Merge pull request #1 from thehanslevi/codex/readme-occurred-typo

Fix README typo

Dummy_cameras/dummyfunc.c

@@ -49,7 +49,7 @@ static int campoll(cc_capture_status *st, float *remain){
     if(capstat != CAPTURE_PROCESS){
         if(st) *st = capstat;
         if(remain) *remain = 0.;
-        return TRUE;
+        return FALSE;
     }
     if(sl_dtime() - texpstart > exptime){
         if(st) *st = CAPTURE_READY;

Readme.md

@@ -187,7 +187,7 @@ clients connected.
 When you send a command to server you will receive:
 
 - one of answers - "OK" (all OK), "BUSY" (can't run setter because camera is busy), "FAIL" (some error
-occured), "BADKEY" (wrong key name) or "BADVAL" (wrong key's value) - for procedures and setters
+occurred), "BADKEY" (wrong key name) or "BADVAL" (wrong key's value) - for procedures and setters
 (instead of "OK" you will give "parameter=value" for setter if all OK);
 - "parameter=value" for getters.
 

ccdcapture.c

@@ -24,6 +24,7 @@
 #include <stdio.h>
 #include <string.h>
 #include <sys/ioctl.h>
+#include <sys/stat.h>
 #include <sys/un.h>  // unix socket
 #include <unistd.h>
 #include <usefull_macros.h>
@@ -43,6 +44,82 @@ double __t0 = 0.;
 static int ntries = 2;  // amount of tries to send messages controlling the answer
 double answer_timeout = 0.1; // timeout of waiting answer from server (not static for client.c)
 
+static sem_t *sem = SEM_FAILED;
+
+// client-side SHM lock
+int cc_lock_shm(int isserver){
+    if(sem == SEM_FAILED){
+        DBG("Can't lock NULL");
+        return FALSE;
+    }
+    struct timespec ts = {.tv_sec = 0, .tv_nsec = 10000000};
+    DBG("Try to lock");
+    if(isserver){
+        int locked = TRUE;
+        while(sem_timedwait(sem, &ts) && locked){
+            switch(errno){
+            case EINTR:
+                DBG("Interrupt -> try to lock again");
+                break;
+            default: // timeout or other error -> force locking
+                DBG("Error locking -> force unlock");
+                locked = FALSE;
+            }
+        }
+        if(locked){
+            double t0 = sl_dtime();
+            while(sem_trywait(sem) && sl_dtime() - t0 < 0.1) sem_post(sem); // force locking
+        }
+    }else{
+        if(sem_timedwait(sem, &ts)){
+            DBG("Image semaphore is locked too long by other side");
+            return FALSE; // can't lock
+        }
+    }
+    DBG("Semaphore locked");
+    return TRUE;
+}
+
+void cc_unlock_shm(){
+    if(sem == SEM_FAILED){
+        DBG("Can't unlock NULL");
+        return;
+    }
+    if(sem_post(sem)){
+        switch(errno){
+        case EOVERFLOW: // already unlocked
+            break;
+        default: // not a valid? or other?
+            WARN("Can't unlock image semaphore");
+            LOGERR("Can't unlock image semaphore");
+            return;
+        }
+    }
+    DBG("Semaphore unlocked");
+}
+
+void cc_init_sem(int isserver){
+    if(sem != SEM_FAILED) return;
+    umask(0); // for read-write semaphore
+    // create samaphore if no
+    if(isserver){
+        sem = sem_open(SEM_NAME, O_CREAT, 0666, 1);
+    }else{
+        sem = sem_open(SEM_NAME, 0);
+    }
+    if(sem == SEM_FAILED){
+        LOGERR("sem_open failed: %s", strerror(errno));
+    }
+}
+
+void cc_remove_sem(){
+    if(sem == SEM_FAILED) return;
+    sem_close(sem);
+    DBG("semaphore closed\n");
+    if(-1 == sem_unlink(SEM_NAME))
+        LOGERR("Can't delete semaphore");
+}
+
 /**
  * @brief cc_open_socket - create socket and open it
  * @param isserver  - TRUE for server, FALSE for client
@@ -253,7 +330,7 @@ char *cc_get_keyval(char **keyval){
 cc_IMG *cc_getshm(key_t key, size_t imsize){
     size_t shmsize = sizeof(cc_IMG) + imsize;
     shmsize = 1024 * (1 + shmsize / 1024);
-    DBG("Allocate %zd bytes in shared memory", shmsize);
+    DBG("Shared memory; sizeof(cc_IMG)=%zd, imsize=%zd", sizeof(cc_IMG), imsize);
     int shmid = -1;
     int flags = (imsize) ? IPC_CREAT | 0666 : 0;
     shmid = shmget(key, 0, flags);
@@ -272,9 +349,15 @@ cc_IMG *cc_getshm(key_t key, size_t imsize){
             WARN("Can't create shared memory segment %d", key);
             return NULL;
         }
+    }else{
+#ifdef EBUG
+        struct shmid_ds buf;
+        if(shmctl(shmid, IPC_STAT, &buf)) WARNX("Can't get SHM data");
+        else DBG("SHM size = %zd", buf.shm_segsz);
+#endif
     }
     flags = (imsize) ? 0 : SHM_RDONLY; // client opens memory in readonly mode
-    cc_IMG *ptr = shmat(shmid, NULL, flags);
+    cc_IMG *ptr = shmat(shmid, NULL, 0);
     if(ptr == (void*)-1){
         if(imsize) WARN("Can't attach SHM segment %d", key);
         return NULL;
@@ -442,8 +525,11 @@ int cc_read2buf(int fd, cc_strbuff *buf){
     do{
         rd = read(fd, buf->buf + buf->buflen, maxlen);
         if(rd <= 0){
-            if(errno == EAGAIN || errno == EWOULDBLOCK) continue;
-            goto ret;
+            if(errno == EINTR){
+                DBG("errno=%d, '%s'", errno, strerror(errno));
+                continue;
+            }
+            goto ret; // EAGAIN or other error -> client disconnected
         }else break;
     }while(1);
     DBG("got %zd bytes", rd);
@@ -653,6 +739,7 @@ char *cc_nextkw(char *buf, char record[FLEN_CARD], int newlines){
         }
     }else nextline = buf + (FLEN_CARD - 1);
     strncpy(record, buf, l);
+    if(l < FLEN_CARD) record[l] = 0;
     return nextline;
 }
 

ccdcapture.h

@@ -20,6 +20,7 @@
 
 #include <fitsio.h> // FLEN_CARD
 #include <pthread.h>
+#include <semaphore.h>
 #include <stdint.h>
 #include <stdlib.h> // for size_t
 
@@ -29,10 +30,12 @@
 // magic to mark our SHM
 #define CC_SHM_MAGIC   (0xdeadbeef)
 
+// semaphore for SHM protection
+#define SEM_NAME "ccdcapture"
+
 // base image parameters - sent by socket and stored in shared memory
-typedef struct {
+typedef struct __attribute__((packed)){
     uint32_t MAGICK;            // magick (DEADBEEF) - to mark our shm
-    pthread_mutex_t mutex;      // shared mutex
     double timestamp;           // timestamp of image taken
     uint8_t bitpix;             // bits per pixel (8 or 16)
     int w, h;                   // image size
@@ -198,9 +201,11 @@ typedef struct{
 // wait for mutex locking
 #define CC_BUSY_TIMEOUT    (1.0)
 // wait for exposition ends (between subsequent check calls)
-#define CC_WAIT_TIMEOUT    (2.0)
+#define CC_WAIT_TIMEOUT    (15.0)
 // client will disconnect after this time from last server message
-#define CC_CLIENT_TIMEOUT  (3.0)
+#define CC_CLIENT_TIMEOUT  (30.0)
+// minimal sleep (us) time when client waits for exp end
+#define CC_IMWAIT_SLEEP     (1000)
 
 // fd - socket fd to send private messages, key, val - key and its value
 typedef cc_hresult (*cc_mesghandler)(int fd, const char *key, const char *val);
@@ -221,7 +226,6 @@ typedef enum{
 } cc_camera_state;
 
 // common information about everything
-#define CC_CMD_INFO        "info"
 #define CC_CMD_HELP        "help"
 // restart server
 #define CC_CMD_RESTART     "restartTheServer"
@@ -232,6 +236,7 @@ typedef enum{
 #define CC_CMD_SHMEMKEY    "shmemkey"
 
 // CCD/CMOS
+#define CC_CMD_IMNUMBER    "imnumber"
 #define CC_CMD_PLUGINCMD   "plugincmd"
 #define CC_CMD_CAMLIST     "camlist"
 #define CC_CMD_CAMDEVNO    "camdevno"
@@ -240,7 +245,8 @@ typedef enum{
 #define CC_CMD_HBIN        "hbin"
 #define CC_CMD_VBIN        "vbin"
 #define CC_CMD_CAMTEMPER   "tcold"
-#define CC_CMD_CAMFANSPD   "ccdfanspeed"
+#define CC_CMD_CAMFANSPD   "camfanspeed"
+#define CC_CMD_CAMFLAGS    "camflags"
 #define CC_CMD_SHUTTER     "shutter"
 #define CC_CMD_CONFIO      "confio"
 #define CC_CMD_IO          "io"
@@ -269,11 +275,16 @@ typedef enum{
 #define CC_CMD_FOCLIST     "foclist"
 #define CC_CMD_FDEVNO      "focdevno"
 #define CC_CMD_FGOTO       "focpos"
+#define CC_CMD_FMINPOS     "focminpos"
+#define CC_CMD_FMAXPOS     "focmaxpos"
+#define CC_CMD_FTEMP       "foctemp"
 
 // wheel
 #define CC_CMD_WLIST       "wlist"
 #define CC_CMD_WDEVNO      "wdevno"
 #define CC_CMD_WPOS        "wpos"
+#define CC_CMD_WMAXPOS     "wmaxpos"
+#define CC_CMD_WTEMP       "wtemp"
 
 typedef enum{ // parameter type
     CC_PAR_NONE, // no parameter
@@ -337,3 +348,8 @@ cc_hresult cc_getfloat(int fd, cc_strbuff *cbuf, const char *cmd, float *val);
 char *cc_nextkw(char *buf, char record[FLEN_CARD], int newlines);
 size_t cc_kwfromfile(cc_IMG *img, char *filename);
 //int cc_charbuf2kw(cc_charbuff *b, fitsfile *f);
+
+void cc_init_sem(int isserver);
+int cc_lock_shm(int isserver);
+void cc_unlock_shm();
+void cc_remove_sem();

ccdfunc.c

@@ -384,11 +384,11 @@ void focusers(){
     if(num < 0) num = 0;
     if(num > focuser->Ndevices - 1){
         WARNX(_("Found %d focusers, you point number %d"), focuser->Ndevices, num);
-        return;
+        goto retn;
     }
     if(!focuser->setDevNo(num)){
         WARNX(_("Can't set active focuser number"));
-        return;
+        goto retn;
     }
     char buf[BUFSIZ];
     if(focuser->getModelName(buf, BUFSIZ)){
@@ -402,18 +402,18 @@ void focusers(){
     float minpos, maxpos, curpos;
     if(!focuser->getMinPos(&minpos) || !focuser->getMaxPos(&maxpos)){
         WARNX(_("Can't get focuser limit positions"));
-        return;
+        goto retn;
     }
     verbose(1, "FOCMINPOS=%g", minpos);
     verbose(1, "FOCMAXPOS=%g", maxpos);
     DBG("FOCMINPOS=%g, FOCMAXPOS=%g", minpos, maxpos);
     if(!focuser->getPos(&curpos)){
         WARNX(_("Can't get current focuser position"));
-        return;
+        goto retn;
     }
     verbose(1, "FOCPOS=%g", curpos);
     DBG("Curpos = %g", curpos);
-    if(isnan(GP->gotopos) && isnan(GP->addsteps)) return; // no focuser commands
+    if(isnan(GP->gotopos) && isnan(GP->addsteps)) goto retn; // no focuser commands
     float tagpos = 0.;
     if(!isnan(GP->gotopos)){ // set absolute position
         tagpos = GP->gotopos;
@@ -423,13 +423,15 @@ void focusers(){
     DBG("tagpos: %g", tagpos);
     if(tagpos < minpos || tagpos > maxpos){
         WARNX(_("Can't set position %g: out of limits [%g, %g]"), tagpos, minpos, maxpos);
-        return;
+        goto retn;
     }
     if(tagpos - minpos < __FLT_EPSILON__){
         if(!focuser->home(GP->async)) WARNX(_("Can't home focuser"));
     }else{
         if(!focuser->setAbsPos(GP->async, tagpos)) WARNX(_("Can't set position %g"), tagpos);
     }
+retn:
+    focclose();
 }
 
