perm filename PREAMB.TXT[SYS,HE]1 blob
sn#004161 filedate 1972-10-02 generic text, type T, neo UTF8
00100 COMMENT ⊗ VALID 00018 PAGES
00200 RECORD PAGE DESCRIPTION
00300 00001 00001
00400 00007 00002 REQUIRE 32 VERSION COMMENT THIS NUMBER SHOULD BE UPDATED EVERY TIME A
00500 00009 00003 Comment SECTION 1 -- The Models - the 3-D TABLE MODEL
00600 00012 00004 Comment 2D MODEL [SET UP BY EDGE FOLLOWER]
00700 00014 00005 Comment 2D REGION MODEL [SET UP BY SIMPLE - CURRENTLY NOT USED BY ANYONE ELSE]
00800 00017 00006 Comment 3D MODEL -- objects in the world. [SET UP BY IIDRV AND SIMPLE - USED IN IIDRV]
00900 00020 00007 Comment CAMERA MODEL
01000 00023 00008 Comment SECTION 2 -- Logical job names and flags
01100 00027 00009 SECTION 3 - JOB SPECIFIC MESSAGE PROCEDURES AND DATA - HE AND SYSTEM
01200 00029 00010 Comment **** EDGE ****
01300 00032 00011 **** VERIFIER ****
01400 00033 00012 Comment CAMERA
01500 00035 00013 Comment SIMPLE
01600 00037 00014 YOU have found the COMPLEX page
01700 00040 00015 comment COLOR
01800 00042 00016 comment *** HAND ***
01900 00057 00017 Comment Section 4 -- Modules' own global data
02000 00061 00018 This is the edge followers very own set (no pun intended).
02100 00062 ENDMK
02200 ⊗;
00100 REQUIRE 33 VERSION; COMMENT THIS NUMBER SHOULD BE UPDATED EVERY TIME A
00200 VARIABLE OR ITEM IS CHANGED IN ANY WAY;
00300 Comment
00400 THIS IS FILE PREAMB.TXT ON [II,HE]
00500
00600 After a title like that, anything like what follows must be considered
00700 anti-climactic. However, in order to eventually say END "HAND EYE SYSTEM",
00800 we must dig in and make a start.
00900
01000 This file is divided into sections:
01100 1. The MODELS... The data representations which, to some
01200 extent, everyone must know about.
01300 2. The once_per_module data. These include display variables,
01400 debugging permissions, etc.
01500 3. The local message procedure definitions and the semi-local
01600 data definitions. These are variables which
01700 do not qualify under 1 or 2, but which are needed.
01800 ;
00100 Comment SECTION 1 -- The Models - the 3-D TABLE MODEL
00200
00300 ;
00400
00500
00600 Comment TABLE MODEL ----- [not currently used]
00700 This consists of an itemvar array TABLE, whose indices are x/4,y/4
00800 where x and y are in inches, and are table coordinates. Initially,
00900 TABLE[i,j] is filled up with a shiny global item, if TAB_INIT is
01000 TRUE. As things become known about this element, various associations
01100 on this item are made:
01200
01300 the item for each index has an integer datum decoded as follows:
01400 0 grid square not scanned yet
01500 1 grid square completely scanned and is empty
01600 -1 grid square at least partially scanned and
01700 contains something, according to the associations.
01800
01900 BLOB ⊗ TABLE[i,j] ≡ blobs known to be located in this area
02000 This is the first association created. When the blob
02100 has been recognized completely, this association is
02200 replaced by
02300 ON ⊗ TABLE[i,j] ≡ objects known to be located in this area
02400 HIDDEN ⊗ TABLE[i,j] ≡ objects hiding the area
02500 The squares containing this association for a given object
02600 are those which were covered by the BLOB association but
02700 not the ON association.
02800 HEIGHT ⊗ TABLE[i,j] ≡ and item whose real datum is the height, in
02900 inches of the highest point of an object which occupies
03000 this square.
03100
03200 ;
03300
03400 Global Itemvar Array TABLE[0:11,0:19];
03500 Global Item ON,HEIGHT,BLOB,HIDDEN;
03600 Global Boolean TAB_INIT;
00100 Comment 2D MODEL [SET UP BY EDGE FOLLOWER]
00200
00300 The 2D model is basically concerned with those elusive entities,
00400 BLOBs. Each blob is represented by a global item, with some
00500 information saved about it.
00600
00700 global datum (blob) is Karl's edge follower internal number.
00800
00900 BOUNDARY ⊗ blob ≡ a real array with data about the corners of the
01000 outside, closed contour. These are stored as real numbers,
01100 as follows:
01200 real array foo[1:2,0:n]
01300 with the convention that the x coordinate is in 1,j and the
01400 y coordinate is in 2,j. These are screen coordinates.
01500 There are n corners. Thus the array element 1,0 is used to
01600 store n (albeit in real form!).
01700
01800 INSIDE_EDGES ⊗ blob ≡ a similar real array, except arranged differently:
01900 real array foo[1:4,0:n]
02000 with the convention that the edge runs from [1,j],[2,j] to
02100 [3,j],[4,j] on the screen. Again, 1,0 is used to store
02200 the number of such edges.
