Add saving FITS-header template to 10micron daemon

Daemons/10micron_stellarium/Makefile

@@ -1,10 +1,9 @@
 PROGRAM = stellariumdaemon
-LDFLAGS = -lsofa_c
+LDFLAGS = -lsofa_c -pthread
 SRCS = $(wildcard *.c)
 CC = gcc
 DEFINES = -D_GNU_SOURCE -D_DEFAULT_SOURCE -D_XOPEN_SOURCE=1111
-DEFINES += -DCOM_SPD=B9600
+DEFINES += -DEBUG
-#DEFINES += -DEBUG
 CXX = gcc
 CFLAGS = -Wall -Werror -Wextra -Wno-trampolines $(DEFINES)
 OBJS = $(SRCS:.c=.o)

Daemons/10micron_stellarium/cmdlnopts.c

@@ -46,6 +46,7 @@ glob_pars const Gdefault = {
     .device = DEFAULT_COMDEV,
     .port = DEFAULT_PORT,
     .pidfile = DEFAULT_PIDFILE,
+    .crdsfile = "/tmp/10micron.fitsheader",
     .emulation = 0,
     .logfile = NULL // don't save logs
 };
@@ -61,6 +62,7 @@ myoption cmdlnopts[] = {
     {"emulation",NO_ARGS,   NULL,   'e',    arg_int,    APTR(&G.emulation), _("run in emulation mode")},
     //{"hostname",NEED_ARG,   NULL,   'H',    arg_string, APTR(&G.hostname),  _("hostname to connect (default: localhost)")},
     {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   _("file to save logs")},
+    {"hdrfile", NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.crdsfile),  _("file to save FITS-header with coordinates and time")},
     {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   _("pidfile (default: " DEFAULT_PIDFILE ")")},
     {"port",    NEED_ARG,   NULL,   'p',    arg_string, APTR(&G.port),      _("port to connect (default: " DEFAULT_PORT ")")},
    end_option

Daemons/10micron_stellarium/cmdlnopts.h

@@ -33,6 +33,7 @@ typedef struct{
     char *port;             // port to connect
     char *pidfile;          // name of PID file
     char *logfile;          // logging to this file
+    char *crdsfile;         // file where FITS-header should be written
     int emulation;          // run in emulation mode
     int rest_pars_num;      // number of rest parameters
     char** rest_pars;       // the rest parameters: array of char*

Daemons/10micron_stellarium/main.c

@@ -20,29 +20,21 @@
  */
 
 #include <arpa/inet.h>
-#include <assert.h>
 #include <endian.h>
-#include <err.h>
-#include <errno.h>
 #include <math.h>
 #include <netdb.h>
 #include <netinet/in.h>
 #include <signal.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <string.h>
 #include <sys/prctl.h>
 #include <sys/socket.h>
 #include <sys/types.h>
 #include <sys/wait.h>
 #include <time.h>
-#include <unistd.h>
 
-#include "cmdlnopts.h"
 #include "emulation.h"
 #include "libsofa.h"
+#include "main.h"
 #include "telescope.h"
-#include "usefull_macros.h"
 
 // daemon.c
 extern void check4running(char *self, char *pidfilename, void (*iffound)(pid_t pid));
@@ -311,14 +303,26 @@ void handle_socket(int sock){
     close(sock);
 }
 
+static void *hdrthread(_U_ void *buf){
+    // write FITS-header at most once per second
+    do{
+        wrhdr();
+        usleep(1000); // give a chanse to write/read for others
+    }while(1);
+    return NULL;
+}
+
 static inline void main_proc(){
     int sock;
     int reuseaddr = 1;
+    pthread_t hthrd;
     // connect to telescope
     if(!GP->emulation){
-        if(!connect_telescope(GP->device)){
+        if(!connect_telescope(GP->device, GP->crdsfile)){
             ERRX(_("Can't connect to telescope device"));
         }
+        if(pthread_create(&hthrd, NULL, hdrthread, NULL))
+            ERR(_("Can't create writing thread"));
     }
     // open socket
     struct addrinfo hints, *res, *p;
@@ -384,6 +388,8 @@ static inline void main_proc(){
         }*/
         handle_socket(newsock);
     }
+    pthread_cancel(hthrd); // cancel steppers' thread
+    pthread_join(hthrd, NULL);
     close(sock);
 }
 
