o Move log functions to a common library and use it in the console

o log_proxy has an extra server port to receive logs

Makefile

@@ -11,17 +11,20 @@ all:
 	$(MAKE) -C console
 
 controller:
+	$(MAKE) -C common/log
 	$(MAKE) -C common/utils
 	$(MAKE) -C common/trace
 	$(MAKE) -C controller
 
 console:
+	$(MAKE) -C common/log
 	$(MAKE) -C common/utils
 	$(MAKE) -C common/trace
 	cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install
 	$(MAKE) -C console
 
 clean:
+	$(MAKE) -C common/log clean
 	$(MAKE) -C common/utils clean
 	$(MAKE) -C common/trace clean
 	$(MAKE) -C controller clean

common/include/dt_port_numbers.h

@@ -31,6 +31,7 @@
 #define CONSOLE_DT_MODEL_STAT_PORT   11090
 #define CONSOLE_DT_MODEL_CMD_PORT    11091
 #define CONSOLE_LOG_PORT             11200
+#define CONSOLE_LOG_PORT_IN          11201
 
 
 /* Port numbers for controller                                               */

controller/log/Makefile → common/log/Makefile

 
-CFLAGS= -Wall -O3
-
+CFLAGS= -Wall -O3 -I../utils
+LDFLAGS= -lutils
 
 ARCHSRCS = log.c
 ARCHOBJS = $(ARCHSRCS:.c=.lo)

controller/log/log.c → common/log/log.c

@@ -36,9 +36,16 @@
 #include <stdarg.h>
 #include <stdbool.h>
 
+#include <tcp_connect.h>
+
 #include "log.h"
 
+
 static int listen_port = 0;
+static int server_port = 0;
+static char *server_host = NULL;
+static char *client_name = NULL;
+
 
 struct log_client {
 	int used;
@@ -235,7 +242,7 @@ static void *log_server(void *arg)
 					write(clients[i].fd, time, strlen(time));
 					write(clients[i].fd, " ", 1);
 					write(clients[i].fd, header, strlen(header));
-					
+
 					write(clients[i].fd, msgs[msgs_rd].msg,
 					    strlen(msgs[msgs_rd].msg));
 					
@@ -295,6 +302,123 @@ int log_server_start(int port, enum log_type console_level,
 	return 0;
 }
 
+
+static void *log_client(void *arg)
+{
+	int fd = -1;
+	
+	signal(SIGPIPE, SIG_IGN);
+	
+	while (1) {
+		if (!msgs[msgs_rd].used) {
+			sem_wait(&queue_wait);
+		}
+						
+		if (msgs[msgs_rd].used) {
+			char time[100];
+			char *header;
+			struct tm gmt;
+			
+			gmtime_r(&msgs[msgs_rd].t, &gmt);
+			timestamp(&gmt, time);
+
+			switch(msgs[msgs_rd].type) {
+				case LOG_T_ERROR:
+					header = "  ERROR: ";
+					break;
+				case LOG_T_WARNING:
+					header = "WARNING: ";
+					break;
+				case LOG_T_INFO:
+					header = "   INFO: ";
+					break;
+				case LOG_T_DEBUG:
+					header = "  DEBUG: ";
+					break;
+				default:
+					header = "UNKNOWN: ";
+					break;
+			}
+			
+			if (fd < 0) {
+				fd = tcp_connect(server_host, server_port);
+			}
+			
+			if (msgs[msgs_rd].type <= log_level_remote && fd >= 0) {
+				int r;
+				
+				write(fd, time, strlen(time));
+				write(fd, " ", 1);
+				write(fd, header, strlen(header));
+					
+				if (client_name) {
+					write(fd, client_name, strlen(client_name));
+					write(fd, ": ", 2);
+				}
+					
+				write(fd, msgs[msgs_rd].msg,
+				    strlen(msgs[msgs_rd].msg));
+					
+				r = write(fd, "\n", 1);
+				fsync(fd);
+					
+				if (r <= 0) {
+					close(fd);
+					fd = -1;
+				}
+			}
+			
+			if (msgs[msgs_rd].type <= log_level_console)
+				printf("%s %s%s\n", time, header, msgs[msgs_rd].msg);
+			
+			msgs[msgs_rd].used = 0;
+			msgs_rd++;
+			msgs_rd %= LOG_MAX_QUEUE;
+		}
+	}
+
+	return NULL;
+}
+
+int log_client_start(char *host, int port, enum log_type console_level,
+    enum log_type remote_level, char *name)
+{
+	pthread_t thread_id;
+	pthread_attr_t attr;
+	int i;
+
+	log_level_console = console_level;
+	log_level_remote = remote_level;
+
+	server_port = port;
+	if (server_host)
+		free(server_host);
+	server_host = strdup(host);
+	if (client_name)
+		free(client_name);
+	client_name = strdup(name);
+	
+	for (i = 0; i < LOG_MAX_QUEUE; i++) {
+		msgs[i].used = 0;
+	}
+	
+	for (i = 0; i < LOG_MAX_CLIENTS; i++) {
+		clients[i].fd = -1;
+		clients[i].used = 0;
+	}
+
+	sem_init(&queue_wait, 0, 1);
+
+	printf("Starting log client %s:%d for %s\n", host, port, name);
+
+	pthread_attr_init(&attr);
+	pthread_attr_setstacksize(&attr, PTHREAD_STACK_MIN * 2);
+
+	pthread_create(&thread_id, &attr, log_client, NULL);
+
+	return 0;
+}
+
 void log_server_flush(void)
 {
 	sleep(1);

