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SSII

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This commit is contained in:
Edward Emelianov
2022-07-31 21:22:11 +03:00
parent 2cfdda730b
commit d3dd334aa7
12 changed files with 946 additions and 92 deletions
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87
Auxiliary_utils/SiderealServoII/main.c
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@@ -21,50 +21,32 @@
#include <stdlib.h> // exit, free
#include <string.h> // strdup
#include <unistd.h> // sleep
#include <usefull_macros.h>
#include "cmdlnopts.h"
#include "emulator.h"
#include "motlog.h"
#include "sidservo.h"
/*
#include <termios.h> // tcsetattr
#include <unistd.h> // tcsetattr, close, read, write
#include <sys/ioctl.h> // ioctl
#include <stdio.h> // printf, getchar, fopen, perror
#include <stdlib.h> // exit
#include <sys/stat.h> // read
#include <fcntl.h> // read
#include <signal.h> // signal
#include <time.h> // time
#include <string.h> // memcpy
#include <stdint.h> // int types
#include <sys/time.h> // gettimeofday
*/
/**
* This is an example of usage:
* - command line arguments,
* - log file,
* - check of another file version running,
* - signals management,
* - serial port reading/writing.
* The `cmdlnopts.[hc]` are intrinsic files of this demo.
*/
static glob_pars *GP = NULL; // for GP->pidfile need in `signals`
/**
* We REDEFINE the default WEAK function of signal processing
*/
void signals(int sig){
DBG("Quit");
if(sig > 0){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
LOGERR("Exit with status %d", sig);
DBG("unlink");
if(GP && GP->pidfile) // remove unnesessary PID file
unlink(GP->pidfile);
SSwritecmd(CMD_STOPHA);
SSwritecmd(CMD_STOPDEC);
DBG("close");
SSclose();
DBG("exit");
exit(sig);
}
@@ -76,22 +58,61 @@ 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]);
}*/
check4running(self, GP->pidfile);
red("%s started, snippets library version is %s\n", self, sl_libversion());
green("%s started, snippets library version is %s\n", self, sl_libversion());
free(self);
if(GP->logfile){
if(!OPENLOG(GP->logfile, LOGLEVEL_ANY, 1)) ERRX("Can't open logfile %s", GP->logfile);
}
if(GP->motorslog){
if(!open_mot_log(GP->motorslog)) ERRX("Can't open motors' log file %s", GP->motorslog);
mot_log(0, "# Motor's data\n#time\tX\tXenc\tVx\tY\tYenc\tVy");
}
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
if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
LOGMSG("Start application...");
if(!SSinit(GP->device, GP->speed)) signals(-2);
mot_log(0, "Starting of emulation");
SSstart_emulation(0., 0.);
mot_log(0, "Return to zero");
SSgoto(0., 0.);
SSwaitmoving();
signals(0);
// try to move for 45 degrees by both axes
if(!SSgoto(45., 45.)) signals(-3);
SSwaitmoving();
signals(0);
DBG("Try to send short command");
SSscmd sc = {
.DECmot = 500000,
.DECspeed = 1000000,
.HAmot = 600000,
.HAspeed = 2000000
};
mot_log(0, "Send short command");
while(SScmds(&sc) != sizeof(SSstat)) WARNX("SSCMDshort bad answer!");
SSmotor_monitoring((SSstat*)SSread(NULL)); // monitor
SSlcmd lc = {
.DECmot = 0,
.DECspeed = 2000000, // steps per sec * 65536 / 1953
.HAmot = 0, //-427643
.HAspeed = 2000000,
.DECadder = 100,
.HAadder = 40,
.DECatime = 1953*3,
.HAatime = 1953*4
};
DBG("Try to send long command");
mot_log(0, "Send long command");
while(SScmdl(&lc) != sizeof(SSstat)) WARNX("SSCMDlong bad answer!");
SSmotor_monitoring((SSstat*)SSread(NULL)); // monitor
mot_log(0, "Stop motors");
SSwritecmd(CMD_STOPHA);
SSwritecmd(CMD_STOPDEC);
SSmotor_monitoring(NULL); // monitor stopping
/*
double t0 = dtime();
while(1){ // read data from port and print in into terminal