From 6d471893c4a92d123ee005ba678cbf3a66557a18 Mon Sep 17 00:00:00 2001 From: eddyem Date: Fri, 31 Aug 2018 15:20:34 +0300 Subject: [PATCH] add bta_mirtemp --- bta_mirtemp/Makefile | 24 + bta_mirtemp/Readme | 1 + bta_mirtemp/bta_shdata.c | 344 ++++++++++++++ bta_mirtemp/bta_shdata.h | 851 +++++++++++++++++++++++++++++++++++ bta_mirtemp/bta_testparams.c | 158 +++++++ bta_mirtemp/usefull_macros.c | 323 +++++++++++++ bta_mirtemp/usefull_macros.h | 124 +++++ p1rotator/config.h | 3 +- p1rotator/stepper.c | 5 +- 9 files changed, 1830 insertions(+), 3 deletions(-) create mode 100644 bta_mirtemp/Makefile create mode 100644 bta_mirtemp/Readme create mode 100644 bta_mirtemp/bta_shdata.c create mode 100644 bta_mirtemp/bta_shdata.h create mode 100644 bta_mirtemp/bta_testparams.c create mode 100644 bta_mirtemp/usefull_macros.c create mode 100644 bta_mirtemp/usefull_macros.h diff --git a/bta_mirtemp/Makefile b/bta_mirtemp/Makefile new file mode 100644 index 0000000..8999bd2 --- /dev/null +++ b/bta_mirtemp/Makefile @@ -0,0 +1,24 @@ +PROGRAM = bta_mirtemp +LDFLAGS = -lcrypt +#-lm -lsla +SRCS = $(wildcard *.c) +CC = gcc +DEFINES = -D_XOPEN_SOURCE=666 +# -DEBUG +CXX = gcc +CFLAGS = -Wall -Werror -Wextra $(DEFINES) -pthread +OBJS = $(SRCS:.c=.o) +all : $(PROGRAM) +$(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) diff --git a/bta_mirtemp/Readme b/bta_mirtemp/Readme new file mode 100644 index 0000000..27dbfff --- /dev/null +++ b/bta_mirtemp/Readme @@ -0,0 +1 @@ +Simple daemon translating mean mirror temperature from network to BTA ACS parameter val_T3. diff --git a/bta_mirtemp/bta_shdata.c b/bta_mirtemp/bta_shdata.c new file mode 100644 index 0000000..43eafa0 --- /dev/null +++ b/bta_mirtemp/bta_shdata.c @@ -0,0 +1,344 @@ +#include "bta_shdata.h" +#include "usefull_macros.h" + +#pragma pack(push, 4) +// Main command channel (level 5) +struct CMD_Queue mcmd = {{"Mcmd"}, 0200,0,-1,0}; +// Operator command channel (level 4) +struct CMD_Queue ocmd = {{"Ocmd"}, 0200,0,-1,0}; +// User command channel (level 2/3) +struct CMD_Queue ucmd = {{"Ucmd"}, 0200,0,-1,0}; + +#define MSGLEN (80) +static char msg[MSGLEN]; +#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0) + +#ifndef BTA_MODULE +volatile struct BTA_Data *sdt; +volatile struct BTA_Local *sdtl; + +volatile struct SHM_Block sdat = { + {"Sdat"}, + sizeof(struct BTA_Data), + 2048,0444, + SHM_RDONLY, + bta_data_init, + bta_data_check, + bta_data_close, + ClientSide,-1,NULL +}; + +int snd_id = -1; // client sender ID +int cmd_src_pid = 0; // next command source PID +uint32_t cmd_src_ip = 0;// next command source IP + +/** + * Init data + */ +void bta_data_init() { + sdt = (struct BTA_Data *)sdat.addr; + sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); + if(sdat.side == ClientSide) { + if(sdt->magic != sdat.key.code) { + WARN("Wrong shared data (maybe server turned off)"); + } + if(sdt->version == 0) { + WARN("Null shared data version (maybe server turned off)"); + } + else if(sdt->version != BTA_Data_Ver) { + WARN("Wrong shared data version: I'am - %d, but server - %d ...", + BTA_Data_Ver, sdt->version ); + } + if(sdt->size != sdat.size) { + if(sdt->size > sdat.size) { + WARN("Wrong shared area size: I needs - %d, but server - %d ...", + sdat.size, sdt->size ); + } else { + WARN("Attention! Too little shared data structure!"); + WARN("I needs - %d, but server gives only %d ...", + sdat.size, sdt->size ); + WARN("May be server's version too old!?"); + } + } + return; + } + /* ServerSide */ + if(sdt->magic == sdat.key.code && + sdt->version == BTA_Data_Ver && + sdt->size == sdat.size) + return; + memset(sdat.addr, 0, sdat.maxsize); + sdt->magic = sdat.key.code; + sdt->version = BTA_Data_Ver; + sdt->size = sdat.size; + Tel_Hardware = Hard_On; + Pos_Corr = PC_On; + TrkOk_Mode = UseDiffVel | UseDiffAZ ; + inp_B = 591.; + Pressure = 595.; + PEP_code_A = 0x002aaa; + PEP_code_Z = 0x002aaa; + PEP_code_P = 0x002aaa; + PEP_code_F = 0x002aaa; + PEP_code_D = 0x002aaa; + DomeSEW_N = 1; +} + +int bta_data_check() { + return( (sdt->magic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); +} + +void bta_data_close() { + if(sdat.side == ServerSide) { + sdt->magic = 0; + sdt->version = 0; + } +} + +/** + * Allocate shared memory segment + */ +int get_shm_block(volatile struct SHM_Block *sb, int server) { + int getsize = (server)? sb->maxsize : sb->size; + // first try to find existing one + sb->id = shmget(sb->key.code, getsize, sb->mode); + if(sb->id < 0 && errno == ENOENT && server){ + // if no - try to create a new one + int cresize = sb->maxsize; + if(sb->size > cresize){ + WARN("Wrong shm maxsize(%d) < realsize(%d)",sb->maxsize,sb->size); + cresize = sb->size; + } + sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); + } + if(sb->id < 0){ + if(server) + PERR("Can't create shared memory segment '%s'",sb->key.name); + else + PERR("Can't find shared segment '%s' (maybe no server process) ",sb->key.name); + return 0; + } + // attach it to our memory space + sb->addr = (unsigned char *) shmat(sb->id, NULL, sb->atflag); + if((long)sb->addr == -1){ + PERR("Can't attach shared memory segment '%s'",sb->key.name); + return 0; + } + if(server && (shmctl(sb->id, SHM_LOCK, NULL) < 0)){ + PERR("Can't prevents swapping of shared memory segment '%s'",sb->key.name); + return 0; + } + DBG("Create & attach shared memory segment '%s' %dbytes", sb->key.name, sb->size); + sb->side = server; + if(sb->init != NULL) + sb->init(); + return 1; +} + +int close_shm_block(volatile struct SHM_Block *sb){ + int ret; + if(sb->close != NULL) + sb->close(); + if(sb->side == ServerSide) { + // ret = shmctl(sb->id, SHM_UNLOCK, NULL); + ret = shmctl(sb->id, IPC_RMID, NULL); + } + ret = shmdt (sb->addr); + return(ret); +} + +/** + * Create|Find command queue + */ +void get_cmd_queue(struct CMD_Queue *cq, int server){ + if (!server && cq->id >= 0) { //if already in use set current + snd_id = cq->id; + return; + } + // first try to find existing one + cq->id = msgget(cq->key.code, cq->mode); + // if no - try to create a new one + if(cq->id<0 && errno == ENOENT && server) + cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); + if(cq->id<0){ + if(server) + PERR("Can't create comand queue '%s'",cq->key.name); + else + PERR("Can't find comand queue '%s' (maybe no server process) ",cq->key.name); + return; + } + cq->side = server; + if(server){ + char buf[120]; /* выбросить все команды из очереди */ + while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT) > 0); + }else + snd_id = cq->id; + cq->acckey = 0; +} + +#endif // BTA_MODULE + + +int check_shm_block(volatile struct SHM_Block *sb) { + if(sb->check) + return(sb->check()); + else return(0); +} + +/** + * Set access key in current