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Douglas Stephen
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Merge pull request #110 in ROB/ihmc-open-robotics-software from remove-rea-dependency to 0.9-support
* commit '02140f1f504288f283493a3d9c691651d3fbb07c': Remove dependency on RobotEnvironmentAwareness, which was an experimental library that was not intended to be part of the current release cycle. This is a library that will be available in a few months.
2 parents 4963420 + 02140f1 commit c787635

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5 files changed

+57
-112
lines changed

5 files changed

+57
-112
lines changed

‎Atlas/src/us/ihmc/atlas/AtlasNetworkProcessor.java

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -59,7 +59,6 @@ public static void main(String[] args) throws URISyntaxException, JSAPException
5959
networkModuleParams.enableSensorModule(true);
6060
networkModuleParams.enableBehaviorVisualizer(true);
6161
networkModuleParams.setDrillDetectionModuleEnabled(true);
62-
networkModuleParams.enableRobotEnvironmentAwerenessModule(true);
6362
networkModuleParams.enableHeightQuadTreeToolbox(true);
6463
networkModuleParams.enableKinematicsToolboxVisualizer(ENABLE_KINEMATICS_TOOLBOX_SERVER);
6564

‎IHMCAvatarInterfaces/build.gradle

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,6 @@ dependencies {
6262
compile group: 'us.ihmc.thirdparty.jme', name: 'jme3-core', version: '3.1.0-internal4'
6363
compile group: 'com.github.wendykierp', name: 'JTransforms', version: '3.1'
6464
compile group: 'org.reflections', name: 'reflections', version: '0.9.10'
65-
compile group: 'us.ihmc', name: 'RobotEnvironmentAwareness', version: '0.2.2'
6665

6766
compile ihmc.getProjectDependency(":IHMCROSTools")
6867
compile ihmc.getProjectDependency(":CommonWalkingControlModules")

‎IHMCAvatarInterfaces/src/us/ihmc/avatar/networkProcessor/DRCNetworkModuleParameters.java

Lines changed: 0 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -32,7 +32,6 @@ public class DRCNetworkModuleParameters
3232
private boolean useKinematicsToolboxVisualizer = false;
3333
private boolean useFootstepPlanningToolboxVisualizer = true;
3434
private boolean useTextToSpeechModule = false;
35-
private boolean useRobotEnvironmentAwarenessModule = true;
3635
private boolean useHeightQuadTreeToolbox = true;
3736
private boolean useRemoteObjectDetectionFeedback = true;
3837

@@ -103,11 +102,6 @@ public boolean isMultisenseManualTestModuleEnabled()
103102
return useMultisenseManualTestModule;
104103
}
105104

106-
public boolean isRobotEnvironmentAwerenessModuleEnabled()
107-
{
108-
return useRobotEnvironmentAwarenessModule;
109-
}
110-
111105
public boolean isHeightQuadTreeToolboxEnabled()
112106
{
113107
return useHeightQuadTreeToolbox;
@@ -179,11 +173,6 @@ public void enablePerceptionModule(boolean b)
179173
useController = true;
180174
}
181175

182-
public void enableRobotEnvironmentAwerenessModule(boolean enable)
183-
{
184-
this.useRobotEnvironmentAwarenessModule = enable;
185-
}
186-
187176
public void enableHeightQuadTreeToolbox(boolean useHeightQuadTreeToolbox)
188177
{
189178
this.useHeightQuadTreeToolbox = useHeightQuadTreeToolbox;

‎IHMCAvatarInterfaces/src/us/ihmc/avatar/networkProcessor/DRCNetworkProcessor.java

Lines changed: 45 additions & 49 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,5 @@
11
package us.ihmc.avatar.networkProcessor;
22

