Merge branch 'jeroen' of video.vreeken.net:public_html/dt_ctrl into jeroen

Dockerfile

@@ -4,9 +4,12 @@
 # ```
 # git clone gitlab.camras.nl/dijkema/dt_ctrl
 # ```
-# Copy the Dockerfile to the empty directory: `cp dt_ctrl/Dockerfile .`
-# Tar the source code with `tar czf dt_ctrl.tgz dt_ctrl`
 # Create the docker file with `docker build --tag consoledemo .`
+# This Dockerfile is hardcoded to run the websockets server at
+# port 8000.
+# Start the docker container with
+# docker run -it -p 8081:80 -p 8000:8000 -p 11031:11031 -p 11030:11030 -p 11040:11040 -p 11041:11041 -p 11042:11042 -p 11011:11011 consoledemo
+# Then visit the consoledemo from the host machine at http://localhost:8081 (NOT at port 8000, which will show a non-working HTML page)
 FROM ubuntu:16.04
 
 RUN apt-get -y update
@@ -18,8 +21,7 @@ RUN cd /root/libnova-libnova && libtoolize && autoreconf -i && ./configure && ma
 RUN cd /root && git clone https://github.com/warmcat/libwebsockets.git
 RUN cd /root/libwebsockets && mkdir build && cd build && cmake .. && make && make install
 
-ADD dt_ctrl.tgz /root
-RUN cd /root tar xf dt_ctrl.tgz
+RUN cd /root && git clone https://gitlab.camras.nl/dijkema/dt_ctrl
 
 RUN cd /root/dt_ctrl && autoconf && ./configure --with-libwebsockets=/usr/local && make
 RUN cd /root/dt_ctrl && make console/console/console_httpd
@@ -33,6 +35,45 @@ RUN cp -r /root/dt_ctrl/console/htdocs /var/www/
 RUN cp -r /root/dt_ctrl/console/js /var/www/
 RUN mkdir -p /var/www/htdocs/tle && touch /var/www/htdocs/tle/amateur.txt && touch /var/www/htdocs/tle/gps-ops.txt && touch /var/www/htdocs/tle/tle-new.txt
 
-CMD screen -d -m /root/dt_ctrl/controller/dt_ctrl /root/dt_ctrl/controller/dt_ctrl.ctrl && screen -d -m bash -c 'cd /root/dt_ctrl/console/console && ./start_console.sh' && /bin/bash
+RUN apt-get -y install apache2 net-tools
+
+RUN mkdir -p /var/www/console/ && cp -r /root/dt_ctrl/console/htdocs /var/www/console && cp -r /root/dt_ctrl/console/js /var/www/console
+
+# Configure apache to serve the console htdocs
+RUN echo '\
+<VirtualHost *:80>\n\
+\tServerAdmin webmaster@localhost\n\
+\tDocumentRoot /var/www/console/htdocs\n\
+\t<Directory "/var/www/console/htdocs">\n\
+\t\tOrder allow,deny\n\
+\t\tAllow from all\n\
+\t\tAllowOverride None\n\
+\t\tAddHandler cgi-script .cgi\n\
+\t\tOptions +ExecCGI -MultiViews +SymLinksIfOwnerMatch\n\
+\t</Directory>\n\
+\n\
+ErrorLog ${APACHE_LOG_DIR}/error.log\n\
+CustomLog ${APACHE_LOG_DIR}/access.log combined\n\
+</VirtualHost>\n\
+' > /etc/apache2/sites-enabled/000-default.conf
+
+# Configure ports for the console and controller
+RUN mkdir /etc/dt && echo '\
+[console]\n\
+host=localhost\n\
+\n\
+[controller]\n\
+host=localhost\n\
+\n\
+[htdocs]\n\
+path=/var/www/console/htdocs\n\
+port=8000\n\
+' > /etc/dt/dt_host.ini
+
+# Patch the console software to point the websockets port
+RUN sed -i -e 's/window.location.host/window.location.hostname+":8000"/' /var/www/console/htdocs/index.html && \
+    sed -i -e 's/window.location.host/window.location.hostname+":8000"/' /var/www/console/htdocs/mech.html
+
+CMD screen -d -m /root/dt_ctrl/controller/dt_ctrl /root/dt_ctrl/controller/dt_ctrl.ctrl && screen -d -m bash -c 'cd /root/dt_ctrl/console/console && ./start_console.sh' && /bin/bash -c 'service apache2 start' && bash
 