02300
02400 XFORM ⊗ blob ≡ an item whose datum is the current camera transform.
02500 See camera stuff below.
02600
02700 BLOBS contains a set of BLOB items stored there by K. Pingle which
02800 are now ready to be processed.;
02900
03000 Global set BLOBS;
03100
03200 Global Item XFORM,INSIDE_EDGES,BOUNDARY;
00100 Comment 2D REGION MODEL [SET UP BY SIMPLE - CURRENTLY NOT USED BY ANYONE ELSE]
00200
00300 NOTE: MORE INFORMATION ON COMPLEX PAGE !!!
00400
00500 This is the results of a region analysis of the scene. This model will
00600 not necessarily reside in the global data area. However, there is no harm
00700 in declaring its attributes to be global, so the description is included
00800 here for clarity.
00900
01000 The basic unit is the SCENE. We then make associations to locate
01100 various objects in the scene:
01200
01300 BACKGROUND ⊗ scene ≡ some specific region.
01400 REGION ⊗ scene ≡ all separate regions in the scene.
01500 BOUNDARY ⊗ region ≡ lines
01600 CORNER ⊗ region ≡ points
01700 ENDPOINT ⊗ lines ≡ points
01800
01900 Further, there is something linking the scene and its source blob, e.g.
02000
02100 REGION_ANALYSIS ⊗ blob ≡ scene
02200
02300 The datums of things are quasi-important:
02400
02500 datum (endpoint) is a real array [1:6]
02600 1-4 x,y,z,w on table
02700 5,6 x,y screen coords.
02800
02900 ;
03000
03100 Global Item SCENE,BACKGROUND,REGION,CORNER,ENDPT,PERIMETER;
03200 Global Item VERTEX,BODY,LINE,POINT,EDGE;
03300 GLOBAL ITEM BASE,ATR,OCCLUDER,ABOVE,PARENT,SON,FLAVOR;
03400 GLOBAL ITEM TJOINT,BADT,MULTI,KJOINT,GOODX,BADX,ARROW,BADARO,GOODY,BADY;
03500 GLOBAL ITEM GOODL,BADL;
03600
03700
03800 COMMENT The GLOBAL MODEL contains a set of all the prototype names contained in
03900 the GLOBAL MODEL;
04000
04100 GLOBAL SET PROTOTYPES;
04200
04300 Comment -- NOTA BENE This previous description is wrong. Kicha -- correct please;
00100 Comment 3D MODEL -- objects in the world. [SET UP BY IIDRV AND SIMPLE - USED IN IIDRV]
00200
00300 This is the model which represents things found and completely
00400 recognized. However, information may be partially missing (e.g. the
00500 colors of all faces may not yet be known).
00600
00700 The main association is:
00800 INSTANCE ⊗ prototype ≡ object.
00900
01000 Datum (obj) is the transform a la Gil, which takes the prototype coordinates
01100 into a location for the object.
01200
01300 Each object may have a wealth of things stored about it:
01400 for II, the main association is always INSTANCE⊗CUBE≡object
01500
01600 EDGES⊗object≡ an item whose datum is an array identical to that for
01700 INSIDE_EDGES containing all visible edges of the object.
01800 It is made by SIMPLE for the use of II and EDGE.
01900
02000
02100 FAi are global items designating the faces of the objects
02200
02300 FACE⊗object≡FAi one of these for each face of each object
02400
02500 VISIBLE⊗object≡FAi one of these for each visible face of each object
02600
02700 NORMAL⊗FAi≡ the normal vector to the center of FAi
02800
02900 CENTER⊗FAi≡ a two element integer array giving the center
03000 of the face in TV coordinates.
03100
03200 COLOR⊗FAi≡some color.
03300 ;
03400
03500 Global Item INVERSE,CONCAVE,SHAPE,INSTANCE,COLOR,SIZEOBJ,LEFT,RIGHT,SUPPORTER;
03600 Global Integer Item BLUE,GREEN,RED,WHITE,ORANGE,YELLOW,NORMAL,VISIBLE;
03700 GLOBAL ITEM EDGES,CENTER,FACE;
03800
03900 Comment so that people can know what is around in the global model by
04000 way of prototypes, SIMPLE makes the following assertion:
04100
04200 PROTOTYPE⊗SCENE≡prototype_name
04300
04400 therefore:;