3-
import java.io.IOException;
4-
import java.util.HashMap;
5-
import java.util.Map.Entry;
6-
73
import us.ihmc.avatar.drcRobot.DRCRobotModel;
84
import us.ihmc.avatar.networkProcessor.footstepPlanningToolboxModule.FootstepPlanningToolboxModule;
95
import us.ihmc.avatar.networkProcessor.kinematicsToolboxModule.KinematicsToolboxModule;
@@ -16,20 +12,22 @@
1612
import us.ihmc.communication.PacketRouter;
1713
import us.ihmc.communication.configuration.NetworkParameterKeys;
1814
import us.ihmc.communication.configuration.NetworkParameters;
19-
import us.ihmc.communication.net.KryoObjectServer;
2015
import us.ihmc.communication.packetCommunicator.PacketCommunicator;
2116
import us.ihmc.communication.packets.PacketDestination;
2217
import us.ihmc.communication.util.NetworkPorts;
2318
import us.ihmc.humanoidBehaviors.IHMCHumanoidBehaviorManager;
2419
import us.ihmc.humanoidRobotics.kryo.IHMCCommunicationKryoNetClassList;
2520
import us.ihmc.multicastLogDataProtocol.modelLoaders.LogModelProvider;
2621
import us.ihmc.robotBehaviors.watson.TextToSpeechNetworkModule;
27-
import us.ihmc.robotEnvironmentAwareness.communication.REACommunicationKryoNetClassLists;
2822
import us.ihmc.robotModels.FullHumanoidRobotModel;
2923
import us.ihmc.robotics.robotSide.RobotSide;
3024
import us.ihmc.sensorProcessing.parameters.DRCRobotSensorInformation;
3125
import us.ihmc.tools.io.printing.PrintTools;
3226

27+
import java.io.IOException;
28+
import java.util.HashMap;
29+
import java.util.Map.Entry;
30+
3331
public class DRCNetworkProcessor
3432
{
3533
private static final IHMCCommunicationKryoNetClassList NET_CLASS_LIST = new IHMCCommunicationKryoNetClassList();
@@ -56,7 +54,6 @@ public DRCNetworkProcessor(DRCRobotModel robotModel, DRCNetworkModuleParameters
5654
setupFootstepPlanningToolboxModule(robotModel, params);
5755
addRobotSpecificModuleCommunicators(params.getRobotSpecificModuleCommunicatorPorts());
5856
addTextToSpeechEngine(params);
59-
setupRobotEnvironmentAwarenessModule(params);
6057
setupHeightQuadTreeToolboxModule(robotModel, params);
6158
setupLidarScanLogger();
6259
setupRemoteObjectDetectionFeedbackEndpoint(params);
@@ -93,7 +90,8 @@ private void setupZeroPoseRobotConfigurationPublisherModule(DRCRobotModel robotM
9390
{
9491
if (params.isZeroPoseRobotConfigurationPublisherEnabled())
9592
{
96-
PacketCommunicator zeroPosePublisherCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ZERO_POSE_PRODUCER, NET_CLASS_LIST);
93+
PacketCommunicator zeroPosePublisherCommunicator = PacketCommunicator
94+
.createIntraprocessPacketCommunicator(NetworkPorts.ZERO_POSE_PRODUCER, NET_CLASS_LIST);
9795
packetRouter.attachPacketCommunicator(PacketDestination.ZERO_POSE_PRODUCER, zeroPosePublisherCommunicator);
9896
try
9997
{
@@ -118,12 +116,12 @@ private void addRobotSpecificModuleCommunicators(HashMap<NetworkPorts, PacketDes
118116
packetRouter.attachPacketCommunicator(destinationId, packetCommunicator);
119117
try
120118
{
121-
packetCommunicator.connect();
122-
}
119+
packetCommunicator.connect();
120+
}
123121
catch (IOException e)
124122
{
125-
e.printStackTrace();
126-
}
123+
e.printStackTrace();
124+
}
127125
printModuleConnectedDebugStatement(destinationId, "addRobotSpecificModuleCommunicators");
128126
}
129127
}
@@ -152,7 +150,8 @@ private void setupRemoteObjectDetectionFeedbackEndpoint(DRCNetworkModuleParamete
152150
{
153151
if (params.isRemoteObjectDetectionFeedbackEnabled())
154152
{
155-
PacketCommunicator objectDetectionFeedbackCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(NetworkPorts.VALVE_DETECTOR_FEEDBACK_PORT, NET_CLASS_LIST);
153+
PacketCommunicator objectDetectionFeedbackCommunicator = PacketCommunicator
154+
.createTCPPacketCommunicatorServer(NetworkPorts.VALVE_DETECTOR_FEEDBACK_PORT, NET_CLASS_LIST);
156155
packetRouter.attachPacketCommunicator(PacketDestination.OBJECT_DETECTOR, objectDetectionFeedbackCommunicator);
157156
try
158157
{
@@ -175,7 +174,8 @@ private void setupKinematicsToolboxModule(DRCRobotModel robotModel, DRCNetworkMo
175174

