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telescope is moving; need to add some more commands & write FITS-header

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This commit is contained in:
Edward Emelianov
2026-09-24 17:51:41 +03:00
parent eb40fec59a
commit 8e796ce419
13 changed files with 553 additions and 183 deletions
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88
Daemons/10micron_stellarium/server.c
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@@ -45,10 +45,12 @@
#define CMD_TAGZD "tagzd"
#define CMD_TELRA "telra"
#define CMD_TELDEC "teldec"
#define CMD_TELAZ "telaz"
#define CMD_TELZD "telzd"
#define CMD_GOTORD "gotord"
#define CMD_GOTORH "gotorh"
#define CMD_GOTOAZ "gotoaz"
#define CMD_STOP "stop"
#define CMD_STOPTRK "stoptrk"
#define CMD_TRACK "track"
#define CMD_PARK "park"
#define CMD_PARKAZ "parkaz"
@@ -84,7 +86,8 @@ static sl_sock_hresult_e dtimeh(sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ con
// statust - text format status
static sl_sock_hresult_e status(sl_sock_t *c, sl_sock_hitem_t *item, _U_ const char *req){
char buf[BUFSIZ];
snprintf(buf, BUFSIZ-1, "%s=%s\n", item->key, mount_status_str());
mount_status_t st = mount_status();
snprintf(buf, BUFSIZ-1, "%s=%s\n", item->key, mount_status_str(st));
LOGDBG("Client %d asks status: %s", c->fd, buf);
sl_sock_sendstrmessage(c, buf);
return RESULT_SILENCE;
@@ -94,7 +97,9 @@ static int parse_key_value(const char *req, double *val){
if(!req) return 0; // is getter
DBG("parsing of %s", req);
double d;
if(sscanf(req, "%lf", &d) != 1) return -1; // error
if(strchr(req, ':')){ // DD:MM:SS or HH:MM:SS
if(!str2coord(req, &d)) return -1;
}else if(sscanf(req, "%lf", &d) != 1) return -1; // error
if(val) *val = d;
return 1; // is setter
}
@@ -112,7 +117,7 @@ static sl_sock_hresult_e cmd_tagra(sl_sock_t *c, sl_sock_hitem_t *item, const ch
mount_getInpCoords(&p);
double ra_h = RAD2HRS(p.ra);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, ra_h);
snprintf(buf, 63, "%s=%.6f\n", item->key, ra_h);
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -130,7 +135,7 @@ static sl_sock_hresult_e cmd_tagdec(sl_sock_t *c, sl_sock_hitem_t *item, const c
mount_getInpCoords(&p);
double dec_d = RAD2DEG(p.dec);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, dec_d);
snprintf(buf, 63, "%s=%.6f\n", item->key, dec_d);
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -148,7 +153,7 @@ static sl_sock_hresult_e cmd_tagha(sl_sock_t *c, sl_sock_hitem_t *item, const ch
mount_getInpCoords(&p);
double ha_h = RAD2HRS(p.ha);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, ha_h);
snprintf(buf, 63, "%s=%.6f\n", item->key, ha_h);
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -166,7 +171,7 @@ static sl_sock_hresult_e cmd_tagaz(sl_sock_t *c, sl_sock_hitem_t *item, const ch
mount_getInpHor(&h);
double az_d = RAD2DEG(h.az);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, az_d);
snprintf(buf, 63, "%s=%.6f\n", item->key, az_d);
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -184,7 +189,7 @@ static sl_sock_hresult_e cmd_tagzd(sl_sock_t *c, sl_sock_hitem_t *item, const ch
mount_getInpHor(&h);
double zd_d = RAD2DEG(h.zd);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, zd_d);
snprintf(buf, 63, "%s=%.6f\n", item->key, zd_d);
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -194,8 +199,7 @@ static sl_sock_hresult_e cmd_telra(sl_sock_t *c, sl_sock_hitem_t *item, _U_ cons
double ra, dec;
if(mount_getcoords(&ra, &dec) == MNT_S_ERROR) return RESULT_FAIL;
char buf[64];
double ra_h = RAD2HRS(ra);
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, ra_h);
snprintf(buf, 63, "%s=%.6f\n", item->key, ra);
sl_sock_sendstrmessage(c, buf);
return RESULT_SILENCE;
}
@@ -204,8 +208,25 @@ static sl_sock_hresult_e cmd_teldec(sl_sock_t *c, sl_sock_hitem_t *item, _U_ con
double ra, dec;
if(mount_getcoords(&ra, &dec) == MNT_S_ERROR) return RESULT_FAIL;
char buf[64];
double dec_d = RAD2DEG(dec);
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, dec_d);
snprintf(buf, 63, "%s=%.6f\n", item->key, dec);
sl_sock_sendstrmessage(c, buf);
return RESULT_SILENCE;
}
static sl_sock_hresult_e cmd_telaz(sl_sock_t *c, sl_sock_hitem_t *item, _U_ const char *req) {
double a, z;
if(mount_getaz(&a, &z) == MNT_S_ERROR) return RESULT_FAIL;
char buf[64];
snprintf(buf, 63, "%s=%.6f\n", item->key, a);
sl_sock_sendstrmessage(c, buf);
return RESULT_SILENCE;
}
static sl_sock_hresult_e cmd_telzd(sl_sock_t *c, sl_sock_hitem_t *item, _U_ const char *req) {
double a, z;
if(mount_getaz(&a, &z) == MNT_S_ERROR) return RESULT_FAIL;
char buf[64];
snprintf(buf, 63, "%s=%.6f\n", item->key, z);
sl_sock_sendstrmessage(c, buf);
return RESULT_SILENCE;
}
@@ -241,8 +262,13 @@ static sl_sock_hresult_e cmd_gotoaz(_U_ sl_sock_t *c, _U_ sl_sock_hitem_t *item,
}
static sl_sock_hresult_e cmd_stop(_U_ sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ const char *req) {
mount_stop();
return RESULT_OK;
if(mount_stop()) return RESULT_OK;
return RESULT_FAIL;
}
static sl_sock_hresult_e cmd_stoptrk(_U_ sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ const char *req) {
if(mount_tracking_stop()) return RESULT_OK;
return RESULT_FAIL;
}
// run tracking from current position
@@ -268,7 +294,7 @@ static sl_sock_hresult_e cmd_parkaz(sl_sock_t *c, sl_sock_hitem_t *item, const c
horizCrds_t h;
mount_getPark(&h);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, RAD2DEG(h.az));
snprintf(buf, 63, "%s=%.6f\n", item->key, RAD2DEG(h.az));
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -284,7 +310,7 @@ static sl_sock_hresult_e cmd_parkzd(sl_sock_t *c, sl_sock_hitem_t *item, const c
horizCrds_t h;
mount_getPark(&h);
char buf[64];
snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, RAD2DEG(h.zd));
snprintf(buf, 63, "%s=%.6f\n", item->key, RAD2DEG(h.zd));
sl_sock_sendstrmessage(c, buf);
}
return RESULT_SILENCE;
@@ -309,6 +335,9 @@ static sl_sock_hitem_t handlers[] = {
{cmd_tagzd, CMD_TAGZD, "get/set target zenith distance (Deg)", NULL},
{cmd_teldec, CMD_TELDEC, "get current telescope declination (Deg)", NULL},
{cmd_telra, CMD_TELRA, "get current telescope right acsention (Hrs)", NULL},
{cmd_telaz, CMD_TELAZ, "get current telescope azimuth (Deg)", NULL},
{cmd_telzd, CMD_TELZD, "get current telescope zenith distance (Deg)", NULL},
{cmd_stoptrk, CMD_STOPTRK, "stop tracking", NULL},
{cmd_track, CMD_TRACK, "start tracking from current position", NULL},
{dtimeh, CMD_UNIXT, "get server's UNIX time", NULL},
{NULL, NULL, NULL, NULL}
@@ -395,20 +424,37 @@ void server_run(){
return;
}
if(!mount_connect()){
LOGERR("Can't connect to mount");
sl_sock_delete(&cmd_socket);
return;
LOGWARN("Can't connect to mount, will try to reconnect later");
}
isrunning = true;
DBG("While");
double tcheck = 0.;
bool notlogged = true;
while(isrunning && cmd_socket && cmd_socket->connected){
usleep(sleept);
if(!cmd_socket->rthread){
LOGERR("Server handlers thread is dead");
break;
}
// finite state machine polling
//dome_poll(DOME_POLL, 0);
// check mount state
double tnow = sl_dtime();
if(tnow - tcheck >= MOUNT_CHECK_T){
tcheck = tnow;
mount_status_t curst = mount_status();
if(curst == MNT_S_OFF){ // mount is off -> try to reconnect
if(notlogged){
WARNX("Mount is OFF");
LOGWARN("Mount is OFF");
notlogged = false;
}
DBG("Try to [re]connect");
if(mount_connect()){
notlogged = true;
WARNX("Mount is ON");
}
}
DBG("Current status: %s", mount_status_str(curst));
}
}
DBG("Stop command socket");
sl_sock_delete(&cmd_socket);