04500
04600 GLOBAL ITEM PROTOTYPE;
04700
04800 Comment also the prototype names;
04900
05000 Global Item RPP114,RPP112,RPP122,RPP124,WEDGE122,WEDGE124,RHOMBOID,LBEAM,CUBE;
05100
05200 Global Integer GOT_MODELS; comment set if the global prototypes are read in;
00100 Comment CAMERA MODEL
00200
00300 This model has all good things about the camera.
00400
00500 There is an itemvar called CURCAM which contains an
00600 item whose datum is an array which completely describes the view
00700 from the camera.All references to TRANSFORMs are references to items
00800 of this variety.;
00900
01000 Global Real Array CAMERA_MODEL,CAMERA_PREDI[1:10,1:3];
01100 Comment 1:3,1:3 is colineation matrix (TABLE → SCREEN),
01200 4 ,1:3 is lens center coords
01300 5 ,1:2 screen coords of Piercing Point
01400 6:8,1:3 inverse colineation matrix (SCREEN→TABLE)
01500 9 ,1:3 CAMPAN, CAMTIL, CAMRANG
01600 10,1:2 CAMERA NO. CAMLENS
01700 MODEL has the current transforms, PREDI has the predicted
01800 transforms for the point req. last in CAM_PRED;
01900
02000 GLOBAL INTEGER CAMFLG,CAMLENS;
02100 GLOBAL REAL CAMPAN,CAMTIL,CAMRANG;
02200 Global Real Array Itemvar CURCAM;
02300 GLOBAL REAL ARRAY A_REC,AI_REC[1:3,1:3],LENS_REC[1:3];
02400 Global Real PANPOT,TILPOT,FOCPOT;
02500
02600 Comment CORNER FINDER(EYE) MODEL;
02700
02800 GLOBAL INTEGER EYEFLG;
02900 GLOBAL REAL ARRAY DIR_EYE[0:10,1:8];
03000 comment DIR[.,1],DIR[.,2],DIR[.,3],DIR[.,4], direction cosines of corner sides
03100 DIR[.,5],DIR[.,6]-screen coords of corner
03200 DIR[.,7]=0 if corner, 1 if line
03300 DIR[.,8]=0 if match, 1 if only 1st. edge match, 2 if 2nd. match
03400 different rows are for different features found in the same window;
03500 GLOBAL INTEGER ARRAY LOOK_AT[1:8];
03600 comment LOOK_AT[1]-camrea number: 1-old camera, 2-new camera(don`t use yet)
03700 LOOK_AT[2],LOOK_AT[3]-screen coordinates of center of window
03800 LOOK_AT[4]-width of window
03900 LOOK_AT[5]-hight of window
04000 LOOK_AT[6],LOOK_AT[7]-TCLIP,BCLIP
04100 LOOK_AT[8]-sensitivity;
04200
04300 comment AUTO FOCUSSING MODEL;
04400
04500 GLOBAL INTEGER FOCFLG;
04600 comment for error indication;
04700 GLOBAL REAL FOCRANG,FOCDELF;
04800 comment FOCRANG is the range estimate to best focus.
04900 FOCDELF is the estimate of range uncertainty;
00100 Comment SECTION 2 -- Logical job names and flags
00200
00300 These logical names are those for the global flags only. They should
00400 not be confused with the logiccal names used by the message procedure
00500 routines or by and hand/eye monitor, although it would be nice if they
00600 were all the same.