 EXPOSE 80

Makefile

@@ -118,8 +118,8 @@ TARGETS:= $$($(DIR)_TMPTARGETS) $$(TARGETS)
 DIR := $(DIR)
 endef
 
-CFLAGS := -pthread -D_GNU_SOURCE -Icommon -Icommon/include -Icontroller -Iconsole/console -Iinclude
-LDFLAGS := -pthread -Lcommon/lib -Lcontroller/lib -Lconsole/console/lib -Llib -Wl,--as-needed
+CFLAGS := $(BUILD_CFLAGS) -D_GNU_SOURCE -Icommon -Icommon/include -Icontroller -Iconsole/console -Iinclude
+LDFLAGS := -Lcommon/lib -Lcontroller/lib -Lconsole/console/lib -Llib -Wl,--as-needed
 VPATH += common/lib controller/lib console/console/lib lib
 VPATH += include
 

README

@@ -21,3 +21,5 @@ Building the software
 
 Just run "make". To see more targets, run "make help". You may also run make in
 the individual directories.
+
+./configure --host arm-none-eabihf CFLAGS=-specs /usr/local/arm-none-eabihf/lib/atsamx70x21_flash.specs --disable-am335x --enable-embedded --disable-test --disable-ethercat --disable-vesp

build.mk

@@ -26,6 +26,9 @@ endif
 
 ifdef HOSTSYS
 CC=${HOSTSYS}-gcc
+LD=${HOSTSYS}-ld
+OBJCOPY=${HOSTSYS}-objcopy
+OBJDUMP=${HOSTSYS}-objdump
 LIBTOOL=${HOSTSYS}-libtool
 CONF_HOST=--host=${HOSTSYS}
 HW=$(HOSTSYS)
@@ -41,9 +44,13 @@ endif
 	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $< -o $@
 	@sed -e "s:\.il2c.c:\.il:" -i -i $*.il2c.d
 
+%.o : %.ctrl
+	@echo "BLOB LD $@"
+	@$(LD) -r -b binary $< -o $@
+
 %: %.o
 	@echo "     LD $@"
-	@${LIBTOOL} --quiet --mode=link --tag=CC $(LINK.o) $(filter %.o,$^) $(LOADLIBS) $(LDLIBS) $($@_LDFLAGS) -o $@
+	@${LIBTOOL} --quiet --mode=link --tag=CC $(LINK.o) $(filter %.o,$^) $(LOADLIBS) $(LDLIBS) $($@_LDFLAGS) $(CFLAGS) -o $@
 
 %.lo: %.c
 	@echo "LT   CC $<"
@@ -96,3 +103,10 @@ endef
 %.dtbo: %.dts
 	@echo "  DTCo $<"
 	@dtc -I dts $< -O dtb -o $@
+
+%.hex: %
+	$(OBJCOPY) --strip-debug --strip-unneeded $? -O ihex $?.hex
+
+%.asm: %
+	$(OBJDUMP) -D $? > $?.asm
+

buildflags.mk.in

@@ -10,5 +10,16 @@ BUILD_CONSOLE_J2000_INDI=@BUILD_CONSOLE_J2000_INDI@
 BUILD_ETHERCAT=@BUILD_ETHERCAT@
 BUILD_VESP=@BUILD_VESP@
 BUILD_AM335X=@BUILD_AM335X@
+BUILD_ATSAMX70=@BUILD_ATSAMX70@
+BUILD_LINUX_JOYSTICK=@BUILD_LINUX_JOYSTICK@
 BUILD_TEST=@BUILD_TEST@
 
