added short cmd, not tested

2025-02-11 22:42:32 +03:00
parent d7df8e5bf1
commit aefeb50aab
13 changed files with 435 additions and 75 deletions
--- a/LibSidServo/examples/dump.c
+++ b/LibSidServo/examples/dump.c
@@ -0,0 +1,106 @@
+/*
+ * 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/>.
+ */
+
+// logging of mount position
+
+#include <usefull_macros.h>
+
+#include "dump.h"
+#include "simpleconv.h"
+
+/**
+ * @brief logmnt - log mount data into file
+ * @param fcoords - file to dump
+ * @param m - mount data
+ */
+void logmnt(FILE *fcoords, mountdata_t *m){
+    if(!fcoords || !m) return;
+    DBG("LOG");
+    static double t0 = -1.;
+    if(!fcoords) return;
+    if(!m){ // write header
+        fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
+        return;
+    }
+    if(t0 < 0.) t0 = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6;
+    double t = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6 - t0;
+    // write data
+    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
+            t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
+            RAD2DEG(m->encposition.X), RAD2DEG(m->encposition.Y),
+            m->millis, m->temperature, m->voltage);
+}
+
+/**
+ * @brief dumpmoving - dump conf while moving
+ * @param fcoords - dump file
+ * @param t - max waiting time
+ * @param N - number of cycles to wait while motors aren't moving
+ */
+void dumpmoving(FILE *fcoords, double t, int N){
+    if(!fcoords) return;
+    mountdata_t mdata;
+    DBG("Start dump");
+    int ntries = 0;
+    for(; ntries < 10; ++ntries){
+        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
+    }
+    if(ntries == 10){
+        WARNX("Can't get mount data");
+        LOGWARN("Can't get mount data");
+    }
+    uint32_t millis = mdata.millis;
+    int ctr = -1;
+    double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
+    double t0 = sl_dtime();
+    DBG("millis = %u", millis);
+    while(sl_dtime() - t0 < t && ctr < N){
+        usleep(10000);
+        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
+        if(mdata.millis == millis) continue;
+        DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
+        millis = mdata.millis;
+        if(fcoords) logmnt(fcoords, &mdata);
+        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
+            xlast = mdata.motposition.X;
+            ylast = mdata.motposition.Y;
+            ctr = 0;
+        }else ++ctr;
+    }
+}
+
+/**
+ * @brief waitmoving - wait until moving by both axes stops at least for N cycles
+ * @param N - amount of stopped cycles
+ */
+void waitmoving(int N){
+    mountdata_t mdata;
+    int ctr = -1;
+    uint32_t millis = 0;
+    double xlast = 0., ylast = 0.;
+    while(ctr < N){
+        usleep(10000);
+        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
+        if(mdata.millis == millis) continue;
+        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
+            xlast = mdata.motposition.X;
+            ylast = mdata.motposition.Y;
+            ctr = 0;
+        }else ++ctr;
+    }
+}