remove dependence of libusefull_macros
This commit is contained in:
parent
19f61697d6
commit
5441a87fff
@ -1,53 +0,0 @@
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/*
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* This file is part of the libsidservo project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <usefull_macros.h>
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#include "sidservo.h"
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conf_t Conf = {0};
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static sl_option_t cmdlnopts[] = {
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{"mountpath", NEED_ARG, NULL, 0, arg_string, APTR(&Conf.MountPath), "path to mount device"},
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{"mountspeed", NEED_ARG, NULL, 0, arg_int, APTR(&Conf.MountSpeed), "serial speed of mount device"},
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{"encoderpath", NEED_ARG, NULL, 0, arg_string, APTR(&Conf.EncoderPath), "path to encoder device"},
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{"encoderspeed",NEED_ARG, NULL, 0, arg_int, APTR(&Conf.EncoderSpeed), "serial speed of encoder device"},
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{"verbose", NEED_ARG, NULL, 0, arg_int, APTR(&Conf.verbose), "verbose level"},
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};
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int readconf(const char *path){
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int o = sl_conf_readopts(path, cmdlnopts);
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if(o > 0){
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DBG("Got %d parameters in %s", o, path);
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char *buf = sl_print_opts(cmdlnopts, TRUE);
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DBG("%s\n", buf);
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FREE(buf);
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}
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return o;
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}
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void dumpconf(){
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char *buf = sl_print_opts(cmdlnopts, TRUE);
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printf("%s\n", buf);
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FREE(buf);
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}
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void help(){
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sl_showhelp(-1, cmdlnopts);
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}
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@ -1,23 +0,0 @@
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/*
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* This file is part of the libsidservo project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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int readconf(const char *path);
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void dumpconf();
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void help();
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64
LibSidServo/dbg.h
Normal file
64
LibSidServo/dbg.h
Normal file
@ -0,0 +1,64 @@
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/*
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* This file is part of the libsidservo project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdlib.h>
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#include "sidservo.h"
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extern conf_t Conf;
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// unused arguments of functions
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#define _U_ __attribute__((__unused__))
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// break absent in `case`
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#define FALLTHRU __attribute__ ((fallthrough))
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// and synonym for FALLTHRU
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#define NOBREAKHERE __attribute__ ((fallthrough))
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// weak functions
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#define WEAK __attribute__ ((weak))
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#ifndef DBL_EPSILON
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#define DBL_EPSILON (2.2204460492503131e-16)
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#endif
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#ifndef FALSE
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#define FALSE (0)
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#endif
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#ifndef TRUE
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#define TRUE (1)
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#endif
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#ifdef EBUG
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#include <stdio.h>
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#define COLOR_RED "\033[1;31;40m"
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#define COLOR_GREEN "\033[1;32;40m"
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#define COLOR_OLD "\033[0;0;0m"
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#define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
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fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
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#define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
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fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
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fprintf(stderr, __VA_ARGS__); \
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fprintf(stderr, "\n");} while(0)
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#else // EBUG
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#define FNAME() do{}while(0)
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#define DBG(...) do{}while(0)
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#endif // EBUG
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@ -25,10 +25,8 @@
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typedef struct{
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int help;
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int confhelp;
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int verbose;
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char *logfile;
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char *conffile;
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char *coordsoutput;
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} parameters;
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@ -36,10 +34,8 @@ static parameters G = {0};
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static sl_option_t cmdlnopts[] = {
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{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
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{"confhelp", NO_ARGS, NULL, 0, arg_int, APTR(&G.confhelp), "show configuration file help"},
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{"verbose", NO_ARGS, NULL, 'v', arg_none, APTR(&G.verbose), "verbose level (each -v adds 1)"},
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{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), "log file name"},
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{"conffile", NEED_ARG, NULL, 'c', arg_string, APTR(&G.conffile), "configuration file name"},
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{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
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end_option
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};
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@ -54,25 +50,25 @@ void signals(int sig){
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exit(sig);
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}
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static conf_t Config = {
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.MountPath = "/dev/ttyS1",
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.MountSpeed = 19200,
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.EncoderPath = "/dev/ttyUSB0",
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.EncoderSpeed = 153000
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};
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int main(int argc, char **argv){
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sl_init();
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sl_parseargs(&argc, &argv, cmdlnopts);
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if(G.help) sl_showhelp(-1, cmdlnopts);
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if(G.confhelp) Mount.helpandquit();
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if(!G.conffile) ERRX("Point configuration file name");
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sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
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if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
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if(G.logfile) OPENLOG(G.logfile, lvl, 1);
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time_t curtime = time(NULL);
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LOGMSG("Started @ %s", ctime(&curtime));
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if(Mount.readconf(G.conffile) < 0) ERRX("Can't read configuration file %s", G.conffile);
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green("Got config:\n");
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Mount.dumpconf();
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if(!Mount.init()) ERRX("Can't init");
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DBG("Devices ready");
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LOGMSG("Mount device %s @ %d", Conf.MountPath, Conf.MountSpeed);
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LOGMSG("Encoder device %s @ %d", Conf.EncoderPath, Conf.EncoderSpeed);
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LOGMSG("Mount device %s @ %d", Config.MountPath, Config.MountSpeed);
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LOGMSG("Encoder device %s @ %d", Config.EncoderPath, Config.EncoderSpeed);
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signal(SIGTERM, signals); // kill (-15) - quit
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signal(SIGHUP, SIG_IGN); // hup - ignore
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signal(SIGINT, signals); // ctrl+C - quit
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184
LibSidServo/libsidservo.creator.user.cf63021
Normal file
184
LibSidServo/libsidservo.creator.user.cf63021
Normal file
@ -0,0 +1,184 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE QtCreatorProject>
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<!-- Written by QtCreator 15.0.0, 2025-01-27T14:56:12. -->
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<qtcreator>
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<data>
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<variable>EnvironmentId</variable>
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<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
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</data>
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<data>
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<variable>ProjectExplorer.Project.ActiveTarget</variable>
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<value type="qlonglong">0</value>
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</data>
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<data>
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<variable>ProjectExplorer.Project.EditorSettings</variable>
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<valuemap type="QVariantMap">
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<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
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<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
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<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
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<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
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<value type="QString" key="language">Cpp</value>
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<valuemap type="QVariantMap" key="value">
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<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
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</valuemap>
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</valuemap>
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<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
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<value type="QString" key="language">QmlJS</value>
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<valuemap type="QVariantMap" key="value">
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<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
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</valuemap>
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</valuemap>
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<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
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<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
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<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
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<value type="int" key="EditorConfiguration.IndentSize">4</value>
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<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
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<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
