add dumpswing, fix bug with uint32 instead of int32

LibSidServo/examples/dumpswing.c

@@ -0,0 +1,172 @@
+/*
+ * This file is part of the libsidservo 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 <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+// swing telescope by given axis with given period and max amplitude, reqinterval=0.05 (min)
+
+typedef struct{
+    int help;
+    int Ncycles;
+    int Nswings;
+    double period;
+    double amplitude;
+    char *coordsoutput;
+    char *axis;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 20,
+    .axis = "X",
+    .Nswings = 10,
+    .period = 1.,
+    .amplitude = 5.,
+};
+static FILE *fcoords = NULL;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 20)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X or Y)"},
+    {"period",      NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.period),    "swinging period (could be not reached if amplitude is too small) - not more than 900s (default: 1)"},
+    {"amplitude",   NEED_ARG,   NULL,   'A',    arg_double, APTR(&G.amplitude), "max amplitude (could be not reaced if period is too small) - not more than 45deg (default: 5)"},
+    {"nswings",     NEED_ARG,   NULL,   'N',    arg_int,    APTR(&G.Nswings),   "amount of swing periods (default: 10)"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    Mount.quit();
+    exit(sig);
+}
+
+static conf_t Config = {
+    .MountDevPath = "/dev/ttyUSB0",
+    .MountDevSpeed = 19200,
+    //.EncoderDevPath = "/dev/ttyUSB1",
+    //.EncoderDevSpeed = 153000,
+    .MountReqInterval = 0.05,
+    .SepEncoder = 0
+};
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+// wait until mount is stopped within 5 cycles or until time reached t
+void waithalf(double t){
+    mountdata_t mdata;
+    int ctr = -1;
+    uint32_t millis = 0;
+    double xlast = 0., ylast = 0.;
+    while(ctr < 5){
+        if(sl_dtime() >= t) return;
+        usleep(1000);
+        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
+        if(mdata.millis == millis) continue;
+        millis = mdata.millis;
+        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
+            DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
+            xlast = mdata.motposition.X;
+            ylast = mdata.motposition.Y;
+            ctr = 0;
+        }else{
+            DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
+            ++ctr;
+        }
+    }
+}
+
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    if(strcmp(G.axis, "X") && strcmp(G.axis, "Y")){
+        WARNX("\"Axis\" should be X or Y");
+        return 1;
+    }
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    if(G.Ncycles < 7) ERRX("Ncycles should be >7");
+    if(G.amplitude < 0.01 || G.amplitude > 45.)
+        ERRX("Amplitude should be from 0.01 to 45 degrees");
+    if(G.period < 0.1 || G.period > 900.)
+        ERRX("Period should be from 0.1 to 900s");
+    if(G.Nswings < 1) ERRX("Nswings should be more than 0");
+    mcc_errcodes_t e = Mount.init(&Config);
+    if(e != MCC_E_OK){
+        WARNX("Can't init devices");
+        return 1;
+    }
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+    pthread_t dthr;
+    chk0(G.Ncycles);
+    logmnt(fcoords, NULL);
+    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    G.period /= 2.; // pause between commands
+    double tagX, tagY;
+    if(*G.axis == 'X'){
+        tagX = DEG2RAD(G.amplitude); tagY = 0.;
+    }else{
+        tagX = 0.; tagY = DEG2RAD(G.amplitude);
+    }
+    double t = sl_dtime(), t0 = t;
+    double divide = 2.;
+    for(int i = 0; i < G.Nswings; ++i){
+        Mount.moveTo(tagX, tagY);
+        DBG("CMD: %g", sl_dtime()-t0);
+        t += G.period / divide;
+        divide = 1.;
+        waithalf(t);
+        DBG("Moved to +, t=%g", t-t0);
+        DBG("CMD: %g", sl_dtime()-t0);
+        Mount.moveTo(-tagX, -tagY);
+        t += G.period;
+        waithalf(t);
+        DBG("Moved to -, t=%g", t-t0);
+        DBG("CMD: %g", sl_dtime()-t0);
+    }
+    // be sure to move @ 0,0
+    Mount.moveTo(0., 0.);
+    // wait moving ends
+    pthread_join(dthr, NULL);
+#undef SCMD
+    signals(0);
+    return 0;
+}