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add base turrets managing

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This commit is contained in:
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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1
MMPP_lib/99-edmund_hsfw.rules Normal file
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@ -0,0 +1 @@
SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="82cd", MODE:="0666"

15
MMPP_lib/CMakeLists.txt
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@ -62,11 +62,14 @@ endif()
endif(0) endif(0)
###### pkgconfig ###### ###### pkgconfig ######
# pkg-config modules (for pkg-check-modules) set(MODULES libudev)
#set(MODULES cfitsio fftw3)
# find packages: # find packages:
#find_package(PkgConfig REQUIRED) find_package(PkgConfig REQUIRED)
#pkg_check_modules(${PROJ} REQUIRED ${MODULES}) pkg_check_modules(${PROJ} REQUIRED ${MODULES})
pkg_check_modules(USB libusb)
if(NOT USB_FOUND)
pkg_check_modules(USB REQUIRED libusb-1.0)
endif()
# external modules like OpenMP: # external modules like OpenMP:
include(FindOpenMP) include(FindOpenMP)
@ -88,7 +91,7 @@ set(RU_FILE ${LCPATH}/ru.po)
# library # library
add_library(${PROJ} SHARED ${SOURCES}) add_library(${PROJ} SHARED ${SOURCES})
# library header files # library header files
set(LIBHEADER "usefull_macros.h") set(LIBHEADER "libmmpp.h")
# -I # -I
include_directories(${${PROJ}_INCLUDE_DIRS}) include_directories(${${PROJ}_INCLUDE_DIRS})
# -L # -L
@ -114,6 +117,8 @@ include(GNUInstallDirs)
install(TARGETS ${PROJ} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} install(TARGETS ${PROJ} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
install(FILES ${PCFILE} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig) install(FILES ${PCFILE} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
install(FILES "99-edmund_hsfw.rules" DESTINATION "/etc/udev/rules.d")
# EXAMPLES # EXAMPLES
if(DEFINED EXAMPLES AND EXAMPLES EQUAL 1) if(DEFINED EXAMPLES AND EXAMPLES EQUAL 1)

67
MMPP_lib/common.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/>.
*/
// common macros
#pragma once
#ifndef COMMON_H__
#define COMMON_H__
#include <stdio.h>
#include <stdlib.h>
// unused arguments of functions
#define _U_ __attribute__((__unused__))
// break absent in `case`
#define FALLTHRU __attribute__ ((fallthrough))
// and synonym for FALLTHRU
#define NOBREAKHERE __attribute__ ((fallthrough))
// weak functions
#define WEAK __attribute__ ((weak))
#define COLOR_RED "\033[1;31;40m"
#define COLOR_GREEN "\033[1;32;40m"
#define COLOR_OLD "\033[0;0;0m"
/*
* print function name, debug messages
* debug mode, -DEBUG
*/
#ifdef EBUG
#define FNAME() do{ fprintf(stderr, COLOR_OLD); \
fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__);} while(0)
#define DBG(...) do{ fprintf(stderr, COLOR_OLD); \
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
/*
* Memory allocation
*/
#define ALLOC(type, var, size) type * var = ((type *)my_alloc(size, sizeof(type)))
#define MALLOC(type, size) ((type *)my_alloc(size, sizeof(type)))
#define FREE(ptr) do{if(ptr){free(ptr); ptr = NULL;}}while(0)
#ifndef DBL_EPSILON
#define DBL_EPSILON (2.2204460492503131e-16)
#endif
void *my_alloc(size_t N, size_t S);
#endif // COMMON_H__

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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@ -0,0 +1,40 @@
/*
* 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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@ -0,0 +1,143 @@
/*
* 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__

