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temporarily fixed stellarium daemon

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Edward Emelianov
2026-03-30 17:44:31 +03:00
parent df4a597aa8
commit cae7a6e213
24 changed files with 3106 additions and 3 deletions
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10
.gitignore vendored
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!Makefile
![Rr][Ee][Aa][Dd][Mm][Ee]
# build dirs
mk/
build/
.qtc_clangd
.qtcreator
# Prerequisites
*.d
@@ -30,9 +37,6 @@
*.so
*.so.*
# build dirs
mk/
build/
# diff
.qtcreator/

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Daemons/deprecated/10micron_stellarium.deprecated/10micron_readme.koi8-r Normal file
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# - очистить принимающий буфер
:shutdown# - выключить монтировку
:U2# - установить наивысшую точность
Состояние гидирования (ACK): команда 0x06, ответ L/P - вкл/выкл
:AL# - выключить ведение (без ответа)
:AP# - включить
GPS:
:gtg# - возвращает 1, если часы синхронизированы с GPS
наведение на цель
:MS# - двигаться на цель, возврат: 0, если все в порядке, либо текст с ошибкой
:SrHH:MM:SS.SS# - установить RA цели (возврат 1 если ОК)
:SdsDD*MM:SS.S# - установить DECL цели (возврат 1 если ОК)
:D# - статус наведения, возврат: 0x7f, если в процессе, либо #
:NUDGEsXXX,sYYY# - скорректировать положение по RA/DEC на N угловых секунд
:STOP# - останов (:AP# - для возобновления гидирования)
:Gstat# - состояние монтировки
:GT# - частота для гидирования (60.1643377745 по звездам)
:AL# - выкл. гидирование
:AP# - вкл
:Gpgc# - состояние гидирования
:GSC# - коррекция скорости гидирования на косинус h
:GTTRK# - возможно ли наведение на текущий объект
:pS# - с какой стороны монтировки телескоп (для перекладывания?)
:FLIP# - переложить монтировку
:GVP# - название монтировки
:GTMP@# (@ - номер датчика) - температура датчика
:GREF# - состояние коррекции на рефракцию
:GA# - высота телескопа над горизонтом
:GZ# - азимут
:GC# - дата
:GD# - склонение
:GR# - восхождение
:GJD# - юлианская дата (GJD1 - с наивысшей точностью)
:GLDT# - местные дата и время
:GS# - звездное время
парковка: стр. 20
ехать:
:Q# - прекратить наведение (а еще :Qe# - east и пр.)
:D# - состояние наведения
:NUDGEsXXXX,sYYYY# - коррекция положения на XXX/YYY секунд (RA/Dec)
:MA# - по введенным горизонтальным координатам цели
:MS# - ехать на цель
:Me$=#, :Mw#, :Mn#, :Ms# - движение в данную сторону
:MeXXX#, :MnXXX# и др. стороны - коррекция на XXX миллисекунд скорости гида
модель наведения - стр. 44
после определения центра изображения ввести его командами :Sr# и :Sd# и добавить точку командой :CMS#

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-std=c17

3
Daemons/deprecated/10micron_stellarium.deprecated/StelD.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define EBUG 1

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Daemons/deprecated/10micron_stellarium.deprecated/StelD.creator Normal file
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[General]

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Daemons/deprecated/10micron_stellarium.deprecated/StelD.creator.user Normal file
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Daemons/deprecated/10micron_stellarium.deprecated/StelD.creator.user.cf63021.4.9-pre1 Normal file
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1
Daemons/deprecated/10micron_stellarium.deprecated/StelD.cxxflags Normal file
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-std=c++17

14
Daemons/deprecated/10micron_stellarium.deprecated/StelD.files Normal file
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cmdlnopts.c
cmdlnopts.h
daemon.c
emulation.c
emulation.h
libsofa.c
libsofa.h
main.c
main.h
socket.c
socket.h
telescope.c
telescope.h
usefull_macro.c

1
Daemons/deprecated/10micron_stellarium.deprecated/StelD.includes Normal file
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.

110
Daemons/deprecated/10micron_stellarium.deprecated/cmdlnopts.c Normal file
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/* geany_encoding=koi8-r
* cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
*
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
*
* 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include <assert.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
#include <math.h>
#include <usefull_macros.h>
#include "cmdlnopts.h"
/*
* here are global parameters initialisation
*/
int help;
glob_pars G;
glob_pars *GP = NULL;
#define DEFAULT_COMDEV "/dev/ttyUSB0"
// port for connections
#define DEFAULT_PORT "10000"
#define DEFAULT_DBGPORT "10001"
// weather server port and name
#define DEFAULT_WSPORT (12345)
#define DEFAULT_WSNAME "robometeo.sao.ru"
// default PID filename:
#define DEFAULT_PIDFILE "/tmp/stellariumdaemon.pid"
// default file with headers
#define DEFAULT_FITSHDR "/tmp/10micron.fitsheader"
// DEFAULTS
// default global parameters
glob_pars const Gdefault = {
.device = DEFAULT_COMDEV,
.port = DEFAULT_PORT,
.dbgport = DEFAULT_DBGPORT,
.pidfile = DEFAULT_PIDFILE,
.crdsfile = DEFAULT_FITSHDR,
.emulation = 0,
.weathserver = DEFAULT_WSNAME,
.weathport = DEFAULT_WSPORT,
.logfile = NULL // don't save logs
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
sl_option_t cmdlnopts[] = {
// common options
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&help), _("show this help")},
{"device", NEED_ARG, NULL, 'd', arg_string, APTR(&G.device), _("serial device name (default: " DEFAULT_COMDEV ")")},
{"emulation",NO_ARGS, NULL, 'e', arg_int, APTR(&G.emulation), _("run in emulation mode")},
//{"hostname",NEED_ARG, NULL, 'H', arg_string, APTR(&G.hostname), _("hostname to connect (default: localhost)")},
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), _("file to save logs")},
{"hdrfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.crdsfile), _("file to save FITS-header with coordinates and time")},
{"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 ")")},
{"dbgport", NEED_ARG, NULL, 'D', arg_string, APTR(&G.dbgport), _("port to connect for debug console (default: " DEFAULT_DBGPORT ")")},
{"wport", NEED_ARG, NULL, 'w', arg_int, APTR(&G.weathport), _("weather server port")},
{"wname", NEED_ARG, NULL, 'W', arg_string, APTR(&G.weathserver),_("weather server address")},
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"
sl_helpstring(helpstring);
// parse arguments
sl_parseargs(&argc, &argv, cmdlnopts);
if(help) sl_showhelp(-1, cmdlnopts);
if(argc > 0){
G.rest_pars_num = argc;
G.rest_pars = calloc(argc, sizeof(char*));
for (i = 0; i < argc; i++)
G.rest_pars[i] = strdup(argv[i]);
}
return &G;
}

44
Daemons/deprecated/10micron_stellarium.deprecated/cmdlnopts.h Normal file
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/* geany_encoding=koi8-r
* cmdlnopts.h - comand line options for parceargs
*
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
*
* 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
/*
* here are some typedef's for global data
*/
typedef struct{
char *device; // serial device name
char *port; // port to connect
char *dbgport; // port for debug console
char *pidfile; // name of PID file
char *logfile; // logging to this file
char *crdsfile; // file where FITS-header should be written
char *weathserver; // weather server name
int emulation; // run in emulation mode
int rest_pars_num; // number of rest parameters
int weathport; // weather server port
char** rest_pars; // the rest parameters: array of char*
} glob_pars;
// global parameters
extern glob_pars *GP;
glob_pars *parse_args(int argc, char **argv);

