Merge remote-tracking branch 'origin/jeroen' into michel

common/include/dynarg.h

@@ -20,7 +20,7 @@
 #define _INCLUDE_DYNARG_H_
 
 #include <stdarg.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 
 

common/utils/dt_host.c

@@ -29,17 +29,20 @@ static bool init_done = false;
 static int load_config(void)
 {
 	GKeyFile *keyfile;
-	gboolean loaded;
-	gchar *keyfilename = "dt_host.ini";
+	gboolean loaded = false;
+	gchar *keyfilename[] ={ "/etc/dt/dt_host.ini", "dt_host.ini" };
 	int ret = 0;
+	int i;
 
 	keyfile = g_key_file_new();
 	
-	loaded = g_key_file_load_from_file(
-	    keyfile, 
-	    keyfilename,
-	    G_KEY_FILE_NONE,
-	    NULL);
+	for (i = 0; i < sizeof(keyfilename)/sizeof(keyfilename[0]) && !loaded; i++) {
+		loaded = g_key_file_load_from_file(
+		    keyfile, 
+		    keyfilename[i],
+		    G_KEY_FILE_NONE,
+		    NULL);
+	}
 
 	if (loaded) {
 		gsize groups_nr;

common/utils/tcp_listen.c

@@ -25,6 +25,8 @@
 #include <netinet/in.h>
 #include <string.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include "tcp_listen.h"
 

console/console/console_dt_model.c

@@ -58,8 +58,8 @@ int cmd_port = CONSOLE_DT_MODEL_CMD_PORT;
 static int load_ini(void)
 {
 	GKeyFile *keyfile;
-	gboolean loaded;
-	gchar *keyfilename = "dt_model.ini";
+	gboolean loaded = false;
+	gchar *keyfilename[] = { "/etc/dt/dt_model.ini", "dt_model.ini" };
 	int ret = 0;
 	int i;
 	char *active_name = "none";
@@ -67,11 +67,13 @@ static int load_ini(void)
 	
 	keyfile = g_key_file_new();
 	
-	loaded = g_key_file_load_from_file(
-	    keyfile,
-	    keyfilename,
-	    G_KEY_FILE_KEEP_COMMENTS,
-	    NULL);
+	for (i = 0; i < sizeof(keyfilename)/sizeof(keyfilename[0]) && !loaded; i++) {
+		loaded = g_key_file_load_from_file(
+		    keyfile,
+		    keyfilename[i],
+		    G_KEY_FILE_KEEP_COMMENTS,
+		    NULL);
+	}
 	
 	if (loaded) {
 		gsize groups_nr;

controller/Makefile

@@ -7,11 +7,16 @@ CFLAGS= -Wall -O3 \
 	-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
+LDFLAGS= -lpthread -lrt -lm -Wl,-E -L../common/lib -L./lib
 CFLAGS_SIM=-DUSE_AZ_SIM -DUSE_EL_SIM
 
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+LDFLAGS+= -ldl
+endif
 
-dt_ctrl_LDFLAGS=`controller/block_list.sh lib/*.a` \
+
+dt_ctrl_LDFLAGS=`./controller/block_list.sh lib/*.a` \
 	-lcontroller -lethercat -llog -lshell -ldt_azimuth -ldt_elevation
 
 all: dt_ctrl \

controller/build.mk

@@ -8,6 +8,13 @@ VPATH= /lib64 /usr/lib64 /usr/local/lib64 /lib /usr/lib /usr/local/lib
 
 LIBTOOL=libtool
 
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+FLEX=flex
+else
+FLEX=/usr/local/bin/flex
+endif
+
 %.o : %.c
 	@echo "LT   CC $<"
 	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
@@ -22,7 +29,11 @@ LIBTOOL=libtool
 %.lo: %.c
 	@echo "LT   CC $<"
 	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
-	@sed -i -e "s:\.libs/::" -e "s:\.o:\.lo:" .libs/$*.d
+# compatibility hack: Linux's sed doesn't have a separate argument to '-i',
+# while on FreeBSD, '-i' takes a non-optional extension argument. With
+# '-i -i' we'll specify '-i' twice on Linux and let FreeBSD use '[filename]-i'
+# as intermediate file for in-place editing.
+	@sed -e "s:\.libs/::" -e "s:\.o:\.lo:" -i -i .libs/$*.d
 