+BUILD_PTHREAD=@BUILD_PTHREAD@
+BUILD_TCP=@BUILD_TCP@
+BUILD_DYNAMICLINKING=@BUILD_DYNAMICLINKING@
+BUILD_FILEIO=@BUILD_FILEIO@
+BUILD_EMBEDDED=@BUILD_EMBEDDED@
+BUILD_SYSTICK=@BUILD_SYSTICK@
+
+BUILD_CFLAGS=@CFLAGS@ @CFLAGS_PTHREAD@ @CFLAGS_TCP@ @CFLAGS_SEMAPHORE@ @CFLAGS_FILEIO@ @CFLAGS_EMBEDDED@ @CFLAGS_SYSTICK@
+

common/command/build.mk

 
+ifdef BUILD_TCP
+
 COMMAND_TARGETS += $(LIBDIR)/libcommand.la
 
 COMMAND_TARGETS += $(DIR)/command_list $(DIR)/command_send
 
-ifneq ($(OS), FreeBSD)
+ifdef BUILD_LINUX_JOYSTICK
 COMMAND_TARGETS += $(DIR)/command_joystick
 endif
 
@@ -46,3 +48,5 @@ CLEAN += $(COMMAND_TARGETS) $(ARCHOBJS) \
 	$(COMMAND_SEND_OBJS) \
 	$(COMMAND_JOYSTICK_OBJS) \
 	$(LIBDIR)/libcommand.a
+
+endif

common/command/command.h

@@ -36,7 +36,8 @@ enum command_ptype {
 	COMMAND_PTYPE_SPEED = 5, /* Simple direct 1st derivative setpoint */
 	COMMAND_PTYPE_SETPOINT_TIME = 6, /* Setpoint to be reached @ time */
 	COMMAND_PTYPE_SETPOINT_TRACK = 7, /* Use setpoint from track input */
-	
+	COMMAND_PTYPE_SPEED_TRACK = 8, /* Use 1st derivative from track input */
+
 	COMMAND_PTYPE_MAX, /* Always the last entry! */
 };
 

common/command/command_joystick.c

@@ -18,6 +18,9 @@
 
 #include <stdio.h>
 #include <fcntl.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
 #include <linux/joystick.h>
 #include <command/command.h>
 #include <dt_port_numbers.h>

common/log/build.mk

 
+ifdef BUILD_TCP
 ARCHSRCS = $(DIR)/log.c
+else
+ARCHSRCS = $(DIR)/log_std.c
+endif
+
 ARCHOBJS = $(ARCHSRCS:.c=.lo)
 
 SRCS+=$(ARCHSRCS)
@@ -7,8 +12,10 @@ SRCS+=$(ARCHSRCS)
 TARGETS += $(LIBDIR)/liblog.la
 
 $(ARCHOBJS): CFLAGS += -Wall -O3 -fPIC
+ifdef BUILD_TCP
 $(LIBDIR)/liblog.la: libutils.la
 $(LIBDIR)/liblog.la_LDFLAGS += -lutils
+endif
 $(LIBDIR)/liblog.la: $(ARCHOBJS)
 	$(LIB_LINK)
 

common/log/log.h

@@ -22,6 +22,8 @@
 
 #include <stdlib.h>
 #include <stdint.h>
+#include <time.h>
+#include <inttypes.h>
 
 enum log_type {
 	LOG_T_ERROR,

common/log/log_std.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2008, 2013, 2014, 2015
+	Copyright Stichting C.A. Muller Radioastronomiestation, 2008, 2013
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU General Public License for more details.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <stdarg.h>
+
+#include <log/log.h>
+
+
+static enum log_type log_level_console;
+static enum log_type log_level_remote;
+
+
+
+static uint64_t def_timestamp(void)
+{
+	static uint64_t ctr = 0;
+	return ctr++;
+}
+
+uint64_t (*log_timestamp)(void) = def_timestamp;
+
+
+static char *logtype(enum log_type type)
+{
+	switch(type) {
+		case LOG_T_ERROR:
+			return "  ERROR: ";
+		case LOG_T_WARNING:
+			return "WARNING: ";
+		case LOG_T_INFO:
+			return "   INFO: ";
+		case LOG_T_DEBUG:
+			return "  DEBUG: ";
+		default:
+			return "UNKNOWN: ";
+	}
+}
+
+
+void log_send(enum log_type type, char *fmt, ...)
+{
+	va_list ap;
+
+	if (log_level_console < type && log_level_remote < type)
+		return;
+
+	printf("%s", logtype(type));
+
+  	va_start(ap, fmt); 
+	vprintf(fmt, ap);
+	va_end(ap);
+	
+	printf("\n");
+}
+
+
+
+int log_server_start(int port, enum log_type console_level,
+    enum log_type remote_level)
+{
+	log_level_console = console_level;
+	log_level_remote = remote_level;
+
+	return 0;
+}
+void log_server_flush(void)
+{
+}
+
+void log_level_set(enum log_type console_level, enum log_type remote_level)
+{
+	log_level_console = console_level;
+	log_level_remote = remote_level;
+}
+
+
+int log_time_source_set(
+    uint64_t (*timestamp)(void),
+    void (*stamp2spec)(struct timespec *, uint64_t))
+{
+	log_timestamp = timestamp;
+
+	return 0;
+}
+

