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elphel-apps-autocampars
Commit ab67d3f7 authored by Andrey Filippov's avatar Andrey Filippov
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merging eyesis/single code

parent de4381a4
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Showing with 240 additions and 335 deletions
src/autocampars.php
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...@@ -264,7 +264,8 @@ $GLOBALS['daemon'] = false; ...@@ -264,7 +264,8 @@ $GLOBALS['daemon'] = false;
log_open(); log_open();
get_application_mode(); // initializes state file (first time slow reading 10389 get_application_mode(); // initializes state file, sets $GLOBALS['init'] and $GLOBALS['camera_state_arr']['state']=='REBOOT' from both command line and $_GET
if (! in_array ( $GLOBALS['camera_state_arr']['state'], array_keys($GLOBALS['STOP_AFTER']) )) { if (! in_array ( $GLOBALS['camera_state_arr']['state'], array_keys($GLOBALS['STOP_AFTER']) )) {
...@@ -324,8 +325,7 @@ if (($_GET ['load'] != '') && ($GLOBALS['sensor_port'] >=0) && ($GLOBALS['camera ...@@ -324,8 +325,7 @@ if (($_GET ['load'] != '') && ($GLOBALS['sensor_port'] >=0) && ($GLOBALS['camera
//$GLOBALS['daemon'] = false; //$GLOBALS['daemon'] = false;
$initPage = $GLOBALS['useDefaultPageNumber']; $initPage = $GLOBALS['useDefaultPageNumber'];
// For new - move current config (if any) out of the way // For new - move current configs (if any) out of the way, so the new set will be created
if ((array_key_exists ( 'new', $_GET )) || (in_array ( '--new', $_SERVER ['argv'] ))) { if ((array_key_exists ( 'new', $_GET )) || (in_array ( '--new', $_SERVER ['argv'] ))) {
foreach ( $GLOBALS['ports'] as $port ) { foreach ( $GLOBALS['ports'] as $port ) {
log_msg ("Rotating configs for port $port"); log_msg ("Rotating configs for port $port");
...@@ -335,31 +335,30 @@ if ((array_key_exists ( 'new', $_GET )) || (in_array ( '--new', $_SERVER ['argv' ...@@ -335,31 +335,30 @@ if ((array_key_exists ( 'new', $_GET )) || (in_array ( '--new', $_SERVER ['argv'
} }
} }
// TODO: move // TODO: move
/*
foreach ( $_SERVER ['argv'] as $param ) { foreach ( $_SERVER ['argv'] as $param ) {
if (substr ( $param, 0, 6 ) == "--init") { if (substr ( $param, 0, 6 ) == "--init") {
$GLOBALS['init'] = true; $GLOBALS['init'] = true;
} }
} }
*/
log_msg("get_application_mode()->".get_application_mode());
log_msg("get_eyesis_mode()->".get_eyesis_mode()); // === First initialization step that does not need parameter values - programming power, FPGA, detecting connected sensors (will reboot if requested) ===
log_msg("get_mt9p006_mode()->".get_mt9p006_mode());
if (get_eyesis_mode()!=0){ // sets ($GLOBALS ['eyesis_mode'] if ($GLOBALS['init']) { // without --init will not do anything with the hardware
log_msg("+++ eyesis"); if (get_application_mode () != 0) { // sets ($GLOBALS ['eyesis_mode']
detect_eyesis(); log_msg ("Detecting sensors for ".$GLOBALS['camera_state_arr']['application']);
} else if (get_mt9p006_mode ()!=0){ // sets ($GLOBALS ['mt9p006_mode'] reset_camera (); // will try to prepare camera for reinitialization, ask to reset+exit if not possible, or just do nothing if initialization is not finished
log_msg("+++ mt9p006"); detect_camera (); // will reboot if requested
if ($GLOBALS['init']) { } else {
reset_mt9p006(); // will only do smth. if stage is already higher that after sensor detection respond_xml ('', 'Should never get here');
} }
detect_mt9p006();
} }
// Todo: Add a single camera with 10359?
//log_msg("Sensors map read from the sysfs:\n".str_sensors($GLOBALS['sensors']),1);
//$GLOBALS ['sensor_port'] // === Handle parameters configuration files ===
///+++++++++++++++++++++++++++++++++++++++++++++
// Create new configs if they do not exist (after sensor ports are detected) // Create new configs if they do not exist (after sensor ports are detected)
foreach ( $GLOBALS['ports'] as $port ) { foreach ( $GLOBALS['ports'] as $port ) {
...@@ -379,7 +378,8 @@ foreach ( $GLOBALS['ports'] as $port ) { ...@@ -379,7 +378,8 @@ foreach ( $GLOBALS['ports'] as $port ) {
log_msg ( "autocampars.php parsed configuration file {$GLOBALS['configDir']}/{$GLOBALS['configPaths'] [$port]}."); log_msg ( "autocampars.php parsed configuration file {$GLOBALS['configDir']}/{$GLOBALS['configPaths'] [$port]}.");
} }
// // === Launch processing of HTTP GET and POST requests (and exit after), continue only for command-line mode (--init or --daemon) and HTTP with 'init' ===
log_msg(__LINE__.' $GLOBALS[init]='.$GLOBALS['init'],0); log_msg(__LINE__.' $GLOBALS[init]='.$GLOBALS['init'],0);
if (($_SERVER ['REQUEST_METHOD'] == "GET") && ! ($GLOBALS['init'])) { // in init mode should go through init steps and return XML if (($_SERVER ['REQUEST_METHOD'] == "GET") && ! ($GLOBALS['init'])) { // in init mode should go through init steps and return XML
processGet ($GLOBALS['sensor_port']); processGet ($GLOBALS['sensor_port']);
...@@ -414,10 +414,8 @@ if (($_SERVER ['REQUEST_METHOD'] == "GET") && ! ($GLOBALS['init'])) { // in init ...@@ -414,10 +414,8 @@ if (($_SERVER ['REQUEST_METHOD'] == "GET") && ! ($GLOBALS['init'])) { // in init
$configs = print_r($GLOBALS['configDir'].'/'.$GLOBALS['configPaths'],1); $configs = print_r($GLOBALS['configDir'].'/'.$GLOBALS['configPaths'],1);
echo <<<USAGE echo <<<USAGE
Usage: {$_SERVER['argv'][0]} --init[=page_number] Usage: {$_SERVER['argv'][0]} [--init] [--new] [--ignore-revision]
Initialise parameters using the saved ones in per-sensor port config files, Initialise camdera using saved parameters (usually at boot),
page number 0<='page_number'<15)
If page number is not specified the current default one will be used.
Other functionality (parameters save/restore is provided when this script is called from the daemon, Other functionality (parameters save/restore is provided when this script is called from the daemon,
in that case command is read from the AUTOCAMPARS_* parameter. in that case command is read from the AUTOCAMPARS_* parameter.
...@@ -426,12 +424,15 @@ Configuration files are here: ...@@ -426,12 +424,15 @@ Configuration files are here:
$configs $configs
USAGE; USAGE;
// === end of any command-line mode execution ex cept --init and --daemon
log_close(); log_close();
exit ( 0 ); exit ( 0 );
} }
} }
// === Processing --init (both command line and HTTP get) and --daemon
foreach ( $GLOBALS['ports'] as $port ) { foreach ( $GLOBALS['ports'] as $port ) {
$old_version = $old_versions[get_port_index($port)]; $old_version = $old_versions[get_port_index($port)];
...@@ -463,9 +464,12 @@ WARN; ...@@ -463,9 +464,12 @@ WARN;
} }
} }
} }
// === Second part of the camera initialization using configured parameters. Sets parameters, synchronizes sub-cameras
if ($GLOBALS['init']) { if ($GLOBALS['init']) {
if (get_eyesis_mode() || get_mt9p006_mode()) { if (get_application_mode()) {
init_cameras(); init_cameras();
} else { } else {
respond_xml('', "Can not initialize Unknown camera type.".print_r($GLOBALS['camera_state_arr'],1)); respond_xml('', "Can not initialize Unknown camera type.".print_r($GLOBALS['camera_state_arr'],1));
...@@ -484,7 +488,7 @@ if ($GLOBALS['init']) { ...@@ -484,7 +488,7 @@ if ($GLOBALS['init']) {
respond_xml($GLOBALS['camera_state_arr']['state'],'revisions differ'); // will exit respond_xml($GLOBALS['camera_state_arr']['state'],'revisions differ'); // will exit
} }
respond_xml($GLOBALS['camera_state_arr']['state']); // will exit no error respond_xml($GLOBALS['camera_state_arr']['state']); // will exit no error, providing current state as response (normally it is 'INITIALIZED'
} }
if ($GLOBALS['daemon']) { if ($GLOBALS['daemon']) {
...@@ -521,26 +525,82 @@ function get_port_index($port){ ...@@ -521,26 +525,82 @@ function get_port_index($port){
return -1; return -1;
} }
function detect_eyesis(){ /** Prepare camera to be re-initialized if 'init' mode is set and stage is later than that
log_msg("detect_eyesis()"); * For Eyesis it should either reject or just reboot the cameras */
function reset_camera(){
$multicamera = $GLOBALS['camera_state_arr']['has_slaves'] || $GLOBALS['camera_state_arr']['is_slave'];
$multichannel = $GLOBALS['port_mux'] || false;
switch ($GLOBALS['camera_state_arr']['state']){
case 'INITIALIZED':
if ( $multicamera || $multichannel) { // no universal way to restart so far (some things are possible), so just treat it as reboot
respond_xml('', 'Re-initialization of mult-camera or multi-channel system is not implemented. Please use --reboot'); // will exit(1)
}
log_msg("Got --init command for already initialized camera, trying to re-initialize",1);
// See if any daemons are running
$waitDaemons = 5.0; // / Wait for daemons to stop (when disabled) before resetting frame number.
// / They should look at thei enable bit periodically and restart if the frame is
// / the frame is not what they were expecting to be
if (elphel_get_frame ( $GLOBALS['master_port'] ) > 16) { // =1 after initialization
log_msg ( "Current frame on master port =" . elphel_get_frame ( $GLOBALS ['master_port'] ) . ", sleeping to give daemons a chance");
elphel_set_P_value ( $GLOBALS ['master_port'], ELPHEL_COMPRESSOR_RUN, 0x00, 0, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC ); // / turn compressor off
foreach ($GLOBALS['ports'] as $port) {
elphel_set_P_value ( $port, ELPHEL_DAEMON_EN, 0x00, 0, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC ); // / turn daemons off
}
usleep ( $waitDaemons * 1000000 );
log_msg("Current frame on master port =" . elphel_get_frame ( $GLOBALS ['master_port'] ) . ", waking up, daemons should be dead already");
}
log_msg("after reset - current frame on master port =" . elphel_get_frame ( $GLOBALS ['master_port'] ));
// Stop compressor if it was running (daemons are already stopped)
if (elphel_get_P_value ( $port, ELPHEL_COMPRESSOR_RUN ) || elphel_get_P_value ( $port, ELPHEL_DAEMON_EN )) {
$frame_to_set += ELPHEL_CONST_FRAME_DEAFAULT_AHEAD;
// Should we stop sequencers?
elphel_set_P_arr ( $port, array (
'COMPRESSOR_RUN' => 0,
'SENSOR_RUN' => 0,
'DAEMON_EN' => 0
), $frame_to_set, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC ); // was -1 ("this frame")
// advance frames, so next settings will be ASAP (sent immediate, not limited to 64?)
for ($i = 0; $i< ELPHEL_CONST_FRAME_DEAFAULT_AHEAD; $i++){
// Single trigger
elphel_set_P_value ( $GLOBALS['master_port'], ELPHEL_TRIG_PERIOD, 1, ELPHEL_CONST_FRAME_IMMED, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC);
usleep ($GLOBALS['camera_state_arr']['max_frame_time']); // > 1 frame, so all channels will get trigger parameters? 3 2 2 1 -> 4 3 3 2
}
}
$GLOBALS['camera_state_arr']['state'] ='BITSTREAM';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg("Reset camera state to ". $GLOBALS['camera_state_arr']['state']);
break;
default:
log_msg("Got --init command, initialization was not completed, just continue",1);
}
}
function detect_camera(){
log_msg("detect_camera()",0);
$GLOBALS['camera_state_arr']['max_latency'] = 5; // frames to manually advance $GLOBALS['camera_state_arr']['max_latency'] = 5; // frames to manually advance
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] ); write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
$sensor_code = 52; $sensor_code = 52;
log_msg("detect_eyesis():\n".str_sensors($GLOBALS['sensors']),1); log_msg("detect_camera():\n".str_sensors($GLOBALS['sensors']),0);
// Not needed - set by get_sysfs_sensors()/ update_sysfs_sensors()
// $GLOBALS['ports'] = array(); // list of enabled ports
// for ($port=0; $port < 4; $port++) if ($GLOBALS['sensors'][$port][0] == 'mt9p006') $GLOBALS['ports'][] = $port;
log_msg("ports:". implode(", ",$GLOBALS['ports'])); log_msg("ports:". implode(", ",$GLOBALS['ports']));
$multicamera = $GLOBALS['camera_state_arr']['has_slaves'] || $GLOBALS['camera_state_arr']['is_slave'];
switch ($GLOBALS['camera_state_arr']['state']){ switch ($GLOBALS['camera_state_arr']['state']){
case 'REBOOT': case 'REBOOT':
log_msg("rebooting..."); if (!$multicamera) {
log_msg("rebooting...");
reboot_me(); // will also generate xml if in http mode and exit anyway
}
log_msg("rebooting..."); // multicamera needs to determine and reboot slaves (if it is master
case 'BOOT': case 'BOOT':
log_msg("boot"); log_msg("boot", 0);
// Apply sensor mask from the application mode, update sysfs // Apply sensor mask from the application mode, update sysfs
$sensor_mask = get_eyesis_mode (); // 20 bit - for each channel of each port and port multiplexers (typical Eyesis 0xf7777) $sensor_mask = get_application_mode (); // 20 bit - for each channel of each port and port multiplexers (typical Eyesis 0xf7777)
log_msg(sprintf("Using sensor mask 0x%x", $sensor_mask));
$needupdate=0; $needupdate=0;
for($port = 0; $port < 4; $port++){ for($port = 0; $port < 4; $port++){
for ($chn = 0; $chn < 4; $chn++){ for ($chn = 0; $chn < 4; $chn++){
...@@ -564,76 +624,85 @@ function detect_eyesis(){ ...@@ -564,76 +624,85 @@ function detect_eyesis(){
$sensor_mask = $sensor_mask >> 1; $sensor_mask = $sensor_mask >> 1;
} }
} }
if ($needupdate) update_sysfs_sensors(); if ($needupdate) {
log_msg("Sensors not disabled by the application mode (10389 EEPROM):\n".str_sensors($GLOBALS['sensors']),1);
update_sysfs_sensors();
}
// All eyesis cameras - disable fan control to re-use for 10359 power // All eyesis cameras - disable fan control to re-use for 10359 power
$rslt=set_eyesis_power_control(); if ($GLOBALS['camera_state_arr']['eyesis_power']){ // disable fan control, reuse it to control power
log_msg("set_eyesis_power_control()=>".print_r($rslt,1)); $rslt=set_eyesis_power_control();
log_msg("GLOBALS['camera_state_arr']=>".print_r($GLOBALS['camera_state_arr'],1)); log_msg("set_eyesis_power_control()=>".print_r($rslt,1));
log_msg("GLOBALS['camera_state_arr']=>".print_r($GLOBALS['camera_state_arr'],1));
$GLOBALS['camera_state_arr'] = array_merge($GLOBALS['camera_state_arr'], eyesis_get_IPs()); }
// if (is_eyesis_master()) $GLOBALS['camera_state_arr']['is_master'] = is_eyesis_master(); // Set IPs of slave cameras (if any)
// if (is_eyesis_slave()) $GLOBALS['camera_state_arr']['is_slave'] = is_eyesis_slave(); if ($multicamera) {
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] ); $GLOBALS['camera_state_arr'] = array_merge ($GLOBALS['camera_state_arr'], multicamera_get_IPs ());
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path']);
log_msg ('Current state: ' . $GLOBALS['camera_state_arr']['state']);
}
log_msg('Current state: '. $GLOBALS['camera_state_arr']['state']); // Now IPs of slave cameras are know - reboot them (will exit anyway)
if ($GLOBALS['camera_state_arr']['state'] == 'REBOOT') { if ($GLOBALS['camera_state_arr']['state'] == 'REBOOT') {
reboot_all_if_master(); // will exit anyway (dso nothing if not master) reboot_all_if_master(); // will exit anyway (do nothing if not master), exit anyway
} }
// Done if it is slave
if ($GLOBALS['camera_state_arr']['is_slave']){ if ($GLOBALS['camera_state_arr']['is_slave']){
respond_xml('This is a slave camera - waiting for master to contol next steps',''); // will exit(0) respond_xml('This is a slave camera - waiting for master to contol next steps',''); // will exit(0)
} }
// Sanity check
if (!$GLOBALS['camera_state_arr']['is_master']){ if (!$GLOBALS['camera_state_arr']['is_master']){
respond_xml('', 'This is a neither slave, no master camera - waiting for master to contol next steps - aborting'); // will exit(1) respond_xml('', 'This is a neither slave, no master camera - waiting for master to contol next steps - aborting'); // will exit(1)
} }
log_msg("Continue with master camera"); log_msg("Continue with master camera");
log_msg("=== Setting FPGA and sensor power ==="); log_msg("=== Setting FPGA and sensor power ===");
if ($GLOBALS['camera_state_arr']['has_slaves']) {
/* $rslt = wait_slaves_boot ($GLOBALS['BOOT_RETRIES']);
// just testing error handling if ($rslt !== true) {
$states= get_remote_states(array( log_msg ('wait_slaves_boot() => ' . print_r ($rslt, 1));
$GLOBALS['camera_state_arr']['ip_top'], log_msg ('If both states are post BOOT - system reboot is required. TODO: Add master-initiated reboot of all cameras (probably by master --init');
$GLOBALS['camera_state_arr']['ip_middle'], break;
$GLOBALS['camera_state_arr']['ip_bottom'], }
"192.168.0.4",
"192.168.0.33"));
log_msg("remote states: ".print_r($states,1), 1);
*/
$rslt = wait_slaves_boot($GLOBALS['BOOT_RETRIES']);
if ($rslt !== true){
log_msg ('wait_slaves_boot() => '.print_r($rslt,1));
log_msg ('If both states are post BOOT - system reboot is required. TODO: Add master-initiated reboot of all cameras (probably by master --init');
break;
} }
// TODO: convert to curl_multi?
eyesis_all_power_fpga('hargs-power_par12');
eyesis_all_power_fpga('hargs-power-eyesis');
eyesis_all_power_fpga('hargs-post-par12');
$ips_10359 = array(
$GLOBALS['camera_state_arr']['ip_top'],
$GLOBALS['camera_state_arr']['ip_middle']);
log_msg("Loading 10359 bitstreams");
// Camera-specific powering/loading FPGA bitstream (including 10359)
if ($GLOBALS['camera_state_arr']['is_eyesis']){
// TODO: convert to curl_multi?
eyesis_all_power_fpga ('hargs-power_par12');
eyesis_all_power_fpga ('hargs-power-eyesis');
eyesis_all_power_fpga ('hargs-post-par12');
$ips_10359 = array ($GLOBALS['camera_state_arr']['ip_top'],$GLOBALS['camera_state_arr']['ip_middle']);
log_msg ("Loading 10359 bitstreams");
// Try curl_multi instead // Try curl_multi instead
log_msg($cmd.'Trying curl_multi'); log_msg ($cmd . 'Trying curl_multi');
$urls=array(); $urls = array ();
foreach ($ips_10359 as $ip){ foreach ($ips_10359 as $ip) {
$urls[] = "http://".$ip."/autocampars.php?init_stage=PRE10359&exit_stage=SENSORS_SYNCHRONIZED"; $urls[] = "http://" . $ip . "/autocampars.php?init_stage=PRE10359&exit_stage=SENSORS_SYNCHRONIZED";
}
$curl_data = curl_multi_start ($urls);
log_msg ($cmd . 'Started curl_multi');
} else if ($GLOBALS['camera_state_arr']['is_mt9p006']){
log_msg("=== Initializing FPGA ===");
unset ($output);
exec ( 'autocampars.py localhost py393 hargs', $output, $retval );
$GLOBALS['camera_state_arr']['state'] ='BITSTREAM';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg("COMMAND_OUTPUT for 'autocampars.py localhost py393 hargs-power_par12':\n".
print_r($output,1)."\ncommand return value=".$retval."\n");
} else {
respond_xml ('', 'Do not know how to initialize master camera '.primt_r($GLOBALS['camera_state_arr']['is_mt9p006'],1));
} }
$curl_data = curl_multi_start($urls);
log_msg($cmd.'Started curl_multi');
// can not exit until joined // can not exit until joined
case 'PRE10359': case 'PRE10359': // Entry point for Eyesis slave cameras that have 10359B multiplexers on their ports
if ($GLOBALS['port_mux']) { if ($GLOBALS['port_mux']) {
for($port = 0; $port < 4; $port++) { for($port = 0; $port < 4; $port++) {
if ($GLOBALS['port_mux'][$port] != 'none') { if ($GLOBALS['port_mux'][$port] != 'none') {
...@@ -714,10 +783,7 @@ function detect_eyesis(){ ...@@ -714,10 +783,7 @@ function detect_eyesis(){
$GLOBALS['camera_state_arr']['state'] ='SENSORS_DETECTED'; $GLOBALS['camera_state_arr']['state'] ='SENSORS_DETECTED';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] ); write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg('Reached state: '. $GLOBALS['camera_state_arr']['state']); log_msg('Reached state: '. $GLOBALS['camera_state_arr']['state']);
// temporarily, later make optional:
// respond_xml($GLOBALS['camera_state_arr']['state']); // will exit
// exit(0); // just in case - if something will break
if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']){ if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']){
respond_xml($GLOBALS['camera_state_arr']['state']); respond_xml($GLOBALS['camera_state_arr']['state']);
} }
...@@ -773,8 +839,7 @@ function detect_eyesis(){ ...@@ -773,8 +839,7 @@ function detect_eyesis(){
if (isset ($curl_data)){ // wait and collect responses if (isset ($curl_data)){ // wait and collect responses
$enable_echo = !array_key_exists('REQUEST_METHOD',$_SERVER); $enable_echo = !array_key_exists('REQUEST_METHOD',$_SERVER);
if ($enable_echo) echo "Waiting slaves to finish: "; if ($enable_echo) echo "Waiting slaves to finish: ";
//// $results = curl_multi_finish($curl_data, true, 0, $enable_echo); $results = curl_multi_finish($curl_data, true, 0, $enable_echo); // Switch true -> false if errors are reported (other output damaged XML)
$results = curl_multi_finish($curl_data, false, 0, $enable_echo);
log_msg('curl_multi returned: '.print_r($results,1)); log_msg('curl_multi returned: '.print_r($results,1));
} }
if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']){ if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']){
...@@ -795,183 +860,13 @@ function str_sensors($sens_arr){ ...@@ -795,183 +860,13 @@ function str_sensors($sens_arr){
return implode("\n",$sports); return implode("\n",$sports);
} }
/** Prepare camera to be re-initialized if 'init' mode is set and stage is later than that*/
function reset_mt9p006(){
switch ($GLOBALS['camera_state_arr']['state']){
case 'REBOOT':
reboot_me();
case 'BOOT':
case "POWERED":
case 'BITSTREAM':
// Keep these too?
case 'SENSORS_DETECTED':
case 'SENSORS_SYNCHRONIZED':
case 'PARAMETERS_PRESET':
case 'SEQUENCERS_ADVANCED':
return; // do nothing just continue
default: // later stage, need resetting
// See if any daemons are running
$waitDaemons = 5.0; // / Wait for daemons to stop (when disabled) before resetting frame number.
// / They should look at thei enable bit periodically and restart if the frame is
// / the frame is not what they were expecting to be
if (elphel_get_frame ( $GLOBALS['master_port'] ) > 16) { // =1 after initialization
log_msg ( "Current frame on master port =" . elphel_get_frame ( $GLOBALS ['master_port'] ) . ", sleeping to give daemons a chance");
elphel_set_P_value ( $GLOBALS ['master_port'], ELPHEL_COMPRESSOR_RUN, 0x00, 0, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC ); // / turn compressor off
foreach ($GLOBALS['ports'] as $port) {
elphel_set_P_value ( $port, ELPHEL_DAEMON_EN, 0x00, 0, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC ); // / turn daemons off
}
usleep ( $waitDaemons * 1000000 );
log_msg("Current frame on master port =" . elphel_get_frame ( $GLOBALS ['master_port'] ) . ", waking up, daemons should be dead already");
}
log_msg("after reset - current frame on master port =" . elphel_get_frame ( $GLOBALS ['master_port'] ));
// Stop compressor if it was running (daemons are already stopped)
if (elphel_get_P_value ( $port, ELPHEL_COMPRESSOR_RUN ) || elphel_get_P_value ( $port, ELPHEL_DAEMON_EN )) {
$frame_to_set += ELPHEL_CONST_FRAME_DEAFAULT_AHEAD;
// Should we stop sequencers?
elphel_set_P_arr ( $port, array (
'COMPRESSOR_RUN' => 0,
'SENSOR_RUN' => 0,
'DAEMON_EN' => 0
), $frame_to_set, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC ); // was -1 ("this frame")
// advance frames, so next settings will be ASAP (sent immediate, not limited to 64?)
for ($i = 0; $i< ELPHEL_CONST_FRAME_DEAFAULT_AHEAD; $i++){
// Single trigger
elphel_set_P_value ( $GLOBALS['master_port'], ELPHEL_TRIG_PERIOD, 1, ELPHEL_CONST_FRAME_IMMED, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC);
usleep ($GLOBALS['camera_state_arr']['max_frame_time']); // > 1 frame, so all channels will get trigger parameters? 3 2 2 1 -> 4 3 3 2
}
}
$GLOBALS['camera_state_arr']['state'] ='BITSTREAM';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg("Reset camera state to ". $GLOBALS['camera_state_arr']['state']);
}
}
// First stage of initialization, includes sensor detection (so only existing ports will be initialized)
// Will do nothing if already detected
// Advances state after successful steps
function detect_mt9p006(){
$GLOBALS['camera_state_arr']['max_latency'] = 5; // frames to manually advance
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
$sensor_code = 52;
log_msg("detect_mt9p006():\n".str_sensors($GLOBALS['sensors']),0);
// Not needed - set by get_sysfs_sensors()/ update_sysfs_sensors()
// $GLOBALS['ports'] = array(); // list of enabled ports
// for ($port=0; $port < 4; $port++) if ($GLOBALS['sensors'][$port][0] == 'mt9p006') $GLOBALS['ports'][] = $port;
log_msg("ports:". implode(", ",$GLOBALS['ports']),0);
switch ($GLOBALS['camera_state_arr']['state']){
case 'REBOOT':
log_msg("rebooting...");
reboot_all_if_master(); // will also generate xml if in http mode
// single command (power+post_power)
case 'BOOT':
log_msg("boot",0);
// correct sysfs sensor data
$sensor_mask = get_mt9p006_mode ();
$needupdate=0;
foreach ($GLOBALS['ports'] as $port) if (($sensor_mask & (1 << $port)) ==0) {
$GLOBALS['sensors'][$port][0] = 'none';
$needupdate=1;
}
if ($needupdate) {
log_msg("Sensors not disabled by the application mode (10389 EEPROM):\n".str_sensors($GLOBALS['sensors']),1);
update_sysfs_sensors();
}
log_msg("=== Initializing FPGA ===");
unset ($output);
exec ( 'autocampars.py localhost py393 hargs', $output, $retval );
$GLOBALS['camera_state_arr']['state'] ='BITSTREAM';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg("COMMAND_OUTPUT for 'autocampars.py localhost py393 hargs-power_par12':\n".
print_r($output,1)."\ncommand return value=".$retval."\n");
if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']) respond_xml($GLOBALS['camera_state_arr']['state']);
if ($GLOBALS['STOP_AFTER'][$GLOBALS['camera_state_arr']['state']]) break;
case 'BITSTREAM':
$frame_nums=array(-1,-1,-1,-1);
// Open files for only enabled channels
foreach ($GLOBALS['ports'] as $port) {
$f = fopen ( $GLOBALS ['framepars_paths'] [$port], "w+");
fseek ( $f, ELPHEL_LSEEK_FRAMEPARS_INIT, SEEK_END );
elphel_set_P_value ( $port, ELPHEL_SENSOR, 0x00, 0, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC );
$frame_nums[$port]=elphel_get_frame($port);
fclose($f);
}
log_msg("System FPGA version: ".trim(file_get_contents('/sys/devices/soc0/elphel393-framepars@0/fpga_version')));
log_msg("Sensor interface type: ".trim(file_get_contents('/sys/devices/soc0/elphel393-framepars@0/fpga_sensor_interface')));
$needupdate=0;
foreach ($GLOBALS['ports'] as $port) {
if (elphel_get_P_value ( $port, ELPHEL_SENSOR) != $sensor_code){
log_msg("#### Wrong/missing sensor on port ".$port.", code=".elphel_get_P_value ( $port, ELPHEL_SENSOR).
' (expected '.$sensor_code.") . Driver reports errors until port is disabled at later stage ####",1);
$GLOBALS['sensors'][$port][0] = 'none';
$needupdate=1;
}
}
if ($needupdate) update_sysfs_sensors();
log_msg("detected sensors:\n".str_sensors($GLOBALS['sensors']),1);
$GLOBALS['camera_state_arr']['state'] ='SENSORS_DETECTED';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg('Reached state: '. $GLOBALS['camera_state_arr']['state']);
if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']) respond_xml($GLOBALS['camera_state_arr']['state']);
if ($GLOBALS['STOP_AFTER'][$GLOBALS['camera_state_arr']['state']]) break;
case 'SENSORS_DETECTED':
// Program trigger modes (inactive), stop and reset command sequencers
foreach ($GLOBALS['ports'] as $port) {
if ($port==$GLOBALS['master_port']){
elphel_set_P_value ( $port, ELPHEL_TRIG_MASTER, $GLOBALS['master_port'], ELPHEL_CONST_FRAME_IMMED);
elphel_set_P_value ( $port, ELPHEL_TRIG_PERIOD, 0, ELPHEL_CONST_FRAME_IMMED);
elphel_set_P_value ( $port, ELPHEL_TRIG_BITLENGTH, 0, ELPHEL_CONST_FRAME_IMMED);
elphel_set_P_value ( $port, ELPHEL_EXTERN_TIMESTAMP, 1, ELPHEL_CONST_FRAME_IMMED);
elphel_set_P_value ( $port, ELPHEL_XMIT_TIMESTAMP, 1, ELPHEL_CONST_FRAME_IMMED);
elphel_set_P_value ( $port, ELPHEL_TRIG_OUT, 0x00000, ELPHEL_CONST_FRAME_IMMED);
elphel_set_P_value ( $port, ELPHEL_TRIG_CONDITION, 0x00000, ELPHEL_CONST_FRAME_IMMED);
}
elphel_set_P_value ( $port, ELPHEL_TRIG_DELAY, 0, ELPHEL_CONST_FRAME_IMMED);
}
usleep ($GLOBALS['camera_state_arr']['max_frame_time']); // > 1 frame, so all channels will get trigger parameters? //1 1 0 0 -> 3 2 2 1
foreach ($GLOBALS['ports'] as $port) {
elphel_set_P_value ( $port, ELPHEL_TRIG, ELPHEL_CONST_TRIGMODE_SNAPSHOT, ELPHEL_CONST_FRAME_IMMED);
}
// Single trigger 3 2 2 1-> 3 2 2 1
elphel_set_P_value ( $GLOBALS['master_port'], ELPHEL_TRIG_PERIOD, 1, ELPHEL_CONST_FRAME_IMMED, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC);
usleep ($GLOBALS['camera_state_arr']['max_frame_time']); // > 1 frame, so all channels will get trigger parameters? 3 2 2 1 -> 4 3 3 2
//Check that now all frame parameters are the same?
// reset sequencers
for ($port=0; $port < 4; $port++){
$f = fopen ( $GLOBALS['sysfs_frame_seq'].$port, 'w' ); fwrite($f,'0',1); fclose ( $f );
$f = fopen ( $GLOBALS['sysfs_i2c_seq'].$port, 'w' ); fwrite($f,'3',1); fclose ( $f ); // reset+run (copy frame number from frame_seq)
if (!in_array($port, $GLOBALS['ports'])) {
log_msg("Disabling sensor port ".$port);
$f = fopen ( $GLOBALS['sysfs_chn_en'].$port, 'w' ); fwrite($f,'0',1); fclose ( $f ); // disable sensor channel
}
}
// Single trigger
elphel_set_P_value ( $GLOBALS['master_port'], ELPHEL_TRIG_PERIOD, 1, ELPHEL_CONST_FRAME_IMMED, ELPHEL_CONST_FRAMEPAIR_FORCE_NEWPROC);
usleep ($GLOBALS['camera_state_arr']['max_frame_time']); // > 1 frame, so all channels will get trigger parameters? // 0 0 0 0 -> 1 1 1 1
//echo "9. frames:\n"; for ($ii=0;$ii<4;$ii++) $frame_nums[$ii]=elphel_get_frame($ii); print_r($frame_nums);
$GLOBALS['camera_state_arr']['state'] ='SENSORS_SYNCHRONIZED';
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
log_msg('Frames: '. implode(", ",$frame_nums));
log_msg('Reached state: '. $GLOBALS['camera_state_arr']['state']);
if ($GLOBALS['camera_state_arr']['exit_stage'] == $GLOBALS['camera_state_arr']['state']) respond_xml($GLOBALS['camera_state_arr']['state']);
if ($GLOBALS['STOP_AFTER'][$GLOBALS['camera_state_arr']['state']]) break; // will break anyway
break;
default:
log_msg("camera_state=".$GLOBALS['camera_state_arr']['state']);
}
log_msg("ports:". implode(", ",$GLOBALS['ports']));
}
// to re-init daemons should be stopped and other re-init actions performed before calling // to re-init daemons should be stopped and other re-init actions performed before calling
// Sensors and compressors, daemons should be stopped // Sensors and compressors, daemons should be stopped
// State should be reset appropriately too // State should be reset appropriately too
/** init_cameras() is executed after loading/creating of the autocampars*.xml configuarion files during init */
function init_cameras(){ // $page) { init can only be from default page as page numbers can be different per-port function init_cameras(){ // $page) { init can only be from default page as page numbers can be different per-port
// TODO use GSR at startup to keep withstand long exposure? // TODO use GSR at startup to keep withstand long exposure?
...@@ -1408,6 +1303,7 @@ function get_application_mode() { ...@@ -1408,6 +1303,7 @@ function get_application_mode() {
foreach ($_SERVER['argv'] as $param) { foreach ($_SERVER['argv'] as $param) {
if (substr ($param, 0, 8) == "--reboot") { if (substr ($param, 0, 8) == "--reboot") {
$GLOBALS['camera_state_arr']['state'] = 'REBOOT'; $GLOBALS['camera_state_arr']['state'] = 'REBOOT';
$GLOBALS['init'] = true;
$need_update = true; $need_update = true;
} else if (substr ($param, 0, 6) == "--init") { } else if (substr ($param, 0, 6) == "--init") {
$GLOBALS['init'] = true; $GLOBALS['init'] = true;
...@@ -1441,35 +1337,42 @@ function get_application_mode() { ...@@ -1441,35 +1337,42 @@ function get_application_mode() {
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] ); write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
} }
// Select by camera type, return sensor mask ('mode')
switch ($GLOBALS['camera_state_arr']['application']){
case 'MT9P006':
return get_mt9p006_mode();
case 'Eyesis4pi393':
return get_eyesis_mode();
default:
respond_xml('','Unknown camdera type, '.print_r($GLOBALS['camera_state_arr'],1));
}
if ($GLOBALS['camera_state_arr']['application'] == 'MT9P006')
return $GLOBALS['camera_state_arr']; return $GLOBALS['camera_state_arr'];
} }
function get_mt9p006_mode() { function get_mt9p006_mode() {
$csa=get_application_mode(); $mode = intval($GLOBALS['camera_state_arr']['mode']);
// var_dump($csa); // Use same 16-bit mask as in Eyesis?
if ($csa['application'] == 'MT9P006') { // 1111 -> 1000100010001
$mode = intval($csa['mode']); $mode = ($mode & 1) | (($mode & 2) << 3) | (($mode & 4) << 6) | (($mode & 8) << 9);
$GLOBALS ['mt9p006_mode'] = $mode; $GLOBALS['STOP_AFTER']=array_merge($GLOBALS['STOP_AFTER'],array( // overwrite specified fields, keep others
'BOOT' => false,
$GLOBALS['STOP_AFTER']=array( 'POWERED' => false,
'BOOT' => false, 'PRE10359' => false,
'POWERED' => false, 'BITSTREAM'=> false,
'PRE10359' => false, 'SENSORS_DETECTED'=> false,
'BITSTREAM'=> false, 'SENSORS_SYNCHRONIZED'=>false,
'SENSORS_DETECTED'=> false, 'PARAMETERS_PRESET'=> false,
'SENSORS_SYNCHRONIZED'=>false, 'SEQUENCERS_ADVANCED'=> false,
'PARAMETERS_PRESET'=> false, 'INITIALIZED'=> false));
'SEQUENCERS_ADVANCED'=> false, $GLOBALS['camera_state_arr']['is_master'] = 1;
'INITIALIZED'=> false); $GLOBALS['camera_state_arr']['max_frame_time'] = 100000; // usec, should exceed longest initial free frame period
$GLOBALS['camera_state_arr']['is_master'] = 1; $GLOBALS['camera_state_arr']['is_mt9p006'] = 1;
$GLOBALS['camera_state_arr']['max_frame_time'] = 100000; // usec, should exceed longest initial free frame period
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] ); write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
return $mode; return $mode;
}
unset ($GLOBALS ['mt9p006_mode']);
return 0;
} }
...@@ -1482,48 +1385,43 @@ function get_mt9p006_mode() { ...@@ -1482,48 +1385,43 @@ function get_mt9p006_mode() {
* @return unknown|number */ * @return unknown|number */
function get_eyesis_mode() { // should be called... function get_eyesis_mode() { // should be called...
$csa=get_application_mode(); $eyesis_mode = intval($GLOBALS['camera_state_arr']['mode']);
// var_dump($csa); $GLOBALS['camera_state_arr']['max_frame_time'] = 300000; // usec, should exceed longest initial free frame period
$sensor_mask = 0; switch ($eyesis_mode){
if ($csa['application'] == 'Eyesis4pi393') { case 1001 :
$eyesis_mode = intval($csa['mode']); $GLOBALS['camera_state_arr']['is_slave'] = 1;
$GLOBALS['camera_state_arr']['max_frame_time'] = 300000; // usec, should exceed longest initial free frame period $GLOBALS['camera_state_arr']['eyesis_top'] = 1;
switch ($eyesis_mode){ $sensor_mask = 0xf7777; // 3 sensors on each port, 4 port multiplexers
case 1001 : break;
$GLOBALS['camera_state_arr']['is_slave'] = 1; case 1002 :
$GLOBALS['camera_state_arr']['eyesis_top'] = 1; $GLOBALS['camera_state_arr']['is_slave'] = 1;
$sensor_mask = 0xf7777; // 3 sensors on each port, 4 port multiplexers $GLOBALS['camera_state_arr']['eyesis_middle'] = 1;
break; $sensor_mask = 0xf7777; // 3 sensors on each port, 4 port multiplexers
case 1002 : break;
$GLOBALS['camera_state_arr']['is_slave'] = 1; case 1003 :
$GLOBALS['camera_state_arr']['eyesis_middle'] = 1; $GLOBALS['camera_state_arr']['is_master'] = 1;
$sensor_mask = 0xf7777; // 3 sensors on each port, 4 port multiplexers $GLOBALS['camera_state_arr']['has_slaves'] = 1;
break; $GLOBALS['camera_state_arr']['eyesis_bottom'] = 1;
case 1003 : $sensor_mask = 0x1100; // 1 sensors on each port of 2,3
$GLOBALS['camera_state_arr']['is_master'] = 1; break;
$GLOBALS['camera_state_arr']['eyesis_bottom'] = 1; default:
$sensor_mask = 0x1100; // 1 sensors on each port of 2,3 log_err("Unknown Eyesis mode, only 1001, 1002, and 1003 are defined");
break; }
default: $GLOBALS['camera_state_arr']['is_eyesis'] = 1;
log_err("Unknown Eyesis mode, only 1001, 1002, and 1003 are defined"); $GLOBALS['camera_state_arr']['eyesis_power'] = 1; // disable fan control, reuse it to control power
}
$GLOBALS['camera_state_arr']['is_eyesis'] = 1; write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] );
write_php_ini ($GLOBALS['camera_state_arr'], $GLOBALS['camera_state_path'] ); $GLOBALS['STOP_AFTER']=array_merge($GLOBALS['STOP_AFTER'],array( // overwrite specified fields, keep others
$GLOBALS['STOP_AFTER']=array( 'BOOT' => true,
'BOOT' => true, 'POWERED' => true,
'POWERED' => true, 'PRE10359' => false,
'PRE10359' => false, 'BITSTREAM'=> false,
'BITSTREAM'=> false, 'SENSORS_DETECTED'=> false,
'SENSORS_DETECTED'=> false, 'SENSORS_SYNCHRONIZED'=>true, // here join branches
'SENSORS_SYNCHRONIZED'=>true, // here join branches 'PARAMETERS_PRESET'=> true,
'PARAMETERS_PRESET'=> true, 'SEQUENCERS_ADVANCED'=> true,
'SEQUENCERS_ADVANCED'=> true, 'INITIALIZED'=> true));
'INITIALIZED'=> true); return $sensor_mask;
return $sensor_mask;
}
// unset ($GLOBALS ['eyesis_mode']);
unset ($GLOBALS['camera_state_arr']['is_eyesis']);
return 0;
} }
function is_eyesis_master(){ function is_eyesis_master(){
...@@ -1551,11 +1449,14 @@ function offset_IP($offset){ ...@@ -1551,11 +1449,14 @@ function offset_IP($offset){
$aIP[3]= (string) ($offset +((int) $aIP[3])); $aIP[3]= (string) ($offset +((int) $aIP[3]));
return implode('.',$aIP); return implode('.',$aIP);
} }
function eyesis_get_IPs(){ function multicamera_get_IPs(){
if (!is_eyesis_master()) return array(); if (is_eyesis_master ()) {
return array ('ip_top' => offset_IP(-2), return array ('ip_top' => offset_IP (-2),
'ip_middle' => offset_IP(-1), 'ip_middle' => offset_IP (-1),
'ip_bottom' => my_IP()); 'ip_bottom' => my_IP ());
} else { // add other cmares here
return array();
}
} }
function get_remote_states($IPs){ function get_remote_states($IPs){
...@@ -1665,6 +1566,8 @@ function eyesis_all_power_fpga($include){ ...@@ -1665,6 +1566,8 @@ function eyesis_all_power_fpga($include){
return false; return false;
} }
/** Processes commands in daemon mode (not yet tested with nc393 */
function processDaemon($port) { function processDaemon($port) {
//TODO: Make sure $port >=0 //TODO: Make sure $port >=0
$AUTOCAMPARS = elphel_get_P_arr ( $GLOBALS ['sensor_port'], array ( $AUTOCAMPARS = elphel_get_P_arr ( $GLOBALS ['sensor_port'], array (
...@@ -1718,6 +1621,7 @@ function processDaemon($port) { ...@@ -1718,6 +1621,7 @@ function processDaemon($port) {
} }
// print_r($config); // print_r($config);
} }
function processPost($port) { function processPost($port) {
log_msg("processPost($port)"); log_msg("processPost($port)");
// log_msg("GLOBALS['configs']=".print_r($GLOBALS['configs'],1)); // log_msg("GLOBALS['configs']=".print_r($GLOBALS['configs'],1));
...@@ -1823,9 +1727,6 @@ WARN; ...@@ -1823,9 +1727,6 @@ WARN;
} }
$page_title = "Model 393 Camera Parameters save/restore, sensor port {$port}"; $page_title = "Model 393 Camera Parameters save/restore, sensor port {$port}";
startPage ( $page_title, mainJavascript ($port) ); startPage ( $page_title, mainJavascript ($port) );
if ($GLOBALS['twoColumns']) if ($GLOBALS['twoColumns'])
...@@ -1840,6 +1741,7 @@ WARN; ...@@ -1840,6 +1741,7 @@ WARN;
printf ( "</td></tr></table>\n" ); printf ( "</td></tr></table>\n" );
endPage (); endPage ();
} }
function startPage($page_title, $javascript) { function startPage($page_title, $javascript) {
$url = str_replace ( 'new', 'same', $_SERVER ['REQUEST_URI'] ); // / form will remove "new" when submitting $url = str_replace ( 'new', 'same', $_SERVER ['REQUEST_URI'] ); // / form will remove "new" when submitting
...@@ -1867,9 +1769,11 @@ HEAD; ...@@ -1867,9 +1769,11 @@ HEAD;
* echo "-->\n"; * echo "-->\n";
*/ */
} }
function endPage() { function endPage() {
echo "\n</form></body></html>\n"; echo "\n</form></body></html>\n";
} }
function writeGroupsTable($sensor_port) { function writeGroupsTable($sensor_port) {
printf ( "<table border='1' style='font-family: Courier, monospace;'>\n" ); printf ( "<table border='1' style='font-family: Courier, monospace;'>\n" );
printf ( "<tr>" ); printf ( "<tr>" );
...@@ -1889,6 +1793,7 @@ function writeGroupsTable($sensor_port) { ...@@ -1889,6 +1793,7 @@ function writeGroupsTable($sensor_port) {
printf ( "<label style='border: 0px solid #000;' for='id_embed_image' title='Include image with the parameter edit window'>&nbsp;&nbsp;<input type='checkbox' name='embed' value='1' id='id_embed_image' onclick='updateLink();' checked/>Include image</label></td></tr>\n" ); printf ( "<label style='border: 0px solid #000;' for='id_embed_image' title='Include image with the parameter edit window'>&nbsp;&nbsp;<input type='checkbox' name='embed' value='1' id='id_embed_image' onclick='updateLink();' checked/>Include image</label></td></tr>\n" );
printf ( "</table>\n" ); printf ( "</table>\n" );
} }
function writePagesTable($sensor_port) { function writePagesTable($sensor_port) {
printf ( "<table border='1' style='font-family: Courier, monospace;'>\n" ); printf ( "<table border='1' style='font-family: Courier, monospace;'>\n" );
printf ( "<tr>" ); printf ( "<tr>" );
......
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