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add base turrets managing

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eddyem
2019-05-03 19:09:28 +03:00
parent 5acbf79320
commit 46fb5d529d
13 changed files with 990 additions and 46 deletions
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63
MMPP_lib/examples/template.c Normal file
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/*
* This file is part of the libmmpp project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "tmcmdlnopts.h"
#include <signal.h>
#include <stdio.h>
#include <libmmpp.h>
#include <usefull_macros.h>
// All return states of main():
enum{
RET_ALLOK = 0,
RET_NOTFOUND, // none of turrets found or didn't found seeking MCU
RET_ONLYONE, // only one turret found
RET_COMMERR, // communication error
RET_CANTINIT, // can't init turrets
RET_ERROR = 9, // uncoverable error - from libsnippets
RET_HELPCALL = 255 // user call help (or give wrong parameter[s]) - from libsnippets
};
static glob_pars *G;
/**
* We REDEFINE the default WEAK function of signal processing
*/
void __attribute__((noreturn)) signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
if(G->pidfile) // remove unnesessary PID file
unlink(G->pidfile);
restore_console();
mmpp_close();
exit(sig);
}
int main(int argc, char **argv){
initial_setup();
signal(SIGTERM, signals); // kill (-15)
signal(SIGINT, signals); // ctrl+C
signal(SIGQUIT, SIG_IGN); // ctrl+\ .
signal(SIGTSTP, SIG_IGN); // ctrl+Z
setbuf(stdout, NULL);
G = parse_args(argc, argv);
check4running(NULL, G->pidfile);
;
signals(0);
}

86
MMPP_lib/examples/templatecmdlnopts.c Normal file
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/*
* This file is part of the libmmpp project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "templatecmdlnopts.h"
#include <assert.h>
#include <libmmpp.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
/*
* here are global parameters initialisation
*/
static int help;
static glob_pars G;
int quiet = 0; // less messages @ stdout
// DEFAULTS
// default global parameters
glob_pars const Gdefault = {
.pidfile = "/tmp/MMPP_wheels.pid"
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
static myoption cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_none, APTR(&help), N_("show this help")},
{"quiet", NO_ARGS, NULL, 'q', arg_none, APTR(&quiet), N_("don't show anything @screen from stdout")},
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), N_("PID-file name")},
{"status", NO_ARGS, NULL, 'S', arg_none, APTR(&G.getstatus), N_("get device status")},
end_option
};
/**
* Parse command line options and return dynamically allocated structure
* to global parameters
* @param argc - copy of argc from main
* @param argv - copy of argv from main
* @return allocated structure with global parameters
*/
glob_pars *parse_args(int argc, char **argv){
void *ptr;
ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
// format of help: "Usage: progname [args]\n"
// parse arguments
parseargs(&argc, &argv, cmdlnopts);
if(help) showhelp(-1, cmdlnopts);
if(argc > 0){
WARNX("%d unused parameters:\n", argc);
for(int i = 0; i < argc; ++i)
printf("\t%4d: %s\n", i+1, argv[i]);
}
return &G;
}
/**
* @brief MSG show coloured message if `quiet` not set
* !! This function adds trailing '\n' to message
* @param s1 - green part of message (may be null)
* @param s2 - normal colored part of messate (may be null)
*/
void MSG(const char *s1, const char *s2){
if(quiet) return;
if(s1){
green("%s%s", s1, s2 ? ": " : "\n");
}
if(s2) printf("%s\n", s2);
}

40
MMPP_lib/examples/templatecmdlnopts.h Normal file
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/*
* This file is part of the libmmpp project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef TMCMDLNOPTS_H__
#define TMCMDLNOPTS_H__
#include <usefull_macros.h>
/*
* here are some typedef's for global data
*/
typedef struct{
char *pidfile; // pid file name
int gettemp; // get MCU temperature
int getstatus; // get status of all devices
} glob_pars;
// default & global parameters
extern glob_pars const Gdefault;
extern int quiet;
glob_pars *parse_args(int argc, char **argv);
void MSG(const char *s1, const char *s2);
#endif // TMCMDLNOPTS_H__

