add client-p2

client-p2/Makefile

@@ -0,0 +1,22 @@
+PROGRAM = p2_move
+LDFLAGS = -lpthread -lcrypt
+SRCS = $(wildcard *.c)
+CC = gcc
+DEFINES = -D_XOPEN_SOURCE=601
+CXX = gcc
+CFLAGS = -Wall -Werror $(DEFINES)
+OBJS = $(SRCS:.c=.o)
+all : $(PROGRAM) clean
+$(PROGRAM) : $(OBJS)
+	$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+# some addition dependencies
+# %.o: %.c
+#        $(CC) $(LDFLAGS) $(CFLAGS) $< -o $@
+#$(SRCS) : %.c : %.h $(INDEPENDENT_HEADERS)
+#        @touch $@
+
+clean:
+	/bin/rm -f *.o *~
+depend:
+	$(CXX) -MM $(CXX.SRCS)

client-p2/cmdlnopts.c

@@ -0,0 +1,120 @@
+/*
+ * cmdlnopts.c - the only function that parce cmdln args and returns glob parameters
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <stdio.h>
+#include <string.h>
+#include <assert.h>
+#include "cmdlnopts.h"
+
+/*
+ * here are global parameters initialisation
+ */
+glob_pars G;  // internal global parameters structure
+int help = 0; // whether to show help string
+
+glob_pars Gdefault = {
+	.serialdev        = "/dev/ttyACM0",
+	.gotopos          = -1000.,
+	.relmove          = 0.,
+};
+
+#ifndef N_
+#define N_(x)   (x)
+#endif
+
+#ifndef _
+#define _(x)    (x)
+#endif
+
+bool get_angle(double *dest, char *src){
+	double A = 0., sign = 1.;
+	int d,m;
+//	printf("arg: %s\n", src);
+	if(myatod(&A, src, arg_double)){ // angle in seconds
+		*dest = A;
+		return true;
+	}else if(3 == sscanf(src, "%d:%d:%lf", &d, &m, &A)){
+		if(d > -361 && d < 361 && m > -1 && m < 60 && A > -0.1 && A < 60.){
+			if(d < 0) sign = -1.;
+			*dest = sign*A + sign*60.*m + 3600.*d;
+			return true;
+		}
+	}else if(2 == sscanf(src, "%d:%lf", &m, &A)){
+		if(m > -60 && m < 60 && A > -0.1 && A < 60.){
+			if(m < 0) sign = -1.;
+			*dest = sign*A + 60.*m;
+			return true;
+		}
+	}
+	fprintf(stderr, "Wrong angle format [%s], need: ss.ss, mm:ss.ss or dd:mm:ss.ss\n", src);
+	return false;
+}
+#ifndef _U_
+#define _U_    __attribute__((__unused__))
+#endif
+bool ang_goto(void *arg, _U_ int N){
+	return get_angle(&G.gotopos, arg);
+}
+
+bool ang_gorel(void *arg, _U_ int N){
+	return get_angle(&G.relmove, arg);
+}
+
+/*
+ * Define command line options by filling structure:
+ *	name	has_arg	flag	val		type		argptr			help
+*/
+myoption cmdlnopts[] = {
+	/// "ÏÔÏÂÒÁÚÉÔØ ÜÔÏ ÓÏÏÂÝÅÎÉÅ"
+	{"help",	0,	NULL,	'h',	arg_int,	APTR(&help),		N_("show this help")},
+	/// "ÐÕÔØ Ë ÕÓÔÒÏÊÓÔ×Õ ÍÉËÒÏËÏÎÔÒÏÌÌÅÒÁ"
+	{"serialdev",1,	NULL,	'd',	arg_string,	APTR(&G.serialdev),	N_("path to MCU device")},
