fix encoders

.gitignore

@@ -23,3 +23,6 @@
 *.so
 *.so.*
 
+# build dirs
+mk/
+build/

Auxiliary_utils/Hydreon/cmdlnopts.c

@@ -49,7 +49,7 @@ static glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name        has_arg     flag    val     type        argptr              help
 */
-static myoption cmdlnopts[] = {
+static 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_DEV ")")},
@@ -75,10 +75,10 @@ glob_pars *parse_args(int argc, char **argv){
     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);
+    sl_helpstring(helpstring);
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         WARNX("Ignore %d unknown parameters: ");
         for (i = 0; i < argc; i++)

Auxiliary_utils/Hydreon/dumpregs.c

@@ -57,7 +57,7 @@ static void dumpRchanges(rg11 *new, rg11 *old){
     int start = 1;
     for(int i = 0; i < RREGNUM; ++i){
         if(o[i] != n[i]){
-            sl_putlogt(start, globlog, LOGLEVEL_MSG, "%s=%d", regname(i), n[i]);
+            sl_putlogt(start, sl_globlog, LOGLEVEL_MSG, "%s=%d", regname(i), n[i]);
             DBG("%s=%d", regname(i), n[i]);
             if(start) start = 0;
         }
@@ -68,7 +68,7 @@ static void dumpRchanges(rg11 *new, rg11 *old){
         uint8_t f = 1;
         for(int i = 0; i < RGBITNUM; ++i, f <<= 1){
             if(xOr & f){
-                sl_putlogt(start, globlog, LOGLEVEL_MSG, "%s=%d", rgbitname(i), (new->RGBits & f) ? 1 : 0);
+                sl_putlogt(start, sl_globlog, LOGLEVEL_MSG, "%s=%d", rgbitname(i), (new->RGBits & f) ? 1 : 0);
                 DBG("%s=%d", rgbitname(i), (new->RGBits & f) ? 1 : 0);
                 if(start) start = 0;
             }
@@ -82,7 +82,7 @@ static void dumpSchanges(slowregs *new, slowregs *old){
     int start = 1;
     for(int i = 0; i < SREGNUM; ++i){
         if(o[i] != n[i]){
-            sl_putlogt(start, globlog, LOGLEVEL_MSG, "%s=%d", slowname(i), n[i]);
+            sl_putlogt(start, sl_globlog, LOGLEVEL_MSG, "%s=%d", slowname(i), n[i]);
             DBG("%s=%d", slowname(i), n[i]);
             if(start) start = 0;
         }
@@ -147,12 +147,12 @@ static void puttotable(rg11 *R, slowregs *S){
 }
 
 int main(int argc, char **argv){
-    initial_setup();
+    sl_init();
     char *self = strdup(argv[0]);
     G = parse_args(argc, argv);
     if(G->timeout < 5) ERRX("Timeout should be not less than 5 seconds");
     if(!G->logfile && !G->outfile) ERRX("Point at least log or output file name");
-    check4running(self, G->pidfile);
+    sl_check4running(self, G->pidfile);
     if(!hydreon_open(G->device)) return 1;
     if(G->logfile) OPENLOG(G->logfile, LOGLEVEL_ANY, 0);
     if(G->outfile){
@@ -166,9 +166,9 @@ int main(int argc, char **argv){
     signal(SIGINT, signals);  // ctrl+C - quit
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-    double t0 = dtime();
+    double t0 = sl_dtime();
     puttotable(NULL, NULL);
-    while(dtime() - t0 < (double)G->timeout){ // dump only changes
+    while(sl_dtime() - t0 < (double)G->timeout){ // dump only changes
         if(!hydreon_getpacket(&Rregs, &Sregs)) continue;
         int changes = FALSE;
         if(memcmp(&Rregs, &oRregs, RREGNUM + 1)){ // Rregs changed -> log changes
@@ -182,7 +182,7 @@ int main(int argc, char **argv){
             changes = TRUE;
         }
         if(changes) puttotable(&Rregs, &Sregs);
-        t0 = dtime();
+        t0 = sl_dtime();
     }
     signals(-1); // never reached
     return 0;

Auxiliary_utils/Hydreon/hydreon.c

@@ -20,7 +20,7 @@
 
 #include "hydreon.h"
 
-static TTY_descr *dev = NULL;
+static sl_tty_t *dev = NULL;
 
 // regular registers names
 static const char* rregnames[RREGNUM] = {
@@ -121,7 +121,7 @@ int hydreon_getpacket(rg11 *Rregs, slowregs *Sregs){
     if(!dev) return 0;
     static int buflen = 0;
     static char strbuf[BUFLEN];
-    int l = read_tty(dev);
+    int l = sl_tty_read(dev);
     if(l < 1) return FALSE;
     char s = dev->buf[0];
     if(s == 's'){ // start of new packet -> encode old
@@ -146,13 +146,13 @@ int hydreon_getpacket(rg11 *Rregs, slowregs *Sregs){
  * @return TRUE or FALSE if failed
  */
 int hydreon_open(const char *devname){
-    dev = new_tty((char*)devname, 1200, 1);
+    dev = sl_tty_new((char*)devname, 1200, 1);
     if(!dev) return FALSE;
-    dev = tty_open(dev, 1);
+    dev = sl_tty_open(dev, 1);
     if(!dev) return FALSE;
     return TRUE;
 }
 
 void hydreon_close(){
-    if(dev) close_tty(&dev);
+    if(dev) sl_tty_close(&dev);
 }

Auxiliary_utils/LibSidServo/PID.c

@@ -29,6 +29,7 @@ PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
     if(!gain || Iarrsz < 3) return NULL;
     PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
     pid->gain = *gain;
+    DBG("Created PID with P=%g, I=%g, D=%g\n", gain->P, gain->I, gain->D);
     pid->pidIarrSize = Iarrsz;
     pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
     return pid;
@@ -83,49 +84,51 @@ typedef struct{
  * @return calculated new speed or -1 for max speed
  */
 static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
-    if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > MCC_PID_MAX_DT){
-        DBG("target time: %g, axis time: %g - too big! (%g)", tagpos->t, axis->position.t, MCC_PID_MAX_DT);
+    double dt = timediff(&tagpos->t, &axis->position.t);
+    if(dt < 0 || dt > Conf.PIDMaxDt){
+        DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
         return axis->speed.val; // data is too old or wrong
     }
     double error = tagpos->val - axis->position.val, fe = fabs(error);
+    DBG("error: %g", error);
     PIDController_t *pid = NULL;
     switch(axis->state){
         case AXIS_SLEWING:
-            if(fe < MCC_MAX_POINTING_ERR){
+            if(fe < Conf.MaxPointingErr){
                 axis->state = AXIS_POINTING;
                 DBG("--> Pointing");
                 pid = pidpair->PIDC;
             }else{
                 DBG("Slewing...");
-                return -1.; // max speed for given axis
+                return NAN; // max speed for given axis
             }
             break;
         case AXIS_POINTING:
-            if(fe < MCC_MAX_GUIDING_ERR){
+            if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_GUIDING;
                 DBG("--> Guiding");
                 pid = pidpair->PIDV;
-            }else if(fe > MCC_MAX_POINTING_ERR){
+            }else if(fe > Conf.MaxPointingErr){
                 DBG("--> Slewing");
                 axis->state = AXIS_SLEWING;
-                return -1.;
+                return NAN;
             } else pid = pidpair->PIDC;
             break;
         case AXIS_GUIDING:
             pid = pidpair->PIDV;
-            if(fe > MCC_MAX_GUIDING_ERR){
+            if(fe > Conf.MaxFinePointingErr){
                 DBG("--> Pointing");
                 axis->state = AXIS_POINTING;
                 pid = pidpair->PIDC;
-            }else if(fe < MCC_MAX_ATTARGET_ERR){
+            }else if(fe < Conf.MaxGuidingErr){
                 DBG("At target");
                 // TODO: we can point somehow that we are at target or introduce new axis state
             }else DBG("Current error: %g", fe);
             break;
         case AXIS_STOPPED: // start pointing to target; will change speed next time
-            DBG("AXIS STOPPED!!!!");
+            DBG("AXIS STOPPED!!!! --> Slewing");
             axis->state = AXIS_SLEWING;
-            return -1.;
+            return getspeed(tagpos, pidpair, axis);
         case AXIS_ERROR:
             DBG("Can't move from erroneous state");
             return 0.;
@@ -134,16 +137,16 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
         DBG("WTF? Where is a PID?");
         return axis->speed.val;
     }
-    if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > MCC_PID_MAX_DT){
+    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
         DBG("time diff too big: clear PID");
         pid_clear(pid);
     }
-    double dt = tagpos->t - pid->prevT;
-    if(dt > MCC_PID_MAX_DT) dt = MCC_PID_CYCLE_TIME;
+    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
     pid->prevT = tagpos->t;
-    //DBG("CALC PID (er=%g, dt=%g)", error, dt);
-    double tagspeed = pid_calculate(pid, error, dt);
-    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed; // velocity-based
+    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
+    double tagspeed = pid_calculate(pid, error, dtpid);
+    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
     return tagspeed; // coordinate-based
 }
 
@@ -153,22 +156,23 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
  * @param endpoint - stop point (some far enough point to stop in case of hang)
  * @return error code
  */
-mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint){
+mcc_errcodes_t correct2(const coordval_pair_t *target){
     static PIDpair_t pidX = {0}, pidY = {0};
     if(!pidX.PIDC){
-        pidX.PIDC = pid_create(&Conf.XPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidX.PIDC) return MCC_E_FATAL;
-        pidX.PIDV = pid_create(&Conf.XPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidX.PIDV) return MCC_E_FATAL;
     }
     if(!pidY.PIDC){
-        pidY.PIDC = pid_create(&Conf.YPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidY.PIDC) return MCC_E_FATAL;
-        pidY.PIDV = pid_create(&Conf.YPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidY.PIDV) return MCC_E_FATAL;
     }
     mountdata_t m;
-    coordpair_t tagspeed;
+    coordpair_t tagspeed; // absolute value of speed
+    double Xsign = 1., Ysign = 1.; // signs of speed (for target calculation)
     if(MCC_E_OK != Mount.getMountData(&m)) return MCC_E_FAILED;
     axisdata_t axis;
     DBG("state: %d/%d", m.Xstate, m.Ystate);
@@ -176,18 +180,42 @@ mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoi
     axis.position = m.encXposition;
     axis.speed = m.encXspeed;
     tagspeed.X = getspeed(&target->X, &pidX, &axis);
-    if(tagspeed.X < 0. || tagspeed.X > MCC_MAX_X_SPEED) tagspeed.X = MCC_MAX_X_SPEED;
+    if(isnan(tagspeed.X)){ // max speed
+        if(target->X.val < axis.position.val) Xsign = -1.;
+        tagspeed.X = Xlimits.max.speed;
+    }else{
+        if(tagspeed.X < 0.){ tagspeed.X = -tagspeed.X; Xsign = -1.; }
+        if(tagspeed.X > Xlimits.max.speed) tagspeed.X = Xlimits.max.speed;
+    }
     axis_status_t xstate = axis.state;
     axis.state = m.Ystate;
     axis.position = m.encYposition;
     axis.speed = m.encYspeed;
     tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
-    if(tagspeed.Y < 0. || tagspeed.Y > MCC_MAX_Y_SPEED) tagspeed.Y = MCC_MAX_Y_SPEED;
+    if(isnan(tagspeed.Y)){ // max speed
+        if(target->Y.val < axis.position.val) Ysign = -1.;
+        tagspeed.Y = Ylimits.max.speed;
+    }else{
+        if(tagspeed.Y < 0.){ tagspeed.Y = -tagspeed.Y; Ysign = -1.; }
+        if(tagspeed.Y > Ylimits.max.speed) tagspeed.Y = Ylimits.max.speed;
+    }
     axis_status_t ystate = axis.state;
     if(m.Xstate != xstate || m.Ystate != ystate){
         DBG("State changed");
         setStat(xstate, ystate);
     }
-    DBG("TAG speeds: %g/%g", tagspeed.X, tagspeed.Y);
-    return Mount.moveWspeed(endpoint, &tagspeed);
+    coordpair_t endpoint;
+    // allow at least PIDMaxDt moving with target speed
+    double dv = fabs(tagspeed.X - m.encXspeed.val);
+    double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
+                   + Conf.PIDMaxDt * tagspeed.X // PIDMaxDt const speed moving
+                   + tagspeed.X * tagspeed.X / Xlimits.max.accel / 2.; // stopping
+    endpoint.X = m.encXposition.val + Xsign * adder;
+    dv = fabs(tagspeed.Y - m.encYspeed.val);
+    adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+            + Conf.PIDMaxDt * tagspeed.Y
+            + tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
+    endpoint.Y = m.encYposition.val + Ysign * adder;
+    DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
+    return Mount.moveWspeed(&endpoint, &tagspeed);
 }

Auxiliary_utils/LibSidServo/PID.h

@@ -27,7 +27,7 @@ typedef struct {
     double prev_error;  // Previous error
     double integral;    // Integral term
     double *pidIarray;  // array for Integral
-    double prevT;       // time of previous correction
+    struct timespec prevT; // time of previous correction
     size_t pidIarrSize; // it's size
     size_t curIidx;     // and index of current element
 } PIDController_t;
@@ -37,4 +37,4 @@ void pid_clear(PIDController_t *pid);
 void pid_delete(PIDController_t **pid);
 double pid_calculate(PIDController_t *pid, double error, double dt);
 
-mcc_errcodes_t  correct2(const coordval_pair_t *target, const coordpair_t *endpoint);
+mcc_errcodes_t  correct2(const coordval_pair_t *target);

Auxiliary_utils/LibSidServo/PID_test/moving_model.files

@@ -1,5 +1,7 @@
 Dramp.c
 Dramp.h
+PID.c
+PID.h
 Sramp.c
 Sramp.h
 Tramp.c

Auxiliary_utils/LibSidServo/TODO

@@ -1,3 +1,3 @@
-1. PID: slew2
-2. add model & config "model ON"
-
+fix encoders opening for several tries
+encoderthread2() - change main cycle (remove pause, read data independently, ask for new only after timeout after last request)
+Read HW config even in model mode

Auxiliary_utils/LibSidServo/examples/SSIIconf.c

@@ -34,7 +34,9 @@ typedef struct{
 
 static hardware_configuration_t HW = {0};
 
-static parameters G = {0};
+static parameters G = {
+    .conffile = "servo.conf",
+};
 
 static sl_option_t cmdlnopts[] = {
     {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
@@ -53,7 +55,7 @@ static sl_option_t confopts[] = {
 
 static void dumpaxis(char axis, axis_config_t *c){
 #define STRUCTPAR(p)    (c)->p
-#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
+#define DUMP(par) do{printf("%c%s=%.10g\n", axis, #par, STRUCTPAR(par));}while(0)
 #define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
     DUMPD(accel);
     DUMPD(backlash);
@@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
     DUMP(outplimit);
     DUMP(currlimit);
     DUMP(intlimit);
+    DUMP(motor_stepsperrev);
+    DUMP(axis_stepsperrev);
 #undef DUMP
 #undef DUMPD
 }

Auxiliary_utils/LibSidServo/examples/conf.c

@@ -24,25 +24,32 @@
 static conf_t Config = {
     .MountDevPath = "/dev/ttyUSB0",
     .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderXDevPath = "/dev/encoder_X0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
     .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
-    .XPIDC.P = 0.8,
+    .EncoderSpeedInterval = 0.05,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
     .XPIDC.I = 0.1,
-    .XPIDC.D = 0.3,
-    .XPIDV.P = 1.,
-    .XPIDV.I = 0.01,
-    .XPIDV.D = 0.2,
-    .YPIDC.P = 0.8,
+    .XPIDC.D = 0.2,
+    .XPIDV.P = 0.09,
+    .XPIDV.I = 0.0,
+    .XPIDV.D = 0.05,
+    .YPIDC.P = 0.5,
     .YPIDC.I = 0.1,
-    .YPIDC.D = 0.3,
-    .YPIDV.P = 0.5,
-    .YPIDV.I = 0.2,
-    .YPIDV.D = 0.5,
+    .YPIDC.D = 0.2,
+    .YPIDV.P = 0.09,
+    .YPIDV.I = 0.0,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
 };
 
 static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ static sl_option_t opts[] = {
     {"MountDevSpeed",   NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.MountDevSpeed),    "serial speed of mount device"},
     {"EncoderDevPath",  NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderDevPath),   "path to encoder device"},
     {"EncoderDevSpeed", NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.EncoderDevSpeed),  "serial speed of encoder device"},
-    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
-    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
-    {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
+    {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
     {"EncoderXDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderXDevPath),  "path to X encoder (/dev/encoderX0)"},
     {"EncoderYDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderYDevPath),  "path to Y encoder (/dev/encoderY0)"},
+    {"EncodersDisagreement", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
+    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
+    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
     {"EncoderSpeedInterval", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
     {"RunModel",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.RunModel),         "instead of real hardware run emulation"},
+    {"PIDMaxDt",        NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDMaxDt),         "maximal PID refresh time interval (if larger all old data will be cleared)"},
+    {"PIDRefreshDt",    NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDRefreshDt),     "normal PID refresh interval by master process"},
+    {"PIDCycleDt",      NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDCycleDt),       "PID I cycle time (analog of \"RC\" for PID on opamps)"},
     {"XPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.P),          "P of X PID (coordinate driven)"},
     {"XPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.I),          "I of X PID (coordinate driven)"},
     {"XPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.D),          "D of X PID (coordinate driven)"},
@@ -69,6 +80,12 @@ static sl_option_t opts[] = {
     {"YPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.P),          "P of Y PID (velocity driven)"},
     {"YPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.I),          "I of Y PID (velocity driven)"},
     {"YPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.D),          "D of Y PID (velocity driven)"},
+    {"MaxPointingErr",  NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxPointingErr),   "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
+    {"MaxFinePointingErr",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
+    {"MaxGuidingErr",   NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxGuidingErr),    "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
+    {"XEncZero",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.XEncZero),         "X axis encoder approximate zero position"},
+    {"YEncZero",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.YEncZero),         "Y axis encoder approximate zero position"},
+    // {"",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.), ""},
     end_option
 };
 
@@ -93,5 +110,19 @@ void dumpConf(){
 }
 
 void confHelp(){
-    sl_showhelp(-1, opts);
+    sl_conf_showhelp(-1, opts);
+}
+
+const char* errcodes[MCC_E_AMOUNT] = {
+    [MCC_E_OK] = "OK",
+    [MCC_E_FATAL] = "Fatal error",
+    [MCC_E_BADFORMAT] = "Wrong data format",
+    [MCC_E_ENCODERDEV] = "Encoder error",
+    [MCC_E_MOUNTDEV] = "Mount error",
+    [MCC_E_FAILED] = "Failed to run"
+};
+// return string with error code
+const char *EcodeStr(mcc_errcodes_t e){
+    if(e >= MCC_E_AMOUNT) return "Wrong error code";
+    return errcodes[e];
 }

Auxiliary_utils/LibSidServo/examples/conf.h

@@ -25,3 +25,4 @@
 void confHelp();
 conf_t *readServoConf(const char *filename);
 void dumpConf();
+const char *EcodeStr(mcc_errcodes_t e);

Auxiliary_utils/LibSidServo/examples/dump.c

@@ -23,6 +23,9 @@
 #include "dump.h"
 #include "simpleconv.h"
 
+// starting dump time (to conform different logs)
+static struct timespec dumpT0 = {0};
+
 #if 0
 // amount of elements used for encoders' data filtering
 #define NFILT	(10)
@@ -59,6 +62,12 @@ static double filter(double val, int idx){
 }
 #endif
 
+// return starting time of dump
+void dumpt0(struct timespec *t){
+    if(t) *t = dumpT0;
+}
+
+
 /**
  * @brief logmnt - log mount data into file
  * @param fcoords - file to dump
@@ -67,17 +76,13 @@ static double filter(double val, int idx){
 void logmnt(FILE *fcoords, mountdata_t *m){
     if(!fcoords) return;
     //DBG("LOG %s", m ? "data" : "header");
-    static double t0 = -1.;
     if(!m){ // write header
-        fprintf(fcoords, "#     time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
+        fprintf(fcoords, "      time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
         return;
-    }
-    double tnow = (m->encXposition.t + m->encYposition.t) / 2.;
-    if(t0 < 0.) t0 = tnow;
-    double t = tnow - t0;
+    }else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
     // write data
     fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
             RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
             RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
             m->millis);
@@ -103,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
         LOGWARN("Can't get mount data");
     }
     uint32_t mdmillis = mdata.millis;
-    double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+    struct timespec encXt = mdata.encXposition.t;
     int ctr = -1;
     double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
-    double t0 = Mount.currentT();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    double t0 = Mount.timeFromStart();
+    while(Mount.timeFromStart() - t0 < t && ctr < N){
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        if(tmsr == enct) continue;
-        enct = tmsr;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+        struct timespec msrt = mdata.encXposition.t;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
+        encXt = msrt;
         if(fcoords) logmnt(fcoords, &mdata);
         if(mdata.millis == mdmillis) continue;
         //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -123,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
             ctr = 0;
         }else ++ctr;
     }
-    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }
 
 /**
@@ -134,17 +140,15 @@ void waitmoving(int N){
     mountdata_t mdata;
     int ctr = -1;
     uint32_t millis = 0;
-    double xlast = 0., ylast = 0.;
+    //double xlast = 0., ylast = 0.;
+    DBG("Wait moving for %d stopped times", N);
     while(ctr < N){
         usleep(10000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
         millis = mdata.millis;
-        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            xlast = mdata.motXposition.val;
-            ylast = mdata.motYposition.val;
-            ctr = 0;
-        }else ++ctr;
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
+        else ++ctr;
     }
 }
 

Auxiliary_utils/LibSidServo/examples/dump.h

@@ -27,3 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
 void waitmoving(int N);
 int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
 void chk0(int ncycles);
+void dumpt0(struct timespec *t);

Auxiliary_utils/LibSidServo/examples/dumpmoving.c

@@ -73,6 +73,7 @@ int main(int argc, char **argv){
     conf_t *Config = readServoConf(G.conffile);
     if(!Config){
         dumpConf();
+        confHelp();
         return 1;
     }
     if(G.coordsoutput){

Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c

@@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
     short_command_t cmd = {0};
     DBG("Try to move to zero");
     cmd.Xmot = 0.; cmd.Ymot = 0.;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    coordpair_t maxspd;
+    if(MCC_E_OK != Mount.getMaxSpeed(&maxspd)) return MCC_E_FAILED;
+    cmd.Xspeed = maxspd.X;
+    cmd.Yspeed = maxspd.Y;
     /*cmd.xychange = 1;
     cmd.XBits = 100;
     cmd.YBits = 20;*/
@@ -216,7 +218,7 @@ int main(int argc, char **argv){
     sleep(5);
     // return to zero and wait
     green("Return 2 zero and wait\n");
-    if(!return2zero()) ERRX("Can't return");
+    if(MCC_E_OK != return2zero()) ERRX("Can't return");
     Wait(0., 0);
     Wait(0., 1);
     // wait moving ends

Auxiliary_utils/LibSidServo/examples/dumpswing.c

@@ -83,7 +83,7 @@ void waithalf(double t){
     uint32_t millis = 0;
     double xlast = 0., ylast = 0.;
     while(ctr < 5){
-        if(Mount.currentT() >= t) return;
+        if(Mount.timeFromStart() >= t) return;
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
@@ -110,16 +110,28 @@ int main(int argc, char **argv){
         return 1;
     }
     if(G.coordsoutput){
-        if(!(fcoords = fopen(G.coordsoutput, "w")))
-            ERRX("Can't open %s", G.coordsoutput);
+        if(!(fcoords = fopen(G.coordsoutput, "w"))){
+            WARNX("Can't open %s", G.coordsoutput);
+            return 1;
+        }
     }else fcoords = stdout;
-    if(G.Ncycles < 7) ERRX("Ncycles should be >7");
+    if(G.Ncycles < 2){
+        WARNX("Ncycles should be >2");
+        return 1;
+    }
     double absamp = fabs(G.amplitude);
-    if(absamp < 0.01 || absamp > 45.)
-        ERRX("Amplitude should be from 0.01 to 45 degrees");
-    if(G.period < 0.1 || G.period > 900.)
-        ERRX("Period should be from 0.1 to 900s");
-    if(G.Nswings < 1) ERRX("Nswings should be more than 0");
+    if(absamp < 0.01 || absamp > 45.){
+        WARNX("Amplitude should be from 0.01 to 45 degrees");
+        return 1;
+    }
+    if(G.period < 0.1 || G.period > 900.){
+        WARNX("Period should be from 0.1 to 900s");
+        return 1;
+    }
+    if(G.Nswings < 1){
+        WARNX("Nswings should be more than 0");
+        return 1;
+    }
     conf_t *Config = readServoConf(G.conffile);
     if(!Config){
         dumpConf();
@@ -146,24 +158,24 @@ int main(int argc, char **argv){
     }else{
         tagX = 0.; tagY = DEG2RAD(G.amplitude);
     }
-    double t = Mount.currentT(), t0 = t;
+    double t = Mount.timeFromStart(), t0 = t;
     coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
     double divide = 2.;
     for(int i = 0; i < G.Nswings; ++i){
         Mount.moveTo(&tag);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         t += G.period / divide;
         divide = 1.;
         waithalf(t);
         DBG("Moved to +, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         Mount.moveTo(&rtag);
         t += G.period;
         waithalf(t);
         DBG("Moved to -, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
     }
-    green("Move to zero @ %g\n", Mount.currentT());
+    green("Move to zero @ %g\n", Mount.timeFromStart());
     tag = (coordpair_t){0};
     // be sure to move @ 0,0
     if(MCC_E_OK != Mount.moveTo(&tag)){

Auxiliary_utils/LibSidServo/examples/goto.c

@@ -61,12 +61,13 @@ static FILE* fcoords = NULL;
 static pthread_t dthr;
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
+    DBG("Quit");
     Mount.quit();
+    DBG("close");
     if(fcoords) fclose(fcoords);
     exit(sig);
 }
@@ -90,11 +91,10 @@ int main(int _U_ argc, char _U_ **argv){
     if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
     coordval_pair_t M, E;
     if(!getPos(&M, &E)) ERRX("Can't get current position");
+    printf("Current time: %.10f\n", Mount.timeFromStart());
     if(G.coordsoutput){
-        if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
+        if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
         G.wait = 1;
-    }
-    if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
         logmnt(fcoords, NULL);
@@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
     }
     printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
     tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
-    Mount.moveTo(&tag);
+    mcc_errcodes_t e = Mount.moveTo(&tag);
+    if(MCC_E_OK != e){
+        WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
+        goto out;
+    }
     if(G.wait){
         sleep(1);
         waitmoving(G.Ncycles);
@@ -132,7 +136,9 @@ out:
     if(G.coordsoutput) pthread_join(dthr, NULL);
     DBG("QUIT");
     if(G.wait){
-        if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
+        usleep(250000); // pause to refresh coordinates
+        if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
+            RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
         Mount.quit();
     }
     return 0;

Auxiliary_utils/LibSidServo/examples/scmd_traectory.c

@@ -44,6 +44,7 @@ typedef struct{
     char *conffile;
 } parameters;
 
+static conf_t *Config = NULL;
 static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
@@ -75,7 +76,6 @@ static sl_option_t cmdlnopts[] = {
 };
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
@@ -97,35 +97,35 @@ static void runtraectory(traectory_fn tfn){
     if(!tfn) return;
     coordval_pair_t telXY;
     coordval_pair_t target;
-    coordpair_t traectXY, endpoint;
-    endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
-    double t0 = Mount.currentT(), tlast = 0.;
-    double tlastX = 0., tlastY = 0.;
+    coordpair_t traectXY;
+    double tlast = 0., tstart = Mount.timeFromStart();
+    long tlastXnsec = 0, tlastYnsec = 0;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
     while(1){
         if(!telpos(&telXY)){
             WARNX("No next telescope position");
             return;
         }
-        if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
-        DBG("\n\nTELPOS: %g'/%g' measured @ %g/%g", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), telXY.X.t, telXY.Y.t);
-        tlastX = telXY.X.t; tlastY = telXY.Y.t;
-        double t = Mount.currentT();
-        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - t0 > G.tmax) break;
+        if(!Mount.currentT(&tcur)) continue;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
+        tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
+        double t = Mount.timeFromStart();
+        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
         if(!traectory_point(&traectXY, t)) break;
         target.X.val = traectXY.X; target.Y.val = traectXY.Y;
-        target.X.t = target.Y.t = t;
-        // check whether we should change direction
-        if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
-        else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
-        if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
-        else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
-        DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-        DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
-        DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
-        if(errlog)
-            fprintf(errlog, "%10.4g  %10.4g  %10.4g\n", t, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
-        if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
-        while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
+        target.X.t = target.Y.t = tcur;
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
+        else{
+            //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
+            DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+            //DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
+            if(errlog)
+                fprintf(errlog, "%10.4f  %10.4f  %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+        }
+        if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
         tlast = t;
     }
     WARNX("No next traectory point or emulation ends");
@@ -151,7 +151,7 @@ int main(int argc, char **argv){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
     }else fcoords = stdout;
-    conf_t *Config = readServoConf(G.conffile);
+    Config = readServoConf(G.conffile);
     if(!Config || G.dumpconf){
         dumpConf();
         return 1;

Auxiliary_utils/LibSidServo/examples/servo.conf

@@ -1,4 +1,4 @@
-Current configuration:
+# Current configuration
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
 EncoderDevPath=(null)

Auxiliary_utils/LibSidServo/examples/traectories.c

@@ -41,7 +41,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
     if(!f || !XY0) return FALSE;
     cur_traectory = f;
     XYstart = *XY0;
-    tstart = Mount.currentT();
+    tstart = Mount.timeFromStart();
     mountdata_t mdata;
     int ntries = 0;
     for(; ntries < 10; ++ntries){
@@ -76,6 +76,7 @@ int telpos(coordval_pair_t *curpos){
     }
     if(ntries == 10) return FALSE;
     coordval_pair_t pt;
+    //DBG("\n\nTELPOS: %g'/%g' measured @ %.6f", RAD2AMIN(mdata.encXposition.val), RAD2AMIN(mdata.encYposition.val), mdata.encXposition.t);
     pt.X.val = mdata.encXposition.val;
     pt.Y.val = mdata.encYposition.val;
     pt.X.t = mdata.encXposition.t;

Auxiliary_utils/LibSidServo/libsidservo.creator.user

@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.0, 2025-07-30T17:30:52. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
+  <value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
    <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
    <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
-   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
    <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
    <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
    <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
    <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
    <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
    <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
    <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
-   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
    <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
    <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
   </valuemap>
@@ -79,13 +79,14 @@
     <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
     <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
     <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">4</value>
+    <value type="int" key="ClangTools.ParallelJobs">8</value>
     <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
     <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
    </valuemap>
+   <value type="int" key="RcSync">0</value>
   </valuemap>
  </data>
  <data>
@@ -95,12 +96,12 @@
    <value type="bool" key="HasPerBcDcs">true</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -110,8 +111,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
     </valuemap>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -123,8 +124,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
@@ -132,15 +133,15 @@
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
     <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
     <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
       <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
      </valuemap>
      <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -164,8 +165,10 @@
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
      <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
      <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
      <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
      <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+     <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
     </valuemap>
     <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
    </valuemap>
@@ -173,8 +176,8 @@
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -198,8 +201,10 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
    </valuemap>
    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
   </valuemap>
@@ -208,10 +213,6 @@
   <variable>ProjectExplorer.Project.TargetCount</variable>
   <value type="qlonglong">1</value>
  </data>
- <data>
-  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">22</value>
- </data>
  <data>
   <variable>Version</variable>
   <value type="int">22</value>

Auxiliary_utils/LibSidServo/libsidservo.files

@@ -22,6 +22,7 @@ examples/traectories.h
 main.h
 movingmodel.c
 movingmodel.h
+polltest/main.c
 ramp.c
 ramp.h
 serial.h

Auxiliary_utils/LibSidServo/main.c

@@ -25,6 +25,7 @@
 #include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <unistd.h>
 
 #include "main.h"
 #include "movingmodel.h"
@@ -32,40 +33,82 @@
 #include "ssii.h"
 #include "PID.h"
 
+// adder for monotonic time by realtime: inited any call of init()
+static struct timespec timeadder = {0}, // adder of CLOCK_REALTIME to CLOCK_MONOTONIC
+    t0 = {0},           // curtime() for initstarttime() call
+    starttime = {0};    // starting time by monotonic (for timefromstart())
+
 conf_t Conf = {0};
 // parameters for model
 static movemodel_t *Xmodel, *Ymodel;
+// limits for model and/or real mount (in latter case data should be read from mount on init)
 // radians, rad/sec, rad/sec^2
-static limits_t
+// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
+// accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
+limits_t
     Xlimits = {
         .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
+        .max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
     Ylimits = {
         .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
+        .max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
 ;
 static mcc_errcodes_t shortcmd(short_command_t *cmd);
+static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig);
 
 /**
- * @brief nanotime - monotonic time from first run
- * @return time in seconds
+ * @brief curtime - monotonic time from first run
+ * @param t - struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
+ * @return TRUE if all OK
+ * FIXME: double -> struct timespec; on init: init t0 by CLOCK_REALTIME
  */
-double nanotime(){
-    static struct timespec *start = NULL;
+int curtime(struct timespec *t){
     struct timespec now;
-    if(!start){
-        start = malloc(sizeof(struct timespec));
-        if(!start) return -1.;
-        if(clock_gettime(CLOCK_MONOTONIC, start)) return -1.;
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
+    now.tv_sec += timeadder.tv_sec;
+    now.tv_nsec += timeadder.tv_nsec;
+    if(now.tv_nsec > 999999999L){
+        ++now.tv_sec;
+        now.tv_nsec -= 1000000000L;
     }
+    if(t) *t = now;
+    return TRUE;
+}
+
+// init starttime; @return TRUE if all OK
+static int initstarttime(){
+    struct timespec start;
+    if(clock_gettime(CLOCK_MONOTONIC, &starttime)) return FALSE;
+    if(clock_gettime(CLOCK_REALTIME, &start)) return FALSE;
+    timeadder.tv_sec = start.tv_sec - starttime.tv_sec;
+    timeadder.tv_nsec = start.tv_nsec - starttime.tv_nsec;
+    if(timeadder.tv_nsec < 0){
+        --timeadder.tv_sec;
+        timeadder.tv_nsec += 1000000000L;
+    }
+    curtime(&t0);
+    return TRUE;
+}
+
+// return difference (in seconds) between time1 and time0
+double timediff(const struct timespec *time1, const struct timespec *time0){
+    if(!time1 || !time0) return -1.;
+    return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
+}
+// difference between given time and  last initstarttime() call
+double timediff0(const struct timespec *time1){
+    return timediff(time1, &t0);
+}
+// time from last initstarttime() call
+double timefromstart(){
+    struct timespec now;
     if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
-    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
-    double sd = (double)now.tv_sec - (double)start->tv_sec;
-    return sd + nd;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
 }
 
 /**
  * @brief quit - close all opened and return to default state
+ * TODO: close serial devices even in "model" mode
  */
 static void quit(){
     if(Conf.RunModel) return;
@@ -75,25 +118,19 @@ static void quit(){
     DBG("Exit");
 }
 
-void getModData(mountdata_t *mountdata){
-    if(!mountdata || !Xmodel || !Ymodel) return;
-    static double oldmt = -100.; // old `millis measurement` time
-    static uint32_t oldmillis = 0;
-    double tnow = nanotime();
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
+    if(!c || !Xmodel || !Ymodel) return;
+    double tnow = timefromstart();
     moveparam_t Xp, Yp;
     movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
     //DBG("Xstate = %d", Xst);
     if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
     movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
     if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
-    mountdata->motXposition.t = mountdata->encXposition.t = mountdata->motYposition.t = mountdata->encYposition.t = tnow;
-    mountdata->motXposition.val = mountdata->encXposition.val  = Xp.coord;
-    mountdata->motYposition.val  = mountdata->encYposition.val  = Yp.coord;
-    getXspeed(); getYspeed();
-    if(tnow - oldmt > Conf.MountReqInterval){
-        oldmillis = mountdata->millis = (uint32_t)(tnow * 1e3);
-        oldmt = tnow;
-    }else mountdata->millis = oldmillis;
+    c->X = Xp.coord;
+    c->Y = Yp.coord;
+    if(xst) *xst = Xst;
+    if(yst) *yst = Yst;
 }
 
 /**
@@ -142,7 +179,6 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     return (numerator / denominator);
 }
 
-
 /**
  * @brief init - open serial devices and do other job
  * @param c - initial configuration
@@ -151,15 +187,20 @@ double LS_calc_slope(less_square_t *l, double x, double t){
 static mcc_errcodes_t init(conf_t *c){
     FNAME();
     if(!c) return MCC_E_BADFORMAT;
+    if(!initstarttime()) return MCC_E_FAILED;
     Conf = *c;
     mcc_errcodes_t ret = MCC_E_OK;
     Xmodel = model_init(&Xlimits);
     Ymodel = model_init(&Ylimits);
+    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+        DBG("Bad value of MountReqInterval");
+        ret = MCC_E_BADFORMAT;
+    }
     if(Conf.RunModel){
         if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
         return MCC_E_OK;
     }
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
         DBG("Define mount device path and speed");
         ret = MCC_E_BADFORMAT;
     }else if(!openMount()){
@@ -175,41 +216,47 @@ static mcc_errcodes_t init(conf_t *c){
             ret = MCC_E_ENCODERDEV;
         }
     }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
-        DBG("Bad value of MountReqInterval");
-        ret = MCC_E_BADFORMAT;
-    }
+    // TODO: read hardware configuration on init
     if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
         DBG("Wrong speed interval");
         ret = MCC_E_BADFORMAT;
     }
-    //uint8_t buf[1024];
-    //data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
     if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
     if(ret != MCC_E_OK) return ret;
-    return updateMotorPos();
+    // read HW config to update constants
+    hardware_configuration_t HW;
+    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
+    // make a pause for actual encoder's values
+    double t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
+    mcc_errcodes_t e = updateMotorPos();
+    // and refresh data after updating
+    DBG("Wait for next mount reading");
+    t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
+    return e;
 }
 
 // check coordinates (rad) and speeds (rad/s); return FALSE if failed
 // TODO fix to real limits!!!
 static int chkX(double X){
-    if(X > 2.*M_PI || X < -2.*M_PI) return FALSE;
+    if(X > Xlimits.max.coord || X < Xlimits.min.coord) return FALSE;
     return TRUE;
 }
 static int chkY(double Y){
-    if(Y > 2.*M_PI || Y < -2.*M_PI) return FALSE;
+    if(Y > Ylimits.max.coord || Y < Ylimits.min.coord) return FALSE;
     return TRUE;
 }
 static int chkXs(double s){
-    if(s < 0. || s > MCC_MAX_X_SPEED) return FALSE;
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
     return TRUE;
 }
 static int chkYs(double s){
-    if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
     return TRUE;
 }
 
-// set SLEWING state if axis was stopped later
+// set SLEWING state if axis was stopped
 static void setslewingstate(){
     //FNAME();
     mountdata_t d;
@@ -225,19 +272,6 @@ static void setslewingstate(){
     }else DBG("CAN't GET MOUNT DATA!");
 }
 
-/*
-static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
-    (void)target;
-    (void)flags;
-    //if(Conf.RunModel) return ... ;
-    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-    //...
-    setStat(AXIS_SLEWING, AXIS_SLEWING);
-    //...
-    return MCC_E_FAILED;
-}
-*/
-
 /**
  * @brief move2 - simple move to given point and stop
  * @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -252,12 +286,13 @@ static mcc_errcodes_t move2(const coordpair_t *target){
     DBG("x,y: %g, %g", target->X, target->Y);
     cmd.Xmot = target->X;
     cmd.Ymot = target->Y;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    cmd.Xspeed = Xlimits.max.speed;
+    cmd.Yspeed = Ylimits.max.speed;
+    /*mcc_errcodes_t r = shortcmd(&cmd);
     if(r != MCC_E_OK) return r;
     setslewingstate();
-    return MCC_E_OK;
+    return MCC_E_OK;*/
+    return shortcmd(&cmd);
 }
 
 /**
@@ -286,6 +321,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
     if(!target || !speed) return MCC_E_BADFORMAT;
     if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
     if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
+    // updateMotorPos() here can make a problem; TODO: remove?
     if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
     short_command_t cmd = {0};
     cmd.Xmot = target->X;
@@ -305,7 +341,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
 static mcc_errcodes_t emstop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->emergency_stop(Xmodel, curt);
         Ymodel->emergency_stop(Ymodel, curt);
         return MCC_E_OK;
@@ -317,7 +353,7 @@ static mcc_errcodes_t emstop(){
 static mcc_errcodes_t stop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->stop(Xmodel, curt);
         Ymodel->stop(Ymodel,curt);
         return MCC_E_OK;
@@ -334,7 +370,7 @@ static mcc_errcodes_t stop(){
 static mcc_errcodes_t shortcmd(short_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         moveparam_t param = {0};
         param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
         if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -366,7 +402,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
 static mcc_errcodes_t longcmd(long_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         moveparam_t param = {0};
         param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
         if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -393,6 +429,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     if(!hwConfig) return MCC_E_BADFORMAT;
     if(Conf.RunModel) return MCC_E_FAILED;
     SSconfig config;
+    DBG("Read HW configuration");
     if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
     // Convert acceleration (ticks per loop^2 to rad/s^2)
     hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
@@ -432,8 +469,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     // Copy ticks per revolution
     hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
     hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
-    hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
-    hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
+    hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
     // Convert slew rates (ticks per loop to rad/s)
     hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
     hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@@ -451,6 +488,30 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
     // Convert backlash speed (ticks per loop to rad/s)
     hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
+    // now read text commands
+    int64_t i64;
+    double Xticks, Yticks;
+    DBG("SERIAL");
+    // motor's encoder ticks per rev
+    if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
+    Xticks = ((double) i64); // divide by 4 as these values stored ???
+    if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
+    Yticks = ((double) i64);
+    X_ENC_ZERO = Conf.XEncZero;
+    Y_ENC_ZERO = Conf.YEncZero;
+    DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
+    X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = Xticks; // (config.xbits.motrev) ? -Xticks : Xticks;
+    Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = Yticks; //(config.ybits.motrev) ? -Yticks : Yticks;
+    DBG("zero: %d/%d; motsteps: %.10g/%.10g", X_ENC_ZERO, Y_ENC_ZERO, X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV);
+    // axis encoder ticks per rev
+    if(!SSgetint(CMD_AEPRX, &i64)) return MCC_E_FAILED;
+    Xticks = (double) i64;
+    if(!SSgetint(CMD_AEPRY, &i64)) return MCC_E_FAILED;
+    Yticks = (double) i64;
+    DBG("xyencrev: %d/%d", config.xbits.encrev, config.ybits.encrev);
+    X_ENC_STEPSPERREV = hwConfig->Xconf.axis_stepsperrev = (config.xbits.encrev) ? -Xticks : Xticks;
+    Y_ENC_STEPSPERREV = hwConfig->Yconf.axis_stepsperrev = (config.ybits.encrev) ? -Yticks : Yticks;
+    DBG("encsteps: %.10g/%.10g", X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV);
     return MCC_E_OK;
 }
 
@@ -506,17 +567,37 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
     config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
     config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
     config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
+    // todo - also write text params
     // TODO - next
     (void) config;
     return MCC_E_OK;
 }
 
+// getters of max/min speed and acceleration
+mcc_errcodes_t maxspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.max.speed;
+    v->Y = Ylimits.max.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t minspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.min.speed;
+    v->Y = Ylimits.min.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t acceleration(coordpair_t *a){
+    if(!a) return MCC_E_BADFORMAT;
+    a->X = Xlimits.max.accel;
+    a->Y = Ylimits.max.accel;
+    return MCC_E_OK;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
     .quit = quit,
     .getMountData = getMD,
-//    .slewTo = slew2,
     .moveTo = move2,
     .moveWspeed = move2s,
     .setSpeed = setspeed,
@@ -526,7 +607,13 @@ mount_t Mount = {
     .longCmd = longcmd,
     .getHWconfig = get_hwconf,
     .saveHWconfig = write_hwconf,
-    .currentT = nanotime,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
     .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
 };
 

Auxiliary_utils/LibSidServo/main.h

@@ -24,11 +24,16 @@
 
 #include <stdlib.h>
 
+#include "movingmodel.h"
 #include "sidservo.h"
 
 extern conf_t Conf;
-double nanotime();
-void getModData(mountdata_t *mountdata);
+extern limits_t Xlimits, Ylimits;
+int curtime(struct timespec *t);
+double timediff(const struct timespec *time1, const struct timespec *time0);
+double timediff0(const struct timespec *time1);
+double timefromstart();
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst);
 typedef struct{
     double *x, *t, *t2, *xt; // arrays of coord/time and multiply
     double xsum, tsum, t2sum, xtsum; // sums of coord/time and their multiply
@@ -42,10 +47,6 @@ double LS_calc_slope(less_square_t *l, double x, double t);
 
 // unused arguments of functions
 #define _U_         __attribute__((__unused__))
-// break absent in `case`
-#define FALLTHRU    __attribute__ ((fallthrough))
-// and synonym for FALLTHRU
-#define NOBREAKHERE __attribute__ ((fallthrough))
 // weak functions
 #define WEAK        __attribute__ ((weak))
 

Auxiliary_utils/LibSidServo/movingmodel.c

@@ -60,9 +60,14 @@ movemodel_t *model_init(limits_t *l){
 
 int model_move2(movemodel_t *model, moveparam_t *target, double t){
     if(!target || !model) return FALSE;
-    DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    DBG("MOVE to %g (deg) at speed %g (deg/s)", target->coord/M_PI*180., target->speed/M_PI*180.);
     // only positive velocity
     if(target->speed < 0.) target->speed = -target->speed;
+    if(fabs(target->speed) < model->Min.speed){
+        DBG("STOP");
+        model->stop(model, t);
+        return TRUE;
+    }
     // don't mind about acceleration - user cannot set it now
     return model->calculate(model, target, t);
 }

Auxiliary_utils/LibSidServo/movingmodel.h

@@ -44,7 +44,7 @@ typedef struct{
 typedef struct{
     moveparam_t min;
     moveparam_t max;
-    double acceleration;
+    //double acceleration;
 } limits_t;
 
 typedef enum{

Auxiliary_utils/LibSidServo/polltest/main.c

@@ -0,0 +1,237 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2026 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 <fcntl.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <usefull_macros.h>
+
+#define XYBUFSZ     (2048)
+
+struct{
+    int help;
+    char *Xpath;
+    char *Ypath;
+    double dt;
+} G = {
+    .Xpath = "/dev/encoder_X0",
+    .Ypath = "/dev/encoder_Y0",
+    .dt = 0.001,
+};
+
+sl_option_t options[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"Xpath",   NEED_ARG,   NULL,   'X',    arg_string, APTR(&G.Xpath),     "path to X encoder"},
+    {"Ypath",   NEED_ARG,   NULL,   'Y',    arg_string, APTR(&G.Ypath),     "path to Y encoder"},
+    {"dt",      NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.dt),        "request interval (1e-4..10s)"},
+};
+
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+static int Xfd = -1, Yfd = -1;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    DBG("close");
+    if(Xfd > 0){ close(Xfd); Xfd = -1; }
+    if(Yfd > 0){ close(Yfd); Yfd = -1; }
+    exit(sig);
+}
+
+static int op(const char *nm){
+    int fd = open(nm, O_RDWR|O_NOCTTY|O_NONBLOCK);
+    if(fd < 0) ERR("Can't open %s", nm);
+    struct termios2 tty;
+    if(ioctl(fd, TCGETS2, &tty)) ERR("Can't read TTY settings");
+    tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+    tty.c_iflag     = 0; // don't do any changes in input stream
+    tty.c_oflag     = 0; // don't do any changes in output stream
+    tty.c_cflag     = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
+    tty.c_ispeed = 1000000;
+    tty.c_ospeed = 1000000;
+    if(ioctl(fd, TCSETS2, &tty)) ERR("Can't set TTY settings");
+    // try to set exclusive
+    if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
+    return fd;
+}
+
+static int eolcnt(buf_t *buf){
+    if(!buf) return -1;
+    int cnt = 0;
+    for(int i = 0; i < buf->len; ++i)
+        if(buf->buf[i] == '\n') ++cnt;
+    return cnt;
+}
+// move last record (if any) into head of buffer
+static void movelast(buf_t *buf){
+    FNAME();
+    if(!buf) return;
+    DBG("buf was: %s", buf->buf);
+    int cnt = eolcnt(buf);
+    char *E = strrchr(buf->buf, '\n');
+    int idx = -1;
+    if(E){
+        idx = ++E - buf->buf; // position of symbol after '\n'
+    }else{
+        buf->len = strlen(buf->buf);
+        DBG("leave as is (%s)", buf->buf);
+        return;
+    }
+    DBG("cnt=%d, idx=%d", cnt, idx);
+    switch(cnt){
+        case 0: // EOL not found - clear buf
+            buf->len = 0;
+        break;
+        case 1: // only one record - move all after '\n'
+            if(idx > 0 && idx < XYBUFSZ){
+                buf->len = XYBUFSZ - idx;
+                memmove(buf->buf, E, buf->len);
+            }else buf->len = 0;
+        break;
+        default: // more than one record - move
+        {
+            int i = idx - 2;
+            for(; i > -1; --i)
+                if(buf->buf[i] == '\n') break;
+            ++i;
+            buf->len = XYBUFSZ - i;
+            memmove(buf->buf, &buf->buf[i], buf->len);
+        }
+    }
+    buf->buf[buf->len] = 0;
+    DBG("MOVED; now buf[%d]=%s", buf->len, buf->buf);
+}
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    if(!buf){WARNX("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("len: %d", buf->len);
+        movelast(buf);
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        WARN("read()");
+        return FALSE;
+    }else if(got == 0) return TRUE;
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf) return -1;
+    // read record between last '\n' and previous (or start of string)
+    int cnt = eolcnt(buf);
+    if(cnt < 1) return FALSE;
+    char *last = strrchr(buf->buf, '\n');
+    if(!last) return FALSE; // WTF?
+    *last = 0;
+    char *prev = buf->buf;
+    if(cnt > 1) prev = strrchr(buf->buf, '\n') + 1;
+    if(!prev) prev = buf->buf; // ??
+    if(out) *out = atol(prev);
+    int l = strlen(++last);
+    if(l < XYBUFSZ){
+        buf->len = l;
+        if(l){
+            memmove(buf->buf, last, l);
+            DBG("moved: %s", buf->buf);
+        }else DBG("empty line");
+    }else{
+        buf->len = 0;
+        DBG("buffer clear");
+    }
+    return TRUE;
+}
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
+int main(int argc, char **argv){
+    buf_t xbuf, ybuf;
+    long xlast, ylast;
+    double xtlast, ytlast;
+    sl_init();
+    sl_parseargs(&argc, &argv, options);
+    if(G.help) sl_showhelp(-1, options);
+    if(G.dt < 1e-4) ERRX("dx too small");
+    if(G.dt > 10.) ERRX("dx too big");
+    Xfd = op(G.Xpath);
+    Yfd = op(G.Ypath);
+    struct pollfd pfds[2];
+    pfds[0].fd = Xfd; pfds[0].events = POLLIN;
+    pfds[1].fd = Yfd; pfds[1].events = POLLIN;
+    double t0x, t0y, tstart;
+    asknext(Xfd); asknext(Yfd);
+    t0x = t0y = tstart = sl_dtime();
+    DBG("Start");
+    do{ // main cycle
+        if(poll(pfds, 2, 1) < 0){
+            WARN("poll()");
+            break;
+        }
+        if(pfds[0].revents && POLLIN){
+            if(!readstrings(&xbuf, Xfd)) break;
+        }
+        if(pfds[1].revents && POLLIN){
+            if(!readstrings(&ybuf, Yfd)) break;
+        }
+        double curt = sl_dtime();
+        if(getdata(&xbuf, &xlast)) xtlast = curt;
+        if(curt - t0x >= G.dt){ // get last records
+            if(curt - xtlast < 1.5*G.dt)
+                printf("%-14.4fX=%ld\n", xtlast-tstart, xlast);
+            if(!asknext(Xfd)) break;
+            t0x = (curt - t0x < 2.*G.dt) ? t0x + G.dt : curt;
+        }
+        curt = sl_dtime();
+        if(getdata(&ybuf, &ylast)) ytlast = curt;
+        if(curt - t0y >= G.dt){ // get last records
+            if(curt - ytlast < 1.5*G.dt)
+                printf("%-14.4fY=%ld\n", ytlast-tstart, ylast);
+            if(!asknext(Yfd)) break;
+            t0y = (curt - t0y < 2.*G.dt) ? t0y + G.dt : curt;
+        }
+    }while(Xfd > 0 && Yfd > 0);
+    DBG("OOps: disconnected");
+    signals(0);
+    return 0;
+}

Auxiliary_utils/LibSidServo/ramp.c

@@ -23,12 +23,14 @@
 
 #include "main.h"
 #include "ramp.h"
-/*
+
 #ifdef EBUG
 #undef DBG
 #define DBG(...)
+#undef FNAME
+#define FNAME()
 #endif
-*/
+
 static double coord_tolerance = COORD_TOLERANCE_DEFAULT;
 
 static void emstop(movemodel_t *m, double _U_ t){
@@ -120,7 +122,7 @@ static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
         }
     }else{
         // if we are here, we have the worst case: change speed direction
-        DBG("Hardest case: change speed direction");
+       // DBG("Hardest case: change speed direction");
         // now we should calculate coordinate at which model stops and biuld new trapezium from that point
         double x0 = m->curparams.coord, v0 = m->curparams.speed;
         double xstop = x0 + sign_v0 * abs_dx_stop, tstop = t + abs_v0 / abs_a;
@@ -132,7 +134,7 @@ static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
         m->Times[STAGE_ACCEL] = t;
         m->Params[STAGE_ACCEL].coord = x0;
         m->Params[STAGE_ACCEL].speed = v0;
-        DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
+       // DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
         return;
     }
     m->state = ST_MOVE;
@@ -210,11 +212,10 @@ static movestate_t proc(movemodel_t *m, moveparam_t *next, double t){
     if(m->movingstage == STAGE_STOPPED){
         m->curparams.coord = m->Params[STAGE_STOPPED].coord;
         pthread_mutex_unlock(&m->mutex);
-        DBG("REACHED STOPping stage @ t=%g", t);
+       /* DBG("REACHED STOPping stage @ t=%g", t);
         for(int s = STAGE_STOPPED; s >= 0; --s){
             DBG("T[%d]=%g, ", s, m->Times[s]);
-        }
-        fflush(stdout);
+        }*/
         emstop(m, t);
         goto ret;
     }

Auxiliary_utils/LibSidServo/serial.c

@@ -20,6 +20,7 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
+#include <poll.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
@@ -48,7 +49,7 @@ static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
 // encoders thread and mount thread
 static pthread_t encthread, mntthread;
 // max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
-static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
+static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
 // encoders raw data
 typedef struct __attribute__((packed)){
     uint8_t magick;
@@ -64,18 +65,13 @@ void getXspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
-    if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
+    double dt = timediff0(&mountdata.encXposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
         mountdata.encXspeed.val = speed;
         mountdata.encXspeed.t = mountdata.encXposition.t;
     }
     //DBG("Xspeed=%g", mountdata.encXspeed.val);
-#if 0
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
-    mountdata.encXspeed.t = (lastXenc.t + mountdata.encXposition.t) / 2.;
-    lastXenc.val = mountdata.encXposition.val;
-    lastXenc.t = t;
-#endif
 }
 void getYspeed(){
     static less_square_t *ls = NULL;
@@ -83,17 +79,12 @@ void getYspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
-    if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
+    double dt = timediff0(&mountdata.encYposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
+    if(fabs(speed) < 1.5 * Ylimits.max.speed){
         mountdata.encYspeed.val = speed;
         mountdata.encYspeed.t = mountdata.encYposition.t;
     }
-#if 0
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
-    mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
-    lastYenc.val = mountdata.encYposition.val;
-    lastYenc.t = t;
-#endif
 }
 
 /**
@@ -101,7 +92,8 @@ void getYspeed(){
  * @param databuf - input buffer with 13 bytes of data
  * @param t - time when databuf[0] got
  */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
+    if(!t) return;
     enc_t *edata = (enc_t*) databuf;
 /*
 #ifdef EBUG
@@ -136,18 +128,17 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
         return;
     }
     pthread_mutex_lock(&datamutex);
-    mountdata.encXposition.val = X_ENC2RAD(edata->encX);
-    mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
     DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
-    mountdata.encYposition.t = t;
-    //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
-    //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
+    mountdata.encXposition.t = *t;
+    mountdata.encYposition.t = *t;
     getXspeed(); getYspeed();
     pthread_mutex_unlock(&datamutex);
     //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }
 
+#if 0
 /**
  * @brief getencval - get uint64_t data from encoder
  * @param fd - encoder fd
@@ -155,33 +146,53 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
  * @param t - measurement time
  * @return amount of data read or 0 if problem
  */
-static int getencval(int fd, double *val, double *t){
-    if(fd < 0) return FALSE;
+static int getencval(int fd, double *val, struct timespec *t){
+    if(fd < 0){
+        DBG("Encoder fd < 0!");
+        return FALSE;
+    }
     char buf[128];
     int got = 0, Lmax = 127;
-    double t0 = nanotime();
+    double t0 = timefromstart();
+    //DBG("start: %.6g", t0);
     do{
         fd_set rfds;
         FD_ZERO(&rfds);
         FD_SET(fd, &rfds);
         struct timeval tv = encRtmout;
         int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
-        if(!retval) continue;
+        if(!retval){
+            //DBG("select()==0 - timeout, %.6g", timefromstart());
+            break;
+        }
         if(retval < 0){
-            if(errno == EINTR) continue;
+            if(errno == EINTR){
+                DBG("EINTR");
+                continue;
+            }
+            DBG("select() < 0");
             return 0;
         }
         if(FD_ISSET(fd, &rfds)){
             ssize_t l = read(fd, &buf[got], Lmax);
-            if(l < 1) return 0; // disconnected ??
+            if(l < 1){
+                DBG("read() < 0");
+                return 0; // disconnected ??
+            }
             got += l; Lmax -= l;
             buf[got] = 0;
         } else continue;
-        if(strchr(buf, '\n')) break;
-    }while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
-    if(got == 0) return 0; // WTF?
+        if(buf[got-1] == '\n') break; // got EOL as last symbol
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
+    if(got == 0){
+        //DBG("No data from encoder, tfs=%.6g", timefromstart());
+        return 0;
+    }
     char *estr = strrchr(buf, '\n');
-    if(!estr) return 0;
+    if(!estr){
+        DBG("No EOL");
+        return 0;
+    }
     *estr = 0;
     char *bgn = strrchr(buf, '\n');
     if(bgn) ++bgn;
@@ -193,9 +204,11 @@ static int getencval(int fd, double *val, double *t){
         return 0; // wrong number
     }
     if(val) *val = (double) data;
-    if(t) *t = t0;
+    if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
     return got;
 }
+#endif
+
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
 static int getencbyte(){
     if(encfd[0] < 0) return -1;
@@ -257,8 +270,6 @@ static void clrmntbuf(){
     if(mntfd < 0) return;
     uint8_t byte;
     fd_set rfds;
-    //double t0 = nanotime();
-    //int n = 0;
     do{
         FD_ZERO(&rfds);
         FD_SET(mntfd, &rfds);
@@ -272,10 +283,8 @@ static void clrmntbuf(){
         if(FD_ISSET(mntfd, &rfds)){
             ssize_t l = read(mntfd, &byte, 1);
             if(l != 1) break;
-            //++n;
         } else break;
     }while(1);
-    //DBG("Cleared by %g (got %d bytes)", nanotime() - t0, n);
 }
 
 // main encoder thread (for separate encoder): read next data and make parsing
@@ -283,7 +292,7 @@ static void *encoderthread1(void _U_ *u){
     if(Conf.SepEncoder != 1) return NULL;
     uint8_t databuf[ENC_DATALEN];
     int wridx = 0, errctr = 0;
-    double t = 0.;
+    struct timespec tcur;
     while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
         int b = getencbyte();
         if(b == -2) ++errctr;
@@ -294,13 +303,14 @@ static void *encoderthread1(void _U_ *u){
             if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                 databuf[wridx++] = (uint8_t) b;
-                t = nanotime();
             }
             continue;
         }else databuf[wridx++] = (uint8_t) b;
         if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
-            wridx = 0;
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
+                wridx = 0;
+            }
         }
     }
     if(encfd[0] > -1){
@@ -310,49 +320,131 @@ static void *encoderthread1(void _U_ *u){
     return NULL;
 }
 
+#define XYBUFSZ     (128)
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    FNAME();
+    if(!buf){DBG("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("buffer  overfull: %d!", buf->len);
+        char *lastn = strrchr(buf->buf, '\n');
+        if(lastn){
+            fprintf(stderr, "BUFOVR: _%s_", buf->buf);
+            ++lastn;
+            buf->len = XYBUFSZ - (lastn - buf->buf);
+            DBG("Memmove %d", buf->len);
+            memmove(lastn, buf->buf, buf->len);
+            buf->buf[buf->len] = 0;
+        }else buf->len = 0;
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        DBG("read()");
+        return FALSE;
+    }else if(got == 0){ DBG("NO data"); return TRUE; }
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf || buf->len < 1) return FALSE;
+    // read record between last '\n' and previous (or start of string)
+    char *last = &buf->buf[buf->len - 1];
+    //DBG("buf: _%s_", buf->buf);
+    if(*last != '\n') return FALSE;
+    *last = 0;
+    //DBG("buf: _%s_", buf->buf);
+    char *prev = strrchr(buf->buf, '\n');
+    if(!prev) prev = buf->buf;
+    else{
+        fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
+        ++prev; // after last '\n'
+    }
+    if(out) *out = atol(prev);
+    // clear buffer
+    buf->len = 0;
+    return TRUE;
+}
+
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        //DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
 // main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
 static void *encoderthread2(void _U_ *u){
     if(Conf.SepEncoder != 2) return NULL;
     DBG("Thread started");
+    struct pollfd pfds[2];
+    pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
+    pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
+    double t0[2], tstart;
+    buf_t strbuf[2];
+    long msrlast[2]; // last encoder data
+    double mtlast[2]; // last measurement time
+    asknext(encfd[0]); asknext(encfd[1]);
+    t0[0] = t0[1] = tstart = timefromstart();
     int errctr = 0;
-    double t0 = nanotime();
-    const char *req = "\n";
-    int need2ask = 0; // need or not to ask encoder for new data
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
-        if(need2ask){
-            if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
-            else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            DBG("poll()");
+            break;
         }
-        double v, t;
-        if(getencval(encfd[0], &v, &t)){
-            mountdata.encXposition.val = X_ENC2RAD(v);
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
-            mountdata.encXposition.t = t;
-            //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
-            getXspeed();
-            if(getencval(encfd[1], &v, &t)){
-                mountdata.encYposition.val = Y_ENC2RAD(v);
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
-                mountdata.encYposition.t = t;
-                //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
-                getYspeed();
-                errctr = 0;
-                need2ask = 0;
-            } else {
-                if(need2ask) ++errctr;
-                else need2ask = 1;
-                continue;
+        int got = 0;
+        for(int i = 0; i < 2; ++i){
+            if(pfds[i].revents && POLLIN){
+                if(!readstrings(&strbuf[i], encfd[i])){
+                    ++errctr;
+                    break;
+                }
+            }
+            double curt = timefromstart();
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
+                    pthread_mutex_lock(&datamutex);
+                    if(i == 0){
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encXposition.t);
+                        getXspeed();
+                    }else{
+                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encYposition.t);
+                        getYspeed();
+                    }
+                    pthread_mutex_unlock(&datamutex);
+                }
+                if(!asknext(encfd[i])){
+                    ++errctr;
+                    break;
+                }
+                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
+                ++got;
             }
-        } else {
-            if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;
         }
-        while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
-        //DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
-        t0 = nanotime();
-    }
-    DBG("ERRCTR=%d", errctr);
+        if(got == 2) errctr = 0;
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
             close(encfd[i]);
@@ -378,20 +470,67 @@ void data_free(data_t **x){
     *x = NULL;
 }
 
+static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
+    if(!prev || !nstopped || !stat) return;
+    if(isnan(*prev)){
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
+        }
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+}
+
 // main mount thread
 static void *mountthread(void _U_ *u){
     int errctr = 0;
     uint8_t buf[2*sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
     bzero(&mountdata, sizeof(mountdata));
-    if(Conf.RunModel) while(1){
-        pthread_mutex_lock(&datamutex);
-        // now change data
-        getModData(&mountdata);
-        pthread_mutex_unlock(&datamutex);
-        double t0 = nanotime();
-        while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
-        t0 = nanotime();
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
+    double oldmt = -100.; // old `millis measurement` time
+    static uint32_t oldmillis = 0;
+    if(Conf.RunModel){
+        double Xprev = NAN, Yprev = NAN; // previous coordinates
+        int xcnt = 0, ycnt = 0;
+        while(1){
+            coordpair_t c;
+            movestate_t xst, yst;
+            // now change data
+            getModData(&c, &xst, &yst);
+            struct timespec tnow;
+            if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
+            pthread_mutex_lock(&datamutex);
+            mountdata.encXposition.t = mountdata.encYposition.t = tnow;
+            mountdata.encXposition.val = c.X;
+            mountdata.encYposition.val = c.Y;
+            //DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
+            if(tcur - oldmt > Conf.MountReqInterval){
+                oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
+                mountdata.motYposition.t = mountdata.motXposition.t = tnow;
+                if(xst == ST_MOVE)
+                    mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
+                else
+                    mountdata.motXposition.val = c.X;
+                if(yst == ST_MOVE)
+                    mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
+                else
+                    mountdata.motYposition.val = c.Y;
+                oldmt = tcur;
+            }else mountdata.millis = oldmillis;
+            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
+            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
+            getXspeed(); getYspeed();
+            pthread_mutex_unlock(&datamutex);
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
+        }
     }
     // data to get
     data_t d = {.buf = buf, .maxlen = sizeof(buf)};
@@ -400,31 +539,8 @@ static void *mountthread(void _U_ *u){
     if(!cmd_getstat) goto failed;
     while(mntfd > -1 && errctr < MAX_ERR_CTR){
         // read data to status
-        double t0 = nanotime();
-#if 0
-// 127 milliseconds to get answer on X/Y commands!!!
-        int64_t ans;
-        int ctr = 0;
-        if(SSgetint(CMD_MOTX, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        tgot = nanotime();
-        if(SSgetint(CMD_MOTY, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        if(ctr == 2){
-            mountdata.millis = (uint32_t)(1e3 * tgot);
-            DBG("Got both coords; millis=%d", mountdata.millis);
-        }
-#endif
+        struct timespec tcur;
+        if(!curtime(&tcur)) continue;
         // 80 milliseconds to get answer on GETSTAT
         if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
 #ifdef EBUG
@@ -441,14 +557,13 @@ static void *mountthread(void _U_ *u){
         errctr = 0;
         pthread_mutex_lock(&datamutex);
         // now change data
-        SSconvstat(status, &mountdata, t0);
+        SSconvstat(status, &mountdata, &tcur);
         pthread_mutex_unlock(&datamutex);
-        //DBG("GOT FULL stat by %g", nanotime() - t0);
         // allow writing & getters
         do{
             usleep(500);
-        }while(nanotime() - t0 < Conf.MountReqInterval);
-        t0 = nanotime();
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
+        t0 = timefromstart();
     }
     data_free(&cmd_getstat);
 failed:
@@ -464,8 +579,15 @@ static int ttyopen(const char *path, speed_t speed){
     int fd = -1;
     struct termios2 tty;
     DBG("Try to open %s @ %d", path, speed);
-    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
-    if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
+    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
+        DBG("Can't open device %s: %s", path, strerror(errno));
+        return -1;
+    }
+    if(ioctl(fd, TCGETS2, &tty)){
+        DBG("Can't read TTY settings");
+        close(fd);
+        return -1;
+    }
     tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
     tty.c_iflag     = 0; // don't do any changes in input stream
     tty.c_oflag     = 0; // don't do any changes in output stream
@@ -474,7 +596,11 @@ static int ttyopen(const char *path, speed_t speed){
     tty.c_ospeed = speed;
     //tty.c_cc[VMIN]  = 0;  // non-canonical mode
     //tty.c_cc[VTIME] = 5;
-    if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
+    if(ioctl(fd, TCSETS2, &tty)){
+        DBG("Can't set TTY settings");
+        close(fd);
+        return -1;
+    }
     DBG("Check speed: i=%d, o=%d", tty.c_ispeed, tty.c_ospeed);
     if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
     // try to set exclusive
@@ -507,7 +633,7 @@ int openEncoder(){
             if(encfd[i] < 0) return FALSE;
         }
         encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 1000; // 1ms
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
         if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
             for(int i = 0; i < 2; ++i){
                 close(encfd[i]);
@@ -554,6 +680,7 @@ create_thread:
 
 // close all opened serial devices and quit threads
 void closeSerial(){
+    // TODO: close devices in "model" mode too!
     if(Conf.RunModel) return;
     if(mntfd > -1){
         DBG("Cancel mount thread");
@@ -572,7 +699,7 @@ void closeSerial(){
         DBG("close encoder's fd");
         close(encfd[0]);
         encfd[0] = -1;
-        if(Conf.SepEncoder == 2){
+        if(Conf.SepEncoder == 2 && encfd[1] > -1){
             close(encfd[1]);
             encfd[1] = -1;
         }
@@ -585,6 +712,8 @@ mcc_errcodes_t getMD(mountdata_t  *d){
     pthread_mutex_lock(&datamutex);
     *d = mountdata;
     pthread_mutex_unlock(&datamutex);
+    //DBG("ENCpos: %.10g/%.10g", d->encXposition.val, d->encYposition.val);
+    //DBG("millis: %u, encxt: %zd (time: %zd)", d->millis, d->encXposition.t.tv_sec, time(NULL));
     return MCC_E_OK;
 }
 
@@ -603,30 +732,24 @@ static int wr(const data_t *out, data_t *in, int needeol){
         return FALSE;
     }
     clrmntbuf();
-    //double t0 = nanotime();
     if(out){
         if(out->len != (size_t)write(mntfd, out->buf, out->len)){
             DBG("written bytes not equal to need");
             return FALSE;
         }
-        //DBG("Send to mount %zd bytes: %s", out->len, out->buf);
         if(needeol){
             int g = write(mntfd, "\r", 1); // add EOL
             (void) g;
         }
+        usleep(50000); // add little pause so that the idiot has time to swallow
     }
-    //DBG("sent by %g", nanotime() - t0);
-    //uint8_t buf[256];
-    //data_t dumb = {.buf = buf, .maxlen = 256};
     if(!in) return TRUE;
-    //if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
     in->len = 0;
     for(size_t i = 0; i < in->maxlen; ++i){
         int b = getmntbyte();
         if(b < 0) break; // nothing to read -> go out
         in->buf[in->len++] = (uint8_t) b;
     }
-    //DBG("got %zd bytes by %g", in->len, nanotime() - t0);
     while(getmntbyte() > -1);
     return TRUE;
 }
@@ -730,16 +853,23 @@ int cmdC(SSconfig *conf, int rw){
     }else{ // read
         data_t d;
         d.buf = (uint8_t *) conf;
-        d.len = 0; d.maxlen = sizeof(SSconfig);
+        d.len = 0; d.maxlen = 0;
+        ret = wr(rcmd, &d, 1);
+        DBG("write command: %s", ret ? "TRUE" : "FALSE");
+        if(!ret) goto rtn;
+        // make a huge pause for stupid SSII
+        usleep(100000);
+        d.len = 0;  d.maxlen = sizeof(SSconfig);
         ret = wr(rcmd, &d, 1);
         DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
-        if(d.len != d.maxlen) return FALSE;
+        if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
         // simplest checksum
         uint16_t sum = 0;
         for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
         if(sum != conf->checksum){
             DBG("got sum: %u, need: %u", conf->checksum, sum);
-            return FALSE;
+            ret = FALSE;
+            goto rtn;
         }
     }
 rtn:

Auxiliary_utils/LibSidServo/sidservo.h

@@ -32,37 +32,13 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
 
-// acceptable position error - 0.1''
-#define MCC_POSITION_ERROR      (5e-7)
-// acceptable disagreement between motor and axis encoders - 2''
-#define MCC_ENCODERS_ERROR      (1e-7)
-
-// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
-#define MCC_MAX_X_SPEED         (0.174533)
-#define MCC_MAX_Y_SPEED         (0.139626)
-// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
-// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
-#define MCC_X_ACCELERATION      (0.219911)
-#define MCC_Y_ACCELERATION      (0.165806)
-
+// minimal serial speed of mount device
+#define MOUNT_BAUDRATE_MIN      (1200)
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
-// PID I cycle time (analog of "RC" for PID on opamps)
-#define MCC_PID_CYCLE_TIME      (5.)
-// maximal PID refresh time interval (if larger all old data will be cleared)
-#define MCC_PID_MAX_DT          (1.)
-// normal PID refresh interval
-#define MCC_PID_REFRESH_DT      (0.1)
-// boundary conditions for axis state: "slewing/pointing/guiding"
-// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 5 degrees
-//#define MCC_MAX_POINTING_ERR    (0.20943951)
-#define MCC_MAX_POINTING_ERR    (0.08726646)
-// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
-#define MCC_MAX_GUIDING_ERR     (0.026179939)
-// if error less than this value we suppose that target is captured and guiding is good: 0.1''
-#define MCC_MAX_ATTARGET_ERR    (4.8481368e-7)
+
 
 // error codes
 typedef enum{
@@ -72,6 +48,7 @@ typedef enum{
     MCC_E_ENCODERDEV,   // encoder device error or can't open
     MCC_E_MOUNTDEV,     // mount device error or can't open
     MCC_E_FAILED,       // failed to run command - protocol error
+    MCC_E_AMOUNT        // Just amount of errors
 } mcc_errcodes_t;
 
 typedef struct{
@@ -86,14 +63,23 @@ typedef struct{
     int     SepEncoder;             // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
     char*   EncoderXDevPath;        // paths to new controller devices
     char*   EncoderYDevPath;
+    double  EncodersDisagreement;   // acceptable disagreement between motor and axis encoders
     double  MountReqInterval;       // interval between subsequent mount requests (seconds)
     double  EncoderReqInterval;     // interval between subsequent encoder requests (seconds)
     double  EncoderSpeedInterval;   // interval between speed calculations
     int     RunModel;               // == 1 if you want to use model instead of real mount
+    double  PIDMaxDt;               // maximal PID refresh time interval (if larger all old data will be cleared)
+    double  PIDRefreshDt;           // normal PID refresh interval
+    double  PIDCycleDt;             // PID I cycle time (analog of "RC" for PID on opamps)
     PIDpar_t XPIDC;                 // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
     PIDpar_t XPIDV;
     PIDpar_t YPIDC;
     PIDpar_t YPIDV;
+    double  MaxPointingErr;         // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
+    double  MaxFinePointingErr;     // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
+    double  MaxGuidingErr;          // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
+    int     XEncZero;               // encoders' zero position
+    int     YEncZero;
 } conf_t;
 
 // coordinates/speeds in degrees or d/s: X, Y
@@ -104,7 +90,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
     double val;
-    double t;
+    struct timespec t;
 } coordval_t;
 
 typedef struct{
@@ -205,6 +191,9 @@ typedef struct{
     double outplimit;   // Output Limit, percent (0..100)
     double currlimit;   // Current Limit (A)
     double intlimit;    // Integral Limit (???)
+    // these params are taken from mount by text commands (don't save negative values - better save these marks in xybits
+    double motor_stepsperrev;// encoder's steps per revolution: motor and axis
+    double axis_stepsperrev; // negative sign of these values means reverse direction
 } __attribute__((packed)) axis_config_t;
 
 // hardware configuration
@@ -246,7 +235,7 @@ typedef struct{
     void            (*quit)(); // deinit
     mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
 //    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint);
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
     mcc_errcodes_t  (*moveTo)(const coordpair_t *target); // move to given position and stop
     mcc_errcodes_t  (*moveWspeed)(const coordpair_t *target, const  coordpair_t *speed); // move with given max speed
     mcc_errcodes_t  (*setSpeed)(const coordpair_t *tagspeed); // set speed
@@ -256,7 +245,13 @@ typedef struct{
     mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
     mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
     mcc_errcodes_t  (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
-    double          (*currentT)(); // current time
+    int             (*currentT)(struct timespec *t); // current time
+    double          (*timeFromStart)(); // amount of seconds from last init
+    double          (*timeDiff)(const struct timespec *time1, const struct timespec *time0); // difference of times
+    double          (*timeDiff0)(const struct timespec *time1); // difference between current time and last init time
+    mcc_errcodes_t  (*getMaxSpeed)(coordpair_t *v); // maximal speed by both axis
+    mcc_errcodes_t  (*getMinSpeed)(coordpair_t *v); // minimal -//-
+    mcc_errcodes_t  (*getAcceleration)(coordpair_t *a); // acceleration/deceleration
 } mount_t;
 
 extern mount_t Mount;

Auxiliary_utils/LibSidServo/ssii.c

@@ -18,6 +18,7 @@
 
 #include <ctype.h>
 #include <inttypes.h>
+#include <stdio.h>
 #include <string.h>
 #include <unistd.h>
 
@@ -25,6 +26,9 @@
 #include "serial.h"
 #include "ssii.h"
 
+int X_ENC_ZERO, Y_ENC_ZERO;
+double X_MOT_STEPSPERREV = 1., Y_MOT_STEPSPERREV = 1., X_ENC_STEPSPERREV = 1., Y_ENC_STEPSPERREV = 1.;
+
 uint16_t SScalcChecksum(uint8_t *buf, int len){
     uint16_t checksum = 0;
     for(int i = 0; i < len; i++){
@@ -66,17 +70,18 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
  * @param m (o) - output
  * @param t - measurement time
  */
-void SSconvstat(const SSstat *s, mountdata_t *m, double t){
-    if(!s || !m) return;
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
+    if(!s || !m || !t) return;
     m->motXposition.val = X_MOT2RAD(s->Xmot);
     m->motYposition.val = Y_MOT2RAD(s->Ymot);
     ChkStopped(s, m);
-    m->motXposition.t = m->motYposition.t = t;
+    m->motXposition.t = m->motYposition.t = *t;
     // fill encoder data from here, as there's no separate enc thread
     if(!Conf.SepEncoder){
-        m->encXposition.val = X_ENC2RAD(s->Xenc);
-        m->encYposition.val = Y_ENC2RAD(s->Yenc);
-        m->encXposition.t = m->encYposition.t = t;
+        m->encXposition.val = Xenc2rad(s->Xenc);
+        DBG("encx: %g", m->encXposition.val);
+        m->encYposition.val = Yenc2rad(s->Yenc);
+        m->encXposition.t = m->encYposition.t = *t;
         getXspeed(); getYspeed();
     }
     m->keypad = s->keypad;
@@ -175,33 +180,39 @@ int SSstop(int emerg){
 mcc_errcodes_t updateMotorPos(){
     mountdata_t md = {0};
     if(Conf.RunModel) return MCC_E_OK;
-    double t0 = nanotime(), t = 0.;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
     DBG("start @ %g", t0);
     do{
-        t = nanotime();
+        t = timefromstart();
+        if(!curtime(&curt)){
+            usleep(10000);
+            continue;
+        }
+        //DBG("XENC2RAD: %g (xez=%d, xesr=%.10g)", Xenc2rad(32424842), X_ENC_ZERO, X_ENC_STEPSPERREV);
         if(MCC_E_OK == getMD(&md)){
-            if(md.encXposition.t == 0 || md.encYposition.t == 0){
-                DBG("Just started, t-t0 = %g!", t - t0);
-                sleep(1);
-                DBG("t-t0 = %g", nanotime() - t0);
-                //usleep(10000);
+            if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
+                DBG("Just started? t-t0 = %g!", t - t0);
+                usleep(10000);
                 continue;
             }
-            DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
+            if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
+            DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
             mcc_errcodes_t OK = MCC_E_OK;
-            if(fabs(md.motXposition.val - md.encXposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
-                DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
+            if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
+                DBG("NEED to sync X: motors=%g, axis=%g", md.motXposition.val, md.encXposition.val);
+                DBG("new motsteps: %d", X_RAD2MOT(md.encXposition.val));
                 if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
                     DBG("Xpos sync failed!");
                     OK = MCC_E_FAILED;
-                }else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Xpos sync OK, Dt=%g", t - t0);
             }
-            if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
-                DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
+                DBG("NEED to sync Y: motors=%g, axis=%g", md.motYposition.val, md.encYposition.val);
                 if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
                     DBG("Ypos sync failed!");
                     OK = MCC_E_FAILED;
-                }else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Ypos sync OK, Dt=%g", t - t0);
             }
             if(MCC_E_OK == OK){
                 DBG("Encoders synced");

Auxiliary_utils/LibSidServo/ssii.h

@@ -173,64 +173,72 @@
 #define SITECH_LOOP_FREQUENCY   (1953.)
 
 // amount of consequent same coordinates to detect stop
-#define MOTOR_STOPPED_CNT       (4)
+#define MOTOR_STOPPED_CNT       (19)
+
+// replace macros with global variables inited when config read
+extern int X_ENC_ZERO, Y_ENC_ZERO;
+extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;
 
 // TODO: take it from settings?
 // steps per revolution (SSI - x4 - for SSI)
-#define X_MOT_STEPSPERREV_SSI   (13312000.)
+// -> hwconf.Xconf.mot/enc_stepsperrev
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
 // 13312000 / 4 = 3328000
-#define X_MOT_STEPSPERREV   (3328000.)
-#define Y_MOT_STEPSPERREV_SSI (17578668.)
+//#define X_MOT_STEPSPERREV   (3328000.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
 // 17578668 / 4 = 4394667
-#define Y_MOT_STEPSPERREV   (4394667.)
+//#define Y_MOT_STEPSPERREV   (4394667.)
 
