move scenarios into RobotAPI project

git-svn-id: https://svn.sfb588.uni-karlsruhe.de/svn/HumanoidRobotAPI@24 e7ad446d-f7d8-486a-9efb-df2f5bbea5c6

scenarios/MotionControlTest/startScenario.sh

+
+export CORE_PATH=../../Core
+export GUI_PATH=../../Gui
+export VISIONX_PATH=../../VisionX
+export ARMAR4_PATH=../../Armar4
+export HUMANOIDROBOTAPI_PATH=../../HumanoidRobotAPI
+export SCRIPT_PATH=$CORE_PATH/build/bin
+
+export CORE_BIN_PATH=$CORE_PATH/build/bin
+export GUI_BIN_PATH=$GUI_PATH/build/bin
+export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
+export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
+export HUMANOIDROBOTAPI_BIN_PATH=$HUMANOIDROBOTAPI_PATH/build/bin
+
+export GLOBAL_CONFIG=./configs/Global.cfg
+
+# armarx components
+$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/KinematicUnitSimulationRun --Ice.Config=$GLOBAL_CONFIG,./configs/Armar4KinematicUnit.cfg &
+$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/KinematicUnitObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/Armar4Observer.cfg &
+$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/SystemObserverRun --Ice.Config=$GLOBAL_CONFIG &
+$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotStateComponentRun --Ice.Config=$GLOBAL_CONFIG,./configs/RobotStateComponent.cfg &
+$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotControlRun --Ice.Config=$GLOBAL_CONFIG &
+
+
+# Gui
+#$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun --Ice.Config=$GLOBAL_CONFIG,./configs/ArmarXGui.cfg &
+
+# scenario
+#$SCRIPT_PATH/debugApplication.sh $ARMAR4_BIN_PATH/visualservoRun --Ice.Config=$GLOBAL_CONFIG
+#$SCRIPT_PATH/startApplication.sh $ARMAR4_BIN_PATH/diffkintestRun --Ice.Config=$GLOBAL_CONFIG &
+
+# vision x components
+$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/DummyObjectRecognitionRun --Ice.Config=$GLOBAL_CONFIG,./configs/DummyObjectRecognitionConfig.txt &
+$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/RobotHandLocalizationRun --Ice.Config=$GLOBAL_CONFIG,./configs/RobotHandLocalization.cfg &
+$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/ObjectMemoryRun --Ice.Config=$GLOBAL_CONFIG,./configs/ObjectMemory.cfg &
+$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/ObjectMemoryObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/ObjectMemoryObserver.cfg &
+
+$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/ConditionHandlerRun --Ice.Config=$GLOBAL_CONFIG,./configs/ConditionHandler.cfg &
+
+$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MotionControlTestRun --Ice.Config=$GLOBAL_CONFIG,./configs/MotionControlTest.cfg &
+

scenarios/MotionControlTest/stopGui.sh

+killall ArmarXGuiRun -SIGINT
+
+sleep 1
+
+killall ArmarXGuiRun -9

scenarios/MotionControlTest/stopScenario.sh

+
+skill () 
+{ 
+	STR=`ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
+	if [ ${#STR} == 0 ]
+		then
+			echo skipping $1
+		else
+			echo killing $1
+			kill -s $2 `ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'` 
+	fi
+}
+
+echo SENDING SIGINT TO ALL PROCESSES
+skill KinematicUnitSimulationRun 2
+skill KinematicUnitObserverRun 2
+skill SystemObserverRun 2
+skill ConditionHandlerRun 2
+skill RobotStateComponentRun 2
+skill RobotControlRun 2
+
+skill DummyObjectRecognitionRun 2
+skill RobotHandLocalizationRun 2
+skill ObjectMemoryRun 2
+skill ObjectMemoryObserverRun 2
+
+
+skill MotionControlTestRun 2
+
+sleep 1
+
+echo SENDING SIGKILL TO ALL PROCESSES
+skill KinematicUnitSimulationRun 9
+skill KinematicUnitObserverRun 9
+skill SystemObserverRun 9
+skill ConditionHandlerRun 9
+skill RobotStateComponentRun 9
+skill RobotControlRun 9
+
+skill DummyObjectRecognitionRun 9
+skill RobotHandLocalizationRun 9
+skill ObjectMemoryRun 9
+skill ObjectMemoryObserverRun 9
+
+
+
+skill MotionControlTestRun 9