mirror of
https://github.com/eddyem/mmpp.git
synced 2025-12-06 02:25:15 +03:00
readme
This commit is contained in:
eddyem
parent
a2ac6e2c74
commit
7ed2365045
@ -1,199 +0,0 @@
|
||||
/*
|
||||
* geany_encoding=koi8-r
|
||||
* main.c
|
||||
*
|
||||
* Copyright 2018 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.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "movecmdlnopts.h"
|
||||
#include "signal.h"
|
||||
#include <libmmpp.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <usefull_macros.h>
|
||||
|
||||
// All return states of main():
|
||||
enum{
|
||||
RET_ALLOK = 0,
|
||||
RET_NOTFOUND, // none of MCU found or didn't found seeking MCU
|
||||
RET_ONLYONE, // only one MCU found
|
||||
RET_COMMERR, // communication error
|
||||
RET_CANTINIT, // can't init motors: error during initiation or some of motors are moving
|
||||
RET_WAITERR, // error occured during waiting procedure
|
||||
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);
|
||||
}
|
||||
|
||||
void __attribute__((noreturn)) iffound_default(pid_t pid){
|
||||
ERRX("Another copy of this process found, pid=%d. Exit.", pid);
|
||||
}
|
||||
|
||||
static double convangle(double val){
|
||||
int X = (int)(val / 360.);
|
||||
val -= 360. * (double)X;
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* @return 1 if motor start moving else return 0
|
||||
*/
|
||||
static int parsemotans(ttysend_status ans, const char *prefix){
|
||||
DBG("parse ans: %d (prefix: %s)", ans, prefix);
|
||||
if(ans == SEND_ALLOK) return 1;
|
||||
else if(ans == SEND_ERR) WARNX(_("%s moving error!"), prefix);
|
||||
else if(ans == SEND_ESWITCH) WARNX(_("%s is on end-switch and can't move further"), prefix);
|
||||
else if(ans == SEND_OTHER) WARNX(_("Can't move %s: bad steps amount or still moving"), prefix);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief movemotor - move motor
|
||||
* @param mcu - MCU# (controller No, 1 or 2)
|
||||
* @param motnum - motor# (0 or 1)
|
||||
* @param steps - steps amount (
|
||||
* @param name
|
||||
* @return 0 if motor can't move, else return 1
|
||||
*/
|
||||
static int movemotor(int mcu, int motnum, int steps, const char *name){
|
||||
char buf[32];
|
||||
int curpos = mot_getpos(mcu, motnum);
|
||||
if(curpos == INT_MIN){
|
||||
WARNX(_("Can't get current %s position"), name);
|
||||
return 0;
|
||||
}
|
||||
if(curpos < 0){ // need to init
|
||||
WARNX(_("Init of %s failed"), name);
|
||||
return 0;
|
||||
}
|
||||
if(G->absmove){
|
||||
if(steps < 0){
|
||||
if(motnum == 1){
|
||||
steps += (mcu == 1) ? STEPSREV1 : STEPSREV2; // convert rotator angle to positive
|
||||
}else{
|
||||
WARNX(_("Can't move to negative position"));
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
steps -= curpos;
|
||||
}
|
||||
if(steps == 0){
|
||||
MSG(name, _("already at position"));
|
||||
return 0;
|
||||
}
|
||||
DBG("try to move motor%d of mcu %d for %d steps", motnum, mcu, steps);
|
||||
snprintf(buf, 32, "%dM%dM%d", mcu, motnum, steps);
|
||||
ttysend_status ans = tty_sendcmd(buf);
|
||||
return parsemotans(ans, name);
|
||||
}
|
||||
