Merge branch 'jeroen' into ui

common/include/controller_setpoint_command.h

+../../controller/controller/controller_setpoint_command.h
\ No newline at end of file

common/utils/Makefile

@@ -11,7 +11,7 @@ LIBUTILOBJS= $(UTILSRCS:.c=.lo)
 
 all: $(LIBUTILOBJS) weather_test libutils.la libutils.la_install
 
-libutils.la_LDFLAGS= -lm -rpath ${CURDIR}/../lib
+libutils.la_LDFLAGS= -lm -rpath ${CURDIR}/../lib -lrt
 libutils.la: $(LIBUTILOBJS)
 
 ${CURDIR}/../lib:

console/console/Makefile

 include ../build.mk
 
-CFLAGS= -Wall -g -I../../common/utils \
+CFLAGS= -Wall -O3 -I../../common/utils \
 	-I../controller \
 	-Iaalib -Ipredictlib \
 	-I../../common/trace \
@@ -8,7 +8,7 @@ CFLAGS= -Wall -g -I../../common/utils \
 	-I../../common/log \
 	-I../../include
 
-LDFLAGS+= -L../../common/lib/ -L../../lib/ -L./lib -lutils -ltrace -static -llog
+LDFLAGS+= -L../../common/lib/ -L../../lib/ -L./lib -lutils -ltrace -llog
 
 LIBNOVA=-lnova -L../../lib/
 

console/console/console_sattracker.c

@@ -53,6 +53,10 @@
 #include "log.h"
 
 #define TIME_OFFSET 2
+#define EL_HORIZON -1.0
+#define NEXTPASS_RANGE_T (3600 * 24)
+#define COORD_NR 50
+
 
 char *command_host = "localhost";
 int command_port = CONSOLE_COMMAND_PORT;
@@ -64,32 +68,191 @@ char *el_command_spg = "Elevation_Setpoint";
 char tle_str[139] =
 "1 25544U 98067A   11346.36157800  .00019501  00000-0  25689-3 0  6081"
 "2 25544  51.6432 344.3748 0024836 155.4957 344.3191 15.58092544748721";
-
+char *name = NULL;
 
 struct location *location;
 struct predict *predict = NULL;
 
