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add moving model (start from simplest dumb mover)

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Edward Emelianov 2025-03-18 22:10:34 +03:00
parent 8a336a688f
commit 17602a017f
19 changed files with 863 additions and 0 deletions
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3
README.md
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# mountcontrol
LibSidServo - low-level library for SSII controller management
moving_model - model of one-axis moving with ideal reaction

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moving_model/Dramp.c Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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 <math.h>
#include <stdio.h>
#include <usefull_macros.h>
#include "Dramp.h"
static movestate_t state = ST_STOP;
static moveparam_t target, Min, Max;
static double T0 = -1., Xlast0; // time when move starts, last stage starting coordinate
static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
static double T1 = -1.; // time to switch into minimal speed for best coord tolerance
typedef enum{
STAGE_NORMALSPEED,
STAGE_MINSPEED,
STAGE_STOPPED
} movingsage_t;
static movingsage_t movingstage = STAGE_STOPPED;
int initlims(limits_t *lim){
if(!lim) return FALSE;
Min = lim->min;
Max = lim->max;
return TRUE;
}
static int calc(moveparam_t *x, double t){
DBG("target: %g, tagspeed: %g (maxspeed: %g, minspeed: %g)", x->coord, x->speed, Max.speed, Min.speed);
if(!x || t < 0.) return FALSE;
if(x->speed > Max.speed || x->speed < Min.speed || x->coord < Min.coord || x->coord > Max.coord) return FALSE;
double adist = fabs(x->coord - curparams.coord);
DBG("want dist: %g", adist);
if(adist < coord_tolerance) return TRUE; // we are at place
if(adist < time_tick * Min.speed) return FALSE; // cannot reach with current parameters
target = *x;
if(x->speed * time_tick > adist) target.speed = adist / (10. * time_tick); // take at least 10 ticks to reach position
if(target.speed < Min.speed) target.speed = Min.speed;
DBG("Approximate tag speed: %g", target.speed);
T0 = t;
// calculate time to switch into minimal speed
T1 = -1.; // no min speed phase
if(target.speed > Min.speed){
double dxpertick = target.speed * time_tick;
DBG("dX per one tick: %g", dxpertick);
double ticks_need = floor(adist / dxpertick);
DBG("ticks need: %g", ticks_need);
if(ticks_need < 1.) return FALSE; // cannot reach
if(fabs(ticks_need * dxpertick - adist) > coord_tolerance){
DBG("Need to calculate slow phase; can't reach for %g ticks at current speed", ticks_need);
double dxpersmtick = Min.speed * time_tick;
DBG("dX per smallest tick: %g", dxpersmtick);
while(--ticks_need > 1.){
double part = adist - ticks_need * dxpertick;
double smticks = floor(part / dxpersmtick);
double least = part - smticks * dxpersmtick;
if(least < coord_tolerance) break;
}
DBG("now BIG ticks: %g, T1=T0+%g", ticks_need, ticks_need*time_tick);
T1 = t + ticks_need * time_tick;
}
}
state = ST_CONSTSPEED;
Xlast0 = curparams.coord;
if(target.speed > Min.speed) movingstage = STAGE_NORMALSPEED;
else movingstage = STAGE_MINSPEED;
if(x->coord < curparams.coord) target.speed *= -1.; // real speed
curparams.speed = target.speed;
return TRUE;
}
static void stop(){
T0 = -1.;
curparams.accel = 0.;
curparams.speed = 0.;
state = ST_STOP;
movingstage = STAGE_STOPPED;
}
static movestate_t proc(moveparam_t *next, double t){
if(T0 < 0.) return ST_STOP;
curparams.coord = Xlast0 + (t - T0) * curparams.speed;
//DBG("coord: %g (dT: %g, speed: %g)", curparams.coord, t-T0, curparams.speed);
int ooops = FALSE; // oops - we are over target!
if(curparams.speed < 0.){ if(curparams.coord < target.coord) ooops = TRUE;}
else{ if(curparams.coord > target.coord) ooops = TRUE; }
if(ooops){
DBG("OOOps! We are (%g) over target (%g) -> stop", curparams.coord, target.coord);
stop();
if(next) *next = curparams;
return state;
}
if(movingstage == STAGE_NORMALSPEED && T1 > 0.){ // check need of T1
if(t >= T1){
DBG("T1=%g, t=%g -->", T1, t);
curparams.speed = (curparams.speed > 0.) ? Min.speed : -Min.speed;
movingstage = STAGE_MINSPEED;
Xlast0 = curparams.coord;
T0 = T1;
DBG("Go further with minimal speed");
}
}
if(fabs(curparams.coord - target.coord) < coord_tolerance){ // we are at place
DBG("OK, we are in place");
stop();
}
if(next) *next = curparams;
return state;
}
static movestate_t getst(moveparam_t *cur){
if(cur) *cur = curparams;
return state;
}
movemodel_t dumb = {
.init_limits = initlims,
.calculate = calc,
.proc_move = proc,
.stop = stop,
.emergency_stop = stop,
.get_state = getst,
};

