shortcmd checked

2025-02-16 21:59:08 +03:00
parent 53b18299dc
commit 5250aa185d
13 changed files with 281 additions and 94 deletions
--- a/LibSidServo/examples/goto.c
+++ b/LibSidServo/examples/goto.c
@@ -0,0 +1,91 @@
+/*
+ * 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/>.
+ */
+
+// move telescope to given MOTOR position in degrees
+
+#include <signal.h>
+#include <stdio.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int Ncycles;
+    double X;
+    double Y;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 40,
+    .X = NAN,
+    .Y = NAN,
+};
+
+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 of waiting in stopped state (default: 40)"},
+    {"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"},
+    end_option
+};
+
+static conf_t Config = {
+    .MountDevPath = "/dev/ttyUSB0",
+    .MountDevSpeed = 19200,
+    //.EncoderDevPath = "/dev/ttyUSB1",
+    //.EncoderDevSpeed = 153000,
+    .MountReqInterval = 0.1,
+    .SepEncoder = 0
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    Mount.quit();
+    exit(sig);
+}
+
+int main(int _U_ argc, char _U_ **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    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");
+    printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
+    if(isnan(G.X) && isnan(G.Y)){
+        Mount.quit();
+        return 0;
+    }
+    if(isnan(G.X)) G.X = RAD2DEG(M.X);
+    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);
+    waitmoving(G.Ncycles);
+    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));
+    Mount.quit();
+    return 0;
+}