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

Daemons/10micron_stellarium/10micron_commands.h

@@ -0,0 +1,43 @@
+/*
+ * This file is part of the mountdaemon_10micron project.
+ * Copyright 2026 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
+
+// commands
+#define CMD_SHUTDOWN        ":shutdown#"  // TODO!
+#define CMD_TRKSTART        ":AP#"
+#define CMD_TRKSTOP         ":AL#"
+#define CMD_GOTOAZ          ":MA#"
+#define CMD_SLEWRADEC       ":MS#"
+#define CMD_BAUDRATE        ":SB0#"
+#define CMD_STOP            ":STOP#"
+#define CMD_HIGHPREC        ":U2#"
+
+// getters
+#define CMD_GETALT          ":GA#"
+#define CMD_GETAZIM         ":GZ#"
+#define CMD_GETDEC          ":GD#"
+#define CMD_GETSTAT         ":Gstat#"
+#define CMD_GETRA           ":GR#"
+
+// setters
+#define CMD_SETALT          ":Sa%s#"
+#define CMD_SETDEC          ":Sd%s#"
+#define CMD_SETRA           ":Sr%s#"
+#define CMD_SETMINALT       ":So%d#"
+#define CMD_SETZD           ":Sz%s#"

Daemons/10micron_stellarium/angles.c

@@ -84,25 +84,37 @@ void getPlaceData(placeData_t *pd){
 }
 
 /**
- * convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
+ * @brief ra2str - convert RA to string form "HH:MM:SS.SS"
+ * @param ra - RA (hours)
+ * @param buf - output buffer
+ * @return pointer to buffer
  */
-char *radec2str(double ra, double dec, char buf[RADEC_STR_MAXLEN]){
+char *ra2str(double ra, char buf[RADEC_STR_MAXLEN]){
+    int h = (int)ra;
+    ra -= h; ra *= 60.;
+    int m = (int)ra;
+    ra -= m; ra *= 60.;
+    snprintf(buf, RADEC_STR_MAXLEN, "%d:%d:%.2f", h,m,ra);
+    buf[RADEC_STR_MAXLEN-1] = 0;
+    return buf;
+}
+/**
+ * @brief dec2str - convert Dec to string form "DD:MM:SS.S"
+ * @param dec - Dec (degrees)
+ * @param buf - output buffer
+ * @return pointer to buffer
+ */
+char *dec2str(double dec, char buf[RADEC_STR_MAXLEN]){
     char sign = '+';
     if(dec < 0){
         sign = '-';
         dec = -dec;
     }
-
-    int h = (int)ra;
-    ra -= h; ra *= 60.;
-    int m = (int)ra;
-    ra -= m; ra *= 60.;
-
     int d = (int) dec;
     dec -= d; dec *= 60.;
     int dm = (int)dec;
     dec -= dm; dec *= 60.;
-    snprintf(buf, RADEC_STR_MAXLEN, "%d:%d:%.2f %c%d:%d:%.1f", h,m,ra, sign,d,dm,dec);
+    snprintf(buf, RADEC_STR_MAXLEN, "%c%d:%d:%.1f",sign,d,dm,dec);
     buf[RADEC_STR_MAXLEN-1] = 0;
     return buf;
 }
@@ -156,8 +168,10 @@ void norm_RADEC(double *ra, double *dec){
 
 void norm_RADECr(double *ra, double *dec){
     if(!ra || !dec) return;
+    DBG("Ra: %g, Dec: %g", RAD2DEG(*ra), RAD2DEG(*dec));
     if(*dec >= -ERFA_DPI/2. && *dec <= ERFA_DPI/2.){ // need only check RA
         *ra = eraAnp(*ra);
+        DBG("Ra become %g", RAD2DEG(*ra));
         return;
     }
     // 1: convert to (-pi..+pi)
@@ -170,6 +184,7 @@ void norm_RADECr(double *ra, double *dec){
         *dec = -ERFA_DPI - *dec;
         *ra = eraAnp(*ra + ERFA_DPI);
     }
+    DBG("Ra become %g, dec become %g", RAD2DEG(*ra), RAD2DEG(*dec));
 }
 
 // normalize angle to (-180, 180]
@@ -249,6 +264,39 @@ void r2sDMS(double radians, char *dms, int len){
     eraA2af(1, radians, &pm, i);
     snprintf(dms, len, "'%c%02d:%02d:%02d.%d'", pm, i[0],i[1],i[2],i[3]);
 }
+// the same, but argument in degrees
+void d2sDMS(double degrees, char *dms, int len){
+    double radians = DEG2RAD(degrees);
+    return r2sDMS(radians, dms, len);
+}
+
+/**
+ * convert str into coordinate (degrees/hours)
+ * @param str (i) - string with angle
+ * @param val (o) - output angle value
+ * @return true if all OK
+ */
+bool str2coord(const char *str, double *val){
+    if(!str || !val) return false;
+    int d, m;
+    float s;
+    int sign = 1;
+    if(*str == '+') ++str;
+    else if(*str == '-'){
+        sign = -1;
+        ++str;
+    }
+    int n = sscanf(str, "%d:%d:%f#", &d, &m, &s);
+    if(n != 3){
+        DBG("sscanf('%s')=%d", str, 3);
+        return false;
+    }
+    double ang = d + ((double)m)/60. + s/3600.;
+    if(sign == -1) *val = -ang;
+    else *val = ang;
+    return true;
+}
+
 
 /**
  * @brief get_MJDt - calculate MJD of date from argument
@@ -287,11 +335,11 @@ bool get_MJDt(struct timeval *tval, sMJD_t *MJD){
         WARNX("get_MJDt(): eraDtf2d() error");
         return false;
     }
-    DBG("y=%d, m=%d, d=%d, H=%d, M=%d, seconds=%g, UTC=%g", y, m, d, tms.tm_hour, tms.tm_min, tSeconds, utc1+utc2);
+    //DBG("y=%d, m=%d, d=%d, H=%d, M=%d, seconds=%g, UTC=%g", y, m, d, tms.tm_hour, tms.tm_min, tSeconds, utc1+utc2);
     MJD->MJD = (utc1 - ERFA_DJM0) + utc2;
     MJD->utc1 = utc1;
     MJD->utc2 = utc2;
-    DBG("MJD: %g, %.8f", utc1 - ERFA_DJM0, utc2);
+    //DBG("MJD: %g, %.8f", utc1 - ERFA_DJM0, utc2);
     if(eraUtctai(utc1, utc2, &MJD->tai1, &MJD->tai2)){
         WARNX("get_MJDt(): eraUtctai() error");
         return false;
@@ -322,8 +370,8 @@ bool get_LST(sMJD_t *mjd, double *LST){
     }else Mjd = *mjd;
     if(eraUtcut1(Mjd.utc1, Mjd.utc2, AlmDut.DUT1, &ut11, &ut12)) return false;
     double ST = eraGst06a(ut11, ut12, Mjd.tt1, Mjd.tt2);
-    DBG("ST0=%gh; longitude=%gh (%gdeg) STl=%gh", RAD2HRS(ST),
+    //DBG("ST0=%gh; longitude=%gh (%gdeg) STl=%gh", RAD2HRS(ST),
-        RAD2HRS(place.slong), RAD2DEG(place.slong), RAD2HRS(ST+place.slong));
+    //    RAD2HRS(place.slong), RAD2DEG(place.slong), RAD2HRS(ST+place.slong));
     ST += place.slong;
     if(ST > ERFA_D2PI) ST -= ERFA_D2PI;
     else if(ST < 0.) ST += ERFA_D2PI;

Daemons/10micron_stellarium/angles.h

@@ -21,7 +21,7 @@
 #include <erfam.h>
 #include <weather_data.h>
 
-#define RADEC_STR_MAXLEN    72
+#define RADEC_STR_MAXLEN    64
 
 #define RAD2DEG(angle)  ((angle) * ERFA_DR2D)
 #define DEG2RAD(angle)  ((angle) * ERFA_DD2R)
@@ -64,7 +64,9 @@ typedef struct{
     double py;
 } almDut_t;
 
-char *radec2str(double ra, double dec, char buf[RADEC_STR_MAXLEN]);
+char *ra2str(double ra, char buf[RADEC_STR_MAXLEN]);
+char *dec2str(double dec, char buf[RADEC_STR_MAXLEN]);
+bool str2coord(const char *str, double *val);
 bool normAZ(double *a, double *z);
 void norm_RA(double *ra);
 void norm_RADEC(double *ra, double *dec);
@@ -77,6 +79,7 @@ void eq2hor(polarCrds_t *pc, horizCrds_t *h, double sidTime);
 
 void r2sHMS(double radians, char *hms, int len);
 void r2sDMS(double radians, char *hms, int len);
+void d2sDMS(double degrees, char *dms, int len);
 void hor2eq(horizCrds_t *h, polarCrds_t *pc, double sidTime);
 void eq2horH(polarCrds_t *pc, horizCrds_t *h);
 void eq2hor(polarCrds_t *pc, horizCrds_t *h, double sidTime);

Daemons/10micron_stellarium/args.c

@@ -32,8 +32,8 @@
 #define DEFAULT_FITSHDR     "/tmp/10micron.fitsheader"
 // baudrate - 115200
 #define DEFAULT_SERSPEED    115200
-// serial polling timeout - 100ms
+// serial answer polling timeout - 1s
-#define DEFAULT_SERTMOUT    100000
+#define DEFAULT_SERTMOUT    1.0
 // mount name
 #define DEFAULT_MOUNT_NAME  "10Micron GM4000HPS"
 
@@ -59,10 +59,10 @@ static parameters_t Conf = {0};
     {"cmdport", NEED_ARG,   NULL,   'P',    arg_string, APTR(&Stor.cmdnode),   "port or UNIX-socket path to connect for command console (default: " DEFAULT_CMDNODE ")"}, \
     {"sleept",  NEED_ARG,   NULL,   't',    arg_int,    APTR(&Stor.sleept),    "time of servers' sleeping in main cycle, us (default: " STR(DEFAULT_SLEEP_T) " us)"}, \
     {"isunix",  NO_ARGS,    NULL,   'U',    arg_int,    APTR(&Stor.isunix),    "use UNIX-socket for cmdport"}, \
-    {"sertmout",NEED_ARG,   NULL,   'T',    arg_int,    APTR(&Stor.sertmout),  "serial timeout, us (default: " STR(DEFAULT_SERTMOUT) " us)"}, \
+    {"sertmout",NEED_ARG,   NULL,   'T',    arg_double, APTR(&Stor.sertmout),  "serial timeout, seconds (default: " STR(DEFAULT_SERTMOUT) " s)"}, \
     {"serspeed",NEED_ARG,   NULL,   'S',    arg_int,    APTR(&Stor.serspeed),  "serial speed (default: " STR(DEFAULT_SERSPEED) ")"}, \
-    {"maxclients",NEED_ARG, NULL,   0,      arg_int,    APTR(&Stor.maxclients),"max amount of clients connected to one socket (default: " STR(DEFAULT_MAXCLIENTS) ")"}, \
+    {"maxclients",NEED_ARG, NULL,     0,    arg_int,    APTR(&Stor.maxclients),"max amount of clients connected to one socket (default: " STR(DEFAULT_MAXCLIENTS) ")"}, \
-    {"mountname",NEED_ARG,  NULL,   0,      arg_string, APTR(&Stor.mountname), "mount name (default: " DEFAULT_MOUNT_NAME ")"},  \
+    {"mountname",NEED_ARG,  NULL,     0,    arg_string, APTR(&Stor.mountname), "mount name (default: " DEFAULT_MOUNT_NAME ")"},  \
     {"verbose", NO_ARGS,    NULL,   'v',    arg_none,   APTR(&Stor.verbose),   "verbose level (each -v increases it)"}, \
 
 
@@ -105,20 +105,34 @@ static void chkint(int *conf, int *cmd, int dflt){
     }
 }
 
+static void chkdbl(double *conf, double *cmd, double dflt){
+    if(!*conf){
+        if(!*cmd) *cmd = dflt;
+        return;
+    }
+    if(!*cmd){
+        DBG("Conf-only parameter %g", *conf);
+        *cmd = *conf;
+    }
+}
 
-#define STRCHK(field)  chkstr(&Conf.field, &G.field, NULL)
+#define STRCHK(field)       chkstr(&Conf.field, &G.field, NULL)
 #define STRCHKD(field, def) chkstr(&Conf.field, &G.field, def)
-#define INTCHK(field)  chkint(&Conf.field, &G.field, 0)
+#define INTCHK(field)       chkint(&Conf.field, &G.field, 0)
-#define INTCHKD(field, def)  chkint(&Conf.field, &G.field, def)
+#define INTCHKD(field, def) chkint(&Conf.field, &G.field, def)
+#define DBLCHK(field)       chkdbl(&Conf.field, &G.field, 0.)
+#define DBLCHKD(field, def) chkdbl(&Conf.field, &G.field, def)
 
 parameters_t *parse_cmdline(int *argc, char ***argv){
     sl_parseargs(argc, argv, cmdlnopts);
     if(help) sl_showhelp(-1, cmdlnopts);
-    if(!conffile) return &G;
+    //if(!conffile) return &G;
     // fix for conffile
-    if(!sl_conf_readopts(conffile, confopts)){ // show conf help
+    if(conffile){
-        sl_conf_showhelp(-1, confopts);
+        if(!sl_conf_readopts(conffile, confopts)){ // show conf help
-        return NULL;
+            sl_conf_showhelp(-1, confopts);
+            return NULL;
+        }
     }
     // now fix for command line and check all:
     DBG("Check all args");
@@ -133,7 +147,7 @@ parameters_t *parse_cmdline(int *argc, char ***argv){
     INTCHK(verbose);
     INTCHKD(sleept, DEFAULT_SLEEP_T);
     INTCHK(isunix);
-    INTCHKD(sertmout, DEFAULT_SERTMOUT);
+    DBLCHKD(sertmout, DEFAULT_SERTMOUT);
     INTCHKD(serspeed, DEFAULT_SERSPEED);
     INTCHKD(maxclients, DEFAULT_MAXCLIENTS);
     return &G;

Daemons/10micron_stellarium/args.h

@@ -30,9 +30,9 @@ typedef struct{
     int verbose;            // verbose level
     int sleept;             // server's sleeping in main cycle time
     int isunix;             // use UNIX-socket for command port
-    int sertmout;           // serial timeout, us
     int serspeed;           // serial speed, baud
     int maxclients;         // max amount of clients connected to one socket
+    double sertmout;        // serial timeout, s
 } parameters_t;
 
 parameters_t *parse_cmdline(int *argc, char ***argv);

Daemons/10micron_stellarium/emulation.c

@@ -25,8 +25,9 @@
 #include "angles.h"
 #include "emulation.h"
 
-// emulation speed over any trajectory
+// emulation speed over axis
-#define SPEED           (DEG2RAD(5.))
+#define RASPEED         (DEG2RAD(5.))
+#define DECSPEED        (DEG2RAD(8.))
 // limiting Zen.d.
 #define ZD_LIMIT        (DEG2RAD(80.))
 // pointing tolerance: ~1''
@@ -108,11 +109,12 @@ static double angular_distance(const polarCrds_t *a, const polarCrds_t *b){
     return acos(cd);
 }
 #endif
-// distance by axis moving
+// time to reach position b from position a
-static double axdist(const polarCrds_t *a, const polarCrds_t *b){
+static double reacht(const polarCrds_t *a, const polarCrds_t *b){
     // convert to [-pi, pi)
-    double dra = eraAnpm(b->ra - a->ra), ddec = eraAnpm(b->dec - a->dec);
+    double tra = fabs(eraAnpm(b->ra - a->ra)) / RASPEED, tdec = fabs(eraAnpm(b->dec - a->dec)) / DECSPEED;
-    return sqrt(dra*dra + ddec*ddec);
+    if(tra > tdec) return tra;
+    return tdec;
 }
 
 // calculate flip target (dec>90deg)
@@ -142,47 +144,49 @@ void get_emul_coords(double *ra, double *decl){
         }
         if(!flip_in_progress){ // check if we need to flip
             // distance for direct moving
-            double dist_direct = axdist(&CurRD, &TagRD);
+            double time_direct = reacht(&CurRD, &TagRD);
             // new point after flipping
             polarCrds_t flip_candidate;
             get_flip_target(&TagRD, &flip_candidate);
             // distance for moving with flip
-            double dist_flip = axdist(&CurRD, &flip_candidate);
+            double time_flip = reacht(&CurRD, &flip_candidate);
 
-            if(dist_flip < dist_direct){
+            if(time_flip < time_direct){
                 // need to make flip: it's shorter
                 flip_target = flip_candidate;
                 flip_in_progress = true;
-                DBG("Flip chosen: direct=%.3fdeg, flip=%.3fdeg\n\n\n", RAD2DEG(dist_direct), RAD2DEG(dist_flip));
+                DBG("Target: ra=%gdeg, dec=%gdeg; flip target: ra=%gdeg, dec=%gdec", RAD2DEG(TagRD.ra), RAD2DEG(TagRD.dec), RAD2DEG(flip_candidate.ra), RAD2DEG(flip_candidate.dec));
+                DBG("Flip chosen: direct=%.3fsec, flip=%.3fsec\n\n\n", RAD2DEG(time_direct), RAD2DEG(time_flip));
             }else{
                 flip_in_progress = false;
-                DBG("Move directly: direct=%.3fdeg, flip=%.3fdeg\n\n\n", RAD2DEG(dist_direct), RAD2DEG(dist_flip));
+                DBG("Move directly: direct=%.3fsec, flip=%.3fsec\n\n\n", RAD2DEG(time_direct), RAD2DEG(time_flip));
             }
         }
         // flip target is the same as TagRD, but with RA+=12h and dec > 90deg
         polarCrds_t *target = flip_in_progress ? &flip_target : &TagRD;
         // RA difference over target and last position: [-pi, pi)
         double dRA = eraAnpm(target->ra - CurRD.ra);
-        DBG("RA difference: %gdegr", RAD2DEG(dRA));
+        DBG("RA difference: %gdegr (tag: %g, cur: %g)", RAD2DEG(dRA), RAD2DEG(target->ra), RAD2DEG(CurRD.ra));
         double dDec = eraAnpm(target->dec - CurRD.dec);
-        DBG("DEC difference: %gdegr", RAD2DEG(dDec));
+        DBG("DEC difference: %gdegr (tag: %g, cur: %g)", RAD2DEG(dDec), RAD2DEG(target->dec), RAD2DEG(CurRD.dec));
         double dist = sqrt(dRA*dRA + dDec*dDec);
-        if(dist < POINTING_TOL){ // on position
+        double tra = fabs(dRA) / RASPEED, tdec = fabs(dDec) / DECSPEED;
+        double time_to_reach = (tra > tdec) ? tra : tdec;
+        double dt = tcur - tlast;
+        if(dist < POINTING_TOL || time_to_reach < dt){ // on position
+            DBG("ON Position, time to reach=%gs, dt=%gs\n\n\n", time_to_reach, dt);
             if(pointAZ) emulation_stop(); // got A/Z position, stop
             else atomic_store(&emul_status, MNT_S_TRACKING);
-            if(flip_in_progress){
+            if(flip_in_progress) flip_in_progress = false;
-                flip_in_progress = false;
+            CurRD = TagRD; // fix to dec <=90
-                CurRD = TagRD; // fix to dec <=90
-            }
         }else{
-            double dt = tcur - tlast;
+            DBG("dRA=%gdeg, dDEC=%gdegh\n\n\n", RAD2DEG(dRA), RAD2DEG(dDec));
-            double step = SPEED * dt;
+            double sign = (dRA > 0.) ? 1. : -1.;
-            if(step > dist) step = dist;
+            if(tra < dt) CurRD.ra = target->ra;
-            double factor = step / dist;
+            else CurRD.ra += dt * RASPEED * sign;
-            CurRD.ra += dRA * factor;
+            sign = (dDec > 0.) ? 1. : -1.;
-            CurRD.dec += dDec * factor;
+            if(tdec < dt) CurRD.dec = target->dec;
-            //if(CurRD.dec > ERFA_DPI/2.0) CurRD.dec = ERFA_DPI/2.0;
+            else CurRD.dec += dt * DECSPEED * sign;
-            //else if(CurRD.dec < -ERFA_DPI/2.0) CurRD.dec = -ERFA_DPI/2.0;
             if(CurRD.ra < 0.) CurRD.ra += ERFA_D2PI;
             else if(CurRD.ra >= ERFA_D2PI) CurRD.ra -= ERFA_D2PI;
         }

Daemons/10micron_stellarium/main.c

@@ -29,11 +29,14 @@
 #include "mount.h"
 
 static pid_t childpid = -1; // PID of child process
-static const char *pidfile = NULL;
+static parameters_t *G = NULL;
+#ifndef EBUG
+static bool isrunning = false;
+#endif
 
 void signals(int sig){
     if(childpid){ // single or parent process
-        if(pidfile) unlink(pidfile);  // remove pidfile
+        if(G->pidfile) unlink(G->pidfile);  // remove pidfile
         if(childpid > 0) kill(childpid, SIGTERM);
     }
     if(sig){
@@ -46,27 +49,42 @@ void signals(int sig){
         LOGWARN("Child %d died with %d", getpid(), sig);
         server_stop();
     }
+#ifndef EBUG
+    isrunning = true;
+#endif
     DBG("EXIT");
 }
 
 int main(int argc, char **argv){
     sl_init();
-    parameters_t *G = parse_cmdline(&argc, &argv);
+    G = parse_cmdline(&argc, &argv);
     if(!G) return 1;
     sl_loglevel_e lvl = G->verbose + LOGLEVEL_ERR;
     if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
     DBG("verb: %d, level: %d", G->verbose, lvl);
     int fd;
-    if((fd = open(G->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
+    if((fd = open(G->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0){ // test FITS-header file for writing
-        ERR(_("Can't open %s for writing"), G->crdsfile);
+        WARN(_("Can't open %s for writing"), G->crdsfile);
+        return 1;
+    }
     close(fd);
-    if(G->sleept < 1) ERRX("Sleeping time sould be positive value");
+    if(G->sleept < 1){
-    if(!server_setsleept(G->sleept)) ERRX("Can't set sleep time to %d", G->sleept);
+        WARNX("Sleeping time sould be positive value (%d)", G->sleept);
+        return 2;
+    }
+    if(!server_setsleept(G->sleept)){
+        WARNX("Can't set sleep time to %d", G->sleept);
+        return 3;
+    }
     if(G->emulation) set_emulation_mode();
-    else if(!mount_set_dev(G->device, G->serspeed, G->sertmout))
+    else if(!mount_set_dev(G->device, G->serspeed, G->sertmout)){
-        ERRX("Can't open device %s @ %d", G->device, G->serspeed);
+        WARNX("Can't open device %s @ %d", G->device, G->serspeed);
-    if(!mount_set_name(G->mountname))
+        return 4;
-        ERRX("Can't set mount name to %s", G->mountname);
+    }
+    if(!mount_set_name(G->mountname)){
+        WARNX("Can't set mount name to %s", G->mountname);
+        return 5;
+    }
     signal(SIGTERM, signals);
     signal(SIGINT, signals);
     signal(SIGQUIT, signals);
@@ -78,7 +96,7 @@ int main(int argc, char **argv){
     LOGMSG("Started, master PID=%d", getpid());
 #ifndef EBUG
     time_t lastd = 0;
-    while(1){ // guard for dead processes
+    while(isrunning){ // guard for dead processes
         childpid = fork();
         if(childpid < 0){
             LOGERR("fork() returns error");
@@ -114,5 +132,5 @@ int main(int argc, char **argv){
     DBG("Run server");
     server_run();
     DBG("Server died");
-    return 1;
+    return 0;
 }

Daemons/10micron_stellarium/mount.c

@@ -22,6 +22,7 @@
 #include <string.h>
 #include <usefull_macros.h>
 
+#include "10micron_commands.h"
 #include "emulation.h"
 #include "mount.h"
 
@@ -30,12 +31,13 @@
 
 static bool isemulated = false; // ==true for emulation mode
 
+// default serial timeout, seconds
+static double sertmout = 1.;
+
 static char mount_name[MNAME_LEN+3] = "'noname'";
 static sl_tty_t *mount_dev = NULL;
 // device mutex, blocking only in non-local functions
 static pthread_mutex_t mntdev_mutex = PTHREAD_MUTEX_INITIALIZER;
-// ring buffer for data incoming from serial port
-static sl_ringbuffer_t *RBin = NULL;
 // status
 static atomic_int mountstatus = MNT_S_ERROR;
 
@@ -148,20 +150,25 @@ bool mount_set_name(const char *name){
  * @brief mount_set_dev - open mount device without checking that mount is alive
  * @param dev - path to device
  * @param speed - baudrate
+ * @param timeout - timeout (seconds) for answer's waiting
  * @return false if failed to open device `dev`
  */
-bool mount_set_dev(char *dev, int speed, int timeout){
+bool mount_set_dev(char *dev, int speed, double timeout){
     pthread_mutex_lock(&mntdev_mutex);
     if(mount_dev) sl_tty_close(&mount_dev);
     mount_dev = sl_tty_new(dev, speed, 4096);
     if(mount_dev) mount_dev = sl_tty_open(mount_dev, 1);
     if(!mount_dev){
         pthread_mutex_unlock(&mntdev_mutex);
+        DBG("Can't init serial device");
         return false;
     }
-    sl_tty_tmout(timeout);
+    DBG("Mount device inited and opened");
-    if(!RBin) RBin = sl_RB_new(BUFSIZ);
+    // set terminal timeout to `timeout / 10` or 100ms
-    else sl_RB_clearbuf(RBin);
+    int usecs = (timeout < 1.) ? (int)(timeout * 1e5) : 100000;
+    sl_tty_tmout(usecs);
+    sertmout = timeout;
+    DBG("set timeout of answer waiting to %gs", sertmout);
     pthread_mutex_unlock(&mntdev_mutex);
     return true;
 }
@@ -179,7 +186,8 @@ static const char *statuses[MNT_S_STATAMOUNT] = {
     [MNT_S_OUTLIMIT] = "'Outside tracking limit'",
     [MNT_S_FOLSAT]= "'Following satellite'",
     [MNT_S_DATINCOSIST]= "'Data inconsistency'",
-    [MNT_S_ERROR] = "'Error (disconnected?)'"
+    [MNT_S_ERROR] = "'Error'",
+    [MNT_S_OFF] = "'Off'"
 };
 
 /**
@@ -187,53 +195,138 @@ static const char *statuses[MNT_S_STATAMOUNT] = {
  * @param status - integer status code
  * @return statically allocated string with explanation
  */
-const char* mount_status_str(){
+const char* mount_status_str(mount_status_t st){
-    int curst = (isemulated) ? emulation_status() : atomic_load(&mountstatus);
+    if(st < MNT_S_STATAMOUNT) return statuses[st];
-    if(curst > -1 && curst < MNT_S_STATAMOUNT) return statuses[curst];
     return "'Unknown status'";
 }
-// return current mount status
-mount_status_t mount_status(){
-    return (mount_status_t)atomic_load(&mountstatus);
-}
 
 /**
- * @brief write_cmd - try to write command to mount
+ * @brief send_cmd_resp - send command and wait for '#'-terminated response
- * @param cmd - string with command or NULL just to clear all incoming data
+ * @param cmd     - command (e.g. ":Sr12.345#")
- * @return false on write/read error; all read information is in RBin (even if `false` returned, you SHOULD read all available strings from it)
+ * @param resp    - buffer for response (may be NULL)
+ * @param resplen - its size
+ * @return true if '#'-terminated response received before timeout
  */
-static bool write_cmd(const char *cmd){
+static bool send_cmd_resp(const char *cmd, char *resp, size_t resplen){
-    bool ret = true;
+    if(!mount_dev) return false;
-    if(cmd){
+    while(sl_tty_read(mount_dev) > 0); // clear tty buffer
-        size_t l = strlen(cmd);
+    if(!cmd) return false; // just clear buffer when cmd==NULL
-        if(sl_tty_write(mount_dev->comfd, cmd, l)) ret = false;
+    DBG("Command '%s', fd: %d", cmd, mount_dev->comfd);
+    if(sl_tty_write(mount_dev->comfd, cmd, strlen(cmd))){
+        WARN("sl_tty_write()");
+        return false;
     }
-    int got = 0;
+    if(resp && resplen) resp[0] = 0;
-    while((got = sl_tty_read(mount_dev)) > 0){
+    size_t pos = 0;
-        if(sl_RB_write(RBin, (uint8_t*) mount_dev->buf, got)){
+    double t0 = sl_dtime();
-            got = -1;
+    bool gotEOM = false;
-            break;
+    while(sl_dtime() - t0 < sertmout){
+        int got = sl_tty_read(mount_dev);
+        if(got < 0){
+            WARN("sl_tty_read()");
+            if(resp && resplen) resp[pos < resplen ? pos : resplen-1] = 0;
+            DBG("pos: %zd, resp: '%s'", pos, resp);
+            return false;
+        } else if(pos && got == 0) break; // break if we already receive the message
+        for(int i = 0; i < got; ++i){
+            char c = mount_dev->buf[i];
+            if(c == '\r' || c == '\n') continue; // WTF?
+            if(c == '#'){ // end of message
+                gotEOM = true;
+                //if(resp && resplen) resp[pos < resplen ? pos : resplen-1] = 0;
+                //DBG("Got end of message: '%s' (waited for %gs)", resp, );
+                //return true;
+                break;
+            }
+            if(resp && pos + 1 < resplen) resp[pos++] = c;
         }
     }
-    if(got < 0) return false;
+    DBG("Waited for %gs", sl_dtime() - t0);
-    return ret;
+    if(resp && resplen){
+        resp[pos < resplen ? pos : resplen-1] = 0;
+        DBG("pos: %zd, resp: '%s'", pos, resp);
+        // 10Micron/LX200-like: '0' or 'E'/'e' -> error; '1' - OK
+        if(gotEOM || (pos == 1 && resp[0] == '1')) return true;
+    }
+    return false;
+}
+
+/**
+ * @brief write_cmd - try to write command to mount and check answer for not false/error
+ * @param cmd - string with command or NULL just to clear all incoming data
+ * @param haveanswer - true if mount have to answer to `cmd`
+ * @return false on write/read error or error in answer
+ */
+static bool write_cmd(const char *cmd, bool haveanswer){
+    char buf[128];
+    if(!haveanswer){
+        DBG("Command '%s'", cmd);
+        if(!mount_dev || !cmd){
+            DBG("no mount device?");
+            return false;
+        }
+        if(sl_tty_write(mount_dev->comfd, cmd, strlen(cmd))){
+            DBG("Error writing request '%s'", cmd);
+            return false;
+        }
+        while(sl_tty_read(mount_dev) > 0);
+    }else if(!send_cmd_resp(cmd, buf, 128)){
+        DBG("Error writing command '%s'", cmd);
+        return false;
+    }
+    return true;
+}
+
+// return current mount status
+mount_status_t mount_status(){
+    mount_status_t curst = (mount_status_t)atomic_load(&mountstatus);
+    if(curst == MNT_S_OFF) return curst; // do nothing when mount if off
+    if(!mount_dev){
+        atomic_store(&mountstatus, MNT_S_OFF);
+        return MNT_S_OFF;
+    }
+    char resp[64];
+    pthread_mutex_lock(&mntdev_mutex);
+    int ntry = 0;
+    for(; ntry < 3; ++ntry)
+        if(send_cmd_resp(CMD_GETSTAT, resp, 64)) break;
+    if(ntry == 3){ // mount not responded -> set status OFF
+        curst = MNT_S_OFF;
+    }else{ // parsing of status
+        char *nxt = NULL;
+        long statN = strtol(resp, &nxt, 10);
+        //DBG("resp=%s, nxt=%s, stat=%ld", resp, nxt, statN);
+        if(!nxt || *nxt || statN >= MNT_S_ERROR || statN < 0) curst = MNT_S_ERROR; // wrong answer
+        else curst = (mount_status_t) statN;
+        DBG("STATUS: %s (%d)", statuses[curst], curst);
+    }
+    pthread_mutex_unlock(&mntdev_mutex);
+    atomic_store(&mountstatus, curst);
+    return curst;
 }
 
 // check if mount connected
 static bool chkconn(){
+    FNAME();
     int r = 0;
     do{ // clear incoming buffer @ start
         r = sl_tty_read(mount_dev);
     }while(r > 0);
-    if(r < 0) return false;
+    if(r < 0){
-    write_cmd("#"); // clear cmd buffer
+        WARN("Error reading");
-    sl_RB_clearbuf(RBin);
+        DBG("error reading: got %d", r);
-    bool w = write_cmd(":SB0#");
+        return false;
-    sl_RB_clearbuf(RBin);
+    }
-    return w;
+    write_cmd("#", false); // clear cmd buffer
+    bool ret = false;
+    for(int i = 0; i < 5; ++i){
+        DBG("Try %d", i+1);
+        ret = write_cmd(CMD_BAUDRATE, true);
+        if(ret) break;
+    }
+    return ret;
 }
 
-
 // try to guess serial speed & set 115200
 static bool guess_speed(){
     if(!mount_dev) return false;
@@ -242,6 +335,7 @@ static bool guess_speed(){
     const int speeds[SPDBUFSZ] = {57600, 38400, 19200, 9600, 4800, 2400, 1200};
     int idx = 0;
     for(; idx < SPDBUFSZ; ++idx){
+        DBG("try speed %d", speeds[idx]);
         mount_dev->speed = speeds[idx];
         sl_tty_t *trydev = sl_tty_open(mount_dev, 1);
         if(!trydev) continue;
@@ -252,6 +346,7 @@ static bool guess_speed(){
     close(mount_dev->comfd);
     mount_dev->speed = 115200;
     if(!sl_tty_open(mount_dev, 1)) return false;
+    DBG("OK, opened @ 115200");
 #undef SPDBUFSZ
     return true;
 }
@@ -261,14 +356,16 @@ bool mount_connect(){
     if(isemulated) return true;
     if(!mount_dev) return false;
     pthread_mutex_lock(&mntdev_mutex);
-    if(!chkconn() && !guess_speed()) return false;
+    if(!chkconn() && !guess_speed()){
+        pthread_mutex_unlock(&mntdev_mutex);
+        return false;
+    }
     bool ret = true;
-    if(!write_cmd(":STOP#")) ret = false; // stop tracking after poweron
+    if(!write_cmd(CMD_STOP, false)) ret = false; // stop tracking after poweron
-    sl_RB_clearbuf(RBin);
+    if(!write_cmd(CMD_HIGHPREC, false)) ret = false; // set high precision
-    if(!write_cmd(":U2#")) ret = false; // set high precision
+    char buf[64];
-    sl_RB_clearbuf(RBin);
+    snprintf(buf, 63, CMD_SETMINALT, 10);
-    if(!write_cmd(":So10#")) ret = false; // set minimum altitude to 10 degrees
+    if(!write_cmd(buf, true)) ret = false; // set minimum altitude to 10 degrees
-    sl_RB_clearbuf(RBin);
     pthread_mutex_unlock(&mntdev_mutex);
     if(ret) LOGMSG("Connected to %s@115200", mount_dev->portname);
     else LOGERR("Can't write commands to mount");
@@ -292,23 +389,71 @@ void mount_disconnect(){
  * @return true if all OK
  */
 bool mount_point(double ra, double dec){
-    char buf[RADEC_STR_MAXLEN];
+    char rastr[RADEC_STR_MAXLEN], decstr[RADEC_STR_MAXLEN];
-    radec2str(ra, dec, buf);
-    DBG("Set RA/Decl to %s", buf);
-    LOGMSG("Try to set RA/Decl to %s", buf);
     norm_RADEC(&ra, &dec);
+    ra2str(ra, rastr);
+    dec2str(dec, decstr);
+    DBG("Set RA/Decl to %s/%s", rastr, decstr);
+    LOGMSG("Try to set RA/Decl to %s/%s", rastr, decstr);
     if(isemulated) return point_emulation(ra, dec);
-    // run real pointing to ra(hrs) & dec (deg)
+    if(!mount_dev) return false;
-    return false;
+    pthread_mutex_lock(&mntdev_mutex);
+    char cmd[128];
+    bool ret = false;
+    snprintf(cmd, 127, CMD_SETRA, rastr); // send RA
+    if(!write_cmd(cmd, true)) goto retn;
+    snprintf(cmd, 127, CMD_SETDEC, decstr); // send Dec
+    if(!write_cmd(cmd, true)) goto retn;
+    if(send_cmd_resp(CMD_SLEWRADEC, cmd, 127)){ // check error
+        if(*cmd != '0'){
+            WARNX("Slew error, answer: %s", cmd);
+            LOGWARN("Slew error, answer: %s", cmd);
+            goto retn;
+        }
+    }
+    ret = true;
+retn:
+    pthread_mutex_unlock(&mntdev_mutex);
+    return ret;
 }
 
+/**
+ * @brief mount_pointAZ - point to stationary coordinates
+ * @param A - azumuth (degrees): CLOCKWISE FROM NORTH!!!
+ * @param Z - zenith (degrees)
+ * @return false if failed
+ */
 bool mount_pointAZ(double A, double Z){
-    DBG("Point to stationary object, A=%g, Z=%g", A, Z);
+    char altstr[RADEC_STR_MAXLEN], azstr[RADEC_STR_MAXLEN];
+    if(!normAZ(&A, &Z)){
+        DBG("Wrong Z?");
+        return false;
+    }
+    d2sDMS(A, azstr, RADEC_STR_MAXLEN);
+    d2sDMS(90. - Z, altstr, RADEC_STR_MAXLEN);
+    DBG("Point to stationary object, Az=%s, Alt=%s", azstr, altstr);
     if(isemulated){
         return pointAZ_emulation(A, Z);
     }
-    ; // run real pointing
+    if(!mount_dev) return false;
-    return false;
+    pthread_mutex_lock(&mntdev_mutex);
+    bool ret = false;
+    char cmd[128];
+    snprintf(cmd, 127, CMD_SETALT, altstr);
+    if(!write_cmd(cmd, true)) goto retn;
+    snprintf(cmd, 127, CMD_SETZD, azstr);
+    if(!write_cmd(cmd, true)) goto retn;
+    if(send_cmd_resp(CMD_GOTOAZ, cmd, 127)){ // returned not '0'
+        if(*cmd != '0'){
+            WARNX("Goto error, answer: %s", cmd);
+            LOGWARN("Goto error, answer: %s", cmd);
+            goto retn;
+        }
+    }
+    ret = true;
+retn:
+    pthread_mutex_unlock(&mntdev_mutex);
+    return ret;
 }
 
 void set_emulation_mode(){
@@ -322,8 +467,49 @@ mount_status_t mount_getcoords(double *ra, double *dec){
         DBG("Emulated coordinates: %gh, %gdeg", RAD2HRS(*ra), RAD2DEG(*dec));
         return emulation_status();
     }
-    ; // get real coordinates
+    if(!mount_dev) return MNT_S_ERROR;
-    return mount_status();
+    char resp[64];
+    mount_status_t st = MNT_S_ERROR;
+    pthread_mutex_lock(&mntdev_mutex);
+    if(!send_cmd_resp(CMD_GETRA, resp, 64)) goto retn;
+    if(!str2coord(resp, ra)) goto retn;
+    if(!send_cmd_resp(CMD_GETDEC, resp, 64)) goto retn;
+    if(!str2coord(resp, dec)) goto retn;
+    st = MNT_S_STATAMOUNT;
+retn:
+    pthread_mutex_unlock(&mntdev_mutex);
+    if(st == MNT_S_STATAMOUNT) st = mount_status();
+    return st;
+}
+
+mount_status_t mount_getaz(double *a, double *z){
+    if(!a || !z) return MNT_S_ERROR;
+    if(isemulated){
+        double ra, dec;
+        get_emul_coords(&ra, &dec);
+        polarCrds_t P = {.dec = dec, .ra = ra};
+        horizCrds_t H;
+        double LST;
+        get_LST(NULL, &LST);
+        eq2hor(&P, &H, LST);
+        *a = H.az; *z = H.zd;
+        return emulation_status();
+    }
+    if(!mount_dev) return MNT_S_ERROR;
+    char resp[64];
+    mount_status_t st = MNT_S_ERROR;
+    pthread_mutex_lock(&mntdev_mutex);
+    if(!send_cmd_resp(CMD_GETAZIM, resp, 64)) goto retn;
+    if(!str2coord(resp, a)) goto retn;
+    if(!send_cmd_resp(CMD_GETALT, resp, 64)) goto retn;
+    double alt;
+    if(!str2coord(resp, &alt)) goto retn;
+    *z = 90. - alt;
+    st = MNT_S_STATAMOUNT;
+retn:
+    pthread_mutex_unlock(&mntdev_mutex);
+    if(st == MNT_S_STATAMOUNT) st = mount_status();
+    return st;
 }
 
 /**
@@ -333,10 +519,27 @@ mount_status_t mount_getcoords(double *ra, double *dec){
 bool mount_stop(){
     if(isemulated){
         emulation_stop();
-    }else{
+        return true;
-        return mount_stop();
     }
-    return true;
+    if(!mount_dev) return false;
+    bool ret = false;
+    pthread_mutex_lock(&mntdev_mutex);
+    if(write_cmd(CMD_STOP, false)) ret = true;
+    pthread_mutex_unlock(&mntdev_mutex);
+    return ret;
+}
+
+bool mount_tracking_stop(){
+    if(isemulated){
+        emulation_stop();
+        return true;
+    }
+    if(!mount_dev) return false;
+    bool ret = false;
+    pthread_mutex_lock(&mntdev_mutex);
+    if(write_cmd(CMD_TRKSTOP, false)) ret = true;
+    pthread_mutex_unlock(&mntdev_mutex);
+    return ret;
 }
 
 /**
@@ -346,10 +549,15 @@ bool mount_stop(){
 bool mount_tracking_start(){
     if(isemulated){
         emul_start_tracking();
-    }else{
+        return true;
-        return false;
     }
-    return true;
+    if(!mount_dev) return false;
+    bool ret = false;
+    pthread_mutex_lock(&mntdev_mutex);
+    write_cmd(CMD_TRKSTOP, false); // workaround from command protocol if mount was stopped with :STOP#
+    if(write_cmd(CMD_TRKSTART, false)) ret = true;
+    pthread_mutex_unlock(&mntdev_mutex);
+    return ret;
 }
 
 /**
@@ -358,7 +566,8 @@ bool mount_tracking_start(){
  */
 bool mount_park(){
     if(isemulated) return pointAZ_emulation(ParkCoords.az, ParkCoords.zd);
-    return mount_pointAZ(ParkCoords.az, ParkCoords.zd);
+    // TODO: set lower limit to 0deg
+    return mount_pointAZ(RAD2DEG(ParkCoords.az), RAD2DEG(ParkCoords.zd));
 }
 
 /**

Daemons/10micron_stellarium/mount.h

@@ -34,8 +34,9 @@ typedef enum{
     MNT_S_OUTLIMIT = 9,
     MNT_S_FOLSAT = 10,
     MNT_S_DATINCOSIST = 11,
-    MNT_S_ERROR = 12, // my status
+    MNT_S_ERROR = 12,   // status 98/99 (>11)
-    MNT_S_STATAMOUNT = 13 // number of statuses
+    MNT_S_OFF,          // not responding -> off
+    MNT_S_STATAMOUNT    // number of statuses
 } mount_status_t;
 
 void set_emulation_mode();
@@ -54,16 +55,18 @@ double mount_getInpHor(horizCrds_t *c);
 
 
 bool mount_set_name(const char *name);
-bool mount_set_dev(char *dev, int speed, int timeout);
+bool mount_set_dev(char *dev, int speed, double timeout);
-const char* mount_status_str();
+const char* mount_status_str(mount_status_t st);
 mount_status_t mount_status();
 bool mount_connect();
 void mount_disconnect();
 
 mount_status_t mount_getcoords(double *ra, double *dec);
+mount_status_t mount_getaz(double *a, double *z);
 bool mount_point(double ra, double dec);
 bool mount_pointAZ(double A, double Z);
 bool mount_stop();
+bool mount_tracking_stop();
 bool mount_tracking_start();
 bool mount_park();
 

Daemons/10micron_stellarium/mountdaemon_10micron.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 19.0.2, 2026-06-10T13:41:37. -->
+<!-- Written by QtCreator 20.0.1, 2026-09-22T14:24:31. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -14,8 +14,6 @@
   <variable>ProjectExplorer.Project.EditorSettings</variable>
   <valuemap type="QVariantMap">
    <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
-   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
-   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
    <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
     <value type="QString" key="language">Cpp</value>
     <valuemap type="QVariantMap" key="value">
@@ -30,33 +28,15 @@
    </valuemap>
    <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
    <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
-   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
    <value type="int" key="EditorConfiguration.IndentSize">4</value>
-   <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
-   <value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
-   <value type="int" key="EditorConfiguration.MarginColumn">80</value>
-   <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
-   <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
-   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
-   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
    <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
-   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
    <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
-   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
-   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
    <value type="int" key="EditorConfiguration.TabSize">8</value>
    <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
-   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
-   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
-   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
-   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
    <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
-   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
-   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
   </valuemap>
  </data>
  <data>
@@ -76,11 +56,7 @@
    <value type="int" key="AutoTest.RunAfterBuild">0</value>
    <value type="bool" key="AutoTest.UseGlobal">true</value>
    <valuemap type="QVariantMap" key="ClangTools">
-    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
+    <value type="Utils::Id" key="ClangTools.DiagnosticConfig"></value>
-    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
-    <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">4</value>
-    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
@@ -132,7 +108,7 @@
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
-    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="UnknownType" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"></value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
     <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
@@ -159,7 +135,7 @@
      <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
      <valuelist type="QVariantList" key="CustomOutputParsers"/>
      <value type="int" key="PE.EnvironmentAspect.Base">2</value>
-     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+     <value type="UnknownType" key="PE.EnvironmentAspect.Changes"></value>
      <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
      <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -195,7 +171,7 @@
     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
-    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="UnknownType" key="PE.EnvironmentAspect.Changes"></value>
     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>

Daemons/10micron_stellarium/mountdaemon_10micron.files

@@ -1,3 +1,4 @@
+10micron_commands.h
 angles.c
 angles.h
 args.c

Daemons/10micron_stellarium/server.c

@@ -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, 63, "%s=%.6f\n", item->key, ra);
-    snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, ra_h);
     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, 63, "%s=%.6f\n", item->key, dec);
-    snprintf(buf, sizeof(buf), "%s=%.6f\n", item->key, dec_d);
+    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();
+    if(mount_stop()) return RESULT_OK;
-    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");
+        LOGWARN("Can't connect to mount, will try to reconnect later");
-        sl_sock_delete(&cmd_socket);
-        return;
     }
     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
+        // check mount state
-        //dome_poll(DOME_POLL, 0);
+        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);

Daemons/10micron_stellarium/server.h

@@ -23,8 +23,13 @@
 // default and max available time for "usleep"
 #define DEFAULT_SLEEP_T     100
 #define MAX_SLEEP_T         10000
+
+// maximal amount of connected clients
 #define DEFAULT_MAXCLIENTS  5
 
+// status checking interval, seconds
+#define MOUNT_CHECK_T       10.
+
 typedef struct{
     int cmd_isunix;         // UNIX-socket instead of INET for `cmdnode`
     const char *stellport;  // port of stellarium server; could be "localhost:port" for local-only work