357
MMPP_lib/hidmanage.c Normal file
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/*
* hidmanage.c - manage HID devices
*
* Copyright 2016 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "common.h"
#include "hsfw.h"
#include "libmmpp.h"
#include <libudev.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/hidraw.h>
#include <unistd.h>
static bool check_and_clear_err(int fd);
/**
* @brief writereg - write buffer to register & check answer
* @param fd - wheel fd
* @param buf - data to write
* @param l - lenght of `buf`
* @return 0 if all OK
*/
static int writereg(int fd, uint8_t *buf, int l){
uint8_t reg = buf[0];
if(ioctl(fd, HIDIOCSFEATURE(l), buf) < 0 || buf[0] != reg){
DBG("can't write register %d", reg);
return 1;
}
return 0;
}
/**
* @brief readreg - read register to buf & check answer
* @param fd - wheel fd
* @param buf - buffer for reading
* @param reg - register to read
* @param l - data length
* @return 0 if all OK
*/
static int readreg(int fd, uint8_t *buf, int reg, int l){
memset(buf, 0, l);
buf[0] = reg;
if(ioctl(fd, HIDIOCGFEATURE(l), buf) < 0 || buf[0] != reg){
DBG("can't read register %d", reg);
return 1;
}
return 0;
}
/**
* poll status register until moving stops
* @param fd - turret file descriptor
* @param msg - ==1 to show message
* @return current position or error code
*/
static wheel_status poll_wheelstatus(int fd){
uint8_t buf[REG_STATUS_LEN];
int i, stat = 1;
for(i = 0; i < HANDSHAKE_TRIES && stat; ++i){
stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
if(!stat){
if(buf[2] == 0xff || buf[3] == 0xff) stat = 1;
}
if(buf[5]){
return WHEEL_ERROR;
}
}
if(i == HANDSHAKE_TRIES) return WHEEL_MOVING;
return buf[4];
}
// library function for position polling
wheel_status wheel_getpos(wheel_descr *w){
return poll_wheelstatus(w->fd);
}
/**
* @brief go_home - blocking go to home position
* @param fd - wheel file descriptor
* @return true if all OK
*/
static bool go_home(int fd){
poll_wheelstatus(fd); // wait for last moving
uint8_t buf[REG_HOME_LEN];
int i, stat = 1;
for(i = 0; i < HANDSHAKE_TRIES && stat; ++i){
memset(buf, 0, REG_HOME_LEN);
buf[0] = REG_HOME;
stat = writereg(fd, buf, REG_HOME_LEN);
if(stat){usleep(100000); continue;}
if((stat = readreg(fd, buf, REG_HOME, REG_HOME_LEN))) continue;
if(buf[1] != 0xff){
stat = 1; continue;
}else{
readreg(fd, buf, REG_HOME, REG_HOME_LEN);
break;
}
}
if(i == HANDSHAKE_TRIES) return false;
// now poll REG_STATUS
while(WHEEL_MOVING == poll_wheelstatus(fd)){DBG("still moving");};
check_and_clear_err(fd);
return true;
}
// the same as above, but non-blocking and library function
bool wheel_home(wheel_descr *w){
int fd = w->fd;
poll_wheelstatus(fd); // wait for last moving
uint8_t buf[REG_HOME_LEN];
int i, stat = 1;
for(i = 0; i < HANDSHAKE_TRIES && stat; ++i){
memset(buf, 0, REG_HOME_LEN);
