Fixed small bug in MMPP_control (infinity waiting when one of MCUs not working)

MMPP_control/new/MMPP_control.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.0, 2019-03-11T13:48:47. -->
+<!-- Written by QtCreator 4.8.0, 2019-04-19T09:10:33. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

MMPP_control/new/Readme.md

@@ -13,42 +13,108 @@ Simple CLI control tool allowing bash scripting
 - `-b, --baudrate=arg`-- TTY baudrate (raw number, e.g. 115200), default speed is 9600;
 - `-d, --comdev=arg`--   terminal device filename, default path is `/dev/ttyUSB0`;
 - `-h, --help`--         show this help;
-- `-l, --lin2=arg`--     move waveplate linear stage to N steps
+- `-l, --lin2=arg`--     move wave-plate linear stage to N steps;
-- `-p, --pidfile=arg`--  PID-file name
+- `-p, --pidfile=arg`--  PID-file name (default is `/tmp/MMPP_control.pid`);
-- `-q, --quiet`--        don't show anything @screen from stdout
+- `-q, --quiet`--        "almost quiet" mode for external calls (show minimum on stdout, output will be like `param=value`);
-- `-r, --rot2=arg`--     rotate lambda/4 to given angle
+- `-r, --rot2=arg`--     rotate lambda/4 to given angle;
-- `-s, --status`--       get device status
+- `-s, --status`--       get device status;
-- `-t, --temp`--         show temperature of both MCU
+- `-t, --temp`--         show approximate temperature of both MCU;
-- `-w, --wait`--         wait while all previous moving ends
+- `-w, --wait`--         wait while all previous moving ends, this is useful if you ran this tool several times with `-y` and want to wait until all moving ends;
-- `-y, --async`--        asynchronous moving - don't wait
+- `-y, --async`--        asynchronous moving, the tool won't wait and will exit after all commands being sent.
 
 
+## Output in normal mode
+
+When "quiet" mode inactive, the output is human-readable and have a lot of information. E.g. "status" request in case of success will show something like
+
+	Pol: M0ST M0LEFT M0POS  - M1ST M1LEFT M1POS  || L/4: M0ST M0LEFT M0POS  - M1ST M1LEFT M1POS 
+	Pol: STOP      0      0 - STOP      0  29700 || L/4: STOP      0      0 - STOP      0      0
+	ESW00 ESW01 ESW10 ESW11 || ESW00 ESW01 ESW10 ESW11
+	 HALL  RLSD  RLSD  RLSD ||  HALL  RLSD  HALL  RLSD 
+
+The first and third rows are headers. To the left of `||` delimiter is polaroid data, to the right -- wave-plate data.
+The second row shows values of linear stage (`M0ST`) and rotator (`M1ST`) motors state, steps left (`MxLEFT`) and current positions (`MxPOS`). The last row shows Hall sensors state for all end-switches (`HALL` -- end-switch is active, `RLSD` end-switch is inactive and for linear stage there could be third value: `BTN` meaning that user button pressed).
+
+When sending raw data you will get some additional information, e.g.:
+
+./MMPP_control -a 1GC
+
+	Send raw string: 1GC
+	Receive: CONFSZ=36
+	DEVID=1
+	V12NUM=605
+	V12DEN=94
+	I12NUM=3
+	I12DEN=4
+	V33NUM=1
+	V33DEN=1
+	ESWTHR=500
+	MOT0SPD=3
+	MOT1SPD=5
+	MAXSTEPS0=50000
+	MAXSTEPS1=50000
+	USARTSPD=9600
+	INTPULLUP=1
+	REVERSE0=1
+	REVERSE1=0
+	USTEPS=16
+	ACCDECSTEPS=50
+	DATAEND
+
+(this is a request for settings stored in device flash memory).
+
+When moving, the output would be like first two strings of `-s` with dynamically changed values of steps left and current position of moving parts.
+
+The output of temperature request would be like:
+
+	./MMPP_control -t   
+	MCU1 temperature: 39.6 degC
+	MCU2 temperature: 35.1 degC
 
 
 ## Keywords in *quiet* mode
 
+This mode is useful for batch files and running from external soft. Its main difference is no unuseful information and data format like `parameter=value`. For example, temperature request have output like: 
 
-- - temperature of x'th MCU;
+	POLTEMP=35
-- POLTEMP=35
 	L4TEMP=32.9
-- POLMOTOR0=SLEEP
+
-POLPOS0=0
+Where `POLTEMP` is temperature of polarisator controller, L4TEMP -- temperature of wave-plate controller.
+When moving, there's no output, only waiting for moving ends. It's better to run this tool with `-y` flag and asynchronously start it later with `-s` flag to receive current state.
+The output of `MMPP_control -qs` will be like:
+
+	POLMOTOR0=MOVE
+	POLSTEPSLEFT0=742
+	POLPOS0=4558
 	POLESW00=RLSD
 	POLESW01=RLSD
-POLMOTOR1=SLEEP
+	POLMOTOR1=MOVE
-POLPOS1=0
+	POLSTEPSLEFT1=7289
+	POLPOS1=32411
 	POLESW10=RLSD
 	POLESW11=RLSD
-POLSTEPSLEFT0
+	L4MOTOR0=MOVE
-POLSTEPSLEFT1
+	L4STEPSLEFT0=642
-L4MOTOR0=SLEEP
+	L4POS0=4358
-L4POS0=-40001
 	L4ESW00=RLSD
 	L4ESW01=RLSD
-L4MOTOR1=SLEEP
+	L4MOTOR1=MOVE
-L4POS1=-40001
+	L4STEPSLEFT1=1542
+	L4POS1=6458
 	L4ESW10=RLSD
 	L4ESW11=RLSD
-L4STEPSLEFT0
-L4STEPSLEFT1
 
+Where
+
+- `xxxMOTOR0` and `xxxMOTOR1` are linear stage and rotator motors of polaroid (`POL`) or wave-plate (`L4`) controller;
+- `xxxSTEPSLEFTy` are amount of steps left (these values are displayed only when corresponding motor is moving);
+- `xxxPOSy` are current positions (in steps!!!);
+- `xxxESWyz` are end-switches values (`y==0` -- linear stage, `y==1` -- rotator; `z==0` -- zero's end-switch, `z==1` -- limiting end-switch).
+
+
+**Warning**! Be careful: positions of rotators have different values. When you call this tool to move any rotator to given angle, you should point this angle in degrees. When you get state of device, you will see this angle in steps! These parameters defined in `tty_procs.h`:
+
+	#define STEPSREV1           (36000)
+	#define STEPSREV2           (28800)
+	
+This mean that polaroid rotator have 36000 steps per revolution (100 steps per degree), wave-plate rotator have 28800 steps per revolution (80 steps per degree).

MMPP_control/new/tty_procs.c

@@ -222,7 +222,10 @@ int tty_wait(){
                     printf("%39s", "failed ");
                 }else printf("%s", bufo);
             }
-        }else if(!quiet) printf("%39s", "failed");
+        }else{
+            if(!quiet) printf("Pol: %39s", "failed ");
+            chk1 = 0;
+        }
         if(alive[2]){
             chk2 = parsestatus("2GS");
             if(!quiet){
@@ -230,11 +233,14 @@ int tty_wait(){
                 if(chk2 == -1){
                     chk2 = 1;
                     ++failcount;
-                    printf("%39s", "failed");
+                    printf("%38s", "failed");
                 }else printf("%s", bufo);
                 printf("   \r");
             }
-        }else if(!quiet) printf("%39s", "failed");
+        }else{
+            if(!quiet) printf(" || L/4: %38s\r", "failed");
+            chk2 = 0;
+        }
     }
     if(!quiet) printf("\n\n");
     if(failcount > 4){
@@ -297,7 +303,7 @@ static void ttystat(){
     if(alive[2]) chk2 = parsestatus("2GS");
     printf(" || L/4: ");
     if(chk2 == -1){
-        printf("%39s", "failed");
+        printf("%38s", "failed");
     }else printf("%s", bufo);
     printf("\n");
     sprintf(&buff[24], "|| ");