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start traectories

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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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1
LibSidServo/examples/CMakeLists.txt
View File

@ -8,3 +8,4 @@ link_libraries(sidservo usefull_macros)
add_executable(goto goto.c dump.c)
add_executable(dump dumpmoving.c dump.c)
add_executable(dump_s dumpmoving_scmd.c dump.c)
add_executable(traectory_s scmd_traectory.c dump.c traectories.c)

12
LibSidServo/examples/dump.c
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@ -129,3 +129,15 @@ int getPos(coords_t *mot, coords_t *enc){
if(enc) *enc = mdata.encposition;
return TRUE;
}
// check current position and go to 0 if non-zero
void chk0(int ncycles){
coords_t M;
if(!getPos(&M, NULL)) signals(2);
if(M.X || M.Y){
WARNX("Mount position isn't @ zero; moving");
Mount.moveTo(0., 0.);
waitmoving(ncycles);
green("Now mount @ zero\n");
}
}

1
LibSidServo/examples/dump.h
View File

@ -26,3 +26,4 @@ void logmnt(FILE *fcoords, mountdata_t *m);
void dumpmoving(FILE *fcoords, double t, int N);
void waitmoving(int N);
int getPos(coords_t *mot, coords_t *enc);
void chk0(int ncycles);

14
LibSidServo/examples/dumpmoving_scmd.c
View File

@ -108,18 +108,6 @@ static int Wait(double tag){
return TRUE;
}
// check current position and go to 0 if non-zero
static void chk0(){
coords_t M;
if(!getPos(&M, NULL)) signals(2);
if(M.X || M.Y){
WARNX("Mount position isn't @ zero; moving");
Mount.moveTo(0., 0.);
waitmoving(G.Ncycles);
green("Now mount @ zero\n");
}
}
// move X to 40 degr with given speed until given coord
static void move(double target, double limit, double speed){
#define SCMD() do{if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command"); }while(0)
@ -163,7 +151,7 @@ int main(int argc, char **argv){
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
// move to X=40 degr with different speeds
pthread_t dthr;
chk0();
chk0(G.Ncycles);
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
// goto 1 degr with 1'/s

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;
}

159
LibSidServo/examples/scmd_traectory.c Normal file
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@ -0,0 +1,159 @@
/*
* 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 <pthread.h>
#include <signal.h>
#include <usefull_macros.h>
#include "dump.h"
#include "sidservo.h"
#include "simpleconv.h"
#include "traectories.h"
// calculate some traectory and try to run over it
typedef struct{
int help;
int Ncycles; // n cycles to wait stop
double reqint; // requests interval (seconds)
double Xmax; // maximal X to stop
double Ymax; // maximal Y to stop
double tmax; // maximal time of emulation
double X0; // starting point of traectory (-30..30 degr)
double Y0; // -//-
char *coordsoutput; // dump file
char *tfn; // traectory function name
} parameters;
static FILE *fcoords = NULL;
static pthread_t dthr;
static parameters G = {
.Ncycles = 40,
.reqint = 0.1,
.tfn = "sincos",
.Xmax = 45.,
.Ymax = 45.,
.tmax = 300., // 5 minutes
.X0 = 10.,
.Y0 = 10.,
};
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 in stopped state (default: 40)"},
{"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 second)"},
{"traectory", NEED_ARG, NULL, 't', arg_string, APTR(&G.tfn), "used traectory function (default: sincos)"},
{"xmax", NEED_ARG, NULL, 'X', arg_double, APTR(&G.Xmax), "maximal X coordinate for traectory (default: 45 degrees)"},
{"ymax", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Ymax), "maximal X coordinate for traectory (default: 45 degrees)"},
{"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)"},
end_option
};
static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200,
//.EncoderDevPath = "/dev/ttyUSB1",
//.EncoderDevSpeed = 153000,
.MountReqInterval = 0.05,
.SepEncoder = 0
};
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);
}
static void *dumping(void _U_ *u){
dumpmoving(fcoords, 3600., G.Ncycles);
return NULL;
}
// calculate
static void runtraectory(traectory_fn *tfn){
if(!tfn) return;
coords_t telXY, traectXY;
double t0 = sl_dtime();
uint32_t susec_last = 0;
while(1){
if(!telpos(&telXY)){
WARNX("No next telescope position");
return;
}
if(telXY.msrtime.tv_usec == susec_last) continue; // last measure - don't mind
susec_last = telXY.msrtime.tv_usec;
double t = sl_dtime();
if(telXY.X > G.Xmax || telXY.Y > G.Ymax || t - t0 > G.tmax) break;
if(!traectory_point(&traectXY, t)) break;
DBG("%g: dX=%.1f'', dY=%.1f''", t-t0, RAD2ASEC(traectXY.X-telXY.X), RAD2ASEC(traectXY.Y-telXY.Y));
}
WARNX("No next traectory point");
}
int main(int argc, char **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
if(G.help) sl_showhelp(-1, cmdlnopts);
if(G.Xmax < 1. || G.Xmax > 90.) ERRX("Xmax should be 1..90 degrees");
if(G.Ymax < 1. || G.Ymax > 90.) ERRX("Ymax should be 1..90 degrees");
// convert to radians
G.Xmax = DEG2RAD(G.Xmax); G.Ymax = DEG2RAD(G.Ymax);
if(G.X0 < -30. || G.X0 > 30. || G.Y0 < -30. || G.Y0 > 30.)
ERRX("X0 and Y0 should be -30..30 degrees");
if(G.coordsoutput){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
}else fcoords = stdout;
Config.MountReqInterval = G.reqint;
traectory_fn *tfn = traectory_by_name(G.tfn);
if(!tfn){
WARNX("Bad traectory name %s, should be one of", G.tfn);
print_tr_names();
return 1;
}
coords_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
if(!init_traectory(tfn, &c)){
ERRX("Can't init traectory");
return 1;
}
mcc_errcodes_t e = Mount.init(&Config);
if(e != MCC_E_OK){
WARNX("Can't init devices");
return 1;
}
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
chk0(G.Ncycles);
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
;
runtraectory(tfn);
signals(0);
return 0;
}

7
LibSidServo/examples/simpleconv.h
View File

@ -21,4 +21,9 @@
#include <math.h>
#define DEG2RAD(d) (d/180.*M_PI)
#define RAD2DEG(d) (d/M_PI*180.)
#define ASEC2RAD(d) (d/180.*M_PI/3600.)
#define AMIN2RAD(d) (d/180.*M_PI/60.)
#define RAD2DEG(r) (r/M_PI*180.)
#define RAD2ASEC(r) (r/M_PI*180.*3600.)
#define RAD2AMIN(r) (r/M_PI*180.*60.)

