debugging scan (e7c0ea42) · Commits · Elphel / motosat

test_01.php

+128 −37

Original line number	Original line	Diff line number	Diff line
	@@ -15,6 +15,8 @@ $AZ_CMAX = 4790;
	$EL_CMAX = 10979;		$EL_CMAX = 10979;
	$SK_CMAX = 931;		$SK_CMAX = 931;
	$MODEM_THRESHOLD = 17.0; // consider something if modem strength is above		$MODEM_THRESHOLD = 17.0; // consider something if modem strength is above
			$OVERSHOOT = 1; // final steps absolute error
			$LATE_STOP_AZ = 30; // steps
	/*		/*
	http://192.168.1.250/motor.xml?Action=ElUp&Distance=0.5&Units=1 0.5 degree up		http://192.168.1.250/motor.xml?Action=ElUp&Distance=0.5&Units=1 0.5 degree up

	@@ -177,7 +179,7 @@ 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");		$dbg_file = fopen("/home/eyesis/git/motosat/attic/logs/modem.log","w");
	fprintf($dbg_file,"test log\n");		fprintf($dbg_file,"test log\n");

			if (false) {
	print("<p>".date('l jS \of F Y h:i:s A')."</p>");		print("<p>".date('l jS \of F Y h:i:s A')."</p>");
	$modem_strength= getModemStrength();		$modem_strength= getModemStrength();
	for ($i=0;$i<10;$i++){		for ($i=0;$i<10;$i++){
	@@ -187,7 +189,7 @@ for ($i=0;$i<10;$i++){
	print("<p>modem_strength=".$modem_strength." file=".$modem_strengt_url."</p>");		print("<p>modem_strength=".$modem_strength." file=".$modem_strengt_url."</p>");
	print("<p>".date('l jS \of F Y h:i:s A')."</p>");		print("<p>".date('l jS \of F Y h:i:s A')."</p>");
	exit (0);		exit (0);
			}


	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	@@ -224,7 +226,7 @@ if ($scan_mode){
	$xml = new SimpleXMLElement("<?xml version='1.0'?><motosat/>");		$xml = new SimpleXMLElement("<?xml version='1.0'?><motosat/>");
	$State = $xml_state->State+0; // 1 - Ready, 2 - Busy		$State = $xml_state->State+0; // 1 - Ready, 2 - Busy
	$busy = ($State & 2) != 0;		$busy = ($State & 2) != 0;
	$SignalQuality = (explode(",",myfval($xml_state->SignalQuality)[0]));		$SignalQuality = myfval(explode(",",$xml_state->SignalQuality)[0]);
	$DishCount = $xml_state->DishCount;		$DishCount = $xml_state->DishCount;
	$DishAngle = $xml_state->DishAngle;		$DishAngle = $xml_state->DishAngle;
	$Success = $xml_state->Success;		$Success = $xml_state->Success;
	@@ -281,31 +283,99 @@ $SK_CMAX = 931;
	*/		*/

	function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step){		function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step){
	global $motosat_url;		global $motosat_url,$LATE_STOP_AZ,$dbg_file;
	$DishAngle = Array($DishAngleCenter[0],$DishAngleCenter[1],$DishAngleCenter[2]);		$DishAngle = Array($DishAngleCenter[0],$DishAngleCenter[1],$DishAngleCenter[2]);
	$pass = 0;		$pass = 0;
	for ($DishAngle[1] = $DishAngleCenter[1] - $wnd_el/2;		for ($DishAngle[1] = $DishAngleCenter[1] - $wnd_el/2;
	$DishAngle[1] <= ($DishAngleCenter[1] + $wnd_el/2);		$DishAngle[1] <= ($DishAngleCenter[1] + $wnd_el/2);
	$DishAngle[1]+= $scan_step) {		$DishAngle[1]+= $scan_step) {