channel + */ +void set_acckey(uint32_t newkey){ + if(snd_id < 0) return; + if(ucmd.id == snd_id) ucmd.acckey = newkey; + else if(ocmd.id == snd_id) ocmd.acckey = newkey; + else if(mcmd.id == snd_id) mcmd.acckey = newkey; +} + +/** + * Setup source data for one following command if default values + * (IP == 0 - local, PID = current) not suits + */ +void set_cmd_src(uint32_t ip, int pid) { + cmd_src_pid = pid; + cmd_src_ip = ip; +} + +#pragma pack(push, 4) +/** + * Send client commands to server + */ +void send_cmd(int cmd_code, char *buf, int size) { + struct my_msgbuf mbuf; + if(snd_id < 0) return; + if(size > 100) size = 100; + if(cmd_code > 0) + mbuf.mtype = cmd_code; + else + return; + if(ucmd.id == snd_id) mbuf.acckey = ucmd.acckey; + else if(ocmd.id == snd_id) mbuf.acckey = ocmd.acckey; + else if(mcmd.id == snd_id) mbuf.acckey = mcmd.acckey; + + mbuf.src_pid = cmd_src_pid ? cmd_src_pid : getpid(); + mbuf.src_ip = cmd_src_ip; + cmd_src_pid = cmd_src_ip = 0; + + if(size > 0) + memcpy(mbuf.mtext, buf, size); + else { + mbuf.mtext[0] = 0; + size = 1; + } + msgsnd(snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); +} + +void send_cmd_noarg(int cmd_code) { + send_cmd(cmd_code, NULL, 0); +} +void send_cmd_str(int cmd_code, char *arg) { + send_cmd(cmd_code, arg, strlen(arg)+1); +} +void send_cmd_i1(int cmd_code, int32_t arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(int32_t)); +} +void send_cmd_i2(int cmd_code, int32_t arg1, int32_t arg2) { + int32_t ibuf[2]; + ibuf[0] = arg1; + ibuf[1] = arg2; + send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int32_t)); +} +void send_cmd_i3(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3) { + int32_t ibuf[3]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int32_t)); +} +void send_cmd_i4(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, int32_t arg4) { + int32_t ibuf[4]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + ibuf[3] = arg4; + send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int32_t)); +} +void send_cmd_d1(int32_t cmd_code, double arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(double)); +} +void send_cmd_d2(int cmd_code, double arg1, double arg2) { + double dbuf[2]; + dbuf[0] = arg1; + dbuf[1] = arg2; + send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); +} +void send_cmd_i1d1(int cmd_code, int32_t arg1, double arg2) { + struct { + int32_t ival; + double dval; + } buf; + buf.ival = arg1; + buf.dval = arg2; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i2d1(int cmd_code, int32_t arg1, int32_t arg2, double arg3) { + struct { + int32_t ival[2]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.dval = arg3; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i3d1(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, double arg4) { + struct { + int32_t ival[3]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.ival[2] = arg3; + buf.dval = arg4; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} + +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev){ + char salt[4]; + char *encr; + union { + uint32_t ui; + char c[4]; + } key, cod; + sprintf(salt,"L%1d",nlev); + encr = (char *)crypt(passwd, salt); + cod.c[0] = encr[2]; + key.c[0] = encr[3]; + cod.c[1] = encr[4]; + key.c[1] = encr[5]; + cod.c[2] = encr[6]; + key.c[2] = encr[7]; + cod.c[3] = encr[8]; + key.c[3] = encr[9]; + *keylev = key.ui; + *codlev = cod.ui; +} + +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev){ + int nlev; + for(nlev = 5; nlev > 0; --nlev){ + encode_lev_passwd(passwd, nlev, keylev, codlev); + if(*codlev == code_Lev(nlev)) break; + } + return(nlev); +} + +int check_lev_passwd(char *passwd){ + uint32_t keylev,codlev; + int nlev; + nlev = find_lev_passwd(passwd, &keylev, &codlev); + if(nlev > 0) set_acckey(keylev); + return(nlev); +} + +#pragma pack(pop) diff --git a/bta_mirtemp/bta_shdata.h b/bta_mirtemp/bta_shdata.h new file mode 100644 index 0000000..7d5ac5d --- /dev/null +++ b/bta_mirtemp/bta_shdata.h @@ -0,0 +1,851 @@ +#pragma once +#ifndef __BTA_SHDATA_H__ +#define __BTA_SHDATA_H__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#pragma pack(push, 4) +/* + * Shared memory block + */ +struct SHM_Block { + union { + char name[5]; // memory segment identificator + key_t code; + } key; + int32_t size; // size of memory used + int32_t maxsize; // size when created + int32_t mode; // access mode (rwxrwxrwx) + int32_t atflag; // connection mode (SHM_RDONLY or 0) + void (*init)(); // init function + int32_t (*check)(); // test function + void (*close)(); // deinit function + int32_t side; // connection type: client/server + int32_t id; // connection identificator + uint8_t *addr; // connection address +}; + +extern volatile struct SHM_Block sdat; + +/* + * Command queue descriptor + */ +struct CMD_Queue { + union { + char name[5]; // queue key + key_t code; + } key; + int32_t mode; // access mode (rwxrwxrwx) + int32_t side; // connection type (Sender/Receiver - server/client) + int32_t id; // connection identificator + uint32_t acckey; // access key (for transmission from client to server) +}; + +extern struct CMD_Queue mcmd; +extern struct CMD_Queue ocmd; +extern struct CMD_Queue ucmd; + +void send_cmd_noarg(int); +void send_cmd_str(int, char *); +void send_cmd_i1(int, int32_t); +void send_cmd_i2(int, int32_t, int32_t); +void send_cmd_i3(int, int32_t, int32_t, int32_t); +void send_cmd_i4(int, int32_t, int32_t, int32_t, int32_t); +void send_cmd_d1(int, double); +void send_cmd_d2(int, double, double); +void send_cmd_i1d1(int, int32_t, double); +void send_cmd_i2d1(int, int32_t, int32_t, double); +void send_cmd_i3d1(int, int32_t, int32_t, int32_t, double); + +/******************************************************************************* +* Command list * +*******************************************************************************/ +/* name code args type */ +// Stop telescope +#define StopTel 1 +#define StopTeleskope() send_cmd_noarg( 1 ) +// High/low speed +#define StartHS 2 +#define StartHighSpeed() send_cmd_noarg( 2 ) +#define StartLS 3 +#define StartLowSpeed() send_cmd_noarg( 3 ) +// Timer setup (Ch7_15 or SysTimer) +#define SetTmr 4 +#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) +// Simulation (modeling) mode +#define SetModMod 5 +#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) +// Azimuth speed code +#define SetCodA 6 +#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) +// Zenith speed code +#define SetCodZ 7 +#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) +// Parangle speed code +#define SetCodP 8 +#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) +// Set Az velocity +#define SetVA 9 +#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) +// Set