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<value type="int" key="EditorConfiguration.MarginColumn">80</value>
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<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
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<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
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<value type="int" key="EditorConfiguration.PaddingMode">1</value>
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<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
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<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
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||||
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
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<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
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||||
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
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||||
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
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||||
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
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||||
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
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||||
<value type="int" key="EditorConfiguration.TabSize">8</value>
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<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
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<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
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||||
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
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<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
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<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
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<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
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<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
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<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
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<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
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<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
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</valuemap>
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</data>
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<data>
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<variable>ProjectExplorer.Project.PluginSettings</variable>
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<valuemap type="QVariantMap">
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||||
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
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||||
<value type="bool" key="AutoTest.Framework.Boost">true</value>
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<value type="bool" key="AutoTest.Framework.CTest">false</value>
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<value type="bool" key="AutoTest.Framework.Catch">true</value>
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<value type="bool" key="AutoTest.Framework.GTest">true</value>
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<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
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<value type="bool" key="AutoTest.Framework.QtTest">true</value>
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</valuemap>
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<value type="bool" key="AutoTest.ApplyFilter">false</value>
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<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
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||||
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
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<value type="int" key="AutoTest.RunAfterBuild">0</value>
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||||
<value type="bool" key="AutoTest.UseGlobal">true</value>
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||||
<valuemap type="QVariantMap" key="ClangTools">
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||||
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
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<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
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<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
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<value type="int" key="ClangTools.ParallelJobs">4</value>
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<value type="bool" key="ClangTools.PreferConfigFile">true</value>
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||||
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
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||||
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
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||||
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
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||||
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
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||||
</valuemap>
|
||||
</valuemap>
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||||
</data>
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||||
<data>
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||||
<variable>ProjectExplorer.Project.Target.0</variable>
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||||
<valuemap type="QVariantMap">
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||||
<value type="QString" key="DeviceType">Desktop</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
|
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<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
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<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
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||||
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
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||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
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<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||
<value type="QString">all</value>
|
||||
</valuelist>
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||||
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
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</valuemap>
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<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
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</valuemap>
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
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||||
