cont

Auxiliary_utils/bash_scripts/run_full.new_foc

@@ -2,10 +2,10 @@
 RA="17:17:08.86"
 DEC="+67:57:11.4"
 OBJ="GALEX171708.5"
-EXPTIME=31000
+# now exptime in seconds!
-FLATTIME=40000
+EXPTIME=40
-OBS="Fatkhullin T.A."
+FLATTIME=40
-BADWEATHER=1300
+OBS="Emelianov E.V."
 DATEEND=$(sunrise 14)
 # focus each N seconds
 FOCUST=7200
@@ -35,25 +35,25 @@ function focustel_new(){
 
     let fno=$1
     if [[ $fno -gt 1 ]]; then
-        let curr_foc=`fli_control | tail -n 5 | head -n 1 | cut -d "=" -f 2`
+        let curr_foc=`fli_control | grep FOCPOS | cut -d "=" -f 2`
-        let lowf=$curr_foc-1500
+        lowf=$(echo "$curr_foc - 0.3" | bc -l) 
-        let highf=$curr_foc+1500
+        highf=$(echo "$curr_foc + 0.3" | bc -l)
-        focus_seq_FLI.py -v -c focus$(printf "%02d" $1).jpg $lowf $highf 500
+        focus_seq_FLI.py -v -c focus$(printf "%02d" $1).jpg $lowf $highf 0.1
-        
+        retcode=$?
-        if [[ $? -ne 0 ]]; then
+        if [[ $retcode -ne 0 ]]; then
-            echo -e "\nFOCUSSING SCRIPT RETURNED: $?"
+            echo -e "\nFOCUSSING SCRIPT RETURNED: $retcode"
             echo -e "SOMETHING WAS WRONG IN FOCUSSING SEQUENCE!!! SET FOCUS TO PREVIOUS VALUE!!\n"
             fli_control -g $curr_foc
+            return $retcode
         fi
     else
-        focus_seq_FLI.py --guess -v -N 7 -c focus$(printf "%02d" $1).jpg 47000 60000 500
+        focus_seq_FLI.py --guess -v -N 7 -c focus$(printf "%02d" $1).jpg 4.25 5.75 0.25
+        return $?
     fi 
-
-    FDATE=$(date +%s)
 }
 
 function sendcmd(){
-    echo $1 | nc 192.168.70.33 10001 -q10
+    echo $1 | nc localhost 10001 -q2
 }
 
 function point_tel(){
@@ -73,7 +73,8 @@ if [[ $(pgrep -c run_full) -gt 1 ]]; then
     exit 1
 fi
 
-export http_proxy=""
+unset http_proxy
+unset https_proxy
 
 # set lower limit to 5degr
 send_command2mount ":So5#"
@@ -103,36 +104,47 @@ echo "Start taking object"
 badweather=0
 while true; do
 	now=$(date +%s)
-	ANS=$(curl localhost:55555/status 2>/dev/null)
+	ANS=$(curl localhost:55555/status 2>/dev/null | grep status | cut -d "=" -f2)
 	echo "Dome status: $ANS"
-	if [ $ANS != "opened" ]; then
+	if [[ $ANS != "opened" ]]; then
-		echo "Closed"
+		echo -e "\n\nBREAK by Closed Dome\n\n"
 		curl localhost:55555/weather 2>/dev/null > DomeClosed
+		curl localhost:55555/status 2>/dev/null >> DomeClosed
 		break;
 	fi
-	chkweather ${BADWEATHER} > lastweather && badweather=0 || badweather=$((badweather+1))
+	WLVL=0
-	[ $badweather -gt 5 ] && break
+	chkweather | sed 's/\[.*//' > lastweather && badweather=0 || WLVL=$?
-	[ -f stopobs ] && break
+	[[ $x -gt 1 ]] && badweather=$((badweather+1))
-	[ -f exitjob ] && exit 0
+	eval  $(cat lastweather)
-	if [ "$now" -lt "$DATEEND" ]; then
+	[[ $badweather -gt 5 ]] && (echo -e "\n\nBREAK by BAD WEATHER\n\n"; break)
+	[[ $ForceOFF == 1 ]] && (echo -e "\n\nBREAK by FORCE OFF\n\n";  break)
+	[[ -f stopobs ]] && (echo -e "\n\nBREAK by STOP OBS\n\n"; break)
+	[[ -f exitjob ]] && (echo -e "\n\nEXIT JOB\n\n"; exit 0)
+	if [[ "$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"
+		echo -e "\n\nEstimated time to flip: $est minutes\n"
 		if [[ ("x$est" == "x") || ($est -lt 3) ]]; then
+			echo -e "\n\nRepointing: approaching flip\n\n"
 			point_tel "${RA}" "${DEC}"
 			continue
 		fi
 		ST=$(send_coords | awk '{print $4}')
-		[ "x$ST" == "x" ] && break
+		[[ "x$ST" == "x" ]] && (echo -e "\n\nBREAK: have no answer from `send_coords`\n\n"; break)
-		if [ $ST -ne "0" ]; then
+		if [[ $ST -ne "0" ]]; then
+			echo -e "\n\nRepoint: Mount status is not 'tracking'\n\n"
 			point_tel "${RA}" "${DEC}"
 			continue
 		else
-			[ $(($(date +%s) - $FDATE)) -gt $FOCUST ] && focustel_new $((FNO++))
+			if [[ $(($(date +%s) - $FDATE)) -gt $FOCUST ]]; then
-#			[ $(($(date +%s) - $FDATE)) -gt $FOCUST ] && focustel $((FNO++))
+				echo -e "\n\nREFOCUSING by timeout\n\n"
+				focustel_new $((FNO++)) && FDATE=$(date +%s) || FNO=$((--FNO))
+				echo "FDATE: $FDATE, FNO: $FNO"
+			fi
 			preflash
-			fli_control -r /tmp/10micron.fitsheader -x $EXPTIME -N "${OBS}" -O "${OBJ}" "$OBJ"
+			fli_control -x $EXPTIME -N "${OBS}" -O "${OBJ}" "$OBJ"
 		fi
 	else
+		echo -e "\n\nBREAK: night is over\n\n"
 		break
 	fi
 done
@@ -140,8 +152,8 @@ done
 echo "Dome closed @ $(date)" >> closed
 curl localhost:55555/close
 
-relay_manage -s1
 park_telescope
+Flat on
 
 for x in $(seq 1 10); do
 	preflash
@@ -152,7 +164,7 @@ for x in $(seq 1 10); do
 	fli_control -r /tmp/10micron.fitsheader -n3 -x $FLATTIME -N "${OBS}" -O "flat" flat
 done
 
-relay_manage -r1
+Flat off
 echo "Closed @ $(date)" >> closed
 
 STOPobs || true

Auxiliary_utils/bash_scripts/run_full.new_foc.old

@@ -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

Daemons/10micron_stellarium/CMakeLists.txt

@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 4.0)
+
+set(PROJ mountdaemon_10micron)
+project(${PROJ})
+
+set(MAJOR_VERSION "0")
+set(MID_VERSION "1")
+set(MINOR_VERSION "1")
+set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
+
+enable_language(C)
+message("VER: ${VERSION}")
+
+# options
+option(DEBUG "Compile in debug mode" OFF)
+
+# default flags
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -W -Wextra -std=c23")
+if(DEBUG)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Og -g3 -ggdb -fno-builtin-strlen -Werror")
+    add_definitions(-DEBUG)
+    set(CMAKE_BUILD_TYPE DEBUG)
+    set(CMAKE_VERBOSE_MAKEFILE "ON")
+else()
+    set(CMAKE_C_FLAGS "${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()
+
+message("Build type: ${CMAKE_BUILD_TYPE}")
+
+set(CMAKE_COLOR_MAKEFILE ON)
+
+# here is one of two variants: all .c in directory or .c files in list
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
+
+###### pkgconfig ######
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(MODULES REQUIRED usefull_macros>=0.3.2 erfa>=2.0.0)
+
+# change wrong behaviour with install prefix
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT AND CMAKE_INSTALL_PREFIX MATCHES "/usr/local")
+else()
+    message("Change default install path to /usr/local")
+    set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+message("Install dir prefix: ${CMAKE_INSTALL_PREFIX}")
+
+# executable file
+add_executable(${PROJ} ${SOURCES})
+# -I
+target_include_directories(${PROJ} PUBLIC ${MODULES_INCLUDE_DIRS})
+# -L
+target_link_directories(${PROJ} PUBLIC ${MODULES_LIBRARY_DIRS})
+# -l
+target_link_libraries(${PROJ} ${MODULES_LIBRARIES} -lweather -lm)
+# -D
+add_definitions(-D_XOPEN_SOURCE=1234 -D_DEFAULT_SOURCE -D_GNU_SOURCE
+		-DPACKAGE_VERSION=\"${VERSION}\" -DMINOR_VERSION=\"${MINOR_VERSION}\" 
+		-DMID_VERSION=\"${MID_VERSION}\" -DMAJOR_VERSION=\"${MAJOR_VESION}\"
+		)
+
+# Installation of the program
+INSTALL(TARGETS ${PROJ} DESTINATION "bin")

