Processes/CMD/Debug.cpp

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/** 
* @file Processes/CMD/Debug.cpp
* 
* Implementation of class Debug.
*
* @author Martin Lötzsch
*/

#include "Debug.h"
#include "Tools/RobotConfiguration.h"
#include "Tools/Debugging/Debugging.h"
#include "Platform/GTAssert.h"
#include "Platform/SystemCall.h"

Debug::Debug() : 
INIT_EXTERNAL_DEBUGGING,
//INIT_DEBUGGING,

INIT_DEBUG_RECEIVER(Cognition),
INIT_DEBUG_RECEIVER(Motion),

INIT_DEBUG_SENDER(Cognition),
INIT_DEBUG_SENDER(Motion),

mode(QueueFillRequest::immediateReadWrite),
saveOrSendTime(0)
{
  //cout << "FREE Memory " << SystemCall::getFreeMem() << "\n" ;
  //cout << flush;
  
  
  debugIn.setSize(400000);
  if (SystemCall::getRobotDesign() == RobotDesign::ERS7)
    debugOut.setSize(9000000);
  else
    debugOut.setSize(1000000);
  
  theCognitionReceiver.setSize(200000);
  theCognitionSender.setSize(400000);
  
  theMotionReceiver.setSize(2000);
  theMotionSender.setSize(200000);
}

Debug::~Debug() 
{
}

int Debug::main() 
{
  INFO( printRobotStatus, idText, text,
    "Free mem: " << SystemCall::getFreeMem() << " bytes" << endl <<
    "Remaining capacity: " << SystemCall::getRemainingPower() << "%" << endl <<
    "MAC Address: " << getRobotConfiguration().getMacAddressString()
    );
  
  // add the messages from the queues from the processes to the outgoing queue
  theCognitionReceiver.moveAllMessages(debugOut);
  theMotionReceiver.moveAllMessages(debugOut);
  
  switch (mode)
  {
  case QueueFillRequest::overwriteOlder:
    debugOut.removeRepetitions();
    break;
  case QueueFillRequest::rejectAll:
    debugOut.clear();
    break;
  case QueueFillRequest::toStickNSeconds:
    if ((SystemCall::getCurrentSystemTime() > saveOrSendTime)&&(saveOrSendTime != 0))
    {
      // save the outgoing queue to the memory stick
      if (!debugOut.isEmpty())
      {
        OutBinaryFile fout("Logfile.log");
        fout << debugOut;
        debugOut.clear();
      }
      saveOrSendTime = 0;
    }
    break;
  case QueueFillRequest::toStickImmediately:
    // append the outgoing queue to the memory stick
    if (!debugOut.isEmpty())
    {
      OutBinaryFile fout("Logfile.log",true);
      fout << debugOut;
      debugOut.clear();
    }
    break;
  }
  
  // send the queues to the processes
  theCognitionSender.send();
  theMotionSender.send();
  
#if defined(_WIN32) || defined(WLAN)
  // send the outgoing queue to RobotControl 
  // (direct in WIN32, via TcpGateway in WLAN)
  if ((mode==QueueFillRequest::immediateReadWrite)||
    ((mode==QueueFillRequest::collectNSeconds)&&(saveOrSendTime < SystemCall::getCurrentSystemTime()))||
    (mode==QueueFillRequest::overwriteOlder))
  {
#ifndef _WIN32
    if (messageWasReceived) // Hallo Hack
#endif
      theDebugSender.send();
  }
#endif
  
  return 1; // Wait at least 1 millisecond, then recall main()
}

void Debug::init()
{
  INIT_EXTERNAL_DEBUGGING_HANDLER;
  
