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improve to libusefull_macros v0.3.2

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This commit is contained in:
Edward Emelianov
2025-04-28 13:07:13 +03:00
parent 3090f2c85e
commit 7b4ecde5fb
17 changed files with 87 additions and 76 deletions
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22
LocCorr_new/steppers.c
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@@ -266,10 +266,10 @@ static ssize_t read_message(char *msg, size_t msglen){
LOGWARN("read_message(): pthread_mutex_lock() err");
return 0;
}
double t0 = dtime();
double t0 = sl_dtime();
size_t gotbytes = 0;
--msglen; // for trailing zero
while(dtime() - t0 < WAITANSTIME && gotbytes < msglen && sockfd > 0){
while(sl_dtime() - t0 < WAITANSTIME && gotbytes < msglen && sockfd > 0){
if(!canread()) continue;
int n = recv(sockfd, msg+gotbytes, msglen, 0);
if(n <= 0){ // disconnect or error
@@ -280,7 +280,7 @@ static ssize_t read_message(char *msg, size_t msglen){
gotbytes += n;
msglen -= n;
if(msg[gotbytes-1] == '\n') break;
t0 = dtime();
t0 = sl_dtime();
}
//DBG("Dt=%g, gotbytes=%zd, sockfd=%d, msg='%s'", dtime()-t0,gotbytes,sockfd,msg);
pthread_mutex_unlock(&mesg_mutex);
@@ -343,8 +343,8 @@ static errcodes getecode(const char *msg){
*/
static errcodes read_and_parse(steppercmd idx){
char value[128], msg[1024];
double t0 = dtime();
while(dtime() - t0 < WAITANSTIME*10.){
double t0 = sl_dtime();
while(sl_dtime() - t0 < WAITANSTIME*10.){
ssize_t got = read_message(msg, 1024);
if(got < 1) continue;
//LOGDBG("GOT from stepper server:\n%s\n", msg);
@@ -760,7 +760,7 @@ static int try2correct(double dX, double dY){
pidU.Kp = theconf.PIDU_P; pidU.Ki = theconf.PIDU_I; pidU.Kd = theconf.PIDU_D;
pidV.Kp = theconf.PIDV_P; pidV.Ki = theconf.PIDV_I; pidV.Kd = theconf.PIDV_D;
double dU, dV;
double current_time = dtime();
double current_time = sl_dtime();
if( current_time - pidU.prev_time > MAX_PID_TIME
|| current_time - pidV.prev_time > MAX_PID_TIME){
LOGWARN("Too old PID time: have dt=%gs", current_time - pidU.prev_time);
@@ -803,7 +803,7 @@ static int try2correct(double dX, double dY){
* This function called from improc.c each time the corrections calculated (ONLY IF Xtarget/Ytarget > -1)
*/
static void stp_process_corrections(double X, double Y){
static bool coordstrusted = TRUE;
static int coordstrusted = TRUE;
if(!relaxed(Ustepper) || !relaxed(Vstepper)){ // don't process coordinates when moving
coordstrusted = FALSE;
coordsRdy = FALSE;
@@ -958,7 +958,7 @@ static char *set_stpstatus(const char *newstatus, char *buf, int buflen){
// MAIN THREAD
static void *stp_process_states(_U_ void *arg){
// FNAME();
static bool first = TRUE; // flag for logging when can't reconnect
static int first = TRUE; // flag for logging when can't reconnect
while(!stopwork){
usleep(10000);
// check for disconnection flag
@@ -989,10 +989,10 @@ static void *stp_process_states(_U_ void *arg){
if(nth_motor_setter(CMD_RELPOS, Vstepper, dVmove)) dVmove = 0;
}
static double t0 = -1.;
if(t0 < 0.) t0 = dtime();
if(t0 < 0.) t0 = sl_dtime();
if(state != STP_DISCONN){
if(dtime() - t0 >= 0.1){ // each 0.1s check state if steppers aren't disconnected
t0 = dtime();
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;