	if ($pass & 1) {		if ($pass & 1) {
	$az_start = $DishAngleCenter[1] + $wnd_el/2;		$az_start = $DishAngleCenter[0] + $wnd_az/2;
	$az_end = $DishAngleCenter[1] - $wnd_el/2;		$az_end = $DishAngleCenter[0] - $wnd_az/2;
	} else {		} else {
	$az_start = $DishAngleCenter[1] - $wnd_el/2;		$az_start = $DishAngleCenter[0] - $wnd_az/2;
	$az_end = $DishAngleCenter[1] + $wnd_el/2;		$az_end = $DishAngleCenter[0] + $wnd_az/2;
	}		}
	$DishAngle[0] = $az_start;		$DishAngle[0] = $az_start;
	moveElAzSk_degrees($DishAngle);
			if ($dbg_file) {
			fprintf($dbg_file, "\npass=%d:\n",$pass);
			fprintf($dbg_file, "wnd_az=%f:\n",$wnd_az);
			fprintf($dbg_file, "wnd_el=%f:\n",$wnd_el);
			fprintf($dbg_file, "threshold=%f:\n",$threshold);
			fprintf($dbg_file, "scan_step=%f:\n",$scan_step);
			fprintf($dbg_file, "DishAngle - start:\n");
			fprintf($dbg_file, print_r($DishAngle,1));
			fprintf($dbg_file, "DishAngleCenter - start:\n");
			fprintf($dbg_file, print_r($DishAngleCenter,1));
			}


			// while (true) {
			// $counts = moveElAzSk_degrees($DishAngle);
			// if (!isset($counts)) break;
			// }
			while (null !==moveElAzSk_degrees($DishAngle));
	$DishAngle[0] = $az_end;		$DishAngle[0] = $az_end;

			if ($dbg_file) {
			fprintf($dbg_file, "\nDishAngle - end:\n");
			fprintf($dbg_file, print_r($DishAngle,1));
			}

	moveElAzSk_start_degrees($DishAngle);		moveElAzSk_start_degrees($DishAngle);
	$scan_rslt = waitMotorsReady($threshold);		$scan_rslt = waitMotorsReady($threshold);
			if ($dbg_file) {
			fprintf($dbg_file, "-----scan_rslt=%d:\n",$scan_rslt);
			}
	if ($scan_rslt < 0) {		if ($scan_rslt < 0) {
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
			if ($dbg_file) {
			$DishAngle = explode(",",$xml_state->DishAngle);
			foreach ($DishAngle as $key => $value){
			$DishAngle[$key] = floatval($value);
			}
			fprintf($dbg_file, "\nDishAngle - after hitting/stopped:\n");
			fprintf($dbg_file, print_r($DishAngle,1));
			}

			//,$LATE_STOP_AZ
			//move az back to compensate for late stop
			$DishCount = explode(",",$xml_state->DishCount);
			foreach ($DishCount as $key => $value){
			$DishCount[$key] = $value + 0;
			}
			if ($pass & 1){
			$DishCount[0] += $LATE_STOP_AZ;
			} else {
			$DishCount[0] -= $LATE_STOP_AZ;
			}
			moveElAzSk_counts($DishCount);
			if ($dbg_file) {
			$xml_state = simplexml_load_file($motosat_url);
			$DishAngle = explode(",",$xml_state->DishAngle);
			foreach ($DishAngle as $key => $value){
			$DishAngle[$key] = floatval($value);
			}
			fprintf($dbg_file, "\nDishAngle - after backing:\n");
			fprintf($dbg_file, print_r($DishAngle,1));
			}


	$xml_state->addChild ('Success',(string) true );		$xml_state->addChild ('Success',(string) true );

	return $xml_state;		return $xml_state;
	}		}
			$pass ++;
	}		}
	moveElAzSk_degrees($DishAngleCenter);		moveElAzSk_degrees($DishAngleCenter);
			// while (true) {
			// $counts = moveElAzSk_degrees($DishAngleCenter);
			// if (!isset($counts)) break;
			// }

			while (null !==moveElAzSk_degrees($DishAngleCenter));
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	$xml_state->addChild ('Success',(string) false );		$xml_state->addChild ('Success',(string) false );
	return $xml_state;		return $xml_state;
	@@ -320,7 +390,7 @@ function getModemStrength(){ //0.2sec
	}		}

