..

BTA_dome_modbus/build

@@ -0,0 +1,2 @@
+#!/bin/bash
+su -c "make debug; chmod a+s dome_client"

BTA_dome_modbus/client.c

@@ -274,15 +274,17 @@ static int process_system(SSL *ssl){
         return TRUE;
     }
     // check time sync
-    static int brokenshm = FALSE;
+    static int brokenshmctr = 0;
-    if(M_time - last_mtime + G.T_sync_lost > curtime - t0 || !check_shm_block(&sdat)){ // broken SHM
+    if(M_time - last_mtime > curtime - t0 + G.T_sync_lost || !check_shm_block(&sdat)){ // broken SHM
-        if(!brokenshm){
+        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(!G.emulmode){
         if(UseModel == FullModel){ // model
             if(!modelused){
                 LOGWARN("Server is in model mode");
@@ -293,29 +295,22 @@ static int process_system(SSL *ssl){
         }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);
 }

BTA_dome_modbus/cmdlnopts.c

@@ -71,6 +71,7 @@ static sl_option_t cmdlnopts[] = {
     {"mottmout",NEED_ARG,   NULL,   'M',    arg_double, APTR(&G.speedchk_interval), _("interval of motor's speed checking, s (default: 10)")},
     {"server",  NEED_ARG,   NULL,   's',    arg_string, APTR(&G.serverhost), _("server node, IP:port")},
     {"lostsync",NEED_ARG,   NULL,   'L',    arg_double, APTR(&G.T_sync_lost),_("\"lost synchronization\" timeout, s (default: 5)")},
+    {"emulation",NO_ARGS,   NULL,   'e',    arg_int,    APTR(&G.emulmode),  _("run even in emulation mode")},
 #endif
    end_option
 };

BTA_dome_modbus/cmdlnopts.h

@@ -34,6 +34,7 @@
  * here are some typedef's for global data
  */
 typedef struct{
+    int emulmode;           // emulation mode: don't check server & run in model mode
     double acc_timeout;     // network timeout, s
     double T_sync_lost;     // "lost synchronization" timeout, s
     double speedchk_interval;// interval of motors' speed checking (resend command if don't reach yet)

BTA_dome_modbus/main.c

@@ -24,5 +24,6 @@
 int main(int argc, char **argv){
     sl_init();
     parse_args(argc, argv);
+    DBG("START");
     return start_daemon();
 }

BTA_dome_modbus/motors.c

@@ -36,7 +36,7 @@ current=xx - (sg)
 
 // set points
 static double currentSet = 0., speedSet = 0.;
-// current motor for status etc. getters
+// current motor for status etc. getters (0..MOTORS_AMOUNT-1)
 static int motindex = 0;
 
 // stop all
@@ -76,7 +76,8 @@ int motors_set_speedsetpoint(double val){
 int motors_get_activenum(){ return motindex; }
 // set number of active motor
 int motors_set_activenum(int N){
-    if(N < 1 || N > MOTORS_AMOUNT) return FALSE;
+    DBG("Set active motor=%d", N);
+    if(N < 0 || N >= MOTORS_AMOUNT) return FALSE;
     motindex = N;
     return TRUE;
 }

BTA_dome_modbus/run_client

@@ -1,3 +1,3 @@
 #!/bin/bash
 rm client.log 2>/dev/null
-./dome_client -a ca/ca/ca_cert.pem -c ca/client/client_cert.pem -k ca/client/private/client_key.pem -vvv -s localhost -l client.log
+./dome_client -a ca/ca/ca_cert.pem -c ca/client/client_cert.pem -k ca/client/private/client_key.pem -vvv -s localhost -l client.log $@

BTA_dome_modbus/run_server

@@ -1,3 +1,3 @@
 #!/bin/bash
 rm server.log 2>/dev/null
-./dome_server -a ca/ca/ca_cert.pem -c ca/server/server_cert.pem -k ca/server/private/server_key.pem -vvvl server.log
+./dome_server -a ca/ca/ca_cert.pem -c ca/server/server_cert.pem -k ca/server/private/server_key.pem -vvvl server.log $@