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Add LocCorr_new: another variant of LocCorr (instead of pusirobot used multistepper; some errors fixed); I hope, sometimes I will finish loccorrNG

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Edward Emelianov
2025-02-14 11:32:40 +03:00
parent 173bb8d0cc
commit 6ee58edc7d
45 changed files with 6990 additions and 0 deletions
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LocCorr_new/main.c Normal file
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/*
* This file is part of the loccorr project.
* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <pthread.h>
#include <signal.h> // signal
#include <stdio.h>
#include <string.h> // strdup
#include <sys/prctl.h> //prctl
#include <sys/wait.h> // wait
#include "cmdlnopts.h"
#include "config.h"
#include "debug.h"
#include "improc.h"
#include "steppers.h"
#include "socket.h"
static InputType tp;
static pid_t childpid;
/**
* We REDEFINE the default WEAK function of signal processing
*/
void signals(int sig){
DBG("SIGN: %d, child PID: %d", sig, childpid);
if(childpid){
DBG("Father -> just exit");
exit(sig); // father -> do nothin @ end
}
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d.", sig);
}
stopwork = TRUE;
saveconf(NULL);
if(GP && GP->pidfile){ // remove unnesessary PID file
DBG("unlink(GP->pidfile)");
unlink(GP->pidfile);
}
if(theSteppers && theSteppers->stepdisconnect) theSteppers->stepdisconnect();
DBG("closeXYlog()");
closeXYlog();
DBG("EXIT %d", sig);
LOGERR("Exit with status %d", sig);
exit(sig);
}
void iffound_default(pid_t pid){
ERRX("Another copy of this process found, pid=%d. Exit.", pid);
}
static void *procinp_thread(_U_ void* arg){
int p = process_input(tp, GP->inputname);
LOGDBG("process_input=%d", p);
return NULL;
}
static InputType chk_inp(const char *name){
if(!name) ERRX("Point file or directory name to monitor");
InputType itp = chkinput(GP->inputname);
if(T_WRONG == itp) return T_WRONG;
green("\n%s is a ", name);
switch(itp){
case T_DIRECTORY:
printf("directory");
break;
case T_JPEG:
printf("jpeg");
break;
case T_PNG:
printf("png");
break;
case T_GIF:
printf("gif");
break;
case T_FITS:
printf("fits");
break;
case T_BMP:
printf("bmp");
break;
case T_GZIP:
printf("maybe fits.gz?");
break;
case T_CAPT_GRASSHOPPER:
printf("capture grasshopper camera");
break;
case T_CAPT_BASLER:
printf("capture basler camera");
break;
default:
printf("Unsupported type\n");
return T_WRONG;
}
printf("\n");
return itp;
}
int main(int argc, char *argv[]){
initial_setup();
char *self = strdup(argv[0]);
GP = parse_args(argc, argv);
if(GP->throwpart < 0. || GP->throwpart > 0.99){
ERRX("Fraction of black pixels should be in [0., 0.99]");
}
if(GP->Naveraging < 1 || GP->Naveraging > NAVER_MAX)
ERRX("Averaging amount should be from 1 to %d", NAVER_MAX);
tp = chk_inp(GP->inputname);
if(tp == T_WRONG) ERRX("Enter correct image file or directory name");
// check ability of saving file
{
FILE *f = fopen(GP->outputjpg, "w");
if(!f) ERR("Can't create %s", GP->outputjpg);
fclose(f);
}
if(GP->logfile){
sl_loglevel lvl = LOGLEVEL_ERR; // default log level - errors
int v = GP->verb;
while(v--){ // increase loglevel for each "-v"
if(++lvl == LOGLEVEL_ANY) break;
}
OPENLOG(GP->logfile, lvl, 1);
DBG("Opened log file @ level %d", lvl);
}
int C = chkconfig(GP->configname);
if(!C){
LOGWARN("Wrong/absent configuration file");
WARNX("Wrong/absent configuration file");
}
// change `theconf` parameters to user values
{
if(GP->maxarea != DEFAULT_MAXAREA || theconf.maxarea == 0) theconf.maxarea = GP->maxarea;
