815f,0.535922f,-0.0762749f},{-0.884529f,0.460207f,-0.0762749f}, {-0.950872f,0.300042f,-0.0762749f},{-0.9735f,0.215592f,-0.076275f},{-0.996128f,0.0437142f,-0.076275f}, {-0.996128f,-0.0437142f,-0.076275f},{-0.9735f,-0.215592f,-0.076275f},{-0.950872f,-0.300042f,-0.0762749f}, {-0.884529f,-0.460207f,-0.0762749f},{-0.840815f,-0.535922f,-0.0762749f},{-0.73528f,-0.673458f,-0.0762749f}, {-0.673458f,-0.73528f,-0.0762749f},{-0.535922f,-0.840815f,-0.0762749f},{-0.460207f,-0.884529f,-0.0762749f}, {-0.300042f,-0.950872f,-0.0762749f},{-0.215592f,-0.9735f,-0.076275f},{-0.0437142f,-0.996128f,-0.076275f}, {0.0437142f,-0.996128f,-0.076275f},{0.215592f,-0.9735f,-0.076275f},{0.300042f,-0.950872f,-0.0762749f}, {0.460207f,-0.884529f,-0.0762749f},{0.535922f,-0.840815f,-0.0762749f},{0.673458f,-0.73528f,-0.0762749f}, {0.73528f,-0.673458f,-0.0762749f},{0.840815f,-0.535922f,-0.0762749f},{0.884529f,-0.460207f,-0.0762749f}, {0.950872f,-0.300042f,-0.0762749f},{0.9735f,-0.215592f,-0.076275f},{0.996128f,-0.0437142f,-0.076275f}, {0.996128f,0.0437142f,-0.076275f},{0.9735f,0.215592f,-0.076275f},{0.950872f,0.300042f,-0.0762749f}, {0.884529f,0.460207f,-0.0762749f},{0.840815f,0.535922f,-0.0762749f},{0.73528f,0.673458f,-0.0762749f}, {0.673458f,0.73528f,-0.0762749f} }; static GLfloat textures [74][2] = { {0.511035f,0.0343294f},{0.511035f,0.0521932f},{0.509859f,0.0432613f}, {0.514483f,0.0260062f},{0.514483f,0.0605164f},{0.519967f,0.018859f}, {0.519967f,0.0676636f},{0.527115f,0.0133746f},{0.527115f,0.0731479f}, {0.535438f,0.00992709f},{0.535438f,0.0765955f},{0.54437f,0.00875115f}, {0.54437f,0.0777714f},{0.553302f,0.00992709f},{0.553302f,0.0765955f}, {0.561625f,0.0133746f},{0.561625f,0.0731479f},{0.568772f,0.018859f}, {0.568772f,0.0676636f},{0.574256f,0.0260062f},{0.574256f,0.0605164f}, {0.577704f,0.0343294f},{0.577704f,0.0521932f},{0.57888f,0.0432613f}, {0.624689f,0.162312f},{0.613751f,0.194494f},{0.613751f,0.162312f}, {0.624689f,0.194494f},{0.635626f,0.162312f},{0.635626f,0.194494f}, {0.646564f,0.162312f},{0.646564f,0.194494f},{0.657502f,0.162312f}, {0.657502f,0.194494f},{0.66844f,0.162312f},{0.66844f,0.194494f}, {0.679377f,0.162312f},{0.679377f,0.194494f},{0.690315f,0.162312f}, {0.690315f,0.194494f},{0.701253f,0.162312f},{0.701253f,0.194494f}, {0.449685f,0.162312f},{0.438747f,0.194336f},{0.438747f,0.162312f}, {0.449685f,0.194494f},{0.460623f,0.162312f},{0.460623f,0.194494f}, {0.47156f,0.162312f},{0.47156f,0.194494f},{0.482498f,0.162312f}, {0.482498f,0.194494f},{0.493436f,0.162312f},{0.493436f,0.194494f}, {0.504374f,0.162312f},{0.504374f,0.194494f},{0.515311f,0.162312f}, {0.515311f,0.194494f},{0.526249f,0.162312f},{0.526249f,0.194494f}, {0.537187f,0.162312f},{0.537187f,0.194494f},{0.548125f,0.162312f}, {0.548125f,0.194494f},{0.559062f,0.162312f},{0.559062f,0.194494f}, {0.57f,0.162312f},{0.57f,0.194494f},{0.580938f,0.162312f}, {0.580938f,0.194494f},{0.591875f,0.162312f},{0.591875f,0.194494f}, {0.602813f,0.162312f},{0.602813f,0.194494f} }; GLint GenFeederCharge0() { GLint lid=glGenLists(1); glNewList(lid, GL_COMPILE); glBegin (GL_TRIANGLES); for(size_t i=0;i (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #define BYTE unsigned char namespace Enki { // 48 Verticies // 74 Texture Coordinates // 49 Normals // 70 Triangles static BYTE face_indicies[70][9] = { // Object #-1 {45,28,47 ,0,0,0 ,0,1,2 }, {44,28,45 ,0,0,0 ,3,1,0 }, {44,30,28 ,0,0,0 ,3,4,1 }, {41,30,44 ,0,0,0 ,5,4,3 }, {41,18,30 ,0,0,0 ,5,6,4 }, {39,18,41 ,0,0,0 ,7,6,5 }, {18,39,20 ,0,0,0 ,6,7,8 }, {37,20,39 ,0,0,0 ,9,8,7 }, {37,11,20 ,0,0,0 ,9,10,8 }, {35,11,37 ,0,0,0 ,11,10,9 }, {35,13,11 ,0,0,0 ,11,12,10 }, {13,35,7 ,0,0,0 ,12,11,13 }, {33,7,35 ,0,0,0 ,14,13,11 }, {32,7,33 ,0,0,0 ,15,13,14 }, {7,32,9 ,0,0,0 ,13,15,16 }, {24,9,32 ,0,0,0 ,17,16,15 }, {9,24,2 ,0,0,0 ,16,17,18 }, {2,24,3 ,0,0,0 ,18,17,19 }, {24,22,3 ,0,0,0 ,17,20,19 }, {3,22,0 ,0,0,0 ,19,20,21 }, {16,0,22 ,0,0,0 ,22,21,20 }, {14,0,16 ,0,0,0 ,23,21,22 }, {4,3,5 ,1,2,3 ,24,25,26 }, {4,2,3 ,1,4,2 ,24,27,25 }, {10,2,4 ,5,4,1 ,28,27,24 }, {10,9,2 ,5,6,4 ,28,29,27 }, {8,9,10 ,7,6,5 ,30,29,28 }, {8,7,9 ,7,8,6 ,30,31,29 }, {6,7,8 ,9,8,7 ,32,31,30 }, {6,13,7 ,9,10,8 ,32,33,31 }, {12,13,6 ,11,10,9 ,34,33,32 }, {12,11,13 ,11,12,10 ,34,35,33 }, {21,11,12 ,13,12,11 ,36,35,34 }, {21,20,11 ,13,14,12 ,36,37,35 }, {19,20,21 ,15,14,13 ,38,37,36 }, {19,18,20 ,15,16,14 ,38,39,37 }, {31,18,19 ,17,16,15 ,40,39,38 }, {31,30,18 ,17,18,16 ,40,41,39 }, {29,30,31 ,19,18,17 ,42,43,44 }, {29,28,30 ,19,20,18 ,42,45,43 }, {27,28,29 ,21,20,19 ,46,45,42 }, {27,47,28 ,21,22,20 ,46,47,45 }, {46,47,27 ,23,22,21 ,48,47,46 }, {46,45,47 ,23,24,22 ,48,49,47 }, {43,45,46 ,25,24,23 ,50,49,48 }, {43,44,45 ,25,26,24 ,50,51,49 }, {42,44,43 ,27,26,25 ,52,51,50 }, {42,41,44 ,27,28,26 ,52,53,51 }, {40,41,42 ,29,28,27 ,54,53,52 }, {40,39,41 ,29,30,28 ,54,55,53 }, {38,39,40 ,31,30,29 ,56,55,54 }, {38,37,39 ,31,32,30 ,56,57,55 }, {36,37,38 ,33,32,31 ,58,57,56 }, {36,35,37 ,33,34,32 ,58,59,57 }, {34,35,36 ,35,34,33 ,60,59,58 }, {34,33,35 ,35,36,34 ,60,61,59 }, {26,33,34 ,37,36,35 ,62,61,60 }, {26,32,33 ,37,38,36 ,62,63,61 }, {25,32,26 ,39,38,37 ,64,63,62 }, {25,24,32 ,39,40,38 ,64,65,63 }, {23,24,25 ,41,40,39 ,66,65,64 }, {23,22,24 ,41,42,40 ,66,67,65 }, {17,22,23 ,43,42,41 ,68,67,66 }, {17,16,22 ,43,44,42 ,68,69,67 }, {15,16,17 ,45,44,43 ,70,69,68 }, {15,14,16 ,45,46,44 ,70,71,69 }, {1,14,15 ,47,46,45 ,72,71,70 }, {1,0,14 ,47,48,46 ,72,73,71 }, {5,0,1 ,3,48,47 ,26,73,72 }, {5,3,0 ,3,2,48 ,26,25,73 } }; static GLfloat vertices [48][3] = { {0.0150897f,0.0150897f,0.0835f},{0.0146159f,0.0146159f,0.07475f},{0.0055232f,0.0206129f,0.0835f}, {0.01067f,0.018481f,0.0835f},{0.00534979f,0.0199657f,0.07475f},{0.010335f,0.0179007f,0.07475f}, {-0.010335f,0.0179007f,0.07475f},{-0.0055232f,0.0206129f,0.0835f},{-0.00534979f,0.0199657f,0.07475f}, {0.0f,0.02134f,0.0835f},{0.0f,0.02067f,0.07475f},{-0.0150897f,0.0150897f,0.0835f}, {-0.0146159f,0.0146159f,0.07475f},{-0.01067f,0.018481f,0.0835f},{0.018481f,0.01067f,0.0835f}, {0.0179007f,0.010335f,0.07475f},{0.0206129f,0.0055232f,0.0835f},{0.0199657f,0.00534979f,0.07475f}, {-0.0206129f,0.0055232f,0.0835f},{-0.0199657f,0.00534979f,0.07475f},{-0.018481f,0.01067f,0.0835f}, {-0.0179007f,0.010335f,0.07475f},{0.02134f,0.0f,0.0835f},{0.02067f,0.0f,0.07475f}, {0.0206129f,-0.0055232f,0.0835f},{0.0199657f,-0.00534979f,0.07475f},{0.0179007f,-0.010335f,0.07475f}, {-0.0179007f,-0.010335f,0.07475f},{-0.0206129f,-0.0055232f,0.0835f},{-0.0199657f,-0.00534979f,0.07475f}, {-0.02134f,0.0f,0.0835f},{-0.02067f,0.0f,0.07475f},{0.018481f,-0.01067f,0.0835f}, {0.0150897f,-0.0150897f,0.0835f},{0.0146159f,-0.0146159f,0.07475f},{0.01067f,-0.018481f,0.0835f}, {0.010335f,-0.0179007f,0.07475f},{0.0055232f,-0.0206129f,0.0835f},{0.00534979f,-0.0199657f,0.07475f}, {0.0f,-0.02134f,0.0835f},{0.0f,-0.02067f,0.07475f},{-0.0055232f,-0.0206129f,0.0835f}, {-0.00534979f,-0.0199657f,0.07475f},{-0.010335f,-0.0179007f,0.07475f},{-0.01067f,-0.018481f,0.0835f}, {-0.0150897f,-0.0150897f,0.0835f},{-0.0146159f,-0.0146159f,0.07475f},{-0.018481f,-0.01067f,0.0835f} }; static GLfloat normals [49][3] = { {0.0f,0.0f,1.0f},{0.300042f,0.950872f,-0.0762748f},{0.460207f,0.884529f,-0.0762749f}, {0.535922f,0.840815f,-0.076275f},{0.215592f,0.9735f,-0.0762748f},{0.0437144f,0.996128f,-0.0762749f}, {-0.0437142f,0.996128f,-0.0762749f},{-0.215592f,0.9735f,-0.0762748f},{-0.300042f,0.950872f,-0.0762748f}, {-0.460206f,0.884529f,-0.0762749f},{-0.535922f,0.840815f,-0.076275f},{-0.673458f,0.73528f,-0.076275f}, {-0.73528f,0.673458f,-0.076275f},{-0.840815f,0.535922f,-0.076275f},{-0.884529f,0.460207f,-0.0762749f}, {-0.950872f,0.300042f,-0.0762748f},{-0.9735f,0.215592f,-0.0762748f},{-0.996128f,0.0437144f,-0.0762749f}, {-0.996128f,-0.0437142f,-0.0762749f},{-0.9735f,-0.215592f,-0.0762748f},{-0.950872f,-0.300042f,-0.0762748f}, {-0.884529f,-0.460206f,-0.0762749f},{-0.840815f,-0.535922f,-0.076275f},{-0.73528f,-0.673458f,-0.076275f}, {-0.673458f,-0.73528f,-0.076275f},{-0.535922f,-0.840815f,-0.076275f},{-0.460207f,-0.884529f,-0.0762749f}, {-0.300042f,-0.950872f,-0.0762748f},{-0.215592f,-0.9735f,-0.0762748f},{-0.0437144f,-0.996128f,-0.0762749f}, {0.0437142f,-0.996128f,-0.0762749f},{0.215592f,-0.9735f,-0.0762748f},{0.300042f,-0.950872f,-0.0762748f}, {0.460206f,-0.884529f,-0.0762749f},{0.535922f,-0.840815f,-0.076275f},{0.673458f,-0.73528f,-0.076275f}, {0.73528f,-0.673458f,-0.076275f},{0.840815f,-0.535922f,-0.076275f},{0.884529f,-0.460207f,-0.0762749f}, {0.950872f,-0.300042f,-0.0762748f},{0.9735f,-0.215592f,-0.0762748f},{0.996128f,-0.0437144f,-0.0762749f}, {0.996128f,0.0437142f,-0.0762749f},{0.9735f,0.215592f,-0.0762748f},{0.950872f,0.300042f,-0.0762748f}, {0.884529f,0.460206f,-0.0762749f},{0.840815f,0.535922f,-0.076275f},{0.73528f,0.673458f,-0.076275f}, {0.673458f,0.73528f,-0.076275f} }; static GLfloat textures [74][2] = { {0.447027f,0.0199667f},{0.437806f,0.0359386f},{0.441365f,0.0273456f}, {0.454406f,0.0143046f},{0.436592f,0.0451599f},{0.462999f,0.0107452f}, {0.437806f,0.0543814f},{0.47222f,0.00953126f},{0.441365f,0.0629743f}, {0.481442f,0.0107452f},{0.447027f,0.0703533f},{0.490035f,0.0143046f}, {0.454406f,0.0760153f},{0.462999f,0.0795746f},{0.497414f,0.0199667f}, {0.503076f,0.0273456f},{0.47222f,0.0807887f},{0.506635f,0.0359386f}, {0.481442f,0.0795746f},{0.490035f,0.0760153f},{0.507849f,0.0451599f}, {0.497414f,0.0703533f},{0.506635f,0.0543814f},{0.503076f,0.0629743f}, {0.624689f,0.194494f},{0.613751f,0.226675f},{0.613751f,0.194494f}, {0.624689f,0.226675f},{0.635626f,0.194494f},{0.635626f,0.226675f}, {0.646564f,0.194494f},{0.646564f,0.226675f},{0.657502f,0.194494f}, {0.657502f,0.226675f},{0.66844f,0.194494f},{0.66844f,0.226675f}, {0.679377f,0.194494f},{0.679377f,0.226675f},{0.690315f,0.194494f}, {0.690315f,0.226675f},{0.701253f,0.194494f},{0.701253f,0.226675f}, {0.449685f,0.194494f},{0.438747f,0.226563f},{0.438747f,0.194494f}, {0.449685f,0.226675f},{0.460623f,0.194494f},{0.460623f,0.226675f}, {0.47156f,0.194494f},{0.47156f,0.226675f},{0.482498f,0.194494f}, {0.482498f,0.226675f},{0.493436f,0.194494f},{0.493436f,0.226675f}, {0.504374f,0.194494f},{0.504374f,0.226675f},{0.515311f,0.194494f}, {0.515311f,0.226675f},{0.526249f,0.194494f},{0.526249f,0.226675f}, {0.537187f,0.194494f},{0.537187f,0.226675f},{0.548125f,0.194494f}, {0.548125f,0.226675f},{0.559062f,0.194494f},{0.559062f,0.226675f}, {0.57f,0.194494f},{0.57f,0.226675f},{0.580938f,0.194494f}, {0.580938f,0.226675f},{0.591875f,0.194494f},{0.591875f,0.226675f}, {0.602813f,0.194494f},{0.602813f,0.226675f} }; GLint GenFeederCharge1() { GLint lid=glGenLists(1); glNewList(lid, GL_COMPILE); glBegin (GL_TRIANGLES); for(size_t i=0;i (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #define BYTE unsigned char namespace Enki { // 48 Verticies // 74 Texture Coordinates // 49 Normals // 70 Triangles static BYTE face_indicies[70][9] = { // Object #-1 {28,18,30 ,0,0,0 ,0,1,2 }, {47,18,28 ,0,0,0 ,3,1,0 }, {47,20,18 ,0,0,0 ,3,4,1 }, {45,20,47 ,0,0,0 ,5,4,3 }, {45,11,20 ,0,0,0 ,5,6,4 }, {44,11,45 ,0,0,0 ,7,6,5 }, {44,13,11 ,0,0,0 ,7,8,6 }, {41,13,44 ,0,0,0 ,9,8,7 }, {41,7,13 ,0,0,0 ,9,10,8 }, {39,7,41 ,0,0,0 ,11,10,9 }, {39,9,7 ,0,0,0 ,11,12,10 }, {37,9,39 ,0,0,0 ,13,12,11 }, {37,2,9 ,0,0,0 ,13,14,12 }, {35,2,37 ,0,0,0 ,15,14,13 }, {2,35,3 ,0,0,0 ,14,15,16 }, {3,35,0 ,0,0,0 ,16,15,17 }, {35,33,0 ,0,0,0 ,15,18,17 }, {0,33,14 ,0,0,0 ,17,18,19 }, {33,32,14 ,0,0,0 ,18,20,19 }, {14,32,16 ,0,0,0 ,19,20,21 }, {24,16,32 ,0,0,0 ,22,21,20 }, {22,16,24 ,0,0,0 ,23,21,22 }, {4,3,5 ,1,2,3 ,24,25,26 }, {4,2,3 ,1,4,2 ,24,27,25 }, {10,2,4 ,5,4,1 ,28,27,24 }, {10,9,2 ,5,6,4 ,28,29,27 }, {8,9,10 ,7,6,5 ,30,29,28 }, {8,7,9 ,7,8,6 ,30,31,29 }, {6,7,8 ,9,8,7 ,32,31,30 }, {6,13,7 ,9,10,8 ,32,33,31 }, {12,13,6 ,11,10,9 ,34,33,32 }, {12,11,13 ,11,12,10 ,34,35,33 }, {21,11,12 ,13,12,11 ,36,35,34 }, {21,20,11 ,13,14,12 ,36,37,35 }, {19,20,21 ,15,14,13 ,38,37,36 }, {19,18,20 ,15,16,14 ,38,39,37 }, {31,18,19 ,17,16,15 ,40,39,38 }, {31,30,18 ,17,18,16 ,40,41,39 }, {29,30,31 ,19,18,17 ,42,43,44 }, {29,28,30 ,19,20,18 ,42,45,43 }, {27,28,29 ,21,20,19 ,46,45,42 }, {27,47,28 ,21,22,20 ,46,47,45 }, {46,47,27 ,23,22,21 ,48,47,46 }, {46,45,47 ,23,24,22 ,48,49,47 }, {43,45,46 ,25,24,23 ,50,49,48 }, {43,44,45 ,25,26,24 ,50,51,49 }, {42,44,43 ,27,26,25 ,52,51,50 }, {42,41,44 ,27,28,26 ,52,53,51 }, {40,41,42 ,29,28,27 ,54,53,52 }, {40,39,41 ,29,30,28 ,54,55,53 }, {38,39,40 ,31,30,29 ,56,55,54 }, {38,37,39 ,31,32,30 ,56,57,55 }, {36,37,38 ,33,32,31 ,58,57,56 }, {36,35,37 ,33,34,32 ,58,59,57 }, {34,35,36 ,35,34,33 ,60,59,58 }, {34,33,35 ,35,36,34 ,60,61,59 }, {26,33,34 ,37,36,35 ,62,61,60 }, {26,32,33 ,37,38,36 ,62,63,61 }, {25,32,26 ,39,38,37 ,64,63,62 }, {25,24,32 ,39,40,38 ,64,65,63 }, {23,24,25 ,41,40,39 ,66,65,64 }, {23,22,24 ,41,42,40 ,66,67,65 }, {17,22,23 ,43,42,41 ,68,67,66 }, {17,16,22 ,43,44,42 ,68,69,67 }, {15,16,17 ,45,44,43 ,70,69,68 }, {15,14,16 ,45,46,44 ,70,71,69 }, {1,14,15 ,47,46,45 ,72,71,70 }, {1,0,14 ,47,48,46 ,72,73,71 }, {5,0,1 ,3,48,47 ,26,73,72 }, {5,3,0 ,3,2,48 ,26,25,73 } }; static GLfloat vertices [48][3] = { {0.0155634f,0.0155634f,0.09225f},{0.0150897f,0.0150897f,0.0835f},{0.00569661f,0.02126f,0.09225f}, {0.011005f,0.0190612f,0.09225f},{0.0055232f,0.0206129f,0.0835f},{0.01067f,0.018481f,0.0835f}, {-0.01067f,0.018481f,0.0835f},{-0.00569661f,0.02126f,0.09225f},{-0.0055232f,0.0206129f,0.0835f}, {0.0f,0.02201f,0.09225f},{0.0f,0.02134f,0.0835f},{-0.0155634f,0.0155634f,0.09225f}, {-0.0150897f,0.0150897f,0.0835f},{-0.011005f,0.0190612f,0.09225f},{0.0190612f,0.011005f,0.09225f}, {0.018481f,0.01067f,0.0835f},{0.02126f,0.00569661f,0.09225f},{0.0206129f,0.0055232f,0.0835f}, {-0.02126f,0.00569661f,0.09225f},{-0.0206129f,0.0055232f,0.0835f},{-0.0190612f,0.011005f,0.09225f}, {-0.018481f,0.01067f,0.0835f},{0.02201f,0.0f,0.09225f},{0.02134f,0.0f,0.0835f}, {0.02126f,-0.00569661f,0.09225f},{0.0206129f,-0.0055232f,0.0835f},{0.018481f,-0.01067f,0.0835f}, {-0.018481f,-0.01067f,0.0835f},{-0.02126f,-0.00569661f,0.09225f},{-0.0206129f,-0.0055232f,0.0835f}, {-0.02201f,0.0f,0.09225f},{-0.02134f,0.0f,0.0835f},{0.0190612f,-0.011005f,0.09225f}, {0.0155634f,-0.0155634f,0.09225f},{0.0150897f,-0.0150897f,0.0835f},{0.011005f,-0.0190612f,0.09225f}, {0.01067f,-0.018481f,0.0835f},{0.00569661f,-0.02126f,0.09225f},{0.0055232f,-0.0206129f,0.0835f}, {0.0f,-0.02201f,0.09225f},{0.0f,-0.02134f,0.0835f},{-0.00569661f,-0.02126f,0.09225f}, {-0.0055232f,-0.0206129f,0.0835f},{-0.01067f,-0.018481f,0.0835f},{-0.011005f,-0.0190612f,0.09225f}, {-0.0155634f,-0.0155634f,0.09225f},{-0.0150897f,-0.0150897f,0.0835f},{-0.0190612f,-0.011005f,0.09225f} }; static GLfloat normals [49][3] = { {0.0f,0.0f,1.0f},{0.300042f,0.950872f,-0.076275f},{0.460206f,0.884529f,-0.0762749f}, {0.535922f,0.840815f,-0.0762749f},{0.215592f,0.9735f,-0.076275f},{0.0437144f,0.996128f,-0.076275f}, {-0.0437144f,0.996128f,-0.076275f},{-0.215592f,0.9735f,-0.076275f},{-0.300042f,0.950872f,-0.076275f}, {-0.460206f,0.884529f,-0.0762749f},{-0.535922f,0.840815f,-0.0762749f},{-0.673458f,0.735279f,-0.0762749f}, {-0.73528f,0.673458f,-0.0762749f},{-0.840815f,0.535922f,-0.0762749f},{-0.884529f,0.460206f,-0.0762749f}, {-0.950872f,0.300042f,-0.076275f},{-0.9735f,0.215592f,-0.076275f},{-0.996128f,0.0437144f,-0.076275f}, {-0.996128f,-0.0437144f,-0.076275f},{-0.9735f,-0.215592f,-0.076275f},{-0.950872f,-0.300042f,-0.076275f}, {-0.884529f,-0.460206f,-0.0762749f},{-0.840815f,-0.535922f,-0.0762749f},{-0.735279f,-0.673458f,-0.0762749f}, {-0.673458f,-0.73528f,-0.0762749f},{-0.535922f,-0.840815f,-0.0762749f},{-0.460206f,-0.884529f,-0.0762749f}, {-0.300042f,-0.950872f,-0.076275f},{-0.215592f,-0.9735f,-0.076275f},{-0.0437144f,-0.996128f,-0.076275f}, {0.0437144f,-0.996128f,-0.076275f},{0.215592f,-0.9735f,-0.076275f},{0.300042f,-0.950872f,-0.076275f}, {0.460206f,-0.884529f,-0.0762749f},{0.535922f,-0.840815f,-0.0762749f},{0.673458f,-0.735279f,-0.0762749f}, {0.73528f,-0.673458f,-0.0762749f},{0.840815f,-0.535922f,-0.0762749f},{0.884529f,-0.460206f,-0.0762749f}, {0.950872f,-0.300042f,-0.076275f},{0.9735f,-0.215592f,-0.076275f},{0.996128f,-0.0437144f,-0.076275f}, {0.996128f,0.0437144f,-0.076275f},{0.9735f,0.215592f,-0.076275f},{0.950872f,0.300042f,-0.076275f}, {0.884529f,0.460206f,-0.0762749f},{0.840815f,0.535922f,-0.0762749f},{0.735279f,0.673458f,-0.0762749f}, {0.673458f,0.73528f,-0.0762749f} }; static GLfloat textures [74][2] = { {0.510277f,0.111667f},{0.510277f,0.130689f},{0.509025f,0.121178f}, {0.513948f,0.102804f},{0.513948f,0.139551f},{0.519788f,0.0951934f}, {0.519788f,0.147162f},{0.527399f,0.0893536f},{0.527399f,0.153002f}, {0.536261f,0.0856825f},{0.536261f,0.156673f},{0.545772f,0.0844303f}, {0.545772f,0.157925f},{0.555283f,0.0856825f},{0.555283f,0.156673f}, {0.564146f,0.0893536f},{0.564146f,0.153002f},{0.571757f,0.147162f}, {0.571757f,0.0951934f},{0.577597f,0.139551f},{0.577597f,0.102804f}, {0.581268f,0.130689f},{0.581268f,0.111667f},{0.58252f,0.121178f}, {0.624689f,0.226675f},{0.613751f,0.258856f},{0.613751f,0.226675f}, {0.624689f,0.258856f},{0.635626f,0.226675f},{0.635626f,0.258856f}, {0.646564f,0.226675f},{0.646564f,0.258856f},{0.657502f,0.226675f}, {0.657502f,0.258856f},{0.66844f,0.226675f},{0.66844f,0.258856f}, {0.679377f,0.226675f},{0.679377f,0.258856f},{0.690315f,0.226675f}, {0.690315f,0.258856f},{0.701253f,0.226675f},{0.701253f,0.258856f}, {0.449685f,0.226675f},{0.438747f,0.257813f},{0.438747f,0.226675f}, {0.449685f,0.258856f},{0.460623f,0.226675f},{0.460623f,0.258856f}, {0.47156f,0.226675f},{0.47156f,0.258856f},{0.482498f,0.226675f}, {0.482498f,0.258856f},{0.493436f,0.226675f},{0.493436f,0.258856f}, {0.504374f,0.226675f},{0.504374f,0.258856f},{0.515311f,0.226675f}, {0.515311f,0.258856f},{0.526249f,0.226675f},{0.526249f,0.258856f}, {0.537187f,0.226675f},{0.537187f,0.258856f},{0.548125f,0.226675f}, {0.548125f,0.258856f},{0.559062f,0.226675f},{0.559062f,0.258856f}, {0.57f,0.226675f},{0.57f,0.258856f},{0.580938f,0.226675f}, {0.580938f,0.258856f},{0.591875f,0.226675f},{0.591875f,0.258856f}, {0.602813f,0.226675f},{0.602813f,0.258856f} }; GLint GenFeederCharge2() { GLint lid=glGenLists(1); glNewList(lid, GL_COMPILE); glBegin (GL_TRIANGLES); for(size_t i=0;i (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #define BYTE unsigned char namespace Enki { // 72 Verticies // 100 Texture Coordinates // 72 Normals // 118 Triangles static BYTE face_indicies[118][9] = { // Object #-1 {45,37,44 ,0,1,2 ,0,1,2 }, {55,37,45 ,3,1,0 ,3,1,0 }, {55,35,37 ,3,4,1 ,3,4,1 }, {56,35,55 ,5,4,3 ,5,4,3 }, {56,34,35 ,5,6,4 ,5,6,4 }, {57,34,56 ,7,6,5 ,7,6,5 }, {57,33,34 ,7,8,6 ,7,8,6 }, {71,33,57 ,9,8,7 ,9,8,7 }, {71,29,33 ,9,10,8 ,9,10,8 }, {29,71,28 ,10,9,11 ,10,9,11 }, {67,28,71 ,12,11,9 ,12,11,9 }, {28,67,25 ,11,12,13 ,11,12,13 }, {68,25,67 ,14,13,12 ,14,13,12 }, {25,68,41 ,13,14,15 ,13,14,15 }, {69,41,68 ,16,15,14 ,16,15,14 }, {62,41,69 ,17,15,16 ,17,15,16 }, {62,40,41 ,17,18,15 ,17,18,15 }, {63,40,62 ,19,18,17 ,19,18,17 }, {40,63,51 ,18,19,20 ,18,19,20 }, {51,63,50 ,20,19,21 ,20,19,21 }, {59,50,63 ,22,21,19 ,22,21,19 }, {49,50,59 ,23,21,22 ,23,21,22 }, {1,51,0 ,24,20,25 ,24,25,26 }, {1,40,51 ,24,18,20 ,24,27,25 }, {0,50,23 ,25,21,26 ,26,28,29 }, {0,51,50 ,25,20,21 ,26,25,28 }, {23,49,22 ,26,23,27 ,29,30,31 }, {23,50,49 ,26,21,23 ,29,28,30 }, {22,59,21 ,27,22,28 ,31,32,33 }, {22,49,59 ,27,23,22 ,31,30,32 }, {21,63,20 ,28,19,29 ,33,34,35 }, {21,59,63 ,28,22,19 ,33,32,34 }, {20,62,19 ,29,17,30 ,35,36,37 }, {20,63,62 ,29,19,17 ,35,34,36 }, {19,69,18 ,30,16,31 ,37,38,39 }, {19,62,69 ,30,17,16 ,37,36,38 }, {69,17,18 ,16,32,31 ,38,40,39 }, {69,68,17 ,16,14,32 ,38,41,40 }, {68,16,17 ,14,33,32 ,41,42,40 }, {68,67,16 ,14,12,33 ,41,43,42 }, {67,15,16 ,12,34,33 ,43,44,42 }, {67,71,15 ,12,9,34 ,43,45,44 }, {71,14,15 ,9,35,34 ,45,46,44 }, {71,57,14 ,9,7,35 ,45,47,46 }, {57,13,14 ,7,36,35 ,47,48,46 }, {57,56,13 ,7,5,36 ,47,49,48 }, {56,12,13 ,5,37,36 ,49,50,48 }, {56,55,12 ,5,3,37 ,49,51,50 }, {55,11,12 ,3,38,37 ,52,53,54 }, {55,45,11 ,3,0,38 ,52,55,53 }, {45,10,11 ,0,39,38 ,55,56,53 }, {45,44,10 ,0,2,39 ,55,57,56 }, {44,9,10 ,2,40,39 ,57,58,56 }, {44,37,9 ,2,1,40 ,57,59,58 }, {37,8,9 ,1,41,40 ,59,60,58 }, {37,35,8 ,1,4,41 ,59,61,60 }, {35,7,8 ,4,42,41 ,61,62,60 }, {35,34,7 ,4,6,42 ,61,63,62 }, {34,6,7 ,6,43,42 ,63,64,62 }, {34,33,6 ,6,8,43 ,63,65,64 }, {6,29,5 ,43,10,44 ,64,66,67 }, {6,33,29 ,43,8,10 ,64,65,66 }, {5,28,4 ,44,11,45 ,67,68,69 }, {5,29,28 ,44,10,11 ,67,66,68 }, {4,25,3 ,45,13,46 ,69,70,71 }, {4,28,25 ,45,11,13 ,69,68,70 }, {3,41,2 ,46,15,47 ,71,72,73 }, {3,25,41 ,46,13,15 ,71,70,72 }, {2,40,1 ,47,18,24 ,73,27,24 }, {2,41,40 ,47,15,18 ,73,72,27 }, {26,4,27 ,48,45,49 ,74,69,75 }, {26,5,4 ,48,44,45 ,74,67,69 }, {32,5,26 ,50,44,48 ,76,67,74 }, {32,6,5 ,50,43,44 ,76,64,67 }, {31,6,32 ,51,43,50 ,77,64,76 }, {31,7,6 ,51,42,43 ,77,62,64 }, {30,7,31 ,52,42,51 ,78,62,77 }, {30,8,7 ,52,41,42 ,78,60,62 }, {36,8,30 ,53,41,52 ,79,60,78 }, {36,9,8 ,53,40,41 ,79,58,60 }, {43,9,36 ,54,40,53 ,80,58,79 }, {43,10,9 ,54,39,40 ,80,56,58 }, {42,10,43 ,55,39,54 ,81,56,80 }, {42,11,10 ,55,38,39 ,81,53,56 }, {54,11,42 ,56,38,55 ,82,53,81 }, {54,12,11 ,56,37,38 ,82,54,53 }, {53,12,54 ,57,37,56 ,83,84,85 }, {53,13,12 ,57,36,37 ,83,48,84 }, {52,13,53 ,58,36,57 ,86,48,83 }, {52,14,13 ,58,35,36 ,86,46,48 }, {70,14,52 ,59,35,58 ,87,46,86 }, {70,15,14 ,59,34,35 ,87,44,46 }, {66,15,70 ,60,34,59 ,88,44,87 }, {66,16,15 ,60,33,34 ,88,42,44 }, {65,16,66 ,61,33,60 ,89,42,88 }, {65,17,16 ,61,32,33 ,89,40,42 }, {64,17,65 ,62,32,61 ,90,40,89 }, {64,18,17 ,62,31,32 ,90,39,40 }, {61,18,64 ,63,31,62 ,91,39,90 }, {61,19,18 ,63,30,31 ,91,37,39 }, {60,19,61 ,64,30,63 ,92,37,91 }, {60,20,19 ,64,29,30 ,92,35,37 }, {58,20,60 ,65,29,64 ,93,35,92 }, {58,21,20 ,65,28,29 ,93,33,35 }, {48,21,58 ,66,28,65 ,94,33,93 }, {48,22,21 ,66,27,28 ,94,31,33 }, {47,22,48 ,67,27,66 ,95,31,94 }, {47,23,22 ,67,26,27 ,95,29,31 }, {46,23,47 ,68,26,67 ,96,29,95 }, {46,0,23 ,68,25,26 ,96,26,29 }, {39,0,46 ,69,25,68 ,97,26,96 }, {39,1,0 ,69,24,25 ,97,24,26 }, {38,1,39 ,70,24,69 ,98,24,97 }, {38,2,1 ,70,47,24 ,98,73,24 }, {24,2,38 ,71,47,70 ,99,73,98 }, {24,3,2 ,71,46,47 ,99,71,73 }, {27,3,24 ,49,46,71 ,75,71,99 }, {27,4,3 ,49,45,46 ,75,69,71 } }; static GLfloat vertices [72][3] = { {0.02268f,0.0f,0.101f},{0.0219072f,0.00587002f,0.101f},{0.0196415f,0.01134f,0.101f}, {0.0160372f,0.0160372f,0.101f},{0.01134f,0.0196415f,0.101f},{0.00587002f,0.0219072f,0.101f}, {0.0f,0.02268f,0.101f},{-0.00587002f,0.0219072f,0.101f},{-0.01134f,0.0196415f,0.101f}, {-0.0160372f,0.0160372f,0.101f},{-0.0196415f,0.01134f,0.101f},{-0.0219072f,0.00587002f,0.101f}, {-0.02268f,0.0f,0.101f},{-0.0219072f,-0.00587002f,0.101f},{-0.0196415f,-0.01134f,0.101f}, {-0.0160372f,-0.0160372f,0.101f},{-0.01134f,-0.0196415f,0.101f},{-0.00587002f,-0.0219072f,0.101f}, {0.0f,-0.02268f,0.101f},{0.00587002f,-0.0219072f,0.101f},{0.01134f,-0.0196415f,0.101f}, {0.0160372f,-0.0160372f,0.101f},{0.0196415f,-0.01134f,0.101f},{0.0219072f,-0.00587002f,0.101f}, {0.0155634f,0.0155634f,0.09225f},{0.0156806f,0.0156806f,0.102f},{0.00569661f,0.02126f,0.09225f}, {0.011005f,0.0190612f,0.09225f},{0.0110878f,0.0192047f,0.102f},{0.00573949f,0.0214201f,0.102f}, {-0.011005f,0.0190612f,0.09225f},{-0.00569661f,0.02126f,0.09225f},{0.0f,0.02201f,0.09225f}, {0.0f,0.0221757f,0.102f},{-0.00573949f,0.0214201f,0.102f},{-0.0110878f,0.0192047f,0.102f}, {-0.0155634f,0.0155634f,0.09225f},{-0.0156806f,0.0156806f,0.102f},{0.0190612f,0.011005f,0.09225f}, {0.02126f,0.00569661f,0.09225f},{0.0214201f,0.00573949f,0.102f},{0.0192047f,0.0110878f,0.102f}, {-0.02126f,0.00569661f,0.09225f},{-0.0190612f,0.011005f,0.09225f},{-0.0192047f,0.0110878f,0.102f}, {-0.0214201f,0.00573949f,0.102f},{0.02201f,0.0f,0.09225f},{0.02126f,-0.00569661f,0.09225f}, {0.0190612f,-0.011005f,0.09225f},{0.0192047f,-0.0110878f,0.102f},{0.0214201f,-0.00573949f,0.102f}, {0.0221757f,0.0f,0.102f},{-0.0190612f,-0.011005f,0.09225f},{-0.02126f,-0.00569661f,0.09225f}, {-0.02201f,0.0f,0.09225f},{-0.0221757f,0.0f,0.102f},{-0.0214201f,-0.00573949f,0.102f}, {-0.0192047f,-0.0110878f,0.102f},{0.0155634f,-0.0155634f,0.09225f},{0.0156806f,-0.0156806f,0.102f}, {0.011005f,-0.0190612f,0.09225f},{0.00569661f,-0.02126f,0.09225f},{0.00573949f,-0.0214201f,0.102f}, {0.0110878f,-0.0192047f,0.102f},{0.0f,-0.02201f,0.09225f},{-0.00569661f,-0.02126f,0.09225f}, {-0.011005f,-0.0190612f,0.09225f},{-0.0110878f,-0.0192047f,0.102f},{-0.00573949f,-0.0214201f,0.102f}, {0.0f,-0.0221757f,0.102f},{-0.0155634f,-0.0155634f,0.09225f},{-0.0156806f,-0.0156806f,0.102f} }; static GLfloat normals [72][3] = { {-0.59432f,0.187534f,0.782058f},{-0.353134f,0.38555f,0.852436f},{-0.633257f,0.403627f,0.660357f}, {-0.522328f,0.0229219f,0.852437f},{-0.241313f,0.46381f,0.852436f},{-0.510462f,-0.113047f,0.852437f}, {-0.113047f,0.510462f,0.852437f},{-0.46381f,-0.241313f,0.852436f},{0.0f,0.414453f,0.910071f}, {-0.329004f,-0.301342f,0.894958f},{0.134751f,0.608464f,0.782058f},{0.241313f,0.46381f,0.852436f}, {-0.281015f,-0.440889f,0.852436f},{0.353134f,0.38555f,0.852436f},{-0.157329f,-0.498597f,0.852437f}, {0.376226f,0.2398f,0.894958f},{-1.43553e-009f,-0.683433f,0.730013f},{0.157329f,-0.498597f,0.852437f}, {0.498597f,0.157329f,0.852437f},{0.2398f,-0.376226f,0.894958f},{0.622607f,0.0273226f,0.782058f}, {0.510462f,-0.113047f,0.852437f},{0.45957f,-0.42093f,0.782057f},{0.666179f,-0.346603f,0.660357f}, {0.946905f,0.256142f,0.194325f},{0.980935f,0.00233735f,0.194325f},{0.948115f,-0.251627f,0.194325f}, {0.850683f,-0.488443f,0.194324f},{0.695278f,-0.691973f,0.194324f},{0.492492f,-0.848346f,0.194324f}, {0.256142f,-0.946905f,0.194325f},{0.0271837f,-0.989866f,0.139379f},{-0.212108f,-0.957767f,0.194146f}, {-0.452769f,-0.870234f,0.194145f},{-0.662575f,-0.723397f,0.194145f},{-0.827227f,-0.527261f,0.194145f}, {-0.935505f,-0.295193f,0.194145f},{-0.98003f,-0.0430079f,0.194145f},{-0.957767f,0.212108f,0.194146f}, {-0.870234f,0.452769f,0.194145f},{-0.723397f,0.662575f,0.194145f},{-0.527261f,0.827227f,0.194145f}, {-0.295193f,0.935505f,0.194145f},{-0.0194292f,0.972249f,0.23314f},{0.251627f,0.948115f,0.194325f}, {0.488443f,0.850683f,0.194324f},{0.691973f,0.695278f,0.194324f},{0.848346f,0.492492f,0.194324f}, {0.300042f,0.950872f,-0.0762751f},{0.535922f,0.840815f,-0.076275f},{0.0437142f,0.996128f,-0.076275f}, {-0.215592f,0.9735f,-0.0762751f},{-0.460207f,0.884529f,-0.076275f},{-0.673458f,0.73528f,-0.076275f}, {-0.840815f,0.535922f,-0.076275f},{-0.950872f,0.300042f,-0.0762751f},{-0.996128f,0.0437142f,-0.076275f}, {-0.9735f,-0.215592f,-0.0762751f},{-0.884529f,-0.460207f,-0.076275f},{-0.73528f,-0.673458f,-0.076275f}, {-0.535922f,-0.840815f,-0.076275f},{-0.300042f,-0.950872f,-0.0762751f},{-0.0437142f,-0.996128f,-0.076275f}, {0.215592f,-0.9735f,-0.0762751f},{0.460207f,-0.884529f,-0.076275f},{0.673458f,-0.73528f,-0.076275f}, {0.840815f,-0.535922f,-0.076275f},{0.950872f,-0.300042f,-0.0762751f},{0.996128f,-0.0437142f,-0.076275f}, {0.9735f,0.215592f,-0.0762751f},{0.884529f,0.460207f,-0.076275f},{0.73528f,0.673458f,-0.076275f} }; static GLfloat textures [100][2] = { {0.434063f,0.130342f},{0.443646f,0.14694f},{0.437762f,0.139272f}, {0.432802f,0.12076f},{0.451314f,0.152824f},{0.434063f,0.111177f}, {0.460243f,0.156522f},{0.437762f,0.102248f},{0.469826f,0.157784f}, {0.443646f,0.0945801f},{0.479408f,0.156522f},{0.488338f,0.152824f}, {0.451314f,0.0886962f},{0.496006f,0.14694f},{0.460243f,0.0849975f}, {0.501889f,0.139272f},{0.469826f,0.083736f},{0.479408f,0.0849975f}, {0.505588f,0.130342f},{0.488338f,0.0886962f},{0.50685f,0.12076f}, {0.505588f,0.111177f},{0.496006f,0.0945801f},{0.501889f,0.102248f}, {0.580938f,0.291037f},{0.57f,0.294715f},{0.57f,0.291037f}, {0.580938f,0.294715f},{0.559062f,0.294715f},{0.559062f,0.291037f}, {0.548125f,0.294715f},{0.548125f,0.291037f},{0.537187f,0.294715f}, {0.537187f,0.291037f},{0.526249f,0.294715f},{0.526249f,0.291037f}, {0.515311f,0.294715f},{0.515311f,0.291037f},{0.504374f,0.294715f}, {0.504374f,0.291037f},{0.493436f,0.291037f},{0.493436f,0.294715f}, {0.482498f,0.291037f},{0.482498f,0.294715f},{0.47156f,0.291037f}, {0.47156f,0.294715f},{0.460623f,0.291037f},{0.460623f,0.294715f}, {0.449685f,0.291037f},{0.449685f,0.294715f},{0.438747f,0.291037f}, {0.438747f,0.294715f},{0.701253f,0.294715f},{0.690315f,0.291037f}, {0.701253f,0.291037f},{0.690315f,0.294715f},{0.679377f,0.291037f}, {0.679377f,0.294715f},{0.66844f,0.291037f},{0.66844f,0.294715f}, {0.657502f,0.291037f},{0.657502f,0.294715f},{0.646564f,0.291037f}, {0.646564f,0.294715f},{0.635626f,0.291037f},{0.635626f,0.294715f}, {0.624689f,0.294715f},{0.624689f,0.291037f},{0.613751f,0.294715f}, {0.613751f,0.291037f},{0.602813f,0.294715f},{0.602813f,0.291037f}, {0.591875f,0.294715f},{0.591875f,0.291037f},{0.624689f,0.258856f}, {0.613751f,0.258856f},{0.635626f,0.258856f},{0.646564f,0.258856f}, {0.657502f,0.258856f},{0.66844f,0.258856f},{0.679377f,0.258856f}, {0.690315f,0.258856f},{0.701253f,0.258856f},{0.449685f,0.258856f}, {0.438747f,0.291016f},{0.438747f,0.258856f},{0.460623f,0.258856f}, {0.47156f,0.258856f},{0.482498f,0.258856f},{0.493436f,0.258856f}, {0.504374f,0.258856f},{0.515311f,0.258856f},{0.526249f,0.258856f}, {0.537187f,0.258856f},{0.548125f,0.258856f},{0.559062f,0.258856f}, {0.57f,0.258856f},{0.580938f,0.258856f},{0.591875f,0.258856f}, {0.602813f,0.258856f} }; GLint GenFeederCharge3() { GLint lid=glGenLists(1); glNewList(lid, GL_COMPILE); glBegin (GL_TRIANGLES); for(size_t i=0;i (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #define BYTE unsigned char namespace Enki { // 48 Verticies // 50 Texture Coordinates // 48 Normals // 48 Triangles static BYTE face_indicies[48][9] = { // Object #-1 {2,24,1 ,0,1,2 ,0,1,2 }, {2,25,24 ,0,3,1 ,0,3,1 }, {3,25,2 ,4,3,0 ,4,3,0 }, {3,26,25 ,4,5,3 ,4,5,3 }, {4,26,3 ,6,5,4 ,6,5,4 }, {4,27,26 ,6,7,5 ,6,7,5 }, {5,27,4 ,8,7,6 ,8,7,6 }, {5,28,27 ,8,9,7 ,8,9,7 }, {6,28,5 ,10,9,8 ,10,9,8 }, {6,29,28 ,10,11,9 ,10,11,9 }, {7,29,6 ,12,11,10 ,12,11,10 }, {7,30,29 ,12,13,11 ,12,13,11 }, {8,30,7 ,14,13,12 ,14,13,12 }, {8,31,30 ,14,15,13 ,14,15,13 }, {9,31,8 ,16,15,14 ,16,15,14 }, {9,32,31 ,16,17,15 ,16,17,15 }, {10,32,9 ,18,17,16 ,18,17,16 }, {10,33,32 ,18,19,17 ,18,19,17 }, {11,33,10 ,20,19,18 ,20,19,18 }, {11,34,33 ,20,21,19 ,20,21,19 }, {12,34,11 ,22,21,20 ,22,21,20 }, {12,35,34 ,22,23,21 ,22,23,21 }, {13,35,12 ,24,23,22 ,24,23,22 }, {13,36,35 ,24,25,23 ,24,25,23 }, {14,36,13 ,26,25,24 ,26,25,24 }, {14,37,36 ,26,27,25 ,26,27,25 }, {15,37,14 ,28,27,26 ,28,27,26 }, {15,38,37 ,28,29,27 ,28,29,27 }, {16,38,15 ,30,29,28 ,30,29,28 }, {16,39,38 ,30,31,29 ,30,31,29 }, {17,39,16 ,32,31,30 ,32,31,30 }, {17,40,39 ,32,33,31 ,32,33,31 }, {18,40,17 ,34,33,32 ,34,33,32 }, {18,41,40 ,34,35,33 ,34,35,33 }, {19,41,18 ,36,35,34 ,36,35,34 }, {19,42,41 ,36,37,35 ,36,37,35 }, {20,42,19 ,38,37,36 ,38,37,36 }, {20,43,42 ,38,39,37 ,38,39,37 }, {21,43,20 ,40,39,38 ,40,41,42 }, {21,44,43 ,40,41,39 ,40,43,41 }, {22,44,21 ,42,41,40 ,44,43,40 }, {22,45,44 ,42,43,41 ,44,45,43 }, {23,45,22 ,44,43,42 ,46,45,44 }, {23,46,45 ,44,45,43 ,46,47,45 }, {0,46,23 ,46,45,44 ,48,47,46 }, {0,47,46 ,46,47,45 ,48,49,47 }, {1,47,0 ,2,47,46 ,2,49,48 }, {1,24,47 ,2,1,47 ,2,1,49 } }; static GLfloat vertices [48][3] = { {-0.0225f,-0.0389711f,0.00525f},{-0.0116469f,-0.0434667f,0.00525f},{0.0f,-0.045f,0.00525f}, {0.0116469f,-0.0434667f,0.00525f},{0.0225f,-0.0389711f,0.00525f},{0.0318198f,-0.0318198f,0.00525f}, {0.0389711f,-0.0225f,0.00525f},{0.0434667f,-0.0116469f,0.00525f},{0.045f,0.0f,0.00525f}, {0.0434667f,0.0116469f,0.00525f},{0.0389711f,0.0225f,0.00525f},{0.0318198f,0.0318198f,0.00525f}, {0.0225f,0.0389711f,0.00525f},{0.0116469f,0.0434667f,0.00525f},{0.0f,0.045f,0.00525f}, {-0.0116469f,0.0434667f,0.00525f},{-0.0225f,0.0389711f,0.00525f},{-0.0318198f,0.0318198f,0.00525f}, {-0.0389711f,0.0225f,0.00525f},{-0.0434667f,0.0116469f,0.00525f},{-0.045f,0.0f,0.00525f}, {-0.0434667f,-0.0116469f,0.00525f},{-0.0389711f,-0.0225f,0.00525f},{-0.0318198f,-0.0318198f,0.00525f}, {-0.0116469f,-0.0434667f,0.045875f},{0.0f,-0.045f,0.045875f},{0.0116469f,-0.0434667f,0.045875f}, {0.0225f,-0.0389711f,0.045875f},{0.0318198f,-0.0318198f,0.045875f},{0.0389711f,-0.0225f,0.045875f}, {0.0434667f,-0.0116469f,0.045875f},{0.045f,0.0f,0.045875f},{0.0434667f,0.0116469f,0.045875f}, {0.0389711f,0.0225f,0.045875f},{0.0318198f,0.0318198f,0.045875f},{0.0225f,0.0389711f,0.045875f}, {0.0116469f,0.0434667f,0.045875f},{0.0f,0.045f,0.045875f},{-0.0116469f,0.0434667f,0.045875f}, {-0.0225f,0.0389711f,0.045875f},{-0.0318198f,0.0318198f,0.045875f},{-0.0389711f,0.0225f,0.045875f}, {-0.0434667f,0.0116469f,0.045875f},{-0.045f,0.0f,0.045875f},{-0.0434667f,-0.0116469f,0.045875f}, {-0.0389711f,-0.0225f,0.045875f},{-0.0318198f,-0.0318198f,0.045875f},{-0.0225f,-0.0389711f,0.045875f} }; static GLfloat normals [48][3] = { {-0.0438419f,-0.999038f,0.0f},{-0.216222f,-0.976344f,0.0f},{-0.300918f,-0.95365f,0.0f}, {0.0438419f,-0.999038f,0.0f},{0.216222f,-0.976344f,0.0f},{0.300918f,-0.95365f,0.0f}, {0.461551f,-0.887114f,0.0f},{0.537487f,-0.843272f,0.0f},{0.675426f,-0.737428f,0.0f}, {0.737428f,-0.675426f,0.0f},{0.843272f,-0.537487f,0.0f},{0.887114f,-0.461551f,0.0f}, {0.95365f,-0.300918f,0.0f},{0.976344f,-0.216222f,0.0f},{0.999038f,-0.0438419f,0.0f}, {0.999038f,0.0438419f,0.0f},{0.976344f,0.216222f,0.0f},{0.95365f,0.300918f,0.0f}, {0.887114f,0.461551f,0.0f},{0.843272f,0.537487f,0.0f},{0.737428f,0.675426f,0.0f}, {0.675426f,0.737428f,0.0f},{0.537487f,0.843272f,0.0f},{0.461551f,0.887114f,0.0f}, {0.300918f,0.95365f,0.0f},{0.216222f,0.976344f,0.0f},{0.0438419f,0.999038f,0.0f}, {-0.0438419f,0.999038f,0.0f},{-0.216222f,0.976344f,0.0f},{-0.300918f,0.95365f,0.0f}, {-0.461551f,0.887114f,0.0f},{-0.537487f,0.843272f,0.0f},{-0.675426f,0.737428f,0.0f}, {-0.737428f,0.675426f,0.0f},{-0.843272f,0.537487f,0.0f},{-0.887114f,0.461551f,0.0f}, {-0.95365f,0.300918f,0.0f},{-0.976344f,0.216222f,0.0f},{-0.999038f,0.0438419f,0.0f}, {-0.999038f,-0.0438419f,0.0f},{-0.976344f,-0.216222f,0.0f},{-0.95365f,-0.300918f,0.0f}, {-0.887114f,-0.461551f,0.0f},{-0.843272f,-0.537487f,0.0f},{-0.737428f,-0.675426f,0.0f}, {-0.675426f,-0.737428f,0.0f},{-0.537487f,-0.843272f,0.0f},{-0.461551f,-0.887114f,0.0f} }; static GLfloat textures [50][2] = { {0.251939f,0.326379f},{0.210595f,0.428389f},{0.210595f,0.326379f}, {0.251939f,0.428389f},{0.293282f,0.326379f},{0.293282f,0.428389f}, {0.334626f,0.326379f},{0.334626f,0.428389f},{0.375969f,0.326379f}, {0.375969f,0.428389f},{0.417313f,0.326379f},{0.417313f,0.428389f}, {0.458656f,0.326379f},{0.458656f,0.428389f},{0.5f,0.326379f}, {0.5f,0.428389f},{0.541343f,0.326379f},{0.541343f,0.428389f}, {0.582687f,0.326379f},{0.582687f,0.428389f},{0.62403f,0.326379f}, {0.62403f,0.428389f},{0.665374f,0.326379f},{0.665374f,0.428389f}, {0.706717f,0.326379f},{0.706717f,0.428389f},{0.748061f,0.326379f}, {0.748061f,0.428389f},{0.789404f,0.326379f},{0.789404f,0.428389f}, {0.830748f,0.326379f},{0.830748f,0.428389f},{0.872092f,0.326379f}, {0.872092f,0.428389f},{0.913435f,0.326379f},{0.913435f,0.428389f}, {0.954778f,0.326379f},{0.954778f,0.428389f},{0.996122f,0.326379f}, {0.996122f,0.428389f},{0.0452214f,0.326379f},{0.00387793f,0.427763f}, {0.00387793f,0.326379f},{0.0452214f,0.428389f},{0.086565f,0.326379f}, {0.086565f,0.428389f},{0.127908f,0.326379f},{0.127908f,0.428389f}, {0.169252f,0.326379f},{0.169252f,0.428389f} }; GLint GenFeederRing() { GLint lid=glGenLists(1); glNewList(lid, GL_COMPILE); glBegin (GL_TRIANGLES); for(size_t i=0;iµ½dµÎÇÃÙb>¹èͽ¿_¾?ÿKš&ß.'ÃõdœI”;_G½â„»ûåÌ7“Ùäv2_¯<ãƒ^Ý|T7‘ôéÃd´¸½]ÌWþÌùêÃFãåøªjM£y¾wÎ  Rl‘®žçëáSÚ<ÇØu*0ÆXW·ÜÙjCµÜû×wß_žFgÿ^,ÿ VôGåÃÿ,îqØj<:»Z,o‡ëËéíðzBsùJ;ÔÔfý|7);È»Àa,î—4¢Ž5n§tÊà×õt6û‰zî%ƒ¼§éz6¹ôý—‡Åñ¨ó œ ž3¹Z•3¤c¡õõþüº,}¸›y-­ÖÏ3Ïxºº› ŸÏæhĽË÷ïê†×ª«Ýt>›æ-ßß ×7Ôÿ‚kÁE&û&3É h†Ÿ£$U™ë³$å,Ó}‰Eù½%c8¶a}l”`e^\7¸IŒßÊlŸå5)õ’½p› ß K¨¾¨J7šý·2´ÙœÙ*ýìÕ´˜×U{f–k’•ØNM3"A‚¦†ßú‚fF6ƒä!Q6Ÿ=Ã)«DdÊ——õ7‰RÖ×ç=PyJ=øjsrÙ|RÔEJ}øª´jÔœ‘ÛœÑ-êŒe\8ÿ×9/£$dçåÕô­_‡¼ˆá§É8}*³*ã­ëE½¶\œ¿\/>qr ù¼Î×háþ­²ÞÕú~<]|zRßZßìið\jñ §‰ª“¨8í“õñß±è!qNû™Ò5AÕXÈ%½ßUXAz’ý”΢O¬üHýyÑyTã‹Ó¢º¥½]5ïðÿÝùr8žg?Ð::a„0 Vg\já{=#Òâz3Áòë~yÑsFf,@%ò×?üôÝ'þÉ\ýý>Ÿ®ïïi%Øýçü÷Õ¤Ñâ·åp¾"€DØ®—Ó§¯Xfè>Ë”ÓhÚ,Îú¯B£†¸Ê˜š/ƒLq¡¿öêw¾Z/îê^Üñ†ÝSI:ZÌ˳Ìÿ}ã‹Êë!7£ÅÕÕj‚xŽ2•BçÂx¡ª—Ýv¯èÕìçä€áÕf[r$H½]ŽÉá‚^m9F[é;lÊQLÊírTH éÕ–£Ñ9zøhÉÁyúiå˜9¤W[ŽtNuÌG³EFpé W[†P¶Ý¿Ñnûú‹àú5½Ú2€C[WèUôwÈ®ý„Ó«-ƒi£™Ó¦%Ç)-¶®‰®ý•ÿkÉit_j9GIÚ˜x›(}OÍnélâ”!Oñ3úV}¡‚>hŽãX®ñò×uŸMè¦Ûç)¯o§¿ñhˆ<ë«%l}]ΣÆ|á hiLƒ†¢úJ*ïêÉW9òy6wP]²/¿hæÝ•P›â0¯Cwé¼£³ÞORQºYŸú“‹"ߪú’7hÎZvøÂ|«•o‘—ZÁ?&x5#u¹Šr"ù_£8ºj—Ñ:1îðúôJ v Öç5u››„kl˜*]ðƒÔ ’ƒsÈïÿ^~¡ZÒ—/óT(?Ìk‘>Q?Ô©$‹G‰¢i µÂ¨#Á@êàŠ#_ý16o†î„“½)âŸÒW[?MW·T*v¨ÔS‹-,cOz!uWÃÏš^HûzzÁi ³¦¢R£[熹’_h§3†$#or…礠±È•[ùž…+†À F·HÄ !Î2²(îuÕ ~ A¿‡æ$*Õ ÙFS 1¦1ˆ z‡¸ D½C\¢‚Ì .QAvèàÒÇc :¸þñˆ®}\¢ƒkÿg2´dt! 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þlè“å곟Côâ¿+üÑñk¯¾ëFß7lý‚5DÌ"Ýðt‹ó\[ÅŸi,å§5ÿ묳€uÖùÀÞ‡´Ì¦.-èúÅYà®ÌÄŸáM…¯_7KÙ®‘Ã×){vó»:ßåY[»Ú™…puЯK!6ØËò|ù¾úîß/NúÛâªâË{–þì÷-ƒcb€Çþ‰‘[ôåëRž&Û'ùi<`uV°Î:ÿ3 ÀWöÂæêv+åš}âú›ß.a?_šk9é7¥}n¾33—ð>ï—g<»ðËm,Ž§Ñå^G"ÆôöJö‹Òàî7¦[£žkËv_Àïð™ï úrð_g5ë¬ó7m~ývž.¬wñBé¶UèS™õßùÞ$hÞo¿O¢{÷“ú$ÐK"o7úùÍŒœ¤JqâBkqŒ•¯Ëˆë:Á–ù—ìrf“ÝtÉ&èoßE÷\¯Ñ;>ƺ!®óÏ9K°ÎßúÌHÀáíW<ïëOê_äÞý}–¨ðór&2ýR† DMA Flash GPIO What is needed from aseba: can-buffer.c can-net.c natives.c vm.c vm-buffer.c What are the files provided: skel.c and skel.h The generic "glue" layer for aseba and dspic You can include these files without any changes in all your projects skel-user.c Is included from skel.c, so do not compile it directly Follow the comments inside to define the descriptions of Aseba's variables, Aseba's events, and natives function structures. skel-user.h Is included from skel.h, so do not include it yourself. Follow the comments inside to define some CAN driver configuration, communication buffers size, Aseba's stack and bytecode size, the C variables accessed from inside the VM (must be identical to the ones declared in skel-user.c), the Event number (must be identical to the ones declared in skel-user.h), and the settings which are stored in flash. main.c Example file to show how to initialise and start the VM. How to make this damn thing work? In you "main()" do the following things: - Init all your dspic peripherals (except CAN), - call init_aseba_and_can(), - load_settings_from_flash(), if it returns 0, then the settings are loaded inside the settings structure. When you are ready to give the dspic control to aseba, call: - run_aseba_main_loop() aseba-1.6.0/targets/dspic33/main.c000066400000000000000000000030421322771007300166030ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include _FWDT(FWDTEN_OFF); // Watchdog Timer disabled _FOSCSEL(FNOSC_FRCPLL); // override oscillator configuration bits _FOSC(POSCMD_NONE & OSCIOFNC_ON & FCKSM_CSECMD); // ICD communicates on PGC1/EMUC1 and disable JTAG _FICD(ICS_PGD1 & JTAGEN_OFF); #include #include #include #include #include #include #include #include void update_aseba_variables_read(void) { } void update_aseba_variables_write(void) { } int main(void) { clock_init_internal_rc_40(); init_aseba_and_can(); if( ! load_settings_from_flash()) { // Todo } run_aseba_main_loop(); } aseba-1.6.0/targets/dspic33/skel-user.c000066400000000000000000000042351322771007300175760ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ /* Descriptors */ const AsebaVMDescription vmDescription = { "myasebaname", // Name of the microcontroller { { 1, "_id" }, // Do not touch it { 1, "event.source" }, // nor this one { VM_VARIABLES_ARG_SIZE, "event.args" }, // neither this one /****** ---> PUT YOUR VARIABLES DESCRIPTIONS HERE <--- first value is the number of element in the array (1 if not an array) second value is the name of the variable which will be displayed in aseba studio ******/ { 0, NULL } // null terminated } }; static const AsebaLocalEventDescription localEvents[] = { /******* ---> PUT YOUR EVENT DESCRIPTIONS HERE <--- First value is event "name" (will be used as "onvent name" in asebastudio second value is the event description) *******/ { NULL, NULL } }; static const AsebaNativeFunctionDescription* nativeFunctionsDescription[] = { &AsebaNativeDescription__system_reboot, &AsebaNativeDescription__system_settings_read, &AsebaNativeDescription__system_settings_write, &AsebaNativeDescription__system_settings_flash, ASEBA_NATIVES_STD_DESCRIPTIONS, 0 // null terminated }; static AsebaNativeFunctionPointer nativeFunctions[] = { AsebaResetIntoBootloader, AsebaNative__system_settings_read, AsebaNative__system_settings_write, AsebaNative__system_settings_flash, ASEBA_NATIVES_STD_FUNCTIONS, }; aseba-1.6.0/targets/dspic33/skel-user.h000066400000000000000000000054751322771007300176120ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ // No multiple include protection since this file must ONLY BE INCLUDED FROM SKEL.h // DMA Channels to use with CAN #define DMA_CAN_RX DMA_CHANNEL_0 #define DMA_CAN_TX DMA_CHANNEL_1 // GPIO to use to set CAN speed #define CAN_SELECT_MODE GPIO_MAKE_ID(GPIO_PORTD,11) // CAN interrupt priority #define PRIO_CAN 5 /* Send queue size may be smaller (64 is the smallest value) something like 70-80 is better 128 is luxury */ #define SEND_QUEUE_SIZE 128 /* Warning, at least an aseba message MUST be able to fit into this RECV_QUEUE_SIZE buffer */ /* 256 is IMHO the minimum, but maybe it can be lowered with a lot of caution. * The bigger you have, the best it is. Fill the empty ram with it :) */ #define RECV_QUEUE_SIZE 756 /* This is the number of "private" variable the aseba script can have */ #define VM_VARIABLES_FREE_SPACE 256 /* This is the maximum number of argument an aseba event can recieve */ #define VM_VARIABLES_ARG_SIZE 32 /* The number of opcode an aseba script can have */ #define VM_BYTECODE_SIZE 766 // PUT HERE 766 + 768 * a, where a is >= 0 #define VM_STACK_SIZE 32 struct _vmVariables { // NodeID int16_t id; // source int16_t source; // args int16_t args[VM_VARIABLES_ARG_SIZE]; /**** ---> PUT YOUR VARIABLES HERE <--- ****/ // free space int16_t freeSpace[VM_VARIABLES_FREE_SPACE]; }; enum Events { YOUR_FIRST_EVENT = 0, YOUR_SECOND_EVENT, /**** ---> PUT YOUR EVENT NUMBER HERE <--- Must be in the same order as in skel.c ****/ EVENTS_COUNT // Do not touch }; // The content of this structure is implementation-specific. // The glue provide a way to store and retrive it from flash. // The only way to write it is to do it from inside the VM (native function) // The native function access it as a integer array. So, use only int inside this structure struct private_settings { /* ADD here the settings to save into flash */ /* The minimum size is one integer, the maximum size is 95 integer (Check done at compilation) */ int first_setting; int second_setting; }; aseba-1.6.0/targets/dspic33/skel.c000066400000000000000000000461501322771007300166240ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include // Molole includes #include #include #include #include #include #include // Aseba includes #include #include #include #include #include #include "skel.h" static AsebaNativeFunctionDescription AsebaNativeDescription__system_reboot = { "_system.reboot", "Reboot the microcontroller", { { 0, 0 } } }; void AsebaResetIntoBootloader(AsebaVMState *vm) { asm __volatile__ ("reset"); } static AsebaNativeFunctionDescription AsebaNativeDescription__system_settings_read = { "_system.settings.read", "Read a setting", { { 1, "address"}, { 1, "value"}, { 0, 0 } } }; static void AsebaNative__system_settings_read(AsebaVMState *vm) { uint16_t address = vm->variables[AsebaNativePopArg(vm)]; uint16_t destidx = AsebaNativePopArg(vm); if(address > sizeof(settings)/2 - 1) { AsebaVMEmitNodeSpecificError(vm, "Address out of settings"); return; } vm->variables[destidx] = ((unsigned int *) &settings)[address]; } static AsebaNativeFunctionDescription AsebaNativeDescription__system_settings_write = { "_system.settings.write", "Write a setting", { { 1, "address"}, { 1, "value"}, { 0, 0 } } }; static void AsebaNative__system_settings_write(AsebaVMState *vm) { uint16_t address = vm->variables[AsebaNativePopArg(vm)]; uint16_t sourceidx = AsebaNativePopArg(vm); if(address > sizeof(settings)/2 - 1) { AsebaVMEmitNodeSpecificError(vm, "Address out of settings"); return; } ((unsigned int *) &settings)[address] = vm->variables[sourceidx]; } static AsebaNativeFunctionDescription AsebaNativeDescription__system_settings_flash = { "_system.settings.flash", "Write the settings into flash", { { 0, 0 } } }; static void AsebaNative__system_settings_flash(AsebaVMState *vm); #include unsigned int events_flags = 0; struct private_settings __attribute__((aligned(2))) settings; // Nice hack to do a compilation assert with #define COMPILATION_ASSERT(e) do { enum { assert_static__ = 1/(e) };} while(0) const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm) { return localEvents; } /* buffers for can-net */ static __attribute((far)) CanFrame sendQueue[SEND_QUEUE_SIZE]; static __attribute((far)) CanFrame recvQueue[RECV_QUEUE_SIZE]; /* VM */ struct __attribute((far)) _vmVariables vmVariables; static __attribute((far)) uint16_t vmBytecode[VM_BYTECODE_SIZE]; static __attribute((far)) int16_t vmStack[VM_STACK_SIZE]; AsebaVMState vmState = { 0, VM_BYTECODE_SIZE, vmBytecode, sizeof(vmVariables) / sizeof(int16_t), (int16_t*)&vmVariables, VM_STACK_SIZE, vmStack }; /* Callbacks */ void AsebaIdle(void) { Idle(); } void AsebaPutVmToSleep(AsebaVMState *vm) { } void AsebaNativeFunction(AsebaVMState *vm, uint16_t id) { nativeFunctions[id](vm); } static void received_packet_dropped(void) { /* ---- PUT HERE SOME LED STATE OUTPUT ----- */ } static void sent_packet_dropped(void) { /* ---- PUT HERE SOME LED STATE OUTPUT ----- */ } const AsebaVMDescription * AsebaGetVMDescription(AsebaVMState *vm) { return &vmDescription; } uint16_t AsebaShouldDropPacket(uint16_t source, const uint8_t* data) { return AsebaVMShouldDropPacket(&vmState, source, data); } const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) { return nativeFunctionsDescription; } // START of Bytecode into Flash section ----- // A chunk is a bytecode image #define PAGE_PER_CHUNK ((VM_BYTECODE_SIZE*2+3 + INSTRUCTIONS_PER_PAGE*3 - 1) / (INSTRUCTIONS_PER_PAGE*3)) #if PAGE_PER_CHUNK == 0 #undef PAGE_PER_CHUNK #define PAGE_PER_CHUNK 1 #endif /* noload will tell the linker to allocate the space but NOT to initialise it. (left unprogrammed)*/ /* I cannot delare it as an array since it's too large ( > 65535 ) */ // Put everything in the same section, so we are 100% sure that the linker will put them contiguously. // Force the address, since the linker sometimes put it in the middle of the code #define NUMBER_OF_CHUNK 26 unsigned char aseba_flash[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode"), address(0x15800 - 0x800 /* bootloader */ - 0x400 /* settings */ - NUMBER_OF_CHUNK*0x400L*PAGE_PER_CHUNK)/*, noload*/)); unsigned char aseba_flash1[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash2[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash3[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash4[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash5[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash6[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash7[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash8[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash9[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash10[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash11[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash12[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash13[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash14[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash15[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash16[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash17[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash18[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash19[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash20[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash21[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash22[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash23[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash24[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); unsigned char aseba_flash25[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); // Saveguard the bootloader (2 pages) unsigned char __bootloader[INSTRUCTIONS_PER_PAGE * 2 * 2] __attribute((space(prog), section(".boot"), noload, address(0x15800 - 0x800))); // Put the settings page at a fixed position so it's independant of linker mood. unsigned char aseba_settings_flash[INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), section(".aseba_settings"), noload, address(0x15800 - 0x800 - 0x400))); #warning "the settings page is NOT initialised" unsigned long aseba_flash_ptr; unsigned long aseba_settings_ptr; void AsebaWriteBytecode(AsebaVMState *vm) { // Look for the lowest number of use unsigned long min = 0xFFFFFFFF; unsigned long min_addr = 0; unsigned long count; unsigned int i; unsigned long temp_addr = aseba_flash_ptr; unsigned int instr_count; unsigned char * bcptr = (unsigned char *) vm->bytecode; // take the first minimum value for (i = 0; i < NUMBER_OF_CHUNK; i++, temp_addr += INSTRUCTIONS_PER_PAGE * 2 * PAGE_PER_CHUNK) { count = flash_read_instr(temp_addr); if(count < min) { min = count; min_addr = temp_addr; } } if(min == 0xFFFFFFFF) { AsebaVMEmitNodeSpecificError(vm, "Error: min == 0xFFFFFFFF !"); return; } min++; // Now erase the pages for(i = 0; i < PAGE_PER_CHUNK; i++) flash_erase_page(min_addr + i*INSTRUCTIONS_PER_PAGE * 2); // Then write the usage count and the bytecode flash_prepare_write(min_addr); flash_write_instruction(min); flash_write_buffer((unsigned char *) vm->bytecode, VM_BYTECODE_SIZE*2); flash_complete_write(); // Now, check the data if(min != flash_read_instr(min_addr)) { AsebaVMEmitNodeSpecificError(vm, "Error: Unable to flash bytecode (1) !"); return; } min_addr += 2; instr_count = (VM_BYTECODE_SIZE*2) / 3; for(i = 0; i < instr_count; i++) { unsigned char data[3]; flash_read_chunk(min_addr, 3, data); if(memcmp(data, bcptr, 3)) { AsebaVMEmitNodeSpecificError(vm, "Error: Unable to flash bytecode (2) !"); return; } bcptr += 3; min_addr += 2; } i = (VM_BYTECODE_SIZE * 2) % 3; if(i != 0) { unsigned char data[2]; flash_read_chunk(min_addr, i, data); if(memcmp(data, bcptr, i)) { AsebaVMEmitNodeSpecificError(vm, "Error: Unable to flash bytecode (3) !"); return; } } AsebaVMEmitNodeSpecificError(vm, "Flashing OK"); } const static unsigned int _magic_[8] = {0xDE, 0xAD, 0xCA, 0xFE, 0xBE, 0xEF, 0x04, 0x02}; static void AsebaNative__system_settings_flash(AsebaVMState *vm) { // Look for the last "Magic" we know, this is the most up to date conf // Then write the next row with the correct magic. // If no magic is found, erase the page, and then write the first one // If the last magic is found, erase the page and then write the first one unsigned long setting_addr = aseba_settings_ptr; int i = 0; unsigned int mag; unsigned long temp; for(i = 0; i < 8; i++) { mag = flash_read_low(setting_addr + INSTRUCTIONS_PER_ROW * 2 * i); if(mag != _magic_[i]) break; } if(i == 0 || i == 8) { flash_erase_page(setting_addr); i = 0; } setting_addr += INSTRUCTIONS_PER_ROW * 2 * i; flash_prepare_write(setting_addr); temp = (((unsigned long) *((unsigned char * ) &settings)) << 16) | _magic_[i]; flash_write_instruction(temp); flash_write_buffer(((unsigned char *) &settings) + 1, sizeof(settings) - 1); flash_complete_write(); } static void load_code_from_flash(AsebaVMState *vm) { // Find the last maximum value unsigned long max = 0; unsigned long max_addr = 0; unsigned long temp_addr = aseba_flash_ptr; unsigned long count; unsigned int i; // take the last maximum value for (i = 0; i < NUMBER_OF_CHUNK; i++, temp_addr += INSTRUCTIONS_PER_PAGE * 2 * PAGE_PER_CHUNK) { count = flash_read_instr(temp_addr); if(count >= max) { max = count; max_addr = temp_addr; } } if(!max) // Nothing to load return; flash_read_chunk(max_addr + 2, VM_BYTECODE_SIZE*2, (unsigned char *) vm->bytecode); // Tell the VM to init AsebaVMSetupEvent(vm, ASEBA_EVENT_INIT); } int load_settings_from_flash(void) { // Max size 95 int, min 1 int COMPILATION_ASSERT(sizeof(settings) < ((INSTRUCTIONS_PER_ROW*3) - 2)); COMPILATION_ASSERT(sizeof(settings) > 1); // The the last "known" magic found unsigned long temp = aseba_settings_ptr; int i = 0; unsigned int mag; for(i = 0; i < 8; i++) { mag = flash_read_low(temp + INSTRUCTIONS_PER_ROW * 2 * i); if(mag != _magic_[i]) break; } if(i == 0) // No settings found return -1; i--; temp += INSTRUCTIONS_PER_ROW * 2 * i; *((unsigned char *) &settings) = (unsigned char) (flash_read_high(temp) & 0xFF); flash_read_chunk(temp + 2, sizeof(settings) - 1, ((unsigned char *) &settings) + 1); return 0; } // END of bytecode into flash section #ifdef ASEBA_ASSERT void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) { AsebaVMEmitNodeSpecificError(vm, "VM ASSERT !"); } #endif static unsigned int ui2str(char *str, unsigned int value) { unsigned div; unsigned int i = 0; bool hasSent = false; for (div = 10000; div > 0; div /= 10) { unsigned disp = value / div; value %= div; if ((disp != 0) || (hasSent) || (div == 1)) { hasSent = true; str[i++] = '0' + disp; } } str[i] = 0; return i; } static unsigned int ui2strhex(char * str, unsigned int id) { int shift; bool hasSent = false; unsigned int i = 0; for (shift = 12; shift >= 0; shift -= 4) { unsigned disp = ((id & (0xF << shift)) >> shift); if ((disp != 0) || (hasSent) || (shift == 0)) { hasSent = true; if(disp > 9) str[i++] = 'A' + disp - 0xA; else str[i++] = '0' + disp; } } str[i] = 0; return i; } static void __attribute__((noreturn)) error_handler(const char * file, int line, int id, void* __attribute((unused)) arg) { char error_string[255]; char number[10]; strcpy(error_string, "Molole error 0x"); ui2strhex(number, (unsigned int) id); strcat(error_string, number); strcat(error_string, " in file: "); strncat(error_string, file, 200); strcat(error_string, ":"); ui2str(number, line); strcat(error_string, number); AsebaVMEmitNodeSpecificError(&vmState, error_string); AsebaCanFlushQueue(); asm __volatile__ ("reset"); for(;;); // Shutup GCC } #define FUID3 0xF80016 void init_aseba_and_can(void) { unsigned int low, high; // Read the Device ID at _FUID3 vmState.nodeId = flash_read_low(FUID3); // Get the section start pointer. Cannot get it in C, so use the assember-style asm ("mov #tbloffset(.startof.(.aseba_bytecode)), %[l]" : [l] "=r" (low)); asm ("mov #tblpage(.startof.(.aseba_bytecode)), %[h]" : [h] "=r" (high)); aseba_flash_ptr = (unsigned long) high << 16 | low; asm ("mov #tbloffset(.startof.(.aseba_settings)), %[l]" : [l] "=r" (low)); asm ("mov #tblpage(.startof.(.aseba_settings)), %[h]" : [h] "=r" (high)); aseba_settings_ptr = (unsigned long) high << 16 | low; can_init((can_frame_received_callback)AsebaCanFrameReceived, AsebaCanFrameSent, DMA_CAN_RX, DMA_CAN_TX, CAN_SELECT_MODE, 1000, PRIO_CAN); AsebaCanInit(vmState.nodeId, (AsebaCanSendFrameFP)can_send_frame, can_is_frame_room, received_packet_dropped, sent_packet_dropped, sendQueue, SEND_QUEUE_SIZE, recvQueue, RECV_QUEUE_SIZE); AsebaVMInit(&vmState); vmVariables.id = vmState.nodeId; load_code_from_flash(&vmState); error_register_callback(error_handler); } void __attribute((noreturn)) run_aseba_main_loop(void) { while(1) { update_aseba_variables_read(); AsebaVMRun(&vmState, 1000); AsebaProcessIncomingEvents(&vmState); update_aseba_variables_write(); // Either we are in step by step, so we go to sleep until further commands, or we are not executing an event, // and so we have nothing to do. if (AsebaMaskIsSet(vmState.flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vmState.flags, ASEBA_VM_EVENT_ACTIVE_MASK)) { unsigned i; // Find first bit from right (LSB), check if some CAN packets are pending // Atomically, do an Idle() if nothing is found // Warning, I'm doing some nasty things with the IPL bits (forcing the value, without safeguard) // Second warning: It doesn't disable level 7 interrupt. So if you set an event inside a level 7 interrupt // It may get delayed until next interrupt asm __volatile__ ("mov #SR, w0 \r\n" "mov #0xC0, w1\r\n" "ior.b w1, [w0], [w0]\r\n" // Disable all interrupts "ff1r [%[word]], %[b]\r\n" "bra nc, 1f\r\n" "rcall _AsebaCanRecvBufferEmpty\r\n" "cp0 w0\r\n" "bra z, 1f \r\n" "rcall _clock_idle\r\n" // Powersave WITH interrupt disabled. It works, read section 6.2.5 of dsPIC manual "1: \r\n" "mov #SR, w0 \r\n" "mov #0x1F, w1\r\n" "and.b w1, [w0],[w0] \r\n" // enable interrupts : [b] "=x" (i) : [word] "r" (&events_flags) : "cc", "w0", "w1", "w2", "w3", "w4", "w5", "w6", "w7"); // Why putting "x" as constrain register. Because it's w8-w9, so it's preserved accross function call // we do a rcall, so we must clobber w0-w7 // If a local event is pending, then execute it. // Else, we waked up from idle because of an interrupt, so re-execute the whole thing // FIXME: do we want to kill execution upon local events? that would be consistant so Steph votes yes, but // we may discuss further if(i && !