Add readme, make some fixes

.gitignore

@@ -1,3 +1,17 @@
+# executables
+*
+!*.*
+!*/
+!Makefile
+![Rr][Ee][Aa][Dd][Mm][Ee]
+
+# build dirs
+mk/
+build/
+.qtc_clangd
+.qtcreator
+
+
 # Prerequisites
 *.d
 
@@ -23,6 +37,11 @@
 *.so
 *.so.*
 
-# build dirs
+
-mk/
+# diff
-build/
+.qtcreator/
+*.log
+*.tgz
+*.tar.gz
+*.7z
+*.zip

Auxiliary_utils/LibSidServo/CMakeLists.txt

@@ -15,6 +15,8 @@ set(CMAKE_COLOR_MAKEFILE ON)
 
 option(DEBUG "Compile in debug mode" OFF)
 option(EXAMPLES "Compile also some examples" ON)
+option(BUILD_SHARED "Build shared libarary" OFF)
+
 
 # cmake -DDEBUG=on -> debugging
 if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
@@ -52,7 +54,13 @@ aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
 #list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
 
 # library
-add_library(${PROJ} SHARED ${SOURCES})
+
+if(BUILD_SHARED)
+    add_library(${PROJ} SHARED ${SOURCES})
+else()
+    add_library(${PROJ} STATIC ${SOURCES})
+endif()
+
 # library header files
 set(LIBHEADER "sidservo.h")
 # -I

Auxiliary_utils/LibSidServo/PID.c

@@ -16,6 +16,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <float.h>
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -25,34 +26,70 @@
 #include "PID.h"
 #include "serial.h"
 
-PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
+typedef struct {
+    PIDpar_t gain;      // PID gains
+    double prev_error;  // Previous error
+    double prev_tagpos; // previous target position
+    double integral;    // Integral term
+    double *pidIarray;  // array for Integral
+    struct timespec prevT; // time of previous correction
+    size_t pidIarrSize; // it's size
+    size_t curIidx;     // and index of current element
+} PIDController_t;
+
+typedef struct{
+    axis_status_t state;
+    coordval_t position;
+    coordval_t speed;
+} axisdata_t;
+
+static PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
     if(!gain || Iarrsz < 3) return NULL;
     PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
     pid->gain = *gain;
     DBG("Created PID with P=%g, I=%g, D=%g\n", gain->P, gain->I, gain->D);
     pid->pidIarrSize = Iarrsz;
     pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
+    curtime(&pid->prevT);
     return pid;
 }
 
 // don't clear lastT!
-void pid_clear(PIDController_t *pid){
+static void pid_clear(PIDController_t *pid){
     if(!pid) return;
     DBG("CLEAR PID PARAMETERS");
     bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
     pid->integral = 0.;
     pid->prev_error = 0.;
     pid->curIidx = 0;
+    curtime(&pid->prevT);
 }
-
+/*
-void pid_delete(PIDController_t **pid){
+static void pid_delete(PIDController_t **pid){
     if(!pid || !*pid) return;
     if((*pid)->pidIarray) free((*pid)->pidIarray);
     free(*pid);
     *pid = NULL;
-}
+}*/
 
-double pid_calculate(PIDController_t *pid, double error, double dt){
+// calculate new motor speed
+static double pid_calculate(PIDController_t *pid, double axispos, const coordval_t *target){
+    double dtpid = timediff(&target->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
+        DBG("time diff too big: clear PID");
+        pid_clear(pid);
+        pid->prev_tagpos = target->val;
+        return 0.;
+    }
+    double dt = timediff(&target->t, &pid->prevT);
+    if(dt < FLT_EPSILON){
+        DBG("Target time in past");
+        return 0.;
+    }
+    pid->prevT = target->t;
+    double error = target->val - axispos;
+    double tagspeed = (target->val - pid->prev_tagpos) / dt;
+    pid->prev_tagpos = target->val;
     // calculate flowing integral
     double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
     //DBG("oldi/new: %g, %g", oldi, newi);
@@ -61,43 +98,33 @@ double pid_calculate(PIDController_t *pid, double error, double dt){
     pid->integral += newi - oldi;
     double derivative = (error - pid->prev_error) / dt;
     pid->prev_error = error;
-    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
+    DBG("pid pars: P=%g, I=%g, D=%f", pid->gain.P, pid->gain.I, pid->gain.D);
-    DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
+    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative + tagspeed;
+    DBG("tagspeed=%g, P=%g, I=%g, D=%g; sum=%g", tagspeed, pid->gain.P * error,
+        pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
     return sum;
 }
 
-typedef struct{
-    PIDController_t *PIDC;
-    PIDController_t *PIDV;
-} PIDpair_t;
-
-typedef struct{
-    axis_status_t state;
-    coordval_t position;
-    coordval_t speed;
-} axisdata_t;
 /**
  * @brief process - Process PID for given axis
  * @param tagpos - given coordinate of target position
  * @param endpoint - endpoint for this coordinate
  * @param pid - pid itself
- * @return calculated new speed or -1 for max speed
+ * @return calculated NEW SPEED or NAN for max speed
  */
-static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
+static double getspeed(const coordval_t *tagpos, PIDController_t *pid, axisdata_t *axis){
     double dt = timediff(&tagpos->t, &axis->position.t);
     if(dt < 0 || dt > Conf.PIDMaxDt){
         DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
         return axis->speed.val; // data is too old or wrong
     }
     double error = tagpos->val - axis->position.val, fe = fabs(error);
-    DBG("error: %g", error);
+    DBG("error: %g'', cur speed: %g (deg/s)", error * 180. * 3600. / M_PI, axis->speed.val*180./M_PI);
-    PIDController_t *pid = NULL;
     switch(axis->state){
         case AXIS_SLEWING:
-            if(fe < Conf.MaxPointingErr){
+            if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_POINTING;
                 DBG("--> Pointing");
-                pid = pidpair->PIDC;
             }else{
                 DBG("Slewing...");
                 return NAN; // max speed for given axis
@@ -107,28 +134,26 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
             if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_GUIDING;
                 DBG("--> Guiding");
-                pid = pidpair->PIDV;
             }else if(fe > Conf.MaxPointingErr){
                 DBG("--> Slewing");
                 axis->state = AXIS_SLEWING;
                 return NAN;
-            } else pid = pidpair->PIDC;
+            }
             break;
         case AXIS_GUIDING:
-            pid = pidpair->PIDV;
             if(fe > Conf.MaxFinePointingErr){
                 DBG("--> Pointing");
                 axis->state = AXIS_POINTING;
-                pid = pidpair->PIDC;
             }else if(fe < Conf.MaxGuidingErr){
                 DBG("At target");
                 // TODO: we can point somehow that we are at target or introduce new axis state
-            }else DBG("Current error: %g", fe);
+            }else DBG("Current abs error: %g", fe);
             break;
+        case AXIS_GONNASTOP:
         case AXIS_STOPPED: // start pointing to target; will change speed next time
             DBG("AXIS STOPPED!!!! --> Slewing");
             axis->state = AXIS_SLEWING;
-            return getspeed(tagpos, pidpair, axis);
+            return getspeed(tagpos, pid, axis);
         case AXIS_ERROR:
             DBG("Can't move from erroneous state");
             return 0.;
@@ -137,17 +162,7 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
         DBG("WTF? Where is a PID?");
         return axis->speed.val;
     }
-    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    return pid_calculate(pid, axis->position.val, tagpos);
-    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
-        DBG("time diff too big: clear PID");
-        pid_clear(pid);
-    }
-    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
-    pid->prevT = tagpos->t;
-    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
-    double tagspeed = pid_calculate(pid, error, dtpid);
-    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
-    return tagspeed; // coordinate-based
 }
 
 /**
@@ -157,18 +172,14 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
  * @return error code
  */
 mcc_errcodes_t correct2(const coordval_pair_t *target){
-    static PIDpair_t pidX = {0}, pidY = {0};
+    static PIDController_t *pidX = NULL, *pidY = NULL;
-    if(!pidX.PIDC){
+    if(!pidX){
-        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        pidX = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
-        if(!pidX.PIDC) return MCC_E_FATAL;
+        if(!pidX) return MCC_E_FATAL;
-        pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
-        if(!pidX.PIDV) return MCC_E_FATAL;
     }
-    if(!pidY.PIDC){
+    if(!pidY){
-        pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        pidY = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
-        if(!pidY.PIDC) return MCC_E_FATAL;
+        if(!pidY) return MCC_E_FATAL;
-        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
-        if(!pidY.PIDV) return MCC_E_FATAL;
     }
     mountdata_t m;
     coordpair_t tagspeed; // absolute value of speed
@@ -179,7 +190,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
     axis.state = m.Xstate;
     axis.position = m.encXposition;
     axis.speed = m.encXspeed;
-    tagspeed.X = getspeed(&target->X, &pidX, &axis);
+    tagspeed.X = getspeed(&target->X, pidX, &axis);
     if(isnan(tagspeed.X)){ // max speed
         if(target->X.val < axis.position.val) Xsign = -1.;
         tagspeed.X = Xlimits.max.speed;
@@ -191,7 +202,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
     axis.state = m.Ystate;
     axis.position = m.encYposition;
     axis.speed = m.encYspeed;
-    tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
+    tagspeed.Y = getspeed(&target->Y, pidY, &axis);
     if(isnan(tagspeed.Y)){ // max speed
         if(target->Y.val < axis.position.val) Ysign = -1.;
         tagspeed.Y = Ylimits.max.speed;
@@ -205,6 +216,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
         setStat(xstate, ystate);
     }
     coordpair_t endpoint;
+#if 0
     // allow at least PIDMaxDt moving with target speed
     double dv = fabs(tagspeed.X - m.encXspeed.val);
     double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
@@ -216,6 +228,16 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
             + Conf.PIDMaxDt * tagspeed.Y
             + tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
     endpoint.Y = m.encYposition.val + Ysign * adder;
+#endif
+    // allow 10s moving but not more than 10deg and not less than 1deg
+    double adder = fabs(tagspeed.X) * 10.;
+    if(adder > 0.17453) adder = 0.17453;
+    else if(adder < 0.017453) adder = 0.017453;
+    endpoint.X = m.encXposition.val + Xsign * adder;
+    adder = fabs(tagspeed.Y) * 10.;
+    if(adder > 0.17453) adder = 0.17453;
+    else if(adder < 0.017453) adder = 0.017453;
+    endpoint.Y = m.encYposition.val + Ysign * adder;
     DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
     return Mount.moveWspeed(&endpoint, &tagspeed);
 }

Auxiliary_utils/LibSidServo/PID.h

@@ -22,19 +22,10 @@
 
 #include "sidservo.h"
 
-typedef struct {
+/*
-    PIDpar_t gain;      // PID gains
-    double prev_error;  // Previous error
-    double integral;    // Integral term
-    double *pidIarray;  // array for Integral
-    struct timespec prevT; // time of previous correction
-    size_t pidIarrSize; // it's size
-    size_t curIidx;     // and index of current element
-} PIDController_t;
-
 PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz);
 void pid_clear(PIDController_t *pid);
 void pid_delete(PIDController_t **pid);
 double pid_calculate(PIDController_t *pid, double error, double dt);
-
+*/
 mcc_errcodes_t  correct2(const coordval_pair_t *target);

Auxiliary_utils/LibSidServo/examples/goto.c

@@ -65,8 +65,12 @@ void signals(int sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
+    DBG("Stop!");
+    Mount.stop();
+    usleep(10000);
     DBG("Quit");
     Mount.quit();
+    usleep(10000);
     DBG("close");
     if(fcoords) fclose(fcoords);
     exit(sig);

Auxiliary_utils/LibSidServo/examples/scmd_traectory.c

@@ -109,17 +109,27 @@ static void runtraectory(traectory_fn tfn){
         }
         if(!Mount.currentT(&tcur)) continue;
         if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
-        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
         tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
         double t = Mount.timeFromStart();
-        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
+        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax){
-        if(!traectory_point(&traectXY, t)) break;
+            if(fabs(telXY.X.val) > G.Xmax) DBG("X over maximal limit!");
+            if(fabs(telXY.Y.val) > G.Ymax) DBG("Y over maximal limit!");
+            if(t - tstart > G.tmax) DBG("Time over...");
+            break;
+        }
+        if(!traectory_point(&traectXY, t)){
+            DBG("Error in 'traectory_point', time from start=%g", t);
+            break;
+        }
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f); traectory: %g'/%g' (%.6f/%.6f)",
+            RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val),
+            RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y), RAD2DEG(traectXY.X), RAD2DEG(traectXY.Y));
         target.X.val = traectXY.X; target.Y.val = traectXY.Y;
         target.X.t = target.Y.t = tcur;
         if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
         else{
             //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-            DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+            DBG("%g, target-telescope: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
             //DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
             if(errlog)
                 fprintf(errlog, "%10.4f  %10.4f  %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
@@ -146,10 +156,12 @@ int main(int argc, char **argv){
             ERRX("Can't open error log %s", G.errlog);
         else
             fprintf(errlog, "#    time      Xerr''      Yerr''   // target - real\n");
+        setbuf(errlog, NULL);
     }
     if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
+        setbuf(fcoords, NULL);
     }else fcoords = stdout;
     Config = readServoConf(G.conffile);
     if(!Config || G.dumpconf){
@@ -164,21 +176,22 @@ int main(int argc, char **argv){
         return 1;
     }
     coordpair_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
-    if(!init_traectory(tfn, &c)){
-        ERRX("Can't init traectory");
-        return 1;
-    }
     mcc_errcodes_t e = Mount.init(Config);
     if(e != MCC_E_OK){
         WARNX("Can't init devices");
         return 1;
     }
+    // run this function only after mount inited!
+    if(!init_traectory(tfn, &c)){
+        ERRX("Can't init traectory");
+        return 1;
+    }
     signal(SIGTERM, signals); // kill (-15) - quit
     signal(SIGHUP, SIG_IGN);  // hup - ignore
     signal(SIGINT, signals);  // ctrl+C - quit
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-    chk0(G.Ncycles);
+//    chk0(G.Ncycles);
     logmnt(fcoords, NULL);
     if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
     ;

Auxiliary_utils/LibSidServo/examples/traectories.c

@@ -42,6 +42,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
     cur_traectory = f;
     XYstart = *XY0;
     tstart = Mount.timeFromStart();
+    DBG("inited @ %gs from start", tstart);
     mountdata_t mdata;
     int ntries = 0;
     for(; ntries < 10; ++ntries){
@@ -58,11 +59,21 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
  * @return FALSE if something wrong (e.g. X not in -90..90 or Y not in -180..180)
  */
 int traectory_point(coordpair_t *nextpt, double t){
-    if(t < 0. || !cur_traectory) return FALSE;
+    if(t < 0. || !cur_traectory){
+        if(t < 0.) DBG("time in past!");
+        else DBG("no current traectory selected!");
+        return FALSE;
+    }
     coordpair_t pt;
-    if(!cur_traectory(&pt, t)) return FALSE;
+    if(!cur_traectory(&pt, t)){
+        DBG("error in cur_traectory");
+        return FALSE;
+    }
     if(nextpt) *nextpt = pt;
-    if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
+    if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI){
+        DBG("some points is over limits, pt.x=%g, pt.y=%g degrees", RAD2DEG(pt.X), RAD2DEG(pt.Y));
+        return FALSE;
+    }
     return TRUE;
 }
 
@@ -88,6 +99,7 @@ int telpos(coordval_pair_t *curpos){
 // X=X0+1'/s, Y=Y0+15''/s
 int Linear(coordpair_t *nextpt, double t){
     coordpair_t pt;
+    DBG("t=%g, tfromstart=%g, dt=%g", t, tstart, t-tstart);
     pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
     pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
     if(nextpt) *nextpt = pt;
@@ -98,7 +110,7 @@ int Linear(coordpair_t *nextpt, double t){
 int SinCos(coordpair_t *nextpt, double t){
     coordpair_t pt;
     pt.X = XYstart.X + ASEC2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
-    pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
+    pt.Y = XYstart.Y + AMIN2RAD(1.)* cos((t-tstart)/10.*2*M_PI);
     if(nextpt) *nextpt = pt;
     return TRUE;
 }
@@ -111,7 +123,7 @@ typedef struct{
 
 static tr_names names[] = {
     {Linear, "linear", "X=X0+0.1''/s, Y=Y0+15''/s"},
-    {SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
+    {SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+1'*cos(t/10*2pi)"},
     {NULL, NULL, NULL}
 };
 

Auxiliary_utils/LibSidServo/kalman.c

@@ -0,0 +1,169 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+
+#include "kalman.h"
+
+void kalman3_init(Kalman3 *kf, double dt, double enc_var){
+    kf->dt = dt;
+
+    kf->x[0] = 0;
+    kf->x[1] = 0;
+    kf->x[2] = 0;
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++)
+            kf->P[i][j] = 0;
+
+    kf->P[0][0] = 1;
+    kf->P[1][1] = 1;
+    kf->P[2][2] = 1;
+
+    // process noise
+    kf->Q[0][0] = 1e-6;
+    kf->Q[1][1] = 1e-4;
+    kf->Q[2][2] = 1e-3;
+
+    kf->R = enc_var; // encoder noise variance
+}
+
+void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j){
+    double dt = kf->dt;
+
+    double dt2 = dt*dt;
+    double dt3 = dt2*dt;
+    double dt4 = dt3*dt;
+    double dt5 = dt4*dt;
+
+    double q = sigma_j * sigma_j;
+
+    kf->Q[0][0] = q * dt5 / 20.0;
+    kf->Q[0][1] = q * dt4 / 8.0;
+    kf->Q[0][2] = q * dt3 / 6.0;
+
+    kf->Q[1][0] = q * dt4 / 8.0;
+    kf->Q[1][1] = q * dt3 / 3.0;
+    kf->Q[1][2] = q * dt2 / 2.0;
+
+    kf->Q[2][0] = q * dt3 / 6.0;
+    kf->Q[2][1] = q * dt2 / 2.0;
+    kf->Q[2][2] = q * dt;
+}
+
+void kalman3_predict(Kalman3 *kf){
+    double dt = kf->dt;
+    double dt2 = 0.5 * dt * dt;
+
+    double theta = kf->x[0];
+    double omega = kf->x[1];
+    double alpha = kf->x[2];
+
+    // state prediction
+    kf->x[0] = theta + omega*dt + alpha*dt2;
+    kf->x[1] = omega + alpha*dt;
+    kf->x[2] = alpha;
+
+    // transition matrix
+    double F[3][3] =
+        {
+            {1, dt, dt2},
+            {0, 1,  dt},
+            {0, 0,  1}
+        };
+
+    // P = FPF^T + Q
+
+    double FP[3][3];
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++){
+            FP[i][j] =
+                F[i][0]*kf->P[0][j] +
+                F[i][1]*kf->P[1][j] +
+                F[i][2]*kf->P[2][j];
+        }
+
+    double Pnew[3][3];
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++){
+            Pnew[i][j] =
+                FP[i][0]*F[j][0] +
+                FP[i][1]*F[j][1] +
+                FP[i][2]*F[j][2] +
+                kf->Q[i][j];
+        }
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++)
+            kf->P[i][j] = Pnew[i][j];
+}
+
+void kalman3_update(Kalman3 *kf, double z){
+    // innovation
+    double y = z - kf->x[0];
+
+    // S = HPH^T + R
+    double S = kf->P[0][0] + kf->R;
+
+    // Kalman gain
+    double K[3];
+
+    K[0] = kf->P[0][0] / S;
+    K[1] = kf->P[1][0] / S;
+    K[2] = kf->P[2][0] / S;
+
+    // state update
+    kf->x[0] += K[0] * y;
+    kf->x[1] += K[1] * y;
+    kf->x[2] += K[2] * y;
+
+    // covariance update
+    double P00 = kf->P[0][0];
+    double P01 = kf->P[0][1];
+    double P02 = kf->P[0][2];
+
+    double P10 = kf->P[1][0];
+    double P11 = kf->P[1][1];
+    double P12 = kf->P[1][2];
+
+    double P20 = kf->P[2][0];
+    double P21 = kf->P[2][1];
+    double P22 = kf->P[2][2];
+
+    kf->P[0][0] = P00 - K[0]*P00;
+    kf->P[0][1] = P01 - K[0]*P01;
+    kf->P[0][2] = P02 - K[0]*P02;
+
+    kf->P[1][0] = P10 - K[1]*P00;
+    kf->P[1][1] = P11 - K[1]*P01;
+    kf->P[1][2] = P12 - K[1]*P02;
+
+    kf->P[2][0] = P20 - K[2]*P00;
+    kf->P[2][1] = P21 - K[2]*P01;
+    kf->P[2][2] = P22 - K[2]*P02;
+}
+
+
+// estimation of the R
+double encoder_noise(int counts){
+    double d = 2.0*M_PI / counts;
+    return d*d / 12.0;
+}
+

