append ".exe" in favor of the --enable-windowsclient option.

Enable windows support by default now.  This ensures exports_setup creates
samba shares.

* rc.mkelab - modify logic s.t. --disable-windows is passed to configure if
  WINSUPPORT is not set.

Note that the java compiler on boss is too old to compile this applet
(not that I am using anything special) so I am committing a compiled
version. Use the jar target in the robots/tracker build directory if
you happen to have a modern version of java on your machine.

Fixed up ops-install for new way of handling smb.conf file.  We copy in an
smb.conf.head file now, and copy that to smb.conf initially on ops.
exports_setup[.proxy] takes care of updating the share permissions for
samba dynamically.

directory.

The python.org Python distribution has the executable at the top level, not in a bin subdir, with include below it.

Support for reloading garcias.

Currently this is a total hack; we simply rsync the stargate as it is freed
from the experiment.  However, until we unravel os_load dependancies between
nodes and subnodes (motes and stargates in this case), doing this through
the appropriate setup channels won't work.

The tbrsync script borrows much of its infrastructure from Rob's tbuisp
script.

can avoid building robots/tbsetdest.

Stargate client-side boot support.

Similar to linux, but the sg linux distribution is based on debian, so some
things are a little different.

WARNING: if you do a client-install in a cross-compile environment
(with DESTDIR set), watch out for bogus symlinks in <root>/etc/rc*.d!
Have to fix these up by hand in this case.

Also note that the stargate rc script doesn't yet start the robot pilot
daemon - Tim said he needed to do finalize some stuff w.r.t. this, so
he would take care of modifying the rc script.

The ntp settings are still not ideal.  Even though the root fs is on a
journalling jffs filesys, its still not good to write to it regularly.  Need
to point the ntp drift file off into /var (ramfs)

sitevars to determine if the Robot Lab is open or closed. The sitevars:

* 'robotlab/override' - Override other settings and forcibly turn the lab
  "on" or "off" (open or close). When the lab is turned off, new
  experiments cannot swap in and the current experiment is immediately
  swapped out.

* 'robotlab/exclusive' - The robot lab is exclusive use. Best to not mess
  with this sitevar :-)

* 'robotlab/opentime' - The time that the robot lab opens in the
  morning. The default is 07:00, but feel free to change this as you like.

* 'robotlab/closetime' - The time that the robot lab closes in the
  evening. The default is 18:00, but feel free to change this as you like.

* 'robotlab/open' - The robot lab is open or closed. DO NOT MESS WITH THIS!
  It is updated by the robomonitord script and intended to be used by
  admission control (not done yet).

The robomonitord script runs and periodically (every 2 minutes) wakes up
and looks at the various sitevars above. The lab is open during the day,
Monday through Friday, and closed on weekends. It is also supposed to be
closed on holidays, but I have not added that yet.

15 minutes before the lab is to be closed, a warning message is sent to the
swapper of the experiment running on the robot testbed, that their
experiment is going to be swapped soon. When the Robot lab is closed
(either cause the close time was reached, or because the lab was forcibly
closed with the override), the current experiment is immediately swapped
out.

I know, this is hopelessly bogus, but it will do until we feel like adding
a "Lab" datatype to the system.

Add a Samba template config file.  The listening interface, globally allowed
access list, and workgroup are defined as follows:

   workgroup = @OURDOMAIN@
   hosts allow = @CONTROL_NETWORK@/@CONTROL_NETMASK@
   interfaces = @FSNODE_IP@

I believe this is what we want, but am not sure about the workgroup setting.
Note that this should ultimately just be the head of the smb.conf file, with
the tail generated vis-a-vis /etc/exports .  For now it has some hard wired
shares for /proj and /users, which is OK for the very short term on an
inner elab.

Robot related stuff: power via e-mail, client-install fixups, checking
coords against camera boundaries.

	* configure, configure.in: Add tbsetup/power_mail.pm to the list
	of template files.

	* doc/cross-compiling.txt: More stargate notes.

	* event/sched/rpc.cc: Updates for the addition of the cameras
	table.

