
MobileEyes 2.2.4
January 20, 2009
----------------

Miscellaneous bug fixes:

 -- Fixed a crash that occurred when a camera mode update was 
    received from the robot server.


MobileEyes 2.2.3
October 31, 2008
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Added support for the new optional parameters on custom map
    objects.  MobileEyes displays the parameter values in the 
    map object's tooltip.
 -- Added a new item to the popup menu in the Route List.  Right-
    click and choose "Find on map" to change the map view so that 
    it surrounds all of the goals in the route.  The route's goals
    will be selected with a magenta border.  To clear the selection,
    click on another route or double-click on the map background. 
 -- Corrected a problem that could occur when MobileEyes was
    connecting to a robot and the central server's map was updated 
    at the same time.  If the robot had a separate map, then the 
    initialization of the robot connection could fail and the robot 
    would not appear in the MobileEyes robot list.  The robot list 
    is now correctly updated.
 -- Fixed an error in the Main Menu, Map, Map Data menu.  When the 
    map contains data for multiple scan types, the initial state of
    the scan type checkboxes is now correct.
 -- Fixed a crash that would occur if the robot server loaded a
    new map file and that map contained fewer Custom Response task
    lists than the original map.


MobileEyes 2.2.2
August 26, 2008
----------------

Miscellaneous user interface enhancements:
 
 -- Modified the Main Menu, View menu to include a Toolbars item. 
    This displays the same menu that is available by right-
    clicking near the toolbars.  It allows the user to customize 
    the toolbar display.


MobileEyes 2.2.1
August 15, 2008
----------------

Miscellaneous user interface enhancements:

 -- Added a right-click context menu with a Copy option to the 
    robot data and custom details fields.  
 -- Fixed a bug that caused the status bar's communication status 
    to be hidden when MobileEyes is operating in single-robot mode.
 -- Modified the -help startup option to display a message box 
    since the console output is not available on Windows.
 -- Added various features to better support display on a 
    touchscreen.  
    

MobileEyes 2.2.0
July 23, 2008
-----------------

Incorporated major changes to the Aria map class.  These 
include changes to the code structure, support for multiple
scan sources, and some support for incremental map changes.
For a complete description of the changes, see the Aria 
documentation.

From a user perspective, most changes should be transparent.  
The only noticable difference should occur when MobileEyes
is connected to a robot that has a map with more than one 
set of scan data.  The Main Menu, Map, Map Data menu will
contain a new item for each scan type.
 

MobileEyes 2.1.25
July 23, 2008
-----------------

Miscellaneous bug fixes:

 -- Fixed the Map Legend to display icons for the custom drawings
    from the robot and central server.
 -- Fixed a problem that sometimes caused MobileEyes to delay 
    unnecessarily when connecting to a robot through the
    central server.  This would only occur when the robot 
    was erroneously configured and was controlling its own map.
 -- Attempted to correct an intermittent problem that occurred
    when MobileEyes was connected to the central server and a 
    robot connection was lost.  Under some circumstances,
    MobileEyes would attempt to re-establish a connection to 
    the robot and would confuse it with another newly connected
    robot.  
 -- Fixed initialization problems that occurred when MobileEyes 
    was connected to a central server that had only one robot.  
    Tool buttons and menu items are now enabled correctly.


MobileEyes 2.1.24
July 9, 2008
-----------------

 -- Fixed a problem that occurred when a robot without a map
    was connected to the central server.  When MobileEyes
    subsequently connected to other robots, it failed to 
    correctly display their maps.
 -- Increased the width of the camera's pan/tilt/zoom 
    numerical fields so that the values are not truncated.


MobileEyes 2.1.23
July 7, 2008
-----------------

##################
Important Changes:
##################

 -- Modified keyboard driving so that it repeatedly sends
    the drive command to the robot.  Newer robot servers
    may time out if a drive command is not received 
    within some period of time.

Other changes:

 -- Corrected the alphabetization of several menus and lists.
 -- In the Map menu and Other Robot Data sub-menu, eliminated
    numerical accelerators when there are more than nine 
    custom types.  Two digit accelerators do not exist. 


MobileEyes 2.1.22
June 25, 2008
-----------------

##################
Important Changes:
##################

 -- Multiple changes to the Robot Configuration editor:
     - Added support for the new parameter priorities.  
       The existing priorities have been renamed Basic, 
       Intermediate, and Advanced.  New priorities of 
       Expert and Factory have been added.  (This change 
       requires an updated robot server.)
     - Changed to display only those sections which may 
       be edited by the user.  The Robot Configuration
       editor will not show the sections that are 
       being controlled by the central server; these are 
       visible only in the Central Configuration editor.
     - Fixed the sort order of map items and tasks that
       are displayed in the parameter combo boxes.
     - Ensured that the saved session state will not 
       erroneously position the editor window off-screen.  

Miscellaneous bug fixes and user interface enhancements:

 -- Corrected a problem that caused MobileEyes to hang 
    when a robot disconnected from the central server 
    while MobileEyes was attempting to download its map.
 -- Corrected a problem that caused MobileEyes to hang
    when connecting to a central server whose robots have
    incorrect map files.
 -- Fixed the Tools, Preferences, Reset... feature so that
    it correctly resets the Robot Configuration editor 
    settings.
 -- Improved the Audio/Video display in multi-robot mode:
     - Hide video for cameras that are not available on the
       current robot.  
     - Ensure that obsolete video (for the previously 
       selected robot) is not displayed when a robot's 
       camera is not sending images.  
     - Fixed a display format error that occurred when a 
       robot with three or more cameras is connected to the 
       central server.
 -- Fixed the Select File dialog so that it does not enter
    an infinite error message loop when the user selects
    a drive that is not accessible.
 -- Modified initialization so that, in multi-robot mode, 
    MobileEyes automatically re-selects the robot that 
    was last selected (during the previous execution).
 -- Improved the performance of selecting robots in multi-
    robot mode when each robot has its own map.  The 
    previously selected map is now hidden while the new
    one is created.
 -- The disabled motors notification is now correctly 
    hidden when the robot server does not provide this
    data.
 -- When MobileEyes is directly connected to a robot that 
    is on the central server, the output log now contains
    the correct robot name.
 -- Added support for the new requestClientScreenshot
    request (available as a debug task).  This requires
    an updated aramServer.
 -- Fixed potential memory issues and reduced the 
    probability that the application will crash when a
    robot disconnects.
 -- Added support for the Windows XP style.