(AsebaMaskIsSet(vmState.flags, ASEBA_VM_STEP_BY_STEP_MASK) && AsebaMaskIsSet(vmState.flags, ASEBA_VM_EVENT_ACTIVE_MASK))) { // that is the same as (thx de Morgan) //if(i && (AsebaMaskIsClear(vmState.flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vmState.flags, ASEBA_VM_EVENT_ACTIVE_MASK))) { i--; CLEAR_EVENT(i); vmVariables.source = vmState.nodeId; AsebaVMSetupEvent(&vmState, ASEBA_EVENT_LOCAL_EVENTS_START - i); } } } } aseba-1.6.0/targets/dspic33/skel.h000066400000000000000000000052031322771007300166230ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef _SKEL_H_ #define _SKEL_H_ // Molole includes #include #include #include #include // Aseba include #include #include #include #include extern struct _vmVariables vmVariables; extern unsigned int events_flags; extern AsebaVMState vmState; /*** In your code, put "SET_EVENT(EVENT_NUMBER)" when you want to trigger an event. This macro is interrupt-safe, you can call it anywhere you want. ***/ #define SET_EVENT(event) atomic_or(&events_flags, 1 << event) #define CLEAR_EVENT(event) atomic_and(&events_flags, ~(1 << event)) #define IS_EVENT(event) (events_flags & (1 << event)) // Call this when everything is initialised and you are ready to give full control to the VM void __attribute((noreturn)) run_aseba_main_loop(void); // Call this to init aseba. Beware, this will: // 1. init the CAN module // 2. clear vmVariables. // 3. Load any bytecode in flash if present void init_aseba_and_can(void); // This function must update the variable to match the microcontroller state // It is called _BEFORE_ running the VM, so it's a {Microcontroller state} -> {Aseba Variable} // synchronisation // Implement it yourself void update_aseba_variables_read(void); // This function must update the microcontrolleur state to match the variables // It is called _AFTER_ running the VM, so it's a {Aseba Variables} -> {Microcontroller state} // synchronisation //Implement it yourself void update_aseba_variables_write(void); // This function load the settings structure from flash. Call it _AFTER_ init_aseba_and_can() // return 0 if the settings were loaded // return non-zero if the settings were NOT found (settings is non-initilised) int load_settings_from_flash(void); extern struct private_settings settings; #endif aseba-1.6.0/targets/dummy/000077500000000000000000000000001322771007300153775ustar00rootroot00000000000000aseba-1.6.0/targets/dummy/CMakeLists.txt000066400000000000000000000004051322771007300201360ustar00rootroot00000000000000add_executable(asebadummynode dummynode.cpp dummynode_description.c) target_link_libraries(asebadummynode asebavmbuffer asebavm ${ASEBA_ZEROCONF_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) install(TARGETS asebadummynode RUNTIME DESTINATION bin LIBRARY DESTINATION bin) aseba-1.6.0/targets/dummy/dummynode.cpp000066400000000000000000000263631322771007300201160ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ASSERT #define ASEBA_ASSERT #endif #include "../../vm/vm.h" #include "../../vm/natives.h" #include "../../common/productids.h" #include "../../common/consts.h" #include "../../common/utils/utils.h" #include "../../common/utils/FormatableString.h" #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-dashelhub.h" #endif // ZEROCONF_SUPPORT #include "../../transport/buffer/vm-buffer.h" #include #include #include #include #include #include extern AsebaVMDescription nodeDescription; class AsebaNode: public Dashel::Hub { private: AsebaVMState vm; std::valarray bytecode; std::valarray stack; struct Variables { int16_t id; int16_t source; int16_t args[32]; int16_t productId; int16_t timerPeriod; int16_t user[1024]; } variables; char mutableName[12]; // stream for listening to incoming connections Dashel::Stream* listenStream; public: // public because accessed from a glue function uint16_t lastMessageSource; std::valarray lastMessageData; // this must be public because of bindings to C functions Dashel::Stream* stream; // all streams that must be disconnected at next step std::vector toDisconnect; #ifdef ZEROCONF_SUPPORT // to advertise Aseba::DashelhubZeroconf zeroconf; #endif // ZEROCONF_SUPPORT public: AsebaNode() #ifdef ZEROCONF_SUPPORT :zeroconf(*this) #endif // ZEROCONF_SUPPORT { // setup variables vm.nodeId = 1; bytecode.resize(512); vm.bytecode = &bytecode[0]; vm.bytecodeSize = bytecode.size(); stack.resize(64); vm.stack = &stack[0]; vm.stackSize = stack.size(); vm.variables = reinterpret_cast(&variables); vm.variablesSize = sizeof(variables) / sizeof(int16_t); } Dashel::Stream* listen(const int port, const int deltaNodeId) { vm.nodeId = 1 + deltaNodeId; strncpy(mutableName, "dummynode-0", 12); mutableName[10] = '0' + deltaNodeId; nodeDescription.name = mutableName; // connect network try { std::ostringstream oss; oss << "tcpin:port=" << port; listenStream = Dashel::Hub::connect(oss.str()); } catch (Dashel::DashelException e) { std::cerr << "Cannot create listening port " << port << ": " << e.what() << std::endl; abort(); } // init VM AsebaVMInit(&vm); #ifdef ZEROCONF_SUPPORT // advertise our status updateZeroconfStatus(); #endif // ZEROCONF_SUPPORT // return stream return listenStream; } #ifdef ZEROCONF_SUPPORT void updateZeroconfStatus() { // we need a valid listen stream to advertise if (!listenStream) return; // advertise target Aseba::Zeroconf::TxtRecord txt{ ASEBA_PROTOCOL_VERSION, "Dummy Node", stream != nullptr, { vm.nodeId }, { static_cast(variables.productId) }}; try { if (stream) zeroconf.forget(Aseba::FormatableString("Dummy Node %0").arg(vm.nodeId - 1), listenStream); else zeroconf.advertise(Aseba::FormatableString("Dummy Node %0").arg(vm.nodeId - 1), listenStream, txt); } catch (const std::runtime_error& e) { std::cerr << "Can't advertise stream " << listenStream->getTargetName() << ": " << e.what() << std::endl; } } #endif // ZEROCONF_SUPPORT virtual void connectionCreated(Dashel::Stream *stream) { std::string targetName = stream->getTargetName(); if (targetName.substr(0, targetName.find_first_of(':')) == "tcp") { // schedule current stream for disconnection if (this->stream) toDisconnect.push_back(this->stream); // set new stream as current stream this->stream = stream; std::cerr << this << " : New client connected." << std::endl; #ifdef ZEROCONF_SUPPORT // we are not available any more updateZeroconfStatus(); #endif // ZEROCONF_SUPPORT } } virtual void connectionClosed(Dashel::Stream *stream, bool abnormal) { #ifdef ZEROCONF_SUPPORT zeroconf.dashelConnectionClosed(stream); #endif // ZEROCONF_SUPPORT this->stream = nullptr; // clear breakpoints vm.breakpointsCount = 0; if (abnormal) std::cerr << this << " : Client has disconnected unexpectedly." << std::endl; else std::cerr << this << " : Client has disconnected properly." << std::endl; #ifdef ZEROCONF_SUPPORT // we are now available again updateZeroconfStatus(); #endif // ZEROCONF_SUPPORT } virtual void incomingData(Dashel::Stream *stream) { #ifdef ZEROCONF_SUPPORT zeroconf.dashelIncomingData(stream); #endif // ZEROCONF_SUPPORT // only process data for the current stream if (stream != this->stream) return; uint16_t temp; uint16_t len; stream->read(&temp, 2); len = bswap16(temp); stream->read(&temp, 2); lastMessageSource = bswap16(temp); lastMessageData.resize(len+2); stream->read(&lastMessageData[0], lastMessageData.size()); AsebaProcessIncomingEvents(&vm); // run VM AsebaVMRun(&vm, 1000); } void run() { // wait a given time, return if stop was called Aseba::UnifiedTime startTime; int timeout(variables.timerPeriod > 0 ? variables.timerPeriod : -1); #ifdef ZEROCONF_SUPPORT while (zeroconf.dashelStep(timeout)) #else // ZEROCONF_SUPPORT while (step(timeout)) #endif // ZEROCONF_SUPPORT { if (variables.timerPeriod > 0) { if (int((Aseba::UnifiedTime() - startTime).value) >= variables.timerPeriod) { // reschedule a periodic event if we are not in step by step if (AsebaMaskIsClear(vm.flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vm.flags, ASEBA_VM_EVENT_ACTIVE_MASK)) AsebaVMSetupEvent(&vm, ASEBA_EVENT_LOCAL_EVENTS_START-0); // run VM AsebaVMRun(&vm, 1000); // save current time for next iteration Aseba::UnifiedTime currentTime; timeout = 2*int(variables.timerPeriod) - int((currentTime - startTime).value); if (timeout < 0) timeout = 0; startTime = currentTime; } } else { timeout = -1; } // disconnect old streams for (size_t i = 0; i < toDisconnect.size(); ++i) { closeStream(toDisconnect[i]); std::cerr << this << " : Old client disconnected by new client." << std::endl; } toDisconnect.clear(); } } } node; // Implementation of aseba glue code extern "C" void AsebaPutVmToSleep(AsebaVMState *vm) { std::cerr << "Received request to go into sleep" << std::endl; } extern "C" void AsebaSendBuffer(AsebaVMState *vm, const uint8_t* data, uint16_t length) { Dashel::Stream* stream = node.stream; if (stream) { try { uint16_t temp; temp = bswap16(length - 2); stream->write(&temp, 2); temp = bswap16(vm->nodeId); stream->write(&temp, 2); stream->write(data, length); stream->flush(); } catch (Dashel::DashelException e) { std::cerr << "Cannot write to socket: " << stream->getFailReason() << std::endl; } } } extern "C" uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source) { if (node.lastMessageData.size()) { *source = node.lastMessageSource; memcpy(data, &node.lastMessageData[0], node.lastMessageData.size()); } return node.lastMessageData.size(); } extern AsebaVMDescription nodeDescription; extern "C" const AsebaVMDescription* AsebaGetVMDescription(AsebaVMState *vm) { return &nodeDescription; } static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, }; static const AsebaNativeFunctionDescription* nativeFunctionsDescriptions[] = { ASEBA_NATIVES_STD_DESCRIPTIONS, 0 }; extern "C" const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) { return nativeFunctionsDescriptions; } extern "C" void AsebaNativeFunction(AsebaVMState *vm, uint16_t id) { nativeFunctions[id](vm); } static const AsebaLocalEventDescription localEvents[] = { { "timer", "periodic timer at a given frequency" }, { nullptr, nullptr } }; extern "C" const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm) { return localEvents; } extern "C" void AsebaWriteBytecode(AsebaVMState *vm) { std::cerr << "Received request to write bytecode into flash" << std::endl; } extern "C" void AsebaResetIntoBootloader(AsebaVMState *vm) { std::cerr << "Received request to reset into bootloader" << std::endl; } extern "C" void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) { std::cerr << "\nFatal error; exception: "; switch (reason) { case ASEBA_ASSERT_UNKNOWN: std::cerr << "undefined"; break; case ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR: std::cerr << "unknown binary operator"; break; case ASEBA_ASSERT_UNKNOWN_BYTECODE: std::cerr << "unknown bytecode"; break; case ASEBA_ASSERT_STACK_OVERFLOW: std::cerr << "stack overflow"; break; case ASEBA_ASSERT_STACK_UNDERFLOW: std::cerr << "stack underflow"; break; case ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS: std::cerr << "out of variables bounds"; break; case ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "out of bytecode bounds"; break; case ASEBA_ASSERT_STEP_OUT_OF_RUN: std::cerr << "step out of run"; break; case ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "breakpoint out of bytecode bounds"; break; default: std::cerr << "unknown exception"; break; } std::cerr << ".\npc = " << vm->pc << ", sp = " << vm->sp; abort(); std::cerr << "\nResetting VM" << std::endl; AsebaVMInit(vm); } int usage(char* program) { std::cerr << "Usage: " << program << " [--port|-p PORT] [ID, from 0 to 9]" << std::endl; std::cerr << "Usage: " << program << " --help|-h" << std::endl; std::cerr << "Creates one node dummynode-ID with node id ID+1 listening on port:" << std::endl; std::cerr << " - a dynamically chosen port, if PORT == 0" << std::endl; std::cerr << " - PORT, if PORT != 0 and PORT is available" << std::endl; std::cerr << " - 33333+ID, if PORT is not set and 33333+ID is available." << std::endl; std::cerr << "The Dashel target is printed on stdout." << std::endl; return 1; } int main(int argc, char* argv[]) { int port(ASEBA_DEFAULT_PORT); bool do_delta(true); int deltaNodeId(0); int argCounter = 1; while (argCounter < argc) { const char *arg = argv[argCounter++]; if ((strcmp(arg, "-p") == 0) || (strcmp(arg, "--port") == 0)) do_delta = false, port = atoi(argv[argCounter++]); else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) return usage(argv[0]); else { deltaNodeId = atoi(arg); if (deltaNodeId < 0 || deltaNodeId > 9) return usage(argv[0]); } } Dashel::Stream* listen = node.listen(do_delta ? port+deltaNodeId : port, deltaNodeId); std::cout << "tcp:port=" << listen->getTargetParameter("port") << std::endl; node.run(); } aseba-1.6.0/targets/dummy/dummynode_description.c000066400000000000000000000020641322771007300221510ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../vm/natives.h" #include "../../common/productids.h" AsebaVMDescription nodeDescription = { "", { { 1, "id" }, { 1, "source" }, { 32, "args" }, { 1, ASEBA_PID_VAR_NAME }, { 1, "timer.period" }, { 0, NULL } } }; aseba-1.6.0/targets/enki-marxbot/000077500000000000000000000000001322771007300166445ustar00rootroot00000000000000aseba-1.6.0/targets/enki-marxbot/AsebaMarxbot-vm-descriptions.c000066400000000000000000000030461322771007300245070ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../vm/natives.h" AsebaVMDescription vmLeftMotorDescription = { "left motor", { { 1, "id" }, { 1, "source" }, { 32, "args" }, { 1, "speed" }, { 2, "odo" }, { 0, NULL } } }; AsebaVMDescription vmRightMotorDescription = { "right motor", { { 1, "id" }, { 1, "source" }, { 32, "args" }, { 1, "speed" }, { 2, "odo" }, { 0, NULL } } }; AsebaVMDescription vmProximitySensorsDescription = { "proximity sensors", { { 1, "id" }, { 1, "source" }, { 32, "args" }, { 24, "bumpers" }, { 12, "ground" }, { 0, NULL } } }; AsebaVMDescription vmDistanceSensorsDescription = { "distance sensors", { { 1, "id" }, { 1, "source" }, { 32, "args" }, { 180, "distances" }, { 0, NULL } } }; aseba-1.6.0/targets/enki-marxbot/AsebaMarxbot.cpp000066400000000000000000000270541322771007300217300ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "AsebaMarxbot.h" #include "../../common/consts.h" #include "../../vm/natives.h" #include "../../transport/buffer/vm-buffer.h" #include #include #include #include #include #include #include #include #include #include /*! \file Marxbot.cpp \brief Implementation of the aseba-enabled marXbot robot */ // Implementation of aseba glue code // map for aseba glue code typedef std::map VmSocketMap; static VmSocketMap asebaSocketMaps; static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, }; static const AsebaNativeFunctionDescription* nativeFunctionsDescriptions[] = { ASEBA_NATIVES_STD_DESCRIPTIONS, 0 }; extern "C" void AsebaPutVmToSleep(AsebaVMState *vm) { } extern "C" void AsebaSendBuffer(AsebaVMState *vm, const uint8_t* data, uint16_t length) { Enki::AsebaMarxbot& marxBot = *asebaSocketMaps[vm]; Dashel::Stream* stream = marxBot.stream; if (!stream) return; // send to stream try { uint16_t temp; temp = bswap16(length - 2); stream->write(&temp, 2); temp = bswap16(vm->nodeId); stream->write(&temp, 2); stream->write(data, length); stream->flush(); // push to other nodes for (size_t i = 0; i < marxBot.modules.size(); ++i) { Enki::AsebaMarxbot::Module& module = *(marxBot.modules[i]); if (&(module.vm) != vm) { module.events.push_back(Enki::AsebaMarxbot::Event(vm->nodeId, data, length)); AsebaProcessIncomingEvents(&(module.vm)); } } } catch (Dashel::DashelException e) { std::cerr << "Cannot write to socket: " << stream->getFailReason() << std::endl; } } extern "C" uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source) { // TODO: improve this, it is rather ugly Enki::AsebaMarxbot& marxBot = *asebaSocketMaps[vm]; for (size_t i = 0; i < marxBot.modules.size(); ++i) { Enki::AsebaMarxbot::Module& module = *(marxBot.modules[i]); if (&(module.vm) == vm) { if (module.events.empty()) return 0; // I do not put const here to work around a bug in MSVC 2005 implementation of std::valarray Enki::AsebaMarxbot::Event& event = module.events.front(); *source = event.source; size_t length = event.data.size(); length = std::min(length, maxLength); memcpy(data, &(event.data[0]), length); module.events.pop_front(); return length; } } return 0; } extern "C" AsebaVMDescription vmLeftMotorDescription; extern "C" AsebaVMDescription vmRightMotorDescription; extern "C" AsebaVMDescription vmProximitySensorsDescription; extern "C" AsebaVMDescription vmDistanceSensorsDescription; extern "C" const AsebaVMDescription* AsebaGetVMDescription(AsebaVMState *vm) { switch (vm->nodeId) { case 1: return &vmLeftMotorDescription; case 2: return &vmRightMotorDescription; case 3: return &vmProximitySensorsDescription; case 4: return &vmDistanceSensorsDescription; default: break; } assert(false); return 0; } extern "C" const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) { return nativeFunctionsDescriptions; } static const AsebaLocalEventDescription localEvents[] = { { "timer", "periodic timer at 50 Hz" }, { nullptr, nullptr } }; extern "C" const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm) { return localEvents; } extern "C" void AsebaNativeFunction(AsebaVMState *vm, uint16_t id) { nativeFunctions[id](vm); } extern "C" void AsebaWriteBytecode(AsebaVMState *vm) { } extern "C" void AsebaResetIntoBootloader(AsebaVMState *vm) { } extern "C" void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) { std::cerr << "\nFatal error: "; switch (vm->nodeId) { case 1: std::cerr << "left motor module"; break; case 2: std::cerr << "right motor module"; break; case 3: std::cerr << "proximity sensors module"; break; case 4: std::cerr << "distance sensors module"; break; default: std::cerr << "unknown module"; break; } std::cerr << " has produced exception: "; switch (reason) { case ASEBA_ASSERT_UNKNOWN: std::cerr << "undefined"; break; case ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR: std::cerr << "unknown unary operator"; break; case ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR: std::cerr << "unknown binary operator"; break; case ASEBA_ASSERT_UNKNOWN_BYTECODE: std::cerr << "unknown bytecode"; break; case ASEBA_ASSERT_STACK_OVERFLOW: std::cerr << "stack overflow"; break; case ASEBA_ASSERT_STACK_UNDERFLOW: std::cerr << "stack underflow"; break; case ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS: std::cerr << "out of variables bounds"; break; case ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "out of bytecode bounds"; break; case ASEBA_ASSERT_STEP_OUT_OF_RUN: std::cerr << "step out of run"; break; case ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "breakpoint out of bytecode bounds"; break; case ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG: std::cerr << "tried to emit a buffer too long"; break; default: std::cerr << "unknown exception"; break; } std::cerr << ".\npc = " << vm->pc << ", sp = " << vm->sp; std::cerr << "\nResetting VM" << std::endl; assert(false); AsebaVMInit(vm); } namespace Enki { using namespace Dashel; int AsebaMarxbot::marxbotNumber = 0; AsebaMarxbot::Module::Module() { bytecode.resize(512); vm.bytecode = &bytecode[0]; vm.bytecodeSize = bytecode.size(); stack.resize(64); vm.stack = &stack[0]; vm.stackSize = stack.size(); } AsebaMarxbot::AsebaMarxbot() : stream(0) { // setup modules specific data leftMotor.vm.nodeId = 1; leftMotorVariables.id = 1; leftMotor.vm.variables = reinterpret_cast(&leftMotorVariables); leftMotor.vm.variablesSize = sizeof(leftMotorVariables) / sizeof(int16_t); modules.push_back(&leftMotor); rightMotor.vm.nodeId = 2; rightMotorVariables.id = 2; rightMotor.vm.variables = reinterpret_cast(&rightMotorVariables); rightMotor.vm.variablesSize = sizeof(rightMotorVariables) / sizeof(int16_t); modules.push_back(&rightMotor); proximitySensors.vm.nodeId = 3; proximitySensorVariables.id = 3; proximitySensors.vm.variables = reinterpret_cast(&proximitySensorVariables); proximitySensors.vm.variablesSize = sizeof(proximitySensorVariables) / sizeof(int16_t); modules.push_back(&proximitySensors); distanceSensors.vm.nodeId = 4; distanceSensorVariables.id = 4; distanceSensors.vm.variables = reinterpret_cast(&distanceSensorVariables); distanceSensors.vm.variablesSize = sizeof(distanceSensorVariables) / sizeof(int16_t); modules.push_back(&distanceSensors); // fill map asebaSocketMaps[&leftMotor.vm] = this; asebaSocketMaps[&rightMotor.vm] = this; asebaSocketMaps[&proximitySensors.vm] = this; asebaSocketMaps[&distanceSensors.vm] = this; // connect to target int port = ASEBA_DEFAULT_PORT + marxbotNumber; try { Dashel::Hub::connect(QString("tcpin:port=%1").arg(port).toStdString()); } catch (Dashel::DashelException e) { QMessageBox::critical(0, QApplication::tr("Aseba Marxbot"), QApplication::tr("Cannot create listening port %0: %1").arg(port).arg(e.what())); abort(); } marxbotNumber++; // init VM AsebaVMInit(&leftMotor.vm); AsebaVMInit(&rightMotor.vm); AsebaVMInit(&proximitySensors.vm); AsebaVMInit(&distanceSensors.vm); } AsebaMarxbot::~AsebaMarxbot() { // clean map asebaSocketMaps.erase(&leftMotor.vm); asebaSocketMaps.erase(&rightMotor.vm); asebaSocketMaps.erase(&proximitySensors.vm); asebaSocketMaps.erase(&distanceSensors.vm); } void AsebaMarxbot::controlStep(double dt) { //stepCounter++; //std::cerr << stepCounter << std::endl; /* Values mapping motor: estimated 3000 == 30 cm/s encoders: 16 tick per motor turn 134 reduction 6 cm wheel diameter */ // set physical variables leftSpeed = static_cast(leftMotorVariables.speed) / 100; rightSpeed = static_cast(rightMotorVariables.speed) / 100; // do motion DifferentialWheeled::controlStep(dt); // get physical variables int odoLeft = static_cast((leftOdometry * 16 * 134) / (2 * M_PI)); leftMotorVariables.odo[0] = odoLeft & 0xffff; leftMotorVariables.odo[1] = odoLeft >> 16; int odoRight = static_cast((rightOdometry * 16 * 134) / (2 * M_PI)); rightMotorVariables.odo[0] = odoRight & 0xffff; rightMotorVariables.odo[1] = odoRight >> 16; for (size_t i = 0; i < 24; i++) proximitySensorVariables.bumpers[i] = static_cast(getVirtualBumper(i)); std::fill(proximitySensorVariables.ground, proximitySensorVariables.ground + 12, 0); for (size_t i = 0; i < 180; i++) { if (rotatingDistanceSensor.zbuffer[i] > 32767) distanceSensorVariables.distances[i] = 32767; else distanceSensorVariables.distances[i] = static_cast(rotatingDistanceSensor.zbuffer[i]); } // do a network step Hub::step(); // disconnect old streams for (size_t i = 0; i < toDisconnect.size(); ++i) { qDebug() << this << " : Disconnected old client."; closeStream(toDisconnect[i]); } toDisconnect.clear(); // run each module for (size_t i = 0; i < modules.size(); i++) { AsebaVMState* vm = &(modules[i]->vm); /* no queue for now // process all incoming events as long as while (!AsebaVMIsExecutingThread(vm) && !events.empty()) AsebaProcessIncomingEvents(&(modules[i]->vm)); */ // run VM AsebaVMRun(vm, 65535); // reschedule a periodic event if we are not in step by step if (AsebaMaskIsClear(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK)) AsebaVMSetupEvent(vm, ASEBA_EVENT_LOCAL_EVENTS_START); } } void AsebaMarxbot::connectionCreated(Dashel::Stream *stream) { std::string targetName = stream->getTargetName(); if (targetName.substr(0, targetName.find_first_of(':')) == "tcp") { // schedule current stream for disconnection if (this->stream) toDisconnect.push_back(this->stream); // set new stream as current stream this->stream = stream; qDebug() << this << " : New client connected."; } } void AsebaMarxbot::incomingData(Stream *stream) { Event event(stream); // push to other nodes for (size_t i = 0; i < modules.size(); ++i) { Module& module = *(modules[i]); module.events.push_back(event); AsebaProcessIncomingEvents(&(module.vm)); } } void AsebaMarxbot::connectionClosed(Dashel::Stream *stream, bool abnormal) { if (stream == this->stream) { this->stream = 0; // clear breakpoints for (size_t i = 0; i < modules.size(); i++) (modules[i]->vm).breakpointsCount = 0; } if (abnormal) qDebug() << this << " : Client has disconnected unexpectedly."; else qDebug() << this << " : Client has disconnected properly."; } } aseba-1.6.0/targets/enki-marxbot/AsebaMarxbot.h000066400000000000000000000100131322771007300213600ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ENKI_ASEBA_MARXBOT_H #define __ENKI_ASEBA_MARXBOT_H #include #ifndef ASEBA_ASSERT #define ASEBA_ASSERT #endif #include "../../vm/vm.h" #include "../../common/consts.h" #include #include #include /*! \file AsebaMarxbot.h \brief Header of the aseba-enabled marXbot robot */ namespace Enki { //! The aseba-enabled version of the marXbot robot. /*! This robot provides a full simulation of event-based architecture as present on the real marXbot, using aseba. This robot provides a tcp server connection on port ASEBA_DEFAULT_PORT (currently 33333), or higher if other AsebaMarxbot already use it. This allows the connection of Aseba Studio to this robot. The feature is provided by inheriting from a Network server \ingroup robot */ class AsebaMarxbot : public Marxbot, public Dashel::Hub { public: struct Event { unsigned short source; std::valarray data; Event(unsigned short source, const uint8_t* data, uint16_t length) : source(source), data(length) { memcpy(&this->data[0], data, length); } Event(Dashel::Stream* stream) { uint16_t temp; uint16_t len; stream->read(&temp, 2); len = bswap16(temp); stream->read(&temp, 2); source = bswap16(temp); data.resize(len + 2); stream->read(&data[0], data.size()); } }; struct Module { Module(); AsebaVMState vm; std::valarray bytecode; std::valarray stack; //std::deque events; std::deque events; }; private: struct BaseVariables { int16_t id; int16_t source; int16_t args[32]; }; struct MotorVariables { int16_t id; int16_t source; int16_t args[32]; int16_t speed; int16_t odo[2]; int16_t user[220]; }; struct ProximitySensorVariables { int16_t id; int16_t source; int16_t args[32]; int16_t bumpers[24]; int16_t ground[12]; int16_t user[188]; }; struct DistanceSensorVariables { int16_t id; int16_t source; int16_t args[32]; int16_t distances[180]; int16_t user[44]; }; MotorVariables leftMotorVariables; MotorVariables rightMotorVariables; ProximitySensorVariables proximitySensorVariables; DistanceSensorVariables distanceSensorVariables; Module leftMotor; Module rightMotor; Module proximitySensors; Module distanceSensors; public: // public because accessed from a glue function std::vector modules; static int marxbotNumber; public: //! Constructor, connect to a host and register VMs AsebaMarxbot(); //! Destructor, unregister VMs virtual ~AsebaMarxbot(); //! In addition to DifferentialWheeled::step(), update aseba variables and initiate periodic events. virtual void controlStep(double dt); virtual void connectionCreated(Dashel::Stream *stream); virtual void incomingData(Dashel::Stream *stream); virtual void connectionClosed(Dashel::Stream *stream, bool abnormal); // this must be public because of bindings to C functions Dashel::Stream* stream; // all streams that must be disconnected at next step std::vector toDisconnect; }; } #endif aseba-1.6.0/targets/enki-marxbot/CMakeLists.txt000066400000000000000000000010051322771007300214000ustar00rootroot00000000000000if (QT4_FOUND AND ENKI_FOUND) find_package(OpenGL REQUIRED) set(QT_USE_QTMAIN ON) set(QT_USE_QTOPENGL ON) include(${QT_USE_FILE}) include_directories(${enki_INCLUDE_DIR}) set(enki_SRCS AsebaMarxbot.cpp EnkiMarxbot.cpp AsebaMarxbot-vm-descriptions.c ) add_executable(asebamarxbot WIN32 ${enki_SRCS}) target_link_libraries(asebamarxbot asebavmbuffer asebavm ${enki_VIEWER_LIBRARIES} ${enki_LIBRARY} ${QT_LIBRARIES} ${OPENGL_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) endif (QT4_FOUND AND ENKI_FOUND) aseba-1.6.0/targets/enki-marxbot/EnkiMarxbot.cpp000066400000000000000000000033201322771007300215710ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include "AsebaMarxbot.h" #include #include #include namespace Enki { class MarxbotViewer: public ViewerWidget { public: MarxbotViewer(World* world) : ViewerWidget(world) {} void renderObjectsTypesHook() { managedObjectsAliases[&typeid(AsebaMarxbot)] = &typeid(Marxbot); } }; } int main(int argc, char *argv[]) { QApplication app(argc, argv); // Create the world Enki::World world(200, 200); // Create viewer Enki::MarxbotViewer viewer(&world); // Create a Khepera and position it Enki::AsebaMarxbot *marXbot = new Enki::AsebaMarxbot(); marXbot->pos = Enki::Point(100, 100); // objects are garbage collected by the world on destruction world.addObject(marXbot); viewer.setWindowTitle("Aseba Enki"); viewer.show(); return app.exec(); } aseba-1.6.0/targets/enki-marxbot/asebaenki.pro000066400000000000000000000006001322771007300213040ustar00rootroot00000000000000TEMPLATE = app TARGET = DEPENDPATH += . INCLUDEPATH += . LIBS += -L../vm/build-local -L../utils/build-local -lasebavm -lasebautils -lenkiviewer -lenki -ldasheld `pkg-config --libs hal` CONFIG += qt warn_on debug QT += opengl PRE_TARGETDEPS = ../vm/build-local/libasebavm.a ../utils/build-local/libasebautils.a # Input HEADERS += AsebaMarxbot.h SOURCES += AsebaMarxbot.cpp enki.cpp aseba-1.6.0/targets/enki-marxbot/marxbot-obstacle-avoidance.aesl000066400000000000000000000035371322771007300247170ustar00rootroot00000000000000 var isRunning = 1 speed = 300 onevent Start isRunning = 1 speed = 300 onevent Stop isRunning = 0 speed = 0 onevent ObstacleDetected if isRunning == 1 then speed = 300 + (args[0] + args[1]) * 4 end onevent FreeOfObstacle if isRunning == 1 then speed = 300 end var isRunning = 1 speed = 300 onevent Start isRunning = 1 speed = 300 onevent Stop isRunning = 0 speed = 0 onevent ObstacleDetected if isRunning == 1 then speed = 300 + (args[0] - args[1]) * 4 end onevent FreeOfObstacle if isRunning == 1 then speed = 300 end # angles = pi/48:pi/12:(47*2*pi)/48 # vectorX = round(-cos(angles)*255) # vectorY = round(-sin(angles)*255) # vector field obstacle avoidance var vectorX[24] = -254, -241, -212, -168, -113, -50, 17, 82, 142, 192, 229, 250, 254, 241, 212, 168, 113, 50, -17, -82, -142, -192, -229, -250 var vectorY[24] = -17, -82, -142, -192, -229, -250, -254, -241, -212, -168, -113, -50, 17, 82 , 142, 192, 229, 250, 254, 241, 212, 168, 113, 50 var threshold = 100 var eventBuffer[2] var activation onevent timer call math.dot(eventBuffer[0], bumpers, vectorX, 11) call math.dot(eventBuffer[1], bumpers, vectorY, 11) call math.dot(activation, eventBuffer, eventBuffer, 0) if activation > threshold then emit ObstacleDetected eventBuffer end when activation <= threshold do emit FreeOfObstacle end aseba-1.6.0/targets/mobots-mx31/000077500000000000000000000000001322771007300163355ustar00rootroot00000000000000aseba-1.6.0/targets/mobots-mx31/asebamedulla.sh000077500000000000000000000021461322771007300213160ustar00rootroot00000000000000#!/bin/sh ROBOT_FILE=/sys/module/kernel/parameters/mx31moboard_baseboard MARXBOT=2 HANDBOT=3 ROBOT=$(cat $ROBOT_FILE) if [ "$ROBOT" -ne "$MARXBOT" ] && [ "$ROBOT" -ne "$HANDBOT" ]; then echo "This board does not have an aseba bus, leaving" exit 1 fi case "$1" in start) echo "starting asebamedulla" start-stop-daemon -q -S -b -x asebamedulla -- --system "ser:device=/dev/ttymxc4;fc=hard;baud=921600" touch /var/lock/subsys/asebamedulla ;; stop) start-stop-daemon -K -x asebamedulla rm -rf /var/lock/subsys/asebamedulla ;; restart) $0 stop sleep 1 $0 start ;; status) #if pgrep -x asebamedulla &> /dev/null; then echo "running"; else echo "stopped"; fi if pgrep -x asebamedulla &> /dev/null then echo "asebamedulla running" else echo "asebamedulla stopped" fi ;; *) echo "usage: asebamedulla {start|stop|restart|status}" exit 1 esac exit 0 aseba-1.6.0/targets/mobots-mx31/medulla-dbus.conf000066400000000000000000000010321322771007300215560ustar00rootroot00000000000000 aseba-1.6.0/targets/playground/000077500000000000000000000000001322771007300164305ustar00rootroot00000000000000aseba-1.6.0/targets/playground/AsebaGlue.cpp000066400000000000000000000133601322771007300207670ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_ASSERT #define ASEBA_ASSERT #endif #include #include #include #include #include #include "AsebaGlue.h" #include "EnkiGlue.h" #include "../../vm/vm.h" #include "../../common/utils/FormatableString.h" namespace Aseba { // Mapping so that Aseba C callbacks can dispatch to the right objects VMStateToEnvironment vmStateToEnvironment; NamedRobot::NamedRobot(std::string robotName): robotName(std::move(robotName)) { } // SingleVMNodeGlue SingleVMNodeGlue::SingleVMNodeGlue(std::string robotName, int16_t nodeId): NamedRobot(std::move(robotName)) { vm.nodeId = nodeId; } // RecvBufferNodeConnection uint16_t RecvBufferNodeConnection::getBuffer(uint8_t* data, uint16_t maxLength, uint16_t* source) { if (lastMessageData.size()) { *source = lastMessageSource; size_t len(std::min(maxLength, lastMessageData.size())); memcpy(data, &lastMessageData[0], len); return len; } return 0; } } // Aseba // implementation of Aseba glue C functions extern "C" void AsebaPutVmToSleep(AsebaVMState *vm) { // not implemented in playground } extern "C" void AsebaSendBuffer(AsebaVMState *vm, const uint8_t* data, uint16_t length) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); Aseba::AbstractNodeConnection* connection(environment.second); assert(connection); connection->sendBuffer(vm->nodeId, data, length); } extern "C" uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); Aseba::AbstractNodeConnection* connection(environment.second); assert(connection); return connection->getBuffer(data, maxLength, source); } extern "C" const AsebaVMDescription* AsebaGetVMDescription(AsebaVMState *vm) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); const Aseba::AbstractNodeGlue* glue(environment.first); assert(glue); return glue->getDescription(); } extern "C" const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); const Aseba::AbstractNodeGlue* glue(environment.first); assert(glue); return glue->getLocalEventsDescriptions(); } extern "C" const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); const Aseba::AbstractNodeGlue* glue(environment.first); assert(glue); return glue->getNativeFunctionsDescriptions(); } extern "C" void AsebaNativeFunction(AsebaVMState *vm, uint16_t id) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); Aseba::AbstractNodeGlue* glue(environment.first); assert(glue); glue->callNativeFunction(id); } extern "C" void AsebaWriteBytecode(AsebaVMState *vm) { // not implemented in playground } extern "C" void AsebaResetIntoBootloader(AsebaVMState *vm) { // not implemented in playground } extern "C" void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) { const Aseba::NodeEnvironment& environment(Aseba::vmStateToEnvironment.find(vm)->second); const Aseba::AbstractNodeGlue* glue(environment.first); assert(glue); std::cerr << Aseba::FormatableString("\nFatal error: glue %0 with node id %1 of type %2 at has produced exception: ").arg(glue).arg(vm->nodeId).arg(typeid(glue).name()) << std::endl; switch (reason) { case ASEBA_ASSERT_UNKNOWN: std::cerr << "undefined" << std::endl; break; case ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR: std::cerr << "unknown unary operator" << std::endl; break; case ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR: std::cerr << "unknown binary operator" << std::endl; break; case ASEBA_ASSERT_UNKNOWN_BYTECODE: std::cerr << "unknown bytecode" << std::endl; break; case ASEBA_ASSERT_STACK_OVERFLOW: std::cerr << "stack overflow" << std::endl; break; case ASEBA_ASSERT_STACK_UNDERFLOW: std::cerr << "stack underflow" << std::endl; break; case ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS: std::cerr << "out of variables bounds" << std::endl; break; case ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "out of bytecode bounds" << std::endl; break; case ASEBA_ASSERT_STEP_OUT_OF_RUN: std::cerr << "step out of run" << std::endl; break; case ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "breakpoint out of bytecode bounds" << std::endl; break; case ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG: std::cerr << "tried to emit a buffer too long" << std::endl; break; default: std::cerr << "unknown exception" << std::endl; break; } std::cerr << ".\npc = " << vm->pc << ", sp = " << vm->sp << std::endl; //std::cerr << "\nResetting VM" << std::endl; std::cerr << "\nAborting playground, please report bug to \nhttps://github.com/aseba-community/aseba/issues/new" << std::endl; abort(); AsebaVMInit(vm); } aseba-1.6.0/targets/playground/AsebaGlue.h000066400000000000000000000055361322771007300204420ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_ASEBA_GLUE_H #define __PLAYGROUND_ASEBA_GLUE_H #include "../../common/types.h" #include "../../common/consts.h" #include "../../vm/natives.h" #include #include #include #include namespace Aseba { // Abstractions to virtualise VM and connection struct AbstractNodeGlue { // default virtual destructor virtual ~AbstractNodeGlue() = default; // to be implemente by robots virtual const AsebaVMDescription* getDescription() const = 0; virtual const AsebaLocalEventDescription * getLocalEventsDescriptions() const = 0; virtual const AsebaNativeFunctionDescription * const * getNativeFunctionsDescriptions() const = 0; virtual void callNativeFunction(uint16_t id) = 0; // to be implemented by subclasses of robots for communicating with the external world virtual void externalInputStep(double dt) = 0; }; struct NamedRobot { // Robot name const std::string robotName; NamedRobot(std::string robotName); }; struct SingleVMNodeGlue: NamedRobot, AbstractNodeGlue { // VM implementation AsebaVMState vm; std::valarray bytecode; std::valarray stack; SingleVMNodeGlue(std::string robotName, int16_t nodeId); }; struct AbstractNodeConnection { virtual void sendBuffer(uint16_t nodeId, const uint8_t* data, uint16_t length) = 0; virtual uint16_t getBuffer(uint8_t* data, uint16_t maxLength, uint16_t* source) = 0; }; // Mapping so that Aseba C callbacks can dispatch to the right objects typedef std::pair NodeEnvironment; typedef std::map VMStateToEnvironment; extern VMStateToEnvironment vmStateToEnvironment; // Buffer for data reception class RecvBufferNodeConnection: public AbstractNodeConnection { protected: uint16_t lastMessageSource; std::valarray lastMessageData; public: uint16_t getBuffer(uint8_t* data, uint16_t maxLength, uint16_t* source) override; }; } // Aseba #endif // __PLAYGROUND_ASEBA_GLUE_H aseba-1.6.0/targets/playground/CMakeLists.txt000066400000000000000000000033111322771007300211660ustar00rootroot00000000000000if (ENKI_FOUND) include_directories(${enki_INCLUDE_DIR}) set (ASEBASIM_SRC EnkiGlue.cpp AsebaGlue.cpp DirectAsebaGlue.cpp Door.cpp robots/e-puck/EPuck.cpp robots/e-puck/EPuck-descriptions.c robots/thymio2/Thymio2.cpp robots/thymio2/Thymio2-natives.cpp robots/thymio2/Thymio2-descriptions.c ) add_library(asebasim ${ASEBASIM_SRC}) set_target_properties(asebasim PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebasim LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) if (QT4_FOUND) find_package(OpenGL REQUIRED) set(QT_USE_QTMAIN ON) set(QT_USE_QTOPENGL ON) set(QT_USE_QTXML ON) if (QT_QTDBUS_FOUND AND NOT WIN32) # force disable D-Bus on Windows, because it generates compilation # errors in interaction with QtOpenGL includes set(QT_USE_QTDBUS ON) add_definitions("-DHAVE_DBUS") endif (QT_QTDBUS_FOUND AND NOT WIN32) include(${QT_USE_FILE}) qt4_add_resources(resfiles asebaplayground.qrc) set(playground_SRCS DashelAsebaGlue.cpp PlaygroundViewer.cpp PlaygroundDBusAdaptors.cpp playground.cpp ) qt4_wrap_cpp(playground_MOCS robots/thymio2/Thymio2.h PlaygroundViewer.h PlaygroundDBusAdaptors.h ) add_executable(asebaplayground WIN32 ${playground_SRCS} ${playground_MOCS} ${resfiles}) target_link_libraries(asebaplayground asebasim asebavmbuffer asebavm asebaqtabout ${ASEBA_ZEROCONFQT_LIBRARIES} ${enki_VIEWER_LIBRARIES} ${enki_LIBRARY} ${QT_LIBRARIES} ${OPENGL_LIBRARIES} ${ASEBA_CORE_LIBRARIES} ${EXTRA_LIBS}) install(TARGETS asebaplayground RUNTIME DESTINATION bin LIBRARY DESTINATION bin) endif (QT4_FOUND) endif (ENKI_FOUND) aseba-1.6.0/targets/playground/DashelAsebaGlue.cpp000066400000000000000000000107071322771007300221120ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "DashelAsebaGlue.h" #include "EnkiGlue.h" #include "../../common/utils/FormatableString.h" #include "../../transport/buffer/vm-buffer.h" namespace Aseba { // SimpleDashelConnection SimpleDashelConnection::SimpleDashelConnection(unsigned port) { try { listenStream = Dashel::Hub::connect(FormatableString("tcpin:port=%0").arg(port)); } catch (const Dashel::DashelException& e) { SEND_NOTIFICATION(FATAL_ERROR, "cannot create listening port", std::to_string(port), e.what()); abort(); } } void SimpleDashelConnection::sendBuffer(uint16_t nodeId, const uint8_t* data, uint16_t length) { if (stream) { try { uint16_t temp; // this may happen if target has disconnected temp = bswap16(length - 2); stream->write(&temp, 2); temp = bswap16(nodeId); stream->write(&temp, 2); stream->write(data, length); stream->flush(); } catch (Dashel::DashelException e) { SEND_NOTIFICATION(LOG_ERROR, "cannot read from socket", stream->getTargetName(), e.what()); } } } void SimpleDashelConnection::connectionCreated(Dashel::Stream *stream) { const std::string& targetName(stream->getTargetName()); if (targetName.substr(0, targetName.find_first_of(':')) == "tcp") { // schedule current stream for disconnection if (this->stream) { toDisconnect.push_back(this->stream); clearBreakpoints(); } // set new stream as current stream this->stream = stream; SEND_NOTIFICATION(LOG_INFO, "new client connected", stream->getTargetName()); } } void SimpleDashelConnection::incomingData(Dashel::Stream *stream) { // if we receive data from an old connection, disregard as we'll close the old stream soon if (stream != this->stream) { // read one byte to avoid deadlock char c; stream->read(&c, 1); return; } try { // receive data uint16_t temp; uint16_t len; stream->read(&temp, 2); len = bswap16(temp); stream->read(&temp, 2); lastMessageSource = bswap16(temp); lastMessageData.resize(len+2); stream->read(&lastMessageData[0], lastMessageData.size()); // execute event on all VM that are linked to this connection for (auto vmStateToEnvironmentKV: vmStateToEnvironment) { if (vmStateToEnvironmentKV.second.second == this) { AsebaProcessIncomingEvents(vmStateToEnvironmentKV.first); AsebaVMRun(vmStateToEnvironmentKV.first, 1000); } } } catch (Dashel::DashelException e) { SEND_NOTIFICATION(LOG_ERROR, "cannot read from socket", stream->getTargetName(), e.what()); } } void SimpleDashelConnection::connectionClosed(Dashel::Stream *stream, bool abnormal) { // if the stream being closed is the current one (not old), clear breakpoints and reset current if (stream == this->stream) { clearBreakpoints(); this->stream = nullptr; } if (abnormal) { SEND_NOTIFICATION(LOG_WARNING, "client disconnected abnormally", stream->getTargetName()); } else { SEND_NOTIFICATION(LOG_INFO, "client disconnected properly", stream->getTargetName()); } } //! Clear breakpoints on all VM that are linked to this connection void SimpleDashelConnection::clearBreakpoints() { for (auto vmStateToEnvironmentKV: vmStateToEnvironment) { if (vmStateToEnvironmentKV.second.second == this) vmStateToEnvironmentKV.first->breakpointsCount = 0; } } //! Disconnect old streams void SimpleDashelConnection::closeOldStreams() { for (size_t i = 0; i < toDisconnect.size(); ++i) { SEND_NOTIFICATION(LOG_WARNING, "old client disconnected", toDisconnect[i]->getTargetName()); closeStream(toDisconnect[i]); } toDisconnect.clear(); } } // namespace Aseba aseba-1.6.0/targets/playground/DashelAsebaGlue.h000066400000000000000000000100701322771007300215500ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_DASHEL_ASEBA_GLUE_H #define __PLAYGROUND_DASHEL_ASEBA_GLUE_H #include "AsebaGlue.h" #include "EnkiGlue.h" #include #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-qt.h" #endif // ZEROCONF_SUPPORT // Implementation of the connection using Dashel namespace Aseba { class SimpleDashelConnection: public RecvBufferNodeConnection, public Dashel::Hub { protected: Dashel::Stream* listenStream = nullptr; Dashel::Stream* stream = nullptr; std::vector toDisconnect; // all streams that must be disconnected at next step public: SimpleDashelConnection(unsigned port); void sendBuffer(uint16_t nodeId, const uint8_t* data, uint16_t length) override; void connectionCreated(Dashel::Stream *stream) override; void incomingData(Dashel::Stream *stream) override; void connectionClosed(Dashel::Stream *stream, bool abnormal) override; protected: void clearBreakpoints(); void closeOldStreams(); }; } // namespace Aseba // Implementations of robots using Dashel namespace Enki { template class DashelConnected: public AsebaRobot, public Aseba::SimpleDashelConnection { public: template #ifdef ZEROCONF_SUPPORT DashelConnected(Aseba::Zeroconf& zeroconf, std::string robotTypeName, unsigned port, Params... parameters): AsebaRobot(parameters...), Aseba::SimpleDashelConnection(port), zeroconf(zeroconf), robotTypeName(std::move(robotTypeName)) #else // ZEROCONF_SUPPORT DashelConnected(unsigned port, Params... parameters): AsebaRobot(parameters...), Aseba::SimpleDashelConnection(port) #endif // ZEROCONF_SUPPORT { Aseba::vmStateToEnvironment[&this->vm] = std::make_pair((Aseba::AbstractNodeGlue*)this, (Aseba::AbstractNodeConnection *)this); #ifdef ZEROCONF_SUPPORT updateZeroconfStatus(); #endif // ZEROCONF_SUPPORT } virtual ~DashelConnected() { Aseba::vmStateToEnvironment.erase(&this->vm); } protected: // from AbstractNodeGlue virtual void externalInputStep(double dt) override { // do a network step, if there are some events from the network, they will be executed Hub::step(); // disconnect old streams closeOldStreams(); } #ifdef ZEROCONF_SUPPORT Aseba::Zeroconf& zeroconf; std::string robotTypeName; void connectionCreated(Dashel::Stream *stream) override { Aseba::SimpleDashelConnection::connectionCreated(stream); updateZeroconfStatus(); } void connectionClosed(Dashel::Stream *stream, bool abnormal) override { Aseba::SimpleDashelConnection::connectionClosed(stream, abnormal); updateZeroconfStatus(); } void updateZeroconfStatus() { try { if (stream) zeroconf.forget(this->robotName, listenStream); else zeroconf.advertise(this->robotName, listenStream, { ASEBA_PROTOCOL_VERSION, this->robotTypeName, stream != nullptr, { this->vm.nodeId }, { static_cast(this->variables.productId) }} ); } catch (const std::runtime_error& e) { SEND_NOTIFICATION(LOG_ERROR, stream ? "Cannot de-advertise stream" : "Cannot advertise stream", listenStream->getTargetName(), e.what()); } } #endif // ZEROCONF_SUPPORT }; } // namespace Enki #endif // __PLAYGROUND_DASHEL_ASEBA_GLUE_H aseba-1.6.0/targets/playground/DirectAsebaGlue.cpp000066400000000000000000000025441322771007300221240ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "DirectAsebaGlue.h" #include "EnkiGlue.h" #include "../../common/utils/FormatableString.h" #include "../../transport/buffer/vm-buffer.h" namespace Aseba { void DirectConnection::sendBuffer(uint16_t nodeId, const uint8_t* data, uint16_t length) { // deserialize message Message::SerializationBuffer content; std::copy(data+2, data+length, std::back_inserter(content.rawData)); const uint16_t type(*reinterpret_cast(data)); outQueue.emplace(Message::create(nodeId, type, content)); } } // namespace Aseba aseba-1.6.0/targets/playground/DirectAsebaGlue.h000066400000000000000000000056431322771007300215740ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_DIRECT_ASEBA_GLUE_H #define __PLAYGROUND_DIRECT_ASEBA_GLUE_H #include #include #include "../../common/msg/msg.h" #include "../../transport/buffer/vm-buffer.h" #include "AsebaGlue.h" // Implementation of the connection using direct connection namespace Aseba { class DirectConnection: public RecvBufferNodeConnection { public: typedef std::queue> MessageQueue; MessageQueue inQueue; MessageQueue outQueue; public: virtual void sendBuffer(uint16_t nodeId, const uint8_t* data, uint16_t length); }; } // namespace Aseba // Implementations of robots using Dashel namespace Enki { template class DirectlyConnected: public AsebaRobot, public Aseba::DirectConnection { public: template DirectlyConnected(Params... parameters): AsebaRobot(parameters...) { Aseba::vmStateToEnvironment[&this->vm] = std::make_pair((Aseba::AbstractNodeGlue*)this, (Aseba::AbstractNodeConnection *)this); } virtual ~DirectlyConnected() { Aseba::vmStateToEnvironment.erase(&this->vm); } protected: // from AbstractNodeGlue virtual void externalInputStep(double dt) { while (!inQueue.empty()) { // serialize message into reception buffer const auto message(inQueue.front().get()); lastMessageSource = message->source; Aseba::Message::SerializationBuffer content; message->serializeSpecific(content); lastMessageData.resize(content.rawData.size() + 2); *reinterpret_cast(&lastMessageData[0]) = message->type; std::copy(&content.rawData[0], &content.rawData[content.rawData.size()], &lastMessageData[2]); // execute event on all VM that are linked to this connection for (auto vmStateToEnvironmentKV: Aseba::vmStateToEnvironment) { if (vmStateToEnvironmentKV.second.second == this) { AsebaProcessIncomingEvents(vmStateToEnvironmentKV.first); AsebaVMRun(vmStateToEnvironmentKV.first, 1000); } } // delete message inQueue.pop(); } } }; } // namespace Enki #endif // __PLAYGROUND_DIRECT_ASEBA_GLUE_H aseba-1.6.0/targets/playground/Door.cpp000066400000000000000000000072161322771007300200450ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "Door.h" #include "Parameters.h" namespace Enki { // SlidingDoor SlidingDoor::SlidingDoor(const Point& closedPos, const Point& openedPos, const Point& size, double height, double moveDuration) : closedPos(closedPos), openedPos(openedPos), moveDuration(moveDuration), mode(MODE_CLOSED), moveTimeLeft(0) { setRectangular(size.x, size.y, height, -1); } void SlidingDoor::controlStep(double dt) { // cos interpolation between positions double alpha; switch (mode) { case MODE_CLOSED: pos = closedPos; break; case MODE_OPENING: alpha = (cos((moveTimeLeft*M_PI)/moveDuration) + 1.) / 2.; pos = openedPos * alpha + closedPos * (1 - alpha); moveTimeLeft -= dt; if (moveTimeLeft < 0) mode = MODE_OPENED; break; case MODE_OPENED: pos = openedPos; break; case MODE_CLOSING: alpha = (cos((moveTimeLeft*M_PI)/moveDuration) + 1.) / 2.; pos = closedPos * alpha + openedPos * (1 - alpha); moveTimeLeft -= dt; if (moveTimeLeft < 0) mode = MODE_CLOSED; break; default: break; } PhysicalObject::controlStep(dt); } void SlidingDoor::open(void) { if (mode == MODE_CLOSED) { moveTimeLeft = moveDuration; mode = MODE_OPENING; } else if (mode == MODE_CLOSING) { moveTimeLeft = moveDuration - moveTimeLeft; mode = MODE_OPENING; } } void SlidingDoor::close(void) { if (mode == MODE_OPENED) { moveTimeLeft = moveDuration; mode = MODE_CLOSING; } else if (mode == MODE_OPENING) { moveTimeLeft = moveDuration - moveTimeLeft; mode = MODE_CLOSING; } } // AreaActivating AreaActivating::AreaActivating(Robot *owner, const Polygon& activeArea) : activeArea(activeArea), active(false) { r = activeArea.getBoundingRadius(); this->owner = owner; } void AreaActivating::init(double dt, World *w) { active = false; } void AreaActivating::objectStep (double dt, World *w, PhysicalObject *po) { if (po != owner && dynamic_cast(po)) { active |= activeArea.isPointInside(po->pos - owner->pos); } } bool AreaActivating::isActive() const { return active; } // DoorButton DoorButton::DoorButton(const Point& pos, const Point& size, const Polygon& activeArea, Door* attachedDoor) : areaActivating(this, activeArea), wasActive(false), attachedDoor(attachedDoor) { this->pos = pos; setRectangular(size.x, size.y, ACTIVATION_OBJECT_HEIGHT, -1); addLocalInteraction(&areaActivating); setColor(ACTIVATION_OBJECT_COLOR); } void DoorButton::controlStep(double dt) { Robot::controlStep(dt); if (areaActivating.isActive() != wasActive) { //std::cerr << "Door activity changed to " << areaActivating.active << "\n"; if (areaActivating.isActive()) attachedDoor->open(); else attachedDoor->close(); wasActive = areaActivating.isActive(); } } } // Enki aseba-1.6.0/targets/playground/Door.h000066400000000000000000000042241322771007300175060ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_DOOR_H #define __PLAYGROUND_DOOR_H #include namespace Enki { class Door: public PhysicalObject { public: virtual void open() = 0; virtual void close() = 0; }; class SlidingDoor: public Door { public: const Point closedPos; const Point openedPos; const double moveDuration; protected: enum Mode { MODE_CLOSED, MODE_OPENING, MODE_OPENED, MODE_CLOSING } mode; double moveTimeLeft; public: SlidingDoor(const Point& closedPos, const Point& openedPos, const Point& size, double height, double moveDuration); virtual void controlStep(double dt); virtual void open(void); virtual void close(void); }; class AreaActivating: public LocalInteraction { public: const Polygon activeArea; protected: bool active; public: AreaActivating(Robot *owner, const Polygon& activeArea); virtual void init(double dt, World *w); virtual void objectStep (double dt, World *w, PhysicalObject *po); bool isActive() const; }; class DoorButton: public Robot { protected: AreaActivating areaActivating; bool wasActive; Door *const attachedDoor; public: DoorButton(const Point& pos, const Point& size, const Polygon& activeArea, Door* attachedDoor); virtual void controlStep(double dt); }; } // Enki #endif // __PLAYGROUND_DOOR_H aseba-1.6.0/targets/playground/EnkiGlue.cpp000066400000000000000000000016761322771007300206510ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "EnkiGlue.h" namespace Enki { std::unique_ptr simulatorEnvironment; } // namespace Enki aseba-1.6.0/targets/playground/EnkiGlue.h000066400000000000000000000063111322771007300203050ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_ENKI_GLUE_H #define __PLAYGROUND_ENKI_GLUE_H #include #include #include #include #include "../../vm/vm.h" #include "../../common/utils/utils.h" namespace Enki { // Interface for Aseba-enabled Enki objects and their native functions //! Types of notifications that can be sent to the environment enum class EnvironmentNotificationType { DISPLAY_INFO, //!< an information to be displayed to the user LOG_INFO, //!< an information to be logged LOG_WARNING, //!< a warning to be logged LOG_ERROR, //!< an error to be logged FATAL_ERROR //!< a fatal error that should terminate the application }; //! A vector of string typedef std::vector strings; //! An interface to a simulation environment struct SimulatorEnvironment { //! Default virtual destructor virtual ~SimulatorEnvironment() = default; //! Notifies the environment of something happening inside a robot, takes a type, a description and a vector of arguments virtual void notify(const EnvironmentNotificationType type, const std::string& description, const strings& arguments) = 0; //! Return a writable local file path for this scenario and a given robot name and file number virtual std::string getSDFilePath(const std::string& robotName, unsigned fileNumber) const = 0; //! Return the current world virtual World* getWorld() const = 0; }; //! A global pointer to the environment extern std::unique_ptr simulatorEnvironment; //! Helper macro to write notification sending in a convenient way #define SEND_NOTIFICATION(type, description, ...) \ if (Enki::simulatorEnvironment) \ Enki::simulatorEnvironment->notify(Enki::EnvironmentNotificationType::type, description, {__VA_ARGS__}); //! Return the Enki object of a given type associated with a given vm template ObjectType *getEnkiObject(AsebaVMState *vm) { if (!Enki::simulatorEnvironment) return nullptr; World* world(Enki::simulatorEnvironment->getWorld()); if (!world) return nullptr; for (World::ObjectsIterator objectIt = world->objects.begin(); objectIt != world->objects.end(); ++objectIt) { ObjectType *enkiObject = dynamic_cast(*objectIt); if (enkiObject && (&(enkiObject->vm) == vm)) return enkiObject; } return nullptr; } } // namespace Enki #endif // __PLAYGROUND_ENKI_GLUE_H aseba-1.6.0/targets/playground/Parameters.h000066400000000000000000000040521322771007300207050ustar00rootroot00000000000000/* Playground - An active arena to learn multi-robots programming Copyright (C) 1999--2013: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_PARAMETERS_H #define __PLAYGROUND_PARAMETERS_H // Parameters for Playground #define LEGO_RED Enki::Color(0.77, 0.2, 0.15) #define LEGO_GREEN Enki::Color(0, 0.5, 0.17) #define LEGO_BLUE Enki::Color(0, 0.38 ,0.61) #define LEGO_WHITE Enki::Color(0.9, 0.9, 0.9) #define EPUCK_FEEDER_INITIAL_ENERGY 10 #define EPUCK_FEEDER_THRESHOLD_HIDE 2 #define EPUCK_FEEDER_THRESHOLD_SHOW 4 #define EPUCK_FEEDER_RADIUS 5 #define EPUCK_FEEDER_RANGE 10 #define EPUCK_FEEDER_COLOR_ACTIVE LEGO_GREEN #define EPUCK_FEEDER_COLOR_INACTIVE LEGO_WHITE #define EPUCK_FEEDER_D_ENERGY 4 #define EPUCK_FEEDER_RECHARGE_RATE 0.5 #define EPUCK_FEEDER_MAX_ENERGY 100 #define EPUCK_FEEDER_HEIGHT 5 #define EPUCK_INITIAL_ENERGY 10 #define EPUCK_ENERGY_CONSUMPTION_RATE 1 #define SCORE_MODIFIER_COEFFICIENT 0.2 #define INITIAL_POOL_ENERGY 10 #define ACTIVATION_OBJECT_COLOR LEGO_RED #define ACTIVATION_OBJECT_HEIGHT 6 #define DEATH_ANIMATION_STEPS 30 #endif // __PLAYGROUND_PARAMETERS_H aseba-1.6.0/targets/playground/PlaygroundDBusAdaptors.cpp000066400000000000000000000140071322771007300235360ustar00rootroot00000000000000/* Playground - An active arena to learn multi-robots programming Copyright (C) 1999--2013: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifdef HAVE_DBUS #include "PlaygroundDBusAdaptors.h" #include "PlaygroundViewer.h" #include "robots/thymio2/Thymio2.h" #include #include #include namespace Enki { PhysicalObjectInterface::PhysicalObjectInterface(EnkiWorldInterface* enkiWorldInterface, PhysicalObject* physicalObject): QObject(enkiWorldInterface), enkiWorldInterface(enkiWorldInterface), physicalObject(physicalObject) { } double PhysicalObjectInterface::getX() const { if (!enkiWorldInterface->isPointerValid(physicalObject)) return 0; // in the future, do an error and delete this interface return physicalObject->pos.x; } void PhysicalObjectInterface::setX(double x) { if (!enkiWorldInterface->isPointerValid(physicalObject)) return; // in the future, do an error and delete this interface physicalObject->pos.x = x; } double PhysicalObjectInterface::getY() const { if (!enkiWorldInterface->isPointerValid(physicalObject)) return 0; // in the future, do an error and delete this interface return physicalObject->pos.y; } void PhysicalObjectInterface::setY(double y) { if (!enkiWorldInterface->isPointerValid(physicalObject)) return; // in the future, do an error and delete this interface physicalObject->pos.y = y; } double PhysicalObjectInterface::getAngle() const { if (!enkiWorldInterface->isPointerValid(physicalObject)) return 0; // in the future, do an error and delete this interface return physicalObject->angle; } void PhysicalObjectInterface::setAngle(double angle) { if (!enkiWorldInterface->isPointerValid(physicalObject)) return; // in the future, do an error and delete this interface physicalObject->angle = angle; } void PhysicalObjectInterface::Free() { deleteLater(); } Thymio2Interface::Thymio2Interface(EnkiWorldInterface* enkiWorldInterface, AsebaThymio2* thymio): QObject(enkiWorldInterface), enkiWorldInterface(enkiWorldInterface), thymio(thymio) { } void Thymio2Interface::Clap() { if (!enkiWorldInterface->isPointerValid(thymio)) return; thymio->execLocalEvent(AsebaThymio2::EVENT_MIC); } void Thymio2Interface::Tap() { if (!enkiWorldInterface->isPointerValid(thymio)) return; thymio->execLocalEvent(AsebaThymio2::EVENT_TAP); } void Thymio2Interface::SetButton(unsigned number, bool value, const QDBusMessage &message) { if (!enkiWorldInterface->isPointerValid(thymio)) return; if (number > 4) { QDBusConnection::sessionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("Button number %0 does not exist on Thymio II, it only has 5 buttons numbered from 0 to 4.").arg(number))); return; } const int16_t bValue(value ? 