|
||||
int main(int argc, char **argv){
|
||||
// char cmd[32];
|
||||
int waitforstop = 0;
|
||||
int rtn_status = RET_ALLOK;
|
||||
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);
|
||||
DBG("Try to open serial %s", G->comdev);
|
||||
if(mmpp_tryopen(G->comdev, G->speed)){
|
||||
ERRX(_("Can't open %s with speed %d. Exit."), G->comdev, G->speed);
|
||||
}
|
||||
|
||||
if(handshake()) signals(RET_NOTFOUND); // test connection & get all positions
|
||||
if(G->waitold){
|
||||
if(tty_wait()) signals(RET_WAITERR);
|
||||
handshake();
|
||||
}
|
||||
if(G->showtemp){
|
||||
if(showtemp() != 2) rtn_status = RET_ONLYONE;
|
||||
}
|
||||
if(G->stopall){ // stop everything before analyze other commands
|
||||
if(tty_stopall()) rtn_status = RET_COMMERR;
|
||||
else MSG(_("All motors stopped"), NULL);
|
||||
}
|
||||
if(G->sendraw){
|
||||
MSG(_("Send raw string"), G->sendraw);
|
||||
char *got = tty_sendraw(G->sendraw);
|
||||
if(got){
|
||||
MSG(_("Receive"), got);
|
||||
if(quiet) printf("%s", got);
|
||||
}else WARNX(_("Nothing received"));
|
||||
}
|
||||
if(G->rot1angle > -999. || G->rot2angle > -999. || G->l1steps != INT_MAX || G->l2steps != INT_MAX){
|
||||
// all other commands are tied with moving, so check if motors are inited
|
||||
if(init_motors()) rtn_status = RET_CANTINIT;
|
||||
else{
|
||||
if(G->rot1angle > -999.){
|
||||
double angle = convangle(G->rot1angle);
|
||||
int steps = (int)((STEPSREV1/360.) * angle);
|
||||
waitforstop = movemotor(1, 1, steps, "polaroid");
|
||||
}
|
||||
if(G->rot2angle > -999.){
|
||||
double angle = convangle(G->rot2angle);
|
||||
int steps = (int)((STEPSREV2/360.) * angle);
|
||||
waitforstop = movemotor(2, 1, steps, "lambda/4");
|
||||
}
|
||||
if(G->l1steps != INT_MAX){
|
||||
waitforstop = movemotor(1, 0, G->l1steps, "polaroid stage");
|
||||
}
|
||||
if(G->l2steps != INT_MAX){
|
||||
waitforstop = movemotor(2, 0, G->l2steps, "lambda/4 stage");
|
||||
}
|
||||
}
|
||||
}
|
||||
if((waitforstop && !G->dontwait)) if(tty_wait()) rtn_status = RET_WAITERR;
|
||||
if(G->getstatus) tty_getstatus();
|
||||
if(G->reset){
|
||||
int **N = G->reset;
|
||||
while(*N){
|
||||
char cmd[3];
|
||||
if(**N < 1 || **N > 2){
|
||||
WARNX(_("Wrong MCU number (%d)"), **N);
|
||||
}else{
|
||||
if(!quiet) green("Reset controller #%d\n", **N);
|
||||
snprintf(cmd, 3, "%dR", **N);
|
||||
ttysend_status _U_ rt = tty_sendcmd(cmd);
|
||||
DBG("reset %d, result: %d", **N, rt);
|
||||
}
|
||||
++N;
|
||||
}
|
||||
}
|
||||
signals(rtn_status);
|
||||
}
|
||||
@ -1,112 +0,0 @@
|
||||
/*
|
||||
* cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
|
||||
*
|
||||
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
|
||||
*
|
||||
* 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 "movecmdlnopts.h"
|
||||
#include <assert.h>
|
||||
#include <limits.h>
|
||||
#include <math.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 = {
|
||||
.showtemp = 0
|
||||
,.comdev = "/dev/ttyUSB0"
|
||||
,.pidfile = "/tmp/MMPP_control.pid"
|
||||
,.speed = BAUD_RATE
|
||||
,.rot1angle = -1000.
|
||||
,.rot2angle = -1000.
