20130214

.gitignore

@@ -3,3 +3,8 @@
 *.sw?
 *~
 *.a
+*.tab.c
+*.tab.h
+*.yy.c
+*.yy.h
+*.log

Makefile

+
+all:
+	$(MAKE) -C common/utils
+	$(MAKE) -C common/trace
+	$(MAKE) -C controller
+	cd libnova-0.13.0 ; ./configure ; make
+	$(MAKE) -C console
+
+

common/include/dt_port_numbers.h

@@ -24,6 +24,10 @@
 #define CONSOLE_MANUAL_CMD_PORT      11051
 #define CONSOLE_SAT_STAT_PORT        11060
 #define CONSOLE_SAT_CMD_PORT         11061
+#define CONSOLE_SUN_STAT_PORT        11070
+#define CONSOLE_SUN_CMD_PORT         11071
+#define CONSOLE_MOON_STAT_PORT	     11080
+#define CONSOLE_MOON_CMD_PORT        11081
 #define CONSOLE_LOG_PORT             11200
 
 

common/utils/Makefile

@@ -2,7 +2,10 @@
 CFLAGS= -Wall -O3 
 LDFLAGS= -lpthread
 
-UTILSRCS= tcp_connect.c tcp_listen.c config.c weather.c dt_model.c location.c
+CFLAGS+=`pkg-config --cflags glib-2.0`
+LDFLAGS+=`pkg-config --libs glib-2.0`
+
+UTILSRCS= tcp_connect.c tcp_listen.c config.c weather.c dt_model.c location.c dt_host.c
 UTILOBJS= $(UTILSRCS:.c=.o)
 
 all: $(UTILOBJS) utils weather_test

console/htdocs/j2000/j2000_command.js → common/utils/dt_host.c

-/* 
-	Javascript sending j2000 coordinates over XMLHttp 
-
-	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008
-	Copyright Stichting C.A. Muller Radioastronomiestation, 2008
+/*
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2013
+	Copyright Stichting C.A. Muller Radioastronomiestation, 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
@@ -19,45 +17,74 @@
 
  */
 
-function j2000_command_cb_default (line)
-{
-	/* default callback */
-}
-
-function j2000_command ()
-{
-	var j2000_command_this = this;
-
-	/* Callbacks */
-	this.callback = j2000_command_cb_default;
+#include <glib.h>
+#include <stdbool.h>
+#include <string.h>
+#include "dt_host.h"
 
-	this.xrequest = 0;
-	this.xrequest_prev = 0;
+static char *controller_host = "localhost";
+static char *console_host = "localhost";
+static bool init_done = false;
 
-	this.handle_xml = function (event)
-	{
-		j2000_command_this.callback(j2000_command_this, event.target.responseText);
-		j2000_command_this.data_wd = 1;
-	}
+static int load_config(void)
+{
+	GKeyFile *keyfile;
+	gboolean loaded;
+	gchar *keyfilename = "dt_host.ini";
+	int ret = 0;
 
-	this.url;
+	keyfile = g_key_file_new();
+	
+	loaded = g_key_file_load_from_file(
+	    keyfile, 
+	    keyfilename,
+	    G_KEY_FILE_NONE,
+	    NULL);
 
-	this.open = function (url, ra, dec)
-	{
-		if (j2000_command_this.xrequest_prev) {
-				j2000_command_this.xrequest.abort();
-				delete j2000_command_this.xrequest;
+	if (loaded) {
+		gsize groups_nr;
+		gchar **groups;
+		int i;
+		
+		groups = g_key_file_get_groups(keyfile, &groups_nr);
+		
+		for (i = 0; i < groups_nr; i++) {
+			if (!strcmp(groups[i], "controller")) {
+				if (g_key_file_has_key(keyfile, groups[i], "host", NULL)) {
+					controller_host =
+					    g_key_file_get_string(keyfile, groups[i], "host", NULL);
+				}
+			}
+			if (!strcmp(groups[i], "console")) {
+				if (g_key_file_has_key(keyfile, groups[i], "host", NULL)) {
+					console_host =
+					    g_key_file_get_string(keyfile, groups[i], "host", NULL);
+				}
+			}
 		}
-		j2000_command_this.url = url;
 		