common/trace/build.mk

 
+ifdef BUILD_TCP
+
 TRACE_TARGETS += $(LIBDIR)/libtrace.la
 TRACE_TARGETS += $(DIR)/trace_dump
 TRACE_TARGETS += $(DIR)/trace_dumpdiff
@@ -79,3 +81,5 @@ CLEAN += $(TRACE_LIST_OBJS)
 CLEAN += $(TRACE_VIEW_OBJS)
 CLEAN += $(TRACE2FILE_OBJS)
 CLEAN += $(TRACE2PORT_OBJS)
+
+endif

common/utils/build.mk

 
+ifdef BUILD_TCP
 
 TARGETS += $(LIBDIR)/libutils.la
 TARGETS += $(DIR)/weather_test
@@ -6,8 +7,8 @@ TARGETS += $(DIR)/weather_test
 WEATHER_SRCS := $(DIR)/weather_test.c $(DIR)/weather.c $(DIR)/tcp_connect.c
 WEATHER_OBJS := $(WEATHER_SRCS:.c=.o)
 
-$(DIR)/weather_test_CFLAGS += -pthread
-$(DIR)/weather_test_LDFLAGS += -pthread
+$(DIR)/weather_test_CFLAGS +=
+$(DIR)/weather_test_LDFLAGS += -lpthread
 $(DIR)/weather_test: $(WEATHER_OBJS)
 
 ARCHSRCS := $(DIR)/tcp_connect.c \
@@ -22,8 +23,8 @@ ARCHSRCS := $(DIR)/tcp_connect.c \
 ARCHOBJS := $(ARCHSRCS:.c=.lo)
 
 
-LU_CFLAGS := -Wall -O3 -fPIC -pthread
-LU_LDFLAGS := -lrt -lm
+LU_CFLAGS := -Wall -O3 -fPIC 
+LU_LDFLAGS := -lrt -lm -lpthread
 
 LU_CFLAGS += `pkg-config --cflags glib-2.0`
 LU_LDFLAGS += `pkg-config --libs glib-2.0`
@@ -39,3 +40,6 @@ CLEAN += $(DIR)/weather_test
 CLEAN += $(WEATHER_OBJS) $(ARCHOBJS) $(LIBDIR)/libutils.a
 
 SRCS += $(ARCHSRCS) $(WEATHER_SRCS)
+
+endif
+

configure.ac

@@ -31,6 +31,10 @@ AC_ARG_ENABLE([test],
   [:],
   [enable_test=yes])
 
+AC_ARG_ENABLE([embedded],
+  [AS_HELP_STRING([--enable-embedded], [Enable/Disable embedde controller @<:@no@:>@])],
+  [enable_embedded=yes],
+  [:])
 
 #######################################################################
 #
@@ -105,13 +109,37 @@ AS_CASE(["$with_libnova"],
     [AC_CHECK_HEADERS([libnova/libnova.h])]
   )
 
+
+#######################################################################
+#
+#	Support for linux joystick
+
+AC_CHECK_HEADER(linux/joystick.h,[HAVE_HEADER_LINUX_JOYSTICK=1],[HAVE_HEADER_LINUX_JOYSTICK=0])
+
+#######################################################################
+#
+#	Real OS or embedded?
+
+AC_CHECK_LIB(pthread,pthread_attr_init,[HAVE_LIBPTHREAD=1],[HAVE_LIBPTHREAD=0])
+
+AC_CHECK_LIB(c,realpath,[HAVE_FILEIO=1],[HAVE_FILEIO=0])
+
+AC_CHECK_HEADER(sys/socket.h,[HAVE_TCP=1],[HAVE_TCP=0])
+
+AC_CHECK_HEADER(semaphore.h,[HAVE_SEMAPHORE=1],[HAVE_SEMAPHORE=0])
+
+AC_CHECK_HEADER(dlfcn.h,[HAVE_DYNAMICLINKING=1],[HAVE_DYNAMICLINKING=0])
+
+AC_CHECK_HEADER(sysclk.h,[HAVE_SYSTICK=1],[HAVE_SYSTICK=0])
+AC_CHECK_HEADER(samx70.h,[HAVE_ATSAMX70=1],[HAVE_ATSAMX70=0])
+
 #######################################################################
 #
 #	Some conclusions based on test results
 #
 