-bool set_tle(char newtle[139])
+static bool passknown = false;
+time_t delay;
+static double az_aos = 0;
+static time_t t_aos;
+static time_t t_los;
+struct status_server *stat_srv;
+
+void nextpass(struct predict *predict)
+{
+	time_t t, tnow = time(NULL);
+	double JD;
+	struct ln_date date;
+	int i;
+	double prev_az, az, el;
+	bool aos = false, los = false;
+	bool cross_west = false, cross_east = false;
+	int t_west_1 = 0, t_east_1 = 0, t_west_2 = 0, t_east_2 = 0;
+	time_t t_step;
+	char statline[2000];
+	char *statlinepos;
+	
+	if (delay > tnow)
+		return;
+	
+	for (i = TIME_OFFSET; i < NEXTPASS_RANGE_T; i++) {
+		t = tnow + i;
+		ln_get_date_from_timet(&t, &date);
+		JD = ln_get_julian_day(&date);
+
+		predict_calc_azel(predict, JD, &az, &el);
+		
+		az -= 180.0;
+		
+		if (el >= EL_HORIZON && !aos) {
+			log_send(LOG_T_INFO, 
+			    "Next pass starts in %d seconds, az=%f", i, az);
+			aos = true;
+			prev_az = az;
+			az_aos = az;
+			t_aos = tnow + i;
+		}
+		if (el < EL_HORIZON && aos) {
+			log_send(LOG_T_INFO,
+			    "Next pass ends in %d seconds", i);
+			los = true;
+			t_los = tnow + i;
+			break;
+		}
+		
+		if (aos && !los) {
+//			printf("%d az: %f\n", (int)t, az);
+			/* this is a pass */
+			if (az < -90.0 && prev_az > 90.0) {
+				/* crossed north */
+				prev_az -= 360.0;
+			}
+			if (az > 90.0 && prev_az < -90.0) {
+				/* crossed north */
+				prev_az += 360.0;
+			}
+			if (az <= 90.0 && prev_az > 90.0)
+				cross_west = true;
+			if (az >= -90.0 && prev_az < -90.0)
+				cross_east = true;
+			if (cross_east) {
+				t_west_2++;
+			} else {
+				t_west_1++;
+			}
+			if (cross_west) {
+				t_east_2++;
+			} else {
+				t_east_1++;
+			}
+		}
+	}
+	
+	if (!aos) {
+		log_send(LOG_T_WARNING,
+		    "No pass within %d seconds, will calculate again after %d seconds", 
+		    NEXTPASS_RANGE_T, NEXTPASS_RANGE_T / 2);
+		delay = tnow +  NEXTPASS_RANGE_T / 2;
+		if (stat_srv)
+			status_server_send(stat_srv, "pass=unknown\n");
+		return;
+	}
+	delay = 0;
+	
+	log_send(LOG_T_INFO,
+	    "cross_west: %d, cross_east: %d, t_w_1: %d, t_w_2: %d, t_e_1: %d, t_e_2: %d",
+	    cross_west, cross_east, t_west_1, t_west_2, t_east_1, t_east_2);
+	if (t_west_1 >= t_west_2 &&
+	    t_west_1 >= t_east_1 &&
+	    t_west_1 >= t_east_2) {
+		/* if we begin with start az we might go through east late */
+		if (az_aos < -90) {
+			az_aos += 360;
+		}
+	} else if (t_west_2 >= t_west_1 &&
+	    t_west_2 >= t_east_1 &&
+	    t_west_2 >= t_east_2) {
+		/* if we begin with start az we go through east in wrong way first */
+		az_aos += 360;
+	} else if (t_east_1 >= t_west_1 &&
+	    t_east_1 >= t_west_2 &&
+	    t_east_1 >= t_east_2) {
+		/* if we begin with start az we might go through west late */
+		if (az_aos > 90) {
+			az_aos -= 360;
+		}
+	} else {
+		az_aos -= 360;
+	}
+	
+	if (az_aos > 270.0)
+		az_aos = 270.0;
+	if (az_aos < -270.0)
+		az_aos = -270.0;
+
+	t_step = (t_los - t_aos) / COORD_NR;
+	if (!t_step)
+		t_step = 1;
+
+	statlinepos = statline;
+	statlinepos += sprintf(statlinepos, "pass=");
+	
+	for (i = t_aos; i < t_los; i += t_step) {
+		t = i;
+		ln_get_date_from_timet(&t, &date);
+		JD = ln_get_julian_day(&date);
+
+		predict_calc_azel(predict, JD, &az, &el);
+		az -= 180.0;
+		statlinepos += sprintf(statlinepos, "%lld:%d:%d ", 
+		    (long long)t, (int)round(az), (int)round(el));
+	}
+	sprintf(statlinepos, "\n");
+
+	if (stat_srv)
+		status_server_send(stat_srv, statline);
+
+	passknown = true;
+}
+
+bool set_tle(char *newtle)
 {
 	double lat, lon, alt;
+	char processed_tle[139];
+	char *new_name;
 
 	lat = location_get_latitude(location);
 	lon = location_get_longitude(location);
 	alt = location_get_altitude(location);
-	printf("Using lat: %f, lon: %f, alt: %f\n", lat, lon, alt);
+	log_send(LOG_T_DEBUG, "Using lat: %f, lon: %f, alt: %f",
+	    lat, lon, alt);
 	
-	if (predict_tle_check(newtle)) {
-		printf("Invallid TLE\n");
+	if (predict_tle_check(newtle, processed_tle, &new_name)) {
+		log_send(LOG_T_ERROR, "Invallid TLE");
 		return false;
 	}
 	
-	strcpy(tle_str, newtle);
+	strncpy(tle_str, processed_tle, 139);
+	if (name) {
+		free(name);
+		name = NULL;
+	}
+	if (new_name)
+		name = new_name;
+	else
+		name = strdup("unknown");
+	
+	log_send(LOG_T_INFO, "Switching to new TLE for satellite '%s'",
+	    name ? name : "unknown");
 	
 	if (predict)
 		predict_free(predict);
 	predict = predict_create(tle_str, lat, lon, alt);
-	
-	log_send(LOG_T_INFO, "Switching to new TLE");
+	passknown = false;
+	delay = 0;
+	nextpass(predict);
 	
 	return true;
 }
@@ -128,10 +291,10 @@ int handle_cmd(char *name, char *val)
 {
 	int i;
 