 %.la:
 	@echo "LIBTOOL $@"
@@ -38,7 +49,8 @@ LIBTOOL=libtool
 
 %.yy.c %.yy.h: %.l %.tab.h
 	@echo "   FLEX $<"
-	@flex --header-file=$*.yy.h -o $*.yy.c $<
+	@echo $(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
+	@$(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
 
 # il2c: instruction list 2 c 'compiler'
 %.c %.h: %.il

controller/controller/Makefile

@@ -14,7 +14,6 @@ BLOCKSRCS= \
 	block_friction.c \
 	block_gain.c \
 	block_gain_var.c \
-	block_joystick.c \
 	block_limit.c \
 	block_limit_dyn.c \
 	block_limit_2nd.c \
@@ -43,6 +42,13 @@ BLOCKSRCS= \
 	block_value_bool.c \
 	block_value_uint32.c
 
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+BLOCKSRCS+= \
+	block_joystick.c
+endif
+
+
 CONTROLLERSRCS= \
 	controller_block.c \
 	controller_block_param.c \
@@ -52,6 +58,7 @@ CONTROLLERSRCS= \
 	controller_sample.c \
 	controller_dumpdot.c \
 	controller_load.c \
+	controller_load_variable.c \
 	controller_load_parser.tab.c \
 	controller_load_parser.yy.c
 

controller/controller/block_list.sh

-#!/bin/bash
+#!/bin/sh
 
 for lib in $@; do
 	SYMBOLS=`nm $lib |grep "block_.*_create" |cut -d' ' -f3`

controller/controller/controller_block.c

@@ -56,7 +56,7 @@ int controller_block_create(char *type, char *name, va_list ap)
 	handle = dlopen(NULL, RTLD_NOW);
 	if (!handle) {
 		log_send(LOG_T_ERROR, 
-		    "Error getting handle from dlopen(): %s", dlerror());
+		    "Could not get handle from dlopen(): %s", dlerror());
 		return -1;
 	}
 	
@@ -67,12 +67,12 @@ int controller_block_create(char *type, char *name, va_list ap)
 	
 	if (create_func) {
 		if(!create_func(name, ap)) {
-			log_send(LOG_T_ERROR, "Error: %s() failed", symbol);
+			log_send(LOG_T_ERROR, "%s() failed", symbol);
 			ret = -1;
 		}
 	} else {
 		log_send(LOG_T_ERROR, 
-		    "Error finding function %s for block %s", symbol, type);
+		    "Could not find function %s for block %s", symbol, type);
 		ret = -1;
 	}
 	

controller/controller/controller_block_param.c

@@ -25,7 +25,7 @@
  */
 
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include "controller_block.h"
 #include "controller_sample.h"

controller/controller/controller_block_trace.c

@@ -22,7 +22,7 @@
 	This module takes care of tracing block outputs.
  */
 
-#include <malloc.h>
+#include <stdlib.h>
 #include <string.h>
 
 #include "controller_block.h"

controller/controller/controller_dumpdot.c

@@ -18,7 +18,7 @@
 
 #include <stdio.h>
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include <controller/controller_block.h>
 #include <controller/controller_trace.h>

controller/controller/controller_load.c

@@ -19,7 +19,7 @@
 
 #include <stdio.h>
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 #include <stdbool.h>
 #include "controller_load_parser.tab.h"
 #include "controller_load_parser.yy.h"
@@ -215,13 +215,15 @@ int controller_load_block_param_set(char *block, char *param, yyscan_t scanner)
 	return controller_block_param_set(block, param, extra->va_list);
 }
 
-void controller_load_include(char *file_name)
+int controller_load_include(char *file_name)
 {
 	int r;
 
 	log_send(LOG_T_DEBUG, "Include '%s'", file_name);
 	r = controller_load(file_name);
 	log_send(LOG_T_DEBUG, "End of include '%s': %d", file_name, r);
+
+	return r;
 }
 
 

controller/controller/controller_load.h

@@ -23,7 +23,10 @@
 #include <stdarg.h>
 
 
-typedef void * yyscan_t;
+#ifndef YY_TYPEDEF_YY_SCANNER_T
+#define YY_TYPEDEF_YY_SCANNER_T
+typedef void* yyscan_t;
+#endif
 
 int controller_load_shell_add(void);
 
