examples/dynamic/test/StaticEncoder.java

@@ -2,19 +2,19 @@ package test;
 import java.io.File;
 import java.io.FileOutputStream;
 import java.io.OutputStream;
-import se.lth.control.labcomm.LabCommEncoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
 
 import gen.foo;
 import gen.bar;
 
 public class StaticEncoder {
 
-  LabCommEncoderChannel encoder;
+  EncoderChannel encoder;
 
   public StaticEncoder(OutputStream out) 
     throws Exception 
   {
-    encoder = new LabCommEncoderChannel(out);
+    encoder = new EncoderChannel(out);
     foo.register(encoder);
     bar.register(encoder);
   }

examples/dynamic/test/TestLabCommCompiler.java

@@ -16,18 +16,18 @@ import java.util.Iterator;
 import java.util.LinkedList;
 import java.util.Map;
 
-import se.lth.control.labcomm.LabCommDecoder;
-import se.lth.control.labcomm.LabCommDecoderChannel;
-import se.lth.control.labcomm.LabCommEncoder;
-import se.lth.control.labcomm.LabCommEncoderChannel;
-import AST.LabCommParser;
-import AST.LabCommScanner;
-import AST.Program;
+import se.lth.control.labcomm2014.Decoder;
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.Encoder;
+import se.lth.control.labcomm2014.EncoderChannel;
+import AST.Parser;
+import AST.Scanner;
+import AST.Specification;
 import beaver.Parser.Exception;
 
 
 
-public class TestLabCommCompiler {
+public class TestCompiler {
 
 	private static final String BAR = "bar";
 	private static final String FOO = "foo";
@@ -73,7 +73,7 @@ public class TestLabCommCompiler {
 	private static void decodeTest(InRAMCompiler irc, String tmpFile) {
 		try {
 			FileInputStream in = new FileInputStream(tmpFile);
-			LabCommDecoderChannel dec = new LabCommDecoderChannel(in);
+			DecoderChannel dec = new DecoderChannel(in);
 	
 			Class fc = irc.load(FOO);
 			Class hc = irc.load("gen_"+FOO+"Handler");
@@ -81,7 +81,7 @@ public class TestLabCommCompiler {
 
 			Object h = hc.newInstance(); 
 		
-			Method reg = fc.getDeclaredMethod("register", LabCommDecoder.class, hi);
+			Method reg = fc.getDeclaredMethod("register", Decoder.class, hi);
 			reg.invoke(fc, dec, h);
 			
 			dec.runOne();
@@ -106,11 +106,11 @@ public class TestLabCommCompiler {
 			z.setInt(f, 12);
 			
 			FileOutputStream out = new FileOutputStream(tmpFile);
-			LabCommEncoderChannel enc = new LabCommEncoderChannel(out);
-			Method reg = fc.getDeclaredMethod("register", LabCommEncoder.class);
+			EncoderChannel enc = new EncoderChannel(out);
+			Method reg = fc.getDeclaredMethod("register", Encoder.class);
 			reg.invoke(fc, enc);
 			
-			Method doEncode = fc.getDeclaredMethod("encode", LabCommEncoder.class, fc);
+			Method doEncode = fc.getDeclaredMethod("encode", Encoder.class, fc);
 			doEncode.invoke(fc, enc, f);
 			
 			out.close();
@@ -121,15 +121,15 @@ public class TestLabCommCompiler {
 
 	}
 	public static InRAMCompiler generateCode(String lcDecl, HashMap<String, String> handlers) {
-		Program ast = null;
+		Specification ast = null;
 		InputStream in = new ByteArrayInputStream(lcDecl.getBytes());
-		LabCommScanner scanner = new LabCommScanner(in);
-		LabCommParser parser = new LabCommParser();
+		Scanner scanner = new Scanner(in);
+		Parser parser = new Parser();
 		Collection errors = new LinkedList();
 
