first step to merge doc and master

.gitignore

@@ -62,6 +62,7 @@
 build/
 docs/doxygen/html/
 client/godonnie/Log/
+Log/
 
 # gtts resource
 download.mp3
@@ -84,3 +85,9 @@ GoDonnieLexer.c
 GoDonnieLexer.h
 GoDonnieParser.c
 GoDonnieParser.h
+
+# Files generated by install.sh
+Player
+Stage
+docs/_build
+donnie-assistive-robot-sw

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "docs/wiki/player-stage"]
+	path = docs/wiki/player-stage
+	url = https://github.com/lsa-pucrs/Player-Stage-Manual

.travis.yml

@@ -20,7 +20,7 @@ before_install:
 # install Player/Stage depedencies
 - sudo apt-get install -y libfltk1.1-dev freeglut3-dev libpng12-dev libltdl-dev libdb5.1-stl libgnomecanvasmm-2.6-dev python-gnome2
 #sudo apt-get install -y libboost-all-dev  # overkill, the actually required libraries are boostthread, boostsignal, boostsystem
-- sudo apt-get install -y libboost-signals-dev libboost-system-dev libboost-thread-dev
+- sudo apt-get install -y libboost-signals-dev libboost-system-dev libboost-thread-dev libboost-locale-dev
 # old OpenCV for older Player drivers
 - sudo apt-get install -y libopencv-dev libopencv-core-dev libcv-dev libcvaux-dev libhighgui-dev
 - sudo apt-get install -y libasound2-dev libgsl0-dev libxmu-dev libpq-dev libpqxx-dev

CMakeLists.txt

@@ -6,6 +6,8 @@ project(Donnie)
 #ENDIF (POLICY CMP0048)
 #set(PROJECT_VERSION "0.1")
 
+cmake_policy(SET CMP0017 OLD)
+
 #####################################
 # check DONNIE_PATH
 if(DEFINED ENV{DONNIE_PATH})
@@ -27,15 +29,23 @@ message(STATUS "DONNIE_SOURCE_PATH = ${DONNIE_SOURCE_PATH}")
 #####################################
 # important varaiable used to find packages 
 if(DEFINED ENV{PKG_CONFIG_PATH})
-	SET (PKG_CONFIG_PATH $ENV{PKG_CONFIG_PATH})
-	MESSAGE(STATUS "PKG_CONFIG_PATH = $ENV{PKG_CONFIG_PATH}")
+	#SET (PKG_CONFIG_PATH $ENV{PKG_CONFIG_PATH})
+	# get the CMake module paths from the environmental variable CMAKE_MODULE_PATH 
+	set(AUX_PKG_CONFIG_PATH "$ENV{PKG_CONFIG_PATH}")
+	# PKG_CONFIG_PATH must be a list, with ; as delimitation character
+	string(REPLACE ":" ";" PKG_CONFIG_PATH ${AUX_PKG_CONFIG_PATH})	
+	MESSAGE(STATUS "PKG_CONFIG_PATH = ${PKG_CONFIG_PATH}")
 else()
    message(FATAL_ERROR "PKG_CONFIG_PATH is NOT defined. Set where to find the pkg-config files.")
 endif()
 
 if(DEFINED ENV{CMAKE_MODULE_PATH})
-	SET (CMAKE_MODULE_PATH $ENV{CMAKE_MODULE_PATH})
-	MESSAGE(STATUS "CMAKE_MODULE_PATH = $ENV{CMAKE_MODULE_PATH}")
+	#SET (CMAKE_MODULE_PATH $ENV{CMAKE_MODULE_PATH})
+	# get the CMake module paths from the environmental variable CMAKE_MODULE_PATH 
+	set(AUX_CMAKE_MODULE_PATH "$ENV{CMAKE_MODULE_PATH}")
+	# CMAKE_MODULE_PATH must be a list, with ; as delimitation character
+	string(REPLACE ":" ";" CMAKE_MODULE_PATH ${AUX_CMAKE_MODULE_PATH})
+	MESSAGE(STATUS "CMAKE_MODULE_PATH = ${CMAKE_MODULE_PATH}")
 else()
    message(FATAL_ERROR "CMAKE_MODULE_PATH is NOT defined. Set where to find the cmake files.")
 endif()
@@ -130,6 +140,7 @@ MESSAGE (STATUS "----- Identification Done -----")
 
 ######################################
 # Compile/Install Donnie
+
 MESSAGE (STATUS)
 MESSAGE (STATUS "----- Processing client makefiles -----")
 add_subdirectory(client)

README.md

@@ -21,7 +21,7 @@ most of the programming environments for kids are high visual, based on grab and
 Donnie project proposes an inclusive robotic programming environment where all students
 (with or without visual disabilities) can use.
 
