1. 24 Sep, 2012 1 commit
    • Eric Eide's avatar
      Replace license symbols with {{{ }}}-enclosed license blocks. · 6df609a9
      Eric Eide authored
      This commit is intended to makes the license status of Emulab and
      ProtoGENI source files more clear.  It replaces license symbols like
      "EMULAB-COPYRIGHT" and "GENIPUBLIC-COPYRIGHT" with {{{ }}}-delimited
      blocks that contain actual license statements.
      
      This change was driven by the fact that today, most people acquire and
      track Emulab and ProtoGENI sources via git.
      
      Before the Emulab source code was kept in git, the Flux Research Group
      at the University of Utah would roll distributions by making tar
      files.  As part of that process, the Flux Group would replace the
      license symbols in the source files with actual license statements.
      
      When the Flux Group moved to git, people outside of the group started
      to see the source files with the "unexpanded" symbols.  This meant
      that people acquired source files without actual license statements in
      them.  All the relevant files had Utah *copyright* statements in them,
      but without the expanded *license* statements, the licensing status of
      the source files was unclear.
      
      This commit is intended to clear up that confusion.
      
      Most Utah-copyrighted files in the Emulab source tree are distributed
      under the terms of the Affero GNU General Public License, version 3
      (AGPLv3).
      
      Most Utah-copyrighted files related to ProtoGENI are distributed under
      the terms of the GENI Public License, which is a BSD-like open-source
      license.
      
      Some Utah-copyrighted files in the Emulab source tree are distributed
      under the terms of the GNU Lesser General Public License, version 2.1
      (LGPL).
      6df609a9
  2. 27 Jul, 2011 1 commit
  3. 25 Oct, 2006 1 commit
    • Leigh Stoller's avatar
      Makefile Whacking! Try to deal with the problem caused by the delay · 7590f9c5
      Leigh Stoller authored
      between when something is installed and when post-install runs. Short
      of a global lock (which we probably need anyway someday), my solution
      is this. In your makefiles, add these variables before the line that
      has the include of $(TESTBED_SRCDIR)/GNUmakerules:
      
      	SETUID_BIN_SCRIPTS   =
      	SETUID_SBIN_SCRIPTS  =
      
      I have added three new rules to GNUmakerules that look like this:
      
      	$(addprefix $(SBINDIR)/, $(SETUID_SBIN_SCRIPTS)): $(SBINDIR)/%: %
      		echo "Installing (setuid) $<"
      		-mkdir -p $(INSTALL_SBINDIR)
      		$(SUDO) $(INSTALL) -o root -m 4755 $< $@
      
      Yep, your eyes ain't lying to you; use sudo to run the target so that
      install does the right thing (which is that the old file is not
      replaced until the new one has the proper attributes on it).
      
      Note that post-install is still needed for the initial install, but
      should no longer be needed for day to day installs since all that other
      stuff post-install does is mkdir/chmod on directories.
      7590f9c5
  4. 04 May, 2006 1 commit
    • Kirk Webb's avatar
      · 51a91c3f
      Kirk Webb authored
      Add prototypes to make perl 5.8 happy
      51a91c3f
  5. 24 Jun, 2005 1 commit
  6. 13 Jun, 2005 4 commits
    • Timothy Stack's avatar
      Missed an ifdef for posture reg stuff · 5c0941e7
      Timothy Stack authored
      5c0941e7
    • Timothy Stack's avatar
      turn off posture regulator by default · 49a84d44
      Timothy Stack authored
      49a84d44
    • Timothy Stack's avatar
      · 5e43a771
      Timothy Stack authored
      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.
      5e43a771
    • Timothy Stack's avatar
      remove debugging printf · 83a6f1b2
      Timothy Stack authored
      83a6f1b2
  7. 09 Jun, 2005 1 commit
  8. 04 Jun, 2005 1 commit
  9. 02 Jun, 2005 2 commits
  10. 31 May, 2005 2 commits
    • Leigh Stoller's avatar
      Pass around pid,eid (through the applet) so that the backend knows · 30667bc5
      Leigh Stoller authored
      what locpiper to connect to. Locpiper now binds a dynamic port, and
      stores that into the DB, and the php script expects to get that pid,eid
      back.
      
      Changed the showexp page so that pid,eid are passed to the robotrack
      top level page.
      