 // encoder per revolution
-#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108864.)
+//#define X_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
 // encoder zero position
-#define X_ENC_ZERO          (61245239)
-#define Y_ENC_ZERO          (36999830)
-// encoder reversed (no: +1)
-#define X_ENC_SIGN          (-1.)
-#define Y_ENC_SIGN          (-1.)
+// -> conf.XEncZero/YEncZero
+//#define X_ENC_ZERO          (61245239)
+//#define Y_ENC_ZERO          (36999830)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
+//#define X_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
+
+
 // encoder position to radians and back
-#define X_ENC2RAD(n)    ang2half(X_ENC_SIGN * 2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
-#define Y_ENC2RAD(n)    ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
-#define X_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
-#define Y_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
+#define Yenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(Y_ENC_ZERO))) / (Y_ENC_STEPSPERREV))
+#define Xrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (X_ENC_STEPSPERREV)))
+#define Yrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (Y_ENC_STEPSPERREV)))
 
 // convert angle in radians to +-pi
-static inline double ang2half(double ang){
+static inline __attribute__((always_inline)) double ang2half(double ang){
     if(ang < -M_PI) ang += 2.*M_PI;
     else if(ang > M_PI) ang -= 2.*M_PI;
     return ang;
 }
 // convert to only positive: 0..2pi
-static inline double ang2full(double ang){
+static inline __attribute__((always_inline)) double ang2full(double ang){
     if(ang < 0.) ang += 2.*M_PI;
     else if(ang > 2.*M_PI) ang -= 2.*M_PI;
     return ang;
 }
 
 // motor position to radians and back
-#define X_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
-#define Y_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
-#define X_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * X_MOT_STEPSPERREV))
-#define Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * Y_MOT_STEPSPERREV))
+#define X_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / (X_MOT_STEPSPERREV))
+#define Y_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / (Y_MOT_STEPSPERREV))
+#define X_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * (X_MOT_STEPSPERREV)))
+#define Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * (Y_MOT_STEPSPERREV)))
 // motor speed in rad/s and back
-#define X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
-#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
-#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
-#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
+#define X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
+#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
+#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
+#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
 // motor acceleration -//-
-#define X_MOTACC2RS(n)  (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
-#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
-#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
-#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
+#define X_MOTACC2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
+#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
+#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
+#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
 
 // adder time to seconds vice versa
-#define ADDER2S(a)  ((a) / SITECH_LOOP_FREQUENCY)
-#define S2ADDER(s)  ((s) * SITECH_LOOP_FREQUENCY)
+#define ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
+#define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))
 
 // encoder's tolerance (ticks)
 #define YencTOL    (25.)
@@ -331,7 +339,7 @@ typedef struct{
 } __attribute__((packed)) SSconfig;
 
 uint16_t SScalcChecksum(uint8_t *buf, int len);
-void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
+void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timespec *t);
 int SStextcmd(const char *cmd, data_t *answer);
 int SSrawcmd(const char *cmd, data_t *answer);
 int SSgetint(const char *cmd, int64_t *ans);

Auxiliary_utils/PCS_create/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.30)
 set(PROJ PCS_create)
 set(MINOR_VERSION "0")
 set(MID_VERSION "1")

Auxiliary_utils/PCS_create/PCS.c

@@ -321,7 +321,7 @@ static void printheader(){
 }
 
 int main(int argc, char **argv) {
-    initial_setup();
+    sl_init();
     G = parse_args(argc, argv);
     if(G->pressure < 0.) ERRX("Pressure should be greater than zero");
     if(G->temperature < -100. || G->temperature > 100.) ERRX("Temperature over the range -100..+100");

Auxiliary_utils/PCS_create/cmdlnopts.c

@@ -40,7 +40,7 @@ glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name    has_arg flag    val     type        argptr          help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     // set 1 to param despite of its repeating number:
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"10m",     NO_ARGS,    NULL,   't',    arg_int,    APTR(&G.for10m),    _("make output suitable for 10-micron mount")},
@@ -68,10 +68,10 @@ static myoption cmdlnopts[] = {
 glob_pars *parse_args(int argc, char **argv){
     void *ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
     // format of help: "Usage: progname [args]\n"
-    change_helpstring(_("Version: " PACKAGE_VERSION "\nUsage: %s [args] FITS_files\nMake PCS list for equatorial mount\n\tWhere args are:\n"));
+    sl_helpstring(_("Version: " PACKAGE_VERSION "\nUsage: %s [args] FITS_files\nMake PCS list for equatorial mount\n\tWhere args are:\n"));
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     G.nfiles = argc;
     G.infiles = MALLOC(char*, argc);
     for(int i = 0; i < argc; i++){

Auxiliary_utils/Weather_chk/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.30)
 set(PROJ chkweather)
 set(MINOR_VERSION "1")
 set(MID_VERSION "0")

Auxiliary_utils/Weather_chk/cmdlnopts.c

@@ -40,7 +40,7 @@ glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name    has_arg flag    val     type        argptr          help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     // set 1 to param despite of its repeating number:
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"speed",   NEED_ARG,   NULL,   's',    arg_int,    APTR(&G.speed),     _("baudrate (default: 9600)")},
@@ -59,10 +59,10 @@ static myoption cmdlnopts[] = {
 glob_pars *parse_args(int argc, char **argv){
     void *ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
     // format of help: "Usage: progname [args]\n"
-    change_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
+    sl_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         WARNX("Wrong arguments:\n");
         for(int i = 0; i < argc; i++)

Auxiliary_utils/Weather_chk/main.c

@@ -51,28 +51,28 @@ static int getpar(char *string, double *Val, char *Name){
 
 int main(int argc, char **argv){
     glob_pars *G = NULL; // default parameters see in cmdlnopts.c
-    initial_setup();
+    sl_init();
     G = parse_args(argc, argv);
-    TTY_descr *dev = new_tty(G->ttyname, G->speed, 64);
+    sl_tty_t *dev = sl_tty_new(G->ttyname, G->speed, 64);
     if(!dev) return 1;
     size_t got, L = 0;
     char buff[BUFLEN], *ptr = buff;
     int errctr = 0;
     for(; errctr < ERRCTR_MAX; ++errctr){
-        if(!tty_open(dev, 1)){
+        if(!sl_tty_open(dev, 1)){
             sleep(1);
             continue;
         }
-        while(read_tty(dev)); // clear buffer
-        if(write_tty(dev->comfd, "?U\r\n", 3)){
+        while(sl_tty_read(dev)); // clear buffer
+        if(sl_tty_write(dev->comfd, "?U\r\n", 3)){
             WARNX("write_tty()");
             continue;
         }
-        double t0 = dtime();
-        while(dtime() - t0 < 10.){ // timeout - 10s
-            got = read_tty(dev);
+        double t0 = sl_dtime();
+        while(sl_dtime() - t0 < 10.){ // timeout - 10s
+            got = sl_tty_read(dev);
             if(got == 0) continue;
-            t0 = dtime();
+            t0 = sl_dtime();
             if(L + got > BUFLEN - 1) break;
             L += got;
             buff[L] = 0;
@@ -92,8 +92,8 @@ int main(int argc, char **argv){
             continue;
         }else break;
     }
-    while(read_tty(dev));
-    close_tty(&dev);
+    while(sl_tty_read(dev));
+    sl_tty_close(&dev);
     if(errctr == ERRCTR_MAX){
         ERRX("No connection to meteostation");
     }

Auxiliary_utils/bash_scripts/AZpoint

@@ -4,7 +4,7 @@ A="90:00:00"
 H="45:00:00"
 
 function sendcmd(){
-	echo $1 | nc 192.168.70.33 10001 -q10
+	echo $1 | nc localhost 10001 -q10
 }
 
 sendcmd ":Sz${A}#"

Auxiliary_utils/bash_scripts/allsky_sixel.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+#
+# $1 - scaling factor (in percents) of the image
+#
+
+scale=50
+if [ $# -gt 0 ]; then
+     scale=$1
+fi
+
+unset http_proxy
+
+clear
+while [[ 1 ]]; do
+    tput cup 0 0
+    curl -s http://zarch.sao.ru/webcam/mirat_allsky.cgi | magick - -colors 256 +dither -normalize -resize $scale% sixel:- 
+#    sleep 30s
+    sleep 5s
+done

Auxiliary_utils/bash_scripts/allsky_sixel_weather.sh

@@ -0,0 +1,114 @@
+#!/bin/bash
+
+#
+# $1 - scaling factor (in percents) of the image
+#
+
+function get_val {
+  echo $(echo $1 | cut -d "=" -f 2 | cut -d "." -f 1)
+}
+
+white_col="\e[97m"
+red_col="\e[1m\e[31m"
+end_col="\e[0m"
+last_row=0
+
+scale=50
+if [ $# -gt 0 ]; then
+     scale=$1
+fi
+
+unset http_proxy
+
+im_sleep=20 # in secs
+info_sleep=180 # in secs
+
+n_info=$((info_sleep/im_sleep))
+
+
+
+clear
+while [[ 1 ]]; do
+    # weather info
+    m_old=($(curl 192.168.70.33:12345 2>/dev/null)// / )
+    rain=${m_old[0]}
+    clouds=${m_old[1]}
+    temp=${m_old[2]}
+
+    m_new=($(curl localhost:3333/stat3600 2>/dev/null | sed 's/[\x01-\x1F\x7F]//g')// / )
+    windmax=${m_new[0]}
+    m_new=($(curl localhost:3333 2>/dev/null | sed 's/[\x01-\x1F\x7F]//g')// / )
+    wind=${m_new[0]}
+    humi=${m_new[4]}
+
+    rain_col=$white_col
+    clouds_col=$white_col
+    humi_col=$white_col
+    wind_col=$white_col
+    wind_max_col=$white_col
+
+    let rain_flag=$(get_val $rain)
+    if [[ $rain_flag -eq 1 ]]; then
+        rain_col=$red_col
+    fi
+
+    let clouds_val=$(get_val $clouds)
+    if [[ $clouds_val -le 1500 ]]; then
+        clouds_col=$red_col
+
+    fi
+
+    let humi_val=$(get_val $humi)
+    if [[ $humi_val -ge 90 ]]; then
+        humi_col=$red_col
+    fi
+
+    let wind_val=$(get_val $wind)
+    if [[ $wind_val -ge 10 ]]; then
+        wind_col=$red_col
+    fi
+
+    let wind_max_val=$(get_val $windmax)
+    if [[ $wind_max_val -ge 10 ]]; then
+        wind_max_col=$red_col
+    fi
+
+    ncols=`tput cols`
+    start_col=$((ncols-25))
+
+    tput cup $last_row $start_col
+#    echo -e "\e[4m`date`:\e[0m"
+    echo -e "\e[4m`date +'%F %T'`:\e[0m"
+
+    ((++last_row))
+
+    tput cup $last_row $start_col
+    echo -e "$clouds_col$clouds $rain_col($rain)$end_col"
+
+    ((++last_row))
+
+    tput cup $last_row $start_col
+#    echo -e "$temp $humi_col($humi)$end_col"
+    temp_val=`printf "%.1f" ${temp#*=}`
+    echo -e "Temp=$temp_val, ${humi_col}Hum=$humi_val%$end_col"
+
+    ((++last_row))
+
+    tput cup $last_row $start_col
+#    echo -e "$wind_col$wind $wind_max_col($windmax @hour)$end_col\n"
+    wind_max_val=`printf "%.1f" ${windmax#*=}`
+    echo -e "$wind_col$wind $wind_max_col(Max=$wind_max_val/hour)$end_col\n"
+
+    IFS='[;' read -p $'\e[6n' -d R -rs _ last_row col _
+
+    # allsky image
+
+    for i in `seq $n_info`; do
+        tput cup 0 0
+        curl -s http://zarch.sao.ru/webcam/omea_allsky.cgi  | magick - -colors 256 -normalize +dither -resize $scale% sixel:- 
+#        curl -s http://zarch.sao.ru/webcam/mirat_allsky.cgi | magick - -colors 256 -resize $scale% sixel:- 
+        sleep ${im_sleep}s
+    done
+
+
+done

Auxiliary_utils/bash_scripts/copy_and_xz.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+#
+# $1 - directory to be copied
+#
+
+RDIR="/home/obs/robotel1_2025"
+
+# copy non-FITS files
+tar c --exclude='*.fit' --exclude='*shit*' $1 | ssh obs@roboserv "tar x -C  $RDIR"
+#tar c --exclude='*.fit' --exclude='*shit*' $1 | ssh obs@roboserv "tar x -C  /home/obs/robotel1_2023"
+
+# copy FITS files and XZ-ing it on remote server
+CMD='sh -c "xz -6e -T0 - > $TAR_FILENAME.xz"'
+tar c $1/*.fit | ssh obs@roboserv "cd  $RDIR; tar x --to-command='$CMD'"
+#tar c $1/*.fit | ssh obs@roboserv "cd  /home/obs/robotel1_2023; tar x --to-command='$CMD'"
+
+ssh obs@roboserv "cd $RDIR;  tar c $1 | ssh data@robostorage 'tar x -C  /mnt/ARCHIVE/ROBOTEL1/'"

Auxiliary_utils/bash_scripts/park_telescope_1

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+A="01:48:38"
+H="01:13:29"
+
+function sendcmd(){
+	echo $1 | nc localhost 10001 -q10 || (echo "Can't connect" >&2; exit 1)
+}
+
+#lower limit is 0
+sendcmd ":So0#"
+sendcmd ":Sz${A}#"
+sendcmd ":Sa${H}#"
+sendcmd ":MA#" # || exit 1
+
+errctr=0
+
+while true; do
+	sleep 2
+	ANS=$(sendcmd ":Gstat#")
+	if [ "x$ANS" == "x" ]; then
+		[[ $((++errctr)) < 5 ]] && continue
+		echo "No connection to server" >&2
+		exit 1
+	fi
+	echo $ANS
+	[ $ANS == "0#" -o $ANS == "7#" ] && break
+done
+
+# stop tracking
+sendcmd ":AL#"
+
+echo -e "\n\nTelescope parked\n"

Auxiliary_utils/bash_scripts/park_telescope_2

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+A="00:00:00"
+H="2:00:00"
+
+function sendcmd(){
+	echo $1 | nc localhost 10001 -q10 || (echo "Can't connect" >&2; exit 1)
+}
+
+#lower limit is 0
+sendcmd ":So0#"
+sendcmd ":Sz${A}#"
+sendcmd ":Sa${H}#"
+sendcmd ":MA#" # || exit 1
+
+errctr=0
+
+while true; do
+	sleep 2
+	ANS=$(sendcmd ":Gstat#")
+	if [ "x$ANS" == "x" ]; then
+		[[ $((++errctr)) < 5 ]] && continue
+		echo "No connection to server" >&2
+		exit 1
+	fi
+	echo $ANS
+	[ $ANS == "0#" -o $ANS == "7#" ] && break
+done
+
+# stop tracking
+sendcmd ":AL#"
+
+echo -e "\n\nTelescope parked\n"

Auxiliary_utils/bash_scripts/run_full.new_foc

@@ -0,0 +1,165 @@
+#!/bin/bash
+RA="17:17:08.86"
+DEC="+67:57:11.4"
+OBJ="GALEX171708.5"
+EXPTIME=31000
+FLATTIME=40000
+OBS="Fatkhullin T.A."
+BADWEATHER=1300
+DATEEND=$(sunrise 14)
+# focus each N seconds
+FOCUST=7200
+
+FNO=1
+FDATE=0
+
+#
+# NOTE: THIS IS A NEW VERSION OF THE OBSERVATION SCRIPT!
+# CHAGLELOG: 
+#   Oct 2024: replace focussing algorithm (T. Fatkhullin)
+#             At the night start the first focussing run
+#             uses of two-step algorithm:
+#               1) rough focus astimation along full season-to-season
+#                  focus range (as it was implemented in the old obs. script)
+#               2) precise focussing along narrow range computed from
+#                  previous rough estimation
+#             Next focussing runs compute range from the current focus value.
+#             (new function 'focustel_new')
+#
+#  May 2025: rewrite detection of running this script process (T. Fatkhullin)
+#            (use of '-c' commandline option for 'pgrep' command)
+
+function focustel_new(){
+    rm focus*.fit 2>/dev/null
+    echo "Focussing..."
+
+    let fno=$1
+    if [[ $fno -gt 1 ]]; then
+        let curr_foc=`fli_control | tail -n 5 | head -n 1 | cut -d "=" -f 2`
+        let lowf=$curr_foc-1500
+        let highf=$curr_foc+1500
+        focus_seq_FLI.py -v -c focus$(printf "%02d" $1).jpg $lowf $highf 500
+        
+        if [[ $? -ne 0 ]]; then
+            echo -e "\nFOCUSSING SCRIPT RETURNED: $?"
+            echo -e "SOMETHING WAS WRONG IN FOCUSSING SEQUENCE!!! SET FOCUS TO PREVIOUS VALUE!!\n"
+            fli_control -g $curr_foc
+        fi
+    else
+        focus_seq_FLI.py --guess -v -N 7 -c focus$(printf "%02d" $1).jpg 47000 60000 500
+    fi 
+
+    FDATE=$(date +%s)
+}
+
+function sendcmd(){
+    echo $1 | nc 192.168.70.33 10001 -q10
+}
+
+function point_tel(){
+	touch lastpointing
+	send_coords -r $1 -d $2
+}
+
+#c=$(pgrep run_full | wc -l)
+# $ will run another run_full, so c=2 for single run
+#if [[ $c -gt 1 ]]; then
+#    echo "Another process is running; exiting"
+#    exit 1
+#fi
+
+if [[ $(pgrep -c run_full) -gt 1 ]]; then
+    echo "Another process is running! Exit!"
+    exit 1
+fi
+
+export http_proxy=""
+
+# set lower limit to 5degr
+send_command2mount ":So5#"
+
+echo "Time diff: $(($DATEEND-$(date +%s)))"
+if [ $(($DATEEND-$(date +%s))) -lt 3600 ]; then
+	echo "There's less an hour for observation!"
+	exit 2
+fi
+
+if [ $(($DATEEND-$(date +%s))) -gt 53200 ]; then
+	echo "There's more than 12 hours till closing, check script data!"
+	exit 3
+fi
+
+#STARTobs
+
+#send_coords
+#echo "Wait a little"
+#sleep 10
+
+echo "GoTo object: ${RA} ${DEC}"
+send_coords -r${RA} -d${DEC}
+
+echo "Start taking object"
+
+badweather=0
+while true; do
+	now=$(date +%s)
+	ANS=$(curl localhost:55555/status 2>/dev/null)
+	echo "Dome status: $ANS"
+	if [ $ANS != "opened" ]; then
+		echo "Closed"
+		curl localhost:55555/weather 2>/dev/null > DomeClosed
+		break;
+	fi
+	chkweather ${BADWEATHER} > lastweather && badweather=0 || badweather=$((badweather+1))
+	[ $badweather -gt 5 ] && break
+	[ -f stopobs ] && break
+	[ -f exitjob ] && exit 0
+	if [ "$now" -lt "$DATEEND" ]; then
+		est=$(sendcmd ":Gmte#"|sed -e 's/^0*//' -e 's/#//')
+		echo -e "\n\n\n\n\nEstimated time to flip: $est minutes"
+		if [[ ("x$est" == "x") || ($est -lt 3) ]]; then
+			point_tel "${RA}" "${DEC}"
+			continue
+		fi
+		ST=$(send_coords | awk '{print $4}')
+		[ "x$ST" == "x" ] && break
+		if [ $ST -ne "0" ]; then
+			point_tel "${RA}" "${DEC}"
+			continue
+		else
+			[ $(($(date +%s) - $FDATE)) -gt $FOCUST ] && focustel_new $((FNO++))
+#			[ $(($(date +%s) - $FDATE)) -gt $FOCUST ] && focustel $((FNO++))
+			preflash
+			fli_control -r /tmp/10micron.fitsheader -x $EXPTIME -N "${OBS}" -O "${OBJ}" "$OBJ"
+		fi
+	else
+		break
+	fi
+done
+
+echo "Dome closed @ $(date)" >> closed
+curl localhost:55555/close
+
+relay_manage -s1
+park_telescope
+
+for x in $(seq 1 10); do
+	preflash
+	fli_control -r /tmp/10micron.fitsheader -x1 -N "${OBS}" -O "bias" -d bias
+	preflash
+	fli_control -r /tmp/10micron.fitsheader -x $EXPTIME -N "${OBS}" -O "dark" -d dark
+	preflash
+	fli_control -r /tmp/10micron.fitsheader -n3 -x $FLATTIME -N "${OBS}" -O "flat" flat
+done
+
+relay_manage -r1
+echo "Closed @ $(date)" >> closed
+
+STOPobs || true
+
+DIR=$(basename $PWD)
+echo "TAR: $DIR"
+cd ..
+./copy_and_xz.sh $DIR
+echo "Archived, end"
+echo "$DIR archived @ $(date)"  >> archived

Auxiliary_utils/bash_scripts/setup_obs.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+
+#
+# The script creates working directory,
+# copies 'run' script into it and
+# edits observer name according to 
+# the its argument
+#
+# Working directory name is formed from
+# date of the script running and is computed
+# as follows:
+#    now - 12hours
+# i.e. the day starts from 12h not from 0h!
+#
+# $1 - observer name
+#
+
+if [[ $# -eq 0 ]]; then
+    obs_name="Fatkhullin T.A."
+else
+    obs_name=$1
+fi
+
+# now - 12h
+let now12=`date +%s`-12*3600
+
+# working directory
+wdir=/DATA/FITS/`date -d @$now12 +%y.%m.%d`
+
+echo -n "Creating working directory: $wdir ..."
+if [[ -d $wdir ]]; then
+    echo -e "\tFAILED! The directory already exists! Exit!"
+    exit 1
+else
+    echo -e "\tOK!"
+    mkdir $wdir
+    cd $wdir
+fi
+
+cp ../run_full.new_foc .
+
+# replace observer name
+sed -i "0,/^OBS=\".*\"/ s//OBS=\"${obs_name}\"/" run_full.new_foc
+#sed -i "0,/^OBS=\"[a-zA-Z \.]*\"/ s//OBS=\"${obs_name}\"/" run_full.new_foc

Auxiliary_utils/bash_scripts/video2dome1-2.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+mpv -vo sixel --really-quiet=yes "rtsp://viewer:view25@192.168.70.25:554/axis-media/media.amp?videocodec=h264&resolution=640x480"

Auxiliary_utils/calc_points/cmdlnopts.c

@@ -41,7 +41,7 @@ static glob_pars G = {
  * Define command line options by filling structure:
  *  name        has_arg     flag    val     type        argptr              help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
 // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        "show this help"},
     {"delimeter",NEED_ARG,  NULL,   'd',    arg_string, APTR(&G.delimeter), "coordinates delimeter string (default: ':')"},
@@ -71,10 +71,10 @@ glob_pars *parse_args(int argc, char **argv){
     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);
+    sl_helpstring(helpstring);
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         G.rest_pars_num = argc;
         G.rest_pars = MALLOC(char *, argc);

Auxiliary_utils/calc_points/main.c

@@ -100,7 +100,7 @@ static void savepoints(FILE *f, point *pts, int N, char *delim, int mask){
 }
 
 int main(int argc, char **argv){
-    initial_setup();
+    sl_init();
     glob_pars *G = parse_args(argc, argv);
     FILE *f = NULL;
     if(G->outfile){

Auxiliary_utils/focussing/main.c

@@ -32,7 +32,7 @@ typedef struct{
 
 static glob_pars G = {.tolerance = 10.};
 
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_none,   APTR(&G.help),      _("show this help")},
     {"infile",  NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.input),     _("input file name")},
@@ -158,11 +158,11 @@ static double calcfocus(double coeffs[3]){
 
 int main(int argc, char **argv){
     char helpstring[256];
-    initial_setup();
+    sl_init();
     snprintf(helpstring, 255, "Usage: `cat file | %%s` or with args; file format \"x y\\n..\"\n\tArgs:\n");
-    change_helpstring(helpstring);
-    parseargs(&argc, &argv, cmdlnopts);
-    if(G.help) showhelp(-1, cmdlnopts);
+    sl_helpstring(helpstring);
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
     if(G.tolerance <= 0.) ERRX("Tolerance should be > 0");
     FILE *f = stdin;
     if(G.input){