 cc_Wheel *startWheel(){
@@ -472,11 +474,11 @@ void wheels(){
     if(num < 0) num = 0;
     if(num > wheel->Ndevices - 1){
         WARNX(_("Found %d wheels, you point number %d"), wheel->Ndevices, num);
-        return;
+        goto retn;
     }
     if(!wheel->setDevNo(num)){
         WARNX(_("Can't set active wheel number"));
-        return;
+        goto retn;
     }
     char buf[BUFSIZ];
     if(wheel->getModelName(buf, BUFSIZ)){
@@ -492,17 +494,19 @@ void wheels(){
     }else WARNX("Can't get current wheel position");
     if(!wheel->getMaxPos(&maxpos)){
         WARNX(_("Can't get max wheel position"));
-        return;
+        goto retn;
     }
     verbose(1, "WHEELMAXPOS=%d", maxpos);
     pos = GP->setwheel;
-    if(pos == -1) return; // no wheel commands
+    if(pos == -1) goto retn; // no wheel commands
     if(pos < 0 || pos > maxpos){
         WARNX(_("Wheel position should be from 0 to %d"), maxpos);
-        return;
+        goto retn;
     }
     if(!wheel->setPos(pos))
         WARNX(_("Can't set wheel position %d"), pos);
+retn:
+    closewheel();
 }
 /*
 static void closeall(){
@@ -923,6 +927,7 @@ int start_socket(int isserver){
     }
     if(isserver){
         imsock = cc_open_socket(TRUE, GP->imageport, 2); // image socket should be networked
+        DBG("imsock=%d, image port=%s", imsock, GP->imageport);
         server(sock, imsock);
     }else{
 #ifdef IMAGEVIEW

client.c

@@ -39,11 +39,11 @@ extern double answer_timeout;
 static char sendbuf[BUFSIZ];
 static char *lastfilename = NULL;
 // send message and wait any answer
-#define SENDMSG(...) do{DBG("SENDMSG"); snprintf(sendbuf, BUFSIZ-1, __VA_ARGS__); verbose(2, "\t> %s", sendbuf); cc_sendstrmessage(sock, sendbuf); while(getans(sock, NULL));} while(0)
+#define SENDMSG(...) do{DBG("SENDMSG"); snprintf(sendbuf, BUFSIZ-1, __VA_ARGS__); verbose(2, "\t> %s", sendbuf); if(!cc_sendstrmessage(sock, sendbuf)) ERRX("Server disconnected"); while(getans(sock, NULL));} while(0)
 // send message and wait answer starting with 'cmd'
-#define SENDMSGW(cmd, ...) do{DBG("SENDMSGW"); snprintf(sendbuf, BUFSIZ-1, cmd __VA_ARGS__); verbose(2, "\t> %s", sendbuf); cc_sendstrmessage(sock, sendbuf);}while(!getans(sock, cmd))
+#define SENDMSGW(cmd, ...) do{DBG("SENDMSGW"); snprintf(sendbuf, BUFSIZ-1, cmd __VA_ARGS__); verbose(2, "\t> %s", sendbuf); if(!cc_sendstrmessage(sock, sendbuf)) ERRX("Server disconnected");}while(!getans(sock, cmd))
 // send command and wait for answer on it
-#define SENDCMDW(cmd) do{DBG("SENDCMDW"); strncpy(sendbuf, cmd, BUFSIZ-1); verbose(2, "\t> %s", sendbuf); cc_sendstrmessage(sock, sendbuf);}while(!getans(sock, cmd))
+#define SENDCMDW(cmd) do{DBG("SENDCMDW"); strncpy(sendbuf, cmd, BUFSIZ-1); verbose(2, "\t> %s", sendbuf); if(!cc_sendstrmessage(sock, sendbuf)) ERRX("Server disconnected");}while(!getans(sock, cmd))
 static volatile atomic_int expstate = CAMERA_CAPTURE;
 static int xm0,ym0,xm1,ym1; // max format
 static int xc0,yc0,xc1,yc1; // current format
@@ -53,9 +53,10 @@ static int oldgrabno = 0;
 // IPC key for shared memory
 static cc_IMG ima = {0}, *shmima = NULL; // ima - local storage, shmima - shm (if available)
 static size_t imbufsz = 0; // image buffer for allocated `ima`
-static uint8_t *imbuf = NULL;
-
+static uint8_t *imbuf = NULL; // we can't use shmima->data as it belongs to server, so we use `imbuf` and set ima.data = imbuf
+static int current_image_number = -1; // for net-parser - last number of exposed image
 
+#if 0
 // read message from queue or file descriptor
 static char *readmsg(int fd){
     static cc_strbuff *buf = NULL;
@@ -78,6 +79,7 @@ static char *readmsg(int fd){
     }
     return NULL;
 }
+#endif
 
 #define CMP_ANS(cmd, ans)   strncmp(cmd, ans, sizeof(cmd)-1)
 // parser of CCD server messages; return TRUE to exit from polling cycle of `getans` (if receive 'FAIL', 'OK' or 'BUSY')
@@ -89,7 +91,7 @@ static cc_hresult parseans(char *ans){
     for(cc_hresult res = CC_RESULT_BUSY; res < CC_RESULT_NUM; ++res){
         const char *resmsg = cc_hresult2str(res);
         if(0 == strcmp(resmsg, ans)){
-            WARNX("Server answered: %s", resmsg);
+            verbose(1, "Server answered: %s", resmsg);
             return res;
         }
     }
@@ -97,16 +99,18 @@ static cc_hresult parseans(char *ans){
     if(0 == CMP_ANS(CC_CMD_EXPSTATE, ans)){
         int st = atoi(val);
         atomic_store(&expstate, st);
-        DBG("Exposition state: %d", st);
-        return CC_RESULT_OK;
+        DBG("Current state: %d", atomic_load(&expstate));
+        return CC_RESULT_SILENCE;
     }else if(0 == CMP_ANS(CC_CMD_FRAMEMAX, ans)){
         sscanf(val, "%d,%d,%d,%d", &xm0, &ym0, &xm1, &ym1);
         DBG("Got maxformat: %d,%d,%d,%d", xm0, ym0, xm1, ym1);
-        return CC_RESULT_OK;
+        return CC_RESULT_SILENCE;
     }else if(0 == CMP_ANS(CC_CMD_FRAMEFORMAT, ans)){
         sscanf(val, "%d,%d,%d,%d", &xc0, &yc0, &xc1, &yc1);
         DBG("Got current format: %d,%d,%d,%d", xc0, yc0, xc1, yc1);
-        return CC_RESULT_OK;
+        return CC_RESULT_SILENCE;
+    }else if(0 == CMP_ANS(CC_CMD_IMNUMBER, ans)){
+        current_image_number = atoi(val);
     }
     //TIMESTAMP("parseans() end");
     return CC_RESULT_SILENCE; // echo of sent command or something else
@@ -116,12 +120,28 @@ static cc_hresult parseans(char *ans){
 // if msg != NULL - wait for it in answer
 static int getans(int sock, const char *msg){
     double t0 = sl_dtime();
+    char buf[BUFSIZ+1];
+    int idx = 0;
     char *ans = NULL;
-    double tmout = answer_timeout;
-    if(msg) tmout *= 5.; // make first timeout larger for slow networks
+    TIMESTAMP("GetAns(%s)", msg);
+    double tmout = answer_timeout + 5.; // make first timeout larger for slow networks
+    // TODO: increase first timeout up to 15-30s (add key?)
     cc_hresult res = CC_RESULT_FAIL;
     while(sl_dtime() - t0 < tmout){
-        ans = readmsg(sock);
+        ans = NULL;
+        if(1 == sl_canread(sock)){
+            ssize_t got = read(sock, buf+idx, BUFSIZ-idx);
+            if(got > 0){
+                idx += got;
+                buf[idx] = 0;
+                char *nl = strchr(buf, '\n');
+                if(nl){
+                    *nl = 0;
+                    ans = buf;
+                    DBG("got '%s'", ans);
+                }
+            }
+        }
         if(!ans) continue;
         // got answer -> make timeout less
         tmout = answer_timeout;
@@ -131,14 +151,15 @@ static int getans(int sock, const char *msg){
         DBG("1 msg-> %s, ans -> %s", msg, ans);
         res = parseans(ans);
         DBG("2 msg-> %s, ans -> %s; result: %d", msg, ans, res);
-        if(res == CC_RESULT_SILENCE && msg){
-            if(strncmp(ans, msg, strlen(msg))) continue;
+        if(msg){
+            if(res != CC_RESULT_SILENCE || strncmp(ans, msg, strlen(msg))) continue;
             else res = CC_RESULT_OK;
         }
         DBG("Got answer -> break");
         break;
     }
-    if(!ans) DBG("Got no answer from server");
+    TIMESTAMP("GetAns(%s), ans: '%s', result: %d", msg, ans, res);
+    if(!ans) DBG("Got no answer from server; result=%d", res);
     if(res == CC_RESULT_OK) return TRUE;
     return FALSE;
 }
@@ -161,16 +182,35 @@ static void send_headers(int sock){
     DBG("infty=%d", GP->infty);
     if(GP->infty > -1) SENDMSGW(CC_CMD_INFTY, "=%d", GP->infty);
     // common information
-    SENDMSG(CC_CMD_INFO);
+    if(GP->listdevices) SENDCMDW(CC_CMD_CAMLIST);
+    if(GP->camdevno > -1) SENDMSGW(CC_CMD_CAMDEVNO, "=%d", GP->camdevno);
+    if(GP->info){
+        SENDCMDW(CC_CMD_HBIN);
+        SENDCMDW(CC_CMD_VBIN);
+        SENDCMDW(CC_CMD_CAMTEMPER);
+        SENDCMDW(CC_CMD_EXPOSITION);
+        SENDCMDW(CC_CMD_EXPSTATE);
+    }
     // focuser
     if(GP->listdevices) SENDMSG(CC_CMD_FOCLIST);
     if(GP->focdevno > -1) SENDMSG(CC_CMD_FDEVNO "=%d", GP->focdevno);
+    if(GP->info){
+        SENDCMDW(CC_CMD_FGOTO);
+        SENDCMDW(CC_CMD_FMINPOS);
+        SENDCMDW(CC_CMD_FMAXPOS);
+        SENDCMDW(CC_CMD_FTEMP);
+    }
     if(!isnan(GP->gotopos)){
         SENDMSGW(CC_CMD_FGOTO, "=%g", GP->gotopos);
     }
     // wheel
     if(GP->listdevices) SENDCMDW(CC_CMD_WLIST);
     if(GP->whldevno > -1) SENDMSGW(CC_CMD_WDEVNO, "=%d", GP->whldevno);
+    if(GP->info){
+        SENDCMDW(CC_CMD_WPOS);
+        SENDCMDW(CC_CMD_WMAXPOS);
+        SENDCMDW(CC_CMD_WTEMP);
+    }
     if(GP->setwheel > -1) SENDMSGW(CC_CMD_WPOS, "=%d", GP->setwheel);
     DBG("nxt");
     // CCD/CMOS
@@ -193,8 +233,6 @@ static void send_headers(int sock){
         SENDMSGW(CC_CMD_FRAMEFORMAT, "=%d,%d,%d,%d", GP->X0, GP->Y0, GP->X1, GP->Y1);
     }
     if(GP->cancelexpose) SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_IDLE);
-    if(GP->listdevices) SENDCMDW(CC_CMD_CAMLIST);
-    if(GP->camdevno > -1) SENDMSGW(CC_CMD_CAMDEVNO, "=%d", GP->camdevno);
     if(GP->hbin) SENDMSGW(CC_CMD_HBIN, "=%d", GP->hbin);
     if(GP->vbin) SENDMSGW(CC_CMD_VBIN, "=%d", GP->vbin);
     if(!isnan(GP->temperature)) SENDMSGW(CC_CMD_CAMTEMPER, "=%g", GP->temperature);
@@ -255,9 +293,11 @@ static int getimage(int askheader){
     static double oldtimestamp = -1.;
     TIMESTAMP("Get image sizes");
     if(shmima){ // read image from shared memory
+        DBG("Try to read from SHM");
         double t0 = sl_dtime();
         while(sl_dtime() - t0 < MUTEX_LOCK_TMOUT){
-            if(client_lock_shm(shmima)){
+            if(cc_lock_shm(FALSE)){
+                DBG("Locked");
                 shmlocked = TRUE;
                 break;
             }
@@ -269,7 +309,10 @@ static int getimage(int askheader){
         }
         memcpy(&ima, shmima, sizeof(cc_IMG));
     }else{ // get image by socket
-        imsock = cc_open_socket(FALSE, GP->imageport, TRUE);
+        if(imsock < 0){
+            DBG("Open socket @ %s", GP->imageport);
+            imsock = cc_open_socket(FALSE, GP->imageport, TRUE);
+        }
         if(imsock < 0) ERRX("getimage(): can't open image transport socket");
         // get image size
         if(!readNbytes(imsock, sizeof(cc_IMG), (uint8_t*)&ima)){
@@ -277,6 +320,10 @@ static int getimage(int askheader){
             goto eofg;
         }
     }
+    if(ima.MAGICK != CC_SHM_MAGIC){
+        WARNX("Wrong image: bad magick");
+        goto eofg;
+    }
     if(ima.bytelen < 1){
         WARNX("Wrong image size");
         goto eofg;
@@ -292,11 +339,12 @@ static int getimage(int askheader){
     ima.data = imbuf; // renew this value each time after getting `ima` from server
     TIMESTAMP("Start of data read");
     if(shmima){
-        uint8_t *datastart = (uint8_t*)shmima + sizeof(cc_IMG);
+        uint8_t *datastart = ((uint8_t*)shmima) + sizeof(cc_IMG);
+        DBG("first image byte: %d", *datastart);
         memcpy(imbuf, datastart, ima.bytelen);
         TIMESTAMP("Got by shared memory");
         if(!askheader){
-            unlock_shm(shmima);
+            cc_unlock_shm();
             shmlocked = FALSE;
         }
         ret = TRUE;
@@ -336,12 +384,31 @@ static int getimage(int askheader){
         }else ima.headerstrings = 0;
     }else WARNX("Still got old image");
 eofg:
-    if(imsock != -1) close(imsock);
-    if(shmlocked) unlock_shm(shmima);
+    if(imsock != -1) close(imsock); // reopen in next time in case of error
+    if(shmlocked) cc_unlock_shm();
     return ret;
 }
 