 		InRAMCompiler irc = null;
 		try {
-			Program p = (Program)parser.parse(scanner);
+			Specification p = (Specification)parser.parse(scanner);
 			p.errorCheck(errors);
 			if (errors.isEmpty()) {
 				ast = p;
@@ -207,10 +207,10 @@ public class TestLabCommCompiler {
 	 * @param handlers - a map <name, source> of handlers for the types in ast
 	 * @return an InRAMCompiler object containing the generated clases
 	 */
-	private static InRAMCompiler handleAst(Program lcAST, HashMap<String, String> handlers) {
+	private static InRAMCompiler handleAst(Specification lcAST, HashMap<String, String> handlers) {
 		Map<String, String> genCode = new HashMap<String, String>();
 		try {
-			lcAST.J_gen(genCode, "labcomm.generated");
+			lcAST.J_gen(genCode, "labcomm.generated", 2013);
 		} catch (IOException e) {
 			e.printStackTrace();
 		}

examples/dynamic/test/TestLabcommGen.java

@@ -18,17 +18,18 @@ import java.util.Iterator;
 import java.util.LinkedList;
 import java.util.Map;
 
-import se.lth.control.labcomm.LabCommDecoder;
-import se.lth.control.labcomm.LabCommDecoderChannel;
-import se.lth.control.labcomm.LabCommEncoder;
-import se.lth.control.labcomm.LabCommEncoderChannel;
-import AST.LabCommParser;
-import AST.LabCommScanner;
-import AST.Program;
+import se.lth.control.labcomm2014.Decoder;
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.Encoder;
+import se.lth.control.labcomm2014.EncoderChannel;
+import se.lth.control.labcomm2014.compiler.LabCommParser;
+import se.lth.control.labcomm2014.compiler.LabCommScanner;
+import se.lth.control.labcomm2014.compiler.Program;
 import beaver.Parser.Exception;
 
 public class TestLabcommGen {
 
+	private static final String TYPE_NAME_FOO = "foo_t";
 	private static final String SAMPLE_NAME_FOO = "foo";
 	private static final String SAMPLE_NAME_BAR = "bar";
 
@@ -79,7 +80,7 @@ public class TestLabcommGen {
 
 		if(irc != null) {
 			System.out.println("*** Testing instantiation and invocation of Handler ");
-			dummyTest(irc);
+			//dummyTest(irc);
 
 			String tmpFile = args[2];
 			System.out.println("*** Testing writing and reading file "+tmpFile);
@@ -160,7 +161,7 @@ public class TestLabcommGen {
 	}
 
 	public static InRAMCompiler generateCode(String lcDecl, HashMap<String, String> handlers) {
-		Program ast = null;
+		Specification ast = null;
 		InputStream in = new ByteArrayInputStream(lcDecl.getBytes());
 		LabCommScanner scanner = new LabCommScanner(in);
 		LabCommParser parser = new LabCommParser();
@@ -168,7 +169,7 @@ public class TestLabcommGen {
 
