PK {u, META-INF/PK {u,cCCMETA-INF/MANIFEST.MFManifest-Version: 1.0 Created-By: 1.3.1 (Apple Computer, Inc.) PK {u,OOaibo-controller.pl#!/usr/bin/perl # # # $java = "/usr/bin/java"; $classpath = ".:/Users/dzitter/roots/rutil.jar"; $cmd = "$java -classpath $classpath rutil.AiboController @ARGV |"; #print "Command: $cmd\n"; open(JAVA, $cmd) || die ("Couldn't exec java\n"); # print out whatever output comes from the java process while () { print; }PK {u,rutil/PK {u,;j:)rutil/AiboController$1.class-&     this$0Lrutil/AiboController; Synthetic(Lrutil/AiboController;)VCodeLineNumberTableLocalVariableTablethis InnerClassesLrutil/AiboController$1;run()V SourceFileAiboController.java   ! "#$ %rutil/AiboController$1java/lang/Objectjava/lang/Runnablerutil/AiboController access$000/(Lrutil/AiboController;)Lrutil/RCOMMConnection;rutil/RCOMMConnectionstdout     > **+    5 *   PK {u,V(22rutil/AiboController.class-; E F G H I J KLM NO PQRST FU LV W XY Z [ \ ]^ _`abc Ld ef ghi %Fj %kl %m nopq -rst u v -Fw 5r 5x 5yz L{ L| L}~ Br 5 5 B          ^ ] ] bF dr b b               N   r     % % X       \   \  %   F             DefaultAiboIPAddressLjava/lang/String; ConstantValue UserCanceled_debugZ _fakeConnect_fakeConnectTimeoutJDefaultPropertiesLjava/util/Hashtable;_rcommConnectionLrutil/RCOMMConnection;_apTelemetryConnectionLrutil/APTelemetryConnection; EmptyImage[B()VCodeLineNumberTableLocalVariableTablethisLrutil/AiboController;main([Ljava/lang/String;)Vargs[Ljava/lang/String;runMain controllerLrutil/TestUIAiboController;eLrutil/RCOMMSyncException;Ljava/io/IOException;dispatch,([Ljava/lang/String;Lrutil/AiboController;)Vcommand ExceptionssimpleCommandLinePlayiImotionFilename ledFilename wavFilenamedurationplayFilesForSkitNamed skitFilenameskitFileLjava/io/File;namedirextensionIndex extensionfilterLrutil/SkitFilenameFilter;files sndFilenameplayArgssubarray)([Ljava/lang/String;I)[Ljava/lang/String;arrayindex setProperties5(Lrutil/APTelemetryConnection;Ljava/util/Hashtable;)VapTelemetryConnectionhkeysLjava/util/Enumeration;keyLrutil/UnsignedInt8;value execRCode waitForOutputrputMotionFiles9(Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;)ImotionLrutil/Motion;getImage(Ljava/lang/String;)Vfilename setNoFallDown(Z)V noFallDownwalk9(Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;)VtheWalkingStyleangleturn'(Ljava/lang/String;Ljava/lang/String;)VmoveHead(II)VhorizontalAngle verticalAngleliesitstopWalk(Ljava/util/Hashtable;)V properties flushAudiogetAudio(Lrutil/Wave;J)Lrutil/Wave;wave Lrutil/Wave; sampleCount sampleNumbersampleLrutil/APAudioSample;2(Lrutil/APTelemetryConnection;Ljava/lang/String;)VdatafosLjava/io/FileOutputStream; rputMotionE(Lrutil/RCOMMConnection;Lrutil/APTelemetryConnection;Lrutil/Motion;)VrcommConnection playMotion(Lrutil/RCOMMConnection;ZJ)Vsynchperiod(ZJ)VsetFakeTimeout fakeConnectfakeConnectTimeout()Lrutil/RCOMMConnection; batteryLevel()Ljava/lang/String; accelerationK(Ljava/lang/StringBuffer;Ljava/lang/StringBuffer;Ljava/lang/StringBuffer;)VxLjava/lang/StringBuffer;yzgetJPEG()[B cancelConnectconnectversionLrutil/APVersion; setIPAddress ipAddress disconnect testRunStuff access$000/(Lrutil/AiboController;)Lrutil/RCOMMConnection;x0 Syntheticd SourceFileAiboController.java  %AiboController command-line interface  ^Usage: java -classpath rutil.jar AiboController [ [...[]]]KUsage: Example of getting a image: AiboController 10.20.1.2 jpg foo.jpg[Usage: Example of playing a skit: AiboController 10.20.1.2 play foo.mtn foo.wav foo.le2rutil/TestUIAiboController test-connect  '& test-aibo  9 6 rutil/RCOMMSyncException java/io/IOExceptionNo command specified.exec  play jpgjava/lang/StringBufferFetching image:' ' , Unknown command specified:'java/lang/RuntimeExceptionno files to play Ignoring extra argumentsthis should never happen "& java/io/File , .    extension = MTNLE2MIDWAVrutil/SkitFilenameFilter.MTN  ,/.LE2 .WAV.MIDjava/lang/String   rutil/UnsignedInt8     No files to execEND EDITSending file ' Error while sending file' RUNjava/lang/Threadrutil/AiboController$1 InnerClasses    rutil/Motionjava/io/FileInputStream    LOAD:MTN:ram   LOAD:LED:ram LOAD:SND:ram SET NoFallDown 1             - 34java/io/FileOutputStream !" #PLAY:MTN $% "#*Setting fake connect for AiboController = & for ' msec +, -. (rutil/RCOMMConnection 10.0.1.100 )rutil/APTelemetryConnection *  +,APTelemetryVersion = - ;java/util/Hashtable. / 0 12 3 4 5 6 7 8 9 : rutil/AiboControllerjava/lang/ObjectCanceled Externallyjava/lang/SystemoutLjava/io/PrintStream;java/io/PrintStreamprintlnequals(Ljava/lang/Object;)Z setTestModejava/lang/ThrowableprintStackTraceequalsIgnoreCase(Ljava/lang/String;)Zappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;toStringgetName getParentFile()Ljava/io/File; lastIndexOf(Ljava/lang/String;)Ilength()I substring(II)Ljava/lang/String;list-(Ljava/io/FilenameFilter;)[Ljava/lang/String;getPath setFilename()Ljava/util/Enumeration;java/util/Enumeration nextElement()Ljava/lang/Object;get&(Ljava/lang/Object;)Ljava/lang/Object; setProperty+(Lrutil/UnsignedInt8;Lrutil/UnsignedInt8;)VhasMoreElements()Z sendCommand(Ljava/lang/String;Z)VsendFile(Lrutil/AiboController;)V(Ljava/lang/Runnable;)VstartinitFromStream(Ljava/io/InputStream;)V(Lrutil/Motion;)V expectSuccessrputFile purgeReply()Lrutil/APAudioSample;print rutil/Wave addSample(Lrutil/APAudioSample;)Vwrite([BII)VcloseexpectComplete(J)V(Z)Ljava/lang/StringBuffer;(J)Ljava/lang/StringBuffer; setUserCancel(Ljava/lang/String;I)VpurgeInitialReply getVersion()Lrutil/APVersion;,(Ljava/lang/Object;)Ljava/lang/StringBuffer;rutil/APDeviceControlCAMERA_WHITE_BALANCECAMERA_WHITE_BALANCE_INSIDEput8(Ljava/lang/Object;Ljava/lang/Object;)Ljava/lang/Object; CAMERA_GAINCAMERA_GAIN_HIGHCAMERA_SHUTTER_SPEEDCAMERA_SHUTTER_SPEED_SLOWMICROPHONE_OMNI_MODEMICROPHONE_OMNI_MODE_ONMICROPHONE_ALCMICROPHONE_ALC_ON!   %Y*****+ ,-.  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Expected  more bytesread | java/io/ByteArrayInputStream  java/io/BufferedInputStreamjava/io/FileInputStream  m java/io/File java/net/SocketExceptionjava/lang/RuntimeException i0x   java/io/InterruptedIOException rutil/APTelemetryConnectionjava/lang/Objectjava/lang/SystemoutLjava/io/PrintStream;append,(Ljava/lang/String;)Ljava/lang/StringBuffer;(I)Ljava/lang/StringBuffer;toString()Ljava/lang/String;java/io/PrintStreamprintlncurrentTimeMillis()J setSoTimeout(I)VgetInputStream()Ljava/io/InputStream;getOutputStream()Ljava/io/OutputStream;(J)Ljava/lang/StringBuffer;java/lang/ThrowableprintStackTracejava/io/InputStreamclosejava/io/OutputStream byteValue()BwriteflushbyteArrayValue([B)Vrutil/StreamUtil readBytes(Ljava/io/InputStream;I)[BIsLittleEndian([BZ)VintValue()I([BLjava/lang/String;)Vname readAByte(Ljava/io/InputStream;)B(S)V majorVersion minorVersiontypefiller longValuesequenceNumber sensorData0Lrutil/UnsignedInt16; sensorData1(J)Vread([BII)I([BII)V rutil/Motion toByteArray(Ljava/io/InputStream;)V getSoTimeout getMessageprint(C)V([B)I!|}~[k****+*LH IMNO x*+Y *  * @*Y***u0****FNe@*%Y  --:*e@*!Y  3fi3fNST/V3XFYPZ[[i^p_w`acfgilmnp*3iCF * tu w (nL**!M,L*,**"M+,L*,**#M+,L*,++ (/2KRUV{| ~!(279@DKUZ\cgkm4nk2UO*+$%*& h*+$%*,'(*&  )*+$%*,$%*-$%*& !(*))))0*)*+Y*,-.L+/=*,N-#%.*0.@*0*+Y*,-.L+/=*,N1Y2:-3& #%.7=4@&!.7 u*4*5Y6L*,M+7Y,89:+;Y*<=>+;Y*<=?+;Y*<=@+;Y*<=A+& ':M`s uf\L *B+,C     -*D*+Y*,-.L+EA  F)HYYI J  KLYM:+Y*,-.NOY*,PQROY*,PQS*,T6 89:<%='?/@UB^CuDEFI*^W6*U* NO  *V+Y WX*!YY Z  7[:*<6$YY\  ] ^+_6$YY` a ^*"Yb  Z e7*c*& XNWXY4[7\=]@^I_O`pb|cdfgijk]mH7=I|hk+dMeY,fN*-,gqrst*P*hYiY+jk+lg {|E *mY+no   *u0<*p<* M,rY,stMO*H,3 ,3&Yu ,3 v w,3xvw*,yNq{> 49a;Y =4;Y!=D;Y"=);Y#=0;Y@=B;YA=U;Y0={;Y2=V& & '($)0+<,H/T3`&PK {u,PHgrutil/APVersion.class-V 9: 9 ; <= > ?@ AB C D EFG HIJKLMNOTELEMVER_NAME_LENGTHI ConstantValueTELEMVERTYPE_RCODETELEMVERTYPE_AL1TELEMVERTYPE_AL2TELEMVERTYPE_EXPTypeDescription[Ljava/lang/String;nameLjava/lang/String; majorVersionLrutil/UnsignedInt8; minorVersiontypefiller()VCodeLineNumberTableLocalVariableTablethisLrutil/APVersion;toString()Ljava/lang/String; SourceFileAPVersion.java -.java/lang/StringBuffer &' PQ () PR. *)( $% +)S TU) 45java/lang/String RCode PlusAiboLife 1 PlusAiboLife 2 Plus Explorer Plusrutil/APVersionjava/lang/Objectappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;,(Ljava/lang/Object;)Ljava/lang/StringBuffer;rutil/UnsignedInt8intValue()I!  !"#$%&'()*)+),)-.//*01 2345/lBY** *   * 201 B236./4YSYSYSYS 0 78PK {u,͛rutil/DataStream.class-3    !" # $%&'_buffer[B()VCodeLineNumberTableLocalVariableTablethisLrutil/DataStream; readWrite6(Ljava/io/DataInputStream;Ljava/io/DataOutputStream;)V inputStreamLjava/io/DataInputStream; outputStreamLjava/io/DataOutputStream; Exceptions( readWriteChar SourceFileDataStream.java ) *+, -. /01 -2rutil/DataStreamjava/lang/Objectjava/io/IOExceptionjava/io/DataInputStreamread([B)Ijava/io/FilterOutputStreamwrite([B)VreadChar()Cjava/io/DataOutputStream(I)V!   @**    X+*W,*   K ,+     PK {u,i9;KKrutil/LEInputStream.class-                 H      w )y{      B  B BUNSIGNED_INT_MAX_VALUEJ ConstantValueUNSIGNED_LONG_MAX_VALUELjava/math/BigInteger;UNSIGNED_SHORT_MAX_VALUEI_dataInputStreamLjava/io/DataInputStream;main([Ljava/lang/String;)VCodeLineNumberTableLocalVariableTableargs[Ljava/lang/String;fsLjava/io/FileInputStream;sLrutil/LEInputStream;eLjava/io/IOException;(Ljava/io/InputStream;)VthisinLjava/io/InputStream;close()V Exceptionsread()I readBoolean()ZreadByte()BreadUnsignedBytereadChar()C readDouble()D readFloat()FreadLine()Ljava/lang/String;readLong()JreadUTF skipBytes(I)InreadFullyLittleEndian([BII)Vbuffer[Boffsetlength readFully([B)VreadIntnewIntb1Bb2b3b4 readShort()SnewShortSreadUnsignedShortreadUnsignedIntvnewLongreadUnsignedLong()Ljava/math/BigInteger;bbi SourceFileLEInputStream.javajava/io/FileInputStreamfoo.bin brutil/LEInputStream bc java/lang/StringBuffer bh0x00 = no x true = lm false =  -35(0xdd) = -310 (0xfeca) = -272716322(0xefbeadde) = k0xffffffff (4294967295) = z ghjava/io/IOException hjava/io/DataInputStream ST jk pk yz  java/lang/RuntimeException |}  postcondition failedjava/math/BigInteger b NO 18446744073709551615java/io/InputStreamjava/io/DataInputrutil/UnsignedDataInput(Ljava/lang/String;)Vjava/lang/SystemoutLjava/io/PrintStream;append,(Ljava/lang/String;)Ljava/lang/StringBuffer;(I)Ljava/lang/StringBuffer;toStringjava/io/PrintStreamprintln(Z)Ljava/lang/StringBuffer;(J)Ljava/lang/StringBuffer;java/lang/ThrowableprintStackTracejava/io/FilterInputStreamjava/lang/DoublelongBitsToDouble(J)Djava/lang/FloatintBitsToFloat(I)F rutil/Util reverseBytes compareTo(Ljava/math/BigInteger;)I!HIJKLM>NOPQMRST