Auxiliary_utils/LibSidServo/kalman.h

@@ -0,0 +1,34 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef struct{
+    double x[3];        // [theta, omega, alpha]
+    double P[3][3];     // covariance
+    double Q[3][3];     // process noise
+    double R;           // measurement noise
+    double dt;
+} Kalman3;
+
+
+double encoder_noise(int counts);
+void kalman3_update(Kalman3 *kf, double z);
+void kalman3_predict(Kalman3 *kf);
+void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j);
+void kalman3_init(Kalman3 *kf, double dt, double enc_var);

Auxiliary_utils/LibSidServo/libsidservo.creator.user

@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
+<!-- Written by QtCreator 18.0.0, 2026-04-03T10:35:41. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
    <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
    <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
-   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
    <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
    <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
    <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
    <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
    <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
    <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
    <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
-   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
    <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
    <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
   </valuemap>
@@ -79,7 +79,7 @@
     <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
     <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
     <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">8</value>
+    <value type="int" key="ClangTools.ParallelJobs">4</value>
     <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
@@ -96,12 +96,12 @@
    <value type="bool" key="HasPerBcDcs">true</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -133,7 +133,7 @@
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
     <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
     <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@@ -168,7 +168,6 @@
      <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
      <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
      <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
-     <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
     </valuemap>
     <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
    </valuemap>
@@ -204,7 +203,6 @@
     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
-    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
    </valuemap>
    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
   </valuemap>

Auxiliary_utils/LibSidServo/libsidservo.files

@@ -13,12 +13,14 @@ examples/dumpswing.c
 examples/goto.c
 examples/scmd_traectory.c
 examples/simpleconv.h
+kalman.c
 main.c
 sidservo.h
 serial.c
 examples/CMakeLists.txt
 examples/traectories.c
 examples/traectories.h
+kalman.h
 main.h
 movingmodel.c
 movingmodel.h

Auxiliary_utils/LibSidServo/main.c

@@ -161,6 +161,8 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     if(!l) return 0.;
     size_t idx = l->idx;
     double oldx = l->x[idx], oldt = l->t[idx], oldt2 = l->t2[idx], oldxt = l->xt[idx];
+    /*DBG("old: x=%g, t=%g, t2=%g, xt=%g; sum: %g, t=%g, t2=%g, xt=%g", oldx, oldt, oldt2, oldxt,
+        l->xsum, l->tsum, l->t2sum, l->xtsum);*/
     double t2 = t * t, xt = x * t;
     l->x[idx] = x; l->t2[idx] = t2;
     l->t[idx] = t; l->xt[idx] = xt;
@@ -172,9 +174,9 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     l->xtsum += xt - oldxt;
     double n = (double)l->arraysz;
     double denominator = n * l->t2sum - l->tsum * l->tsum;
-    //DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
     if(fabs(denominator) < 1e-7) return 0.;
     double numerator = n * l->xtsum - l->xsum * l->tsum;
+    //DBG("x=%g, t=%g; idx=%zd, arrsz=%zd, den=%g; xsum=%g, num=%g", x, t, l->idx, l->arraysz, denominator, l->xsum, numerator);
     // point: (sum_x  - slope * sum_t) / n;
     return (numerator / denominator);
 }
@@ -200,6 +202,7 @@ static mcc_errcodes_t init(conf_t *c){
         if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
         return MCC_E_OK;
     }
+    DBG("Try to open mount device");
     if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
         DBG("Define mount device path and speed");
         ret = MCC_E_BADFORMAT;
@@ -207,33 +210,53 @@ static mcc_errcodes_t init(conf_t *c){
         DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
         ret = MCC_E_MOUNTDEV;
     }
-    if(Conf.SepEncoder){
-        if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
-            DBG("Define encoder device path");
-            ret = MCC_E_BADFORMAT;
-        }else if(!openEncoder()){
-            DBG("Can't open encoder device");
-            ret = MCC_E_ENCODERDEV;
-        }
-    }
     // TODO: read hardware configuration on init
     if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
         DBG("Wrong speed interval");
         ret = MCC_E_BADFORMAT;
     }
-    if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
     if(ret != MCC_E_OK) return ret;
+    DBG("Exit ACM, exit manual mode");
+    SSrawcmd(CMD_EXITACM, NULL);
+    SStextcmd(CMD_AUTOX, NULL);
+    SStextcmd(CMD_AUTOY, NULL);
     // read HW config to update constants
     hardware_configuration_t HW;
-    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
+    DBG("Read hardware configuration");
+    ret = MCC_E_FAILED;
+    for(int i = 0; i < MAX_ERR_CTR; ++i){
+        DBG("TRY %d..", i);
+        ret = get_hwconf(&HW);
+        if(ret == MCC_E_OK) break;
+    }
+    if(MCC_E_OK != ret) return ret;
     // make a pause for actual encoder's values
+    DBG("Check encoders");
+    if(Conf.SepEncoder){
+        if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
+            DBG("Define encoder device path");
+            ret = MCC_E_BADFORMAT;
+        }else{
+            ret = MCC_E_ENCODERDEV;
+            for(int i = 0; i < MAX_ERR_CTR; ++i){
+                if(openEncoder()){
+                    ret = MCC_E_OK;
+                    break;
+                }
+            }
+        }
+    }
+    if(MCC_E_OK != ret) return ret;
     double t0 = timefromstart();
-    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
+    DBG("Wait for first encoders' measurement");
+    while(timefromstart() - t0 < Conf.EncoderReqInterval * 15.) usleep(1000);
+    DBG("Update motor position");
     mcc_errcodes_t e = updateMotorPos();
     // and refresh data after updating
     DBG("Wait for next mount reading");
     t0 = timefromstart();
-    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
+    while(timefromstart() - t0 < Conf.MountReqInterval * 5.) usleep(1000);
+    DBG("ALL READY!");
     return e;
 }
 
@@ -288,10 +311,6 @@ static mcc_errcodes_t move2(const coordpair_t *target){
     cmd.Ymot = target->Y;
     cmd.Xspeed = Xlimits.max.speed;
     cmd.Yspeed = Ylimits.max.speed;
-    /*mcc_errcodes_t r = shortcmd(&cmd);
-    if(r != MCC_E_OK) return r;
-    setslewingstate();
-    return MCC_E_OK;*/
     return shortcmd(&cmd);
 }
 
@@ -328,10 +347,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
     cmd.Ymot = target->Y;
     cmd.Xspeed = speed->X;
     cmd.Yspeed = speed->Y;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    return shortcmd(&cmd);
-    if(r != MCC_E_OK) return r;
-    setslewingstate();
-    return MCC_E_OK;
 }
 
 /**

Auxiliary_utils/LibSidServo/movingfilter.c-

@@ -1,46 +0,0 @@
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-#define NFILT	(5)
-
-static double filterK[NFILT];
-
-static void buildFilter(){
-	filterK[NFILT-1] = 1.;
-	double sum = 1.;
-	for(int i = NFILT-2; i > -1; --i){
-		filterK[i] = (filterK[i+1] + 1.) * 1.1;
-		sum += filterK[i];
-	}
-	for(int i = 0; i < NFILT; ++i){
-		filterK[i] /= sum;
-		fprintf(stderr, "%d: %g\n", i, filterK[i]);
-	}
-}
-
-static double filter(double val){
-	static int ctr = 0;
-	static double lastvals[NFILT] = {0.};
-	for(int i = NFILT-1; i > 0; --i) lastvals[i] = lastvals[i-1];
-	lastvals[0] = val;
-	double r = 0.;
-	if(ctr < NFILT){
-		++ctr;
-		return val;
-	}
-	for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[i];
-	return r;
-}
-
-int main(int argc, char **argv){
-	buildFilter();
-	printf("Signal\tNoiced\tFiltered\n");
-	for(int i = 0; i < 100; ++i){
-		double di = (double)i;
-		double sig = di * di / 1e5 + sin(i * M_PI / 1500.);
-		double noiced = sig + 0.1 * (drand48() - 0.5);
-		printf("%.3f\t%.3f\t%.3f\n", sig, noiced, filter(noiced));
-	}
-	return 0;
-}

Auxiliary_utils/LibSidServo/serial.c

@@ -31,6 +31,7 @@
 #include <sys/stat.h>
 #include <unistd.h>
 
+#include "kalman.h"
 #include "main.h"
 #include "movingmodel.h"
 #include "serial.h"
@@ -49,7 +50,13 @@ static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
 // encoders thread and mount thread
 static pthread_t encthread, mntthread;
 // max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
-static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
+// this values will be modified later
+static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, // encoder reading timeout
+    mnt1Rtmout = {.tv_sec = 0, .tv_usec = 200000}, // first reading
+    mntRtmout =  {.tv_sec = 0, .tv_usec = 50000}; // next readings
+
+static volatile int GlobExit = 0;
+
 // encoders raw data
 typedef struct __attribute__((packed)){
     uint8_t magick;
@@ -71,7 +78,6 @@ void getXspeed(){
         mountdata.encXspeed.val = speed;
         mountdata.encXspeed.t = mountdata.encXposition.t;
     }
-    //DBG("Xspeed=%g", mountdata.encXspeed.val);
 }
 void getYspeed(){
     static less_square_t *ls = NULL;
@@ -138,77 +144,6 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
     //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }
 
-#if 0
-/**
- * @brief getencval - get uint64_t data from encoder
- * @param fd - encoder fd
- * @param val - value read
- * @param t - measurement time
- * @return amount of data read or 0 if problem
- */
-static int getencval(int fd, double *val, struct timespec *t){
-    if(fd < 0){
-        DBG("Encoder fd < 0!");
-        return FALSE;
-    }
-    char buf[128];
-    int got = 0, Lmax = 127;
-    double t0 = timefromstart();
-    //DBG("start: %.6g", t0);
-    do{
-        fd_set rfds;
-        FD_ZERO(&rfds);
-        FD_SET(fd, &rfds);
-        struct timeval tv = encRtmout;
-        int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
-        if(!retval){
-            //DBG("select()==0 - timeout, %.6g", timefromstart());
-            break;
-        }
-        if(retval < 0){
-            if(errno == EINTR){
-                DBG("EINTR");
-                continue;
-            }
-            DBG("select() < 0");
-            return 0;
-        }
-        if(FD_ISSET(fd, &rfds)){
-            ssize_t l = read(fd, &buf[got], Lmax);
-            if(l < 1){
-                DBG("read() < 0");
-                return 0; // disconnected ??
-            }
-            got += l; Lmax -= l;
-            buf[got] = 0;
-        } else continue;
-        if(buf[got-1] == '\n') break; // got EOL as last symbol
-    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
-    if(got == 0){
-        //DBG("No data from encoder, tfs=%.6g", timefromstart());
-        return 0;
-    }
-    char *estr = strrchr(buf, '\n');
-    if(!estr){
-        DBG("No EOL");
-        return 0;
-    }
-    *estr = 0;
-    char *bgn = strrchr(buf, '\n');
-    if(bgn) ++bgn;
-    else bgn = buf;
-    char *eptr;
-    long data = strtol(bgn, &eptr, 10);
-    if(eptr != estr){
-        DBG("NAN");
-        return 0; // wrong number
-    }
-    if(val) *val = (double) data;
-    if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
-    return got;
-}
-#endif
-
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
 static int getencbyte(){
     if(encfd[0] < 0) return -1;
@@ -232,43 +167,60 @@ static int getencbyte(){
     }while(1);
     return (int)byte;
 }
-// read 1 byte from mount; return -1 if nothing to read, -2 if disconnected
+
-static int getmntbyte(){
+/**
-    if(mntfd < 0) return -1;
+ * @brief readmntdata - read data
-    uint8_t byte;
+ * @param buffer - input buffer
+ * @param maxlen - maximal buffer length
+ * @return amount of bytes read or -1 in case of error
+ */
+static int readmntdata(uint8_t *buffer, int maxlen){
+    if(mntfd < 0){
+        DBG("mntfd non opened");
+        return -1;
+    }
+    if(!buffer || maxlen < 1) return 0;
+    //DBG("ask for %d bytes", maxlen);
+    int got = 0;
     fd_set rfds;
-   /* ssize_t l = read(mntfd, &byte, 1);
+    struct timeval tv = mnt1Rtmout;
-    //DBG("MNT read=%zd byte=0x%X", l, byte);
-    if(l == 0) return -1;
-    if(l != 1) return -2; // disconnected ??
-    return (int) byte;*/
     do{
         FD_ZERO(&rfds);
         FD_SET(mntfd, &rfds);
-        struct timeval tv = mntRtmout;
+        //DBG("select");
         int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
+        //DBG("returned %d", retval);
         if(retval < 0){
             if(errno == EINTR) continue;
             DBG("Error in select()");
             return -1;
         }
-        //DBG("FD_ISSET = %d", FD_ISSET(mntfd, &rfds));
         if(FD_ISSET(mntfd, &rfds)){
-            ssize_t l = read(mntfd, &byte, 1);
+            ssize_t l = read(mntfd, buffer, maxlen);
-            //DBG("MNT read=%zd byte=0x%X", l, byte);
+            if(l == 0){
-            if(l != 1){
+                DBG("read ZERO");
+                continue;
+            }
+            if(l < 0){
                 DBG("Mount disconnected?");
                 return -2; // disconnected ??
             }
+            buffer += l;
+            maxlen -= l;
+            got += l;
+        }else{
+            DBG("no new data after %d bytes (%s)", got, buffer - got);
             break;
-        } else return -1;
+        }
-    }while(1);
+        tv = mntRtmout;
-    return (int)byte;
+    }while(maxlen);
+    return got;
 }
+
 // clear data from input buffer
 static void clrmntbuf(){
     if(mntfd < 0) return;
-    uint8_t byte;
+    uint8_t bytes[256];
     fd_set rfds;
     do{
         FD_ZERO(&rfds);
@@ -281,9 +233,10 @@ static void clrmntbuf(){
             break;
         }
         if(FD_ISSET(mntfd, &rfds)){
-            ssize_t l = read(mntfd, &byte, 1);
+            ssize_t l = read(mntfd, &bytes, 256);
-            if(l != 1) break;
+            if(l < 1) break;
-        } else break;
+            DBG("clr got %zd bytes: %s", l, bytes);
+        }else break;
     }while(1);
 }
 
@@ -293,7 +246,7 @@ static void *encoderthread1(void _U_ *u){
     uint8_t databuf[ENC_DATALEN];
     int wridx = 0, errctr = 0;
     struct timespec tcur;
-    while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
+    while(encfd[0] > -1 && errctr < MAX_ERR_CTR && !GlobExit){
         int b = getencbyte();
         if(b == -2) ++errctr;
         if(b < 0) continue;
@@ -328,9 +281,12 @@ typedef struct{
 
 // write to buffer next data portion; return FALSE in case of error
 static int readstrings(buf_t *buf, int fd){
-    FNAME();
     if(!buf){DBG("Empty buffer"); return FALSE;}
     int L = XYBUFSZ - buf->len;
+    if(L < 0){
+        DBG("buf not initialized!");
+        buf->len = 0;
+    }
     if(L == 0){
         DBG("buffer  overfull: %d!", buf->len);
         char *lastn = strrchr(buf->buf, '\n');
@@ -344,6 +300,7 @@ static int readstrings(buf_t *buf, int fd){
         }else buf->len = 0;
         L = XYBUFSZ - buf->len;
     }
+    //DBG("read %d bytes from %d", L, fd);
     int got = read(fd, &buf->buf[buf->len], L);
     if(got < 0){
         DBG("read()");
@@ -351,13 +308,16 @@ static int readstrings(buf_t *buf, int fd){
     }else if(got == 0){ DBG("NO data"); return TRUE; }
     buf->len += got;
     buf->buf[buf->len] = 0;
-    DBG("buf[%d]: %s", buf->len, buf->buf);
+    //DBG("buf[%d]: %s", buf->len, buf->buf);
     return TRUE;
 }
 
 // return TRUE if got, FALSE if no data found
 static int getdata(buf_t *buf, long *out){
-    if(!buf || buf->len < 1) return FALSE;
+    if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)){
+        return FALSE;
+    }
+//    DBG("got data");
     // read record between last '\n' and previous (or start of string)
     char *last = &buf->buf[buf->len - 1];
     //DBG("buf: _%s_", buf->buf);
@@ -378,7 +338,7 @@ static int getdata(buf_t *buf, long *out){
 