@@ -41,7 +44,12 @@ void controller_load_var_clear(yyscan_t scanner);
 void controller_load_var_add_float_array_start(yyscan_t scanner);
 void controller_load_var_add_float_array_end(yyscan_t scanner);
 void controller_load_frequency(double frequency);
-void controller_load_include(char *file_name);
+int controller_load_include(char *file_name);
+
+double controller_load_variable_double_get(char *varname);
+void controller_load_variable_double_set(char *varname, double val);
+char * controller_load_variable_string_get(char *varname);
+void controller_load_variable_string_set(char *varname, char *val);
 
 int controller_load_block_create(char *type, char *name, yyscan_t scanner);
 int controller_load_block_param_set(char *block, char *param, yyscan_t scanner);

controller/controller/controller_load_parser.l

@@ -38,16 +38,21 @@
 
 string		"\""[^"]*"\""
 
+variablename	[a-zA-Z\_][0-9a-zA-Z\-\_]*
+
+doublevariable	"\$("{variablename}")"
+stringvariable	"\${"{variablename}"}"
+
 comment		"/*".*"*/"
 
 number		[0-9]+
 hexdigit	[0-9a-fA-F]
 
-doublesimple	[+-]?{number}"."{number} 
-doubleexp	[+-]?{number}"."?{number}?"e"[+-]*{number} 
+doublesimple	{number}"."{number} 
+doubleexp	{number}"."?{number}?"e"[+-]*{number} 
 double		{doublesimple}|{doubleexp}
 
-int		[+-]?{number}+
+int		{number}+
 
 unsignedlong	("0x"|"0X"){hexdigit}{5,}
 
@@ -63,6 +68,10 @@ boolcast	"("[ \t]*"bool"[ \t]*")"
 "("		{ return PARENTHESESOPENSYM; }
 ")"		{ return PARENTHESESCLOSESYM; }
 ","		{ return COMMASYM; }
+"*"		{ return STARSYM; }
+"/"		{ return SLASHSYM; }
+"+"		{ return PLUSSYM; }
+"-"		{ return MINSYM; }
 
 "frequency"	{ return FREQUENCYSYM; }
 "blocks"	{ return BLOCKSSYM; }
@@ -70,21 +79,39 @@ boolcast	"("[ \t]*"bool"[ \t]*")"
 "traces"	{ return TRACESSYM; }
 "params"	{ return PARAMSSYM; }
 "include"	{ return INCLUDESYM; }
+"set"		{ return SETSYM; }
 
 "deg2rad"	{ return FUNC_DEG2RAD_SYM; }
 "rpm2rads"	{ return FUNC_RPM2RADS_SYM; }
+"pi"		{ return CONST_PI_SYM; }
 
 {floatcast} 	{ return FLOATCASTSYM; }
 {doublecast} 	{ return DOUBLECASTSYM; }
 {intcast}	{ return INTCASTSYM; }
 {boolcast}	{ return BOOLCASTSYM; }
 
+"true"		{ yylval->integer = 1; return BOOLSYM; }
+"false"		{ yylval->integer = 0; return BOOLSYM; }
+
 {string}	{ 
 			yylval->string = strdup(yytext + 1);
 			yylval->string[strlen(yylval->string)-1] = 0;
 			return STRINGSYM;
 		}
 
+{doublevariable}	{
+			yylval->string = strdup(yytext + 2);
+			yylval->string[strlen(yylval->string)-1] = 0;
+			return DOUBLEVARIABLESYM;
+		}
+
+{stringvariable}	{
+			yylval->string = strdup(yytext + 2);
+			yylval->string[strlen(yylval->string)-1] = 0;
+			return STRINGVARIABLESYM;
+		}
+
+
 {double}	{
 			sscanf(yytext, "%lg", &yylval->dbl);
 			return DOUBLESYM;
@@ -100,8 +127,12 @@ boolcast	"("[ \t]*"bool"[ \t]*")"
 			return INTSYM;
 		}
 
-"true"		{ yylval->integer = 1; return BOOLSYM; }
-"false"		{ yylval->integer = 0; return BOOLSYM; }
+{variablename}	{
+			yylval->string = strdup(yytext);
+			return VARIABLENAMESYM;
+		}
+
+
 
