add "raw" commands

Daemons/10micron_stellarium/Readme.md

@@ -325,6 +325,12 @@ Place data can only be set at start-up (via CLI/config).
 | `parkaz`  | get/set| Parking azimuth, degrees.            |
 | `parkzd`  | get/set| Parking zenith distance, degrees.    |
 
+### Sending custom command
+
+The `raw` command allows to send any unsupported command string directly to mount.
+E.g. to set lunar tracking rate send `raw = :TL#`. If mount gives no answer for command, you will
+get message "No answer", otherwise you'll get this answer.
+
 ### Shutdown
 
 The `shutdown` command implements a simple confirmation handshake:

Daemons/10micron_stellarium/fitshdr.h

@@ -16,6 +16,8 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
+
 #include <weather_data.h>
 
 #include "angles.h"

Daemons/10micron_stellarium/main.c

@@ -25,7 +25,6 @@
 #include <usefull_macros.h>
 
 #include "args.h"
-#include "fitshdr.h"
 #include "server.h"
 #include "mount.h"
 #include "stellarium.h"

Daemons/10micron_stellarium/mount.c

@@ -689,3 +689,14 @@ bool mount_corrdata(weather_data_t *w){
 bool mount_shutdown(){
     return write_cmd(CMD_SHUTDOWN, true);
 }
+
+/**
+ * @brief mount_rawcmd - send raw command `cmd` to mount
+ * @param cmd - raw command
+ * @param ans (o) - answer text
+ * @param anslen - length of `ans` buffer
+ * @return false if failed
+ */
+bool mount_rawcmd(const char *cmd, char *ans, size_t anslen){
+    return send_cmd_resp(cmd, ans, anslen);
+}

Daemons/10micron_stellarium/mount.conf

@@ -0,0 +1,7 @@
+device = /dev/ttyS1
+serspeed = 9600 # starting speed after powering on
+logfile = loghere.log
+hdrfile = fitshdr.fits
+dut1 = -0.021
+polarx = 0.1774
+polary = 0.3264

Daemons/10micron_stellarium/mount.h

@@ -90,3 +90,5 @@ bool mount_setParkZD(double zd);
 void mount_getPark(horizCrds_t *c);
 
 bool mount_shutdown();
+
+bool mount_rawcmd(const char *cmd, char *ans, size_t anslen);

Daemons/10micron_stellarium/mountdaemon_10micron.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 20.0.1, 2026-09-28T09:01:11. -->
+<!-- Written by QtCreator 20.0.1, 2026-09-29T09:41:26. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

Daemons/10micron_stellarium/server.c

@@ -27,7 +27,6 @@
 #include <usefull_macros.h>
 #include <weather_data.h>
 
-#include "fitshdr.h"
 #include "mount.h"
 #include "server.h"
 #include "stellarium.h"
@@ -47,6 +46,7 @@
 #define CMD_PLACE       "place"
 #define CMD_POLARX      "polarx"
 #define CMD_POLARY      "polary"
+#define CMD_RAW         "raw"
 #define CMD_SHUTDOWN    "shutdown"
 #define CMD_STATUS      "status"
 #define CMD_STOP        "stop"
@@ -79,6 +79,7 @@ static bool weatherlost = false;
 
 // data for FITS-header (also to send user)
 static fitsheader_t HDR = {0};
+static pthread_mutex_t headermutex = PTHREAD_MUTEX_INITIALIZER;
 
 unsigned int server_getsleept(){ return sleept; }
 bool server_setsleept(unsigned int t){
@@ -448,6 +449,17 @@ static sl_sock_hresult_e cmd_place(sl_sock_t *c, sl_sock_hitem_t _U_ *item, cons
     return RESULT_SILENCE;
 }
 
+static sl_sock_hresult_e cmd_raw(sl_sock_t *c, sl_sock_hitem_t _U_ *item, const char *req){
+    char buf[128];
+    if(!req || !*req) return RESULT_BADVAL;
+    if(!mount_rawcmd(req, buf, 126)) strcpy(buf, "No answer");
+    size_t L = strlen(buf);
+    buf[L] = '\n';
+    buf[L + 1] = 0;
+    sl_sock_sendstrmessage(c, buf);
+    return RESULT_SILENCE;
+}
+
 static sl_sock_hresult_e cmd_shutdown(sl_sock_t *c, sl_sock_hitem_t *item, const char *req){
     double val;
     static int shtdwnkey = -1;
@@ -491,6 +503,7 @@ static sl_sock_hitem_t handlers[] = {
     {cmd_place, CMD_PLACE, "get place data", NULL},
     {cmd_polarx, CMD_POLARX, "set polar X value (m)", NULL},
     {cmd_polary, CMD_POLARY, "set polar Y value (m)", NULL},
+    {cmd_raw, CMD_RAW, "send raw command to mount", NULL},
     {cmd_shutdown, CMD_SHUTDOWN, "shut down mount power", NULL},
     {status, CMD_STATUS, "get mount status", NULL},
     {cmd_stop, CMD_STOP, "stop telescope", NULL},
@@ -613,9 +626,11 @@ void server_run(){
                 WARNX("Can't get weather data");
             }
             // collect data for other fields
+            pthread_mutex_lock(&headermutex);
             HDR.status = mount_status();
             if(HDR.status != MNT_S_OFF){
                 double deg1, deg2;
+                DBG("Take coordinates");
                 if(mount_getcoords(&deg1, &deg2)){
                     get_MJDt(NULL, &HDR.MJD);
                     get_LST(&HDR.MJD, &HDR.sidtime);
@@ -639,6 +654,7 @@ void server_run(){
             }
             getDUT(&HDR.dut);
             if(HDR.status == MNT_S_OFF || !mount_getpierside(HDR.pierside, MAX_HDR_STRLEN)) *HDR.pierside = 0;
+            pthread_mutex_unlock(&headermutex);
             // and write FITS-header
             wrhdr(&HDR);
             // check need of reconnection
@@ -673,3 +689,10 @@ void server_run(){
 void server_stop(){
     isrunning = false;
 }
+
+void server_getheader(fitsheader_t *fh){
+    if(!fh) return;
+    pthread_mutex_lock(&headermutex);
+    *fh = HDR;
+    pthread_mutex_unlock(&headermutex);
+}

Daemons/10micron_stellarium/server.h

@@ -20,6 +20,8 @@
 
 #include <usefull_macros.h>
 
+#include "fitshdr.h"
+
 // default and max available time for "usleep"
 #define DEFAULT_SLEEP_T     100
 #define MAX_SLEEP_T         10000
@@ -49,3 +51,4 @@ void server_run();
 void server_stop();
 unsigned int server_getsleept();
 bool server_setsleept(unsigned int t);
+void server_getheader(fitsheader_t *fh);

Daemons/10micron_stellarium/stellarium.c

@@ -27,6 +27,7 @@
 
 #include "angles.h"
 #include "mount.h"
+#include "server.h"
 #include "stellarium.h"
 
 #define BUFLEN  256
@@ -161,13 +162,8 @@ static void *handle_socket(void *sockd){
     dout.len = htole16(sizeof(outdata));
     dout.type = 0;
     while(isrunning){
-        // get coordinates
+        fitsheader_t HDR;
-        double Rhrs = 0., Ddeg = 0.;
+        server_getheader(&HDR);
-        if((dout.status = mount_getcoords(&Rhrs, &Ddeg)) == false){
-            WARNX("Error: can't get coordinates");
-            sleep(1);
-            continue;
-        }
         /*
         // convert from Jnow to J2000
         polarCrds_t Jn = {0}, J2000 = {0};
@@ -178,10 +174,10 @@ static void *handle_socket(void *sockd){
         dout.ra = htole32(RAD2RA(J2000.ra));
         dout.dec = (int32_t)htole32(RAD2DEC(J2000.dec));
         */
-        dout.ra = htole32(RAD2RA(HRS2RAD(Rhrs)));
+        dout.ra = htole32(RAD2RA(HRS2RAD(HDR.polar.ra)));
-        dout.dec = (int32_t)htole32(RAD2DEC(DEG2RAD(Ddeg)));
+        dout.dec = (int32_t)htole32(RAD2DEC(DEG2RAD(HDR.polar.dec)));
         /**/
-        if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break;
+        if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break; // send data even in `off` state
         if(!sl_canread(sock)){
             sleep(1);
             continue;