Z velocity +#define SetVZ 10 +#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) +// Set P velocity +#define SetVP 11 +#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) +// Set new polar coordinates +#define SetAD 12 +#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del)) +// Set new azimutal coordinates +#define SetAZ 13 +#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z)) +// Goto new object by polar coords +#define GoToAD 14 +#define GoToObject() send_cmd_noarg(14 ) +// Start steering to object by polar coords +#define MoveToAD 15 +#define MoveToObject() send_cmd_noarg(15 ) +// Go to object by azimutal coords +#define GoToAZ 16 +#define GoToAzimZ() send_cmd_noarg(16 ) +// Set A&Z for simulation +#define WriteAZ 17 +#define WriteModelAZ() send_cmd_noarg(17 ) +// Set P2 mode +#define SetModP 18 +#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) +// Move(+-1)/Stop(0) P2 +#define P2Move 19 +#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) +// Move(+-2,+-1)/Stop(0) focus +#define FocMove 20 +#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) +// Use/don't use pointing correction system +#define UsePCorr 21 +#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) +// Tracking flags +#define SetTrkFlags 22 +#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) +// Set focus (0 - primary, 1 - N1, 2 - N2) +#define SetTFoc 23 +#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) +// Set intrinsic move parameters by RA/Decl +#define SetVAD 24 +#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel)) +// Reverse Azimuth direction when pointing +#define SetRevA 25 +#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) +// Set P2 velocity +#define SetVP2 26 +#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) +// Set pointing target +#define SetTarg 27 +#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) +// Send message to all clients (+write into protocol) +#define SendMsg 28 +#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) +// RA/Decl user correction +#define CorrAD 29 +#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel)) +// A/Z user correction +#define CorrAZ 30 +#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ)) +// sec A/Z user correction speed +#define SetVCAZ 31 +#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ)) +// move P2 with given velocity for a given time +#define P2MoveTo 32 +#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time)) +// Go to t/Decl position +#define GoToTD 33 +#define GoToSat() send_cmd_noarg (33 ) +// Move to t/Decl +#define MoveToTD 34 +#define MoveToSat() send_cmd_noarg (34 ) +// Empty command for synchronisation +#define NullCom 35 +#define SyncCom() send_cmd_noarg (35 ) +// Button "Start" +#define StartTel 36 +#define StartTeleskope() send_cmd_noarg(36 ) +// Set telescope mode +#define SetTMod 37 +#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) +// Turn telescope on (oil etc) +#define TelOn 38 +#define TeleskopeOn() send_cmd_noarg(38 ) +// Dome mode +#define SetModD 39 +#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) +// Move(+-3,+-2,+-1)/Stop(0) dome +#define DomeMove 40 +#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) +// Set account password +#define SetPass 41 +#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) +// Set code of access level +#define SetLevC 42 +#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) +// Set key for access level +#define SetLevK 43 +#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) +// Setup network +#define SetNet 44 +#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) +// Input meteo data +#define SetMet 45 +#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) +// Cancel meteo data +#define TurnMetOff 46 +#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) +// Set time correction (IERS DUT1=UT1-UTC) +#define SetDUT1 47 +#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) +// Set polar motion (IERS polar motion) +#define SetPM 48 +#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) +// Get SEW parameter +#define GetSEW 49 +#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) +// Set SEW parameter +#define PutSEW 50 +#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) +// Set lock flags +#define SetLocks 51 +#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) +// Clear lock flags +#define ClearLocks 52 +#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) +// Set PEP-RK bits +#define SetRKbits 53 +#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) +// Clear PEP-RK bits +#define ClrRKbits 54 +#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) +// Set SEW dome motor number (for indication) +#define SetSEWnd 55 +#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) +// Turn SEW controllers of dome on/off +#define SEWsDome 56 +#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) + + +/******************************************************************************* +* BTA data structure definitions * +*******************************************************************************/ + +#define ServPID (sdt->pid) // PID of main program +// model +#define UseModel (sdt->model) // model variants +enum{ + NoModel = 0 // OFF + ,CheckModel // control motors by model + ,DriveModel // "blind" management without real sensors + ,FullModel // full model without telescope +}; +// timer +#define ClockType (sdt->timer) // which timer to use +enum{ + Ch7_15 = 0 // Inner timer with synchronisation by CH7_15 + ,SysTimer // System timer (synchronisation unknown) + ,ExtSynchro // External synchronisation (bta_time or xntpd) +}; +// system +#define Sys_Mode (sdt->system) // main system mode +enum{ + SysStop = 0 // Stop + ,SysWait // Wait for start (pointing) + ,SysPointAZ // Pointing by A/Z + ,SysPointAD // Pointing by RA/Decl + ,SysTrkStop // Tracking stop + ,SysTrkStart // Start tracking (acceleration to nominal velocity) + ,SysTrkMove // Tracking move to object + ,SysTrkSeek // Tracking in seeking mode + ,SysTrkOk // Tracking OK + ,SysTrkCorr // Correction of tracking position + ,SysTest // Test +}; +// sys_target +#define Sys_Target (sdt->sys_target) // system pointing target +enum{ + TagPosition = 0 // point by A/Z + ,TagObject // point by RA/Decl + ,TagNest // point to "nest" + ,TagZenith // point to zenith + ,TagHorizon // point to horizon + ,TagStatObj // point to statinary object (t/Decl) +}; +// tel_focus +#define Tel_Focus (sdt->tel_focus) // telescope focus type +enum{ + Prime = 0 + ,Nasmyth1 + ,Nasmyth2 +}; +// PCS +#define PosCor_Coeff (sdt->pc_coeff) // pointing correction system coefficients +// tel_state +#define Tel_State (sdt->tel_state) // telescope state +#define