shit happens

LibSidServo/examples/goto.c

@@ -23,6 +23,7 @@
 #include <time.h>
 #include <usefull_macros.h>
 
+#include "conf.h"
 #include "dump.h"
 #include "sidservo.h"
 #include "simpleconv.h"
@@ -33,6 +34,7 @@ typedef struct{
     int wait;
     int relative;
     char *coordsoutput;
+    char *conffile;
     double X;
     double Y;
 } parameters;
@@ -51,18 +53,10 @@ static sl_option_t cmdlnopts[] = {
     {"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"},
     {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
     end_option
 };
 
-static conf_t Config = {
-    .MountDevPath = "/dev/ttyUSB0",
-    .MountDevSpeed = 19200,
-    //.EncoderDevPath = "/dev/ttyUSB1",
-    //.EncoderDevSpeed = 153000,
-    .MountReqInterval = 0.1,
-    .SepEncoder = 0
-};
-
 static FILE* fcoords = NULL;
 static pthread_t dthr;
 
@@ -86,8 +80,14 @@ static void *dumping(void _U_ *u){
 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");
+    if(G.help)
+        sl_showhelp(-1, cmdlnopts);
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        return 1;
+    }
+    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){
@@ -126,6 +126,9 @@ int main(int _U_ argc, char _U_ **argv){
     }
 out:
     if(G.coordsoutput) pthread_join(dthr, NULL);
-    if(G.wait) Mount.quit();
+    if(G.wait){
+        if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
+        Mount.quit();
+    }
     return 0;
 }