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almost works as I need

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This commit is contained in:
Edward Emelianov
2026-09-25 15:00:34 +03:00
parent 8e796ce419
commit 30b7c9bc9e
11 changed files with 475 additions and 93 deletions
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134
Daemons/10micron_stellarium/mount.c
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@@ -20,21 +20,23 @@
#include <stdatomic.h>
#include <stdint.h>
#include <string.h>
#include <sys/time.h>
#include <usefull_macros.h>
#include "10micron_commands.h"
#include "emulation.h"
#include "mount.h"
#include "server.h" // isrunning
#define MNAME_LEN 31
#define MNAME_LEN 32
static bool isemulated = false; // ==true for emulation mode
// default serial timeout, seconds
static double sertmout = 1.;
static char mount_name[MNAME_LEN+3] = "'noname'";
static char mount_name[MNAME_LEN] = "noname";
static sl_tty_t *mount_dev = NULL;
// device mutex, blocking only in non-local functions
static pthread_mutex_t mntdev_mutex = PTHREAD_MUTEX_INITIALIZER;
@@ -47,7 +49,7 @@ static horizCrds_t ParkCoords = {.az = 0., .zd = DEG2RAD(80.)};
static polarCrds_t InpCoords = {0}, // input as user give (for epoch InpMJD)
TagCoords = {0}; // target for Jnow after command "point to input"
static horizCrds_t InpHoriz = {0};
// input MJD (Modified Julian Date: started from ERFA_DJM0==2400000.5
// input MJD (Modified Julian Date: started from ERFA_DJM0==2400000.5)
static double InpMJD = ERFA_DJM00; // J2000
// times of coords/mjd change
static double InpCTime = 0., TagTime = 0., InpHTime = 0., InpMTime = 0.;
@@ -141,11 +143,20 @@ bool mount_setInpMJD(double m){
bool mount_set_name(const char *name){
if(!name || !*name) return false;
int l = strlen(name);
if(l > MNAME_LEN) return false;
sprintf(mount_name, "'%s'", name);
if(l > MNAME_LEN-1) return false;
strcpy(mount_name, name);
return true;
}
void mount_get_name(char *nm, size_t l){
if(!nm) return;
size_t L = snprintf(nm, l, "'%s'", mount_name);
if(L == l){
nm[l-1] = 0;
nm[l-2] = '\'';
}
}
/**
* @brief mount_set_dev - open mount device without checking that mount is alive
* @param dev - path to device
@@ -164,9 +175,6 @@ bool mount_set_dev(char *dev, int speed, double timeout){
return false;
}
DBG("Mount device inited and opened");
// set terminal timeout to `timeout / 10` or 100ms
int usecs = (timeout < 1.) ? (int)(timeout * 1e5) : 100000;
sl_tty_tmout(usecs);
sertmout = timeout;
DBG("set timeout of answer waiting to %gs", sertmout);
pthread_mutex_unlock(&mntdev_mutex);
@@ -319,7 +327,7 @@ static bool chkconn(){
}
write_cmd("#", false); // clear cmd buffer
bool ret = false;
for(int i = 0; i < 5; ++i){
for(int i = 0; i < 3 && isrunning; ++i){
DBG("Try %d", i+1);
ret = write_cmd(CMD_BAUDRATE, true);
if(ret) break;
@@ -334,19 +342,24 @@ static bool guess_speed(){
#define SPDBUFSZ 7
const int speeds[SPDBUFSZ] = {57600, 38400, 19200, 9600, 4800, 2400, 1200};
int idx = 0;
for(; idx < SPDBUFSZ; ++idx){
for(; idx < SPDBUFSZ && isrunning; ++idx){
DBG("try speed %d", speeds[idx]);
mount_dev->speed = speeds[idx];
sl_tty_t *trydev = sl_tty_open(mount_dev, 1);
if(!trydev) continue;
if(chkconn()) break;
if(chkconn()){
close(mount_dev->comfd);
break;
}
close(mount_dev->comfd);
}
if(idx == SPDBUFSZ) return false; // device not responding
close(mount_dev->comfd);
mount_dev->speed = 115200;
if(!sl_tty_open(mount_dev, 1)) return false;
DBG("OK, opened @ 115200");
if(!sl_tty_open(mount_dev, 1)){
WARN("Can't open serial @115200");
return false;
}
DBG("Opened @ 115200");
if(idx == SPDBUFSZ) return false; // device not responding
#undef SPDBUFSZ
return true;
}
@@ -362,7 +375,9 @@ bool mount_connect(){
}
bool ret = true;
if(!write_cmd(CMD_STOP, false)) ret = false; // stop tracking after poweron
usleep(100000);
if(!write_cmd(CMD_HIGHPREC, false)) ret = false; // set high precision
usleep(100000);
char buf[64];
snprintf(buf, 63, CMD_SETMINALT, 10);
if(!write_cmd(buf, true)) ret = false; // set minimum altitude to 10 degrees
@@ -412,6 +427,9 @@ bool mount_point(double ra, double dec){
}
}
ret = true;
TagCoords.ra = DEG2RAD(ra);
TagCoords.dec = DEG2RAD(dec);
TagTime = sl_dtime();
retn:
pthread_mutex_unlock(&mntdev_mutex);
return ret;
@@ -460,30 +478,29 @@ void set_emulation_mode(){
isemulated = true;
}
mount_status_t mount_getcoords(double *ra, double *dec){
if(!ra || !dec) return MNT_S_ERROR;
bool mount_getcoords(double *ra, double *dec){
if(!ra || !dec) return false;
if(isemulated){
get_emul_coords(ra, dec);
DBG("Emulated coordinates: %gh, %gdeg", RAD2HRS(*ra), RAD2DEG(*dec));
return emulation_status();
return true;
}
if(!mount_dev) return MNT_S_ERROR;
if(!mount_dev) return false;
char resp[64];
mount_status_t st = MNT_S_ERROR;
bool ret = false;
pthread_mutex_lock(&mntdev_mutex);
if(!send_cmd_resp(CMD_GETRA, resp, 64)) goto retn;
if(!str2coord(resp, ra)) goto retn;
if(!send_cmd_resp(CMD_GETDEC, resp, 64)) goto retn;
if(!str2coord(resp, dec)) goto retn;
st = MNT_S_STATAMOUNT;
ret = true;
retn:
pthread_mutex_unlock(&mntdev_mutex);
if(st == MNT_S_STATAMOUNT) st = mount_status();
return st;
return ret;
}
mount_status_t mount_getaz(double *a, double *z){
if(!a || !z) return MNT_S_ERROR;
bool mount_getaz(double *a, double *z){
if(!a || !z) return false;
if(isemulated){
double ra, dec;
get_emul_coords(&ra, &dec);
@@ -493,11 +510,11 @@ mount_status_t mount_getaz(double *a, double *z){
get_LST(NULL, &LST);
eq2hor(&P, &H, LST);
*a = H.az; *z = H.zd;
return emulation_status();
return true;
}
if(!mount_dev) return MNT_S_ERROR;
if(!mount_dev) return false;
char resp[64];
mount_status_t st = MNT_S_ERROR;
bool ret = false;
pthread_mutex_lock(&mntdev_mutex);
if(!send_cmd_resp(CMD_GETAZIM, resp, 64)) goto retn;
if(!str2coord(resp, a)) goto retn;
@@ -505,11 +522,10 @@ mount_status_t mount_getaz(double *a, double *z){
double alt;
if(!str2coord(resp, &alt)) goto retn;
*z = 90. - alt;
st = MNT_S_STATAMOUNT;
ret = true;
retn:
pthread_mutex_unlock(&mntdev_mutex);
if(st == MNT_S_STATAMOUNT) st = mount_status();
return st;
return ret;
}
/**
@@ -600,3 +616,59 @@ bool mount_setParkZD(double zd){
void mount_getPark(horizCrds_t *c){
if(c) *c = ParkCoords;
}
/**
* @brief mount_getpierside - get pier-side of telescope
* @param Ps (o) - side
* @param len - length of `Ps`
* @return false if failed
*/
bool mount_getpierside(char *Ps, size_t len){
pthread_mutex_lock(&mntdev_mutex);
bool ret = send_cmd_resp(CMD_GETPS, Ps, len);
pthread_mutex_unlock(&mntdev_mutex);
return ret;
}
/**
* @brief mount_corrdata - correct mount time & weather data
* @param w - new data
* @return false if failed to connect
*/
bool mount_corrdata(weather_data_t *w){
if(!w) return false;
bool ret = true; // returning value
mount_status_t curst = mount_status();
if(curst == MNT_S_SLEWING || curst == MNT_S_TRACKING) return true;
DBG("Refresh datetime");
pthread_mutex_lock(&mntdev_mutex);
char buf[128];
buf[127] = 0;
time_t t = time(NULL);
struct tm *stm = localtime(&t);
struct timeval tv;
gettimeofday(&tv, NULL);
snprintf(buf, 127, CMD_SETTIME, 1900+stm->tm_year, stm->tm_mon+1, stm->tm_mday,
stm->tm_hour, stm->tm_min, stm->tm_sec, tv.tv_usec/10000);
DBG("write: %s", buf);
if(!write_cmd(buf, true)){
WARNX("Can't write current date/time");
LOGWARN("Can't set system time");
ret = false;
}else LOGMSG("Set system time by command %s", buf);
// set refraction model data
snprintf(buf, 127, CMD_SETPRESSURE, w->pressure*1013./760.);
if(!write_cmd(buf, true)){
LOGWARN("Can't set pressure data of refraction model");
ret = false;
}else LOGMSG("Correct pressure to %gmmHg", w->pressure);
snprintf(buf, 64, CMD_SETTEMPER, w->exttemp);
if(!write_cmd(buf, true)){
LOGWARN("Can't set temperature data of refraction model");
ret = false;
}else LOGMSG("Correct temperature to %g", w->exttemp);
if(!write_cmd(CMD_REFCORR_ON, true)) ret = false;
if(!write_cmd(CMD_DUALTRK, true)) ret = false;
pthread_mutex_unlock(&mntdev_mutex);
return ret;
}