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astrovideoguide_v3/LocCorr_new/steppers.c

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/*
* This file is part of the loccorr project.
* Copyright 2024 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/>.
*/
#define _GNU_SOURCE
#include <arpa/inet.h>
#include <inttypes.h>
#include <math.h>
#include <netdb.h>
#include <pthread.h>
#include <stdatomic.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include "config.h"
#include "debug.h"
#include "improc.h" // global variable stopwork
#include "steppers.h"
#include "socket.h"
// buffer for socket
#define BUFLEN (256)
// max time to wait answer "OK" from server
#define WAITANSTIME (0.3)
// amount of consequent center coordinates coincidence in `process_targetstate`
#define NCONSEQ (2)
// tolerance of coordinates coincidence (pix)
#define COORDTOLERANCE (0.5)
// PID
typedef struct {
double Kp, Ki, Kd; // coefficients
double integral; // intergal error accumulator
double prev_error; // previous error value for D
double prev_time; // and previous time
} PIDController;
typedef enum{
STP_DISCONN,
STP_RELAX,
STP_SETUP,
STP_GOTOTHEMIDDLE,
STP_FINDTARGET,
STP_FIX,
STP_UNDEFINED,
STP_STATE_AMOUNT
} STPstate;
typedef enum{
SETUP_NONE, // no setup
SETUP_INIT, // the starting - move U&V to 0
SETUP_WAITUV0, // wait & move U&V to middle
SETUP_WAITUVMID, // wait
SETUP_WAITU0, // move U->0
SETUP_WAITUMAX, // move U->max
SETUP_WAITV0, // V->0
SETUP_WAITVMAX, // V->max
SETUP_FINISH
} setupstatus;
static _Atomic setupstatus sstatus = SETUP_NONE; // setup state
//static int errctr = 0; // sending messages error counter (if > MAX_ERR_CTR, set state to disconnected)
steppersproc *theSteppers = NULL;
// stepper numbers
typedef enum{
Ustepper = 0,
Vstepper = 2,
Fstepper = 1,
} stepperno;
const char *motornames[NMOTORS] = {
[Ustepper] = "Umotor",
[Vstepper] = "Vmotor",
[Fstepper] = "Fmotor",
};
// a list of steppers commands
typedef enum{
CMD_ABSPOS,
CMD_EMSTOP,
CMD_ESW,
CMD_GOTO,
CMD_GOTOZ,
CMD_RELPOS,
CMD_STATE,
CMD_STOP,
CMD_AMOUNT
} steppercmd;
typedef enum{
ERR_OK, // 0 - all OK
ERR_BADPAR, // 1 - parameter's value is wrong
ERR_BADVAL, // 2 - wrong parameter's value
ERR_WRONGLEN, // 3 - wrong message length
ERR_BADCMD, // 4 - unknown command
ERR_CANTRUN, // 5 - can't run given command due to bad parameters or other
ERR_AMOUNT // amount of error codes
} errcodes;
static const char *stp_commands[CMD_AMOUNT] = {
[CMD_ABSPOS] = "abspos",
[CMD_EMSTOP] = "emstop",
[CMD_ESW] = "esw",
[CMD_GOTO] = "goto",
[CMD_GOTOZ] = "gotoz",
[CMD_RELPOS] = "relpos",
[CMD_STATE] = "state",
[CMD_STOP] = "stop",
};
static const char* errtxt[ERR_AMOUNT] = {
[ERR_OK] = "OK",
[ERR_BADPAR] = "BADPAR",
[ERR_BADVAL] = "BADVAL",
[ERR_WRONGLEN] = "WRONGLEN",
[ERR_BADCMD] = "BADCMD",
[ERR_CANTRUN] = "CANTRUN",
};
static STPstate state = STP_DISCONN; // server state
// this flag set to TRUE when next Xc,Yc available
static volatile atomic_bool coordsRdy = FALSE;
static double Xtarget = 0., Ytarget = 0.;
// Values to change U,V and F by hands
// flag & new focus value
static volatile atomic_bool chfocus = FALSE;
static volatile atomic_int newfocpos = 0, dUmove = 0, dVmove = 0;
static volatile atomic_int sockfd = -1; // server file descriptor
static volatile atomic_bool motorsoff = FALSE; // flag to disconnect
// mutex for message sending/receiving
static pthread_mutex_t mesg_mutex = PTHREAD_MUTEX_INITIALIZER;
// current steps counters (zero at the middle)
static volatile atomic_int motposition[NMOTORS] = {0};
// relative position change after current moving ends (from external command)
static volatile atomic_int motrelsteps[NMOTORS] = {0};
// current motor state
static volatile atomic_int motstates[NMOTORS] = {0};