-	printf("name %s value %s\n", name, val);
+	log_send(LOG_T_DEBUG, "name %s value %s", name, val);
 	for (i = 0; compensation_switches[i].name; i++) {
 		if (!strcmp(name, compensation_switches[i].name)) {
-			printf("found switch %s\n", name);
+			log_send(LOG_T_DEBUG, "found switch %s", name);
 			if (val[0] == '1') {
 				*compensation_switches[i].value = true;
 				if (!strcmp(name, "enabled")) {
@@ -143,10 +306,7 @@ int handle_cmd(char *name, char *val)
 		}
 	}
 	if (!strcmp(name, "tle")) {
-		char newtle[139];
-
-		strcpy(newtle, val);
-		if (!set_tle(newtle))
+		if (!set_tle(val))
 			switch_enabled = false;
 	}
 
@@ -167,11 +327,6 @@ void output(struct status_server *stat_srv)
 	
 	last = now;
 	
-//	printf("Trace  %f %f : %02dh%02dm%04.1f %s%03dd%02dm%04.1f\n",
-//	    hrz.az, hrz.alt,
-//	    hms.hours, hms.minutes, hms.seconds,
-//	    dms.neg ? "-" : " ", dms.degrees, dms.minutes, dms.seconds);
-
 	statlinepos = statline;
 	for (i = 0; compensation_switches[i].name; i++) {
 		if (i) {
@@ -184,6 +339,10 @@ void output(struct status_server *stat_srv)
 		    *compensation_switches[i].value);
 		statlinepos += ret;
 	}
+	if (name) {
+		ret = sprintf(statlinepos, ",name=%s", name);
+		statlinepos += ret;
+	}
 	sprintf(statlinepos, ",tle=%s\n", tle_str);
 
 	status_server_send(stat_srv, statline);
@@ -195,9 +354,7 @@ int main(int argc, char **argv)
 	struct setpoint_command *sp_command_az = NULL;
 	struct setpoint_command *sp_command_el = NULL;
 	struct command_server *cmd_srv;
-	struct status_server *stat_srv;
 	time_t lastt = 0;
-	double lat, lon, alt;
 	double last_az = 0.0;
 	
 	dt_model_init();
@@ -208,10 +365,6 @@ int main(int argc, char **argv)
 		return -1;
 	}
 
-	lat = location_get_latitude(location);
-	lon = location_get_longitude(location);
-	alt = location_get_altitude(location);
-	printf("Using lat: %f, lon: %f, alt: %f\n", lat, lon, alt);
 	
 	set_tle(tle_str);
 
@@ -229,25 +382,29 @@ int main(int argc, char **argv)
 	sp_command_el = setpoint_command_init(command_host, command_port,
 	    el_command_spg, "console/sattracker");
 	if (!sp_command_az || !sp_command_el) {
-		fprintf(stderr, "Setpoint generator(s) not found\n");
+		log_send(LOG_T_ERROR, "Setpoint generator(s) not found");
 		exit(-1);
 	}
 
 	cmd_srv = command_server_create(cmd_port, 0, 100);
 	if (!cmd_srv) {
-		printf("Could not open listen port for commands\n");
+		log_send(LOG_T_ERROR,
+		    "Could not open listen port for commands");
+		return -1;
 	} else {
 		command_server_handler_set(cmd_srv, handle_cmd);
 	}
 
 	stat_srv = status_server_create(stat_port, 0, 100);
-	if (!cmd_srv) {
-		printf("Could not open listen port for status\n");
+	if (!stat_srv) {
+		log_send(LOG_T_ERROR,
+		    "Could not open listen port for status");
+		return -1;
 	}
 
 	weather = weather_create("Dwingeloo");
 	if (!weather) {
-		fprintf(stderr, "Could not create weather handle\n");
+		log_send(LOG_T_ERROR, "Could not create weather handle");
 		exit(-1);
 	}
 
@@ -274,43 +431,64 @@ int main(int argc, char **argv)
 
 			predict_calc_azel(predict, JD, &az, &el);
 
+			/* predict has an az range from 0 to 360 with 0 being South.
+			   Dwingeloo has an az range from -270 to 270 with 0 being South
+			 */
+			az -= 180.0;
+			
+			if (el < EL_HORIZON) {
+				if (!passknown)
+					nextpass(predict);
+				
+				/* large step? */
+				if (fabs(az_aos - az) > 180.0) {
+					log_send(LOG_T_DEBUG,
+					    "Preset to aos position %f -> %f", 
+					    az, az_aos);
+					az += copysign(360.0, az_aos);
+				}
+			} else {
+				/* check if we might have to compensate 360 
+				   degrees to prevent large az steps
+				 */
+				log_send(LOG_T_DEBUG,
+				    "fabs(%f - %f): %f", last_az,az,fabs(last_az- az));
+				if (az > 90.0 || az < -90.0) {
+					/* large step? */
+					if (fabs(last_az - az) > 200.0) {
+						log_send(LOG_T_DEBUG,
+						    "Swapping AZ");
+						az += copysign(360.0, last_az);
+					}
+				}
+				passknown = false;
+			}
+			
+			if (t > t_los)
+				passknown = false;
+						
 			if (refraction_enable) {
 				/* Get current weather */
 				temperature = weather_get_temperature(weather);
 				pressure = weather_get_pressure(weather);
 				/* Refraction adjustment */
 				alt_adj = ln_get_refraction_adj(el, pressure, temperature);
-				printf("Refraction: %f @ %fC,%fmbar\n", alt_adj, temperature, pressure);
+				log_send(LOG_T_DEBUG,
+				    "Refraction: %f @ %fC,%fmbar", alt_adj, temperature, pressure);
 				el += alt_adj;
 			}
 			
-			/* libnova has an az range from 0 to 360 with 0 being South.
-			   Dwingeloo has an az range from -270 to 270 with 0 being South
-			 */
-			az -= 180.0;
-			
 			if (dt_model_enable) {
 				double daz, del;
 				
 				daz = dt_model_azimuth_delta(az, el);
 				del = dt_model_elevation_delta(az, el);
-				printf("model: %g %g\n", daz, del);
+				log_send(LOG_T_DEBUG, "model: %g %g", daz, del);
 				az += daz;
 				el += del;
 			}
 
-			/* check if we might have compensate 360 degrees to
-			   prevent large az steps
-			 */
-			printf("fabs(%f - %f): %f\n", last_az,az,fabs(last_az- az));
-			if (az > 90.0 || az < -90.0) {
-				/* large step? */
-				if (fabs(last_az - az) > 200.0) {
-					printf("Swapping AZ\n");
-					az += copysign(360.0, last_az);
-				}
-			}
-			if (!switch_cmd && fabs(last_az - az) > 180.0) {
+			if (!switch_cmd && fabs(last_az - az) > 90.0) {
 				if (switch_enabled)
 					log_send(LOG_T_WARNING,
 					    "Disabling tracker to prevent large azimuth jump");
@@ -319,7 +497,11 @@ int main(int argc, char **argv)
 
 			last_az = az;
 			
-			printf("Setpoint: %d %f %f %f\n",
+			/* Temporary limit on elevation */
+			if (el < 0.0)
+				el = 0.0;
+			
+			log_send(LOG_T_DEBUG, "Setpoint: %d %f %f %f",
 			    (unsigned int)t, JD, az, el);
 
 			if (switch_enabled) {

console/console/predictlib/predictlib.c

@@ -179,9 +179,45 @@ struct predict *predict_create(char *tle, double lat, double lon, double alt)
 	return predict;
 }
 
-bool predict_tle_check(char *tle)
+bool predict_tle_check(char *tle, char processed_tle[139], char **name)
 {
-	return !Good_Elements(tle);
+	char tmp_tle[strlen(tle)+1];
+	int i;
+	
+	strcpy(tmp_tle, tle);
+	for (i = 0; i < strlen(tmp_tle); i++) {
+		if (tmp_tle[i] == '\n' ||
+		    tmp_tle[i] == '\r') {
+			strcpy(tmp_tle + i, tmp_tle + i + 1);
+			i--;
+		}
+	}
+	
+	for (i = 0; i < (int)strlen(tmp_tle) - 137; i++) {
+		if (Good_Elements(tmp_tle + i)) {
+			if (processed_tle) {
+				memcpy(processed_tle, tmp_tle + i, 138);
+				processed_tle[138] = 0;
+			}
+			if (name && i) {
+				*name = malloc(i+1);
+				if (*name) {
+					memcpy(*name, tmp_tle, i);
+					(*name)[i] = 0;
+					while (i && (
+					    (*name)[i-1] == ' ' ||
+					    (*name)[i-1] == '\t')) {
+						(*name)[i-1] = 0;
+						i--;
+					}
+				}
+			} else {
+				*name = NULL;
+			}
+			return false;
+		}
+	}
+	return true;
 }
 
 void predict_free(struct predict *predict)

console/console/predictlib/predictlib.h

@@ -5,7 +5,7 @@
 
 struct predict;
 
-bool predict_tle_check(char *tle);
+bool predict_tle_check(char *tle, char processed_tle[138], char **name);
 struct predict *predict_create(char *tle, double lat, double lon, double alt);
 
