GitLab

Add prototypes to make perl 5.8 happy

able to be directly reused in the continuous motion modifications to the
tracker.

integer.

camera, as well as its width, height, and fps. Tack these params onto
the robotrack URL:

	&camwidth=640&camheight=480&fps=2&camera=1

where camera is 0, 1, or 2 ... Dave can figure out which one he needs.
The allowed camera sizes are:

  640x480, 640x360, 480x360, 384x288, 352x288, 352x240, 320x240, 240x180

as defined by the axis HTTP API.

forthcoming ...

color configs; also handle more total fiducials per camera (limit had been
6 -- too low with checker fiducials added).  Also add offset information
for vmc-client configs.

option to mtp_dispatch.

avoidance to work correctly.

starting pilot seemed to cause problems.

To use the 'B' posture regulator, define USE_POSTREG_B in masterController.c

between the current frame and the last.  Need to also check that the
minimum distance is the same between the last and current, otherwise
ordering of the tracks in the list matters (doh).

transitioning cameras a higher speeds.

command-wheels to the list of message types.

 * brainstem-reset.cc: comments.

is reset, then the GP (it seems that the GP acts as the I2C router... so
moto has to be reset first -- this may not be true, not sure yet).  Reset
can be toggled in pilot by sending a USR2 to the pilot process.  If reset
is sent while robot is executing any sort of move, the only way to recover
is to kill pilot.  Reset can be toggled whenever the robot is not moving
without consequence (obviously, brainstem state (including wheel odometry)
is lost).  There is also a separate reset command (brainstem-reset) that
works independently.  This command is now called in the pilot-wrapper.sh
script before pilot is (re)started.

  * GNUmakefile.in: new target `brainstem-reset'.

  * garcia-pilot.cc: not much.

  * garciaUtil.cc: the brainstem_reset function.

  * garciaUtil.hh: prototypes...

  * pilot-wrapper.sh: call brainstem-reset (NOTE: this always fails the
    first time, and I'm not sure why.  It always succeeds subsequently...
    so it makes no difference at the moment).

  * brainstem-reset.cc: new command to reset the brainstem modules.

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.

Garcia-pilot updates:

	* robots/primotion/buttonManager.hh,
	robots/primotion/ledManager.hh: Comments.

	* robots/primotion/dashboard.hh, robots/primotion/dashboard.cc:
	Turn off fault detection for now, it doesn't work with moving in
	curves at the moment.  Reenable sensor value polling, but only
	while the robot is stationary.

	* robots/primotion/garcia-pilot.cc: Change the handleCallbacks and
	select timeouts to 5ms.

	* robots/primotion/wheelManager.hh,
	robots/primotion/wheelManager.cc: Lower the ranger thresholds when
	movements are short in length.  This should help us maneuver into
	tighter areas, like the robot pens.

now uses line-bases path planner to determine waypoints.