1 : 0); int16_t* memoryValue(&thymio->variables.buttonBackward + number); if (bValue != *memoryValue) { *memoryValue = bValue; thymio->execLocalEvent(AsebaThymio2::EVENT_B_BACKWARD + number); } } void Thymio2Interface::Free() { deleteLater(); } EnkiWorldInterface::EnkiWorldInterface(PlaygroundViewer *playground): QDBusAbstractAdaptor(playground), playground(playground) { } static QString ptrToString(void *ptr) { return QString("%1").arg((quintptr)ptr, QT_POINTER_SIZE * 2, 16, QChar('0')); } QStringList EnkiWorldInterface::PhysicalObjectsByType(QString type) const { QStringList objectNames; const World* world(playground->getWorld()); for (World::ObjectsIterator it(world->objects.begin()); it != world->objects.end(); ++it) { Enki::PhysicalObject* object(*it); if (QString(typeid(*object).name()).contains(type)) objectNames.append(ptrToString(*it)); } return objectNames; } QStringList EnkiWorldInterface::AllPhysicalObjects() const { return PhysicalObjectsByType(""); } QDBusObjectPath EnkiWorldInterface::PhysicalObject(QString number, const QDBusMessage &message) { const World* world(playground->getWorld()); for (World::ObjectsIterator it(world->objects.begin()); it != world->objects.end(); ++it) { if (ptrToString(*it) == number) { QDBusObjectPath path(QString("/world/objects/%0").arg(number)); // interface to Enki's physical object QDBusConnection::sessionBus().registerObject(path.path(), new PhysicalObjectInterface(this, *it), QDBusConnection::ExportAllContents); // if robot is Thymio2, provide robot-specific interface AsebaThymio2* thymio2(dynamic_cast(*it)); qDebug() << "thymio" << thymio2; if (thymio2) QDBusConnection::sessionBus().registerObject(path.path() + "/thymio2", new Thymio2Interface(this, thymio2), QDBusConnection::ExportAllContents); return path; } } QDBusConnection::sessionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("object %0 does not exists").arg(number))); return QDBusObjectPath("/"); } bool EnkiWorldInterface::isPointerValid(Enki::PhysicalObject* physicalObject) const { const World* world(playground->getWorld()); return world->objects.find(physicalObject) != world->objects.end(); } } #endif // HAVE_DBUS aseba-1.6.0/targets/playground/PlaygroundDBusAdaptors.h000066400000000000000000000061321322771007300232030ustar00rootroot00000000000000/* Playground - An active arena to learn multi-robots programming Copyright (C) 1999--2013: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_DBUS_ADAPTORS_H #define __PLAYGROUND_DBUS_ADAPTORS_H #ifdef HAVE_DBUS #include #include #include #include #include namespace Enki { class PlaygroundViewer; class EnkiWorldInterface; class PhysicalObject; class AsebaThymio2; class PhysicalObjectInterface: public QObject { Q_OBJECT Q_CLASSINFO("D-Bus Interface", "ch.epfl.mobots.EnkiPhysicalObject") Q_PROPERTY(double x READ getX WRITE setX) Q_PROPERTY(double y READ getY WRITE setY) Q_PROPERTY(double angle READ getAngle WRITE setAngle) private: EnkiWorldInterface* enkiWorldInterface; PhysicalObject* physicalObject; public: PhysicalObjectInterface(EnkiWorldInterface* enkiWorldInterface, PhysicalObject* physicalObject); double getX() const; void setX(double x); double getY() const; void setY(double Y); double getAngle() const; void setAngle(double angle); public slots: void Free(); }; class Thymio2Interface: public QObject { Q_OBJECT Q_CLASSINFO("D-Bus Interface", "ch.epfl.mobots.PlaygroundThymio2") private: EnkiWorldInterface* enkiWorldInterface; AsebaThymio2* thymio; public: Thymio2Interface(EnkiWorldInterface* enkiWorldInterface, AsebaThymio2* thymio); public slots: void Clap(); void Tap(); void SetButton(unsigned number, bool value, const QDBusMessage &message); void Free(); }; class EnkiWorldInterface: public QDBusAbstractAdaptor { Q_OBJECT Q_CLASSINFO("D-Bus Interface", "ch.epfl.mobots.EnkiWorld") private: PlaygroundViewer *playground; public: EnkiWorldInterface(PlaygroundViewer *playground); public slots: QStringList PhysicalObjectsByType(QString type) const; QStringList AllPhysicalObjects() const; QDBusObjectPath PhysicalObject(QString number, const QDBusMessage &message); protected: friend class PhysicalObjectInterface; friend class Thymio2Interface; bool isPointerValid(Enki::PhysicalObject* physicalObject) const; }; } #endif // HAVE_DBUS #endif // __PLAYGROUND_DBUS_ADAPTORS_H aseba-1.6.0/targets/playground/PlaygroundViewer.cpp000066400000000000000000000247611322771007300224540ustar00rootroot00000000000000/* Playground - An active arena to learn multi-robots programming Copyright (C) 1999--2013: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "PlaygroundViewer.h" #include "Parameters.h" #include "Robots.h" #include "../../common/utils/utils.h" #include "../../common/about/AboutDialog.h" #include #include #include #include #include #ifdef Q_OS_WIN32 #define Q_PID_PRINT size_t #else // Q_OS_WIN32 #define Q_PID_PRINT qint64 #endif // Q_OS_WIN32 namespace Enki { using namespace Aseba; const std::map notificationLogTypeToColor = { { EnvironmentNotificationType::LOG_INFO, Qt::white }, { EnvironmentNotificationType::LOG_WARNING, Qt::yellow }, { EnvironmentNotificationType::LOG_ERROR, Qt::red } }; PlaygroundViewer::PlaygroundViewer(World* world, bool energyScoringSystemEnabled) : ViewerWidget(world), font("Courier", 10), energyScoringSystemEnabled(energyScoringSystemEnabled), logPos(0), energyPool(INITIAL_POOL_ENERGY) { setMouseTracking(true); } PlaygroundViewer::~PlaygroundViewer() { } World* PlaygroundViewer::getWorld() const { return world; } void PlaygroundViewer::notifyAsebaEnvironment(const EnvironmentNotificationType type, const std::string& description, const strings& arguments) { if (type == EnvironmentNotificationType::DISPLAY_INFO) { if (description == "missing Thymio2 feature") { addInfoMessage(tr("You are using a feature not available in the simulator, click here to buy a real Thymio."), 5.0, Qt::blue, QUrl(tr("https://www.thymio.org/en:thymiobuy"))); } else qDebug() << "Unknown description for notifying DISPLAY_INFO" << QString::fromStdString(description); } else if ((type == EnvironmentNotificationType::LOG_INFO) || (type == EnvironmentNotificationType::LOG_WARNING) || (type == EnvironmentNotificationType::LOG_ERROR)) { if (description == "cannot read from socket") { log(tr("Target %0, cannot read from socket: %1").arg(QString::fromStdString(arguments.at(0))).arg(QString::fromStdString(arguments.at(1))), notificationLogTypeToColor.at(type)); } else if (description == "new client connected") { log(tr("New client connected from %0").arg(QString::fromStdString(arguments.at(0))), notificationLogTypeToColor.at(type)); } else if (description == "cannot read from socket") { log(tr("Target %0, cannot read from socket: %1").arg(QString::fromStdString(arguments.at(0))).arg(QString::fromStdString(arguments.at(1))), notificationLogTypeToColor.at(type)); } else if (description == "client disconnected properly") { log(tr("Client disconnected properly from %0").arg(QString::fromStdString(arguments.at(0))), notificationLogTypeToColor.at(type)); } else if (description == "client disconnected abnormally") { log(tr("Client disconnected abnormally from %0").arg(QString::fromStdString(arguments.at(0))), notificationLogTypeToColor.at(type)); } else if (description == "old client disconnected") { log(tr("Old client disconnected from %0").arg(QString::fromStdString(arguments.at(0))), notificationLogTypeToColor.at(type)); } else { QString fullDescription(QString::fromStdString(description)); for (const auto& argument: arguments) fullDescription += " " + QString::fromStdString(argument); log(fullDescription, notificationLogTypeToColor.at(type)); } } else if (type == EnvironmentNotificationType::FATAL_ERROR) { if (description == "cannot create listening port") { QMessageBox::critical(0, "Aseba Playground", tr("Cannot create listening port %0: %1").arg(QString::fromStdString(arguments.at(0))).arg(QString::fromStdString(arguments.at(1)))); abort(); } else qDebug() << "Unknown description for notifying FATAL_ERROR" << QString::fromStdString(description); } } void PlaygroundViewer::log(const QString& entry, const QColor& color) { logText[logPos] = entry; logColor[logPos] = color; logTime[logPos] = Aseba::UnifiedTime(); logPos = (logPos+1) % LOG_HISTORY_COUNT; } void PlaygroundViewer::log(const std::string& entry, const QColor& color) { log(QString::fromStdString(entry), color); } void PlaygroundViewer::log(const char* entry, const QColor& color) { log(QString(entry), color); } void PlaygroundViewer::processStarted() { QProcess* process(polymorphic_downcast(sender())); // do not display to avoid clutter //log(tr("%0: Process started").arg((Q_PID_PRINT)process->pid()), Qt::white); Q_UNUSED(process); } void PlaygroundViewer::processError(QProcess::ProcessError error) { QProcess* process(polymorphic_downcast(sender())); switch (error) { case QProcess::FailedToStart: log(tr("%0: Process failed to start").arg((Q_PID_PRINT)process->pid()), Qt::red); break; case QProcess::Crashed: log(tr("%0: Process crashed").arg((Q_PID_PRINT)process->pid()), Qt::red); break; case QProcess::WriteError: log(tr("%0: Write error").arg((Q_PID_PRINT)process->pid()), Qt::red); break; case QProcess::ReadError: log(tr("%0: Read error").arg((Q_PID_PRINT)process->pid()), Qt::red); break; case QProcess::UnknownError: log(tr("%0: Unknown error").arg((Q_PID_PRINT)process->pid()), Qt::red); break; default: break; } } void PlaygroundViewer::processReadyRead() { QProcess* process(polymorphic_downcast(sender())); while (process->canReadLine()) log(tr("%0: %1").arg((Q_PID_PRINT)process->pid()).arg(process->readLine().constData()), Qt::yellow); } void PlaygroundViewer::processFinished(int exitCode, QProcess::ExitStatus exitStatus) { QProcess* process(polymorphic_downcast(sender())); // do not display to avoid clutter /*if (exitStatus == QProcess::NormalExit) log(tr("Process finished").arg((Q_PID_PRINT)process->pid()), Qt::yellow); else log(tr("Process finished abnormally").arg((Q_PID_PRINT)process->pid()), Qt::red);*/ Q_UNUSED(process); } void PlaygroundViewer::renderObjectsTypesHook() { managedObjectsAliases[&typeid(DashelAsebaFeedableEPuck)] = &typeid(EPuck); managedObjectsAliases[&typeid(DashelAsebaThymio2)] = &typeid(Thymio2); } void PlaygroundViewer::sceneCompletedHook() { // create a map with names and scores //qglColor(QColor::fromRgbF(0, 0.38 ,0.61)); qglColor(Qt::black); // TODO: once we have ECS-enabled Enki, use modules for playground as well if (energyScoringSystemEnabled) { int i = 0; QString scoreString("Id.: E./Score. - "); int totalScore = 0; for (World::ObjectsIterator it = world->objects.begin(); it != world->objects.end(); ++it) { AsebaFeedableEPuck *epuck = dynamic_cast(*it); if (epuck) { totalScore += (int)epuck->score; if (i != 0) scoreString += " - "; scoreString += QString("%0: %1/%2").arg(epuck->vm.nodeId).arg(epuck->variables.energy).arg((int)epuck->score); renderText(epuck->pos.x, epuck->pos.y, 10, QString("%0").arg(epuck->vm.nodeId), font); i++; } } renderText(16, height() * 7 / 8 - 40, scoreString, font); renderText(16, height() * 7 / 8 - 20, QString("E. in pool: %0 - total score: %1").arg(energyPool).arg(totalScore), font); } // console background glEnable(GL_BLEND); qglColor(QColor(0,0,0,200)); glMatrixMode(GL_PROJECTION); glLoadIdentity(); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glBegin(GL_QUADS); glVertex2f(-1,-1); glVertex2f(1,-1); glVertex2f(1,-0.75); glVertex2f(-1,-0.75); glEnd(); glDisable(GL_BLEND); // console text for (unsigned i=0; i(getPointedObject())); if (pointedRobot) QToolTip::showText(event->globalPos(), QString::fromStdString(pointedRobot->robotName)); else QToolTip::showText(event->globalPos(), ""); } void PlaygroundViewer::timerEvent(QTimerEvent * event) { // if the object being moved is Aseba-enabled, make sure it processes network events AbstractNodeGlue* asebaObject(dynamic_cast(selectedObject)); if (asebaObject) asebaObject->externalInputStep(double(timerPeriodMs)/1000.); ViewerWidget::timerEvent(event); } //! Help button or F1 have been pressed, show dialog box void PlaygroundViewer::helpActivated() { const AboutBox::Parameters aboutParameters = { "Aseba Playground", ":/images/icons/asebaplayground.svgz", tr("Aseba Playground is a simulator for robots that can be programmed through Aseba."), tr("https://www.thymio.org/en:thymiosimulation"), tr("You can move the camera and objects/robots the following way:") + "
      " + "
    • " + tr("Left click on an object: Select the object.") + "
      • " + "
    • " + tr("Left click outside an object: De-select the object.") + "
      • " + "
    • " + tr("Left drag: If an object is selected, move it, otherwise move the camera.") + "
      • " + "
    • " + tr("Right drag: If an object is selected, rotate it, otherwise rotate the camera.") + "
      • " + "
    • " + tr("Mouse wheel or left drag + shift: Zoom camera.") + "
      • " + "
    ", { "core", "simulator", "packaging", "translation" } }; AboutBox aboutBox(this, aboutParameters); aboutBox.exec(); } } // Enki aseba-1.6.0/targets/playground/PlaygroundViewer.h000066400000000000000000000050151322771007300221100ustar00rootroot00000000000000/* Playground - An active arena to learn multi-robots programming Copyright (C) 1999--2013: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_VIEWER_H #define __PLAYGROUND_VIEWER_H #include "EnkiGlue.h" #include "../../common/utils/utils.h" #include #include #define LOG_HISTORY_COUNT 20 namespace Enki { class World; class PlaygroundViewer : public ViewerWidget { Q_OBJECT public: QFont font; QString logText[LOG_HISTORY_COUNT]; QColor logColor[LOG_HISTORY_COUNT]; Aseba::UnifiedTime logTime[LOG_HISTORY_COUNT]; bool energyScoringSystemEnabled; unsigned logPos; unsigned energyPool; public: PlaygroundViewer(World* world, bool energyScoringSystemEnabled = false); virtual ~PlaygroundViewer(); void log(const QString& entry, const QColor& color); void log(const std::string& entry, const QColor& color); void log(const char* entry, const QColor& color); public slots: void processStarted(); void processError(QProcess::ProcessError error); void processReadyRead(); void processFinished(int exitCode, QProcess::ExitStatus exitStatus); protected: void renderObjectsTypesHook() override; void sceneCompletedHook() override; void mouseMoveEvent(QMouseEvent*) override; void timerEvent(QTimerEvent * event) override; void helpActivated() override; protected: friend class PlaygroundSimulatorEnvironment; friend class EnkiWorldInterface; World* getWorld() const; void notifyAsebaEnvironment(const EnvironmentNotificationType type, const std::string& description, const strings& arguments); }; } #endif // __PLAYGROUND_VIEWER_H aseba-1.6.0/targets/playground/Robots.h000066400000000000000000000025261322771007300200560ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_ROBOTS_H #define __PLAYGROUND_ROBOTS_H #include "DashelAsebaGlue.h" #include "DirectAsebaGlue.h" #include "robots/thymio2/Thymio2.h" #include "robots/e-puck/EPuck.h" namespace Enki { // typedefs for robots typedef DirectlyConnected DirectAsebaThymio2; typedef DirectlyConnected DirectAsebaFeedableEPuck; typedef DashelConnected DashelAsebaThymio2; typedef DashelConnected DashelAsebaFeedableEPuck; } #endif // __PLAYGROUND_ROBOTS_H aseba-1.6.0/targets/playground/asebaplayground.qrc000066400000000000000000000006401322771007300223170ustar00rootroot00000000000000 asebaplayground_fr.qm asebaplayground_de.qm asebaplayground_es.qm asebaplayground_it.qm asebaplayground_ja.qm asebaplayground_zh.qm asebaplayground_el.qm images/icons/asebaplayground.svgz aseba-1.6.0/targets/playground/asebaplayground_de.qm000066400000000000000000000103461322771007300226230ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB¸0fÞm+Éþ m£įƒÂvש’Gë«Þ.îŒ`Wð¹` W(ld=.¹Ê âõL~YÆñð ™þ` ³† ¾ 2!ò ß^ l òœ Ï÷~  üyš$-@ Ø_i¾«ЛAµi  %0: %1%0: %1Enki::PlaygroundViewer4%0: Prozess ist abgestürzt%0: Process crashedEnki::PlaygroundViewerR%0: Prozess konnte nicht gestartet werden%0: Process failed to startEnki::PlaygroundViewer%0: Lesefehler%0: Read errorEnki::PlaygroundViewer,%0: Unbekannter Fehler%0: Unknown errorEnki::PlaygroundViewer"%0: Schreibfehler%0: Write errorEnki::PlaygroundViewerÚZiehen mit rechter Mausetaste: Wenn ein Okjekt ausgewählt ist wird es rotiert, sonst wird die Kamera rotiert.PAseba Playground is a simulator for robots that can be programmed through Aseba.Enki::PlaygroundViewerTKann keinen Listening Port erstellen %0:%1#Cannot create listening port %0: %1Enki::PlaygroundViewer^Client Verbindung von %0 mit Fehler abgebrochen&Client disconnected abnormally from %0Enki::PlaygroundViewerVClient Verbindung von %0 ordentlich beendet$Client disconnected properly from %0Enki::PlaygroundViewerlLinksklick auf ein Objekt: Das Objekt wird ausgewählt.+Left click on an object: Select the object.Enki::PlaygroundViewerŽLinksklick ausserhalb eines Objekts: Die Objektauswahl wird aufgehoben.3Left click outside an object: De-select the object.Enki::PlaygroundViewerÔZiehen mit linker Mausetaste: Wenn ein Okjekt ausgewählt ist wird es bewegt, sonst wird die Kamera bewegt.HLeft drag: If an object is selected, move it, otherwise move the camera.Enki::PlaygroundViewer^Mauserad oder Umschalt-Linksziehen: Kamearzoom..Mouse wheel or left drag + shift: Zoom camera.Enki::PlaygroundViewer:Neue Client-Verbindung von %0New client connected from %0Enki::PlaygroundViewerJAlte Client Verbindung von %0 beendetOld client disconnected from %0Enki::PlaygroundViewerÚZiehen mit rechter Mausetaste: Wenn ein Okjekt ausgewählt ist wird es rotiert, sonst wird die Kamera rotiert.MRight drag: If an object is selected, rotate it, otherwise rotate the camera.Enki::PlaygroundViewer^Target %0, kann keine Daten vom Socket %1 lesen&Target %0, cannot read from socket: %1Enki::PlaygroundVieweròSie benutzen eine Eigenschaft, welche vom Simulator nicht unterstützt wird. Klicke hier um einen echten Thymio zu kaufen.XYou are using a feature not available in the simulator, click here to buy a real Thymio.Enki::PlaygroundViewerPSie können die Kamera wie folgt bewegen:=You can move the camera and objects/robots the following way:Enki::PlaygroundViewerFhttps://www.thymio.org/de:thymiobuy#https://www.thymio.org/en:thymiobuyEnki::PlaygroundViewerThttps://www.thymio.org/de:thymiosimulation*https://www.thymio.org/en:thymiosimulationEnki::PlaygroundViewer%2 auf %3%2 on %3QObjectˆaseba-1.6.0/targets/playground/asebaplayground_de.ts000066400000000000000000000121551322771007300226340ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio Sie benutzen eine Eigenschaft, welche vom Simulator nicht unterstützt wird. Klicke hier um einen echten Thymio zu kaufen. https://www.thymio.org/en:thymiobuy https://www.thymio.org/de:thymiobuy Target %0, cannot read from socket: %1 Target %0, kann keine Daten vom Socket %1 lesen New client connected from %0 Neue Client-Verbindung von %0 Client disconnected properly from %0 Client Verbindung von %0 ordentlich beendet Client disconnected abnormally from %0 Client Verbindung von %0 mit Fehler abgebrochen Old client disconnected from %0 Alte Client Verbindung von %0 beendet Cannot create listening port %0: %1 Kann keinen Listening Port erstellen %0:%1 %0: Process failed to start %0: Prozess konnte nicht gestartet werden %0: Process crashed %0: Prozess ist abgestürzt %0: Write error %0: Schreibfehler %0: Read error %0: Lesefehler %0: Unknown error %0: Unbekannter Fehler %0: %1 %0: %1 Aseba Playground is a simulator for robots that can be programmed through Aseba. Ziehen mit rechter Mausetaste: Wenn ein Okjekt ausgewählt ist wird es rotiert, sonst wird die Kamera rotiert. https://www.thymio.org/en:thymiosimulation https://www.thymio.org/de:thymiosimulation You can move the camera and objects/robots the following way: Sie können die Kamera wie folgt bewegen: Left click on an object: Select the object. Linksklick auf ein Objekt: Das Objekt wird ausgewählt. Left click outside an object: De-select the object. Linksklick ausserhalb eines Objekts: Die Objektauswahl wird aufgehoben. Left drag: If an object is selected, move it, otherwise move the camera. Ziehen mit linker Mausetaste: Wenn ein Okjekt ausgewählt ist wird es bewegt, sonst wird die Kamera bewegt. Right drag: If an object is selected, rotate it, otherwise rotate the camera. Ziehen mit rechter Mausetaste: Wenn ein Okjekt ausgewählt ist wird es rotiert, sonst wird die Kamera rotiert. Mouse wheel or left drag + shift: Zoom camera. Mauserad oder Umschalt-Linksziehen: Kamearzoom. QObject %2 on %3 %2 auf %3 aseba-1.6.0/targets/playground/asebaplayground_el.qm000066400000000000000000000000271322771007300226260ustar00rootroot00000000000000<¸dÊÍ!¿`¡½Ýˆaseba-1.6.0/targets/playground/asebaplayground_el.ts000066400000000000000000000106521322771007300226440ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio https://www.thymio.org/en:thymiobuy Target %0, cannot read from socket: %1 New client connected from %0 Client disconnected properly from %0 Client disconnected abnormally from %0 Old client disconnected from %0 Cannot create listening port %0: %1 %0: Process failed to start %0: Process crashed %0: Write error %0: Read error %0: Unknown error %0: %1 Aseba Playground is a simulator for robots that can be programmed through Aseba. https://www.thymio.org/en:thymiosimulation You can move the camera and objects/robots the following way: Left click on an object: Select the object. Left click outside an object: De-select the object. Left drag: If an object is selected, move it, otherwise move the camera. Right drag: If an object is selected, rotate it, otherwise rotate the camera. Mouse wheel or left drag + shift: Zoom camera. QObject %2 on %3 aseba-1.6.0/targets/playground/asebaplayground_es.qm000066400000000000000000000102601322771007300226350ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB¸0fÞ)+Éþ +£Ä¥ƒÂv£©’)ë«ÞúîŒ`%ð¹` -(ld=.¹Ê zõL~ûÆñðÊ ™þV ³† ‚ 2!òð ß^ B òŠ Ï÷~> üyf$-@ ´_i¾iЛA}i× %0: %1%0: %1Enki::PlaygroundViewer*%0: proceso bloqueado%0: Process crashedEnki::PlaygroundViewer>%0: Error al iniciar el proceso%0: Process failed to startEnki::PlaygroundViewer(%0: Error de lectura%0: Read errorEnki::PlaygroundViewer*%0: Error desconocido%0: Unknown errorEnki::PlaygroundViewer,%0: error de escritura%0: Write errorEnki::PlaygroundViewer¬Aseba Playground es un simulador para robots que se puede programar a través de Aseba.PAseba Playground is a simulator for robots that can be programmed through Aseba.Enki::PlaygroundViewerZNo se puede crear el puerto de escucha %0: %1#Cannot create listening port %0: %1Enki::PlaygroundViewerTCliente desconectado incorrectamente de %0&Client disconnected abnormally from %0Enki::PlaygroundViewerPCliente desconectado correctamente de %0$Client disconnected properly from %0Enki::PlaygroundViewerjClic izquierdo sobre un objeto: selecciona el objeto.+Left click on an object: Select the object.Enki::PlaygroundViewertClic izquierdo fuera de un objeto: deselecciona el objeto.3Left click outside an object: De-select the object.Enki::PlaygroundViewerÐArrastrar con boton izquierdo: si hay un objeto seleccionado, lo mueve, de lo contrario mueve la cámara.HLeft drag: If an object is selected, move it, otherwise move the camera.Enki::PlaygroundViewer–Rueda del mouse o arrastrar con botón izquierdo + shift: zoom de la cámara..Mouse wheel or left drag + shift: Zoom camera.Enki::PlaygroundViewer@Nuevo cliente conectado desde %0New client connected from %0Enki::PlaygroundViewerDCliente antiguo desconectado de %0Old client disconnected from %0Enki::PlaygroundViewerÈArrastrar con boton derecho: si hay un objeto seleccionado, lo rota, de lo contrario rota la cámara.MRight drag: If an object is selected, rotate it, otherwise rotate the camera.Enki::PlaygroundViewerXEl objetivo %0, no puede leer del socket: %1&Target %0, cannot read from socket: %1Enki::PlaygroundViewerÌEstá utilizando una función no disponible en el simulador, haga clic aquí para comprar un Thymio real.XYou are using a feature not available in the simulator, click here to buy a real Thymio.Enki::PlaygroundViewer„Puede mover la cámara y los objetos/robots de la siguiente manera:=You can move the camera and objects/robots the following way:Enki::PlaygroundViewerFhttps://www.thymio.org/es:thymiobuy#https://www.thymio.org/en:thymiobuyEnki::PlaygroundViewerThttps://www.thymio.org/en:thymiosimulation*https://www.thymio.org/en:thymiosimulationEnki::PlaygroundViewer%2 en %3%2 on %3QObjectˆaseba-1.6.0/targets/playground/asebaplayground_es.ts000066400000000000000000000123511322771007300226510ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio Está utilizando una función no disponible en el simulador, haga clic aquí para comprar un Thymio real. https://www.thymio.org/en:thymiobuy https://www.thymio.org/es:thymiobuy Target %0, cannot read from socket: %1 El objetivo %0, no puede leer del socket: %1 New client connected from %0 Nuevo cliente conectado desde %0 Client disconnected properly from %0 Cliente desconectado correctamente de %0 Client disconnected abnormally from %0 Cliente desconectado incorrectamente de %0 Old client disconnected from %0 Cliente antiguo desconectado de %0 Cannot create listening port %0: %1 No se puede crear el puerto de escucha %0: %1 %0: Process failed to start %0: Error al iniciar el proceso %0: Process crashed %0: proceso bloqueado %0: Write error %0: error de escritura %0: Read error %0: Error de lectura %0: Unknown error %0: Error desconocido %0: %1 %0: %1 Aseba Playground is a simulator for robots that can be programmed through Aseba. Aseba Playground es un simulador para robots que se puede programar a través de Aseba. https://www.thymio.org/en:thymiosimulation Link to english page is kept since https://www.thymio.org/es:thymiosimulation doesn't exist yet. https://www.thymio.org/en:thymiosimulation You can move the camera and objects/robots the following way: Puede mover la cámara y los objetos/robots de la siguiente manera: Left click on an object: Select the object. Clic izquierdo sobre un objeto: selecciona el objeto. Left click outside an object: De-select the object. Clic izquierdo fuera de un objeto: deselecciona el objeto. Left drag: If an object is selected, move it, otherwise move the camera. Arrastrar con boton izquierdo: si hay un objeto seleccionado, lo mueve, de lo contrario mueve la cámara. Right drag: If an object is selected, rotate it, otherwise rotate the camera. Arrastrar con boton derecho: si hay un objeto seleccionado, lo rota, de lo contrario rota la cámara. Mouse wheel or left drag + shift: Zoom camera. Rueda del mouse o arrastrar con botón izquierdo + shift: zoom de la cámara. QObject %2 on %3 %2 en %3 aseba-1.6.0/targets/playground/asebaplayground_fr.qm000066400000000000000000000101141322771007300226330ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB¸0fÞ+Éþ ­£ıƒÂv=©’Cë«Þ”îŒ`ð¹`Ï(ld?.¹Ê õL~ÕÆñðÀ ™þr ³† 2!ò ß^ æ ò¨ Ï÷~ð üy$-@ X_i¾[ЛA}is%0 : %1%0: %1Enki::PlaygroundViewer4%0 : Le processus a planté%0: Process crashedEnki::PlaygroundViewerL%0 : Le processus a échoué de démarrer%0: Process failed to startEnki::PlaygroundViewer,%0 : Erreur de lecture%0: Read errorEnki::PlaygroundViewer(%0 : Erreur inconnue%0: Unknown errorEnki::PlaygroundViewer,%0 : Erreur d'écriture%0: Write errorEnki::PlaygroundViewerAseba Playground est un simulateur pour robots programmables avec Aseba.PAseba Playground is a simulator for robots that can be programmed through Aseba.Enki::PlaygroundViewerTNe peut pas créer le port d'écoute %0 : %1#Cannot create listening port %0: %1Enki::PlaygroundViewerPClient déconnecté anormalement depuis %0&Client disconnected abnormally from %0Enki::PlaygroundViewerLClient déconnecté proprement depuis %0$Client disconnected properly from %0Enki::PlaygroundViewer^Clic gauche sur un objet : Sélectionne l'objet.+Left click on an object: Select the object.Enki::PlaygroundViewerhClic gauche hors d'un objet : Désélectionne l'objet.3Left click outside an object: De-select the object.Enki::PlaygroundViewer¨Glisser gauche : Si un objet est sélectionné, le déplacer, sinon déplacer la caméra.HLeft drag: If an object is selected, move it, otherwise move the camera.Enki::PlaygroundViewer†Roue de la souris ou glisser gauche + majuscule : Zoomer la caméra..Mouse wheel or left drag + shift: Zoom camera.Enki::PlaygroundViewerBNouveau client connecté depuis %0New client connected from %0Enki::PlaygroundViewerDAncien client déconnecté depuis %0Old client disconnected from %0Enki::PlaygroundViewer¢Glisser droit : Si un objet est sélectionné, le pivoter, sinon pivoter la caméra.MRight drag: If an object is selected, rotate it, otherwise rotate the camera.Enki::PlaygroundViewer\Cible %0, ne peut pas lire depuis le socket %1&Target %0, cannot read from socket: %1Enki::PlaygroundViewerØVous utilisez une fonctionnalité non disponible dans le simulateur, cliquez ici pour acheter un Thymio réel.XYou are using a feature not available in the simulator, click here to buy a real Thymio.Enki::PlaygroundViewerVous pouvez bouger la caméra et les objets/robots de la façon suivante :=You can move the camera and objects/robots the following way:Enki::PlaygroundViewerFhttps://www.thymio.org/fr:thymiobuy#https://www.thymio.org/en:thymiobuyEnki::PlaygroundViewerThttps://www.thymio.org/fr:thymiosimulation*https://www.thymio.org/en:thymiosimulationEnki::PlaygroundViewer%2 sur %3%2 on %3QObjectˆaseba-1.6.0/targets/playground/asebaplayground_fr.ts000066400000000000000000000121201322771007300226430ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio Vous utilisez une fonctionnalité non disponible dans le simulateur, cliquez ici pour acheter un Thymio réel. https://www.thymio.org/en:thymiobuy https://www.thymio.org/fr:thymiobuy Target %0, cannot read from socket: %1 Cible %0, ne peut pas lire depuis le socket %1 New client connected from %0 Nouveau client connecté depuis %0 Client disconnected properly from %0 Client déconnecté proprement depuis %0 Client disconnected abnormally from %0 Client déconnecté anormalement depuis %0 Old client disconnected from %0 Ancien client déconnecté depuis %0 Cannot create listening port %0: %1 Ne peut pas créer le port d'écoute %0 : %1 %0: Process failed to start %0 : Le processus a échoué de démarrer %0: Process crashed %0 : Le processus a planté %0: Write error %0 : Erreur d'écriture %0: Read error %0 : Erreur de lecture %0: Unknown error %0 : Erreur inconnue %0: %1 %0 : %1 Aseba Playground is a simulator for robots that can be programmed through Aseba. Aseba Playground est un simulateur pour robots programmables avec Aseba. https://www.thymio.org/en:thymiosimulation https://www.thymio.org/fr:thymiosimulation You can move the camera and objects/robots the following way: Vous pouvez bouger la caméra et les objets/robots de la façon suivante : Left click on an object: Select the object. Clic gauche sur un objet : Sélectionne l'objet. Left click outside an object: De-select the object. Clic gauche hors d'un objet : Désélectionne l'objet. Left drag: If an object is selected, move it, otherwise move the camera. Glisser gauche : Si un objet est sélectionné, le déplacer, sinon déplacer la caméra. Right drag: If an object is selected, rotate it, otherwise rotate the camera. Glisser droit : Si un objet est sélectionné, le pivoter, sinon pivoter la caméra. Mouse wheel or left drag + shift: Zoom camera. Roue de la souris ou glisser gauche + majuscule : Zoomer la caméra. QObject %2 on %3 %2 sur %3 aseba-1.6.0/targets/playground/asebaplayground_it.qm000066400000000000000000000102661322771007300226500ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB¸0fÞ#+Éþ )£ħƒÂv©©’3ë«ÞîŒ`ð¹` /(ld=.¹Ê põL~Æñ𺠙þf ³† l 2!òþ ß^ > ò– Ï÷~D üyl$-@ ®_i¾UЛAoiÝ %0: %1%0: %1Enki::PlaygroundViewer,%0: Processo terminato%0: Process crashedEnki::PlaygroundViewerF%0: Impossibile avviare il processo%0: Process failed to startEnki::PlaygroundViewer*%0: Errore di lettura%0: Read errorEnki::PlaygroundViewer,%0: Errore sconosciuto%0: Unknown errorEnki::PlaygroundViewer.%0: Errore di scrittura%0: Write errorEnki::PlaygroundViewerŽAseba Playground è un simulatore per robot programmabili tramite Aseba.PAseba Playground is a simulator for robots that can be programmed through Aseba.Enki::PlaygroundViewerZImpossibile creare la porta di ascolto %0: %1#Cannot create listening port %0: %1Enki::PlaygroundViewerRClient scollegato in modo improprio da %0&Client disconnected abnormally from %0Enki::PlaygroundViewerLClient disconnesso correttamente da %0$Client disconnected properly from %0Enki::PlaygroundViewerxClic sinistro del mouse su un oggetto: Seleziona l' oggetto.+Left click on an object: Select the object.Enki::PlaygroundViewer’Clic sinistra delmouse all'esterno di un oggetto: deseleziona l' oggetto.3Left click outside an object: De-select the object.Enki::PlaygroundViewer¾Trascina a sinistra: Se si seleziona un oggetto, spostarlo, altrimenti spostare la videocamera.HLeft drag: If an object is selected, move it, otherwise move the camera.Enki::PlaygroundViewer’Ruota del mouse o trascinamento sinistro + Shift: Zoom della videocamera..Mouse wheel or left drag + shift: Zoom camera.Enki::PlaygroundViewer8Nuovo client collegato da %0New client connected from %0Enki::PlaygroundViewerFClient precedente disconnesso da %0Old client disconnected from %0Enki::PlaygroundViewer¶Trascina a destra: se si seleziona un oggetto, ruotarlo, altrimenti ruotare la videocamera.MRight drag: If an object is selected, rotate it, otherwise rotate the camera.Enki::PlaygroundViewerlDestinazione %0, non è possibile leggere da socket: %1&Target %0, cannot read from socket: %1Enki::PlaygroundViewerÄStai usando una funzione non disponibile nel simulatore, clicca qui per acquistare un vero Thymio.XYou are using a feature not available in the simulator, click here to buy a real Thymio.Enki::PlaygroundViewer”È possibile spostare la videocamere e gli oggetti/robot nel modo seguente:=You can move the camera and objects/robots the following way:Enki::PlaygroundViewerFhttps://www.thymio.org/it:thymiobuy#https://www.thymio.org/en:thymiobuyEnki::PlaygroundViewerThttps://www.thymio.org/it:thymiosimulation*https://www.thymio.org/en:thymiosimulationEnki::PlaygroundViewer%2 su %3%2 on %3QObjectˆaseba-1.6.0/targets/playground/asebaplayground_it.ts000066400000000000000000000121401322771007300226520ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio Stai usando una funzione non disponibile nel simulatore, clicca qui per acquistare un vero Thymio. https://www.thymio.org/en:thymiobuy https://www.thymio.org/it:thymiobuy Target %0, cannot read from socket: %1 Destinazione %0, non è possibile leggere da socket: %1 New client connected from %0 Nuovo client collegato da %0 Client disconnected properly from %0 Client disconnesso correttamente da %0 Client disconnected abnormally from %0 Client scollegato in modo improprio da %0 Old client disconnected from %0 Client precedente disconnesso da %0 Cannot create listening port %0: %1 Impossibile creare la porta di ascolto %0: %1 %0: Process failed to start %0: Impossibile avviare il processo %0: Process crashed %0: Processo terminato %0: Write error %0: Errore di scrittura %0: Read error %0: Errore di lettura %0: Unknown error %0: Errore sconosciuto %0: %1 %0: %1 Aseba Playground is a simulator for robots that can be programmed through Aseba. Aseba Playground è un simulatore per robot programmabili tramite Aseba. https://www.thymio.org/en:thymiosimulation https://www.thymio.org/it:thymiosimulation You can move the camera and objects/robots the following way: È possibile spostare la videocamere e gli oggetti/robot nel modo seguente: Left click on an object: Select the object. Clic sinistro del mouse su un oggetto: Seleziona l' oggetto. Left click outside an object: De-select the object. Clic sinistra delmouse all'esterno di un oggetto: deseleziona l' oggetto. Left drag: If an object is selected, move it, otherwise move the camera. Trascina a sinistra: Se si seleziona un oggetto, spostarlo, altrimenti spostare la videocamera. Right drag: If an object is selected, rotate it, otherwise rotate the camera. Trascina a destra: se si seleziona un oggetto, ruotarlo, altrimenti ruotare la videocamera. Mouse wheel or left drag + shift: Zoom camera. Ruota del mouse o trascinamento sinistro + Shift: Zoom della videocamera. QObject %2 on %3 %2 su %3 aseba-1.6.0/targets/playground/asebaplayground_ja.qm000066400000000000000000000000201322771007300226110ustar00rootroot00000000000000<¸dÊÍ!¿`¡½Ýaseba-1.6.0/targets/playground/asebaplayground_ja.ts000066400000000000000000000106521322771007300226360ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio https://www.thymio.org/en:thymiobuy Target %0, cannot read from socket: %1 New client connected from %0 Client disconnected properly from %0 Client disconnected abnormally from %0 Old client disconnected from %0 Cannot create listening port %0: %1 %0: Process failed to start %0: Process crashed %0: Write error %0: Read error %0: Unknown error %0: %1 Aseba Playground is a simulator for robots that can be programmed through Aseba. https://www.thymio.org/en:thymiosimulation You can move the camera and objects/robots the following way: Left click on an object: Select the object. Left click outside an object: De-select the object. Left drag: If an object is selected, move it, otherwise move the camera. Right drag: If an object is selected, rotate it, otherwise rotate the camera. Mouse wheel or left drag + shift: Zoom camera. QObject %2 on %3 aseba-1.6.0/targets/playground/asebaplayground_zh.qm000066400000000000000000000055011322771007300226510ustar00rootroot00000000000000<¸dÊÍ!¿`¡½ÝB¸0fÞ+Éþ³£ćƒÂv ?©’ßë«Þ –îŒ`Ùð¹`á(ld;.¹ÊtõL~¡Æñð@ ™þ¸ ³†H 2!òp ß^” ò& Ï÷~T üy $-@6_i¾¥ЛAqi o %0:%1%0: %1Enki::PlaygroundViewer%0:z ^k{g:%0: Process crashedEnki::PlaygroundViewer%0:z ^T/R¨Y1%%0: Process failed to startEnki::PlaygroundViewer%0:‹ûSÖ•‹ï%0: Read errorEnki::PlaygroundViewer%0:g*wå•‹ï%0: Unknown errorEnki::PlaygroundViewer%0:Q™Qe•‹ï%0: Write errorEnki::PlaygroundViewer>Aseban8NPW:f/Nk>Sïu(Aseba[ùg:VhNºÛˆLz v„NÿwoNöPAseba Playground is a simulator for robots that can be programmed through Aseba.Enki::PlaygroundViewerR^úvÑT,zïSã%0:%1Y1%#Cannot create listening port %0: %1Enki::PlaygroundVieweru(b7NÎ%0e­_”þc¥_^8&Client disconnected abnormally from %0Enki::PlaygroundVieweru(b7bRŸNÎ%0e­_”þc¥$Client disconnected properly from %0Enki::PlaygroundViewerŸ h]æ•.c OOriOS: bé‹åriOS+Left click on an object: Select the object.Enki::PlaygroundViewer,Ÿ h]æ•.p¹Qû–driOSYQvNÖW0e¹:SÖmˆ bé‹åriOS3Left click outside an object: De-select the object.Enki::PlaygroundViewer@Ÿ h]æ•.bÖbý:Y‚gœNN*riOSˆ« N-,‹åriOSˆ«yûR¨,T&RdDPÏY4ˆ«yûR¨HLeft drag: If an object is selected, move it, otherwise move the camera.Enki::PlaygroundViewer4Ÿ hnÚnb]æ•.bÖbý+shift:e>Y'b)\dDPÏY4‰Æ‰Ò.Mouse wheel or left drag + shift: Zoom camera.Enki::PlaygroundViewer%0”þc¥e°u(b7New client connected from %0Enki::PlaygroundViewer€u(b7NÎ%0e­_Þc¥Old client disconnected from %0Enki::PlaygroundViewer<Ÿ hSó•.bÖbý:Y‚gœNN*riOSˆ« N-,eËl‹åriOS,T&ReËldDPÏY4MRight drag: If an object is selected, rotate it, otherwise rotate the camera.Enki::PlaygroundViewerzïSãS÷%1N €ý‹ûSÖvîh%0&Target %0, cannot read from socket: %1Enki::PlaygroundViewer>`¨b@u(v„RŸ€ýN €ýW(j!bßVhN [žs°,p¹QûÙ‘Ì-NpThymiog:VhNºXYou are using a feature not available in the simulator, click here to buy a real Thymio.Enki::PlaygroundViewer&O`SïNåÇNåN e¹_yû–ddDPÏY4TŒg:VhNº:=You can move the camera and objects/robots the following way:Enki::PlaygroundViewerFhttps://www.thymio.org/en:thymiobuy#https://www.thymio.org/en:thymiobuyEnki::PlaygroundViewerThttps://www.thymio.org/en:thymiosimulation*https://www.thymio.org/en:thymiosimulationEnki::PlaygroundViewer %2W(%3N %2 on %3QObjectaseba-1.6.0/targets/playground/asebaplayground_zh.ts000066400000000000000000000115771322771007300226740ustar00rootroot00000000000000 Enki::PlaygroundViewer You are using a feature not available in the simulator, click here to buy a real Thymio. You are using a feature not available in the simulator, click here to buy a real Thymio 您所用的功能ä¸èƒ½åœ¨æ¨¡æ‹Ÿå™¨ä¸Šå®žçŽ°,点击这里购买Thymio机器人 https://www.thymio.org/en:thymiobuy https://www.thymio.org/en:thymiobuy Target %0, cannot read from socket: %1 端å£å·%1ä¸èƒ½è¯»å–目标%0 New client connected from %0 %0链接新用户 Client disconnected properly from %0 用户æˆåŠŸä»Ž%0断开链接 Client disconnected abnormally from %0 用户从%0断开链接异常 Old client disconnected from %0 è€ç”¨æˆ·ä»Ž%0断开连接 Cannot create listening port %0: %1 创建监å¬ç«¯å£%0:%1失败 %0: Process failed to start %0:程åºå¯åŠ¨å¤±è´¥ %0: Process crashed %0:程åºæ­»æœº %0: Write error %0:写入错误 %0: Read error %0:读å–错误 %0: Unknown error %0:未知错误 %0: %1 %0:%1 Aseba Playground is a simulator for robots that can be programmed through Aseba. Aseba游ä¹åœºæ˜¯ä¸€æ¬¾å¯ç”¨Aseba对机器人进行编程的仿真软件 https://www.thymio.org/en:thymiosimulation https://www.thymio.org/en:thymiosimulation You can move the camera and objects/robots the following way: ä½ å¯ä»¥é€šè¿‡ä»¥ä¸‹æ–¹å¼ç§»é™¤æ‘„åƒå¤´å’Œæœºå™¨äºº: Left click on an object: Select the object. 鼠标左键按ä½ç‰©ä½“:选择该物体 Left click outside an object: De-select the object. 鼠标左键点击除物体外其他地方:å–消选择该物体 Left drag: If an object is selected, move it, otherwise move the camera. 鼠标左键拖拽:如果一个物体被选中,该物体被移动,å¦åˆ™æ‘„åƒå¤´è¢«ç§»åŠ¨ Right drag: If an object is selected, rotate it, otherwise rotate the camera. é¼ æ ‡å³é”®æ‹–拽:如果一个物体被选中,旋转该物体,å¦åˆ™æ—‹è½¬æ‘„åƒå¤´ Mouse wheel or left drag + shift: Zoom camera. 鼠标滚轮或左键拖拽+shift:放大或缩å°æ‘„åƒå¤´è§†è§’ QObject %2 on %3 %2在%3上 aseba-1.6.0/targets/playground/examples/000077500000000000000000000000001322771007300202465ustar00rootroot00000000000000aseba-1.6.0/targets/playground/examples/README-maze-6x6.md000066400000000000000000000026101322771007300230770ustar00rootroot00000000000000# A 6x6 maze playground The 6x6 maze in this directory is designed to help test navigation strategies. The walls can be avoided using the proximity sensors. The large cul-de-sacs should permit a robot to escape using simple wall avoidance. The tracks on the ground can be followed with ground sensors. The loops in the wide green track can be followed to turn around. The arrows on the narrow track should help the robot find the track if it gets lost. The colored tracks are dark enough to be seen by the proximity sensors with values around 160–180, but not so dark that they will trigger table edge detection. Success is when a robot finds the blue center region and stops on the black band. Additionally this will open the blue door and allow the second robot to escape, to test a different strategy or simply for a victory dance. One simple success story is to run the standard Investigator behavior (cyan) on the robot in the top right corner, target _tcp:;port=33334_, and run the standard Explorer behavior (yellow) on the bottommost robot, target _tcp:;port=33333_. The explorer will succeed and stop on the black band, opening the door for the investigator, who will run victory laps around the green track. The playground file was generated from the SVG file in [davidjsherman/inirobot\ -scratch-thymioII](https://github.com/davidjsherman/inirobot-scratch-thymioII/tree/master/playground/maze-6x6). aseba-1.6.0/targets/playground/examples/piste-thymio-challenge-pack.svgz000066400000000000000000001233151322771007300264550ustar00rootroot00000000000000‹ ä½m¯í¸u&ø¹ø?œ©þÒ¤cñU”w#}ìîØÀ_g»âSh¥ªÆU¾~ æ¿Ÿg‘)QÚÚç^§3uîÞÚÉõÊÅÅŵþö¿ýñ_ç—O_ÿî‡o¾ûöç_©×á«—¯¿½÷›o¾ýíÏ¿úýÿÒ‡¯þÛýÉ_ýíÿÑ÷/ÿóëo¿þݯüîw?{ù»ß|÷Ï_¿üÃ<ÿþ‡ùèEÇw_u÷òýê¾üòß÷»_þÏù÷¿íÿáÛ—W>ü• ò³ÿ: /ÿý÷ßÌ¿yþúå¥ïÑÿŸ~[NC}õòÍo~þÕÛ¯çÿû÷_ÿSü§ùí?ÿêýÇ¿ÿÙOú‡?üáõæõ»ßýö§z†ŸÆ·S“ŸýqþæÛÿÕj¨¦iú)MþÕðý¿zù“üû“¿úO/Ÿ¾ùúÿý;üð2¼Œaœ^ÜìW/?üø§ùëŸõõ·¿þçùëþŸ}ÿ_¿ýÝw¿ÿö7?ûöë?¼Tmÿ†SøÙßÿú_øþw_ÿðõï>}ý¡C'/?þéûøÃ_ÿñÇŸÞø?ü§×~þí_¾™çŸýçÿÁÿýÍÿ#OUz: “ù…ÏOuzúK÷Ký‹¥­IOÕ0¼ !?µ¹í/F£m~êÒSÿ?ÞÌÿe~êÓÓ·_¼ù·!?—9ü›\~r[ÿ¿Œ6åÑ~9z³ô«2p¿ v²¿XgèÔ› jZ/à½ýòï~¹t­ø&å•ZÛû.¢ú›ÿô³áu\žº»Ïß|ßÿëßöûßÍÿå?GÞû‡_ü“þ§¿þ›-Fÿö§¤ ô»¯ï?’+¾z¹Ï¿þ!rZ$ÌW/øæ7?¾ÿü+ø«—÷¯¿ùíû?ÿŠ|ñS¼õýwóŸ~ûÝ·ë+‘Q¿ÿî›oŒ_F5ø×±3Þ ¯æÅ[=¼úNOÞ¾ê‚5‡ðê^lˆÿ„N§_í‹ÕvxµÝìKêÆÓëx*8Ó«|ì#"ʾN1Óðâ7öhlì|Qa q&ÆÆtê7C¯¦8¯@±0ÆEø£lûÿ|÷»ýùWÿúë÷ÍÿËð:ik^úTPáeùGž*ebçaô/jÐã« vü믪é&ŒzÿZ`”ߪ™h¥†W'3ÑS@ヹèæ\4æ2LñãÑ1ŒQ9YeŸ›Ë)¶S%8u/QéøYÇWãç8ðqï¸ÀE‚\¡¢¼A{;¨Ø^+íЗzVN½b3F:ê!L¯ x|Á\éÙ©€·u$±ÑÖyð„QúUÅo&2Jü¼ªí¤1­mçBÏf²œeœWìÙ¾Lœ—Žß†£šOìÙø XÓžð²¥ødÞ‹=©p_q#ÁÕñ¦†/Hð8€âÔ#Š¬dŽØ’d:’¨ŒC»Î¨H~ yAN)Ò…¨Œ<ûÒšL¦#ETê  ÔÝ+Y¢–[»5_½Ä5óõ¤#Q;7Xïµm†ÞºˆÝø·÷ñu׫ˆa{ï1êÔ+ÀÔ[ðmO%Ñ»(ƶUlÕjlâÃÉô‘nºWaÀKj쵋’yb×ƽª>½Ö»ñÕô Bˆ¿FôL½ŽŠÏ÷qjñ/z7ñ…È}ˆ¿ZŽ¡"÷^Å®4g¥)N8*À^M)÷>B¢z5âId8Ý›1þˆÓõ#E¼ô‚@ðqo D{sSÃ(ƒW°Ó‚Éç"hñó4E´è¯`’Õ±Ø5>Â?FÄÞd¾ü u â€@^ì6N™ƒÄñ¾E ‹ä{HlgàŠP›»qÀ‰ P<õ~VCÀ[ø|7˜A7t,’šnêt”‡ˆ¿EŽ€lº¨Š{?ªÌcâÀoq1„Ú)ªÔÈä7ÊOWÈÒË?Ú¸6Ç•…:¾s–:Žçã[‘º‘àƒ"ªo&b¢b¨i5§ è²\ ú&1(ƒí•ÈÖDK0NÔ÷`¡‘ÚZ¤kÄQåš^ð&Ó5‚šÆI=FJôì® ®qF]ˆsžî ZÚ“¢!HQ" _ÆuÚöáë°F`\¨¤2G¾§v·ð-§)¶½CÍ€e#s©Š<© f¡#wØ{|1ŠRà(`6ƒ=Þq±¡ŒbðÕÃ4Ò$Ø„amT žïÊ-J¿Fm$UA¬âÏP?–àHq7j`$ áìÖcêÚ ÒW’H!-Š LÙ +¦sÃ@s åù,b€¿!¬Ç‚€‘ã¯NJ”BDO”ÛcáÒw¥£9Ø æ…)jPô1‘ T-#& Niè8.^ŒMþ•Dd`ª3rü„~¢¡¡¡ ÐòØÆ£¥‡NµAÇÖM¢%Qœ yÚà)–¾¸>`a‹r㉼¸º½E€þ‰Ú‰¬ JŠtt•¬œ,VÆD.óÀˆâätT{qX.KqŒ –H=È‚~¼å‚—`8ªo 3sÆ',U°B±X(ƒ@XX´ÐÀõÔÑ..WTO#G°*KÔæÊc‘Šfud«8 WNÛÃP'Æ€zÍ%À9ˆŸRYL"1èÐ?>ßAÊÈÊ€í¢ÞÀ㊿°*Nó™èF˜ëøâ‚­¹j© ”ìÖµŒ:Dm‡¡ÐÁõB0*l<‹Â!‚ˆZ:ðc\ÆH­ØwÄdl‘l¡µ×Ó&¤ âVFiJÅ;ŠÓó ?¹Z#‚†Æ>,œˆU}˜·¢T+NG2MD[”F@)d¢N€Í©ÁõUAL ÅÉž#5¦ÅË/ì.èš( 0”øñÞpáa¶Ôš`°‚üõ?׈{†™dø1éK¬B˜6 êyj[N MµÆbë¹Ç¾ kè›ñžK~ðŽ–yÜ}¹ÄÙ]Åç/ÑF‹_ãâ„ýš€Ì5g c1&ÿ9¨ *¬¢hPQ.´°²¨¿ Ò¡£> &5!q;Ùi?€m0SˆQ½£"w!ªýW®ïqå¬I]¯ð0š$ÐAëÃò™À“h~*Cî]£¹2bb:Š¹#¯€¬š>Þe÷™ÊÁzÐDÃDM%,áˆâˆß¡-¸ ;˜©€ Ò3pó*Eýé»'ÒC ÉAn¢€à—ˆ0(š f§ÉŸ™®Ð™#&„¡Øg:@5:(¼õ :ЬfÂÊ { ¬?pïÁÿÑb¢M-+tfDu$”ŸhMPš³+Òk–ò«ç›Dº@ßkØ1X¦b?Qr#&¬`2Ì…A—¸Ø54u¸á>+Ê2ÕL-"}êLÜ÷uXØàeh…¨ºã80Ïñ!²äw€†‹/`丯Šeu‹fäÌhƒ¹‡ÁSÅ)2CÉÍ-eoEÙW‹Â{\cÕ;þÄi‹õ6ÐxîñÇâGã©üèøgûc„!N—/ß—îFÖ k[“Û®\n¹syÞ˜c£ ”.ƒmgYu×hµN†©ËÀù½>x5 [¾Óx~aìªÕÒ62[iá?â7ð·PöZ« Ü1«G&¿JÔ½œ8ñØÍ»¨Ëßh°™lµ¡iãã=(®½°ÎÑPcŒÇXúñáW" Ž{ ã—Fìo±•E& Ö ìLeSƒ ÿŸÇ.§HF9ÅiAØîØ™pC%6˜Ù}$•É¹Ûº,Ô€xÆ¿¦ ™ðN"S·‚Ê ¹2dF¼¬•2oⱡdÅT:.|´‘°˜ÂlŠ î¬hÕCjB¥iyÂbJž[5Ìlpq‰Å. 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Ó%`•íw __JE·|%«Ö…'´Cä©uâÊ=¨ŠÞËW’œ…ÂŽF_ £ÿ>~ö €{ž|±ËõóÚ0z§Ìô«Ìô+aú]Ɇ2ϯ3ϯ3ÏÏâ7׋JÖ‹žé×®¯[ ¼-ã\'è´­¹KE[öù~ÃL.mÄ—v.U³=Ì‘Z#Å°×®®ûR Õ}r‰nŸr^°ñ-~›¸£e´‹ÑŽk8x4u^=6›Lnp9š2RCF*6Ô6ÛR{öU& …7V¹©1¢Éе°ÒÌ’™‹¨éS<ƒ‡¥®…C¨(O`ˆáT y%nŒ°Aîì0q"åª5lXª£^•xå4øhqÃÇV¾~N|“jåiÃPš˜‚1:¤Û˜ëä©À«g¢%*hd$à9£¢±ÁCo)ˆû*Û•D^$²×¯©ÉöŒPÙá'Š^ê:tÖ‡§Z‰Kœ¦3+(†a: u¹@KIkX·-'ò_x&*£r'…4ÏVäH;[D™ ÍËÛÂ,v¿¬¡šÔ—ª×<{ì)»[*ôõñJR¤D1vâIc;TÙ×!ÀÊ7&¹/&9¦'‹GÊŠyz‡;*Ÿ} ˜×—Ìwš2e§BÿÕž¤bß̶Í8”ts3:iLª$½w¢û’älˆf£_a–mdªn¡L6í´ÔW#ÕïŠJÐj`ê‰ÑŠ±K߆zhƒÐRVõÀªªZ_WU/ãh®Þ>Pã*¿3Öó<)óóPäç ùh`w“uæùMÛ”M÷‘wLXš;«ÅŒ)e×Ò¬ç)0A–ÓNÁ`œ{rëœp⾕Ç}ç±Æ8´¦ÎÇW¨‘ÛÔwƒ´E|~åžzÕFyqÇK†)¯¿ÅsÀÑÜr!Ôgh­×p° Çå·òü2"(¦¤“¶!‹÷økÚÄEO<]‹ð¡Ý(T¹^ Š¼‘ édMj³z\M´ñ±yI¢Q s¡?g8ô¤õEV1J•+¼Á×Î@mëA'‚8ïˆ m `‡JûÔƒ\Ó>I™ŽlpôÀÞ2æ®WD\@YÃÁ Êœ±Ìè“XeËYœü™lá„ufWðîI¢§oÈáñcÝæ¡âñb-¾1Fñ ˜?xTË7®¼Ø¯˜(†G¡fÂØ×òêd‚Ú0{£m¯°áÃjèqXêÄ '/ˆ’c \»·1 bÍC+%ƒÁcH Starting position of R2T2.
    Remote Rescue using Thymio2 is a multi-team exercise with 16 robots that must collaborate to restart a failed generator on a Mars base. Completing the exercise requires 4 steps:
    1. Push the blue obstacle out of the way to free the access to the door
    2. Find the spots on the floor and place one robot on each
    3. Look at the generator by placing a robot in front of each window
    4. Restart the generator by blinking the LEDs in sequence
    This playground represents the starting position of the complete scenario.
    • Sector A: Thymio-II targets 33333–33336
    • Sector B: Thymio-II targets 33337–33340
    • Sector C: Thymio-II targets 33341–33344
    • Sector D: Thymio-II targets 33345–33348
    • Generator: E-puck targets 33331 (center), 33332 (runner)
    Position initiale de R2T2.
    Remote Rescue using Thymio2 est un exercice multi-équipe avec 16 robots qui doivent collaborer pour rédémarrer un générateur endommagé sur une base martienne. Pour réussir l'exercice il faut accomplir 4 étapes :
    1. Pousser l'obstacle bleue pour libérer l'accès à la porte
    2. Trouver les points blancs et placer un robbot dessus
    3. Contrôler le générateur en plaçant un robot devant chaque fenêtre
    4. Rédémarrer le generateur en cligotant les LEDs en cadence
    Ce terrain représente la position initiale du scénario complet.
    • Sector A: cibles Thymio-II 33333–33336
    • Sector B: cibles Thymio-II 33337–33340
    • Sector C: cibles Thymio-II 33341–33344
    • Sector D: cibles Thymio-II 33345–33348
    • Generator: cibles E-puck 33331 (centre), 33332 (coureur)
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    Remote Rescue using Thymio2 is a multi-team exercise with 16 robots that must collaborate to restart a failed generator on a Mars base. Completing the exercise requires 4 steps:
    1. Push the blue obstacle out of the way to free the access to the door
    2. Find the spots on the floor and place one robot on each
    3. Look at the generator by placing a robot in front of each window
    4. Restart the generator by blinking the LEDs in sequence
    This playground represents the final position of the complete scenario.
    • Sector A: Thymio-II targets 33333–33336
    • Sector B: Thymio-II targets 33337–33340
    • Sector C: Thymio-II targets 33341–33344
    • Sector D: Thymio-II targets 33345–33348
    • Generator: E-puck targets 33331 (center), 33332 (runner)
    Position finale de R2T2.
    Remote Rescue using Thymio2 est un exercice multi-équipe avec 16 robots qui doivent collaborer pour rédémarrer un générateur endommagé sur une base martienne. Pour réussir l'exercice il faut accomplir 4 étapes :
    1. Pousser l'obstacle bleue pour libérer l'accès à la porte
    2. Trouver les points blancs et placer un robbot dessus
    3. Contrôler le générateur en plaçant un robot devant chaque fenêtre
    4. Rédémarrer le generateur en cligotant les LEDs en cadence
    Ce terrain représente la position finale du scénario complet.
    • Sector A: cibles Thymio-II 33333–33336
    • Sector B: cibles Thymio-II 33337–33340
    • Sector C: cibles Thymio-II 33341–33344
    • Sector D: cibles Thymio-II 33345–33348
    • Generator: cibles E-puck 33331 (centre), 33332 (coureur)
    Remote Rescue using Thymio2 Remote Rescue using Thymio2 Remote Rescue using Thymio2     aseba-1.6.0/targets/playground/examples/r2t2-practice.playground000066400000000000000000000121231322771007300247340ustar00rootroot00000000000000 Remote Rescue using Thymio2 is a multi-team exercise with 16 robots that must collaborate to restart a failed generator on a Mars base. Completing the exercise requires 4 steps:
    1. Push the blue obstacle out of the way to free the access to the door
    2. Find the spots on the floor and place one robot on each
    3. Look at the generator by placing a robot in front of each window
    4. Restart the generator by blinking the LEDs in sequence
    This playground represents one sector and 4 robots, Thymio-II targets 33333–33336. It can be used for team training.     Remote Rescue using Thymio2 est un exercice multi-équipe avec 16 robots qui doivent collaborer pour rédémarrer un générateur endommagé sur une base martienne. Pour réussir l'exercice il faut accomplir 4 étapes :
    1. Pousser l'obstacle bleue pour libérer l'accès à la porte
    2. Trouver les points blancs et placer un robbot dessus
    3. Contrôler le générateur en plaçant un robot devant chaque fenêtre
    4. Rédémarrer le generateur en cligotant les LEDs en cadence
    Ce terrain représente un secteur et 4 robots, cibles Thymio-II 33333–33336. Il peut être utilisé pour former les équipes.     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—†õ÷÷ßÿýßÿþ÷“|ꩧ¶··/Z´(ÉÁ‡zè»ßýî‘™œ(ŠÖ¬Y“ð‹\.÷†7¼!áoñäÉ“?þø„3ÿè£.Y²$aG;à€f̘1|R(þû¿ÿ{Ë–-I~ík_ûÞ÷¾7áW^ºtiò?™“OuEgŸ}öðMHµ—½ìeIŽ\³fMò³˜6mZòùyýë_Ÿü+Ïœ9s$ç`,q ,‚&`4 €  XMÀ hA°š€@Ð,‚&`4 €  XMÀ hA°Z¦X,¦=Ò÷ÔSO-[¶¬P($9¸«««··7áOƒ>xÕªU ‡ÑÕÕÕÓÓ“ðà#<òÄO |®8à€W¿úÕ™L&ÉÁÛ·oOxdE[·n}òÉ'œ«§Ÿ~zpp0áÁ›6múÓŸþ”äÈl6ûº×½.›Môoo™LfÕªUk×®MrpGGÇ›Þô¦®®®˜œ„'EQ±XÌår---Iîïï_¾|yooo’ƒ[ZZÚÛÛ A ground board for Thymio Challenge Pack. Un plateau de sol pour le kit Thymio Challenge Pack. aseba-1.6.0/targets/playground/examples/thymio-challenge-pack.playground000066400000000000000000000016251322771007300265250ustar00rootroot00000000000000 A ground board for Thymio Challenge Pack. Un plateau de sol pour le kit Thymio Challenge Pack. aseba-1.6.0/targets/playground/examples/thymio-default-behaviours.aesl000066400000000000000000000262271322771007300262250ustar00rootroot00000000000000 var state = FRIENDLY var run_behavior = STOP var l[8] var led_state = 0 var led_delta = 1 var led_pulse var temp var ledtemp var i var speed_diff var speed = 300 var speed_l = 0 var max var mi var t var sound_done = 0 var argmin var argmax var does_see_friend = 0 var r var g var b var temp2 var vmin = -600 var vmax = 600 var fixed var acc_calc var counter var acc_abs var stepsound var black_level = 200 var white_level = 400 var status=0 var s[2] var dir var rc5_speed_l var rc5_speed_t var avoidanceKernel1[5] = [1, 2, 3, 2, 1] var avoidanceKernel2[5] = [-4, -3, 1, 3, 4] timer.period[0] = 20 call leds.top(0,32,0) # subroutines sub ledpulse # Pulse body color led_pulse = led_pulse + 1 if led_pulse > 0 then ledtemp=led_pulse if led_pulse > 40 then led_pulse = -128 end else ledtemp = -led_pulse/4 end sub change_state if state > 6 then state = 1 elseif state < 1 then state = 6 end if state == FRIENDLY then call leds.top(0,32,0) elseif state == EXPLORER then call leds.top(15,15,0) elseif state == FEARFUL then call leds.top(32,0,0) elseif state == INVESTIGATOR then call leds.top(0,15,15) elseif state == OBEDIENT then call leds.top(15,0,15) elseif state == ATTENTIVE then call leds.top(0,0,32) end sub tableborder # Detect table border, and stop if we are at the border if prox.ground.reflected[0] < 130 or prox.ground.reflected[1] < 130 then motor.left.target = 0 motor.right.target = 0 call leds.bottom.left(32,0,0) call leds.bottom.right(32,0,0) elseif does_see_friend <= 0 and sound_done == 0 then call leds.bottom.left(0,0,0) call leds.bottom.right(0,0,0) end sub motorbound call math.min(motor.left.target, motor.left.target, vmax) call math.max(motor.left.target, motor.left.target, vmin) call math.min(motor.right.target, motor.right.target, vmax) call math.max(motor.right.target, motor.right.target, vmin) sub setmotor call math.min(rc5_speed_t, rc5_speed_t, vmax) call math.max(rc5_speed_t, rc5_speed_t, vmin) call math.min(rc5_speed_l, rc5_speed_l, vmax) call math.max(rc5_speed_l, rc5_speed_l, vmin) motor.left.target = rc5_speed_l + rc5_speed_t motor.right.target = rc5_speed_l - rc5_speed_t onevent button.center if button.center == 1 then if run_behavior == STOP then run_behavior = START if state == FRIENDLY then # initialization call leds.circle(0,0,0,32,32,32,0,0) call prox.comm.enable(1) speed = SPEED_LINE elseif state == EXPLORER then speed = 200 elseif state == INVESTIGATOR then speed = SPEED_LINE elseif state == ATTENTIVE then # disabled for simulation end else motor.left.target = 0 motor.right.target = 0 call leds.circle(0,0,0,0,0,0,0,0) call leds.bottom.left(0,0,0) call leds.bottom.right(0,0,0) callsub change_state run_behavior = STOP call prox.comm.enable(0) end end onevent button.forward if button.forward == 1 then if run_behavior == STOP then state++ callsub change_state else if state == FRIENDLY or state == EXPLORER then # Increase speed speed += 50 if speed > 500 then speed = 500 end elseif state == OBEDIENT then if rc5_speed_t !=0 then rc5_speed_t = 0 else rc5_speed_l = rc5_speed_l+200 end callsub setmotor elseif state == ATTENTIVE then # disabled for simulation end end end onevent button.backward if button.backward == 1 then if run_behavior == STOP then state-- callsub change_state else if state == FRIENDLY or state == EXPLORER then speed = speed - 50 if speed < -300 then speed = -300 end elseif state == OBEDIENT then if rc5_speed_t != 0 then rc5_speed_t = 0 else rc5_speed_l = rc5_speed_l - 200 end callsub setmotor elseif state == ATTENTIVE then # disabled for simulation end end end onevent button.left if button.left == 1 then if run_behavior == STOP then state++ callsub change_state else if state == OBEDIENT then rc5_speed_t = -200 callsub setmotor elseif state == ATTENTIVE then # disabled for simulation end end end onevent button.right if button.right == 1 then if run_behavior == STOP then state-- callsub change_state else if state == OBEDIENT then rc5_speed_t = 200 callsub setmotor elseif state == ATTENTIVE then # disabled for simulation end end end onevent timer0 if run_behavior == START then if state != FEARFUL then callsub ledpulse end if state == FRIENDLY then # Pulse body color call leds.top(0, ledtemp, 0) elseif state == EXPLORER then # Led ring animation call math.fill(l, 0) led_state = led_state + 2 if led_state > 255 then led_state = 0 end fixed = led_state /32 l[fixed] = 32 l[(fixed - 1) & 0x7] = 32 - (led_state & 0x1F) l[(fixed + 1) & 0x7] = led_state & 0x1F call leds.circle(l[0], l[1], l[2], l[3], l[4], l[5], l[6], l[7]) # Body color pulse call leds.top(ledtemp,ledtemp, 0) elseif state == INVESTIGATOR then call leds.top(0, ledtemp, ledtemp) elseif state == OBEDIENT then call leds.top(ledtemp, 0, ledtemp) elseif state == ATTENTIVE then call leds.top(0, 0, ledtemp) end end onevent prox if run_behavior == START then if state == FRIENDLY then # Follower speed_l = 0 call math.stat(prox.horizontal[0:4], event.args[0],max, event.args[0]) # find max value call math.argbounds(prox.horizontal[0:4], event.args[0], mi) # find max index t = 2 - mi speed_diff = t * (speed / 2) # differential # Adapt speed to go forward or backward if max > 3500 then speed_l = (3500 - max) / 2 end if max > 4000 then speed_l = -speed end if max < 3000 then t = 300 - (max - 1000) / 7 speed_l = t end if max < 2000 then speed_l = speed end if speed_l > speed then speed_l = speed end if speed_l < -speed then speed_l = -speed end if max < SOUND_DETECT_THRESHOLD then # Stop if nothing if does_see_friend <= 0 then motor.left.target = 0 motor.right.target = 0 else # Go forward if see friend in front motor.left.target = speed motor.right.target = speed end else # normal following behavior motor.right.target = speed_diff + speed_l motor.left.target = speed_l - speed_diff end # sound when max > SOUND_DETECT_THRESHOLD do call sound.system(6) end if speed_diff == 0 and speed_l == 0 and sound_done == 0 and max > SOUND_DETECT_THRESHOLD then sound_done = 1 call sound.system(7) end if speed_diff != 0 or max < SOUND_DETECT_THRESHOLD then sound_done = 0 end callsub tableborder elseif state == EXPLORER then # Breitenberg obtacle avoidance if speed > 0 then call math.dot(temp, avoidanceKernel1[0:4], prox.horizontal[0:4], 0) call math.dot(temp2, avoidanceKernel2[0:4], prox.horizontal[0:4], 0) call math.muldiv(temp, temp, speed, 2000) call math.muldiv(temp2, temp2, speed, 2000) motor.left.target = speed - (temp + temp2) motor.right.target = speed - (temp - temp2) callsub motorbound elseif speed < 0 then temp = -300 / speed motor.left.target = prox.horizontal[5] / temp motor.right.target = prox.horizontal[6] / temp callsub motorbound end callsub tableborder elseif state == FEARFUL then # Breitenberg obtacle avoidance if prox.horizontal[1]>OBSTACLE and prox.horizontal[2]>OBSTACLE and prox.horizontal[3]>OBSTACLE and (prox.horizontal[5]>OBSTACLE or prox.horizontal[6]>OBSTACLE) and (prox.ground.reflected[0]>130 and prox.ground.reflected[1]>130) then motor.left.target = 0 motor.right.target = 0 if stepsound == 0 then call sound.system(4) stepsound = 1 end elseif prox.horizontal[0]>OBSTACLE or prox.horizontal[1]>OBSTACLE or prox.horizontal[2]>OBSTACLE or prox.horizontal[3]>OBSTACLE or prox.horizontal[4]>OBSTACLE then temp = (prox.horizontal[0]/5+prox.horizontal[1]/4+prox.horizontal[2]/3+prox.horizontal[3]/4+prox.horizontal[4]/5) temp2 = prox.horizontal[0]/6+prox.horizontal[1]/5+prox.horizontal[3]/-5+prox.horizontal[4]/-6 motor.left.target = -(temp+temp2) motor.right.target = -(temp-temp2) elseif prox.horizontal[5]>OBSTACLE or prox.horizontal[6]>OBSTACLE then temp = 4 motor.left.target = prox.horizontal[5] / temp motor.right.target = prox.horizontal[6] / temp callsub motorbound else motor.left.target = 0 motor.right.target = 0 end callsub tableborder elseif state == INVESTIGATOR then # Line Follower if prox.ground.delta[0] < black_level then s[0] = STATE_BLACK end if prox.ground.delta[0] > white_level then s[0] = STATE_WHITE end if prox.ground.delta[1] < black_level then s[1] = STATE_BLACK end if prox.ground.delta[1] > white_level then s[1] = STATE_WHITE end if s[0] == STATE_BLACK and s[1] == STATE_BLACK then # Black line right under us dir = DIR_FRONT elseif s[0] == STATE_WHITE and s[1] == STATE_BLACK then dir = DIR_RIGHT elseif s[1] == STATE_WHITE and s[0] == STATE_BLACK then dir = DIR_LEFT else # Lost if dir > 0 then dir = DIR_L_RIGHT elseif dir < 0 then dir = DIR_L_LEFT else dir = DIR_LOST end end if dir == DIR_FRONT then motor.left.target = speed motor.right.target = speed call leds.circle(32,0,0,0,32,0,0,0) elseif dir == DIR_RIGHT then motor.left.target = speed motor.right.target = 0 call leds.circle(0,32,0,32,0,0,0,0) elseif dir == DIR_LEFT then motor.left.target = 0 motor.right.target = speed call leds.circle(0,0,0,0,0,32,0,32) elseif dir == DIR_L_LEFT then motor.left.target = -speed motor.right.target = speed call leds.circle(0,0,0,0,0,0,32,0) elseif dir == DIR_L_RIGHT then motor.left.target = speed motor.right.target = -speed call leds.circle(0,0,32,0,0,0,0,0) elseif dir == DIR_LOST then motor.left.target = speed motor.right.target = -speed end elseif state == ATTENTIVE then # no microphone in simulator end end onevent acc if run_behavior == START and state == FEARFUL then callsub ledpulse callsub ledpulse callsub ledpulse call leds.top(ledtemp, 0, 0) end onevent tap if run_behavior == START and state == FEARFUL then call sound.system(5) call leds.top(32,0,0) end onevent sound.finished if run_behavior == START and state == FEARFUL then stepsound = 0 if acc_calc < 14 then call sound.system(4) end end aseba-1.6.0/targets/playground/examples/thymio-discovery-maisondailleurs.playground000066400000000000000000000021711322771007300310640ustar00rootroot00000000000000 A ground board for Thymio discovery kit, maison d'ailleurs theme. Un plateau de sol pour le kit de découverte Thymio, thème maison d'ailleurs. aseba-1.6.0/targets/playground/examples/thymio-discovery-otter.playground000066400000000000000000000021011322771007300270170ustar00rootroot00000000000000 A ground board for Thymio discovery kit, Otter theme. Un plateau de sol pour le kit de découverte Thymio, thème Otarie. aseba-1.6.0/targets/playground/examples/thymio-discovery-yeti.playground000066400000000000000000000020741322771007300266450ustar00rootroot00000000000000 A ground board for Thymio discovery kit, Yeti theme. Un plateau de sol pour le kit de découverte Thymio, thème Yeti. aseba-1.6.0/targets/playground/examples/thymio-maze-6x6.playground000066400000000000000000000207161322771007300252460ustar00rootroot00000000000000 This 6x6 maze can be used to develop navigation strategies. The walls can be avoided using the proximity sensors. The large cul-de-sacs should permit a robot to escape using simple wall avoidance. The tracks on the ground can be followed with ground sensors. The loops in the wide green track can be followed to turn around. The arrows on the narrow track should help the robot find the track if it gets lost. The colored tracks are dark enough to be seen by the proximity sensors with values around 160–180, but not so dark that they will trigger table edge detection.

