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fixed output center coordinate format, fixed disconnection of canserver @ each error

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This commit is contained in:
Edward Emelianov 2021-10-20 09:40:38 +03:00
parent 68449bef89
commit 31a5aeaa93
3 changed files with 43 additions and 11 deletions
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5
LocCorr/improc.c
View File

@ -275,8 +275,9 @@ void process_file(Image *I){
int H = I->height;
// draw current star centroid
Pattern_draw3(&i3, cross, Objects[0].xc, H-Objects[0].yc, C_G);
xc = Objects[0].xc;
yc = Objects[0].yc;
// add offset to show in target system
xc = Objects[0].xc + theconf.xoff;
yc = Objects[0].yc + theconf.yoff;
// draw other centroids
for(int i = 1; i < objctr; ++i)
Pattern_draw3(&i3, cross, Objects[i].xc, H-Objects[i].yc, C_R);

46
LocCorr/pusirobo.c
View File

@ -120,6 +120,8 @@ typedef struct{
} relaystate;
static _Atomic relaystate relay;
static int errctr = 0; // sending messages error counter (if > MAX_ERR_CTR, set state to disconnected)
static pusistate state = PUSI_DISCONN; // server state
// the `ismoving` flag allows not to make corrections with bad images made when moving
static volatile atomic_bool ismoving = FALSE; // == TRUE if any of steppers @hanging part is moving
@ -147,8 +149,21 @@ static void pusi_disconnect(){
sockfd = -1;
Umoving = Vmoving = Fmoving = ismoving = FALSE;
state = PUSI_DISCONN;
LOGWARN("Canserver disconnected");
}
static int too_much_errors(){
if(++errctr >= MAX_ERR_CTR){
LOGERR("Canserver: too much errors -> DISCONNECT");
errctr = 0;
pusi_disconnect();
return TRUE;
}
return FALSE;
}
#define clr_errors() do{errctr = 0;}while(0)
static char *findval(const char *par, const char *statusmesg){
if(!statusmesg || !par) return NULL;
char *pair = strcasestr(statusmesg, par);
@ -255,6 +270,7 @@ static int waitOK(char **retval){
*retval = strdup(ok + sizeof(ANSOK)-1);
//DBG("RETVAL: '%s'", *retval);
}
clr_errors();
}else{
LOGWARN("didn't get OK answer");
}
@ -443,11 +459,14 @@ static int moving_finished(const char *mesgstatus, volatile atomic_int *position
char *ans = NULL;
int ret = TRUE;
if(send_message(mesgstatus, &ans) && getparval(PARstatus, ans, &val)){
errctr = 0;
//DBG("send(%s) true: %s %g\n", mesgstatus, ans, val);
}else{
WARNX("send(%s) false: %s %g\n", mesgstatus, ans, val);
LOGDBG("send(%s) false: %s %g\n", mesgstatus, ans, val);
pusi_disconnect();
if(too_much_errors()){
LOGDBG("send(%s) false: %s %g", mesgstatus, ans, val);
}
if(ans) free(ans);
return FALSE;
}
int ival = (int)val;
@ -472,9 +491,8 @@ static int move_motor(const char *movecmd, int s){
snprintf(buf, 255, "%s %d", movecmd, s);
if(!send_message(buf, &ans)){
WARNX("can't send message");
LOGDBG("can't send message");
pusi_disconnect();
FREE(ans);
if(too_much_errors()) LOGWARN("Canserver: can't move motor");
if(ans) free(ans);
return FALSE;
}
int ret = TRUE;
@ -500,6 +518,7 @@ static void process_movetomiddle_stage(){
else{
LOGWARN("GOTO middle: err in move command");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
}
break;
case SETUP_WAITUVMID: // wait for the middle
@ -507,6 +526,7 @@ static void process_movetomiddle_stage(){
if(!send_message(Fsetzero, NULL) || !send_message(Usetzero, NULL) || !send_message(Vsetzero, NULL)){
LOGWARN("GOTO middle: err in set 0 command");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
return;
}
Uposition = Vposition = Fposition = 0;
@ -537,6 +557,7 @@ static void process_setup_stage(){
else{
LOGWARN("Can't move U/V -> 0");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
}
break;
case SETUP_WAITUVMID: // wait for the middle
@ -545,6 +566,7 @@ static void process_setup_stage(){
else{
LOGWARN("Can't move U -> middle");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
}
break;
case SETUP_WAITU0: // wait while U moves to zero
@ -557,6 +579,7 @@ static void process_setup_stage(){
else{
LOGWARN("Can't move U -> max");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
}
break;
case SETUP_WAITUMAX: // wait while U moves to UVworkrange
@ -568,6 +591,7 @@ static void process_setup_stage(){
else{
LOGWARN("Can't move U -> mid OR/AND V -> min");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
}
break;
case SETUP_WAITV0: // wait while V moves to 0
@ -579,6 +603,7 @@ static void process_setup_stage(){
else{
LOGWARN("Can't move V -> max");
sstatus = SETUP_INIT;
if(too_much_errors()) sstatus = SETUP_NONE;
}
break;
case SETUP_WAITVMAX: // wait while V moves to UVworkrange
@ -674,7 +699,10 @@ static int try2correct(double dX, double dY){
LOGDBG("try2correct(): move from (%d, %d) to (%d, %d) (abs: %d, %d), delta (%.1f, %.1f)",
Uposition, Vposition, Unew, Vnew, Uposition + (int)(dU/KCORR),
Vposition + (int)(dV/KCORR), dU, dV);
return (moveU((int)dU) && moveV((int)dV));
int ret = FALSE;
if(moveU((int)dU) && moveV((int)dV)) ret = TRUE;
if(!ret && too_much_errors()) LOGERR("Canserver: stop corrections");
return ret;
}
// global variable proc_corr
@ -924,7 +952,7 @@ static void *pusi_process_states(_U_ void *arg){
case PUSI_FIX: // process corrections
if(coordsRdy){
coordsRdy = FALSE;
red("GET AVERAGE -> correct\n");
DBG("GET AVERAGE -> correct\n");
double xtg = theconf.xtarget - theconf.xoff, ytg = theconf.ytarget - theconf.yoff;
double xdev = xtg - Xtarget, ydev = ytg - Ytarget;
double corr = sqrt(xdev*xdev + ydev*ydev);
@ -998,13 +1026,13 @@ static char *relaycmd(const char *val, char *buf, int buflen){
int rval = r.relays;
if(v) rval |= 1<<tmpno;
else rval &= ~(1<<tmpno);
green("Relay %d -> %d", r.relays, rval);
DBG("Relay %d -> %d", r.relays, rval);
snprintf(mbuf, 511, "%s %d %d", RelayCmd, R_RELAY + relaySetter, rval);
if(send_message(mbuf, NULL)) ans = OK;
}
}else if(1 == sscanf(par, "PWM%d", &tmpno)){ // PWM command
if(tmpno >= 0 && tmpno < 4 && v > -1 && v < 256){
green("PWM %d -> %d\n", tmpno, v);
DBG("PWM %d -> %d\n", tmpno, v);
r.PWM[tmpno] = v;
snprintf(mbuf, 511, "%s %d %u %u %u", RelayCmd, R_PWM + relaySetter, r.PWM[0], r.PWM[1], r.PWM[2]);
if(send_message(mbuf, NULL)) ans = OK;

3
LocCorr/pusirobo.h
View File

@ -21,6 +21,9 @@
#include "improc.h"
// set state to `disconnect` after this amount of errors in `moving_finished`
#define MAX_ERR_CTR (15)
extern steppersproc pusyCANbus;
// try to connect to local pusirobo server