1. 10 Jan, 2005 2 commits
    • 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
    • Leigh Stoller's avatar
      Temp change; I am am still copying over a couple of files to the target · 34c4029e
      Leigh Stoller authored
      boss node, which were coming from my home dir. Take them from the source
      tree instead in /proj.
      34c4029e
  2. 07 Jan, 2005 11 commits
  3. 06 Jan, 2005 7 commits
    • Robert Ricci's avatar
      Add a sanity check to make sure that we have appropriate stacks for · ff753403
      Robert Ricci authored
      all ports that have been specified.
      ff753403
    • Robert Ricci's avatar
      Hmm, somehow, I was editing a VERY old revision of this file when I · e375c3a9
      Robert Ricci authored
      made my last commit. Re-apply my changes to the right version of the
      file.
      e375c3a9
    • Robert Ricci's avatar
      3877fb1a
    • Siddharth Aggarwal's avatar
    • Siddharth Aggarwal's avatar
    • Leigh Stoller's avatar
      A bunch of boot changes. Read carefully. · 94ccc3f4
      Leigh Stoller authored
      * Add boot_errno to the nodes table so that nodes can report in a
        subcode to indicate what went wrong. At present, we do not report any
        real error codes; that is going to take some time to work out since it
        will reqiure a bunch of changes to the boot scripts.
      
      * Add new table node_bootlogs to store logs provided by the nodes. Not
        a full console log, but a log of the tmcd client side part. We can
        make it a full log if we want though; just means mucking about with
        the boot phase a bit.
      
      * Add new state transition to NORMALv2 and PCVM state machines. "TBFAILED"
        is a new state that is sent (after TBSETUP) if a node fails somewhere in
        the tmcd client side.
      
      * Change TBNodeStateWait() to take a list of states (instead of single
        state) and an optional pass by reference parameter to return the actual
        state that the node landed in. Change all calls to TBNodeStateWait() of
        course.
      
      * Change os_setup (and libreboot in wait mode) to look for both TBFAILED
        and ISUP. If a TBFAILED event is seen, we can terminate the wait early
        and not retry os_setup on physical nodes (although still retry virtual
        nodes). The nice thing about this is that the wait should terminate much
        earlier (rather then waiting for timeout), especially for virtual nodes
        which can take a really long time when there are a couple of hundred.
      
      * Add new routines dobooterrno() and dobootlog() to tmcd. Bump version
        number and increase the buffer size to allow for the larger packets that
        a console log wikk generate (added MAXTMCDPACKET variable, set to 0x4000).
      
      * Add new -f option to tmcc to specify a datafile to send along as the last
        argument to tmcd. This is more pleasing then trying to send a console log
        in on the command line. For example: "tmcc -f /tmp/log BOOTLOG" will send
        a BOOTLOG command along with the contents of /tmp/log.
      
        Also close the write side of the pipe so that server sees EOF on
        read. See aside comment below.
      
      * Changes to rc.bootsetup:
           1. Use perl tricks to capture all output, duping to the console and to
              a log file in /var/emulab/logs.
           2. On any error, send a status code (boot_errno) and the bootlog to
              tmcd.
           3. Generate a TBFAILED state transition.
      
      * Changes to rc.injail:
           1. Same as rc.bootsetup, but do not send log files; that would pummel
              boss. Leave them on the physical node.
      
      * Change vnodesetup (which calls mkjail) to watch for any error and send a
        TBFAILED state transition. This should catch almost all errors, and
        dramatically reduce waiting when something fails.
      
      * Changes to rc.cdboot are essentially the same as rc.bootsetup, although a
        bootlog is sent all the time (success or failure), and I do not generate
        a boot_errno yet. Also, instead of TBFAILED, generate a PXEFAILED state
        since the CDROM is actually operating within the PXEFBSD opmode. I have
        yet to work this into the rest of the system though; waiting to get a new
        CD built and actually experiment with it.
      
      * Add new menu option and web page to display the node bootlog. We store
        only the lastest bootlog, but maybe someday store more then one. Display
        boot_errno on node page.
      
      Aside: I made a big mistake in the tmcd protocol; I did not envision
      passing more then a small amount of data (one fragment) and so I do not
      include a record terminator (ie: close of the write side on the client
      sends EOF) or a size field at the beginning. No big deal since small
      requests are sent in one fragment and the server sees the entire
      thing. Well, with a large console log, that will end up as multiple
      fragments, and the server will often not get the entire thing on the first
      read, and there are no subsequent reads (with no EOF or known size, it
      would block forever). Well, fixing this in a backwards compatable manner
      (for old images) was way too much pain. Instead, tmcc now closes the write
      side, and the server does subsequent reads *only* in the new dobbootlog()
      routine. Note that it *is* possible to fix this in a backwards compatable
      manner, but I did not want to go down that path just yet.
      94ccc3f4
    • Leigh Stoller's avatar
  4. 05 Jan, 2005 2 commits
  5. 04 Jan, 2005 2 commits
  6. 03 Jan, 2005 16 commits