Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 8861) +++ trunk/MagicSoft/Cosy/Changelog (revision 8862) @@ -1,3 +1,50 @@ -*-*- END -*-*- + + 2008/02/13 Thomas Bretz (La Palma) + + * cosy.cc: + - added debug-env command line options + - added config command line option + - added command line options for the ip-addresses + - read in an MEnv + + * candrv/canopen.cc: + - commented an obsolete output + + * candrv/ethernet.[h,cc]: + - changed some cout to gLog stream + - impoved output + - added some some DEBUG precompiler ifs + + * candrv/interface.cc: + - fixed an if: fReceiver instead of !fReceiver + + * candrv/network.cc: + - fixed some problems with hex/dec output + + * devdrv/shaftencoder.[h,cc]: + - decode all bytes in PDO2 + - devide by fTicks instead of a fixed number + - improved some comments + + * main/MCosy.[h,cc]: + - removed the arbitrary offset in GetSePos + (FIXME: This needs to become an option in the rc-file) + - take an MEnv instead of a local TEnv + - improved output + - get name for pointing model as argument + + * tcpip/MCeCoCom.h, tcpip/MDriveCom.h: + - get ip-address as argument + + * tcpip/MTcpIpIO.[h,cc]: + - added GetSocketAddress functions + - changed some cout to gLog + - improved output + + * videodev/MVideo.[h,cc]: + - added an argument to Ioctl to suppress an expected error + + 2008/02/12 Thomas Bretz (La Palma) Index: trunk/MagicSoft/Cosy/candrv/canopen.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8861) +++ trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8862) @@ -88,6 +88,6 @@ // In case of a PDO the conditional semaphore corresponding to this PDO // is raised (WaitForNextPDO) -// HandleSDO: handles a SDO message -// HandlePDO1/2/3/4:handles received PDOs +// HandleSDO: handles a SDO message +// HandlePDO1/2/3/4: handles received PDOs // void CanOpen::HandleCanMessage(WORD_t cobid, const BYTE_t *data, const timeval_t &tv) @@ -127,5 +127,5 @@ const WORD_t subidx = data[3]; - cout << "SND NODE: " << (int)node << " " << flush; + //cout << "SDO_rx: node=" << (int)node << hex << " cmd=0x" << (int)cmd << " idx=0x" << idx << " subidx=0x" << subidx << dec << endl; HandleSDO(node, cmd, idx, subidx, dat, tv); Index: trunk/MagicSoft/Cosy/candrv/ethernet.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8861) +++ trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8862) @@ -39,4 +39,6 @@ ClassImp(Ethernet); +#undef DEBUG + using namespace std; @@ -54,5 +56,5 @@ // Ethernet::Ethernet(const char *addr, const int tx, const int rx, CanOpen *receiver) - : MTcpIpI(rx), Interface(receiver), fTxAddress(addr), fTxPort(tx) + : MTcpIpI(rx),/* MTcpIpO(addr, tx),*/ Interface(receiver), fTxAddress(addr), fTxPort(tx) { gLog << inf2 << "- Ethernet initialized." << endl; @@ -81,4 +83,6 @@ msg.data[1] = 0; + const TString address = MTcpIpO::GetSocketAddress(rx); + while (!IsThreadCanceled()) { @@ -100,7 +104,6 @@ if (len==0) { - // THIS MEANS CONNECTIION LOST!!!! - cout << "============> LEN==0 (CONNECTION LOST?)" << endl; - break; // This break is for TEST PURPOSE FIXME!!! + gLog << warn << "WARNING - Connection lost (received 0bytes) to " << address << endl; + //break; // This break is for TEST PURPOSE FIXME!!! continue; } @@ -109,5 +112,5 @@ if (len>1) { - cout << "Data too long!!!" << endl; + gLog << err << "Data received from " << address << " is more than one byte!" << endl; break; } @@ -117,5 +120,5 @@ if (c>=MSGLEN) { - cout << "Received data too long (> " << MSGLEN << ")" << endl; + cout << "Data received from " << address << " too long (> " << MSGLEN << ")" << endl; break; } @@ -133,8 +136,10 @@ continue; +#ifdef DEBUG cout << "*** RcvdCanFrame len=" << dec << msg.len << ": "; for (int i=0; i" << endl; + gLog << " --debug-env[=1] Display untouched resources after program execution" << endl; + gLog << " --debug-env=2 Display untouched resources after eventloop setup" << endl; + gLog << " --debug-env=3 Debug setting resources from resource file and command line" << endl; + gLog << " --debug-mem Debug memory usage" << endl << endl; gLog << " --debug-threads Debug threads" << endl << endl; + gLog << " --rc=Name:option Set or overwrite a resource of the resource file." << endl << endl; gLog << " --version, -V Show startup message with version number" << endl; gLog << " -?, -h, --help This help" << endl << endl; @@ -80,7 +87,13 @@ } - const Int_t channel = arg.GetIntAndRemove("--channel=", 0); - const Bool_t kDebugMem = arg.HasOnlyAndRemove("--debug-mem"); - const Bool_t kDebugThreads = arg.HasOnlyAndRemove("--debug-threads"); + const Int_t channel = arg.GetIntAndRemove("--channel=", 0); + const Bool_t kDebugMem = arg.HasOnlyAndRemove("--debug-mem"); + const Bool_t kDebugThreads = arg.HasOnlyAndRemove("--debug-threads"); + const TString sps = arg.GetStringAndRemove("--sps=", "127.0.0.1"); + const TString ceco = arg.GetStringAndRemove("--cc=", "ceco"); // ceco + const TString pointing = arg.GetStringAndRemove("--pointing-model=", "bending2.txt"); // ceco + const TString kConfig = arg.GetStringAndRemove("--config=", ".cosyrc"); // ceco + Int_t kDebugEnv = arg.HasOnlyAndRemove("--debug-env") ? 1 : 0; + kDebugEnv = arg.GetIntAndRemove("--debug-env=", kDebugEnv); // @@ -93,5 +106,5 @@ return 2; } -/* + // // Now we access/read the resource file. This will remove all @@ -108,5 +121,5 @@ if (!env.TakeEnv(arg, kDebugEnv>2)) return 0xfd; -*/ + // // check for the right usage of the program (number of options) @@ -178,12 +191,17 @@ } */ - MCosy *cosy = new MCosy(); - - Interface *interface = new Ethernet("127.0.0.1", 5357, 5358, cosy); + MCosy *cosy = new MCosy(env, ceco, pointing); + + Interface *interface = new Ethernet(sps, 5357, 5358, cosy); // Interface *interface = new VmodIcan(cosy, "/dev/dpm_00", 125); gLog << all << "- Starting MCosy." << endl; - cosy->Start(); + cosy->Start(env); + + // FIXME: Is this the right position? + if (kDebugEnv>0) + env.PrintUntouched(); + MStarguider *client=0; Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8861) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8862) @@ -278,5 +278,5 @@ // Decode information, we have a 14bit only // - LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24); + LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16) | (data[3]<<24); fVel = data[4] | (data[5]<<8); @@ -465,6 +465,6 @@ return; - fPos = pre%16384; - fTurn = pre/16384; + fPos = pre%fTicks; + fTurn = pre/fTicks; fDirChangedPos = fPos; fOffset = fMotor ? fMotor->GetPdoPos() : 0; Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 8861) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 8862) @@ -22,5 +22,5 @@ WORDS_t fAcc; // ticks per 25ms^2 WORDS_t fTurn; // Number of turn - LWORD_t fTicks; // Number of ticks per turn + LWORD_t fTicks; // Number of ticks per revolution (resolution) WORD_t fTurns; // Number of possible turns Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 8861) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 8862) @@ -16,4 +16,5 @@ #include "MLogManip.h" +#include "MEnv.h" #include "MTime.h" #include "MPointing.h" @@ -140,8 +141,8 @@ // - // Get the values - // - int p1 = (fZd1->GetPos()+8192)%16384; - int p2 = -(fZd2->GetPos()+8192)%16384; + // Get the values (FIXME!) + // + int p1 = (fZd1->GetPos()/*+8192*/)%fZd1->GetPhysRes(); + int p2 = -(fZd2->GetPos()/*+8192*/)%fZd2->GetPhysRes(); if (fZd1->IsZombieNode()) @@ -930,10 +931,6 @@ } -void MCosy::ReadConfig() -{ - gLog << inf2 << "Reading configuration file..." << flush; - TEnv env(".cosyrc"); - gLog << "done." << endl; - +void MCosy::ReadConfig(MEnv &env) +{ gLog << inf2 << "Reading telescope range..." << flush; const Double_t amin = env.GetValue("Az_Min[deg]", -95.0); @@ -946,16 +943,15 @@ gLog << "done." << endl; - gLog << all << " * Min: " << zmin << "deg " << amin << "deg" << endl; - gLog << all << " * Max: " << zmax << "deg " << amax << "deg" << endl; + gLog << all << flush; + + gLog << " * Min: " << zmin << "deg " << amin << "deg" << endl; + gLog << " * Max: " << zmax << "deg " << amax << "deg" << endl; fMin = fBending.AddOffsets(fMin/TMath::RadToDeg()); fMax = fBending.AddOffsets(fMax/TMath::RadToDeg()); - gLog << all << " * Min': " << fMin.Zd()*TMath::RadToDeg() << "deg " << fMin.Az()*TMath::RadToDeg() << "deg" << endl; - gLog << all << " * Max': " << fMax.Zd()*TMath::RadToDeg() << "deg " << fMax.Az()*TMath::RadToDeg() << "deg" << endl; - - gLog << inf2 << "Reading gear ratios..." << flush; -// kGear.X(env.GetValue("Zd_GearRatio[U_mot/U_tel]", 1000.0)); -// kGear.Y(env.GetValue("Az_GearRatio[U_mot/U_tel]", 1000.0)); + gLog << " * Min': " << fMin.Zd()*TMath::RadToDeg() << "deg " << fMin.Az()*TMath::RadToDeg() << "deg" << endl; + gLog << " * Max': " << fMax.Zd()*TMath::RadToDeg() << "deg " << fMax.Az()*TMath::RadToDeg() << "deg" << endl; + kGear.Set(env.GetValue("Zd_GearRatio[U_mot/U_tel]", 1000.0), env.GetValue("Az_GearRatio[U_mot/U_tel]", 1000.0)); @@ -975,7 +971,13 @@ kResRE.Set(x,y); - x = zd1 ? fZd1->GetPhysRes() : (zd2 ? fZd2->GetPhysRes() : env.GetValue("Zd_ResSE[se/U_mot]", 16384)); - y = az ? fAz->GetPhysRes() : env.GetValue("Az_ResSE[se/U_mot]", 16384); + gLog << " * Az RE resolution: " << x << " re/U_mot" << endl; + gLog << " * Zd RE resolution: " << y << " re/U_mot" << endl; + + x = zd1 ? fZd1->GetPhysRes() : (zd2 ? fZd2->GetPhysRes() : env.GetValue("Zd_ResSE[se/U_tel]", 16384)); + y = az ? fAz->GetPhysRes() : env.GetValue("Az_ResSE[se/U_tel]", 16384); kResSE.Set(x,y); + + gLog << " * Az SE resolution: " << x << " se/U_tel" << endl; + gLog << " * Zd SE resolution: " << y << " se/U_tel" << endl; /* @@ -1019,9 +1021,7 @@ // kGearTot = kResRE*kGear; - gLog << "done." << endl; - - gLog << all; - gLog << " * Setting Gear Ratios:" << endl; - gLog << " --------------------" << endl; +// gLog << all; +// gLog << " * Setting Gear Ratios:" << endl; + // gLog << " --------------------" << endl; gLog << " * X: " << kGear.X() << "*" << kResRE.X()/4 << "/" << kResSE.X() << "=4*" << kGearTot.X() << "/" << kResSE.X() << endl; gLog << " * Y: " << kGear.Y() << "*" << kResRE.Y()/4 << "/" << kResSE.Y() << "=4*" << kGearTot.Y() << "/" << kResSE.Y() << endl; @@ -1065,4 +1065,6 @@ gLog << inf2 << "Starting Shaftencoder Test..." << endl; + + gLog << err << "Build in values!!!" << endl; while (fBackground==kBgdSeTest) @@ -1434,5 +1436,5 @@ // turn on the gui update // -void MCosy::Start() +void MCosy::Start(MEnv &env) { // Don't call this function twice! @@ -1441,5 +1443,5 @@ CheckForError(); - ReadConfig(); + ReadConfig(env); gLog << inf << "- Starting TX Thread." << endl; @@ -1610,5 +1612,5 @@ } -MCosy::MCosy() +MCosy::MCosy(MEnv &env, const char *addr, const char *pointing) : Network(), fObservatory(MObservatory::kMagic1), fStarguider(NULL), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), @@ -1616,5 +1618,4 @@ fOutTp(0), fOutRep(0) { - TEnv env(".cosyrc"); const Int_t id1 = env.GetValue("Az_Id-MAC1", 1); //1 const Int_t id2 = env.GetValue("Az_Id-MAC2", 2); //2 @@ -1637,6 +1638,10 @@ { case 0: - gLog << "<>" << endl;*/ - fBending.Load("bending.txt"); + gLog << "<>" << endl;*/ + gLog << all << "Reading pointing model from " << pointing << "..." << endl; + if (fBending.Load(pointing)) + gLog << all << "Reading pointing model from " << pointing << " successfull." << endl; + else + gLog << err << "ERROR - Reading pointing model from " << pointing << endl; Constructor(id1, id2, id3, id4, id5, id6);/* break; @@ -1651,4 +1656,5 @@ } */ + gLog.SetOutputGui(fWin->GetLog(), kTRUE); @@ -1657,5 +1663,5 @@ fAz->SetDisplay(fWin->GetLabel1()); - fCom = new MDriveCom(this, fOutRep); + fCom = new MDriveCom(this, addr, fOutRep); // fCom->Start(); } Index: trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.h (revision 8861) +++ trunk/MagicSoft/Cosy/main/MCosy.h (revision 8862) @@ -52,4 +52,5 @@ class MStarguider; class MDriveCom; +class MEnv; class MTTalk : public MThread @@ -173,13 +174,15 @@ //void ConstructorDemo(); - void ReadConfig(); + void ReadConfig(MEnv &env); bool CheckNetwork(); + void Start() { } + public: - MCosy(); + MCosy(MEnv &env, const char *addr, const char *pointing); ~MCosy(); - void Start(); + void Start(MEnv &env); void Stop(); Index: trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 8861) +++ trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 8862) @@ -48,6 +48,6 @@ public: - MCeCoCom(MLog *out) - : MTcpIpIO("ceco", 7304, 7404), fOut(out), fStatus(0), fComStat(kNoCmdReceived), + MCeCoCom(const char *addr, MLog *out) + : MTcpIpIO(addr, 7304, 7404), fOut(out), fStatus(0), fComStat(kNoCmdReceived), fHumidity(0), fTemperature(0), fWindSpeed(0), fSolarRadiation(-1), fAlarmCounter(0) Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 8861) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 8862) @@ -41,5 +41,5 @@ }; - MDriveCom(MsgQueue *q, MLog *out) : MCeCoCom(out), fQueue(q) {} + MDriveCom(MsgQueue *q, const char *addr, MLog *out) : MCeCoCom(addr, out), fQueue(q) {} bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er); Index: trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8861) +++ trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8862) @@ -8,4 +8,6 @@ #include "MLog.h" #include "MLogManip.h" + +#include "MString.h" #undef DEBUG @@ -55,9 +57,26 @@ } +TString MTcpIpO::GetSocketAddress(const TSocket &s) +{ + if (!s.IsValid()) + return "n/a"; + + const TInetAddress &a = s.GetInetAddress(); + if (!a.IsValid()) + return "undefined"; + + return MString::Format("%s:%d", a.GetHostAddress(), a.GetPort()); +} + +TString MTcpIpO::GetSocketAddress() const +{ + return GetSocketAddress(*fTxSocket); +} + bool MTcpIpO::SendFrame(TSocket &tx, const char *msg, int len) { if (!tx.IsValid()) { - //cout << "*!* Transmit socket invalid!" << endl; + //gLog << warn << "WARNING - No transmission to " << GetSocketAddress(tx) << " possible." << endl; return false; } @@ -66,5 +85,5 @@ if (l<0) { - cout << "ERROR - Sending Message" << endl; + gLog << err << "ERROR - Sending TCP/IP frame to " << GetSocketAddress(tx) << endl; return false; } @@ -72,5 +91,5 @@ if (l!=len) { - cout << "Send wrong number (" << l << ") of Bytes." << endl; + gLog << err << "ERROR - Sent wrong number (" << l << ") of bytes to " << GetSocketAddress(tx) << endl; return false; } @@ -86,23 +105,24 @@ { // R__LOCKGUARD2(myMutex); - +#ifdef DEBUG cout << "Connecting to " << addr << ":" << port << endl; +#endif // FIXME: Set tx-socket to nonblocking? TSocket tx(addr, port); - // return SendFrame(tx, msg, len); - + return SendFrame(tx, msg, len); +/* if (!tx.IsValid()) { - //cout << "*!* Transmit socket invalid!" << endl; - return false; - } - - cout << "Sending to " << addr << ":" << port << endl; + gLog << warn << "WARNING - No transmission to " << addr << ":" << port << " possible." << endl; + return false; + } + + gLog << dbg << "Sending to " << addr << ":" << port << endl; const Int_t l = tx.SendRaw(msg, len, kDontBlock); if (l<0) { - cout << "ERROR - Sending Message" << endl; + gLog << err << "ERROR - Sending TCP/IP frame to " << addr << ":" << port << endl; return false; } @@ -110,5 +130,5 @@ if (l!=len) { - cout << "Send wrong number (" << l << ") of Bytes." << endl; + gLog << err << "ERROR - Sent wrong number (" << l << ") of bytes to " << addr << ":" << port << endl; return false; } @@ -119,4 +139,5 @@ return true; + */ } @@ -188,4 +209,10 @@ gLog << inf << "- Starting receiver on port " << fPortRx << "..." << endl; +// if (fPortRx==7404) +// { +// gLog << err << "CeCo communication skipped." << endl; +// return 0; +// } + TServerSocket *fServSock=NULL; TSocket *fRxSocket=NULL; @@ -197,12 +224,12 @@ if (!fServSock->IsValid()) { - cout << "ServerSocket on port " << fPortRx << " invalid: "; + gLog << err << "ServerSocket on port " << fPortRx << " invalid: "; switch (fServSock->GetErrorCode()) { - case 0: cout << "No error." << endl; break; - case -1: cout << "low level socket() call failed." << endl; break; - case -2: cout << "low level bind() call failed." << endl; break; - case -3: cout << "low level listen() call failed." << endl; break; - default: cout << "Unknown." << endl; break; + case 0: gLog << "No error." << endl; break; + case -1: gLog << "low level socket() call failed." << endl; break; + case -2: gLog << "low level bind() call failed." << endl; break; + case -3: gLog << "low level listen() call failed." << endl; break; + default: gLog << "Unknown." << endl; break; } delete fServSock; @@ -214,5 +241,5 @@ fServSock->SetOption(kNoBlock, 1); - cout << "Waiting for connection on port " << fPortRx << "..." << endl; + gLog << all << "Waiting for connection on port " << fPortRx << "..." << endl; // while (!HasStopFlag() && (Long_t)fRxSocket<=0) while (!IsThreadCanceled() && (Long_t)fRxSocket<=0) @@ -247,5 +274,5 @@ } - cout << "Connection established on port " << fPortRx << "." << endl; + gLog << all << "Connection established on port " << fPortRx << "." << endl; fRxSocket->SetOption(kNoBlock, 1); Index: trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 8861) +++ trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 8862) @@ -40,8 +40,10 @@ ~MTcpIpO(); - static bool SendFrame(TSocket &tx, const char *msg, int len); - static bool SendFrame(const char *addr, int port, const char *msg, int len); + static TString GetSocketAddress(const TSocket &s); + static bool SendFrame(TSocket &tx, const char *msg, int len); + static bool SendFrame(const char *addr, int port, const char *msg, int len); - bool Send(const char *msg, int len); + TString GetSocketAddress() const; + bool Send(const char *msg, int len); }; Index: trunk/MagicSoft/Cosy/videodev/MVideo.cc =================================================================== --- trunk/MagicSoft/Cosy/videodev/MVideo.cc (revision 8861) +++ trunk/MagicSoft/Cosy/videodev/MVideo.cc (revision 8862) @@ -101,5 +101,5 @@ // Mapper around ioctl for easier access to the device // -int MVideo::Ioctl(int req, void *opt, bool allowirq) const +int MVideo::Ioctl(int req, void *opt, bool allowirq, bool force) const { if (fFileDesc<0) @@ -129,6 +129,9 @@ } - gLog << err << "ERROR - MVideo::Ioctl 0x" << hex << req << ": errno=" << dec << errno << " - "; - gLog << strerror(errno) << " (rc=" << rc << ")" << endl; + if (!force) + { + gLog << err << "ERROR - MVideo::Ioctl 0x" << hex << req << ": errno=" << dec << errno << " - "; + gLog << strerror(errno) << " (rc=" << rc << ")" << endl; + } return rc; } @@ -186,5 +189,5 @@ while (1) { - if (Ioctl (VIDIOC_QUERYCTRL, &qctrl)==-1) + if (Ioctl(VIDIOC_QUERYCTRL, &qctrl, true, true)==-1) break; @@ -769,5 +772,5 @@ void MVideo::Print() const { - gLog << all; + gLog << all << dec; gLog << "Device " << fPath << " " << (IsOpen()?"open":"closed") << "." << endl; @@ -818,5 +821,5 @@ gLog << dec << endl; - gLog << "Controls:" << endl; + gLog << inf2 << "Controls:" << endl; fControls.Print(); } Index: trunk/MagicSoft/Cosy/videodev/MVideo.h =================================================================== --- trunk/MagicSoft/Cosy/videodev/MVideo.h (revision 8861) +++ trunk/MagicSoft/Cosy/videodev/MVideo.h (revision 8862) @@ -62,5 +62,5 @@ private: - int Ioctl(int req, void *opt, bool allowirq=true) const; + int Ioctl(int req, void *opt, bool allowirq=true, bool force=false) const; void Reset();