 		InRAMCompiler irc = null;
 		try {
-			Program p = (Program)parser.parse(scanner);
+			Specification p = (Specification)parser.parse(scanner);
 			p.errorCheck(errors);
 			if (errors.isEmpty()) {
 				ast = p;
@@ -199,10 +200,10 @@ public class TestLabcommGen {
 	 * @param handlers - a map <name, source> of handlers for the types in ast
 	 * @return an InRAMCompiler object containing the generated clases
 	 */
-	private static InRAMCompiler handleAst(Program lcAST, HashMap<String, String> handlers) {
+	private static InRAMCompiler handleAst(Specification lcAST, HashMap<String, String> handlers) {
 		Map<String, String> genCode = new HashMap<String, String>();
 		try {
-			lcAST.J_gen(genCode, "labcomm.generated");
+			lcAST.J_gen(genCode, "labcomm.generated", 2014);
 		} catch (IOException e) {
 			e.printStackTrace();
 		}
@@ -226,25 +227,35 @@ public class TestLabcommGen {
 		try {
 			while(i.hasNext()){
 				final String sampleName = i.next();
+				System.out.println("sample: "+sampleName);
 				final String src = genCode.get(sampleName);
-				handlerClass.append(sampleName+".Handler");
-				if(i.hasNext()) {
-					handlerClass.append(", ");
+				String hctmp = handlers.get(sampleName);
+				if(hctmp != null) {
+					handlerClass.append(sampleName+".Handler");
+					if(i.hasNext()) {
+						handlerClass.append(", ");
+					}
+					handlerMethods.append(hctmp);
+					handlerMethods.append("\n");
 				}
-				handlerMethods.append(handlers.get(sampleName));
-				handlerMethods.append("\n");
+				//System.out.println("FOOOO:"+sampleName+"++++"+hctmp);
+				//System.out.println("GOOO: "+sampleName+"----"+handlerMethods);
 				System.out.println("***"+sampleName+"\n"+src);
 				irc.compile(sampleName, src);  // while iterating, compile the labcomm generated code
 			}
 			handlerClass.append("{\n");
-			handlerClass.append(handlerAttributes);
-			handlerClass.append(handlerConstr);
-			handlerClass.append(handlerConstrCtxt);
-			handlerClass.append(handlerMethods.toString());
+			if(handlerAttributes != null)
+				handlerClass.append(handlerAttributes);
+			if(handlerConstr != null)
+				handlerClass.append(handlerConstr);
+			if(handlerConstrCtxt != null)
+				handlerClass.append(handlerConstrCtxt);
+			if(handlerMethods != null)
+				handlerClass.append(handlerMethods.toString());
 			handlerClass.append("}\n");
 
 
-			System.out.println("-------------------------------------");
+			System.out.println("--- generated code to compile -------"+ handlerClassName);
 
 			final String handlerSrc = handlerClass.toString();
 			System.out.println(handlerSrc);
@@ -273,10 +284,10 @@ public class TestLabcommGen {
 	 * @param handlers - a map <name, source> of handlers for the types in ast
 	 * @return an InRAMCompiler object containing the generated clases
 	 */
-	private static InRAMCompiler handleAstSeparate(Program lcAST, HashMap<String, String> handlers) {
+	private static InRAMCompiler handleAstSeparate(Specification lcAST, HashMap<String, String> handlers) {
 		Map<String, String> genCode = new HashMap<String, String>();
 		try {
-			lcAST.J_gen(genCode, "labcomm.generated");
+			lcAST.J_gen(genCode, "labcomm.generated", 2013);
 		} catch (IOException e) {
 			e.printStackTrace();
 		}
@@ -294,7 +305,7 @@ public class TestLabcommGen {
 			sb.append("public class gen_"+sampleName+"Handler implements "+sampleName+".Handler {\n");
 			sb.append(handlers.get(sampleName));
 			sb.append("}\n");
-			System.out.println("-------------------------------------");
+			System.out.println("--- foo -----------------------------");
 			System.out.println(sb.toString());
 			try {
 				irc.compile(sampleName, src);
@@ -321,7 +332,7 @@ public class TestLabcommGen {
 	private static void decodeTest(InRAMCompiler irc, String tmpFile, String... sampleNames) {
 		try {
 			FileInputStream in = new FileInputStream(tmpFile);
-			LabCommDecoderChannel dec = new LabCommDecoderChannel(in);
+			DecoderChannel dec = new DecoderChannel(in);
 			Class handlerClass =  irc.load(handlerClassName);
 			Constructor hcc = handlerClass.getDeclaredConstructor(Object.class);
 //			Object handler = handlerClass.newInstance(); 
@@ -333,7 +344,7 @@ public class TestLabcommGen {
 				Class sampleClass = irc.load(sampleName);
 				Class handlerInterface = irc.load(sampleName+"$Handler");
 
-				Method reg = sampleClass.getDeclaredMethod("register", LabCommDecoder.class, handlerInterface);
+				Method reg = sampleClass.getDeclaredMethod("register", Decoder.class, handlerInterface);
 				reg.invoke(sampleClass, dec, handler);
 			}
 
@@ -356,35 +367,42 @@ public class TestLabcommGen {
 	 */
 	private static void encodeTest(InRAMCompiler irc, String tmpFile) {
 		try {
+			Class ft;
 			Class fc = irc.load(SAMPLE_NAME_FOO);
 			Class bc = irc.load(SAMPLE_NAME_BAR);
+			try {
+				ft = irc.load(TYPE_NAME_FOO);
+			} catch (ClassNotFoundException e) {
+				System.out.println("encodeTest: defaulting to ft == fc");
+				ft = fc;
+			}
 