Daemons/10micron_stellarium/angles.c

@@ -0,0 +1,410 @@
+/*
+ * This file is part of the mountdaemon_10micron 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 <erfa.h>
+#include <erfam.h>
+#include <math.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "angles.h"
+
+static placeData_t place = {.slong = 0.7232763200, .slat = 0.7618977414, .salt = 2070.};
+static almDut_t AlmDut = {0};
+
+// set/get polar/DUT1 data
+bool setDUT(almDut_t *D){
+    if(!D){
+        WARNX("setDUT(): no args");
+        return false;
+    }
+    if(fabs(D->DUT1) > 1.){
+        WARNX("setDUT(): DUT1 too large (%g)", D->DUT1);
+        return false;
+    }
+    if(fabs(D->px) > 1000. || fabs(D->py) > 1000.){
+        WARNX("setDUT(): bad polar coordinates (%g, %g)", D->px, D->py);
+        return false;
+    }
+    AlmDut = *D;
+    return true;
+}
+
+void getDUT(almDut_t *D){
+    if(!D) return;
+    *D = AlmDut;
+}
+
+
+/**
+ * @brief setPlaceData - correct place data to given values
+ * @param longitude - degrees, (-180, 180], minus to west
+ * @param latitude - degrees, [-90, 90], minus to south
+ * @param altitude - meters
+ * @return false if some of data wrong
+ */
+bool setPlaceData(double longitude, double latitude, double altitude){
+    if(longitude <= -180. || longitude > 180.){
+        WARNX("setPlaceData(): bad longitude (%g)", longitude);
+        return false;
+    }
+    if(latitude < -90. || latitude > 90.){
+        WARNX("setPlaceData(): bad latitude (%g)", latitude);
+        return false;
+    }
+    if(altitude < -500. || altitude > 9000.){
+        WARNX("setPlaceData(): bad altitude (%g)", altitude);
+        return false;
+    }
+    place.salt = altitude;
+    place.slat = latitude;
+    place.slong = longitude;
+    return true;
+}
+
+void getPlaceData(placeData_t *pd){
+    if(!pd) return;
+    *pd = place;
+}
+
+/**
+ * convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
+ */
+char *radec2str(double ra, double dec, char buf[RADEC_STR_MAXLEN]){
+    char sign = '+';
+    if(dec < 0){
+        sign = '-';
+        dec = -dec;
+    }
+
+    int h = (int)ra;
+    ra -= h; ra *= 60.;
+    int m = (int)ra;
+    ra -= m; ra *= 60.;
+
+    int d = (int) dec;
+    dec -= d; dec *= 60.;
+    int dm = (int)dec;
+    dec -= dm; dec *= 60.;
+    snprintf(buf, RADEC_STR_MAXLEN, "%d:%d:%.2f %c%d:%d:%.1f", h,m,ra, sign,d,dm,dec);
+    buf[RADEC_STR_MAXLEN-1] = 0;
+    return buf;
+}
+
+// normalize RA/DEC to [0..24) for RA and [-90, 90] for DEC
+void norm_RA(double *ra){
+    if(!ra) return;
+    if(*ra >= 0. && *ra < 24.) return;
+    double r = fmod(*ra, 24.);
+    if(r < 0.) r += 24.;
+    *ra = r;
+}
+void norm_RADEC(double *ra, double *dec){
+    if(!ra || !dec) return;
+    if(*dec >= -90. && *dec <= 90.){ // need only check RA
+        norm_RA(ra);
+        return;
+    }
+    // 1: convert to (-180..+180)
+    norm_angle180(dec);
+    // 2: fix dec & ra together
+    if(*dec > 90.) *dec = 180. - *dec;
+    else *dec = -180. - *dec;
+    *ra += 12.;
+    norm_RA(ra);
+}
+// normalize angle to (-180, 180]
+void norm_angle180(double *a){
+    if(!a) return;
+    double d = fmod(*a + 180.0, 360.0);
+    if(d < 0.) d += 360.0;
+    else d -= 180;
+    *a = d;
+}
+
+/**
+ * @brief hor2eq  - convert horizontal coordinates to polar
+ * @param h (i)   - horizontal coordinates
+ * @param pc (o)  - polar coordinates
+ * @param sidTime - sidereal time
+ */
+void hor2eq(horizCrds_t *h, polarCrds_t *pc, double sidTime){
+    if(!h || !pc) return;
+    eraAe2hd(h->az, ERFA_DPI/2. - h->zd, place.slat, &pc->ha, &pc->dec); // A,H -> HA,DEC; phi - site latitude
+    pc->ra = sidTime - pc->ha;
+    pc->eo = 0.;
+}
+
+/**
+ * @brief eq2horH - convert polar coordinates to horizontal
+ * @param pc (i)  - polar coordinates (only HA used)
+ * @param h (o)   - horizontal coordinates
+ * @param sidTime - sidereal time
+ */
+void eq2horH(polarCrds_t *pc, horizCrds_t *h){
+    if(!h || !pc) return;
+    double alt;
+    eraHd2ae(pc->ha, pc->dec, place.slat, &h->az, &alt);
+    h->zd = ERFA_DPI/2. - alt;
+}
+
+/**
+ * @brief eq2hor  - convert polar coordinates to horizontal
+ * @param pc (i)  - polar coordinates (only RA used)
+ * @param h (o)   - horizontal coordinates
+ * @param sidTime - sidereal time
+ */
+void eq2hor(polarCrds_t *pc, horizCrds_t *h, double sidTime){
+    if(!h || !pc) return;
+    double ha = sidTime - pc->ra + pc->eo;
+    double alt;
+    eraHd2ae(ha, pc->dec, place.slat, &h->az, &alt);
+    h->zd = ERFA_DPI/2. - alt;
+}
+
+/**
+ * @brief r2sHMS  - convert angle in radians into string "'HH:MM:SS.SS'"
+ * @param radians - angle
+ * @param hms (o) - string
+ * @param len     - length of hms
+ */
+void r2sHMS(double radians, char *hms, int len){
+    char pm;
+    int i[4];
+    eraA2tf(2, radians, &pm, i);
+    snprintf(hms, len, "'%c%02d:%02d:%02d.%02d'", pm, i[0],i[1],i[2],i[3]);
+}
+
+/**
+ * @brief r2sDMS  - convert angle in radians into string "'DD:MM:SS.S'"
+ * @param radians - angle
+ * @param dms (o) - string
+ * @param len     - length of hms
+ */
+void r2sDMS(double radians, char *dms, int len){
+    char pm;
+    int i[4];
+    eraA2af(1, radians, &pm, i);
+    snprintf(dms, len, "'%c%02d:%02d:%02d.%d'", pm, i[0],i[1],i[2],i[3]);
+}
+
+/**
+ * @brief get_MJDt - calculate MJD of date from argument
+ * @param tval (i) - given date (or NULL for current)
+ * @param MJD  (o) - time (or NULL just to check)
+ * @return true if all OK
+ */
+bool get_MJDt(struct timeval *tval, sMJD_t *MJD){
+    struct tm tms;
+    double tSeconds;
+    if(!MJD){
+        WARNX("get_MJDt(): no input data");
+        return false;
+    }
+    if(!tval){
+        struct timespec ts;
+        if(clock_gettime(CLOCK_REALTIME, &ts)){
+            WARN("clock_gettime()");
+            return false;
+        }
+        gmtime_r(&ts.tv_sec, &tms);
+        tSeconds = tms.tm_sec + ((double)ts.tv_nsec)/1e9;
+    }else{
+        gmtime_r(&tval->tv_sec, &tms);
+        tSeconds = tms.tm_sec + ((double)tval->tv_usec)/1e6;
+    }
+    int y, m, d;
+    y = 1900 + tms.tm_year;
+    m = tms.tm_mon + 1;
+    d = tms.tm_mday;
+    double utc1, utc2;
+    /* UTC date. */
+    if(eraDtf2d("UTC", y, m, d, tms.tm_hour, tms.tm_min, tSeconds, &utc1, &utc2) < 0){
+        WARNX("get_MJDt(): eraDtf2d() error");
+        return false;
+    }
+    MJD->MJD = utc1 - ERFA_DJM0 + utc2;
+    MJD->utc1 = utc1;
+    MJD->utc2 = utc2;
+    //DBG("UTC(m): %g, %.8f\n", utc1 - 2400000.5, utc2);
+    if(eraUtctai(utc1, utc2, &MJD->tai1, &MJD->tai2)){
+        WARNX("get_MJDt(): eraUtctai() error");
+        return false;
+    }
+    //DBG("TAI");
+    if(eraTaitt(MJD->tai1, MJD->tai2, &MJD->tt1, &MJD->tt2)){
+        WARNX("get_MJDt(): eraTaitt() error");
+        return false;
+    }
+    //DBG("TT");
+    return true;
+}
+
+/**
+ * @brief get_LST - calculate local siderial time
+ * @param mjd (i) - date/time for LST (utc1 & tt used)
+ * @param dUT1    - (UT1-UTC)
+ * @param slong   - site longitude (radians)
+ * @param LST (o) - local sidereal time (radians)
+ * @return true if all OK
+ */
+bool get_LST(sMJD_t *mjd, double dUT1, double slong, double *LST){
+    double ut11, ut12;
+    sMJD_t Mjd;
+    if(!LST) return false;
+    if(!mjd){
+        if(!get_MJDt(NULL, &Mjd)) return false;
+    }else Mjd = *mjd;
+    if(eraUtcut1(Mjd.utc1, Mjd.utc2, dUT1, &ut11, &ut12)) return false;
+    double ST = eraGst06a(ut11, ut12, Mjd.tt1, Mjd.tt2);
+    ST += slong;
+    if(ST > ERFA_D2PI) ST -= ERFA_D2PI;
+    else if(ST < 0.) ST += ERFA_D2PI;
+    *LST = ST;
+    return 0;
+}
+
+/**
+ * @brief get_ObsPlace - calculate observed place (without PM etc) for given date @550nm
+ * @param tval  (i) - time
+ * @param p2000 (i) - polar coordinates for J2000 (only ra/dec used), ICRS (catalog)
+ * @param pnow  (o) - polar coordinates for given epoch (or NULL)
+ * @param hnow  (o) - horizontal coordinates for given epoch (or NULL)
+ * @return true if all OK
+ */
+bool get_ObsPlace(struct timeval *tval, polarCrds_t *p2000, polarCrds_t *pnow, horizCrds_t *hnow){
+    double pr = 0.0;     // RA proper motion (radians/year; Note 2)
+    double pd = 0.0;     // Dec proper motion (radians/year)
+    double px = 0.0;     // parallax (arcsec)
+    double rv = 0.0;     // radial velocity (km/s, positive if receding)
+    sMJD_t MJD;
+    if(!p2000){
+        WARNX("get_ObsPlace(): no input coordinates");
+        return false;
+    }
+    if(!get_MJDt(tval, &MJD)) return false;
+    /* Effective wavelength (microns) */
+    double wl = 0.55;
+    /* ICRS to observed. */
+    double aob, zob, hob, dob, rob, eo;
+    double p = 1000., t = 0., h = place.salt;
+    weather_data_t weath;
+    if(get_weather_data(&weath)){
+        WARNX("Can't get weather - use default values");
+    }else{
+        p = 1.3332239 * weath.pressure;
+        t = weath.exttemp;
+        DBG("pressure=%.1fhPa, temperature=%.1fdegC", p, t);
+    }
+    if(eraAtco13(p2000->ra, p2000->dec,
+                  pr, pd, px, rv,
+                  MJD.utc1, MJD.utc2,
+                  AlmDut.DUT1,
+                  place.slong, place.slat, place.salt,
+                  AlmDut.px, AlmDut.py,
+                  p, t, h,
+                  wl,
+                  &aob, &zob,
+                  &hob, &dob, &rob, &eo)) return false;
+    if(pnow){
+        pnow->eo  = eo;
+        pnow->ha  = hob;
+        pnow->ra  = rob;
+        pnow->dec = dob;
+    }
+    if(hnow){
+        hnow->az = aob;
+        hnow->zd = zob;
+    }
+    return true;
+}
+
+/**
+ * convert geocentric coordinates (nowadays, CIRS) to mean (JD2000, ICRS)
+ * in, out - input and output coordinates
+ * @return false if failed
+ */
+bool JnowtoJ2000(const polarCrds_t *in, polarCrds_t *out){
+    bool ret = false;
+    DBG("appRa: %gdegr, appDecl: %gdegr", RAD2DEG(in->ra), RAD2DEG(in->dec));
+#define ERFA(f, ...) do{if(f(__VA_ARGS__)){WARNX("Error in " #f); goto rtn;}}while(0)
+    sMJD_t MJD;
+    if(!get_MJDt(NULL, &MJD)) return false;
+    double ri = 0., di = 0., eo = 0.;
+    eraAtic13(in->ra, in->dec, MJD.tt1, MJD.tt2, &ri, &di, &eo);
+    if(out){
+        out->ha = 0.; out->eo = 0.;
+        out->ra = eraAnp(ri + eo);
+        out->dec = di;
+        DBG("JnowtoJ2000: ra=%gdeg, dec=%gdeg", RAD2DEG(out->ra), RAD2DEG(out->dec));
+    }
+    ret = true;
+#undef ERFA
+    return ret;
+}
+
+/**
+ * @brief J2000toJnow - convert ra/dec between epochs
+ * @param in  - J2000 (degrees)
+ * @param out - Jnow  (degrees)
+ * @return false if failed
+ */
+bool J2000toJnow(const polarCrds_t *in, polarCrds_t *out){
+    DBG("J200RA: %gdegr, J200Dec: %gdegr", RAD2DEG(in->ra), RAD2DEG(in->dec));
+    sMJD_t MJD;
+    if(!in) return false;
+    if(!get_MJDt(NULL, &MJD)) return false;
+    // these values could be changed (e.g. by user's input)
+    double pr = 0.0;     // RA proper motion (radians/year)
+    double pd = 0.0;     // Dec proper motion (radians/year)
+    double px = 0.0;     // parallax (arcsec)
+    double rv = 0.0;     // radial velocity (km/s, positive if receding)
+    double ri, di, eo;
+    eraAtci13(in->ra, in->dec, pr, pd, px, rv, MJD.tt1, MJD.tt2, &ri, &di, &eo);
+    if(out){
+        out->ra  = eraAnp(ri - eo);
+        out->dec = di;
+    }
+    return true;
+}
+
+
+
+#if 0
+typedef enum {
+    WEATHER_GOOD = 0,               // may start observations
+    WEATHER_BAD = 1,                // cannot start but can continue if want
+    WEATHER_TERRIBLE = 2,           // close & park: wind, precipitation, humidity etc.
+    WEATHER_PROHIBITED = 3,         // force closing & parking; power off equipment, ready to power off computer
+} weather_condition_t;
+
+typedef struct {
+    weather_condition_t weather;    // conditions: field "WEATHER"
+    float windmax;                  // maximal wind for last hour, m/s: "WINDMAX1"
+    float wind;                     // current wind speed, m/s: "WIND"
+    float clouds;                   // sky "quality" (>2500 - OK): "CLOUDS"
+    float exttemp;                  // external temperature, degC: "EXTTEMP"
+    float pressure;                 // atm. pressure, mmHg: "PRESSURE"
+    float humidity;                 // humidity, percents: "HUMIDITY"
+    int rain;                       // ==1 when rainy: "PRECIP"
+    int forceoff;                   // force power off (AC power lost or lightning)
+    time_t last_update;             // value of "TMEAS"
+} weather_data_t;
+
+int get_weather_data(weather_data_t *data);
+#endif

Daemons/10micron_stellarium/angles.h

@@ -0,0 +1,89 @@
+/*
+ * This file is part of the mountdaemon_10micron 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
+
+#include <erfam.h>
+#include <weather_data.h>
+
+#define RADEC_STR_MAXLEN    72
+
+#define RAD2DEG(angle)  (angle * ERFA_DR2D)
+#define DEG2RAD(angle)  (angle * ERFA_DD2R)
+#define RAD2HRS(angle)  (angle * 24. / ERFA_DPI)
+#define HRS2RAD(hour)   (hour * ERFA_DPI / 24.)
+
+typedef struct{
+    double utc1; double utc2; // UTC JD, commonly used MJD = utc1+utc2-2400000.5
+    double MJD;
+    double tai1; double tai2; // TAI JD
+    double tt1;  double tt2;  //  TT JD
+} sMJD_t;
+
+// polar coordinates & equation of origins (all in radians)
+typedef struct{
+    double ha;  // hour angle
+    double dec; // declination
+    double ra;  // right ascension
+    double eo;  // equation of origins
+} polarCrds_t;
+
+// horizontal coordinates (all in radians)
+typedef struct{
+    double az; // azimuth, 0 @ south, positive clockwise
+    double zd; // zenith distance
+} horizCrds_t;
+
+// observational place coordinates and altitude; all coordinates are in radians!
+typedef struct{
+    double slong;   // longitude, radians
+    double slat;    // lattitude, radians
+    double salt;    // altitude, m
+} placeData_t;
+
+// DUT/polar almanach data
+// TODO: add function to read this data from almanach
+typedef struct{
+    double DUT1;    // UT1-UTC, sec
+    double px;      // polar coordinates, arcsec
+    double py;
+} almDut_t;
+
+char *radec2str(double ra, double dec, char buf[RADEC_STR_MAXLEN]);
+void norm_RA(double *ra);
+void norm_RADEC(double *ra, double *dec);
+void norm_angle180(double *a);
+
+void hor2eq(horizCrds_t *h, polarCrds_t *pc, double sidTime);
+void eq2horH(polarCrds_t *pc, horizCrds_t *h);
+void eq2hor(polarCrds_t *pc, horizCrds_t *h, double sidTime);
+
+void r2sHMS(double radians, char *hms, int len);
+void r2sDMS(double radians, char *hms, int len);
+void hor2eq(horizCrds_t *h, polarCrds_t *pc, double sidTime);
+void eq2horH(polarCrds_t *pc, horizCrds_t *h);
+void eq2hor(polarCrds_t *pc, horizCrds_t *h, double sidTime);
+bool get_MJDt(struct timeval *tval, sMJD_t *MJD);
+bool get_LST(sMJD_t *mjd, double dUT1, double slong, double *LST);
+bool get_ObsPlace(struct timeval *tval, polarCrds_t *p2000, polarCrds_t *pnow, horizCrds_t *hnow);
+
+bool setDUT(almDut_t *D);
+void getDUT(almDut_t *D);
+
+bool setPlaceData(double longitude, double latitude, double altitude);
+void getPlaceData(placeData_t *pd);

