...

2026-02-20 08:51:09 +03:00
parent ca5618789e
commit a4d4e15f18
109 changed files with 11460 additions and 4 deletions
--- a/LibSidServo/examples/dumpmoving.c
+++ b/LibSidServo/examples/dumpmoving.c
@@ -0,0 +1,105 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// dump telescope moving using simplest goto command
+
+#include <math.h>
+#include <signal.h>
+#include <stdio.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int verbose;
+    int Ncycles;
+    char *logfile;
+    char *coordsoutput;
+    char *conffile;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 40,
+};
+static FILE *fcoords = NULL;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"verbose",     NO_ARGS,    NULL,   'v',    arg_none,   APTR(&G.verbose),   "verbose level (each -v adds 1)"},
+    {"logfile",     NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   "log file name"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    LOGERR("Exit with status %d", sig);
+    Mount.quit();
+    exit(sig);
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
+    if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
+    if(G.logfile) OPENLOG(G.logfile, lvl, 1);
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        confHelp();
+        return 1;
+    }
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    logmnt(fcoords, NULL);
+    time_t curtime = time(NULL);
+    LOGMSG("Started @ %s", ctime(&curtime));
+    LOGMSG("Mount device %s @ %d", Config->MountDevPath, Config->MountDevSpeed);
+    LOGMSG("Encoder device %s @ %d", Config->EncoderDevPath, Config->EncoderDevSpeed);
+    if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init devices");
+    coordval_pair_t M;
+    if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    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
+    coordpair_t tag = {.X = DEG2RAD(45.) + M.X.val, .Y = DEG2RAD(45.) + M.Y.val};
+    if(MCC_E_OK != Mount.moveTo(&tag))
+        ERRX("Can't move to 45, 45");
+    dumpmoving(fcoords, 30., G.Ncycles);
+    tag.X = M.X.val; tag.Y = M.Y.val;
+    Mount.moveTo(&tag);
+    dumpmoving(fcoords, 30., G.Ncycles);
+    signals(0);
+    return 0;
+}