143
MMPP_lib/examples/wheels.c Normal file
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/*
* This file is part of the libmmpp project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "wheelscmdlnopts.h"
#include <signal.h>
#include <stdio.h>
#include <libmmpp.h>
#include <usefull_macros.h>
// All return states of main():
enum{
RET_ALLOK = 0,
RET_NOTFOUND, // none of turrets found or didn't found seeking MCU
RET_ONLYONE, // only one turret found
RET_COMMERR, // communication error
RET_CANTINIT, // can't init turrets
RET_ERROR = 9, // uncoverable error - from libsnippets
RET_HELPCALL = 255 // user call help (or give wrong parameter[s]) - from libsnippets
};
static glob_pars *G;
static wheel_descr *wheels;
static int found;
/**
* We REDEFINE the default WEAK function of signal processing
*/
void __attribute__((noreturn)) signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
if(G->pidfile) // remove unnesessary PID file
unlink(G->pidfile);
restore_console();
del_wheels(wheels, found);
exit(sig);
}
/**
* @brief find_wheel_by_ID - find wheel by ID
* @param w - array of wheel descriptors
* @param N - length of w
* @param ID - sought wheel ID
* @return NULL if no such wheel or pointer to it
*/
wheel_descr *find_wheel_by_ID(wheel_descr *w, int N, char ID){
for(int i = 0; i < N; ++i){
if(w[i].ID == ID) return &w[i];
}
return NULL;
}
int main(int argc, char **argv){
initial_setup();
signal(SIGTERM, signals); // kill (-15)
signal(SIGINT, signals); // ctrl+C
signal(SIGQUIT, SIG_IGN); // ctrl+\ .
signal(SIGTSTP, SIG_IGN); // ctrl+Z
setbuf(stdout, NULL);
G = parse_args(argc, argv);
check4running(NULL, G->pidfile);
wheel_error werr;
found = find_wheels(&wheels, &werr);
if(found == 0) ERRX(_("No wheels found"));
else green("Found %d wheels\n", found);
if(werr != WHERR_ALLOK){
WARNX(_("Got wheel error: %d"), werr);
signals(1);
}
if(G->getstatus){
for(int i = 0; i < found; ++i){
green("Wheel #%d:\n", i);
printf("\tserial: %s\n", wheels[i].serial);
printf("\tID: %c\n", wheels[i].ID);
printf("\tname: %s\n", wheels[i].name);
printf("\tmaxpos: %d\n\n", wheels[i].maxpos);
}
}
if(G->gohome){
for(int i = 0; i < found; ++i){
if(!wheel_home(&wheels[i])) WARNX(_("Can't move wheel %c to home position"), wheels[i].ID);
else{
green("Wheel %c is moving to home position\n");
}
}
for(int i = 0; i < found; ++i){
while(WHEEL_MOVING == wheel_getpos(&wheels[i])){
usleep(100000);
}
if(wheel_getpos(&wheels[i]) != 1)
WARNX(_("Wheel %c didn't reach home position"), wheels[i].ID);
}
}
int Nw = 0, Ng = 0;
if(G->wh_ids){
while(G->wh_ids[Nw]) ++Nw;
}
if(G->gotopos){
while(G->gotopos[Ng]) ++Ng;
}
if(Nw != Ng){
WARNX(_("Amoung of `--wheel-id` should be equal to amount of `--goto`!"));
}else{
for(int i = 0; i < Nw; ++i){
char ID = *G->wh_ids[i];
DBG("id: %c, goto: %d", ID, *G->gotopos[i]);
wheel_descr *w = find_wheel_by_ID(wheels, found, ID);
if(!w) WARNX(_("No wheel with ID %c found!"), ID);
else{
int pos = *G->gotopos[i];
if(!move_wheel(w, pos)){
WARNX(_("Can't rotate wheel %c to position %d"), ID, pos);
wheel_clear_err(w);
}else{
while(WHEEL_MOVING == wheel_getpos(w)){
DBG("still moving");
usleep(100000);
}
int curpos = wheel_getpos(w);
if(curpos != pos) WARNX(_("Wheel %c can't reach position %d, current position: %d"), ID, pos, curpos);
else green("Wheel %c is on position %d\n", ID, pos);
}
}
};
}
;
signals(0);
}

87
MMPP_lib/examples/wheelscmdlnopts.c Normal file
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/*
* This file is part of the libmmpp project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "wheelscmdlnopts.h"
#include <assert.h>
#include <libmmpp.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
/*
* here are global parameters initialisation
*/
static int help;
static glob_pars G;
int quiet = 0; // less messages @ stdout
// DEFAULTS
// default global parameters
glob_pars const Gdefault = {
.pidfile = "/tmp/MMPP_wheels.pid"
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
static myoption cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_none, APTR(&help), N_("show this help")},
{"quiet", NO_ARGS, NULL, 'q', arg_none, APTR(&quiet), N_("don't show anything @screen from stdout")},
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), N_("PID-file name")},
{"status", NO_ARGS, NULL, 's', arg_none, APTR(&G.getstatus), N_("get device status")},
{"goto", MULT_PAR, NULL, 'g', arg_int, APTR(&G.gotopos), N_("go to given position")},
{"wheel-id",MULT_PAR, NULL, 'I', arg_string, APTR(&G.wh_ids), N_("name wheel by ID")},
{"home", NO_ARGS, NULL, 'H', arg_none, APTR(&G.gohome), N_("rotate all wheels to home position")},
end_option
};
/**
* Parse command line options and return dynamically allocated structure
* to global parameters
* @param argc - copy of argc from main
* @param argv - copy of argv from main
* @return allocated structure with global parameters
*/
glob_pars *parse_args(int argc, char **argv){
void *ptr;
ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
parseargs(&argc, &argv, cmdlnopts);
if(help) showhelp(-1, cmdlnopts);
if(argc > 0){
WARNX("%d unused parameters:\n", argc);
for(int i = 0; i < argc; ++i)
printf("\t%4d: %s\n", i+1, argv[i]);
}
return &G;
}
/**
* @brief MSG show coloured message if `quiet` not set
* !! This function adds trailing '\n' to message
* @param s1 - green part of message (may be null)
* @param s2 - normal colored part of messate (may be null)
*/
void MSG(const char *s1, const char *s2){
if(quiet) return;
if(s1){
green("%s%s", s1, s2 ? ": " : "\n");
}
if(s2) printf("%s\n", s2);
}

43
MMPP_lib/examples/wheelscmdlnopts.h Normal file
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/*
* This file is part of the libmmpp project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef TMCMDLNOPTS_H__
#define TMCMDLNOPTS_H__
#include <usefull_macros.h>
/*
* here are some typedef's for global data
*/
typedef struct{
char *pidfile; // pid file name
int gettemp; // get MCU temperature
int getstatus; // get status of all devices
char **wh_ids; // array of wheel ids
int **gotopos; // rotate wheels to given position
int gohome; // turn all wheels to home state
} glob_pars;
// default & global parameters
extern glob_pars const Gdefault;
extern int quiet;
glob_pars *parse_args(int argc, char **argv);
void MSG(const char *s1, const char *s2);
#endif // TMCMDLNOPTS_H__