-		j2000_command_this.xrequest = new XMLHttpRequest();
-		j2000_command_this.xrequest.multipart = true;
-		j2000_command_this.xrequest.open("POST", url, true);
-		j2000_command_this.xrequest.onload = this.handle_xml;
-		j2000_command_this.xrequest.send(ra + " " + dec);
-		j2000_command_this.xrequest_prev = 1;
-
+		init_done = true;
+		g_strfreev(groups);
+	} else {
+		ret = -1;;
 	}
+	g_key_file_free(keyfile);
 	
+	return ret;
 }
 
+char *dt_host_console(void)
+{
+	if (!init_done)
+		load_config();
+		
+	return console_host;
+}
+
+char *dt_host_controller(void)
+{
+	if (!init_done)
+		load_config();
+		
+	return controller_host;
+}

controller/dt_elevation/dt_el.h → common/utils/dt_host.h

 /*
-	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2007
-	Copyright Stichting C.A. Muller Radioastronomiestation, 2007
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2013
+	Copyright Stichting C.A. Muller Radioastronomiestation, 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
@@ -17,9 +17,10 @@
 
  */
 
-#ifndef _INCLUDE_DT_EL_H_
-#define _INCLUDE_DT_EL_H_
+#ifndef _INCLUDE_DT_HOST_H_
+#define _INCLUDE_DT_HOST_H_
 
+char *dt_host_console(void);
+char *dt_host_controller(void);
 
-
-#endif /* _INCLUDE_DT_EL_H_ */
+#endif /* _INCLUDE_DT_HOST_H_ */

common/utils/tcp_connect.c

@@ -88,7 +88,7 @@ int tcp_connect(char *host, int port)
 	}
 	freeaddrinfo(result);
 	
-	if (sock < 0)
-		printf("Failed to connect\n");
+//	if (sock < 0)
+//		printf("Failed to connect\n");
 	return sock;
 }

console/console/.gitignore

@@ -18,9 +18,14 @@ console_zenith
 log_proxy
 predictlib/test-001
 predictlib/test-002
+predictlib/test-003
 spg_auth
 spg_list
 spg_log_parser
 trace_line
 trace_log
 trace_proxy
+command.cgi
+shell.cgi
+status.cgi
+trace.cgi

console/console/Makefile

@@ -3,30 +3,28 @@ include ../build.mk
 CFLAGS= -Wall -g -I../../common/utils -I../controller -Iaalib -Ipredictlib -I../../common/trace -I../../common/include -I../../libnova-0.13.0/src
 ARCHIVES= ../../common/utils/utils.a aalib/aalib.a predictlib/predictlib.a ../../common/trace/trace.a
 LIBNOVA=../../libnova-0.13.0/src/.libs/libnova.a
-		
+   
+LDFLAGS+=`pkg-config --libs glib-2.0`
+
 all: aalib predictlib\
 	setpoint.o console_easycomm console_joystick command_shell \
 	spg_list spg_log_parser \
 	console_moontracker \
-	console_httptrace console_httpline console_httpline_install \
-	trace_proxy trace_line_install trace_log \
+	console_httptrace \
+	trace_proxy trace.cgi_install trace_log \
 	console_j2000tracker console_j2000tracer console_j2000_indi \
 	log_proxy spg_auth console_idle console_zenith \
 	console_suntracker console_azel console_manual \
 	console_weather \
 	await_controller \
-	console_sattracker
+	console_sattracker \
+	status.cgi_install command.cgi_install shell.cgi_install
+
 
 await_controller: await_controller.o $(ARCHIVES)
 
 console_easycomm: console_easycomm.o setpoint.o $(ARCHIVES)
 
-console_httpline: console_httpline.o $(ARCHIVES)
-
-console_httpline_install: console_httpline
-	@echo "   CP  console_httpline"
-	@cp console_httpline ../htdocs
-
 console_httptrace: console_httptrace.o $(ARCHIVES)
 
 console_joystick: console_joystick.o setpoint.o $(ARCHIVES)
@@ -59,11 +57,11 @@ console_zenith: console_zenith.o setpoint.o $(ARCHIVES)
 
 trace_proxy: trace_proxy.o $(ARCHIVES)
 