UVWxYLY+MY , Y , Y , Y , Y , Y , Y ,  N-:+L+ X2 A CD/EKFgGHIJMQSY*Z[ \]^_`abcWg#*+*+ *Y+! X\] ^a"cY#d_#efghW6* "X mnY d_ijkW2* #XyY d_ilmW7 * XY  d_inoW2* $XY d_ipkW2* %XY d_iqrW8* * x~XY d_istW2*&'XY d_iuvW2*(XY d_iwxW4 )Y*+XY  d_iyzW4 )Y,+XY  d_i{xW4 )Y-+XY  d_i|}W= * .XY d_ ~QiWa* +/+0X Y*d_QQiWW * +/X  Y* d_  Q QiWD * ++/X  Y d_ ikWQ* 1<2~z=3~z>4~z6~6~x~x~x~<X $ , O Y>Qd_IQ@7$-,%iWx * 5<4~z=~>x<XY* d_Q QikWq* 5<4~z=~>x`X'()*Y*d_ QQizW _* 1@6{B8{7:{7<7  yyaya!a7   > )Y@+ X& 7 89:&;-<BARB\DYH_d_ VLMLCL&9L-2L BL iW8 L+T*+A+0BY+CM,DE )Y@+,X"QR STU!V,W6YY 8d_3!OihW% BYFGDX.PK {u,qdDDrutil/LEOutputStream.class- M 9     9  9  9 9 9  9 J J J , , , , +  6 9 9 9 9ﾭ 9 9  9 6  JUNSIGNED_LONG_MAX_VALUELjava/math/BigInteger;UNSIGNED_INT_MAX_VALUEJ ConstantValueUNSIGNED_SHORT_MAX_VALUEI_dataOutputStreamLjava/io/DataOutputStream;(Ljava/io/OutputStream;)VCodeLineNumberTableLocalVariableTablethisLrutil/LEOutputStream; outputStreamLjava/io/OutputStream;close()V Exceptionsflushsize()Iwrite([BII)Vb[Boffsetlength([B)V(I)V writeBoolean(Z)VvZvalue writeByte writeBytes(Ljava/lang/String;)VsLjava/lang/String; writeCharb1b2 writeCharsicount writeDouble(D)VD writeFloat(F)VFwriteIntb3b4writeUnsignedInt(J)VwriteUnsignedShortwriteUnsignedLong(Ljava/math/BigInteger;)Vbuffer writeLongbytes bitsInAByteshiftmask writeShortwriteUTFstrwrittenmain([Ljava/lang/String;)Vargs[Ljava/lang/String;fsLjava/io/FileOutputStream;eLjava/io/IOException; SourceFileLEOutputStream.java Ycjava/io/DataOutputStream WX YZ bc ec fg hi ho vw mg zo  o"java/lang/IllegalArgumentException&argument out of range for unsigned int Yw,int argument out of range for unsigned short PQ Q3BigInteger argument out of bounds for unsigned long java/lang/RuntimeExceptionjava/lang/StringBuffer length =  buffer[0] =  i implement mejava/io/FileOutputStreamfoo.binrutil/LEOutputStream pq uo o  Bytes written:  (should equal 10) wjava/io/IOException cjava/math/BigInteger18446744073709551615java/io/OutputStreamjava/io/DataOutputrutil/UnsignedDataOutputjava/io/FilterOutputStreamjava/lang/StringcharAt(I)Cjava/lang/DoubledoubleToLongBits(D)Jjava/lang/FloatfloatToIntBits(F)I compareTo(Ljava/math/BigInteger;)IZERO toByteArray()[Bappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;(I)Ljava/lang/StringBuffer;toString()Ljava/lang/String; rutil/Util reverseBytesjava/lang/SystemoutLjava/io/PrintStream;java/io/PrintStreamprintlnjava/lang/ThrowableprintStackTrace!9MNOPQRSTUVT$WXYZ[g#*+*+*Y+\56 7:"<]#^_#`abc[6*\ EF] ^_dHec[6*\ OP] ^_dHfg[2*\X] ^_hi[W *+\ b c]* ^_ jk lV mVdHhn[A *++ \ lm] ^_ jkdHho[A * \ vw] ^_ jVdHpq[V=* \ ] ^_rs tVdHuo[>* \ ]^_rVdHvw[A *+ \ ] ^_ xydHzo[q ~z=~>* * \]*^_rV{V |VdH}w[p=+>*+\ ]*^_xy~VVdH[A *'\ ] ^_ rdH[A *#\ ] ^_ rdHo[7~z=~z> ~z6~6* * * * \&  &,16]>7^_7rV.{V&|VV VdH[ X  Y{B{7 {7"7 * * * *! \. !+5<CJQW]>X^_XrS!6{S+,|S5"S<S dHo[4 $ Y% {A"7* * \ &-3]*4^_4rV{S& |SdH[+&'+(' Y)+*M, +Y,Y-./,012, ',3 +Y,Y-3/,3012,4*, \*   % ,HVsz] ^_tQ%]kdH[ =>6dh6"y76*z {7\*  !")#,$3!<&]H=^_=rS9V5V-V%S"~VdHo[>*\ /0]^_rVdHw[> +Y52\9] ^_ ydHg[4 +Y52\C]  ^_ [ ~6Y78L9Y+:M, ,;,;,ݶ<,=>,?,@,AB,Y-C/,D0E/1F N-:+GL+I gguxH\:M OPQR"S)T/U5V<W@Xg[x_}a]*~ kNx_xc[% JYKL&\PK {u,U --rutil/Motion.class- () o* o+ o,- ( o. o/ o0 1 O2 o3 o4 o5 o6 o7 28 o9 o: ;< 2=>? (@ A B CD E ;F =G oH oI oJ ;K O= oL oM N ;O R2 ;PQ oR STU VW XYZ[\ o] ^`_ o` Ba ob Bc defg HCh 2i jk lm Oa Oln Ro Rp jqr 2st uv ow jxyAG ]z@f ]{ ]2 ;| ;}~ Z  Z Z( o( qC o q vC v yC y o o o o o o o_debugZMOTION_FILE_TYPELjava/lang/String; ConstantValueMOTION_FILE_EXTENSIONNonJointAngleCountI JOINT_PRM[Ljava/lang/String;defaultKeyFrameSleepBody[IdefaultKeyFrameSitBodydefaultKeyFrameStandBodydefaultKeyFrameSleepAnglesdefaultKeyFrameSitAnglesdefaultKeyFrameStandAngles TestAnglesdefaultMotionNamePrefix SUB_TAG_MAXLrutil/UnsignedInt32;UNKNOWN_LONG_BUNKNOWN_LONG_C UNKNOWN_INT_CLrutil/UnsignedInt16; UNKNOWN_INT_DDEFAULT_FRAME_RATEfileType motionNamecreator designLabel frameRateframesLjava/util/Vector;jointsPIJ/()VCodeLineNumberTableLocalVariableTablethisLrutil/Motion;duration()Ii sizeInBytessizeInBytesOfSection1sizeAndPaddingOfSection2()[IsizepaddingsizeAndPaddingOfSection3section3Lengthindexjointsection3PaddingsizeInBytesOfSection4initFromStream(Ljava/io/InputStream;)V inputStreamLjava/io/InputStream; frameCountsection2LengthbytesLeftInSection2lengthbytesLeftInSection3 jointCount jointLengthsection4LengthbytesLeftInSection4count Exceptions toByteArray()[BbosLjava/io/ByteArrayOutputStream;eLjava/io/IOException; writeToStream(Ljava/io/OutputStream;)V outputStreamLjava/io/OutputStream; frameIndex writeAngle(Ljava/io/OutputStream;I)VanglebigAngleLjava/math/BigDecimal; readAngle(Ljava/io/InputStream;)ID writeFrame,(Ljava/io/OutputStream;Lrutil/MotionFrame;)VframeLrutil/MotionFrame; readFrame*(Ljava/io/InputStream;)Lrutil/MotionFrame;main([Ljava/lang/String;)VargsmfisLjava/io/FileInputStream;filenamefosLjava/io/FileOutputStream;fileLjava/io/File; expectedSizemessage origStream copyStreamorigBLjava/io/EOFException; mainTest1frame1frame2m2m3 SourceFile Motion.java OMTN java/util/Vector    java/io/IOExceptionjava/lang/StringBufferUnsupported file type   rutil/UnsignedInt32  Motion file parse error    java/lang/String  joint   reading  frames reading frame   java/io/ByteArrayOutputStream   java/lang/RuntimeException&unable