int main(int argc, char **argv)
{
int cooked_baud = cook_baud(DefaultBaud);
char const * serial_dev = DefaultSerialDevice;
int low_port = -1, high_port = -1;
int serial_fd, low_listener, high_listener;
while ( --argc != 0 )
{
char *p = argv[argc];
if ( *(p++) != '-' )
usage();
switch (*(p++))
{
case 'b':
if ( (cooked_baud = cook_baud(atoi(p))) == 0 )
{
fprintf(stderr, "Bad baud rate\n");
exit(1);
}
break;
case 'd':
serial_dev = p;
break;
case 'l':
if ((low_port = atoi(p)) <= 0)
usage();
break;
case 'h':
if ((high_port = atoi(p)) <= 0)
usage();
break;
default:
usage();
}
}
if (low_port == -1 && high_port == -1)
low_port = DefaultLowPort;
if (low_port == -1)
low_port = high_port - 1;
if (high_port == -1)
high_port = low_port + 1;
if ((serial_fd = open_serial(serial_dev, cooked_baud)) < 0 ||
(low_listener = start_listener(low_port)) < 0 ||
(high_listener = start_listener(high_port)) < 0)
exit(1);
main_loop(serial_fd, low_listener, high_listener);
return 0;
}
int main(int argc, char **argv)
{
int fd, c, cooked_baud = cook_baud(DEFAULT_BAUDRATE);
char *sername = DEFAULT_SERDEVICE;
struct termios oldsertio, newsertio, oldstdtio, newstdtio;
struct sigaction sa;
static char start_str[] =
"************ REMOTE CONSOLE: CTRL-[ TO QUIT ********\r\n";
static char end_str[] =
"\n************ REMOTE CONSOLE EXITED *****************\n";
while ( --argc != 0 )
{
char *p = argv[argc];
if ( *p++ != '-' )
goto usage;
if ( *p == 'b' )
{
p++;
if ( (cooked_baud = cook_baud(atoi(p))) == 0 )
{
fprintf(stderr, "Bad baud rate '%d'\n", atoi(p));
goto usage;
}
}
else if ( *p == 'd' )
{
sername = ++p;
if ( *sername == '\0' )
goto usage;
}
else
goto usage;
}
/* Not a controlling tty: CTRL-C shouldn't kill us. */
fd = open(sername, O_RDWR | O_NOCTTY);
if ( fd < 0 )
{
perror(sername);
exit(-1);
}
tcgetattr(fd, &oldsertio); /* save current modem settings */
/*
* 8 data, no parity, 1 stop bit. Ignore modem control lines. Enable
* receive. Set appropriate baud rate. NO HARDWARE FLOW CONTROL!
*/
newsertio.c_cflag = cooked_baud | CS8 | CLOCAL | CREAD;
/* Raw input. Ignore errors and breaks. */
newsertio.c_iflag = IGNBRK | IGNPAR;
/* Raw output. */
newsertio.c_oflag = OPOST;
/* No echo and no signals. */
newsertio.c_lflag = 0;
/* blocking read until 1 char arrives */
newsertio.c_cc[VMIN]=1;
newsertio.c_cc[VTIME]=0;
/* now clean the modem line and activate the settings for modem */
tcflush(fd, TCIFLUSH);
tcsetattr(fd,TCSANOW,&newsertio);
/* next stop echo and buffering for stdin */
tcgetattr(0,&oldstdtio);
tcgetattr(0,&newstdtio); /* get working stdtio */
newstdtio.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
newstdtio.c_oflag &= ~OPOST;
newstdtio.c_cflag &= ~(CSIZE | PARENB);
newstdtio.c_cflag |= CS8;
newstdtio.c_lflag &= ~(ECHO | ICANON | IEXTEN | ISIG);
newstdtio.c_cc[VMIN]=1;
newstdtio.c_cc[VTIME]=0;