144
Daemons/deprecated/10micron_stellarium.deprecated/daemon.c Normal file
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@@ -0,0 +1,144 @@
/*
* daemon.c - functions for running in background like a daemon
*
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
*
* 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#define PROC_BASE "/proc"
#include <stdio.h> // printf, fopen, ...
#include <unistd.h> // getpid
#include <stdio.h> // perror
#include <sys/types.h> // opendir
#include <dirent.h> // opendir
#include <sys/stat.h> // stat
#include <fcntl.h> // fcntl
#include <stdlib.h> // exit
#include <string.h> // memset
/**
* read process name from /proc/PID/cmdline
* @param pid - PID of interesting process
* @return filename or NULL if not found
* don't use this function twice for different names without copying
* its returning by strdup, because `name` contains in static array
*/
char *readname(pid_t pid){
static char name[256];
char *pp = name, byte, path[256];
FILE *file;
int cntr = 0;
size_t sz;
snprintf (path, 255, PROC_BASE "/%d/cmdline", pid);
file = fopen(path, "r");
if(!file) return NULL; // there's no such file
do{ // read basename
sz = fread(&byte, 1, 1, file);
if(sz != 1) break;
if(byte != '/') *pp++ = byte;
else{
pp = name;
cntr = 0;
}
}while(byte && cntr++ < 255);
name[cntr] = 0;
fclose(file);
return name;
}
void iffound_default(pid_t pid){
fprintf(stderr, "\nFound running process (pid=%d), exit.\n", pid);
exit(0);
}
/**
* check wether there is a same running process
* exit if there is a running process or error
* Checking have 3 steps:
* 1) lock executable file
* 2) check pidfile (if you run a copy?)
* 3) check /proc for executables with the same name (no/wrong pidfile)
* @param selfname - argv[0] or NULL for non-locking
* @param pidfilename - name of pidfile or NULL if none
* @param iffound - action to run if file found or NULL for exit(0)
*/
void check4running(char *selfname, char *pidfilename, void (*iffound)(pid_t pid)){
DIR *dir;
FILE *pidfile, *fself;
struct dirent *de;
struct stat s_buf;
pid_t pid = 0, self;
struct flock fl;
char *name, *myname;
if(!iffound) iffound = iffound_default;
if(selfname){ // block self
fself = fopen(selfname, "r"); // open self binary to lock
if(!fself){
perror("fopen");
goto selfpid;
}
memset(&fl, 0, sizeof(struct flock));
fl.l_type = F_WRLCK;
if(fcntl(fileno(fself), F_GETLK, &fl) == -1){ // check locking
perror("fcntl");
goto selfpid;
}
if(fl.l_type != F_UNLCK){ // file is locking - exit
printf("Found locker, PID = %d!\n", fl.l_pid);
exit(1);
}
fl.l_type = F_RDLCK;
if(fcntl(fileno(fself), F_SETLKW, &fl) == -1){
perror("fcntl");
}
}
selfpid:
self = getpid(); // get self PID
if(!(dir = opendir(PROC_BASE))){ // open /proc directory
perror(PROC_BASE);
}
if(!(name = readname(self))){ // error reading self name
perror("Can't read self name");
exit(1);
}
myname = strdup(name);
if(pidfilename && stat(pidfilename, &s_buf) == 0){ // pidfile exists
pidfile = fopen(pidfilename, "r");
if(pidfile){
if(fscanf(pidfile, "%d", &pid) > 0){ // read PID of (possibly) running process
if((name = readname(pid)) && strncmp(name, myname, 255) == 0)
iffound(pid);
}
fclose(pidfile);
}
}
// There is no pidfile or it consists a wrong record
while((de = readdir(dir))){ // scan /proc
if(!(pid = (pid_t)atoi(de->d_name)) || pid == self) // pass non-PID files and self
continue;
if((name = readname(pid)) && strncmp(name, myname, 255) == 0)
iffound(pid);
}
closedir(dir);
if(pidfilename){
pidfile = fopen(pidfilename, "w");
fprintf(pidfile, "%d\n", self); // write self PID to pidfile
fclose(pidfile);
}
free(myname);
}

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/*
* geany_encoding=koi8-r
* emulation.c
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include <usefull_macros.h>
#include "math.h"
#include "emulation.h"
// emulation speed over RA & DEC (0.5 degr per sec)
#define RA_SPEED (0.033)
#define DECL_SPEED (0.5)
// current coordinates
static double RA = 0., DECL = 0.;
// target coordinates
static double RAtarg = 0., DECLtarg = 0.;
// coordinates @ guiding start
static double RA0 = 0., DECL0 = 0.;
static double raspeed = 0.;
// ==1 if pointing
static int pointing = 0;
// pointing start time
static double tstart = -1.;
/**
* send coordinates to telescope emulation
* @param ra - right ascention (hours)
* @param decl - declination (degrees)
* @return 1 if all OK
*/
int point_emulation(double ra, double decl){
DBG("(emul) Send ra=%g, decl=%g", ra, decl);
LOGMSG("(emul) Send ra=%g, decl=%g", ra, decl);
RAtarg = ra; DECLtarg = decl;
RA0 = RA; DECL0 = DECL;
raspeed = (RAtarg > RA) ? RA_SPEED : -RA_SPEED;
if(fabs(RAtarg - RA) > 12.){ // go to opposite direction
raspeed = -raspeed;
}
tstart = sl_dtime();
pointing = 1;
return 0;
}
static double getradiff(){
double diff = RAtarg - RA;
if(raspeed < 0.) diff = -diff;
if(diff > 12.) diff -= 24.;
else if(diff < -12.) diff += 24.;
return fabs(diff);
}
/**
* get coordinates (emulation)
* @return 1 if all OK
*/
int get_emul_coords(double *ra, double *decl){
if(pointing){
DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
// diff < speed? stop
if((fabs(RAtarg - RA) < RA_SPEED && fabs(DECLtarg - DECL) < DECL_SPEED)){
RA = RAtarg;
DECL = DECLtarg;
pointing = 0; // guiding
DBG("@ target");
}else{ // calculate new coordinates
double radiff = getradiff(), decldiff = fabs(DECLtarg - DECL);
double tdiff = sl_dtime() - tstart;
RA = RA0 + raspeed * tdiff;
DBG("RA=%g", RA);
if(getradiff() > radiff) RA = RAtarg;
DBG("RA=%g", RA);
if(RA < 0.) RA += 24.;
else if(RA > 24.) RA -= 24.;
DBG("RA=%g", RA);
double sign = (DECLtarg > DECL) ? 1. : -1.;
DECL = DECL0 + sign * DECL_SPEED * tdiff;
if(fabs(DECLtarg - DECL) > decldiff) DECL = DECLtarg;
DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
}
}
if(ra) *ra = RA;
if(decl) *decl = DECL;
return 1;
}

28
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/*
* geany_encoding=koi8-r
* emulation.h
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
int point_emulation(double ra, double decl);
int get_emul_coords(double *ra, double *decl);