static uint8_t fixerr = 0; // ==1 if can't fixed
// motor states:
typedef enum{
STATE_RELAX,
STATE_ACCEL,
STATE_MOVE,
STATE_MVSLOW,
STATE_DECEL,
STATE_STALL,
STATE_ERR,
STATE_NUM
} motstate;
static const char *str_states[STATE_NUM] = {
[STATE_RELAX] = "relax",
[STATE_ACCEL] = "accelerated",
[STATE_MOVE] = "moving",
[STATE_MVSLOW] = "slow moving",
[STATE_DECEL] = "decelerated",
[STATE_STALL] = "stalled",
[STATE_ERR] = "error",
};
TRUE_INLINE int relaxed(int nmotor){return motstates[nmotor] == STATE_RELAX;}
#define Uposition (motposition[Ustepper])
#define Vposition (motposition[Vstepper])
#define Fposition (motposition[Fstepper])
static int nth_motor_setter(steppercmd idx, int n, int p);
static void stp_disc(){
motorsoff = TRUE;
}
static void stp_disconnect(){
DBG("Try to disconnect");
if(sockfd > -1){
DBG("sockfd closed");
close(sockfd);
}
state = STP_DISCONN;
sockfd = -1;
LOGWARN("Stepper server disconnected");
}
// check if nmot is U/V/F and return FALSE if not
static int chkNmot(int nmot){
if(nmot == Ustepper || nmot == Vstepper || nmot == Fstepper) return TRUE;
return FALSE;
}
/**
* wait for answer from socket
* @return FALSE in case of error or timeout, TRUE if socket is ready
*/
static int canread(){
if(sockfd < 0) return FALSE;
fd_set fds;
struct timeval timeout;
int rc;
// wait not more than 10ms
timeout.tv_sec = 0;
timeout.tv_usec = 10000;
FD_ZERO(&fds);
FD_SET(sockfd, &fds);
do{
rc = select(sockfd+1, &fds, NULL, NULL, &timeout);
if(rc < 0){
if(errno != EINTR){
WARN("select()");
return FALSE;
}
continue;
}
break;
}while(1);
if(FD_ISSET(sockfd, &fds)){
//DBG("CANREAD");
return TRUE;
}
return FALSE;
}
// clear all data received earlier
static void clrbuf(){
char buf[256];
while(canread()){
ssize_t got = recv(sockfd, buf, 256, 0);
DBG("cleared %zd bytes of trash", got);
if(got <= 0){ // disconnect or error
LOGERR("Server disconnected");
ERRX("Server disconnected");
}
}
}
// read message (if exists) and return its length (or -1 if none)
// There's could be many strings of data!!!
static ssize_t read_message(char *msg, size_t msglen){
if(!msg || msglen == 0) return -1;
if(pthread_mutex_lock(&mesg_mutex)){
WARN("pthread_mutex_lock()");
LOGWARN("read_message(): pthread_mutex_lock() err");
return 0;
}
double t0 = dtime();
size_t gotbytes = 0;
--msglen; // for trailing zero
while(dtime() - t0 < WAITANSTIME && gotbytes < msglen && sockfd > 0){
if(!canread()) continue;
int n = recv(sockfd, msg+gotbytes, msglen, 0);
if(n <= 0){ // disconnect or error
LOGERR("Server disconnected");
ERRX("Server disconnected");
}
if(n == 0) break;
gotbytes += n;
msglen -= n;
if(msg[gotbytes-1] == '\n') break;
t0 = dtime();
}
//DBG("Dt=%g, gotbytes=%zd, sockfd=%d, msg='%s'", dtime()-t0,gotbytes,sockfd,msg);
pthread_mutex_unlock(&mesg_mutex);
if(msg[gotbytes-1] != '\n'){
//DBG("No newline at the end");
return 0;
}
msg[gotbytes] = 0;
return gotbytes;
}
static errcodes parsing(steppercmd idx, int nmot, int ival){
int goodidx = chkNmot(nmot);
switch(idx){
case CMD_ABSPOS:
if(goodidx) motposition[nmot] = ival;
else return ERR_BADPAR;
break;
case CMD_RELPOS:
if(goodidx) motrelsteps[nmot] = ival;
else return ERR_BADPAR;
break;
case CMD_STATE:
if(!goodidx) return ERR_BADPAR;
motstates[nmot] = ival;
if(chkNmot(nmot)){ // one of our motors - check err or stall
if(ival == STATE_STALL || ival == STATE_ERR){
WARNX("BAD status of motor %d", nmot);
LOGWARN("BAD status of motor %d", nmot);
nth_motor_setter(CMD_EMSTOP, nmot, 1); // tty to clear error
}
}
break;
case CMD_EMSTOP:
case CMD_ESW:
case CMD_GOTO:
case CMD_GOTOZ:
case CMD_STOP:
break;
default: return ERR_BADCMD;
}
return ERR_OK;
}
// check if message is error text
static errcodes getecode(const char *msg){
errcodes e;
for(e = 0; e < ERR_AMOUNT; ++e){