 {comment}	/* skip */
 [ \t\r]		/* skip */

controller/controller/controller_load_parser.y

@@ -45,6 +45,9 @@ void yyerror(yyscan_t *scanner, char const *s);
 %token BRACECLOSESYM
 %token COMMASYM
 %token <string> STRINGSYM
+%token <string> VARIABLENAMESYM
+%token <string> DOUBLEVARIABLESYM
+%token <string> STRINGVARIABLESYM
 %token <integer> BOOLSYM
 %token <integer> INTSYM
 %token <dbl> DOUBLESYM
@@ -54,17 +57,26 @@ void yyerror(yyscan_t *scanner, char const *s);
 %token LINKSSYM
 %token TRACESSYM
 %token PARAMSSYM
+%token SETSYM
 %token PARENTHESESOPENSYM
 %token PARENTHESESCLOSESYM
-%token FLOATCASTSYM
-%token DOUBLECASTSYM
-%token INTCASTSYM
-%token BOOLCASTSYM
 %token INCLUDESYM
 
 %token FUNC_DEG2RAD_SYM
 %token FUNC_RPM2RADS_SYM
 
+%token <dbl> CONST_PI_SYM
+
+%left DUMMY_DOUBLEVAR
+%left DUMMY_INTVAR
+%left FLOATCASTSYM DOUBLECASTSYM INTCASTSYM BOOLCASTSYM
+
+%left MINSYM
+%left PLUSSYM
+%left SLASHSYM
+%left STARSYM
+%left UMINUS
+
 %union
 {
 	char *string;
@@ -73,8 +85,8 @@ void yyerror(yyscan_t *scanner, char const *s);
 	unsigned long ul;
 }
 
+%type <string> stringvar
 %type <dbl> doublevar
-%type <dbl> doublevar_casteable
 %type <integer> intvar
 %type <ul> unsignedlongvar
 
@@ -93,6 +105,7 @@ ctrl	: frequency
 	| traces
 	| params
 	| include
+	| set
 	;
 
 frequency: FREQUENCYSYM DOUBLESYM
@@ -102,7 +115,12 @@ frequency: FREQUENCYSYM DOUBLESYM
 	;
 
 include: INCLUDESYM STRINGSYM
-		{ controller_load_include($2); }
+		{ 
+			if (controller_load_include($2)) {
+				yyerror(scanner, "Failed to parse include");
+				YYERROR;
+			}
+		}
 	;
 
 blocks	: BLOCKSSYM BRACEOPENSYM blocklist BRACECLOSESYM
@@ -116,8 +134,10 @@ block	: BRACEOPENSYM
 		STRINGSYM varlist
 		BRACECLOSESYM
 		{
-			if(controller_load_block_create($2, $4, scanner))
+			if(controller_load_block_create($2, $4, scanner)) {
 				yyerror(scanner, "Error creating block");
+				YYERROR;
+			}
 			free($2);
 			free($4);
 			controller_load_var_clear(scanner);
@@ -136,8 +156,10 @@ param	: BRACEOPENSYM
 		varlist
 		BRACECLOSESYM
 		{
-			if (controller_load_block_param_set($2, $4, scanner))
+			if (controller_load_block_param_set($2, $4, scanner)) {
 				yyerror(scanner, "Error setting parameter");
+				YYERROR;
+			}
 			controller_load_var_clear(scanner);
 		}
 	;
@@ -146,11 +168,11 @@ varlist	:	/* varlist may be emtpy */
 	| COMMASYM var varlist
 	;
 
-var	: STRINGSYM
+var	: stringvar
 		{ controller_load_var_add_str($1, scanner); }
-	| doublevar
+	| doublevar %prec DUMMY_DOUBLEVAR
 		{ controller_load_var_add_dbl($1, scanner); }
-	| intvar
+	| intvar %prec DUMMY_INTVAR
 		{ controller_load_var_add_int($1, scanner); }
 	| unsignedlongvar
 		{ controller_load_var_add_ul($1, scanner); }
@@ -160,41 +182,59 @@ var	: STRINGSYM
 		{ controller_load_var_add_float_array_end(scanner); }
 	;
 