    Success is when a robot finds the blue center region and stops on the black band. Additionally this will open the blue door and allow the second robot to escape, to test a different strategy or simply for a victory dance.

    One simple success story is to run the standard Investigator behavior (cyan) on the robot in the top right corner, target tcp:;port=33334, and run the standard Explorer behavior (yellow) on the bottommost robot, target tcp:;port=33333. The explorer will succeed and stop on the black band, opening the door for the investigator, who will run victory laps around the green track.

    Ce labyrinthe 6x6 peut être utilisé pour développer des stratégies de navigation. Les murs peuvent être évités grâce aux capteur de proximité. Les culs-de-sac larges devront permettre à un robot de s'y échapper par simple évitement de murs. Les pistes au sol peuvent être suivies par les capteurs de sol. Les boucles dans la piste verte large peuvent être suivis pour rebrousser chemin. Les flèches sur la piste étroite devront permettre à un robot à retrouver la piste s'il se perd. Les pistes colorées sont suffisamment sobres pour être vues par les capteurs avec des valeurs de 160–180, mais pas trop sombres pour déclencher la détection de bord de table.

    Le succès est quand un robot trouve la région bleue au centre et s'arrête sur la bande noire. En plus ceci ouvre la porte bleue et permet au deuxième robot à s'échapper, soit pour tester une nouvelle stratégie, soit pour faire une danse de victoire.

    Une histoire simple qui réussit est de mettre le comportement standard Investigateur (cyan) sur le robot en haut à droite, cible tcp:;port=33334, et mettre le comportement standard Explorateur (jaune) sur le robot en bas, tcp:;port=33333. L'explorateur réussira et s'arrêtera sur la bande noire, et ainsi ouvrir la porte pour l'investigateur, qui fera un tour de la victoire sur la piste verte.

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motor.left.target = 100 motor.right.target = -200 call leds.top(32,32,0) emit pair_run 1 end when prox.ground.delta[0] <= 400 and prox.ground.delta[1] >= 450 do motor.left.target = -200 motor.right.target = 100 call leds.top(32,32,0) emit pair_run 2 end when prox.ground.delta[0] >= 450 and prox.ground.delta[1] >= 450 do motor.left.target = 0 motor.right.target = 0 call leds.top(32,0,0) emit pair_run 3 end aseba-1.6.0/targets/playground/examples/thymio-track-maisondailleurs.png000066400000000000000000005216111322771007300265660ustar00rootroot00000000000000‰PNG  IHDRЛÞ&gAMA± üa cHRMz&€„ú€èu0ê`:˜pœºQ<bKGDÿÿÿ ½§“ pHYsØØnGc5tIMEà  /€œJ€IDATxÚìÝwxÕðw¶o²»é=¡„$´Ð{¥ÛQÁÞ{/×zí½\»(V¬XQDŠ€*½C%@zÛlï3÷@$&À†”Ù$ïïyx 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Un puzzle de programmation multi-robots utilisé dans un cours de première année à l'Université de Fribourg (Suisse). aseba-1.6.0/targets/playground/images/000077500000000000000000000000001322771007300176755ustar00rootroot00000000000000aseba-1.6.0/targets/playground/images/icons/000077500000000000000000000000001322771007300210105ustar00rootroot00000000000000aseba-1.6.0/targets/playground/images/icons/asebaplayground.svgz000066400000000000000000000030711322771007300251040ustar00rootroot00000000000000‹´o)Zasebaplayground.svgÕZms›Fþž_¡Á_Ú)Ü;§ZΤykfÒéLÓ¤3aYÀ²œ_Ÿ½C ,sƒÜêì3ì½<»Ë²ÏÎçO·«t²IŠr™g3£À™$YœÏ—Ùbæ¼ÿû•:“²Š²y”æY2s²Üyzñä¼Ü,žL&œ•Óysàšì‡LËuƒ3ÖER&Å&1ò$‹>¥‰÷)Š?/Šü:ƒ1Yr3  à€0S™Ž›eró[¾9ý¦[®·5LsÙz<ع8_%U4ªH7Õºí%THh‡Lÿzñêâ<Ž§ÿäÅ纟þè–èS~]Íè7§—y±Šª‹å*Z$ÚÚ_À¸s¿iÐ}ªÛuÒLQOvç×…vÁÏ}¯–zÿ®Z¦é=·3ñë¹–Uš\„ýåNI¸ú¦·¿·Æ$—ec§¾£‚›ÙxF·µËoòºe1Ù:ª®Ì`\;½þ€ðàÀÈüŽYìI$]¸c®@TÿÁl£”ˆW7€Ì52ø¹ÒbÓn¼ºl<뙟ëÇër„]˜úiwõ¥¥Â%¸kæœá—Š½ m#[戞9mƒB§-×&"‘p QˆÄ£ ¥®ê+p´ÖÚ‚\Ä)eòÅõ}¶¬ A\Ã{þN¿ôfïËÄézÿ݇×o^|dáá”U¾n7ï²H1ÁÎaKYݦIÝèÅyšÓ³À|:ýòËË2—ôçßÜC-`¸.¿QvÁ ; P¨z*6ÐŒ01͇¡1Õ¥ -EÈŽBó€±Ah9 MžéÒ…T„Ç¡Cˆ°!h5 ÍžéÒ…fJu=Ö@ )Ã!hjR’êÒ…¦<<þ¬¥PƒaF-Âì™Ð¥ Múk COrÚ"Ì^b]¡(!/ GP\ µ¶WæÓ±ýjílÿ0áÝ“è©úß'zX0üt¶Ï›?tØy˼~u,uÃG!(GjÀ„„FO¨¯(†à0V™‘f¶i\ ìÚ´Ýuñ0SL "ÉÆ$Œô(ŒAˆ{Ƽ³øÁÆ8Œu³ô8Ö±ð”ƺdp:ã]§ŽÃx7!žŽÃ¸EHÄaÜ"ÌFâ0nf£r˜°¶19Lÿ`ên±ÿ~V¬gZH A»T{z®+cÕîRæ1P0luåA²W.×ûOM¼n(Q˜e,×uªév•Pœ·f£©ŽØ†ÀÒ-Ô‡•P°B8ï1•’É “÷4SaЫÎû©™ŠÒøvK P•°X¤ýª«ÿ‘¨JZ¬þG¢*i±ú‰ª¤Åê$ª’!5UI‹0‰ªzšŸšªB‹`“ªB>Z>7Iêÿ:Ÿ·ØK|?{…²g­³ˆ+ §Z3£ã[ö„.“a ¼Ê5G¸çðL]cŸÙ(¶†>Œ‚˜ ˆ±Î×tš‚?’Nj òøL°>ÁFß-É Rk¬@AÊbñ>)‹ÅûH¤,ï#Q²X¼CA¤*'£ ÒËâ'£ X„Ù˜D‹`‘‚HÐ?Ú/)·xDòÈýYâ )û_q…šìDß@8dsÞù‚U'mFâôá9;¼?g|’S‚픆àG;¥!øÑNi~´Sbsð7Rζ9 )gÛŽš³mŽÇÌÙ¤Js’œælqq/‹8mýg‡V»–‘ƒ,[€á91¾Õ‹qÈÞmÙR=ã²Ý¿ö°½’AÒ@"Ö¤°7Rw@2ˆÏ`’AJírKÈÆJí\ó[n_¸Çæ a%aseba-1.6.0/targets/playground/playground.cpp000066400000000000000000000440761322771007300213330ustar00rootroot00000000000000/* Playground - An active arena to learn multi-robots programming Copyright (C) 1999--2013: Stephane Magnenat (http://stephane.magnenat.net) 3D models Copyright (C) 2008: Basilio Noris Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../common/utils/FormatableString.h" #include "DashelAsebaGlue.h" #include "Door.h" #include "PlaygroundViewer.h" #include "Robots.h" #include #include #include #include #include #include #include #include #include #include #ifdef HAVE_DBUS #include "PlaygroundDBusAdaptors.h" #endif // HAVE_DBUS #ifdef ZEROCONF_SUPPORT #include "../../common/zeroconf/zeroconf-qt.h" #endif // ZEROCONF_SUPPORT namespace Enki { //! The simulator environment for playground class PlaygroundSimulatorEnvironment: public SimulatorEnvironment { public: const QString sceneFileName; PlaygroundViewer& viewer; public: PlaygroundSimulatorEnvironment(const QString& sceneFileName, PlaygroundViewer& viewer): sceneFileName(sceneFileName), viewer(viewer) {} virtual void notify(const EnvironmentNotificationType type, const std::string& description, const strings& arguments) override { viewer.notifyAsebaEnvironment(type, description, arguments); } virtual std::string getSDFilePath(const std::string& robotName, unsigned fileNumber) const override { auto fileName(QString("%1/%2/%3/U%4.DAT") .arg(QDesktopServices::storageLocation(QDesktopServices::DataLocation)) .arg(qHash(QDir(sceneFileName).canonicalPath()), 8, 16, QChar('0')) .arg(QString::fromStdString(robotName)) .arg(fileNumber) ); QDir().mkpath(QFileInfo(fileName).absolutePath()); // dump std::cerr << fileName.toStdString() << std::endl; return fileName.toStdString(); } virtual World* getWorld() const override { return viewer.getWorld(); } }; } //! A function to create a robot of a given type #ifdef ZEROCONF_SUPPORT using RobotFactory = std::function; #else // ZEROCONF_SUPPORT using RobotFactory = std::function; #endif // ZEROCONF_SUPPORT //! A factory function to create a robot with a single VM #ifdef ZEROCONF_SUPPORT template Enki::Robot* createRobotSingleVMNode(Aseba::Zeroconf& zeroconf, unsigned port, std::string robotName, std::string typeName, int16_t nodeId) { return new RobotT(zeroconf, std::move(typeName), port, std::move(robotName), nodeId); } #else // ZEROCONF_SUPPORT template Enki::Robot* createRobotSingleVMNode(unsigned port, std::string robotName, std::string typeName, int16_t nodeId) { return new RobotT(port, std::move(robotName), nodeId); } #endif // ZEROCONF_SUPPORT //! A type of robot struct RobotType { RobotType(std::string prettyName, RobotFactory factory): prettyName(std::move(prettyName)), factory(std::move(factory)) {} const std::string prettyName; //!< a nice-looking name of this type const RobotFactory factory; //!< the factory function to create a robot of this type unsigned number = 0; //!< number of robots of this type instantiated }; int main(int argc, char *argv[]) { Q_INIT_RESOURCE(asebaqtabout); QApplication app(argc, argv); QCoreApplication::setOrganizationName(ASEBA_ORGANIZATION_NAME); QCoreApplication::setOrganizationDomain(ASEBA_ORGANIZATION_DOMAIN); app.setApplicationName("Playground"); QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8")); QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8")); // Translation support QTranslator qtTranslator; qtTranslator.load("qt_" + QLocale::system().name()); app.installTranslator(&qtTranslator); QTranslator translator; translator.load(QString(":/asebaplayground_") + QLocale::system().name()); app.installTranslator(&translator); QTranslator aboutTranslator; aboutTranslator.load(QString(":/qtabout_") + QLocale::system().name()); app.installTranslator(&aboutTranslator); // create document QDomDocument domDocument("aseba-playground"); QString sceneFileName; // Get cmd line arguments bool ask = true; if (argc > 1) { sceneFileName = argv[1]; ask = false; } // Try to load xml config file do { if (ask) { QString lastFileName = QSettings("EPFL-LSRO-Mobots", "Aseba Playground").value("last file").toString(); sceneFileName = QFileDialog::getOpenFileName(0, app.tr("Open Scenario"), lastFileName, app.tr("playground scenario (*.playground)")); } ask = true; if (sceneFileName.isEmpty()) { std::cerr << "You must specify a valid setup scenario on the command line or choose one in the file dialog." << std::endl; exit(1); } QFile file(sceneFileName); if (file.open(QIODevice::ReadOnly)) { QString errorStr; int errorLine, errorColumn; if (!domDocument.setContent(&file, false, &errorStr, &errorLine, &errorColumn)) { QMessageBox::information(0, "Aseba Playground", app.tr("Parse error at file %1, line %2, column %3:\n%4") .arg(sceneFileName) .arg(errorLine) .arg(errorColumn) .arg(errorStr)); } else { QSettings("EPFL-LSRO-Mobots", "Aseba Playground").setValue("last file", sceneFileName); break; } } } while (true); // Scan for colors typedef QMap ColorsMap; ColorsMap colorsMap; QDomElement colorE = domDocument.documentElement().firstChildElement("color"); while (!colorE.isNull()) { colorsMap[colorE.attribute("name")] = Enki::Color( colorE.attribute("r").toDouble(), colorE.attribute("g").toDouble(), colorE.attribute("b").toDouble() ); colorE = colorE.nextSiblingElement ("color"); } // Scan for areas typedef QMap AreasMap; AreasMap areasMap; QDomElement areaE = domDocument.documentElement().firstChildElement("area"); while (!areaE.isNull()) { Enki::Polygon p; QDomElement pointE = areaE.firstChildElement("point"); while (!pointE.isNull()) { p.push_back(Enki::Point( pointE.attribute("x").toDouble(), pointE.attribute("y").toDouble() )); pointE = pointE.nextSiblingElement ("point"); } areasMap[areaE.attribute("name")] = p; areaE = areaE.nextSiblingElement ("area"); } // Create the world QDomElement worldE = domDocument.documentElement().firstChildElement("world"); Enki::Color worldColor(Enki::Color::gray); if (!colorsMap.contains(worldE.attribute("color"))) std::cerr << "Warning, world walls color " << worldE.attribute("color").toStdString() << " undefined\n"; else worldColor = colorsMap[worldE.attribute("color")]; Enki::World::GroundTexture groundTexture; if (worldE.hasAttribute("groundTexture")) { const QString groundTextureFileName(QFileInfo(sceneFileName).absolutePath() + QDir::separator() + worldE.attribute("groundTexture")); QImage image(groundTextureFileName); if (!image.isNull()) { // flip vertically as y-coordinate is inverted in an image image = image.mirrored(); // convert to a specific format and copy the underlying data to Enki image = image.convertToFormat(QImage::Format_ARGB32); groundTexture.width = image.width(); groundTexture.height = image.height(); const uint32_t* imageData(reinterpret_cast(image.constBits())); std::copy(imageData, imageData+image.width()*image.height(), std::back_inserter(groundTexture.data)); // Note: this works in little endian, in big endian data should be swapped } else { qDebug() << "Could not load ground texture file named" << groundTextureFileName; } } Enki::World world( worldE.attribute("w").toDouble(), worldE.attribute("h").toDouble(), worldColor, groundTexture ); // Create viewer Enki::PlaygroundViewer viewer(&world, worldE.attribute("energyScoringSystemEnabled", "false").toLower() == "true"); if (Enki::simulatorEnvironment) qDebug() << "A simulator environment already exists, replacing"; Enki::simulatorEnvironment.reset(new Enki::PlaygroundSimulatorEnvironment(sceneFileName, viewer)); // Zeroconf support to advertise targets #ifdef ZEROCONF_SUPPORT Aseba::QtZeroconf zeroconf; #endif // ZEROCONF_SUPPORT // Scan for camera QDomElement cameraE = domDocument.documentElement().firstChildElement("camera"); if (!cameraE.isNull()) { const double largestDim(qMax(world.h, world.w)); viewer.setCamera( QPointF( cameraE.attribute("x", QString::number(world.w / 2)).toDouble(), cameraE.attribute("y", QString::number(0)).toDouble() ), cameraE.attribute("altitude", QString::number(0.85 * largestDim)).toDouble(), cameraE.attribute("yaw", QString::number(-M_PI/2)).toDouble(), cameraE.attribute("pitch", QString::number((3*M_PI)/8)).toDouble() ); } // Scan for walls QDomElement wallE = domDocument.documentElement().firstChildElement("wall"); while (!wallE.isNull()) { Enki::PhysicalObject* wall = new Enki::PhysicalObject(); if (!colorsMap.contains(wallE.attribute("color"))) std::cerr << "Warning, color " << wallE.attribute("color").toStdString() << " undefined\n"; else wall->setColor(colorsMap[wallE.attribute("color")]); wall->pos.x = wallE.attribute("x").toDouble(); wall->pos.y = wallE.attribute("y").toDouble(); wall->setRectangular( wallE.attribute("l1").toDouble(), wallE.attribute("l2").toDouble(), wallE.attribute("h").toDouble(), !wallE.attribute("mass").isNull() ? wallE.attribute("mass").toDouble() : -1 // normally -1 because immobile ); if (! wallE.attribute("angle").isNull()) wall->angle = wallE.attribute("angle").toDouble(); // radians world.addObject(wall); wallE = wallE.nextSiblingElement ("wall"); } // Scan for cylinders QDomElement cylinderE = domDocument.documentElement().firstChildElement("cylinder"); while (!cylinderE.isNull()) { Enki::PhysicalObject* cylinder = new Enki::PhysicalObject(); if (!colorsMap.contains(cylinderE.attribute("color"))) std::cerr << "Warning, color " << cylinderE.attribute("color").toStdString() << " undefined\n"; else cylinder->setColor(colorsMap[cylinderE.attribute("color")]); cylinder->pos.x = cylinderE.attribute("x").toDouble(); cylinder->pos.y = cylinderE.attribute("y").toDouble(); cylinder->setCylindric( cylinderE.attribute("r").toDouble(), cylinderE.attribute("h").toDouble(), !cylinderE.attribute("mass").isNull() ? cylinderE.attribute("mass").toDouble() : -1 // normally -1 because immobile ); world.addObject(cylinder); cylinderE = cylinderE.nextSiblingElement("cylinder"); } // Scan for feeders QDomElement feederE = domDocument.documentElement().firstChildElement("feeder"); while (!feederE.isNull()) { Enki::EPuckFeeder* feeder = new Enki::EPuckFeeder; feeder->pos.x = feederE.attribute("x").toDouble(); feeder->pos.y = feederE.attribute("y").toDouble(); world.addObject(feeder); feederE = feederE.nextSiblingElement ("feeder"); } // TODO: if needed, custom color to feeder // Scan for doors typedef QMap DoorsMap; DoorsMap doorsMap; QDomElement doorE = domDocument.documentElement().firstChildElement("door"); while (!doorE.isNull()) { Enki::SlidingDoor *door = new Enki::SlidingDoor( Enki::Point( doorE.attribute("closedX").toDouble(), doorE.attribute("closedY").toDouble() ), Enki::Point( doorE.attribute("openedX").toDouble(), doorE.attribute("openedY").toDouble() ), Enki::Point( doorE.attribute("l1").toDouble(), doorE.attribute("l2").toDouble() ), doorE.attribute("h").toDouble(), doorE.attribute("moveDuration").toDouble() ); if (!colorsMap.contains(doorE.attribute("color"))) std::cerr << "Warning, door color " << doorE.attribute("color").toStdString() << " undefined\n"; else door->setColor(colorsMap[doorE.attribute("color")]); doorsMap[doorE.attribute("name")] = door; world.addObject(door); doorE = doorE.nextSiblingElement ("door"); } // Scan for activation, and link them with areas and doors QDomElement activationE = domDocument.documentElement().firstChildElement("activation"); while (!activationE.isNull()) { if (areasMap.find(activationE.attribute("area")) == areasMap.end()) { std::cerr << "Warning, area " << activationE.attribute("area").toStdString() << " undefined\n"; activationE = activationE.nextSiblingElement ("activation"); continue; } if (doorsMap.find(activationE.attribute("door")) == doorsMap.end()) { std::cerr << "Warning, door " << activationE.attribute("door").toStdString() << " undefined\n"; activationE = activationE.nextSiblingElement ("activation"); continue; } const Enki::Polygon& area = *areasMap.find(activationE.attribute("area")); Enki::Door* door = *doorsMap.find(activationE.attribute("door")); Enki::DoorButton* activation = new Enki::DoorButton( Enki::Point( activationE.attribute("x").toDouble(), activationE.attribute("y").toDouble() ), Enki::Point( activationE.attribute("l1").toDouble(), activationE.attribute("l2").toDouble() ), area, door ); world.addObject(activation); activationE = activationE.nextSiblingElement ("activation"); } // load all robots in one loop std::map robotTypes { { "thymio2", { "Thymio II", createRobotSingleVMNode } }, { "e-puck", { "E-Puck", createRobotSingleVMNode } }, }; QDomElement robotE = domDocument.documentElement().firstChildElement("robot"); unsigned asebaServerCount(0); while (!robotE.isNull()) { const auto type(robotE.attribute("type", "thymio2")); auto typeIt(robotTypes.find(type.toStdString())); if (typeIt != robotTypes.end()) { // retrieve informations const auto& cppTypeName(typeIt->second.prettyName); const auto qTypeName(QString::fromStdString(cppTypeName)); auto& countOfThisType(typeIt->second.number); const auto qRobotNameRaw(robotE.attribute("name", QString("%1 %2").arg(qTypeName).arg(countOfThisType))); const auto qRobotNameFull(QObject::tr("%2 on %3").arg(qRobotNameRaw).arg(QHostInfo::localHostName())); const auto cppRobotName(qRobotNameFull.toStdString()); const unsigned port(robotE.attribute("port", QString("%1").arg(ASEBA_DEFAULT_PORT+asebaServerCount)).toUInt()); const int16_t nodeId(robotE.attribute("nodeId", "1").toInt()); // create const auto& creator(typeIt->second.factory); #ifdef ZEROCONF_SUPPORT auto robot(creator(zeroconf, port, cppRobotName, cppTypeName, nodeId)); #else // ZEROCONF_SUPPORT auto robot(creator(port, cppRobotName, cppTypeName, nodeId)); #endif // ZEROCONF_SUPPORT asebaServerCount++; countOfThisType++; // setup in the world robot->pos.x = robotE.attribute("x").toDouble(); robot->pos.y = robotE.attribute("y").toDouble(); robot->angle = robotE.attribute("angle").toDouble(); world.addObject(robot); // log viewer.log(app.tr("New robot %0 of type %1 on port %2").arg(qRobotNameRaw).arg(qTypeName).arg(port), Qt::white); } else viewer.log("Error, unknown robot type " + type, Qt::red); robotE = robotE.nextSiblingElement ("robot"); } // Scan for external processes QList processes; QDomElement procssE(domDocument.documentElement().firstChildElement("process")); while (!procssE.isNull()) { QString command(procssE.attribute("command")); // create process processes.push_back(new QProcess()); processes.back()->setProcessChannelMode(QProcess::MergedChannels); processes.back()->setWorkingDirectory(QFileInfo(sceneFileName).canonicalPath()); // make sure it is killed when we close the window QObject::connect(processes.back(), SIGNAL(started()), &viewer, SLOT(processStarted())); QObject::connect(processes.back(), SIGNAL(error(QProcess::ProcessError)), &viewer, SLOT(processError(QProcess::ProcessError))); QObject::connect(processes.back(), SIGNAL(readyReadStandardOutput()), &viewer, SLOT(processReadyRead())); QObject::connect(processes.back(), SIGNAL(finished(int, QProcess::ExitStatus)), &viewer, SLOT(processFinished(int, QProcess::ExitStatus))); // check whether it is a relative command bool isRelative(false); if (!command.isEmpty() && command[0] == ':') { isRelative = true; command = command.mid(1); } // process the command into its components QStringList args(command.split(" ", QString::SkipEmptyParts)); if (args.size() == 0) { viewer.log(app.tr("Missing program in command"), Qt::red); } else { const QString program(QDir::toNativeSeparators(args[0])); args.pop_front(); if (isRelative) processes.back()->start(QCoreApplication::applicationDirPath() + QDir::separator() + program, args, QIODevice::ReadOnly); else processes.back()->start(program, args, QIODevice::ReadOnly); } procssE = procssE.nextSiblingElement("process"); } // Show and run viewer.setWindowTitle(app.tr("Aseba Playground - Simulate your robots!")); viewer.show(); // If D-Bus is used, register the viewer object #ifdef HAVE_DBUS new Enki::EnkiWorldInterface(&viewer); QDBusConnection::sessionBus().registerObject("/world", &viewer); QDBusConnection::sessionBus().registerService("ch.epfl.mobots.AsebaPlayground"); #endif // HAVE_DBUS // Run the application const int exitValue(app.exec()); // Stop and delete ongoing processes foreach(QProcess*process,processes) { process->terminate(); if (!process->waitForFinished(1000)) process->kill(); delete process; } return exitValue; } aseba-1.6.0/targets/playground/robots/000077500000000000000000000000001322771007300177405ustar00rootroot00000000000000aseba-1.6.0/targets/playground/robots/e-puck/000077500000000000000000000000001322771007300211245ustar00rootroot00000000000000aseba-1.6.0/targets/playground/robots/e-puck/EPuck-descriptions.c000066400000000000000000000035221322771007300250050ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../../../vm/natives.h" #include "../../../../common/productids.h" AsebaVMDescription PlaygroundEPuckVMDescription = { "e-puck ", { { 1, "id" }, // Do not touch it { 1, "source" }, // nor this one { 32, "args" }, // neither this one { 1, ASEBA_PID_VAR_NAME }, { 1, "speed.left" }, { 1, "speed.right" }, { 1, "color.red" }, { 1, "color.green" }, { 1, "color.blue" }, { 8, "prox" }, { 60, "cam.red" }, { 60, "cam.green" }, { 60, "cam.blue" }, { 1, "energy" }, { 0, NULL } } }; AsebaNativeFunctionDescription PlaygroundEPuckNativeDescription_energysend = { "energy.send", "send energy to pool", { { 1, "amount" }, { 0, 0 } } }; AsebaNativeFunctionDescription PlaygroundEPuckNativeDescription_energyreceive = { "energy.receive", "receive energy from pool", { { 1, "amount" }, { 0, 0 } } }; AsebaNativeFunctionDescription PlaygroundEPuckNativeDescription_energyamount = { "energy.amount", "get the amount of energy available in pool", { { 1, "amount" }, { 0, 0 } } }; aseba-1.6.0/targets/playground/robots/e-puck/EPuck.cpp000066400000000000000000000205031322771007300226370ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "EPuck.h" #include "../../Parameters.h" #include "../../PlaygroundViewer.h" #include "../../../../common/productids.h" #include "../../../../common/utils/utils.h" // Native functions // specific to this robot, and their descriptions (in the companion C file) using namespace Enki; unsigned Enki::energyPool = INITIAL_POOL_ENERGY; extern "C" void PlaygroundEPuckNative_energysend(AsebaVMState *vm) { int index = AsebaNativePopArg(vm); AsebaFeedableEPuck* epuck(getEnkiObject(vm)); if (epuck) { const uint16_t amount = vm->variables[index]; unsigned toSend = std::min((unsigned)amount, (unsigned)epuck->energy); energyPool += toSend; epuck->energy -= toSend; } } extern "C" AsebaNativeFunctionDescription PlaygroundEPuckNativeDescription_energysend; extern "C" void PlaygroundEPuckNative_energyreceive(AsebaVMState *vm) { int index = AsebaNativePopArg(vm); AsebaFeedableEPuck* epuck(getEnkiObject(vm)); if (epuck) { uint16_t amount = vm->variables[index]; unsigned toReceive = std::min((unsigned)amount, energyPool); energyPool -= toReceive; epuck->energy += toReceive; } } extern "C" AsebaNativeFunctionDescription PlaygroundEPuckNativeDescription_energyreceive; extern "C" void PlaygroundEPuckNative_energyamount(AsebaVMState *vm) { int index = AsebaNativePopArg(vm); vm->variables[index] = energyPool; } extern "C" AsebaNativeFunctionDescription PlaygroundEPuckNativeDescription_energyamount; // objects in Enki namespace Enki { using namespace Aseba; // EPuckFeeding EPuckFeeding::EPuckFeeding(Robot *owner) : energy(EPUCK_FEEDER_INITIAL_ENERGY) { r = EPUCK_FEEDER_RANGE; this->owner = owner; } void EPuckFeeding::objectStep(double dt, World *w, PhysicalObject *po) { FeedableEPuck *epuck = dynamic_cast(po); if (epuck && energy > 0) { double dEnergy = dt * EPUCK_FEEDER_D_ENERGY; epuck->energy += dEnergy; energy -= dEnergy; if (energy < EPUCK_FEEDER_THRESHOLD_HIDE) owner->setColor(EPUCK_FEEDER_COLOR_INACTIVE); } } void EPuckFeeding::finalize(double dt, World *w) { if ((energy < EPUCK_FEEDER_THRESHOLD_SHOW) && (energy+dt >= EPUCK_FEEDER_THRESHOLD_SHOW)) owner->setColor(EPUCK_FEEDER_COLOR_ACTIVE); energy += EPUCK_FEEDER_RECHARGE_RATE * dt; if (energy > EPUCK_FEEDER_MAX_ENERGY) energy = EPUCK_FEEDER_MAX_ENERGY; } // EPuckFeeder EPuckFeeder::EPuckFeeder() : feeding(this) { setRectangular(3.2, 3.2, EPUCK_FEEDER_HEIGHT, -1); addLocalInteraction(&feeding); setColor(EPUCK_FEEDER_COLOR_ACTIVE); } // ScoreModifier void ScoreModifier::step(double dt, World *w) { double x = owner->pos.x; double y = owner->pos.y; if ((x > 32) && (x < 110.4-32) && (y > 67.2) && (y < 110.4-32)) polymorphic_downcast(owner)->score += dt * SCORE_MODIFIER_COEFFICIENT; } // FeedableEPuck FeedableEPuck::FeedableEPuck() : EPuck(CAPABILITY_BASIC_SENSORS | CAPABILITY_CAMERA), energy(EPUCK_INITIAL_ENERGY), score(0), diedAnimation(-1), scoreModifier(this) { addGlobalInteraction(&scoreModifier); } void FeedableEPuck::controlStep(double dt) { EPuck::controlStep(dt); energy -= dt * EPUCK_ENERGY_CONSUMPTION_RATE; score += dt; if (energy < 0) { score /= 2; energy = EPUCK_INITIAL_ENERGY; diedAnimation = DEATH_ANIMATION_STEPS; } else if (diedAnimation >= 0) diedAnimation--; } // AsebaFeedableEPuck AsebaFeedableEPuck::AsebaFeedableEPuck(std::string robotName, int16_t nodeId): Aseba::SingleVMNodeGlue(std::move(robotName), nodeId) { bytecode.resize(1024); vm.bytecode = &bytecode[0]; vm.bytecodeSize = bytecode.size(); stack.resize(32); vm.stack = &stack[0]; vm.stackSize = stack.size(); vm.variables = reinterpret_cast(&variables); vm.variablesSize = sizeof(variables) / sizeof(int16_t); AsebaVMInit(&vm); variables.id = vm.nodeId; variables.productId = ASEBA_PID_PLAYGROUND_EPUCK; } void AsebaFeedableEPuck::controlStep(double dt) { // get physical variables variables.prox[0] = static_cast(infraredSensor0.getValue()); variables.prox[1] = static_cast(infraredSensor1.getValue()); variables.prox[2] = static_cast(infraredSensor2.getValue()); variables.prox[3] = static_cast(infraredSensor3.getValue()); variables.prox[4] = static_cast(infraredSensor4.getValue()); variables.prox[5] = static_cast(infraredSensor5.getValue()); variables.prox[6] = static_cast(infraredSensor6.getValue()); variables.prox[7] = static_cast(infraredSensor7.getValue()); for (size_t i = 0; i < 60; i++) { variables.camR[i] = static_cast(camera.image[i].r() * 100.); variables.camG[i] = static_cast(camera.image[i].g() * 100.); variables.camB[i] = static_cast(camera.image[i].b() * 100.); } variables.energy = static_cast(energy); // process external inputs (incoming event from network or environment, etc.) externalInputStep(dt); // FIXME: running the VM should be done in a soft timer to be independant of time step // run VM AsebaVMRun(&vm, 1000); // reschedule a IR sensors and camera events if we are not in step by step if (AsebaMaskIsClear(vm.flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vm.flags, ASEBA_VM_EVENT_ACTIVE_MASK)) { AsebaVMSetupEvent(&vm, ASEBA_EVENT_LOCAL_EVENTS_START); AsebaVMRun(&vm, 1000); AsebaVMSetupEvent(&vm, ASEBA_EVENT_LOCAL_EVENTS_START-1); AsebaVMRun(&vm, 1000); } // set physical variables leftSpeed = (double)(variables.speedL * 12.8) / 1000.; rightSpeed = (double)(variables.speedR * 12.8) / 1000.; setColor(Color( Aseba::clamp(variables.colorR*0.01, 0, 1), Aseba::clamp(variables.colorG*0.01, 0, 1), Aseba::clamp(variables.colorB*0.01, 0, 1) )); // set motion FeedableEPuck::controlStep(dt); } // robot description extern "C" AsebaVMDescription PlaygroundEPuckVMDescription; // really ugly and *thread unsafe* hack to have e-puck with different names static char ePuckName[] = "e-puck0"; const AsebaVMDescription* AsebaFeedableEPuck::getDescription() const { const unsigned id(Aseba::clamp(vm.nodeId-1,0,9)); ePuckName[6] = '0' + id; PlaygroundEPuckVMDescription.name = ePuckName; return &PlaygroundEPuckVMDescription; } // local events, static so only visible in this file static const AsebaLocalEventDescription localEvents[] = { { "ir_sensors", "IR sensors updated" }, {"camera", "camera updated"}, { nullptr, nullptr } }; const AsebaLocalEventDescription * AsebaFeedableEPuck::getLocalEventsDescriptions() const { return localEvents; } // array of descriptions of native functions, static so only visible in this file static const AsebaNativeFunctionDescription* nativeFunctionsDescriptions[] = { ASEBA_NATIVES_STD_DESCRIPTIONS, &PlaygroundEPuckNativeDescription_energysend, &PlaygroundEPuckNativeDescription_energyreceive, &PlaygroundEPuckNativeDescription_energyamount, 0 }; const AsebaNativeFunctionDescription * const * AsebaFeedableEPuck::getNativeFunctionsDescriptions() const { return nativeFunctionsDescriptions; } // array of native functions, static so only visible in this file static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, PlaygroundEPuckNative_energysend, PlaygroundEPuckNative_energyreceive, PlaygroundEPuckNative_energyamount }; void AsebaFeedableEPuck::callNativeFunction(uint16_t id) { nativeFunctions[id](&vm); } } // Enki aseba-1.6.0/targets/playground/robots/e-puck/EPuck.h000066400000000000000000000057511322771007300223140ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_EPUCK_H #define __PLAYGROUND_EPUCK_H #include "../../AsebaGlue.h" #include #include namespace Enki { // FIXME: this is ugly and should be attached to Enki::World after ECS refactoring extern unsigned energyPool; class EPuckFeeding : public LocalInteraction { public: double energy; public : EPuckFeeding(Robot *owner); virtual void objectStep(double dt, World *w, PhysicalObject *po); virtual void finalize(double dt, World *w); }; class EPuckFeeder : public Robot { public: EPuckFeeding feeding; public: EPuckFeeder(); }; class ScoreModifier: public GlobalInteraction { public: ScoreModifier(Robot* owner) : GlobalInteraction(owner) {} virtual void step(double dt, World *w); }; class FeedableEPuck: public EPuck { public: double energy; double score; int diedAnimation; ScoreModifier scoreModifier; public: FeedableEPuck(); virtual void controlStep(double dt); }; class AsebaFeedableEPuck : public FeedableEPuck, public Aseba::SingleVMNodeGlue { public: struct Variables { int16_t id; int16_t source; int16_t args[32]; int16_t productId; int16_t speedL; // left motor speed int16_t speedR; // right motor speed int16_t colorR; // body red [0..100] % int16_t colorG; // body green [0..100] % int16_t colorB; // body blue [0..100] % int16_t prox[8]; // int16_t camR[60]; // camera red (left, middle, right) [0..100] % int16_t camG[60]; // camera green (left, middle, right) [0..100] % int16_t camB[60]; // camera blue (left, middle, right) [0..100] % int16_t energy; int16_t user[256]; } variables; public: AsebaFeedableEPuck(std::string robotName, int16_t nodeId); // from FeedableEPuck virtual void controlStep(double dt); // from AbstractNodeGlue virtual const AsebaVMDescription* getDescription() const; virtual const AsebaLocalEventDescription * getLocalEventsDescriptions() const; virtual const AsebaNativeFunctionDescription * const * getNativeFunctionsDescriptions() const; virtual void callNativeFunction(uint16_t id); }; } // Enki #endif // __PLAYGROUND_EPUCK_H aseba-1.6.0/targets/playground/robots/thymio2/000077500000000000000000000000001322771007300213335ustar00rootroot00000000000000aseba-1.6.0/targets/playground/robots/thymio2/Thymio2-descriptions.c000066400000000000000000000135041322771007300255410ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../../../vm/natives.h" #include "../../../../common/productids.h" // variables memory layout AsebaVMDescription PlaygroundThymio2VMDescription = { "thymio-II", { { 1, "_id" }, { 1, "event.source" }, { 32,"event.args" }, { 1, ASEBA_PID_VAR_NAME }, { 2, "_fwversion"}, { 1, "button.backward"}, { 1, "button.left"}, { 1, "button.center"}, { 1, "button.forward"}, { 1, "button.right"}, { 7, "prox.horizontal"}, { 1, "prox.comm.rx"}, { 1, "prox.comm.tx"}, { 2, "prox.ground.ambiant"}, { 2, "prox.ground.reflected"}, { 2, "prox.ground.delta"}, { 1, "motor.left.target"}, { 1, "motor.right.target"}, { 1, "motor.left.speed"}, { 1, "motor.right.speed"}, { 1, "motor.left.pwm"}, { 1, "motor.right.pwm"}, { 3, "acc"}, { 1, "temperature"}, { 1, "rc5.address"}, { 1, "rc5.command"}, { 1, "mic.intensity"}, { 1, "mic.threshold"}, { 2, "timer.period"}, { 1, "sd.present"}, { 0, NULL } } }; // native functions // sound AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_record = { "sound.record", "Start recording of rN.wav", { {1,"N"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_play = { "sound.play", "Start playback of pN.wav", { {1,"N"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_replay = { "sound.replay", "Start playback of rN.wav", { {1,"N"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_duration = { "sound.duration", "Give duration in 1/10s of rN.wav", { {1,"N"}, {1,"duration"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_system = { "sound.system", "Start playback of system sound N", { {1,"N"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_freq = { "sound.freq", "Play frequency", { {1,"Hz"}, {1,"ds"}, {0,0}, } }; #define WAVEFORM_SIZE 142 AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_wave = { "sound.wave", "Set the primary wave of the tone generator", { {WAVEFORM_SIZE, "wave"}, {0,0}, } }; // leds AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_circle = { "leds.circle", "Set circular ring leds", { {1,"led 0"}, {1,"led 1"}, {1,"led 2"}, {1,"led 3"}, {1,"led 4"}, {1,"led 5"}, {1,"led 6"}, {1,"led 7"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_top = { "leds.top", "Set RGB top led", { {1,"red"}, {1,"green"}, {1,"blue"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_bottom_right = { "leds.bottom.right", "Set RGB botom right led", { {1,"red"}, {1,"green"}, {1,"blue"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_bottom_left = { "leds.bottom.left", "Set RGB botom left led", { {1,"red"}, {1,"green"}, {1,"blue"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_buttons = { "leds.buttons", "Set buttons leds", { {1,"led 0"}, {1,"led 1"}, {1,"led 2"}, {1,"led 3"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_prox_h = { "leds.prox.h", "Set horizontal proximity leds", { {1,"led 0"}, {1,"led 1"}, {1,"led 2"}, {1,"led 3"}, {1,"led 4"}, {1,"led 5"}, {1,"led 6"}, {1,"led 7"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_prox_v = { "leds.prox.v", "Set vertical proximity leds", { {1,"led 0"}, {1,"led 1"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_rc = { "leds.rc", "Set rc led", { {1,"led"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_sound = { "leds.sound", "Set sound led", { {1,"led"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_led_temperature = { "leds.temperature", "Set ntc led", { {1,"red"}, {1,"blue"}, {0,0}, } }; // comm AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_prox_comm_enable = { "prox.comm.enable", "Enable or disable the proximity communication", { {1, "state"}, {0,0}, } }; // sd AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_open = { "sd.open", "Open a file on the SD card", { {1, "number"}, {1, "status"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_write = { "sd.write", "Write data to the opened file", { {-1, "data"}, {1, "written"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_read = { "sd.read", "Read data from the opened file", { {-1, "data"}, {1, "read"}, {0,0}, } }; AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_seek = { "sd.seek", "Seek the opened file", { {1, "position"}, {1, "status"}, {0,0}, } }; aseba-1.6.0/targets/playground/robots/thymio2/Thymio2-natives.cpp000066400000000000000000000305651322771007300250520ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "Thymio2-natives.h" #include "Thymio2.h" #include "../../EnkiGlue.h" #include "../../../../common/consts.h" using namespace Enki; // utility functions static int16_t clampValueTo32(int16_t v) { if (v > 32) return 32; else if (v < 0) return 32; else return v; } void notifyMissingFeature() { SEND_NOTIFICATION(DISPLAY_INFO, "missing Thymio2 feature"); } void logNativeFromThymio2(AsebaThymio2& thymio2, unsigned id, std::vector&& args) { if (thymio2.logThymioNativeCalls) thymio2.thymioNativeCallLog.emplace_back(AsebaThymio2::NativeCallLogEntry(id, std::move(args))); } void logNativeFromVM(AsebaVMState *vm, unsigned id, std::vector&& args) { AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) logNativeFromThymio2(*thymio2, id, std::move(args)); } // simulated native functions // sound extern "C" void PlaygroundThymio2Native_sound_record(AsebaVMState *vm) { const int16_t number(vm->variables[AsebaNativePopArg(vm)]); logNativeFromVM(vm, 0, { number }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sound_play(AsebaVMState *vm) { const int16_t number(vm->variables[AsebaNativePopArg(vm)]); logNativeFromVM(vm, 1, { number }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sound_replay(AsebaVMState *vm) { const int16_t number(vm->variables[AsebaNativePopArg(vm)]); logNativeFromVM(vm, 2, { number }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sound_duration(AsebaVMState *vm) { const int16_t number(vm->variables[AsebaNativePopArg(vm)]); const uint16_t durationAddr(AsebaNativePopArg(vm)); vm->variables[durationAddr] = 0; logNativeFromVM(vm, 21, { number, static_cast(durationAddr) }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sound_system(AsebaVMState *vm) { const int16_t number(vm->variables[AsebaNativePopArg(vm)]); logNativeFromVM(vm, 3, { number }); if (number != -1) notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sound_freq(AsebaVMState * vm) { const int16_t freq(vm->variables[AsebaNativePopArg(vm)]); const int16_t time(vm->variables[AsebaNativePopArg(vm)]); logNativeFromVM(vm, 8, { freq, time }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sound_wave(AsebaVMState * vm) { const uint16_t waveAddr(AsebaNativePopArg(vm)); // Note: if necessary, copy data of the wave form to the log logNativeFromVM(vm, 15, { static_cast(waveAddr) }); notifyMissingFeature(); } // leds extern "C" void PlaygroundThymio2Native_leds_circle(AsebaVMState *vm) { const int16_t l0(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l1(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l2(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l3(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l4(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l5(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l6(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l7(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { thymio2->setLedIntensity(Thymio2::RING_0, l0/32.); thymio2->setLedIntensity(Thymio2::RING_1, l1/32.); thymio2->setLedIntensity(Thymio2::RING_2, l2/32.); thymio2->setLedIntensity(Thymio2::RING_3, l3/32.); thymio2->setLedIntensity(Thymio2::RING_4, l4/32.); thymio2->setLedIntensity(Thymio2::RING_5, l5/32.); thymio2->setLedIntensity(Thymio2::RING_6, l6/32.); thymio2->setLedIntensity(Thymio2::RING_7, l7/32.); logNativeFromThymio2(*thymio2, 4, { l0, l1, l2, l3, l4, l5, l6, l7 }); } } extern "C" void PlaygroundThymio2Native_leds_top(AsebaVMState *vm) { const int16_t r(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t g(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t b(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t a(std::max(std::max(r, g), b)); const double param(1./std::max(std::max(r, g),std::max((int16_t)1,b))); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { thymio2->setLedColor(Thymio2::TOP, Color(param*r,param*g,param*b,a/32.)); logNativeFromThymio2(*thymio2, 5, { r, g, b }); } } extern "C" void PlaygroundThymio2Native_leds_bottom_right(AsebaVMState *vm) { const int16_t r(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t g(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t b(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t a(std::max(std::max(r, g), b)); const double param(1./std::max(std::max(r, g),std::max((int16_t)1,b))); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { thymio2->setLedColor(Thymio2::BOTTOM_RIGHT, Color(param*r,param*g,param*b,a/32.)); logNativeFromThymio2(*thymio2, 6, { r, g, b }); } } extern "C" void PlaygroundThymio2Native_leds_bottom_left(AsebaVMState *vm) { const int16_t r(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t g(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t b(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t a(std::max(std::max(r, g), b)); const double param(1./std::max(std::max(r, g),std::max((int16_t)1,b))); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { thymio2->setLedColor(Thymio2::BOTTOM_LEFT, Color(param*r,param*g,param*b,a/32.)); logNativeFromThymio2(*thymio2, 7, { r, g, b }); } } extern "C" void PlaygroundThymio2Native_leds_buttons(AsebaVMState *vm) { const int16_t l0(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l1(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l2(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l3(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { thymio2->setLedIntensity(Thymio2::BUTTON_UP, l0/32.); thymio2->setLedIntensity(Thymio2::BUTTON_RIGHT, l1/32.); thymio2->setLedIntensity(Thymio2::BUTTON_DOWN, l2/32.); thymio2->setLedIntensity(Thymio2::BUTTON_LEFT, l3/32.); logNativeFromThymio2(*thymio2, 9, { l0, l1, l2, l3 }); } } extern "C" void PlaygroundThymio2Native_leds_prox_h(AsebaVMState *vm) { const int16_t l0(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l1(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l2(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l3(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l4(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l5(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l6(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l7(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { thymio2->setLedIntensity(Thymio2::IR_FRONT_0, l0/32.); thymio2->setLedIntensity(Thymio2::IR_FRONT_1, l1/32.); thymio2->setLedIntensity(Thymio2::IR_FRONT_2, l2/32.); thymio2->setLedIntensity(Thymio2::IR_FRONT_3, l3/32.); thymio2->setLedIntensity(Thymio2::IR_FRONT_4, l4/32.); thymio2->setLedIntensity(Thymio2::IR_FRONT_5, l5/32.); thymio2->setLedIntensity(Thymio2::IR_BACK_0, l6/32.); thymio2->setLedIntensity(Thymio2::IR_BACK_1, l7/32.); logNativeFromThymio2(*thymio2, 10, { l0, l1, l2, l3, l4, l5, l6, l7 }); } } extern "C" void PlaygroundThymio2Native_leds_prox_v(AsebaVMState *vm) { const int16_t l0(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t l1(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); logNativeFromVM(vm, 11, { l0, l1 }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_leds_rc(AsebaVMState *vm) { const int16_t l0(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); logNativeFromVM(vm, 12, { l0 }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_leds_sound(AsebaVMState *vm) { const int16_t l0(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); logNativeFromVM(vm, 13, { l0 }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_leds_temperature(AsebaVMState *vm) { const int16_t r(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); const int16_t b(clampValueTo32(vm->variables[AsebaNativePopArg(vm)])); logNativeFromVM(vm, 14, { r, b }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_prox_comm_enable(AsebaVMState *vm) { const int16_t enable(vm->variables[AsebaNativePopArg(vm)]); logNativeFromVM(vm, 16, { enable }); notifyMissingFeature(); } extern "C" void PlaygroundThymio2Native_sd_open(AsebaVMState *vm) { const int16_t number(vm->variables[AsebaNativePopArg(vm)]); const uint16_t statusAddr(AsebaNativePopArg(vm)); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { int16_t result(0); // number must be [0:32767], or -1 if (number < -1) { result = -1; } // try to open else if (!thymio2->openSDCardFile(number)) { result = -1; } vm->variables[statusAddr] = result; logNativeFromThymio2(*thymio2, 17, { number, result }); } } extern "C" void PlaygroundThymio2Native_sd_write(AsebaVMState *vm) { const uint16_t dataAddr(AsebaNativePopArg(vm)); const uint16_t statusAddr(AsebaNativePopArg(vm)); const uint16_t dataLength(AsebaNativePopArg(vm)); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { int16_t result(0); if (thymio2->sdCardFile) thymio2->sdCardFile.write(reinterpret_cast(&vm->variables[dataAddr]), dataLength*2); if (thymio2->sdCardFile) result = dataLength; // a failed write will report 0. It is unlikely that a partial write occurs, but if so it is not handled properly. vm->variables[statusAddr] = result; // log the data written and the status std::vector data(&vm->variables[dataAddr], &vm->variables[dataAddr+dataLength]); data.push_back(result); logNativeFromThymio2(*thymio2, 18, std::move(data)); } } extern "C" void PlaygroundThymio2Native_sd_read(AsebaVMState *vm) { const uint16_t dataAddr(AsebaNativePopArg(vm)); const uint16_t statusAddr(AsebaNativePopArg(vm)); const uint16_t dataLength(AsebaNativePopArg(vm)); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { int16_t result(0); if (thymio2->sdCardFile) thymio2->sdCardFile.read(reinterpret_cast(&vm->variables[dataAddr]), dataLength*2); if (thymio2->sdCardFile) result = dataLength; else result = thymio2->sdCardFile.gcount() / 2; vm->variables[statusAddr] = result; // log the data read and the status std::vector data(&vm->variables[dataAddr], &vm->variables[dataAddr+dataLength]); data.push_back(result); logNativeFromThymio2(*thymio2, 19, std::move(data)); } } extern "C" void PlaygroundThymio2Native_sd_seek(AsebaVMState *vm) { const int16_t seek(vm->variables[AsebaNativePopArg(vm)]); const int16_t statusAddr(AsebaNativePopArg(vm)); AsebaThymio2* thymio2(getEnkiObject(vm)); if (thymio2) { int16_t result(0); // if bad, try to close and re-open if (!thymio2->sdCardFile) thymio2->openSDCardFile(thymio2->sdCardFileNumber); // if good, try to seek if (thymio2->sdCardFile) { thymio2->sdCardFile.seekp(seek); thymio2->sdCardFile.seekg(seek); } if (!thymio2->sdCardFile) result = -1; vm->variables[statusAddr] = result; logNativeFromThymio2(*thymio2, 20, { seek, result } ); } } aseba-1.6.0/targets/playground/robots/thymio2/Thymio2-natives.h000066400000000000000000000152341322771007300245130ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_THYMIO2_NATIVES_H #define __PLAYGROUND_THYMIO2_NATIVES_H #include "../../../../vm/vm.h" #include "../../../../vm/natives.h" // sound extern "C" void PlaygroundThymio2Native_sound_record(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_record; extern "C" void PlaygroundThymio2Native_sound_play(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_play; extern "C" void PlaygroundThymio2Native_sound_replay(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_replay; extern "C" void PlaygroundThymio2Native_sound_duration(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_duration; extern "C" void PlaygroundThymio2Native_sound_system(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_system; extern "C" void PlaygroundThymio2Native_sound_freq(AsebaVMState * vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_freq; extern "C" void PlaygroundThymio2Native_sound_wave(AsebaVMState * vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sound_wave; // leds extern "C" void PlaygroundThymio2Native_leds_circle(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_circle; extern "C" void PlaygroundThymio2Native_leds_top(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_top; extern "C" void PlaygroundThymio2Native_leds_bottom_right(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_bottom_right; extern "C" void PlaygroundThymio2Native_leds_bottom_left(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_bottom_left; extern "C" void PlaygroundThymio2Native_leds_buttons(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_buttons; extern "C" void PlaygroundThymio2Native_leds_prox_h(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_prox_h; extern "C" void PlaygroundThymio2Native_leds_prox_v(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_prox_v; extern "C" void PlaygroundThymio2Native_leds_rc(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_rc; extern "C" void PlaygroundThymio2Native_leds_sound(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_leds_sound; extern "C" void PlaygroundThymio2Native_leds_temperature(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_led_temperature; // comm extern "C" void PlaygroundThymio2Native_prox_comm_enable(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_prox_comm_enable; // sd extern "C" void PlaygroundThymio2Native_sd_open(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_open; extern "C" void PlaygroundThymio2Native_sd_write(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_write; extern "C" void PlaygroundThymio2Native_sd_read(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_read; extern "C" void PlaygroundThymio2Native_sd_seek(AsebaVMState *vm); extern "C" AsebaNativeFunctionDescription PlaygroundThymio2NativeDescription_sd_seek; // defines listing all native functions and their descriptions #define PLAYGROUND_THYMIO2_NATIVES_DESCRIPTIONS \ &PlaygroundThymio2NativeDescription_sound_record, \ &PlaygroundThymio2NativeDescription_sound_play, \ &PlaygroundThymio2NativeDescription_sound_replay, \ &PlaygroundThymio2NativeDescription_sound_system, \ &PlaygroundThymio2NativeDescription_leds_circle, \ &PlaygroundThymio2NativeDescription_leds_top, \ &PlaygroundThymio2NativeDescription_leds_bottom_right, \ &PlaygroundThymio2NativeDescription_leds_bottom_left, \ &PlaygroundThymio2NativeDescription_sound_freq, \ &PlaygroundThymio2NativeDescription_leds_buttons, \ &PlaygroundThymio2NativeDescription_leds_prox_h, \ &PlaygroundThymio2NativeDescription_leds_prox_v, \ &PlaygroundThymio2NativeDescription_leds_rc, \ &PlaygroundThymio2NativeDescription_leds_sound, \ &PlaygroundThymio2NativeDescription_led_temperature, \ &PlaygroundThymio2NativeDescription_sound_wave, \ &PlaygroundThymio2NativeDescription_prox_comm_enable, \ &PlaygroundThymio2NativeDescription_sd_open, \ &PlaygroundThymio2NativeDescription_sd_write, \ &PlaygroundThymio2NativeDescription_sd_read, \ &PlaygroundThymio2NativeDescription_sd_seek, \ &PlaygroundThymio2NativeDescription_sound_duration #define PLAYGROUND_THYMIO2_NATIVES_FUNCTIONS \ PlaygroundThymio2Native_sound_record, \ PlaygroundThymio2Native_sound_play, \ PlaygroundThymio2Native_sound_replay, \ PlaygroundThymio2Native_sound_system, \ PlaygroundThymio2Native_leds_circle, \ PlaygroundThymio2Native_leds_top, \ PlaygroundThymio2Native_leds_bottom_right, \ PlaygroundThymio2Native_leds_bottom_left, \ PlaygroundThymio2Native_sound_freq, \ PlaygroundThymio2Native_leds_buttons, \ PlaygroundThymio2Native_leds_prox_h, \ PlaygroundThymio2Native_leds_prox_v, \ PlaygroundThymio2Native_leds_rc, \ PlaygroundThymio2Native_leds_sound, \ PlaygroundThymio2Native_leds_temperature, \ PlaygroundThymio2Native_sound_wave, \ PlaygroundThymio2Native_prox_comm_enable, \ PlaygroundThymio2Native_sd_open, \ PlaygroundThymio2Native_sd_write, \ PlaygroundThymio2Native_sd_read, \ PlaygroundThymio2Native_sd_seek, \ PlaygroundThymio2Native_sound_duration #endif // __PLAYGROUND_THYMIO2_NATIVES_H aseba-1.6.0/targets/playground/robots/thymio2/Thymio2.cpp000066400000000000000000000247701322771007300234040ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "Thymio2.h" #include "Thymio2-natives.h" #include "../../Parameters.h" #include "../../EnkiGlue.h" #include "../../../../common/productids.h" #include "../../../../common/utils/utils.h" namespace Enki { using namespace std; using namespace Aseba; AsebaThymio2::AsebaThymio2(std::string robotName, int16_t nodeId): SingleVMNodeGlue(std::move(robotName), nodeId), sdCardFileNumber(-1), timer0(bind(&AsebaThymio2::timer0Timeout, this), 0), timer1(bind(&AsebaThymio2::timer1Timeout, this), 0), timer100Hz(bind(&AsebaThymio2::timer100HzTimeout, this), 0.01), counter100Hz(0), lastStepCollided(false), thisStepCollided(false) { oldTimerPeriod[0] = 0; oldTimerPeriod[1] = 0; bytecode.resize(766+768); vm.bytecode = &bytecode[0]; vm.bytecodeSize = bytecode.size(); stack.resize(32); vm.stack = &stack[0]; vm.stackSize = stack.size(); vm.variables = reinterpret_cast(&variables); vm.variablesSize = sizeof(variables) / sizeof(int16_t); AsebaVMInit(&vm); variables.id = vm.nodeId; variables.fwversion[0] = 11; // this simulated Thymio complies with firmware 11 public API variables.fwversion[1] = 0; variables.productId = ASEBA_PID_THYMIO2; variables.temperature = 220; variables.sdPresent = openSDCardFile(0) ? 1 : 0; if (variables.sdPresent) openSDCardFile(-1); } void AsebaThymio2::collisionEvent(PhysicalObject *o) { thisStepCollided = true; } inline double distance(double x1, double y1, double z1, double x2, double y2, double z2) { return sqrt((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) + (z1-z2)*(z1-z2)); } void AsebaThymio2::mousePressEvent(unsigned button, double pointX, double pointY, double pointZ) { if (button == MOUSE_BUTTON_LEFT) { if (distance(pointX, pointY, pointZ, 4.8, 0, 5.3) < 0.55) { variables.buttonCenter = 1; execLocalEvent(EVENT_B_CENTER); } else if (distance(pointX, pointY, pointZ, 6.3, 0, 5.3) < 0.65) { variables.buttonForward = 1; execLocalEvent(EVENT_B_FORWARD); } else if (distance(pointX, pointY, pointZ, 3.3, 0, 5.3) < 0.65) { variables.buttonBackward = 1; execLocalEvent(EVENT_B_BACKWARD); } else if (distance(pointX, pointY, pointZ, 4.8, -1.5, 5.3) < 0.65) { variables.buttonRight = 1; execLocalEvent(EVENT_B_RIGHT); } else if (distance(pointX, pointY, pointZ, 4.8, 1.5, 5.3) < 0.65) { variables.buttonLeft = 1; execLocalEvent(EVENT_B_LEFT); } else { // not a putton, tap event execLocalEvent(EVENT_TAP); } } } void AsebaThymio2::mouseReleaseEvent(unsigned button) { if (button == MOUSE_BUTTON_LEFT) { if (variables.buttonCenter == 1) { variables.buttonCenter = 0; execLocalEvent(EVENT_B_CENTER); } if (variables.buttonForward == 1) { variables.buttonForward = 0; execLocalEvent(EVENT_B_FORWARD); } if (variables.buttonBackward == 1) { variables.buttonBackward = 0; execLocalEvent(EVENT_B_BACKWARD); } if (variables.buttonRight == 1) { variables.buttonRight = 0; execLocalEvent(EVENT_B_RIGHT); } if (variables.buttonLeft == 1) { variables.buttonLeft = 0; execLocalEvent(EVENT_B_LEFT); } } } void AsebaThymio2::controlStep(double dt) { // get physical variables variables.proxHorizontal[0] = getSaturatedProxHorizontal(0); variables.proxHorizontal[1] = getSaturatedProxHorizontal(1); variables.proxHorizontal[2] = getSaturatedProxHorizontal(2); variables.proxHorizontal[3] = getSaturatedProxHorizontal(3); variables.proxHorizontal[4] = getSaturatedProxHorizontal(4); variables.proxHorizontal[5] = getSaturatedProxHorizontal(5); variables.proxHorizontal[6] = getSaturatedProxHorizontal(6); variables.proxGroundReflected[0] = static_cast(groundSensor0.getValue()); variables.proxGroundReflected[1] = static_cast(groundSensor1.getValue()); variables.proxGroundDelta[0] = static_cast(groundSensor0.getValue()); variables.proxGroundDelta[1] = static_cast(groundSensor1.getValue()); variables.motorLeftSpeed = leftSpeed * 500. / 16.6; variables.motorRightSpeed = rightSpeed * 500. / 16.6; // run timers timer0.step(dt); timer1.step(dt); timer100Hz.step(dt); // process external inputs (incoming event from network or environment, etc.) externalInputStep(dt); // set physical variables leftSpeed = double(variables.motorLeftTarget) * 16.6 / 500.; rightSpeed = double(variables.motorRightTarget) * 16.6 / 500.; // reset a timer if its period changed if (variables.timerPeriod[0] != oldTimerPeriod[0]) { oldTimerPeriod[0] = variables.timerPeriod[0]; timer0.setPeriod(variables.timerPeriod[0] / 1000.); } if (variables.timerPeriod[1] != oldTimerPeriod[1]) { oldTimerPeriod[1] = variables.timerPeriod[1]; timer1.setPeriod(variables.timerPeriod[1] / 1000.); } // set motion Thymio2::controlStep(dt); // trigger tap event if (thisStepCollided && !lastStepCollided) execLocalEvent(EVENT_TAP); lastStepCollided = thisStepCollided; thisStepCollided = false; } // robot description extern "C" AsebaVMDescription PlaygroundThymio2VMDescription; const AsebaVMDescription* AsebaThymio2::getDescription() const { return &PlaygroundThymio2VMDescription; } // local events, static so only visible in this file static const AsebaLocalEventDescription localEvents[] = { { "button.backward", "Backward button status changed"}, { "button.left", "Left button status changed"}, { "button.center", "Center button status changed"}, { "button.forward", "Forward button status changed"}, { "button.right", "Right button status changed"}, { "buttons", "Buttons values updated"}, { "prox", "Proximity values updated"}, { "prox.comm", "Data received on the proximity communication"}, { "tap", "A tap is detected"}, { "acc", "Accelerometer values updated"}, { "mic", "Fired when microphone intensity is above threshold"}, { "sound.finished", "Fired when the playback of a user initiated sound is finished"}, { "temperature", "Temperature value updated"}, { "rc5", "RC5 message received"}, { "motor", "Motor timer"}, { "timer0", "Timer 0"}, { "timer1", "Timer 1"}, { nullptr, nullptr } }; const AsebaLocalEventDescription * AsebaThymio2::getLocalEventsDescriptions() const { return localEvents; } // array of descriptions of native functions, static so only visible in this file static const AsebaNativeFunctionDescription* nativeFunctionsDescriptions[] = { ASEBA_NATIVES_STD_DESCRIPTIONS, PLAYGROUND_THYMIO2_NATIVES_DESCRIPTIONS, 0 }; const AsebaNativeFunctionDescription * const * AsebaThymio2::getNativeFunctionsDescriptions() const { return nativeFunctionsDescriptions; } // array of native functions, static so only visible in this file static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, PLAYGROUND_THYMIO2_NATIVES_FUNCTIONS }; void AsebaThymio2::callNativeFunction(uint16_t id) { nativeFunctions[id](&vm); } //! Open the virtual SD card file number, if -1, close current one bool AsebaThymio2::openSDCardFile(int number) { // close current file, ignore errors if (sdCardFile.is_open()) { sdCardFile.close(); sdCardFileNumber = -1; } // if we have to open another file if (number >= 0) { // path for the file if (!Enki::simulatorEnvironment) return false; const string fileName(Enki::simulatorEnvironment->getSDFilePath(robotName, unsigned(number))); // try to open file sdCardFile.open(fileName.c_str(), std::ios::in | std::ios::out | std::ios::binary); if (sdCardFile.fail()) { // failed... maybe the file does not exist, try with trunc sdCardFile.open(fileName.c_str(), std::ios::in | std::ios::out | std::ios::binary | std::ios::trunc); } if (sdCardFile.fail()) { // still failed, then it is an error return false; } else { sdCardFileNumber = number; } } return true; } void AsebaThymio2::timer0Timeout() { execLocalEvent(EVENT_TIMER0); } void AsebaThymio2::timer1Timeout() { execLocalEvent(EVENT_TIMER1); } void AsebaThymio2::timer100HzTimeout() { ++counter100Hz; execLocalEvent(EVENT_MOTOR); if (counter100Hz % 5 == 0) execLocalEvent(EVENT_BUTTONS); if (counter100Hz % 10 == 0) execLocalEvent(EVENT_PROX); if (counter100Hz % 6 == 0) execLocalEvent(EVENT_ACC); if (counter100Hz % 100 == 0) execLocalEvent(EVENT_TEMPERATURE); } //! Simulate the behaviour of the Thymio firmware, that is, returning 0 when objects are out of range int16_t AsebaThymio2::getSaturatedProxHorizontal(unsigned i) const { const IRSensor* sensor(nullptr); switch (i) { case 0: sensor = &infraredSensor0; break; case 1: sensor = &infraredSensor1; break; case 2: sensor = &infraredSensor2; break; case 3: sensor = &infraredSensor3; break; case 4: sensor = &infraredSensor4; break; case 5: sensor = &infraredSensor5; break; case 6: sensor = &infraredSensor6; break; default: break; } assert(sensor); double dist(0); for (unsigned j = 0; j < sensor->getRayCount(); ++j) dist += sensor->getRayDist(j); dist /= sensor->getRayCount(); if (dist >= sensor->getRange() - 1e-4) return 0; return static_cast(sensor->getValue()); } //! Execute a local event, killing the execution of the current one if not in step-by-step mode void AsebaThymio2::execLocalEvent(uint16_t number) { // in step-by-step, only setup an event if none is being executed currently if (AsebaMaskIsSet(vm.flags, ASEBA_VM_STEP_BY_STEP_MASK) && AsebaMaskIsSet(vm.flags, ASEBA_VM_EVENT_ACTIVE_MASK)) return; variables.source = vm.nodeId; AsebaVMSetupEvent(&vm, ASEBA_EVENT_LOCAL_EVENTS_START-number); AsebaVMRun(&vm, 1000); } } // Enki aseba-1.6.0/targets/playground/robots/thymio2/Thymio2.h000066400000000000000000000104161322771007300230410ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2013: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __PLAYGROUND_THYMIO2_H #define __PLAYGROUND_THYMIO2_H #include "../../AsebaGlue.h" #include "../../../../common/utils/utils.h" #include #include #include #include namespace Enki { class AsebaThymio2 : public Thymio2, public Aseba::SingleVMNodeGlue { public: enum Thymio2Events { EVENT_B_BACKWARD = 0, EVENT_B_LEFT, EVENT_B_CENTER, EVENT_B_FORWARD, EVENT_B_RIGHT, EVENT_BUTTONS, EVENT_PROX, EVENT_PROX_COMM, EVENT_TAP, EVENT_ACC, EVENT_MIC, EVENT_SOUND_FINISHED, EVENT_TEMPERATURE, EVENT_RC5, EVENT_MOTOR, EVENT_TIMER0, EVENT_TIMER1, EVENT_COUNT // number of events }; public: struct Variables { int16_t id; int16_t source; int16_t args[32]; int16_t productId; int16_t fwversion[2]; int16_t buttonBackward; int16_t buttonLeft; int16_t buttonCenter; int16_t buttonForward; int16_t buttonRight; int16_t proxHorizontal[7]; int16_t proxCommRx; int16_t proxCommTx; int16_t proxGroundAmbiant[2]; int16_t proxGroundReflected[2]; int16_t proxGroundDelta[2]; int16_t motorLeftTarget; int16_t motorRightTarget; int16_t motorLeftSpeed; int16_t motorRightSpeed; int16_t motorLeftPwm; int16_t motorRightPwm; int16_t acc[3]; int16_t temperature; int16_t rc5adress; int16_t rc5command; int16_t micIntensity; int16_t micThreshold; int16_t timerPeriod[2]; int16_t sdPresent; int16_t freeSpace[512]; } variables; public: std::fstream sdCardFile; int sdCardFileNumber; // Logging of Thymio native function calls //! A log entry consists of the number of the Thymio native function and the values of the arguments using NativeCallLogEntry = std::pair>; //! The log is a vector of entries using NativeCallLog = std::vector; //! The log of native calls, filled if logThymioNativeCalls is true. //! The code which set it is responsible to clear the log from time to time NativeCallLog thymioNativeCallLog; //! Whether thymioNativeCallLog should be filled each time a Thymio native function is called bool logThymioNativeCalls { false } ; protected: Aseba::SoftTimer timer0; Aseba::SoftTimer timer1; int16_t oldTimerPeriod[2]; Aseba::SoftTimer timer100Hz; unsigned counter100Hz; bool lastStepCollided; bool thisStepCollided; public: AsebaThymio2(std::string robotName, int16_t nodeId); // from PhysicalObject virtual void collisionEvent(PhysicalObject *o); // from Robot virtual void mousePressEvent(unsigned button, double pointX, double pointY, double pointZ); virtual void mouseReleaseEvent(unsigned button); // from Thymio2 virtual void controlStep(double dt); // from AbstractNodeGlue virtual const AsebaVMDescription* getDescription() const; virtual const AsebaLocalEventDescription * getLocalEventsDescriptions() const; virtual const AsebaNativeFunctionDescription * const * getNativeFunctionsDescriptions() const; virtual void callNativeFunction(uint16_t id); // for Thymio2-natives.cpp bool openSDCardFile(int number); // for debug purposes void execLocalEvent(uint16_t number); protected: void timer0Timeout(); void timer1Timeout(); void timer100HzTimeout(); int16_t getSaturatedProxHorizontal(unsigned i) const; }; } // Enki #endif // __PLAYGROUND_THYMIO2_H aseba-1.6.0/targets/smartrob-instructions.txt000066400000000000000000000015231322771007300214010ustar00rootroot00000000000000ASEBA on Smartrob ================= To use ASEBA on the Smartrob with your robot you need: - Smartrob development board - CAN <-> USB translator (uses USB serial protocol) - ASEBA compiled on your computer To start programming your Smartrob with Studio, proceed as follows: 1. Plug the translator to the Smartrob 2. Plug the Smartrob to the power supply 3. Plug the USB cable to your computer 4. Launch asebaswitch on your computer: For instance, on Linux if the translator is connected to the first USB serial, launch: asebaswitch -v "ser:device=/dev/ttyUSB0;fc=hard;baud=921600" To have debug info on the switch, add -d: asebaswitch -v -d "ser:device=/dev/ttyUSB0;fc=hard;baud=921600" 5. Launch asebastudio, if no other ASEBA software than the switch is running on your computer, you can use the default target to connect to your Smartrobaseba-1.6.0/tests/000077500000000000000000000000001322771007300137355ustar00rootroot00000000000000aseba-1.6.0/tests/CMakeLists.txt000066400000000000000000000027761322771007300165110ustar00rootroot00000000000000find_program(valgrind_FOUND valgrind) if (valgrind_FOUND) message(STATUS "valgrind executable found: " ${valgrind_FOUND}) else () message(WARNING "valgrind executable not found! Disabling memory leaks and trashs tests") endif () add_subdirectory(common) add_subdirectory(msg) add_subdirectory(compiler) add_subdirectory(vm) add_subdirectory(simulator) #add_subdirectory(e2e-http) # test asebahttp # FIXME: port to asebahttp2 #find_package(LibXml2) #if (LIBXML2_FOUND) # include_directories(${LIBXML2_INCLUDE_DIR}) # include_directories(externals/Catch/include ${COMMON_INCLUDES}) # add_executable(test-asebahttp test-http.cpp) # if (CMAKE_VERSION VERSION_EQUAL "2.8.12" OR CMAKE_VERSION VERSION_GREATER "2.8.12") # # Support compilers like GCC 5 that don't have C++11 support enabled by default. # target_compile_definitions(test-asebahttp PRIVATE -DCATCH_CONFIG_NO_CPP11) # endif () # target_link_libraries(test-asebahttp asebahttphub asebacompiler ${LIBXML2_LIBRARIES} ${ASEBA_CORE_LIBRARIES}) # configure_file(testdata-HttpRequest.txt ${CMAKE_CURRENT_BINARY_DIR}/testdata-HttpRequest.txt COPYONLY) # configure_file(http-valgrind-macosx.supp ${CMAKE_CURRENT_BINARY_DIR}/http-valgrind-macosx.supp COPYONLY) # # test HTTP requests and JSON parsing # configure_file(run-test-asebahttp.sh ${CMAKE_CURRENT_BINARY_DIR}/run-test-asebahttp.sh COPYONLY) # add_test(NAME test-asebahttp COMMAND bash run-test-asebahttp.sh) #else (LIBXML2_FOUND) # message(WARNING "libXML2 not found! Disabling HTTP switch tests") #endif (LIBXML2_FOUND) aseba-1.6.0/tests/common/000077500000000000000000000000001322771007300152255ustar00rootroot00000000000000aseba-1.6.0/tests/common/CMakeLists.txt000066400000000000000000000005101322771007300177610ustar00rootroot00000000000000# test that invalid utf8 strings do not generate memory trashes add_executable(aseba-test-invalid-utf8 aseba-test-invalid-utf8.cpp ) target_link_libraries(aseba-test-invalid-utf8 ${ASEBA_CORE_LIBRARIES}) add_test(aseba-test-invalid-utf8 ${valgrind_FOUND} --error-exitcode=1 ${CMAKE_CURRENT_BINARY_DIR}/aseba-test-invalid-utf8) aseba-1.6.0/tests/common/aseba-test-invalid-utf8.cpp000066400000000000000000000011551322771007300222730ustar00rootroot00000000000000#include "../../common/utils/utils.h" #include #include using namespace std; int main(int argc, char*argv[]) { const array invalidUTF8s = { string{ static_cast(192) }, string{ static_cast(224) }, string{ static_cast(224), 'a' } }; const string longString("long string to avoid small string optimisation"); for (auto invalidUTF8: invalidUTF8s) { try { auto s = Aseba::UTF8ToWString(longString + invalidUTF8); wcout << s << endl; } catch (const exception& e) { cerr << "Error in string conversion: " << e.what() << endl; } } return 0; } aseba-1.6.0/tests/compiler/000077500000000000000000000000001322771007300155475ustar00rootroot00000000000000aseba-1.6.0/tests/compiler/CMakeLists.txt000066400000000000000000000621721322771007300203170ustar00rootroot00000000000000# two test executable add_library(asebavmdummycallbacks STATIC asebavmdummycallbacks.cpp ) # If the asebavm is built as a shared lib, it must not be a dependency of # asebavmdummycallbacks because if it is, it will not be able to resolve refs # using asebavmdummycallbacks. On the other hand, if asabavm is not built as a # shared lib, it must be a dependency so that it can be used to resolve refs # in asebavmdummycallbacks. if (BUILD_SHARED_LIBS) target_link_libraries(asebavmdummycallbacks ${ASEBA_CORE_LIBRARIES}) else (BUILD_SHARED_LIBS) target_link_libraries(asebavmdummycallbacks asebavm ${ASEBA_CORE_LIBRARIES}) endif (BUILD_SHARED_LIBS) add_executable(asebatest asebatest.cpp ) target_link_libraries(asebatest asebacompiler asebavm asebavmdummycallbacks ${ASEBA_CORE_LIBRARIES}) # the following tests should succeed add_test(basic-arithmetic ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/basic-arithmetic.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/basic-arithmetic.txt) add_test(basic-arithmetic-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/basic-arithmetic-vector.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/basic-arithmetic-vector.txt) add_test(advanced-arithmetic ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/advanced-arithmetic.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/advanced-arithmetic.txt) add_test(advanced-arithmetic-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/advanced-arithmetic-vector.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/advanced-arithmetic-vector.txt) add_test(binary-op ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-op.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-op.txt) add_test(shift-op ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-op.