Robot stuff:

	* robots/emc/emcd.c: Send an event containing battery levels when
	a telemetry packet comes in from rmcd.

	* robots/emc/loclistener.in: Update battery stats.

	* robots/mtp/mtp.x: Add robot_id field to telemetry structure.

	* robots/mtp/*.java: Regenerate jrpcgen stubs.

	* robots/primotion/garcia-pilot.cc: Send telemetry to rmcd every
	minute.

	* robots/primotion/pilotClient.cc: Broadcast contact reports to
	all clients.

	* robots/rmcd/pilotConnection.c: Resend telemetry packets from
	pilot to emcd.

	* tbsetup/tbrsync.in: Wait for the node to come up before doing
	the rsync.

	* www/garcia-telemetry.jar: Removed.

	* www/mtp.jar: Regenerated.

	* www/telemetry.php3: Make the applet window a little bigger.

	* www/garcia-telemetry/GNUmakefile.in: Don't put the jar in the
	source tree.

	* www/thinlet.jar, www/garcia-telemetry/GarciaTelemetry.java,
	www/garcia-telemetry/UpdateThread.java,
	www/garcia-telemetry/main.xml: Switch to the homegrown version of
	thinlet and add contact report packets to the log.

	* www/tutorial/mobilewireless.php3: Spell check.

Some more robot integration.

	* event/lib/event.h, event/lib/event.c: Add some
	event_notification creation functions that get used in
	event-sched.

	* event/sched/event-sched.c, event/sched/rpc.h,
	event/sched/rpc.cc: Sync the start of event time with the
	robots reaching their initial positions.  This is done by
	creating a master event-sequence that takes care of sending
	the SETDEST events and then starting the Simulator timeline.

	* mote/tbuisp.in: Use node_reboot instead of ssh'ing in.

	* robots/GNUmakefile.in: Don't build tbsetdest if ulsshxmlrpcpp is
	not available.

	* robots/emc/loclistener.in: Clear the destination values for a
	node when it reaches its destination.

	* robots/primotion/garcia-pilot.cc,
	robots/primotion/pilotClient.cc: Some cleanup and debugging.

	* robots/primotion/wheelManager.cc: Check the rear sensors for
	obstructions and then decide which way to pivot.

	* robots/rmcd/pilotConnection.h, robots/rmcd/pilotConnection.c,
	robots/rmcd/rclip.h: Even more tweaking.

	* robots/tbsetdest/tbsetdest.cc: Don't generate points that are
	outside the camera bounds or inside an obstacle.

	* robots/vmcd/visionTrack.c, robots/vmcd/vmcd.h,
	robots/vmcd/vmcd.c:  Add more debugging output.

	* tbsetup/os_setup.in: Removed the robot hack used when deciding
	which nodes to reconfig/reboot.  Added a robot hack to avoid
	rebooting a robot whose mote is being os_load'd, since it would
	interrupt tbuisp which does the reboot anyways.  Also fixed a
	small typo.

	* tbsetup/ns2ir/node.tcl, tbsetup/ns2ir/sim.tcl.in: Oops, forgot
	to convert degrees to radians.

	* tbsetup/ns2ir/topography.tcl: When checking for node destination
	points in obstacles, include the implicit exclusion zone.

	* tmcd/common/bootsubnodes: Add empty "mote" case.

	* tmcd/linux-sg/GNUmakefile.in: Make some of the /etc subdirs when
	doing the install.

	* tmcd/linux-sg/rc.stargate: Start garcia-pilot.

	* vis/floormap.in: Add options for showing the camera bounds,
	obstacle exclusion zones, and displaying vnames instead of pnames.

	* www/ledpipe.php3: Finally figured out how to use a socket
	instead of popening a perl script.

	* www/robotmap.php3: Add checkboxes for displaying/not displaying
	the camera bounds and obstacle exclusion zones.  Add a legend
	showing what actual vs. destination points are.  Pass pid/eid
	through to vis/floormap if it is given.

	* www/showexp.php3: Add a "Robot Map" link to experiments that
	have allocated garcias.

	* www/floormap/map_legend_node.gif,
	www/floormap/map_legend_node_dst.gif: Icons used by the robot map
	legend.

	* www/floormap/robots-4.jpg: Added an obstacle around the entryway
	so people are slightly less likely to trip over the robots.  Added
	a coordinate system legend to the top left corner.

	* www/tutorial/mobilewireless.php3: Add links to David's movie of
	the robot making its way around the pillar.

	* www/tutorial/robot_anim.gif: A nifty gifanim clip of the robot
	movie.

	* xmlrpc/emulabserver.py.in: Pull the camera data from the DB,
	instead of returning hardcoded stuff.

Tweaks for updating the robotmap:

	* robots/emc/emcd.c: Only send updates to loclistener when the
	position actually changes.

	* robots/emc/loclistener.in: Listen for SETDEST events and update
	the destination position in the nodes table.  Also update the
	orientation column.

	* robots/emc/test_emcd.config, robots/emc/test_emcd.sh.in: Update
	for changes elsewhere.

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.

Make the dots move on the robot map web page:

	* configure, configure.in: Add robots/emc/loclistener.

	* event/lib/event.h, event/lib/event.c: Add some helper functions
	for sending events and parsing args.

	* event/lib/tbevent.py.tail, event/lib/tbevent.py: Add support for
	clients that register using keyfiles.

	* robots/emc/GNUmakefile.in: Install loclistener on boss.

	* robots/emc/emcd.h, robots/emc/emcd.c: Send update events every
	two seconds with the node's location.  Fill out a little more of
	the event callback, not sure what to do with the requested
	destination though.  Add some code to the vmc callback to store
	position updates.  Changed the config file format to also include
	the vname of the robot.

	* robots/emc/loclistener.in: Listen for NODE MODIFY events with
	coordinates and update the database accordingly.  Kinda sucks, but
	it works.

	* robots/emc/test_emcd.config: Add vnames to the robots to reflect
	change in the config file format.

	* tbsetup/ns2ir/node.tcl: Add nodes to the virt_agents table.