+	{"goto",	1,	NULL,	'g',	arg_function,APTR(ang_goto),	N_("go to given position")},
+	{"relative",1,	NULL,	'r',	arg_function,APTR(ang_gorel),	N_("go relative current position")},
+	end_option
+};
+
+
+/**
+ * Parce command line options and return dynamically allocated structure
+ * 		to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parce_args(int argc, char **argv){
+	int i;
+	void *ptr;
+	ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+	// format of help: "Usage: progname [args]\n"
+	/// "éÓÐÏÌØÚÏ×ÁÎÉÅ: %s [ÁÒÇÕÍÅÎÔÙ]\n\n\tçÄÅ ÁÒÇÕÍÅÎÔÙ:\n"
+	change_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
+	// parse arguments
+	parceargs(&argc, &argv, cmdlnopts);
+	if(help) showhelp(-1, cmdlnopts);
+	if(argc > 0){
+		/// "éÇÎÏÒÉÒÕÀ ÁÒÇÕÍÅÎÔ[Ù]:"
+		printf("\n%s\n", _("Ignore argument[s]:"));
+		for (i = 0; i < argc; i++)
+			printf("\t%s\n", argv[i]);
+	}
+	return &G;
+}
+

client-p2/cmdlnopts.h

@@ -0,0 +1,40 @@
+/*
+ * cmdlnopts.h - comand line options for parceargs
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __CMDLNOPTS_H__
+#define __CMDLNOPTS_H__
+
+#include "parceargs.h"
+
+/*
+ * here are some typedef's for global data
+ */
+
+typedef struct{
+	char *serialdev;        // input device
+	double gotopos;         // go to given angle
+	double relmove;         // move relative current position
+}glob_pars;
+
+glob_pars *parce_args(int argc, char **argv);
+
+#endif // __CMDLNOPTS_H__

client-p2/main.c

@@ -0,0 +1,284 @@
+/*
+ * main.c - main file
+ *
+ * Copyright 2015 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <termios.h>		// tcsetattr
+#include <unistd.h>			// tcsetattr, close, read, write
+#include <sys/ioctl.h>		// ioctl
+#include <stdio.h>			// printf, getchar, fopen, perror
+#include <stdlib.h>			// exit
+#include <sys/stat.h>		// read
+#include <fcntl.h>			// read
+#include <signal.h>			// signal
+#include <time.h>			// time
+#include <string.h>			// memcpy
+#include <stdint.h>			// int types
+#include <sys/time.h>		// gettimeofday
+#include <assert.h>			// assert
+#include <pthread.h>		// threads
+
+#include "bta_shdata.h"
+#include "cmdlnopts.h"
+
+#ifndef _U_
+#define _U_    __attribute__((__unused__))
+#endif
+
+#ifndef fabs
+#define fabs(x)  ((x > 0.) ? x : -x)
+#endif
+
+// scale: how much steps there is in one angular second
+const double steps_per_second = 2.054;
+
+// end-switch at 8degr
+#define MIN_RESTRICT_ANGLE (29000.)
+// end-switch at 100degr
+#define MAX_RESTRICT_ANGLE (360000.)
