#!/usr/bin/env php -q . *! -----------------------------------------------------------------------------** *! $Log: imu_setup.php,v $ *! Revision 1.8 2012/07/03 20:54:36 elphel *! bug fix *! *! Revision 1.7 2011/12/22 05:40:36 elphel *! missed revision *! *! Revision 1.5 2011/09/06 22:02:49 elphel *! added 'list' link *! *! Revision 1.4 2011/09/06 21:56:31 elphel *! help typo *! *! Revision 1.3 2011/09/06 21:53:49 elphel *! adding to help *! *! Revision 1.2 2011/09/06 21:31:48 elphel *! added help *! *! Revision 1.1 2011/09/06 19:07:50 elphel *! initial release, based on start_gps_compass.php *! */ #require 'i2c.inc'; set_include_path ( get_include_path () . PATH_SEPARATOR . '/www/pages/include' ); require 'i2c_include.php'; // $xclk_freq=80000000; // 80 MHz in NC353 $xclk_freq = 100000000; // 100 MHz in NC393 $messageOffset = 0xb0; // offset to start of "odometer" message in the device driver file $config_name = "/etc/elphel393/imu_logger.xml"; $gps_compass_xml = "/www/pages/gps_compass.xml"; $i2cbus = 4; if (isset ( $_SERVER ["SERVER_PROTOCOL"] )) { // echo "web server\n"; if (isset ( $_GET ['msg'] )) { setMessage ( urldecode ( $_GET ['msg'] ) ); } else if (isset ( $_GET ['lmsg'] )) { setMessage ( urldecode ( $_GET ['msg'] ) ); // software toggle input "odometer" line } // / modify parameters if specified $conf = readSettings ( init_default_config () ); // read current settings $apply = 0; // echo "
\n";
	if (count ( $_GET ) == 0) {
		help ();
		exit ( 0 );
	}
	if (array_key_exists ( 'source', $_GET )) {
		$source = file_get_contents ( $_SERVER ['SCRIPT_FILENAME'] );
		header ( "Content-Type: text/php" );
		header ( "Content-Length: " . strlen ( $source ) . "\n" );
		header ( "Pragma: no-cache\n" );
		echo $source;
		exit ( 0 );
	}
	
	foreach ( $_GET as $key => $value ) {
		$access = split ( ':', $key );
		if ($value === '')
			continue;
		if (count ( $access ) < 1)
			continue;
		if (! isset ( $conf [$access [0]] ))
			continue;
		if (count ( $access ) == 1) {
			if (($access [0] == 'imu_period') && ($value == 'auto'))
				$value = 0xffffff00;
			if (is_string ( $conf [$access [0]] ))
				$conf [$access [0]] = $value;
			else
				$conf [$access [0]] = $value + 0;
			$apply ++;
		} else { // count($access)>1
			if (! isset ( $conf [$access [0]] [$access [1]] ))
				continue;
			if (count ( $access ) == 2) {
				if (is_string ( $conf [$access [0]] [$access [1]] ))
					$conf [$access [0]] [$access [1]] = $value;
				else
					$conf [$access [0]] [$access [1]] = $value + 0;
				$apply ++;
			} else { // count($access)>2)
				if (count ( $access ) > 3)
					continue;
				if ($access [2] == 'sentence')
					$access [2] = 0;
				else if ($access [2] == 'format')
					$access [2] = 1;
				if (! isset ( $conf [$access [0]] [$access [1]] [$access [2]] ))
					continue;
				if (is_string ( $conf [$access [0]] [$access [1]] [$access [2]] ))
					$conf [$access [0]] [$access [1]] [$access [2]] = $value;
				else
					$conf [$access [0]] [$access [1]] [$access [2]] = $value + 0;
				$apply ++;
			}
		}
		/*
		 * echo 'key='.$key."\n";
		 * print_r($access);
		 * var_dump($value);
		 */
	}
	if ($apply > 0) {
		echo 'modified ' . $apply . "parameters
\n";
		// print_r($conf);
		setup_IMU_logger ( $conf );
	}
	if (isset ( $_GET ['save'] )) {
		// if ($verbose) echo 'Writing IMU logger configuration to '. $config_name."\n";
		$conf = readSettings ( init_default_config () );
		$logger_xml = loggerConfigToXML ( $conf );
		$conf_file = fopen ( $config_name, "w" );
		fwrite ( $conf_file, $logger_xml->asXML () );
		fclose ( $conf_file );
		exec ( 'sync' );
	}
	
	if (isset ( $_GET ['list'] )) {
		$conf = readSettings ( init_default_config () );
		$logger_xml = loggerConfigToXML ( $conf );
		$logger_xml_text = $logger_xml->asXML ();
		header ( "Content-Type: text/xml" );
		header ( "Content-Length: " . strlen ( $logger_xml_text ) . "\n" );
		header ( "Pragma: no-cache\n" );
		printf ( $logger_xml_text );
	} else
		echo 'OK';
	exit ( 0 );
} else {
	// echo "CGI\n";
}
/*
 * echo "";
 * echo 'OK';
 * exit(0);
 */
// ! Here comes if CLI
/** TODO: Not yet updated for NC393 - use start_gps_compass.php */

$ids = scanGrandDaughters ();
$b_index = indexGrandDaughters ( $ids );
// print_r($ids);
// print_r($b_index);
$baud = null;
if (isset ( $b_index [103696] )) {
	$baud = $ids [$b_index [103696]] ['baud'];
	if ($baud === 0)
		$baud == 'auto';
}

// exit (0);
$wait_time = 20; // wait for $wait_time if both devices were not found, retry
$compass = null;
$GPS = null;
$verbose = true;
foreach ( $_SERVER ['argv'] as $param ) {
	if ((substr ( $param, 0, 2 ) == "-q") || (substr ( $param, 0, 8 ) == "--silent")) {
		$verbose = false;
	}
}

// / kill those GPS and compass if they are running already
exec ( 'killall -q garminusb2exif' );
exec ( 'killall -q nmea2exif' );
exec ( 'killall -q compass' );
// find_gps_compass();
$devs = find_gps_compass ( $baud );
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
// if ((!$compass || !$GPS) && ((exec('date +%s')+0) <30)) {
if ((count ( $devs ) == 0) && ((exec ( 'date +%s' ) + 0) < 30)) {
	if ($verbose)
		echo "waiting $wait_time sec for USB devices to start up\n";
	sleep ( $wait_time );
	if ($verbose)
		echo "Retrying detection\n";
	$devs = find_gps_compass ( $baud );
}
listSensorDevices ( $devs, $b_index, $ids );
// var_dump($GPS);
// if (file_exists ($sensor_state_file)) $sensor_board=parse_ini_file($sensor_state_file);
// exec ('sync');
$logger_config = null;
$write_config = false;
if (file_exists ( $config_name )) {
	if ($verbose)
		echo 'Reading IMU logger configuration from ' . $config_name . "\n";
	$config_xml = simplexml_load_file ( $config_name );
	$logger_config = loggerConfigFromXML ( $config_xml );
} else if (isset ( $b_index [103696] ) || isset ( $b_index [103696] )) {
	if ($verbose)
		echo "Generating IMU logger configuration\n";
		// $default_config=init_default_config();
		// $logger_config=init_default_config();
	$logger_config = array ();
	if (isset ( $GPS ) && isset ( $b_index [103696] )) {
		$logger_config ['baud_rate'] = $GPS ['baud'];
		$logger_config ['gps_slot'] = $ids [$b_index [103696]] ['port'];
		$logger_config ['gps_mode'] = $ids [$b_index [103696]] ['sync'];
	}
	if (isset ( $b_index [103695] )) {
		$logger_config ['imu_slot'] = $ids [$b_index [103695]] ['port'];
		$logger_config ['imu_sa'] = $b_index [103695];
	}
	$write_config = true; // write configuration to /etc after applying defaults
}
if (isset ( $logger_config )) {
	// var_dump($logger_config);
	$logger_config = combineLoggerConfigs ( $logger_config, init_default_config () );
	// var_dump($logger_config);
	// var_dump($default_config);
	$logger_xml = loggerConfigToXML ( $logger_config );
	$conf_file = fopen ( '/var/html/logger_config.xml', "w" );
	fwrite ( $conf_file, $logger_xml->asXML () );
	fclose ( $conf_file );
	setup_IMU_logger ( $logger_config );
	if ($write_config) {
		if ($verbose)
			echo 'Writing IMU logger configuration to ' . $config_name . "\n";
		$conf_file = fopen ( $config_name, "w" );
		fwrite ( $conf_file, $logger_xml->asXML () );
		fclose ( $conf_file );
		exec ( 'sync' );
	}
}

// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
$noGPS = ($compass || $GPS) ? "" : "noGPS";
$nocompass = ($compass) ? "" : "nocompass";
$cmd = "/usr/html/exif.php init $noGPS $nocompass";
if ($verbose)
	echo "Initializing Exif template: $cmd\n";
exec ( $cmd );
if ($GPS) {
	if ($verbose)
		echo "Starting " . $GPS ["name"] . " as " . $GPS ["file"] . "\n";
	if (strpos ( $GPS ['name'], 'NMEA' ) !== false) {
		$cmd = "/usr/local/bin/nmea2exif " . $GPS ["file"] . " &";
	} else {
		$cmd = "/usr/local/bin/garminusb2exif " . $GPS ["file"] . " &";
	}
	if ($verbose)
		echo "exec: $cmd \n";
	popen ( $cmd, "r" );
}
if ($compass) {
	if ($verbose)
		echo "Starting " . $compass ["name"] . " as " . $compass ["file"] . "\n";
	exec ( "stty -F " . $compass ["file"] . " -echo speed 19200" );
	$cmd = "/usr/local/bin/compass " . $compass ["file"] . " &";
	if ($verbose)
		echo "exec: $cmd \n";
	popen ( $cmd, "r" );
}
exit ( (isset ( $b_index [103695] ) ? 4 : 0) | ($compass ? 2 : 0) | ($GPS ? 1 : 0) );
function help() {
	$GP = '$GP';
	$GPRMC = '$GPRMC';
	$GPGGA = '$GPGGA';
	$GPGSA = '$GPGSA';
	$GPVTG = '$GPVTG';
	$script_name = $_SERVER ['SCRIPT_NAME'];
	$prefix_url = 'http://' . $_SERVER ['SERVER_ADDR'] . $_SERVER ['SCRIPT_NAME'];
	// echo << Control links:
	//