176175
new KinematicsToolboxModule(robotModel, params.isKinematicsToolboxVisualizerEnabled());
177176

178-
PacketCommunicator kinematicsToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.KINEMATICS_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
177+
PacketCommunicator kinematicsToolboxCommunicator = PacketCommunicator
178+
.createIntraprocessPacketCommunicator(NetworkPorts.KINEMATICS_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
179179
packetRouter.attachPacketCommunicator(PacketDestination.KINEMATICS_TOOLBOX_MODULE, kinematicsToolboxCommunicator);
180180
kinematicsToolboxCommunicator.connect();
181181

@@ -192,7 +192,8 @@ private void setupFootstepPlanningToolboxModule(DRCRobotModel robotModel, DRCNet
192192

193193
new FootstepPlanningToolboxModule(robotModel, fullRobotModel, null, params.isFootstepPlanningToolboxVisualizerEnabled());
194194

195-
PacketCommunicator footstepPlanningToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.FOOTSTEP_PLANNING_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
195+
PacketCommunicator footstepPlanningToolboxCommunicator = PacketCommunicator
196+
.createIntraprocessPacketCommunicator(NetworkPorts.FOOTSTEP_PLANNING_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
196197
packetRouter.attachPacketCommunicator(PacketDestination.FOOTSTEP_PLANNING_TOOLBOX_MODULE, footstepPlanningToolboxCommunicator);
197198
footstepPlanningToolboxCommunicator.connect();
198199

@@ -206,7 +207,8 @@ private void setupMultisenseManualTestModule(DRCRobotModel robotModel, DRCNetwor
206207
{
207208
new MultisenseMocapManualCalibrationTestModule(robotModel, params.getRosUri());
208209

209-
PacketCommunicator multisenseModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MULTISENSE_MOCAP_MANUAL_CALIBRATION_TEST_MODULE, NET_CLASS_LIST);
210+
PacketCommunicator multisenseModuleCommunicator = PacketCommunicator
211+
.createIntraprocessPacketCommunicator(NetworkPorts.MULTISENSE_MOCAP_MANUAL_CALIBRATION_TEST_MODULE, NET_CLASS_LIST);
210212
packetRouter.attachPacketCommunicator(PacketDestination.MULTISENSE_TEST_MODULE, multisenseModuleCommunicator);
211213
try
212214
{
@@ -222,26 +224,26 @@ private void setupMultisenseManualTestModule(DRCRobotModel robotModel, DRCNetwor
222224
}
223225
}
224226

225-
private void setupMocapModule(DRCNetworkModuleParameters params) throws IOException
227+
private void setupMocapModule(DRCNetworkModuleParameters params) throws IOException
226228
{
227-
if (params.isMocapModuleEnabled())
228-
{
229-
// new MocapDetectedObjectModule(null, null, null);
229+
if (params.isMocapModuleEnabled())
230+
{
231+
// new MocapDetectedObjectModule(null, null, null);
230232

231-
PacketCommunicator mocapModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MOCAP_MODULE, NET_CLASS_LIST);
232-
packetRouter.attachPacketCommunicator(PacketDestination.MOCAP_MODULE, mocapModuleCommunicator);
233-
mocapModuleCommunicator.connect();
233+
PacketCommunicator mocapModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MOCAP_MODULE, NET_CLASS_LIST);
234+
packetRouter.attachPacketCommunicator(PacketDestination.MOCAP_MODULE, mocapModuleCommunicator);
235+
mocapModuleCommunicator.connect();
234236

