diff --git a/MMPP_lib/examples/move.c b/MMPP_lib/examples/move.c deleted file mode 100644 index 2100c56..0000000 --- a/MMPP_lib/examples/move.c +++ /dev/null @@ -1,199 +0,0 @@ -/* - * geany_encoding=koi8-r - * main.c - * - * Copyright 2018 Edward V. Emelianov - * - * 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 -#include -#include -#include - -// 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); -} diff --git a/MMPP_lib/examples/movecmdlnopts.c b/MMPP_lib/examples/movecmdlnopts.c deleted file mode 100644 index a7395ab..0000000 --- a/MMPP_lib/examples/movecmdlnopts.c +++ /dev/null @@ -1,112 +0,0 @@ -/* - * cmdlnopts.c - the only function that parse cmdln args and returns glob parameters - * - * Copyright 2013 Edward V. Emelianoff - * - * 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 -#include -#include -#include -#include -#include -#include - -/* - * 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); -} diff --git a/MMPP_lib/examples/movecmdlnopts.h b/MMPP_lib/examples/movecmdlnopts.h deleted file mode 100644 index 758c6dc..0000000 --- a/MMPP_lib/examples/movecmdlnopts.h +++ /dev/null @@ -1,57 +0,0 @@ -/* - * cmdlnopts.h - comand line options for parceargs - * - * Copyright 2013 Edward V. Emelianoff - * - * 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 -#include - -/* - * 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__ diff --git a/Readme.md b/Readme.md index ea32fac..e27fc7b 100644 --- a/Readme.md +++ b/Readme.md @@ -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