  // read requests.dat
  //
  InBinaryFile fin("requests.dat");
  if ((fin.exists())&&(! fin.eof()))
    fin >> debugIn;
  
  debugIn.handleAllMessages(*this);
  debugIn.clear();
  messageWasReceived = false;
}

bool Debug::handleMessage(InMessage& message)
{
  messageWasReceived = true;
  
  switch(message.getMessageID())
  {
  case idSensorData:
  case idImage:
  case idJPEGImage:
  case idLowResImage:
  case idPercepts: 
  case idHeadControlMode:   
  case idMotionRequest: 
  case idLEDRequest: 
  case idWorldState: 
  case idColorTable64:
  case idColorTableTSL:
  case idCameraParameters:
  case idOracledWorldState:
  case idGlobalGameControlData:
  case idGameControlData:
  case idSoundRequest:
  case idSpecialPercept:
    //  case idLinesImageProcessorParameters:
  case idLinesSelfLocatorParameters:
  case idJoystickData:
  case idGT2004BallLocatorData:
  case idTacticEntryArray:
  case idFreezeRequest:
  case idKickSelectionTable:
    message >> theCognitionSender; 
    return true;
  case idHeadMotionRequest: 
  case idOdometryData: 
  case idJointDataSequence:
  case idFourierCoefficients:
  case idInvKinWalkingParameters:
  case idPIDData:
  case idGameSpeed:
  case idMotionControlSlowMotion:
  case idMotionNet:
  case idOdometryScale:
    message >> theMotionSender;
    return true;
  case idDebugKeyTable: 
    Process::handleMessage(message);
  case idSolutionRequest:
  case idGenericDebugData:
  case idGT2004Parameters:
  case idGT2004EvolutionRequest:
  case idYetAnotherInvKinParams:
  case idYetAnotherInvKinPaws:
  case idBodyOffsets:
  case idXabsl2DebugRequest:
  case idXabsl2IntermediateCode:
    message >> theCognitionSender; 
    message >> theMotionSender; 
    return true;
  case idQueueFillRequest:
    {
      QueueFillRequest qfr;
      message.bin >> qfr;
      mode = qfr.mode;
      saveOrSendTime = 1000*qfr.seconds + SystemCall::getCurrentSystemTime();
      return true;
    }
  default:
    return Process::handleMessage(message);
  }
}

MAKE_PROCESS(Debug);

