add dumpswing, fix bug with uint32 instead of int32

LibSidServo/examples/CMakeLists.txt

@@ -2,10 +2,11 @@ project(examples)
 
 # common includes & library
 include_directories(../)
-link_libraries(sidservo usefull_macros)
+link_libraries(sidservo usefull_macros -lm)
 
 # exe list
 add_executable(goto goto.c dump.c)
 add_executable(dump dumpmoving.c dump.c)
 add_executable(dump_s dumpmoving_scmd.c dump.c)
+add_executable(dumpswing dumpswing.c dump.c)
 add_executable(traectory_s scmd_traectory.c dump.c traectories.c)

LibSidServo/examples/dump.c

@@ -97,6 +97,7 @@ void waitmoving(int N){
         usleep(10000);
         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){
             xlast = mdata.motposition.X;
             ylast = mdata.motposition.Y;

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;
+}

LibSidServo/examples/goto.c

@@ -30,6 +30,7 @@
 typedef struct{
     int help;
     int Ncycles;
+    int wait;
     char *coordsoutput;
     double X;
     double Y;
@@ -47,6 +48,7 @@ static sl_option_t cmdlnopts[] = {
     {"newx",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.X),         "new X coordinate"},
     {"newy",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Y),         "new Y coordinate"},
     {"output",      NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
+    {"wait",        NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      "wait until mowing stopped"},
     end_option
 };
 
@@ -86,6 +88,10 @@ int main(int _U_ argc, char _U_ **argv){
     if(MCC_E_OK != Mount.init(&Config)) ERRX("Can't init mount");
     coords_t M;
     if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    if(G.coordsoutput){
+        if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
+        G.wait = 1;
+    }
     if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
@@ -98,12 +104,14 @@ int main(int _U_ argc, char _U_ **argv){
     if(isnan(G.Y)) G.Y = RAD2DEG(M.Y);
     printf("Moving to X=%g deg, Y=%g deg\n", G.X, G.Y);
     Mount.moveTo(DEG2RAD(G.X), DEG2RAD(G.Y));
-    sleep(1);
+    if(G.wait){
-    waitmoving(G.Ncycles);
+        sleep(1);
-    if(!getPos(&M, NULL)) WARNX("Can't get current position");
+        waitmoving(G.Ncycles);
-    else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
+        if(!getPos(&M, NULL)) WARNX("Can't get current position");
+        else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
+    }
 out:
     if(G.coordsoutput) pthread_join(dthr, NULL);
-    Mount.quit();
+    if(G.wait) Mount.quit();
     return 0;
 }

LibSidServo/examples/scmd_traectory.c

@@ -93,7 +93,7 @@ static void *dumping(void _U_ *u){
 }
 
 // calculate
-static void runtraectory(traectory_fn *tfn){
+static void runtraectory(traectory_fn tfn){
     if(!tfn) return;
     coords_t telXY, traectXY;
     double t0 = sl_dtime();
@@ -128,7 +128,7 @@ int main(int argc, char **argv){
             ERRX("Can't open %s", G.coordsoutput);
     }else fcoords = stdout;
     Config.MountReqInterval = G.reqint;
-    traectory_fn *tfn = traectory_by_name(G.tfn);
+    traectory_fn tfn = traectory_by_name(G.tfn);
     if(!tfn){
         WARNX("Bad traectory name %s, should be one of", G.tfn);
         print_tr_names();

LibSidServo/examples/traectories.c

@@ -26,7 +26,7 @@
 #include "simpleconv.h"
 #include "traectories.h"
 
