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. 24 Jun, 2005 1 commit
  3. 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
  4. 09 Jun, 2005 1 commit
  5. 04 Jun, 2005 1 commit
  6. 02 Jun, 2005 2 commits
  7. 31 May, 2005 1 commit
  8. 24 May, 2005 1 commit
    • 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
  9. 23 May, 2005 1 commit
    • 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
  10. 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
  11. 10 May, 2005 1 commit
  12. 06 Apr, 2005 1 commit
  13. 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
  14. 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
  15. 16 Feb, 2005 1 commit
  16. 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
  17. 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
  18. 27 Jan, 2005 1 commit
  19. 26 Jan, 2005 1 commit
  20. 22 Jan, 2005 1 commit
    • Timothy Stack's avatar
      · 74f61a9f
      Timothy Stack authored
      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.
      74f61a9f
  21. 17 Jan, 2005 2 commits
    • Timothy Stack's avatar
      · 1e18722e
      Timothy Stack authored
      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.
      1e18722e
    • Timothy Stack's avatar
      · 11cceda4
      Timothy Stack authored
      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.
      11cceda4
  22. 15 Jan, 2005 2 commits
  23. 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
  24. 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
  25. 15 Dec, 2004 1 commit
  26. 14 Dec, 2004 2 commits
  27. 13 Dec, 2004 6 commits
    • Timothy Stack's avatar
      · dde7799c
      Timothy Stack authored
      More robot-related tweaks and bug fixes:
      
      	* robots/emc/emcd.c: Handle "-h" option properly.
      
      	* robots/emc/loclistener.in: Pickup the pixels_per_meter value
      	from the database and use that to convert event coordinates in
      	meters to pixels for the database.
      
      	* robots/primotion/gorobot.cc: Comment.
      
      	* robots/primotion/dgrobot/gcallbacks.h,
      	robots/primotion/dgrobot/gcallbacks.cc,
      	robots/primotion/dgrobot/grobot.h,
      	robots/primotion/dgrobot/grobot.c,
      	robots/primotion/dgrobot/grobot_sim.cc: Small bug fixes to make
      	sure the position estimate is updated when moving in a straight
      	line.
      
      	* robots/rmcd/rmcd.c: cleanup
      
      	* robots/vmcd/GNUmakefile.in, robots/vmcd/test_emcd3.config,
      	robots/vmcd/test_vmcd3.pos, robots/vmcd/test_vmcd3.sh,
      	robots/vmcd/test_vmcd4.pos, robots/vmcd/test_vmcd4.sh: Some more
      	test cases, still pretty simple though.
      dde7799c
    • Timothy Stack's avatar
      · 57ddedbe
      Timothy Stack authored
      More bug fixes for vmcd and friends:
      
      	* GNUmakerules: Set SRCDIR as an environment variable so every
      	test doesn't have to be a template.
      
      	* robots/emc/emcd.c: Correctly handle a vision position that is
      	dead-on the initial position.  XXX Turn off orientation matching
      	for now, it is too strict at the moment so that it favors close
      	orientation over close position.
      
      	* robots/mtp/mtp.c: Fix some broken printfs in mtp_print_packet.
      
      	* robots/vmcd/GNUmakefile.in: Add another test.
      
      	* robots/vmcd/test_emcd2.config, robots/vmcd/test_vmcd2.pos,
      	robots/vmcd/etst_vmcd2.sh: A test that matches the initial
      	positions of two robots.
      
      	* robots/vmcd/test_vmcd.pos: Reduce the distance the robot moved
      	between frames.
      
      	* robots/vmcd/vmcd.c: Fix a bugfix and some formatting changes.
      57ddedbe
    • Timothy Stack's avatar
      · 0a60aafe
      Timothy Stack authored
      Some bugfixes and an improved test case for vmcd:
      
      	* robots/emc/emcd.c: Add a REQUEST_POSITION handler for the
      	emulab_callback.  Fix some simple bugs when processing REQUEST_ID
      	packets.
      
      	* robots/vmcd/test_emcd.config: Use just one robot for simple
      	test.
      
      	* robots/vmcd/test_vmc-client.pos: A position file for the
      	vmc-client test.
      
      	* robots/vmcd/test_vmc-client.sh.in: Test with a position file
      	instead of hardcoded numbers.
      
      	* robots/vmcd/test_vmcd.pos: Position file for the vmcd test.
      
      	* robots/vmcd/test_vmcd.sh.in: Make the test a little simpler, but
      	add a check to see if vmcd finds the robot initially.
      
      	* robots/vmcd/vmc-client.c: Add a "-f" option that lets you use a
      	"position" file that contains the object positions for a series of
      	frames.
      
      	* robots/vmcd/vmcd.c: Some bug fixes.
      0a60aafe
    • Timothy Stack's avatar
      Compilation fixes · f2291e2b
      Timothy Stack authored
      f2291e2b
    • David Johnson's avatar
      * emc/emcd.c: · 7eeb2799
      David Johnson authored
         - added the final code necessary to fully handle a vmc client.
      7eeb2799
    • 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
  28. 12 Dec, 2004 1 commit
    • David Johnson's avatar
      · 6d3b6118
      David Johnson authored
      * emcd.c:
         - minor changes, mostly comments. this is next to fix up.
      * vmc-client.c:
         - minor changes to tell vmcd about the last packet in a frame
      processing cycle (via MTP_POSITION_STATUS_CYCLE_COMPLETE being set in the
      last update_position packet of a frame processing cycle).
         - maybe other stuff...
      * vmcd.c:
         - massive changes to handle tracking of robots from data passed from
      vmc-client, and to handle ID association.
      * mtp.h:
         - addded MTP_POSITION_STATUS_CYCLE_COMPLETE #define
         - updated structs request_id and update_id to include a `request_id'
      field so that we can uniquely track requests (since they're asynchronous).
      * mtp.c:
         - revamped code for above mtp.h changes.
      6d3b6118