make setpoint generator registration application independant

console/console/setpoint.c

 /*
 	setpoint.c
 	
-	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2007, 2008
-	Copyright Stichting C.A. Muller Radioastronomiestation, 2007, 2008
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2007, 2008, 2013
+	Copyright Stichting C.A. Muller Radioastronomiestation, 2007, 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
@@ -82,6 +82,7 @@ static int setpoint_command_init_spg(
 	} while (ret == 1);
 	if (cmd->fd >= 0) {
 		if (!found) {
+			printf("Spg %s not found\n", spg_name);
 			close(cmd->fd);
 			cmd->fd = -1;
 		} else {
@@ -134,7 +135,6 @@ struct setpoint_command *setpoint_command_init(char *host, int port,
 	if (cmd->fd >= 0) {
 		r = setpoint_command_init_spg(cmd);
 		if (r) {
-			setpoint_command_clean(cmd);
 			close(cmd->fd);
 			cmd->fd = -1;
 		}

controller/Makefile

@@ -5,6 +5,7 @@ CFLAGS= -Wall -O3 \
 	-Icontroller \
 	-I../common/utils \
 	-I../common/trace \
+	-I../common/include \
 	-Idt_azimuth -Idt_elevation -Iec -Ishell -Ilog
 LDFLAGS= -lpthread -lrt -lm -ldl -Wl,-E -L../common/lib -L./lib
 CFLAGS_SIM=-DUSE_AZ_SIM -DUSE_EL_SIM

controller/controller/Makefile

 
 IL2C=il2c/il2c
 
-CFLAGS= -O3 -Wall  -I../log/ -I..
+CFLAGS= -O3 -Wall  -I../log/ -I.. -I../../common/include
 BLOCKSRCS= \
 	block_add.c \
 	block_and2.c \

controller/controller/block_setpoint_generator.c

@@ -24,6 +24,7 @@
 
 #include "controller_block.h"
 #include "block_setpoint_generator.h"
+#include "controller_setpoint_command.h"
 #include "log.h"
 
 /*
@@ -808,9 +809,19 @@ static void param_set(struct controller_block *spg, int param, va_list val)
 	spg->private->imindd = 1.0 / spg->private->mindd;
 }
 
-struct controller_block * block_setpoint_generator_create(char *name)
+struct controller_block * block_setpoint_generator_create(char *name, va_list ap)
 {
 	struct controller_block *spg;
+	char *server_name;
+	char *spg_unit;
+	struct controller_spg_name spg_name;
+	
+	server_name = va_arg(ap, char *);
+	spg_unit = va_arg(ap, char *);
+
+	spg_name.name = server_name;
+	spg_name.unit = spg_unit;
+	spg_name.blockname = name;
 	
 	spg = malloc(sizeof(struct controller_block));
 	if (!spg)
@@ -911,6 +922,9 @@ struct controller_block * block_setpoint_generator_create(char *name)
 	pthread_mutex_init(&spg->private->mutex, NULL);
 
 	controller_block_add(spg);
+
+	controller_setpoint_command_server_add(&spg_name);
+	
 	return spg;
 
 err_output:

controller/controller/block_setpoint_generator.h

@@ -21,7 +21,7 @@
 
 #include "controller_block.h"
 
-struct controller_block * block_setpoint_generator_create(char *name);
+struct controller_block * block_setpoint_generator_create(char *name, va_list ap);
 
 enum {
 	BLOCK_SPG_SETPOINT,

controller/controller/controller_setpoint_command.c

@@ -36,6 +36,8 @@
 #include "controller_block.h"
 #include "block_setpoint_generator.h"
 #include "controller_setpoint_command.h"
+#include "controller_sample.h"
+#include "dt_port_numbers.h"
 
 static int nr_spgs = 0;
 static struct controller_spg_name *spg_list = NULL;
@@ -369,6 +371,13 @@ static void *controller_setpoint_command_server(void *arg)
 	return NULL;
 }
 
