Checkpoint first real version of the real time robot tracker applet.

Note that the java compiler on boss is too old to compile this applet
(not that I am using anything special) so I am committing a compiled
version. Use the jar target in the robots/tracker build directory if
you happen to have a modern version of java on your machine.

configure

@@ -2189,6 +2189,7 @@ outfiles="$outfiles Makeconf GNUmakefile \
 	robots/mezzanine/libfg/GNUmakefile \
 	robots/mezzanine/libmezz/GNUmakefile \
 	robots/mezzanine/mezzanine/GNUmakefile \
+	robots/tracker/GNUmakefile \
 	robots/mezzanine/mezzcal/GNUmakefile robots/robomonitord "
 
 #

configure.in

@@ -772,6 +772,7 @@ outfiles="$outfiles Makeconf GNUmakefile \
 	robots/mezzanine/libfg/GNUmakefile \
 	robots/mezzanine/libmezz/GNUmakefile \
 	robots/mezzanine/mezzanine/GNUmakefile \
+	robots/tracker/GNUmakefile \
 	robots/mezzanine/mezzcal/GNUmakefile robots/robomonitord "
 
 #

robots/GNUmakefile.in

@@ -29,7 +29,7 @@ else
 TBSETDESTDIR=
 endif
 
-SUBDIRS	= $(TBSETDESTDIR) $(MEZZDIR) mtp $(EMCDIR) vmcd primotion rmcd
+SUBDIRS	= $(TBSETDESTDIR) $(MEZZDIR) mtp $(EMCDIR) vmcd primotion rmcd tracker
 
 all:		robomonitord all-subdirs 
 client:		client-subdirs

robots/tracker/GNUmakefile.in

+#
+# EMULAB-COPYRIGHT
+# Copyright (c) 2004, 2005 University of Utah and the Flux Group.
+# All rights reserved.
+#
+
+SRCDIR		= @srcdir@
+TESTBED_SRCDIR	= @top_srcdir@
+OBJDIR		= ../..
+SUBDIR		= robots/tracker
+
+include $(OBJDIR)/Makeconf
+
+ifeq ($(JAVAC),)
+JARS =
+else
+JARS = $(TESTBED_SRCDIR)/www/robotrack/tracker.jar
+endif
+
+all:
+jar: $(JARS)
+
+include $(TESTBED_SRCDIR)/GNUmakerules
+
+RoboTrack.class: $(SRCDIR)/RoboTrack.java
+	$(JAVAC) -deprecation -d . $^
+
+$(TESTBED_SRCDIR)/www/robotrack/tracker.jar: RoboTrack.class
+	$(JAR) cvf $@ *.class
+
+install:
+
+clean:
+	/bin/rm -f *.class *.jar
+
+$(INSTALL_WWWDIR)/robotrack/%: %
+	@echo "Installing $<"
+	-mkdir -p $(patsubst %/,%,$(dir $@))
+	$(INSTALL_DATA) $(subst $$,\$$,$<) $(subst $$,\$$,$@) 

www/GNUmakefile.in

@@ -54,6 +54,10 @@ AUTOICONS += $(wildcard $(SRCDIR)/autostatus-icons/*.png)
 FLOORMAPFILES  = $(wildcard $(SRCDIR)/floormap/*.jpg)
 FLOORMAPFILES += $(wildcard $(SRCDIR)/floormap/*.gif)
 
+ROBOTRACKFILES  = $(wildcard $(SRCDIR)/robotrack/*.php3)
+ROBOTRACKFILES += $(wildcard $(SRCDIR)/robotrack/*.jpg)
+ROBOTRACKFILES += $(wildcard $(SRCDIR)/robotrack/*.jar)
+
 PIXFILES  = $(wildcard $(SRCDIR)/pix/*.jpg)
 PIXFILES += $(wildcard $(SRCDIR)/pix/*.gif)
 
@@ -134,6 +138,7 @@ ALLBUI    = $(notdir $(BUIFILES))
 ALLNL     = $(notdir $(NLFILES))
 ALLHY     = $(notdir $(HYFILES))
 ALLUSRP   = $(notdir $(USRPFILES))
+ALLROBO   = $(notdir $(ROBOTRACKFILES))
 
 install: $(addprefix $(INSTALL_WWWDIR)/, $(ALLFILES)) \
 	$(addprefix $(INSTALL_WWWDIR)/floormap/, $(ALLFLOORMAPS)) \
@@ -146,6 +151,7 @@ install: $(addprefix $(INSTALL_WWWDIR)/, $(ALLFILES)) \
 	$(addprefix $(INSTALL_WWWDIR)/netlab/, $(ALLNL)) \
 	$(addprefix $(INSTALL_WWWDIR)/hyperviewer/, $(ALLHY)) \
 	$(addprefix $(INSTALL_WWWDIR)/usrp/, $(ALLUSRP)) \
+	$(addprefix $(INSTALL_WWWDIR)/robotrack/, $(ALLROBO)) \
 	$(addprefix $(INSTALL_WWWDIR)/autostatus-icons/, $(ALLICONS)) \
 	$(addprefix $(INSTALL_LIBEXECDIR)/, websearch) \
 	$(addprefix $(INSTALL_WWWDIR)/cvsweb/, $(ALLCVSWEB)) \

www/robotrack/robopipe.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");
+
+if (!isset($real)) {
+    #
+    # Just loop forever writing out some stuff.
+    #
+    $x1 = 100;
+    $y1 = 100;
+
+    $x2 = 700;
+    $y2 = 200;
+
+    $i = 0;
+    do {
+	echo "garcia1, robbie, $x1, $y1, 90.0, 700, 300, -90.0, 10, 20\n";
+	echo "garcia2, mary,   $x2, $y2, 0.0,  200, 100, 90.0, 50, 60\n";
+	flush();
+
+	sleep(1);
+
+	$x1 +=2;
+	$y1 +=2;
+	$x2 -=2;
+	$y2 -=2;
+    } while ($i < 100);
+    return;
+}
+
+# Loop forever.
+while (1) {
+    $query_result = 
+	DBQueryFatal("select loc.*,r.pid,r.eid,r.vname, ".
+		     "  n.battery_voltage,n.battery_percentage, ".
+		     "  n.destination_x,n.destination_y, ".
+		     "  n.destination_orientation ".
+		     "  from location_info as loc ".
+		     "left join reserved as r on r.node_id=loc.node_id ".
+		     "left join nodes as n on n.node_id=loc.node_id ".
+		     "where loc.building='$building' and ".
+		     "      loc.floor='$floor'");
+
+    while ($row = mysql_fetch_array($query_result)) {
+	$pname = $row["node_id"];
+	$vname = $row["vname"];
+	$x     = $row["loc_x"];
+	$y     = $row["loc_y"];
+	$or    = $row["orientation"];
+	$dx    = $row["destination_x"];
+	$dy    = $row["destination_y"];
+	$dor   = $row["destination_orientation"];
+	$bvolts= $row["battery_voltage"];
+	$bper  = $row["battery_percentage"];
+
+	if (!isset($vname))
+	    $vname = $pname;
+	if (!isset($or))
+	    $or = "";
+	if (!isset($dx)) {
+	    $dx  = "";
+	    $dy  = "";
+	    $dor = "";
+	}
+	if (!isset($bvolts))
+	    $bvolts = "";
+	if (!isset($bper))
+	    $bper = "";
+	    
+	echo "$pname, $vname, $x, $y, $or, $dx, $dy, $dor, $bvolts, $bper\n";
+    }
+    flush();
+    sleep(1);
+}
+
+?>

www/robotrack/robotrack.php3

+<?php
+#
+# EMULAB-COPYRIGHT
+# Copyright (c) 2000-2005 University of Utah and the Flux Group.
+# All rights reserved.
+#
+chdir("..");
+include("defs.php3");
+
+$uid = GETLOGIN();
+LOGGEDINORDIE($uid);
+
+PAGEHEADER("Real Time Robot Tracking Applet");
+
+#
+# One robot map right now ...
+# 
+$building = "MEB-ROBOTS";
+$floor    = 4;
+
+#
+# Create a tempfile to use as a unique prefix; it is not actually used but
+# serves the same purpose (The script uses ${prefix}.jpg and ${prefix}.map .)
+# 
+$prefix = tempnam("/tmp", "floormap");
+
+#
+# Get the unique part to send back.
+#
+if (!preg_match("/^\/tmp\/([-\w]+)$/", $prefix, $matches)) {
+    TBERROR("Bad tempnam: $prefix", 1);
+}
+$uniqueid = $matches[1];
+
+$perl_args = "-o $prefix -t -z -n -x -y -f $floor $building";
+
+$retval = SUEXEC($uid, "nobody", "webfloormap $perl_args",
+		 SUEXEC_ACTION_IGNORE);
+
+if ($retval) {
+    SUEXECERROR(SUEXEC_ACTION_USERERROR);
+    # Never returns.
+    die("");
+}
+
+$auth    = $HTTP_COOKIE_VARS[$TBAUTHCOOKIE];
+$pipeurl = "robopipe.php3?foo=bar";
+$baseurl = "../floormap_aux.php3?prefix=$uniqueid";
+
+# Temp for debugging.
+if (isset($real))
+     $pipeurl .= "&real=yes";
+     
+echo "<applet code='RoboTrack.class'
+              archive='tracker.jar'
+              width='900' height='600'
+              alt='You need java to run this applet'>
+            <param name='pipeurl' value='$pipeurl'>
+            <param name='baseurl' value='$baseurl'>
+            <param name='uid' value='$uid'>
+            <param name='auth' value='$auth'>
+          </applet>\n";
+
+PAGEFOOTER();
+?>