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moving_model/Dramp.h Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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
#include "moving_private.h"
extern movemodel_t dumb;

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moving_model/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := moving
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros -lm
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
TARGFILE := $(OBJDIR)/TARGET
CC = gcc
#TARGET := RELEASE
ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
TARGET := $(file < $(TARGFILE))
else
TARGET := RELEASE
endif
ifeq ($(TARGET), DEBUG)
.DEFAULT_GOAL := debug
endif
release: $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: TARGET := DEBUG
debug: $(PROGRAM)
$(TARGFILE): $(OBJDIR)
@echo -e "\t\tTARGET: $(TARGET)"
@echo "$(TARGET)" > $(TARGFILE)
$(PROGRAM) : $(TARGFILE) $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
$(OBJDIR):
@mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@
clean:
@echo -e "\t\tCLEAN"
@rm -rf $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

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moving_model/Sramp.c Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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/>.
*/
// quasi non-jerk s-ramp
#include <stdio.h>
#include <usefull_macros.h>
#include "Sramp.h"
movemodel_t s_shaped = { 0 };

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/*
* This file is part of the moving_model project.
* Copyright 2025 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
#include "moving_private.h"
extern movemodel_t s_shaped;

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moving_model/Tramp.c Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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/>.
*/
// simplest trapezioidal ramp
#include <stdio.h>
#include <usefull_macros.h>
#include "Tramp.h"
movemodel_t trapez = { 0 };

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moving_model/Tramp.h Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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
#include "moving_private.h"
extern movemodel_t trapez;

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moving_model/main.c Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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 <stdio.h>
#include <usefull_macros.h>
#include "moving.h"
static movemodel_t *model = NULL;
static FILE *coordslog = NULL;
static double Tstart = 0.;
typedef struct{
int help;
char *ramptype;
char *xlog;
int dT;
} pars;
static pars G = {
.ramptype = "d",
.dT = 100000,
};
static limits_t limits = {
.min = {.coord = -1e6, .speed = 0.1, .accel = 0.1},
.max = {.coord = 1e6, .speed = 1e3, .accel = 10.},
.jerk = 10.
};
static myoption opts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"ramp", NEED_ARG, NULL, 'r', arg_string, APTR(&G.ramptype), "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
{"deltat", NEED_ARG, NULL, 't', arg_int, APTR(&G.dT), "time interval for monitoring (microseconds, >0)"},
{"xlog", NEED_ARG, NULL, 'l', arg_string, APTR(&G.xlog), "log file name for coordinates logging"},
// TODO: add parameters for limits setting
end_option
};
static int move(moveparam_t *tag){
if(!tag) ERRX("move(): needs target");
moveparam_t curpos;
movestate_t curstate = model->get_state(&curpos);
if(curstate == ST_ERROR){
WARNX("move(): got error state, can't move");
return FALSE;
}
if(!move_to(tag)){
WARNX("move(): can't move to %g with max speed %g", tag->coord, tag->speed);
return FALSE;
}
green("Moving from %g (speed=%g, acc=%g) to %g with maximal speed %g\n",
curpos.coord, curpos.speed, curpos.accel, tag->coord, tag->speed);
return TRUE;
}
// monitor moving with dump to file until T-Tnow == tnext or stop/error
// show position every dT
static void monit(double tnext){
DBG("start monitoring");
double t0 = nanot(), t = 0.;
do{
t = nanot();
moveparam_t p;
movestate_t st = model->get_state(&p);
fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
t - Tstart, p.coord, p.speed, p.accel);
if(st == ST_STOP || st == ST_ERROR) break;
usleep(G.dT);
}while(nanot() - t0 < tnext);
DBG("End of monitoring");
}
int main(int argc, char **argv){
initial_setup();
parseargs(&argc, &argv, opts);
if(G.help) showhelp(-1, opts);
if(G.xlog){
coordslog = fopen(G.xlog, "w");
if(!coordslog) ERR("Can't open %s", G.xlog);
} else coordslog = stdout;
if(G.dT < 1) G.dT = 1;
fprintf(coordslog, "# time coordinate speed acceleration\n");
ramptype_t ramp = RAMP_AMOUNT;
if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
model = init_moving(ramp, &limits);
if(!model) ERRX("Can't init moving model: check parameters");
Tstart = nanot();
moveparam_t target = {.speed = 100., .coord = 1000};
if(move(&target)) monit(1.5);
target.speed = 500.;
if(move(&target)) monit(2.5);
target.coord = -100.;
if(move(&target)) monit(4.);
target.coord = 0.; target.speed = -200.;
if(move(&target)) monit(1e6);
usleep(5000);
fclose(coordslog);
return 0;
}

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/*
* This file is part of the moving_model project.
* Copyright 2025 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 <stdio.h>
#include <usefull_macros.h>
#include <pthread.h>
#include <time.h>
#include "moving.h"
#include "moving_private.h"
#include "Dramp.h"
#include "Sramp.h"
#include "Tramp.h"
//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
static movemodel_t *model = NULL;
double coord_tolerance = COORD_TOLERANCE_DEFAULT;
double time_tick = TIME_TICK_DEFAULT;
// difference of time from first call, using nanoseconds
double nanot(){
static struct timespec *start = NULL;
struct timespec now;
if(!start){
start = MALLOC(struct timespec, 1);
if(!start) return -1.;
if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
}
if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
//DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
double sd = (double)now.tv_sec - (double)start->tv_sec;
return sd + nd;
}
static void* thread(void _U_ *u){
if(!model) return NULL;
DBG("START thread");
double t = 0.;
while(1){
t = nanot();
//pthread_mutex_lock(&mutex);
movestate_t curstate = model->get_state(NULL);
moveparam_t curmove;
if(curstate != ST_STOP && curstate != ST_ERROR){
curstate = model->proc_move(&curmove, t);
}
//pthread_mutex_unlock(&mutex);
while(nanot() - t < time_tick);
}
return NULL;
}
static void chkminmax(double *min, double *max){
if(*min <= *max) return;
double t = *min;
*min = *max;
*max = t;
}
movemodel_t *init_moving(ramptype_t type, limits_t *l){
if(!l) return FALSE;
pthread_t t;
switch(type){
case RAMP_DUMB:
model = &dumb;
break;
case RAMP_TRAPEZIUM:
model = &trapez;
break;
case RAMP_S:
model = &s_shaped;
break;
default:
return FALSE;
}
if(!model->init_limits) return NULL;
moveparam_t *max = &l->max, *min = &l->min;
if(min->speed < 0.) min->speed = -min->speed;
if(max->speed < 0.) max->speed = -max->speed;
if(min->accel < 0.) min->accel = -min->accel;
if(max->accel < 0.) max->accel = -max->accel;
chkminmax(&min->coord, &max->coord);
chkminmax(&min->speed, &max->speed);
chkminmax(&min->accel, &max->accel);
if(!model->init_limits(l)) return NULL;
if(pthread_create(&t, NULL, thread, NULL)) return NULL;
pthread_detach(t);
return model;
}
int move_to(moveparam_t *target){
if(!target || !model) return FALSE;
// only positive velocity
if(target->speed < 0.) target->speed = -target->speed;
// don't mind about acceleration - user cannot set it now
return model->calculate(target, nanot());
}
int init_coordtol(double tolerance){
if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
coord_tolerance = tolerance;
return TRUE;
}
int init_timetick(double tick){
if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
time_tick = tick;
return TRUE;
}

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/*
* This file is part of the moving_model project.
* Copyright 2025 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
// tolerance, time ticks
#define COORD_TOLERANCE_DEFAULT (0.01)
#define COORD_TOLERANCE_MIN (0.0001)
#define COORD_TOLERANCE_MAX (10.)
#define TIME_TICK_DEFAULT (0.0001)
#define TIME_TICK_MIN (1e-9)
#define TIME_TICK_MAX (10.)
typedef enum{
RAMP_DUMB, // no ramp: infinite acceleration/deceleration
RAMP_TRAPEZIUM, // trapezium ramp
RAMP_S, // s-shaped ramp
RAMP_AMOUNT
} ramptype_t;
typedef enum{
ST_STOP, // stopped
ST_ACC, // accelerated
ST_CONSTSPEED, // moving with constant speed
ST_DEC, // decelerated
ST_ERROR, // some error -> stop
ST_AMOUNT
} movestate_t;
typedef struct{
double coord;
double speed;
double accel;
} moveparam_t;
typedef struct{
moveparam_t min;
moveparam_t max;
double jerk;
} limits_t;
typedef struct{
int (*init_limits)(limits_t *lim); // init values of limits, jerk
int (*calculate)(moveparam_t *target, double t); // calculate stages of traectory beginning from t
movestate_t (*proc_move)(moveparam_t *next, double t); // calculate next model point for time t
movestate_t (*get_state)(moveparam_t *cur); // get current moving state
void (*stop)(); // stop by ramp
void (*emergency_stop); // stop with highest acceleration
} movemodel_t;
double nanot();
movemodel_t *init_moving(ramptype_t type, limits_t *l);
int init_coordtol(double tolerance);
int init_timetick(double tick);
int move_to(moveparam_t *target);

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-std=c17

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moving_model/moving_model.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42

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[General]

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moving_model/moving_model.creator.user Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 16.0.0, 2025-03-18T22:08:04. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
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<value type="qlonglong">0</value>
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<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
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<value type="bool" key="EditorConfiguration.AutoDetect">true</value>
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
<value type="QString" key="language">Cpp</value>
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<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
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<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
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1
moving_model/moving_model.cxxflags Normal file
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-std=c++17

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moving_model/moving_model.files Normal file
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Dramp.c
Dramp.h
Sramp.c
Sramp.h
Tramp.c
Tramp.h
main.c
moving.c
moving.h
moving_private.h

0
moving_model/moving_model.includes Normal file
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26
moving_model/moving_private.h Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 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
#include "moving.h"
extern double coord_tolerance;
extern double time_tick;