	* robots/GNUmakefile.in, robots/emc/GNUmakefile.in,
	robots/mtp/GNUmakefile.in, robots/rmcd/GNUmakefile.in,
	robots/tbsetdest/GNUmakefile.in, robots/vmcd/GNUmakefile.in:
	client-install fixups.

	* tbsetup/GNUmakefile.in: Add power_mail.pm.

	* tbsetup/os_setup.in: Don't skip reboot of robots anymore.

	* tbsetup/power.in: Add special case for a power_id of "mail",
	which calls into the power_mail.pm backend.

	* tbsetup/power_mail.pm.in: E-mail backend for power, it sends an
	e-mail to tbops and waits for the outlets.last_power value to be
	updated from the power.php3 web page.

	* tbsetup/ns2ir/parse-ns.in: Add the contents of the cameras table
	to the TBCOMPAT namespace.

	* tbsetup/ns2ir/sim.tcl.in: More checking of "setdest" inputs.

	* tbsetup/ns2ir/topography.tcl: Update the checkdest method to
	check destination points against the camera list.

	* www/powertime.php3: Webpage used to update the last power time
	for nodes.

	* www/shownode.php3: Add "Update Power Time" menu button.

table by hand anymore! Update the group_policies table and then run
the script to update the permissions table (sbin/update_permissions).

Details:

My original thought when I started this was that I would be able to
replace the existing nodetypeXpid_permissions table with this new
stuff. Well, it turns out that this was not a good thing to do, for a
couple of reasons:

  * Engineering: We access the nodetypeXpid_permissions table from three
    different languages, and no way I wanted to rewrite this library in
    in python and php!

  * Performance: We access the nodetypeXpid_permissions from the web
    interface, on every single page load. In fact, we access it twice if
    if you count the FreePCs() count that we put at the top of the menu.
    Going through this library on each page load would be a serious drag.

So, rather then actually get rid of the nodetypeXpid_permissions table, I
decided to keep it as a "cache" of permissions stored in the group
policies table. Each time you update the policy tables, we need to run
the update_permissions script which will call into this library (see the
TBUpdateNodeTypeXpidPermissions() routine) to reconstruct the permissions
table. I have whacked the grantnodetype script to do exactly that.

Note that we could proably do the same thing for users by creating an
equivalent nodetypeXuid_permissions table, mapping users to types they
are allowed to use. That would be a lot rows, but the amount of data in
the table is small. That would give us very fine grained control of what
we show people in the web interface. Not sure it is worth it though.

I also added some instructions to previous commit in database-migrate.txt
on populating the new group_policies table from the existing
permissions table.

Add tbsetdest utility for generating random "setdest" events for the
robots, it's just based on the original NS version.

	* configure, configure.in: Add tbsetdest stuff to the list of
	template files.  Fix from my last checkin, change error for
	missing rsync to a warning.

	* robots/GNUmakefile.in: Add tbsetdest subdir.

	* robots/tbsetdest/GNUmakefile.in, robots/tbsetdest/tbsetdest.h,
	robots/tbsetdest.cc: Original version of the NS "setdest"
	utility.

The last part is the stuff to hook it in from assign_wrapper, and some
additional support in assign that Rob is adding for me. This comment is
from the top of new file db/libadminctrl.pm.in and describes everything in
detail.