+
+#define BUFLEN 1024
+
+glob_pars *Global_parameters = NULL;
+
+int is_running = 1; // ==0 to exit
+int BAUD_RATE = B115200;
+struct termio oldtty, tty; // TTY flags
+struct termios oldt, newt; // terminal flags
+int comfd; // TTY fd
+
+#define DBG(...) do{fprintf(stderr, __VA_ARGS__);}while(0)
+
+/**
+ * function for different purposes that need to know time intervals
+ * @return double value: time in seconds
+ */
+double dtime(){
+	double t;
+	struct timeval tv;
+	gettimeofday(&tv, NULL);
+	t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+	return t;
+}
+
+/**
+ * Exit & return terminal to old state
+ * @param ex_stat - status (return code)
+ */
+void quit(int ex_stat){
+	tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state
+	ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state
+	close(comfd);
+	printf("Exit! (%d)\n", ex_stat);
+	exit(ex_stat);
+}
+
+/**
+ * Open & setup TTY, terminal
+ */
+void tty_init(){
+	// terminal without echo
+	tcgetattr(STDIN_FILENO, &oldt);
+	newt = oldt;
+	newt.c_lflag &= ~(ICANON | ECHO);
+	if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0) quit(-2);
+	printf("\nOpen port...\n");
+	if ((comfd = open(Global_parameters->serialdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		fprintf(stderr,"Can't use port %s\n",Global_parameters->serialdev);
+		quit(1);
+	}
+	printf(" OK\nGet current settings...\n");
+	if(ioctl(comfd,TCGETA,&oldtty) < 0) exit(-1); // Get settings
+	tty = oldtty;
+	tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+	tty.c_oflag     = 0;
+	tty.c_cflag     = BAUD_RATE|CS8|CREAD|CLOCAL; // 9.6k, 8N1, RW, ignore line ctrl
+	tty.c_cc[VMIN]  = 0;  // non-canonical mode
+	tty.c_cc[VTIME] = 5;
+	if(ioctl(comfd,TCSETA,&tty) < 0) exit(-1); // set new mode
+	printf(" OK\n");
+	tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+}
+
+/**
+ * read tty
+ * @param buff (o)    - buffer for messages readed from tty
+ * @param length (io) - buff's length (return readed len or 0)
+ * @return 1 if something was readed here or there
+ */
+int read_tty(char *buff, size_t *length){
+	ssize_t L;
+	size_t buffsz = *length;
+	struct timeval tv;
+	int sel, retval = 0;
+	fd_set rfds;
+	FD_ZERO(&rfds);
+	FD_SET(STDIN_FILENO, &rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 100000;
+	sel = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if(sel > 0){
+		if(FD_ISSET(comfd, &rfds)){
+			if((L = read(comfd, buff, buffsz)) < 1){ // disconnect or other troubles
+				fprintf(stderr, "USB error or disconnected!\n");
+				quit(1);
+			}else{
+				if(L == 0){ // USB disconnected
+					fprintf(stderr, "USB disconnected!\n");
+					quit(1);
+				}
+				// all OK continue reading
+				*length = (size_t) L;
+				retval = 1;
+			}
+		}else{
+			*length = 0;
+		}
+	}
+	return retval;
+}
+
+void print_P2(){
+	int d, m;
+	double s = val_P;
+	d = ((int)s / 3600) % 360;
+	s -= 3600. * d;
+	m = s / 60;
+	s -= 60. * m;
+	printf("P2 value: %02d:%02d:%03.1f\n", d, m, s);
+}
+
+/*
+void help(){
+	P("G\tgo to N steps\n");
+	P("H\tshow this help\n");
+	P("P\tset stepper period (us)\n");
+	P("S\tstop motor\n");
+	P("T\tshow current approx. time\n");
+	P("W\tshow current steps value\n");
+	P("X\tshow current stepper period\n");
+}
+*/
+
+void write_tty(char *str){
+	while(*str){
+		write(comfd, str++, 1);
+	}
+}
+
+/**
+ * give command to move P2 on some angle
+ * @param rel  == 1 for relative moving
+ * @param angle - angle in seconds
+ */
+void move_P2(int rel, double angle){
+	double curP = val_P, targP;
+	char buf[256];
+	if(fabs(angle) < 1.) return; // don't move to such little degrees
+	if(curP > MIN_RESTRICT_ANGLE && curP < MAX_RESTRICT_ANGLE){