MobileEyes 2.1.21
February 12, 2008
-----------------

Miscellaneous bug fixes:

 -- Fixed a crash that occurred when a robot disconnected
    from the central server.
 -- Fixed a bug that caused the file dialog to occasionally
    fail to display the list of files on the robot server.
    (This bug was introduced in 2.1.20.)


MobileEyes 2.1.20
February 11, 2008
-----------------


Miscellaneous bug fixes and user interface enhancements:

 -- Corrected an error that caused duplicate file names to 
    appear when selecting a map file on the robot server.
 -- Added an error message to notify the user when a 
    directory on the robot server is not readable.
 -- Fixed problems reading a map file that had objects at
    non-integral poses.
 -- Changes were made to ArPose to ensure that the heading
    is in the range -180 to 180.


MobileEyes 2.1.19
February 1, 2008
-----------------

##################
Important Changes:
##################

 -- Added support for the new robot idle processing behavior.
    When the configuration is changed on a robot that  
    supports idle processing, the robot postpones the update 
    until it is no longer busy.  (If the robot is patrolling 
    a route continuously, then it will pause at the end of 
    the route to do the update.)  MobileEyes displays a new 
    "update pending" status, along with new informational 
    messages.  It also handles configuration and map updates
    differently in this scenario. 

Miscellaneous bug fixes and user interface enhancements:

 -- Improved the performance of downloading files from the 
    central server.  
 -- When a robot is selected by clicking in the map, the robot 
    list is now scrolled so that the corresponding robot item 
    is visible.
 -- Fixed an error that caused the central server's data to 
    disappear from the map view after a new map was loaded.
 -- Corrected an error in which MobileEyes displayed the sensor
    data (laser, path, etc) for a robot that was not currently 
    selected.  The extra sensor data was grayed out but still 
    visible.
 -- Improved the behavior of MobileEyes when connected to a 
    central server with robots managing their own maps.  When 
    a new robot is selected in the list, MobileEyes now stops
    requesting sensor drawing data from the previous robot.  
    (This did work correctly when the central server was 
    managing the map.)
 -- Fixed the Map, Central Server Data menu items so that they
    correctly toggle the display of map items drawn by the 
    central server.
 -- Corrected an intermittent problem that caused MobileEyes to 
    repeatedly and ceaselessly attempt to connect to the same 
    robot. 
 -- Corrected more problems with the graphical display of the 
    robot list when robots are added and removed.
 -- Corrected an intermittent problem that caused MobileEyes to 
    display phantom robots.  These would be designated by an 
    underscore and would have a duplicate non-underscore version 
    also displayed in the robot list.  The problem only occurred 
    when the central server was restarted while attempting to 
    restablish robot connections.
 -- Fixed a bug that caused the route list to disappear when a 
    robot disconnected from the central server.  This only 
    occurred when the robot was managing its own map.
 -- Fixed errors in the video window toolbar.  Under certain
    circumstances, the "Look at destination goal" tool button
    would toggle itself repeatedly for no apparent reason.
 -- Corrected the error message that is displayed when the robot
    server reports an error in the configuration, but cannot 
    identify the incorrect parameter.


MobileEyes 2.1.18
November 29, 2007
-----------------

Miscellaneous bug fixes:

 -- Modified the connection phase to be backwards compatible for 
    robots that do not support the new requestOnce logic. This 
    corrects some intermittent issues with robots not re-appearing 
    in MobileEyes after they have been restarted.


MobileEyes 2.1.17
November 27, 2007
-----------------

Miscellaneous bug fixes:

 -- Removed repetitive debug message from the log.
 -- Rebuilt to correct possible link problem.


MobileEyes 2.1.16
November 27, 2007
-----------------

Modifications to improve performance and usability when MobileEyes 
is connected to many robots:

 -- Added a new shortcut to select a robot in the map: double-click 
    on the robot icon in the map.
 -- Added a new shortcut to localize the current robot in the map:
    press and hold the Ctrl-Shift keys down.  This is similar to 
    pressing the Ctrl key down to send the robot to a map location.
 -- Added a new item to the popup menu in the Robot List.  Right-
    click and choose "Find on map" to change the map view so that 
    it is zoomed in on the current robot. 
 -- Added a new shortcut to find the current robot in the map:  
    double-click on the robot in the Robot List.  This is similar 
    to the new popup menu item, except the map view's zoom level 
    is not changed.  
 -- Modified the patrol and go-to-goal items in the Robot List 
    popup menu.  If there are a very large number of routes or 
    goals in the map, then a list box is displayed instead of an
    enormous menu.
 -- When the central server's configuration has been modified, 
    the download notification now only appears for the current 
    robot.  
 -- When the robot's map has been modified and downloaded, the 
    original view will be maintained (provided that it is the same
    map).
 -- Corrected a problem with the graphical display of the robot 
    list when the mode field is visible.
 -- Attempted to fix an intermittent problem with the selection of 
    more than one item in the robot list.


MobileEyes 2.1.15
October 15, 2007
-----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Added support for the new robot temperature data.  
 -- Improved the behavior of the Patrol button when MobileEyes
    is connected to robots of differing capabilities.  If 
    possible, the Loop or Once action that was most recently
    clicked by the user will be selected.  In addition, the 
    in-progress icon next to the route name now indicates when
    a robot is patrolling the route continuously (Loop).  (The
    latter requires an updated version of aramServer.)
    


MobileEyes 2.1.14
September 11, 2007
------------------

Miscellaneous bug fixes and user interface enhancements:

 -- Fixed incorrect driving behavior that occurred when the arrow
    keys are used and both the ratioDrive and drive commands are 
    available on the robot.
 -- Corrected an error in the Load From File feature of the 
    Configuration Editor.  If a subset of the available sections 
    is selected to be loaded, then empty placeholders are no 
    longer created for the parameters of all other (un-selected) 
    sections.
 -- Corrected an error in the Open File dialogs that allow any 
    file to be selected.  Filenames that do not contain a dot 
    (.) are now visible in the list.


MobileEyes 2.1.13
August 5, 2007
-----------------

Miscellaneous bug fixes and user interface enhancements:

 -- The map file can no longer contain any comments (e.g. text 
    that follows the # or ; characters).  These characters may 
    now be used in the map info definitions. 
 -- Corrected another potential crash when a robot disconnects.
 -- Changed the Map menu so that if a large number of custom 
    drawing data is defined, then a sub-menu is created.  Also
    renamed some of the menu items related to the drawings.
 -- Added more information (specifically, the robot ID) to the 
    output log.