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||
<value type="QString">clean</value>
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||||
</valuelist>
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||||
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
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</valuemap>
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<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
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||||
</valuemap>
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<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
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||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
|
||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
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||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
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||||
</valuemap>
|
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<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
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<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||
</valuemap>
|
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<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||
<value type="QList<int>" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
|
||||
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
|
||||
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
|
||||
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
|
||||
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.TargetCount</variable>
|
||||
<value type="qlonglong">1</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
|
||||
<value type="int">22</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>Version</variable>
|
||||
<value type="int">22</value>
|
||||
</data>
|
||||
</qtcreator>
|
||||
@ -1,6 +1,5 @@
|
||||
CMakeLists.txt
|
||||
conf.c
|
||||
conf.h
|
||||
dbg.h
|
||||
examples/dumpmoving.c
|
||||
main.c
|
||||
sidservo.h
|
||||
|
||||
@ -0,0 +1,2 @@
|
||||
.
|
||||
..
|
||||
@ -18,44 +18,51 @@
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <usefull_macros.h>
|
||||
|
||||
#include "conf.h"
|
||||
#include "dbg.h"
|
||||
#include "serial.h"
|
||||
#include "sidservo.h"
|
||||
|
||||
static int init(){
|
||||
if(!Conf.EncoderPath || !Conf.EncoderSpeed){
|
||||
WARNX("Define encoder device path and speed");
|
||||
return FALSE;
|
||||
conf_t Conf = {0};
|
||||
|
||||
/**
|
||||
* @brief init - open serial devices and do other job
|
||||
* @param c - initial configuration
|
||||
* @return error code
|
||||
*/
|
||||
static mcc_errcodes_t init(conf_t *c){
|
||||
if(!c) return MCC_E_BADFORMAT;
|
||||
Conf = *c;
|
||||
if(!Conf.EncoderPath || Conf.EncoderSpeed < 1200){
|
||||
DBG("Define encoder device path and speed");
|
||||
return MCC_E_BADFORMAT;
|
||||
}
|
||||
if(!Conf.MountPath || !Conf.MountSpeed){
|
||||
WARNX("Define mount device path and speed");
|
||||
return FALSE;
|
||||
if(!Conf.MountPath || Conf.MountSpeed < 1200){
|
||||
DBG("Define mount device path and speed");
|
||||
return MCC_E_BADFORMAT;
|
||||
}
|
||||
if(!openEncoder(Conf.EncoderPath, Conf.EncoderSpeed)){
|
||||
WARNX("Can't open %s with speed %d", Conf.EncoderPath, Conf.EncoderSpeed);
|
||||
return FALSE;
|
||||
DBG("Can't open %s with speed %d", Conf.EncoderPath, Conf.EncoderSpeed);
|
||||
return MCC_E_ENCODERDEV;
|
||||
}
|
||||
if(!openMount(Conf.MountPath, Conf.MountSpeed)){
|
||||
WARNX("Can't open %s with speed %d", Conf.MountPath, Conf.MountSpeed);
|
||||
return FALSE;
|
||||
DBG("Can't open %s with speed %d", Conf.MountPath, Conf.MountSpeed);
|
||||
return MCC_E_MOUNTDEV;
|
||||
}
|
||||
// init RNG
|
||||
srand48(sl_random_seed());
|
||||
return TRUE;
|
||||
return MCC_E_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief quit - close all opened and return to default state
|
||||
*/
|
||||
static void quit(){
|
||||
DBG("Close serial devices");
|
||||
closeSerial();
|
||||
DBG("Exit");
|
||||
}
|
||||
|
||||
// init mount class
|
||||
mount_t Mount = {
|
||||
.readconf = readconf,
|
||||
.dumpconf = dumpconf,
|
||||
.helpandquit = help,
|
||||
.init = init,
|
||||
.quit = quit,
|
||||
.getEnc = getEnc
|
||||
};
|
||||
|
||||
@ -16,35 +16,62 @@
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <asm-generic/termbits.h>
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
#include <pthread.h>
|
||||
#include <stdatomic.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <usefull_macros.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "dbg.h"
|
||||
#include "serial.h"
|
||||
#include "sidservo.h"
|
||||
|
||||
// serial devices
|
||||
static sl_tty_t *EncDev = NULL, *MntDev = NULL;
|
||||
// serial devices FD
|
||||
static int encfd = -1, mntfd = -1;
|
||||
// time of last EncData started
|
||||
static double tgot = 0.;
|
||||
static _Atomic double tgot = 0.;
|
||||
// last Enc values
|
||||
static uint32_t encX = 0, encY = 0;
|
||||
static _Atomic int32_t encX = 0, encY = 0;
|
||||
|
||||
// mutex for RW operations with mount device
|
||||
static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
// encoders thread
|
||||
static pthread_t encthread;
|
||||
|
||||
// encoders raw data
|
||||
typedef struct __attribute__((packed)){
|
||||
uint8_t magick;
|
||||
uint32_t encX;
|
||||
uint32_t encY;
|
||||
int32_t encX;
|
||||
int32_t encY;
|
||||
uint8_t CRC[4];
|
||||
} enc_t;
|
||||
|
||||
/**
|
||||
* @brief dtime - UNIX time with microsecond
|
||||
* @return value
|
||||
*/
|
||||
static double dtime(){
|
||||
double t;
|
||||
struct timeval tv;
|
||||
gettimeofday(&tv, NULL);
|
||||
t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
|
||||
return t;
|
||||
}
|
||||
|
||||
|
||||
static void parce_encbuf(uint8_t databuf[ENC_DATALEN], double nexttime){
|
||||
/**
|
||||
* @brief parse_encbuf - check encoder buffer and fill fresh data
|
||||
* @param databuf - input buffer with 13 bytes of data
|
||||
* @param nexttime - time when databuf[0] got
|
||||
*/
|
||||
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double nexttime){
|
||||
enc_t *edata = (enc_t*) databuf;
|
||||
if(edata->magick != ENC_MAGICK){
|
||||
DBG("No magick");
|
||||
@ -74,67 +101,132 @@ static void parce_encbuf(uint8_t databuf[ENC_DATALEN], double nexttime){
|
||||
encX = edata->encX;
|
||||
encY = edata->encY;
|
||||
tgot = nexttime;
|
||||
DBG("time = %g, X=%d, Y=%d", tgot, encX, encY);
|
||||
}
|
||||
|
||||
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
|
||||
static int getbyte(){
|
||||
if(encfd < 0) return -1;
|
||||
uint8_t byte;
|
||||
fd_set rfds;
|
||||
// default timeot = 100us, 1.5 bytes
|
||||
struct timeval tv, tvdeflt = {.tv_sec = 0, .tv_usec = 100};
|
||||
do{
|
||||
FD_ZERO(&rfds);
|
||||
FD_SET(encfd, &rfds);
|
||||
tv = tvdeflt;
|
||||
int retval = select(encfd + 1, &rfds, NULL, NULL, &tv);
|
||||
if(!retval) break;
|
||||
if(retval < 0){
|
||||
if(errno == EINTR) continue;
|
||||
return -1;
|
||||
}
|
||||
if(FD_ISSET(encfd, &rfds)){
|
||||
ssize_t l = read(encfd, &byte, 1);
|
||||
if(l != 1) return -2; // disconnected ??