if(GP->minarea != DEFAULT_MINAREA || theconf.minarea == 0) theconf.minarea = GP->minarea;
if(GP->xtarget > 0.) theconf.xtarget = GP->xtarget;
if(GP->ytarget > 0.) theconf.ytarget = GP->ytarget;
if(GP->nerosions != DEFAULT_EROSIONS || theconf.Nerosions == 0){
if(GP->nerosions < 1 || GP->nerosions > MAX_NEROS) ERRX("Amount of erosions should be from 1 to %d", MAX_NEROS);
theconf.Nerosions = GP->nerosions;
}
if(GP->ndilations != DEFAULT_DILATIONS || theconf.Ndilations == 0){
if(GP->ndilations < 1 || GP->ndilations > MAX_NDILAT) ERRX("Amount of erosions should be from 1 to %d", MAX_NDILAT);
theconf.Ndilations = GP->ndilations;
}
if(fabs(GP->throwpart - DEFAULT_THROWPART) > DBL_EPSILON || theconf.throwpart < DBL_EPSILON){
if(GP->throwpart < 0. || GP->throwpart > MAX_THROWPART) ERRX("'thworpart' should be from 0 to %g", MAX_THROWPART);
theconf.throwpart = GP->throwpart;
}
if(GP->xoff && GP->xoff < MAX_OFFSET) theconf.xoff = GP->xoff;
if(GP->yoff && GP->yoff < MAX_OFFSET) theconf.yoff = GP->yoff;
if(GP->width && GP->width < MAX_OFFSET) theconf.width = GP->width;
if(GP->height && GP->height < MAX_OFFSET) theconf.height = GP->height;
if(fabs(GP->minexp - EXPOS_MIN) > DBL_EPSILON || theconf.minexp < DBL_EPSILON){
if(GP->minexp < DBL_EPSILON || GP->minexp > EXPOS_MAX) ERRX("Minimal exposition should be > 0 and < %g", EXPOS_MAX);
theconf.minexp = GP->minexp;
}
if(fabs(GP->maxexp - EXPOS_MAX) > DBL_EPSILON || theconf.maxexp < theconf.minexp){
if(GP->maxexp < theconf.minexp) ERRX("Maximal exposition should be greater than minimal");
theconf.maxexp = GP->maxexp;
}
if(GP->equalize && theconf.equalize == 0) theconf.equalize = 1;
if(fabs(GP->intensthres - DEFAULT_INTENSTHRES) > DBL_EPSILON){
if(GP->intensthres < DBL_EPSILON || GP->intensthres > 1.-DBL_EPSILON) ERRX("'intensthres' should be from 0 to 1");
theconf.intensthres = GP->intensthres;
}
if(GP->Naveraging != DEFAULT_NAVERAGE || theconf.naverage < 1){
if(GP->Naveraging < 1 || GP->Naveraging > NAVER_MAX) ERRX("N images for averaging should be from 1 to %d", NAVER_MAX);
theconf.naverage = GP->Naveraging;
}
if(GP->steppersport != DEFAULT_STEPPERSPORT || theconf.stpserverport == 0){
if(GP->steppersport < 1 || GP->steppersport > 65535) ERRX("Wrong steppers' server port: %d", GP->steppersport);
theconf.stpserverport = GP->steppersport;
}
}
check4running(self, GP->pidfile);
DBG("%s started, snippets library version is %s\n", self, sl_libversion());
free(self); self = NULL;
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
while(1){ // guard for dead processes
childpid = fork();
if(childpid){ // father
LOGMSG("create child with PID %d\n", childpid);
DBG("Created child with PID %d\n", childpid);
wait(NULL);
LOGMSG("child %d died\n", childpid);
WARNX("Child %d died\n", childpid);
sleep(5);
}else{ // son
//prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
break; // go out to normal functional
}
}
if(!(theSteppers = steppers_connect())){
LOGERR("Steppers server unavailable, can't run");
ERRX("Steppers server unavailable, can't run");
}
if(GP->logXYname) openXYlog(GP->logXYname);
LOGMSG("Start application...");
LOGDBG("xtag=%g, ytag=%g", theconf.xtarget, theconf.ytarget);
openIOport(GP->ioport);
pthread_t inp_thread;
if(pthread_create(&inp_thread, NULL, procinp_thread, NULL)){
LOGERR("pthread_create() for image input failed");
ERR("pthread_create()");
}
while(1){
if(stopwork || pthread_kill(inp_thread, 0) == ESRCH){
DBG("close");
pthread_join(inp_thread, NULL);
DBG("out");
return 0;
}
};
return 0;
}