Auxiliary_utils/libastrotools/examples/coordstest.c

@@ -36,7 +36,7 @@ static const char *radtodeg(double r){
 
 
 int main(){
-    initial_setup();
+    sl_init();
     at_MJD_t mjd;
     if(!at_get_MJDu(time(NULL), &mjd)) ERRX("at_get_MJDu");
     printf("MJD=%g; TAI=%g/%g, TT=%g/%g, UTC=%g/%g\n", mjd.MJD, mjd.tai1, mjd.tai2, mjd.tt1, mjd.tt2, mjd.utc1, mjd.utc2);

Auxiliary_utils/libastrotools/examples/transform.c

@@ -56,7 +56,7 @@ static parameters G = {
     .py = -10000.
 };
 
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
     {"obsplace",    NO_ARGS,    NULL,   'O',    arg_int,    APTR(&G.obsplace),  "input RA/Dec is observed place"},
     {"JD",          NEED_ARG,   NULL,   'J',    arg_double, APTR(&G.JD),        "Julian date"},
@@ -77,9 +77,9 @@ static myoption cmdlnopts[] = {
 
 
 int main(int argc, char **argv){
-    initial_setup();
-    parseargs(&argc, &argv, cmdlnopts);
-    if(G.help) showhelp(-1, cmdlnopts);
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
     at_MJD_t MJD;
     G.ra *= ERFA_DD2R;
     G.dec *= ERFA_DD2R;

Daemons/Readme.md

@@ -8,3 +8,5 @@ Different daemons & tools
 - *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
+- *weatherdaemon* - weather daemon for old meteostation
+- *weatherdaemon_newmeteo* - daemon for new (chinese) meteostation

Daemons/domedaemon-astrosib/server.c

@@ -180,9 +180,10 @@ static void toomuch(int fd){
     LOGWARN("Client fd=%d tried to connect after MAX reached", fd);
 }
 // new connections handler
-static void connected(sl_sock_t *c){
+static int connected(sl_sock_t *c){
     if(c->type == SOCKT_UNIX) LOGMSG("New client fd=%d connected", c->fd);
     else LOGMSG("New client fd=%d, IP=%s connected", c->fd, c->IP);
+    return TRUE;
 }
 // disconnected handler
 static void disconnected(sl_sock_t *c){
@@ -196,12 +197,12 @@ void server_run(sl_socktype_e type, const char *node, sl_tty_t *serial){
         ERRX("server_run(): wrong parameters");
     }
     dome_serialdev(serial);
-    sl_sock_changemaxclients(5);
-    sl_sock_maxclhandler(toomuch);
-    sl_sock_connhandler(connected);
-    sl_sock_dischandler(disconnected);
     s = sl_sock_run_server(type, node, -1, handlers);
     if(!s) ERRX("Can't create socket and/or run threads");
+    sl_sock_changemaxclients(s, 5);
+    sl_sock_maxclhandler(s, toomuch);
+    sl_sock_connhandler(s, connected);
+    sl_sock_dischandler(s, disconnected);
     while(s && s->connected){
         if(!s->rthread){
             LOGERR("Server handlers thread is dead");

Daemons/netdaemon/cmdlnopts.c

@@ -54,7 +54,7 @@ glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name        has_arg     flag    val     type        argptr              help
 */
-myoption cmdlnopts[] = {
+sl_option_t cmdlnopts[] = {
 // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"device",  NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.device),    _("serial device name (default: none)")},
@@ -79,10 +79,10 @@ glob_pars *parse_args(int argc, char **argv){
     void *ptr;
     ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
     // format of help: "Usage: progname [args]\n"
-    change_helpstring("Usage: %s [args]\n\n\tWhere args are:\n");
+    sl_helpstring("Usage: %s [args]\n\n\tWhere args are:\n");
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    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*));

Daemons/netdaemon/main.c

@@ -30,14 +30,14 @@
 glob_pars *GP;
 
 void signals(int signo){
-    restore_console();
-    if(ttydescr) close_tty(&ttydescr);
+    sl_restore_con();
+    if(ttydescr) sl_tty_close(&ttydescr);
     LOGERR("exit with status %d", signo);
     exit(signo);
 }
 
 int main(int argc, char **argv){
-    initial_setup();
+    sl_init();
     signal(SIGTERM, signals); // kill (-15) - quit
     signal(SIGHUP, SIG_IGN);  // hup - ignore
     signal(SIGINT, signals);  // ctrl+C - quit
@@ -52,7 +52,7 @@ int main(int argc, char **argv){
         signals(0); // never reached!
     }
     if(GP->logfile){
-        sl_loglevel lvl = LOGLEVEL_ERR;
+        sl_loglevel_e lvl = LOGLEVEL_ERR;
         for(; GP->verb && lvl < LOGLEVEL_ANY; --GP->verb) ++lvl;
         DBG("Loglevel: %d", lvl);
         if(!OPENLOG(GP->logfile, lvl, 1)) ERRX("Can't open log file");

Daemons/netdaemon/term.c

@@ -28,7 +28,7 @@
 
 #define BUFLEN 1024
 
-TTY_descr *ttydescr = NULL;
+sl_tty_t *ttydescr = NULL;
 
 static char buf[BUFLEN];
 
@@ -50,14 +50,14 @@ static char *read_string(){
         return ptr;
     }
     ptr = buf;
-    double d0 = dtime();
+    double d0 = sl_dtime();
     do{
-        if((l = read_tty(ttydescr))){
+        if((l = sl_tty_read(ttydescr))){
             r += l; LL -= l; ptr += l;
             if(ptr[-1] == '\n') break;
-            d0 = dtime();
+            d0 = sl_dtime();
         }
-    }while(dtime() - d0 < WAIT_TMOUT && LL);
+    }while(sl_dtime() - d0 < WAIT_TMOUT && LL);
     if(r){
         buf[r] = 0;
         //DBG("r=%zd, got string: %s", r, buf);
@@ -75,10 +75,10 @@ static char *read_string(){
 int try_connect(char *device, int baudrate){
     if(!device) return 0;
     fflush(stdout);
-    ttydescr = new_tty(device, baudrate, 1024);
-    if(ttydescr) ttydescr = tty_open(ttydescr, 1); // exclusive open
+    ttydescr = sl_tty_new(device, baudrate, 1024);
+    if(ttydescr) ttydescr = sl_tty_open(ttydescr, 1); // exclusive open
     if(!ttydescr) return 0;
-    while(read_tty(ttydescr)); // clear rbuf
+    while(sl_tty_read(ttydescr)); // clear rbuf
     LOGMSG("Connected to %s", device);
     return 1;
 }
@@ -91,14 +91,14 @@ void run_terminal(){
     green(_("Work in terminal mode without echo\n"));
     int rb;
     size_t l;
-    setup_con();
+    sl_setup_con();
     while(1){
-        if((l = read_tty(ttydescr))){
+        if((l = sl_tty_read(ttydescr))){
             printf("%s", ttydescr->buf);
         }
-        if((rb = read_console())){
+        if((rb = sl_read_con())){
             char c = (char) rb;
-            write_tty(ttydescr->comfd, &c, 1);
+            sl_tty_write(ttydescr->comfd, &c, 1);
         }
     }
 }
@@ -109,8 +109,8 @@ void run_terminal(){
  */
 char *poll_device(){
     char *ans;
-    double t0 = dtime();
-    while(dtime() - t0 < T_POLLING_TMOUT){
+    double t0 = sl_dtime();
+    while(sl_dtime() - t0 < T_POLLING_TMOUT){
         if((ans = read_string())){ // parse new data
             DBG("got %s", ans);
             /*

Daemons/netdaemon/term.h

@@ -31,7 +31,7 @@
 // Terminal polling timeout - 1 second
 #define     T_POLLING_TMOUT     (1.0)
 
-extern TTY_descr *ttydescr;
+extern sl_tty_t *ttydescr;
 void run_terminal();
 int try_connect(char *device, int baudrate);
 char *poll_device();

Daemons/send_coordinates/cmdlnopts.c

@@ -46,7 +46,7 @@ static glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name        has_arg     flag    val     type        argptr              help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
 // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"port",    NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.port),      _("port to connect (default: " DEFAULT_PORT ")")},
@@ -73,13 +73,13 @@ glob_pars *parse_args(int argc, char **argv){
     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);
+    sl_helpstring(helpstring);
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         fprintf(stderr, "Undefined extra parameters!\n");
-        showhelp(-1, cmdlnopts);
+        sl_showhelp(-1, cmdlnopts);
         G.rest_pars_num = argc;
         G.rest_pars = MALLOC(char *, argc);
         for (i = 0; i < argc; i++)

Daemons/send_coordinates/main.c

@@ -36,7 +36,7 @@ void signals(int sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
-    restore_console();
+    sl_restore_con();
     exit(sig);
 }
 
@@ -45,7 +45,7 @@ void iffound_default(pid_t pid){
 }
 
 int main(int argc, char *argv[]){
-    initial_setup();
+    sl_init();
     char *self = strdup(argv[0]);
     GP = parse_args(argc, argv);
     DBG("here");
@@ -66,7 +66,7 @@ int main(int argc, char *argv[]){
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
     DBG("here");
-    setup_con();
+    sl_setup_con();
     /*
     if(GP->rest_pars_num){
         for(int i = 0; i < GP->rest_pars_num; ++i)

Daemons/weather_database/main.c

@@ -56,7 +56,7 @@ void signals(int signo){
     exit(signo);
 }
 
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
     {"address", NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.server),    "server name or IP"},
     {"port",    NEED_ARG,   NULL,   'p',    arg_string, APTR(&G.port),      "server port"},
@@ -68,19 +68,19 @@ static myoption cmdlnopts[] = {
 
 int main(int argc, char **argv){
     char *self = strdup(argv[0]);
-    initial_setup();
-    parseargs(&argc, &argv, cmdlnopts);
-    if(G.help) showhelp(-1, cmdlnopts);
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0) WARNX("Got %d unused keys", argc);
     if(!G.dbname) ERRX("Point database file name");
     if(!G.server) ERRX("Point server IP or name");
     if(!G.port) ERRX("Point server port");
-    sl_loglevel lvl = LOGLEVEL_ERR + G.v;
+    sl_loglevel_e lvl = LOGLEVEL_ERR + G.v;
     if(lvl > LOGLEVEL_ANY) lvl = LOGLEVEL_ANY;
     if(G.logfile) OPENLOG(G.logfile, lvl, 1);
     LOGMSG("hello, start");
     LOGDBG("SQLite version: %s", sqlite3_libversion());
-    check4running(self, G.pidfile);
+    sl_check4running(self, G.pidfile);
     // signal reactions:
     signal(SIGTERM, signals); // kill (-15) - quit
     signal(SIGHUP, SIG_IGN);  // hup - ignore
@@ -93,11 +93,11 @@ int main(int argc, char **argv){
     while(1){
         childpid = fork();
         if(childpid){ // master
-            double t0 = dtime();
+            double t0 = sl_dtime();
             LOGMSG("Created child with pid %d", childpid);
             wait(NULL);
             LOGWARN("Child %d died", childpid);
-            if(dtime() - t0 < 1.) pause += 5;
+            if(sl_dtime() - t0 < 1.) pause += 5;
             else pause = 1;
             if(pause > 900) pause = 900;
             sleep(pause); // wait a little before respawn

Daemons/weather_database/socket.c

@@ -78,7 +78,7 @@ static void sendmessage(int fd, const char *msg, int l){
         LOGWARN("write()");
         WARN("write()");
     }else{
-        if(globlog){ // logging turned ON
+        if(sl_globlog){ // logging turned ON
             tmpbuf[l-1] = 0; // remove trailing '\n' for logging
             LOGMSG("SEND to fd %d: %s", fd, tmpbuf);
         }
@@ -125,10 +125,10 @@ static int canberead(int fd){
 // collect data and write into database
 // @return FALSE if can't get full data string
 static int getdata(int fd){
-    double t0 = dtime();
+    double t0 = sl_dtime();
     char buf[BUFSIZ];
     int len = 0, leave = BUFSIZ, got = 0;
-    while(dtime() - t0 < ANS_TIMEOUT){
+    while(sl_dtime() - t0 < ANS_TIMEOUT){
         int r = canberead(fd);
         if(r == 0) continue;
         r = read(fd, buf + len, leave);
@@ -169,7 +169,7 @@ static int getdata(int fd){
 void run_socket(int fd){
     double t0 = 0.;
     while(1){
-        double tlast = dtime();
+        double tlast = sl_dtime();
         if(tlast - t0 >= POLLING_INTERVAL){
             sendstrmessage(fd, SERVER_COMMAND);
             if(getdata(fd)) t0 = tlast;

Daemons/weatherdaemon_multimeteo/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 4.0)
+set(PROJ weatherdaemon)
+set(PROJLIB senslib)
+set(MAJOR_VERSION "0")
+set(MID_VERSION "0")
+set(MINOR_VERSION "1")
+
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
+
+set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
+project(${PROJ} VERSION ${VERSION} LANGUAGES C)
+message("VER: ${VERSION}")
+
+# list of options
+option(DEBUG "Compile in debug mode" OFF)
+option(DUMMY "Dummy device plugin" ON)
+option(FDEXAMPLE "Example of file descriptor plugin" ON)
+
+# default flags
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -W -Wextra -pedantic-errors -fPIC")
+
+message("Install dir prefix: ${CMAKE_INSTALL_PREFIX}")
+
+add_definitions(-D_XOPEN_SOURCE=1234 -D_DEFAULT_SOURCE -D_GNU_SOURCE
+        -DPACKAGE_VERSION=\"${VERSION}\" -DMINOR_VERSION=\"${MINOR_VERSION}\" -DMID_VERSION=\"${MID_VERSION}\"
+        -DMAJOR_VERSION=\"${MAJOR_VESION}\")
+
+set(CMAKE_COLOR_MAKEFILE ON)
+
+# cmake -DDEBUG=on -> debugging
+if(DEBUG)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Og -g3 -ggdb -Werror")
+    add_definitions(-DEBUG)
+    set(CMAKE_BUILD_TYPE DEBUG)
+    set(CMAKE_VERBOSE_MAKEFILE "ON")
+else()
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -march=native -fdata-sections -ffunction-sections -flto=auto")
+    SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections -flto=auto")
+    set(CMAKE_BUILD_TYPE RELEASE)
+endif()
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(${PROJ} REQUIRED usefull_macros>=0.3.5)
+
+#include(FindOpenMP)
+#if(OPENMP_FOUND)
+#    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+#    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+#    add_definitions(-DOMP_FOUND)
+#endif()
+
+# static lib for sensors
+set(LIBSRC "weathlib.c")
+set(LIBHEADER "weathlib.h")
+add_library(${PROJLIB} STATIC ${LIBSRC})
+set_target_properties(${PROJLIB} PROPERTIES VERSION ${VERSION})
+
+# exe & deps files
+add_executable(${PROJ} ${SOURCES})
+target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} ${PROJLIB} -lm ${CMAKE_DL_LIBS})
+target_include_directories(${PROJ} PUBLIC ${${PROJ}_INCLUDE_DIRS} .)
+target_link_directories(${PROJ} PUBLIC ${${PROJ}_LIBRARY_DIRS} )
+
+include(GNUInstallDirs)
+# Installation of the program
+install(TARGETS ${PROJ} DESTINATION "bin")
+
+add_subdirectory("plugins")

Daemons/weatherdaemon_multimeteo/Readme.md

@@ -0,0 +1,22 @@
+Weather daemon for several different weather stations
+=====================================================
+
+## Usage:
+
+```
+Usage: weatherdaemon [args]
+    Be careful: command line options have priority over config
+    Where args are:
+
+  -P, --pidfile=arg    pidfile name (default: /tmp/weatherdaemon.pid)
+  -c, --conffile=arg   configuration file name (consists all or a part of long-named parameters and their values (e.g. plugin=liboldweather.so)
+  -h, --help           show this help
+  -l, --logfile=arg    save logs to file (default: none)
+  -p, --plugin=arg     add this weather plugin (may be a lot of) (can occur multiple times)
+  -v, --verb           logfile verbocity level (each -v increased)
+  --port=arg           network port to connect (default: 12345); hint: use "localhost:port" to make local net socket
+  --sockpath=arg       UNIX socket path (starting from '\0' for anonimous) of command socket
+```
+
+
+TODO: brief documentation will be here

Daemons/weatherdaemon_multimeteo/cmdlnopts.c

@@ -0,0 +1,164 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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 <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <usefull_macros.h>
+#include "cmdlnopts.h"
+
+/*
+ * here are global parameters initialisation
+ */
+int help;
+
+// default values for Gdefault & help
+#define DEFAULT_PORT    "12345"
+#define DEFAULT_PID		"/tmp/weatherdaemon.pid"
+
+//            DEFAULTS
+// default global parameters
+static glob_pars defpars = {
+    .port = DEFAULT_PORT,
+    .logfile = NULL,
+    .verb = 0,
+    .pidfile = DEFAULT_PID
+};
+// default config: all values should be wrong or empty to understand than user change them
+static glob_pars defconf = {
+    .verb = -1,
+};
+
+static glob_pars G;
+
+/*
+ * Define command line options by filling structure:
+ *  name        has_arg     flag    val     type        argptr              help
+*/
+#define COMMON_OPTS \
+    {"port",    NEED_ARG,   NULL,   0,      arg_string, APTR(&G.port),      "network port to connect (default: " DEFAULT_PORT "); hint: use \"localhost:port\" to make local net socket"}, \
+    {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   "save logs to file (default: none)"}, \
+    {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   "pidfile name (default: " DEFAULT_PID ")"}, \
+    {"sockpath",NEED_ARG,   NULL,   0,      arg_string, APTR(&G.sockname),  "UNIX socket path (starting from '\\0' for anonimous) of command socket"}, \
+    {"plugin",  MULT_PAR,   NULL,   'p',    arg_string, APTR(&G.plugins),   "add this weather plugin (may be a lot of); FORMAT: \"dlpath:l:dev\", where `dlpath` - path of plugin library; `l` - 'D' for device, 'U' for UNIX-socket or 'N' for INET socket; dev - path to device and speed (like /dev/ttyS0:9600), UNIX socket name or host:port for INET"}, \
+    {"pollt",   NEED_ARG,   NULL,   'T',    arg_int,    APTR(&G.pollt),     "set maximal polling interval (seconds, integer)"},
+
+sl_option_t cmdlnopts[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        "show this help"},
+    {"conffile",NEED_ARG,   NULL,   'c',    arg_string, APTR(&G.conffile),  "configuration file name (consists all or a part of long-named parameters and their values (e.g. plugin=liboldweather.so:D:/dev/ttyS0:115200)"},
+    {"verb",    NO_ARGS,    NULL,   'v',    arg_none,   APTR(&G.verb),      "logfile verbocity level (each -v increased)"}, \
+    COMMON_OPTS
+    end_option
+};
+
+sl_option_t confopts[] = {
+    {"verbose",  NEED_ARG,  NULL,   'v',    arg_int,    APTR(&G.verb),      "logfile verbocity level"}, \
+    COMMON_OPTS
+    end_option
+};
+
+static int sortstrings(const void *v1, const void *v2){
+    const char **s1 = (const char **)v1, **s2 = (const char **)v2;
+    return strcmp(*s1, *s2);
+}
+
+// compare plugins from configuration and command line; add to command line plugins all new
+static void compplugins(glob_pars *cmdline, glob_pars *conf){
+    if(!cmdline) return;
+    char **p;
+    int nconf = 0;
+    if(conf){
+        p = conf->plugins;
+        if(p && *p) while(*p++) ++nconf;
+    }
+    int ncmd = 0;
+    p = cmdline->plugins;
+    if(p && *p) while(*p++) ++ncmd;
+    DBG("Got %d plugins in conf and %d in cmdline", nconf, ncmd);
+    // compare plugins and rebuild new list
+    int newsize = ncmd + nconf;
+    if(newsize == 0) return; // no plugins in both
+    char **newarray = MALLOC(char*, newsize + 1); // +1 for ending NULL
+    for(int i = 0; i < ncmd; ++i){ newarray[i] = cmdline->plugins[i]; }
+    FREE(cmdline->plugins);
+    if(conf){
+        for(int i = 0; i < nconf; ++i){ newarray[i+ncmd] = conf->plugins[i]; }
+        FREE(conf->plugins);
+    }
+    qsort(newarray, newsize, sizeof(char*), sortstrings);
+    DBG("NOW together:"); p = newarray; while(*p) printf("\t%s\n", *p++);
+    p = newarray;
+    int nondobuleidx = 0;
+    for(int i = 0; i < newsize;){
+        int j = i + 1;
+        for(; j < newsize; ++j){
+            if(strcmp(newarray[i], newarray[j])) break;
+            FREE(newarray[j]);
+        }
+        if(nondobuleidx != i){
+            newarray[nondobuleidx] = newarray[i];
+            newarray[i] = NULL;
+        }
+        ++nondobuleidx;
+        i = j;
+    }
+    DBG("Result:"); p = newarray; while(*p) printf("\t%s\n", *p++);
+    cmdline->plugins = newarray;
+    cmdline->nplugins = nondobuleidx;
+}
+
+/**
+ * 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){
+    G = defpars; // copy defaults
+    // format of help: "Usage: progname [args]\n"
+    sl_helpstring("Usage: %s [args]\n\t" COLOR_RED "Be careful: command line options have priority over config" COLOR_OLD "\n\tWhere args are:\n");
+    // parse arguments
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    DBG("verb: %d", G.verb);
+    if(help) sl_showhelp(-1, cmdlnopts);
+    if(argc > 0){
+        WARNX("You give %d unused parameters:", argc);
+        while(argc) printf("\t%s\n", argv[--argc]);
+    }
+    DBG("PARS: \n-------------\n%s-------------\n\n", sl_print_opts(cmdlnopts, 1));
+    if(G.conffile){ // read conffile and fix parameters (cmdline args are in advantage)
+        glob_pars oldpars = G; // save cmdline opts
+        G = defconf;
+        if(!sl_conf_readopts(oldpars.conffile, confopts)) ERRX("Can't get options from %s", G.conffile);
+        DBG("CONF: \n-------------\n%s-------------\n\n", sl_print_opts(confopts, 1));
+        if((0 == strcmp(oldpars.port, DEFAULT_PORT)) && G.port) oldpars.port = G.port;
+        if(!oldpars.logfile && G.logfile) oldpars.logfile = G.logfile;
+        if(!oldpars.verb && G.verb > -1) oldpars.verb = G.verb;
+        if((0 == strcmp(oldpars.pidfile, DEFAULT_PID)) && G.pidfile) oldpars.pidfile = G.pidfile;
+        if(!oldpars.sockname && G.sockname) oldpars.sockname = G.sockname;
+        // now check plugins
+        compplugins(&oldpars, &G);
+        G = oldpars;
+    }else compplugins(&G, NULL);
+    DBG("RESULT: \n-------------\n%s-------------\n\n", sl_print_opts(cmdlnopts, 1));
+    DBG("Nplugins = %d", G.nplugins);
+    return &G;
+}
+

