diff --git a/C/bta_pos/Makefile b/C/bta_pos/Makefile new file mode 100644 index 0000000..5a1ae50 --- /dev/null +++ b/C/bta_pos/Makefile @@ -0,0 +1,9 @@ +CC = gcc +LDFLAGS = -lcrypt + +all : bta_pos + +bta_pos : bta_pos.c bta_shdata.c + $(CC) bta_pos.c bta_shdata.c $(LDFLAGS) -o bta_pos +clean: + /bin/rm -f *.o *~ diff --git a/C/bta_pos/bta_pos.c b/C/bta_pos/bta_pos.c index 5bdb750..68178c5 100644 --- a/C/bta_pos/bta_pos.c +++ b/C/bta_pos/bta_pos.c @@ -1,6 +1,6 @@ #include "bta_shdata.h" -inline double sec2deg(double angle){ +static inline double sec2deg(double angle){ return angle / 3600; } diff --git a/C/bta_pos/bta_shdata.c b/C/bta_pos/bta_shdata.c new file mode 100644 index 0000000..bd6ec4f --- /dev/null +++ b/C/bta_pos/bta_shdata.c @@ -0,0 +1,356 @@ +// (C) V.S. Shergin, SAO RAS +#include +#include "bta_shdata.h" + +#pragma pack(push, 4) +// Main command channel (level 5) +struct CMD_Queue mcmd = {{"Mcmd"}, 0200,0,-1,0}; +// Operator command channel (level 4) +struct CMD_Queue ocmd = {{"Ocmd"}, 0200,0,-1,0}; +// User command channel (level 2/3) +struct CMD_Queue ucmd = {{"Ucmd"}, 0200,0,-1,0}; + +#define MSGLEN (80) +static char msg[MSGLEN]; +#define WARN(...) warn(__VA_ARGS__) +#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0) +#ifdef EBUG + #define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__) + #define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \ + fprintf(stderr, __VA_ARGS__); \ + fprintf(stderr, "\n");} while(0) +#else + #define FNAME() do{}while(0) + #define DBG(...) do{}while(0) +#endif //EBUG + + +#ifndef BTA_MODULE +volatile struct BTA_Data *sdt; +volatile struct BTA_Local *sdtl; + +volatile struct SHM_Block sdat = { + {"Sdat"}, + sizeof(struct BTA_Data), + 2048,0444, + SHM_RDONLY, + bta_data_init, + bta_data_check, + bta_data_close, + ClientSide,-1,NULL +}; + +int snd_id = -1; // client sender ID +int cmd_src_pid = 0; // next command source PID +uint32_t cmd_src_ip = 0;// next command source IP + +/** + * Init data + */ +void bta_data_init() { + sdt = (struct BTA_Data *)sdat.addr; + sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); + if(sdat.side == ClientSide) { + if(sdt->magic != sdat.key.code) { + WARN("Wrong shared data (maybe server turned off)"); + } + if(sdt->version == 0) { + WARN("Null shared data version (maybe server turned off)"); + } + else if(sdt->version != BTA_Data_Ver) { + WARN("Wrong shared data version: I'am - %d, but server - %d ...", + BTA_Data_Ver, sdt->version ); + } + if(sdt->size != sdat.size) { + if(sdt->size > sdat.size) { + WARN("Wrong shared area size: I needs - %d, but server - %d ...", + sdat.size, sdt->size ); + } else { + WARN("Attention! Too little shared data structure!"); + WARN("I needs - %d, but server gives only %d ...", + sdat.size, sdt->size ); + WARN("May be server's version too old!?"); + } + } + return; + } + /* ServerSide */ + if(sdt->magic == sdat.key.code && + sdt->version == BTA_Data_Ver && + sdt->size == sdat.size) + return; + memset(sdat.addr, 0, sdat.maxsize); + sdt->magic = sdat.key.code; + sdt->version = BTA_Data_Ver; + sdt->size = sdat.size; + Tel_Hardware = Hard_On; + Pos_Corr = PC_On; + TrkOk_Mode = UseDiffVel | UseDiffAZ ; + inp_B = 591.; + Pressure = 595.; + PEP_code_A = 0x002aaa; + PEP_code_Z = 0x002aaa; + PEP_code_P = 0x002aaa; + PEP_code_F = 0x002aaa; + PEP_code_D = 0x002aaa; + DomeSEW_N = 1; +} + +int bta_data_check() { + return( (sdt->magic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); +} + +void bta_data_close() { + if(sdat.side == ServerSide) { + sdt->magic = 0; + sdt->version = 0; + } +} + +/** + * Allocate shared memory segment + */ +int get_shm_block(volatile struct SHM_Block *sb, int server) { + int getsize = (server)? sb->maxsize : sb->size; + // first try to find existing one + sb->id = shmget(sb->key.code, getsize, sb->mode); + if(sb->id < 0 && errno == ENOENT && server){ + // if no - try to create a new one + int cresize = sb->maxsize; + if(sb->size > cresize){ + WARN("Wrong shm maxsize(%d) < realsize(%d)",sb->maxsize,sb->size); + cresize = sb->size; + } + sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); + } + if(sb->id < 0){ + if(server) + PERR("Can't create shared memory segment '%s'",sb->key.name); + else + PERR("Can't find shared segment '%s' (maybe no server process) ",sb->key.name); + return 0; + } + // attach it to our memory space + sb->addr = (unsigned char *) shmat(sb->id, NULL, sb->atflag); + if((long)sb->addr == -1){ + PERR("Can't attach shared memory segment '%s'",sb->key.name); + return 0; + } + if(server && (shmctl(sb->id, SHM_LOCK, NULL) < 0)){ + PERR("Can't prevents swapping of shared memory segment '%s'",sb->key.name); + return 0; + } + DBG("Create & attach shared memory segment '%s' %dbytes", sb->key.name, sb->size); + sb->side = server; + if(sb->init != NULL) + sb->init(); + return 1; +} + +int close_shm_block(volatile struct SHM_Block *sb){ + int ret; + if(sb->close != NULL) + sb->close(); + if(sb->side == ServerSide) { + // ret = shmctl(sb->id, SHM_UNLOCK, NULL); + ret = shmctl(sb->id, IPC_RMID, NULL); + } + ret = shmdt (sb->addr); + return(ret); +} + +/** + * Create|Find command queue + */ +void get_cmd_queue(struct CMD_Queue *cq, int server){ + if (!server && cq->id >= 0) { //if already in use set current + snd_id = cq->id; + return; + } + // first try to find existing one + cq->id = msgget(cq->key.code, cq->mode); + // if no - try to create a new one + if(cq->id<0 && errno == ENOENT && server) + cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); + if(cq->id<0){ + if(server) + PERR("Can't create comand queue '%s'",cq->key.name); + else + PERR("Can't find comand queue '%s' (maybe no server process) ",cq->key.name); + return; + } + cq->side = server; + if(server){ + char buf[120]; /* выбросить все команды из очереди */ + while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT) > 0); + }else + snd_id = cq->id; + cq->acckey = 0; +} + +#endif // BTA_MODULE + + +int check_shm_block(volatile struct SHM_Block *sb) { + if(sb->check) + return(sb->check()); + else return(0); +} + +/** + * Set access key in current channel + */ +void set_acckey(uint32_t newkey){ + if(snd_id < 0) return; + if(ucmd.id == snd_id) ucmd.acckey = newkey; + else if(ocmd.id == snd_id) ocmd.acckey = newkey; + else if(mcmd.id == snd_id) mcmd.acckey = newkey; +} + +/** + * Setup source data for one following command if default values + * (IP == 0 - local, PID = current) not suits + */ +void set_cmd_src(uint32_t ip, int pid) { + cmd_src_pid = pid; + cmd_src_ip = ip; +} + +#pragma pack(push, 4) +/** + * Send client commands to server + */ +void send_cmd(int cmd_code, char *buf, int size) { + struct my_msgbuf mbuf; + if(snd_id < 0) return; + if(size > 100) size = 100; + if(cmd_code > 0) + mbuf.mtype = cmd_code; + else + return; + if(ucmd.id == snd_id) mbuf.acckey = ucmd.acckey; + else if(ocmd.id == snd_id) mbuf.acckey = ocmd.acckey; + else if(mcmd.id == snd_id) mbuf.acckey = mcmd.acckey; + + mbuf.src_pid = cmd_src_pid ? cmd_src_pid : getpid(); + mbuf.src_ip = cmd_src_ip; + cmd_src_pid = cmd_src_ip = 0; + + if(size > 0) + memcpy(mbuf.mtext, buf, size); + else { + mbuf.mtext[0] = 0; + size = 1; + } + msgsnd(snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); +} + +void send_cmd_noarg(int cmd_code) { + send_cmd(cmd_code, NULL, 0); +} +void send_cmd_str(int cmd_code, char *arg) { + send_cmd(cmd_code, arg, strlen(arg)+1); +} +void send_cmd_i1(int cmd_code, int32_t arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(int32_t)); +} +void send_cmd_i2(int cmd_code, int32_t arg1, int32_t arg2) { + int32_t ibuf[2]; + ibuf[0] = arg1; + ibuf[1] = arg2; + send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int32_t)); +} +void send_cmd_i3(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3) { + int32_t ibuf[3]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int32_t)); +} +void send_cmd_i4(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, int32_t arg4) { + int32_t ibuf[4]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + ibuf[3] = arg4; + send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int32_t)); +} +void send_cmd_d1(int32_t cmd_code, double arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(double)); +} +void send_cmd_d2(int cmd_code, double arg1, double arg2) { + double dbuf[2]; + dbuf[0] = arg1; + dbuf[1] = arg2; + send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); +} +void send_cmd_i1d1(int cmd_code, int32_t arg1, double arg2) { + struct { + int32_t ival; + double dval; + } buf; + buf.ival = arg1; + buf.dval = arg2; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i2d1(int cmd_code, int32_t arg1, int32_t arg2, double arg3) { + struct { + int32_t ival[2]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.dval = arg3; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i3d1(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, double arg4) { + struct { + int32_t ival[3]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.ival[2] = arg3; + buf.dval = arg4; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} + +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev){ + char salt[4]; + char *encr; + union { + uint32_t ui; + char c[4]; + } key, cod; + sprintf(salt,"L%1d",nlev); + encr = (char *)crypt(passwd, salt); + cod.c[0] = encr[2]; + key.c[0] = encr[3]; + cod.c[1] = encr[4]; + key.c[1] = encr[5]; + cod.c[2] = encr[6]; + key.c[2] = encr[7]; + cod.c[3] = encr[8]; + key.c[3] = encr[9]; + *keylev = key.ui; + *codlev = cod.ui; +} + +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev){ + int nlev; + for(nlev = 5; nlev > 0; --nlev){ + encode_lev_passwd(passwd, nlev, keylev, codlev); + if(*codlev == code_Lev(nlev)) break; + } + return(nlev); +} + +int check_lev_passwd(char *passwd){ + uint32_t keylev,codlev; + int nlev; + nlev = find_lev_passwd(passwd, &keylev, &codlev); + if(nlev > 0) set_acckey(keylev); + return(nlev); +} + +#pragma pack(pop) diff --git a/C/bta_pos/bta_shdata.h b/C/bta_pos/bta_shdata.h index 49607dc..8e715d7 100644 --- a/C/bta_pos/bta_shdata.h +++ b/C/bta_pos/bta_shdata.h @@ -1,12 +1,8 @@ +// (C) V.S. Shergin, SAO RAS #pragma once #ifndef __BTA_SHDATA_H__ #define __BTA_SHDATA_H__ -#define _XOPEN_SOURCE 501 -/* */ -/* : */ -/* BTA_MODULE - - . C- ( .) */ -/* SHM_OLD_SIZE - - */ #include #include #include @@ -17,601 +13,620 @@ #include #include -#pragma GCC diagnostic ignored "-Wunused-function" -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wmissing-braces" -#pragma GCC diagnostic ignored "-Wsequence-point" -#pragma GCC diagnostic ignored "-Wpointer-to-int-cast" -#pragma GCC diagnostic ignored "-Wimplicit-function-declaration" - -//#define int __int32_t -#define uint __uint32_t - -struct SHM_Block { /* */ +#pragma pack(push, 4) +/* + * Shared memory block + */ +struct SHM_Block { union { - char name[5]; /* */ - key_t code; + char name[5]; // memory segment identificator + key_t code; } key; - int size; /* */ - int maxsize; /* (" " ) */ - int mode; /* (rwxrwxrwx) */ - int atflag; /* (SHM_RDONLY 0) */ - void (*init)(); /* */ - int (*check)(); /* */ - void (*close)(); /* */ - int side; /* : / */ - int id; /* */ - unsigned char *addr; /* */ + int32_t size; // size of memory used + int32_t maxsize; // size when created + int32_t mode; // access mode (rwxrwxrwx) + int32_t atflag; // connection mode (SHM_RDONLY or 0) + void (*init)(); // init function + int32_t (*check)(); // test function + void (*close)(); // deinit function + int32_t side; // connection type: client/server + int32_t id; // connection identificator + uint8_t *addr; // connection address }; -struct CMD_Queue { /* () */ +extern volatile struct SHM_Block sdat; + +/* + * Command queue descriptor + */ +struct CMD_Queue { union { - char name[5]; /* */ - key_t code; + char name[5]; // queue key + key_t code; } key; - int mode; /* (rwxrwxrwx) */ - int side; /* : / (Sender/Receiver)*/ - int id; /* */ - uint acckey; /* ( ->) */ + int32_t mode; // access mode (rwxrwxrwx) + int32_t side; // connection type (Sender/Receiver - server/client) + int32_t id; // connection identificator + uint32_t acckey; // access key (for transmission from client to server) }; -#ifndef BTA_MODULE -/* (Level5)*/ -struct CMD_Queue mcmd = {{'M','c','m','d',0},0200,0,-1,0}; -/* () (Level4)*/ -struct CMD_Queue ocmd = {{'O','c','m','d',0},0200,0,-1,0}; -/* () (Level2/3)*/ -struct CMD_Queue ucmd = {{'U','c','m','d',0},0200,0,-1,0}; -#else extern struct CMD_Queue mcmd; extern struct CMD_Queue ocmd; extern struct CMD_Queue ucmd; -#endif -static void send_cmd_noarg(int); -static void send_cmd_str(int, char *); -static void send_cmd_i1(int, int); -static void send_cmd_i2(int, int, int); -static void send_cmd_i3(int, int, int, int); -static void send_cmd_i4(int, int, int, int, int); -static void send_cmd_d1(int, double); -static void send_cmd_d2(int, double, double); -static void send_cmd_i1d1(int, int, double); -static void send_cmd_i2d1(int, int, int, double); -static void send_cmd_i3d1(int, int, int, int, double); +void send_cmd_noarg(int); +void send_cmd_str(int, char *); +void send_cmd_i1(int, int32_t); +void send_cmd_i2(int, int32_t, int32_t); +void send_cmd_i3(int, int32_t, int32_t, int32_t); +void send_cmd_i4(int, int32_t, int32_t, int32_t, int32_t); +void send_cmd_d1(int, double); +void send_cmd_d2(int, double, double); +void send_cmd_i1d1(int, int32_t, double); +void send_cmd_i2d1(int, int32_t, int32_t, double); +void send_cmd_i3d1(int, int32_t, int32_t, int32_t, double); -/* */ -/* */ -#define StopTel 1 /* */ -#define StopTeleskope() send_cmd_noarg( 1 ) /* . */ -#define StartHS 2 /* */ -#define StartHightSpeed() send_cmd_noarg( 2 ) /* /*/ -#define StartLS 3 /* */ -#define StartLowSpeed() send_cmd_noarg( 3 ) /* /*/ -#define SetTmr 4 /* . Ch7_15 SysTimer */ -#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) /* .. */ -#define SetModMod 5 /* . */ -#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) /* .. */ -#define SetCodA 6 /* A */ -#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) /* /*/ -#define SetCodZ 7 /* Z */ -#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) /* /*/ -#define SetCodP 8 /* P */ -#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) /* /*/ -#define SetVA 9 /* . A */ -#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) /* /*/ -#define SetVZ 10 /* . Z */ -#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) /* /*/ -#define SetVP 11 /* . P */ -#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) /* /*/ -#define SetAD 12 /* . R.A. Decl */ -#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))/* .*/ -#define SetAZ 13 /* . ..*/ -#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))/* .*/ -#define GoToAD 14 /* ( R.A. Decl)*/ -#define GoToObject() send_cmd_noarg(14 ) /* . */ -#define MoveToAD 15 /* ( R.A. Decl)*/ -#define MoveToObject() send_cmd_noarg(15 ) /* .*/ -#define GoToAZ 16 /* ( A Z)*/ -#define GoToAzimZ() send_cmd_noarg(16 ) /* . */ -#define WriteAZ 17 /* A Z FullModel*/ -#define WriteModelAZ() send_cmd_noarg(17 ) /* . */ -#define SetModP 18 /* . P2 */ -#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) /* .*/ -#define P2Move 19 /* ./. (+-1,0) P2 */ -#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) /* .*/ -#define FocMove 20 /* ./. (+-2,+-1,0) */ -#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) /* .*/ -#define UsePCorr 21 /* () */ -#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) /* . */ -#define SetTrkFlags 22 /* . */ -#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) /* .*/ -#define SetTFoc 23 /* .: 0-, 1-1, 2-2 */ -#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) /* . */ -#define SetVAD 24 /* ...- R.A. Decl */ -#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))/* .*/ -#define SetRevA 25 /* . "" */ -#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) /* .*/ -#define SetVP2 26 /* ...- P2 ( ) */ -#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) /* .*/ -#define SetTarg 27 /* . */ -#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) /* .*/ -#define SendMsg 28 /* ( ) */ -#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) /* .*/ -#define CorrAD 29 /* R.A. Decl */ -#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))/* .*/ -#define CorrAZ 30 /* A Z*/ -#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))/* .*/ -#define SetVCAZ 31 /* .. A Z*/ -#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))/* .*/ -#define P2MoveTo 32 /* P2 */ -#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))/* .*/ -#define GoToTD 33 /* ( t Decl)*/ -#define GoToSat() send_cmd_noarg (33 ) /* ..*/ -#define MoveToTD 34 /* ( t Decl)*/ -#define MoveToSat() send_cmd_noarg (34 ) /* .*/ -#define NullCom 35 /* ( ?) */ -#define SyncCom() send_cmd_noarg (35 ) /* . */ -#define StartTel 36 /* "" */ -#define StartTeleskope() send_cmd_noarg(36 ) /* . */ -#define SetTMod 37 /* . */ -#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) /* .. */ -#define TelOn 38 /* . , ..*/ -#define TeleskopeOn() send_cmd_noarg(38 ) /* .. */ -#define SetModD 39 /* . */ -#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) /* ..*/ -#define DomeMove 40 /* ./. (+-1+-2,+-3,0) */ -#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) /* .*/ -#define SetPass 41 /* . */ -#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) /* ..*/ -#define SetLevC 42 /* . */ -#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) /* ..*/ -#define SetLevK 43 /* . */ -#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) /* ..*/ -#define SetNet 44 /* . */ -#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) /* ..*/ -#define SetMet 45 /* */ -#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) /* .*/ -#define TurnMetOff 46 /* . */ -#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) /* .*/ -#define SetDUT1 47 /* ..(IERS DUT1=UT1-UTC) */ -#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) /* ..*/ -#define SetPM 48 /* ..(IERS polar motion)*/ -#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) /* ..*/ -#define GetSEW 49 /* SEW */ -#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) /* M..*/ -#define PutSEW 50 /* SEW */ -#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) /* M..*/ -#define SetLocks 51 /* */ -#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) /* M..*/ -#define ClearLocks 52 /* */ -#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) /* M..*/ -#define SetRKbits 53 /* . PEP-RK */ -#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) /* M..*/ -#define ClrRKbits 54 /* . PEP-RK */ -#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) /* M..*/ -#define SetSEWnd 55 /* . SEW- ( )*/ -#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) /* ..*/ -#define SEWsDome 56 /* ./. SEW- */ -#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) /* ..*/ +/******************************************************************************* +* Command list * +*******************************************************************************/ +/* name code args type */ +// Stop telescope +#define StopTel 1 +#define StopTeleskope() send_cmd_noarg( 1 ) +// High/low speed +#define StartHS 2 +#define StartHighSpeed() send_cmd_noarg( 2 ) +#define StartLS 3 +#define StartLowSpeed() send_cmd_noarg( 3 ) +// Timer setup (Ch7_15 or SysTimer) +#define SetTmr 4 +#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) +// Simulation (modeling) mode +#define SetModMod 5 +#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) +// Azimuth speed code +#define SetCodA 6 +#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) +// Zenith speed code +#define SetCodZ 7 +#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) +// Parangle speed code +#define SetCodP 8 +#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) +// Set Az velocity +#define SetVA 9 +#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) +// Set Z velocity +#define SetVZ 10 +#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) +// Set P velocity +#define SetVP 11 +#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) +// Set new polar coordinates +#define SetAD 12 +#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del)) +// Set new azimutal coordinates +#define SetAZ 13 +#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z)) +// Goto new object by polar coords +#define GoToAD 14 +#define GoToObject() send_cmd_noarg(14 ) +// Start steering to object by polar coords +#define MoveToAD 15 +#define MoveToObject() send_cmd_noarg(15 ) +// Go to object by azimutal coords +#define GoToAZ 16 +#define GoToAzimZ() send_cmd_noarg(16 ) +// Set A&Z for simulation +#define WriteAZ 17 +#define WriteModelAZ() send_cmd_noarg(17 ) +// Set P2 mode +#define SetModP 18 +#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) +// Move(+-1)/Stop(0) P2 +#define P2Move 19 +#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) +// Move(+-2,+-1)/Stop(0) focus +#define FocMove 20 +#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) +// Use/don't use pointing correction system +#define UsePCorr 21 +#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) +// Tracking flags +#define SetTrkFlags 22 +#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) +// Set focus (0 - primary, 1 - N1, 2 - N2) +#define SetTFoc 23 +#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) +// Set intrinsic move parameters by RA/Decl +#define SetVAD 24 +#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel)) +// Reverse Azimuth direction when pointing +#define SetRevA 25 +#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) +// Set P2 velocity +#define SetVP2 26 +#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) +// Set pointing target +#define SetTarg 27 +#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) +// Send message to all clients (+write into protocol) +#define SendMsg 28 +#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) +// RA/Decl user correction +#define CorrAD 29 +#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel)) +// A/Z user correction +#define CorrAZ 30 +#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ)) +// sec A/Z user correction speed +#define SetVCAZ 31 +#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ)) +// move P2 with given velocity for a given time +#define P2MoveTo 32 +#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time)) +// Go to t/Decl position +#define GoToTD 33 +#define GoToSat() send_cmd_noarg (33 ) +// Move to t/Decl +#define MoveToTD 34 +#define MoveToSat() send_cmd_noarg (34 ) +// Empty command for synchronisation +#define NullCom 35 +#define SyncCom() send_cmd_noarg (35 ) +// Button "Start" +#define StartTel 36 +#define StartTeleskope() send_cmd_noarg(36 ) +// Set telescope mode +#define SetTMod 37 +#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) +// Turn telescope on (oil etc) +#define TelOn 38 +#define TeleskopeOn() send_cmd_noarg(38 ) +// Dome mode +#define SetModD 39 +#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) +// Move(+-3,+-2,+-1)/Stop(0) dome +#define DomeMove 40 +#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) +// Set account password +#define SetPass 41 +#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) +// Set code of access level +#define SetLevC 42 +#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) +// Set key for access level +#define SetLevK 43 +#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) +// Setup network +#define SetNet 44 +#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) +// Input meteo data +#define SetMet 45 +#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) +// Cancel meteo data +#define TurnMetOff 46 +#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) +// Set time correction (IERS DUT1=UT1-UTC) +#define SetDUT1 47 +#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) +// Set polar motion (IERS polar motion) +#define SetPM 48 +#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) +// Get SEW parameter +#define GetSEW 49 +#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) +// Set SEW parameter +#define PutSEW 50 +#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) +// Set lock flags +#define SetLocks 51 +#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) +// Clear lock flags +#define ClearLocks 52 +#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) +// Set PEP-RK bits +#define SetRKbits 53 +#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) +// Clear PEP-RK bits +#define ClrRKbits 54 +#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) +// Set SEW dome motor number (for indication) +#define SetSEWnd 55 +#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) +// Turn SEW controllers of dome on/off +#define SEWsDome 56 +#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) -/* ( " ") */ -#define BTA_Data_Ver 2 -#pragma pack(4) -//struct __attribute__((packed)) BTA_Data { -struct BTA_Data { - int magic; /* */ - int version; /* = BTA_Data_Ver*/ - int size; /* = sizeof(struct BTA_Data)*/ - int pid; -#define ServPID (sdt->pid) /* .. */ +/******************************************************************************* +* BTA data structure definitions * +*******************************************************************************/ - /* */ - int model; -#define UseModel (sdt->model) /* */ -#define NoModel 0 /* */ -#define CheckModel 1 /* */ -#define DriveModel 2 /* "" */ -#define FullModel 3 /* */ - int timer; -#define ClockType (sdt->timer) /* */ -#define Ch7_15 0 /* . . 7-15 */ -#define SysTimer 1 /* ( ) */ -#define ExtSynchro 2 /* (bta_time xntpd)*/ - int system; -#define Sys_Mode (sdt->system) /* */ -#define SysStop 0 /* */ -#define SysWait 1 /* () */ -#define SysPointAZ 2 /* ( A Z)*/ -#define SysPointAD 3 /* ( R.A. Decl)*/ -#define SysTrkStop 4 /* : */ -#define SysTrkStart 5 /* : . ()*/ -#define SysTrkMove 6 /* : */ -#define SysTrkSeek 7 /* : */ -#define SysTrkOk 8 /* : */ -#define SysTrkCorr 9 /* : */ -#define SysTest 10 /* */ - int sys_target; -#define Sys_Target (sdt->sys_target) /* */ -#define TagPosition 0 /* A/Z */ -#define TagObject 1 /* Alpha/Delta */ -#define TagNest 2 /* "" */ -#define TagZenith 3 /* "" */ -#define TagHorizon 4 /* "" */ -#define TagStatObj 5 /* "" t/Delta */ - - int tel_focus; -#define Tel_Focus (sdt->tel_focus) /* : 0-, 1-1, 2-2 */ -#define Prime 0 -#define Nasmyth1 1 -#define Nasmyth2 2 - double pc_coeff[8]; -#define PosCor_Coeff (sdt->pc_coeff) /* - . */ - - /* */ -#define Stopping 0 /* */ -#define Pointing 1 /* */ -#define Tracking 2 /* */ - int tel_state; -#define Tel_State (sdt->tel_state) /* */ - int req_state; -#define Req_State (sdt->req_state) /* */ - int tel_hard_state; -#define Tel_Hardware (sdt->tel_hard_state) /* */ -#define Hard_Off 0 /* */ -#define Hard_On 1 /* */ - - /* */ - int tel_mode; -#define Tel_Mode (sdt->tel_mode) -#define Automatic 0 /* "" - */ -#define Manual 1 /* "/.." - :*/ -#define ZenHor 2 /* "-" - Z<5 Z>80*/ -#define A_Move 4 /* A */ -#define Z_Move 8 /* --- "" --- Z */ -#define Balance 0x10 /* */ - - /* ./. "" */ - int az_mode; -#define Az_Mode (sdt->az_mode) -#define Rev_Off 0 /* */ -#define Rev_On 1 /* 360. */ - - /* P2 */ - int p2_state; -#define P2_State (sdt->p2_state) /* P2 */ -#define P2_Off 0 /* */ -#define P2_On 1 /* */ -#define P2_Plus 2 /* + */ -#define P2_Minus -2 /* - */ - int p2_req_mode; -#define P2_Mode (sdt->p2_req_mode) /* P2 (: /)*/ - - /* */ - int focus_state; -#define Foc_State (sdt->focus_state) -#define Foc_Off 0 /* */ -#define Foc_Lplus 1 /* . + */ -#define Foc_Lminus -1 /* . - */ -#define Foc_Hplus 2 /* + */ -#define Foc_Hminus -2 /* - */ - - /* */ - int dome_state; -#define Dome_State (sdt->dome_state) -#define D_On 7 /* */ -#define D_Off 0 /* */ -#define D_Lplus 1 /* . + */ -#define D_Lminus -1 /* . - */ -#define D_Mplus 2 /* .. + */ -#define D_Mminus -2 /* .. - */ -#define D_Hplus 3 /* + */ -#define D_Hminus -3 /* - */ - -/* () */ - int pcor_mode; -#define Pos_Corr (sdt->pcor_mode) /* A/Z: /*/ -#define PC_Off 0 /* . */ -#define PC_On 1 /* . */ - -/* /. */ - int trkok_mode; -#define TrkOk_Mode (sdt->trkok_mode) -#define UseDiffVel 1 /* & (~)*/ -#define UseDiffAZ 2 /* ( ..) */ -#define UseDFlt 4 /* . */ - - /* */ - double i_alpha, i_delta; -#define InpAlpha (sdt->i_alpha) /* R.A. (sec) */ -#define InpDelta (sdt->i_delta) /* -- " -- Decl. (") */ - double s_alpha, s_delta; -#define SrcAlpha (sdt->s_alpha) /* R.A. (sec) */ -#define SrcDelta (sdt->s_delta) /* -- " -- Decl. (") */ - double v_alpha, v_delta; -#define VelAlpha (sdt->v_alpha) /* ..- R.A. (sec/) */ -#define VelDelta (sdt->v_delta) /* -- " -- Decl. ("/) */ - double i_azim, i_zdist; -#define InpAzim (sdt->i_azim) /* (") */ -#define InpZdist (sdt->i_zdist) /* -- " -- .. (") */ - - /* */ - double c_alpha, c_delta; -#define CurAlpha (sdt->c_alpha) /* R.A. (sec) */ -#define CurDelta (sdt->c_delta) /* -- " -- Decl. (") */ - double tag_a, tag_z, tag_p; -#define tag_A (sdt->tag_a) /* A (") */ -#define tag_Z (sdt->tag_z) /* - " - Z (") - " - */ -#define tag_P (sdt->tag_p) /* - " - P (") - " - */ - double pcor_a, pcor_z, refr_z; -#define pos_cor_A (sdt->pcor_a) /* A (") */ -#define pos_cor_Z (sdt->pcor_z) /* - " - - " - Z (") */ -#define refract_Z (sdt->refr_z) /* (") */ - double tcor_a, tcor_z, tref_z; -#define tel_cor_A (sdt->tcor_a) /* . A (") */ -#define tel_cor_Z (sdt->tcor_z) /* - " - - " - - " - Z (") */ -#define tel_ref_Z (sdt->tref_z) /* . (") */ - double diff_a, diff_z, diff_p; -#define Diff_A (sdt->diff_a) /* -( ) A (") */ -#define Diff_Z (sdt->diff_z) /* - " - - " - Z (") */ -#define Diff_P (sdt->diff_p) /* - " - - " - P (") */ - double vbasea,vbasez,vbasep; -#define vel_objA (sdt->vbasea) /* A ("/) */ -#define vel_objZ (sdt->vbasez) /* - " - - " - Z - " - */ -#define vel_objP (sdt->vbasep) /* - " - - " - P - " - */ - double diffva,diffvz,diffvp; -#define diff_vA (sdt->diffva) /* */ -#define diff_vZ (sdt->diffvz) /* -- "" -- -- "" -- Z */ -#define diff_vP (sdt->diffvp) /* -- "" -- -- "" -- P */ - double speeda,speedz,speedp; -#define speedA (sdt->speeda) /* A ("/) */ -#define speedZ (sdt->speedz) /* - " - Z - " - */ -#define speedP (sdt->speedp) /* - " - P - " - */ - double m_time_precip; -#define Precip_time (sdt->m_time_precip)/* (precipitations)*/ - unsigned char reserve[16]; -#define Reserve (sdt->reserve) /* */ - double rspeeda, rspeedz, rspeedp; -#define req_speedA (sdt->rspeeda) /* ("/) A */ -#define req_speedZ (sdt->rspeedz) /* - " - Z */ -#define req_speedP (sdt->rspeedp) /* - " - P */ - double simvela, simvelz, simvelp, simvelf, simveld; -#define mod_vel_A (sdt->simvela) /* A ("/) */ -#define mod_vel_Z (sdt->simvelz) /* - " - Z - " - */ -#define mod_vel_P (sdt->simvelp) /* - " - P - " - */ -#define mod_vel_F (sdt->simvelf) /* - " - F - " - */ -#define mod_vel_D (sdt->simvelf) /* - " - D - " - */ - - - /* */ - uint kost; -#define code_KOST (sdt->kost) /* . */ - /* 0x8000 - */ - /* 0x4000 - . */ - /* 0x2000 - */ - /* 0x1000 - P2 .*/ - /* 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) */ - /* 0x000F - .. +Z -Z +A -A */ - double m_time, s_time, l_time; -#define M_time (sdt->m_time) /* ( UTC!)*/ -#define S_time (sdt->s_time) /* */ -#define L_time (sdt->l_time) /* */ - uint ppndd_a, ppndd_z, ppndd_p, ppndd_b; -#define ppndd_A (sdt->ppndd_a) /* ( ) A */ -#define ppndd_Z (sdt->ppndd_z) /* - "" - Z */ -#define ppndd_P (sdt->ppndd_p) /* - "" - P */ -#define ppndd_B (sdt->ppndd_b) /* */ - uint dup_a, dup_z, dup_p, dup_f, dup_d; -#define dup_A (sdt->dup_a) /* ( ) A */ -#define dup_Z (sdt->dup_z) /* - "" - Z */ -#define dup_P (sdt->dup_p) /* - "" - P */ -#define dup_F (sdt->dup_f) /* */ -#define dup_D (sdt->dup_d) /* */ - uint low_a, low_z, low_p, low_f, low_d; -#define low_A (sdt->low_a) /* 14- . A */ -#define low_Z (sdt->low_z) /* - "" - Z */ -#define low_P (sdt->low_p) /* - "" - P */ -#define low_F (sdt->low_f) /* */ -#define low_D (sdt->low_d) /* */ - uint code_a, code_z, code_p, code_b, code_f, code_d; -#define code_A (sdt->code_a) /* 23- . A */ -#define code_Z (sdt->code_z) /* - "" - Z */ -#define code_P (sdt->code_p) /* - "" - P */ -#define code_B (sdt->code_b) /* */ -#define code_F (sdt->code_f) /* */ -#define code_D (sdt->code_d) /* */ - uint adc[8]; -#define ADC(N) (sdt->adc[(N)]) /* 8- PCL818 */ -#define code_T1 ADC(0) /* . */ -#define code_T2 ADC(1) /* .*/ -#define code_T3 ADC(2) /* */ -#define code_Wnd ADC(3) /* */ - double val_a, val_z, val_p, val_b, val_f, val_d; - double val_t1, val_t2, val_t3, val_wnd; -#define val_A (sdt->val_a) /* A (") */ -#define val_Z (sdt->val_z) /* - " - Z (") */ -#define val_P (sdt->val_p) /* - " - P (") */ -#define val_B (sdt->val_b) /* e (...)*/ -#define val_F (sdt->val_f) /* () */ -#define val_D (sdt->val_d) /* (") */ -#define val_T1 (sdt->val_t1) /* . (.)*/ -#define val_T2 (sdt->val_t2) /* .(.)*/ -#define val_T3 (sdt->val_t3) /* (.)*/ -#define val_Wnd (sdt->val_wnd) /* (/)*/ - double val_alp, val_del; -#define val_Alp (sdt->val_alp) /* R.A. (sec) */ -#define val_Del (sdt->val_del) /* -- " -- Decl. (") */ - - double vel_a, vel_z, vel_p, vel_f, vel_d; -#define vel_A (sdt->vel_a) /* A ("/) */ -#define vel_Z (sdt->vel_z) /* - " - Z - " - */ -#define vel_P (sdt->vel_p) /* - " - P - " - */ -#define vel_F (sdt->vel_f) /* - " - F - " - */ -#define vel_D (sdt->vel_d) /* - " - D - " - */ - - /* */ +#define ServPID (sdt->pid) // PID of main program +// model +#define UseModel (sdt->model) // model variants +enum{ + NoModel = 0 // OFF + ,CheckModel // control motors by model + ,DriveModel // "blind" management without real sensors + ,FullModel // full model without telescope +}; +// timer +#define ClockType (sdt->timer) // which timer to use +enum{ + Ch7_15 = 0 // Inner timer with synchronisation by CH7_15 + ,SysTimer // System timer (synchronisation unknown) + ,ExtSynchro // External synchronisation (bta_time or xntpd) +}; +// system +#define Sys_Mode (sdt->system) // main system mode +enum{ + SysStop = 0 // Stop + ,SysWait // Wait for start (pointing) + ,SysPointAZ // Pointing by A/Z + ,SysPointAD // Pointing by RA/Decl + ,SysTrkStop // Tracking stop + ,SysTrkStart // Start tracking (acceleration to nominal velocity) + ,SysTrkMove // Tracking move to object + ,SysTrkSeek // Tracking in seeking mode + ,SysTrkOk // Tracking OK + ,SysTrkCorr // Correction of tracking position + ,SysTest // Test +}; +// sys_target +#define Sys_Target (sdt->sys_target) // system pointing target +enum{ + TagPosition = 0 // point by A/Z + ,TagObject // point by RA/Decl + ,TagNest // point to "nest" + ,TagZenith // point to zenith + ,TagHorizon // point to horizon + ,TagStatObj // point to statinary object (t/Decl) +}; +// tel_focus +#define Tel_Focus (sdt->tel_focus) // telescope focus type +enum{ + Prime = 0 + ,Nasmyth1 + ,Nasmyth2 +}; +// PCS +#define PosCor_Coeff (sdt->pc_coeff) // pointing correction system coefficients +// tel_state +#define Tel_State (sdt->tel_state) // telescope state +#define Req_State (sdt->req_state) // required state +enum{ + Stopping = 0 + ,Pointing + ,Tracking +}; +// tel_hard_state +#define Tel_Hardware (sdt->tel_hard_state) // Power state +enum{ + Hard_Off = 0 + ,Hard_On +}; +// tel_mode +#define Tel_Mode (sdt->tel_mode) // telescope mode +enum{ + Automatic = 0 // Automatic (normal) mode + ,Manual = 1 // manual mode + ,ZenHor = 2 // work when Z<5 || Z>80 + ,A_Move = 4 // hand move by A + ,Z_Move = 8 // hand move by Z + ,Balance =0x10// balancing +}; +// az_mode +#define Az_Mode (sdt->az_mode) // azimuth reverce +enum{ + Rev_Off = 0 // move by nearest way + ,Rev_On // move by longest way +}; +// p2_state +#define P2_State (sdt->p2_state) // P2 motor state +#define P2_Mode (sdt->p2_req_mode) +enum{ + P2_Off = 0 // Stop + ,P2_On // Guiding + ,P2_Plus // Move to + + ,P2_Minus = -2 // Move to - +}; +// focus_state +#define Foc_State (sdt->focus_state) // focus motor state +enum{ + Foc_Hminus = -2// fast "-" move + ,Foc_Lminus // slow "-" move + ,Foc_Off // Off + ,Foc_Lplus // slow "+" move + ,Foc_Hplus // fast "+" move +}; +// dome_state +#define Dome_State (sdt->dome_state) // dome motors state +enum{ + D_Hminus = -3 // speeds: low, medium, high + ,D_Mminus + ,D_Lminus + ,D_Off // off + ,D_Lplus + ,D_Mplus + ,D_Hplus + ,D_On = 7 // auto +}; +// pcor_mode +#define Pos_Corr (sdt->pcor_mode) // pointing correction mode +enum{ + PC_Off = 0 + ,PC_On +}; +// trkok_mode +#define TrkOk_Mode (sdt->trkok_mode) // tracking mode +enum{ + UseDiffVel = 1 // Isodrome (correction by real motors speed) + ,UseDiffAZ = 2 // Tracking by coordinate difference + ,UseDFlt = 4 // Turn on digital filter +}; +// input RA/Decl values +#define InpAlpha (sdt->i_alpha) +#define InpDelta (sdt->i_delta) +// current source RA/Decl values +#define SrcAlpha (sdt->s_alpha) +#define SrcDelta (sdt->s_delta) +// intrinsic object velocity +#define VelAlpha (sdt->v_alpha) +#define VelDelta (sdt->v_delta) +// input A/Z values +#define InpAzim (sdt->i_azim) +#define InpZdist (sdt->i_zdist) +// calculated values +#define CurAlpha (sdt->c_alpha) +#define CurDelta (sdt->c_delta) +// current values (from sensors) +#define tag_A (sdt->tag_a) +#define tag_Z (sdt->tag_z) +#define tag_P (sdt->tag_p) + // calculated corrections +#define pos_cor_A (sdt->pcor_a) +#define pos_cor_Z (sdt->pcor_z) +#define refract_Z (sdt->refr_z) +// reverse calculation corr. +#define tel_cor_A (sdt->tcor_a) +#define tel_cor_Z (sdt->tcor_z) +#define tel_ref_Z (sdt->tref_z) +// coords difference +#define Diff_A (sdt->diff_a) +#define Diff_Z (sdt->diff_z) +#define Diff_P (sdt->diff_p) +// base object velocity +#define vel_objA (sdt->vbasea) +#define vel_objZ (sdt->vbasez) +#define vel_objP (sdt->vbasep) +// correction by real speed +#define diff_vA (sdt->diffva) +#define diff_vZ (sdt->diffvz) +#define diff_vP (sdt->diffvp) +// motor speed +#define speedA (sdt->speeda) +#define speedZ (sdt->speedz) +#define speedP (sdt->speedp) +// last precipitation time +#define Precip_time (sdt->m_time_precip) +// reserved +#define Reserve (sdt->reserve) +// real motor speed (''/sec) +#define req_speedA (sdt->rspeeda) +#define req_speedZ (sdt->rspeedz) +#define req_speedP (sdt->rspeedp) +// model speed +#define mod_vel_A (sdt->simvela) +#define mod_vel_Z (sdt->simvelz) +#define mod_vel_P (sdt->simvelp) +#define mod_vel_F (sdt->simvelf) +#define mod_vel_D (sdt->simvelf) +// telescope & hand correction state +/* + * 0x8000 - + * 0x4000 - . + * 0x2000 - + * 0x1000 - P2 . + * 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) + * 0x000F - .. +Z -Z +A -A + */ +#define code_KOST (sdt->kost) +// different time (UTC, stellar, local) +#define M_time (sdt->m_time) +#define S_time (sdt->s_time) +#define L_time (sdt->l_time) +// PPNDD sensor (rough) code +#define ppndd_A (sdt->ppndd_a) +#define ppndd_Z (sdt->ppndd_z) +#define ppndd_P (sdt->ppndd_p) +#define ppndd_B (sdt->ppndd_b) // atm. pressure +// DUP sensor (precise) code (Gray code) +#define dup_A (sdt->dup_a) +#define dup_Z (sdt->dup_z) +#define dup_P (sdt->dup_p) +#define dup_F (sdt->dup_f) +#define dup_D (sdt->dup_d) +// binary 14-digit precise code +#define low_A (sdt->low_a) +#define low_Z (sdt->low_z) +#define low_P (sdt->low_p) +#define low_F (sdt->low_f) +#define low_D (sdt->low_d) +// binary 23-digit rough code +#define code_A (sdt->code_a) +#define code_Z (sdt->code_z) +#define code_P (sdt->code_p) +#define code_B (sdt->code_b) +#define code_F (sdt->code_f) +#define code_D (sdt->code_d) +// ADC PCL818 (8-channel) codes +#define ADC(N) (sdt->adc[(N)]) +#define code_T1 ADC(0) // External temperature code +#define code_T2 ADC(1) // In-dome temperature code +#define code_T3 ADC(2) // Mirror temperature code +#define code_Wnd ADC(3) // Wind speed code +// calculated values +#define val_A (sdt->val_a) // A, '' +#define val_Z (sdt->val_z) // Z, '' +#define val_P (sdt->val_p) // P, '' +#define val_B (sdt->val_b) // atm. pressure, mm.hg. +#define val_F (sdt->val_f) // focus, mm +#define val_D (sdt->val_d) // Dome Az, '' +#define val_T1 (sdt->val_t1) // ext. T, degrC +#define val_T2 (sdt->val_t2) // in-dome T, degrC +#define val_T3 (sdt->val_t3) // mirror T, degrC +#define val_Wnd (sdt->val_wnd) // wind speed, m/s +// RA/Decl calculated by A/Z +#define val_Alp (sdt->val_alp) +#define val_Del (sdt->val_del) +// measured speed +#define vel_A (sdt->vel_a) +#define vel_Z (sdt->vel_z) +#define vel_P (sdt->vel_p) +#define vel_F (sdt->vel_f) +#define vel_D (sdt->vel_d) +// system messages queue #define MesgNum 3 #define MesgLen 39 - //struct __attribute__((packed)) SysMesg { - struct SysMesg { - int seq_num; - char type; -#define MesgEmpty 0 -#define MesgInfor 1 -#define MesgWarn 2 -#define MesgFault 3 -#define MesgLog 4 - char text[MesgLen]; - } sys_msg_buf[MesgNum]; +// message type +enum{ + MesgEmpty = 0 + ,MesgInfor + ,MesgWarn + ,MesgFault + ,MesgLog +}; #define Sys_Mesg(N) (sdt->sys_msg_buf[N]) - - /* */ - /* */ - uint code_lev1,code_lev2,code_lev3,code_lev4,code_lev5; -#define code_Lev1 (sdt->code_lev1) /* " " - */ -#define code_Lev2 (sdt->code_lev2) /* " " - + */ -#define code_Lev3 (sdt->code_lev3) /* " " - + A/Z--, .P2/F */ -#define code_Lev4 (sdt->code_lev4) /* "" - + / ., */ -#define code_Lev5 (sdt->code_lev5) /* " " - */ - /* */ - uint netmask, netaddr, acsmask, acsaddr; -#define NetMask (sdt->netmask) /* (: 255.255.255.0) */ -#define NetWork (sdt->netaddr) /* (: 192.168.3.0) */ -#define ACSMask (sdt->acsmask) /* - (: 255.255.255.0) */ -#define ACSNet (sdt->acsaddr) /* - (: 192.168.13.0) */ - - /* - */ - int meteo_stat; -#define MeteoMode (sdt->meteo_stat) /* */ -#define INPUT_B 1 /* *//* */ -#define INPUT_T1 2 /* T- */ -#define INPUT_T2 4 /* T- */ -#define INPUT_T3 8 /* T- */ -#define INPUT_WND 0x10 /* */ -#define INPUT_HMD 0x20 /* */ -#define SENSOR_B (INPUT_B <<8) /* - (e.g. CAN-)*/ +// access levels +#define code_Lev1 (sdt->code_lev[0]) // remote observer - only information +#define code_Lev2 (sdt->code_lev[1]) // local observer - input coordinates +#define code_Lev3 (sdt->code_lev[2]) // main observer - correction by A/Z, P2/F management +#define code_Lev4 (sdt->code_lev[3]) // operator - start/stop telescope, testing +#define code_Lev5 (sdt->code_lev[4]) // main operator - full access +#define code_Lev(x) (sdt->code_lev[(x-1)]) +// network settings +#define NetMask (sdt->netmask) // subnet mask (usually 255.255.255.0) +#define NetWork (sdt->netaddr) // subnet address (for ex.: 192.168.3.0) +#define ACSMask (sdt->acsmask) // ACS network mask (for ex.: 255.255.255.0) +#define ACSNet (sdt->acsaddr) // ACS subnet address (for ex.: 192.168.13.0) +// meteo data +#define MeteoMode (sdt->meteo_stat) +enum{ + INPUT_B = 1 // pressure + ,INPUT_T1 = 2 // external T + ,INPUT_T2 = 4 // in-dome T + ,INPUT_T3 = 8 // mirror T + ,INPUT_WND = 0x10 // wind speed + ,INPUT_HMD = 0x20 // humidity +}; +#define SENSOR_B (INPUT_B <<8) // external data flags #define SENSOR_T1 (INPUT_T1 <<8) #define SENSOR_T2 (INPUT_T2 <<8) #define SENSOR_T3 (INPUT_T3 <<8) #define SENSOR_WND (INPUT_WND<<8) #define SENSOR_HMD (INPUT_HMD<<8) -#define ADC_B (INPUT_B <<16) /* . */ +#define ADC_B (INPUT_B <<16) // reading from ADC flags #define ADC_T1 (INPUT_T1 <<16) #define ADC_T2 (INPUT_T2 <<16) #define ADC_T3 (INPUT_T3 <<16) #define ADC_WND (INPUT_WND<<16) #define ADC_HMD (INPUT_HMD<<16) -#define NET_B (INPUT_B <<24) /* */ +#define NET_B (INPUT_B <<24) // got by network flags #define NET_T1 (INPUT_T1 <<24) #define NET_WND (INPUT_WND<<24) #define NET_HMD (INPUT_HMD<<24) - double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; -#define inp_B (sdt->inp_b) /* e (...)