file if it does not exists, and then append to it. In our elabinelab
setup, there is always an existing root authkeys file, so we missed
this error.

negotiate:

# Divide the nodes up into used and unused based on the status of
# their WhOL experimental interface:
#
# enabled=yes     port in use
# enabled=no      not used
#
# If a port is "in use" we assume it has talked to the switch and
# no speed/duplex changes are needed.
#
# If the port is unused, we assume that the port will try to auto
# negotiate with the switch when enabled.  In this case we set
# auto-negotiation on the switch to maximize the chance that we will
# sucessfully communicate with the card.

Also, fix a small missing paren from Keith's contributed version.

need it.

trunks for convenient checking against.

generate month by month files, and then a little index to include into the
php script.

I know, this is really important stuff! But, I was reminded to do this by a
message that Christopher Johnson (the young one) sent on April 29th about
his project. His code was quaint, but I did not think we needed a new
python script when it was much easier just to roll it into the existing
perl script that imports the commitlog.

table, if elabinelab_nosetup is non-zero, boss and ops setup will do
just enough to get the nodes into a state that hopefully approximates
what a real installation might look like before installing our stuff.
I do install the packages cause there is no point in waiting for that
to finish interactively.

From this point, you can log into the console(s) and run the setup
instructions verbatim, although I have not actually tried that yet.

The nice thing is that if you manage to get things properly setup, it
can function as a real elabinelab since the outer environment has been
setup. This is quite a bit different then how we tested during the
last release frenzy.

Its not quite perfect of course, since the images are not "clean", but
I think this is okay for testing.

is not running, and there is no locpiper to connect to. Pop up a dialog
box telling the user.

experiments can be auto fired during swapin.

inner boss and ops:

	namespace eval TBCOMPAT {
	    set elabinelab_tarfiles("boss") "/usr/site /foo/silly.tar.gz"
	}

Ditto for "ops". You can specify multiple tarfiles of course in the
string, just as tb-set-node-tarfiles allows.

argument, treat it as a string and first split it apart. This is a
common error that many people make.

initial reverse file. Note that we still do not try to generate
multiple reverse files; that is up to the local site.

moving that robot!

new client connects, we can dump the current set to the applet. I'm
still holding off on putting them into the DB (really do not think
this is the right thing to do, but I can be convinced otherwise).

Change battery code in the locpiper so that if the data for a robot is
more then 10 minutes old, stop sending updates for that robot.

For the applet, add a little daemon thread that checks to see if
battery updates have stopped, and if so, change the color of the robot
to blue (cold and stale). This makes it more clear which robots are
working and which are turned off.

Fix collision detection code so that we test for the center of a robot
overlapping with an obstacle, rather then radius of the area it sweeps
(Tim said this was the correct thing to do).

the latter gives us one big argument with spaces, etc. escaped.

monkey around with autodetection to attempt to get carrier on
unresponsive interfaces.

Add topography as an event object type, we use this to notify applets
about dynamic obstacles.  Some event-sched fixes are also included.

	* lib/libtb/tbdefs.h, lib/libtb/tbdefs.c: Add TOPOGRAPHY object
	and CREATE event.

	* robots/emc/emcd.c: Some cleanup for the events that get sent for
	dynamic obstacles.

	* tbsetup/ns2ir/node.tcl, tbsetup/ns2ir/sim.tcl.in,
	tbsetup/ns2ir/topography.tcl: Add Topography's to the virt_agents
	table.

	* event/sched/error-record.c: Fix the format for the filenames
	generated by the program-agent.

	* event/sched/event-sched.c: Mark the start of TIME, change how
	rmcd/vmcd get restarted, and fix the ordering of some events on
	startup.

	* event/sched/simulator-agent.h, event/sched/simulator-agent.cc:
	Record when TIME starts, change how the report is generated, and
	the current time to log messages.

	* event/sched/rpc.h, event/sched/rpc.cc: Add the "virtual"
	topography name to the emcd.config, it's used when sending events
	concerning dynamic obstacles.

well tested, but will get tested now!

The gist is that Tim now generates TOPOGRAPHY events that define an
dynamic obstacle that is drawn in the applet and added to the list of
obstacles to be checked for collisons (when submitting moves).

spewing after a while.

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.

to enable use of divert sockets in jails.

Change tmcd to pass back an indication that divert sockets should be enabled.

In case I didn't mention it; this script is setuid so it can kill
itself later on the swapout path. It drops privs right away.

* New robot event listener:

    * It is intended to be started and stopped from the experiment
      swapin path instead of as a global daemon. It takes the pid/eid
      of the experiment, and will deal with events only for those
      nodes that are allocated to the experiment. We have some long
      range plans of time sharing the robot lab, so I figured we might
      as get a little bit of a start on that.

    * Once it fires up, it subscribes to the usual assortment of
      events, just like the loclistener does.

    * It then binds a socket on which to listen for connections from
      the web server.

    * Then it loops, looking for events and for connections from the
      web server. Connections from the web server are for forwarding
      the event stream in real time to whatever applets are currently
      viewing the robot lab.

    * As each event comes in, it is parsed, entered into the DB (nodes
      and location_info table), and fired out (in a textual form) to
      all the applet listeners. The web interface just acts as pipe in
      this case for the data.

    * The event stream is also duplicated to a file in the experiment
      directory (the same stuff that is piped to the applet), named by
      the current resource record ID. I hope to use this stream to
      playback the motion in the applet (coupled with webcam images
      once I figure out how to sync them).

* tbswap: Start and stop the new listener.

* Robotrack: I changed the interface for how we actually communicate
  the event data. Much more reasonable then it was (a comma separated
  string of numbers!).

* new database fields in the experiments table to hold the process ID
  of the listener and the port it is listening on. The port is not
  used yet, as the robot lab is still not shared. Will need to revist
  this later. Currently uses a fixed port number.

* www/robotrack/robopipe.php3: Killed most of the old code and replace
  with simple socket connect to the listener.

record for each swapin (previously, it was just at swapmod). The
reason for this is that as the testbed gets more fragmented in terms
of hardware, it is less and less likely that consecutive swapins of
the same experiment will use the same number of physical resources.

We end up with some duplication of data inside the table, but no big
deal. I suspect we will revisit this per experiment state as the
workbench stuff proceeds.

need output formatting work, but its too low priority to find the time.