to create byte array for motionUS-ASCII   rutil/UnsignedInt16rutil/UnsignedInt8   )expecting length = 504; section3Length = )expecting padding = 2; section3Padding = rutil/MotionFrame  java/math/BigDecimal    write frame index  write angle read frame index  read angle  rutil/Motionjava/io/FileInputStream .testjava/io/FileOutputStream java/io/File  file size  differs from expected size  for file  files differjava/io/EOFException Motion testa_stand#stand_sample_motionhkora11 Cmd contorlerDRX-910 foo.mtnfoo2.mtnfoo3.mtnPRM:/r1/c1-Joint2:j1PRM:/r1/c1/c2-Joint2:j2PRM:/r1/c1/c2/c3-Joint2:j3PRM:/r1/c1/c2/c3/c4-Joint2:j4PRM:/r1/c1/c2/c3/e1-Joint3:j5PRM:/r1/c1/c2/c3/e2-Joint3:j6PRM:/r2/c1-Joint2:j1PRM:/r2/c1/c2-Joint2:j2PRM:/r2/c1/c2/c3-Joint2:j3PRM:/r3/c1-Joint2:j1PRM:/r3/c1/c2-Joint2:j2PRM:/r3/c1/c2/c3-Joint2:j3PRM:/r4/c1-Joint2:j1PRM:/r4/c1/c2-Joint2:j2PRM:/r4/c1/c2/c3-Joint2:j3PRM:/r5/c1-Joint2:j1PRM:/r5/c1/c2-Joint2:j2PRM:/r5/c1/c2/c3-Joint2:j3PRM:/r6/c1-Joint2:j1PRM:/r6/c2-Joint2:j2 java/lang/Objectmtna_stand#stand_intValuerutil/StreamUtilreadASCIIString*(Ljava/io/InputStream;I)Ljava/lang/String;equals(Ljava/lang/Object;)Zappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;toString()Ljava/lang/String;(Ljava/lang/String;)V(J)VreadUnsignedInt32,(Ljava/io/InputStream;)Lrutil/UnsignedInt32;readUnsignedInt16,(Ljava/io/InputStream;)Lrutil/UnsignedInt16; longValue()JreadUnsignedInt8+(Ljava/io/InputStream;)Lrutil/UnsignedInt8; readAByte(Ljava/io/InputStream;)Bjava/lang/SystemoutLjava/io/PrintStream;(I)Ljava/lang/StringBuffer;java/io/PrintStreamprintln addElement(Ljava/lang/Object;)V(I)Vjava/lang/ThrowableprintStackTracegetBytes(Ljava/lang/String;)[Bjava/io/OutputStreamwrite([B)VbyteArrayValue(S)V byteValue()B elementAt(I)Ljava/lang/Object;flush(D)Vdivide0(Ljava/math/BigDecimal;II)Ljava/math/BigDecimal;writeSignedInt32readSignedInt32(J)Ljava/lang/StringBuffer;anglesclose!o b$****Y* R VZ[# $P* hh<* l cd B* *.`*.`*`i -n ; *``*``*`<p= d=`< YOYOsw#x'y+z/| ;#@ <=* 2N`-`<* p>d>`< YOYO* $(,044@=; (8* `h` *+*!YY*Y + ! Y"#+ ! Y"$+ ! Y"%+&' Y"(+&' Y"+&M*+&)+ ! Y"Y + ! Y"+ N-*7++,6*+++,6*+++,6*+-e-e e*e e*e e*e7+/W\ e7 Y0+ ! Y"+ :*-e-e7+& 6 0e7* 2 6 U++,6 *  + S3,4Y5 67*  28 e e7  * +/W\ e7 Y9+ ! Y"+ :  *-e-e7 3$4Y;, 6<86, 6:34Y=68**+>? @e7  Y"? 3EO\fs} %/\_dp"'3GQWfl8TE< ( F W f XR{%BY*CDL*+E+FL+GHYIJ     % cK+*KLM+Y NM+#NM+$NM+OYPQM+OYPQM+OY* PQM+*QM+Y NM+Y NM*M+Y,.NM+RY*STU+*KLM+RY*STU+*KLM+RY*STU+*KLM+U,\.[dO+Y0NM*N-.$34YV-.68+Y-.NM+OY* PQM6,* 2:+RYSTU+WM* -.,3&4YX-.68+U-\.[dO+Y9NM+Y*NM6* 6*+*YZ[+\+ &0?"N&c)n,}2>?ABDEGH JKJQ0b5eDf_iqmopqrowx{z +<FJRKK5+(" y+]Y^k`M,]Ya`cM,d<*e %* ++ t**fH]Y'ak`N-]Y^`cN-d% *$ p3"4Yg,h*i8+,hNM>43!4Yj,k.68+,k.e,kɱ& %05;Yco*ppp  2=  ZYlM,+ h3"4Ym,h*i8,* ` k>,k64,k+fO3!4Yn,k.68,. 5BNX^|4  DCK< ~6oYpLqY*2rM+,s N-:,tY*2uNvY-w:+E::xyY-z:+C7{AY|{i}i~-:48HYJqY*2r:qY-r: /6   /48HYJ: &:  G:  : t t L+GLXX -0r,BLX isz# '*&+0/516%BLsz^T  +  # 0  wQ48oYpL+++ZYlM,Y h,k+,?ZYlN-Y h-k+-?vYw:+E::xoYp:qYr:s::tvYw:E:  : x oYp: qYr: s:  : t vYw: E:  :x :Gs  (55hFI 56789";*<6==>E@MAYB`ChFsHKNOQTWY\`ac fi(k5nIuPw\ Q@*&! M" s#R$ I%32YSYSYSYSYSYSYSYSYSY SY SY SY SY SYSYSYSYSYSYS  YOYOYO YOYOYO YOYOYO YOYOYOYOYOYOYBFKMNOPQ&'PK {u,N"QQrutil/MotionFrame.class-  frameIndexLrutil/UnsignedInt32;angles[I()VCodeLineNumberTableLocalVariableTablethisLrutil/MotionFrame; SourceFileMotionFrame.java  rutil/MotionFramejava/lang/Object!  /*   PK {u,;^rutil/RCodeUtilities.class-b 01 02 3 4 56 57 8 9:;<= >? 5@ AB CDEFGH IJK_debugZ()VCodeLineNumberTableLocalVariableTablethisLrutil/RCodeUtilities; integerValue,(Lrutil/RCOMMConnection;Ljava/lang/String;)IrcommConnectionLrutil/RCOMMConnection; variableNameLjava/lang/String;se!Ljava/lang/NumberFormatException; ExceptionsL SourceFileRCodeUtilities.java java/lang/StringBuffer PRINT:"%d"; MN OPQ RS TU V WX Variable '' = ''Y Z[ \] ^P_ `ajava/lang/NumberFormatExceptionrutil/RCOMMSyncExceptionUnable to parse '' as integer. Received ' [rutil/RCodeUtilitiesjava/lang/Objectjava/io/IOExceptionappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;toString()Ljava/lang/String;rutil/RCOMMConnection sendCommand(Ljava/lang/String;Z)VreceiveTextReply(I)Ljava/lang/String;java/lang/SystemoutLjava/io/PrintStream;java/io/PrintStreamprintln(Ljava/lang/String;)V purgeReplyjava/lang/Stringtrimjava/lang/IntegerparseInt(Ljava/lang/String;)I! /*   ! "#*Y+*M * Y + , *,NYY+, QYY &MQY"*$%&' c('Y*)*+,- ./PK {u,Kw))rutil/RCOMMConnection.class-                        ! " # $ %&'( )* + ,-./0 1234 5 6 7 p89:;<= p> p?