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  1. 10 May, 2005 1 commit
  2. 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
  3. 15 Jan, 2005 1 commit
  4. 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
  5. 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
  6. 13 Dec, 2004 1 commit
    • 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
  7. 12 Dec, 2004 1 commit
    • Timothy Stack's avatar
      · 3af9b150
      Timothy Stack authored
      Minor cleanup:
      
      	* robots/emc/test_emcd.sh.in, robots/mtp/mtp_send.c,
      	robots/mtp/mtp_test.c: Bring up-to-date with the latest version of
      	mtp stuff.
      
      	* robots/vmcd/vmc-client.c: Add "valid" field to the mezz stub
      	struct.
      
      	* robots/vmcd/vmcd.c: Some compile fixes...
      3af9b150
  8. 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