CVS log for emstar/devel/loc/ar/ar_main.c
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lots of changes for v2 boxes.

several changes for CO trip.
* extended range for ranging processing (still not tested)
* added support for new arry geom and made it configurable (cmd line/run time)
* added support to set sample rate before starting ranging

added support for timestamp logging in hop-by-hop conversion in the
flood module.  added support to log those timestamps in acoustic ranging

removed killpg from ar code.
exit kills all threads.
moved recording of last read count to where read count is valid.

implemented find first swing algorithm.
made this the default as it seems to work quite well.
calibrated in the lab.

numerous changes to timesync system and its clients.

* timesync:
  - modified the client library to have an optional event to update the
    parameters.  previously it simply re-read periodically.
  - modified the server to notify whenever new parameters are added.
  - backed out prior change that added access to a low-level conversion
    function
  - observed that the library is not thread safe...
  - added new API call to convert "remote timestamp" to a specified
    component other than CPU
  - modified the graph code to display dropped points and cleaned up
    the dropping code a bit
  - changed the internal parameter of timehist to set pairs window to 30.
    this really needs to be client-configurable

* udpd
  - modified macinfo to take option that defines a specific clock ID.
    this is needed to share non-CPU clock info across nodes

* link library
  - added API call to get the "root" link device of a comm stack

* macinfo kernel interface
  - minor change to add "stale" bit
  - although it never seems to occur :(
  - libmacinfo uses libsync event rather than its own

* directory client
  - added new API call that tries to insert well known dir entry but
    does not fail if the same entry is already present

* vxpcd
  - changed to do periodic tests.. wait 10- sec, burst 5 samples

* libroute
  - moved time conversion code into libroute
  - updated it to use root device pairs if present, otherwise CPU time
  - moved timeconv code out of flooding

updated offline code to parse new file naming scheme
modified algorithms based on info gathered in initial experiments.
changed from finding zero-crossing to finding first peak over threshold.
may need to adjust threshold alg.  also changed to do first peak finding
on self-ranging.

remaining issues:  detect mic malfunction.  thresh estimation?
   codec offset between codecs?

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* changes to ranging code to support experiment mode
* new offline computation program
* fixes to the command interface to make it more sensible

support for card index other than 0

added various data collection features, fixed the confidence vals for angles

upgraded ar code
* add correction for rate differences
* modified code to work with new vxpc server

bunches of changes to ar..
added new logging/stats
added ability to enable dumps of time series data
fixed a bunch of weirdness

added publication logging..

added statesync connector, new stats, new queue status dev

first semi-working version of ar subsystem...
still needs to interface to statesync etc.
seems to have some mysterious bug in lag time provision..