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added TeAmanagement

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This commit is contained in:
Edward Emelianov 2022-10-14 17:24:48 +03:00
parent c54bdea9ed
commit 2b42f5a2a4
18 changed files with 4006 additions and 0 deletions
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56
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# run `make DEF=...` to add extra defines
PROGRAM := teacmd
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
TARGFILE := $(OBJDIR)/TARGET
CC = gcc
ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
TARGET := $(file < $(TARGFILE))
else
TARGET := RELEASE
endif
ifeq ($(TARGET), DEBUG)
.DEFAULT_GOAL := debug
endif
release: $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: TARGET := DEBUG
debug: $(PROGRAM)
$(TARGFILE): $(OBJDIR)
@echo -e "\t\tTARGET: $(TARGET)"
@echo "$(TARGET)" > $(TARGFILE)
$(PROGRAM) : $(TARGFILE) $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(LDFLAGS) $(OBJS) -o $(PROGRAM)
$(OBJDIR):
@mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
clean:
@echo -e "\t\tCLEAN"
@rm -rf $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

3
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Client/server

1
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-std=c17

6
TeAmanagement/TeAman.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define EBUG
#define _GNU_SOURCE
#define _XOPEN_SOURCE=1111

1
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[General]

163
TeAmanagement/TeAman.creator.user Normal file
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<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
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<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
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<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
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<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
<value type="int" key="ClangTools.ParallelJobs">4</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
</valuemap>
<valuemap type="QVariantMap" key="CppEditor.QuickFix">
<value type="bool" key="UseGlobalSettings">true</value>
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<valuemap type="QVariantMap">
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
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<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
<value type="QString">clean</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
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-std=c++17

7
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cmdlnopts.c
cmdlnopts.h
main.c
sersock.c
sersock.h
teacmd.c
teacmd.h

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TeAmanagement/TeAman.includes Normal file
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.

106
TeAmanagement/cmdlnopts.c Normal file
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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <assert.h>
#include <math.h> // NAN
#include <stdarg.h>
#include <stdio.h>
#include "cmdlnopts.h"
#include "usefull_macros.h"
// default PID filename:
#define DEFAULT_PIDFILE "/tmp/usbsock.pid"
#define DEFAULT_PORT "1234"
#define DEFAULT_SOCKPATH "\0TeA"
static int help;
static glob_pars G = {
.pidfile = DEFAULT_PIDFILE,
.speed = 9600,
.path = DEFAULT_SOCKPATH,
.minsteps = {-6150, -4100, -3700},
.maxsteps = {25000, 16000, 32500},
.x = NAN, .y = NAN, .z = NAN
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
static myoption cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&help), _("show this help")},
{"devpath", NEED_ARG, NULL, 'd', arg_string, APTR(&G.devpath), _("serial device path")},
{"speed", NEED_ARG, NULL, 's', arg_int, APTR(&G.speed), _("serial device speed (default: 9600)")},
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), _("file to save logs (default: none)")},
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), _("pidfile (default: " DEFAULT_PIDFILE ")")},
{"client", NO_ARGS, NULL, 'c', arg_int, APTR(&G.client), _("run as client")},
{"sockpath",NEED_ARG, NULL, 'f', arg_string, APTR(&G.path), _("socket path (start from \\0 for no files, default: \0TeA)")},
{"verbose", NO_ARGS, NULL, 'v', arg_none, APTR(&G.verbose), _("increase log verbose level (default: LOG_WARN) and messages (default: none)")},
{"fitsheader",NEED_ARG, NULL, 'o', arg_string, APTR(&G.fitshdr), _("FITS header output file")},
{"terminal",NO_ARGS, NULL, 't', arg_int, APTR(&G.terminal), _("run as terminal client")},
{"xmin", NEED_ARG, NULL, 0, arg_int, APTR(&G.minsteps[0]),_("min position (steps) by X")},
{"xmax", NEED_ARG, NULL, 0, arg_int, APTR(&G.maxsteps[0]),_("max position (steps) by X")},
{"ymin", NEED_ARG, NULL, 0, arg_int, APTR(&G.minsteps[1]),_("min position (steps) by Y")},
{"ymax", NEED_ARG, NULL, 0, arg_int, APTR(&G.maxsteps[1]),_("max position (steps) by Y")},
{"zmin", NEED_ARG, NULL, 0, arg_int, APTR(&G.minsteps[2]),_("min position (steps) by Z")},
{"zmax", NEED_ARG, NULL, 0, arg_int, APTR(&G.maxsteps[2]),_("max position (steps) by Z")},
{"setx", NEED_ARG, NULL, 'x', arg_double, APTR(&G.x), _("move X-stage to this coordinate (mm)")},
{"sety", NEED_ARG, NULL, 'y', arg_double, APTR(&G.y), _("move Y-stage to this coordinate (mm)")},
{"setz", NEED_ARG, NULL, 'z', arg_double, APTR(&G.z), _("move Z-stage to this coordinate (mm)")},
{"wait", NO_ARGS, NULL, 'w', arg_int, APTR(&G.wait), _("wait end of operations")},
{"gotozero",NO_ARGS, NULL, '0', arg_int, APTR(&G.gotozero), _("init zero-position of all axis")},
end_option
};
/**
* Parse command line options and return dynamically allocated structure
* to global parameters
* @param argc - copy of argc from main
* @param argv - copy of argv from main
* @return allocated structure with global parameters
*/
glob_pars *parse_args(int argc, char **argv){
int i;
size_t hlen = 1024;
char helpstring[1024], *hptr = helpstring;
snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
// format of help: "Usage: progname [args]\n"
change_helpstring(helpstring);
// parse arguments
parseargs(&argc, &argv, cmdlnopts);
for(i = 0; i < argc; i++)
printf("Ignore parameter\t%s\n", argv[i]);
if(help) showhelp(-1, cmdlnopts);
return &G;
}
/**
* @brief verbose - print additional messages depending of G.verbose (add '\n' at end)
* @param levl - message level
* @param fmt - message
*/
void verbose(int levl, const char *fmt, ...){
va_list ar;
if(levl > G.verbose) return;
//printf("%s: ", __progname);
va_start(ar, fmt);
vprintf(fmt, ar);
va_end(ar);
printf("\n");
}