*/ -#define inp_T1 (sdt->inp_t1) /* . (.)*/ -#define inp_T2 (sdt->inp_t2) /* .(.)*/ -#define inp_T3 (sdt->inp_t3) /* (.)*/ -#define inp_Wnd (sdt->inp_wnd) /* (/)*/ - - double temper, press; -#define Temper (sdt->temper) /* */ -#define Pressure (sdt->press) /* */ - double m_time10, m_time15; -#define Wnd10_time (sdt->m_time10) /* >=10/*/ -#define Wnd15_time (sdt->m_time15) /* - " - - " - - " - >=15/*/ - - /* IERS DUT1 (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double dut1; -#define DUT1 (sdt->dut1) /* . : DUT1 = UT1-UTC */ - - double a_time, z_time, p_time; -#define A_time (sdt->a_time) /* A */ -#define Z_time (sdt->z_time) /* - " - - " - - " - Z */ -#define P_time (sdt->p_time) /* - " - - " - - " - P */ - - double speedain, speedzin, speedpin; -#define speedAin (sdt->speedain) /* - A */ -#define speedZin (sdt->speedzin) /* - Z */ -#define speedPin (sdt->speedpin) /* - P2*/ - - double acc_a, acc_z, acc_p, acc_f, acc_d; -#define acc_A (sdt->acc_a) /* A ("/^2) */ -#define acc_Z (sdt->acc_z) /* - " - Z - " - */ -#define acc_P (sdt->acc_p) /* - " - P - " - */ -#define acc_F (sdt->acc_f) /* - " - F - " - */ -#define acc_D (sdt->acc_d) /* - " - D - " - */ - - uint code_sew; -#define code_SEW (sdt->code_sew) /* . SEW- */ - -/* SEW- */ -//struct __attribute__((packed)) SEWdata { -struct SEWdata { - int status; - double set_speed; - double mes_speed; - double current; - int index; - union { - unsigned char b[4]; - __uint32_t l; - } value; -} sewdrv[3]; -#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) /* */ +// input meteo values +#define inp_B (sdt->inp_b) // atm.pressure (mm.hg) +#define inp_T1 (sdt->inp_t1) // ext T +#define inp_T2 (sdt->inp_t2) // in-dome T +#define inp_T3 (sdt->inp_t3) // mirror T +#define inp_Wnd (sdt->inp_wnd) // wind +// values used for refraction calculation +#define Temper (sdt->temper) +#define Pressure (sdt->press) +// last wind gust time +#define Wnd10_time (sdt->m_time10) +#define Wnd15_time (sdt->m_time15) +// IERS DUT1 +#define DUT1 (sdt->dut1) +// sensors reading time +#define A_time (sdt->a_time) +#define Z_time (sdt->z_time) +#define P_time (sdt->p_time) +// input speeds +#define speedAin (sdt->speedain) +#define speedZin (sdt->speedzin) +#define speedPin (sdt->speedpin) +// acceleration (''/sec^2) +#define acc_A (sdt->acc_a) +#define acc_Z (sdt->acc_z) +#define acc_P (sdt->acc_p) +#define acc_F (sdt->acc_f) +#define acc_D (sdt->acc_d) +// SEW code +#define code_SEW (sdt->code_sew) +// sew data +#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) #define statusSEW1 (sdt->sewdrv[0].status) #define statusSEW2 (sdt->sewdrv[1].status) #define statusSEW3 (sdt->sewdrv[2].status) -#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) /* */ -#define speedSEW1 (sdt->sewdrv[0].set_speed) /* / (rpm)*/ +#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) +#define speedSEW1 (sdt->sewdrv[0].set_speed) #define speedSEW2 (sdt->sewdrv[1].set_speed) #define speedSEW3 (sdt->sewdrv[2].set_speed) -#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) /* */ -#define vel_SEW1 (sdt->sewdrv[0].mes_speed) /* / (rpm)*/ +#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) +#define vel_SEW1 (sdt->sewdrv[0].mes_speed) #define vel_SEW2 (sdt->sewdrv[1].mes_speed) #define vel_SEW3 (sdt->sewdrv[2].mes_speed) -#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) /* ()*/ +#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) #define currentSEW1 (sdt->sewdrv[0].current) #define currentSEW2 (sdt->sewdrv[1].current) #define currentSEW3 (sdt->sewdrv[2].current) -#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) /* */ +#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) #define indexSEW1 (sdt->sewdrv[0].index) #define indexSEW2 (sdt->sewdrv[1].index) #define indexSEW3 (sdt->sewdrv[2].index) -#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) /* */ +#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) #define valueSEW1 (sdt->sewdrv[0].value.l) #define valueSEW2 (sdt->sewdrv[1].value.l) #define valueSEW3 (sdt->sewdrv[2].value.l) -#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) /* */ - -/* PEP- */ - uint pep_code_a, pep_code_z, pep_code_p; -#define PEP_code_A (sdt->pep_code_a) /* 23- . A */ -#define PEP_code_Z (sdt->pep_code_z) /* - "" - Z */ -#define PEP_code_P (sdt->pep_code_p) /* - "" - P */ - uint pep_sw_a, pep_sw_z, pep_sw_p; -#define switch_A (sdt->pep_sw_a) /* */ -#define Sw_minus_A 1 /* (. code_KOST&0x8000)*/ -#define Sw_plus240_A 2 /* "+240" */ -#define Sw_minus240_A 4 /* "-240" */ -#define Sw_minus45_A 8 /* " " (~-46)*/ -#define switch_Z (sdt->pep_sw_z) /* Z */ -#define Sw_0_Z 0x01 /* "0" */ -#define Sw_5_Z 0x02 /* "5" */ -#define Sw_20_Z 0x04 /* "20" */ -#define Sw_60_Z 0x08 /* "60" */ -#define Sw_80_Z 0x10 /* "80" */ -#define Sw_90_Z 0x20 /* "90" */ -#define switch_P (sdt->pep_sw_p) /* - "" - */ -#define Sw_No_P 0x00 /* " " */ -#define Sw_22_P 0x01 /* "22" */ -#define Sw_89_P 0x02 /* "89" */ -#define Sw_Sm_P 0x80 /* */ - uint pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; -#define PEP_code_F (sdt->pep_code_f) /* */ -#define PEP_code_D (sdt->pep_code_d) /* */ -#define PEP_code_Rin (sdt->pep_code_ri)/* */ -#define PEP_code_Rout (sdt->pep_code_ro)/* */ - unsigned char pep_on[10]; /* PEP- */ +#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) +// 23-digit PEP-controllers code +#define PEP_code_A (sdt->pep_code_a) +#define PEP_code_Z (sdt->pep_code_z) +#define PEP_code_P (sdt->pep_code_p) +// PEP end-switches code +#define switch_A (sdt->pep_sw_a) +enum{ + Sw_minus_A = 1 // negative A value + ,Sw_plus240_A = 2 // end switch +240degr + ,Sw_minus240_A = 4 // end switch -240degr + ,Sw_minus45_A = 8 // "horizon" end switch +}; +#define switch_Z (sdt->pep_sw_z) +enum{ + Sw_0_Z = 1 + ,Sw_5_Z = 2 + ,Sw_20_Z = 4 + ,Sw_60_Z = 8 + ,Sw_80_Z = 0x10 + ,Sw_90_Z = 0x20 +}; +#define switch_P (sdt->pep_sw_p) +enum{ + Sw_No_P = 0 // no switches + ,Sw_22_P = 1 // 22degr + ,Sw_89_P = 2 // 89degr + ,Sw_Sm_P = 0x80 // Primary focus smoke sensor +}; +// PEP codes +#define PEP_code_F (sdt->pep_code_f) +#define PEP_code_D (sdt->pep_code_d) +#define PEP_code_Rin (sdt->pep_code_ri) +#define PEP_code_Rout (sdt->pep_code_ro) +// PEP flags #define PEP_A_On (sdt->pep_on[0]) #define PEP_A_Off (PEP_A_On==0) #define PEP_Z_On (sdt->pep_on[1]) @@ -628,531 +643,209 @@ struct SEWdata { #define PEP_K_On (sdt->pep_on[6]) #define PEP_K_Off ((PEP_K_On&1)==0) #define PEP_K_Inp ((PEP_K_On&2)!=0) - - /* IERS polar motion (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double xpol, ypol; -#define polarX (sdt->xpol) /* X-a . */ -#define polarY (sdt->ypol) /* Y-a . */ - - double jdate, eetime; -#define JDate (sdt->jdate) /* */ -#define EE_time (sdt->eetime) /* ... "Equation of the Equinoxes" */ - - /* - */ - double val_hmd, inp_hmd; -#define val_Hmd (sdt->val_hmd) /* (%) */ -#define inp_Hmd (sdt->val_hmd) /* */ - - /* () */ - double worm_a, worm_z; -#define worm_A (sdt->worm_a) /* A () */ -#define worm_Z (sdt->worm_z) /* Z () */ - - /* */ - __uint32_t lock_flags; +// IERS polar motion +#define polarX (sdt->xpol) +#define polarY (sdt->ypol) +// current Julian date, sidereal time correction by "Equation of the Equinoxes" +#define JDate (sdt->jdate) +#define EE_time (sdt->eetime) +// humidity value (%%) & hand input +#define val_Hmd (sdt->val_hmd) +#define inp_Hmd (sdt->val_hmd) +// worm position, mkm +#define worm_A (sdt->worm_a) +#define worm_Z (sdt->worm_z) +// locking flags #define LockFlags (sdt->lock_flags) -#define Lock_A 0x01 -#define Lock_Z 0x02 -#define Lock_P 0x04 -#define Lock_F 0x08 -#define Lock_D 0x10 +enum{ + Lock_A = 1 + ,Lock_Z = 2 + ,Lock_P = 4 + ,Lock_F = 8 + ,Lock_D = 0x10 +}; #define A_Locked (LockFlags&Lock_A) #define Z_Locked (LockFlags&Lock_Z) #define P_Locked (LockFlags&Lock_P) #define F_Locked (LockFlags&Lock_F) #define D_Locked (LockFlags&Lock_D) - - /* ( - SEW-)*/ - int sew_dome_speed; /* Dome_State */ -#define Dome_Speed (sdt->sew_dome_speed) /* .. D_Lplus,D_Lminus,.... */ - -/* SEW- ( )*/ - int sew_dome_num; +// SEW dome divers speed +#define Dome_Speed (sdt->sew_dome_speed) +// SEW dome drive number (for indication) #define DomeSEW_N (sdt->sew_dome_num) - -/* (DomeSEW_N) SEW- */ -struct SEWdata sewdomedrv; -#define statusSEWD (sdt->sewdomedrv.status) /* */ -#define speedSEWD (sdt->sewdomedrv.set_speed) /* / (rpm)*/ +// SEW dome driver parameters +#define statusSEWD (sdt->sewdomedrv.status) // controller status +#define speedSEWD (sdt->sewdomedrv.set_speed) // speed, rpm #define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ -#define currentSEWD (sdt->sewdomedrv.current) /* ()*/ -#define indexSEWD (sdt->sewdomedrv.index) /* */ -#define valueSEWD (sdt->sewdomedrv.value.l) /* */ - -/* PEP- */ - uint pep_code_di, pep_code_do; -#define PEP_code_Din (sdt->pep_code_di) /* PEP- */ +#define currentSEWD (sdt->sewdomedrv.current) // current, A +#define indexSEWD (sdt->sewdomedrv.index) // parameter index +#define valueSEWD (sdt->sewdomedrv.value.l) // parameter value +// dome PEP codes +#define PEP_code_Din (sdt->pep_code_di) // data in #define PEP_Dome_SEW_Ok 0x200 #define PEP_Dome_Cable_Ok 0x100 -#define PEP_code_Dout (sdt->pep_code_do) /* PEP- */ -#define PEP_Dome_SEW_On 0x10 -#define PEP_Dome_SEW_Off 0x20 +#define PEP_code_Dout (sdt->pep_code_do) // data out +#define PEP_Dome_SEW_On 0x10 +#define PEP_Dome_SEW_Off 0x20 + +/******************************************************************************* +* BTA data structure * +*******************************************************************************/ + +#define BTA_Data_Ver 2 +struct BTA_Data { + int32_t magic; // magic value + int32_t version; // BTA_Data_Ver + int32_t size; // sizeof(struct BTA_Data) + int32_t pid; // main process PID + int32_t model; // model modes + int32_t timer; // timer selected + int32_t system; // main system mode + int32_t sys_target; // system pointing target + int32_t tel_focus; // telescope focus type + double pc_coeff[8]; // pointing correction system coefficients + int32_t tel_state; // telescope state + int32_t req_state; // new (required) state + int32_t tel_hard_state; // Power state + int32_t tel_mode; // telescope mode + int32_t az_mode; // azimuth reverce + int32_t p2_state; // P2 motor state + int32_t p2_req_mode; // P2 required state + int32_t focus_state; // focus motor state + int32_t dome_state; // dome motors state + int32_t pcor_mode; // pointing correction mode + int32_t trkok_mode; // tracking mode + double i_alpha, i_delta; // input values + double s_alpha, s_delta; // source + double v_alpha, v_delta; // intrinsic vel. + double i_azim, i_zdist; // input A/Z + double c_alpha, c_delta; // calculated values + double tag_a, tag_z, tag_p; // current values (from sensors) + double pcor_a, pcor_z, refr_z; // calculated corrections + double tcor_a, tcor_z, tref_z; // reverse calculation corr. + double diff_a, diff_z, diff_p; // coords difference + double vbasea,vbasez,vbasep; // base object velocity + double diffva,diffvz,diffvp; // correction by real speed + double speeda,speedz,speedp; // motor speed + double m_time_precip; // last precipitation time + uint8_t reserve[16]; // reserved + double rspeeda, rspeedz, rspeedp; // real motor speed (''/sec) + double simvela, simvelz, simvelp, simvelf, simveld; // model speed + uint32_t kost; // telescope & hand correction state + double m_time, s_time, l_time; // different time (UTC, stellar, local) + uint32_t ppndd_a, ppndd_z, ppndd_p, ppndd_b; // PPNDD sensor (rough) code + uint32_t dup_a, dup_z, dup_p, dup_f, dup_d; // DUP sensor (precise) code (Gray code) + uint32_t low_a, low_z, low_p, low_f, low_d; // binary 14-digit precise code + uint32_t code_a, code_z, code_p, code_b, code_f, code_d; // binary 23-digit rough code + uint32_t adc[8]; // ADC PCL818 (8-channel) codes + double val_a, val_z, val_p, val_b, val_f, val_d; + double val_t1, val_t2, val_t3, val_wnd; // calculated values + double val_alp, val_del; // RA/Decl calculated by A/Z + double vel_a, vel_z, vel_p, vel_f, vel_d; // measured speed + // system messages queue + struct SysMesg { + int32_t seq_num; + char type; // message type + char text[MesgLen]; // message itself + } sys_msg_buf[MesgNum]; + // access levels + uint32_t code_lev[5]; + // network settings + uint32_t netmask, netaddr, acsmask, acsaddr; + int32_t meteo_stat; // meteo data + double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; // input meteo values + double temper, press; // values used for refraction calculation + double m_time10, m_time15; // last wind gust time + double dut1; // IERS DUT1 (src: ftp://maia.usno.navy.mil/ser7/ser7.dat), DUT1 = UT1-UTC + double a_time, z_time, p_time; // sensors reading time + double speedain, speedzin, speedpin; // input speeds + double acc_a, acc_z, acc_p, acc_f, acc_d; // acceleration (''/sec^2) + uint32_t code_sew; // SEW code + struct SEWdata { // sew data + int32_t status; + double set_speed; // target speed, rpm + double mes_speed; // measured speed, rpm + double current; // measured current, A + int32_t index; // parameter number + union{ // parameter code + uint8_t b[4]; + uint32_t l; + } value; + } sewdrv[3]; + uint32_t pep_code_a, pep_code_z, pep_code_p; // 23-digit PEP-controllers code + uint32_t pep_sw_a, pep_sw_z, pep_sw_p; // PEP end-switches code + uint32_t pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; // PEP codes + uint8_t pep_on[10]; // PEP flags + double xpol, ypol; // IERS polar motion (src: ftp://maia.usno.navy.mil/ser7/ser7.dat) + double jdate, eetime; // current Julian date, sidereal time correction by "Equation of the Equinoxes" + double val_hmd, inp_hmd; // humidity value (%%) & hand input + double worm_a, worm_z; // worm position, mkm + /* */ + uint32_t lock_flags; // locking flags + int32_t sew_dome_speed; // SEW dome divers speed: D_Lplus, D_Hminus etc + int32_t sew_dome_num; // SEW dome drive number (for indication) + struct SEWdata sewdomedrv; // SEW dome driver parameters + uint32_t pep_code_di, pep_code_do; // dome PEP codes }; -#ifndef BTA_MODULE -struct BTA_Data *sdt; -#else -extern struct BTA_Data *sdt; -#endif +extern volatile struct BTA_Data *sdt; -struct BTA_Local { /* */ - unsigned char reserve[120]; /* */ - /* ( 1500 ) */ - double pr_oil_a,pr_oil_z,pr_oil_t; -#define PressOilA (sdtl->pr_oil_a) /* A () */ -#define PressOilZ (sdtl->pr_oil_z) /* Z () */ -#define PressOilTank (sdtl->pr_oil_t) /* () */ - double t_oil_1,t_oil_2; -#define OilTemper1 (sdtl->t_oil_1) /* */ -#define OilTemper2 (sdtl->t_oil_2) /* */ +/******************************************************************************* +* Local data structure * +*******************************************************************************/ +// Oil pressure, MPa +#define PressOilA (sdtl->pr_oil_a) +#define PressOilZ (sdtl->pr_oil_z) +#define PressOilTank (sdtl->pr_oil_t) +// Oil themperature, degrC +#define OilTemper1 (sdtl->t_oil_1) // oil +#define OilTemper2 (sdtl->t_oil_2) // water + +// Local data structure +struct BTA_Local { + uint8_t reserve[120]; // reserved data + double pr_oil_a,pr_oil_z,pr_oil_t; // Oil pressure + double t_oil_1,t_oil_2; // Oil themperature }; -#ifndef BTA_MODULE -struct BTA_Local *sdtl; /* , */ -#else -extern struct BTA_Local *sdtl; -#endif +/** + * Message buffer structure + */ +struct my_msgbuf { + int32_t mtype; // message type + uint32_t acckey; // client access key + uint32_t src_pid; // source PID + uint32_t src_ip; // IP of command source or 0 for local + char mtext[100]; // message itself +}; + +extern volatile struct BTA_Local *sdtl; +extern int snd_id; +extern int cmd_src_pid; +extern uint32_t cmd_src_ip; #define ClientSide 0 #define ServerSide 1 #ifndef BTA_MODULE -static void bta_data_init(); -static int bta_data_check(); -static void bta_data_close(); - -/* (" ") */ -struct SHM_Block sdat = { -{'S','d','a','t',0},sizeof(struct BTA_Data),2048,0444,SHM_RDONLY,bta_data_init,bta_data_check,bta_data_close,0,-1,NULL -}; -#else -extern struct SHM_Block sdat; +void bta_data_init(); +int bta_data_check(); +void bta_data_close(); +int get_shm_block(volatile struct SHM_Block *sb, int server); +int close_shm_block(volatile struct SHM_Block *sb); +void get_cmd_queue(struct CMD_Queue *cq, int server); #endif -#ifndef BTA_MODULE -/* ( " ") */ -static void bta_data_init() { - int i; - sdt = (struct BTA_Data *)sdat.addr; - sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); - if(sdat.side == ClientSide) { - if(sdt->magic != sdat.key.code) { - fprintf(stderr,"Wrong shared data (maybe server turned off)\n"); - /*exit(1);*/ - } - if(sdt->version == 0) { - fprintf(stderr,"Null shared data version (maybe server turned off)\n"); - /*exit(1);*/ - } - else if(sdt->version != BTA_Data_Ver) { - fprintf(stderr,"Wrong shared data version: I'am - %d, but server - %d ...\n", - BTA_Data_Ver, sdt->version ); - /*exit(1);*/ - } - if(sdt->size != sdat.size) { - if(sdt->size > sdat.size) { - /* */ - fprintf(stderr,"Wrong shared area size: I needs - %d, but server - %d ...\n", - sdat.size, sdt->size ); - } else { - /* "" */ - /* ! */ - fprintf(stderr,"Attention! Too little shared data structure!\n"); - sleep(1); - fprintf(stderr,"I needs - %d, but server gives only %d ...\n", - sdat.size, sdt->size ); - sleep(1); - fprintf(stderr,"May be server's version too old!?\n"); - /* exit(1); */ +int check_shm_block(volatile struct SHM_Block *sb); - } - } - return; - } - /* ServerSide */ - if(sdt->magic != sdat.key.code || - sdt->version != BTA_Data_Ver || - sdt->size != sdat.size) { +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev); +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev); +int check_lev_passwd(char *passwd); +void set_acckey(uint32_t newkey); - for(i=0; imagic = sdat.key.code; - sdt->version = BTA_Data_Ver; - sdt->size = sdat.size; - ServPID = 0; - UseModel = NoModel; - ClockType = Ch7_15; - Sys_Mode = SysStop; - Sys_Target = TagPosition; - Tel_Focus = Prime; - Tel_Hardware = Hard_On; - Tel_Mode = Automatic; - Az_Mode = Rev_Off; - P2_State = P2_Mode = P2_Off; - Foc_State = Foc_Off; - Dome_State = D_Off; - Pos_Corr = PC_On; - TrkOk_Mode = UseDiffVel | UseDiffAZ ; - InpAlpha=InpDelta= 0.; - SrcAlpha=SrcDelta= 0.; - VelAlpha=VelDelta= 0.; - CurAlpha=CurDelta= 0.; - InpAzim=InpZdist = 0.; - Diff_A=Diff_Z=Diff_P=0.0; - pos_cor_A=pos_cor_Z=refract_Z = 0.; - tel_cor_A=tel_cor_Z=tel_ref_Z = 0.; - vel_objA=vel_objZ=vel_objP = 0.; - diff_vA=diff_vZ=diff_vP=0.; - speedA = speedZ = speedP = 0.; - req_speedA = req_speedZ = req_speedP = 0.; - mod_vel_A=mod_vel_Z=mod_vel_P=mod_vel_F=mod_vel_D=0.; - code_KOST = 0; - M_time = S_time = L_time = 0.; - ppndd_A=ppndd_Z=ppndd_P=ppndd_B=0; - dup_A=dup_Z=dup_P=dup_F=dup_D=0; - low_A=low_Z=low_P=low_F=low_D=0; - code_A=code_Z=code_P=code_B=code_F=code_D=code_T1=code_T2=code_T3=code_Wnd=0; - val_A=val_Z=val_P=val_B=val_F=val_D=val_T1=val_T2=val_T3=val_Wnd=val_Alp=val_Del=0.; - vel_A=vel_Z=vel_P=vel_F=vel_D=0.; - for(i=0; imagic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); -} -static void bta_data_close() { - if(sdat.side == ServerSide) { - sdt->magic = 0; - sdt->version = 0; - } -} - -/* ??? */ -/*struct SHM_Block info = {{'I','n','f','o',0},1024,1024,0444,SHM_RDONLY,NULL,NULL,NULL,0,-1,NULL};*/ - -/* Allocate shared memory segment */ -static void get_shm_block( struct SHM_Block *sb, int server) { - int getsize = (server)? sb->maxsize : sb->size; - - /* first try to find existing one */ - sb->id = shmget(sb->key.code, getsize, sb->mode); - - if (sb->id<0 && errno==ENOENT && server) { - /* if no - try to create a new one */ - int cresize = sb->maxsize; - if(sb->size > cresize) { - fprintf(stderr,"Wrong shm maxsize(%d) < realsize(%d)\n",sb->maxsize,sb->size); - cresize = sb->size; - } - sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); - } - if (sb->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create shared memory segment '%s'",sb->key.name); - else - sprintf(msg,"Can't find shared segment '%s' (maybe no server process) ",sb->key.name); - perror(msg); - exit(errno); - } - /* attach it to our memory space */ - sb->addr = (unsigned char *)shmat ( sb->id, NULL, sb->atflag ); - - if ((int)(sb->addr) == -1) { - char msg[80]; - sprintf(msg,"Can't attach shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - if(server) { - if((shmctl(sb->id, SHM_LOCK, NULL) < 0) < 0) { - char msg[80]; - sprintf(msg,"Can't prevents swapping of shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - } - fprintf(stderr,"Create&attach shared memory segment '%s' %dbytes at %x \n", - sb->key.name, sb->size, (uint)sb->addr); - - sb->side = server; - - if(sb->init!=NULL) - sb->init(); -} -static int close_shm_block( struct SHM_Block *sb) { - int ret; - if(sb->close != NULL) - sb->close(); - if(sb->side == ServerSide) { -// ret = shmctl(sb->id, SHM_UNLOCK, NULL); - ret = shmctl(sb->id, IPC_RMID, NULL); - } - ret = shmdt (sb->addr); - return(ret); -} -#endif - -static int check_shm_block( struct SHM_Block *sb) { - if(sb->check != NULL) - return(sb->check()); - else return(1); -} - -#ifndef BTA_MODULE -int snd_id=-1; /* ( ?) */ -int cmd_src_pid=0; /* . */ -__uint32_t cmd_src_ip=0; /* IP-. . */ -#else -extern int snd_id; -extern int cmd_src_pid; -extern __uint32_t cmd_src_ip; -#endif - -#ifndef BTA_MODULE -/* Create|Find command queue */ -static void get_cmd_queue( struct CMD_Queue *cq, int server) { - if (!server && cq->id>=0) { /* if already in use */ - snd_id = cq->id; /* set current... */ - return; - } - /* first try to find existing one */ - cq->id = msgget(cq->key.code, cq->mode); - if (cq->id<0 && errno==ENOENT && server) - /* if no - try to create a new one */ - cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); - if (cq->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create comand queue '%s'",cq->key.name); - else - sprintf(msg,"Can't find comand queue '%s' (maybe no server process) ",cq->key.name); - perror(msg); - exit(errno); - } - cq->side = server; - if (server) { - char buf[120]; /* */ - while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT)>0); - } else - snd_id = cq->id; - cq->acckey = 0; -} -#endif - -/* . */ -static void set_acckey(uint newkey) { - if (snd_id<0) return; - if(ucmd.id==snd_id) ucmd.acckey=newkey; - else if(ocmd.id==snd_id) ocmd.acckey=newkey; - else if(mcmd.id==snd_id) mcmd.acckey=newkey; -} - -/* . */ -/* : IP=0( ) PID . */ -static void set_cmd_src(__uint32_t ip, int pid) { - cmd_src_pid = pid; - cmd_src_ip = ip; -} - -/* */ -struct my_msgbuf { - __int32_t mtype; /* type of message */ - __uint32_t acckey; /* */ - __uint32_t src_pid; /* */ - __uint32_t src_ip; /* IP-. , =0 - */ - char mtext[100]; /* message text */ -}; -/* */ -static void send_cmd(int cmd_code, char *buf, int size) { - struct my_msgbuf mbuf; - - if (snd_id<0) return; - if (size>100) size=100; - if (cmd_code>0) - mbuf.mtype = cmd_code; - else - return; - if(ucmd.id==snd_id) mbuf.acckey=ucmd.acckey; - else if(ocmd.id==snd_id) mbuf.acckey=ocmd.acckey; - else if(mcmd.id==snd_id) mbuf.acckey=mcmd.acckey; - - mbuf.src_pid = cmd_src_pid? cmd_src_pid : getpid(); - mbuf.src_ip = cmd_src_ip; - cmd_src_pid = cmd_src_ip = 0; - - if(size>0) - memcpy( mbuf.mtext, buf, size); - else { - mbuf.mtext[0] = 0; - size = 1; - } - msgsnd( snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); -} -static void send_cmd_noarg(int cmd_code) { - send_cmd(cmd_code, NULL, 0); -} -static void send_cmd_str(int cmd_code, char *arg) { - send_cmd(cmd_code, arg, strlen(arg)+1); -} -static void send_cmd_i1(int cmd_code, int arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(int)); -} -static void send_cmd_i2(int cmd_code, int arg1, int arg2) { - int ibuf[2]; - ibuf[0] = arg1; - ibuf[1] = arg2; - send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int)); -} -static void send_cmd_i3(int cmd_code, int arg1, int arg2, int arg3) { - int ibuf[3]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int)); -} -static void send_cmd_i4(int cmd_code, int arg1, int arg2, int arg3, int arg4) { - int ibuf[4]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - ibuf[3] = arg4; - send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int)); -} -static void send_cmd_d1(int cmd_code, double arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(double)); -} -static void send_cmd_d2(int cmd_code, double arg1, double arg2) { - double dbuf[2]; - dbuf[0] = arg1; - dbuf[1] = arg2; - send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); -} -static void send_cmd_i1d1(int cmd_code, int arg1, double arg2) { - struct { - int ival; - double dval; - } buf; - buf.ival = arg1; - buf.dval = arg2; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i2d1(int cmd_code, int arg1, int arg2, double arg3) { - struct { - int ival[2]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.dval = arg3; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i3d1(int cmd_code, int arg1, int arg2, int arg3, double arg4) { - struct { - int ival[3]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.ival[2] = arg3; - buf.dval = arg4; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} - -static void encode_lev_passwd(char *passwd, int nlev, uint *keylev, uint *codlev) { - char salt[4]; - char *encr; - union { - uint ui; - char c[4]; - } key,cod; - sprintf(salt,"L%1d",nlev); - encr = (char *)crypt(passwd, salt); - cod.c[0] = encr[2]; - key.c[0] = encr[3]; - cod.c[1] = encr[4]; - key.c[1] = encr[5]; - cod.c[2] = encr[6]; - key.c[2] = encr[7]; - cod.c[3] = encr[8]; - key.c[3] = encr[9]; - *keylev = key.ui; - *codlev = cod.ui; -} - -static int find_lev_passwd(char *passwd, uint *keylev, uint *codlev) { - int nlev; - for(nlev=5; nlev>0; nlev--) { - encode_lev_passwd(passwd, nlev, keylev, codlev); - if(nlev == 1 && code_Lev1 == *codlev) break; - if(nlev == 2 && code_Lev2 == *codlev) break; - if(nlev == 3 && code_Lev3 == *codlev) break; - if(nlev == 4 && code_Lev4 == *codlev) break; - if(nlev == 5 && code_Lev5 == *codlev) break; - } - return(nlev); -} - -static int check_lev_passwd(char *passwd) { - uint keylev,codlev; - int nlev; - nlev = find_lev_passwd(passwd, &keylev, &codlev); - if(nlev>0) set_acckey(keylev); - return(nlev); -} - -#pragma GCC diagnostic pop +// restore packing +#pragma pack(pop) +//#pragma GCC diagnostic pop #endif // __BTA_SHDATA_H__ diff --git a/C/bta_shdata.h b/C/bta_shdata.h deleted file mode 100644 index 49607dc..0000000 --- a/C/bta_shdata.h +++ /dev/null @@ -1,1158 +0,0 @@ -#pragma once -#ifndef __BTA_SHDATA_H__ -#define __BTA_SHDATA_H__ - -#define _XOPEN_SOURCE 501 -/* */ -/* : */ -/* BTA_MODULE - - . C- ( .) */ -/* SHM_OLD_SIZE - - */ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#pragma GCC diagnostic ignored "-Wunused-function" -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wmissing-braces" -#pragma GCC diagnostic ignored "-Wsequence-point" -#pragma GCC diagnostic ignored "-Wpointer-to-int-cast" -#pragma GCC diagnostic ignored "-Wimplicit-function-declaration" - -//#define int __int32_t -#define uint __uint32_t - -struct SHM_Block { /* */ - union { - char name[5]; /* */ - key_t code; - } key; - int size; /* */ - int maxsize; /* (" " ) */ - int mode; /* (rwxrwxrwx) */ - int atflag; /* (SHM_RDONLY 0) */ - void (*init)(); /* */ - int (*check)(); /* */ - void (*close)(); /* */ - int side; /* : / */ - int id; /* */ - unsigned char *addr; /* */ -}; - -struct CMD_Queue { /* () */ - union { - char name[5]; /* */ - key_t code; - } key; - int mode; /* (rwxrwxrwx) */ - int side; /* : / (Sender/Receiver)*/ - int id; /* */ - uint acckey; /* ( ->) */ -}; - -#ifndef BTA_MODULE -/* (Level5)*/ -struct CMD_Queue mcmd = {{'M','c','m','d',0},0200,0,-1,0}; -/* () (Level4)*/ -struct CMD_Queue ocmd = {{'O','c','m','d',0},0200,0,-1,0}; -/* () (Level2/3)*/ -struct CMD_Queue ucmd = {{'U','c','m','d',0},0200,0,-1,0}; -#else -extern struct CMD_Queue mcmd; -extern struct CMD_Queue ocmd; -extern struct CMD_Queue ucmd; -#endif - -static void send_cmd_noarg(int); -static void send_cmd_str(int, char *); -static void send_cmd_i1(int, int); -static void send_cmd_i2(int, int, int); -static void send_cmd_i3(int, int, int, int); -static void send_cmd_i4(int, int, int, int, int); -static void send_cmd_d1(int, double); -static void send_cmd_d2(int, double, double); -static void send_cmd_i1d1(int, int, double); -static void send_cmd_i2d1(int, int, int, double); -static void send_cmd_i3d1(int, int, int, int, double); - -/* */ -/* */ -#define StopTel 1 /* */ -#define StopTeleskope() send_cmd_noarg( 1 ) /* . */ -#define StartHS 2 /* */ -#define StartHightSpeed() send_cmd_noarg( 2 ) /* /*/ -#define StartLS 3 /* */ -#define StartLowSpeed() send_cmd_noarg( 3 ) /* /*/ -#define SetTmr 4 /* . Ch7_15 SysTimer */ -#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) /* .. */ -#define SetModMod 5 /* . */ -#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) /* .. */ -#define SetCodA 6 /* A */ -#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) /* /*/ -#define SetCodZ 7 /* Z */ -#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) /* /*/ -#define SetCodP 8 /* P */ -#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) /* /*/ -#define SetVA 9 /* . A */ -#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) /* /*/ -#define SetVZ 10 /* . Z */ -#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) /* /*/ -#define SetVP 11 /* . P */ -#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) /* /*/ -#define SetAD 12 /* . R.A. Decl */ -#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))/* .*/ -#define SetAZ 13 /* . ..*/ -#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))/* .*/ -#define GoToAD 14 /* ( R.A. Decl)*/ -#define GoToObject() send_cmd_noarg(14 ) /* . */ -#define MoveToAD 15 /* ( R.A. Decl)*/ -#define MoveToObject() send_cmd_noarg(15 ) /* .*/ -#define GoToAZ 16 /* ( A Z)*/ -#define GoToAzimZ() send_cmd_noarg(16 ) /* . */ -#define WriteAZ 17 /* A Z FullModel*/ -#define WriteModelAZ() send_cmd_noarg(17 ) /* . */ -#define SetModP 18 /* . P2 */ -#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) /* .*/ -#define P2Move 19 /* ./. (+-1,0) P2 */ -#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) /* .*/ -#define FocMove 20 /* ./. (+-2,+-1,0) */ -#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) /* .*/ -#define UsePCorr 21 /* () */ -#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) /* . */ -#define SetTrkFlags 22 /* . */ -#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) /* .*/ -#define SetTFoc 23 /* .: 0-, 1-1, 2-2 */ -#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) /* . */ -#define SetVAD 24 /* ...- R.A. Decl */ -#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))/* .*/ -#define SetRevA 25 /* . "" */ -#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) /* .*/ -#define SetVP2 26 /* ...- P2 ( ) */ -#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) /* .*/ -#define SetTarg 27 /* . */ -#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) /* .*/ -#define SendMsg 28 /* ( ) */ -#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) /* .*/ -#define CorrAD 29 /* R.A. Decl */ -#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))/* .*/ -#define CorrAZ 30 /* A Z*/ -#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))/* .*/ -#define SetVCAZ 31 /* .. A Z*/ -#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))/* .*/ -#define P2MoveTo 32 /* P2 */ -#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))/* .*/ -#define GoToTD 33 /* ( t Decl)*/ -#define GoToSat() send_cmd_noarg (33 ) /* ..*/ -#define MoveToTD 34 /* ( t Decl)*/ -#define MoveToSat() send_cmd_noarg (34 ) /* .*/ -#define NullCom 35 /* ( ?) */ -#define SyncCom() send_cmd_noarg (35 ) /* . */ -#define StartTel 36 /* "" */ -#define StartTeleskope() send_cmd_noarg(36 ) /* . */ -#define SetTMod 37 /* . */ -#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) /* .. */ -#define TelOn 38 /* . , ..*/ -#define TeleskopeOn() send_cmd_noarg(38 ) /* .. */ -#define SetModD 39 /* . */ -#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) /* ..*/ -#define DomeMove 40 /* ./. (+-1+-2,+-3,0) */ -#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) /* .*/ -#define SetPass 41 /* . */ -#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) /* ..*/ -#define SetLevC 42 /* . */ -#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) /* ..*/ -#define SetLevK 43 /* . */ -#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) /* ..*/ -#define SetNet 44 /* . */ -#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) /* ..*/ -#define SetMet 45 /* */ -#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) /* .*/ -#define TurnMetOff 46 /* . */ -#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) /* .*/ -#define SetDUT1 47 /* ..(IERS DUT1=UT1-UTC) */ -#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) /* ..*/ -#define SetPM 48 /* ..(IERS polar motion)*/ -#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) /* ..*/ -#define GetSEW 49 /* SEW */ -#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) /* M..*/ -#define PutSEW 50 /* SEW */ -#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) /* M..*/ -#define SetLocks 51 /* */ -#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) /* M..*/ -#define ClearLocks 52 /* */ -#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) /* M..*/ -#define SetRKbits 53 /* . PEP-RK */ -#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) /* M..*/ -#define ClrRKbits 54 /* . PEP-RK */ -#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) /* M..*/ -#define SetSEWnd 55 /* . SEW- ( )*/ -#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) /* ..*/ -#define SEWsDome 56 /* ./. SEW- */ -#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) /* ..*/ - - -/* ( " ") */ -#define BTA_Data_Ver 2 -#pragma pack(4) -//struct __attribute__((packed)) BTA_Data { -struct BTA_Data { - int magic; /* */ - int version; /* = BTA_Data_Ver*/ - int size; /* = sizeof(struct BTA_Data)*/ - int pid; -#define ServPID (sdt->pid) /* .. */ - - /* */ - int model; -#define UseModel (sdt->model) /* */ -#define NoModel 0 /* */ -#define CheckModel 1 /* */ -#define DriveModel 2 /* "" */ -#define FullModel 3 /* */ - int timer; -#define ClockType (sdt->timer) /* */ -#define Ch7_15 0 /* . . 7-15 */ -#define SysTimer 1 /* ( ) */ -#define ExtSynchro 2 /* (bta_time xntpd)*/ - int system; -#define Sys_Mode (sdt->system) /* */ -#define SysStop 0 /* */ -#define SysWait 1 /* () */ -#define SysPointAZ 2 /* ( A Z)*/ -#define SysPointAD 3 /* ( R.A. Decl)*/ -#define SysTrkStop 4 /* : */ -#define SysTrkStart 5 /* : . ()*/ -#define SysTrkMove 6 /* : */ -#define SysTrkSeek 7 /* : */ -#define SysTrkOk 8 /* : */ -#define SysTrkCorr 9 /* : */ -#define SysTest 10 /* */ - int sys_target; -#define Sys_Target (sdt->sys_target) /* */ -#define TagPosition 0 /* A/Z */ -#define TagObject 1 /* Alpha/Delta */ -#define TagNest 2 /* "" */ -#define TagZenith 3 /* "" */ -#define TagHorizon 4 /* "" */ -#define TagStatObj 5 /* "" t/Delta */ - - int tel_focus; -#define Tel_Focus (sdt->tel_focus) /* : 0-, 1-1, 2-2 */ -#define Prime 0 -#define Nasmyth1 1 -#define Nasmyth2 2 - double pc_coeff[8]; -#define PosCor_Coeff (sdt->pc_coeff) /* - . */ - - /* */ -#define Stopping 0 /* */ -#define Pointing 1 /* */ -#define Tracking 2 /* */ - int tel_state; -#define Tel_State (sdt->tel_state) /* */ - int req_state; -#define Req_State (sdt->req_state) /* */ - int tel_hard_state; -#define Tel_Hardware (sdt->tel_hard_state) /* */ -#define Hard_Off 0 /* */ -#define Hard_On 1 /* */ - - /* */ - int tel_mode; -#define Tel_Mode (sdt->tel_mode) -#define Automatic 0 /* "" - */ -#define Manual 1 /* "/.." - :*/ -#define ZenHor 2 /* "-" - Z<5 Z>80*/ -#define A_Move 4 /* A */ -#define Z_Move 8 /* --- "" --- Z */ -#define Balance 0x10 /* */ - - /* ./. "" */ - int az_mode; -#define Az_Mode (sdt->az_mode) -#define Rev_Off 0 /* */ -#define Rev_On 1 /* 360. */ - - /* P2 */ - int p2_state; -#define P2_State (sdt->p2_state) /* P2 */ -#define P2_Off 0 /* */ -#define P2_On 1 /* */ -#define P2_Plus 2 /* + */ -#define P2_Minus -2 /* - */ - int p2_req_mode; -#define P2_Mode (sdt->p2_req_mode) /* P2 (: /)*/ - - /* */ - int focus_state; -#define Foc_State (sdt->focus_state) -#define Foc_Off 0 /* */ -#define Foc_Lplus 1 /* . + */ -#define Foc_Lminus -1 /* . - */ -#define Foc_Hplus 2 /* + */ -#define Foc_Hminus -2 /* - */ - - /* */ - int dome_state; -#define Dome_State (sdt->dome_state) -#define D_On 7 /* */ -#define D_Off 0 /* */ -#define D_Lplus 1 /* . + */ -#define D_Lminus -1 /* . - */ -#define D_Mplus 2 /* .. + */ -#define D_Mminus -2 /* .. - */ -#define D_Hplus 3 /* + */ -#define D_Hminus -3 /* - */ - -/* () */ - int pcor_mode; -#define Pos_Corr (sdt->pcor_mode) /* A/Z: /*/ -#define PC_Off 0 /* . */ -#define PC_On 1 /* . */ - -/* /. */ - int trkok_mode; -#define TrkOk_Mode (sdt->trkok_mode) -#define UseDiffVel 1 /* & (~)*/ -#define UseDiffAZ 2 /* ( ..) */ -#define UseDFlt 4 /* . */ - - /* */ - double i_alpha, i_delta; -#define InpAlpha (sdt->i_alpha) /* R.A. (sec) */ -#define InpDelta (sdt->i_delta) /* -- " -- Decl. (") */ - double s_alpha, s_delta; -#define SrcAlpha (sdt->s_alpha) /* R.A. (sec) */ -#define SrcDelta (sdt->s_delta) /* -- " -- Decl. (") */ - double v_alpha, v_delta; -#define VelAlpha (sdt->v_alpha) /* ..