141 lines
4.4 KiB
C
141 lines
4.4 KiB
C
/*
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* This file is part of the libsidservo project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// move telescope to given MOTOR position in degrees
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#include <signal.h>
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#include <stdio.h>
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#include <time.h>
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#include <usefull_macros.h>
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#include "conf.h"
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#include "dump.h"
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#include "sidservo.h"
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#include "simpleconv.h"
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typedef struct{
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int help;
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int Ncycles;
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int wait;
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int relative;
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char *coordsoutput;
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char *conffile;
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double X;
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double Y;
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} parameters;
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static parameters G = {
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.Ncycles = 10,
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.X = NAN,
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.Y = NAN,
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};
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static sl_option_t cmdlnopts[] = {
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{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
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{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles of waiting in stopped state (default: 40)"},
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{"newx", NEED_ARG, NULL, 'X', arg_double, APTR(&G.X), "new X coordinate"},
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{"newy", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Y), "new Y coordinate"},
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{"output", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
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{"wait", NO_ARGS, NULL, 'w', arg_int, APTR(&G.wait), "wait until mowing stopped"},
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{"relative", NO_ARGS, NULL, 'r', arg_int, APTR(&G.relative), "relative move"},
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{"conffile", NEED_ARG, NULL, 'C', arg_string, APTR(&G.conffile), "configuration file name"},
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end_option
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};
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static FILE* fcoords = NULL;
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static pthread_t dthr;
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void signals(int sig){
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pthread_cancel(dthr);
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if(sig){
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signal(sig, SIG_IGN);
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DBG("Get signal %d, quit.\n", sig);
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}
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Mount.quit();
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if(fcoords) fclose(fcoords);
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exit(sig);
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}
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// dump thread
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static void *dumping(void _U_ *u){
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dumpmoving(fcoords, 3600., G.Ncycles);
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return NULL;
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}
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int main(int _U_ argc, char _U_ **argv){
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sl_init();
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sl_parseargs(&argc, &argv, cmdlnopts);
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if(G.help)
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sl_showhelp(-1, cmdlnopts);
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conf_t *Config = readServoConf(G.conffile);
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if(!Config){
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dumpConf();
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return 1;
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}
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if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
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coordval_pair_t M;
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if(!getPos(&M, NULL)) ERRX("Can't get current position");
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if(G.coordsoutput){
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if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
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G.wait = 1;
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}
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if(G.coordsoutput){
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if(!(fcoords = fopen(G.coordsoutput, "w")))
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ERRX("Can't open %s", G.coordsoutput);
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logmnt(fcoords, NULL);
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if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
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}
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printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
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if(isnan(G.X) && isnan(G.Y)) goto out;
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double *xtag = NULL, *ytag = NULL, xr, yr;
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double _7deg = RAD2DEG(7.);
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if(!isnan(G.X)){
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xr = DEG2RAD(G.X);
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if(G.relative) xr += M.X.val;
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xtag = &xr;
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// set max speed
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Mount.setSpeed(&_7deg, NULL);
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}
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if(!isnan(G.Y)){
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yr = DEG2RAD(G.Y);
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if(G.relative) yr += M.Y.val;
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ytag = &yr;
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Mount.setSpeed(NULL, &_7deg);
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}
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printf("Moving to ");
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if(xtag) printf("X=%gdeg ", G.X);
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if(ytag) printf("Y=%gdeg", G.Y);
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printf("\n");
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Mount.moveTo(xtag, ytag);
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if(G.wait){
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sleep(1);
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waitmoving(G.Ncycles);
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if(!getPos(&M, NULL)) WARNX("Can't get current position");
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else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
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}
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out:
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DBG("JOIN");
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if(G.coordsoutput) pthread_join(dthr, NULL);
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DBG("QUIT");
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if(G.wait){
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if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
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Mount.quit();
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}
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return 0;
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}
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