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-op.txt) add_test(compound-assignment ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/compound-assignments.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/compound-assignments.txt) add_test(compound-assignment-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/compound-assignments-vector.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/compound-assignments-vector.txt) add_test(binary-assignment ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-assignments.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-assignments.txt) add_test(shift-assignment ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-assignments.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-assignments.txt) add_test(shift-assignment-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-assignments-vector.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-assignments-vector.txt) add_test(multiple-logic-op ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/multiple-logic-op.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/multiple-logic-op.txt) add_test(unicode ${EXECUTABLE_OUTPUT_PATH}/asebatest -d -s ${CMAKE_CURRENT_SOURCE_DIR}/data/unicode.txt) add_test(optimisation-binary-not ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-binary-not.txt) add_test(optimisation-bit-to-bit ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-bit-to-bit.txt) add_test(optimisation-neutral-element ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-neutral-element.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-neutral-element.txt) add_test(optimisation-absorbing-element ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-absorbing-element.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-absorbing-element.txt) add_test(optimisation-demorgan ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-demorgan.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-demorgan.txt) add_test(for-loop ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop.txt) add_test(for-loop-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-vector.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-vector.txt) add_test(for-loop-single-inc ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-single-inc.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-single-inc.txt) add_test(for-loop-single-dec ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-single-dec.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-single-dec.txt) add_test(while-loop ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/while-loop.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/while-loop.txt) add_test(while-loop-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/while-loop-vector.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/while-loop-vector.txt) add_test(when-conditional ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/when-conditional.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/when-conditional.txt) add_test(comments ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/comments.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/comments.txt) add_test(subroutine ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/subroutine.txt) add_test(array-post-increment ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/array-post-increment.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/array-post-increment.txt) add_test(array-constant-access ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/array-constant-access.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/array-constant-access.txt) add_test(vardef ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef.txt) add_test(vardef-compat ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-compat.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-compat.txt) add_test(vardef-constant-size ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-constant-size.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-constant-size.txt) add_test(general-tuple ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/general-tuple.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/general-tuple.txt) add_test(assignments ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/assignments.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/assignments.txt) add_test(events ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/events.txt) add_test(general-tuple-events ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/general-tuple-events.txt) add_test(native-function ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/native-function.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/native-function.txt) add_test(native-function-indirect ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/native-function-indirect.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/native-function-indirect.txt) add_test(general-tuple-native-function ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/general-tuple-native-function.txt) add_test(var-def-compat-issue135 ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/var-def-compat-issue135.txt) add_test(array-indirect-access-issue134 ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/array-indirect-access-issue134.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/array-indirect-access-issue134.txt) add_test(constdef ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/constdef.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/constdef.txt) add_test(literal-overflow-check1 ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-overflow-check-ok1.txt) add_test(literal-overflow-check2 ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-overflow-check-ok2.txt) add_test(literal-hex1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-hex1.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-hex1.txt) add_test(literal-hex2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-hex2.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-hex2.txt) add_test(literal-bin1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-bin1.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-bin1.txt) add_test(literal-bin2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-bin2.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-bin2.txt) add_test(array-overwrite1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/array-overwrite.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/array-overwrite.txt) add_test(negation-optimisation ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/negation-optimisation.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/negation-optimisation.txt) add_test(division-optimisation ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/division-optimisation.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/division-optimisation.txt) add_test(if-not-optimisation ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/if-not-optimisation.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/if-not-optimisation.txt) add_test(callsub-before-sub-decl ${EXECUTABLE_OUTPUT_PATH}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/callsub-before-sub-decl.txt) add_test(return-in-if ${EXECUTABLE_OUTPUT_PATH}/asebatest --event --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/return-in-if.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/return-in-if.txt) add_test(sort-basic ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/sort-basic.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/sort-basic.txt) add_test(sort-duplicates ${EXECUTABLE_OUTPUT_PATH}/asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/sort-duplicates.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/sort-duplicates.txt) # the following tests should fail add_test(division-by-zero-dyn ${EXECUTABLE_OUTPUT_PATH}/asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/division-by-zero-dyn.txt) add_test(division-by-zero-static ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/division-by-zero-static.txt) add_test(chained-conditional ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/chained-conditional.txt) add_test(implicit-conditional ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/implicit-conditional.txt) add_test(array-access-out-of-bounds-dyn-over ${EXECUTABLE_OUTPUT_PATH}/asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-dyn-over.txt) add_test(array-access-out-of-bounds-dyn-under ${EXECUTABLE_OUTPUT_PATH}/asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-dyn-under.txt) add_test(array-access-out-of-bounds-static-over ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-static-over.txt) add_test(array-access-out-of-bounds-static-under ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-static-under.txt) add_test(vector-access-out-of-bounds-static-over ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vector-access-out-of-bounds-static-over.txt) add_test(vector-access-out-of-bounds-static-under ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vector-access-out-of-bounds-static-under.txt) add_test(vector-access-two-expr ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vector-access-two-expr.txt) add_test(assigning-bool ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/assigning-bool.txt) add_test(inconsistent-input1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input1.txt) add_test(inconsistent-input2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input2.txt) add_test(inconsistent-input3 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input3.txt) add_test(inconsistent-input4 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input4.txt) add_test(assignments-fail1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/assignments-fail1.txt) add_test(assignments-fail2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/assignments-fail2.txt) add_test(assignments-fail3 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/assignments-fail3.txt) add_test(assignments-fail4 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/assignments-fail4.txt) add_test(vardef-fail1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-fail1.txt) add_test(vardef-fail2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-fail2.txt) add_test(vardef-fail3 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-fail3.txt) add_test(vardef-compat-fail1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-compat-fail1.txt) add_test(vardef-not-constant-size ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/vardef-not-constant-size.txt) add_test(out-of-memory1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/out-of-memory1.txt) add_test(out-of-memory2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/out-of-memory2.txt) add_test(out-of-memory-temp1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/out-of-memory-temp1.txt) add_test(out-of-memory-temp2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/out-of-memory-temp2.txt) add_test(if-condition-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/if-condition-vector.txt) add_test(for-loop-condition-vector ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-condition-vector.txt) add_test(for-loop-bounds ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop-bounds.txt) add_test(constant-namespace-collision ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/constant-namespace-collision.txt) add_test(array-constant-access-fail ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/array-constant-access-fail.txt) add_test(constdef-collision-1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/constdef-collision-1.txt) add_test(constdef-collision-2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/constdef-collision-2.txt) add_test(constdef-overriding ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/constdef-overriding.txt) add_test(constdef-collision-var ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/constdef-collision-var.txt) add_test(literal-overflow-fail1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-overflow-check-fail1.txt) add_test(literal-overflow-fail2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-overflow-check-fail2.txt) add_test(literal-hex-overflow-fail1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-hex-overflow1.txt) add_test(literal-hex-overflow-fail2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-hex-overflow2.txt) add_test(literal-bin-overflow-fail1 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-bin-overflow1.txt) add_test(literal-bin-overflow-fail2 ${EXECUTABLE_OUTPUT_PATH}/asebatest --comp_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/literal-bin-overflow2.txt) # check whether we have Python interpreter to run tests that require scripts find_package(PythonInterp) if (PYTHONINTERP_FOUND) # stress test the compiler, by simulating user's input # compiler should not crash. Exiting with an exception is OK # The script should always succeed (otherwise the compiler caught a signal) add_test(simulate-basic-arithmetic ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/basic-arithmetic.txt) add_test(simulate-advanced-arithmetic ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/advanced-arithmetic.txt) add_test(simulate-binary-op ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-op.txt) add_test(simulate-shift-op ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-op.txt) add_test(simulate-compound-assignment ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/compound-assignments.txt) add_test(simulate-binary-assignment ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-assignments.txt) add_test(simulate-shift-assignment ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-assignments.txt) add_test(simulate-multiple-logic-op ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/multiple-logic-op.txt) add_test(simulate-unicode ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/unicode.txt) add_test(simulate-optimisation-binary-not ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-binary-not.txt) add_test(simulate-optimisation-bit-to-bit ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-bit-to-bit.txt) add_test(simulate-for-loop ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop.txt) add_test(simulate-while-loop ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/while-loop.txt) add_test(simulate-when-conditional ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/when-conditional.txt) add_test(simulate-comments ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/comments.txt) add_test(simulate-subroutine ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/subroutine.txt) add_test(simulate-division-by-zero-dyn ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/division-by-zero-dyn.txt) add_test(simulate-division-by-zero-static ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/division-by-zero-static.txt) add_test(simulate-chained-conditional ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/chained-conditional.txt) add_test(simulate-implicit-conditional ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/implicit-conditional.txt) add_test(simulate-array-access-out-of-bounds-dyn-over ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-dyn-over.txt) add_test(simulate-array-access-out-of-bounds-dyn-under ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-dyn-under.txt) add_test(simulate-array-access-out-of-bounds-static-over ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-static-over.txt) add_test(simulate-array-access-out-of-bounds-static-under ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/array-access-out-of-bounds-static-under.txt) add_test(simulate-assigning-bool ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/assigning-bool.txt) add_test(simulate-inconsistent-input1 ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input1.txt) add_test(simulate-inconsistent-input2 ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input2.txt) add_test(simulate-inconsistent-input3 ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input3.txt) add_test(simulate-inconsistent-input4 ${CMAKE_CURRENT_SOURCE_DIR}/simulateuser.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/inconsistent-input4.txt) # use zzuf to fuzzy the input script deterministically # compiler should not crash find_program(zzuf_FOUND zzuf) if (zzuf_FOUND) message(STATUS "zzuf executable found: " ${zzuf_FOUND}) # set the number of test loops for the fuzzy test set(fuzzy_loop "500") # add tests add_test(fuzzy-basic-arithmetic ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/basic-arithmetic.txt ${fuzzy_loop}) add_test(fuzzy-advanced-arithmetic ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/advanced-arithmetic.txt ${fuzzy_loop}) add_test(fuzzy-binary-op ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-op.txt ${fuzzy_loop}) add_test(fuzzy-shift-op ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-op.txt ${fuzzy_loop}) add_test(fuzzy-compound-assignment ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/compound-assignments.txt ${fuzzy_loop}) add_test(fuzzy-binary-assignment ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/binary-assignments.txt ${fuzzy_loop}) add_test(fuzzy-shift-assignment ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/shift-assignments.txt ${fuzzy_loop}) add_test(fuzzy-multiple-logic-op ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/multiple-logic-op.txt ${fuzzy_loop}) add_test(fuzzy-unicode ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/unicode.txt ${fuzzy_loop}) add_test(fuzzy-optimisation-binary-not ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/optimisation-binary-not.txt ${fuzzy_loop}) add_test(fuzzy-for-loop ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/for-loop.txt ${fuzzy_loop}) add_test(fuzzy-while-loop ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/while-loop.txt ${fuzzy_loop}) add_test(fuzzy-when-conditional ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/when-conditional.txt ${fuzzy_loop}) add_test(fuzzy-comments ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/comments.txt ${fuzzy_loop}) add_test(fuzzy-subroutine ${CMAKE_CURRENT_SOURCE_DIR}/fuzzyinput.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/subroutine.txt ${fuzzy_loop}) else (zzuf_FOUND) message(WARNING "zzuf executable not found! Disabling fuzzy tests") endif (zzuf_FOUND) # use valgrind to test memory leaks inside the compiler if (valgrind_FOUND) # test all the .txt files inside the data directory add_test(valgrind-compiler-all ${CMAKE_CURRENT_SOURCE_DIR}/valgrind.py ${CMAKE_CURRENT_BINARY_DIR}/asebatest ${CMAKE_CURRENT_SOURCE_DIR}/data/) endif (valgrind_FOUND) else (PYTHONINTERP_FOUND) message(WARNING "Python interpreter not found! Disabling advanced compiler tests") endif (PYTHONINTERP_FOUND) aseba-1.6.0/tests/compiler/README000066400000000000000000000001511322771007300164240ustar00rootroot00000000000000INSTALL You will need to install zzuf (http://caca.zoy.org/wiki/zzuf) in order to run the fuzzy tests. aseba-1.6.0/tests/compiler/asebatest.cpp000066400000000000000000000274661322771007300202450ustar00rootroot00000000000000// Aseba #include "../../compiler/compiler.h" #include "../../vm/vm.h" #include "../../vm/natives.h" #include "../../common/consts.h" #include "../../common/msg/msg.h" #include "../../common/utils/utils.h" #include "../../common/utils/FormatableString.h" using namespace Aseba; // C++ #include #include #include #include #include #include // C #include // getopt_long() #include // exit() // defines #define DEFAULT_STEPS 1000 extern "C" bool AsebaExecutionErrorOccurred(); static const AsebaNativeFunctionDescription* nativeFunctionsDescriptions[] = { ASEBA_NATIVES_STD_DESCRIPTIONS, 0 }; extern "C" const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) { return nativeFunctionsDescriptions; } // helper function std::wstring read_source(const std::string& filename); void dump_source(const std::wstring& source); static const char short_options [] = "fcepnvsdumi:"; static const struct option long_options[] = { { "fail", no_argument, nullptr, 'f'}, { "comp_fail", no_argument, nullptr, 'c'}, { "exec_fail", no_argument, nullptr, 'e'}, { "post_fail", no_argument, nullptr, 'p'}, { "memcmp_fail",no_argument, nullptr, 'n'}, { "event", no_argument, nullptr, 'v'}, { "source", no_argument, nullptr, 's'}, { "dump", no_argument, nullptr, 'd'}, { "memdump", no_argument, nullptr, 'u'}, { "memcmp", required_argument, nullptr, 'm'}, { "steps", required_argument, nullptr, 'i'}, { 0, 0, 0, 0 } }; static void usage (int argc, char** argv) { std::cerr << "Usage: " << argv[0] << " [options] source" << std::endl << std::endl << "Options:" << std::endl << " -f | --fail Return EXIT_SUCCESS if anything fails" << std::endl << " -c | --comp_fail Return EXIT_SUCCESS if compilation fails" << std::endl << " -e | --exec_fail Return EXIT_SUCCESS if execution fails" << std::endl << " -p | --post_fail Return EXIT_SUCCESS if still executing after init" << std::endl << " -n | --memcmp_fail Return EXIT_SUCCESS if memory comparison fails" << std::endl << " -v | --event Generate one internal event after executing the starting code" << std::endl << " -s | --source Dump the source code" << std::endl << " -d | --dump Dump the compilation result (tokens, tree, bytecode)" << std::endl << " -u | --memdump Dump the memory content at the end of the execution" << std::endl << " -m | --memcmp file Compare result of the VM execution with file" << std::endl << " -i | --steps Number of VM execution steps (default: " << DEFAULT_STEPS << ")" << std::endl; } struct AsebaNode { AsebaVMState vm; std::valarray bytecode; std::valarray stack; TargetDescription d; struct Variables { int16_t user[256]; } variables; AsebaNode() { // create VM vm.nodeId = 1; bytecode.resize(512); vm.bytecode = &bytecode[0]; vm.bytecodeSize = bytecode.size(); stack.resize(64); vm.stack = &stack[0]; vm.stackSize = stack.size(); vm.variables = reinterpret_cast(&variables); vm.variablesSize = sizeof(variables) / sizeof(int16_t); AsebaVMInit(&vm); // fill description accordingly d.name = L"testvm"; d.protocolVersion = ASEBA_PROTOCOL_VERSION; d.bytecodeSize = vm.bytecodeSize; d.variablesSize = vm.variablesSize; d.stackSize = vm.stackSize; /*d.namedVariables.push_back(TargetDescription::NamedVariable("id", 1)); d.namedVariables.push_back(TargetDescription::NamedVariable("source", 1)); d.namedVariables.push_back(TargetDescription::NamedVariable("args", 32));*/ const AsebaNativeFunctionDescription* const* nativeDescs(AsebaGetNativeFunctionsDescriptions(&vm)); while (*nativeDescs) { const AsebaNativeFunctionDescription* nativeDesc(*nativeDescs); std::string name(nativeDesc->name); std::string doc(nativeDesc->doc); TargetDescription::NativeFunction native{ std::wstring(name.begin(), name.end()), std::wstring(doc.begin(), doc.end()) }; const AsebaNativeFunctionArgumentDescription* params(nativeDesc->arguments); while (params->size) { AsebaNativeFunctionArgumentDescription param(*params); name = param.name; int size = param.size; native.parameters.push_back( TargetDescription::NativeFunctionParameter(std::wstring(name.begin(), name.end()), size) ); ++params; } d.nativeFunctions.push_back(native); ++nativeDescs; } TargetDescription::LocalEvent testLocalEvent; testLocalEvent.name = L"test"; testLocalEvent.description = L"test local event"; d.localEvents.push_back(testLocalEvent); } const TargetDescription* getTargetDescription() const { return &d; } bool loadBytecode(const BytecodeVector& bytecode) { if (bytecode.size() > vm.bytecodeSize) return false; std::vector> messagesVector; sendBytecode(messagesVector, 1, std::vector(bytecode.begin(), bytecode.end())); for (auto& message: messagesVector) processMessage(*message); return true; } void run(int stepCount) { // bytecode was loaded, send run message to VM processMessage(Run(1)); AsebaVMRun(&vm, stepCount); } void runEvent(int stepCount) { // reset VM and run it with user event vm.flags = 0; AsebaVMSetupEvent(&vm, ASEBA_EVENT_LOCAL_EVENTS_START-0); AsebaVMRun(&vm, stepCount); } void processMessage(const Message& message) { Message::SerializationBuffer data; message.serializeSpecific(data); assert(data.rawData.size() % 2 == 0); const uint16_t length(data.rawData.size() / 2); AsebaVMDebugMessage(&vm, message.type, reinterpret_cast(&data.rawData[0]), length); } }; void checkForError(const std::string& module, bool shouldFail, bool wasError, const std::wstring& errorMessage = L"") { if (wasError) { // errors std::cerr << "An error in " << module << " occured"; if (!errorMessage.empty()) std::wcerr << ':' << std::endl << errorMessage; std::cerr << std::endl; if (shouldFail) { // this was expected std::cerr << "Failure was expected" << std::endl; exit(EXIT_SUCCESS); } else { // oops exit(EXIT_FAILURE); } } else { // no errors std::cerr << module << " was successful" << std::endl; } } int main(int argc, char** argv) { bool should_compilation_fail = false; bool should_execution_fail = false; bool should_postexecution_fail = false; bool should_memcmp_fail = false; bool event = false; bool source = false; bool dump = false; bool memDump = false; bool memCmp = false; int stepCount = DEFAULT_STEPS; std::string memCmpFileName; std::locale::global(std::locale("")); // parse the arguments for(;;) { int index; int c; c = getopt_long(argc, argv, short_options, long_options, &index); if (c==-1) break; switch(c) { case 0: // getopt_long() flag break; case 'f': should_compilation_fail = true; should_execution_fail = true; should_postexecution_fail = true; should_memcmp_fail = true; break; case 'c': should_compilation_fail = true; break; case 'e': should_execution_fail = true; break; case 'p': should_postexecution_fail = true; break; case 'n': should_memcmp_fail = true; break; case 'v': event = true; break; case 's': source = true; break; case 'd': dump = true; break; case 'u': memDump = true; break; case 'm': memCmp = true; memCmpFileName = optarg; break; case 'i': stepCount = atoi(optarg); break; default: usage(argc, argv); exit(EXIT_FAILURE); } } const bool should_any_fail(should_compilation_fail || should_execution_fail || should_postexecution_fail || should_memcmp_fail); std::string filename; // check for the source file if (optind == (argc-1)) { filename.assign(argv[optind]); } else { usage(argc, argv); exit(EXIT_FAILURE); } // read source const std::wstring wSource = read_source(filename); // dump source if (source) dump_source(wSource); // parse source std::wistringstream ifs(wSource); Compiler compiler; // fake target description AsebaNode node; CommonDefinitions definitions; definitions.events.push_back(NamedValue(L"event1", 0)); definitions.events.push_back(NamedValue(L"event2", 3)); definitions.constants.push_back(NamedValue(L"FOO", 2)); BytecodeVector bytecode; unsigned int varCount; Error outError; // compile compiler.setTargetDescription(node.getTargetDescription()); compiler.setCommonDefinitions(&definitions); if (dump) compiler.compile(ifs, bytecode, varCount, outError, &(std::wcout)); else compiler.compile(ifs, bytecode, varCount, outError, nullptr); //ifs.close(); checkForError("Compilation", should_compilation_fail, (outError.message != L"not defined"), outError.toWString()); // run if (!node.loadBytecode(bytecode)) { std::cerr << "Load bytecode failure" << std::endl; return EXIT_FAILURE; } node.run(stepCount); // is execution completed? const bool stillExecuting(node.vm.flags & ASEBA_VM_EVENT_ACTIVE_MASK); checkForError("PostInitExecution", should_postexecution_fail, stillExecuting, WFormatableString(L"VM was still running after %0 steps").arg(stepCount)); // setup extra event if (event) { node.runEvent(stepCount); } checkForError("Execution", should_execution_fail, AsebaExecutionErrorOccurred()); if (memDump) { std::wcout << L"Memory dump:" << std::endl; for (int i = 0; i < node.vm.variablesSize; i++) { std::wcout << node.vm.variables[i] << std::endl; } } if (memCmp) { std::ifstream ifs; ifs.open(memCmpFileName.data(), std::ifstream::in); if (!ifs.is_open()) { std::cerr << "Error opening mem dump file " << memCmpFileName << std::endl; exit(EXIT_FAILURE); } size_t i = 0; while (!ifs.eof()) { int v; ifs >> v; if (ifs.eof()) break; if (i >= node.vm.variablesSize) break; if (node.vm.variables[i] != v) { std::cerr << "VM variable value at pos " << i << " after execution differs from dump; expected: " << v << ", found: " << node.vm.variables[i] << std::endl; if (should_memcmp_fail) { std::cerr << "Failure was expected" << std::endl; exit(EXIT_SUCCESS); } else exit(EXIT_FAILURE); } ++i; } ifs.close(); } if (should_any_fail) { std::cerr << "All tests passed successfully, but failure was expected" << std::endl; exit(EXIT_FAILURE); } return EXIT_SUCCESS; } // read source code to a string std::wstring read_source(const std::string& filename) { std::ifstream ifs; ifs.open( filename.c_str(),std::ifstream::binary); if (!ifs.is_open()) { std::cerr << "Error opening source file " << filename << std::endl; exit(EXIT_FAILURE); } ifs.seekg (0, std::ios::end); std::streampos length = ifs.tellg(); ifs.seekg (0, std::ios::beg); std::string utf8Source; utf8Source.resize(length); ifs.read(&utf8Source[0], length); ifs.close(); /*for (size_t i = 0; i < utf8Source.length(); ++i) std::cerr << "source char " << i << " is 0x" << std::hex << (unsigned)(unsigned char)utf8Source[i] << " (" << char(utf8Source[i]) << ")" << std::endl; */ const std::wstring s = UTF8ToWString(utf8Source); /*std::cerr << "len utf8 " << utf8Source.length() << " len final " << s.length() << std::endl; for (size_t i = 0; i < s.length(); ++i) std::wcerr << "dest char " << i << " is 0x" << std::hex << (unsigned)s[i] << " (" << s[i] << ")"<< std::endl; */ return s; } // dump program source void dump_source(const std::wstring& source) { std::wistringstream is(source); wchar_t c; std::cout << "Program:" << std::endl; int line = 1; bool header = true; while (is) { if (header) { std::cout << line << " "; header = false; } c = is.get(); std::wcout << c; if (c == '\n') { header = true; line++; } } std::cout << std::endl; } aseba-1.6.0/tests/compiler/asebavmdummycallbacks.cpp000066400000000000000000000075051322771007300226140ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ // Aseba #include "../../transport/buffer/vm-buffer.h" #include "../../vm/vm.h" #include "../../vm/natives.h" #include "../../common/consts.h" // C++ #include static bool executionError(false); extern "C" bool AsebaExecutionErrorOccurred() { return executionError; } extern "C" void AsebaSendMessage(AsebaVMState *vm, uint16_t type, const void *data, uint16_t size) { switch (type) { case ASEBA_MESSAGE_DIVISION_BY_ZERO: std::cerr << "Division by zero" << std::endl; executionError = true; break; case ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS: std::cerr << "Array access out of bounds" << std::endl; executionError = true; break; default: std::cerr << "AsebaSendMessage of type " << type << ", size " << size << std::endl; break; } } #ifdef __BIG_ENDIAN__ extern "C" void AsebaSendMessageWords(AsebaVMState *vm, uint16_t type, const uint16_t* data, uint16_t count) { AsebaSendMessage(vm, type, data, count*2); } #endif extern "C" void AsebaSendVariables(AsebaVMState *vm, uint16_t start, uint16_t length) { std::cerr << "AsebaSendVariables at pos " << start << ", length " << length << std::endl; } extern "C" void AsebaSendDescription(AsebaVMState *vm) { std::cerr << "AsebaSendDescription" << std::endl; } extern "C" void AsebaPutVmToSleep(AsebaVMState *vm) { std::cerr << "AsebaPutVmToSleep" << std::endl; } static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, }; extern "C" void AsebaNativeFunction(AsebaVMState *vm, uint16_t id) { nativeFunctions[id](vm); } extern "C" void AsebaWriteBytecode(AsebaVMState *vm) { std::cerr << "AsebaWriteBytecode" << std::endl; } extern "C" void AsebaResetIntoBootloader(AsebaVMState *vm) { std::cerr << "AsebaResetIntoBootloader" << std::endl; } extern "C" void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) { std::cerr << "\nFatal error, internal VM exception: "; switch (reason) { case ASEBA_ASSERT_UNKNOWN: std::cerr << "undefined"; break; case ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR: std::cerr << "unknown unary operator"; break; case ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR: std::cerr << "unknown binary operator"; break; case ASEBA_ASSERT_UNKNOWN_BYTECODE: std::cerr << "unknown bytecode"; break; case ASEBA_ASSERT_STACK_OVERFLOW: std::cerr << "stack overflow"; break; case ASEBA_ASSERT_STACK_UNDERFLOW: std::cerr << "stack underflow"; break; case ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS: std::cerr << "out of variables bounds"; break; case ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "out of bytecode bounds"; break; case ASEBA_ASSERT_STEP_OUT_OF_RUN: std::cerr << "step out of run"; break; case ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS: std::cerr << "breakpoint out of bytecode bounds"; break; case ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG: std::cerr << "tried to emit a buffer too long"; break; default: std::cerr << "unknown exception"; break; } std::cerr << ".\npc = " << vm->pc << ", sp = " << vm->sp; std::cerr << "\nResetting VM" << std::endl; executionError = true; AsebaVMInit(vm); } aseba-1.6.0/tests/compiler/data/000077500000000000000000000000001322771007300164605ustar00rootroot00000000000000aseba-1.6.0/tests/compiler/data/advanced-arithmetic-vector.dump000066400000000000000000000000061322771007300245370ustar00rootroot000000000000001 2 3 aseba-1.6.0/tests/compiler/data/advanced-arithmetic-vector.txt000066400000000000000000000000421322771007300244110ustar00rootroot00000000000000var i[3] = [-1,-2,-3] i = abs(i) aseba-1.6.0/tests/compiler/data/advanced-arithmetic.dump000066400000000000000000000000021322771007300232330ustar00rootroot000000000000002 aseba-1.6.0/tests/compiler/data/advanced-arithmetic.txt000066400000000000000000000000271322771007300231140ustar00rootroot00000000000000var i = -2 i = abs(i) aseba-1.6.0/tests/compiler/data/array-access-out-of-bounds-dyn-over.txt000066400000000000000000000000411322771007300260310ustar00rootroot00000000000000var a[10] var b b = 10 a[b] = 0 aseba-1.6.0/tests/compiler/data/array-access-out-of-bounds-dyn-under.txt000066400000000000000000000000411322771007300261730ustar00rootroot00000000000000var a[10] var b b = -1 a[b] = 0 aseba-1.6.0/tests/compiler/data/array-access-out-of-bounds-static-over.txt000066400000000000000000000000251322771007300265300ustar00rootroot00000000000000var a[10] a[10] = 0 aseba-1.6.0/tests/compiler/data/array-access-out-of-bounds-static-under.txt000066400000000000000000000000251322771007300266720ustar00rootroot00000000000000var a[10] a[-1] = 0 aseba-1.6.0/tests/compiler/data/array-constant-access-fail.txt000066400000000000000000000001301322771007300243300ustar00rootroot00000000000000# FOO equals 2 var i = 1 var foo[FOO+1] = [0,1,2] # not allowed foo[FOO-2:i] = [10,11] aseba-1.6.0/tests/compiler/data/array-constant-access.dump000066400000000000000000000000101322771007300235420ustar00rootroot0000000000000010 11 2 aseba-1.6.0/tests/compiler/data/array-constant-access.txt000066400000000000000000000001171322771007300234240ustar00rootroot00000000000000# FOO equals 2 var foo[FOO+1] = [0,1,2] foo[FOO-2:FOO/2] = [10,11] # foo[0,1] aseba-1.6.0/tests/compiler/data/array-indirect-access-issue134.dump000066400000000000000000000000101322771007300250700ustar00rootroot000000000000001 1 2 2 aseba-1.6.0/tests/compiler/data/array-indirect-access-issue134.txt000066400000000000000000000001011322771007300247430ustar00rootroot00000000000000var a = 1 var b[2] = 1,2 var result call math.copy(result, b[a]) aseba-1.6.0/tests/compiler/data/array-overwrite.dump000066400000000000000000000000211322771007300225020ustar00rootroot000000000000005 2 3 4 5 2 3 0 aseba-1.6.0/tests/compiler/data/array-overwrite.txt000066400000000000000000000003511322771007300223620ustar00rootroot00000000000000var a[5] = [1,2,3,4,5] # array constructor to initialise an array var b[3] = [a[1:2],0] # results in array b initialised to [2,3,0] a = a + [1,1,1,1,1] # add 1 to each element of array a a = [b[1]+2,a[0:3]] # results in [5,2,3,4,5] aseba-1.6.0/tests/compiler/data/array-post-increment.dump000066400000000000000000000000061322771007300234260ustar00rootroot000000000000002 3 0 aseba-1.6.0/tests/compiler/data/array-post-increment.txt000066400000000000000000000001011322771007300232740ustar00rootroot00000000000000var buff[2] var i = 0 buff = [0,1] buff[0]++ buff++ buff[i+1]++ aseba-1.6.0/tests/compiler/data/assigning-bool.txt000066400000000000000000000000221322771007300221260ustar00rootroot00000000000000var a a = (1 < 3) aseba-1.6.0/tests/compiler/data/assignments-fail1.txt000066400000000000000000000000211322771007300225370ustar00rootroot00000000000000var i i = [1,2] aseba-1.6.0/tests/compiler/data/assignments-fail2.txt000066400000000000000000000000341322771007300225440ustar00rootroot00000000000000var foo[5] foo = [2,3,4,5] aseba-1.6.0/tests/compiler/data/assignments-fail3.txt000066400000000000000000000000401322771007300225420ustar00rootroot00000000000000var foo[5] foo = [2,3,4,5,6,7] aseba-1.6.0/tests/compiler/data/assignments-fail4.txt000066400000000000000000000000351322771007300225470ustar00rootroot00000000000000var foo[5] foo[2] = [10,11] aseba-1.6.0/tests/compiler/data/assignments.dump000066400000000000000000000000211322771007300216730ustar00rootroot000000000000001 2 3 10 5 7 5 7 aseba-1.6.0/tests/compiler/data/assignments.txt000066400000000000000000000001601322771007300215510ustar00rootroot00000000000000var i var foo[5] var toto[2] i = 1 foo = [2,3,4,5,6] toto = foo[0:1]*[2,2] + [1,1] foo[2] = 10 foo[3:4] = toto aseba-1.6.0/tests/compiler/data/basic-arithmetic-vector.dump000066400000000000000000000000141322771007300240520ustar00rootroot000000000000000 1 1 0 4 1 aseba-1.6.0/tests/compiler/data/basic-arithmetic-vector.txt000066400000000000000000000003041322771007300237260ustar00rootroot00000000000000# Test simple arithmetics on vectors var i[2] = [0,1] var j[2] = [1,0] var k[2] k = i + j # [1,1] k = [30,60] * k # [30,60] k = k / [3,3] # [10,20] k = k - [1,10] # [9,10] k = k % [5,3] # [4,1] aseba-1.6.0/tests/compiler/data/basic-arithmetic.dump000066400000000000000000000000061322771007300225530ustar00rootroot000000000000000 1 4 aseba-1.6.0/tests/compiler/data/basic-arithmetic.txt000066400000000000000000000001771322771007300224360ustar00rootroot00000000000000# Test simple arithmetics var i = 0 var j = 1 var k k = i + j # 1 k = 30 * k # 30 k = k / 3 # 10 k = k - 1 # 9 k = k % 5 # 4 aseba-1.6.0/tests/compiler/data/binary-assignments.dump000066400000000000000000000000061322771007300231600ustar00rootroot000000000000002 7 4 aseba-1.6.0/tests/compiler/data/binary-assignments.txt000066400000000000000000000000641322771007300230360ustar00rootroot00000000000000var i = 6 var j = 6 var k = 6 i &= 2 j |= 1 k ^= 2 aseba-1.6.0/tests/compiler/data/binary-op.dump000066400000000000000000000000111322771007300212370ustar00rootroot000000000000002 7 4 -2 aseba-1.6.0/tests/compiler/data/binary-op.txt000066400000000000000000000001161322771007300211170ustar00rootroot00000000000000var i = 6 var j = 6 var k = 6 var l = 1 i = i & 2 j = j | 1 k = k ^ 2 l = ~l aseba-1.6.0/tests/compiler/data/callsub-before-sub-decl.txt000066400000000000000000000000301322771007300235730ustar00rootroot00000000000000callsub mysub sub mysub aseba-1.6.0/tests/compiler/data/chained-conditional.txt000066400000000000000000000001261322771007300231140ustar00rootroot00000000000000# The compiler should fail on chained conditions var i if i < 0 < 1 then i = 2 end aseba-1.6.0/tests/compiler/data/comments.dump000066400000000000000000000000021322771007300211640ustar00rootroot000000000000001 aseba-1.6.0/tests/compiler/data/comments.txt000066400000000000000000000000501322771007300210410ustar00rootroot00000000000000var i = 1 # var i = 2 #* var i = 3 *# aseba-1.6.0/tests/compiler/data/compound-assignments-vector.dump000066400000000000000000000000211322771007300250150ustar00rootroot000000000000001 0 5 15 5 8 4 5 aseba-1.6.0/tests/compiler/data/compound-assignments-vector.txt000066400000000000000000000003371322771007300247010ustar00rootroot00000000000000var i[2] = [0,1] var j[2] = [10,20] var k[2] = [25,30] var l[2] = [3,4] i += [2,3] # [2,4] i -= [1,4] # [1,0] j *= [2,3] # [20,60] j /= [4,4] # [5,15] k %= [10,11] # [5,8] l++ # [4,5] l++ # [5,6] l-- # [4,5] aseba-1.6.0/tests/compiler/data/compound-assignments.dump000066400000000000000000000000101322771007300235130ustar00rootroot000000000000001 5 5 4 aseba-1.6.0/tests/compiler/data/compound-assignments.txt000066400000000000000000000001361322771007300233760ustar00rootroot00000000000000var i = 0 var j = 10 var k = 25 var l = 3 i += 2 i -= 1 j *= 2 j /= 4 k %= 10 l++ l++ l-- aseba-1.6.0/tests/compiler/data/constant-namespace-collision.txt000066400000000000000000000001201322771007300247660ustar00rootroot00000000000000# detect a collision with the constant FOO # (defined in asebatest.cpp) var FOO aseba-1.6.0/tests/compiler/data/constdef-collision-1.txt000066400000000000000000000001251322771007300231530ustar00rootroot00000000000000# FOO is already defined by asebatest # compiler must throw an error const FOO = 10 aseba-1.6.0/tests/compiler/data/constdef-collision-2.txt000066400000000000000000000000401322771007300231500ustar00rootroot00000000000000const TOTO = 5 const TOTO = 10 aseba-1.6.0/tests/compiler/data/constdef-collision-var.txt000066400000000000000000000000341322771007300236020ustar00rootroot00000000000000const toto = 1 var toto = 2 aseba-1.6.0/tests/compiler/data/constdef-overriding.txt000066400000000000000000000000701322771007300231710ustar00rootroot00000000000000# constants cannot be changed const TOTO = 10 TOTO = 5 aseba-1.6.0/tests/compiler/data/constdef.dump000066400000000000000000000000101322771007300211430ustar00rootroot000000000000004 13 15 aseba-1.6.0/tests/compiler/data/constdef.txt000066400000000000000000000002501322771007300210230ustar00rootroot00000000000000# FOO is already defined by asebatest, and equals 2 const BAR = 2*FOO const TOTO = 13 const FINAL = TOTO + BAR - FOO var bar = BAR var toto = TOTO var final = FINAL aseba-1.6.0/tests/compiler/data/division-by-zero-dyn.txt000066400000000000000000000000441322771007300232200ustar00rootroot00000000000000var a = 1 var b = 0 var c c = a / b aseba-1.6.0/tests/compiler/data/division-by-zero-static.txt000066400000000000000000000000321322771007300237120ustar00rootroot00000000000000var a = 1 var c c = a / 0 aseba-1.6.0/tests/compiler/data/division-optimisation.dump000066400000000000000000000000041322771007300237020ustar00rootroot000000000000005 0 aseba-1.6.0/tests/compiler/data/division-optimisation.txt000066400000000000000000000001041322771007300235550ustar00rootroot00000000000000var a = 5 var b = 1 b = 1/a # b will return a value of 5 but not 0aseba-1.6.0/tests/compiler/data/events.txt000066400000000000000000000003571322771007300205320ustar00rootroot00000000000000var i = 0 var foo[5] # check only successful compilation # won't work in reallity emit event1 emit event2 [1,2,3] emit event2 [1,2,3]+[4,5,6] emit event2 foo[1:3] emit event2 [1,2,3]*foo[1:3] onevent event1 i = 1 onevent event2 i = 2 aseba-1.6.0/tests/compiler/data/for-loop-bounds.txt000066400000000000000000000000541322771007300222450ustar00rootroot00000000000000var i var j for i in 0:32767 do j = i end aseba-1.6.0/tests/compiler/data/for-loop-condition-vector.txt000066400000000000000000000001741322771007300242440ustar00rootroot00000000000000var i[2] var j = 0 # should fail (vectorial condition not supported) for i in [30,10]:[1,1] step [-3,-1] do j = j + i end aseba-1.6.0/tests/compiler/data/for-loop-single-dec.dump000066400000000000000000000000051322771007300231070ustar00rootroot000000000000001000 aseba-1.6.0/tests/compiler/data/for-loop-single-dec.txt000066400000000000000000000000721322771007300227650ustar00rootroot00000000000000var j = 0 var i for i in 1000:1000 step -1 do j = i end aseba-1.6.0/tests/compiler/data/for-loop-single-inc.dump000066400000000000000000000000051322771007300231250ustar00rootroot000000000000001000 aseba-1.6.0/tests/compiler/data/for-loop-single-inc.txt000066400000000000000000000000711322771007300230020ustar00rootroot00000000000000var j = 0 var i for i in 1000:1000 step 1 do j = i end aseba-1.6.0/tests/compiler/data/for-loop-vector.dump000066400000000000000000000000101322771007300223730ustar00rootroot000000000000000 10 21 aseba-1.6.0/tests/compiler/data/for-loop-vector.txt000066400000000000000000000001041322771007300222510ustar00rootroot00000000000000var i var j[2] = [0,1] for i in 30:1 step -3 do j = j + [1,2] end aseba-1.6.0/tests/compiler/data/for-loop.dump000066400000000000000000000000061322771007300211000ustar00rootroot000000000000000 165 aseba-1.6.0/tests/compiler/data/for-loop.txt000066400000000000000000000000711322771007300207540ustar00rootroot00000000000000var i var j = 0 for i in 30:1 step -3 do j = j + i end aseba-1.6.0/tests/compiler/data/general-tuple-events.txt000066400000000000000000000001251322771007300232650ustar00rootroot00000000000000var i = 0 var j = 1 var k[] = [2,3,4] emit event2 [i,j,5] emit event2 [k[1:2],3*4] aseba-1.6.0/tests/compiler/data/general-tuple-native-function.txt000066400000000000000000000001361322771007300250740ustar00rootroot00000000000000var i[3] var j = 0 var k = 1 var l[] = [2,3,4,5] call math.add(i, [1,2,3], [j,k*l[2],l[0]]) aseba-1.6.0/tests/compiler/data/general-tuple.dump000066400000000000000000000000401322771007300221050ustar00rootroot0000000000000010 1 2 3 4 5 6 10 1 2 3 7 40 11 aseba-1.6.0/tests/compiler/data/general-tuple.txt000066400000000000000000000002001322771007300217550ustar00rootroot00000000000000var a = 10 var i[] = [1,[2,3],[4,5,6]] # [1,2,3,4,5,6] var j[] = [a,i[0:2],7] # [10,1,2,3,7] var k[] = [a*i[3],11] # [40,11] aseba-1.6.0/tests/compiler/data/if-condition-vector.txt000066400000000000000000000001501322771007300230770ustar00rootroot00000000000000var i[2] = [2,2] # should fail, as vectorial conditions are not supported if i > 1 then i = [0,0] end aseba-1.6.0/tests/compiler/data/if-not-optimisation.dump000066400000000000000000000000011322771007300232470ustar00rootroot000000000000002aseba-1.6.0/tests/compiler/data/if-not-optimisation.txt000066400000000000000000000001021322771007300231230ustar00rootroot00000000000000var a = 0 if not 5<6 then # wrong a = 1 else # true a = 2 endaseba-1.6.0/tests/compiler/data/implicit-conditional.txt000066400000000000000000000000771322771007300233400ustar00rootroot00000000000000# Implicit conditions should fail var i if i then i = 0 end aseba-1.6.0/tests/compiler/data/inconsistent-input1.txt000066400000000000000000000000421322771007300231530ustar00rootroot00000000000000# Missing assignment var i i + 1 aseba-1.6.0/tests/compiler/data/inconsistent-input2.txt000066400000000000000000000000361322771007300231570ustar00rootroot00000000000000# Unknown key word var i va j aseba-1.6.0/tests/compiler/data/inconsistent-input3.txt000066400000000000000000000000611322771007300231560ustar00rootroot00000000000000# Define twice the same variable var i = 0 var i aseba-1.6.0/tests/compiler/data/inconsistent-input4.txt000066400000000000000000000001161322771007300231600ustar00rootroot00000000000000# Recursive sub call -> stack overflow var v = 0 sub toto v = 1 callsub toto aseba-1.6.0/tests/compiler/data/literal-bin-overflow1.txt000066400000000000000000000000611322771007300233420ustar00rootroot00000000000000# this should fail var j = 0b10000000000000000 aseba-1.6.0/tests/compiler/data/literal-bin-overflow2.txt000066400000000000000000000001231322771007300233420ustar00rootroot00000000000000# this should fail var j = -0b1000000000000000 # -(-32768) = 32768 -> overflow! aseba-1.6.0/tests/compiler/data/literal-bin1.dump000066400000000000000000000000231322771007300216250ustar00rootroot0000000000000032767 -32768 -1 1 aseba-1.6.0/tests/compiler/data/literal-bin1.txt000066400000000000000000000002341322771007300215030ustar00rootroot00000000000000var i = 0b0111111111111111 var j = 0b1000000000000000 var k = 0b1111111111111111 var ok = 0 if (i == 32767 and j == -32768 and k == -1) then ok = 1 end aseba-1.6.0/tests/compiler/data/literal-bin2.dump000066400000000000000000000000221322771007300216250ustar00rootroot00000000000000-32767 32767 1 1 aseba-1.6.0/tests/compiler/data/literal-bin2.txt000066400000000000000000000003241322771007300215040ustar00rootroot00000000000000var i = -0b0111111111111111 # -(32767) = -32767 var j = -0b1000000000000001 # -(-32767) = 32767 var k = -0b1111111111111111 # -(-1) = 1 var ok = 0 if (i == -32767 and j ==32767 and k == 1) then ok = 1 end aseba-1.6.0/tests/compiler/data/literal-hex-overflow1.txt000066400000000000000000000000571322771007300233630ustar00rootroot00000000000000# this should fail (i > s16) var i = 0x10000 aseba-1.6.0/tests/compiler/data/literal-hex-overflow2.txt000066400000000000000000000000621322771007300233600ustar00rootroot00000000000000var i = -0x8000 # -(-32768) = 32768 -> overflow! aseba-1.6.0/tests/compiler/data/literal-hex1.dump000066400000000000000000000000231322771007300216410ustar00rootroot0000000000000032767 -32768 -1 1 aseba-1.6.0/tests/compiler/data/literal-hex1.txt000066400000000000000000000002631322771007300215210ustar00rootroot00000000000000# check the correct signed interpretation of hex literals var i = 0x7fff var j = 0x8000 var k = 0xffff var ok = 0 if (i == 32767 and j == -32768 and k == -1) then ok = 1 end aseba-1.6.0/tests/compiler/data/literal-hex2.dump000066400000000000000000000000221322771007300216410ustar00rootroot00000000000000-32767 32767 1 1 aseba-1.6.0/tests/compiler/data/literal-hex2.txt000066400000000000000000000002601322771007300215170ustar00rootroot00000000000000var i = -0x7fff # -(32767) = -32767 var j = -0x8001 # -(-32767) = 32767 var k = -0xffff # -(-1) = 1 var ok = 0 if (i == -32767 and j == 32767 and k == 1) then ok = 1 end aseba-1.6.0/tests/compiler/data/literal-overflow-check-fail1.txt000066400000000000000000000000161322771007300245600ustar00rootroot00000000000000var i = 32768 aseba-1.6.0/tests/compiler/data/literal-overflow-check-fail2.txt000066400000000000000000000000171322771007300245620ustar00rootroot00000000000000var i = -32769 aseba-1.6.0/tests/compiler/data/literal-overflow-check-ok1.txt000066400000000000000000000000161322771007300242560ustar00rootroot00000000000000var i = 32767 aseba-1.6.0/tests/compiler/data/literal-overflow-check-ok2.txt000066400000000000000000000000171322771007300242600ustar00rootroot00000000000000var i = -32768 aseba-1.6.0/tests/compiler/data/multiple-logic-op.dump000066400000000000000000000000141322771007300227040ustar00rootroot000000000000001 2 3 4 4 1 aseba-1.6.0/tests/compiler/data/multiple-logic-op.txt000066400000000000000000000005751322771007300225720ustar00rootroot00000000000000var a = 1 var b = 2 var c = 3 var d = 4 var e = 0 var f = 3 if a <= b or a < b and c > d or d == 4 then e = 1 end if ((a <= b) or a < b) and ((c > d) or d == 4) then e = 2 end if ((a <= b) or a < b and (c > d)) or d == 4 then e = 3 end if (((a <= b) or a < b and (c > d)) or d == 4) then e = 4 end if (a+3) < b then e = 5 end if (f > 2) and not (f > 4) then f = 1 end aseba-1.6.0/tests/compiler/data/native-function-indirect.dump000066400000000000000000000000031322771007300242500ustar00rootroot0000000000000050 aseba-1.6.0/tests/compiler/data/native-function-indirect.txt000066400000000000000000000000741322771007300241320ustar00rootroot00000000000000var dest = 0 var i = 0 call math.muldiv(dest[i], 10, 10, 2)aseba-1.6.0/tests/compiler/data/native-function.dump000066400000000000000000000000101322771007300224470ustar00rootroot0000000000000033 47 63aseba-1.6.0/tests/compiler/data/native-function.txt000066400000000000000000000004051322771007300223310ustar00rootroot00000000000000var i[3] var j[3] var k[3] var bar[5] call math.add(i, j, k) call math.add(i, [1,2,3], [4,5,6]) call math.add(i, [1,2,3], bar[1:3]) call math.add(i, [1,2,3]+[4,5,6], bar[1:3]*[1,2,1]) j = [1,2,3] k = [4,5,6] bar[1:3] = [7,8,9] call math.add(i, j+k, bar[1:3]*k)aseba-1.6.0/tests/compiler/data/negation-optimisation.dump000066400000000000000000000000051322771007300236630ustar00rootroot000000000000005 -5 aseba-1.6.0/tests/compiler/data/negation-optimisation.txt000066400000000000000000000001051322771007300235360ustar00rootroot00000000000000var a = 5 var b = 1 b = 0-a # b will return a value of 5 but not -5aseba-1.6.0/tests/compiler/data/optimisation-absorbing-element.dump000066400000000000000000000000511322771007300254550ustar00rootroot0000000000000013 13 12 0 0 -1 -1 0 0 1 1 1 1 1 1 1 1 aseba-1.6.0/tests/compiler/data/optimisation-absorbing-element.txt000066400000000000000000000014571322771007300253420ustar00rootroot00000000000000var a = 13 var b = a var c = a - 1 var result[14] # multiplication result[0] = a * 0 result[1] = 0 * a # binary or result[2] = a | 0xffff result[3] = 0xffff | a # binary and result[4] = a & 0 result[5] = 0 & a # logical or if ((0 == 0) or (a == b)) then result[6] = 1 else result[6] = 0 end if ((0 == 0) or (a == c)) then result[7] = 1 else result[7] = 0 end if ((a == b) or (0 == 0)) then result[8] = 1 else result[8] = 0 end if ((a == c) or (0 == 0)) then result[9] = 1 else result[9] = 0 end # logical and if ((0 == 1) and (a == b)) then result[10] = 0 else result[10] = 1 end if ((0 == 1) and (a == c)) then result[11] = 0 else result[11] = 1 end if ((a == b) and (0 == 1)) then result[12] = 0 else result[12] = 1 end if ((a == c) and (0 == 1)) then result[13] = 0 else result[13] = 1 end aseba-1.6.0/tests/compiler/data/optimisation-binary-not.txt000066400000000000000000000000151322771007300240140ustar00rootroot00000000000000var i i = ~1 aseba-1.6.0/tests/compiler/data/optimisation-bit-to-bit.txt000066400000000000000000000000441322771007300237060ustar00rootroot00000000000000var a = 2^2 var b = 2&2 var c = 2|2 aseba-1.6.0/tests/compiler/data/optimisation-demorgan.dump000066400000000000000000000000041322771007300236520ustar00rootroot000000000000001 0 aseba-1.6.0/tests/compiler/data/optimisation-demorgan.txt000066400000000000000000000002301322771007300235250ustar00rootroot00000000000000var a = 0 var b = 0 when not (a == 0 and 0 == 0) do a = 1 end when not (a > b and 0 == 0) do a = 1 end when not (a > b and b+1 == a) do b = 1 end aseba-1.6.0/tests/compiler/data/optimisation-neutral-element.dump000066400000000000000000000000711322771007300251630ustar00rootroot0000000000000013 13 12 13 13 13 13 13 13 13 13 13 13 1 1 1 1 1 1 1 1 aseba-1.6.0/tests/compiler/data/optimisation-neutral-element.txt000066400000000000000000000016371322771007300250460ustar00rootroot00000000000000var a = 13 var b = a var c = a - 1 var result[18] # addition result[0] = a + 0 result[1] = 0 + a # substraction result[2] = a - 0 # multiplication result[3] = a * 1 result[4] = 1 * a # division result[5] = a / 1 # binary or result[6] = a | 0 result[7] = a | a # binary and result[8] = a & -1 result[9] = -1 & a # logical and if ((0 == 0) and (a == b)) then result[10] = 1 else result[10] = 0 end if ((0 == 0) and (a == c)) then result[11] = 0 else result[11] = 1 end if ((a == b) and (0 == 0)) then result[12] = 1 else result[12] = 0 end if ((a == c) and (0 == 0)) then result[13] = 0 else result[13] = 1 end # logical or if ((0 == 1) or (a == b)) then result[14] = 1 else result[14] = 0 end if ((0 == 1) or (a == c)) then result[15] = 0 else result[15] = 1 end if ((a == b) or (0 == 1)) then result[16] = 1 else result[16] = 0 end if ((a == c) or (0 == 1)) then result[17] = 0 else result[17] = 1 end aseba-1.6.0/tests/compiler/data/out-of-memory-temp1.txt000066400000000000000000000001511322771007300227610ustar00rootroot00000000000000# allocate 254 var foo1[3] var foo2[251] # require 3 more of temp space -> too much emit event2 [1,2,3] aseba-1.6.0/tests/compiler/data/out-of-memory-temp2.txt000066400000000000000000000001731322771007300227660ustar00rootroot00000000000000# allocate 251 var foo1[3] var foo2[251] # require 6 more of temp space -> too much call math.add(foo1, [1,2,3], [1,2,3]) aseba-1.6.0/tests/compiler/data/out-of-memory1.txt000066400000000000000000000000151322771007300220150ustar00rootroot00000000000000var foo[257] aseba-1.6.0/tests/compiler/data/out-of-memory2.txt000066400000000000000000000000421322771007300220160ustar00rootroot00000000000000var i var foo1[100] var foo2[156] aseba-1.6.0/tests/compiler/data/return-in-if.dump000066400000000000000000000000021322771007300216560ustar00rootroot000000000000003 aseba-1.6.0/tests/compiler/data/return-in-if.txt000066400000000000000000000000751322771007300215420ustar00rootroot00000000000000var a = 1 onevent test a = 3 if a == 2 then return end aseba-1.6.0/tests/compiler/data/shift-assignments-vector.dump000066400000000000000000000000041322771007300243070ustar00rootroot000000000000002 4 aseba-1.6.0/tests/compiler/data/shift-assignments-vector.txt000066400000000000000000000000751322771007300241710ustar00rootroot00000000000000var i[2] = [4,8] i <<= [1,2] # [8,32] i >>= [2,3] # [2,4] aseba-1.6.0/tests/compiler/data/shift-assignments.dump000066400000000000000000000000021322771007300230050ustar00rootroot000000000000002 aseba-1.6.0/tests/compiler/data/shift-assignments.txt000066400000000000000000000000331322771007300226630ustar00rootroot00000000000000var i = 4 i <<= 1 i >>= 2 aseba-1.6.0/tests/compiler/data/shift-op.dump000066400000000000000000000000021322771007300210700ustar00rootroot000000000000002 aseba-1.6.0/tests/compiler/data/shift-op.txt000066400000000000000000000000411322771007300207450ustar00rootroot00000000000000var i = 4 i = i << 1 i = i >> 2 aseba-1.6.0/tests/compiler/data/sort-basic.dump000066400000000000000000000002201322771007300214070ustar00rootroot000000000000001 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 aseba-1.6.0/tests/compiler/data/sort-basic.txt000066400000000000000000000012701322771007300212670ustar00rootroot00000000000000var random0[] = [1, 5, 8, 3, 4, 2, 6, 9, 7] var random1[] = [7, 3, 4, 2, 6, 9, 5, 8, 1] var sortedAscend[] = [1, 2, 3, 4, 5, 6, 7, 8, 9] var sortedDescend[] = [9, 8, 7, 6, 5, 4, 3, 2, 1] var interleavedAscend[] = [1, 9, 2, 8, 3, 7, 4, 6, 5] var interleavedDescend[] = [9, 1, 8, 2, 7, 3, 6, 4, 5] var interleavedAscend2[] = [5, 6, 4, 7, 3, 8, 2, 9, 1] var interleavedDescend2[] = [5, 4, 6, 3, 7, 2, 8, 1, 9] call math.sort(random0) call math.sort(random1) call math.sort(sortedAscend) call math.sort(sortedDescend) call math.sort(interleavedAscend) call math.sort(interleavedDescend) call math.sort(interleavedAscend2) call math.sort(interleavedDescend2) aseba-1.6.0/tests/compiler/data/sort-duplicates.dump000066400000000000000000000004401322771007300224670ustar00rootroot000000000000001 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 aseba-1.6.0/tests/compiler/data/sort-duplicates.txt000066400000000000000000000016201322771007300223420ustar00rootroot00000000000000var random0[] = [1, 5, 6, 2, 1, 8, 4, 3, 8, 7, 3, 4, 2, 6, 9, 9, 5, 7] var random1[] = [7, 1, 3, 6, 4, 3, 2, 7, 6, 8, 9, 2, 5, 5, 8, 1, 4, 9] var sortedAscend[] = [1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, 8, 9, 9] var sortedDescend[] = [9, 9, 8, 8, 7, 7, 6, 6, 5, 5, 4, 4, 3, 3, 2, 2, 1, 1] var interleavedAscend[] = [1, 1, 9, 9, 2, 2, 8, 8, 3, 3, 7, 7, 4, 4, 6, 6, 5, 5] var interleavedDescend[] = [9, 9, 1, 1, 8, 8, 2, 2, 7, 7, 3, 3, 6, 6, 4, 4, 5, 5] var interleavedAscend2[] = [5, 5, 6, 6, 4, 4, 7, 7, 3, 3, 8, 8, 2, 2, 9, 9, 1, 1] var interleavedDescend2[] = [5, 5, 4, 4, 6, 6, 3, 3, 7, 7, 2, 2, 8, 8, 1, 1, 9, 9] call math.sort(random0) call math.sort(random1) call math.sort(sortedAscend) call math.sort(sortedDescend) call math.sort(interleavedAscend) call math.sort(interleavedDescend) call math.sort(interleavedAscend2) call math.sort(interleavedDescend2) aseba-1.6.0/tests/compiler/data/subroutine.txt000066400000000000000000000001771322771007300214250ustar00rootroot00000000000000# the sub call is not tested, as it would imply the use of an event, # which is for now impossible var v = 0 sub toto v = 1 aseba-1.6.0/tests/compiler/data/unicode.txt000066400000000000000000000000471322771007300206500ustar00rootroot00000000000000var É‘ = 3 var λ = 4 var θ = É‘ * λ aseba-1.6.0/tests/compiler/data/var-def-compat-issue135.txt000066400000000000000000000000201322771007300233750ustar00rootroot00000000000000var a[2] = -3, 2aseba-1.6.0/tests/compiler/data/vardef-compat-fail1.txt000066400000000000000000000000251322771007300227400ustar00rootroot00000000000000var foo[3] = 1,2,3,4 aseba-1.6.0/tests/compiler/data/vardef-compat.dump000066400000000000000000000000061322771007300220730ustar00rootroot000000000000001 2 3 aseba-1.6.0/tests/compiler/data/vardef-compat.txt000066400000000000000000000000211322771007300217420ustar00rootroot00000000000000var i[3] = 1,2,3 aseba-1.6.0/tests/compiler/data/vardef-constant-size.dump000066400000000000000000000000161322771007300234120ustar00rootroot000000000000001 2 3 4 5 6 7 aseba-1.6.0/tests/compiler/data/vardef-constant-size.txt000066400000000000000000000001351322771007300232660ustar00rootroot00000000000000var i[1+1] = [1,2] # constant FOO equals 2 var j[2*2-FOO] = [3,4] var k[FOO*FOO-1] = [5,6,7] aseba-1.6.0/tests/compiler/data/vardef-fail1.txt000066400000000000000000000000231322771007300214550ustar00rootroot00000000000000var foo[3] = [1,2] aseba-1.6.0/tests/compiler/data/vardef-fail2.txt000066400000000000000000000000271322771007300214620ustar00rootroot00000000000000var foo[3] = [1,2,3,4] aseba-1.6.0/tests/compiler/data/vardef-fail3.txt000066400000000000000000000000201322771007300214540ustar00rootroot00000000000000var foo = [1,2] aseba-1.6.0/tests/compiler/data/vardef-not-constant-size.txt000066400000000000000000000000251322771007300240620ustar00rootroot00000000000000var i = 1 var foo[i] aseba-1.6.0/tests/compiler/data/vardef.dump000066400000000000000000000000161322771007300206130ustar00rootroot000000000000001 2 3 4 5 6 7 aseba-1.6.0/tests/compiler/data/vardef.txt000066400000000000000000000000601322771007300204640ustar00rootroot00000000000000var i[3] = [1,2,3] var j[] = [4,5,6] var k = 7 aseba-1.6.0/tests/compiler/data/vector-access-out-of-bounds-static-over.txt000066400000000000000000000000331322771007300267130ustar00rootroot00000000000000var a[10] a[9:10] = [0,0] aseba-1.6.0/tests/compiler/data/vector-access-out-of-bounds-static-under.txt000066400000000000000000000000331322771007300270550ustar00rootroot00000000000000var a[10] a[-1:0] = [0,0] aseba-1.6.0/tests/compiler/data/vector-access-two-expr.txt000066400000000000000000000000551322771007300235450ustar00rootroot00000000000000var a[3] var i = 0 var j = 1 a[i:j] = [0,0] aseba-1.6.0/tests/compiler/data/when-conditional.dump000066400000000000000000000000061322771007300226050ustar00rootroot000000000000002 1 1 aseba-1.6.0/tests/compiler/data/when-conditional.txt000066400000000000000000000000701322771007300224600ustar00rootroot00000000000000var a = 2 var b = 1 var c = 0 when a > b do c = 1 end aseba-1.6.0/tests/compiler/data/while-loop-vector.dump000066400000000000000000000000111322771007300227160ustar00rootroot0000000000000010 10 21 aseba-1.6.0/tests/compiler/data/while-loop-vector.txt000066400000000000000000000001121322771007300225720ustar00rootroot00000000000000var i = 0 var j[2] = [0,1] while i < 10 do j = j + [1,2] i = i + 1 end aseba-1.6.0/tests/compiler/data/while-loop.dump000066400000000000000000000000061322771007300214220ustar00rootroot0000000000000010 45 aseba-1.6.0/tests/compiler/data/while-loop.txt000066400000000000000000000000771322771007300213040ustar00rootroot00000000000000var i = 0 var j = 0 while i < 10 do j = j + i i = i + 1 end aseba-1.6.0/tests/compiler/fuzzyinput.py000077500000000000000000000033271322771007300204000ustar00rootroot00000000000000#!/usr/bin/env python import sys import os import subprocess iterations = 100 # by default fuzzy_ratio = 0.01 # When executed from the command line if __name__ == "__main__": # Input arguments asebatest_bin = None input_script = None if len(sys.argv) in [3, 4]: asebatest_bin = sys.argv[1] input_script = sys.argv[2] if len(sys.argv) == 4: iterations = int(sys.argv[3]) else: print >> sys.stderr, "Wrong number of arguments.\n" print >> sys.stderr, "Usage:" print >> sys.stderr, " {} asebatest_bin input_script".format(sys.argv[0]) exit(1) try: f = open(input_script, 'rb') except IOError, e: print "Can not find the script file {}. Error.".format(input_script) exit(2) # read the script script = f.read() f.close() # run several fuzzing loops, changing the seed at each step failed = False for s in range(0,iterations): #subprocess.call(["zzuf", "-P", r"\n", "-R", r"\x00-\x1f\x7f-\xff", "-r{}".format(fuzzy_ratio), "-s", str(s), "cat", input_script]) retcode = subprocess.call(["zzuf", "-P", r"\n", "-R", r"\x00-\x1f\x7f-\xff", "-r".format(fuzzy_ratio), "-s", str(s), asebatest_bin, input_script], \ stdout=open(os.devnull), stderr=open(os.devnull)) if retcode == 1: # oops, the child of zzuf crashed (sigsev?) print >> sys.stderr, "Compiler crached when fuzzing the input script." print >> sys.stderr, "Faulty script is generated with the seed (-s) {}:".format(s) subprocess.call(["zzuf", "-P", r"\n", "-R", r"\x00-\x1f\x7f-\xff", "-r{}".format(fuzzy_ratio), "-s", str(s), "cat", input_script]) failed = True break if failed == True: exit(3) else: exit(0) aseba-1.6.0/tests/compiler/simulateuser.py000077500000000000000000000027471322771007300206600ustar00rootroot00000000000000#!/usr/bin/env python import sys import os import tempfile import subprocess # When executed from the command line if __name__ == "__main__": # Input arguments asebatest_bin = None input_script = None if len(sys.argv) == 3: asebatest_bin = sys.argv[1] input_script = sys.argv[2] else: print >> sys.stderr, "Wrong number of arguments.\n" print >> sys.stderr, "Usage:" print >> sys.stderr, " {} asebatest_bin input_script".format(sys.argv[0]) exit(1) try: f = open(input_script, 'rb') except IOError, e: print "Can not find the script file {}. Error.".format(input_script) exit(2) # read the script script = f.read() f.close() # open a tempory file tmp = tempfile.NamedTemporaryFile(mode='wb', prefix='tmp', delete=False) tmp.close() # write the script, character by character tmp_script = '' failed = False for c in script: # generate the incremental script tmp_script += c # write to temp file tmp = open(tmp.name, 'wb') tmp.write(script) tmp.close() # run the compiler on it retcode = subprocess.call([asebatest_bin, tmp.name], stdout=open(os.devnull), stderr=open(os.devnull)) if retcode < 0: # oops, received a signal (sigsev?) print >> sys.stderr, "Compiler crached for the following code:" print >> sys.stderr, tmp_script failed = True break # remove the temp file os.unlink(tmp.name) if failed == True: exit(retcode) else: exit(0) aseba-1.6.0/tests/compiler/valgrind.py000077500000000000000000000053101322771007300177310ustar00rootroot00000000000000#!/usr/bin/env python # This function performs a valgrind (leak-check) on asebatest with the specified script # If script is a directory, perform the test on all the .txt files inside this directory # Return 0 on success (no definitely or indirectly lost blocks), non-zero on error import sys import os import os.path import stat import glob import subprocess # Input arguments asebatest_bin = None input_scripts = None if len(sys.argv) == 3: asebatest_bin = sys.argv[1] input_scripts = sys.argv[2] else: print >> sys.stderr, "Wrong number of arguments.