 
-AS_IF([test "$enable_console" = "yes"],
+AS_IF([test "$enable_console" = "yes" && test "$HAVE_TCP" = "1"],
   [AC_SUBST(BUILD_CONSOLE,["yes"])],
   [AC_SUBST(BUILD_CONSOLE,[""])])
 
@@ -148,6 +176,66 @@ AS_IF([test "$enable_test" = "yes"],
   [AC_SUBST(BUILD_TEST,["yes"])],
   [AC_SUBST(BUILD_TEST,[""])])
 
+AS_IF([test "$HAVE_LIBPTHREAD" = "1"],
+  [AC_SUBST(CFLAGS_PTHREAD,["-DHAVE_PTHREAD"])],
+  [AC_SUBST(CFLAGS_PTHREAD,[""])])
+
+AS_IF([test "$HAVE_LIBPTHREAD" = "1"],
+  [AC_SUBST(BUILD_PTHREAD,["yes"])],
+  [AC_SUBST(BUILD_PTHREAD,[""])])
+
+AS_IF([test "$HAVE_TCP" = "1"],
+  [AC_SUBST(CFLAGS_TCP,["-DHAVE_TCP"])],
+  [AC_SUBST(CFLAGS_TCP,[""])])
+
+AS_IF([test "$HAVE_TCP" = "1"],
+  [AC_SUBST(BUILD_TCP,["yes"])],
+  [AC_SUBST(BUILD_TCP,[""])])
+
+AS_IF([test "$HAVE_SEMAPHORE" = "1"],
+  [AC_SUBST(CFLAGS_SEMAPHORE,["-DHAVE_SEMAPHORE"])],
+  [AC_SUBST(CFLAGS_SEMAPHORE,[""])])
+
+AS_IF([test "$HAVE_HEADER_LINUX_JOYSTICK" = "1"],
+  [AC_SUBST(BUILD_LINUX_JOYSTICK,["yes"])],
+  [AC_SUBST(BUILD_LINUX_JOYSTICK,[""])])
+
+AS_IF([test "$HAVE_DYNAMICLINKING" = "1"],
+  [AC_SUBST(BUILD_DYNAMICLINKING,["yes"])],
+  [AC_SUBST(BUILD_DYNAMICLINKING,[""])])
+
+AS_IF([test "$HAVE_FILEIO" = "1"],
+  [AC_SUBST(BUILD_FILEIO,["yes"])],
+  [AC_SUBST(BUILD_FILEIO,[""])])
+
+AS_IF([test "$HAVE_FILEIO" = "1"],
+  [AC_SUBST(CFLAGS_FILEIO,["-DHAVE_FILEIO"])],
+  [AC_SUBST(CFLAGS_FILEIO,[""])])
+
+AS_IF([test "$enable_embedded" = "yes"],
+  [AC_SUBST(BUILD_EMBEDDED,["yes"])],
+  [AC_SUBST(BUILD_EMBEDDED,[""])])
+
+AS_IF([test "$enable_embedded" = "yes"],
+  [AC_SUBST(CFLAGS_EMBEDDED,["-DHAVE_EMBEDDED"])],
+  [AC_SUBST(CFLAGS_EMBEDDED,[""])])
+
+AS_IF([test "$HAVE_SYSTICK" = "1"],
+  [AC_SUBST(BUILD_SYSTICK,["yes"])],
+  [AC_SUBST(BUILD_SYSTICK,[""])])
+
+AS_IF([test "$HAVE_SYSTICK" = "1"],
+  [AC_SUBST(CFLAGS_SYSTICK,["-DHAVE_SYSTICK -D_POSIX_TIMERS"])],
+  [AC_SUBST(CFLAGS_SYSTICK,[""])])
+
+AS_IF([test "$HAVE_ATSAMX70" = "1"],
+  [AC_SUBST(BUILD_ATSAMX70,["yes"])],
+  [AC_SUBST(BUILD_ATSAMX70,[""])])
+
+AS_IF([test "$HAVE_ATSAMX70" = "1"],
+  [AC_SUBST(CFLAGS_ATSAMX70,["-DHAVE_ATSAMX70"])],
+  [AC_SUBST(CFLAGS_ATSAMX70,[""])])
+
 #######################################################################
 #
 #	Output
@@ -192,10 +280,26 @@ AS_IF([test "$BUILD_VESP" != ""],
    AC_MSG_NOTICE([    vesp: yes]),
    AC_MSG_NOTICE([    vesp: no]))
 
