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add bta weather data to weatherdaemon

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This commit is contained in:
Edward Emelianov 2021-06-09 21:12:43 +03:00
parent 0028ba8a4b
commit 6bfcc8730c
15 changed files with 1398 additions and 51 deletions
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94
Auxiliary_utils/bash_scripts/run_w_arrays Executable file
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#!/bin/bash
# Change this variables
RA="HH:MM:SS"
DEC="DD:MM:SS"
OBJ="Object name"
OBS="A.U. Thor"
# the date and time of closing
last=$(date -d "Jan 22 06:20" +%s)
# array with filter positions (0 - hole, 1 - B, 2 - V, 3 - R, 4 - r')
POSITIONS=( 1 2 3 )
# array with expositions (in milliseconds!!!) for each position from POSITIONS
EXPTIME=( 600000 300000 400000 )
# array with focus (mm*10000) for each position
FOCUS=( 45000 45500 45300 )
# DON'T CHANGE ANYTHING BELOW THIS LINE
##################################################################################################
echo "Time diff: $(($last-$(date +%s)))"
if [ $(($last-$(date +%s))) -lt 3600 ]; then
echo "There's less an hour for observation!"
exit 2
fi
len=${#POSITIONS[@]}
export http_proxy=""
function sendcmd(){
echo $1 | nc localhost 10001 -q10
}
function point_tel(){
touch lastpointing
send_coords -r $1 -d $2
}
function take_image(){
for (( i=0; i<$len; i++ )); do
fli_control -w ${POSITIONS[i]} -g ${FOCUS[i]}
preflash
fli_control -r /tmp/10micron.fitsheader -x ${EXPTIME[i]} -N "${OBS}" -O "${OBJ}" "$OBJ"
done
}
#function send_coords(){
# echo "1 2 3 0"
#}
#function chkweather(){
# echo "OK"
#}
echo "GoTo object: ${RA} ${DEC}"
echo send_coords -r${RA} -d${DEC}
echo "Start taking object"
badweather=0
while true; do
now=$(date +%s)
chkweather > lastweather && badweather=0 || badweather=$((badweather+1))
[ $badweather -gt 5 ] && break
if [ "$now" -lt "$last" ]; then
est=$(sendcmd ":Gmte#"|sed -e 's/^0*//' -e 's/#//')
echo -e "\n\n\n\n\nEstimated time to flip: $est minutes"
if [[ ("x$est" == "x") || ($est -lt 3) ]]; then
point_tel "${RA}" "${DEC}"
continue
fi
ST=$(send_coords | awk '{print $4}')
[ "x$ST" == "x" ] && break
if [ $ST -ne "0" ]; then
point_tel "${RA}" "${DEC}"
continue
else
take_image
fi
else
break
fi
done
curl localhost:4444/close
curl localhost:55555/close
echo "closed" > closed
park_telescope
for x in $(seq 1 5); do
preflash
fli_control -x300000 -d dark
preflash
fli_control -x1 -d bias
done
STOPobs

3
Daemons/README_install/Readme Normal file
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Создать директорию /var/log/telescopes (хозяин - eddy)
В local.d запускать netdaemons_start
Ротация логов - robotel -> /etc/logrotate.d

13
Daemons/README_install/netdaemons_start Normal file
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#!/bin/bash
LOGDIR=/var/log/telescope
killall teldaemon
killall domedaemon
killall stellariumdaemon
killall -9 teldaemon
killall -9 domedaemon
killall -9 stellariumdaemon
~/bin/teldaemon -d /dev/ttyS0 -l ${LOGDIR}/teldaemon.log
~/bin/domedaemon -d /dev/ttyS2 -l ${LOGDIR}/domedaemon.log
~/bin/stellariumdaemon -d /dev/ttyS1 -l ${LOGDIR}/stellariumdaemon.log

7
Daemons/README_install/robotel Normal file
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/var/log/telescope/*.log {
size 1M
rotate 10
compress
notifempty
missingok
}

5
Daemons/Readme.md
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@ -1,8 +1,9 @@
Different daemons @ tools
Different daemons & tools
=========================
- *10micron_stellarium* - simple daemon for 10-micron mount management from stellarium interface
- *domedaemon* - open/close dome by network query
- *domedaemon* - open/close Baaden dome by network query
- *domedaemon-astrosib* - open/close Astrosib dome by network query
- *netdaemon* - template for net-daemons
- *netsocket* - scripts for management of network 220V-socket
- *send_coordinates* - get/send coordinates to 10-micron mount through stellarium daemon

2
Daemons/weatherdaemon/Makefile
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@ -4,7 +4,7 @@ LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-a
LDFLAGS += -lusefull_macros
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
DEFINES += -DEBUG
#DEFINES += -DEBUG
# baudrate for USB<->UART converter
OBJDIR := mk
CFLAGS += -O2 -Wall -Werror -Wextra -Wno-trampolines

11
Daemons/weatherdaemon/Readme.md
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@ -4,16 +4,17 @@ Weather daemon
Open a socket at given port (default: 4444)
Parse weather data and send it to client
```
Usage: weatherdaemon [args]
Where args are:
-b, --baudrate=arg serial terminal baudrate (default: 115200)
-P, --pidfile=arg pidfile name (default: /tmp/weatherdaemon.pid)
-b, --baudrate=arg serial terminal baudrate (default: 9600)
-d, --device=arg serial device name (default: none)
-e, --emulation emulate serial device
-h, --help show this help
-i, --device=arg serial device name (default: none)
-l, --logfile=arg save logs to file (default: none)
-p, --port=arg network port to connect (default: 4444)
-p, --port=arg network port to connect (default: 12345)
-v, --verb logfile verbocity level (each -v increase it)
```

348
Daemons/weatherdaemon/bta_shdata.c Normal file
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// Copyright: V.S. Shergin, vsher@sao.ru
// fixed for x86_64 E.V. Emelianov, edward.emelianoff@gmail.com
#include "bta_shdata.h"
#include <usefull_macros.h>
#include <crypt.h>
#pragma pack(push, 4)
// Main command channel (level 5)
struct CMD_Queue mcmd = {{"Mcmd"}, 0200,0,-1,0};
// Operator command channel (level 4)
struct CMD_Queue ocmd = {{"Ocmd"}, 0200,0,-1,0};
// User command channel (level 2/3)
struct CMD_Queue ucmd = {{"Ucmd"}, 0200,0,-1,0};
#define MSGLEN (80)
static char msg[MSGLEN];
#define PERR(...) do{snprintf(msg, MSGLEN, __VA_ARGS__); perror(msg);} while(0)
#ifndef BTA_MODULE
volatile struct BTA_Data *sdt;
volatile struct BTA_Local *sdtl;
volatile struct SHM_Block sdat = {
{"Sdat"},
sizeof(struct BTA_Data),
2048,0444,
SHM_RDONLY,
bta_data_init,
bta_data_check,
bta_data_close,
ClientSide,-1,NULL
};
int snd_id = -1; // client sender ID
int cmd_src_pid = 0; // next command source PID
uint32_t cmd_src_ip = 0;// next command source IP
/**
* Init data
*/
void bta_data_init() {
sdt = (struct BTA_Data *)sdat.addr;
sdtl = (struct BTA_Local *)(sdat.addr+sizeof(struct BTA_Data));
if(sdat.side == ClientSide) {
if(sdt->magic != sdat.key.code) {
WARN("Wrong shared data (maybe server turned off)");
}
if(sdt->version == 0) {
WARN("Null shared data version (maybe server turned off)");
}
else if(sdt->version != BTA_Data_Ver) {
WARN("Wrong shared data version: I'am - %d, but server - %d ...",
BTA_Data_Ver, sdt->version );
}
if(sdt->size != sdat.size) {
if(sdt->size > sdat.size) {
WARN("Wrong shared area size: I needs - %d, but server - %d ...",
sdat.size, sdt->size );
} else {
WARN("Attention! Too little shared data structure!");
WARN("I needs - %d, but server gives only %d ...",
sdat.size, sdt->size );
WARN("May be server's version too old!?");
}
}
return;
}
/* ServerSide */
if(sdt->magic == sdat.key.code &&
sdt->version == BTA_Data_Ver &&
sdt->size == sdat.size)
return;
memset(sdat.addr, 0, sdat.maxsize);
sdt->magic = sdat.key.code;
sdt->version = BTA_Data_Ver;
sdt->size = sdat.size;
Tel_Hardware = Hard_On;
Pos_Corr = PC_On;
TrkOk_Mode = UseDiffVel | UseDiffAZ ;
inp_B = 591.;
Pressure = 595.;
PEP_code_A = 0x002aaa;
PEP_code_Z = 0x002aaa;
PEP_code_P = 0x002aaa;
PEP_code_F = 0x002aaa;
PEP_code_D = 0x002aaa;
DomeSEW_N = 1;
}
int bta_data_check() {
return( (sdt->magic == sdat.key.code) && (sdt->version == BTA_Data_Ver) );
}
void bta_data_close() {
if(sdat.side == ServerSide) {
sdt->magic = 0;
sdt->version = 0;
}
}
/**
* Allocate shared memory segment
*/
int get_shm_block(volatile struct SHM_Block *sb, int server) {
int getsize = (server)? sb->maxsize : sb->size;
// first try to find existing one
sb->id = shmget(sb->key.code, getsize, sb->mode);
if(sb->id < 0 && errno == ENOENT && server){
// if no - try to create a new one
int cresize = sb->maxsize;
if(sb->size > cresize){
WARN("Wrong shm maxsize(%d) < realsize(%d)",sb->maxsize,sb->size);
cresize = sb->size;
}
sb->id = shmget(sb->key.code, cresize, IPC_CREAT|IPC_EXCL|sb->mode);
}
if(sb->id < 0){
if(server)
PERR("Can't create shared memory segment '%s'",sb->key.name);
else
PERR("Can't find shared segment '%s' (maybe no server process) ",sb->key.name);
return 0;
}
// attach it to our memory space
sb->addr = (unsigned char *) shmat(sb->id, NULL, sb->atflag);
if((long)sb->addr == -1){
PERR("Can't attach shared memory segment '%s'",sb->key.name);
return 0;
}
if(server && (shmctl(sb->id, SHM_LOCK, NULL) < 0)){
PERR("Can't prevents swapping of shared memory segment '%s'",sb->key.name);
return 0;
}
DBG("Create & attach shared memory segment '%s' %dbytes", sb->key.name, sb->size);
sb->side = server;
if(sb->init != NULL)
sb->init();
return 1;
}
int close_shm_block(volatile struct SHM_Block *sb){
int ret;
if(sb->close != NULL)
sb->close();
if(sb->side == ServerSide) {
// ret = shmctl(sb->id, SHM_UNLOCK, NULL);
ret = shmctl(sb->id, IPC_RMID, NULL);
}
ret = shmdt (sb->addr);
return(ret);
}
/**
* Create|Find command queue
*/
void get_cmd_queue(struct CMD_Queue *cq, int server){
if (!server && cq->id >= 0) { //if already in use set current
snd_id = cq->id;
return;
}
// first try to find existing one
cq->id = msgget(cq->key.code, cq->mode);
// if no - try to create a new one
if(cq->id<0 && errno == ENOENT && server)
cq->id = msgget(cq->key.code, IPC_CREAT|IPC_EXCL|cq->mode);
if(cq->id<0){
if(server)
PERR("Can't create comand queue '%s'",cq->key.name);
else
PERR("Can't find comand queue '%s' (maybe no server process) ",cq->key.name);
return;
}
cq->side = server;
if(server){
char buf[120]; /* выбросить все команды из очереди */
while(msgrcv(cq->id, (struct msgbuf *)buf, 112, 0, IPC_NOWAIT) > 0);
}else
snd_id = cq->id;
cq->acckey = 0;
}
#endif // BTA_MODULE
int check_shm_block(volatile struct SHM_Block *sb) {
if(sb->check)
return(sb->check());
else return(0);
}
/**
* Set access key in current channel
*/
void set_acckey(uint32_t newkey){
if(snd_id < 0) return;
if(ucmd.id == snd_id) ucmd.acckey = newkey;
else if(ocmd.id == snd_id) ocmd.acckey = newkey;
else if(mcmd.id == snd_id) mcmd.acckey = newkey;
}
/**
* Setup source data for one following command if default values
* (IP == 0 - local, PID = current) not suits
*/
void set_cmd_src(uint32_t ip, int pid) {
cmd_src_pid = pid;
cmd_src_ip = ip;
}
#pragma pack(push, 4)
/**
* Send client commands to server
*/
void send_cmd(int cmd_code, char *buf, int size) {
struct my_msgbuf mbuf;
if(snd_id < 0) return;
if(size > 100) size = 100;
if(cmd_code > 0)
mbuf.mtype = cmd_code;
else
return;
if(ucmd.id == snd_id) mbuf.acckey = ucmd.acckey;
else if(ocmd.id == snd_id) mbuf.acckey = ocmd.acckey;
else if(mcmd.id == snd_id) mbuf.acckey = mcmd.acckey;
mbuf.src_pid = cmd_src_pid ? cmd_src_pid : getpid();
mbuf.src_ip = cmd_src_ip;
cmd_src_pid = cmd_src_ip = 0;
if(size > 0)
memcpy(mbuf.mtext, buf, size);
else {
mbuf.mtext[0] = 0;
size = 1;
}
msgsnd(snd_id, (struct msgbuf *)&mbuf, size+12, IPC_NOWAIT);
}
void send_cmd_noarg(int cmd_code) {
send_cmd(cmd_code, NULL, 0);
}
void send_cmd_str(int cmd_code, char *arg) {
send_cmd(cmd_code, arg, strlen(arg)+1);
}
void send_cmd_i1(int cmd_code, int32_t arg1) {
send_cmd(cmd_code, (char *)&arg1, sizeof(int32_t));
}
void send_cmd_i2(int cmd_code, int32_t arg1, int32_t arg2) {
int32_t ibuf[2];
ibuf[0] = arg1;
ibuf[1] = arg2;
send_cmd(cmd_code, (char *)ibuf, 2*sizeof(int32_t));
}
void send_cmd_i3(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3) {
int32_t ibuf[3];
ibuf[0] = arg1;
ibuf[1] = arg2;
ibuf[2] = arg3;
send_cmd(cmd_code, (char *)ibuf, 3*sizeof(int32_t));
}
void send_cmd_i4(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, int32_t arg4) {
int32_t ibuf[4];
ibuf[0] = arg1;
ibuf[1] = arg2;
ibuf[2] = arg3;
ibuf[3] = arg4;
send_cmd(cmd_code, (char *)ibuf, 4*sizeof(int32_t));
}
void send_cmd_d1(int32_t cmd_code, double arg1) {
send_cmd(cmd_code, (char *)&arg1, sizeof(double));
}
void send_cmd_d2(int cmd_code, double arg1, double arg2) {
double dbuf[2];
dbuf[0] = arg1;
dbuf[1] = arg2;
send_cmd(cmd_code, (char *)dbuf, 2*sizeof(double));
}
void send_cmd_i1d1(int cmd_code, int32_t arg1, double arg2) {
struct {
int32_t ival;
double dval;
} buf;
buf.ival = arg1;
buf.dval = arg2;
send_cmd(cmd_code, (char *)&buf, sizeof(buf));
}
void send_cmd_i2d1(int cmd_code, int32_t arg1, int32_t arg2, double arg3) {
struct {
int32_t ival[2];
double dval;
} buf;
buf.ival[0] = arg1;
buf.ival[1] = arg2;
buf.dval = arg3;
send_cmd(cmd_code, (char *)&buf, sizeof(buf));
}
void send_cmd_i3d1(int cmd_code, int32_t arg1, int32_t arg2, int32_t arg3, double arg4) {
struct {
int32_t ival[3];
double dval;
} buf;
buf.ival[0] = arg1;
buf.ival[1] = arg2;
buf.ival[2] = arg3;
buf.dval = arg4;
send_cmd(cmd_code, (char *)&buf, sizeof(buf));
}
void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev){
char salt[4];
char *encr;
union {
uint32_t ui;
char c[4];
} key, cod;
sprintf(salt,"L%1d",nlev);
encr = (char *)crypt(passwd, salt);
cod.c[0] = encr[2];
key.c[0] = encr[3];
cod.c[1] = encr[4];
key.c[1] = encr[5];
cod.c[2] = encr[6];
key.c[2] = encr[7];
cod.c[3] = encr[8];
key.c[3] = encr[9];
*keylev = key.ui;
*codlev = cod.ui;
}
int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev){
int nlev;
for(nlev = 5; nlev > 0; --nlev){
encode_lev_passwd(passwd, nlev, keylev, codlev);
if(*codlev == code_Lev(nlev)) break;
}
return(nlev);
}
int check_lev_passwd(char *passwd){
uint32_t keylev,codlev;
int nlev;
nlev = find_lev_passwd(passwd, &keylev, &codlev);
if(nlev > 0) set_acckey(keylev);
return(nlev);
}
#pragma pack(pop)

853
Daemons/weatherdaemon/bta_shdata.h Normal file
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@ -0,0 +1,853 @@
// Copyright: V.S. Shergin, vsher@sao.ru
// fixed for x86_64 E.V. Emelianov, edward.emelianoff@gmail.com
#pragma once
#ifndef __BTA_SHDATA_H__
#define __BTA_SHDATA_H__
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <string.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <sys/msg.h>
#include <errno.h>
#pragma pack(push, 4)
/*
* Shared memory block
*/
struct SHM_Block {
union {
char name[5]; // memory segment identificator
key_t code;
} key;
int32_t size; // size of memory used
int32_t maxsize; // size when created
int32_t mode; // access mode (rwxrwxrwx)
int32_t atflag; // connection mode (SHM_RDONLY or 0)
void (*init)(); // init function
int32_t (*check)(); // test function
void (*close)(); // deinit function
int32_t side; // connection type: client/server
int32_t id; // connection identificator
uint8_t *addr; // connection address
};
extern volatile struct SHM_Block sdat;
/*
* Command queue descriptor
*/
struct CMD_Queue {
union {
char name[5]; // queue key
key_t code;
} key;
int32_t mode; // access mode (rwxrwxrwx)
int32_t side; // connection type (Sender/Receiver - server/client)
int32_t id; // connection identificator
uint32_t acckey; // access key (for transmission from client to server)
};
extern struct CMD_Queue mcmd;
extern struct CMD_Queue ocmd;
extern struct CMD_Queue ucmd;
void send_cmd_noarg(int);
void send_cmd_str(int, char *);
void send_cmd_i1(int, int32_t);
void send_cmd_i2(int, int32_t, int32_t);
void send_cmd_i3(int, int32_t, int32_t, int32_t);
void send_cmd_i4(int, int32_t, int32_t, int32_t, int32_t);
void send_cmd_d1(int, double);
void send_cmd_d2(int, double, double);
void send_cmd_i1d1(int, int32_t, double);
void send_cmd_i2d1(int, int32_t, int32_t, double);
void send_cmd_i3d1(int, int32_t, int32_t, int32_t, double);
/*******************************************************************************
* Command list *
*******************************************************************************/
/* name code args type */
// Stop telescope
#define StopTel 1
#define StopTeleskope() send_cmd_noarg( 1 )
// High/low speed
#define StartHS 2
#define StartHighSpeed() send_cmd_noarg( 2 )
#define StartLS 3
#define StartLowSpeed() send_cmd_noarg( 3 )
// Timer setup (Ch7_15 or SysTimer)
#define SetTmr 4
#define SetTimerMode(T) send_cmd_i1 ( 4, (int)(T))
// Simulation (modeling) mode
#define SetModMod 5
#define SetModelMode(M) send_cmd_i1 ( 5, (int)(M))
// Azimuth speed code
#define SetCodA 6
#define SetPKN_A(iA,sA) send_cmd_i2 ( 6, (int)(iA),(int)(sA))
// Zenith speed code
#define SetCodZ 7
#define SetPKN_Z(iZ) send_cmd_i1 ( 7, (int)(iZ))
// Parangle speed code
#define SetCodP 8
#define SetPKN_P(iP) send_cmd_i1 ( 8, (int)(iP))
// Set Az velocity
#define SetVA 9
#define SetSpeedA(vA) send_cmd_d1 ( 9, (double)(vA))
// Set Z velocity
#define SetVZ 10
#define SetSpeedZ(vZ) send_cmd_d1 (10, (double)(vZ))
// Set P velocity
#define SetVP 11
#define SetSpeedP(vP) send_cmd_d1 (11, (double)(vP))
// Set new polar coordinates
#define SetAD 12
#define SetRADec(Alp,Del) send_cmd_d2 (12, (double)(Alp),(double)(Del))
// Set new azimutal coordinates
#define SetAZ 13
#define SetAzimZ(A,Z) send_cmd_d2 (13, (double)(A),(double)(Z))
// Goto new object by polar coords
#define GoToAD 14
#define GoToObject() send_cmd_noarg(14 )
// Start steering to object by polar coords
#define MoveToAD 15
#define MoveToObject() send_cmd_noarg(15 )
// Go to object by azimutal coords
#define GoToAZ 16
#define GoToAzimZ() send_cmd_noarg(16 )
// Set A&Z for simulation
#define WriteAZ 17
#define WriteModelAZ() send_cmd_noarg(17 )
// Set P2 mode
#define SetModP 18
#define SetPMode(pmod) send_cmd_i1 (18, (int)(pmod))
// Move(+-1)/Stop(0) P2
#define P2Move 19
#define MoveP2(dir) send_cmd_i1 (19, (int)(dir))
// Move(+-2,+-1)/Stop(0) focus
#define FocMove 20
#define MoveFocus(speed,time) send_cmd_i1d1(20,(int)(speed),(double)(time))
// Use/don't use pointing correction system
#define UsePCorr 21
#define SwitchPosCorr(pc_flag) send_cmd_i1 (21, (int)(pc_flag))
// Tracking flags
#define SetTrkFlags 22
#define SetTrkOkMode(trk_flags) send_cmd_i1 (22, (int)(trk_flags))
// Set focus (0 - primary, 1 - N1, 2 - N2)
#define SetTFoc 23
#define SetTelFocus(N) send_cmd_i1 ( 23, (int)(N))
// Set intrinsic move parameters by RA/Decl
#define SetVAD 24
#define SetVelAD(VAlp,VDel) send_cmd_d2 (24, (double)(VAlp),(double)(VDel))
// Reverse Azimuth direction when pointing
#define SetRevA 25
#define SetAzRevers(amod) send_cmd_i1 (25, (int)(amod))
// Set P2 velocity
#define SetVP2 26
#define SetVelP2(vP2) send_cmd_d1 (26, (double)(vP2))
// Set pointing target
#define SetTarg 27
#define SetSysTarg(Targ) send_cmd_i1 (27, (int)(Targ))
// Send message to all clients (+write into protocol)
#define SendMsg 28
#define SendMessage(Mesg) send_cmd_str (28, (char *)(Mesg))
// RA/Decl user correction
#define CorrAD 29
#define DoADcorr(dAlp,dDel) send_cmd_d2 (29, (double)(dAlp),(double)(dDel))
// A/Z user correction
#define CorrAZ 30
#define DoAZcorr(dA,dZ) send_cmd_d2 (30, (double)(dA),(double)(dZ))
// sec A/Z user correction speed
#define SetVCAZ 31
#define SetVCorr(vA,vZ) send_cmd_d2 (31, (double)(vA),(double)(vZ))
// move P2 with given velocity for a given time
#define P2MoveTo 32
#define MoveP2To(vP2,time) send_cmd_d2 (32, (double)(vP2),(double)(time))
// Go to t/Decl position
#define GoToTD 33
#define GoToSat() send_cmd_noarg (33 )
// Move to t/Decl
#define MoveToTD 34
#define MoveToSat() send_cmd_noarg (34 )
// Empty command for synchronisation
#define NullCom 35
#define SyncCom() send_cmd_noarg (35 )
// Button "Start"
#define StartTel 36
#define StartTeleskope() send_cmd_noarg(36 )
// Set telescope mode
#define SetTMod 37
#define SetTelMode(M) send_cmd_i1 ( 37, (int)(M))
// Turn telescope on (oil etc)
#define TelOn 38
#define TeleskopeOn() send_cmd_noarg(38 )
// Dome mode
#define SetModD 39
#define SetDomeMode(dmod) send_cmd_i1 (39, (int)(dmod))
// Move(+-3,+-2,+-1)/Stop(0) dome
#define DomeMove 40
#define MoveDome(speed,time) send_cmd_i1d1(40,(int)(speed),(double)(time))
// Set account password
#define SetPass 41
#define SetPasswd(LPass) send_cmd_str (41, (char *)(LPass))
// Set code of access level
#define SetLevC 42
#define SetLevCode(Nlev,Cod) send_cmd_i2(42, (int)(Nlev),(int)(Cod))
// Set key for access level
#define SetLevK 43
#define SetLevKey(Nlev,Key) send_cmd_i2(43, (int)(Nlev),(int)(Key))
// Setup network
#define SetNet 44
#define SetNetAcc(Mask,Addr) send_cmd_i2(44, (int)(Mask),(int)(Addr))
// Input meteo data
#define SetMet 45
#define SetMeteo(m_id,m_val) send_cmd_i1d1(45,(int)(m_id),(double)(m_val))
// Cancel meteo data
#define TurnMetOff 46
#define TurnMeteoOff(m_id) send_cmd_i1 (46, (int)(m_id))
// Set time correction (IERS DUT1=UT1-UTC)
#define SetDUT1 47
#define SetDtime(dT) send_cmd_d1 (47, (double)(dT))
// Set polar motion (IERS polar motion)
#define SetPM 48
#define SetPolMot(Xp,Yp) send_cmd_d2 (48, (double)(Xp),(double)(Yp))
// Get SEW parameter
#define GetSEW 49
#define GetSEWparam(Ndrv,Indx,Cnt) send_cmd_i3(49,(int)(Ndrv),(int)(Indx),(int)(Cnt))
// Set SEW parameter
#define PutSEW 50
#define PutSEWparam(Ndrv,Indx,Key,Val) send_cmd_i4(50,(int)(Ndrv),(int)(Indx),(int)(Key),(int)(Val))
// Set lock flags
#define SetLocks 51
#define SetLockFlags(f) send_cmd_i1 (SetLocks, (int)(f))
// Clear lock flags
#define ClearLocks 52
#define ClearLockFlags(f) send_cmd_i1 (ClearLocks, (int)(f))
// Set PEP-RK bits
#define SetRKbits 53
#define AddRKbits(f) send_cmd_i1 (SetRKbits, (int)(f))
// Clear PEP-RK bits
#define ClrRKbits 54
#define ClearRKbits(f) send_cmd_i1 (ClrRKbits, (int)(f))
// Set SEW dome motor number (for indication)
#define SetSEWnd 55
#define SetDomeDrive(ND) send_cmd_i1 (SetSEWnd, (int)(ND))
// Turn SEW controllers of dome on/off
#define SEWsDome 56
#define DomeSEW(OnOff) send_cmd_i1 (SEWsDome, (int)(OnOff))
/*******************************************************************************
* BTA data structure definitions *
*******************************************************************************/
#define ServPID (sdt->pid) // PID of main program
// model
#define UseModel (sdt->model) // model variants
enum{
NoModel = 0 // OFF
,CheckModel // control motors by model
,DriveModel // "blind" management without real sensors
,FullModel // full model without telescope
};
// timer
#define ClockType (sdt->timer) // which timer to use
enum{
Ch7_15 = 0 // Inner timer with synchronisation by CH7_15
,SysTimer // System timer (synchronisation unknown)
,ExtSynchro // External synchronisation (bta_time or xntpd)
};
// system
#define Sys_Mode (sdt->system) // main system mode
enum{
SysStop = 0 // Stop
,SysWait // Wait for start (pointing)
,SysPointAZ // Pointing by A/Z
,SysPointAD // Pointing by RA/Decl
,SysTrkStop // Tracking stop
,SysTrkStart // Start tracking (acceleration to nominal velocity)
,SysTrkMove // Tracking move to object
,SysTrkSeek // Tracking in seeking mode
,SysTrkOk // Tracking OK
,SysTrkCorr // Correction of tracking position
,SysTest // Test
};
// sys_target
#define Sys_Target (sdt->sys_target) // system pointing target
enum{
TagPosition = 0 // point by A/Z
,TagObject // point by RA/Decl
,TagNest // point to "nest"
,TagZenith // point to zenith
,TagHorizon // point to horizon
,TagStatObj // point to statinary object (t/Decl)
};
// tel_focus
#define Tel_Focus (sdt->tel_focus) // telescope focus type
enum{
Prime = 0
,Nasmyth1
,Nasmyth2
};
// PCS
#define PosCor_Coeff (sdt->pc_coeff) // pointing correction system coefficients
// tel_state
#define Tel_State (sdt->tel_state) // telescope state
#define Req_State (sdt->req_state) // required state
enum{
Stopping = 0
,Pointing
,Tracking
};
// tel_hard_state
#define Tel_Hardware (sdt->tel_hard_state) // Power state
enum{
Hard_Off = 0
,Hard_On
};
// tel_mode
#define Tel_Mode (sdt->tel_mode) // telescope mode
enum{
Automatic = 0 // Automatic (normal) mode
,Manual = 1 // manual mode
,ZenHor = 2 // work when Z<5 || Z>80
,A_Move = 4 // hand move by A
,Z_Move = 8 // hand move by Z
,Balance =0x10// balancing
};
// az_mode
#define Az_Mode (sdt->az_mode) // azimuth reverce
enum{
Rev_Off = 0 // move by nearest way
,Rev_On // move by longest way
};
// p2_state
#define P2_State (sdt->p2_state) // P2 motor state
#define P2_Mode (sdt->p2_req_mode)
enum{
P2_Off = 0 // Stop
,P2_On // Guiding
,P2_Plus // Move to +
,P2_Minus = -2 // Move to -
};
// focus_state
#define Foc_State (sdt->focus_state) // focus motor state
enum{
Foc_Hminus = -2// fast "-" move
,Foc_Lminus // slow "-" move
,Foc_Off // Off
,Foc_Lplus // slow "+" move
,Foc_Hplus // fast "+" move
};
// dome_state
#define Dome_State (sdt->dome_state) // dome motors state
enum{
D_Hminus = -3 // speeds: low, medium, high
,D_Mminus
,D_Lminus
,D_Off // off
,D_Lplus
,D_Mplus
,D_Hplus
,D_On = 7 // auto
};
// pcor_mode
#define Pos_Corr (sdt->pcor_mode) // pointing correction mode
enum{
PC_Off = 0
,PC_On
};
// trkok_mode
#define TrkOk_Mode (sdt->trkok_mode) // tracking mode
enum{
UseDiffVel = 1 // Isodrome (correction by real motors speed)
,UseDiffAZ = 2 // Tracking by coordinate difference
,UseDFlt = 4 // Turn on digital filter
};
// input RA/Decl values
#define InpAlpha (sdt->i_alpha)
#define InpDelta (sdt->i_delta)
// current source RA/Decl values
#define SrcAlpha (sdt->s_alpha)
#define SrcDelta (sdt->s_delta)
// intrinsic object velocity
#define VelAlpha (sdt->v_alpha)
#define VelDelta (sdt->v_delta)
// input A/Z values
#define InpAzim (sdt->i_azim)
#define InpZdist (sdt->i_zdist)
// calculated values
#define CurAlpha (sdt->c_alpha)
#define CurDelta (sdt->c_delta)
// current values (from sensors)
#define tag_A (sdt->tag_a)
#define tag_Z (sdt->tag_z)
#define tag_P (sdt->tag_p)
// calculated corrections
#define pos_cor_A (sdt->pcor_a)
#define pos_cor_Z (sdt->pcor_z)
#define refract_Z (sdt->refr_z)
// reverse calculation corr.
#define tel_cor_A (sdt->tcor_a)
#define tel_cor_Z (sdt->tcor_z)
#define tel_ref_Z (sdt->tref_z)
// coords difference
#define Diff_A (sdt->diff_a)
#define Diff_Z (sdt->diff_z)
#define Diff_P (sdt->diff_p)
// base object velocity
#define vel_objA (sdt->vbasea)
#define vel_objZ (sdt->vbasez)
#define vel_objP (sdt->vbasep)
// correction by real speed
#define diff_vA (sdt->diffva)
#define diff_vZ (sdt->diffvz)
#define diff_vP (sdt->diffvp)
// motor speed
#define speedA (sdt->speeda)
#define speedZ (sdt->speedz)
#define speedP (sdt->speedp)
// last precipitation time
#define Precip_time (sdt->m_time_precip)
// reserved
#define Reserve (sdt->reserve)
// real motor speed (''/sec)
#define req_speedA (sdt->rspeeda)
#define req_speedZ (sdt->rspeedz)
#define req_speedP (sdt->rspeedp)
// model speed
#define mod_vel_A (sdt->simvela)
#define mod_vel_Z (sdt->simvelz)
#define mod_vel_P (sdt->simvelp)
#define mod_vel_F (sdt->simvelf)
#define mod_vel_D (sdt->simvelf)
// telescope & hand correction state
/*
* 0x8000 - ÁÚÉÍÕÔ ÐÏÌÏÖÉÔÅÌØÎÙÊ
* 0x4000 - ÏÔÒÁÂÏÔËÁ ×ËÌ.
* 0x2000 - ÒÅÖÉÍ ×ÅÄÅÎÉÑ
* 0x1000 - ÏÔÒÁÂÏÔËÁ P2 ×ËÌ.
* 0x01F0 - ÓË.ËÏÒÒ. 0.2 0.4 1.0 2.0 5.0("/ÓÅË)
* 0x000F - ÎÁÐÒ.ËÏÒÒ. +Z -Z +A -A
*/
#define code_KOST (sdt->kost)
// different time (UTC, stellar, local)
#define M_time (sdt->m_time)
#define S_time (sdt->s_time)
#define L_time (sdt->l_time)
// PPNDD sensor (rough) code
#define ppndd_A (sdt->ppndd_a)
#define ppndd_Z (sdt->ppndd_z)
#define ppndd_P (sdt->ppndd_p)
#define ppndd_B (sdt->ppndd_b) // atm. pressure
// DUP sensor (precise) code (Gray code)
#define dup_A (sdt->dup_a)
#define dup_Z (sdt->dup_z)
#define dup_P (sdt->dup_p)
#define dup_F (sdt->dup_f)
#define dup_D (sdt->dup_d)
// binary 14-digit precise code
#define low_A (sdt->low_a)
#define low_Z (sdt->low_z)
#define low_P (sdt->low_p)
#define low_F (sdt->low_f)
#define low_D (sdt->low_d)
// binary 23-digit rough code
#define code_A (sdt->code_a)
#define code_Z (sdt->code_z)
#define code_P (sdt->code_p)
#define code_B (sdt->code_b)
#define code_F (sdt->code_f)
#define code_D (sdt->code_d)
// ADC PCL818 (8-channel) codes
#define ADC(N) (sdt->adc[(N)])
#define code_T1 ADC(0) // External temperature code
#define code_T2 ADC(1) // In-dome temperature code
#define code_T3 ADC(2) // Mirror temperature code
#define code_Wnd ADC(3) // Wind speed code
// calculated values
#define val_A (sdt->val_a) // A, ''
#define val_Z (sdt->val_z) // Z, ''
#define val_P (sdt->val_p) // P, ''
#define val_B (sdt->val_b) // atm. pressure, mm.hg.
#define val_F (sdt->val_f) // focus, mm
#define val_D (sdt->val_d) // Dome Az, ''
#define val_T1 (sdt->val_t1) // ext. T, degrC
#define val_T2 (sdt->val_t2) // in-dome T, degrC
#define val_T3 (sdt->val_t3) // mirror T, degrC
#define val_Wnd (sdt->val_wnd) // wind speed, m/s
// RA/Decl calculated by A/Z
#define val_Alp (sdt->val_alp)
#define val_Del (sdt->val_del)
// measured speed
#define vel_A (sdt->vel_a)
#define vel_Z (sdt->vel_z)
#define vel_P (sdt->vel_p)
#define vel_F (sdt->vel_f)
#define vel_D (sdt->vel_d)
// system messages queue
#define MesgNum 3
#define MesgLen 39
// message type
enum{
MesgEmpty = 0
,MesgInfor
,MesgWarn
,MesgFault
,MesgLog
};
#define Sys_Mesg(N) (sdt->sys_msg_buf[N])
// access levels
#define code_Lev1 (sdt->code_lev[0]) // remote observer - only information
#define code_Lev2 (sdt->code_lev[1]) // local observer - input coordinates
#define code_Lev3 (sdt->code_lev[2]) // main observer - correction by A/Z, P2/F management
#define code_Lev4 (sdt->code_lev[3]) // operator - start/stop telescope, testing
#define code_Lev5 (sdt->code_lev[4]) // main operator - full access
#define code_Lev(x) (sdt->code_lev[(x-1)])
// network settings
#define NetMask (sdt->netmask) // subnet mask (usually 255.255.255.0)
#define NetWork (sdt->netaddr) // subnet address (for ex.: 192.168.3.0)
#define ACSMask (sdt->acsmask) // ACS network mask (for ex.: 255.255.255.0)
#define ACSNet (sdt->acsaddr) // ACS subnet address (for ex.: 192.168.13.0)
// meteo data
#define MeteoMode (sdt->meteo_stat)
enum{
INPUT_B = 1 // pressure
,INPUT_T1 = 2 // external T
,INPUT_T2 = 4 // in-dome T
,INPUT_T3 = 8 // mirror T
,INPUT_WND = 0x10 // wind speed
,INPUT_HMD = 0x20 // humidity
};
#define SENSOR_B (INPUT_B <<8) // external data flags
#define SENSOR_T1 (INPUT_T1 <<8)
#define SENSOR_T2 (INPUT_T2 <<8)
#define SENSOR_T3 (INPUT_T3 <<8)
#define SENSOR_WND (INPUT_WND<<8)
#define SENSOR_HMD (INPUT_HMD<<8)
#define ADC_B (INPUT_B <<16) // reading from ADC flags
#define ADC_T1 (INPUT_T1 <<16)
#define ADC_T2 (INPUT_T2 <<16)
#define ADC_T3 (INPUT_T3 <<16)
#define ADC_WND (INPUT_WND<<16)
#define ADC_HMD (INPUT_HMD<<16)
#define NET_B (INPUT_B <<24) // got by network flags
#define NET_T1 (INPUT_T1 <<24)
#define NET_T3 (INPUT_T3 <<24)
#define NET_WND (INPUT_WND<<24)
#define NET_HMD (INPUT_HMD<<24)
// input meteo values
#define inp_B (sdt->inp_b) // atm.pressure (mm.hg)
#define inp_T1 (sdt->inp_t1) // ext T
#define inp_T2 (sdt->inp_t2) // in-dome T
#define inp_T3 (sdt->inp_t3) // mirror T
#define inp_Wnd (sdt->inp_wnd) // wind
// values used for refraction calculation
#define Temper (sdt->temper)
#define Pressure (sdt->press)
// last wind gust time
#define Wnd10_time (sdt->m_time10)
#define Wnd15_time (sdt->m_time15)
// IERS DUT1
#define DUT1 (sdt->dut1)
// sensors reading time
#define A_time (sdt->a_time)
#define Z_time (sdt->z_time)
#define P_time (sdt->p_time)
// input speeds
#define speedAin (sdt->speedain)
#define speedZin (sdt->speedzin)
#define speedPin (sdt->speedpin)
// acceleration (''/sec^2)
#define acc_A (sdt->acc_a)
#define acc_Z (sdt->acc_z)
#define acc_P (sdt->acc_p)
#define acc_F (sdt->acc_f)
#define acc_D (sdt->acc_d)
// SEW code
#define code_SEW (sdt->code_sew)
// sew data
#define statusSEW(Drv) (sdt->sewdrv[(Drv)-1].status)
#define statusSEW1 (sdt->sewdrv[0].status)
#define statusSEW2 (sdt->sewdrv[1].status)
#define statusSEW3 (sdt->sewdrv[2].status)
#define speedSEW(Drv) (sdt->sewdrv[(Drv)-1].set_speed)
#define speedSEW1 (sdt->sewdrv[0].set_speed)
#define speedSEW2 (sdt->sewdrv[1].set_speed)
#define speedSEW3 (sdt->sewdrv[2].set_speed)
#define vel_SEW(Drv) (sdt->sewdrv[(Drv)-1].mes_speed)
#define vel_SEW1 (sdt->sewdrv[0].mes_speed)
#define vel_SEW2 (sdt->sewdrv[1].mes_speed)
#define vel_SEW3 (sdt->sewdrv[2].mes_speed)
#define currentSEW(Drv) (sdt->sewdrv[(Drv)-1].current)
#define currentSEW1 (sdt->sewdrv[0].current)
#define currentSEW2 (sdt->sewdrv[1].current)
#define currentSEW3 (sdt->sewdrv[2].current)
#define indexSEW(Drv) (sdt->sewdrv[(Drv)-1].index)
#define indexSEW1 (sdt->sewdrv[0].index)
#define indexSEW2 (sdt->sewdrv[1].index)
#define indexSEW3 (sdt->sewdrv[2].index)
#define valueSEW(Drv) (sdt->sewdrv[(Drv)-1].value.l)
#define valueSEW1 (sdt->sewdrv[0].value.l)
#define valueSEW2 (sdt->sewdrv[1].value.l)
#define valueSEW3 (sdt->sewdrv[2].value.l)
#define bvalSEW(Drv,Nb) (sdt->sewdrv[(Drv)-1].value.b[Nb])
// 23-digit PEP-controllers code
#define PEP_code_A (sdt->pep_code_a)
#define PEP_code_Z (sdt->pep_code_z)
#define PEP_code_P (sdt->pep_code_p)
// PEP end-switches code
#define switch_A (sdt->pep_sw_a)
enum{
Sw_minus_A = 1 // negative A value
,Sw_plus240_A = 2 // end switch +240degr
,Sw_minus240_A = 4 // end switch -240degr
,Sw_minus45_A = 8 // "horizon" end switch
};
#define switch_Z (sdt->pep_sw_z)
enum{
Sw_0_Z = 1
,Sw_5_Z = 2
,Sw_20_Z = 4
,Sw_60_Z = 8
,Sw_80_Z = 0x10
,Sw_90_Z = 0x20
};
#define switch_P (sdt->pep_sw_p)
enum{
Sw_No_P = 0 // no switches
,Sw_22_P = 1 // 22degr
,Sw_89_P = 2 // 89degr
,Sw_Sm_P = 0x80 // Primary focus smoke sensor
};
// PEP codes
#define PEP_code_F (sdt->pep_code_f)
#define PEP_code_D (sdt->pep_code_d)
#define PEP_code_Rin (sdt->pep_code_ri)
#define PEP_code_Rout (sdt->pep_code_ro)
// PEP flags
#define PEP_A_On (sdt->pep_on[0])
#define PEP_A_Off (PEP_A_On==0)
#define PEP_Z_On (sdt->pep_on[1])
#define PEP_Z_Off (PEP_Z_On==0)
#define PEP_P_On (sdt->pep_on[2])
#define PEP_P_Off (PEP_P_On==0)
#define PEP_F_On (sdt->pep_on[3])
#define PEP_F_Off (PEP_F_On==0)
#define PEP_D_On (sdt->pep_on[4])
#define PEP_D_Off (PEP_D_On==0)
#define PEP_R_On (sdt->pep_on[5])
#define PEP_R_Off ((PEP_R_On&1)==0)
#define PEP_R_Inp ((PEP_R_On&2)!=0)
#define PEP_K_On (sdt->pep_on[6])
#define PEP_K_Off ((PEP_K_On&1)==0)
#define PEP_K_Inp ((PEP_K_On&2)!=0)
// IERS polar motion
#define polarX (sdt->xpol)
#define polarY (sdt->ypol)
// current Julian date, sidereal time correction by "Equation of the Equinoxes"
#define JDate (sdt->jdate)
#define EE_time (sdt->eetime)
// humidity value (%%) & hand input
#define val_Hmd (sdt->val_hmd)
#define inp_Hmd (sdt->val_hmd)
// worm position, mkm
#define worm_A (sdt->worm_a)
#define worm_Z (sdt->worm_z)
// locking flags
#define LockFlags (sdt->lock_flags)
enum{
Lock_A = 1
,Lock_Z = 2
,Lock_P = 4
,Lock_F = 8
,Lock_D = 0x10
};
#define A_Locked (LockFlags&Lock_A)
#define Z_Locked (LockFlags&Lock_Z)
#define P_Locked (LockFlags&Lock_P)
#define F_Locked (LockFlags&Lock_F)
#define D_Locked (LockFlags&Lock_D)
// SEW dome divers speed
#define Dome_Speed (sdt->sew_dome_speed)
// SEW dome drive number (for indication)
#define DomeSEW_N (sdt->sew_dome_num)
// SEW dome driver parameters
#define statusSEWD (sdt->sewdomedrv.status) // controller status
#define speedSEWD (sdt->sewdomedrv.set_speed) // speed, rpm
#define vel_SEWD (sdt->sewdomedrv.mes_speed) /*ÉÚÍÅÒÅÎÎÁÑ ÓËÏÒÏÓÔØ ÏÂ/ÍÉÎ (rpm)*/
#define currentSEWD (sdt->sewdomedrv.current) // current, A
#define indexSEWD (sdt->sewdomedrv.index) // parameter index
#define valueSEWD (sdt->sewdomedrv.value.l) // parameter value
// dome PEP codes
#define PEP_code_Din (sdt->pep_code_di) // data in
#define PEP_Dome_SEW_Ok 0x200
#define PEP_Dome_Cable_Ok 0x100
#define PEP_code_Dout (sdt->pep_code_do) // data out
#define PEP_Dome_SEW_On 0x10
#define PEP_Dome_SEW_Off 0x20
/*******************************************************************************
* BTA data structure *
*******************************************************************************/
#define BTA_Data_Ver 2
struct BTA_Data {
int32_t magic; // magic value
int32_t version; // BTA_Data_Ver
int32_t size; // sizeof(struct BTA_Data)
int32_t pid; // main process PID
int32_t model; // model modes
int32_t timer; // timer selected
int32_t system; // main system mode
int32_t sys_target; // system pointing target
int32_t tel_focus; // telescope focus type
double pc_coeff[8]; // pointing correction system coefficients
int32_t tel_state; // telescope state
int32_t req_state; // new (required) state
int32_t tel_hard_state; // Power state
int32_t tel_mode; // telescope mode
int32_t az_mode; // azimuth reverce
int32_t p2_state; // P2 motor state
int32_t p2_req_mode; // P2 required state
int32_t focus_state; // focus motor state
int32_t dome_state; // dome motors state
int32_t pcor_mode; // pointing correction mode
int32_t trkok_mode; // tracking mode
double i_alpha, i_delta; // input values
double s_alpha, s_delta; // source
double v_alpha, v_delta; // intrinsic vel.
double i_azim, i_zdist; // input A/Z
double c_alpha, c_delta; // calculated values
double tag_a, tag_z, tag_p; // current values (from sensors)
double pcor_a, pcor_z, refr_z; // calculated corrections
double tcor_a, tcor_z, tref_z; // reverse calculation corr.
double diff_a, diff_z, diff_p; // coords difference
double vbasea,vbasez,vbasep; // base object velocity
double diffva,diffvz,diffvp; // correction by real speed
double speeda,speedz,speedp; // motor speed
double m_time_precip; // last precipitation time
uint8_t reserve[16]; // reserved
double rspeeda, rspeedz, rspeedp; // real motor speed (''/sec)
double simvela, simvelz, simvelp, simvelf, simveld; // model speed
uint32_t kost; // telescope & hand correction state
double m_time, s_time, l_time; // different time (UTC, stellar, local)
uint32_t ppndd_a, ppndd_z, ppndd_p, ppndd_b; // PPNDD sensor (rough) code
uint32_t dup_a, dup_z, dup_p, dup_f, dup_d; // DUP sensor (precise) code (Gray code)
uint32_t low_a, low_z, low_p, low_f, low_d; // binary 14-digit precise code
uint32_t code_a, code_z, code_p, code_b, code_f, code_d; // binary 23-digit rough code
uint32_t adc[8]; // ADC PCL818 (8-channel) codes
double val_a, val_z, val_p, val_b, val_f, val_d;
double val_t1, val_t2, val_t3, val_wnd; // calculated values
double val_alp, val_del; // RA/Decl calculated by A/Z
double vel_a, vel_z, vel_p, vel_f, vel_d; // measured speed
// system messages queue
struct SysMesg {
int32_t seq_num;
char type; // message type
char text[MesgLen]; // message itself
} sys_msg_buf[MesgNum];
// access levels
uint32_t code_lev[5];
// network settings
uint32_t netmask, netaddr, acsmask, acsaddr;
int32_t meteo_stat; // meteo data
double inp_b, inp_t1, inp_t2, inp_t3, inp_wnd; // input meteo values
double temper, press; // values used for refraction calculation
double m_time10, m_time15; // last wind gust time
double dut1; // IERS DUT1 (src: ftp://maia.usno.navy.mil/ser7/ser7.dat), DUT1 = UT1-UTC
double a_time, z_time, p_time; // sensors reading time
double speedain, speedzin, speedpin; // input speeds
double acc_a, acc_z, acc_p, acc_f, acc_d; // acceleration (''/sec^2)
uint32_t code_sew; // SEW code
struct SEWdata { // sew data
int32_t status;
double set_speed; // target speed, rpm
double mes_speed; // measured speed, rpm
double current; // measured current, A
int32_t index; // parameter number
union{ // parameter code
uint8_t b[4];
uint32_t l;
} value;
} sewdrv[3];
uint32_t pep_code_a, pep_code_z, pep_code_p; // 23-digit PEP-controllers code
uint32_t pep_sw_a, pep_sw_z, pep_sw_p; // PEP end-switches code
uint32_t pep_code_f, pep_code_d, pep_code_ri, pep_code_ro; // PEP codes
uint8_t pep_on[10]; // PEP flags
double xpol, ypol; // IERS polar motion (src: ftp://maia.usno.navy.mil/ser7/ser7.dat)
double jdate, eetime; // current Julian date, sidereal time correction by "Equation of the Equinoxes"
double val_hmd, inp_hmd; // humidity value (%%) & hand input
double worm_a, worm_z; // worm position, mkm
/* ÆÌÁÇÉ ÂÌÏËÉÒÏ×ËÉ ÕÐÒÁ×ÌÅÎÉÑ ÕÚÌÁÍÉ */
uint32_t lock_flags; // locking flags
int32_t sew_dome_speed; // SEW dome divers speed: D_Lplus, D_Hminus etc
int32_t sew_dome_num; // SEW dome drive number (for indication)
struct SEWdata sewdomedrv; // SEW dome driver parameters
uint32_t pep_code_di, pep_code_do; // dome PEP codes
};
extern volatile struct BTA_Data *sdt;
/*******************************************************************************
* Local data structure *
*******************************************************************************/
// Oil pressure, MPa
#define PressOilA (sdtl->pr_oil_a)
#define PressOilZ (sdtl->pr_oil_z)
#define PressOilTank (sdtl->pr_oil_t)
// Oil themperature, degrC
#define OilTemper1 (sdtl->t_oil_1) // oil
#define OilTemper2 (sdtl->t_oil_2) // water
// Local data structure
struct BTA_Local {
uint8_t reserve[120]; // reserved data
double pr_oil_a,pr_oil_z,pr_oil_t; // Oil pressure
double t_oil_1,t_oil_2; // Oil themperature
};
/**
* Message buffer structure
*/
struct my_msgbuf {
int32_t mtype; // message type
uint32_t acckey; // client access key
uint32_t src_pid; // source PID
uint32_t src_ip; // IP of command source or 0 for local
char mtext[100]; // message itself
};
extern volatile struct BTA_Local *sdtl;
extern int snd_id;
extern int cmd_src_pid;
extern uint32_t cmd_src_ip;
#define ClientSide 0
#define ServerSide 1
#ifndef BTA_MODULE
void bta_data_init();
int bta_data_check();
void bta_data_close();
int get_shm_block(volatile struct SHM_Block *sb, int server);
int close_shm_block(volatile struct SHM_Block *sb);
void get_cmd_queue(struct CMD_Queue *cq, int server);
#endif
int check_shm_block(volatile struct SHM_Block *sb);
void encode_lev_passwd(char *passwd, int nlev, uint32_t *keylev, uint32_t *codlev);
int find_lev_passwd(char *passwd, uint32_t *keylev, uint32_t *codlev);
int check_lev_passwd(char *passwd);
void set_acckey(uint32_t newkey);
// restore packing
#pragma pack(pop)
//#pragma GCC diagnostic pop
#endif // __BTA_SHDATA_H__

24
Daemons/weatherdaemon/chkweather Executable file
View File

@ -0,0 +1,24 @@
#!/bin/bash
badsky=1700
[ $# = 1 ] && badsky=$1
export http_proxy=""
Q="192.168.70.33:12345"
ANS=$(curl $Q 2>/dev/null)
retval=$?
[ $retval -ne "0" ] && exit $retval
[ "$ANS" = "No data" ] && exit 2
Rain=1
Clouds=0
Wind=100
eval $ANS
retval=0
clouds=$(echo "$Clouds" | sed 's/\..*//g')
wind=$(echo "$Wind" | sed 's/\..*//g')
[ $Rain -ne "0" ] && retval=1
[ $clouds -lt "$badsky" ] && retval=1
[ $wind -gt "15" ] && retval=1
echo "$ANS"
exit $retval

13
Daemons/weatherdaemon/cmdlnopts.c
View File

@ -32,7 +32,8 @@ int help;
static glob_pars G;
// default values for Gdefault & help
#define DEFAULT_PORT "4444"
#define DEFAULT_PORT "12345"
#define DEFAULT_PID "/tmp/weatherdaemon.pid"
// DEFAULTS
// default global parameters
@ -41,10 +42,11 @@ glob_pars const Gdefault = {
.port = DEFAULT_PORT,
.logfile = NULL,
.verb = 0,
.tty_speed = 115200,
.tty_speed = 9600,
.rest_pars = NULL,
.rest_pars_num = 0,
.emul = 0
.emul = 0,
.pidfile = DEFAULT_PID
};
/*
@ -54,12 +56,13 @@ glob_pars const Gdefault = {
myoption cmdlnopts[] = {
// common options
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&help), _("show this help")},
{"device", NEED_ARG, NULL, 'i', arg_string, APTR(&G.device), _("serial device name (default: none)")},
{"device", NEED_ARG, NULL, 'd', arg_string, APTR(&G.device), _("serial device name (default: none)")},
{"port", NEED_ARG, NULL, 'p', arg_string, APTR(&G.port), _("network port to connect (default: " DEFAULT_PORT ")")},
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), _("save logs to file (default: none)")},
{"verb", NO_ARGS, NULL, 'v', arg_none, APTR(&G.verb), _("logfile verbocity level (each -v increase it)")},
{"baudrate",NEED_ARG, NULL, 'b', arg_int, APTR(&G.tty_speed), _("serial terminal baudrate (default: 115200)")},
{"baudrate",NEED_ARG, NULL, 'b', arg_int, APTR(&G.tty_speed), _("serial terminal baudrate (default: 9600)")},
{"emulation",NO_ARGS, NULL, 'e', arg_int, APTR(&G.emul), _("emulate serial device")},
{"pidfile", NEED_ARG, NULL, 'P', arg_string, APTR(&G.pidfile), _("pidfile name (default: " DEFAULT_PID ")")},
end_option
};

1
Daemons/weatherdaemon/cmdlnopts.h
View File

@ -34,6 +34,7 @@ typedef struct{
int verb; // verbocity level
int tty_speed; // serial terminal baudrate
int emul; // emulation of serial device
char *pidfile; // pidfile name
int rest_pars_num; // number of rest parameters
char** rest_pars; // the rest parameters: array of char* (path to logfile and thrash)
} glob_pars;

8
Daemons/weatherdaemon/main.c
View File

@ -18,9 +18,12 @@
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/wait.h> // wait
#include <sys/prctl.h> //prctl
#include <usefull_macros.h>
#include "bta_shdata.h"
#include "cmdlnopts.h"
#include "socket.h"
#include "term.h"
@ -41,6 +44,9 @@ int main(int argc, char **argv){
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
#ifndef EBUG
char *self = strdup(argv[0]);
#endif
GP = parse_args(argc, argv);
if(GP->logfile){
sl_loglevel lvl = LOGLEVEL_ERR;
@ -53,6 +59,7 @@ int main(int argc, char **argv){
if(daemon(1, 0)){
ERR("daemon()");
}
check4running(self, GP->pidfile);
while(1){ // guard for dead processes
pid_t childpid = fork();
if(childpid){
@ -69,6 +76,7 @@ int main(int argc, char **argv){
}
#endif
if(!get_shm_block( &sdat, ClientSide)) WARNX("Can't get BTA shared memory block");
if(GP->device) if(!try_connect(GP->device, GP->tty_speed)){
LOGERR("Can't connect to device");
ERRX("Can't connect to device");

4
Daemons/weatherdaemon/socket.c
View File

@ -81,7 +81,7 @@ static int send_data(int sock, int webquery, char *textbuf){
LOGERR("send_data(): write() failed");
return 0;
}
LOGDBG("fd %d, write %s", textbuf);
//LOGDBG("fd %d, write %s", sock, textbuf);
return 1;
}
@ -109,7 +109,7 @@ static int handle_socket(int sock, int notchkhdr){
char buff[BUFLEN];
ssize_t rd;
if(!(rd = read(sock, buff, BUFLEN-1))){
LOGMSG("Client %d closed", sock);
//LOGMSG("Client %d closed", sock);
return 1;
}
//LOG("client send %zd bytes", rd);

63
Daemons/weatherdaemon/term.c
View File

@ -22,10 +22,12 @@
#include <strings.h> // strncasecmp
#include <time.h> // time(NULL)
#include <limits.h> // INT_MAX, INT_MIN
#include "term.h"
#include "cmdlnopts.h"
#define BUFLEN 1024
#include "bta_shdata.h"
#include "cmdlnopts.h"
#include "term.h"
#define BUFLEN (4096)
TTY_descr *ttydescr = NULL;
extern glob_pars *GP;
@ -52,12 +54,15 @@ static char *read_string(){
double d0 = dtime();
do{
if((l = read_tty(ttydescr))){
strncpy(ptr, ttydescr->buf, LL);
r += l; LL -= l; ptr += l;
DBG("l=%zd, r=%zd, LL=%d", l, r, LL);
d0 = dtime();
}
}while(dtime() - d0 < WAIT_TMOUT && LL);
if(r){
buf[r] = 0;
//buf[r] = 0;
DBG("buf: %s", buf);
return buf;
}
return NULL;
@ -83,22 +88,22 @@ int try_connect(char *device, int baudrate){
* @param string (i) - string where to search
* @param Val (o) - value found
* @param Name - parameter name
* @return 0 if found
* @return TRUE if found
*/
static int getpar(char *string, double *Val, char *Name){
if(!string || !Val || !Name) return FALSE;
char *p = strstr(string, Name);
if(!p) return 1;
if(!p) return FALSE;
p += strlen(Name);
DBG("search %s", Name);
if(!Val) return 0;
char *endptr;
*Val = strtod(p, &endptr);
DBG("eptr=%s, val=%g", endptr, *Val);
if(endptr == string){
WARNX("Double value not found");
return 2;
return FALSE;
}
return 0;
return TRUE;
}
@ -107,6 +112,7 @@ static int getpar(char *string, double *Val, char *Name){
* @return: NULL if no data received, pointer to string if valid data received
*/
char *poll_device(){
FNAME();
static char ans[BUFLEN];
char *ptr = ans, *r = NULL;
if(!GP->emul){
@ -130,34 +136,19 @@ char *poll_device(){
if(eol) *eol = 0;
double d;
size_t L = BUFLEN, l;
if(!getpar(r, &d, "RT")){
l = snprintf(ptr, L, "Rain=%g\n", d);
if(l > 0){
L -= l;
ptr += l;
}
}
if(!getpar(r, &d, "WU")){
l = snprintf(ptr, L, "Clouds=%g\n", d);
if(l > 0){
L -= l;
ptr += l;
}
}
if(!getpar(r, &d, "TE")){
l = snprintf(ptr, L, "Exttemp=%g\n", d);
if(l > 0){
L -= l;
ptr += l;
}
}
if(!getpar(r, &d, "WG")){
l = snprintf(ptr, L, "Wind=%g\n", d/3.6);
if(l > 0){
L -= l;
ptr += l;
}
#define PRINT(...) do{l = snprintf(ptr, L, __VA_ARGS__); if(l > 0){ L -= l; ptr += l;}}while(0)
if(getpar(r, &d, "RT")) PRINT("Rain=%g\n", d);
if(getpar(r, &d, "WU")) PRINT("Clouds=%.1f\n", d);
if(getpar(r, &d, "TE")) PRINT("Exttemp=%.1f\n", d);
if(getpar(r, &d, "WG")) PRINT("Wind=%.1f\n", d/3.6);
// now get BTA parameters
if(check_shm_block(&sdat)){
PRINT("BTAExttemp=%.1f\n", val_T1);
PRINT("BTAPres=%.1f\n", val_B);
PRINT("BTAWind=%.1f\n", val_Wnd);
PRINT("BTAHumid=%.1f\n", val_Hmd);
}
#undef PRINT
snprintf(ptr, L, "Time=%lld\n", (long long)time(NULL));
DBG("Buffer: %s", ans);
return ans;