# Admission control policies. These are the ones I could think of, although
# not all of these are implemented.
#
#  * Number of experiments per type/class (only one expt using robots).
#
#  * Number of experiments per project
#  * Number of experiments per subgroup
#  * Number of experiments per user
#
#  * Number of nodes per project      (nodes really means pc testnodes)
#  * Number of nodes per subgroup
#  * Number of nodes per user
#
#  * Number of nodes of a class per project
#  * Number of nodes of a class per group
#  * Number of nodes of a class per user
#
#  * Number of nodes of a type per project
#  * Number of nodes of a type per group
#  * Number of nodes of a type per user
#
#  * Number of nodes with attribute(s) per project
#  * Number of nodes with attribute(s) per group
#  * Number of nodes with attribute(s) per user
#
# So we have group (pid/gid) policies and user policies. These are stored
# into two different tables, group_policies and user_policies, indexed in
# the obvious manner. Each row of the table defines a count (experiments,
# nodes, etc) and a type of thing being counted (experiments, nodes, types,
# classes, etc). When we test for admission, we look for each matching row
# and test each condition. All conditions must pass. No conditions means a
# pass. There is also some "auxdata" which holds extra information needed
# for the policy (say, the type of node being restricted).
#
#      uid:     a uid
#   policy:     'experiments', 'nodes', 'type', 'class', 'attribute'
#    count:     a number
#  auxdata:     a string (optional)
#
# Example: A user policy of ('mike', 'nodes', 10) says that poor mike is
# not allowed to have more 10 nodes at a time, while ('mike', 'type',
# '10', 'pc850') says that mike cannot allocate more than 10 pc850s.
#
# The group_policies table:
#
#      pid:     a pid
#      gid:     a gid
#   policy:     'experiments', 'nodes', 'type', 'class', 'attribute'
#    count:     a number
#  auxdata:     a string (optional)
#
# Example: A project policy of ('testbed', 'testbed', 'experiments', 10)
# says that the testbed project may not have more then 10 experiments
# swapped in at a time, while ('testbed', 'TG1', 'nodes', 10) says that the
# TG1 subgroup of the testbed project may not use more than 10 nodes at
# time.
#
# In addition to group and user policies (which are policies that apply to
# specific users/projects/subgroups), we also need policies that apply to
# all users/projects/subgroups (ie: do not want to specify a particular
# restriction for every user!). To indicate such a policy, we use a special
# tag in the tables (for the user or pid/gid):
#
#      '+'  -  The policy applies to all users (or project/groups).
#
# Example: ('+','experiments',10) says that no user may have more then 10
# experiments swapped in at a time. The rule overrides anything more
# specific (say a particular user is restricted to 20 experiments; the above
# rule overrides that and the user (all users) is restricted to 10.
#
# Sometimes, you want one of these special rules to apply to everyone, but
# *allow* it to be overridden by a more specific rule. For that we use:
#
#      '-'  -  The policy applies to all users (or project/groups),
#              but can be overridden by a more specific rule.
#
# Example: The rules:
#
#	('-','type',0, 'garcia')
#       ('testbed', 'testbed', 'type', 10, 'garcia')
#
# says that no one is allowed to allocate garcias, unless there is specific
# rule that allows it; in this case the testbed project can allocate them.
#
# There are other global policies we would like to enforce. For example,
# "only one experiment can be using the robot testbed." Encoding this kind
# of policy is harder, and leads down a path that can get arbitrarily
# complex. Tha path leads to ruination, and so we want to avoid it at
# all costs.
#
# Instead we define a simple global policies table that applies to all
# experiments currently active on the testbed:
#
#   policy:     'nodes', 'type', 'class', 'attribute'
#     test:     'max', others I cannot think of right now ...
#    count:     a number
#  auxdata:     a string
#
# Example: A global policy of ('nodes', 'max', 10, '') say that the maximum
# number of nodes that may be allocated across the testbed is 10. Thats not
# a very realistic policy of course, but ('type', 'max', 1, 'garcia') says
# that a max of one garcia can be allocated across the testbed, which
# effectively means only one experiment will be able to use them at once.
# This is of course very weak, but I want to step back and give it some
# more thought before I redo this part.
#
# Is that clear? Hope so, cause it gets more complicated. Some admission
# control tests can be done early in the swap phase, before we really do
# anything (before assign_wrapper). Others (type and class) tests cannot
# be done here; only assign can figure out how an experiment is going to map
# to physical nodes (remember virtual types too), and in that case we need
# to tell assign what the "constraints" are and let it figure out what is
# possible.
#
# So, in addition to the simple checks we can do, we also generate an array
# to return to assign_wrapper with the maximum counts of each node type and
# class that is limited by the policies. assign_wrapper will dump those
# values into the ptop file so that assign can enforce those maximum values
# regardless of what hardware is actually available to use. As per discussion
# with Rob, that will look like:
#
#	set-type-limit <type> <limit>
#
# and assign will spit out a new type of violation that assign_wrapper will
# parse.
#
# NOTES:
#
#  1) Admission control is skipped in admin mode; returns okay.
#  2) Admission control is skipped when the pid is emulab-ops; returns okay.
#  3) When calculating current usage, nodes reserved to emulab-ops are
#     ignored.
#  4) The sitevar "swap/use_admission_control" controls the use of admission
#     control; defaults to 1 (on).
#  5) The current policies can be viewed in the web interface. See
#     https://www.emulab.net/showpolicies.php3
#  6) The global policy stuff is weak. I plan to step back and think about it
#     some more before redoing it, but it will tide us over for now.
#

