add focuser management

fli_control/cmdlnopts.c

@@ -23,6 +23,7 @@
 #include <string.h>
 #include <strings.h>
 #include <math.h>
+#include <limits.h>
 #include <libfli.h>
 #include "cmdlnopts.h"
 #include "usefull_macros.h"
@@ -52,7 +53,8 @@ glob_pars const Gdefault = {
     .X1 = -1, .Y1 = -1,
     .temperature = 1e6,
     .shtr_cmd = -1,
-    .confio = -1, .setio = -1
+    .confio = -1, .setio = -1,
+    .gotopos = INT_MAX, .addsteps = INT_MAX,
 };
 
 /*
@@ -68,7 +70,8 @@ myoption cmdlnopts[] = {
     {"close-shutter",NO_ARGS,&G.shtr_cmd,FLI_SHUTTER_CLOSE,arg_none,NULL,   N_("close shutter")},
     {"shutter-on-low",NO_ARGS,&G.shtr_cmd,FLI_SHUTTER_EXTERNAL_EXPOSURE_CONTROL|FLI_SHUTTER_EXTERNAL_TRIGGER_LOW,arg_none,NULL,   N_("run exposition on LOW @ pin5 I/O port")},
     {"shutter-on-high",NO_ARGS,&G.shtr_cmd,FLI_SHUTTER_EXTERNAL_EXPOSURE_CONTROL|FLI_SHUTTER_EXTERNAL_TRIGGER_HIGH,arg_none,NULL, N_("run exposition on HIGH @ pin5 I/O port")},
-    {"get-ioport",NO_ARGS,  NULL,   'g',    arg_int,    APTR(&G.getio),     N_("get value of I/O port pins")},
+    {"get-ioport",NO_ARGS,  NULL,   'i',    arg_int,    APTR(&G.getio),     N_("get value of I/O port pins")},
+    {"async",   NO_ARGS,    &G.async,1,     arg_none,   NULL,               N_("move stepper motor asynchronous")},
     //{"fast",    NO_ARGS,    NULL,   '8',    arg_int,    APTR(&G.fast),      N_("run in 8-bit mode")},
     //{"",  NO_ARGS,    NULL,   '',    arg_int,  APTR(&G.),    N_("")},
 
@@ -92,7 +95,8 @@ myoption cmdlnopts[] = {
     {"Y1",      NEED_ARG,   NULL,   0,      arg_int,    APTR(&G.Y1),        N_("frame Y1 coordinate (-1 - all with overscan)")},
     {"set-ioport",NEED_ARG, NULL,   's',    arg_int,    APTR(&G.setio),     N_("set I/O port pins to given value (decimal number, pin1 is LSB)")},
     {"conf-ioport",NEED_ARG,NULL,   'c',    arg_int,    APTR(&G.confio),    N_("configure I/O port pins to given value (decimal number, pin1 is LSB, 1 == output, 0 == input)")},
-
+    {"goto",    NEED_ARG,   NULL,   'g',    arg_int,    APTR(&G.gotopos),   N_("move wheel/turret motor to absolute position")},
+    {"addsteps",NEED_ARG,   NULL,   'a',    arg_int,    APTR(&G.addsteps),  N_("move wheel/turret motor to relative position")},
     //{"",  NEED_ARG,   NULL,   '',    arg_int,   APTR(&G.),    N_("")},
 
     {"set-temp",NEED_ARG,   NULL,   't',    arg_double, APTR(&G.temperature),N_("set CCD temperature to given value (degr C)")},

fli_control/cmdlnopts.h

@@ -50,6 +50,9 @@ typedef struct{
     int setio;          // set value of ioport
     int confio;         // configure ioport
     double temperature; // temperature of CCD
+    int gotopos;        // move stepper motor of focuser/wheel to absolute position
+    int addsteps;       // move stepper motor of focuser/wheel to relative position
+    int async;          // asynchronous moving
 } glob_pars;
 
 

fli_control/main.c

@@ -20,13 +20,19 @@
  * MA 02110-1301, USA.
  *
  */
-//#include <locale.h>
+
+// for strcasestr
+#define _GNU_SOURCE
+#include <string.h>
+
+#include <limits.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <time.h>
 #include <unistd.h>
 #include <fitsio.h>
 #include <math.h>
+
 #include "main.h"
 
 #ifdef USEPNG
@@ -84,27 +90,34 @@ void info(const char *fmt, ...){
 }
 
 int main(int argc, char **argv){
-    int i, numcams = 0;
+    int i, num;
+    long ltmp;
     char libver[LIBVERSIZ]; // FLI library version
     cam_t *cam = NULL;      // list of CCDs available
+    flidev_t dev;
+    char buff[BUFF_SIZ];
     initial_setup();
     G = parse_args(argc, argv);
-    //TRYFUNC(FLISetDebugLevel, NULL /* "NO HOST" */, FLIDEBUG_ALL);
+   // #ifdef EBUG
+    TRYFUNC(FLISetDebugLevel, NULL /* "NO HOST" */, FLIDEBUG_NONE);
+  /*  #else
     TRYFUNC(FLISetDebugLevel, NULL, FLIDEBUG_NONE);
+    #endif */
     TRYFUNC(FLIGetLibVersion, libver, LIBVERSIZ);
     // 髋矣裳 律绿上耘松 '%s'
     info(_("Library version '%s'"), libver);
-    numcams = findcams(FLIDOMAIN_USB, &cam);
+    /*
-    i = 0;
+     * Find CCDs and work with each of them
-    for (i = 0; i < numcams; i++){
+     */
-        long x0,x1, y0,y1, row, img_rows, row_width, ltmp;
+    num = findcams(FLIDOMAIN_USB | FLIDEVICE_CAMERA, &cam);
-        flidev_t dev;
+    if(!num) WARNX(_("No CCD found"));
-        char buff[BUFF_SIZ];
+    for (i = 0; i < num; i++){
+        long x0,x1, y0,y1, row, img_rows, row_width;
         u_int16_t *img;
         int j;
         // 肓团伊 '%s' 哨 南团瘟 %s
         info(_("Camera '%s', domain %s"), cam[i].name, cam[i].dname);
-        TRYFUNC(FLIOpen, &dev, cam[i].name, FLIDEVICE_CAMERA | cam[i].domain);
+        TRYFUNC(FLIOpen, &dev, cam[i].name, cam[i].domain);
         if(r) continue;
         TRYFUNC(FLIGetModel, dev, buff, BUFF_SIZ);
         // 硐呐特:\t\t%s
@@ -288,9 +301,128 @@ int main(int argc, char **argv){
         FREE(img);
         TRYFUNC(FLIClose, dev);
     }
-    for (i = 0; i < numcams; i++)
+    for (i = 0; i < num; i++)
         FREE(cam[i].name);
     FREE(cam);
+    /*
+     * Find focusers and work with each of them
+     */
+    num = findcams(FLIDOMAIN_USB | FLIDEVICE_FOCUSER, &cam);
+    if(!num) WARNX(_("No focusers found"));
+    for (i = 0; i < num; i++){
+        TRYFUNC(FLIOpen, &dev, cam[i].name, cam[i].domain);
+        if(r) continue;
+        TRYFUNC(FLIGetModel, dev, buff, BUFF_SIZ);
+        if(!r){
+            if(!strcasestr(buff, "focuser")){ // not focuser
+                TRYFUNC(FLIClose, dev);
+                continue;
+            }
+            // íÏÄÅÌØ:\t\t%s
+            info(_("Model:\t\t%s"), buff);
+        }
+        info(_("Focuser '%s', domain %s"), cam[i].name, cam[i].dname);
+        TRYFUNC(FLIGetHWRevision, dev, &ltmp);
+        // áÐÐ. ×ÅÒÓÉÑ: %ld
+        if(!r) info(_("HW revision: %ld"), ltmp);
+        TRYFUNC(FLIGetFWRevision, dev, &ltmp);
+        // ðÒÏÇÒ. ×ÅÒÓÉÑ: %ld
+        if(!r) info(_("SW revision: %ld"), ltmp);
+        TRYFUNC(FLIReadTemperature, dev, FLI_TEMPERATURE_INTERNAL, &t_ext);
+        // ôÅÍÐÅÒÁÔÕÒÁ (×ÎÅÛÎ.): %f
+        if(!r) green(_("Focuser temperature: %f\n"), t_ext);
+        long curpos = -1, maxpos = -1;
+        TRYFUNC(FLIGetStepperPosition, dev, &ltmp);
+        if(!r){
+            // ðÏÚÉÃÉÑ ÆÏËÕÓÅÒÁ: %ld
+            info(_("Focuser position %ld"), ltmp);
+            curpos = ltmp;
+        }
+        TRYFUNC(FLIGetFocuserExtent, dev, &ltmp);
+        if(!r){
+            // íÁËÓÉÍÁÌØÎÁÑ ÐÏÚÉÃÉÑ ÆÏËÕÓÅÒÁ: %ld
+            info(_("Focuser extent: %ld"), ltmp);
+            maxpos = ltmp;
+        }
+        do{
+            if(G->gotopos != INT_MAX && G->addsteps != INT_MAX){
+                // îÅÌØÚÑ ÏÄÎÏ×ÒÅÍÅÎÎÏ ÕËÁÚÙ×ÁÔØ ÏÔÎÏÓÉÔÅÌØÎÕÀ É ÁÂÓÏÌÀÔÎÕÀ ÐÏÚÉÃÉÀ
+                WARNX(_("You can't use both relative and absolute position"));
+                break;
+            }
+            if(curpos < 0 || maxpos < 0){
+                // ïÛÉÂËÁ ÏÐÒÅÄÅÌÅÎÉÑ ÐÏÚÉÃÉÉ
+                WARNX(_("Error in position detection"));
+                break;
+            }
+            long pos = -1, steps = 0;
+            if(G->gotopos != INT_MAX){ // absolute pointing
+                pos = G->gotopos;
+                steps = pos - curpos;
+            }else if(G->addsteps != INT_MAX){ // relative pointing
+                steps = G->addsteps;
+                pos = curpos + steps;
+            }else break;
+            if(!steps){
+                info(_("Already at position"));
+                break;
+            }
+            if(pos > maxpos || pos < 0){
+                // ðÏÚÉÃÉÑ ÎÅ ÄÏÌÖÎÁ ×ÙÈÏÄÉÔØ ÚÁ ÐÒÅÄÅÌÙ 0...%ld
+                WARNX(_("Position should be in 0...%ld"), maxpos);
+                break;
+            }
+            if(pos == 0){
+                // ðÅÒÅÍÅÝÅÎÉÅ × ÎÕÌÅ×ÕÀ ÐÏÚÉÃÉÀ
+                info(_("Moving to home position"));
+                if(G->async) TRYFUNC(FLIHomeDevice, dev);
+                else TRYFUNC(FLIHomeFocuser, dev);
+            }else{
+                // ðÅÒÅÍÅÝÅÎÉÅ ÎÁ %ld ÛÁÇÏ×
+                info(_("Moving for %ld steps"), steps);
+                if(G->async) TRYFUNC(FLIStepMotorAsync, dev, steps);
+                else TRYFUNC(FLIStepMotor, dev, steps);
+            }
+            TRYFUNC(FLIGetStepperPosition, dev, &ltmp);
+            // äÏÓÔÉÇÎÕÔÁ ÐÏÚÉÃÉÑ %ls
+            if(!r) info(_("Reached position %ld"), ltmp);
+        }while(0);
+        ;
+        TRYFUNC(FLIClose, dev);
+    }
+    for (i = 0; i < num; i++)
+        FREE(cam[i].name);
+    FREE(cam);
+    /*
+     * Find wheels and work with each of them
+     *
+    num = findcams(FLIDOMAIN_USB | FLIDEVICE_FILTERWHEEL, &cam);
+    if(!num) WARNX(_("No wheels found"));
+    for (i = 0; i < num; i++){
+        info(_("Wheel '%s', domain %s"), cam[i].name, cam[i].dname);
+        TRYFUNC(FLIOpen, &dev, cam[i].name, cam[i].domain);
+        if(r) continue;
+        TRYFUNC(FLIGetModel, dev, buff, BUFF_SIZ);
+        // íÏÄÅÌØ:\t\t%s
+        info(_("Model:\t\t%s"), buff);
+        TRYFUNC(FLIGetHWRevision, dev, &ltmp);
+        // áÐÐ. ×ÅÒÓÉÑ: %ld
+        info(_("HW revision: %ld"), ltmp);
+        TRYFUNC(FLIGetFWRevision, dev, &ltmp);
+        // ðÒÏÇÒ. ×ÅÒÓÉÑ: %ld
+        info(_("SW revision: %ld"), ltmp);
+        TRYFUNC(FLIReadTemperature, dev, FLI_TEMPERATURE_INTERNAL, &t_ext);
+        // ôÅÍÐÅÒÁÔÕÒÁ (×ÎÅÛÎ.): %f
+        green(_("Wheel temperature: %f\n"), t_ext);
+        // ðÏÚÉÃÉÑ ÔÕÒÅÌÉ: %ld
+        TRYFUNC(FLIGetFilterPos, dev, &ltmp);
+        info(_("Filter position"), ltmp);
+        ;
+        TRYFUNC(FLIClose, dev);
+    }
+    for (i = 0; i < num; i++)
+        FREE(cam[i].name);
+    FREE(cam);*/
     exit(0);
 }
 
@@ -298,13 +430,13 @@ int findcams(flidomain_t domain, cam_t **cam){
     long r;
     char **tmplist;
     int numcams = 0;
-    TRYFUNC(FLIList, domain | FLIDEVICE_CAMERA, &tmplist);
+    TRYFUNC(FLIList, domain, &tmplist);
-    if (tmplist != NULL && tmplist[0] != NULL){
+    if (tmplist && tmplist[0]){
         int i, cams = 0;
-        for (i = 0; tmplist[i] != NULL; i++) cams++;
+        for (i = 0; tmplist[i]; i++) cams++;
         if ((*cam = realloc(*cam, (numcams + cams) * sizeof(cam_t))) == NULL)
             ERR("realloc() failed");
-        for (i = 0; tmplist[i] != NULL; i++)    {
+        for (i = 0; tmplist[i]; i++){
             int j;
             cam_t *tmpcam = *cam + i;
             for (j = 0; tmplist[i][j] != '\0'; j++)
@@ -313,7 +445,7 @@ int findcams(flidomain_t domain, cam_t **cam){
                     break;
                 }
             tmpcam->domain = domain;
-            switch (domain){
+            switch (domain & 0xff){
             case FLIDOMAIN_PARALLEL_PORT:
                 tmpcam->dname = "parallel port";
                 break;
@@ -331,11 +463,11 @@ int findcams(flidomain_t domain, cam_t **cam){
                 break;
             }
             tmpcam->name = strdup(tmplist[i]);
+            DBG("found: %s @ %s", tmpcam->name, tmpcam->dname);
         }
         numcams += cams;
     }
-    // ëÁÍÅÒÙ ÎÅ ÎÁÊÄÅÎÙ!\n
+    else DBG("No devices");
-    else WARNX(_("No cameras found!\n"));
     TRYFUNC(FLIFreeList, tmplist);
     return numcams;
 }

fli_control/main.h

@@ -24,8 +24,6 @@
 #ifndef __MAIN_H__
 #define __MAIN_H__
 
-#define _XOPEN_SOURCE 501
-
 #include "usefull_macros.h"
 #include "cmdlnopts.h"
 
@@ -50,6 +48,7 @@ typedef struct{
 }cam_t;
 
 int findcams(flidomain_t domain, cam_t **cam);
+
 #ifdef USERAW
 int writeraw(char *filename, int width, int height, void *data);
 #endif // USERAW