Telescope Control Library
EqMountServer.h@19:fd854309cb4c, 2018-09-24 (annotated)
- Committer:
- caoyu@caoyuan9642-desktop.MIT.EDU
- Date:
- Mon Sep 24 19:36:48 2018 -0400
- Revision:
- 19:fd854309cb4c
- Parent:
- 10:e356188d208e
Fix bug in nudging with small speeds mentioned in the last commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
caoyuan9642 | 0:6cb2eaf8b133 | 1 | /* |
caoyuan9642 | 0:6cb2eaf8b133 | 2 | * EqMountServer.h |
caoyuan9642 | 0:6cb2eaf8b133 | 3 | * |
caoyuan9642 | 4:b8ad57bbf9e1 | 4 | * Created on: 2018��3��1�� |
caoyuan9642 | 0:6cb2eaf8b133 | 5 | * Author: caoyuan9642 |
caoyuan9642 | 0:6cb2eaf8b133 | 6 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 7 | |
caoyuan9642 | 0:6cb2eaf8b133 | 8 | #ifndef EQMOUNTSERVER_H_ |
caoyuan9642 | 0:6cb2eaf8b133 | 9 | #define EQMOUNTSERVER_H_ |
caoyuan9642 | 0:6cb2eaf8b133 | 10 | |
caoyuan9642 | 0:6cb2eaf8b133 | 11 | #include "MountServer.h" |
caoyuan9642 | 0:6cb2eaf8b133 | 12 | #include "EquatorialMount.h" |
caoyuan9642 | 0:6cb2eaf8b133 | 13 | |
caoyu@caoyuan9642-desktop.MIT.EDU | 10:e356188d208e | 14 | class EquatorialMount; |
caoyu@caoyuan9642-desktop.MIT.EDU | 10:e356188d208e | 15 | class EqMountServer; |
caoyu@caoyuan9642-desktop.MIT.EDU | 10:e356188d208e | 16 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 17 | /** Command structure for the mount server |
caoyuan9642 | 4:b8ad57bbf9e1 | 18 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 19 | struct ServerCommand |
caoyuan9642 | 0:6cb2eaf8b133 | 20 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 21 | const char *cmd; /// Name of the command |
caoyuan9642 | 0:6cb2eaf8b133 | 22 | const char *desc; /// Description of the command |
caoyuan9642 | 0:6cb2eaf8b133 | 23 | int (*fptr)(EqMountServer *, const char *, int, char **); /// Function pointer to the command |
caoyuan9642 | 0:6cb2eaf8b133 | 24 | ServerCommand(const char *n = "", const char *d = "", |
caoyuan9642 | 0:6cb2eaf8b133 | 25 | int (*fp)(EqMountServer *, const char *, int, char **) = NULL) : |
caoyuan9642 | 0:6cb2eaf8b133 | 26 | cmd(n), desc(d), fptr(fp) |
caoyuan9642 | 0:6cb2eaf8b133 | 27 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 28 | } |
caoyuan9642 | 0:6cb2eaf8b133 | 29 | }; |
caoyuan9642 | 0:6cb2eaf8b133 | 30 | |
caoyuan9642 | 0:6cb2eaf8b133 | 31 | #define MAX_COMMAND 128 |
caoyuan9642 | 0:6cb2eaf8b133 | 32 | |
caoyuan9642 | 0:6cb2eaf8b133 | 33 | #define ERR_WRONG_NUM_PARAM 1 |
caoyuan9642 | 0:6cb2eaf8b133 | 34 | #define ERR_PARAM_OUT_OF_RANGE 2 |
caoyuan9642 | 0:6cb2eaf8b133 | 35 | |
caoyu@caoyuan9642-desktop.MIT.EDU | 10:e356188d208e | 36 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 37 | /** EqMount server class. Receives commands from a stream and execute on the binded EqMount. |
caoyuan9642 | 4:b8ad57bbf9e1 | 38 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 39 | class EqMountServer: public MountServer |
caoyuan9642 | 0:6cb2eaf8b133 | 40 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 41 | protected: |
caoyuan9642 | 0:6cb2eaf8b133 | 42 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 43 | EquatorialMount *eq_mount; /// EqMount to be binded |
caoyuan9642 | 4:b8ad57bbf9e1 | 44 | FileHandle &stream; /// Input stream |
caoyuan9642 | 0:6cb2eaf8b133 | 45 | Thread thread;bool echo; /// Echo |
caoyuan9642 | 0:6cb2eaf8b133 | 46 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 47 | void task_thread(); /// Main task entrance |
caoyuan9642 | 4:b8ad57bbf9e1 | 48 | void command_execute(ServerCommand &, int argn, char *argv[], char *buffer); /// To execute a server command |
caoyuan9642 | 0:6cb2eaf8b133 | 49 | |
caoyuan9642 | 0:6cb2eaf8b133 | 50 | public: |
caoyuan9642 | 4:b8ad57bbf9e1 | 51 | /** Creates a server with input stream and optionally echoing to the stream. |
caoyuan9642 | 4:b8ad57bbf9e1 | 52 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 53 | EqMountServer(FileHandle &stream, bool echo = false); |
caoyuan9642 | 0:6cb2eaf8b133 | 54 | virtual ~EqMountServer(); |
caoyuan9642 | 0:6cb2eaf8b133 | 55 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 56 | /** Bind to a EqMount. Commands will be ignored if no mount is binded. |
caoyuan9642 | 4:b8ad57bbf9e1 | 57 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 58 | void bind(EquatorialMount &eq) |
caoyuan9642 | 0:6cb2eaf8b133 | 59 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 60 | eq_mount = &eq; |
caoyuan9642 | 0:6cb2eaf8b133 | 61 | } |
caoyuan9642 | 0:6cb2eaf8b133 | 62 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 63 | /** @return binded EqMount |
caoyuan9642 | 4:b8ad57bbf9e1 | 64 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 65 | EquatorialMount* getEqMount() const |
caoyuan9642 | 0:6cb2eaf8b133 | 66 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 67 | return eq_mount; |
caoyuan9642 | 0:6cb2eaf8b133 | 68 | } |
caoyuan9642 | 0:6cb2eaf8b133 | 69 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 70 | /** @return associated stream |
caoyuan9642 | 4:b8ad57bbf9e1 | 71 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 72 | FileHandle& getStream() const |
caoyuan9642 | 0:6cb2eaf8b133 | 73 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 74 | return stream; |
caoyuan9642 | 0:6cb2eaf8b133 | 75 | } |
caoyuan9642 | 0:6cb2eaf8b133 | 76 | |
caoyuan9642 | 4:b8ad57bbf9e1 | 77 | /** Add a command to the available commands. Must have unique names. |
caoyuan9642 | 4:b8ad57bbf9e1 | 78 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 79 | static void addCommand(const ServerCommand &cmd); |
caoyuan9642 | 0:6cb2eaf8b133 | 80 | }; |
caoyuan9642 | 0:6cb2eaf8b133 | 81 | |
caoyuan9642 | 0:6cb2eaf8b133 | 82 | /** |
caoyuan9642 | 0:6cb2eaf8b133 | 83 | * Print to stream |
caoyuan9642 | 0:6cb2eaf8b133 | 84 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 85 | void stprintf(FileHandle &f, const char *fmt, ...); |
caoyuan9642 | 0:6cb2eaf8b133 | 86 | |
caoyuan9642 | 0:6cb2eaf8b133 | 87 | #endif /* EQMOUNTSERVER_H_ */ |
caoyuan9642 | 0:6cb2eaf8b133 | 88 |