383
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/*
* This file is part of the StelD 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 <string.h>
#include <time.h>
#include <usefull_macros.h>
#include "libsofa.h"
#include "socket.h"
#ifdef EBUG
void reprd(char* s, double ra, double dc){
char pm;
int i[4];
printf ( "%s:", s );
eraA2tf ( 7, ra, &pm, i );
printf ( " %2.2d %2.2d %2.2d.%7.7d", i[0],i[1],i[2],i[3] );
eraA2af ( 6, dc, &pm, i );
printf ( " %c%2.2d %2.2d %2.2d.%6.6d\n", pm, i[0],i[1],i[2],i[3] );
}
void radtodeg(double r){
int i[4]; char pm;
int rem = (int)(r / ERFA_D2PI);
if(rem) r -= ERFA_D2PI * rem;
if(r > ERFA_DPI) r -= ERFA_D2PI;
else if(r < -ERFA_DPI) r += ERFA_D2PI;
eraA2af (2, r, &pm, i);
printf("%c%02d %02d %02d.%2.d", pm, i[0],i[1],i[2],i[3]);
}
#define REP(a,b,c) reprd(a,b,c)
#else
#define REP(a,b,c)
#endif
// temporal stubs for weather/place/DUT1 data; user can change values of these variables
static placeData place = {.slong = 0.7232763200, .slat = 0.7618977414, .salt = 2070.};
placeData *getPlace(){
return &place;
}
static localWeather weather = {0};
typedef struct{
const char *name;
double *valptr;
} weathpars;
#define WPCOUNT (7)
static weathpars WPars[WPCOUNT] = {
{"BTAHumid", &weather.relhum},
{"BTAPres", &weather.pres},
{"Exttemp", &weather.tc},
{"Rain", &weather.rain},
{"Clouds", &weather.clouds},
{"Wind", &weather.wind},
{"Time", &weather.time}
};
localWeather *getWeath(){
//DBG("DT=%zd", time(NULL) - (time_t)weather.time);
char *w = getweathbuffer();
//DBG("w=%s", w);
if(w){ // get new data - check it
int ctr = 0;
for(int i = 0; i < WPCOUNT; ++i){
if(getparval(WPars[i].name, w, WPars[i].valptr)) ++ctr;
}
if(ctr != WPCOUNT) WARN("Not full set of parameters in %s", w);
FREE(w);
}
if((time_t)weather.time == 0 || time(NULL) - (time_t)weather.time > 3600) return NULL;
return &weather;
}
static almDut dut1 = {0};
almDut *getDUT(){
// check DUT1 data HERE once per some time
return &dut1;
}
/**
* @brief r2sHMS - convert angle in radians into string "'HH:MM:SS.SS'"
* @param radians - angle
* @param hms (o) - string
* @param len - length of hms
*/
void r2sHMS(double radians, char *hms, int len){
char pm;
int i[4];
eraA2tf(2, radians, &pm, i);
snprintf(hms, len, "'%c%02d:%02d:%02d.%02d'", pm, i[0],i[1],i[2],i[3]);
}
/**
* @brief r2sDMS - convert angle in radians into string "'DD:MM:SS.S'"
* @param radians - angle
* @param dms (o) - string
* @param len - length of hms
*/
void r2sDMS(double radians, char *dms, int len){
char pm;
int i[4];
eraA2af(1, radians, &pm, i);
snprintf(dms, len, "'%c%02d:%02d:%02d.%d'", pm, i[0],i[1],i[2],i[3]);
}
/**
* @brief get_MJDt - calculate MJD of date from argument
* @param tval (i) - given date (or NULL for current)
* @param MJD (o) - time (or NULL just to check)
* @return 0 if all OK
*/
int get_MJDt(struct timeval *tval, sMJD *MJD){
struct tm tms;
double tSeconds;
if(!tval){
//DBG("MJD for current time");
struct timeval currentTime;
gettimeofday(&currentTime, NULL);
gmtime_r(&currentTime.tv_sec, &tms);
tSeconds = tms.tm_sec + ((double)currentTime.tv_usec)/1e6;
}else{
gmtime_r(&tval->tv_sec, &tms);
tSeconds = tms.tm_sec + ((double)tval->tv_usec)/1e6;
}
int y, m, d;
y = 1900 + tms.tm_year;
m = tms.tm_mon + 1;
d = tms.tm_mday;
double utc1, utc2;
/* UTC date. */
if(eraDtf2d("UTC", y, m, d, tms.tm_hour, tms.tm_min, tSeconds, &utc1, &utc2) < 0) return -1;
if(!MJD) return 0;
MJD->MJD = utc1 - 2400000.5 + utc2;
MJD->utc1 = utc1;
MJD->utc2 = utc2;
//DBG("UTC(m): %g, %.8f\n", utc1 - 2400000.5, utc2);
if(eraUtctai(utc1, utc2, &MJD->tai1, &MJD->tai2)) return -1;
//DBG("TAI");
if(eraTaitt(MJD->tai1, MJD->tai2, &MJD->tt1, &MJD->tt2)) return -1;
//DBG("TT");
return 0;
}
/**
* @brief get_LST - calculate local siderial time
* @param mjd (i) - date/time for LST (utc1 & tt used)
* @param dUT1 - (UT1-UTC)
* @param slong - site longitude (radians)
* @param LST (o) - local sidereal time (radians)
* @return 0 if all OK
*/
int get_LST(sMJD *mjd, double dUT1, double slong, double *LST){
double ut11, ut12;
sMJD Mjd;
if(!mjd){
if(get_MJDt(NULL, &Mjd)) return 1;
}else memcpy(&Mjd, mjd, sizeof(sMJD));
if(eraUtcut1(Mjd.utc1, Mjd.utc2, dUT1, &ut11, &ut12)) return 2;
/*double era = iauEra00(ut11, ut12) + slong;
double eo = iauEe06a(mjd->tt1, mjd->tt2);
printf("ERA = %s; ", radtohrs(era));
printf("ERA-eo = %s\n", radtohrs(era-eo));*/
if(!LST) return 0;
double ST = eraGst06a(ut11, ut12, Mjd.tt1, Mjd.tt2);
ST += slong;
if(ST > ERFA_D2PI) ST -= ERFA_D2PI;
else if(ST < 0.) ST += ERFA_D2PI;
*LST = ST;
return 0;
}
/**
* @brief hor2eq - convert horizontal coordinates to polar
* @param h (i) - horizontal coordinates
* @param pc (o) - polar coordinates
* @param sidTime - sidereal time
*/
void hor2eq(horizCrds *h, polarCrds *pc, double sidTime){
if(!h || !pc) return;
placeData *p = getPlace();
eraAe2hd(h->az, ERFA_DPI/2. - h->zd, p->slat, &pc->ha, &pc->dec); // A,H -> HA,DEC; phi - site latitude
pc->ra = sidTime - pc->ha;
pc->eo = 0.;
}
/**
* @brief eq2horH - convert polar coordinates to horizontal
* @param pc (i) - polar coordinates (only HA used)
* @param h (o) - horizontal coordinates
* @param sidTime - sidereal time
*/
void eq2horH(polarCrds *pc, horizCrds *h){
if(!h || !pc) return;
placeData *p = getPlace();
double alt;
eraHd2ae(pc->ha, pc->dec, p->slat, &h->az, &alt);
h->zd = ERFA_DPI/2. - alt;
}
/**
* @brief eq2hor - convert polar coordinates to horizontal
* @param pc (i) - polar coordinates (only RA used)
* @param h (o) - horizontal coordinates
* @param sidTime - sidereal time
*/
void eq2hor(polarCrds *pc, horizCrds *h, double sidTime){
if(!h || !pc) return;
double ha = sidTime - pc->ra + pc->eo;
placeData *p = getPlace();
double alt;
eraHd2ae(ha, pc->dec, p->slat, &h->az, &alt);
h->zd = ERFA_DPI/2. - alt;
}
/**
* @brief get_ObsPlace - calculate observed place (without PM etc) for given date @550nm
* @param tval (i) - time
* @param p2000 (i) - polar coordinates for J2000 (only ra/dec used), ICRS (catalog)
* @param weath (i) - weather data (relhum, temp, press) or NULL if none
* @param pnow (o) - polar coordinates for given epoch (or NULL)
* @param hnow (o) - horizontal coordinates for given epoch (or NULL)
* @return 0 if all OK
*/
int get_ObsPlace(struct timeval *tval, polarCrds *p2000, localWeather *weath, polarCrds *pnow, horizCrds *hnow){
double pr = 0.0; // RA proper motion (radians/year; Note 2)
double pd = 0.0; // Dec proper motion (radians/year)
double px = 0.0; // parallax (arcsec)
double rv = 0.0; // radial velocity (km/s, positive if receding)
sMJD MJD;
if(get_MJDt(tval, &MJD)) return -1;
if(!p2000) return -1;
/* Effective wavelength (microns) */
double wl = 0.55;
/* ICRS to observed. */
double aob, zob, hob, dob, rob, eo;
double p = 0., t = 0., h = 0.;
if(weath){
p = weath->pres; t = weath->tc; h = weath->relhum;
}
/*
DBG("iauAtco13(%g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g)",
p2000->ra, p2000->dec, pr, pd, px, rv, MJD.utc1, MJD.utc2, d.DUT1, p.slong, p.slat, p.salt,
d.px, d.py, p, t, h, wl);
*/
if(eraAtco13(p2000->ra, p2000->dec,
pr, pd, px, rv,
MJD.utc1, MJD.utc2,
dut1.DUT1,
place.slong, place.slat, place.salt,
dut1.px, dut1.py,
p, t, h,
wl,
&aob, &zob,
&hob, &dob, &rob, &eo)) return -1;
REP("ICRS->observed", rob, dob);
if(pnow){
pnow->eo = eo;
pnow->ha = hob;
pnow->ra = rob;
pnow->dec = dob;
}
if(hnow){
hnow->az = aob;
hnow->zd = zob;
}
#ifdef EBUG
printf("A(bta)/Z: ");
radtodeg(aob);
printf("("); radtodeg(ERFA_DPI-aob);
printf(")/"); radtodeg(zob);
printf("\n");
#endif
return 0;
}
// azimuth: north=zero, east=90deg
// parallactic angle: iauHd2pa ( ha, dec, phi );
// refraction coefficients: iauRefco
// iauAe2hd ( az, el, phi, &ha, &dec ); A,H -> HA,DEC; phi - site latitude
// iauHd2ae ( ha, dec, phi, &az, &el ); HA,DEC -> A,H
// iauAtoc13 - obs->ICRS(catalog)
// iauAtoi13 - obs->CIRS
// iauAtio13 - CIRS->observed
#if 0
/**
* convert geocentric coordinates (nowadays, CIRS) to mean (JD2000, ICRS)
* appRA, appDecl in seconds
* r, d in seconds
*/
void JnowtoJ2000(double appRA, double appDecl, double *r, double *dc){
double ra=0., dec=0., utc1, utc2, tai1, tai2, tt1, tt2, fd, eo, ri;
int y, m, d, H, M;
DBG("appRa: %g'', appDecl'': %g", appRA, appDecl);
appRA *= DS2R;
appDecl *= DAS2R;
#define SOFA(f, ...) do{if(f(__VA_ARGS__)){WARNX("Error in " #f); goto rtn;}}while(0)
// 1. convert system JDate to UTC
SOFA(iauJd2cal, JDate, 0., &y, &m, &d, &fd);
fd *= 24.;
H = (int)fd;
fd = (fd - H)*60.;
M = (int)fd;
fd = (fd - M)*60.;
SOFA(iauDtf2d, "UTC", y, m, d, H, M, fd, &utc1, &utc2);
SOFA(iauUtctai, utc1, utc2, &tai1, &tai2);
SOFA(iauTaitt, tai1, tai2, &tt1, &tt2);
iauAtic13(appRA, appDecl, tt1, tt2, &ri, &dec, &eo);
ra = iauAnp(ri + eo);
ra *= DR2S;
dec *= DR2AS;
DBG("SOFA: r=%g'', d=%g''", ra, dec);
#undef SOFA
rtn:
if(r) *r = ra;
if(dc) *dc = dec;
}
/**
* @brief J2000toJnow - convert ra/dec between epochs
* @param in - J2000 (degrees)
* @param out - Jnow (degrees)
* @return
*/
int J2000toJnow(const polar *in, polar *out){
if(!out) return 1;
double utc1, utc2;
time_t tsec;
struct tm *ts;
tsec = time(0); // number of seconds since the Epoch, 1970-01-01 00:00:00 +0000 (UTC)
ts = gmtime(&tsec);
int result = 0;
result = iauDtf2d ( "UTC", ts->tm_year+1900, ts->tm_mon+1, ts->tm_mday, ts->tm_hour, ts->tm_min, ts->tm_sec, &utc1, &utc2 );
if (result != 0) {
fprintf(stderr, "iauDtf2d call failed\n");
return 1;
}
// Make TT julian date for Atci13 call
double tai1, tai2;
double tt1, tt2;
result = iauUtctai(utc1, utc2, &tai1, &tai2);
if(result){
fprintf(stderr, "iauUtctai call failed\n");
return 1;
}
result = iauTaitt(tai1, tai2, &tt1, &tt2);
if(result){
fprintf(stderr, "iauTaitt call failed\n");
return 1;
}
double pr = 0.0; // RA proper motion (radians/year; Note 2)
double pd = 0.0; // Dec proper motion (radians/year)
double px = 0.0; // parallax (arcsec)
double rv = 0.0; // radial velocity (km/s, positive if receding)
double rc = DD2R * in->ra, dc = DD2R * in->dec; // convert into radians
double ri, di, eo;
iauAtci13(rc, dc, pr, pd, px, rv, tt1, tt2, &ri, &di, &eo);
out->ra = iauAnp(ri - eo) * DR2D;
out->dec = di * DR2D;
return 0;
}
#endif