buf[0] = REG_HOME;
stat = writereg(fd, buf, REG_HOME_LEN);
if(stat){usleep(100000); continue;}
if((stat = readreg(fd, buf, REG_HOME, REG_HOME_LEN))) continue;
if(buf[1] != 0xff){
stat = 1; continue;
}else{
readreg(fd, buf, REG_HOME, REG_HOME_LEN);
break;
}
}
if(i == HANDSHAKE_TRIES) return false;
return true;
}
/**
* @brief check_and_clear_err - check error state and clear it if need
* @param fd - opened device file descriptor
* @return true if all OK
*/
static bool check_and_clear_err(int fd){
int i, stat = 1;
uint8_t buf[REG_STATUS_LEN];
for(i = 0; i < HANDSHAKE_TRIES && stat; ++i){
stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
if(stat) usleep(100000);
}
if(i == HANDSHAKE_TRIES) return false;
if(buf[1] != 0xff){
if(buf[5]){
stat = 1;
for(i = 0; i < HANDSHAKE_TRIES && stat; ++i){
memset(buf, 0, sizeof(buf));
buf[0] = REG_CLERR;
stat = writereg(fd, buf, REG_CLERR_LEN);
usleep(100000);
if(!stat) stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
if(!stat && buf[5]) stat = 1;
}
if(i == HANDSHAKE_TRIES) return false;
}
readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
if(buf[1] != 0xff){
go_home(fd);
readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
}
}
return true;
}
// the same - but library function
bool wheel_clear_err(wheel_descr *w){
return check_and_clear_err(w->fd);
}
static void get_props(wheel_descr *wheel){
uint8_t buf[REG_NAME_LEN+1];
int fd = wheel->fd;
if(fd < 0){
return;
}
check_and_clear_err(fd);
// get status of wheel
if(readreg(fd, buf, REG_INFO, REG_INFO_LEN)) return;
wheel->ID = buf[5];
wheel->maxpos = buf[4];
DBG("Wheel with id '%c' and maxpos %d", wheel->ID, wheel->maxpos);
char *getwname(int id){
memset(buf, 0, sizeof(buf));
buf[0] = REG_NAME;
buf[1] = WHEEL_NAME;
buf[2] = id;
if(writereg(fd, buf, REG_NAME_LEN)) return NULL;
if(readreg(fd, buf, REG_NAME, REG_NAME_LEN)) return NULL;
if(buf[6]){
char *x = strchr((char*)&buf[6], ' ');
if(x) *x = 0;
return (char*)&buf[6];
}
else return NULL;
}
char *nm = getwname(wheel->ID);
if(nm){
strncpy(wheel->name, nm, 9);
DBG("Wheel name: %s", wheel->name);
}
}
/**
* Find turrets present
* @param wheels (o) - if not NULL - list of wheels found (like "ABC") (allocated here!)
* @param err (o) - status code
* @return amount of devices found
*
* WARNING! If there's more than one turret with wheels having same name
* access by wheel ID could lead undefined behaviour!
*/
int find_wheels(wheel_descr **wheels, wheel_error *err){
#define RETERR(x) do{if(err){*err = x;} return 0;}while(0)
struct udev *udev;
struct udev_enumerate *enumerate;
struct udev_list_entry *devices, *dev_list_entry;
wheel_descr *Found = NULL;
if(err) *err = WHERR_ALLOK;
// Create the udev object
udev = udev_new();
int N = 0;
if(!udev){
RETERR(WHERR_UDEV);
}
// Create a list of the devices in the 'hidraw' subsystem.