if(0 == strcmp(msg, errtxt[e])) break;
}
DBG("ERRcode: %d, (%s)", e, (e != ERR_AMOUNT) ? errtxt[e] : "undef");
LOGDBG("ERRcode: %d, (%s)", e, (e != ERR_AMOUNT) ? errtxt[e] : "undef");
return e;
}
/**
* @brief read_parse - read answer (till got or WAITANSTIME timeout) and parse it
* @param idx - index of message sent (to compare answer)
* @return
*/
static errcodes read_and_parse(steppercmd idx){
char value[128], msg[1024];
double t0 = dtime();
while(dtime() - t0 < WAITANSTIME*10.){
ssize_t got = read_message(msg, 1024);
if(got < 1) continue;
//LOGDBG("GOT from stepper server:\n%s\n", msg);
char *saveptr, *tok = msg;
for(;; tok = NULL){
char *token = strtok_r(tok, "\n", &saveptr);
if(!token) break;
//LOGDBG("Got line: %s", token);
char *key = get_keyval(token, value);
if(key){
int ival = atoi(value);
//LOGDBG("key = %s, value = %s (%d)", key, value, ival);
size_t l = strlen(key);
size_t numpos = strcspn(key, "0123456789");
int parno = -1;
if(numpos < l){
parno = atoi(key + numpos);
key[numpos] = 0;
}
//DBG("numpos=%zd, parno=%d", numpos, parno);
if(parno > -1){ // got motor number
if(!chkNmot(parno)){
DBG("Not our business");
free(key); continue;
}
}
// 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]);
return parsing(idx, parno, ival);
}
free(key);
}else{
DBG("GOT NON-setter %s", token);
errcodes e = getecode(token);
if(e != ERR_AMOUNT) return e; // ERR_AMOUNT means some other message
}
}
}
DBG("No answer detected to our command");
LOGDBG("read_and_parse(): no answer detected to our command");
return ERR_CANTRUN; // didn't get anwer need
}
/**
* @brief send_message - send character string `msg` to serial server, get and parse answer
* @param msg - message (for setters could be like "N=M" or "=M") or NULL (for getters)
* @return FALSE if failed (should reconnect)
*/
static errcodes send_message(steppercmd idx, char *msg){
// FNAME();
if(sockfd < 0) return ERR_CANTRUN;
char buf[256];
size_t msglen;
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);
if(pthread_mutex_lock(&mesg_mutex)){
WARN("pthread_mutex_lock()");
LOGWARN("send_message(): pthread_mutex_lock() err");
return FALSE;
}
clrbuf();
if(send(sockfd, buf, msglen, 0) != (ssize_t)msglen){
WARN("send()");
LOGWARN("send_message(): send() failed");
return ERR_WRONGLEN;
}
//LOGDBG("Message '%s' sent", buf);
pthread_mutex_unlock(&mesg_mutex);
return read_and_parse(idx);
}
// send command cmd to n'th motor with param p, @return FALSE if failed
static int nth_motor_setter(steppercmd idx, int n, int p){
if(idx < 0 || idx >= CMD_AMOUNT) return FALSE;
char buf[256];
if(n < 0){ // setter without number
snprintf(buf, 255, "=%d", p);
DBG("nth_motor_setter(): set %s=%d", stp_commands[idx], p);
LOGDBG("nth_motor_setter(): set %s=%d", stp_commands[idx], p);
}else if(n < NMOTORS){
snprintf(buf, 255, "%d=%d", n, p);
DBG("nth_motor_setter(): get %s%d=%d", stp_commands[idx], n, p);
LOGDBG("nth_motor_setter(): set %s%d=%d", stp_commands[idx], n, p);
}else{
WARNX("Wrong motno %d", n);
LOGWARN("Wrong motno %d (cmd=%s, setter=%d)", n, stp_commands[idx], p);
}
if(ERR_OK != send_message(idx, buf)) return FALSE;
return TRUE;
}
// and simplest getter
static int nth_motor_getter(steppercmd idx, int n){
if(idx < 0 || idx >= CMD_AMOUNT) return FALSE;
char buf[32], *msg = NULL;
if(n > -1 && n < NMOTORS){
sprintf(buf, "%d", n);
//DBG("nth_motor_getter(): %s%d", stp_commands[idx], n);
//LOGDBG("nth_motor_getter(): %s%d", stp_commands[idx], n);
msg = buf;
}else{
WARNX("Wrong motno %d", n);
LOGWARN("nth_motor_getter(): wrong motno %d (cmd=%s)", n, stp_commands[idx]);
}
if(ERR_OK != send_message(idx, msg)) return FALSE;
return TRUE;
}
// send getter to all motors; return FALSE if failed
static int chkmots(steppercmd cmd){