/*
* Change log :
* 
* $Log: Debug.cpp,v $
* Revision 1.12  2004/07/22 22:38:22  kerdels
* added DTT used by Open Challenge, RIP and Xabsl-Options will follow
*
* Revision 1.11  2004/07/14 21:06:46  spranger
* renamed KalmanDebugData to GT2004BallLocatorDebugData
*
* Revision 1.10  2004/07/10 00:13:55  spranger
* renaming for coderelease and preparations for gt2005
*
* Revision 1.9  2004/06/20 18:16:19  dueffert
* ImageSaver may work now
*
* Revision 1.8  2004/06/18 14:47:55  risler
* large debug queue only for ers7 so that ers210 at least can still be started
*
* Revision 1.7  2004/06/16 21:00:27  goehring
* case QueueFillRequest::toStickImmediately added
*
* Revision 1.6  2004/06/09 19:24:07  spranger
* added MotionControl-slowmotion
*
* Revision 1.5  2004/05/26 09:28:41  roefer
* Make the Simulator compile
*
* Revision 1.4  2004/05/25 10:46:54  wachter
* Increased outgoing debug-queue for writing logfiles
*
* Revision 1.3  2004/05/22 21:52:58  juengel
* bug fixed
*
* Revision 1.2  2004/05/22 20:46:50  juengel
* Removed some MessageIDs.
*
* Revision 1.1.1.1  2004/05/22 17:24:57  cvsadm
* created new repository GT2004_WM
*
* Revision 1.31  2004/05/18 14:28:21  loetzsch
* now Xabsl2 intermediate code can be sent to different modules
*
* Revision 1.30  2004/05/17 18:38:27  loetzsch
* continued support for multiple Xabsl engines in different modules
*
* Revision 1.29  2004/04/30 08:18:28  goehring
* DebugQueue is being deleted after being written to stick
*
* Revision 1.28  2004/04/21 14:08:16  dueffert
* Motion can load parameterset itself on request now
*
* Revision 1.27  2004/04/07 13:00:47  risler
* ddd checkin after go04 - second part
*
* Revision 1.2  2004/04/07 11:44:06  risler
* added sending low res images
* added Image::setCameraInfo
*
* Revision 1.1.1.1  2004/03/29 08:28:46  Administrator
* initial transfer from tamara
*
* Revision 1.26  2004/03/22 21:58:13  roefer
* True odometry
*
* Revision 1.25  2004/03/17 19:53:37  juengel
* Added idKickSelectionTable.
*
* Revision 1.24  2004/03/17 16:18:49  thomas
* added preversion of motion optimisation with behaviour, selflocator, headcontrol and robotcontrol dialog
*
* Revision 1.23  2004/03/16 10:24:54  dueffert
* UDParameters for Motion and Cognition
*
* Revision 1.22  2004/03/11 14:27:31  uhrig
* KalmanBallLocator was added
*
* Revision 1.21  2004/02/27 16:44:56  dueffert
* UDEvolutionRequest introduced; hack removed
*
* Revision 1.20  2004/02/24 13:15:41  hamerla
* *** empty log message ***
*
* Revision 1.19  2004/02/24 12:58:25  hamerla
* no message
*
* Revision 1.18  2004/02/18 13:02:42  kindler
* - requests.dat is now only read once, and is no longer held open. (-> can be updated through ftp now!)
*
* Revision 1.17  2004/02/16 19:22:47  jhoffman
* added debug parameters for yet another inv kin
*
* Revision 1.16  2004/01/21 16:02:53  goehring
* Debug queue size increased by 2 MB
*
* Revision 1.15  2004/01/21 15:15:16  loetzsch
* increased the size of the outgoing queue in Debug
*
* Revision 1.14  2004/01/20 13:44:13  wachter
* Changed sizes of MessageQueue and memory-allocation
*
* Revision 1.13  2004/01/19 14:59:47  wachter
* Reduced MessageQueue size again.
*
* Revision 1.12  2004/01/12 17:17:52  kerdels
* added freeze functionality to tacticDesigner
*
* Revision 1.11  2004/01/07 14:56:09  kerdels
* added send functionality to TacticDesigner
*
* Revision 1.10  2004/01/06 17:26:11  kerdels
* modified some DTT-Options
*
* Revision 1.9  2004/01/06 14:41:30  wachter
* Reduced MessageQueue size because memory was full
*
* Revision 1.8  2004/01/03 21:26:46  wachter
* Removed some debug-stuff
*
* Revision 1.7  2004/01/03 19:15:17  wachter
* Debug-communication without router working now
*