@ A pBC pDEFGHIJKL MN ON NP QRS T U MVW XYZ [\]^_`abcd pe fg hi pjklm h nu0 fop pqrst uv vwx xy xz x{| | } ~ |N  RCOMM_PORTI ConstantValueR DefaultSoTimeoutu0DefaultSyncTimeoutSocketPollTimeout _ipAddressLjava/lang/String;_port_socketLjava/net/Socket; _inputStreamLjava/io/InputStream; _outputStreamLjava/io/OutputStream;_shouldFakeConnectTimeoutZ_fakeConnectTimeoutJ_verbose _debugEOM _userCanceled(Ljava/lang/String;I)VCodeLineNumberTableLocalVariableTablethisLrutil/RCOMMConnection; ipAddressportclear()V setUserCancel(Z)V userCanceledconnecttlocalExceptionLjava/io/IOException;e Ljava/lang/InterruptedException;Ljava/net/ConnectException; ExceptionssetFakeTimeout(ZJ)V fakeConnectfakeConnectTimeout batteryLevel()Ljava/lang/String;smoveHead(II)VhorizontalAngle verticalAngle accelerationK(Ljava/lang/StringBuffer;Ljava/lang/StringBuffer;Ljava/lang/StringBuffer;)VxLjava/lang/StringBuffer;yzijwalk9(Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;)VtheWalkingStyleangledurationturn'(Ljava/lang/String;Ljava/lang/String;)VstopWalksitlie disconnectfirstIOException purgeReply soTimeoutbuffer[B Ljava/io/InterruptedIOException;purgeInitialReplyatEndgotAck sendCommand(Ljava/lang/String;)Vcommand(Ljava/lang/String;Z)V waitForEcho receiveEchomaxBytesToRead(Ljava/lang/String;J)VtimeoutreceiveTextReply(I)Ljava/lang/String;(IJ)Ljava/lang/String; bytesLeftbuf expirationbB expectSuccessexpectComplete(J)V timeoutMillis sendStream(Ljava/io/InputStream;)Visr0Ljava/io/InputStreamReader;rLjava/io/LineNumberReader;atEOFlinenumlinetempsendFilefilename fileStreamLjava/io/FileInputStream;stdout SourceFileRCOMMConnection.java  java/lang/StringBufferAttempting to connect to :    $Fake connect timeout with period of msec. java/lang/InterruptedExceptionjava/io/IOExceptionFake connect timeout java/net/Socket   java/net/ConnectExceptionConnection failed after  msec.  Canceled ExternallyConnected (after  msec.)+Setting fake connect for RCOMMConnection =  for  msecPRINT:"%d":Batt_Rest PLAY:ACTION:MOVE.HEAD.FAST:AP_GETACCEL x y zPRINT:"%d %d %d":x:y:z==== acceleration =   accel x:  accel y: accel z:%Parse error: cannot parse third accel&Parse error: cannot parse second accelPLAY:ACTION:WALK.STYLEPLAY:ACTION:TURN.STYLEPLAY:ACTION:STOP_WALKPLAY:ACTION:SITPLAY:ACTION:LIE  Purge reply 0x   java/io/InterruptedIOException Purge initial reply( )got nullgot null & ackgot null & ack & final null got nothingDone with purge. Sending ''   Awaiting echo of rutil/RCOMMSyncException Expected ' '. Received ' java/lang/String received text 'MTN_MSG_SUCCESSMTN_MSG_COMPLETE java/io/InputStreamReader java/io/LineNumberReader   java/io/FileInputStreamSending file ' Just reading from Aibo now. rutil/RCOMMConnectionjava/lang/Objectjava/lang/SystemoutLjava/io/PrintStream;append,(Ljava/lang/String;)Ljava/lang/StringBuffer;(I)Ljava/lang/StringBuffer;toStringjava/io/PrintStreamprintlncurrentTimeMillis()J(J)Ljava/lang/StringBuffer;java/lang/Threadsleep setSoTimeout(I)VgetInputStream()Ljava/io/InputStream;getOutputStream()Ljava/io/OutputStream;java/lang/ThrowableprintStackTrace(Z)Ljava/lang/StringBuffer;trimindexOf(Ljava/lang/String;)I substring(II)Ljava/lang/String;,(Ljava/lang/Object;)Ljava/lang/StringBuffer;(Ljava/lang/String;I)Ilength()Ijava/io/InputStreamclosejava/io/OutputStreamrutil/SocketUtil(Ljava/net/Socket;I)Iprint(C)Vread([B)I rutil/UtilhexStringForByte(B)Ljava/lang/String;getBytes()[Brutil/StreamUtil sendBytes(Ljava/io/OutputStream;[B)V regionMatches(ILjava/lang/String;II)Z readAByte(Ljava/io/InputStream;)B([B)V(Ljava/io/Reader;)VreadLine getLineNumberflush!********+ * & 4) *-.?5$6)7 ***F* * * ;< => >* BC;K*+Y* * @N*:Y**:Y* Y* * ! * u0"** # ** $ `:e@*&Y&'(*N:**(N**)**Y+e@*!Y,-]dg5%5 KL/O3P5R<S]TiUsfghilmnoqrtwxy{} %,J>K35g]6*Y./0 1** +05 666X*23*4L*5+6 d"*Y73 ! """*83*93*46:Y:;<6+=WY>+?;`@6[,`=WYA,?-`B=WYC-? D E*5J4=CPiv|H=vfw+*YF+,-3 **++++d"*YG+,3 ! """6*H3  6*I3  6*J3  (nL* * KM,L*,(* * LM+,L*,(* * MM+,L*,(++ (/2KRUV !(279@DKUZ\cg k m4nk2U<* N*  O<MO*H,3 ,3&YP,3;Q,3R;Q* ,S,N%::* U* OWx~TB!' (')7*Z-d.l'~3>?BD*~)* VL=>*C+3 +3)YW+3XYQ +3R+3=>*aZV+3>*A[6+3*-\"* ]=>* +S=* ^zKLOPQWX!Y1ZW]ackdmeofvgjklmpqrwxz{W*_*+3_M  D*5*!Ya+b+cN* -d*+e& -2:>C*DDD2g*Yf++B``=*4N+-+Bg,hYYi+j-bk )/=f*gg)=/7m*Yf++B``6* l:++Bg-hYYi+jbk *3Bl4mmm*B39= *ml  6: a7* O646 * o6 :  d T  ͨ:  : * OW pYq: *"Yr b !*-TZZN!-8;DILOZp{f !. - {) 5*se   5*te  @*tu  JvY+wMxY,yN66,-z:-{6 *3 66ձ:* +,-./!0'1,234:5@8D.I;RJJ @741!#'A|Y+}MY~+b*, N-:, 22G I'J2M@O AA 7m* L=>@+36 `6 RXQ* +S :(beFWX[\]cde$f,h3i<jEmQnWcetlv>mYWU8ePK {u,Jffrutil/RCOMMSyncException.class- (Ljava/lang/String;)VCodeLineNumberTableLocalVariableTablethisLrutil/RCOMMSyncException;messageLjava/lang/String; SourceFileRCOMMSyncException.java rutil/RCOMMSyncExceptionjava/io/IOException!>*+      PK {u,Urutil/ReaderUtil.class-f D EFG H IJK DL M INOP DQ R ST U H IVWXY()VCodeLineNumberTableLocalVariableTablethisLrutil/ReaderUtil;readInt(Ljava/io/Reader;)IrLjava/io/Reader;buffer[ClJ Exceptions readShortreadChar(Ljava/io/Reader;)CcC readString%(Ljava/io/Reader;I)Ljava/lang/String;lengthI readCharArray(Ljava/io/Reader;I)[C numToReadnumreadskip(Ljava/io/Reader;I)V numToSkip numskipped SourceFileReaderUtil.java !" :;java/lang/NumberFormatException*coerce signed int to unsigned int overflow !Z[ \]java/io/EOFExceptionjava/lang/String !^ \_java/io/IOExceptionjava/lang/StringBuffercouldn't read `a `b . Only read cd >ecouldn't skip rutil/ReaderUtiljava/lang/Object(Ljava/lang/String;)Vjava/io/Readerread()I([C)V([CII)Iappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;(I)Ljava/lang/StringBuffer;toString()Ljava/lang/String;(J)J! !"#/*$% &' ()#;*L+4+4ia+4ia+4iaA  Y $  &.8% ;*+5,-&./0 1)#w)*L+4+4iaA  Y $&!% )*+#,-./0 23#U*< Y$&' (*%*+450 67#Q*MY,$ /0% *+89 ,-0 :;#DM*,> Y'YY,$56 78:;B=%*D*+D<9@,- 8=90 >?#s)*=YY$CE F(H% )*+)@9 A90BCPK {u, rutil/SkitFilenameFilter.class-.  !"