Merge pull request #110 in ROB/ihmc-open-robotics-software from remov…

…e-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.
ihmcrobotics · Feb 22, 2017 · c787635 · c787635
2 parents 4963420 + 02140f1
commit c787635
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Showing 5 changed files with 57 additions and 112 deletions.
diff --git a/Atlas/src/us/ihmc/atlas/AtlasNetworkProcessor.java b/Atlas/src/us/ihmc/atlas/AtlasNetworkProcessor.java
@@ -59,7 +59,6 @@ public static void main(String[] args) throws URISyntaxException, JSAPException
         networkModuleParams.enableSensorModule(true);
         networkModuleParams.enableBehaviorVisualizer(true);
         networkModuleParams.setDrillDetectionModuleEnabled(true);
-        networkModuleParams.enableRobotEnvironmentAwerenessModule(true);
         networkModuleParams.enableHeightQuadTreeToolbox(true);
         networkModuleParams.enableKinematicsToolboxVisualizer(ENABLE_KINEMATICS_TOOLBOX_SERVER);
 

diff --git a/IHMCAvatarInterfaces/build.gradle b/IHMCAvatarInterfaces/build.gradle
@@ -62,7 +62,6 @@ dependencies {
 	compile group: 'us.ihmc.thirdparty.jme', name: 'jme3-core', version: '3.1.0-internal4'
 	compile group: 'com.github.wendykierp', name: 'JTransforms', version: '3.1'
 	compile group: 'org.reflections', name: 'reflections', version: '0.9.10'
-	compile group: 'us.ihmc', name: 'RobotEnvironmentAwareness', version: '0.2.2'
 
 	compile ihmc.getProjectDependency(":IHMCROSTools")
 	compile ihmc.getProjectDependency(":CommonWalkingControlModules")

diff --git a/IHMCAvatarInterfaces/src/us/ihmc/avatar/networkProcessor/DRCNetworkModuleParameters.java b/IHMCAvatarInterfaces/src/us/ihmc/avatar/networkProcessor/DRCNetworkModuleParameters.java
@@ -32,7 +32,6 @@ public class DRCNetworkModuleParameters
    private boolean useKinematicsToolboxVisualizer = false;
    private boolean useFootstepPlanningToolboxVisualizer = true;
    private boolean useTextToSpeechModule = false;
-   private boolean useRobotEnvironmentAwarenessModule = true;
    private boolean useHeightQuadTreeToolbox = true;
    private boolean useRemoteObjectDetectionFeedback = true;
 
@@ -103,11 +102,6 @@ public boolean isMultisenseManualTestModuleEnabled()
       return useMultisenseManualTestModule;
    }
 
-   public boolean isRobotEnvironmentAwerenessModuleEnabled()
-   {
-      return useRobotEnvironmentAwarenessModule;
-   }
-
    public boolean isHeightQuadTreeToolboxEnabled()
    {
       return useHeightQuadTreeToolbox;
@@ -179,11 +173,6 @@ public void enablePerceptionModule(boolean b)
          useController = true;
    }
 
-   public void enableRobotEnvironmentAwerenessModule(boolean enable)
-   {
-      this.useRobotEnvironmentAwarenessModule = enable;
-   }
-
    public void enableHeightQuadTreeToolbox(boolean useHeightQuadTreeToolbox)
    {
       this.useHeightQuadTreeToolbox = useHeightQuadTreeToolbox;

diff --git a/IHMCAvatarInterfaces/src/us/ihmc/avatar/networkProcessor/DRCNetworkProcessor.java b/IHMCAvatarInterfaces/src/us/ihmc/avatar/networkProcessor/DRCNetworkProcessor.java
@@ -1,9 +1,5 @@
 package us.ihmc.avatar.networkProcessor;
 
-import java.io.IOException;
-import java.util.HashMap;
-import java.util.Map.Entry;
-
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.networkProcessor.footstepPlanningToolboxModule.FootstepPlanningToolboxModule;
 import us.ihmc.avatar.networkProcessor.kinematicsToolboxModule.KinematicsToolboxModule;
@@ -16,20 +12,22 @@
 import us.ihmc.communication.PacketRouter;
 import us.ihmc.communication.configuration.NetworkParameterKeys;
 import us.ihmc.communication.configuration.NetworkParameters;
-import us.ihmc.communication.net.KryoObjectServer;
 import us.ihmc.communication.packetCommunicator.PacketCommunicator;
 import us.ihmc.communication.packets.PacketDestination;
 import us.ihmc.communication.util.NetworkPorts;
 import us.ihmc.humanoidBehaviors.IHMCHumanoidBehaviorManager;
 import us.ihmc.humanoidRobotics.kryo.IHMCCommunicationKryoNetClassList;
 import us.ihmc.multicastLogDataProtocol.modelLoaders.LogModelProvider;
 import us.ihmc.robotBehaviors.watson.TextToSpeechNetworkModule;
-import us.ihmc.robotEnvironmentAwareness.communication.REACommunicationKryoNetClassLists;
 import us.ihmc.robotModels.FullHumanoidRobotModel;
 import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.sensorProcessing.parameters.DRCRobotSensorInformation;
 import us.ihmc.tools.io.printing.PrintTools;
 