+stringvar: STRINGSYM
+	| STRINGVARIABLESYM
+		{ controller_load_variable_string_get($1); }
+	;
+
 floatlist: floatlistvar
 	| floatlistvar COMMASYM floatlist
 	;
 
 floatlistvar: doublevar
-	{ controller_load_var_add_flt($1, scanner); }
-	| intvar
-	{ controller_load_var_add_flt($1, scanner); }
-	| unsignedlongvar
 		{ controller_load_var_add_flt($1, scanner); }
 	;
-	
-doublevar: DOUBLESYM
+
+doublevar: DOUBLEVARIABLESYM
+		{ $$ = controller_load_variable_double_get($1); }
+	| DOUBLESYM
 		{ $$ = $1; }
-	| DOUBLECASTSYM doublevar_casteable
+	| FLOATCASTSYM doublevar
+		{ $$ = $2; }
+	| DOUBLECASTSYM doublevar
 		{ $$ = $2; }
-	| FLOATCASTSYM doublevar_casteable
+	| FLOATCASTSYM intvar
 		{ $$ = $2; }
+	| DOUBLECASTSYM intvar
+		{ $$ = $2; }
+	| FLOATCASTSYM unsignedlongvar
+		{ $$ = $2; }
+	| DOUBLECASTSYM unsignedlongvar
+		{ $$ = $2; }
+	| doublevar MINSYM doublevar
+		{ $$ = ($1) - ($3); }
+	| doublevar PLUSSYM doublevar
+		{ $$ = ($1) + ($3); }
+	| doublevar SLASHSYM doublevar
+		{ $$ = ($1) / ($3); }
+	| doublevar STARSYM doublevar
+		{ $$ = ($1) * ($3); }
 	| deg2rad
 		{ $$ = $1; }
 	| rpm2rads
 		{ $$ = $1; }
+	| CONST_PI_SYM
+		{ $$ = M_PI; }
+	| MINSYM doublevar %prec UMINUS
+		{ $$ = - $2 }
 	;
 
-doublevar_casteable: doublevar
-		{ $$ = $1  }
-	| intvar
-		{ $$ = $1; }
-	;
 
-deg2rad: FUNC_DEG2RAD_SYM PARENTHESESOPENSYM doublevar_casteable PARENTHESESCLOSESYM
+deg2rad: FUNC_DEG2RAD_SYM PARENTHESESOPENSYM doublevar PARENTHESESCLOSESYM
 		{ $$ = ($3) * M_PI / 180.0; }
 	;
 
-rpm2rads: FUNC_RPM2RADS_SYM PARENTHESESOPENSYM doublevar_casteable PARENTHESESCLOSESYM
+rpm2rads: FUNC_RPM2RADS_SYM PARENTHESESOPENSYM doublevar PARENTHESESCLOSESYM
 		{ $$ = ($3) * 2.0 * M_PI / 60.0; }
 	;
 
@@ -202,16 +242,26 @@ intvar: INTSYM
 		{ $$ = $1; }
 	| INTCASTSYM intvar
 		{ $$ = $2; }
+	| INTCASTSYM doublevar
+		{ $$ = $2; }
 	| BOOLSYM
 		{ $$ = $1; }
 	| BOOLCASTSYM intvar
 		{ $$ = $2; }
+	| MINSYM intvar %prec UMINUS
+		{ $$ = - $2 }
 	;
 
 unsignedlongvar: UNSIGNEDLONGSYM
 		{ $$ = $1; }
 	;
 
+set:	SETSYM VARIABLENAMESYM doublevar
+		{ controller_load_variable_double_set($2, $3) }
+	| SETSYM VARIABLENAMESYM stringvar
+		{ controller_load_variable_string_set($2, $3) }
+	;
+
 links	: LINKSSYM BRACEOPENSYM linklist BRACECLOSESYM
 
 linklist: link
@@ -226,8 +276,10 @@ link	: BRACEOPENSYM
 		BOOLSYM
 		BRACECLOSESYM
 		{
-			if (controller_block_connect($2, $4, $6, $8, $10))
+			if (controller_block_connect($2, $4, $6, $8, $10)) {
 				yyerror(scanner, "Error connecting blocks");
+				YYERROR;
+			}
 			free($2);
 			free($4);
 			free($6);

controller/controller/controller_load_variable.c

+/*
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2009
+	Copyright Stichting C.A. Muller Radioastronomiestation, 2009
+
+	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 <string.h>
+
+#include "controller_load.h"
+
+enum variable_type {
+	VARIABLE_STRING,
+	VARIABLE_DOUBLE,
+};
+
+struct variable {
+	enum variable_type type;
+	char *name;
+	
+	double doubleval;
+	char *stringval;
+	
+	struct variable *next;
+};
+
+static struct variable *variables = NULL;
+
+
+
+double controller_load_variable_double_get(char *varname)