if( nth_motor_getter(cmd, Ustepper) &&
nth_motor_getter(cmd, Vstepper) &&
nth_motor_getter(cmd, Fstepper)) return TRUE;
return FALSE;
}
static void chkall(){
chkmots(CMD_STATE);
chkmots(CMD_ABSPOS);
chkmots(CMD_RELPOS);
}
/**
* @brief stp_connect_server - try connect to a local steppers CAN server
* @return FALSE if failed
*/
static int stp_connect_server(){
DBG("STP_connect(%d)", theconf.stpserverport);
char port[10];
snprintf(port, 10, "%d", theconf.stpserverport);
stp_disconnect();
struct addrinfo hints = {0}, *res, *p;
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
hints.ai_flags = AI_PASSIVE;
if(getaddrinfo(NULL, port, &hints, &res) != 0){
WARN("getaddrinfo()");
return FALSE;
}
// loop through all the results and connect to the first we can
for(p = res; p; p = p->ai_next){
if((sockfd = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) == -1){
WARN("socket");
continue;
}
if(connect(sockfd, p->ai_addr, p->ai_addrlen) == -1){
WARN("connect()");
close(sockfd);
continue;
}
break; // if we get here, we have a successfull connection
}
if(!p){
WARNX("Can't connect to socket");
LOGWARN("Can't connect to steppers server");
sockfd = -1;
return FALSE;
}
freeaddrinfo(res);
// register and set max speed; don't check `register` answer as they could be registered already
state = STP_RELAX;
sstatus = SETUP_NONE;
LOGMSG("Connected to stepper server");
return TRUE;
}
static void *stp_process_states(_U_ void *arg);
static pthread_t processingthread;
static void process_movetomiddle_stage(){
switch(sstatus){
case SETUP_INIT: // initial moving
if( !nth_motor_setter(CMD_EMSTOP, Ustepper, 1) ||
!nth_motor_setter(CMD_EMSTOP, Vstepper, 1) ||
!nth_motor_setter(CMD_EMSTOP, Fstepper, 1) ) break;
if(nth_motor_setter(CMD_GOTOZ, Ustepper, 1) &&
nth_motor_setter(CMD_GOTOZ, Vstepper, 1) &&
nth_motor_setter(CMD_GOTOZ, Fstepper, 1)){
LOGMSG("process_movetomiddle_stage(): SETUP_WAITUV0");
sstatus = SETUP_WAITUV0;
}
break;
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;
DBG("Reached UVF0!");
// goto
if(nth_motor_setter(CMD_GOTO, Ustepper, (theconf.maxUpos + theconf.minUpos)/2) &&
nth_motor_setter(CMD_GOTO, Vstepper, (theconf.maxVpos + theconf.minVpos)/2) &&
nth_motor_setter(CMD_GOTO, Fstepper, (theconf.maxFpos + theconf.minFpos)/2)){
LOGMSG("process_movetomiddle_stage(): SETUP_WAITUVMID");
sstatus = SETUP_WAITUVMID;
}
break;
case SETUP_WAITUVMID: // wait for the middle
if(!relaxed(Ustepper) || !relaxed(Vstepper) || !relaxed(Fstepper)) break;
// if motors ready, relsteps should be 0
if(motrelsteps[Ustepper] || motrelsteps[Vstepper] || motrelsteps[Fstepper]){
WARNX("Come to wrong pos: U=%d, V=%d, F=%d", Uposition, Vposition, Fposition);
LOGWARN("Come to wrong pos: U=%d, V=%d, F=%d", Uposition, Vposition, Fposition);
sstatus = SETUP_WAITUV0;
}
DBG("Reached middle position");
LOGMSG("Reached middle position");
// fallthrough
default:
sstatus = SETUP_NONE;
state = STP_RELAX;
}
}
/**
* @brief process_setup_stage - process all stages of axes setup
*/
static void process_setup_stage(){
DBG("PROCESS: %d\n", sstatus);
// coordinates for corrections calculation
static double X0U, Y0U, XmU, YmU;
static double X0V, Y0V, XmV, YmV;
switch(sstatus){
case SETUP_INIT: // initial moving; don't move F (as it should be focused already)
if( !nth_motor_setter(CMD_EMSTOP, Ustepper, 1) ||
!nth_motor_setter(CMD_EMSTOP, Vstepper, 1) ) break;
if(nth_motor_setter(CMD_GOTOZ, Ustepper, 1) &&
nth_motor_setter(CMD_GOTOZ, Vstepper, 1) ){
LOGMSG("process_setup_stage(): SETUP_WAITUV0");
sstatus = SETUP_WAITUV0;
}
break;
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;
DBG("ZERO border reached");
// goto middle
if(nth_motor_setter(CMD_GOTO, Ustepper, (theconf.maxUpos+theconf.minUpos)/2) &&