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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef CMDLNOPTS_H__
#define CMDLNOPTS_H__
/*
* here are some typedef's for global data
*/
typedef struct{
char *devpath; // path to serial device
char *pidfile; // name of PID file
char *logfile; // logging to this file
char *path; // path to socket file
char *fitshdr; // path to file with FITS header output
int minsteps[3]; // min steps for each axe
int maxsteps[3];
int terminal; // run as terminal
int speed; // connection speed
int verbose; // verbose level: for messages & logging
int client; // ==1 if application runs in client mode
int wait; // wait for stop
int gotozero; // run 'gotoz' for all three axis
double x; // coordinates to set (when run as client)
double y;
double z;
} glob_pars;
glob_pars *parse_args(int argc, char **argv);
void verbose(int levl, const char *fmt, ...);
#endif // CMDLNOPTS_H__

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108
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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/prctl.h>
#include <sys/wait.h>
#include <usefull_macros.h>
#include "cmdlnopts.h"
#include "sersock.h"
#include "teacmd.h"
static glob_pars *GP = NULL;
static TTY_descr *dev = NULL;
static pid_t childpid = 0;
int server = 1;
void signals(int sig){
if(childpid){ // slave process
DBG("Child killed with sig=%d", sig);
LOGWARN("Child killed with sig=%d", sig);
exit(sig);
}
// master process
DBG("Master process");
if(GP && GP->terminal) restore_console();
else if(dev) close_tty(&dev);
if(sig){
DBG("Exit with signal %d", sig);
signal(sig, SIG_IGN);
LOGERR("Exit with signal %d", sig);
}else LOGERR("Exit");
if(GP && GP->pidfile && server){
DBG("Unlink pid file");
unlink(GP->pidfile);
}
exit(sig);
}
int main(int argc, char **argv){
char *self = strdup(argv[0]);
initial_setup();
GP = parse_args(argc, argv);
if(!GP->client && GP->terminal) ERRX("Can't work as server and terminal client simultaneously");
if(GP->logfile){
int lvl = LOGLEVEL_WARN + GP->verbose;
DBG("level = %d", lvl);
if(lvl > LOGLEVEL_ANY) lvl = LOGLEVEL_ANY;
verbose(1, "Log file %s @ level %d\n", GP->logfile, lvl);
OPENLOG(GP->logfile, lvl, 1);
if(!globlog) WARNX("Can't create log file");
}
if(GP->client) server = 0;
else{
if(!GP->devpath){
LOGERR("You should point serial device path");
ERRX("You should point serial device path");
}
set_validator(GP);
}
if(server) check4running(self, GP->pidfile);
// signal reactions:
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
LOGMSG("Started");
#ifndef EBUG
if(server){
unsigned int pause = 5;
while(1){
childpid = fork();
if(childpid){ // master
double t0 = dtime();
LOGMSG("Created child with pid %d", childpid);
wait(NULL);
LOGWARN("Child %d died", childpid);
if(dtime() - t0 < 1.) pause += 5;
else pause = 1;
if(pause > 900) pause = 900;
sleep(pause); // wait a little before respawn
}else{ // slave
prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
break;
}
}
}
#endif
return start_socket(server, GP, &dev);
}

