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fixed some bugs & made more

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This commit is contained in:
Edward Emelianov
2021-07-20 16:52:17 +03:00
parent c55b407cf8
commit b32ca38018
12 changed files with 358 additions and 185 deletions
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43
LocCorr/pusirobo.c
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@@ -45,7 +45,7 @@
#define registerFocus "register F 0x583 stepper"
#define setUspeed "mesg U maxspeed 12800"
#define setVspeed "mesg V maxspeed 12800"
#define setFspeed "mesg F maxspeed 1600"
#define setFspeed "mesg F maxspeed 12800"
#define Urelsteps "mesg U relmove "
#define Vrelsteps "mesg V relmove "
#define Fabssteps "mesg F absmove "
@@ -93,6 +93,7 @@ static int sockfd = -1; // server file descriptor
// current steps counters (zero at the middle)
static int Uposition = 0, Vposition = 0, Fposition = 0;
static uint8_t fixerr = 0; // ==1 if can't fixed
void pusi_disconnect(){
if(sockfd > -1) close(sockfd);
@@ -353,7 +354,7 @@ static int move_motor(const char *movecmd, int s/*, int *counter*/){
static void process_movetomiddle_stage(){
switch(sstatus){
case SETUP_INIT: // initial moving
if(moveU(-UVmaxsteps) && moveV(-UVmaxsteps) && moveF(-Fmaxsteps*2))
if(moveU(-UVmaxsteps) && moveV(-UVmaxsteps) && moveF(-Fmaxsteps))
sstatus = SETUP_WAITUV0;
break;
case SETUP_WAITUV0: // wait for both coordinates moving to zero
@@ -501,8 +502,8 @@ static int process_targetstage(double X, double Y){
DBG("nhit = %d", nhit);
return FALSE;
}
theconf.xtarget = X;
theconf.ytarget = Y;
theconf.xtarget = X + theconf.xoff;
theconf.ytarget = Y + theconf.yoff;
DBG("Got target coordinates: (%.1f, %.1f)", X, Y);
saveconf(FALSE);
nhit = 0; xprev = 0.; yprev = 0.;
@@ -550,13 +551,19 @@ mesg F relmove 32000
* This function called from improc.c each time the corrections calculated (ONLY IF Xtarget/Ytarget > -1)
*/
void pusi_process_corrections(double X, double Y, int aver){
DBG("got centroid data: %g, %g", X, Y);
double xdev = X - theconf.xtarget, ydev = Y - theconf.ytarget;
//DBG("got centroid data: %g, %g", X, Y);
static int first = TRUE;
double xtg = theconf.xtarget - theconf.xoff, ytg = theconf.ytarget - theconf.yoff;
double xdev = X - xtg, ydev = Y - ytg;
if(state != PUSI_DISCONN) first = TRUE;
switch(state){
case PUSI_DISCONN:
if(!pusi_connect()){
WARN("Can't reconnect");
}
if(first){
LOGWARN("Can't reconnect");
first = FALSE;
}
break;
case PUSI_SETUP: // setup axes (before this state set Xtarget/Ytarget in improc.c)
@@ -581,9 +588,10 @@ void pusi_process_corrections(double X, double Y, int aver){
Uposition, Vposition, xdev, ydev);
if(!try2correct(xdev, ydev)){
LOGWARN("failed to correct");
fixerr = 1;
// TODO: do something here
DBG("FAILED");
}
} else fixerr = 0;
}
break;
default: // PUSI_RELAX
@@ -614,11 +622,11 @@ pusistate pusi_getstate(){
// get current status
// return JSON string with different parameters
char *pusi_status(char *buf, int buflen){
char *pusi_status(const char *messageid, char *buf, int buflen){
int l;
char *bptr = buf;
const char *s = NULL, *stage = NULL;
l = snprintf(bptr, buflen, "{ \"status\": ");
l = snprintf(bptr, buflen, "{ \"%s\": \"%s\", \"status\": ", MESSAGEID, messageid);
buflen -= l; bptr += l;
switch(state){
case PUSI_DISCONN:
@@ -664,7 +672,7 @@ char *pusi_status(char *buf, int buflen){
l = snprintf(bptr, buflen, "\"findtarget\"");
break;
case PUSI_FIX:
l = snprintf(bptr, buflen, "\"fixing\"");
l = snprintf(bptr, buflen, "\"%s\"", fixerr ? "fixoutofrange" : "fixing");
break;
default:
l = snprintf(bptr, buflen, "\"unknown\"");
@@ -676,11 +684,13 @@ char *pusi_status(char *buf, int buflen){
const char *motors[] = {"Umotor", "Vmotor", "Fmotor"};
const char *statuses[] = {Ustatus, Vstatus, Fstatus};
int *pos[] = {&Uposition, &Vposition, &Fposition};
const int maxpos[] = {UVmaxsteps, UVmaxsteps, Fmaxsteps};
const int minpos[] = {-UVmaxsteps, -UVmaxsteps, 0};
for(int i = 0; i < 3; ++i){
const char *stat = "moving";
if(moving_finished(statuses[i], pos[i])) stat = "stopping";
l = snprintf(bptr, buflen, "\"%s\": { \"status\": \"%s\", \"position\": %d }%s",
motors[i], stat, *pos[i], (i==2)?"":", ");
l = snprintf(bptr, buflen, "\"%s\": { \"status\": \"%s\", \"position\": %d, \"minpos\": %d, \"maxpos\": %d }%s",
motors[i], stat, *pos[i], minpos[i], maxpos[i], (i==2)?"":", ");
buflen -= l; bptr += l;
}
}
@@ -717,7 +727,10 @@ char *set_pusistatus(const char *newstatus, char *buf, int buflen){
if(pusi_setstate(newstate)){
snprintf(buf, buflen, OK);
return buf;
}else return pusi_status(buf, buflen);
}else{
snprintf(buf, buflen, FAIL);
return buf;
}
}
int L = snprintf(buf, buflen, "status '%s' undefined, allow: ", newstatus);
char *ptr = buf;
@@ -734,12 +747,12 @@ char *set_pusistatus(const char *newstatus, char *buf, int buflen){
// change focus
char *set_pfocus(const char *newstatus, char *buf, int buflen){
if(!moving_finished(Fstatus, &Fposition)){
snprintf(buf, buflen, "moving\n");
snprintf(buf, buflen, FAIL);
return buf;
}
int newval = atoi(newstatus);
if(newval < 0 || newval > Fmaxsteps){
snprintf(buf, buflen, "Bad value: %d", newval);
snprintf(buf, buflen, FAIL);
}else{
if(!setF(newval)) snprintf(buf, buflen, FAIL);
else snprintf(buf, buflen, OK);