-Donnie comes with two usage options: simulated robot and physical robot. It is recommend to start with the simulated since it does not require building the robot. Moreover, the physical robot is functional, but still under test.
+Donnie comes with two usage options: simulated robot and physical robot. It is recommended to start with the simulated since it does not require building the robot. Moreover, currently the physical robot is functional, but it is still under test.
 
 Contents
 --------
@@ -58,7 +58,7 @@ alt="IMAGE ALT TEXT HERE" width="240" height="180" border="10" /></a>
 
 ## Run Donnie Software from a Virtual Machine
 
- Download this [VM](link) all Donnie software pre-installed and ready to run.
+ Download this [VM](http://www.osboxes.org/linux-mint/), select the Linux Mint 17.3 'Rosa', and selected the [Mate](https://drive.google.com/file/d/0B_HAFnYs6Ur-NGFCZWNFV2dBN2M/view?usp=sharing) version. Finally, follow the instructions to install Donnie package.
 
 ## Install Donnie Software on a Desktop Computer Using the Packages
 
@@ -70,11 +70,11 @@ alt="IMAGE ALT TEXT HERE" width="240" height="180" border="10" /></a>
  * It is recommended to update your packages before the instalation:
 > sudo apt-get update
 * To install, you can double-click it or execute:
-> sudo dpkg -i donnie_1.0.0_amd64.deb
-* In case of missing dependencies, try:
-> sudo apt-get install -f
+> sudo dpkg -i donnie-player-stage_0.1_amd64.deb
+* In case of missing dependencies, try: 
+> sudo apt-get -f install
 * To unistall:
-> sudo dpkg -r donnie
+> sudo dpkg -r donnie-player-stage
 
 ## Compile and Install Donnie Software on a Desktop Computer
 
@@ -88,6 +88,7 @@ alt="IMAGE ALT TEXT HERE" width="240" height="180" border="10" /></a>
 	mkdir ~/donnie; cd ~/donnie
 	wget https://github.com/lsa-pucrs/donnie-assistive-robot-sw/raw/devel/install.sh
 	chmod +x ./install.sh
+	export DONNIE_PATH=/opt/donnie 
 	./install.sh
 
 ### Configuring Donnie
@@ -99,8 +100,8 @@ The build system is based on CMake, so it is required to have some experience wi
 Every part of Donnie Software Stack is also based on CMake. These are the software parts that can be customized:
 
 - raspicam driver
-- Player
-- Stage
+- [Player](https://github.com/playerproject/player)
+- [Stage](https://github.com/rtv/Stage)
 - Donnie Software
 
 each of these packages have their one sets of parameters.
@@ -113,6 +114,12 @@ Developers interested in customization might want to read the following files:
 - [install/setup-rpi.sh](install/setup-rpi.sh)
 - and all the CMakeLists.txt files
 
+### Learning Player and Stage
+
+Donnie is based on Player/Stage robotic middlware and simulator. It is higly 
+recommended for Donnie developers to understand Player/Stage to add more features,
+create new elaborated scenarios, etc. The official documents are [Player](https://playerproject.github.io/), [Player wiki](https://github.com/playerproject/player/wiki) and [Stage](http://rtv.github.io/Stage/).
+However, the best documentation is the [Player/Stage tutorial](http://player-stage-manual.readthedocs.io). 
 
 ### Parameter for Donnie Software
 
@@ -157,7 +164,8 @@ To build your own Donnie robot, please refer to the following repositories (gith
 
 	mkdir ~/donnie; cd ~/donnie
 	wget https://github.com/lsa-pucrs/donnie-assistive-robot-sw/raw/devel/install-rpi.sh
-	chmod +x ./install-rpi.sh
+	chmod +x ./install-rpi.sh 
+	export DONNIE_PATH=/opt/donnie
 	./install-rpi.sh
 
  Experienced programmers can configure the same paramerters presented before for the Raspberry Pi.

client/CMakeLists.txt

@@ -5,10 +5,9 @@ IF(NOT ROBOT_COMPUTER)
 	# if it is compiling for the desktop computer, then compile the following modules
 	add_subdirectory(godonnie)
 	add_subdirectory(alerts)
+	#add_subdirectory(vib_belt)
 	add_subdirectory(test)
 ELSE()
 	# if it is compiling for robot`s computer (RPi)
 	add_subdirectory(alerts)
 ENDIF()
-
-

client/alerts/CMakeLists.txt

@@ -5,34 +5,37 @@ PROJECT (${CLIENTNAME})
 message(STATUS "Configuring '${CLIENTNAME}'")
 
