1. 16 Feb, 2005 1 commit
  2. 15 Feb, 2005 1 commit
    • Timothy Stack's avatar
      · 585c40c5
      Timothy Stack authored
      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.
      585c40c5
  3. 01 Feb, 2005 1 commit
    • Timothy Stack's avatar
      · e9f43808
      Timothy Stack authored
      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.
      e9f43808
  4. 27 Jan, 2005 1 commit
  5. 26 Jan, 2005 1 commit
  6. 22 Jan, 2005 1 commit
    • Timothy Stack's avatar
      · 74f61a9f
      Timothy Stack authored
      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.
      74f61a9f
  7. 17 Jan, 2005 2 commits
    • Timothy Stack's avatar
      · 1e18722e
      Timothy Stack authored
      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.
      1e18722e
    • Timothy Stack's avatar
      · 11cceda4
      Timothy Stack authored
      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.
      11cceda4
  8. 15 Jan, 2005 2 commits
  9. 14 Jan, 2005 1 commit
    • Timothy Stack's avatar
      · bfb38f51
      Timothy Stack authored
      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.
      bfb38f51
  10. 10 Jan, 2005 1 commit
    • Timothy Stack's avatar
      · 89bf0a7f
      Timothy Stack authored
      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.
      89bf0a7f
  11. 15 Dec, 2004 1 commit
  12. 14 Dec, 2004 2 commits
  13. 13 Dec, 2004 6 commits
    • Timothy Stack's avatar
      · dde7799c
      Timothy Stack authored
      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.
      dde7799c
    • Timothy Stack's avatar
      · 57ddedbe
      Timothy Stack authored
      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.
      57ddedbe
    • Timothy Stack's avatar
      · 0a60aafe
      Timothy Stack authored
      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.
      0a60aafe
    • Timothy Stack's avatar
      Compilation fixes · f2291e2b
      Timothy Stack authored
      f2291e2b
    • David Johnson's avatar
      * emc/emcd.c: · 7eeb2799
      David Johnson authored
         - added the final code necessary to fully handle a vmc client.
      7eeb2799
    • Timothy Stack's avatar
      · fde7ae29
      Timothy Stack authored
      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.
      fde7ae29
  14. 12 Dec, 2004 1 commit
    • David Johnson's avatar
      · 6d3b6118
      David Johnson authored
      * 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.
      6d3b6118
  15. 11 Dec, 2004 1 commit
    • Timothy Stack's avatar
      · 52afaefd
      Timothy Stack authored
      Frame out vmcd:
      
      	* GNUmakerules: Fix "check" target so it runs more than one test.
      
      	* robots/emc/emcd.c: Send the vmc config packet out when vmcd
      	connects.
      
      	* robots/vmcd/GNUmakefile.in: Add vmcd-related stuff.
      
      	* robots/vmcd/test_emcd.config: Emc config for the test case.
      
      	* robots/vmcd/test_vmcd.sh.in: Simple test case for vmcd.
      
      	* robots/vmcd/vmcd.c: Initial framing of vmcd, just receives and
      	dumps packets, actual logic still needs to be put in.
      52afaefd
  16. 09 Dec, 2004 1 commit
    • Timothy Stack's avatar
      · 1f16a276
      Timothy Stack authored
      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.
      1f16a276
  17. 08 Dec, 2004 1 commit
    • Timothy Stack's avatar
      · feea9720
      Timothy Stack authored
      Elvinize emc and some bug fixes...
      
      	* configure, configure.in: Add "robots/emc/test_emcd.sh" script to
      	the list of template files.
      
      	* robots/GNUmakefile.in: Add a target for install-subdir.
      
      	* robots/emc/GNUmakefile.in: Compile emcd and install it on ops.
      	Add test_emcd.sh test case.
      
      	* robots/emc/emcd.h, robots/emc/emcd.c: Elvinize, add support for
      	events, and some minor cleanup.
      
      	* robots/emc/robot_list.c: Compilation fixes.
      
      	* robots/emc/test_emcd.config: Robot config for the test case.
      
      	* robots/emc/test_emcd.sh.in: Test case for emcd, just starts it
      	up and uses mtp_send to send a few messages to it.
      
      	* robots/mtp/GNUmakefile.in: Install mtp_send and mtp_recv on ops.
      
      	* robots/mtp/mtp.h, robots/mtp/mtp.c: Marshall floats correctly,
      	doh!  Move the packet printing code from mtp_recv to the lib.
      
      	* robots/mtp/mtp_recv.c: Move the packet printing code to the
      	lib.
      
      	* robots/mtp/mtp_send.c: Add a "-w" option to wait for a response
      	from the peer and then dump the packet to stdout.  Allow multiple
      	packets to be sent from a single invocation, the arguments for
      	each packet must be separated by a double dash (--), see
      	test_emcd.sh.in for an example.
      
      	* robots/mtp/mtp_test.c: Gah, test with actual floating point
      	values dummy.
      feea9720
  18. 06 Dec, 2004 1 commit