235-
String methodName = "setupMocapModule";
236-
printModuleConnectedDebugStatement(PacketDestination.MOCAP_MODULE, methodName);
237-
}
237+
String methodName = "setupMocapModule";
238+
printModuleConnectedDebugStatement(PacketDestination.MOCAP_MODULE, methodName);
239+
}
238240
}
239241

240242
private void setupHandModules(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException
241243
{
242244
if (params.isHandModuleEnabled())
243245
{
244-
for(RobotSide robotSide : RobotSide.values)
246+
for (RobotSide robotSide : RobotSide.values)
245247
{
246248
NetworkPorts port = robotSide == RobotSide.LEFT ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT;
247249
PacketCommunicator handModuleCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, NET_CLASS_LIST);
@@ -264,18 +266,20 @@ private void setupBehaviorModule(DRCRobotModel robotModel, DRCNetworkModuleParam
264266

265267
if (params.isAutomaticDiagnosticEnabled())
266268
{
267-
IHMCHumanoidBehaviorManager.createBehaviorModuleForAutomaticDiagnostic(robotModel, logModelProvider, params.isBehaviorVisualizerEnabled(), sensorInformation, params.getTimeToWaitBeforeStartingDiagnostics());
269+
IHMCHumanoidBehaviorManager
270+
.createBehaviorModuleForAutomaticDiagnostic(robotModel, logModelProvider, params.isBehaviorVisualizerEnabled(), sensorInformation,
271+
params.getTimeToWaitBeforeStartingDiagnostics());
268272
}
269273
else
270274
{
271275
new IHMCHumanoidBehaviorManager(robotModel, logModelProvider, params.isBehaviorVisualizerEnabled(), sensorInformation);
272276
}
273277

274-
PacketCommunicator behaviorModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.BEHAVIOUR_MODULE_PORT, NET_CLASS_LIST);
278+
PacketCommunicator behaviorModuleCommunicator = PacketCommunicator
279+
.createIntraprocessPacketCommunicator(NetworkPorts.BEHAVIOUR_MODULE_PORT, NET_CLASS_LIST);
275280
packetRouter.attachPacketCommunicator(PacketDestination.BEHAVIOR_MODULE, behaviorModuleCommunicator);
276281
behaviorModuleCommunicator.connect();
277282

278-
279283
String methodName = "setupBehaviorModule ";
280284
printModuleConnectedDebugStatement(PacketDestination.BEHAVIOR_MODULE, methodName);
281285
}
@@ -311,11 +315,11 @@ private void setupSensorModule(DRCRobotModel robotModel, DRCNetworkModuleParamet
311315
}
312316
sensorSuiteManager.connect();
313317

314-
PacketCommunicator sensorSuiteManagerCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.SENSOR_MANAGER, NET_CLASS_LIST);
318+
PacketCommunicator sensorSuiteManagerCommunicator = PacketCommunicator
319+
.createIntraprocessPacketCommunicator(NetworkPorts.SENSOR_MANAGER, NET_CLASS_LIST);
315320
packetRouter.attachPacketCommunicator(PacketDestination.SENSOR_MANAGER, sensorSuiteManagerCommunicator);
316321
sensorSuiteManagerCommunicator.connect();
317322

318-
319323
String methodName = "setupSensorModule ";
320324
printModuleConnectedDebugStatement(PacketDestination.SENSOR_MANAGER, methodName);
321325
}
@@ -337,7 +341,7 @@ private void setupUiModule(DRCNetworkModuleParameters params) throws IOException
337341