Daemons/10micron_stellarium/args.c

@@ -0,0 +1,140 @@
+/*
+ * This file is part of the mountdaemon_10micron 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 <usefull_macros.h>
+
+#include "args.h"
+#include "server.h"
+
+#define DEFAULT_COMDEV      "/dev/ttyUSB0"
+// TCP socket port
+#define DEFAULT_PORT        ":10000"
+#define DEFAULT_CMDNODE     "localhost:10001"
+// default PID filename:
+#define DEFAULT_PIDFILE     "/tmp/mountdaemon_10micron.pid"
+// default file with headers
+#define DEFAULT_FITSHDR     "/tmp/10micron.fitsheader"
+// baudrate - 115200
+#define DEFAULT_SERSPEED    115200
+// serial polling timeout - 100ms
+#define DEFAULT_SERTMOUT    100000
+// mount name
+#define DEFAULT_MOUNT_NAME  "10Micron GM4000HPS"
+
+// non-config file options
+static int help = 0;
+static char *conffile = NULL;
+
+// default command line options
+static parameters_t G = {0};
+// default config options
+static parameters_t Conf = {0};
+
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+#define OPTIONS(Stor) \
+    {"device",  NEED_ARG,   NULL,   'd',    arg_string, APTR(&Stor.device),    "serial device name"}, \
+    {"emulation",NO_ARGS,   NULL,   'e',    arg_int,    APTR(&Stor.emulation), "run in emulation mode"},  \
+    {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&Stor.logfile),   "file to save logs"}, \
+    {"hdrfile", NEED_ARG,   NULL,   'o',    arg_string, APTR(&Stor.crdsfile),  "file to save FITS-header with coordinates and time (default: " DEFAULT_FITSHDR ")"}, \
+    {"pidfile", NEED_ARG,   NULL,     0,    arg_string, APTR(&Stor.pidfile),   "pidfile (default: " DEFAULT_PIDFILE ")"}, \
+    {"port",    NEED_ARG,   NULL,   'p',    arg_string, APTR(&Stor.port),      "port for stellaruim's connect (default: " DEFAULT_PORT ")"}, \
+    {"cmdport", NEED_ARG,   NULL,   'P',    arg_string, APTR(&Stor.cmdnode),   "port or UNIX-socket path to connect for command console (default: " DEFAULT_CMDNODE ")"}, \
+    {"sleept",  NEED_ARG,   NULL,   't',    arg_int,    APTR(&Stor.sleept),    "time of servers' sleeping in main cycle, us (default: " STR(DEFAULT_SLEEP_T) " us)"}, \
+    {"isunix",  NO_ARGS,    NULL,   'U',    arg_int,    APTR(&Stor.isunix),    "use UNIX-socket for cmdport"}, \
+    {"sertmout",NEED_ARG,   NULL,   'T',    arg_int,    APTR(&Stor.sertmout),  "serial timeout, us (default: " STR(DEFAULT_SERTMOUT) " us)"}, \
+    {"serspeed",NEED_ARG,   NULL,   'S',    arg_int,    APTR(&Stor.serspeed),  "serial speed (default: " STR(DEFAULT_SERSPEED) ")"}, \
+    {"maxclients",NEED_ARG, NULL,   0,      arg_int,    APTR(&Stor.maxclients),"max amount of clients connected to one socket (default: " STR(DEFAULT_MAXCLIENTS) ")"}, \
+    {"mountname",NEED_ARG,  NULL,   0,      arg_string, APTR(&Stor.mountname), "mount name (default: " DEFAULT_MOUNT_NAME ")"},  \
+    {"verbose", NO_ARGS,    NULL,   'v',    arg_none,   APTR(&Stor.verbose),   "verbose level (each -v increases it)"}, \
+
+
+static sl_option_t cmdlnopts[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        "show this help"},
+    {"config",  NEED_ARG,   NULL,   'c',    arg_string, APTR(&conffile),    "configuration file (command line options are in advantage)"},
+    OPTIONS(G)
+    end_option
+};
+
+// --help and --conf - options that should be parsed first
+static sl_option_t confopts[] = {
+    OPTIONS(Conf)
+    end_option
+};
+
+static void chkstr(char **conf, char **cmd, const char *dflt){
+    if(!*conf){
+        if(!*cmd && dflt){
+            DBG("Set default parameter: %s", dflt);
+            *cmd = strdup(dflt);
+        }
+        return;
+    }
+    if(!*cmd){
+        DBG("Conf-only parameter %s", *conf);
+        *cmd = strdup(*conf);
+    }
+    FREE(*conf); // don't forget to clear
+}
+
+static void chkint(int *conf, int *cmd, int dflt){
+    if(!*conf){
+        if(!*cmd) *cmd = dflt;
+        return;
+    }
+    if(!*cmd){
+        DBG("Conf-only parameter %d", *conf);
+        *cmd = *conf;
+    }
+}
+
+
+#define STRCHK(field)  chkstr(&Conf.field, &G.field, NULL)
+#define STRCHKD(field, def) chkstr(&Conf.field, &G.field, def)
+#define INTCHK(field)  chkint(&Conf.field, &G.field, 0)
+#define INTCHKD(field, def)  chkint(&Conf.field, &G.field, def)
+
+parameters_t *parse_cmdline(int *argc, char ***argv){
+    sl_parseargs(argc, argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
+    if(!conffile) return &G;
+    // fix for conffile
+    if(!sl_conf_readopts(conffile, confopts)){ // show conf help
+        sl_conf_showhelp(-1, confopts);
+        return NULL;
+    }
+    // now fix for command line and check all:
+    DBG("Check all args");
+    STRCHKD(device, DEFAULT_COMDEV);
+    STRCHKD(port, DEFAULT_PORT);
+    STRCHKD(cmdnode, DEFAULT_CMDNODE);
+    STRCHKD(pidfile, DEFAULT_PIDFILE);
+    STRCHK(logfile);
+    STRCHKD(crdsfile, DEFAULT_FITSHDR);
+    STRCHKD(mountname, DEFAULT_MOUNT_NAME);
+    INTCHK(emulation);
+    INTCHK(verbose);
+    INTCHKD(sleept, DEFAULT_SLEEP_T);
+    INTCHK(isunix);
+    INTCHKD(sertmout, DEFAULT_SERTMOUT);
+    INTCHKD(serspeed, DEFAULT_SERSPEED);
+    INTCHKD(maxclients, DEFAULT_MAXCLIENTS);
+    return &G;
+}

Daemons/10micron_stellarium/args.h

@@ -0,0 +1,38 @@
+/*
+ * This file is part of the mountdaemon_10micron 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
+
+typedef struct{
+    char *device;           // serial device name
+    char *port;             // port to connect
+    char *cmdnode;          // port for commands sending
+    char *pidfile;          // name of PID file
+    char *logfile;          // logging to this file
+    char *crdsfile;         // file where FITS-header should be written
+    char *mountname;        // set mount name for FITS-header
+    int emulation;          // run in emulation mode
+    int verbose;            // verbose level
+    int sleept;             // server's sleeping in main cycle time
+    int isunix;             // use UNIX-socket for command port
+    int sertmout;           // serial timeout, us
+    int serspeed;           // serial speed, baud
+    int maxclients;         // max amount of clients connected to one socket
+} parameters_t;
+
+parameters_t *parse_cmdline(int *argc, char ***argv);

Daemons/10micron_stellarium/emulation.c

@@ -1,12 +1,10 @@
 /*
- *                                                                                                  geany_encoding=koi8-r
+ * This file is part of the mountdaemon_10micron project.
- * emulation.c
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
  *
- * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ * This program is free software: you can redistribute it and/or modify
- *
- * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
+ * 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,
@@ -15,18 +13,18 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- * MA 02110-1301, USA.
- *
  */
-#include "math.h"
-#include "emulation.h"
-#include "usefull_macro.h"
 
-// emulation speed over RA & DEC (0.5 degr per sec)
+#include <math.h>
-#define RA_SPEED    (0.033)
+#include <usefull_macros.h>
-#define DECL_SPEED    (0.5)
+
+#include "angles.h"
+#include "emulation.h"
+
+// emulation speed over RA & DEC (degr per sec)
+#define RA_SPEED        (5.)
+#define DECL_SPEED      (11.)
 
 // current coordinates
 static double RA = 0., DECL = 0.;
@@ -35,8 +33,6 @@ static double RAtarg = 0., DECLtarg = 0.;
 // coordinates @ guiding start
 static double RA0 = 0., DECL0 = 0.;
 static double raspeed = 0.;
-// ==1 if pointing
-static int pointing = 0;
 // pointing start time
 static double tstart = -1.;
 
@@ -44,20 +40,20 @@ static double tstart = -1.;
  * send coordinates to telescope emulation
  * @param ra - right ascention (hours)
  * @param decl - declination (degrees)
- * @return 1 if all OK
  */
-int point_emulation(double ra, double decl){
+bool point_emulation(double ra, double decl){
+    norm_RADEC(&ra, &decl);
     DBG("(emul) Send ra=%g, decl=%g", ra, decl);
-    putlog("(emul) Send ra=%g, decl=%g", ra, decl);
+    LOGMSG("(emul) Send ra=%g, decl=%g", ra, decl);
+    // TODO: check that Z<90!
     RAtarg = ra; DECLtarg = decl;
     RA0 = RA; DECL0 = DECL;
     raspeed = (RAtarg > RA) ? RA_SPEED : -RA_SPEED;
     if(fabs(RAtarg - RA) > 12.){ // go to opposite direction
         raspeed = -raspeed;
     }
-    tstart = dtime();
+    tstart = sl_dtime();
-    pointing = 1;
+    return true;
-    return 0;
 }
 
 static double getradiff(){
@@ -70,20 +66,19 @@ static double getradiff(){
 
 /**
  * get coordinates (emulation)
- * @return 1 if all OK
  */
-int get_emul_coords(double *ra, double *decl){
+void get_emul_coords(double *ra, double *decl){
-    if(pointing){
+    if(tstart > 0.){
         DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
         // diff < speed? stop
         if((fabs(RAtarg - RA) < RA_SPEED && fabs(DECLtarg - DECL) < DECL_SPEED)){
             RA = RAtarg;
             DECL = DECLtarg;
-            pointing = 0; // guiding
+            tstart = -1.; // "guiding"
             DBG("@ target");
         }else{ // calculate new coordinates
             double radiff = getradiff(), decldiff = fabs(DECLtarg - DECL);
-            double tdiff = dtime() - tstart;
+            double tdiff = sl_dtime() - tstart;
             RA = RA0 + raspeed * tdiff;
             DBG("RA=%g", RA);
             if(getradiff() > radiff) RA = RAtarg;
@@ -99,5 +94,5 @@ int get_emul_coords(double *ra, double *decl){
     }
     if(ra) *ra = RA;
     if(decl) *decl = DECL;
-    return 1;
 }
+

Daemons/10micron_stellarium/emulation.h

@@ -1,12 +1,10 @@
 /*
- *                                                                                                  geany_encoding=koi8-r
+ * This file is part of the mountdaemon_10micron project.
- * emulation.h
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
  *
- * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ * This program is free software: you can redistribute it and/or modify
- *
- * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
+ * 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,
@@ -15,16 +13,12 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- * MA 02110-1301, USA.
- *
  */
+
+
 #pragma once
-#ifndef __EMULATION_H__
-#define __EMULATION_H__
 
-int point_emulation(double ra, double decl);
+bool point_emulation(double ra, double decl);
-int get_emul_coords(double *ra, double *decl);
+void get_emul_coords(double *ra, double *decl);
 
-#endif // __EMULATION_H__

Daemons/10micron_stellarium/main.c

@@ -1,11 +1,10 @@
 /*
- * main.c
+ * This file is part of the Snippets project.
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
  *
- * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ * This program is free software: you can redistribute it and/or modify
- *
- * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
+ * 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,
@@ -14,509 +13,106 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- * MA 02110-1301, USA.
  */
 
-#include <arpa/inet.h>
+#include <fcntl.h>
-#include <endian.h>
-#include <math.h>
-#include <netdb.h>
-#include <netinet/in.h>
 #include <signal.h>
-#include <sys/prctl.h>
+#include <stdio.h>
-#include <sys/socket.h>
+#include <string.h>
-#include <sys/types.h>
+#include <sys/wait.h> // wait
-#include <sys/wait.h>
+#include <sys/prctl.h> //prctl
-#include <time.h>
+#include <usefull_macros.h>
 
-#include "emulation.h"
+#include "args.h"
-#include "libsofa.h"
+#include "server.h"
-#include "main.h"
+#include "mount.h"
-#include "socket.h"
-#include "telescope.h"
 
-// daemon.c
+static pid_t childpid = -1; // PID of child process
-extern void check4running(char *self, char *pidfilename, void (*iffound)(pid_t pid));
+static const char *pidfile = NULL;
 