+		fprintf(stderr, "Error: motor is in restricted area!\n");
+		quit(-1);
+	}
+	if(rel) targP = curP + angle;
+	else targP = angle;
+	// check for restricted zone
+	if(targP > MIN_RESTRICT_ANGLE && targP < MAX_RESTRICT_ANGLE){
+		fprintf(stderr, "Error: you want to move into restricted area!\n");
+		quit(-10);
+	}
+	// now check preferred rotation direction
+	angle = targP - curP;
+	//printf("targP: %g, curP: %g, angle: %g\n", targP, curP, angle);
+	// 360degr = 1296000''; 180degr = 648000''
+	if(angle < 0.) angle += 1296000.;
+	if(angle > 648000.){ // it's better to move in negative direction
+		angle -= 1296000.;
+	}
+	// convert angle into steps
+	angle *= steps_per_second;
+	_U_ size_t L = snprintf(buf, 256, "G%d\n", ((int)angle));
+	//printf("BUF: %s\n", buf);
+	write_tty(buf);
+	//is_running = 0;
+	while(is_running);
+}
+
+void *moving_thread(_U_ void *buf){
+	if(Global_parameters->gotopos > 0.){
+//printf("gotoval: %g\n", Global_parameters->gotopos);
+		move_P2(0, Global_parameters->gotopos);
+	}else if(fabs(Global_parameters->relmove) > 1.){ // move relative current position
+//printf("relval: %g\n", Global_parameters->relmove);
+		move_P2(1, Global_parameters->relmove);
+	}
+//	sleep(1); // give a little time for receiving messages
+//	is_running = 0;
+	return NULL;
+}
+
+int main(int argc, char *argv[]){
+	char buff[BUFLEN+1];
+	pthread_t motor_thread;
+	size_t L;
+	Global_parameters = parce_args(argc, argv);
+	assert(Global_parameters != NULL);
+	if(!get_shm_block(&sdat, ClientSide) || !check_shm_block(&sdat)){
+		fprintf(stderr, "Can't get SHM block!");
+		return -1;
+	}
+	tty_init();
+	signal(SIGTERM, quit);		// kill (-15)
+	signal(SIGINT, quit);		// ctrl+C
+	signal(SIGQUIT, SIG_IGN);	// ctrl+\   .
+	signal(SIGTSTP, SIG_IGN);	// ctrl+Z
+	setbuf(stdout, NULL);
+	double t, t0 = 0;
+	double p_old = -400.; // impossible value for printing P2 val on first run
+
+	if(pthread_create(&motor_thread, NULL, moving_thread, NULL)){
+		/// "Не могу создать поток для захвата видео"
+		fprintf(stderr, "Can't create readout thread\n");
+		quit(-1);
+	}
+	while(is_running){
+		L = BUFLEN;
+		if((t = dtime()) - t0 > 1.){ // once per second (and on first run) check P2 position
+			if(fabs(val_P - p_old) > 0.1){
+				p_old = val_P;
+				print_P2();
+			}
+			t0 = t;
+		}
+		if(read_tty(buff, &L)){
+			if(L){
+				buff[L] = 0;
+				printf("GOT: %s", buff);
+				if(strncmp(buff, "Stop", 4) == 0){
+					is_running = 0;
+					sleep(1);
+				}
+			}
+		}
+		if(!check_shm_block(&sdat)){
+			fprintf(stderr, "Corruption in SHM block!");
+			quit(-2);
+		}
+	}
+	quit(0);
+	return 0;
+}

client-p2/parceargs.c

@@ -0,0 +1,296 @@
+/*
+ * parceargs.c - parcing command line arguments & print help
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <stdio.h>	// DBG
+#include <getopt.h>	// getopt_long
+#include <stdlib.h>	// calloc, exit, strtoll
+#include <assert.h>	// assert
+#include <string.h> // strdup, strchr, strlen
+#include <limits.h> // INT_MAX & so on
+#include <libintl.h>// gettext
+#include <ctype.h>	// isalpha
+#include "parceargs.h"
+
+// macro to print help messages
+#ifndef PRNT
+	#define PRNT(x) gettext(x)
+#endif
+
+char *helpstring = "%s\n";
+
+/**
+ * Change standard help header
+ * MAY consist ONE "%s" for progname
+ * @param str (i) - new format
+ */
+void change_helpstring(char *s){
+	int pcount = 0, scount = 0;
+	char *str = s;
+	// check `helpstring` and set it to default in case of error
+	for(; pcount < 2; str += 2){
+		if(!(str = strchr(str, '%'))) break;
+		if(str[1] != '%') pcount++; // increment '%' counter if it isn't "%%"
+		else{
+			str += 2; // pass next '%'
+			continue;
+		}
