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add working with pseudo-FX3U with my firmware

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This commit is contained in:
Edward Emelianov
2026-09-29 17:06:31 +03:00
parent 985a179b87
commit 1db54ed07c
11 changed files with 297 additions and 15 deletions
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92
BTA_dome_modbus/server.c
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@@ -21,6 +21,7 @@
#include "cmdlnopts.h"
#include "daemon.h" // isrunning
#include "handlers_list.h"
#include "io.h"
#include "motors.h"
#include "server.h"
@@ -146,6 +147,7 @@ void serverproc(SSL_CTX *ctx, int fd){
//int P = 0;
while(isrunning){
motors_process();
io_process();
/*double tnow = sl_dtime();
if(tnow - t0 > 5. && nfd > 1){ // broadcasting message
//DBG("send ping");
@@ -217,7 +219,15 @@ void serverproc(SSL_CTX *ctx, int fd){
}
/****************** Protocol handlers (return 0 in case of success or error code >0 if failed) ******************/
sl_sock_hresult_e forbidden_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e adc_handler(int _U_ index, char value[SL_VAL_LEN]){
int I; uint16_t val;
if(!ISSETTER(value) || !sl_str2i(&I, value)) return RESULT_BADVAL;
if(!io_read_adc(I, &val)) return RESULT_BADVAL;
snprintf(value, SL_VAL_LEN-1, "%d", val);
return RESULT_SILENCE;
}
static sl_sock_hresult_e forbidden_handler(int _U_ index, char value[SL_VAL_LEN]){
int I;
if(ISSETTER(value)){
if(!sl_str2i(&I, value)) return RESULT_BADVAL;
@@ -227,6 +237,66 @@ sl_sock_hresult_e forbidden_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
snprintf(value, SL_VAL_LEN-1, "%d", forbidden);
return RESULT_SILENCE;
}
static sl_sock_hresult_e inputs_handler(int _U_ index, char value[SL_VAL_LEN]){
if(ISSETTER(value)) return RESULT_BADVAL;
char inputs[NINPUTS], *ptr = value;
size_t restofline = SL_VAL_LEN - 1;
int triggered = io_read_inputs(inputs);
for(int i = 0; i < NINPUTS && restofline; ++i, ++ptr, --restofline){
if(inputs[i]) *ptr = '1';
else *ptr = '0';
}
if(restofline && triggered) *ptr++ = 'T';
*ptr = 0;
return RESULT_SILENCE;
}
// common getter for all relay commands
static void read_relays(char value[SL_VAL_LEN]){
char relays[NRELAYS], *ptr = value;
size_t restofline = SL_VAL_LEN - 1;
io_read_relays(relays);
for(int i = 0; i < NRELAYS && restofline; ++i, ++ptr, --restofline){
if(relays[i]) *ptr = '1';
else *ptr = '0';
}
*ptr = 0;
}
static sl_sock_hresult_e relayon_handler(int _U_ index, char value[SL_VAL_LEN]){
if(!ISSETTER(value)){
read_relays(value);
return RESULT_SILENCE;
}
int I;
if(!sl_str2i(&I, value)) return RESULT_BADVAL;
if(!io_relay_on(I)) return RESULT_FAIL;
return RESULT_OK;
}
static sl_sock_hresult_e relayoff_handler(int _U_ index, char value[SL_VAL_LEN]){
if(!ISSETTER(value)){
read_relays(value);
return RESULT_SILENCE;
}
int I;
if(!sl_str2i(&I, value)) return RESULT_BADVAL;
if(!io_relay_off(I)) return RESULT_FAIL;
return RESULT_OK;
}
static sl_sock_hresult_e relayset_handler(int _U_ index, char value[SL_VAL_LEN]){
if(!ISSETTER(value)){
read_relays(value);
return RESULT_SILENCE;
}
int I;
if(!sl_str2i(&I, value)) return RESULT_BADVAL;
if(!io_set_relays(I)) return RESULT_FAIL;
return RESULT_OK;
}
// key - keyword (command name), value - i/o buffer (value[0]==0 for getters)
/*
sl_sock_hresult_e current_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
@@ -239,7 +309,7 @@ sl_sock_hresult_e current_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}*/
sl_sock_hresult_e motcurrent_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e motcurrent_handler(int _U_ index, char value[SL_VAL_LEN]){
if(ISSETTER(value)) return RESULT_BADVAL; // only getter
double D;
if(!motors_get_actcurrent(&D)) return RESULT_FAIL;
@@ -247,7 +317,7 @@ sl_sock_hresult_e motcurrent_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}
sl_sock_hresult_e motnum_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e motnum_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
int I;
if(ISSETTER(value)){
if(!sl_str2i(&I, value) || !motors_set_activenum(I)) return RESULT_BADVAL;
@@ -257,7 +327,7 @@ sl_sock_hresult_e motnum_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}
sl_sock_hresult_e motspeed_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e motspeed_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
if(ISSETTER(value)) return RESULT_BADVAL; // only getter
double D;
if(!motors_get_actspeed(&D)) return RESULT_FAIL;
@@ -265,7 +335,7 @@ sl_sock_hresult_e motspeed_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}
sl_sock_hresult_e motstatus_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e motstatus_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
if(ISSETTER(value)) return RESULT_BADVAL; // only getter
int I;
if(!motors_get_actstatus(&I)) return RESULT_FAIL;
@@ -277,7 +347,7 @@ sl_sock_hresult_e relay_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}*/
sl_sock_hresult_e speed_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e speed_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
double D;
if(ISSETTER(value)){
if(forbidden) return RESULT_FAIL;
@@ -288,17 +358,17 @@ sl_sock_hresult_e speed_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}
sl_sock_hresult_e stop_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e stop_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
motors_stop();
return RESULT_OK;
}
sl_sock_hresult_e nmotors_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e nmotors_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
snprintf(value, SL_VAL_LEN-1, "%d", motors_get_working_amount());
return RESULT_SILENCE;
}
sl_sock_hresult_e logprefix_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e logprefix_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
if(ISSETTER(value)){
// chkeck `value`:
if(set_logfile_prefix(value)) return RESULT_OK;
@@ -307,12 +377,12 @@ sl_sock_hresult_e logprefix_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
return RESULT_SILENCE;
}
sl_sock_hresult_e startlog_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e startlog_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
if(start_log()) return RESULT_OK;
return RESULT_FAIL;
}
sl_sock_hresult_e stoplog_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
static sl_sock_hresult_e stoplog_handler(int _U_ index, char _U_ value[SL_VAL_LEN]){
stop_log();
return RESULT_OK;
}