small_tel/Daemons/10micron_stellarium/telescope.c

/*
 *                                                                                                  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 <pthread.h>

#include "telescope.h"
#include "usefull_macros.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;

/**
 * read strings from terminal (ending with '\n') with timeout
 * @return NULL if nothing was read or pointer to static buffer
 */
static char *read_string(){
    static char buf[BUFLEN];
    size_t 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;
        return ptr;
    }
    ptr = buf;
    double d0 = dtime();
    do{
        if((l = read_tty(ptr, LL))){
            r += l; LL -= l; ptr += l;
            if(ptr[-1] == '\n') break;
            d0 = dtime();
        }
    }while(dtime() - d0 < WAIT_TMOUT && LL);
    if(r){
        buf[r] = 0;
        optr = strchr(buf, '\n');
        if(optr) ++optr;
        return buf;
    }
    return NULL;
}

/**
 * write command, thread-safe
 * @return answer or NULL if error occured (or no answer)
 */
static char *write_cmd(const char *cmd){
    static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
    pthread_mutex_lock(&mutex);
    DBG("Write %s", cmd);
    if(write_tty(cmd, strlen(cmd))) return NULL;
    double t0 = dtime();
    static char *ans;
    while(dtime() - t0 < T_POLLING_TMOUT){ // read answer
        if((ans = read_string())){ // parse new data
            DBG("got answer: %s", ans);
            pthread_mutex_unlock(&mutex);
            return ans;
        }
    }
    pthread_mutex_unlock(&mutex);
    return NULL;
}


int chkconn(){
    char tmpbuf[4096];
    read_tty(tmpbuf, 4096); // clear rbuf
    write_cmd("#"); // clear cmd buffer
    if(!write_cmd(":SB0#")) return 0; // 115200
    //if(!write_cmd(":GR#")) return 0;
    return 1;
}

/**
 * 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[] = {B9600, B115200, B57600, B38400, B19200, B4800, B2400, B1200, 0}, *speeds = spds;
    DBG("Connection to device %s...", dev);
    putlog("Try to connect to device %s...", dev);
    while(*speeds){
        DBG("Try %d", *speeds);
        tty_init(dev, *speeds);
        if(chkconn()) break;
        ++speeds;
    }
    if(!*speeds) return 0;
    if(*speeds != B115200){
        restore_tty();
        tty_init(dev, B115200);
        if(!chkconn()) return 0;
    }
    write_cmd(":U2#");
    write_cmd(":U2#");
    putlog("connected to %s@115200, will write FITS-header into %s", dev, hdrname);
    hdname = strdup(hdrname);
    DBG("connected");
    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)
 * @param dec - declination (degrees)
 * @return 1 if all OK
 */
int point_telescope(double ra, double dec){
    DBG("try to send ra=%g, decl=%g", ra, dec);
    int err = 0;
    static char buf[80];
    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);
    if(!ans || *ans != '1'){
        err = 1;
        goto ret;
    }
    snprintf(buf, 80, ":Sd%c%d:%d:%.1f#", sign,d,dm,dec);
    ans = write_cmd(buf);
    if(!ans || *ans != '1'){
        err = 2;
        goto ret;
    }
    ans = write_cmd(":MS#");
    if(!ans || *ans != '0'){
        putlog("move error, answer: %s", ans);
        err = 2;
        goto ret;
    }
    ret:
    if(err){
        putlog("error sending coordinates (err = %d: RA/DEC/MOVE)!", err);
        return 0;
    }else{
        putlog("Send ra=%g, dec=%g", ra, dec);
    }
    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;
}


static double r = 0., d = 0.; // RA/DEC from wrhdr
static time_t tlast = 0; // last time coordinates were refreshed
/**
 * get coordinates
 * @param ra (o)   - right ascension (hours)
 * @param decl (o) - declination (degrees)
 * @return 1 if all OK
 */
int get_telescope_coords(double *ra, double *decl){
    if(time(NULL) - tlast > COORDS_TOO_OLD_TIME) return 0; // coordinates are too old
    if(ra) *ra = r;
    if(decl) *decl = d;
    return 1;
}

void stop_telescope(){
    for(int i = 0; i < 3; ++i){
        if(write_cmd(":STOP#")) return;
    }
    putlog("Can't send command STOP");
}

// 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;
    if(!elevation){
        ans = write_cmd(":Gev#");
        elevation = dups(ans, 0);
    }
    if(!longitude){
        ans = write_cmd(":Gg#");
        longitude = dups(ans, 1);
    }
    if(!latitude){
        ans = write_cmd(":Gt#");
        latitude = dups(ans, 1);
    }
}


/**
 * @brief wrhdr - try to write into header file
 */
void wrhdr(){
    static int failcounter = 0;
    char *ans = NULL, *jd = NULL, *lst = NULL, *date = NULL;
    // get coordinates for writing to file & sending to stellarium client
    ans = write_cmd(":GR#");
    if(!str2coord(ans, &r)){
        if(++failcounter == 10){
            DBG("Can't ger RA 10 times!");
            signals(9);
        }
        return;
    }
    ans = write_cmd(":GD#");
    if(!str2coord(ans, &d)){
        if(++failcounter == 10){
            DBG("Can't ger DEC 10 times!");
            signals(9);
        }
        return;
    }
    failcounter = 0;
    tlast = time(NULL);
    if(!hdname) return;
    if(!elevation || !longitude || !latitude) getplace();
    ans = write_cmd(":GJD#"); jd = dups(ans, 0);
    ans = write_cmd(":GS#"); lst = dups(ans, 1);
    ans = write_cmd(":GUDT#");
    if(ans){
        char *comma = strchr(ans, ',');
        if(comma){
            *comma = 'T';
            date = dups(ans, 1);
        }
    }
#define WRHDR(k, v, c)  do{if(printhdr(hdrfd, k, v, c)){close(hdrfd); return;}}while(0)
    char val[22];
    if(unlink(hdname)){
        WARN("unlink(%s)", hdname);
        return;
    }
    int hdrfd = open(hdname, O_WRONLY | O_TRUNC | O_CREAT, 0644);
    if(hdrfd < 0){
        WARN("Can't open %s", hdname);
        return;
    }
    WRHDR("TIMESYS", "'UTC'", "Time system");
    WRHDR("ORIGIN", "'SAO RAS'", "Organization responsible for the data");
    WRHDR("TELESCOP", "'Astrosib-500'", "Telescope name");
    snprintf(val, 22, "%.10f", r*15.); // convert RA to degrees
    WRHDR("RA", val, "Right ascension, current epoch");
    snprintf(val, 22, "%.10f", d);
    WRHDR("DEC", val, "Declination, current epoch");
    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(jd) WRHDR("MJD-END", jd, "Julian date of observations end");
    if(lst) WRHDR("LSTEND", lst, "Local sidereal time of observations end");
    if(date) WRHDR("DATE-END", date, "Date (UTC) of observations end");
    FREE(jd);
    FREE(lst);
    FREE(date);
        // WRHDR("", , "");
    //ans = write_cmd(":GC#");
    //char *ans1 = write_cmd(":GC#");
#undef WRHDR
    close(hdrfd);
}

// LSTSTART - sid time
// MJD-END