More robot integration and some event system updates.

	* configure, configure.in: Detect rsync for loghole and add
	utils/loghole to the list of template files.

	* db/libdb.pm.in, db/xmlconvert.in: Add virt_node_startloc to the
	list of virtual tables.

	* event/lib/event.h, event/lib/event.c, event/lib/tbevent.py.tail:
	Add event_stop_main function to break out of the event_main()
	loop.  Add timeline to the address tuple.

	* event/sched/GNUmakefile.in, event/sched/error-record.h,
	event/sched/error-record.c, event/sched/event-sched.8,
	event/sched/event-sched.h, event/sched/event-sched.c,
	event/sched/group-agent.h, event/sched/group-agent.c,
	event/sched/listNode.h, event/sched/listNode.c,
	event/sched/local-agent.h, event/sched/local-agent.c,
	event/sched/node-agent.h, event/sched/node-agent.cc,
	event/sched/queue.c, event/sched/rpc.h, event/sched/rpc.cc,
	event/sched/simulator-agent.h, event/sched/simulator-agent.c,
	event/sched/timeline-agent.h, event/sched/timeline-agent.c:
	Updated event scheduler, not completely finished, but well enough
	along for the robots.

	* lib/libtb/GNUmakefile.in, lib/libtb/popenf.h,
	lib/libtb/popenf.c, lib/libtb/systemf.h, lib/libtb/systemf.c: Add
	some handy versions of system/popen that take format arguments.

	* lib/libtb/tbdefs.h, lib/libtb/tbdefs.c: Add some more event and
	object types.

	* tbsetup/assign_wrapper.in: Add the virt_node_startloc building
	to desires string for a node.

	* tbsetup/ptopgen.in: Add a node's location to the feature list.

	* tbsetup/tbreport.in: Display the timeline/sequence an event is a
	part of.

	* tbsetup/ns2ir/GNUmakefile.in: Add timeline, sequence, and
	topography files.

	* tbsetup/ns2ir/node.tcl: Add initial position for nodes and allow
	them to be attached to "topographys".

	* tbsetup/ns2ir/parse-ns.in: Make a hwtype_class array with a
	node_type's class.  Make an 'areas' array that holds the
	buildings where nodes are located.  Make an 'obstacles' table
	with any obstacles in the building.

	* tbsetup/ns2ir/parse.tcl.in: Move named-args function from
	tb_compat.tcl to here.  Add reltime-to-secs function that converts
	time given in a format like "10h2m1s" to a seconds value, used in
	"$ns at" so its easier to write time values.  Add "K", "Kb", and
	"Kbps" as possible units for bandwidth (only the lowercase
	versions were available before).

	* tbsetup/ns2ir/program.tcl: Add "dir" and "timeout" attributes,
	although they don't go anywhere at the moment.

	* tbsetup/ns2ir/sequence.tcl, tbsetup/ns2ir/timeline.tcl,
	tbsetup/ns2ir/topography.tcl: Initial versions.

	* tbsetup/ns2ir/sim.tcl.in: Add support for timelines and
	sequences.  Add 'node-config' method to change the default
	configuration for nodes produced by the Simulator object.  Send an
	initial MODIFY event to any trafgen objects so their configuration
	gets through, even when there are no start/stop events.  Move
	event parsing to the 'make_event' method.

	* utils/loghole.1, utils/loghole.in: Loghole utility, used for
	retrieving logs from experimental nodes and creating archives of
	the logs.

	* xmlrpc/emulabclient.py.in: Escape any strange characters in the
	output field.

	* xmlrpc/emulabserver.py.in: Add virt_node_startloc to the list of
	virtual_tables.  Add emulab.vision_config and
	emulab.obstacle_config methods for getting information pertaining
	to the robots.  Change the OSID listing to include more fields.
	Add a "physical" aspect to experiment.info to get information
	about the physical nodes.  Add parent field to the events in the
	array returned by eventlist.  Add sshdescription to get extra
	information needed to log into a vnode.  Add node.statewait so you
	can wait for nodes to come up.

Cross compilation fixes for the stargates, 'gmake client' should now
build, link, and install properly.  Haven't really tried to run stuff though.

	* GNUmakerules: Add target for stripping executables, used instead
	of "install -s" since that doesn't work for cross-compiling.

	* Makeconf.in: Add ELVIN_CONFIG variable that refers to
	'elvin-config'.

	* configure, configure.in: Detect and save the elvin-config path
	since we need a different one for cross-compiling.

	* event/lib/GNUmakefile.in, event/link-agent/GNUmakefile.in,
	event/linktest/GNUmakefile.in, event/program-agent/GNUmakefile.in,
	event/proxy/GNUmakefile.in, event/tbgen/GNUmakefile.in,
	event/trafgen/GNUmakefile.in, os/dijkstra/GNUmakefile.in,
	os/syncd/GNUmakefile.in, sensors/slothd/GNUmakefile.in,
	tmcd/GNUmakefile.in, tmcd/linux/GNUmakefile.in: Cross compilation
	fixes, don't statically link on arm, create "foo-debug"
	executables with debugging info and install separately stripped
	ones instead of passing "-s" to install.

rules (fw-rules), a script to populate the DB from those rules, and a
script to initialize the firewall variables.

This is not part of any standard make, it is used in a one-time fashion
either at install or during the next update.  Still need to write the
instructions for this.

* Add new DB table "webcams" which hold the id of the webcam, the
  server it is attached to, and the last update time.

* Add new sitevars webcam/anyone_can_view and webcam/admins_can_view.
  Should be obvious what they mean.

* Add trivial script grabwebcams (invoked from cron) to grab the images
  from the servers and stash in /usr/testbed/webcams. The images are
  grabbed with scp, protected by a 5 second timeout. Fine for a couple
  of cameras.

* Add web page stuff to display webcams, linked from the robot mape page.

Permission to view the webcams is currently admin, or in a project that is
allowed to use a robot. We can tighten this up later as needed.

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.

	FSNODE_IP
	EXTERNAL_FSNODE_IP

which default to ops' IP address if not set.  This allows for separate
ops/fs nodes, a config Aero has.

Also push some IP addresses (boss, ops, fs) into config.h so they can
be used in C programs.  Specifically tmcd for returning values of
"firewall variables" that can be used in default firewall rules.
But I will likely wind up putting the var/value pairs in the DB rather
than compiling them into tmcd.

request, beef up named setup so that sites like DETER are handled
properly. I have added 4 new defs variables:

    #
    # If your boss/ops nodes are multihomed (and typically, one of the
    # networks is a public routable network, and the other is an internal
    # unroutable network), then define the the external addresses here (and
    # the internal addresses above).
    #
    EXTERNAL_BOSSNODE_IP=$BOSSNODE_IP
    EXTERNAL_USERNODE_IP=$USERNODE_IP

    #
    # As above, if you have internal and external networks, define the
    # external network here, and the internal network above.
    #
    EXTERNAL_TESTBED_NETWORK=$TESTBED_NETWORK
    EXTERNAL_TESTBED_NETMASK=$TESTBED_NETMASK

which if not set default to the internal values. When the external and
internal networks are different, generate two sets of reverse zone
files and two forward files (one internal and one external).

Some cleanup of the robot vision system:

	* Makeconf.in: Add INSTALL_INCDIR for includes, EVENTSYS for
	whether or not the event system is available, HAVE_MEZZANINE for
	whether or not we'll be building mezzanine, and GTK_CONFIG which
	refers to the gtk-config binary, if there is one.

	* config.h.in: Add HAVE_LINUX_VIDEODEV_H and HAVE_MEZZANINE
	defines.

	* configure, configure.in: Check for the robot vision system
	dependencies.  Add mezzanine template files.

	* robots/GNUmakefile.in: Add some conditionals for directories
	that depend on the event-system and mezzanine.

	* robots/mezzanine/GNUmakefile.in,
	robots/mezzanine/libfg/GNUmakefile.in,
	robots/mezzanine/libmezz/GNUmakefile.in,
	robots/mezzanine/mezzanine/GNUmakefile.in,
	robots/mezzanine/mezzcal/GNUmakefile.in,
	robots/mezzanine/rtk2/GNUmakefile.in: Fold mezzanine into the
	testbed's build system.

	* robots/vmcd/GNUmakefile.in: When building the vmc-client, use
	the mezzanine that we build locally instead of an installed
	version.

	* 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: Bring the test cases up-to-date with
	respect to the actual code.

	* robots/vmcd/vmc-client.c: A bunch of cleanups and bug fixes: add
	comments, set TCP_NODELAY on the client sockets (doh), etc...

variable in the defs file. Nice for elabinelab to avoid inner named
from having to do too much work.

the web interface.

* tbsetup/panic.in: New backend script to implement the panic button
  feature. When used, it will cut the severe the connection to the
  firewall node by using snmpit to disable the port. Sets the panic
  bit (and date) in the experiments table, and changes the state of
  the experiment from "active" to "paniced" to ensure that the
  experiment cannot be messed with (swapped out or modified). Sends
  email to tbops when the panic button is pressed.

  Used with -r option, reverses the above. State is set back to
  active, the panic bit is cleared, and the port is renabled with
  snmpit.

* tbsetup/tbswap.in: During swapout, a firewalled experiment that has
  been paniced will get a cleaning; The nodes are powered off, then
  the osids for all the nodes are reset (with os_select) so that they
  will boot the MFS, and then the nodes are powered on. Then the
  control network is turned back on, and then I wait for the nodes to
  reboot (this is simply cause we do not record in the DB that a node
  is turned off, and if I do not wait, the reload daemon will end
  hitting the power button again if they do not reboot in time. We can
  fix this later.

  I am not planning to apply this to general firewalled experiments
  yet as the power cycling is going to be hard on the nodes, so would
  rather that we at least have a 1/2 baked plan before we do that.

* www/showexp.php3: If experiment is firewalled, show the Panic
  Button, linked to the panic button web script. If the experiment has
  already had the panic button pressed, show a big warning message and
  explain that user must talk to tbops to swap the experiment out.
  Also fiddle with menu options so that the terminate link is gone,
  and the swap link is visible only in admin mode. In other words, only
  an admin person can swap an experiment once it is paniced. And of
  course, an admin person can the backend panic script above with the
  -r option, but thats not something to be done lightly.

* db/libdb.pm.in: Add "paniced" as an experiment state (EXPTSTATE_PANICED).
  Add utility functions: TBExptSetPanicBit(), TBExptGetPanicBit(), and
  TBExptClearPanicBit().

* tbsetup/swapexp.in: Minor state fiddling so that an experiment can
  be swapped while in paniced state, but only when in admin mode. Also
  clear the panic bit when experiment is swapped out.

* www/dbdefs.php3.in: Add "paniced" as an experiment state. Add a
  utility function TBExptFirewall() to see if experiment is firewalled.

* www/panicbutton.php3: New web script to invoke the backend panic
  script mentioned above, after the usual confirm song and dance.