+import java.io.IOException;
+import java.util.HashMap;
+import java.util.Map.Entry;
+
 public class DRCNetworkProcessor
 {
    private static final IHMCCommunicationKryoNetClassList NET_CLASS_LIST = new IHMCCommunicationKryoNetClassList();
@@ -56,7 +54,6 @@ public DRCNetworkProcessor(DRCRobotModel robotModel, DRCNetworkModuleParameters
          setupFootstepPlanningToolboxModule(robotModel, params);
          addRobotSpecificModuleCommunicators(params.getRobotSpecificModuleCommunicatorPorts());
          addTextToSpeechEngine(params);
-         setupRobotEnvironmentAwarenessModule(params);
          setupHeightQuadTreeToolboxModule(robotModel, params);
          setupLidarScanLogger();
          setupRemoteObjectDetectionFeedbackEndpoint(params);
@@ -93,7 +90,8 @@ private void setupZeroPoseRobotConfigurationPublisherModule(DRCRobotModel robotM
    {
       if (params.isZeroPoseRobotConfigurationPublisherEnabled())
       {
-         PacketCommunicator zeroPosePublisherCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ZERO_POSE_PRODUCER, NET_CLASS_LIST);
+         PacketCommunicator zeroPosePublisherCommunicator = PacketCommunicator
+               .createIntraprocessPacketCommunicator(NetworkPorts.ZERO_POSE_PRODUCER, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.ZERO_POSE_PRODUCER, zeroPosePublisherCommunicator);
          try
          {
@@ -118,12 +116,12 @@ private void addRobotSpecificModuleCommunicators(HashMap<NetworkPorts, PacketDes
          packetRouter.attachPacketCommunicator(destinationId, packetCommunicator);
          try
          {
-		   	packetCommunicator.connect();
-		   }
+            packetCommunicator.connect();
+         }
          catch (IOException e)
          {
-   			e.printStackTrace();
-	   	}
+            e.printStackTrace();
+         }
          printModuleConnectedDebugStatement(destinationId, "addRobotSpecificModuleCommunicators");
       }
    }
@@ -152,7 +150,8 @@ private void setupRemoteObjectDetectionFeedbackEndpoint(DRCNetworkModuleParamete
    {
       if (params.isRemoteObjectDetectionFeedbackEnabled())
       {
-         PacketCommunicator objectDetectionFeedbackCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(NetworkPorts.VALVE_DETECTOR_FEEDBACK_PORT, NET_CLASS_LIST);
+         PacketCommunicator objectDetectionFeedbackCommunicator = PacketCommunicator
+               .createTCPPacketCommunicatorServer(NetworkPorts.VALVE_DETECTOR_FEEDBACK_PORT, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.OBJECT_DETECTOR, objectDetectionFeedbackCommunicator);
          try
          {
@@ -175,7 +174,8 @@ private void setupKinematicsToolboxModule(DRCRobotModel robotModel, DRCNetworkMo
 
       new KinematicsToolboxModule(robotModel, params.isKinematicsToolboxVisualizerEnabled());
 
-      PacketCommunicator kinematicsToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.KINEMATICS_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
+      PacketCommunicator kinematicsToolboxCommunicator = PacketCommunicator
+            .createIntraprocessPacketCommunicator(NetworkPorts.KINEMATICS_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
       packetRouter.attachPacketCommunicator(PacketDestination.KINEMATICS_TOOLBOX_MODULE, kinematicsToolboxCommunicator);
       kinematicsToolboxCommunicator.connect();
 
@@ -192,7 +192,8 @@ private void setupFootstepPlanningToolboxModule(DRCRobotModel robotModel, DRCNet
 
       new FootstepPlanningToolboxModule(robotModel, fullRobotModel, null, params.isFootstepPlanningToolboxVisualizerEnabled());
 
-      PacketCommunicator footstepPlanningToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.FOOTSTEP_PLANNING_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
+      PacketCommunicator footstepPlanningToolboxCommunicator = PacketCommunicator
+            .createIntraprocessPacketCommunicator(NetworkPorts.FOOTSTEP_PLANNING_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
       packetRouter.attachPacketCommunicator(PacketDestination.FOOTSTEP_PLANNING_TOOLBOX_MODULE, footstepPlanningToolboxCommunicator);
       footstepPlanningToolboxCommunicator.connect();
 