 			/* create sample class and instance objects */
-			Object f = fc.newInstance();
+			Object f = ft.newInstance();
 
-			Field x = fc.getDeclaredField("x");
-			Field y = fc.getDeclaredField("y");
-			Field z = fc.getDeclaredField("z");
+			Field x = ft.getDeclaredField("x");
+			Field y = ft.getDeclaredField("y");
+			Field z = ft.getDeclaredField("z");
 			x.setInt(f, 10);
 			y.setInt(f, 11);
 			z.setInt(f, 12);
 
 
 			FileOutputStream out = new FileOutputStream(tmpFile);
-			LabCommEncoderChannel enc = new LabCommEncoderChannel(out);
+			EncoderChannel enc = new EncoderChannel(out);
 
 			/* register and send foo */
-			Method regFoo = fc.getDeclaredMethod("register", LabCommEncoder.class);
+			Method regFoo = fc.getDeclaredMethod("register", Encoder.class);
 			regFoo.invoke(fc, enc);
 
-			Method doEncodeFoo = fc.getDeclaredMethod("encode", LabCommEncoder.class, fc);
+			Method doEncodeFoo = fc.getDeclaredMethod("encode", Encoder.class, ft);
 			doEncodeFoo.invoke(fc, enc, f);
 
 			/* register and send bar (NB! uses primitive type int) */
-			Method regBar = bc.getDeclaredMethod("register", LabCommEncoder.class);
+			Method regBar = bc.getDeclaredMethod("register", Encoder.class);
 			regBar.invoke(bc, enc);
 
-			Method doEncodeBar = bc.getDeclaredMethod("encode", LabCommEncoder.class, Integer.TYPE);
+			Method doEncodeBar = bc.getDeclaredMethod("encode", Encoder.class, Integer.TYPE);
 			doEncodeBar.invoke(bc, enc, 42);
 
 			out.close();
@@ -457,7 +475,7 @@ public class TestLabcommGen {
 	private static void decodeTestSeparate(InRAMCompiler irc, String tmpFile, String... sampleNames) {
 		try {
 			FileInputStream in = new FileInputStream(tmpFile);
-			LabCommDecoderChannel dec = new LabCommDecoderChannel(in);
+			DecoderChannel dec = new DecoderChannel(in);
 			for (String sampleName : sampleNames) {
 				System.out.println("registering handler for "+sampleName);
 				Class sampleClass = irc.load(sampleName);
@@ -466,7 +484,7 @@ public class TestLabcommGen {
 
 				Object handler = handlerClass.newInstance(); 
 
-				Method reg = sampleClass.getDeclaredMethod("register", LabCommDecoder.class, handlerInterface);
+				Method reg = sampleClass.getDeclaredMethod("register", Decoder.class, handlerInterface);
 				reg.invoke(sampleClass, dec, handler);
 			}
 

examples/dynamic/test_type.sh

+#dummy script to test the on-the-fly compilation
+
+javac -cp .:../../compiler/labcomm2014_compiler.jar:../../lib/java/labcomm2014.jar:../../lib/tools/beaver.jar:../../lib/tools/beaver-rt.jar:../../lib/tools/jastadd2.jar:../../lib/tools/JFlex.jar:../../lib/tools/proj.jar  test/TestLabcommGen.java 
+
+javac test/HandlerContext.java
+
+java -cp .:../../compiler/labcomm2014_compiler.jar:../../lib/java/labcomm2014.jar:../../lib/tools/beaver.jar:../../lib/tools/beaver-rt.jar:../../lib/tools/jastadd2.jar:../../lib/tools/JFlex.jar:../../lib/tools/proj.jar  test.TestLabcommGen simple_type.lc handlers_type.txt encoded_data

examples/jgrafchart/Makefile

 LCDIR=../..
-LCC=java -jar ${LCDIR}/compiler/labComm.jar
-CLASSPATH=.:${LCDIR}/lib/java/labcomm.jar
+LABCOMM_JAR=../../compiler/labcomm2014_compiler.jar
+LABCOMM=java -jar $(LABCOMM_JAR) 
+CLASSPATH=.:${LCDIR}/lib/java/labcomm2014.jar
 JAVA_PKG=labcommTCPtest
 SAMPLENAME=foo
-LCC=java -jar ${LCDIR}/compiler/labComm.jar
 LCLIBDIR=${LCDIR}/lib/c
 
