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https://github.com/eddyem/small_tel.git
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add tool for pointing telescope from CLI
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215
Daemons/send_coordinates/stelldaemon.c
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215
Daemons/send_coordinates/stelldaemon.c
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/*
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* This file is part of the SendCoords project.
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* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <arpa/inet.h> // inet_ntop
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#include <math.h> // NAN
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#include <netdb.h> //getaddrinfo
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#include <netinet/in.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/socket.h> // getaddrinfo, connect, socket
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#include <sys/types.h> // getaddrinfo & socket types
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#include <time.h>
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#include <usefull_macros.h>
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#include "cmdlnopts.h"
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#include "stelldaemon.h"
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extern glob_pars *GP;
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/**
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* convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
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*/
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static char *radec2str(double ra, double dec){
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static char buf[1024];
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char sign = '+';
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if(dec < 0){
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sign = '-';
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dec = -dec;
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}
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int h = (int)ra;
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ra -= h; ra *= 60.;
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int m = (int)ra;
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ra -= m; ra *= 60.;
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int d = (int) dec;
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dec -= d; dec *= 60.;
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int dm = (int)dec;
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dec -= dm; dec *= 60.;
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snprintf(buf, 1024, "RA=%02d:%02d:%05.2f, DEC=%c%02d:%02d:%04.1f", h,m,ra, sign,d,dm,dec);
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return buf;
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}
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/**
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* @brief print_coords - print received coordinates @ terminal
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* @param idat (i) - received data
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*/
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static void print_coords(indata *dat){
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uint16_t len, type;
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uint32_t ra;
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int32_t dec, status;
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#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
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len = le16toh(dat->len); type = le16toh(dat->type);
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//tim = le64toh(dat->time);
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ra = le32toh(dat->ra);
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dec = (int32_t)le32toh((uint32_t)dat->dec);
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status = (int32_t)le32toh((uint32_t)dat->status);
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#else
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len = dat->len;
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type = dat->type;
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//tim = dat->time;
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ra = dat->ra;
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dec = dat->dec;
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status = dat->status;
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#endif
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DBG("len=%d, type=%d, ra=%d, dec=%d, status=%d\n",
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len, type, ra, dec, status);
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if(len != sizeof(indata)){
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WARNX("Field `size` of input data not equal to %d", sizeof(indata));
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return;
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}
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double tagRA = RA2HRS(ra), tagDec = DEC2DEG(dec);
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// DBG("RA: %g, DEC: %g, STATUS: %d", tagRA, tagDec, status);
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printf("%s, STATUS: %d\n", radec2str(tagRA, tagDec), status);
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}
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static int waittoread(int sock){
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fd_set fds;
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struct timeval timeout;
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int rc;
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timeout.tv_sec = 5; // wait not more than 1 second
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timeout.tv_usec = 0;
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FD_ZERO(&fds);
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FD_SET(sock, &fds);
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rc = select(sock+1, &fds, NULL, NULL, &timeout);
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if(rc < 0){
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WARN("select()");
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return 0;
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}
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if(rc > 0 && FD_ISSET(sock, &fds)) return 1;
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return 0;
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}
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/**
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* @brief str2ha - convert string with angle/hour HH:MM:SS or DD:MM:SS into double value
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* @param str (i) - input string
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* @param ha (o) - value
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* @return 0 if all OK
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*/
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static int str2ha(const char *str, double *ha){
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if(!str || !ha) return 1;
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int hd, m, sign = 1; // hours/degrees, minutes
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float s; // seconds
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if(3 != sscanf(str, "%d:%d:%f", &hd, &m, &s)){
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return 1;
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}
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if(hd < 0){sign = -1; hd = -hd;}
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*ha = sign * (hd + m/60. + s/3600.);
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return 0;
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}
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void mk_connection(){
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int sockfd = 0;
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int pointing = FALSE; // ==1 if telescope is pointing
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uint8_t recvBuff[64];
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double ra = FP_NAN, dec = FP_NAN;
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if(GP->ra && GP->dec){
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DBG("Point to %s %s", GP->ra, GP->dec);
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if(str2ha(GP->ra, &ra)){
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WARNX("Wrong RA: %s", GP->ra);
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return;
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}
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if(ra < 0. || ra > 24.){
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WARNX("RA should be in range 0..24h");
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return;
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}
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if(str2ha(GP->dec, &dec)){
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WARNX("Wrong DEC: %s", GP->dec);
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return;
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}
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if(dec < -90. || dec > 90.){
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WARNX("DEC should be in range -90..90degr");
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return;
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}
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pointing = TRUE;
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DBG("RA: %g, DEC: %g", ra, dec);
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}
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struct addrinfo h, *r, *p;
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memset(&h, 0, sizeof(h));
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h.ai_family = AF_INET;
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h.ai_socktype = SOCK_STREAM;
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h.ai_flags = AI_CANONNAME;
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if(!GP) ERRX("Command line arguments not defined!");
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if(getaddrinfo(GP->host, GP->port, &h, &r)){WARN("getaddrinfo()"); return;}
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struct sockaddr_in *ia = (struct sockaddr_in*)r->ai_addr;
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#ifdef EBUG
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char str[INET_ADDRSTRLEN];
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inet_ntop(AF_INET, &(ia->sin_addr), str, INET_ADDRSTRLEN);
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printf("canonname: %s, port: %u, addr: %s\n", r->ai_canonname, ntohs(ia->sin_port), str);
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#endif
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for(p = r; p; p = p->ai_next){
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if ((sockfd = socket(p->ai_family, p->ai_socktype,
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p->ai_protocol)) == -1) {
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WARN("socket()");
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continue;
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}
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if(connect(sockfd, p->ai_addr, p->ai_addrlen) == -1){
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close(sockfd);
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WARN("connect()");
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continue;
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}
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break; // if we get here, we must have connected successfully
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}
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if(p == NULL){
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// looped off the end of the list with no connection
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WARNX("Failed to connect to socket\n");
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return;
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}
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freeaddrinfo(r);
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if(pointing){
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outdata dat;
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dat.len = htole16(sizeof(outdata));
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dat.type = 0;
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dat.ra = htole32(HRS2RA(ra));
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dat.dec = (int32_t)htole32(DEG2DEC(dec));
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if(send(sockfd, &dat, sizeof(outdata), 0) != sizeof(outdata))
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WARN("send()");
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sleep(1);
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}
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int tstart = time(NULL);
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while(waittoread(sockfd)){
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int n = read(sockfd, recvBuff, sizeof(recvBuff)-1);
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DBG("got %d bytes", n);
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if(n < 1) break;
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if(n == sizeof (indata)){
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indata *idat = (indata*)recvBuff;
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if(!GP->quiet) print_coords(idat);
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if(GP->monitor) continue;
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if(!pointing) break;
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if(idat->status == _10U_STATUS_TRACKING && time(NULL) - tstart > 3) break; // start tracking (+3s pause)
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if(idat->status != _10U_STATUS_SLEWING){
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if(time(NULL) - tstart > 5) signals(idat->status); // exit with error code after 5 seconds waiting
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}else tstart = time(NULL); // reset time if status is slewing
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}
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}
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close(sockfd);
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DBG("End");
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//FREE(msg);
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}
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