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/*
* This file is part of the StelD 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
#include <erfa.h>
#include <erfam.h>
#include <sys/time.h>
// JD2451544.5 == 2000.0
#define MJD2000 (51544)
typedef struct{
double utc1; double utc2; // UTC JD, commonly used MJD = utc1+utc2-2400000.5
double MJD;
double tai1; double tai2; // TAI JD
double tt1; double tt2; // TT JD
} sMJD;
// polar coordinates & equation of origins (all in radians)
typedef struct{
double ha; // hour angle
double dec; // declination
double ra; // right ascension
double eo; // equation of origins
} polarCrds;
// horizontal coordinates (all in radians)
typedef struct{
double az; // azimuth, 0 @ south, positive clockwise
double zd; // zenith distance
} horizCrds;
// observational place coordinates and altitude; all coordinates are in radians!
typedef struct{
double slong; // longitude
double slat; // lattitude
double salt; // altitude, m
} placeData;
// place weather data
typedef struct{
double relhum; // rel. humidity, 0..100%
double pres; // atm. pressure (mmHg)
double tc; // temperature, degrC
double rain; // rain value (0..1)
double clouds; // clouds (0 - bad, >2500 - good)
double wind; // wind speed, m/s
double time; // measurements time
} localWeather;
// DUT/polar almanach data
typedef struct{
double DUT1; // UT1-UTC, sec
double px; // polar coordinates, arcsec
double py;
} almDut;
void r2sHMS(double radians, char *hms, int len);
void r2sDMS(double radians, char *hms, int len);
void hor2eq(horizCrds *h, polarCrds *pc, double sidTime);
void eq2horH(polarCrds *pc, horizCrds *h);
void eq2hor(polarCrds *pc, horizCrds *h, double sidTime);
int get_MJDt(struct timeval *tval, sMJD *MJD);
int get_LST(sMJD *mjd, double dUT1, double slong, double *LST);
int get_ObsPlace(struct timeval *tval, polarCrds *p2000, localWeather *weath, polarCrds *pnow, horizCrds *hnow);
almDut *getDUT();
localWeather *getWeath();
placeData *getPlace();

522
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/*
* main.c
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include <arpa/inet.h>
#include <endian.h>
#include <fcntl.h>
#include <math.h>
#include <netdb.h>
#include <netinet/in.h>
#include <signal.h>
#include <sys/prctl.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <time.h>
#include "emulation.h"
#include "libsofa.h"
#include "main.h"
#include "socket.h"
#include "telescope.h"
// daemon.c
extern void check4running(char *self, char *pidfilename, void (*iffound)(pid_t pid));
// Max amount of connections
#define BACKLOG (10)
#define BUFLEN (1024)
// pause for incoming message waiting (out coordinates sent after that timeout)
#define SOCK_TMOUT (1)
static pid_t childpid = 1; // PID of child process
volatile int global_quit = 0;
// quit by signal
void signals(int sig){
signal(sig, SIG_IGN);
if(!childpid){ // child process
stop_telescope();
disconnect_telescope();
unlink(GP->pidfile); // and remove pidfile
weatherserver_disconnect();
}
DBG("Get signal %d, quit.\n", sig);
global_quit = 1;
if(childpid) LOGERR("PID %d exit with status %d after child's %d death", getpid(), sig, childpid);
else LOGWARN("Child %d died with %d", getpid(), sig);
sleep(1);
exit(sig);
}
// search a first word after needle without spaces
char* stringscan(char *str, char *needle){
char *a, *e;
char *end = str + strlen(str);
a = strstr(str, needle);
if(!a) return NULL;
a += strlen(needle);
while (a < end && (*a == ' ' || *a == '\r' || *a == '\t')) a++;
if(a >= end) return NULL;
e = strchr(a, ' ');
if(e) *e = 0;
return a;
}
/**
* Send data to user
* @param data - data to send
* @param dlen - data length
* @param sockfd - socket fd for sending data
* @return 0 if failed
*/
int send_data(uint8_t *data, size_t dlen, int sockfd){
size_t sent = write(sockfd, data, dlen);
if(sent != dlen){
WARN("write()");
return 0;
}
return 1;
}
//read: 0x14 0x0 0x0 0x0 0x5b 0x5a 0x2e 0xc6 0x8c 0x23 0x5 0x0 0x23 0x9 0xe5 0xaf 0x23 0x2e 0x34 0xed
// command: goto 16h29 24.45 -26d25 55.62
/*
LITTLE-ENDIAN!!!
from client:
LENGTH (2 bytes, integer): length of the message
TYPE (2 bytes, integer): 0
TIME (8 bytes, integer): current time on the server computer in microseconds
since 1970.01.01 UT. Currently unused.
RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
a value of 0x100000000 = 0x0 means 24h=0h,
a value of 0x80000000 means 12h
DEC (4 bytes, signed integer): declination of the telescope (J2000)
a value of -0x40000000 means -90degrees,
a value of 0x0 means 0degrees,
a value of 0x40000000 means 90degrees
to client:
LENGTH (2 bytes, integer): length of the message
TYPE (2 bytes, integer): 0
TIME (8 bytes, integer): current time on the server computer in microseconds
since 1970.01.01 UT. Currently unused.
RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
a value of 0x100000000 = 0x0 means 24h=0h,
a value of 0x80000000 means 12h
DEC (4 bytes, signed integer): declination of the telescope (J2000)
a value of -0x40000000 means -90degrees,
a value of 0x0 means 0degrees,
a value of 0x40000000 means 90degrees
STATUS (4 bytes, signed integer): status of the telescope, currently unused.
status=0 means ok, status<0 means some error
*/
#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;
} indata;
typedef struct __attribute__((__packed__)){
uint16_t len;
uint16_t type;
uint64_t time;
uint32_t ra;
int32_t dec;
int32_t status;
} outdata;
/**
* convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
*/
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, "%d:%d:%.2f %c%d:%d:%.1f", h,m,ra, sign,d,dm,dec);
return buf;
}
/**
* send input RA/Decl (j2000!) coordinates to tel
* ra in hours (0..24), decl in degrees (-90..90)
* @return 1 if all OK
*/
int setCoords(double ra, double dec){
char *radec = radec2str(ra, dec);
DBG("Set RA/Decl to %s", radec);
LOGDBG("Try to set RA/Decl to %s", radec);
int (*pointfunction)(double, double) = point_telescope;
if(GP->emulation) pointfunction = point_emulation;
return pointfunction(ra, dec);
}
/**
* @brief proc_data - process data received from Stellarium
* @param data - raw data
* @param len - its length
* @return 1 if all OK
*/
int proc_data(uint8_t *data, ssize_t len){
FNAME();
if(len != sizeof(indata)){
WARNX("Bad data size: got %zd instead of %zd!", len, sizeof(indata));
return 0;
}
indata *dat = (indata*)data;
uint16_t L, T;
//uint64_t tim;
uint32_t ra;
int32_t dec;
#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
L = le16toh(dat->len); T = le16toh(dat->type);
//tim = le64toh(dat->time);
ra = le32toh(dat->ra);
dec = (int32_t)le32toh((uint32_t)dat->dec);
#else
L = dat->len; T = dat->type;
//tim = dat->time;
ra = dat->ra; dec = dat->dec;
#endif
DBG("got message with len %u & type %u", L, T);
if(L != len){
WARNX("Length of message != msg->len");
return 0;
}
if(T){
WARNX("Wrong message type");
return 0;
}
// convert RA/DEC to hours/degrees
double tagRA = RA2HRS(ra), tagDec = DEC2DEG(dec);
DBG("RA: %u (%g), DEC: %d (%g)", ra, tagRA, dec, tagDec);
// check RA/DEC
horizCrds hnow; // without refraction
polarCrds p2000, pnow;
p2000.ra = tagRA/12. * M_PI;
p2000.dec = tagDec * ERFA_DD2R;
// now J2000 obs Jnow
if(get_ObsPlace(NULL, &p2000, NULL, &pnow, &hnow)){
WARNX("Can't convert coordinates to Jnow");
return 0;
}
#ifdef EBUG
int i[4], j[4]; char pm, pm1;
eraA2af(2, hnow.az, &pm, i);
eraA2af(2, hnow.zd, &pm1, j);
DBG("az: %c%02d %02d %02d.%2.d, zd: %c%02d %02d %02d.%2.d",
pm, i[0],i[1],i[2],i[3],
pm1,j[0],j[1],j[2],j[3]);
eraA2af(2, M_PI_2 - hnow.zd, &pm, i);
DBG("h: %c%02d %02d %02d.%2.d", pm, i[0],i[1],i[2],i[3]);
#endif
if(hnow.zd > 80.*ERFA_DD2R){
WARNX("Z > 80degr, stop telescope");
LOGWARN("Z>80 - stop!");
stop_telescope();
return 0;
}
tagRA = (pnow.ra - pnow.eo) / M_PI * 12.;
tagDec = pnow.dec / ERFA_DD2R;
if(!setCoords(tagRA, tagDec)) return 0;
return 1;
}
/**
* main socket service procedure
*/
void *handle_socket(void *sockd){
FNAME();
if(global_quit) return NULL;
outdata dout;
int sock = *(int*)sockd;
dout.len = htole16(sizeof(outdata));
dout.type = 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((dout.status = getcoords(&RA, &Decl)) < 0){
WARNX("Error: can't get coordinates");
sleep(1);
continue;
}
//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));
fd_set readfds;
struct timeval timeout;
FD_ZERO(&readfds);
FD_SET(sock, &readfds);
timeout.tv_sec = SOCK_TMOUT; // wait not more than SOCK_TMOUT second
timeout.tv_usec = 0;
int sel = select(sock + 1 , &readfds , NULL , NULL , &timeout);
if(sel < 0){
if(errno != EINTR)
WARN("select()");
continue;
}
if(!(FD_ISSET(sock, &readfds))) continue;
// fill incoming buffer
uint8_t buff[BUFLEN+1];
ssize_t rd = read(sock, buff, BUFLEN);
buff[rd] = 0;
DBG("read %zd (%s)", rd, buff);
if(rd <= 0){ // error or disconnect
DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
break;
}
/**************************************
* DO SOMETHING WITH DATA *
**************************************/
if(!proc_data(buff, rd)) dout.status = -1;
else dout.status = 0;
}
close(sock);
return NULL;
}
// thread writing FITS-header file
static void *hdrthread(_U_ void *buf){
// write FITS-header at most once per second
while(!global_quit){
wrhdr();
usleep(100000); // give a chance to write/read for others
}
return NULL;
}
/**
* @brief opensocket - open socket to port `port`
* @return socket fd or <0 if failed
*/
static int opensocket(char *port){
if(!port) return -1;
int reuseaddr = 1;
int sock;
struct addrinfo hints, *res, *p;
memset(&hints, 0, sizeof(hints));
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
hints.ai_flags = AI_PASSIVE;
DBG("try to open port %s", port);
if(getaddrinfo(NULL, port, &hints, &res) != 0){
WARN("getaddrinfo()");
return 0;
}
/*
struct sockaddr_in *ia = (struct sockaddr_in*)res->ai_addr;
char str[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(ia->sin_addr), str, INET_ADDRSTRLEN);
*/
// loop through all the results and bind to the first we can
for(p = res; p != NULL; p = p->ai_next){
if((sock = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) == -1){
WARN("socket()");
continue;
}
if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseaddr, sizeof(int)) == -1){
WARN("setsockopt()");
close(sock);
continue;
}
if(bind(sock, p->ai_addr, p->ai_addrlen) == -1){
WARN("bind()");
close(sock);
continue;
}
break; // if we get here, we must have connected successfully
}
freeaddrinfo(res);
// Listen
if(listen(sock, BACKLOG) == -1){
WARN("listen");
LOGWARN("listen() error");
}
DBG("listen at %s", port);
LOGDBG("listen at %s", port);
return sock;
}
/**
* @brief waitconn
* @param sock - socket fd to accept()
* @param connthread - thread which to run when connection accepted (it's parameter - socket fd)
*/
static void waitconn(int sock, void *(*connthread)(void*)){
// Main loop
while(!global_quit){
socklen_t size = sizeof(struct sockaddr_in);
struct sockaddr_in myaddr;
int newsock;
newsock = accept(sock, (struct sockaddr*)&myaddr, &size);
if(newsock <= 0){
WARN("accept()");
sleep(1);
continue;
}
struct sockaddr_in peer;
socklen_t peer_len = sizeof(peer);
if(getpeername(newsock, (struct sockaddr*)&peer, &peer_len) == -1){
WARN("getpeername()");
close(newsock);
continue;
}
int sockport = -1;
if(getsockname(newsock, (struct sockaddr*)&peer, &peer_len) == 0){
sockport = ntohs(peer.sin_port);
}
char *peerIP = inet_ntoa(peer.sin_addr);
LOGMSG("Got connection from %s @ %d", peerIP, sockport);
DBG("Peer's IP address is: %s (@port %d)\n", peerIP, sockport);
/*if(strcmp(peerIP, ACCEPT_IP) && strcmp(peerIP, "127.0.0.1")){
WARNX("Wrong IP");
close(newsock);
continue;
}*/
pthread_t rthrd;
if(pthread_create(&rthrd, NULL, connthread, (void*)&newsock)){
LOGERR("Error creating listen thread");
ERR(_("Can't create socket thread"));
}else{
DBG("Thread created, detouch");
pthread_detach(rthrd); // don't care about thread state
}
}
close(sock);
}
// thread working with terminal
static void *termthread(_U_ void *buf){
int sock = opensocket(GP->dbgport);
if(sock < 0){
LOGERR("Can't open debugging socket @ port %s", GP->dbgport);
ERRX("Can't open debug socket");
}
waitconn(sock, term_thread);
return NULL;
}
static inline void main_proc(){
pthread_t hthrd, termthrd;
// connect to telescope
if(!GP->emulation){
if(!connect_telescope(GP->device, GP->crdsfile)){
ERRX(_("Can't connect to telescope device"));
}
if(pthread_create(&hthrd, NULL, hdrthread, NULL))
ERR(_("Can't create writing thread"));
if(pthread_create(&termthrd, NULL, termthread, NULL))
ERR(_("Can't create terminal thread"));
}
// connect to weather daemon
if(!weatherserver_connect()){
DBG("Can't connect to weather server, will try later");
}
// open socket
int sock = opensocket(GP->port);
if(sock < 0){
LOGERR("Can't open socket @ port %s", GP->port);
ERRX("Can't open stellarium socket");
}
waitconn(sock, handle_socket);
usleep(10000);
pthread_cancel(hthrd); // cancel reading thread
pthread_cancel(termthrd);
pthread_join(hthrd, NULL);
pthread_join(termthrd, NULL);
}
int main(int argc, char **argv){
GP = parse_args(argc, argv);
sl_init();
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGKILL, signals); // kill (-9) - 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
int fd;
if((fd = open(GP->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
ERR(_("Can't open %s for writing"), GP->crdsfile);
close(fd);
printf("Daemonize\n");
#ifndef EBUG // daemonize only in release mode
if(daemon(1, 0)){
LOGERR("Err: daemon()");
ERR("daemon()");
}
#endif // EBUG
check4running((char*)__progname, GP->pidfile, NULL);
if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
LOGMSG("Starting, master PID=%d", getpid());
#ifndef EBUG
while(1){
childpid = fork();
if(childpid < 0){
LOGERR("fork() error");
ERR("ERROR on fork");
}
if(childpid){
LOGMSG("Created child with PID %d\n", childpid);
DBG("Created child with PID %d\n", childpid);
wait(NULL);
LOGWARN("Child %d died\n", childpid);
DBG("Child %d died\n", childpid);
}else{
prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
main_proc();
return 0;
}
}
#else
main_proc();
#endif
return 0;
}

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/*
* main.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#include <assert.h>
#include <err.h>
#include <errno.h>
#include <libintl.h>
#include <locale.h>
#include <pthread.h>
#include <stdarg.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <usefull_macros.h>
#include "cmdlnopts.h"
// global parameters
extern glob_pars *Global_parameters;
// global quit flag
extern volatile int global_quit;