+// get number of current image; return number or -1 if got error/timeout
+static int curImNo(int sock){
+    if(shmima){
+        if(!cc_lock_shm(FALSE)) return -1;
+        int CurNo = shmima->imnumber;
+        cc_unlock_shm();
+        return CurNo;
+    }
+    // no shared memory: try to get number over TCP
+    SENDCMDW(CC_CMD_IMNUMBER);
+    return current_image_number;
+}
+
 void client(int sock){
+    if(sock < 0) ERRX("Can't run without command socket");
+    if(!GP->forceimsock && !shmima){ // init shm buffer if user don't ask to force workign through image socket
+        shmima = cc_getshm(GP->shmkey, 0); // try to init client shm
+        cc_init_sem(FALSE);
+        DBG("Got access to shared memory: %s", shmima ? "OK" : "FAIL");
+    }
     if(GP->restart){
         SENDCMDW(CC_CMD_RESTART);
         return;
@@ -349,55 +416,57 @@ void client(int sock){
     TIMEINIT();
     send_headers(sock);
     TIMESTAMP("Got headers");
-    double t0 = sl_dtime(), tw = t0;
+    double t0 = sl_dtime(), tw, tstart;
     int Nremain = 0, nframe = 1;
     // if client gives filename/prefix or Nframes, make exposition
     if((GP->outfile && *GP->outfile) || (GP->outfileprefix && *GP->outfileprefix) || GP->nframes > 0){
         Nremain = GP->nframes;
         if(Nremain < 1) Nremain = 1;
-        else GP->waitexpend = TRUE; // N>1 - wait for exp ends
-        SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
-    }else{
-        int cntr = 0;
-        while(sl_dtime() - t0 < CC_WAIT_TIMEOUT && cntr < 3)
-            if(!getans(sock, NULL)) ++cntr;
-        DBG("RETURN: no more data");
-        return;
-    }
-    double timeout = GP->waitexpend ? CC_CLIENT_TIMEOUT : CC_WAIT_TIMEOUT;
+        SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE); // call to start capture
+    } else return; // just send headers and exit
+    double timeout = CC_CLIENT_TIMEOUT;
     verbose(1, "Exposing frame 1...");
-    if(GP->waitexpend){
-        atomic_store(&expstate, CAMERA_CAPTURE); // could be changed earlier
-        verbose(2, "Wait for exposition end");
-    }
+    atomic_store(&expstate, CAMERA_CAPTURE); // could be changed earlier
+    DBG("Current state: %d", atomic_load(&expstate));
+    verbose(2, "Wait for exposition end");
+    t0 = sl_dtime();
+    tw = tstart = t0;
+    int lastImNo = curImNo(sock);
     while(sl_dtime() - t0 < timeout){
-        if(GP->waitexpend && sl_dtime() - tw > CC_WAIT_TIMEOUT){
+        if(sl_dtime() - tw > CC_WAIT_TIMEOUT){
             SENDCMDW(CC_CMD_TREMAIN); // get remained time
             tw = sl_dtime();
-            sprintf(sendbuf, "%s", CC_CMD_EXPSTATE);
-            cc_sendstrmessage(sock, sendbuf);
         }
-        if(getans(sock, NULL)){ // got next portion of data
-            DBG("server message");
-            t0 = sl_dtime();
-            int curst = atomic_load(&expstate);
-            if(curst == CAMERA_ERROR){
-                WARNX(_("Can't make exposition"));
-                if(Nremain > 1){
-                    verbose(1, "Exposing frame %d...", nframe);
-                    SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
-                }
-                continue;
+        if(sl_dtime() - tstart < GP->exptime){
+            t0 = sl_dtime(); // refresh timeout until exp not ends
+            continue;
+        }else{
+            SENDCMDW(CC_CMD_EXPSTATE);
+        }
+        int curst = atomic_load(&expstate);
+        DBG("Current state: %d", curst);
+        if(curst == CAMERA_ERROR){
+            WARNX(_("Can't make exposition"));
+            if(Nremain > 1){
+                verbose(1, "Exposing frame %d...", nframe);
+                SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
+                tstart = sl_dtime();
             }
-            //if(expstate != CAMERA_CAPTURE){
-            if(curst == CAMERA_FRAMERDY){
-                atomic_store(&expstate, CAMERA_IDLE);
-                if(Nremain > 1){
-                    verbose(1, "Exposing frame %d...", nframe+1);
-                    SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
-                }
+            continue;
+        }
+        if(curst == CAMERA_FRAMERDY){
+            atomic_store(&expstate, CAMERA_IDLE);
+            int cur = curImNo(sock);
+            DBG("Current state: %d, imno: %d", atomic_load(&expstate), cur);
+            if(Nremain > 1){ // start next capture
+                verbose(1, "Exposing frame %d...", nframe);
+                SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
+                tstart = sl_dtime();
+            }
+            int failed = TRUE;
+            if(lastImNo < cur){
+                lastImNo = cur;
                 verbose(2, "Frame ready, try to grab");
-                int failed = TRUE;
                 if(!getimage(TRUE)){
                     WARNX("Can't get next image");
                 }else{
@@ -407,31 +476,31 @@ void client(int sock){
                         failed = FALSE;
                     }
                 }
-                if(failed && Nremain == 1){ // last image -> should re-expose
-                    verbose(1, "Exposing frame %d...", nframe);
-                    SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
-                }
-                if(Nremain > 0){
-                    if(GP->pause_len > 0){
-                        double delta, time1 = sl_dtime() + GP->pause_len;
-                        while(1){
-                            SENDCMDW(CC_CMD_CAMTEMPER);
-                            if((delta = time1 - sl_dtime()) < __FLT_EPSILON__) break;
-                            if(delta > 1.) verbose(1, _("%d seconds till pause ends\n"), (int)delta);
-                            if(delta > 6.) sleep(5);
-                            else if(delta > 1.) sleep((int)delta);
-                            else usleep((int)(delta*1e6 + 1));
-                        }
+            }else verbose(2, "Got already saved image, wait next");
+            if(failed && Nremain == 1){ // last image -> should re-expose
+                verbose(1, "Exposing frame %d...", nframe);
+                SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE);
+                tstart = sl_dtime();
+            }
+            if(Nremain > 0){
+                if(GP->pause_len > 0){
+                    double delta, time1 = sl_dtime() + GP->pause_len;
+                    while(1){
+                        SENDCMDW(CC_CMD_CAMTEMPER);
+                        if((delta = time1 - sl_dtime()) < __FLT_EPSILON__) break;
+                        if(delta > 1.) verbose(1, _("%d seconds till pause ends\n"), (int)delta);
+                        if(delta > 6.) sleep(5);
+                        else if(delta > 1.) sleep((int)delta);
+                        else usleep((int)(delta*1e6 + 1));
                     }
-                }else{
-                    GP->waitexpend = 0;
-                    DBG("All images saved -> exit");
-                    break;
                 }
+            }else{
+                DBG("All images saved -> exit");
+                break;
             }
         }
     }
-    if(GP->waitexpend) WARNX(_("Server timeout"));
+    if(Nremain > 0) WARNX(_("Server timeout"));
 }
 
 #ifdef IMAGEVIEW
@@ -442,6 +511,7 @@ void init_grab_sock(int sock){
     send_headers(sock);
     if(!GP->forceimsock && !shmima){ // init shm buffer if user don't ask to work through image socket
         shmima = cc_getshm(GP->shmkey, 0); // try to init client shm
+        cc_init_sem(FALSE);
     }
 }
 
@@ -450,32 +520,40 @@ static void *grabnext(void _U_ *arg){
     FNAME();
     if(controlfd < 0) return NULL;
     int sock = controlfd;
+    int lastImNo = curImNo(sock);
     while(1){
         if(!getWin()) exit(1);
         TIMESTAMP("End of cycle, start new");
         atomic_store(&expstate, CAMERA_CAPTURE);
+        DBG("Current state: %d", atomic_load(&expstate));
         TIMEINIT();
         SENDMSGW(CC_CMD_EXPSTATE, "=%d", CAMERA_CAPTURE); // start capture
         double timeout = GP->exptime + CC_CLIENT_TIMEOUT, t0 = sl_dtime();
         useconds_t sleept = 500000; // 0.5s
         if(GP->exptime < 0.5){
-            sleept = (useconds_t)(GP->exptime * 500000.);
-            if(sleept < 1000) sleept = 1000;
+            sleept = (useconds_t)(GP->exptime * 250000.); // a quater of exposition time
+            if(sleept < CC_IMWAIT_SLEEP) sleept = CC_IMWAIT_SLEEP;
         }
-//        double exptime = GP->exptime;
-        TIMESTAMP("Wait for exposition ends (%g s)", timeout);
+        TIMESTAMP("Wait for exposition ends (%g s), sleep for %dus", timeout, sleept);
+        int curst = CAMERA_CAPTURE;
         while(sl_dtime() - t0 < timeout){
+            DBG("start sleep for %dus", sleept);
             usleep(sleept);
-       //     getans(sock, NULL);
-            //TIMESTAMP("EXPSTATE ===> %d", expstate);
-            if(atomic_load(&expstate) != CAMERA_CAPTURE) break;
-            if(sl_dtime() - t0 < GP->exptime + 0.5) sleept = 1000;
+            SENDCMDW(CC_CMD_EXPSTATE);
+            curst = atomic_load(&expstate);
+            if(curst != CAMERA_CAPTURE) break;
+            if(sl_dtime() - t0 > GP->exptime && sleept != CC_IMWAIT_SLEEP){
+                DBG("Set sleeping time to %dus", sleept);
+                sleept = CC_IMWAIT_SLEEP;
+            }
         }
-        if(sl_dtime() - t0 >= timeout || atomic_load(&expstate) != CAMERA_FRAMERDY){
-            WARNX("Image wasn't received");
+        int cur = curImNo(sock);
+        if(sl_dtime() - t0 >= timeout || curst != CAMERA_FRAMERDY || cur <= lastImNo){
+            WARNX("Image wasn't received, state: %d, waiting: %g, lastNo: %d, curNo: %d (timeout: %g)", curst, sl_dtime() - t0, lastImNo, cur, timeout);
             continue;
         }
-        TIMESTAMP("Frame ready");
+        lastImNo = cur;
+        TIMESTAMP("Frame ready (%d from server's start)", cur);
         getimage(FALSE);
     }
     return NULL;
@@ -486,17 +564,26 @@ static void *waitimage(void _U_ *arg){
     FNAME();
     if(controlfd < 0) return NULL;
     int sock = controlfd;
+    int lastImNo = curImNo(sock);
+    double t0 = sl_dtime();
     while(1){
         if(!getWin()) exit(1);
-        getans(sock, NULL);
-        if(atomic_load(&expstate) != CAMERA_FRAMERDY){
-            usleep(1000);
+        double tcur = sl_dtime();
+        if(tcur - t0 >= CC_WAIT_TIMEOUT){
+            SENDCMDW(CC_CMD_EXPSTATE); // `ping` server to know if it disconnected
+            t0 = tcur;
+        }
+        int cur = curImNo(sock);
+        if(cur <= lastImNo){
+            usleep(CC_IMWAIT_SLEEP);
             continue;
         }
-        TIMESTAMP("End of cycle, start new");
+        lastImNo = cur;
+        TIMESTAMP("End of cycle #%d, start new", cur);
         TIMEINIT();
         getimage(FALSE);
         atomic_store(&expstate, CAMERA_IDLE);
+        DBG("Current state: %d", atomic_load(&expstate));
     }
     return NULL;
 }

