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small_tel/Daemons/10micron_stellarium/telescope.c

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/*
* 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 "libsofa.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;
static double ptRAdeg, ptDECdeg; // target RA/DEC J2000
static int Target = 0; // target coordinates entered
/**
* 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;
}
// write to telescope mount corrections: datetime, pressure and temperature
static void makecorr(){
// write current date&time
char buf[64], *ans;
DBG("curtime: %s", write_cmd(":GUDT#"));
write_cmd(":gT#"); // correct time by GPS
ans = write_cmd(":gtg#");
if(!ans || *ans != '1'){
WARNX("mount don't synchronized with GPS! 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);
if(!ans || *ans != '1'){
WARNX("Can't write current date/time");
putlog("Can't set system time");
}else putlog("Set system time by command %s", buf);
DBG("curtime: %s", write_cmd(":GUDT#"));
}
placeWeather w;
if(getWeath(&w)) putlog("Can't determine weather data");
else{ // set refraction model data
snprintf(buf, 64, ":SRPRS%.1f#", w.php);
ans = write_cmd(buf);
if(!ans || *ans != '1') putlog("Can't set pressure data of refraction model");
else putlog("Correct pressure to %g", w.php);
snprintf(buf, 64, ":SRTMP%.1f#", w.tc);
ans = write_cmd(buf);
if(!ans || *ans != '1') putlog("Can't set temperature data of refraction model");
else putlog("Correct temperature to %g", w.tc);
}
}
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);
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#"); // set high precision
write_cmd(":So10#"); // set minimum altitude to 10 degrees
putlog("Connected to %s@115200, will write FITS-header into %s", dev, hdrname);
hdname = strdup(hdrname);
DBG("connected");
Target = 0;
write_cmd(":gT#"); // 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)
* @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);
ptRAdeg = ra * 15.;
ptDECdeg = dec;
Target = 0;
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;
}
DBG("Move");
ans = write_cmd(":MS#");
if(!ans || *ans != '0'){
putlog("move error, answer: %s", ans);
err = 3;
goto ret;
}
ret:
if(err){
putlog("error sending coordinates (err = %d: RA/DEC/MOVE)!", err);
return 0;
}else{
Target = 1;
putlog("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;
}
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
/**
* 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 stop_telescope(){
write_cmd(":RT9#"); // stop tracking
write_cmd(":STOP#"); // halt moving
Target = 0;
}
// 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);
}
}
static const char *statuses[12] = {
[0] = "'Tracking'",
[1] = "'Going to stop'",
[2] = "'Slewing to park'",
[3] = "'Unparking'",
[4] = "'Slewing to home'",
[5] = "'Parked'",
[6] = "'Slewing or going to stop'",
[7] = "'Stopped'",
[8] = "'Motors inhibited, T too low'",
[9] = "'Outside tracking limit'",
[10]= "'Following satellite'",
[11]= "'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 < (int)(sizeof(statuses)/sizeof(char*)-1)) return statuses[status];
if(status == 99) return "'Error'";
return "'Unknown status'";
}
/**
* @brief wrhdr - try to write into header file
*/
void wrhdr(){
static int failcounter = 0;
static time_t lastcorr = 0; // last time of corrections made
if(time(NULL) - lastcorr > CORRECTIONS_TIMEDIFF){
lastcorr = time(NULL);
makecorr();
}
char *ans = NULL, *jd = NULL, *lst = NULL, *date = NULL, *pS = NULL;
// get coordinates for writing to file & sending to stellarium client
ans = write_cmd(":GR#");
if(!str2coord(ans, &r)){
if(++failcounter == 10){
putlog("Lost connection with mount");
DBG("Can't get RA!");
signals(9);
}
return;
}
ans = write_cmd(":GD#");
if(!str2coord(ans, &d)){
if(++failcounter == 10){
putlog("Lost connection with mount");
DBG("Can't get DEC!");
signals(9);
}
return;
}
failcounter = 0;
tlast = time(NULL);
if(!hdname) return;
if(!elevation || !longitude || !latitude) getplace();
ans = write_cmd(":GJD1#"); 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);
}
}
ans = write_cmd(":pS#"); pS = dups(ans, 1);
ans = write_cmd(":Gstat#");
if(ans){
mountstatus = atoi(ans);
//DBG("Status: %d", mountstatus);
}
#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);
FREE(jd); FREE(lst); FREE(date); FREE(pS);
return;
}
int hdrfd = open(hdname, O_WRONLY | O_TRUNC | O_CREAT, 0644);
if(hdrfd < 0){
WARN("Can't open %s", hdname);
FREE(jd); FREE(lst); FREE(date); FREE(pS);
return;
}
WRHDR("TIMESYS", "'UTC'", "Time system");
WRHDR("ORIGIN", "'SAO RAS'", "Organization responsible for the data");
WRHDR("TELESCOP", "'Astrosib-500'", "Telescope name");
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");
snprintf(val, 22, "%.10f", d);
WRHDR("DEC", val, "Telescope declination, current epoch");
WRHDR("TELSTAT", strstatus(mountstatus), "Telescope mount status");
sMJD mjd;
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");
snprintf(val, 22, "%.10f", mjd.MJD);
WRHDR("MJD-END", val, "Modified julian date of observations end");
}
if(jd) WRHDR("JD-END", jd, "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");
FREE(jd); FREE(lst); FREE(date); FREE(pS);
// WRHDR("", , "");
#undef WRHDR
close(hdrfd);
}
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