 LCFILE=jg
@@ -12,7 +12,7 @@ TLCFILE=turtle1
 TAUX=turtle_enc.c turtle_dec.c
 
 ${JAVA_PKG}/gen/foo.java: ${LCFILE}.lc
-	${LCC} --javapackage=${JAVA_PKG}.gen --java=${JAVA_PKG}/gen $<
+	${LABCOMM} --javapackage=${JAVA_PKG}.gen --java=${JAVA_PKG}/gen $<
 
 ${JAVA_PKG}/gen/${SAMPLENAME}.class: ${JAVA_PKG}/gen/${SAMPLENAME}.java
 	javac -cp ${CLASSPATH} $<
@@ -24,9 +24,11 @@ ${JAVA_PKG}/client/TestClient.class: ${JAVA_PKG}/client/TestClient.java ${JAVA_P
 	javac -cp ${CLASSPATH} $<
 
 
+.PHONY: runjavaserver
 runjavaserver : ${JAVA_PKG}/server/TestServer.class
 	java -cp ${CLASSPATH} $(<:.class=)
 
+.PHONY: runjavaclient 
 runjavaclient : ${JAVA_PKG}/client/TestClient.class
 	java -cp ${CLASSPATH} $(<:.class=)
 
@@ -36,27 +38,34 @@ client: client.c ${LCFILE}.c ${AUX} ${AUX:.c=.h}
 
 testserver: testserver.c ${LCFILE}.c ${AUX} ${AUX:.c=.h}
 	${CC} -o $@ testserver.c ${AUX} ${LCFILE}.c -I${LCLIBDIR} -L${LCLIBDIR} -llabcomm
-	
+
 turtleclient: turtleclient.c ${TLCFILE}.c ${TAUX} ${TAUX:.c=.h}
 	${CC} -o $@ turtleclient.c ${TAUX} ${TLCFILE}.c -I${LCLIBDIR} -L${LCLIBDIR} -llabcomm
 ${LCFILE}.c : ${LCFILE}.lc
-	${LCC} -C ${LCFILE}.lc
+	${LABCOMM} -C ${LCFILE}.lc
 
 ${TLCFILE}.c : ${TLCFILE}.lc
-	${LCC} -C ${TLCFILE}.lc
+	${LABCOMM} -C ${TLCFILE}.lc
 
 all: client testserver ${JAVA_PKG}/server/TestServer.class ${JAVA_PKG}/client/TestClient.class turtleclient
 
-.PHONY: clean runclient runserver runjavaserver runjavaclient turtleclient
+.PHONY: clean
 clean :
-	rm ${LCFILE}.c ${LCFILE}.h client testserver turtleclient
-	rm  ${JAVA_PKG}/server/*.class ${JAVA_PKG}/client/*.class ${JAVA_PKG}/gen/* 
+	rm -f ${LCFILE}.c ${LCFILE}.h client testserver turtleclient
+	rm -f ${JAVA_PKG}/server/*.class ${JAVA_PKG}/client/*.class 
+	rm -f ${JAVA_PKG}/gen/* 
+
+.PHONY: distclean
+distclean: clean 
 
+.PHONY: runclient
 runclient : client
 	LD_LIBRARY_PATH=${LCLIBDIR} ./$< localhost 9999
 
+.PHONY: runserver
 runserver : testserver
 	LD_LIBRARY_PATH=${LCLIBDIR} ./$< 9999
 
