Some more robot integration.
* event/lib/event.h, event/lib/event.c: Add some event_notification creation functions that get used in event-sched. * event/sched/event-sched.c, event/sched/rpc.h, event/sched/rpc.cc: Sync the start of event time with the robots reaching their initial positions. This is done by creating a master event-sequence that takes care of sending the SETDEST events and then starting the Simulator timeline. * mote/tbuisp.in: Use node_reboot instead of ssh'ing in. * robots/GNUmakefile.in: Don't build tbsetdest if ulsshxmlrpcpp is not available. * robots/emc/loclistener.in: Clear the destination values for a node when it reaches its destination. * robots/primotion/garcia-pilot.cc, robots/primotion/pilotClient.cc: Some cleanup and debugging. * robots/primotion/wheelManager.cc: Check the rear sensors for obstructions and then decide which way to pivot. * robots/rmcd/pilotConnection.h, robots/rmcd/pilotConnection.c, robots/rmcd/rclip.h: Even more tweaking. * robots/tbsetdest/tbsetdest.cc: Don't generate points that are outside the camera bounds or inside an obstacle. * robots/vmcd/visionTrack.c, robots/vmcd/vmcd.h, robots/vmcd/vmcd.c: Add more debugging output. * tbsetup/os_setup.in: Removed the robot hack used when deciding which nodes to reconfig/reboot. Added a robot hack to avoid rebooting a robot whose mote is being os_load'd, since it would interrupt tbuisp which does the reboot anyways. Also fixed a small typo. * tbsetup/ns2ir/node.tcl, tbsetup/ns2ir/sim.tcl.in: Oops, forgot to convert degrees to radians. * tbsetup/ns2ir/topography.tcl: When checking for node destination points in obstacles, include the implicit exclusion zone. * tmcd/common/bootsubnodes: Add empty "mote" case. * tmcd/linux-sg/GNUmakefile.in: Make some of the /etc subdirs when doing the install. * tmcd/linux-sg/rc.stargate: Start garcia-pilot. * vis/floormap.in: Add options for showing the camera bounds, obstacle exclusion zones, and displaying vnames instead of pnames. * www/ledpipe.php3: Finally figured out how to use a socket instead of popening a perl script. * www/robotmap.php3: Add checkboxes for displaying/not displaying the camera bounds and obstacle exclusion zones. Add a legend showing what actual vs. destination points are. Pass pid/eid through to vis/floormap if it is given. * www/showexp.php3: Add a "Robot Map" link to experiments that have allocated garcias. * www/floormap/map_legend_node.gif, www/floormap/map_legend_node_dst.gif: Icons used by the robot map legend. * www/floormap/robots-4.jpg: Added an obstacle around the entryway so people are slightly less likely to trip over the robots. Added a coordinate system legend to the top left corner. * www/tutorial/mobilewireless.php3: Add links to David's movie of the robot making its way around the pillar. * www/tutorial/robot_anim.gif: A nifty gifanim clip of the robot movie. * xmlrpc/emulabserver.py.in: Pull the camera data from the DB, instead of returning hardcoded stuff.
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