obstacles that represent a robot.

Some RMCD debugging and improvements.

	* robots/emc/GNUmakefile.in, robots/rmcd/GNUmakefile.in: Fix some
	of the dependencies.

	* robots/emc/emcd.c: Bump default speed for events to 0.2 m/s.
	Send an event when a dynamic obstacle is updated.

	* robots/emc/emcd.h: Send position updates three times a second.

	* robots/mtp/listNode.h, robots/mtp/listNode.c: Add a function to
	prepend a list onto another.

	* robots/mtp/mtp.x, robots/mtp/mtp.h, robots/mtp/mtp.c: Add
	support for sending updates concerning dynamically detected
	obstacles.

	* robots/rmcd/masterController.h, robots/rmcd/masterController.c:
	When a robot is stationary, add it as an obstacle.  Play with the
	pause time a bit.

	* robots/rmcd/obstacles.h, robots/rmcd/obstacles.c: Add robots as
	a third type of obstacle.  Do not expand static obstacles when the
	robot detects something with its sensors.  Add some more checks to
	make sure the obstacle list is sane.  When
	creating/growing/removing dynamic obstacles, send a notification
	to emcd so it can be passed on to the applet.  More comments.

	* robots/rmcd/pathPlanning.h, robots/rmcd/pathPlanning.c: When
	monkeying with the obstacle list, we need to make sure the
	obstacles are put back in the right order (dynamic before static).
	More comments.

	* robots/rmcd/pilotConnection.c: Add some more stuff to the
	SIGINFO print out.

	* robots/rmcd/rmcd.c: Initialize the emcd mtp handle for sending
	updates for obstacles.

	* robots/mtp/mtp_dump.c, robots/vmcd/visionTrack.c: Remove macros
	that are now defined elsewhere.

Pass camera local to world offsets through vmcd.

	* event/sched/rpc.cc: Add the camera fixed_x,fixed_y values to the
	emcd.config file.

	* robots/emc/emcd.c: Pickup the cameras fixed_x,fixed_y values
	from the config file.  Add supports for setting the speed of the
	robot.

	* robots/mtp/mtp.h, robots/mtp/mtp.c: Add support for setting
	speed in GOTO packets and constructing vmc-client config packets.

	* robots/mtp/mtp.x: Add a vmc-client config packet that contains
	the cameras origin in world coordinates.

	* robots/mtp/mtp_dump.c: Dump the min/max values for x and y,
	handy for figuring out the bounds of the camera.

	* robots/vmcd/visionTrack.c, robots/vmcd/visionTrack.h: Handle
	cameras that are overlapping on two axes.

	* robots/vmcd/vmc-client.c: Accept a vmc-client config packet that
	tells us where the camera is in world coordinates.  Add an
	orientation flag that specifies how the camera is oriented wrt to
	the world coordinate system.

	* robots/vmcd/vmcd.c: Send vmc-client config packets out.  Fix a
	bug that left unknown tracks in the previous frame, which could
	confuse the matching algorithm causing it to match unknown tracks
	instead of valid known tracks.

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.

vision system bounds).

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.

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 testing.

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.

A bunch of engineering on the robot code.  I'm sure I've broken something,
but the majority of it is done and I wanted to get a checkpoint in.

	* GNUmakerules: Add rpcgen rules.

	* Makeconf.in: Add PATH and host_cpu variables so
	cross-compilation works properly.  Add JAVAC and JAR for java
	compilation.  Add BRAINSTEM_DIR that refers to a brainstem build
	directory to be used for the robot build.

	* configure, configure.in: Prepend the arm cross-compile dir to
	PATH.  Detect java for building applets.  Add --with-brainstem to
	specify the brainstem build dir.  Add --enable-mezzanine to turn
	on the mezzanine build.

	* robots/GNUmakefile.in: Add client target that builds the
	subdirs.

	* robots/emc/GNUmakefile.in, robots/emc/emcd.h, robots/emc/emcd.c,
	test_emcd.sh.in, robots/rmcd/GNUmakefile.in, robots/rmcd/rmcd.c,
	robots/rmcd/test_rmcd.sh.in, robots/vmcd/test_vmc-client.sh.in,
	robots/vmcd/test_vmcd.sh.in, robots/vmcd/test_vmcd2.sh,
	robots/vmcd/test_vmcd3.sh, robots/vmcd/test_vmcd4.sh,
	robots/vmcd/vmc-client.c, robots/vmcd/vmcd.c: Updates for the mtp
	switch to using rpcgen.

