Move the library to the separate repository

2026-03-12 08:49:36 +03:00
commit 4dcb7d4444
98 changed files with 9089 additions and 0 deletions
--- a/examples/goto.c
+++ b/examples/goto.c
@@ -0,0 +1,145 @@
+/*
+ * 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/>.
+ */
+
+// move telescope to given MOTOR position in degrees
+
+#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 Ncycles;
+    int wait;
+    int relative;
+    char *coordsoutput;
+    char *conffile;
+    double X;
+    double Y;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 10,
+    .X = NAN,
+    .Y = NAN,
+};
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles of waiting in stopped state (default: 40)"},
+    {"newx",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.X),         "new X coordinate"},
+    {"newy",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Y),         "new Y coordinate"},
+    {"output",      NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
+    {"wait",        NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      "wait until mowing stopped"},
+    {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    end_option
+};
+
+static FILE* fcoords = NULL;
+static pthread_t dthr;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    DBG("Quit");
+    Mount.quit();
+    DBG("close");
+    if(fcoords) fclose(fcoords);
+    exit(sig);
+}
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+int main(int _U_ argc, char _U_ **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help)
+        sl_showhelp(-1, cmdlnopts);
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        return 1;
+    }
+    if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
+    coordval_pair_t M, E;
+    if(!getPos(&M, &E)) ERRX("Can't get current position");
+    printf("Current time: %.10f\n", Mount.timeFromStart());
+    if(G.coordsoutput){
+        if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
+        G.wait = 1;
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+        logmnt(fcoords, NULL);
+        if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    }
+    M.X.val = RAD2DEG(M.X.val);
+    M.Y.val = RAD2DEG(M.Y.val);
+    printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", M.X.val, M.Y.val,
+           RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
+    if(isnan(G.X) && isnan(G.Y)) goto out;
+    coordpair_t tag;
+    if(isnan(G.X)){
+        if(G.relative) G.X = 0.;
+        else G.X = M.X.val;
+    }
+    if(isnan(G.Y)){
+        if(G.relative) G.Y = 0.;
+        else G.Y = M.Y.val;
+    }
+    if(G.relative){
+        G.X += M.X.val;
+        G.Y += M.Y.val;
+    }
+    printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
+    tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
+    mcc_errcodes_t e = Mount.moveTo(&tag);
+    if(MCC_E_OK != e){
+        WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
+        goto out;
+    }
+    if(G.wait){
+        sleep(1);
+        waitmoving(G.Ncycles);
+        if(!getPos(&M, NULL)) WARNX("Can't get current position");
+        else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
+    }
+out:
+    DBG("JOIN");
+    if(G.coordsoutput) pthread_join(dthr, NULL);
+    DBG("QUIT");
+    if(G.wait){
+        usleep(250000); // pause to refresh coordinates
+        if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
+            RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
+        Mount.quit();
+    }
+    return 0;
+}