-trace_line: trace_line.o $(ARCHIVES)
+trace.cgi: trace.cgi.o $(ARCHIVES)
 
-trace_line_install: trace_line
-	@echo "   CP  trace_line"
-	@cp trace_line ../htdocs
+trace.cgi_install: trace.cgi
+	@echo "   CP  trace.cgi"
+	@cp trace.cgi ../htdocs
 
 
 trace_log: trace_log.o $(ARCHIVES)
@@ -74,6 +72,24 @@ spg_auth: spg_auth.o setpoint.o $(ARCHIVES)
 
 console_sattracker: console_sattracker.o setpoint.o $(ARCHIVES) -lpthread $(LIBNOVA) -lm
 
+command.cgi: command.cgi.o $(ARCHIVES)
+
+command.cgi_install: command.cgi
+	@echo "   CP  command.cgi"
+	@cp command.cgi ../htdocs
+
+shell.cgi: shell.cgi.o $(ARCHIVES)
+
+shell.cgi_install: shell.cgi
+	@echo "   CP  shell.cgi"
+	@cp shell.cgi ../htdocs
+
+status.cgi: status.cgi.o $(ARCHIVES)
+
+status.cgi_install: status.cgi
+	@echo "   CP  status.cgi"
+	@cp status.cgi ../htdocs
+
 aalib:
 	@$(MAKE) -C aalib
 
@@ -93,7 +109,6 @@ clean:
 	    console_easycomm \
 	    spg_list \
 	    console_httptrace \
-	    console_httpline \
 	    trace_proxy \
 	    console_manual \
 	    console_moontracker \
@@ -107,12 +122,14 @@ clean:
 	    console_weather \
 	    console_zenith \
 	    trace_proxy \
-	    trace_line \
+	    trace.cgi \
 	    trace_log \
 	    log_proxy \
 	    spg_auth \
 	    spg_log_parser \
-	    await_controller
+	    await_controller \
+	    command.cgi \
+	    status.cgi
 	$(MAKE) -C aalib clean
 	$(MAKE) -C doc clean
 	$(MAKE) -C predictlib clean

console/console/command.cgi.c

+/*
+	HTTP frontend for commands
+
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2013
+	Copyright Stichting C.A. Muller Radioastronomiestation, 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
+	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 <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <math.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+
+#include "tcp_connect.h"
+
+#include "dt_port_numbers.h"
+#include "dt_host.h"
+
+int main(int argc, char **argv)
+{
+	int fd;
+	char buffer[1000];
+	char *host;
+	int port = -1;
+	
+	host = dt_host_console();
+	
+	fgets(buffer, sizeof(buffer), stdin);
+	while (buffer[strlen(buffer)-1] == '\n')
+		buffer[strlen(buffer)-1] = 0;
+	
+	if (!strcmp(buffer, "sat"))
+		port = CONSOLE_SAT_CMD_PORT;
+	else if (!strcmp(buffer, "sun"))
+		port = CONSOLE_SUN_CMD_PORT;
+	else if (!strcmp(buffer, "moon"))
+		port = CONSOLE_MOON_CMD_PORT;
+	else if (!strcmp(buffer, "auth"))
+		port = CONSOLE_ACTIVE_PORT;
+	else if (!strcmp(buffer, "j2000"))
+		port = CONSOLE_J2000_CMD_PORT;
+	else if (!strcmp(buffer, "offset"))
+		port = CONSOLE_OFFSET_PORT;
+	else if (!strcmp(buffer, "azel"))
+		port = CONSOLE_AZEL_PORT;
+	else if (!strcmp(buffer, "manual"))
+		port = CONSOLE_MANUAL_CMD_PORT;
+
+	alarm(10);
+	
+	fd = tcp_connect(host, port);
+	
+	if (fd >= 0) {
+		ioctl(fd, FIONBIO, &(int){ 0 });
+		
+		while (fgets(buffer, sizeof(buffer), stdin))
+			write(fd, buffer, strlen(buffer));
+
+		write(fd,"\n", 1);
+		fsync(fd);
+
+		printf("Content-type: text/plain\n");
+		printf("Cache-Control: no-cache\n");
+		printf("Pragma: no-cache\n");
+		printf("\n");
+		printf("done\n");
+	} else {
+		printf("Content-type: text/plain\n");
+		printf("Cache-Control: no-cache\n");
+		printf("Pragma: no-cache\n");
+		printf("\n");
+		sleep(1);
+		printf("failed\n");
+		printf("No response from %s:%d\n", host, port);
+	}
+
+	return 0;
+}

console/console/console_azel.c

@@ -183,14 +183,23 @@ int main(int argc, char **argv)
 		command_host = argv[argc - 1];
 	}
 
-	sp_command_az = setpoint_command_init(command_host, command_port,
-	    az_command_spg, "console/azel");
-	sp_command_el = setpoint_command_init(command_host, command_port,
-	    el_command_spg, "console/azel");
-	if (!sp_command_az || !sp_command_el) {
-		fprintf(stderr, "Setpoint generator(s) not found\n");
-		exit(-1);
-	}
+	do {
+		sp_command_az = setpoint_command_init(command_host, command_port,
+		    az_command_spg, "console/azel");
+		if (!sp_command_az) {
+			printf("Could not open connection for az commands\n");
+			sleep(1);
+		}
+	} while (!sp_command_az);
+	do {
+		sp_command_el = setpoint_command_init(command_host, command_port,
+		    el_command_spg, "console/azel");
+		if (!sp_command_el) {
+			printf("Could not open connection for el commands\n");
+			sleep(1);
+		}
+	} while (!sp_command_el);
+
 
 	fd_cmd = tcp_listen(cmd_port, 0, 100);
 	if (fd_cmd < 0) {

console/console/console_easycomm.c

@@ -32,9 +32,9 @@
 #include <errno.h>
 #include <signal.h>
 
-#include "tcp_connect.h"
-#include "tcp_listen.h"
-#include "config.h"
+#include <tcp_connect.h>
+#include <tcp_listen.h>
+#include <config.h>
 
 #include "setpoint.h"
 

console/console/console_httptrace.c

@@ -26,7 +26,7 @@
 #include <string.h>
 #include <math.h>
 #include <time.h>
-#include "tcp_connect.h"
+#include <tcp_connect.h>
 
 typedef union {
 	float f;

console/console/console_idle.c

@@ -48,14 +48,22 @@ int main(int argc, char **argv)
 		command_host = argv[1];
 	}
 
-	sp_command_az = setpoint_command_init(command_host, command_port,
-	    az_command_spg, "console/idle");
-	sp_command_el = setpoint_command_init(command_host, command_port,
-	    el_command_spg, "console/idle");
-	if (!sp_command_az || !sp_command_el) {
-		fprintf(stderr, "Setpoint generator(s) not found\n");
-		exit(-1);
-	}
+	do {
+		sp_command_az = setpoint_command_init(command_host, command_port,
+		    az_command_spg, "console/idle");
+		if (!sp_command_az) {
+			printf("Could not open connection for az commands\n");
+			sleep(1);
+		}
+	} while (!sp_command_az);
+	do {
+		sp_command_el = setpoint_command_init(command_host, command_port,
+		    el_command_spg, "console/idle");
+		if (!sp_command_el) {
+			printf("Could not open connection for el commands\n");
+			sleep(1);
+		}
+	} while (!sp_command_el);
 
 	while (1)
 	{

console/console/console_j2000tracer.c

@@ -36,9 +36,9 @@
 #include <sys/ioctl.h>
 #include <errno.h>
 
-#include "libnova/transform.h"
-#include "libnova/julian_day.h"
-#include "libnova/utility.h"
+#include <libnova/transform.h>
+#include <libnova/julian_day.h>
+#include <libnova/utility.h>
 
 #include "setpoint.h"
 #include "tcp_connect.h"

console/console/console_j2000tracker.c

 /*
 	Command generator for J2000.0 positions
 
-	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008, 2011
-	Copyright Stichting C.A. Muller Radioastronomiestation, 2008, 2011
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008, 2011, 2013
+	Copyright Stichting C.A. Muller Radioastronomiestation, 2008, 2011, 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
@@ -37,12 +37,12 @@
 #include <errno.h>
 #include <stdbool.h>
 
-#include "libnova/transform.h"
-#include "libnova/julian_day.h"
-#include "libnova/utility.h"
-#include "libnova/aberration.h"
-#include "libnova/precession.h"
-#include "libnova/refraction.h"
+#include <libnova/transform.h>
+#include <libnova/julian_day.h>
+#include <libnova/utility.h>
+#include <libnova/aberration.h>
+#include <libnova/precession.h>
+#include <libnova/refraction.h>
 
 #include "setpoint.h"
 #include "tcp_connect.h"
@@ -66,6 +66,12 @@ char *el_command_spg = "Elevation_Setpoint";
 char *az_trace_name = "Azimuth_Position";
 char *el_trace_name = "Elevation_Position";
 
+static bool tracking_command_send_p180 = false;
+static bool tracking_command_last_az_valid = false;
+static float tracking_command_last_az = 0;
+
+
+bool tracking_enabled = false;
 bool refraction_enable = false;
 bool dt_model_enable = true;
 
@@ -75,6 +81,7 @@ struct compensation_switch {
 };
 
 struct compensation_switch compensation_switches[] = {
+	{ "enabled", &tracking_enabled },
 	{ "refraction", &refraction_enable },
 	{ "dt_model", &dt_model_enable },
 	{ NULL, NULL }
@@ -232,6 +239,7 @@ void fdset_cmd_clients(fd_set *fdset_rx, int *high)
 void handle_cmd(struct cmd_client *cmd)
 {
 	char *ara, *adec, *switches, *ptr;
+	double oldra, olddec;
 	
 	ara = strtok_r(cmd->buffer, " \t", &ptr);
 	adec = strtok_r(NULL, " \t", &ptr);
@@ -245,9 +253,14 @@ void handle_cmd(struct cmd_client *cmd)
 		adec[strlen(adec)-1] = 0;
 	
 	a2coord(ara, adec, &track_hms, &track_dms);
+	oldra = object.ra;
+	olddec = object.dec;
 	object.ra = ln_hms_to_deg(&track_hms);
 	object.dec = ln_dms_to_deg(&track_dms);
 	
+	if (oldra != object.ra || olddec != object.dec)
+		tracking_command_last_az_valid = false;
+	
 	if (switches) {
 		char *name, *val;
 		int i;
@@ -380,11 +393,14 @@ void output(void)
 		hrz.alt -= alt_adj;
 	}
 	
+	/* libnova can't handle anything above 90.0 */
+	if (hrz.alt > 90.0)
+		hrz.alt = 90.0;
+
 	ln_get_equ_from_hrz (&hrz, &dwingeloo_pos, JD, &equ_pos_prec);
 	/* Calculate inverse precession */
 	ln_get_equ_prec2(&equ_pos_prec, JD, JD2000, &equ_pos_aber);
-	/* qqq MR: to be added again, for modified libnova */
-	/*ln_get_equ_mean_from_aber(&equ_pos_aber, JD, &equ_pos);*/
+	ln_get_equ_mean_from_aber(&equ_pos_aber, JD, &equ_pos);
 
 	ln_deg_to_hms(equ_pos.ra, &hms);
 	ln_deg_to_dms(equ_pos.dec, &dms);
@@ -479,15 +495,23 @@ int main(int argc, char **argv)
 	ln_deg_to_hms(object.ra, &track_hms);
 	ln_deg_to_dms(object.dec, &track_dms);
 
-	sp_command_az = setpoint_command_init(command_host, command_port,
-	    az_command_spg, "console/j2000tracker");
-	sp_command_el = setpoint_command_init(command_host, command_port,
-	    el_command_spg, "console/j2000tracker");
-	if (!sp_command_az || !sp_command_el) {
-		fprintf(stderr, "Setpoint generator(s) not found\n");
-		exit(-1);
-	}
-
+	do {
+		sp_command_az = setpoint_command_init(command_host, command_port,
+		    az_command_spg, "console/j2000tracker");
+		if (!sp_command_az) {
+			printf("Could not open connection for az commands\n");
+			sleep(1);
+		}
+	} while (!sp_command_az);
+	do {