00700
00800 Table of logical names:
00900
01000 EDGE Karl Pingle and the edge followers, riding in shining armour.
01100 CUR CURVE FITTER
01200 SIMP Gil's easiest way to success, though not the surest.
01300 CAM The camera mover minded by A Gill. (Formerly the eye itself, and its mentor, I Sobel.
01400 VER J.M. Tenenbaum's line verifyer
01500 SEG THE SEGMENTER - GUZMAN REINCARNATED A LA FALK
01600 REC THE COMPLEX SCENE DESCRIBER - WHAT IS WHERE?
01700 PRED PREDICTOR-HIDDEN LINE ELIMINATOR -SLOW BUT STEADY WINS THE RACE!
01800 COL Color recognizer.
01900 HAND The arm program
02000 MOVE Yet another arm program - two arms are better than one
02100 GUN GUNNAR'S REGION FINDER
02200 DRV CONTRL PROGRAM
02300 EYE Gill's corner search and match, you are welcome to try it.
02400 FOC Automaic-Focus. Ask J.M.T about thery, Gill about practice.
02500
02600 Template data:
02700
02800 DEB_@ If TRUE, you may put debugging information on the disk.
02900 DIS_@ If TRUE, you may disply to your heart's content.
03000 YES_@ You should set to TRUE as you initialize.
03100 TYP_@ You may type out anything you please -- don't go into wait,tho.
03200
03300 BELOW ARE THE CURRENTLY USED GLOBAL FLAGS;
03400
03500 Global Integer DEB_EDGE,DIS_EDGE,YES_EDGE,TYP_EDGE;
03600 GLOBAL INTEGER DEB_CUR,DIS_CUR,YES_CUR,TYP_CUR;
03700 Global Integer DEB_SIMP,DIS_SIMP,YES_SIMP,TYP_SIMP;
03800 Global Integer DEB_CAM,DIS_CAM,YES_CAM,TYP_CAM;
03900 Global Integer DEB_VER,DIS_VER,YES_VER,TYP_VER;
04000 Global Integer DEB_COL,DIS_COL,YES_COL,TYP_COL;
04100 Global Integer DEB_II,DIS_II,YES_II,TYP_II;
04200 GLOBAL INTEGER DEB_GUN,DIS_GUN,YES_GUN,TYP_GUN;
04300 GLOBAL INTEGER DEB_EYE,DIS_EYE,YES_EYE,TYP_EYE;
04400 GLOBAL INTEGER DEB_HAND,DIS_HAND,YES_HAND,TYP_HAND;
04500 GLOBAL INTEGER DEB_MOVE,DIS_MOVE,YES_MOVE,TYP_MOVE;
04600 Global Integer DEB_SEG,DIS_SEG,YES_SEG,TYP_SEG;
04700 Global Integer DEB_REC,DIS_REC,YES_REC,TYP_REC;
04800 Global Integer DEB_PRED,DIS_PRED,YES_PRED,TYP_PRED;
04900 Global Integer DEB_FOC,DIS_FOC,YES_FOC,TYP_FOC;
00100 COMMENT SECTION 3 - JOB SPECIFIC MESSAGE PROCEDURES AND DATA - HE AND SYSTEM;
00200
00300 Define mp="Forward Message Procedure";
00400 Define smp="Forward Simple Message Procedure";
00500
00600 comment the run number which is honest only if HE is controling this mess;
00700
00800 global integer RUN;
00900
01000
01100 comment the message procedure trace flag, which is defined in the
01200 second segment;
01300
01400 EXTERNAL BOOLEAN TRACING;
01500
01600 comment misc. items;
01700
01800 GLOBAL ITEM NIL, EVERY;
01900
02000 Comment table of free display frames for h/e version of Quam display code;
02100
02200 GLOBAL INTEGER ARRAY GDISP[0:14];
02300 GLOBAL INTEGER GDISP_INIT; Comment this is the initialization flag for GDISP;
02400
02500 comment this is the monitors only public message procedure, TRACE can only be called
02600 from the second segment;
02700
02800 smp MON_COM(string command);
02900
03000 Comment =-1 if monitor on data disk, 1 if on III, 0 if no monitor;
03100
03200 GLOBAL INTEGER DISDEV;
00100 Comment **** EDGE ****
00200
00300 For a detailed description of these procedures, see EYE.WRU[SYS,HE].
00400 Only the definitions themselves are given here.;
00500
00600 COMMENT MISC. PROCEDURES;
00700
00800 mp GETDATA ( ITEMVAR arg; reference boolean flag);
00900 smp DISK ( string name; reference boolean flag);
01000 smp TV;
01100 smp XEQ ( string command; reference boolean flag);
01200 smp DEBUG ( string name; string val; reference boolean flag);
01300 smp RESTART_KKP;
01400 smp SETVAL ( string name; integer val; reference boolean flag);
01500
01600 comment main calls;
01700
01800 mp FIND ( ITEMVAR arg );
01900 mp RELOOK ( ITEMVAR arg; INTEGER x, y );
02000 mp FIT ( ITEMVAR arg );
02100 mp INSIDE ( ITEMVAR arg );
02200 mp COMPACT ( ITEMVAR arg );
02300 mp INSCAN(integer a,b,c,d;REFERENCE INTEGER Z);
02400 mp REJECT ( ITEMVAR arg );
02500 MP FINE(ITEMVAR ARG);
02600 mp GUNTRACE ( set blobs; integer file);
02700
02800 Comment these last nine return a message (to be found in you the caller):;
02900
03000 mp RESPONSE ( string name; integer arg; integer status );
03100
03200 comment the next message links to gunnar;
03300
03400 mp DATA ( integer file;reference integer fname);
03500
03600 MP SEND_DATA ( INTEGER COUNT; REAL ARRAY DAT);
03700
03800 Comment this last returns a message (to be found in you the caller):;
03900
04000 mp EDGE_DATA ( integer size; real array arrx );
04100
04200 comment the next message links to the curve fitter;
04300
04400 MP CURVE_FIT(REAL ARRAY DATA);
00100 COMMENT **** VERIFIER ****;
00200
00300 mp VERIFY(INTEGER X1, Y1, X2, Y2; REFERENCE REAL CONF); COMMENT CONF IS CONFIDENCE;
00400
00500 GLOBAL REAL CONFID; COMMENT THIS IS TO RETURN CONF;
00100 Comment CAMERA
00200
00300 For now, this is very simple, and will merely involve reading a
00400 camera model from the disk, reading pan tilt pots, and creating
00500 the matrices described in the camera model.
00600 Now, at last, we are more sofisticated: you can also MOVE the camera!
00700 ;
00800
00900 SIMPLE mp CAM_UPDATE;
01000 SIMPLE mp CAM_INIT ;
01100 comment read in an initialized model...;
01200
01300 SIMPLE mp CHNG_LENS(INTEGER LENS);
01400 comment 1-25mm, 2-50mm, don't try other yet;
01500
01600 SIMPLE mp MOVE_CAM(REAL PAN,TILT);
01700 comment PAN from -X into table, TILT from horizon down, in RADs;
01800
01900 SIMPLE mp CHNG_FOCUS(REAL RANGE);
02000 comment RANGE in inchs;
02100
02200 SIMPLE mp CAM_CENTER(INTEGER LENS; REAL X,Y,Z);
02300 comment X,Y,Z, in table coordinates;
02400
02500 SIMPLE mp CAM_PRED(INTEGER LENS; REAL X,Y,Z);
02600 comment X,Y,Z, in table coordinates;
02700
00100 Comment SIMPLE
00200
00300 These are preliminary at best.
00400 Prototypes must be in the global segment specified when running SIMPLE.
00500 The global segment can be created by running MAKSEG.DMP on [SYS,HE].
00600
00700 Simplefit is called to try to recognize the blob. Status is returned.
00800 ;
00900
01000
01100 mp SIMP_FIT ( item blob ;reference integer status; reference real array itemvar x);
01200
01300 Comment Status is returned .....
01400 0 -- perfect match to a prototype. The new item created
01500 for the instance is in x.