+		if(str[1] == 's') scount++; // increment "%s" counter
+	};
+	if(pcount > 1 || pcount != scount){ // amount of pcount and/or scount wrong
+		fprintf(stderr, "Wrong helpstring!\n");
+		exit(-1);
+	}
+	helpstring = s;
+}
+
+/**
+ * Carefull atoll/atoi
+ * @param num (o) - returning value (or NULL if you wish only check number) - allocated by user
+ * @param str (i) - string with number must not be NULL
+ * @param t   (i) - T_INT for integer or T_LLONG for long long (if argtype would be wided, may add more)
+ * @return TRUE if conversion sone without errors, FALSE otherwise
+ */
+bool myatoll(void *num, char *str, argtype t){
+	long long tmp, *llptr;
+	int *iptr;
+	char *endptr;
+	assert(str);
+	assert(num);
+	tmp = strtoll(str, &endptr, 0);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_longlong:
+			llptr = (long long*) num;
+			*llptr = tmp;
+		break;
+		case arg_int:
+		default:
+			if(tmp < INT_MIN || tmp > INT_MAX){
+				fprintf(stderr, "Integer out of range\n");
+				return FALSE;
+			}
+			iptr = (int*)num;
+			*iptr = (int)tmp;
+	}
+	return TRUE;
+}
+
+// the same as myatoll but for double
+// There's no NAN & INF checking here (what if they would be needed?)
+bool myatod(void *num, const char *str, argtype t){
+	double tmp, *dptr;
+	float *fptr;
+	char *endptr;
+	assert(str);
+	tmp = strtod(str, &endptr);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_double:
+			dptr = (double *) num;
+			*dptr = tmp;
+		break;
+		case arg_float:
+		default:
+			fptr = (float *) num;
+			*fptr = (float)tmp;
+		break;
+	}
+	return TRUE;
+}
+
+/**
+ * Get index of current option in array options
+ * @param opt (i) - returning val of getopt_long
+ * @param options (i) - array of options
+ * @return index in array
+ */
+int get_optind(int opt, myoption *options){
+	int oind;
+	myoption *opts = options;
+	assert(opts);
+	for(oind = 0; opts->name && opts->val != opt; oind++, opts++);
+	if(!opts->name || opts->val != opt) // no such parameter
+	showhelp(-1, options);
+	return oind;
+}
+
+/**
+ * Parce command line arguments
+ * ! If arg is string, then value will be strdup'ed!
+ *
+ * @param argc (io) - address of argc of main(), return value of argc stay after `getopt`
+ * @param argv (io) - address of argv of main(), return pointer to argv stay after `getopt`
+ * BE CAREFUL! if you wanna use full argc & argv, save their original values before
+ * 		calling this function
+ * @param options (i) - array of `myoption` for arguments parcing
+ *
+ * @exit: in case of error this function show help & make `exit(-1)`
+  */
+void parceargs(int *argc, char ***argv, myoption *options){
+	char *short_options, *soptr;
+	struct option *long_options, *loptr;
+	size_t optsize, i;
+	myoption *opts = options;
+	// check whether there is at least one options
+	assert(opts);
+	assert(opts[0].name);
+	// first we count how much values are in opts
+	for(optsize = 0; opts->name; optsize++, opts++);
+	// now we can allocate memory
+	short_options = calloc(optsize * 3 + 1, 1); // multiply by three for '::' in case of args in opts
+	long_options = calloc(optsize + 1, sizeof(struct option));
+	opts = options; loptr = long_options; soptr = short_options;
+	// fill short/long parameters and make a simple checking
+	for(i = 0; i < optsize; i++, loptr++, opts++){
+		// check
+		assert(opts->name); // check name
+		if(opts->has_arg){
+			assert(opts->type != arg_none); // check error with arg type
+			assert(opts->argptr);  // check pointer
+		}
+		if(opts->type != arg_none) // if there is a flag without arg, check its pointer
+			assert(opts->argptr);
+		// fill long_options
+		// don't do memcmp: what if there would be different alignment?
