Adding scan mode

test_01.php

@@ -2,8 +2,9 @@
 $motosat_ip= "192.168.1.250";
 $motosat_url= "http://".$motosat_ip."/motor.xml";
 $modem_ip = "192.168.0.1";
-$modem_ip = "http://localhost/motosat/attic";
-$modem_strengt_url = $modem_ip."/sqf/sqfdisp/index.html";
+//$modem_ip = "http://localhost/motosat/attic";
+//$modem_strengt_url = $modem_ip."/sqf/sqfdisp/index.html";
+$modem_strengt_url = "http://".$modem_ip."/sqf/sqfdisp/index.html";
 $AZ_CPD = 12.74445;
 $EL_CPD = 75.78567;
 $SK_CPD = 8.34;
@@ -13,6 +14,7 @@ $SK_0 = 55.7554; // degrees
 $AZ_CMAX =  4790;
 $EL_CMAX = 10979;
 $SK_CMAX =   931;
+$MODEM_THRESHOLD = 17.0; // consider something if modem strength is above
 /*
 http://192.168.1.250/motor.xml?Action=ElUp&Distance=0.5&Units=1 0.5 degree up
 
@@ -175,9 +177,15 @@ string(61) "http://192.168.1.250/motor.xml?Action=ElDn&Distance=1&Units=0"
 $dbg_file = fopen("/home/eyesis/git/motosat/attic/logs/modem.log","w");
 fprintf($dbg_file,"test log\n");
 
-$modem_strength= getModemStrength();
 
-print($modem_strength);
+print("<p>".date('l jS \of F Y h:i:s A')."</p>");
+$modem_strength= getModemStrength();
+for ($i=0;$i<10;$i++){
+    //$modem_strength= getModemStrength();
+    $xml_state = simplexml_load_file($motosat_url); // 0.29 sec
+}
+print("<p>modem_strength=".$modem_strength." file=".$modem_strengt_url."</p>");
+print("<p>".date('l jS \of F Y h:i:s A')."</p>");
 exit (0);
 
 
@@ -192,15 +200,51 @@ foreach ($DishAngle as $key => $value){
     $DishAngle[$key] = floatval($value);
 }
 
-$dbg =  true;
-$multi= false;
+$dbg =    false; // true;
+$multi=   true; // false;
+$wnd_az = 0;
+$wnd_el = 0;
+$scan_step = 1.0;
+$min_strength = $MODEM_THRESHOLD;
+
 if (isset($_GET["dbg"]))          { $dbg=myval($_GET["dbg"]);}
 if (isset($_GET["multi"]))        { $multi=myval($_GET["multi"]);}
 if (isset($_GET["az"]))           { $DishAngle[0] = myfval($_GET["az"]);}
 if (isset($_GET["el"]))           { $DishAngle[1] = myfval($_GET["el"]);}
 if (isset($_GET["sk"]))           { $DishAngle[2] = myfval($_GET["sk"]);}
 
+if (isset($_GET["wnd_az"]))       { $wnd_az =       myfval($_GET["wnd_az"]);}
+if (isset($_GET["wnd_el"]))       { $wnd_el =       myfval($_GET["wnd_el"]);}
+if (isset($_GET["scan_step"]))    { $scan_step =    myfval($_GET["scan_step"]);}
+if (isset($_GET["min_strength"])) { $min_strength = myfval($_GET["min_strength"]);}
+$scan_mode = ($wnd_az > 0) || ($wnd_el > 0);
 