 // try to write '\n' asking new data portion; return FALSE if failed
 static int asknext(int fd){
-    FNAME();
+    //FNAME();
     if(fd < 0) return FALSE;
     int i = 0;
     for(; i < 5; ++i){
@@ -399,12 +359,24 @@ static void *encoderthread2(void _U_ *u){
     pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
     pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
     double t0[2], tstart;
-    buf_t strbuf[2];
+    buf_t strbuf[2] = {0};
     long msrlast[2]; // last encoder data
     double mtlast[2]; // last measurement time
     asknext(encfd[0]); asknext(encfd[1]);
     t0[0] = t0[1] = tstart = timefromstart();
     int errctr = 0;
+
+    // init Kalman for both axes
+    Kalman3 kf[2];
+    double dt = Conf.EncoderReqInterval; // 1ms encoders step
+    double sigma_jx = 1e-6, sigma_jy = 1e-6; // "jerk" sigma
+    double xnoice = encoder_noise(X_ENC_STEPSPERREV);
+    double ynoice = encoder_noise(Y_ENC_STEPSPERREV);
+    kalman3_init(&kf[0], dt, xnoice);
+    kalman3_init(&kf[1], dt, ynoice);
+    kalman3_set_jerk_noise(&kf[0], sigma_jx);
+    kalman3_set_jerk_noise(&kf[1], sigma_jy);
+
     do{ // main cycle
         if(poll(pfds, 2, 0) < 0){
             DBG("poll()");
@@ -414,6 +386,7 @@ static void *encoderthread2(void _U_ *u){
         for(int i = 0; i < 2; ++i){
             if(pfds[i].revents && POLLIN){
                 if(!readstrings(&strbuf[i], encfd[i])){
+                    DBG("ERR");
                     ++errctr;
                     break;
                 }
@@ -421,16 +394,37 @@ static void *encoderthread2(void _U_ *u){
             double curt = timefromstart();
             if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
             if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                //DBG("last rec %d, curt=%g, t0=%g, mtlast=%g", i, curt, t0[i], mtlast[i]);
                 if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
+                    //DBG("time OK");
                     pthread_mutex_lock(&datamutex);
+                    double pos = (double)msrlast[i];
                     if(i == 0){
-                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
+                        pos = Xenc2rad(pos);
+                        // Kalman filtering
+                        kalman3_predict(&kf[i]);
+                        kalman3_update(&kf[i], pos);
+                        //DBG("Got pos=%g, kalman: angle=%g, vel=%g, acc=%g",
+                        //    pos, kf[i].x[0], kf[i].x[1], kf[i].x[2]);
+                        mountdata.encXposition.val = kf[i].x[0];
                         curtime(&mountdata.encXposition.t);
+                        /*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
+                            msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
+                            X_ENC_ZERO, X_ENC_STEPSPERREV);*/
                         getXspeed();
+                        //mountdata.encXspeed.val = kf[i].x[1];
+                        //mountdata.encXspeed.t = mountdata.encXposition.t;
                     }else{
-                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
+                        pos = Yenc2rad(pos);
+                        kalman3_predict(&kf[i]);
+                        kalman3_update(&kf[i], pos);
+                        //DBG("Got pos=%g, kalman: angle=%g, vel=%g, acc=%g",
+                        //    pos, kf[i].x[0], kf[i].x[1], kf[i].x[2]);
+                        mountdata.encYposition.val = kf[i].x[0];
                         curtime(&mountdata.encYposition.t);
                         getYspeed();
+                        //mountdata.encYspeed.val = kf[i].x[1];
+                        //mountdata.encYspeed.t = mountdata.encYposition.t;
                     }
                     pthread_mutex_unlock(&datamutex);
                 }
@@ -443,7 +437,7 @@ static void *encoderthread2(void _U_ *u){
             }
         }
         if(got == 2) errctr = 0;
-    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR && !GlobExit);
     DBG("\n\nEXIT: ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
@@ -487,10 +481,45 @@ static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t
     *prev = cur;
 }
 
+// Next two functions runs under locked mountdata_t mutex and shouldn't lock it again!!
+static axis_status_t chkstopstat(int32_t *prev, int32_t cur, int32_t tag, int *nstopped, axis_status_t stat){
+    if(*prev == INT32_MAX){
+        stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(stat == AXIS_GONNASTOP || (stat != AXIS_STOPPED && cur == tag)){ // got command "stop" or motor is on target
+        if(*prev == cur){
+            DBG("Test for stop, nstopped=%d", *nstopped);
+            if(++(*nstopped) > MOTOR_STOPPED_CNT){
+                stat = AXIS_STOPPED;
+                DBG("AXIS stopped");
+            }
+        }else *nstopped = 0;
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+    return stat;
+}
+
+// check for stopped/pointing states
+static void ChkStopped(const SSstat *s, mountdata_t *m){
+    static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
+    static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
+    axis_status_t Xstat, Ystat;
+    Xstat = chkstopstat(&Xmot_prev, s->Xmot, m->Xtarget, &Xnstopped, m->Xstate);
+    Ystat = chkstopstat(&Ymot_prev, s->Ymot, m->Ytarget, &Ynstopped, m->Ystate);
+    if(Xstat != m->Xstate || Ystat != m->Ystate){
+        DBG("Status changed");
+        mountdata.Xstate = Xstat;
+        mountdata.Ystate = Ystat;
+    }
+}
+
 // main mount thread
 static void *mountthread(void _U_ *u){
     int errctr = 0;
-    uint8_t buf[2*sizeof(SSstat)];
+    uint8_t buf[sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
     bzero(&mountdata, sizeof(mountdata));
     double t0 = timefromstart(), tstart = t0, tcur = t0;
@@ -499,7 +528,7 @@ static void *mountthread(void _U_ *u){
     if(Conf.RunModel){
         double Xprev = NAN, Yprev = NAN; // previous coordinates
         int xcnt = 0, ycnt = 0;
-        while(1){
+        while(!GlobExit){
             coordpair_t c;
             movestate_t xst, yst;
             // now change data
@@ -508,20 +537,20 @@ static void *mountthread(void _U_ *u){
             if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
             pthread_mutex_lock(&datamutex);
             mountdata.encXposition.t = mountdata.encYposition.t = tnow;
-            mountdata.encXposition.val = c.X;
+            mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
-            mountdata.encYposition.val = c.Y;
+            mountdata.encYposition.val = c.Y + (drand48() - 0.5)*1e-6;
             //DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
             if(tcur - oldmt > Conf.MountReqInterval){
                 oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
                 mountdata.motYposition.t = mountdata.motXposition.t = tnow;
                 if(xst == ST_MOVE)
                     mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
-                else
+                //else
-                    mountdata.motXposition.val = c.X;
+                //    mountdata.motXposition.val = c.X;
                 if(yst == ST_MOVE)
                     mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
-                else
+                //else
-                    mountdata.motYposition.val = c.Y;
+                //    mountdata.motYposition.val = c.Y;
                 oldmt = tcur;
             }else mountdata.millis = oldmillis;
             chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
@@ -537,7 +566,7 @@ static void *mountthread(void _U_ *u){
     // cmd to send
     data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
     if(!cmd_getstat) goto failed;
-    while(mntfd > -1 && errctr < MAX_ERR_CTR){
+    while(mntfd > -1 && errctr < MAX_ERR_CTR && !GlobExit){
         // read data to status
         struct timespec tcur;
         if(!curtime(&tcur)) continue;
@@ -558,6 +587,7 @@ static void *mountthread(void _U_ *u){
         pthread_mutex_lock(&datamutex);
         // now change data
         SSconvstat(status, &mountdata, &tcur);
+        ChkStopped(status, &mountdata);
         pthread_mutex_unlock(&datamutex);
         // allow writing & getters
         do{
@@ -591,11 +621,12 @@ static int ttyopen(const char *path, speed_t speed){
     tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
     tty.c_iflag     = 0; // don't do any changes in input stream
     tty.c_oflag     = 0; // don't do any changes in output stream
-    tty.c_cflag     = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
+    // wihthout "HUPCL" it doesn't disconnects
+    tty.c_cflag     = HUPCL | BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
     tty.c_ispeed = speed;
     tty.c_ospeed = speed;
-    //tty.c_cc[VMIN]  = 0;  // non-canonical mode
+    tty.c_cc[VMIN]  = 0;  // non-canonical mode
-    //tty.c_cc[VTIME] = 5;
+    tty.c_cc[VTIME] = 0;
     if(ioctl(fd, TCSETS2, &tty)){
         DBG("Can't set TTY settings");
         close(fd);
@@ -610,15 +641,18 @@ static int ttyopen(const char *path, speed_t speed){
 
 // return FALSE if failed
 int openEncoder(){
+    // TODO: open real devices in "model" mode too!
     if(Conf.RunModel) return TRUE;
     if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
+    /*
+    encRtmout.tv_sec = 0;
+    encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
+*/
     if(Conf.SepEncoder == 1){ // only one device
         DBG("One device");
         if(encfd[0] > -1) close(encfd[0]);
         encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
         if(encfd[0] < 0) return FALSE;
-        encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
         if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
             close(encfd[0]);
             encfd[0] = -1;
@@ -632,8 +666,6 @@ int openEncoder(){
             encfd[i] = ttyopen(paths[i], (speed_t) Conf.EncoderDevSpeed);
             if(encfd[i] < 0) return FALSE;
         }
-        encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
         if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
             for(int i = 0; i < 2; ++i){
                 close(encfd[i]);
@@ -648,6 +680,7 @@ int openEncoder(){
 
 // return FALSE if failed
 int openMount(){
+    // TODO: open real devices in "model" mode too!
     if(Conf.RunModel) goto create_thread;
     if(mntfd > -1) close(mntfd);
     DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
@@ -655,16 +688,13 @@ int openMount(){
     if(mntfd < 0) return FALSE;
     DBG("mntfd=%d", mntfd);
     // clear buffer
-    while(getmntbyte() > -1);
+    clrmntbuf();
-    /*int g = write(mntfd, "XXS\r", 4);
+    /*
-    DBG("Written %d", g);
+    mnt1Rtmout.tv_sec = 0;
-    uint8_t buf[100];
+    mnt1Rtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
-    do{
-        ssize_t l = read(mntfd, buf, 100);
-        DBG("got %zd", l);
-    }while(1);*/
     mntRtmout.tv_sec = 0;
-    mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
+    mntRtmout.tv_usec = mnt1Rtmout.tv_usec / 50;
+*/
 create_thread:
     if(pthread_create(&mntthread, NULL, mountthread, NULL)){
         DBG("Can't create mount thread");
@@ -680,15 +710,18 @@ create_thread:
 
 // close all opened serial devices and quit threads
 void closeSerial(){
-    // TODO: close devices in "model" mode too!
+    GlobExit = 1;
-    if(Conf.RunModel) return;
+    pthread_mutex_unlock(&datamutex);
+    DBG("Give 100ms to proper close");
+    usleep(100000);
+    DBG("Force closed all devices");
     if(mntfd > -1){
         DBG("Cancel mount thread");
         pthread_cancel(mntthread);
         DBG("join mount thread");
         pthread_join(mntthread, NULL);
         DBG("close mount fd");
-        close(mntfd);
+        if(mntfd > -1) close(mntfd);
         mntfd = -1;
     }
     if(encfd[0] > -1){
@@ -697,13 +730,14 @@ void closeSerial(){
         DBG("join encoder thread");
         pthread_join(encthread, NULL);
         DBG("close encoder's fd");
-        close(encfd[0]);
+        if(encfd[0] > -1) close(encfd[0]);
         encfd[0] = -1;
         if(Conf.SepEncoder == 2 && encfd[1] > -1){
             close(encfd[1]);
             encfd[1] = -1;
         }
     }
+    GlobExit = 0;
 }
 
 // get fresh encoder information
@@ -731,26 +765,29 @@ static int wr(const data_t *out, data_t *in, int needeol){
         DBG("Wrong arguments or no mount fd");
         return FALSE;
     }
+    //DBG("clrbuf");
     clrmntbuf();
     if(out){
+        //DBG("write %zd bytes (%s)", out->len, out->buf);
         if(out->len != (size_t)write(mntfd, out->buf, out->len)){
             DBG("written bytes not equal to need");
             return FALSE;
         }
+        //DBG("eol, mntfd=%d", mntfd);
         if(needeol){
             int g = write(mntfd, "\r", 1); // add EOL
             (void) g;
         }
-        usleep(50000); // add little pause so that the idiot has time to swallow
+        //usleep(50000); // add little pause so that the idiot has time to swallow
     }
-    if(!in) return TRUE;
+    if(!in || in->maxlen < 1) return TRUE;
-    in->len = 0;
+    int got = readmntdata(in->buf, in->maxlen);
-    for(size_t i = 0; i < in->maxlen; ++i){
+    if(got < 0){
-        int b = getmntbyte();
+        DBG("Error reading mount data!");
-        if(b < 0) break; // nothing to read -> go out
+        in->len = 0;
-        in->buf[in->len++] = (uint8_t) b;
+        return FALSE;
     }
-    while(getmntbyte() > -1);
+    in->len = got;
     return TRUE;
 }
 
@@ -761,22 +798,24 @@ static int wr(const data_t *out, data_t *in, int needeol){
  * @return FALSE if failed
  */
 int MountWriteRead(const data_t *out, data_t *in){
-    if(Conf.RunModel) return -1;
+    if(Conf.RunModel) return FALSE;
+    //double t0 = timefromstart();
     pthread_mutex_lock(&mntmutex);
     int ret = wr(out, in, 1);
     pthread_mutex_unlock(&mntmutex);
+    //DBG("Got %gus", (timefromstart()-t0)*1e6);
     return ret;
 }
 // send binary data - without EOL
 int MountWriteReadRaw(const data_t *out, data_t *in){
-    if(Conf.RunModel) return -1;
+    if(Conf.RunModel) return FALSE;
     pthread_mutex_lock(&mntmutex);
     int ret = wr(out, in, 0);
     pthread_mutex_unlock(&mntmutex);
     return ret;
 }
 
-#ifdef EBUG
+#if 0
 static void logscmd(SSscmd *c){
     printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
     printf("xychange=0x%02X, Xbits=0x%02X, Ybits=0x%02X\n", c->xychange, c->XBits, c->YBits);
@@ -799,31 +838,37 @@ static int bincmd(uint8_t *cmd, int len){
     if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
     int ret = FALSE;
     pthread_mutex_lock(&mntmutex);
-    // dummy buffer to clear trash in input
-    //char ans[300];
-    //data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
     if(len == sizeof(SSscmd)){
         ((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
-        DBG("Short command");
+        //DBG("Short command");
-#ifdef EBUG
+#if 0
         logscmd((SSscmd*)cmd);
 #endif
         if(!wr(dscmd, NULL, 1)) goto rtn;
     }else if(len == sizeof(SSlcmd)){
         ((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
-        DBG("Long command");
+       // DBG("Long command");
-#ifdef EBUG
+#if 0
         loglcmd((SSlcmd*)cmd);
 #endif
         if(!wr(dlcmd, NULL, 1)) goto rtn;
     }else{
         goto rtn;
     }
-    data_t d;
+    SSstat ans;
+    data_t d, in;
     d.buf = cmd;
     d.len = d.maxlen = len;
-    ret = wr(&d, NULL, 0);
+    in.buf = (uint8_t*)&ans; in.maxlen = sizeof(SSstat);
+    ret = wr(&d, &in, 0);
     DBG("%s", ret ? "SUCCESS" : "FAIL");
+    if(ret){
+        SSscmd *sc = (SSscmd*)cmd;
+        mountdata.Xtarget = sc->Xmot;
+        mountdata.Ytarget = sc->Ymot;
+        DBG("ANS: Xmot/Ymot: %d/%d, Ylast/Ylast: %d/%d; Xtag/Ytag: %d/%d",
+            ans.Xmot, ans.Ymot, ans.XLast, ans.YLast, mountdata.Xtarget, mountdata.Ytarget);
+    }
 rtn:
     pthread_mutex_unlock(&mntmutex);
     return ret;

Auxiliary_utils/LibSidServo/servo_real.conf

@@ -0,0 +1,23 @@
+MountDevPath=/dev/ttyUSB0
+MountDevSpeed=19200
+EncoderDevSpeed=1000000
+MountReqInterval=0.1
+EncoderReqInterval=0.001
+SepEncoder=2
+EncoderXDevPath=/dev/encoder_X0
+EncoderYDevPath=/dev/encoder_Y0
+EncoderSpeedInterval=0.05
+RunModel=0
+# telescope is in "pointing state" when coordinate error less than MaxFinePointingErr and goes to "slewing state"
+#   when this error greater than MaxPointingErr
+MaxPointingErr = 0.3490658504 # "pointing zone" - 20 degr
+MaxFinePointingErr = 0.1745329252 # "guiding zone" - 10 degr
+MaxGuidingErr = 4.8481368e-6 # "on target zone" - 1 arcsec
+XPIDVP=0.9
+XPIDVI=0.0005
+XPIDVD=0.0
+YPIDVP=0.5
+YPIDVI=0.005
+YPIDVD=0.
+XEncZero=36627112
+YEncZero=36067741

Auxiliary_utils/LibSidServo/sidservo.h

@@ -136,10 +136,11 @@ typedef struct{
 } extradata_t;
 
 typedef enum{
-    AXIS_STOPPED,
+    AXIS_STOPPED,   // stop
-    AXIS_SLEWING,
+    AXIS_GONNASTOP, // stop command run
-    AXIS_POINTING,
+    AXIS_SLEWING,   // go to target with maximal speed
-    AXIS_GUIDING,
+    AXIS_POINTING,  // axis is in pointing zone, use PID
+    AXIS_GUIDING,   // near target
     AXIS_ERROR,
 } axis_status_t;
 
@@ -157,6 +158,9 @@ typedef struct{
     uint32_t millis;
     double temperature;
     double voltage;
+    // target X/Y position by last `short` or `long` command
+    int32_t Xtarget; // in SidServo's counts
+    int32_t Ytarget; // -//-
 } mountdata_t;
 
 typedef struct{

Auxiliary_utils/LibSidServo/ssii.c

@@ -26,8 +26,12 @@
 #include "serial.h"
 #include "ssii.h"
 
-int X_ENC_ZERO, Y_ENC_ZERO;
+int X_ENC_ZERO = 0, Y_ENC_ZERO = 0; // will be filled later from config
-double X_MOT_STEPSPERREV = 1., Y_MOT_STEPSPERREV = 1., X_ENC_STEPSPERREV = 1., Y_ENC_STEPSPERREV = 1.;
+// defaults until read from controller
+double  X_MOT_STEPSPERREV = 13312000.,
+        Y_MOT_STEPSPERREV = 17578668.,
+        X_ENC_STEPSPERREV = 67108864.,
+        Y_ENC_STEPSPERREV = 67108864.;
 
 uint16_t SScalcChecksum(uint8_t *buf, int len){
     uint16_t checksum = 0;
@@ -40,30 +44,6 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
     return checksum;
 }
 
-// Next three functions runs under locked mountdata_t mutex and shouldn't call locked it again!!
-static void chkstopstat(int32_t *prev, int32_t cur, int *nstopped, axis_status_t *stat){
-    if(*prev == INT32_MAX){
-        *stat = AXIS_STOPPED;
-        DBG("START");
-    }else if(*stat != AXIS_STOPPED){
-        if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
-            *stat = AXIS_STOPPED;
-            DBG("AXIS stopped");
-        }
-    }else if(*prev != cur){
-        DBG("AXIS moving");
-        *nstopped = 0;
-    }
-    *prev = cur;
-}
-// check for stopped/pointing states
-static void ChkStopped(const SSstat *s, mountdata_t *m){
-    static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
-    static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
-    chkstopstat(&Xmot_prev, s->Xmot, &Xnstopped, &m->Xstate);
-    chkstopstat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystate);
-}
-
 /**
  * @brief SSconvstat - convert stat from SSII format to human
  * @param s (i) - just read data
@@ -74,10 +54,10 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
     if(!s || !m || !t) return;
     m->motXposition.val = X_MOT2RAD(s->Xmot);
     m->motYposition.val = Y_MOT2RAD(s->Ymot);
-    ChkStopped(s, m);
     m->motXposition.t = m->motYposition.t = *t;
     // fill encoder data from here, as there's no separate enc thread
     if(!Conf.SepEncoder){
+        DBG("ENCODER from SSII");
         m->encXposition.val = Xenc2rad(s->Xenc);
         DBG("encx: %g", m->encXposition.val);
         m->encYposition.val = Yenc2rad(s->Yenc);
@@ -165,14 +145,17 @@ int SSsetterI(const char *cmd, int32_t ival){
 }
 
 int SSstop(int emerg){
+    FNAME();
     int i = 0;
     const char *cmdx = (emerg) ? CMD_EMSTOPX : CMD_STOPX;
     const char *cmdy = (emerg) ? CMD_EMSTOPY : CMD_STOPY;
+    setStat(AXIS_GONNASTOP, AXIS_GONNASTOP);
     for(; i < 10; ++i){
         if(!SStextcmd(cmdx, NULL)) continue;
         if(SStextcmd(cmdy, NULL)) break;
     }
     if(i == 10) return FALSE;
+    DBG("Stopped");
     return TRUE;
 }
 

Auxiliary_utils/LibSidServo/ssii.h

@@ -209,12 +209,14 @@ extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STE
 
 // convert angle in radians to +-pi
 static inline __attribute__((always_inline)) double ang2half(double ang){
+    ang = fmod(ang, 2.*M_PI);
     if(ang < -M_PI) ang += 2.*M_PI;
     else if(ang > M_PI) ang -= 2.*M_PI;
     return ang;
 }
 // convert to only positive: 0..2pi
 static inline __attribute__((always_inline)) double ang2full(double ang){
+    ang = fmod(ang, 2.*M_PI);
     if(ang < 0.) ang += 2.*M_PI;
     else if(ang > 2.*M_PI) ang -= 2.*M_PI;
     return ang;

Daemons/10micron_stellarium/telescope.h

@@ -29,7 +29,7 @@
 // make datetime/pressure/temperature corrections each CORRECTIONS_TIMEDIFF seconds
 #define CORRECTIONS_TIMEDIFF    (3600)
 
-#define TELESCOPE_NAME      "'Astrosib-500 (1)'"
+#define TELESCOPE_NAME      "'Astrosib-500 (2)'"
 
 // telescope statuses
 typedef enum{

Daemons/10micron_stellarium/usefull_macro.c

@@ -274,7 +274,7 @@ int mygetchar(){ // getchar() without need of pressing ENTER
 /******************************************************************************\
  *                              TTY with select()
 \******************************************************************************/
-static struct termio oldtty, tty; // TTY flags
+static struct termios oldtty, tty; // TTY flags
 static int comfd = -1; // TTY fd
 
 // run on exit:

Daemons/10micron_stellarium/usefull_macro.h

@@ -33,6 +33,8 @@
 #include <errno.h>
 #include <err.h>
 #include <locale.h>
+#include <sys/ioctl.h>
+
 #if defined GETTEXT_PACKAGE && defined LOCALEDIR
 /*
  * GETTEXT
@@ -47,7 +49,6 @@
 #endif
 #include <stdlib.h>
 #include <termios.h>
-#include <termio.h>
 #include <sys/time.h>
 #include <time.h>
 #include <sys/types.h>

Daemons/2DO.txt

@@ -0,0 +1,117 @@
+(хорошо бы нигде не ориентироваться на DNS, везде писать IP)
+
+### superweatherdaemon ###
+
+Все "станции" (* - готово):
+- старая метео *
+- новая метео *
+- датчик дождя *
+- датчик грозы (молния <=5км -> FORCEOFF=1; молния >=10км - FORCEOFF=0) 
+    поля: LIGTPWR, LIGTDIST, LIGTTIME
+- ИБП в стойке (через минуту после выключения света FORCEOFF=1; через пять минут после включения - FORCEOFF=0)
+    поля: POWERED (0 - внешнее питание комплекса отключено, 1 - включено) 
+- ИК-allsky (как будет готов - получение "процента облачности" и "температуры неба")
+    поля: CLOUDS, SKYTEMP 
+
+В выдаваемую клиентам информацию добавить "стандартное" поле FORCEOFF (если ==1 - парковаться, закрываться и выключаться,
+в т.ч. компьютер).
+
+Только ИБП и датчик грозы влияют на поле FORCEOFF. FORCEOFF автоматом ставит WEATHER=3.
+Флаг FORCEOFF - исключительная прерогатива "супердемона", как и поле WEATHER. Значение флага снимается лишь по устареванию,
+как для прочих полей с проверкой на слишком старые данные. Лишь если снят FORCEOFF, поле WEATHER может начать понижать
+уровень. Сразу со снятием флага FORCEOFF, снижаем уровень WEATHER до 2. Следовательно, запускать наблюдения можно будет
+лишь через 2N секунд (кстати, добавить в конфиг время ожидания понижения уровня погоды) после подачи питания.
+
+??? Добавить "стандартные" поля: LIGTPWR, LIGTDIST, LIGTTIME (например, если гроза еще дальше 5км, писать эти данные 
+в FITS-шапку).
+
+Обязательно логгировать источники повышения и понижения уровня погоды, а также источник установки флага FORCEOFF.
+
+В управляющий UNIX-сокет добавить комады:
+- forceoff - чтобы можно было вручную ставить/снимать флаг
+- weath - вручную сменять уровень погоды
+- mute/unmute плагинов (по номеру из list); если плагин mute, то вся информация от него игнорируется
+- ?
+
+
+
+### Демон общего питания (robometeo) ###
+
+Мониторит FORCEOFF. При ==1 выжидает OFF_T_WAIT секунд, затем начинает проверять все 5 "роботелов": если купол закрыт и не пингуется,
+отключаем питание оборудования и питание купола (кроме первого). Через OFF_T_FORCE секунд после сигнала даже если комп пингуется,
+но купол закрыт, питание отключаем. Интервалы времени - в конфигурационный файл.
+
+Если все отключено, ждет, пока не наступит 0. Потом выжидает еще ON_WAIT секунд, после чего последовательно подает питание 
+на все купола, выжидает ON_FORCE секунд и поочередно включает нагрузку всех ИБП куполов. Проверяет пингуемость компов и 
+пишет в лог, во сколько какой запинговался.
+
+Аналогично с приборами в стойке: после OFF_R_WAIT секунд пинговать roboserv, robonas и robostorage; как не пингуются все - 
+выключать питание стойки. Либо же принудительно отключать после OFF_R_FORCE секунд. При снятии флага выжидаем ON_WAIT секунд,
+затем включаем напряжение стойки и пингуем ее компы, логгируем.
+
+В конфиг-файл: IP-адреса и номера релюшек оборудования телескопов и стойки, например, 
+
+telescopes=Astro-M1, Astro-M2...
+Astro-M1=192.168.70.33:1:-1  # Название из telescopes = IP:номер реле оборудования:номер реле питания или -1
+Astro-M2=192.168.70.35:2:22
+...
+equipment=roboserv,robonas,robostorage
+roboserv=192.168.70.6:11:-1  # аналогично должен вести себя 192.168.70.6:-1:11
+...
+
+(при разборе конфига группировать по номеру реле оборудования и номеру реле питания; не отключать реле питания, пока
+не отключены все компы, кроме выхода таймаута)
+
+
+
+### weather proxy ###
+
+Добавить флаг forceoff. 
+
+
+
+### Clients ###
+
+Все клиентские демоны используют weather_proxy и его библиотеку, чтобы получать из SHM погодные данные.
+Демоны купола, телескопа и монтировки обязаны создавать в /tmp файлы с FITS-шапками (по ним "демон питания" узнает, что
+можно выключать компьютер).
+
+Клиенты реагируют на WEATHER:
+0 - можно работать
+1 - нельзя открываться, но можно продолжать работать
+2 - форсированное закрывание купола, останов телескопа, остальное без изменений
+3 - закрывание всего, парковка телескопа
+
+
+## Демон купола ##
+
+Форсированное закрывание при WEATHER>1 или FORCEOFF=1.
+
+
+## Демон телескопа ##
+
+Форсированное закрывание при WEATHER>2 или FORCEOFF=1.
+
+
+## Демон монтировки ##
+
+Останов при WEATHER=2 или FORCEOFF=1, парковка при WEATHER=3 (в случае FORCEOFF=1 ни в коем случае не парковать).
+
+ДОБАВИТЬ ключ HDRTIME // UNIX-time of last activity   -> в этом ключе содержится sl_dtime() обновления шапки (нужно для
+демона питания, чтобы контролировать, когда отмерла монтировка). 
+
+
+## Демон питания оборудования и компьютера ##
+
+Этот демон запускается из-под рута. Принимает от пользователя команды вклчения-выключения оборудования (сюда же можно
+воткнуть управление плоским полем, пинание монтировки на включение, управление светом). 
+
+При получении FORCEOFF=1, сначала щелкается кнопка отключения монтировки. Далее 
+проверяются DOMFITSHDR (DOMESTAT= closed), TELFITSHDR (TELSTAT = closed) и MOUNTFITSHDR (HDRTIME должен быть минимум 
+на 30 секунд старше текущего времени).
+Если все ОК, то выключается навесное оборудование и монтировка, а следом - и сам компьютер получает сигнал poweroff.
+
+sync(); // Flush disk buffer to prevent data loss
+reboot(RB_POWER_OFF);
+или (правильней?): system("shutdown -P now")
+

Daemons/Readme.md

@@ -2,11 +2,17 @@ Different daemons & tools
 =========================
 
 - *10micron_stellarium* - simple daemon for 10-micron mount management from stellarium interface
-- *domedaemon* - open/close Baaden dome by network query
+- *astrosib* - some scripts used during observations
+- *deprecated* - deprecated code
+- *domedaemon-astrosib* - deprecated astrosib daemon
+- *domedaemon_baader* - open/close Baaden dome by network query
 - *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
+- *send_coordinates* - get/send coordinates to 10-micron mount through stellarium daemon (almost deprecated)
-- *teldaemon* - open/close Astrosib-500 scope covers by network query
+- *teldaemon_astrosib* - open/close Astrosib-500 scope covers by network query
-- *weatherdaemon* - weather daemon for old meteostation
+- *weatherdaemon* - weather daemon for old meteostation (almost deprecated)
-- *weatherdaemon_newmeteo* - daemon for new (chinese) meteostation
+- *weatherdaemon_multimeteo* - (pre-developed) version of weather daemon for ALL sensors on "Astro-M" complex
+- *weatherdaemon_newmeteo* - daemon for new (chinese) meteostation (almost deprecated)
+- *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.deprecated/Makefile

@@ -0,0 +1,23 @@
+PROGRAM = stellariumdaemon
+LDFLAGS = -lerfa -pthread -lusefull_macros
+SRCS = $(wildcard *.c)
+CC = gcc
+DEFINES = -D_GNU_SOURCE -D_DEFAULT_SOURCE -D_XOPEN_SOURCE=1111
+#DEFINES += -DEBUG
+CXX = gcc
+CFLAGS = -Wall -Werror -Wextra -Wno-trampolines $(DEFINES)
+OBJS = $(SRCS:.c=.o)
+all : $(PROGRAM)
+$(PROGRAM) : $(OBJS)
+	$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+# some addition dependencies
+# %.o: %.c
+#        $(CC) $(LDFLAGS) $(CFLAGS) $< -o $@
+#$(SRCS) : %.c : %.h $(INDEPENDENT_HEADERS)
+#        @touch $@
+
+clean:
+	/bin/rm -f *.o *~
+depend:
+	$(CXX) -MM $(CXX.SRCS)

Daemons/deprecated/10micron_stellarium.deprecated/Readme

@@ -0,0 +1,6 @@
+Stellarium control of 10-micron mount
+
+
+Special commands in terminal mode:
+PAUSE - pause output to port from everywhere except terminal thread
+CONTINUE - allow to write to port for everyone

Daemons/deprecated/10micron_stellarium.deprecated/StelD.config

@@ -0,0 +1,3 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG 1

Daemons/deprecated/10micron_stellarium.deprecated/StelD.creator.user

@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 18.0.0, 2026-03-30T17:36:42. -->
+<qtcreator>
+ <data>
+  <variable>EnvironmentId</variable>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.ActiveTarget</variable>
+  <value type="qlonglong">0</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.EditorSettings</variable>
+  <valuemap type="QVariantMap">
+   <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
+   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
+   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
+    </valuemap>
+   </valuemap>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
+    </valuemap>
+   </valuemap>
+   <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
+   <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
+   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
+   <value type="int" key="EditorConfiguration.IndentSize">4</value>
+   <value type="bool" key="EditorConfiguration.KeyboardTooltips">true</value>
+   <value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
+   <value type="int" key="EditorConfiguration.MarginColumn">80</value>
+   <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
+   <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
+   <value type="int" key="EditorConfiguration.PaddingMode">1</value>
+   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
+   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
+   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
+   <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
+   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
+   <value type="int" key="EditorConfiguration.TabSize">8</value>
+   <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
+   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
+   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
+   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
+   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
+   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
+   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.PluginSettings</variable>
+  <valuemap type="QVariantMap">
+   <valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
+    <value type="bool" key="AutoTest.Framework.Boost">true</value>
+    <value type="bool" key="AutoTest.Framework.CTest">false</value>
+    <value type="bool" key="AutoTest.Framework.Catch">true</value>
+    <value type="bool" key="AutoTest.Framework.GTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtTest">true</value>
+   </valuemap>
+   <value type="bool" key="AutoTest.ApplyFilter">false</value>
+   <valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
+   <valuelist type="QVariantList" key="AutoTest.PathFilters"/>
+   <value type="int" key="AutoTest.RunAfterBuild">0</value>
+   <value type="bool" key="AutoTest.UseGlobal">true</value>
+   <valuemap type="QVariantMap" key="ClangTools">
+    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
+    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
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Daemons/deprecated/10micron_stellarium.deprecated/StelD.files

@@ -0,0 +1,14 @@
+cmdlnopts.c
+cmdlnopts.h
+daemon.c
+emulation.c
+emulation.h
+libsofa.c
+libsofa.h
+main.c
+main.h
+socket.c
+socket.h
+telescope.c
+telescope.h
+usefull_macro.c

Daemons/deprecated/10micron_stellarium.deprecated/cmdlnopts.c

@@ -0,0 +1,110 @@
+/*                                                                                                  geany_encoding=koi8-r
+ * cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <assert.h>
+#include <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <math.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+
+/*
+ * here are global parameters initialisation
+ */
+int help;
+glob_pars  G;
+glob_pars *GP = NULL;
+
+#define DEFAULT_COMDEV  "/dev/ttyUSB0"
+// port for connections
+#define DEFAULT_PORT "10000"
+#define DEFAULT_DBGPORT "10001"
+// weather server port and name
+#define DEFAULT_WSPORT (12345)
+#define DEFAULT_WSNAME "robometeo.sao.ru"
+// default PID filename:
+#define DEFAULT_PIDFILE "/tmp/stellariumdaemon.pid"
+// default file with headers
+#define DEFAULT_FITSHDR "/tmp/10micron.fitsheader"
+
+//            DEFAULTS
+// default global parameters
+glob_pars const Gdefault = {
+    .device = DEFAULT_COMDEV,
+    .port = DEFAULT_PORT,
+    .dbgport = DEFAULT_DBGPORT,
+    .pidfile = DEFAULT_PIDFILE,
+    .crdsfile = DEFAULT_FITSHDR,
+    .emulation = 0,
+    .weathserver = DEFAULT_WSNAME,
+    .weathport = DEFAULT_WSPORT,
+    .logfile = NULL // don't save logs
+};
+
+/*
+ * Define command line options by filling structure:
+ *  name        has_arg     flag    val     type        argptr              help
+*/
+sl_option_t cmdlnopts[] = {
+// common options
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
+    {"device",  NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.device),    _("serial device name (default: " DEFAULT_COMDEV ")")},
+    {"emulation",NO_ARGS,   NULL,   'e',    arg_int,    APTR(&G.emulation), _("run in emulation mode")},
+    //{"hostname",NEED_ARG,   NULL,   'H',    arg_string, APTR(&G.hostname),  _("hostname to connect (default: localhost)")},
+    {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   _("file to save logs")},
+    {"hdrfile", NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.crdsfile),  _("file to save FITS-header with coordinates and time")},
+    {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   _("pidfile (default: " DEFAULT_PIDFILE ")")},
+    {"port",    NEED_ARG,   NULL,   'p',    arg_string, APTR(&G.port),      _("port to connect (default: " DEFAULT_PORT ")")},
+    {"dbgport", NEED_ARG,   NULL,   'D',    arg_string, APTR(&G.dbgport),   _("port to connect for debug console (default: " DEFAULT_DBGPORT ")")},
+    {"wport",   NEED_ARG,   NULL,   'w',    arg_int,    APTR(&G.weathport), _("weather server port")},
+    {"wname",   NEED_ARG,   NULL,   'W',    arg_string, APTR(&G.weathserver),_("weather server address")},
+   end_option
+};
+
+/**
+ * Parse command line options and return dynamically allocated structure
+ *      to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parse_args(int argc, char **argv){
+    int i;
+    void *ptr;
+    ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+    size_t hlen = 1024;
+    char helpstring[1024], *hptr = helpstring;
+    snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
+    // format of help: "Usage: progname [args]\n"
+    sl_helpstring(helpstring);
+    // parse arguments
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
+    if(argc > 0){
+        G.rest_pars_num = argc;
+        G.rest_pars = calloc(argc, sizeof(char*));
+        for (i = 0; i < argc; i++)
+            G.rest_pars[i] = strdup(argv[i]);
+    }
+    return &G;
+}
+

Daemons/deprecated/10micron_stellarium.deprecated/cmdlnopts.h

@@ -0,0 +1,44 @@
+/*                                                                                                  geany_encoding=koi8-r
+ * cmdlnopts.h - comand line options for parceargs
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+
+/*
+ * here are some typedef's for global data
+ */
+typedef struct{
+    char *device;           // serial device name
+    char *port;             // port to connect
+    char *dbgport;          // port for debug console
+    char *pidfile;          // name of PID file
+    char *logfile;          // logging to this file
+    char *crdsfile;         // file where FITS-header should be written
+    char *weathserver;      // weather server name
+    int emulation;          // run in emulation mode
+    int rest_pars_num;      // number of rest parameters
+    int weathport;          // weather server port
+    char** rest_pars;       // the rest parameters: array of char*
+} glob_pars;
+
+// global parameters
+extern glob_pars *GP;
+
+glob_pars *parse_args(int argc, char **argv);

Daemons/deprecated/10micron_stellarium.deprecated/daemon.c

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

Daemons/deprecated/10micron_stellarium.deprecated/emulation.c

@@ -0,0 +1,106 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * emulation.c
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#include <usefull_macros.h>
+
+#include "math.h"
+#include "emulation.h"
+
+
+// emulation speed over RA & DEC (0.5 degr per sec)
+#define RA_SPEED    (0.033)
+#define DECL_SPEED    (0.5)
+
+// current coordinates
+static double RA = 0., DECL = 0.;
+// target coordinates
+static double RAtarg = 0., DECLtarg = 0.;
+// coordinates @ guiding start
+static double RA0 = 0., DECL0 = 0.;
+static double raspeed = 0.;
+// ==1 if pointing
+static int pointing = 0;
+// pointing start time
+static double tstart = -1.;
+
+/**
+ * send coordinates to telescope emulation
+ * @param ra - right ascention (hours)
+ * @param decl - declination (degrees)
+ * @return 1 if all OK
+ */
+int point_emulation(double ra, double decl){
+    DBG("(emul) Send ra=%g, decl=%g", ra, decl);
+    LOGMSG("(emul) Send ra=%g, decl=%g", ra, decl);
+    RAtarg = ra; DECLtarg = decl;
+    RA0 = RA; DECL0 = DECL;
+    raspeed = (RAtarg > RA) ? RA_SPEED : -RA_SPEED;
+    if(fabs(RAtarg - RA) > 12.){ // go to opposite direction
+        raspeed = -raspeed;
+    }
+    tstart = sl_dtime();
+    pointing = 1;
+    return 0;
+}
+
+static double getradiff(){
+    double diff = RAtarg - RA;
+    if(raspeed < 0.) diff = -diff;
+    if(diff > 12.) diff -= 24.;
+    else if(diff < -12.) diff += 24.;
+    return fabs(diff);
+}
+
+/**
+ * get coordinates (emulation)
+ * @return 1 if all OK
+ */
+int get_emul_coords(double *ra, double *decl){
+    if(pointing){
+        DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
+        // diff < speed? stop
+        if((fabs(RAtarg - RA) < RA_SPEED && fabs(DECLtarg - DECL) < DECL_SPEED)){
+            RA = RAtarg;
+            DECL = DECLtarg;
+            pointing = 0; // guiding
+            DBG("@ target");
+        }else{ // calculate new coordinates
+            double radiff = getradiff(), decldiff = fabs(DECLtarg - DECL);
+            double tdiff = sl_dtime() - tstart;
+            RA = RA0 + raspeed * tdiff;
+            DBG("RA=%g", RA);
+            if(getradiff() > radiff) RA = RAtarg;
+            DBG("RA=%g", RA);
+            if(RA < 0.) RA += 24.;
+            else if(RA > 24.) RA -= 24.;
+            DBG("RA=%g", RA);
+            double sign = (DECLtarg > DECL) ? 1. : -1.;
+            DECL = DECL0 + sign * DECL_SPEED * tdiff;
+            if(fabs(DECLtarg - DECL) > decldiff) DECL = DECLtarg;
+            DBG("RA/DEC: targ: %g/%g, cur: %g/%g, start: %g/%g", RAtarg, DECLtarg, RA, DECL, RA0, DECL0);
+        }
+    }
+    if(ra) *ra = RA;
+    if(decl) *decl = DECL;
+    return 1;
+}

Daemons/deprecated/10micron_stellarium.deprecated/emulation.h

@@ -0,0 +1,28 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * emulation.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#pragma once
+
+
+int point_emulation(double ra, double decl);
+int get_emul_coords(double *ra, double *decl);
+

Daemons/deprecated/10micron_stellarium.deprecated/libsofa.c

@@ -0,0 +1,383 @@
+/*
+ * This file is part of the StelD project.
+ * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "libsofa.h"
+#include "socket.h"
+
+
+#ifdef EBUG
+void reprd(char* s, double ra, double dc){
+    char pm;
+    int i[4];
+    printf ( "%s:", s );
+    eraA2tf ( 7, ra, &pm, i );
+    printf ( " %2.2d %2.2d %2.2d.%7.7d", i[0],i[1],i[2],i[3] );
+    eraA2af ( 6, dc, &pm, i );
+    printf ( " %c%2.2d %2.2d %2.2d.%6.6d\n", pm, i[0],i[1],i[2],i[3] );
+}
+void radtodeg(double r){
+    int i[4]; char pm;
+    int rem = (int)(r / ERFA_D2PI);
+    if(rem) r -= ERFA_D2PI * rem;
+    if(r > ERFA_DPI) r -= ERFA_D2PI;
+    else if(r < -ERFA_DPI) r += ERFA_D2PI;
+    eraA2af (2, r, &pm, i);
+    printf("%c%02d %02d %02d.%2.d", pm, i[0],i[1],i[2],i[3]);
+}
+#define REP(a,b,c) reprd(a,b,c)
+#else
+#define REP(a,b,c)
+#endif
+
+// temporal stubs for weather/place/DUT1 data; user can change values of these variables
+static placeData place = {.slong = 0.7232763200, .slat = 0.7618977414, .salt = 2070.};
+placeData *getPlace(){
+    return &place;
+}
+
+static localWeather weather = {0};
+typedef struct{
+    const char *name;
+    double *valptr;
+} weathpars;
+#define WPCOUNT     (7)
+static weathpars WPars[WPCOUNT] = {
+    {"BTAHumid", &weather.relhum},
+    {"BTAPres", &weather.pres},
+    {"Exttemp", &weather.tc},
+    {"Rain", &weather.rain},
+    {"Clouds", &weather.clouds},
+    {"Wind", &weather.wind},
+    {"Time", &weather.time}
+};
+
+localWeather *getWeath(){
+    //DBG("DT=%zd", time(NULL) - (time_t)weather.time);
+    char *w = getweathbuffer();
+    //DBG("w=%s", w);
+    if(w){ // get new data - check it
+        int ctr = 0;
+        for(int i = 0; i < WPCOUNT; ++i){
+            if(getparval(WPars[i].name, w, WPars[i].valptr)) ++ctr;
+        }
+        if(ctr != WPCOUNT) WARN("Not full set of parameters in %s", w);
+        FREE(w);
+    }
+    if((time_t)weather.time == 0 || time(NULL) - (time_t)weather.time > 3600) return NULL;
+    return &weather;
+}
+static almDut dut1 = {0};
+almDut *getDUT(){
+    // check DUT1 data HERE once per some time
+    return &dut1;
+}
+
+/**
+ * @brief r2sHMS  - convert angle in radians into string "'HH:MM:SS.SS'"
+ * @param radians - angle
+ * @param hms (o) - string
+ * @param len     - length of hms
+ */
+void r2sHMS(double radians, char *hms, int len){
+    char pm;
+    int i[4];
+    eraA2tf(2, radians, &pm, i);
+    snprintf(hms, len, "'%c%02d:%02d:%02d.%02d'", pm, i[0],i[1],i[2],i[3]);
+}
+
+/**
+ * @brief r2sDMS  - convert angle in radians into string "'DD:MM:SS.S'"
+ * @param radians - angle
+ * @param dms (o) - string
+ * @param len     - length of hms
+ */
+void r2sDMS(double radians, char *dms, int len){
+    char pm;
+    int i[4];
+    eraA2af(1, radians, &pm, i);
+    snprintf(dms, len, "'%c%02d:%02d:%02d.%d'", pm, i[0],i[1],i[2],i[3]);
+}
+
+/**
+ * @brief get_MJDt - calculate MJD of date from argument
+ * @param tval (i) - given date (or NULL for current)
+ * @param MJD  (o) - time (or NULL just to check)
+ * @return 0 if all OK
+ */
+int get_MJDt(struct timeval *tval, sMJD *MJD){
+    struct tm tms;
+    double tSeconds;
+    if(!tval){
+        //DBG("MJD for current time");
+        struct timeval currentTime;
+        gettimeofday(&currentTime, NULL);
+        gmtime_r(&currentTime.tv_sec, &tms);
+        tSeconds = tms.tm_sec + ((double)currentTime.tv_usec)/1e6;
+    }else{
+        gmtime_r(&tval->tv_sec, &tms);
+        tSeconds = tms.tm_sec + ((double)tval->tv_usec)/1e6;
+    }
+    int y, m, d;
+    y = 1900 + tms.tm_year;
+    m = tms.tm_mon + 1;
+    d = tms.tm_mday;
+    double utc1, utc2;
+    /* UTC date. */
+    if(eraDtf2d("UTC", y, m, d, tms.tm_hour, tms.tm_min, tSeconds, &utc1, &utc2) < 0) return -1;
+    if(!MJD) return 0;
+    MJD->MJD = utc1 - 2400000.5 + utc2;
+    MJD->utc1 = utc1;
+    MJD->utc2 = utc2;
+    //DBG("UTC(m): %g, %.8f\n", utc1 - 2400000.5, utc2);
+    if(eraUtctai(utc1, utc2, &MJD->tai1, &MJD->tai2)) return -1;
+    //DBG("TAI");
+    if(eraTaitt(MJD->tai1, MJD->tai2, &MJD->tt1, &MJD->tt2)) return -1;
+    //DBG("TT");
+    return 0;
+}
+
+/**
+ * @brief get_LST - calculate local siderial time
+ * @param mjd (i) - date/time for LST (utc1 & tt used)
+ * @param dUT1    - (UT1-UTC)
+ * @param slong   - site longitude (radians)
+ * @param LST (o) - local sidereal time (radians)
+ * @return 0 if all OK
+ */
+int get_LST(sMJD *mjd, double dUT1, double slong, double *LST){
+    double ut11, ut12;
+    sMJD Mjd;
+    if(!mjd){
+        if(get_MJDt(NULL, &Mjd)) return 1;
+    }else memcpy(&Mjd, mjd, sizeof(sMJD));
+    if(eraUtcut1(Mjd.utc1, Mjd.utc2, dUT1, &ut11, &ut12)) return 2;
+    /*double era = iauEra00(ut11, ut12) + slong;
+    double eo = iauEe06a(mjd->tt1, mjd->tt2);
+    printf("ERA = %s; ", radtohrs(era));
+    printf("ERA-eo = %s\n", radtohrs(era-eo));*/
+    if(!LST) return 0;
+    double ST = eraGst06a(ut11, ut12, Mjd.tt1, Mjd.tt2);
+    ST += slong;
+    if(ST > ERFA_D2PI) ST -= ERFA_D2PI;
+    else if(ST < 0.) ST += ERFA_D2PI;
+    *LST = ST;
+    return 0;
+}
+
+
+/**
+ * @brief hor2eq  - convert horizontal coordinates to polar
+ * @param h (i)   - horizontal coordinates
+ * @param pc (o)  - polar coordinates
+ * @param sidTime - sidereal time
+ */
+void hor2eq(horizCrds *h, polarCrds *pc, double sidTime){
+    if(!h || !pc) return;
+    placeData *p = getPlace();
+    eraAe2hd(h->az, ERFA_DPI/2. - h->zd, p->slat, &pc->ha, &pc->dec); // A,H -> HA,DEC; phi - site latitude
+    pc->ra = sidTime - pc->ha;
+    pc->eo = 0.;
+}
+
+/**
+ * @brief eq2horH - convert polar coordinates to horizontal
+ * @param pc (i)  - polar coordinates (only HA used)
+ * @param h (o)   - horizontal coordinates
+ * @param sidTime - sidereal time
+ */
+void eq2horH(polarCrds *pc, horizCrds *h){
+    if(!h || !pc) return;
+    placeData *p = getPlace();
+    double alt;
+    eraHd2ae(pc->ha, pc->dec, p->slat, &h->az, &alt);
+    h->zd = ERFA_DPI/2. - alt;
+}
+
+/**
+ * @brief eq2hor  - convert polar coordinates to horizontal
+ * @param pc (i)  - polar coordinates (only RA used)
+ * @param h (o)   - horizontal coordinates
+ * @param sidTime - sidereal time
+ */
+void eq2hor(polarCrds *pc, horizCrds *h, double sidTime){
+    if(!h || !pc) return;
+    double ha = sidTime - pc->ra + pc->eo;
+    placeData *p = getPlace();
+    double alt;
+    eraHd2ae(ha, pc->dec, p->slat, &h->az, &alt);
+    h->zd = ERFA_DPI/2. - alt;
+}
+
+
+/**
+ * @brief get_ObsPlace - calculate observed place (without PM etc) for given date @550nm
+ * @param tval  (i) - time
+ * @param p2000 (i) - polar coordinates for J2000 (only ra/dec used), ICRS (catalog)
+ * @param weath (i) - weather data (relhum, temp, press) or NULL if none
+ * @param pnow  (o) - polar coordinates for given epoch (or NULL)
+ * @param hnow  (o) - horizontal coordinates for given epoch (or NULL)
+ * @return 0 if all OK
+ */
+int get_ObsPlace(struct timeval *tval, polarCrds *p2000, localWeather *weath, polarCrds *pnow, horizCrds *hnow){
+    double pr = 0.0;     // RA proper motion (radians/year; Note 2)
+    double pd = 0.0;     // Dec proper motion (radians/year)
+    double px = 0.0;     // parallax (arcsec)
+    double rv = 0.0;     // radial velocity (km/s, positive if receding)
+    sMJD MJD;
+    if(get_MJDt(tval, &MJD)) return -1;
+    if(!p2000) return -1;
+    /* Effective wavelength (microns) */
+    double wl = 0.55;
+    /* ICRS to observed. */
+    double aob, zob, hob, dob, rob, eo;
+    double p = 0., t = 0., h = 0.;
+    if(weath){
+        p = weath->pres; t = weath->tc; h = weath->relhum;
+    }
+    /*
+        DBG("iauAtco13(%g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g, %g)",
+            p2000->ra, p2000->dec, pr, pd, px, rv, MJD.utc1, MJD.utc2, d.DUT1, p.slong, p.slat, p.salt,
+                             d.px, d.py, p, t, h, wl);
+    */
+    if(eraAtco13(p2000->ra, p2000->dec,
+                 pr, pd, px, rv,
+                 MJD.utc1, MJD.utc2,
+                 dut1.DUT1,
+                 place.slong, place.slat, place.salt,
+                 dut1.px, dut1.py,
+                 p, t, h,
+                 wl,
+                 &aob, &zob,
+                 &hob, &dob, &rob, &eo)) return -1;
+    REP("ICRS->observed",  rob, dob);
+    if(pnow){
+        pnow->eo  = eo;
+        pnow->ha  = hob;
+        pnow->ra  = rob;
+        pnow->dec = dob;
+    }
+    if(hnow){
+        hnow->az = aob;
+        hnow->zd = zob;
+    }
+#ifdef EBUG
+    printf("A(bta)/Z: ");
+    radtodeg(aob);
+    printf("("); radtodeg(ERFA_DPI-aob);
+    printf(")/"); radtodeg(zob);
+    printf("\n");
+#endif
+    return 0;
+}
+
+// azimuth: north=zero, east=90deg
+
+// parallactic angle: iauHd2pa ( ha, dec, phi );
+
+// refraction coefficients: iauRefco
+
+// iauAe2hd ( az, el, phi, &ha, &dec ); A,H -> HA,DEC; phi - site latitude
+// iauHd2ae ( ha, dec, phi, &az, &el ); HA,DEC -> A,H
+
+// iauAtoc13 - obs->ICRS(catalog)
+// iauAtoi13 - obs->CIRS
+
+// iauAtio13 - CIRS->observed
+
+#if 0
+/**
+ * convert geocentric coordinates (nowadays, CIRS) to mean (JD2000, ICRS)
+ * appRA, appDecl in seconds
+ * r, d in seconds
+ */
+void JnowtoJ2000(double appRA, double appDecl, double *r, double *dc){
+    double ra=0., dec=0., utc1, utc2, tai1, tai2, tt1, tt2, fd, eo, ri;
+    int y, m, d, H, M;
+    DBG("appRa: %g'', appDecl'': %g", appRA, appDecl);
+    appRA *= DS2R;
+    appDecl *= DAS2R;
+#define SOFA(f, ...) do{if(f(__VA_ARGS__)){WARNX("Error in " #f); goto rtn;}}while(0)
+    // 1. convert system JDate to UTC
+    SOFA(iauJd2cal, JDate, 0., &y, &m, &d, &fd);
+    fd *= 24.;
+    H = (int)fd;
+    fd = (fd - H)*60.;
+    M = (int)fd;
+    fd = (fd - M)*60.;
+    SOFA(iauDtf2d, "UTC", y, m, d, H, M, fd, &utc1, &utc2);
+    SOFA(iauUtctai, utc1, utc2, &tai1, &tai2);
+    SOFA(iauTaitt, tai1, tai2, &tt1, &tt2);
+    iauAtic13(appRA, appDecl, tt1, tt2, &ri, &dec, &eo);
+    ra = iauAnp(ri + eo);
+    ra *= DR2S;
+    dec *= DR2AS;
+    DBG("SOFA: r=%g'', d=%g''", ra, dec);
+#undef SOFA
+rtn:
+    if(r) *r = ra;
+    if(dc) *dc = dec;
+}
+
+/**
+ * @brief J2000toJnow - convert ra/dec between epochs
+ * @param in  - J2000 (degrees)
+ * @param out - Jnow  (degrees)
+ * @return
+ */
+int J2000toJnow(const polar *in, polar *out){
+    if(!out) return 1;
+    double utc1, utc2;
+    time_t tsec;
+    struct tm *ts;
+    tsec = time(0); // number of seconds since the Epoch, 1970-01-01 00:00:00 +0000 (UTC)
+    ts = gmtime(&tsec);
+    int result = 0;
+    result = iauDtf2d ( "UTC", ts->tm_year+1900, ts->tm_mon+1, ts->tm_mday, ts->tm_hour, ts->tm_min, ts->tm_sec, &utc1, &utc2 );
+    if (result != 0) {
+        fprintf(stderr, "iauDtf2d call failed\n");
+        return 1;
+    }
+    // Make TT julian date for Atci13 call
+    double tai1, tai2;
+    double tt1, tt2;
+    result = iauUtctai(utc1, utc2, &tai1, &tai2);
+    if(result){
+        fprintf(stderr, "iauUtctai call failed\n");
+        return 1;
+    }
+    result = iauTaitt(tai1, tai2, &tt1, &tt2);
+    if(result){
+        fprintf(stderr, "iauTaitt call failed\n");
+        return 1;
+    }
+    double pr = 0.0;     // RA proper motion (radians/year; Note 2)
+    double pd = 0.0;     // Dec proper motion (radians/year)
+    double px = 0.0;     // parallax (arcsec)
+    double rv = 0.0;     // radial velocity (km/s, positive if receding)
+    double rc = DD2R * in->ra, dc = DD2R * in->dec; // convert into radians
+    double ri, di, eo;
+    iauAtci13(rc, dc, pr, pd, px, rv, tt1, tt2, &ri, &di, &eo);
+    out->ra  = iauAnp(ri - eo) * DR2D;
+    out->dec = di * DR2D;
+    return 0;
+}
+#endif