# $% &'()* _filenameLjava/lang/String;()VCodeLineNumberTableLocalVariableTablethisLrutil/SkitFilenameFilter;(Ljava/lang/String;)Vfilename setFilenameaccept#(Ljava/io/File;Ljava/lang/String;)ZdirLjava/io/File;name SourceFileSkitFilenameFilter.java   java/lang/RuntimeExceptionname may not equal null filename not set+ ,-rutil/SkitFilenameFilterjava/lang/Objectjava/io/FilenameFilterjava/lang/StringequalsIgnoreCase(Ljava/lang/String;)Z!   3*  F **+    >*+ &' v(, Y* Y,*.046: ((( PK {u,f((rutil/SocketUtil.class-2    ! "#$ "% &'(()VCodeLineNumberTableLocalVariableTablethisLrutil/SocketUtil; setSoTimeout(Ljava/net/Socket;I)IsocketLjava/net/Socket;timeoutIoriginalSoTimeouteLjava/net/SocketException; SourceFileSocketUtil.java ) *+ ,java/net/SocketException- . java/lang/RuntimeException /0 1rutil/SocketUtiljava/lang/Objectjava/net/Socket getSoTimeout()I(I)Vjava/lang/ThrowableprintStackTrace getMessage()Ljava/lang/String;(Ljava/lang/String;)V!   /*    *=*N-Y-   *   PK {u,Lcrutil/StreamUtil.class- :~ 9   9           9 " % )  .~ . . % . - END_OF_FILEI ConstantValue_verboseZ()VCodeLineNumberTableLocalVariableTablethisLrutil/StreamUtil;stdout(Ljava/io/InputStream;)V inputStreamLjava/io/InputStream;buffer[BieLjava/io/IOException;sendLong(Ljava/io/OutputStream;J)V outputStreamLjava/io/OutputStream;lJbuf Exceptions sendBytes(Ljava/io/OutputStream;[B)V readAByte(Ljava/io/InputStream;)Bs bytesToReadonlyValidIndexreadUnsignedInt32,(Ljava/io/InputStream;)Lrutil/UnsignedInt32;readSignedInt32(Ljava/io/InputStream;)IbsLjava/io/ByteArrayInputStream;disLjava/io/DataInputStream;writeSignedInt32(Ljava/io/OutputStream;I)VvalueLjava/io/ByteArrayOutputStream;dosLjava/io/DataOutputStream;readUnsignedInt16,(Ljava/io/InputStream;)Lrutil/UnsignedInt16;readUnsignedInt8+(Ljava/io/InputStream;)Lrutil/UnsignedInt8;readASCIIString*(Ljava/io/InputStream;I)Ljava/lang/String; stringLength&Ljava/io/UnsupportedEncodingException; readBytes(Ljava/io/InputStream;I)[B totalBytesr bytesRead SourceFileStreamUtil.java AB ?@ Just reading from Aibo now. B  java/io/IOException  vwrutil/UnsignedInt32 Ajava/io/ByteArrayInputStreamjava/io/DataInputStream AI java/io/ByteArrayOutputStream Ajava/io/DataOutputStream A rutil/UnsignedInt16rutil/UnsignedInt8 [\ Ajava/lang/StringUS-ASCII A$java/io/UnsupportedEncodingExceptionjava/lang/RuntimeException/this should never happen as US-ASCII must exist A java/io/EOFExceptionjava/lang/StringBuffer expected  bytes. Got  ' A' rutil/StreamUtiljava/lang/Objectjava/lang/SystemoutLjava/io/PrintStream;java/io/PrintStreamprintln(Ljava/lang/String;)Vprint(C)Vflush rutil/UtilhexStringForByte(B)Ljava/lang/String;java/io/InputStreamread([B)IbyteArrayForLong(J)[Bjava/io/OutputStreamwrite([BII)V(I)VreverseByteOrderInPlace([B)[B([B)VreadInt()I(Ljava/io/OutputStream;)VwriteInt toByteArray()[B(S)V([BLjava/lang/String;)V([BII)Iappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;(I)Ljava/lang/StringBuffer;toString()Ljava/lang/String;!9:;<=> ?@ ABC/*DE FG HICX L9+3= `=  *+ ŧMSV D> #)*+,#.)/10:3E4K)V8W:E*XJKELM2N<VOP QRCd N*- **D>? @ABE STUVWMX YZCR*++ **DFG HIESTWMX [\CR <=*3DNOPE  ]K ^<_<X `aC:Y*DUE ]KX bcCz"*L+WY+MY,N-DZ[ \]^E*"]KLMdefgX hiC{#YMY,N-*,Dc def"gE*#ST#j< dklmX noC: Y*!DkE ]KX pqC7 "Y*#$DpE  ]KX rsCd%Y*&'M)Y*+(D vyE ]Kt< OuX vwCsM>6 *,,d,6`>,,?-Y.Y/01,231241%Y,516178,D6  !$)/5qE>s]Ks^<oWMmx< jy<z<X {BCD|}PK {u,2 rutil/TestUIAiboController.class- : 9 9 9 9 9 :   : : 9 : 9 : : :   : #  & * & * # 9  # #@ _testModeZ _batteryLevelI _testImage[B _imageNumberMAX_IMAGE_COUNT _imageVectorLjava/util/Vector;()VCodeLineNumberTableLocalVariableTablethisLrutil/TestUIAiboController; setTestMode(Z)V isTestMode setIPAddress(Ljava/lang/String;)V ipAddressLjava/lang/String;testMode()Zconnect ExceptionsgetJPEG()[BgetAudio(Lrutil/Wave;J)Lrutil/Wave;wave Lrutil/Wave; sampleCountJ setProperties(Ljava/util/Hashtable;)V propertiesLjava/util/Hashtable;rputMotionFiles9(Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;)ImotionFilename ledFilename sndFilename playMotion(ZJ)Vsynchperiode Ljava/lang/InterruptedException; batteryLevel()Ljava/lang/String;initImageVector()Ljava/util/Vector; imageVectorpathifileLjava/io/File;fisLjava/io/FileInputStream;bufLjava/io/FileNotFoundException;Ljava/io/IOException;_getJPEG _getAudio SourceFileTestUIAiboController.java EF ;< => A> pq CD OP java/lang/StringBufferWould be setting ipAddress o P UFwould be connecting here WX |X YZ }Z _` cdWould be rputting  hi*Would be playing a skit which should last (msec) java/lang/InterruptedException Skit done Would be playing without waiting nojava/util/Vector/tmp/MacAiboImage java/io/File .jpg EPjava/io/FileInputStream E  F B>java/io/FileNotFoundExceptionRead  files Fjava/io/IOException rutil/TestUIAiboControllerrutil/AiboControllerjava/lang/SystemoutLjava/io/PrintStream;append,(Ljava/lang/String;)Ljava/lang/StringBuffer;toStringjava/io/PrintStreamprintln(J)Ljava/lang/StringBuffer;java/lang/Threadsleep(J)Vjava/lang/Integer(I)Ljava/lang/String;(I)Ljava/lang/StringBuffer;(Ljava/io/File;)Vlength()Jrutil/StreamUtil readBytes(Ljava/io/InputStream;I)[Bclose addElement(Ljava/lang/Object;)Vjava/lang/ThrowableprintStackTracesize()I elementAt(I)Ljava/lang/Object;!9:;<=>?@A> B>CDEFG[***d***H h{~I JKLMG>*H IJKN<OPGi)* *+ Y  + H( I)JK)QRSTG/*H"I JKUFGM* * H'(+-I JKV5WXGC***H12 5I JKV5YZG[* *+ *+ H:;>I JK[\]^V5_`GQ* *+HCDGIIJKabV5cdG>* *+,- Y  +  ,  -  HNOR:SI*>JK>eR>fR>gRV5hiGP* * B5 Y    :  269H& XY\]2^;_FbNdOfI*PJKPj<Pk^9lmV5noGi+*"*Yd* *d*!