\n" print >> sys.stderr, "Usage:" print >> sys.stderr, " {} asebatest_bin input_script".format(sys.argv[0]) exit(1) # input_scripts: single file, or directory? s = os.stat(input_scripts) if stat.S_ISDIR(s.st_mode): # list *.txt files inside the directory g = os.path.join(input_scripts, "*.txt") input_scripts = glob.glob(g) else: input_scripts = [input_scripts] import re valgrind_num = r"([\d',]+)" definitely_lost_re = re.compile(r"definitely lost: " + valgrind_num) indirectly_lost_re = re.compile(r"indirectly lost: " + valgrind_num) possibly_lost_re = re.compile(r"possibly lost: " + valgrind_num) def search_number(string, regexp): # convenient function to search a number with a regex # remove ' and , to successfully parse numbers match = regexp.search(string) if match: return int(match.group(1).translate(None, ',\'')) # def valgrind_test(input_script): print "Processing {}...".format(input_script) try: valgrind_output = subprocess.check_output(["valgrind", "--leak-check=summary", asebatest_bin, input_script], stderr=subprocess.STDOUT) except subprocess.CalledProcessError as e: # Non-zero exit status. With valgrind, it is the return code of the checked binary # return code can be cheched with e.returncode valgrind_output = e.output definitely_lost = search_number(valgrind_output, definitely_lost_re) indirectly_lost = search_number(valgrind_output, indirectly_lost_re) possibly_lost = search_number(valgrind_output, possibly_lost_re) if definitely_lost > 0 or indirectly_lost > 0: print "***" print "{} failed: {} bytes definitely lost, {} bytes indirectly lost".format(input_script, definitely_lost, indirectly_lost) print " for details run: valgrind --leak-check=full {} {}".format(asebatest_bin, input_script) print "***" return True # failed else: return False # no memleak # create a process pool from multiprocessing import Pool pool = Pool() # test all the scripts using the process pool failed = pool.map(valgrind_test, input_scripts) if True in failed: exit(2) else: exit(0) aseba-1.6.0/tests/e2e-http/000077500000000000000000000000001322771007300153655ustar00rootroot00000000000000aseba-1.6.0/tests/e2e-http/.gitignore000066400000000000000000000000151322771007300173510ustar00rootroot00000000000000node_modules aseba-1.6.0/tests/e2e-http/3000-1-http_spec.js000066400000000000000000000151001322771007300204270ustar00rootroot00000000000000var frisby = require('frisby'); var LISTENER1 = 'dummynode-0'; var LISTENER2 = 'dummynode-1'; var LISTENER3 = 'dummynode-2'; var CLOCK = 'dummynode-3'; var CLOCK2 = 'dummynode-6'; for (port of [3000]) { frisby.create('Verify no root endpoint') .get('http://localhost:' + port + '/') .expectStatus(404) .toss(); frisby.create('Get an initial list of nodes') .get('http://localhost:' + port + '/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { name: String, protocolVersion: Number }) .afterJSON(function (body) { expect(body.length).toBeGreaterThan(3) }) .toss(); } for (node of [1,CLOCK]) { frisby.create('Get node description for ' + node) .get('http://localhost:3000/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ name: String, protocolVersion: Number, bytecodeSize: Number, variablesSize: Number, stackSize: Number, namedVariables: Object, localEvents: Object, constants: Object, events: Object }) .toss(); } frisby.create('Fail to connect to nonexistant node') .get('http://localhost:3000/nodes/' + 'does-not-exist') .expectStatus(404) .toss(); frisby.create('Get the id variable') .get('http://localhost:3000/nodes/' + CLOCK + '/id') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number]) .toss() frisby.create('Get/set the unused variable on ' + CLOCK) .get('http://localhost:3000/nodes/' + CLOCK + '/vec10') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(10) .afterJSON(function (body) { // Assume no events are running! frisby.create('Set the value of vec10 on ' + CLOCK) .post('http://localhost:3000/nodes/' + CLOCK + '/vec10', Array(10).fill(1), {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of vec10 on ' + CLOCK) .get('http://localhost:3000/nodes/' + CLOCK + '/vec10') .expectStatus(200) .expectJSONLength(10) .expectJSON([1,1,1,1,1,1,1,1,1,1]) .expectJSON(Array(10).fill(1)) .toss() }) .toss() }) .toss() for (node of [LISTENER1,LISTENER2]) { frisby.create('Check user variables in node description for ' + node) .get('http://localhost:3000/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSON({ namedVariables: { id:1, whoami:1 }, }) .toss(); } for (node of [CLOCK]) { frisby.create('Check user variables in node description for ' + node) .get('http://localhost:3000/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSON({ namedVariables: { id:1, running:1 }, }) .toss(); } frisby.create('Get user variables for ' + CLOCK) .get('http://localhost:3000/nodes/' + CLOCK + '/running') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number]) .toss(); frisby.create('Fail to get undefined user variables for ' + CLOCK) .get('http://localhost:3000/nodes/' + CLOCK + '/whoami') .expectStatus(404) .toss(); frisby.create('Set then reset the user variable whoami, using POST & JSON') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(1) .afterJSON(function (body) { var old_whoami = body[0] frisby.create('Set the value of whoami') .post('http://localhost:3000/nodes/' + LISTENER1 + '/whoami', [27182], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of whoami') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami') .expectStatus(200) .expectJSON([27182]) .afterJSON(function (body) { frisby.create('Set the value of whoami') .post('http://localhost:3000/nodes/' + LISTENER1 + '/whoami', [old_whoami], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of whoami') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami') .expectStatus(200) .expectJSON([old_whoami]) .toss() }) .toss() }) .toss() }) .toss() }) .toss() frisby.create('Set then reset the user variable whoami, using GET & URI args') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(1) .afterJSON(function (body) { var old_whoami = body[0] frisby.create('Set the value of whoami') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami/27182') .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of whoami') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami') .expectStatus(200) .expectJSON([27182]) .afterJSON(function (body) { frisby.create('Set the value of whoami') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami/' + old_whoami) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of whoami') .get('http://localhost:3000/nodes/' + LISTENER1 + '/whoami') .expectStatus(200) .expectJSON([old_whoami]) .toss() }) .toss() }) .toss() }) .toss() }) .toss() frisby.create('Changing whoami on ' + LISTENER2 + ' doesn\'t affect ' + LISTENER3) .get('http://localhost:3000/nodes/' + LISTENER3 + '/whoami') .expectStatus(200) .expectJSONLength(1) .afterJSON(function (body) { var whoami_1 = body[0] frisby.create('Set the value of whoami on ' + LISTENER2) .post('http://localhost:3000/nodes/' + LISTENER2 + '/whoami', [whoami_1 + 1], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of whoami on ' + LISTENER3) .get('http://localhost:3000/nodes/' + LISTENER3 + '/whoami') .expectStatus(200) .expectJSON([whoami_1]) .afterJSON(function (body) { frisby.create('Set the value of whoami') .post('http://localhost:3000/nodes/' + LISTENER2 + '/whoami', [2000], {json: true}) .expectStatus(204) .toss() }) .toss() }) .toss() }) .toss() aseba-1.6.0/tests/e2e-http/3000-2-interaction_spec.js000066400000000000000000000031661322771007300220010ustar00rootroot00000000000000var frisby = require('frisby'); var LISTENER1 = 'dummynode-0'; var LISTENER2 = 'dummynode-1'; var LISTENER3 = 'dummynode-2'; var CLOCK = 'dummynode-3'; frisby.create('Get an initial list of nodes') .get('http://localhost:3000/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { name: String, protocolVersion: Number }) .expectJSONLength(4) .toss(); for (node of [LISTENER1,LISTENER2,LISTENER3,CLOCK]) { frisby.create('Get node description for ' + node) .get('http://localhost:3000/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ name: String, protocolVersion: Number, bytecodeSize: Number, variablesSize: Number, stackSize: Number, namedVariables: Object, localEvents: Object, constants: Object, events: Object }) .toss(); } frisby.create('See event streams') .post('http://localhost:3000/nodes/' + CLOCK + '/running', [1], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of running') .get('http://localhost:3000/nodes/' + CLOCK + '/running') .expectStatus(200) .expectJSON([1]) .after(function(err, res, body) { frisby.create('Open event stream') .get('http://localhost:3000/events?todo=5') .expectStatus(200) .expectHeader('Content-Type', 'text/event-stream') .expectHeader('Connection', 'keep-alive') .expectBodyContains('data: wakeup') .expectBodyContains('data: ping') .toss() }) .toss() }) .toss() aseba-1.6.0/tests/e2e-http/3001-1-http_spec.js000066400000000000000000000034761322771007300204450ustar00rootroot00000000000000var frisby = require('frisby'); var LISTENER1 = 'dummynode-0'; var LISTENER2 = 'dummynode-1'; var LISTENER3 = 'dummynode-2'; var CLOCK = 'dummynode-3'; var CLOCK2 = 'dummynode-6'; for (port of [3001]) { frisby.create('Verify no root endpoint') .get('http://localhost:' + port + '/') .expectStatus(404) .toss(); frisby.create('Get an initial list of nodes') .get('http://localhost:' + port + '/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { name: String, protocolVersion: Number }) .afterJSON(function (body) { expect(body.length).toBeGreaterThan(3) }) .toss(); } frisby.create('Change the runnning variable on ' + CLOCK2 + ' through start and stop events') .get('http://localhost:3001/nodes/' + CLOCK2 + '/running') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(1) .afterJSON(function (body) { var old_running = body[0] frisby.create('Stop the clock') .get('http://localhost:3001/nodes/' + CLOCK2 + '/stop') .expectStatus(204) .after(function(err, res, body) { frisby.create('Check that running = 0') .get('http://localhost:3001/nodes/' + CLOCK2 + '/running') .expectStatus(200) .expectJSON([0]) .afterJSON(function (body) { frisby.create('Set the value of whoami') .get('http://localhost:3001/nodes/' + CLOCK2 + '/start') .expectStatus(204) .after(function(err, res, body) { frisby.create('Check that running = 1') .get('http://localhost:3001/nodes/' + CLOCK2 + '/running') .expectStatus(200) .expectJSON([1]) .toss() }) .toss() }) .toss() }) .toss() }) .toss() aseba-1.6.0/tests/e2e-http/3001-2-remap_spec.js000066400000000000000000000043011322771007300205570ustar00rootroot00000000000000var frisby = require('frisby'); // Asebadummynode 6 gave target node 7, which we remapped to aesl node 4 using // dashel target tcp:;port=33339;remapAesl=4;remapTarget=7'. // Since it is aesl node 4 it will be the clock from ping0123.aesl. var NODE4 = 'dummynode-4'; var NODE5 = 'dummynode-5'; var NODE6 = 'dummynode-6'; var NODE7 = 'dummynode-7'; var NODECLOCK = 7; var CLOCK = 4; frisby.create('Get an initial list of nodes') .get('http://localhost:3001/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { node: Number, name: String, aeslId: Number, protocolVersion: Number }) .toss(); for (node of [NODE6, NODECLOCK]) { frisby.create('Check nodeId not remapped for ' + node) .get('http://localhost:3001/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ namedVariables: { running:Number } }) .expectJSON({ node: NODECLOCK, aeslId: CLOCK, name: NODE6, }) .toss(); } frisby.create('Check conflicting nodeId remapped for ' + NODE5 + ' and ' + NODE7) .get('http://localhost:3001/nodes/' + NODE5) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .afterJSON(function (body) { var id_5 = body.node; frisby.create('Get nodeId remapped for ' + NODE7) .get('http://localhost:3001/nodes/' + NODE7) .expectStatus(200) .afterJSON(function (body) { var id_7 = body.node; runs(function() { expect(id_5).not.toEqual(id_7) }); }) .toss(); }) .toss(); frisby.create('Check same aeslId but different nodeId for ' + NODE4 + ' and ' + NODE5) .get('http://localhost:3001/nodes/' + NODE4) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .afterJSON(function (body) { var id_4 = body.node; var aesl_4 = body.aeslId; frisby.create('Get node for ' + NODE5) .get('http://localhost:3001/nodes/' + NODE5) .expectStatus(200) .afterJSON(function (body) { var id_5 = body.node; var aesl_5 = body.aeslId; runs(function() { expect(id_4).not.toEqual(id_5); expect(aesl_4).toEqual(aesl_5); }); }) .toss(); }) .toss(); aseba-1.6.0/tests/e2e-http/3001-3-load-aesl_spec.js000066400000000000000000000036231322771007300213230ustar00rootroot00000000000000var frisby = require('frisby'); var NODE = 'dummynode-8'; var fs = require('fs'); var stream = require('stream'); var path = require('path'); var filePath = path.resolve(__dirname, 'dice.aesl'); var fileSize = fs.statSync(filePath).size; frisby.create('PUT new program to ' + NODE) .put('http://localhost:3001/nodes/' + NODE, fs.createReadStream(filePath), { json: false, headers: { "Content-Type": "application/octet-stream", "Content-Length": fileSize } }) .expectStatus(204) .after(function(err, res, body) { frisby.create('Inspect new program in ' + NODE) .get('http://localhost:3001/nodes/' + NODE) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSON({ namedVariables: { dice:2 }, events: { roll: 0 } }) .afterJSON(function (body) { frisby.create('Get dice from ' + NODE) .get('http://localhost:3001/nodes/' + NODE + '/dice') .expectStatus(200) .expectJSONTypes([Number,Number]) .afterJSON(function (body) { frisby.create('Roll dice on ' + NODE) .get('http://localhost:3001/nodes/' + NODE + '/roll') .expectStatus(204) .after(function (err, res, body) { frisby.create('Get dice from ' + NODE) .get('http://localhost:3001/nodes/' + NODE + '/dice') .expectStatus(200) .expectJSONTypes([Number,Number]) .toss(); }) .toss(); }) .toss(); }) .toss(); }) .toss(); frisby.create('PUT a malformed program to ' + NODE) .put('http://localhost:3001/nodes/' + NODE, fs.createReadStream(filePath), { json: false, headers: { "Content-Type": "application/octet-stream", "Content-Length": fileSize - 100 } }) .expectStatus(400) .toss(); aseba-1.6.0/tests/e2e-http/3002-1-thymio-II_spec.js000066400000000000000000000201151322771007300212640ustar00rootroot00000000000000var frisby = require('frisby'); var ASEBAHTTP = 'http://localhost:3002/'; var NODENUM = 'nodes/1'; var THYMIO2 = 'nodes/thymio-II'; frisby.create('Verify no root endpoint') .get(ASEBAHTTP) .expectStatus(404) .toss(); frisby.create('Get an initial list of nodes') .get(ASEBAHTTP + 'nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { name: String, protocolVersion: Number }) .expectJSONLength(1) .toss(); frisby.create('Get node description for ' + THYMIO2) .get(ASEBAHTTP + THYMIO2) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .afterJSON(function (body) { var node_id = body["node"] for (node of [THYMIO2, 'nodes/'+node_id]) { frisby.create('Get node description for ' + node) .get(ASEBAHTTP + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ name: String, protocolVersion: Number, bytecodeSize: Number, variablesSize: Number, stackSize: Number, namedVariables: Object, localEvents: Object, constants: Object, events: Object }) .toss(); } }) .toss(); frisby.create('Fail to connect to nonexistant node') .get(ASEBAHTTP + 'does-not-exist') .expectStatus(404) .toss(); frisby.create('Get the _id variable') .get(ASEBAHTTP + THYMIO2 + '/_id') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number]) .toss(); frisby.create('Sound startup') .get(ASEBAHTTP + THYMIO2 + '/A_sound_system/0') .expectStatus(204) .toss(); for (node of [THYMIO2]) { frisby.create('Check user variables in node description for ' + node) .get(ASEBAHTTP + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSON({ namedVariables: { "_fwversion":2, "motor.left.target":1, acc:3, leds_circle:8 } }) .toss(); } frisby.create('Fail to get undefined user variables for ' + THYMIO2) .get(ASEBAHTTP + THYMIO2 + '/whoami') .expectStatus(404) .toss(); frisby.create('Get/set/get/set the LED circle variable on ' + THYMIO2) .get(ASEBAHTTP + THYMIO2 + '/leds_circle') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number,Number,Number,Number,Number,Number,Number,Number]) .afterJSON(function (body) { frisby.create('Call event ' + THYMIO2 + '/V_leds_circle using POST to set LEDs') .post(ASEBAHTTP + THYMIO2 + '/V_leds_circle', Array(8).fill(16), {json: true}) .expectStatus(204) .after(function(err, res, body) { // Assume no events are running! frisby.create('Check the values of ' + THYMIO2+ ' leds_circle, after POST V_leds_circle') .get(ASEBAHTTP + THYMIO2 + '/leds_circle') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(8) .expectJSON([16,16,16,16,16,16,16,16]) .afterJSON(function (body) { frisby.create('Call event ' + THYMIO2 + '/V_leds_circle using GET to set LEDs') .get(ASEBAHTTP + THYMIO2 + '/V_leds_circle/8/8/8/8/8/8/8/8') .expectStatus(204) .after(function(err, res, body) { // Assume no events are running! frisby.create('Check the values of ' + THYMIO2+ ' leds_circle, after GET V_leds_circle') .get(ASEBAHTTP + THYMIO2 + '/leds_circle') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(8) .expectJSON([8,8,8,8,8,8,8,8]) .afterJSON(function (body) { frisby.create('Call event ' + THYMIO2 + '/V_leds_circle to reset the values of leds_circle') .post(ASEBAHTTP + THYMIO2 + '/V_leds_circle', Array(8).fill(0), {json: true}) .expectStatus(204) .toss() }) .toss() }) .toss(); }) .toss(); }) .toss(); }) .toss(); frisby.create('Set then reset the user variable motor.left.target, using POST & JSON') .get(ASEBAHTTP + THYMIO2 + '/motor.left.target') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(1) .afterJSON(function (body) { var old_motor_left_target = body[0] frisby.create('Set the value of motor.left.target') .post(ASEBAHTTP + THYMIO2 + '/motor.left.target', [143], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of motor.left.target') .get(ASEBAHTTP + THYMIO2 + '/motor.left.target') .expectStatus(200) .expectJSON([143]) .afterJSON(function (body) { frisby.create('Set the value of motor.left.target') .post(ASEBAHTTP + THYMIO2 + '/motor.left.target', [old_motor_left_target], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of motor.left.target') .get(ASEBAHTTP + THYMIO2 + '/motor.left.target') .expectStatus(200) .expectJSON([old_motor_left_target]) .toss() }) .toss() }) .toss() }) .toss() }) .toss() frisby.create('Set then reset the user variable motor.right.target, using GET & URI args') .get(ASEBAHTTP + THYMIO2 + '/motor.right.target') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(1) .afterJSON(function (body) { var old_motor_right_target = body[0] frisby.create('Set the value of motor.right.target') .get(ASEBAHTTP + THYMIO2 + '/motor.right.target/143') .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of motor.right.target') .get(ASEBAHTTP + THYMIO2 + '/motor.right.target') .expectStatus(200) .expectJSON([143]) .afterJSON(function (body) { frisby.create('Set the value of motor.right.target') .get(ASEBAHTTP + THYMIO2 + '/motor.right.target/' + old_motor_right_target) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of motor.right.target') .get(ASEBAHTTP + THYMIO2 + '/motor.right.target') .expectStatus(200) .expectJSON([old_motor_right_target]) .toss() }) .toss() }) .toss() }) .toss() }) .toss() frisby.create('Check that state changes are seen in R_state') .get(ASEBAHTTP + THYMIO2 + '/motor.left.target') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONLength(1) .afterJSON(function (body) { var old_motor_left_target = body[0] frisby.create('Set the value of motor.left.target') .post(ASEBAHTTP + THYMIO2 + '/motor.left.target', [143], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of R_state') .get(ASEBAHTTP + THYMIO2 + '/R_state') .expectStatus(200) .expectJSONTypes('*', Number) // .inspectBody() .afterJSON(function (body) { expect(body[5]).toEqual(143) }) .afterJSON(function (body) { frisby.create('Set the value of motor.left.target') .post(ASEBAHTTP + THYMIO2 + '/motor.left.target', [old_motor_left_target], {json: true}) .expectStatus(204) .after(function(err, res, body) { frisby.create('Get the value of motor.left.target') .get(ASEBAHTTP + THYMIO2 + '/motor.left.target') .expectStatus(200) .expectJSON([old_motor_left_target]) .toss() }) .toss() }) .toss() }) .toss() }) .toss() frisby.create('See event streams') .get(ASEBAHTTP + 'events?todo=4') .expectStatus(200) .expectHeader('Content-Type', 'text/event-stream') .expectHeader('Connection', 'keep-alive') .expectBodyContains('data: Q_motion_started') .expectBodyContains('data: Q_motion_ended') .toss() frisby.create('Sound shutdown') .get(ASEBAHTTP + THYMIO2 + '/A_sound_system/1') .expectStatus(204) .toss(); aseba-1.6.0/tests/e2e-http/3003-1-dashel-target_spec.js000066400000000000000000000025141322771007300222040ustar00rootroot00000000000000var frisby = require('frisby'); var LISTENER1 = 'dummynode-0'; var LISTENER2 = 'dummynode-1'; var LISTENER3 = 'dummynode-2'; var CLOCK = 'dummynode-3'; frisby.create('Get an initial list of nodes') .get('http://localhost:3003/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { node: Number, name: String, aeslId: Number, protocolVersion: Number }) .toss(); for (node of [LISTENER1,LISTENER2,LISTENER3,CLOCK]) { frisby.create('Get node description for ' + node) .get('http://localhost:3003/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ name: String, protocolVersion: Number, bytecodeSize: Number, variablesSize: Number, stackSize: Number, namedVariables: Object, localEvents: Object, constants: Object, events: Object }) .toss(); } frisby.create('Fail to connect to nonexistant node') .get('http://localhost:3003/nodes/' + 'does-not-exist') .expectStatus(404) .toss(); for (node of [LISTENER1,LISTENER2,LISTENER3]) { frisby.create('Get the whoami variable') .get('http://localhost:3003/nodes/' + node + '/whoami') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number]) .toss() } aseba-1.6.0/tests/e2e-http/3004-1-switch_spec.js000066400000000000000000000022331322771007300207600ustar00rootroot00000000000000var frisby = require('frisby'); var LISTENER1 = 'dummynode-0'; var CLOCK = 'dummynode-3'; var AESL_LISTENER1 = '1'; var AESL_CLOCK = '4'; frisby.create('Get an initial list of nodes') .get('http://localhost:3004/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { name: String, protocolVersion: Number }) .afterJSON(function (body) { expect(body.length).toBeGreaterThan(1) }) .toss(); for (node of [LISTENER1,CLOCK,AESL_LISTENER1,AESL_CLOCK]) { frisby.create('Get node description for ' + node) .get('http://localhost:3004/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ name: String, protocolVersion: Number, bytecodeSize: Number, variablesSize: Number, stackSize: Number, namedVariables: Object, localEvents: Object, constants: Object, events: Object }) .toss(); } frisby.create('Get the id variable') .get('http://localhost:3004/nodes/' + AESL_CLOCK + '/id') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number]) .toss() aseba-1.6.0/tests/e2e-http/3005-1-switch_spec.js000066400000000000000000000022331322771007300207610ustar00rootroot00000000000000var frisby = require('frisby'); var LISTENER1 = 'dummynode-0'; var CLOCK = 'dummynode-3'; var AESL_LISTENER1 = '1'; var AESL_CLOCK = '4'; frisby.create('Get an initial list of nodes') .get('http://localhost:3005/nodes') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes('*', { name: String, protocolVersion: Number }) .afterJSON(function (body) { expect(body.length).toBeGreaterThan(1) }) .toss(); for (node of [LISTENER1,CLOCK,AESL_LISTENER1,AESL_CLOCK]) { frisby.create('Get node description for ' + node) .get('http://localhost:3005/nodes/' + node) .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes({ name: String, protocolVersion: Number, bytecodeSize: Number, variablesSize: Number, stackSize: Number, namedVariables: Object, localEvents: Object, constants: Object, events: Object }) .toss(); } frisby.create('Get the id variable') .get('http://localhost:3005/nodes/' + AESL_CLOCK + '/id') .expectStatus(200) .expectHeader('Content-Type', 'application/json') .expectJSONTypes([Number]) .toss() aseba-1.6.0/tests/e2e-http/CMakeLists.txt000066400000000000000000000056101322771007300201270ustar00rootroot00000000000000add_custom_command( OUTPUT run-e2e-http.sh COMMAND ${CMAKE_COMMAND} -D in=${CMAKE_CURRENT_SOURCE_DIR}/run-e2e-http.sh.in -D out=${CMAKE_CURRENT_BINARY_DIR}/run-e2e-http.sh -D ASEBAHTTP=$ -D ASEBADUMMYNODE=$ -D ASEBASWITCH=$ -D ASEBAMASSLOADER=$ -D DASHELPORTLIST=${dashel_DIR}/portlist -P ${CMAKE_CURRENT_SOURCE_DIR}/../patch-script.cmake WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/run-e2e-http.sh.in ) add_custom_target( create-run-e2e-http ALL DEPENDS run-e2e-http.sh ) add_custom_command( OUTPUT run-e2e-switch.sh COMMAND ${CMAKE_COMMAND} -D in=${CMAKE_CURRENT_SOURCE_DIR}/run-e2e-switch.sh.in -D out=${CMAKE_CURRENT_BINARY_DIR}/run-e2e-switch.sh -D ASEBAHTTP=$ -D ASEBADUMMYNODE=$ -D ASEBASWITCH=$ -D ASEBAMASSLOADER=$ -D DASHELPORTLIST=${dashel_DIR}/portlist -P ${CMAKE_CURRENT_SOURCE_DIR}/../patch-script.cmake WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/run-e2e-switch.sh.in ) add_custom_target( create-run-e2e-switch ALL DEPENDS run-e2e-switch.sh ) find_program( HAVE_NPM npm ) if (HAVE_NPM) if (WIN32) set(NPM_INSTALL cmd //c npm install) else (WIN32) set(NPM_INSTALL npm install) endif (WIN32) add_custom_target( install_jasmine ALL COMMAND ${NPM_INSTALL} WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} COMMENT "Installing jasmine" ) endif (HAVE_NPM) configure_file(3000-1-http_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3000-1-http_spec.js COPYONLY) configure_file(3000-2-interaction_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3000-2-interaction_spec.js COPYONLY) configure_file(3001-1-http_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3001-1-http_spec.js COPYONLY) configure_file(3001-2-remap_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3001-2-remap_spec.js COPYONLY) configure_file(3001-3-load-aesl_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3001-3-load-aesl_spec.js COPYONLY) configure_file(3002-1-thymio-II_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3002-1-thymio-II_spec.js COPYONLY) configure_file(3003-1-dashel-target_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3003-1-dashel-target_spec.js COPYONLY) configure_file(3004-1-switch_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3004-1-switch_spec.js COPYONLY) configure_file(3005-1-switch_spec.js ${CMAKE_CURRENT_BINARY_DIR}/3005-1-switch_spec.js COPYONLY) configure_file(package.json ${CMAKE_CURRENT_BINARY_DIR}/package.json COPYONLY) configure_file(ping0123.aesl ${CMAKE_CURRENT_BINARY_DIR}/ping0123.aesl COPYONLY) configure_file(dice.aesl ${CMAKE_CURRENT_BINARY_DIR}/dice.aesl COPYONLY) configure_file(thymio.aesl ${CMAKE_CURRENT_BINARY_DIR}/thymio.aesl COPYONLY) configure_file(README.md ${CMAKE_CURRENT_BINARY_DIR}/README.md COPYONLY) add_test(NAME e2e-http COMMAND bash run-e2e-http.sh) aseba-1.6.0/tests/e2e-http/README.md000066400000000000000000000102311322771007300166410ustar00rootroot00000000000000# End-to-end tests for `asebahttp` **Asebahttp** is a switch that connects together a set of Aseba targets, and provides a REST interface for communicating with them using HTTP over a TCP/IP connection. The tests in this directory verify these interconnections. There are seven test specification sets: * `3000-1-http_spec.js` and `3001-1-http_spec.js` verify that one can inspect and command Aseba nodes through the HTTP REST interface, * `3000-2-interaction_spec.js` verifies that Aseba nodes can communicate over the Aseba bus implemented by **asebahttp**, * `3001-2-remap_spec.js` verifies that **asebahttp** will remap node identifiers to avoid conflicts. * `3001-3-load-aesl_spec.js` verifies that **asebahttp** can upload a new aesl program to a node. * `3002-1-thymio-II_spec.js` optionally verifies that **asebahttp** can communicate with a real Thymio-II connected on a USB serial port. * `3003-1-dashel-target_spec.js` optionally verifies that **asebahttp** offers a Dashel target and can communicate with Aseba clients. * `3004-1-switch_spec.js` and `3004-1-switch_spec.js` verify that **asebahttp** switches can chain together and offer both Aseba and HTTP connections. ## Installation CMake and the build process will install the necessary NPM modules and will create the test runners `run-e2e-http.sh` and `run-e2e-switch.sh`. The command `npm install` will reinstall the necessary NPM modules. ## Test scenario The `run-e2e-http.sh` test runner will start nine nodes with **asebadummynode**. The first four, **dummynode-**0—3, are connected using **asebaswitch**, which is itself connected to an **asebahttp** listening to port 3000. The next five, **dummynode-**4—8, are individually connected to an **asebahttp** listening to port 3001. Each set is sent the file `ping0123.aesl`, which contains four Aseba programs: * Program 1 listens for `wakeup` events addressed to 1000, and emits a `ping` event containing a timestamp from 0—999, as well as the last broadcast message that it observed on the bus. * Program 2 is as above, but listens for `wakeup` events addressed to 2000. * Program 3 is as above, for address 3000, but is broken: it never increments its timestamp counter. * Program 4 is a global clock, that emits a `wakeup` event to a random address (1000,2000,3000) every second. The nodes **dummynode-**0—3 have each a different “asebaId†and play one of the roles described above. The nodes **dummynode-**4—8 also test identifier remapping: 1. **dummynode-4** (node 5) asks to be known as nodeId 1, and so gains the listener 1 role 2. **dummynode-5** (node 6) keeps its nodeId but asks for aeslId 1 and so gains the listener 1 role, too 3. **dummynode-6** (node 7) asks for aeslId 4 and thus the clock role. 4. **dummynode-7** (node 8) asks to be known as nodeId 6, which is a conflict with **dummynode-5** and forces it to be renumbered, but it also asks for aeslId 2 and so gains the listener 2 role. Node **dummynode-8** is used to test loading aesl programs using the HTTP PUT method of the REST interface. The optional test scenario with a real Thymio-II first loads a simple program with variables, events, and an event stream at 1.5 second intervals, then verifies that **asebahttp** can change variables, call events, and inspect an event stream. The `run-e2e-switch.sh` test runner sets up two dummy nodes, listener 1 and clock from above, connected by an **asebahttp** switch listening on HTTP port 3004 and Aseba port 33343, itself connected to a second **asebahttp* switch listening on HTTP port 3005 and Aseba port 33344. Simple tests are run over HTTP using jasmine, although alternatively you could connect Aseba Studio to one or the other of the **asebahttp* switches for your own tests. ## Implementation The tests are defined in a behavior-driven style (BDD) using the *Frisby.js* module and *Jasmine* expectations. A test is constructed using Frisby methods then executed using *toss*. Test specifications run concurrently. Dependencies between tests are defined through nesting: a *frisby.create* inside of an *after* will be executed sequentially (and can refer to variables that were assigned values from the result of the outer *frisby.create* request). aseba-1.6.0/tests/e2e-http/dice.aesl000066400000000000000000000006071322771007300171420ustar00rootroot00000000000000 var dice[2] = [1,1] onevent roll call math.rand(dice[0]) call math.rand(dice[1]) dice[0:1] = [1 + abs(dice[0]%6), 1 + abs(dice[1]%6)] aseba-1.6.0/tests/e2e-http/package.json000066400000000000000000000010531322771007300176520ustar00rootroot00000000000000{ "name": "e2e-http", "author": "David James Sherman", "description": "Aseba HTTP REST services", "main": "3000-1-http_spec.js", "version": "0.0.1", "license": "CECILL-2.1", "dependencies": { "frisby": "latest", "jasmine-node": "latest" }, "devDependencies": { "frisby": "^0.8.5" }, "scripts": { "test": "jasmine-node --verbose --color ." }, "repository": { "type": "git", "url": "https://github.com/davidjsherman/aseba.git" }, "keywords": [ "Aseba", "HTTP", "REST" ] } aseba-1.6.0/tests/e2e-http/ping0123.aesl000066400000000000000000000031201322771007300174720ustar00rootroot00000000000000 # listener 1 is dummynode-0 var whoami = 1000 var counter = 0 var seen[2] = [0,0] onevent wakeup if args[0] == whoami then counter = (counter + 1) % 1000 emit ping [whoami+counter,seen] end onevent ping seen = [source,args[0]] # listener 2 is dummynode-1 var whoami = 2000 var counter = 0 var seen[2] = [0,0] onevent wakeup if args[0] == whoami then counter = (counter + 1) % 1000 emit ping [whoami+counter,seen] end onevent ping seen = [source,args[0]] # stuck listener 3 is dummynode-2 var whoami = 3000 var seen[2] = [0,0] onevent wakeup if args[0] == whoami then emit ping [whoami,seen] end onevent ping seen = [source,args[0]] # clock is dummynode-3 # randomly wake up a listener every 1-second tick var running = 1 var tick = 0 var who var vec10[10] onevent timer if running==1 then tick += 1 if tick % 50 == 0 then call math.rand(who) who = (tick & (3 << 6)) >> 6 emit wakeup 1000*(who+1) end end onevent start running = 1 onevent stop running = 0 aseba-1.6.0/tests/e2e-http/run-e2e-http.sh.in000077500000000000000000000045521322771007300205710ustar00rootroot00000000000000#!/bin/bash [ "$MSYSTEM" = "MINGW32" ] && TCP="tcp:127.0.0.1" || TCP="tcp:" # clean up previous session which killall >/dev/null 2>&1 \ && killall aseba{dummynode,switch,massloader,http,scratch} \ || ps | egrep 'aseba(dummynode|switch|massloader|http)' | while read pid rest; do kill $pid; done for i in 0 1 2 3 4 5 6 7 8; do @ASEBADUMMYNODE@ $i & done sleep 3 # localhost:3000 bridges a switch with 4 cooperating nodes: # dummynode-0 targetId=1 aeslId=1 LISTENER1 # dummynode-1 targetId=2 aeslId=2 LISTENER2 # dummynode-2 targetId=3 aeslId=3 LISTENER3 # dummynode-3 targetId=4 aeslId=4 CLOCK # it also offers Dashel target tcp:;port=33330 @ASEBASWITCH@ -p 33332 $(for i in 0 1 2 3; do echo $TCP';port='$[ 33333 + $i ]; done) 1>&2 & @ASEBAMASSLOADER@ ping0123.aesl $TCP';port=33332' 1>&2 & sleep 10 ; kill $! @ASEBASWITCH@ -d -p 33331 $TCP';port=33332' 1>&2 2| head -20 1>&2 @ASEBAHTTP@ --http 3000 --aesl ping0123.aesl --port 33330 \ $TCP';port=33332' 1>&2 & # localhost:3001 is its own switch with 4 cooperating nodes: # dummynode-4 targetId=5 aeslId=1 LISTENER1 # dummynode-5 targetId=6 aeslId=1 LISTENER1 (same role as dummynode-4) # dummynode-6 targetId=7 aeslId=4 CLOCK) # dummynode-7 targetId=8 aeslId=4 LISTENER2 (same id dummynode-5) @ASEBAHTTP@ --http 3001 --aesl ping0123.aesl \ $TCP';port=33337;remapTarget=5;remapLocal=1' \ $TCP';port=33338;remapTarget=6;remapAesl=1' \ $TCP';port=33339;remapTarget=7;remapAesl=4' \ $TCP';port=33340;remapTarget=8;remapAesl=2;remapLocal=6' \ $TCP';port=33341;remapTarget=9;remapAesl=3' 1>&2 & sleep 30 # let switches start up # localhost:3003 is a switch that cascades localhost:3001 through its Dashel target tcp:;port=33330 @ASEBAHTTP@ --http 3003 --aesl ping0123.aesl \ 'tcp:;port=33330' 1>&2 & sleep 30 # let switches start up # run e2e tests # jasmine-node --verbose --color *_spec.js export PATH=${PATH}:./node_modules/jasmine-node/bin jasmine-node 3000-*_spec.js jasmine-node 3001-*_spec.js jasmine-node 3003-*_spec.js status=$? # optional tests with a real Thymio-II [ -x "DASHELPORTLIST" ] && target=$(DASHELPORTLIST | grep -i -m1 thymio.ii) && target="$(echo "$target"|perl -p -e 's{.*\[(.*?)\s*\(.*}{$1}')" && ( @ASEBAHTTP@ --http 3002 --aesl thymio.aesl "ser:name=$target" & ) && sleep 5 && jasmine-node 3002-*_spec.js # clean up [ -z "$(jobs -p)" ] || kill %% exit $status aseba-1.6.0/tests/e2e-http/run-e2e-switch.sh.in000066400000000000000000000015141322771007300211030ustar00rootroot00000000000000#!/bin/bash [ "$MSYSTEM" = "MINGW32" ] && TCP="tcp:127.0.0.1" || TCP="tcp:" # clean up previous session which killall >/dev/null 2>&1 \ && killall aseba{dummynode,switch,massloader,http,scratch} \ || ps | egrep 'aseba(dummynode|switch|massloader|http)' | while read pid rest; do kill $pid; done for i in 0 3; do @ASEBADUMMYNODE@ $i & done sleep 3 @ASEBAHTTP@ --http 3004 --aesl ping0123.aesl --port 33353 \ $TCP';port=33333;remapTarget=1;remapAesl=1' \ $TCP';port=33336;remapTarget=4;remapAesl=4' \ 1>&2 & sleep 30 # let switches start up @ASEBAHTTP@ --http 3005 --port 33354 \ $TCP';port=33353' 1>&2 & sleep 30 # let switches start up # run e2e tests export PATH=${PATH}:./node_modules/jasmine-node/bin jasmine-node 3004-*_spec.js 3005-*_spec.js status=$? # clean up [ -z "$(jobs -p)" ] || kill %% exit $status aseba-1.6.0/tests/e2e-http/thymio.aesl000066400000000000000000000045411322771007300175500ustar00rootroot00000000000000 ### Support for end-to-end testing of asebascratch with Thymio-II ### David J Sherman - david.sherman@inria.fr var beacon = 0 var R_state.do = 0 var R_state[23] var leds_circle[8] ### Compressed state 258 bits # acc 5 bit x 3 R_state[0] # buttons, tap 6 bit R_state[1] # mic.intensity 8 bit R_state[1] # angle 8 bit x 2 R_state[2] # distance 8 bit x 2 R_state[3:4] # motor target 9 bit x 2 R_state[5:6] # motor speed 9 bit x 2 R_state[7:8] # odo theta 9 bit R_state[9] # odo x y 16 bit x 2 R_state[10:11] # prox rx tx 11 bit x 2 R_state[12:13] # prox gnd 5 bit x 2 R_state[14:15] # prox horiz 12 bit x 7 R_state[16:22] # temperature 4 bit R_state[23] onevent motor R_state = [ acc[0]<<10 + acc[1]<<5 + acc[2], 0 + (button.backward<<4) + (button.center<<3) + (button.forward<<2) + (button.left<<1) + button.right, 0, 0, 0, motor.left.target, motor.right.target, motor.left.speed, motor.right.speed, 0, 0, 0, prox.comm.rx, prox.comm.tx, prox.ground.delta[0]<<8 + prox.ground.delta[1], prox.horizontal, temperature] ### Event handlers for native functions onevent V_leds_circle # eight around the buttonsin a circle call leds.circle(event.args[0],event.args[1],event.args[2], event.args[3],event.args[4],event.args[5], event.args[6],event.args[7]) leds_circle = event.args[0:7] onevent A_sound_system # play a system sound call sound.system(event.args[0]) ### One-second beacon onevent acc if beacon%24 == 0 then emit Q_motion_started([beacon>>1, 1,2,3,4]) elseif beacon%24 == 8 then emit Q_motion_ended([beacon>>1, 0,0,0,0]) end if R_state.do==1 and beacon%16==0 then emit R_state_update(R_state) end beacon += 1 aseba-1.6.0/tests/http-valgrind-macosx.supp000066400000000000000000000423521322771007300207270ustar00rootroot00000000000000{ Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_read_images fun:map_images_nolock fun:map_images } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL12_NXMapRehashP11_NXMapTable fun:NXMapInsert } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL12_NXMapRehashP11_NXMapTable fun:NXMapInsert } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_read_images fun:map_images_nolock fun:map_images fun:dyld_register_image_state_change_handler fun:_objc_init fun:_os_object_init fun:libdispatch_init fun:libSystem_initializer } { libobjc_leak_poss Memcheck:Leak match-leak-kinds: possible obj:/usr/lib/libobjc.A.dylib } { libobjc_leak_def Memcheck:Leak match-leak-kinds: definite obj:/usr/lib/libobjc.A.dylib } { objc_mutex_malloc Memcheck:Leak match-leak-kinds: definite fun:malloc_zone_malloc fun:recursive_mutex_init fun:_objc_init } { objc_hash_ins Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:NXHashInsert } { objc_map_ins Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:NXMapInsert } { objc_map_t_new Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:NXCreateMapTableFromZone } { objc_map_key_copy Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_strdup_internal fun:NXMapKeyCopyingInsert } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_strdup_internal fun:_Z25_objc_allocateFutureClassPKc fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv fun:_ZN4dyld5_mainEPK12macho_headermiPPKcS5_S5_Pm } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL17buildProtocolListP13category_listPK15protocol_list_tPS3_ fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_read_images fun:map_images_nolock fun:map_images fun:_ZN4dyldL18notifyBatchPartialE17dyld_image_statesbPFPKcS0_jPK15dyld_image_infoE fun:_ZN4dyld36registerImageStateBatchChangeHandlerE17dyld_image_statesPFPKcS0_jPK15dyld_image_infoE fun:dyld_register_image_state_change_handler } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL17buildProtocolListP13category_listPK15protocol_list_tPS3_ fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_class_getNonMetaClass fun:lookUpImpOrForward fun:objc_msgSend fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFStringCreateImmutableFunnel3 fun:CFStringCreateWithCString } { Memcheck:Leak match-leak-kinds: definite fun:malloc_zone_malloc fun:_CFRuntimeCreateInstance fun:__CFStringCreateImmutableFunnel3 fun:CFStringCreateWithCString fun:_CFBundleResourcesInitialize fun:_dispatch_client_callout fun:dispatch_once_f fun:CFBundleGetTypeID fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL17attachMethodListsP10objc_classPP13method_list_tibbb fun:_ZL21attachCategoryMethodsP10objc_classP13category_listb fun:_ZL16remethodizeClassP10objc_class fun:_read_images fun:map_images_nolock fun:map_images fun:_ZN4dyldL18notifyBatchPartialE17dyld_image_statesbPFPKcS0_jPK15dyld_image_infoE fun:_ZN4dyld36registerImageStateBatchChangeHandlerE17dyld_image_statesPFPKcS0_jPK15dyld_image_infoE fun:dyld_register_image_state_change_handler fun:_objc_init fun:_os_object_init } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_Z25_objc_allocateFutureClassPKc fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv fun:_ZN4dyld5_mainEPK12macho_headermiPPKcS5_S5_Pm fun:_ZN13dyldbootstrap5startEPK12macho_headeriPPKclS2_Pm } { Memcheck:Leak match-leak-kinds: definite fun:malloc fun:strdup fun:_CFProcessPath fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv fun:_ZN4dyld5_mainEPK12macho_headermiPPKcS5_S5_Pm } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_read_images fun:map_images_nolock fun:map_images fun:_ZN4dyldL18notifyBatchPartialE17dyld_image_statesbPFPKcS0_jPK15dyld_image_infoE fun:_ZN4dyld36registerImageStateBatchChangeHandlerE17dyld_image_statesPFPKcS0_jPK15dyld_image_infoE fun:dyld_register_image_state_change_handler fun:_objc_init } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_ZL12realizeClassP10objc_class fun:_class_getNonMetaClass fun:lookUpImpOrForward fun:objc_msgSend fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFStringCreateImmutableFunnel3 fun:CFStringCreateWithCString fun:_CFBundleResourcesInitialize fun:_dispatch_client_callout } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_Z25_objc_allocateFutureClassPKc fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv fun:_ZN4dyld5_mainEPK12macho_headermiPPKcS5_S5_Pm fun:_ZN13dyldbootstrap5startEPK12macho_headeriPPKclS2_Pm } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL17buildPropertyListPK15property_list_tP13category_lista fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_read_images fun:map_images_nolock fun:map_images fun:_ZN4dyldL18notifyBatchPartialE17dyld_image_statesbPFPKcS0_jPK15dyld_image_infoE fun:_ZN4dyld36registerImageStateBatchChangeHandlerE17dyld_image_statesPFPKcS0_jPK15dyld_image_infoE fun:dyld_register_image_state_change_handler } { Memcheck:Leak match-leak-kinds: definite fun:calloc fun:class_createInstance fun:_objc_rootAlloc fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFStringCreateImmutableFunnel3 fun:CFStringCreateWithCString fun:_CFBundleResourcesInitialize fun:_dispatch_client_callout fun:dispatch_once_f fun:CFBundleGetTypeID } { Memcheck:Leak match-leak-kinds: definite fun:malloc_zone_malloc fun:____CFCharacterSetInitialize_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv } { Memcheck:Leak match-leak-kinds: definite fun:malloc_zone_malloc fun:_CFRuntimeCreateInstance fun:__CFArrayInit fun:__CFArrayCreate0 fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_ZL17buildPropertyListPK15property_list_tP13category_lista fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_class_getNonMetaClass fun:lookUpImpOrForward fun:objc_msgSend fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFStringCreateImmutableFunnel3 fun:CFStringCreateWithCString } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_memdup_internal fun:_ZL15fixupMethodListP13method_list_tbb fun:_ZL17attachMethodListsP10objc_classPP13method_list_tibbb fun:_ZL12realizeClassP10objc_class fun:_class_getNonMetaClass fun:lookUpImpOrForward fun:objc_msgSend fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFStringCreateImmutableFunnel3 } { Memcheck:Leak match-leak-kinds: definite fun:malloc_zone_malloc fun:__CFGetConverter fun:CFStringEncodingGetConverter fun:CFStringGetSystemEncoding fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_memdup_internal fun:_ZL15fixupMethodListP13method_list_tbb fun:_ZL17attachMethodListsP10objc_classPP13method_list_tibbb fun:_ZL21attachCategoryMethodsP10objc_classP13category_listb fun:_ZL16remethodizeClassP10objc_class fun:_read_images fun:map_images_nolock fun:map_images fun:_ZN4dyldL18notifyBatchPartialE17dyld_image_statesbPFPKcS0_jPK15dyld_image_infoE fun:_ZN4dyld36registerImageStateBatchChangeHandlerE17dyld_image_statesPFPKcS0_jPK15dyld_image_infoE fun:dyld_register_image_state_change_handler } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_memdup_internal fun:_ZL15fixupMethodListP13method_list_tbb fun:_ZL17attachMethodListsP10objc_classPP13method_list_tibbb fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_read_images fun:map_images_nolock fun:map_images fun:_ZN4dyldL18notifyBatchPartialE17dyld_image_statesbPFPKcS0_jPK15dyld_image_infoE } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_malloc fun:_memdup_internal fun:_ZL15fixupMethodListP13method_list_tbb fun:_ZL17attachMethodListsP10objc_classPP13method_list_tibbb fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_class_getNonMetaClass fun:lookUpImpOrForward fun:objc_msgSend fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f } { Memcheck:Leak match-leak-kinds: definite fun:malloc_zone_malloc fun:_CFRuntimeCreateInstance fun:CFBasicHashCreate fun:__CFInitialize fun:_ZN16ImageLoaderMachO11doImageInitERKN11ImageLoader11LinkContextE fun:_ZN16ImageLoaderMachO16doInitializationERKN11ImageLoader11LinkContextE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader23recursiveInitializationERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader19processInitializersERKNS_11LinkContextEjRNS_21InitializerTimingListERNS_15UninitedUpwardsE fun:_ZN11ImageLoader15runInitializersERKNS_11LinkContextERNS_21InitializerTimingListE fun:_ZN4dyld24initializeMainExecutableEv fun:_ZN4dyld5_mainEPK12macho_headermiPPKcS5_S5_Pm } { Memcheck:Leak match-leak-kinds: possible fun:malloc_zone_calloc fun:_ZL12realizeClassP10objc_class fun:_ZL12realizeClassP10objc_class fun:_class_getNonMetaClass fun:lookUpImpOrForward fun:objc_msgSend fun:____CFSearchStringROM_block_invoke fun:_dispatch_client_callout fun:dispatch_once_f fun:__CFStringCreateImmutableFunnel3 fun:CFStringCreateWithCString fun:_CFBundleResourcesInitialize } { Memcheck:Leak match-leak-kinds: definite fun:malloc fun:ConnectToServer fun:DNSServiceCreateConnection fun:_mdns_search fun:mdns_hostbyname fun:search_host_byname fun:gethostbyname fun:_ZN6Dashel11IPV4AddressC2ERKNSt3__112basic_stringIcNS1_11char_traitsIcEENS1_9allocatorIcEEEEt fun:_ZN6Dashel11IPV4AddressC1ERKNSt3__112basic_stringIcNS1_11char_traitsIcEENS1_9allocatorIcEEEEt fun:_ZN6Dashel12SocketStreamC1ERKNSt3__112basic_stringIcNS1_11char_traitsIcEENS1_9allocatorIcEEEE fun:_ZN6Dashel14createInstanceINS_12SocketStreamEEEPNS_6StreamERKNSt3__112basic_stringIcNS4_11char_traitsIcEENS4_9allocatorIcEEEERKNS_3HubE fun:_ZNK6Dashel18StreamTypeRegistry6createERKNSt3__112basic_stringIcNS1_11char_traitsIcEENS1_9allocatorIcEEEES9_RKNS_3HubE } { Memcheck:Leak match-leak-kinds: definite fun:malloc fun:ConnectToServer fun:DNSServiceCreateConnection fun:_mdns_search fun:mdns_hostbyaddr fun:search_host_byaddr fun:gethostbyaddr fun:_ZNK6Dashel11IPV4Address6formatEb fun:_ZN6Dashel3Hub4stepEi fun:_ZN5Aseba13HttpInterface3runEv fun:main } aseba-1.6.0/tests/msg/000077500000000000000000000000001322771007300145235ustar00rootroot00000000000000aseba-1.6.0/tests/msg/CMakeLists.txt000066400000000000000000000003151322771007300172620ustar00rootroot00000000000000add_executable(aseba-test-msg aseba-test-msg.cpp) target_link_libraries(aseba-test-msg ${ASEBA_CORE_LIBRARIES}) # the following tests should succeed add_test(msg ${EXECUTABLE_OUTPUT_PATH}/aseba-test-msg) aseba-1.6.0/tests/msg/aseba-test-msg.cpp000066400000000000000000000270471322771007300200550ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../common/msg/msg.h" #include #include using namespace Aseba; using namespace std; //! Test serialization/deserialization of message type T, initialized with args, //! with additional members set by initFunc, to test for equality and //! modified by N times by modifyFuncs to test for inequality template void testMessage(function initFunc, initializer_list> modifyFuncs, Args&&... args) { // create first object unique_ptr m1(new T(forward(args)...)); // set values initFunc(*m1); // serialize and deserialize... unique_ptr m2; { Message::SerializationBuffer buffer; static_cast(m1.get())->serializeSpecific(buffer); unique_ptr m2super(Message::create(m1->source, m1->type, buffer)); if (!dynamic_cast(m2super.get())) { cerr << "Message type " << typeid(T).name() << " did not serialize-deserialize to itself" << endl; throw logic_error("Serialization failed"); } m2.reset(dynamic_cast(m2super.release())); } // check for equality if (!(*m1 == *m2)) { cerr << "Message type " << typeid(T).name() << " changed content after serialization" << endl; throw logic_error("Serialization failed"); } // count the current function, to display proper error message unsigned count(0); for (auto& modifyFunc: modifyFuncs) { // create a new object m2.reset(new T(forward(args)...)); // set values initFunc(*m2); // modify values modifyFunc(*m2); // serialize and deserialize... { Message::SerializationBuffer buffer; static_cast(m2.get())->serializeSpecific(buffer); unique_ptr m2super(Message::create(m2->source, m2->type, buffer)); if (!dynamic_cast(m2super.get())) { cerr << "Message type " << typeid(T).name() << " did not serialize-deserialize to itself" << endl; throw logic_error("Serialization failed"); } m2.reset(dynamic_cast(m2super.release())); } // check for inequality if (*m1 == *m2) { cerr << "Message type " << typeid(T).name() << " are still equal while content changed (function " << count << ") after serialization" << endl; throw logic_error("Serialization failed"); } ++count; } } //! Test serialization/deserialization of message type T, initialized with args template void testMessageNoInit(initializer_list> modifyFuncs, Args&&... args) { testMessage([](T& ){}, modifyFuncs, args...); } //! Test serialization/deserialization of message type T, initialized with args, no modify function template void testMessageNoInitNoFunc(Args&&... args) { testMessage([](T& ){}, {}, args...); } int main() { // Test the serialization and deserialization of all messages // The concept is that, for each message, we create and instance // and call an init function. // Then, we serialize and deserialize and check for equality. // Then, for every modifier function in a list, we re-create and re-init // an object, modify it, we serialize and deserialize, and check for inequality. testMessageNoInit( { [](UserMessage& m) { m.data[0] = 4; }, [](UserMessage& m) { m.data[1] = 3; }, [](UserMessage& m) { m.data[2] = 2; } }, 0, VariablesDataVector{1, 2, 3} ); testMessage( [](BootloaderDescription& m) { m.pageSize = 128; m.pagesStart = 10; m.pagesCount = 20; }, { [](BootloaderDescription& m) { m.pageSize = 64; }, [](BootloaderDescription& m) { m.pagesStart = 20; }, [](BootloaderDescription& m) { m.pagesCount = 10; } } ); testMessage( [](BootloaderDataRead& m) { m.data = {{1, 2, 3, 4}}; }, { [](BootloaderDataRead& m) { m.data[0] = 4; }, [](BootloaderDataRead& m) { m.data[1] = 3; }, [](BootloaderDataRead& m) { m.data[2] = 2; }, [](BootloaderDataRead& m) { m.data[3] = 1; } } ); testMessage( [](BootloaderAck& m) { m.errorCode = BootloaderAck::ErrorCode::PROGRAMMING_FAILED; m.errorAddress = 0xff; }, { [](BootloaderAck& m) { m.errorCode = BootloaderAck::ErrorCode::SUCCESS; m.errorAddress = 0; } } ); testMessageNoInit( { [](ListNodes& m) { m.version = 1; } } ); testMessageNoInit( { [](NodePresent& m) { m.version = 1; } } ); testMessageNoInit( { [](GetDescription& m) { m.version = 1; } } ); testMessage( [](GetNodeDescription& m) { m.dest = 1; }, { [](GetNodeDescription& m) { m.dest = 3; }, [](GetNodeDescription& m) { m.version = 1; } } ); testMessage( [](Description& m) { m.name = L"test"; m.protocolVersion = ASEBA_PROTOCOL_VERSION; m.bytecodeSize = 1024; m.stackSize = 64; m.variablesSize = 1024; }, { [](Description& m) { m.name = L"titi"; }, [](Description& m) { m.protocolVersion = 1; }, [](Description& m) { m.bytecodeSize = 512; }, [](Description& m) { m.stackSize = 32; }, [](Description& m) { m.variablesSize = 512; } } ); testMessage( [](NamedVariableDescription& m) { m.name = L"test"; m.size = 2; }, { [](NamedVariableDescription& m) { m.name = L"titi"; }, [](NamedVariableDescription& m) { m.size = 1; } } ); testMessage( [](LocalEventDescription& m) { m.name = L"ontimer0"; m.description = L"test event"; }, { [](LocalEventDescription& m) { m.name = L"ontimer1"; }, [](LocalEventDescription& m) { m.description = L"another test event"; } } ); testMessage( [](NativeFunctionDescription& m) { m.name = L"math.null"; m.description = L"do nothing"; }, { [](NativeFunctionDescription& m) { m.name = L"math.ignore"; }, [](NativeFunctionDescription& m) { m.description = L"still do nothing"; }, [](NativeFunctionDescription& m) { m.parameters.emplace_back(L"param0", 1); } } ); testMessageNoInitNoFunc(); testMessage( [](Variables& m) { m.start = 10; m.variables = {1, 2}; }, { [](Variables& m) { m.start = 20; }, [](Variables& m) { m.variables[0] = 3; }, [](Variables& m) { m.variables[1] = 4; }, [](Variables& m) { m.variables.push_back(5); } } ); testMessage( [](ArrayAccessOutOfBounds& m) { m.pc = 10; m.size = 10; m.index = 10; }, { [](ArrayAccessOutOfBounds& m) { m.pc = 5; }, [](ArrayAccessOutOfBounds& m) { m.size = 5; }, [](ArrayAccessOutOfBounds& m) { m.index = 20; } } ); testMessage( [](DivisionByZero& m) { m.pc = 10; }, { [](DivisionByZero& m) { m.pc = 5; } } ); testMessage( [](EventExecutionKilled& m) { m.pc = 10; }, { [](EventExecutionKilled& m) { m.pc = 5; } } ); testMessage( [](NodeSpecificError& m) { m.pc = 10; m.message = L"my error"; }, { [](NodeSpecificError& m) { m.pc = 5; }, [](NodeSpecificError& m) { m.message = L"my other error"; } } ); testMessage( [](ExecutionStateChanged& m) { m.pc = 10; m.flags = 3; }, { [](ExecutionStateChanged& m) { m.pc = 5; }, [](ExecutionStateChanged& m) { m.flags = 1; } } ); testMessage( [](BreakpointSetResult& m) { m.pc = 10; m.success = 1; }, { [](BreakpointSetResult& m) { m.pc = 5; }, [](BreakpointSetResult& m) { m.success = 0; } } ); testMessage( [](BootloaderReset& m) { m.dest = 1; }, { [](BootloaderReset& m) { m.dest = 3; } } ); testMessage( [](BootloaderReadPage& m) { m.dest = 1; m.pageNumber = 10; }, { [](BootloaderReadPage& m) { m.dest = 3; }, [](BootloaderReadPage& m) { m.pageNumber = 1; } } ); testMessage( [](BootloaderWritePage& m) { m.dest = 1; m.pageNumber = 10; }, { [](BootloaderWritePage& m) { m.dest = 3; }, [](BootloaderWritePage& m) { m.pageNumber = 1; } } ); testMessage( [](BootloaderPageDataWrite& m) { m.dest = 1; m.data = {{1, 2, 3, 4}}; }, { [](BootloaderPageDataWrite& m) { m.dest = 3; }, [](BootloaderPageDataWrite& m) { m.data[0] = 4; }, [](BootloaderPageDataWrite& m) { m.data[1] = 3; }, [](BootloaderPageDataWrite& m) { m.data[2] = 2; }, [](BootloaderPageDataWrite& m) { m.data[3] = 1; } } ); testMessage( [](SetBytecode& m) { m.dest = 1; m.bytecode = {1, 2}; }, { [](SetBytecode& m) { m.dest = 3; }, [](SetBytecode& m) { m.bytecode[0] = 3; }, [](SetBytecode& m) { m.bytecode[1] = 4; }, [](SetBytecode& m) { m.bytecode.push_back(5); } } ); testMessage( [](Reset& m) { m.dest = 1; }, { [](Reset& m) { m.dest = 3; } } ); testMessage( [](Run& m) { m.dest = 1; }, { [](Run& m) { m.dest = 3; } } ); testMessage( [](Pause& m) { m.dest = 1; }, { [](Pause& m) { m.dest = 3; } } ); testMessage( [](Step& m) { m.dest = 1; }, { [](Step& m) { m.dest = 3; } } ); testMessage( [](Stop& m) { m.dest = 1; }, { [](Stop& m) { m.dest = 3; } } ); testMessage( [](GetExecutionState& m) { m.dest = 1; }, { [](GetExecutionState& m) { m.dest = 3; } } ); testMessage( [](BreakpointSet& m) { m.dest = 1; m.pc = 10; }, { [](BreakpointSet& m) { m.dest = 3; }, [](BreakpointSet& m) { m.pc = 20; } } ); testMessage( [](BreakpointClear& m) { m.dest = 1; m.pc = 10; }, { [](BreakpointClear& m) { m.dest = 3; }, [](BreakpointClear& m) { m.pc = 20; } } ); testMessage( [](BreakpointClearAll& m) { m.dest = 1; }, { [](BreakpointClearAll& m) { m.dest = 3; } } ); testMessage( [](GetVariables& m) { m.dest = 1; m.start = 10; m.length = 10; }, { [](GetVariables& m) { m.dest = 3; }, [](GetVariables& m) { m.start = 20; }, [](GetVariables& m) { m.length = 20; } } ); testMessage( [](SetVariables& m) { m.dest = 1; m.start = 10; m.variables = {1, 2}; }, { [](SetVariables& m) { m.dest = 3; }, [](SetVariables& m) { m.start = 20; }, [](SetVariables& m) { m.variables[0] = 3; }, [](SetVariables& m) { m.variables[1] = 4; }, [](SetVariables& m) { m.variables.push_back(5); } } ); testMessage( [](WriteBytecode& m) { m.dest = 1; }, { [](WriteBytecode& m) { m.dest = 3; } } ); testMessage( [](Reboot& m) { m.dest = 1; }, { [](Reboot& m) { m.dest = 3; } } ); testMessage( [](Sleep& m) { m.dest = 1; }, { [](Sleep& m) { m.dest = 3; } } ); return 0; } aseba-1.6.0/tests/patch-script.cmake000066400000000000000000000000451322771007300173370ustar00rootroot00000000000000configure_file( ${in} ${out} @ONLY ) aseba-1.6.0/tests/run-test-asebahttp.sh000077500000000000000000000002661322771007300200320ustar00rootroot00000000000000#!/bin/bash # run this from cmake # bash works on Windows if we run under MSYS2 / MINGW ../targets/dummy/asebadummynode 0 & sleep 2 ./test-asebahttp status=$? kill %% exit $status aseba-1.6.0/tests/simulator/000077500000000000000000000000001322771007300157545ustar00rootroot00000000000000aseba-1.6.0/tests/simulator/CMakeLists.txt000066400000000000000000000006141322771007300205150ustar00rootroot00000000000000if (ENKI_FOUND) include_directories(${enki_INCLUDE_DIR}) add_executable(aseba-test-simulator aseba-test-simulator.cpp) target_link_libraries(aseba-test-simulator asebasim asebacompiler asebavmbuffer asebavm ${ASEBA_CORE_LIBRARIES} ${enki_LIBRARY}) # the following tests should succeed add_test(robot-simulator-thymio ${EXECUTABLE_OUTPUT_PATH}/aseba-test-simulator) endif() aseba-1.6.0/tests/simulator/aseba-test-simulator.cpp000066400000000000000000000146531322771007300225360ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../../targets/playground/EnkiGlue.h" #include "../../targets/playground/Robots.h" #include "../../common/msg/NodesManager.h" #include "../../compiler/compiler.h" #include #include #include using namespace Aseba; using namespace Enki; using namespace std; struct TestNodesManager: NodesManager { DirectAsebaThymio2* thymio; TestNodesManager(DirectAsebaThymio2* thymio): thymio(thymio) {} virtual void sendMessage(const Message& message) { thymio->inQueue.emplace(message.clone()); } void step() { while (!thymio->outQueue.empty()) { wcout << L"M "; thymio->outQueue.front()->dump(wcout); wcout << endl; processMessage(thymio->outQueue.front().get()); thymio->outQueue.pop(); } } }; struct TestSimulatorEnvironment: SimulatorEnvironment { World& world; TestSimulatorEnvironment(World& world): world(world) {} virtual void notify(const EnvironmentNotificationType type, const string& description, const strings& arguments) override { cerr << "N " << description; copy(arguments.begin(), arguments.end(), ostream_iterator(cerr, " ")); cerr << endl; } virtual string getSDFilePath(const string& robotName, unsigned fileNumber) const override { return string("SD_FILE_") + to_string(fileNumber) + ".DAT"; } virtual World* getWorld() const override { return &world; } }; int main() { // parameters const double dt(0.03); // create world, robot and nodes manager World world(40, 20); simulatorEnvironment.reset(new TestSimulatorEnvironment(world)); DirectAsebaThymio2* thymio(new DirectAsebaThymio2("thymio2_0", 1)); thymio->pos = {10, 10}; world.addObject(thymio); TestNodesManager testNodesManager(thymio); cout << "\n* Discovering robot\n" << endl; // list the nodes and step, the robot should send its description to the nodes manager thymio->inQueue.emplace(ListNodes().clone()); // we define a step lambda auto step = [&]() { world.step(dt); testNodesManager.step(); //wcout << L"- stepped, robot pos: " << thymio->pos.x << L", " << thymio->pos.y << endl; }; // step twice for the detection and enumeration round-trip step(); step(); // check that the nodes manager has received the description from the robot bool ok(false); unsigned nodeId(testNodesManager.getNodeId(L"thymio-II", 0, &ok)); if (!ok) { cerr << "nodes manager did not find \"thymio-II\"" << endl; return 1; } if (nodeId != 1) { cerr << "nodes manager did not return the right nodeId for \"thymio-II\", should be 1, was " << nodeId << endl; return 2; } const TargetDescription *targetDescription(testNodesManager.getDescription(nodeId)); if (!targetDescription) { cerr << "nodes manager did not return a target description for \"thymio-II\"" << endl; return 3; } // we define a lambda to load and run a program auto loadAndRun = [&](const wchar_t program[]) { // compile a small code Compiler compiler; CommonDefinitions commonDefinitions; compiler.setTargetDescription(targetDescription); compiler.setCommonDefinitions(&commonDefinitions); wistringstream programStream(program); BytecodeVector bytecode; unsigned allocatedVariablesCount; Error errorDescription; const bool compilationResult(compiler.compile(programStream, bytecode, allocatedVariablesCount, errorDescription)); if (!compilationResult) { wcerr << L"compilation error: " << errorDescription.toWString() << endl; exit(4); } // fill the bytecode messages vector> setBytecodeMessages; sendBytecode(setBytecodeMessages, nodeId, vector(bytecode.begin(), bytecode.end())); for_each(setBytecodeMessages.begin(), setBytecodeMessages.end(), [=](unique_ptr& message){ thymio->inQueue.emplace(move(message)); }); // then run the code... thymio->inQueue.emplace(new Run(nodeId)); }; cout << "\n* Testing movement\n" << endl; // let the robot move until it sees an obstacle loadAndRun( L"onevent prox\n" L"when prox.horizontal[2] <= 1000 do\n" L"motor.left.target = 250\n" L"motor.right.target = 250\n" L"end\n" L"when prox.horizontal[2] >= 2000 do\n" L"motor.left.target = 0\n" L"motor.right.target = 0\n" L"end\n" ); // ...run for hundred time steps for (unsigned i(0); i<100; ++i) step(); // and check the robot has stopped const Point robotPos(thymio->pos); step(); const Point deltaPos(thymio->pos - robotPos); // if not it is an error if (deltaPos.x > numeric_limits::epsilon() || deltaPos.y > numeric_limits::epsilon()) { cerr << "Robot is still moving after 100 time steps, delta: " << deltaPos.x << ", " << deltaPos.y << endl; return 5; } cout << "\n* Testing SD card\n" << endl; // write some data loadAndRun( L"var result\n" L"call sd.open(0, result)\n" L"call sd.write([1,2,3,4], result)\n" ); step(); // check result if (thymio->variables.freeSpace[0] != 4) { cerr << "Result of sd.write is " << thymio->variables.freeSpace[0] << " instead of 4" << endl; return 6; } // load back the data and compare loadAndRun( L"var data[8]\n" L"var result\n" L"call sd.open(0, result)\n" L"call sd.read(data[0:3], result)\n" L"call sd.seek(0, result)\n" L"call sd.read(data[4:7], result)\n" ); step(); // check result auto expected = {1, 2, 3, 4, 1, 2, 3, 4}; if (!equal(expected.begin(), expected.end(), &thymio->variables.freeSpace[0])) { cerr << "Reading back result of SD is "; copy(&thymio->variables.freeSpace[0], &thymio->variables.freeSpace[8], ostream_iterator(cerr, " ")); cerr << " instead of "; copy(expected.begin(), expected.end(), ostream_iterator(cerr, " ")); cerr << endl; return 7; } return 0; } aseba-1.6.0/tests/test-http.cpp000066400000000000000000000254141322771007300164030ustar00rootroot00000000000000/* asebahttp - a switch to bridge HTTP to Aseba 2014-12-01 David James Sherman Provide a simple REST interface with introspection for Aseba devices. Unit tests: 1. Aseba::HttpRequest object 2. Aseba::HttpInterface hub -- "asebadummynode 0" must be running 3. JSON parsing for integer arrays */ #define CATCH_CONFIG_MAIN // This tells Catch to provide a main() - only do this in one cpp file #include "catch.hpp" // Catch is header-only #if defined(_WIN32) && defined(__MINGW32__) // Avoid conflict from /mingw32/.../include/winerror.h */ #undef ERROR_STACK_OVERFLOW #endif #include "../switches/http/http.h" class Dummy: public Dashel::Hub { public: Dummy() { instream = connect("file:name=testdata-HttpRequest.txt;mode=read"); outstream = connect("stdout:"); } void connectionCreated(Dashel::Stream *stream) {}; void connectionClosed(Dashel::Stream *stream, bool abnormal) {}; void incomingData(Dashel::Stream *stream) {}; Dashel::Stream *instream, *outstream; }; Dummy* dummy; TEST_CASE( "Dashel::Hub create" ) { dummy = new Dummy; REQUIRE( dummy->instream != nullptr ); } Aseba::HttpRequest req; TEST_CASE( "HttpRequest using default constructor", "[init]" ) { REQUIRE( req.method.empty() ); REQUIRE( req.uri.empty() ); REQUIRE( req.stream == nullptr ); REQUIRE( req.tokens.empty() ); REQUIRE( req.headers.empty() ); REQUIRE( req.content.empty() ); } /* Use Catch to write tests in Behavior-driven design (BDD) style */ SCENARIO( "HttpRequest should be initialized", "[init]" ) { Dashel::Stream* cxn = dummy->instream; GIVEN( "HttpRequest initialized by string" ) { req.initialize("GET /uri/a/b/c HTTP/1.1\r\n", cxn); REQUIRE( req.method.find("GET")==0 ); REQUIRE( req.uri.find("/uri/a/b/c")==0 ); REQUIRE( req.tokens[1].find("a")==0 ); REQUIRE( req.stream == cxn ); } GIVEN( "HttpRequest initialized by parts" ) { req.initialize("GET", "/uri/a/b/c", "HTTP/1.0", cxn); REQUIRE( req.method.find("GET")==0 ); REQUIRE( req.uri.find("/uri/a/b/c")==0 ); REQUIRE( req.tokens[1].find("a")==0 ); REQUIRE( req.stream == cxn ); } } SCENARIO( "HttpRequests should be read from file", "[read]" ) { GIVEN( "Stream was initialized" ) { REQUIRE( dummy->instream != nullptr ); WHEN( "read request 1 from file" ) { req.initialize(dummy->instream); req.incomingData(); // from dummy->instream THEN( "HttpRequest is correct" ) { REQUIRE( req.ready ); REQUIRE( req.method.find("GET")==0 ); REQUIRE( req.uri.find("/uri/a/b/c")==0 ); REQUIRE( req.tokens[3].find("c")==0 ); REQUIRE( req.headers["Content-Length"].find("19")==0 ); REQUIRE( req.content.find("payload uri a b c\r\n")==0 ); } } AND_WHEN( "read request 2 from file" ) { req.initialize(dummy->instream); req.incomingData(); // from dummy->instream THEN( "HttpRequest is correct" ) { REQUIRE( req.ready ); REQUIRE( req.method.find("GET")==0 ); REQUIRE( req.uri.find("/uri")==0 ); REQUIRE( req.uri.size()==4 ); REQUIRE( req.tokens[0].find("uri")==0 ); REQUIRE( req.content.size()==0 ); } } } }; TEST_CASE_METHOD(Aseba::HttpInterface, "Aseba::HttpInterface should be initialized", "[create]") { REQUIRE( this != nullptr ); for (int i = 50; --i; ) this->step(20); REQUIRE( asebaStream != nullptr ); REQUIRE( ! nodesDescriptions.empty() ); REQUIRE( nodesDescriptions[1].name.size() != 0 ); }; TEST_CASE_METHOD(Aseba::HttpInterface, "StreamResponseQueueMap should manage pending responses" ) { Dashel::Stream* stream1 = (Dashel::Stream*)0x1111001; Aseba::HttpRequest* req11 = new Aseba::HttpRequest; Aseba::HttpRequest* req12 = new Aseba::HttpRequest; Dashel::Stream* stream2 = (Dashel::Stream*)0x1111002; Aseba::HttpRequest* req21 = new Aseba::HttpRequest; Aseba::HttpRequest* req22 = new Aseba::HttpRequest; Aseba::HttpRequest* req23 = new Aseba::HttpRequest; GIVEN( "queue was initialized" ) { REQUIRE( pendingResponses.size() == 0 ); WHEN( "insert pendingResponses responses in queues" ) { scheduleResponse(stream1, req11); scheduleResponse(stream1, req12); scheduleResponse(stream2, req21); scheduleResponse(stream2, req22); scheduleResponse(stream2, req23); THEN( "queues have correct values" ) { REQUIRE( pendingResponses[stream1].size() == 2 ); Aseba::HttpInterface::ResponseQueue::iterator i1 = pendingResponses[stream1].begin(); REQUIRE( *i1++ == req11 ); REQUIRE( *i1 == req12 ); REQUIRE( pendingResponses[stream2].size() == 3 ); Aseba::HttpInterface::ResponseQueue::iterator i2 = pendingResponses[stream2].begin(); REQUIRE( *i2++ == req21 ); REQUIRE( *i2++ == req22 ); REQUIRE( *i2 == req23 ); WHEN( "update results" ) { finishResponse(req11, 200, "result 11"); finishResponse(req12, 200, "result 12"); finishResponse(req21, 201, "result 21"); finishResponse(req22, 202, "result 22"); finishResponse(req23, 203, "result 23"); i1 = pendingResponses[stream1].begin(); i2 = pendingResponses[stream2].begin(); REQUIRE( (*i1++)->result == "result 11" ); REQUIRE( (*i1 )->result == "result 12" ); REQUIRE( (*i2 )->status == 201 ); REQUIRE( (*i2++)->result == "result 21" ); REQUIRE( (*i2 )->status == 202 ); REQUIRE( (*i2++)->result == "result 22" ); REQUIRE( (*i2 )->status == 203 ); REQUIRE( (*i2 )->result == "result 23" ); WHEN( "unschedule responses" ) { unscheduleResponse(stream2, req22); i2 = pendingResponses[stream2].begin(); REQUIRE( (*i2++)->result == "result 21" ); REQUIRE( (*i2 )->result == "result 23" ); unscheduleResponse(stream1, req11); unscheduleResponse(stream1, req11); unscheduleResponse(stream1, req11); i1 = pendingResponses[stream1].begin(); REQUIRE( (*i1)->result == "result 12" ); unscheduleResponse(stream1, req12); REQUIRE( pendingResponses[stream1].size() == 0 ); WHEN( "unschedule all responses") { REQUIRE( pendingResponses[stream2].size() == 2 ); unscheduleAllResponses(stream2); REQUIRE( pendingResponses[stream2].size() == 0 ); } } } } } } } typedef std::vector strings; TEST_CASE_METHOD(Aseba::HttpInterface, "JSON input is empty", "[empty]" ) { std::string content = ""; strings values; REQUIRE( values.size() == 0 ); GIVEN( "input is empty" ) { parse_json_form(content, values); // no CHECK_THROWS because catch REQUIRE( values.size() == 0 ); } } TEST_CASE_METHOD(Aseba::HttpInterface, "JSON input is integer array", "[array]" ) { std::string content; strings values; REQUIRE( values.size() == 0 ); GIVEN( "a JSON array of one value " ) { content = "[42]"; WHEN( "parse JSON string " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "array of single value 42 is returned" ) { REQUIRE( values.size() == 1 ); REQUIRE( atoi(values[0].c_str()) == 42 ); } } } GIVEN( "a JSON array of zero values " ) { content = "[]"; WHEN( "parse JSON string " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "an empty array is returned" ) { REQUIRE( values.size() == 0 ); } } } GIVEN( "a JSON array of four mixed values " ) { content = "[42,63,27,\"hike\"]"; WHEN( "parse JSON string " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "array of four values is returned" ) { REQUIRE( values.size() == 0 ); } } } GIVEN( "a JSON array of two values with white space" ) { content = " [\t42,\r\n\t 63\n\r]\t\n"; WHEN( "parse JSON string with white space " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "array of two values is returned" ) { REQUIRE( values.size() == 2 ); REQUIRE( atoi(values[0].c_str()) == 42 ); REQUIRE( atoi(values[1].c_str()) == 63 ); } } } GIVEN( "a malformed JSON array with a bad separator" ) { content = "[42;63]"; WHEN( "parse JSON string with white space " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "an empty array is returned" ) { REQUIRE( values.size() == 0 ); } } } GIVEN( "a malformed JSON array with no opening" ) { content = "42,63]"; WHEN( "parse JSON string with white space " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "an empty array is returned" ) { REQUIRE( values.size() == 0 ); } } } GIVEN( "a malformed JSON array with no close" ) { content = "[42,63"; WHEN( "parse JSON string with white space " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "an empty array is returned" ) { REQUIRE( values.size() == 0 ); } } } GIVEN( "a JSON object" ) { content = "{ \"abc\": 12, \"def\": [1,2,3] }"; WHEN( "parse JSON string " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "an empty array is returned" ) { REQUIRE( values.size() == 0 ); } } } GIVEN( "a JSON array containing an object" ) { content = "[42, { \"abc\": 12, \"def\": [1,2,3] }, 63]"; WHEN( "parse JSON string " + content ) { Aseba::HttpInterface::parse_json_form(content, values); THEN( "an empty array is returned" ) { REQUIRE( values.size() == 0 ); } } } } aseba-1.6.0/tests/testdata-HttpRequest.txt000066400000000000000000000001711322771007300205740ustar00rootroot00000000000000GET /uri/a/b/c HTTP/1.1 Host: localhost Content-Length: 19 payload uri a b c GET /uri HTTP/1.1 Host: localhost aseba-1.6.0/tests/vm/000077500000000000000000000000001322771007300143575ustar00rootroot00000000000000aseba-1.6.0/tests/vm/CMakeLists.txt000066400000000000000000000073261322771007300171270ustar00rootroot00000000000000# test the number of native functions in the vm add_executable(aseba-test-natives-count aseba-test-natives-count.cpp ) target_link_libraries(aseba-test-natives-count asebavm asebavmdummycallbacks ${ASEBA_CORE_LIBRARIES}) add_test(natives-count ${EXECUTABLE_OUTPUT_PATH}/aseba-test-natives-count) # tests for bugs in VM add_test(NAME bytecode-corrupted-on-reset-639 COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/bytecode-corrupted-on-reset-639.