+.PHONY: runtclient
 runtclient : turtleclient
 	LD_LIBRARY_PATH=${LCLIBDIR} ./$< localhost 8082

examples/jgrafchart/labcommTCPtest/client/TestClient.java

@@ -6,8 +6,8 @@ import java.io.OutputStream;
 import java.net.Socket;
 import java.net.UnknownHostException;
 
-import se.lth.control.labcomm.LabCommDecoderChannel;
-import se.lth.control.labcomm.LabCommEncoderChannel;
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
 import labcommTCPtest.gen.foo;
 import labcommTCPtest.gen.foo.Handler;
 
@@ -25,7 +25,7 @@ public class TestClient implements Handler {
 	public void test() {
 		
 		try {
-			LabCommEncoderChannel e = new LabCommEncoderChannel(out );
+			EncoderChannel e = new EncoderChannel(out );
 			foo.register(e);
 			foo sample = new foo();
 			sample.c = 17;
@@ -36,7 +36,7 @@ public class TestClient implements Handler {
 			printSample("Client sending", sample);
 			foo.encode(e, sample);
 
-			LabCommDecoderChannel c = new LabCommDecoderChannel(in);
+			DecoderChannel c = new DecoderChannel(in);
 			foo.register(c,this);
 			c.run();
 		} catch (Exception e) {

examples/jgrafchart/labcommTCPtest/client/TestClientSingleshot.java

@@ -6,8 +6,8 @@ import java.io.OutputStream;
 import java.net.Socket;
 import java.net.UnknownHostException;
 
-import se.lth.control.labcomm.LabCommDecoderChannel;
-import se.lth.control.labcomm.LabCommEncoderChannel;
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
 import labcommTCPtest.gen.FooSample;
 import labcommTCPtest.gen.FooSample.Handler;
 
@@ -25,7 +25,7 @@ public class TestClientSingleshot implements Handler {
 	public void test() {
 		
 		try {
-			LabCommEncoderChannel e = new LabCommEncoderChannel(out );
+			EncoderChannel e = new EncoderChannel(out );
 			FooSample.register(e);
 			FooSample sample = new FooSample();
 			sample.x = 17;
@@ -35,7 +35,7 @@ public class TestClientSingleshot implements Handler {
 			printSample("Client sending", sample);
 			FooSample.encode(e, sample);
 
-			LabCommDecoderChannel c = new LabCommDecoderChannel(in);
+			DecoderChannel c = new DecoderChannel(in);
 			FooSample.register(c,this);
 			c.runOne();
 		} catch (Exception e) {

examples/jgrafchart/labcommTCPtest/server/TestServer.java

@@ -8,8 +8,8 @@ import java.lang.reflect.Method;
 import java.net.ServerSocket;
 import java.net.Socket;
 
-import se.lth.control.labcomm.LabCommDecoderChannel;
-import se.lth.control.labcomm.LabCommEncoderChannel;
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
 import labcommTCPtest.gen.foo;
 import labcommTCPtest.gen.foo.Handler;
 
@@ -38,7 +38,7 @@ public class TestServer implements Handler {
 	public void runOne() {
 		
 		try {
-			LabCommDecoderChannel c = new LabCommDecoderChannel(in);
+			DecoderChannel c = new DecoderChannel(in);
 			foo.register(c,this);
 			c.runOne();
 		} catch (Exception e) {
@@ -47,7 +47,7 @@ public class TestServer implements Handler {
 	}
 
 	public void handle_foo(foo sample) throws Exception {
-		LabCommEncoderChannel e = new LabCommEncoderChannel(out );
+		EncoderChannel e = new EncoderChannel(out );
 		foo.register(e);
 		System.out.println("TestServer.handle_foo...");
 		sample.b *= 2;