-// Max amount of connections
-#define BACKLOG     (10)
-#define BUFLEN      (1024)
-// pause for incoming message waiting (out coordinates sent after that timeout)
-#define SOCK_TMOUT  (1)
-
-static pid_t childpid = 1; // PID of child process
-volatile int global_quit = 0;
-// quit by signal
 void signals(int sig){
+    if(childpid){ // single or parent process
+        if(pidfile) unlink(pidfile);  // remove pidfile
+        if(childpid > 0) kill(childpid, SIGTERM);
+    }
+    if(sig){
         signal(sig, SIG_IGN);
-    if(childpid){ // parent process
-        restore_tty(); // restore all parameters
-        unlink(GP->pidfile);  // and remove pidfile
-        weatherserver_disconnect();
-    }    
         DBG("Get signal %d, quit.\n", sig);
-    global_quit = 1;
-    if(childpid) putlog("PID %d exit with status %d after child's %d death", getpid(), sig, childpid);
-    else WARNX("Child %d died with %d", getpid(), sig);
-    sleep(1);
-    exit(sig);
-}
-
-// search a first word after needle without spaces
-char* stringscan(char *str, char *needle){
-    char *a, *e;
-    char *end = str + strlen(str);
-    a = strstr(str, needle);
-    if(!a) return NULL;
-    a += strlen(needle);
-    while (a < end && (*a == ' ' || *a == '\r' || *a == '\t')) a++;
-    if(a >= end) return NULL;
-    e = strchr(a, ' ');
-    if(e) *e = 0;
-    return a;
-}
-
-/**
- * Send data to user
- * @param data   - data to send
- * @param dlen   - data length
- * @param sockfd - socket fd for sending data
- * @return 0 if failed
- */
-int send_data(uint8_t *data, size_t dlen, int sockfd){
-    size_t sent = write(sockfd, data, dlen);
-    if(sent != dlen){
-        WARN("write()");
-        return 0;
     }
-    return 1;
+    if(childpid > 0){ // parent process
-}
+        LOGERR("PID %d exit with status %d", getpid(), sig);
-
-//read: 0x14 0x0 0x0 0x0 0x5b 0x5a 0x2e 0xc6 0x8c 0x23 0x5 0x0 0x23 0x9 0xe5 0xaf 0x23 0x2e 0x34 0xed
-// command: goto 16h29 24.45 -26d25 55.62
-/*
- LITTLE-ENDIAN!!!
- from client:
-LENGTH (2 bytes, integer): length of the message
-TYPE (2 bytes, integer): 0
-TIME (8 bytes, integer): current time on the server computer in microseconds
-    since 1970.01.01 UT. Currently unused.
-RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
-    a value of 0x100000000 = 0x0 means 24h=0h,
-    a value of 0x80000000 means 12h
-DEC (4 bytes, signed integer): declination of the telescope (J2000)
-    a value of -0x40000000 means -90degrees,
-    a value of 0x0 means 0degrees,
-    a value of 0x40000000 means 90degrees
-
-to client:
-LENGTH (2 bytes, integer): length of the message
-TYPE (2 bytes, integer): 0
-TIME (8 bytes, integer): current time on the server computer in microseconds
-    since 1970.01.01 UT. Currently unused.
-RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
-    a value of 0x100000000 = 0x0 means 24h=0h,
-    a value of 0x80000000 means 12h
-DEC (4 bytes, signed integer): declination of the telescope (J2000)
-    a value of -0x40000000 means -90degrees,
-    a value of 0x0 means 0degrees,
-    a value of 0x40000000 means 90degrees
-STATUS (4 bytes, signed integer): status of the telescope, currently unused.
-    status=0 means ok, status<0 means some error
-*/
-
-#define DEG2DEC(degr)  ((int32_t)(degr / 90. * ((double)0x40000000)))
-#define HRS2RA(hrs)    ((uint32_t)(hrs / 12. * ((double)0x80000000)))
-#define DEC2DEG(i32)   (((double)i32)*90./((double)0x40000000))
-#define RA2HRS(u32)    (((double)u32)*12. /((double)0x80000000))
-
-typedef struct __attribute__((__packed__)){
-    uint16_t len;
-    uint16_t type;
-    uint64_t time;
-    uint32_t ra;
-    int32_t dec;
-} indata;
-
-typedef struct __attribute__((__packed__)){
-    uint16_t len;
-    uint16_t type;
-    uint64_t time;
-    uint32_t ra;
-    int32_t dec;
-    int32_t status;
-} outdata;
-
-/**
- * convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
- */
-char *radec2str(double ra, double dec){
-    static char buf[1024];
-    char sign = '+';
-    if(dec < 0){
-        sign = '-';
-        dec = -dec;
-    }
-
-    int h = (int)ra;
-    ra -= h; ra *= 60.;
-    int m = (int)ra;
-    ra -= m; ra *= 60.;
-
-    int d = (int) dec;
-    dec -= d; dec *= 60.;
-    int dm = (int)dec;
-    dec -= dm; dec *= 60.;
-    snprintf(buf, 1024, "%d:%d:%.2f %c%d:%d:%.1f", h,m,ra, sign,d,dm,dec);
-    return buf;
-}
-
-/**
- * send input RA/Decl (j2000!) coordinates to tel
- * ra in hours (0..24), decl in degrees (-90..90)
- * @return 1 if all OK
- */
-int setCoords(double ra, double dec){
-    char *radec = radec2str(ra, dec);
-    DBG("Set RA/Decl to %s", radec);
-    putlog("Try to set RA/Decl to %s", radec);
-    int (*pointfunction)(double, double) = point_telescope;
-    if(GP->emulation) pointfunction = point_emulation;
-    return pointfunction(ra, dec);
-}
-
-/**
- * @brief proc_data - process data received from Stellarium
- * @param data - raw data
- * @param len  - its length
- * @return 1 if all OK
- */
-int proc_data(uint8_t *data, ssize_t len){
-    FNAME();
-    if(len != sizeof(indata)){
-        WARNX("Bad data size: got %zd instead of %zd!", len, sizeof(indata));
-        return 0;
-    }
-    indata *dat = (indata*)data;
-    uint16_t L, T;
-    //uint64_t tim;
-    uint32_t ra;
-    int32_t dec;
-#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
-    L = le16toh(dat->len); T = le16toh(dat->type);
-    //tim = le64toh(dat->time);
-    ra = le32toh(dat->ra);
-    dec = (int32_t)le32toh((uint32_t)dat->dec);
-#else
-    L = dat->len; T = dat->type;
-    //tim = dat->time;
-    ra = dat->ra; dec = dat->dec;
-#endif
-    DBG("got message with len %u & type %u", L, T);
-    if(L != len){
-        WARNX("Length of message != msg->len");
-        return 0;
-    }
-    if(T){
-        WARNX("Wrong message type");
-        return 0;
-    }
-    // convert RA/DEC to hours/degrees
-    double tagRA = RA2HRS(ra), tagDec = DEC2DEG(dec);
-    DBG("RA: %u (%g), DEC: %d (%g)", ra, tagRA, dec, tagDec);
-    putlog("RA: %u (%g degr), DEC: %d (%g degr)", ra, tagRA, dec, tagDec);
-    // check RA/DEC
-    horizCrds hnow; // without refraction
-    polarCrds p2000, pnow;
-    p2000.ra = tagRA/12. * M_PI;
-    p2000.dec = tagDec * ERFA_DD2R;
-    //             now     J2000  obs    Jnow
-    if(get_ObsPlace(NULL, &p2000, NULL, &pnow, &hnow)){
-        WARNX("Can't convert coordinates to Jnow");
-        return 0;
-    }
-/*
-    int i[4], j[4]; char pm, pm1;
-    eraA2af(2, hnow.az, &pm, i);
-    eraA2af(2, hnow.zd, &pm1, j);
-    DBG("az: %c%02d %02d %02d.%2.d, zd: %c%02d %02d %02d.%2.d",
-        pm, i[0],i[1],i[2],i[3],
-        pm1,j[0],j[1],j[2],j[3]);
-    eraA2af(2, M_PI_2 - hnow.zd, &pm, i);
-    DBG("h: %c%02d %02d %02d.%2.d", pm, i[0],i[1],i[2],i[3]);
-*/
-    if(hnow.zd > 80.*ERFA_DD2R){
-        WARNX("Z > 80degr (%g), stop telescope", hnow.zd * ERFA_DR2D);
-        putlog("Z=%.1f > 80 - stop!", hnow.zd * ERFA_DR2D);
-        stop_telescope();
-        return 0;
-    }
-    tagRA = (pnow.ra - pnow.eo) / M_PI * 12.;
-    tagDec = pnow.dec / ERFA_DD2R;
-    if(!setCoords(tagRA, tagDec)) return 0;
-    return 1;
-}
-
-/**
- * main socket service procedure
- */
-void *handle_socket(void *sockd){
-    FNAME();
-    if(global_quit) return NULL;
-    outdata dout;
-    int sock = *(int*)sockd;
-    dout.len = htole16(sizeof(outdata));
-    dout.type = 0;
-    int (*getcoords)(double*, double*) = get_telescope_coords;
-    if(GP->emulation) getcoords = get_emul_coords;
-    while(!global_quit){
-        // get coordinates
-        double RA = 0., Decl = 0.;
-        if((dout.status = getcoords(&RA, &Decl)) < 0){
-            WARNX("Error: can't get coordinates");
-            sleep(1);
-            continue;
-        }
-        //DBG("got : %g/%g", RA, Decl);
-        dout.ra = htole32(HRS2RA(RA));
-        dout.dec = (int32_t)htole32(DEG2DEC(Decl));
-        if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break;
-        //DBG("sent ra = %g, dec = %g", RA2HRS(dout.ra), DEC2DEG(dout.dec));
-        fd_set readfds;
-        struct timeval timeout;
-        FD_ZERO(&readfds);
-        FD_SET(sock, &readfds);
-        timeout.tv_sec = SOCK_TMOUT; // wait not more than SOCK_TMOUT second
-        timeout.tv_usec = 0;
-        int sel = select(sock + 1 , &readfds , NULL , NULL , &timeout);
-        if(sel < 0){
-            if(errno != EINTR)
-                WARN("select()");
-            continue;
-        }
-        if(!(FD_ISSET(sock, &readfds))) continue;
-        // fill incoming buffer
-        uint8_t buff[BUFLEN+1];
-        ssize_t rd = read(sock, buff, BUFLEN);
-        buff[rd] = 0;
-        DBG("read %zd (%s)", rd, buff);
-        if(rd <= 0){ // error or disconnect
-            DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
-            break;
-        }
-        /**************************************
-         *       DO SOMETHING WITH DATA       *
-         **************************************/
-        if(!proc_data(buff, rd)) dout.status = -1;
-        else dout.status = 0;
-    }
-    close(sock);
-    return NULL;
-}
-
-// thread writing FITS-header file
-static void *hdrthread(_U_ void *buf){
-    // write FITS-header at most once per second
-    while(!global_quit){
-        wrhdr();
-        usleep(100000); // give a chance to write/read for others
-    }
-    return NULL;
-}
-
-/**
- * @brief opensocket - open socket to port `port`
- * @return socket fd or <0 if failed
- */
-static int opensocket(char *port){
-    if(!port) return -1;
-    int reuseaddr = 1;
-    int sock;
-    struct addrinfo hints, *res, *p;
-    memset(&hints, 0, sizeof(hints));
-    hints.ai_family = AF_INET;
-    hints.ai_socktype = SOCK_STREAM;
-    hints.ai_flags = AI_PASSIVE;
-    DBG("try to open port %s", port);
-    if(getaddrinfo(NULL, port, &hints, &res) != 0){
-        WARN("getaddrinfo()");
-        return 0;
-    }
-    /*
-    struct sockaddr_in *ia = (struct sockaddr_in*)res->ai_addr;
-    char str[INET_ADDRSTRLEN];
-    inet_ntop(AF_INET, &(ia->sin_addr), str, INET_ADDRSTRLEN);
-    */
-    // loop through all the results and bind to the first we can
-    for(p = res; p != NULL; p = p->ai_next){
-        if((sock = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) == -1){
-            WARN("socket()");
-            continue;
-        }
-        if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseaddr, sizeof(int)) == -1){
-            WARN("setsockopt()");
-            close(sock);
-            continue;
-        }
-        if(bind(sock, p->ai_addr, p->ai_addrlen) == -1){
-            WARN("bind()");
-            close(sock);
-            continue;
-        }
-        break; // if we get here, we must have connected successfully
-    }
-    freeaddrinfo(res);
-    // Listen
-    if(listen(sock, BACKLOG) == -1){
-        WARN("listen");
-        putlog("listen() error");
-    }
-    DBG("listen at %s", port);
-    putlog("listen at %s", port);
-    return sock;
-}
-
-/**
- * @brief waitconn
- * @param sock       - socket fd to accept()
- * @param connthread - thread which to run when connection accepted (it's parameter - socket fd)
- */
-static void waitconn(int sock, void *(*connthread)(void*)){
-    // Main loop
-    while(!global_quit){
-        socklen_t size = sizeof(struct sockaddr_in);
-        struct sockaddr_in myaddr;
-        int newsock;
-        newsock = accept(sock, (struct sockaddr*)&myaddr, &size);
-        if(newsock <= 0){
-            WARN("accept()");
-            sleep(1);
-            continue;
-        }
-        struct sockaddr_in peer;
-        socklen_t peer_len = sizeof(peer);
-        if(getpeername(newsock, (struct sockaddr*)&peer, &peer_len) == -1){
-            WARN("getpeername()");
-            close(newsock);
-            continue;
-        }
-        int sockport = -1;
-        if(getsockname(newsock, (struct sockaddr*)&peer, &peer_len) == 0){
-            sockport = ntohs(peer.sin_port);
-        }
-        char *peerIP = inet_ntoa(peer.sin_addr);
-        putlog("Got connection from %s @ %d", peerIP, sockport);
-        DBG("Peer's IP address is: %s (@port %d)\n", peerIP, sockport);
-        /*if(strcmp(peerIP, ACCEPT_IP) && strcmp(peerIP, "127.0.0.1")){
-            WARNX("Wrong IP");
-            close(newsock);
-            continue;
-        }*/
-        pthread_t rthrd;
-        if(pthread_create(&rthrd, NULL, connthread, (void*)&newsock)){
-            putlog("Error creating listen thread");
-            ERR(_("Can't create socket thread"));
     }else{
-            DBG("Thread created, detouch");
+        LOGWARN("Child %d died with %d", getpid(), sig);
-            pthread_detach(rthrd); // don't care about thread state
+        server_stop();
     }
-    }
+    DBG("EXIT");
-    close(sock);
-}
-
-// thread working with terminal
-static void *termthread(_U_ void *buf){
-    int sock = opensocket(GP->dbgport);
-    if(sock < 0){
-        putlog("Can't open debugging socket @ port %s", GP->dbgport);
-        ERRX("Can't open debug socket");
-    }
-    waitconn(sock, term_thread);
-    return NULL;
-}
-
-static inline void main_proc(){
-    pthread_t hthrd, termthrd;
-    // connect to telescope
-    if(!GP->emulation){
-        if(!connect_telescope(GP->device, GP->crdsfile)){
-            ERRX(_("Can't connect to telescope device"));
-        }
-        if(pthread_create(&hthrd, NULL, hdrthread, NULL))
-            ERR(_("Can't create writing thread"));
-        if(pthread_create(&termthrd, NULL, termthread, NULL))
-            ERR(_("Can't create terminal thread"));
-    }
-    // connect to weather daemon
-    if(!weatherserver_connect()){
-        DBG("Can't connect to weather server, will try later");
-    }
-    // open socket
-    int sock = opensocket(GP->port);
-    if(sock < 0){
-        putlog("Can't open socket @ port %s", GP->port);
-        ERRX("Can't open stellarium socket");
-    }
-    waitconn(sock, handle_socket);
-    usleep(10000);
-    pthread_cancel(hthrd); // cancel reading thread
-    pthread_cancel(termthrd);
-    pthread_join(hthrd, NULL);
-    pthread_join(termthrd, NULL);
 }
 
