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Timothy Stack authored
Some RMCD debugging and improvements. * robots/emc/GNUmakefile.in, robots/rmcd/GNUmakefile.in: Fix some of the dependencies. * robots/emc/emcd.c: Bump default speed for events to 0.2 m/s. Send an event when a dynamic obstacle is updated. * robots/emc/emcd.h: Send position updates three times a second. * robots/mtp/listNode.h, robots/mtp/listNode.c: Add a function to prepend a list onto another. * robots/mtp/mtp.x, robots/mtp/mtp.h, robots/mtp/mtp.c: Add support for sending updates concerning dynamically detected obstacles. * robots/rmcd/masterController.h, robots/rmcd/masterController.c: When a robot is stationary, add it as an obstacle. Play with the pause time a bit. * robots/rmcd/obstacles.h, robots/rmcd/obstacles.c: Add robots as a third type of obstacle. Do not expand static obstacles when the robot detects something with its sensors. Add some more checks to make sure the obstacle list is sane. When creating/growing/removing dynamic obstacles, send a notification to emcd so it can be passed on to the applet. More comments. * robots/rmcd/pathPlanning.h, robots/rmcd/pathPlanning.c: When monkeying with the obstacle list, we need to make sure the obstacles are put back in the right order (dynamic before static). More comments. * robots/rmcd/pilotConnection.c: Add some more stuff to the SIGINFO print out. * robots/rmcd/rmcd.c: Initialize the emcd mtp handle for sending updates for obstacles. * robots/mtp/mtp_dump.c, robots/vmcd/visionTrack.c: Remove macros that are now defined elsewhere.
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