	* robots/emc/test_emcd.config: Restore missing config line.

	* robots/mtp/GNUmakefile.in, robots/mtp/global_bound.java,
	robots/mtp/mtp.h, robots/mtp/mtp.c, robots/mtp/mtp.java,
	robots/mtp/mtp.x, robots/mtp/mtp_command_goto.java,
	robots/mtp/mtp_command_stop.java, robots/mtp/mtp_config_rmc.java,
	robots/mtp/mtp_config_vmc.java, robots/mtp/mtp_control.java,
	robots/mtp/mtp_dump.c, robots/mtp/mtp_garcia_telemetry.java,
	robots/mtp/mtp_opcode_t.java, robots/mtp/mtp_packet.java,
	robots/mtp/mtp_payload.java, robots/mtp/mtp_recv.c,
	robots/mtp/mtp_request_id.java,
	robots/mtp/mtp_request_position.java,
	robots/mtp/mtp_robot_type_t.java, robots/mtp/mtp_role_t.java,
	robots/mtp/mtp_send.c, robots/mtp/mtp_status_t.java,
	robots/mtp/mtp_telemetry.java, robots/mtp/mtp_update_id.java,
	robots/mtp/mtp_update_position.java, robots/mtp/robot_config.java,
	robots/mtp/robot_position.java, robots/mtp/test_mtp.sh: Replace
	hand-generated stubs with xdr stubs for C and java.  Java stubs
	were generated by "remotetea's" jrpcgen.

	* robots/primotion/GNUmakefile.in,
	robots/primotion/buttonManager.hh,
	robots/primotion/buttonManager.cc, robots/primotion/dashboard.hh,
	robots/primotion/dashboard.cc, robots/primotion/flash-user-led.cc,
	robots/primotion/garcia-pilot.cc, robots/primotion/garciaUtil.hh,
	robots/primotion/garciaUtil.cc, robots/primotion/ledManager.hh,
	robots/primotion/ledManager.cc,
	robots/primotion/pilotButtonCallback.hh,
	robots/primotion/pilotButtonCallback.cc,
	robots/primotion/pilotClient.hh, robots/primotion/pilotClient.cc,
	robots/primotion/watch-user-button.cc,
	robots/primotion/wheelManager.hh,
	robots/primotion/wheelManager.cc: Replace gorobot with
	garcia-pilot, a beefed up daemon for controlling the robots.
	Improvements include: making use of the user LED and button to
	give some feedback and let the wrangler run a test sequence,
	reboot, and shutdown the robot; Logging of the battery level, how
	often the robot has moved and for how long, and the distance
	traveled; telemetry is sent back to emulab clients; movements are
	now just pivot-move instead of pivot-move-pivot, since the second
	pivot ends up being extra work most of the time; the robot will
	move backwards to cut down on the amount of rotation; and just
	generic cleanups to the code.

	* robots/primotion/garcia.config: The configuration file currently
	used on the garcias.

	* www/GNUmakefile.in: Add garcia-telemetry subdir to the build.

	* www/dbdefs.php3.in: Add TBNodeClass and TBNodeStatus functions.

	* www/garcia-telemetry/Base64.java,
	www/garcia-telemetry/GNUmakefile.in,
	www/garcia-telemetry/GarciaTelemetry.java,
	www/garcia-telemetry/UpdateThread.java,
	www/garcia-telemetry/main.xml: A telemetry applet for the garcia,
	it displays readouts for the various sensors and other bits of data
	gathered by the garcia-pilot daemon.  Hopefully, it will make a
	handy debugging tool.

	* www/garcia-telemetry.jar, www/mtp.jar, www/oncrpc.jar,
	www/thinlet.jar: Java jars used by the robot telemetry applet.

	* www/servicepipe.php3: A slightly enhanced version of
	ledpipe.php3 that can be used for other services, like robot
	telemetry.

	* www/shownode.php3: Add "Show Telemetry" menu item to robot
	nodes.

	* www/telemetry.php3: Telemetry page for the garcia-telemetry
	applet.