Daemons/deprecated/10micron_stellarium.deprecated/libsofa.h

@@ -0,0 +1,84 @@
+/*
+ * This file is part of the StelD project.
+ * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <erfa.h>
+#include <erfam.h>
+#include <sys/time.h>
+
+// JD2451544.5 == 2000.0
+#define MJD2000  (51544)
+
+typedef struct{
+    double utc1; double utc2; // UTC JD, commonly used MJD = utc1+utc2-2400000.5
+    double MJD;
+    double tai1; double tai2; // TAI JD
+    double tt1;  double tt2;  //  TT JD
+} sMJD;
+
+// polar coordinates & equation of origins (all in radians)
+typedef struct{
+    double ha;  // hour angle
+    double dec; // declination
+    double ra;  // right ascension
+    double eo;  // equation of origins
+} polarCrds;
+
+// horizontal coordinates (all in radians)
+typedef struct{
+    double az; // azimuth, 0 @ south, positive clockwise
+    double zd; // zenith distance
+} horizCrds;
+
+// observational place coordinates and altitude; all coordinates are in radians!
+typedef struct{
+    double slong;   // longitude
+    double slat;    // lattitude
+    double salt;    // altitude, m
+} placeData;
+
+// place weather data
+typedef struct{
+    double relhum;  // rel. humidity, 0..100%
+    double pres;    // atm. pressure (mmHg)
+    double tc;      // temperature, degrC
+    double rain;    // rain value (0..1)
+    double clouds;  // clouds (0 - bad, >2500 - good)
+    double wind;    // wind speed, m/s
+    double time;    // measurements time
+} localWeather;
+
+// DUT/polar almanach data
+typedef struct{
+    double DUT1;    // UT1-UTC, sec
+    double px;      // polar coordinates, arcsec
+    double py;
+} almDut;
+
+void r2sHMS(double radians, char *hms, int len);
+void r2sDMS(double radians, char *hms, int len);
+void hor2eq(horizCrds *h, polarCrds *pc, double sidTime);
+void eq2horH(polarCrds *pc, horizCrds *h);
+void eq2hor(polarCrds *pc, horizCrds *h, double sidTime);
+int get_MJDt(struct timeval *tval, sMJD *MJD);
+int get_LST(sMJD *mjd, double dUT1, double slong, double *LST);
+int get_ObsPlace(struct timeval *tval, polarCrds *p2000, localWeather *weath, polarCrds *pnow, horizCrds *hnow);
+almDut *getDUT();
+localWeather *getWeath();
+placeData *getPlace();
+

Daemons/deprecated/10micron_stellarium.deprecated/main.c

@@ -0,0 +1,527 @@
+/*
+ * main.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <arpa/inet.h>
+#include <endian.h>
+#include <fcntl.h>
+#include <math.h>
+#include <netdb.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <sys/prctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <time.h>
+
+#include "emulation.h"
+#include "libsofa.h"
+#include "main.h"
+#include "socket.h"
+#include "telescope.h"
+
+// daemon.c
+extern void check4running(char *self, char *pidfilename, void (*iffound)(pid_t pid));
+
+// Max amount of connections
+#define BACKLOG     (10)
+#define BUFLEN      (1024)
+// pause for incoming message waiting (out coordinates sent after that timeout)
+#define SOCK_TMOUT  (1)
+
+static pid_t childpid = 0; // PID of child process
+volatile int global_quit = 0;
+// quit by signal
+void signals(int sig){
+    signal(sig, SIG_IGN);
+    if(!childpid){ // child process
+        DBG("STOP tel");
+        stop_telescope();
+        DBG("Disconn tel");
+        disconnect_telescope();
+        DBG("Disconn weat");
+        weatherserver_disconnect();
+    }else{
+        DBG("Unlink PID");
+        unlink(GP->pidfile);  // and remove pidfile
+    }
+    DBG("Get signal %d, quit.\n", sig);
+    global_quit = 1;
+    if(childpid) LOGERR("PID %d exit with status %d after child's %d death", getpid(), sig, childpid);
+    else LOGWARN("Child %d died with %d", getpid(), sig);
+    sleep(1);
+    exit(sig);
+}
+
+// search a first word after needle without spaces
+char* stringscan(char *str, char *needle){
+    char *a, *e;
+    char *end = str + strlen(str);
+    a = strstr(str, needle);
+    if(!a) return NULL;
+    a += strlen(needle);
+    while (a < end && (*a == ' ' || *a == '\r' || *a == '\t')) a++;
+    if(a >= end) return NULL;
+    e = strchr(a, ' ');
+    if(e) *e = 0;
+    return a;
+}
+
+/**
+ * Send data to user
+ * @param data   - data to send
+ * @param dlen   - data length
+ * @param sockfd - socket fd for sending data
+ * @return 0 if failed
+ */
+int send_data(uint8_t *data, size_t dlen, int sockfd){
+    size_t sent = write(sockfd, data, dlen);
+    if(sent != dlen){
+        WARN("write()");
+        return 0;
+    }
+    return 1;
+}
+
+//read: 0x14 0x0 0x0 0x0 0x5b 0x5a 0x2e 0xc6 0x8c 0x23 0x5 0x0 0x23 0x9 0xe5 0xaf 0x23 0x2e 0x34 0xed
+// command: goto 16h29 24.45 -26d25 55.62
+/*
+ LITTLE-ENDIAN!!!
+ from client:
+LENGTH (2 bytes, integer): length of the message
+TYPE (2 bytes, integer): 0
+TIME (8 bytes, integer): current time on the server computer in microseconds
+    since 1970.01.01 UT. Currently unused.
+RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
+    a value of 0x100000000 = 0x0 means 24h=0h,
+    a value of 0x80000000 means 12h
+DEC (4 bytes, signed integer): declination of the telescope (J2000)
+    a value of -0x40000000 means -90degrees,
+    a value of 0x0 means 0degrees,
+    a value of 0x40000000 means 90degrees
+
+to client:
+LENGTH (2 bytes, integer): length of the message
+TYPE (2 bytes, integer): 0
+TIME (8 bytes, integer): current time on the server computer in microseconds
+    since 1970.01.01 UT. Currently unused.
+RA (4 bytes, unsigned integer): right ascension of the telescope (J2000)
+    a value of 0x100000000 = 0x0 means 24h=0h,
+    a value of 0x80000000 means 12h
+DEC (4 bytes, signed integer): declination of the telescope (J2000)
+    a value of -0x40000000 means -90degrees,
+    a value of 0x0 means 0degrees,
+    a value of 0x40000000 means 90degrees
+STATUS (4 bytes, signed integer): status of the telescope, currently unused.
+    status=0 means ok, status<0 means some error
+*/
+
+#define DEG2DEC(degr)  ((int32_t)(degr / 90. * ((double)0x40000000)))
+#define HRS2RA(hrs)    ((uint32_t)(hrs / 12. * ((double)0x80000000)))
+#define DEC2DEG(i32)   (((double)i32)*90./((double)0x40000000))
+#define RA2HRS(u32)    (((double)u32)*12. /((double)0x80000000))
+
+typedef struct __attribute__((__packed__)){
+    uint16_t len;
+    uint16_t type;
+    uint64_t time;
+    uint32_t ra;
+    int32_t dec;
+} indata;
+
+typedef struct __attribute__((__packed__)){
+    uint16_t len;
+    uint16_t type;
+    uint64_t time;
+    uint32_t ra;
+    int32_t dec;
+    int32_t status;
+} outdata;
+
+/**
+ * convert RA/DEC to string in forman RA: HH:MM:SS.SS, DEC: DD:MM:SS.S
+ */
+char *radec2str(double ra, double dec){
+    static char buf[1024];
+    char sign = '+';
+    if(dec < 0){
+        sign = '-';
+        dec = -dec;
+    }
+
+    int h = (int)ra;
+    ra -= h; ra *= 60.;
+    int m = (int)ra;
+    ra -= m; ra *= 60.;
+
+    int d = (int) dec;
+    dec -= d; dec *= 60.;
+    int dm = (int)dec;
+    dec -= dm; dec *= 60.;
+    snprintf(buf, 1024, "%d:%d:%.2f %c%d:%d:%.1f", h,m,ra, sign,d,dm,dec);
+    return buf;
+}
+
+/**
+ * send input RA/Decl (j2000!) coordinates to tel
+ * ra in hours (0..24), decl in degrees (-90..90)
+ * @return 1 if all OK
+ */
+int setCoords(double ra, double dec){
+    char *radec = radec2str(ra, dec);
+    DBG("Set RA/Decl to %s", radec);
+    LOGDBG("Try to set RA/Decl to %s", radec);
+    int (*pointfunction)(double, double) = point_telescope;
+    if(GP->emulation) pointfunction = point_emulation;
+    return pointfunction(ra, dec);
+}
+
+/**
+ * @brief proc_data - process data received from Stellarium
+ * @param data - raw data
+ * @param len  - its length
+ * @return 1 if all OK
+ */
+int proc_data(uint8_t *data, ssize_t len){
+    FNAME();
+    if(len != sizeof(indata)){
+        WARNX("Bad data size: got %zd instead of %zd!", len, sizeof(indata));
+        return 0;
+    }
+    indata *dat = (indata*)data;
+    uint16_t L, T;
+    //uint64_t tim;
+    uint32_t ra;
+    int32_t dec;
+#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
+    L = le16toh(dat->len); T = le16toh(dat->type);
+    //tim = le64toh(dat->time);
+    ra = le32toh(dat->ra);
+    dec = (int32_t)le32toh((uint32_t)dat->dec);
+#else
+    L = dat->len; T = dat->type;
+    //tim = dat->time;
+    ra = dat->ra; dec = dat->dec;
+#endif
+    DBG("got message with len %u & type %u", L, T);
+    if(L != len){
+        WARNX("Length of message != msg->len");
+        return 0;
+    }
+    if(T){
+        WARNX("Wrong message type");
+        return 0;
+    }
+    // convert RA/DEC to hours/degrees
+    double tagRA = RA2HRS(ra), tagDec = DEC2DEG(dec);
+    DBG("RA: %u (%g), DEC: %d (%g)", ra, tagRA, dec, tagDec);
+    // check RA/DEC
+    horizCrds hnow; // without refraction
+    polarCrds p2000, pnow;
+    p2000.ra = tagRA/12. * M_PI;
+    p2000.dec = tagDec * ERFA_DD2R;
+    //             now     J2000  obs    Jnow
+    if(get_ObsPlace(NULL, &p2000, NULL, &pnow, &hnow)){
+        WARNX("Can't convert coordinates to Jnow");
+        return 0;
+    }
+#ifdef EBUG
+    int i[4], j[4]; char pm, pm1;
+    eraA2af(2, hnow.az, &pm, i);
+    eraA2af(2, hnow.zd, &pm1, j);
+    DBG("az: %c%02d %02d %02d.%2.d, zd: %c%02d %02d %02d.%2.d",
+        pm, i[0],i[1],i[2],i[3],
+        pm1,j[0],j[1],j[2],j[3]);
+    eraA2af(2, M_PI_2 - hnow.zd, &pm, i);
+    DBG("h: %c%02d %02d %02d.%2.d", pm, i[0],i[1],i[2],i[3]);
+#endif
+    if(hnow.zd > 80.*ERFA_DD2R){
+        WARNX("Z > 80degr, stop telescope");
+        LOGWARN("Z>80 - stop!");
+        stop_telescope();
+        return 0;
+    }
+    tagRA = (pnow.ra - pnow.eo) / M_PI * 12.;
+    tagDec = pnow.dec / ERFA_DD2R;
+    if(!setCoords(tagRA, tagDec)) return 0;
+    return 1;
+}
+
+/**
+ * main socket service procedure
+ */
+void *handle_socket(void *sockd){
+    FNAME();
+    if(global_quit) return NULL;
+    outdata dout;
+    int sock = *(int*)sockd;
+    dout.len = htole16(sizeof(outdata));
+    dout.type = 0;
+    int (*getcoords)(double*, double*) = get_telescope_coords;
+    if(GP->emulation) getcoords = get_emul_coords;
+    while(!global_quit){
+        // get coordinates
+        double RA = 0., Decl = 0.;
+        if((dout.status = getcoords(&RA, &Decl)) < 0){
+            WARNX("Error: can't get coordinates");
+            sleep(1);
+            continue;
+        }
+        //DBG("got : %g/%g", RA, Decl);
+        dout.ra = htole32(HRS2RA(RA));
+        dout.dec = (int32_t)htole32(DEG2DEC(Decl));
+        if(!send_data((uint8_t*)&dout, sizeof(outdata), sock)) break;
+        //DBG("sent ra = %g, dec = %g", RA2HRS(dout.ra), DEC2DEG(dout.dec));
+        fd_set readfds;
+        struct timeval timeout;
+        FD_ZERO(&readfds);
+        FD_SET(sock, &readfds);
+        timeout.tv_sec = SOCK_TMOUT; // wait not more than SOCK_TMOUT second
+        timeout.tv_usec = 0;
+        int sel = select(sock + 1 , &readfds , NULL , NULL , &timeout);
+        if(sel < 0){
+            if(errno != EINTR)
+                WARN("select()");
+            continue;
+        }
+        if(!(FD_ISSET(sock, &readfds))) continue;
+        // fill incoming buffer
+        uint8_t buff[BUFLEN+1];
+        ssize_t rd = read(sock, buff, BUFLEN);
+        buff[rd] = 0;
+        DBG("read %zd (%s)", rd, buff);
+        if(rd <= 0){ // error or disconnect
+            DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
+            break;
+        }
+        /**************************************
+         *       DO SOMETHING WITH DATA       *
+         **************************************/
+        if(!proc_data(buff, rd)) dout.status = -1;
+        else dout.status = 0;
+    }
+    close(sock);
+    return NULL;
+}
+
+// thread writing FITS-header file
+static void *hdrthread(_U_ void *buf){
+    // write FITS-header at most once per second
+    while(!global_quit){
+        wrhdr();
+        usleep(100000); // give a chance to write/read for others
+    }
+    return NULL;
+}
+
+/**
+ * @brief opensocket - open socket to port `port`
+ * @return socket fd or <0 if failed
+ */
+static int opensocket(char *port){
+    if(!port) return -1;
+    int reuseaddr = 1;
+    int sock;
+    struct addrinfo hints, *res, *p;
+    memset(&hints, 0, sizeof(hints));
+    hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_STREAM;
+    hints.ai_flags = AI_PASSIVE;
+    DBG("try to open port %s", port);
+    if(getaddrinfo(NULL, port, &hints, &res) != 0){
+        WARN("getaddrinfo()");
+        return 0;
+    }
+    /*
+    struct sockaddr_in *ia = (struct sockaddr_in*)res->ai_addr;
+    char str[INET_ADDRSTRLEN];
+    inet_ntop(AF_INET, &(ia->sin_addr), str, INET_ADDRSTRLEN);
+    */
+    // loop through all the results and bind to the first we can
+    for(p = res; p != NULL; p = p->ai_next){
+        if((sock = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) == -1){
+            WARN("socket()");
+            continue;
+        }
+        if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseaddr, sizeof(int)) == -1){
+            WARN("setsockopt()");
+            close(sock);
+            continue;
+        }
+        if(bind(sock, p->ai_addr, p->ai_addrlen) == -1){
+            WARN("bind()");
+            close(sock);
+            continue;
+        }
+        break; // if we get here, we must have connected successfully
+    }
+    freeaddrinfo(res);
+    // Listen
+    if(listen(sock, BACKLOG) == -1){
+        WARN("listen");
+        LOGWARN("listen() error");
+    }
+    DBG("listen at %s", port);
+    LOGDBG("listen at %s", port);
+    return sock;
+}
+
+/**
+ * @brief waitconn
+ * @param sock       - socket fd to accept()
+ * @param connthread - thread which to run when connection accepted (it's parameter - socket fd)
+ */
+static void waitconn(int sock, void *(*connthread)(void*)){
+    // Main loop
+    while(!global_quit){
+        socklen_t size = sizeof(struct sockaddr_in);
+        struct sockaddr_in myaddr;
+        int newsock;
+        newsock = accept(sock, (struct sockaddr*)&myaddr, &size);
+        if(newsock <= 0){
+            WARN("accept()");
+            sleep(1);
+            continue;
+        }
+        struct sockaddr_in peer;
+        socklen_t peer_len = sizeof(peer);
+        if(getpeername(newsock, (struct sockaddr*)&peer, &peer_len) == -1){
+            WARN("getpeername()");
+            close(newsock);
+            continue;
+        }
+        int sockport = -1;
+        if(getsockname(newsock, (struct sockaddr*)&peer, &peer_len) == 0){
+            sockport = ntohs(peer.sin_port);
+        }
+        char *peerIP = inet_ntoa(peer.sin_addr);
+        LOGMSG("Got connection from %s @ %d", peerIP, sockport);
+        DBG("Peer's IP address is: %s (@port %d)\n", peerIP, sockport);
+        /*if(strcmp(peerIP, ACCEPT_IP) && strcmp(peerIP, "127.0.0.1")){
+            WARNX("Wrong IP");
+            close(newsock);
+            continue;
+        }*/
+        pthread_t rthrd;
+        if(pthread_create(&rthrd, NULL, connthread, (void*)&newsock)){
+            LOGERR("Error creating listen thread");
+            ERR(_("Can't create socket thread"));
+        }else{
+            DBG("Thread created, detouch");
+            pthread_detach(rthrd); // don't care about thread state
+        }
+    }
+    close(sock);
+}
+
+// thread working with terminal
+static void *termthread(_U_ void *buf){
+    int sock = opensocket(GP->dbgport);
+    if(sock < 0){
+        LOGERR("Can't open debugging socket @ port %s", GP->dbgport);
+        ERRX("Can't open debug socket");
+    }
+    waitconn(sock, term_thread);
+    return NULL;
+}
+
+static inline void main_proc(){
+    pthread_t hthrd, termthrd;
+    // connect to telescope
+    if(!GP->emulation){
+        if(!connect_telescope(GP->device, GP->crdsfile)){
+            ERRX(_("Can't connect to telescope device"));
+        }
+        if(pthread_create(&hthrd, NULL, hdrthread, NULL))
+            ERR(_("Can't create writing thread"));
+        if(pthread_create(&termthrd, NULL, termthread, NULL))
+            ERR(_("Can't create terminal thread"));
+    }
+    // connect to weather daemon
+    if(!weatherserver_connect()){
+        DBG("Can't connect to weather server, will try later");
+    }
+    // open socket
+    int sock = opensocket(GP->port);
+    if(sock < 0){
+        LOGERR("Can't open socket @ port %s", GP->port);
+        ERRX("Can't open stellarium socket");
+    }
+    waitconn(sock, handle_socket);
+    usleep(10000);
+    pthread_cancel(hthrd); // cancel reading thread
+    pthread_cancel(termthrd);
+    pthread_join(hthrd, NULL);
+    pthread_join(termthrd, NULL);
+}
+
+int main(int argc, char **argv){
+    GP = parse_args(argc, argv);
+    sl_init();
+
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGKILL, signals); // kill (-9) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+
+    int fd;
+    if((fd = open(GP->crdsfile, O_WRONLY | O_TRUNC | O_CREAT, 0644)) < 0) // test FITS-header file for writing
+        ERR(_("Can't open %s for writing"), GP->crdsfile);
+    close(fd);
+
+    printf("Daemonize\n");
+#ifndef EBUG // daemonize only in release mode
+    if(daemon(1, 0)){
+        LOGERR("Err: daemon()");
+        ERR("daemon()");
+    }
+#endif // EBUG
+    check4running((char*)__progname, GP->pidfile, NULL);
+    if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
+    LOGMSG("Starting, master PID=%d", getpid());
+
+#ifndef EBUG
+    while(1){
+        childpid = fork();
+        if(childpid < 0){
+            LOGERR("fork() error");
+            ERR("ERROR on fork");
+        }
+        if(childpid){
+            LOGMSG("Created child with PID %d\n", childpid);
+            DBG("Created child with PID %d\n", childpid);
+            wait(NULL);
+            LOGWARN("Child %d died\n", childpid);
+            DBG("Child %d died\n", childpid);
+        }else{
+            prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
+            main_proc();
+            return 0;
+        }
+    }
+#else
+    main_proc();
+#endif
+
+    return 0;
+}