+		loptr->name		= opts->name;
+		loptr->has_arg	= opts->has_arg;
+		loptr->flag		= opts->flag;
+		loptr->val		= opts->val;
+		// fill short options if they are:
+		if(!opts->flag){
+			*soptr++ = opts->val;
+			if(opts->has_arg) // add ':' if option has required argument
+				*soptr++ = ':';
+			if(opts->has_arg == 2) // add '::' if option has optional argument
+				*soptr++ = ':';
+		}
+	}
+	// now we have both long_options & short_options and can parse `getopt_long`
+	while(1){
+		int opt;
+		int oindex = 0, optind = 0; // oindex - number of option in argv, optind - number in options[]
+		if((opt = getopt_long(*argc, *argv, short_options, long_options, &oindex)) == -1) break;
+		if(opt == '?'){
+			opt = optopt;
+			optind = get_optind(opt, options);
+			if(options[optind].has_arg == 1) showhelp(optind, options); // need argument
+		}
+		else{
+			if(opt == 0 || oindex > 0) optind = oindex;
+			else optind = get_optind(opt, options);
+		}
+		opts = &options[optind];
+		if(opt == 0 && opts->has_arg == 0) continue; // only long option changing integer flag
+		// now check option
+		if(opts->has_arg == 1) assert(optarg);
+		bool result = TRUE;
+		// even if there is no argument, but argptr != NULL, think that optarg = "1"
+		if(!optarg) optarg = "1";
+		switch(opts->type){
+			default:
+			case arg_none:
+				if(opts->argptr) *((int*)opts->argptr) = 1; // set argptr to 1
+			break;
+			case arg_int:
+				result = myatoll(opts->argptr, optarg, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(opts->argptr, optarg, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(opts->argptr, optarg, arg_double);
+			break;
+			case arg_float:
+				result = myatod(opts->argptr, optarg, arg_float);
+			break;
+			case arg_string:
+				result = (*((char **)opts->argptr) = strdup(optarg));
+			break;
+			case arg_function:
+				result = ((argfn)opts->argptr)(optarg, optind);
+			break;
+		}
+		if(!result){
+			showhelp(optind, options);
+		}
+	}
+	*argc -= optind;
+	*argv += optind;
+}
+
+/**
+ * Show help information based on myoption->help values
+ * @param oindex (i)  - if non-negative, show only help by myoption[oindex].help
+ * @param options (i) - array of `myoption`
+ *
+ * @exit:  run `exit(-1)` !!!
+ */
+void showhelp(int oindex, myoption *options){
+	// ATTENTION: string `help` prints through macro PRNT(), by default it is gettext,
+	// but you can redefine it before `#include "parceargs.h"`
+	int max_opt_len = 0; // max len of options substring - for right indentation
+	const int bufsz = 255;
+	char buf[bufsz+1];
+	myoption *opts = options;
+	assert(opts);
+	assert(opts[0].name); // check whether there is at least one options
+	if(oindex > -1){ // print only one message
+		opts = &options[oindex];
+		printf("  ");
+		if(!opts->flag && isalpha(opts->val)) printf("-%c, ", opts->val);
+		printf("--%s", opts->name);
+		if(opts->has_arg == 1) printf("=arg");
+		else if(opts->has_arg == 2) printf("[=arg]");
+		printf("  %s\n", PRNT(opts->help));
+		exit(-1);
+	}
+	// header, by default is just "progname\n"
+	printf("\n");
+	if(strstr(helpstring, "%s")) // print progname
+		printf(helpstring, __progname);
+	else // only text
+		printf("%s", helpstring);
+	printf("\n");
+	// count max_opt_len
+	do{
+		int L = strlen(opts->name);
+		if(max_opt_len < L) max_opt_len = L;
+	}while((++opts)->name);
+	max_opt_len += 14; // format: '-S , --long[=arg]' - get addition 13 symbols
+	opts = options;
+	// Now print all help
+	do{
