start new 10-micron stellarium daemon

Daemons/10micron_stellarium/mount.c

@@ -0,0 +1,288 @@
+/*
+ * This file is part of the mountdaemon_10micron project.
+ * Copyright 2026 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 <stdatomic.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "angles.h"
+#include "emulation.h"
+#include "mount.h"
+
+
+#define MNAME_LEN   31
+
+static bool isemulated = false; // ==true for emulation mode
+
+static char mount_name[MNAME_LEN+3] = "'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;
+// ring buffer for data incoming from serial port
+static sl_ringbuffer_t *RBin = NULL;
+// status
+static atomic_int mountstatus = MNT_S_ERROR;
+
+// input and current target coordinates
+polarCrds_t InpCoords = {0}, TagCoords = {0};
+horizCrds_t InpHoriz = {0};
+
+// change input coordinates
+/**
+ * @brief mount_setInpHA - set hour angle
+ * @param ha (HOURS!!)
+ * @return false if `ha` isn't in [0,24)
+ */
+bool mount_setInpHA(double ha){
+    if(ha < 0. || ha >= 24.) return false;
+    InpCoords.ha = HRS2RAD(ha);
+    return true;
+}
+/**
+ * @brief mount_setInpRA - set right ascension
+ * @param ra (DEGREES!)
+ * @return fale if `ra` isn't in [0, 360)
+ */
+bool mount_setInpRA(double ra){
+    if(ra < 0. || ra >= 360.) return false;
+    InpCoords.ra = DEG2RAD(ra);
+    return true;
+}
+/**
+ * @brief mount_setInpDec - set declination
+ * @param dec (DEGREES!)
+ * @return false if `dec` isn't in [-90, 90]
+ */
+bool mount_setInpDec(double dec){
+    if(dec < -90. || dec > 90.) return false;
+    InpCoords.dec = DEG2RAD(dec);
+    return true;
+}
+/**
+ * @brief mount_setInpA - set azimuth
+ * @param A (DEGREES)
+ * @return false if A isn't in [0, 360)
+ */
+bool mount_setInpA(double A){
+    if(A < 0. || A >= 360.) return false;
+    InpHoriz.az = DEG2RAD(A);
+    return true;
+}
+/**
+ * @brief mount_setInpZ - set zenith distance
+ * @param Z (DEGREES)
+ * @return false if Z isn't in [0, 90]
+ */
+bool mount_setInpZ(double Z){
+    if(Z < 0 || Z > 90) return false;
+    InpHoriz.zd = DEG2RAD(Z);
+    return true;
+}
+
+/**
+ * @brief mount_set_name - set mount name for FITS header
+ * @param name - new string with name
+ * @return false if failed
+ */
+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);
+    return true;
+}
+
+/**
+ * @brief mount_set_dev - open mount device without checking that mount is alive
+ * @param dev - path to device
+ * @param speed - baudrate
+ * @return false if failed to open device `dev`
+ */
+bool mount_set_dev(char *dev, int speed, int timeout){
+    pthread_mutex_lock(&mntdev_mutex);
+    if(mount_dev) sl_tty_close(&mount_dev);
+    mount_dev = sl_tty_new(dev, speed, 4096);
+    if(mount_dev) mount_dev = sl_tty_open(mount_dev, 1);
+    if(!mount_dev){
+        pthread_mutex_unlock(&mntdev_mutex);
+        return false;
+    }
+    sl_tty_tmout(timeout);
+    if(!RBin) RBin = sl_RB_new(BUFSIZ);
+    else sl_RB_clearbuf(RBin);
+    pthread_mutex_unlock(&mntdev_mutex);
+    return true;
+}
+
+static const char *statuses[MNT_S_STATAMOUNT] = {
+    [MNT_S_TRACKING] = "'Tracking'",
+    [MNT_S_STOPHOM] = "'Stopped or homing'",
+    [MNT_S_PARKING] = "'Slewing to park'",
+    [MNT_S_UNPARKING] = "'Unparking'",
+    [MNT_S_HOMING] = "'Slewing to home'",
+    [MNT_S_PARKED] = "'Parked'",
+    [MNT_S_SLEWING] = "'Slewing or going to stop'",
+    [MNT_S_STOPPED] = "'Stopped'",
+    [MNT_S_INHIBITED] = "'Motors inhibited, T too low'",
+    [MNT_S_OUTLIMIT] = "'Outside tracking limit'",
+    [MNT_S_FOLSAT]= "'Following satellite'",
+    [MNT_S_DATINCOSIST]= "'Data inconsistency'",
+    [MNT_S_ERROR] = "'Error (disconnected?)'"
+};
+
+/**
+ * @brief strstatus - return string explanation of mount status
+ * @param status - integer status code
+ * @return statically allocated string with explanation
+ */
+const char* mount_status_str(){
+    int curst = atomic_load(&mountstatus);
+    if(curst > -1 && curst < MNT_S_STATAMOUNT) return statuses[curst];
+    return "'Unknown status'";
+}
+// return current mount status
+mount_status_t mount_status(){
+    return (mount_status_t)atomic_load(&mountstatus);
+}
+
+/**
+ * @brief write_cmd - try to write command to mount
+ * @param cmd - string with command or NULL just to clear all incoming data
+ * @return false on write/read error; all read information is in RBin (even if `false` returned, you SHOULD read all available strings from it)
+ */
+static bool write_cmd(const char *cmd){
+    bool ret = true;
+    if(cmd){
+        size_t l = strlen(cmd);
+        if(sl_tty_write(mount_dev->comfd, cmd, l)) ret = false;
+    }
+    int got = 0;
+    while((got = sl_tty_read(mount_dev)) > 0){
+        if(sl_RB_write(RBin, (uint8_t*) mount_dev->buf, got)){
+            got = -1;
+            break;
+        }
+    }
+    if(got < 0) return false;
+    return ret;
+}
+
+// check if mount connected
+static bool chkconn(){
+    int r = 0;
+    do{ // clear incoming buffer @ start
+        r = sl_tty_read(mount_dev);
+    }while(r > 0);
+    if(r < 0) return false;
+    write_cmd("#"); // clear cmd buffer
+    sl_RB_clearbuf(RBin);
+    bool w = write_cmd(":SB0#");
+    sl_RB_clearbuf(RBin);
+    return w;
+}
+
+
+// try to guess serial speed & set 115200
+static bool guess_speed(){
+    if(!mount_dev) return false;
+    close(mount_dev->comfd);
+#define SPDBUFSZ    7
+    const int speeds[SPDBUFSZ] = {57600, 38400, 19200, 9600, 4800, 2400, 1200};
+    int idx = 0;
+    for(; idx < SPDBUFSZ; ++idx){
+        mount_dev->speed = speeds[idx];
+        sl_tty_t *trydev = sl_tty_open(mount_dev, 1);
+        if(!trydev) continue;
+        if(chkconn()) 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;
+#undef SPDBUFSZ
+    return true;
+}
+
+// connect to mount
+bool mount_connect(){
+    if(isemulated){
+        atomic_store(&mountstatus, MNT_S_STOPPED);
+        return true;
+    }
+    if(!mount_dev) return false;
+    pthread_mutex_lock(&mntdev_mutex);
+    if(!chkconn() && !guess_speed()) return false;
+    bool ret = true;
+    if(!write_cmd(":STOP#")) ret = false; // stop tracking after poweron
+    sl_RB_clearbuf(RBin);
+    if(!write_cmd(":U2#")) ret = false; // set high precision
+    sl_RB_clearbuf(RBin);
+    if(!write_cmd(":So10#")) ret = false; // set minimum altitude to 10 degrees
+    sl_RB_clearbuf(RBin);
+    pthread_mutex_unlock(&mntdev_mutex);
+    if(ret) LOGMSG("Connected to %s@115200", mount_dev->portname);
+    else LOGERR("Can't write commands to mount");
+    return ret;
+}
+
+void mount_disconnect(){
+    if(isemulated) return;
+    pthread_mutex_trylock(&mntdev_mutex); // at least, try
+    if(mount_dev) close(mount_dev->comfd);
+    pthread_mutex_unlock(&mntdev_mutex);
+}
+
+// point to ra/dec over serial
+static bool mount_pointto(double ra, double dec){
+    (void) ra; (void) dec;
+    ;
+    return true;
+}
+
+/**
+ * send input RA/Decl (j2000!) coordinates to tel
+ * ra in hours (0..24), decl in degrees (-90..90)
+ * @return true if all OK
+ */
+bool mount_point(double ra, double dec){
+    char buf[RADEC_STR_MAXLEN];
+    radec2str(ra, dec, buf);
+    DBG("Set RA/Decl to %s", buf);
+    LOGMSG("Try to set RA/Decl to %s", buf);
+    norm_RADEC(&ra, &dec);
+    bool (*pointfunction)(double, double) = mount_pointto;
+    if(isemulated) pointfunction = point_emulation;
+    return pointfunction(ra, dec);
+}
+
+void set_emulation_mode(){
+    isemulated = true;
+}
+
+mount_status_t mount_getcoords(double *ra, double *dec){
+    if(!ra || !dec) return MNT_S_ERROR;
+    if(isemulated){
+        get_emul_coords(ra, dec);
+        DBG("Emulated coordinates: %g, %g", *ra, *dec);
+    }else{
+        ; // get real coordinates
+    }
+    return mount_status();
+}