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INSTRUME= 'TeA - Telescope Analyzer' / Acquisition hardware
XMM = 0 / Coordinate, mm
YMM = 0 / Coordinate, mm
ZMM = 0 / Coordinate, mm
XSTAT = 'stop' / Status of given coordinate motor
YSTAT = 'stop' / Status of given coordinate motor
ZSTAT = 'stop' / Status of given coordinate motor

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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <netdb.h>
#include <poll.h>
#include <stdio.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/un.h> // unix socket
#include "sersock.h"
#include "teacmd.h"
enum{
SENDSTAT_OK,
SENDSTAT_OUTOFRANGE,
SENDSTAT_NOECHO,
SENDSTAT_ERR,
SENDSTAT_SETTER // not an error
};
static const char *sendstatuses[] = {
[SENDSTAT_OK] = "OK\n",
[SENDSTAT_OUTOFRANGE] = "Steps out of range\n",
[SENDSTAT_NOECHO] = "No echo received\n",
[SENDSTAT_ERR] = "Error in write()\n",
[SENDSTAT_SETTER] = "OK\n"
};
static char *getserdata(TTY_descr *D, int *len);
/**
* @brief sendcmd - validate & send command to device
* @param cmd - command (string with or without "\n" on the end)
* @param d - serial device
* @return SENDSTAT_OK if OK or error
*/
static int sendcmd(char *cmd, ssize_t len, TTY_descr *d){
int v = validate_cmd(cmd, len);
int ret = SENDSTAT_OK;
if(v < 0) return SENDSTAT_OUTOFRANGE;
if(v > 0) ret = SENDSTAT_SETTER; // is setter
if(len != write(d->comfd, cmd, len)){
WARN("write()");
LOGWARN("write()");
return SENDSTAT_ERR;
}
int l;
usleep(500);
char *ans = getserdata(d, &l);
if(ans) DBG("ans: '%s'", ans); else DBG("no ans");
if(ans && 0 == strcmp(ans, cmd)) return ret;
return SENDSTAT_NOECHO;
}
// work with single client, return -1 if disconnected or status of `sendcmd`
static int handle_socket(int sock, TTY_descr *d){
char buff[BUFLEN];
ssize_t rd = read(sock, buff, BUFLEN-1);;
DBG("Got %zd bytes", rd);
if(rd <= 0){ // error or disconnect
DBG("Nothing to read from fd %d (ret: %zd)", sock, rd);
return -1;
}
// add trailing zero to be on the safe side
buff[rd] = 0;
DBG("GOT: %s", buff);
ssize_t blen = strlen(buff);
int s = sendcmd(buff, blen, d);
if(SENDSTAT_OK != s && SENDSTAT_SETTER != s){
int l = strlen(sendstatuses[s]);
if(l != send(sock, sendstatuses[s], l, MSG_NOSIGNAL)){
WARN("send()");
LOGWARN("send() to fd=%d failed", sock);
}
}else{
if(buff[blen-1] == '\n') buff[blen-1] = 0;
LOGMSG("CLIENT_%d: %s", sock, buff);
}
return s;
}
/**
* check data from fd
* @param fd - file descriptor
* @return 0 in case of timeout, 1 in case of fd have data, -1 if error
*/
int canberead(int fd){
fd_set fds;
struct timeval timeout;
timeout.tv_sec = 0;
timeout.tv_usec = 10000; // wait for 10ms max
FD_ZERO(&fds);
FD_SET(fd, &fds);
do{
int rc = select(fd+1, &fds, NULL, NULL, &timeout);
if(rc < 0){
if(errno != EINTR){
LOGWARN("select()");
WARN("select()");
return -1;
}
continue;
}
break;
}while(1);
if(FD_ISSET(fd, &fds)){
//DBG("FD_ISSET");
return 1;
}
return 0;
}
/**
* @brief getserdata - read data (ending by '\n') from serial device
* @param D (i) - device
* @param len (o) - amount of butes read (-1 if disconnected)
* @return pointer to data buffer or NULL if none
*/
static char *getserdata(TTY_descr *D, int *len){
static char serbuf[BUFLEN], *ptr = serbuf;
static size_t blen = BUFLEN - 1;
if(!D || D->comfd < 0) return NULL;
char *nl = NULL;
do{
int s = canberead(D->comfd);
if(s == 0) break;
if(s < 0){ // interrupted?
if(len) *len = 0;
return NULL;
}
ssize_t l = read(D->comfd, ptr, blen);
if(l < 1){ // disconnected
DBG("device disconnected");
if(len) *len = -1;
return NULL;
}
ptr[l] = 0;
//DBG("GOT %zd bytes: '%s'", l, ptr);
nl = strchr(ptr, '\n');
ptr += l;
blen -= l;
if(nl){
//DBG("Got newline");
break;
}
}while(blen);
// recalculate newline from the beginning (what if old data stays there?)
nl = strchr(serbuf, '\n');
if(blen && !nl){
if(len) *len = 0;
return NULL;
}
// in case of overflow send buffer without trailing '\n'
int L;
if(nl) L = nl - serbuf + 1; // get line to '\n'
else L = strlen(serbuf); // get all buffer
if(len) *len = L;
memcpy(D->buf, serbuf, L); // copy all + trailing zero
D->buflen = L;
D->buf[L] = 0;
//DBG("Put to buf %d bytes: '%s'", L, D->buf);
if(nl){
L = ptr - nl - 1; // symbols after newline
if(L > 0){ // there's some data after '\n' -> put it into the beginning
memmove(serbuf, nl+1, L);
blen = BUFLEN - 1 - L;
ptr = serbuf + L;
*ptr = 0;
//DBG("now serbuf is '%s'", serbuf);
}else{
blen = BUFLEN - 1;
ptr = serbuf;
*ptr = 0;
}
}else{
blen = BUFLEN - 1;
ptr = serbuf;
*ptr = 0;
}
return D->buf;
}
static void run_server(int sock, TTY_descr *d, char *hdrfile){
if(listen(sock, MAXCLIENTS) == -1){
WARN("listen");
LOGWARN("listen");
return;
}
int enable = 1;
if(ioctl(sock, FIONBIO, (void *)&enable) < 0){ // make socket nonblocking
LOGERR("Can't make socket nonblocking");
ERRX("ioctl()");
}
int nfd = 1; // only one socket @start
struct pollfd poll_set[MAXCLIENTS+1];
bzero(poll_set, sizeof(poll_set));
// ZERO - listening server socket
poll_set[0].fd = sock;
poll_set[0].events = POLLIN;
int need2poll = 1; // one of motors is moving or in error state - check all
double tpoll = dtime(); // time of last device polling
while(1){
poll(poll_set, nfd, 1); // max timeout - 1ms
if(poll_set[0].revents & POLLIN){ // check main for accept()
struct sockaddr_in addr;
socklen_t len = sizeof(addr);
int client = accept(sock, (struct sockaddr*)&addr, &len);
DBG("New connection");
LOGMSG("Connection, fd=%d", client);
if(nfd == MAXCLIENTS + 1){
LOGWARN("Max amount of connections, disconnect fd=%d", client);
WARNX("Limit of connections reached");
close(client);
}else{
memset(&poll_set[nfd], 0, sizeof(struct pollfd));
poll_set[nfd].fd = client;
poll_set[nfd].events = POLLIN;
++nfd;
}
}
// scan connections
for(int fdidx = 1; fdidx < nfd; ++fdidx){
if((poll_set[fdidx].revents & POLLIN) == 0) continue;
int fd = poll_set[fdidx].fd;
int h = handle_socket(fd, d);
if(h < 0){ // socket closed
DBG("Client fd=%d disconnected", fd);
LOGMSG("Client fd=%d disconnected", fd);
close(fd);
// move last FD to current position
poll_set[fdidx] = poll_set[nfd - 1];
--nfd;
}else if(h == SENDSTAT_SETTER){
DBG("NEED TO POLL!");
need2poll = 1; // should check state
usleep(110000); // wait for buffers put to USB
}
}
int l = -1;
char *serdata = NULL;
while((serdata = getserdata(d, &l))){
if(l < 0){
LOGERR("Serial device disconnected");
ERRX("Serial device disconnected");
}
for(int i = 1; i < nfd; ++i){
if(l != send(poll_set[i].fd, serdata, l, MSG_NOSIGNAL)){
LOGWARN("send() to fd=%d failed", poll_set[i].fd);
WARN("send()");
}
DBG("send 2 client %d", poll_set[i].fd);
}
// this call should be AFTER data sending as it changes value of `serdata`
if(parse_incoming_string(serdata, l, hdrfile)) need2poll = 1; // check later if something is moving
}
if(need2poll && dtime() - tpoll > 1.){ // check status once per second
char buff[BUFLEN];
for(int i = 0; i < 3; ++i){ // don't need to validate data here
snprintf(buff, BUFLEN, "%s%d\n", TEACMD_POSITION, i);
ssize_t blen = strlen(buff);
if(blen != write(d->comfd, buff, strlen(buff))) WARN("write()");
DBG("send '%s'", buff);
serdata = getserdata(d, &l); // clear echo
if(serdata){
DBG("ans: %s", serdata);
//parse_incoming_string(serdata, l, hdrfile);
}
snprintf(buff, BUFLEN, "%s%d\n", TEACMD_STATUS, i);
blen = strlen(buff);
if(blen != write(d->comfd, buff, strlen(buff))) WARN("write()");
DBG("send %s", buff);
serdata = getserdata(d, &l); // clear echo
if(serdata){
DBG("ans: %s", serdata);
//parse_incoming_string(serdata, l, hdrfile);
}
}
// now clear incoming buffer & process answers (don't spam client)
/*
DBG("clear buff, time=0");
tpoll = dtime();
while(dtime() - tpoll < 1. && !(serdata = getserdata(d, &l)));
do{
need2poll = parse_incoming_string(serdata, l, hdrfile);
usleep(20000);
}while((serdata = getserdata(d, &l)));
DBG("done, time=%g, need2poll=%d", dtime()-tpoll, need2poll);
*/
need2poll = 0;
tpoll = dtime();
}
}
}
// read console char - for client
static int rc(){
int rb;
struct timeval tv;
int retval;
fd_set rfds;
FD_ZERO(&rfds);
FD_SET(STDIN_FILENO, &rfds);
tv.tv_sec = 0; tv.tv_usec = 100;
retval = select(1, &rfds, NULL, NULL, &tv);
if(!retval) rb = 0;
else {
if(FD_ISSET(STDIN_FILENO, &rfds)) rb = getchar();
else rb = 0;
}
return rb;
}
/**
* @brief mygetline - silently and non-blocking getline
* @return zero-terminated string with '\n' at end (or without in case of overflow)
*/
static char *mygetline(){
static char buf[BUFLEN+1];
static int i = 0;
while(i < BUFLEN){
char rd = rc();
if(!rd) return NULL;
if(rd == 0x7f && i){ // backspace
buf[--i] = 0;
printf("\b \b");
}else{
buf[i++] = rd;
printf("%c", rd);
}
fflush(stdout);
if(rd == '\n') break;
}
buf[i] = 0;
i = 0;
return buf;
}
static void terminal_client(int sock){
setup_con(); // convert console mode into non-canon
int Bufsiz = BUFLEN;
char *recvBuff = MALLOC(char, Bufsiz);
while(1){
char *msg = mygetline();
if(msg){
ssize_t L = strlen(msg);
if(send(sock, msg, L, 0) != L){
WARN("send");
}else{
if(msg[L-1] == '\n') msg[L-1] = 0;
LOGMSG("TERMINAL: %s", msg);
}
}
if(1 != canberead(sock)) continue;
int n = read(sock, recvBuff, Bufsiz-1);
if(n == 0){
WARNX("Server disconnected");
signals(0);
}
recvBuff[n] = 0;
printf("%s", recvBuff);
if(recvBuff[n-1] == '\n') recvBuff[n-1] = 0;
LOGMSG("SERIAL: %s", recvBuff);
}
}
/**
* @brief openserialdev - open connection to serial device
* @param path (i) - path to device
* @param speed - connection speed
* @return pointer to device structure if all OK
*/