208
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/*
* This file is part of the StelD project.
* Copyright 2021 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>
#include <netdb.h>
#include <pthread.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <usefull_macros.h>
#include "cmdlnopts.h"
#include "socket.h"
// max time to wait answer from server
#define WAITANSTIME (1.0)
static int sockfd = -1; // server file descriptor
static pthread_t sock_thread;
static char buf[BUFSIZ]; // buffer for messages
static int Nread; // amount of bytes in buf
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
static void *getmessages(_U_ void *par);
/**
* @brief weatherserver_connect - connect to a weather server
* @return FALSE if failed
*/
int weatherserver_connect(){
if(sockfd > 0) return TRUE;
DBG("connect to %s:%d", GP->weathserver, GP->weathport);
char port[10];
snprintf(port, 10, "%d", GP->weathport);
struct addrinfo hints = {0}, *res, *p;
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
hints.ai_flags = AI_PASSIVE;
if(getaddrinfo(GP->weathserver, port, &hints, &res) != 0){
WARN("getaddrinfo()");
return FALSE;
}
// loop through all the results and connect to the first we can
for(p = res; 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){
WARN("connect()");
close(sockfd);
continue;
}
break; // if we get here, we have a successfull connection
}
if(!p){
WARNX("Can't connect to socket");
sockfd = -1;
return FALSE;
}
freeaddrinfo(res);
if(pthread_create(&sock_thread, NULL, getmessages, NULL)){
WARN("pthread_create()");
weatherserver_disconnect();
return FALSE;
}
DBG("connected, fd=%d", sockfd);
return TRUE;
}
void weatherserver_disconnect(){
if(sockfd > -1){
pthread_kill(sock_thread, 9);
pthread_join(sock_thread, NULL);
close(sockfd);
}
sockfd = -1;
}
/**
* @brief getparval - return value of parameter
* @param par (i) - parameter value
* @param ansbuf (i) - buffer with server answer
* @param val (o) - value of parameter
* @return TRUE if parameter found and set `val` to its value
*/
int getparval(const char *par, const char *ansbuf, double *val){
if(!par || !ansbuf) return FALSE;
int ret = FALSE;
char *b = strdup(ansbuf);
char *parval = NULL, *token = strtok(b, "\n");
int l = strlen(par);
if(!token) goto rtn;
while(token){
if(strncmp(token, par, l) == 0){ // found
//DBG("token: '%s'", token);
parval = strchr(token, '=');
if(!parval) goto rtn;
++parval; while(*parval == ' ' || *parval == '\t') ++parval;
//DBG("parval: '%s'", parval);
ret = TRUE;
break;
}
token = strtok(NULL, "\n");
}
if(parval && val){
*val = atof(parval);
//DBG("Set %s to %g", par, *val);
}
rtn:
FREE(b);
return ret;
}
/**
* wait for answer from socket
* @return FALSE in case of error or timeout, TRUE if socket is ready
*/
static int canread(){
if(sockfd < 0) return FALSE;
fd_set fds;
struct timeval timeout;
int rc;
// wait not more than 10ms
timeout.tv_sec = 0;
timeout.tv_usec = 10000;
FD_ZERO(&fds);
FD_SET(sockfd, &fds);
do{
rc = select(sockfd+1, &fds, NULL, NULL, &timeout);
if(rc < 0){
if(errno != EINTR){
WARN("select()");
return FALSE;
}
continue;
}
break;
}while(1);
if(FD_ISSET(sockfd, &fds)) return TRUE;
return FALSE;
}
/**
* @brief getmessages - continuosly read data from server and fill buffer
*/
static void *getmessages(_U_ void *par){
write(sockfd, "get\n", 4);
while(sockfd > 0){
pthread_mutex_lock(&mutex);
if(Nread == 0){
double t0 = sl_dtime();
while(sl_dtime() - t0 < WAITANSTIME && Nread < BUFSIZ){
if(!canread()) continue;
int n = read(sockfd, buf+Nread, BUFSIZ-Nread);
if(n == 0) break;
if(n < 0){
close(sockfd);
sockfd = -1;
return NULL;
}
Nread += n;
}
if(Nread){
buf[Nread] = 0;
//DBG("got %d: %s", Nread, buf);
}
}
pthread_mutex_unlock(&mutex);
if(Nread == 0){
sleep(1);
}
}
return NULL;
}
/**
* @brief getweathbuffer - read whole buffer with data and set Nread to zero
* @return NULL if no data or buffer (allocated here)
*/
char *getweathbuffer(){
if(!weatherserver_connect()) return NULL; // not connected & can't connect
char *ret = NULL;
pthread_mutex_lock(&mutex);
if(Nread){
ret = strdup(buf);
Nread = 0;
}
pthread_mutex_unlock(&mutex);
return ret;
}

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/*
* This file is part of the StelD project.
* Copyright 2021 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
void weatherserver_disconnect();
int weatherserver_connect();
int getparval(const char *par, const char *ansbuf, double *val);
char *getweathbuffer();