- R.A. (sec/) */ -#define VelDelta (sdt->v_delta) /* -- " -- Decl. ("/) */ - double i_azim, i_zdist; -#define InpAzim (sdt->i_azim) /* (") */ -#define InpZdist (sdt->i_zdist) /* -- " -- .. (") */ - - /* */ - double c_alpha, c_delta; -#define CurAlpha (sdt->c_alpha) /* R.A. (sec) */ -#define CurDelta (sdt->c_delta) /* -- " -- Decl. (") */ - double tag_a, tag_z, tag_p; -#define tag_A (sdt->tag_a) /* A (") */ -#define tag_Z (sdt->tag_z) /* - " - Z (") - " - */ -#define tag_P (sdt->tag_p) /* - " - P (") - " - */ - double pcor_a, pcor_z, refr_z; -#define pos_cor_A (sdt->pcor_a) /* A (") */ -#define pos_cor_Z (sdt->pcor_z) /* - " - - " - Z (") */ -#define refract_Z (sdt->refr_z) /* (") */ - double tcor_a, tcor_z, tref_z; -#define tel_cor_A (sdt->tcor_a) /* . A (") */ -#define tel_cor_Z (sdt->tcor_z) /* - " - - " - - " - Z (") */ -#define tel_ref_Z (sdt->tref_z) /* . (") */ - double diff_a, diff_z, diff_p; -#define Diff_A (sdt->diff_a) /* -( ) A (") */ -#define Diff_Z (sdt->diff_z) /* - " - - " - Z (") */ -#define Diff_P (sdt->diff_p) /* - " - - " - P (") */ - double vbasea,vbasez,vbasep; -#define vel_objA (sdt->vbasea) /* A ("/) */ -#define vel_objZ (sdt->vbasez) /* - " - - " - Z - " - */ -#define vel_objP (sdt->vbasep) /* - " - - " - P - " - */ - double diffva,diffvz,diffvp; -#define diff_vA (sdt->diffva) /* */ -#define diff_vZ (sdt->diffvz) /* -- "" -- -- "" -- Z */ -#define diff_vP (sdt->diffvp) /* -- "" -- -- "" -- P */ - double speeda,speedz,speedp; -#define speedA (sdt->speeda) /* A ("/) */ -#define speedZ (sdt->speedz) /* - " - Z - " - */ -#define speedP (sdt->speedp) /* - " - P - " - */ - double m_time_precip; -#define Precip_time (sdt->m_time_precip)/* (precipitations)*/ - unsigned char reserve[16]; -#define Reserve (sdt->reserve) /* */ - double rspeeda, rspeedz, rspeedp; -#define req_speedA (sdt->rspeeda) /* ("/) A */ -#define req_speedZ (sdt->rspeedz) /* - " - Z */ -#define req_speedP (sdt->rspeedp) /* - " - P */ - double simvela, simvelz, simvelp, simvelf, simveld; -#define mod_vel_A (sdt->simvela) /* A ("/) */ -#define mod_vel_Z (sdt->simvelz) /* - " - Z - " - */ -#define mod_vel_P (sdt->simvelp) /* - " - P - " - */ -#define mod_vel_F (sdt->simvelf) /* - " - F - " - */ -#define mod_vel_D (sdt->simvelf) /* - " - D - " - */ - - - /* */ - uint kost; -#define code_KOST (sdt->kost) /* . */ - /* 0x8000 - */ - /* 0x4000 - . */ - /* 0x2000 - */ - /* 0x1000 - P2 .*/ - /* 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) */ - /* 0x000F - .. +Z -Z +A -A */ - double m_time, s_time, l_time; -#define M_time (sdt->m_time) /* ( UTC!)*/ -#define S_time (sdt->s_time) /* */ -#define L_time (sdt->l_time) /* */ - uint ppndd_a, ppndd_z, ppndd_p, ppndd_b; -#define ppndd_A (sdt->ppndd_a) /* ( ) A */ -#define ppndd_Z (sdt->ppndd_z) /* - "" - Z */ -#define ppndd_P (sdt->ppndd_p) /* - "" - P */ -#define ppndd_B (sdt->ppndd_b) /* */ - uint dup_a, dup_z, dup_p, dup_f, dup_d; -#define dup_A (sdt->dup_a) /* ( ) A */ -#define dup_Z (sdt->dup_z) /* - "" - Z */ -#define dup_P (sdt->dup_p) /* - "" - P */ -#define dup_F (sdt->dup_f) /* */ -#define dup_D (sdt->dup_d) /* */ - uint low_a, low_z, low_p, low_f, low_d; -#define low_A (sdt->low_a) /* 14- . A */ -#define low_Z (sdt->low_z) /* - "" - Z */ -#define low_P (sdt->low_p) /* - "" - P */ -#define low_F (sdt->low_f) /* */ -#define low_D (sdt->low_d) /* */ - uint code_a, code_z, code_p, code_b, code_f, code_d; -#define code_A (sdt->code_a) /* 23- . A */ -#define code_Z (sdt->code_z) /* - "" - Z */ -#define code_P (sdt->code_p) /* - "" - P */ -#define code_B (sdt->code_b) /* */ -#define code_F (sdt->code_f) /* */ -#define code_D (sdt->code_d) /* */ - uint adc[8]; -#define ADC(N) (sdt->adc[(N)]) /* 8- PCL818 */ -#define code_T1 ADC(0) /* . */ -#define code_T2 ADC(1) /* .*/ -#define code_T3 ADC(2) /* */ -#define code_Wnd ADC(3) /* */ - double val_a, val_z, val_p, val_b, val_f, val_d; - double val_t1, val_t2, val_t3, val_wnd; -#define val_A (sdt->val_a) /* A (") */ -#define val_Z (sdt->val_z) /* - " - Z (") */ -#define val_P (sdt->val_p) /* - " - P (") */ -#define val_B (sdt->val_b) /* e (...)*/ -#define val_F (sdt->val_f) /* () */ -#define val_D (sdt->val_d) /* (") */ -#define val_T1 (sdt->val_t1) /* . (.)*/ -#define val_T2 (sdt->val_t2) /* .(.)*/ -#define val_T3 (sdt->val_t3) /* (.)*/ -#define val_Wnd (sdt->val_wnd) /* (/)*/ - double val_alp, val_del; -#define val_Alp (sdt->val_alp) /* R.A. (sec) */ -#define val_Del (sdt->val_del) /* -- " -- Decl. (") */ - - double vel_a, vel_z, vel_p, vel_f, vel_d; -#define vel_A (sdt->vel_a) /* A ("/) */ -#define vel_Z (sdt->vel_z) /* - " - Z - " - */ -#define vel_P (sdt->vel_p) /* - " - P - " - */ -#define vel_F (sdt->vel_f) /* - " - F - " - */ -#define vel_D (sdt->vel_d) /* - " - D - " - */ - - /* */ -#define MesgNum 3 -#define MesgLen 39 - //struct __attribute__((packed)) SysMesg { - struct SysMesg { - int seq_num; - char type; -#define MesgEmpty 0 -#define MesgInfor 1 -#define MesgWarn 2 -#define MesgFault 3 -#define MesgLog 4 - char text[MesgLen]; - } sys_msg_buf[MesgNum]; -#define Sys_Mesg(N) (sdt->sys_msg_buf[N]) - - /* */ - /* */ - uint code_lev1,code_lev2,code_lev3,code_lev4,code_lev5; -#define code_Lev1 (sdt->code_lev1) /* " " - */ -#define code_Lev2 (sdt->code_lev2) /* " " - + */ -#define code_Lev3 (sdt->code_lev3) /* " " - + A/Z--, .P2/F */ -#define code_Lev4 (sdt->code_lev4) /* "" - + / ., */ -#define code_Lev5 (sdt->code_lev5) /* " " - */ - /* */ - uint netmask, netaddr, acsmask, acsaddr; -#define NetMask (sdt->netmask) /* (: 255.255.255.0) */ -#define NetWork (sdt->netaddr) /* (: 192.168.3.0) */ -#define ACSMask (sdt->acsmask) /* - (: 255.255.255.0) */ -#define ACSNet (sdt->acsaddr) /* - (: 192.168.13.0) */ - - /* - */ - int meteo_stat; -#define MeteoMode (sdt->meteo_stat) /* */ -#define INPUT_B 1 /* *//* */ -#define INPUT_T1 2 /* T- */ -#define INPUT_T2 4 /* T- */ -#define INPUT_T3 8 /* T- */ -#define INPUT_WND 0x10 /* */ -#define INPUT_HMD 0x20 /* */ -#define SENSOR_B (INPUT_B <<8) /* - (e.g. CAN-)*/ -#define SENSOR_T1 (INPUT_T1 <<8) -#define SENSOR_T2 (INPUT_T2 <<8) -#define SENSOR_T3 (INPUT_T3 <<8) -#define SENSOR_WND (INPUT_WND<<8) -#define SENSOR_HMD (INPUT_HMD<<8) -#define ADC_B (INPUT_B <<16) /* . */ -#define ADC_T1 (INPUT_T1 <<16) -#define ADC_T2 (INPUT_T2 <<16) -#define ADC_T3 (INPUT_T3 <<16) -#define ADC_WND (INPUT_WND<<16) -#define ADC_HMD (INPUT_HMD<<16) -#define NET_B (INPUT_B <<24) /* */ -#define NET_T1 (INPUT_T1 <<24) -#define NET_WND (INPUT_WND<<24) -#define NET_HMD (INPUT_HMD<<24) - double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; -#define inp_B (sdt->inp_b) /* e (...)*/ -#define inp_T1 (sdt->inp_t1) /* . (.)*/ -#define inp_T2 (sdt->inp_t2) /* .(.)*/ -#define inp_T3 (sdt->inp_t3) /* (.)*/ -#define inp_Wnd (sdt->inp_wnd) /* (/)*/ - - double temper, press; -#define Temper (sdt->temper) /* */ -#define Pressure (sdt->press) /* */ - double m_time10, m_time15; -#define Wnd10_time (sdt->m_time10) /* >=10/*/ -#define Wnd15_time (sdt->m_time15) /* - " - - " - - " - >=15/*/ - - /* IERS DUT1 (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double dut1; -#define DUT1 (sdt->dut1) /* . : DUT1 = UT1-UTC */ - - double a_time, z_time, p_time; -#define A_time (sdt->a_time) /* A */ -#define Z_time (sdt->z_time) /* - " - - " - - " - Z */ -#define P_time (sdt->p_time) /* - " - - " - - " - P */ - - double speedain, speedzin, speedpin; -#define speedAin (sdt->speedain) /* - A */ -#define speedZin (sdt->speedzin) /* - Z */ -#define speedPin (sdt->speedpin) /* - P2*/ - - double acc_a, acc_z, acc_p, acc_f, acc_d; -#define acc_A (sdt->acc_a) /* A ("/^2) */ -#define acc_Z (sdt->acc_z) /* - " - Z - " - */ -#define acc_P (sdt->acc_p) /* - " - P - " - */ -#define acc_F (sdt->acc_f) /* - " - F - " - */ -#define acc_D (sdt->acc_d) /* - " - D - " - */ - - uint code_sew; -#define code_SEW (sdt->code_sew) /* . SEW- */ - -/* SEW- */ -//struct __attribute__((packed)) SEWdata { -struct SEWdata { - int status; - double set_speed; - double mes_speed; - double current; - int index; - union { - unsigned char b[4]; - __uint32_t l; - } value; -} sewdrv[3]; -#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) /* */ -#define statusSEW1 (sdt->sewdrv[0].status) -#define statusSEW2 (sdt->sewdrv[1].status) -#define statusSEW3 (sdt->sewdrv[2].status) -#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) /* */ -#define speedSEW1 (sdt->sewdrv[0].set_speed) /* / (rpm)*/ -#define speedSEW2 (sdt->sewdrv[1].set_speed) -#define speedSEW3 (sdt->sewdrv[2].set_speed) -#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) /* */ -#define vel_SEW1 (sdt->sewdrv[0].mes_speed) /* / (rpm)*/ -#define vel_SEW2 (sdt->sewdrv[1].mes_speed) -#define vel_SEW3 (sdt->sewdrv[2].mes_speed) -#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) /* ()*/ -#define currentSEW1 (sdt->sewdrv[0].current) -#define currentSEW2 (sdt->sewdrv[1].current) -#define currentSEW3 (sdt->sewdrv[2].current) -#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) /* */ -#define indexSEW1 (sdt->sewdrv[0].index) -#define indexSEW2 (sdt->sewdrv[1].index) -#define indexSEW3 (sdt->sewdrv[2].index) -#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) /* */ -#define valueSEW1 (sdt->sewdrv[0].value.l) -#define valueSEW2 (sdt->sewdrv[1].value.l) -#define valueSEW3 (sdt->sewdrv[2].value.l) -#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) /* */ - -/* PEP- */ - uint pep_code_a, pep_code_z, pep_code_p; -#define PEP_code_A (sdt->pep_code_a) /* 23- . A */ -#define PEP_code_Z (sdt->pep_code_z) /* - "" - Z */ -#define PEP_code_P (sdt->pep_code_p) /* - "" - P */ - uint pep_sw_a, pep_sw_z, pep_sw_p; -#define switch_A (sdt->pep_sw_a) /* */ -#define Sw_minus_A 1 /* (. code_KOST&0x8000)*/ -#define Sw_plus240_A 2 /* "+240" */ -#define Sw_minus240_A 4 /* "-240" */ -#define Sw_minus45_A 8 /* " " (~-46)*/ -#define switch_Z (sdt->pep_sw_z) /* Z */ -#define Sw_0_Z 0x01 /* "0" */ -#define Sw_5_Z 0x02 /* "5" */ -#define Sw_20_Z 0x04 /* "20" */ -#define Sw_60_Z 0x08 /* "60" */ -#define Sw_80_Z 0x10 /* "80" */ -#define Sw_90_Z 0x20 /* "90" */ -#define switch_P (sdt->pep_sw_p) /* - "" - */ -#define Sw_No_P 0x00 /* " " */ -#define Sw_22_P 0x01 /* "22" */ -#define Sw_89_P 0x02 /* "89" */ -#define Sw_Sm_P 0x80 /* */ - uint pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; -#define PEP_code_F (sdt->pep_code_f) /* */ -#define PEP_code_D (sdt->pep_code_d) /* */ -#define PEP_code_Rin (sdt->pep_code_ri)/* */ -#define PEP_code_Rout (sdt->pep_code_ro)/* */ - unsigned char pep_on[10]; /* PEP- */ -#define PEP_A_On (sdt->pep_on[0]) -#define PEP_A_Off (PEP_A_On==0) -#define PEP_Z_On (sdt->pep_on[1]) -#define PEP_Z_Off (PEP_Z_On==0) -#define PEP_P_On (sdt->pep_on[2]) -#define PEP_P_Off (PEP_P_On==0) -#define PEP_F_On (sdt->pep_on[3]) -#define PEP_F_Off (PEP_F_On==0) -#define PEP_D_On (sdt->pep_on[4]) -#define PEP_D_Off (PEP_D_On==0) -#define PEP_R_On (sdt->pep_on[5]) -#define PEP_R_Off ((PEP_R_On&1)==0) -#define PEP_R_Inp ((PEP_R_On&2)!=0) -#define PEP_K_On (sdt->pep_on[6]) -#define PEP_K_Off ((PEP_K_On&1)==0) -#define PEP_K_Inp ((PEP_K_On&2)!=0) - - /* IERS polar motion (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double xpol, ypol; -#define polarX (sdt->xpol) /* X-a . */ -#define polarY (sdt->ypol) /* Y-a . */ - - double jdate, eetime; -#define JDate (sdt->jdate) /* */ -#define EE_time (sdt->eetime) /* ... "Equation of the Equinoxes" */ - - /* - */ - double val_hmd, inp_hmd; -#define val_Hmd (sdt->val_hmd) /* (%) */ -#define inp_Hmd (sdt->val_hmd) /* */ - - /* () */ - double worm_a, worm_z; -#define worm_A (sdt->worm_a) /* A () */ -#define worm_Z (sdt->worm_z) /* Z () */ - - /* */ - __uint32_t lock_flags; -#define LockFlags (sdt->lock_flags) -#define Lock_A 0x01 -#define Lock_Z 0x02 -#define Lock_P 0x04 -#define Lock_F 0x08 -#define Lock_D 0x10 -#define A_Locked (LockFlags&Lock_A) -#define Z_Locked (LockFlags&Lock_Z) -#define P_Locked (LockFlags&Lock_P) -#define F_Locked (LockFlags&Lock_F) -#define D_Locked (LockFlags&Lock_D) - - /* ( - SEW-)*/ - int sew_dome_speed; /* Dome_State */ -#define Dome_Speed (sdt->sew_dome_speed) /* .. D_Lplus,D_Lminus,.... */ - -/* SEW- ( )*/ - int sew_dome_num; -#define DomeSEW_N (sdt->sew_dome_num) - -/* (DomeSEW_N) SEW- */ -struct SEWdata sewdomedrv; -#define statusSEWD (sdt->sewdomedrv.status) /* */ -#define speedSEWD (sdt->sewdomedrv.set_speed) /* / (rpm)*/ -#define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ -#define currentSEWD (sdt->sewdomedrv.current) /* ()*/ -#define indexSEWD (sdt->sewdomedrv.index) /* */ -#define valueSEWD (sdt->sewdomedrv.value.l) /* */ - -/* PEP- */ - uint pep_code_di, pep_code_do; -#define PEP_code_Din (sdt->pep_code_di) /* PEP- */ -#define PEP_Dome_SEW_Ok 0x200 -#define PEP_Dome_Cable_Ok 0x100 -#define PEP_code_Dout (sdt->pep_code_do) /* PEP- */ -#define PEP_Dome_SEW_On 0x10 -#define PEP_Dome_SEW_Off 0x20 - -}; - -#ifndef BTA_MODULE -struct BTA_Data *sdt; -#else -extern struct BTA_Data *sdt; -#endif - -struct BTA_Local { /* */ - unsigned char reserve[120]; /* */ - /* ( 1500 ) */ - double pr_oil_a,pr_oil_z,pr_oil_t; -#define PressOilA (sdtl->pr_oil_a) /* A () */ -#define PressOilZ (sdtl->pr_oil_z) /* Z () */ -#define PressOilTank (sdtl->pr_oil_t) /* () */ - double t_oil_1,t_oil_2; -#define OilTemper1 (sdtl->t_oil_1) /* */ -#define OilTemper2 (sdtl->t_oil_2) /* */ -}; - -#ifndef BTA_MODULE -struct BTA_Local *sdtl; /* , */ -#else -extern struct BTA_Local *sdtl; -#endif - -#define ClientSide 0 -#define ServerSide 1 - -#ifndef BTA_MODULE -static void bta_data_init(); -static int bta_data_check(); -static void bta_data_close(); - -/* (" ") */ -struct SHM_Block sdat = { -{'S','d','a','t',0},sizeof(struct BTA_Data),2048,0444,SHM_RDONLY,bta_data_init,bta_data_check,bta_data_close,0,-1,NULL -}; -#else -extern struct SHM_Block sdat; -#endif - -#ifndef BTA_MODULE -/* ( " ") */ -static void bta_data_init() { - int i; - sdt = (struct BTA_Data *)sdat.addr; - sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); - if(sdat.side == ClientSide) { - if(sdt->magic != sdat.key.code) { - fprintf(stderr,"Wrong shared data (maybe server turned off)\n"); - /*exit(1);*/ - } - if(sdt->version == 0) { - fprintf(stderr,"Null shared data version (maybe server turned off)\n"); - /*exit(1);*/ - } - else if(sdt->version != BTA_Data_Ver) { - fprintf(stderr,"Wrong shared data version: I'am - %d, but server - %d ...\n", - BTA_Data_Ver, sdt->version ); - /*exit(1);*/ - } - if(sdt->size != sdat.size) { - if(sdt->size > sdat.size) { - /* */ - fprintf(stderr,"Wrong shared area size: I needs - %d, but server - %d ...\n", - sdat.size, sdt->size ); - } else { - /* "" */ - /* ! */ - fprintf(stderr,"Attention! Too little shared data structure!\n"); - sleep(1); - fprintf(stderr,"I needs - %d, but server gives only %d ...\n", - sdat.size, sdt->size ); - sleep(1); - fprintf(stderr,"May be server's version too old!?\n"); - /* exit(1); */ - - } - } - return; - } - /* ServerSide */ - if(sdt->magic != sdat.key.code || - sdt->version != BTA_Data_Ver || - sdt->size != sdat.size) { - - for(i=0; imagic = sdat.key.code; - sdt->version = BTA_Data_Ver; - sdt->size = sdat.size; - ServPID = 0; - UseModel = NoModel; - ClockType = Ch7_15; - Sys_Mode = SysStop; - Sys_Target = TagPosition; - Tel_Focus = Prime; - Tel_Hardware = Hard_On; - Tel_Mode = Automatic; - Az_Mode = Rev_Off; - P2_State = P2_Mode = P2_Off; - Foc_State = Foc_Off; - Dome_State = D_Off; - Pos_Corr = PC_On; - TrkOk_Mode = UseDiffVel | UseDiffAZ ; - InpAlpha=InpDelta= 0.; - SrcAlpha=SrcDelta= 0.; - VelAlpha=VelDelta= 0.; - CurAlpha=CurDelta= 0.; - InpAzim=InpZdist = 0.; - Diff_A=Diff_Z=Diff_P=0.0; - pos_cor_A=pos_cor_Z=refract_Z = 0.; - tel_cor_A=tel_cor_Z=tel_ref_Z = 0.; - vel_objA=vel_objZ=vel_objP = 0.; - diff_vA=diff_vZ=diff_vP=0.; - speedA = speedZ = speedP = 0.; - req_speedA = req_speedZ = req_speedP = 0.; - mod_vel_A=mod_vel_Z=mod_vel_P=mod_vel_F=mod_vel_D=0.; - code_KOST = 0; - M_time = S_time = L_time = 0.; - ppndd_A=ppndd_Z=ppndd_P=ppndd_B=0; - dup_A=dup_Z=dup_P=dup_F=dup_D=0; - low_A=low_Z=low_P=low_F=low_D=0; - code_A=code_Z=code_P=code_B=code_F=code_D=code_T1=code_T2=code_T3=code_Wnd=0; - val_A=val_Z=val_P=val_B=val_F=val_D=val_T1=val_T2=val_T3=val_Wnd=val_Alp=val_Del=0.; - vel_A=vel_Z=vel_P=vel_F=vel_D=0.; - for(i=0; imagic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); -} -static void bta_data_close() { - if(sdat.side == ServerSide) { - sdt->magic = 0; - sdt->version = 0; - } -} - -/* ??? */ -/*struct SHM_Block info = {{'I','n','f','o',0},1024,1024,0444,SHM_RDONLY,NULL,NULL,NULL,0,-1,NULL};*/ - -/* Allocate shared memory segment */ -static void get_shm_block( struct SHM_Block *sb, int server) { - int getsize = (server)? sb->maxsize : sb->size; - - /* first try to find existing one */ - sb->id = shmget(sb->key.code, getsize, sb->mode); - - if (sb->id<0 && errno==ENOENT && server) { - /* if no - try to create a new one */ - int cresize = sb->maxsize; - if(sb->size > cresize) { - fprintf(stderr,"Wrong shm maxsize(%d) < realsize(%d)\n",sb->maxsize,sb->size); - cresize = sb->size; - } - sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); - } - if (sb->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create shared memory segment '%s'",sb->key.name); - else - sprintf(msg,"Can't find shared segment '%s' (maybe no server process) ",sb->key.name); - perror(msg); - exit(errno); - } - /* attach it to our memory space */ - sb->addr = (unsigned char *)shmat ( sb->id, NULL, sb->atflag ); - - if ((int)(sb->addr) == -1) { - char msg[80]; - sprintf(msg,"Can't attach shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - if(server) { - if((shmctl(sb->id, SHM_LOCK, NULL) < 0) < 0) { - char msg[80]; - sprintf(msg,"Can't prevents swapping of shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - } - fprintf(stderr,"Create&attach shared memory segment '%s' %dbytes at %x \n", - sb->key.name, sb->size, (uint)sb->addr); - - sb->side = server; - - if(sb->init!=NULL) - sb->init(); -} -static int close_shm_block( struct SHM_Block *sb) { - int ret; - if(sb->close != NULL) - sb->close(); - if(sb->side == ServerSide) { -// ret = shmctl(sb->id, SHM_UNLOCK, NULL); - ret = shmctl(sb->id, IPC_RMID, NULL); - } - ret = shmdt (sb->addr); - return(ret); -} -#endif - -static int check_shm_block( struct SHM_Block *sb) { - if(sb->check != NULL) - return(sb->check()); - else return(1); -} - -#ifndef BTA_MODULE -int snd_id=-1; /* ( ?) */ -int cmd_src_pid=0; /* . */ -__uint32_t cmd_src_ip=0; /* IP-. . */ -#else -extern int snd_id; -extern int cmd_src_pid; -extern __uint32_t cmd_src_ip; -#endif - -#ifndef BTA_MODULE -/* Create|Find command queue */ -static void get_cmd_queue( struct CMD_Queue *cq, int server) { - if (!server && cq->id>=0) { /* if already in use */ - snd_id = cq->id; /* set current... */ - return; - } - /* first try to find existing one */ - cq->id = msgget(cq->key.code, cq->mode); - if (cq->id<0 && errno==ENOENT && server) - /* if no - try to create a new one */ - cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); - if (cq->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create comand queue '%s'",cq->key.name); - else - sprintf(msg,"Can't find comand queue '%s' (maybe no server process) ",cq->key.name); - perror(msg); - exit(errno); - } - cq->side = server; - if (server) { - char buf[120]; /* */ - while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT)>0); - } else - snd_id = cq->id; - cq->acckey = 0; -} -#endif - -/* . */ -static void set_acckey(uint newkey) { - if (snd_id<0) return; - if(ucmd.id==snd_id) ucmd.acckey=newkey; - else if(ocmd.id==snd_id) ocmd.acckey=newkey; - else if(mcmd.id==snd_id) mcmd.acckey=newkey; -} - -/* . */ -/* : IP=0( ) PID . */ -static void set_cmd_src(__uint32_t ip, int pid) { - cmd_src_pid = pid; - cmd_src_ip = ip; -} - -/* */ -struct my_msgbuf { - __int32_t mtype; /* type of message */ - __uint32_t acckey; /* */ - __uint32_t src_pid; /* */ - __uint32_t src_ip; /* IP-. , =0 - */ - char mtext[100]; /* message text */ -}; -/* */ -static void send_cmd(int cmd_code, char *buf, int size) { - struct my_msgbuf mbuf; - - if (snd_id<0) return; - if (size>100) size=100; - if (cmd_code>0) - mbuf.mtype = cmd_code; - else - return; - if(ucmd.id==snd_id) mbuf.acckey=ucmd.acckey; - else if(ocmd.id==snd_id) mbuf.acckey=ocmd.acckey; - else if(mcmd.id==snd_id) mbuf.acckey=mcmd.acckey; - - mbuf.src_pid = cmd_src_pid? cmd_src_pid : getpid(); - mbuf.src_ip = cmd_src_ip; - cmd_src_pid = cmd_src_ip = 0; - - if(size>0) - memcpy( mbuf.mtext, buf, size); - else { - mbuf.mtext[0] = 0; - size = 1; - } - msgsnd( snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); -} -static void send_cmd_noarg(int cmd_code) { - send_cmd(cmd_code, NULL, 0); -} -static void send_cmd_str(int cmd_code, char *arg) { - send_cmd(cmd_code, arg, strlen(arg)+1); -} -static void send_cmd_i1(int cmd_code, int arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(int)); -} -static void send_cmd_i2(int cmd_code, int arg1, int arg2) { - int ibuf[2]; - ibuf[0] = arg1; - ibuf[1] = arg2; - send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int)); -} -static void send_cmd_i3(int cmd_code, int arg1, int arg2, int arg3) { - int ibuf[3]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int)); -} -static void send_cmd_i4(int cmd_code, int arg1, int arg2, int arg3, int arg4) { - int ibuf[4]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - ibuf[3] = arg4; - send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int)); -} -static void send_cmd_d1(int cmd_code, double arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(double)); -} -static void send_cmd_d2(int cmd_code, double arg1, double arg2) { - double dbuf[2]; - dbuf[0] = arg1; - dbuf[1] = arg2; - send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); -} -static void send_cmd_i1d1(int cmd_code, int arg1, double arg2) { - struct { - int ival; - double dval; - } buf; - buf.ival = arg1; - buf.dval = arg2; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i2d1(int cmd_code, int arg1, int arg2, double arg3) { - struct { - int ival[2]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.dval = arg3; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i3d1(int cmd_code, int arg1, int arg2, int arg3, double arg4) { - struct { - int ival[3]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.ival[2] = arg3; - buf.dval = arg4; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} - -static void encode_lev_passwd(char *passwd, int nlev, uint *keylev, uint *codlev) { - char salt[4]; - char *encr; - union { - uint ui; - char c[4]; - } key,cod; - sprintf(salt,"L%1d",nlev); - encr = (char *)crypt(passwd, salt); - cod.c[0] = encr[2]; - key.c[0] = encr[3]; - cod.c[1] = encr[4]; - key.c[1] = encr[5]; - cod.c[2] = encr[6]; - key.c[2] = encr[7]; - cod.c[3] = encr[8]; - key.c[3] = encr[9]; - *keylev = key.ui; - *codlev = cod.ui; -} - -static int find_lev_passwd(char *passwd, uint *keylev, uint *codlev) { - int nlev; - for(nlev=5; nlev>0; nlev--) { - encode_lev_passwd(passwd, nlev, keylev, codlev); - if(nlev == 1 && code_Lev1 == *codlev) break; - if(nlev == 2 && code_Lev2 == *codlev) break; - if(nlev == 3 && code_Lev3 == *codlev) break; - if(nlev == 4 && code_Lev4 == *codlev) break; - if(nlev == 5 && code_Lev5 == *codlev) break; - } - return(nlev); -} - -static int check_lev_passwd(char *passwd) { - uint keylev,codlev; - int nlev; - nlev = find_lev_passwd(passwd, &keylev, &codlev); - if(nlev>0) set_acckey(keylev); - return(nlev); -} - -#pragma GCC diagnostic pop - -#endif // __BTA_SHDATA_H__ diff --git a/C/bta_shdata.h.old b/C/bta_shdata.h.old deleted file mode 100644 index 70189e3..0000000 --- a/C/bta_shdata.h.old +++ /dev/null @@ -1,1141 +0,0 @@ - -/* */ -/* : */ -/* BTA_MODULE - - . C- ( .) */ -/* SHM_OLD_SIZE - - */ -#include -#include -#include -#include -#include -#include - - -//#define int __int32_t -//#define uint __uint32_t - -struct SHM_Block { /* */ - union { - char name[5]; /* */ - key_t code; - } key; - int size; /* */ - int maxsize; /* (" " ) */ - int mode; /* (rwxrwxrwx) */ - int atflag; /* (SHM_RDONLY 0) */ - void (*init)(); /* */ - int (*check)(); /* */ - void (*close)(); /* */ - int side; /* : / */ - int id; /* */ - unsigned char *addr; /* */ -}; - -struct CMD_Queue { /* () */ - union { - char name[5]; /* */ - key_t code; - } key; - int mode; /* (rwxrwxrwx) */ - int side; /* : / (Sender/Receiver)*/ - int id; /* */ - uint acckey; /* ( ->) */ -}; - -#ifndef BTA_MODULE -/* (Level5)*/ -struct CMD_Queue mcmd = {{'M','c','m','d',0},0200,0,-1,0}; -/* () (Level4)*/ -struct CMD_Queue ocmd = {{'O','c','m','d',0},0200,0,-1,0}; -/* () (Level2/3)*/ -struct CMD_Queue ucmd = {{'U','c','m','d',0},0200,0,-1,0}; -#else -extern struct CMD_Queue mcmd; -extern struct CMD_Queue ocmd; -extern struct CMD_Queue ucmd; -#endif - -static void send_cmd_noarg(int); -static void send_cmd_str(int, char *); -static void send_cmd_i1(int, int); -static void send_cmd_i2(int, int, int); -static void send_cmd_i3(int, int, int, int); -static void send_cmd_i4(int, int, int, int, int); -static void send_cmd_d1(int, double); -static void send_cmd_d2(int, double, double); -static void send_cmd_i1d1(int, int, double); -static void send_cmd_i2d1(int, int, int, double); -static void send_cmd_i3d1(int, int, int, int, double); - -/* */ -/* */ -#define StopTel 1 /* */ -#define StopTeleskope() send_cmd_noarg( 1 ) /* . */ -#define StartHS 2 /* */ -#define StartHightSpeed() send_cmd_noarg( 2 ) /* /*/ -#define StartLS 3 /* */ -#define StartLowSpeed() send_cmd_noarg( 3 ) /* /*/ -#define SetTmr 4 /* . Ch7_15 SysTimer */ -#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) /* .. */ -#define SetModMod 5 /* . */ -#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) /* .. */ -#define SetCodA 6 /* A */ -#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) /* /*/ -#define SetCodZ 7 /* Z */ -#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) /* /*/ -#define SetCodP 8 /* P */ -#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) /* /*/ -#define SetVA 9 /* . A */ -#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) /* /*/ -#define SetVZ 10 /* . Z */ -#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) /* /*/ -#define SetVP 11 /* . P */ -#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) /* /*/ -#define SetAD 12 /* . R.A. Decl */ -#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))/* .*/ -#define SetAZ 13 /* . ..*/ -#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))/* .*/ -#define GoToAD 14 /* ( R.A. Decl)*/ -#define GoToObject() send_cmd_noarg(14 ) /* . */ -#define MoveToAD 15 /* ( R.A. Decl)*/ -#define MoveToObject() send_cmd_noarg(15 ) /* .*/ -#define GoToAZ 16 /* ( A Z)*/ -#define GoToAzimZ() send_cmd_noarg(16 ) /* . */ -#define WriteAZ 17 /* A Z FullModel*/ -#define WriteModelAZ() send_cmd_noarg(17 ) /* . */ -#define SetModP 18 /* . P2 */ -#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) /* .*/ -#define P2Move 19 /* ./. (+-1,0) P2 */ -#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) /* .*/ -#define FocMove 20 /* ./. (+-2,+-1,0) */ -#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) /* .*/ -#define UsePCorr 21 /* () */ -#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) /* . */ -#define SetTrkFlags 22 /* . */ -#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) /* .*/ -#define SetTFoc 23 /* .: 0-, 1-1, 2-2 */ -#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) /* . */ -#define SetVAD 24 /* ...- R.A. Decl */ -#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))/* .*/ -#define SetRevA 25 /* . "" */ -#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) /* .*/ -#define SetVP2 26 /* ...- P2 ( ) */ -#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) /* .*/ -#define SetTarg 27 /* . */ -#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) /* .*/ -#define SendMsg 28 /* ( ) */ -#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) /* .*/ -#define CorrAD 29 /* R.A. Decl */ -#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))/* .*/ -#define CorrAZ 30 /* A Z*/ -#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))/* .*/ -#define SetVCAZ 31 /* .. A Z*/ -#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))/* .*/ -#define P2MoveTo 32 /* P2 */ -#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))/* .*/ -#define GoToTD 33 /* ( t Decl)*/ -#define GoToSat() send_cmd_noarg (33 ) /* ..*/ -#define MoveToTD 34 /* ( t Decl)*/ -#define MoveToSat() send_cmd_noarg (34 ) /* .*/ -#define NullCom 35 /* ( ?) */ -#define SyncCom() send_cmd_noarg (35 ) /* . */ -#define StartTel 36 /* "" */ -#define StartTeleskope() send_cmd_noarg(36 ) /* . */ -#define SetTMod 37 /* . */ -#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) /* .. */ -#define TelOn 38 /* . , ..*/ -#define TeleskopeOn() send_cmd_noarg(38 ) /* .. */ -#define SetModD 39 /* . */ -#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) /* ..*/ -#define DomeMove 40 /* ./. (+-1+-2,+-3,0) */ -#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) /* .*/ -#define SetPass 41 /* . */ -#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) /* ..*/ -#define SetLevC 42 /* . */ -#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) /* ..*/ -#define SetLevK 43 /* . */ -#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) /* ..*/ -#define SetNet 44 /* . */ -#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) /* ..*/ -#define SetMet 45 /* */ -#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) /* .*/ -#define TurnMetOff 46 /* . */ -#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) /* .*/ -#define SetDUT1 47 /* ..(IERS DUT1=UT1-UTC) */ -#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) /* ..*/ -#define SetPM 48 /* ..(IERS polar motion)*/ -#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) /* ..*/ -#define GetSEW 49 /* SEW */ -#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) /* M..*/ -#define PutSEW 50 /* SEW */ -#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) /* M..*/ -#define SetLocks 51 /* */ -#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) /* M..*/ -#define ClearLocks 52 /* */ -#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) /* M..*/ -#define SetRKbits 53 /* . PEP-RK */ -#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) /* M..*/ -#define ClrRKbits 54 /* . PEP-RK */ -#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) /* M..*/ -#define SetSEWnd 55 /* . SEW- ( )*/ -#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) /* ..*/ -#define SEWsDome 56 /* ./. SEW- */ -#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) /* ..*/ - - -/* ( " ") */ -#define BTA_Data_Ver 2 -#pragma pack(4) -//struct __attribute__((packed)) BTA_Data { -struct BTA_Data { - int magic; /* */ - int version; /* = BTA_Data_Ver*/ - int size; /* = sizeof(struct BTA_Data)*/ - int pid; -#define ServPID (sdt->pid) /* .. */ - - /* */ - int model; -#define UseModel (sdt->model) /* */ -#define NoModel 0 /* */ -#define CheckModel 1 /* */ -#define DriveModel 2 /* "" */ -#define FullModel 3 /* */ - int timer; -#define ClockType (sdt->timer) /* */ -#define Ch7_15 0 /* . . 7-15 */ -#define SysTimer 1 /* ( ) */ -#define ExtSynchro 2 /* (bta_time xntpd)*/ - int system; -#define Sys_Mode (sdt->system) /* */ -#define SysStop 0 /* */ -#define SysWait 1 /* () */ -#define SysPointAZ 2 /* ( A Z)*/ -#define SysPointAD 3 /* ( R.A. Decl)*/ -#define SysTrkStop 4 /* : */ -#define SysTrkStart 5 /* : . ()*/ -#define SysTrkMove 6 /* : */ -#define SysTrkSeek 7 /* : */ -#define SysTrkOk 8 /* : */ -#define SysTrkCorr 9 /* : */ -#define SysTest 10 /* */ - int sys_target; -#define Sys_Target (sdt->sys_target) /* */ -#define TagPosition 0 /* A/Z */ -#define TagObject 1 /* Alpha/Delta */ -#define TagNest 2 /* "" */ -#define TagZenith 3 /* "" */ -#define TagHorizon 4 /* "" */ -#define TagStatObj 5 /* "" t/Delta */ - - int tel_focus; -#define Tel_Focus (sdt->tel_focus) /* : 0-, 1-1, 2-2 */ -#define Prime 0 -#define Nasmyth1 1 -#define Nasmyth2 2 - double pc_coeff[8]; -#define PosCor_Coeff (sdt->pc_coeff) /* - . */ - - /* */ -#define Stopping 0 /* */ -#define Pointing 1 /* */ -#define Tracking 2 /* */ - int tel_state; -#define Tel_State (sdt->tel_state) /* */ - int req_state; -#define Req_State (sdt->req_state) /* */ - int tel_hard_state; -#define Tel_Hardware (sdt->tel_hard_state) /* */ -#define Hard_Off 0 /* */ -#define Hard_On 1 /* */ - - /* */ - int tel_mode; -#define Tel_Mode (sdt->tel_mode) -#define Automatic 0 /* "" - */ -#define Manual 1 /* "/.." - :*/ -#define ZenHor 2 /* "-" - Z<5 Z>80*/ -#define A_Move 4 /* A */ -#define Z_Move 8 /* --- "" --- Z */ -#define Balance 0x10 /* */ - - /* ./. "" */ - int az_mode; -#define Az_Mode (sdt->az_mode) -#define Rev_Off 0 /* */ -#define Rev_On 1 /* 360. */ - - /* P2 */ - int p2_state; -#define P2_State (sdt->p2_state) /* P2 */ -#define P2_Off 0 /* */ -#define P2_On 1 /* */ -#define P2_Plus 2 /* + */ -#define P2_Minus -2 /* - */ - int p2_req_mode; -#define P2_Mode (sdt->p2_req_mode) /* P2 (: /)*/ - - /* */ - int focus_state; -#define Foc_State (sdt->focus_state) -#define Foc_Off 0 /* */ -#define Foc_Lplus 1 /* . + */ -#define Foc_Lminus -1 /* . - */ -#define Foc_Hplus 2 /* + */ -#define Foc_Hminus -2 /* - */ - - /* */ - int dome_state; -#define Dome_State (sdt->dome_state) -#define D_On 7 /* */ -#define D_Off 0 /* */ -#define D_Lplus 1 /* . + */ -#define D_Lminus -1 /* . - */ -#define D_Mplus 2 /* .. + */ -#define D_Mminus -2 /* .. - */ -#define D_Hplus 3 /* + */ -#define D_Hminus -3 /* - */ - -/* () */ - int pcor_mode; -#define Pos_Corr (sdt->pcor_mode) /* A/Z: /*/ -#define PC_Off 0 /* . */ -#define PC_On 1 /* . */ - -/* /. */ - int trkok_mode; -#define TrkOk_Mode (sdt->trkok_mode) -#define UseDiffVel 1 /* & (~)*/ -#define UseDiffAZ 2 /* ( ..) */ -#define UseDFlt 4 /* . */ - - /* */ - double i_alpha, i_delta; -#define InpAlpha (sdt->i_alpha) /* R.A. (sec) */ -#define InpDelta (sdt->i_delta) /* -- " -- Decl. (") */ - double s_alpha, s_delta; -#define SrcAlpha (sdt->s_alpha) /* R.A. (sec) */ -#define SrcDelta (sdt->s_delta) /* -- " -- Decl. (") */ - double v_alpha, v_delta; -#define VelAlpha (sdt->v_alpha) /* ..- R.A. (sec/) */ -#define VelDelta (sdt->v_delta) /* -- " -- Decl. ("/) */ - double i_azim, i_zdist; -#define InpAzim (sdt->i_azim) /* (") */ -#define InpZdist (sdt->i_zdist) /* -- " -- .. (") */ - - /* */ - double c_alpha, c_delta; -#define CurAlpha (sdt->c_alpha) /* R.A. (sec) */ -#define CurDelta (sdt->c_delta) /* -- " -- Decl. (") */ - double tag_a, tag_z, tag_p; -#define tag_A (sdt->tag_a) /* A (") */ -#define tag_Z (sdt->tag_z) /* - " - Z (") - " - */ -#define tag_P (sdt->tag_p) /* - " - P (") - " - */ - double pcor_a, pcor_z, refr_z; -#define pos_cor_A (sdt->pcor_a) /* A (") */ -#define pos_cor_Z (sdt->pcor_z) /* - " - - " - Z (") */ -#define refract_Z (sdt->refr_z) /* (") */ - double tcor_a, tcor_z, tref_z; -#define tel_cor_A (sdt->tcor_a) /* . A (") */ -#define tel_cor_Z (sdt->tcor_z) /* - " - - " - - " - Z (") */ -#define tel_ref_Z (sdt->tref_z) /* . (") */ - double diff_a, diff_z, diff_p; -#define Diff_A (sdt->diff_a) /* -( ) A (") */ -#define Diff_Z (sdt->diff_z) /* - " - - " - Z (") */ -#define Diff_P (sdt->diff_p) /* - " - - " - P (") */ - double vbasea,vbasez,vbasep; -#define vel_objA (sdt->vbasea) /* A ("/) */ -#define vel_objZ (sdt->vbasez) /* - " - - " - Z - " - */ -#define vel_objP (sdt->vbasep) /* - " - - " - P - " - */ - double diffva,diffvz,diffvp; -#define diff_vA (sdt->diffva) /* */ -#define diff_vZ (sdt->diffvz) /* -- "" -- -- "" -- Z */ -#define diff_vP (sdt->diffvp) /* -- "" -- -- "" -- P */ - double speeda,speedz,speedp; -#define speedA (sdt->speeda) /* A ("/) */ -#define speedZ (sdt->speedz) /* - " - Z - " - */ -#define speedP (sdt->speedp) /* - " - P - " - */ - double m_time_precip; -#define Precip_time (sdt->m_time_precip)/* (precipitations)*/ - unsigned char reserve[16]; -#define Reserve (sdt->reserve) /* */ - double rspeeda, rspeedz, rspeedp; -#define req_speedA (sdt->rspeeda) /* ("/) A */ -#define req_speedZ (sdt->rspeedz) /* - " - Z */ -#define req_speedP (sdt->rspeedp) /* - " - P */ - double simvela, simvelz, simvelp, simvelf, simveld; -#define mod_vel_A (sdt->simvela) /* A ("/) */ -#define mod_vel_Z (sdt->simvelz) /* - " - Z - " - */ -#define mod_vel_P (sdt->simvelp) /* - " - P - " - */ -#define mod_vel_F (sdt->simvelf) /* - " - F - " - */ -#define mod_vel_D (sdt->simvelf) /* - " - D - " - */ - - - /* */ - uint kost; -#define code_KOST (sdt->kost) /* . */ - /* 0x8000 - */ - /* 0x4000 - . */ - /* 0x2000 - */ - /* 0x1000 - P2 .*/ - /* 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) */ - /* 0x000F - .. +Z -Z +A -A */ - double m_time, s_time, l_time; -#define M_time (sdt->m_time) /* ( UTC!)*/ -#define S_time (sdt->s_time) /* */ -#define L_time (sdt->l_time) /* */ - uint ppndd_a, ppndd_z, ppndd_p, ppndd_b; -#define ppndd_A (sdt->ppndd_a) /* ( ) A */ -#define ppndd_Z (sdt->ppndd_z) /* - "" - Z */ -#define ppndd_P (sdt->ppndd_p) /* - "" - P */ -#define ppndd_B (sdt->ppndd_b) /* */ - uint dup_a, dup_z, dup_p, dup_f, dup_d; -#define dup_A (sdt->dup_a) /* ( ) A */ -#define dup_Z (sdt->dup_z) /* - "" - Z */ -#define dup_P (sdt->dup_p) /* - "" - P */ -#define dup_F (sdt->dup_f) /* */ -#define dup_D (sdt->dup_d) /* */ - uint low_a, low_z, low_p, low_f, low_d; -#define low_A (sdt->low_a) /* 14- . A */ -#define low_Z (sdt->low_z) /* - "" - Z */ -#define low_P (sdt->low_p) /* - "" - P */ -#define low_F (sdt->low_f) /* */ -#define low_D (sdt->low_d) /* */ - uint code_a, code_z, code_p, code_b, code_f, code_d; -#define code_A (sdt->code_a) /* 23- . A */ -#define code_Z (sdt->code_z) /* - "" - Z */ -#define code_P (sdt->code_p) /* - "" - P */ -#define code_B (sdt->code_b) /* */ -#define code_F (sdt->code_f) /* */ -#define code_D (sdt->code_d) /* */ - uint adc[8]; -#define ADC(N) (sdt->adc[(N)]) /* 8- PCL818 */ -#define code_T1 ADC(0) /* . */ -#define code_T2 ADC(1) /* .*/ -#define code_T3 ADC(2) /* */ -#define code_Wnd ADC(3) /* */ - double val_a, val_z, val_p, val_b, val_f, val_d; - double val_t1, val_t2, val_t3, val_wnd; -#define val_A (sdt->val_a) /* A (") */ -#define val_Z (sdt->val_z) /* - " - Z (") */ -#define val_P (sdt->val_p) /* - " - P (") */ -#define val_B (sdt->val_b) /* e (...)