add tool for pointing telescope from CLI

Daemons/10micron_stellarium/libsofa.c

@@ -82,7 +82,7 @@ int get_MJDt(struct timeval *tval, sMJD *MJD){
     struct tm tms;
     double tSeconds;
     if(!tval){
-        DBG("MJD for current time");
+        //DBG("MJD for current time");
         struct timeval currentTime;
         gettimeofday(&currentTime, NULL);
         gmtime_r(&currentTime.tv_sec, &tms);
@@ -102,11 +102,11 @@ int get_MJDt(struct timeval *tval, sMJD *MJD){
     MJD->MJD = utc1 - 2400000.5 + utc2;
     MJD->utc1 = utc1;
     MJD->utc2 = utc2;
-    DBG("UTC(m): %g, %.8f\n", utc1 - 2400000.5, utc2);
+    //DBG("UTC(m): %g, %.8f\n", utc1 - 2400000.5, utc2);
     if(iauUtctai(utc1, utc2, &MJD->tai1, &MJD->tai2)) return -1;
-    DBG("TAI");
+    //DBG("TAI");
     if(iauTaitt(MJD->tai1, MJD->tai2, &MJD->tt1, &MJD->tt2)) return -1;
-    DBG("TT");
+    //DBG("TT");
     return 0;
 }
 

Daemons/10micron_stellarium/main.c

@@ -257,28 +257,29 @@ int proc_data(uint8_t *data, ssize_t len){
 /**
  * main socket service procedure
  */
-void handle_socket(int sock){
+void *handle_socket(void *sockd){
     FNAME();
-    if(global_quit) return;
+    if(global_quit) return NULL;
     ssize_t rd;
     outdata dout;
+    int sock = *(int*)sockd;
     dout.len = htole16(sizeof(outdata));
     dout.type = 0;
-    dout.status = 0;
     int (*getcoords)(double*, double*) = get_telescope_coords;
     if(GP->emulation) getcoords = get_emul_coords;
     while(!global_quit){
         // get coordinates
         double RA = 0., Decl = 0.;
-        if(!getcoords(&RA, &Decl)){
+        if((dout.status = getcoords(&RA, &Decl)) < 0){
             WARNX("Error: can't get coordinates");
-         //   continue;
+            sleep(1);
+            continue;
         }
-        DBG("got : %g/%g", RA, Decl);
+        //DBG("got : %g/%g", RA, Decl);
         dout.ra = htole32(HRS2RA(RA));
         dout.dec = (int32_t)htole32(DEG2DEC(Decl));
         if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break;
-        DBG("sent ra = %g, dec = %g", RA2HRS(dout.ra), DEC2DEG(dout.dec));
+        //DBG("sent ra = %g, dec = %g", RA2HRS(dout.ra), DEC2DEG(dout.dec));
         fd_set readfds;
         struct timeval timeout;
         FD_ZERO(&readfds);
@@ -307,6 +308,7 @@ void handle_socket(int sock){
         else dout.status = 0;
     }
     close(sock);
+    return NULL;
 }
 
 static void *hdrthread(_U_ void *buf){
@@ -392,9 +394,18 @@ static inline void main_proc(){
             close(newsock);
             continue;
         }*/
-        handle_socket(newsock);
+        //handle_socket(newsock);
+        pthread_t rthrd;
+        if(pthread_create(&rthrd, NULL, handle_socket, (void*)&newsock)){
+            putlog("Error creating listen thread");
+            ERR(_("Can't create socket thread"));
+        }else{
+            DBG("Thread created, detouch");
+            pthread_detach(rthrd); // don't care about thread state
+
         }
-    pthread_cancel(hthrd); // cancel steppers' thread
+    }
+    pthread_cancel(hthrd); // cancel reading thread
     pthread_join(hthrd, NULL);
     close(sock);
 }

Daemons/10micron_stellarium/telescope.c

@@ -83,13 +83,13 @@ static char *read_string(){
 static char *write_cmd(const char *cmd){
     static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
     pthread_mutex_lock(&mutex);
-    DBG("Write %s", cmd);
+    //DBG("Write %s", cmd);
     if(write_tty(cmd, strlen(cmd))) return NULL;
     double t0 = dtime();
     static char *ans;
     while(dtime() - t0 < T_POLLING_TMOUT){ // read answer
         if((ans = read_string())){ // parse new data
-            DBG("got answer: %s", ans);
+           // DBG("got answer: %s", ans);
             pthread_mutex_unlock(&mutex);
             return ans;
         }
@@ -102,9 +102,7 @@ static char *write_cmd(const char *cmd){
 static void makecorr(){
     // write current date&time
     char buf[64], *ans;
-#ifdef EBUG
-        write_cmd(":GUDT#");
-#endif
+    DBG("curtime: %s", write_cmd(":GUDT#"));
     write_cmd(":gT#"); // correct time by GPS
     ans = write_cmd(":gtg#");
     if(!ans || *ans != '1'){
@@ -113,16 +111,15 @@ static void makecorr(){
         struct tm *stm = localtime(&t);
         struct timeval tv;
         gettimeofday(&tv,NULL);
-        snprintf(buf, 64, ":SLDT%04d-%02d-%02d,%02d:%02d:%02d.%02ld#", 1900+stm->tm_year, stm->tm_mon, stm->tm_mday,
+        snprintf(buf, 64, ":SLDT%04d-%02d-%02d,%02d:%02d:%02d.%02ld#", 1900+stm->tm_year, stm->tm_mon+1, stm->tm_mday,
                  stm->tm_hour, stm->tm_min, stm->tm_sec, tv.tv_usec/10000);
+        DBG("write: %s", buf);
         ans = write_cmd(buf);
         if(!ans || *ans != '1'){
             WARNX("Can't write current date/time");
             putlog("Can't set system time");
         }else putlog("Set system time by command %s", buf);
-#ifdef EBUG
-        write_cmd(":GUDT#");
-#endif
+        DBG("curtime: %s", write_cmd(":GUDT#"));
     }
     placeWeather w;
     if(getWeath(&w)) putlog("Can't determine weather data");
@@ -226,10 +223,11 @@ int point_telescope(double ra, double dec){
         err = 2;
         goto ret;
     }
+    DBG("Move");
     ans = write_cmd(":MS#");
     if(!ans || *ans != '0'){
         putlog("move error, answer: %s", ans);
-        err = 2;
+        err = 3;
         goto ret;
     }
     ret:
@@ -299,28 +297,26 @@ static int printhdr(int fd, const char *key, const char *val, const char *cmnt){
 
 
 static double r = 0., d = 0.; // RA/DEC from wrhdr
+static int mountstatus = 0; // return of :Gstat#
 static time_t tlast = 0; // last time coordinates were refreshed
 /**
  * get coordinates
  * @param ra (o)   - right ascension (hours)
  * @param decl (o) - declination (degrees)
- * @return 1 if all OK
+ * @return telescope status or -1 if coordinates are too old
  */
 int get_telescope_coords(double *ra, double *decl){
-    if(time(NULL) - tlast > COORDS_TOO_OLD_TIME) return 0; // coordinates are too old
+    if(!tlast) tlast = time(NULL);
+    if(time(NULL) - tlast > COORDS_TOO_OLD_TIME) return -1; // coordinates are too old
     if(ra) *ra = r;
     if(decl) *decl = d;
-    return 1;
+    return mountstatus;
 }
 
 void stop_telescope(){
-    for(int i = 0; i < 3; ++i){
-        if(write_cmd(":STOP#")){
+    write_cmd(":RT9#");  // stop tracking
+    write_cmd(":STOP#"); // halt moving
     Target = 0;
-            return;
-        }
-    }
-    putlog("Can't send command STOP");
 }
 
 // site characteristics
@@ -366,6 +362,33 @@ static void getplace(){
     }
 }
 
+static const char *statuses[12] = {
+    [0] = "'Tracking'",
+    [1] = "'Going to stop'",
+    [2] = "'Slewing to park'",
+    [3] = "'Unparking'",
+    [4] = "'Slewing to home'",
+    [5] = "'Parked'",
+    [6] = "'Slewing or going to stop'",
+    [7] = "'Stopped'",
+    [8] = "'Motors inhibited, T too low'",
+    [9] = "'Outside tracking limit'",
+    [10]= "'Following satellite'",
+    [11]= "'Data inconsistency'"
+};
+
+/**
+ * @brief strstatus - return string explanation of mount status
+ * @param status - integer status code
+ * @return statically allocated string with explanation
+ */
+static const char* strstatus(int status){
+    if(status < 0) return "'Signal lost'";
+    if(status < (int)(sizeof(statuses)/sizeof(char*)-1)) return statuses[status];
+    if(status == 99) return "'Error'";
+    return "'Unknown status'";
+}
+
 /**
  * @brief wrhdr - try to write into header file
  */
@@ -411,6 +434,11 @@ void wrhdr(){
         }
     }
     ans = write_cmd(":pS#"); pS = dups(ans, 1);
+    ans = write_cmd(":Gstat#");
+    if(ans){
+        mountstatus = atoi(ans);
+        //DBG("Status: %d", mountstatus);
+    }
 #define WRHDR(k, v, c)  do{if(printhdr(hdrfd, k, v, c)){close(hdrfd); return;}}while(0)
     char val[22];
     if(unlink(hdname)){
@@ -437,6 +465,7 @@ void wrhdr(){
     WRHDR("RA", val, "Telescope right ascension, current epoch");
     snprintf(val, 22, "%.10f", d);
     WRHDR("DEC", val, "Telescope declination, current epoch");
+    WRHDR("TELSTAT", strstatus(mountstatus), "Telescope mount status");
     sMJD mjd;
     if(!get_MJDt(NULL, &mjd)){
         snprintf(val, 22, "%.10f", 2000.+(mjd.MJD-MJD2000)/365.25); // calculate EPOCH/EQUINOX

Daemons/Readme.md

@@ -1,8 +1,9 @@
-Different daemons
-=================
+Different daemons @ tools
+=========================
 
 - *10micron_stellarium* - simple daemon for 10-micron mount management from stellarium interface
 - *domedaemon* - open/close dome by network query
 - *netdaemon* - template for net-daemons
-- *teldaemon* - open/close Astrosib-500 scope covers by network query
 - *netsocket* - scripts for management of network 220V-socket
+- *send_coordinates* - get/send coordinates to 10-micron mount through stellarium daemon
+- *teldaemon* - open/close Astrosib-500 scope covers by network query

Daemons/send_coordinates/Makefile

@@ -0,0 +1,43 @@
+# 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

Daemons/send_coordinates/Readme

@@ -0,0 +1 @@
+A simple tool to send/receive coordinates from telescope

Daemons/send_coordinates/SendCoords.config

@@ -0,0 +1,2 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42

Daemons/send_coordinates/SendCoords.creator

@@ -0,0 +1 @@
+[General]

Daemons/send_coordinates/SendCoords.creator.user

@@ -0,0 +1,167 @@
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Daemons/send_coordinates/SendCoords.files

@@ -0,0 +1,5 @@
+cmdlnopts.c
+cmdlnopts.h
+main.c
+stelldaemon.c
+stelldaemon.h

Daemons/send_coordinates/SendCoords.includes

@@ -0,0 +1 @@
+.

Daemons/send_coordinates/cmdlnopts.c

@@ -0,0 +1,92 @@
+/*
+ * 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;
+}
+

Daemons/send_coordinates/cmdlnopts.h

@@ -0,0 +1,42 @@
+/*
+ * 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__

Daemons/send_coordinates/main.c

@@ -0,0 +1,79 @@
+/*
+ * 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;
+}
+

Daemons/send_coordinates/stelldaemon.c

@@ -0,0 +1,215 @@
+/*
+ * 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);
+}

Daemons/send_coordinates/stelldaemon.h

@@ -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__