Add trigger section to control file.

Use immediate trigger in test.ctrl files.
Fix some bugs

Makefile

@@ -129,8 +129,7 @@ TARGETS:= $$($(DIR)_TMPTARGETS) $$(TARGETS)
 DIR := $(DIR)
 endef
 
-
-CFLAGS := -pthread -Icommon -Icommon/include -Icontroller -Iconsole/console -Iinclude
+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
 VPATH += common/lib controller/lib console/console/lib lib
 VPATH += include

common/trace/trace.c

@@ -527,7 +527,7 @@ int trace_handle_recv(struct trace *trace)
 
 int trace_handle(struct trace *trace, fd_set *set)
 {
-	if (!set || FD_ISSET(trace->fd, set)) {
+	if (trace->fd >= 0 && (!set || FD_ISSET(trace->fd, set))) {
 		trace_handle_recv(trace);
 	}
 	return 0;

common/utils/tcp_connect.c

@@ -29,8 +29,9 @@
 #include <netdb.h>
 #include <errno.h>
 #include <sys/ioctl.h>
-#include <sys/socket.h>
 #include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/select.h>
 
 #ifdef __linux__
 #include <linux/sockios.h>

console/console/console_httpd.c

@@ -14,7 +14,6 @@
 	You should have received a copy of the GNU General Public License
 	along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#define _GNU_SOURCE
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -189,7 +188,7 @@ static int status_reconnect(struct status *status)
 {
 	int fd;
 	
-	printf("reconnect\n");
+	printf("reconnect: %s\n", status->ident);
 	fd = tcp_connect(status->host, status->port);
 	if (fd >= 0) {
 		poll_add(fd, POLLIN | POLLERR);

console/console/log_proxy.c

@@ -17,8 +17,6 @@
 
  */
 
-#define _GNU_SOURCE
-
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>

console/console/mod_websocket_dt/mod_websocket_dt.c

@@ -15,8 +15,6 @@
 	along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define _GNU_SOURCE
-
 #include <stdlib.h>
 #include <stdio.h>
 #include <pthread.h>

console/console/start_console.sh

@@ -22,3 +22,4 @@ screen -S console -X screen -t console_azel console_azel
 screen -S console -X screen -t console_manual console_manual
 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

controller/block/block_filter_iir.test.ctrl

 frequency 250
 
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "random", "noise" }
 	{ "filter_iir", "iir" }

controller/block/block_gain.test.ctrl

 frequency 100
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "gain", "gain" }
 	

controller/block/block_limit.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "limit", "limit" }
 	

controller/block/block_matrix_2x2.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "matrix_2x2", "matrix" }
 	

controller/block/block_not.test.ctrl

 frequency 100
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "not", "not" }
 	

controller/block/block_pid_aw.test.ctrl

 frequency 100
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "pid_aw", "pid" }
 	

controller/block/block_quantize.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "quantize", "quantize" }
 	

controller/block/block_rangecheck.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "rangecheck", "rangecheck" }
 	

controller/block/block_servo_state.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "servo_state", "servo_state" }
 	

controller/block/block_setpoint_generator_1d.c

@@ -101,6 +101,8 @@ static void setpoint_generator_1d_calculate(struct controller_block *spg)
 	cur_v = priv->cur_v;
 
 	if (*priv->reset) {
+		struct command_entry entry;
+		
 		priv->cmd_x = *priv->reset_x;
 		priv->cur_x = priv->cmd_x;
 		priv->cur_done = true;
@@ -108,6 +110,9 @@ static void setpoint_generator_1d_calculate(struct controller_block *spg)
 		priv->cmd_v = 0.0;
 		priv->cur_v = 0.0;
 		priv->id = COMMAND_ID_NONE;
+
+		controller_command_queue_read(priv->command, &entry);
+
 		return;
 	}
 

controller/block/block_setpoint_generator_1d.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "setpoint_generator_1d", "spg", "spg", "na" }
 

controller/block/block_setpoint_generator_3d.c

@@ -233,6 +233,8 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
 	t_max_a = priv->t_max_a;
 
 	if (*priv->reset) {
+		struct command_entry entry;
+	
 		priv->cmd_x = *priv->reset_x;
 		cur_x = priv->cmd_x;
 		priv->cur_done = true;
@@ -248,6 +250,8 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
 		priv->start_t = 0;
 		priv->id = COMMAND_ID_NONE;
 		
+		controller_command_queue_read(priv->command, &entry);
+
 		goto set_output;
 	}
 

controller/block/block_setpoint_generator_3d.test.ctrl

 frequency 10
 
+trigger {
+	{ "immediate" }
+}
+
 blocks {
 	{ "setpoint_generator_3d", "spg", "spg", "na" }