5/1/01 MS Define a new architecture type Linux, ultimately to allow users to
use the usual site.conf files to specify compilation for Linus

Files site.conf and default.conf



5/1/01 MS Remove the packdeps command from the makefile.  packdeps appears
to massage the dependency output of cc -M.  Because we are now using
gmake -M this is probably no longer necessary

Files : conf/Imake.rules

5/21/01 MS change libCtree/match.c to replace old sigvec handler calls to
single argument (signum).  Numerous #ifdef LINUX_CFG mostly due to ioctl calls.
libCtree/print_err, one #ifdef line


5/22/01 MS locallib/errorstr two #ifdef lines for 'select' command
locallib/testchar.c One change related for testing for input on stdin
locallib/snprintf.c remove vsnprintf definition, it is standard in linux

5/23/01 MS localbin remove the package 'less' and the making of packdeps.  
Assume less can be found elsewhere and packdeps is no longer necessary
with gcc -M

5/23/01 MS localbin remove program termlink, this is replaced by minicom, standard with slackware a1 package.  Remove from Imakefile and remove source.

5/23/01 MS localbin remove program down, no longer needed.  Remove from Imakefile and remove source.

5/23/01 MS localbin qsubst.c modified to use termios, 4 or so #ifdef linux statements and replacement of ioctl with tcgetattr

5/23/01 MS puma/pumaJacobian.c add white space after #define to fix warning

5/23/01 MS robotTypes/quaternion.c remove a #ifdef notdef comment to avoid
compiler warning.

5/23/01 MS rci/rciCreate.c #ifdef LINUX_CFG to declare external functions void
for passing to 'signal'.


5/24/01 MS fastmath/maketable.c  fix apparent bug, repeated close of file 
causes crash in linux

5/24/01 MS arc monkey with arc_lex.l and arc.y, update to new standard required
by flex and bison.  Remove the code redefining input and unputc.  Change Imakefile
 to use flex -l and bison.  These produce some warnings but arc seesm to work at 
the moment.

5/25/01 MS rccl/teach.c  one #if defined(linux) to add void to signal hamdler declaration


5/25/01 MS robots/robotPosition.c one #if to return -1 instead of null

5/25/01 MS rci/attachRobot.c same change as above

5/25/01 MS rci/parameterDefs.c put in cast to avoid warning, no #ifdef since it
seemed innocuous enough.

The following changes are only to get an initial clean compile.  Since rci
is being completely overhauled for RT-LINUX these have *NO SIGNIFICANCE*.
5/25/01 MS /rci/supportFxns.c remove most of the functionality with #ifndef LINUX_CFG
		atomicOps.c remove most of the functionality with #ifndef LINUX_CFG
		loadtask.c remove most of the functionality with #ifndef LINUX_CFG
		arbMonitor.c remove most of the functionality with #ifndef LINUX_CFG
		interruptRef.c remove most of the functionality with #ifndef LINUX_CFG
		hostExec.c remove most of the functionality with #ifndef LINUX_CFG

6/4/01 MS Created the directories rtlinux and jls to contain the Joint-Level-Servo
process.  Comment from jls/moperx.c below:
/*-=-=-=-=-=-=-=-=-=-=-=- Description -=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-*
  This module is an supplement to RCI/RCCL for RTLINUX using a single 
  processor to perform both the joint-level servo, the control level and
  the planning level.

  Under RTLinux, this program will be loaded into the kernel using insmod
  and run on a real-time interrupt.  The interrupt scheduling is *not -
  preemptive* and this means the control level formerly implemented by
  rci will have to share interrupts with the JLS interrupt.  The control
  level must execute on an integral number of JLS interrupt periods and 
  execution will be scheduled by the JLS task.

  Communication with the JLS task will be through shared memory and by
  real-time fifo as provided by the RTLinux package.  The fifo will activate
  and de-activate the JLS interrupt routine.  Once running, it will communicate
  with the planning task via shared memory and semaphore.

 *-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/


6/4/01 MS jls/pumaInterface.c  New '.c' file although '.h' existed
/*-=-=-=-=-=-=-=-=-=-=-=- Description -=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-*
 This file should encapsulate, to the degree possible, the details of the
 Trident TRC004 card.  These routines will be called by the JLS interrupt
 routine to read/write to the Puma using the TRC004-TRC006 cards.

 *-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/	

6/8/01 MS rci/-> a whole bunch of files 
Assume for the moment that RTLinux most resembles the SGI and VxW configuration,
in the sense that the OS already supports real-time and kernel modification is
not necessary.  Although it *is* necessary to modify the kernel, we use the separately
available and supported package RTLinux and not this package to supply these features.

I will attept to leave rci mostly unchanged as it provides useful features such
as the ability to create a monitor task.  Instead, I plan on using RTLinux to send
the RCI signal from the JLS process.  Unlike the original RCI we do not require 
careful real-time execution from RCI since we are not communicating synchronously
with moper.  Instead, RCI will just be another linux process that is scheduled in
for running on a p[articular signal.