-static traectory_fn *cur_traectory = NULL;
+static traectory_fn cur_traectory = NULL;
 // starting point of traectory
 static coords_t XYstart = {0};
 static double tstart = 0.;
@@ -41,11 +41,11 @@ static coords_t XYcor = {0};
  * @param XY0 - starting point
  * @return FALSE if failed
  */
-int init_traectory(traectory_fn *f, coords_t *XY0){
+int init_traectory(traectory_fn f, coords_t *XY0){
     if(!f || !XY0) return FALSE;
     cur_traectory = f;
     XYstart = *XY0;
-    tstart = cl_dtime();
+    tstart = sl_dtime();
     mountdata_t mdata;
     int ntries = 0;
     for(; ntries < 10; ++ntries){
@@ -71,7 +71,7 @@ int traectory_point(coords_t *nextpt, double t){
     pt.msrtime.tv_sec = floor(t);
     pt.msrtime.tv_usec = (uint32_t) t - pt.msrtime.tv_sec;
     if(nextpt) *nextpt = pt;
-    if(pt.X < -M_PI2 || pt.X > M_PI2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
+    if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
     return TRUE;
 }
 
@@ -111,7 +111,7 @@ int SinCos(coords_t *nextpt, double t){
 }
 
 typedef struct{
-    traectory_fn *f;
+    traectory_fn f;
     const char *name;
     const char *help;
 } tr_names;
@@ -122,8 +122,8 @@ static tr_names names[] = {
     {NULL, NULL, NULL}
 };
 
-traectory_fn *traectory_by_name(const char *name){
+traectory_fn traectory_by_name(const char *name){
-    traectory_fn *f = NULL;
+    traectory_fn f = NULL;
     for(int i = 0; ; ++i){
         if(!names[i].f) break;
         if(strcmp(names[i].name, name) == 0){
@@ -131,6 +131,7 @@ traectory_fn *traectory_by_name(const char *name){
             break;
         }
     }
+    return f;
 }
 
 // print all acceptable traectories names with help

LibSidServo/examples/traectories.h

@@ -23,10 +23,10 @@
 // traectory
 typedef int (*traectory_fn)(coords_t *, double);
 
-int init_traectory(traectory_fn *f, coords_t *XY0);
+int init_traectory(traectory_fn f, coords_t *XY0);
-traectory_fn *traectory_by_name(const char *name);
+traectory_fn traectory_by_name(const char *name);
 void print_tr_names();
 int traectory_point(coords_t *nextpt, double t);
 int telpos(coords_t *curpos);
 int Linear(coords_t *nextpt, double t);
-int SinCos(coords_t *nextpt);
+int SinCos(coords_t *nextpt, double t);

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.1, 2025-02-18T22:15:19. -->
+<!-- Written by QtCreator 15.0.1, 2025-02-19T23:05:54. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/libsidservo.files

@@ -4,6 +4,7 @@ examples/dump.c
 examples/dump.h
 examples/dumpmoving.c
 examples/dumpmoving_scmd.c
+examples/dumpswing.c
 examples/goto.c
 examples/scmd_traectory.c
 examples/simpleconv.h

LibSidServo/ssii.h

@@ -90,13 +90,13 @@
 // motor position to radians and back
 #define X_MOT2RAD(n)    (2.*M_PI * (double)n / X_MOT_STEPSPERREV)
 #define Y_MOT2RAD(n)    (2.*M_PI * (double)n / Y_MOT_STEPSPERREV)
-#define X_RAD2MOT(r)    ((uint32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
+#define X_RAD2MOT(r)    ((int32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
-#define Y_RAD2MOT(r)    ((uint32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
+#define Y_RAD2MOT(r)    ((int32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
 // motor speed in rad/s and back
 #define X_MOTSPD2RS(n)  (X_MOT2RAD(n)/65536.*1953.)
-#define X_RS2MOTSPD(r)  ((uint32_t)(X_RAD2MOT(r)*65536./1953.))
+#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r)*65536./1953.))
 #define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n)/65536.*1953.)
-#define Y_RS2MOTSPD(r)  ((uint32_t)(Y_RAD2MOT(r)*65536./1953.))
+#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
 // adder time to seconds vice versa
 #define ADDER2S(a)  (a*1953.)
 #define S2ADDER(s)  (s/1953.)