eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

shit happens

Browse Source
This commit is contained in:
Edward V. Emelianov
2025-02-25 23:32:51 +03:00
parent f83f95c9cc
commit 5b89a968eb
17 changed files with 214 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
LibSidServo/examples/dumpmoving.c
View File

@@ -24,6 +24,7 @@
#include <time.h>
#include <usefull_macros.h>
#include "conf.h"
#include "dump.h"
#include "sidservo.h"
#include "simpleconv.h"
@@ -34,6 +35,7 @@ typedef struct{
int Ncycles;
char *logfile;
char *coordsoutput;
char *conffile;
} parameters;
static parameters G = {
@@ -47,6 +49,7 @@ static sl_option_t cmdlnopts[] = {
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), "log file name"},
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles in stopped state (default: 40)"},
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
{"conffile", NEED_ARG, NULL, 'C', arg_int, APTR(&G.conffile), "configuration file name"},
end_option
};
@@ -60,15 +63,6 @@ void signals(int sig){
exit(sig);
}
static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200,
//.EncoderDevPath = "/dev/ttyUSB1",
//.EncoderDevSpeed = 153000,
.MountReqInterval = 0.1,
.SepEncoder = 0
};
int main(int argc, char **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
@@ -76,6 +70,11 @@ int main(int argc, char **argv){
sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
if(G.logfile) OPENLOG(G.logfile, lvl, 1);
conf_t *Config = readServoConf(G.conffile);
if(!Config){
dumpConf();
return 1;
}
if(G.coordsoutput){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
@@ -83,23 +82,21 @@ int main(int argc, char **argv){
logmnt(fcoords, NULL);
time_t curtime = time(NULL);
LOGMSG("Started @ %s", ctime(&curtime));
LOGMSG("Mount device %s @ %d", Config.MountDevPath, Config.MountDevSpeed);
LOGMSG("Encoder device %s @ %d", Config.EncoderDevPath, Config.EncoderDevSpeed);
mcc_errcodes_t e = Mount.init(&Config);
if(e != MCC_E_OK){
WARNX("Can't init devices");
return 1;
}
LOGMSG("Mount device %s @ %d", Config->MountDevPath, Config->MountDevSpeed);
LOGMSG("Encoder device %s @ %d", Config->EncoderDevPath, Config->EncoderDevSpeed);
if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init devices");
coords_t M;
if(!getPos(&M, NULL)) ERRX("Can't get current position");
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
double tag = DEG2RAD(45.), zero = 0.;
if(MCC_E_OK != Mount.moveTo(&tag, &tag))
double tagx = DEG2RAD(45.) + M.X, tagy = DEG2RAD(45.) + M.Y;
if(MCC_E_OK != Mount.moveTo(&tagx, &tagy))
ERRX("Can't move to 45, 45");
dumpmoving(fcoords, 30., G.Ncycles);
Mount.moveTo(&zero, &zero);
Mount.moveTo(&M.X, &M.Y);
dumpmoving(fcoords, 30., G.Ncycles);
signals(0);
return 0;