GitLab

More robot tweaks:

	* event/sched/event-sched.c: Start rmcd, then vmcd.

	* event/sched/rpc.cc: Add camera dimensions to the config file.

	* robots/emc/emcd.c: Add camera dimensions to the config file and
	destroy vmc's position_list when it disconnects.

	* robots/mtp/mtp.x, robots/mtp/mtp.c: Add dimensions to the camera
	config and add a command_id field to the update_position packet.

	* robots/primotion/garcia-pilot.cc: Move the decl of the acpGarcia
	object below daemon(3) since it doesn't seem to like it when the
	parent process dies and fix the log file creation.

	* robots/primotion/pilotClient.cc: Pass the command_id back in any
	update_position packets.

	* robots/rmcd/rmcd.c: Use the command-id to distinguish between
	STOPs for the sake of a GOTO and a wiggle.

	* robots/vmcd/visionTrack.h, robots/vmcd/visionTrack.c: Only
	coalesce packets from different cameras (duh) and mess with the
	tolerances a little more.

	* xmlrpc/emulabserver.py.in: Add some rough camera dimensions.

Some cleanup to the vision system and make wiggle work, although it is still
a bit glitchy.  This checkin is enough to identify the robots in their
pens and move them to their initial positions.

	* robots/emc/emcd.h, robots/emc/emcd.c: When rmc connects, send
	GOTOs with the initial positions given in the config file.  If rmc
	requests a vision update and one isn't available, queue the
	request and send a reply when an update does come in.

	* robots/mtp/GNUmakefile.in, robots/mtp/listNode.h,
	robots/mtp/listNode.c: Add amiga-style linked list node functions,
	tim always needs these.

	* robots/mtp/mtp.h, robots/mtp/mtp.c: Add mtp_theta function that
	produces a sane theta value between -M_PI and M_PI.

	* robots/mtp/mtp.x: Add MTP_WIGGLE_START type which causes the
	robots to stop in their tracks waiting for a real wiggle type
	(e.g. 180 deg turn).

	* robots/rmcd/rmcd.c: Tweaks, add support for MTP_WIGGLE_START.

	* robots/vmcd/GNUmakefile.in, robots/vmcd/robotObject.h,
	robots/vmcd/robotObject.c, robots/vmcd/visionTrack.h,
	robots/vmcd/visionTrack.c, robots/vmcd.c: Cleanup and make wiggle
	work.

	* robots/vmcd/vmc-client.c: If there are no objects detected in a
	camera send an error packet instead of nothing, so vmcd can keep
	in sync with the frames.

More robot integration and some event system updates.

	* configure, configure.in: Detect rsync for loghole and add
	utils/loghole to the list of template files.

	* db/libdb.pm.in, db/xmlconvert.in: Add virt_node_startloc to the
	list of virtual tables.

	* event/lib/event.h, event/lib/event.c, event/lib/tbevent.py.tail:
	Add event_stop_main function to break out of the event_main()
	loop.  Add timeline to the address tuple.

	* event/sched/GNUmakefile.in, event/sched/error-record.h,
	event/sched/error-record.c, event/sched/event-sched.8,
	event/sched/event-sched.h, event/sched/event-sched.c,
	event/sched/group-agent.h, event/sched/group-agent.c,
	event/sched/listNode.h, event/sched/listNode.c,
	event/sched/local-agent.h, event/sched/local-agent.c,
	event/sched/node-agent.h, event/sched/node-agent.cc,
	event/sched/queue.c, event/sched/rpc.h, event/sched/rpc.cc,
	event/sched/simulator-agent.h, event/sched/simulator-agent.c,
	event/sched/timeline-agent.h, event/sched/timeline-agent.c:
	Updated event scheduler, not completely finished, but well enough
	along for the robots.

	* lib/libtb/GNUmakefile.in, lib/libtb/popenf.h,
	lib/libtb/popenf.c, lib/libtb/systemf.h, lib/libtb/systemf.c: Add
	some handy versions of system/popen that take format arguments.

	* lib/libtb/tbdefs.h, lib/libtb/tbdefs.c: Add some more event and
	object types.

	* tbsetup/assign_wrapper.in: Add the virt_node_startloc building
	to desires string for a node.

	* tbsetup/ptopgen.in: Add a node's location to the feature list.

	* tbsetup/tbreport.in: Display the timeline/sequence an event is a
	part of.

	* tbsetup/ns2ir/GNUmakefile.in: Add timeline, sequence, and
	topography files.

	* tbsetup/ns2ir/node.tcl: Add initial position for nodes and allow
	them to be attached to "topographys".

	* tbsetup/ns2ir/parse-ns.in: Make a hwtype_class array with a
	node_type's class.  Make an 'areas' array that holds the
	buildings where nodes are located.  Make an 'obstacles' table
	with any obstacles in the building.

	* tbsetup/ns2ir/parse.tcl.in: Move named-args function from
	tb_compat.tcl to here.  Add reltime-to-secs function that converts
	time given in a format like "10h2m1s" to a seconds value, used in
	"$ns at" so its easier to write time values.  Add "K", "Kb", and
	"Kbps" as possible units for bandwidth (only the lowercase
	versions were available before).

	* tbsetup/ns2ir/program.tcl: Add "dir" and "timeout" attributes,
	although they don't go anywhere at the moment.

	* tbsetup/ns2ir/sequence.tcl, tbsetup/ns2ir/timeline.tcl,
	tbsetup/ns2ir/topography.tcl: Initial versions.

	* tbsetup/ns2ir/sim.tcl.in: Add support for timelines and
	sequences.  Add 'node-config' method to change the default
	configuration for nodes produced by the Simulator object.  Send an
	initial MODIFY event to any trafgen objects so their configuration
	gets through, even when there are no start/stop events.  Move
	event parsing to the 'make_event' method.

	* utils/loghole.1, utils/loghole.in: Loghole utility, used for
	retrieving logs from experimental nodes and creating archives of
	the logs.

	* xmlrpc/emulabclient.py.in: Escape any strange characters in the
	output field.

	* xmlrpc/emulabserver.py.in: Add virt_node_startloc to the list of
	virtual_tables.  Add emulab.vision_config and
	emulab.obstacle_config methods for getting information pertaining
	to the robots.  Change the OSID listing to include more fields.
	Add a "physical" aspect to experiment.info to get information
	about the physical nodes.  Add parent field to the events in the
	array returned by eventlist.  Add sshdescription to get extra
	information needed to log into a vnode.  Add node.statewait so you
	can wait for nodes to come up.

more testing.

timeline or sequence.

Use cygrunsrv -i on sshd to "allow the service to interact with the desktop."
Now that the sshd daemon has a desktop session context that is inherited by
the client shell, remote home directories can work.  They start with a blank
Windows mount context, but once a single Samba connection is made during
login, it enables all UNC //machine/path mounts to work.  Hence the home
directories are now CygWin mount points (no longer symlinks) to UNC paths, set
up by rc.mounts and then shared through CygWin to all of the user logins.

Get rid of the previous horrible (and fragile) hack to set up an auto-login by
the swapin user which then automatically started a user sshd on port 2222.

tmcd.c - Arrange for tmcd to provide the public key data when a special argument is
given as "tmcc accounts pubkeys".

rc.accounts - Due to permissions problems with remote-mounted authorized_keys
files, sshd_config now uses "AuthorizedKeysFile /sshkeys/%u/authorized_keys",
which is where rc.accounts puts the public key data.

Since root, Administrator, and even SYSTEM can be locked out by permissions on
NT, WINDOWS() variant logic to set ownership and modes on authorized_keys
files had to be added to rc.accounts.  There is also a bug in the sshd
"privilege separation" setreuid() dance that requires the authorized_keys
files to be owned by SYSTEM (or be mode 644, which is slightly worse.)

cygwinxp/liblocsetup.pm - Pay attention to the users' shell preferences in
generating /etc/passwd.  Make warnings more uniform.

openssl.

Cross compilation fixes for the stargates, 'gmake client' should now
build, link, and install properly.  Haven't really tried to run stuff though.

	* GNUmakerules: Add target for stripping executables, used instead
	of "install -s" since that doesn't work for cross-compiling.

	* Makeconf.in: Add ELVIN_CONFIG variable that refers to
	'elvin-config'.

	* configure, configure.in: Detect and save the elvin-config path
	since we need a different one for cross-compiling.

	* event/lib/GNUmakefile.in, event/link-agent/GNUmakefile.in,
	event/linktest/GNUmakefile.in, event/program-agent/GNUmakefile.in,
	event/proxy/GNUmakefile.in, event/tbgen/GNUmakefile.in,
	event/trafgen/GNUmakefile.in, os/dijkstra/GNUmakefile.in,
	os/syncd/GNUmakefile.in, sensors/slothd/GNUmakefile.in,
	tmcd/GNUmakefile.in, tmcd/linux/GNUmakefile.in: Cross compilation
	fixes, don't statically link on arm, create "foo-debug"
	executables with debugging info and install separately stripped
	ones instead of passing "-s" to install.

Pass camera config to vmcd in the config_vmc packet and add support
for using unix-domain sockets when talking to emcd instead of
unsecured tcp sockets.

	* robots/emc/emcd.c: Add support for camera configs in the config
	file and add support for listening on a unix-domain socket.

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

	* robots/mtp/mtp.h, robots/mtp/mtp.c, robots/mtp/mtp.x,
	robots/mtp/mtp_send.c: Add camera config to the config_vmc packet
	and add support for unix-domain sockets.

	* robots/primotion/GNUmakefile.in: Add empty install target.

	* robots/rmcd/rmcd.c, robots/rmcd/test_emcd.config: Add support
	for unix-domain sockets.

	* robots/vmcd/vmcd.c: Add support for unix-domain sockets and read
	the camera config from the config_vmc packet.

	* robots/vmcd/test_vmc*.sh: Fix tests changed by my last checkin.

	* robots/vmcd/test_emcd*.config: Update for changes to the emcd
	config file format.

The web interface could use some work...

Each switch has a 'primary' stack that it belongs to if it's specified
with the '-i' parameter. Otherwise, it can be considered to be a part
of any of the stacks of which it's a member.

The main point of this is so that we can have switches that are on
both the control and experimental networks.

Note: Having a VLAN with the same name on two overlapping stacks is
like crossing the streams: that would be bad. Not "all life as you
know it stopping instantaneously" bad, but snmpit might get confused.

table that will prevent an experiment from being swapped/modified. The
toggle is on the showexp page, and the toggle is *not* admin
over-ridable; you must turn the toggle off (and of course, you must be
an admin to do that).

out of the reserved table. Mostly this happens in nfree and nalloc,
but there a couple of other moves, in libdb and in the reload daemon.
The uid and experiment are stored, long with a timestamp.

out of the reserved table. Mostly this happens in nfree and nalloc,
but there a couple of other moves, in libdb and in the reload daemon.
The uid and experiment are stored, long with a timestamp.

Fix some robot related stuff that I broke with the last checkin and add in
some other tweaks.

	* robots/primotion/garcia-pilot.cc,
	robots/primotion/pilotClient.hh, robots/primotion/pilotClient.cc:
	Broadcast any goto/stop commands to clients observing the robot.

	* robots/rmcd/rmcd.c: Change the behavior to reorient the robot as
	the last step in a goto, so we avoid doing unnecessary pivots.
	Need to send an init packet to the robot so it knows who is
	talking to it.

	* robots/vmcd/vmc-client.c: Oops, supposed to use M_PI_2, not
	M_PI, when translating from camera coords to world.

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

	* www/garcia-telemetry/GarciaTelemetry.java,
	www/garcia-telemetry/UpdateThread.java,
	www/garcia-telemetry/main.xml: Display a log of goto/stop commands
	sent to the robot.

that is both in the experimental and control nets.

rules (fw-rules), a script to populate the DB from those rules, and a
script to initialize the firewall variables.

This is not part of any standard make, it is used in a one-time fashion
either at install or during the next update.  Still need to write the
instructions for this.

Also, reflect new way of populating default_firewall_rules
(not done here anymore, done in the new firewall subdirectory)

them up!