clientside requres it to be there. As noted in previous revision, the
full emulab build always includes the clientside subdir, but a
clientside build will not necessarily include the rest of Emulab.

Initial checkin of a "repositioning" daemon that moves robots back to
their pens on swapout.

	* configure, configure.in: Add tbsetup/repos_daemon.

	* db/libdb.pm.in: Add constants for the
	repositionpending/repositioning experiments.

	* db/nfree.in: When freeing garcias, send them to
	repositionpending instead of reloadpending.

	* event/sched/event-sched.c: Deal with the rare case of no
	SIMULATOR object being in the agent list for an experiment.

	* robots/emc/emcd.c, robots/emc/locpiper.in: Fix some typos.

	* robots/rmcd/masterController.h, robots/rmcd/masterController.c,
	robots/rmcd/obstacles.h, robots/rmcd/obstacles.c: Ignore dynamic
	obstacles that are far away and remove dynamic obstacles where the
	robot is inside the natural obstacle area.

	* sql/database-create.sql, sql/database-migrate.txt: Add a
	reposition_status table that tracks the status of robots that are
	being moved back to their pens.

	* tbsetup/GNUmakefile.in: Install the repos_daemon script.

	* tbsetup/reload_daemon.in: Move robots to the repositionpending
	experiment, if they haven't already reached their pen.

	* tbsetup/repos_daemon.in: Daemon that takes care of seeing robots
	back to their pens after they are freed from an experiment.

into a single larger one.

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.

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.

a certain number of tries go to sleep for a while; the idea is that they
try to recover once the obstacle has moved.

local...)

vision system bounds).

in the other direction if it is on.

Robot related stuff: power via e-mail, client-install fixups, checking
coords against camera boundaries.

	* configure, configure.in: Add tbsetup/power_mail.pm to the list
	of template files.

	* doc/cross-compiling.txt: More stargate notes.

	* event/sched/rpc.cc: Updates for the addition of the cameras
	table.

	* robots/GNUmakefile.in, robots/emc/GNUmakefile.in,
	robots/mtp/GNUmakefile.in, robots/rmcd/GNUmakefile.in,
	robots/tbsetdest/GNUmakefile.in, robots/vmcd/GNUmakefile.in:
	client-install fixups.

	* tbsetup/GNUmakefile.in: Add power_mail.pm.

	* tbsetup/os_setup.in: Don't skip reboot of robots anymore.

	* tbsetup/power.in: Add special case for a power_id of "mail",
	which calls into the power_mail.pm backend.

	* tbsetup/power_mail.pm.in: E-mail backend for power, it sends an
	e-mail to tbops and waits for the outlets.last_power value to be
	updated from the power.php3 web page.

	* tbsetup/ns2ir/parse-ns.in: Add the contents of the cameras table
	to the TBCOMPAT namespace.

	* tbsetup/ns2ir/sim.tcl.in: More checking of "setdest" inputs.

	* tbsetup/ns2ir/topography.tcl: Update the checkdest method to
	check destination points against the camera list.

	* www/powertime.php3: Webpage used to update the last power time
	for nodes.

	* www/shownode.php3: Add "Update Power Time" menu button.

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.

Fix some robot related stuff that I broke with the last checkin and add in
some other tweaks.

	* robots/primotion/garcia-pilot.cc,
	robots/primotion/pilotClient.hh, robots/primotion/pilotClient.cc:
	Broadcast any goto/stop commands to clients observing the robot.

	* robots/rmcd/rmcd.c: Change the behavior to reorient the robot as
	the last step in a goto, so we avoid doing unnecessary pivots.
	Need to send an init packet to the robot so it knows who is
	talking to it.

	* robots/vmcd/vmc-client.c: Oops, supposed to use M_PI_2, not
	M_PI, when translating from camera coords to world.

	* www/telemetry.php3: Make the size of the applet a little bigger.

	* www/garcia-telemetry/GarciaTelemetry.java,
	www/garcia-telemetry/UpdateThread.java,
	www/garcia-telemetry/main.xml: Display a log of goto/stop commands
	sent to the robot.

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.

(hopefully) fixed up the completely twisted and fucked up left handed world coordinate thing. (Transpose x,y)

Changed angle tolerance to about 5 degrees, and decreased max retries to 3

it and fed back in.

quick fix

added -lm to LIBS for libmath

included math.h

whoops .. added angle calculations to coordinate transformations