Function ars_set_position_sync

rotators/ars/ars.c:451–569

* ars_set_position_sync() is synchronous. * See handle_set_position_async() for asynchronous thread handler, * with wait loop in background */

 * with wait loop in background
 */
int
ars_set_position_sync(ROT *rot, azimuth_t az, elevation_t el)
{
    azimuth_t curr_az, prev_az;
    elevation_t curr_el, prev_el;
    int retval;
    int az_move, el_move;
    struct timeval last_pos_az_tv, last_pos_el_tv;

    rig_debug(RIG_DEBUG_TRACE, "%s called: %.1f %.1f\n", __func__, az, el);

    ars_stop(rot);

    retval = ars_get_position(rot, &curr_az, &curr_el);

    if (retval != RIG_OK)
    {
        return retval;
    }

    /* watchdog init */
    prev_az = curr_az;
    prev_el = curr_el;
    gettimeofday(&last_pos_az_tv, NULL);
    last_pos_el_tv = last_pos_az_tv;

    while (!angle_in_range(curr_az, az, AZ_RANGE) ||
            (ars_has_el(rot) && !angle_in_range(curr_el, el, EL_RANGE))
          )
    {

        if (curr_az < (az - AZ_RANGE))
        {
            az_move = ROT_MOVE_RIGHT;
        }
        else if (curr_az > (az + AZ_RANGE))
        {
            az_move = ROT_MOVE_LEFT;
        }
        else
        {
            az_move = 0;
        }

        if (ars_has_el(rot))
        {
            if (curr_el < (el - EL_RANGE))
            {
                el_move = ROT_MOVE_UP;
            }
            else if (curr_el > (el + EL_RANGE))
            {
                el_move = ROT_MOVE_DOWN;
            }
            else
            {
                el_move = 0;
            }