tcsetattr(0,TCSANOW,&newstdtio);
/* Terminal settings done: now enter the main I/O loops. */
switch ( fork() )
{
case 0:
close(1); /* stdout not needed */
for ( c = (char)getchar(); c != ENDMINITERM; c = (char)getchar() )
write(fd,&c,1);
tcsetattr(fd,TCSANOW,&oldsertio);
tcsetattr(0,TCSANOW,&oldstdtio);
close(fd);
exit(0); /* will send a SIGCHLD to the parent */
break;
case -1:
perror("fork");
tcsetattr(fd,TCSANOW,&oldsertio);
close(fd);
exit(-1);
default:
write(1, start_str, strlen(start_str));
close(0); /* stdin not needed */
sa.sa_handler = child_handler;
sa.sa_flags = 0;
sigaction(SIGCHLD,&sa,NULL); /* handle dying child */
while ( !stop )
{
read(fd,&c,1); /* modem */
c = (char)c;
write(1,&c,1); /* stdout */
}
wait(NULL); /* wait for child to die or it will become a zombie */
write(1, end_str, strlen(end_str));
break;
}
return 0;
usage:
printf("miniterm [-b<baudrate>] [-d<devicename>]\n");
printf("Default baud rate: %d\n", DEFAULT_BAUDRATE);
printf("Default device: %s\n", DEFAULT_SERDEVICE);
return 1;
}
int main(int argc, char **argv)
{
pthread_t threads[3];
void *res;
int fd, gto, c, cooked_baud;
int bc=0, rs=0, cycle;
double t,t0,t1;
double decl=0, ra=0;
int hh, mm, ss;
char sg;
char *gtoname = DEFAULT_GTODEVICE;
char *tmpi;
char lrfmt[]="%02d:%02d:%02d";
char ldfmt[]="%c%02d*%02d:%02d";
struct termios oldsertio, newsertio, oldgtotio, newgtotio;
while ( --argc != 0 )
{
char *p = argv[argc];
if ( *p++ != '-' )
goto usage;
if ( *p == 'b' )
{
p++;
if ( (cooked_baud = cook_baud(atoi(p))) == 0 )
{
fprintf(stderr, "Bad baud rate '%d'\n", atoi(p));
goto usage;
}
}
else if ( *p == 'd' )
{
tmpi = ++p;
if ( *tmpi == '\0' )
goto usage;
sscanf(tmpi, ldfmt, &sg, &hh, &mm, &ss);
decl=(sg=='+'?1:-1)*decimal_hours(hh,mm,ss);
printf("DECL %lf %d %d %d\n", decl, hh,mm,ss);
}
else if ( *p == 'R' )
{
tmpi = ++p;
if ( *tmpi == '\0' )
goto usage;
sscanf(tmpi, lrfmt, &hh, &mm, &ss);
ra=decimal_hours(hh,mm,ss);
printf("RA %lf %d %d %d\n", ra, hh,mm,ss);
}
else if ( *p == 'D' )
{
gtoname = ++p;
if ( *gtoname == '\0' )
goto usage;
}
else if ( *p == 'r' )
{
rs=1;
}
else
goto usage;
}
gto = open(gtoname, O_RDWR | O_NOCTTY);
if ( gto < 0 )
{
perror(gtoname);
exit(-1);
}
cooked_baud=cook_baud(DEFAULT_BAUDRATE);
tcgetattr(gto,&oldgtotio);
newgtotio.c_iflag = IGNBRK | IGNPAR;
newgtotio.c_oflag = OPOST;
newgtotio.c_cflag = cooked_baud | CS8 | CLOCAL | CREAD;
newgtotio.c_lflag = 0;
newgtotio.c_cc[VMIN]=0;
newgtotio.c_cc[VTIME]=8;
tcflush(gto, TCIFLUSH);
tcsetattr(gto,TCSANOW,&newgtotio);
mmp_fd=gto;
GTOCP3_init_f("gto.conf", rs);
gto_m.dst[GTO_RA]=ra;
gto_m.dst[GTO_DECL]=decl;
gto_m.RDrun=1;
printf("GOTO RD: %.4lf %.4lf\n", ra, decl);
gto_track();
return 0;
usage:
printf("miniterm -d+HH*MM:SS -RHH:MM:SS [-b<baudrate>] [-D<devicename>]\n");
printf("Default baud rate: %d\n", DEFAULT_BAUDRATE);