MobileEyes 2.1.12
July 25, 2007
-----------------

Miscellaneous bug fixes:

 -- Corrected errors that prevented the "%" character from 
    being used in a task argument.
 -- Fixed an intermittent crash that occurred when a robot 
    disconnects from MobileEyes.
    

MobileEyes 2.1.11
July 18, 2007
-----------------

Miscellaneous bug fixes and enhancements:

 -- Fixed memory leaks that occurred when a map was reloaded or
    a robot connection was lost.
 -- Fixed an intermittent crash that occurred when a robot 
    disconnects from the central server.
 -- Improved the performance of closing very large map files.
 -- Fixed a crash that occurred when sound is disabled on the
    local computer and the robot sends sound/speech to it.


MobileEyes 2.1.10
June 4, 2007
-----------------

Miscellaneous bug fixes and enhancements:

 -- Fixed a bug that prevented MobileEyes 2.1.9 from receiving 
    sounds sent by ARAM's sendSound or sendSpeech tasks.
 -- Modified the Dock toolbar button and menu items so that they
    are disabled when the robot is docked due to low voltage (i.e. 
    is in forced dock mode).  The robot now ignores undock requests 
    during this time.


MobileEyes 2.1.9
May 18, 2007
----------------

Miscellaneous bug fixes and enhancements:
 -- Fixed a bug that prevented "Robot In" audio record level from being 
    displayed if record level was the only audio control available
    (only affects LaserPlans).
 -- Added support for the new "getPictureOptim" video server request.


MobileEyes 2.1.8
April 27, 2007
----------------

Miscellaneous bug fix:
  
 -- Corrected an error in the order of destructors that caused an
    intermittent crash when a robot disconnected.


MobileEyes 2.1.7
April 27, 2007
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Added support for robots that have lateral control (such as 
    Seekur).  The joystick behavior has been enhanced, the Drive 
    Robot toolbar contains two new buttons, and new Ctrl key 
    bindings have been added to the map view and robot list.
 -- Added the ability to drive the robot using the arrow keys 
    when the Drive Robot toolbar has the input focus.  (Similarly, 
    the arrow keys can be used to pan the map when the Pan Map 
    toolbar has input focus.)
 -- Corrected an error that occurred in the multi-robot environment
    when switching between robots while the Joystick Robot button 
    was turned on.  Under certain circumstances, this would 
    erroneously stop a robot.
 -- Fixed errors related to subdirectory selection in the Open File 
    on Robot dialog.
 -- Fixed various memory leaks that occurred when a robot disconnected.
    

MobileEyes 2.1.6
April 4, 2007
----------------

Miscellaneous bug fixes:

 -- Corrected an error that prevented the volume sliders from
    being displayed in the Audio/Video pane.
 -- Fixed a memory leak that occurred when a robot disconnected
    in a multi-robot environment.
 -- Fixed the toolips on locations in the map view so that if the
    location does not have a name but does have a description, the 
    tooltip is still displayed.


MobileEyes 2.1.5
March 28, 2007
----------------

Miscellaneous bug fixes:

 -- Fixed an intermittent problem that caused MobileEyes to 
    hang when reconnecting to the central server.  
 -- Fixed a bug that prevented a file name from being entered
    in the Output Log Settings when MobileEyes was installed on
    a new computer (i.e. not updated).


MobileEyes 2.1.4
March 26, 2007
-----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Added support for the new connection ID features of the robot
    server.  When MobileEyes is initially connected to an updated
    server, the user is prompted to enter the computer name and 
    nearest goal.  This information can also be edited by 
    selecting the Main Menu, Tools, Preferences... item and 
    clicking on the Computer ID tab.
 -- Added a new "Come Here" button to the robot toolbar (and menu).
    This button is available when MobileEyes is connected to a 
    server that has the new connection ID features, and a nearest
    goal has been entered in MobileEyes.
 -- Added a new "Follow" button to the robot toolbar (and menu).
    Clicking this button causes the robot to wait for someone to 
    approach, and then follows them.  
 -- Replaced the robot drive buttons (Forward, Reverse, etc.) on 
    the robot toolbar with a single Drive button.  Turn on this
    button to display a new "Drive Robot" palette which contains 
    triangular buttons for each of the directions.
 -- Also replaced the map pan buttons (Pan Up, Pan Down, etc.) on 
    the map toolbar with a single Pan button.  Turn on this button 
    to display a new "Pan Map" palette.
 -- Made improvements to the Output Log Settings. Added new options
    to append a timestamp at the end of the log file name, and to 
    automatically delete old timestamped log files.  
 -- Multiple MobileEyes instances are now prevented from opening 
    the same log file simultaneously, and the user is warned when 
    a MobileEyes session is not being logged.
 -- Added the ability to drive the robot using the Ctrl-arrow keys
    when the robot list has focus.  (This only applies to the 
    multi-robot environment.)
 -- Replaced all occurrences of native file open and save dialogs 
    with a custom version that is also used when selecting files 
    on the robot.  (This was necessary because, on some platforms,
    the native file dialogs interfered with displaying updated
    information from the robot - and worse.)
 -- Fixed a bug that prevented MobileEyes from displaying the 
    goal list when connected to guiServer.
 -- Corrected an error that caused MobileEyes to erroneously 
    display hidden map items (such as localization) when it was
    restored from a minimized state.
 -- When MobileEyes is minimized, it now stops making requests
    for data displayed on the map.
 -- Fixed an intermittent problem that caused the robot icon to
    disappear from the map when MobileEyes was connected to a 
    central server.  
 -- Fixed a bug that occasionally caused the crash dump file to be 
    written to an incorrect directory.
 -- Made changes to reduce the number of times a map is downloaded
    when it has been updated on the central server.
 -- Additional improvements related to running on dual processor
    PCs.


MobileEyes 2.1.3
March 5, 2007
-----------------

Miscellaneous bug fixes and user interface enhancements:

 -- On the Windows platform, added calls to reduce the process
    memory after a map is loaded or a robot is disconnected.
 -- Fixed the route pane's Resume button so that it is disabled 
    when the robot docks due to low voltage.


MobileEyes 2.1.2
March 5, 2007
-----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Made more changes related to multi-threading in an attempt
    to reduce the number of crashes on a dual processor PC.
 -- Set the new "blockingTimeout" attribute on the ArNetworking
    client base.
 -- Added a new checkbox to the Output Log Settings to copy the 
    previous log file to a backup.


MobileEyes 2.1.0
February 23, 2007
-----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Made substantial changes related to multi-threading in an 
    attempt to reduce the number of crashes on dual processor PCs.
 -- Fixed a problem that caused the "extra features" message to be 
    displayed too often when a new robot connection was made.
 -- When MobileEyes is connecting through a central server and a 
    robot's initialization is postponed, the "extra features" message
    is now correctly displayed (if necessary) for that robot.
 -- Fixed an intermittent problem in the multi-robot environment 
    that caused some robots to not appear in the robot list.
 -- Fixed an intermittent problem that prevented the camera 
    pan/tilt/zoom sliders from being displayed.
 -- Fixed the "Configuration Updated" and "Motors Disabled" dialog 
    boxes so that they behave properly when MobileEyes has been 
    minimized.
 -- Fixed an error in the "Scheduler Paused" dialog box that caused 
    the wrong robot name to be displayed.
 -- Fixed the "Patrol (Loop)" button so that it is not automatically 
    reset to "Patrol (Once)" when a robot docks due to low voltage 
    or all robots disconnect.
 -- Fixed a bug in the multi-robot environment that caused the 
    "Stop All" button to be erroneously disabled when the selected 
    robot was docked due to low voltage.


MobileEyes 2.0.2
February 2, 2007
----------------

Miscellaneous bug fixes:
 -- Increased the size of the buffer used to unpack the network 
    packets containing map data to match the new maximum line length
    of 10,000 characters.


MobileEyes 2.0.1
January 30, 2007
----------------

Miscellaneous bug fixes:
 -- Attempted to fix an intermittent crash that occurs when the map
    is reloaded.  Removed an unnecessary clearing of the map's task
    list; it is deleted during the destructor.


MobileEyes 2.0.0
January 30, 2007
----------------

Miscellaneous bug fixes and user interface enhancements:
 -- Added support for the new popupList server request, which enables 
    MobileEyes to display all active popups on startup.  Previously, 
    only popups that occurred after MobileEyes was started were 
    displayed.  This feature requires an updated server.
 -- Fixed the robot drawing item display when MobileEyes is connected
    to a server that has no map (such as serverDemo).  It is no longer
    necessary to toggle the map item buttons in MobileEyes.
 -- Added a new map item display hint, SubTypeAndParent, for the 
    configuration editor and task arguments.  
 -- Fixed the Schedule's robot icon tooltip for Sunday.  
 -- Fixed issues with task list creation and mutexes to try to resolve
    an intermittent crash that occurs on map reload.
 -- Fixed bugs with Patrol (Loop) being incorrectly enabled and disabled
    depending on whether the scheduler is enabled on the robot server.


MobileEyes 1.5.6
January 23, 2007
----------------

Miscellaneous bug fixes and user interface enhancements:
 -- Will be able to send and receive network audio in full-duplex 
    (simultaneous listening and talking), if both the server and the 
    local operating system support it. 
 -- Added support for the Schedule's new Continuous Route Loop 
    container.
 -- In multi-robot mode, the numbers of robots connected and robots
    busy is now displayed beneath the robot list.  (This feature 
    requires an updated AramServer.)
 -- Added a new context menu (displayed on right-click) to items 
    in the goal/task list.  The menu includes the new "patrol route 
    from here" items, which tell the robot to start patrolling the 
    route at the selected goal. (This feature requires an updated 
    AramServer.)
 -- Added a "Resume" button below the route list.  Click it to have 
    the robot continue patrolling an interrupted route.  (This 
    feature requires an updated AramServer.)
 -- Fixed the "Go To" button when a goal within a route is selected.  
    If the goal occurs multiple times within the route, then the 
    selected occurrence is used as the destination (instead of the 
    first occurrence).  
 -- The "Patrol (Loop)" button no longer resets to "Patrol (Once)" 
    when a robot is disconnected from MobileEyes.
 -- Increased the maximum length of a map line to 10,000 characters.


MobileEyes 1.5.5
December 21, 2006
-----------------

Miscellaneous bug fixes:
 -- Fixed an additional crash that occurred when reloading a map.
    In particular, this appeared to be a problem when MobileEyes 
    was connected to a central server and MobilePlanner was used to
    edit the map on a robot.
 -- Fixed an intermittent display problem in which duplicate, invalid
    goals were displayed in the goal list when a map was reloaded.
 -- Fixed a memory leak that occurred when a map was reloaded.


MobileEyes 1.5.4
December 17, 2006
-----------------

Miscellaneous bug fixes and user interface enhancements:
 -- Added support for the new "time until shutdown" value in the 
    "dockInfo" network packet.  This time is set when the robot is 
    attempting to dock, but cannot reach the dock.  MobileEyes now 
    warns the user of the planned shutdown.  (This feature requires 
    an updated Aram server.)
 -- Modified the icons and tooltips when the schedule is paused.  
    A plain pause icon is now drawn if the Resume button must be 
    clicked, whereas the pause icon is decorated with a green arrow
    if the schedule will automatically restart.
 -- Fixed another intermittent crash that occurred when reloading 
    maps.
 -- Fixed a bug that occurred in the Routes/Goals lists.  When one
    particular goal was clicked, the Go To button was not properly
    enabled.
 -- Modified the main menu, Tools, Messages so that the user may
    view the Message of the Day even if it cannot be edited.


MobileEyes 1.5.3
December 12, 2006
-----------------

Miscellaneous bug fixes and user interface enhancements:
 -- Added a new tab to the Main Menu, Tools, Preferences window to
    allow the user to configure notifications during multiple 
    robot mode.  The Multi-Robot tab is available only when 
    MobileEyes is connected to a central server or to multiple robots.
 -- Corrected the size of the initial Message of the Day window so 
    that the text is not truncated.
 -- Corrected the initial display of the routes and goals so that 
    if MobileEyes is started while a route or goal is in progress, 
    the in progress indicator is correctly displayed.  (This change
    requires an update to the Aram server.)
 -- Fixed a crash (introduced in 1.5-2) that occurred when the map 
    was reloaded while a robot was patrolling a route.
 -- Fixed an intermittent deadlock situation that sometimes occurred
    when a robot disconnected.
 -- Added support for the new "state-of-charge" robot information.  
    If a robot has a state of charge, it is displayed instead of the 
    robot voltage.  This is indicated as a percent value (as opposed
    to a V).
 -- Corrected the background color of the robot voltage / state of 
    charge that is displayed in the Robots list.
 -- When a robot configuration parameter has a display hint of Choices,
    but the choices are empty, the table item is now disabled.
 -- Corrected the implementation of beep requests from the robot server
    so that the beep is called in the main GUI thread.