controller/log/log.h → common/log/log.h

@@ -28,8 +28,12 @@ enum log_type {
 };
 
 void log_send(enum log_type type, char *fmt, ...) __attribute__ ((format (printf, 2, 3)));
+
 int log_server_start(int port, enum log_type console_level,
     enum log_type remote_level);
 void log_server_flush(void);
 
+int log_client_start(char *host, int port, enum log_type console_level,
+    enum log_type remote_level, char *name);
+
 #endif /* _INCLUDE_LOG_H_ */

console/console/Makefile

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

console/console/console_dt_model.c

@@ -41,9 +41,10 @@
 #include "dt_model.h"
 
 #include "dt_port_numbers.h"
-
+#include "dt_host.h"
 #include "command_server.h"
 #include "status_server.h"
+#include "log.h"
 
 
 int stat_port = CONSOLE_DT_MODEL_STAT_PORT;
@@ -133,7 +134,7 @@ static int load_ini(void)
 			}
 		}
 	} else {
-		printf("ini file load failed\n");
+		log_send(LOG_T_ERROR, "ini file load failed\n");
 		ret = -1;
 	}
 
@@ -150,8 +151,10 @@ static int load_ini(void)
 static int handle_cmd(char *name, char *val)
 {
 	printf("name %s value %s\n", name, val);
-	if (!strcmp(name, "reload"))
+	if (!strcmp(name, "reload")) {
+		log_send(LOG_T_WARNING, "Reloading ini file");
 		load_ini();
+	}
 
 	return 0;
 }
@@ -207,6 +210,10 @@ int main(int argc, char **argv)
 		printf("Could not open listen port for status\n");
 	}
 
+
+	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
+	    LOG_T_DEBUG, LOG_T_INFO, "console/dt_model");
+
 	while (1)
 	{
 		int high = 0;

console/console/console_j2000tracker.c

@@ -51,6 +51,8 @@
 #include "dt_port_numbers.h"
 #include "command_server.h"
 #include "status_server.h"
+#include "dt_host.h"
+#include "log.h"
 
 
 #define TIME_OFFSET 2
@@ -189,8 +191,11 @@ int handle_cmd(char *command)
 	object.ra = ln_hms_to_deg(&track_hms);
 	object.dec = ln_dms_to_deg(&track_dms);
 	
-	if (oldra != object.ra || olddec != object.dec)
+	if (oldra != object.ra || olddec != object.dec) {
+		log_send(LOG_T_INFO, "New J2000 coordinates: ra=%f, dec=%f",
+		    object.ra, object.dec);
 		tracking_command_last_az_valid = false;
+	}
 	
 	if (switches) {
 		char *name, *val;
@@ -360,6 +365,9 @@ int main(int argc, char **argv)
 
 	signal(SIGPIPE, SIG_IGN);
 