printf("Default device: %s\n", DEFAULT_GTODEVICE);
printf("-r: set position\n");
printf("-d: set decl\n");
printf("-R: set RA\n");
return 1;
}
int main(int argc, char **argv)
{
pthread_t threads;
int fd, gto, c, cooked_baud;
int bc=0, rs=0, cycle;
double t, t0,t1;
char *sername = DEFAULT_SERDEVICE;
char *gtoname = DEFAULT_GTODEVICE;
struct termios oldsertio, newsertio, oldgtotio, newgtotio;
struct sigaction sa;
static char start_str[] =
"************ REMOTE CONSOLE: CTRL-[ TO QUIT ********\r\n";
static char end_str[] =
"\n************ REMOTE CONSOLE EXITED *****************\n";
char op[] = "PK02003E\n\r";
char buf[100];
while ( --argc != 0 )
{
char *p = argv[argc];
if ( *p++ != '-' )
goto usage;
if ( *p == 'b' )
{
p++;
if ( (cooked_baud = cook_baud(atoi(p))) == 0 )
{
fprintf(stderr, "Bad baud rate '%d'\n", atoi(p));
goto usage;
}
}
else if ( *p == 'd' )
{
sername = ++p;
if ( *sername == '\0' )
goto usage;
}
else if ( *p == 'D' )
{
gtoname = ++p;
if ( *gtoname == '\0' )
goto usage;
}
else if ( *p == 'g' )
{
bc=0;
}
else if ( *p == 'r' )
{
rs=1;
}
else
goto usage;
}
gto = open(gtoname, O_RDWR | O_NOCTTY);
if ( gto < 0 )
{
perror(gtoname);
exit(-1);
}
cooked_baud=cook_baud(DEFAULT_BAUDRATE);
tcgetattr(gto,&oldgtotio);
newgtotio.c_iflag = IGNBRK | IGNPAR;
newgtotio.c_oflag = OPOST;
newgtotio.c_cflag = cooked_baud | CS8 | CLOCAL | CREAD;
newgtotio.c_lflag = 0;
newgtotio.c_cc[VMIN]=0;
newgtotio.c_cc[VTIME]=8;
tcflush(gto, TCIFLUSH);
tcsetattr(gto,TCSANOW,&newgtotio);
mmp_fd=gto;
GTOCP3_init(TW_LAT, TW_LONGTD, M_RATE0, M_RATE1);
GTOCP3_init_f("gto.conf", rs);
if(bc) {
fd = open(sername, O_RDWR | O_NOCTTY);
if ( fd < 0 )
{
perror(sername);
exit(-1);
}
cooked_baud=cook_baud(DEFAULT_SBAUDRATE);
tcgetattr(fd, &oldsertio);
newsertio.c_cflag = cooked_baud | CS8 | CLOCAL | CREAD;
newsertio.c_iflag = IGNBRK | IGNPAR;
newsertio.c_oflag = OPOST;
newsertio.c_lflag = 0;
newsertio.c_cc[VMIN]=1;
newsertio.c_cc[VTIME]=0;
tcflush(fd, TCIFLUSH);
tcsetattr(fd,TCSANOW,&newsertio);
pthread_create(&threads, NULL, child_thread, (void*)fd);
}
printf("alt: "); scanf("%lf", &t0);
printf("azm: "); scanf("%lf", &t1);
gto_goto_aa(t0,t1);
do {
gto_update();
/*
bc=read(gto,buf,50);
if(bc>0) write(1, buf, bc);
printf("****\n"); fflush(stdout);
MMPGetTime(&cycle);
printf("%d# ", cycle);
MMPGetProfileMode(0,&cycle);
printf("%d$ ",cycle);
MMPGetPosition(0,&cycle);
printf("%d@ ",cycle);
MMPGetAcceleration(0,&cycle);
printf("%.2f/",cycle/65536.0);
MMPGetDeceleration(0,&cycle);
printf("%.2f\n",cycle/65536.0);
MMPSetActualPosition(0, 100);
MMPGetActualPosition(0, &cycle);
printf("%d@\n",cycle);
*/
} while(!usleep(1500000));
return 0;
usage:
printf("miniterm [-b<baudrate>] [-d<devicename>]\n");
printf("Default baud rate: %d\n", DEFAULT_BAUDRATE);
printf("Default device: %s\n", DEFAULT_SERDEVICE);
return 1;
}