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/bytecode-corrupted-on-reset-639.txt) # test the deque native functions add_test(NAME deque-empty COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-empty.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-empty.txt) add_test(NAME deque-getset COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-getset.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-getset.txt) add_test(NAME deque-insert COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-insert.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-insert.txt) add_test(NAME deque-remove COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-remove.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-remove.txt) add_test(NAME deque-erase-wrap COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-erase-wrap.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-erase-wrap.txt) add_test(NAME deque-insert-wrap COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-insert-wrap.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-insert-wrap.txt) add_test(NAME deque-tuples COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-tuples.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-tuples.txt) add_test(NAME deque-pushpop COMMAND asebatest --memcmp ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-pushpop.dump ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-pushpop.txt) # test exceptions raised by deque native functions add_test(NAME deque-err-get-under COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-get-under.txt) add_test(NAME deque-err-get-over COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-get-over.txt) add_test(NAME deque-err-get-toobig COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-get-toobig.txt) add_test(NAME deque-err-set-under COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-set-under.txt) add_test(NAME deque-err-set-over COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-set-over.txt) add_test(NAME deque-err-set-toobig COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-set-toobig.txt) add_test(NAME deque-err-insert-under COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-insert-under.txt) add_test(NAME deque-err-insert-over COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-insert-over.txt) add_test(NAME deque-err-insert-toobig COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-insert-toobig.txt) add_test(NAME deque-err-erase-under COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-erase-under.txt) add_test(NAME deque-err-erase-len-under COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-erase-len-under.txt) add_test(NAME deque-err-erase-over COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-erase-over.txt) add_test(NAME deque-err-erase-toobig COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-erase-toobig.txt) add_test(NAME deque-err-push-toobig COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-push-toobig.txt) add_test(NAME deque-err-pop-toobig COMMAND asebatest --exec_fail ${CMAKE_CURRENT_SOURCE_DIR}/data/deque-err-pop-toobig.txt) aseba-1.6.0/tests/vm/aseba-test-natives-count.cpp000066400000000000000000000006351322771007300217140ustar00rootroot00000000000000#include "../../vm/natives.h" #include "../../common/consts.h" // C++ #include static AsebaNativeFunctionPointer nativeFunctions[] = { ASEBA_NATIVES_STD_FUNCTIONS, }; int main(int argc, char*argv[]) { size_t nativesCount = (sizeof(nativeFunctions)/sizeof(AsebaNativeFunctionPointer)); ASEBA_UNUSED(nativeFunctions); if (nativesCount != ASEBA_NATIVES_STD_COUNT) return 1; else return 0; } aseba-1.6.0/tests/vm/data/000077500000000000000000000000001322771007300152705ustar00rootroot00000000000000aseba-1.6.0/tests/vm/data/bytecode-corrupted-on-reset-639.dump000066400000000000000000000000071322771007300240300ustar00rootroot00000000000000-24064 aseba-1.6.0/tests/vm/data/bytecode-corrupted-on-reset-639.txt000066400000000000000000000000211322771007300236760ustar00rootroot00000000000000var foo = -24064 aseba-1.6.0/tests/vm/data/deque-empty.dump000066400000000000000000000000151322771007300204120ustar00rootroot000000000000000 0 0 0 0 0 aseba-1.6.0/tests/vm/data/deque-empty.txt000066400000000000000000000002141322771007300202650ustar00rootroot00000000000000# SCENARIO An empty array is a Deque # GIVEN An empty array of size N*K+2 var dq[5] var require1 # REQUIRE size == 0 require1 = dq[0] aseba-1.6.0/tests/vm/data/deque-erase-wrap.dump000066400000000000000000000000321322771007300213210ustar00rootroot000000000000002 3 40 40 0 10 20 10 20 3 aseba-1.6.0/tests/vm/data/deque-erase-wrap.txt000066400000000000000000000007051322771007300212020ustar00rootroot00000000000000# SCENARIO Erase wraps around # GIVEN A Deque of size 5 containing 30, 40 var dq[7] = [ 2, 0, 30, 40, 0, 0, 0 ] var require1[2] var require2[1] # WHEN Insert 20 then 10 at 0, then erase 2 twice call deque.insert(dq, [20], 0) call deque.insert(dq, [10], 0) call deque.erase(dq, 2, 1) call deque.erase(dq, 2, 1) # THEN Erasure wrapped backwards # REQUIRE contents is 10, 20 # REQUIRE j == 3 call deque.get(dq, require1, 0) require2 = dq[1] aseba-1.6.0/tests/vm/data/deque-err-erase-len-under.txt000066400000000000000000000003761322771007300227140ustar00rootroot00000000000000# SCENARIO deque.erase error with negative index # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Erase with negative index call deque.erase(dq, 1, -3) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-erase-over.txt000066400000000000000000000004121322771007300217650ustar00rootroot00000000000000# SCENARIO deque.erase error index beyond deque limits # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Erase index beyond deque limits call deque.erase(dq, 20, 1) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-erase-toobig.txt000066400000000000000000000006371322771007300223060ustar00rootroot00000000000000# SCENARIO deque.erase error toobig erase more elements than there are beyond the index in the deque # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Erase more elements than there are beyond the index in the deque call deque.erase(dq, 1, 3) # note that there are 3 elements in the deque but only 2 after index 1 # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-erase-under.txt000066400000000000000000000003761322771007300221400ustar00rootroot00000000000000# SCENARIO deque.erase error with negative index # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Erase with negative index call deque.erase(dq, -5, 1) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-get-over.txt000066400000000000000000000006021322771007300214460ustar00rootroot00000000000000# SCENARIO deque.get error beyond number of elements after the index # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] var result[3] # WHEN Get beyond number of elements after the index call deque.get(dq, result[0:2], 1) # note that there are 3 elements in the deque but only 2 after index 1 # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-get-toobig.txt000066400000000000000000000005071322771007300217620ustar00rootroot00000000000000# SCENARIO deque.get error get more elements than there are in the deque # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] var result1[5] # WHEN Get more elements than are in deque, starting from index call deque.get(dq, result1, 2) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-get-under.txt000066400000000000000000000004101322771007300216050ustar00rootroot00000000000000# SCENARIO deque.get error with negative index # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] var result # WHEN Get with negative index call deque.get(dq, result, -6) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-insert-over.txt000066400000000000000000000004111322771007300221710ustar00rootroot00000000000000# SCENARIO deque.insert error insert beyond deque limits # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Insert beyond deque limits call deque.insert(dq, 11, 20) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-insert-toobig.txt000066400000000000000000000005171322771007300225100ustar00rootroot00000000000000# SCENARIO deque.insert error insert more elements than there is room left in the deque # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Insert more elements than there is room left in the deque call deque.insert(dq, [1,2,3,4,5], 0) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-insert-under.txt000066400000000000000000000004031322771007300223340ustar00rootroot00000000000000# SCENARIO deque.insert error with negative index # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Insert with negative index call deque.insert(dq, 11, -16) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-pop-toobig.txt000066400000000000000000000012071322771007300217770ustar00rootroot00000000000000# SCENARIO Push-Pop deque.pop error pop beyond deque limits # GIVEN A Deque of size 4 var dq[6] var require1 var require2[2] var require3[2] var require4[2] # WHEN Push front [21,22] call deque.push_front(dq, [21,22]) # THEN Deque contains one tuple # REQUIRE size == 2 # REQUIRE result is [21,22] call deque.size(dq, require1) call deque.get(dq, require2, 0) # WHEN Pop back call deque.pop_back(dq, require3) # THEN Retrieve tuple [21,22] from back # REQUIRE result is [21,22] # WHEN Erase pop elements than there are call deque.pop_back(dq, require4) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-push-toobig.txt000066400000000000000000000011071322771007300221570ustar00rootroot00000000000000# SCENARIO Push-Pop deque.push error push beyond deque limits # GIVEN A Deque of size 4 var dq[6] var require1 var require2 # WHEN Push front [21,22] call deque.push_front(dq, [21,22]) # THEN Deque contains one tuple # REQUIRE size == 2 call deque.size(dq, require1) # WHEN Push back [31,32] call deque.push_back(dq, [31,32]) # THEN Deque contains two tuples # REQUIRE size == 4 call deque.size(dq, require2) # WHEN Push front [11,12] beyond deque limits call deque.push_front(dq, [11,12]) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-set-over.txt000066400000000000000000000004051322771007300214630ustar00rootroot00000000000000# SCENARIO deque.set error index beyond deque limits # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Set index beyond deque limits call deque.set(dq, 11, 20) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-set-toobig.txt000066400000000000000000000005151322771007300217750ustar00rootroot00000000000000# SCENARIO deque.set error set more elements than there is room in the deque # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Insert more elements than there is room in the deque, starting from index call deque.set(dq, [1,2,3], 4) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-err-set-under.txt000066400000000000000000000003711322771007300216270ustar00rootroot00000000000000# SCENARIO deque.set error with negative index # GIVEN A Deque of size 5 var dq[7] = [ 3, 3, 13, 0, 0, 11, 12 ] # WHEN Set with negative index call deque.set(dq, 11, -1) # THEN Throws exception # REQUIRE THROWS ARRAY_ACCESS_OUT_OF_BOUNDS aseba-1.6.0/tests/vm/data/deque-getset.dump000066400000000000000000000000321322771007300205460ustar00rootroot000000000000005 3 3 4 50 10 20 20 30 40 aseba-1.6.0/tests/vm/data/deque-getset.txt000066400000000000000000000006431322771007300204300ustar00rootroot00000000000000# SCENARIO Can insert and retrieve at either end # GIVEN An empty Deque of size 5 var dq[7] = [ 5, 3, 30, 40, 50, 10, 20 ] var require1[3] # WHEN Get 3 elements from position 1 call deque.get(dq, require1, 1) # THEN Obtain 20, 30, 40 # REQUIRE result == 20, 30, 40 # WHEN Set 2 elements 3, 4 at position 2 # THEN 30, 40 become 3, 4 # REQUIRE contents == 10, 20, 3, 4, 50 call deque.set(dq, [3,4], 2) aseba-1.6.0/tests/vm/data/deque-insert-wrap.dump000066400000000000000000000000621322771007300215310ustar00rootroot000000000000005 3 30 40 50 10 20 20 30 40 50 4 10 20 30 40 50 3 aseba-1.6.0/tests/vm/data/deque-insert-wrap.txt000066400000000000000000000011241322771007300214030ustar00rootroot00000000000000# SCENARIO Insert wraps around # GIVEN A Deque of size 5 containing 30, 40, 50 var dq[7] = [ 3, 0, 30, 40, 50, 0, 0 ] var require1[4] var require2[1] var require3[5] var require4[1] # WHEN Insert 20 at 0 call deque.insert(dq, [20], 0) # THEN Insertion wrapped backwards # REQUIRE contents is 20, 30, 40, 50 # REQUIRE j == 4 call deque.get(dq, require1, 0) require2 = dq[1] # WHEN Insert 10 at 0 call deque.insert(dq, [10], 0) # THEN Insertion wrapped backwards # REQUIRE contents is 10, 20, 30, 40, 50 # REQUIRE j == 3 call deque.get(dq, require3, 0) require4 = dq[1] aseba-1.6.0/tests/vm/data/deque-insert.dump000066400000000000000000000000371322771007300205640ustar00rootroot000000000000004 4 20 30 40 0 10 3 10 30 40 4 aseba-1.6.0/tests/vm/data/deque-insert.txt000066400000000000000000000014261322771007300204410ustar00rootroot00000000000000# SCENARIO Can insert and retrieve at either end # GIVEN An empty Deque of size 5 var dq[7] var require1[1] var require2[1] var require3[1] var require4[1] var require5[1] # WHEN Insert elements 30, 20, 10 at 0 call deque.insert(dq, [30], 0) call deque.insert(dq, [20], 0) call deque.insert(dq, [10], 0) # THEN Deque contains three elements # REQUIRE size == 3 require1 = dq[0] # WHEN Get element 0 # THEN Obtain 10 # REQUIRE result == 10 call deque.get(dq, require2, 0) # WHEN Get element 2 # THEN Obtain 30 # REQUIRE result == 30 call deque.get(dq, require3, 2) # WHEN Insert element 40 at 3 then get element 3 # THEN Obtain 40 # REQUIRE result == 40 # REQUIRE size == 4 call deque.insert(dq, 40, 3) call deque.get(dq, require4, 3) require5 = dq[0] aseba-1.6.0/tests/vm/data/deque-pushpop.dump000066400000000000000000000003021322771007300207510ustar00rootroot000000000000000 0 0 0 0 0 0 0 0 0 0 0 0 0 31 32 33 11 12 13 21 22 23 9 31 32 33 11 12 13 21 22 23 41 42 43 12 41 42 43 31 32 33 11 12 13 21 22 23 9 21 22 23 31 32 33 11 12 13 6 31 32 33 11 12 13 0 51 52 53 3 aseba-1.6.0/tests/vm/data/deque-pushpop.txt000066400000000000000000000036211322771007300206320ustar00rootroot00000000000000# SCENARIO Push-Pop high level tuple interface # GIVEN A Deque of size 12 initialized with [11,12,13], [21,22,23] var dq[14] = [ 6, 0, 11, 12, 13, 21, 22, 23, 0, 0, 0, 0, 0, 0 ] var require1[9] var require2[1] var require3[12] var require4[1] var require5[3] var require6[9] var require7[1] var require8[3] var require9[6] var require10[1] var require11[6] var require12[1] var require13[3] var require14[1] # WHEN Push front [31,32,33] call deque.push_front(dq, [31,32,33]) # THEN Deque contains three tuples # REQUIRE contents is 31, 32, 33, 11, 12, 13, 21, 22, 23 # REQUIRE size == 9 call deque.get(dq, require1, 0) call deque.size(dq, require2) # WHEN Push back [41,42,43] call deque.push_back(dq, [41,42,43]) # THEN Deque contains four tuples # REQUIRE contents is 31, 32, 33, 11, 12, 13, 21, 22, 23, 41, 42, 43 # REQUIRE size == 12 call deque.get(dq, require3, 0) call deque.size(dq, require4) # WHEN Pop back call deque.pop_back(dq, require5) # THEN Retrieve 3-tuple [41,42,43] from back # REQUIRE result is [41,42,43] # REQUIRE contents is 31, 32, 33, 11, 12, 13, 21, 22, 23 # REQUIRE size == 9 call deque.get(dq, require6, 0) call deque.size(dq, require7) # WHEN Pop back call deque.pop_back(dq, require8) # THEN Retrieve 3-tuple [21,22,23] from back # REQUIRE result is [21,22,23] # REQUIRE contents is 31, 32, 33, 11, 12, 13 # REQUIRE size == 6 call deque.get(dq, require9, 0) call deque.size(dq, require10) # WHEN Pop front double tuple call deque.pop_front(dq, require11) # THEN Retrieve 6-tuple [31,32,33,11,12,13] from front # REQUIRE result is [31,32,33,11,12,13] # REQUIRE size == 0 call deque.size(dq, require12) # WHEN Push front [51,52,53] call deque.push_front(dq, [51,52,53]) # THEN Deque contains tuple [51,52,53] # REQUIRE contents is [51,52,53] # REQUIRE size == 3 call deque.get(dq, require13, 0) call deque.size(dq, require14) call math.fill(dq, 0) aseba-1.6.0/tests/vm/data/deque-remove.dump000066400000000000000000000000561322771007300205560ustar00rootroot000000000000003 1 10 10 30 50 50 4 10 30 40 50 1 10 30 50 1 aseba-1.6.0/tests/vm/data/deque-remove.txt000066400000000000000000000011751322771007300204330ustar00rootroot00000000000000# SCENARIO Can remove elements # GIVEN A Deque containing 10, 20, 30, 40, 50 var dq[7] = [ 5, 0, 10, 20, 30, 40, 50 ] var require1[1] var require2[4] var require3[1] var require4[3] var require5[1] # WHEN Erase element 1 call deque.erase(dq, 1, 1) # THEN Deque contains 10, 30, 40, 50 # REQUIRE size == 3 # REQUIRE contents is 10, 30, 40, 50 # REQUIRE j == 1 require1 = dq[0] call deque.get(dq, require2, 0) require3 = dq[1] # WHEN Erase element 2 call deque.erase(dq, 2, 1) # THEN Deque contains 10, 30, 50 # REQUIRE contents is 10, 30, 50 # REQUIRE j ==1 call deque.get(dq, require4, 0) require5 = dq[1] aseba-1.6.0/tests/vm/data/deque-tuples.dump000066400000000000000000000002211322771007300205670ustar00rootroot000000000000000 0 0 0 0 0 0 0 0 0 11 12 13 3 11 12 13 21 22 23 6 11 12 22 23 4 12 22 23 11 31 32 12 22 23 6 11 31 32 12 41 42 22 23 8 11 31 32 12 41 23 6 11 1 aseba-1.6.0/tests/vm/data/deque-tuples.txt000066400000000000000000000041041322771007300204450ustar00rootroot00000000000000# SCENARIO Insert wraps around # GIVEN A Deque of size 8 var dq[10] var require1[3] var require2[1] var require3[6] var require4[1] var require5[4] var require6[1] var require7[3] var require8[6] var require9[1] var require10[8] var require11[1] var require12[6] var require13[1] var require14[1] var require15[1] # WHEN Insert tuple 11, 12, 13 at 0 call deque.insert(dq, [11, 12, 13], 0) # THEN Treated as three inserts, 13, 12 then 11 # REQUIRE contents is 11, 12, 13 # REQUIRE size == 3 call deque.get(dq, require1, 0) require2 = dq[0] # WHEN Insert 21, 22, 23 at 0 call deque.insert(dq, [21, 22, 23], 3) # THEN Treated as three inserts, 23, 22 then 21 # REQUIRE contents is 11, 12, 13, 21, 22, 23 # REQUIRE size == 6 call deque.get(dq, require3, 0) require4 = dq[0] # WHEN remove 2 from 2 call deque.erase(dq, 2, 2) # THEN Don't respect tuple boundaries. Will shift right in left half # REQUIRE contents is 11, 12, 22, 23 # REQUIRE size == 4 call deque.get(dq, require5, 0) call deque.size(dq, require6) # WHEN get 3 from 1 call deque.get(dq, require7, 1) # THEN Retrieve 12, 22, 23 # REQUIRE retrieve 12, 22, 23 # WHEN Insert 31, 32 at 1 call deque.insert(dq, [31, 32], 1) # THEN Will shift left in left half # REQUIRE contents is 11, 31, 32, 12, 22, 23 # REQUIRE size == 6 call deque.get(dq, require8, 0) call deque.size(dq, require9) # WHEN Insert 41, 42 at 4 call deque.insert(dq, [41, 42], 4) # THEN Will shift right in right half # REQUIRE contents is 11, 31, 32, 12, 41, 42, 22, 23 # REQUIRE size == 8 call deque.get(dq, require10, 0) call deque.size(dq, require11) # WHEN remove 2 from 5 call deque.erase(dq, 5, 2) # THEN Don't respect tuple boundaries. Will shift left in right half # REQUIRE contents is 11, 31, 32, 12, 41, 23 # REQUIRE size == 6 call deque.get(dq, require12, 0) call deque.size(dq, require13) # WHEN erase 5 from 1 call deque.erase(dq, 1, 5) # THEN Leave only 11 # REQUIRE contents is 11 # REQUIRE size == 1 call deque.get(dq, require14, 0) require15 = dq[0] call math.fill(dq, 0) aseba-1.6.0/transport/000077500000000000000000000000001322771007300146275ustar00rootroot00000000000000aseba-1.6.0/transport/CMakeLists.txt000066400000000000000000000000711322771007300173650ustar00rootroot00000000000000add_subdirectory(buffer) add_subdirectory(dashel_plugins)aseba-1.6.0/transport/buffer/000077500000000000000000000000001322771007300161005ustar00rootroot00000000000000aseba-1.6.0/transport/buffer/CMakeLists.txt000066400000000000000000000010061322771007300206350ustar00rootroot00000000000000set (ASEBAVMBUFFER_SRC vm-buffer.c ) add_library(asebavmbuffer ${ASEBAVMBUFFER_SRC}) set_target_properties(asebavmbuffer PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebavmbuffer LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBATRANSPORT_HDR_BUFFER vm-buffer.h ) install(FILES ${ASEBATRANSPORT_HDR_BUFFER} DESTINATION include/aseba/transport/buffer ) aseba-1.6.0/transport/buffer/vm-buffer.c000066400000000000000000000154361322771007300201460ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "vm-buffer.h" #include "../../common/consts.h" #include "../../common/types.h" #include #include static unsigned char buffer[ASEBA_MAX_INNER_PACKET_SIZE]; static unsigned buffer_pos; static void buffer_add(const uint8_t* data, const uint16_t len) { uint16_t i = 0; while (i < len) { /* uncomment this to check for buffer overflow in sent packets if (buffer_pos >= ASEBA_MAX_INNER_PACKET_SIZE) { printf("buffer pos %d max size %d\n", buffer_pos, ASEBA_MAX_INNER_PACKET_SIZE); abort(); }*/ buffer[buffer_pos++] = data[i++]; } } static void buffer_add_uint8(const uint8_t value) { buffer_add(&value, 1); } static void buffer_add_uint16(const uint16_t value) { const uint16_t temp = bswap16(value); buffer_add((const unsigned char *) &temp, 2); } static void buffer_add_int16(const int16_t value) { const uint16_t temp = bswap16(value); buffer_add((const unsigned char *) &temp, 2); } static void buffer_add_string(const char* s) { uint16_t len = strlen(s); buffer_add_uint8((uint8_t)len); while (*s) buffer_add_uint8(*s++); } /* implementation of vm hooks */ void AsebaSendMessage(AsebaVMState *vm, uint16_t type, const void *data, uint16_t size) { uint16_t i; buffer_pos = 0; buffer_add_uint16(type); for (i = 0; i < size; i++) buffer_add_uint8(((const unsigned char*)data)[i]); AsebaSendBuffer(vm, buffer, buffer_pos); } #ifdef __BIG_ENDIAN__ void AsebaSendMessageWords(AsebaVMState *vm, uint16_t type, const uint16_t* data, uint16_t count) { uint16_t i; buffer_pos = 0; buffer_add_uint16(type); for (i = 0; i < count; i++) buffer_add_uint16(data[i]); AsebaSendBuffer(vm, buffer, buffer_pos); } #endif void AsebaSendVariables(AsebaVMState *vm, uint16_t start, uint16_t length) { uint16_t i; #ifndef ASEBA_LIMITED_MESSAGE_SIZE //This is usefull with device that cannot send big packets like Thymio Wireless module. buffer_pos = 0; buffer_add_uint16(ASEBA_MESSAGE_VARIABLES); buffer_add_uint16(start); for (i = start; i < start + length; i++) buffer_add_uint16(vm->variables[i]); AsebaSendBuffer(vm, buffer, buffer_pos); #else const uint16_t MAX_VARIABLES_SIZE = ((100 - 6)/2); do { uint16_t size; buffer_pos = 0; buffer_add_uint16(ASEBA_MESSAGE_VARIABLES); buffer_add_uint16(start); if (length > MAX_VARIABLES_SIZE) size = MAX_VARIABLES_SIZE; else size = length; for (i = start; i < start + size; i++) buffer_add_uint16(vm->variables[i]); AsebaSendBuffer(vm, buffer, buffer_pos); start += size; length -= size; } while(length); #endif } void AsebaSendDescription(AsebaVMState *vm) { const AsebaVMDescription *vmDescription = AsebaGetVMDescription(vm); const AsebaVariableDescription* namedVariables = vmDescription->variables; const AsebaNativeFunctionDescription* const * nativeFunctionsDescription = AsebaGetNativeFunctionsDescriptions(vm); const AsebaLocalEventDescription* localEvents = AsebaGetLocalEventsDescriptions(vm); uint16_t i = 0; buffer_pos = 0; buffer_add_uint16(ASEBA_MESSAGE_DESCRIPTION); buffer_add_string(vmDescription->name); buffer_add_uint16(ASEBA_PROTOCOL_VERSION); buffer_add_uint16(vm->bytecodeSize); buffer_add_uint16(vm->stackSize); buffer_add_uint16(vm->variablesSize); // compute the number of variables descriptions for (i = 0; namedVariables[i].size; i++) ; buffer_add_uint16(i); // compute the number of local event functions for (i = 0; localEvents[i].name; i++) ; buffer_add_uint16(i); // compute the number of native functions for (i = 0; nativeFunctionsDescription[i]; i++) ; buffer_add_uint16(i); // send buffer AsebaSendBuffer(vm, buffer, buffer_pos); // send named variables description for (i = 0; namedVariables[i].name; i++) { buffer_pos = 0; buffer_add_uint16(ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION); buffer_add_uint16(namedVariables[i].size); buffer_add_string(namedVariables[i].name); // send buffer AsebaSendBuffer(vm, buffer, buffer_pos); } // send local events description for (i = 0; localEvents[i].name; i++) { buffer_pos = 0; buffer_add_uint16(ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION); buffer_add_string(localEvents[i].name); buffer_add_string(localEvents[i].doc); // send buffer AsebaSendBuffer(vm, buffer, buffer_pos); } // send native functions description for (i = 0; nativeFunctionsDescription[i]; i++) { uint16_t j; buffer_pos = 0; buffer_add_uint16(ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION); buffer_add_string(nativeFunctionsDescription[i]->name); buffer_add_string(nativeFunctionsDescription[i]->doc); for (j = 0; nativeFunctionsDescription[i]->arguments[j].size; j++) ; buffer_add_uint16(j); for (j = 0; nativeFunctionsDescription[i]->arguments[j].size; j++) { buffer_add_int16(nativeFunctionsDescription[i]->arguments[j].size); buffer_add_string(nativeFunctionsDescription[i]->arguments[j].name); } // send buffer AsebaSendBuffer(vm, buffer, buffer_pos); } } void AsebaProcessIncomingEvents(AsebaVMState *vm) { uint16_t source; const AsebaVMDescription *desc = AsebaGetVMDescription(vm); uint16_t amount = AsebaGetBuffer(vm, buffer, ASEBA_MAX_INNER_PACKET_SIZE, &source); if (amount > 0) { uint16_t type = bswap16(((uint16_t*)buffer)[0]); uint16_t* payload = (uint16_t*)(buffer+2); uint16_t payloadSize = (amount-2)/2; if (type < 0x8000) { // user message, only process if we are not stepping inside an event if (AsebaMaskIsClear(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK)) { // by convention. the source begin at variables, address 1 // then it's followed by the args uint16_t argPos = desc->variables[1].size; uint16_t argsSize = desc->variables[2].size; uint16_t i; vm->variables[argPos++] = source; for (i = 0; (i < argsSize) && (i < payloadSize); i++) vm->variables[argPos + i] = bswap16(payload[i]); AsebaVMSetupEvent(vm, type); } } else { // debug message AsebaVMDebugMessage(vm, type, payload, payloadSize); } } } aseba-1.6.0/transport/buffer/vm-buffer.h000066400000000000000000000044431322771007300201470ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_VM_BUFFER #define ASEBA_VM_BUFFER #ifdef __cplusplus extern "C" { #endif #include "../../common/types.h" #include "../../vm/vm.h" #include "../../vm/natives.h" /** \defgroup transport-buffer Helper for transport layers using buffers This helper provides to the VM: * AsebaSendMessage() * AsebaSendVariables() * AsebaSendDescription() This helper provides to the glue code: * AsebaProcessIncomingEvents() This helper requires from the lower level transport layer: * AsebaSendBuffer() * AsebaGetBuffer() This helper requires from the glue code: * AsebaGetVMDescription() * AsebaGetNativeFunctionsDescriptions() To have a working implementation, the glue code must still implement: * AsebaNativeFunction() * AsebaAssert(), if ASEBA_ASSERT is defined */ /*@{*/ // functions this helper provides /*! Read messages and process messages from transport layer, if any */ void AsebaProcessIncomingEvents(AsebaVMState *vm); // functions this helper needs extern void AsebaSendBuffer(AsebaVMState *vm, const uint8_t* data, uint16_t length); extern uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source); extern const AsebaVMDescription* AsebaGetVMDescription(AsebaVMState *vm); extern const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm); extern const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm); /*@}*/ #ifdef __cplusplus } #endif #endif aseba-1.6.0/transport/can/000077500000000000000000000000001322771007300153705ustar00rootroot00000000000000aseba-1.6.0/transport/can/can-buffer.c000066400000000000000000000023401322771007300175430ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../buffer/vm-buffer.h" #include "can-net.h" #include "../../common/consts.h" void AsebaSendBuffer(AsebaVMState *vm, const uint8_t* data, uint16_t length) { ASEBA_UNUSED(vm); while (AsebaCanSend(data, length) == 0) AsebaIdle(); } uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source) { ASEBA_UNUSED(vm); return AsebaCanRecv(data, maxLength, source); } aseba-1.6.0/transport/can/can-net.c000066400000000000000000000250751322771007300170720ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "can-net.h" #include #include #define TYPE_SMALL_PACKET 0x3 #define TYPE_PACKET_NORMAL 0x0 #define TYPE_PACKET_START 0x1 #define TYPE_PACKET_STOP 0x2 #define CANID_TO_TYPE(canid) ((canid) >> 8) #define CANID_TO_ID(canid) ((canid) & 0xff) #define TO_CANID(type, id) (((type) << 8) | (id)) #define ASEBA_MIN(a, b) (((a) < (b)) ? (a) : (b)) /*! This contains the state of the CAN implementation of Aseba network */ static struct AsebaCan { // data uint16_t id; /*!< identifier of this node on CAN */ // pointer to physical layer functions AsebaCanSendFrameFP sendFrameFP; AsebaCanIntVoidFP isFrameRoomFP; AsebaCanVoidVoidFP receivedPacketDroppedFP; AsebaCanVoidVoidFP sentPacketDroppedFP; // send buffer CanFrame* sendQueue; size_t sendQueueSize; uint16_t sendQueueInsertPos; uint16_t sendQueueConsumePos; // reception buffer CanFrame* recvQueue; size_t recvQueueSize; uint16_t recvQueueInsertPos; uint16_t recvQueueConsumePos; uint16_t volatile sendQueueLock; } asebaCan; /** \addtogroup can */ /*@{*/ /*! Returned the minimum number of multiple of height to fit v */ uint16_t AsebaCanGetMinMultipleOfHeight(uint16_t v) { uint16_t m = v >> 3; if ((v & 0x7) != 0) m++; return m; } /*! Returned the number of used frames in the send queue*/ static uint16_t AsebaCanSendQueueGetUsedFrames(void) { uint16_t ipos, cpos; ipos = asebaCan.sendQueueInsertPos; cpos = asebaCan.sendQueueConsumePos; if (ipos >= cpos) return ipos - cpos; else return asebaCan.sendQueueSize - cpos + ipos; } /*! Returned the number of free frames in the send queue */ static uint16_t AsebaCanSendQueueGetFreeFrames(void) { return asebaCan.sendQueueSize - AsebaCanSendQueueGetUsedFrames(); } /*! Insert a frame in the send queue, do not check for overwrite */ static void AsebaCanSendQueueInsert(uint16_t canid, const uint8_t *data, size_t size) { uint16_t temp; memcpy(asebaCan.sendQueue[asebaCan.sendQueueInsertPos].data, data, size); asebaCan.sendQueue[asebaCan.sendQueueInsertPos].id = canid; asebaCan.sendQueue[asebaCan.sendQueueInsertPos].len = size; temp = asebaCan.sendQueueInsertPos + 1; if (temp >= asebaCan.sendQueueSize) temp = 0; asebaCan.sendQueueInsertPos = temp; } /*! Send frames in send queue to physical layer until it is full */ static void AsebaCanSendQueueToPhysicalLayer(void) { uint16_t temp; while (asebaCan.isFrameRoomFP() && (asebaCan.sendQueueConsumePos != asebaCan.sendQueueInsertPos)) { asebaCan.sendQueueLock = 1; if(!(asebaCan.isFrameRoomFP() && (asebaCan.sendQueueConsumePos != asebaCan.sendQueueInsertPos))) { asebaCan.sendQueueLock = 0; continue; } asebaCan.sendFrameFP(asebaCan.sendQueue + asebaCan.sendQueueConsumePos); temp = asebaCan.sendQueueConsumePos + 1; if (temp >= asebaCan.sendQueueSize) temp = 0; asebaCan.sendQueueConsumePos = temp; asebaCan.sendQueueLock = 0; } } /*! Returned the maximum number of used frames in the reception queue*/ static uint16_t AsebaCanRecvQueueGetMaxUsedFrames(void) { uint16_t ipos, cpos; ipos = asebaCan.recvQueueInsertPos; cpos = asebaCan.recvQueueConsumePos; if (ipos >= cpos) return ipos - cpos; else return asebaCan.recvQueueSize - cpos + ipos; } /*! Returned the minimum number of free frames in the reception queue */ static uint16_t AsebaCanRecvQueueGetMinFreeFrames(void) { return asebaCan.recvQueueSize - AsebaCanRecvQueueGetMaxUsedFrames(); } /*! Readjust the fifo pointers */ static void AsebaCanRecvQueueGarbageCollect(void) { uint16_t temp; while (asebaCan.recvQueueConsumePos != asebaCan.recvQueueInsertPos) { if (asebaCan.recvQueue[asebaCan.recvQueueConsumePos].used) break; temp = asebaCan.recvQueueConsumePos + 1; if (temp >= asebaCan.recvQueueSize) temp = 0; asebaCan.recvQueueConsumePos = temp; } } /*! Free frames associated with an id in the reception queue */ static void AsebaCanRecvQueueFreeFrames(uint16_t id) { uint16_t i; // for all used frames... for (i = asebaCan.recvQueueConsumePos; i != asebaCan.recvQueueInsertPos;) { // if frame is of a specific id, mark frame as unused if (CANID_TO_ID(asebaCan.recvQueue[i].id) == id) asebaCan.recvQueue[i].used = 0; i++; if (i >= asebaCan.recvQueueSize) i = 0; } } void AsebaCanInit(uint16_t id, AsebaCanSendFrameFP sendFrameFP, AsebaCanIntVoidFP isFrameRoomFP, AsebaCanVoidVoidFP receivedPacketDroppedFP, AsebaCanVoidVoidFP sentPacketDroppedFP, CanFrame* sendQueue, size_t sendQueueSize, CanFrame* recvQueue, size_t recvQueueSize) { asebaCan.id = id; asebaCan.sendFrameFP = sendFrameFP; asebaCan.isFrameRoomFP= isFrameRoomFP; asebaCan.receivedPacketDroppedFP = receivedPacketDroppedFP; asebaCan.sentPacketDroppedFP = sentPacketDroppedFP; asebaCan.sendQueue = sendQueue; asebaCan.sendQueueSize = sendQueueSize; asebaCan.sendQueueInsertPos = 0; asebaCan.sendQueueConsumePos = 0; asebaCan.recvQueue = recvQueue; asebaCan.recvQueueSize = recvQueueSize; asebaCan.recvQueueInsertPos = 0; asebaCan.recvQueueConsumePos = 0; asebaCan.sendQueueLock = 0; } uint16_t AsebaCanSend(const uint8_t *data, size_t size) { return AsebaCanSendSpecificSource(data, size, asebaCan.id); } uint16_t AsebaCanSendSpecificSource(const uint8_t *data, size_t size, uint16_t source) { // send everything we can to maximize the space in the buffer AsebaCanSendQueueToPhysicalLayer(); // check free space uint16_t frameRequired = AsebaCanGetMinMultipleOfHeight(size); if (AsebaCanSendQueueGetFreeFrames() <= frameRequired) { asebaCan.sentPacketDroppedFP(); return 0; } // insert if (size <= 8) { AsebaCanSendQueueInsert(TO_CANID(TYPE_SMALL_PACKET, source), data, size); } else { size_t pos = 8; AsebaCanSendQueueInsert(TO_CANID(TYPE_PACKET_START, source), data, 8); while (pos + 8 < size) { AsebaCanSendQueueInsert(TO_CANID(TYPE_PACKET_NORMAL, source), data + pos, 8); pos += 8; } AsebaCanSendQueueInsert(TO_CANID(TYPE_PACKET_STOP, source), data + pos, size - pos); } // send everything we can to minimize the transmission delay AsebaCanSendQueueToPhysicalLayer(); return 1; } uint16_t AsebaCanRecvBufferEmpty(void) { return asebaCan.recvQueueInsertPos == asebaCan.recvQueueConsumePos; } void AsebaCanFrameSent() { // send everything we can if we are currently not sending if (!asebaCan.sendQueueLock) AsebaCanSendQueueToPhysicalLayer(); } void AsebaCanFlushQueue(void) { while(asebaCan.sendQueueConsumePos != asebaCan.sendQueueInsertPos || !asebaCan.isFrameRoomFP()) AsebaIdle(); } uint16_t AsebaCanRecv(uint8_t *data, size_t size, uint16_t *source) { int stopPos = -1; uint16_t stopId; uint16_t pos = 0; uint16_t i; // first scan for "short packets" and "stops" for (i = asebaCan.recvQueueConsumePos; i != asebaCan.recvQueueInsertPos; ) { if(asebaCan.recvQueue[i].used) { if (CANID_TO_TYPE(asebaCan.recvQueue[i].id) == TYPE_SMALL_PACKET) { // copy data uint16_t len = ASEBA_MIN(size, asebaCan.recvQueue[i].len); memcpy(data, asebaCan.recvQueue[i].data, len); *source = CANID_TO_ID(asebaCan.recvQueue[i].id); asebaCan.recvQueue[i].used = 0; // garbage collect AsebaCanRecvQueueGarbageCollect(); return len; } // stop found, we thus must have seen start before else if (CANID_TO_TYPE(asebaCan.recvQueue[i].id) == TYPE_PACKET_STOP) { stopPos = i; stopId = CANID_TO_ID(asebaCan.recvQueue[i].id); break; } } i++; if (i >= asebaCan.recvQueueSize) i = 0; } // if we haven't found anything if (stopPos < 0) return 0; // collect data *source = CANID_TO_ID(stopId); i = asebaCan.recvQueueConsumePos; while (1) { if(asebaCan.recvQueue[i].used) { if (CANID_TO_ID(asebaCan.recvQueue[i].id) == stopId) { if (pos < size) { uint16_t amount = ASEBA_MIN(asebaCan.recvQueue[i].len, size - pos); memcpy(data + pos, asebaCan.recvQueue[i].data, amount); pos += amount; } asebaCan.recvQueue[i].used = 0; } if (i == stopPos) break; } i++; if (i >= asebaCan.recvQueueSize) i = 0; } // garbage collect AsebaCanRecvQueueGarbageCollect(); return pos; } #define MAX_DROPPING_SOURCE 20 static uint16_t dropping[MAX_DROPPING_SOURCE]; void AsebaCanFrameReceived(const CanFrame *frame) { uint16_t source = CANID_TO_ID(frame->id); // check whether this packet should be filtered or not if (CANID_TO_TYPE(frame->id) == TYPE_SMALL_PACKET) { if (AsebaShouldDropPacket(source, frame->data)) return; } else if (CANID_TO_TYPE(frame->id) == TYPE_PACKET_START) { if (AsebaShouldDropPacket(source, frame->data)) { uint16_t i; for (i = 0; i < MAX_DROPPING_SOURCE; i++) { if (dropping[i] == 0) { dropping[i] = source + 1; return; } } } } else { uint16_t i; for (i = 0; i < MAX_DROPPING_SOURCE; i++) { if (dropping[i] == source + 1) { if (CANID_TO_TYPE(frame->id) == TYPE_PACKET_STOP) dropping[i] = 0; return; } } } if (AsebaCanRecvQueueGetMinFreeFrames() <= 1) { // if packet is stop, free associated frames, otherwise this could lead to everlasting used frames if (CANID_TO_TYPE(frame->id) == TYPE_PACKET_STOP) { AsebaCanRecvQueueFreeFrames(source); AsebaCanRecvQueueGarbageCollect(); } // notify user asebaCan.receivedPacketDroppedFP(); } else { uint16_t temp; // store and increment pos memcpy(&asebaCan.recvQueue[asebaCan.recvQueueInsertPos], frame, sizeof(*frame)); asebaCan.recvQueue[asebaCan.recvQueueInsertPos].used = 1; temp = asebaCan.recvQueueInsertPos + 1; if (temp >= asebaCan.recvQueueSize) temp = 0; asebaCan.recvQueueInsertPos = temp; } } void AsebaCanRecvFreeQueue(void) { size_t i; for(i = 0; i < asebaCan.recvQueueSize; i++) asebaCan.recvQueue[i].used = 0; asebaCan.recvQueueInsertPos = 0; asebaCan.recvQueueConsumePos = 0; for(i = 0; i < MAX_DROPPING_SOURCE; i++) dropping[i] = 0; } /*@}*/ aseba-1.6.0/transport/can/can-net.h000066400000000000000000000122711322771007300170710ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef ASEBA_CAN #define ASEBA_CAN #ifdef __cplusplus extern "C" { #endif #include "../../common/types.h" /** \defgroup can Transport layer over CAN bus This layer is able to transmit messages of arbitrary length (up to the available amount of memory) over a serie of 8 bytes CAN frames. If the message is under 8 bytes, the layer uses a single frame. The layer does not uses acknowledgment, instead it trusts the CAN checksum mechanism to ensure that other nodes on the CAN bus received the data correctly. This transport layer only works on little-endian systems for now, as it does not perform endian correction. */ /*@{*/ // Network /*! the data that physically go on the CAN bus. Used to communicate with the CAN data layer */ typedef struct { uint8_t data[8] __attribute__((aligned(sizeof(int)))); /*!< data payload */ unsigned id:11; /*!< CAN identifier */ unsigned len:4; /*!< amount of bytes used in data */ unsigned used:1; /*!< when frame is in a circular buffer, tell if it frame is used */ } CanFrame; /*! Pointer to a void function */ typedef void (*AsebaCanVoidVoidFP)(void); /*! Pointer to a void function returning int*/ typedef int (*AsebaCanIntVoidFP)(void); /*! Pointer to a function that sends a CAN frame (max 8 bytes) */ typedef void (*AsebaCanSendFrameFP)(const CanFrame *frame); /*! Init the CAN connection. @param id the identifier of this node on the aseba CAN network @param sendFrameFP pointer to a function that sends CAN frames to the data layer @param isFrameRoomFP pointer to a function that returns if the data layer is ready to send frames @param receivedPacketDroppedFP pointer to a function that is called when a received packet has been dropped, for various reasons but mostly related to insufficient memory @param sentPacketDroppedFP pointer to a function that is called when a sent packet has been dropped (AsebaCanSend() returned 0), for various reasons but mostly related to insufficient memory @param sendQueue pointer to send queue data @param sendQueueSize number of frame in sendQueue @param recvQueue pointer to receive queue data @param recvQueueSize number of frame in recvQueue */ void AsebaCanInit(uint16_t id, AsebaCanSendFrameFP sendFrameFP, AsebaCanIntVoidFP isFrameRoomFP, AsebaCanVoidVoidFP receivedPacketDroppedFP, AsebaCanVoidVoidFP sentPacketDroppedFP, CanFrame* sendQueue, size_t sendQueueSize, CanFrame* recvQueue, size_t recvQueueSize); /*! Send data as an aseba packet. @param data pointer to the data to send @param size amount of data to send @return 1 on success, 0 on failure */ uint16_t AsebaCanSend(const uint8_t *data, size_t size); /*! Send data as an aseba packet. @param data pointer to the data to send @param size amount of data to send @param source identifier to use as source @return 1 on success, 0 on failure */ uint16_t AsebaCanSendSpecificSource(const uint8_t *data, size_t size, uint16_t source); /*! Copy data from a received packet to the caller-provided buffer. Remove the packet from the reception queue afterwards. @param data pointer where to copy the data @param size makimum number of byte to copy. Actual number of byte might be smaller if packet was smaller. If packet was bigger, the rest of the data are dropped. @param source the identifier of the source of the received packet @return the amount of data copied. 0 if no data were available. */ uint16_t AsebaCanRecv(uint8_t *data, size_t size, uint16_t *source); /*! Wait until the send queue is empty */ void AsebaCanFlushQueue(void); /*! Free everything in the Rx queue. Warning, this is a low-level function which should only be called if the underlaying CAN driver is disabled. */ void AsebaCanRecvFreeQueue(void); // to be implemented by the glue /*! Busy wait until the can buffer has room. At worst, can be an empty function */ void AsebaIdle(void); /*! Return true if VM will ignore the packet, false otherwise */ uint16_t AsebaShouldDropPacket(uint16_t source, const uint8_t* data); // to be called by data layer on interrupts /*! Data layer should call this function when a new CAN frame (max 8 bytes) is available */ void AsebaCanFrameReceived(const CanFrame *frame); /*! Data layer should call this function when the CAN frame (max 8 bytes) was sent successfully */ void AsebaCanFrameSent(void); /*! Return true if the recv buffer is empty, false otherwise */ uint16_t AsebaCanRecvBufferEmpty(void); /*@}*/ #ifdef __cplusplus } #endif #endif aseba-1.6.0/transport/dashel_plugins/000077500000000000000000000000001322771007300176305ustar00rootroot00000000000000aseba-1.6.0/transport/dashel_plugins/CMakeLists.txt000066400000000000000000000016551322771007300223770ustar00rootroot00000000000000# Select plugins following system if (ANDROID) set (ASEBADASHEL_PLUGINS_SRC android.cpp) message(STATUS "Enabling Dashel android plugin") else (ANDROID) if (${CMAKE_SYSTEM_NAME} MATCHES "Linux") set (ASEBADASHEL_PLUGINS_SRC socketcan.cpp) message(STATUS "Enabling Dashel socketcan plugin") else (${CMAKE_SYSTEM_NAME} MATCHES "Linux") set (ASEBADASHEL_PLUGINS_SRC none.cpp) message(STATUS "System is neither Linux nor Android, no Dashel plugins") endif (${CMAKE_SYSTEM_NAME} MATCHES "Linux") endif (ANDROID) add_library(asebadashelplugins ${ASEBADASHEL_PLUGINS_SRC}) set_target_properties(asebadashelplugins PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebadashelplugins LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) install(FILES dashel-plugins.h DESTINATION include/aseba/transport/dashel_plugins )aseba-1.6.0/transport/dashel_plugins/android.cpp000066400000000000000000000157641322771007300217710ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2013: Philippe Retornaz and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include "android.h" #include #include static JavaVM* s_javaVM = 0; static jclass s_DashelSerialClassID; static jmethodID s_DashelSerialConstructorMethodID; static jmethodID s_DashelSerialOpenDeviceMethodID; static jmethodID s_DashelSerialCloseDeviceMethodID; static jmethodID s_DashelSerialGetEpInMethodID; static jmethodID s_DashelSerialGetEpOutMethodID; using namespace Dashel; using namespace std; void AndroidStream::usb_control_msg(int type, int req, int value, int index, char * bytes, int size, int timeout) { struct usbdevfs_ctrltransfer ctrl; ctrl.bRequestType = type; ctrl.bRequest = req; ctrl.wValue = value; ctrl.wIndex = index; ctrl.wLength = size; ctrl.data = bytes; ctrl.timeout = timeout; ioctl(fd, USBDEVFS_CONTROL, &ctrl); } void AndroidStream::schedule_read() { urb_is_in_flight = 1; memset(&rx_urb, 0, sizeof(rx_urb)); rx_urb.type = USBDEVFS_URB_TYPE_BULK; rx_urb.endpoint = epin; rx_urb.buffer = rx_data; rx_urb.buffer_length = sizeof(rx_data); if(ioctl(fd, USBDEVFS_SUBMITURB, &rx_urb) < 0) { disconnected = 1; throw DashelException(DashelException::IOError, 0, "Unable to read", this); } } void AndroidStream::set_ctrl_line(unsigned int status) { usb_control_msg(0x21, 0x22, status, 0, nullptr, 0, 1000); } AndroidStream::AndroidStream(const string &targetName) : Stream("android"), SelectableStream("android") { pollEvent = POLLOUT; lock_java(); // Create an instance of DashelSerial in the java world m_DashelSerialObject = env->NewGlobalRef(env->NewObject(s_DashelSerialClassID,s_DashelSerialConstructorMethodID)); if(!m_DashelSerialObject) { unlock_java(); throw DashelException(DashelException::ConnectionFailed, 0, "Unable to create java object"); } // Now, open the device and claim interface (in the Java code). fd = env->CallIntMethod(m_DashelSerialObject, s_DashelSerialOpenDeviceMethodID); if(fd < 0) { env->DeleteGlobalRef(m_DashelSerialObject); unlock_java(); throw DashelException(DashelException::ConnectionFailed, 0, "Unable to grab fd"); } epin = env->CallIntMethod(m_DashelSerialObject, s_DashelSerialGetEpInMethodID); epout = env->CallIntMethod(m_DashelSerialObject, s_DashelSerialGetEpOutMethodID); unlock_java(); disconnected = 0; // software-open the port set_ctrl_line(1); schedule_read(); } AndroidStream::~AndroidStream() { set_ctrl_line(0); // software-close the port lock_java(); env->CallBooleanMethod(m_DashelSerialObject, s_DashelSerialCloseDeviceMethodID); env->DeleteGlobalRef(m_DashelSerialObject); unlock_java(); } void AndroidStream::write(const void *data, const size_t size) { struct usbdevfs_bulktransfer bulk; bulk.ep = epout; bulk.len = size; bulk.timeout = -1; bulk.data = (void *) data; const int result = ioctl(fd, USBDEVFS_BULK, &bulk); if (result < 0) { disconnected = 1; throw DashelException(DashelException::IOError, result, "Unable to write", this); } } void AndroidStream::flush() { // Nothing to do, everything is written immediately. } void AndroidStream::read(void *data, size_t size) { struct usbdevfs_urb * urb; while(size) { if(urb_is_in_flight) { const int result = ioctl(fd, USBDEVFS_REAPURB, &urb); if (result < 0) { disconnected = 1; throw DashelException(DashelException::IOError, result, "Unable to read", this); } urb_is_in_flight = 0; } size_t cpy = size > (size_t) rx_urb.actual_length ? (size_t) rx_urb.actual_length : size; memcpy(data,rx_urb.buffer,cpy); rx_urb.buffer = (void *) (((size_t) rx_urb.buffer) + cpy); data = (void *) (((size_t) data) + cpy); size -= cpy; rx_urb.actual_length -= cpy; if (!rx_urb.actual_length) schedule_read(); } } bool AndroidStream::receiveDataAndCheckDisconnection() { struct usbdevfs_urb * urb; // Reap everthing if(ioctl(fd, USBDEVFS_REAPURBNDELAY, &urb) >= 0) urb_is_in_flight = 0; if(disconnected == 1) return true; return false; } bool AndroidStream::isDataInRecvBuffer() const { if(urb_is_in_flight) return false; return true; } void AndroidStream::lock_java() { // Kind of mutex_lock(); if(s_javaVM->AttachCurrentThread(&env, nullptr)<0) throw DashelException(DashelException::ConnectionFailed, 0, "Java lock failed", this); } void AndroidStream::unlock_java() { s_javaVM->DetachCurrentThread(); } namespace Dashel { void initPlugins() { Dashel::streamTypeRegistry.reg("android", &createInstance); } } JNIEXPORT jint JNI_OnLoad(JavaVM* vm, void * /*reserved*/) { JNIEnv *env; if(vm->GetEnv(reinterpret_cast(&env), JNI_VERSION_1_6) != JNI_OK) { return -1; } s_javaVM = vm; // Do a kind of "linking". jclass clazz = env->FindClass("org/mobsya/thymiovpl/DashelSerial"); if(!clazz) { return -1; } s_DashelSerialClassID = (jclass) env->NewGlobalRef(clazz); s_DashelSerialConstructorMethodID = env->GetMethodID(s_DashelSerialClassID, "", "()V"); if(!s_DashelSerialConstructorMethodID) { return -1; } s_DashelSerialOpenDeviceMethodID = env->GetMethodID(s_DashelSerialClassID, "OpenDevice", "()I"); if(! s_DashelSerialOpenDeviceMethodID) { return -1; } s_DashelSerialCloseDeviceMethodID = env->GetMethodID(s_DashelSerialClassID, "CloseDevice", "()Z"); if(! s_DashelSerialCloseDeviceMethodID) { return -1; } s_DashelSerialGetEpInMethodID = env->GetMethodID(s_DashelSerialClassID, "GetEpIn", "()I"); if(! s_DashelSerialGetEpInMethodID) { return -1; } s_DashelSerialGetEpOutMethodID = env->GetMethodID(s_DashelSerialClassID, "GetEpOut", "()I"); if(! s_DashelSerialGetEpOutMethodID) { return -1; } return JNI_VERSION_1_6; } aseba-1.6.0/transport/dashel_plugins/android.h000066400000000000000000000020451322771007300214220ustar00rootroot00000000000000#ifndef DASHEL_PLUGIN_ANDROID_H #define DASHEL_PLUGIN_ANDROID_H #include #include #include #include #include class AndroidStream: public Dashel::SelectableStream { public: AndroidStream(const std::string &targetName); ~AndroidStream(); virtual void write(const void *data, const size_t size); virtual void read(void *data, size_t size); virtual void flush(); virtual bool receiveDataAndCheckDisconnection(); virtual bool isDataInRecvBuffer() const; private: void usb_control_msg(int type, int req, int value, int index, char * bytes, int size, int timeout); void schedule_read(); void set_ctrl_line(unsigned int status); void lock_java(); void unlock_java(); jobject m_DashelSerialObject; JNIEnv * env; struct usbdevfs_urb rx_urb; // Used only for reception unsigned char rx_data[512]; bool urb_is_in_flight; int epin; int epout; int disconnected; }; #endif // DASHEL_PLUGIN_ANDROID_H aseba-1.6.0/transport/dashel_plugins/dashel-plugins.h000066400000000000000000000017021322771007300227200ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __DASHEL_PLUGINS_H #define __DASHEL_PLUGINS_H namespace Dashel { void initPlugins(); } #endif // __DASHEL_PLUGINS_H aseba-1.6.0/transport/dashel_plugins/none.cpp000066400000000000000000000016031322771007300212730ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ namespace Dashel { void initPlugins() { // do nothing } } aseba-1.6.0/transport/dashel_plugins/socketcan.cpp000066400000000000000000000247231322771007300223160ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2012: Philippe Retornaz and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "../../common/consts.h" #ifndef AF_CAN #define AF_CAN 29 #endif #ifndef PF_CAN #define PF_CAN AF_CAN #endif #ifndef SO_RXQ_OVFL #define SO_RXQ_OVFL 40 #endif using namespace Dashel; using namespace std; /* CanStream implementation * This is the protocol used in the MarxBot and Handbot robots. * It needs a SocketCAN interface (Linux native CAN interfaces). * * This stream (named "can") accept only one parameter: * if : The CAN interface to use * * The interface must already be configured & upped by your distribution script. * * Usage example: * "can:if=can0" * */ class CanStream: public SelectableStream { #define TYPE_SMALL_PACKET 0x3 #define TYPE_PACKET_NORMAL 0x0 #define TYPE_PACKET_START 0x1 #define TYPE_PACKET_STOP 0x2 #define CANID_TO_TYPE(canid) ((canid) >> 8) #define CANID_TO_ID(canid) ((int) ((canid) & 0xFF)) #define TO_CANID(type,id) (((type) << 8) | (id)) protected: unsigned char tx_buffer[ASEBA_MAX_OUTER_PACKET_SIZE]; int tx_len; unsigned char rx_buffer[ASEBA_MAX_OUTER_PACKET_SIZE]; unsigned int rx_len; unsigned int rx_p; struct iovec iov; struct msghdr msg; struct sockaddr_can addr; char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))]; struct can_frame rframe; #define RX_CAN_SIZE 1000 struct { struct can_frame f; int used; } rx_fifo[RX_CAN_SIZE]; int rx_insert; int rx_consume; public: CanStream(const string &targetName) : Stream("can"), SelectableStream("can") { struct ifreq ifr; target.add("can:if=can0"); target.add(targetName.c_str()); string ifName; if(target.isSet("if")) { target.addParam("if", nullptr, true); ifName = target.get("if"); } fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); if(fd < 0) throw DashelException(DashelException::ConnectionFailed, 0, "Socket creation failed", this); addr.can_family = AF_CAN; if(strlen(ifName.c_str()) >= IFNAMSIZ) throw DashelException(DashelException::ConnectionFailed, 0, "Interface name too long", this); strcpy(ifr.ifr_name, ifName.c_str()); if(ioctl(fd, SIOCGIFINDEX, &ifr) < 0) throw DashelException(DashelException::ConnectionFailed, 0, "Unable to get interface", this); // Try to have 20Mb RX buffer int options = 20*1024*1024; if (setsockopt(fd, SOL_SOCKET, SO_RCVBUFFORCE, &options, sizeof(options))) perror("socketcan: cannot set Rx buffer"); // Enable monitoring of dropped packets options = 1; if (setsockopt(fd, SOL_SOCKET, SO_RXQ_OVFL, &options, sizeof(options))) perror("socketcan: cannot set monitoring for dropped packets"); addr.can_ifindex = ifr.ifr_ifindex; if(bind(fd, (struct sockaddr *) &addr, sizeof(addr)) < 0) throw DashelException(DashelException::ConnectionFailed, 0, "Unable to bind", this); rx_insert = rx_consume = 0; tx_len = 0; rx_len = 0; rx_p = 0; memset(rx_fifo, 0, sizeof(rx_fifo)); iov.iov_base = &rframe; msg.msg_iov = &iov; msg.msg_name = &addr; msg.msg_namelen = sizeof(addr); msg.msg_iovlen = 1; msg.msg_control = ctrlmsg; msg.msg_controllen = sizeof(ctrlmsg); msg.msg_flags = 0; } private: int is_packet_tx(void) { int packet_len; if(tx_len < 6) return 0; packet_len = tx_buffer[0] | (tx_buffer[1] << 8); // Little endian if(tx_len >= packet_len + 6) return 1; return 0; } void can_write_frame(struct can_frame * f) { ssize_t ret; do { ret = ::write(fd, f, sizeof(*f)); if(ret == -1 && errno == ENOBUFS) { struct pollfd pf; pf.fd = fd; pf.events = POLLOUT | POLLHUP; pf.revents = 0; if (poll(&pf, 1, 0) == -1) perror("socketcan: can_write_frame: error while polling the socket"); continue; } if(ret != sizeof(*f)) throw DashelException(DashelException::IOError, 0, "Write error", this); } while(0); } void send_aseba_packet() { struct can_frame frame; unsigned int packet_len = tx_buffer[0] | (tx_buffer[1] << 8); // Little endian; unsigned int nodeId = tx_buffer[2] | (tx_buffer[3] << 8); unsigned int msgId = tx_buffer[4] | (tx_buffer[5] << 8); if(packet_len <= 6) { // Small packet frame.can_id = TO_CANID(TYPE_SMALL_PACKET, nodeId); frame.can_dlc = packet_len + 2; frame.data[0] = msgId; frame.data[1] = msgId >> 8; memcpy(&frame.data[2], &tx_buffer[6], packet_len); can_write_frame(&frame); } else { unsigned char * p = &tx_buffer[6]; frame.can_id = TO_CANID(TYPE_PACKET_START, nodeId); frame.can_dlc = 8; frame.data[0] = msgId; frame.data[1] = msgId >> 8; memcpy(&frame.data[2], p, 6); p += 6; packet_len -= 6; can_write_frame(&frame); while(packet_len > 8) { frame.can_id = TO_CANID(TYPE_PACKET_NORMAL, nodeId); frame.can_dlc = 8; memcpy(frame.data, p, 8); p+=8; packet_len -= 8; can_write_frame(&frame); } frame.can_id = TO_CANID(TYPE_PACKET_STOP, nodeId); frame.can_dlc = packet_len; memcpy(frame.data, p, packet_len); can_write_frame(&frame); } tx_len = 0; } public: virtual void write(const void *data, const size_t size) { size_t s = size; const unsigned char * d = (const unsigned char * ) data; while(s--) { tx_buffer[tx_len++] = *d++; if(is_packet_tx()) send_aseba_packet(); } } virtual void flush() { } private: void pack_fifo() { while(!rx_fifo[rx_consume].used && rx_consume != rx_insert) { if(++rx_consume == RX_CAN_SIZE) rx_consume = 0; } } // 1 if defragment was sucessfull. // 0 if not, // -1 if needs to recall (one packet was dropped because not full) int defragment(void) { int i; int stopId; int stopPos = -1; int ignore = 0; for(i = rx_consume; i != rx_insert; ) { if(rx_fifo[i].used) { if(CANID_TO_TYPE(rx_fifo[i].f.can_id) == TYPE_SMALL_PACKET) { if(rx_fifo[i].f.can_dlc < 2) throw DashelException(DashelException::IOError, 0, "Packet too short", this); rx_buffer[0] = rx_fifo[i].f.can_dlc - 2; rx_buffer[1] = 0; rx_buffer[2] = CANID_TO_ID(rx_fifo[i].f.can_id); rx_buffer[3] = 0; memcpy(&rx_buffer[4], rx_fifo[i].f.data, rx_fifo[i].f.can_dlc); rx_p = 0; rx_len = rx_fifo[i].f.can_dlc + 4; rx_fifo[i].used = 0; // Free the frame (pack_fifo()) return 1; } if(CANID_TO_TYPE(rx_fifo[i].f.can_id) == TYPE_PACKET_STOP) { stopPos = i; stopId = CANID_TO_ID(rx_fifo[i].f.can_id); break; } } i++; if(i == RX_CAN_SIZE) i = 0; } if(stopPos < 0) return 0; i = rx_consume; // Len will be filled lated rx_buffer[2] = stopId; rx_buffer[3] = 0; rx_len = 4; while(1) { if(rx_fifo[i].used && CANID_TO_ID(rx_fifo[i].f.can_id) == stopId) { if(rx_len == 4 && CANID_TO_TYPE(rx_fifo[i].f.can_id) != TYPE_PACKET_START) // We got a stop, but not a start, let's ignore this packet ignore = 1; if(rx_len + rx_fifo[i].f.can_dlc > sizeof(rx_buffer)) throw DashelException(DashelException::IOError, 0, "Packet too large!", this); memcpy(&rx_buffer[rx_len], rx_fifo[i].f.data, rx_fifo[i].f.can_dlc); rx_len += rx_fifo[i].f.can_dlc; rx_fifo[i].used = 0; if(i == stopPos) break; } if(++i == RX_CAN_SIZE) i = 0; } if(ignore) { rx_len = 0; rx_p = 0; return -1; } else { rx_buffer[0] = rx_len - 6; rx_buffer[1] = (rx_len - 6) >> 8; rx_p = 0; return 1; } } int fifo_full() { int i = rx_insert + 1; if(i == RX_CAN_SIZE) i = 0; return i == rx_consume; } void read_iface(void) { int def; while(1) { while((def = defragment()) == -1); if(def == 1) break; struct cmsghdr *cmsg; iov.iov_len = sizeof(rframe); msg.msg_flags = 0; if(recvmsg(fd, &msg, 0) < (int) sizeof(rframe)) throw DashelException(DashelException::IOError, 0, "Read error", this); for(cmsg = CMSG_FIRSTHDR(&msg); cmsg && (cmsg->cmsg_level == SOL_SOCKET); cmsg = CMSG_NXTHDR(&msg,cmsg)) { if(cmsg->cmsg_type == SO_RXQ_OVFL) { __u32 * dropcnt = (__u32 *) CMSG_DATA(cmsg); if(*dropcnt) throw DashelException(DashelException::IOError, 0, "Packet dropped", this); } } if(fifo_full()) throw DashelException(DashelException::IOError, 0, "Fifo full", this); // push to fifo ... memcpy(&rx_fifo[rx_insert].f,&rframe,sizeof(rframe)); rx_fifo[rx_insert++].used = 1; if(rx_insert == RX_CAN_SIZE) rx_insert = 0; } pack_fifo(); } public: virtual void read(void *data, size_t size) { unsigned char * d = (unsigned char *) data; while(size) { if(rx_len) { *d++ = rx_buffer[rx_p++]; rx_len--; size--; } else { read_iface(); } } } virtual bool receiveDataAndCheckDisconnection() { return false; } virtual bool isDataInRecvBuffer() const { struct can_frame f; if(rx_len || rx_insert != rx_consume) return true; if(recv(fd, &f, sizeof(f), MSG_DONTWAIT | MSG_PEEK) == sizeof(f)) return true; return false; } }; namespace Dashel { void initPlugins() { Dashel::streamTypeRegistry.reg("can", &createInstance); } } aseba-1.6.0/transport/microchip_usb/000077500000000000000000000000001322771007300174555ustar00rootroot00000000000000aseba-1.6.0/transport/microchip_usb/usb-buffer.c000066400000000000000000000124101322771007300216570ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include #include #include "usb_function_cdc.h" #include "usb-buffer.h" #include "usb_uart.h" struct fifo { unsigned char * buffer; size_t size; size_t insert; size_t consume; }; static struct { struct fifo rx; struct fifo tx; } AsebaUsb; /* Basic assumption in order to protect concurrent access to the fifos: - If the code in "main()" access the fifo it need to disable the usb interrupt */ static inline size_t get_used(struct fifo * f) { size_t ipos, cpos; ipos = f->insert; cpos = f->consume; if (ipos >= cpos) return ipos - cpos; else return f->size - cpos + ipos; } static inline size_t get_free(struct fifo * f) { return f->size - get_used(f); } /* you MUST ensure that you pass correct size to thoses two function, * no check are done .... */ static inline void memcpy_out_fifo(unsigned char * dest, struct fifo * f, size_t size) { while(size--) { *dest++ = f->buffer[f->consume++]; if(f->consume == f->size) f->consume = 0; } } static inline void memcpy_to_fifo(struct fifo * f, const unsigned char * src, size_t size) { while(size--) { f->buffer[f->insert++] = *src++; if(f->insert == f->size) f->insert = 0; } } static inline void fifo_peek(unsigned char * d, struct fifo * f,size_t size) { int ct = f->consume; while(size--) { *d++ = f->buffer[ct++]; if(ct == f->size) ct = 0; } } static inline void fifo_reset(struct fifo * f) { f->insert = f->consume = 0; } /* USB interrupt part */ // They can be called from the main, but with usb interrupt disabled, so it's OK static int tx_busy; static int debug; unsigned char AsebaTxReady(unsigned char *data) { size_t size = get_used(&AsebaUsb.tx); if(size == 0) { tx_busy = 0; debug = 0; return 0; } if(size > ASEBA_USB_MTU) size = ASEBA_USB_MTU; memcpy_out_fifo(data, &AsebaUsb.tx, size); debug ++; return size; } int AsebaUsbBulkRecv(unsigned char *data, unsigned char size) { size_t free = get_free(&AsebaUsb.rx); if(size >= free) return 1; memcpy_to_fifo(&AsebaUsb.rx, data, size); return 0; } /* main() part */ void AsebaSendBuffer(AsebaVMState *vm, const uint8_t *data, uint16_t length) { int flags; // Here we must loop until we can send the data. // BUT if the usb connection is not available, we drop the packet if(!usb_uart_serial_port_open()) return; // Sanity check, should never be true if (length < 2) return; do { USBMaskInterrupts(flags); if(get_free(&AsebaUsb.tx) > length + 4) { length -= 2; memcpy_to_fifo(&AsebaUsb.tx, (unsigned char *) &length, 2); memcpy_to_fifo(&AsebaUsb.tx, (unsigned char *) &vm->nodeId, 2); memcpy_to_fifo(&AsebaUsb.tx, (unsigned char *) data, length + 2); // Will callback AsebaUsbTxReady if (!tx_busy) { tx_busy = 1; USBCDCKickTx(); } length = 0; } // Usb can be disconnected while sending ... if(!usb_uart_serial_port_open()) { fifo_reset(&AsebaUsb.tx); USBUnmaskInterrupts(flags); break; } USBUnmaskInterrupts(flags); } while(length); } uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t * data, uint16_t maxLength, uint16_t* source) { int flags; uint16_t ret = 0; size_t u; // Touching the FIFO, mask the interrupt ... USBMaskInterrupts(flags); u = get_used(&AsebaUsb.rx); /* Minium packet size == len + src + msg_type == 6 bytes */ if(u >= 6) { int len; fifo_peek((unsigned char *) &len, &AsebaUsb.rx, 2); if (u >= len + 6) { memcpy_out_fifo((unsigned char *) &len, &AsebaUsb.rx, 2); memcpy_out_fifo((unsigned char *) source, &AsebaUsb.rx, 2); // msg_type is not in the len but is always present len = len + 2; /* Yay ! We have a complete packet ! */ if(len > maxLength) len = maxLength; memcpy_out_fifo(data, &AsebaUsb.rx, len); ret = len; } } if(usb_uart_serial_port_open()) USBCDCKickRx(); else fifo_reset(&AsebaUsb.rx); USBUnmaskInterrupts(flags); return ret; } void AsebaUsbInit(unsigned char * sendQueue, size_t sendQueueSize, unsigned char * recvQueue, size_t recvQueueSize) { AsebaUsb.tx.buffer = sendQueue; AsebaUsb.tx.size = sendQueueSize; AsebaUsb.rx.buffer = recvQueue; AsebaUsb.rx.size = recvQueueSize; } int AsebaUsbRecvBufferEmpty(void) { // We are called with interrupt disabled ! Check if rx contain something meaningfull int u; u = get_used(&AsebaUsb.rx); if(u > 6) { int len; fifo_peek((unsigned char *) &len, &AsebaUsb.rx, 2); if (u >= len + 6) return 0; } return 1; } int AsebaUsbTxBusy(void) { return tx_busy; } aseba-1.6.0/transport/microchip_usb/usb-buffer.h000066400000000000000000000042441322771007300216720ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef _USB_BUFFER_H_ #define _USB_BUFFER_H_ #include "../../vm/vm.h" #include "../../common/types.h" /** \defgroup usb Transport layer over USB serial This transport layer only works on little-endian systems for now, as it does not perform endian correction. */ /*@{*/ /************** * Interface USB-HW (Interrupt) <-> Usb buffer **************/ /** The MTU of the underling hardware */ #define ASEBA_USB_MTU 64 /** callback from the usb layer asking for more data * put the datas in the pointer and return the size written to send more data * return 0 to send nothing */ unsigned char AsebaTxReady(unsigned char *data); /** callback from the usb layer, data is a pointer to the data and size is the size .... * Return true if the data where consumed, false if not. */ int AsebaUsbBulkRecv(unsigned char *data, unsigned char size); /************* * Interface usb-buffer <-> Aseba VM (Main() code) *************/ void AsebaSendBuffer(AsebaVMState *vm, const uint8_t * data, uint16_t length); uint16_t AsebaGetBuffer(AsebaVMState *vm, uint8_t* data, uint16_t maxLength, uint16_t* source); /************* * Init, and other random stuff *************/ void AsebaUsbInit(unsigned char * sendQueue, size_t sendQueueSize, unsigned char * recvQueue, size_t recvQueueSize); int AsebaUsbRecvBufferEmpty(void); int AsebaUsbTxBusy(void); /*@}*/ #endif aseba-1.6.0/vm/000077500000000000000000000000001322771007300132155ustar00rootroot00000000000000aseba-1.6.0/vm/CMakeLists.txt000066400000000000000000000010351322771007300157540ustar00rootroot00000000000000if (APPLE) add_definitions(-DDISABLE_WEAK_CALLBACKS) endif (APPLE) set (ASEBAVM_SRC vm.c natives.c ) add_library(asebavm ${ASEBAVM_SRC}) set_target_properties(asebavm PROPERTIES VERSION ${LIB_VERSION_STRING} SOVERSION ${LIB_VERSION_MAJOR}) install(TARGETS asebavm LIBRARY DESTINATION ${LIB_INSTALL_DIR} ARCHIVE DESTINATION ${LIB_INSTALL_DIR} ) set (ASEBAVM_HDR_COMPILER vm.h natives.h ) install(FILES ${ASEBAVM_HDR_COMPILER} DESTINATION include/aseba/vm ) aseba-1.6.0/vm/natives.c000066400000000000000000001133431322771007300150370ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2011: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../common/consts.h" #include "../common/types.h" #include "natives.h" #include #include #if defined(__dsPIC30F__) #include #define DSP_AVAILABLE #elif defined(__dsPIC33F__) #include #define DSP_AVAILABLE #elif defined(__PIC24H__) #include #endif /** \file vm.c Implementation of standard natives functions for Aseba Virtual Machine */ /** \addtogroup vm */ /*@{*/ // useful math functions used by below // table is 20 bins (one for each bit of value) of 8 values each + one for infinity static const int16_t aseba_atan_table[20*8+1] = { 652, 735, 816, 896, 977, 1058, 1139, 1218, 1300, 1459, 1620, 1777, 1935, 2093, 2250, 2403, 2556, 2868, 3164, 3458, 3748, 4029, 4307, 4578, 4839, 5359, 5836, 6290, 6720, 7126, 7507, 7861, 8203, 8825, 9357, 9839, 10260, 10640, 10976, 11281, 11557, 12037, 12425, 12755, 13036, 13277, 13486, 13671, 13837, 14112, 14331, 14514, 14666, 14796, 14907, 15003, 15091, 15235, 15348, 15441, 15519, 15585, 15642, 15691, 15736, 15808, 15865, 15912, 15951, 15984, 16013, 16037, 16060, 16096, 16125, 16148, 16168, 16184, 16199, 16211, 16222, 16240, 16255, 16266, 16276, 16284, 16292, 16298, 16303, 16312, 16320, 16325, 16331, 16334, 16338, 16341, 16344, 16348, 16352, 16355, 16357, 16360, 16361, 16363, 16364, 16366, 16369, 16369, 16371, 16372, 16373, 16373, 16375, 16375, 16377, 16376, 16378, 16378, 16378, 16379, 16379, 16380, 16380, 16380, 16382, 16381, 16381, 16381, 16382, 16382, 16382, 16382, 16382, 16382, 16384, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384, 16384 }; /* Generation code: for (int i = 0; i < 20; i++) { double d = pow(2, (double)(i - 4)); double dd = d / 8; for (int j = 0; j < 8; j++) { double v = atan(d + dd * j); aseba_atan_table[i*8+j] = (int)(((32768.