*/ -#define val_F (sdt->val_f) /* () */ -#define val_D (sdt->val_d) /* (") */ -#define val_T1 (sdt->val_t1) /* . (.)*/ -#define val_T2 (sdt->val_t2) /* .(.)*/ -#define val_T3 (sdt->val_t3) /* (.)*/ -#define val_Wnd (sdt->val_wnd) /* (/)*/ - double val_alp, val_del; -#define val_Alp (sdt->val_alp) /* R.A. (sec) */ -#define val_Del (sdt->val_del) /* -- " -- Decl. (") */ - - double vel_a, vel_z, vel_p, vel_f, vel_d; -#define vel_A (sdt->vel_a) /* A ("/) */ -#define vel_Z (sdt->vel_z) /* - " - Z - " - */ -#define vel_P (sdt->vel_p) /* - " - P - " - */ -#define vel_F (sdt->vel_f) /* - " - F - " - */ -#define vel_D (sdt->vel_d) /* - " - D - " - */ - - /* */ -#define MesgNum 3 -#define MesgLen 39 - //struct __attribute__((packed)) SysMesg { - struct SysMesg { - int seq_num; - char type; -#define MesgEmpty 0 -#define MesgInfor 1 -#define MesgWarn 2 -#define MesgFault 3 -#define MesgLog 4 - char text[MesgLen]; - } sys_msg_buf[MesgNum]; -#define Sys_Mesg(N) (sdt->sys_msg_buf[N]) - - /* */ - /* */ - uint code_lev1,code_lev2,code_lev3,code_lev4,code_lev5; -#define code_Lev1 (sdt->code_lev1) /* " " - */ -#define code_Lev2 (sdt->code_lev2) /* " " - + */ -#define code_Lev3 (sdt->code_lev3) /* " " - + A/Z--, .P2/F */ -#define code_Lev4 (sdt->code_lev4) /* "" - + / ., */ -#define code_Lev5 (sdt->code_lev5) /* " " - */ - /* */ - uint netmask, netaddr, acsmask, acsaddr; -#define NetMask (sdt->netmask) /* (: 255.255.255.0) */ -#define NetWork (sdt->netaddr) /* (: 192.168.3.0) */ -#define ACSMask (sdt->acsmask) /* - (: 255.255.255.0) */ -#define ACSNet (sdt->acsaddr) /* - (: 192.168.13.0) */ - - /* - */ - int meteo_stat; -#define MeteoMode (sdt->meteo_stat) /* */ -#define INPUT_B 1 /* *//* */ -#define INPUT_T1 2 /* T- */ -#define INPUT_T2 4 /* T- */ -#define INPUT_T3 8 /* T- */ -#define INPUT_WND 0x10 /* */ -#define INPUT_HMD 0x20 /* */ -#define SENSOR_B (INPUT_B <<8) /* - (e.g. CAN-)*/ -#define SENSOR_T1 (INPUT_T1 <<8) -#define SENSOR_T2 (INPUT_T2 <<8) -#define SENSOR_T3 (INPUT_T3 <<8) -#define SENSOR_WND (INPUT_WND<<8) -#define SENSOR_HMD (INPUT_HMD<<8) -#define ADC_B (INPUT_B <<16) /* . */ -#define ADC_T1 (INPUT_T1 <<16) -#define ADC_T2 (INPUT_T2 <<16) -#define ADC_T3 (INPUT_T3 <<16) -#define ADC_WND (INPUT_WND<<16) -#define ADC_HMD (INPUT_HMD<<16) -#define NET_B (INPUT_B <<24) /* */ -#define NET_T1 (INPUT_T1 <<24) -#define NET_WND (INPUT_WND<<24) -#define NET_HMD (INPUT_HMD<<24) - double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; -#define inp_B (sdt->inp_b) /* e (...)*/ -#define inp_T1 (sdt->inp_t1) /* . (.)*/ -#define inp_T2 (sdt->inp_t2) /* .(.)*/ -#define inp_T3 (sdt->inp_t3) /* (.)*/ -#define inp_Wnd (sdt->inp_wnd) /* (/)*/ - - double temper, press; -#define Temper (sdt->temper) /* */ -#define Pressure (sdt->press) /* */ - double m_time10, m_time15; -#define Wnd10_time (sdt->m_time10) /* >=10/*/ -#define Wnd15_time (sdt->m_time15) /* - " - - " - - " - >=15/*/ - - /* IERS DUT1 (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double dut1; -#define DUT1 (sdt->dut1) /* . : DUT1 = UT1-UTC */ - - double a_time, z_time, p_time; -#define A_time (sdt->a_time) /* A */ -#define Z_time (sdt->z_time) /* - " - - " - - " - Z */ -#define P_time (sdt->p_time) /* - " - - " - - " - P */ - - double speedain, speedzin, speedpin; -#define speedAin (sdt->speedain) /* - A */ -#define speedZin (sdt->speedzin) /* - Z */ -#define speedPin (sdt->speedpin) /* - P2*/ - - double acc_a, acc_z, acc_p, acc_f, acc_d; -#define acc_A (sdt->acc_a) /* A ("/^2) */ -#define acc_Z (sdt->acc_z) /* - " - Z - " - */ -#define acc_P (sdt->acc_p) /* - " - P - " - */ -#define acc_F (sdt->acc_f) /* - " - F - " - */ -#define acc_D (sdt->acc_d) /* - " - D - " - */ - - uint code_sew; -#define code_SEW (sdt->code_sew) /* . SEW- */ - -/* SEW- */ -//struct __attribute__((packed)) SEWdata { -struct SEWdata { - int status; - double set_speed; - double mes_speed; - double current; - int index; - union { - unsigned char b[4]; - __uint32_t l; - } value; -} sewdrv[3]; -#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) /* */ -#define statusSEW1 (sdt->sewdrv[0].status) -#define statusSEW2 (sdt->sewdrv[1].status) -#define statusSEW3 (sdt->sewdrv[2].status) -#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) /* */ -#define speedSEW1 (sdt->sewdrv[0].set_speed) /* / (rpm)*/ -#define speedSEW2 (sdt->sewdrv[1].set_speed) -#define speedSEW3 (sdt->sewdrv[2].set_speed) -#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) /* */ -#define vel_SEW1 (sdt->sewdrv[0].mes_speed) /* / (rpm)*/ -#define vel_SEW2 (sdt->sewdrv[1].mes_speed) -#define vel_SEW3 (sdt->sewdrv[2].mes_speed) -#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) /* ()*/ -#define currentSEW1 (sdt->sewdrv[0].current) -#define currentSEW2 (sdt->sewdrv[1].current) -#define currentSEW3 (sdt->sewdrv[2].current) -#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) /* */ -#define indexSEW1 (sdt->sewdrv[0].index) -#define indexSEW2 (sdt->sewdrv[1].index) -#define indexSEW3 (sdt->sewdrv[2].index) -#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) /* */ -#define valueSEW1 (sdt->sewdrv[0].value.l) -#define valueSEW2 (sdt->sewdrv[1].value.l) -#define valueSEW3 (sdt->sewdrv[2].value.l) -#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) /* */ - -/* PEP- */ - uint pep_code_a, pep_code_z, pep_code_p; -#define PEP_code_A (sdt->pep_code_a) /* 23- . A */ -#define PEP_code_Z (sdt->pep_code_z) /* - "" - Z */ -#define PEP_code_P (sdt->pep_code_p) /* - "" - P */ - uint pep_sw_a, pep_sw_z, pep_sw_p; -#define switch_A (sdt->pep_sw_a) /* */ -#define Sw_minus_A 1 /* (. code_KOST&0x8000)*/ -#define Sw_plus240_A 2 /* "+240" */ -#define Sw_minus240_A 4 /* "-240" */ -#define Sw_minus45_A 8 /* " " (~-46)*/ -#define switch_Z (sdt->pep_sw_z) /* Z */ -#define Sw_0_Z 0x01 /* "0" */ -#define Sw_5_Z 0x02 /* "5" */ -#define Sw_20_Z 0x04 /* "20" */ -#define Sw_60_Z 0x08 /* "60" */ -#define Sw_80_Z 0x10 /* "80" */ -#define Sw_90_Z 0x20 /* "90" */ -#define switch_P (sdt->pep_sw_p) /* - "" - */ -#define Sw_No_P 0x00 /* " " */ -#define Sw_22_P 0x01 /* "22" */ -#define Sw_89_P 0x02 /* "89" */ -#define Sw_Sm_P 0x80 /* */ - uint pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; -#define PEP_code_F (sdt->pep_code_f) /* */ -#define PEP_code_D (sdt->pep_code_d) /* */ -#define PEP_code_Rin (sdt->pep_code_ri)/* */ -#define PEP_code_Rout (sdt->pep_code_ro)/* */ - unsigned char pep_on[10]; /* PEP- */ -#define PEP_A_On (sdt->pep_on[0]) -#define PEP_A_Off (PEP_A_On==0) -#define PEP_Z_On (sdt->pep_on[1]) -#define PEP_Z_Off (PEP_Z_On==0) -#define PEP_P_On (sdt->pep_on[2]) -#define PEP_P_Off (PEP_P_On==0) -#define PEP_F_On (sdt->pep_on[3]) -#define PEP_F_Off (PEP_F_On==0) -#define PEP_D_On (sdt->pep_on[4]) -#define PEP_D_Off (PEP_D_On==0) -#define PEP_R_On (sdt->pep_on[5]) -#define PEP_R_Off ((PEP_R_On&1)==0) -#define PEP_R_Inp ((PEP_R_On&2)!=0) -#define PEP_K_On (sdt->pep_on[6]) -#define PEP_K_Off ((PEP_K_On&1)==0) -#define PEP_K_Inp ((PEP_K_On&2)!=0) - - /* IERS polar motion (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double xpol, ypol; -#define polarX (sdt->xpol) /* X-a . */ -#define polarY (sdt->ypol) /* Y-a . */ - - double jdate, eetime; -#define JDate (sdt->jdate) /* */ -#define EE_time (sdt->eetime) /* ... "Equation of the Equinoxes" */ - - /* - */ - double val_hmd, inp_hmd; -#define val_Hmd (sdt->val_hmd) /* (%) */ -#define inp_Hmd (sdt->val_hmd) /* */ - - /* () */ - double worm_a, worm_z; -#define worm_A (sdt->worm_a) /* A () */ -#define worm_Z (sdt->worm_z) /* Z () */ - - /* */ - __uint32_t lock_flags; -#define LockFlags (sdt->lock_flags) -#define Lock_A 0x01 -#define Lock_Z 0x02 -#define Lock_P 0x04 -#define Lock_F 0x08 -#define Lock_D 0x10 -#define A_Locked (LockFlags&Lock_A) -#define Z_Locked (LockFlags&Lock_Z) -#define P_Locked (LockFlags&Lock_P) -#define F_Locked (LockFlags&Lock_F) -#define D_Locked (LockFlags&Lock_D) - - /* ( - SEW-)*/ - int sew_dome_speed; /* Dome_State */ -#define Dome_Speed (sdt->sew_dome_speed) /* .. D_Lplus,D_Lminus,.... */ - -/* SEW- ( )*/ - int sew_dome_num; -#define DomeSEW_N (sdt->sew_dome_num) - -/* (DomeSEW_N) SEW- */ -struct SEWdata sewdomedrv; -#define statusSEWD (sdt->sewdomedrv.status) /* */ -#define speedSEWD (sdt->sewdomedrv.set_speed) /* / (rpm)*/ -#define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ -#define currentSEWD (sdt->sewdomedrv.current) /* ()*/ -#define indexSEWD (sdt->sewdomedrv.index) /* */ -#define valueSEWD (sdt->sewdomedrv.value.l) /* */ - -/* PEP- */ - uint pep_code_di, pep_code_do; -#define PEP_code_Din (sdt->pep_code_di) /* PEP- */ -#define PEP_Dome_SEW_Ok 0x200 -#define PEP_Dome_Cable_Ok 0x100 -#define PEP_code_Dout (sdt->pep_code_do) /* PEP- */ -#define PEP_Dome_SEW_On 0x10 -#define PEP_Dome_SEW_Off 0x20 - -}; - -#ifndef BTA_MODULE -struct BTA_Data *sdt; -#else -extern struct BTA_Data *sdt; -#endif - -struct BTA_Local { /* */ - unsigned char reserve[120]; /* */ - /* ( 1500 ) */ - double pr_oil_a,pr_oil_z,pr_oil_t; -#define PressOilA (sdtl->pr_oil_a) /* A () */ -#define PressOilZ (sdtl->pr_oil_z) /* Z () */ -#define PressOilTank (sdtl->pr_oil_t) /* () */ - double t_oil_1,t_oil_2; -#define OilTemper1 (sdtl->t_oil_1) /* */ -#define OilTemper2 (sdtl->t_oil_2) /* */ -}; - -#ifndef BTA_MODULE -struct BTA_Local *sdtl; /* , */ -#else -extern struct BTA_Local *sdtl; -#endif - -#define ClientSide 0 -#define ServerSide 1 - -#ifndef BTA_MODULE -static void bta_data_init(); -static int bta_data_check(); -static void bta_data_close(); - -/* (" ") */ -struct SHM_Block sdat = { -{'S','d','a','t',0},sizeof(struct BTA_Data),2048,0444,SHM_RDONLY,bta_data_init,bta_data_check,bta_data_close,0,-1,NULL -}; -#else -extern struct SHM_Block sdat; -#endif - -#ifndef BTA_MODULE -/* ( " ") */ -static void bta_data_init() { - int i; - sdt = (struct BTA_Data *)sdat.addr; - sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); - if(sdat.side == ClientSide) { - if(sdt->magic != sdat.key.code) { - fprintf(stderr,"Wrong shared data (maybe server turned off)\n"); - /*exit(1);*/ - } - if(sdt->version == 0) { - fprintf(stderr,"Null shared data version (maybe server turned off)\n"); - /*exit(1);*/ - } - else if(sdt->version != BTA_Data_Ver) { - fprintf(stderr,"Wrong shared data version: I'am - %d, but server - %d ...\n", - BTA_Data_Ver, sdt->version ); - /*exit(1);*/ - } - if(sdt->size != sdat.size) { - if(sdt->size > sdat.size) { - /* */ - fprintf(stderr,"Wrong shared area size: I needs - %d, but server - %d ...\n", - sdat.size, sdt->size ); - } else { - /* "" */ - /* ! */ - fprintf(stderr,"Attention! Too little shared data structure!\n"); - sleep(1); - fprintf(stderr,"I needs - %d, but server gives only %d ...\n", - sdat.size, sdt->size ); - sleep(1); - fprintf(stderr,"May be server's version too old!?\n"); - /* exit(1); */ - - } - } - return; - } - /* ServerSide */ - if(sdt->magic != sdat.key.code || - sdt->version != BTA_Data_Ver || - sdt->size != sdat.size) { - - for(i=0; imagic = sdat.key.code; - sdt->version = BTA_Data_Ver; - sdt->size = sdat.size; - ServPID = 0; - UseModel = NoModel; - ClockType = Ch7_15; - Sys_Mode = SysStop; - Sys_Target = TagPosition; - Tel_Focus = Prime; - Tel_Hardware = Hard_On; - Tel_Mode = Automatic; - Az_Mode = Rev_Off; - P2_State = P2_Mode = P2_Off; - Foc_State = Foc_Off; - Dome_State = D_Off; - Pos_Corr = PC_On; - TrkOk_Mode = UseDiffVel | UseDiffAZ ; - InpAlpha=InpDelta= 0.; - SrcAlpha=SrcDelta= 0.; - VelAlpha=VelDelta= 0.; - CurAlpha=CurDelta= 0.; - InpAzim=InpZdist = 0.; - Diff_A=Diff_Z=Diff_P=0.0; - pos_cor_A=pos_cor_Z=refract_Z = 0.; - tel_cor_A=tel_cor_Z=tel_ref_Z = 0.; - vel_objA=vel_objZ=vel_objP = 0.; - diff_vA=diff_vZ=diff_vP=0.; - speedA = speedZ = speedP = 0.; - req_speedA = req_speedZ = req_speedP = 0.; - mod_vel_A=mod_vel_Z=mod_vel_P=mod_vel_F=mod_vel_D=0.; - code_KOST = 0; - M_time = S_time = L_time = 0.; - ppndd_A=ppndd_Z=ppndd_P=ppndd_B=0; - dup_A=dup_Z=dup_P=dup_F=dup_D=0; - low_A=low_Z=low_P=low_F=low_D=0; - code_A=code_Z=code_P=code_B=code_F=code_D=code_T1=code_T2=code_T3=code_Wnd=0; - val_A=val_Z=val_P=val_B=val_F=val_D=val_T1=val_T2=val_T3=val_Wnd=val_Alp=val_Del=0.; - vel_A=vel_Z=vel_P=vel_F=vel_D=0.; - for(i=0; imagic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); -} -static void bta_data_close() { - if(sdat.side == ServerSide) { - sdt->magic = 0; - sdt->version = 0; - } -} - -/* ??? */ -/*struct SHM_Block info = {{'I','n','f','o',0},1024,1024,0444,SHM_RDONLY,NULL,NULL,NULL,0,-1,NULL};*/ - -/* Allocate shared memory segment */ -static void get_shm_block( struct SHM_Block *sb, int server) { - int getsize = (server)? sb->maxsize : sb->size; - - /* first try to find existing one */ - sb->id = shmget(sb->key.code, getsize, sb->mode); - - if (sb->id<0 && errno==ENOENT && server) { - /* if no - try to create a new one */ - int cresize = sb->maxsize; - if(sb->size > cresize) { - fprintf(stderr,"Wrong shm maxsize(%d) < realsize(%d)\n",sb->maxsize,sb->size); - cresize = sb->size; - } - sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); - } - if (sb->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create shared memory segment '%s'",sb->key.name); - else - sprintf(msg,"Can't find shared segment '%s' (maybe no server process) ",sb->key.name); - perror(msg); - exit(errno); - } - /* attach it to our memory space */ - sb->addr = (unsigned char *)shmat ( sb->id, NULL, sb->atflag ); - - if ((int)(sb->addr) == -1) { - char msg[80]; - sprintf(msg,"Can't attach shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - if(server) { - if((shmctl(sb->id, SHM_LOCK, NULL) < 0) < 0) { - char msg[80]; - sprintf(msg,"Can't prevents swapping of shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - } - fprintf(stderr,"Create&attach shared memory segment '%s' %dbytes at %x \n", - sb->key.name, sb->size, (uint)sb->addr); - - sb->side = server; - - if(sb->init!=NULL) - sb->init(); -} -static int close_shm_block( struct SHM_Block *sb) { - int ret; - if(sb->close != NULL) - sb->close(); - if(sb->side == ServerSide) { -// ret = shmctl(sb->id, SHM_UNLOCK, NULL); - ret = shmctl(sb->id, IPC_RMID, NULL); - } - ret = shmdt (sb->addr); - return(ret); -} -#endif - -static int check_shm_block( struct SHM_Block *sb) { - if(sb->check != NULL) - return(sb->check()); - else return(1); -} - -#ifndef BTA_MODULE -int snd_id=-1; /* ( ?) */ -int cmd_src_pid=0; /* . */ -__uint32_t cmd_src_ip=0; /* IP-. . */ -#else -extern int snd_id; -extern int cmd_src_pid; -extern __uint32_t cmd_src_ip; -#endif - -#ifndef BTA_MODULE -/* Create|Find command queue */ -static void get_cmd_queue( struct CMD_Queue *cq, int server) { - if (!server && cq->id>=0) { /* if already in use */ - snd_id = cq->id; /* set current... */ - return; - } - /* first try to find existing one */ - cq->id = msgget(cq->key.code, cq->mode); - if (cq->id<0 && errno==ENOENT && server) - /* if no - try to create a new one */ - cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); - if (cq->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create comand queue '%s'",cq->key.name); - else - sprintf(msg,"Can't find comand queue '%s' (maybe no server process) ",cq->key.name); - perror(msg); - exit(errno); - } - cq->side = server; - if (server) { - char buf[120]; /* */ - while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT)>0); - } else - snd_id = cq->id; - cq->acckey = 0; -} -#endif - -/* . */ -static void set_acckey(uint newkey) { - if (snd_id<0) return; - if(ucmd.id==snd_id) ucmd.acckey=newkey; - else if(ocmd.id==snd_id) ocmd.acckey=newkey; - else if(mcmd.id==snd_id) mcmd.acckey=newkey; -} - -/* . */ -/* : IP=0( ) PID . */ -static void set_cmd_src(__uint32_t ip, int pid) { - cmd_src_pid = pid; - cmd_src_ip = ip; -} - -/* */ -struct my_msgbuf { - __int32_t mtype; /* type of message */ - __uint32_t acckey; /* */ - __uint32_t src_pid; /* */ - __uint32_t src_ip; /* IP-. , =0 - */ - char mtext[100]; /* message text */ -}; -/* */ -static void send_cmd(int cmd_code, char *buf, int size) { - struct my_msgbuf mbuf; - - if (snd_id<0) return; - if (size>100) size=100; - if (cmd_code>0) - mbuf.mtype = cmd_code; - else - return; - if(ucmd.id==snd_id) mbuf.acckey=ucmd.acckey; - else if(ocmd.id==snd_id) mbuf.acckey=ocmd.acckey; - else if(mcmd.id==snd_id) mbuf.acckey=mcmd.acckey; - - mbuf.src_pid = cmd_src_pid? cmd_src_pid : getpid(); - mbuf.src_ip = cmd_src_ip; - cmd_src_pid = cmd_src_ip = 0; - - if(size>0) - memcpy( mbuf.mtext, buf, size); - else { - mbuf.mtext[0] = 0; - size = 1; - } - msgsnd( snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); -} -static void send_cmd_noarg(int cmd_code) { - send_cmd(cmd_code, NULL, 0); -} -static void send_cmd_str(int cmd_code, char *arg) { - send_cmd(cmd_code, arg, strlen(arg)+1); -} -static void send_cmd_i1(int cmd_code, int arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(int)); -} -static void send_cmd_i2(int cmd_code, int arg1, int arg2) { - int ibuf[2]; - ibuf[0] = arg1; - ibuf[1] = arg2; - send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int)); -} -static void send_cmd_i3(int cmd_code, int arg1, int arg2, int arg3) { - int ibuf[3]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int)); -} -static void send_cmd_i4(int cmd_code, int arg1, int arg2, int arg3, int arg4) { - int ibuf[4]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - ibuf[3] = arg4; - send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int)); -} -static void send_cmd_d1(int cmd_code, double arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(double)); -} -static void send_cmd_d2(int cmd_code, double arg1, double arg2) { - double dbuf[2]; - dbuf[0] = arg1; - dbuf[1] = arg2; - send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); -} -static void send_cmd_i1d1(int cmd_code, int arg1, double arg2) { - struct { - int ival; - double dval; - } buf; - buf.ival = arg1; - buf.dval = arg2; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i2d1(int cmd_code, int arg1, int arg2, double arg3) { - struct { - int ival[2]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.dval = arg3; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i3d1(int cmd_code, int arg1, int arg2, int arg3, double arg4) { - struct { - int ival[3]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.ival[2] = arg3; - buf.dval = arg4; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} - -static void encode_lev_passwd(char *passwd, int nlev, uint *keylev, uint *codlev) { - char salt[4]; - char *encr; - union { - uint ui; - char c[4]; - } key,cod; - sprintf(salt,"L%1d",nlev); - encr = (char *)crypt(passwd, salt); - cod.c[0] = encr[2]; - key.c[0] = encr[3]; - cod.c[1] = encr[4]; - key.c[1] = encr[5]; - cod.c[2] = encr[6]; - key.c[2] = encr[7]; - cod.c[3] = encr[8]; - key.c[3] = encr[9]; - *keylev = key.ui; - *codlev = cod.ui; -} - -static int find_lev_passwd(char *passwd, uint *keylev, uint *codlev) { - int nlev; - for(nlev=5; nlev>0; nlev--) { - encode_lev_passwd(passwd, nlev, keylev, codlev); - if(nlev == 1 && code_Lev1 == *codlev) break; - if(nlev == 2 && code_Lev2 == *codlev) break; - if(nlev == 3 && code_Lev3 == *codlev) break; - if(nlev == 4 && code_Lev4 == *codlev) break; - if(nlev == 5 && code_Lev5 == *codlev) break; - } - return(nlev); -} - -static int check_lev_passwd(char *passwd) { - uint keylev,codlev; - int nlev; - nlev = find_lev_passwd(passwd, &keylev, &codlev); - if(nlev>0) set_acckey(keylev); - return(nlev); -} diff --git a/C/client_cli/bta_shdata.h b/C/client_cli/bta_shdata.h deleted file mode 100644 index 49607dc..0000000 --- a/C/client_cli/bta_shdata.h +++ /dev/null @@ -1,1158 +0,0 @@ -#pragma once -#ifndef __BTA_SHDATA_H__ -#define __BTA_SHDATA_H__ - -#define _XOPEN_SOURCE 501 -/* */ -/* : */ -/* BTA_MODULE - - . C- ( .) */ -/* SHM_OLD_SIZE - - */ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#pragma GCC diagnostic ignored "-Wunused-function" -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wmissing-braces" -#pragma GCC diagnostic ignored "-Wsequence-point" -#pragma GCC diagnostic ignored "-Wpointer-to-int-cast" -#pragma GCC diagnostic ignored "-Wimplicit-function-declaration" - -//#define int __int32_t -#define uint __uint32_t - -struct SHM_Block { /* */ - union { - char name[5]; /* */ - key_t code; - } key; - int size; /* */ - int maxsize; /* (" " ) */ - int mode; /* (rwxrwxrwx) */ - int atflag; /* (SHM_RDONLY 0) */ - void (*init)(); /* */ - int (*check)(); /* */ - void (*close)(); /* */ - int side; /* : / */ - int id; /* */ - unsigned char *addr; /* */ -}; - -struct CMD_Queue { /* () */ - union { - char name[5]; /* */ - key_t code; - } key; - int mode; /* (rwxrwxrwx) */ - int side; /* : / (Sender/Receiver)*/ - int id; /* */ - uint acckey; /* ( ->) */ -}; - -#ifndef BTA_MODULE -/* (Level5)*/ -struct CMD_Queue mcmd = {{'M','c','m','d',0},0200,0,-1,0}; -/* () (Level4)*/ -struct CMD_Queue ocmd = {{'O','c','m','d',0},0200,0,-1,0}; -/* () (Level2/3)*/ -struct CMD_Queue ucmd = {{'U','c','m','d',0},0200,0,-1,0}; -#else -extern struct CMD_Queue mcmd; -extern struct CMD_Queue ocmd; -extern struct CMD_Queue ucmd; -#endif - -static void send_cmd_noarg(int); -static void send_cmd_str(int, char *); -static void send_cmd_i1(int, int); -static void send_cmd_i2(int, int, int); -static void send_cmd_i3(int, int, int, int); -static void send_cmd_i4(int, int, int, int, int); -static void send_cmd_d1(int, double); -static void send_cmd_d2(int, double, double); -static void send_cmd_i1d1(int, int, double); -static void send_cmd_i2d1(int, int, int, double); -static void send_cmd_i3d1(int, int, int, int, double); - -/* */ -/* */ -#define StopTel 1 /* */ -#define StopTeleskope() send_cmd_noarg( 1 ) /* . */ -#define StartHS 2 /* */ -#define StartHightSpeed() send_cmd_noarg( 2 ) /* /*/ -#define StartLS 3 /* */ -#define StartLowSpeed() send_cmd_noarg( 3 ) /* /*/ -#define SetTmr 4 /* . Ch7_15 SysTimer */ -#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) /* .. */ -#define SetModMod 5 /* . */ -#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) /* .. */ -#define SetCodA 6 /* A */ -#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) /* /*/ -#define SetCodZ 7 /* Z */ -#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) /* /*/ -#define SetCodP 8 /* P */ -#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) /* /*/ -#define SetVA 9 /* . A */ -#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) /* /*/ -#define SetVZ 10 /* . Z */ -#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) /* /*/ -#define SetVP 11 /* . P */ -#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) /* /*/ -#define SetAD 12 /* . R.A. Decl */ -#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))/* .*/ -#define SetAZ 13 /* . ..*/ -#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))/* .*/ -#define GoToAD 14 /* ( R.A. Decl)*/ -#define GoToObject() send_cmd_noarg(14 ) /* . */ -#define MoveToAD 15 /* ( R.A. Decl)*/ -#define MoveToObject() send_cmd_noarg(15 ) /* .*/ -#define GoToAZ 16 /* ( A Z)*/ -#define GoToAzimZ() send_cmd_noarg(16 ) /* . */ -#define WriteAZ 17 /* A Z FullModel*/ -#define WriteModelAZ() send_cmd_noarg(17 ) /* . */ -#define SetModP 18 /* . P2 */ -#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) /* .*/ -#define P2Move 19 /* ./. (+-1,0) P2 */ -#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) /* .*/ -#define FocMove 20 /* ./. (+-2,+-1,0) */ -#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) /* .*/ -#define UsePCorr 21 /* () */ -#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) /* . */ -#define SetTrkFlags 22 /* . */ -#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) /* .*/ -#define SetTFoc 23 /* .: 0-, 1-1, 2-2 */ -#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) /* . */ -#define SetVAD 24 /* ...- R.A. Decl */ -#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))/* .*/ -#define SetRevA 25 /* . "" */ -#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) /* .*/ -#define SetVP2 26 /* ...- P2 ( ) */ -#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) /* .*/ -#define SetTarg 27 /* . */ -#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) /* .*/ -#define SendMsg 28 /* ( ) */ -#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) /* .*/ -#define CorrAD 29 /* R.A. Decl */ -#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))/* .*/ -#define CorrAZ 30 /* A Z*/ -#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))/* .*/ -#define SetVCAZ 31 /* .. A Z*/ -#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))/* .*/ -#define P2MoveTo 32 /* P2 */ -#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))/* .*/ -#define GoToTD 33 /* ( t Decl)*/ -#define GoToSat() send_cmd_noarg (33 ) /* ..*/ -#define MoveToTD 34 /* ( t Decl)*/ -#define MoveToSat() send_cmd_noarg (34 ) /* .*/ -#define NullCom 35 /* ( ?) */ -#define SyncCom() send_cmd_noarg (35 ) /* . */ -#define StartTel 36 /* "" */ -#define StartTeleskope() send_cmd_noarg(36 ) /* . */ -#define SetTMod 37 /* . */ -#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) /* .. */ -#define TelOn 38 /* . , ..*/ -#define TeleskopeOn() send_cmd_noarg(38 ) /* .. */ -#define SetModD 39 /* . */ -#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) /* ..*/ -#define DomeMove 40 /* ./. (+-1+-2,+-3,0) */ -#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) /* .*/ -#define SetPass 41 /* . */ -#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) /* ..*/ -#define SetLevC 42 /* . */ -#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) /* ..*/ -#define SetLevK 43 /* . */ -#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) /* ..*/ -#define SetNet 44 /* . */ -#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) /* ..*/ -#define SetMet 45 /* */ -#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) /* .*/ -#define TurnMetOff 46 /* . */ -#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) /* .*/ -#define SetDUT1 47 /* ..(IERS DUT1=UT1-UTC) */ -#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) /* ..*/ -#define SetPM 48 /* ..(IERS polar motion)*/ -#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) /* ..*/ -#define GetSEW 49 /* SEW */ -#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) /* M..*/ -#define PutSEW 50 /* SEW */ -#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) /* M..*/ -#define SetLocks 51 /* */ -#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) /* M..*/ -#define ClearLocks 52 /* */ -#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) /* M..*/ -#define SetRKbits 53 /* . PEP-RK */ -#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) /* M..*/ -#define ClrRKbits 54 /* . PEP-RK */ -#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) /* M..*/ -#define SetSEWnd 55 /* . SEW- ( )*/ -#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) /* ..*/ -#define SEWsDome 56 /* ./. SEW- */ -#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) /* ..*/ - - -/* ( " ") */ -#define BTA_Data_Ver 2 -#pragma pack(4) -//struct __attribute__((packed)) BTA_Data { -struct BTA_Data { - int magic; /* */ - int version; /* = BTA_Data_Ver*/ - int size; /* = sizeof(struct BTA_Data)*/ - int pid; -#define ServPID (sdt->pid) /* .. */ - - /* */ - int model; -#define UseModel (sdt->model) /* */ -#define NoModel 0 /* */ -#define CheckModel 1 /* */ -#define DriveModel 2 /* "" */ -#define FullModel 3 /* */ - int timer; -#define ClockType (sdt->timer) /* */ -#define Ch7_15 0 /* . . 7-15 */ -#define SysTimer 1 /* ( ) */ -#define ExtSynchro 2 /* (bta_time xntpd)*/ - int system; -#define Sys_Mode (sdt->system) /* */ -#define SysStop 0 /* */ -#define SysWait 1 /* () */ -#define SysPointAZ 2 /* ( A Z)*/ -#define SysPointAD 3 /* ( R.A. Decl)*/ -#define SysTrkStop 4 /* : */ -#define SysTrkStart 5 /* : . ()*/ -#define SysTrkMove 6 /* : */ -#define SysTrkSeek 7 /* : */ -#define SysTrkOk 8 /* : */ -#define SysTrkCorr 9 /* : */ -#define SysTest 10 /* */ - int sys_target; -#define Sys_Target (sdt->sys_target) /* */ -#define TagPosition 0 /* A/Z */ -#define TagObject 1 /* Alpha/Delta */ -#define TagNest 2 /* "" */ -#define TagZenith 3 /* "" */ -#define TagHorizon 4 /* "" */ -#define TagStatObj 5 /* "" t/Delta */ - - int tel_focus; -#define Tel_Focus (sdt->tel_focus) /* : 0-, 1-1, 2-2 */ -#define Prime 0 -#define Nasmyth1 1 -#define Nasmyth2 2 - double pc_coeff[8]; -#define PosCor_Coeff (sdt->pc_coeff) /* - . */ - - /* */ -#define Stopping 0 /* */ -#define Pointing 1 /* */ -#define Tracking 2 /* */ - int tel_state; -#define Tel_State (sdt->tel_state) /* */ - int req_state; -#define Req_State (sdt->req_state) /* */ - int tel_hard_state; -#define Tel_Hardware (sdt->tel_hard_state) /* */ -#define Hard_Off 0 /* */ -#define Hard_On 1 /* */ - - /* */ - int tel_mode; -#define Tel_Mode (sdt->tel_mode) -#define Automatic 0 /* "" - */ -#define Manual 1 /* "/.." - :*/ -#define ZenHor 2 /* "-" - Z<5 Z>80*/ -#define A_Move 4 /* A */ -#define Z_Move 8 /* --- "" --- Z */ -#define Balance 0x10 /* */ - - /* ./. "" */ - int az_mode; -#define Az_Mode (sdt->az_mode) -#define Rev_Off 0 /* */ -#define Rev_On 1 /* 360. */ - - /* P2 */ - int p2_state; -#define P2_State (sdt->p2_state) /* P2 */ -#define P2_Off 0 /* */ -#define P2_On 1 /* */ -#define P2_Plus 2 /* + */ -#define P2_Minus -2 /* - */ - int p2_req_mode; -#define P2_Mode (sdt->p2_req_mode) /* P2 (: /)*/ - - /* */ - int focus_state; -#define Foc_State (sdt->focus_state) -#define Foc_Off 0 /* */ -#define Foc_Lplus 1 /* . + */ -#define Foc_Lminus -1 /* . - */ -#define Foc_Hplus 2 /* + */ -#define Foc_Hminus -2 /* - */ - - /* */ - int dome_state; -#define Dome_State (sdt->dome_state) -#define D_On 7 /* */ -#define D_Off 0 /* */ -#define D_Lplus 1 /* . + */ -#define D_Lminus -1 /* . - */ -#define D_Mplus 2 /* .. + */ -#define D_Mminus -2 /* .. - */ -#define D_Hplus 3 /* + */ -#define D_Hminus -3 /* - */ - -/* () */ - int pcor_mode; -#define Pos_Corr (sdt->pcor_mode) /* A/Z: /*/ -#define PC_Off 0 /* . */ -#define PC_On 1 /* . */ - -/* /. */ - int trkok_mode; -#define TrkOk_Mode (sdt->trkok_mode) -#define UseDiffVel 1 /* & (~)*/ -#define UseDiffAZ 2 /* ( ..) */ -#define UseDFlt 4 /* . */ - - /* */ - double i_alpha, i_delta; -#define InpAlpha (sdt->i_alpha) /* R.A. (sec) */ -#define InpDelta (sdt->i_delta) /* -- " -- Decl. (") */ - double s_alpha, s_delta; -#define SrcAlpha (sdt->s_alpha) /* R.A. (sec) */ -#define SrcDelta (sdt->s_delta) /* -- " -- Decl. (") */ - double v_alpha, v_delta; -#define VelAlpha (sdt->v_alpha) /* ..- R.A. (sec/) */ -#define VelDelta (sdt->v_delta) /* -- " -- Decl. ("/) */ - double i_azim, i_zdist; -#define InpAzim (sdt->i_azim) /* (") */ -#define InpZdist (sdt->i_zdist) /* -- " -- .. (") */ - - /* */ - double c_alpha, c_delta; -#define CurAlpha (sdt->c_alpha) /* R.A. (sec) */ -#define CurDelta (sdt->c_delta) /* -- " -- Decl. (") */ - double tag_a, tag_z, tag_p; -#define tag_A (sdt->tag_a) /* A (") */ -#define tag_Z (sdt->tag_z) /* - " - Z (") - " - */ -#define tag_P (sdt->tag_p) /* - " - P (") - " - */ - double pcor_a, pcor_z, refr_z; -#define pos_cor_A (sdt->pcor_a) /* A (") */ -#define pos_cor_Z (sdt->pcor_z) /* - " - - " - Z (") */ -#define refract_Z (sdt->refr_z) /* (") */ - double tcor_a, tcor_z, tref_z; -#define tel_cor_A (sdt->tcor_a) /* . A (") */ -#define tel_cor_Z (sdt->tcor_z) /* - " - - " - - " - Z (") */ -#define tel_ref_Z (sdt->tref_z) /* . (") */ - double diff_a, diff_z, diff_p; -#define Diff_A (sdt->diff_a) /* -( ) A (") */ -#define Diff_Z (sdt->diff_z) /* - " - - " - Z (") */ -#define Diff_P (sdt->diff_p) /* - " - - " - P (") */ - double vbasea,vbasez,vbasep; -#define vel_objA (sdt->vbasea) /* A ("/) */ -#define vel_objZ (sdt->vbasez) /* - " - - " - Z - " - */ -#define vel_objP (sdt->vbasep) /* - " - - " - P - " - */ - double diffva,diffvz,diffvp; -#define diff_vA (sdt->diffva) /* */ -#define diff_vZ (sdt->diffvz) /* -- "" -- -- "" -- Z */ -#define diff_vP (sdt->diffvp) /* -- "" -- -- "" -- P */ - double speeda,speedz,speedp; -#define speedA (sdt->speeda) /* A ("/) */ -#define speedZ (sdt->speedz) /* - " - Z - " - */ -#define speedP (sdt->speedp) /* - " - P - " - */ - double m_time_precip; -#define Precip_time (sdt->m_time_precip)/* (precipitations)*/ - unsigned char reserve[16]; -#define Reserve (sdt->reserve) /* */ - double rspeeda, rspeedz, rspeedp; -#define req_speedA (sdt->rspeeda) /* ("/) A */ -#define req_speedZ (sdt->rspeedz) /* - " - Z */ -#define req_speedP (sdt->rspeedp) /* - " - P */ - double simvela, simvelz, simvelp, simvelf, simveld; -#define mod_vel_A (sdt->simvela) /* A ("/) */ -#define mod_vel_Z (sdt->simvelz) /* - " - Z - " - */ -#define mod_vel_P (sdt->simvelp) /* - " - P - " - */ -#define mod_vel_F (sdt->simvelf) /* - " - F - " - */ -#define mod_vel_D (sdt->simvelf) /* - " - D - " - */ - - - /* */ - uint kost; -#define code_KOST (sdt->kost) /* . */ - /* 0x8000 - */ - /* 0x4000 - . */ - /* 0x2000 - */ - /* 0x1000 - P2 .*/ - /* 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) */ - /* 0x000F - .. +Z -Z +A -A */ - double m_time, s_time, l_time; -#define M_time (sdt->m_time) /* ( UTC!)*/ -#define S_time (sdt->s_time) /* */ -#define L_time (sdt->l_time) /* */ - uint ppndd_a, ppndd_z, ppndd_p, ppndd_b; -#define ppndd_A (sdt->ppndd_a) /* ( ) A */ -#define ppndd_Z (sdt->ppndd_z) /* - "" - Z */ -#define ppndd_P (sdt->ppndd_p) /* - "" - P */ -#define ppndd_B (sdt->ppndd_b) /* */ - uint dup_a, dup_z, dup_p, dup_f, dup_d; -#define dup_A (sdt->dup_a) /* ( ) A */ -#define dup_Z (sdt->dup_z) /* - "" - Z */ -#define dup_P (sdt->dup_p) /* - "" - P */ -#define dup_F (sdt->dup_f) /* */ -#define dup_D (sdt->dup_d) /* */ - uint low_a, low_z, low_p, low_f, low_d; -#define low_A (sdt->low_a) /* 14- . A */ -#define low_Z (sdt->low_z) /* - "" - Z */ -#define low_P (sdt->low_p) /* - "" - P */ -#define low_F (sdt->low_f) /* */ -#define low_D (sdt->low_d) /* */ - uint code_a, code_z, code_p, code_b, code_f, code_d; -#define code_A (sdt->code_a) /* 23- . A */ -#define code_Z (sdt->code_z) /* - "" - Z */ -#define code_P (sdt->code_p) /* - "" - P */ -#define code_B (sdt->code_b) /* */ -#define code_F (sdt->code_f) /* */ -#define code_D (sdt->code_d) /* */ - uint adc[8]; -#define ADC(N) (sdt->adc[(N)]) /* 8- PCL818 */ -#define code_T1 ADC(0) /* . */ -#define code_T2 ADC(1) /* .*/ -#define code_T3 ADC(2) /* */ -#define code_Wnd ADC(3) /* */ - double val_a, val_z, val_p, val_b, val_f, val_d; - double val_t1, val_t2, val_t3, val_wnd; -#define val_A (sdt->val_a) /* A (") */ -#define val_Z (sdt->val_z) /* - " - Z (") */ -#define val_P (sdt->val_p) /* - " - P (") */ -#define val_B (sdt->val_b) /* e (...)*/ -#define val_F (sdt->val_f) /* () */ -#define val_D (sdt->val_d) /* (") */ -#define val_T1 (sdt->val_t1) /* . (.)*/ -#define val_T2 (sdt->val_t2) /* .(.)*/ -#define val_T3 (sdt->val_t3) /* (.)*/ -#define val_Wnd (sdt->val_wnd) /* (/)*/ - double val_alp, val_del; -#define val_Alp (sdt->val_alp) /* R.A. (sec) */ -#define val_Del (sdt->val_del) /* -- " -- Decl. (") */ - - double vel_a, vel_z, vel_p, vel_f, vel_d; -#define vel_A (sdt->vel_a) /* A ("/) */ -#define vel_Z (sdt->vel_z) /* - " - Z - " - */ -#define vel_P (sdt->vel_p) /* - " - P - " - */ -#define vel_F (sdt->vel_f) /* - " - F - " - */ -#define vel_D (sdt->vel_d) /* - " - D - " - */ - - /* */ -#define MesgNum 3 -#define MesgLen 39 - //struct __attribute__((packed)) SysMesg { - struct SysMesg { - int seq_num; - char type; -#define MesgEmpty 0 -#define MesgInfor 1 -#define MesgWarn 2 -#define MesgFault 3 -#define MesgLog 4 - char text[MesgLen]; - } sys_msg_buf[MesgNum]; -#define Sys_Mesg(N) (sdt->sys_msg_buf[N]) - - /* */ - /* */ - uint code_lev1,code_lev2,code_lev3,code_lev4,code_lev5; -#define code_Lev1 (sdt->code_lev1) /* " " - */ -#define code_Lev2 (sdt->code_lev2) /* " " - + */ -#define code_Lev3 (sdt->code_lev3) /* " " - + A/Z--, .P2/F */ -#define code_Lev4 (sdt->code_lev4) /* "" - + / ., */ -#define code_Lev5 (sdt->code_lev5) /* " " - */ - /* */ - uint netmask, netaddr, acsmask, acsaddr; -#define NetMask (sdt->netmask) /* (: 255.255.255.0) */ -#define NetWork (sdt->netaddr) /* (: 192.168.3.0) */ -#define ACSMask (sdt->acsmask) /* - (: 255.255.255.0) */ -#define ACSNet (sdt->acsaddr) /* - (: 192.168.13.0) */ - - /* - */ - int meteo_stat; -#define MeteoMode (sdt->meteo_stat) /* */ -#define INPUT_B 1 /* *//* */ -#define INPUT_T1 2 /* T- */ -#define INPUT_T2 4 /* T- */ -#define INPUT_T3 8 /* T- */ -#define INPUT_WND 0x10 /* */ -#define INPUT_HMD 0x20 /* */ -#define SENSOR_B (INPUT_B <<8) /* - (e.g. CAN-)*/ -#define SENSOR_T1 (INPUT_T1 <<8) -#define SENSOR_T2 (INPUT_T2 <<8) -#define SENSOR_T3 (INPUT_T3 <<8) -#define SENSOR_WND (INPUT_WND<<8) -#define SENSOR_HMD (INPUT_HMD<<8) -#define ADC_B (INPUT_B <<16) /* . */ -#define ADC_T1 (INPUT_T1 <<16) -#define ADC_T2 (INPUT_T2 <<16) -#define ADC_T3 (INPUT_T3 <<16) -#define ADC_WND (INPUT_WND<<16) -#define ADC_HMD (INPUT_HMD<<16) -#define NET_B (INPUT_B <<24) /* */ -#define NET_T1 (INPUT_T1 <<24) -#define NET_WND (INPUT_WND<<24) -#define NET_HMD (INPUT_HMD<<24) - double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; -#define inp_B (sdt->inp_b) /* e (...)*/ -#define inp_T1 (sdt->inp_t1) /* . (.)*/ -#define inp_T2 (sdt->inp_t2) /* .(.)*/ -#define inp_T3 (sdt->inp_t3) /* (.)*/ -#define inp_Wnd (sdt->inp_wnd) /* (/)*/ - - double temper, press; -#define Temper (sdt->temper) /* */ -#define Pressure (sdt->press) /* */ - double m_time10, m_time15; -#define Wnd10_time (sdt->m_time10) /* >=10/*/ -#define Wnd15_time (sdt->m_time15) /* - " - - " - - " - >=15/*/ - - /* IERS DUT1 (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double dut1; -#define DUT1 (sdt->dut1) /* . : DUT1 = UT1-UTC */ - - double a_time, z_time, p_time; -#define A_time (sdt->a_time) /* A */ -#define Z_time (sdt->z_time) /* - " - - " - - " - Z */ -#define P_time (sdt->p_time) /* - " - - " - - " - P */ - - double speedain, speedzin, speedpin; -#define speedAin (sdt->speedain) /* - A */ -#define speedZin (sdt->speedzin) /* - Z */ -#define speedPin (sdt->speedpin) /* - P2*/ - - double acc_a, acc_z, acc_p, acc_f, acc_d; -#define acc_A (sdt->acc_a) /* A ("/^2) */ -#define acc_Z (sdt->acc_z) /* - " - Z - " - */ -#define acc_P (sdt->acc_p) /* - " - P - " - */ -#define acc_F (sdt->acc_f) /* - " - F - " - */ -#define acc_D (sdt->acc_d) /* - " - D - " - */ - - uint code_sew; -#define code_SEW (sdt->code_sew) /* . SEW- */ - -/* SEW- */ -//struct __attribute__((packed)) SEWdata { -struct SEWdata { - int status; - double set_speed; - double mes_speed; - double current; - int index; - union { - unsigned char b[4]; - __uint32_t l; - } value; -} sewdrv[3]; -#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) /* */ -#define statusSEW1 (sdt->sewdrv[0].status) -#define statusSEW2 (sdt->sewdrv[1].status) -#define statusSEW3 (sdt->sewdrv[2].status) -#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) /* */ -#define speedSEW1 (sdt->sewdrv[0].set_speed) /* / (rpm)*/ -#define speedSEW2 (sdt->sewdrv[1].set_speed) -#define speedSEW3 (sdt->sewdrv[2].set_speed) -#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) /* */ -#define vel_SEW1 (sdt->sewdrv[0].mes_speed) /* / (rpm)*/ -#define vel_SEW2 (sdt->sewdrv[1].mes_speed) -#define vel_SEW3 (sdt->sewdrv[2].mes_speed) -#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) /* ()*/ -#define currentSEW1 (sdt->sewdrv[0].current) -#define currentSEW2 (sdt->sewdrv[1].current) -#define currentSEW3 (sdt->sewdrv[2].current) -#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) /* */ -#define indexSEW1 (sdt->sewdrv[0].index) -#define indexSEW2 (sdt->sewdrv[1].index) -#define indexSEW3 (sdt->sewdrv[2].index) -#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) /* */ -#define valueSEW1 (sdt->sewdrv[0].value.l) -#define valueSEW2 (sdt->sewdrv[1].value.l) -#define valueSEW3 (sdt->sewdrv[2].value.l) -#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) /* */ - -/* PEP- */ - uint pep_code_a, pep_code_z, pep_code_p; -#define PEP_code_A (sdt->pep_code_a) /* 23- . A */ -#define PEP_code_Z (sdt->pep_code_z) /* - "" - Z */ -#define PEP_code_P (sdt->pep_code_p) /* - "" - P */ - uint pep_sw_a, pep_sw_z, pep_sw_p; -#define switch_A (sdt->pep_sw_a) /* */ -#define Sw_minus_A 1 /* (. code_KOST&0x8000)*/ -#define Sw_plus240_A 2 /* "+240" */ -#define Sw_minus240_A 4 /* "-240" */ -#define Sw_minus45_A 8 /* " " (~-46)*/ -#define switch_Z (sdt->pep_sw_z) /* Z */ -#define Sw_0_Z 0x01 /* "0" */ -#define Sw_5_Z 0x02 /* "5" */ -#define Sw_20_Z 0x04 /* "20" */ -#define Sw_60_Z 0x08 /* "60" */ -#define Sw_80_Z 0x10 /* "80" */ -#define Sw_90_Z 0x20 /* "90" */ -#define switch_P (sdt->pep_sw_p) /* - "" - */ -#define Sw_No_P 0x00 /* " " */ -#define Sw_22_P 0x01 /* "22" */ -#define Sw_89_P 0x02 /* "89" */ -#define Sw_Sm_P 0x80 /* */ - uint pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; -#define PEP_code_F (sdt->pep_code_f) /* */ -#define PEP_code_D (sdt->pep_code_d) /* */ -#define PEP_code_Rin (sdt->pep_code_ri)/* */ -#define PEP_code_Rout (sdt->pep_code_ro)/* */ - unsigned char pep_on[10]; /* PEP- */ -#define PEP_A_On (sdt->pep_on[0]) -#define PEP_A_Off (PEP_A_On==0) -#define PEP_Z_On (sdt->pep_on[1]) -#define PEP_Z_Off (PEP_Z_On==0) -#define PEP_P_On (sdt->pep_on[2]) -#define PEP_P_Off (PEP_P_On==0) -#define PEP_F_On (sdt->pep_on[3]) -#define PEP_F_Off (PEP_F_On==0) -#define PEP_D_On (sdt->pep_on[4]) -#define PEP_D_Off (PEP_D_On==0) -#define PEP_R_On (sdt->pep_on[5]) -#define PEP_R_Off ((PEP_R_On&1)==0) -#define PEP_R_Inp ((PEP_R_On&2)!=0) -#define PEP_K_On (sdt->pep_on[6]) -#define PEP_K_Off ((PEP_K_On&1)==0) -#define PEP_K_Inp ((PEP_K_On&2)!=0) - - /* IERS polar motion (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double xpol, ypol; -#define polarX (sdt->xpol) /* X-a . */ -#define polarY (sdt->ypol) /* Y-a . */ - - double jdate, eetime; -#define JDate (sdt->jdate) /* */ -#define EE_time (sdt->eetime) /* ... "Equation of the Equinoxes" */ - - /* - */ - double val_hmd, inp_hmd; -#define val_Hmd (sdt->val_hmd) /* (%) */ -#define inp_Hmd (sdt->val_hmd) /* */ - - /* () */ - double worm_a, worm_z; -#define worm_A (sdt->worm_a) /* A () */ -#define worm_Z (sdt->worm_z) /* Z () */ - - /* */ - __uint32_t lock_flags; -#define LockFlags (sdt->lock_flags) -#define Lock_A 0x01 -#define Lock_Z 0x02 -#define Lock_P 0x04 -#define Lock_F 0x08 -#define Lock_D 0x10 -#define A_Locked (LockFlags&Lock_A) -#define Z_Locked (LockFlags&Lock_Z) -#define P_Locked (LockFlags&Lock_P) -#define F_Locked (LockFlags&Lock_F) -#define D_Locked (LockFlags&Lock_D) - - /* ( - SEW-)*/ - int sew_dome_speed; /* Dome_State */ -#define Dome_Speed (sdt->sew_dome_speed) /* .. D_Lplus,D_Lminus,.... */ - -/* SEW- ( )*/ - int sew_dome_num; -#define DomeSEW_N (sdt->sew_dome_num) - -/* (DomeSEW_N) SEW- */ -struct SEWdata sewdomedrv; -#define statusSEWD (sdt->sewdomedrv.status) /* */ -#define speedSEWD (sdt->sewdomedrv.set_speed) /* / (rpm)*/ -#define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ -#define currentSEWD (sdt->sewdomedrv.current) /* ()*/ -#define indexSEWD (sdt->sewdomedrv.index) /* */ -#define valueSEWD (sdt->sewdomedrv.value.l) /* */ - -/* PEP- */ - uint pep_code_di, pep_code_do; -#define PEP_code_Din (sdt->pep_code_di) /* PEP- */ -#define PEP_Dome_SEW_Ok 0x200 -#define PEP_Dome_Cable_Ok 0x100 -#define PEP_code_Dout (sdt->pep_code_do) /* PEP- */ -#define PEP_Dome_SEW_On 0x10 -#define PEP_Dome_SEW_Off 0x20 - -}; - -#ifndef BTA_MODULE -struct BTA_Data *sdt; -#else -extern struct BTA_Data *sdt; -#endif - -struct BTA_Local { /* */ - unsigned char reserve[120]; /* */ - /* ( 1500 ) */ - double pr_oil_a,pr_oil_z,pr_oil_t; -#define PressOilA (sdtl->pr_oil_a) /* A () */ -#define PressOilZ (sdtl->pr_oil_z) /* Z () */ -#define PressOilTank (sdtl->pr_oil_t) /* () */ - double t_oil_1,t_oil_2; -#define OilTemper1 (sdtl->t_oil_1) /* */ -#define OilTemper2 (sdtl->t_oil_2) /* */ -}; - -#ifndef BTA_MODULE -struct BTA_Local *sdtl; /* , */ -#else -extern struct BTA_Local *sdtl; -#endif - -#define ClientSide 0 -#define ServerSide 1 - -#ifndef BTA_MODULE -static void bta_data_init(); -static int bta_data_check(); -static void bta_data_close(); - -/* (" ") */ -struct SHM_Block sdat = { -{'S','d','a','t',0},sizeof(struct BTA_Data),2048,0444,SHM_RDONLY,bta_data_init,bta_data_check,bta_data_close,0,-1,NULL -}; -#else -extern struct SHM_Block sdat; -#endif - -#ifndef BTA_MODULE -/* ( " ") */ -static void bta_data_init() { - int i; - sdt = (struct BTA_Data *)sdat.addr; - sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); - if(sdat.side == ClientSide) { - if(sdt->magic != sdat.key.code) { - fprintf(stderr,"Wrong shared data (maybe server turned off)\n"); - /*exit(1);*/ - } - if(sdt->version == 0) { - fprintf(stderr,"Null shared data version (maybe server turned off)\n"); - /*exit(1);*/ - } - else if(sdt->version != BTA_Data_Ver) { - fprintf(stderr,"Wrong shared data version: I'am - %d, but server - %d ...\n", - BTA_Data_Ver, sdt->version ); - /*exit(1);*/ - } - if(sdt->size != sdat.size) { - if(sdt->size > sdat.size) { - /* */ - fprintf(stderr,"Wrong shared area size: I needs - %d, but server - %d ...\n", - sdat.size, sdt->size ); - } else { - /* "" */ - /* ! */ - fprintf(stderr,"Attention! Too little shared data structure!\n"); - sleep(1); - fprintf(stderr,"I needs - %d, but server gives only %d ...\n", - sdat.size, sdt->size ); - sleep(1); - fprintf(stderr,"May be server's version too old!?\n"); - /* exit(1); */ - - } - } - return; - } - /* ServerSide */ - if(sdt->magic != sdat.key.code || - sdt->version != BTA_Data_Ver || - sdt->size != sdat.size) { - - for(i=0; imagic = sdat.key.code; - sdt->version = BTA_Data_Ver; - sdt->size = sdat.size; - ServPID = 0; - UseModel = NoModel; - ClockType = Ch7_15; - Sys_Mode = SysStop; - Sys_Target = TagPosition; - Tel_Focus = Prime; - Tel_Hardware = Hard_On; - Tel_Mode = Automatic; - Az_Mode = Rev_Off; - P2_State = P2_Mode = P2_Off; - Foc_State = Foc_Off; - Dome_State = D_Off; - Pos_Corr = PC_On; - TrkOk_Mode = UseDiffVel | UseDiffAZ ; - InpAlpha=InpDelta= 0.; - SrcAlpha=SrcDelta= 0.; - VelAlpha=VelDelta= 0.; - CurAlpha=CurDelta= 0.; - InpAzim=InpZdist = 0.; - Diff_A=Diff_Z=Diff_P=0.0; - pos_cor_A=pos_cor_Z=refract_Z = 0.; - tel_cor_A=tel_cor_Z=tel_ref_Z = 0.; - vel_objA=vel_objZ=vel_objP = 0.; - diff_vA=diff_vZ=diff_vP=0.; - speedA = speedZ = speedP = 0.; - req_speedA = req_speedZ = req_speedP = 0.; - mod_vel_A=mod_vel_Z=mod_vel_P=mod_vel_F=mod_vel_D=0.; - code_KOST = 0; - M_time = S_time = L_time = 0.; - ppndd_A=ppndd_Z=ppndd_P=ppndd_B=0; - dup_A=dup_Z=dup_P=dup_F=dup_D=0; - low_A=low_Z=low_P=low_F=low_D=0; - code_A=code_Z=code_P=code_B=code_F=code_D=code_T1=code_T2=code_T3=code_Wnd=0; - val_A=val_Z=val_P=val_B=val_F=val_D=val_T1=val_T2=val_T3=val_Wnd=val_Alp=val_Del=0.; - vel_A=vel_Z=vel_P=vel_F=vel_D=0.; - for(i=0; imagic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); -} -static void bta_data_close() { - if(sdat.side == ServerSide) { - sdt->magic = 0; - sdt->version = 0; - } -} - -/* ??? */ -/*struct SHM_Block info = {{'I','n','f','o',0},1024,1024,0444,SHM_RDONLY,NULL,NULL,NULL,0,-1,NULL};*/ - -/* Allocate shared memory segment */ -static void get_shm_block( struct SHM_Block *sb, int server) { - int getsize = (server)? sb->maxsize : sb->size; - - /* first try to find existing one */ - sb->id = shmget(sb->key.code, getsize, sb->mode); - - if (sb->id<0 && errno==ENOENT && server) { - /* if no - try to create a new one */ - int cresize = sb->maxsize; - if(sb->size > cresize) { - fprintf(stderr,"Wrong shm maxsize(%d) < realsize(%d)\n",sb->maxsize,sb->size); - cresize = sb->size; - } - sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); - } - if (sb->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create shared memory segment '%s'",sb->key.name); - else - sprintf(msg,"Can't find shared segment '%s' (maybe no server process) ",sb->key.name); - perror(msg); - exit(errno); - } - /* attach it to our memory space */ - sb->addr = (unsigned char *)shmat ( sb->id, NULL, sb->atflag ); - - if ((int)(sb->addr) == -1) { - char msg[80]; - sprintf(msg,"Can't attach shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - if(server) { - if((shmctl(sb->id, SHM_LOCK, NULL) < 0) < 0) { - char msg[80]; - sprintf(msg,"Can't prevents swapping of shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - } - fprintf(stderr,"Create&attach shared memory segment '%s' %dbytes at %x \n", - sb->key.name, sb->size, (uint)sb->addr); - - sb->side = server; - - if(sb->init!=NULL) - sb->init(); -} -static int close_shm_block( struct SHM_Block *sb) { - int ret; - if(sb->close != NULL) - sb->close(); - if(sb->side == ServerSide) { -// ret = shmctl(sb->id, SHM_UNLOCK, NULL); - ret = shmctl(sb->id, IPC_RMID, NULL); - } - ret = shmdt (sb->addr); - return(ret); -} -#endif - -static int check_shm_block( struct SHM_Block *sb) { - if(sb->check != NULL) - return(sb->check()); - else return(1); -} - -#ifndef BTA_MODULE -int snd_id=-1; /* ( ?) */ -int cmd_src_pid=0; /* . */ -__uint32_t cmd_src_ip=0; /* IP-. . */ -#else -extern int snd_id; -extern int cmd_src_pid; -extern __uint32_t cmd_src_ip; -#endif - -#ifndef BTA_MODULE -/* Create|Find command queue */ -static void get_cmd_queue( struct CMD_Queue *cq, int server) { - if (!server && cq->id>=0) { /* if already in use */ - snd_id = cq->id; /* set current... */ - return; - } - /* first try to find existing one */ - cq->id = msgget(cq->key.code, cq->mode); - if (cq->id<0 && errno==ENOENT && server) - /* if no - try to create a new one */ - cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); - if (cq->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create comand queue '%s'",cq->key.name); - else - sprintf(msg,"Can't find comand queue '%s' (maybe no server process) ",cq->key.name); - perror(msg); - exit(errno); - } - cq->side = server; - if (server) { - char buf[120]; /* */ - while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT)>0); - } else - snd_id = cq->id; - cq->acckey = 0; -} -#endif - -/* . */ -static void set_acckey(uint newkey) { - if (snd_id<0) return; - if(ucmd.id==snd_id) ucmd.acckey=newkey; - else if(ocmd.id==snd_id) ocmd.acckey=newkey; - else if(mcmd.id==snd_id) mcmd.acckey=newkey; -} - -/* . */ -/* : IP=0( ) PID . */ -static void set_cmd_src(__uint32_t ip, int pid) { - cmd_src_pid = pid; - cmd_src_ip = ip; -} - -/* */ -struct my_msgbuf { - __int32_t mtype; /* type of message */ - __uint32_t acckey; /* */ - __uint32_t src_pid; /* */ - __uint32_t src_ip; /* IP-. , =0 - */ - char mtext[100]; /* message text */ -}; -/* */ -static void send_cmd(int cmd_code, char *buf, int size) { - struct my_msgbuf mbuf; - - if (snd_id<0) return; - if (size>100) size=100; - if (cmd_code>0) - mbuf.mtype = cmd_code; - else - return; - if(ucmd.id==snd_id) mbuf.acckey=ucmd.acckey; - else if(ocmd.id==snd_id) mbuf.acckey=ocmd.acckey; - else if(mcmd.id==snd_id) mbuf.acckey=mcmd.acckey; - - mbuf.src_pid = cmd_src_pid? cmd_src_pid : getpid(); - mbuf.src_ip = cmd_src_ip; - cmd_src_pid = cmd_src_ip = 0; - - if(size>0) - memcpy( mbuf.mtext, buf, size); - else { - mbuf.mtext[0] = 0; - size = 1; - } - msgsnd( snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); -} -static void send_cmd_noarg(int cmd_code) { - send_cmd(cmd_code, NULL, 0); -} -static void send_cmd_str(int cmd_code, char *arg) { - send_cmd(cmd_code, arg, strlen(arg)+1); -} -static void send_cmd_i1(int cmd_code, int arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(int)); -} -static void send_cmd_i2(int cmd_code, int arg1, int arg2) { - int ibuf[2]; - ibuf[0] = arg1; - ibuf[1] = arg2; - send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int)); -} -static void send_cmd_i3(int cmd_code, int arg1, int arg2, int arg3) { - int ibuf[3]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int)); -} -static void send_cmd_i4(int cmd_code, int arg1, int arg2, int arg3, int arg4) { - int ibuf[4]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - ibuf[3] = arg4; - send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int)); -} -static void send_cmd_d1(int cmd_code, double arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(double)); -} -static void send_cmd_d2(int cmd_code, double arg1, double arg2) { - double dbuf[2]; - dbuf[0] = arg1; - dbuf[1] = arg2; - send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); -} -static void send_cmd_i1d1(int cmd_code, int arg1, double arg2) { - struct { - int ival; - double dval; - } buf; - buf.ival = arg1; - buf.dval = arg2; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i2d1(int cmd_code, int arg1, int arg2, double arg3) { - struct { - int ival[2]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.dval = arg3; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i3d1(int cmd_code, int arg1, int arg2, int arg3, double arg4) { - struct { - int ival[3]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.ival[2] = arg3; - buf.dval = arg4; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} - -static void encode_lev_passwd(char *passwd, int nlev, uint *keylev, uint *codlev) { - char salt[4]; - char *encr; - union { - uint ui; - char c[4]; - } key,cod; - sprintf(salt,"L%1d",nlev); - encr = (char *)crypt(passwd, salt); - cod.c[0] = encr[2]; - key.c[0] = encr[3]; - cod.c[1] = encr[4]; - key.c[1] = encr[5]; - cod.c[2] = encr[6]; - key.c[2] = encr[7]; - cod.c[3] = encr[8]; - key.c[3] = encr[9]; - *keylev = key.ui; - *codlev = cod.ui; -} - -static int find_lev_passwd(char *passwd, uint *keylev, uint *codlev) { - int nlev; - for(nlev=5; nlev>0; nlev--) { - encode_lev_passwd(passwd, nlev, keylev, codlev); - if(nlev == 1 && code_Lev1 == *codlev) break; - if(nlev == 2 && code_Lev2 == *codlev) break; - if(nlev == 3 && code_Lev3 == *codlev) break; - if(nlev == 4 && code_Lev4 == *codlev) break; - if(nlev == 5 && code_Lev5 == *codlev) break; - } - return(nlev); -} - -static int check_lev_passwd(char *passwd) { - uint keylev,codlev; - int nlev; - nlev = find_lev_passwd(passwd, &keylev, &codlev); - if(nlev>0) set_acckey(keylev); - return(nlev); -} - -#pragma GCC diagnostic pop - -#endif // __BTA_SHDATA_H__ diff --git a/C/client_cli/client_cli.c b/C/client_cli/client_cli.c index 0073fb9..d12f365 100644 --- a/C/client_cli/client_cli.c +++ b/C/client_cli/client_cli.c @@ -141,7 +141,7 @@ void find_starting_pos(){ // cache_fd = open("./cache", O_RDONLY); } if(cache_fd < 0){ - WARN(_L(_s_Cant_open_cache_)); + WARN("%s", _L(_s_Cant_open_cache_)); exit(1); } while(read(cache_fd, &cache, sizeof(cache)) > 0){ @@ -348,7 +348,7 @@ int main(int argc, char **argv){ out_fd = open("./out", O_RDONLY); } if(out_fd < 0){ - WARN(_L(_s_Cant_open_data_)); + WARN("%s", _L(_s_Cant_open_data_)); return(1); } if(lookout) print_dates(); diff --git a/C/daemon/Makefile b/C/daemon/Makefile index 7f88e5b..7e876ea 100644 --- a/C/daemon/Makefile +++ b/C/daemon/Makefile @@ -1,13 +1,13 @@ CC = gcc -LDFLAGS = -lcrypt -CPPFLAGS = -all : daemon tempmon tempmon_cli clean -daemon : daemon.o - $(CC) $(LDFLAGS) daemon.c $(CPPFLAGS) -o daemon -tempmon : client.o - $(CC) client.c $(CPPFLAGS) -o tempmon -tempmon_cli : client_cli.o - $(CC) client_cli.c $(CPPFLAGS) -o tempmon_cli +LDFLAGS = -lcrypt -lm +all : daemon tempmon tempmon_cli +daemon : daemon.c bta_shdata.c + $(CC) $(LDFLAGS) daemon.c bta_shdata.c $(CFLAGS) -o daemon +tempmon : client.c + $(CC) client.c $(CFLAGS) -o tempmon +tempmon_cli : client_cli.c + $(CC) client_cli.c $(CFLAGS) -o tempmon_cli + clean: /bin/rm -f *.o *~ diff --git a/C/daemon/bta_shdata.c b/C/daemon/bta_shdata.c new file mode 100644 index 0000000..bd6ec4f --- /dev/null +++ b/C/daemon/bta_shdata.c @@ -0,0 +1,356 @@ +// (C) V.S. Shergin, SAO RAS +#include +#include "bta_shdata.h" + +#pragma pack(push, 4) +// Main command channel (level 5) +struct CMD_Queue mcmd = {{"Mcmd"}, 0200,0,-1,0}; +// Operator command channel (level 4) +struct CMD_Queue ocmd = {{"Ocmd"}, 0200,0,-1,0}; +// User command channel (level 2/3) +struct CMD_Queue ucmd = {{"Ucmd"}, 0200,0,-1,0}; + +#define MSGLEN (80) +static char msg[MSGLEN]; +#define WARN(...) warn(__VA_ARGS__) +#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0) +#ifdef EBUG + #define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__) + #define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \ + fprintf(stderr, __VA_ARGS__); \ + fprintf(stderr, "\n");} while(0) +#else + #define FNAME() do{}while(0) + #define DBG(...) do{}while(0) +#endif //EBUG + + +#ifndef BTA_MODULE +volatile struct BTA_Data *sdt; +volatile struct BTA_Local *sdtl; + +volatile struct SHM_Block sdat = { + {"Sdat"}, + sizeof(struct BTA_Data), + 2048,0444, + SHM_RDONLY, + bta_data_init, + bta_data_check, + bta_data_close, + ClientSide,-1,NULL +}; + +int snd_id = -1; // client sender ID +int cmd_src_pid = 0; // next command source PID +uint32_t cmd_src_ip = 0;// next command source IP + +/** + * Init data + */ +void bta_data_init() { + sdt = (struct BTA_Data *)sdat.addr; + sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); + if(sdat.side == ClientSide) { + if(sdt->magic != sdat.key.code) { + WARN("Wrong shared data (maybe server turned off)"); + } + if(sdt->version == 0) { + WARN("Null shared data version (maybe server turned off)"); + } + else if(sdt->version != BTA_Data_Ver) { + WARN("Wrong shared data version: I'am - %d, but server - %d ...", + BTA_Data_Ver, sdt->version ); + } + if(sdt->size != sdat.size) { + if(sdt->size > sdat.size) { + WARN("Wrong shared area size: I needs - %d, but server - %d ...", + sdat.size, sdt->size ); + } else { + WARN("Attention! Too little shared data structure!"); + WARN("I needs - %d, but server gives only %d ...", + sdat.size, sdt->size ); + WARN("May be server's version too old!?"); + } + } + return; + } + /* ServerSide */ + if(sdt->magic == sdat.key.code && + sdt->version == BTA_Data_Ver && + sdt->size == sdat.size) + return; + memset(sdat.addr, 0, sdat.maxsize); + sdt->magic = sdat.key.code; + sdt->version = BTA_Data_Ver; + sdt->size = sdat.size; + Tel_Hardware = Hard_On; + Pos_Corr = PC_On; + TrkOk_Mode = UseDiffVel | UseDiffAZ ; + inp_B = 591.; + Pressure = 595.; + PEP_code_A = 0x002aaa; + PEP_code_Z = 0x002aaa; + PEP_code_P = 0x002aaa; + PEP_code_F = 0x002aaa; + PEP_code_D = 0x002aaa; + DomeSEW_N = 1; +} + +int bta_data_check() { + return( (sdt->magic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); +} + +void bta_data_close() { + if(sdat.side == ServerSide) { + sdt->magic = 0; + sdt->version = 0; + } +} + +/** + * Allocate shared memory segment + */ +int get_shm_block(volatile struct SHM_Block *sb, int server) { + int getsize = (server)? sb->maxsize : sb->size; + // first try to find existing one + sb->id = shmget(sb->key.code, getsize, sb->mode); + if(sb->id < 0 && errno == ENOENT && server){ + // if no - try to create a new one + int cresize = sb->maxsize; + if(sb->size > cresize){ + WARN("Wrong shm maxsize(%d) < realsize(%d)",sb->maxsize,sb->size); + cresize = sb->size; + } + sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); + } + if(sb->id < 0){ + if(server) + PERR("Can't create shared memory segment '%s'",sb->key.name); + else + PERR("Can't find shared segment '%s' (maybe no server process) ",sb->key.name); + return 0; + } + // attach it to our memory space + sb->addr = (unsigned char *) shmat(sb->id, NULL, sb->atflag); + if((long)sb->addr == -1){ + PERR("Can't attach shared memory segment '%s'",sb->key.name); + return 0; + } + if(server && (shmctl(sb->id, SHM_LOCK, NULL) < 0)){ + PERR("Can't prevents swapping of shared memory segment '%s'",sb->key.name); + return 0; + } + DBG("Create & attach shared memory segment '%s' %dbytes", sb->key.name, sb->size); + sb->side = server; + if(sb->init != NULL) + sb->init(); + return 1; +} + +int close_shm_block(volatile struct SHM_Block *sb){ + int ret; + if(sb->close != NULL) + sb->close(); + if(sb->side == ServerSide) { + // ret = shmctl(sb->id, SHM_UNLOCK, NULL); + ret = shmctl(sb->id, IPC_RMID, NULL); + } + ret = shmdt (sb->addr); + return(ret); +} + +/** + * Create|Find command queue + */ +void get_cmd_queue(struct CMD_Queue *cq, int server){ + if (!server && cq->id >= 0) { //if already in use set current + snd_id = cq->id; + return; + } + // first try to find existing one + cq->id = msgget(cq->key.code, cq->mode); + // if no - try to create a new one + if(cq->id<0 && errno == ENOENT && server) + cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); + if(cq->id<0){ + if(server) + PERR("Can't create comand queue '%s'",cq->key.name); + else + PERR("Can't find comand queue '%s' (maybe no server process) ",cq->key.name); + return; + } + cq->side = server; + if(server){ + char buf[120]; /* выбросить все команды из очереди */ + while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT) > 0); + }else + snd_id = cq->id; + cq->acckey = 0; +} + +#endif // BTA_MODULE + + +int check_shm_block(volatile struct SHM_Block *sb) { + if(sb->check) + return(sb->check()); + else return(0); +} + +/** + * Set access key in current channel + */ +void set_acckey(uint32_t newkey){ + if(snd_id < 0) return; + if(ucmd.id == snd_id) ucmd.acckey = newkey; + else if(ocmd.id == snd_id) ocmd.acckey = newkey; + else if(mcmd.id == snd_id) mcmd.acckey = newkey; +} + +/** + * Setup source data for one following command if default values + * (IP == 0 - local, PID = current) not suits + */ +void set_cmd_src(uint32_t ip, int pid) { + cmd_src_pid = pid; + cmd_src_ip = ip; +} + +#pragma pack(push, 4) +/** + * Send client commands to server + */ +void send_cmd(int cmd_code, char *buf, int size) { + struct my_msgbuf mbuf; + if(snd_id < 0) return; + if(size > 100) size = 100; + if(cmd_code > 0) + mbuf.mtype = cmd_code; + else + return; + if(ucmd.id == snd_id) mbuf.acckey = ucmd.acckey; + else if(ocmd.id == snd_id) mbuf.acckey = ocmd.acckey; + else if(mcmd.id == snd_id) mbuf.acckey = mcmd.acckey; + + mbuf.src_pid = cmd_src_pid ? cmd_src_pid : getpid(); + mbuf.src_ip = cmd_src_ip; + cmd_src_pid = cmd_src_ip = 0; + + if(size > 0) + memcpy(mbuf.mtext, buf, size); + else { + mbuf.mtext[0] = 0; + size = 1; + } + msgsnd(snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); +} + +void send_cmd_noarg(int cmd_code) { + send_cmd(cmd_code, NULL, 0); +} +void send_cmd_str(int cmd_code, char *arg) { + send_cmd(cmd_code, arg, strlen(arg)+1); +} +void send_cmd_i1(int cmd_code, int32_t arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(int32_t)); +} +void send_cmd_i2(int cmd_code, int32_t arg1, int32_t arg2) { + int32_t ibuf[2]; + ibuf[0] = arg1; + ibuf[1] = arg2; + send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int32_t)); +} +void send_cmd_i3(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3) { + int32_t ibuf[3]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int32_t)); +} +void send_cmd_i4(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, int32_t arg4) { + int32_t ibuf[4]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + ibuf[3] = arg4; + send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int32_t)); +} +void send_cmd_d1(int32_t cmd_code, double arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(double)); +} +void send_cmd_d2(int cmd_code, double arg1, double arg2) { + double dbuf[2]; + dbuf[0] = arg1; + dbuf[1] = arg2; + send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); +} +void send_cmd_i1d1(int cmd_code, int32_t arg1, double arg2) { + struct { + int32_t ival; + double dval; + } buf; + buf.ival = arg1; + buf.dval = arg2; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i2d1(int cmd_code, int32_t arg1, int32_t arg2, double arg3) { + struct { + int32_t ival[2]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.dval = arg3; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i3d1(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, double arg4) { + struct { + int32_t ival[3]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.ival[2] = arg3; + buf.dval = arg4; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} + +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev){ + char salt[4]; + char *encr; + union { + uint32_t ui; + char c[4]; + } key, cod; + sprintf(salt,"L%1d",nlev); + encr = (char *)crypt(passwd, salt); + cod.c[0] = encr[2]; + key.c[0] = encr[3]; + cod.c[1] = encr[4]; + key.c[1] = encr[5]; + cod.c[2] = encr[6]; + key.c[2] = encr[7]; + cod.c[3] = encr[8]; + key.c[3] = encr[9]; + *keylev = key.ui; + *codlev = cod.ui; +} + +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev){ + int nlev; + for(nlev = 5; nlev > 0; --nlev){ + encode_lev_passwd(passwd, nlev, keylev, codlev); + if(*codlev == code_Lev(nlev)) break; + } + return(nlev); +} + +int check_lev_passwd(char *passwd){ + uint32_t keylev,codlev; + int nlev; + nlev = find_lev_passwd(passwd, &keylev, &codlev); + if(nlev > 0) set_acckey(keylev); + return(nlev); +} + +#pragma pack(pop) diff --git a/C/daemon/bta_shdata.h b/C/daemon/bta_shdata.h index 49607dc..8e715d7 100644 --- a/C/daemon/bta_shdata.h +++ b/C/daemon/bta_shdata.h @@ -1,12 +1,8 @@ +// (C) V.S. Shergin, SAO RAS #pragma once #ifndef __BTA_SHDATA_H__ #define __BTA_SHDATA_H__ -#define _XOPEN_SOURCE 501 -/* */ -/* : */ -/* BTA_MODULE - - . C- ( .) */ -/* SHM_OLD_SIZE - - */ #include #include #include @@ -17,601 +13,620 @@ #include #include -#pragma GCC diagnostic ignored "-Wunused-function" -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wmissing-braces" -#pragma GCC diagnostic ignored "-Wsequence-point" -#pragma GCC diagnostic ignored "-Wpointer-to-int-cast" -#pragma GCC diagnostic ignored "-Wimplicit-function-declaration" - -//#define int __int32_t -#define uint __uint32_t - -struct SHM_Block { /* */ +#pragma pack(push, 4) +/* + * Shared memory block + */ +struct SHM_Block { union { - char name[5]; /* */ - key_t code; + char name[5]; // memory segment identificator + key_t code; } key; - int size; /* */ - int maxsize; /* (" " ) */ - int mode; /* (rwxrwxrwx) */ - int atflag; /* (SHM_RDONLY 0) */ - void (*init)(); /* */ - int (*check)(); /* */ - void (*close)(); /* */ - int side; /* : / */ - int id; /* */ - unsigned char *addr; /* */ + int32_t size; // size of memory used + int32_t maxsize; // size when created + int32_t mode; // access mode (rwxrwxrwx) + int32_t atflag; // connection mode (SHM_RDONLY or 0) + void (*init)(); // init function + int32_t (*check)(); // test function + void (*close)(); // deinit function + int32_t side; // connection type: client/server + int32_t id; // connection identificator + uint8_t *addr; // connection address }; -struct CMD_Queue { /* () */ +extern volatile struct SHM_Block sdat; + +/* + * Command queue descriptor + */ +struct CMD_Queue { union { - char name[5]; /* */ - key_t code; + char name[5]; // queue key + key_t code; } key; - int mode; /* (rwxrwxrwx) */ - int side; /* : / (Sender/Receiver)*/ - int id; /* */ - uint acckey; /* ( ->) */ + int32_t mode; // access mode (rwxrwxrwx) + int32_t side; // connection type (Sender/Receiver - server/client) + int32_t id; // connection identificator + uint32_t acckey; // access key (for transmission from client to server) }; -#ifndef BTA_MODULE -/* (Level5)*/ -struct CMD_Queue mcmd = {{'M','c','m','d',0},0200,0,-1,0}; -/* () (Level4)*/ -struct CMD_Queue ocmd = {{'O','c','m','d',0},0200,0,-1,0}; -/* () (Level2/3)*/ -struct CMD_Queue ucmd = {{'U','c','m','d',0},0200,0,-1,0}; -#else extern struct CMD_Queue mcmd; extern struct CMD_Queue ocmd; extern struct CMD_Queue ucmd; -#endif -static void send_cmd_noarg(int); -static void send_cmd_str(int, char *); -static void send_cmd_i1(int, int); -static void send_cmd_i2(int, int, int); -static void send_cmd_i3(int, int, int, int); -static void send_cmd_i4(int, int, int, int, int); -static void send_cmd_d1(int, double); -static void send_cmd_d2(int, double, double); -static void send_cmd_i1d1(int, int, double); -static void send_cmd_i2d1(int, int, int, double); -static void send_cmd_i3d1(int, int, int, int, double); +void send_cmd_noarg(int); +void send_cmd_str(int, char *); +void send_cmd_i1(int, int32_t); +void send_cmd_i2(int, int32_t, int32_t); +void send_cmd_i3(int, int32_t, int32_t, int32_t); +void send_cmd_i4(int, int32_t, int32_t, int32_t, int32_t); +void send_cmd_d1(int, double); +void send_cmd_d2(int, double, double); +void send_cmd_i1d1(int, int32_t, double); +void send_cmd_i2d1(int, int32_t, int32_t, double); +void send_cmd_i3d1(int, int32_t, int32_t, int32_t, double); -/* */ -/* */ -#define StopTel 1 /* */ -#define StopTeleskope() send_cmd_noarg( 1 ) /* . */ -#define StartHS 2 /* */ -#define StartHightSpeed() send_cmd_noarg( 2 ) /* /*/ -#define StartLS 3 /* */ -#define StartLowSpeed() send_cmd_noarg( 3 ) /* /*/ -#define SetTmr 4 /* . Ch7_15 SysTimer */ -#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) /* .. */ -#define SetModMod 5 /* . */ -#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) /* .. */ -#define SetCodA 6 /* A */ -#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) /* /*/ -#define SetCodZ 7 /* Z */ -#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) /* /*/ -#define SetCodP 8 /* P */ -#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) /* /*/ -#define SetVA 9 /* . A */ -#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) /* /*/ -#define SetVZ 10 /* . Z */ -#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) /* /*/ -#define SetVP 11 /* . P */ -#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) /* /*/ -#define SetAD 12 /* . R.A. Decl */ -#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))/* .*/ -#define SetAZ 13 /* . ..*/ -#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))/* .*/ -#define GoToAD 14 /* ( R.A. Decl)*/ -#define GoToObject() send_cmd_noarg(14 ) /* . */ -#define MoveToAD 15 /* ( R.A. Decl)*/ -#define MoveToObject() send_cmd_noarg(15 ) /* .*/ -#define GoToAZ 16 /* ( A Z)*/ -#define GoToAzimZ() send_cmd_noarg(16 ) /* . */ -#define WriteAZ 17 /* A Z FullModel*/ -#define WriteModelAZ() send_cmd_noarg(17 ) /* . */ -#define SetModP 18 /* . P2 */ -#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) /* .*/ -#define P2Move 19 /* ./. (+-1,0) P2 */ -#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) /* .*/ -#define FocMove 20 /* ./. (+-2,+-1,0) */ -#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) /* .*/ -#define UsePCorr 21 /* () */ -#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) /* . */ -#define SetTrkFlags 22 /* . */ -#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) /* .*/ -#define SetTFoc 23 /* .: 0-, 1-1, 2-2 */ -#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) /* . */ -#define SetVAD 24 /* ...- R.A. Decl */ -#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))/* .*/ -#define SetRevA 25 /* . "" */ -#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) /* .*/ -#define SetVP2 26 /* ...- P2 ( ) */ -#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) /* .*/ -#define SetTarg 27 /* . */ -#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) /* .*/ -#define SendMsg 28 /* ( ) */ -#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) /* .*/ -#define CorrAD 29 /* R.A. Decl */ -#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))/* .*/ -#define CorrAZ 30 /* A Z*/ -#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))/* .*/ -#define SetVCAZ 31 /* .. A Z*/ -#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))/* .*/ -#define P2MoveTo 32 /* P2 */ -#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))/* .*/ -#define GoToTD 33 /* ( t Decl)*/ -#define GoToSat() send_cmd_noarg (33 ) /* ..*/ -#define MoveToTD 34 /* ( t Decl)*/ -#define MoveToSat() send_cmd_noarg (34 ) /* .*/ -#define NullCom 35 /* ( ?) */ -#define SyncCom() send_cmd_noarg (35 ) /* . */ -#define StartTel 36 /* "" */ -#define StartTeleskope() send_cmd_noarg(36 ) /* . */ -#define SetTMod 37 /* . */ -#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) /* .. */ -#define TelOn 38 /* . , ..*/ -#define TeleskopeOn() send_cmd_noarg(38 ) /* .. */ -#define SetModD 39 /* . */ -#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) /* ..*/ -#define DomeMove 40 /* ./. (+-1+-2,+-3,0) */ -#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) /* .*/ -#define SetPass 41 /* . */ -#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) /* ..*/ -#define SetLevC 42 /* . */ -#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) /* ..*/ -#define SetLevK 43 /* . */ -#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) /* ..*/ -#define SetNet 44 /* . */ -#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) /* ..*/ -#define SetMet 45 /* */ -#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) /* .*/ -#define TurnMetOff 46 /* . */ -#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) /* .*/ -#define SetDUT1 47 /* ..(IERS DUT1=UT1-UTC) */ -#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) /* ..*/ -#define SetPM 48 /* ..(IERS polar motion)*/ -#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) /* ..*/ -#define GetSEW 49 /* SEW */ -#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) /* M..*/ -#define PutSEW 50 /* SEW */ -#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) /* M..*/ -#define SetLocks 51 /* */ -#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) /* M..*/ -#define ClearLocks 52 /* */ -#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) /* M..*/ -#define SetRKbits 53 /* . PEP-RK */ -#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) /* M..*/ -#define ClrRKbits 54 /* . PEP-RK */ -#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) /* M..*/ -#define SetSEWnd 55 /* . SEW- ( )*/ -#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) /* ..*/ -#define SEWsDome 56 /* ./. SEW- */ -#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) /* ..*/ +/******************************************************************************* +* Command list * +*******************************************************************************/ +/* name code args type */ +// Stop telescope +#define StopTel 1 +#define StopTeleskope() send_cmd_noarg( 1 ) +// High/low speed +#define StartHS 2 +#define StartHighSpeed() send_cmd_noarg( 2 ) +#define StartLS 3 +#define StartLowSpeed() send_cmd_noarg( 3 ) +// Timer setup (Ch7_15 or SysTimer) +#define SetTmr 4 +#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) +// Simulation (modeling) mode +#define SetModMod 5 +#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) +// Azimuth speed code +#define SetCodA 6 +#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) +// Zenith speed code +#define SetCodZ 7 +#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) +// Parangle speed code +#define SetCodP 8 +#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) +// Set Az velocity +#define SetVA 9 +#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) +// Set Z velocity +#define SetVZ 10 +#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) +// Set P velocity +#define SetVP 11 +#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) +// Set new polar coordinates +#define SetAD 12 +#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del)) +// Set new azimutal coordinates +#define SetAZ 13 +#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z)) +// Goto new object by polar coords +#define GoToAD 14 +#define GoToObject() send_cmd_noarg(14 ) +// Start steering to object by polar coords +#define MoveToAD 15 +#define MoveToObject() send_cmd_noarg(15 ) +// Go to object by azimutal coords +#define GoToAZ 16 +#define GoToAzimZ() send_cmd_noarg(16 ) +// Set A&Z for simulation +#define WriteAZ 17 +#define WriteModelAZ() send_cmd_noarg(17 ) +// Set P2 mode +#define SetModP 18 +#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) +// Move(+-1)/Stop(0) P2 +#define P2Move 19 +#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) +// Move(+-2,+-1)/Stop(0) focus +#define FocMove 20 +#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) +// Use/don't use pointing correction system +#define UsePCorr 21 +#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) +// Tracking flags +#define SetTrkFlags 22 +#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) +// Set focus (0 - primary, 1 - N1, 2 - N2) +#define SetTFoc 23 +#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) +// Set intrinsic move parameters by RA/Decl +#define SetVAD 24 +#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel)) +// Reverse Azimuth direction when pointing +#define SetRevA 25 +#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) +// Set P2 velocity +#define SetVP2 26 +#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) +// Set pointing target +#define SetTarg 27 +#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) +// Send message to all clients (+write into protocol) +#define SendMsg 28 +#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) +// RA/Decl user correction +#define CorrAD 29 +#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel)) +// A/Z user correction +#define CorrAZ 30 +#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ)) +// sec A/Z user correction speed +#define SetVCAZ 31 +#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ)) +// move P2 with given velocity for a given time +#define P2MoveTo 32 +#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time)) +// Go to t/Decl position +#define GoToTD 33 +#define GoToSat() send_cmd_noarg (33 ) +// Move to t/Decl +#define MoveToTD 34 +#define MoveToSat() send_cmd_noarg (34 ) +// Empty command for synchronisation +#define NullCom 35 +#define SyncCom() send_cmd_noarg (35 ) +// Button "Start" +#define StartTel 36 +#define StartTeleskope() send_cmd_noarg(36 ) +// Set telescope mode +#define SetTMod 37 +#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) +// Turn telescope on (oil etc) +#define TelOn 38 +#define TeleskopeOn() send_cmd_noarg(38 ) +// Dome mode +#define SetModD 39 +#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) +// Move(+-3,+-2,+-1)/Stop(0) dome +#define DomeMove 40 +#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) +// Set account password +#define SetPass 41 +#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) +// Set code of access level +#define SetLevC 42 +#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) +// Set key for access level +#define SetLevK 43 +#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) +// Setup network +#define SetNet 44 +#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) +// Input meteo data +#define SetMet 45 +#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) +// Cancel meteo data +#define TurnMetOff 46 +#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) +// Set time correction (IERS DUT1=UT1-UTC) +#define SetDUT1 47 +#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) +// Set polar motion (IERS polar motion) +#define SetPM 48 +#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) +// Get SEW parameter +#define GetSEW 49 +#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) +// Set SEW parameter +#define PutSEW 50 +#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) +// Set lock flags +#define SetLocks 51 +#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) +// Clear lock flags +#define ClearLocks 52 +#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) +// Set PEP-RK bits +#define SetRKbits 53 +#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) +// Clear PEP-RK bits +#define ClrRKbits 54 +#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) +// Set SEW dome motor number (for indication) +#define SetSEWnd 55 +#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) +// Turn SEW controllers of dome on/off +#define SEWsDome 56 +#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) -/* ( " ") */ -#define BTA_Data_Ver 2 -#pragma pack(4) -//struct __attribute__((packed)) BTA_Data { -struct BTA_Data { - int magic; /* */ - int version; /* = BTA_Data_Ver*/ - int size; /* = sizeof(struct BTA_Data)*/ - int pid; -#define ServPID (sdt->pid) /* .. */ +/******************************************************************************* +* BTA data structure definitions * +*******************************************************************************/ - /* */ - int model; -#define UseModel (sdt->model) /* */ -#define NoModel 0 /* */ -#define CheckModel 1 /* */ -#define DriveModel 2 /* "" */ -#define FullModel 3 /* */ - int timer; -#define ClockType (sdt->timer) /* */ -#define Ch7_15 0 /* . . 7-15 */ -#define SysTimer 1 /* ( ) */ -#define ExtSynchro 2 /* (bta_time xntpd)*/ - int system; -#define Sys_Mode (sdt->system) /* */ -#define SysStop 0 /* */ -#define SysWait 1 /* () */ -#define SysPointAZ 2 /* ( A Z)*/ -#define SysPointAD 3 /* ( R.A. Decl)*/ -#define SysTrkStop 4 /* : */ -#define SysTrkStart 5 /* : . ()*/ -#define SysTrkMove 6 /* : */ -#define SysTrkSeek 7 /* : */ -#define SysTrkOk 8 /* : */ -#define SysTrkCorr 9 /* : */ -#define SysTest 10 /* */ - int sys_target; -#define Sys_Target (sdt->sys_target) /* */ -#define TagPosition 0 /* A/Z */ -#define TagObject 1 /* Alpha/Delta */ -#define TagNest 2 /* "" */ -#define TagZenith 3 /* "" */ -#define TagHorizon 4 /* "" */ -#define TagStatObj 5 /* "" t/Delta */ - - int tel_focus; -#define Tel_Focus (sdt->tel_focus) /* : 0-, 1-1, 2-2 */ -#define Prime 0 -#define Nasmyth1 1 -#define Nasmyth2 2 - double pc_coeff[8]; -#define PosCor_Coeff (sdt->pc_coeff) /* - . */ - - /* */ -#define Stopping 0 /* */ -#define Pointing 1 /* */ -#define Tracking 2 /* */ - int tel_state; -#define Tel_State (sdt->tel_state) /* */ - int req_state; -#define Req_State (sdt->req_state) /* */ - int tel_hard_state; -#define Tel_Hardware (sdt->tel_hard_state) /* */ -#define Hard_Off 0 /* */ -#define Hard_On 1 /* */ - - /* */ - int tel_mode; -#define Tel_Mode (sdt->tel_mode) -#define Automatic 0 /* "" - */ -#define Manual 1 /* "/.." - :*/ -#define ZenHor 2 /* "-" - Z<5 Z>80*/ -#define A_Move 4 /* A */ -#define Z_Move 8 /* --- "" --- Z */ -#define Balance 0x10 /* */ - - /* ./. "" */ - int az_mode; -#define Az_Mode (sdt->az_mode) -#define Rev_Off 0 /* */ -#define Rev_On 1 /* 360. */ - - /* P2 */ - int p2_state; -#define P2_State (sdt->p2_state) /* P2 */ -#define P2_Off 0 /* */ -#define P2_On 1 /* */ -#define P2_Plus 2 /* + */ -#define P2_Minus -2 /* - */ - int p2_req_mode; -#define P2_Mode (sdt->p2_req_mode) /* P2 (: /)*/ - - /* */ - int focus_state; -#define Foc_State (sdt->focus_state) -#define Foc_Off 0 /* */ -#define Foc_Lplus 1 /* . + */ -#define Foc_Lminus -1 /* . - */ -#define Foc_Hplus 2 /* + */ -#define Foc_Hminus -2 /* - */ - - /* */ - int dome_state; -#define Dome_State (sdt->dome_state) -#define D_On 7 /* */ -#define D_Off 0 /* */ -#define D_Lplus 1 /* . + */ -#define D_Lminus -1 /* . - */ -#define D_Mplus 2 /* .. + */ -#define D_Mminus -2 /* .. - */ -#define D_Hplus 3 /* + */ -#define D_Hminus -3 /* - */ - -/* () */ - int pcor_mode; -#define Pos_Corr (sdt->pcor_mode) /* A/Z: /*/ -#define PC_Off 0 /* . */ -#define PC_On 1 /* . */ - -/* /. */ - int trkok_mode; -#define TrkOk_Mode (sdt->trkok_mode) -#define UseDiffVel 1 /* & (~)*/ -#define UseDiffAZ 2 /* ( ..) */ -#define UseDFlt 4 /* . */ - - /* */ - double i_alpha, i_delta; -#define InpAlpha (sdt->i_alpha) /* R.A. (sec) */ -#define InpDelta (sdt->i_delta) /* -- " -- Decl. (") */ - double s_alpha, s_delta; -#define SrcAlpha (sdt->s_alpha) /* R.A. (sec) */ -#define SrcDelta (sdt->s_delta) /* -- " -- Decl. (") */ - double v_alpha, v_delta; -#define VelAlpha (sdt->v_alpha) /* ..- R.A. (sec/) */ -#define VelDelta (sdt->v_delta) /* -- " -- Decl. ("/) */ - double i_azim, i_zdist; -#define InpAzim (sdt->i_azim) /* (") */ -#define InpZdist (sdt->i_zdist) /* -- " -- .. (") */ - - /* */ - double c_alpha, c_delta; -#define CurAlpha (sdt->c_alpha) /* R.A. (sec) */ -#define CurDelta (sdt->c_delta) /* -- " -- Decl. (") */ - double tag_a, tag_z, tag_p; -#define tag_A (sdt->tag_a) /* A (") */ -#define tag_Z (sdt->tag_z) /* - " - Z (") - " - */ -#define tag_P (sdt->tag_p) /* - " - P (") - " - */ - double pcor_a, pcor_z, refr_z; -#define pos_cor_A (sdt->pcor_a) /* A (") */ -#define pos_cor_Z (sdt->pcor_z) /* - " - - " - Z (") */ -#define refract_Z (sdt->refr_z) /* (") */ - double tcor_a, tcor_z, tref_z; -#define tel_cor_A (sdt->tcor_a) /* . A (") */ -#define tel_cor_Z (sdt->tcor_z) /* - " - - " - - " - Z (") */ -#define tel_ref_Z (sdt->tref_z) /* . (") */ - double diff_a, diff_z, diff_p; -#define Diff_A (sdt->diff_a) /* -( ) A (") */ -#define Diff_Z (sdt->diff_z) /* - " - - " - Z (") */ -#define Diff_P (sdt->diff_p) /* - " - - " - P (") */ - double vbasea,vbasez,vbasep; -#define vel_objA (sdt->vbasea) /* A ("/) */ -#define vel_objZ (sdt->vbasez) /* - " - - " - Z - " - */ -#define vel_objP (sdt->vbasep) /* - " - - " - P - " - */ - double diffva,diffvz,diffvp; -#define diff_vA (sdt->diffva) /* */ -#define diff_vZ (sdt->diffvz) /* -- "" -- -- "" -- Z */ -#define diff_vP (sdt->diffvp) /* -- "" -- -- "" -- P */ - double speeda,speedz,speedp; -#define speedA (sdt->speeda) /* A ("/) */ -#define speedZ (sdt->speedz) /* - " - Z - " - */ -#define speedP (sdt->speedp) /* - " - P - " - */ - double m_time_precip; -#define Precip_time (sdt->m_time_precip)/* (precipitations)*/ - unsigned char reserve[16]; -#define Reserve (sdt->reserve) /* */ - double rspeeda, rspeedz, rspeedp; -#define req_speedA (sdt->rspeeda) /* ("/) A */ -#define req_speedZ (sdt->rspeedz) /* - " - Z */ -#define req_speedP (sdt->rspeedp) /* - " - P */ - double simvela, simvelz, simvelp, simvelf, simveld; -#define mod_vel_A (sdt->simvela) /* A ("/) */ -#define mod_vel_Z (sdt->simvelz) /* - " - Z - " - */ -#define mod_vel_P (sdt->simvelp) /* - " - P - " - */ -#define mod_vel_F (sdt->simvelf) /* - " - F - " - */ -#define mod_vel_D (sdt->simvelf) /* - " - D - " - */ - - - /* */ - uint kost; -#define code_KOST (sdt->kost) /* . */ - /* 0x8000 - */ - /* 0x4000 - . */ - /* 0x2000 - */ - /* 0x1000 - P2 .*/ - /* 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) */ - /* 0x000F - .. +Z -Z +A -A */ - double m_time, s_time, l_time; -#define M_time (sdt->m_time) /* ( UTC!)*/ -#define S_time (sdt->s_time) /* */ -#define L_time (sdt->l_time) /* */ - uint ppndd_a, ppndd_z, ppndd_p, ppndd_b; -#define ppndd_A (sdt->ppndd_a) /* ( ) A */ -#define ppndd_Z (sdt->ppndd_z) /* - "" - Z */ -#define ppndd_P (sdt->ppndd_p) /* - "" - P */ -#define ppndd_B (sdt->ppndd_b) /* */ - uint dup_a, dup_z, dup_p, dup_f, dup_d; -#define dup_A (sdt->dup_a) /* ( ) A */ -#define dup_Z (sdt->dup_z) /* - "" - Z */ -#define dup_P (sdt->dup_p) /* - "" - P */ -#define dup_F (sdt->dup_f) /* */ -#define dup_D (sdt->dup_d) /* */ - uint low_a, low_z, low_p, low_f, low_d; -#define low_A (sdt->low_a) /* 14- . A */ -#define low_Z (sdt->low_z) /* - "" - Z */ -#define low_P (sdt->low_p) /* - "" - P */ -#define low_F (sdt->low_f) /* */ -#define low_D (sdt->low_d) /* */ - uint code_a, code_z, code_p, code_b, code_f, code_d; -#define code_A (sdt->code_a) /* 23- . A */ -#define code_Z (sdt->code_z) /* - "" - Z */ -#define code_P (sdt->code_p) /* - "" - P */ -#define code_B (sdt->code_b) /* */ -#define code_F (sdt->code_f) /* */ -#define code_D (sdt->code_d) /* */ - uint adc[8]; -#define ADC(N) (sdt->adc[(N)]) /* 8- PCL818 */ -#define code_T1 ADC(0) /* . */ -#define code_T2 ADC(1) /* .*/ -#define code_T3 ADC(2) /* */ -#define code_Wnd ADC(3) /* */ - double val_a, val_z, val_p, val_b, val_f, val_d; - double val_t1, val_t2, val_t3, val_wnd; -#define val_A (sdt->val_a) /* A (") */ -#define val_Z (sdt->val_z) /* - " - Z (") */ -#define val_P (sdt->val_p) /* - " - P (") */ -#define val_B (sdt->val_b) /* e (...)*/ -#define val_F (sdt->val_f) /* () */ -#define val_D (sdt->val_d) /* (") */ -#define val_T1 (sdt->val_t1) /* . (.)*/ -#define val_T2 (sdt->val_t2) /* .(.)*/ -#define val_T3 (sdt->val_t3) /* (.)*/ -#define val_Wnd (sdt->val_wnd) /* (/)*/ - double val_alp, val_del; -#define val_Alp (sdt->val_alp) /* R.A. (sec) */ -#define val_Del (sdt->val_del) /* -- " -- Decl. (") */ - - double vel_a, vel_z, vel_p, vel_f, vel_d; -#define vel_A (sdt->vel_a) /* A ("/) */ -#define vel_Z (sdt->vel_z) /* - " - Z - " - */ -#define vel_P (sdt->vel_p) /* - " - P - " - */ -#define vel_F (sdt->vel_f) /* - " - F - " - */ -#define vel_D (sdt->vel_d) /* - " - D - " - */ - - /* */ +#define ServPID (sdt->pid) // PID of main program +// model +#define UseModel (sdt->model) // model variants +enum{ + NoModel = 0 // OFF + ,CheckModel // control motors by model + ,DriveModel // "blind" management without real sensors + ,FullModel // full model without telescope +}; +// timer +#define ClockType (sdt->timer) // which timer to use +enum{ + Ch7_15 = 0 // Inner timer with synchronisation by CH7_15 + ,SysTimer // System timer (synchronisation unknown) + ,ExtSynchro // External synchronisation (bta_time or xntpd) +}; +// system +#define Sys_Mode (sdt->system) // main system mode +enum{ + SysStop = 0 // Stop + ,SysWait // Wait for start (pointing) + ,SysPointAZ // Pointing by A/Z + ,SysPointAD // Pointing by RA/Decl + ,SysTrkStop // Tracking stop + ,SysTrkStart // Start tracking (acceleration to nominal velocity) + ,SysTrkMove // Tracking move to object + ,SysTrkSeek // Tracking in seeking mode + ,SysTrkOk // Tracking OK + ,SysTrkCorr // Correction of tracking position + ,SysTest // Test +}; +// sys_target +#define Sys_Target (sdt->sys_target) // system pointing target +enum{ + TagPosition = 0 // point by A/Z + ,TagObject // point by RA/Decl + ,TagNest // point to "nest" + ,TagZenith // point to zenith + ,TagHorizon // point to horizon + ,TagStatObj // point to statinary object (t/Decl) +}; +// tel_focus +#define Tel_Focus (sdt->tel_focus) // telescope focus type +enum{ + Prime = 0 + ,Nasmyth1 + ,Nasmyth2 +}; +// PCS +#define PosCor_Coeff (sdt->pc_coeff) // pointing correction system coefficients +// tel_state +#define Tel_State (sdt->tel_state) // telescope state +#define Req_State (sdt->req_state) // required state +enum{ + Stopping = 0 + ,Pointing + ,Tracking +}; +// tel_hard_state +#define Tel_Hardware (sdt->tel_hard_state) // Power state +enum{ + Hard_Off = 0 + ,Hard_On +}; +// tel_mode +#define Tel_Mode (sdt->tel_mode) // telescope mode +enum{ + Automatic = 0 // Automatic (normal) mode + ,Manual = 1 // manual mode + ,ZenHor = 2 // work when Z<5 || Z>80 + ,A_Move = 4 // hand move by A + ,Z_Move = 8 // hand move by Z + ,Balance =0x10// balancing +}; +// az_mode +#define Az_Mode (sdt->az_mode) // azimuth reverce +enum{ + Rev_Off = 0 // move by nearest way + ,Rev_On // move by longest way +}; +// p2_state +#define P2_State (sdt->p2_state) // P2 motor state +#define P2_Mode (sdt->p2_req_mode) +enum{ + P2_Off = 0 // Stop + ,P2_On // Guiding + ,P2_Plus // Move to + + ,P2_Minus = -2 // Move to - +}; +// focus_state +#define Foc_State (sdt->focus_state) // focus motor state +enum{ + Foc_Hminus = -2// fast "-" move + ,Foc_Lminus // slow "-" move + ,Foc_Off // Off + ,Foc_Lplus // slow "+" move + ,Foc_Hplus // fast "+" move +}; +// dome_state +#define Dome_State (sdt->dome_state) // dome motors state +enum{ + D_Hminus = -3 // speeds: low, medium, high + ,D_Mminus + ,D_Lminus + ,D_Off // off + ,D_Lplus + ,D_Mplus + ,D_Hplus + ,D_On = 7 // auto +}; +// pcor_mode +#define Pos_Corr (sdt->pcor_mode) // pointing correction mode +enum{ + PC_Off = 0 + ,PC_On +}; +// trkok_mode +#define TrkOk_Mode (sdt->trkok_mode) // tracking mode +enum{ + UseDiffVel = 1 // Isodrome (correction by real motors speed) + ,UseDiffAZ = 2 // Tracking by coordinate difference + ,UseDFlt = 4 // Turn on digital filter +}; +// input RA/Decl values +#define InpAlpha (sdt->i_alpha) +#define InpDelta (sdt->i_delta) +// current source RA/Decl values +#define SrcAlpha (sdt->s_alpha) +#define SrcDelta (sdt->s_delta) +// intrinsic object velocity +#define VelAlpha (sdt->v_alpha) +#define VelDelta (sdt->v_delta) +// input A/Z values +#define InpAzim (sdt->i_azim) +#define InpZdist (sdt->i_zdist) +// calculated values +#define CurAlpha (sdt->c_alpha) +#define CurDelta (sdt->c_delta) +// current values (from sensors) +#define tag_A (sdt->tag_a) +#define tag_Z (sdt->tag_z) +#define tag_P (sdt->tag_p) + // calculated corrections +#define pos_cor_A (sdt->pcor_a) +#define pos_cor_Z (sdt->pcor_z) +#define refract_Z (sdt->refr_z) +// reverse calculation corr. +#define tel_cor_A (sdt->tcor_a) +#define tel_cor_Z (sdt->tcor_z) +#define tel_ref_Z (sdt->tref_z) +// coords difference +#define Diff_A (sdt->diff_a) +#define Diff_Z (sdt->diff_z) +#define Diff_P (sdt->diff_p) +// base object velocity +#define vel_objA (sdt->vbasea) +#define vel_objZ (sdt->vbasez) +#define vel_objP (sdt->vbasep) +// correction by real speed +#define diff_vA (sdt->diffva) +#define diff_vZ (sdt->diffvz) +#define diff_vP (sdt->diffvp) +// motor speed +#define speedA (sdt->speeda) +#define speedZ (sdt->speedz) +#define speedP (sdt->speedp) +// last precipitation time +#define Precip_time (sdt->m_time_precip) +// reserved +#define Reserve (sdt->reserve) +// real motor speed (''/sec) +#define req_speedA (sdt->rspeeda) +#define req_speedZ (sdt->rspeedz) +#define req_speedP (sdt->rspeedp) +// model speed +#define mod_vel_A (sdt->simvela) +#define mod_vel_Z (sdt->simvelz) +#define mod_vel_P (sdt->simvelp) +#define mod_vel_F (sdt->simvelf) +#define mod_vel_D (sdt->simvelf) +// telescope & hand correction state +/* + * 0x8000 - + * 0x4000 - . + * 0x2000 - + * 0x1000 - P2 . + * 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) + * 0x000F - .. +Z -Z +A -A + */ +#define code_KOST (sdt->kost) +// different time (UTC, stellar, local) +#define M_time (sdt->m_time) +#define S_time (sdt->s_time) +#define L_time (sdt->l_time) +// PPNDD sensor (rough) code +#define ppndd_A (sdt->ppndd_a) +#define ppndd_Z (sdt->ppndd_z) +#define ppndd_P (sdt->ppndd_p) +#define ppndd_B (sdt->ppndd_b) // atm. pressure +// DUP sensor (precise) code (Gray code) +#define dup_A (sdt->dup_a) +#define dup_Z (sdt->dup_z) +#define dup_P (sdt->dup_p) +#define dup_F (sdt->dup_f) +#define dup_D (sdt->dup_d) +// binary 14-digit precise code +#define low_A (sdt->low_a) +#define low_Z (sdt->low_z) +#define low_P (sdt->low_p) +#define low_F (sdt->low_f) +#define low_D (sdt->low_d) +// binary 23-digit rough code +#define code_A (sdt->code_a) +#define code_Z (sdt->code_z) +#define code_P (sdt->code_p) +#define code_B (sdt->code_b) +#define code_F (sdt->code_f) +#define code_D (sdt->code_d) +// ADC PCL818 (8-channel) codes +#define ADC(N) (sdt->adc[(N)]) +#define code_T1 ADC(0) // External temperature code +#define code_T2 ADC(1) // In-dome temperature code +#define code_T3 ADC(2) // Mirror temperature code +#define code_Wnd ADC(3) // Wind speed code +// calculated values +#define val_A (sdt->val_a) // A, '' +#define val_Z (sdt->val_z) // Z, '' +#define val_P (sdt->val_p) // P, '' +#define val_B (sdt->val_b) // atm. pressure, mm.hg. +#define val_F (sdt->val_f) // focus, mm +#define val_D (sdt->val_d) // Dome Az, '' +#define val_T1 (sdt->val_t1) // ext. T, degrC +#define val_T2 (sdt->val_t2) // in-dome T, degrC +#define val_T3 (sdt->val_t3) // mirror T, degrC +#define val_Wnd (sdt->val_wnd) // wind speed, m/s +// RA/Decl calculated by A/Z +#define val_Alp (sdt->val_alp) +#define val_Del (sdt->val_del) +// measured speed +#define vel_A (sdt->vel_a) +#define vel_Z (sdt->vel_z) +#define vel_P (sdt->vel_p) +#define vel_F (sdt->vel_f) +#define vel_D (sdt->vel_d) +// system messages queue #define MesgNum 3 #define MesgLen 39 - //struct __attribute__((packed)) SysMesg { - struct SysMesg { - int seq_num; - char type; -#define MesgEmpty 0 -#define MesgInfor 1 -#define MesgWarn 2 -#define MesgFault 3 -#define MesgLog 4 - char text[MesgLen]; - } sys_msg_buf[MesgNum]; +// message type +enum{ + MesgEmpty = 0 + ,MesgInfor + ,MesgWarn + ,MesgFault + ,MesgLog +}; #define Sys_Mesg(N) (sdt->sys_msg_buf[N]) - - /* */ - /* */ - uint code_lev1,code_lev2,code_lev3,code_lev4,code_lev5; -#define code_Lev1 (sdt->code_lev1) /* " " - */ -#define code_Lev2 (sdt->code_lev2) /* " " - + */ -#define code_Lev3 (sdt->code_lev3) /* " " - + A/Z--, .P2/F */ -#define code_Lev4 (sdt->code_lev4) /* "" - + / ., */ -#define code_Lev5 (sdt->code_lev5) /* " " - */ - /* */ - uint netmask, netaddr, acsmask, acsaddr; -#define NetMask (sdt->netmask) /* (: 255.255.255.0) */ -#define NetWork (sdt->netaddr) /* (: 192.168.3.0) */ -#define ACSMask (sdt->acsmask) /* - (: 255.255.255.0) */ -#define ACSNet (sdt->acsaddr) /* - (: 192.168.13.0) */ - - /* - */ - int meteo_stat; -#define MeteoMode (sdt->meteo_stat) /* */ -#define INPUT_B 1 /* *//* */ -#define INPUT_T1 2 /* T- */ -#define INPUT_T2 4 /* T- */ -#define INPUT_T3 8 /* T- */ -#define INPUT_WND 0x10 /* */ -#define INPUT_HMD 0x20 /* */ -#define SENSOR_B (INPUT_B <<8) /* - (e.g. CAN-)*/ +// access levels +#define code_Lev1 (sdt->code_lev[0]) // remote observer - only information +#define code_Lev2 (sdt->code_lev[1]) // local observer - input coordinates +#define code_Lev3 (sdt->code_lev[2]) // main observer - correction by A/Z, P2/F management +#define code_Lev4 (sdt->code_lev[3]) // operator - start/stop telescope, testing +#define code_Lev5 (sdt->code_lev[4]) // main operator - full access +#define code_Lev(x) (sdt->code_lev[(x-1)]) +// network settings +#define NetMask (sdt->netmask) // subnet mask (usually 255.255.255.0) +#define NetWork (sdt->netaddr) // subnet address (for ex.: 192.168.3.0) +#define ACSMask (sdt->acsmask) // ACS network mask (for ex.: 255.255.255.0) +#define ACSNet (sdt->acsaddr) // ACS subnet address (for ex.: 192.168.13.0) +// meteo data +#define MeteoMode (sdt->meteo_stat) +enum{ + INPUT_B = 1 // pressure + ,INPUT_T1 = 2 // external T + ,INPUT_T2 = 4 // in-dome T + ,INPUT_T3 = 8 // mirror T + ,INPUT_WND = 0x10 // wind speed + ,INPUT_HMD = 0x20 // humidity +}; +#define SENSOR_B (INPUT_B <<8) // external data flags #define SENSOR_T1 (INPUT_T1 <<8) #define SENSOR_T2 (INPUT_T2 <<8) #define SENSOR_T3 (INPUT_T3 <<8) #define SENSOR_WND (INPUT_WND<<8) #define SENSOR_HMD (INPUT_HMD<<8) -#define ADC_B (INPUT_B <<16) /* . */ +#define ADC_B (INPUT_B <<16) // reading from ADC flags #define ADC_T1 (INPUT_T1 <<16) #define ADC_T2 (INPUT_T2 <<16) #define ADC_T3 (INPUT_T3 <<16) #define ADC_WND (INPUT_WND<<16) #define ADC_HMD (INPUT_HMD<<16) -#define NET_B (INPUT_B <<24) /* */ +#define NET_B (INPUT_B <<24) // got by network flags #define NET_T1 (INPUT_T1 <<24) #define NET_WND (INPUT_WND<<24) #define NET_HMD (INPUT_HMD<<24) - double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; -#define inp_B (sdt->inp_b) /* e (...)*/ -#define inp_T1 (sdt->inp_t1) /* . (.)*/ -#define inp_T2 (sdt->inp_t2) /* .(.)*/ -#define inp_T3 (sdt->inp_t3) /* (.)*/ -#define inp_Wnd (sdt->inp_wnd) /* (/)*/ - - double temper, press; -#define Temper (sdt->temper) /* */ -#define Pressure (sdt->press) /* */ - double m_time10, m_time15; -#define Wnd10_time (sdt->m_time10) /* >=10/*/ -#define Wnd15_time (sdt->m_time15) /* - " - - " - - " - >=15/*/ - - /* IERS DUT1 (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double dut1; -#define DUT1 (sdt->dut1) /* . : DUT1 = UT1-UTC */ - - double a_time, z_time, p_time; -#define A_time (sdt->a_time) /* A */ -#define Z_time (sdt->z_time) /* - " - - " - - " - Z */ -#define P_time (sdt->p_time) /* - " - - " - - " - P */ - - double speedain, speedzin, speedpin; -#define speedAin (sdt->speedain) /* - A */ -#define speedZin (sdt->speedzin) /* - Z */ -#define speedPin (sdt->speedpin) /* - P2*/ - - double acc_a, acc_z, acc_p, acc_f, acc_d; -#define acc_A (sdt->acc_a) /* A ("/^2) */ -#define acc_Z (sdt->acc_z) /* - " - Z - " - */ -#define acc_P (sdt->acc_p) /* - " - P - " - */ -#define acc_F (sdt->acc_f) /* - " - F - " - */ -#define acc_D (sdt->acc_d) /* - " - D - " - */ - - uint code_sew; -#define code_SEW (sdt->code_sew) /* . SEW- */ - -/* SEW- */ -//struct __attribute__((packed)) SEWdata { -struct SEWdata { - int status; - double set_speed; - double mes_speed; - double current; - int index; - union { - unsigned char b[4]; - __uint32_t l; - } value; -} sewdrv[3]; -#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) /* */ +// input meteo values +#define inp_B (sdt->inp_b) // atm.pressure (mm.hg) +#define inp_T1 (sdt->inp_t1) // ext T +#define inp_T2 (sdt->inp_t2) // in-dome T +#define inp_T3 (sdt->inp_t3) // mirror T +#define inp_Wnd (sdt->inp_wnd) // wind +// values used for refraction calculation +#define Temper (sdt->temper) +#define Pressure (sdt->press) +// last wind gust time +#define Wnd10_time (sdt->m_time10) +#define Wnd15_time (sdt->m_time15) +// IERS DUT1 +#define DUT1 (sdt->dut1) +// sensors reading time +#define A_time (sdt->a_time) +#define Z_time (sdt->z_time) +#define P_time (sdt->p_time) +// input speeds +#define speedAin (sdt->speedain) +#define speedZin (sdt->speedzin) +#define speedPin (sdt->speedpin) +// acceleration (''/sec^2) +#define acc_A (sdt->acc_a) +#define acc_Z (sdt->acc_z) +#define acc_P (sdt->acc_p) +#define acc_F (sdt->acc_f) +#define acc_D (sdt->acc_d) +// SEW code +#define code_SEW (sdt->code_sew) +// sew data +#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) #define statusSEW1 (sdt->sewdrv[0].status) #define statusSEW2 (sdt->sewdrv[1].status) #define statusSEW3 (sdt->sewdrv[2].status) -#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) /* */ -#define speedSEW1 (sdt->sewdrv[0].set_speed) /* / (rpm)*/ +#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) +#define speedSEW1 (sdt->sewdrv[0].set_speed) #define speedSEW2 (sdt->sewdrv[1].set_speed) #define speedSEW3 (sdt->sewdrv[2].set_speed) -#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) /* */ -#define vel_SEW1 (sdt->sewdrv[0].mes_speed) /* / (rpm)*/ +#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) +#define vel_SEW1 (sdt->sewdrv[0].mes_speed) #define vel_SEW2 (sdt->sewdrv[1].mes_speed) #define vel_SEW3 (sdt->sewdrv[2].mes_speed) -#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) /* ()*/ +#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) #define currentSEW1 (sdt->sewdrv[0].current) #define currentSEW2 (sdt->sewdrv[1].current) #define currentSEW3 (sdt->sewdrv[2].current) -#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) /* */ +#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) #define indexSEW1 (sdt->sewdrv[0].index) #define indexSEW2 (sdt->sewdrv[1].index) #define indexSEW3 (sdt->sewdrv[2].index) -#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) /* */ +#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) #define valueSEW1 (sdt->sewdrv[0].value.l) #define valueSEW2 (sdt->sewdrv[1].value.l) #define valueSEW3 (sdt->sewdrv[2].value.l) -#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) /* */ - -/* PEP- */ - uint pep_code_a, pep_code_z, pep_code_p; -#define PEP_code_A (sdt->pep_code_a) /* 23- . A */ -#define PEP_code_Z (sdt->pep_code_z) /* - "" - Z */ -#define PEP_code_P (sdt->pep_code_p) /* - "" - P */ - uint pep_sw_a, pep_sw_z, pep_sw_p; -#define switch_A (sdt->pep_sw_a) /* */ -#define Sw_minus_A 1 /* (. code_KOST&0x8000)*/ -#define Sw_plus240_A 2 /* "+240" */ -#define Sw_minus240_A 4 /* "-240" */ -#define Sw_minus45_A 8 /* " " (~-46)*/ -#define switch_Z (sdt->pep_sw_z) /* Z */ -#define Sw_0_Z 0x01 /* "0" */ -#define Sw_5_Z 0x02 /* "5" */ -#define Sw_20_Z 0x04 /* "20" */ -#define Sw_60_Z 0x08 /* "60" */ -#define Sw_80_Z 0x10 /* "80" */ -#define Sw_90_Z 0x20 /* "90" */ -#define switch_P (sdt->pep_sw_p) /* - "" - */ -#define Sw_No_P 0x00 /* " " */ -#define Sw_22_P 0x01 /* "22" */ -#define Sw_89_P 0x02 /* "89" */ -#define Sw_Sm_P 0x80 /* */ - uint pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; -#define PEP_code_F (sdt->pep_code_f) /* */ -#define PEP_code_D (sdt->pep_code_d) /* */ -#define PEP_code_Rin (sdt->pep_code_ri)/* */ -#define PEP_code_Rout (sdt->pep_code_ro)/* */ - unsigned char pep_on[10]; /* PEP- */ +#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) +// 23-digit PEP-controllers code +#define PEP_code_A (sdt->pep_code_a) +#define PEP_code_Z (sdt->pep_code_z) +#define PEP_code_P (sdt->pep_code_p) +// PEP end-switches code +#define switch_A (sdt->pep_sw_a) +enum{ + Sw_minus_A = 1 // negative A value + ,Sw_plus240_A = 2 // end switch +240degr + ,Sw_minus240_A = 4 // end switch -240degr + ,Sw_minus45_A = 8 // "horizon" end switch +}; +#define switch_Z (sdt->pep_sw_z) +enum{ + Sw_0_Z = 1 + ,Sw_5_Z = 2 + ,Sw_20_Z = 4 + ,Sw_60_Z = 8 + ,Sw_80_Z = 0x10 + ,Sw_90_Z = 0x20 +}; +#define switch_P (sdt->pep_sw_p) +enum{ + Sw_No_P = 0 // no switches + ,Sw_22_P = 1 // 22degr + ,Sw_89_P = 2 // 89degr + ,Sw_Sm_P = 0x80 // Primary focus smoke sensor +}; +// PEP codes +#define PEP_code_F (sdt->pep_code_f) +#define PEP_code_D (sdt->pep_code_d) +#define PEP_code_Rin (sdt->pep_code_ri) +#define PEP_code_Rout (sdt->pep_code_ro) +// PEP flags #define PEP_A_On (sdt->pep_on[0]) #define PEP_A_Off (PEP_A_On==0) #define PEP_Z_On (sdt->pep_on[1]) @@ -628,531 +643,209 @@ struct SEWdata { #define PEP_K_On (sdt->pep_on[6]) #define PEP_K_Off ((PEP_K_On&1)==0) #define PEP_K_Inp ((PEP_K_On&2)!=0) - - /* IERS polar motion (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double xpol, ypol; -#define polarX (sdt->xpol) /* X-a . */ -#define polarY (sdt->ypol) /* Y-a . */ - - double jdate, eetime; -#define JDate (sdt->jdate) /* */ -#define EE_time (sdt->eetime) /* ... "Equation of the Equinoxes" */ - - /* - */ - double val_hmd, inp_hmd; -#define val_Hmd (sdt->val_hmd) /* (%) */ -#define inp_Hmd (sdt->val_hmd) /* */ - - /* () */ - double worm_a, worm_z; -#define worm_A (sdt->worm_a) /* A () */ -#define worm_Z (sdt->worm_z) /* Z () */ - - /* */ - __uint32_t lock_flags; +// IERS polar motion +#define polarX (sdt->xpol) +#define polarY (sdt->ypol) +// current Julian date, sidereal time correction by "Equation of the Equinoxes" +#define JDate (sdt->jdate) +#define EE_time (sdt->eetime) +// humidity value (%%) & hand input +#define val_Hmd (sdt->val_hmd) +#define inp_Hmd (sdt->val_hmd) +// worm position, mkm +#define worm_A (sdt->worm_a) +#define worm_Z (sdt->worm_z) +// locking flags #define LockFlags (sdt->lock_flags) -#define Lock_A 0x01 -#define Lock_Z 0x02 -#define Lock_P 0x04 -#define Lock_F 0x08 -#define Lock_D 0x10 +enum{ + Lock_A = 1 + ,Lock_Z = 2 + ,Lock_P = 4 + ,Lock_F = 8 + ,Lock_D = 0x10 +}; #define A_Locked (LockFlags&Lock_A) #define Z_Locked (LockFlags&Lock_Z) #define P_Locked (LockFlags&Lock_P) #define F_Locked (LockFlags&Lock_F) #define D_Locked (LockFlags&Lock_D) - - /* ( - SEW-)*/ - int sew_dome_speed; /* Dome_State */ -#define Dome_Speed (sdt->sew_dome_speed) /* .. D_Lplus,D_Lminus,.... */ - -/* SEW- ( )*/ - int sew_dome_num; +// SEW dome divers speed +#define Dome_Speed (sdt->sew_dome_speed) +// SEW dome drive number (for indication) #define DomeSEW_N (sdt->sew_dome_num) - -/* (DomeSEW_N) SEW- */ -struct SEWdata sewdomedrv; -#define statusSEWD (sdt->sewdomedrv.status) /* */ -#define speedSEWD (sdt->sewdomedrv.set_speed) /* / (rpm)*/ +// SEW dome driver parameters +#define statusSEWD (sdt->sewdomedrv.status) // controller status +#define speedSEWD (sdt->sewdomedrv.set_speed) // speed, rpm #define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ -#define currentSEWD (sdt->sewdomedrv.current) /* ()*/ -#define indexSEWD (sdt->sewdomedrv.index) /* */ -#define valueSEWD (sdt->sewdomedrv.value.l) /* */ - -/* PEP- */ - uint pep_code_di, pep_code_do; -#define PEP_code_Din (sdt->pep_code_di) /* PEP- */ +#define currentSEWD (sdt->sewdomedrv.current) // current, A +#define indexSEWD (sdt->sewdomedrv.index) // parameter index +#define valueSEWD (sdt->sewdomedrv.value.l) // parameter value +// dome PEP codes +#define PEP_code_Din (sdt->pep_code_di) // data in #define PEP_Dome_SEW_Ok 0x200 #define PEP_Dome_Cable_Ok 0x100 -#define PEP_code_Dout (sdt->pep_code_do) /* PEP- */ -#define PEP_Dome_SEW_On 0x10 -#define PEP_Dome_SEW_Off 0x20 +#define PEP_code_Dout (sdt->pep_code_do) // data out +#define PEP_Dome_SEW_On 0x10 +#define PEP_Dome_SEW_Off 0x20 + +/******************************************************************************* +* BTA data structure * +*******************************************************************************/ + +#define BTA_Data_Ver 2 +struct BTA_Data { + int32_t magic; // magic value + int32_t version; // BTA_Data_Ver + int32_t size; // sizeof(struct BTA_Data) + int32_t pid; // main process PID + int32_t model; // model modes + int32_t timer; // timer selected + int32_t system; // main system mode + int32_t sys_target; // system pointing target + int32_t tel_focus; // telescope focus type + double pc_coeff[8]; // pointing correction system coefficients + int32_t tel_state; // telescope state + int32_t req_state; // new (required) state + int32_t tel_hard_state; // Power state + int32_t tel_mode; // telescope mode + int32_t az_mode; // azimuth reverce + int32_t p2_state; // P2 motor state + int32_t p2_req_mode; // P2 required state + int32_t focus_state; // focus motor state + int32_t dome_state; // dome motors state + int32_t pcor_mode; // pointing correction mode + int32_t trkok_mode; // tracking mode + double i_alpha, i_delta; // input values + double s_alpha, s_delta; // source + double v_alpha, v_delta; // intrinsic vel. + double i_azim, i_zdist; // input A/Z + double c_alpha, c_delta; // calculated values + double tag_a, tag_z, tag_p; // current values (from sensors) + double pcor_a, pcor_z, refr_z; // calculated corrections + double tcor_a, tcor_z, tref_z; // reverse calculation corr. + double diff_a, diff_z, diff_p; // coords difference + double vbasea,vbasez,vbasep; // base object velocity + double diffva,diffvz,diffvp; // correction by real speed + double speeda,speedz,speedp; // motor speed + double m_time_precip; // last precipitation time + uint8_t reserve[16]; // reserved + double rspeeda, rspeedz, rspeedp; // real motor speed (''/sec) + double simvela, simvelz, simvelp, simvelf, simveld; // model speed + uint32_t kost; // telescope & hand correction state + double m_time, s_time, l_time; // different time (UTC, stellar, local) + uint32_t ppndd_a, ppndd_z, ppndd_p, ppndd_b; // PPNDD sensor (rough) code + uint32_t dup_a, dup_z, dup_p, dup_f, dup_d; // DUP sensor (precise) code (Gray code) + uint32_t low_a, low_z, low_p, low_f, low_d; // binary 14-digit precise code + uint32_t code_a, code_z, code_p, code_b, code_f, code_d; // binary 23-digit rough code + uint32_t adc[8]; // ADC PCL818 (8-channel) codes + double val_a, val_z, val_p, val_b, val_f, val_d; + double val_t1, val_t2, val_t3, val_wnd; // calculated values + double val_alp, val_del; // RA/Decl calculated by A/Z + double vel_a, vel_z, vel_p, vel_f, vel_d; // measured speed + // system messages queue + struct SysMesg { + int32_t seq_num; + char type; // message type + char text[MesgLen]; // message itself + } sys_msg_buf[MesgNum]; + // access levels + uint32_t code_lev[5]; + // network settings + uint32_t netmask, netaddr, acsmask, acsaddr; + int32_t meteo_stat; // meteo data + double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; // input meteo values + double temper, press; // values used for refraction calculation + double m_time10, m_time15; // last wind gust time + double dut1; // IERS DUT1 (src: ftp://maia.usno.navy.mil/ser7/ser7.dat), DUT1 = UT1-UTC + double a_time, z_time, p_time; // sensors reading time + double speedain, speedzin, speedpin; // input speeds + double acc_a, acc_z, acc_p, acc_f, acc_d; // acceleration (''/sec^2) + uint32_t code_sew; // SEW code + struct SEWdata { // sew data + int32_t status; + double set_speed; // target speed, rpm + double mes_speed; // measured speed, rpm + double current; // measured current, A + int32_t index; // parameter number + union{ // parameter code + uint8_t b[4]; + uint32_t l; + } value; + } sewdrv[3]; + uint32_t pep_code_a, pep_code_z, pep_code_p; // 23-digit PEP-controllers code + uint32_t pep_sw_a, pep_sw_z, pep_sw_p; // PEP end-switches code + uint32_t pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; // PEP codes + uint8_t pep_on[10]; // PEP flags + double xpol, ypol; // IERS polar motion (src: ftp://maia.usno.navy.mil/ser7/ser7.dat) + double jdate, eetime; // current Julian date, sidereal time correction by "Equation of the Equinoxes" + double val_hmd, inp_hmd; // humidity value (%%) & hand input + double worm_a, worm_z; // worm position, mkm + /* */ + uint32_t lock_flags; // locking flags + int32_t sew_dome_speed; // SEW dome divers speed: D_Lplus, D_Hminus etc + int32_t sew_dome_num; // SEW dome drive number (for indication) + struct SEWdata sewdomedrv; // SEW dome driver parameters + uint32_t pep_code_di, pep_code_do; // dome PEP codes }; -#ifndef BTA_MODULE -struct BTA_Data *sdt; -#else -extern struct BTA_Data *sdt; -#endif +extern volatile struct BTA_Data *sdt; -struct BTA_Local { /* */ - unsigned char reserve[120]; /* */ - /* ( 1500 ) */ - double pr_oil_a,pr_oil_z,pr_oil_t; -#define PressOilA (sdtl->pr_oil_a) /* A () */ -#define PressOilZ (sdtl->pr_oil_z) /* Z () */ -#define PressOilTank (sdtl->pr_oil_t) /* () */ - double t_oil_1,t_oil_2; -#define OilTemper1 (sdtl->t_oil_1) /* */ -#define OilTemper2 (sdtl->t_oil_2) /* */ +/******************************************************************************* +* Local data structure * +*******************************************************************************/ +// Oil pressure, MPa +#define PressOilA (sdtl->pr_oil_a) +#define PressOilZ (sdtl->pr_oil_z) +#define PressOilTank (sdtl->pr_oil_t) +// Oil themperature, degrC +#define OilTemper1 (sdtl->t_oil_1) // oil +#define OilTemper2 (sdtl->t_oil_2) // water + +// Local data structure +struct BTA_Local { + uint8_t reserve[120]; // reserved data + double pr_oil_a,pr_oil_z,pr_oil_t; // Oil pressure + double t_oil_1,t_oil_2; // Oil themperature }; -#ifndef BTA_MODULE -struct BTA_Local *sdtl; /* , */ -#else -extern struct BTA_Local *sdtl; -#endif +/** + * Message buffer structure + */ +struct my_msgbuf { + int32_t mtype; // message type + uint32_t acckey; // client access key + uint32_t src_pid; // source PID + uint32_t src_ip; // IP of command source or 0 for local + char mtext[100]; // message itself +}; + +extern volatile struct BTA_Local *sdtl; +extern int snd_id; +extern int cmd_src_pid; +extern uint32_t cmd_src_ip; #define ClientSide 0 #define ServerSide 1 #ifndef BTA_MODULE -static void bta_data_init(); -static int bta_data_check(); -static void bta_data_close(); - -/* (" ") */ -struct SHM_Block sdat = { -{'S','d','a','t',0},sizeof(struct BTA_Data),2048,0444,SHM_RDONLY,bta_data_init,bta_data_check,bta_data_close,0,-1,NULL -}; -#else -extern struct SHM_Block sdat; +void bta_data_init(); +int bta_data_check(); +void bta_data_close(); +int get_shm_block(volatile struct SHM_Block *sb, int server); +int close_shm_block(volatile struct SHM_Block *sb); +void get_cmd_queue(struct CMD_Queue *cq, int server); #endif -#ifndef BTA_MODULE -/* ( " ") */ -static void bta_data_init() { - int i; - sdt = (struct BTA_Data *)sdat.addr; - sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); - if(sdat.side == ClientSide) { - if(sdt->magic != sdat.key.code) { - fprintf(stderr,"Wrong shared data (maybe server turned off)\n"); - /*exit(1);*/ - } - if(sdt->version == 0) { - fprintf(stderr,"Null shared data version (maybe server turned off)\n"); - /*exit(1);*/ - } - else if(sdt->version != BTA_Data_Ver) { - fprintf(stderr,"Wrong shared data version: I'am - %d, but server - %d ...\n", - BTA_Data_Ver, sdt->version ); - /*exit(1);*/ - } - if(sdt->size != sdat.size) { - if(sdt->size > sdat.size) { - /* */ - fprintf(stderr,"Wrong shared area size: I needs - %d, but server - %d ...\n", - sdat.size, sdt->size ); - } else { - /* "" */ - /* ! */ - fprintf(stderr,"Attention! Too little shared data structure!\n"); - sleep(1); - fprintf(stderr,"I needs - %d, but server gives only %d ...\n", - sdat.size, sdt->size ); - sleep(1); - fprintf(stderr,"May be server's version too old!?\n"); - /* exit(1); */ +int check_shm_block(volatile struct SHM_Block *sb); - } - } - return; - } - /* ServerSide */ - if(sdt->magic != sdat.key.code || - sdt->version != BTA_Data_Ver || - sdt->size != sdat.size) { +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev); +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev); +int check_lev_passwd(char *passwd); +void set_acckey(uint32_t newkey); - for(i=0; imagic = sdat.key.code; - sdt->version = BTA_Data_Ver; - sdt->size = sdat.size; - ServPID = 0; - UseModel = NoModel; - ClockType = Ch7_15; - Sys_Mode = SysStop; - Sys_Target = TagPosition; - Tel_Focus = Prime; - Tel_Hardware = Hard_On; - Tel_Mode = Automatic; - Az_Mode = Rev_Off; - P2_State = P2_Mode = P2_Off; - Foc_State = Foc_Off; - Dome_State = D_Off; - Pos_Corr = PC_On; - TrkOk_Mode = UseDiffVel | UseDiffAZ ; - InpAlpha=InpDelta= 0.; - SrcAlpha=SrcDelta= 0.; - VelAlpha=VelDelta= 0.; - CurAlpha=CurDelta= 0.; - InpAzim=InpZdist = 0.; - Diff_A=Diff_Z=Diff_P=0.0; - pos_cor_A=pos_cor_Z=refract_Z = 0.; - tel_cor_A=tel_cor_Z=tel_ref_Z = 0.; - vel_objA=vel_objZ=vel_objP = 0.; - diff_vA=diff_vZ=diff_vP=0.; - speedA = speedZ = speedP = 0.; - req_speedA = req_speedZ = req_speedP = 0.; - mod_vel_A=mod_vel_Z=mod_vel_P=mod_vel_F=mod_vel_D=0.; - code_KOST = 0; - M_time = S_time = L_time = 0.; - ppndd_A=ppndd_Z=ppndd_P=ppndd_B=0; - dup_A=dup_Z=dup_P=dup_F=dup_D=0; - low_A=low_Z=low_P=low_F=low_D=0; - code_A=code_Z=code_P=code_B=code_F=code_D=code_T1=code_T2=code_T3=code_Wnd=0; - val_A=val_Z=val_P=val_B=val_F=val_D=val_T1=val_T2=val_T3=val_Wnd=val_Alp=val_Del=0.; - vel_A=vel_Z=vel_P=vel_F=vel_D=0.; - for(i=0; imagic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); -} -static void bta_data_close() { - if(sdat.side == ServerSide) { - sdt->magic = 0; - sdt->version = 0; - } -} - -/* ??? */ -/*struct SHM_Block info = {{'I','n','f','o',0},1024,1024,0444,SHM_RDONLY,NULL,NULL,NULL,0,-1,NULL};*/ - -/* Allocate shared memory segment */ -static void get_shm_block( struct SHM_Block *sb, int server) { - int getsize = (server)? sb->maxsize : sb->size; - - /* first try to find existing one */ - sb->id = shmget(sb->key.code, getsize, sb->mode); - - if (sb->id<0 && errno==ENOENT && server) { - /* if no - try to create a new one */ - int cresize = sb->maxsize; - if(sb->size > cresize) { - fprintf(stderr,"Wrong shm maxsize(%d) < realsize(%d)\n",sb->maxsize,sb->size); - cresize = sb->size; - } - sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); - } - if (sb->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create shared memory segment '%s'",sb->key.name); - else - sprintf(msg,"Can't find shared segment '%s' (maybe no server process) ",sb->key.name); - perror(msg); - exit(errno); - } - /* attach it to our memory space */ - sb->addr = (unsigned char *)shmat ( sb->id, NULL, sb->atflag ); - - if ((int)(sb->addr) == -1) { - char msg[80]; - sprintf(msg,"Can't attach shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - if(server) { - if((shmctl(sb->id, SHM_LOCK, NULL) < 0) < 0) { - char msg[80]; - sprintf(msg,"Can't prevents swapping of shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - } - fprintf(stderr,"Create&attach shared memory segment '%s' %dbytes at %x \n", - sb->key.name, sb->size, (uint)sb->addr); - - sb->side = server; - - if(sb->init!=NULL) - sb->init(); -} -static int close_shm_block( struct SHM_Block *sb) { - int ret; - if(sb->close != NULL) - sb->close(); - if(sb->side == ServerSide) { -// ret = shmctl(sb->id, SHM_UNLOCK, NULL); - ret = shmctl(sb->id, IPC_RMID, NULL); - } - ret = shmdt (sb->addr); - return(ret); -} -#endif - -static int check_shm_block( struct SHM_Block *sb) { - if(sb->check != NULL) - return(sb->check()); - else return(1); -} - -#ifndef BTA_MODULE -int snd_id=-1; /* ( ?) */ -int cmd_src_pid=0; /* . */ -__uint32_t cmd_src_ip=0; /* IP-. . */ -#else -extern int snd_id; -extern int cmd_src_pid; -extern __uint32_t cmd_src_ip; -#endif - -#ifndef BTA_MODULE -/* Create|Find command queue */ -static void get_cmd_queue( struct CMD_Queue *cq, int server) { - if (!server && cq->id>=0) { /* if already in use */ - snd_id = cq->id; /* set current... */ - return; - } - /* first try to find existing one */ - cq->id = msgget(cq->key.code, cq->mode); - if (cq->id<0 && errno==ENOENT && server) - /* if no - try to create a new one */ - cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); - if (cq->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create comand queue '%s'",cq->key.name); - else - sprintf(msg,"Can't find comand queue '%s' (maybe no server process) ",cq->key.name); - perror(msg); - exit(errno); - } - cq->side = server; - if (server) { - char buf[120]; /* */ - while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT)>0); - } else - snd_id = cq->id; - cq->acckey = 0; -} -#endif - -/* . */ -static void set_acckey(uint newkey) { - if (snd_id<0) return; - if(ucmd.id==snd_id) ucmd.acckey=newkey; - else if(ocmd.id==snd_id) ocmd.acckey=newkey; - else if(mcmd.id==snd_id) mcmd.acckey=newkey; -} - -/* . */ -/* : IP=0( ) PID . */ -static void set_cmd_src(__uint32_t ip, int pid) { - cmd_src_pid = pid; - cmd_src_ip = ip; -} - -/* */ -struct my_msgbuf { - __int32_t mtype; /* type of message */ - __uint32_t acckey; /* */ - __uint32_t src_pid; /* */ - __uint32_t src_ip; /* IP-. , =0 - */ - char mtext[100]; /* message text */ -}; -/* */ -static void send_cmd(int cmd_code, char *buf, int size) { - struct my_msgbuf mbuf; - - if (snd_id<0) return; - if (size>100) size=100; - if (cmd_code>0) - mbuf.mtype = cmd_code; - else - return; - if(ucmd.id==snd_id) mbuf.acckey=ucmd.acckey; - else if(ocmd.id==snd_id) mbuf.acckey=ocmd.acckey; - else if(mcmd.id==snd_id) mbuf.acckey=mcmd.acckey; - - mbuf.src_pid = cmd_src_pid? cmd_src_pid : getpid(); - mbuf.src_ip = cmd_src_ip; - cmd_src_pid = cmd_src_ip = 0; - - if(size>0) - memcpy( mbuf.mtext, buf, size); - else { - mbuf.mtext[0] = 0; - size = 1; - } - msgsnd( snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); -} -static void send_cmd_noarg(int cmd_code) { - send_cmd(cmd_code, NULL, 0); -} -static void send_cmd_str(int cmd_code, char *arg) { - send_cmd(cmd_code, arg, strlen(arg)+1); -} -static void send_cmd_i1(int cmd_code, int arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(int)); -} -static void send_cmd_i2(int cmd_code, int arg1, int arg2) { - int ibuf[2]; - ibuf[0] = arg1; - ibuf[1] = arg2; - send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int)); -} -static void send_cmd_i3(int cmd_code, int arg1, int arg2, int arg3) { - int ibuf[3]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int)); -} -static void send_cmd_i4(int cmd_code, int arg1, int arg2, int arg3, int arg4) { - int ibuf[4]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - ibuf[3] = arg4; - send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int)); -} -static void send_cmd_d1(int cmd_code, double arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(double)); -} -static void send_cmd_d2(int cmd_code, double arg1, double arg2) { - double dbuf[2]; - dbuf[0] = arg1; - dbuf[1] = arg2; - send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); -} -static void send_cmd_i1d1(int cmd_code, int arg1, double arg2) { - struct { - int ival; - double dval; - } buf; - buf.ival = arg1; - buf.dval = arg2; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i2d1(int cmd_code, int arg1, int arg2, double arg3) { - struct { - int ival[2]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.dval = arg3; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i3d1(int cmd_code, int arg1, int arg2, int arg3, double arg4) { - struct { - int ival[3]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.ival[2] = arg3; - buf.dval = arg4; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} - -static void encode_lev_passwd(char *passwd, int nlev, uint *keylev, uint *codlev) { - char salt[4]; - char *encr; - union { - uint ui; - char c[4]; - } key,cod; - sprintf(salt,"L%1d",nlev); - encr = (char *)crypt(passwd, salt); - cod.c[0] = encr[2]; - key.c[0] = encr[3]; - cod.c[1] = encr[4]; - key.c[1] = encr[5]; - cod.c[2] = encr[6]; - key.c[2] = encr[7]; - cod.c[3] = encr[8]; - key.c[3] = encr[9]; - *keylev = key.ui; - *codlev = cod.ui; -} - -static int find_lev_passwd(char *passwd, uint *keylev, uint *codlev) { - int nlev; - for(nlev=5; nlev>0; nlev--) { - encode_lev_passwd(passwd, nlev, keylev, codlev); - if(nlev == 1 && code_Lev1 == *codlev) break; - if(nlev == 2 && code_Lev2 == *codlev) break; - if(nlev == 3 && code_Lev3 == *codlev) break; - if(nlev == 4 && code_Lev4 == *codlev) break; - if(nlev == 5 && code_Lev5 == *codlev) break; - } - return(nlev); -} - -static int check_lev_passwd(char *passwd) { - uint keylev,codlev; - int nlev; - nlev = find_lev_passwd(passwd, &keylev, &codlev); - if(nlev>0) set_acckey(keylev); - return(nlev); -} - -#pragma GCC diagnostic pop +// restore packing +#pragma pack(pop) +//#pragma GCC diagnostic pop #endif // __BTA_SHDATA_H__ diff --git a/C/daemon/client.c b/C/daemon/client.c index cc83a0c..db99f69 100644 --- a/C/daemon/client.c +++ b/C/daemon/client.c @@ -42,7 +42,7 @@ time_t aver_interval = 1; int out_fd; void sendSVG(const int image_type, unsigned char stat_mask, int im_height); -inline void minmax(float *min, float *max, float param){ +static inline void minmax(float *min, float *max, float param){ if(param > *max) *max = param; else if(param < *min) *min = param; } @@ -56,7 +56,7 @@ void print_curvals(unsigned char stat_mask){ // stat_mask - max_wind, min_wind, avr_wind, // max_pres, min_pres, avr_pres, // max_hmd, min_hmd, avr_hmd; // - printf(Content_type); + printf("%s", Content_type); while(read(out_fd, &data, sizeof(data)) == sizeof(data)){ if(data.seconds < t_start) continue; if(data.seconds > t_end) break; @@ -104,7 +104,7 @@ void print_curvals(unsigned char stat_mask){ // stat_mask - avr_otemp/d_len, avr_itemp/d_len, avr_mtemp/d_len, avr_wind/d_len, avr_pres/d_len, avr_hmd/d_len, _L(_s_Monlen_), d_len); - printf("%s\n", + printf("%s\n", SCRIPT_PATH, t_start, t_end, stat_mask, aver_interval, _L(_s_Save_file_)); } @@ -205,7 +205,7 @@ void fill_forms(const char* alert_message, const char S_flag){ unsigned char mask; int im_ht = 600; if(S_flag == 0){ - printf(Content_type); + printf("%s", Content_type); if(alert_message) printf("

%s

\n", alert_message); return; } @@ -376,7 +376,7 @@ void find_starting_pos(){ // int cache_fd; Cache cache; if((cache_fd = open(CACHE_FILE, O_RDONLY)) < 0){ - printf(Content_type); + printf("%s", Content_type); printf("

%s

", _L(_s_Cant_open_cache_)); exit(1); } @@ -430,7 +430,7 @@ void show_extremums(int ch){ struct tm ltime; time_t t1[6], t2[6], t_first=0, t_last=0; - printf(Content_type); + printf("%s", Content_type); if(get_qs_param(qs, "Stat", tmp, 16)) stat_mask = atoi(tmp); if(stat_mask == 0) stat_mask = 0xFF; @@ -588,7 +588,7 @@ void show_extremums(int ch){ if(ch == 0){ printf("

%s

\n", _L(_s_Mode_Times_)); inline void fmtprnt(char **str, time_t tm){ - printf("%s: %d %s (%.2f %s)
\n", _L(str), tm, _L(_s_seconds_), + printf("%s: %zd %s (%.2f %s)
\n", _L(str), tm, _L(_s_seconds_), ((float)tm)/86400., _L(_s_days_)); } fmtprnt(_s_Stopped_, t1[0]); @@ -615,14 +615,14 @@ int main(){ if(get_qs_param(qs, "Visor", tmp, 128)){ // / int shmid, param = atoi(tmp); shmid = shmget(SHM_KEY, sizeof(int), IPC_CREAT | 0666); - printf(Content_type); - if(shmid < 0) printf(_L(_s_noVisor_)); + printf("%s", Content_type); + if(shmid < 0) printf("%s", _L(_s_noVisor_)); else{ Visor = (int*) shmat(shmid, NULL, 0); if(Visor){ if(param > 0) *Visor = !(*Visor); // param >0 - } - else printf(_L(_s_noVisor_)); + else printf("%s", _L(_s_noVisor_)); } printf("%s:
%s

%s:
", _L(_s_CurVstat_), *Visor?"green":"red", *Visor?_L(_s_Vopen_):_L(_s_Vclose_), _L(_s_ChVstat_)); diff --git a/C/daemon/client_cli.c b/C/daemon/client_cli.c index 6aba22e..a5fe783 100644 --- a/C/daemon/client_cli.c +++ b/C/daemon/client_cli.c @@ -115,7 +115,7 @@ void find_starting_pos(){ // cache_fd = open("./cache", O_RDONLY); } if(cache_fd < 0){ - WARN(_L(_s_Cant_open_cache_)); + WARN("%s", _L(_s_Cant_open_cache_)); exit(1); } while(read(cache_fd, &cache, sizeof(cache)) > 0){ @@ -316,7 +316,7 @@ int main(int argc, char **argv){ out_fd = open("./out", O_RDONLY); } if(out_fd < 0){ - WARN(_L(_s_Cant_open_data_)); + WARN("%s", _L(_s_Cant_open_data_)); return(1); } if(lookout) print_dates(); diff --git a/C/daemon/daemon b/C/daemon/daemon deleted file mode 100755 index ac0b309..0000000 Binary files a/C/daemon/daemon and /dev/null differ diff --git a/C/daemon/daemon.c b/C/daemon/daemon.c index 56e0f49..a64f20b 100644 --- a/C/daemon/daemon.c +++ b/C/daemon/daemon.c @@ -93,7 +93,7 @@ void check4running(){ fclose(pidfile); } -inline void LOG(char* thetime, char* thetext){ +static inline void LOG(char* thetime, char* thetext){ fprintf(stderr, "%s\t%s\n", thetime, thetext); fprintf(F_log, "%s\t%s\n", thetime, thetext); } @@ -184,7 +184,7 @@ int get_data(monit_d *data){// *p++ = Pressure; *h++ = val_Hmd; if(++nn == MAX_DATA_LEN) break; - usleep(100000); // 10 + usleep(1000000); // 1 // !!! 10 calloc, // , MAX_DATA_LEN main } @@ -280,7 +280,7 @@ int main(int argc, char** argv){ get_shm_block( &sdat, ClientSide); shmid = shmget(SHM_KEY, sizeof(int), IPC_CREAT | 0666); Visor = (int*) shmat(shmid, NULL, 0); - MAX_DATA_LEN = ((int)(TIMEINTERVAL)) * 10 + 11; // 11 = + 1 + MAX_DATA_LEN = ((int)(TIMEINTERVAL)) + 2; t_out = (data_type*)calloc(MAX_DATA_LEN, sizeof(data_type)); t_in = (data_type*)calloc(MAX_DATA_LEN, sizeof(data_type)); t_mir = (data_type*)calloc(MAX_DATA_LEN, sizeof(data_type)); diff --git a/C/daemon/defines.h b/C/daemon/defines.h index 3fb7c0a..698eebb 100644 --- a/C/daemon/defines.h +++ b/C/daemon/defines.h @@ -15,13 +15,14 @@ #include #include #include + #ifndef __CLIENT_C__ #include "bta_shdata.h" #endif #define WARN(...) do{fprintf(stderr, __VA_ARGS__);}while(0) -#define TIMEINTERVAL 9.99 // ( ) +#define TIMEINTERVAL 599.999 // ( ) #define LOG_FILE "/home/eddy/_data/.temp_daemon" // #define CACHE_FILE "/home/eddy/_data/.cache" // #define OUT_FILE "/home/eddy/_data/.out" // diff --git a/C/daemon/tempmon b/C/daemon/tempmon deleted file mode 100755 index a38ed79..0000000 Binary files a/C/daemon/tempmon and /dev/null differ diff --git a/C/test/bta_shdata.c b/C/test/bta_shdata.c new file mode 100644 index 0000000..bd6ec4f --- /dev/null +++ b/C/test/bta_shdata.c @@ -0,0 +1,356 @@ +// (C) V.S. Shergin, SAO RAS +#include +#include "bta_shdata.h" + +#pragma pack(push, 4) +// Main command channel (level 5) +struct CMD_Queue mcmd = {{"Mcmd"}, 0200,0,-1,0}; +// Operator command channel (level 4) +struct CMD_Queue ocmd = {{"Ocmd"}, 0200,0,-1,0}; +// User command channel (level 2/3) +struct CMD_Queue ucmd = {{"Ucmd"}, 0200,0,-1,0}; + +#define MSGLEN (80) +static char msg[MSGLEN]; +#define WARN(...) warn(__VA_ARGS__) +#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0) +#ifdef EBUG + #define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__) + #define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \ + fprintf(stderr, __VA_ARGS__); \ + fprintf(stderr, "\n");} while(0) +#else + #define FNAME() do{}while(0) + #define DBG(...) do{}while(0) +#endif //EBUG + + +#ifndef BTA_MODULE +volatile struct BTA_Data *sdt; +volatile struct BTA_Local *sdtl; + +volatile struct SHM_Block sdat = { + {"Sdat"}, + sizeof(struct BTA_Data), + 2048,0444, + SHM_RDONLY, + bta_data_init, + bta_data_check, + bta_data_close, + ClientSide,-1,NULL +}; + +int snd_id = -1; // client sender ID +int cmd_src_pid = 0; // next command source PID +uint32_t cmd_src_ip = 0;// next command source IP + +/** + * Init data + */ +void bta_data_init() { + sdt = (struct BTA_Data *)sdat.addr; + sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data)); + if(sdat.side == ClientSide) { + if(sdt->magic != sdat.key.code) { + WARN("Wrong shared data (maybe server turned off)"); + } + if(sdt->version == 0) { + WARN("Null shared data version (maybe server turned off)"); + } + else if(sdt->version != BTA_Data_Ver) { + WARN("Wrong shared data version: I'am - %d, but server - %d ...", + BTA_Data_Ver, sdt->version ); + } + if(sdt->size != sdat.size) { + if(sdt->size > sdat.size) { + WARN("Wrong shared area size: I needs - %d, but server - %d ...", + sdat.size, sdt->size ); + } else { + WARN("Attention! Too little shared data structure!"); + WARN("I needs - %d, but server gives only %d ...", + sdat.size, sdt->size ); + WARN("May be server's version too old!?"); + } + } + return; + } + /* ServerSide */ + if(sdt->magic == sdat.key.code && + sdt->version == BTA_Data_Ver && + sdt->size == sdat.size) + return; + memset(sdat.addr, 0, sdat.maxsize); + sdt->magic = sdat.key.code; + sdt->version = BTA_Data_Ver; + sdt->size = sdat.size; + Tel_Hardware = Hard_On; + Pos_Corr = PC_On; + TrkOk_Mode = UseDiffVel | UseDiffAZ ; + inp_B = 591.; + Pressure = 595.; + PEP_code_A = 0x002aaa; + PEP_code_Z = 0x002aaa; + PEP_code_P = 0x002aaa; + PEP_code_F = 0x002aaa; + PEP_code_D = 0x002aaa; + DomeSEW_N = 1; +} + +int bta_data_check() { + return( (sdt->magic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); +} + +void bta_data_close() { + if(sdat.side == ServerSide) { + sdt->magic = 0; + sdt->version = 0; + } +} + +/** + * Allocate shared memory segment + */ +int get_shm_block(volatile struct SHM_Block *sb, int server) { + int getsize = (server)? sb->maxsize : sb->size; + // first try to find existing one + sb->id = shmget(sb->key.code, getsize, sb->mode); + if(sb->id < 0 && errno == ENOENT && server){ + // if no - try to create a new one + int cresize = sb->maxsize; + if(sb->size > cresize){ + WARN("Wrong shm maxsize(%d) < realsize(%d)",sb->maxsize,sb->size); + cresize = sb->size; + } + sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); + } + if(sb->id < 0){ + if(server) + PERR("Can't create shared memory segment '%s'",sb->key.name); + else + PERR("Can't find shared segment '%s' (maybe no server process) ",sb->key.name); + return 0; + } + // attach it to our memory space + sb->addr = (unsigned char *) shmat(sb->id, NULL, sb->atflag); + if((long)sb->addr == -1){ + PERR("Can't attach shared memory segment '%s'",sb->key.name); + return 0; + } + if(server && (shmctl(sb->id, SHM_LOCK, NULL) < 0)){ + PERR("Can't prevents swapping of shared memory segment '%s'",sb->key.name); + return 0; + } + DBG("Create & attach shared memory segment '%s' %dbytes", sb->key.name, sb->size); + sb->side = server; + if(sb->init != NULL) + sb->init(); + return 1; +} + +int close_shm_block(volatile struct SHM_Block *sb){ + int ret; + if(sb->close != NULL) + sb->close(); + if(sb->side == ServerSide) { + // ret = shmctl(sb->id, SHM_UNLOCK, NULL); + ret = shmctl(sb->id, IPC_RMID, NULL); + } + ret = shmdt (sb->addr); + return(ret); +} + +/** + * Create|Find command queue + */ +void get_cmd_queue(struct CMD_Queue *cq, int server){ + if (!server && cq->id >= 0) { //if already in use set current + snd_id = cq->id; + return; + } + // first try to find existing one + cq->id = msgget(cq->key.code, cq->mode); + // if no - try to create a new one + if(cq->id<0 && errno == ENOENT && server) + cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); + if(cq->id<0){ + if(server) + PERR("Can't create comand queue '%s'",cq->key.name); + else + PERR("Can't find comand queue '%s' (maybe no server process) ",cq->key.name); + return; + } + cq->side = server; + if(server){ + char buf[120]; /* выбросить все команды из очереди */ + while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT) > 0); + }else + snd_id = cq->id; + cq->acckey = 0; +} + +#endif // BTA_MODULE + + +int check_shm_block(volatile struct SHM_Block *sb) { + if(sb->check) + return(sb->check()); + else return(0); +} + +/** + * Set access key in current channel + */ +void set_acckey(uint32_t newkey){ + if(snd_id < 0) return; + if(ucmd.id == snd_id) ucmd.acckey = newkey; + else if(ocmd.id == snd_id) ocmd.acckey = newkey; + else if(mcmd.id == snd_id) mcmd.acckey = newkey; +} + +/** + * Setup source data for one following command if default values + * (IP == 0 - local, PID = current) not suits + */ +void set_cmd_src(uint32_t ip, int pid) { + cmd_src_pid = pid; + cmd_src_ip = ip; +} + +#pragma pack(push, 4) +/** + * Send client commands to server + */ +void send_cmd(int cmd_code, char *buf, int size) { + struct my_msgbuf mbuf; + if(snd_id < 0) return; + if(size > 100) size = 100; + if(cmd_code > 0) + mbuf.mtype = cmd_code; + else + return; + if(ucmd.id == snd_id) mbuf.acckey = ucmd.acckey; + else if(ocmd.id == snd_id) mbuf.acckey = ocmd.acckey; + else if(mcmd.id == snd_id) mbuf.acckey = mcmd.acckey; + + mbuf.src_pid = cmd_src_pid ? cmd_src_pid : getpid(); + mbuf.src_ip = cmd_src_ip; + cmd_src_pid = cmd_src_ip = 0; + + if(size > 0) + memcpy(mbuf.mtext, buf, size); + else { + mbuf.mtext[0] = 0; + size = 1; + } + msgsnd(snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); +} + +void send_cmd_noarg(int cmd_code) { + send_cmd(cmd_code, NULL, 0); +} +void send_cmd_str(int cmd_code, char *arg) { + send_cmd(cmd_code, arg, strlen(arg)+1); +} +void send_cmd_i1(int cmd_code, int32_t arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(int32_t)); +} +void send_cmd_i2(int cmd_code, int32_t arg1, int32_t arg2) { + int32_t ibuf[2]; + ibuf[0] = arg1; + ibuf[1] = arg2; + send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int32_t)); +} +void send_cmd_i3(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3) { + int32_t ibuf[3]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int32_t)); +} +void send_cmd_i4(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, int32_t arg4) { + int32_t ibuf[4]; + ibuf[0] = arg1; + ibuf[1] = arg2; + ibuf[2] = arg3; + ibuf[3] = arg4; + send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int32_t)); +} +void send_cmd_d1(int32_t cmd_code, double arg1) { + send_cmd(cmd_code, (char *)&arg1, sizeof(double)); +} +void send_cmd_d2(int cmd_code, double arg1, double arg2) { + double dbuf[2]; + dbuf[0] = arg1; + dbuf[1] = arg2; + send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); +} +void send_cmd_i1d1(int cmd_code, int32_t arg1, double arg2) { + struct { + int32_t ival; + double dval; + } buf; + buf.ival = arg1; + buf.dval = arg2; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i2d1(int cmd_code, int32_t arg1, int32_t arg2, double arg3) { + struct { + int32_t ival[2]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.dval = arg3; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} +void send_cmd_i3d1(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, double arg4) { + struct { + int32_t ival[3]; + double dval; + } buf; + buf.ival[0] = arg1; + buf.ival[1] = arg2; + buf.ival[2] = arg3; + buf.dval = arg4; + send_cmd(cmd_code, (char *)&buf, sizeof(buf)); +} + +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev){ + char salt[4]; + char *encr; + union { + uint32_t ui; + char c[4]; + } key, cod; + sprintf(salt,"L%1d",nlev); + encr = (char *)crypt(passwd, salt); + cod.c[0] = encr[2]; + key.c[0] = encr[3]; + cod.c[1] = encr[4]; + key.c[1] = encr[5]; + cod.c[2] = encr[6]; + key.c[2] = encr[7]; + cod.c[3] = encr[8]; + key.c[3] = encr[9]; + *keylev = key.ui; + *codlev = cod.ui; +} + +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev){ + int nlev; + for(nlev = 5; nlev > 0; --nlev){ + encode_lev_passwd(passwd, nlev, keylev, codlev); + if(*codlev == code_Lev(nlev)) break; + } + return(nlev); +} + +int check_lev_passwd(char *passwd){ + uint32_t keylev,codlev; + int nlev; + nlev = find_lev_passwd(passwd, &keylev, &codlev); + if(nlev > 0) set_acckey(keylev); + return(nlev); +} + +#pragma pack(pop) diff --git a/C/test/bta_shdata.h b/C/test/bta_shdata.h index fdd4d6f..8e715d7 100644 --- a/C/test/bta_shdata.h +++ b/C/test/bta_shdata.h @@ -1,594 +1,632 @@ -/* */ -/* : */ -/* BTA_MODULE - - . C- ( .) */ -/* SHM_OLD_SIZE - - */ +// (C) V.S. Shergin, SAO RAS +#pragma once +#ifndef __BTA_SHDATA_H__ +#define __BTA_SHDATA_H__ +#include #include +#include +#include +#include #include #include #include -#include #include -#include -#include -struct SHM_Block { /* */ +#pragma pack(push, 4) +/* + * Shared memory block + */ +struct SHM_Block { union { - char name[5]; /* */ - key_t code; + char name[5]; // memory segment identificator + key_t code; } key; - int size; /* */ - int maxsize; /* (" " ) */ - int mode; /* (rwxrwxrwx) */ - int atflag; /* (SHM_RDONLY 0) */ - void (*init)(); /* */ - int (*check)(); /* */ - void (*close)(); /* */ - int side; /* : / */ - int id; /* */ - unsigned char *addr; /* */ + int32_t size; // size of memory used + int32_t maxsize; // size when created + int32_t mode; // access mode (rwxrwxrwx) + int32_t atflag; // connection mode (SHM_RDONLY or 0) + void (*init)(); // init function + int32_t (*check)(); // test function + void (*close)(); // deinit function + int32_t side; // connection type: client/server + int32_t id; // connection identificator + uint8_t *addr; // connection address }; -struct CMD_Queue { /* () */ +extern volatile struct SHM_Block sdat; + +/* + * Command queue descriptor + */ +struct CMD_Queue { union { - char name[5]; /* */ - key_t code; + char name[5]; // queue key + key_t code; } key; - int mode; /* (rwxrwxrwx) */ - int side; /* : / (Sender/Receiver)*/ - int id; /* */ - unsigned int acckey; /* ( ->) */ + int32_t mode; // access mode (rwxrwxrwx) + int32_t side; // connection type (Sender/Receiver - server/client) + int32_t id; // connection identificator + uint32_t acckey; // access key (for transmission from client to server) }; -#ifndef BTA_MODULE -/* (Level5)*/ -struct CMD_Queue mcmd = {{'M','c','m','d',0},0200,0,-1,0}; -/* () (Level4)*/ -struct CMD_Queue ocmd = {{'O','c','m','d',0},0200,0,-1,0}; -/* () (Level2/3)*/ -struct CMD_Queue ucmd = {{'U','c','m','d',0},0200,0,-1,0}; -#else extern struct CMD_Queue mcmd; extern struct CMD_Queue ocmd; extern struct CMD_Queue ucmd; -#endif -static void send_cmd_noarg(int); -static void send_cmd_str(int, char *); -static void send_cmd_i1(int, int); -static void send_cmd_i2(int, int, int); -static void send_cmd_i3(int, int, int, int); -static void send_cmd_i4(int, int, int, int, int); -static void send_cmd_d1(int, double); -static void send_cmd_d2(int, double, double); -static void send_cmd_i1d1(int, int, double); -static void send_cmd_i2d1(int, int, int, double); -static void send_cmd_i3d1(int, int, int, int, double); +void send_cmd_noarg(int); +void send_cmd_str(int, char *); +void send_cmd_i1(int, int32_t); +void send_cmd_i2(int, int32_t, int32_t); +void send_cmd_i3(int, int32_t, int32_t, int32_t); +void send_cmd_i4(int, int32_t, int32_t, int32_t, int32_t); +void send_cmd_d1(int, double); +void send_cmd_d2(int, double, double); +void send_cmd_i1d1(int, int32_t, double); +void send_cmd_i2d1(int, int32_t, int32_t, double); +void send_cmd_i3d1(int, int32_t, int32_t, int32_t, double); -/* */ -/* */ -#define StopTel 1 /* */ -#define StopTeleskope() send_cmd_noarg( 1 ) /* . */ -#define StartHS 2 /* */ -#define StartHightSpeed() send_cmd_noarg( 2 ) /* /*/ -#define StartLS 3 /* */ -#define StartLowSpeed() send_cmd_noarg( 3 ) /* /*/ -#define SetTmr 4 /* . Ch7_15 SysTimer */ -#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) /* .. */ -#define SetModMod 5 /* . */ -#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) /* .. */ -#define SetCodA 6 /* A */ -#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) /* /*/ -#define SetCodZ 7 /* Z */ -#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) /* /*/ -#define SetCodP 8 /* P */ -#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) /* /*/ -#define SetVA 9 /* . A */ -#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) /* /*/ -#define SetVZ 10 /* . Z */ -#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) /* /*/ -#define SetVP 11 /* . P */ -#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) /* /*/ -#define SetAD 12 /* . R.A. Decl */ -#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))/* .*/ -#define SetAZ 13 /* . ..*/ -#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))/* .*/ -#define GoToAD 14 /* ( R.A. Decl)*/ -#define GoToObject() send_cmd_noarg(14 ) /* . */ -#define MoveToAD 15 /* ( R.A. Decl)*/ -#define MoveToObject() send_cmd_noarg(15 ) /* .*/ -#define GoToAZ 16 /* ( A Z)*/ -#define GoToAzimZ() send_cmd_noarg(16 ) /* . */ -#define WriteAZ 17 /* A Z FullModel*/ -#define WriteModelAZ() send_cmd_noarg(17 ) /* . */ -#define SetModP 18 /* . P2 */ -#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) /* .*/ -#define P2Move 19 /* ./. (+-1,0) P2 */ -#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) /* .*/ -#define FocMove 20 /* ./. (+-2,+-1,0) */ -#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) /* .*/ -#define UsePCorr 21 /* () */ -#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) /* . */ -#define SetTrkFlags 22 /* . */ -#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) /* .*/ -#define SetTFoc 23 /* .: 0-, 1-1, 2-2 */ -#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) /* . */ -#define SetVAD 24 /* ...- R.A. Decl */ -#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))/* .*/ -#define SetRevA 25 /* . "" */ -#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) /* .*/ -#define SetVP2 26 /* ...- P2 ( ) */ -#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) /* .*/ -#define SetTarg 27 /* . */ -#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) /* .*/ -#define SendMsg 28 /* ( ) */ -#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) /* .*/ -#define CorrAD 29 /* R.A. Decl */ -#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))/* .*/ -#define CorrAZ 30 /* A Z*/ -#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))/* .*/ -#define SetVCAZ 31 /* .. A Z*/ -#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))/* .*/ -#define P2MoveTo 32 /* P2 */ -#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))/* .*/ -#define GoToTD 33 /* ( t Decl)*/ -#define GoToSat() send_cmd_noarg (33 ) /* ..*/ -#define MoveToTD 34 /* ( t Decl)*/ -#define MoveToSat() send_cmd_noarg (34 ) /* .*/ -#define NullCom 35 /* ( ?) */ -#define SyncCom() send_cmd_noarg (35 ) /* . */ -#define StartTel 36 /* "" */ -#define StartTeleskope() send_cmd_noarg(36 ) /* . */ -#define SetTMod 37 /* . */ -#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) /* .. */ -#define TelOn 38 /* . , ..*/ -#define TeleskopeOn() send_cmd_noarg(38 ) /* .. */ -#define SetModD 39 /* . */ -#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) /* ..*/ -#define DomeMove 40 /* ./. (+-1+-2,+-3,0) */ -#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) /* .*/ -#define SetPass 41 /* . */ -#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) /* ..*/ -#define SetLevC 42 /* . */ -#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) /* ..*/ -#define SetLevK 43 /* . */ -#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) /* ..*/ -#define SetNet 44 /* . */ -#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) /* ..*/ -#define SetMet 45 /* */ -#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) /* .*/ -#define TurnMetOff 46 /* . */ -#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) /* .*/ -#define SetDUT1 47 /* ..(IERS DUT1=UT1-UTC) */ -#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) /* ..*/ -#define SetPM 48 /* ..(IERS polar motion)*/ -#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) /* ..*/ -#define GetSEW 49 /* SEW */ -#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) /* M..*/ -#define PutSEW 50 /* SEW */ -#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) /* M..*/ -#define SetLocks 51 /* */ -#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) /* M..*/ -#define ClearLocks 52 /* */ -#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) /* M..*/ -#define SetRKbits 53 /* . PEP-RK */ -#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) /* M..*/ -#define ClrRKbits 54 /* . PEP-RK */ -#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) /* M..*/ -#define SetSEWnd 55 /* . SEW- ( )*/ -#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) /* ..*/ -#define SEWsDome 56 /* ./. SEW- */ -#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) /* ..*/ +/******************************************************************************* +* Command list * +*******************************************************************************/ +/* name code args type */ +// Stop telescope +#define StopTel 1 +#define StopTeleskope() send_cmd_noarg( 1 ) +// High/low speed +#define StartHS 2 +#define StartHighSpeed() send_cmd_noarg( 2 ) +#define StartLS 3 +#define StartLowSpeed() send_cmd_noarg( 3 ) +// Timer setup (Ch7_15 or SysTimer) +#define SetTmr 4 +#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T)) +// Simulation (modeling) mode +#define SetModMod 5 +#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M)) +// Azimuth speed code +#define SetCodA 6 +#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA)) +// Zenith speed code +#define SetCodZ 7 +#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ)) +// Parangle speed code +#define SetCodP 8 +#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP)) +// Set Az velocity +#define SetVA 9 +#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA)) +// Set Z velocity +#define SetVZ 10 +#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ)) +// Set P velocity +#define SetVP 11 +#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP)) +// Set new polar coordinates +#define SetAD 12 +#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del)) +// Set new azimutal coordinates +#define SetAZ 13 +#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z)) +// Goto new object by polar coords +#define GoToAD 14 +#define GoToObject() send_cmd_noarg(14 ) +// Start steering to object by polar coords +#define MoveToAD 15 +#define MoveToObject() send_cmd_noarg(15 ) +// Go to object by azimutal coords +#define GoToAZ 16 +#define GoToAzimZ() send_cmd_noarg(16 ) +// Set A&Z for simulation +#define WriteAZ 17 +#define WriteModelAZ() send_cmd_noarg(17 ) +// Set P2 mode +#define SetModP 18 +#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod)) +// Move(+-1)/Stop(0) P2 +#define P2Move 19 +#define MoveP2(dir) send_cmd_i1 (19, (int)(dir)) +// Move(+-2,+-1)/Stop(0) focus +#define FocMove 20 +#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time)) +// Use/don't use pointing correction system +#define UsePCorr 21 +#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag)) +// Tracking flags +#define SetTrkFlags 22 +#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags)) +// Set focus (0 - primary, 1 - N1, 2 - N2) +#define SetTFoc 23 +#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N)) +// Set intrinsic move parameters by RA/Decl +#define SetVAD 24 +#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel)) +// Reverse Azimuth direction when pointing +#define SetRevA 25 +#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod)) +// Set P2 velocity +#define SetVP2 26 +#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2)) +// Set pointing target +#define SetTarg 27 +#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ)) +// Send message to all clients (+write into protocol) +#define SendMsg 28 +#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg)) +// RA/Decl user correction +#define CorrAD 29 +#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel)) +// A/Z user correction +#define CorrAZ 30 +#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ)) +// sec A/Z user correction speed +#define SetVCAZ 31 +#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ)) +// move P2 with given velocity for a given time +#define P2MoveTo 32 +#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time)) +// Go to t/Decl position +#define GoToTD 33 +#define GoToSat() send_cmd_noarg (33 ) +// Move to t/Decl +#define MoveToTD 34 +#define MoveToSat() send_cmd_noarg (34 ) +// Empty command for synchronisation +#define NullCom 35 +#define SyncCom() send_cmd_noarg (35 ) +// Button "Start" +#define StartTel 36 +#define StartTeleskope() send_cmd_noarg(36 ) +// Set telescope mode +#define SetTMod 37 +#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M)) +// Turn telescope on (oil etc) +#define TelOn 38 +#define TeleskopeOn() send_cmd_noarg(38 ) +// Dome mode +#define SetModD 39 +#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod)) +// Move(+-3,+-2,+-1)/Stop(0) dome +#define DomeMove 40 +#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time)) +// Set account password +#define SetPass 41 +#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass)) +// Set code of access level +#define SetLevC 42 +#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod)) +// Set key for access level +#define SetLevK 43 +#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key)) +// Setup network +#define SetNet 44 +#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr)) +// Input meteo data +#define SetMet 45 +#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val)) +// Cancel meteo data +#define TurnMetOff 46 +#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id)) +// Set time correction (IERS DUT1=UT1-UTC) +#define SetDUT1 47 +#define SetDtime(dT) send_cmd_d1 (47, (double)(dT)) +// Set polar motion (IERS polar motion) +#define SetPM 48 +#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp)) +// Get SEW parameter +#define GetSEW 49 +#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt)) +// Set SEW parameter +#define PutSEW 50 +#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val)) +// Set lock flags +#define SetLocks 51 +#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f)) +// Clear lock flags +#define ClearLocks 52 +#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f)) +// Set PEP-RK bits +#define SetRKbits 53 +#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f)) +// Clear PEP-RK bits +#define ClrRKbits 54 +#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f)) +// Set SEW dome motor number (for indication) +#define SetSEWnd 55 +#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND)) +// Turn SEW controllers of dome on/off +#define SEWsDome 56 +#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff)) -/* ( " ") */ -#define BTA_Data_Ver 2 -struct BTA_Data { - int magic; /* */ - int version; /* = BTA_Data_Ver*/ - int size; /* = sizeof(struct BTA_Data)*/ - int pid; -#define ServPID (sdt->pid) /* .. */ +/******************************************************************************* +* BTA data structure definitions * +*******************************************************************************/ - /* */ - int model; -#define UseModel (sdt->model) /* */ -#define NoModel 0 /* */ -#define CheckModel 1 /* */ -#define DriveModel 2 /* "" */ -#define FullModel 3 /* */ - int timer; -#define ClockType (sdt->timer) /* */ -#define Ch7_15 0 /* . . 7-15 */ -#define SysTimer 1 /* ( ) */ -#define ExtSynchro 2 /* (bta_time xntpd)*/ - int system; -#define Sys_Mode (sdt->system) /* */ -#define SysStop 0 /* */ -#define SysWait 1 /* () */ -#define SysPointAZ 2 /* ( A Z)*/ -#define SysPointAD 3 /* ( R.A. Decl)*/ -#define SysTrkStop 4 /* : */ -#define SysTrkStart 5 /* : . ()*/ -#define SysTrkMove 6 /* : */ -#define SysTrkSeek 7 /* : */ -#define SysTrkOk 8 /* : */ -#define SysTrkCorr 9 /* : */ -#define SysTest 10 /* */ - int sys_target; -#define Sys_Target (sdt->sys_target) /* */ -#define TagPosition 0 /* A/Z */ -#define TagObject 1 /* Alpha/Delta */ -#define TagNest 2 /* "" */ -#define TagZenith 3 /* "" */ -#define TagHorizon 4 /* "" */ -#define TagStatObj 5 /* "" t/Delta */ - - int tel_focus; -#define Tel_Focus (sdt->tel_focus) /* : 0-, 1-1, 2-2 */ -#define Prime 0 -#define Nasmyth1 1 -#define Nasmyth2 2 - double pc_coeff[8]; -#define PosCor_Coeff (sdt->pc_coeff) /* - . */ - - /* */ -#define Stopping 0 /* */ -#define Pointing 1 /* */ -#define Tracking 2 /* */ - int tel_state; -#define Tel_State (sdt->tel_state) /* */ - int req_state; -#define Req_State (sdt->req_state) /* */ - int tel_hard_state; -#define Tel_Hardware (sdt->tel_hard_state) /* */ -#define Hard_Off 0 /* */ -#define Hard_On 1 /* */ - - /* */ - int tel_mode; -#define Tel_Mode (sdt->tel_mode) -#define Automatic 0 /* "" - */ -#define Manual 1 /* "/.." - :*/ -#define ZenHor 2 /* "-" - Z<5 Z>80*/ -#define A_Move 4 /* A */ -#define Z_Move 8 /* --- "" --- Z */ -#define Balance 0x10 /* */ - - /* ./. "" */ - int az_mode; -#define Az_Mode (sdt->az_mode) -#define Rev_Off 0 /* */ -#define Rev_On 1 /* 360. */ - - /* P2 */ - int p2_state; -#define P2_State (sdt->p2_state) /* P2 */ -#define P2_Off 0 /* */ -#define P2_On 1 /* */ -#define P2_Plus 2 /* + */ -#define P2_Minus -2 /* - */ - int p2_req_mode; -#define P2_Mode (sdt->p2_req_mode) /* P2 (: /)*/ - - /* */ - int focus_state; -#define Foc_State (sdt->focus_state) -#define Foc_Off 0 /* */ -#define Foc_Lplus 1 /* . + */ -#define Foc_Lminus -1 /* . - */ -#define Foc_Hplus 2 /* + */ -#define Foc_Hminus -2 /* - */ - - /* */ - int dome_state; -#define Dome_State (sdt->dome_state) -#define D_On 7 /* */ -#define D_Off 0 /* */ -#define D_Lplus 1 /* . + */ -#define D_Lminus -1 /* . - */ -#define D_Mplus 2 /* .. + */ -#define D_Mminus -2 /* .. - */ -#define D_Hplus 3 /* + */ -#define D_Hminus -3 /* - */ - -/* () */ - int pcor_mode; -#define Pos_Corr (sdt->pcor_mode) /* A/Z: /*/ -#define PC_Off 0 /* . */ -#define PC_On 1 /* . */ - -/* /. */ - int trkok_mode; -#define TrkOk_Mode (sdt->trkok_mode) -#define UseDiffVel 1 /* & (~)*/ -#define UseDiffAZ 2 /* ( ..) */ -#define UseDFlt 4 /* . */ - - /* */ - double i_alpha, i_delta; -#define InpAlpha (sdt->i_alpha) /* R.A. (sec) */ -#define InpDelta (sdt->i_delta) /* -- " -- Decl. (") */ - double s_alpha, s_delta; -#define SrcAlpha (sdt->s_alpha) /* R.A. (sec) */ -#define SrcDelta (sdt->s_delta) /* -- " -- Decl. (") */ - double v_alpha, v_delta; -#define VelAlpha (sdt->v_alpha) /* ..- R.A. (sec/) */ -#define VelDelta (sdt->v_delta) /* -- " -- Decl. ("/) */ - double i_azim, i_zdist; -#define InpAzim (sdt->i_azim) /* (") */ -#define InpZdist (sdt->i_zdist) /* -- " -- .. (") */ - - /* */ - double c_alpha, c_delta; -#define CurAlpha (sdt->c_alpha) /* R.A. (sec) */ -#define CurDelta (sdt->c_delta) /* -- " -- Decl. (") */ - double tag_a, tag_z, tag_p; -#define tag_A (sdt->tag_a) /* A (") */ -#define tag_Z (sdt->tag_z) /* - " - Z (") - " - */ -#define tag_P (sdt->tag_p) /* - " - P (") - " - */ - double pcor_a, pcor_z, refr_z; -#define pos_cor_A (sdt->pcor_a) /* A (") */ -#define pos_cor_Z (sdt->pcor_z) /* - " - - " - Z (") */ -#define refract_Z (sdt->refr_z) /* (") */ - double tcor_a, tcor_z, tref_z; -#define tel_cor_A (sdt->tcor_a) /* . A (") */ -#define tel_cor_Z (sdt->tcor_z) /* - " - - " - - " - Z (") */ -#define tel_ref_Z (sdt->tref_z) /* . (") */ - double diff_a, diff_z, diff_p; -#define Diff_A (sdt->diff_a) /* -( ) A (") */ -#define Diff_Z (sdt->diff_z) /* - " - - " - Z (") */ -#define Diff_P (sdt->diff_p) /* - " - - " - P (") */ - double vbasea,vbasez,vbasep; -#define vel_objA (sdt->vbasea) /* A ("/) */ -#define vel_objZ (sdt->vbasez) /* - " - - " - Z - " - */ -#define vel_objP (sdt->vbasep) /* - " - - " - P - " - */ - double diffva,diffvz,diffvp; -#define diff_vA (sdt->diffva) /* */ -#define diff_vZ (sdt->diffvz) /* -- "" -- -- "" -- Z */ -#define diff_vP (sdt->diffvp) /* -- "" -- -- "" -- P */ - double speeda,speedz,speedp; -#define speedA (sdt->speeda) /* A ("/) */ -#define speedZ (sdt->speedz) /* - " - Z - " - */ -#define speedP (sdt->speedp) /* - " - P - " - */ - double m_time_precip; -#define Precip_time (sdt->m_time_precip)/* (precipitations)*/ - unsigned char reserve[16]; -#define Reserve (sdt->reserve) /* */ - double rspeeda, rspeedz, rspeedp; -#define req_speedA (sdt->rspeeda) /* ("/) A */ -#define req_speedZ (sdt->rspeedz) /* - " - Z */ -#define req_speedP (sdt->rspeedp) /* - " - P */ - double simvela, simvelz, simvelp, simvelf, simveld; -#define mod_vel_A (sdt->simvela) /* A ("/) */ -#define mod_vel_Z (sdt->simvelz) /* - " - Z - " - */ -#define mod_vel_P (sdt->simvelp) /* - " - P - " - */ -#define mod_vel_F (sdt->simvelf) /* - " - F - " - */ -#define mod_vel_D (sdt->simvelf) /* - " - D - " - */ - - - /* */ - unsigned int kost; -#define code_KOST (sdt->kost) /* . */ - /* 0x8000 - */ - /* 0x4000 - . */ - /* 0x2000 - */ - /* 0x1000 - P2 .*/ - /* 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) */ - /* 0x000F - .. +Z -Z +A -A */ - double m_time, s_time, l_time; -#define M_time (sdt->m_time) /* ( UTC!)*/ -#define S_time (sdt->s_time) /* */ -#define L_time (sdt->l_time) /* */ - unsigned int ppndd_a, ppndd_z, ppndd_p, ppndd_b; -#define ppndd_A (sdt->ppndd_a) /* ( ) A */ -#define ppndd_Z (sdt->ppndd_z) /* - "" - Z */ -#define ppndd_P (sdt->ppndd_p) /* - "" - P */ -#define ppndd_B (sdt->ppndd_b) /* */ - unsigned int dup_a, dup_z, dup_p, dup_f, dup_d; -#define dup_A (sdt->dup_a) /* ( ) A */ -#define dup_Z (sdt->dup_z) /* - "" - Z */ -#define dup_P (sdt->dup_p) /* - "" - P */ -#define dup_F (sdt->dup_f) /* */ -#define dup_D (sdt->dup_d) /* */ - unsigned int low_a, low_z, low_p, low_f, low_d; -#define low_A (sdt->low_a) /* 14- . A */ -#define low_Z (sdt->low_z) /* - "" - Z */ -#define low_P (sdt->low_p) /* - "" - P */ -#define low_F (sdt->low_f) /* */ -#define low_D (sdt->low_d) /* */ - unsigned int code_a, code_z, code_p, code_b, code_f, code_d; -#define code_A (sdt->code_a) /* 23- . A */ -#define code_Z (sdt->code_z) /* - "" - Z */ -#define code_P (sdt->code_p) /* - "" - P */ -#define code_B (sdt->code_b) /* */ -#define code_F (sdt->code_f) /* */ -#define code_D (sdt->code_d) /* */ - unsigned int adc[8]; -#define ADC(N) (sdt->adc[(N)]) /* 8- PCL818 */ -#define code_T1 ADC(0) /* . */ -#define code_T2 ADC(1) /* .*/ -#define code_T3 ADC(2) /* */ -#define code_Wnd ADC(3) /* */ - double val_a, val_z, val_p, val_b, val_f, val_d; - double val_t1, val_t2, val_t3, val_wnd; -#define val_A (sdt->val_a) /* A (") */ -#define val_Z (sdt->val_z) /* - " - Z (") */ -#define val_P (sdt->val_p) /* - " - P (") */ -#define val_B (sdt->val_b) /* e (...)*/ -#define val_F (sdt->val_f) /* () */ -#define val_D (sdt->val_d) /* (") */ -#define val_T1 (sdt->val_t1) /* . (.)*/ -#define val_T2 (sdt->val_t2) /* .(.)*/ -#define val_T3 (sdt->val_t3) /* (.)*/ -#define val_Wnd (sdt->val_wnd) /* (/)*/ - double val_alp, val_del; -#define val_Alp (sdt->val_alp) /* R.A. (sec) */ -#define val_Del (sdt->val_del) /* -- " -- Decl. (") */ - - double vel_a, vel_z, vel_p, vel_f, vel_d; -#define vel_A (sdt->vel_a) /* A ("/) */ -#define vel_Z (sdt->vel_z) /* - " - Z - " - */ -#define vel_P (sdt->vel_p) /* - " - P - " - */ -#define vel_F (sdt->vel_f) /* - " - F - " - */ -#define vel_D (sdt->vel_d) /* - " - D - " - */ - - /* */ +#define ServPID (sdt->pid) // PID of main program +// model +#define UseModel (sdt->model) // model variants +enum{ + NoModel = 0 // OFF + ,CheckModel // control motors by model + ,DriveModel // "blind" management without real sensors + ,FullModel // full model without telescope +}; +// timer +#define ClockType (sdt->timer) // which timer to use +enum{ + Ch7_15 = 0 // Inner timer with synchronisation by CH7_15 + ,SysTimer // System timer (synchronisation unknown) + ,ExtSynchro // External synchronisation (bta_time or xntpd) +}; +// system +#define Sys_Mode (sdt->system) // main system mode +enum{ + SysStop = 0 // Stop + ,SysWait // Wait for start (pointing) + ,SysPointAZ // Pointing by A/Z + ,SysPointAD // Pointing by RA/Decl + ,SysTrkStop // Tracking stop + ,SysTrkStart // Start tracking (acceleration to nominal velocity) + ,SysTrkMove // Tracking move to object + ,SysTrkSeek // Tracking in seeking mode + ,SysTrkOk // Tracking OK + ,SysTrkCorr // Correction of tracking position + ,SysTest // Test +}; +// sys_target +#define Sys_Target (sdt->sys_target) // system pointing target +enum{ + TagPosition = 0 // point by A/Z + ,TagObject // point by RA/Decl + ,TagNest // point to "nest" + ,TagZenith // point to zenith + ,TagHorizon // point to horizon + ,TagStatObj // point to statinary object (t/Decl) +}; +// tel_focus +#define Tel_Focus (sdt->tel_focus) // telescope focus type +enum{ + Prime = 0 + ,Nasmyth1 + ,Nasmyth2 +}; +// PCS +#define PosCor_Coeff (sdt->pc_coeff) // pointing correction system coefficients +// tel_state +#define Tel_State (sdt->tel_state) // telescope state +#define Req_State (sdt->req_state) // required state +enum{ + Stopping = 0 + ,Pointing + ,Tracking +}; +// tel_hard_state +#define Tel_Hardware (sdt->tel_hard_state) // Power state +enum{ + Hard_Off = 0 + ,Hard_On +}; +// tel_mode +#define Tel_Mode (sdt->tel_mode) // telescope mode +enum{ + Automatic = 0 // Automatic (normal) mode + ,Manual = 1 // manual mode + ,ZenHor = 2 // work when Z<5 || Z>80 + ,A_Move = 4 // hand move by A + ,Z_Move = 8 // hand move by Z + ,Balance =0x10// balancing +}; +// az_mode +#define Az_Mode (sdt->az_mode) // azimuth reverce +enum{ + Rev_Off = 0 // move by nearest way + ,Rev_On // move by longest way +}; +// p2_state +#define P2_State (sdt->p2_state) // P2 motor state +#define P2_Mode (sdt->p2_req_mode) +enum{ + P2_Off = 0 // Stop + ,P2_On // Guiding + ,P2_Plus // Move to + + ,P2_Minus = -2 // Move to - +}; +// focus_state +#define Foc_State (sdt->focus_state) // focus motor state +enum{ + Foc_Hminus = -2// fast "-" move + ,Foc_Lminus // slow "-" move + ,Foc_Off // Off + ,Foc_Lplus // slow "+" move + ,Foc_Hplus // fast "+" move +}; +// dome_state +#define Dome_State (sdt->dome_state) // dome motors state +enum{ + D_Hminus = -3 // speeds: low, medium, high + ,D_Mminus + ,D_Lminus + ,D_Off // off + ,D_Lplus + ,D_Mplus + ,D_Hplus + ,D_On = 7 // auto +}; +// pcor_mode +#define Pos_Corr (sdt->pcor_mode) // pointing correction mode +enum{ + PC_Off = 0 + ,PC_On +}; +// trkok_mode +#define TrkOk_Mode (sdt->trkok_mode) // tracking mode +enum{ + UseDiffVel = 1 // Isodrome (correction by real motors speed) + ,UseDiffAZ = 2 // Tracking by coordinate difference + ,UseDFlt = 4 // Turn on digital filter +}; +// input RA/Decl values +#define InpAlpha (sdt->i_alpha) +#define InpDelta (sdt->i_delta) +// current source RA/Decl values +#define SrcAlpha (sdt->s_alpha) +#define SrcDelta (sdt->s_delta) +// intrinsic object velocity +#define VelAlpha (sdt->v_alpha) +#define VelDelta (sdt->v_delta) +// input A/Z values +#define InpAzim (sdt->i_azim) +#define InpZdist (sdt->i_zdist) +// calculated values +#define CurAlpha (sdt->c_alpha) +#define CurDelta (sdt->c_delta) +// current values (from sensors) +#define tag_A (sdt->tag_a) +#define tag_Z (sdt->tag_z) +#define tag_P (sdt->tag_p) + // calculated corrections +#define pos_cor_A (sdt->pcor_a) +#define pos_cor_Z (sdt->pcor_z) +#define refract_Z (sdt->refr_z) +// reverse calculation corr. +#define tel_cor_A (sdt->tcor_a) +#define tel_cor_Z (sdt->tcor_z) +#define tel_ref_Z (sdt->tref_z) +// coords difference +#define Diff_A (sdt->diff_a) +#define Diff_Z (sdt->diff_z) +#define Diff_P (sdt->diff_p) +// base object velocity +#define vel_objA (sdt->vbasea) +#define vel_objZ (sdt->vbasez) +#define vel_objP (sdt->vbasep) +// correction by real speed +#define diff_vA (sdt->diffva) +#define diff_vZ (sdt->diffvz) +#define diff_vP (sdt->diffvp) +// motor speed +#define speedA (sdt->speeda) +#define speedZ (sdt->speedz) +#define speedP (sdt->speedp) +// last precipitation time +#define Precip_time (sdt->m_time_precip) +// reserved +#define Reserve (sdt->reserve) +// real motor speed (''/sec) +#define req_speedA (sdt->rspeeda) +#define req_speedZ (sdt->rspeedz) +#define req_speedP (sdt->rspeedp) +// model speed +#define mod_vel_A (sdt->simvela) +#define mod_vel_Z (sdt->simvelz) +#define mod_vel_P (sdt->simvelp) +#define mod_vel_F (sdt->simvelf) +#define mod_vel_D (sdt->simvelf) +// telescope & hand correction state +/* + * 0x8000 - + * 0x4000 - . + * 0x2000 - + * 0x1000 - P2 . + * 0x01F0 - .. 0.2 0.4 1.0 2.0 5.0("/) + * 0x000F - .. +Z -Z +A -A + */ +#define code_KOST (sdt->kost) +// different time (UTC, stellar, local) +#define M_time (sdt->m_time) +#define S_time (sdt->s_time) +#define L_time (sdt->l_time) +// PPNDD sensor (rough) code +#define ppndd_A (sdt->ppndd_a) +#define ppndd_Z (sdt->ppndd_z) +#define ppndd_P (sdt->ppndd_p) +#define ppndd_B (sdt->ppndd_b) // atm. pressure +// DUP sensor (precise) code (Gray code) +#define dup_A (sdt->dup_a) +#define dup_Z (sdt->dup_z) +#define dup_P (sdt->dup_p) +#define dup_F (sdt->dup_f) +#define dup_D (sdt->dup_d) +// binary 14-digit precise code +#define low_A (sdt->low_a) +#define low_Z (sdt->low_z) +#define low_P (sdt->low_p) +#define low_F (sdt->low_f) +#define low_D (sdt->low_d) +// binary 23-digit rough code +#define code_A (sdt->code_a) +#define code_Z (sdt->code_z) +#define code_P (sdt->code_p) +#define code_B (sdt->code_b) +#define code_F (sdt->code_f) +#define code_D (sdt->code_d) +// ADC PCL818 (8-channel) codes +#define ADC(N) (sdt->adc[(N)]) +#define code_T1 ADC(0) // External temperature code +#define code_T2 ADC(1) // In-dome temperature code +#define code_T3 ADC(2) // Mirror temperature code +#define code_Wnd ADC(3) // Wind speed code +// calculated values +#define val_A (sdt->val_a) // A, '' +#define val_Z (sdt->val_z) // Z, '' +#define val_P (sdt->val_p) // P, '' +#define val_B (sdt->val_b) // atm. pressure, mm.hg. +#define val_F (sdt->val_f) // focus, mm +#define val_D (sdt->val_d) // Dome Az, '' +#define val_T1 (sdt->val_t1) // ext. T, degrC +#define val_T2 (sdt->val_t2) // in-dome T, degrC +#define val_T3 (sdt->val_t3) // mirror T, degrC +#define val_Wnd (sdt->val_wnd) // wind speed, m/s +// RA/Decl calculated by A/Z +#define val_Alp (sdt->val_alp) +#define val_Del (sdt->val_del) +// measured speed +#define vel_A (sdt->vel_a) +#define vel_Z (sdt->vel_z) +#define vel_P (sdt->vel_p) +#define vel_F (sdt->vel_f) +#define vel_D (sdt->vel_d) +// system messages queue #define MesgNum 3 #define MesgLen 39 - struct SysMesg { - int seq_num; - char type; -#define MesgEmpty 0 -#define MesgInfor 1 -#define MesgWarn 2 -#define MesgFault 3 -#define MesgLog 4 - char text[MesgLen]; - } sys_msg_buf[MesgNum]; +// message type +enum{ + MesgEmpty = 0 + ,MesgInfor + ,MesgWarn + ,MesgFault + ,MesgLog +}; #define Sys_Mesg(N) (sdt->sys_msg_buf[N]) - - /* */ - /* */ - unsigned int code_lev1,code_lev2,code_lev3,code_lev4,code_lev5; -#define code_Lev1 (sdt->code_lev1) /* " " - */ -#define code_Lev2 (sdt->code_lev2) /* " " - + */ -#define code_Lev3 (sdt->code_lev3) /* " " - + A/Z--, .P2/F */ -#define code_Lev4 (sdt->code_lev4) /* "" - + / ., */ -#define code_Lev5 (sdt->code_lev5) /* " " - */ - /* */ - unsigned int netmask, netaddr, acsmask, acsaddr; -#define NetMask (sdt->netmask) /* (: 255.255.255.0) */ -#define NetWork (sdt->netaddr) /* (: 192.168.3.0) */ -#define ACSMask (sdt->acsmask) /* - (: 255.255.255.0) */ -#define ACSNet (sdt->acsaddr) /* - (: 192.168.13.0) */ - - /* - */ - int meteo_stat; -#define MeteoMode (sdt->meteo_stat) /* */ -#define INPUT_B 1 /* *//* */ -#define INPUT_T1 2 /* T- */ -#define INPUT_T2 4 /* T- */ -#define INPUT_T3 8 /* T- */ -#define INPUT_WND 0x10 /* */ -#define INPUT_HMD 0x20 /* */ -#define SENSOR_B (INPUT_B <<8) /* (?) - */ +// access levels +#define code_Lev1 (sdt->code_lev[0]) // remote observer - only information +#define code_Lev2 (sdt->code_lev[1]) // local observer - input coordinates +#define code_Lev3 (sdt->code_lev[2]) // main observer - correction by A/Z, P2/F management +#define code_Lev4 (sdt->code_lev[3]) // operator - start/stop telescope, testing +#define code_Lev5 (sdt->code_lev[4]) // main operator - full access +#define code_Lev(x) (sdt->code_lev[(x-1)]) +// network settings +#define NetMask (sdt->netmask) // subnet mask (usually 255.255.255.0) +#define NetWork (sdt->netaddr) // subnet address (for ex.: 192.168.3.0) +#define ACSMask (sdt->acsmask) // ACS network mask (for ex.: 255.255.255.0) +#define ACSNet (sdt->acsaddr) // ACS subnet address (for ex.: 192.168.13.0) +// meteo data +#define MeteoMode (sdt->meteo_stat) +enum{ + INPUT_B = 1 // pressure + ,INPUT_T1 = 2 // external T + ,INPUT_T2 = 4 // in-dome T + ,INPUT_T3 = 8 // mirror T + ,INPUT_WND = 0x10 // wind speed + ,INPUT_HMD = 0x20 // humidity +}; +#define SENSOR_B (INPUT_B <<8) // external data flags #define SENSOR_T1 (INPUT_T1 <<8) #define SENSOR_T2 (INPUT_T2 <<8) #define SENSOR_T3 (INPUT_T3 <<8) #define SENSOR_WND (INPUT_WND<<8) #define SENSOR_HMD (INPUT_HMD<<8) -#define ADC_B (INPUT_B <<16) /* . */ +#define ADC_B (INPUT_B <<16) // reading from ADC flags #define ADC_T1 (INPUT_T1 <<16) #define ADC_T2 (INPUT_T2 <<16) #define ADC_T3 (INPUT_T3 <<16) #define ADC_WND (INPUT_WND<<16) #define ADC_HMD (INPUT_HMD<<16) - double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; -#define inp_B (sdt->inp_b) /* e (...)*/ -#define inp_T1 (sdt->inp_t1) /* . (.)*/ -#define inp_T2 (sdt->inp_t2) /* .(.)*/ -#define inp_T3 (sdt->inp_t3) /* (.)*/ -#define inp_Wnd (sdt->inp_wnd) /* (/)*/ - - double temper, press; -#define Temper (sdt->temper) /* */ -#define Pressure (sdt->press) /* */ - double m_time10, m_time15; -#define Wnd10_time (sdt->m_time10) /* >=10/*/ -#define Wnd15_time (sdt->m_time15) /* - " - - " - - " - >=15/*/ - - /* IERS DUT1 (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double dut1; -#define DUT1 (sdt->dut1) /* . : DUT1 = UT1-UTC */ - - double a_time, z_time, p_time; -#define A_time (sdt->a_time) /* A */ -#define Z_time (sdt->z_time) /* - " - - " - - " - Z */ -#define P_time (sdt->p_time) /* - " - - " - - " - P */ - - double speedain, speedzin, speedpin; -#define speedAin (sdt->speedain) /* - A */ -#define speedZin (sdt->speedzin) /* - Z */ -#define speedPin (sdt->speedpin) /* - P2*/ - - double acc_a, acc_z, acc_p, acc_f, acc_d; -#define acc_A (sdt->acc_a) /* A ("/^2) */ -#define acc_Z (sdt->acc_z) /* - " - Z - " - */ -#define acc_P (sdt->acc_p) /* - " - P - " - */ -#define acc_F (sdt->acc_f) /* - " - F - " - */ -#define acc_D (sdt->acc_d) /* - " - D - " - */ - - unsigned int code_sew; -#define code_SEW (sdt->code_sew) /* . SEW- */ - -/* SEW- */ -struct SEWdata { - int status; - double set_speed; - double mes_speed; - double current; - int index; - union { - unsigned char b[4]; - unsigned long l; - } value; -} sewdrv[3]; -#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) /* */ +#define NET_B (INPUT_B <<24) // got by network flags +#define NET_T1 (INPUT_T1 <<24) +#define NET_WND (INPUT_WND<<24) +#define NET_HMD (INPUT_HMD<<24) +// input meteo values +#define inp_B (sdt->inp_b) // atm.pressure (mm.hg) +#define inp_T1 (sdt->inp_t1) // ext T +#define inp_T2 (sdt->inp_t2) // in-dome T +#define inp_T3 (sdt->inp_t3) // mirror T +#define inp_Wnd (sdt->inp_wnd) // wind +// values used for refraction calculation +#define Temper (sdt->temper) +#define Pressure (sdt->press) +// last wind gust time +#define Wnd10_time (sdt->m_time10) +#define Wnd15_time (sdt->m_time15) +// IERS DUT1 +#define DUT1 (sdt->dut1) +// sensors reading time +#define A_time (sdt->a_time) +#define Z_time (sdt->z_time) +#define P_time (sdt->p_time) +// input speeds +#define speedAin (sdt->speedain) +#define speedZin (sdt->speedzin) +#define speedPin (sdt->speedpin) +// acceleration (''/sec^2) +#define acc_A (sdt->acc_a) +#define acc_Z (sdt->acc_z) +#define acc_P (sdt->acc_p) +#define acc_F (sdt->acc_f) +#define acc_D (sdt->acc_d) +// SEW code +#define code_SEW (sdt->code_sew) +// sew data +#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status) #define statusSEW1 (sdt->sewdrv[0].status) #define statusSEW2 (sdt->sewdrv[1].status) #define statusSEW3 (sdt->sewdrv[2].status) -#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) /* */ -#define speedSEW1 (sdt->sewdrv[0].set_speed) /* / (rpm)*/ +#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed) +#define speedSEW1 (sdt->sewdrv[0].set_speed) #define speedSEW2 (sdt->sewdrv[1].set_speed) #define speedSEW3 (sdt->sewdrv[2].set_speed) -#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) /* */ -#define vel_SEW1 (sdt->sewdrv[0].mes_speed) /* / (rpm)*/ +#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed) +#define vel_SEW1 (sdt->sewdrv[0].mes_speed) #define vel_SEW2 (sdt->sewdrv[1].mes_speed) #define vel_SEW3 (sdt->sewdrv[2].mes_speed) -#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) /* ()*/ +#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current) #define currentSEW1 (sdt->sewdrv[0].current) #define currentSEW2 (sdt->sewdrv[1].current) #define currentSEW3 (sdt->sewdrv[2].current) -#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) /* */ +#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index) #define indexSEW1 (sdt->sewdrv[0].index) #define indexSEW2 (sdt->sewdrv[1].index) #define indexSEW3 (sdt->sewdrv[2].index) -#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) /* */ +#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l) #define valueSEW1 (sdt->sewdrv[0].value.l) #define valueSEW2 (sdt->sewdrv[1].value.l) #define valueSEW3 (sdt->sewdrv[2].value.l) -#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) /* */ - -/* PEP- */ - unsigned int pep_code_a, pep_code_z, pep_code_p; -#define PEP_code_A (sdt->pep_code_a) /* 23- . A */ -#define PEP_code_Z (sdt->pep_code_z) /* - "" - Z */ -#define PEP_code_P (sdt->pep_code_p) /* - "" - P */ - unsigned int pep_sw_a, pep_sw_z, pep_sw_p; -#define switch_A (sdt->pep_sw_a) /* */ -#define Sw_minus_A 1 /* (. code_KOST&0x8000)*/ -#define Sw_plus240_A 2 /* "+240" */ -#define Sw_minus240_A 4 /* "-240" */ -#define Sw_minus45_A 8 /* " " (~-46)*/ -#define switch_Z (sdt->pep_sw_z) /* Z */ -#define Sw_0_Z 0x01 /* "0" */ -#define Sw_5_Z 0x02 /* "5" */ -#define Sw_20_Z 0x04 /* "20" */ -#define Sw_60_Z 0x08 /* "60" */ -#define Sw_80_Z 0x10 /* "80" */ -#define Sw_90_Z 0x20 /* "90" */ -#define switch_P (sdt->pep_sw_p) /* - "" - */ -#define Sw_No_P 0x00 /* " " */ -#define Sw_22_P 0x01 /* "22" */ -#define Sw_89_P 0x02 /* "89" */ -#define Sw_Sm_P 0x80 /* */ - unsigned int pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; -#define PEP_code_F (sdt->pep_code_f) /* */ -#define PEP_code_D (sdt->pep_code_d) /* */ -#define PEP_code_Rin (sdt->pep_code_ri)/* */ -#define PEP_code_Rout (sdt->pep_code_ro)/* */ - unsigned char pep_on[10]; /* PEP- */ +#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb]) +// 23-digit PEP-controllers code +#define PEP_code_A (sdt->pep_code_a) +#define PEP_code_Z (sdt->pep_code_z) +#define PEP_code_P (sdt->pep_code_p) +// PEP end-switches code +#define switch_A (sdt->pep_sw_a) +enum{ + Sw_minus_A = 1 // negative A value + ,Sw_plus240_A = 2 // end switch +240degr + ,Sw_minus240_A = 4 // end switch -240degr + ,Sw_minus45_A = 8 // "horizon" end switch +}; +#define switch_Z (sdt->pep_sw_z) +enum{ + Sw_0_Z = 1 + ,Sw_5_Z = 2 + ,Sw_20_Z = 4 + ,Sw_60_Z = 8 + ,Sw_80_Z = 0x10 + ,Sw_90_Z = 0x20 +}; +#define switch_P (sdt->pep_sw_p) +enum{ + Sw_No_P = 0 // no switches + ,Sw_22_P = 1 // 22degr + ,Sw_89_P = 2 // 89degr + ,Sw_Sm_P = 0x80 // Primary focus smoke sensor +}; +// PEP codes +#define PEP_code_F (sdt->pep_code_f) +#define PEP_code_D (sdt->pep_code_d) +#define PEP_code_Rin (sdt->pep_code_ri) +#define PEP_code_Rout (sdt->pep_code_ro) +// PEP flags #define PEP_A_On (sdt->pep_on[0]) #define PEP_A_Off (PEP_A_On==0) #define PEP_Z_On (sdt->pep_on[1]) @@ -605,509 +643,209 @@ struct SEWdata { #define PEP_K_On (sdt->pep_on[6]) #define PEP_K_Off ((PEP_K_On&1)==0) #define PEP_K_Inp ((PEP_K_On&2)!=0) - -#ifndef SHM_OLD_SIZE - /* IERS polar motion (: ftp://maia.usno.navy.mil/ser7/ser7.dat) */ - double xpol, ypol; -#define polarX (sdt->xpol) /* X-a . */ -#define polarY (sdt->ypol) /* Y-a . */ - - double jdate, eetime; -#define JDate (sdt->jdate) /* */ -#define EE_time (sdt->eetime) /* ... "Equation of the Equinoxes" */ - - /* - */ - double val_hmd, inp_hmd; -#define val_Hmd (sdt->val_hmd) /* (%) */ -#define inp_Hmd (sdt->val_hmd) /* */ - - /* () */ - double worm_a, worm_z; -#define worm_A (sdt->worm_a) /* A () */ -#define worm_Z (sdt->worm_z) /* Z () */ - - /* */ - unsigned long lock_flags; +// IERS polar motion +#define polarX (sdt->xpol) +#define polarY (sdt->ypol) +// current Julian date, sidereal time correction by "Equation of the Equinoxes" +#define JDate (sdt->jdate) +#define EE_time (sdt->eetime) +// humidity value (%%) & hand input +#define val_Hmd (sdt->val_hmd) +#define inp_Hmd (sdt->val_hmd) +// worm position, mkm +#define worm_A (sdt->worm_a) +#define worm_Z (sdt->worm_z) +// locking flags #define LockFlags (sdt->lock_flags) -#define Lock_A 0x01 -#define Lock_Z 0x02 -#define Lock_P 0x04 -#define Lock_F 0x08 -#define Lock_D 0x10 +enum{ + Lock_A = 1 + ,Lock_Z = 2 + ,Lock_P = 4 + ,Lock_F = 8 + ,Lock_D = 0x10 +}; #define A_Locked (LockFlags&Lock_A) #define Z_Locked (LockFlags&Lock_Z) #define P_Locked (LockFlags&Lock_P) #define F_Locked (LockFlags&Lock_F) #define D_Locked (LockFlags&Lock_D) - - /* ( - SEW-)*/ - int sew_dome_speed; /* Dome_State */ -#define Dome_Speed (sdt->sew_dome_speed) /* .. D_Lplus,D_Lminus,.... */ - -/* SEW- ( )*/ - int sew_dome_num; +// SEW dome divers speed +#define Dome_Speed (sdt->sew_dome_speed) +// SEW dome drive number (for indication) #define DomeSEW_N (sdt->sew_dome_num) - -/* (DomeSEW_N) SEW- */ -struct SEWdata sewdomedrv; -#define statusSEWD (sdt->sewdomedrv.status) /* */ -#define speedSEWD (sdt->sewdomedrv.set_speed) /* / (rpm)*/ +// SEW dome driver parameters +#define statusSEWD (sdt->sewdomedrv.status) // controller status +#define speedSEWD (sdt->sewdomedrv.set_speed) // speed, rpm #define vel_SEWD (sdt->sewdomedrv.mes_speed) /* / (rpm)*/ -#define currentSEWD (sdt->sewdomedrv.current) /* ()*/ -#define indexSEWD (sdt->sewdomedrv.index) /* */ -#define valueSEWD (sdt->sewdomedrv.value.l) /* */ - -/* PEP- */ - unsigned int pep_code_di, pep_code_do; -#define PEP_code_Din (sdt->pep_code_di) /* PEP- */ +#define currentSEWD (sdt->sewdomedrv.current) // current, A +#define indexSEWD (sdt->sewdomedrv.index) // parameter index +#define valueSEWD (sdt->sewdomedrv.value.l) // parameter value +// dome PEP codes +#define PEP_code_Din (sdt->pep_code_di) // data in #define PEP_Dome_SEW_Ok 0x200 #define PEP_Dome_Cable_Ok 0x100 -#define PEP_code_Dout (sdt->pep_code_do) /* PEP- */ -#define PEP_Dome_SEW_On 0x10 -#define PEP_Dome_SEW_Off 0x20 +#define PEP_code_Dout (sdt->pep_code_do) // data out +#define PEP_Dome_SEW_On 0x10 +#define PEP_Dome_SEW_Off 0x20 -#endif + +/******************************************************************************* +* BTA data structure * +*******************************************************************************/ + +#define BTA_Data_Ver 2 +struct BTA_Data { + int32_t magic; // magic value + int32_t version; // BTA_Data_Ver + int32_t size; // sizeof(struct BTA_Data) + int32_t pid; // main process PID + int32_t model; // model modes + int32_t timer; // timer selected + int32_t system; // main system mode + int32_t sys_target; // system pointing target + int32_t tel_focus; // telescope focus type + double pc_coeff[8]; // pointing correction system coefficients + int32_t tel_state; // telescope state + int32_t req_state; // new (required) state + int32_t tel_hard_state; // Power state + int32_t tel_mode; // telescope mode + int32_t az_mode; // azimuth reverce + int32_t p2_state; // P2 motor state + int32_t p2_req_mode; // P2 required state + int32_t focus_state; // focus motor state + int32_t dome_state; // dome motors state + int32_t pcor_mode; // pointing correction mode + int32_t trkok_mode; // tracking mode + double i_alpha, i_delta; // input values + double s_alpha, s_delta; // source + double v_alpha, v_delta; // intrinsic vel. + double i_azim, i_zdist; // input A/Z + double c_alpha, c_delta; // calculated values + double tag_a, tag_z, tag_p; // current values (from sensors) + double pcor_a, pcor_z, refr_z; // calculated corrections + double tcor_a, tcor_z, tref_z; // reverse calculation corr. + double diff_a, diff_z, diff_p; // coords difference + double vbasea,vbasez,vbasep; // base object velocity + double diffva,diffvz,diffvp; // correction by real speed + double speeda,speedz,speedp; // motor speed + double m_time_precip; // last precipitation time + uint8_t reserve[16]; // reserved + double rspeeda, rspeedz, rspeedp; // real motor speed (''/sec) + double simvela, simvelz, simvelp, simvelf, simveld; // model speed + uint32_t kost; // telescope & hand correction state + double m_time, s_time, l_time; // different time (UTC, stellar, local) + uint32_t ppndd_a, ppndd_z, ppndd_p, ppndd_b; // PPNDD sensor (rough) code + uint32_t dup_a, dup_z, dup_p, dup_f, dup_d; // DUP sensor (precise) code (Gray code) + uint32_t low_a, low_z, low_p, low_f, low_d; // binary 14-digit precise code + uint32_t code_a, code_z, code_p, code_b, code_f, code_d; // binary 23-digit rough code + uint32_t adc[8]; // ADC PCL818 (8-channel) codes + double val_a, val_z, val_p, val_b, val_f, val_d; + double val_t1, val_t2, val_t3, val_wnd; // calculated values + double val_alp, val_del; // RA/Decl calculated by A/Z + double vel_a, vel_z, vel_p, vel_f, vel_d; // measured speed + // system messages queue + struct SysMesg { + int32_t seq_num; + char type; // message type + char text[MesgLen]; // message itself + } sys_msg_buf[MesgNum]; + // access levels + uint32_t code_lev[5]; + // network settings + uint32_t netmask, netaddr, acsmask, acsaddr; + int32_t meteo_stat; // meteo data + double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; // input meteo values + double temper, press; // values used for refraction calculation + double m_time10, m_time15; // last wind gust time + double dut1; // IERS DUT1 (src: ftp://maia.usno.navy.mil/ser7/ser7.dat), DUT1 = UT1-UTC + double a_time, z_time, p_time; // sensors reading time + double speedain, speedzin, speedpin; // input speeds + double acc_a, acc_z, acc_p, acc_f, acc_d; // acceleration (''/sec^2) + uint32_t code_sew; // SEW code + struct SEWdata { // sew data + int32_t status; + double set_speed; // target speed, rpm + double mes_speed; // measured speed, rpm + double current; // measured current, A + int32_t index; // parameter number + union{ // parameter code + uint8_t b[4]; + uint32_t l; + } value; + } sewdrv[3]; + uint32_t pep_code_a, pep_code_z, pep_code_p; // 23-digit PEP-controllers code + uint32_t pep_sw_a, pep_sw_z, pep_sw_p; // PEP end-switches code + uint32_t pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; // PEP codes + uint8_t pep_on[10]; // PEP flags + double xpol, ypol; // IERS polar motion (src: ftp://maia.usno.navy.mil/ser7/ser7.dat) + double jdate, eetime; // current Julian date, sidereal time correction by "Equation of the Equinoxes" + double val_hmd, inp_hmd; // humidity value (%%) & hand input + double worm_a, worm_z; // worm position, mkm + /* */ + uint32_t lock_flags; // locking flags + int32_t sew_dome_speed; // SEW dome divers speed: D_Lplus, D_Hminus etc + int32_t sew_dome_num; // SEW dome drive number (for indication) + struct SEWdata sewdomedrv; // SEW dome driver parameters + uint32_t pep_code_di, pep_code_do; // dome PEP codes }; -#ifndef BTA_MODULE -struct BTA_Data *sdt; -#else -extern struct BTA_Data *sdt; -#endif +extern volatile struct BTA_Data *sdt; + +/******************************************************************************* +* Local data structure * +*******************************************************************************/ +// Oil pressure, MPa +#define PressOilA (sdtl->pr_oil_a) +#define PressOilZ (sdtl->pr_oil_z) +#define PressOilTank (sdtl->pr_oil_t) +// Oil themperature, degrC +#define OilTemper1 (sdtl->t_oil_1) // oil +#define OilTemper2 (sdtl->t_oil_2) // water + +// Local data structure +struct BTA_Local { + uint8_t reserve[120]; // reserved data + double pr_oil_a,pr_oil_z,pr_oil_t; // Oil pressure + double t_oil_1,t_oil_2; // Oil themperature +}; + +/** + * Message buffer structure + */ +struct my_msgbuf { + int32_t mtype; // message type + uint32_t acckey; // client access key + uint32_t src_pid; // source PID + uint32_t src_ip; // IP of command source or 0 for local + char mtext[100]; // message itself +}; + +extern volatile struct BTA_Local *sdtl; +extern int snd_id; +extern int cmd_src_pid; +extern uint32_t cmd_src_ip; #define ClientSide 0 #define ServerSide 1 #ifndef BTA_MODULE -static void bta_data_init(); -static int bta_data_check(); -static void bta_data_close(); - -/* (" ") */ -struct SHM_Block sdat = { -{'S','d','a','t',0},sizeof(struct BTA_Data),2048,0444,SHM_RDONLY,bta_data_init,bta_data_check,bta_data_close,0,-1,NULL -}; -#else -extern struct SHM_Block sdat; +void bta_data_init(); +int bta_data_check(); +void bta_data_close(); +int get_shm_block(volatile struct SHM_Block *sb, int server); +int close_shm_block(volatile struct SHM_Block *sb); +void get_cmd_queue(struct CMD_Queue *cq, int server); #endif -#ifndef BTA_MODULE -/* ( " ") */ -static void bta_data_init() { - int i; - sdt = (struct BTA_Data *)sdat.addr; - if(sdat.side == ClientSide) { - if(sdt->magic != sdat.key.code) { - fprintf(stderr,"Wrong shared data (maybe server turned off)\n"); - /*exit(1);*/ - } - if(sdt->version == 0) { - fprintf(stderr,"Null shared data version (maybe server turned off)\n"); - /*exit(1);*/ - } - else if(sdt->version != BTA_Data_Ver) { - fprintf(stderr,"Wrong shared data version: I'am - %d, but server - %d ...\n", - BTA_Data_Ver, sdt->version ); - /*exit(1);*/ - } - if(sdt->size != sdat.size) { - if(sdt->size > sdat.size) { - /* */ - fprintf(stderr,"Wrong shared area size: I needs - %d, but server - %d ...\n", - sdat.size, sdt->size ); - } else { - /* "" */ - /* ! */ - fprintf(stderr,"Attention! Too little shared data structure!\n"); - sleep(1); - fprintf(stderr,"I needs - %d, but server gives only %d ...\n", - sdat.size, sdt->size ); - sleep(1); - fprintf(stderr,"May be server's version too old!?\n"); - /* exit(1); */ +int check_shm_block(volatile struct SHM_Block *sb); - } - } - return; - } - /* ServerSide */ - if(sdt->magic != sdat.key.code || - sdt->version != BTA_Data_Ver || - sdt->size != sdat.size) { +void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev); +int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev); +int check_lev_passwd(char *passwd); +void set_acckey(uint32_t newkey); - for(i=0; imagic = sdat.key.code; - sdt->version = BTA_Data_Ver; - sdt->size = sdat.size; - ServPID = 0; - UseModel = NoModel; - ClockType = Ch7_15; - Sys_Mode = SysStop; - Sys_Target = TagPosition; - Tel_Focus = Prime; - Tel_Hardware = Hard_On; - Tel_Mode = Automatic; - Az_Mode = Rev_Off; - P2_State = P2_Mode = P2_Off; - Foc_State = Foc_Off; - Dome_State = D_Off; - Pos_Corr = PC_On; - TrkOk_Mode = UseDiffVel | UseDiffAZ ; - InpAlpha=InpDelta= 0.; - SrcAlpha=SrcDelta= 0.; - VelAlpha=VelDelta= 0.; - CurAlpha=CurDelta= 0.; - InpAzim=InpZdist = 0.; - Diff_A=Diff_Z=Diff_P=0.0; - pos_cor_A=pos_cor_Z=refract_Z = 0.; - tel_cor_A=tel_cor_Z=tel_ref_Z = 0.; - vel_objA=vel_objZ=vel_objP = 0.; - diff_vA=diff_vZ=diff_vP=0.; - speedA = speedZ = speedP = 0.; - req_speedA = req_speedZ = req_speedP = 0.; - mod_vel_A=mod_vel_Z=mod_vel_P=mod_vel_F=mod_vel_D=0.; - code_KOST = 0; - M_time = S_time = L_time = 0.; - ppndd_A=ppndd_Z=ppndd_P=ppndd_B=0; - dup_A=dup_Z=dup_P=dup_F=dup_D=0; - low_A=low_Z=low_P=low_F=low_D=0; - code_A=code_Z=code_P=code_B=code_F=code_D=code_T1=code_T2=code_T3=code_Wnd=0; - val_A=val_Z=val_P=val_B=val_F=val_D=val_T1=val_T2=val_T3=val_Wnd=val_Alp=val_Del=0.; - vel_A=vel_Z=vel_P=vel_F=vel_D=0.; - for(i=0; imagic == sdat.key.code) && (sdt->version == BTA_Data_Ver) ); -} -static void bta_data_close() { - if(sdat.side == ServerSide) { - sdt->magic = 0; - sdt->version = 0; - } -} +// restore packing +#pragma pack(pop) +//#pragma GCC diagnostic pop -/* ??? */ -/*struct SHM_Block info = {{'I','n','f','o',0},1024,1024,0444,SHM_RDONLY,NULL,NULL,NULL,0,-1,NULL};*/ - -/* Allocate shared memory segment */ -static void get_shm_block( struct SHM_Block *sb, int server) { - int getsize = (server)? sb->maxsize : sb->size; - - /* first try to find existing one */ - sb->id = shmget(sb->key.code, getsize, sb->mode); - - if (sb->id<0 && errno==ENOENT && server) { - /* if no - try to create a new one */ - int cresize = sb->maxsize; - if(sb->size > cresize) { - fprintf(stderr,"Wrong shm maxsize(%d) < realsize(%d)\n",sb->maxsize,sb->size); - cresize = sb->size; - } - sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode); - } - if (sb->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create shared memory segment '%s'",sb->key.name); - else - sprintf(msg,"Can't find shared segment '%s' (maybe no server process) ",sb->key.name); - perror(msg); - exit(errno); - } - /* attach it to our memory space */ - sb->addr = (unsigned char *)shmat ( sb->id, NULL, sb->atflag ); - - if ((int)(sb->addr) == -1) { - char msg[80]; - sprintf(msg,"Can't attach shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - if(server) { - if((shmctl(sb->id, SHM_LOCK, NULL) < 0) < 0) { - char msg[80]; - sprintf(msg,"Can't prevents swapping of shared memory segment '%s'",sb->key.name); - perror(msg); - exit(errno); - } - } - fprintf(stderr,"Create&attach shared memory segment '%s' %dbytes at %x \n", - sb->key.name, sb->size, (unsigned int)sb->addr); - - sb->side = server; - - if(sb->init!=NULL) - sb->init(); -} -static int close_shm_block( struct SHM_Block *sb) { - int ret; - if(sb->close != NULL) - sb->close(); - if(sb->side == ServerSide) { - ret = shmctl(sb->id, SHM_UNLOCK, NULL); -/* ret = shmctl(sb->id, IPC_RMID, NULL); */ - } - ret = shmdt (sb->addr); - return(ret); -} -#endif - -static int check_shm_block( struct SHM_Block *sb) { - if(sb->check != NULL) - return(sb->check()); - else return(1); -} - -#ifndef BTA_MODULE -int snd_id=-1; /* ( ?) */ -int cmd_src_pid=0; /* . */ -unsigned long cmd_src_ip=0; /* IP-. . */ -#else -extern int snd_id; -extern int cmd_src_pid; -extern unsigned long cmd_src_ip; -#endif - -#ifndef BTA_MODULE -/* Create|Find command queue */ -static void get_cmd_queue( struct CMD_Queue *cq, int server) { - if (!server && cq->id>=0) { /* if already in use */ - snd_id = cq->id; /* set current... */ - return; - } - /* first try to find existing one */ - cq->id = msgget(cq->key.code, cq->mode); - if (cq->id<0 && errno==ENOENT && server) - /* if no - try to create a new one */ - cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode); - if (cq->id<0) { - char msg[80]; - if(server) - sprintf(msg,"Can't create comand queue '%s'",cq->key.name); - else - sprintf(msg,"Can't find comand queue '%s' (maybe no server process) ",cq->key.name); - perror(msg); - exit(errno); - } - cq->side = server; - if (server) { - char buf[120]; /* */ - while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT)>0); - } else - snd_id = cq->id; - cq->acckey = 0; -} -#endif - -/* . */ -static void set_acckey(unsigned int newkey) { - if (snd_id<0) return; - if(ucmd.id==snd_id) ucmd.acckey=newkey; - else if(ocmd.id==snd_id) ocmd.acckey=newkey; - else if(mcmd.id==snd_id) mcmd.acckey=newkey; -} - -/* . */ -/* : IP=0( ) PID . */ -static void set_cmd_src(unsigned long ip, int pid) { - cmd_src_pid = pid; - cmd_src_ip = ip; -} - -/* */ -struct my_msgbuf { - long mtype; /* type of message */ - unsigned long acckey; /* */ - unsigned long src_pid; /* */ - unsigned long src_ip; /* IP-. , =0 - */ - char mtext[100]; /* message text */ -}; -/* */ -static void send_cmd(int cmd_code, char *buf, int size) { - struct my_msgbuf mbuf; - - if (snd_id<0) return; - if (size>100) size=100; - if (cmd_code>0) - mbuf.mtype = cmd_code; - else - return; - if(ucmd.id==snd_id) mbuf.acckey=ucmd.acckey; - else if(ocmd.id==snd_id) mbuf.acckey=ocmd.acckey; - else if(mcmd.id==snd_id) mbuf.acckey=mcmd.acckey; - - mbuf.src_pid = cmd_src_pid? cmd_src_pid : getpid(); - mbuf.src_ip = cmd_src_ip; - cmd_src_pid = cmd_src_ip = 0; - - if(size>0) - memcpy( mbuf.mtext, buf, size); - else { - mbuf.mtext[0] = 0; - size = 1; - } - msgsnd( snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT); -} -static void send_cmd_noarg(int cmd_code) { - send_cmd(cmd_code, NULL, 0); -} -static void send_cmd_str(int cmd_code, char *arg) { - send_cmd(cmd_code, arg, strlen(arg)+1); -} -static void send_cmd_i1(int cmd_code, int arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(int)); -} -static void send_cmd_i2(int cmd_code, int arg1, int arg2) { - int ibuf[2]; - ibuf[0] = arg1; - ibuf[1] = arg2; - send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int)); -} -static void send_cmd_i3(int cmd_code, int arg1, int arg2, int arg3) { - int ibuf[3]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int)); -} -static void send_cmd_i4(int cmd_code, int arg1, int arg2, int arg3, int arg4) { - int ibuf[4]; - ibuf[0] = arg1; - ibuf[1] = arg2; - ibuf[2] = arg3; - ibuf[3] = arg4; - send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int)); -} -static void send_cmd_d1(int cmd_code, double arg1) { - send_cmd(cmd_code, (char *)&arg1, sizeof(double)); -} -static void send_cmd_d2(int cmd_code, double arg1, double arg2) { - double dbuf[2]; - dbuf[0] = arg1; - dbuf[1] = arg2; - send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double)); -} -static void send_cmd_i1d1(int cmd_code, int arg1, double arg2) { - struct { - int ival; - double dval; - } buf; - buf.ival = arg1; - buf.dval = arg2; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i2d1(int cmd_code, int arg1, int arg2, double arg3) { - struct { - int ival[2]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.dval = arg3; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} -static void send_cmd_i3d1(int cmd_code, int arg1, int arg2, int arg3, double arg4) { - struct { - int ival[3]; - double dval; - } buf; - buf.ival[0] = arg1; - buf.ival[1] = arg2; - buf.ival[2] = arg3; - buf.dval = arg4; - send_cmd(cmd_code, (char *)&buf, sizeof(buf)); -} - -static void encode_lev_passwd(char *passwd, int nlev, unsigned int *keylev, unsigned int *codlev) { - char salt[4]; - char *encr; - union { - unsigned int ui; - char c[4]; - } key,cod; - sprintf(salt,"L%1d",nlev); - encr = (char *)crypt(passwd, salt); - cod.c[0] = encr[2]; - key.c[0] = encr[3]; - cod.c[1] = encr[4]; - key.c[1] = encr[5]; - cod.c[2] = encr[6]; - key.c[2] = encr[7]; - cod.c[3] = encr[8]; - key.c[3] = encr[9]; - *keylev = key.ui; - *codlev = cod.ui; -} - -static int find_lev_passwd(char *passwd, unsigned int *keylev, unsigned int *codlev) { - int nlev; - for(nlev=5; nlev>0; nlev--) { - encode_lev_passwd(passwd, nlev, keylev, codlev); - if(nlev == 1 && code_Lev1 == *codlev) break; - if(nlev == 2 && code_Lev2 == *codlev) break; - if(nlev == 3 && code_Lev3 == *codlev) break; - if(nlev == 4 && code_Lev4 == *codlev) break; - if(nlev == 5 && code_Lev5 == *codlev) break; - } - return(nlev); -} - -static int check_lev_passwd(char *passwd) { - unsigned int keylev,codlev; - int nlev; - nlev = find_lev_passwd(passwd, &keylev, &codlev); - if(nlev>0) set_acckey(keylev); - return(nlev); -} +#endif // __BTA_SHDATA_H__ diff --git a/cgi-bin/bta_print.cgi b/cgi-bin/bta_print.cgi old mode 100755 new mode 100644