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emulab
emulab-devel
Commits
094aec8d
Commit
094aec8d
authored
Jan 20, 2005
by
Timothy Stack
Browse files
Only wiggle the robot when there is an unknown fiducial track visible,
otherwise it's pointless.
parent
fad0c4dd
Changes
1
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Inline
Side-by-side
robots/vmcd/vmcd.c
View file @
094aec8d
...
...
@@ -483,22 +483,25 @@ int main(int argc, char *argv[])
* process of finding one.
*/
if
((
wiggle_bot
==
NULL
)
&&
!
lnEmptyList
(
&
wiggling_bots
))
{
struct
mtp_packet
wmp
;
/*
* Take a snapshot of the tracks with no robot attached from the
* last frame so we can compare it against the frame when the robot
* has finished its wiggle.
*/
vtUnknownTracks
(
&
wiggle_frame
,
&
last_frame
);
wiggle_bot
=
(
struct
robot_object
*
)
lnRemHead
(
&
wiggling_bots
);
mtp_init_packet
(
&
wmp
,
MA_Opcode
,
MTP_WIGGLE_REQUEST
,
MA_Role
,
MTP_ROLE_VMC
,
MA_RobotID
,
wiggle_bot
->
ro_id
,
MA_WiggleType
,
MTP_WIGGLE_180_R
,
MA_TAG_DONE
);
mtp_send_packet
(
emc_handle
,
&
wmp
);
if
(
!
lnEmptyList
(
&
wiggle_frame
))
{
struct
mtp_packet
wmp
;
wiggle_bot
=
(
struct
robot_object
*
)
lnRemHead
(
&
wiggling_bots
);
mtp_init_packet
(
&
wmp
,
MA_Opcode
,
MTP_WIGGLE_REQUEST
,
MA_Role
,
MTP_ROLE_VMC
,
MA_RobotID
,
wiggle_bot
->
ro_id
,
MA_WiggleType
,
MTP_WIGGLE_180_R
,
MA_TAG_DONE
);
mtp_send_packet
(
emc_handle
,
&
wmp
);
}
}
rreadyfds
=
readfds
;
...
...
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