*v) / (M_PI))+0.5); } aseba_atan_table[20*8] = 16384 } + optimisation */ // atan2, do y/x and return an "aseba" angle that spans the whole 16 bits range int16_t aseba_atan2(int16_t y, int16_t x) { if (y == 0) { if (x >= 0) // we return 0 on division by zero return 0; else if (x < 0) return -32768; } { int16_t res; int16_t ax = abs(x); int16_t ay = abs(y); if (x == 0) { res = 16384; } else { #ifdef __C30__ unsigned int q2, rem1; unsigned long q1; q1 = __builtin_divmodud(ay, ax, &rem1); q2 = __builtin_divud(((unsigned long) rem1) << 16, ax); int32_t value = (q1 << 16) | q2; int16_t fb1; // find first bit at one // ASM optimisation for 16bits PIC // Find first bit from left (MSB) on 32 bits word asm ("ff1l %[word], %[b]" : [b] "=r" (fb1) : [word] "r" ((int) (value >> 16)) : "cc"); if(fb1) fb1 = 17 - fb1 + 16 - 1; // Bit 0 is "16", fbl = 0 mean no 1 found for ff1l else { asm ("ff1l %[word], %[b]" : [b] "=r" (fb1) : [word] "r" ((int) value) : "cc"); if(fb1) fb1 = 17 - fb1 - 1; // see above } { // we only keep 4 bits of precision below comma as atan(x) is like x near 0 int16_t index = fb1 - 12; if (index < 0) { // value is smaller than 2e-4 res = (value*aseba_atan_table[0]) >> 12; } else { int32_t subprecision_rest = value - (1L << fb1); int16_t to_shift = fb1 - 8; // fb1 >= 12 otherwise index would have been < 0 int16_t subprecision_index = (int16_t)(subprecision_rest >> to_shift); int16_t bin = subprecision_index >> 5; int16_t delta = subprecision_index & 0x1f; res = __builtin_divsd(__builtin_mulss(aseba_atan_table[index*8 + bin], 32 - delta) + __builtin_mulss(aseba_atan_table[index*8 + bin + 1], delta),32); } #else int32_t value = (((int32_t)ay << 16)/(int32_t)(ax)); int16_t fb1 = 0; int16_t fb1_counter; for (fb1_counter = 0; fb1_counter < 32; fb1_counter++) if ((value >> (int32_t)fb1_counter) != 0) fb1 = fb1_counter; { // we only keep 4 bits of precision below comma as atan(x) is like x near 0 int16_t index = fb1 - 12; if (index < 0) { // value is smaller than 2e-4 res = (int16_t)(((int32_t)aseba_atan_table[0] * value) >> 12); } else { int32_t subprecision_rest = value - (((int32_t) 1) << fb1); int16_t to_shift = fb1 - 8; // fb1 >= 12 otherwise index would have been < 0 int16_t subprecision_index = (int16_t)(subprecision_rest >> to_shift); int16_t bin = subprecision_index >> 5; int16_t delta = subprecision_index & 0x1f; res = (int16_t)(((int32_t)aseba_atan_table[index*8 + bin] * (int32_t)(32 - delta) + (int32_t)aseba_atan_table[index*8 + bin + 1] * (int32_t)delta) >> 5); } #endif // do pi - value if x negative if (x < 0) res = 32768 - res; } } if (y > 0) return res; else return -res; } } // 2 << 7 entries + 1, from 0 to 16384, being from 0 to PI/2 static const int16_t aseba_sin_table[128+1] = {0, 403, 804, 1207, 1608, 2010, 2411, 2812, 3212, 3612, 4011, 4411, 4808, 5206, 5603, 5998, 6393, 6787, 7180, 7572, 7962, 8352, 8740, 9127, 9513, 9896, 10279, 10660, 11040, 11417, 11794, 12167, 12540, 12911, 13279, 13646, 14010, 14373, 14733, 15091, 15447, 15801, 16151, 16500, 16846, 17190, 17531, 17869, 18205, 18538, 18868, 19196, 19520, 19842, 20160, 20476, 20788, 21097, 21403, 21706, 22006, 22302, 22595, 22884, 23171, 23453, 23732, 24008, 24279, 24548, 24812, 25073, 25330, 25583, 25833, 26078, 26320, 26557, 26791, 27020, 27246, 27467, 27684, 27897, 28106, 28311, 28511, 28707, 28899, 29086, 29269, 29448, 29622, 29792, 29957, 30117, 30274, 30425, 30572, 30715, 30852, 30985, 31114, 31238, 31357, 31471, 31581, 31686, 31786, 31881, 31972, 32057, 32138, 32215, 32285, 32352, 32413, 32470, 32521, 32569, 32610, 32647, 32679, 32706, 32728, 32746, 32758, 32766, 32767, }; /* Generation code: int i; for (i = 0; i <= 128; i++) { sinTable[i] = (int16_t)(32767. * sin( ((M_PI/2.)*(double)i)/128.) + 0.5); } + optimisation */ // do the sinus of an "aseba" angle that spans the whole 16 bits range, and return a 1.15 fixed point value int16_t aseba_sin(int16_t angle) { int16_t index; int16_t subIndex; int16_t invert; int16_t lookupAngle; if (angle < 0) { if (angle < -16384) lookupAngle = 32768 + angle; else if (angle > -16384) lookupAngle = -angle; else return -32767; invert = 1; } else { if (angle > 16384) lookupAngle = 32767 - angle + 1; else if (angle < 16384) lookupAngle = angle; else return 32767; invert = 0; } index = lookupAngle >> 7; subIndex = lookupAngle & 0x7f; { int16_t result = (int16_t)(((int32_t)aseba_sin_table[index] * (int32_t)(128-subIndex) + (int32_t)aseba_sin_table[index+1] * (int32_t)(subIndex)) >> 7); if (invert) return -result; else return result; } } // do the cos of an "aseba" angle that spans the whole 16 bits range, and return a 1.15 fixed point value int16_t aseba_cos(int16_t angle) { return aseba_sin(16384 + angle); } // Do integer square root ( from Wikipedia ) int16_t aseba_sqrt(int16_t num) { int16_t op = num; int16_t res = 0; int16_t one = 1 << 14; while(one > op) one >>= 2; while(one != 0) { if (op >= res + one) { op -= res + one; res = (res >> 1) + one; } else { res >>= 1; } one >>= 2; } return res; } // comb sort ( from Wikipedia ) void aseba_comb_sort(int16_t* input, uint16_t size) { uint16_t gap = size; uint16_t swapped = 0; uint16_t i; while ((gap > 1) || swapped) { if (gap > 1) { #ifdef __C30__ gap = __builtin_divud(__builtin_muluu(gap,4),5); #else gap = (uint16_t)(((uint32_t)gap * 4) / 5); #endif } swapped = 0; for (i = 0; gap + i < size; i++) { if (input[i] - input[i + gap] > 0) { int16_t swap = input[i]; input[i] = input[i + gap]; input[i + gap] = swap; swapped = 1; } } } } // standard natives functions void AsebaNative_veccopy(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { vm->variables[dest++] = vm->variables[src++]; } } const AsebaNativeFunctionDescription AsebaNativeDescription_veccopy = { "math.copy", "copies src to dest element by element", { { -1, "dest" }, { -1, "src" }, { 0, 0 } } }; void AsebaNative_vecfill(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t value = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { vm->variables[dest++] = vm->variables[value]; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecfill = { "math.fill", "fills dest with constant value", { { -1, "dest" }, { 1, "value" }, { 0, 0 } } }; void AsebaNative_vecaddscalar(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); uint16_t scalar = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); const int16_t scalarValue = vm->variables[scalar]; uint16_t i; for (i = 0; i < length; i++) { vm->variables[dest++] = vm->variables[src++] + scalarValue; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecaddscalar = { "math.addscalar", "add scalar to each element of src and store result to dest", { { -1, "dest" }, { -1, "src" }, { 1, "scalar" }, { 0, 0 } } }; void AsebaNative_vecadd(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { vm->variables[dest++] = vm->variables[src1++] + vm->variables[src2++]; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecadd = { "math.add", "adds src1 and src2 to dest, element by element", { { -1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 0, 0 } } }; void AsebaNative_vecsub(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { vm->variables[dest++] = vm->variables[src1++] - vm->variables[src2++]; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecsub = { "math.sub", "substracts src2 from src1 to dest, element by element", { { -1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 0, 0 } } }; void AsebaNative_vecmul(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { vm->variables[dest++] = vm->variables[src1++] * vm->variables[src2++]; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecmul = { "math.mul", "multiplies src1 and src2 to dest, element by element", { { -1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 0, 0 } } }; void AsebaNative_vecdiv(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int32_t dividend = (int32_t)vm->variables[src1++]; int32_t divisor = (int32_t)vm->variables[src2++]; if (divisor != 0) { vm->variables[dest++] = (int16_t)(dividend / divisor); } else { vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessage(vm, ASEBA_MESSAGE_DIVISION_BY_ZERO, &(vm->pc), sizeof(vm->pc)); return; } } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecdiv = { "math.div", "divides src1 by src2 to dest, element by element", { { -1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 0, 0 } } }; void AsebaNative_vecmin(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t v1 = vm->variables[src1++]; int16_t v2 = vm->variables[src2++]; int16_t res = v1 < v2 ? v1 : v2; vm->variables[dest++] = res; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecmin = { "math.min", "writes the minimum of src1 and src2 to dest, element by element", { { -1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 0, 0 } } }; void AsebaNative_vecmax(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t v1 = vm->variables[src1++]; int16_t v2 = vm->variables[src2++]; int16_t res = v1 > v2 ? v1 : v2; vm->variables[dest++] = res; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecmax = { "math.max", "writes the maximum of src1 and src2 to dest, element by element", { { -1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 0, 0 } } }; void AsebaNative_vecclamp(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); uint16_t low = AsebaNativePopArg(vm); uint16_t high = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t v = vm->variables[src++]; int16_t l = vm->variables[low++]; int16_t h = vm->variables[high++]; int16_t res = v > h ? h : (v < l ? l : v); vm->variables[dest++] = res; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecclamp = { "math.clamp", "clamp src to low/high bounds into dest, element by element", { { -1, "dest" }, { -1, "src" }, { -1, "low" }, { -1, "high" }, { 0, 0 } } }; void AsebaNative_vecdot(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); uint16_t src1 = AsebaNativePopArg(vm); uint16_t src2 = AsebaNativePopArg(vm); int16_t shift = vm->variables[AsebaNativePopArg(vm)]; // variable size uint16_t length = AsebaNativePopArg(vm); int32_t res = 0; uint16_t i; if(shift > 32) { vm->variables[dest] = 0; return; } #ifdef DSP_AVAILABLE length--; CORCONbits.US = 0; // Signed mode CORCON |= 0b11110001; // 40 bits mode, saturation enable, integer mode. // Do NOT save the accumulator values, so do NOT USE THIS FUNCTION IN INTERRUPT ! asm __volatile__ ( "push %[ptr1] \r\n" "push %[ptr2] \r\n" "clr A\r\n" // A = 0 "mov [%[ptr1]++], w4 \r\n" // Preload ptr "do %[loop_cnt], 1f \r\n" // Iterate loop_cnt time the two following instructions "mov [%[ptr2]++], w5 \r\n" // Load w5 "1: mac w4*w5, A, [%[ptr1]]+=2, w4 \r\n" // A += w4 * w5, prefetch ptr1 into w4 "pop %[ptr2] \r\n" "pop %[ptr1] \r\n" : /* No output */ : [loop_cnt] "r" (length), [ptr1] "x" (&vm->variables[src1]), [ptr2] "r" (&vm->variables[src2]) : "cc", "w4", "w5" ); if(shift > 16) { shift -= 16; asm __volatile__ ("sftac A, #16\r\n" : /* No output */ : /* No input */ : "cc"); } // Shift and get the output asm __volatile__ ("sftac A, %[sft]\r\n" : /* No output */ : [sft] "r" (shift) : "cc"); vm->variables[dest] = ACCAL; // Get the Accumulator low word #elif defined(__C30__) for (i= 0; i < length; i++) res += __builtin_mulss(vm->variables[src1++], vm->variables[src2++]); res >>= shift; vm->variables[dest] = (int16_t) res; #else for (i = 0; i < length; i++) { res += (int32_t)vm->variables[src1++] * (int32_t)vm->variables[src2++]; } res >>= shift; vm->variables[dest] = (int16_t)res; #endif } const AsebaNativeFunctionDescription AsebaNativeDescription_vecdot = { "math.dot", "writes the dot product of src1 and src2 to dest, after a shift", { { 1, "dest" }, { -1, "src1" }, { -1, "src2" }, { 1, "shift" }, { 0, 0 } } }; void AsebaNative_vecstat(AsebaVMState *vm) { // variable pos uint16_t src = AsebaNativePopArg(vm); uint16_t min = AsebaNativePopArg(vm); uint16_t max = AsebaNativePopArg(vm); uint16_t mean = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); int16_t val; int32_t acc; uint16_t i; if (length) { val = vm->variables[src++]; acc = val; vm->variables[min] = val; vm->variables[max] = val; for (i = 1; i < length; i++) { val = vm->variables[src++]; if (val < vm->variables[min]) vm->variables[min] = val; if (val > vm->variables[max]) vm->variables[max] = val; acc += (int32_t)val; } vm->variables[mean] = (int16_t)(acc / (int32_t)length); } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecstat = { "math.stat", "performs statistics on src", { { -1, "src" }, { 1, "min" }, { 1, "max" }, { 1, "mean" }, { 0, 0 } } }; void AsebaNative_vecargbounds(AsebaVMState *vm) { // variable pos uint16_t src = AsebaNativePopArg(vm); uint16_t argmin = AsebaNativePopArg(vm); uint16_t argmax = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); int16_t min = 32767; int16_t max = -32768; int16_t val; uint16_t i; if (length) { for (i = 0; i < length; i++) { val = vm->variables[src++]; if (val < min) { min = val; vm->variables[argmin] = i; } if (val > max) { max = val; vm->variables[argmax] = i; } } } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecargbounds = { "math.argbounds", "get the indices (argmin, argmax) of the limit values of src", { { -1, "src" }, { 1, "argmin" }, { 1, "argmax" }, { 0, 0 } } }; void AsebaNative_vecsort(AsebaVMState *vm) { // variable pos uint16_t src = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); aseba_comb_sort(&vm->variables[src], length); } const AsebaNativeFunctionDescription AsebaNativeDescription_vecsort = { "math.sort", "sort array in place", { { -1, "array" }, { 0, 0 } } }; void AsebaNative_mathmuldiv(AsebaVMState *vm) { // variable pos uint16_t destIndex = AsebaNativePopArg(vm); uint16_t aIndex = AsebaNativePopArg(vm); uint16_t bIndex = AsebaNativePopArg(vm); uint16_t cIndex = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int32_t a = (int32_t)vm->variables[aIndex++]; int32_t b = (int32_t)vm->variables[bIndex++]; int32_t c = (int32_t)vm->variables[cIndex++]; if (c != 0) { vm->variables[destIndex++] = (int16_t)((a * b) / c); } else { vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessage(vm, ASEBA_MESSAGE_DIVISION_BY_ZERO, &(vm->pc), sizeof(vm->pc)); return; } } } const AsebaNativeFunctionDescription AsebaNativeDescription_mathmuldiv = { "math.muldiv", "performs dest = (a*b)/c in 32 bits element by element", { { -1, "dest" }, { -1, "a" }, { -1, "b" }, { -1, "c" }, { 0, 0 } } }; void AsebaNative_mathatan2(AsebaVMState *vm) { // variable pos uint16_t destIndex = AsebaNativePopArg(vm); int16_t yIndex = AsebaNativePopArg(vm); int16_t xIndex = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t y = vm->variables[yIndex++]; int16_t x = vm->variables[xIndex++]; vm->variables[destIndex++] = aseba_atan2(y, x); } } const AsebaNativeFunctionDescription AsebaNativeDescription_mathatan2 = { "math.atan2", "performs dest = atan2(y,x) element by element", { { -1, "dest" }, { -1, "y" }, { -1, "x" }, { 0, 0 } } }; void AsebaNative_mathsin(AsebaVMState *vm) { // variable pos uint16_t destIndex = AsebaNativePopArg(vm); int16_t xIndex = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t x = vm->variables[xIndex++]; vm->variables[destIndex++] = aseba_sin(x); } } const AsebaNativeFunctionDescription AsebaNativeDescription_mathsin = { "math.sin", "performs dest = sin(x) element by element", { { -1, "dest" }, { -1, "x" }, { 0, 0 } } }; void AsebaNative_mathcos(AsebaVMState *vm) { // variable pos uint16_t destIndex = AsebaNativePopArg(vm); int16_t xIndex = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t x = vm->variables[xIndex++]; vm->variables[destIndex++] = aseba_cos(x); } } const AsebaNativeFunctionDescription AsebaNativeDescription_mathcos = { "math.cos", "performs dest = cos(x) element by element", { { -1, "dest" }, { -1, "x" }, { 0, 0 } } }; void AsebaNative_mathrot2(AsebaVMState *vm) { // variable pos uint16_t vectOutIndex = AsebaNativePopArg(vm); uint16_t vecInIndex = AsebaNativePopArg(vm); uint16_t angleIndex = AsebaNativePopArg(vm); // variables int16_t x = vm->variables[vecInIndex]; int16_t y = vm->variables[vecInIndex+1]; int16_t a = vm->variables[angleIndex]; int16_t cos_a = aseba_cos(a); int16_t sin_a = aseba_sin(a); int16_t xp = (int16_t)(((int32_t)cos_a * (int32_t)x - (int32_t)sin_a * (int32_t)y) >> (int32_t)15); int16_t yp = (int16_t)(((int32_t)cos_a * (int32_t)y + (int32_t)sin_a * (int32_t)x) >> (int32_t)15); vm->variables[vectOutIndex] = xp; vm->variables[vectOutIndex+1] = yp; } const AsebaNativeFunctionDescription AsebaNativeDescription_mathrot2 = { "math.rot2", "rotates v of angle a to dest", { { 2, "dest" }, { 2, "v" }, { 1, "a" }, { 0, 0 } } }; void AsebaNative_mathsqrt(AsebaVMState *vm) { // variable pos uint16_t destIndex = AsebaNativePopArg(vm); int16_t xIndex = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { int16_t x = vm->variables[xIndex++]; vm->variables[destIndex++] = aseba_sqrt(x); } } const AsebaNativeFunctionDescription AsebaNativeDescription_mathsqrt = { "math.sqrt", "performs dest = sqrt(x) element by element", { { -1, "dest" }, { -1, "x" }, { 0, 0 } } }; void AsebaNative_vecnonzerosequence(AsebaVMState *vm) { // variable pos uint16_t dest = AsebaNativePopArg(vm); // output value index uint16_t src = AsebaNativePopArg(vm); // input vector index uint16_t length = AsebaNativePopArg(vm); // length threshold index // variable size uint16_t inputLength = AsebaNativePopArg(vm); int16_t minLength = vm->variables[length]; // length threshold // work variables uint16_t nzFirstZero; int16_t index; int16_t seqIndex; int16_t bestSeqLength; int16_t bestSeqIndex; int16_t seqLength; // search for a zero, then non-zero uint16_t nzFirstIndex = 0; while (vm->variables[src + nzFirstIndex] != 0) { ++nzFirstIndex; if (nzFirstIndex > inputLength) { vm->variables[dest] = 0; return; } } nzFirstZero = nzFirstIndex; while (vm->variables[src + nzFirstIndex] == 0) { ++nzFirstIndex; if (nzFirstIndex > inputLength) { if (nzFirstZero == 0) { vm->variables[dest] = -1; } else { uint16_t seqLength = nzFirstZero - 1; if (seqLength < minLength) vm->variables[dest] = -1; else vm->variables[dest] = (nzFirstZero - 1) / 2; } return; } } index = 0; bestSeqLength = 0; bestSeqIndex = 0; while (1) { // scan non-zero sequence seqIndex = index; while (vm->variables[src + (nzFirstIndex + index) % inputLength] != 0) { ++index; if (index >= inputLength) break; } // check size seqLength = index - seqIndex; if (seqLength > bestSeqLength) { bestSeqLength = seqLength; bestSeqIndex = (index + seqIndex) / 2; } if (index >= inputLength) break; // scan zero sequence while (vm->variables[src + (nzFirstIndex + index) % inputLength] == 0) { ++index; if (index >= inputLength) goto doubleBreak; } } doubleBreak: if (bestSeqLength < minLength) { vm->variables[dest] = -1; } else { vm->variables[dest] = (nzFirstIndex + bestSeqIndex) % inputLength; } } const AsebaNativeFunctionDescription AsebaNativeDescription_vecnonzerosequence = { "math.nzseq", "write to dest the middle index of the largest sequence of non-zero elements from src, -1 if not found or if smaller than minLength", { { 1, "dest" }, { -1, "src" }, { 1, "minLength" }, { 0, 0 } } }; static uint16_t rnd_state; void AsebaSetRandomSeed(uint16_t seed) { rnd_state = seed; } uint16_t AsebaGetRandom() { rnd_state = 25173 * rnd_state + 13849; return rnd_state; } void AsebaNative_rand(AsebaVMState *vm) { // variable pos uint16_t destIndex = AsebaNativePopArg(vm); // variable size uint16_t length = AsebaNativePopArg(vm); uint16_t i; for (i = 0; i < length; i++) { vm->variables[destIndex++] = (int16_t)AsebaGetRandom(); } } const AsebaNativeFunctionDescription AsebaNativeDescription_rand = { "math.rand", "fill array with random values", { { -1, "dest" }, { 0, 0 } } }; // standard native functions for deque // A deque of capacity K is stored in an array of size K+2 that contains N, J, and a // gap buffer [Finseth 1991]. Operations on the deque may use an index I relative to // the front of the deque. For example a deque of capacity 8 containing N=6 elements // stored starting at position J=3, and an index I=2 pointing before the third element: // +---+---+---+---+---+---+---+---+---+ // + 6 | 3 | 5 | | | 0 | 1 | 2 | 4 | // +---+---+---+---+---+---+---+---+---+ // N J *J *I // Deque operations that accept another array as an addend will treat it as a tuple of // elements, to be inserted, copied, or set as a unit. The push_* and pop_* operations // respect the size of the addend, and a deque can get or pop a tuple into an interval // in another array. For example, call.pop_front(result[3:5], dq) will pop three elements // from a deque stored in array dq into positions 3:5 of the array result. It is the // programmer's responsibility to use consistent tuple sizes. // Inserting and erasing must shift existing elements in the deque. The deque_shift private // function replaces the following specific loops: // // Insert in left half: shift prefix elements left // for (k = 0; k <= index_val - 1 + src_length - 1; k++) // vm->variables[dest + 2 + ((dq_start + k) % dq_capacity)] = vm->variables[dest + 2 + ((dq_start + k + src_length) % dq_capacity)]; // Insert in right half: shift prefix elements left // for (k = dq_size + src_length - 1; k > index_val + src_length - 1; k--) // vm->variables[dest + 2 + ((dq_start + k) % dq_capacity)] = vm->variables[dest + 2 + ((dq_start + k - src_length) % dq_capacity)]; // Erase in left half: shift prefix elements right // for (k = index_val; k > 0; k--) // vm->variables[dest + 2 + ((dq_start + k) % dq_capacity)] = vm->variables[dest + 2 + ((dq_start + k - 1) % dq_capacity)]; // Erase in right half: shift prefix elements left // for (k = index_val; k < dq_size - 1; k++) // vm->variables[dest + 2 + ((dq_start + k) % dq_capacity)] = vm->variables[dest + 2 + ((dq_start + k + 1) % dq_capacity)]; static void deque_shift(AsebaVMState *vm, uint16_t dq, uint16_t dq_capacity, uint16_t target, int16_t last, int16_t delta) { for ( ; (delta < 0 ? target >= last : target <= last) ; (delta < 0 ? target-- : target++) ) vm->variables[dq + 2 + (target % dq_capacity)] = vm->variables[dq + 2 + ((target + delta) % dq_capacity)]; } static void deque_throw_exception(AsebaVMState *vm) { vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessage(vm, ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS, &(vm->pc), sizeof(vm->pc)); return; } void AsebaNative_deqsize(AsebaVMState *vm) { // variable pos uint16_t deque = AsebaNativePopArg(vm); uint16_t size = AsebaNativePopArg(vm); // variable size (void)/* uint16_t deque_length = */ AsebaNativePopArg(vm); vm->variables[size++] = vm->variables[deque++]; } const AsebaNativeFunctionDescription AsebaNativeDescription_deqsize = { "deque.size", "report size of dest", { { -1, "deque" }, { 1, "size" }, { 0, 0 } } }; static void _AsebaNative_deqget(AsebaVMState *vm, uint16_t dest, uint16_t deque, uint16_t index_val, uint16_t dest_length, uint16_t deque_length) { // infer deque parameters uint16_t dq_size = vm->variables[deque]; uint16_t dq_start = vm->variables[deque + 1]; uint16_t dq_capacity = deque_length - 2; // Check for deque size exception if (dest_length > dq_size - index_val) return deque_throw_exception(vm); // copy elements from deque uint16_t i; for (i = 0; i < dest_length; i++) { vm->variables[dest++] = vm->variables[deque + 2 + ((dq_start + index_val + i) % dq_capacity)]; } } void AsebaNative_deqget(AsebaVMState *vm) { // variable pos uint16_t deque = AsebaNativePopArg(vm); uint16_t dest = AsebaNativePopArg(vm); uint16_t index = AsebaNativePopArg(vm); uint16_t index_val = vm->variables[index]; // variable size uint16_t deque_length = AsebaNativePopArg(vm); uint16_t dest_length = AsebaNativePopArg(vm); // Check for parameter range exception if (vm->variables[index] < 0 || vm->variables[index] > deque_length - 2 - 1) return deque_throw_exception(vm); // Do it _AsebaNative_deqget(vm, dest, deque, index_val, dest_length, deque_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqget = { "deque.get", "fill dest from deque at index", { { -1, "deque" }, { -2, "dest" }, { 1, "index" }, { 0, 0 } } }; void AsebaNative_deqset(AsebaVMState *vm) { // variable pos uint16_t deque = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); uint16_t index = AsebaNativePopArg(vm); uint16_t index_val = vm->variables[index]; // variable size uint16_t deque_length = AsebaNativePopArg(vm); uint16_t src_length = AsebaNativePopArg(vm); // Infer deque parameters uint16_t dq_size = vm->variables[deque]; uint16_t dq_start = vm->variables[deque + 1]; uint16_t dq_capacity = deque_length - 2; // Check for deque size and parameter range exception if (vm->variables[index] < 0 || vm->variables[index] > deque_length - 2 - 1 || src_length > dq_size - index_val) { return deque_throw_exception(vm); } // Copy elements into deque uint16_t i; for (i = 0; i < src_length; i++) { vm->variables[deque + 2 + ((dq_start + index_val + i) % dq_capacity)] = vm->variables[src++]; } } const AsebaNativeFunctionDescription AsebaNativeDescription_deqset = { "deque.set", "copies src to deque at index", { { -1, "deque" }, { -2, "src" }, { 1, "index" }, { 0, 0 } } }; static void _AsebaNative_deqinsert(AsebaVMState *vm, uint16_t deque, uint16_t src, uint16_t index_val, uint16_t deque_length, uint16_t src_length) { // infer deque parameters uint16_t dq_size = vm->variables[deque]; uint16_t dq_start = vm->variables[deque + 1]; uint16_t dq_capacity = deque_length - 2; // Check for deque size exception if (src_length > dq_capacity - dq_size) return deque_throw_exception(vm); // Insert src elements as a block // if in left half, shift prefix elements left if (index_val < dq_size / 2) { vm->variables[deque + 1] = dq_start = (dq_start == 0) ? dq_capacity - src_length : (dq_start - src_length + dq_capacity) % dq_capacity; deque_shift(vm, deque, dq_capacity, /* from */ dq_start, /* to */ index_val-1 + src_length-1, src_length); } // else in right half, shift suffix elements right else { deque_shift(vm, deque, dq_capacity, /* from */ dq_start + dq_size + src_length - 1, /* to */ dq_start + index_val + src_length, -src_length); } // insert elements in position uint16_t i; for (i = 0; i < src_length; i++) vm->variables[deque + 2 + ((dq_start + index_val + i) % dq_capacity)] = vm->variables[src + i]; vm->variables[deque] = dq_size = dq_size + src_length; } void AsebaNative_deqinsert(AsebaVMState *vm) { // variable pos uint16_t deque = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); uint16_t index = AsebaNativePopArg(vm); uint16_t index_val = vm->variables[index]; // variable size uint16_t deque_length = AsebaNativePopArg(vm); uint16_t src_length = AsebaNativePopArg(vm); // Check for parameter range exception if (vm->variables[index] < 0 || index_val > deque_length - 2 - 1) return deque_throw_exception(vm); // Do it _AsebaNative_deqinsert(vm, deque, src, index_val, deque_length, src_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqinsert = { "deque.insert", "shift deque at index by len(src) and insert src", { { -1, "deque" }, { -2, "src" }, { 1, "index" }, { 0, 0 } } }; static void _AsebaNative_deqerase(AsebaVMState *vm, uint16_t deque, uint16_t index_val, uint16_t len_val, uint16_t deque_length) { // infer deque parameters uint16_t dq_size = vm->variables[deque]; uint16_t dq_start = vm->variables[deque + 1]; uint16_t dq_capacity = deque_length - 2; // Check for deque size exception if (len_val > dq_size - index_val) return deque_throw_exception(vm); // Erase elements as a block // if in left half, shift prefix elements right if (index_val < dq_size / 2) { deque_shift(vm, deque, dq_capacity, /* from */ dq_start + index_val + len_val - 1, /* to */ dq_start + len_val, -len_val); vm->variables[deque + 1] = dq_start = (dq_start + len_val) % dq_capacity; } // else in right half, shift suffix elements left else { deque_shift(vm, deque, dq_capacity, /* from */ dq_start + index_val, /* to */ dq_start + dq_size - 1 - len_val, len_val); } vm->variables[deque] = dq_size = dq_size - len_val; } void AsebaNative_deqerase(AsebaVMState *vm) { // variable pos uint16_t deque = AsebaNativePopArg(vm); uint16_t index = AsebaNativePopArg(vm); uint16_t len = AsebaNativePopArg(vm); uint16_t index_val = vm->variables[index]; uint16_t len_val = vm->variables[len]; // variable size uint16_t deque_length = AsebaNativePopArg(vm); // Check for parameter range exception if (vm->variables[index] < 0 || index_val > deque_length - 2 - 1) return deque_throw_exception(vm); // Do it _AsebaNative_deqerase(vm, deque, index_val, len_val, deque_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqerase = { "deque.erase", "shift deque at index by len to erase", { { -1, "deque" }, { 1, "index" }, { 1, "len" }, { 0, 0 } } }; void AsebaNative_deqpushfront(AsebaVMState *vm) { // Pop arguments off uint16_t deque = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); uint16_t deque_length = AsebaNativePopArg(vm); uint16_t src_length = AsebaNativePopArg(vm); // Now call insert with proper arguments // Low-level function will check capacity and raise exception if necessary _AsebaNative_deqinsert(vm, deque, src, 0, deque_length, src_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqpushfront = { "deque.push_front", "insert src before the front of deque", { { -1, "deque" }, { -2, "src" }, { 0, 0 } } }; void AsebaNative_deqpushback(AsebaVMState *vm) { // Pop arguments off uint16_t deque = AsebaNativePopArg(vm); uint16_t src = AsebaNativePopArg(vm); uint16_t deque_length = AsebaNativePopArg(vm); uint16_t src_length = AsebaNativePopArg(vm); uint16_t index_val = vm->variables[deque]; // length of deque is index value // Now call insert with proper arguments // Low-level function will check capacity and raise exception if necessary _AsebaNative_deqinsert(vm, deque, src, index_val, deque_length, src_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqpushback = { "deque.push_back", "insert src after the back of deque", { { -1, "deque" }, { -2, "src" }, { 0, 0 } } }; void AsebaNative_deqpopfront(AsebaVMState *vm) { // Pop arguments off uint16_t deque = AsebaNativePopArg(vm); uint16_t dest = AsebaNativePopArg(vm); uint16_t deque_length = AsebaNativePopArg(vm); uint16_t dest_length = AsebaNativePopArg(vm); // Now call insert and erase with proper arguments // Low-level functions will check capacity and raise exception if necessary _AsebaNative_deqget(vm, dest, deque, 0, dest_length, deque_length); _AsebaNative_deqerase(vm, deque, 0, dest_length, deque_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqpopfront = { "deque.pop_front", "fill dest from front of deque then erase elements", { { -1, "deque" }, { -2, "dest" }, { 0, 0 } } }; void AsebaNative_deqpopback(AsebaVMState *vm) { // Pop arguments off uint16_t deque = AsebaNativePopArg(vm); uint16_t dest = AsebaNativePopArg(vm); uint16_t deque_length = AsebaNativePopArg(vm); uint16_t dest_length = AsebaNativePopArg(vm); uint16_t index_val = vm->variables[deque]; // length of deque is index value, from which tuple length will be subtracted // Now call insert and erase with proper arguments // Low-level function will check capacity and raise exception if necessary _AsebaNative_deqget(vm, dest, deque, index_val - dest_length, dest_length, deque_length); _AsebaNative_deqerase(vm, deque, index_val - dest_length, dest_length, deque_length); } const AsebaNativeFunctionDescription AsebaNativeDescription_deqpopback = { "deque.pop_back", "fill dest from back of deque then erase elements", { { -1, "deque" }, { -2, "dest" }, { 0, 0 } } }; /*@}*/ aseba-1.6.0/vm/natives.h000066400000000000000000000277251322771007300150540ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ASEBA_NATIVES_H #define __ASEBA_NATIVES_H #ifdef __cplusplus extern "C" { #endif #include "../common/types.h" #include "vm.h" #ifdef _MSC_VER #pragma warning( disable: 4200) // disable 0 size arrays warning #define inline __inline // msvc does not support the standart C99/C++ static inline construct #endif /** \file natives.h Definition of standard natives functions for Aseba Virtual Machine */ /** \addtogroup vm */ /*@{*/ // data structures /*! Description of a variable */ typedef struct { uint16_t size; /*!< size of the variable */ const char* name; /*!< name of the variable */ } AsebaVariableDescription; /*! Description of all variable */ typedef struct { const char* name; /*!< name of the microcontroller */ AsebaVariableDescription variables[]; /*!< named variables, terminated by a variable of size 0 */ } AsebaVMDescription; /*! Description of a local event */ typedef struct { const char* name; /*!< name of the function */ const char* doc; /*!< documentation of the local event */ } AsebaLocalEventDescription; /*! Signature of a native function */ typedef void (*AsebaNativeFunctionPointer)(AsebaVMState *vm); /*! Description of an argument of a native function */ typedef struct { int16_t size; /*!< size of the argument in number of values; if negative, template parameter */ const char* name; /*!< name of the argument */ } AsebaNativeFunctionArgumentDescription; /*! Description of a native function */ typedef struct { const char* name; /*!< name of the function */ const char* doc; /*!< documentation of the function */ AsebaNativeFunctionArgumentDescription arguments[]; /*!< arguments, terminated by an element of size 0 */ } AsebaNativeFunctionDescription; // support functions /*! Return an argument on the stack, including the value of template parameters */ static inline int16_t AsebaNativePopArg(AsebaVMState *vm) { return vm->stack[vm->sp--]; } // standard natives functions /*! Function to copy a vector */ void AsebaNative_veccopy(AsebaVMState *vm); /*! Description of AsebaNative_veccopy */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_veccopy; /*! Function to fill all the elements of a vector to a specific value*/ void AsebaNative_vecfill(AsebaVMState *vm); /*! Description of AsebaNative_vecfill */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecfill; /*! Function to add a scalar to each element of a vector */ void AsebaNative_vecaddscalar(AsebaVMState *vm); /*! Description of AsebaNative_vecaddscalar */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecaddscalar; /*! Function to add two vectors */ void AsebaNative_vecadd(AsebaVMState *vm); /*! Description of AsebaNative_vecadd */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecadd; /*! Function to substract two vectors */ void AsebaNative_vecsub(AsebaVMState *vm); /*! Description of AsebaNative_vecsub */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecsub; /*! Function to multiply two vectors elements by elements */ void AsebaNative_vecmul(AsebaVMState *vm); /*! Description of AsebaNative_vecadd */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmul; /*! Function to divide two vectors elements by elements */ void AsebaNative_vecdiv(AsebaVMState *vm); /*! Description of AsebaNative_vecsub */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecdiv; /*! Function to take the element by element minimum */ void AsebaNative_vecmin(AsebaVMState *vm); /*! Description of AsebaNative_vecmin */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmin; /*! Function to take the element by element maximum */ void AsebaNative_vecmax(AsebaVMState *vm); /*! Description of AsebaNative_vecsmax */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmax; /*! Function to clamp a vector of values element by element */ void AsebaNative_vecclamp(AsebaVMState *vm); /*! Description of AsebaNative_vecclamp*/ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecclamp; /*! Function to perform a dot product on a vector */ void AsebaNative_vecdot(AsebaVMState *vm); /*! Description of AsebaNative_vecdot */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecdot; /*! Function to perform statistics on a vector */ void AsebaNative_vecstat(AsebaVMState *vm); /*! Description of AsebaNative_vecstat */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecstat; /*! Function to get indices of the bounds of a vector */ void AsebaNative_vecargbounds(AsebaVMState *vm); /*! Description of AsebaNative_vecargbounds */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecargbounds; /*! Function to sort a vector */ void AsebaNative_vecsort(AsebaVMState *vm); /*! Description of AsebaNative_vecsort */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecsort; /*! Function to perform dest = (a*b)/c in 32 bits */ void AsebaNative_mathmuldiv(AsebaVMState *vm); /*! Description of AsebaNative_mathmuldiv */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathmuldiv; /*! Function to perform atan2 */ void AsebaNative_mathatan2(AsebaVMState *vm); /*! Description of AsebaNative_mathatan2 */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathatan2; /*! Function to perform sin */ void AsebaNative_mathsin(AsebaVMState *vm); /*! Description of AsebaNative_mathsin */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathsin; /*! Function to perform cos */ void AsebaNative_mathcos(AsebaVMState *vm); /*! Description of AsebaNative_mathcos */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathcos; /*! Function to perform the rotation of a vector */ void AsebaNative_mathrot2(AsebaVMState *vm); /*! Description of AsebaNative_mathrot2 */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathrot2; /*! Function to perform sqrt */ void AsebaNative_mathsqrt(AsebaVMState *vm); /*! Description of AsebaNative_mathsqrt */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathsqrt; /*! Function to get the middle index of the largest sequence of non-zero elements */ void AsebaNative_vecnonzerosequence(AsebaVMState *vm); /*! Description of AsebaNative_vecnonzerosequence */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecnonzerosequence; /*! Functon to set the seed of random generator */ void AsebaSetRandomSeed(uint16_t seed); /*! Functon to get a random number */ uint16_t AsebaGetRandom(void); /*! Function to get a 16-bit signed random number */ void AsebaNative_rand(AsebaVMState *vm); /*! Description of AsebaNative_rand */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_rand; /*! Function that reports size of deque dest in size */ void AsebaNative_deqsize(AsebaVMState *vm); /*! Description of AsebaNative_deqsize */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqsize; /*! Function that copies index-th len-dest elements of deque src to dest */ void AsebaNative_deqget(AsebaVMState *vm); /*! Description of AsebaNative_deqget */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqget; /*! Function that copies len-src elements of src to index-th position of deque dest */ void AsebaNative_deqset(AsebaVMState *vm); /*! Description of AsebaNative_deqset */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqset; /*! Function that copies len-src elements of src before index-th position of deque dest */ void AsebaNative_deqinsert(AsebaVMState *vm); /*! Description of AsebaNative_deqinsert */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqinsert; /*! Function that erases len elements from deque dest starting from index-th position */ void AsebaNative_deqerase(AsebaVMState *vm); /*! Description of AsebaNative_deqerase */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqerase; /*! Function that copies len-src elements of src before the front of deque dest */ void AsebaNative_deqpushfront(AsebaVMState *vm); /*! Description of AsebaNative_deqpushfront */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqpushfront; /*! Function that copies len-src elements of src after the end of deque dest */ void AsebaNative_deqpushback(AsebaVMState *vm); /*! Description of AsebaNative_deqpushback */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqpushback; /*! Function that erases len elements from deque dest starting at the front */ void AsebaNative_deqpopfront(AsebaVMState *vm); /*! Description of AsebaNative_deqpopfront */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqpopfront; /*! Function that erases len elements from deque dest starting from the end */ void AsebaNative_deqpopback(AsebaVMState *vm); /*! Description of AsebaNative_deqpopback */ extern const AsebaNativeFunctionDescription AsebaNativeDescription_deqpopback; /*! Embedded targets must know the size of ASEBA_NATIVES_STD_FUNCTIONS without having to compute them by hand, please update this when adding a new function */ #define ASEBA_NATIVES_STD_COUNT 30 /*! snippet to include standard native functions */ #define ASEBA_NATIVES_STD_FUNCTIONS \ AsebaNative_veccopy, \ AsebaNative_vecfill, \ AsebaNative_vecaddscalar, \ AsebaNative_vecadd, \ AsebaNative_vecsub, \ AsebaNative_vecmul, \ AsebaNative_vecdiv, \ AsebaNative_vecmin, \ AsebaNative_vecmax, \ AsebaNative_vecclamp, \ AsebaNative_vecdot, \ AsebaNative_vecstat, \ AsebaNative_vecargbounds, \ AsebaNative_vecsort, \ AsebaNative_mathmuldiv, \ AsebaNative_mathatan2, \ AsebaNative_mathsin, \ AsebaNative_mathcos, \ AsebaNative_mathrot2, \ AsebaNative_mathsqrt, \ AsebaNative_rand, \ AsebaNative_deqsize, \ AsebaNative_deqget, \ AsebaNative_deqset, \ AsebaNative_deqinsert, \ AsebaNative_deqerase, \ AsebaNative_deqpushfront, \ AsebaNative_deqpushback, \ AsebaNative_deqpopfront, \ AsebaNative_deqpopback /*! snippet to include descriptions of standard native functions */ #define ASEBA_NATIVES_STD_DESCRIPTIONS \ &AsebaNativeDescription_veccopy, \ &AsebaNativeDescription_vecfill, \ &AsebaNativeDescription_vecaddscalar, \ &AsebaNativeDescription_vecadd, \ &AsebaNativeDescription_vecsub, \ &AsebaNativeDescription_vecmul, \ &AsebaNativeDescription_vecdiv, \ &AsebaNativeDescription_vecmin, \ &AsebaNativeDescription_vecmax, \ &AsebaNativeDescription_vecclamp, \ &AsebaNativeDescription_vecdot, \ &AsebaNativeDescription_vecstat, \ &AsebaNativeDescription_vecargbounds, \ &AsebaNativeDescription_vecsort, \ &AsebaNativeDescription_mathmuldiv, \ &AsebaNativeDescription_mathatan2, \ &AsebaNativeDescription_mathsin, \ &AsebaNativeDescription_mathcos, \ &AsebaNativeDescription_mathrot2, \ &AsebaNativeDescription_mathsqrt, \ &AsebaNativeDescription_rand, \ &AsebaNativeDescription_deqsize, \ &AsebaNativeDescription_deqget, \ &AsebaNativeDescription_deqset, \ &AsebaNativeDescription_deqinsert, \ &AsebaNativeDescription_deqerase, \ &AsebaNativeDescription_deqpushfront, \ &AsebaNativeDescription_deqpushback, \ &AsebaNativeDescription_deqpopfront, \ &AsebaNativeDescription_deqpopback /*@}*/ #ifdef __cplusplus } /* closing brace for extern "C" */ #endif #endif aseba-1.6.0/vm/vm.c000066400000000000000000000555111322771007300140120ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2010: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #include "../common/consts.h" #include "../common/types.h" #include "vm.h" #include /** \file vm.c Implementation of Aseba Virtual Machine */ /** \addtogroup vm */ /*@{*/ // TODO: potentially replace by more efficient native asm instruction //! Return true if bit b of v is 1 #define GET_BIT(v, b) (((v) >> (b)) & 0x1) //! Set bit b of v to 1 #define BIT_SET(v, b) ((v) |= (1 << (b))) //! Set bit b of v to 0 #define BIT_CLR(v, b) ((v) &= (~(1 << (b)))) void AsebaVMSendExecutionStateChanged(AsebaVMState *vm); void AsebaVMInit(AsebaVMState *vm) { vm->pc = 0; vm->flags = 0; vm->breakpointsCount = 0; // fill with no event vm->bytecode[0] = 0; memset(vm->variables, 0, vm->variablesSize*sizeof(int16_t)); } uint16_t AsebaVMGetEventAddress(AsebaVMState *vm, uint16_t event) { uint16_t eventVectorSize = vm->bytecode[0]; uint16_t i; // look into event vectors and if event match execute corresponding bytecode for (i = 1; i < eventVectorSize; i += 2) if (vm->bytecode[i] == event) return vm->bytecode[i + 1]; return 0; } uint16_t AsebaVMSetupEvent(AsebaVMState *vm, uint16_t event) { uint16_t address = AsebaVMGetEventAddress(vm, event); if (address) { // if currently executing a thread, notify kill if (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK)) { AsebaSendMessageWords(vm, ASEBA_MESSAGE_EVENT_EXECUTION_KILLED, &vm->pc, 1); } vm->pc = address; vm->sp = -1; AsebaMaskSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK); // if we are in step by step, notify if (AsebaMaskIsSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK)) AsebaVMSendExecutionStateChanged(vm); } return address; } static int16_t AsebaVMDoBinaryOperation(AsebaVMState *vm, int16_t valueOne, int16_t valueTwo, uint16_t op) { switch (op) { case ASEBA_OP_SHIFT_LEFT: return valueOne << valueTwo; case ASEBA_OP_SHIFT_RIGHT: return valueOne >> valueTwo; case ASEBA_OP_ADD: return valueOne + valueTwo; case ASEBA_OP_SUB: return valueOne - valueTwo; case ASEBA_OP_MULT: return valueOne * valueTwo; case ASEBA_OP_DIV: // check division by zero if (valueTwo == 0) { if(AsebaVMErrorCB) AsebaVMErrorCB(vm,NULL); vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessageWords(vm, ASEBA_MESSAGE_DIVISION_BY_ZERO, &vm->pc, 1); return 0; } else { return valueOne / valueTwo; } case ASEBA_OP_MOD: // check modulo by zero if (valueTwo == 0) { if(AsebaVMErrorCB) AsebaVMErrorCB(vm,NULL); vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessageWords(vm, ASEBA_MESSAGE_DIVISION_BY_ZERO, &vm->pc, 1); return 0; } else { return valueOne % valueTwo; } case ASEBA_OP_BIT_OR: return valueOne | valueTwo; case ASEBA_OP_BIT_XOR: return valueOne ^ valueTwo; case ASEBA_OP_BIT_AND: return valueOne & valueTwo; case ASEBA_OP_EQUAL: return valueOne == valueTwo; case ASEBA_OP_NOT_EQUAL: return valueOne != valueTwo; case ASEBA_OP_BIGGER_THAN: return valueOne > valueTwo; case ASEBA_OP_BIGGER_EQUAL_THAN: return valueOne >= valueTwo; case ASEBA_OP_SMALLER_THAN: return valueOne < valueTwo; case ASEBA_OP_SMALLER_EQUAL_THAN: return valueOne <= valueTwo; case ASEBA_OP_OR: return valueOne || valueTwo; case ASEBA_OP_AND: return valueOne && valueTwo; default: #ifdef ASEBA_ASSERT AsebaAssert(vm, ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR); #endif return 0; } } static int16_t AsebaVMDoUnaryOperation(AsebaVMState *vm, int16_t value, uint16_t op) { ASEBA_UNUSED(vm); switch (op) { case ASEBA_UNARY_OP_SUB: return -value; case ASEBA_UNARY_OP_ABS: return value >= 0 ? value : -value; case ASEBA_UNARY_OP_BIT_NOT: return ~value; default: #ifdef ASEBA_ASSERT AsebaAssert(vm, ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR); #endif return 0; } } /*! Execute one bytecode of the current VM thread. VM must be ready for run otherwise trashes may occur. */ void AsebaVMStep(AsebaVMState *vm) { uint16_t bytecode = vm->bytecode[vm->pc]; #ifdef ASEBA_ASSERT if (AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK)) AsebaAssert(vm, ASEBA_ASSERT_STEP_OUT_OF_RUN); #endif switch (bytecode >> 12) { // Bytecode: Stop case ASEBA_BYTECODE_STOP: { AsebaMaskClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK); } break; // Bytecode: Small Immediate case ASEBA_BYTECODE_SMALL_IMMEDIATE: { int16_t value = ((int16_t)(bytecode << 4)) >> 4; // check sp #ifdef ASEBA_ASSERT if (vm->sp + 1 >= vm->stackSize) AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW); #endif // push value in stack vm->stack[++vm->sp] = value; // increment PC vm->pc ++; } break; // Bytecode: Large Immediate case ASEBA_BYTECODE_LARGE_IMMEDIATE: { // check sp #ifdef ASEBA_ASSERT if (vm->sp + 1 >= vm->stackSize) AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW); #endif // push value in stack vm->stack[++vm->sp] = vm->bytecode[vm->pc + 1]; // increment PC vm->pc += 2; } break; // Bytecode: Load case ASEBA_BYTECODE_LOAD: { uint16_t variableIndex = bytecode & 0x0fff; // check sp and variable index #ifdef ASEBA_ASSERT if (vm->sp + 1 >= vm->stackSize) AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW); if (variableIndex >= vm->variablesSize) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS); #endif // push value in stack vm->stack[++vm->sp] = vm->variables[variableIndex]; // increment PC vm->pc ++; } break; // Bytecode: Store case ASEBA_BYTECODE_STORE: { uint16_t variableIndex = bytecode & 0x0fff; // check sp and variable index #ifdef ASEBA_ASSERT if (vm->sp < 0) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); if (variableIndex >= vm->variablesSize) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS); #endif // pop value from stack vm->variables[variableIndex] = vm->stack[vm->sp--]; // increment PC vm->pc ++; } break; // Bytecode: Load Indirect case ASEBA_BYTECODE_LOAD_INDIRECT: { uint16_t arrayIndex; uint16_t arraySize; uint16_t variableIndex; // check sp #ifdef ASEBA_ASSERT if (vm->sp < 0) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); #endif // get indexes arrayIndex = bytecode & 0x0fff; arraySize = vm->bytecode[vm->pc + 1]; variableIndex = vm->stack[vm->sp]; // check variable index if (variableIndex >= arraySize) { uint16_t buffer[3]; buffer[0] = vm->pc; buffer[1] = arraySize; buffer[2] = variableIndex; vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessageWords(vm, ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS, buffer, 3); if(AsebaVMErrorCB) AsebaVMErrorCB(vm,NULL); break; } // load variable vm->stack[vm->sp] = vm->variables[arrayIndex + variableIndex]; // increment PC vm->pc += 2; } break; // Bytecode: Store Indirect case ASEBA_BYTECODE_STORE_INDIRECT: { uint16_t arrayIndex; uint16_t arraySize; uint16_t variableIndex; int16_t variableValue; // check sp #ifdef ASEBA_ASSERT if (vm->sp < 1) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); #endif // get value and indexes arrayIndex = bytecode & 0x0fff; arraySize = vm->bytecode[vm->pc + 1]; variableValue = vm->stack[vm->sp - 1]; variableIndex = (uint16_t)vm->stack[vm->sp]; // check variable index if (variableIndex >= arraySize) { uint16_t buffer[3]; buffer[0] = vm->pc; buffer[1] = arraySize; buffer[2] = variableIndex; vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaSendMessageWords(vm, ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS, buffer, 3); if(AsebaVMErrorCB) AsebaVMErrorCB(vm,NULL); break; } // store variable and change sp vm->variables[arrayIndex + variableIndex] = variableValue; vm->sp -= 2; // increment PC vm->pc += 2; } break; // Bytecode: Unary Arithmetic case ASEBA_BYTECODE_UNARY_ARITHMETIC: { int16_t value, opResult; // check sp #ifdef ASEBA_ASSERT if (vm->sp < 0) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); #endif // get operand value = vm->stack[vm->sp]; // do operation opResult = AsebaVMDoUnaryOperation(vm, value, bytecode & ASEBA_UNARY_OPERATOR_MASK); // write result vm->stack[vm->sp] = opResult; // increment PC vm->pc ++; } break; // Bytecode: Binary Arithmetic case ASEBA_BYTECODE_BINARY_ARITHMETIC: { int16_t valueOne, valueTwo, opResult; // check sp #ifdef ASEBA_ASSERT if (vm->sp < 1) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); #endif // get operands valueOne = vm->stack[vm->sp - 1]; valueTwo = vm->stack[vm->sp]; // do operation opResult = AsebaVMDoBinaryOperation(vm, valueOne, valueTwo, bytecode & ASEBA_BINARY_OPERATOR_MASK); // write result vm->sp--; vm->stack[vm->sp] = opResult; // increment PC vm->pc ++; } break; // Bytecode: Jump case ASEBA_BYTECODE_JUMP: { int16_t disp = ((int16_t)(bytecode << 4)) >> 4; // check pc #ifdef ASEBA_ASSERT if ((vm->pc + disp < 0) || (vm->pc + disp >= vm->bytecodeSize)) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS); #endif // do jump vm->pc += disp; } break; // Bytecode: Conditional Branch case ASEBA_BYTECODE_CONDITIONAL_BRANCH: { int16_t conditionResult; int16_t valueOne, valueTwo; int16_t disp; // check sp #ifdef ASEBA_ASSERT if (vm->sp < 1) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); #endif // evaluate condition valueOne = vm->stack[vm->sp - 1]; valueTwo = vm->stack[vm->sp]; conditionResult = AsebaVMDoBinaryOperation(vm, valueOne, valueTwo, bytecode & ASEBA_BINARY_OPERATOR_MASK); vm->sp -= 2; // is the condition really true ? if (conditionResult && !(GET_BIT(bytecode, ASEBA_IF_IS_WHEN_BIT) && GET_BIT(bytecode, ASEBA_IF_WAS_TRUE_BIT))) { // if true disp disp = 2; } else { // if false disp disp = (int16_t)vm->bytecode[vm->pc + 1]; } // write back condition result if (conditionResult) BIT_SET(vm->bytecode[vm->pc], ASEBA_IF_WAS_TRUE_BIT); else BIT_CLR(vm->bytecode[vm->pc], ASEBA_IF_WAS_TRUE_BIT); // check pc #ifdef ASEBA_ASSERT if ((vm->pc + disp < 0) || (vm->pc + disp >= vm->bytecodeSize)) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS); #endif // do branch vm->pc += disp; } break; // Bytecode: Emit case ASEBA_BYTECODE_EMIT: { // emit event uint16_t start = vm->bytecode[vm->pc + 1]; uint16_t length = vm->bytecode[vm->pc + 2]; #ifdef ASEBA_ASSERT if (length > ASEBA_MAX_EVENT_ARG_SIZE) AsebaAssert(vm, ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG); #endif AsebaSendMessageWords(vm, bytecode & 0x0fff, vm->variables + start, length); // increment PC vm->pc += 3; } break; // Bytecode: Call case ASEBA_BYTECODE_NATIVE_CALL: { // call native function AsebaNativeFunction(vm, bytecode & 0x0fff); // increment PC vm->pc ++; } break; // Bytecode: Subroutine call case ASEBA_BYTECODE_SUB_CALL: { uint16_t dest = bytecode & 0x0fff; // check sp #ifdef ASEBA_ASSERT if (vm->sp + 1 >= vm->stackSize) AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW); #endif // store return value on stack vm->stack[++vm->sp] = vm->pc + 1; // jump vm->pc = dest; } break; // Bytecode: Subroutine return case ASEBA_BYTECODE_SUB_RET: { // check sp #ifdef ASEBA_ASSERT if (vm->sp < 0) AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW); #endif // do return vm->pc = vm->stack[vm->sp--]; } break; default: #ifdef ASEBA_ASSERT AsebaAssert(vm, ASEBA_ASSERT_UNKNOWN_BYTECODE); #endif break; } // switch bytecode... } void AsebaVMEmitNodeSpecificError(AsebaVMState *vm, const char* message) { uint16_t msgLen = strlen(message); #if defined(__GNUC__) uint8_t buffer[msgLen+3]; #elif defined(_MSC_VER) uint8_t * buffer = _alloca(msgLen+3); #else #error "Please provide a stack memory allocator for your compiler" #endif if (AsebaVMErrorCB) AsebaVMErrorCB(vm, message); vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; ((uint16_t*)buffer)[0] = bswap16(vm->pc); buffer[2] = (uint8_t)msgLen; memcpy(buffer+3, message, msgLen); AsebaSendMessage(vm, ASEBA_MESSAGE_NODE_SPECIFIC_ERROR, buffer, msgLen+3); } /*! Execute on bytecode of the current VM thread and check for potential breakpoints. Return 1 if breakpoint was seen, 0 otherwise. VM must be ready for run otherwise trashes may occur. */ uint16_t AsebaVMCheckBreakpoint(AsebaVMState *vm) { uint16_t i; for (i = 0; i < vm->breakpointsCount; i++) { if (vm->breakpoints[i] == vm->pc) { AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK); return 1; } } return 0; } /*! Run without support of breakpoints. Check ASEBA_VM_EVENT_RUNNING_MASK to exit on interrupts or stepsLimit if > 0. */ void AsebaDebugBareRun(AsebaVMState *vm, uint16_t stepsLimit) { AsebaMaskSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK); if (stepsLimit > 0) { // no breakpoint, still poll the mask and check stepsLimit while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) && AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) && stepsLimit ) { AsebaVMStep(vm); stepsLimit--; // TODO : send exception event on step limits overflow } } else { // no breakpoint, only poll the mask while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) && AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) ) AsebaVMStep(vm); } AsebaMaskClear(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK); } /*! Run with support of breakpoints. Also check ASEBA_VM_EVENT_RUNNING_MASK to exit on interrupts. */ void AsebaDebugBreakpointRun(AsebaVMState *vm, uint16_t stepsLimit) { AsebaMaskSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK); if (stepsLimit > 0) { // breakpoints, check before each step, poll the mask, and check stepsLimit while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) && AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) && stepsLimit ) { if (AsebaVMCheckBreakpoint(vm) != 0) { AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK); AsebaVMSendExecutionStateChanged(vm); return; } AsebaVMStep(vm); stepsLimit--; // TODO : send exception event on step limits overflow } } else { // breakpoints, check before each step and poll the mask while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) && AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) ) { if (AsebaVMCheckBreakpoint(vm) != 0) { AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK); AsebaVMSendExecutionStateChanged(vm); return; } AsebaVMStep(vm); } } AsebaMaskClear(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK); } uint16_t AsebaVMRun(AsebaVMState *vm, uint16_t stepsLimit) { // if there is nothing to execute, just return if (AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK)) return 0; // if we are running step by step, just return either if (AsebaMaskIsSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK)) return 0; // run until something stops the vm if (vm->breakpointsCount) AsebaDebugBreakpointRun(vm, stepsLimit); else AsebaDebugBareRun(vm, stepsLimit); return 1; } /*! Set a breakpoint at a specific location. */ uint8_t AsebaVMSetBreakpoint(AsebaVMState *vm, uint16_t pc) { #ifdef ASEBA_ASSERT if (pc >= vm->bytecodeSize) AsebaAssert(vm, ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS); #endif if (vm->breakpointsCount < ASEBA_MAX_BREAKPOINTS) { vm->breakpoints[vm->breakpointsCount++] = pc; return 1; } else return 0; } /*! Clear the breakpoint at a specific location. */ uint16_t AsebaVMClearBreakpoint(AsebaVMState *vm, uint16_t pc) { uint16_t i; for (i = 0; i < vm->breakpointsCount; i++) { if (vm->breakpoints[i] == pc) { uint16_t j; // displace vm->breakpointsCount--; for (j = i; j < vm->breakpointsCount; j++) vm->breakpoints[j] = vm->breakpoints[j+1]; return 1; } } return 0; } /*! Clear all breakpoints. */ void AsebaVMClearBreakpoints(AsebaVMState *vm) { vm->breakpointsCount = 0; } /*! Send an execution state changed message */ void AsebaVMSendExecutionStateChanged(AsebaVMState *vm) { uint16_t buffer[2]; buffer[0] = vm->pc; buffer[1] = vm->flags; AsebaSendMessageWords(vm, ASEBA_MESSAGE_EXECUTION_STATE_CHANGED, buffer, 2); } /*! Reset all when flags in their default states in the bytecode */ static void AsebaVMResetWhenFlags(AsebaVMState *vm) { // start at the end of event vector table const uint16_t eventVectSize = vm->bytecode[0]; uint16_t pc = eventVectSize*2 + 1; while (pc < vm->bytecodeSize) { // Iterate through all bytecode, skipping multi-word instructions. // Single-word instructions are commented-out and handled by the // default case, but are written down for the sake of completeness. switch (vm->bytecode[pc] >> 12) { //case ASEBA_BYTECODE_STOP: pc += 1; break; //case ASEBA_BYTECODE_SMALL_IMMEDIATE: pc += 1; break; case ASEBA_BYTECODE_LARGE_IMMEDIATE: pc += 2; break; //case ASEBA_BYTECODE_LOAD: pc += 1; break; //case ASEBA_BYTECODE_STORE: pc += 1; break; case ASEBA_BYTECODE_LOAD_INDIRECT: pc += 2; break; case ASEBA_BYTECODE_STORE_INDIRECT: pc += 2; break; //case ASEBA_BYTECODE_UNARY_ARITHMETIC: pc += 1; break; //case ASEBA_BYTECODE_BINARY_ARITHMETIC: pc += 1; break; //case ASEBA_BYTECODE_JUMP: pc += 1; break; case ASEBA_BYTECODE_CONDITIONAL_BRANCH: BIT_CLR(vm->bytecode[pc], ASEBA_IF_WAS_TRUE_BIT); pc += 2; break; case ASEBA_BYTECODE_EMIT: pc += 3; break; //case ASEBA_BYTECODE_NATIVE_CALL: pc += 1; break; //case ASEBA_BYTECODE_SUB_CALL: pc += 1; break; //case ASEBA_BYTECODE_SUB_RET: pc += 1; break; default: pc += 1; break; } } } void AsebaVMDebugMessage(AsebaVMState *vm, uint16_t id, uint16_t *data, uint16_t dataLength) { // react to global presence if (id == ASEBA_MESSAGE_GET_DESCRIPTION) { const uint16_t protocolVersion = bswap16(data[0]); // up to protocol version 4 included, target must answer to GetDescription if (protocolVersion <= 4) AsebaSendDescription(vm); return; } // react to global list nodes if (id == ASEBA_MESSAGE_LIST_NODES) { const uint16_t protocolVersion = ASEBA_PROTOCOL_VERSION; AsebaSendMessageWords(vm, ASEBA_MESSAGE_NODE_PRESENT, &protocolVersion, 1); return; } // safety check to avoid memory trash in case of unknown messages with 0 length if (dataLength == 0) return; // assume we have a command message, check if we are the destination, return otherwise if (bswap16(data[0]) != vm->nodeId) return; data++; dataLength--; switch (id) { case ASEBA_MESSAGE_SET_BYTECODE: { uint16_t start = bswap16(data[0]); uint16_t length = dataLength - 1; uint16_t i; #ifdef ASEBA_ASSERT if (start + length > vm->bytecodeSize) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS); #endif for (i = 0; i < length; i++) vm->bytecode[start+i] = bswap16(data[i+1]); } // There is no break here because we want to do a reset after a set bytecode case ASEBA_MESSAGE_RESET: vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaVMResetWhenFlags(vm); if (AsebaVMResetCB) AsebaVMResetCB(vm); // try to setup event, if it fails, return the execution state anyway if (AsebaVMSetupEvent(vm, ASEBA_EVENT_INIT) == 0) AsebaVMSendExecutionStateChanged(vm); break; case ASEBA_MESSAGE_RUN: AsebaMaskClear(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK); AsebaVMSendExecutionStateChanged(vm); if (AsebaVMRunCB) AsebaVMRunCB(vm); break; case ASEBA_MESSAGE_PAUSE: AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK); AsebaVMSendExecutionStateChanged(vm); break; case ASEBA_MESSAGE_STEP: if (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK)) { AsebaVMStep(vm); AsebaVMSendExecutionStateChanged(vm); } break; case ASEBA_MESSAGE_STOP: vm->flags = ASEBA_VM_STEP_BY_STEP_MASK; AsebaVMSendExecutionStateChanged(vm); break; case ASEBA_MESSAGE_GET_EXECUTION_STATE: AsebaVMSendExecutionStateChanged(vm); break; case ASEBA_MESSAGE_BREAKPOINT_SET: { uint16_t buffer[2]; buffer[0] = bswap16(data[0]); buffer[1] = AsebaVMSetBreakpoint(vm, buffer[0]); AsebaSendMessageWords(vm, ASEBA_MESSAGE_BREAKPOINT_SET_RESULT, buffer, 2); } break; case ASEBA_MESSAGE_BREAKPOINT_CLEAR: AsebaVMClearBreakpoint(vm, bswap16(data[0])); break; case ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL: AsebaVMClearBreakpoints(vm); break; case ASEBA_MESSAGE_GET_VARIABLES: { uint16_t start = bswap16(data[0]); uint16_t length = bswap16(data[1]); #ifdef ASEBA_ASSERT if (start + length > vm->variablesSize) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS); #endif AsebaSendVariables(vm, start, length); } break; case ASEBA_MESSAGE_SET_VARIABLES: { uint16_t start = bswap16(data[0]); uint16_t length = dataLength - 1; uint16_t i; #ifdef ASEBA_ASSERT if (start + length > vm->variablesSize) AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS); #endif for (i = 0; i < length; i++) vm->variables[start+i] = bswap16(data[i+1]); } break; case ASEBA_MESSAGE_WRITE_BYTECODE: AsebaWriteBytecode(vm); break; case ASEBA_MESSAGE_REBOOT: AsebaResetIntoBootloader(vm); break; case ASEBA_MESSAGE_SUSPEND_TO_RAM: AsebaPutVmToSleep(vm); break; case ASEBA_MESSAGE_GET_NODE_DESCRIPTION: AsebaSendDescription(vm); break; default: break; } } uint16_t AsebaVMShouldDropPacket(AsebaVMState *vm, uint16_t source, const uint8_t* data) { ASEBA_UNUSED(source); uint16_t type = bswap16(((const uint16_t*)data)[0]); if (type < 0x8000) { // user message return !AsebaVMGetEventAddress(vm, type); } else if (type >= 0xA000) { // debug message uint16_t dest = bswap16(((const uint16_t*)data)[1]); if ((type == ASEBA_MESSAGE_GET_DESCRIPTION) || (type == ASEBA_MESSAGE_LIST_NODES)) return 0; // check it is for us return dest != vm->nodeId; } return 1; } /*@}*/ aseba-1.6.0/vm/vm.h000066400000000000000000000171541322771007300140200ustar00rootroot00000000000000/* Aseba - an event-based framework for distributed robot control Copyright (C) 2007--2016: Stephane Magnenat (http://stephane.magnenat.net) and other contributors, see authors.txt for details This program 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, version 3 of the License. This program 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 program. If not, see . */ #ifndef __ASEBA_VM_H #define __ASEBA_VM_H #ifdef __cplusplus extern "C" { #endif #include "../common/types.h" /** \file vm.h Definition of Aseba Virtual Machine */ /** \defgroup vm Virtual Machine Glue logic must implement: \verbatim if (debug command queue is not empty) execute debug command else if (executing a thread) run VM else if (event queue is not empty) fetch event run VM else sleep until something happens \endverbatim */ /*@{*/ enum { ASEBA_MAX_BREAKPOINTS = 16 //!< maximum number of simultaneous breakpoints the target supports }; /*! This structure contains the state of the Aseba VM. This is the required and the sufficient data for the VM to run. This is not sufficient for the compiler to build bytecode, as there is no description of variable names and sizes nor description of native function. For this, a description corresponding to the actual target must be provided to the compiler. ALL fields of this structure have to be initialized correctly for aseba to work. An initial call to AsebaVMInitStep must be done prior to any call to AsebaVMPeriodicStep or AsebaVMEventStep. */ typedef struct { // node id uint16_t nodeId; // bytecode uint16_t bytecodeSize; /*!< total amount of bytecode space */ uint16_t * bytecode; /*!< bytecode space of size bytecodeSize */ // variables uint16_t variablesSize; /*!< total amount of variables space */ int16_t * variables; /*!< variables of size variableCount */ // execution stack uint16_t stackSize; /*!< depth of execution stack */ int16_t * stack; /*!< execution stack of size stackSize */ // execution uint16_t flags; uint16_t pc; int16_t sp; // breakpoint uint16_t breakpoints[ASEBA_MAX_BREAKPOINTS]; uint16_t breakpointsCount; } AsebaVMState; // Macros to work with masks //! Set the part masked by m of v to 1 #define AsebaMaskSet(v, m) ((v) |= (m)) //! Set the part masked by m of v to 0 #define AsebaMaskClear(v, m) ((v) &= (~(m))) //! Returns true if the part masked by m of v is 1 #define AsebaMaskIsSet(v, m) (((v) & (m)) != 0) //! Returns true if the part masked by m of v is 0 #define AsebaMaskIsClear(v, m) (((v) & (m)) == 0) // Functions provided by aseba-core /*! Setup the execution status of the VM. This is not sufficient to have a working VM. nodeId and bytecode, variables, and stack along with their sizes must be set outside this function. The content of the variable array is zeroed by this function. */ void AsebaVMInit(AsebaVMState *vm); /*! Return the starting address of an event, or 0 if the event is not handled. */ uint16_t AsebaVMGetEventAddress(AsebaVMState *vm, uint16_t event); /*! Setup VM to execute an event. If event is not handled, VM is not ready for run. Return the starting address of the event, or 0 if the event is not handled. */ uint16_t AsebaVMSetupEvent(AsebaVMState *vm, uint16_t event); /*! Run the VM depending on the current execution mode. Either run or step, depending of the current mode. If stepsLimit > 0, execute at maximim stepsLimit Return 1 if anything was executed, 0 otherwise. */ uint16_t AsebaVMRun(AsebaVMState *vm, uint16_t stepsLimit); /*! Execute a debug action from a debug message. dataLength is given in number of uint16_t. */ void AsebaVMDebugMessage(AsebaVMState *vm, uint16_t id, uint16_t *data, uint16_t dataLength); /*! Can be called by glue code (including native functions), to stop vm and emit a node specific error */ void AsebaVMEmitNodeSpecificError(AsebaVMState *vm, const char* message); /*! Return non-zero if VM will ignore the packet, 0 otherwise */ uint16_t AsebaVMShouldDropPacket(AsebaVMState *vm, uint16_t source, const uint8_t* data); // Functions implemented outside by the glue/transport layer /*! Called by AsebaStep if there is a message (not an user event) to send. size is given in number of bytes. */ void AsebaSendMessage(AsebaVMState *vm, uint16_t id, const void *data, uint16_t size); #ifdef __BIG_ENDIAN__ /*! Called by AsebaStep if there is a message (not an user event) to send. count is given in number of words. */ void AsebaSendMessageWords(AsebaVMState *vm, uint16_t type, const uint16_t* data, uint16_t count); #else #define AsebaSendMessageWords(vm,type,data,size) AsebaSendMessage(vm,type,data,(size)*2) #endif /*! Called by AsebaVMDebugMessage when some variables must be sent efficiently */ void AsebaSendVariables(AsebaVMState *vm, uint16_t start, uint16_t length); /*! Called by AsebaVMDebugMessage when VM must send its description on the network. */ void AsebaSendDescription(AsebaVMState *vm); /*! Called by AsebaStep to perform a native function call. */ void AsebaNativeFunction(AsebaVMState *vm, uint16_t id); /*! Called by AsebaVMDebugMessage when VM must write its bytecode to flash, write an empty function to leave feature unsupported */ void AsebaWriteBytecode(AsebaVMState *vm); /*! Called by AsebaVMDebugMessage when VM must restart the node and enter to the bootloader, write an empty function to leave feature unsupported */ void AsebaResetIntoBootloader(AsebaVMState *vm); /*! Called by AsebaVMDebugMessage when VM must put to node in deep sleep. Write an empty function to leave feature unsupported */ void AsebaPutVmToSleep(AsebaVMState *vm); /*! Called by AsebaVMDebugMessage when VM is going to be run */ #ifdef DISABLE_WEAK_CALLBACKS static void AsebaVMRunCB(AsebaVMState *vm) {} #else // DISABLE_WEAK_CALLBACKS void __attribute__((weak)) AsebaVMRunCB(AsebaVMState *vm); #endif // DISABLE_WEAK_CALLBACKS /*! Called by AsebaVMDebugMessage when VM is being resetted */ #ifdef DISABLE_WEAK_CALLBACKS static void AsebaVMResetCB(AsebaVMState *vm) {} #else // DISABLE_WEAK_CALLBACKS void __attribute__((weak)) AsebaVMResetCB(AsebaVMState *vm); #endif // DISABLE_WEAK_CALLBACKS /*! Called by AsebaVMEmitNodeSpecificError to be notified when VM hit an execution error Is also called for wrong array access or division by 0 with message == NULL */ #ifdef DISABLE_WEAK_CALLBACKS static void AsebaVMErrorCB(AsebaVMState *vm, const char* message) {} #else // DISABLE_WEAK_CALLBACKS void __attribute__((weak)) AsebaVMErrorCB(AsebaVMState *vm, const char* message); #endif // DISABLE_WEAK_CALLBACKS // Function optionally implemented #ifdef ASEBA_ASSERT /*! Possible causes of AsebaAssert */ typedef enum { ASEBA_ASSERT_UNKNOWN = 0, ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR, ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR, ASEBA_ASSERT_UNKNOWN_BYTECODE, ASEBA_ASSERT_STACK_OVERFLOW, ASEBA_ASSERT_STACK_UNDERFLOW, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS, ASEBA_ASSERT_STEP_OUT_OF_RUN, ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS, ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG, } AsebaAssertReason; /*! If ASEBA_ASSERT is defined, this function is called when an error arise */ void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason); #endif /* ASEBA_ASSERT */ /*@}*/ #ifdef __cplusplus } /* closing brace for extern "C" */ #endif #endif