MobileEyes 1.5.2
December 6, 2006
-----------------

Miscellaneous bug fixes and user interface enhancements:
 -- Added a new in-progress indicator to the Routes and Goals.  When 
    the robot is going to a goal, or performing another top-level task,
    in a route, a small green triangle is drawn next to the goal or 
    task name.  (This feature requires an updated Aram server.)
 -- Improved the display of overlapping goal names in the map.  When 
    the goal has mouse focus, the name is drawn with an opaque background.
 -- Improved the behavior of the Route goal/task view.  When an 
    expandable goal item is opened, by clicking on the + sign or using
    the right arrow key, all subordinate lists are also opened.  
 -- Added the new Schedule status of 1.5-1 to the help text.
 -- Improved the connection logic so that MobileEyes does not use all 
    CPU resources when the network is up but the computer does not have
    an IP address.


MobileEyes 1.5.1
December 1, 2006
-----------------

Miscellaneous bug fixes and user interface enhancements:
 -- Changed the behavior of the buttons with popup menus (Patrol and
    Resume).  When a popup menu item is selected, the button is now 
    automatically clicked.
 -- Fixed double-clicking on the Goal items in the Routes tab so that 
    the robot is sent to the goal.
 -- Added a new status to the Schedule items to indicate that the 
    route completed but errors occurred.  This is primarily meant to 
    indicate that the robot could not get to a goal in the route.
 -- Fixed the Robot Configuration editor so that the Section 
    description is displayed when the editor is first displayed.
 -- Added tooltips to display the new description attribute of items
    in the map.
 -- Added support for the new "localization initializing" robot status.
    The Localization dialog box now prompts the user to wait while 
    localization is in progress.


MobileEyes 1.5.0
November 14, 2000
-----------------

Added the display of the current schedule when MobileEyes is 
connected to robots with an enabled Scheduler.  (This requires
an updated Aram Server.)  The Routes/Goals pane has been renamed 
Routes/Schedule, and is now organized in a tab widget.  The 
Schedule tab shows the recent history of scheduled routes and tasks 
along with the short-term future.  It also allows the user to pause 
(and resume) scheduling.  See the "What's This?" help text for more 
information.   

Miscellaneous bug fixes and user interface enhancements:
 -- Modified the Routes and Goals display so that the associated 
    tasks may also be viewed.  The information is now organized in 
    a tree, similar to the RouteBuilder in MobilePlanner.  Also 
    changed the behavior of the "Go To" button so that it works
    correctly when there are multiple instances of the same goal in
    a route (with different task associations).  The latter requires
    an updated Aram Server. 
 -- Corrected audio listening when switching between multiple robots.
    If the listen button is turned on, then audio will be received
    from the currently selected robot. 


MobileEyes 1.4.14
September 25, 2006
-------------------

Miscellaneous bug fixes:
 -- Reinserted the Robot tools "Say" button, which had been 
    accidentally removed during the multi-robot change.
 -- Removed the second, duplicate instance of the "Talk" button 
    from the Customize toolbar dialog box.


MobileEyes 1.4.13
September 25, 2006
-------------------

Miscellaneous bug fixes and enhancements:
 -- Fixed a crash that occasionally occurred when reloading maps or
    reconnecting to a robot while a map file was being loaded.
 -- Improved the logging of data when a crash occurs on Windows.  A 
    "mini-dump" file (named MobileEyesErrorDump_<Version>.dmp) is
    now created after a crash in the MobileEyes directory.  By 
    default, this dump file only contains stack trace information. 
    For problematic crashes that require more information, start 
    MobileEyes with the -debugDumpData option.


MobileEyes 1.4.12
September 5, 2006
-------------------

Miscellaneous bug fixes and user interface enhancements:
 -- Added support for the new "configDefaultsUpdated" message from 
    the central server.  Made related fixes to the Configuration 
    Editor so that default values for all parameters are not required.
 -- Improved debug logging for multi-robot environments.
 -- Fixed a potential deadlock when the "configUpdated" message is
    received.


MobileEyes 1.4.11
August 15, 2006
-------------------

Miscellaneous bug fixes and user interface enhancements:

 -- Removed calls that may have caused the GUI to be updated outside
    of the main thread when a robot connects to the central server.
 -- Improved the display of overlapping sectors and forbidden areas.
    The outline of all sectors and forbidden areas is now always 
    drawn on top.
 -- Improved debug logging, particularly when loading maps.


MobileEyes 1.4.10
July 19, 2006
-------------------

Corrected the kernel memory issue on Windows when using large maps
and removed the temporary workaround (of version 1.4.9).  


MobileEyes 1.4.9
July 19, 2006
-------------------

Added a temporary workaround to a kernel memory issue on Windows when
using large maps.  A registry key can be set to turn off the creation 
of the map data lines.


MobileEyes 1.4.8
July 12, 2006
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Modified so that when the central server is managing some, but 
    not all, of the robot's maps, then MobilePlanner changes to the 
    central server map will be downloaded to MobileEyes clients.
    (This change requires an update to the server.)
 -- Do not display the Message of the Day when it consists solely 
    of whitespace.
 -- Fixed the displayed time of last update for null Messages of 
    the Day.
 -- Increased the timeout when connecting to robots through a central
    server in order to reduce the likelihood that their initialization
    will be postponed.


MobileEyes 1.4.7
July 12, 2006
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Corrected the display of maps when the central server is
    managing some but not all of its subordinate robots' maps, 
    and the central configuration map file is changed (again).
 -- Enabled RTTI in the Audio project file.
 