 #########
-# check depedencies - libsox
+# check DONNIE_PATH
 #########
-find_path( LSOX_INCLUDE_DIR sox.h DOC "Libsox include dir" )
-find_library( LSOX_LIB 
-	NAMES sox 
-	HINTS /usr/lib/x86_64-linux-gnu/
-	DOC "Libsox lib" REQUIRED)
-
-IF( NOT LSOX_LIB )
-  MESSAGE( FATAL_ERROR "libSoX not found. Please install 'sudo apt-get install libsox-dev'. aborting" )
+if(DEFINED ENV{DONNIE_PATH})
+   SET(DONNIE_PATH "$ENV{DONNIE_PATH}")
+   #message(STATUS "DONNIE_PATH = ${DONNIE_PATH}")
+else()
+   message(FATAL_ERROR "DONNIE_PATH is NOT defined")
+endif()
+
+#########
+# check depedencies - boost locale
+#########
+FIND_PACKAGE (Boost REQUIRED COMPONENTS locale)
+IF( NOT Boost_FOUND )
+  MESSAGE( FATAL_ERROR "Libboost-locale not found. Please install 'sudo apt-get install libboost-locale-dev'. aborting" )
 ENDIF()
-message(STATUS "SoX Library -- ${LSOX_LIB}")
-message(STATUS "SoX Include -- ${LSOX_INCLUDE_DIR}")
 
+#########
+# set Player cmake modules
+#########
 # Include this CMake module to get most of the settings needed to build
-SET (CMAKE_MODULE_PATH "/usr/local/share/cmake/Modules")
-
-# required to support 'acentos' in Portuguese
-#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fexec-charset=iso-8859-1")
+#SET (CMAKE_MODULE_PATH "/usr/local/share/cmake/Modules")
 
 INCLUDE (UsePlayerC++)
 
 PLAYER_ADD_PLAYERCPP_CLIENT (${CLIENTNAME} 
 	SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/alerts.cc ${CMAKE_CURRENT_SOURCE_DIR}/../../utils/utils.cpp
 	INCLUDEDIRS ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/../../utils/)
 
-TARGET_LINK_LIBRARIES (${CLIENTNAME} sox) 
-INCLUDE_DIRECTORIES (${CMAKE_CURRENT_SOURCE_DIR} ${LSOX_INCLUDE_DIR})
+TARGET_LINK_LIBRARIES (${CLIENTNAME} ${Boost_LIBRARIES}) 
+INCLUDE_DIRECTORIES (${CMAKE_CURRENT_SOURCE_DIR} ${Boost_INCLUDE_DIR})
 
 # Install executables with -x permission 
 INSTALL(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/${CLIENTNAME} DESTINATION ${DONNIE_PATH}/bin) 

client/alerts/alerts.cc

@@ -14,15 +14,29 @@ DonnieClient::DonnieClient()
 {
     string host = GetEnv("DONNIE_IP");
     string donnie_path = GetEnv("DONNIE_PATH");
+    string donnie_lang = GetEnv("DONNIE_LANG");
+
     int port = atoi(GetEnv("DONNIE_PORT").c_str());
     if(host.size()==0) host = "localhost";
     if(port==0) port = 6665;
     if (donnie_path=="") {
-		cerr << "variable DONNIE_PATH not defined. Please execute 'export DONNIE_PATH=<path-to-donnie>'" << endl;
+		cerr << translate("variable DONNIE_PATH not defined. Please execute 'export DONNIE_PATH=<path-to-donnie>'") << endl;
 		exit(1);
 	}
-
-	// TODO: read a configuration file so user can change these sounds
+    if (donnie_lang=="") {
+		cerr << translate("variable DONNIE_LANG not defined. Please execute 'export DONNIE_LANG=$LANGUAGE'") << endl;
+		exit(1);
+	}
+    // Set up language environment
+    generator gen;
+    gen.add_messages_path(donnie_path + "/resources/loc");
+    gen.add_messages_domain("alerts");
+    locale loc = gen(donnie_lang + ".UTF-8");
+    locale::global(loc);
+    cout.imbue(loc);
+    cerr.imbue(loc);
+
+    // TODO: read a configuration file so user can change these sounds
 	SSTEP   = donnie_path+"/resources/sounds/HIT.wav"; //Sound STEP
 	SSBACK  = donnie_path+"/resources/sounds/192805sound13.wav"; //Sound Step BACK
 	STRIGHT = donnie_path+"/resources/sounds/126413specialcoin.wav"; //Sound Turn RIGHT
@@ -45,8 +59,8 @@ DonnieClient::DonnieClient()
 		#ifndef NDEBUG
 			cerr << e << endl;
 		#endif
-		cerr << "Não foi possível conectar no robô " << endl;
-		cerr << "Possivelmente o arquivo cfg está incorreto." << endl;
+		cerr << translate("Não foi possível conectar no robô ") << endl;
+		cerr << translate("Possivelmente o arquivo cfg está incorreto.") << endl;
 		exit(1);
 	}
 
