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Edward Emelianov
2026-08-10 10:45:53 +03:00
parent 71b0c9f5af
commit e7b345b377
8 changed files with 43 additions and 37 deletions
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66
BTA_dome_modbus/client.c
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@@ -274,48 +274,43 @@ static int process_system(SSL *ssl){
return TRUE;
}
// check time sync
static int brokenshm = FALSE;
if(M_time - last_mtime + G.T_sync_lost > curtime - t0 || !check_shm_block(&sdat)){ // broken SHM
if(!brokenshm){
static int brokenshmctr = 0;
if(M_time - last_mtime > curtime - t0 + G.T_sync_lost || !check_shm_block(&sdat)){ // broken SHM
if(brokenshmctr == 0){
LOGERR("Stalled or broken SHM block");
brokenshm = TRUE;
}
WARNX("Stalled or broken SHM block; %g -- %g", M_time - last_mtime + G.T_sync_lost, curtime - t0);
if(++brokenshmctr < 10) return TRUE;
return FALSE;
}else brokenshm = FALSE;
}else brokenshmctr = 0;
static int modelused = FALSE;
if(UseModel == FullModel){ // model
if(!modelused){
LOGWARN("Server is in model mode");
modelused = TRUE;
stop_all(ssl);
}
return TRUE;
}else modelused = FALSE;
static int serverisdead = FALSE;
if(ServPID <= 0 || kill(ServPID, 0) < 0){ // dead server
if(!serverisdead){
LOGERR("Main server is dead");
serverisdead = TRUE;
}
return FALSE;
}else serverisdead = FALSE;
if(!G.emulmode){
if(UseModel == FullModel){ // model
if(!modelused){
LOGWARN("Server is in model mode");
modelused = TRUE;
stop_all(ssl);
}
return TRUE;
}else modelused = FALSE;
static int serverisdead = FALSE;
if(ServPID <= 0 || kill(ServPID, 0) < 0){ // dead server
WARNX("Main server is dead");
if(!serverisdead){
LOGERR("Main server is dead");
serverisdead = TRUE;
return TRUE;
}
return FALSE;
}else serverisdead = FALSE;
}
if(check_motor(ssl, curMotNo)){
// TODO: check state for errors
if(++curMotNo >= MOTORS_AMOUNT) curMotNo = 0;
}
if(!D_Locked && Dome_State != D_Off) chk_dome_speed(ssl);
#if 0
if(curtime - t0 > 3.){
sprintf(buf, "help\n");
SSL_write(ssl, buf, strlen(buf));
/*DBG("OLD: %g", val_Hmd);
val_Hmd = 55. + drand48() * 15.;
DBG("New: %g", val_Hmd);*/
t0 = curtime;
}
#endif
;
return FALSE;
return TRUE;
}
/*
@@ -358,18 +353,23 @@ void clientproc(SSL_CTX *ctx, int fd){
}
while(isrunning){
if(!process_system(ssl)){
LOGERR("Motors error");
WARNX("ERROR!");
stop_all(ssl);
sleep(5);
break;
}
// clear receiving buffer (TODO: parse it?)
bytes = SSL_nbread(ssl, buf, sizeof(buf));
if(bytes > 0){
buf[bytes] = 0;
printf("Received: \"%s\"\n", buf);
fprintf(stderr, "Received: \"%s\"\n", buf);
}else if(bytes < 0){
LOGWARN("Server disconnected or other error");
ERRX("Disconnected");
}
usleep(100000);
}
DBG("Exit; isrunning=%d", isrunning);
SSL_free(ssl);
}