@@ -400,6 +406,11 @@ int main(int argc, char **argv){
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
 
+    int fd;
+    if((fd = open(GP->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
+        ERR(_("Can't open %s for writing"), GP->crdsfile);
+    close(fd);
+
     printf(_("Start socket\n"));
     putlog("Starting, master PID=%d", getpid());
 #ifndef EBUG // daemonize only in release mode

Daemons/10micron_stellarium/main.h

@@ -22,16 +22,16 @@
 #ifndef __MAIN_H__
 #define __MAIN_H__
 
-#include <stdio.h>
+#include <assert.h>
+#include <err.h>
+#include <errno.h>
 #include <libintl.h>
 #include <locale.h>
-#include <assert.h>
-#include <string.h>
-#include <stdarg.h>
-#include <errno.h>
-#include <err.h>
-#include <unistd.h>
 #include <pthread.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
 
 #include "cmdlnopts.h"
 #include "usefull_macros.h"

Daemons/10micron_stellarium/telescope.c

@@ -20,20 +20,25 @@
  * MA 02110-1301, USA.
  *
  */
+#include <pthread.h>
+
 #include "telescope.h"
 #include "usefull_macros.h"
 
 // polling timeout for answer from mount
 #ifndef T_POLLING_TMOUT
-#define T_POLLING_TMOUT (1.5)
+#define T_POLLING_TMOUT (0.5)
 #endif
+// wait for '\n' after last data read
 #ifndef WAIT_TMOUT
-#define WAIT_TMOUT (0.5)
+#define WAIT_TMOUT (0.01)
 #endif
 
 
 #define BUFLEN 80
 
+static char *hdname = NULL;
+
 /**
  * read strings from terminal (ending with '\n') with timeout
  * @return NULL if nothing was read or pointer to static buffer
@@ -69,10 +74,12 @@ static char *read_string(){
 }
 
 /**
- * write command
+ * write command, thread-safe
  * @return answer or NULL if error occured (or no answer)
  */
 static char *write_cmd(const char *cmd){
+    static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+    pthread_mutex_lock(&mutex);
     DBG("Write %s", cmd);
     if(write_tty(cmd, strlen(cmd))) return NULL;
     double t0 = dtime();
@@ -80,32 +87,51 @@ static char *write_cmd(const char *cmd){
     while(dtime() - t0 < T_POLLING_TMOUT){ // read answer
         if((ans = read_string())){ // parse new data
             DBG("got answer: %s", ans);
+            pthread_mutex_unlock(&mutex);
             return ans;
         }
     }
+    pthread_mutex_unlock(&mutex);
     return NULL;
 }
 
+
+int chkconn(){
+    char tmpbuf[4096];
+    read_tty(tmpbuf, 4096); // clear rbuf
+    write_cmd("#"); // clear cmd buffer
+    if(!write_cmd(":SB0#")) return 0; // 115200
+    //if(!write_cmd(":GR#")) return 0;
+    return 1;
+}
+
 /**
  * connect telescope device
- * @param dev (i) - device name to connect
+ * @param dev (i)     - device name to connect
+ * @param hdrname (i) - output file with FITS-headers
  * @return 1 if all OK
  */
-int connect_telescope(char *dev){
+int connect_telescope(char *dev, char *hdrname){
     if(!dev) return 0;
+    tcflag_t spds[] = {B115200, B57600, B38400, B19200, B9600, B4800, B2400, B1200, 0}, *speeds = spds;
     DBG("Connection to device %s...", dev);
     putlog("Try to connect to device %s...", dev);
-    char tmpbuf[4096];
+    while(*speeds){
-    fflush(stdout);
+        DBG("Try %d", *speeds);
-    #ifndef COM_SPEED
+        tty_init(dev, *speeds);
-    #define COM_SPEED B9600
+        if(chkconn()) break;
-    #endif
+        ++speeds;
-    tty_init(dev, COM_SPEED);
+    }
-    read_tty(tmpbuf, 4096); // clear rbuf
+    if(!*speeds) return 0;
+    if(*speeds != B115200){
+        restore_tty();
+        tty_init(dev, B115200);
+        if(!chkconn()) return 0;
+    }
     write_cmd(":U2#");
     write_cmd(":U2#");
-//    if(!write_cmd(":GR#")) return 0;
+    putlog("connected to %s@115200, will write FITS-header into %s", dev, hdrname);
-    putlog("connected", dev);
+    hdname = strdup(hdrname);
     DBG("connected");
     return 1;
 }
@@ -193,19 +219,47 @@ static int str2coord(char *str, double *val){
     return 1;
 }
 
+/**
+ * @brief printhdr - write FITS record into output file
+ * @param fd   - fd to write
+ * @param key  - key
+ * @param val  - value
+ * @param cmnt - comment
+ * @return 0 if all OK
+ */
+static int printhdr(int fd, const char *key, const char *val, const char *cmnt){
+    char tmp[81];
+    char tk[9];
+    if(strlen(key) > 8){
+        snprintf(tk, 9, "%s", key);
+        key = tk;
+    }
+    if(cmnt){
+        snprintf(tmp, 81, "%-8s= %-21s / %s", key,  val, cmnt);
+    }else{
+        snprintf(tmp, 81, "%-8s= %s", key, val);
+    }
+    size_t l = strlen(tmp);
+    tmp[l] = '\n';
+    ++l;
+    if(write(fd, tmp, l) != (ssize_t)l){
+        WARN("write()");
+        return 1;
+    }
+    return 0;
+}
+
+
+static double r = 0., d = 0.; // RA/DEC from wrhdr
+static time_t tlast = 0; // last time coordinates were refreshed
 /**
  * get coordinates
+ * @param ra (o)   - right ascension (hours)
+ * @param decl (o) - declination (degrees)
  * @return 1 if all OK
  */
 int get_telescope_coords(double *ra, double *decl){
-    double r, d;
+    if(time(NULL) - tlast > COORDS_TOO_OLD_TIME) return 0; // coordinates are too old
-    char *ans;
-    // :GR# -> 11:05:26.16#
-    ans = write_cmd(":GR#");
-    if(!str2coord(ans, &r)) return 0;
-    // :GD# -> +44:14:10.7#
-    ans = write_cmd(":GD#");
-    if(!str2coord(ans, &d)) return 0;
     if(ra) *ra = r;
     if(decl) *decl = d;
     return 1;
@@ -217,3 +271,108 @@ void stop_telescope(){
     }
     putlog("Can't send command STOP");
 }
+
+// site characteristics
+static char
+    *elevation = NULL,
+    *longitude = NULL,
+    *latitude  = NULL;
+
+// make duplicate of buf without trailing `#`
+// if astr == 1, surround content with ''
+static char *dups(const char *buf, int astr){
+    if(!buf) return NULL;
+    char *newbuf = malloc(strlen(buf)+5), *bptr = newbuf+1;
+    if(!newbuf) return NULL;
+    strcpy(bptr, buf);
+    char *sharp = strrchr(bptr, '#');
+    if(sharp) *sharp = 0;
+    if(astr){
+        bptr = newbuf;
+        *bptr = '\'';
+        int l = strlen(newbuf);
+        newbuf[l] = '\'';
+        newbuf[l+1] = 0;
+    }
+    char *d = strdup(bptr);
+    free(newbuf);
+    return d;
+}
+
+static void getplace(){
+    char *ans;
+    if(!elevation){
+        ans = write_cmd(":Gev#");
+        elevation = dups(ans, 0);
+    }
+    if(!longitude){
+        ans = write_cmd(":Gg#");
+        longitude = dups(ans, 1);
+    }
+    if(!latitude){
+        ans = write_cmd(":Gt#");
+        latitude = dups(ans, 1);
+    }
+}
+
+
+/**
+ * @brief wrhdr - try to write into header file
+ */
+void wrhdr(){
+    char *ans = NULL, *jd = NULL, *lst = NULL, *date = NULL;
+    // get coordinates for writing to file & sending to stellarium client
+    ans = write_cmd(":GR#");
+    if(!str2coord(ans, &r)) return;
+    ans = write_cmd(":GD#");
+    if(!str2coord(ans, &d)) return;
+    tlast = time(NULL);
+    if(!hdname) return;
+    if(!elevation || !longitude || !latitude) getplace();
+    ans = write_cmd(":GJD#"); jd = dups(ans, 0);
+    ans = write_cmd(":GS#"); lst = dups(ans, 1);
+    ans = write_cmd(":GUDT#");
+    if(ans){
+        char *comma = strchr(ans, ',');
+        if(comma){
+            *comma = 'T';
+            date = dups(ans, 1);
+        }
+    }
+#define WRHDR(k, v, c)  do{if(printhdr(hdrfd, k, v, c)){close(hdrfd); return;}}while(0)
+    char val[22];
+    if(unlink(hdname)){
+        WARN("unlink(%s)", hdname);
+        return;
+    }
+    int hdrfd = open(hdname, O_WRONLY | O_TRUNC | O_CREAT, 0644);
+    if(hdrfd < 0){
+        WARN("Can't open %s", hdname);
+        return;
+    }
+    WRHDR("TIMESYS", "'UTC'", "Time system");
+    WRHDR("ORIGIN", "'SAO RAS'", "Organization responsible for the data");
+    WRHDR("TELESCOP", "'Astrosib-500'", "Telescope name");
+    snprintf(val, 22, "%.10f", r*15.); // convert RA to degrees
+    WRHDR("RA", val, "Right ascension, current epoch");
+    snprintf(val, 22, "%.10f", d);
+    WRHDR("DEC", val, "Declination, current epoch");
+    if(elevation) WRHDR("ELEVAT", elevation, "Elevation of site over the sea level");
+    if(longitude) WRHDR("LONGITUD", longitude, "Geo longitude of site (east negative)");
+    if(latitude) WRHDR("LATITUDE", latitude, "Geo latitude of site (south negative)");
+    if(jd) WRHDR("MJD-END", jd, "Julian date of observations end");
+    if(lst) WRHDR("LSTEND", lst, "Local sidereal time of observations end");
+    if(date) WRHDR("DATE-END", date, "Date (UTC) of observations end");
+    FREE(jd);
+    FREE(lst);
+    FREE(date);
+        // WRHDR("", , "");
+    //ans = write_cmd(":GC#");
+    //char *ans1 = write_cmd(":GC#");
+#undef WRHDR
+    close(hdrfd);
+}
+
+// LSTSTART - sid time
+// MJD-END
+

Daemons/10micron_stellarium/telescope.h

@@ -24,9 +24,13 @@
 #ifndef __TELESCOPE_H__
 #define __TELESCOPE_H__
 
-int connect_telescope(char *dev);
+// max time after last coordinates reading
+#define COORDS_TOO_OLD_TIME     (5)
+
+int connect_telescope(char *dev, char *hdrname);
 int point_telescope(double ra, double decl);
 int get_telescope_coords(double *ra, double *decl);
 void stop_telescope();
+void wrhdr();
 
 #endif // __TELESCOPE_H__

Docs/Alignment/Readme.md

@@ -10,3 +10,4 @@ Alignment procedure:
 - enter data into telescope mount
 
 You should store parameters RA2000, DEC2000 and SidTime of each FITS-file.
+Also you will need telescope position data for each file - it's side of pier!