 int main(int argc, char **argv){
-    char *self = strdup(argv[0]);
+    sl_init();
-    GP = parse_args(argc, argv);
+    parameters_t *G = parse_cmdline(&argc, &argv);
-    initial_setup();
+    if(!G) return 1;
-
+    sl_loglevel_e lvl = G->verbose + LOGLEVEL_ERR;
-    signal(SIGTERM, signals); // kill (-15) - quit
+    if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
-    signal(SIGKILL, signals); // kill (-9) - quit
+    DBG("verb: %d, level: %d", G->verbose, lvl);
-    signal(SIGHUP, SIG_IGN);  // hup - ignore
-    signal(SIGINT, signals);  // ctrl+C - quit
-    signal(SIGQUIT, signals); // ctrl+\ - quit
-    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-
     int fd;
-    if((fd = open(GP->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
+    if((fd = open(G->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
-        ERR(_("Can't open %s for writing"), GP->crdsfile);
+        ERR(_("Can't open %s for writing"), G->crdsfile);
     close(fd);
-
+    if(G->sleept < 1) ERRX("Sleeping time sould be positive value");
-    printf("Daemonize\n");
+    if(!server_setsleept(G->sleept)) ERRX("Can't set sleep time to %d", G->sleept);
-#ifndef EBUG // daemonize only in release mode
+    if(G->emulation) set_emulation_mode();
-    if(daemon(1, 0)){
+    else if(!mount_set_dev(G->device, G->serspeed, G->sertmout))
-        putlog("Err: daemon()");
+        ERRX("Can't open device %s @ %d", G->device, G->serspeed);
-        ERR("daemon()");
+    if(!mount_set_name(G->mountname))
-    }
+        ERRX("Can't set mount name to %s", G->mountname);
-#endif // EBUG
+    signal(SIGTERM, signals);
-    check4running(self, GP->pidfile, NULL);
+    signal(SIGINT, signals);
-    if(GP->logfile) openlogfile(GP->logfile);
+    signal(SIGQUIT, signals);
-    putlog("Starting, master PID=%d", getpid());
+    signal(SIGTSTP, SIG_IGN);
-
+    signal(SIGHUP, signals);
+    sl_check4running((char*)__progname, G->pidfile);
+    if(G->logfile) OPENLOG(G->logfile, lvl, 1);
+    DBG("Started");
+    LOGMSG("Started, master PID=%d", getpid());
 #ifndef EBUG
-    while(1){
+    time_t lastd = 0;
+    while(1){ // guard for dead processes
         childpid = fork();
         if(childpid < 0){
-            putlog("fork() error");
+            LOGERR("fork() returns error");
-            ERR("ERROR on fork");
+            sleep(5);
+            continue;
         }
         if(childpid){
-            WARNX(_("Created child with PID %d\n"), childpid);
             DBG("Created child with PID %d\n", childpid);
             wait(NULL);
-            WARNX(_("Child %d died\n"), childpid);
+            time_t t = time(NULL);
-            DBG("Child %d died\n", childpid);
+            if(t - lastd > 600){ // at least 10 minutes of work
+                LOGERR("Child %d died\n", childpid);
+            }
+            lastd = t;
+            WARNX("Child %d died\n", childpid);
+            sleep(1);
         }else{
             prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
-            main_proc();
+            break; // go out to normal functional
-            return 0;
         }
     }
-#else
-    main_proc();
 #endif
-
+    server_sock_t sockt = {
-    return 0;
+        .cmd_isunix = G->isunix,
+        .cmdnode = G->cmdnode,
+        .stellport = G->port,
+        .maxclients = G->maxclients,
+    };
+    if(!server_check(&sockt)){
+        LOGERR("Can't run servers");
+        ERRX("Can't run servers");
+    }
+    DBG("Run server");
+    server_run();
+    DBG("Server died");
+    return 1;
 }

Daemons/10micron_stellarium/mount.c

@@ -0,0 +1,322 @@
+/*
+ * This file is part of the mountdaemon_10micron 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 <pthread.h>
+#include <stdatomic.h>
+#include <stdint.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "emulation.h"
+#include "mount.h"
+
+
+#define MNAME_LEN   31
+
+static bool isemulated = false; // ==true for emulation mode
+
+static char mount_name[MNAME_LEN+3] = "'noname'";
+static sl_tty_t *mount_dev = NULL;
+// device mutex, blocking only in non-local functions
+static pthread_mutex_t mntdev_mutex = PTHREAD_MUTEX_INITIALIZER;
+// ring buffer for data incoming from serial port
+static sl_ringbuffer_t *RBin = NULL;
+// status
+static atomic_int mountstatus = MNT_S_ERROR;
+
+// input and current target coordinates
+static polarCrds_t InpCoords = {0}, // input as user give (for epoch InpMJD)
+    TagCoords = {0}; // target for Jnow after command "point to input"
+static horizCrds_t InpHoriz = {0};
+// input MJD (Modified Julian Date: started from ERFA_DJM0==2400000.5
+static double InpMJD = ERFA_DJM00; // J2000
+// times of coords/mjd change
+static double InpCTime = 0., TagTime = 0., InpHTime = 0., InpMTime = 0.;
+
+// return time of modification
+double mount_getInpCoords(polarCrds_t *c){
+    if(c) *c = InpCoords;
+    return InpCTime;
+}
+double mount_getTagCoords(polarCrds_t *c){
+    if(c) *c = TagCoords;
+    return TagTime;
+}
+double mount_getInpMJD(double *MJD){
+    if(MJD) *MJD = InpMJD;
+    return InpMTime;
+}
+double mount_getInpHor(horizCrds_t *c){
+    if(c) *c = InpHoriz;
+    return InpHTime;
+}
+
+// change input coordinates
+/**
+ * @brief mount_setInpHA - set hour angle
+ * @param ha (HOURS!!)
+ * @return false if `ha` isn't in [0,24)
+ */
+bool mount_setInpHA(double ha){
+    if(ha < 0. || ha >= 24.) return false;
+    InpCoords.ha = HRS2RAD(ha);
+    InpCTime = sl_dtime();
+    return true;
+}
+/**
+ * @brief mount_setInpRA - set right ascension
+ * @param ra (DEGREES!)
+ * @return fale if `ra` isn't in [0, 360)
+ */
+bool mount_setInpRA(double ra){
+    if(ra < 0. || ra >= 360.) return false;
+    InpCoords.ra = DEG2RAD(ra);
+    InpCTime = sl_dtime();
+    return true;
+}
+/**
+ * @brief mount_setInpDec - set declination
+ * @param dec (DEGREES!)
+ * @return false if `dec` isn't in [-90, 90]
+ */
+bool mount_setInpDec(double dec){
+    if(dec < -90. || dec > 90.) return false;
+    InpCoords.dec = DEG2RAD(dec);
+    InpCTime = sl_dtime();
+    return true;
+}
+/**
+ * @brief mount_setInpA - set azimuth
+ * @param A (DEGREES)
+ * @return false if A isn't in [0, 360)
+ */
+bool mount_setInpA(double A){
+    if(A < 0. || A >= 360.) return false;
+    InpHoriz.az = DEG2RAD(A);
+    InpHTime = sl_dtime();
+    return true;
+}
+/**
+ * @brief mount_setInpZ - set zenith distance
+ * @param Z (DEGREES)
+ * @return false if Z isn't in [0, 90]
+ */
+bool mount_setInpZ(double Z){
+    if(Z < 0 || Z > 90) return false;
+    InpHoriz.zd = DEG2RAD(Z);
+    InpHTime = sl_dtime();
+    return true;
+}
+// without checking
+bool mount_setInpMJD(double m){
+    InpMJD = m;
+    InpMTime = sl_dtime();
+    return true;
+}
+
+/**
+ * @brief mount_set_name - set mount name for FITS header
+ * @param name - new string with name
+ * @return false if failed
+ */
+bool mount_set_name(const char *name){
+    if(!name || !*name) return false;
+    int l = strlen(name);
+    if(l > MNAME_LEN) return false;
+    sprintf(mount_name, "'%s'", name);
+    return true;
+}
+
+/**
+ * @brief mount_set_dev - open mount device without checking that mount is alive
+ * @param dev - path to device
+ * @param speed - baudrate
+ * @return false if failed to open device `dev`
+ */
+bool mount_set_dev(char *dev, int speed, int timeout){
+    pthread_mutex_lock(&mntdev_mutex);
+    if(mount_dev) sl_tty_close(&mount_dev);
+    mount_dev = sl_tty_new(dev, speed, 4096);
+    if(mount_dev) mount_dev = sl_tty_open(mount_dev, 1);
+    if(!mount_dev){
+        pthread_mutex_unlock(&mntdev_mutex);
+        return false;
+    }
+    sl_tty_tmout(timeout);
+    if(!RBin) RBin = sl_RB_new(BUFSIZ);
+    else sl_RB_clearbuf(RBin);
+    pthread_mutex_unlock(&mntdev_mutex);
+    return true;
+}
+
+static const char *statuses[MNT_S_STATAMOUNT] = {
+    [MNT_S_TRACKING] = "'Tracking'",
+    [MNT_S_STOPHOM] = "'Stopped or homing'",
+    [MNT_S_PARKING] = "'Slewing to park'",
+    [MNT_S_UNPARKING] = "'Unparking'",
+    [MNT_S_HOMING] = "'Slewing to home'",
+    [MNT_S_PARKED] = "'Parked'",
+    [MNT_S_SLEWING] = "'Slewing or going to stop'",
+    [MNT_S_STOPPED] = "'Stopped'",
+    [MNT_S_INHIBITED] = "'Motors inhibited, T too low'",
+    [MNT_S_OUTLIMIT] = "'Outside tracking limit'",
+    [MNT_S_FOLSAT]= "'Following satellite'",
+    [MNT_S_DATINCOSIST]= "'Data inconsistency'",
+    [MNT_S_ERROR] = "'Error (disconnected?)'"
+};
+
+/**
+ * @brief strstatus - return string explanation of mount status
+ * @param status - integer status code
+ * @return statically allocated string with explanation
+ */
+const char* mount_status_str(){
+    int curst = atomic_load(&mountstatus);
+    if(curst > -1 && curst < MNT_S_STATAMOUNT) return statuses[curst];
+    return "'Unknown status'";
+}
+// return current mount status
+mount_status_t mount_status(){
+    return (mount_status_t)atomic_load(&mountstatus);
+}
+
+/**
+ * @brief write_cmd - try to write command to mount
+ * @param cmd - string with command or NULL just to clear all incoming data
+ * @return false on write/read error; all read information is in RBin (even if `false` returned, you SHOULD read all available strings from it)
+ */
+static bool write_cmd(const char *cmd){
+    bool ret = true;
+    if(cmd){
+        size_t l = strlen(cmd);
+        if(sl_tty_write(mount_dev->comfd, cmd, l)) ret = false;
+    }
+    int got = 0;
+    while((got = sl_tty_read(mount_dev)) > 0){
+        if(sl_RB_write(RBin, (uint8_t*) mount_dev->buf, got)){
+            got = -1;
+            break;
+        }
+    }
+    if(got < 0) return false;
+    return ret;
+}
+
+// check if mount connected
+static bool chkconn(){
+    int r = 0;
+    do{ // clear incoming buffer @ start
+        r = sl_tty_read(mount_dev);
+    }while(r > 0);
+    if(r < 0) return false;
+    write_cmd("#"); // clear cmd buffer
+    sl_RB_clearbuf(RBin);
+    bool w = write_cmd(":SB0#");
+    sl_RB_clearbuf(RBin);
+    return w;
+}
+
+
+// try to guess serial speed & set 115200
+static bool guess_speed(){
+    if(!mount_dev) return false;
+    close(mount_dev->comfd);
+#define SPDBUFSZ    7
+    const int speeds[SPDBUFSZ] = {57600, 38400, 19200, 9600, 4800, 2400, 1200};
+    int idx = 0;
+    for(; idx < SPDBUFSZ; ++idx){
+        mount_dev->speed = speeds[idx];
+        sl_tty_t *trydev = sl_tty_open(mount_dev, 1);
+        if(!trydev) continue;
+        if(chkconn()) break;
+        close(mount_dev->comfd);
+    }
+    if(idx == SPDBUFSZ) return false; // device not responding
+    close(mount_dev->comfd);
+    mount_dev->speed = 115200;
+    if(!sl_tty_open(mount_dev, 1)) return false;
+#undef SPDBUFSZ
+    return true;
+}
+
+// connect to mount
+bool mount_connect(){
+    if(isemulated){
+        atomic_store(&mountstatus, MNT_S_STOPPED);
+        return true;
+    }
+    if(!mount_dev) return false;
+    pthread_mutex_lock(&mntdev_mutex);
+    if(!chkconn() && !guess_speed()) return false;
+    bool ret = true;
+    if(!write_cmd(":STOP#")) ret = false; // stop tracking after poweron
+    sl_RB_clearbuf(RBin);
+    if(!write_cmd(":U2#")) ret = false; // set high precision
+    sl_RB_clearbuf(RBin);
+    if(!write_cmd(":So10#")) ret = false; // set minimum altitude to 10 degrees
+    sl_RB_clearbuf(RBin);
+    pthread_mutex_unlock(&mntdev_mutex);
+    if(ret) LOGMSG("Connected to %s@115200", mount_dev->portname);
+    else LOGERR("Can't write commands to mount");
+    return ret;
+}
+
+void mount_disconnect(){
+    if(isemulated) return;
+    pthread_mutex_trylock(&mntdev_mutex); // at least, try
+    if(mount_dev) close(mount_dev->comfd);
+    pthread_mutex_unlock(&mntdev_mutex);
+}
+
+// point to ra/dec over serial
+static bool mount_pointto(double ra, double dec){
+    (void) ra; (void) dec;
+    ;
+    return true;
+}
+
+/**
+ * send input RA/Decl (j2000!) coordinates to tel
+ * ra in hours (0..24), decl in degrees (-90..90)
+ * @return true if all OK
+ */
+bool mount_point(double ra, double dec){
+    char buf[RADEC_STR_MAXLEN];
+    radec2str(ra, dec, buf);
+    DBG("Set RA/Decl to %s", buf);
+    LOGMSG("Try to set RA/Decl to %s", buf);
+    norm_RADEC(&ra, &dec);
+    bool (*pointfunction)(double, double) = mount_pointto;
+    if(isemulated) pointfunction = point_emulation;
+    return pointfunction(ra, dec);
+}
+
+void set_emulation_mode(){
+    isemulated = true;
+}
+
+mount_status_t mount_getcoords(double *ra, double *dec){
+    if(!ra || !dec) return MNT_S_ERROR;
+    if(isemulated){
+        get_emul_coords(ra, dec);
+        DBG("Emulated coordinates: %g, %g", *ra, *dec);
+    }else{
+        ; // get real coordinates
+    }
+    return mount_status();
+}

