Tekkotsu Telepathy
                      Brett Simmers & Lisa Story
                         15-494, Spring 2007


For a brief tutorial on using our additions to Tekkotsu, see the
telepathy website at

http://www.cs.cmu.edu/afs/cs/academic/class/15494-s07/www/telepathy/details.html


Files:
------------------------------------------------------------------------
telepathy.diff : a patch containing everything we changed, including
                 new files.

Tekkotsu directory: All new and changed files


If you haven't changed the version of Tekkotsu this is being merged
with since our copy was created, just copy all these files into the
Tekkotsu directory, otherwise you should probably use the patch.

------------------------------------------------------------------------
The demos directory contains a few simple demos showing how to use the
new telepathy code:


HeadRemoteControlDemo.h : This will connect to the server dog and
                          mimic its head position
TailRemoteControlDemo.h : This will connect to the server dog and walk
                          at the direction/speed that you put the server
                          dog's tail at.

For the previous two demos, you should start HeadTailServer on the
server dog. This is not needed by the event/state code, all it does is
relax the head and tail joints to make the movement easier/better for
the dog.

TextMessageDemo.h : Subscribes to text message events on the server
                    dog and displays them when received
WalkMultipleDemo.h : Listens for button presses from two server dogs
                     and walks forward or backward accordingly. 
WalkRemoteControlDemo.h : Same as WalkMutipleDemo.h, but only connects
                          to one server dog. 

All of these header files include "DemoCommon.h", which defines a
common server dog for the demos to use. WalkMultipleDemo.h defines the
second server dog on its own. The code for the demos is pretty short
and simple; that was the main goal of our project.

There is also a StartupBehavior_SetupModeSwitch.cc file with the demos
set up in it, so just copy everything from the demos directory into a
project folder to build the demos. 

------------------------------------------------------------------------
Known Issues:

* The wireless modifications we made (SocketListener) crash the
  simulator when data is received on a socket that is using a
  SocketListener intead of the regular callback. This should be
  fixed at some point. 

* DataEvents cannot be sent. Because DataEvent is a templated class,
  the code to reconstruct any given DataEvent would have to be written
  specially for whatever T is being used, which would require the user
  to modify the Tekkotsu source code to indicate the T for their
  specific DataEvent. To send arbitrary data, pack it into a
  std::string and use a TextMsgEvent.

* Due to what we think is a bug in the wireless, if two chunks of data
  are sent within a very short time span the receiving dog will crash.
  It segfaults in a function that should not be able to crash
  (RemoteEvents::readType), so we're 95% sure it's being given a bad
  pointer by the wireless code (Ethan has gone over it with us and
  couldn't find anything wrong with our code either). 


Everything you need should be here; if for some reason it doesn't
build/work let is know immediately.