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.
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