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This commit is contained in:
Edward V. Emelianov
2025-02-18 22:15:51 +03:00
parent 828523c7e1
commit f8060cfa40
11 changed files with 382 additions and 21 deletions
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30
LibSidServo/examples/goto.c
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@@ -30,6 +30,7 @@
typedef struct{
int help;
int Ncycles;
char *coordsoutput;
double X;
double Y;
} parameters;
@@ -43,8 +44,9 @@ static parameters G = {
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles of waiting in stopped state (default: 40)"},
{"newx", NEED_ARG, NULL, 'X', arg_double, APTR(&G.X), "New X coordinate"},
{"newy", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Y), "New Y coordinate"},
{"newx", NEED_ARG, NULL, 'X', arg_double, APTR(&G.X), "new X coordinate"},
{"newy", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Y), "new Y coordinate"},
{"output", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
end_option
};
@@ -57,15 +59,26 @@ static conf_t Config = {
.SepEncoder = 0
};
static FILE* fcoords = NULL;
static pthread_t dthr;
void signals(int sig){
pthread_cancel(dthr);
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
Mount.quit();
if(fcoords) fclose(fcoords);
exit(sig);
}
// dump thread
static void *dumping(void _U_ *u){
dumpmoving(fcoords, 3600., G.Ncycles);
return NULL;
}
int main(int _U_ argc, char _U_ **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
@@ -73,11 +86,14 @@ int main(int _U_ argc, char _U_ **argv){
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");
printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
if(isnan(G.X) && isnan(G.Y)){
Mount.quit();
return 0;
if(G.coordsoutput){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
}
printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
if(isnan(G.X) && isnan(G.Y)) goto out;
if(isnan(G.X)) G.X = RAD2DEG(M.X);
if(isnan(G.Y)) G.Y = RAD2DEG(M.Y);
printf("Moving to X=%g deg, Y=%g deg\n", G.X, G.Y);
@@ -86,6 +102,8 @@ int main(int _U_ argc, char _U_ **argv){
waitmoving(G.Ncycles);
if(!getPos(&M, NULL)) WARNX("Can't get current position");
else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
out:
if(G.coordsoutput) pthread_join(dthr, NULL);
Mount.quit();
return 0;
}