01600 -1 -- no BOUNDARY or TRANSFORM information in global model.
01700 1 -- wrong number of outside edges for us.
01800 2 -- screwup in matching process.
01900
02000 ;
02100 mp SIMP_UPDATE ( real array itemvar obj; real array trans; reference integer stat);
02200
02300 COMMENT adjusts the world model for obj being moved TO (underlined and italicized)
02400 trans;
02500
00100 COMMENT YOU have found the COMPLEX page
00200
00300 Some words about the model are in order here (i think)...
00400 COMPLEX wants the following global model associations:
00500
00600 GLOBAL INPUT MODEL:
00700
00800 POINT⊗<scene>≡<point>
00900 LINE⊗<scene>≡<line>
01000 ENDPT⊗<line>≡<point 1>
01100 ENDPT⊗<line>≡<point 2>
01200 REGION⊗<scene>≡<region>
01300 PERIMETER⊗<region>≡<list item>
01400 BACKGROUND⊗<scene>≡<region>
01500 TRANSFORM⊗<scene>≡<array item>
01600
01700 with the following datums:
01800 ∂(<point>)=<array item> s.t.
01900 ∂(<pt>)[1]= tv x coor
02000 ∂(<pt>)[2]= tv y coor
02100 ∂(<pt>)[6]= display x coor
02200 ∂(<pt>)[7]= display y coor
02300 ∂(<list item>) = list of vertices around the regions
02400 ∂(<array item>) = 10 x 3 camera transform
02500
02600 after sufficient thrashing around a description of the above input
02700 data is put out in the form of bodies:
02800
02900 GLOBAL OUTPUT MODEL:
03000
03100 BODY⊗<scene>≡<body>
03200 LINE⊗<body>≡<line>
03300 POINT⊗<body>≡<point>
03400 REGION⊗<body>≡<region>
03500 BOUNDARY⊗<region>≡<line>
03600 CORNER⊗<region>≡<point>
03700
03800
03900 COMPLEX currently consists of three jobs:
04000 RECOGNIZER JOB1
04100 SEGMENTER JOB2
04200 PREDICTOR JOB3
04300
04400 The order of operation is:
04500 1 JOB1 calls JOB2
04600 2 JOB2 separates the scene and supplies support and occluder
04700 data for the global model
04800 3 JOB1 returns to do its recognizer thing
04900 4 then JOB1 calls JOB3 to verify that it got the right answer
05000 ;
05100
05200
05300 COMMENT THE RECOGNIZER;
05400 FORWARD MESSAGE PROCEDURE ANALYZE(ITEMVAR SCENE);
05500 FORWARD MESSAGE PROCEDURE PREDICT;
05600
05700 COMMENT THE SEGMENTER;
05800 FORWARD MESSAGE PROCEDURE SEGMENT;
05900
06000
06100 COMMENT PREDICTOR-HIDDEN LINE ELIMINATOR;
06200 FORWARD MESSAGE PROCEDURE
06300 CHECK (ITEMVAR SCENE);
06400
06500
06600
06700
00100 comment COLOR ;
00200
00300 mp CLR_GET ( INTEGER N; REAL ARRAY POINTS);
00400 Comment call to get colors for points. POINTS is indexed
00500 by [1:2,1:N] for x,y screen coords of places to look;
00600
00700 mp CLR_RESPONSE ( INTEGER ITEMVAR ARRAY GJ);
00800 Comment this is the response for colors;
00900
01000
01100
01200 comment EYE;
01300
01400 SIMPLE mp SRCH_IMAGE(INTEGER BKGR,INT,SEARCH; REAL TOLER; REAL ARRAY DIRD);
01500 comment Jack_of_all_trades, see explanation below
01600 BKGR- -1 for dark background, 1 for light background, 0 for all regions
01700 INT-intensity match 1-for darker inside, -1-for lighter inside,
01800 0-for no match
01900 SEARCH-width of window to search (in LOOK_AT[4] units,
02000 0 for no search but recentering allowed,
02100 if SEARCH<0 -SEARCH is the number of features looked for
02200 TOLER-tolerance for matching .05 is a good number, -1 for no match;
02300
02400 SIMPLE mp SET_WINDOW;
02500 comment for testing and helping purposes;
02600
02700 comment AUTOFOC;
02800
02900 mp AUTOFOC(REAL EST_RANG,RANGINVAL; INTEGER NCUT);
03000 comment EST_RANG: initial estimataed range in inches.
03100 RANGINVAL: initial range uncertainty in inches.
03200 NCUT: value of CUT (0 to 15. usually 4) or -1 for automatic;
00100 comment *** HAND ***
00200 ;
00300 DEFINE TSX="1.0017",TSY="1.0028";
00400 comment where real x = table x * tsx and real y = table y * tsy
00500 these are the conversion factors from table inches to real inches;
00600 GLOBAL INTERNAL INTEGER ARM_MOTION,ARM_STATUS,ARM_SEGMENT,ARM_WAIT,ARM_TIME,ARM_EXECUTE;
00700 comment ARM_MOTION contains the file name (in sixbit) of the trajectory being executed
00800 with the arm in motion, it is set to zero on the completion
00900 of execution.
01000 If an execution error occurs ARM_MOTION is cleared and the file name
01100 is set into ARM_WAIT.
01200 ARM_STATUS at the completion of execution of each trajectory
01300 is set as follows:
01400 0 all O.K.
01500 1 overflow occured
01600 <n>1 execution terminated due to excessive force at joint n
01700 2 grasp error, hand closed less than the minimun distance.
01800 3 file not found
01900 4 enter for data file failed
02000 5 disk not found
02100 <n>6 Arm stopped on touching the n'th sensor
02200 7 A/D read error
02300 20 excessive time
02400 22 hand takes excessive time
02500 23 Arm failed to stop on force limit
02600 24 Arm in control loop
02700 30 the arm is down
02800 40 message invalid, arm not in wait state
02900 50 file read error
03000 60 wrong servo version number
03100 70 reference supply is off, check fuse and restart program
03200 100 the PDP-6 is down
03300 200 PDP-6 Parity error occured
03400
03500 ARM_SEGMENT initially zero at the beginning of execution of each
03600 trajectory file is incremented as each part trajectory is started
03700
03800 ARM_TIME is set to zero by START_TRAJECTORY and is incremented
03900 by the estimated time in jiffies that the trajectory will take,
04000 each time MOVE_ARM is called
04010
04020 ARM_EXECUTE if true the arm function is executed immediately execpt for
04030 the trajectory functions;
04040
04100
04200 GLOBAL INTERNAL BOOLEAN STOP_ON_TOUCH;
04300 comment if this is true the arm will stop if it touches anything that it
04400 can feel during any trajectories executed after it is set;
04500
04600 FORWARD MESSAGE SIMPLE PROCEDURE SET_TOUCH(BOOLEAN STOP_ON_TOUCH);
04700 comment this is a planning function and allows the touch state to be changed
04800 during execution for the next function;
04900
05000 GLOBAL INTERNAL INTEGER ARRAY FELT[1:2,1:4,1:4];
05100 comment if the arm stops on touching something this contains the information
05200 as to which element did the touching;
05300
05400 GLOBAL REAL ARRAY ARM_LINK[3:6,1:4,1:4];
05500 comment These 4, 4x4 arrays contain the current positions of the last four
05600 links of the arm. They are updated after every arm motion, and
05700 when the arm is in the wait state;
05800
05900 GLOBAL REAL GRASP;
06000 comment This contains the opening between the fingers in inches;
06100
06200 GLOBAL REAL ARRAY DEPART_ARM,ARRIVE_ARM[1:4];
06300 comment the first three elements of DEPART and ARRIVE contain dx,dy,dz,
06400 w.r.t. the initial/final points of a trajectory through which the
06500 arm will pass, these arrays are initialized and reinitialized
06600 after each trajectory is generated;
06700
06800 GLOBAL INTEGER T1_ARM,T2_ARM;
06900
07000 comment these two variables, normally zero, specify the minimun time to
07100 move through the DEPART/ARRIVE point and are reinitialized to zero after
07200 each trajectory;
07300
07400 FORWARD MESSAGE SIMPLE PROCEDURE ARM_CONO(REAL ARRAY ARRIVE,DEPART;INTEGER ARRIVE_TIME,DEPART_TIME);
07500 comment this is a planning function allowing arrive, depart to be set when this
07600 message is executed;
07700
07800
07900 GLOBAL REAL F1_ARM,F2_ARM;
08000 comment if in order to move through the DEPART/ARRIVE point the arm is driven
08100 beyond its physical stops the distance is reduced by F1_ARM/F2_ARM;
08200
08300 FORWARD MESSAGE SIMPLE PROCEDURE START_TRAJECTORY(STRING FILE;BOOLEAN START_FROM_LAST);
08400 comment This procedure is called to start every trajectory, If START_FROM LAST
08500 is TRUE then the trajectory will start from the last planned position, otherwise
08600 it will start from the present arm position, needless to say if the arm
08700 isn't physically where the trajectory starts from there will trouble;
08800
08900 FORWARD MESSAGE SIMPLE PROCEDURE MOVE_ARM(REAL ARRAY JOINT6; REFERENCE INTEGER FLAG);
09000 comment This and the next two procedures generate trajectories from the last
09100 place a trajectory was planned to, to the new position.
09200 Given a transform for the JOINT6( with the orign located between
09300 the finger tips and 0.375 inches in, the z axis aligned with the fingers
09400 and pointing out and the unit y vector pointing from one finger tip to
09500 the other), this procedure finds an arm solution and checks that it does
09600 not put the arm through the table or through its support post, and
09700 generates a trajectory returning TRUE in FLAG;
09800
09900 FORWARD MESSAGE PROCEDURE MOVE_INSTANCE
10000 (REAL ARRAY ITEMVAR INSTANCE;REAL ARRAY NEW_TRANSFORM,INTERMEDIATE_POSITION;
10100 REFERENCE INTEGER PLAN);
10200 comment This procedure generates a trajectory to move the arm from the last planned
10300 position, to pick up the INSTANCE of some prototype and to move it
10400 to NEW_POSITION using INTERMEDIATE_POSITION if necessary,
10500 status is returned in PLAN as follows:
10600 -1 There is no way the hand can grasp the instance
10700 -2 The hand cannot reach the instance at its initial position
10800 -3 The hand cannot reach the instance at its final position
10900 -4 There is no way using the present intermediate position
11000 that the move can be made, another INTERMEDIATE_POSITION might help.
11100 -5 This instance has either too few or too many prototypes
11200 2 Trajectory generated without using the intermediate position
11300 4 Trajectory generated using the intermediate position
11400 Note if the INTERMEDIATE_POSITION is cleared to zero then the instances
11500 present position will be used as such
11600 this message proceedure is now in module "MOVE" which in turn sends
11700 messages to "HAND",no messages should be sent to HAND until MOVE has
11800 finished;
11900
12000 FORWARD MESSAGE SIMPLE PROCEDURE PARK_ARM;
12100 comment Generates a trajectory to the park position;
12200
12300 FORWARD MESSAGE SIMPLE PROCEDURE OPEN_HAND(REAL OPENING);
12400 comment This causes the hand to open or close to OPENING at this point in the trajectory
12500 if opening it does not stop on touch;
12600
12700 FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_HAND(REAL MINIMUN_DISTANCE);
12800 comment This causes the hand to close at this point in the trajectory,
12900 and if so doing it closes more than MINIMUN_DISANCE execution is stopped
13000 and ARM_STATUS is set to 2
13100 it does not stop on touch;
13200
13300 FORWARD MESSAGE SIMPLE PROCEDURE PLACE_ARM;
13400 comment This causes the hand to decend vertically until it meets some resistance
13500 It should be able to drop approximately 1/2 inch before stopping;
13600
13700 FORWARD MESSAGE SIMPLE PROCEDURE CHANGE_ARM(REAL ARRAY DX_DY_DZ;REAL DIST;
13750 REAL ARRAY AXIS;REAL DEG;INTEGER TIME;REFERENCE INTEGER FLAG);
13800 comment At this point in the trajectory the arm will make the appropiate
13900 differential motion specified by the first three elements of DX_DY_DZ
14000 scaled by DIST, it will also rotate DEG degrees about axis AXIS.
14010 the action will take at least TIME jiffies
14200 If the motion drives the arm beyond its physical limits no action is planed
14300 and FALSE is returned;
14400
14500 FORWARD MESSAGE SIMPLE PROCEDURE WAIT_ARM;
14600 comment This procedure causes the arm to pause in execution and go into a wait state;
14700
14800 FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_TRAJECTORY;
14900 comment This closes the trajectory file, a good idea;
15000
15100 FORWARD MESSAGE SIMPLE PROCEDURE DO_IT(STRING FILE);
15200 comment This executes trajectory FILE;
15300
17100 FORWARD MESSAGE SIMPLE PROCEDURE DO_PROCEED;
17200 comment Execution of this procedure when in the wait state causes the arm to
17300 proceed with its planned trajectory;
17400
17500 FORWARD SIMPLE MESSAGE PROCEDURE ARM_POSITION;
17600 Comment This causes the arm position to be read and should not be used unless
17700 the arm has been moved without power on;
17800
17900 FORWARD MESSAGE SIMPLE PROCEDURE STOP_ARM(REAL ARRAY F,V;REFERENCE INTEGER STAT);
18000 Comment This will cause the arm to stop when it exerts a force or moment
18100 in the direction specified, if it fails to stop then error 23 results
18200 If stat is false then the force specified is too small and no action is planned;
18300
18400
18500 FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPE(INTEGER ERROR);
18600 Comment This causes the arm to skip the next function it was going to perform
18700 if error ERROR occured;
18800
18810 FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPN(INTEGER ERROR);
18820 Comment This causes the arm to skip the next function it was going to perform
18830 if error ERROR did not occur;
18840
18850 FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPs(INTEGER ERROR);
18860 Comment This causes the arm to skip the next function it was going to perform
18870 if error ERROR ored with the variable bits occured;
18880
18900 FORWARD SIMPLE MESSAGE PROCEDURE ARM_JMP(INTEGER N);
19000 Comment This causes the arm to jump backwards or forwards N functions;
19100
19400 FORWARD SIMPLE MESSAGE PROCEDURE MERGE_ARM;
19500
19600 FORWARD SIMPLE MESSAGE PROCEDURE CENTER_HAND(REAL MINIMUM_DISTANCE);
19700 comment this is the same as CLOSE_HAND except that it centers the hand
19750 before closing;
19800
19900 FORWARD SIMPLE MESSAGE PROCEDURE DRIVE_ARM(INTEGER JOINT;REAL DEGREES;INTEGER TIME;REFERENCE INTEGER FLAG);
20000 comment causes a singlejoint to be driven;
20100
20200 FORWARD SIMPLE MESSAGE PROCEDURE ARM_SAVE(INTEGER I);
20300 comment causes the differential deviation to be saved in the i'th cell;
20400
20500 FORWARD SIMPLE MESSAGE PROCEDURE ARM_RESTORE(INTEGER I);
20600 comment causes the differential deviation to be restored from the i'th cell;
20700
00100 Comment Section 4 -- Modules' own global data
00200
00300 COMMENT THIS IS FOR THE CURVE FITTER;
00400
00500 GLOBAL INTEGER CURVE_STATUS;
00600
00700
00800 COMMENT THIS IS IRWIN'S THING ;
00900 GLOBAL INTEGER FLAG_CAM ;
01000
01100
01200 COMMENT THIS PAGE HAS FLAGS AND CALIB. CONSTANTS FOR ACCOMODATION ROUTINES
01300 IN EDGE FOLLOWER, COLOR, FOCUS, VERIFIER;
01400
01500 GLOBAL INTEGER COLFILT_ACC; COMMENT FILTER COLOR: 0-RED, 1-BLUE, 2-GREEN, 3-CLEAR;
01600 GLOBAL INTERNAL INTEGER DAC_ACC; COMMENT CURRENT DAC SETTING;
01700 GLOBAL BOOLEAN CHANGE_ACC; COMMENT TRUE IF SCENE CHANGED;
01800 GLOBAL BOOLEAN SENSCAL_ACC; COMMENT HAS SENS BEEN CALIBRATED;
01900 GLOBAL BOOLEAN AUTOCAL_ACC; COMMENT TABLE_ACC INITIALIZED;
02000 GLOBAL INTERNAL INTEGER AUTO_ACC; COMMENT SETTING OF DAC AT AUTOTARGET THRES. FOR CURRENT FILTER;
02100 GLOBAL INTEGER SENSIGN_ACC; COMMENT DIR. OF LAST CHANGE IN TAR. VOLT.-TO AVOID LOOPS.
02200 1: UP, -1: DOWN, 0-NOT YET CHANGED;
02300 GLOBAL INTEGER ARRAY TABLE_ACC[0:63]; COMMENT HOLDS AD READINGS FOR DAC SETTINGS;
02400 GLOBAL INTEGER ARRAY FIL_ACC[0:3]; COMMENT AUTO TARGET FOR EACH FILTER, 0 IF NOT INITED;
02500
02600 GLOBAL REAL FCALPOTC_ACC,FCALPOTD_ACC,F_ACC,FNUM_ACC,CIRCONFUS_ACC;
02700 COMMENT FOCUS AND LENS CALIBRATION CONSTANTS;
02800
02900 GLOBAL BOOLEAN SENSFLAG_ACC; COMMENT TRUE-SENSITIVITY CAN SAFELY BE RAISED
03000 FALSE-CANT RAISE SENSITIVITY;
03100 GLOBAL BOOLEAN SENDWNFG_ACC; COMMENT SENSITIVITY CANNOT BE FURTHER LOWERED;
03200
03300
03400 Comment Instant Insanity Area;
03500
03600 Global Real Array Itemvar ITVAR_II;
03700
03800 COMMENT SOLUTION⊗object≡ a four element integer array giving the
03900 faces i of Fi which must be oriented with their normals
04000 parallel to the X-Y plane and pointing in a consistant
04100 direction to get a solution;
04200
04300 GLOBAL ITEM SOLUTION;
04400 GLOBAL INTEGER STAT_II;
04500
04600 COMMENT elements of this array are given to HAND to put status in so
04700 we can parallel process;
04800
04900 GLOBAL INTEGER ARRAY ARM_STAT[1:10];
00100 COMMENT This is the edge followers very own set (no pun intended).;
00200 GLOBAL SET OLDBLOB;
00300
00400 COMMENT THIS IS TO PASS FILE NAMES BACK FROM GUNNAR;
00500
00600 GLOBAL INTEGER FNAME;
00700
00800
00900
01000 comment THE ARM'S GLOBALS;
01100 GLOBAL INTERNAL SAFE REAL ARRAY ARM_VECTOR[1:7];
01200 GLOBAL INTERNAL SAFE REAL ARRAY ARM_TORQUE[1:6];
01400 GLOBAL SAFE REAL ARRAY ITEM TEST_BLOCK[1:4,1:4];
01500 GLOBAL INTEGER ARM_PLAN;
01600 GLOBAL SAFE REAL ARRAY FREE_ARM[0:6,1:6];
01700 GLOBAL SAFE REAL ARRAY FORCE_ARM[1:6];
01800