+AS_IF([test "$BUILD_LINUX_JOYSTICK" != ""],
+   AC_MSG_NOTICE([    linux joystick: yes]),
+   AC_MSG_NOTICE([    linux joystick: no]))
+
 AS_IF([test "$BUILD_AM335X" != ""],
    AC_MSG_NOTICE([    am335x: yes]),
    AC_MSG_NOTICE([    am335x: no]))
 
+AS_IF([test "$BUILD_ATSAMX70" != ""],
+   AC_MSG_NOTICE([    atsamx70: yes]),
+   AC_MSG_NOTICE([    atsamx70: no]))
+
+AS_IF([test "$BUILD_SYSTICK" != ""],
+   AC_MSG_NOTICE([    systick: yes]),
+   AC_MSG_NOTICE([    systick: no]))
+
+AS_IF([test "$BUILD_EMBEDDED" != ""],
+   AC_MSG_NOTICE([    embedded: yes]),
+   AC_MSG_NOTICE([    embedded: no]))
+
 AS_IF([test "$BUILD_TEST" != ""],
    AC_MSG_NOTICE([    test: yes]),
    AC_MSG_NOTICE([    test: no]))

console/console/console_httpd.c

@@ -692,7 +692,9 @@ static int callback_http(struct lws *wsi,
 	
 	switch (reason) {
 		case LWS_CALLBACK_RECEIVE: {
-			char *rcv = in;
+			char rcv[len+1];
+			memcpy(rcv, in, len);
+			rcv[len] = 0;
 			struct ws_client *ws_client;
 			printf("lws receive: %s\n", rcv);
 			
@@ -836,7 +838,11 @@ static int callback_http(struct lws *wsi,
 			free(resource_path);
 			break;
 		}
-
+		case LWS_CALLBACK_HTTP_FILE_COMPLETION:
+			/* kill the connection after we sent one file */
+			r = -1;
+			break;
+			
 		case LWS_CALLBACK_ADD_POLL_FD: {
 			struct lws_pollargs *args = in;
 	

console/console/console_j2000tracker.c

@@ -136,7 +136,11 @@ void a2coord(char *ara, char *adec, struct ln_hms *ra, struct ln_dms *dec)
 		i = 1;
 	} else {
 		dec->neg = 0;
-		i = 0;
+		if (strlen(adec) && adec[0] =='+') {
+			i = 1;
+		} else {
+			i = 0;
+		}
 	}
 	dec->degrees = 0;
 	dec->minutes = 0;

console/console/start_console.sh

@@ -24,6 +24,7 @@ screen -S console -X screen -t console_sattracker console_sattracker
 screen -S console -X screen -t console_weather console_weather
 screen -S console -X screen -t console_httpd console_httpd
 
+screen -S console -X screen -t console_trace2port ../../common/trace/trace2port -d localhost Azimuth_Position Elevation_Position azimuth_setpoint_error.difference elevation_setpoint_error.difference Azimuth_Speed Elevation_Speed_Right Focusbox_Position
 
 screen -S console -X screen -t trace_az_pos ../../common/trace/trace2file localhost 10000 Azimuth_Position /var/log/dt/traces/Azimuth_Position.trace 15000 100000 5
 screen -S console -X screen -t trace_az_pos ../../common/trace/trace2file localhost 10000 Elevation_Position /var/log/dt/traces/Elevation_Position.trace 15000 100000 5

console/htdocs/index.html

@@ -243,6 +243,7 @@ status_dt.button_disable.onclick = function() {
 	azimuth_enable_command.send(0);
 	elevation_enable_command.send(0);
 	elevation_recover_command.send(0);
+	status_dt.fb_enable_command.send(0);
 }
 