Daemons/deprecated/10micron_stellarium.deprecated/main.h

@@ -0,0 +1,40 @@
+/*
+ * main.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+
+#include <assert.h>
+#include <err.h>
+#include <errno.h>
+#include <libintl.h>
+#include <locale.h>
+#include <pthread.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+
+// global parameters
+extern glob_pars *Global_parameters;
+// global quit flag
+extern volatile int global_quit;

Daemons/deprecated/10micron_stellarium.deprecated/socket.c

@@ -0,0 +1,208 @@
+/*
+ * This file is part of the StelD project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "socket.h"
+
+// max time to wait answer from server
+#define WAITANSTIME         (1.0)
+
+static int sockfd = -1; // server file descriptor
+static pthread_t sock_thread;
+static char buf[BUFSIZ]; // buffer for messages
+static int Nread; // amount of bytes in buf
+static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+
+static void *getmessages(_U_ void *par);
+
+/**
+ * @brief weatherserver_connect - connect to a weather server
+ * @return FALSE if failed
+ */
+int weatherserver_connect(){
+    if(sockfd > 0) return TRUE;
+    DBG("connect to %s:%d", GP->weathserver, GP->weathport);
+    char port[10];
+    snprintf(port, 10, "%d", GP->weathport);
+    struct addrinfo hints = {0}, *res, *p;
+    hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_STREAM;
+    hints.ai_flags = AI_PASSIVE;
+    if(getaddrinfo(GP->weathserver, port, &hints, &res) != 0){
+        WARN("getaddrinfo()");
+        return FALSE;
+    }
+    // loop through all the results and connect to the first we can
+    for(p = res; p; p = p->ai_next){
+        if((sockfd = socket(p->ai_family, p->ai_socktype, p->ai_protocol)) == -1){
+            WARN("socket");
+            continue;
+        }
+        if(connect(sockfd, p->ai_addr, p->ai_addrlen) == -1){
+            WARN("connect()");
+            close(sockfd);
+            continue;
+        }
+        break; // if we get here, we have a successfull connection
+    }
+    if(!p){
+        WARNX("Can't connect to socket");
+        sockfd = -1;
+        return FALSE;
+    }
+    freeaddrinfo(res);
+    if(pthread_create(&sock_thread, NULL, getmessages, NULL)){
+        WARN("pthread_create()");
+        weatherserver_disconnect();
+        return FALSE;
+    }
+    DBG("connected, fd=%d", sockfd);
+    return TRUE;
+}
+
+void weatherserver_disconnect(){
+    if(sockfd > -1){
+        pthread_kill(sock_thread, 9);
+        pthread_join(sock_thread, NULL);
+        close(sockfd);
+    }
+    sockfd = -1;
+}
+
+/**
+ * @brief getparval - return value of parameter
+ * @param par (i)        - parameter value
+ * @param ansbuf (i)     - buffer with server answer
+ * @param val (o)        - value of parameter
+ * @return TRUE if parameter found and set `val` to its value
+ */
+int getparval(const char *par, const char *ansbuf, double *val){
+    if(!par || !ansbuf) return FALSE;
+    int ret = FALSE;
+    char *b = strdup(ansbuf);
+    char *parval = NULL, *token = strtok(b, "\n");
+    int l = strlen(par);
+    if(!token) goto rtn;
+    while(token){
+        if(strncmp(token, par, l) == 0){ // found
+            //DBG("token: '%s'", token);
+            parval = strchr(token, '=');
+            if(!parval) goto rtn;
+            ++parval; while(*parval == ' ' || *parval == '\t') ++parval;
+            //DBG("parval: '%s'", parval);
+            ret = TRUE;
+            break;
+        }
+        token = strtok(NULL, "\n");
+    }
+    if(parval && val){
+        *val = atof(parval);
+        //DBG("Set %s to %g", par, *val);
+    }
+rtn:
+    FREE(b);
+    return ret;
+}
+
+/**
+ * wait for answer from socket
+ * @return FALSE in case of error or timeout, TRUE if socket is ready
+ */
+static int canread(){
+    if(sockfd < 0) return FALSE;
+    fd_set fds;
+    struct timeval timeout;
+    int rc;
+    // wait not more than 10ms
+    timeout.tv_sec = 0;
+    timeout.tv_usec = 10000;
+    FD_ZERO(&fds);
+    FD_SET(sockfd, &fds);
+    do{
+        rc = select(sockfd+1, &fds, NULL, NULL, &timeout);
+        if(rc < 0){
+            if(errno != EINTR){
+                WARN("select()");
+                return FALSE;
+            }
+            continue;
+        }
+        break;
+    }while(1);
+    if(FD_ISSET(sockfd, &fds)) return TRUE;
+    return FALSE;
+}
+
+/**
+ * @brief getmessages - continuosly read data from server and fill buffer
+ */
+static void *getmessages(_U_ void *par){
+    write(sockfd, "get\n", 4);
+    while(sockfd > 0){
+        pthread_mutex_lock(&mutex);
+        if(Nread == 0){
+            double t0 = sl_dtime();
+            while(sl_dtime() - t0 < WAITANSTIME && Nread < BUFSIZ){
+                if(!canread()) continue;
+                int n = read(sockfd, buf+Nread, BUFSIZ-Nread);
+                if(n == 0) break;
+                if(n < 0){
+                    close(sockfd);
+                    sockfd = -1;
+                    return NULL;
+                }
+                Nread += n;
+            }
+            if(Nread){
+                buf[Nread] = 0;
+                //DBG("got %d: %s", Nread, buf);
+            }
+        }
+        pthread_mutex_unlock(&mutex);
+        if(Nread == 0){
+            sleep(1);
+        }
+    }
+    return NULL;
+}
+
+/**
+ * @brief getweathbuffer - read whole buffer with data and set Nread to zero
+ * @return NULL if no data or buffer (allocated here)
+ */
+char *getweathbuffer(){
+    if(!weatherserver_connect()) return NULL; // not connected & can't connect
+    char *ret = NULL;
+    pthread_mutex_lock(&mutex);
+    if(Nread){
+        ret = strdup(buf);
+        Nread = 0;
+    }
+    pthread_mutex_unlock(&mutex);
+    return ret;
+}

Daemons/deprecated/10micron_stellarium.deprecated/socket.h

@@ -0,0 +1,25 @@
+/*
+ * This file is part of the StelD project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+
+void weatherserver_disconnect();
+int weatherserver_connect();
+int getparval(const char *par, const char *ansbuf, double *val);
+char *getweathbuffer();