*"Hklmnp&sI +JKV5pqG #Y$L%M>c&Y Y , '( ):*Y+::,-:::. +/0P: Y 2 '3 4(: Y 2 '3 4 Y 2 '3 +>QQ wz1 w5HJ 0;>QbgmzI\ JKrD sR t>0=uv;2wx>/y@zMlz%l{|XG[)**6***YZ`78HI )JKV5}ZG@+HI JK[\]^V5~FG0H}PK {u,'55rutil/UnsignedDataInput.class- readUnsignedLong()Ljava/math/BigInteger; ExceptionsreadUnsignedInt()JreadUnsignedShort()I SourceFileUnsignedDataInput.javarutil/UnsignedDataInputjava/lang/Objectjava/io/IOException   PK {u,%%==rutil/UnsignedDataOutput.class- writeUnsignedLong(Ljava/math/BigInteger;)V ExceptionswriteUnsignedInt(J)VwriteUnsignedShort(I)V SourceFileUnsignedDataOutput.javarutil/UnsignedDataOutputjava/lang/Objectjava/io/IOException   PK {u,s rutil/UnsignedInt16.class-t YZ Y[ \ ]^ _ ` \ ab c ` d e ` f g h i jk l m nopserialVersionUIDJ ConstantValuevalueLjava/lang/Integer; MAX_VALUEI MIN_VALUEIsLittleEndianZ IsBigEndian(I)VCodeLineNumberTableLocalVariableTablethisLrutil/UnsignedInt16;a([B)Vbval[B Exceptions([BZ)V isBigEndian(Ljava/lang/String;)VLjava/lang/String;tempiValue byteValue()B shortValue()SintValue()IbyteArrayValue()[Bibuf longValue()J floatValue()F doubleValue()DtoString()Ljava/lang/String;hashCodeequals(Ljava/lang/Object;)ZoLjava/lang/Object;()V SourceFileUnsignedInt16.java ,Vjava/lang/NumberFormatExceptionjava/lang/Integer ,- #$java/math/BigInteger ,4 BCq rs ,: >? @A HI JK LM NO PCrutil/UnsignedInt16 QR )* +*java/lang/Numberjava/io/Serializable rutil/UtilreverseByteOrderInPlace([B)[B! !#$%& '& ( )* +*,-.g#*  Y*Y/GHIK"L0#12#3&,4.H*Y+ / VW012567,8.8*+ WY+ >  Y*Y/"`ab de#f+h7i0*81285689*3&7,:.1*Y+ M,>  Y*Y/vw xyz$|0}0*11213; #<$=&7>?.2*/0 12@A.2*/0 12BC.2*/0 12DE.m*<M,~T,~zT,/ 0 12F& G6HI.2*/0 12JK.2*/0 12LM.2*/0 12NO.2*/0 12PC.2*/0 12QR.T++*/ 012STUV.) /;<;WXPK {u,6Z Z rutil/UnsignedInt32.class-z #_` a bc _d e f gh i b j k l b m n o pq r s tuvserialVersionUIDJ ConstantValuevalueLjava/lang/Long; MAX_VALUE MIN_VALUEIsLittleEndianZ IsBigEndian([B)VCodeLineNumberTableLocalVariableTablethisLrutil/UnsignedInt32;bval[Ba Exceptions([BZ)V isBigEndian(J)V(Ljava/lang/String;)VLjava/lang/String;temp longValue byteValue()B shortValue()SintValue()I()JbyteArrayValue()[Blbuf floatValue()F doubleValue()DtoString()Ljava/lang/String;hashCodeequals(Ljava/lang/Object;)ZoLjava/lang/Object;()V SourceFileUnsignedInt32.java 3\java/math/BigInteger 34 DKjava/lang/NumberFormatExceptionjava/lang/Long 3@ *+w xy 3A EF GH IJ PQ RS TU VJrutil/UnsignedInt32 WX 01 21java/lang/Numberjava/io/Serializable rutil/UtilreverseByteOrderInPlace([B)[B!#$%&'(*+,&'-&'. 01 213453*Y+A  Y* Y 6EFGH&J2K7 3893:;"<&=3>5<*+ WY+B! ! Y* Y! 6"UWX Z['\/^;_7*<89<:;<?1"<&=3@5k'*  Y* Y 6fghj&k7'89'<&3A55* Y+ M,B! ! Y* Y! 6rs tu v(x4y7*5895<B 'C+"D&=EF52* 67 89GH52* 67 89IJ52* 67 89DK52* 67 89LM5<*@N-T-{T-{T-{T-6  -:7 <897N& 3O;PQ52* 67 89RS52* 67 89TU52* 67 89VJ52* 67 89WX5T++ * 6 789YZ[\5) !"6MNM]^PK {u,+rutil/UnsignedInt64.class-d LM N O P Q RS L T UV WX Y Z [ \ ]^_`abserialVersionUIDJ ConstantValue MAX_VALUELjava/math/BigInteger; MIN_VALUEbigInt(Ljava/lang/String;)VCodeLineNumberTableLocalVariableTablethisLrutil/UnsignedInt64;svalLjava/lang/String; Exceptions([B)Vbval[B(Ljava/math/BigInteger;)Vinputequals(Ljava/lang/Object;)ZoLjava/lang/Object;uceLjava/lang/ClassCastException; bigIntValue()Ljava/math/BigInteger;intValue()I longValue()J doubleValue()D floatValue()F compareTo(Ljava/lang/Object;)IvaltoString()Ljava/lang/String;hashCode()V SourceFileUnsignedInt64.java "Ijava/math/BigInteger "# !  Bc java/lang/NumberFormatException ", EFrutil/UnsignedInt64 12java/lang/ClassCastException :; <= >? @A G;184467440737095516150java/lang/Numberjava/io/Serializablejava/lang/Comparable(Ljava/math/BigInteger;)I!  ! "#$w3**Y+** Y %GHI*K2M&3'(3)*+",$w3**Y+ ** Y %TUV*X2Z&3'(3-.+"/$z6**Y+ ** Y %abc-e5g&6'(6012$l+ M,* M%tux&*'(34 5(6789$/*%}& '(:;$2*%& '(<=$2*%& '(>?$2*%& '(@A$2*%& '(BC$C*+ %&'(D4EF$2* %& '(G;$2*%& '(HI$9YY%5 ;5JKPK {u,ˤrutil/UnsignedInt8.class-] HI HJ K LM N O K P O Q R S T U V WX YZ[serialVersionUIDJ ConstantValuevalueLjava/lang/Short; MAX_VALUES MIN_VALUE(S)VCodeLineNumberTableLocalVariableTablethisLrutil/UnsignedInt8;a([B)Vbval[B Exceptions(Ljava/lang/String;)VLjava/lang/String;temp shortValue byteValue()B()SintValue()I longValue()J floatValue()F doubleValue()DtoString()Ljava/lang/String;hashCodeequals(Ljava/lang/Object;)ZoLjava/lang/Object; SourceFileUnsignedInt8.java $\java/lang/NumberFormatExceptionjava/lang/Short $% java/math/BigInteger $, 36 $0 45 78 9: ;< => ?@ A8rutil/UnsignedInt8 BCjava/lang/Numberjava/io/Serializable()V! !" # $%&h$*  Y*Y'GHIK#L($)*$+ $,&H*Y+ ' VW()*-./$0&2*Y+ M, >  Y*Y'`a bcd%f1g(*2)*2+1 $23 /45&2* 'p( )*36&2* 'z( )*78&2*'( )*9:&2*'( )*;<&2*'( )*=>&2*'( )*?@&2*'( )*A8&2*'( )*BC&T++*' ()*DEFGPK {u,Z0( ( rutil/Util.class-o ST S UV WXY Z[ \ ]^ _` a bcdHexStringForLongMaxValueLjava/lang/String;()VCodeLineNumberTableLocalVariableTablethis Lrutil/Util;hexStringForByte(B)Ljava/lang/String;bBsbLjava/lang/StringBuffer;iIrawpaddinghexStringForBytes([B)Ljava/lang/String;bytes[BhexStringForLong(J)Ljava/lang/String;lValueJ unsignedByte(B)JlongForByteArray([B)Jbuf([BI)JoffsetbyteArrayForLong(J)[BlreverseByteOrderInPlace([B)[Bindexcounttemp otherIndex reverseBytes([BII)Vlength thisIndex SourceFile Util.java #$java/lang/StringBuffere fgh Ni0x jk0 lm *+ n f9 !" <= rutil/Utiljava/lang/Objectjava/lang/Integer toHexString(I)Ljava/lang/String;java/lang/String()Iappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;toString()Ljava/lang/String;java/lang/Long! !" #$%/*&' () *+%GYL= `=N-d6+W +WYd6+-W+ &2   !