examples/jgrafchart/turtle1.lc

+/* Topic types */
+sample struct {
+	string turtle_name;
+	float linear;
+	float angular;
+} velocity;
+
+sample struct {
+	string turtle_name;
+	float x;
+	float y;
+	float theta;
+	float linear_velocity;
+	float angular_velocity;
+} pose;
+
+sample struct {
+	string turtle_name;
+	float r;
+	float g;
+	float b;
+} color;
+
+/* Srv types */
+sample void clear;		/* Empty. */
+sample void clear_resp;		/* Empty. */
+
+sample void reset;		/* Empty. */
+sample void reset_resp;		/* Empty. */
+
+sample string kill;		/* Name of turtle. */
+sample void kill_resp;		/* Empty. */
+
+sample struct {
+	string name;
+	float x;
+	float y;
+	float theta;
+} spawn;			/* Coordinates and direction. */
+sample string spawn_resp;	/* Returns name of turtle */
+
+sample struct {
+	string turtle_name;
+	byte r;
+	byte g;
+	byte b;
+	byte width;
+	byte off;
+} set_pen;			/* Pen properties. */
+sample void set_pen_resp;	/* Empty. */
+
+/* TODO: The following two are duplicates. Change to typedefs when working. */
+
+sample struct {
+	string turtle_name;
+	float x;
+	float y;
+	float theta;
+} teleport_absolute;		/* Coordinates and direction. */
+sample void teleport_absolute_resp; /* Empty. */
+
+sample struct {
+	string turtle_name;
+	float linear;
+	float angular;
+} teleport_relative;		/* Similar to velocity but instant. */
+sample void teleport_relative_resp; /* Empty. */

examples/robot/App.config

@@ -3,4 +3,4 @@
     <startup> 
         <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
     </startup>
-</configuration>
\ No newline at end of file
+</configuration>

examples/robot/Follow.mod

@@ -46,4 +46,4 @@ MODULE Follow
         RETURN;
     ENDPROC
     
-ENDMODULE
\ No newline at end of file
+ENDMODULE

examples/robot/LCRobot.lc

@@ -35,4 +35,4 @@ sample struct {
 		float eax_e;
 		float eax_f;
 	} extax;
-} jointtarget;
\ No newline at end of file
+} jointtarget;

examples/robot/Makefile

+all:
+
+clean:
+
+distclean:

examples/robot/Program.cs

-using se.lth.control.labcomm;
+using se.lth.control.labcomm2014;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -10,7 +10,7 @@ using System.Threading.Tasks;
 
 namespace RobotCtrl
 {
-    class Program
+    class Specification
     {
 
         public static string IP_ADDRESS = "127.0.0.1";
@@ -20,11 +20,11 @@ namespace RobotCtrl
         {
             jointtarget val = new jointtarget { robax = new jointtarget.struct_robax(), extax = new jointtarget.struct_extax() };
             TcpClient client = new TcpClient();
-            IPEndPoint serverEndPoint = new IPEndPoint(IPAddress.Parse(Program.IP_ADDRESS), Program.PORT);
+            IPEndPoint serverEndPoint = new IPEndPoint(IPAddress.Parse(Specification.IP_ADDRESS), Specification.PORT);
             try
             {
                 client.Connect(serverEndPoint);
-                LabCommEncoder enc = new LabCommEncoderChannel(client.GetStream(), true);
+                Encoder enc = new EncoderChannel(client.GetStream(), true);
                 jointtarget.register(enc);
                 jointtarget.encode(enc, val);
                 for (int i = 0; i < 10; i++)

examples/robot/RobotCtrl.csproj

@@ -42,7 +42,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="LCRobot.cs" />
-    <Compile Include="Program.cs" />
+    <Compile Include="Specification.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
   </ItemGroup>
   <ItemGroup>
@@ -62,4 +62,4 @@
   <Target Name="AfterBuild">
   </Target>
   -->
-</Project>
\ No newline at end of file
+</Project>

examples/simple/.gitignore

+encoded_data
+encoded_data06
+example_decoder
+example_decoder06
+example_encoder
+example_encoder06
+gen
+gen06

examples/simple/Decoder.java

@@ -2,24 +2,25 @@ import java.io.File;
 import java.io.FileInputStream;
 import java.io.InputStream;
 
-import se.lth.control.labcomm.LabCommDecoderChannel;
+import se.lth.control.labcomm2014.DecoderChannel;
 
 public class Decoder
-  implements theTwoInts.Handler, anotherTwoInts.Handler, IntString.Handler, TwoArrays.Handler, TwoFixedArrays.Handler
+  implements theTwoInts.Handler, anotherTwoInts.Handler, IntString.Handler, TwoArrays.Handler, TwoFixedArrays.Handler, doavoid.Handler
 