+		int p = sprintf(buf, "  "); // a little indent
+		if(!opts->flag && isalpha(opts->val)) // .val is short argument
+			p += snprintf(buf+p, bufsz-p, "-%c, ", opts->val);
+		p += snprintf(buf+p, bufsz-p, "--%s", opts->name);
+		if(opts->has_arg == 1) // required argument
+			p += snprintf(buf+p, bufsz-p, "=arg");
+		else if(opts->has_arg == 2) // optional argument
+			p += snprintf(buf+p, bufsz-p, "[=arg]");
+		assert(p < max_opt_len); // there would be magic if p >= max_opt_len
+		printf("%-*s%s\n", max_opt_len+1, buf, PRNT(opts->help)); // write options & at least 2 spaces after
+	}while((++opts)->name);
+	printf("\n\n");
+	exit(-1);
+}

client-p2/parceargs.h

@@ -0,0 +1,106 @@
+/*
+ * parceargs.h - headers for parcing command line arguments
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __PARCEARGS_H__
+#define __PARCEARGS_H__
+
+#include <stdbool.h>// bool
+#include <stdlib.h>
+
+#ifndef TRUE
+	#define TRUE true
+#endif
+
+#ifndef FALSE
+	#define FALSE false
+#endif
+
+// macro for argptr
+#define APTR(x)   ((void*)x)
+
+// if argptr is a function:
+typedef  bool(*argfn)(void *arg, int N);
+
+/*
+ * type of getopt's argument
+ * WARNING!
+ * My function change value of flags by pointer, so if you want to use another type
+ * make a latter conversion, example:
+ * 		char charg;
+ * 		int iarg;
+ * 		myoption opts[] = {
+ * 		{"value", 1, NULL, 'v', arg_int, &iarg, "char val"}, ..., end_option};
+ * 		..(parce args)..
+ * 		charg = (char) iarg;
+ */
+typedef enum {
+	arg_none = 0,	// no arg
+	arg_int,		// integer
+	arg_longlong,	// long long
+	arg_double,		// double
+	arg_float,		// float
+	arg_string,		// char *
+	arg_function	// parce_args will run function `bool (*fn)(char *optarg, int N)`
+} argtype;
+
+/*
+ * Structure for getopt_long & help
+ * BE CAREFUL: .argptr is pointer to data or pointer to function,
+ * 		conversion depends on .type
+ *
+ * ATTENTION: string `help` prints through macro PRNT(), bu default it is gettext,
+ * but you can redefine it before `#include "parceargs.h"`
+ *
+ * if arg is string, then value wil be strdup'ed like that:
+ * 		char *str;
+ * 		myoption opts[] = {{"string", 1, NULL, 's', arg_string, &str, "string val"}, ..., end_option};
+ *		*(opts[1].str) = strdup(optarg);
+ * in other cases argptr should be address of some variable (or pointer to allocated memory)
+ *
+ * NON-NULL argptr should be written inside macro APTR(argptr) or directly: (void*)argptr
+ *
+ * !!!LAST VALUE OF ARRAY SHOULD BE `end_option` or ZEROS !!!
+ *
+ */
+typedef struct{
+	// these are from struct option:
+	const char *name;		// long option's name
+	int         has_arg;	// 0 - no args, 1 - nesessary arg, 2 - optionally arg
+	int        *flag;		// NULL to return val, pointer to int - to set its value of val (function returns 0)
+	int         val;		// short opt name (if flag == NULL) or flag's value
+	// and these are mine:
+	argtype     type;		// type of argument
+	void       *argptr;		// pointer to variable to assign optarg value or function `bool (*fn)(char *optarg, int N)`
+	char       *help;		// help string which would be shown in function `showhelp` or NULL
+} myoption;
+
+// last string of array (all zeros)
+#define end_option {0,0,0,0,0,0,0}
+
+
+extern const char *__progname;
+
+void showhelp(int oindex, myoption *options);
+void parceargs(int *argc, char ***argv, myoption *options);
+void change_helpstring(char *s);
+bool myatod(void *num, const char *str, argtype t);
+
+#endif // __PARCEARGS_H__