Daemons/weatherdaemon_multimeteo/cmdlnopts.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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
+
+/*
+ * here are some typedef's for global data
+ */
+typedef struct{
+    char *sockname;         // UNIX socket name for internal connections (commands etc)
+    char *port;             // port for external clients
+    char *logfile;          // logfile name
+    int verb;               // verbocity level
+    char *pidfile;          // pidfile name
+    char **plugins;         // all plugins connected
+    int nplugins;           // amount of plugins
+    char *conffile;         // configuration file used instead of long command line
+    int pollt;              // sensors maximal polling interval
+} glob_pars;
+
+
+glob_pars *parse_args(int argc, char **argv);

Daemons/weatherdaemon_multimeteo/fd.c

@@ -0,0 +1,152 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2026 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/>.
+ */
+
+// try to open device or socket that user pointed for plugin
+// WARNING!!! The `getFD` function intended for single use for each plugin!
+// WARNING!!! If you will try to close some plugins in running mode and open others, it
+// WARNING!!!     would cause to a memory leak!
+
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/un.h>  // unix socket
+#include <usefull_macros.h>
+
+#include "fd.h"
+
+/**
+ * @brief openserial - try to open serial device
+ * @param path - path to device and speed, colon-separated (without given speed assume 9600)
+ * @return -1 if failed or opened FD
+ * WARNING!!! Memory leakage danger. Don't call this function too much times!
+ */
+static int openserial(char *path){
+    FNAME();
+    int speed = 9600; // default speed
+    char *colon = strchr(path, ':');
+    if(colon){
+        *colon++ = 0;
+        if(!sl_str2i(&speed, colon)){
+            WARNX("Wrong speed settings: '%s'", colon);
+            return -1;
+        }
+    }
+    sl_tty_t *serial = sl_tty_new(path, speed, BUFSIZ);
+    if(!serial || !sl_tty_open(serial, TRUE)){
+        WARN("Can't open %s @ speed %d", path, speed);
+        return -1;
+    }
+    return serial->comfd;
+}
+
+static char *convunsname(const char *path){
+    char *apath = MALLOC(char, 106);
+    if(*path == 0 || *path == '@'){
+        DBG("convert name starting from 0 or @");
+        apath[0] = 0;
+        strncpy(apath+1, path+1, 104);
+    }else if(strncmp("\\0", path, 2) == 0){
+        DBG("convert name starting from \\0");
+        apath[0] = 0;
+        strncpy(apath+1, path+2, 104);
+    }else strncpy(apath, path, 105);
+    return apath;
+}
+
+/**
+ * @brief opensocket - try to open socket
+ * @param sock - UNIX socket path or hostname:port for INET socket
+ * @param type - UNIX or INET
+ * @return -1 if failed or opened FD
+ */
+static int opensocket(char *path, sl_socktype_e type){
+    FNAME();
+    DBG("path: '%s'", path);
+    int sock = -1;
+    struct addrinfo ai = {0}, *res = &ai;
+    struct sockaddr_un unaddr = {0};
+    char *node = path, *service = NULL;
+    ai.ai_socktype = 0; // try to get socket type from `getaddrinfo`
+    switch(type){
+    case SOCKT_UNIX:
+        {
+        char *str = convunsname(path);
+        if(!str) return -1;
+        unaddr.sun_family = AF_UNIX;
+        ai.ai_addr = (struct sockaddr*) &unaddr;
+        ai.ai_addrlen = sizeof(unaddr);
+        memcpy(unaddr.sun_path, str, 106);
+        FREE(str);
+        ai.ai_family = AF_UNIX;
+        }
+        break;
+    case SOCKT_NET:
+    case SOCKT_NETLOCAL:
+        ai.ai_family = AF_INET;
+        char *delim = strchr(path, ':');
+        if(delim){
+            *delim = 0;
+            service = delim+1;
+            if(delim == path) node = NULL; // only port
+        }
+        DBG("node: '%s', service: '%s'", node, service);
+        int e = getaddrinfo(node, service, &ai, &res);
+        if(e){
+            WARNX("getaddrinfo(): %s", gai_strerror(e));
+            return -1;
+        }
+        for(struct addrinfo *p = res; p; p = p->ai_next){
+            if((sock = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) < 0) continue;
+            DBG("Try proto %d, type %d", p->ai_protocol, p->ai_socktype);
+            if(connect(sock, p->ai_addr, p->ai_addrlen) == -1){
+                WARN("connect()");
+                close(sock); sock = -1;
+            } else break;
+        }
+        break;
+    default: // never reached
+        WARNX("Unsupported socket type %d", type);
+        return -1;
+    }
+    DBG("FD: %d", sock);
+    return sock;
+}
+
+/**
+ * @brief getFD - try to open given device/socket
+ * @param path - rest of string for --plugin= (e.g. "N:host.com:12345")
+ *          WARNING!!! Contents of `path` would be modified in this function!
+ * @return opened file descriptor or -1 in case of error
+ */
+int getFD(char *path){
+    if(!path || !*path) return -1;
+    char type = *path;
+    path += 2;
+    switch(type){
+        case 'D': // serial device
+            return openserial(path);
+        case 'N': // INET socket
+            return opensocket(path, SOCKT_NET);
+        case 'U': // UNIX socket
+            return opensocket(path, SOCKT_UNIX);
+    }
+    WARNX("Wrong plugin format: '%c', should be 'D', 'N' or 'U'", type);
+    return -1;
+}

Daemons/weatherdaemon_multimeteo/fd.h

@@ -0,0 +1,21 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2026 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
+
+int getFD(char *path);

Daemons/weatherdaemon_multimeteo/main.c

@@ -0,0 +1,102 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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>
+#include <stdio.h>
+#include <string.h>
+#include <sys/wait.h> // wait
+#include <sys/prctl.h> //prctl
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "sensors.h"
+#include "server.h"
+
+static pid_t childpid = 0;
+
+void signals(int signo){
+    if(childpid){
+        LOGERR("Killed with status %d", signo);
+        closeplugins();
+        kill_servers();
+        usleep(1000); // let child close everything before dead
+    }else{
+        LOGERR("Main process exits with status %d", signo);
+    }
+    exit(signo);
+}
+
+static void getpipe(int _U_ signo){
+    WARNX("Get sigpipe!");
+    // TODO: check all sensors for disconnected one
+    signal(SIGPIPE, getpipe);
+}
+
+extern const char *__progname;
+
+int main(int argc, char **argv){
+    glob_pars *GP = NULL;
+    sl_init();
+    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
+    signal(SIGPIPE, getpipe); // socket disconnected
+    GP = parse_args(argc, argv);
+    if(!GP) ERRX("Error parsing args");
+    if(!GP->sockname) ERRX("Point command socket name");
+    if(GP->logfile){
+        sl_loglevel_e lvl = LOGLEVEL_ERR + GP->verb;
+        if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
+        DBG("Loglevel: %d", lvl);
+        if(!OPENLOG(GP->logfile, lvl, 1)) ERRX("Can't open log file");
+        LOGMSG("Started");
+    }
+    if(GP->pollt > 0){
+        if(!set_pollT((time_t)GP->pollt)) ERRX("Can't set polling time to %d seconds", GP->pollt);
+    }
+    int nopened = openplugins(GP->plugins, GP->nplugins);
+    if(nopened < 1){
+        LOGERR("No plugins found; exit!");
+        ERRX("Can't find any sensor plugin");
+    }
+    if(GP->nplugins && GP->nplugins != nopened) LOGWARN("Work without some plugins");
+    #ifndef EBUG
+    sl_check4running((char*)__progname, GP->pidfile);
+    while(1){ // guard for dead processes
+        childpid = fork();
+        if(childpid){
+            LOGDBG("create child with PID %d\n", childpid);
+            DBG("Created child with PID %d\n", childpid);
+            wait(NULL);
+            WARNX("Child %d died\n", childpid);
+            LOGWARN("Child %d died\n", childpid);
+            sleep(1);
+        }else{
+            prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
+            break; // go out to normal functional
+        }
+    }
+    #endif
+    if(!start_servers(GP->port, GP->sockname)) ERRX("Can't run server's threads");
+    while(1);
+    //WARNX("TEST ends");
+    //signals(0);
+    return 0; // never reached
+}

Daemons/weatherdaemon_multimeteo/plugins/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.20)
+
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PLUGINS REQUIRED usefull_macros)
+
+include_directories(${PLUGINS_INCLUDE_DIRS} ..)
+link_directories(${PLUGINS_LIBRARY_DIRS} ..)
+link_libraries(${$PLUGINS_LIBRARIES} ${PROJLIB} -fPIC)
+
+set(LIBS "")
+
+if(DUMMY)
+    add_library(wsdummy SHARED dummy.c)
+    list(APPEND LIBS wsdummy)
+endif()
+
+if(FDEXAMPLE)
+    add_library(fdex SHARED fdexample.c)
+    list(APPEND LIBS fdex)
+endif()
+
+install(TARGETS ${LIBS} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})

Daemons/weatherdaemon_multimeteo/plugins/dummy.c

@@ -0,0 +1,95 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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/>.
+ */
+
+// dummy meteostation sending data each `tpoll` seconds
+
+#include "weathlib.h"
+
+#define NS (6)
+
+extern sensordata_t sensor;
+
+static const val_t values[NS] = { // fields `name` and `comment` have no sense until value meaning is `IS_OTHER`
+    {.sense = VAL_OBLIGATORY, .type = VALT_FLOAT, .meaning = IS_WIND},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_WINDDIR},
+    {.sense = VAL_OBLIGATORY, .type = VALT_FLOAT, .meaning = IS_AMB_TEMP},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_PRESSURE},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_HUMIDITY},
+    {.sense = VAL_OBLIGATORY, .type = VALT_UINT, .meaning = IS_PRECIP},
+};
+
+static void *mainthread(void _U_ *U){
+    FNAME();
+    double t0 = sl_dtime();
+    while(1){
+        float f = sensor.values[0].value.f + (drand48() - 0.5) / 2.;
+        if(f >= 0.) sensor.values[0].value.f = f;
+        f = sensor.values[1].value.f + (drand48() - 0.5) * 4.;
+        if(f > 160. && f < 200.) sensor.values[1].value.f = f;
+        f = sensor.values[2].value.f + (drand48() - 0.5) / 20.;
+        if(f > 13. && f < 21.) sensor.values[2].value.f = f;
+        f = sensor.values[3].value.f + (drand48() - 0.5) / 100.;
+        if(f > 585. && f < 615.) sensor.values[3].value.f = f;
+        f = sensor.values[4].value.f + (drand48() - 0.5) / 10.;
+        if(f > 60. && f <= 100.) sensor.values[4].value.f = f;
+        sensor.values[5].value.u = (f > 98.) ? 1 : 0;
+        time_t cur = time(NULL);
+        for(int i = 0; i < NS; ++i) sensor.values[i].time = cur;
+        if(sensor.freshdatahandler) sensor.freshdatahandler(&sensor);
+        while(sl_dtime() - t0 < sensor.tpoll) usleep(500);
+        t0 = sl_dtime();
+    }
+    return NULL;
+}
+
+static int init(struct sensordata_t* s, int N, time_t pollt, int _U_ fd){
+    FNAME();
+    if(pthread_create(&s->thread, NULL, mainthread, NULL)) return 0;
+    if(pollt) s->tpoll = pollt;
+    s->values = MALLOC(val_t, NS);
+    for(int i = 0; i < NS; ++i) s->values[i] = values[i];
+    sensor.values[0].value.f = 1.;
+    sensor.values[1].value.f = 180.;
+    sensor.values[2].value.f = 17.;
+    sensor.values[3].value.f = 600.;
+    sensor.values[4].value.f = 80.;
+    sensor.values[5].value.u = 0;
+    sensor.PluginNo = N;
+    return NS;
+}
+
+/**
+ * @brief getval - value's getter
+ * @param o (o) - value
+ * @param N - it's index
+ * @return FALSE if failed
+ */
+static int getval(struct sensordata_t* s, val_t *o, int N){
+    if(N < 0 || N >= NS) return FALSE;
+    if(o) *o = s->values[N];
+    return TRUE;
+}
+
+sensordata_t sensor = {
+    .name = "Dummy weatherstation",
+    .Nvalues = NS,
+    .init = init,
+    .onrefresh = common_onrefresh,
+    .get_value = getval,
+    .kill = common_kill,
+};

Daemons/weatherdaemon_multimeteo/plugins/fdexample.c

@@ -0,0 +1,151 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2026 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 "weathlib.h"
+
+// dummy example of file descriptors usage
+
+#define NS (4)
+
+extern sensordata_t sensor;
+
+static const val_t values[NS] = { // fields `name` and `comment` have no sense until value meaning is `IS_OTHER`
+    {.sense = VAL_OBLIGATORY,  .type = VALT_FLOAT, .meaning = IS_WIND},
+    {.sense = VAL_OBLIGATORY,  .type = VALT_FLOAT, .meaning = IS_AMB_TEMP},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_PRESSURE},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_HUMIDITY},
+};
+
+static int format_values(char *buf){
+    int gotvals = 0;
+    char *token = strtok(buf, ",");
+    time_t tnow = time(NULL);
+    while(token && gotvals < NS){
+        double v;
+        DBG("TOKEN: %s", token);
+        if(sl_str2d(&v, token)){
+            DBG("next value: %g", v);
+            sensor.values[gotvals].value.f = (float) v;
+            sensor.values[gotvals].time = tnow;
+            ++gotvals;
+        }
+        token = strtok(NULL, ",");
+    }
+    DBG("GOT: %d", gotvals);
+    return gotvals;
+}
+
+static ssize_t writedata(int fd, const char *str, size_t size){
+    ssize_t sent = 0;
+    do{
+        DBG("try to write %zd bytes", size);
+        int canwrite = sl_canwrite(fd);
+        if(canwrite < 0){
+            WARNX("Disconnected?!");
+            return -1;
+        }else if(canwrite){
+            ssize_t r = write(fd, str+sent, size);
+            if(r < 0){
+                sent = -1;
+                WARNX("Disconnected??");
+                break;
+            }else{
+                sent += r;
+                size -= r;
+            }
+            DBG("sent %zd bytes; total send %zd, leave %zd", r, sent, size);
+        }
+    }while(size);
+    return sent;
+}
+
+static void *mainthread(void _U_ *U){
+    FNAME();
+    time_t task = 0;
+    const char begging[] = "Enter comma-separated data: wind, exttemp, pressure, humidity\n";
+    char buf[128];
+    while(sensor.fdes > -1){
+        time_t tnow = time(NULL);
+        int canread = sl_canread(sensor.fdes);
+        if(canread < 0){
+            WARNX("Disconnected fd %d", sensor.fdes);
+            break;
+        }else if(canread == 1){
+            ssize_t got = read(sensor.fdes, buf, 128);
+            if(got > 0){
+                sl_RB_write(sensor.ringbuffer, (uint8_t*)buf, got);
+            }else if(got < 0){
+                DBG("Disconnected?");
+                break;
+            }
+        }
+        if(sl_RB_readline(sensor.ringbuffer, buf, 127) > 0){
+            if(NS == format_values(buf) && sensor.freshdatahandler)
+                sensor.freshdatahandler(&sensor);
+        }
+        if(sensor.tpoll){
+            if(tnow >= task){
+                DBG("write %s", begging);
+                ssize_t got = writedata(sensor.fdes, begging, sizeof(begging)-1);
+                if(got > 0) task = tnow + sensor.tpoll;
+                else if(got < 0){
+                    close(sensor.fdes);
+                    sensor.fdes = -1;
+                }
+            }
+        }
+    }
+    DBG("OOOOps!");
+    return NULL;
+}
+
+static int init(struct sensordata_t *s, int N, time_t pollt, int fd){
+    FNAME();
+    if(!s) return -1;
+    s->fdes = fd;
+    if(s->fdes < 0) return -1;
+    sensor.PluginNo = N;
+    if(pollt) s->tpoll = pollt;
+    if(pthread_create(&s->thread, NULL, mainthread, NULL)) return -1;
+    s->values = MALLOC(val_t, NS);
+    // don't use memcpy, as `values` could be aligned
+    for(int i = 0; i < NS; ++i) s->values[i] = values[i];
+    if(!(s->ringbuffer = sl_RB_new(BUFSIZ))){
+        WARNX("Can't init ringbuffer!");
+        return -1;
+    }
+    return NS;
+}
+
+static int getval(struct sensordata_t *s, val_t *o, int N){
+    if(!s || N < 0 || N >= NS) return FALSE;
+    if(o) *o = s->values[N];
+    return TRUE;
+}
+
+sensordata_t sensor = {
+    .name = "Dummy socket or serial device weatherstation",
+    .Nvalues = NS,
+    .init = init,
+    .onrefresh = common_onrefresh,
+    .get_value = getval,
+    .kill = common_kill,
+};