cmdlnopts.c

@@ -56,7 +56,7 @@ sl_option_t cmdlnopts[] = {
     {"focdevno",NEED_ARG,   NULL,    NA,    arg_int,    APTR(&G.focdevno),  N_("focuser device number (if many: 0, 1, 2 etc)")},
     {"help",    NO_ARGS,    &help,   1,     arg_none,   NULL,               N_("show this help")},
     {"rewrite", NO_ARGS,    &G.rewrite,1,   arg_none,   NULL,               N_("rewrite output file if exists")},
-    {"verbose", NO_ARGS,    NULL,   'V',    arg_none,   APTR(&G.verbose),   N_("verbose level (-V - messages, -VV - debug, -VVV - all shit)")},
+    {"verbose", NO_ARGS,    NULL,   'V',    arg_none,   APTR(&G.verbose),   N_("verbose level (-V - main messages, -VV - secondary messages, -VVV - debug)")},
     {"dark",    NO_ARGS,    NULL,   'd',    arg_int,    APTR(&G.dark),      N_("not open shutter, when exposing (\"dark frames\")")},
     {"8bit",    NO_ARGS,    NULL,   '8',    arg_int,    APTR(&G._8bit),     N_("run in 8-bit mode")},
     {"fast",    NO_ARGS,    NULL,   'f',    arg_none,   APTR(&G.fast),      N_("fast readout mode")},
@@ -71,7 +71,6 @@ sl_option_t cmdlnopts[] = {
     {"prog-id", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.prog_id),   N_("observing program name")},
     {"addrec",  MULT_PAR,   NULL,   'r',    arg_string, APTR(&G.addhdr),    N_("add records to header from given file[s]")},
     {"outfile", NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.outfile),   N_("output file name")},
-    {"wait",    NO_ARGS,    &G.waitexpend,1,arg_none,   NULL,               N_("wait while exposition ends")},
 
     {"nflushes",NEED_ARG,   NULL,   'l',    arg_int,    APTR(&G.nflushes),  N_("N flushes before exposing (default: 1)")},
     {"hbin",    NEED_ARG,   NULL,   'h',    arg_int,    APTR(&G.hbin),      N_("horizontal binning to N pixels")},
@@ -111,6 +110,7 @@ sl_option_t cmdlnopts[] = {
     {"viewer",  NO_ARGS,    &G.viewer,1,    arg_none,   NULL,               N_("passive viewer (only get last images)")},
     {"restart", NO_ARGS,    &G.restart,1,   arg_none,   NULL,               N_("restart image server")},
     {"timeout", NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.anstmout),  N_("network answer timeout (default: 0.1s)")},
+    {"info",    NO_ARGS,    &G.info, 1,     arg_none,   NULL,               N_("get base information about connected hardware (also increasing text messages level to 2)")},
 
     {"shmkey", NEED_ARG,    NULL,   'k',    arg_int,    APTR(&G.shmkey),    N_("shared memory (with image data) key (default: 7777777)")},
     {"forceimsock",NO_ARGS, &G.forceimsock,1, arg_none, NULL,               N_("force using image through socket transition even if can use SHM")},

cmdlnopts.h

@@ -42,9 +42,9 @@ typedef struct{
     char **addhdr;      // list of files from which to add header records
     char **plugincmd;   // plugin commands
     int restart;        // restart server
-    int waitexpend;     // wait while exposition ends
     int cancelexpose;   // cancel exp (for Grasshopper - forbid forever)
     int client;         // run as client
+    int info;           // show main information about camera etc. in client's terminal
     int viewer;         // passive client (only get last images)
     int listdevices;    // list connected devices
     int fanspeed;       // fan speed: 0-2

locale/ru/messages.po

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2026-06-02 18:19+0300\n"
+"POT-Creation-Date: 2026-06-08 17:06+0300\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -62,7 +62,8 @@ msgid "rewrite output file if exists"
 msgstr ""
 
 #: cmdlnopts.c:59
-msgid "verbose level (-V - messages, -VV - debug, -VVV - all shit)"
+msgid ""
+"verbose level (-V - main messages, -VV - secondary messages, -VVV - debug)"
 msgstr ""
 
 #: cmdlnopts.c:60
@@ -117,142 +118,144 @@ msgstr ""
 msgid "output file name"
 msgstr ""
 
-#: cmdlnopts.c:74
-msgid "wait while exposition ends"
-msgstr ""
-
-#: cmdlnopts.c:76
+#: cmdlnopts.c:75
 msgid "N flushes before exposing (default: 1)"
 msgstr ""
 
-#: cmdlnopts.c:77
+#: cmdlnopts.c:76
 msgid "horizontal binning to N pixels"
 msgstr ""
 
-#: cmdlnopts.c:78
+#: cmdlnopts.c:77
 msgid "vertical binning to N pixels"
 msgstr ""
 
-#: cmdlnopts.c:79
+#: cmdlnopts.c:78
 msgid "make series of N frames"
 msgstr ""
 
-#: cmdlnopts.c:80
+#: cmdlnopts.c:79
 msgid "make pause for N seconds between expositions"
 msgstr ""
 
-#: cmdlnopts.c:81
+#: cmdlnopts.c:80
 msgid "set exposure time to given value (seconds!)"
 msgstr ""
 
-#: cmdlnopts.c:82
+#: cmdlnopts.c:81
 msgid "cancel current exposition"
 msgstr ""
 
-#: cmdlnopts.c:83
+#: cmdlnopts.c:82
 msgid ""
 "absolute (not divided by binning!) frame X0 coordinate (-1 - all with "
 "overscan)"
 msgstr ""
 
-#: cmdlnopts.c:84
+#: cmdlnopts.c:83
 msgid "absolute frame Y0 coordinate (-1 - all with overscan)"
 msgstr ""
 
-#: cmdlnopts.c:85
+#: cmdlnopts.c:84
 msgid "absolute frame X1 coordinate (-1 - all with overscan)"
 msgstr ""
 
-#: cmdlnopts.c:86
+#: cmdlnopts.c:85
 msgid "absolute frame Y1 coordinate (-1 - all with overscan)"
 msgstr ""
 
-#: cmdlnopts.c:88
+#: cmdlnopts.c:87
 msgid "open shutter"
 msgstr ""
 
-#: cmdlnopts.c:89
+#: cmdlnopts.c:88
 msgid "close shutter"
 msgstr ""
 
-#: cmdlnopts.c:90
+#: cmdlnopts.c:89
 msgid "run exposition on LOW @ pin5 I/O port"
 msgstr ""
 
-#: cmdlnopts.c:91
+#: cmdlnopts.c:90
 msgid "run exposition on HIGH @ pin5 I/O port"
 msgstr ""
 
-#: cmdlnopts.c:92
+#: cmdlnopts.c:91
 msgid "get value of I/O port pins"
 msgstr ""
 
-#: cmdlnopts.c:93
+#: cmdlnopts.c:92
 msgid "move stepper motor asynchronous"
 msgstr ""
 
-#: cmdlnopts.c:95
+#: cmdlnopts.c:94
 msgid "set I/O port pins to given value (decimal number, pin1 is LSB)"
 msgstr ""
 
-#: cmdlnopts.c:96
+#: cmdlnopts.c:95
 msgid ""
 "configure I/O port pins to given value (decimal number, pin1 is LSB, 1 == "
 "output, 0 == input)"
 msgstr ""
 
-#: cmdlnopts.c:98
+#: cmdlnopts.c:97
 msgid "move focuser to absolute position, mm"
 msgstr ""
 
-#: cmdlnopts.c:99
+#: cmdlnopts.c:98
 msgid "move focuser to relative position, mm (only for standalone)"
 msgstr ""
 
-#: cmdlnopts.c:101
+#: cmdlnopts.c:100
 msgid "set wheel position"
 msgstr ""
 
-#: cmdlnopts.c:103
+#: cmdlnopts.c:102
 msgid "CMOS gain level"
 msgstr ""
 
-#: cmdlnopts.c:104
+#: cmdlnopts.c:103
 msgid "CMOS brightness level"
 msgstr ""
 
-#: cmdlnopts.c:106
+#: cmdlnopts.c:105
 msgid "logging file name (if run as server)"
 msgstr ""
 
-#: cmdlnopts.c:107
+#: cmdlnopts.c:106
 msgid "UNIX socket name (command socket)"
 msgstr ""
 
-#: cmdlnopts.c:108
+#: cmdlnopts.c:107
 msgid "local INET command socket port"
 msgstr ""
 
-#: cmdlnopts.c:109
+#: cmdlnopts.c:108
 msgid "INET image socket port"
 msgstr ""
 
-#: cmdlnopts.c:110
+#: cmdlnopts.c:109
 msgid "run as client"
 msgstr ""
 
-#: cmdlnopts.c:111
+#: cmdlnopts.c:110
 msgid "passive viewer (only get last images)"
 msgstr ""
 
-#: cmdlnopts.c:112
+#: cmdlnopts.c:111
 msgid "restart image server"
 msgstr ""
 
-#: cmdlnopts.c:113
+#: cmdlnopts.c:112
 msgid "network answer timeout (default: 0.1s)"
 msgstr ""
 
+#: cmdlnopts.c:113
+msgid ""
+"get base information about connected hardware (also increasing text messages "
+"level to 2)"
+msgstr ""
+
 #: cmdlnopts.c:115
 msgid "shared memory (with image data) key (default: 7777777)"
 msgstr ""
@@ -491,12 +494,12 @@ msgstr ""
 msgid "Can't set brightness to %g"
 msgstr ""
 
-#: ccdfunc.c:690 server.c:332
+#: ccdfunc.c:690 server.c:330
 #, c-format
 msgid "Can't set binning %dx%d"
 msgstr ""
 
-#: ccdfunc.c:702 server.c:333
+#: ccdfunc.c:702 server.c:331
 msgid "Can't set given geometry"
 msgstr ""
 
@@ -544,11 +547,11 @@ msgstr ""
 msgid "Capture frame %d"
 msgstr ""
 
-#: ccdfunc.c:750 ccdfunc.c:827 server.c:202 server.c:203
+#: ccdfunc.c:750 ccdfunc.c:827 server.c:194 server.c:195
 msgid "Camera plugin have no function `start exposition`"
 msgstr ""
 
-#: ccdfunc.c:752 ccdfunc.c:829 server.c:208 server.c:209
+#: ccdfunc.c:752 ccdfunc.c:829 server.c:200 server.c:201
 msgid "Can't start exposition"
 msgstr ""
 
@@ -560,7 +563,7 @@ msgstr ""
 msgid "Read grabbed image"
 msgstr ""
 
-#: ccdfunc.c:762 ccdfunc.c:842 server.c:226 server.c:227
+#: ccdfunc.c:762 ccdfunc.c:842 server.c:218 server.c:219
 msgid "Camera plugin have no function `capture`"
 msgstr ""
 
@@ -568,7 +571,7 @@ msgstr ""
 msgid "Can't grab image"
 msgstr ""
 
-#: ccdfunc.c:778 client.c:420
+#: ccdfunc.c:778 client.c:491
 #, c-format
 msgid "%d seconds till pause ends\n"
 msgstr ""
@@ -577,15 +580,15 @@ msgstr ""
 msgid "Some error when capture"
 msgstr ""
 
-#: server.c:253
+#: server.c:247
 msgid "No camera device"
 msgstr ""
 
-#: client.c:385
+#: client.c:449
 msgid "Can't make exposition"
 msgstr ""
 
-#: client.c:434
+#: client.c:503
 msgid "Server timeout"
 msgstr ""
 

locale/ru/ru.po

@@ -7,7 +7,7 @@
 msgid   ""
 msgstr  "Project-Id-Version: PACKAGE VERSION\n"
         "Report-Msgid-Bugs-To: \n"
-        "POT-Creation-Date: 2026-06-02 18:19+0300\n"
+        "POT-Creation-Date: 2026-06-08 16:46+0300\n"
         "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
         "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
         "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -21,7 +21,7 @@ msgstr  "Project-Id-Version: PACKAGE VERSION\n"
 msgid   "%.1f seconds till exposition ends"
 msgstr  "%.1f ÓÅËÕÎÄ ÄÏ ÏËÏÎÞÁÎÉÑ ÜËÓÐÏÚÉÃÉÉ"
 
-#: ccdfunc.c:778 client.c:420
+#: ccdfunc.c:778 client.c:491
 #, c-format
 msgid   "%d seconds till pause ends\n"
 msgstr  "%d ÓÅËÕÎÄ ÄÏ ÏËÏÎÞÁÎÉÑ ÐÁÕÚÙ\n"
@@ -30,11 +30,11 @@ msgstr  "%d
 msgid   "Already initialized!"
 msgstr  "õÖÅ ÉÎÉÃÉÁÌÉÚÉÒÏ×ÁÎÏ!"
 
-#: cmdlnopts.c:104
+#: cmdlnopts.c:103
 msgid   "CMOS brightness level"
 msgstr  "ÕÒÏ×ÅÎØ ÑÒËÏÓÔÉ CMOS"
 
-#: cmdlnopts.c:103
+#: cmdlnopts.c:102
 msgid   "CMOS gain level"
 msgstr  "ÕÒÏ×ÅÎØ Gain CMOS"
 
@@ -66,12 +66,12 @@ msgstr  "
 msgid   "Camera plugin have no fun speed setter"
 msgstr  "õ ÐÌÁÇÉÎÁ ËÁÍÅÒÙ ÎÅÔ ÏÓÏÂÙÈ ËÏÍÁÎÄ"
 
-#: ccdfunc.c:762 ccdfunc.c:842 server.c:226 server.c:227
+#: ccdfunc.c:762 ccdfunc.c:842 server.c:218 server.c:219
 #, fuzzy
 msgid   "Camera plugin have no function `capture`"
 msgstr  "õ ÐÌÁÇÉÎÁ ËÁÍÅÒÙ ÎÅÔ ÏÓÏÂÙÈ ËÏÍÁÎÄ"
 
-#: ccdfunc.c:750 ccdfunc.c:827 server.c:202 server.c:203
+#: ccdfunc.c:750 ccdfunc.c:827 server.c:194 server.c:195
 #, fuzzy
 msgid   "Camera plugin have no function `start exposition`"
 msgstr  "õ ÐÌÁÇÉÎÁ ËÁÍÅÒÙ ÎÅÔ ÏÓÏÂÙÈ ËÏÍÁÎÄ"
@@ -130,7 +130,7 @@ msgstr  "
 msgid   "Can't init mutex!"
 msgstr  "îÅ ÍÏÇÕ ÉÎÉÃÉÁÌÉÚÉÒÏ×ÁÔØ ÍØÀÔÅËÓ!"
 
-#: client.c:385
+#: client.c:449
 msgid   "Can't make exposition"
 msgstr  "îÅ ÍÏÇÕ ×ÙÐÏÌÎÉÔØ ÜËÓÐÏÚÉÃÉÀ"
 
@@ -174,7 +174,7 @@ msgstr  "
 msgid   "Can't set active wheel number"
 msgstr  "îÅ ÍÏÇÕ ÕÓÔÁÎÏ×ÉÔØ ÎÏÍÅÒ ÁËÔÉ×ÎÏÇÏ ËÏÌÅÓÁ"
 
-#: ccdfunc.c:690 server.c:332
+#: ccdfunc.c:690 server.c:330
 #, c-format
 msgid   "Can't set binning %dx%d"
 msgstr  "îÅ ÍÏÇÕ ÕÓÔÁÎÏ×ÉÔØ ÂÉÎÎÉÎÇ %dx%d"
@@ -202,7 +202,7 @@ msgstr  "
 msgid   "Can't set gain to %g"
 msgstr  "îÅ ÍÏÇÕ ÕÓÔÁÎÏ×ÉÔØ Gain × %g"
 
-#: ccdfunc.c:702 server.c:333
+#: ccdfunc.c:702 server.c:331
 msgid   "Can't set given geometry"
 msgstr  "îÅ ÍÏÇÕ ÕÓÔÁÎÏ×ÉÔØ ÇÅÏÍÅÔÒÉÀ"
 
@@ -225,7 +225,7 @@ msgstr  "
 msgid   "Can't set wheel position %d"
 msgstr  "îÅ ÍÏÇÕ ÕÓÔÁÎÏ×ÉÔØ ÐÏÌÏÖÅÎÉÅ ËÏÌÅÓÁ %d"
 
-#: ccdfunc.c:752 ccdfunc.c:829 server.c:208 server.c:209
+#: ccdfunc.c:752 ccdfunc.c:829 server.c:200 server.c:201
 msgid   "Can't start exposition"
 msgstr  "îÅ ÍÏÇÕ ÎÁÞÁÔØ ÜËÓÐÏÚÉÃÉÀ"
 
@@ -291,7 +291,7 @@ msgstr  "
 msgid   "Histogram conversion: %s"
 msgstr  "ðÒÅÏÂÒÁÚÏ×ÁÎÉÅ ÇÉÓÔÏÇÒÁÍÍÙ: %s"
 
-#: cmdlnopts.c:109
+#: cmdlnopts.c:108
 msgid   "INET image socket port"
 msgstr  "ÐÏÒÔ ÌÏËÁÌØÎÏÇÏ ÓÅÔÅ×ÏÇÏ ÓÏËÅÔÁ ÐÅÒÅÄÁÞÉ ÉÚÏÂÒÁÖÅÎÉÑ"
 
@@ -300,11 +300,11 @@ msgstr  "
 msgid   "Image stat:\n"
 msgstr  "óÔÁÔÉÓÔÉËÁ ÐÏ ÉÚÏÂÒÁÖÅÎÉÀ: \n"
 
-#: cmdlnopts.c:76
+#: cmdlnopts.c:75
 msgid   "N flushes before exposing (default: 1)"
 msgstr  "N ÚÁÓ×ÅÞÉ×ÁÎÉÊ ÐÅÒÅÄ ÜËÓÐÏÚÉÃÉÅÊ (ÐÏ ÕÍÏÌÞÁÎÉÀ: 1)"
 
-#: server.c:253
+#: server.c:247
 msgid   "No camera device"
 msgstr  "îÅ ÕËÁÚÁÎÏ ÕÓÔÒÏÊÓÔ×Ï ËÁÍÅÒÙ"
 
@@ -338,7 +338,7 @@ msgstr  "
 msgid   "Readout mode: %s"
 msgstr  "òÅÖÉÍ ÓÞÉÔÙ×ÁÎÉÑ: %s"
 
-#: client.c:434
+#: client.c:503
 msgid   "Server timeout"
 msgstr  "ôÁÊÍÁÕÔ ÓÅÒ×ÅÒÁ"
 
@@ -376,7 +376,7 @@ msgstr  "
 msgid   "Try to write %d to I/O port"
 msgstr  "ðÏÐÙÔËÁ ÚÁÐÉÓÉ %d × ÐÏÒÔ I/O"
 
-#: cmdlnopts.c:107
+#: cmdlnopts.c:106
 msgid   "UNIX socket name (command socket)"
 msgstr  "ÉÍÑ UNIX-ÓÏËÅÔÁ"
 
@@ -389,21 +389,21 @@ msgstr  "
 msgid   "Wheel position should be from 0 to %d"
 msgstr  "ðÏÚÉÃÉÑ ËÏÌÅÓÁ ÄÏÌÖÎÁ ÂÙÔØ ÏÔ 0 ÄÏ %d"
 
-#: cmdlnopts.c:83
+#: cmdlnopts.c:82
 msgid   "absolute (not divided by binning!) frame X0 coordinate (-1 - all "
         "with overscan)"
 msgstr  "ÁÂÓÏÌÀÔÎÁÑ (ÎÅ ÄÅÌÅÎÎÁÑ ÎÁ ÂÉÎÎÉÎÇ!) ËÏÏÒÄÉÎÁÔÁ X0 (-1 - ×ËÌÀÞÁÑ "
         "Ï×ÅÒÓËÁÎ)"
 
-#: cmdlnopts.c:85
+#: cmdlnopts.c:84
 msgid   "absolute frame X1 coordinate (-1 - all with overscan)"
 msgstr  "ÁÂÓÏÌÀÔÎÁÑ ËÏÏÒÄÉÎÁÔÁ X1 (-1 - ×ËÌÀÞÁÑ Ï×ÅÒÓËÁÎ)"
 
-#: cmdlnopts.c:84
+#: cmdlnopts.c:83
 msgid   "absolute frame Y0 coordinate (-1 - all with overscan)"
 msgstr  "ÁÂÓÏÌÀÔÎÁÑ ËÏÏÒÄÉÎÁÔÁ Y0 (-1 - ×ËÌÀÞÁÑ Ï×ÅÒÓËÁÎ)"
 
-#: cmdlnopts.c:86
+#: cmdlnopts.c:85
 msgid   "absolute frame Y1 coordinate (-1 - all with overscan)"
 msgstr  "ÁÂÓÏÌÀÔÎÁÑ ËÏÏÒÄÉÎÁÔÁ Y1 (-1 - ×ËÌÀÞÁÑ Ï×ÅÒÓËÁÎ)"
 
@@ -419,11 +419,11 @@ msgstr  "
 msgid   "camera device plugin (e.g. devfli.so)"
 msgstr  "ÐÌÁÇÉÎ ËÁÍÅÒÙ (ÎÁÐÒÉÍÅÒ, devfli.so)"
 
-#: cmdlnopts.c:82
+#: cmdlnopts.c:81
 msgid   "cancel current exposition"
 msgstr  "ÏÔÍÅÎÁ ÔÅËÕÝÅÊ ÜËÓÐÏÚÉÃÉÉ"
 
-#: cmdlnopts.c:89
+#: cmdlnopts.c:88
 msgid   "close shutter"
 msgstr  "ÚÁËÒÙÔØ ÚÁÔ×ÏÒ"
 
@@ -431,7 +431,7 @@ msgstr  "
 msgid   "common device plugin (e.g devfli.so)"
 msgstr  "ÏÂÝÉÊ ÐÌÁÇÉÎ ÄÌÑ ×ÓÅÈ ÕÓÔÒÏÊÓÔ× (ÎÁÐÒÉÍÅÒ, devfli.so)"
 
-#: cmdlnopts.c:96
+#: cmdlnopts.c:95
 msgid   "configure I/O port pins to given value (decimal number, pin1 is LSB, "
         "1 == output, 0 == input)"
 msgstr  "ÓËÏÎÆÉÇÕÒÉÒÏ×ÁÔØ ÐÏÒÔ I/O × ÚÁÄÁÎÎÏÅ ÓÏÓÔÏÑÎÉÅ (ÄÅÓÑÔÉÞÎÏÅ ÞÉÓÌÏ, "
@@ -462,11 +462,16 @@ msgid   "force using image through socket transition even if can use SHM"
 msgstr  "ÐÒÉÎÕÄÉÔÅÌØÎÏ ÂÒÁÔØ ÉÚÏÂÒÁÖÅÎÉÑ ÉÚ ÓÏËÅÔÁ ÄÁÖÅ ÅÓÌÉ ×ÏÚÍÏÖÎÏ "
         "ÐÏÌØÚÏ×ÁÔØÓÑ ÒÁÚÄÅÌÑÅÍÏÊ ÐÁÍÑÔØÀ"
 
-#: cmdlnopts.c:92
+#: cmdlnopts.c:113
+msgid   "get base information about connected hardware (also increasing text "
+        "messages level to 2)"
+msgstr  ""
+
+#: cmdlnopts.c:91
 msgid   "get value of I/O port pins"
 msgstr  "ÐÏÌÕÞÉÔØ ÚÎÁÞÅÎÉÅ ÐÏÒÔÁ I/O"
 
-#: cmdlnopts.c:77
+#: cmdlnopts.c:76
 msgid   "horizontal binning to N pixels"
 msgstr  "ÇÏÒÉÚÏÎÔÁÌØÎÙÊ ÂÉÎÎÉÎÇ × N ÐÉËÓÅÌÅÊ"
 
@@ -478,36 +483,36 @@ msgstr  "
 msgid   "list connected devices"
 msgstr  "ÓÐÉÓÏË ÐÏÄËÌÀÞÅÎÎÙÈ ÕÓÔÒÏÊÓÔ×"
 
-#: cmdlnopts.c:108
+#: cmdlnopts.c:107
 msgid   "local INET command socket port"
 msgstr  "ÐÏÒÔ ÌÏËÁÌØÎÏÇÏ ÓÅÔÅ×ÏÇÏ ÓÏËÅÔÁ"
 
-#: cmdlnopts.c:106
+#: cmdlnopts.c:105
 msgid   "logging file name (if run as server)"
 msgstr  "ÉÍÑ ÆÁÊÌÁ ÌÏÇÇÉÒÏ×ÁÎÉÑ (ÅÓÌÉ ÚÁÐÕÝÅÎ ÓÅÒ×ÅÒ)"
 
-#: cmdlnopts.c:80
+#: cmdlnopts.c:79
 msgid   "make pause for N seconds between expositions"
 msgstr  "ÐÁÕÚÁ × N ÓÅËÕÎÄ ÍÅÖÄÕ ÜËÓÐÏÚÉÃÉÑÍÉ"
 
-#: cmdlnopts.c:79
+#: cmdlnopts.c:78
 msgid   "make series of N frames"
 msgstr  "ÐÏÓÌÅÄÏ×ÁÔÅÌØÎÏÓÔØ ÉÚ N ËÁÄÒÏ×"
 
-#: cmdlnopts.c:98
+#: cmdlnopts.c:97
 msgid   "move focuser to absolute position, mm"
 msgstr  "ÐÅÒÅÍÅÓÔÉÔØ ÆÏËÕÓÅÒ × ÁÂÓÏÌÀÔÎÏÅ ÐÏÌÏÖÅÎÉÅ, ÍÍ"
 
-#: cmdlnopts.c:99
+#: cmdlnopts.c:98
 msgid   "move focuser to relative position, mm (only for standalone)"
 msgstr  "ÐÅÒÅÍÅÓÔÉÔØ ÆÏËÕÓÅÒ × ÏÔÎÏÓÉÔÅÌØÎÏÅ ÐÏÌÏÖÅÎÉÅ, ÍÍ (ÎÅ ÄÌÑ ÓÅÒ×ÅÒ/"
         "ËÌÉÅÎÔ)"
 
-#: cmdlnopts.c:93
+#: cmdlnopts.c:92
 msgid   "move stepper motor asynchronous"
 msgstr  "ÁÓÉÎÈÒÏÎÎÏÅ Ä×ÉÖÅÎÉÅ ÛÁÇÏ×ÏÇÏ Ä×ÉÇÁÔÅÌÑ"
 
-#: cmdlnopts.c:113
+#: cmdlnopts.c:112
 msgid   "network answer timeout (default: 0.1s)"
 msgstr  ""
 
@@ -539,7 +544,7 @@ msgstr  "
 msgid   "on"
 msgstr  "×ËÌ"
 
-#: cmdlnopts.c:88
+#: cmdlnopts.c:87
 msgid   "open shutter"
 msgstr  "ÏÔËÒÙÔØ ÚÁÔ×ÏÒ"
 
@@ -547,7 +552,7 @@ msgstr  "
 msgid   "output file name"
 msgstr  "ÉÍÑ ÆÁÊÌÁ"
 
-#: cmdlnopts.c:111
+#: cmdlnopts.c:110
 msgid   "passive viewer (only get last images)"
 msgstr  "ÐÁÓÓÉ×ÎÙÊ ÐÒÏÓÍÏÔÒ (ÔÏÌØËÏ ÐÏÓÌÅÄÎÉÅ ËÁÄÒÙ)"
 
@@ -555,7 +560,7 @@ msgstr  "
 msgid   "program author"
 msgstr  "Á×ÔÏÒ ÐÒÏÇÒÁÍÍÙ"
 
-#: cmdlnopts.c:112
+#: cmdlnopts.c:111
 msgid   "restart image server"
 msgstr  "ÐÅÒÅÚÁÐÕÓË ÓÅÒ×ÅÒÁ"
 
@@ -563,15 +568,15 @@ msgstr  "
 msgid   "rewrite output file if exists"
 msgstr  "ÐÅÒÅÚÁÐÉÓØ ×ÙÈÏÄÎÏÇÏ ÆÁÊÌÁ"
 
-#: cmdlnopts.c:110
+#: cmdlnopts.c:109
 msgid   "run as client"
 msgstr  "ÚÁÐÕÓÔÉÔØ ËÌÉÅÎÔ"
 
-#: cmdlnopts.c:91
+#: cmdlnopts.c:90
 msgid   "run exposition on HIGH @ pin5 I/O port"
 msgstr  "ÚÁÐÕÓË ÜËÓÐÏÚÉÃÉÉ ÐÏ ÷ùóïëïíõ ÓÉÇÎÁÌÕ ÎÁ ËÏÎÔÁËÔÅ 5 ÐÏÒÔÁ I/O"
 
-#: cmdlnopts.c:90
+#: cmdlnopts.c:89
 msgid   "run exposition on LOW @ pin5 I/O port"
 msgstr  "ÚÁÐÕÓË ÜËÓÐÏÚÉÃÉÉ ÐÏ îéúëïíõ ÓÉÇÎÁÌÕ ÎÁ ËÏÎÔÁËÔÅ 5 ÐÏÒÔÁ I/O"
 
@@ -583,11 +588,11 @@ msgstr  "8-
 msgid   "set CCD temperature to given value (degr C)"
 msgstr  "ÕÓÔÁÎÏ×ÉÔØ ÔÅÍÐÅÒÁÔÕÒÕ Ó×ÅÔÏÐÒÉÅÍÎÉËÁ (ÇÒÁÄã)"
 
-#: cmdlnopts.c:95
+#: cmdlnopts.c:94
 msgid   "set I/O port pins to given value (decimal number, pin1 is LSB)"
 msgstr  "ÕÓÔÁÎÏ×ÉÔØ ÐÏÒÔ I/O (ÄÅÓÑÔÉÞÎÏÅ ÞÉÓÌÏ, pin1 - ÍÌÁÄÛÉÊ ÂÉÔ)"
 
-#: cmdlnopts.c:81
+#: cmdlnopts.c:80
 msgid   "set exposure time to given value (seconds!)"
 msgstr  "ÕÓÔÁÎÏ×ÉÔØ ×ÒÅÍÑ ÜËÓÐÏÚÉÃÉÉ (ÓÅËÕÎÄÙ!)"
 
@@ -595,7 +600,7 @@ msgstr  "
 msgid   "set fan speed (0 - off, 1 - low, 2 - high)"
 msgstr  "ÕÓÔÁÎÏ×ÉÔØ ÓËÏÒÏÓÔØ ×ÅÎÔÉÌÑÔÏÒÁ (0 - ×ÙËÌ, 1 - ÎÉÚËÁÑ, 2 - ×ÙÓÏËÁÑ)"
 
-#: cmdlnopts.c:101
+#: cmdlnopts.c:100
 msgid   "set wheel position"
 msgstr  "ÕÓÔÁÎÏ×ÉÔØ ÐÏÌÏÖÅÎÉÅ ËÏÌÅÓÁ"
 
@@ -612,20 +617,21 @@ msgid   "start (!=0) or stop(==0) infinity capturing loop"
 msgstr  "ÎÁÞÁÔØ (!=0) ÉÌÉ ÚÁËÏÎÞÉÔØ (==0) ÂÅÓËÏÎÅÞÎÙÊ ÃÉËÌ ÚÁÈ×ÁÔÁ ÉÚÏÂÒÁÖÅÎÉÊ"
 
 #: cmdlnopts.c:59
-msgid   "verbose level (-V - messages, -VV - debug, -VVV - all shit)"
+#, fuzzy
+msgid   "verbose level (-V - main messages, -VV - secondary messages, -VVV - "
+        "debug)"
 msgstr  "ÕÒÏ×ÅÎØ ÂÏÌÔÌÉ×ÏÓÔÉ (-V - ÓÏÏÂÝÅÎÉÑ, -VV - ÏÔÌÁÄËÁ, -VVV - ×ÓÅ)"
 
-#: cmdlnopts.c:78
+#: cmdlnopts.c:77
 msgid   "vertical binning to N pixels"
 msgstr  "×ÅÒÔÉËÁÌØÎÙÊ ÂÉÎÎÉÎÇ × N ÐÉËÓÅÌÅÊ"
 
-#: cmdlnopts.c:74
-msgid   "wait while exposition ends"
-msgstr  "ÖÄÁÔØ, ÐÏËÁ ÎÅ ËÏÎÞÉÔÓÑ ÜËÓÐÏÚÉÃÉÑ"
-
 #: cmdlnopts.c:52
 msgid   "wheel device plugin (e.g. devdummy.so)"
 msgstr  "ÐÌÁÇÉÎ ÕÓÔÒÏÊÓÔ×Á ÔÕÒÅÌÉ (ÎÁÐÒÉÍÅÒ, devdummy.so)"
 
 #~ msgid        "Camera device unknown"
 #~ msgstr       "õÓÔÒÏÊÓÔ×Ï Ó×ÅÏÐÒÉÅÍÎÉËÁ ÎÅ ÏÐÏÚÎÁÎÏ"
+
+#~ msgid        "wait while exposition ends"
+#~ msgstr       "ÖÄÁÔØ, ÐÏËÁ ÎÅ ËÏÎÞÉÔÓÑ ÜËÓÐÏÚÉÃÉÑ"

main.c

@@ -34,6 +34,7 @@
 #ifdef IMAGEVIEW
 #include "imageview.h"
 #endif
+#include "server.h"
 #include "socket.h"
 
 static int isserver = FALSE;
@@ -56,6 +57,7 @@ void signals(int signo){
     if(signo) WARNX("Get signal %d - exit", signo);
     if(!GP->client){
         DBG("Cancel capturing and close all");
+        stop_server();
         camstop();
         closewheel();
         focclose();
@@ -107,11 +109,14 @@ int main(int argc, char **argv){
         if(!GP->client) isserver = TRUE;
     }
     if(GP->path && !GP->client) isserver = TRUE;
+    if(!GP->path && !GP->port){
+        WARNX("Point one of options: `port` or `path` for command socket");
+    }
     if((isserver || GP->client) && !GP->imageport){
         GP->imageport = MALLOC(char, 32);
         if(!GP->port) sprintf(GP->imageport, "12345");
         else snprintf(GP->imageport, 31, "%d", 1+atoi(GP->port));
-        verbose(1, "Set image port to %s", GP->imageport);
+        printf("Set image port to %s\n", GP->imageport);
     }
     if(GP->client && (GP->commondev || GP->focuserdev || GP->cameradev || GP->wheeldev))
        ERRX("Can't be client and standalone in same time!");
@@ -123,6 +128,7 @@ int main(int argc, char **argv){
         OPENLOG(GP->logfile, lvl, 1);
         if(!sl_globlog) WARNX("Can't create log file");
     }
+    if(GP->info && GP->verbose < 2) GP->verbose = 2; // increase verbose messages level for `info`
     signal(SIGINT, signals);
     signal(SIGQUIT, signals);
     signal(SIGABRT, signals);

server.c

@@ -16,13 +16,16 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <stdatomic.h>
+#include <fcntl.h>
 #include <netdb.h>
 #include <pthread.h>
 #include <poll.h>
+#include <stdatomic.h>
 #include <stdio.h>
 #include <string.h>
+#include <sys/mman.h>
 #include <sys/socket.h>
+#include <sys/stat.h>
 #include <usefull_macros.h>
 
 #include "ccdfunc.h"
@@ -46,6 +49,7 @@ static float tremain = 0.; // time when capture done
 
 // IPC key for shared memory (for client's getter)
 static key_t shmkey = IPC_PRIVATE;
+static int isrunning = 1;
 
 typedef struct{
     const char *key;
@@ -54,32 +58,36 @@ typedef struct{
 
 // cat | awk '{print "{ " $3 ", \"\" }," }' | sort
 strpair allcommands[] = {
-    { CC_CMD_8BIT,         "run in 8 bit mode instead of 16 bit" },
     { CC_CMD_AUTHOR,       "FITS 'AUTHOR' field" },
     { CC_CMD_BRIGHTNESS,   "camera brightness" },
     { CC_CMD_CAMDEVNO,     "camera device number" },
+    { CC_CMD_CAMFLAGS,     "get camflags (bits: 0-start capture, 1-cancel, 2-restart server"},
     { CC_CMD_CAMLIST,      "list all connected cameras" },
     { CC_CMD_CAMFANSPD,    "fan speed of camera" },
     { CC_CMD_CONFIO,       "camera IO configuration" },
     { CC_CMD_DARK,         "don't open shutter @ exposure" },
     { CC_CMD_EXPSTATE,     "get exposition state (0: cancel, 1: capturing, 2: frame ready, 3: error) "
-                      "or set (0: cancel, 1: start exp)\n    also get camflags (bits: 0-start capture, 1-cancel, 2-restart server" },
+                               "or set (0: cancel, 1: start exp)\n" },
     { CC_CMD_EXPOSITION,   "exposition time" },
     { CC_CMD_FASTSPD,      "fast readout speed" },
     { CC_CMD_FDEVNO,       "focuser device number" },
     { CC_CMD_FOCLIST,      "list all connected focusers" },
+    { CC_CMD_FMAXPOS,      "get maximal focuser position"},
+    { CC_CMD_FMINPOS,      "get minimal focuser position"},
     { CC_CMD_FGOTO,        "focuser position" },
+    { CC_CMD_FTEMP,        "get focuser body temperature"},
     { CC_CMD_FRAMEFORMAT,  "camera frame format (X0,Y0,X1,Y1)" },
     { CC_CMD_GAIN,         "camera gain" },
     { CC_CMD_GETHEADERS,   "get last file FITS headers" },
     { CC_CMD_HBIN,         "horizontal binning" },
     { CC_CMD_HELP,         "show this help" },
     { CC_CMD_IMHEIGHT,     "last image height" },
+    { CC_CMD_IMNUMBER,     "grabbed image number from server start"},
     { CC_CMD_IMWIDTH,      "last image width" },
-    { CC_CMD_INFO,         "connected devices state" },
     { CC_CMD_INFTY,        "an infinity loop taking images until there's connected clients" },
     { CC_CMD_INSTRUMENT,   "FITS 'INSTRUME' field" },
     { CC_CMD_IO,           "get/set camera IO" },
+    { CC_CMD_8BIT,         "run in 8 bit mode instead of 16 bit" },
     { CC_CMD_FRAMEMAX,     "camera maximal available format" },
     { CC_CMD_NFLUSHES,     "camera number of preflushes" },
     { CC_CMD_OBJECT,       "FITS 'OBJECT' field" },
@@ -95,7 +103,9 @@ strpair allcommands[] = {
     { CC_CMD_VBIN,         "vertical binning" },
     { CC_CMD_WDEVNO,       "wheel device number" },
     { CC_CMD_WLIST,        "list all connected wheels" },
+    { CC_CMD_WMAXPOS,      "get maximap wheel position"},
     { CC_CMD_WPOS,         "wheel position" },
+    { CC_CMD_WTEMP,        "get wheel body temperature"},
     {NULL, NULL},
 };
 
@@ -107,6 +117,7 @@ static int lock(){
         //DBG("\n\nAlready locked");
         return FALSE;
     }
+    //DBG("LOCK()");
     return TRUE;
 }
 static void unlock(){
@@ -114,43 +125,22 @@ static void unlock(){
         LOGERR("Can't unlock socket mutex");
         ERR("Can't unlock socket mutex");
     }
+    //DBG("UNLOCK()");
 }
 
 static cc_IMG *ima = NULL;
 
-// client-side SHM lock
-int client_lock_shm(cc_IMG *img){
-    if(!img) return FALSE;
-    if(pthread_mutex_trylock(&img->mutex))
-        return FALSE;
-    return TRUE;
-}
-
-// server-side SHM lock (first - try gracefully, next - force)
-static void server_lock_shm(cc_IMG *img){
-    if(!img) return;
+// cleanup semaphore, stop server processes
+void stop_server(){
+    isrunning = 0;
     double t0 = sl_dtime();
-    int locked = FALSE;
-    // lock socket operations
-    while(sl_dtime() - t0 < MUTEX_LOCK_TMOUT){
-        int l = pthread_mutex_trylock(&img->mutex);
-        if(0 == l){
-            locked = TRUE;
-            break;
-        }
-        if(l == EOWNERDEAD){ // locked while locking thread is dead
-            pthread_mutex_consistent(&img->mutex);
-        }
-    }
-    if(!locked) while(!client_lock_shm(img)) unlock_shm(img);
-}
-
-void unlock_shm(cc_IMG *img){
-    if(!img) return;
-    if(pthread_mutex_unlock(&img->mutex)){
-        LOGERR("Can't unlock image mutex");
-        ERR("Can't unlock image mutex");
+    // wait no more than 1s for graceful closing
+    while(sl_dtime() - t0 < 1.){
+        if(isrunning == -1) break;
+        usleep(1000);
     }
+    // destroy semaphore
+    cc_remove_sem();
 }
 
 static void fixima(){
@@ -158,23 +148,24 @@ static void fixima(){
     if(!camera) return;
     double t0 = sl_dtime();
     int locked = FALSE;
+    TIMESTAMP("Lock socket");
     // lock socket operations
-    while(!(locked = lock()) && sl_dtime() - t0 < 0.5);
-    if(!locked) while(!lock()) unlock(); // force unlocking if can't do this gracefully
+    while(!(locked = lock()) && sl_dtime() - t0 < 0.5) usleep(1000);
+    if(!locked){
+        DBG("Still locked from outside -> unlock/lock");
+        while(!lock()) unlock(); // force unlocking if can't do this gracefully
+    }else DBG("LOCK takes %gs", sl_dtime()-t0);
     int raw_width = curformat.w / GP->hbin,  raw_height = curformat.h / GP->vbin;
+    TIMESTAMP("Check SHM image");
     // allocate memory for largest possible image
     if(!ima){
         ima = cc_getshm(GP->shmkey, camera->array.h * camera->array.w * 2);
-        // init shared robust mutex
-        pthread_mutexattr_t att;
-        pthread_mutexattr_init(&att);
-        pthread_mutexattr_setrobust(&att, PTHREAD_MUTEX_ROBUST);
-        pthread_mutexattr_setpshared(&att, PTHREAD_PROCESS_SHARED);
-        pthread_mutex_init(&ima->mutex, &att);
+        if(!ima) ERR("Can't allocate memory for image");
+        // init shared semaphore
+        cc_init_sem(TRUE);
     }
-    if(!ima) ERRX("Can't allocate memory for image");
-    locked = FALSE;
-    server_lock_shm(ima);
+    TIMESTAMP("Lock SHM image");
+    cc_lock_shm(TRUE);
     shmkey = GP->shmkey;
     //if(raw_width == ima->w && raw_height == ima->h) return; // all OK
     DBG("curformat: %dx%d", curformat.w, curformat.h);
@@ -187,8 +178,9 @@ static void fixima(){
     DBG("GP->_8bit=%d", GP->_8bit);
     ima->bytelen = raw_height * raw_width * cc_getNbytes(ima);
     DBG("new image: %dx%d", raw_width, raw_height);
-    unlock_shm(ima);
+    cc_unlock_shm();
     unlock();
+    TIMESTAMP("All OK");
 }
 
 // functions for processCAM finite state machine
@@ -228,18 +220,20 @@ static inline void cameracapturestate(){ // capturing - wait for exposition ends
                     camstate = CAMERA_ERROR;
                     return;
                 }
-                server_lock_shm(ima);
+                cc_lock_shm(TRUE);
                 if(!camera->capture(ima)){
                     LOGERR("Can't capture image");
                     camstate = CAMERA_ERROR;
                     return;
                 }else{
+                    TIMESTAMP("Fill FITS header");
                     ima->gotstat = 0; // fresh image without statistics - recalculate when save
                     ima->timestamp = sl_dtime(); // set timestamp
                     fillFITSheader(ima);
                     ++ima->imnumber; // increment counter
                 }
-                unlock_shm(ima);
+                cc_unlock_shm();
+                TIMESTAMP("Captured and unlocked");
             }
             camstate = CAMERA_FRAMERDY;
         }
@@ -253,12 +247,21 @@ static void* processCAM(_U_ void *d){
         ERRX(_("No camera device"));
     }
     double logt = 0;
-    while(1){
+#ifdef EBUG
+    double T = sl_dtime();
+#endif
+    while(isrunning){
         if(camflags & FLAG_RESTARTSERVER){
             LOGERR("User asks to restart");
             signals(1);
         }
-        usleep(100);
+#ifdef EBUG
+        if(sl_dtime() - T > 5.){
+            T = sl_dtime();
+            printf("\t\t\tprocessCAM(), 5 seconds\n");
+        }
+#endif
+        usleep(1000);
         if(tremain < 0.5 && tremain > 0.) usleep(tremain*1e6);
         if(lock()){
             // log
@@ -285,22 +288,17 @@ static void* processCAM(_U_ void *d){
                 unlock();
                 continue;
             }
+            unlock();
             cc_camera_state curstate = camstate;
             switch(curstate){
-                case CAMERA_IDLE:
-                    cameraidlestate();
-                break;
                 case CAMERA_CAPTURE:
                     cameracapturestate();
                 break;
-                case CAMERA_FRAMERDY:
-    // do nothing: when `server` got this state it sends "expstate=2" to all clients and changes state to IDLE
-                break;
-                case CAMERA_ERROR:
-    // do nothing: when `server` got this state it sends "expstate=3" to all clients and changes state to IDLE
+                default:
+                    cameraidlestate();
                 break;
             }
-            unlock();
+
         }
     }
     return NULL;
@@ -372,9 +370,7 @@ static cc_hresult restarthandler(_U_ int fd, _U_ const char *key, _U_ const char
 static cc_hresult imsizehandler(int fd, const char *key, _U_ const char *val){
     char buf[64];
     if(!ima) return CC_RESULT_FAIL;
-    // send image width/height in pixels
-    if(0 == strcmp(key, CC_CMD_IMHEIGHT)) snprintf(buf, 63, CC_CMD_IMHEIGHT "=%d", ima->h);
-    else snprintf(buf, 63, CC_CMD_IMWIDTH "=%d", ima->w);
+    snprintf(buf, 63, "%s=%d", key, (0 == strcmp(key, CC_CMD_IMHEIGHT)) ? ima->h : ima->w);
     if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
     return CC_RESULT_SILENCE;
 }
@@ -497,19 +493,21 @@ static cc_hresult camfanhandler(int fd, _U_ const char *key, _U_ const char *val
 }
 const char *shutterstr[] = {"open", "close", "expose @high", "expose @low"};
 static cc_hresult shutterhandler(_U_ int fd, _U_ const char *key, const char *val){
+    char buf[64];
     if(!camera->shuttercmd) return CC_RESULT_FAIL;
-    if(val){
-        int x = atoi(val);
-        if(x < 0 || x >= SHUTTER_AMOUNT) return CC_RESULT_BADVAL;
-        int r = camera->shuttercmd((cc_shutter_op)x);
-        if(r){
-           LOGMSG("Shutter command '%s'", shutterstr[x]);
-        }else{
-            LOGWARN("Can't run shutter command '%s'", shutterstr[x]);
-            return CC_RESULT_FAIL;
-        }
+    if(!val) return CC_RESULT_BADVAL;
+    int x = atoi(val);
+    if(x < 0 || x >= SHUTTER_AMOUNT) return CC_RESULT_BADVAL;
+    int r = camera->shuttercmd((cc_shutter_op)x);
+    if(r){
+       LOGMSG("Shutter command '%s'", shutterstr[x]);
+    }else{
+        LOGWARN("Can't run shutter command '%s'", shutterstr[x]);
+        return CC_RESULT_FAIL;
     }
-    return CC_RESULT_OK;
+    snprintf(buf, 63, "%s=%d", key, x);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
 }
 static cc_hresult confiohandler(_U_ int fd, _U_ const char *key, _U_ const char *val){
     char buf[64];
@@ -616,29 +614,33 @@ static cc_hresult nflusheshandler(_U_ int fd, _U_ const char *key, _U_ const cha
     if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
     return CC_RESULT_SILENCE;
 }
-static cc_hresult expstatehandler(_U_ int fd, _U_ const char *key, _U_ const char *val){
+static cc_hresult expstatehandler(int fd, _U_ const char *key, const char *val){
     char buf[64];
     if(val){
         int n = atoi(val);
         if(n == CAMERA_IDLE){ // cancel expositions
             camflags |= FLAG_CANCEL;
-            return CC_RESULT_OK;
         }
         else if(n == CAMERA_CAPTURE){ // start exposition
-            if(GP->exptime < 1e-9){
-                snprintf(buf, 63, CC_CMD_EXPOSITION "=%g", GP->exptime);
-                cc_sendstrmessage(fd, buf);
+            if(GP->exptime < 1e-9){ // need exposition time to be set
                 return CC_RESULT_FAIL;
             }
+            if(camstate == CAMERA_CAPTURE){
+                DBG("Capture in process when user ask '%s=%s'", key, val);
+                return CC_RESULT_BUSY; // in progress
+            }
             TIMESTAMP("Get FLAG_STARTCAPTURE");
             TIMEINIT();
             camflags |= FLAG_STARTCAPTURE;
-            return CC_RESULT_OK;
         }
         else return CC_RESULT_BADVAL;
     }
     snprintf(buf, 63, CC_CMD_EXPSTATE "=%d", camstate);
     if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
+static cc_hresult camflagshandler(int fd, _U_ const char *key, _U_ const char *val){
+    char buf[64];
     snprintf(buf, 63, "camflags=%d", camflags);
     if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
     return CC_RESULT_SILENCE;
@@ -663,6 +665,16 @@ static cc_hresult _8bithandler(int fd, _U_ const char *key, const char *val){
     if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
     return CC_RESULT_SILENCE;
 }
+static cc_hresult imnohandler(int fd, const char *key, const char _U_ *val){
+    if(!ima) return CC_RESULT_FAIL;
+    char buf[64];
+    cc_lock_shm(TRUE);
+    int No = ima->imnumber;
+    cc_unlock_shm();
+    snprintf(buf, 63, "%s=%d", key, No);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
 static cc_hresult fastspdhandler(int fd, _U_ const char *key, const char *val){
     char buf[64];
     if(!camera->setfastspeed) return CC_RESULT_FAIL;
@@ -722,6 +734,22 @@ static cc_hresult handler(_U_ int fd, _U_ const char *key, _U_ const char *val){
 /*******************************************************************************
  ***************************** cc_Wheel handlers **********************************
  ******************************************************************************/
+static cc_hresult wmaxposhandler(int fd, const char *key, _U_ const char *val){
+    if(wheel->Ndevices < 1) return CC_RESULT_FAIL;
+    char buf[64];
+    snprintf(buf, 63, "%s=%d", key, wmaxpos);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
+static cc_hresult wtemphandler(int fd, const char *key, _U_ const char *val){
+    if(wheel->Ndevices < 1 || !wheel->getTbody) return CC_RESULT_FAIL;
+    char buf[64];
+    float t;
+    if(!wheel->getTbody(&t)) return CC_RESULT_FAIL;
+    snprintf(buf, 63, "%s=%.1f", key, t);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
 static cc_hresult wlisthandler(int fd, _U_ const char *key, _U_ const char *val){
     if(wheel->Ndevices < 1) return CC_RESULT_FAIL;
     for(int i = 0; i < wheel->Ndevices; ++i){
@@ -769,18 +797,42 @@ static cc_hresult wgotohandler(_U_ int fd, _U_ const char *key, _U_ const char *
 /*******************************************************************************
  **************************** Focuser handlers *********************************
  ******************************************************************************/
-
+static cc_hresult fminposhandler(int fd, const char *key, _U_ const char *val){
+    if(focuser->Ndevices < 1) return CC_RESULT_FAIL;
+    char buf[64];
+    snprintf(buf, 63, "%s=%g", key, focminpos);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
+static cc_hresult fmaxposhandler(int fd, const char *key, _U_ const char *val){
+    if(focuser->Ndevices < 1) return CC_RESULT_FAIL;
+    char buf[64];
+    snprintf(buf, 63, "%s=%g", key, focmaxpos);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
+static cc_hresult ftemphandler(int fd, const char *key, _U_ const char *val){
+    if(focuser->Ndevices < 1 || !focuser->getTbody) return CC_RESULT_FAIL;
+    char buf[64];
+    float t;
+    if(!focuser->getTbody(&t)) return CC_RESULT_FAIL;
+    snprintf(buf, 63, "%s=%.1f", key, t);
+    if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
+    return CC_RESULT_SILENCE;
+}
 static cc_hresult foclisthandler(int fd, _U_ const char *key, _U_ const char *val){
     if(focuser->Ndevices < 1) return CC_RESULT_FAIL;
     for(int i = 0; i < focuser->Ndevices; ++i){
         char modname[256], buf[BUFSIZ];
-        if(!focuser->setDevNo(i)) continue;
+        if(focuser->setDevNo){
+            if(!focuser->setDevNo(i)) continue;
+        }
         focuser->getModelName(modname, 255);
         snprintf(buf, BUFSIZ-1, CC_CMD_FOCLIST "='%s'", modname);
         if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
     }
     int devno = atomic_load(&focdevno);
-    if(devno > -1) focuser->setDevNo(devno);
+    if(devno > -1 && focuser->setDevNo) focuser->setDevNo(devno);
     return CC_RESULT_SILENCE;
 }
 static cc_hresult fsetNhandler(int fd, _U_ const char *key, const char *val){
@@ -821,63 +873,6 @@ static cc_hresult fgotohandler(int fd, _U_ const char *key, const char *val){
  **************************** Common handlers **********************************
  ******************************************************************************/
 
