GitLab

added -lm to LIBS for libmath

included math.h

whoops .. added angle calculations to coordinate transformations

making this error about 15 years ago when we moved to the penthouse.

Add -t option to kill titles in images; it messes up calculation.
Add new -z option to tell it to not do any zoom/pan stuff; just use
the cur x,y to draw crosshair.

Pass the state file through again, which has now has the bounds of the
image. Not using this yet.

not have it do any zoom/pan stuff since that appears to screw up the
image when you click near the bottom of the image. No idea why, I just
avoid the code when new -z option is given. Also write the bounds of the
image to the state file. Might need this later.

Filled in position transformation functions for RMCD

Add more debugging output to the robot daemons and do some more cleanup.

Even more robot-related cleanup:

	* robots/primotion/Makefile: Add an install target that copies the
	executables to the robots.  The default set of robots is
	"garcia1-6", if you want a subset do: 'make install
	ROBOTS="garcia2"'

	* robots/primotion/gorobot.cc: Refactoring, add some more
	debugging output, and print the battery level at startup and every
	five minutes.

getting a crosshair painted in. Also use those coords and the
pixels_per_meter conversion from the DB to print out for the user
where he just clicked.

Change the SHOWNODE function to print out the coordinates (so when you
click on a robot in the map, you get a line that says what its coords
are).

Also generate table of all robot positions to place below the image.

More robot-related tweaks and bug fixes:

	* robots/emc/emcd.c: Handle "-h" option properly.

	* robots/emc/loclistener.in: Pickup the pixels_per_meter value
	from the database and use that to convert event coordinates in
	meters to pixels for the database.

	* robots/primotion/gorobot.cc: Comment.

	* robots/primotion/dgrobot/gcallbacks.h,
	robots/primotion/dgrobot/gcallbacks.cc,
	robots/primotion/dgrobot/grobot.h,
	robots/primotion/dgrobot/grobot.c,
	robots/primotion/dgrobot/grobot_sim.cc: Small bug fixes to make
	sure the position estimate is updated when moving in a straight
	line.

	* robots/rmcd/rmcd.c: cleanup

	* robots/vmcd/GNUmakefile.in, robots/vmcd/test_emcd3.config,
	robots/vmcd/test_vmcd3.pos, robots/vmcd/test_vmcd3.sh,
	robots/vmcd/test_vmcd4.pos, robots/vmcd/test_vmcd4.sh: Some more
	test cases, still pretty simple though.

Start of an applet/php hack for showing mote LED status on web pages:

	* www/BlinkenLichten.java, www/BlinkenLichten.class: Applet that
	connects back to the server and changes its color based on output
	from a php page.

	* www/GNUmakefile.in: Install java classes.

	* www/ledpipe.php3: Draft page for driving the BlinkenLichten
	applet, it just alternates on/off and doesn't read the real
	status.

	* www/showstuff.php3: Add a function that outputs the html magic
	to embed the applet.

More bug fixes for vmcd and friends:

	* GNUmakerules: Set SRCDIR as an environment variable so every
	test doesn't have to be a template.

	* robots/emc/emcd.c: Correctly handle a vision position that is
	dead-on the initial position.  XXX Turn off orientation matching
	for now, it is too strict at the moment so that it favors close
	orientation over close position.

	* robots/mtp/mtp.c: Fix some broken printfs in mtp_print_packet.

	* robots/vmcd/GNUmakefile.in: Add another test.

	* robots/vmcd/test_emcd2.config, robots/vmcd/test_vmcd2.pos,
	robots/vmcd/etst_vmcd2.sh: A test that matches the initial
	positions of two robots.

	* robots/vmcd/test_vmcd.pos: Reduce the distance the robot moved
	between frames.

	* robots/vmcd/vmcd.c: Fix a bugfix and some formatting changes.

	A script for powering on, off, and cycling motes attached to
	stargates

Requires /usr/local/bin/motepower (our program, not yet in CVS) to be
installed on the hosting stargate.

	media "media 100baseTX mediaopt full-duplex";

since they will be in autosense mode by default, which does not play
well with switchports that are fixed to speed/duplex.

meter for the image.

Some bugfixes and an improved test case for vmcd:

	* robots/emc/emcd.c: Add a REQUEST_POSITION handler for the
	emulab_callback.  Fix some simple bugs when processing REQUEST_ID
	packets.

	* robots/vmcd/test_emcd.config: Use just one robot for simple
	test.

	* robots/vmcd/test_vmc-client.pos: A position file for the
	vmc-client test.

	* robots/vmcd/test_vmc-client.sh.in: Test with a position file
	instead of hardcoded numbers.

	* robots/vmcd/test_vmcd.pos: Position file for the vmcd test.

	* robots/vmcd/test_vmcd.sh.in: Make the test a little simpler, but
	add a check to see if vmcd finds the robot initially.

	* robots/vmcd/vmc-client.c: Add a "-f" option that lets you use a
	"position" file that contains the object positions for a series of
	frames.

	* robots/vmcd/vmcd.c: Some bug fixes.

Removed it.

   - oops, now its fixed!
* vmcd/GNUmakefile.in:
   - linked to math lib as well...

   - compilation fixes

   - added the final code necessary to fully handle a vmc client.

Cleanup rmcd a bit:

	* GNUmakerules: Quick fix to the "check" target.

	* robots/rmcd/rmcd.c, robots/rmcd/test_rmcd.sh.in: Cleanup the
	code a bit, add some comments, etc...

Rmcd and garcia stuff:

	* configure, configure.in: Add robot related template files.

	* robots/GNUmakefile.in: Add primotion directory.

	* robots/emc/emcd.c: Debugging printfs, check the status for
	update-position messages from rmc, and add a basic handler for
	emulab clients.

	* robots/emc/test_emcd.sh.in: Update for changes in mtp.

	* robots/mtp/mtp.h, robots/mtp/mtp.c: Changes for the garcia.

	* robots/mtp/mtp_send.c: Fixes so that it will compile under
	linux.

	* robots/primotion/GNUmakefile.in: Makefile for building a fake
	gorobot in the testbed tree.

	* robots/primotion/Makefile: tweaks

	* robots/primotion/gorobot.cc: First draft with sort-of working
	networking code.

	* robots/primotion/test_gorobot.sh.in: Test case for the fake
	gorobot.

	* robots/primotion/dgrobot/GNUmakefile.in: Makefile for building a
	fake grobot class in the testbed tree.

	* robots/primotion/dgrobot/grobot.h: Add #if !defined(GROBOT_SIM)
	conditionals.

	* robots/primotion/dgrobot/grobot_sim.cc: Empty impl of grobot
	class used for testing.

	* robots/rmcd/GNUmakefile.in: Targets for building rmcd and
	running its test case.

	* robots/rmcd/rmcd.c: First draft with sort-of working networking
	code.

	* robots/rmcd/test_emcd.config: emcd configuration for the rmcd
	test case.

	* robots/rmcd/test_rmcd.sh.in: Test case for rmcd.

pid/eid argument.

Minor cleanup:

	* robots/emc/test_emcd.sh.in, robots/mtp/mtp_send.c,
	robots/mtp/mtp_test.c: Bring up-to-date with the latest version of
	mtp stuff.

	* robots/vmcd/vmc-client.c: Add "valid" field to the mezz stub
	struct.

	* robots/vmcd/vmcd.c: Some compile fixes...

* emcd.c:
   - minor changes, mostly comments. this is next to fix up.
* vmc-client.c:
   - minor changes to tell vmcd about the last packet in a frame
processing cycle (via MTP_POSITION_STATUS_CYCLE_COMPLETE being set in the
last update_position packet of a frame processing cycle).
   - maybe other stuff...
* vmcd.c:
   - massive changes to handle tracking of robots from data passed from
vmc-client, and to handle ID association.
* mtp.h:
   - addded MTP_POSITION_STATUS_CYCLE_COMPLETE #define
   - updated structs request_id and update_id to include a `request_id'
field so that we can uniquely track requests (since they're asynchronous).
* mtp.c:
   - revamped code for above mtp.h changes.

Oops, here's the changes to mtp.h to add support for 64bit timestamps.

info from other mtp structs, added support to encode 64bit floats.