add pre-pre-pre-alpha of Sidereal Servo II management

Auxiliary_utils/SiderealServoII/Makefile

@@ -0,0 +1,56 @@
+# run `make DEF=...` to add extra defines
+PROGRAM := runscope
+LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
+LDFLAGS += -lusefull_macros
+SRCS := $(wildcard *.c)
+DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
+OBJDIR := mk
+CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
+OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
+DEPS := $(OBJS:.o=.d)
+TARGFILE := $(OBJDIR)/TARGET
+CC = gcc
+#TARGET := RELEASE
+
+ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
+	TARGET := $(file < $(TARGFILE))
+else
+	TARGET := release
+endif
+
+all: 
+	@make $(TARGET)
+
+release: $(PROGRAM)
+
+debug: CFLAGS += -DEBUG -Werror
+debug: TARGET := debug
+debug: $(PROGRAM)
+
+$(TARGFILE): $(OBJDIR)
+	@echo -e "\t\tTARGET: $(TARGET)"
+	@echo "$(TARGET)" > $(TARGFILE)
+
+$(PROGRAM) : $(TARGFILE) $(OBJS)
+	@echo -e "\t\tLD $(PROGRAM)"
+	$(CC) $(LDFLAGS) $(OBJS) -o $(PROGRAM)
+
+$(OBJDIR):
+	@mkdir $(OBJDIR)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+endif
+
+$(OBJDIR)/%.o: %.c
+	@echo -e "\t\tCC $<"
+	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+
+clean:
+	@echo -e "\t\tCLEAN"
+	@rm -rf $(OBJDIR) 2>/dev/null || true
+
+xclean: clean
+	@rm -f $(PROGRAM)
+
+.PHONY: clean xclean

Auxiliary_utils/SiderealServoII/cmdlnopts.c

@@ -0,0 +1,87 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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 <assert.h>
+#include <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <math.h>
+#include "cmdlnopts.h"
+#include "usefull_macros.h"
+
+/*
+ * here are global parameters initialisation
+ */
+static int help;
+static glob_pars  G;
+
+// default PID filename:
+#define DEFAULT_PIDFILE "/tmp/runscope.pid"
+#define DEFAULT_SERDEV  "/dev/ttyUSB0"
+
+//            DEFAULTS
+// default global parameters
+static glob_pars const Gdefault = {
+    .device = DEFAULT_SERDEV,
+    .pidfile = DEFAULT_PIDFILE,
+    .speed = 19200,
+    .logfile = NULL // don't save logs
+};
+
+/*
+ * Define command line options by filling structure:
+ *  name        has_arg     flag    val     type        argptr              help
+*/
+static myoption cmdlnopts[] = {
+// common options
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
+    {"device",  NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.device),    _("serial device name (default:" DEFAULT_SERDEV ")")},
+    {"speed",   NEED_ARG,   NULL,   's',    arg_int,    APTR(&G.speed),     _("serial device speed (default: 115200)")},
+    {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   _("file to save logs")},
+    {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   _("pidfile (default: " DEFAULT_PIDFILE ")")},
+   end_option
+};
+
+/**
+ * Parse command line options and return dynamically allocated structure
+ *      to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parse_args(int argc, char **argv){
+    int i;
+    void *ptr;
+    ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+    size_t hlen = 1024;
+    char helpstring[1024], *hptr = helpstring;
+    snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
+    // format of help: "Usage: progname [args]\n"
+    change_helpstring(helpstring);
+    // parse arguments
+    parseargs(&argc, &argv, cmdlnopts);
+    if(help) showhelp(-1, cmdlnopts);
+    if(argc > 0){
+        G.rest_pars_num = argc;
+        G.rest_pars = MALLOC(char *, argc);
+        for (i = 0; i < argc; i++)
+            G.rest_pars[i] = strdup(argv[i]);
+    }
+    return &G;
+}
+

Auxiliary_utils/SiderealServoII/cmdlnopts.h

@@ -0,0 +1,38 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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/>.
+ */
+
+#pragma once
+#ifndef CMDLNOPTS_H__
+#define CMDLNOPTS_H__
+
+/*
+ * here are some typedef's for global data
+ */
+typedef struct{
+    char *device;           // serial device name
+    char *pidfile;          // name of PID file
+    char *logfile;          // logging to this file
+    int speed;              // connection speed
+    int rest_pars_num;      // number of rest parameters
+    char** rest_pars;       // the rest parameters: array of char*
+} glob_pars;
+
+
+glob_pars *parse_args(int argc, char **argv);
+
+#endif // CMDLNOPTS_H__

Auxiliary_utils/SiderealServoII/main.c

@@ -0,0 +1,104 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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 <signal.h>         // signal
+#include <stdio.h>          // printf
+#include <stdlib.h>         // exit, free
+#include <string.h>         // strdup
+#include <unistd.h>         // sleep
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "sidservo.h"
+
+/*
+#include <termios.h>		// tcsetattr
+#include <unistd.h>			// tcsetattr, close, read, write
+#include <sys/ioctl.h>		// ioctl
+#include <stdio.h>			// printf, getchar, fopen, perror
+#include <stdlib.h>			// exit
+#include <sys/stat.h>		// read
+#include <fcntl.h>			// read
+#include <signal.h>			// signal
+#include <time.h>			// time
+#include <string.h>			// memcpy
+#include <stdint.h>			// int types
+#include <sys/time.h>		// gettimeofday
+*/
+
+/**
+ * This is an example of usage:
+ *  - command line arguments,
+ *  - log file,
+ *  - check of another file version running,
+ *  - signals management,
+ *  - serial port reading/writing.
+ * The `cmdlnopts.[hc]` are intrinsic files of this demo.
+ */
+
+static glob_pars *GP = NULL;  // for GP->pidfile need in `signals`
+
+/**
+ * We REDEFINE the default WEAK function of signal processing
+ */
+void signals(int sig){
+    if(sig > 0){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    LOGERR("Exit with status %d", sig);
+    if(GP && GP->pidfile) // remove unnesessary PID file
+        unlink(GP->pidfile);
+    SSclose();
+    exit(sig);
+}
+
+void iffound_default(pid_t pid){
+    ERRX("Another copy of this process found, pid=%d. Exit.", pid);
+}
+
+int main(int argc, char *argv[]){
+    initial_setup();
+    char *self = strdup(argv[0]);
+    GP = parse_args(argc, argv);
+/*    if(GP->rest_pars_num){
+        printf("%d extra options:\n", GP->rest_pars_num);
+        for(int i = 0; i < GP->rest_pars_num; ++i)
+            printf("%s\n", GP->rest_pars[i]);
+    }*/
+    check4running(self, GP->pidfile);
+    red("%s started, snippets library version is %s\n", self, sl_libversion());
+    free(self);
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+    if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
+    LOGMSG("Start application...");
+    if(!SSinit(GP->device, GP->speed)) signals(-2);
+    /*
+    double t0 = dtime();
+    while(1){ // read data from port and print in into terminal
+        ;
+    }*/
+    // clean everything
+    signals(0);
+    // never reached
+    return 0;
+}

Auxiliary_utils/SiderealServoII/sidservo.c

@@ -0,0 +1,138 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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 <stdio.h>
+#include <string.h>
+
+#include "sidservo.h"
+
+static TTY_descr *dev = NULL; // shoul be global to restore if die
+static uint8_t buff[BUFLEN];
+static int buflen = 0;
+
+static uint16_t calcChecksum(uint8_t *buf, int len){
+    uint16_t checksum = 0x11; // I don't know from where does this "magick"
+    for(int i = 0; i < len; i++)
+        checksum += *buf++;
+    checksum ^= 0xFF00; // invert high byte
+    DBG("Checksum: 0x%04x", checksum);
+    return checksum;
+}
+
+/**
+ * @brief SSinit - open serial device and get initial info
+ * @return TRUE if all OK
+ */
+int SSinit(char *devpath, int speed){
+    LOGDBG("Try to open serial %s @%d", devpath, speed);
+    dev = new_tty(devpath, speed, BUFLEN);
+    if(dev) dev = tty_open(dev, 1); // open exclusively
+    if(!dev){
+        LOGERR("Can't open %s with speed %d. Exit.", devpath, speed);
+        signals(-1);
+    }
+    for(int ntries = 0; ntries < 5; ++ntries){ // try at most 5 times
+        if(!SSgetstat(NULL)) continue;
+        SSstat *s = (SSstat*) buff;
+#ifdef EBUG
+        green("\nGet data:\n");
+        printf("DECmot=%d (0x%08x)\n", s->DECmot, (uint32_t)s->DECmot);
+        printf("DECenc=%d (0x%08x)\n", s->DECenc, (uint32_t)s->DECenc);
+        printf("RAmot=%d (0x%08x)\n", s->RAmot, (uint32_t)s->RAmot);
+        printf("RAenc=%d (0x%08x)\n", s->RAenc, (uint32_t)s->RAenc);
+        printf("keypad=0x%02x\n", s->keypad);
+        printf("XBits=0x%02x\n", s->XBits);
+        printf("YBits=0x%02x\n", s->YBits);
+        printf("EBits=0x%02x\n", s->ExtraBits);
+        printf("ain0=%u\n", s->ain0);
+        printf("ain1=%u\n", s->ain1);
+        printf("millis=%u\n", s->millis);
+        printf("tF=%d\n", s->tF);
+        printf("V=%f\n", ((float)s->voltage)/10.f);
+        printf("checksum=0x%04x\n\n", s->checksum);
+#endif
+        if(calcChecksum(buff, sizeof(SSstat)-2) == s->checksum) return TRUE;
+    }
+    return FALSE;
+}
+
+/**
+ * @brief SSclose - stop telescope and close serial device
+ */
+void SSclose(){
+    if(dev) close_tty(&dev);
+}
+
+/**
+ * @brief SSwrite - write & return answer
+ * @param buf    - buffer with text or binary data
+ * @param buflen - its length
+ * @return amount of bytes read, if got answer; 0 without answer, -1 if device disconnected, -2 if can't write
+ */
+int SSwrite(const uint8_t *buf, int len){
+    DBG("try to write %d bytes", len);
+    if(write_tty(dev->comfd, (const char*)buf, len)){
+        LOGERR("Can't write data to port");
+        return -2;
+    }
+    write_tty(dev->comfd, "\r", 1); // add EOL
+    buflen = 0;
+    double t0 = dtime();
+    while(dtime() - t0 < READTIMEOUT && buflen < BUFLEN){
+        int r = read_tty(dev);
+        if(r == -1){
+            LOGERR("Seems like tty device disconnected");
+            return -1;
+        }
+        if(r == 0) continue;
+        int rest = BUFLEN - buflen;
+        if((int)dev->buflen > rest) dev->buflen = rest; // TODO: what to do with possible buffer overrun?
+        memcpy(&buff[buflen], dev->buf, dev->buflen);
+        buflen += dev->buflen;
+    }
+    DBG("got buflen=%d", buflen);
+#ifdef EBUG
+    for(int i = 0; i < buflen; ++i){
+        printf("%02x (%c) ", buff[i], (buff[i] > 31) ? buff[i] : ' ');
+    }
+    printf("\n");
+#endif
+    return buflen;
+}
+
+/**
+ * @brief SSread - return buff and buflen
+ * @param l (o) - length of data
+ * @return buff or NULL if buflen == 0
+ */
+uint8_t *SSread(int *l){
+    if(l) *l = buflen;
+    if(!buflen) return NULL;
+    return buff;
+}
+
+/**
+ * @brief SSgetstat - get struct with status & check its crc
+ * @param s - pointer to allocated struct (or NULL just to check)
+ * @return 1 if OK
+ */
+int SSgetstat(SSstat *s){
+    if(SSwrite(CMD_GETSTAT, sizeof(CMD_GETSTAT)) != sizeof(SSstat)) return FALSE;
+    if(s) memcpy(s, buff, sizeof(SSstat));
+    return TRUE;
+}

Auxiliary_utils/SiderealServoII/sidservo.h

@@ -0,0 +1,61 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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/>.
+ */
+
+#pragma once
+#ifndef SIDSERVO_H__
+#define SIDSERVO_H__
+
+#include <usefull_macros.h>
+
+// ASCII commands
+#define U8P(x)   ((uint8_t*)x)
+// get binary data of all statistics
+#define CMD_GETSTAT U8P("XXS")
+
+
+#define BUFLEN  (256)
+// timeout (seconds) of reading answer
+#define READTIMEOUT (0.1)
+
+// all need data in one
+typedef struct{
+    int32_t DECmot;     // Dec/RA motor position
+    int32_t RAmot;
+    int32_t DECenc;     // Dec/RA encoder position
+    int32_t RAenc;
+    uint8_t keypad;     // keypad status
+    uint8_t XBits;
+    uint8_t YBits;
+    uint8_t ExtraBits;
+    uint16_t ain0;      // analog inputs
+    uint16_t ain1;
+    uint32_t millis;    // milliseconds clock
+    int8_t tF;          // temperature (degF)
+    uint8_t voltage;    // input voltage *10
+    uint32_t reserved0;
+    uint32_t reserved1;
+    uint16_t checksum;  // checksum, H inverted
+}__attribute__((packed)) SSstat;
+
+int SSinit(char *devpath, int speed);
+void SSclose();
+int SSwrite(const uint8_t *buf, int len);
+uint8_t *SSread(int *l);
+int SSgetstat(SSstat *s);
+
+#endif // SIDSERVO_H__

Auxiliary_utils/Sun/Readme.md

@@ -0,0 +1,9 @@
+Calculates times of sunrise, sunset and noon, gives @ stdout just UNIX time of event
+
+Sunrise/sunset - for particular angle below horizon (default: -18degr).
+
+Usage: 
+
+- just `noon`, `sunrise` or `sunset` for default angles;
+- `sunrise/sunset angle` for `angle` in degrees below horizon;
+- `sunrise/sunset "standard"|"civil"|"nautic"|"astro" - calculates event for -0.833degr, -6degr, -12degr and -18degr.