* Revision 1.6  2003/12/16 19:02:45  loetzsch
* The motion net file Config/spec_act.dat can be sent through WLAN to a robot.
*
* Revision 1.5  2003/12/02 18:07:43  dueffert
* first working not yet calibrated version of UDWalkingEngine added
*
* Revision 1.4  2003/11/29 07:40:19  roefer
* Doxygen comments corrected
*
* Revision 1.3  2003/11/22 15:59:03  jhoffman
* parameter sending using generic debug data to
* walking engine now works if it is explicitely given
* a messageID
*
* Revision 1.2  2003/11/17 14:56:04  urban
* added SensorBehaviorControl-solution "AlLx RemotePresence" and RobotControl-dialogbar "AlLx Joystick"
*
* Revision 1.1  2003/10/07 10:07:01  cvsadm
* Created GT2004 (M.J.)
*
* Revision 1.3  2003/09/11 15:20:59  dueffert
* passing of InvKinParameters added
*
* Revision 1.2  2003/07/05 09:49:05  roefer
* Generic debug message for bodyOffsets improved
*
* Revision 1.1.1.1  2003/07/02 09:40:25  cvsadm
* created new repository for the competitions in Padova from the 
* tamara CVS (Tuesday 2:00 pm)
*
* removed unused solutions
*
* Revision 1.46  2003/06/20 17:53:30  dueffert
* silly fix
*
* Revision 1.45  2003/06/17 16:57:31  loetzsch
* made queue smaller
*
* Revision 1.44  2003/05/27 12:23:42  risler
* added GT2003BehaviorConfiguration debug message
*
* Revision 1.43  2003/05/08 14:55:28  juengel
* printRobotStatus contains mac address now
*
* Revision 1.42  2003/05/06 16:49:07  juengel
* increased size of debugIn
* decreased size of debugOut
* increased siye of theCognitionSender
*
* Revision 1.41  2003/05/05 12:27:02  juengel
* Removed idGridImageProcessor2Thresholds
*
* Revision 1.40  2003/05/03 16:20:43  roefer
* bodyOffsets generic debug data
*
* Revision 1.39  2003/04/16 14:14:38  loetzsch
* removed Xabsl 1 from GT2003
*
* Revision 1.38  2003/04/16 07:00:16  roefer
* Bremen GO checkin
*
* Revision 1.37  2003/03/28 09:17:48  roefer
* Size of Cognition increased and size of Debug reduced
*
* Revision 1.36  2003/03/21 23:38:00  dueffert
* status output works now
*
* Revision 1.35  2003/03/20 20:34:21  loetzsch
* Game Toolbar now can adjust the game speed
*
* Revision 1.34  2003/03/19 09:23:48  dueffert
* status output added
*
* Revision 1.33  2003/03/11 09:10:02  dueffert
* QueueFillRequest rejectAll added
*
* Revision 1.32  2003/03/05 14:07:10  roefer
* LinesPerceptor2 is now LinesImageProcessor
*
* Revision 1.31  2003/03/05 11:10:05  loetzsch
* added class GlobalGameControlData
*
* Revision 1.30  2003/03/04 15:05:11  juengel
* Added handling for idParametersForGridImageProcessor2
*
* Revision 1.29  2003/02/27 12:02:30  dueffert
* JoystickData added
*
* Revision 1.28  2003/02/21 22:20:13  roefer
* LinesSelfLocator is working
*
* Revision 1.27  2003/02/18 21:29:17  osterhues
* Changed all instances of ColorTable64 to new base class ColorTable
*
* Revision 1.26  2003/02/08 18:36:44  juengel
* added idGridImageProcessor2Thresholds
*
* Revision 1.25  2003/02/05 15:51:58  juengel
* reduced queue size
*
* Revision 1.24  2003/01/30 11:28:54  juengel
* Added idGridImageProcessor2Parameters and id LinesPerceptorParameters.
*
* Revision 1.23  2003/01/22 18:09:23  loetzsch
* continued implementation of sending of intermediate code from xabsl2 dialog
* to a xabsl2 behavior control
*
* Revision 1.22  2003/01/21 15:35:18  loetzsch
* on the robot messages now are only sent if a message was received from the PC
*
* Revision 1.21  2003/01/16 09:54:49  jhoffman
* Added "Generic Debug Data" data type. This can be used
* for quick and dirty optimization and debugging, e.g. to send
* parameters to a module through WLAN to adjust it's settings.
* The DebugMessageGenerator is used to for parsing and
* sendig the data
*
* Revision 1.20  2003/01/11 22:27:14  roefer
* Limited 5 sec hack to real Aibo