+	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
+	    LOG_T_DEBUG, LOG_T_INFO, "console/j2000tracker");
+
 	if (argc == 2 || argc == 4) {
 		command_host = argv[argc - 1];
 		trace_host = argv[argc - 1];
@@ -476,7 +484,8 @@ int main(int argc, char **argv)
 						    tracking_command_send_p180 &&
 						    tracking_enabled) {
 							tracking_enabled = false;
-							printf("Going over 270 degree border, disabling\n\n");
+							log_send(LOG_T_WARNING,
+							    "Going over 270 degree border, disabling");
 						}
 						hrz.az -= 360.0;
 					}
@@ -507,7 +516,8 @@ int main(int argc, char **argv)
 
 			if (tracking_enabled && tracking_command_last_az_valid) {
 				if (fabs(hrz.az - tracking_command_last_az) > 1.0) {
-					printf("Az going to fast to track (%e), disable tracking\n",
+					log_send(LOG_T_WARNING,
+					    "Az going to fast to track (%e), disable tracking",
 					    fabs(hrz.az-tracking_command_last_az));
 					tracking_enabled = false;
 					setpoint_command_speed(sp_command_az, 0.0);

console/console/console_sattracker.c

@@ -47,9 +47,10 @@
 #include "predictlib.h"
 
 #include "dt_port_numbers.h"
-
+#include "dt_host.h"
 #include "command_server.h"
 #include "status_server.h"
+#include "log.h"
 
 #define TIME_OFFSET 2
 
@@ -88,6 +89,8 @@ bool set_tle(char newtle[139])
 		predict_free(predict);
 	predict = predict_create(tle_str, lat, lon, alt);
 	
+	log_send(LOG_T_INFO, "Switching to new TLE");
+	
 	return true;
 }
 
@@ -218,6 +221,9 @@ int main(int argc, char **argv)
 		command_host = argv[argc - 1];
 	}
 
+	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
+	    LOG_T_DEBUG, LOG_T_INFO, "console/sattracker");
+
 	sp_command_az = setpoint_command_init(command_host, command_port,
 	    az_command_spg, "console/sattracker");
 	sp_command_el = setpoint_command_init(command_host, command_port,
@@ -305,6 +311,8 @@ int main(int argc, char **argv)
 				}
 			}
 			if (!switch_cmd && fabs(last_az - az) > 180.0) {
+				log_send(LOG_T_WARNING,
+				    "Disabling tracker to prevent large azimuth jump");
 				switch_enabled = false;
 			}
 

console/console/log_proxy.c

@@ -26,6 +26,7 @@
 #include <signal.h>
 #include <sys/types.h>
 #include <sys/stat.h>
+#include <sys/param.h>
 #include <fcntl.h>
 
 #include "tcp_listen.h"
@@ -33,9 +34,26 @@
 
 #include "dt_port_numbers.h"
 #include "dt_host.h"
+#include "command_server.h"
 
 char *logfile = "controller.log";
 
+int rb;
+char buffer[1000];
+
+int handle_cmd(char *command)
+{
+	strncpy(buffer, command, 998);
+	buffer[998] = 0;
+	buffer[strlen(buffer) + 1] = 0;
+	buffer[strlen(buffer)] = '\n';
+	rb = strlen(buffer);
+
+	printf("Handling command rb = %d\n", rb);
+
+	return 0;
+}
+
 int main (int argc, char **argv)
 {
 	int fd_listen;
@@ -44,6 +62,7 @@ int main (int argc, char **argv)
 	int *fd_clients = NULL;
 	int nr_clients = 0;
 	int fd_logfile = -1;
+	struct command_server *cmd_srv;
 	
 	if (argc != 1 && argc != 2) {
 		printf("Usage: %s <logfile>\n", argv[0]);
@@ -61,31 +80,54 @@ int main (int argc, char **argv)
 		printf("Could not open listen port\n");
 		return 1;
 	}
+
+	cmd_srv = command_server_create(CONSOLE_LOG_PORT_IN, 0, 100);
+	if (!cmd_srv) {
+		printf("Could not open listen port for logging\n");
+		return 1;
+	} else {
+		command_server_handler_raw_set(cmd_srv, handle_cmd);
+	}
 	
 	signal(SIGPIPE, SIG_IGN);
 	