338342
private void setupROSAPIModule(DRCNetworkModuleParameters params) throws IOException
339343
{
340-
if(params.isROSAPICommunicatorEnabled())
344+
if (params.isROSAPICommunicatorEnabled())
341345
{
342346
PacketCommunicator rosAPICommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_API_COMMUNICATOR, NET_CLASS_LIST);
343347
packetRouter.attachPacketCommunicator(PacketDestination.ROS_API, rosAPICommunicator);
@@ -352,15 +356,17 @@ private void setupControllerCommunicator(DRCNetworkModuleParameters params) thro
352356
if (params.isControllerCommunicatorEnabled())
353357
{
354358
PacketCommunicator controllerPacketCommunicator;
355-
if(params.isLocalControllerCommunicatorEnabled())
359+
if (params.isLocalControllerCommunicatorEnabled())
356360
{
357361
PrintTools.info(this, "Connecting to controller using intra process communication");
358362
controllerPacketCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.CONTROLLER_PORT, NET_CLASS_LIST);
359363
}
360364
else
361365
{
362366
System.out.println("Connecting to controller using TCP on " + NetworkParameters.getHost(NetworkParameterKeys.robotController));
363-
controllerPacketCommunicator = PacketCommunicator.createTCPPacketCommunicatorClient(NetworkParameters.getHost(NetworkParameterKeys.robotController), NetworkPorts.CONTROLLER_PORT, NET_CLASS_LIST);
367+
controllerPacketCommunicator = PacketCommunicator
368+
.createTCPPacketCommunicatorClient(NetworkParameters.getHost(NetworkParameterKeys.robotController), NetworkPorts.CONTROLLER_PORT,
369+
NET_CLASS_LIST);
364370
}
365371

366372
packetRouter.attachPacketCommunicator(PacketDestination.CONTROLLER, controllerPacketCommunicator);
@@ -371,25 +377,14 @@ private void setupControllerCommunicator(DRCNetworkModuleParameters params) thro
371377
}
372378
}
373379

374-
private void setupRobotEnvironmentAwarenessModule(DRCNetworkModuleParameters parameters) throws IOException
375-
{
376-
if (parameters.isRobotEnvironmentAwerenessModuleEnabled())
377-
{
378-
KryoObjectServer server = new KryoObjectServer(NetworkPorts.REA_MODULE_PORT.getPort(), REACommunicationKryoNetClassLists.getPublicNetClassList());
379-
server.throwExceptionForUnregisteredPackets(false);
380-
PacketCommunicator reaCommunicator = PacketCommunicator.createCustomPacketCommunicator(server, REACommunicationKryoNetClassLists.getPublicNetClassList());
381-
packetRouter.attachPacketCommunicator(PacketDestination.REA_MODULE, reaCommunicator);
382-
reaCommunicator.connect();
383-
}
384-
}
385-
386380
private void setupHeightQuadTreeToolboxModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException
387381
{
388382
if (params.isHeightQuadTreeToolboxEnabled())
389383
{
390384
new HeightQuadTreeToolboxModule(robotModel.createFullRobotModel(), robotModel.getLogModelProvider());
391385

392-
PacketCommunicator heightQuadTreeToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.HEIGHT_QUADTREE_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
386+
PacketCommunicator heightQuadTreeToolboxCommunicator = PacketCommunicator
387+
.createIntraprocessPacketCommunicator(NetworkPorts.HEIGHT_QUADTREE_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
393388
packetRouter.attachPacketCommunicator(PacketDestination.HEIGHT_QUADTREE_TOOLBOX_MODULE, heightQuadTreeToolboxCommunicator);
394389
heightQuadTreeToolboxCommunicator.connect();
395390

@@ -400,7 +395,8 @@ private void setupHeightQuadTreeToolboxModule(DRCRobotModel robotModel, DRCNetwo
400395

401396
private void setupLidarScanLogger() throws IOException
402397
{
403-
PacketCommunicator lidarScanLoggerCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(NetworkPorts.LIDAR_SCAN_LOGGER_PORT, NET_CLASS_LIST);
398+
PacketCommunicator lidarScanLoggerCommunicator = PacketCommunicator
399+
.createTCPPacketCommunicatorServer(NetworkPorts.LIDAR_SCAN_LOGGER_PORT, NET_CLASS_LIST);
404400
packetRouter.attachPacketCommunicator(PacketDestination.LIDAR_SCAN_LOGGER, lidarScanLoggerCommunicator);
405401
lidarScanLoggerCommunicator.connect();
406402

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