GitLab

Add more debugging output to the robot daemons and do some more cleanup.

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.

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.

* 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.

info from other mtp structs, added support to encode 64bit floats.

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.

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.

Command line tools for the robot protocol:

	* configure, configure.in: Add the robots GNUmakefiles.

	* robots/mtp/GNUmakefile.in: Add command line tools: mtp_send and
	mtp_recv.

	* robots/mtp/mtp.c: Make readall return an error if all of the
	data wasn't read instead of making the caller check.  Free the
	buffer allocated in mtp_send_packet.  Add an mtp_free_packet.

	* robots/mtp/mtp_recv.c: Faux receiver of mtp packets, it doesn't
	actually follow the protocol, it just prints out whatever it
	receives.

	* robots/mtp/mtp_send.c: Command line tool for sending mtp
	packets.

Made a pass over the mtp directory:

	* GNUmakerules: Add a "check" target that runs the executables
	listed in the "TESTS" variable.

	* robots/GNUmakefile.in: Add "mtp" to the list of SUBDIRS.

	* robots/mtp/GNUmakefile.in: Testbed-friendly makefile.

	* robots/mtp/mtp.h, robots/mtp.c: Tweaks and bug fixes.

	* robots/mtp/mtp_test.c: Test case for mtp stuff.