+	ioctl(fd_listen, FIONBIO, &(int){ 1 });
 	ioctl(fd_listen, FIONBIO, &(int){ 1 });
 
 	fd_log = tcp_connect(dt_host_controller(), CTRL_LOG_PORT);
 	f_log = fdopen(fd_log, "r");
 	
 	while (1) {
-		int rb;
-		char buffer[1000];
 		int fdnew;
+		fd_set fd_rd;
+		struct timeval timeout;
+		int high;
+
+		timeout.tv_usec = 0;
+		timeout.tv_sec = 1;
 		
+		FD_ZERO(&fd_rd);
+		FD_SET(fd_log, &fd_rd);
+		high = fd_log;
+		FD_SET(fd_listen, &fd_rd);
+		high = MAX(high, fd_listen);
+		command_server_fdset_add(cmd_srv, &fd_rd, &high);
+
+		select(high + 1, &fd_rd, NULL, NULL, &timeout);
+		
+		rb = -1;
 		if (fd_log < 0) {
-			while (fd_log < 0) {
-				sleep(1);
-				printf("Trying to connect to server.\n");
-				fd_log = tcp_connect(dt_host_controller(), CTRL_LOG_PORT);
+			printf("Trying to connect to server.\n");
+			fd_log = tcp_connect(dt_host_controller(), CTRL_LOG_PORT);
+
+			if (fd_log >= 0) {
+				rb = sprintf(buffer, 
+				    "Established connection to controller\n");
+				printf(buffer);
+				f_log = fdopen(fd_log, "r");
+				printf("fd_log: %d f_log %p\n", fd_log, f_log);
 			}
-			rb = sprintf(buffer, 
-			    "Established connection to controller\n");
-			printf(buffer);
-			f_log = fdopen(fd_log, "r");
-			printf("fd_log: %d f_log %p\n", fd_log, f_log);
-		} else {
+		} else if (FD_ISSET(fd_log, &fd_rd)) {
 			char *s;
 			
 			printf("Going to wait for data\n");
@@ -105,6 +147,8 @@ int main (int argc, char **argv)
 				    "Lost connection to controller\n");
 				printf(buffer);
 			}
+		} else {
+			command_server_fdset_handle(cmd_srv, &fd_rd);
 		}
 			
 		if (fd_logfile < 0) {
@@ -112,7 +156,7 @@ int main (int argc, char **argv)
 			    O_WRONLY | O_APPEND | O_CREAT,
 			    S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH);
 		}
-		if (fd_logfile >= 0) {
+		if (fd_logfile >= 0 && rb > 0) {
 			int ret;
 			
 			ret = write(fd_logfile, buffer, rb);
@@ -122,6 +166,7 @@ int main (int argc, char **argv)
 			}
 		}
 
+
 		fdnew = tcp_accept(fd_listen);
 		if (fdnew >= 0) {
 			nr_clients++;
@@ -130,7 +175,7 @@ int main (int argc, char **argv)
 			ioctl(fdnew, FIONBIO, &(int){ 1 });
 			printf("New client. (now at %d)\n", nr_clients);
 		}
-		
+
 		if (rb > 0) {
 			int i;
 			for (i = 0; i < nr_clients; i++) {

console/console/spg_auth.c

@@ -45,6 +45,8 @@
 #include "dt_port_numbers.h"
 #include "dt_host.h"
 
+#include "log.h"
+
 
 struct spg_client {
 	struct spg_client *next;
@@ -389,7 +391,7 @@ int handle_con_client(char *command)
 			setpoint_command_speed(spgs[i].spg_cmd, 0.0);
 		}
 
-		printf("New authorised user: %s\n",
+		log_send(LOG_T_INFO, "Changed setpoint source to: %s", 
 		    current_auth);
 	}
 	return 0;
@@ -428,6 +430,11 @@ int main (int argc, char **argv)
 		logfile = argv[2];
 	}
 