*
* Revision 1.19  2003/01/11 13:29:55  juengel
* Xabsl2Dialog sends Xabsl2DebugRequest now.
*
* Revision 1.18  2003/01/10 15:48:20  loetzsch
* added a hack that does not send any messages to the WLan or OVirtualRobotComm
* in the first 5 seconds after the first execution of main()
*
* Revision 1.17  2003/01/09 17:27:19  loetzsch
* added the hack with the 50 seconds
*
* Revision 1.16  2002/12/08 07:11:14  roefer
* Decompress JPEG images in Cognition
*
* Revision 1.15  2002/12/07 16:40:45  roefer
* Blocking for theDebugReceiver changed
*
* Revision 1.14  2002/12/05 16:14:31  dueffert
* started implementing realtime sending
*
* Revision 1.13  2002/11/28 14:07:55  dueffert
* docu improved
*
* Revision 1.12  2002/11/27 13:50:27  dueffert
* QueueFillMode beautified
*
* Revision 1.11  2002/11/26 12:23:58  dueffert
* Debug handles growing requests.dat in Win32 now
*
* Revision 1.10  2002/11/25 12:27:15  dueffert
* first steps towards reading growing files
*
* Revision 1.9  2002/11/23 22:42:13  roefer
* Debug crash fixed
*
* Revision 1.8  2002/11/21 16:08:39  dueffert
* doxygen comments corrected
*
* Revision 1.7  2002/11/19 17:11:26  risler
* added datatype PIDData
* support for sending new pid values at runtime
*
* Revision 1.6  2002/11/19 12:57:54  dueffert
* queuefillrequest added, debugkey toolbar extended, memorystick toolbar removed
*
* Revision 1.5  2002/11/18 10:35:05  juengel
* Added "block debug sender" mechanism
*
* Revision 1.4  2002/10/02 15:52:24  loetzsch
* increased the size of the queue in the debug process to 11000000
*
* Revision 1.3  2002/09/18 16:35:12  loetzsch
* made GT2003 compilable,
* rechanged message ids
*
* Revision 1.2  2002/09/17 23:55:22  loetzsch
* - unraveled several datatypes
* - changed the WATCH macro
* - completed the process restructuring
*
* Revision 1.1  2002/09/10 15:41:25  cvsadm
* Created new project GT2003 (M.L.)
* - Cleaned up the /Src/DataTypes directory
* - Removed challenge related source code
* - Removed processing of incoming audio data
* - Renamed AcousticMessage to SoundRequest
* - Removed all process layouts
* - Added process layout CMD
*
* Revision 1.8  2002/09/07 13:36:58  loetzsch
* unified the vision modules into one module "ImageProcessor"
* - FloodFillRLEImageProcessor, BallPerceptor, LandmarksPerceptor
*   and PlayersPerceptor were are combined to the new solution
*   "BlobImageProcessor"
* - The GridImageProcessor and the SubPixelGradientCalculator became
*   a solution of "ImageProcessor"
*
* Revision 1.7  2002/08/21 11:50:44  cesarz
* GT2001PlayersPerceptor, BerlinSelfLocator, GT2001WalkingEngine,
* DoWalkingEngine, FuzzyBehaviorControl, BremenGOBehaviorControl,
* FuzzyBehaviortesterdlgbar and Behaviortesterdlgbar removed.
*
* Revision 1.6  2002/07/23 13:40:51  loetzsch
* - new streaming classes
* - removed many #include statements
* - new design of debugging architecture
* - exchanged StaticQueue with MessageQueue
* - new debug message handling
* - general clean up
*
* Revision 1.5  2002/06/21 16:45:56  dueffert
* smaller debug queue
*
* Revision 1.4  2002/06/08 20:41:15  mkunz
* specialPercept queue completed
*
* Revision 1.3  2002/06/02 23:21:09  roefer
* Single color table and progress in LinesSelfLocator
*
* Revision 1.2  2002/05/15 15:47:29  risler
* added debug message AcousticMessage, DebugMessageGenerator generates AcousticMessage
*
* Revision 1.1.1.1  2002/05/10 12:40:19  cvsadm
* Moved GT2002 Project from ute to tamara.
*
* Revision 1.40  2002/05/05 22:12:42  loetzsch
* GameControlData can now be sent from the Game toolbar to BehaviorControl
*
* Revision 1.39  2002/04/29 10:18:23  cesarz
* changed idInvKinWalkingParameters
*
* Revision 1.38  2002/04/23 15:11:41  jhoffman
* added some pre GO fourier stuff