	function moveElAzSk_start_counts($new_azelsk_count) {		function moveElAzSk_start_counts($new_azelsk_count) {
	global $motosat_url, $AZ_CMAX, $EL_CMAX, $SK_CMAX,$dbg,$dbg_file;		global $motosat_url, $AZ_CMAX, $EL_CMAX, $SK_CMAX,$OVERSHOOT,$dbg,$dbg_file;
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	$DishCount = explode(",",$xml_state->DishCount);		$DishCount = explode(",",$xml_state->DishCount);
	foreach ($DishCount as $key => $value){		foreach ($DishCount as $key => $value){
	@@ -337,6 +407,9 @@ function moveElAzSk_start_counts($new_azelsk_count) {
	$dist_el = $new_azelsk_count[1] - $DishCount[1];		$dist_el = $new_azelsk_count[1] - $DishCount[1];
	$dist_sk = $new_azelsk_count[2] - $DishCount[2];		$dist_sk = $new_azelsk_count[2] - $DishCount[2];
	$dist_az = $new_azelsk_count[0] - $DishCount[0];		$dist_az = $new_azelsk_count[0] - $DishCount[0];
			if (abs ($dist_el) <= $OVERSHOOT) $dist_el = 0;
			if (abs ($dist_sk) <= $OVERSHOOT) $dist_sk = 0;
			if (abs ($dist_az) <= $OVERSHOOT) $dist_az = 0;
	$dir = "Up";		$dir = "Up";
	$dist = 0;		$dist = 0;

	@@ -430,10 +503,10 @@ function moveElAzSk_start_degrees($new_azelsk_degree) {
	* Wait motors stopped and optionally modem strength > threshold		* Wait motors stopped and optionally modem strength > threshold
	* Can be improved slightly by curl-multi: reading modem - 0.2s, controller - 0.29s		* 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		* @param $modem_threshold - if >0, stop on modem strength above threshold
	* @return: 0: no ovement needed, >0 - number of status requests, <0 - -SignalQuality		* @return: 0: no movement needed, >0 - number of status requests, <0 - -SignalQuality
	*/		*/
	function waitMotorsReady($modem_threshold = 0.0){ //		function waitMotorsReady($modem_threshold = 0.0){ //
	global $motosat_url;		global $motosat_url,$dbg_file;
	$busy = true;		$busy = true;
	$try = 0;		$try = 0;
	while ($busy) {		while ($busy) {
	@@ -441,12 +514,43 @@ function waitMotorsReady($modem_threshold = 0.0){ //
	$State = $xml_state->State+0; // 1 - Ready, 2 - Busy		$State = $xml_state->State+0; // 1 - Ready, 2 - Busy
	$busy = ($State & 2) != 0;		$busy = ($State & 2) != 0;
	if ($modem_threshold > 0){		if ($modem_threshold > 0){
	$SignalQuality = (explode(",",myfval($xml_state->SignalQuality)[0]));		$SignalQuality = myfval(explode(",",$xml_state->SignalQuality)[0]);
			if ($SignalQuality > $modem_threshold) {
	$url = $motosat_url."?Action=Stop&Distance=0&Units=0";		$url = $motosat_url."?Action=Stop&Distance=0&Units=0";
	$xml_state = simplexml_load_file($url);		$xml_state1 = simplexml_load_file($url);
			if ($dbg_file) {
			fprintf($dbg_file, "SignalQuality= %f:\n",$SignalQuality);
			}

			while ($busy) {
			$xml_state1 = simplexml_load_file($motosat_url);
			$State = $xml_state1->State+0; // 1 - Ready, 2 - Busy
			$busy = ($State & 2) != 0;
			if ($dbg_file) {
			fprintf($dbg_file,$busy);
			fprintf($dbg_file, " %03d State= %d:\n",$try,$State);
			}

			}
			// Now move back to where good signal strength was detected
			$DishCountGood = explode(",",$xml_state->DishCount);
			foreach ($DishCountGood as $key => $value){
			$DishCountGood[$key] = $value + 0;
			}
			moveElAzSk_counts($DishCountGood);

			if ($dbg_file) {
			fprintf($dbg_file, "SignalQuality= %f:\n",$SignalQuality);
			}

	return -$SignalQuality;		return -$SignalQuality;
	}		}
			}
	$try++;		$try++;
			if ($dbg_file) {
			fprintf($dbg_file, "%03d State= %d:\n",$try,$State);
			}

	//?Action=Stop&Distance=0&Units=0		//?Action=Stop&Distance=0&Units=0
	}		}
	return $try;		return $try;
	@@ -482,17 +586,4 @@ function myfval ($s) {
	}		}


	/*
	$AZ_CPD = 12.74445;
	$EL_CPD = 75.778567;
	$SK_CPD = 8.34;
	$AZ_0 = 0.0; // degrees
	$EL_0 = 0.0; // degrees
	$SK_0 = 55.7554; // degrees
	$AZ_CMAX = 4790;
	$EL_CMAX = 10979;
	$SK_CMAX = 931;

	*/

	?>		?>
	No newline at end of file

Admin message