Daemons/deprecated/10micron_stellarium.deprecated/telescope.c

@@ -0,0 +1,722 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * telescope.c
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#include <arpa/inet.h>  // ntoa
+#include <sys/stat.h>
+#include <netinet/in.h> // ntoa
+#include <pthread.h>
+#include <stdlib.h>
+#include <sys/socket.h> // getpeername
+#include <usefull_macros.h>
+
+#include "libsofa.h"
+#include "main.h" // global_quit
+#include "telescope.h"
+
+
+// polling timeout for answer from mount
+#ifndef T_POLLING_TMOUT
+#define T_POLLING_TMOUT (0.5)
+#endif
+// wait for '\n' after last data read
+#ifndef WAIT_TMOUT
+#define WAIT_TMOUT (0.01)
+#endif
+
+#define BUFLEN 80
+
+static char *hdname = NULL;
+static double ptRAdeg, ptDECdeg; // target RA/DEC J2000
+static int Target = 0; // target coordinates entered
+
+static double r = 0., d = 0.; // RA/DEC from wrhdr
+static int mountstatus = 0; // return of :Gstat#
+static time_t tlast = 0; // last time coordinates were refreshed
+
+static int pause_communication = 0; // ==1 to prevent writing to port outside of terminal thread
+
+static sl_tty_t *TTY = NULL;
+
+
+/**
+ * read strings from terminal (ending with '\n') with timeout
+ * @return NULL if nothing was read or pointer to static buffer
+ * THREAD UNSAFE!
+ */
+static char *read_string(){
+    static char buf[BUFLEN];
+    if(!TTY){
+        DBG("TTY not ready");
+        return NULL;
+    }
+    int r = 0, l;
+    int LL = BUFLEN - 1;
+    char *ptr = NULL;
+    static char *optr = NULL;
+    if(optr && *optr){
+        ptr = optr;
+        optr = strchr(optr, '\n');
+        if(optr) *(optr++) = 0;
+        return ptr;
+    }
+    ptr = buf;
+    double d0 = sl_dtime();
+    do{
+        if((l = sl_tty_read(TTY)) > 0){
+            DBG("Got %d bytes: '%s'", l, TTY->buf);
+            if(l > LL) l = LL;
+            memcpy(ptr, TTY->buf, l);
+            r += l; LL -= l; ptr += l;
+            *ptr = 0;
+            if(ptr[-1] == '\n'){
+                ptr[-1] = 0;
+                break;
+            }
+            d0 = sl_dtime();
+        }
+    }while(sl_dtime() - d0 < WAIT_TMOUT && LL);
+    if(r){
+        buf[r] = 0;
+        optr = strchr(buf, '\n');
+        if(optr) *(optr++) = 0;
+        return buf;
+    }
+    return NULL;
+}
+
+/**
+ * write command, thread-safe
+ * @param cmd  (i) - command to write
+ * @param buff (o) - buffer (WHICH SIZE = BUFLEN!!!) to which write data (or NULL if don't need)
+ * @return answer or NULL if error occured (or no answer)
+ * WARNING!!! data returned is allocated by strdup! You MUST free it when don't need
+ */
+static char *write_cmd(const char *cmd, char *buff){
+    static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+    if(!TTY || TTY->comfd < 0){
+        DBG("TTY destroyed");
+        return NULL;
+    }
+    pthread_mutex_lock(&mutex);
+    DBG("Write %s", cmd);
+    if(sl_tty_write(TTY->comfd, cmd, strlen(cmd))) return NULL;
+    double t0 = sl_dtime();
+    char *ans;
+    while(sl_dtime() - t0 < T_POLLING_TMOUT){ // read answer
+        //DBG("%gs after start", sl_dtime() - t0);
+        if((ans = read_string())){ // parse new data
+            DBG("got answer: %s", ans);
+            pthread_mutex_unlock(&mutex);
+            if(!buff) return NULL;
+            strncpy(buff, ans, BUFLEN-1);
+            return buff;
+        }
+    }
+    pthread_mutex_unlock(&mutex);
+    return NULL;
+}
+
+// write to telescope mount corrections: datetime, pressure and temperature
+// @return 1 if time and weather was corrected
+static int makecorr(){
+    if(pause_communication) return 0;
+    int ret = 1;
+    // write current date&time
+    char buf[64], ibuff[BUFLEN], *ans;
+    DBG("curtime: %s", write_cmd(":GUDT#", ibuff));
+    ans = write_cmd(":Gstat#", ibuff);
+    if(ans){
+        mountstatus = atoi(ans);
+        // if system is in tracking or unknown state - don't update data!
+        if(mountstatus == TEL_SLEWING || mountstatus == TEL_TRACKING) return 0;
+    }
+    /*
+     * there's no GPS on this mount and there's no need for it!
+    write_cmd(":gT#", NULL); // correct time by GPS
+    ans = write_cmd(":gtg#", ibuff);
+    */
+    WARNX("Refresh datetime");
+    time_t t = time(NULL);
+    struct tm *stm = localtime(&t);
+    struct timeval tv;
+    gettimeofday(&tv,NULL);
+    snprintf(buf, 64, ":SLDT%04d-%02d-%02d,%02d:%02d:%02d.%02ld#", 1900+stm->tm_year, stm->tm_mon+1, stm->tm_mday,
+             stm->tm_hour, stm->tm_min, stm->tm_sec, tv.tv_usec/10000);
+    DBG("write: %s", buf);
+    ans = write_cmd(buf, ibuff);
+    if(!ans || *ans != '1'){
+        WARNX("Can't write current date/time");
+        LOGWARN("Can't set system time");
+        ret = 0;
+    }else{
+        LOGMSG("Set system time by command %s", buf);
+    }
+    DBG("curtime: %s", write_cmd(":GUDT#", ibuff));
+    localWeather *w = getWeath();
+    if(!w){
+        ret = 0;
+        LOGWARN("Can't determine weather data");
+    }else{ // set refraction model data
+        snprintf(buf, 64, ":SRPRS%.1f#", w->pres*1013./760.);
+        ans = write_cmd(buf, ibuff);
+        if(!ans || *ans != '1'){
+            ret = 0;
+            LOGWARN("Can't set pressure data of refraction model");
+        }else LOGMSG("Correct pressure to %gmmHg", w->pres);
+        snprintf(buf, 64, ":SRTMP%.1f#", w->tc);
+        ans = write_cmd(buf, ibuff);
+        if(!ans || *ans != '1'){
+            ret = 0;
+            LOGWARN("Can't set temperature data of refraction model");
+        }else LOGMSG("Correct temperature to %g", w->tc);
+    }
+    sprintf(buf, ":SREF1#"); // turn on refraction correction
+    write_cmd(buf, ibuff);
+    sprintf(buf, ":Sdat1#"); // turn on dual-axis tracking
+    write_cmd(buf, ibuff);
+    return ret;
+}
+
+
+int chkconn(){
+    char tmpbuf[4096];
+    if(!TTY){
+        DBG("TTY not opened");
+        return 0;
+    }
+    sl_tty_read(TTY); // clear rbuf
+    DBG("Clear, try to ask 115200");
+    //write_cmd("#", NULL); // clear cmd buffer
+    write_cmd(":GA#", tmpbuf);
+    write_cmd(":GR#", tmpbuf);
+    if(!write_cmd(":SB0#", tmpbuf)) return 0; // 115200
+    if(*tmpbuf == '1'){
+        DBG("OK, found!");
+        //if(!write_cmd(":GR#")) return 0;
+        return 1;
+    }
+    return 0;
+}
+
+/**
+ * connect telescope device
+ * @param dev (i)     - device name to connect
+ * @param hdrname (i) - output file with FITS-headers
+ * @return 1 if all OK
+ */
+int connect_telescope(char *dev, char *hdrname){
+    if(!dev) return 0;
+    tcflag_t spds[] = {9600, 19200, 38400, 57600, 115200, 4800, 2400, 1200, 0}, *speeds = spds;
+    DBG("Connection to device %s...", dev);
+    sl_tty_tmout(10000.);
+    while(*speeds){
+        DBG("Try %d", *speeds);
+        TTY = sl_tty_new(dev, *speeds, BUFSIZ);
+        if(TTY){
+            DBG("try to open %s", dev);
+            TTY = sl_tty_open(TTY, 1);
+        }
+        if(TTY && chkconn()) break;
+        sl_tty_close(&TTY);
+        ++speeds;
+    }
+    if(!*speeds){
+        DBG("Not found");
+        return 0;
+    }
+    if(*speeds != B115200){
+        DBG("change to 115200");
+        sl_tty_close(&TTY);
+        TTY = sl_tty_new(dev, *speeds, BUFSIZ);
+        if(TTY) TTY = sl_tty_open(TTY, 1);
+        if(!TTY || !chkconn()){
+            DBG("not found");
+            return 0;
+        }
+    }
+    write_cmd("#", NULL); // clear previous buffer
+    write_cmd(":STOP#", NULL); // stop tracking after poweron
+    write_cmd(":U2#", NULL); // set high precision
+    write_cmd(":So10#", NULL); // set minimum altitude to 10 degrees
+    LOGMSG("Connected to %s@115200, will write FITS-header into %s", dev, hdrname);
+    FREE(hdname);
+    hdname = strdup(hdrname);
+    DBG("connected");
+    Target = 0;
+    getWeath(); getPlace(); getDUT(); // determine starting values
+    //write_cmd(":gT#", NULL); // correct time by GPS
+    return 1;
+}
+
+/*
+:MS# - move to target, return: 0 if all OK or text with error
+:SrHH:MM:SS.SS# - set target RA (return 1 if all OK)
+:SdsDD*MM:SS.S# - set target DECL (return 1 if all OK)
+*/
+/**
+ * send coordinates to telescope
+ * @param ra - right ascention (hours), Jnow without refraction
+ * @param dec - declination (degrees), Jnow without refraction
+ * @return 1 if all OK
+ */
+int point_telescope(double ra, double dec){
+    if(pause_communication){
+        LOGWARN("Can't point telescope in paused mode");
+        return 0;
+    }
+    DBG("try to send ra=%g, decl=%g", ra, dec);
+    ptRAdeg = ra * 15.;
+    ptDECdeg = dec;
+    Target = 0;
+    int err = 0;
+    char buf[80], ibuff[BUFLEN];
+    char sign = '+';
+    if(dec < 0){
+        sign = '-';
+        dec = -dec;
+    }
+
+    int h = (int)ra;
+    ra -= h; ra *= 60.;
+    int m = (int)ra;
+    ra -= m; ra *= 60.;
+
+    int d = (int) dec;
+    dec -= d; dec *= 60.;
+    int dm = (int)dec;
+    dec -= dm; dec *= 60.;
+    snprintf(buf, 80, ":Sr%d:%d:%.2f#", h,m,ra);
+    char *ans = write_cmd(buf, ibuff);
+    if(!ans || *ans != '1'){
+        err = 1;
+        goto ret;
+    }
+    snprintf(buf, 80, ":Sd%c%d:%d:%.1f#", sign,d,dm,dec);
+    ans = write_cmd(buf, ibuff);
+    if(!ans || *ans != '1'){
+        err = 2;
+        goto ret;
+    }
+    DBG("Move");
+    ans = write_cmd(":MS#", ibuff);
+    if(!ans || *ans != '0'){
+        LOGWARN("move error, answer: %s", ans);
+        err = 3;
+        goto ret;
+    }
+    ret:
+    if(err){
+        LOGWARN("error sending coordinates (err = %d: RA/DEC/MOVE)!", err);
+        return 0;
+    }else{
+        Target = 1;
+        LOGMSG("Send ra=%g degr, dec=%g degr", ptRAdeg, ptDECdeg);
+    }
+    return 1;
+}
+
+/**
+ * convert str into RA/DEC coordinate
+ * @param str (i) - string with angle
+ * @param val (o) - output angle value
+ * @return 1 if all OK
+ */
+static int str2coord(char *str, double *val){
+    if(!str || !val) return 0;
+    int d, m;
+    float s;
+    int sign = 1;
+    if(*str == '+') ++str;
+    else if(*str == '-'){
+        sign = -1;
+        ++str;
+    }
+    int n = sscanf(str, "%d:%d:%f#", &d, &m, &s);
+    if(n != 3) return 0;
+    double ang = d + ((double)m)/60. + s/3600.;
+    if(sign == -1) *val = -ang;
+    else *val = ang;
+    return 1;
+}
+
+/**
+ * @brief printhdr - write FITS record into output file
+ * @param fd   - fd to write
+ * @param key  - key
+ * @param val  - value
+ * @param cmnt - comment
+ * @return 0 if all OK
+ */
+static int printhdr(int fd, const char *key, const char *val, const char *cmnt){
+    char tmp[81];
+    char tk[9];
+    if(strlen(key) > 8){
+        snprintf(tk, 9, "%s", key);
+        key = tk;
+    }
+    if(cmnt){
+        snprintf(tmp, 81, "%-8s= %-21s / %s", key,  val, cmnt);
+    }else{
+        snprintf(tmp, 81, "%-8s= %s", key, val);
+    }
+    size_t l = strlen(tmp);
+    tmp[l] = '\n';
+    ++l;
+    if(write(fd, tmp, l) != (ssize_t)l){
+        WARN("write()");
+        return 1;
+    }
+    return 0;
+}
+
+/**
+ * get coordinates
+ * @param ra (o)   - right ascension (hours)
+ * @param decl (o) - declination (degrees)
+ * @return telescope status or -1 if coordinates are too old
+ */
+int get_telescope_coords(double *ra, double *decl){
+    if(!tlast) tlast = time(NULL);
+    if(time(NULL) - tlast > COORDS_TOO_OLD_TIME) return -1; // coordinates are too old
+    if(ra) *ra = r;
+    if(decl) *decl = d;
+    return mountstatus;
+}
+
+void disconnect_telescope(){
+    if(TTY) sl_tty_close(&TTY);
+}
+
+void stop_telescope(){ // work even in paused mode if moving!
+    Target = 0;
+    if(pause_communication){
+        if(mountstatus == TEL_PARKED || mountstatus == TEL_STOPPED || mountstatus == TEL_INHIBITED
+                || mountstatus ==  TEL_OUTLIMIT) return;
+    }
+    write_cmd(":RT9#", NULL);  // stop tracking
+    write_cmd(":AL#", NULL);   // stop tracking
+    write_cmd(":STOP#", NULL); // halt moving
+}
+
+// site characteristics
+static char
+    *elevation = NULL,
+    *longitude = NULL,
+    *latitude  = NULL;
+
+// make duplicate of buf without trailing `#`
+// if astr == 1, surround content with ''
+static char *dups(const char *buf, int astr){
+    if(!buf) return NULL;
+    char *newbuf = malloc(strlen(buf)+5), *bptr = newbuf+1;
+    if(!newbuf) return NULL;
+    strcpy(bptr, buf);
+    char *sharp = strrchr(bptr, '#');
+    if(sharp) *sharp = 0;
+    if(astr){
+        bptr = newbuf;
+        *bptr = '\'';
+        int l = strlen(newbuf);
+        newbuf[l] = '\'';
+        newbuf[l+1] = 0;
+    }
+    char *d = strdup(bptr);
+    free(newbuf);
+    return d;
+}
+
+static void getplace(){
+    char *ans, ibuff[BUFLEN];
+    if(!elevation){
+        ans = write_cmd(":Gev#", ibuff);
+        elevation = dups(ans, 0);
+    }
+    if(!longitude){
+        ans = write_cmd(":Gg#", ibuff);
+        longitude = dups(ans, 1);
+    }
+    if(!latitude){
+        ans = write_cmd(":Gt#", ibuff);
+        latitude = dups(ans, 1);
+    }
+}
+
+static const char *statuses[12] = {
+    [TEL_TRACKING] = "'Tracking'",
+    [TEL_STOPHOM] = "'Stopped or homing'",
+    [TEL_PARKING] = "'Slewing to park'",
+    [TEL_UNPARKING] = "'Unparking'",
+    [TEL_HOMING] = "'Slewing to home'",
+    [TEL_PARKED] = "'Parked'",
+    [TEL_SLEWING] = "'Slewing or going to stop'",
+    [TEL_STOPPED] = "'Stopped'",
+    [TEL_INHIBITED] = "'Motors inhibited, T too low'",
+    [TEL_OUTLIMIT] = "'Outside tracking limit'",
+    [TEL_FOLSAT]= "'Following satellite'",
+    [TEL_DATINCOSIST]= "'Data inconsistency'"
+};
+
+/**
+ * @brief strstatus - return string explanation of mount status
+ * @param status - integer status code
+ * @return statically allocated string with explanation
+ */
+static const char* strstatus(int status){
+    if(status < 0) return "'Signal lost'";
+    if(status < TEL_MAXSTATUS) return statuses[status];
+    if(status == 99) return "'Error'";
+    return "'Unknown status'";
+}
+
+/**
+ * @brief wrhdr - try to write into header file
+ */
+void wrhdr(){
+    static time_t commWasPaused = 0;
+    if(pause_communication){ // don't allow pauses more for 15 minutes!
+        if(commWasPaused == 0){
+            commWasPaused = time(NULL);
+            return;
+        }else{
+            if(time(NULL) - commWasPaused > 15*60){
+                LOGMSG("Clear communication pause after 15 minutes");
+                pause_communication = 0;
+            }else return;
+        }
+    }
+    static int failcounter = 0;
+    static time_t lastcorr = 0; // last time of corrections made
+    if(time(NULL) - lastcorr > CORRECTIONS_TIMEDIFF){ // make correction once per hour
+        if(makecorr()) lastcorr = time(NULL);
+        else lastcorr += 30; // failed -> check 30s later
+    }
+    char *ans = NULL, *jd = NULL, *lst = NULL, *date = NULL, *pS = NULL;
+    char ibuff[BUFLEN];
+    // get coordinates for writing to file & sending to stellarium client
+    ans = write_cmd(":GR#", ibuff);
+    if(!str2coord(ans, &r)){
+        if(++failcounter == 10){
+            LOGERR("Lost connection with mount: can't get RA!");
+            DBG("Can't get RA!");
+            signals(9);
+        }
+        DBG("Failed");
+        return;
+    }
+    ans = write_cmd(":GD#", ibuff);
+    if(!str2coord(ans, &d)){
+        if(++failcounter == 10){
+            LOGERR("Lost connection with mount: can't get DEC!");
+            DBG("Can't get DEC!");
+            signals(9);
+        }
+        DBG("Failed");
+        return;
+    }
+    almDut *dut = getDUT();
+    localWeather *weather = getWeath();
+    double LST = 0; // local sidereal time IN RADIANS!
+
+    placeData *place = getPlace();
+    if(get_LST(NULL, dut->DUT1, place->slong, &LST)){
+        DBG("Can't calculate coordinates, get from mount");
+        ans = write_cmd(":GS#", ibuff);
+        lst = dups(ans, 1);
+        if(!str2coord(ans, &LST)){
+            if(++failcounter == 10){
+                LOGERR("Lost connection with mount: can't get LST!");
+                DBG("Can't get LST!");
+                signals(9);
+            }
+            DBG("Failed");
+            return;
+        }
+        LST *= 15.*ERFA_DD2R; // convert hours to radians
+    }else{
+        lst = MALLOC(char, 32);
+        r2sHMS(LST, lst, 32);
+    }
+    sMJD mjd;
+    if(get_MJDt(NULL, &mjd)){
+        ans = write_cmd(":GJD1#", ibuff);
+        jd = dups(ans, 0);
+    }else{
+        jd = MALLOC(char, 32);
+        snprintf(jd, 32, "%.10f", mjd.MJD);
+    }
+    polarCrds pNow = {.ra = r*15.*ERFA_DD2R, .dec = d*ERFA_DD2R}; // coordinates now
+    horizCrds hNow;
+    eq2hor(&pNow, &hNow, LST);
+    failcounter = 0;
+    tlast = time(NULL);
+    // check it here, not in the beginning of function - to check connection with mount first
+    if(!hdname){
+        DBG("hdname not given!");
+        return;
+    }
+    if(!elevation || !longitude || !latitude) getplace();
+    ans = write_cmd(":GUDT#", ibuff);
+    if(ans){
+        char *comma = strchr(ans, ',');
+        if(comma){
+            *comma = 'T';
+            date = dups(ans, 1);
+        }
+    }
+    ans = write_cmd(":pS#", ibuff); pS = dups(ans, 1);
+    ans = write_cmd(":Gstat#", ibuff);
+    if(ans){
+        mountstatus = atoi(ans);
+        //DBG("Status: %d", mountstatus);
+    }
+    int l = strlen(hdname) + 7;
+    char *aname = MALLOC(char, l);
+    snprintf(aname, l, "%sXXXXXX", hdname);
+    int fd = mkstemp(aname);
+    if(fd < 0){
+        WARN("Can't write header file: mkstemp()");
+        FREE(aname);
+        FREE(jd); FREE(lst); FREE(date); FREE(pS);
+        return;
+    }
+    fchmod(fd, 0644);
+    char val[22];
+#define WRHDR(k, v, c)  do{if(printhdr(fd, k, v, c)){goto returning;}}while(0)
+    WRHDR("TIMESYS", "'UTC'", "Time system");
+    WRHDR("ORIGIN", "'SAO RAS'", "Organization responsible for the data");
+    WRHDR("TELESCOP", TELESCOPE_NAME, "Telescope name");
+    snprintf(val, 22, "%.10f", dut->px);
+    WRHDR("POLARX", val, "IERS pole X coordinate, arcsec");
+    snprintf(val, 22, "%.10f", dut->py);
+    WRHDR("POLARY", val, "IERS pole Y coordinate, arcsec");
+    snprintf(val, 22, "%.10f", dut->py);
+    WRHDR("DUT1", val, "IERS `UT1-UTC`, sec");
+    if(Target){ // target coordinates entered - store them @header
+        snprintf(val, 22, "%.10f", ptRAdeg);
+        WRHDR("TAGRA", val, "Target RA (J2000), degrees");
+        snprintf(val, 22, "%.10f", ptDECdeg);
+        WRHDR("TAGDEC", val, "Target DEC (J2000), degrees");
+    }
+    snprintf(val, 22, "%.10f", r*15.); // convert RA to degrees
+    WRHDR("RA", val, "Telescope right ascension, current epoch, deg");
+    snprintf(val, 22, "%.10f", d);
+    WRHDR("DEC", val, "Telescope declination, current epoch, deg");
+    snprintf(val, 22, "%.10f", hNow.az * ERFA_DR2D);
+    WRHDR("AZ", val, "Telescope azimuth, current epoch, deg");
+    snprintf(val, 22, "%.10f", hNow.zd * ERFA_DR2D);
+    WRHDR("ZD", val, "Telescope zenith distance, current epoch, deg");
+    WRHDR("TELSTAT", strstatus(mountstatus), "Telescope mount status");
+    if(!get_MJDt(NULL, &mjd)){
+           snprintf(val, 22, "%.10f", 2000.+(mjd.MJD-MJD2000)/365.25); // calculate EPOCH/EQUINOX
+           WRHDR("EQUINOX", val, "Equinox of celestial coordinate system");
+           if(!jd){
+               snprintf(val, 22, "%.10f", mjd.MJD);
+               WRHDR("MJD-END", val, "Modified julian date of observations end");
+           }
+       }
+    if(jd){
+        WRHDR("MJD-END", jd, "Modified julian date of observations end");
+    }
+    if(pS) WRHDR("PIERSIDE", pS, "Pier side of telescope mount");
+    if(elevation) WRHDR("ELEVAT", elevation, "Elevation of site over the sea level");
+    if(longitude) WRHDR("LONGITUD", longitude, "Geo longitude of site (east negative)");
+    if(latitude) WRHDR("LATITUDE", latitude, "Geo latitude of site (south negative)");
+    if(lst) WRHDR("LSTEND", lst, "Local sidereal time of observations end");
+    if(date) WRHDR("DATE-END", date, "Date (UTC) of observations end");
+    if(weather){
+        snprintf(val, 22, "%.1f", weather->relhum);
+        WRHDR("HUMIDITY", val, "Relative humidity, %%");
+        snprintf(val, 22, "%.1f", weather->pres);
+        WRHDR("PRESSURE", val, "Atmospheric pressure, mmHg");
+        snprintf(val, 22, "%.1f", weather->tc);
+        WRHDR("EXTTEMP", val, "External temperature, degrC");
+        snprintf(val, 22, "%.0f", weather->rain);
+        WRHDR("RAIN", val, "Rain conditions");
+        snprintf(val, 22, "%.1f", weather->clouds);
+        WRHDR("SKYQUAL", val, "Sky quality (0 - wery bad, >2500 - good)");
+        snprintf(val, 22, "%.1f", weather->wind);
+        WRHDR("WINDSPD", val, "Wind speed (m/s)");
+        snprintf(val, 22, "%.0f", weather->time);
+        WRHDR("WEATTIME", val, "Unix time of weather measurements");
+    }
+    // WRHDR("", , "");
+#undef WRHDR
+returning:
+    FREE(jd); FREE(lst); FREE(date); FREE(pS);
+    close(fd);
+    rename(aname, hdname);
+    FREE(aname);
+}
+
+// terminal thread: allows to work with terminal through socket
+void *term_thread(void *sockd){
+    int sock = *(int*)sockd;
+    char buff[BUFLEN+1], ibuff[BUFLEN+2];
+    // get client IP from socket fd - for logging
+    struct sockaddr_in peer;
+    socklen_t peer_len = sizeof(peer);
+    char *peerIP = NULL;
+    if(getpeername(sock, (struct sockaddr*)&peer, &peer_len) == 0){
+        peerIP = inet_ntoa(peer.sin_addr);
+    }
+    while(!global_quit){ // blocking read
+        ssize_t rd = read(sock, buff, BUFLEN);
+        if(rd <= 0){ // error or disconnect
+            DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
+            break;
+        }
+        buff[rd] = 0;
+        char *ch = strchr(buff, '\n');
+        if(ch) *ch = 0;
+        if(!buff[0]) continue; // empty string
+        DBG("%s COMMAND: %s", peerIP, buff);
+        if(strcasecmp(buff, "pause") == 0){
+            DBG("PAUSED");
+            LOGMSG("Port writing outside terminal thread is paused");
+            pause_communication = 1;
+            continue;
+        }
+        if(strcasecmp(buff, "continue") == 0){
+            DBG("CONTINUED");
+            LOGMSG("Port writing outside terminal thread is restored by user");
+            pause_communication = 0;
+            continue;
+        }
+        char *ans = write_cmd(buff, ibuff);
+        LOGMSG("%s COMMAND %s ANSWER %s", peerIP, buff, ibuff);
+        DBG("ANSWER: %s", ibuff);
+        if(ans){
+            ssize_t l = (ssize_t)strlen(ans);
+            if(l++){
+                ans[l-1] = '\n';
+                ans[l] = 0;
+                if(l != write(sock, ans, l)){
+                    WARN("term_thread, write()");
+                    break;
+                }
+            }
+        }
+    }
+    close(sock);
+    return NULL;
+}

Daemons/deprecated/10micron_stellarium.deprecated/telescope.h

@@ -0,0 +1,56 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * telescope.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#pragma once
+
+// max time after last coordinates reading
+#define COORDS_TOO_OLD_TIME     (5)
+// make datetime/pressure/temperature corrections each CORRECTIONS_TIMEDIFF seconds
+#define CORRECTIONS_TIMEDIFF    (3600)
+
+#define TELESCOPE_NAME      "'Astrosib-500 (1)'"
+
+// telescope statuses
+typedef enum{
+    TEL_TRACKING = 0,
+    TEL_STOPHOM = 1,
+    TEL_PARKING = 2,
+    TEL_UNPARKING = 3,
+    TEL_HOMING = 4,
+    TEL_PARKED = 5,
+    TEL_SLEWING = 6,
+    TEL_STOPPED = 7,
+    TEL_INHIBITED = 8,
+    TEL_OUTLIMIT = 9,
+    TEL_FOLSAT = 10,
+    TEL_DATINCOSIST = 11,
+    TEL_MAXSTATUS = 12 // number of statuses
+} tel_status;
+
+int connect_telescope(char *dev, char *hdrname);
+int point_telescope(double ra, double decl);
+int get_telescope_coords(double *ra, double *decl);
+void stop_telescope();
+void disconnect_telescope();
+void wrhdr();
+void *term_thread(void *sockd);
+