1. 12 Jan, 2005 1 commit
    • Timothy Stack's avatar
      · f45f9c16
      Timothy Stack authored
      Fix some robot related stuff that I broke with the last checkin and add in
      some other tweaks.
      
      	* robots/primotion/garcia-pilot.cc,
      	robots/primotion/pilotClient.hh, robots/primotion/pilotClient.cc:
      	Broadcast any goto/stop commands to clients observing the robot.
      
      	* robots/rmcd/rmcd.c: Change the behavior to reorient the robot as
      	the last step in a goto, so we avoid doing unnecessary pivots.
      	Need to send an init packet to the robot so it knows who is
      	talking to it.
      
      	* robots/vmcd/vmc-client.c: Oops, supposed to use M_PI_2, not
      	M_PI, when translating from camera coords to world.
      
      	* www/telemetry.php3: Make the size of the applet a little bigger.
      
      	* www/garcia-telemetry/GarciaTelemetry.java,
      	www/garcia-telemetry/UpdateThread.java,
      	www/garcia-telemetry/main.xml: Display a log of goto/stop commands
      	sent to the robot.
      f45f9c16
  2. 10 Jan, 2005 2 commits
    • Timothy Stack's avatar
      Updated makefile that builds garcia-pilot · 48808852
      Timothy Stack authored
      48808852
    • 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
  3. 03 Jan, 2005 1 commit
  4. 21 Dec, 2004 1 commit
    • Timothy Stack's avatar
      · 241132a3
      Timothy Stack authored
      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...
      241132a3
  5. 16 Dec, 2004 4 commits
    • Timothy Stack's avatar
      coord fix · 93b53eab
      Timothy Stack authored
      93b53eab
    • Daniel Flickinger's avatar
      · 9815079a
      Daniel Flickinger authored
      (hopefully) fixed up the completely twisted and fucked up left handed world coordinate thing. (Transpose x,y)
      9815079a
    • Daniel Flickinger's avatar
      · 13aab5b8
      Daniel Flickinger authored
      Changed angle tolerance to about 5 degrees, and decreased max retries to 3
      13aab5b8
    • Daniel Flickinger's avatar
      Makefile tweaks · 64db9443
      Daniel Flickinger authored
      64db9443
  6. 15 Dec, 2004 21 commits
  7. 14 Dec, 2004 10 commits
    • Daniel Flickinger's avatar
      moved the zero length move/pivot error checking and callback incrementing into... · 36c84144
      Daniel Flickinger authored
      moved the zero length move/pivot error checking and callback incrementing into the primitive functions themselves, instead of the dgoto method.
      
      gorobot has been messing up anytime a goto command sequence results in a zero length pivot. (Which means the robot will fuckup and act stupid any time you try to get it to move in a straight line!)
      
      Things would be much easier if the Garcia could simply execute zero length commands without barfing.
      36c84144
    • Daniel Flickinger's avatar
      · 4cd61460
      Daniel Flickinger authored
      did something to the makefile
      4cd61460
    • David Johnson's avatar
      *** empty log message *** · b07c1369
      David Johnson authored
      b07c1369
    • David Johnson's avatar
      * (all files for this commit): · 92958dbe
      David Johnson authored
         - changes so that networking code will compile under linux.
      92958dbe
    • David Johnson's avatar
      * mezzanine/examples/simple/Makefile: · 3684ae5a
      David Johnson authored
         - change so that `simple' binary gets installed appropriately
      * mezzanine/examples/simple/simple.c:
         - give `simple' a mezzanine file to connect to on command line.
      * mezzanine/libmezz/mezz.c:
         - fix ipc bugs
      * mezzanine/mezzanine/Makefile:
         - linux compile changes
      * mezzanine/mezzanine/mezzanine.c:
         - ipc bugfixes
      * mezzanine/mezzcal/mezzcal.c:
         - ipc bugfixes
      * vmcd/GNUmakefile.in
         - sometihng...
      3684ae5a
    • David Johnson's avatar
      * mezzanine/examples/simple/Makefile: · 998aa1cc
      David Johnson authored
         - change so that `simple' binary gets installed appropriately
      * mezzanine/examples/simple/simple.c:
         - give `simple' a mezzanine file to connect to on command line.
      * mezzanine/libmezz/mezz.c:
         - fix ipc bugs
      * mezzanine/mezzanine/Makefile:
         - linux compile changes
      * mezzanine/mezzanine/mezzanine.c:
         - ipc bugfixes
      * mezzanine/mezzcal/mezzcal.c:
         - ipc bugfixes
      998aa1cc
    • David Johnson's avatar
      * mezzanine/examples/simple/Makefile: · 9e2609e1
      David Johnson authored
         - change so that `simple' binary gets installed appropriately
      * mezzanine/examples/simple/simple.c:
         - give `simple' a mezzanine file to connect to on command line.
      * mezzanine/libmezz/mezz.c:
         - fix ipc bugs
      * mezzanine/mezzanine/Makefile:
         - linux compile changes
      * mezzanine/mezzanine/mezzanine.c:
         - ipc bugfixes
      9e2609e1
    • David Johnson's avatar
      * mezzanine/examples/simple/Makefile: · 5c592c8c
      David Johnson authored
         - change so that `simple' binary gets installed appropriately
      * mezzanine/examples/simple/simple.c:
         - give `simple' a mezzanine file to connect to on command line.
      * mezzanine/libmezz/mezz.c:
         - fix ipc bugs
      5c592c8c
    • David Johnson's avatar
      * mezzanine/examples/simple/Makefile: · fa479e6e
      David Johnson authored
         - change so that `simple' binary gets installed appropriately
      * mezzanine/examples/simple/simple.c:
         - give simple a mezzanine file to connect to on command line.
      fa479e6e
    • David Johnson's avatar
      * mezzanine/examples/Makefile: · 480650a4
      David Johnson authored
         - change so that `simple' binary gets installed appropriately
      480650a4