|
||||
,.l1steps = INT_MAX
|
||||
,.l2steps = INT_MAX
|
||||
};
|
||||
|
||||
/*
|
||||
* 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")},
|
||||
{"absmove", NO_ARGS, NULL, 'A', arg_none, APTR(&G.absmove), N_("absolute move (without this flag moving is relative)")},
|
||||
{"temp", NO_ARGS, NULL, 't', arg_none, APTR(&G.showtemp), N_("show temperature of both MCU")},
|
||||
{"comdev", NEED_ARG, NULL, 'd', arg_string, APTR(&G.comdev), N_("terminal device filename")},
|
||||
{"sendraw", NEED_ARG, NULL, 'a', arg_string, APTR(&G.sendraw), N_("send RAW string to port and read the answer")},
|
||||
{"reset", MULT_PAR, NULL, 'E', arg_int, APTR(&G.reset), N_("reset given mcu (may be included several times)")},
|
||||
{"rot1", NEED_ARG, NULL, 'R', arg_double, APTR(&G.rot1angle), N_("rotate polaroid to given angle")},
|
||||
{"rot2", NEED_ARG, NULL, 'r', arg_double, APTR(&G.rot2angle), N_("rotate lambda/4 to given angle")},
|
||||
{"status", NO_ARGS, NULL, 's', arg_none, APTR(&G.getstatus), N_("get device status")},
|
||||
{"baudrate",NEED_ARG, NULL, 'b', arg_int, APTR(&G.speed), N_("TTY baudrate")},
|
||||
{"wait", NO_ARGS, NULL, 'w', arg_none, APTR(&G.waitold), N_("wait while all previous moving ends")},
|
||||
{"async", NO_ARGS, NULL, 'y', arg_none, APTR(&G.dontwait), N_("asynchronous moving - don't wait")},
|
||||
{"lin1", NEED_ARG, NULL, 'L', arg_int, APTR(&G.l1steps), N_("move polaroid linear stage to N steps")},
|
||||
{"lin2", NEED_ARG, NULL, 'l', arg_int, APTR(&G.l2steps), N_("move wave-plate linear stage to N steps")},
|
||||
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), N_("PID-file name")},
|
||||
{"stop", NO_ARGS, NULL, 'S', arg_none, APTR(&G.stopall), N_("stop any moving")},
|
||||
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);
|
||||
}
|
||||
@ -1,57 +0,0 @@
|
||||
/*
|
||||
* cmdlnopts.h - comand line options for parceargs
|
||||
*
|
||||
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
|
||||
*
|
||||
* 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 MOVECMDLNOPTS_H__
|
||||
#define MOVECMDLNOPTS_H__
|
||||
|
||||
#include <stdint.h>
|
||||
#include <usefull_macros.h>
|
||||
|
||||
/*
|
||||
* here are some typedef's for global data
|
||||
*/
|
||||
typedef struct{
|
||||
int showtemp; // show temperatures of both MCU
|
||||
char *comdev; // TTY device
|
||||
char *sendraw; // send RAW string
|
||||
char *pidfile; // pid file name
|
||||
double rot1angle; // rotator 1 angle
|
||||
double rot2angle; // rotator 2 angle
|
||||
int speed; // TTY speed
|
||||
int getstatus; // get both MCU status
|
||||
int waitold; // wait for previous moving ends
|
||||
int dontwait; // don't wait for moving end
|
||||
int l1steps; // move linear stage 1 (polaroid) for N steps
|
||||
int l2steps; // move linear stage 2 (L/4) for N steps
|
||||
int absmove; // absolute move (to given position from zero-esw)
|
||||
int stopall; // stop all moving
|
||||
int **reset; // reset given MCU's
|
||||
} 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 // MOVECMDLNOPTS_H__
|
||||
@ -9,6 +9,7 @@ MMPP (Multimode photometer-polarimeter) for the telescope Zeiss-1000 of SAO RAS.
|
||||
- **electronics** --- schematics and PCB (in kicad) of control system
|
||||
- **metal** --- all drawings for elements made in SAO
|
||||
- **MMPP_control** --- simple CLI for moving parts control
|
||||
- **MMPP_lib** --- library for simplest MMPP management
|
||||
- **STM32** --- firmware sources
|
||||
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user