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change time from double to struct timespec

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This commit is contained in:
Edward Emelianov
2025-12-08 13:31:23 +03:00
parent acd26edc9c
commit 196ed3be1b
15 changed files with 189 additions and 190 deletions
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33
LibSidServo/examples/dump.c
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@@ -24,7 +24,7 @@
#include "simpleconv.h"
// starting dump time (to conform different logs)
static double dumpT0 = -1.;
static struct timespec dumpT0 = {0};
#if 0
// amount of elements used for encoders' data filtering
@@ -63,7 +63,9 @@ static double filter(double val, int idx){
#endif
// return starting time of dump
double dumpt0(){ return dumpT0; }
void dumpt0(struct timespec *t){
if(t) *t = dumpT0;
}
/**
@@ -77,10 +79,10 @@ void logmnt(FILE *fcoords, mountdata_t *m){
if(!m){ // write header
fprintf(fcoords, " time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
return;
}else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
}else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
m->encXposition.t - dumpT0, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
m->millis);
@@ -106,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
LOGWARN("Can't get mount data");
}
uint32_t mdmillis = mdata.millis;
double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
struct timespec encXt = mdata.encXposition.t;
int ctr = -1;
double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
double t0 = Mount.currentT();
while(Mount.currentT() - t0 < t && ctr < N){
double t0 = Mount.timeFromStart();
while(Mount.timeFromStart() - t0 < t && ctr < N){
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
if(tmsr == enct) continue;
enct = tmsr;
//double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
struct timespec msrt = mdata.encXposition.t;
if(msrt.tv_nsec == encXt.tv_nsec) continue;
encXt = msrt;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.millis == mdmillis) continue;
//DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -126,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
ctr = 0;
}else ++ctr;
}
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
}
/**
@@ -146,14 +149,6 @@ void waitmoving(int N){
millis = mdata.millis;
if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
else ++ctr;
/*
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
xlast = mdata.motXposition.val;
ylast = mdata.motYposition.val;
//DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
ctr = 0;
}else ++ctr;
*/
}
}