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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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84
LibSidServo/main.c
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@@ -32,6 +32,11 @@
#include "ssii.h"
#include "PID.h"
// adder for monotonic time by realtime: inited any call of init()
static struct timespec timeadder = {0}, // adder of CLOCK_REALTIME to CLOCK_MONOTONIC
t0 = {0}, // curtime() for initstarttime() call
starttime = {0}; // starting time by monotonic (for timefromstart())
conf_t Conf = {0};
// parameters for model
static movemodel_t *Xmodel, *Ymodel;
@@ -50,26 +55,57 @@ limits_t
static mcc_errcodes_t shortcmd(short_command_t *cmd);
/**
* @brief nanotime - monotonic time from first run
* @return struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
* @brief curtime - monotonic time from first run
* @param t - struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
* @return TRUE if all OK
* FIXME: double -> struct timespec; on init: init t0 by CLOCK_REALTIME
*/
double nanotime(){
static double t0 = -1.;
int curtime(struct timespec *t){
struct timespec now;
if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
now.tv_sec += timeadder.tv_sec;
now.tv_nsec += timeadder.tv_nsec;
if(now.tv_nsec > 999999999L){
++now.tv_sec;
now.tv_nsec -= 1000000000L;
}
if(t) *t = now;
return TRUE;
}
// init starttime; @return TRUE if all OK
static int initstarttime(){
struct timespec start;
if(clock_gettime(CLOCK_MONOTONIC, &starttime)) return FALSE;
if(clock_gettime(CLOCK_REALTIME, &start)) return FALSE;
timeadder.tv_sec = start.tv_sec - starttime.tv_sec;
timeadder.tv_nsec = start.tv_nsec - starttime.tv_nsec;
if(timeadder.tv_nsec < 0){
--timeadder.tv_sec;
timeadder.tv_nsec += 1000000000L;
}
curtime(&t0);
return TRUE;
}
// return difference (in seconds) between time1 and time0
double timediff(const struct timespec *time1, const struct timespec *time0){
if(!time1 || !time0) return -1.;
return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
}
// difference between given time and last initstarttime() call
double timediff0(const struct timespec *time1){
return timediff(time1, &t0);
}
// time from last initstarttime() call
double timefromstart(){
struct timespec now;
if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
if(t0 < 0.){
struct timespec start;
if(clock_gettime(CLOCK_REALTIME, &start)) return -1.;
t0 = (double)start.tv_sec + (double)start.tv_nsec * 1e-9
- (double)now.tv_sec - (double)now.tv_nsec * 1e-9;
}
DBG("ASK nanotime: %g", (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0);
return (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0;
return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
}
/**
* @brief quit - close all opened and return to default state
* TODO: close serial devices even in "model" mode
*/
static void quit(){
if(Conf.RunModel) return;
@@ -79,18 +115,17 @@ static void quit(){
DBG("Exit");
}
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst){
void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
if(!c || !Xmodel || !Ymodel) return;
double tnow = nanotime();
double tnow = timefromstart();
moveparam_t Xp, Yp;
movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
//DBG("Xstate = %d", Xst);
if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
c->X.t = c->Y.t = tnow;
c->X.val = Xp.coord;
c->Y.val = Yp.coord;
c->X = Xp.coord;
c->Y = Yp.coord;
if(xst) *xst = Xst;
if(yst) *yst = Yst;
}
@@ -149,6 +184,7 @@ double LS_calc_slope(less_square_t *l, double x, double t){
static mcc_errcodes_t init(conf_t *c){
FNAME();
if(!c) return MCC_E_BADFORMAT;
if(!initstarttime()) return MCC_E_FAILED;
Conf = *c;
mcc_errcodes_t ret = MCC_E_OK;
Xmodel = model_init(&Xlimits);
@@ -303,7 +339,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
static mcc_errcodes_t emstop(){
FNAME();
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
Xmodel->emergency_stop(Xmodel, curt);
Ymodel->emergency_stop(Ymodel, curt);
return MCC_E_OK;
@@ -315,7 +351,7 @@ static mcc_errcodes_t emstop(){
static mcc_errcodes_t stop(){
FNAME();
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
Xmodel->stop(Xmodel, curt);
Ymodel->stop(Ymodel,curt);
return MCC_E_OK;
@@ -332,7 +368,7 @@ static mcc_errcodes_t stop(){
static mcc_errcodes_t shortcmd(short_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
moveparam_t param = {0};
param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -364,7 +400,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
static mcc_errcodes_t longcmd(long_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
moveparam_t param = {0};
param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -534,7 +570,6 @@ mount_t Mount = {
.init = init,
.quit = quit,
.getMountData = getMD,
// .slewTo = slew2,
.moveTo = move2,
.moveWspeed = move2s,
.setSpeed = setspeed,
@@ -544,7 +579,10 @@ mount_t Mount = {
.longCmd = longcmd,
.getHWconfig = get_hwconf,
.saveHWconfig = write_hwconf,
.currentT = nanotime,
.currentT = curtime,
.timeFromStart = timefromstart,
.timeDiff = timediff,
.timeDiff0 = timediff0,
.correctTo = correct2,
.getMaxSpeed = maxspeed,
.getMinSpeed = minspeed,