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add 64-bit bta_control_net

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This commit is contained in:
Edward Emelianov 2020-12-17 17:46:55 +03:00
parent cfcea9b83d
commit f870b4d036
9 changed files with 3510 additions and 0 deletions
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14
bta_control_net-x86_64/bta_control_net/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := bta_control_net
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
SRCS := bta_control_net.c bta_shdata.c
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
CFLAGS += -O2 -Wall -Werror -Wextra -Wno-trampolines -std=gnu99
CC = gcc
#CXX = g++
all : $(PROGRAM)
$(PROGRAM) : $(SRCS)
$(CC) $(DEFINES) $(CFLAGS) $(LDFLAGS) $(SRCS) -o $(PROGRAM)

4
bta_control_net-x86_64/bta_control_net/README Normal file
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Для получения данных состояния БТА необходимо запустить от рута
bta_control_net acs7 &
Чтобы файрвол пропускал мультикасты, открыть tcp порты 7655 и 7656

683
bta_control_net-x86_64/bta_control_net/bta_control_net.c Normal file
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/* (C) V.S. Shergin, SAO RAS */
/* ðÒÏÇÒÁÍÍÁ ÓÅÔÅ×ÏÊ Ó×ÑÚÉ áóõ âôá */
/* ÔÒÁÎÓÌÑÃÉÑ ÍÅÖÐÒÏÇÒÁÍÍÎÏÇÏ ÉÎÔÅÒÆÅÊÓÁ ÐÏ ÓÅÔÉ */
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <fcntl.h>
#include <assert.h>
#include <string.h>
#include <time.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/wait.h>
#include <errno.h>
#include <signal.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <sched.h>
#include <sys/mman.h>
#include <sys/param.h>
#include <sys/times.h>
/*#define SHM_OLD_SIZE*/
#include "bta_shdata.h"
#ifndef TRUE
#define TRUE (1)
#define FALSE (0)
#endif
static int dsock; /* Data socket */
static int csock; /* Command socket */
static struct sockaddr_in from; /* Sending host address */
static struct sockaddr_in data; /* Address for data socket */
static struct sockaddr_in cmd; /* Address for command socket */
static int dport = 7655; /* Data port */
static int cport = 7656; /* Command port */
static int fromlen; /* Length of sending host address */
static double tsec=0.333333; /* timeout 1/3sec. */
static double tsync=0.75; /* "send sync" timeout */
const char *mask_sao = "255.255.224.0";
const char *mcast_base = "239.0.0.0";
static union{
unsigned char ubuf[4100]; /* buffer area >= sdat.maxsize+2 ! */
int ival;
} u_buff;
//static unsigned char buff[4100]; /* buffer area >= sdat.maxsize+2 ! */
#define buff u_buff.ubuf
static char *myname;
static double prog_time();
static void my_sleep(double);
static void log_message(char *);
static void myabort(int);
int main(int argc, char *argv[])
{
int i, length;
char *host = NULL;
char myhost[128],msg[100];
static struct sched_param shp;
struct hostent *h;
int ip, my_ip;
struct in_addr acs_addr,my_addr,bcast_addr,mcast_addr;
unsigned char ttl = 1;
unsigned long maskC,maskSAO;
struct ip_mreq mr;
int sync=0,syncnt=0;
double timeout, mcast_t=0.,mcast_tout=10.;
myname = argv[0];
if (argc>1) {
host = strdup(argv[1]);
for(i=2; i<argc; i++) {
if (*argv[i]=='s'){
sync=1;
char *p = strchr(argv[i],'=');
if(p) tsync=atof(p+1);
if(tsync<0.4) tsync=0.4;
}else if (*argv[i]=='t') {
char *p = strchr(argv[i],'=');
if(p!=NULL) tsec=atof(p+1);
if(tsec<0.14) tsec=0.14;
}
}
} else {
fprintf(stderr, "Usage:\n");
fprintf(stderr, "\t%s BTA_control_host[:mcast_addr] [sync[=sec]]\n",argv[0]);
fprintf(stderr, "\t%s local [t=sec]\n",argv[0]);
fprintf(stderr, "\t%s mcast[:mcast_addr][/ttl] [t=sec]\n",argv[0]);
fprintf(stderr, "\t%s remote\n",argv[0]);
exit(1);
}
signal(SIGHUP, myabort);
signal(SIGINT, myabort);
signal(SIGQUIT,myabort);
signal(SIGFPE, myabort);
signal(SIGPIPE,myabort);
signal(SIGSEGV,myabort);
signal(SIGTERM,myabort);
maskC = htonl(IN_CLASSC_NET);
inet_aton(mask_sao,(struct in_addr *)&maskSAO);
if(gethostname(myhost, sizeof(myhost)) < 0) {
fprintf(stderr,"Can't get my own host name!?.\n");
exit(1);
}
if ((h = gethostbyname(myhost))) {
if(h->h_addr_list[1])
my_ip = *(int*)h->h_addr_list[1];
else
my_ip = *(int*)h->h_addr_list[0];
my_addr.s_addr = my_ip;
fprintf(stderr,"My host: %s (%s)\n", myhost, inet_ntoa(my_addr));
} else {
fprintf(stderr,"Can't get my own host IP-addr!?.\n");
exit(1);
}
bcast_addr.s_addr = (INADDR_BROADCAST & ~maskC) | ( my_ip & maskC);
/*Create the data socket to send to or to read from*/
dsock = socket(AF_INET, SOCK_DGRAM, 0);
if (dsock < 0) {
perror("opening data socket");
exit(1);
}
/*Create the socket to send or to get commands */
csock = socket(AF_INET, SOCK_DGRAM, 0);
if (csock < 0) {
perror("opening command socket");
exit(1);
}
if (strcmp(host,"local")==0) { /* Send data to all local hosts? */
ip = bcast_addr.s_addr;
host = NULL;
i=TRUE;
setsockopt(dsock, SOL_SOCKET, SO_BROADCAST, &i, sizeof(i));
fprintf(stderr,"Broadcast(%s) ACS data to all local hosts\n", inet_ntoa(bcast_addr));
}
else if(strncmp(host,"mcast",5)==0 ||
strncmp(host,"multicast",9)==0) { /* Send data to local netwrks? */
char *p;
if((p=strchr(host,'/')) != NULL) {
ttl = atoi(p+1);
*p = '\0';
}
if((p=strchr(host,':')) != NULL) {
int hb = atoi(p+1);
if( (hb>239) | (hb<224) | (inet_aton(p+1,&mcast_addr)==0) ){
fprintf(stderr,"Trying wrong multicast group address:%s?!\n", p+1);
goto auto_mcast;
}
} else {
auto_mcast:
inet_aton(mcast_base,&mcast_addr);
mcast_addr.s_addr = (mcast_addr.s_addr & maskSAO) | ( my_ip & ~maskSAO);
}
ip = mcast_addr.s_addr;
host = NULL;
if(setsockopt(dsock, IPPROTO_IP, IP_MULTICAST_TTL, &ttl, sizeof(ttl))<0) {
sprintf(msg,"Can't use multicast %s/%d", inet_ntoa(mcast_addr),ttl);
perror(msg);
exit(1);
} else
fprintf(stderr,"Send ACS data to multicast group %s/%d for SAO hosts\n", inet_ntoa(mcast_addr),ttl);
}
else if (strcmp(host,"remote")==0) { /* Send data to remote hosts? */
ip = 0;
host = NULL;
fprintf(stderr,"Wait for remote requests to supply with ACS data\n");
}
else {
char *mga=NULL;
if((mga=strchr(host,':')) != NULL) {
int hb;
*mga++ = '\0';
hb = atoi(mga);
if( (hb>239) | (hb<224) | (inet_aton(mga,&mcast_addr)==0) ){
fprintf(stderr,"Trying wrong multicast group address:%s?!\n",mga);
mga=NULL;
}
}
if ((ip = inet_addr(host)) == (int)INADDR_NONE) { /* Get data from IP-number? */
h = gethostbyname(host); /* or from named host...*/
if (h == 0) {
fprintf(stderr, "%s: unknown host\n", host);
exit(1);
}
ip = *(int*)h->h_addr;
acs_addr.s_addr = ip;
fprintf(stderr,"ACS host: %s (%s)\n", h->h_name, inet_ntoa(acs_addr));
} else {
acs_addr.s_addr = ip;
h = gethostbyaddr((char*)&acs_addr, sizeof(acs_addr), AF_INET);
if (h == 0)
fprintf(stderr,"ACS host: %s \n", inet_ntoa(acs_addr));
else
fprintf(stderr,"ACS host: %s (%s)\n", h->h_name, inet_ntoa(acs_addr));
}
if(mga==NULL) {
inet_aton(mcast_base,&mcast_addr);
mcast_addr.s_addr = (mcast_addr.s_addr & maskSAO) | ( ip & ~maskSAO);
}
mr.imr_multiaddr.s_addr = mcast_addr.s_addr;
mr.imr_interface.s_addr = htons(INADDR_ANY);
if (setsockopt(dsock, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *)&mr, sizeof(mr)) < 0) {
sprintf(msg,"Joining multicast group %s", inet_ntoa(mcast_addr));
perror(msg);
} else
fprintf(stderr,"Join multicast group %s\n", inet_ntoa(mcast_addr));
}
data.sin_family = AF_INET;
data.sin_port = htons(dport);
cmd.sin_family = AF_INET;
cmd.sin_port = htons(cport);
if (host) {
tsec = 0.05;
data.sin_addr.s_addr = INADDR_ANY;
cmd.sin_addr.s_addr = ip;
sdat.mode |= 0200;
sdat.atflag = 0;
get_shm_block( &sdat, ServerSide);
mcmd.mode = ocmd.mode = ucmd.mode = 0622;
get_cmd_queue( &mcmd, ServerSide);
get_cmd_queue( &ocmd, ServerSide);
get_cmd_queue( &ucmd, ServerSide);
if(ServPID>0 && kill(ServPID, 0) >= 0) {
fprintf(stderr,"bta_control or bta_control_net server process already running! (PID=%d)\n", ServPID);
exit(1);
}
/* Listen and receive data packets form another host */
if (bind(dsock, (struct sockaddr *)&data, sizeof(data)) < 0) {
perror("binding data socket");
exit(1);
}
length = sizeof(data);
if (getsockname(dsock, (struct sockaddr *) &data, (socklen_t*)&length) < 0) {
perror("getting data socket name");
exit(1);
}
} else {
data.sin_addr.s_addr = ip;
cmd.sin_addr.s_addr = INADDR_ANY;
get_shm_block( &sdat, ClientSide);
get_cmd_queue( &mcmd, ClientSide);
get_cmd_queue( &ocmd, ClientSide);
get_cmd_queue( &ucmd, ClientSide);
/* Listen and receive command packets form another host */
if (bind(csock, (struct sockaddr *)&cmd, sizeof(cmd)) < 0) {
perror("binding command socket");
exit(1);
}
length = sizeof(cmd);
if (getsockname(csock, (struct sockaddr *) &cmd, (socklen_t*)&length) < 0) {
perror("getting command socket name");
exit(1);
}
}
shp.sched_priority = 1;
if (sched_setscheduler(0, SCHED_FIFO, &shp)) {
perror("Can't enter realtime mode! Not a SuperUser?");
if (host) tsec = 0.2;
} else {
if (mlockall(MCL_CURRENT))
perror("Can't lock process memory");
else
fprintf(stderr,"Entering realtime mode - Ok\n");
}
/* Wait and Read from the socket. */
timeout = tsec;
while (TRUE) {
int rll;
fd_set fdset;
//unsigned char *p = host?sdat.addr:buff;
int sock = host?dsock:csock;
int size = host?(sdat.maxsize+2):1024;
struct timeval tv;
int ret, code, csize;
union {
unsigned char b[2];
unsigned short w;
} cs;
struct my_msgbuf mbuf, *mbp;
FD_ZERO(&fdset);
FD_SET(sock, &fdset);
tv.tv_sec=(int)timeout;
tv.tv_usec=(int)((timeout-tv.tv_sec)*1000000.+0.5);
if ((ret=select(FD_SETSIZE, &fdset, NULL, NULL, &tv)) < 0) {
perror("select() fault");
continue;
}
rll = 0;
if (ret>0 && FD_ISSET(sock, &fdset)) {
fromlen = sizeof(from);
if ((rll = recvfrom(sock, buff, size, 0, (struct sockaddr *) &from, (socklen_t*)&fromlen)) < 0) {
if (errno != EINTR) {
perror("receiving UDP packet");
}
} else {
//fprintf(stderr, "Recv time %07.2f ", prog_time());
//fprintf(stderr, "Recv UDP pack (%d bytes) from %s\n", rll,inet_ntoa(from.sin_addr));
}
if (host) {mcast_t = 0.;mcast_tout = 10.;}
} else if (host) { /* 2.4.x kernel iface down/up problem? */
mcast_t += timeout; /* (with recv multicast?) */
if(mcast_t>mcast_tout) { /* no packets? */
mcast_t = 0.; /* may be need to re-add to multicast group? */
setsockopt(dsock, IPPROTO_IP, IP_DROP_MEMBERSHIP, (char *)&mr, sizeof(mr));
if (setsockopt(dsock, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *)&mr, sizeof(mr)) < 0) {
sprintf(msg,"ReJoining multicast group %s", inet_ntoa(mcast_addr));
perror(msg);
} else if(mcast_tout<999.) {
fprintf(stderr,"Multicast timeout? ReJoin group %s\n", inet_ntoa(mcast_addr));
mcast_tout *= 10.;
}
}
}
if (host) {
static int last_err = 0;
static int err_type = 0;
int currt = time(NULL);
if(rll>2) {
struct BTA_Data *pb = (void *)buff;
ServPID = getpid();
if(pb->magic != sdat.key.code) {
if(currt-last_err>60 || err_type!=1) {
fprintf(stderr,"Wrong shared data (maybe server %s turned off)\n", inet_ntoa(from.sin_addr));
last_err=currt;
err_type=1;
}
}
else if(pb->version == 0) {
if(currt-last_err>60 || err_type!=2) {
fprintf(stderr,"Null shared data version (maybe server at %s turned off)\n",inet_ntoa(from.sin_addr));
last_err=currt;
err_type=2;
}
}
else if(pb->size != sizeof(struct BTA_Data)) {
int perr = (pb->size>sdat.size&&pb->size<sdat.maxsize)? 3600 : 60;
if(currt-last_err>perr || err_type!=3) {
fprintf(stderr,"Wrong shared area size: I needs - %zd, but server %s - %d ...\n",
sizeof(struct BTA_Data), inet_ntoa(from.sin_addr), pb->size );
last_err=currt;
err_type=3;
if(pb->size > sdat.maxsize) pb->size = sdat.maxsize;
if(pb->version != BTA_Data_Ver)
goto wrongver;
} else
if(pb->size > sdat.maxsize) pb->size = sdat.maxsize;
}
else if(pb->version != BTA_Data_Ver) {
if(currt-last_err>600 || err_type!=4) {
last_err=currt;
err_type=4;
wrongver:
fprintf(stderr,"Wrong shared data version: I'am - %d, but server %s - %d ...\n",
BTA_Data_Ver, inet_ntoa(from.sin_addr), pb->version );
}
}
else {
for(i=0,cs.w=0; i<rll-2; i++)
cs.w += buff[i];
if(buff[rll-2] != cs.b[0] || buff[rll-1] != cs.b[1]) {
if(currt-last_err>60 || err_type!=5) {
fprintf(stderr,"Wrong CS from %s! %2x%02x %4x\n",
inet_ntoa(from.sin_addr),
buff[rll-1], buff[rll-2], cs.w);
last_err=currt;
err_type=5;
}
} else
err_type=0;
}
if(err_type==0 || err_type==3)
memcpy(sdat.addr, buff, pb->size);
}
if(rll<=0 || err_type==0 || err_type==3) {
if(sync) {
int nsync = (int)(tsync/tsec+0.5); /* e.g. tsync=0.9,tsec=0.05 => nsync=18 */
if(nsync<2) nsync=2;
if(rll>0) syncnt = 1; /* ÕÖÅ ÐÒÉÎÉÍÁÅÍ, ÎÅ ÎÁÄÏ sync-ÚÁÐÒÏÓÁ*/
else syncnt = (syncnt+1)%nsync; /* e.g. nsync=18 => 18*0.05=0.9sec */
}
/* ÓÎÁÞÁÌÁ ÐÒÏ×ÅÒÉÍ ËÁÎÁÌ ËÏÍÁÎÄ ÇÌÁ×ÎÏÇÏ ÏÐÅÒÁÔÏÒÓËÏÇÏ ÉÎÔÅÒÆÅÊÓÁ */
/* É × ÐÅÒ×ÕÀ ÏÞÅÒÅÄØ ÎÁ "ïóôáîï÷"*/
code = mcmd.key.code;
ret = msgrcv ( mcmd.id, (struct msgbuf *)&mbuf, 112, StopTel, IPC_NOWAIT);
if (ret <= 0 ) {
if (errno != ENOMSG)
perror("Getting command from 'MainOperator' fault");
}
else goto do_cmd;
/* Á ÚÁÔÅÍ ÎÁ ×ÓÅ ÐÒÏÞÉÅ ËÏÍÁÎÄÙ */
ret = msgrcv ( mcmd.id, (struct msgbuf *)&mbuf, 112, 0, IPC_NOWAIT);
if (ret <= 0 ) {
if (errno != ENOMSG)
perror("Getting command from 'MainOperator' fault");
}
else goto do_cmd;
/* ÚÁÔÅÍ ÐÒÏ×ÅÒÉÍ ËÁÎÁÌ ×ÔÏÒÉÞÎÙÈ ÏÐÅÒÁÔÏÒÓËÉÈ ÉÎÔÅÒÆÅÊÓÏ× */
/* É × ÐÅÒ×ÕÀ ÏÞÅÒÅÄØ ÏÐÑÔØ ÎÁ "ïóôáîï÷"*/
code = ocmd.key.code;
ret = msgrcv ( ocmd.id, (struct msgbuf *)&mbuf, 112, StopTel, IPC_NOWAIT);
if (ret <= 0 ) {
if (errno != ENOMSG)
perror("Getting command from 'Operator' fault");
}
else goto do_cmd;
/* Á ÚÁÔÅÍ ÎÁ ×ÓÅ ÐÒÏÞÉÅ ËÏÍÁÎÄÙ */
ret = msgrcv ( ocmd.id, (struct msgbuf *)&mbuf, 112, 0, IPC_NOWAIT);
if (ret <= 0 ) {
if (errno != ENOMSG)
perror("Getting command from 'Operator' fault");
}
else goto do_cmd;
/* É ÎÁËÏÎÅà ËÁÎÁÌ ÐÏÌØÚÏ×ÁÔÅÌØÓËÉÈ ÉÎÔÅÒÆÅÊÓÏ× */
code = ucmd.key.code;
ret = msgrcv ( ucmd.id, (struct msgbuf *)&mbuf, 112, 0, IPC_NOWAIT);
if (ret <= 0 ) {
if (errno != ENOMSG)
perror("Getting command from 'User' fault");
/* no commands at all... */
if(sync && syncnt==0) {
code = 0; /*need to send sync pack to remote network */
mbuf.mtype = 0;
mbuf.acckey = 0;
mbuf.src_pid = getpid();
mbuf.src_ip = my_ip;
mbuf.mtext[0] = 0;
ret=1;
} else
continue; /* nothing to send...*/
}
do_cmd:
if(mbuf.src_ip == 0)
mbuf.src_ip = my_ip;
u_buff.ival = code;
//*((int *)buff) = code;
memcpy(buff+sizeof(code), &mbuf, sizeof(mbuf.mtype)+ret);
csize = sizeof(code)+sizeof(mbuf.mtype)+ret;
for(i=0,cs.w=0; i<csize; i++)
cs.w += buff[i];
buff[csize++] = cs.b[0];
buff[csize++] = cs.b[1];
if (sendto(csock, buff, csize,
0, (struct sockaddr *)&cmd, sizeof(cmd)) < 0) {
perror("sending command datagram");
continue;
}
/*fprintf(stderr, "Send %d bytes to %s.\n", csize, inet_ntoa(cmd.sin_addr));
*/
} else {
/* Shm-data error? Suspicious server! Cmd-queues Cleanup...*/
ret = msgrcv ( mcmd.id, (struct msgbuf *)&mbuf, 112, 0, IPC_NOWAIT);
ret = msgrcv ( ocmd.id, (struct msgbuf *)&mbuf, 112, 0, IPC_NOWAIT);
ret = msgrcv ( ucmd.id, (struct msgbuf *)&mbuf, 112, 0, IPC_NOWAIT);
}
} else {
static double last_recv=0.;
static double last_send=0.;
double tcurr = prog_time();
if(rll > 0) { /* recv. somewhat packet ? */
int id=-1;
if(rll>2) {
for(i=0,cs.w=0; i<rll-2; i++)
cs.w += buff[i];
if(buff[rll-2] != cs.b[0] || buff[rll-1] != cs.b[1]) {
fprintf(stderr,"Wrong CS from %s! %2x%02x %4x\n",
inet_ntoa(from.sin_addr),
buff[rll-1], buff[rll-2], cs.w);
} else {
code = u_buff.ival;
//code = *((int *)buff);
csize = rll-sizeof(code)-sizeof(mbuf.mtype);
if(code==mcmd.key.code) id=mcmd.id;
else if(code==ocmd.key.code) id=ocmd.id;
else if(code==ucmd.key.code) id=ucmd.id;
}
}
if(id>=0) { /* command packet? */
static unsigned long prev_ip=0; /* IP-ÁÄÒ.ÐÒÅÄÙÄÕÝÅÊ ËÏÍÁÎÄÙ */
unsigned long netaddr;
struct in_addr src_addr;
char *acc;
static char *prev_acc=NULL;
mbp = (struct my_msgbuf *)(buff+sizeof(code));
netaddr = ntohl(mbp->src_ip);
if(mbp->src_ip == 0) {
fprintf(stderr,"ïÔÓÕÔÓÔ×ÕÅÔ ÁÄÒÅÓ ÉÓÔÏÞÎÉËÁ: 0.0.0.0 (ÐÏÌÕÞÅÎ ÏÔ %s)!\n",
inet_ntoa(from.sin_addr));
mbp->src_ip = from.sin_addr.s_addr;
} else if(((mbp->src_ip&maskC)==(from.sin_addr.s_addr&maskC)) &&
((ntohl(from.sin_addr.s_addr)&ACSMask) != (ACSNet & ACSMask)) &&
(mbp->src_ip != from.sin_addr.s_addr)) {
src_addr.s_addr = mbp->src_ip;
fprintf(stderr, "ðÏÄÏÚÒÉÔÅÌØÎÙÊ ÁÄÒÅÓ ÉÓÔÏÞÎÉËÁ: %s (ÐÏÌÕÞÅÎ ÏÔ %s)!\n",
inet_ntoa(src_addr),inet_ntoa(from.sin_addr));
mbp->src_ip = from.sin_addr.s_addr;
}
if(((netaddr & NetMask) == (NetWork & NetMask)) ||
((netaddr & ACSMask) == (ACSNet & ACSMask))) {
msgsnd(id, (struct msgbuf *)mbp, csize, IPC_NOWAIT);
acc = "Accept";
} else
acc = "Failed";
if( prev_ip != mbp->src_ip || prev_acc != acc) {
src_addr.s_addr = mbp->src_ip;
sprintf(msg, "Cmds from %s - %s", inet_ntoa(src_addr),acc);
if((netaddr & ACSMask) != (ACSNet & ACSMask))
log_message(msg);
}
prev_acc=acc;
prev_ip=mbp->src_ip;
}
if(tcurr-last_recv < 0.1) /* max 10 cmd-packs per second */
my_sleep(0.11-(tcurr-last_recv));
last_recv = tcurr;
}
if(ip==0) { /*"remote"-mode ?*/
if(rll <= 0) /* recv. somewhat packet ? */
continue;
data.sin_addr.s_addr = from.sin_addr.s_addr;
}
if(ip==0 || rll==0 || fabs(last_send-tcurr)>tsec ) { /*"remote"||timeout*/
struct BTA_Data *pb = (void *)buff;
memcpy(buff, sdat.addr, sdat.size);
csize = pb->size = sdat.size;
for(i=0,cs.w=0; i<csize; i++)
cs.w += buff[i];
buff[csize++] = cs.b[0];
buff[csize++] = cs.b[1];
if (sendto(dsock, buff, csize,
0, (struct sockaddr *)&data, sizeof(data)) < 0) {
perror("sending datagram message");
continue;
}
last_send = tcurr;
timeout = tsec;
/*fprintf(stderr, "Send time %07.2f\n", last_send);*/
/*fprintf(stderr, "Send %d bytes to %s.\n", sdat.size,
* (ip==0)?inet_ntoa(data.sin_addr):"All");
*/
} else {
if(rll>0) { // send TCS data block as a reply to cmd
struct BTA_Data *pb = (void *)buff;
memcpy(buff, sdat.addr, sdat.size);
csize = pb->size = sdat.size;
for(i=0,cs.w=0; i<csize; i++)
cs.w += buff[i];
buff[csize++] = cs.b[0];
buff[csize++] = cs.b[1];
from.sin_port = htons(dport);
if (sendto(dsock, buff, csize, 0, (struct sockaddr *)&from, fromlen) < 0) {
perror("sending datagram message");
continue;
}
}
timeout = tsec - (last_send-tcurr);
if(timeout<0.011) timeout=0.011;
}
}
}
}
/* ×ÒÅÍÑ ÏÔ ÚÁÐÕÓËÁ ÐÒÏÇÒÁÍÍÙ */
static double prog_time() {
static double st=-1.;
struct timeval ct;
struct timezone tz;
gettimeofday(&ct, &tz);
if(st<0.) {
st = ct.tv_sec + ct.tv_usec/1e6;
return 0.;
} else
return (ct.tv_sec + ct.tv_usec/1e6 - st);
}
static void my_sleep(double dt)
{
int nfd;
struct timeval tv;
tv.tv_sec = (int)dt;
tv.tv_usec = (int)((dt - tv.tv_sec)*1000000.);
slipping:
nfd = select(0, (fd_set *)NULL,(fd_set *)NULL,(fd_set *)NULL, &tv);
if(nfd < 0) {
if(errno == EINTR)
/*On Linux, timeout is modified to reflect the amount of
time not slept; most other implementations DO NOT do this!*/
goto slipping;
fprintf(stderr,"Error in mydelay(){ select() }. %s\n",strerror(errno));
}
}
/* ÚÁÐÏÌÎÅÎÉÅ ÓÔÕËÔÕÒÙ tm ÉÓÈÏÄÑ ÉÚ ÔÅËÕÝÅÇÏ ÍÏÓË.×ÒÅÍÅÎÉ (ÎÁ áóõ) M_time */
static struct tm *get_localtime() { /* ×ÍÅÓÔÏ localtime() */
struct tm *tm;
time_t t,tt,mt;
int dt;
static int ott=0, omt=0;
time(&tt);
tm = localtime(&tt);
tt -= timezone; /*difference between UTC and local standard time (in sec)*/
mt = (int)M_time;
if((mt!=omt && omt!=0) || (tt-ott)<10) { /* M_time Ó áóõ ÁËÔÕÁÌØÎÏ? */
dt = (int)(tt%(24*3600)) - (int)(mt%(24*3600));
if(dt>12*3600) dt -= 24*3600;
if(dt<-12*3600) dt += 24*3600;
t=tt-dt+timezone; /* ËÏÒÒ-Ñ ×ÒÅÍÅÎÉ ÍÁÛÉÎÙ ÐÏ M_time */
tm = localtime(&t);
}
if(mt!=omt) {
if(omt!=0) ott=tt; /* ÍÏÍÅÎÔ ÐÏÓÌÅÄÎÅÇÏ ÉÚÍÅÎÅÎÉÑ M_time */
omt=mt;
}
return( tm );
}
/* ÒÁÓÐÅÞÁÔËÁ ÓÏÏÂÝÅÎÉÊ ÄÌÑ ÐÒÏÔÏËÏÌÁ*/
static void log_message(char *text) {
static int mday=0, mon=0, year=0;
struct tm *tm = get_localtime();
if(tm->tm_mday!=mday || tm->tm_mon!=mon || tm->tm_year!=year) {
mday = tm->tm_mday; mon = tm->tm_mon; year = tm->tm_year;
printf("<======================================>\n");
printf("äÁÔÁ: %02d/%02d/%04d\n",mday,mon+1,1900+year);
}
printf("%02d:%02d:%02d %s\n",tm->tm_hour,tm->tm_min,tm->tm_sec,text);
fflush(stdout);
}
static void myabort(int sig) {
//int ret;
char ss[10];//, tmp[80];
signal(sig,SIG_IGN);
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 :
case SIGPIPE:
fprintf(stderr,"%s: %s - Ignore .....\n",myname,ss);
fflush(stderr);
signal(sig, myabort);
return;
case SIGQUIT:
case SIGFPE :
case SIGSEGV:
case SIGTERM:
signal(SIGALRM, SIG_IGN);
close_shm_block(&sdat);
fprintf(stderr,"%s: %s - programm stop!\n",myname,ss);
exit(sig);
}
}

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// (C) V.S. Shergin, SAO RAS
#include <err.h>
#include "bta_shdata.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 WARN(...) warn(__VA_ARGS__)
#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0)
#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
#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)

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// (C) V.S. Shergin, SAO RAS
#pragma once
#ifndef __BTA_SHDATA_H__
#define __BTA_SHDATA_H__
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <string.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <sys/msg.h>
#include <errno.h>
#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 - ÁÚÉÍÕÔ ÐÏÌÏÖÉÔÅÌØÎÙÊ
* 0x4000 - ÏÔÒÁÂÏÔËÁ ×ËÌ.
* 0x2000 - ÒÅÖÉÍ ×ÅÄÅÎÉÑ
* 0x1000 - ÏÔÒÁÂÏÔËÁ P2 ×ËÌ.
* 0x01F0 - ÓË.ËÏÒÒ. 0.2 0.4 1.0 2.0 5.0("/ÓÅË)
* 0x000F - ÎÁÐÒ.ËÏÒÒ. +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_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) /*ÉÚÍÅÒÅÎÎÁÑ ÓËÏÒÏÓÔØ ÏÂ/ÍÉÎ (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
/* ÆÌÁÇÉ ÂÌÏËÉÒÏ×ËÉ ÕÐÒÁ×ÌÅÎÉÑ ÕÚÌÁÍÉ */
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__

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# run `make DEF=...` to add extra defines
PROGRAM := bta_print
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all -lcrypt -lm
SRCS := bta_print.c bta_shdata.c
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
CFLAGS += -O2 -Wall -Werror -Wextra -Wno-trampolines -std=gnu99
CC = gcc
#CXX = g++
all : $(PROGRAM)
$(PROGRAM) : $(SRCS)
$(CC) $(DEFINES) $(CFLAGS) $(LDFLAGS) $(SRCS) -o $(PROGRAM)

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bta_control_net-x86_64/bta_print/bta_print.c Normal file
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/* Print some BTA NewACS data (or write to file)
* Usage:
* bta_print [time_step] [file_name]
* Where:
* time_step - writing period in sec., >=1.0
* <1.0 - once and exit (default)
* file_name - name of file to write to,
* "-" - stdout (default)
*/
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <string.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/times.h>
#include <crypt.h>
//#define SHM_OLD_SIZE
#include "bta_shdata.h"
static double time_step=0.0;
static char *file_name = "-";
char *time_asc(double t, char *lin)
{
int h, min;
double sec;
h = (int)(t/3600.);
min = (int)((t - (double)h*3600.)/60.);
sec = t - (double)h*3600. - (double)min*60.;
h %= 24;
if(sec>59.99) sec=59.99;
sprintf(lin, "%02d:%02d:%05.2f", h,min,sec);
return lin;
}
char *angle_asc(double a, char *lin)
{
char s;
int d, min;
double sec;
if (a >= 0.)
s = '+';
else {
s = '-'; a = -a;
}
d = (int)(a/3600.);
min = (int)((a - (double)d*3600.)/60.);
sec = a - (double)d*3600. - (double)min*60.;
d %= 360;
if(sec>59.9) sec=59.9;
sprintf (lin, "%c%02d:%02d:%04.1f", s,d,min,sec);
return lin;
}
char *angle_fmt(double a, char *format, char *lin)
{
char s, *p;
int d, min, n;
double sec, msec;
if (a >= 0.)
s = '+';
else {
s = '-'; a = -a;
}
d = (int)(a/3600.);
min = (int)((a - (double)d*3600.)/60.);
sec = a - (double)d*3600. - (double)min*60.;
d %= 360;
if ((p = strchr(format,'.')) == NULL)
msec=59.;
else if (*(p+2) == 'f' ) {
n = *(p+1) - '0';
msec = 60. - pow(10.,(double)(-n));
} else
msec=60.;
if(sec>msec) sec=msec;
if (strstr(format,"%c"))
sprintf (lin, format, s,d,min,sec);
else
sprintf (lin, format, d,min,sec);
return lin;
}
#ifndef PI
#define PI 3.14159265358979323846 /* pi */
#endif
#define R2D 180./PI /* rad. to degr. */
#define D2R PI/180. /* degr. to rad. */
#define R2S 648000./PI /* rad. to sec */
#define S2R PI/648000. /* sec. to rad. */
#define S360 1296000. /* sec in 360degr */
const double longitude=149189.175; /* SAO longitude 41 26 29.175 (-2:45:45.945)*/
const double Fi=157152.7; /* SAO latitude 43 39 12.7 */
const double cos_fi=0.7235272793; /* Cos of SAO latitude */
const double sin_fi=0.6902957888; /* Sin --- "" ----- */
static void calc_AZ(double alpha, double delta, double stime, double *az, double *zd)
{
double sin_t,cos_t, sin_d,cos_d, cos_z;
double t, d, z, a, x, y;
t = (stime - alpha) * 15.;
if (t < 0.)
t += S360; /* +360degr */
t *= S2R; /* -> rad */
d = delta * S2R;
sin_t = sin(t);
cos_t = cos(t);
sin_d = sin(d);
cos_d = cos(d);
cos_z = cos_fi * cos_d * cos_t + sin_fi * sin_d;
z = acos(cos_z);
y = cos_d * sin_t;
x = cos_d * sin_fi * cos_t - cos_fi * sin_d;
a = atan2(y, x);
*zd = z * R2S;
*az = a * R2S;
}
static double calc_PA(double alpha, double delta, double stime)
{
double sin_t,cos_t, sin_d,cos_d;
double t, d, p, sp, cp;
t = (stime - alpha) * 15.;
if (t < 0.)
t += S360; /* +360degr */
t *= S2R; /* -> rad */
d = delta * S2R;
sin_t = sin(t);
cos_t = cos(t);
sin_d = sin(d);
cos_d = cos(d);
sp = sin_t * cos_fi;
cp = sin_fi * cos_d - sin_d * cos_fi * cos_t;
p = atan2(sp, cp);
if (p < 0.0)
p += 2.0*PI;
return(p * R2S);
}
#if 0
static void calc_AD(double az, double zd, double stime, double *alpha, double *delta)
{
double sin_d, sin_a,cos_a, sin_z,cos_z;
double t, d, z, a, x, y;
a = az * S2R;
z = zd * S2R;
sin_a = sin(a);
cos_a = cos(a);
sin_z = sin(z);
cos_z = cos(z);
y = sin_z * sin_a;
x = cos_a * sin_fi * sin_z + cos_fi * cos_z;
t = atan2(y, x);
if (t < 0.0)
t += 2.0*PI;
sin_d = sin_fi * cos_z - cos_fi * cos_a * sin_z;
d = asin(sin_d);
*delta = d * R2S;
*alpha = (stime - t * R2S / 15.);
if (*alpha < 0.0)
*alpha += S360/15.; /* +24h */
}
#endif
static void my_sleep(double dt)
{
int nfd;
struct timeval tv;
tv.tv_sec = (int)dt;
tv.tv_usec = (int)((dt - tv.tv_sec)*1000000.);
slipping:
nfd = select(0, (fd_set *)NULL,(fd_set *)NULL,(fd_set *)NULL, &tv);
if(nfd < 0) {
if(errno == EINTR)
/*On Linux, timeout is modified to reflect the amount of
time not slept; most other implementations DO NOT do this!*/
goto slipping;
fprintf(stderr,"Error in mydelay(){ select() }. %s\n",strerror(errno));
}
}
int main (int argc, char *argv[])
{
FILE *fd;
double last;
int i,acs_bta;
char tmp[80], *value;
if(argc>1) {
if(isdigit(argv[1][0])||argv[1][0]=='.') time_step=atof(argv[1]);
else file_name = argv[1];
if(argc>2) {
if(isdigit(argv[2][0])||argv[2][0]=='.') time_step=atof(argv[2]);
else file_name = argv[2];
}
}
if(strcmp(file_name,"-")==0) {
fd = stdout;
} else if((fd=fopen(file_name,"w"))==NULL) {
fprintf(stderr,"Can't write BTA data to file: %s\n",file_name);
exit(1);
}
if(!get_shm_block( &sdat, ClientSide)) return 1;
last = M_time;
for(i=0;i<50 && fabs(M_time-last)<0.01; i++)
my_sleep(0.02);
do {
if(fd != stdout)
if((fd=freopen(file_name,"w",fd))==NULL) {
fprintf(stderr,"Can't write BTA data to file: %s\n",file_name);
exit(1);
}
acs_bta = ( check_shm_block(&sdat) && fabs(M_time-last)>0.01);
value = (acs_bta)? "On" : "Off";
fprintf(fd,"ACS_BTA=\"%s\"\n",value);
/* Mean Solar Time */
fprintf(fd,"M_time=\"%s\"\n",time_asc(M_time+DUT1,tmp));
/* Mean Sidereal Time */
#ifdef EE_time
fprintf(fd,"S_time=\"%s\"\n",time_asc(S_time-EE_time,tmp));
//fprintf(fd,"JDate=\"%13.5f\"\n",JDate);
fprintf(fd,"JDate=\"%g\"\n",JDate);
#else
fprintf(fd,"S_time=\"%s\"\n",time_asc(S_time,tmp));
#endif
if(!acs_bta || Tel_Hardware == Hard_Off) value = "Off";
else if(Tel_Mode != Automatic) value = "Manual";
else {
switch (Sys_Mode) {
default:
case SysStop : value = "Stopping"; break;
case SysWait : value = "Waiting"; break;
case SysPointAZ :
case SysPointAD : value = "Pointing"; break;
case SysTrkStop :
case SysTrkStart:
case SysTrkMove :
case SysTrkSeek : value = "Seeking"; break;
case SysTrkOk : value = "Tracking"; break;
case SysTrkCorr : value = "Correction";break;
case SysTest : value = "Testing"; break;
}
}
fprintf(fd,"Tel_Mode=\"%s\"\n",value);
switch (Tel_Focus) {
default:
case Prime : value = "Prime"; break;
case Nasmyth1 : value = "Nasmyth1"; break;
case Nasmyth2 : value = "Nasmyth2"; break;
}
fprintf(fd,"Tel_Focus=\"%s\"\n",value);
switch (Sys_Target) {
default:
case TagObject : value = "Object"; break;
case TagPosition : value = "A/Z-Pos."; break;
case TagNest : value = "Nest"; break;
case TagZenith : value = "Zenith"; break;
case TagHorizon : value = "Horizon"; break;
}
fprintf(fd,"Tel_Taget=\"%s\"\n",value);
if(acs_bta && Tel_Hardware == Hard_On)
switch (P2_State) {
default:
case P2_Off : value = "Stop"; break;
case P2_On : value = "Track"; break;
case P2_Plus : value = "Move+"; break;
case P2_Minus : value = "Move-"; break;
}
else value = "Off";
fprintf(fd,"P2_Mode=\"%s\"\n",value);
fprintf(fd,"code_KOST=\"0x%04X\"\n",code_KOST);
fprintf(fd,"CurAlpha=\"%s\"\n", time_asc(CurAlpha,tmp));
fprintf(fd,"CurDelta=\"%s\"\n",angle_asc(CurDelta,tmp));
fprintf(fd,"SrcAlpha=\"%s\"\n", time_asc(SrcAlpha,tmp));
fprintf(fd,"SrcDelta=\"%s\"\n",angle_asc(SrcDelta,tmp));
fprintf(fd,"InpAlpha=\"%s\"\n", time_asc(InpAlpha,tmp));
fprintf(fd,"InpDelta=\"%s\"\n",angle_asc(InpDelta,tmp));
fprintf(fd,"TelAlpha=\"%s\"\n", time_asc(val_Alp,tmp));
fprintf(fd,"TelDelta=\"%s\"\n",angle_asc(val_Del,tmp));
fprintf(fd,"InpAzim=\"%s\"\n",angle_fmt(InpAzim,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"InpZenD=\"%s\"\n",angle_fmt(InpZdist,"%02d:%02d:%04.1f",tmp));
fprintf(fd,"CurAzim=\"%s\"\n",angle_fmt(tag_A,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"CurZenD=\"%s\"\n",angle_fmt(tag_Z,"%02d:%02d:%04.1f",tmp));
fprintf(fd,"CurPA=\"%s\"\n",angle_fmt(tag_P,"%03d:%02d:%04.1f",tmp));
fprintf(fd,"SrcPA=\"%s\"\n",angle_fmt(calc_PA(SrcAlpha,SrcDelta,S_time),"%03d:%02d:%04.1f",tmp));
fprintf(fd,"InpPA=\"%s\"\n",angle_fmt(calc_PA(InpAlpha,InpDelta,S_time),"%03d:%02d:%04.1f",tmp));
fprintf(fd,"TelPA=\"%s\"\n",angle_fmt(calc_PA(val_Alp, val_Del, S_time),"%03d:%02d:%04.1f",tmp));
fprintf(fd,"ValAzim=\"%s\"\n",angle_fmt(val_A,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"ValZenD=\"%s\"\n",angle_fmt(val_Z,"%02d:%02d:%04.1f",tmp));
fprintf(fd,"ValP2=\"%s\"\n",angle_fmt(val_P,"%03d:%02d:%04.1f",tmp));
fprintf(fd,"ValDome=\"%s\"\n", angle_fmt(val_D,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"DiffAzim=\"%s\"\n",angle_fmt(Diff_A,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"DiffZenD=\"%s\"\n",angle_fmt(Diff_Z,"%c%02d:%02d:%04.1f",tmp));
fprintf(fd,"DiffP2=\"%s\"\n",angle_fmt(Diff_P,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"DiffDome=\"%s\"\n",angle_fmt(val_A-val_D,"%c%03d:%02d:%04.1f",tmp));
fprintf(fd,"VelAzim=\"%s\"\n",angle_fmt(vel_A,"%c%02d:%02d:%04.1f",tmp));
fprintf(fd,"VelZenD=\"%s\"\n",angle_fmt(vel_Z,"%c%02d:%02d:%04.1f",tmp));
fprintf(fd,"VelP2=\"%s\"\n",angle_fmt(vel_P,"%c%02d:%02d:%04.1f",tmp));
fprintf(fd,"VelPA=\"%s\"\n",angle_fmt(vel_objP,"%c%02d:%02d:%04.1f",tmp));
fprintf(fd,"VelDome=\"%s\"\n",angle_fmt(vel_D,"%c%02d:%02d:%04.1f",tmp));
if(Sys_Mode==SysTrkSeek||Sys_Mode==SysTrkOk||Sys_Mode==SysTrkCorr) {
double curA,curZ,srcA,srcZ;
double corAlp,corDel,corA,corZ;
corAlp = CurAlpha-SrcAlpha;
corDel = CurDelta-SrcDelta;
if(corAlp > 23*3600.) corAlp -= 24*3600.;
if(corAlp < -23*3600.) corAlp += 24*3600.;
calc_AZ(SrcAlpha, SrcDelta, S_time, &srcA, &srcZ);
calc_AZ(CurAlpha, CurDelta, S_time, &curA, &curZ);
corA=curA-srcA;
corZ=curZ-srcZ;
fprintf(fd,"CorrAlpha=\"%s\"\n",angle_fmt(corAlp,"%c%01d:%02d:%05.2f",tmp));
fprintf(fd,"CorrDelta=\"%s\"\n",angle_fmt(corDel,"%c%01d:%02d:%04.1f",tmp));
fprintf(fd,"CorrAzim=\"%s\"\n",angle_fmt(corA,"%c%01d:%02d:%04.1f",tmp));
fprintf(fd,"CorrZenD=\"%s\"\n",angle_fmt(corZ,"%c%01d:%02d:%04.1f",tmp));
} else {
fprintf(fd,"CorrAlpha=\"+0:00:00.00\"\n");
fprintf(fd,"CorrDelta=\"+0:00:00.0\"\n");
fprintf(fd,"CorrAzim=\"+0:00:00.0\"\n");
fprintf(fd,"CorrZenD=\"+0:00:00.0\"\n");
}
fprintf(fd,"ValFoc=\"%0.2f\"\n",val_F);
fprintf(fd,"ValTout=\"%+05.1f\"\n",val_T1);
fprintf(fd,"ValTind=\"%+05.1f\"\n",val_T2);
fprintf(fd,"ValTmir=\"%+05.1f\"\n",val_T3);
fprintf(fd,"ValPres=\"%05.1f\"\n",val_B);
fprintf(fd,"ValWind=\"%04.1f\"\n",val_Wnd);
if(Wnd10_time>0.1 && Wnd10_time<=M_time /*&& M_time-Wnd10_time<24*3600.*/) {
fprintf(fd,"Blast10=\"%.1f\"\n",(M_time-Wnd10_time)/60);
fprintf(fd,"Blast15=\"%.1f\"\n",(M_time-Wnd15_time)/60);
} else {
fprintf(fd,"Blast10=\" \"\n");
fprintf(fd,"Blast15=\" \"\n");
}
fprintf(fd,"ValHumd=\"%04.1f\"\n",val_Hmd);
if(Precip_time>0.1 && Precip_time<=M_time /*&& M_time-Precip_time<24*3600.*/)
fprintf(fd,"Precipt=\"%.1f\"\n",(M_time-Precip_time)/60);
else
fprintf(fd,"Precipt=\" \"\n");
fflush(fd);
last = M_time;
if(time_step>0.9) my_sleep(time_step);
} while (time_step>0.9); /* else only once */
exit(0);
}

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// (C) V.S. Shergin, SAO RAS
#include <err.h>
#include "bta_shdata.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 WARN(...) warn(__VA_ARGS__)
#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0)
#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
#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)

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// (C) V.S. Shergin, SAO RAS
#pragma once
#ifndef __BTA_SHDATA_H__
#define __BTA_SHDATA_H__
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <string.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <sys/msg.h>
#include <errno.h>
#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 - ÁÚÉÍÕÔ ÐÏÌÏÖÉÔÅÌØÎÙÊ
* 0x4000 - ÏÔÒÁÂÏÔËÁ ×ËÌ.
* 0x2000 - ÒÅÖÉÍ ×ÅÄÅÎÉÑ
* 0x1000 - ÏÔÒÁÂÏÔËÁ P2 ×ËÌ.
* 0x01F0 - ÓË.ËÏÒÒ. 0.2 0.4 1.0 2.0 5.0("/ÓÅË)
* 0x000F - ÎÁÐÒ.ËÏÒÒ. +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_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) /*ÉÚÍÅÒÅÎÎÁÑ ÓËÏÒÏÓÔØ ÏÂ/ÍÉÎ (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
/* ÆÌÁÇÉ ÂÌÏËÉÒÏ×ËÉ ÕÐÒÁ×ÌÅÎÉÑ ÕÚÌÁÍÉ */
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__