-// information about everything
-static cc_hresult infohandler(int fd, _U_ const char *key, _U_ const char *val){
-    char buf[BUFSIZ], buf1[256];
-    float f;
-    int i;
-    if(camera){
-        if(camera->getModelName && camera->getModelName(buf1, 255)){
-            snprintf(buf, BUFSIZ-1, CC_CMD_CAMLIST "='%s'", buf1);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-#define RUN(f, arg) do{if(CC_RESULT_DISCONNECTED == f(fd, arg, NULL)) return CC_RESULT_DISCONNECTED;}while(0)
-        RUN(binhandler, CC_CMD_HBIN);
-        RUN(binhandler, CC_CMD_VBIN);
-        RUN(temphandler, CC_CMD_CAMTEMPER);
-        RUN(exphandler, CC_CMD_EXPOSITION);
-        RUN(expstatehandler, CC_CMD_EXPSTATE);
-#undef RUN
-    }
-    if(wheel){
-        DBG("chk wheel");
-        if(wheel->getModelName(buf1, 255)){
-            snprintf(buf, BUFSIZ-1, CC_CMD_WLIST "='%s'", buf1);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-        if(wheel->getTbody(&f)){
-            snprintf(buf, BUFSIZ-1, "wtemp=%.1f", f);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-        if(wheel->getPos(&i)){
-            snprintf(buf, BUFSIZ-1, CC_CMD_WPOS "=%d", i);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-        snprintf(buf, BUFSIZ-1, "wmaxpos=%d", wmaxpos);
-        if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-    }
-    if(focuser){
-        DBG("Chk focuser");
-        if(focuser->getModelName(buf1, 255)){
-            snprintf(buf, BUFSIZ-1, CC_CMD_FOCLIST "='%s'", buf1);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-        if(focuser->getTbody(&f)){
-            snprintf(buf, BUFSIZ-1, "foctemp=%.1f", f);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-        snprintf(buf, BUFSIZ-1, "focminpos=%g", focminpos);
-        if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        snprintf(buf, BUFSIZ-1, "focmaxpos=%g", focmaxpos);
-        if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        if(focuser->getPos(&f)){
-            snprintf(buf, BUFSIZ-1, CC_CMD_FGOTO "=%g", f);
-            if(!cc_sendstrmessage(fd, buf)) return CC_RESULT_DISCONNECTED;
-        }
-    }
-    DBG("EOF");
-    return CC_RESULT_SILENCE;
-}
 // show help
 static cc_hresult helphandler(int fd, _U_ const char *key, _U_ const char *val){
     char buf[256];
@@ -971,13 +966,14 @@ static cc_hresult chkfoc(char *val){
     return CC_RESULT_FAIL;
 }
 static cc_handleritem items[] = {
-    {chktrue,infohandler, CC_CMD_INFO},
     {NULL,   helphandler, CC_CMD_HELP},
     {NULL,   restarthandler, CC_CMD_RESTART},
     {chkcc,  camlisthandler, CC_CMD_CAMLIST},
+    {chkcc,  camflagshandler, CC_CMD_CAMFLAGS},
     {chkcc,  camsetNhandler, CC_CMD_CAMDEVNO},
     {chkcc,  camfanhandler, CC_CMD_CAMFANSPD},
     {chkcc,  exphandler, CC_CMD_EXPOSITION},
+    {chkcc,  imnohandler, CC_CMD_IMNUMBER},
     {chkcc,  binhandler, CC_CMD_HBIN},
     {chkcc,  binhandler, CC_CMD_VBIN},
     {chkcc,  temphandler, CC_CMD_CAMTEMPER},
@@ -1009,9 +1005,14 @@ static cc_handleritem items[] = {
     {chkfoc, foclisthandler, CC_CMD_FOCLIST},
     {chkfoc, fsetNhandler, CC_CMD_FDEVNO},
     {chkfoc, fgotohandler, CC_CMD_FGOTO},
+    {chkfoc, fminposhandler, CC_CMD_FMINPOS},
+    {chkfoc, fmaxposhandler, CC_CMD_FMAXPOS},
+    {chkfoc, ftemphandler, CC_CMD_FTEMP},
     {chkwhl, wlisthandler, CC_CMD_WLIST},
     {chkwhl, wsetNhandler, CC_CMD_WDEVNO},
     {chkwhl, wgotohandler, CC_CMD_WPOS},
+    {chkwhl, wmaxposhandler, CC_CMD_WMAXPOS},
+    {chkwhl, wtemphandler, CC_CMD_WTEMP},
     {NULL, NULL, NULL},
 };
 
@@ -1046,12 +1047,12 @@ void server(int sock, int imsock){
     if(imsock < 0) WARNX("Server run without image transport socket");
     else if(listen(imsock, CC_MAXCLIENTS) == -1){
         WARN("listen()");
-        LOGWARN("listen()");
+        LOGERR("server(): error in listen() for image socket");
         return;
     }
     if(listen(sock, CC_MAXCLIENTS) == -1){
         WARN("listen()");
-        LOGWARN("listen()");
+        LOGERR("server(): error in listen() for command socket");
         return;
     }
     // init everything
@@ -1062,11 +1063,17 @@ void server(int sock, int imsock){
     wheeldevini(0);
     if(startCCD()) --ctr;
     camdevini(0);
-    if(ctr == 3) ERRX("No devices found");
+    if(ctr == 3){
+        LOGERR("server(): no devices found");
+        WARNX("No devices found");
+    }
     // start camera thread
     pthread_t camthread;
     if(camera){
-        if(pthread_create(&camthread, NULL, processCAM, NULL)) ERR("pthread_create()");
+        if(pthread_create(&camthread, NULL, processCAM, NULL)){
+            WARN("pthread_create()");
+            LOGERR("server(): pthread_create()");
+        }
     }
     int nfd = 2; // only two listening sockets @start: command and image
     struct pollfd poll_set[CC_MAXCLIENTS+2];
@@ -1080,7 +1087,16 @@ void server(int sock, int imsock){
     poll_set[0].events = POLLIN;
     poll_set[1].fd = imsock;
     poll_set[1].events = POLLIN;
-    while(1){
+#ifdef EBUG
+    double T = sl_dtime();
+#endif
+    while(isrunning == 1){
+#ifdef EBUG
+        if(sl_dtime() - T > 5.){
+            T = sl_dtime();
+            printf("\t\t\tserver(), 5 seconds\n");
+        }
+#endif
         poll(poll_set, nfd, 1); // max timeout - 1ms
         //if(imsock > -1 && sl_canread(imsock) > 0){
         if(imsock > -1 && (poll_set[1].revents & POLLIN)){
@@ -1093,19 +1109,24 @@ void server(int sock, int imsock){
             DBG("client=%d", client);
             // sending image could be a very long operation -> run it in separate thread
             if(client > -1){
-                pthread_t sendthread;
-                if(pthread_create(&sendthread, NULL, sendimage, (void*)&client)){
-                    WARN("pthread_create()");
-                    LOGWARN("pthread_create() error");
+                if(ima->imnumber == 0){
+                    WARNX("Client wants an image, but there's no data");
                     close(client);
                 }else{
-                    DBG("Thread created -> detach");
-                    if(pthread_detach(sendthread)){
-                        WARN("pthread_detach()");
-                        LOGWARN("pthread_detach() error");
-                        pthread_cancel(sendthread);
+                    pthread_t sendthread;
+                    if(pthread_create(&sendthread, NULL, sendimage, (void*)&client)){
+                        WARN("pthread_create()");
+                        LOGWARN("pthread_create() error");
                         close(client);
-                    }else DBG("Thread detached");
+                    }else{
+                        DBG("Thread created -> detach");
+                        if(pthread_detach(sendthread)){
+                            WARN("pthread_detach()");
+                            LOGWARN("pthread_detach() error");
+                            pthread_cancel(sendthread);
+                            close(client);
+                        }else DBG("Thread detached");
+                    }
                 }
             }else{WARN("accept()"); DBG("disconnected");}
         }
@@ -1128,6 +1149,7 @@ void server(int sock, int imsock){
                 }
             }
         }
+#if 0
         // process some data & send messages to ALL
         if(camstate == CAMERA_FRAMERDY || camstate == CAMERA_ERROR){
             DBG("new image: timestamp=%.1f, num=%zd", ima->timestamp, ima->imnumber);
@@ -1140,10 +1162,12 @@ void server(int sock, int imsock){
             }
             camstate = CAMERA_IDLE;
         }
+#endif
         // scan connections
         for(int fdidx = 2; fdidx < nfd; ++fdidx){
             if((poll_set[fdidx].revents & POLLIN) == 0) continue;
             int fd = poll_set[fdidx].fd;
+            DBG("Got active fd=%d", fd);
             cc_strbuff *curbuff = buffers[fdidx-1];
             int disconnected = 0;
             if(cc_read2buf(fd, curbuff)){
@@ -1166,7 +1190,7 @@ void server(int sock, int imsock){
             }
         }
         // check `infty`
-        if(camstate == CAMERA_IDLE && infty){ // start new exposition
+        if(camstate != CAMERA_CAPTURE && infty){ // start new exposition
             // mark to start new capture in infinity loop when at least one client connected
             if(nfd > 2){
                 camflags |= FLAG_STARTCAPTURE;
@@ -1175,10 +1199,11 @@ void server(int sock, int imsock){
             }
         }
     }
-    // never reached
+    WARNX("SERVER STOPPED!");
+    camstop();
     focclose();
     closewheel();
-    closecam();
+    isrunning = -1;
 }
 
 /**

server.h

@@ -30,5 +30,4 @@
 void server(int fd, int imsock);
 char *makeabspath(const char *path, int shouldbe);
 
-int client_lock_shm(cc_IMG *img);
-void unlock_shm(cc_IMG *img);
+void stop_server();