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introduce a lot of errors when trying to apply model

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This commit is contained in:
Edward V. Emelianov
2025-07-30 16:45:42 +03:00
parent 502014bee4
commit 04ee999159
11 changed files with 627 additions and 113 deletions
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114
LibSidServo/serial.c
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@@ -21,16 +21,17 @@
#include <fcntl.h>
#include <math.h>
#include <pthread.h>
#include <signal.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <time.h>
#include <unistd.h>
#include "dbg.h"
#include "main.h"
#include "movingmodel.h"
#include "serial.h"
// serial devices FD
@@ -55,45 +56,6 @@ typedef struct __attribute__((packed)){
uint8_t CRC[4];
} enc_t;
/**
* @brief dtime - monotonic time from first run
* @return
*/
double dtime(){
struct timespec start_time = {0}, cur_time;
if(start_time.tv_sec == 0 && start_time.tv_nsec == 0){
clock_gettime(CLOCK_MONOTONIC, &start_time);
}
clock_gettime(CLOCK_MONOTONIC, &cur_time);
return ((double)(cur_time.tv_sec - start_time.tv_sec) +
(cur_time.tv_nsec - start_time.tv_nsec) * 1e-9);
}
#if 0
double dtime(){
double t;
struct timeval tv;
gettimeofday(&tv, NULL);
t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
return t;
}
#endif
#if 0
double tv2d(struct timeval *tv){
if(!tv) return 0.;
double t = tv->tv_sec + ((double)tv->tv_usec) / 1e6;
return t;
}
#endif
#if 0
// init start time
static void gttime(){
struct timeval tv;
gettimeofday(&tv, NULL);
tv_sec_got = tv.tv_sec;
tv_usec_got = tv.tv_usec;
}
#endif
// calculate current X/Y speeds
static void getXspeed(double t){
mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
@@ -170,7 +132,7 @@ static int getencval(int fd, double *val, double *t){
if(fd < 0) return FALSE;
char buf[128];
int got = 0, Lmax = 127;
double t0 = dtime();
double t0 = nanotime();
do{
fd_set rfds;
FD_ZERO(&rfds);
@@ -189,7 +151,7 @@ static int getencval(int fd, double *val, double *t){
buf[got] = 0;
} else continue;
if(strchr(buf, '\n')) break;
}while(Lmax && dtime() - t0 < Conf.EncoderReqInterval);
}while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
if(got == 0) return 0; // WTF?
char *estr = strrchr(buf, '\n');
if(!estr) return 0;
@@ -277,7 +239,7 @@ static void *encoderthread1(void _U_ *u){
if((uint8_t)b == ENC_MAGICK){
// DBG("Got magic -> start filling packet");
databuf[wridx++] = (uint8_t) b;
t = dtime();
t = nanotime();
}
continue;
}else databuf[wridx++] = (uint8_t) b;
@@ -298,13 +260,13 @@ static void *encoderthread2(void _U_ *u){
if(Conf.SepEncoder != 2) return NULL;
DBG("Thread started");
int errctr = 0;
double t0 = dtime();
const char *req = "next\n";
double t0 = nanotime();
const char *req = "\n";
int need2ask = 0; // need or not to ask encoder for new data
while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
if(need2ask){
if(5 != write(encfd[0], req, 5)) { ++errctr; continue; }
else if(5 != write(encfd[1], req, 5)) { ++errctr; continue; }
if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
}
double v, t;
if(getencval(encfd[0], &v, &t)){
@@ -329,9 +291,9 @@ static void *encoderthread2(void _U_ *u){
else need2ask = 1;
continue;
}
while(dtime() - t0 < Conf.EncoderReqInterval){ usleep(10); }
//DBG("DT=%g (RI=%g)", dtime()-t0, Conf.EncoderReqInterval);
t0 = dtime();
while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
//DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
t0 = nanotime();
}
DBG("ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
@@ -364,20 +326,25 @@ static void *mountthread(void _U_ *u){
int errctr = 0;
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
if(Conf.RunModel)
while(1){
pthread_mutex_lock(&datamutex);
// now change data
getModData(&mountdata);
pthread_mutex_unlock(&datamutex);
double t0 = nanotime();
while(nanotime() - t0 < Conf.MountReqInterval) usleep(500);
t0 = nanotime();
}
// data to get
data_t d = {.buf = buf, .maxlen = sizeof(buf)};
// cmd to send
data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
if(!cmd_getstat) goto failed;
double t0 = dtime();
/*
#ifdef EBUG
double t00 = t0;
#endif
*/
while(mntfd > -1 && errctr < MAX_ERR_CTR){