enumerate = udev_enumerate_new(udev);
udev_enumerate_add_match_subsystem(enumerate, "hidraw");
udev_enumerate_scan_devices(enumerate);
devices = udev_enumerate_get_list_entry(enumerate);
// Check out each device found
udev_list_entry_foreach(dev_list_entry, devices){
const char *path;
struct udev_device *dev;
path = udev_list_entry_get_name(dev_list_entry);
dev = udev_device_new_from_syspath(udev, path);
const char *devpath = udev_device_get_devnode(dev);
DBG("Device Node Path: %s", devpath);
dev = udev_device_get_parent_with_subsystem_devtype(dev, "usb", "usb_device");
if(!dev){
fprintf(stderr, "Unable to find parent usb device for %s\n", devpath);
udev_device_unref(dev);
continue;
}
const char *vid, *pid;
vid = udev_device_get_sysattr_value(dev,"idVendor");
pid = udev_device_get_sysattr_value(dev, "idProduct");
DBG(" VID/PID: %s/%s", vid, pid);
if(strcmp(vid, WHEEL_VID) == 0 && strcmp(pid, WHEEL_PID) == 0){
++N;
if(!Found){
Found = MALLOC(wheel_descr, 1);
}else{
Found = realloc(Found, sizeof(wheel_descr)*N);
if(!Found){
perror("realloc()");
exit(-1);
}
}
wheel_descr *curdev = &Found[N-1];
int fd = open(devpath, O_RDWR|O_NONBLOCK);
if(fd < 0){
if(err) *err = WHERR_CANTOPEN;
curdev->fd = -1;
}else
curdev->fd = fd;
DBG("%s %s",
udev_device_get_sysattr_value(dev,"manufacturer"),
udev_device_get_sysattr_value(dev,"product"));
curdev->serial = strdup(udev_device_get_sysattr_value(dev, "serial"));
DBG("serial: %s\n", curdev->serial);
get_props(curdev);
}
udev_device_unref(dev);
}
// Free the enumerator object
udev_enumerate_unref(enumerate);
if(wheels){
*wheels = Found;
}else
free(Found);
return N;
#undef RETERR
}
/**
* @brief del_wheels - free memory of wheels descriptors
* @param w - array of descriptors
* @param N - length of w
*/
void del_wheels(wheel_descr *w, int N){
if(N == 0) return;
for(int i = 0; i < N; ++i){
FREE(w[i].serial);
close(w[i].fd);
}
FREE(w);
}
/**
* @brief move_wheel - unblocking move given wheel
* @param w - wheel
* @param filter_pos - target position
* @return true if all OK
*/
bool move_wheel(wheel_descr *w, int filter_pos){
int wheel_fd = w->fd;
if(wheel_fd < 0) return false;
if(filter_pos == poll_wheelstatus(wheel_fd)){
DBG("Wheel %c is ON position (%d)", w->ID, filter_pos);
return true; // @ target position
}
uint8_t buf[REG_GOTO_LEN];
int i, stat = 1;
for(i = 0; i < HANDSHAKE_TRIES && stat; ++i){
DBG("i=%d",i);
memset(buf, 0, REG_GOTO_LEN);
buf[0] = REG_GOTO;
buf[1] = filter_pos;
stat = writereg(wheel_fd, buf, REG_GOTO_LEN);
usleep(100000);
if(stat) continue;
if((stat = readreg(wheel_fd, buf, REG_GOTO, REG_GOTO_LEN))) continue;
if(buf[1] != 0xff){
stat = 1; continue;
}else{
readreg(wheel_fd, buf, REG_GOTO, REG_HOME_LEN);
break;
}
}
if(i == HANDSHAKE_TRIES) return false;
//poll_wheelstatus(wheel_fd);
//check_and_clear_err(wheel_fd);
return true;
}

55
MMPP_lib/hsfw.h Normal file
View File

@ -0,0 +1,55 @@
/*
* hsfw.h - functions for work with wheels
*
* Copyright 2016 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __HSFW_H__
#define __HSFW_H__
#define REG_CLERR (0x02)
#define REG_CLERR_LEN (2)
#define REG_STATUS (0x0a)
#define REG_STATUS_LEN (6)
#define REG_INFO (0x0b)
#define REG_INFO_LEN (7)
#define REG_GOTO (0x14)
#define REG_GOTO_LEN (3)
#define REG_HOME (0x15)
#define REG_HOME_LEN (3)
#define REG_NAME (0x16)
#define REG_NAME_LEN (14)
// absolute max position (5 for wheels 'A'..'E' & 8 for wheels 'F'..'G')
#define ABS_MAX_POS_A (5)
#define ABS_MAX_POS_B (8)
// end of 5-position wheel descriptor range
#define POS_A_END ('E')
// end of 8-pos range
#define POS_B_END ('H')
enum name_cmd{
RESTORE_DEFVALS = 1,
RENAME_FILTER,
FILTER_NAME,
RENAME_WHEEL,
WHEEL_NAME
};
int get_max_pos(char filter_id);
#endif // __HSFW_H__

38
MMPP_lib/libmmpp.h
View File

@ -89,12 +89,48 @@ int get_temp(double *t1, double *t2);
bool mot_getstatus(int Nmcu, motor_state *s); bool mot_getstatus(int Nmcu, motor_state *s);
int init_motors(); int init_motors();
int mot_wait(); int mot_wait();
ttysend_status tty_sendcmd(char *cmd);
char *tty_get(); char *tty_get();
int tty_send(char *cmd); int tty_send(char *cmd);
ttysend_status tty_sendcmd(char *cmd);
char* tty_sendraw(char *string); char* tty_sendraw(char *string);
/************************************************************************************
* Wheels management *
************************************************************************************/
#define WHEEL_VID "10c4"
#define WHEEL_PID "82cd"
// wheel descriptor
typedef struct{
int fd; // file descriptor of device
char *serial; // serial number
char ID; // identificator
char name[9]; // wheel name
int maxpos; // max position
} wheel_descr;
typedef enum{
WHERR_ALLOK // no errors
,WHERR_UDEV // udev error
,WHERR_CANTOPEN // can't open file device
} wheel_error;
int find_wheels(wheel_descr **wheels, wheel_error *err);
void del_wheels(wheel_descr *w, int N);
// return value of polling wheel status (if > -1 - current position)
typedef enum{
WHEEL_MOVING = -2 // still moving
,WHEEL_ERROR = -1 // communication error
,WHEEL_POSERR = 0 // wrong wheel position
,WHEEL_POS1, WHEEL_POS2, WHEEL_POS3, WHEEL_POS4, WHEEL_POS5, WHEEL_POS6
,WHEEL_POS7, WHEEL_POS8, WHEEL_POS9, WHEEL_POS10
} wheel_status;
wheel_status wheel_getpos(wheel_descr *w);
bool wheel_clear_err(wheel_descr *w);
bool move_wheel(wheel_descr *w, int filter_pos);
bool wheel_home(wheel_descr *w);
#endif // LIBMMPP_H__ #endif // LIBMMPP_H__

41
MMPP_lib/tty_procs.h
View File

@ -20,6 +20,7 @@
#ifndef TTY_PROCS_H__ #ifndef TTY_PROCS_H__
#define TTY_PROCS_H__ #define TTY_PROCS_H__
#include "common.h"
#include <limits.h> #include <limits.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdlib.h> #include <stdlib.h>
@ -30,45 +31,6 @@
// read timeout (in seconds) // read timeout (in seconds)
#define TTYTIMEOUT (0.05) #define TTYTIMEOUT (0.05)
// unused arguments of functions
#define _U_ __attribute__((__unused__))
// break absent in `case`
#define FALLTHRU __attribute__ ((fallthrough))
// and synonym for FALLTHRU
#define NOBREAKHERE __attribute__ ((fallthrough))
// weak functions
#define WEAK __attribute__ ((weak))
#define COLOR_RED "\033[1;31;40m"
#define COLOR_GREEN "\033[1;32;40m"
#define COLOR_OLD "\033[0;0;0m"
/*
* print function name, debug messages
* debug mode, -DEBUG
*/
#ifdef EBUG
#define FNAME() do{ fprintf(stderr, COLOR_OLD); \
fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__);} while(0)
#define DBG(...) do{ fprintf(stderr, COLOR_OLD); \
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
/*
* Memory allocation
*/
#define ALLOC(type, var, size) type * var = ((type *)my_alloc(size, sizeof(type)))
#define MALLOC(type, size) ((type *)my_alloc(size, sizeof(type)))
#define FREE(ptr) do{if(ptr){free(ptr); ptr = NULL;}}while(0)
#ifndef DBL_EPSILON
#define DBL_EPSILON (2.2204460492503131e-16)
#endif
typedef struct { typedef struct {
char *portname; // device filename (should be freed before structure freeing) char *portname; // device filename (should be freed before structure freeing)
int speed; // baudrate in human-readable format int speed; // baudrate in human-readable format
@ -82,7 +44,6 @@ typedef struct {
bool exclusive; // should device be exclusive opened bool exclusive; // should device be exclusive opened
} TTYdescr; } TTYdescr;
void *my_alloc(size_t N, size_t S);
int str2double(double *num, const char *str); int str2double(double *num, const char *str);
double dtime(); double dtime();
TTYdescr *new_tty(char *comdev, int speed, size_t bufsz); TTYdescr *new_tty(char *comdev, int speed, size_t bufsz);