Daemons/weatherdaemon_multimeteo/sensors.c

@@ -0,0 +1,226 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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 <dlfcn.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "fd.h"
+#include "sensors.h"
+
+#define WARNXL(...) do{ LOGWARN(__VA_ARGS__); WARNX(__VA_ARGS__); } while(0)
+#define WARNL(...) do{ LOGWARN(__VA_ARGS__); WARN(__VA_ARGS__); } while(0)
+#define ERRXL(...) do{ LOGERR(__VA_ARGS__); ERRX(__VA_ARGS__); } while(0)
+#define ERRL(...) do{ LOGERR(__VA_ARGS__); ERR(__VA_ARGS__); } while(0)
+
+// poll each `poll_interval` seconds
+static time_t poll_interval = 15;
+
+static int nplugins = 0;
+static sensordata_t **allplugins = NULL;
+
+int get_nplugins(){
+    return nplugins;
+}
+
+// set polling interval
+int set_pollT(time_t t){
+    if(t == 0 || t > MAX_POLLT) return FALSE;
+    poll_interval = t;
+    return TRUE;
+}
+
+/**
+ * @brief get_plugin - get link to opened plugin
+ * @param o (o) - plugin with given index
+ * @param N - index in `allplugins`
+ * @return NULL if failed or pointer
+ */
+sensordata_t *get_plugin(int N){
+    if(N < 0 || N >= nplugins) return NULL;
+    return allplugins[N];
+}
+
+void *open_plugin(const char *name){
+    DBG("try to open lib %s", name);
+    void* dlh = dlopen(name, RTLD_NOLOAD); // library may be already opened
+    if(!dlh){
+        DBG("Not loaded - load");
+        dlh = dlopen(name, RTLD_NOW);
+    }
+    if(!dlh){
+        char *e = dlerror();
+        WARNXL("Can't find plugin! %s", (e) ? e : "");
+        return NULL;
+    }
+    return dlh;
+}
+
+#ifdef EBUG
+// in release this function can be used for meteo logging
+static void dumpsensors(struct sensordata_t* station){
+    FNAME();
+    if(!station || !station->get_value || station->Nvalues < 1) return;
+    char buf[FULL_LEN+1];
+    uint64_t Tsum = 0; int nsum = 0;
+    int N = (nplugins > 1) ? station->PluginNo : -1;
+    for(int i = 0; i < station->Nvalues; ++i){
+        val_t v;
+        if(!station->get_value(station, &v, i)) continue;
+        if(0 < format_sensval(&v, buf, FULL_LEN+1, N)){
+            printf("%s\n", buf);
+            ++nsum; Tsum += v.time;
+        }
+    }
+    time_t last = (time_t)(Tsum / nsum);
+    if(0 < format_msrmttm(last, buf, FULL_LEN+1)){
+        printf("%s\n\n", buf);
+    }
+}
+#endif
+
+/**
+ * @brief openplugins - open sensors' plugin and init it
+ * @param paths - paths to plugins
+ * @param N - amount of plugins
+ * @return amount of opened and inited plugins
+ * This function should be runned only once at start
+ */
+int openplugins(char **paths, int N){
+    char buf[PATH_MAX+1];
+    if(!paths || !*paths || N < 1) return 0;
+    if(allplugins || nplugins){
+        WARNXL("Plugins already opened"); return 0;
+    }
+    allplugins = MALLOC(sensordata_t*, N);
+    green("Try to open plugins:\n");
+    for(int i = 0; i < N; ++i){
+        printf("\tplugin[%d]=%s\n", i, paths[i]);
+        snprintf(buf, PATH_MAX, "%s", paths[i]);
+        char *colon = strchr(buf, ':');
+        if(colon) *colon++ = 0;
+        void* dlh = open_plugin(buf);
+        if(!dlh) continue;
+        DBG("OPENED");
+        void *s = dlsym(dlh, "sensor");
+        if(s){
+            sensordata_t *S = (sensordata_t*) s;
+            if(!S->get_value) WARNXL("Sensor library %s have no values' getter!", paths[i]);
+            if(!S->init){
+                WARNXL("Sensor library %s have no init funtion");
+                continue;
+            }
+            int fd = -1;
+            if(colon) fd = getFD(colon);
+            int ns = S->init(S, nplugins, poll_interval, fd); // here nplugins is index in array
+            if(ns < 1) WARNXL("Can't init plugin %s", paths[i]);
+            else{
+#ifdef EBUG
+                if(!S->onrefresh(S, dumpsensors)) WARNXL("Can't init refresh funtion");
+#endif
+                LOGMSG("Plugin %s nave %d sensors", paths[i], ns);
+                allplugins[nplugins++] = S;
+            }
+        }else WARNXL("Can't find field `sensor` in plugin %s: %s", paths[i], dlerror());
+    }
+    return nplugins;
+}
+
+/**
+ * @brief closeplugins - call `die` function for all sensors
+ * This function should be runned at exit
+ */
+void closeplugins(){
+    if(!allplugins || nplugins < 1) return;
+    for(int i = 0; i < nplugins; ++i){
+        if(allplugins[i]->kill) allplugins[i]->kill(allplugins[i]);
+    }
+    FREE(allplugins);
+    nplugins = 0;
+}
+
+/**
+ * @brief format_sensval - snprintf sensor's value into buffer
+ * @param v - value to get
+ * @param buf - buffer
+ * @param buflen - full length of `buf`
+ * @param Np - if Np>-1, show it as plugin number (added to field name in square brackets, like WIND[1]);
+ * @return amount of symbols printed or -1 if error
+ */
+int format_sensval(const val_t *v, char *buf, int buflen, int Np){
+    --buflen; // for trailing zero
+    if(!v || !buf || buflen < FULL_LEN) return -1;
+    char strval[VAL_LEN+1];
+    switch(v->type){
+        case VALT_UINT:  snprintf(strval, VAL_LEN, "%u", v->value.u); break;
+        case VALT_INT:   snprintf(strval, VAL_LEN, "%d", v->value.i); break;
+        case VALT_FLOAT: snprintf(strval, VAL_LEN, "%g", v->value.f); break;
+        default: sprintf(strval, "'ERROR'");
+    }
+    const char* const NM[] = { // names of standard fields
+        [IS_WIND]       = "WIND",
+        [IS_WINDDIR]    = "WINDDIR",
+        [IS_HUMIDITY]   = "HUMIDITY",
+        [IS_AMB_TEMP]   = "EXTTEMP",
+        [IS_INNER_TEMP] = "INTTEMP",
+        [IS_HW_TEMP]    = "HWTEMP", // mirror?
+        [IS_PRESSURE]   = "PRESSURE",
+        [IS_PRECIP]     = "PRECIP",
+        [IS_PRECIP_LEVEL]="PRECIPLV",
+        [IS_MIST]       = "MIST",
+        [IS_CLOUDS]     = "CLOUDS",
+        [IS_SKYTEMP]    = "SKYTEMP"
+    };
+    const char* const CMT[] = { // comments for standard fields
+        [IS_WIND]       = "Wind, m/s",
+        [IS_WINDDIR]    = "Wind direction, degr (CW from north to FROM)",
+        [IS_HUMIDITY]   = "Humidity, percent",
+        [IS_AMB_TEMP]   = "Ambient temperature, degC",
+        [IS_INNER_TEMP] = "In-dome temperature, degC",
+        [IS_HW_TEMP]    = "Hardware (mirror?) termperature, degC",
+        [IS_PRESSURE]   = "Atmospheric pressure, mmHg",
+        [IS_PRECIP]     = "Precipitation (1 - yes, 0 - no)",
+        [IS_PRECIP_LEVEL]="Precipitation level (mm)",
+        [IS_MIST]       = "Mist (1 - yes, 0 - no)",
+        [IS_CLOUDS]     = "Integral clouds value (bigger - better)",
+        [IS_SKYTEMP]    = "Mean sky temperatyre"
+    };
+    const char *name = NULL, *comment = NULL;
+    int idx = v->meaning;
+    if(idx < IS_OTHER){
+        name = NM[idx];
+        comment = CMT[idx];
+    }else{
+        name = v->name;
+        comment = v->comment;
+    }
+    int got;
+    if(Np > -1) got = snprintf(buf, buflen, "%s[%d]=%s / %s", name, Np, strval, comment);
+    else got = snprintf(buf, buflen, "%s=%s / %s", name, strval, comment);
+    return got;
+}
+
+// the same for measurement time formatting
+int format_msrmttm(time_t t, char *buf, int buflen){
+    --buflen; // for trailing zero
+    if(!buf || buflen < FULL_LEN) return -1;
+    char cmt[COMMENT_LEN+1];
+    struct tm *T = localtime(&t);
+    strftime(cmt, COMMENT_LEN, "%F %T", T);
+    return snprintf(buf, buflen, "TMEAS=%zd / Last measurement time: %s", t, cmt);
+}

Daemons/weatherdaemon_multimeteo/sensors.h

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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 "weathlib.h"
+
+// don't allow to set polling time more than 10 minutes
+#define MAX_POLLT   (600)
+
+int openplugins(char **paths, int N);
+void closeplugins();
+sensordata_t *get_plugin(int N);
+int get_nplugins();
+int format_sensval(const val_t *v, char *buf, int buflen, int Np);
+int format_msrmttm(time_t t, char *buf, int buflen);
+int set_pollT(time_t t);

Daemons/weatherdaemon_multimeteo/server.c

@@ -0,0 +1,229 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "sensors.h"
+#include "server.h"
+
+// if measurement time oldest than now minus `oldest_interval`, we think measurement are too old
+static time_t oldest_interval = 60;
+
+// server's sockets: net and local (UNIX)
+static sl_sock_t *netsocket = NULL, *localsocket;
+//static pthread_t netthread, locthread;
+
+// show user current time
+static sl_sock_hresult_e timehandler(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
+    if(!client) return RESULT_FAIL;
+    char buf[32];
+    snprintf(buf, 31, "UNIXT=%.3f\n", sl_dtime());
+    sl_sock_sendstrmessage(client, buf);
+    return RESULT_SILENCE;
+}
+
+// show all connected libraries
+static sl_sock_hresult_e listhandler(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
+    if(!client) return RESULT_FAIL;
+    char buf[256];
+    int N = get_nplugins();
+    if(N < 1) return RESULT_FAIL;
+    sensordata_t *d = NULL;
+    for(int i = 0; i < N; ++i){
+        if(!(d = get_plugin(i))) continue;
+        snprintf(buf, 255, "PLUGIN[%d]=%s\nNVALUES[%d]=%d\n", i, d->name, i, d->Nvalues);
+        sl_sock_sendstrmessage(client, buf);
+    }
+    return RESULT_SILENCE;
+}
+
+/**
+ * @brief showdata - send to user meteodata
+ * @param client - client data
+ * @param N - index of station
+ * @param showidx - == TRUE to show index in square brackets
+ */
+static void showdata(sl_sock_t *client, int N, int showidx){
+    char buf[FULL_LEN+1];
+    val_t v;
+    sensordata_t *s = NULL;
+    if(!(s = get_plugin(N)) || (s->Nvalues < 1)){
+        snprintf(buf, FULL_LEN, "Can't get plugin[%d]\n", N);
+        sl_sock_sendstrmessage(client, buf);
+        return;
+    }
+    if(!showidx || get_nplugins() == 1) N = -1; // only one -> don't show indexes
+    time_t oldest = time(NULL) - oldest_interval;
+    uint64_t Tsum = 0; int nsum = 0;
+    for(int i = 0; i < s->Nvalues; ++i){
+        if(!s->get_value(s, &v, i)) continue;
+        if(v.time < oldest) continue;
+        if(1 > format_sensval(&v, buf, FULL_LEN+1, N)) continue;
+        DBG("formatted: '%s'", buf);
+        sl_sock_sendstrmessage(client, buf);
+        sl_sock_sendbyte(client, '\n');
+        ++nsum; Tsum += v.time;
+    }
+    oldest = (time_t)(Tsum / nsum);
+    if(0 < format_msrmttm(oldest, buf, FULL_LEN+1)){ // send mean measuring time
+        DBG("Formatted time: '%s'", buf);
+        sl_sock_sendstrmessage(client, buf);
+        sl_sock_sendbyte(client, '\n');
+    }
+}
+
+// get meteo data
+static sl_sock_hresult_e gethandler(sl_sock_t *client, _U_ sl_sock_hitem_t *item, const char *req){
+    if(!client) return RESULT_FAIL;
+    int N = get_nplugins();
+    if(N < 1) return RESULT_FAIL;
+    if(!req) for(int i = 0; i < N; ++i) showdata(client, i, TRUE);
+    else{
+        int n;
+        if(!sl_str2i(&n, req) || n < 0 || n >= N) return RESULT_BADVAL;
+        showdata(client, n, FALSE);
+    }
+    return RESULT_SILENCE;
+}
+
+// graceful closing socket: let client know that he's told to fuck off
+static void toomuch(int fd){
+    const char *m = "Try later: too much clients connected\n";
+    send(fd, m, sizeof(m)-1, MSG_NOSIGNAL);
+    shutdown(fd, SHUT_WR);
+    DBG("shutdown, wait");
+    double t0 = sl_dtime();
+    uint8_t buf[8];
+    while(sl_dtime() - t0 < 90.){ // change this value to smaller for real work
+        if(sl_canread(fd)){
+            ssize_t got = read(fd, buf, 8);
+            DBG("Got=%zd", got);
+            if(got < 1) break;
+        }
+    }
+    DBG("Disc after %gs", sl_dtime() - t0);
+    LOGWARN("Client fd=%d tried to connect after MAX reached", fd);
+}
+// new connections handler (return FALSE to reject client)
+static int connected(sl_sock_t *c){
+    if(c->type == SOCKT_UNIX) LOGMSG("New local client fd=%d connected", c->fd);
+    else LOGMSG("New client fd=%d, IP=%s connected", c->fd, c->IP);
+    return TRUE;
+}
+// disconnected handler
+static void disconnected(sl_sock_t *c){
+    if(c->type == SOCKT_UNIX) LOGMSG("Disconnected local client fd=%d", c->fd);
+    else LOGMSG("Disconnected client fd=%d, IP=%s", c->fd, c->IP);
+}
+static sl_sock_hresult_e defhandler(struct sl_sock *s, const char *str){
+    if(!s || !str) return RESULT_FAIL;
+    sl_sock_sendstrmessage(s, "You entered wrong command:\n```\n");
+    sl_sock_sendstrmessage(s, str);
+    sl_sock_sendstrmessage(s, "\n```\nTry \"help\"\n");
+    return RESULT_SILENCE;
+}
+
+// handlers for network and local (UNIX) sockets
+static sl_sock_hitem_t nethandlers[] = { // net - only getters and client-only setters
+    {gethandler,  "get",  "get all meteo or only for given plugin number", NULL},
+    {listhandler, "list", "show all opened plugins", NULL},
+    {timehandler, "time", "get server's UNIX time", NULL},
+    {NULL, NULL, NULL, NULL}
+};
+static sl_sock_hitem_t localhandlers[] = { // local - full amount of setters/getters
+    {gethandler,  "get",  "get all meteo or only for given plugin number", NULL},
+    {listhandler, "list", "show all opened plugins", NULL},
+    {timehandler, "time", "get server's UNIX time", NULL},
+    {NULL, NULL, NULL, NULL}
+};
+
+#if 0
+// common parsers for both net and local sockets
+static void *cmdparser(void *U){
+    if(!U) return NULL;
+    sl_sock_t *s = (sl_sock_t*) U;
+    while(s && s->connected){
+        if(!s->rthread){
+            LOGERR("Server's handlers' thread is dead");
+            break;
+        }
+    }
+    LOGDBG("cmdparser(): exit");
+    return NULL;
+}
+#endif
+
+int start_servers(const char *netnode, const char *sockpath){
+    if(!netnode || !sockpath){
+        LOGERR("start_servers(): need arguments");
+        return FALSE;
+    }
+    netsocket = sl_sock_run_server(SOCKT_NET, netnode, BUFSIZ, nethandlers);
+    if(!netsocket){
+        LOGERR("start_servers(): can't run network socket");
+        return FALSE;
+    }
+    localsocket = sl_sock_run_server(SOCKT_UNIX, sockpath, BUFSIZ, localhandlers);
+    if(!localsocket){
+        LOGERR("start_servers(): can't run local socket");
+        return FALSE;
+    }
+    sl_sock_changemaxclients(netsocket, MAX_CLIENTS);
+    sl_sock_changemaxclients(localsocket, 1);
+    sl_sock_maxclhandler(netsocket, toomuch);
+    sl_sock_maxclhandler(localsocket, toomuch);
+    sl_sock_connhandler(netsocket, connected);
+    sl_sock_connhandler(localsocket, connected);
+    sl_sock_dischandler(netsocket, disconnected);
+    sl_sock_dischandler(localsocket, disconnected);
+    sl_sock_defmsghandler(netsocket, defhandler);
+    sl_sock_defmsghandler(localsocket, defhandler);
+#if 0
+    if(pthread_create(&netthread, NULL, cmdparser, (void*)netsocket)){
+        LOGERR("Can't run server's net thread");
+        goto errs;
+    }
+    if(pthread_create(&locthread, NULL, cmdparser, (void*)localsocket)){
+        LOGERR("Can't run server's local thread");
+        goto errs;
+    }
+#endif
+    return TRUE;
+#if 0
+errs:
+    sl_sock_delete(&localsocket);
+    sl_sock_delete(&netsocket);
+    return FALSE;
+#endif
+}
+
+void kill_servers(){
+    //pthread_cancel(locthread);
+    //pthread_cancel(netthread);
+    //LOGMSG("Server threads canceled");
+    //usleep(500);
+    sl_sock_delete(&localsocket);
+    sl_sock_delete(&netsocket);
+    LOGMSG("Server sockets destroyed");
+    //usleep(500);
+    //pthread_kill(locthread, 9);
+    //pthread_kill(netthread, 9);
+    //LOGMSG("Server threads killed");
+}

Daemons/weatherdaemon_multimeteo/server.h

@@ -0,0 +1,25 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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
+
+// maximal amount of simultaneous clients connected
+#define MAX_CLIENTS     (30)
+
+int start_servers(const char *netnode, const char *sockpath);
+void kill_servers();

Daemons/weatherdaemon_multimeteo/weatherdaemon.cflags

@@ -0,0 +1 @@
+-std=c17

Daemons/weatherdaemon_multimeteo/weatherdaemon.config

@@ -0,0 +1,4 @@
+#define EBUG       1
+#define _GNU_SOURCE
+#define _XOPEN_SOURCE 1111
+#define _POSIX_C_SOURCE 200000

Daemons/weatherdaemon_multimeteo/weatherdaemon.creator

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

Daemons/weatherdaemon_multimeteo/weatherdaemon.cxxflags

@@ -0,0 +1 @@
+-std=c++17

Daemons/weatherdaemon_multimeteo/weatherdaemon.files

@@ -0,0 +1,14 @@
+CMakeLists.txt
+cmdlnopts.c
+cmdlnopts.h
+fd.c
+fd.h
+main.c
+plugins/dummy.c
+plugins/fdexample.c
+sensors.c
+sensors.h
+server.c
+server.h
+weathlib.c
+weathlib.h

Daemons/weatherdaemon_multimeteo/weatherdaemon.includes

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

Daemons/weatherdaemon_multimeteo/weathlib.c

@@ -0,0 +1,66 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2026 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/>.
+ */
+
+// Some common functions and handlers for sensors
+
+#include "weathlib.h"
+
+/**
+ * @brief sensor_alive - test if sensor's thread isn't dead
+ * @param s - sensor
+ * @return FALSE if thread is dead
+ */
+int sensor_alive(sensordata_t *s){
+    if(!s) return FALSE;
+    if(pthread_kill(s->thread, 0)) return FALSE;
+    return TRUE;
+}
+
+/**
+ * @brief common_onrefresh - common `change onrefresh handler`
+ * @param s - sensor
+ * @return FALSE if failed
+ */
+int common_onrefresh(sensordata_t *s, void (*handler)(sensordata_t *)){
+    FNAME();
+    if(!s || !handler) return FALSE;
+    s->freshdatahandler = handler;
+    return TRUE;
+}
+
+/**
+ * @brief common_kill - common `die` function
+ * @param s - sensor
+ */
+void common_kill(sensordata_t *s){
+    FNAME();
+    if(!s) return;
+    if(0 == pthread_kill(s->thread, -9)){
+        DBG("%s main thread killed, join", s->name);
+        pthread_join(s->thread, NULL);
+        DBG("Done");
+    }
+    DBG("Delete RB");
+    sl_RB_delete(&s->ringbuffer);
+    if(s->fdes > -1){
+        close(s->fdes);
+        DBG("FD closed");
+    }
+    FREE(s->values);
+    DBG("Sensor %s killed", s->name);
+}

Daemons/weatherdaemon_multimeteo/weathlib.h

@@ -0,0 +1,108 @@
+/*
+ * This file is part of the weatherdaemon project.
+ * Copyright 2025 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 <pthread.h>
+#include <signal.h> // pthread_kill
+#include <stdint.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+// length (in symbols) of key, value and comment
+#define KEY_LEN         (8)
+#define VAL_LEN         (31)
+#define COMMENT_LEN     (63)
+// maximal full length of "KEY=val / comment" (as for sfitsio)
+#define FULL_LEN        (81)
+// name of meteo-plugin
+#define NAME_LEN        (127)
+
+// importance of values
+typedef enum{
+    VAL_OBLIGATORY,     // can't be omitted
+    VAL_RECOMMENDED,    // recommended to show
+    VAL_UNNECESSARY,    // may be shown by user request
+    VAL_BROKEN          // sensor is broken, omit it
+} valsense_t;
+
+// meaning of values
+typedef enum{
+    IS_WIND,            // wind, m/s
+    IS_WINDDIR,         // wind direction, degr
+    IS_HUMIDITY,        // humidity, percent
+    IS_AMB_TEMP,        // ambient temperature, degC
+    IS_INNER_TEMP,      // in-dome temperature, degC
+    IS_HW_TEMP,         // hardware (?) termperature, degC
+    IS_PRESSURE,        // atmospheric pressure, mmHg
+    IS_PRECIP,          // precipitation (1 - yes, 0 - no)
+    IS_PRECIP_LEVEL,    // precipitation level (mm)
+    IS_MIST,            // mist (1 - yes, 0 - no)
+    IS_CLOUDS,          // integral clouds value (bigger - better)
+    IS_SKYTEMP,         // mean sky temperatyre
+    IS_OTHER            // something other - read "name" and "comment"
+} valmeaning_t;
+
+typedef union{
+    uint32_t u;
+    int32_t i;
+    float f;
+} num_t;
+
+// type of value
+typedef enum{
+    VALT_UINT,
+    VALT_INT,
+    VALT_FLOAT,
+    //VALT_STRING,
+} valtype_t;
+
+// value
+typedef struct{
+    char name[KEY_LEN+1];   // max VAL_LEN symbols FITS header keyword name
+    char comment[COMMENT_LEN+1];// max COMMENT_LEN symbols of comment to FITS header
+    valsense_t sense;       // importance
+    valtype_t type;         // type of given value
+    valmeaning_t meaning;   // what type of sensor is it
+    num_t value;            // value itself
+    time_t time;            // last changing time
+} val_t;
+
+// all sensor's data
+// all functions have `this` as first arg
+typedef struct sensordata_t{
+    char name[NAME_LEN+1];  // max 31 symbol of sensor's name (e.g. "rain sensor")
+    int Nvalues;            // amount of values
+    int PluginNo;           // plugin number in array (if several)
+    int (*init)(struct sensordata_t*, int, time_t, int); // init meteostation with given PluginNo, poll_interval and fd; return amount of parameters found or -1 if error
+    int (*onrefresh)(struct sensordata_t*, void (*handler)(struct sensordata_t*)); // handler of new data; return TRUE if OK
+    int (*get_value)(struct sensordata_t*, val_t*, int); // getter of Nth value
+    void (*kill)(struct sensordata_t*); // close everything and remove sensor
+    // private members:
+    val_t *values;          // array of values
+    pthread_t thread;       // main thread
+    void (*freshdatahandler)(struct sensordata_t*); // handler of fresh data
+    int fdes;               // file descriptor of device/socket
+    sl_ringbuffer_t *ringbuffer; // ringbuffer for device reading
+    time_t tpoll;           // forced polling time for sensor
+} sensordata_t;
+
+// library functions and other
+int common_onrefresh(sensordata_t*, void (*handler)(sensordata_t*));
+void common_kill(sensordata_t *s);
+int sensor_alive(sensordata_t *s);