+if ($scan_mode){
+    $xml_state = scan_window($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step);
+    $xml = new SimpleXMLElement("<?xml version='1.0'?><motosat/>");
+    $State =          $xml_state->State+0; // 1 - Ready, 2 - Busy
+    $busy = ($State & 2) != 0;
+    $SignalQuality = (explode(",",myfval($xml_state->SignalQuality)[0]));
+    $DishCount =     $xml_state->DishCount;
+    $DishAngle =     $xml_state->DishAngle;
+    $Success =       $xml_state->Success;
+    
+    $xml->addChild ('Success',(string) $Success );
+    $xml->addChild ('SignalQuality',(string) $SignalQuality );
+    $xml->addChild ('DishAngle',(string) $DishAngle );
+    $xml->addChild ('DishCount',(string) $DishCount );
+    $xml->addChild ('busy',(string) $busy );
+    $xml->addChild ('State',(string) $State );
+
+    $rslt=$xml->asXML();
+    header("Content-Type: text/xml");
+    header("Content-Length: ".strlen($rslt)."\n");
+    header("Pragma: no-cache\n");
+    // allow CORS: needed for multicam controls
+    header('Access-Control-Allow-Origin: *');
+    printf($rslt);
+    exit (0);
+}
 
 $total_cycles = 0;
 if ($multi) {
@@ -236,7 +280,38 @@ $SK_CMAX =   931;
  
  */
 
-function getModemStrength(){
+function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step){
+    global $motosat_url;
+    $DishAngle = Array($DishAngleCenter[0],$DishAngleCenter[1],$DishAngleCenter[2]);
+    $pass = 0;
+    for ($DishAngle[1] = $DishAngleCenter[1] - $wnd_el/2;
+         $DishAngle[1] <= ($DishAngleCenter[1] + $wnd_el/2);
+         $DishAngle[1]+=  $scan_step) {
+             if ($pass & 1) {
+                 $az_start = $DishAngleCenter[1] + $wnd_el/2;
+                 $az_end =   $DishAngleCenter[1] - $wnd_el/2;
+             } else {
+                 $az_start = $DishAngleCenter[1] - $wnd_el/2;
+                 $az_end =   $DishAngleCenter[1] + $wnd_el/2;
+             }
+             $DishAngle[0] = $az_start;
+             moveElAzSk_degrees($DishAngle);
+             $DishAngle[0] = $az_end;
+             moveElAzSk_start_degrees($DishAngle);
+             $scan_rslt = waitMotorsReady($threshold);
+             if ($scan_rslt < 0) {
+                 $xml_state = simplexml_load_file($motosat_url);
+                 $xml_state->addChild ('Success',(string) true );
+                 return $xml_state;
+             }
+    }
+    moveElAzSk_degrees($DishAngleCenter);
+    $xml_state = simplexml_load_file($motosat_url);
+    $xml_state->addChild ('Success',(string) false );
+    return $xml_state;
+}
+
+function getModemStrength(){ //0.2sec
     global $modem_strengt_url,$dbg_file;
     $modem_page=file_get_contents("$modem_strengt_url");
     $matches=null; // just define
@@ -351,7 +426,13 @@ function moveElAzSk_start_degrees($new_azelsk_degree) {
     return moveElAzSk_start_counts($new_azelsk_count);
 }
 
-function waitMotorsReady(){
+/**
+ * Wait motors stopped and optionally modem strength > threshold
+ * Can be improved slightly by curl-multi:  reading modem - 0.2s, controller - 0.29s
+ * @param $modem_threshold - if >0, stop on modem strength above threshold
+ * @return: 0: no ovement needed, >0 - number of status requests, <0 - -SignalQuality
+ */
+function waitMotorsReady($modem_threshold = 0.0){ //
     global $motosat_url;
     $busy = true;
     $try = 0;
@@ -359,7 +440,14 @@ function waitMotorsReady(){
         $xml_state = simplexml_load_file($motosat_url);
         $State =          $xml_state->State+0; // 1 - Ready, 2 - Busy
         $busy = ($State & 2) != 0;
+        if ($modem_threshold > 0){
+            $SignalQuality = (explode(",",myfval($xml_state->SignalQuality)[0]));
+            $url = $motosat_url."?Action=Stop&Distance=0&Units=0";
+            $xml_state = simplexml_load_file($url);
+            return -$SignalQuality;
+        }
         $try++;
+        //?Action=Stop&Distance=0&Units=0 
     }
     return $try;
 }