MobileEyes 1.4.6
July 11, 2006
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Added an indication of the time the Message of the Day was
    last updated.
 -- Fixed the Message of the Day so that when the user changes the
    message while the ineditable message box is displayed, the
    message box is also updated.
 -- Changed the Tools, Robot Configuration menu item to be disabled
    (instead of hidden) when some, but not all, robots connected to 
    a central server manage their own configuration.
 -- Corrected the map display when a robot has map data but it 
    is not downloaded for some erroneous reason.  The robot icon
    will now be displayed in an empty map pane.
 -- Corrected the display of maps when the central server is
    managing some but not all of its subordinate robots' maps, 
    and the central configuration map file is changed.
 -- Corrected the determination of whether a newly connected robot
    has extra configuration data, so that the user can be prompted
    to restart.


MobileEyes 1.4.5
July 7, 2006
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Corrected the enabled state of the Tools, Messages items 
    when a robot disconnects and then reconnects.
 -- Improved the error message displayed when the robot server
    rejects a MobileEyes connection, particularly when trying 
    to make a direct connection to a robot that will not allow
    them when using the central server.
 -- Fixed an error that prevented the Message of the Day from
    being displayed when popup messages were not also enabled on
    the robot server.
 -- Fixed crash that occurred when the connection to the central
    server was lost, the attempt to re-establish it failed, and
    retry connections was disabled.


MobileEyes 1.4.4
June 7, 2006
----------------

Added a new feature to display a "Message of the Day" for each robot
server and for the central server.  These messages are displayed when 
MobileEyes starts, and when the message is changed on the server.
To change the messages, use the Tools, Messages menu.  (This feature
requires a server update.)


Miscellaneous bug fixes:

 -- Corrected the map display when the map on the central server is 
    changed while a robot is creating a scan.


MobileEyes 1.4.3
----------------

Miscellaneous bug fixes and user interface enhancements:
 
 -- Added handling for the new "getDrawingList" packet which enables the
    server to specify the default drawing state of robot sensors (drawing
    data).  The data may be "AlwaysOn", "DefaultOn", "DefaultOff", or
    "AlwaysOff".  If it is "AlwaysOff", then the item will never appear
    in the map nor in the Map menu.  This change requires an update to 
    the server. 
 -- Added Map Legend items for the robot sensors (drawing data).
 -- Fixed the Map Legend to update correctly when more than one map is 
    in use by multiple robots.
 -- Corrected the display of drawing data received from the central 
    server.  Added new items to the main Map menu so that the central
    server drawing data can be shown or hidden by the user.
 -- Changed the robot map manager so that items are created after the 
    entire toolkit is initialized.  This corrects a bug in displaying
    the central server's drawing data after a reconnection.
 -- Fixed a bug that caused the user's preferences for showing map items
    to be ignored when all robots reconnect.
 -- Reduced the amount of time required to close the application when 
    multiple robots are connected.
 -- Fixed a bug in the "Pick Robot" handler that occasionally caused it
    to not pick the robot that was clicked.
 -- Modified the Configuration Editor so that the window position and
    sizes are saved and restored.
 -- Set the newly scrollable descriptions in the Configuration Editor
    to be read-only.
 -- Corrected the laser, and other "polyDots" data, so that obsolete 
    information is not drawn in the map when switching robots.
 -- Added the current robot name to message boxes in the Tools menu.
 -- Corrected the enabled state of the Map, (Show) Camera tool button 
    and menu item when switching between a robot with a camera and one
    without.
 -- Fixed errors in the mapping status that caused stop error messages 
    to be displayed repeatedly (i.e. after the user acknowledged them).
 -- Fixed an error that caused the map data to be erroneously displayed
    when the initial selected robot is in the process of creating a 
    scan.
 -- Corrected the display of initialization status in the login dialog
    when reconnecting to a robot or to the central server.
 -- Fixed a crash that occurred when reconnecting to a robot in single
    robot mode.
 -- Added Shutdown All to the Tools, Robot Tools menu when in multi-
    robot mode.
 -- Added Status Details to the Show popup menu in the Robot List.  
    This can be turned on to display the robot voltage text in the list.
 -- Added a checkbox to the robot lost connection message box.  Turning
    on the checkbox causes MobileEyes to "always attempt to reconnect".
 -- Fixed an error that caused MobileEyes to crash if the custom details 
    were hidden when reconnecting to a robot.
 -- Corrected a bug that caused the configuration updated message box
    to be displayed too frequently when reconnecting to the central server.
 -- Added common commands (stop, dock, patrol, etc) to the popup context
    menu on the robot list.
 -- Fixed a bug that caused map data items (such as reflectors) to not 
    be displayed correctly on startup.
 -- Attempted to improve the behavior of the program when sufficient 
    system resources are not available.  (Fix is difficult to verify.)
 -- Attempted to fix a crash that occasionally happens at startup when
    a robot connects to the central server at the same time.  (Fix is 
    difficult to verify.)
 -- Fixed the Robot Servers combo box so that robots are displayed in 
    order of last use.
 -- Corrected an error in the data structure when removing a client robot
    from the central server. 
 -- Attempted to fix a crash that occasionally happens at startup when
    the central server crashes while MobileEyes is attempting to connect
    to one of the client robots. (Fix is difficult to verify.)
 -- Added checking for extra features on reconnect to the direct (single
    robot) case.  It was previously only done when connecting through
    a central server.
 -- Fixed a bug in the Robot Configuration editor that occurred when the
    user selected a different robot while a parameter value was invalid.
    
 -- Fixed bugs in showing controls with multiple robots supporting audio [rh]


New features:

 -- Plays auxiliary audio (sounds and speech) if sent from the server. [rh]
 -- Uses "wideband"/higher quality encoded audio instead of narrowband encoded audio. [rh]


MobileEyes 1.4.2
----------------

Bug fixes:

 -- Removed the temporary "Start-up" robot from the robot list.  This 
    erroneously appeared when a direct connection was made to multiple
    robots. Also corrected a related error that caused MobileEyes to 
    crash when the temporary "Start-up" toolkit was selected.
 -- The main menu, Tools, Robot Configuration item is now hidden when 
    configuration data is received but is empty.  Updates to the 
    configuration data are monitored so that the menu item will be shown
    if non-empty data is subsequently received. 
 -- Reduced the timeout used when MobileEyes is connecting to robots
    through a central server (from 40 seconds to 10 seconds).
 -- Fixed a bug that caused MobileEyes to crash when the Ctrl key was
    pressed in the map after the map data was reloaded.
 -- Corrected the display of map obstacle data (points/lines) when the
    selected main menu, Map, Data items were changed.
 -- The state of the Robot Configuration editor is now saved and restored
    on subsequent executions.  The appearance of the editor has also 
    been improved.  Scrollbars appear next to long descriptions so that
    the OK and Cancel buttons are not pushed off-screen.
 -- Corrected an error in the Output Log Settings window that prevented
    changes from being saved correctly in a multi-robot environment.
 -- Corrected an error in the Advanced Comm Preferences in a multi-robot
    environment.  Data interval changes are now applied to all robots.
 -- When reconnecting to a robot, the connection status is now displayed on 
    the login dialog.
 -- Corrected the splash screen so that user names and passwords may be
    changed after the initial connection attempt.
 -- Corrected the robot list so that it scrolls when there are too many
    robots to be displayed.
 -- Ordered the robot list items alphabetically.
 -- When the map has focus, Ctrl-f increases the robot speed for arrow key
    driving, and Ctrl-b decreases it.  (Ctrl-s is now used for pick robot.)
 -- Improved the appearance of the Stop All button when it is disabled.



MobileEyes 1.4.1
----------------

MobileEyes now supports the ability to connect to multiple robots, 
either directly or through the new central server.  The central server 
provides several advantages, including reduced network traffic, 
automatic management of robot connections, and centralized management 
of the configuration and map data.  

 -- To use the new central server, enter the central server name in the 
    Robot Servers field on the splash screen.  Once the connection has 
    been established to the central server, MobileEyes will automatically 
    connect to all of the robots that are connected to the central server.

 -- To establish a direct connection to multiple robots, enter the name  
    of all of the robots in the Robot Servers field on the splash screen, 
    separating each by a comma.  

After the initialization is complete, the MobileEyes main window is 
displayed.  Its appearance is similar to the single robot mode, except
a list of the connected robots is also displayed on the left side of the 
window.  The robot item that is selected in the list is considered the 
"current" robot.  The map displays the current robot in red, and shows 
all of its sensor data. All MobileEyes commands (go-to-goal, drive, etc.) 
are sent to the current robot.  

Other new features in MobileEyes include:

 -- Representation of the actual robot size in the map.  This feature
    requires a server update.
 -- Central Configuration editor.  This main menu, Robot Tools item is 
    available when MobileEyes is connected to a central server that is
    managing some or all of the robot configuration data.  (If the Robot
    Tools menu does not contain the "Robot Configuration" item, then the 
    central server is managing all of the data.)  The Central Configuration
    editor is identical to the Robot Configuration editor, except the data 
    is stored and managed on the central server.
 -- "Pick Robot" button in the map toolbar.  This button is available 
    when MobileEyes is connected to multiple robots.  When the "Pick 
    Robot" button is turned on, use the mouse to left-click on a robot 
    icon in the map to make it the current robot.  (Note that the button 
    can be temporarily turned on by pressing and holding down Ctrl-s.)
 -- Re-connect option.  When MobileEyes is connected directly to a robot 
    and the connection is lost, the error dialog now includes a 
    Re-connect button so that MobileEyes does not need to be restarted.
    (Note that this process is handled automatically when MobileEyes is 
    connected to a central server.)


MobileEyes 1.3.8
----------------

Bug fixes:

 -- Corrected an error in audio that caused MobileEyes to crash when two
    instances were running on the same computer.
 -- Improved the thread safety of calls to ArNetworking to try to prevent 
    intermittent crashes.
 -- Corrected the interval specified in ArNetworking request calls for 
    broadcast data.
 -- Corrected an error in color chooser displayed in the the Robot 
    Configuration editor (for destination drawing).  The user was not 
    correctly notified when the color had been changed and the Cancel 
    button was clicked.
 -- Modified the global exception handler to prevent recursion and ensure 
    that the error report contains the first exception thrown.
 -- Fixed a debug output message.
     

MobileEyes 1.3.7

----------------

Changes to the Readme and License text.


MobileEyes 1.3.6

----------------

Bug fixes:

  -- Improved the handling of "Custom Details" text to try to prevent
     crashes seen in Windows XP SP2.


MobileEyes 1.3.5
February 24, 2006
----------------

If the robot's map contains reflectors, they may be displayed in 
the map.  Turn on the Main Menu, Map, Data, Reflector Items checkbox 
menu item.

The new "Look at Goal" camera mode is supported by a new button in 
the video toolbar.  (This feature requires an update to aramServer.)

Miscellaneous bug fixes and user interface enhancements:

 -- The small video toolbar buttons may now be customized by the user.
    Right-click next to the buttons, and select "Customize...".
 -- The camera pan / tilt / zoom controls can no longer be completely
    hidden by resizing the splitter.  They may only be hidden by turning
    off the "Show Controls" video toolbar button.  The on/off state of 
    the "Show Controls" button is now saved.
 -- The pixel size of the video data that is captured and sent to 
    MobileEyes may now be set in the Robot Configuration.  (This feature
    requires an update to the server.)
 -- Reduced the number of memory allocations performed when sensor
    data updates are received from the robot server.
 -- Fixed potential deadlock when camera and video data are created.
 -- Fixed bug that allowed the user to change the main menu Map, Data 
    display (and therefore show the map) while a scan was in progress.
 -- Fixed memory leak in the audio data.


Installation Notes:

In order to support custom installations, the user interface preferences 
may optionally be saved to text files (instead of in the Windows registry).  
Subsequent executions of MobileEyes can then read the text files.
To save a configuration as text, start MobileEyes as follows on a command
line:
     MobileEyes -writeIni -iniName <some_path_and_file>

When the MobilEyes session exits, it will write two files:

 -- <some_path_and_file>.ini
 -- C:\Documents and Settings\<user>\Application Data\MobileRobots\
          MobileEyes\<some_file>rc

To read the configuration from the text files, start MobileEyes as:
    MobileEyes -readIni -iniName <some_path_and_file>

(Note that you'll probably only want to do this once, since any additional 
changes to the preferences will be saved in the registry.)

