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refactoring

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This commit is contained in:
Edward Emelianov
2025-07-23 00:01:33 +03:00
parent 89815e8981
commit 7634856967
23 changed files with 801 additions and 234 deletions
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20
Auxiliary_utils/LibSidServo/examples/goto.c
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@@ -40,7 +40,7 @@ typedef struct{
} parameters;
static parameters G = {
.Ncycles = 40,
.Ncycles = 10,
.X = NAN,
.Y = NAN,
};
@@ -88,7 +88,7 @@ int main(int _U_ argc, char _U_ **argv){
return 1;
}
if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
coords_t M;
coordval_pair_t M;
if(!getPos(&M, NULL)) ERRX("Can't get current position");
if(G.coordsoutput){
if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
@@ -100,18 +100,22 @@ int main(int _U_ argc, char _U_ **argv){
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
}
printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
if(isnan(G.X) && isnan(G.Y)) goto out;
double *xtag = NULL, *ytag = NULL, xr, yr;
double _7deg = RAD2DEG(7.);
if(!isnan(G.X)){
xr = DEG2RAD(G.X);
if(G.relative) xr += M.X;
if(G.relative) xr += M.X.val;
xtag = &xr;
// set max speed
Mount.setSpeed(&_7deg, NULL);
}
if(!isnan(G.Y)){
yr = DEG2RAD(G.Y);
if(G.relative) yr += M.Y;
if(G.relative) yr += M.Y.val;
ytag = &yr;
Mount.setSpeed(NULL, &_7deg);
}
printf("Moving to ");
if(xtag) printf("X=%gdeg ", G.X);
@@ -122,12 +126,14 @@ int main(int _U_ argc, char _U_ **argv){
sleep(1);
waitmoving(G.Ncycles);
if(!getPos(&M, NULL)) WARNX("Can't get current position");
else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
}
out:
DBG("JOIN");
if(G.coordsoutput) pthread_join(dthr, NULL);
DBG("QUIT");
if(G.wait){
if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
Mount.quit();
}
return 0;