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start configurator

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This commit is contained in:
Edward V. Emelianov
2025-02-27 22:46:51 +03:00
parent 70dec29f02
commit 943409c53e
14 changed files with 231 additions and 5 deletions
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1
LibSidServo/examples/CMakeLists.txt
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@@ -10,3 +10,4 @@ add_executable(dump dumpmoving.c dump.c conf.c)
add_executable(dump_s dumpmoving_scmd.c dump.c conf.c)
add_executable(dumpswing dumpswing.c dump.c conf.c)
add_executable(traectory_s scmd_traectory.c dump.c traectories.c conf.c)
add_executable(SSIIconf SSIIconf.c conf.c)

2
LibSidServo/examples/Readme.md
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@@ -24,3 +24,5 @@ Some examples of usage of libsidservo
*scmd_traectory.c* (`traectory_s`) - try to move around given traectory using "short" binary commands.
*SSIIconf.c* (`SSIIconf`) - read/write hardware configuration of controller

76
LibSidServo/examples/SSIIconf.c Normal file
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@@ -0,0 +1,76 @@
/*
* 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 <stdio.h>
#include <usefull_macros.h>
#include "conf.h"
#include "sidservo.h"
#include "simpleconv.h"
typedef struct{
int help;
int helpargs;
int writeconf;
char *conffile;
char *hwconffile;
} parameters;
static hardware_configuration_t HW = {0};
static parameters G = {0};
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"help-opts", NO_ARGS, NULL, 'H', arg_int, APTR(&G.helpargs), "configuration help"},
{"serconf", NEED_ARG, NULL, 'C', arg_string, APTR(&G.conffile), "serial configuration file name"},
{"hwconf", NEED_ARG, NULL, 'i', arg_string, APTR(&G.hwconffile),"SSII configuration file name"},
{"writeconf", NO_ARGS, NULL, 0, arg_int, APTR(&G.writeconf), "write configuration (BE CAREFUL!)"},
end_option
};
static sl_option_t confopts[] = {
{"Xaccel", NEED_ARG, NULL, 0, arg_double, APTR(&HW.Xconf.accel), "X Default Acceleration, rad/s^2"},
{"Yaccel", NEED_ARG, NULL, 0, arg_double, APTR(&HW.Yconf.accel), "Y Default Acceleration, rad/s^2"},
end_option
};
int main(int argc, char** argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
if(G.help)
sl_showhelp(-1, cmdlnopts);
if(G.helpargs)
sl_showhelp(-1, confopts);
conf_t *sconf = readServoConf(G.conffile);
if(!sconf){
dumpConf();
return 1;
}
if(MCC_E_OK != Mount.init(sconf)) ERRX("Can't init mount");
if(MCC_E_OK != Mount.getHWconfig(&HW)) ERRX("Can't read configuration");
char *c = sl_print_opts(confopts, TRUE);
green("Got configuration:\n");
printf("%s\n", c);
FREE(c);
if(G.hwconffile && G.writeconf){
;
}
Mount.quit();
return 0;
}

2
LibSidServo/examples/dumpmoving.c
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@@ -49,7 +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"},
{"conffile", NEED_ARG, NULL, 'C', arg_string, APTR(&G.conffile), "configuration file name"},
end_option
};

2
LibSidServo/examples/dumpmoving_scmd.c
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@@ -57,7 +57,7 @@ static sl_option_t cmdlnopts[] = {
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
{"reqinterval", NEED_ARG, NULL, 'i', arg_double, APTR(&G.reqint), "mount requests interval (default: 0.1)"},
{"axis", NEED_ARG, NULL, 'a', arg_string, APTR(&G.axis), "axis to move (X, Y or B for both)"},
{"conffile", NEED_ARG, NULL, 'C', arg_int, APTR(&G.conffile), "configuration file name"},
{"conffile", NEED_ARG, NULL, 'C', arg_string, APTR(&G.conffile), "configuration file name"},
{"relative", NO_ARGS, NULL, 'r', arg_int, APTR(&G.relative), "relative move"},
end_option
};

2
LibSidServo/examples/goto.c
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@@ -53,7 +53,7 @@ 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"},
{"conffile", NEED_ARG, NULL, 'C', arg_string, APTR(&G.conffile), "configuration file name"},
end_option
};

2
LibSidServo/examples/scmd_traectory.c
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@@ -66,7 +66,7 @@ static sl_option_t cmdlnopts[] = {
{"tmax", NEED_ARG, NULL, 'T', arg_double, APTR(&G.tmax), "maximal duration time of emulation (default: 300 seconds)"},
{"x0", NEED_ARG, NULL, '0', arg_double, APTR(&G.X0), "starting X-coordinate of traectory (default: 10 degrees)"},
{"y0", NEED_ARG, NULL, '1', arg_double, APTR(&G.Y0), "starting Y-coordinate of traectory (default: 10 degrees)"},
{"conffile", NEED_ARG, NULL, 'C', arg_int, APTR(&G.conffile), "configuration file name"},
{"conffile", NEED_ARG, NULL, 'C', arg_string, APTR(&G.conffile), "configuration file name"},
end_option
};