142
LibSidServo/examples/traectories.c Normal file
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@ -0,0 +1,142 @@
/*
* 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/>.
*/
// some simplest traectories
// all traectories runs increasing X and Y from starting point
#include <stdio.h>
#include <string.h>
#include <usefull_macros.h>
#include "simpleconv.h"
#include "traectories.h"
static traectory_fn *cur_traectory = NULL;
// starting point of traectory
static coords_t XYstart = {0};
static double tstart = 0.;
// convert Xe/Ye to approximate motor coordinates:
// Xnew = Xcor+Xe; Ynew = Ycor+Ye; as Ye goes backwards to Ym, we have
// Xcor = Xm0 - Xe0; Ycor = Xm0 + Ye0
static coords_t XYcor = {0};
/**
* @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
* @param f - function calculating next point
* @param XY0 - starting point
* @return FALSE if failed
*/
int init_traectory(traectory_fn *f, coords_t *XY0){
if(!f || !XY0) return FALSE;
cur_traectory = f;
XYstart = *XY0;
tstart = cl_dtime();
mountdata_t mdata;
int ntries = 0;
for(; ntries < 10; ++ntries){
if(MCC_E_OK == Mount.getMountData(&mdata)) break;
}
if(ntries == 10) return FALSE;
XYcor.X = mdata.motposition.X - mdata.encposition.X;
XYcor.Y = mdata.motposition.X + mdata.encposition.Y;
DBG("STARTING POINTS: x=%g, y=%g degrees", DEG2RAD(XYcor.X), DEG2RAD(XYcor.Y));
return TRUE;
}
/**
* @brief traectory_point - get traectory point for given time
* @param nextpt (o) - next point coordinates
* @param t - UNIX-time of event
* @return FALSE if something wrong (e.g. X not in -90..90 or Y not in -180..180)
*/
int traectory_point(coords_t *nextpt, double t){
if(t < 0. || !cur_traectory) return FALSE;
coords_t pt;
if(!cur_traectory(&pt, t)) return FALSE;
pt.msrtime.tv_sec = floor(t);
pt.msrtime.tv_usec = (uint32_t) t - pt.msrtime.tv_sec;
if(nextpt) *nextpt = pt;
if(pt.X < -M_PI2 || pt.X > M_PI2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
return TRUE;
}
// current telescope position according to starting motor coordinates
// @return FALSE if failed to get current coordinates
int telpos(coords_t *curpos){
mountdata_t mdata;
int ntries = 0;
for(; ntries < 10; ++ntries){
if(MCC_E_OK == Mount.getMountData(&mdata)) break;
}
if(ntries == 10) return FALSE;
coords_t pt;
pt.X = XYcor.X + mdata.encposition.X;
pt.Y = XYcor.Y + mdata.encposition.Y;
pt.msrtime = mdata.encposition.msrtime;
if(curpos) *curpos = pt;
return TRUE;
}
// X=X0+1'/s, Y=Y0+15''/s
int Linear(coords_t *nextpt, double t){
coords_t pt;
pt.X = XYstart.X + ASEC2RAD(1.) * (t - tstart);
pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
if(nextpt) *nextpt = pt;
return TRUE;
}
// X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
int SinCos(coords_t *nextpt, double t){
coords_t pt;
pt.X = XYstart.X + AMIN2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
if(nextpt) *nextpt = pt;
return TRUE;
}
typedef struct{
traectory_fn *f;
const char *name;
const char *help;
} tr_names;
static tr_names names[] = {
{Linear, "linear", "X=X0+1'/s, Y=Y0+15''/s"},
{SinCos, "sincos", "X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
{NULL, NULL, NULL}
};
traectory_fn *traectory_by_name(const char *name){
traectory_fn *f = NULL;
for(int i = 0; ; ++i){
if(!names[i].f) break;
if(strcmp(names[i].name, name) == 0){
f = names[i].f;
break;
}
}
}
// print all acceptable traectories names with help
void print_tr_names(){
for(int i = 0; ; ++i){
if(!names[i].f) break;
printf("%s: %s\n", names[i].name, names[i].help);
}
}

32
LibSidServo/examples/traectories.h Normal file
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@ -0,0 +1,32 @@
/*
* 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/>.
*/
#pragma once
#include "sidservo.h"
// traectory
typedef int (*traectory_fn)(coords_t *, double);
int init_traectory(traectory_fn *f, coords_t *XY0);
traectory_fn *traectory_by_name(const char *name);
void print_tr_names();
int traectory_point(coords_t *nextpt, double t);
int telpos(coords_t *curpos);
int Linear(coords_t *nextpt, double t);
int SinCos(coords_t *nextpt);

2
LibSidServo/libsidservo.creator.user
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 15.0.1, 2025-02-17T21:39:16. -->
<!-- Written by QtCreator 15.0.1, 2025-02-18T22:15:19. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

3
LibSidServo/libsidservo.files
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@ -5,11 +5,14 @@ examples/dump.h
examples/dumpmoving.c
examples/dumpmoving_scmd.c
examples/goto.c
examples/scmd_traectory.c
examples/simpleconv.h
main.c
sidservo.h
serial.c
examples/CMakeLists.txt
examples/traectories.c
examples/traectories.h
serial.h
ssii.c
ssii.h