(+2<B'4G,-?./ =01.2"!&31 45%5YL= +*3 W*d + W*+ &  '0"' 567-./ +01 89%a M, Y, YN ,d6-W -WYd6-,W- &. '()&,.-;.B/E0L/V2\3'*a:;\2".3./;&31 <=%@a&;<?' ,- >?%R(*3*3ia*3ia*3ia&E' (@7 >A%d0*`3*`3ia*`3ia*`3ia&K'0@70B1 CD%7M,T,{T,{T,{T,&QRST(U5V'7E;3@7 FG%,<*l=*3>*dd6**3T*T*&] ^_`a"]*c'4,67*H1%I1J- K1 LM%6>l6(`6`dd6*36**3T*Tر&"h ijlm&n,h5p'R6676B16N13H1.I1O1K1J-P$%"  &QRPK {u,kjrutil/Wave.class- H  1 1  1 1 1 $  1  1 1 B 1 1 1 1 1 ! # 1 ! 1  ) )  1 1 4 4 4 3 1 3   B>_verboseZ ConstantValuecbFmtLrutil/UnsignedInt32;pcm_typeLrutil/UnsignedInt16;channelssamples_per_sec bytes_per_secbytes_per_samplebits_per_sample_length _dataLength_samplesLjava/util/Vector;()VCodeLineNumberTableLocalVariableTablethis Lrutil/Wave; addSample(Lrutil/APAudioSample;)VsampleLrutil/APAudioSample; clearLengthslength()Lrutil/UnsignedInt32; dataLengthsamplesCapturedI bytesCaptured writeHeader(Ljava/io/OutputStream;)V outputStreamLjava/io/OutputStream; Exceptionswrite(Ljava/lang/String;)VfilenameLjava/lang/String;fosLjava/io/FileOutputStream;indexcount readSample,(Ljava/io/InputStream;)Lrutil/APAudioSample; inputStreamLjava/io/InputStream;buffer[BeLjava/io/EOFException;read(Ljava/io/InputStream;)VreadWave baseFilenamewavestreamLjava/io/FileInputStream;Ljava/io/IOException; SourceFile Wave.java Z[java/util/Vector XY e[ VN WNrutil/UnsignedInt32 hg Z RIFFUS-ASCII  q fg WAVEfmt MN OP QP RN SN TP UPdatajava/io/FileOutputStream Zrjava/io/BufferedOutputStream Zm qm [ lm rutil/APAudioSample ~ java/io/EOFException yztruncaibosound rutil/Wavejava/io/FileInputStreamjava/lang/StringBuffer .wav   [java/io/IOException [rutil/UnsignedInt16 Zjava/lang/Object addElement(Ljava/lang/Object;)V longValue()J(J)Vsize()Ijava/lang/StringgetBytes(Ljava/lang/String;)[Bjava/io/OutputStream([B)VbyteArrayValue()[Bclose elementAt(I)Ljava/lang/Object;rutil/StreamUtil readBytes(Ljava/io/InputStream;I)[Bjava/io/InputStreamskip(J)Jappend,(Ljava/lang/String;)Ljava/lang/StringBuffer;toString()Ljava/lang/String;java/lang/SystemoutLjava/io/PrintStream;java/io/PrintStreamprintlnjava/lang/ThrowableprintStackTrace(I)V!1H IJKLMNOPQPRNSNTPUPVNWNXY Z[\B**Y]HIJ^ _`ab\I **+]RS T^ _` cde[\= **]^_ `^  _`fg\T"** Y*  a*]ijl^ "_`hg\w)* *h<h=* Y*]uvwx$z^ )_`ij kjlm\++*++++++++++ +* ]: !,6@JT^hr}^_`nop>qr\*!Y+"M*#Y,$% N-:,& ] ')^ *_`*st uvp>qm\-*+'=*>+*()*]$,^*-_`-no%wjxjp>yz\)Y+M+,N,-*,M-]^4_`{|cd}~p>\%+ .X*+/M,*,*]" $^ %_`%{|cdp> [\N0K1Y2L3Y4Y5*67689M+,: N-:,;<=M,?&11 EH>]"uv y&{1~?HM^*Jt B`&H[\U Y@BYCBYC YD YFBYCBYC]"7 89#:0;=<H=T7PK {u,栺tests.sh#!/bin/sh CLASSPATH=.:/Users/dzitter/roots/rutil.jar SKIT_DIR=/private/automount/extra/freebsd/dzitter/projects/AIBO/apps/brainbo-250/skits #:/private/automount/extra/freebsd/dzitter/projects/java/GF4J/GF4J-1/gameframe.jar echo Testing Aibos spray java -classpath $CLASSPATH rutil.SprayStream exit 0; echo Testing AiboController playing by specifying the skit loosely java -classpath $CLASSPATH rutil.AiboController aibo play $SKIT_DIR/dance03 # test-aibo #play $SKIT_DIR/dance03.le2 #/private/automount/extra/freebsd/dzitter/projects/AIBO/projects/SilverCat/SilverCat-2/R-CODE.R exit 0; echo Testing AiboController r-code execution java -classpath $CLASSPATH rutil.AiboController aibo exec /private/automount/extra/freebsd/dzitter/projects/AIBO/rc/ARCHIVE/PET/Daggit-3/OPEN-R/APP/PC/AMS/R-CODE.R #/private/automount/extra/freebsd/dzitter/projects/AIBO/projects/SilverCat/SilverCat-2/R-CODE.R exit 0; echo Testing AiboController test timeout in 5 seconds java -classpath $CLASSPATH rutil.AiboController test-connect aibo jpg notcreated.jpg TEST_JPG=/tmp/xxx.jpg echo get jpg $TEST_JPG from AiboController rm $TEST_JPG java -classpath $CLASSPATH rutil.AiboController aibo jpg $TEST_JPG ls -al $TEST_JPG sleep 5 echo Play skit through AiboController java -classpath $CLASSPATH rutil.AiboController aibo play $SKIT_DIR/dance03.mtn $SKIT_DIR/dance03.le2 $SKIT_DIR/dance03.wav echo Done playing skit through AiboController echo Test completed. PK {u, META-INF/PK {u,cCC+META-INF/MANIFEST.MFPK {u,OOaibo-controller.plPK {u,rutil/PK {u,;j:)Crutil/AiboController$1.classPK {u,V(22rutil/AiboController.classPK {u,-Z``68rutil/APAudioException.classPK {u,a7,9rutil/APAudioSample.classPK {u,oz%%;rutil/APColorImage.classPK {u,/ 6=rutil/APDeviceControl.classPK {u,w8""`Hrutil/APJPEGImage.classPK {u, !Irutil/APTelemetryConnection.classPK {u,PHgjrutil/APVersion.classPK {u,͛.prutil/DataStream.classPK {u,i9;KKsrutil/LEInputStream.classPK {u,qdDDrutil/LEOutputStream.classPK {u,U --rutil/Motion.classPK {u,N"QQrutil/MotionFrame.classPK {u,;^Drutil/RCodeUtilities.classPK {u,Kw))rutil/RCOMMConnection.classPK {u,Jffrutil/RCOMMSyncException.classPK {u,U<rutil/ReaderUtil.classPK {u, Yrutil/SkitFilenameFilter.classPK {u,f((a rutil/SocketUtil.classPK {u,Lcrutil/StreamUtil.classPK {u,2 rutil/TestUIAiboController.classPK {u,'552rutil/UnsignedDataInput.classPK {u,%%==14rutil/UnsignedDataOutput.classPK {u,s 5rutil/UnsignedInt16.classPK {u,6Z Z ?rutil/UnsignedInt32.classPK {u,+OJrutil/UnsignedInt64.classPK {u,ˤsSrutil/UnsignedInt8.classPK {u,Z0( ( @[rutil/Util.classPK {u,kjerutil/Wave.classPK {u,栺kvtests.shPK##y D|