@@ -96,7 +110,7 @@ void DonnieClient::checkSteps(){
 			/*if(dir>0)sound->play((char *)SSTEP.c_str());
 			if(dir<0)sound->play((char *)SSBACK.c_str());*/
             #ifndef NDEBUG
-            cout << "translation>=STEP_LENGHT_ERROR:" << translation << endl;
+            cout << translate("translation>=STEP_LENGHT_ERROR:") << translation << endl;
             #endif
         }
         translation=0;

client/alerts/alerts.h

@@ -7,8 +7,14 @@
 #include "utils.h"
 #include <libplayerc++/playerc++.h>
 
+// Localization libraries 
+#include <boost/locale.hpp>
+
 using namespace std;
 using namespace PlayerCc;
+using namespace boost::locale;
+using boost::locale::translate;
+using boost::locale::format;
 
 typedef struct PathNodes{
   double x, y, a;

client/godonnie/CMakeLists.txt

@@ -1,4 +1,6 @@
 CMAKE_MINIMUM_REQUIRED (VERSION 2.8 FATAL_ERROR)
+cmake_policy(SET CMP0017 OLD)
+
 SET (CLIENTNAME "GoDonnie")
 PROJECT (${CLIENTNAME})
 
@@ -27,7 +29,7 @@ endif()
 
 
 # Include this CMake module to get most of the settings needed to build
-SET (CMAKE_MODULE_PATH "/usr/local/share/cmake/Modules")
+#SET (CMAKE_MODULE_PATH "/usr/local/share/cmake/Modules")
 
 #########
 # check depedencies - java -lreadline -lantlr3c
@@ -62,14 +64,28 @@ find_library( LANTLR3_LIB
 	DOC "Liantlr3 lib" REQUIRED)
 
 IF( NOT LANTLR3_LIB )
-  MESSAGE( FATAL_ERROR "Liantlr3 not found. Please install 'sudo apt-get install libantlr3c-dev'. aborting" )
+  MESSAGE( FATAL_ERROR "Libantlr3 not found. Please install 'sudo apt-get install libantlr3c-dev'. aborting" )
 ENDIF()
 message(STATUS "ANTLR3 Library -- ${LANTLR3_LIB}")
 message(STATUS "ANTLR3 Include -- ${LANTLR3_INCLUDE_DIR}")
 
+#########
+# check depedencies - boost locale
+#########
+FIND_PACKAGE (Boost REQUIRED COMPONENTS locale)
+IF( NOT Boost_FOUND )
+  MESSAGE( FATAL_ERROR "Libboost-locale not found. Please install 'sudo apt-get install libboost-locale-dev'. aborting" )
+ENDIF()
+
 #########
 # run antlr
 #########
+# Check for DONNIE_LANG variable
+IF (NOT DEFINED ENV{DONNIE_LANG})
+	# If not defined, set to system language
+	SET (ENV{DONNIE_LANG} ENV{LANGUAGE})
+ENDIF()
+
 ADD_CUSTOM_COMMAND(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/GoDonnie.tokens
   COMMAND java -jar ${CMAKE_CURRENT_SOURCE_DIR}/Antlr/antlr-3.2.jar -o ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/GoDonnie.g
   DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/GoDonnie.g
@@ -104,8 +120,8 @@ PLAYER_ADD_PLAYERCPP_CLIENT (${CLIENTNAME}
 	INCLUDEDIRS ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/../../utils/)
 
 # add the includes and libs to build it
-TARGET_LINK_LIBRARIES (${CLIENTNAME} ${LREADLINE_LIB} ${LANTLR3_LIB}) 
-INCLUDE_DIRECTORIES (${CMAKE_CURRENT_SOURCE_DIR} ${LANTLR3_INCLUDE_DIR} ${LREADLINE_INCLUDE_DIR} )
+TARGET_LINK_LIBRARIES (${CLIENTNAME} ${LREADLINE_LIB} ${LANTLR3_LIB} ${Boost_LIBRARIES}) 
+INCLUDE_DIRECTORIES (${CMAKE_CURRENT_SOURCE_DIR} ${LANTLR3_INCLUDE_DIR} ${LREADLINE_INCLUDE_DIR} ${Boost_INCLUDE_DIR})
 
 # godonnie depends on GoDonnieParser. This makes sure that the parser is built before the GoDonnie interpreter
 add_dependencies(GoDonnie GoDonnieParser)