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1.7 KiB


controller Basic controller functions & blocks.

utils Helper functions (e.g. TCP and config file reading)

dt_azimuth DT Azimuth (real & model)

dt_elevation DT Elevation (real & model)

ec Ethercat implementation

shell Code for command shell


A Debian 6.0 installation with make, libtool, gcc, bison, flex installed is
sufficient for building the controller. For running, root permissions are
required as it selects the realtime scheduler.


dt_ctrl Controller software for the complete DT
dt_ctrl_sim Controller software for the complete DT, including DT-simulator

trace_list Connects to controller and prints list of available

trace_view Live view of a trace using gnuplot.

Installing locally

A webserver is needed to present the console gui to the web browser. Configure
/etc/apache2/sites-enabled/000-default (or the default-ssl file) as followss,
where htdocs is located in /var/console/console/htdocs:

DocumentRoot /var/console/console/htdocs
<Directory "/var/console/console/htdocs">
AllowOverride None
AddHandler cgi-script .cgi
Options +ExecCGI -MultiViews +SymLinksIfOwnerMatch
Order allow,deny
Allow from all

Running locally

Start the controller:
cd controller; ./dt_ctrl dt_ctrl.ctrl

Start the console:
cd console/console/bin; ./

Make sure your webbrowser can handle sufficient tcp connections in parallel to
the webserver. For Firefox, set in about:config this: