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it works

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This commit is contained in:
Edward Emelianov
2025-06-04 10:35:30 +03:00
parent ef2c86675e
commit a888b42eb6
5 changed files with 264 additions and 12 deletions
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32
Daemons/domedaemon-astrosib/dome.c
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@@ -150,10 +150,25 @@ static int runcmd(const char *cmd, const char *par){
// check current state and turn on/off relay if need
static void chkrelay(){
static dome_state_t oldstate = DOME_S_MOVING;
static double t0 = 0.;
if(state != DOME_S_MOVING) return;
if(dome_status.coverstate[0] == COVER_INTERMEDIATE ||
dome_status.coverstate[1] == COVER_INTERMEDIATE) return; // still moving
// OK, we are on place - turn off motors' power
dome_status.coverstate[1] == COVER_INTERMEDIATE){ // still moving
oldstate = DOME_S_MOVING;
return;
}
DBG("state=%d, oldstate=%d", state, oldstate);
// OK, we are on place - turn off motors' power after 5 seconds
if(oldstate == DOME_S_MOVING){ // just stopped - fire pause
t0 = sl_dtime();
oldstate = DOME_S_IDLE;
DBG("START 5s pause");
return;
}else{ // check pause
if(sl_dtime() - t0 < POWER_STOP_TIMEOUT) return;
}
DBG("5s out -> turn off power");
char buf[128];
snprintf(buf, 127, "%s%d,%d", ASIB_CMD_RELAY, MOTRELAY_NO, MOTRELAY_OFF);
if(serial_write(buf, buf, 128) && check_status()){
@@ -161,6 +176,7 @@ static void chkrelay(){
if(dome_status.relay[MOTRELAY_NO-1] == MOTRELAY_OFF){
DBG("OK state->IDLE");
state = DOME_S_IDLE;
oldstate = DOME_S_MOVING;
}
}
}
@@ -222,23 +238,23 @@ dome_state_t dome_poll(dome_cmd_t cmd, int par){
case DOME_CLOSE:
if(!runcmd(ASIB_CMD_CLOSE, NULL)) goto ret;
break;
case DOME_OPEN_ONE:
case DOME_OPEN_ONE: // due to bug in documentation, 0 - OPEN
if(par < 1 || par > 2) goto ret;
snprintf(buf, 127, "%d 90", par);
snprintf(buf, 127, "%d,0", par-1);
if(!runcmd(ASIB_CMD_MOVEONE, buf)) goto ret;
break;
case DOME_CLOSE_ONE:
case DOME_CLOSE_ONE: // due to bug in documentation, 90 - CLOSE
if(par < 1 || par > 2) goto ret;
snprintf(buf, 127, "%d 0", par);
snprintf(buf, 127, "%d,90", par-1);
if(!runcmd(ASIB_CMD_MOVEONE, buf)) goto ret;
break;
case DOME_RELAY_ON:
if(par < 1 || par > 3) goto ret;
if(par < NRELAY_MIN || par > NRELAY_MAX) goto ret;
snprintf(buf, 127, "%d,1", par);
if(!runcmd(ASIB_CMD_RELAY, buf)) goto ret;
break;
case DOME_RELAY_OFF:
if(par < 1 || par > 3) goto ret;
if(par < NRELAY_MIN || par > NRELAY_MAX) goto ret;
snprintf(buf, 127, "%d,0", par);
if(!runcmd(ASIB_CMD_RELAY, buf)) goto ret;
break;