another approach for 2step control

detect.h

@@ -50,8 +50,8 @@ enum {
 	POSCTL_MODE_OFF = 0,
 	POSCTL_MODE_CALIB,
 	POSCTL_MODE_CONTROL,
-	POSCTL_MODE_2STEPINIT,
+	POSCTL_MODE_2STEPWAIT,
-	POSCTL_MODE_2STEP
+	POSCTL_MODE_2STEPRUN
 };
 
 enum {
@@ -73,6 +73,7 @@ enum {
 
 
 struct PosCtl_2Step_Data {
+	int mode;
 	double pv[2];
 	double op[2];
 	double npv[2];
@@ -150,8 +151,7 @@ class PosCtl {
 		void Stop ();
 		void StartCalibration ();
 		void StartControl ();
-		void Start2Step ();
+		void Run2Step ();
-		void Stop2Step ();
 		void Reset2Step ();
 		int GetMode () { return mode; };
 		void SetAxisParam (int axis, double min, double max, double k, double i, double d);

gui.h

@@ -202,7 +202,7 @@ G_MODULE_EXPORT void cb_posctl_btnsimreset (GtkWidget *widget, gpointer data);
 G_MODULE_EXPORT void cb_posctl_angles_draw (GtkWidget *area, cairo_t *cr, int w, int h, gpointer data);
 G_MODULE_EXPORT void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data);
 G_MODULE_EXPORT void cb_posctl_track_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data);
-G_MODULE_EXPORT void cb_posctl_btn2stepstartstop (GtkWidget *widget, gpointer data);
+G_MODULE_EXPORT void cb_posctl_btn2steprun (GtkWidget *widget, gpointer data);
 G_MODULE_EXPORT void cb_posctl_btn2stepreset (GtkWidget *widget, gpointer data);
 
 

posctl.cc

@@ -130,17 +130,9 @@ void cb_posctl_btnsetdest (GtkWidget *widget, gpointer data) {
 /*
  * calibrate adjust control output..
  */
-void cb_posctl_btn2stepstartstop (GtkWidget *widget, gpointer data) {
+void cb_posctl_btn2steprun (GtkWidget *widget, gpointer data) {
 	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
-	GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_2stepctl"));
+	posctl.Run2Step();
-	if (posctl.GetMode() == POSCTL_MODE_2STEP || posctl.GetMode() == POSCTL_MODE_2STEPINIT) {
-		posctl.Stop2Step();
-		gtk_button_set_label(GTK_BUTTON(btn), "Start");
-	}
-	else {
-		posctl.Start2Step();
-		gtk_button_set_label(GTK_BUTTON(btn), "Stop");
-	}
 };
 
 
@@ -492,8 +484,7 @@ void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer da
 /*
  * add result to the table
  */
-void posctl_2step_gui_update(	double axis_pv[2], double axis_op[2],
+void posctl_2step_gui_update(struct PosCtl_2Step_Data *d) {
-								double npv[2], double nop[2], double ppv[2], double pop[2]) {
 
 	GtkWidget *lramin = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_2s_ramin"));
 	GtkWidget *lramax = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_2s_ramax"));
@@ -501,25 +492,28 @@ void posctl_2step_gui_update(	double axis_pv[2], double axis_op[2],
 	GtkWidget *ldecmax = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_2s_decmax"));
 	GtkWidget *lraout = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_2s_raout"));
 	GtkWidget *ldecout = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_2s_decout"));
+	GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_2steprun"));
 
-	char txt[255];
+	if (d->mode == POSCTL_MODE_2STEPWAIT) 	gtk_widget_set_sensitive(btn, FALSE);
+	else									gtk_widget_set_sensitive(btn, TRUE);
 
+	char txt[255];
 	// min
-	snprintf (txt, 255, "%2.5f [%2.5f]", npv[AXIS_RA], nop[AXIS_RA]);
+	snprintf (txt, 255, "%2.5f [%2.5f]", d->npv[AXIS_RA], d->nop[AXIS_RA]);
 	gtk_label_set_text(GTK_LABEL(lramin), txt);
-	snprintf (txt, 255, "%2.5f [%2.5f]", npv[AXIS_DEC], nop[AXIS_DEC]);
+	snprintf (txt, 255, "%2.5f [%2.5f]", d->npv[AXIS_DEC], d->nop[AXIS_DEC]);
 	gtk_label_set_text(GTK_LABEL(ldecmin), txt);
 