* www/panicbutton.gif: New gif of a red panic button that I stole off
  the net. If anyone has sees/has a better one, feel free to replace
  this one.

* utils/node_statewait.in: Add -s option so that I can pass in the
  state I want to wait for (used from tbswap above to wait for nodes
  to reach ISUP after power on).

Display a new 'Blinky Lights' button on the showexp page. In order to
do this, I have to get a list of which classes/types are in use in
the experiment.

This leads to moteleds.php3, which displays the blink lights using
Tim's cool Java applet.

'power' command.

	A script for powering on, off, and cycling motes attached to
	stargates

Requires /usr/local/bin/motepower (our program, not yet in CVS) to be
installed on the hosting stargate.

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.

Start on vmc:

	* configure, configure.in: Add vmcd related template files.

	* robots/GNUmakefile.in: Switch order of vmcd/rmcd.

	* robots/emc/GNUmakefile.in: cleanup

	* robots/mtp/GNUmakefile.in: Add mtp_dump tool.

	* robots/mtp/mtp.c: Change mtp_encode_packet to use a passed in
	buffer pointer or allocate a buffer if its NULL, probably gonna be
	a big source of errors...

	* robots/mtp/mtp_dump.c: Another command-line tool that connects
	to a server and dumps mtp packets that are received.  Useful for
	seeing output from the vmc-client.

	* robots/vmcd/GNUmakefile.in: Add vmc-client and test case.

	* robots/vmcd/test_vmc-client.sh.in: Test case for the vmc-client.

	* robots/vmcd/vmc-client.c: First cut of the vmc-client, it reads
	mezzanine output and sends it to any connected clients.

Make the dots move on the robot map web page:

	* configure, configure.in: Add robots/emc/loclistener.

	* event/lib/event.h, event/lib/event.c: Add some helper functions
	for sending events and parsing args.

	* event/lib/tbevent.py.tail, event/lib/tbevent.py: Add support for
	clients that register using keyfiles.

	* robots/emc/GNUmakefile.in: Install loclistener on boss.

	* robots/emc/emcd.h, robots/emc/emcd.c: Send update events every
	two seconds with the node's location.  Fill out a little more of
	the event callback, not sure what to do with the requested
	destination though.  Add some code to the vmc callback to store
	position updates.  Changed the config file format to also include
	the vname of the robot.

	* robots/emc/loclistener.in: Listen for NODE MODIFY events with
	coordinates and update the database accordingly.  Kinda sucks, but
	it works.

	* robots/emc/test_emcd.config: Add vnames to the robots to reflect
	change in the config file format.

	* tbsetup/ns2ir/node.tcl: Add nodes to the virt_agents table.

Elvinize emc and some bug fixes...

	* configure, configure.in: Add "robots/emc/test_emcd.sh" script to
	the list of template files.

	* robots/GNUmakefile.in: Add a target for install-subdir.

	* robots/emc/GNUmakefile.in: Compile emcd and install it on ops.
	Add test_emcd.sh test case.

	* robots/emc/emcd.h, robots/emc/emcd.c: Elvinize, add support for
	events, and some minor cleanup.

	* robots/emc/robot_list.c: Compilation fixes.

	* robots/emc/test_emcd.config: Robot config for the test case.

	* robots/emc/test_emcd.sh.in: Test case for emcd, just starts it
	up and uses mtp_send to send a few messages to it.

	* robots/mtp/GNUmakefile.in: Install mtp_send and mtp_recv on ops.

	* robots/mtp/mtp.h, robots/mtp/mtp.c: Marshall floats correctly,
	doh!  Move the packet printing code from mtp_recv to the lib.

	* robots/mtp/mtp_recv.c: Move the packet printing code to the
	lib.

	* robots/mtp/mtp_send.c: Add a "-w" option to wait for a response
	from the peer and then dump the packet to stdout.  Allow multiple
	packets to be sent from a single invocation, the arguments for
	each packet must be separated by a double dash (--), see
	test_emcd.sh.in for an example.

	* robots/mtp/mtp_test.c: Gah, test with actual floating point
	values dummy.