+static bool sample_hook_installed = false;
+
+static void controller_setpoint_sample_hook(void *arg)
+{
+	controller_setpoint_command_server_start(CTRL_COMMAND_PORT, nr_spgs * 2);
+}
+
 void controller_setpoint_command_server_add(struct controller_spg_name *name)
 {
 	struct controller_spg_name *tmp;
@@ -377,14 +386,22 @@ void controller_setpoint_command_server_add(struct controller_spg_name *name)
 	tmp = realloc(spg_list, sizeof(struct controller_spg_name) * nr_spgs);
 	if (tmp) {
 		spg_list = tmp;
-		memcpy(&spg_list[nr_spgs-1], name,
-		    sizeof(struct controller_spg_name));
+		spg_list[nr_spgs-1].name = strdup(name->name);
+		spg_list[nr_spgs-1].unit = strdup(name->unit);
+		spg_list[nr_spgs-1].blockname = strdup(name->blockname);
 		printf("Added spg %s [%s] to command server using %s\n", 
 		    name->name, name->unit, name->blockname);
 	} else
 		nr_spgs--;
+	
+	if (!sample_hook_installed) {
+		controller_sample_start_hook(
+		    controller_setpoint_sample_hook, NULL);
+		sample_hook_installed = true;
+	}
 }
 
+
 void controller_setpoint_command_server_start(int portnr, int max)
 {
 	struct spg_command_server *srv;

controller/dt_ctrl.c

@@ -23,11 +23,10 @@
 #include <unistd.h>
 #include <math.h>
 
-#include "../common/include/dynarg.h"
+#include "dynarg.h"
 
 #include "controller_block.h"
 #include "controller_trace.h"
-#include "controller_setpoint_command.h"
 #include "controller_sample.h"
 #include "controller_dumpdot.h"
 #include "controller_load.h"
@@ -35,21 +34,7 @@
 #include "ec.h"
 #include "log.h"
 
-#include "../common/include/dt_port_numbers.h"
-
-#if !defined(USE_AZ_SIM) || !defined(USE_EL_SIM)
-#define USE_ETHERCAT
-#endif
-
-
-static struct controller_spg_name dt_spg_list[] = {
-	{ "Azimuth_Setpoint",           "rad", "azimuth_spg"           },
-
-	{ "Elevation_Setpoint",         "rad", "elevation_spg"         },
-	{ "Elevation_Torsion_Setpoint", "rad", "elevation_torsion_spg" },
-
-	{ NULL, NULL, NULL },
-};
+#include "dt_port_numbers.h"
 
 
 /********************************************
@@ -102,8 +87,6 @@ int param_reload(char *argc, char *out, int *outlen)
 
 int main(int argc, char **argv)
 {
-	int i;
-	
 	controller_block_param_init();
 	
 #ifdef USE_EL_SIM
@@ -159,13 +142,6 @@ int main(int argc, char **argv)
 	
 	controller_trace_server_start(CTRL_TRACE_PORT, 100);
 
-	/* Add spg command handlers */
-
-	for (i = 0; dt_spg_list[i].name; i++)
-		controller_setpoint_command_server_add(&dt_spg_list[i]);
-
-	controller_setpoint_command_server_start(CTRL_COMMAND_PORT, i * 2);
-
 	/* Start command shell */
 	
 	shell_cmd_add(&(struct shell_cmd){"timing",    "reset/print sample timing",           sample_timing     });

controller/dt_ctrl.ctrl

 frequency 250
 
 blocks {
-	{ "setpoint_generator", "azimuth_spg"			   }
+	{ "setpoint_generator", "azimuth_spg", 			"Azimuth_Setpoint", "rad" }
 	{ "servo_state",        "azimuth_servo_state"              }
 	{ "subtract",	        "azimuth_setpoint_error"	   }
 	{ "subtract",	        "azimuth_error"			   }
@@ -18,9 +18,9 @@ blocks {
 	{ "gain", 	        "azimuth_position_gain"		   }
 	
 	{ "matrix_2x2",	        "elevation_input_matrix"	   }
-	{ "setpoint_generator", "elevation_spg"			   }
+	{ "setpoint_generator", "elevation_spg", 		"Elevation_Setpoint", "rad" }
 	{ "servo_state",        "elevation_servo_state"            }
-	{ "setpoint_generator", "elevation_torsion_spg"		   }
+	{ "setpoint_generator", "elevation_torsion_spg",	"Elevation_Torsion_Setpoint", "rad" }
 	{ "subtract",	        "elevation_setpoint_error" 	   }
 	{ "subtract",  	        "elevation_error"  		   }
 	{ "subtract",	        "elevation_torsion_error"  	   }