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 1 commit
    • 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. 16 Dec, 2004 3 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
  4. 14 Dec, 2004 9 commits
  5. 13 Dec, 2004 3 commits
    • Timothy Stack's avatar
      · dde7799c
      Timothy Stack authored
      More robot-related tweaks and bug fixes:
      
      	* robots/emc/emcd.c: Handle "-h" option properly.
      
      	* robots/emc/loclistener.in: Pickup the pixels_per_meter value
      	from the database and use that to convert event coordinates in
      	meters to pixels for the database.
      
      	* robots/primotion/gorobot.cc: Comment.
      
      	* robots/primotion/dgrobot/gcallbacks.h,
      	robots/primotion/dgrobot/gcallbacks.cc,
      	robots/primotion/dgrobot/grobot.h,
      	robots/primotion/dgrobot/grobot.c,
      	robots/primotion/dgrobot/grobot_sim.cc: Small bug fixes to make
      	sure the position estimate is updated when moving in a straight
      	line.
      
      	* robots/rmcd/rmcd.c: cleanup
      
      	* robots/vmcd/GNUmakefile.in, robots/vmcd/test_emcd3.config,
      	robots/vmcd/test_vmcd3.pos, robots/vmcd/test_vmcd3.sh,
      	robots/vmcd/test_vmcd4.pos, robots/vmcd/test_vmcd4.sh: Some more
      	test cases, still pretty simple though.
      dde7799c
    • Timothy Stack's avatar
      · 2353996a
      Timothy Stack authored
      Cleanup rmcd a bit:
      
      	* GNUmakerules: Quick fix to the "check" target.
      
      	* robots/rmcd/rmcd.c, robots/rmcd/test_rmcd.sh.in: Cleanup the
      	code a bit, add some comments, etc...
      2353996a
    • Timothy Stack's avatar
      · fde7ae29
      Timothy Stack authored
      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.
      fde7ae29
  6. 08 Dec, 2004 1 commit
  7. 07 Dec, 2004 1 commit
    • Daniel Flickinger's avatar
      · ce46a57a
      Daniel Flickinger authored
      More sockets and integration
      ce46a57a
  8. 06 Dec, 2004 3 commits
  9. 01 Dec, 2004 1 commit