 

console/console/setpoint.c

@@ -143,13 +143,19 @@ struct setpoint_command *setpoint_command_init(char *host, int port,
 int setpoint_command_setpoint(struct setpoint_command *sp_cmd, float sp)
 {
 	int ret;
-	unsigned char command[4];
-	unsigned char arg[4];
+	union {
+		unsigned char c[4];
+		uint32_t u32;
+	} command;
+	union {
+		unsigned char c[4];
+		uint32_t u32;
+	} arg;
 	f32_t f;
 	
-	*(uint32_t*)command = htonl(BLOCK_SPG_SETPOINT);
+	command.u32 = htonl(BLOCK_SPG_SETPOINT);
 	f.f = sp;
-	*(uint32_t*)arg = htonl(f.u);
+	arg.u32 = htonl(f.u);
 	
 	if (sp_cmd->fd < 0) {
 		sleep(1);
@@ -160,13 +166,13 @@ int setpoint_command_setpoint(struct setpoint_command *sp_cmd, float sp)
 			return 1;
 	}
 
-	ret = write(sp_cmd->fd, command, 4);
+	ret = write(sp_cmd->fd, command.c, 4);
 	if (ret != 4) {
 		printf("Connection to controller command socket lost.\n");
 		close(sp_cmd->fd);
 		sp_cmd->fd = -1;
 	} else {
-		ret = write(sp_cmd->fd, arg, 4);
+		ret = write(sp_cmd->fd, arg.c, 4);
 		if (ret != 4) {
 			printf("Connection to controller command socket lost.\n");
 			close(sp_cmd->fd);
@@ -180,13 +186,19 @@ int setpoint_command_setpoint(struct setpoint_command *sp_cmd, float sp)
 int setpoint_command_speed(struct setpoint_command *sp_cmd, float speed)
 {
 	int ret;
-	unsigned char command[4];
-	unsigned char arg[4];
+	union {
+		unsigned char c[4];
+		uint32_t u32;
+	} command;
+	union {
+		unsigned char c[4];
+		uint32_t u32;
+	} arg;
 	f32_t f;
 	
-	*(uint32_t*)command = htonl(BLOCK_SPG_SPEED);
+	command.u32 = htonl(BLOCK_SPG_SPEED);
 	f.f = speed;
-	*(uint32_t*)arg = htonl(f.u);
+	arg.u32 = htonl(f.u);
 	
 	if (sp_cmd->fd < 0) {
 		sleep(1);
@@ -197,13 +209,13 @@ int setpoint_command_speed(struct setpoint_command *sp_cmd, float speed)
 			return 1;
 	}
 
-	ret = write(sp_cmd->fd, command, 4);
+	ret = write(sp_cmd->fd, command.c, 4);
 	if (ret != 4) {
 		printf("Connection to controller command socket lost.\n");
 		close(sp_cmd->fd);
 		sp_cmd->fd = -1;
 	} else {
-		ret = write(sp_cmd->fd, arg, 4);
+		ret = write(sp_cmd->fd, arg.c, 4);
 		if (ret != 4) {
 			printf("Connection to controller command socket lost.\n");
 			close(sp_cmd->fd);
@@ -218,14 +230,20 @@ int setpoint_command_setpoint_time(struct setpoint_command *sp_cmd,
     float sp, time_t sptime)
 {
 	int ret;
-	unsigned char command[4];
-	unsigned char arg[8];
+	union {
+		unsigned char c[4];
+		uint32_t u32;
+	} command;
+	union {
+		unsigned char c[4];
+		uint32_t u32;
+	} arg[2];
 	f32_t f;
 	
-	*(uint32_t*)command = htonl(BLOCK_SPG_SETPOINT_TIME);
+	command.u32 = htonl(BLOCK_SPG_SETPOINT_TIME);
 	f.f = sp;
-	*(uint32_t*)arg = htonl(f.u);
-	*(uint32_t*)&arg[4] = htonl(sptime);
+	arg[0].u32 = htonl(f.u);
+	arg[1].u32 = htonl(sptime);
 	
 	if (sp_cmd->fd < 0) {
 		sleep(1);
@@ -236,13 +254,13 @@ int setpoint_command_setpoint_time(struct setpoint_command *sp_cmd,
 			return 1;
 	}
 
-	ret = write(sp_cmd->fd, command, 4);
+	ret = write(sp_cmd->fd, command.c, 4);
 	if (ret != 4) {