 	// max
-	snprintf (txt, 255, "%2.5f [%2.5f]", ppv[AXIS_RA], pop[AXIS_RA]);
+	snprintf (txt, 255, "%2.5f [%2.5f]", d->ppv[AXIS_RA], d->pop[AXIS_RA]);
 	gtk_label_set_text(GTK_LABEL(lramax), txt);
-	snprintf (txt, 255, "%2.5f [%2.5f]", ppv[AXIS_DEC], pop[AXIS_DEC]);
+	snprintf (txt, 255, "%2.5f [%2.5f]", d->ppv[AXIS_DEC], d->pop[AXIS_DEC]);
 	gtk_label_set_text(GTK_LABEL(ldecmax), txt);
 
 	// output
-	snprintf (txt, 255, "%2.5f [%2.5f]", axis_pv[AXIS_RA], axis_op[AXIS_RA]);
+	snprintf (txt, 255, "%2.5f [%2.5f]", d->pv[AXIS_RA], d->op[AXIS_RA]);
 	gtk_label_set_text(GTK_LABEL(lraout), txt);
-	snprintf (txt, 255, "%2.5f [%2.5f]", axis_pv[AXIS_DEC], axis_op[AXIS_DEC]);
+	snprintf (txt, 255, "%2.5f [%2.5f]", d->pv[AXIS_DEC], d->op[AXIS_DEC]);
 	gtk_label_set_text(GTK_LABEL(ldecout), txt);
 
 	cb_posctl_entryanglelen(NULL, NULL);
@@ -576,10 +570,14 @@ void posctl_gui_update() {
 	GtkWidget *dec_pv = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_d_dec"));
 
 	GtkWidget *pos_filter = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_inputfilter"));
+	GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_2steprun"));
 
 	posctl.LockMutex();
 	int m = posctl.GetMode();
 
+	if (m == POSCTL_MODE_2STEPWAIT) 	gtk_widget_set_sensitive(btn, FALSE);
+	else								gtk_widget_set_sensitive(btn, TRUE);
+
 	if (m == POSCTL_MODE_OFF) {
 		gtk_widget_set_sensitive(btnclib, true);
 		gtk_widget_set_sensitive(btncontrol, true);
@@ -682,7 +680,7 @@ gboolean cb_thread_posctl_2step (gpointer data) {
 	posctl_gui_update();
 
 	if (data) {
-		posctl_2step_gui_update(d->pv, d->op, d->npv, d->nop, d->ppv, d->pop);
+		posctl_2step_gui_update(d);
 		free (data);
 	}
 
@@ -792,6 +790,7 @@ void PosCtl::Stop() {
 void PosCtl::NotifyGtk2Step() {
 	struct PosCtl_2Step_Data *data = (struct PosCtl_2Step_Data*) malloc (sizeof(struct PosCtl_2Step_Data));
 
+	data->mode = mode;
 	for (int i = 0; i < 2; i++) {
 		data->pv[i] = axis_pv[i];
 		data->op[i] = axis_op[i];
@@ -1125,11 +1124,30 @@ void PosCtl::Loop (int pos_x, int pos_y, double dt) {
 		NotifyGtk();
 	}
 
-	else if (mode == POSCTL_MODE_2STEP || mode == POSCTL_MODE_2STEPINIT) {
+	else if (mode == POSCTL_MODE_2STEPWAIT) {
-		LockMutex();
+		//
+		// wait time CALIB_STARTSTOP_DELAY sec over?
+		struct timeval tv;
+		float timediff;
+
+		gettimeofday (&tv, NULL);
+		timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);
+
+		if (timediff > CALIB_STARTSTOP_DELAY) {
+			mode = POSCTL_MODE_2STEPRUN;
+			target_pos.x = pos.x;
+			target_pos.y = pos.y;
+			calib_timestamp = tv;
+		}
 
+		LockMutex();
 		NotifyGtk2Step();
+		UnLockMutex();
+	}
 
+	else if (mode == POSCTL_MODE_2STEPRUN) {
+		LockMutex();
+		NotifyGtk2Step();
 		UnLockMutex();
 	}
 
@@ -1163,8 +1181,7 @@ void PosCtl::Reset2Step() {
 		nop[i] = NAN;
 		pop[i] = NAN;
 	}
-	posctl_2step_gui_update(axis_pv, axis_op, npv, nop, ppv, pop);
+	NotifyGtk2Step();
-
 	UnLockMutex();
 	NotifyGtk();
 };
@@ -1175,82 +1192,66 @@ void PosCtl::Reset2Step() {
  * if npv and ppv == NAN set min pos for both axes
  * min and max values will be read from the PID objects
  */
-void PosCtl::Start2Step() {
+void PosCtl::Run2Step() {
-	int found1 = 0, found2 = 0, i;
+	int allset = 0, i;
 	LockMutex();
 
-	for (i = 0, found2 = 0, found1 = 0; i < 2; i++)  {
+	for (i = 0, allset = 1; i < 2; i++)  {
-		if (isnan(npv[i]) && isnan(ppv[i])) found1 = 1;
+		if (isnan(npv[i]) || isnan(ppv[i])) allset = 0;
-		if (isnan(npv[i]) || isnan(ppv[i])) found2 = 1;
-	}
-	if (found1)  {
-		mode = POSCTL_MODE_2STEPINIT;
-		for (i = 0; i < 2; i++)	{
-			axis_op[i] = pid_axis[1-i].GetMin();
-			OutputWriteValue(i, axis_op[i]);
 	}
-	}
-	else if (found2) {
-		for (i = 0; i < 2; i++)	{
-			axis_op[i] = pid_axis[1-i].GetMax();
-			OutputWriteValue(i, axis_op[i]);
-		}
-		mode = POSCTL_MODE_2STEPINIT;
-	}
-	else mode = POSCTL_MODE_2STEP;
-
-	target_pos = pos;
-	printf ("%s:%d %s axis_op: (%f    %f)\n", __FILE__, __LINE__, __FUNCTION__, axis_op[0], axis_op[1]);
-	posctl_2step_gui_update(axis_pv, axis_op, npv, nop, ppv, pop);
-
-	UnLockMutex();
-};
-
 
+	if (mode != POSCTL_MODE_2STEPRUN && mode != POSCTL_MODE_2STEPWAIT) {
+		//
+		// just start from the beginning
 
+		for (int i = 0; i < 2; i++) {
+			npv[i] = NAN;
+			ppv[i] = NAN;
+			nop[i] = NAN;
+			pop[i] = NAN;
+		}
+		target_pos = pos;
+		mode = POSCTL_MODE_2STEPWAIT;
 
-/*
+		OutputWriteStart();
- * with each cycle, caclulate an output between p and n values.
+		OutputWriteValue(AXIS_DEC, pid_axis[AXIS_DEC].GetMin());
- */
+		OutputWriteValue(AXIS_RA, pid_axis[AXIS_RA].GetMin());
-void PosCtl::Stop2Step() {
-	double axisnew_op[2] = { NAN, NAN };
-	int i;
-	LockMutex();
 
+		gettimeofday (&calib_timestamp, NULL);
+	}
+	else if (mode == POSCTL_MODE_2STEPRUN) {
+		if (allset) {
 			//
 			// check if we got better values
-	for (int i = 0; i < 2; i++) {
+			// FIXME: need to finish what to do next
-		if (axis_pv[i] < 0.0 && (isnan(npv[i]) || axis_pv[i] > npv[i])) {
-			npv[i] = axis_pv[i];
-			nop[i] = axis_op[i];
 		}
-		if (axis_pv[i] > 0.0 && (isnan(ppv[i]) || axis_pv[i] < ppv[i])) {
+		else {
-			ppv[i] = axis_pv[i];
+			//
-			pop[i] = axis_op[i];
+			// one value still missing: set nXX and pXX and go to maximum output
+			for (int i = 0; i < 2; i++) {
+				ppv[i] = npv[i] = axis_pv[i];
+				pop[i] = nop[i] = axis_op[i];
 			}
+			OutputWriteStart();
+			OutputWriteValue(AXIS_DEC, pid_axis[AXIS_DEC].GetMax());
+			OutputWriteValue(AXIS_RA, pid_axis[AXIS_RA].GetMax());
 		}
 