Alternatively, the installer may add two keys to the registry.  These keys
will only be read and used the first time that MobileEyes is executed for 
a particular user.
    HKEY_LOCAL_MACHINE\SOFTWARE\MobileRobots\MobileEyes\Install
       readIni : Integer, set to 1 to read from the file
       iniName : String, set to the <some_path_and_file>


MobileEyes 1.3.4c
02/03/2006
----------------

Fixed camera reset



MobileEyes 1.3.4
01/31/2006
----------------

Improvements to the Robot Configuration Editor (which also require a 
server update):
 -- The Map file may be selected from a list of maps that are available
    on the robot.  Click the "..." button to the right of the file name.
 -- The PreferredDock may be selected from a drop-down list of docks 
    that are available in the current map.  
 -- Various text items have been converted to a drop-down list of valid
    choices. 
 -- Colors may now be selected from a Color chooser dialog.  IMPORTANT:
    If the robot was configured to draw a destination indicator
    (in the "Destination Drawing" section), then those settings will 
    be lost.  Change the new parameters in the "Destination Drawing"
    section.
 -- Long sections may now be divided into "sub-sections" through the
    use of separators.

Internal changes to reduce network traffic. When a map item or widget 
is hidden, the associated data is no longer requested from the robot 
server.  (If the map item is subsequently shown again, the data requests 
will be restarted.)

Miscellaneous bug fixes and user interface enhancements:
 -- Fixed a potential crash that would occur if the server sent text
    strings (Custom Details) that were longer than the expected length.
 -- Fixed two bugs in which the GUI was being updated in the wrong
    thread (in the Download Status Dialog and the Talk button).
 -- Added the application name and version number to the debug error 
    report.
 -- Changed the name of the registry key in which user preferences 
    are saved to MobileRobots. (Previous preferences are automatically
    copied to the new key.)


MobileEyes 1.3.3
12/09/2005
----------------

Added a global exception handler for the Windows platform in order
to improve debugging capabilities.


MobileEyes 1.3.2
11/30/2005
----------------

Added support for the robot's new "simple call mode" for pickups and 
deliveries. When this mode is enabled, a new Delivery pane appears in
MobileEyes (and by default, the Routes/Goals pane is hidden).  In 
order to configure a MobileEyes installation at a particular pickup 
location (/goal), select the Tools, Set Map Location menu item.  Then,
right-click on the goal in the map, and choose the "Set Pickup Location" 
item.

Added monitoring of the communication between the client and the 
robot server.  In order to use this feature, the ArServerHandlerCommMonitor
must be added to the robot server.  The MobileEyes status bar will contain
a communication status icon, which provides a summary of the current status
(good, degraded, or failed).  The icon's tooltip provides additional 
information.  

Added support for the new ArNetworking command "getConfigBySections". This
is transparent to the MobileEyes user, but it enables the server to send 
very large ArConfig objects.  (See ArServerHandlerConfig.)

Miscellaneous bug fixes and user interface enhancements:
 -- Added a new "Say" button to the robot toolbar.
 -- Improved the performance of video rendering.
 -- If the robot supports the "getModeDataList" and "getModeInfo" commands
    (see ArServerMode), then MobileEyes buttons and menu items that send
    commands to the robot are enabled/disabled based on the current mode.
 -- The Robot Configuration sections are sorted alphabetically within each
    priority.
 -- If the robot has audio, but no video, then the Audio pane is hidden
    on startup.
 -- Fixed bug in the Robot Configuration "Reset to Default" feature.  
 -- Fixed bug in the toolbar display (on/off) states when MobileEyes is
    connected to robots of varying capabilities.  
 -- Fixed bug in the View, Custom Details menu item that occasionally 
    prevented the custom details table from being hidden. 
 -- Fixed bug in the View menu that occasionally caused MobileEyes to crash 
    when displaying the Audio pane (when no video).
 -- Minor cosmetic changes to the Localize To Point, Send Robot, and Auto-
    Dock buttons.


MobileEyes 1.3.1
10/11/2005
----------------

Miscellaneous bug fixes and user interface enhancements:

 -- Fixed bugs introduced in v1.3.0.  These included a backward 
    incompatibility with older versions of the server (video and camera
    data not refreshing), and failure of the "snapshot" feature 
    (ArServerHandlerCamera).
 -- Added a new "Settings..." item to the Camera menu that provides the same 
    functionality as the tool button introduced in v1.3.0.


MobileEyes 1.3.0
10/10/2005
----------------

Multiple cameras attached to a single robot may now be displayed and controlled
in MobileEyes.  See ArCameraCollection and ArServerHandlerCameraCollection for
more information.

Enhancements to the manipulation of the robot's cameras:
  
 -- The camera pan/tilt/zoom values are now available as doubles (to a 
    precision of two decimal places).  This allows finer adjustments to the 
    camera position.
 -- A new camera point mode has been added to the video window.  Click on 
    the "Point" button above the video, and then click on the location in 
    the video at which to point.  The camera will pan/tilt so as to center 
    that location in the window.
 -- The camera may now be manipulated by using the mouse in the video window,
    similar to how the map is manipulated.  To pan/tilt the camera, drag 
    the mouse in the video window with the right button pressed.  To zoom
    the camera, move the mouse wheel.
 -- The icons next to each of the camera sliders below the video window
    have been changed to buttons.  They enable smaller adjustments to the
    camera position.
 -- The camera settings (such as brightness, contrast, etc) may now be
    adjusted via MobileEyes.  Click the new "Settings" tool button above the 
    video window.  

Miscellaneous bug fixes and user interface enhancements:

 -- The representation of the robot's camera in the map has been changed 
    to a T shape.
 -- The tool buttons that appear above the video may be moved to its side.
    (Depending on the layout, this may make more space available for viewing
    the video.)  Right click on an empty area around the camera title to 
    display a popup with the location choices.


MobileEyes 1.2.8
10/04/2005
----------------

Improvements to the display of custom text information received from the server
(see ArServerInfoStrings):

 -- The height of the table can be adjusted by resizing the splitter in the map
    pane.
 -- The number of columns in which the table is displayed can be customized.  
    Right click on the table to display a popup with formatting choices.
 -- The table can be displayed independently of the other robot details (such 
    as position and velocity).  The View menu now contains a "Custom Details" 
    item that controls whether the table is displayed.

A primitive communication monitoring (/heartbeat) scheme has been added.  This 
feature is only active when the video window is displayed.  If video data is 
not received from the robot server over a period of approximately 30 seconds,
then the user is notified that an error has occurred and is prompted to 
restart.  (This feature will be refined in a future version.)

Miscellaneous bug fixes and user interface enhancements:

 -- Fixed bug in the Camera Reset button above the video.
 -- References to "mapping" have been changed to "scanning" in order to be 
    consistent with the terminology in Mapper3.