// read data to status
double tgot = dtime();
double tgot = nanotime(), t0 = tgot;
DBG("tgot=%g", tgot);
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
#ifdef EBUG
DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
@@ -396,10 +363,8 @@ static void *mountthread(void _U_ *u){
SSconvstat(status, &mountdata, tgot);
pthread_mutex_unlock(&datamutex);
// allow writing & getters
//DBG("t0=%g, tnow=%g", t0-t00, dtime()-t00);
if(dtime() - t0 >= Conf.MountReqInterval) usleep(50);
while(dtime() - t0 < Conf.MountReqInterval);
t0 = dtime();
while(nanotime() - t0 < Conf.MountReqInterval) usleep(500);
t0 = nanotime();
}
data_free(&cmd_getstat);
failed:
@@ -435,6 +400,7 @@ static int ttyopen(const char *path, speed_t speed){
// return FALSE if failed
int openEncoder(){
if(Conf.RunModel) return TRUE;
if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
if(Conf.SepEncoder == 1){ // only one device
DBG("One device");
@@ -442,7 +408,7 @@ int openEncoder(){
encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
if(encfd[0] < 0) return FALSE;
encRtmout.tv_sec = 0;
encRtmout.tv_usec = 200000000 / Conf.EncoderDevSpeed; // 20 bytes
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
close(encfd[0]);
encfd[0] = -1;
@@ -472,6 +438,7 @@ int openEncoder(){
// return FALSE if failed
int openMount(){
if(Conf.RunModel) return TRUE;
if(mntfd > -1) close(mntfd);
DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
@@ -487,7 +454,7 @@ int openMount(){
DBG("got %zd", l);
}while(1);*/
mntRtmout.tv_sec = 0;
mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes
mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
if(pthread_create(&mntthread, NULL, mountthread, NULL)){
DBG("Can't create thread");
close(mntfd);
@@ -500,21 +467,22 @@ int openMount(){
// close all opened serial devices and quit threads
void closeSerial(){
if(Conf.RunModel) return;
if(mntfd > -1){
DBG("Kill mount thread");
DBG("Cancel mount thread");
pthread_cancel(mntthread);
DBG("join mount thread");
pthread_join(mntthread, NULL);
DBG("close fd");
DBG("close mount fd");
close(mntfd);
mntfd = -1;
}
if(encfd[0] > -1){
DBG("Kill encoder thread");
DBG("Cancel encoder thread");
pthread_cancel(encthread);
DBG("join encoder thread");
pthread_join(encthread, NULL);
DBG("close fd");
DBG("close encoder's fd");
close(encfd[0]);
encfd[0] = -1;
if(Conf.SepEncoder == 2){
@@ -548,7 +516,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
DBG("written bytes not equal to need");
return FALSE;
}
//DBG("Send to mount %zd bytes: %s", out->len, out->buf);
DBG("Send to mount %zd bytes: %s", out->len, out->buf);
if(needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
@@ -563,8 +531,9 @@ static int wr(const data_t *out, data_t *in, int needeol){
if(b < 0) break; // nothing to read -> go out
in->buf[in->len++] = (uint8_t) b;
}
DBG("got %zd bytes", in->len);
//DBG("Clear trashing input");
while(getmntbyte() > -1);
//while(getmntbyte() > -1);
return TRUE;
}
@@ -575,6 +544,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
* @return FALSE if failed
*/
int MountWriteRead(const data_t *out, data_t *in){
if(Conf.RunModel) return -1;
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 1);
pthread_mutex_unlock(&mntmutex);
@@ -582,6 +552,7 @@ int MountWriteRead(const data_t *out, data_t *in){
}
// send binary data - without EOL
int MountWriteReadRaw(const data_t *out, data_t *in){
if(Conf.RunModel) return -1;
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 0);
pthread_mutex_unlock(&mntmutex);
@@ -605,6 +576,7 @@ static void loglcmd(SSlcmd *c){
// send short/long binary command; return FALSE if failed
static int bincmd(uint8_t *cmd, int len){
if(Conf.RunModel) return FALSE;
static data_t *dscmd = NULL, *dlcmd = NULL;
if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
@@ -641,6 +613,7 @@ rtn:
return ret;
}
// short, long and config text-binary commands
// return TRUE if OK
int cmdS(SSscmd *cmd){
return bincmd((uint8_t *)cmd, sizeof(SSscmd));
@@ -650,6 +623,7 @@ int cmdL(SSlcmd *cmd){
}
// rw == 1 to write, 0 to read
int cmdC(SSconfig *conf, int rw){
if(Conf.RunModel) return FALSE;
static data_t *wcmd = NULL, *rcmd = NULL;
int ret = FALSE;
// dummy buffer to clear trash in input