mirror of
https://github.com/eddyem/astrovideoguide_v3.git
synced 2025-12-06 10:45:10 +03:00
add child process guard; fix error with steppers server disconnection
This commit is contained in:
parent
237b11d640
commit
39b9cee77c
@ -46,7 +46,6 @@ static void changeformat(){
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if(!theCam) return;
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if(maxformat.h < 1 || maxformat.w < 1){
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WARNX("Bad max format data");
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LOGWARN("Bad max format data");
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return;
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}
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if(stepformat.h < 1 || stepformat.w < 1){
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@ -28,14 +28,14 @@ void makedebuglog();
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void *my_malloc(size_t N, size_t S);
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void my_free(void *ptr);
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#undef FNAME
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//#undef FNAME
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#undef ALLOC
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#undef MALLOC
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#undef FREE
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#define _LOG(...) do{if(!debuglog) makedebuglog(); sl_putlogt(1, debuglog, LOGLEVEL_ERR, __VA_ARGS__);}while(0)
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#define DBGLOG(...) do{_LOG("%s (%s, line %d)", __func__, __FILE__, __LINE__); \
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sl_putlogt(0, debuglog, LOGLEVEL_ERR, __VA_ARGS__);}while(0)
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#define FNAME() _LOG("%s (%s, line %d)", __func__, __FILE__, __LINE__)
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//#define FNAME() _LOG("%s (%s, line %d)", __func__, __FILE__, __LINE__)
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#define _str(x) #x
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#define ALLOC(type, var, size) DBGLOG("%s *%s = ALLOC(%d)", _str(type), _str(var), size*sizeof(type)); \
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@ -266,11 +266,12 @@ void process_file(Image *I){
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outp = equalize(I, 3, theconf.throwpart);
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else
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outp = linear(I, 3);
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static Pattern *cross = NULL;
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static Pattern *cross = NULL, *crossL = NULL;
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if(!cross) cross = Pattern_xcross(33, 33);
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if(!crossL) crossL = Pattern_xcross(51, 51);
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Img3 i3 = {.data = outp, .w = I->width, .h = H};
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// draw fiber center position
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Pattern_draw3(&i3, cross, theconf.xtarget-theconf.xoff, H-(theconf.ytarget-theconf.yoff), C_B);
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Pattern_draw3(&i3, crossL, theconf.xtarget-theconf.xoff, H-(theconf.ytarget-theconf.yoff), C_R);
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if(objctr){ // draw crosses @ objects' centers
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int H = I->height;
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// draw current star centroid
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@ -280,7 +281,7 @@ void process_file(Image *I){
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yc = Objects[0].yc + theconf.yoff;
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// draw other centroids
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for(int i = 1; i < objctr; ++i)
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Pattern_draw3(&i3, cross, Objects[i].xc, H-Objects[i].yc, C_R);
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Pattern_draw3(&i3, cross, Objects[i].xc, H-Objects[i].yc, C_B);
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}else{xc = -1.; yc = -1.;}
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char *tmpnm = MALLOC(char, strlen(GP->outputjpg) + 5);
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sprintf(tmpnm, "%s-tmp", GP->outputjpg);
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@ -21,6 +21,8 @@
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#include <signal.h> // signal
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#include <stdio.h>
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#include <string.h> // strdup
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#include <sys/prctl.h> //prctl
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#include <sys/wait.h> // wait
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#include "cmdlnopts.h"
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#include "config.h"
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@ -38,7 +40,7 @@ static InputType tp;
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void signals(int sig){
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if(sig){
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signal(sig, SIG_IGN);
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DBG("Get signal %d, quit.\n", sig);
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DBG("Get signal %d.", sig);
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}
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stopwork = TRUE;
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DBG("exit %d", sig);
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@ -181,7 +183,6 @@ int main(int argc, char *argv[]){
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theconf.stpserverport = GP->pusiservport;
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}
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}
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setpostprocess(GP->processing);
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check4running(self, GP->pidfile);
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DBG("%s started, snippets library version is %s\n", self, sl_libversion());
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free(self); self = NULL;
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@ -190,6 +191,21 @@ int main(int argc, char *argv[]){
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signal(SIGINT, signals); // ctrl+C - quit
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signal(SIGQUIT, signals); // ctrl+\ - quit
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signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
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while(1){ // guard for dead processes
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pid_t childpid = fork();
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if(childpid){ // father
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LOGMSG("create child with PID %d\n", childpid);
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DBG("Created child with PID %d\n", childpid);
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wait(NULL);
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LOGMSG("child %d died\n", childpid);
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WARNX("Child %d died\n", childpid);
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sleep(5);
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}else{ // son
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prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
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break; // go out to normal functional
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}
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}
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setpostprocess(GP->processing);
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if(GP->logXYname) openXYlog(GP->logXYname);
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LOGMSG("Start application...");
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LOGDBG("xtag=%g, ytag=%g", theconf.xtarget, theconf.ytarget);
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@ -133,7 +133,8 @@ static double Xtarget = 0., Ytarget = 0.;
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static volatile atomic_bool chfocus = FALSE;
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static volatile atomic_int newfocpos = 0;
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static int sockfd = -1; // server file descriptor
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static volatile atomic_int sockfd = -1; // server file descriptor
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static volatile atomic_bool motorsoff = FALSE; // flag to disconnect