@@ -206,7 +207,8 @@ private void setupMultisenseManualTestModule(DRCRobotModel robotModel, DRCNetwor
       {
          new MultisenseMocapManualCalibrationTestModule(robotModel, params.getRosUri());
 
-         PacketCommunicator multisenseModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MULTISENSE_MOCAP_MANUAL_CALIBRATION_TEST_MODULE, NET_CLASS_LIST);
+         PacketCommunicator multisenseModuleCommunicator = PacketCommunicator
+               .createIntraprocessPacketCommunicator(NetworkPorts.MULTISENSE_MOCAP_MANUAL_CALIBRATION_TEST_MODULE, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.MULTISENSE_TEST_MODULE, multisenseModuleCommunicator);
          try
          {
@@ -222,26 +224,26 @@ private void setupMultisenseManualTestModule(DRCRobotModel robotModel, DRCNetwor
       }
    }
 
-   private void setupMocapModule(DRCNetworkModuleParameters params)  throws IOException
+   private void setupMocapModule(DRCNetworkModuleParameters params) throws IOException
    {
-     if (params.isMocapModuleEnabled())
-     {
-//        new MocapDetectedObjectModule(null, null, null);
+      if (params.isMocapModuleEnabled())
+      {
+         //        new MocapDetectedObjectModule(null, null, null);
 
-        PacketCommunicator mocapModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MOCAP_MODULE, NET_CLASS_LIST);
-        packetRouter.attachPacketCommunicator(PacketDestination.MOCAP_MODULE, mocapModuleCommunicator);
-        mocapModuleCommunicator.connect();
+         PacketCommunicator mocapModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MOCAP_MODULE, NET_CLASS_LIST);
+         packetRouter.attachPacketCommunicator(PacketDestination.MOCAP_MODULE, mocapModuleCommunicator);
+         mocapModuleCommunicator.connect();
 
-        String methodName = "setupMocapModule";
-        printModuleConnectedDebugStatement(PacketDestination.MOCAP_MODULE, methodName);
-     }
+         String methodName = "setupMocapModule";
+         printModuleConnectedDebugStatement(PacketDestination.MOCAP_MODULE, methodName);
+      }
    }
 
    private void setupHandModules(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException
    {
       if (params.isHandModuleEnabled())
       {
-         for(RobotSide robotSide : RobotSide.values)
+         for (RobotSide robotSide : RobotSide.values)
          {
             NetworkPorts port = robotSide == RobotSide.LEFT ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT;
             PacketCommunicator handModuleCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, NET_CLASS_LIST);
@@ -264,18 +266,20 @@ private void setupBehaviorModule(DRCRobotModel robotModel, DRCNetworkModuleParam
 
          if (params.isAutomaticDiagnosticEnabled())
          {
-            IHMCHumanoidBehaviorManager.createBehaviorModuleForAutomaticDiagnostic(robotModel, logModelProvider, params.isBehaviorVisualizerEnabled(), sensorInformation, params.getTimeToWaitBeforeStartingDiagnostics());
+            IHMCHumanoidBehaviorManager
+                  .createBehaviorModuleForAutomaticDiagnostic(robotModel, logModelProvider, params.isBehaviorVisualizerEnabled(), sensorInformation,
+                                                              params.getTimeToWaitBeforeStartingDiagnostics());
          }
          else
          {
             new IHMCHumanoidBehaviorManager(robotModel, logModelProvider, params.isBehaviorVisualizerEnabled(), sensorInformation);
          }
 
-         PacketCommunicator behaviorModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.BEHAVIOUR_MODULE_PORT, NET_CLASS_LIST);
+         PacketCommunicator behaviorModuleCommunicator = PacketCommunicator
+               .createIntraprocessPacketCommunicator(NetworkPorts.BEHAVIOUR_MODULE_PORT, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.BEHAVIOR_MODULE, behaviorModuleCommunicator);
          behaviorModuleCommunicator.connect();
 
-
          String methodName = "setupBehaviorModule ";
          printModuleConnectedDebugStatement(PacketDestination.BEHAVIOR_MODULE, methodName);
       }
@@ -311,11 +315,11 @@ private void setupSensorModule(DRCRobotModel robotModel, DRCNetworkModuleParamet
          }
          sensorSuiteManager.connect();
 
-         PacketCommunicator sensorSuiteManagerCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.SENSOR_MANAGER, NET_CLASS_LIST);
+         PacketCommunicator sensorSuiteManagerCommunicator = PacketCommunicator
+               .createIntraprocessPacketCommunicator(NetworkPorts.SENSOR_MANAGER, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.SENSOR_MANAGER, sensorSuiteManagerCommunicator);
          sensorSuiteManagerCommunicator.connect();
 
-
          String methodName = "setupSensorModule ";
          printModuleConnectedDebugStatement(PacketDestination.SENSOR_MANAGER, methodName);
       }
@@ -337,7 +341,7 @@ private void setupUiModule(DRCNetworkModuleParameters params) throws IOException
 
    private void setupROSAPIModule(DRCNetworkModuleParameters params) throws IOException
    {
-      if(params.isROSAPICommunicatorEnabled())
+      if (params.isROSAPICommunicatorEnabled())
       {
          PacketCommunicator rosAPICommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_API_COMMUNICATOR, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.ROS_API, rosAPICommunicator);
@@ -352,15 +356,17 @@ private void setupControllerCommunicator(DRCNetworkModuleParameters params) thro
       if (params.isControllerCommunicatorEnabled())
       {
          PacketCommunicator controllerPacketCommunicator;
-         if(params.isLocalControllerCommunicatorEnabled())
+         if (params.isLocalControllerCommunicatorEnabled())
          {
             PrintTools.info(this, "Connecting to controller using intra process communication");
             controllerPacketCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.CONTROLLER_PORT, NET_CLASS_LIST);
          }
          else
          {
             System.out.println("Connecting to controller using TCP on " + NetworkParameters.getHost(NetworkParameterKeys.robotController));
-            controllerPacketCommunicator = PacketCommunicator.createTCPPacketCommunicatorClient(NetworkParameters.getHost(NetworkParameterKeys.robotController), NetworkPorts.CONTROLLER_PORT, NET_CLASS_LIST);
+            controllerPacketCommunicator = PacketCommunicator
+                  .createTCPPacketCommunicatorClient(NetworkParameters.getHost(NetworkParameterKeys.robotController), NetworkPorts.CONTROLLER_PORT,
+                                                     NET_CLASS_LIST);
          }
 
          packetRouter.attachPacketCommunicator(PacketDestination.CONTROLLER, controllerPacketCommunicator);
@@ -371,25 +377,14 @@ private void setupControllerCommunicator(DRCNetworkModuleParameters params) thro
       }
    }
 
-   private void setupRobotEnvironmentAwarenessModule(DRCNetworkModuleParameters parameters) throws IOException
-   {
-      if (parameters.isRobotEnvironmentAwerenessModuleEnabled())
-      {
-         KryoObjectServer server = new KryoObjectServer(NetworkPorts.REA_MODULE_PORT.getPort(), REACommunicationKryoNetClassLists.getPublicNetClassList());
-         server.throwExceptionForUnregisteredPackets(false);
-         PacketCommunicator reaCommunicator = PacketCommunicator.createCustomPacketCommunicator(server, REACommunicationKryoNetClassLists.getPublicNetClassList());
-         packetRouter.attachPacketCommunicator(PacketDestination.REA_MODULE, reaCommunicator);
-         reaCommunicator.connect();
-      }
-   }
-
    private void setupHeightQuadTreeToolboxModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException
    {
       if (params.isHeightQuadTreeToolboxEnabled())
       {
          new HeightQuadTreeToolboxModule(robotModel.createFullRobotModel(), robotModel.getLogModelProvider());
 
-         PacketCommunicator heightQuadTreeToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.HEIGHT_QUADTREE_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
+         PacketCommunicator heightQuadTreeToolboxCommunicator = PacketCommunicator
+               .createIntraprocessPacketCommunicator(NetworkPorts.HEIGHT_QUADTREE_TOOLBOX_MODULE_PORT, NET_CLASS_LIST);
          packetRouter.attachPacketCommunicator(PacketDestination.HEIGHT_QUADTREE_TOOLBOX_MODULE, heightQuadTreeToolboxCommunicator);
          heightQuadTreeToolboxCommunicator.connect();
 
@@ -400,7 +395,8 @@ private void setupHeightQuadTreeToolboxModule(DRCRobotModel robotModel, DRCNetwo
 
    private void setupLidarScanLogger() throws IOException
    {
-      PacketCommunicator lidarScanLoggerCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(NetworkPorts.LIDAR_SCAN_LOGGER_PORT, NET_CLASS_LIST);
+      PacketCommunicator lidarScanLoggerCommunicator = PacketCommunicator
+            .createTCPPacketCommunicatorServer(NetworkPorts.LIDAR_SCAN_LOGGER_PORT, NET_CLASS_LIST);
       packetRouter.attachPacketCommunicator(PacketDestination.LIDAR_SCAN_LOGGER, lidarScanLoggerCommunicator);
       lidarScanLoggerCommunicator.connect();