Daemons/10micron_stellarium/mount.h

@@ -0,0 +1,64 @@
+/*
+ * This file is part of the mountdaemon_10micron 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
+
+#include "angles.h"
+
+// mount statuses
+typedef enum{
+    MNT_S_TRACKING = 0,
+    MNT_S_STOPHOM = 1,
+    MNT_S_PARKING = 2,
+    MNT_S_UNPARKING = 3,
+    MNT_S_HOMING = 4,
+    MNT_S_PARKED = 5,
+    MNT_S_SLEWING = 6,
+    MNT_S_STOPPED = 7,
+    MNT_S_INHIBITED = 8,
+    MNT_S_OUTLIMIT = 9,
+    MNT_S_FOLSAT = 10,
+    MNT_S_DATINCOSIST = 11,
+    MNT_S_ERROR = 12, // my status
+    MNT_S_STATAMOUNT = 13 // number of statuses
+} mount_status_t;
+
+void set_emulation_mode();
+
+bool mount_setInpHA(double ha);
+bool mount_setInpRA(double ra);
+bool mount_setInpDec(double dec);
+bool mount_setInpA(double A);
+bool mount_setInpZ(double Z);
+bool mount_setInpMJD(double m);
+
+double mount_getInpCoords(polarCrds_t *c);
+double mount_getTagCoords(polarCrds_t *c);
+double mount_getInpMJD(double *MJD);
+double mount_getInpHor(horizCrds_t *c);
+
+
+bool mount_set_name(const char *name);
+bool mount_set_dev(char *dev, int speed, int timeout);
+const char* mount_status_str();
+mount_status_t mount_status();
+bool mount_connect();
+void mount_disconnect();
+
+mount_status_t mount_getcoords(double *ra, double *dec);
+bool mount_point(double ra, double dec);

Daemons/10micron_stellarium/mountdaemon_10micron.cflags

@@ -0,0 +1 @@
+-std=c23

Daemons/10micron_stellarium/mountdaemon_10micron.config

@@ -0,0 +1,7 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define _XOPEN_SOURCE 1234
+#define _DEFAULT_SOURCE 
+#define _GNU_SOURCE
+#define EBUG
+

Daemons/10micron_stellarium/mountdaemon_10micron.creator.user

@@ -0,0 +1,220 @@
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Daemons/10micron_stellarium/mountdaemon_10micron.files

@@ -0,0 +1,16 @@
+angles.c
+angles.h
+args.c
+args.h
+astrosib_proto.h
+dome.c
+dome.h
+emulation.c
+emulation.h
+main.c
+server.c
+server.h
+mount.c
+mount.h
+stellarium.c
+stellarium.h

Daemons/10micron_stellarium/server.c

@@ -0,0 +1,191 @@
+/*
+ * This file is part of the Snippets project.
+ * Copyright 2024 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 <inttypes.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <usefull_macros.h>
+#include <weather_data.h>
+
+#include "mount.h"
+#include "server.h"
+#include "stellarium.h"
+
+// max age time of last status - 30s
+#define STATUS_MAX_AGE      (30.)
+
+// commands
+#define CMD_UNIXT       "unixt"
+#define CMD_STATUS      "status"
+#define CMD_RELAY       "relay"
+#define CMD_OPEN        "open"
+#define CMD_CLOSE       "close"
+#define CMD_STOP        "stop"
+#define CMD_HALF        "half"
+
+// main command socket
+static sl_sock_t *cmd_socket = NULL;
+// socket for stellarium purposes
+static int stellarium_sockfd = -1;
+// sleep time (us)
+static unsigned int sleept = DEFAULT_SLEEP_T;
+// running flag
+static volatile bool isrunning = false;
+
+unsigned int server_getsleept(){ return sleept; }
+bool server_setsleept(unsigned int t){
+    if(t == 0 || t > MAX_SLEEP_T) return false;
+    sleept = t;
+    return true;
+}
+
+/////// handlers
+// unixt - send to ALL clients
+static sl_sock_hresult_e dtimeh(sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ const char *req){
+    char buf[32];
+    snprintf(buf, 31, "%s=%.2f\n", item->key, sl_dtime());
+    LOGDBG("Client %d asks time: %s", c->fd, buf);
+    sl_sock_sendstrmessage(c, buf);
+    return RESULT_SILENCE;
+}
+
+// statust - text format status
+static sl_sock_hresult_e status(sl_sock_t *c, sl_sock_hitem_t *item, _U_ const char *req){
+    char buf[BUFSIZ];
+    snprintf(buf, BUFSIZ-1, "%s=%s\n", item->key, mount_status_str());
+    LOGDBG("Client %d asks status: %s", c->fd, buf);
+    sl_sock_sendstrmessage(c, buf);
+    return RESULT_SILENCE;
+}
+
+//  and all handlers collection
+static sl_sock_hitem_t handlers[] = {
+    {dtimeh, CMD_UNIXT, "get server's UNIX time", NULL},
+    {status, CMD_STATUS, "get mount status", NULL},
+    {NULL, NULL, NULL, NULL}
+};
+
+// Too much clients handler
+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 < 11.){
+        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: can check IP and reject client by returning FALSE
+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){
+    if(c->type == SOCKT_UNIX) LOGMSG("Disconnected client fd=%d", c->fd);
+    else LOGMSG("Disconnected client fd=%d, IP=%s", c->fd, c->IP);
+}
+
+bool server_check(server_sock_t *sockt){
+    sl_socktype_e type = (sockt->cmd_isunix) ? SOCKT_UNIX : SOCKT_NETLOCAL;
+    cmd_socket = sl_sock_run_server(type, sockt->cmdnode, BUFSIZ, handlers);
+    if(!cmd_socket){
+        LOGERR("Can't start main server");
+        return false;
+    }
+    LOGMSG("Main server started: %s", sockt->cmdnode);
+    sl_sock_changemaxclients(cmd_socket, sockt->maxclients);
+    sl_sock_maxclhandler(cmd_socket, toomuch);
+    sl_sock_connhandler(cmd_socket, connected);
+    sl_sock_dischandler(cmd_socket, disconnected);
+    stellarium_sockfd = sl_sock_open(SOCKT_NET, sockt->stellport, 1, 0);
+    if(stellarium_sockfd < 0){
+        LOGERR("Can't start stellarium socket");
+        sl_sock_delete(&cmd_socket);
+        return false;
+    }
+    if(listen(stellarium_sockfd, sockt->maxclients) == -1){
+        WARN("listen() for stellarium socket");
+        LOGERR("Can't run listen() for stellarium socket");
+        sl_sock_delete(&cmd_socket);
+        close(stellarium_sockfd);
+        return false;
+    }
+    int enable = 0;
+    if(ioctl(stellarium_sockfd, FIONBIO, (void *)&enable) < 0){ // make socket blocking again
+        WARN("ioctl()");
+        LOGERR("Can't make stellarium socket blocking");
+    }
+    DBG("stellarium_sockfd=%d", stellarium_sockfd);
+    LOGMSG("Prepared stellarium socket: %s", sockt->stellport);
+    DBG("Prepared stellarium socket: %s", sockt->stellport);
+    return true;
+}
+
+void server_run(){
+    if(isrunning){
+        LOGERR("server_run(): still running!");
+        return;
+    }
+    if(stellarium_sockfd == -1 || !cmd_socket){
+        LOGERR("server_run(): not initialized");
+        if(cmd_socket) sl_sock_delete(&cmd_socket);
+        ERRX("server_run(): not initialized");
+    }
+    if(!stellarium_start(stellarium_sockfd)){
+        LOGERR("Can't start stellarium server");
+        return;
+    }
+    if(!mount_connect()){
+        LOGERR("Can't connect to mount");
+        sl_sock_delete(&cmd_socket);
+        return;
+    }
+    isrunning = true;
+    DBG("While");
+    while(isrunning && cmd_socket && cmd_socket->connected){
+        usleep(sleept);
+        if(!cmd_socket->rthread){
+            LOGERR("Server handlers thread is dead");
+            break;
+        }
+        // finite state machine polling
+        //dome_poll(DOME_POLL, 0);
+    }
+    DBG("Stop command socket");
+    sl_sock_delete(&cmd_socket);
+    WARNX("Server is dead");
+    LOGERR("Server is dead");
+    isrunning = false;
+}
+
+void server_stop(){
+    isrunning = false;
+}

Daemons/10micron_stellarium/server.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the mountdaemon_10micron 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 <usefull_macros.h>
+
+// default and max available time for "usleep"
+#define DEFAULT_SLEEP_T     100
+#define MAX_SLEEP_T         10000
+#define DEFAULT_MAXCLIENTS  5
+
+typedef struct{
+    int cmd_isunix;         // UNIX-socket instead of INET for `cmdnode`
+    const char *stellport;  // port of stellarium server; could be "localhost:port" for local-only work
+    const char *cmdnode;    // node of command socket
+    int maxclients;         // maximal amount of clients connected
+} server_sock_t;
+
+bool server_check(server_sock_t *sockt);
+void server_run();
+void server_stop();
+unsigned int server_getsleept();
+bool server_setsleept(unsigned int t);