-	// need to calculate new step
+		target_pos = pos;
-	if (mode == POSCTL_MODE_2STEP) {
+		mode = POSCTL_MODE_2STEPWAIT;
-		for (i = 0; i < 2; i++) {
+		gettimeofday (&calib_timestamp, NULL);
-			axisnew_op[i] = (nop[i] + pop[i]) / 2.0;
-			OutputWriteValue(i, axisnew_op[i]);
 	}
+	else {
+		printf ("%s:%d %s ERROR: something went wrong. Mode not correct.\n", __FILE__, __LINE__, __FUNCTION__);
 	}
 
-	printf ("%s:%d %s axis \t_op:\t%f\t%f   \t_pv:\t%f\t%f  \t new:\t%f\t%f\n", __FILE__, __LINE__, __FUNCTION__,
+	printf ("%s:%d %s axis_op: (%f    %f)\n", __FILE__, __LINE__, __FUNCTION__, axis_op[0], axis_op[1]);
-			axis_op[0], axis_op[1], axis_pv[0], axis_pv[1], axisnew_op[0], axisnew_op[1]);
+	NotifyGtk2Step();
-
-	mode = POSCTL_MODE_OFF;
-
-	posctl_2step_gui_update(axis_pv, axis_op, npv, nop, ppv, pop);
-	for (i = 0; i < 2; i++) axis_op[i] = axisnew_op[i];
 
 	UnLockMutex();
 };
 
 
-
 void PosCtl::SetDevice (std::string d) {
 	printf ("%s:%d %s new device:%s\n", __FILE__, __LINE__, __FUNCTION__, d.c_str());
 
@@ -1392,6 +1393,10 @@ int PosCtl::ReadTTY (char * inbuf, int length) {
 	return 0;
 }
 
+
+/*
+ * write output, and save last set value in axis_op
+ */
 int PosCtl::OutputWriteValue (int axis, double value) {
 	char outbuf[255];
 
@@ -1419,6 +1424,8 @@ int PosCtl::OutputWriteValue (int axis, double value) {
 	WriteTTY(outbuf);
 	ReadTTY(outbuf, sizeof(outbuf) - 1);
 
+	axis_op[axis] = value;
+
 	return 0;
 };
 

simpleskycam.ui

@@ -487,6 +487,11 @@
     <property name="can-focus">False</property>
     <property name="stock">gtk-close</property>
   </object>
+  <object class="GtkImage" id="image_calc">
+    <property name="visible">True</property>
+    <property name="can-focus">False</property>
+    <property name="stock">gtk-refresh</property>
+  </object>
   <object class="GtkImage" id="image_control">
     <property name="visible">True</property>
     <property name="can-focus">False</property>
@@ -502,6 +507,11 @@
     <property name="can-focus">False</property>
     <property name="stock">gtk-refresh</property>
   </object>
+  <object class="GtkImage" id="image_reset">
+    <property name="visible">True</property>
+    <property name="can-focus">False</property>
+    <property name="stock">gtk-cancel</property>
+  </object>
   <object class="GtkWindow" id="window-posctl">
     <property name="can-focus">False</property>
     <property name="border-width">4</property>
@@ -1992,6 +2002,8 @@
                         <property name="visible">True</property>
                         <property name="can-focus">True</property>
                         <property name="receives-default">True</property>
+                        <property name="image">image_reset</property>
+                        <property name="always-show-image">True</property>
                         <signal name="activate" handler="cb_posctl_btn2stepreset" swapped="no"/>
                         <signal name="pressed" handler="cb_posctl_btn2stepreset" swapped="no"/>
                       </object>
@@ -2002,13 +2014,15 @@
                       </packing>
                     </child>
                     <child>
-                      <object class="GtkButton" id="posctl_btn_2stepctl">
+                      <object class="GtkButton" id="posctl_btn_2steprun">
-                        <property name="label" translatable="yes">Start</property>
+                        <property name="label" translatable="yes">Run</property>
                         <property name="visible">True</property>
                         <property name="can-focus">True</property>
                         <property name="receives-default">True</property>
-                        <signal name="activate" handler="cb_posctl_btn2stepstartstop" swapped="no"/>
+                        <property name="image">image_calc</property>
-                        <signal name="pressed" handler="cb_posctl_btn2stepstartstop" swapped="no"/>
+                        <property name="always-show-image">True</property>
+                        <signal name="activate" handler="cb_posctl_btn2steprun" swapped="no"/>
+                        <signal name="pressed" handler="cb_posctl_btn2steprun" swapped="no"/>
                       </object>
                       <packing>
                         <property name="expand">False</property>