add modbus support, need to test

BTA_dome_modbus/Makefile

@@ -47,6 +47,7 @@ $(CLIENT) : $(COBJDIR) $(COBJS)
 
 
 $(SERVER) : DEFINES += -DSERVER
+$(SERVER) : LDFLAGS += -lmodbus
 $(SERVER) : $(SOBJDIR) $(SOBJS)
 	@echo -e "\tLD $(SERVER)"
 	$(CC) $(LDFLAGS) $(SOBJS) -o $(SERVER)
@@ -58,16 +59,17 @@ $(COBJDIR):
 	@mkdir $(COBJDIR)
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(DEPS)
+-include $(SDEPS)
+-include $(CDEPS)
 endif
 
 $(COBJDIR)/%.o: %.c 
 	@echo -e "\tCC $<"
-	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+	$(CC) -MP -MMD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
 
 $(SOBJDIR)/%.o: %.c 
 	@echo -e "\t\tCC $<"
-	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+	$(CC) -MP -MMD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
 
 clean:
 	@echo -e "\t\tCLEAN"

BTA_dome_modbus/client.c

@@ -161,9 +161,10 @@ static sl_sock_hresult_e send_motor_command(SSL *ssl, const char *cmd, value_t *
 // emergency stop motors
 static void stop_all(SSL *ssl){
     int ntries = 0;
-    value_t speed = {.type = ARG_TYPE_DOUBLE, .d = 0.};
+    //value_t speed = {.type = ARG_TYPE_DOUBLE, .d = 0.};
     while(ntries < 5){
-        if(RESULT_OK == send_motor_command(ssl, cmd_speed, &speed, NULL)) break;
+        //if(RESULT_OK == send_motor_command(ssl, cmd_speed, &speed, NULL)) break;
+        if(RESULT_OK == send_motor_command(ssl, cmd_stop, NULL, NULL)) break;
         ++ntries;
         usleep(100000);
     }
@@ -328,18 +329,9 @@ static char *time_asc(double t){
 }
 */
 
-void clientproc(SSL_CTX *ctx, int fd){
-    FNAME();
-    SSL *ssl;
-    char buf[1024];
-    int bytes;
-    sdat.mode |= 0200; // allow W
-    sdat.atflag = 0; // clear SHM_RDONLY
-    if(!get_shm_block(&sdat, ClientSide)){
-        LOGERR("Can't get SHM block");
-        ERRX("Can't get SHM block");
-    }
-    ssl = SSL_new(ctx);
+// open SSL connection for client
+static SSL *openConn(SSL_CTX *ctx, int fd){
+    SSL *ssl = SSL_new(ctx);
     SSL_set_fd(ssl, fd);
     int c = SSL_connect(ssl);
     if(c < 0){
@@ -351,6 +343,21 @@ void clientproc(SSL_CTX *ctx, int fd){
         LOGERR("Can't make socket nonblocking");
         ERRX("ioctl()");
     }
+    return ssl;
+}
+
+// run main client process
+void clientproc(SSL_CTX *ctx, int fd){
+    FNAME();
+    char buf[1024];
+    SSL *ssl = openConn(ctx, fd);
+    if(!ssl) return;
+    sdat.mode |= 0200; // allow W
+    sdat.atflag = 0; // clear SHM_RDONLY
+    if(!get_shm_block(&sdat, ClientSide)){
+        LOGERR("Can't get SHM block");
+        ERRX("Can't get SHM block");
+    }
     while(isrunning){
         if(!process_system(ssl)){
             LOGERR("Motors error");
@@ -360,7 +367,7 @@ void clientproc(SSL_CTX *ctx, int fd){
             break;
         }
         // clear receiving buffer (TODO: parse it?)
-        bytes = SSL_nbread(ssl, buf, sizeof(buf));
+        int bytes = SSL_nbread(ssl, buf, sizeof(buf)-1);
         if(bytes > 0){
             buf[bytes] = 0;
             fprintf(stderr, "Received: \"%s\"\n", buf);
@@ -373,3 +380,40 @@ void clientproc(SSL_CTX *ctx, int fd){
     DBG("Exit; isrunning=%d", isrunning);
     SSL_free(ssl);
 }
+
+// run in terminal mode
+void terminal(SSL_CTX *ctx, int fd){
+    FNAME();
+    char buf[1024], *lptr = NULL;
+    size_t N = 0;
+    SSL *ssl = openConn(ctx, fd);
+    if(!ssl) return;
+    int printed = FALSE;
+    while(isrunning){
+        if(!printed){
+            printf("> ");
+            fflush(stdout);
+            printed = TRUE;
+        }
+        if(sl_canread(0)){
+            ssize_t L = getline(&lptr, &N, stdin);
+            if(L > (ssize_t)(sizeof(buf)-1)) WARNX("String too long!");
+            else if(L > 0){
+                SSL_write(ssl, lptr, L);
+            }
+        }
+        int bytes = 0;
+        while((bytes = SSL_nbread(ssl, buf, sizeof(buf)-1))){
+            if(bytes > 0){
+                buf[bytes] = 0;
+                printf("< %s\n", buf);
+            }else{
+                LOGWARN("Server disconnected or other error");
+                ERRX("Disconnected");
+            }
+            usleep(10000);
+            printed = FALSE;
+        }
+    }
+    SSL_free(ssl);
+}