Req_State (sdt->req_state) // required state +enum{ + Stopping = 0 + ,Pointing + ,Tracking +}; +// tel_hard_state +#define Tel_Hardware (sdt->tel_hard_state) // Power state +enum{ + Hard_Off = 0 + ,Hard_On +}; +// tel_mode +#define Tel_Mode (sdt->tel_mode) // telescope mode +enum{ + Automatic = 0 // Automatic (normal) mode + ,Manual = 1 // manual mode + ,ZenHor = 2 // work when Z<5 || Z>80 + ,A_Move = 4 // hand move by A + ,Z_Move = 8 // hand move by Z + ,Balance =0x10// balancing +}; +// az_mode +#define Az_Mode (sdt->az_mode) // azimuth reverce +enum{ + Rev_Off = 0 // move by nearest way + ,Rev_On // move by longest way +}; +// p2_state +#define P2_State (sdt->p2_state) // P2 motor state +#define P2_Mode (sdt->p2_req_mode) +enum{ + P2_Off = 0 // Stop + ,P2_On // Guiding + ,P2_Plus // Move to + + ,P2_Minus = -2 // Move to - +}; +// focus_state +#define Foc_State (sdt->focus_state) // focus motor state +enum{ + Foc_Hminus = -2// fast "-" move + ,Foc_Lminus // slow "-" move + ,Foc_Off // Off + ,Foc_Lplus // slow "+" move + ,Foc_Hplus // fast "+" move +}; +// dome_state +#define Dome_State (sdt->dome_state) // dome motors state +enum{ + D_Hminus = -3 // speeds: low, medium, high + ,D_Mminus + ,D_Lminus + ,D_Off // off + ,D_Lplus + ,D_Mplus + ,D_Hplus + ,D_On = 7 // auto +}; +// pcor_mode +#define Pos_Corr (sdt->pcor_mode) // pointing correction mode +enum{ + PC_Off = 0 + ,PC_On +}; +// trkok_mode +#define TrkOk_Mode (sdt->trkok_mode) // tracking mode +enum{ + UseDiffVel = 1 // Isodrome (correction by real motors speed) + ,UseDiffAZ = 2 // Tracking by coordinate difference + ,UseDFlt = 4 // Turn on digital filter +}; +// input RA/Decl values +#define InpAlpha (sdt->i_alpha) +#define InpDelta (sdt->i_delta) +// current source RA/Decl values +#define SrcAlpha (sdt->s_alpha) +#define SrcDelta (sdt->s_delta) +// intrinsic object velocity +#define VelAlpha (sdt->v_alpha) +#define VelDelta (sdt->v_delta) +// input A/Z values +#define InpAzim (sdt->i_azim) +#define InpZdist (sdt->i_zdist) +// calculated values +#define CurAlpha (sdt->c_alpha) +#define CurDelta (sdt->c_delta) +// current values (from sensors) +#define tag_A (sdt->tag_a) +#define tag_Z (sdt->tag_z) +#define tag_P (sdt->tag_p) + // calculated corrections +#define pos_cor_A (sdt->pcor_a) +#define pos_cor_Z (sdt->pcor_z) +#define refract_Z (sdt->refr_z) +// reverse calculation corr. +#define tel_cor_A (sdt->tcor_a) +#define tel_cor_Z (sdt->tcor_z) +#define tel_ref_Z (sdt->tref_z) +// coords difference +#define Diff_A (sdt->diff_a) +#define Diff_Z (sdt->diff_z) +#define Diff_P (sdt->diff_p) +// base object velocity +#define vel_objA (sdt->vbasea) +#define vel_objZ (sdt->vbasez) +#define vel_objP (sdt->vbasep) +// correction by real speed +#define diff_vA (sdt->diffva) +#define diff_vZ (sdt->diffvz) +#define diff_vP (sdt->diffvp) +// motor speed +#define speedA (sdt->speeda) +#define speedZ (sdt->speedz) +#define speedP (sdt->speedp) +// last precipitation time +#define Precip_time (sdt->m_time_precip) +// reserved +#define Reserve (sdt->reserve) +// real motor speed (''/sec) +#define req_speedA (sdt->rspeeda) +#define req_speedZ (sdt->rspeedz) +#define req_speedP (sdt->rspeedp) +// model speed +#define mod_vel_A (sdt->simvela) +#define mod_vel_Z (sdt->simvelz) +#define mod_vel_P (sdt->simvelp) +#define mod_vel_F (sdt->simvelf) +#define mod_vel_D (sdt->simvelf) +// telescope & hand correction state +/* + * 0x8000 - + * 0x4000 - . + * 0x2000 - + * 0x1000 - P2 . + * 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) + * 0x000F - .. +Z -Z +A -A + */ +#define code_KOST (sdt->kost) +// different time (UTC, stellar, local) +#define M_time (sdt->m_time) +#define S_time (sdt->s_time) +#define L_time (sdt->l_time) +// PPNDD sensor (rough) code +#define ppndd_A (sdt->ppndd_a) +#define ppndd_Z (sdt->ppndd_z) +#define ppndd_P (sdt->ppndd_p) +#define ppndd_B (sdt->ppndd_b) // atm. pressure +// DUP sensor (precise) code (Gray code) +#define dup_A (sdt->dup_a) +#define dup_Z (sdt->dup_z) +#define dup_P (sdt->dup_p) +#define dup_F (sdt->dup_f) +#define dup_D (sdt->dup_d) +// binary 14-digit precise code +#define low_A (sdt->low_a) +#define low_Z (sdt->low_z) +#define low_P (sdt->low_p) +#define low_F (sdt->low_f) +#define low_D (sdt->low_d) +// binary 23-digit rough code +#define code_A (sdt->code_a) +#define code_Z (sdt->code_z) +#define code_P (sdt->code_p) +#define code_B (sdt->code_b) +#define code_F (sdt->code_f) +#define code_D (sdt->code_d) +// ADC PCL818 (8-channel) codes +#define ADC(N) (sdt->adc[(N)]) +#define code_T1 ADC(0) // External temperature code +#define code_T2 ADC(1) // In-dome temperature code +#define code_T3 ADC(2) // Mirror temperature code +#define code_Wnd ADC(3) // Wind speed code +// calculated values +#define val_A (sdt->val_a) // A, '' +#define val_Z (sdt->val_z) // Z, '' +#define val_P (sdt->val_p) // P, '' +#define val_B (sdt->val_b) // atm. pressure, mm.hg. +#define val_F (sdt->val_f) // focus, mm +#define val_D (sdt->val_d) // Dome Az, '' +#define val_T1 (sdt->val_t1) // ext. T, degrC +#define val_T2 (sdt->val_t2) // in-dome T, degrC +#define val_T3 (sdt->val_t3) // mirror T, degrC +#define val_Wnd (sdt->val_wnd) // wind speed, m/s +// RA/Decl calculated by A/Z +#define val_Alp (sdt->val_alp) +#define val_Del (sdt->val_del) +// measured speed +#define vel_A (sdt->vel_a) +#define vel_Z (sdt->vel_z) +#define vel_P (sdt->vel_p) +#define vel_F (sdt->vel_f) +#define vel_D (sdt->vel_d) +// system messages queue +#define MesgNum 3 +#define MesgLen 39 +// message type +enum{ + MesgEmpty = 0 + ,MesgInfor + ,MesgWarn + ,MesgFault + ,MesgLog +}; +#define Sys_Mesg(N) (sdt->sys_msg_buf[N]) +// access levels +#define code_Lev1 (sdt->code_lev[0]) // remote observer - only information +#define code_Lev2 (sdt->code_lev[1]) // local observer - input coordinates +#define code_Lev3 (sdt->code_lev[2]) // main observer - correction by A/Z, P2/F management +#define code_Lev4 (sdt->code_lev[3]) // operator - start/stop telescope, testing +#define code_Lev5 (sdt->code_lev[4]) // main operator - full access +#define code_Lev(x) (sdt->code_lev[(x-1)]) +// network settings +#define NetMask (sdt->netmask) // subnet mask (usually 255.255.255.0) +#define NetWork (sdt->netaddr) // subnet address (for ex.: 192.168.3.0) +#define ACSMask (sdt->acsmask) // ACS network mask (for ex.: 255.255.255.0) +#define ACSNet (sdt->acsaddr) // ACS subnet address (for ex.: 192.168.13.0) +// meteo data +#define MeteoMode (sdt->meteo_stat) +enum{ + INPUT_B = 1 // pressure + ,INPUT_T1 = 2 // external T + ,INPUT_T2 = 4 // in-dome T + ,INPUT_T3 = 8 // mirror T + ,INPUT_WND = 0x10 // wind speed + ,INPUT_HMD = 0x20 // humidity +}; +#define SENSOR_B (INPUT_B <<8) // external data flags +#define SENSOR_T1 (INPUT_T1 <<8) +#define SENSOR_T2 (INPUT_T2 <<8) +#define SENSOR_T3 (INPUT_T3 <<8) +#define SENSOR_WND (INPUT_WND<<8) +#define SENSOR_HMD (INPUT_HMD<<8) +#define ADC_B (INPUT_B <<16) // reading from ADC flags +#define ADC_T1 (INPUT_T1 <<16) +#define ADC_T2 (INPUT_T2 <<16) +#define ADC_T3 (INPUT_T3 <<16) +#define ADC_WND (INPUT_WND<<16) +#define ADC_HMD (INPUT_HMD<<16) +#define NET_B (INPUT_B <<24) // got by network flags +#define NET_T1 (INPUT_T1 <<24) +#define NET_T3 (INPUT_T3 <<24) +#define NET_WND (INPUT_WND<<24) +#define NET_HMD (INPUT_HMD<<24) +// input meteo values +#define inp_B (sdt->inp_b) // atm.pressure (mm.hg) +#define inp_T1 (sdt->inp_t1) // ext T +#define inp_T2 (sdt->inp_t2) // in-dome T +#define inp_T3 (sdt->inp_t3) // mirror T +#define inp_Wnd (sdt->inp_wnd) // wind +// values used for refraction calculation +#define Temper (sdt->temper) +#define Pressure (sdt->press) +// last wind gust time +#define Wnd10_time (sdt->m_time10) +#define Wnd15_time (sdt->m_time15) +// IERS DUT1 +#define DUT1 (sdt->dut1) +// sensors reading time +#define A_time (sdt->a_time) +#define Z_time (sdt->z_time) +#define P_time (sdt->p_time) +// input speeds +#define speedAin (sdt->speedain) +#define speedZin (sdt->speedzin) +#define speedPin (sdt->speedpin) +// acceleration (''/sec^2) +#define acc_A (sdt->acc_a) +#define acc_Z (sdt->acc_z) +#define acc_P (sdt->acc_p) +#define acc_F (sdt->acc_f) +#define acc_D (sdt->acc_d) +// SEW code +#define code_SEW (sdt->code_sew) +// sew data +#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) +#define statusSEW1 (sdt->sewdrv[0].status) +#define statusSEW2 (sdt->sewdrv[1].status) +#define statusSEW3 (sdt->sewdrv[2].status) +#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) +#define speedSEW1 (sdt->sewdrv[0].set_speed) +#define speedSEW2 (sdt->sewdrv[1].set_speed) +#define speedSEW3 (sdt->sewdrv[2].set_speed) +#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) +#define vel_SEW1 (sdt->sewdrv[0].mes_speed) +#define vel_SEW2 (sdt->sewdrv[1].mes_speed) +#define vel_SEW3 (sdt->sewdrv[2].mes_speed) +#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) +#define currentSEW1 (sdt->sewdrv[0].current) +#define currentSEW2 (sdt->sewdrv[1].current) +#define currentSEW3 (sdt->sewdrv[2].current) +#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) +#define indexSEW1 (sdt->sewdrv[0].index) +#define indexSEW2 (sdt->sewdrv[1].index) +#define indexSEW3 (sdt->sewdrv[2].index) +#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) +#define valueSEW1 (sdt->sewdrv[0].value.l) +#define valueSEW2 (sdt->sewdrv[1].value.l) +#define valueSEW3 (sdt->sewdrv[2].value.l) +#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) +// 23-digit PEP-controllers code +#define PEP_code_A (sdt->pep_code_a) +#define PEP_code_Z (sdt->pep_code_z) +#define PEP_code_P (sdt->pep_code_p) +// PEP end-switches code +#define switch_A (sdt->pep_sw_a) +enum{ + Sw_minus_A = 1 // negative A value + ,Sw_plus240_A = 2 // end switch +240degr + ,Sw_minus240_A = 4 // end switch -240degr + ,Sw_minus45_A = 8 // "horizon" end switch +}; +#define switch_Z (sdt->pep_sw_z) +enum{ + Sw_0_Z = 1 + ,Sw_5_Z = 2 + ,Sw_20_Z = 4 + ,Sw_60_Z = 8 + ,Sw_80_Z = 0x10 + ,Sw_90_Z = 0x20 +}; +#define switch_P (sdt->pep_sw_p) +enum{ + Sw_No_P = 0 // no switches + ,Sw_22_P = 1 // 22degr + ,Sw_89_P = 2 // 89degr + ,Sw_Sm_P = 0x80 // Primary focus smoke sensor +}; +// PEP codes +#define PEP_code_F (sdt->pep_code_f) +#define PEP_code_D (sdt->pep_code_d) +#define PEP_code_Rin (sdt->pep_code_ri) +#define PEP_code_Rout (sdt->pep_code_ro) +// PEP flags +#define PEP_A_On (sdt->pep_on[0]) +#define PEP_A_Off (PEP_A_On==0) +#define PEP_Z_On (sdt->pep_on[1]) +#define PEP_Z_Off (PEP_Z_On==0) +#define PEP_P_On (sdt->pep_on[2]) +#define PEP_P_Off (PEP_P_On==0) +#define PEP_F_On (sdt->pep_on[3]) +#define PEP_F_Off (PEP_F_On==0) +#define PEP_D_On (sdt->pep_on[4]) +#define PEP_D_Off (PEP_D_On==0) +#define PEP_R_On (sdt->pep_on[5]) +#define PEP_R_Off ((PEP_R_On&1)==0) +#define PEP_R_Inp ((PEP_R_On&2)!=0) +#define PEP_K_On (sdt->pep_on[6]) +#define PEP_K_Off ((PEP_K_On&1)==0) +#define PEP_K_Inp ((PEP_K_On&2)!=0) +// IERS polar motion +#define polarX (sdt->xpol) +#define polarY (sdt->ypol) +// current Julian date, sidereal time correction by "Equation of the Equinoxes" +#define JDate (sdt->jdate) +#define EE_time (sdt->eetime) +// humidity value (%%) & hand input +#define val_Hmd (sdt->val_hmd) +#define inp_Hmd (sdt->val_hmd) +// worm position, mkm +#define worm_A (sdt->worm_a) +#define worm_Z (sdt->worm_z) +// locking flags +#define LockFlags (sdt->lock_flags) +enum{ + Lock_A = 1 + ,Lock_Z = 2 + ,Lock_P = 4 + ,Lock_F = 8 + ,Lock_D = 0x10 +}; +#define A_Locked (LockFlags&Lock_A) +#define Z_Locked (LockFlags&Lock_Z) +#define P_Locked (LockFlags&Lock_P) +#define F_Locked (LockFlags&Lock_F) +#define D_Locked (LockFlags&Lock_D) +// SEW dome divers speed +#define Dome_Speed (sdt->sew_dome_speed) +// SEW dome drive number (for indication) +#define DomeSEW_N (sdt->sew_dome_num) +// SEW dome driver parameters +#define statusSEWD (sdt->sewdomedrv.status) // controller status +#define speedSEWD (sdt->sewdomedrv.set_speed) // speed, rpm +#define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ +#define currentSEWD (sdt->sewdomedrv.current) // current, A +#define indexSEWD (sdt->sewdomedrv.index) // parameter index +#define valueSEWD (sdt->sewdomedrv.value.l) // parameter value +// dome PEP codes +#define PEP_code_Din (sdt->pep_code_di) // data in +#define PEP_Dome_SEW_Ok 0x200 +#define PEP_Dome_Cable_Ok 0x100 +#define PEP_code_Dout (sdt->pep_code_do) // data out +#define PEP_Dome_SEW_On 0x10 +#define PEP_Dome_SEW_Off 0x20 + + +/******************************************************************************* +* BTA data structure * +*******************************************************************************/ + +#define BTA_Data_Ver 2 +struct BTA_Data { + int32_t magic; // magic value + int32_t version; // BTA_Data_Ver + int32_t size; // sizeof(struct BTA_Data) + int32_t pid; // main process PID + int32_t model; // model modes + int32_t timer; // timer selected + int32_t system; // main system mode + int32_t sys_target; // system pointing target + int32_t tel_focus; // telescope focus type + double pc_coeff[8]; // pointing correction system coefficients + int32_t tel_state; // telescope state + int32_t req_state; // new (required) state + int32_t tel_hard_state; // Power state + int32_t tel_mode; // telescope mode + int32_t az_mode; // azimuth reverce + int32_t p2_state; // P2 motor state + int32_t p2_req_mode; // P2 required state + int32_t focus_state; // focus motor state + int32_t dome_state; // dome motors state + int32_t pcor_mode; // pointing correction mode + int32_t trkok_mode; // tracking mode + double i_alpha, i_delta; // input values + double s_alpha, s_delta; // source + double v_alpha, v_delta; // intrinsic vel. + double i_azim, i_zdist; // input A/Z + double c_alpha, c_delta; // calculated values + double tag_a, tag_z, tag_p; // current values (from sensors) + double pcor_a, pcor_z, refr_z; // calculated corrections + double tcor_a, tcor_z, tref_z; // reverse calculation corr. + double diff_a, diff_z, diff_p; // coords difference + double vbasea,vbasez,vbasep; // base object velocity + double diffva,diffvz,diffvp; // correction by real speed + double speeda,speedz,speedp; // motor speed + double m_time_precip; // last precipitation time + uint8_t reserve[16]; // reserved + double rspeeda, rspeedz, rspeedp; // real motor speed (''/sec) + double simvela, simvelz, simvelp, simvelf, simveld; // model speed + uint32_t kost; // telescope & hand correction state + double m_time, s_time, l_time; // different time (UTC, stellar, local) + uint32_t ppndd_a, ppndd_z, ppndd_p, ppndd_b; // PPNDD sensor (rough) code + uint32_t dup_a, dup_z, dup_p, dup_f, dup_d; // DUP sensor (precise) code (Gray code) + uint32_t low_a, low_z, low_p, low_f, low_d; // binary 14-digit precise code + uint32_t code_a, code_z, code_p, code_b, code_f, code_d; // binary 23-digit rough code + uint32_t adc[8]; // ADC PCL818 (8-channel) codes + double val_a, val_z, val_p, val_b, val_f, val_d; + double val_t1, val_t2, val_t3, val_wnd; // calculated values + double val_alp, val_del; // RA/Decl calculated by A/Z + double vel_a, vel_z, vel_p, vel_f, vel_d; // measured speed + // system messages queue + struct SysMesg { + int32_t seq_num; + char type; // message type + char text[MesgLen]; // message itself + } sys_msg_buf[MesgNum]; + // access levels + uint32_t code_lev[5]; + // network settings + uint32_t netmask, netaddr, acsmask, acsaddr; + int32_t meteo_stat; // meteo data + double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; // input meteo values + double temper, press; // values used for refraction calculation + double m_time10, m_time15; // last wind gust time + double dut1; // IERS DUT1 (src: ftp://maia.usno.navy.mil/ser7/ser7.dat), DUT1 = UT1-UTC + double a_time, z_time, p_time; // sensors reading time + double speedain, speedzin, speedpin; // input speeds + double acc_a, acc_z, acc_p, acc_f, acc_d; // acceleration (''/sec^2) + uint32_t code_sew; // SEW code + struct SEWdata { // sew data + int32_t status; + double set_speed; // target speed, rpm + double mes_speed; // measured speed, rpm + double current; // measured current, A + int32_t index; // parameter number + union{ // parameter code + uint8_t b[4]; + uint32_t l; + } value; + } sewdrv[3]; + uint32_t pep_code_a, pep_code_z, pep_code_p; // 23-digit PEP-controllers code + uint32_t pep_sw_a, pep_sw_z, pep_sw_p; // PEP end-switches code + uint32_t pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; // PEP codes + uint8_t pep_on[10]; // PEP flags + double xpol, ypol; // IERS polar motion (src: ftp://maia.usno.navy.mil/ser7/ser7.dat) + double jdate, eetime; // current Julian date, sidereal time correction by "Equation of the Equinoxes" + double val_hmd, inp_hmd; // humidity value (%%) & hand input + double worm_a, worm_z; // worm position, mkm + /* */ + uint32_t lock_flags; // locking flags + int32_t sew_dome_speed; // SEW dome divers speed: D_Lplus, D_Hminus etc + int32_t sew_dome_num; // SEW dome drive number (for indication) + struct SEWdata sewdomedrv; // SEW dome driver parameters + uint32_t pep_code_di, pep_code_do; // dome PEP codes +}; + +extern volatile struct BTA_Data *sdt; + +/******************************************************************************* +* Local data structure * +*******************************************************************************/ +// Oil pressure, MPa +#define PressOilA (sdtl->pr_oil_a) +#define PressOilZ (sdtl->pr_oil_z) +#define PressOilTank (sdtl->pr_oil_t) +// Oil themperature, degrC +#define OilTemper1 (sdtl->t_oil_1) // oil +#define OilTemper2 (sdtl->t_oil_2) // water + +// Local data structure +struct BTA_Local { + uint8_t reserve[120]; // reserved data + double pr_oil_a,pr_oil_z,pr_oil_t; // Oil pressure + double t_oil_1,t_oil_2; // Oil themperature +}; + +/** + * Message buffer structure + */ +struct my_msgbuf { + int32_t mtype; // message type + uint32_t acckey; // client access key + uint32_t src_pid; // source PID + uint32_t src_ip; // IP of command source or 0 for local + char mtext[100]; // message itself +}; + +extern volatile struct BTA_Local *sdtl; +extern int snd_id; +extern int cmd_src_pid; +extern uint32_t cmd_src_ip; + +#define ClientSide 0 +#define ServerSide 1 + +#ifndef BTA_MODULE +void bta_data_init(); +int bta_data_check(); +void bta_data_close(); +int get_shm_block(volatile struct SHM_Block *sb, int server); +int close_shm_block(volatile struct SHM_Block *sb); +void get_cmd_queue(struct CMD_Queue *cq, int server); +#endif + +int check_shm_block(volatile struct SHM_Block *sb); + +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev); +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev); +int check_lev_passwd(char *passwd); +void set_acckey(uint32_t newkey); + +// restore packing +#pragma pack(pop) +//#pragma GCC diagnostic pop + +#endif // __BTA_SHDATA_H__ diff --git a/bta_mirtemp/bta_testparams.c b/bta_mirtemp/bta_testparams.c new file mode 100644 index 0000000..387fd43 --- /dev/null +++ b/bta_mirtemp/bta_testparams.c @@ -0,0 +1,158 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "usefull_macros.h" +#include "bta_shdata.h" + +#define HOST "mirtemp.sao.ru" +#define PORT "4444" +#define RESOURCE "Tmean" + +static char *myname, stm[200]; + +void clear_flags(){ + if(MeteoMode & NET_T3){ // clear "net" & "sensor" flags + MeteoMode &= ~NET_HMD; + if(MeteoMode & SENSOR_T3) MeteoMode &= ~SENSOR_T3; + } +} + +void signals(int sig){ + clear_flags(); + char ss[10]; + time_t t = time(NULL); + signal(sig, SIG_IGN); + strftime(stm, 200, "%d.%m.%Y %H:%M:%S", localtime(&t)); + switch(sig){ + case SIGHUP : strcpy(ss,"SIGHUP"); break; + case SIGINT : strcpy(ss,"SIGINT"); break; + case SIGQUIT: strcpy(ss,"SIGQUIT"); break; + case SIGFPE : strcpy(ss,"SIGFPE"); break; + case SIGPIPE: strcpy(ss,"SIGPIPE"); break; + case SIGSEGV: strcpy(ss,"SIGSEGV"); break; + case SIGTERM: strcpy(ss,"SIGTERM"); break; + default: sprintf(ss,"SIG_%d",sig); break; + } + switch(sig){ + default: + case SIGHUP : + case SIGINT : + fprintf(stderr,"%s %s: %s - Ignore .....\n",stm, myname, ss); + fflush(stderr); + signal(sig, signals); + return; + case SIGPIPE: + case SIGQUIT: + case SIGFPE : + case SIGSEGV: + case SIGTERM: + signal(SIGALRM, SIG_IGN); + fprintf(stderr, "%s %s: %s - programm stop!\n", stm, myname, ss); + fflush(stderr); + clear_flags(); + exit(sig); + } +} + +/** + * get mirror temperature over network + * @return 0 if succeed + */ +int get_mirT(double *T){ + int sockfd = 0; + char recvBuff[64]; + memset(recvBuff, 0, sizeof(recvBuff)); + struct addrinfo h, *r, *p; + memset(&h, 0, sizeof(h)); + h.ai_family = AF_INET; + h.ai_socktype = SOCK_STREAM; + h.ai_flags = AI_CANONNAME; + char *host = HOST; + char *port = PORT; + if(getaddrinfo(host, port, &h, &r)) WARNX("getaddrinfo()"); + for(p = r; p; p = p->ai_next){ + if ((sockfd = socket(p->ai_family, p->ai_socktype, + p->ai_protocol)) == -1) { + WARN("socket()"); + continue; + } + if (connect(sockfd, p->ai_addr, p->ai_addrlen) == -1) { + close(sockfd); + WARN("connect()"); + continue; + } + break; // if we get here, we must have connected successfully + } + if(p == NULL){ + WARNX("failed to connect"); + return 1; + } + freeaddrinfo(r); + if(send(sockfd, RESOURCE, sizeof(RESOURCE), 0) != sizeof(RESOURCE)){ + WARN("send()"); + return 1; + } + ssize_t rd = read(sockfd, recvBuff, sizeof(recvBuff)-1); + if(rd < 0){ + WARN("read()"); + return 1; + }else recvBuff[rd] = 0; + close(sockfd); + char *eptr; + *T = strtod(recvBuff, &eptr); + if(eptr == recvBuff) return 1; + return 0; +} + +int main (_U_ int argc, _U_ char *argv[]){ + initial_setup(); + strncpy(stm, argv[0], 200); + myname = strdup(basename(stm)); + DBG("my name: %s", myname); + signal(SIGHUP, signals); + signal(SIGINT, signals); + signal(SIGQUIT,signals); + signal(SIGFPE, signals); + signal(SIGPIPE,signals); + signal(SIGSEGV,signals); + signal(SIGTERM,signals); + sdat.mode |= 0200; + sdat.atflag = 0; + get_shm_block( &sdat, ClientSide); + get_cmd_queue( &ocmd, ClientSide); + time_t tlast = time(NULL); + strftime(stm, 200, "%d.%m.%Y %H:%M:%S", localtime(&tlast)); + printf("%s start @ %s\n", myname, stm); + while(1){ + double T; + if(time(NULL) - tlast > 900){ // no signal for 15 minutes - clear flags + WARNX("No signal for 15 minutes"); + //clear_flags(); + tlast = time(NULL); + } + if(get_mirT(&T)){ + sleep(10); + continue; + } + if(0 == (MeteoMode & INPUT_T3)){ // not manual mode - change Tmir value + val_T3 = T; + MeteoMode |= (SENSOR_T3|NET_T3); + DBG("got T: %.2f", T); + } + sleep(60); + tlast = time(NULL); + } + clear_flags(); + return 0; +} diff --git a/bta_mirtemp/usefull_macros.c b/bta_mirtemp/usefull_macros.c new file mode 100644 index 0000000..bf06fa3 --- /dev/null +++ b/bta_mirtemp/usefull_macros.c @@ -0,0 +1,323 @@ +/* + * usefull_macros.h - a set of usefull functions: memory, color etc + * + * Copyright 2013 Edward V. Emelianoff + * + * 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 "usefull_macros.h" + +/** + * 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; +} + +/******************************************************************************\ + * Coloured terminal +\******************************************************************************/ +int globErr = 0; // errno for WARN/ERR + +// pointers to coloured output printf +int (*red)(const char *fmt, ...); +int (*green)(const char *fmt, ...); +int (*_WARN)(const char *fmt, ...); + +/* + * format red / green messages + * name: r_pr_, g_pr_ + * @param fmt ... - printf-like format + * @return number of printed symbols + */ +int r_pr_(const char *fmt, ...){ + va_list ar; int i; + printf(RED); + va_start(ar, fmt); + i = vprintf(fmt, ar); + va_end(ar); + printf(OLDCOLOR); + return i; +} +int g_pr_(const char *fmt, ...){ + va_list ar; int i; + printf(GREEN); + va_start(ar, fmt); + i = vprintf(fmt, ar); + va_end(ar); + printf(OLDCOLOR); + return i; +} +/* + * print red error/warning messages (if output is a tty) + * @param fmt ... - printf-like format + * @return number of printed symbols + */ +int r_WARN(const char *fmt, ...){ + va_list ar; int i = 1; + fprintf(stderr, RED); + va_start(ar, fmt); + if(globErr){ + errno = globErr; + vwarn(fmt, ar); + errno = 0; + globErr = 0; + }else + i = vfprintf(stderr, fmt, ar); + va_end(ar); + i++; + fprintf(stderr, OLDCOLOR "\n"); + return i; +} + +/* + * notty variants of coloured printf + * name: s_WARN, r_pr_notty + * @param fmt ... - printf-like format + * @return number of printed symbols + */ +int s_WARN(const char *fmt, ...){ + va_list ar; int i = 0; + va_start(ar, fmt); + if(globErr){ + errno = globErr; + vwarn(fmt, ar); + errno = 0; + globErr = 0; + }else + i = +vfprintf(stderr, fmt, ar); + va_end(ar); + i += fprintf(stderr, "\n"); + return i; +} +int r_pr_notty(const char *fmt, ...){ + va_list ar; int i = 0; + va_start(ar, fmt); + i += vprintf(fmt, ar); + va_end(ar); + i += printf("\n"); + return i; +} + +/** + * Run this function in the beginning of main() to setup locale & coloured output + */ +void initial_setup(){ + // setup coloured output + if(isatty(STDOUT_FILENO)){ // make color output in tty + red = r_pr_; green = g_pr_; + }else{ // no colors in case of pipe + red = r_pr_notty; green = printf; + } + if(isatty(STDERR_FILENO)) _WARN = r_WARN; + else _WARN = s_WARN; + // Setup locale + setlocale(LC_ALL, ""); + setlocale(LC_NUMERIC, "C"); +#if defined GETTEXT_PACKAGE && defined LOCALEDIR + bindtextdomain(GETTEXT_PACKAGE, LOCALEDIR); + textdomain(GETTEXT_PACKAGE); +#endif +} + +/******************************************************************************\ + * Memory +\******************************************************************************/ +/* + * safe memory allocation for macro ALLOC + * @param N - number of elements to allocate + * @param S - size of single element (typically sizeof) + * @return pointer to allocated memory area + */ +void *my_alloc(size_t N, size_t S){ + void *p = calloc(N, S); + if(!p) ERR("malloc"); + //assert(p); + return p; +} + +/** + * Mmap file to a memory area + * + * @param filename (i) - name of file to mmap + * @return stuct with mmap'ed file or die + */ +mmapbuf *My_mmap(char *filename){ + int fd; + char *ptr; + size_t Mlen; + struct stat statbuf; + if(!filename) ERRX(_("No filename given!")); + if((fd = open(filename, O_RDONLY)) < 0) + ERR(_("Can't open %s for reading"), filename); + if(fstat (fd, &statbuf) < 0) + ERR(_("Can't stat %s"), filename); + Mlen = statbuf.st_size; + if((ptr = mmap (0, Mlen, PROT_READ, MAP_PRIVATE, fd, 0)) == MAP_FAILED) + ERR(_("Mmap error for input")); + if(close(fd)) ERR(_("Can't close mmap'ed file")); + mmapbuf *ret = MALLOC(mmapbuf, 1); + ret->data = ptr; + ret->len = Mlen; + return ret; +} + +void My_munmap(mmapbuf *b){ + if(munmap(b->data, b->len)) + ERR(_("Can't munmap")); + FREE(b); +} + + +/******************************************************************************\ + * Terminal in no-echo mode +\******************************************************************************/ +static struct termios oldt, newt; // terminal flags +static int console_changed = 0; +// run on exit: +void restore_console(){ + if(console_changed) + tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state + console_changed = 0; +} + +// initial setup: +void setup_con(){ + if(console_changed) return; + tcgetattr(STDIN_FILENO, &oldt); + newt = oldt; + newt.c_lflag &= ~(ICANON | ECHO); + if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0){ + WARN(_("Can't setup console")); + tcsetattr(STDIN_FILENO, TCSANOW, &oldt); + signals(0); //quit? + } + console_changed = 1; +} + +/** + * Read character from console without echo + * @return char readed + */ +int read_console(){ + int rb; + struct timeval tv; + int retval; + fd_set rfds; + FD_ZERO(&rfds); + FD_SET(STDIN_FILENO, &rfds); + tv.tv_sec = 0; tv.tv_usec = 10000; + retval = select(1, &rfds, NULL, NULL, &tv); + if(!retval) rb = 0; + else { + if(FD_ISSET(STDIN_FILENO, &rfds)) rb = getchar(); + else rb = 0; + } + return rb; +} + +/** + * getchar() without echo + * wait until at least one character pressed + * @return character readed + */ +int mygetchar(){ // getchar() without need of pressing ENTER + int ret; + do ret = read_console(); + while(ret == 0); + return ret; +} + + +/******************************************************************************\ + * TTY with select() +\******************************************************************************/ +static struct termio oldtty, tty; // TTY flags +static int comfd = -1; // TTY fd + +// run on exit: +void restore_tty(){ + if(comfd == -1) return; + ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state + close(comfd); + comfd = -1; +} + +#ifndef BAUD_RATE +#define BAUD_RATE B9600 +#endif +// init: +void tty_init(char *comdev){ + DBG("\nOpen port...\n"); + if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){ + WARN("Can't use port %s\n",comdev); + ioctl(comfd, TCSANOW, &oldtty); // return TTY to previous state + close(comfd); + signals(0); // quit? + } + DBG(" OK\nGet current settings... "); + if(ioctl(comfd,TCGETA,&oldtty) < 0){ // Get settings + WARN(_("Can't get settings")); + signals(0); + } + 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){ + WARN(_("Can't set settings")); + signals(0); + } + DBG(" OK\n"); +} +/** + * Read data from TTY + * @param buff (o) - buffer for data read + * @param length - buffer len + * @return amount of readed bytes + */ +size_t read_tty(uint8_t *buff, size_t length){ + ssize_t L = 0; + fd_set rfds; + struct timeval tv; + int retval; + FD_ZERO(&rfds); + FD_SET(comfd, &rfds); + tv.tv_sec = 0; tv.tv_usec = 50000; // wait for 50ms + retval = select(comfd + 1, &rfds, NULL, NULL, &tv); + if (!retval) return 0; + if(FD_ISSET(comfd, &rfds)){ + if((L = read(comfd, buff, length)) < 1) return 0; + } + return (size_t)L; +} + +int write_tty(uint8_t *buff, size_t length){ + ssize_t L = write(comfd, buff, length); + if((size_t)L != length){ + WARN("Write error!"); + return 1; + } + return 0; +} diff --git a/bta_mirtemp/usefull_macros.h b/bta_mirtemp/usefull_macros.h new file mode 100644 index 0000000..bc000c2 --- /dev/null +++ b/bta_mirtemp/usefull_macros.h @@ -0,0 +1,124 @@ +/* + * usefull_macros.h - a set of usefull macros: memory, color etc + * + * Copyright 2013 Edward V. Emelianoff + * + * 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 __USEFULL_MACROS_H__ +#define __USEFULL_MACROS_H__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#if defined GETTEXT_PACKAGE && defined LOCALEDIR +/* + * GETTEXT + */ +#include +#define _(String) gettext(String) +#define gettext_noop(String) String +#define N_(String) gettext_noop(String) +#else +#define _(String) (String) +#define N_(String) (String) +#endif +#include +#include +#include +#include +#include +#include + + +// unused arguments with -Wall -Werror +#define _U_ __attribute__((__unused__)) + +/* + * Coloured messages output + */ +#define RED "\033[1;31;40m" +#define GREEN "\033[1;32;40m" +#define OLDCOLOR "\033[0;0;0m" + +/* + * ERROR/WARNING messages + */ +extern int globErr; +extern void signals(int sig); +#define ERR(...) do{globErr=errno; _WARN(__VA_ARGS__); signals(0);}while(0) +#define ERRX(...) do{globErr=0; _WARN(__VA_ARGS__); signals(0);}while(0) +#define WARN(...) do{globErr=errno; _WARN(__VA_ARGS__);}while(0) +#define WARNX(...) do{globErr=0; _WARN(__VA_ARGS__);}while(0) + +/* + * print function name, debug messages + * debug mode, -DEBUG + */ +#ifdef EBUG + #define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__) + #define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \ + fprintf(stderr, __VA_ARGS__); \ + fprintf(stderr, "\n");} while(0) +#else + #define FNAME() do{}while(0) + #define DBG(...) do{}while(0) +#endif //EBUG + +/* + * Memory allocation + */ +#define ALLOC(type, var, size) type * var = ((type *)my_alloc(size, sizeof(type))) +#define MALLOC(type, size) ((type *)my_alloc(size, sizeof(type))) +#define FREE(ptr) do{free(ptr); ptr = NULL;}while(0) + +double dtime(); + +// functions for color output in tty & no-color in pipes +extern int (*red)(const char *fmt, ...); +extern int (*_WARN)(const char *fmt, ...); +extern int (*green)(const char *fmt, ...); +void * my_alloc(size_t N, size_t S); +void initial_setup(); + +// mmap file +typedef struct{ + char *data; + size_t len; +} mmapbuf; +mmapbuf *My_mmap(char *filename); +void My_munmap(mmapbuf *b); + +void restore_console(); +void setup_con(); +int read_console(); +int mygetchar(); + +void restore_tty(); +void tty_init(char *comdev); +size_t read_tty(uint8_t *buff, size_t length); +int write_tty(uint8_t *buff, size_t length); + +#endif // __USEFULL_MACROS_H__ diff --git a/p1rotator/config.h b/p1rotator/config.h index 33b0d29..7b31096 100644 --- a/p1rotator/config.h +++ b/p1rotator/config.h @@ -58,7 +58,8 @@ #define USTEP_DELAY (1./MAX_SPEED/USTEPS/2) // Position angle calculation (val_Alp, val_Del, S_time - for real work) -#define CALC_PA() calc_PA(SrcAlpha, SrcDelta, S_time) +//#define CALC_PA() calc_PA(SrcAlpha, SrcDelta, S_time) +#define CALC_PA() calc_PA(val_Alp, val_Del, S_time) // PA value for zero end-switch (add this value to desired PA) #define PA_ZEROVAL (0.) diff --git a/p1rotator/stepper.c b/p1rotator/stepper.c index e394591..a477c90 100644 --- a/p1rotator/stepper.c +++ b/p1rotator/stepper.c @@ -331,13 +331,14 @@ void stepper_process(){ } } if(curtime - laststeptime > target_pa_period){ + laststeptime = curtime; #ifdef __arm__ Toggle(STEP_PIN); #endif // __arm__ current_usteps += dir; - DBG("STEP"); + DBG("STEP, angle=%g", CALC_PA() - p_first); + print_PA(CALC_PA()); } - print_PA(CALC_PA()); } }