Notify controllers and the GUI of the robot's configuration

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The connector should inform the controllers and GUI of the robots configuration 
through a new enum in robot state.

This would facilitate conversions between a monopod and biped as well as 
tabletop testing (with a warning). If not, then safeties must manually be 
disabled so they don't activate due to inaccurate data from nonexistant 
medullas.

Additionally, controllers could use it to fail if they are run in a 
configuration they were not designed for, and the GUI could notify the user if 
any sensors have detectably erroneous readings at startup.

Original issue reported on code.google.com by jrvanwhy on 5 Sep 2012 at 8:27

[GoogleCodeExporter]

This is needed in order to control which safeties in RT Ops are or aren't 
enabled. Therefore, it is being moved to high priority.

Original comment by jrvanwhy on 7 Sep 2012 at 3:37

• Added labels: Priority-High
• Removed labels: Priority-Medium

[GoogleCodeExporter]

I'll be adding a new message type instead, so we can separate out failures 
(missing sensors/erroneous readings) from configuration (1 leg? 2 legs?).

Original comment by jrvanwhy on 7 Sep 2012 at 6:35

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Original comment by jrvanwhy on 7 Sep 2012 at 10:08

• Changed state: Started

[GoogleCodeExporter]

Michael had a really good idea -- put all safety enable/disable choices into 
the GUI. I'm currently reporting the robot's configuration in a basic way -- 
we'll see how we can improve it as we use it. I'll go ahead and add in the 
automatic safety configuration into RT Ops, and we'll switch it over to GUI 
control when the GUI gains the necessary capabilities w/ the rewrite.

Original comment by jrvanwhy on 10 Sep 2012 at 3:02

[GoogleCodeExporter]

Original comment by jrvanwhy on 10 Sep 2012 at 3:40

• Changed state: Done