BTA_dome_modbus/client.h

@@ -21,3 +21,4 @@
 #include "sslsock.h"
 
 void clientproc(SSL_CTX *ctx, int fd);
+void terminal(SSL_CTX *ctx, int fd);

BTA_dome_modbus/cmdlnopts.c

@@ -46,8 +46,10 @@ glob_pars G = {
     .key = DEFKEY,
     .ca = DEFCA,
     .acc_timeout = 1.,
+#ifdef CLIENT
     .T_sync_lost = 5.,
     .speedchk_interval = 10.,
+#endif
 };
 
 /*
@@ -66,12 +68,16 @@ static sl_option_t cmdlnopts[] = {
     {"ca",      NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.ca),        _("path to SSL ca - base cert (default:" DEFCA ")")},
     {"timeout", NEED_ARG,   NULL,   't',    arg_double, APTR(&G.acc_timeout),_("network timeout, s (default: 1)")},
 #ifdef SERVER
+    {"emulation",NO_ARGS,   NULL,   'e',    arg_int,    APTR(&G.emulmode),  _("run server in emulation mode")},
+    {"serialdev",NEED_ARG,  NULL,   'd',    arg_string, APTR(&G.serialpath),_("path to RS-485 device")},
+    {"serialspeed",NEED_ARG,NULL,   's',    arg_int,    APTR(&G.serialspeed),_("speed of serial device")},
 #endif
 #ifdef CLIENT
     {"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")},
+    {"emulation",NO_ARGS,   NULL,   'e',    arg_int,    APTR(&G.emulmode),  _("run client even in emulation mode")},
+    {"terminal",NO_ARGS,    NULL,   'T',    arg_int,    APTR(&G.terminal),  _("run client in terminal mode")},
 #endif
    end_option
 };

BTA_dome_modbus/cmdlnopts.h

@@ -36,8 +36,6 @@
 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)
     char *pidfile;          // name of PID file
     char *logfile;          // logging to this file
     char *cert;             // sertificate
@@ -45,8 +43,15 @@ typedef struct{
     char *port;             // port number
     int verbose;            // logfile verbose level
     char *ca;               // ca
+#ifdef SERVER
+    int serialspeed;        // speed of serial device
+    char *serialpath;       // path to RS-485 device
+#endif
 #ifdef CLIENT
+    int terminal;           // run client in terminal mode
+    double speedchk_interval;// interval of motors' speed checking (resend command if don't reach yet)
     char *serverhost;       // server IP address
+    double T_sync_lost;     // "lost synchronization" timeout, s
 #endif
 } glob_pars;
 

BTA_dome_modbus/daemon.c

@@ -58,6 +58,7 @@ int start_daemon(){
     int port = atoi(G.port);
     if(port < 1024 || port > 65535){
         LOGERR("Wrong port value: %d", port);
+        WARNX("Wrong port value: %d", port);
         return 1;
     }
     FILE *f = fopen(G.cert, "r");
@@ -66,12 +67,14 @@ int start_daemon(){
     f = fopen(G.key, "r");
     if(!f) ERR("Can't open certificate key file %s", G.key);
     fclose(f);
-#ifdef EBUG
-    printf("cert: %s, key: %s\n", G.cert, G.key);
-#endif
+    DBG("cert: %s, key: %s\n", G.cert, G.key);
 #ifdef CLIENT
     //DBG("server: %s", G.serverhost);
     if(!G.serverhost) ERRX("Point server name");
+    if(G.terminal){
+        isrunning = TRUE;
+        return open_socket();
+    }
 #endif
     if(G.logfile){
         int lvl = LOGLEVEL_WARN + G.verbose;

BTA_dome_modbus/esq770.h

@@ -0,0 +1,57 @@
+/*
+ * This file is part of the sslsosk project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// Registers and their fields for ESQ-770 frequency converter
+
+// command register (rw)
+#define REG_CMD                 0x2000  // 8192
+// set frequency (rw)
+#define REG_FREQ_SET            0x3000  // 12288
+// torque limit (rw)
+#define REG_TORQUE_LIMIT        0x3006  // 12294
+#define REG_BRAKE_TORQUE_LIMIT  0x3007  // 12295
+// status (r)
+#define REG_STATUS_MAIN         0x6000  // 24576
+#define REG_STATUS_EXT          0x6001  // 24577
+// monitoring (r)
+#define REG_OUTPUT_FREQ         0xA201  // 41473 (freq * 100)
+#define REG_OUTPUT_CURRENT      0xA204  // 41476 (current * 10)
+#define REG_MOTOR_SPEED         0xA205  // 41477 (speed, depends on settings)
+
+// REG_CMD bits
+#define CMD_FORWARD             1
+#define CMD_REVERSE             2
+#define CMD_STOP                5
+#define CMD_FAST_STOP           6
+#define CMD_RESET_FAULT         7
+
+// REG_STATUS_MAIN bits
+#define STATUS_CW               1
+#define STATUS_CCW              2
+#define STATUS_STOP             3
+#define STATUS_ERR              4
+#define STATUS_LOW_V            5
+
+// REG_STATUS_EXT bit
+#define STATUS_READY_MASK       0x01
+
+#define FREQ_SCALE              100.
+#define CURRENT_SCALE           10.
+

BTA_dome_modbus/handlers_list.h

@@ -25,11 +25,12 @@
 
 // Handlers in this list MUST be in sortered order (by name)!!!
 #define HANDLERS_LIST() \
-NEW_HANDLER(motcurrent, "motor current") \
+NEW_HANDLER(motcurrent, "maximal motor current") \
 NEW_HANDLER(motnum, "active motor number for status requests") \
 NEW_HANDLER(motspeed, "motor speed") \
 NEW_HANDLER(motstatus, "motor status") \
 NEW_HANDLER(speed, "speed setter") \
+NEW_HANDLER(stop, "stop motors") \
 
 /*NEW_HANDLER(current, "current setter") \*/
 /*NEW_HANDLER(relay, "relay command") \*/

BTA_dome_modbus/main.c

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

BTA_dome_modbus/motors.c

@@ -17,9 +17,11 @@
  */
 
 #include <math.h>
+#include <modbus/modbus.h>
 #include <usefull_macros.h>
 
 #include "motors.h"
+#include "esq770.h"
 
 #if 0
 ðÒÏÔÏËÏÌ (s - ÓÅÔÔÅÒ, g - getteer):
@@ -34,19 +36,72 @@ speed=xx - (sg)
 current=xx - (sg) ÕÓÔÁ×ËÁ ÔÏËÁ
 #endif
 
+static modbus_t *modbus_ctx = NULL;
+static motor_state_t motstates[MOTORS_AMOUNT] = {0};
+
 // set points
-static double currentSet = 0., speedSet = 0.;
+static double currentSet = DEFAULT_CURRENT, speedSet = 0.;
+// flags for main routine
+static union{
+    struct{
+        uint32_t change_speed : 1;
+        uint32_t change_current : 1;
+        uint32_t stop : 1;
+    };
+    uint32_t all;
+} flags = {0};
+
+// emulation mode parameters
+/*static struct{
+    double tlast;
+
+} emulpar = {0};*/
+
 // current motor for status etc. getters (0..MOTORS_AMOUNT-1)
 static int motindex = 0;
 
-// stop all
-void motors_stop(){
+// close modbus connection
+static void motors_close_m(){
+    if(modbus_ctx){
+        modbus_close(modbus_ctx);
+        modbus_free(modbus_ctx);
+        modbus_ctx = NULL;
+    }
+}
+static void motors_close_e(){ // stub for emulation mode
     ;
 }
 
-// close modbus connection
-void modbus_close(){
-    ;
+// open modbus @ given speed; return FALSE if failed
+static int motors_open_m(const char *path, int speed){
+    if(speed < 1200 || !path){
+        WARNX("Point path and right speed");
+        return FALSE;
+    }
+    if(modbus_ctx) motors_close_m();
+    modbus_ctx = modbus_new_rtu(path, speed, 'N', 8, 1);
+    if(!modbus_ctx){
+        WARNX("Can't open device %s @ %d", path, speed);
+        LOGERR("Can't open device %s @ %d", path, speed);
+        return FALSE;
+    }
+    modbus_set_response_timeout(modbus_ctx, 0, 50000); // 50ms response timeout
+    if(modbus_connect(modbus_ctx) < 0){
+        WARNX("Can't connect to device %s", path);
+        LOGERR("Can't connect to device %s", path);
+        motors_close_m();
+        return FALSE;
+    }
+    return TRUE;
+}
+static int motors_open_e(const char _U_ *path, int _U_ speed){ // stub for emulation mode
+    return TRUE;
+}
+
+
+// stop all
+void motors_stop(){
+    flags.stop = 1;
 }
 
 // current setpoint getter
@@ -56,7 +111,9 @@ double motors_get_curntsetpoint(){
 // set setpoint of current
 int motors_set_curntsetpoint(double val){
     if(val < 0. || val > MAX_CURRENT) return FALSE;
-    // do something
+    DBG("Change max current to %g", val);
+    currentSet = val;
+    flags.change_current = 1;
     return TRUE;
 }
 
@@ -68,7 +125,9 @@ double motors_get_speedsetpoint(){
 int motors_set_speedsetpoint(double val){
     double absval = fabs(val);
     if(absval > MAX_SPEED) return FALSE;
-    // do something
+    DBG("Change speed setpoint to %g", val);
+    speedSet = val;
+    flags.change_speed = 1;
     return TRUE;
 }
 
@@ -84,18 +143,133 @@ int motors_set_activenum(int N){
 
 // get current value for active motor
 int motors_get_actcurrent(double *val){
-    if(val) *val = 0.;
+    if(val) *val = motstates[motindex].current;
     return TRUE;
 }
 
 // get speed for active motor
 int motors_get_actspeed(double *val){
-    if(val) *val = 0.;
+    if(val) *val = motstates[motindex].speed;
     return TRUE;
 }
 
 // get status for active motor
 int motors_get_actstatus(int *val){
-    if(val) *val = 0;
+    if(val) *val = motstates[motindex].status;
     return TRUE;
 }
+
+// main motors processing routine
+static void motors_process_m(){
+    static int curN = 0, errctr = 0;
+    static int error_cnt[MOTORS_AMOUNT] = {0};
+    if(!modbus_ctx || errctr > 100){
+        LOGERR("Modbus not inited or other error!");
+        ERRX("Modbus not inited or other error!");
+    }
+    if(flags.all){
+        if(-1 == modbus_set_slave(modbus_ctx, 0)) goto reg_error;
+        if(flags.stop){
+            speedSet = 0.;
+            // send command stop
+            if(-1 == modbus_write_register(modbus_ctx, REG_CMD, CMD_STOP)) goto reg_error;
+        }
+        if(flags.change_current){
+            // TODO: send command "max current"?
+        }
+        if(flags.change_speed){
+            // send command "set speed"
+            uint16_t dir = (speedSet > 0.) ? CMD_FORWARD : CMD_REVERSE;
+            uint16_t freq = (uint16_t)(fabs(speedSet) * FREQ_SCALE);
+            if(-1 == modbus_write_register(modbus_ctx, REG_FREQ_SET, freq)) goto reg_error;
+            if(-1 == modbus_write_register(modbus_ctx, REG_CMD, dir)) goto reg_error;
+        }
+        flags.all = 0;
+    }
+    // set slave N
+    if(-1 == modbus_set_slave(modbus_ctx, curN)) goto reg_error;
+    // ask for speed/status/current
+    uint16_t regs[2];
+    if(-1 == modbus_read_registers(modbus_ctx, REG_STATUS_MAIN, 2, regs)){
+        if((++error_cnt[curN]) > MAX_ERRORS){ // not answer - set MOT_OFF status
+            motstates[curN].status = MOT_OFF;
+            LOGDBG("Motor %d not responce", curN);
+        }
+        if(++curN >= MOTORS_AMOUNT) curN = 0;
+        return;
+    }
+    error_cnt[curN] = 0;
+    switch(regs[0]){
+        case STATUS_CW:
+        case STATUS_CCW:
+            motstates[curN].status = MOT_RUN;
+            break;
+        case STATUS_STOP:
+            motstates[curN].status = MOT_SLEEP;
+            break;
+        default:
+            motstates[curN].status = MOT_ERROR;
+    }
+    if(regs[1] & STATUS_READY_MASK) motstates[curN].status = MOT_ERROR;
+    if(motstates[curN].status == MOT_ERROR) modbus_write_register(modbus_ctx, REG_CMD, CMD_RESET_FAULT);
+    if(-1 == modbus_read_registers(modbus_ctx, REG_OUTPUT_FREQ, 1, &regs[0])) regs[0] = 0;
+    if(-1 == modbus_read_registers(modbus_ctx, REG_OUTPUT_CURRENT, 1, &regs[1])) regs[1] = 0;
+    motstates[curN].speed = ((double)regs[0]) / FREQ_SCALE;
+    motstates[curN].current = ((double)regs[1]) / CURRENT_SCALE;
+    if(++curN >= MOTORS_AMOUNT) curN = 0;
+    errctr = 0;
+    return;
+reg_error:
+    ++errctr;
+}
+static void motors_process_e(){
+    static double t0 = -1., curspeed = 0.;
+    double curt = sl_dtime(), dt = curt - t0, curcurrent = 0.;
+    int curstatus = motstates[0].status;
+    if(t0 < 0.){
+        t0 = curt;
+        // init state ("turn motors on")
+        for(int i = 0; i < MOTORS_AMOUNT; ++i) motstates[i].status = MOT_SLEEP;
+        return;
+    }
+    if(flags.all){
+        if(flags.stop){
+            speedSet = 0.;
+            if(curstatus != MOT_RUN) curstatus = MOT_SLEEP;
+        }
+        flags.all = 0;
+    }
+    if(fabs(curspeed - speedSet) > SPEED_TOLERANCE){ // need to calculate new speed value
+        double acceleration = (curspeed < speedSet) ? EMUL_ACCEL : -EMUL_ACCEL;
+        double newspeed = curspeed + acceleration * dt / 60.; // acceleration in min^{-2}
+        if(acceleration > 0.){
+            if(newspeed > speedSet) newspeed = speedSet;
+        }else{
+            if(newspeed < speedSet) newspeed = speedSet;
+        }
+        curspeed = newspeed;
+        curcurrent = currentSet;
+        curstatus = MOT_RUN;
+        DBG("Now speed = %g", curspeed);
+    }else{
+        if(fabs(curspeed) < SPEED_TOLERANCE) curstatus = MOT_SLEEP; // stopped
+        else curcurrent = currentSet * 0.6;
+    }
+    t0 = curt;
+    for(int i = 0; i < MOTORS_AMOUNT; ++i){
+        motstates[i].status = curstatus;
+        motstates[i].current = curcurrent;
+        motstates[i].speed = curspeed;
+    }
+}
+
+int (*motors_open)(const char *, int) = motors_open_m;
+void (*motors_close)() = motors_close_m;
+void (*motors_process)() = motors_process_m;
+
+void set_emulation_mode(){
+    LOGMSG("Set emulation mode");
+    motors_open =  motors_open_e;
+    motors_close = motors_close_e;
+    motors_process = motors_process_e;
+}

BTA_dome_modbus/motors.h

@@ -18,13 +18,21 @@
 
 #pragma once
 
-#define MAX_SPEED       (700.)
-#define MAX_CURRENT     (15.)
-#define MOTORS_AMOUNT   (10)
+// max errors per motor to mean it OFF
+#define MAX_ERRORS      5
+
+#define MAX_SPEED       700.
+#define SPEED_TOLERANCE 0.01
+// emulation acceleration, min^-2
+#define EMUL_ACCEL      20000.
+#define MAX_CURRENT     15.
+#define DEFAULT_CURRENT 10.
+#define MOTORS_AMOUNT   10
 // low, medium and high speeds
-#define LSpeed    71
-#define MSpeed    350
-#define HSpeed    610
+#define LSpeed          71
+#define MSpeed          350
+#define HSpeed          610
+
 
 // ID of first motor minus 1
 #define START_ID        (0)
@@ -45,15 +53,23 @@ typedef struct{
     double current;
 } motor_state_t;
 
-void motors_stop();
 double motors_get_curntsetpoint();
-int motors_set_curntsetpoint(double val);
-double motors_get_speedsetpoint();
-int motors_set_speedsetpoint(double val);
-int motors_get_activenum();
-int motors_set_activenum(int N);
-int motors_get_actcurrent(double *val);
-int motors_get_actspeed(double *val);
-int motors_get_actstatus(int *val);
+int motors_set_curntsetpoint(double);
 
-void modbus_close();
+double motors_get_speedsetpoint();
+int motors_set_speedsetpoint(double);
+
+int motors_get_activenum();
+int motors_set_activenum(int);
+
+void motors_stop();
+int motors_get_actcurrent(double*);
+int motors_get_actspeed(double*);
+int motors_get_actstatus(int*);
+
+extern void (*motors_process)();
+
+extern int (*motors_open)(const char *, int);
+extern void (*motors_close)();
+
+void set_emulation_mode();

BTA_dome_modbus/run_client

@@ -1,3 +1,3 @@
 #!/bin/bash
-rm client.log 2>/dev/null
+rm 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
+rm 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 $@

BTA_dome_modbus/server.c

@@ -142,6 +142,7 @@ void serverproc(SSL_CTX *ctx, int fd){
     //char buf[64];
     //int P = 0;
     while(isrunning){
+        motors_process();
         /*double tnow = sl_dtime();
         if(tnow - t0 > 5. && nfd > 1){ // broadcasting message
             //DBG("send ping");
@@ -207,7 +208,7 @@ void serverproc(SSL_CTX *ctx, int fd){
     }
     for(int i = 0; i < nfd; ++i) SSL_free(ssls[i]);
     motors_stop();
-    modbus_close();
+    motors_close();
 }
 
 /****************** Protocol handlers (return 0 in case of success or error code >0 if failed) ******************/
@@ -271,6 +272,11 @@ 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]){
+    motors_stop();
+    return RESULT_OK;
+}
+
 // binary search handler by name
 static int search_handler(const char *name){
     int low = 0;

BTA_dome_modbus/sslsock.c

@@ -26,6 +26,7 @@
 #include "cmdlnopts.h"
 #include "sslsock.h"
 #ifdef SERVER
+#include "motors.h"
 #include "server.h"
 #else
 #include "client.h"
@@ -132,14 +133,21 @@ static SSL_CTX* InitCTX(void){
 }
 
 int open_socket(){
-    int fd;
+    FNAME();
     SSL_library_init();
     SSL_CTX *ctx = InitCTX();
-    fd = OpenConn(atoi(G.port));
+    int fd = OpenConn(atoi(G.port));
 #ifdef SERVER
+    if(G.emulmode) set_emulation_mode();
+    if(!motors_open(G.serialpath, G.serialspeed)){
+        LOGERR("Can't open %s @%d", G.serialpath, G.serialspeed);
+        WARNX("Can't open %s @%d", G.serialpath, G.serialspeed);
+        return 1;
+    }
     serverproc(ctx, fd);
 #else
-    clientproc(ctx, fd);
+    if(G.terminal) terminal(ctx, fd);
+    else clientproc(ctx, fd);
 #endif
     // newer reached
     close(fd);