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add mutex to pusirobo sending commands

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This commit is contained in:
Edward Emelianov
2021-07-21 17:14:38 +03:00
parent b32ca38018
commit cbf42d86e5
3 changed files with 23 additions and 7 deletions
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20
LocCorr/pusirobo.c
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@@ -63,7 +63,6 @@
#define CURPOSstatus "curpos"
// max range of U and V motors (all in microsteps!)
#define UVmaxsteps (35200)
#define Fmaxsteps (64000)
// steps to move from the edge
#define UVedgesteps (960)
@@ -91,6 +90,9 @@ static pusistate state = PUSI_DISCONN; // server state
static int sockfd = -1; // server file descriptor
// mutex for message sending
static pthread_mutex_t sendmesg_mutex = PTHREAD_MUTEX_INITIALIZER;
// current steps counters (zero at the middle)
static int Uposition = 0, Vposition = 0, Fposition = 0;
static uint8_t fixerr = 0; // ==1 if can't fixed
@@ -212,6 +214,7 @@ static int waitOK(char **retval){
return ret;
}
/**
* @brief send_message - send character string `msg` to pusiserver
* @param msg - message
@@ -221,22 +224,27 @@ static int waitOK(char **retval){
static int send_message(const char *msg, char **ans){
if(!msg || sockfd < 0) return FALSE;
size_t L = strlen(msg);
if(pthread_mutex_lock(&sendmesg_mutex)) return FALSE;
clearbuf();
if(send(sockfd, msg, L, 0) != (ssize_t)L){
LOGWARN("send_message(): send() failed");
return FALSE;
}
DBG("Message '%s' sent", msg);
return waitOK(ans);
int r = waitOK(ans);
pthread_mutex_unlock(&sendmesg_mutex);
return r;
}
static void send_message_nocheck(const char *msg){
if(!msg || sockfd < 0) return;
size_t L = strlen(msg);
if(pthread_mutex_lock(&sendmesg_mutex)) return;
clearbuf();
if(send(sockfd, msg, L, 0) != (ssize_t)L){
WARN("send");
}
pthread_mutex_unlock(&sendmesg_mutex);
DBG("Unchecked message '%s' sent", msg);
}
@@ -684,13 +692,11 @@ char *pusi_status(const char *messageid, char *buf, int buflen){
const char *motors[] = {"Umotor", "Vmotor", "Fmotor"};
const char *statuses[] = {Ustatus, Vstatus, Fstatus};
int *pos[] = {&Uposition, &Vposition, &Fposition};
const int maxpos[] = {UVmaxsteps, UVmaxsteps, Fmaxsteps};
const int minpos[] = {-UVmaxsteps, -UVmaxsteps, 0};
for(int i = 0; i < 3; ++i){
const char *stat = "moving";
if(moving_finished(statuses[i], pos[i])) stat = "stopping";
l = snprintf(bptr, buflen, "\"%s\": { \"status\": \"%s\", \"position\": %d, \"minpos\": %d, \"maxpos\": %d }%s",
motors[i], stat, *pos[i], minpos[i], maxpos[i], (i==2)?"":", ");
l = snprintf(bptr, buflen, "\"%s\": { \"status\": \"%s\", \"position\": %d }%s",
motors[i], stat, *pos[i], (i==2)?"":", ");
buflen -= l; bptr += l;
}
}
@@ -751,7 +757,7 @@ char *set_pfocus(const char *newstatus, char *buf, int buflen){
return buf;
}
int newval = atoi(newstatus);
if(newval < 0 || newval > Fmaxsteps){
if(newval < theconf.minFpos || newval > theconf.maxFpos){
snprintf(buf, buflen, FAIL);
}else{
if(!setF(newval)) snprintf(buf, buflen, FAIL);