*
* Revision 1.37  2002/04/09 16:46:01  risler
* added DarmstadtGOWalkingEngine
*
* Revision 1.36  2002/04/09 11:19:06  loetzsch
* debug message handling for idPlayerConfig
*
* Revision 1.35  2002/04/08 18:40:45  dueffert
* XabslInputData added
*
* Revision 1.34  2002/04/06 09:55:53  roefer
* Image and SensorData path through DebugQueues changed
*
* Revision 1.33  2002/04/02 15:03:40  loetzsch
* distribution of XabslDebugRequests
*
* Revision 1.32  2002/03/28 17:43:56  loetzsch
* mcf tuned
*
* Revision 1.31  2002/03/27 12:58:12  piepenstock
* Added serial communication support
*
* Revision 1.30  2002/03/12 14:34:15  jhoffman
* added fourier coefficient output
*
* Revision 1.29  2002/02/28 16:28:25  risler
* added GT2001WalkingParameters
*
* Revision 1.28  2002/02/27 19:53:20  loetzsch
* increased size of theCognitionReceiver
*
* Revision 1.27  2002/02/21 14:22:47  loetzsch
* added several STOP_WATCH_ON_REQUEST macros
*
* Revision 1.26  2002/02/12 16:34:49  risler
* finished MofTester
*
* Revision 1.25  2002/02/06 01:15:40  loetzsch
* oracled world states are now first send through the local processes
* before they are painted. (for synchronization with the painting of the
* calculated world states)
*
* Revision 1.24  2002/02/05 20:02:16  risler
* handleDebugMessage now returns bool, added debug message handling to ImageProcessor
*
* Revision 1.23  2002/02/05 04:19:04  loetzsch
* replaced several team color hacks by getPlayer().getTeamColor()
*
* added a few new module selectors
*
* changed distribution of debug messages completely
*
* Revision 1.22  2002/01/30 17:29:56  loetzsch
* handleDebugMessage um Parameter timestamp erweitert
*
* Revision 1.21  2002/01/23 13:51:55  loetzsch
* from Debug Queues odometry data is now sent to Motion and not to Perception
*
* Revision 1.20  2002/01/23 05:46:42  loetzsch
* mcf tuned
*
* Revision 1.19  2002/01/23 02:47:39  loetzsch
* mcf tuned
*
* Revision 1.18  2002/01/22 14:56:30  juengel
* ColorTable verschicken angefangen.
*
* Revision 1.17  2002/01/22 00:10:08  loetzsch
* new configuration DebugWLan introduced
*
* Revision 1.16  2002/01/19 12:43:16  risler
* enabled SolutionRequest, changed HandleDebugMessage calls
*
* Revision 1.15  2002/01/18 23:30:28  loetzsch
* Distribution of HeadControlModes, HeadMotionRequests and SolutionRequests added
*
* Revision 1.14  2002/01/18 02:17:39  loetzsch
* MotionTester dialog and distribution of MotionRequests
* to the processes programmed.
*
* Revision 1.13  2002/01/13 17:02:02  roefer
* SimRobot now has a console window
*
* Revision 1.12  2001/12/30 14:48:37  roefer
* Portable macro PRINT() for direct console output inserted
*
* Revision 1.11  2001/12/28 22:40:34  roefer
* Inserted check for existence of configuration file
*
* Revision 1.10  2001/12/20 17:14:35  loetzsch
* Using debug requests from the memory stick.
*
* Revision 1.9  2001/12/19 18:37:32  bach
* Camera.cfg added
* Sensors: CameraParameters are set
*
* Revision 1.8  2001/12/17 16:42:34  loetzsch
* Removed the StaticQueue >> StaticQueue operator,
* replaced by copyAllMessages and moveAllMessages
*
* Revision 1.7  2001/12/15 20:32:09  roefer
* Senders and receivers are now part of the processes
*
* Revision 1.6  2001/12/13 12:57:18  loetzsch
* Aufruf des SensorDataProcesssors entfernt, da dieser abstürzt.
*
* Revision 1.5  2001/12/12 18:43:22  loetzsch
* division by 0 auskommentiert
*
* Revision 1.4  2001/12/12 18:08:56  loetzsch
* Streaming- Operatoren für Bilder eingebaut, DebugKeyTable nicht- statisch gemacht, Debuggin Mechanismen weitergemacht, Bilder aus Logfiles in RobotControl anzeigen, Logfiles in HU1/Debug auf den Stick schreiben
*
* Revision 1.3  2001/12/10 17:47:08  risler
* change log added
*
*/

---