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Daemons/deprecated/10micron_stellarium.deprecated/telescope.c Normal file
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/*
* geany_encoding=koi8-r
* telescope.c
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include <arpa/inet.h> // ntoa
#include <sys/stat.h>
#include <netinet/in.h> // ntoa
#include <pthread.h>
#include <stdlib.h>
#include <sys/socket.h> // getpeername
#include <usefull_macros.h>
#include "libsofa.h"
#include "main.h" // global_quit
#include "telescope.h"
// polling timeout for answer from mount
#ifndef T_POLLING_TMOUT
#define T_POLLING_TMOUT (0.5)
#endif
// wait for '\n' after last data read
#ifndef WAIT_TMOUT
#define WAIT_TMOUT (0.01)
#endif
#define BUFLEN 80
static char *hdname = NULL;
static double ptRAdeg, ptDECdeg; // target RA/DEC J2000
static int Target = 0; // target coordinates entered
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
static int pause_communication = 0; // ==1 to prevent writing to port outside of terminal thread
static sl_tty_t *TTY = NULL;
/**
* read strings from terminal (ending with '\n') with timeout
* @return NULL if nothing was read or pointer to static buffer
* THREAD UNSAFE!
*/
static char *read_string(){
static char buf[BUFLEN];
if(!TTY){
DBG("TTY not ready");
return NULL;
}
int r = 0, l;
int LL = BUFLEN - 1;
char *ptr = NULL;
static char *optr = NULL;
if(optr && *optr){
ptr = optr;
optr = strchr(optr, '\n');
if(optr) *(optr++) = 0;
return ptr;
}
ptr = buf;
double d0 = sl_dtime();
do{
if((l = sl_tty_read(TTY)) > 0){
DBG("Got %d bytes: '%s'", l, TTY->buf);
if(l > LL) l = LL;
memcpy(ptr, TTY->buf, l);
r += l; LL -= l; ptr += l;
*ptr = 0;
if(ptr[-1] == '\n'){
ptr[-1] = 0;
break;
}
d0 = sl_dtime();
}
}while(sl_dtime() - d0 < WAIT_TMOUT && LL);
if(r){
buf[r] = 0;
optr = strchr(buf, '\n');
if(optr) *(optr++) = 0;
return buf;
}
return NULL;
}
/**
* write command, thread-safe
* @param cmd (i) - command to write
* @param buff (o) - buffer (WHICH SIZE = BUFLEN!!!) to which write data (or NULL if don't need)
* @return answer or NULL if error occured (or no answer)
* WARNING!!! data returned is allocated by strdup! You MUST free it when don't need
*/
static char *write_cmd(const char *cmd, char *buff){
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_lock(&mutex);
DBG("Write %s", cmd);
if(sl_tty_write(TTY->comfd, cmd, strlen(cmd))) return NULL;
double t0 = sl_dtime();
char *ans;
while(sl_dtime() - t0 < T_POLLING_TMOUT){ // read answer
//DBG("%gs after start", sl_dtime() - t0);
if((ans = read_string())){ // parse new data
DBG("got answer: %s", ans);
pthread_mutex_unlock(&mutex);
if(!buff) return NULL;
strncpy(buff, ans, BUFLEN-1);
return buff;
}
}
pthread_mutex_unlock(&mutex);
return NULL;
}
// write to telescope mount corrections: datetime, pressure and temperature
// @return 1 if time and weather was corrected
static int makecorr(){
if(pause_communication) return 0;
int ret = 1;
// write current date&time
char buf[64], ibuff[BUFLEN], *ans;
DBG("curtime: %s", write_cmd(":GUDT#", ibuff));
ans = write_cmd(":Gstat#", ibuff);
if(ans){
mountstatus = atoi(ans);
// if system is in tracking or unknown state - don't update data!
if(mountstatus == TEL_SLEWING || mountstatus == TEL_TRACKING) return 0;
}
/*
* there's no GPS on this mount and there's no need for it!
write_cmd(":gT#", NULL); // correct time by GPS
ans = write_cmd(":gtg#", ibuff);
*/
WARNX("Refresh datetime");
time_t t = time(NULL);
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+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, ibuff);
if(!ans || *ans != '1'){
WARNX("Can't write current date/time");
LOGWARN("Can't set system time");
ret = 0;
}else{
LOGMSG("Set system time by command %s", buf);
}
DBG("curtime: %s", write_cmd(":GUDT#", ibuff));
localWeather *w = getWeath();
if(!w){
ret = 0;
LOGWARN("Can't determine weather data");
}else{ // set refraction model data
snprintf(buf, 64, ":SRPRS%.1f#", w->pres*1013./760.);
ans = write_cmd(buf, ibuff);
if(!ans || *ans != '1'){
ret = 0;
LOGWARN("Can't set pressure data of refraction model");
}else LOGMSG("Correct pressure to %gmmHg", w->pres);
snprintf(buf, 64, ":SRTMP%.1f#", w->tc);
ans = write_cmd(buf, ibuff);
if(!ans || *ans != '1'){
ret = 0;
LOGWARN("Can't set temperature data of refraction model");
}else LOGMSG("Correct temperature to %g", w->tc);
}
sprintf(buf, ":SREF1#"); // turn on refraction correction
write_cmd(buf, ibuff);
sprintf(buf, ":Sdat1#"); // turn on dual-axis tracking
write_cmd(buf, ibuff);
return ret;
}
int chkconn(){
char tmpbuf[4096];
if(!TTY){
DBG("TTY not opened");
return 0;
}
sl_tty_read(TTY); // clear rbuf
DBG("Clear, try to ask 115200");
//write_cmd("#", NULL); // clear cmd buffer
write_cmd(":GA#", tmpbuf);
write_cmd(":GR#", tmpbuf);
if(!write_cmd(":SB0#", tmpbuf)) return 0; // 115200
if(*tmpbuf == '1'){
DBG("OK, found!");
//if(!write_cmd(":GR#")) return 0;
return 1;
}
return 0;
}
/**
* connect telescope device
* @param dev (i) - device name to connect
* @param hdrname (i) - output file with FITS-headers
* @return 1 if all OK
*/
int connect_telescope(char *dev, char *hdrname){
if(!dev) return 0;
tcflag_t spds[] = {9600, 19200, 38400, 57600, 115200, 4800, 2400, 1200, 0}, *speeds = spds;
DBG("Connection to device %s...", dev);
sl_tty_tmout(10000.);
while(*speeds){
DBG("Try %d", *speeds);
TTY = sl_tty_new(dev, *speeds, BUFSIZ);
if(TTY){
DBG("try to open %s", dev);
TTY = sl_tty_open(TTY, 1);
}
if(TTY && chkconn()) break;
sl_tty_close(&TTY);
++speeds;
}
if(!*speeds){
DBG("Not found");
return 0;
}
if(*speeds != B115200){
DBG("change to 115200");
sl_tty_close(&TTY);
TTY = sl_tty_new(dev, *speeds, BUFSIZ);
if(TTY) TTY = sl_tty_open(TTY, 1);
if(!TTY || !chkconn()){
DBG("not found");
return 0;
}
}
write_cmd("#", NULL); // clear previous buffer
write_cmd(":STOP#", NULL); // stop tracking after poweron
write_cmd(":U2#", NULL); // set high precision
write_cmd(":So10#", NULL); // set minimum altitude to 10 degrees
LOGMSG("Connected to %s@115200, will write FITS-header into %s", dev, hdrname);
FREE(hdname);
hdname = strdup(hdrname);
DBG("connected");
Target = 0;
getWeath(); getPlace(); getDUT(); // determine starting values
//write_cmd(":gT#", NULL); // correct time by GPS
return 1;
}
/*
:MS# - move to target, return: 0 if all OK or text with error
:SrHH:MM:SS.SS# - set target RA (return 1 if all OK)
:SdsDD*MM:SS.S# - set target DECL (return 1 if all OK)
*/
/**
* send coordinates to telescope
* @param ra - right ascention (hours), Jnow without refraction
* @param dec - declination (degrees), Jnow without refraction
* @return 1 if all OK
*/
int point_telescope(double ra, double dec){
if(pause_communication){
LOGWARN("Can't point telescope in paused mode");
return 0;
}
DBG("try to send ra=%g, decl=%g", ra, dec);
ptRAdeg = ra * 15.;
ptDECdeg = dec;
Target = 0;
int err = 0;
char buf[80], ibuff[BUFLEN];
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, 80, ":Sr%d:%d:%.2f#", h,m,ra);
char *ans = write_cmd(buf, ibuff);
if(!ans || *ans != '1'){
err = 1;
goto ret;
}
snprintf(buf, 80, ":Sd%c%d:%d:%.1f#", sign,d,dm,dec);
ans = write_cmd(buf, ibuff);
if(!ans || *ans != '1'){
err = 2;
goto ret;
}
DBG("Move");
ans = write_cmd(":MS#", ibuff);
if(!ans || *ans != '0'){
LOGWARN("move error, answer: %s", ans);
err = 3;
goto ret;
}
ret:
if(err){
LOGWARN("error sending coordinates (err = %d: RA/DEC/MOVE)!", err);
return 0;
}else{
Target = 1;
LOGMSG("Send ra=%g degr, dec=%g degr", ptRAdeg, ptDECdeg);
}
return 1;
}
/**
* convert str into RA/DEC coordinate
* @param str (i) - string with angle
* @param val (o) - output angle value
* @return 1 if all OK
*/
static int str2coord(char *str, double *val){
if(!str || !val) return 0;
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) return 0;
double ang = d + ((double)m)/60. + s/3600.;
if(sign == -1) *val = -ang;
else *val = ang;
return 1;
}
/**
* @brief printhdr - write FITS record into output file
* @param fd - fd to write
* @param key - key
* @param val - value
* @param cmnt - comment
* @return 0 if all OK
*/
static int printhdr(int fd, const char *key, const char *val, const char *cmnt){
char tmp[81];
char tk[9];
if(strlen(key) > 8){
snprintf(tk, 9, "%s", key);
key = tk;
}
if(cmnt){
snprintf(tmp, 81, "%-8s= %-21s / %s", key, val, cmnt);
}else{
snprintf(tmp, 81, "%-8s= %s", key, val);
}
size_t l = strlen(tmp);
tmp[l] = '\n';
++l;
if(write(fd, tmp, l) != (ssize_t)l){
WARN("write()");
return 1;
}
return 0;
}
/**
* get coordinates
* @param ra (o) - right ascension (hours)
* @param decl (o) - declination (degrees)
* @return telescope status or -1 if coordinates are too old
*/
int get_telescope_coords(double *ra, double *decl){
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 mountstatus;
}
void disconnect_telescope(){
if(TTY) sl_tty_close(&TTY);
}
void stop_telescope(){ // work even in paused mode if moving!
Target = 0;
if(pause_communication){
if(mountstatus == TEL_PARKED || mountstatus == TEL_STOPPED || mountstatus == TEL_INHIBITED
|| mountstatus == TEL_OUTLIMIT) return;
}
write_cmd(":RT9#", NULL); // stop tracking
write_cmd(":AL#", NULL); // stop tracking
write_cmd(":STOP#", NULL); // halt moving
}
// site characteristics
static char
*elevation = NULL,
*longitude = NULL,
*latitude = NULL;
// make duplicate of buf without trailing `#`
// if astr == 1, surround content with ''
static char *dups(const char *buf, int astr){
if(!buf) return NULL;
char *newbuf = malloc(strlen(buf)+5), *bptr = newbuf+1;
if(!newbuf) return NULL;
strcpy(bptr, buf);
char *sharp = strrchr(bptr, '#');
if(sharp) *sharp = 0;
if(astr){
bptr = newbuf;
*bptr = '\'';
int l = strlen(newbuf);
newbuf[l] = '\'';
newbuf[l+1] = 0;
}
char *d = strdup(bptr);
free(newbuf);
return d;
}
static void getplace(){
char *ans, ibuff[BUFLEN];
if(!elevation){
ans = write_cmd(":Gev#", ibuff);
elevation = dups(ans, 0);
}
if(!longitude){
ans = write_cmd(":Gg#", ibuff);
longitude = dups(ans, 1);
}
if(!latitude){
ans = write_cmd(":Gt#", ibuff);
latitude = dups(ans, 1);
}
}
static const char *statuses[12] = {
[TEL_TRACKING] = "'Tracking'",
[TEL_STOPHOM] = "'Stopped or homing'",
[TEL_PARKING] = "'Slewing to park'",
[TEL_UNPARKING] = "'Unparking'",
[TEL_HOMING] = "'Slewing to home'",
[TEL_PARKED] = "'Parked'",
[TEL_SLEWING] = "'Slewing or going to stop'",
[TEL_STOPPED] = "'Stopped'",
[TEL_INHIBITED] = "'Motors inhibited, T too low'",
[TEL_OUTLIMIT] = "'Outside tracking limit'",
[TEL_FOLSAT]= "'Following satellite'",
[TEL_DATINCOSIST]= "'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 < TEL_MAXSTATUS) return statuses[status];
if(status == 99) return "'Error'";
return "'Unknown status'";
}
/**
* @brief wrhdr - try to write into header file
*/
void wrhdr(){
static time_t commWasPaused = 0;
if(pause_communication){ // don't allow pauses more for 15 minutes!
if(commWasPaused == 0){
commWasPaused = time(NULL);
return;
}else{
if(time(NULL) - commWasPaused > 15*60){
LOGMSG("Clear communication pause after 15 minutes");
pause_communication = 0;
}else return;
}
}
static int failcounter = 0;
static time_t lastcorr = 0; // last time of corrections made
if(time(NULL) - lastcorr > CORRECTIONS_TIMEDIFF){ // make correction once per hour
if(makecorr()) lastcorr = time(NULL);
else lastcorr += 30; // failed -> check 30s later
}
char *ans = NULL, *jd = NULL, *lst = NULL, *date = NULL, *pS = NULL;
char ibuff[BUFLEN];
// get coordinates for writing to file & sending to stellarium client
ans = write_cmd(":GR#", ibuff);
if(!str2coord(ans, &r)){
if(++failcounter == 10){
LOGERR("Lost connection with mount: can't get RA!");
DBG("Can't get RA!");
signals(9);
}
DBG("Failed");
return;
}
ans = write_cmd(":GD#", ibuff);
if(!str2coord(ans, &d)){
if(++failcounter == 10){
LOGERR("Lost connection with mount: can't get DEC!");
DBG("Can't get DEC!");
signals(9);
}
DBG("Failed");
return;
}
almDut *dut = getDUT();
localWeather *weather = getWeath();
double LST = 0; // local sidereal time IN RADIANS!
placeData *place = getPlace();
if(get_LST(NULL, dut->DUT1, place->slong, &LST)){
DBG("Can't calculate coordinates, get from mount");
ans = write_cmd(":GS#", ibuff);
lst = dups(ans, 1);
if(!str2coord(ans, &LST)){
if(++failcounter == 10){
LOGERR("Lost connection with mount: can't get LST!");
DBG("Can't get LST!");
signals(9);
}
DBG("Failed");
return;
}
LST *= 15.*ERFA_DD2R; // convert hours to radians
}else{
lst = MALLOC(char, 32);
r2sHMS(LST, lst, 32);
}
sMJD mjd;
if(get_MJDt(NULL, &mjd)){
ans = write_cmd(":GJD1#", ibuff);
jd = dups(ans, 0);
}else{
jd = MALLOC(char, 32);
snprintf(jd, 32, "%.10f", mjd.MJD);
}
polarCrds pNow = {.ra = r*15.*ERFA_DD2R, .dec = d*ERFA_DD2R}; // coordinates now
horizCrds hNow;
eq2hor(&pNow, &hNow, LST);
failcounter = 0;
tlast = time(NULL);
// check it here, not in the beginning of function - to check connection with mount first
if(!hdname){
DBG("hdname not given!");
return;
}
if(!elevation || !longitude || !latitude) getplace();
ans = write_cmd(":GUDT#", ibuff);
if(ans){
char *comma = strchr(ans, ',');
if(comma){
*comma = 'T';
date = dups(ans, 1);
}
}
ans = write_cmd(":pS#", ibuff); pS = dups(ans, 1);
ans = write_cmd(":Gstat#", ibuff);
if(ans){
mountstatus = atoi(ans);
//DBG("Status: %d", mountstatus);
}
int l = strlen(hdname) + 7;
char *aname = MALLOC(char, l);
snprintf(aname, l, "%sXXXXXX", hdname);
int fd = mkstemp(aname);
if(fd < 0){
WARN("Can't write header file: mkstemp()");
FREE(aname);
FREE(jd); FREE(lst); FREE(date); FREE(pS);
return;
}
fchmod(fd, 0644);
char val[22];
#define WRHDR(k, v, c) do{if(printhdr(fd, k, v, c)){goto returning;}}while(0)
WRHDR("TIMESYS", "'UTC'", "Time system");
WRHDR("ORIGIN", "'SAO RAS'", "Organization responsible for the data");
WRHDR("TELESCOP", TELESCOPE_NAME, "Telescope name");
snprintf(val, 22, "%.10f", dut->px);
WRHDR("POLARX", val, "IERS pole X coordinate, arcsec");
snprintf(val, 22, "%.10f", dut->py);
WRHDR("POLARY", val, "IERS pole Y coordinate, arcsec");
snprintf(val, 22, "%.10f", dut->py);
WRHDR("DUT1", val, "IERS `UT1-UTC`, sec");
if(Target){ // target coordinates entered - store them @header
snprintf(val, 22, "%.10f", ptRAdeg);
WRHDR("TAGRA", val, "Target RA (J2000), degrees");
snprintf(val, 22, "%.10f", ptDECdeg);
WRHDR("TAGDEC", val, "Target DEC (J2000), degrees");
}
snprintf(val, 22, "%.10f", r*15.); // convert RA to degrees
WRHDR("RA", val, "Telescope right ascension, current epoch, deg");
snprintf(val, 22, "%.10f", d);
WRHDR("DEC", val, "Telescope declination, current epoch, deg");
snprintf(val, 22, "%.10f", hNow.az * ERFA_DR2D);
WRHDR("AZ", val, "Telescope azimuth, current epoch, deg");
snprintf(val, 22, "%.10f", hNow.zd * ERFA_DR2D);
WRHDR("ZD", val, "Telescope zenith distance, current epoch, deg");
WRHDR("TELSTAT", strstatus(mountstatus), "Telescope mount status");
if(!get_MJDt(NULL, &mjd)){
snprintf(val, 22, "%.10f", 2000.+(mjd.MJD-MJD2000)/365.25); // calculate EPOCH/EQUINOX
WRHDR("EQUINOX", val, "Equinox of celestial coordinate system");
if(!jd){
snprintf(val, 22, "%.10f", mjd.MJD);
WRHDR("MJD-END", val, "Modified julian date of observations end");
}
}
if(jd){
WRHDR("MJD-END", jd, "Modified julian date of observations end");
}
if(pS) WRHDR("PIERSIDE", pS, "Pier side of telescope mount");
if(elevation) WRHDR("ELEVAT", elevation, "Elevation of site over the sea level");
if(longitude) WRHDR("LONGITUD", longitude, "Geo longitude of site (east negative)");
if(latitude) WRHDR("LATITUDE", latitude, "Geo latitude of site (south negative)");
if(lst) WRHDR("LSTEND", lst, "Local sidereal time of observations end");
if(date) WRHDR("DATE-END", date, "Date (UTC) of observations end");
if(weather){
snprintf(val, 22, "%.1f", weather->relhum);
WRHDR("HUMIDITY", val, "Relative humidity, %%");
snprintf(val, 22, "%.1f", weather->pres);
WRHDR("PRESSURE", val, "Atmospheric pressure, mmHg");
snprintf(val, 22, "%.1f", weather->tc);
WRHDR("EXTTEMP", val, "External temperature, degrC");
snprintf(val, 22, "%.0f", weather->rain);
WRHDR("RAIN", val, "Rain conditions");
snprintf(val, 22, "%.1f", weather->clouds);
WRHDR("SKYQUAL", val, "Sky quality (0 - wery bad, >2500 - good)");
snprintf(val, 22, "%.1f", weather->wind);
WRHDR("WINDSPD", val, "Wind speed (m/s)");
snprintf(val, 22, "%.0f", weather->time);
WRHDR("WEATTIME", val, "Unix time of weather measurements");
}
// WRHDR("", , "");
#undef WRHDR
returning:
FREE(jd); FREE(lst); FREE(date); FREE(pS);
close(fd);
rename(aname, hdname);
FREE(aname);
}
// terminal thread: allows to work with terminal through socket
void *term_thread(void *sockd){
int sock = *(int*)sockd;
char buff[BUFLEN+1], ibuff[BUFLEN+2];
// get client IP from socket fd - for logging
struct sockaddr_in peer;
socklen_t peer_len = sizeof(peer);
char *peerIP = NULL;
if(getpeername(sock, (struct sockaddr*)&peer, &peer_len) == 0){
peerIP = inet_ntoa(peer.sin_addr);
}
while(!global_quit){ // blocking read
ssize_t rd = read(sock, buff, BUFLEN);
if(rd <= 0){ // error or disconnect
DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
break;
}
buff[rd] = 0;
char *ch = strchr(buff, '\n');
if(ch) *ch = 0;
if(!buff[0]) continue; // empty string
DBG("%s COMMAND: %s", peerIP, buff);
if(strcasecmp(buff, "pause") == 0){
DBG("PAUSED");
LOGMSG("Port writing outside terminal thread is paused");
pause_communication = 1;
continue;
}
if(strcasecmp(buff, "continue") == 0){
DBG("CONTINUED");
LOGMSG("Port writing outside terminal thread is restored by user");
pause_communication = 0;
continue;
}
char *ans = write_cmd(buff, ibuff);
LOGMSG("%s COMMAND %s ANSWER %s", peerIP, buff, ibuff);
DBG("ANSWER: %s", ibuff);
if(ans){
ssize_t l = (ssize_t)strlen(ans);
if(l++){
ans[l-1] = '\n';
ans[l] = 0;
if(l != write(sock, ans, l)){
WARN("term_thread, write()");
break;
}
}
}
}
close(sock);
return NULL;
}