Daemons/10micron_stellarium/stellarium.c

@@ -0,0 +1,296 @@
+/*
+ * This file is part of the mountdaemon_10micron 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/>.
+ */
+
+// base functions for sending/receiving data in stellarium protocol
+
+#include <stdint.h>
+#include <usefull_macros.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+
+#include "angles.h"
+#include "mount.h"
+#include "stellarium.h"
+
+#define BUFLEN  256
+
+// running flag
+static volatile bool isrunning = false;
+static pthread_t mainthread;
+
+//read: 0x14 0x0 0x0 0x0 0x5b 0x5a 0x2e 0xc6 0x8c 0x23 0x5 0x0 0x23 0x9 0xe5 0xaf 0x23 0x2e 0x34 0xed
+// command: goto 16h29 24.45 -26d25 55.62
+/*
+ LITTLE-ENDIAN!!!
+ from client:
+LENGTH (2 bytes, integer): length of the message
+TYPE (2 bytes, integer): 0
+TIME (8 bytes, integer): current time on the server computer in microseconds
+    since 1970.01.01 UT. Currently unused.
+RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
+    a value of 0x100000000 = 0x0 means 24h=0h,
+    a value of 0x80000000 means 12h
+DEC (4 bytes, signed integer): declination of the telescope (J2000)
+    a value of -0x40000000 means -90degrees,
+    a value of 0x0 means 0degrees,
+    a value of 0x40000000 means 90degrees
+
+to client:
+LENGTH (2 bytes, integer): length of the message
+TYPE (2 bytes, integer): 0
+TIME (8 bytes, integer): current time on the server computer in microseconds
+    since 1970.01.01 UT. Currently unused.
+RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
+    a value of 0x100000000 = 0x0 means 24h=0h,
+    a value of 0x80000000 means 12h
+DEC (4 bytes, signed integer): declination of the telescope (J2000)
+    a value of -0x40000000 means -90degrees,
+    a value of 0x0 means 0degrees,
+    a value of 0x40000000 means 90degrees
+STATUS (4 bytes, signed integer): status of the telescope, currently unused.
+    status=0 means ok, status<0 means some error
+*/
+
+
+#define DEG2DEC(degr)  ((int32_t)(degr / 90. * ((double)0x40000000)))
+#define DEG2RA(degr)   ((uint32_t)(degr / 180. * ((double)0x80000000)))
+#define HRS2RA(degr)   ((uint32_t)(degr / 12. * ((double)0x80000000)))
+#define DEC2DEG(i32)   (((double)i32)*90./((double)0x40000000))
+#define RA2DEG(u32)    (((double)u32)*180. /((double)0x80000000))
+#define RA2HRS(u32)    (((double)u32)*12. /((double)0x80000000))
+
+typedef struct __attribute__((__packed__)){
+    uint16_t len;
+    uint16_t type;
+    uint64_t time;
+    uint32_t ra;
+    int32_t dec;
+} indata;
+
+typedef struct __attribute__((__packed__)){
+    uint16_t len;
+    uint16_t type;
+    uint64_t time;
+    uint32_t ra;
+    int32_t dec;
+    int32_t status;
+} outdata;
+
+/**
+ * @brief proc_data - process data received from Stellarium
+ * @param data - raw data
+ * @param len  - its length
+ * @return true if all OK
+ */
+static bool proc_data(uint8_t *data, ssize_t len){
+    FNAME();
+    if(len != sizeof(indata)){
+        WARNX("Bad data size: got %zd instead of %zd!", len, sizeof(indata));
+        return false;
+    }
+    indata *dat = (indata*)data;
+    uint16_t L, T;
+    uint32_t ra;
+    int32_t dec;
+#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
+    L = le16toh(dat->len); T = le16toh(dat->type);
+    ra = le32toh(dat->ra);
+    dec = (int32_t)le32toh((uint32_t)dat->dec);
+#else
+    L = dat->len; T = dat->type;
+    ra = dat->ra; dec = dat->dec;
+#endif
+    DBG("got message with len %u & type %u", L, T);
+    if(L != len){
+        WARNX("Length of message != msg->len");
+        return false;
+    }
+    if(T){
+        WARNX("Wrong message type");
+        return false;
+    }
+    // convert RA/DEC to degrees
+    double tagRA = RA2DEG(ra), tagDec = DEC2DEG(dec);
+    DBG("RA: %u (%g degr), DEC: %d (%g degr)", ra, tagRA, dec, tagDec);
+    LOGMSG("(stellarium) RA: %u (%g degr), DEC: %d (%g degr)", ra, tagRA, dec, tagDec);
+#if 0
+    // check RA/DEC
+    horizCrds_t hnow; // without refraction
+    polarCrds_t p2000, pnow;
+    p2000.ra = DEG2RAD(tagRA);
+    p2000.dec = DEG2RAD(tagDec);
+    //             now     J2000  obs    Jnow
+    if(!get_ObsPlace(NULL, &p2000, &pnow, &hnow)){
+        WARNX("Can't convert coordinates to Jnow");
+        return false;
+    }
+    tagRA = RAD2DEG(pnow.ra - pnow.eo);
+    tagDec = RAD2DEG(pnow.dec);
+#endif
+    return (mount_setInpRA(tagRA) && mount_setInpDec(tagDec) && mount_setInpMJD(ERFA_DJM00));
+}
+
+/**
+ * Send data to user
+ * @param data   - data to send
+ * @param dlen   - data length
+ * @param sockfd - socket fd for sending data
+ * @return false if client disconnected
+ */
+float send_data(uint8_t *data, size_t dlen, int sockfd){
+    ssize_t sent = send(sockfd, data, dlen, MSG_NOSIGNAL);
+    if(sent != (ssize_t)dlen){
+        if(sent == -1 && errno != EINTR){
+            WARN("Disconnected?");
+            return false;
+        }
+        WARN("write()");
+    }
+    return true;
+}
+
+/**
+ * main socket service procedure
+ */
+static void *handle_socket(void *sockd){
+    FNAME();
+    if(!isrunning) return NULL;
+    outdata dout;
+    int sock = *(int*)sockd;
+    dout.len = htole16(sizeof(outdata));
+    dout.type = 0;
+    while(isrunning){
+        // get coordinates
+        double RA = 0., Decl = 0.;
+        if((dout.status = mount_getcoords(&RA, &Decl)) == MNT_S_ERROR){
+            WARNX("Error: can't get coordinates");
+            sleep(1);
+            continue;
+        }
+        //DBG("got : %g/%g", RA, Decl);
+        dout.ra = htole32(HRS2RA(RA));
+        dout.dec = (int32_t)htole32(DEG2DEC(Decl));
+        if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break;
+        //DBG("sent ra = %g, dec = %g", RA2HRS(dout.ra), DEC2DEG(dout.dec));
+        if(!sl_canread(sock)){
+            sleep(1);
+            continue;
+        }
+        // fill incoming buffer
+        uint8_t buff[BUFLEN];
+        ssize_t rd = read(sock, buff, BUFLEN-1);
+        if(rd <= 0){ // error or disconnect
+            DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
+            WARNX("Client disconnected?");
+            break;
+        }
+        buff[rd] = 0;
+        DBG("read %zd (%s)", rd, buff);
+        if(!proc_data(buff, rd)) dout.status = -1;
+        else{
+            DBG("sent OK");
+            dout.status = 0;
+        }
+    }
+    close(sock);
+    return NULL;
+}
+
+// Main loop thread: wait connections over socket and create one thread for each
+static void* start(void *F){
+    if(isrunning){
+        WARNX("already running");
+        return NULL;
+    }
+    if(!F){
+        WARNX("start(): No arg");
+        return NULL;
+    }
+    int sockfd = *((int*)F);
+    if(sockfd < 0){
+        WARNX("start(): sockfd=%d", sockfd);
+        return NULL;
+    }
+    DBG("Start main loop, sockfd=%d", sockfd);
+    isrunning = true;
+    // Main loop
+    while(isrunning){
+        socklen_t size = sizeof(struct sockaddr_in);
+        struct sockaddr_in myaddr;
+        int newsock;
+        DBG("ACCEPT");
+        newsock = accept(sockfd, (struct sockaddr*)&myaddr, &size);
+        if(newsock <= 0){
+            if(errno == EAGAIN){
+                usleep(1000);
+                continue; // nothing available
+            }
+            WARN("accept()");
+            LOGWARN("Stellarium socket error in accept()");
+            sleep(1);
+            continue;
+        }
+        struct sockaddr_in peer;
+        socklen_t peer_len = sizeof(peer);
+        if(getpeername(newsock, (struct sockaddr*)&peer, &peer_len) == -1){
+            LOGWARN("Stellarium socket error in getpeername()");
+            WARN("getpeername()");
+            close(newsock);
+            continue;
+        }
+        int sockport = -1;
+        if(getsockname(newsock, (struct sockaddr*)&peer, &peer_len) == 0){
+            sockport = ntohs(peer.sin_port);
+        }
+        char *peerIP = inet_ntoa(peer.sin_addr);
+        LOGMSG("Got connection from %s @ %d", peerIP, sockport);
+        DBG("Peer's IP address is: %s (@port %d)\n", peerIP, sockport);
+        /*if(strcmp(peerIP, ACCEPT_IP) && strcmp(peerIP, "127.0.0.1")){
+            WARNX("Wrong IP");
+            close(newsock);
+            continue;
+        }*/
+        pthread_t rthrd;
+        if(pthread_create(&rthrd, NULL, handle_socket, (void*)&newsock)){
+            WARN("Can't create socket thread");
+            LOGERR("Stellarium socket: error creating listen thread");
+        }else{
+            DBG("Thread created, detouch");
+            pthread_detach(rthrd); // don't care about thread state
+        }
+    }
+    close(sockfd);
+    return NULL;
+}
+
+bool stellarium_start(int sockfd){
+    int fd = sockfd;
+    if(pthread_create(&mainthread, NULL, start, (void*)&fd)){
+        WARN("pthread_create()");
+        return false;
+    }
+    DBG("Stellarium server started");
+    return true;
+}
+
+void stellarium_stop(){
+    if(!isrunning) return;
+    isrunning = false;
+    pthread_join(mainthread, NULL);
+}

Daemons/10micron_stellarium/stellarium.h

@@ -0,0 +1,22 @@
+/*
+ * This file is part of the mountdaemon_10micron 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
+
+bool stellarium_start(int sockfd);
+void stellarium_stop();

Daemons/Readme.md

@@ -4,15 +4,11 @@ Different daemons & tools
 - *10micron_stellarium* - simple daemon for 10-micron mount management from stellarium interface
 - *astrosib* - some scripts used during observations
 - *deprecated* - deprecated code
-- *domedaemon-astrosib* - deprecated astrosib daemon
+- *domedaemon-astrosib* - daemon for "Astrosib" all-sky dome management
-- *domedaemon_baader* - open/close Baaden dome by network query
+- *domedaemon_baader* - daemon for "Baader Planetarium" all-sky dome management
-- *domedaemon-astrosib* - open/close Astrosib dome by network query
-- *netdaemon* - template for net-daemons
 - *netsocket* - scripts for management of network 220V-socket
 - *send_coordinates* - get/send coordinates to 10-micron mount through stellarium daemon (almost deprecated)
-- *teldaemon_astrosib* - open/close Astrosib-500 scope covers by network query
+- *teldaemon_astrosib* - work with Astrosib-500 scope equipment by network query
-- *weatherdaemon* - weather daemon for old meteostation (almost deprecated)
+- *weatherdaemon_multimeteo* - weather daemon for ALL meteo sensors on "Astro-M" complex
-- *weatherdaemon_multimeteo* - (pre-developed) version of weather daemon for ALL sensors on "Astro-M" complex
+- *weather_logger* - make file-based database for all meteo sensors
-- *weatherdaemon_newmeteo* - daemon for new (chinese) meteostation (almost deprecated)
+- *weather_proxy* - daemon gathering meteo data from `weatherdaemon_multimeteo` and sharing it on localhost over SHM
-- *weather_database* - make database by data of almost deprecated weather daemons
-- *weather_proxy* - (pre-developed) daemon gathering meteo data and sharing it on localhost over SHM

Daemons/deprecated/10micron_stellarium/emulation.c

@@ -0,0 +1,103 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * emulation.c
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#include "math.h"
+#include "emulation.h"
+#include "usefull_macro.h"
+
+// emulation speed over RA & DEC (0.5 degr per sec)
+#define RA_SPEED    (0.033)
+#define DECL_SPEED    (0.5)
+
+// current coordinates
+static double RA = 0., DECL = 0.;
+// target coordinates
+static double RAtarg = 0., DECLtarg = 0.;
+// coordinates @ guiding start
+static double RA0 = 0., DECL0 = 0.;
+static double raspeed = 0.;
+// ==1 if pointing
+static int pointing = 0;
+// pointing start time
+static double tstart = -1.;
+
+/**
+ * send coordinates to telescope emulation
+ * @param ra - right ascention (hours)
+ * @param decl - declination (degrees)
+ * @return 1 if all OK
+ */
+int point_emulation(double ra, double decl){
+    DBG("(emul) Send ra=%g, decl=%g", ra, decl);
+    putlog("(emul) Send ra=%g, decl=%g", ra, decl);
+    RAtarg = ra; DECLtarg = decl;
+    RA0 = RA; DECL0 = DECL;
+    raspeed = (RAtarg > RA) ? RA_SPEED : -RA_SPEED;
+    if(fabs(RAtarg - RA) > 12.){ // go to opposite direction
+        raspeed = -raspeed;
+    }
+    tstart = dtime();
+    pointing = 1;
+    return 0;
+}
+
+static double getradiff(){
+    double diff = RAtarg - RA;
+    if(raspeed < 0.) diff = -diff;
+    if(diff > 12.) diff -= 24.;
+    else if(diff < -12.) diff += 24.;
+    return fabs(diff);
+}
+
+/**
+ * get coordinates (emulation)
+ * @return 1 if all OK
+ */
+int get_emul_coords(double *ra, double *decl){
+    if(pointing){
+        DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
+        // diff < speed? stop
+        if((fabs(RAtarg - RA) < RA_SPEED && fabs(DECLtarg - DECL) < DECL_SPEED)){
+            RA = RAtarg;
+            DECL = DECLtarg;
+            pointing = 0; // guiding
+            DBG("@ target");
+        }else{ // calculate new coordinates
+            double radiff = getradiff(), decldiff = fabs(DECLtarg - DECL);
+            double tdiff = dtime() - tstart;
+            RA = RA0 + raspeed * tdiff;
+            DBG("RA=%g", RA);
+            if(getradiff() > radiff) RA = RAtarg;
+            DBG("RA=%g", RA);
+            if(RA < 0.) RA += 24.;
+            else if(RA > 24.) RA -= 24.;
+            DBG("RA=%g", RA);
+            double sign = (DECLtarg > DECL) ? 1. : -1.;
+            DECL = DECL0 + sign * DECL_SPEED * tdiff;
+            if(fabs(DECLtarg - DECL) > decldiff) DECL = DECLtarg;
+            DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
+        }
+    }
+    if(ra) *ra = RA;
+    if(decl) *decl = DECL;
+    return 1;
+}

Daemons/deprecated/10micron_stellarium/emulation.h

@@ -0,0 +1,30 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * emulation.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#pragma once
+#ifndef __EMULATION_H__
+#define __EMULATION_H__
+
+int point_emulation(double ra, double decl);
+int get_emul_coords(double *ra, double *decl);
+
+#endif // __EMULATION_H__

Daemons/deprecated/10micron_stellarium/main.c

@@ -0,0 +1,522 @@
+/*
+ * main.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <arpa/inet.h>
+#include <endian.h>
+#include <math.h>
+#include <netdb.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <sys/prctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <time.h>
+
+#include "emulation.h"
+#include "libsofa.h"
+#include "main.h"
+#include "socket.h"
+#include "telescope.h"
+
+// daemon.c
+extern void check4running(char *self, char *pidfilename, void (*iffound)(pid_t pid));
+
+// Max amount of connections
+#define BACKLOG     (10)
+#define BUFLEN      (1024)
+// pause for incoming message waiting (out coordinates sent after that timeout)
+#define SOCK_TMOUT  (1)
+
+static pid_t childpid = 1; // PID of child process
+volatile int global_quit = 0;
+// quit by signal
+void signals(int sig){
+    signal(sig, SIG_IGN);
+    if(childpid){ // parent process
+        restore_tty(); // restore all parameters
+        unlink(GP->pidfile);  // and remove pidfile
+        weatherserver_disconnect();
+    }    
+    DBG("Get signal %d, quit.\n", sig);
+    global_quit = 1;
+    if(childpid) putlog("PID %d exit with status %d after child's %d death", getpid(), sig, childpid);
+    else WARNX("Child %d died with %d", getpid(), sig);
+    sleep(1);
+    exit(sig);
+}
+
+// search a first word after needle without spaces
+char* stringscan(char *str, char *needle){
+    char *a, *e;
+    char *end = str + strlen(str);
+    a = strstr(str, needle);
+    if(!a) return NULL;
+    a += strlen(needle);
+    while (a < end && (*a == ' ' || *a == '\r' || *a == '\t')) a++;
+    if(a >= end) return NULL;
+    e = strchr(a, ' ');
+    if(e) *e = 0;
+    return a;
+}
+
+/**
+ * Send data to user
+ * @param data   - data to send
+ * @param dlen   - data length
+ * @param sockfd - socket fd for sending data
+ * @return 0 if failed
+ */
+int send_data(uint8_t *data, size_t dlen, int sockfd){
+    size_t sent = write(sockfd, data, dlen);
+    if(sent != dlen){
+        WARN("write()");
+        return 0;
+    }
+    return 1;
+}
+
+//read: 0x14 0x0 0x0 0x0 0x5b 0x5a 0x2e 0xc6 0x8c 0x23 0x5 0x0 0x23 0x9 0xe5 0xaf 0x23 0x2e 0x34 0xed
+// command: goto 16h29 24.45 -26d25 55.62
+/*
+ LITTLE-ENDIAN!!!
+ from client:
+LENGTH (2 bytes, integer): length of the message
+TYPE (2 bytes, integer): 0
+TIME (8 bytes, integer): current time on the server computer in microseconds
+    since 1970.01.01 UT. Currently unused.
+RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
+    a value of 0x100000000 = 0x0 means 24h=0h,
+    a value of 0x80000000 means 12h
+DEC (4 bytes, signed integer): declination of the telescope (J2000)
+    a value of -0x40000000 means -90degrees,
+    a value of 0x0 means 0degrees,
+    a value of 0x40000000 means 90degrees
+
+to client:
+LENGTH (2 bytes, integer): length of the message
+TYPE (2 bytes, integer): 0
+TIME (8 bytes, integer): current time on the server computer in microseconds
+    since 1970.01.01 UT. Currently unused.
+RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
+    a value of 0x100000000 = 0x0 means 24h=0h,
+    a value of 0x80000000 means 12h
+DEC (4 bytes, signed integer): declination of the telescope (J2000)
+    a value of -0x40000000 means -90degrees,
+    a value of 0x0 means 0degrees,
+    a value of 0x40000000 means 90degrees
+STATUS (4 bytes, signed integer): status of the telescope, currently unused.
+    status=0 means ok, status<0 means some error
+*/
+
+#define DEG2DEC(degr)  ((int32_t)(degr / 90. * ((double)0x40000000)))
+#define HRS2RA(hrs)    ((uint32_t)(hrs / 12. * ((double)0x80000000)))
+#define DEC2DEG(i32)   (((double)i32)*90./((double)0x40000000))
+#define RA2HRS(u32)    (((double)u32)*12. /((double)0x80000000))
+
+typedef struct __attribute__((__packed__)){
+    uint16_t len;
+    uint16_t type;
+    uint64_t time;
+    uint32_t ra;
+    int32_t dec;
+} indata;
+
+typedef struct __attribute__((__packed__)){
+    uint16_t len;
+    uint16_t type;
+    uint64_t time;
+    uint32_t ra;
+    int32_t dec;
+    int32_t status;
+} outdata;
+
+/**
+ * convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
+ */
+char *radec2str(double ra, double dec){
+    static char buf[1024];
+    char sign = '+';
+    if(dec < 0){
+        sign = '-';
+        dec = -dec;
+    }
+
+    int h = (int)ra;
+    ra -= h; ra *= 60.;
+    int m = (int)ra;
+    ra -= m; ra *= 60.;
+
+    int d = (int) dec;
+    dec -= d; dec *= 60.;
+    int dm = (int)dec;
+    dec -= dm; dec *= 60.;
+    snprintf(buf, 1024, "%d:%d:%.2f %c%d:%d:%.1f", h,m,ra, sign,d,dm,dec);
+    return buf;
+}
+
+/**
+ * send input RA/Decl (j2000!) coordinates to tel
+ * ra in hours (0..24), decl in degrees (-90..90)
+ * @return 1 if all OK
+ */
+int setCoords(double ra, double dec){
+    char *radec = radec2str(ra, dec);
+    DBG("Set RA/Decl to %s", radec);
+    putlog("Try to set RA/Decl to %s", radec);
+    int (*pointfunction)(double, double) = point_telescope;
+    if(GP->emulation) pointfunction = point_emulation;
+    return pointfunction(ra, dec);
+}
+
+/**
+ * @brief proc_data - process data received from Stellarium
+ * @param data - raw data
+ * @param len  - its length
+ * @return 1 if all OK
+ */
+int proc_data(uint8_t *data, ssize_t len){
+    FNAME();
+    if(len != sizeof(indata)){
+        WARNX("Bad data size: got %zd instead of %zd!", len, sizeof(indata));
+        return 0;
+    }
+    indata *dat = (indata*)data;
+    uint16_t L, T;
+    //uint64_t tim;
+    uint32_t ra;
+    int32_t dec;
+#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
+    L = le16toh(dat->len); T = le16toh(dat->type);
+    //tim = le64toh(dat->time);
+    ra = le32toh(dat->ra);
+    dec = (int32_t)le32toh((uint32_t)dat->dec);
+#else
+    L = dat->len; T = dat->type;
+    //tim = dat->time;
+    ra = dat->ra; dec = dat->dec;
+#endif
+    DBG("got message with len %u & type %u", L, T);
+    if(L != len){
+        WARNX("Length of message != msg->len");
+        return 0;
+    }
+    if(T){
+        WARNX("Wrong message type");
+        return 0;
+    }
+    // convert RA/DEC to hours/degrees
+    double tagRA = RA2HRS(ra), tagDec = DEC2DEG(dec);
+    DBG("RA: %u (%g), DEC: %d (%g)", ra, tagRA, dec, tagDec);
+    putlog("RA: %u (%g degr), DEC: %d (%g degr)", ra, tagRA, dec, tagDec);
+    // check RA/DEC
+    horizCrds hnow; // without refraction
+    polarCrds p2000, pnow;
+    p2000.ra = tagRA/12. * M_PI;
+    p2000.dec = tagDec * ERFA_DD2R;
+    //             now     J2000  obs    Jnow
+    if(get_ObsPlace(NULL, &p2000, NULL, &pnow, &hnow)){
+        WARNX("Can't convert coordinates to Jnow");
+        return 0;
+    }
+/*
+    int i[4], j[4]; char pm, pm1;
+    eraA2af(2, hnow.az, &pm, i);
+    eraA2af(2, hnow.zd, &pm1, j);
+    DBG("az: %c%02d %02d %02d.%2.d, zd: %c%02d %02d %02d.%2.d",
+        pm, i[0],i[1],i[2],i[3],
+        pm1,j[0],j[1],j[2],j[3]);
+    eraA2af(2, M_PI_2 - hnow.zd, &pm, i);
+    DBG("h: %c%02d %02d %02d.%2.d", pm, i[0],i[1],i[2],i[3]);
+*/
+    if(hnow.zd > 80.*ERFA_DD2R){
+        WARNX("Z > 80degr (%g), stop telescope", hnow.zd * ERFA_DR2D);
+        putlog("Z=%.1f > 80 - stop!", hnow.zd * ERFA_DR2D);
+        stop_telescope();
+        return 0;
+    }
+    tagRA = (pnow.ra - pnow.eo) / M_PI * 12.;
+    tagDec = pnow.dec / ERFA_DD2R;
+    if(!setCoords(tagRA, tagDec)) return 0;
+    return 1;
+}
+
+/**
+ * main socket service procedure
+ */
+void *handle_socket(void *sockd){
+    FNAME();
+    if(global_quit) return NULL;
+    outdata dout;
+    int sock = *(int*)sockd;
+    dout.len = htole16(sizeof(outdata));
+    dout.type = 0;
+    int (*getcoords)(double*, double*) = get_telescope_coords;
+    if(GP->emulation) getcoords = get_emul_coords;
+    while(!global_quit){
+        // get coordinates
+        double RA = 0., Decl = 0.;
+        if((dout.status = getcoords(&RA, &Decl)) < 0){
+            WARNX("Error: can't get coordinates");
+            sleep(1);
+            continue;
+        }
+        //DBG("got : %g/%g", RA, Decl);
+        dout.ra = htole32(HRS2RA(RA));
+        dout.dec = (int32_t)htole32(DEG2DEC(Decl));
+        if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break;
+        //DBG("sent ra = %g, dec = %g", RA2HRS(dout.ra), DEC2DEG(dout.dec));
+        fd_set readfds;
+        struct timeval timeout;
+        FD_ZERO(&readfds);
+        FD_SET(sock, &readfds);
+        timeout.tv_sec = SOCK_TMOUT; // wait not more than SOCK_TMOUT second
+        timeout.tv_usec = 0;
+        int sel = select(sock + 1 , &readfds , NULL , NULL , &timeout);
+        if(sel < 0){
+            if(errno != EINTR)
+                WARN("select()");
+            continue;
+        }
+        if(!(FD_ISSET(sock, &readfds))) continue;
+        // fill incoming buffer
+        uint8_t buff[BUFLEN+1];
+        ssize_t rd = read(sock, buff, BUFLEN);
+        buff[rd] = 0;
+        DBG("read %zd (%s)", rd, buff);
+        if(rd <= 0){ // error or disconnect
+            DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
+            break;
+        }
+        /**************************************
+         *       DO SOMETHING WITH DATA       *
+         **************************************/
+        if(!proc_data(buff, rd)) dout.status = -1;
+        else dout.status = 0;
+    }
+    close(sock);
+    return NULL;
+}
+
+// thread writing FITS-header file
+static void *hdrthread(_U_ void *buf){
+    // write FITS-header at most once per second
+    while(!global_quit){
+        wrhdr();
+        usleep(100000); // give a chance to write/read for others
+    }
+    return NULL;
+}
+
+/**
+ * @brief opensocket - open socket to port `port`
+ * @return socket fd or <0 if failed
+ */
+static int opensocket(char *port){
+    if(!port) return -1;
+    int reuseaddr = 1;
+    int sock;
+    struct addrinfo hints, *res, *p;
+    memset(&hints, 0, sizeof(hints));
+    hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_STREAM;
+    hints.ai_flags = AI_PASSIVE;
+    DBG("try to open port %s", port);
+    if(getaddrinfo(NULL, port, &hints, &res) != 0){
+        WARN("getaddrinfo()");
+        return 0;
+    }
+    /*
+    struct sockaddr_in *ia = (struct sockaddr_in*)res->ai_addr;
+    char str[INET_ADDRSTRLEN];
+    inet_ntop(AF_INET, &(ia->sin_addr), str, INET_ADDRSTRLEN);
+    */
+    // loop through all the results and bind to the first we can
+    for(p = res; p != NULL; p = p->ai_next){
+        if((sock = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) == -1){
+            WARN("socket()");
+            continue;
+        }
+        if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseaddr, sizeof(int)) == -1){
+            WARN("setsockopt()");
+            close(sock);
+            continue;
+        }
+        if(bind(sock, p->ai_addr, p->ai_addrlen) == -1){
+            WARN("bind()");
+            close(sock);
+            continue;
+        }
+        break; // if we get here, we must have connected successfully
+    }
+    freeaddrinfo(res);
+    // Listen
+    if(listen(sock, BACKLOG) == -1){
+        WARN("listen");
+        putlog("listen() error");
+    }
+    DBG("listen at %s", port);
+    putlog("listen at %s", port);
+    return sock;
+}
+
+/**
+ * @brief waitconn
+ * @param sock       - socket fd to accept()
+ * @param connthread - thread which to run when connection accepted (it's parameter - socket fd)
+ */
+static void waitconn(int sock, void *(*connthread)(void*)){
+    // Main loop
+    while(!global_quit){
+        socklen_t size = sizeof(struct sockaddr_in);
+        struct sockaddr_in myaddr;
+        int newsock;
+        newsock = accept(sock, (struct sockaddr*)&myaddr, &size);
+        if(newsock <= 0){
+            WARN("accept()");
+            sleep(1);
+            continue;
+        }
+        struct sockaddr_in peer;
+        socklen_t peer_len = sizeof(peer);
+        if(getpeername(newsock, (struct sockaddr*)&peer, &peer_len) == -1){
+            WARN("getpeername()");
+            close(newsock);
+            continue;
+        }
+        int sockport = -1;
+        if(getsockname(newsock, (struct sockaddr*)&peer, &peer_len) == 0){
+            sockport = ntohs(peer.sin_port);
+        }
+        char *peerIP = inet_ntoa(peer.sin_addr);
+        putlog("Got connection from %s @ %d", peerIP, sockport);
+        DBG("Peer's IP address is: %s (@port %d)\n", peerIP, sockport);
+        /*if(strcmp(peerIP, ACCEPT_IP) && strcmp(peerIP, "127.0.0.1")){
+            WARNX("Wrong IP");
+            close(newsock);
+            continue;
+        }*/
+        pthread_t rthrd;
+        if(pthread_create(&rthrd, NULL, connthread, (void*)&newsock)){
+            putlog("Error creating listen thread");
+            ERR(_("Can't create socket thread"));
+        }else{
+            DBG("Thread created, detouch");
+            pthread_detach(rthrd); // don't care about thread state
+        }
+    }
+    close(sock);
+}
+
+// thread working with terminal
+static void *termthread(_U_ void *buf){
+    int sock = opensocket(GP->dbgport);
+    if(sock < 0){
+        putlog("Can't open debugging socket @ port %s", GP->dbgport);
+        ERRX("Can't open debug socket");
+    }
+    waitconn(sock, term_thread);
+    return NULL;
+}
+
+static inline void main_proc(){
+    pthread_t hthrd, termthrd;
+    // connect to telescope
+    if(!GP->emulation){
+        if(!connect_telescope(GP->device, GP->crdsfile)){
+            ERRX(_("Can't connect to telescope device"));
+        }
+        if(pthread_create(&hthrd, NULL, hdrthread, NULL))
+            ERR(_("Can't create writing thread"));
+        if(pthread_create(&termthrd, NULL, termthread, NULL))
+            ERR(_("Can't create terminal thread"));
+    }
+    // connect to weather daemon
+    if(!weatherserver_connect()){
+        DBG("Can't connect to weather server, will try later");
+    }
+    // open socket
+    int sock = opensocket(GP->port);
+    if(sock < 0){
+        putlog("Can't open socket @ port %s", GP->port);
+        ERRX("Can't open stellarium socket");
+    }
+    waitconn(sock, handle_socket);
+    usleep(10000);
+    pthread_cancel(hthrd); // cancel reading thread
+    pthread_cancel(termthrd);
+    pthread_join(hthrd, NULL);
+    pthread_join(termthrd, NULL);
+}
+
+int main(int argc, char **argv){
+    char *self = strdup(argv[0]);
+    GP = parse_args(argc, argv);
+    initial_setup();
+
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGKILL, signals); // kill (-9) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+
+    int fd;
+    if((fd = open(GP->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
+        ERR(_("Can't open %s for writing"), GP->crdsfile);
+    close(fd);
+
+    printf("Daemonize\n");
+#ifndef EBUG // daemonize only in release mode
+    if(daemon(1, 0)){
+        putlog("Err: daemon()");
+        ERR("daemon()");
+    }
+#endif // EBUG
+    check4running(self, GP->pidfile, NULL);
+    if(GP->logfile) openlogfile(GP->logfile);
+    putlog("Starting, master PID=%d", getpid());
+
+#ifndef EBUG
+    while(1){
+        childpid = fork();
+        if(childpid < 0){
+            putlog("fork() error");
+            ERR("ERROR on fork");
+        }
+        if(childpid){
+            WARNX(_("Created child with PID %d\n"), childpid);
+            DBG("Created child with PID %d\n", childpid);
+            wait(NULL);
+            WARNX(_("Child %d died\n"), childpid);
+            DBG("Child %d died\n", childpid);
+        }else{
+            prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
+            main_proc();
+            return 0;
+        }
+    }
+#else
+    main_proc();
+#endif
+
+    return 0;
+}

Daemons/deprecated/Readme

@@ -0,0 +1 @@
+Deprecated (old versions) of daemons; marked for further removal.

Daemons/deprecated/weather_database/Readme

@@ -1,4 +1,5 @@
 Collect weather data from new meteostation in sqlite3 database.
+// This is old version and need to be modificated for working with modern weather daemon)
 
 Parameters: