Add exclusion and camera bound checking.

www/robotrack/cameras.php3

+<?php
+#
+# EMULAB-COPYRIGHT
+# Copyright (c) 2000-2002, 2004, 2005 University of Utah and the Flux Group.
+# All rights reserved.
+#
+chdir("..");
+include("defs.php3");
+
+#
+# Only known and logged in users can watch LEDs
+#
+$uid = GETLOGIN();
+LOGGEDINORDIE($uid);
+
+#
+# One robot map right now ...
+# 
+$building = "MEB-ROBOTS";
+$floor    = 4;
+
+# Initial goo.
+header("Content-Type: text/plain");
+header("Expires: Mon, 26 Jul 1997 05:00:00 GMT");
+header("Cache-Control: no-cache, must-revalidate");
+header("Pragma: no-cache");
+flush();
+
+#
+# Clean up when the remote user disconnects
+#
+function SPEWCLEANUP()
+{
+    exit(0);
+}
+register_shutdown_function("SPEWCLEANUP");
+
+# Get the obstacle information.
+$query_result =
+    DBQueryFatal("select * from cameras ".
+		 "where building='$building' and floor='$floor'");
+
+while ($row = mysql_fetch_array($query_result)) {
+    $name  = $row["name"];
+    $x1    = $row["loc_x"];
+    $y1    = $row["loc_y"];
+    $x2    = $x1 + $row["width"];
+    $y2    = $y1 + $row["height"];
+
+    echo "$name, $x1, $y1, $x2, $y2\n";
+}
+
+?>

www/robotrack/obstacles.php3

+<?php
+#
+# EMULAB-COPYRIGHT
+# Copyright (c) 2000-2002, 2004, 2005 University of Utah and the Flux Group.
+# All rights reserved.
+#
+chdir("..");
+include("defs.php3");
+
+#
+# Only known and logged in users can watch LEDs
+#
+$uid = GETLOGIN();
+LOGGEDINORDIE($uid);
+
+#
+# One robot map right now ...
+# 
+$building = "MEB-ROBOTS";
+$floor    = 4;
+
+# Initial goo.
+header("Content-Type: text/plain");
+header("Expires: Mon, 26 Jul 1997 05:00:00 GMT");
+header("Cache-Control: no-cache, must-revalidate");
+header("Pragma: no-cache");
+flush();
+
+#
+# Clean up when the remote user disconnects
+#
+function SPEWCLEANUP()
+{
+    exit(0);
+}
+register_shutdown_function("SPEWCLEANUP");
+
+#
+# Get the obstacle information. This stuff is in pixels, but we want to
+# always send meters to the applet.
+#
+$query_result =
+    DBQueryFatal("select o.*,f.pixels_per_meter from obstacles as o ".
+		 "left join floorimages as f on ".
+		 "  o.building=f.building and o.floor=f.floor ".
+ 		 "where o.building='$building' and o.floor='$floor'");
+
+while ($row = mysql_fetch_array($query_result)) {
+    $id    = $row["obstacle_id"];
+    $x1    = $row["x1"];
+    $y1    = $row["y1"];
+    $x2    = $row["x2"];
+    $y2    = $row["y2"];
+    $desc  = $row["description"];
+    $ppm   = $row["pixels_per_meter"];
+
+    if (!isset($desc))
+	$desc = "";
+
+    $meters_x1 = sprintf("%.4f", $x1 / $ppm);
+    $meters_y1 = sprintf("%.4f", $y1 / $ppm);
+    $meters_x2 = sprintf("%.4f", $x2 / $ppm);
+    $meters_y2 = sprintf("%.4f", $y2 / $ppm);
+    
+    echo "$id, $meters_x1, $meters_y1, $meters_x2, $meters_y2, $desc\n";
+}
+
+?>

www/robotrack/robotrack.php3

@@ -77,7 +77,7 @@ if (!preg_match("/^\/tmp\/([-\w]+)$/", $prefix, $matches)) {
 }
 $uniqueid = $matches[1];
 
-$perl_args = "-o $prefix -t -z -n -x -y -f $floor $building";
+$perl_args = "-o $prefix -t -z -n -x -v -y -f $floor $building";
 
 $retval = SUEXEC($uid, "nobody", "webfloormap $perl_args",
 		 SUEXEC_ACTION_IGNORE);
@@ -122,7 +122,10 @@ echo "<br>
           moves (start the robots on their way), or cancel the moves.
      <li> Only one move per robot at a time.
      <li> To change just the orientation (no drag), edit the destination
-          orientation column in the table. 
+          orientation column in the table.
+     <li> A robot destination must not overlap an obstacle (shaded area,
+          blue border), and it must be fully within the field of view of at
+          least one camera (orange boxes). 
      </ul>
      <blockquote><blockquote>\n";