add moving model (start from simplest dumb mover)

moving_model/moving.c

@@ -0,0 +1,124 @@
+/*
+ * 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;
+}