/*telpos.c - works with telpos.tcl to get telescope position from PC Guider and tell it to HQ All we really do here is provide the actual serial I/O for the tcl program to call Version 1.00 Written Nov97 - SJK 1.00 SJK - placed in operation at BBSO 1Dec97 */ #include #include #include /* these 4 are for serial port control */ #include /* UNIX standard function defs */ #include /* File control definitions */ #include /* Error number definitions */ #include /* POSIX terminal control definitions */ /*initialize serial port for PC Guider*/ int initialize_serial(void); /*read a string from a serial port*/ int serial_in (int sfd, char *string); /*send a string out a serial port*/ int serial_out (int sfd, char *string); /*initialize tcl/tk GUI*/ int tcl_initialize(Tcl_Interp *interp); /*get currnent position from PC Guider*/ int t_getpos(ClientData cd, Tcl_Interp *interp, int argc, char **argv); Tcl_Interp *Interp; /*the Tcl/Tk GUI interface*/ int Sfd; /*serial file descriptor for PC Guider serial port*/ /*MAIN*/ main() { int err; /*initialize serial port*/ err=initialize_serial(); if (err==-1) { printf("Can't open serial port for PC Guider communications.\n"); printf("Make sure you are running on Ingrid and serial port is connected\n"); exit (1); /*ZZZ uncomment that when running for real*/ } /*set up Tcl/Tk GUI*/ Interp=Tcl_CreateInterp(); if (err=tcl_initialize(Interp)) return(err); /*since I have an update loop in the .tcl file, I never reach this part of the program unless I get an err above or maybe when I quit the GUI*/ return(0); } /*INITIALIZE_SERIAL*/ /* set up the serial port to talk to the PC Guider it is connected to /dev/ttyC7 called by main() calls serial_in() returns 0 if ok -1 if can't open serial port */ int initialize_serial() { struct termios sopts; /*serial port options*/ char buffer[80]; /*used to flush input serial buffer*/ if ((Sfd=open("/dev/ttyC7",O_RDWR | O_NOCTTY | O_NDELAY)) == -1) return(-1); /*set serial parameters*/ /*make read return 0 bytes if none available*/ fcntl(Sfd, F_SETFL, FNDELAY); /*First, get current parameters*/ tcgetattr(Sfd, &sopts); /*turn off echo*/ sopts.c_lflag &= ~(ECHO); /*set canonical (line at a time mode)*/ sopts.c_lflag |= ICANON; /*maps input CR to NL*/ sopts.c_iflag |= ICRNL; sopts.c_iflag &= ~(IGNCR); sopts.c_iflag &= ~(INLCR); /*accept \r as EOL in addition to \n*/ sopts.c_cc[VEOL]='\r'; /*turn on output processing so other o_flags have an effect*/ sopts.c_oflag |= (OPOST); /*allow me to send a CR instead of NL if I want*/ sopts.c_oflag &= ~ONLRET; sopts.c_oflag &= ~ONLCR; sopts.c_oflag &= ~OCRNL; /*now baud rates*/ cfsetispeed(&sopts,B9600); cfsetospeed(&sopts,B9600); /* now set to 8N1 */ sopts.c_cflag &= ~CSIZE; sopts.c_cflag |= CS8; sopts.c_cflag &= ~PARENB; sopts.c_cflag &= ~CSTOPB; /*turn off hardware flow control*/ sopts.c_cflag &= ~CRTSCTS; /*turn off software flow control on input and output*/ sopts.c_iflag &= ~IXON; sopts.c_iflag &= ~IXOFF; /*make these settings active now*/ tcsetattr(Sfd, TCSANOW, &sopts); /*Clear/flush the input buffer*/ while(serial_in(Sfd,buffer)>0); return(0); } /*SERIAL_IN*/ /* function serial_in reads a string from the given serial port (described by its file descriptor). it will read a max of 80 bytes returns # bytes read or the error number called by serial_initialize() t_getpos() */ int serial_in (int sfd, char *string) { int n=0; if ((n=read(sfd,string,80))>0) string[n]='\0'; /*uncomment the previous two lines and delete the next two for real operations*/ /*strcpy(string,"OK\n");*/ /*n=4;*/ return (n); } /*SERIAL_OUT*/ /* function serial_out sends the given string out the given serial port (described by its file descriptor) returns the # of bytes written or the err value t_getpos() */ int serial_out (int sfd, char *string) { int n; int err; char s[80]; /*n=strlen(string);*/ /*printf("SERIAL_OUT:%s\n",string);*/ /*err=10;*/ /*use the above 3 lines for testing and the below 2 for real*/ if ((err=write(sfd,string,n))<0) fprintf(stderr,"serial port write failed: %s\n",string); return(err); } /*TCL_INITIALIZE*/ /* procedure tcl_initialize starts up the Tcl/Tk GUI. The code for which is in ./telpos.tcl called by main() returns -1 if failed 0 otherwise */ int tcl_initialize(Tcl_Interp *interp) { if (Tcl_Init(interp) == TCL_ERROR) { fprintf(stderr, "Tcl_Init failed: %s\n",interp->result); return(-1); } if (Tk_Init(interp) == TCL_ERROR) { fprintf(stderr, "Tk_Init failed: %s\n",interp->result); return(-1); } /*create new commands which Tcl/Tk GUI will call*/ /*get and return current position*/ Tcl_CreateCommand (interp, "Cgetpos", (Tcl_CmdProc *) t_getpos, (ClientData *) NULL, (Tcl_CmdDeleteProc *) NULL); /*tell Tcl/Tk which file to execute*/ Tcl_EvalFile(interp,"./telpos.tcl"); return(0); } /*T_GETPOS*/ /*read current telescope positions from PC Guider called by telpos.tcl calls serial_out() serial_in() returns X10 Y10 X26 Y26 */ int t_getpos (ClientData cd, Tcl_Interp *interp, int argc, char **argv) { char s[80]; /*command sent to/response from PC Guider*/ float x10,y10,x26,y26; /*X and Y coords for 10 and 26*/ int serr=0; /*return value form serial_out and _in*/ while (serr!=34) /*34 chars is the right response length for an atrp command*/ { /*send report position command to PC Guider*/ sprintf(s,"atrp\n"); serr=serial_out(Sfd,s); /*XXX do something with serr*/ /*wait for command response*/ while ((serr=serial_in(Sfd,s))<=0); /*XXXadd a timeout?*/ if (serr!=34) printf("XXXtelpos got %s\n",s); } sscanf (s,"P %f %f %f %f",&y10,&x10,&y26,&x26); sprintf(interp->result,"%f %f %f %f",x10,y10,x26,y26); return(TCL_OK); }