+	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
+	    LOG_T_DEBUG, LOG_T_INFO, "spg_auth");
+
+	log_send(LOG_T_INFO, "spg_auth started");
+
 	for (i = 0; spgs[i].name; i++) {
 		spgs[i].spg_cmd = setpoint_command_init(
 		    command_host, CTRL_COMMAND_PORT, spgs[i].name, command_id);

controller/Makefile

@@ -3,10 +3,11 @@ include build.mk
 CFLAGS= -Wall -O3 \
 	-I. \
 	-Icontroller \
+	-I../common/log \
 	-I../common/utils \
 	-I../common/trace \
 	-I../common/include \
-	-Idt_azimuth -Idt_elevation -Iec -Ishell -Ilog
+	-Idt_azimuth -Idt_elevation -Iec -Ishell
 LDFLAGS= -lpthread -lrt -lm -Wl,-E -L../common/lib -L./lib
 CFLAGS_SIM=-DUSE_AZ_SIM -DUSE_EL_SIM
 
@@ -32,7 +33,7 @@ lib/libdt_elevation.la: lib/libcontroller.la
 dt_ctrl: dt_ctrl.o
 
 
-test: lib/libcontroller.la lib/libethercat.la lib/liblog.la
+test: lib/libcontroller.la lib/libethercat.la
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C test
 
@@ -50,20 +51,16 @@ lib/libdt_elevation.la: lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C dt_elevation
 
-lib/libethercat.la: lib/liblog.la lib/libshell.la lib
+lib/libethercat.la: lib/libshell.la lib
 
 lib/libethercat.la:
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C ec
 
-lib/libshell.la: lib/liblog.la lib
+lib/libshell.la: lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C shell
 
-lib/liblog.la: lib
-	@echo " SUBDIR: $@"
-	@$(MAKE) -C log
-
 lib:
 	@mkdir lib
 
@@ -80,4 +77,3 @@ clean:
 	$(MAKE) -C ec clean
 	$(MAKE) -C test clean
 	$(MAKE) -C shell clean
-	$(MAKE) -C log clean

controller/controller/Makefile

 
 IL2C=il2c/il2c
 
-CFLAGS= -O3 -Wall  -I../log/ -I../shell/ -I.. -I../../common/include
+CFLAGS= -O3 -Wall  -I../../common/log/ -I../shell/ -I.. -I../../common/include
 BLOCKSRCS= \
 	block_add.c \
 	block_and2.c \
@@ -91,7 +91,7 @@ libcontroller.la_install: libcontroller.la
 	@${LIBTOOL} --quiet --mode=install install libcontroller.la ${CURDIR}/../lib
 
 clean:
-	rm -rf *.o *.a *.yy.* *.tab.* *.d *.lo *.la libs
+	rm -rf *.o *.a *.yy.* *.tab.* *.d *.lo *.la .libs
 	@$(MAKE) -C il2c clean
 
 include ../build.mk

controller/dt_azimuth/Makefile

 
-CFLAGS= -Wall -O3 -I../controller -I../ec -I../log -I../utils
+CFLAGS= -Wall -O3 -I../controller -I../ec -I../../common/log -I../utils
 
 ARCHSRCS= dt_az_safety.c dt_az_stoeber_sim.c
 ARCHOBJS=$(ARCHSRCS:.c=.lo)

controller/dt_elevation/Makefile

 
-CFLAGS= -Wall -I../controller -I../ec -I../log -I../utils -g
+CFLAGS= -Wall -I../controller -I../ec -I../../common/log -I../utils -g
 
 SRCS= dt_el_safety.c dt_el_stoeber_r_sim.c dt_el_stoeber_l_sim.c
 

controller/ec/Makefile

@@ -2,7 +2,7 @@
 OS= $(shell uname -s)
 
 CFLAGS= -Wall -O3 \
-	-I. -I.. -I../log -I../controller
+	-I. -I.. -I../../common/log -I../controller
 LDFLAGS= -lpthread -lrt -lm -L../lib
 
 ifneq ($(OS), FreeBSD)

controller/shell/Makefile

-CFLAGS= -Wall -O3 -I ../log
+CFLAGS= -Wall -O3 -I ../../common/log
 
 SRCS= shell.c
 ARCHOBJS = $(SRCS:.c=.lo)
@@ -14,7 +14,7 @@ libshell.la_install: libshell.la
 
 
 clean: