test of polling sensors

LibSidServo/.qtcreator/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/libsidservo.files

@@ -22,6 +22,7 @@ examples/traectories.h
 main.h
 movingmodel.c
 movingmodel.h
+polltest/main.c
 ramp.c
 ramp.h
 serial.h

LibSidServo/polltest/main.c

@@ -0,0 +1,237 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2026 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 <fcntl.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <usefull_macros.h>
+
+#define XYBUFSZ     (2048)
+
+struct{
+    int help;
+    char *Xpath;
+    char *Ypath;
+    double dt;
+} G = {
+    .Xpath = "/dev/encoder_X0",
+    .Ypath = "/dev/encoder_Y0",
+    .dt = 0.001,
+};
+
+sl_option_t options[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"Xpath",   NEED_ARG,   NULL,   'X',    arg_string, APTR(&G.Xpath),     "path to X encoder"},
+    {"Ypath",   NEED_ARG,   NULL,   'Y',    arg_string, APTR(&G.Ypath),     "path to Y encoder"},
+    {"dt",      NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.dt),        "request interval (1e-4..10s)"},
+};
+
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+static int Xfd = -1, Yfd = -1;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    DBG("close");
+    if(Xfd > 0){ close(Xfd); Xfd = -1; }
+    if(Yfd > 0){ close(Yfd); Yfd = -1; }
+    exit(sig);
+}
+
+static int op(const char *nm){
+    int fd = open(nm, O_RDWR|O_NOCTTY|O_NONBLOCK);
+    if(fd < 0) ERR("Can't open %s", nm);
+    struct termios2 tty;
+    if(ioctl(fd, TCGETS2, &tty)) ERR("Can't read TTY settings");
+    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 = 1000000;
+    tty.c_ospeed = 1000000;
+    if(ioctl(fd, TCSETS2, &tty)) ERR("Can't set TTY settings");
+    // try to set exclusive
+    if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
+    return fd;
+}
+
+static int eolcnt(buf_t *buf){
+    if(!buf) return -1;
+    int cnt = 0;
+    for(int i = 0; i < buf->len; ++i)
+        if(buf->buf[i] == '\n') ++cnt;
+    return cnt;
+}
+// move last record (if any) into head of buffer
+static void movelast(buf_t *buf){
+    FNAME();
+    if(!buf) return;
+    DBG("buf was: %s", buf->buf);
+    int cnt = eolcnt(buf);
+    char *E = strrchr(buf->buf, '\n');
+    int idx = -1;
+    if(E){
+        idx = ++E - buf->buf; // position of symbol after '\n'
+    }else{
+        buf->len = strlen(buf->buf);
+        DBG("leave as is (%s)", buf->buf);
+        return;
+    }
+    DBG("cnt=%d, idx=%d", cnt, idx);
+    switch(cnt){
+        case 0: // EOL not found - clear buf
+            buf->len = 0;
+        break;
+        case 1: // only one record - move all after '\n'
+            if(idx > 0 && idx < XYBUFSZ){
+                buf->len = XYBUFSZ - idx;
+                memmove(buf->buf, E, buf->len);
+            }else buf->len = 0;
+        break;
+        default: // more than one record - move
+        {
+            int i = idx - 2;
+            for(; i > -1; --i)
+                if(buf->buf[i] == '\n') break;
+            ++i;
+            buf->len = XYBUFSZ - i;
+            memmove(buf->buf, &buf->buf[i], buf->len);
+        }
+    }
+    buf->buf[buf->len] = 0;
+    DBG("MOVED; now buf[%d]=%s", buf->len, buf->buf);
+}
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    if(!buf){WARNX("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("len: %d", buf->len);
+        movelast(buf);
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        WARN("read()");
+        return FALSE;
+    }else if(got == 0) return TRUE;
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf) return -1;
+    // read record between last '\n' and previous (or start of string)
+    int cnt = eolcnt(buf);
+    if(cnt < 1) return FALSE;
+    char *last = strrchr(buf->buf, '\n');
+    if(!last) return FALSE; // WTF?
+    *last = 0;
+    char *prev = buf->buf;
+    if(cnt > 1) prev = strrchr(buf->buf, '\n') + 1;
+    if(!prev) prev = buf->buf; // ??
+    if(out) *out = atol(prev);
+    int l = strlen(++last);
+    if(l < XYBUFSZ){
+        buf->len = l;
+        if(l){
+            memmove(buf->buf, last, l);
+            DBG("moved: %s", buf->buf);
+        }else DBG("empty line");
+    }else{
+        buf->len = 0;
+        DBG("buffer clear");
+    }
+    return TRUE;
+}
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
+int main(int argc, char **argv){
+    buf_t xbuf, ybuf;
+    long xlast, ylast;
+    double xtlast, ytlast;
+    sl_init();
+    sl_parseargs(&argc, &argv, options);
+    if(G.help) sl_showhelp(-1, options);
+    if(G.dt < 1e-4) ERRX("dx too small");
+    if(G.dt > 10.) ERRX("dx too big");
+    Xfd = op(G.Xpath);
+    Yfd = op(G.Ypath);
+    struct pollfd pfds[2];
+    pfds[0].fd = Xfd; pfds[0].events = POLLIN;
+    pfds[1].fd = Yfd; pfds[1].events = POLLIN;
+    double t0x, t0y, tstart;
+    asknext(Xfd); asknext(Yfd);
+    t0x = t0y = tstart = sl_dtime();
+    DBG("Start");
+    do{ // main cycle
+        if(poll(pfds, 2, 1) < 0){
+            WARN("poll()");
+            break;
+        }
+        if(pfds[0].revents && POLLIN){
+            if(!readstrings(&xbuf, Xfd)) break;
+        }
+        if(pfds[1].revents && POLLIN){
+            if(!readstrings(&ybuf, Yfd)) break;
+        }
+        double curt = sl_dtime();
+        if(getdata(&xbuf, &xlast)) xtlast = curt;
+        if(curt - t0x >= G.dt){ // get last records
+            if(curt - xtlast < 1.5*G.dt)
+                printf("%-14.4fX=%ld\n", xtlast-tstart, xlast);
+            if(!asknext(Xfd)) break;
+            t0x = (curt - t0x < 2.*G.dt) ? t0x + G.dt : curt;
+        }
+        curt = sl_dtime();
+        if(getdata(&ybuf, &ylast)) ytlast = curt;
+        if(curt - t0y >= G.dt){ // get last records
+            if(curt - ytlast < 1.5*G.dt)
+                printf("%-14.4fY=%ld\n", ytlast-tstart, ylast);
+            if(!asknext(Yfd)) break;
+            t0y = (curt - t0y < 2.*G.dt) ? t0y + G.dt : curt;
+        }
+    }while(Xfd > 0 && Yfd > 0);
+    DBG("OOps: disconnected");
+    signals(0);
+    return 0;
+}