 {
 
-  LabCommDecoderChannel decoder;
+  DecoderChannel decoder;
 
   public Decoder(InputStream in) 
     throws Exception 
   {
-    decoder = new LabCommDecoderChannel(in);
+    decoder = new DecoderChannel(in);
     theTwoInts.register(decoder, this);
     anotherTwoInts.register(decoder, this);
     IntString.register(decoder, this);
     TwoArrays.register(decoder, this);
     TwoFixedArrays.register(decoder, this);
+    doavoid.register(decoder, this);
 
     try {
       System.out.println("Running decoder.");
@@ -72,6 +73,10 @@ public class Decoder
     }
     System.out.println();
   }
+  public void handle_doavoid() throws java.io.IOException {
+    System.out.println("Got doavoid");
+  }
+
 
 
   public static void main(String[] arg) throws Exception {

examples/simple/Encoder.java

@@ -2,7 +2,7 @@ import java.io.File;
 import java.io.FileOutputStream;
 import java.io.OutputStream;
 
-import se.lth.control.labcomm.LabCommEncoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
 
 /**
  * Simple encoder 
@@ -10,18 +10,20 @@ import se.lth.control.labcomm.LabCommEncoderChannel;
 public class Encoder 
 {
 
-  LabCommEncoderChannel encoder;
+  EncoderChannel encoder;
 
   public Encoder(OutputStream out) 
     throws Exception 
   {
-    encoder = new LabCommEncoderChannel(out);
+    encoder = new EncoderChannel(out);
+    doavoid.register(encoder);
     theTwoInts.register(encoder);
     IntString.register(encoder);
     TwoArrays.register(encoder);
   }
 
   public void doEncode() throws java.io.IOException {
+
     TwoInts x = new TwoInts();
     x.a = 17;
     x.b = 42;
@@ -35,6 +37,9 @@ public class Encoder
 //    ta.variable = new int[][] {{1,2},{0x11,0x12},{0x21,0x22},{0x31,0x32}};
     ta.variable = new int[][] {{1,2, 3, 4},{0x21,0x22,0x23,0x24}};
 
+    System.out.println("Encoding doavoid");
+    doavoid.encode(encoder);
+
     System.out.println("Encoding theTwoInts, a="+x.a+", b="+x.b);
     theTwoInts.encode(encoder, x);
 

examples/simple/EncoderIS.java

+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.OutputStream;
+
+import se.lth.control.labcomm2014.EncoderChannel;
+
+/**
+ * Simple encoder 
+ */
+public class EncoderIS 
+{
+
+  EncoderChannel encoder;
+
+  public EncoderIS(OutputStream out) 
+    throws Exception 
+  {
+    encoder = new EncoderChannel(out);
+//    doavoid.register(encoder);
+//    theTwoInts.register(encoder);
+    IntString.register(encoder);
+//    TwoArrays.register(encoder);
+  }
+
+  public void doEncodeIS() throws java.io.IOException {
+    IntString a = new IntString();
+    a.x = 17;
+    a.s = "A string";
+
+    IntString b = new IntString();
+    b.x = 9;
+    b.s = "Hej";
+
+    IntString c = new IntString();
+    c.x = 133742;
+    c.s = "Thirteenthirtysevenfourtytwo";
+
+    System.out.println("Encoding IntStrings");
+    IntString.encode(encoder, a);
+    IntString.encode(encoder, b);
+    IntString.encode(encoder, c);
+  }
+
+
+  public static void main(String[] arg) throws Exception {
+    FileOutputStream fos = new FileOutputStream(arg[0]);
+    EncoderIS example = new EncoderIS(fos);
+    example.doEncodeIS();
+    fos.close();
+  }
+
+}
+

examples/simple/Makefile

+all:
+
+clean:
+
+distclean:
+	rm -rf gen
+	rm -f *.class
+	rm -f example_encoder
+	rm -f example_decoder
+	rm -f encoded_data