|
||||
break;
|
||||
}
|
||||
}while(1);
|
||||
return (int)byte;
|
||||
}
|
||||
|
||||
// main encoder thread: read next data and make parsing
|
||||
static void *encoderthread(void _U_ *u){
|
||||
uint8_t databuf[ENC_DATALEN];
|
||||
int wridx = 0;
|
||||
double nexttime = 0.;
|
||||
void add2buf(){
|
||||
size_t len = ENC_DATALEN - wridx;
|
||||
if(EncDev->buflen < len) len = EncDev->buflen;
|
||||
memcpy(databuf+wridx, EncDev->buf, len);
|
||||
wridx += len;
|
||||
}
|
||||
while(EncDev){
|
||||
if(sl_tty_read(EncDev)){
|
||||
DBG("Got %zd bytes from Encoder", EncDev->buflen);
|
||||
if(EncDev->buflen <= ENC_DATALEN){
|
||||
int wridx = 0, errctr = 0;
|
||||
double starttime = 0.;
|
||||
while(encfd > -1 && errctr < MAX_ERR_CTR){
|
||||
int b = getbyte();
|
||||
if(b == -2) ++errctr;
|
||||
if(b < 0) continue;
|
||||
errctr = 0;
|
||||
DBG("Got byte from Encoder: 0x%02X", b);
|
||||
if(wridx == 0){
|
||||
if((uint8_t)EncDev->buf[0] == ENC_MAGICK){
|
||||
add2buf();
|
||||
nexttime = sl_dtime();
|
||||
if((uint8_t)b == ENC_MAGICK){
|
||||
DBG("Got magic -> start filling packet");
|
||||
databuf[wridx++] = (uint8_t) b;
|
||||
starttime = dtime();
|
||||
}
|
||||
}else add2buf();
|
||||
continue;
|
||||
}else databuf[wridx++] = (uint8_t) b;
|
||||
if(wridx == ENC_DATALEN){
|
||||
parce_encbuf(databuf, nexttime);
|
||||
parse_encbuf(databuf, starttime);
|
||||
wridx = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
if(encfd > -1){
|
||||
close(encfd);
|
||||
encfd = -1;
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// open device and return its FD or -1
|
||||
static int ttyopen(const char *path, int speed){
|
||||
int fd = -1;
|
||||
struct termios2 tty;
|
||||
DBG("Try to open %s @ %d", path, speed);
|
||||
if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
|
||||
if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
|
||||
tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
|
||||
tty.c_iflag = 0; // don't do any changes in input stream
|
||||
tty.c_oflag = 0; // don't do any changes in output stream
|
||||
tty.c_cflag = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
|
||||
tty.c_ispeed = speed;
|
||||
tty.c_ospeed = speed;
|
||||
tty.c_cc[VMIN] = 0; // non-canonical mode
|
||||
tty.c_cc[VTIME] = 5;
|
||||
if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
|
||||
DBG("Check speed");
|
||||
if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
|
||||
// try to set exclusive
|
||||
ioctl(fd, TIOCEXCL);
|
||||
return fd;
|
||||
}
|
||||
|
||||
// return FALSE if failed
|
||||
int openEncoder(const char *path, int speed){
|
||||
EncDev = sl_tty_new((char*)path, speed, 256);
|
||||
if(EncDev) EncDev = sl_tty_open(EncDev, 1);
|
||||
if(!EncDev) return FALSE;
|
||||
sl_tty_tmout(5.); // 5us timeout
|
||||
if(encfd > -1) close(encfd);
|
||||
encfd = ttyopen(path, speed);
|
||||
if(encfd < 0) return FALSE;
|
||||
if(pthread_create(&encthread, NULL, encoderthread, NULL)) return FALSE;
|
||||
DBG("Encoder opened");
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
// return FALSE if failed
|
||||
int openMount(const char *path, int speed){
|
||||
MntDev = sl_tty_new((char*)path, speed, 256);
