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11 Commits
2aa8502796 ... master

Author SHA1 Message Date
Edward Emelianov
fa305a7cc0 fix encoders 2026-03-11 10:05:02 +03:00
Edward Emelianov
205a190820 some fixes, sill have troubles with dummy socket/fd 2026-03-06 12:20:10 +03:00
Edward Emelianov
7c2aaf1cb0 add serial/socket plugin example 2026-02-27 18:31:22 +03:00
Edward Emelianov
54778dcf9a add pre-pre-alpha 2026-02-27 12:05:40 +03:00
Edward Emelianov
31752b58cc polltest 2026-01-26 22:27:51 +03:00
Edward Emelianov
09642743a6 add some bash scripts 2026-01-26 17:16:49 +03:00
Edward Emelianov
a80347643f fixed for new vesrion of usefull_macros 2026-01-26 16:54:50 +03:00
Edward Emelianov
50cbaea550 some work done 2026-01-24 00:57:11 +03:00
Edward Emelianov
c8449c916a fixed for no-connect error 2026-01-20 09:27:06 +03:00
Edward Emelianov
74d9ebb75f .. 2025-12-08 21:04:06 +03:00
Edward Emelianov
2e9241f079 time 2025-11-01 19:54:18 +03:00
82 changed files with 3023 additions and 537 deletions
Expand all files Collapse all files

3
.gitignore vendored
View File

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

8
Auxiliary_utils/Hydreon/cmdlnopts.c
View File

@@ -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++)

16
Auxiliary_utils/Hydreon/dumpregs.c
View File

@@ -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;

10
Auxiliary_utils/Hydreon/hydreon.c
View File

@@ -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);
}

83
Auxiliary_utils/LibSidServo/PID.c
View File

@@ -84,49 +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.;
@@ -135,16 +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), state=%d", error, dt, axis->state);
double tagspeed = pid_calculate(pid, error, dt);
if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dt; // 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
}
@@ -154,22 +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);
@@ -177,20 +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 = -tagspeed.X;
if(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 = -tagspeed.Y;
if(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);
}

4
Auxiliary_utils/LibSidServo/PID.h
View File

@@ -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);

2
Auxiliary_utils/LibSidServo/PID_test/moving_model.files
View File

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

6
Auxiliary_utils/LibSidServo/TODO
View File

@@ -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

8
Auxiliary_utils/LibSidServo/examples/SSIIconf.c
View File

@@ -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
}

65
Auxiliary_utils/LibSidServo/examples/conf.c
View File

@@ -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", 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];
}

1
Auxiliary_utils/LibSidServo/examples/conf.h
View File

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

38
Auxiliary_utils/LibSidServo/examples/dump.c
View File

@@ -24,7 +24,7 @@
#include "simpleconv.h"
// starting dump time (to conform different logs)
static double dumpT0 = -1.;
static struct timespec dumpT0 = {0};
#if 0
// amount of elements used for encoders' data filtering
@@ -63,7 +63,9 @@ static double filter(double val, int idx){
#endif
// return starting time of dump
double dumpt0(){ return dumpT0; }
void dumpt0(struct timespec *t){
if(t) *t = dumpT0;
}
/**
@@ -75,12 +77,12 @@ void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
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;
}else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
}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",
m->encXposition.t - dumpT0, 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);
@@ -106,16 +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);
@@ -126,7 +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);
}
/**
@@ -137,18 +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;
//DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
ctr = 0;
}else ++ctr;
if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
else ++ctr;
}
}

2
Auxiliary_utils/LibSidServo/examples/dump.h
View File

@@ -27,4 +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);
double dumpt0();
void dumpt0(struct timespec *t);

1
Auxiliary_utils/LibSidServo/examples/dumpmoving.c
View File

@@ -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){

6
Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c
View File

@@ -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;*/

12
Auxiliary_utils/LibSidServo/examples/dumpswing.c
View File

@@ -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;
@@ -158,24 +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)){

12
Auxiliary_utils/LibSidServo/examples/goto.c
View File

@@ -91,7 +91,7 @@ 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");
DBG("xt: %g, x: %g", M.X.t, M.X.val);
printf("Current time: %.10f\n", Mount.timeFromStart());
if(G.coordsoutput){
if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
G.wait = 1;
@@ -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;

38
Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
View File

@@ -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 = {
@@ -96,38 +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 = dumpt0(), tlast = 0., tstart = Mount.currentT();
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' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
tlastX = telXY.X.t; tlastY = telXY.Y.t;
double t = Mount.currentT();
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;
if(t0 < 0.) t0 = dumpt0();
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-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
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", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
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, &endpoint)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
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");
@@ -153,7 +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;

2
Auxiliary_utils/LibSidServo/examples/traectories.c
View File

@@ -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){

29
Auxiliary_utils/LibSidServo/libsidservo.creator.user
View File

@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 17.0.2, 2025-11-01T14:58:43. -->
<!-- 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">
@@ -132,7 +133,7 @@
<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>
@@ -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>
@@ -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>

1
Auxiliary_utils/LibSidServo/libsidservo.files
View File

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

211
Auxiliary_utils/LibSidServo/main.c
View File

@@ -25,6 +25,7 @@
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "main.h"
#include "movingmodel.h"
@@ -32,41 +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(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(!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 -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 (double)now.tv_sec + (double)now.tv_nsec * 1e-9;
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;
@@ -76,18 +118,17 @@ static void quit(){
DBG("Exit");
}
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst){
void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
if(!c || !Xmodel || !Ymodel) return;
double tnow = nanotime();
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);
c->X.t = c->Y.t = tnow;
c->X.val = Xp.coord;
c->Y.val = Yp.coord;
c->X = Xp.coord;
c->Y = Yp.coord;
if(xst) *xst = Xst;
if(yst) *yst = Yst;
}
@@ -138,7 +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
@@ -147,15 +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()){
@@ -171,41 +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;
@@ -221,19 +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
@@ -248,12 +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);
}
/**
@@ -282,6 +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;
@@ -301,7 +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;
@@ -313,7 +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;
@@ -330,7 +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;
@@ -362,7 +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;
@@ -389,6 +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);
@@ -428,8 +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);
@@ -447,6 +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;
}
@@ -502,17 +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,
@@ -522,7 +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,
};

12
Auxiliary_utils/LibSidServo/main.h
View File

@@ -28,8 +28,12 @@
#include "sidservo.h"
extern conf_t Conf;
double nanotime();
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst);
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
@@ -43,10 +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))

2
Auxiliary_utils/LibSidServo/movingmodel.c
View File

@@ -60,7 +60,7 @@ 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){

2
Auxiliary_utils/LibSidServo/movingmodel.h
View File

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

237
Auxiliary_utils/LibSidServo/polltest/main.c Normal file
View File

@@ -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;
}

421
Auxiliary_utils/LibSidServo/serial.c
View File

@@ -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;
@@ -59,49 +60,31 @@ typedef struct __attribute__((packed)){
// calculate current X/Y speeds
void getXspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
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;
}
pthread_mutex_unlock(&datamutex);
//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 double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
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;
}
pthread_mutex_unlock(&datamutex);
#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
}
/**
@@ -109,7 +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
@@ -144,18 +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
@@ -163,33 +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;
@@ -201,9 +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;
@@ -265,8 +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);
@@ -280,10 +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
@@ -291,7 +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;
@@ -302,13 +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){
@@ -318,53 +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)){
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = X_ENC2RAD(v);
//DBG("encX(%g) = %g", t, mountdata.encXposition.val);
mountdata.encXposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
getXspeed();
if(getencval(encfd[1], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encYposition.val = Y_ENC2RAD(v);
//DBG("encY(%g) = %g", t, mountdata.encYposition.val);
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//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]);
@@ -390,43 +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));
double t0 = nanotime(), tstart = t0;
static double oldmt = -100.; // old `millis measurement` time
double t0 = timefromstart(), tstart = t0, tcur = t0;
double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
if(Conf.RunModel) while(1){
coordval_pair_t c;
movestate_t xst, yst;
// now change data
getModData(&c, &xst, &yst);
pthread_mutex_lock(&datamutex);
double tnow = c.X.t;
mountdata.encXposition.t = mountdata.encYposition.t = tnow;
mountdata.encXposition.val = c.X.val;
mountdata.encYposition.val = c.Y.val;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)((tnow - tstart) * 1e3);
mountdata.motYposition.t = mountdata.motXposition.t = tnow;
if(xst == ST_MOVE)
mountdata.motXposition.val = c.X.val + (c.X.val - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motXposition.val = c.X.val;
if(yst == ST_MOVE)
mountdata.motYposition.val = c.Y.val + (c.Y.val - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motYposition.val = c.Y.val;
oldmt = tnow;
}else mountdata.millis = oldmillis;
pthread_mutex_unlock(&datamutex);
getXspeed(); getYspeed();
while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = nanotime();
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)};
@@ -435,31 +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
@@ -476,14 +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:
@@ -499,8 +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
@@ -509,7 +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
@@ -542,7 +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]);
@@ -589,6 +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");
@@ -620,6 +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;
}
@@ -638,30 +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;
}
@@ -765,16 +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:

56
Auxiliary_utils/LibSidServo/sidservo.h
View File

@@ -32,38 +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": 8 degrees
//#define MCC_MAX_POINTING_ERR (0.20943951)
//#define MCC_MAX_POINTING_ERR (0.08726646)
#define MCC_MAX_POINTING_ERR (0.13962634)
// 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{
@@ -73,6 +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{
@@ -87,14 +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
@@ -105,7 +90,7 @@ typedef struct{
// coordinate/speed and time of last measurement
typedef struct{
double val;
double t;
struct timespec t;
} coordval_t;
typedef struct{
@@ -206,6 +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
@@ -247,7 +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
@@ -257,7 +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;