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// mutex for message sending
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static pthread_mutex_t sendmesg_mutex = PTHREAD_MUTEX_INITIALIZER;
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@ -144,15 +145,24 @@ static volatile atomic_int dUmove = 0, dVmove = 0;
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static volatile atomic_bool Umoving = FALSE, Vmoving = FALSE, Fmoving = FALSE;
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static uint8_t fixerr = 0; // ==1 if can't fixed
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static void pusi_disc(){
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motorsoff = TRUE;
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}
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static void pusi_disconnect(){
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if(sockfd > -1) close(sockfd);
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sockfd = -1;
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DBG("Try to disconnect");
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if(sockfd > -1){
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DBG("sockfd closed");
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close(sockfd);
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}
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Umoving = Vmoving = Fmoving = ismoving = FALSE;
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state = PUSI_DISCONN;
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sockfd = -1;
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LOGWARN("Canserver disconnected");
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}
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static int too_much_errors(){
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// FNAME();
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if(++errctr >= MAX_ERR_CTR){
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LOGERR("Canserver: too much errors -> DISCONNECT");
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errctr = 0;
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@ -165,6 +175,7 @@ static int too_much_errors(){
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#define clr_errors() do{errctr = 0;}while(0)
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static char *findval(const char *par, const char *statusmesg){
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// FNAME();
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if(!statusmesg || !par) return NULL;
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char *pair = strcasestr(statusmesg, par);
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if(!pair) return NULL;
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@ -184,6 +195,7 @@ static char *findval(const char *par, const char *statusmesg){
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* @return TRUE if parameter found and set `val` to its value
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*/
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static int getparval(const char *par, const char *statusmesg, double *val){
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// FNAME();
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char *parval = findval(par, statusmesg);
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if(!parval) return FALSE;
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if(!val) return TRUE;
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@ -192,6 +204,7 @@ static int getparval(const char *par, const char *statusmesg, double *val){
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}
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// the same as getparval, but check for "=OK"
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static int getOKval(const char *par, const char *statusmesg){
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// FNAME();
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//DBG("getOKval('%s', '%s')", par, statusmesg);
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char *parval = findval(par, statusmesg);
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if(!parval) return FALSE;
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@ -230,6 +243,7 @@ static int canread(){
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// clear incoming buffer
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static void clearbuf(){
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// FNAME();
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if(sockfd < 0) return;
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char buf[256] = {0};
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while(canread() && 0 < read(sockfd, buf, 256)) DBG("clearbuf: %s", buf);
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@ -241,12 +255,14 @@ static void clearbuf(){
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* @return FALSE if timeout or no "OK"
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*/
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static int waitOK(char **retval){
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// FNAME();
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if(sockfd < 0) return FALSE;
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#define BUFFERSZ (2047)
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char buf[BUFFERSZ+1];
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int Nread = 0, ctr = 0;
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double t0 = dtime();
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while(dtime() - t0 < WAITANSTIME && Nread < BUFFERSZ){
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//DBG("read ans");
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while(dtime() - t0 < WAITANSTIME && Nread < BUFFERSZ && sockfd > 0){
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if(!canread()){
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//DBG("No answer @ %d try", ctr);
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if(++ctr > 3) break;
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@ -258,8 +274,8 @@ static int waitOK(char **retval){
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if(n == 0) break;
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if(n < 0) return FALSE; // disconnect or error
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Nread += n;
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buf[Nread] = 0;
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}
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buf[Nread] = 0;
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//DBG("All buffer: '%s'", buf);
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int ret = FALSE;
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char *ok = strstr(buf, ANSOK);
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@ -286,6 +302,7 @@ static int waitOK(char **retval){
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* @return FALSE if failed (should reconnect)
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*/
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static int send_message(const char *msg, char **ans){
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// FNAME();
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if(!msg || sockfd < 0) return FALSE;
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size_t L = strlen(msg);
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if(pthread_mutex_lock(&sendmesg_mutex)) return FALSE;
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@ -307,6 +324,7 @@ static int send_message(const char *msg, char **ans){
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* @return amount of args found (0 - if answer is wrong or no n'th arg found)
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*/
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static int getRansArg(char *ans, uint8_t buf[8]){
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// FNAME();
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//DBG("check relay answer, ans: %s", ans);
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if(!ans) return 0;
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if(strncmp(ans, RelayAns, sizeof(RelayAns)-1)) return 0; // bad answer
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@ -321,6 +339,7 @@ static int getRansArg(char *ans, uint8_t buf[8]){
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* @return FALSE if failed
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*/
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static int chkRelay(){
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// FNAME();
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char *ans = NULL;
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char buf[512];
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uint8_t canbuf[8];
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@ -348,6 +367,7 @@ rtn:
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}
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static void send_message_nocheck(const char *msg){
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// FNAME();
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if(!msg || sockfd < 0) return;
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size_t L = strlen(msg);
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if(pthread_mutex_lock(&sendmesg_mutex)) return;
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@ -382,7 +402,6 @@ static int setSpeed(const char *mesg, const char *name){
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* @return FALSE if failed
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*/
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static int pusi_connect_server(){
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Umoving = Fmoving = Vmoving = ismoving = FALSE;
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DBG("pusi_connect(%d)", theconf.stpserverport);
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char port[10];
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snprintf(port, 10, "%d", theconf.stpserverport);
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@ -439,6 +458,7 @@ static pthread_t processingthread;
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* @return FALSE if failed to connect immediately
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*/
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int pusi_connect(){
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DBG("Try to connect");
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int c = pusi_connect_server();
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if(pthread_create(&processingthread, NULL, pusi_process_states, NULL)){
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LOGERR("pthread_create() for pusirobo server failed");
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@ -447,14 +467,9 @@ int pusi_connect(){
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return c;
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}
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// stop processing & disconnect
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static void pusi_stop(){
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pthread_join(processingthread, NULL);
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pusi_disconnect();
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}
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// return TRUE if motor is stopped
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static int moving_finished(const char *mesgstatus, volatile atomic_int *position){
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// FNAME();
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double val = 0.;
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char *ans = NULL;
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int ret = TRUE;
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@ -732,7 +747,7 @@ static void pusi_process_corrections(double X, double Y){
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static int pusi_setstate(pusistate newstate){
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if(newstate == state) return TRUE;
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if(newstate == PUSI_DISCONN){
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pusi_disconnect();
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pusi_disc();
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return TRUE;
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}
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if(state == PUSI_DISCONN){
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@ -748,6 +763,7 @@ static int pusi_setstate(pusistate newstate){
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// get current status (global variable stepstatus)
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// return JSON string with different parameters
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static char *pusi_status(const char *messageid, char *buf, int buflen){
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// FNAME();
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int l;
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char *bptr = buf;
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const char *s = NULL, *stage = NULL;
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@ -849,6 +865,7 @@ static strstate stringstatuses[] = {
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// try to set new status (global variable stepstatus)
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static char *set_pusistatus(const char *newstatus, char *buf, int buflen){
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// FNAME();
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strstate *s = stringstatuses;
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pusistate newstate = PUSI_UNDEFINED;
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while(s->str){
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@ -882,22 +899,34 @@ static char *set_pusistatus(const char *newstatus, char *buf, int buflen){
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// MAIN THREAD
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static void *pusi_process_states(_U_ void *arg){
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FNAME();
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// FNAME();
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static bool first = TRUE; // flag for logging when can't reconnect
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while(!stopwork){
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usleep(10000);
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// check for disconnection flag
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if(motorsoff){
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motorsoff = FALSE;
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pusi_disconnect();
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sleep(1);
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continue;
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}
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// check for moving
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if(state == PUSI_DISCONN){
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DBG("DISCONNECTED - try to connect");
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sleep(1);
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pusi_connect_server();
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continue;
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}
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// check relay
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//DBG("relay");
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chkRelay();
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//DBG("U");
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if(moving_finished(Ustatus, &Uposition)) Umoving = FALSE;
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else Umoving = TRUE;
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//DBG("V");
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if(moving_finished(Vstatus, &Vposition)) Vmoving = FALSE;
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else Vmoving = TRUE;
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//DBG("F");
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if(moving_finished(Fstatus, &Fposition)) Fmoving = FALSE;
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else Fmoving = TRUE;
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if(Umoving || Vmoving || Fmoving) ismoving = TRUE;
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@ -975,6 +1004,7 @@ static void *pusi_process_states(_U_ void *arg){
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break;
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}
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}
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DBG("thread stopped");
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return NULL;
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}
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@ -1045,7 +1075,7 @@ static char *relaycmd(const char *val, char *buf, int buflen){
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}
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steppersproc pusyCANbus = {
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.stepdisconnect = pusi_stop,
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.stepdisconnect = pusi_disc,
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.proc_corr = pusi_process_corrections,
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.stepstatus = pusi_status,
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.setstepstatus = set_pusistatus,
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