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add tool for pointing telescope from CLI

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This commit is contained in:
Edward Emelianov
2020-02-25 17:52:48 +03:00
parent ab524d4bf6
commit bd09ecef90
26 changed files with 779 additions and 37 deletions
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43
Daemons/send_coordinates/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := send_coords
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
CC = gcc
#CXX = g++
all : $(OBJDIR) $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror -Wall -Wextra -W
debug: all
$(PROGRAM) : $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(LDFLAGS) $(OBJS) -o $(PROGRAM)
$(OBJDIR):
mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
clean:
@echo -e "\t\tCLEAN"
@rm -f $(OBJS) $(DEPS)
@rmdir $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

1
Daemons/send_coordinates/Readme Normal file
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A simple tool to send/receive coordinates from telescope

2
Daemons/send_coordinates/SendCoords.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42

1
Daemons/send_coordinates/SendCoords.creator Normal file
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[General]

167
Daemons/send_coordinates/SendCoords.creator.user Normal file
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5
Daemons/send_coordinates/SendCoords.files Normal file
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cmdlnopts.c
cmdlnopts.h
main.c
stelldaemon.c
stelldaemon.h

1
Daemons/send_coordinates/SendCoords.includes Normal file
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.

92
Daemons/send_coordinates/cmdlnopts.c Normal file
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/*
* This file is part of the SendCoords project.
* Copyright 2020 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/>.
*/
#include <assert.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
#include "cmdlnopts.h"
#include "usefull_macros.h"
/*
* here are global parameters initialisation
*/
static int help;
static glob_pars G;
#define DEFAULT_PIDFILE "/tmp/sendcoords.pid"
#define DEFAULT_PORT "10000"
#define DEFAULT_HOST "localhost"
// DEFAULTS
// default global parameters
static glob_pars const Gdefault = {
.pidfile = DEFAULT_PIDFILE,
.port = DEFAULT_PORT,
.host = DEFAULT_HOST,
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
static myoption cmdlnopts[] = {
// common options
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&help), _("show this help")},
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), _("pidfile (default: " DEFAULT_PIDFILE ")")},
{"port", NEED_ARG, NULL, 'P', arg_string, APTR(&G.port), _("port to connect (default: " DEFAULT_PORT ")")},
{"host", NEED_ARG, NULL, 'H', arg_string, APTR(&G.host), _("host to connect (default: " DEFAULT_HOST ")")},
{"ra", NEED_ARG, NULL, 'r', arg_string, APTR(&G.ra), _("target RA: HH:MM:SS.SS")},
{"dec", NEED_ARG, NULL, 'd', arg_string, APTR(&G.dec), _("target DEC: [+-]DD:MM:SS.SS")},
{"quiet", NO_ARGS, NULL, 'q', arg_none, APTR(&G.quiet), _("suppress all messages to stdout")},
{"monitor", NO_ARGS, NULL, 'm', arg_none, APTR(&G.monitor), _("monitor coordinates")},
end_option
};
/**
* Parse command line options and return dynamically allocated structure
* to global parameters
* @param argc - copy of argc from main
* @param argv - copy of argv from main
* @return allocated structure with global parameters
*/
glob_pars *parse_args(int argc, char **argv){
int i;
void *ptr;
ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
size_t hlen = 1024;
char helpstring[1024], *hptr = helpstring;
snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
// format of help: "Usage: progname [args]\n"
change_helpstring(helpstring);
// parse arguments
parseargs(&argc, &argv, cmdlnopts);
if(help) showhelp(-1, cmdlnopts);
if(argc > 0){
fprintf(stderr, "Undefined extra parameters!\n");
showhelp(-1, cmdlnopts);
G.rest_pars_num = argc;
G.rest_pars = MALLOC(char *, argc);
for (i = 0; i < argc; i++)
G.rest_pars[i] = strdup(argv[i]);
}
return &G;
}

42
Daemons/send_coordinates/cmdlnopts.h Normal file
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/*
* This file is part of the SendCoords project.
* Copyright 2020 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
#ifndef CMDLNOPTS_H__
#define CMDLNOPTS_H__
/*
* here are some typedef's for global data
*/
typedef struct{
char *pidfile; // name of PID file
char *port; // port to connect
char *host; // hostname
char *ra; // RA in string form
char *dec; // DEC in string form
int rest_pars_num; // number of rest parameters
int quiet; // don't show anything
int monitor; // monitor status
char** rest_pars; // the rest parameters: array of char*
} glob_pars;
glob_pars *parse_args(int argc, char **argv);
#endif // CMDLNOPTS_H__

79
Daemons/send_coordinates/main.c Normal file
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/*
* This file is part of the SendCoords project.
* Copyright 2020 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/>.
*/
#include <signal.h> // signal
#include <stdio.h> // printf
#include <stdlib.h> // exit, free
#include <string.h> // strdup
#include <unistd.h> // sleep
#include <usefull_macros.h>
#include "cmdlnopts.h"
#include "stelldaemon.h"
glob_pars *GP = NULL; // for GP->pidfile need in `signals`
/**
* We REDEFINE the default WEAK function of signal processing
*/
void signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
WARNX("Exit with status %d", sig);
if(GP->pidfile) // remove unnesessary PID file
unlink(GP->pidfile);
restore_console();
exit(sig);
}
void iffound_default(pid_t pid){
ERRX("Another copy of this process found, pid=%d. Exit.", pid);
}
int main(int argc, char *argv[]){
initial_setup();
char *self = strdup(argv[0]);
GP = parse_args(argc, argv);
if(GP->rest_pars_num){
printf("%d extra options:\n", GP->rest_pars_num);
for(int i = 0; i < GP->rest_pars_num; ++i)
printf("%s\n", GP->rest_pars[i]);
}
if((GP->ra && !GP->dec) || (!GP->ra && GP->dec))
ERRX("You should point both coordinates");
check4running(self, GP->pidfile);
free(self);
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
setup_con();
/*
if(GP->rest_pars_num){
for(int i = 0; i < GP->rest_pars_num; ++i)
printf("Extra argument: %s\n", GP->rest_pars[i]);
}*/
mk_connection();
// clean everything
signals(0);
return 0;
}

215
Daemons/send_coordinates/stelldaemon.c Normal file
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/*
* This file is part of the SendCoords project.
* Copyright 2020 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/>.
*/
#include <arpa/inet.h> // inet_ntop
#include <math.h> // NAN
#include <netdb.h> //getaddrinfo
#include <netinet/in.h>
#include <stdio.h>
#include <string.h>
#include <sys/socket.h> // getaddrinfo, connect, socket
#include <sys/types.h> // getaddrinfo & socket types
#include <time.h>
#include <usefull_macros.h>
#include "cmdlnopts.h"
#include "stelldaemon.h"
extern glob_pars *GP;
/**
* convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
*/
static char *radec2str(double ra, double dec){
static char buf[1024];
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, 1024, "RA=%02d:%02d:%05.2f, DEC=%c%02d:%02d:%04.1f", h,m,ra, sign,d,dm,dec);
return buf;
}
/**
* @brief print_coords - print received coordinates @ terminal
* @param idat (i) - received data
*/
static void print_coords(indata *dat){
uint16_t len, type;
uint32_t ra;
int32_t dec, status;
#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
len = le16toh(dat->len); type = le16toh(dat->type);
//tim = le64toh(dat->time);
ra = le32toh(dat->ra);
dec = (int32_t)le32toh((uint32_t)dat->dec);
status = (int32_t)le32toh((uint32_t)dat->status);
#else
len = dat->len;
type = dat->type;
//tim = dat->time;
ra = dat->ra;
dec = dat->dec;
status = dat->status;
#endif
DBG("len=%d, type=%d, ra=%d, dec=%d, status=%d\n",
len, type, ra, dec, status);
if(len != sizeof(indata)){
WARNX("Field `size` of input data not equal to %d", sizeof(indata));
return;
}
double tagRA = RA2HRS(ra), tagDec = DEC2DEG(dec);
// DBG("RA: %g, DEC: %g, STATUS: %d", tagRA, tagDec, status);
printf("%s, STATUS: %d\n", radec2str(tagRA, tagDec), status);
}
static int waittoread(int sock){
fd_set fds;
struct timeval timeout;
int rc;
timeout.tv_sec = 5; // wait not more than 1 second
timeout.tv_usec = 0;
FD_ZERO(&fds);
FD_SET(sock, &fds);
rc = select(sock+1, &fds, NULL, NULL, &timeout);
if(rc < 0){
WARN("select()");
return 0;
}
if(rc > 0 && FD_ISSET(sock, &fds)) return 1;
return 0;
}
/**
* @brief str2ha - convert string with angle/hour HH:MM:SS or DD:MM:SS into double value
* @param str (i) - input string
* @param ha (o) - value
* @return 0 if all OK
*/
static int str2ha(const char *str, double *ha){
if(!str || !ha) return 1;
int hd, m, sign = 1; // hours/degrees, minutes
float s; // seconds
if(3 != sscanf(str, "%d:%d:%f", &hd, &m, &s)){
return 1;
}
if(hd < 0){sign = -1; hd = -hd;}
*ha = sign * (hd + m/60. + s/3600.);
return 0;
}
void mk_connection(){
int sockfd = 0;
int pointing = FALSE; // ==1 if telescope is pointing
uint8_t recvBuff[64];
double ra = FP_NAN, dec = FP_NAN;
if(GP->ra && GP->dec){
DBG("Point to %s %s", GP->ra, GP->dec);
if(str2ha(GP->ra, &ra)){
WARNX("Wrong RA: %s", GP->ra);
return;
}
if(ra < 0. || ra > 24.){
WARNX("RA should be in range 0..24h");
return;
}
if(str2ha(GP->dec, &dec)){
WARNX("Wrong DEC: %s", GP->dec);
return;
}
if(dec < -90. || dec > 90.){
WARNX("DEC should be in range -90..90degr");
return;
}
pointing = TRUE;
DBG("RA: %g, DEC: %g", ra, dec);
}
struct addrinfo h, *r, *p;
memset(&h, 0, sizeof(h));
h.ai_family = AF_INET;
h.ai_socktype = SOCK_STREAM;
h.ai_flags = AI_CANONNAME;
if(!GP) ERRX("Command line arguments not defined!");
if(getaddrinfo(GP->host, GP->port, &h, &r)){WARN("getaddrinfo()"); return;}
struct sockaddr_in *ia = (struct sockaddr_in*)r->ai_addr;
#ifdef EBUG
char str[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(ia->sin_addr), str, INET_ADDRSTRLEN);
printf("canonname: %s, port: %u, addr: %s\n", r->ai_canonname, ntohs(ia->sin_port), str);
#endif
for(p = r; p; p = p->ai_next){
if ((sockfd = socket(p->ai_family, p->ai_socktype,
p->ai_protocol)) == -1) {
WARN("socket()");
continue;
}
if(connect(sockfd, p->ai_addr, p->ai_addrlen) == -1){
close(sockfd);
WARN("connect()");
continue;
}
break; // if we get here, we must have connected successfully
}
if(p == NULL){
// looped off the end of the list with no connection
WARNX("Failed to connect to socket\n");
return;
}
freeaddrinfo(r);
if(pointing){
outdata dat;
dat.len = htole16(sizeof(outdata));
dat.type = 0;
dat.ra = htole32(HRS2RA(ra));
dat.dec = (int32_t)htole32(DEG2DEC(dec));
if(send(sockfd, &dat, sizeof(outdata), 0) != sizeof(outdata))
WARN("send()");
sleep(1);
}
int tstart = time(NULL);
while(waittoread(sockfd)){
int n = read(sockfd, recvBuff, sizeof(recvBuff)-1);
DBG("got %d bytes", n);
if(n < 1) break;
if(n == sizeof (indata)){
indata *idat = (indata*)recvBuff;
if(!GP->quiet) print_coords(idat);
if(GP->monitor) continue;
if(!pointing) break;
if(idat->status == _10U_STATUS_TRACKING && time(NULL) - tstart > 3) break; // start tracking (+3s pause)
if(idat->status != _10U_STATUS_SLEWING){
if(time(NULL) - tstart > 5) signals(idat->status); // exit with error code after 5 seconds waiting
}else tstart = time(NULL); // reset time if status is slewing
}
}
close(sockfd);
DBG("End");
//FREE(msg);
}

53
Daemons/send_coordinates/stelldaemon.h Normal file
View File

@@ -0,0 +1,53 @@
/*
* This file is part of the SendCoords project.
* Copyright 2020 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
#ifndef STELLDAEMON_H__
#include <stdint.h>
// some statuses
#define _10U_STATUS_TRACKING (0)
#define _10U_STATUS_SLEWING (6)
#define DEG2DEC(degr) ((int32_t)(degr / 90. * ((double)0x40000000)))
#define HRS2RA(hrs) ((uint32_t)(hrs / 12. * ((double)0x80000000)))
#define DEC2DEG(i32) (((double)i32)*90./((double)0x40000000))
#define RA2HRS(u32) (((double)u32)*12. /((double)0x80000000))
typedef struct __attribute__((__packed__)){
uint16_t len;
uint16_t type;
uint64_t time;
uint32_t ra;
int32_t dec;
} outdata;
typedef struct __attribute__((__packed__)){
uint16_t len;
uint16_t type;
uint64_t time;
uint32_t ra;
int32_t dec;
int32_t status;
} indata;
void mk_connection();
#define STELLDAEMON_H__
#endif // STELLDAEMON_H__