56
Daemons/deprecated/10micron_stellarium.deprecated/telescope.h Normal file
View File

@@ -0,0 +1,56 @@
/*
* geany_encoding=koi8-r
* telescope.h
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
// max time after last coordinates reading
#define COORDS_TOO_OLD_TIME (5)
// make datetime/pressure/temperature corrections each CORRECTIONS_TIMEDIFF seconds
#define CORRECTIONS_TIMEDIFF (3600)
#define TELESCOPE_NAME "'Astrosib-500 (1)'"
// telescope statuses
typedef enum{
TEL_TRACKING = 0,
TEL_STOPHOM = 1,
TEL_PARKING = 2,
TEL_UNPARKING = 3,
TEL_HOMING = 4,
TEL_PARKED = 5,
TEL_SLEWING = 6,
TEL_STOPPED = 7,
TEL_INHIBITED = 8,
TEL_OUTLIMIT = 9,
TEL_FOLSAT = 10,
TEL_DATINCOSIST = 11,
TEL_MAXSTATUS = 12 // number of statuses
} tel_status;
int connect_telescope(char *dev, char *hdrname);
int point_telescope(double ra, double decl);
int get_telescope_coords(double *ra, double *decl);
void stop_telescope();
void disconnect_telescope();
void wrhdr();
void *term_thread(void *sockd);