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110 lines
3.7 KiB
C
110 lines
3.7 KiB
C
/*
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* This file is part of the libmmpp project.
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* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "tmcmdlnopts.h"
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#include <signal.h>
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#include <stdio.h>
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#include <libmmpp.h>
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#include <usefull_macros.h>
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// All return states of main():
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enum{
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RET_ALLOK = 0,
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RET_NOTFOUND, // none of MCU found or didn't found seeking MCU
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RET_ONLYONE, // only one MCU found
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RET_COMMERR, // communication error
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RET_CANTINIT, // can't init motors: error during initiation or some of motors are moving
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RET_WAITERR, // error occured during waiting procedure
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RET_ERROR = 9, // uncoverable error - from libsnippets
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RET_HELPCALL = 255 // user call help (or give wrong parameter[s]) - from libsnippets
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};
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static glob_pars *G;
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/**
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* We REDEFINE the default WEAK function of signal processing
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*/
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void __attribute__((noreturn)) signals(int sig){
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if(sig){
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signal(sig, SIG_IGN);
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DBG("Get signal %d, quit.\n", sig);
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}
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if(G->pidfile) // remove unnesessary PID file
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unlink(G->pidfile);
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restore_console();
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mmpp_close();
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exit(sig);
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}
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int main(int argc, char **argv){
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initial_setup();
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signal(SIGTERM, signals); // kill (-15)
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signal(SIGINT, signals); // ctrl+C
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signal(SIGQUIT, SIG_IGN); // ctrl+\ .
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signal(SIGTSTP, SIG_IGN); // ctrl+Z
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setbuf(stdout, NULL);
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G = parse_args(argc, argv);
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check4running(NULL, G->pidfile);
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DBG("Try to open serial %s", G->comdev);
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if(mmpp_tryopen(G->comdev, G->speed)){
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ERRX(_("Can't open %s with speed %d. Exit."), G->comdev, G->speed);
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}
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if(mot_handshake()){
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WARNX(_("Controllers not found"));
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signals(RET_NOTFOUND);
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}
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for(int i = 1; i < 3; ++i){
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if(get_alive(i)){
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green("MCU #%d found\n", i);
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if(get_rst(i, true))
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red("Controller #%d was in reset state\n", i);
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}else red("MCU #%d not found\n", i);
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}
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if(G->stopall){
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int r = stop_all();
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if(r) red("Error for %d motors of 4\n", r);
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else green("Successfully send command to stop all\n");
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}
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if(G->gettemp){
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double t1, t2;
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if(get_temp(&t1, &t2)){
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green("Got MCU temp:\n");
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if(t1 > -300.) printf("\tMCU#1 - %gdegrC\n", t1);
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if(t2 > -300.) printf("\tMCU#2 - %gdegrC\n", t2);
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}else red("Can't get MCU temp\n");
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}
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if(G->getstatus){
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for(int N = 1; N < 3; ++N){
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motor_state s;
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if(mot_getstatus(N, &s)){
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green("MCU#%d state:\n", N);
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for(int i = 0; i < 2; ++i){
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printf("\tstate[%d]=%d\n",i, s.state[i]);
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printf("\tstepslefs[%d]=%d\n", i, s.stepsleft[i]);
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printf("\tcurpos[%d]=%d\n", i, s.curpos[i]);
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for(int j = 0; j < 2; ++j)
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printf("\tESW_status[%d][%d]=%d\n", i, j, s.ESW_status[i][j]);
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}
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}
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}
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}
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int ini = init_motors();
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if(ini) red("Can't init motors: %d\n", ini);
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else green("Motors are ready!\n");
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signals(0);
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}
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