 

console/js/dt_status.js

@@ -55,8 +55,8 @@ function dt_status(element_name) {
 	this.val_az_safe = new dt_ui_value_trace(element_name + "_val_az_safe", "Azimuth_Safe", 0);
 	this.val_el_safe = new dt_ui_value_trace(element_name + "_val_el_safe", "Elevation_Safe", 0);
 	
-	this.button_fb_p = new dt_ui_button(element_name + "_fb_p");
-	this.button_fb_m = new dt_ui_button(element_name + "_fb_m");
+	this.text_fb_setpoint = new dt_ui_text(element_name + "_fb_setpoint");
+	this.button_fb_e = new dt_ui_button(element_name + "_fb_e");
 
 	this.button_az_enable = new dt_ui_button(element_name + "_az_enable");
 	this.button_el_enable = new dt_ui_button(element_name + "_el_enable");
@@ -72,7 +72,7 @@ function dt_status(element_name) {
 	    this.val_az_en, this.val_el_en,
 	    this.val_az_safe, this.val_el_safe,
 	    this.az_view, this.el_view,
-	    this.button_fb_p, this.button_fb_m,
+	    this.text_fb_setpoint, this.button_fb_e,
 	    this.button_az_enable, this.button_el_enable, this.button_disable,
 	    this.val_az_sp, this.val_el_sp, this.val_az_north]);
 
@@ -94,10 +94,10 @@ function dt_status(element_name) {
 	this.val_az_sp.suffix_set("°");
 	this.val_el_sp.suffix_set("°");
 
-	this.button_fb_p.text_set("+");
-	this.button_fb_m.text_set("-");
-	this.button_fb_p.color_set("black");
-	this.button_fb_m.color_set("black");
+	this.text_fb_setpoint.length_set(3);
+	this.text_fb_setpoint.width_set(100);
+	this.button_fb_e.text_set("set");
+	this.button_fb_e.color_set("black");
 	this.button_az_enable.text_set("Azimuth Enable");
 	this.button_el_enable.text_set("Elevation Enable");
 	this.button_disable.text_set("Disable");
@@ -115,8 +115,6 @@ function dt_status(element_name) {
 	this.window.resize_equal([
 	    this.val_az_sp, this.val_el_sp, this.val_az_north]);
 
-	this.window.resize_equal([this.button_fb_p, this.button_fb_m]);
-	
 	this.window.resize_equal([
 	    this.button_az_enable, this.button_el_enable, this.button_disable]);
 	    
@@ -128,7 +126,7 @@ function dt_status(element_name) {
 	this.window.align_horizontal([
 	    this.lbl_el, this.val_el_pos, this.val_el_en, this.val_el_safe], 5);
 	this.window.align_horizontal([
-	    this.lbl_fb, this.val_fb_pos, this.button_fb_m, this.button_fb_p], 5);
+	    this.lbl_fb, this.val_fb_pos, this.text_fb_setpoint, this.button_fb_e ], 5);
 	this.window.align_horizontal([
 	    this.lbl_t, this.val_t], 5);
 
@@ -286,21 +284,13 @@ function dt_status(element_name) {
 	this.button_disable.onclick = function() {
 	}
 	
-	this.fb_plus_command = new controller_command("focusbox_plus", "bool");
-	this.fb_min_command = new controller_command("focusbox_min", "bool");
+	this.fb_setpoint_command = new controller_command("focusbox_setpoint", "float");
+	this.fb_enable_command = new controller_command("focusbox_enable", "bool");
 	
-	this.button_fb_p.onmousedown = function() {
-		dt_status_this.fb_plus_command.send(1);
-	}
-	this.button_fb_p.onmouseup = function() {
-		dt_status_this.fb_plus_command.send(0);
-	}
-	
-	this.button_fb_m.onmousedown = function() {
-		dt_status_this.fb_min_command.send(1);
-	}
-	this.button_fb_m.onmouseup = function() {
-		dt_status_this.fb_min_command.send(0);