table, but also that there are any nodes of that type. The entry could
have been put into the table because of a set-type-limit line in the
ptop file.

previously, since it has more information

vision system bounds).

number.

closed on Univ Holidays. I hope this daemon is gone before 2006
arrives!

Russ, I have no idea why this is here or how to get rid of it.

	my $out_width  = 792;
	my $out_height = 492;

Is there some way to get rid of these hardwired constants please?

Lbs

sitevars to determine if the Robot Lab is open or closed. The sitevars:

* 'robotlab/override' - Override other settings and forcibly turn the lab
  "on" or "off" (open or close). When the lab is turned off, new
  experiments cannot swap in and the current experiment is immediately
  swapped out.

* 'robotlab/exclusive' - The robot lab is exclusive use. Best to not mess
  with this sitevar :-)

* 'robotlab/opentime' - The time that the robot lab opens in the
  morning. The default is 07:00, but feel free to change this as you like.

* 'robotlab/closetime' - The time that the robot lab closes in the
  evening. The default is 18:00, but feel free to change this as you like.

* 'robotlab/open' - The robot lab is open or closed. DO NOT MESS WITH THIS!
  It is updated by the robomonitord script and intended to be used by
  admission control (not done yet).

The robomonitord script runs and periodically (every 2 minutes) wakes up
and looks at the various sitevars above. The lab is open during the day,
Monday through Friday, and closed on weekends. It is also supposed to be
closed on holidays, but I have not added that yet.

15 minutes before the lab is to be closed, a warning message is sent to the
swapper of the experiment running on the robot testbed, that their
experiment is going to be swapped soon. When the Robot lab is closed
(either cause the close time was reached, or because the lab was forcibly
closed with the override), the current experiment is immediately swapped
out.

I know, this is hopelessly bogus, but it will do until we feel like adding
a "Lab" datatype to the system.

in the other direction if it is on.

emulab config returned by tmcd.

Add a Samba template config file.  The listening interface, globally allowed
access list, and workgroup are defined as follows:

   workgroup = @OURDOMAIN@
   hosts allow = @CONTROL_NETWORK@/@CONTROL_NETMASK@
   interfaces = @FSNODE_IP@

I believe this is what we want, but am not sure about the workgroup setting.
Note that this should ultimately just be the head of the smb.conf file, with
the tail generated vis-a-vis /etc/exports .  For now it has some hard wired
shares for /proj and /users, which is OK for the very short term on an
inner elab.

Hope to have it operational tomorrow am. Description of daemon will
follow in next commit.

when firing off a subscript that cares about such things.

Robot related stuff: power via e-mail, client-install fixups, checking
coords against camera boundaries.

	* configure, configure.in: Add tbsetup/power_mail.pm to the list
	of template files.

	* doc/cross-compiling.txt: More stargate notes.

	* event/sched/rpc.cc: Updates for the addition of the cameras
	table.

	* robots/GNUmakefile.in, robots/emc/GNUmakefile.in,
	robots/mtp/GNUmakefile.in, robots/rmcd/GNUmakefile.in,
	robots/tbsetdest/GNUmakefile.in, robots/vmcd/GNUmakefile.in:
	client-install fixups.

	* tbsetup/GNUmakefile.in: Add power_mail.pm.

	* tbsetup/os_setup.in: Don't skip reboot of robots anymore.

	* tbsetup/power.in: Add special case for a power_id of "mail",
	which calls into the power_mail.pm backend.

	* tbsetup/power_mail.pm.in: E-mail backend for power, it sends an
	e-mail to tbops and waits for the outlets.last_power value to be
	updated from the power.php3 web page.

	* tbsetup/ns2ir/parse-ns.in: Add the contents of the cameras table
	to the TBCOMPAT namespace.

	* tbsetup/ns2ir/sim.tcl.in: More checking of "setdest" inputs.

	* tbsetup/ns2ir/topography.tcl: Update the checkdest method to
	check destination points against the camera list.

	* www/powertime.php3: Webpage used to update the last power time
	for nodes.

	* www/shownode.php3: Add "Update Power Time" menu button.

table by hand anymore! Update the group_policies table and then run
the script to update the permissions table (sbin/update_permissions).

Details:

My original thought when I started this was that I would be able to
replace the existing nodetypeXpid_permissions table with this new
stuff. Well, it turns out that this was not a good thing to do, for a
couple of reasons:

  * Engineering: We access the nodetypeXpid_permissions table from three
    different languages, and no way I wanted to rewrite this library in
    in python and php!

  * Performance: We access the nodetypeXpid_permissions from the web
    interface, on every single page load. In fact, we access it twice if
    if you count the FreePCs() count that we put at the top of the menu.
    Going through this library on each page load would be a serious drag.

So, rather then actually get rid of the nodetypeXpid_permissions table, I
decided to keep it as a "cache" of permissions stored in the group
policies table. Each time you update the policy tables, we need to run
the update_permissions script which will call into this library (see the
TBUpdateNodeTypeXpidPermissions() routine) to reconstruct the permissions
table. I have whacked the grantnodetype script to do exactly that.

Note that we could proably do the same thing for users by creating an
equivalent nodetypeXuid_permissions table, mapping users to types they
are allowed to use. That would be a lot rows, but the amount of data in
the table is small. That would give us very fine grained control of what
we show people in the web interface. Not sure it is worth it though.

I also added some instructions to previous commit in database-migrate.txt
on populating the new group_policies table from the existing
permissions table.

working completely.

More robot stuff, start in on path planning and cleanup rmcd a bit.

	* robots/emc/emcd.c: Update for obstacle-related changes in mtp.

	* robots/mtp/mtp.x, robots/mtp/mtp.h, robots/mtp/mtp.c,
	robots/mtp/mtp_send.c: Add messages for requesting/reporting robot
	sensor contacts, plus some cosmetic changes to the obstacle_config
	structure.

	* robots/primotion/garcia-pilot.cc,
	robots/primotion/pilotClient.hh, robots/primotion/pilotClient.cc:
	Add support for sending "contact" reports, which contain points
	where the sensors have detected an object.

	* robots/rmcd/GNUmakefile.in, robots/rmcd/obstacles.h,
	robots/rmcd/obstacles.c, robots/rmcd/pilotConnection.h,
	robots/rmcd/pilotConnection.c, robots/rmcd/rclip.h,
	robots/rmcd/rclip.c, robots/rmcd/rmcd.c: Cleanup and add in some
	obstacle avoidance.

emcd.config file

just wanted to get something checked in, in case someone wanted to
read/edit it now.