50
Auxiliary_utils/LibSidServo/ssii.c
View File

@@ -26,6 +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++){
@@ -67,17 +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;
@@ -176,33 +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");

74
Auxiliary_utils/LibSidServo/ssii.h
View File

@@ -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);

2
Auxiliary_utils/PCS_create/CMakeLists.txt
View File

@@ -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")

2
Auxiliary_utils/PCS_create/PCS.c
View File

@@ -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");

8
Auxiliary_utils/PCS_create/cmdlnopts.c
View File

@@ -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++){

2
Auxiliary_utils/Weather_chk/CMakeLists.txt
View File

@@ -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")

8
Auxiliary_utils/Weather_chk/cmdlnopts.c
View File

@@ -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++)

22
Auxiliary_utils/Weather_chk/main.c
View File

@@ -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");
}

2
Auxiliary_utils/bash_scripts/AZpoint
View File

@@ -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}#"

20
Auxiliary_utils/bash_scripts/allsky_sixel.sh Executable file
View File

@@ -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

114
Auxiliary_utils/bash_scripts/allsky_sixel_weather.sh Executable file
View File

@@ -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

18
Auxiliary_utils/bash_scripts/copy_and_xz.sh Executable file
View File

@@ -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/'"

0
Auxiliary_utils/bash_scripts/park_telescope → Auxiliary_utils/bash_scripts/park_telescope.old
View File

33
Auxiliary_utils/bash_scripts/park_telescope_1 Executable file
View File

@@ -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"

33
Auxiliary_utils/bash_scripts/park_telescope_2 Executable file
View File

@@ -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"

165
Auxiliary_utils/bash_scripts/run_full.new_foc Executable file
View File

@@ -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

44
Auxiliary_utils/bash_scripts/setup_obs.sh Executable file
View File

@@ -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

3
Auxiliary_utils/bash_scripts/video2dome1-2.sh Executable file
View File

@@ -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"

8
Auxiliary_utils/calc_points/cmdlnopts.c
View File

@@ -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);

2
Auxiliary_utils/calc_points/main.c
View File

@@ -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){

10
Auxiliary_utils/focussing/main.c
View File

@@ -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){

2
Auxiliary_utils/libastrotools/examples/coordstest.c
View File

@@ -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);

8
Auxiliary_utils/libastrotools/examples/transform.c
View File

@@ -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;

11
Daemons/domedaemon-astrosib/server.c
View File

@@ -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");

8
Daemons/netdaemon/cmdlnopts.c
View File

@@ -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*));

8
Daemons/netdaemon/main.c
View File

@@ -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");

28
Daemons/netdaemon/term.c
View File

@@ -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);
/*

2
Daemons/netdaemon/term.h
View File

@@ -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();

10
Daemons/send_coordinates/cmdlnopts.c
View File

@@ -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++)

6
Daemons/send_coordinates/main.c
View File

@@ -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)

16
Daemons/weather_database/main.c
View File

@@ -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

8
Daemons/weather_database/socket.c
View File

@@ -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;

69
Daemons/weatherdaemon_multimeteo/CMakeLists.txt Normal file
View File

@@ -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")

22
Daemons/weatherdaemon_multimeteo/Readme.md Normal file
View File

@@ -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

164
Daemons/weatherdaemon_multimeteo/cmdlnopts.c Normal file
View File

@@ -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;
}

37
Daemons/weatherdaemon_multimeteo/cmdlnopts.h Normal file
View File

@@ -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);

152
Daemons/weatherdaemon_multimeteo/fd.c Normal file
View File

@@ -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;
}

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/*
* 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);

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/*
* 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
}

24
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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})

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/*
* 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,
};

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/*
* 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,
};

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/*
* 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);
}

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/*
* 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);

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/*
* 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");
}

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/*
* 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();

1
Daemons/weatherdaemon_multimeteo/weatherdaemon.cflags Normal file
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-std=c17

4
Daemons/weatherdaemon_multimeteo/weatherdaemon.config Normal file
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#define EBUG 1
#define _GNU_SOURCE
#define _XOPEN_SOURCE 1111
#define _POSIX_C_SOURCE 200000

1
Daemons/weatherdaemon_multimeteo/weatherdaemon.creator Normal file
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[General]

1
Daemons/weatherdaemon_multimeteo/weatherdaemon.cxxflags Normal file
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@@ -0,0 +1 @@
-std=c++17

14
Daemons/weatherdaemon_multimeteo/weatherdaemon.files Normal file
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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

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Daemons/weatherdaemon_multimeteo/weatherdaemon.includes Normal file
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.

66
Daemons/weatherdaemon_multimeteo/weathlib.c Normal file
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/*
* 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);
}

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/*
* 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);