nth_motor_setter(CMD_GOTO, Vstepper, (theconf.maxVpos+theconf.minVpos)/2)){
LOGMSG("process_setup_stage(): SETUP_WAITUVMID");
sstatus = SETUP_WAITUVMID;
}else{
WARNX("Can't move U/V to middle");
LOGWARN("Can't move U/V to middle");
sstatus = SETUP_INIT;
}
break;
case SETUP_WAITUVMID: // wait for the middle
if(!relaxed(Ustepper) || !relaxed(Vstepper)) break;
DBG("The middle reached");
// now move U to zero
if(nth_motor_setter(CMD_GOTO, Ustepper, theconf.minUpos)){
LOGMSG("process_setup_stage(): SETUP_WAITU0");
sstatus = SETUP_WAITU0;
}else{
LOGWARN("Can't move U to min");
sstatus = SETUP_INIT;
}
break;
case SETUP_WAITU0: // wait while U moves to zero
if(!coordsRdy) return;
coordsRdy = FALSE;
X0U = Xtarget; Y0U = Ytarget;
DBG("got X0U=%.1f, Y0U=%.1f", X0U, Y0U);
LOGDBG("got X0U=%.1f, Y0U=%.1f", X0U, Y0U);
// move U to max
if(nth_motor_setter(CMD_GOTO, Ustepper, theconf.maxUpos)){
LOGMSG("process_setup_stage(): SETUP_WAITUMAX");
sstatus = SETUP_WAITUMAX;
}else{
LOGWARN("Can't move U to max");
sstatus = SETUP_INIT;
}
break;
case SETUP_WAITUMAX: // wait while U moves to UVworkrange
if(!coordsRdy) return;
coordsRdy = FALSE;
XmU = Xtarget; YmU = Ytarget;
LOGDBG("got XmU=%.1f, YmU=%.1f", XmU, YmU);
// now move U to zero and V to min
if(nth_motor_setter(CMD_GOTO, Ustepper, (theconf.maxUpos+theconf.minUpos)/2) &&
nth_motor_setter(CMD_GOTO, Vstepper, theconf.minVpos)){
LOGMSG("process_setup_stage(): SETUP_WAITV0");
sstatus = SETUP_WAITV0;
}else{
LOGWARN("Can't move U -> mid OR/AND V -> min");
sstatus = SETUP_INIT;
}
break;
case SETUP_WAITV0: // wait while V moves to 0
if(!coordsRdy) return;
coordsRdy = FALSE;
X0V = Xtarget; Y0V = Ytarget;
LOGDBG("got X0V=%.1f, Y0V=%.1f", X0V, Y0V);
if(nth_motor_setter(CMD_GOTO, Vstepper, theconf.maxVpos)){
LOGMSG("process_setup_stage(): SETUP_WAITVMAX");
sstatus = SETUP_WAITVMAX;
}else{
LOGWARN("Can't move V -> max");
sstatus = SETUP_INIT;
}
break;
case SETUP_WAITVMAX: // wait while V moves to UVworkrange
if(!coordsRdy) return;
coordsRdy = FALSE;
XmV = Xtarget; YmV = Ytarget;
LOGDBG("got XmV=%.1f, YmV=%.1f", XmV, YmV);
// calculate
double dxU = XmU - X0U, dyU = YmU - Y0U, dxV = XmV - X0V, dyV = YmV - Y0V;
LOGDBG("dxU=%.1f, dyU=%.1f, dxV=%.1f, dyV=%.1f", dxU, dyU, dxV, dyV);
double sqU = sqrt(dxU*dxU + dyU*dyU), sqV = sqrt(dxV*dxV + dyV*dyV);
LOGDBG("sqU=%g, sqV=%g", sqU, sqV);
if(sqU < DBL_EPSILON || sqV < DBL_EPSILON) goto endmoving;
// TODO: check configuration !!111111
// proportion coefficients for axes
double KU = (theconf.maxUpos - theconf.minUpos) / sqU;
double KV = (theconf.maxVpos - theconf.minVpos) / sqV;
double sa = dyU/sqU, ca = dxU/sqU, sb = dyV/sqV, cb = dxV/sqV; // sin(alpha) etc
LOGDBG("KU=%.4f, KV=%.4f, sa=%.4f, ca=%.4f, sb=%.4f, cb=%.4f",
KU, KV, sa, ca, sb, cb);
/*
* [dX dY] = M*[dU dV], M = [ca/KU cb/KV; sa/KU sb/KV] ===>
* [dU dV] = inv(M)*[dX dY],
* inv(M) = 1/(ca/KU*sb/KV - sa/KU*cb/KV)*[sb/KV -cb/KV; -sa/KU ca/KU]
*/
double mul = 1. / (ca/KU*sb/KV - sa/KU*cb/KV);
theconf.Kxu = mul*sb/KV;
theconf.Kyu = -mul*cb/KV;
theconf.Kxv = -mul*sa/KU;
theconf.Kyv = mul*ca/KU;
LOGMSG("process_setup_stage(): Kxu=%g, Kyu=%g; Kxv=%g, Kyv=%g", theconf.Kxu, theconf.Kyu, theconf.Kxv, theconf.Kyv);
DBG("Now save new configuration");
saveconf(NULL); // try to store configuration
// fallthrough
endmoving:
if(nth_motor_setter(CMD_GOTO, Vstepper, (theconf.maxVpos+theconf.minVpos)/2)) sstatus = SETUP_FINISH;
break;
case SETUP_FINISH: // goto middle again
if(!relaxed(Ustepper) || !relaxed(Vstepper)) break;
sstatus = SETUP_NONE;
state = STP_RELAX;
break;
default: // SETUP_NONE - do nothing
return;
}
}
// process target finding stage (target should be fixed for at least NCONSEQ frames within COORDTOLERANCE)
// return TRUE if finished
static int process_targetstage(double X, double Y){
static double xprev = 0., yprev = 0.;
static int nhit = 0;
if(fabs(X - xprev) > COORDTOLERANCE || fabs(Y - yprev) > COORDTOLERANCE){
DBG("tolerance too bad: dx=%g, dy=%g", X-xprev, Y-yprev);
nhit = 0;
xprev = X; yprev = Y;
return FALSE;
}else if(++nhit < NCONSEQ){
DBG("nhit = %d", nhit);
return FALSE;
}
theconf.xtarget = X + theconf.xoff;
theconf.ytarget = Y + theconf.yoff;
DBG("Got target coordinates: (%.1f, %.1f)", X, Y);
LOGMSG("Got target coordinates: (%.1f, %.1f)", X, Y);
saveconf(NULL);
nhit = 0; xprev = 0.; yprev = 0.;
return TRUE;
}
/**
* @brief compute_pid - calculate PID responce for error
* @param pid - U/V PID parameters
* @param error - current error
* @param current_time - and current time
* @return PID-corrected responce
*/
static double compute_pid(PIDController *pid, double error, double current_time) {
double dt = current_time - pid->prev_time;
if(dt <= 0.) dt = 0.01; // Default to 10ms if time isn't tracked
// Integral term with anti-windup
pid->integral += error * dt;
// Clamp integral to ?1000 (adjust based on system limits)
if(pid->integral > 1000.) pid->integral = 1000.;
if(pid->integral < -1000.) pid->integral = -1000.;
// Derivative term (filtered)
double derivative = (error - pid->prev_error) / dt;
pid->prev_error = error;
pid->prev_time = current_time;
double pid_out = (pid->Kp * error) + (pid->Ki * pid->integral) + (pid->Kd * derivative);
LOGDBG("PID: error=%.2f, integral=%.2f, derivative=%.2f, output=%.2f",
error, pid->integral, derivative, pid_out);
return pid_out;
}
/**
* @brief try2correct - try to correct position
* @param dX - delta of X-coordinate in image space
* @param dY - delta of Y-coordinate in image space
* @return FALSE if failed (motors are moving etc) or correction out of limits
*/
static int try2correct(double dX, double dY){
if(!relaxed(Ustepper) || !relaxed(Vstepper)) return FALSE;
// calculations: make Ki=0, Kd=0; increase Kp until oscillations;
// now Tu - osc period, Ku=Kp for oscillations; so:
// Kp = 0.6*Ku; Ki = 1.2*Ku/Tu; Kd = 0.075*Ku*Tu (Ziegler-Nichols)
static PIDController pidU = {0}, pidV = {0};
// refresh parameters from configuration
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();
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);
pidU.prev_time = pidV.prev_time = current_time;
pidU.integral = pidV.integral = 0.;
return FALSE;
}
// dU = KU*(dX*cosXU + dY*sinXU); dV = KV*(dX*cosXV + dY*sinXV)
dU = theconf.Kxu * dX + theconf.Kyu * dY;
dV = theconf.Kxv * dX + theconf.Kyv * dY;
LOGDBG("dx/dy: %g/%g; dU/dV: %g/%g", dX, dY, dU, dV);
// Compute PID outputs
double pidU_out = compute_pid(&pidU, dU, current_time);
double pidV_out = compute_pid(&pidV, dV, current_time);
int usteps = (int)pidU_out, vsteps = (int)pidV_out;
int Unew = Uposition + usteps, Vnew = Vposition + vsteps;
if(Unew > theconf.maxUpos || Unew < theconf.minUpos ||
Vnew > theconf.maxVpos || Vnew < theconf.minVpos){
// Reset integral to prevent windup
pidU.integral = 0;
pidV.integral = 0;
// TODO: here we should signal that the limit reached and move by telescope
LOGWARN("Correction failed, curpos: %d, %d, should move to %d, %d",
Uposition, Vposition, Unew, Vnew);
return FALSE;
}
LOGDBG("try2correct(): move from (%d, %d) to (%d, %d), delta (%.1f, %.1f)",
Uposition, Vposition, Unew, Vnew, dU, dV);
int ret = TRUE;
if(usteps) ret = nth_motor_setter(CMD_RELPOS, Ustepper, usteps);
if(vsteps) ret &= nth_motor_setter(CMD_RELPOS, Vstepper, vsteps);
if(!ret) LOGWARN("Canserver: cant run corrections");
return ret;
}
// global variable proc_corr
/**
* @brief stp_process_corrections - get XY corrections (in pixels) and move motors to fix them
* @param X, Y - centroid (x,y) in screen coordinate system
* 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;
if(!relaxed(Ustepper) || !relaxed(Vstepper)){ // don't process coordinates when moving
coordstrusted = FALSE;
coordsRdy = FALSE;
return;
}
if(!coordstrusted){ // don't trust first coordinates after moving finished
coordstrusted = TRUE;
coordsRdy = FALSE;
return;
}
//DBG("got centroid data: %g, %g", X, Y);
Xtarget = X; Ytarget = Y;
coordsRdy = TRUE;
}
// try to change state; @return TRUE if OK
static int stp_setstate(STPstate newstate){
if(newstate == state) return TRUE;
if(newstate == STP_DISCONN){
stp_disc();
return TRUE;
}
if(state == STP_DISCONN){
if(!stp_connect_server()) return FALSE;
}
if(newstate == STP_SETUP || newstate == STP_GOTOTHEMIDDLE){
sstatus = SETUP_INIT;
}else sstatus = SETUP_NONE;
state = newstate;
return TRUE;
}
// get current status (global variable stepstatus)
// return JSON string with different parameters
static char *stp_status(const char *messageid, char *buf, int buflen){
// FNAME();
int l;
char *bptr = buf;
const char *s = NULL, *stage = NULL;
l = snprintf(bptr, buflen, "{ \"%s\": \"%s\", \"status\": ", MESSAGEID, messageid);
buflen -= l; bptr += l;
switch(state){
case STP_DISCONN:
l = snprintf(bptr, buflen, "\"disconnected\"");
break;
case STP_RELAX:
l = snprintf(bptr, buflen, "\"ready\"");
break;
case STP_SETUP:
case STP_GOTOTHEMIDDLE:
s = (state == STP_SETUP) ? "setup" : "gotomiddle";
switch(sstatus){
case SETUP_INIT:
stage = "init";
break;
case SETUP_WAITUV0:
stage = "waituv0";
break;
case SETUP_WAITUVMID:
stage = "waituvmid";
break;
case SETUP_WAITU0:
stage = "waitu0";
break;
case SETUP_WAITUMAX:
stage = "waitumax";
break;
case SETUP_WAITV0:
stage = "waitv0";
break;
case SETUP_WAITVMAX:
stage = "waitvmax";
break;
case SETUP_FINISH:
stage = "finishing";
break;
default:
stage = "unknown";
}
l = snprintf(bptr, buflen, "{ \"%s\": \"%s\" }", s, stage);
break;
case STP_FINDTARGET:
l = snprintf(bptr, buflen, "\"findtarget\"");
break;
case STP_FIX:
l = snprintf(bptr, buflen, "\"%s\"", fixerr ? "fixoutofrange" : "fixing");
break;
default:
l = snprintf(bptr, buflen, "\"unknown\"");
}
buflen -= l; bptr += l;
if(state != STP_DISCONN){
l = snprintf(bptr, buflen, ", ");
buflen -= l; bptr += l;
for(int i = 0; i < NMOTORS; ++i){
if(!motornames[i]) continue; // this motor not used
l = snprintf(bptr, buflen, "\"%s\": { \"status\": \"%s\", \"position\": %d }, ",
motornames[i], str_states[motstates[i]], motposition[i]);
buflen -= l; bptr += l;
}
}
snprintf(bptr, buflen, " }\n");
return buf;
}
// commands from client to change status
static const char* stringstatuses[STP_STATE_AMOUNT] = {
[STP_DISCONN] = "disconnect",
[STP_RELAX] = "relax",
[STP_SETUP] = "setup",
[STP_GOTOTHEMIDDLE] = "middle",
[STP_FINDTARGET] = "findtarget",
[STP_FIX] = "fix",
[STP_UNDEFINED] = "undefined"
};
// try to set new status (global variable stepstatus)
static char *set_stpstatus(const char *newstatus, char *buf, int buflen){
if(!buf) return NULL;
if(!newstatus){ // getter
snprintf(buf, buflen, "%s", stringstatuses[state]);
return buf;
}
// FNAME();
STPstate newstate = STP_UNDEFINED;
for(int i = 0; i < STP_UNDEFINED; ++i){
if(strcasecmp(stringstatuses[i], newstatus) == 0){
newstate = (STPstate)i;
break;
}
}
if(newstate != STP_UNDEFINED){
if(stp_setstate(newstate)){
snprintf(buf, buflen, OK);
return buf;
}else{
snprintf(buf, buflen, FAIL);
return buf;
}
}
int L = snprintf(buf, buflen, "status '%s' undefined, allow: ", newstatus);
char *ptr = buf;
for(int i = 0; i < STP_UNDEFINED && buflen > 2; ++i){
buflen -= L;
ptr += L;
L = snprintf(ptr, buflen-2, "'%s' ", stringstatuses[i]);
}
ptr[L-1] = '\n';
return buf;
}
// MAIN THREAD
static void *stp_process_states(_U_ void *arg){
// FNAME();
static bool first = TRUE; // flag for logging when can't reconnect
while(!stopwork){
usleep(10000);
// check for disconnection flag
if(motorsoff){
motorsoff = FALSE;
stp_disconnect();
sleep(1);
continue;
}
// check for moving
if(state == STP_DISCONN){
DBG("DISCONNECTED - try to connect");
sleep(1);
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 = dtime();
if(state != STP_DISCONN){
if(dtime() - t0 >= 0.1){ // each 0.1s check state if steppers aren't disconnected
t0 = dtime();
chkall();
}
if(!relaxed(Ustepper) && !relaxed(Vstepper)) continue;
first = TRUE;
}
// if we are here, all U/V moving is finished
switch(state){ // steppers state machine
case STP_DISCONN:
if(!stp_connect_server()){
WARNX("Can't reconnect");
if(first){
LOGWARN("Can't reconnect");
first = FALSE;
}
sleep(5);
}
break;
case STP_SETUP: // setup axes (before this state set Xtarget/Ytarget in improc.c)
process_setup_stage();
break;
case STP_GOTOTHEMIDDLE:
process_movetomiddle_stage();
break;
case STP_FINDTARGET: // calculate target coordinates
if(coordsRdy){
coordsRdy = FALSE;
if(process_targetstage(Xtarget, Ytarget))
state = STP_RELAX;
}
break;
case STP_FIX: // process corrections
if(coordsRdy){
coordsRdy = FALSE;
DBG("GOT 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);
if(theconf.xtarget < 1. || theconf.ytarget < 1. || corr < COORDTOLERANCE){
DBG("Target coordinates not defined or correction too small, targ: (%.1f, %.1f); corr: %.1f, %.1f (abs: %.1f)",
theconf.xtarget, theconf.ytarget, xdev, ydev, corr);
break;
}
LOGDBG("Current position: U=%d, V=%d, deviations: dX=%.1f, dy=%.1f",
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: // STP_RELAX
break;
}
}
DBG("thread stopped");
return NULL;
}
// change focus (global variable movefocus)
static char *set_pfocus(const char *newstatus, char *buf, int buflen){
if(!buf) return NULL;
if(!newstatus){ // getter
snprintf(buf, buflen, "%d", Fposition);
return buf;
}
int newval = atoi(newstatus);
if(newval < theconf.minFpos || newval > theconf.maxFpos){
snprintf(buf, buflen, FAIL);
LOGDBG("Failed to move F -> %d", newval);
DBG("Failed to move F -> %d", newval);
}else{
snprintf(buf, buflen, OK);
newfocpos = newval;
chfocus = TRUE;
}
return buf;
}
// move by U and V axis
static char *Umove(const char *val, char *buf, int buflen){
if(!buf) return NULL;
if(!val){ // getter
snprintf(buf, buflen, "%d", Uposition);
return buf;
}
int d = atoi(val);
int Unfixed = Uposition + d;
if(Unfixed > theconf.maxUpos || Unfixed < theconf.minUpos){
snprintf(buf, buflen, FAIL);
LOGDBG("Failed to move U -> %d", Unfixed);
DBG("Failed to move U -> %d", Unfixed);
return buf;
}
dUmove = d;
snprintf(buf, buflen, OK);
return buf;
}
static char *Vmove(const char *val, char *buf, int buflen){
if(!buf) return NULL;
if(!val){ // getter
snprintf(buf, buflen, "%d", Vposition);
return buf;
}
int d = atoi(val);
int Vnfixed = Vposition + d;
if(Vnfixed > theconf.maxVpos || Vnfixed < theconf.minVpos){
snprintf(buf, buflen, FAIL);
LOGDBG("Failed to move V -> %d", Vnfixed);
DBG("Failed to move V -> %d", Vnfixed);
return buf;
}
dVmove = d;
snprintf(buf, buflen, OK);
return buf;
}
static steppersproc steppers = {
.stepdisconnect = stp_disc,
.proc_corr = stp_process_corrections,
.stepstatus = stp_status,
.setstepstatus = set_stpstatus,
.movefocus = set_pfocus,
.moveByU = Umove,
.moveByV = Vmove,
};
/**
* @brief STP_connect - run a thread processed steppers status
* @return FALSE if failed to connect immediately
*/
steppersproc* steppers_connect(){
DBG("Try to connect");
if(!stp_connect_server()) return NULL;
if(pthread_create(&processingthread, NULL, stp_process_states, NULL)){
LOGERR("pthread_create() for steppers server failed");
WARNX("pthread_create()");
return NULL;
}
return &steppers;
}
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