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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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25
LibSidServo/examples/scmd_traectory.c
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@@ -98,31 +98,34 @@ static void runtraectory(traectory_fn tfn){
coordval_pair_t telXY;
coordval_pair_t target;
coordpair_t traectXY;
double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
double tlastX = 0., tlastY = 0.;
double tlast = 0., tstart = Mount.timeFromStart();
long tlastXnsec = 0, tlastYnsec = 0;
struct timespec tcur, t0 = {0};
dumpt0(&t0);
while(1){
if(!telpos(&telXY)){
WARNX("No next telescope position");
return;
}
if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
tlastX = telXY.X.t; tlastY = telXY.Y.t;
double t = Mount.currentT();
if(!Mount.currentT(&tcur)) continue;
if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
double t = Mount.timeFromStart();
if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
if(!traectory_point(&traectXY, t)) break;
target.X.val = traectXY.X; target.Y.val = traectXY.Y;
target.X.t = target.Y.t = t;
if(t0 < 0.) t0 = dumpt0();
target.X.t = target.Y.t = tcur;
if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
else{
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
//DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
if(errlog)
fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
fprintf(errlog, "%10.4f %10.4f %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
}
if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < Config->PIDRefreshDt) usleep(500);
while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
tlast = t;
}
WARNX("No next traectory point or emulation ends");