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This commit is contained in:
Edward Emelianov
2025-05-14 09:04:11 +03:00
parent fd2508c667
commit 3f7b5081ea
10 changed files with 168 additions and 81 deletions
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79
LocCorr_new/steppers.c
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@@ -86,8 +86,8 @@ steppersproc *theSteppers = NULL;
// stepper numbers
typedef enum{
Ustepper = 0,
Vstepper = 2,
Fstepper = 1,
Vstepper = 1,
Fstepper = 2,
} stepperno;
const char *motornames[NMOTORS] = {
@@ -200,6 +200,7 @@ static void stp_disc(){
static void stp_disconnect(){
DBG("Try to disconnect");
LOGDBG("Try to disconnect");
if(serialsock){
DBG("Close socket");
sl_sock_delete(&serialsock);
@@ -292,9 +293,8 @@ static void parse_msg(char *msg){
for(int idx = 0; idx < CMD_AMOUNT; ++idx){
// search index in commands
if(0 == strcmp(stp_commands[idx], key)){ // found our
free(key);
//LOGDBG("OK, idx=%d, cmd=%s", idx, stp_commands[idx]);
parser(idx, parno, ival);
LastErr = parser(idx, parno, ival);
break;
}
}
@@ -323,14 +323,19 @@ static errcodes send_message(steppercmd idx, char *msg){
if(!msg) msglen = snprintf(buf, 255, "%s\n", stp_commands[idx]);
else msglen = snprintf(buf, 255, "%s%s\n", stp_commands[idx], msg);
//DBG("Send message '%s', len %zd", buf, msglen);
LastErr = ERR_AMOUNT;
if(sl_sock_sendstrmessage(serialsock, buf) != (ssize_t)msglen){
WARN("send()");
LOGWARN("send_message(): send() failed");
return ERR_WRONGLEN;
}
LOGDBG("Message '%s' sent", buf);
;;; // wait for errcode
return ERR_OK;
//LOGDBG("send_message(): message '%s' sent", buf);
double t0 = sl_dtime();
while(sl_dtime() - t0 < STEPPERS_NOANS_TIMEOUT){
if(LastErr != ERR_AMOUNT) return LastErr;
}
LOGWARN("send_message(): got NO answer for %s%s", stp_commands[idx], msg);
return ERR_CANTRUN;
}
// send command cmd to n'th motor with param p, @return FALSE if failed
@@ -392,20 +397,24 @@ void *clientproc(void _U_ *par){
FNAME();
char rbuf[BUFSIZ];
if(!serialsock) return NULL;
double t0 = sl_dtime();
do{
ssize_t got = sl_sock_readline(serialsock, rbuf, BUFSIZ);
//LOGDBG("got=%zd", got);
if(got < 0){ // disconnected
if(got < 0 || sl_dtime() - t0 > STEPPERS_NOANS_TIMEOUT){ // disconnected
WARNX("Serial server disconnected");
LOGERR("Serial server disconnected (timeout reached)");
if(serialsock) sl_sock_delete(&serialsock);
state = STP_DISCONN;
return NULL;
}else if(got == 0){ // nothing to read from serial port
usleep(1000);
continue;
}
//LOGDBG("clientproc(): got '%s'", rbuf);
// process data
DBG("GOT: %s", rbuf);
parse_msg(rbuf);
t0 = sl_dtime();
} while(serialsock && serialsock->connected);
WARNX("disconnected");
if(serialsock) sl_sock_delete(&serialsock);
@@ -458,9 +467,9 @@ static void process_movetomiddle_stage(){
case SETUP_WAITUV0: // wait for all coordinates moving to zero
if(!relaxed(Ustepper) || !relaxed(Vstepper) || !relaxed(Fstepper)) break; // didn't reach yet
// now all motors are stopped -> send positions to zero
if( !nth_motor_setter(CMD_ABSPOS, Ustepper, 1) ||
!nth_motor_setter(CMD_ABSPOS, Vstepper, 1) ||
!nth_motor_setter(CMD_ABSPOS, Fstepper, 1)) break;
if( !nth_motor_setter(CMD_ABSPOS, Ustepper, 0) ||
!nth_motor_setter(CMD_ABSPOS, Vstepper, 0) ||
!nth_motor_setter(CMD_ABSPOS, Fstepper, 0)) break;
DBG("Reached UVF0!");
// goto
if(nth_motor_setter(CMD_GOTO, Ustepper, (theconf.maxUpos + theconf.minUpos)/2) &&
@@ -508,8 +517,8 @@ static void process_setup_stage(){
case SETUP_WAITUV0: // wait for both coordinates moving to zero
if(!relaxed(Ustepper) || !relaxed(Vstepper)) break;
// set current position to 0
if( !nth_motor_setter(CMD_ABSPOS, Ustepper, 1) ||
!nth_motor_setter(CMD_ABSPOS, Vstepper, 1)) break;
if( !nth_motor_setter(CMD_ABSPOS, Ustepper, 0) ||
!nth_motor_setter(CMD_ABSPOS, Vstepper, 0)) break;
DBG("ZERO border reached");
// goto middle
if(nth_motor_setter(CMD_GOTO, Ustepper, (theconf.maxUpos+theconf.minUpos)/2) &&
@@ -901,30 +910,38 @@ static void *stp_process_states(_U_ void *arg){
stp_connect_server();
continue;
}
// check request to change focus
if(chfocus){
DBG("Try to move F to %d", newfocpos);
if(nth_motor_setter(CMD_GOTO, Fstepper, newfocpos)) chfocus = FALSE;
}
if(dUmove){
DBG("Try to move U by %d", dUmove);
if(nth_motor_setter(CMD_RELPOS, Ustepper, dUmove)) dUmove = 0;
}
if(dVmove){
DBG("Try to move V by %d", dVmove);
if(nth_motor_setter(CMD_RELPOS, Vstepper, dVmove)) dVmove = 0;
}
static double t0 = -1.;
if(t0 < 0.) t0 = sl_dtime();
if(state != STP_DISCONN){
if(sl_dtime() - t0 >= 0.1){ // each 0.1s check state if steppers aren't disconnected
t0 = sl_dtime();
chkall();
}
if(!relaxed(Ustepper) && !relaxed(Vstepper)) continue;
first = TRUE;
if(!relaxed(Ustepper) && !relaxed(Vstepper)) continue;
first = TRUE;
}else continue;
}
// if we are here, all U/V moving is finished
// check request to change focus
if(chfocus){
DBG("Try to move F to %d", newfocpos);
if(nth_motor_setter(CMD_GOTO, Fstepper, newfocpos)){
chfocus = FALSE;
}
}
if(dUmove){
DBG("Try to move U by %d", dUmove);
if(nth_motor_setter(CMD_RELPOS, Ustepper, dUmove)){
dUmove = 0;
continue;
}
}
if(dVmove){
DBG("Try to move V by %d", dVmove);
if(nth_motor_setter(CMD_RELPOS, Vstepper, dVmove)){
dVmove = 0;
continue;
}
}
switch(state){ // steppers state machine
case STP_DISCONN:
if(!stp_connect_server()){
@@ -933,7 +950,7 @@ static void *stp_process_states(_U_ void *arg){
LOGWARN("Can't reconnect");
first = FALSE;
}
sleep(5);
sleep(1);
}
break;
case STP_SETUP: // setup axes (before this state set Xtarget/Ytarget in improc.c)