|
||||
if(MntDev) MntDev = sl_tty_open(MntDev, 1);
|
||||
if(!MntDev) return FALSE;
|
||||
if(mntfd > -1) close(mntfd);
|
||||
mntfd = ttyopen(path, speed);
|
||||
if(mntfd < 0) return FALSE;
|
||||
DBG("Mount opened");
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
// close all opened serial devices and quit threads
|
||||
void closeSerial(){
|
||||
if(MntDev){
|
||||
if(mntfd > -1){
|
||||
DBG("Close mount");
|
||||
pthread_mutex_lock(&mntmutex);
|
||||
sl_tty_close(&MntDev);
|
||||
close(mntfd);
|
||||
mntfd = -1;
|
||||
pthread_mutex_unlock(&mntmutex);
|
||||
}
|
||||
if(EncDev){
|
||||
if(encfd > -1){
|
||||
DBG("Close encoder");
|
||||
pthread_cancel(encthread);
|
||||
pthread_join(encthread, NULL);
|
||||
sl_tty_close(&EncDev);
|
||||
close(encfd);
|
||||
encfd = -1;
|
||||
}
|
||||
}
|
||||
|
||||
// get fresh encoder information
|
||||
mcc_errcodes_t getEnc(coords_t *c){
|
||||
if(!c) return MCC_E_BADFORMAT;
|
||||
if(encfd < 0) return MCC_E_ENCODERDEV;
|
||||
c->msrtime = tgot;
|
||||
c->X = (double)encX / ENC_TURN_XTICKS * 360.;
|
||||
c->Y = (double)encY / ENC_TURN_YTICKS * 360.;
|
||||
return MCC_E_OK;
|
||||
}
|
||||
|
||||
@ -18,11 +18,19 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "sidservo.h"
|
||||
|
||||
// magick starting sequence
|
||||
#define ENC_MAGICK (204)
|
||||
// encoder data sequence length
|
||||
#define ENC_DATALEN (13)
|
||||
// max error counter (when read() returns -1)
|
||||
#define MAX_ERR_CTR (100)
|
||||
// encoder ticks per turn
|
||||
#define ENC_TURN_XTICKS (111111.)
|
||||
#define ENC_TURN_YTICKS (111111.)
|
||||
|
||||
int openEncoder(const char *path, int speed);
|
||||
int openMount(const char *path, int speed);
|
||||
void closeSerial();
|
||||
mcc_errcodes_t getEnc(coords_t *c);
|
||||
|
||||
@ -18,21 +18,32 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
typedef struct{
|
||||
char* MountPath;
|
||||
int MountSpeed;
|
||||
char* EncoderPath;
|
||||
int EncoderSpeed;
|
||||
int verbose;
|
||||
} conf_t;
|
||||
// error codes
|
||||
typedef enum{
|
||||
MCC_E_OK = 0, // all OK
|
||||
MCC_E_FATAL, // some fatal error
|
||||
MCC_E_BADFORMAT, // wrong arguments of function
|
||||
MCC_E_ENCODERDEV, // encoder device error or can't open
|
||||
MCC_E_MOUNTDEV, // mount device error or can't open
|
||||
} mcc_errcodes_t;
|
||||
|
||||
typedef struct{
|
||||
int (*readconf)(const char *path); // read config file
|
||||
void (*dumpconf)();
|
||||
void (*helpandquit)();
|
||||
int (*init)();
|
||||
char* MountPath; // path to mount device
|
||||
int MountSpeed; // serial speed
|
||||
char* EncoderPath; // path to encoder device
|
||||
int EncoderSpeed; // serial speed
|
||||
} conf_t;
|
||||
|
||||
// coordinates in degrees: X, Y and time when they were reached
|
||||
typedef struct{
|
||||
double X; double Y; double msrtime;
|
||||
} coords_t;
|
||||
|
||||
// mount class
|
||||
typedef struct{
|
||||
mcc_errcodes_t (*init)(conf_t *c);
|
||||
void (*quit)();
|
||||
mcc_errcodes_t (*getEnc)(coords_t *c);
|
||||
} mount_t;
|
||||
|
||||
extern mount_t Mount;
|
||||
extern conf_t Conf;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user