      Changed the robotrack page so that if it does not get a pid,eid, it looks
      for an experiment running (a locpiper). If none is running, let the applet
      start of course, but there will be an error dialog when it starts. You can
      still play with the applet of course. If there is more then one experiment
      running, then just pick first one. At some point I might add a page to ask
      which experiment, but its low priority.
      30667bc5
    • Timothy Stack's avatar
      6545e099
  11. 25 May, 2005 1 commit
  12. 24 May, 2005 6 commits
    • Leigh Stoller's avatar
      Its Perl Leigh, not Java! · 276c0f3e
      Leigh Stoller authored
      276c0f3e
    • Leigh Stoller's avatar
      Another small fix; Do not check the exclusion zone around a robot when · 7b5e1055
      Leigh Stoller authored
      moving that robot!
      7b5e1055
    • Leigh Stoller's avatar
      Have the locpiper save dynamic obstacles (internally) so that when a · 30b6f8f9
      Leigh Stoller authored
      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).
      30b6f8f9
    • Timothy Stack's avatar
      · cf9ae072
      Timothy Stack authored
      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.
      cf9ae072
    • Leigh Stoller's avatar
      Oops, turn of debugging mode. · eaecd483
      Leigh Stoller authored
      eaecd483
    • Leigh Stoller's avatar
      Checkpoint new dynamic obstacle stuff that Tim requested. This is not · 959742d6
      Leigh Stoller authored
      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).
      959742d6
  13. 23 May, 2005 2 commits
    • Timothy Stack's avatar
    • Timothy Stack's avatar
      · a1000b60
      Timothy Stack authored
      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.
      a1000b60
  14. 20 May, 2005 2 commits
    • Leigh Stoller's avatar
      Oops, flip back to user after the fork. · 57501b7d
      Leigh Stoller authored
      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.
      57501b7d
    • Leigh Stoller's avatar
      Checkpoint some robot changes. · 5f67fe09
      Leigh Stoller authored
      * 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.
      5f67fe09
  15. 18 May, 2005 1 commit
  16. 16 May, 2005 1 commit
    • Timothy Stack's avatar
      · d4549631
      Timothy Stack authored
      Checkpoint some robot code, mostly related to reliability.
      
      	* robots/emc/emcd.c: Fail if there is no config file given.  Send
      	an error back to vmcd if there is no rmcd available to satisfy a
      	wiggle-request.
      
      	* robots/mtp/mtp.h, robots/mtp/mtp.c: Added some comments.  Add
      	some more helper functions.
      
      	* robots/primotion/GNUmakefile.in, robots/primotion/dashboard.hh,
      	robots/primotion/dashboard.cc, robots/primotion/faultDetection.hh,
      	robots/primotion/faultDetection.cc: Fault detection code for the
      	garcia.  Tries to check for and recover from some commonly seen
      	failures.
      
      	* robots/primotion/garcia-pilot.hh,
      	robots/primotion/garcia-pilot.cc:  Set the fault detection
      	callback, add version info, and fix some whitespace.
      
      	* robots/primotion/pilotClient.cc: Set the wheel speed when
      	pivoting.
      
      	* robots/primotion/wheelManager.hh,
      	robots/primotion/wheelManager.cc: Use the fault detection stuff,
      	tweak some constants, and some other cleanup.
      
      	* robots/tracker/GNUmakefile.in: Add some missing targets.
      
      	* robots/vmcd/robotObject.h, robots/vmcd/robotObject.c: Move some
      	robot list management code into here.
      
      	* robots/vmcd/visionTrack.h, robots/vmcd/visionTrack.c: Comments
      	and some cleanup.
      
      	* robots/vmcd/vmcd.c: Refactor some of the wiggle code and deal
      	with errors a little better.
      d4549631
  17. 10 May, 2005 2 commits
  18. 06 Apr, 2005 1 commit
  19. 31 Mar, 2005 1 commit
    • Timothy Stack's avatar
      · 6cce1762
      Timothy Stack authored
      Pass camera local to world offsets through vmcd.
      
      	* event/sched/rpc.cc: Add the camera fixed_x,fixed_y values to the
      	emcd.config file.
      
      	* robots/emc/emcd.c: Pickup the cameras fixed_x,fixed_y values
      	from the config file.  Add supports for setting the speed of the
      	robot.
      
      	* robots/mtp/mtp.h, robots/mtp/mtp.c: Add support for setting
      	speed in GOTO packets and constructing vmc-client config packets.
      
      	* robots/mtp/mtp.x: Add a vmc-client config packet that contains
      	the cameras origin in world coordinates.
      
      	* robots/mtp/mtp_dump.c: Dump the min/max values for x and y,
      	handy for figuring out the bounds of the camera.
      
      	* robots/vmcd/visionTrack.c, robots/vmcd/visionTrack.h: Handle
      	cameras that are overlapping on two axes.
      
      	* robots/vmcd/vmc-client.c: Accept a vmc-client config packet that
      	tells us where the camera is in world coordinates.  Add an
      	orientation flag that specifies how the camera is oriented wrt to
      	the world coordinate system.
      
      	* robots/vmcd/vmcd.c: Send vmc-client config packets out.  Fix a
      	bug that left unknown tracks in the previous frame, which could
      	confuse the matching algorithm causing it to match unknown tracks
      	instead of valid known tracks.
      6cce1762
  20. 22 Feb, 2005 1 commit
    • Timothy Stack's avatar
      · 48d5c24a
      Timothy Stack authored
      Report battery stats using the watchdog:
      
      	* robots/emc/emcd.c: Don't send events with battery levels
      	anymore.
      
      	* tmcd/tmcd.c: Add 'battery' command that updates the
      	battery_percentage, battery_voltage, and battery_timestamp values
      	in the nodes table.  It's currently only called by the watchdog
      	running on the garcias.
      
      	* tmcd/common/libtmcc.pm: Add TMCCCMD_BATTERY function.
      
      	* tmcd/common/watchdog: Updated to send back battery information
      	obtained from garcia-pilot.
      48d5c24a
  21. 16 Feb, 2005 2 commits
  22. 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
  23. 04 Feb, 2005 1 commit
    • Timothy Stack's avatar
      · 6f545cf0
      Timothy Stack authored
      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.
      6f545cf0
  24. 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
  25. 27 Jan, 2005 1 commit
  26. 26 Jan, 2005 1 commit