static TTY_descr *openserialdev(char *path, int speed){
TTY_descr *d = new_tty(path, speed, BUFLEN);
DBG("Device created");
if(!d || !(tty_open(d, 1))){
WARN("Can't open device %s", path);
LOGWARN("Can't open device %s", path);
return NULL;
}
DBG("device opened");
return d;
}
int start_socket(int server, glob_pars *P, TTY_descr **dev){
if(!P || !dev){
WARNX("Need parameters & device");
return 1;
}
char *hdrfile = NULL;
int realfile = 0;
char apath[128], *sockpath = P->path;
DBG("path: %s", sockpath);
if(*sockpath == 0){
DBG("convert name");
apath[0] = 0;
strncpy(apath+1, sockpath+1, 126);
}else if(strncmp("\\0", sockpath, 2) == 0){
DBG("convert name");
apath[0] = 0;
strncpy(apath+1, sockpath+2, 126);
}else{
strcpy(apath, sockpath);
realfile = 1;
}
if(server){
if(!dev) return 1;
if(!(*dev = openserialdev(P->devpath, P->speed))){
LOGERR("Can't open serial device %s", P->devpath);
ERR("Can't open serial device %s", P->devpath);
}
if(realfile) unlink(apath); // remove old socket
if(P->fitshdr){ // open file with header
FILE *hdrf = fopen(P->fitshdr, "w");
if(!hdrf){
WARNX("Can't create file %s", P->fitshdr);
LOGERR("Can't create file %s", P->fitshdr);
}else{
fclose(hdrf);
hdrfile = strdup(P->fitshdr);
}
}
}
int sock = -1;
int reuseaddr = 1;
struct sockaddr_un saddr = {0};
saddr.sun_family = AF_UNIX;
memcpy(saddr.sun_path, apath, 106); // if sun_path[0] == 0 we don't create a file
if((sock = socket(AF_UNIX, SOCK_SEQPACKET, 0)) < 0){ // or SOCK_STREAM?
LOGERR("socket()");
ERR("socket()");
}
if(server){
if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseaddr, sizeof(int)) == -1){
LOGWARN("setsockopt");
WARN("setsockopt");
}
if(bind(sock, &saddr, sizeof(saddr)) == -1){
close(sock);
LOGERR("bind");
ERR("bind");
}
}else{
if(connect(sock, &saddr, sizeof(saddr)) == -1){
LOGERR("connect()");
ERR("connect()");
}
}
int ret = 0;
if(server) run_server(sock, *dev, hdrfile);
else if(P->terminal) terminal_client(sock);
else ret = client_proc(sock, P);
close(sock);
return ret;
}

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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef SERSOCK_H__
#define SERSOCK_H__
#define BUFLEN (1024)
// Max amount of connections
#define MAXCLIENTS (30)
#include <usefull_macros.h>
#include "cmdlnopts.h"
int start_socket(int server, glob_pars *P, TTY_descr **dev);
int canberead(int fd);
#endif // SERSOCK_H__

435
TeAmanagement/teacmd.c Normal file
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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ctype.h>
#include <math.h> // NAN
#include <stdio.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <usefull_macros.h>
#include "sersock.h"
#include "teacmd.h"
#define CMP(cmd, str) (0 == strncmp(cmd, str, sizeof(cmd)-1))
static int min[3] = {0}, max[3] = {0}; // min/max positions (steps) for each axe
static int pos[3] = {0}; // current position
static char *get_keyval(char *keyval);
void set_validator(glob_pars *P){
memcpy(min, P->minsteps, sizeof(min));
memcpy(max, P->maxsteps, sizeof(max));
}
static void clearbuf(int sock){
FNAME();
char buf[256];
int r = 0;
do{
r = canberead(sock);
DBG("r = %d", r);
if(r != 1) break;
r = read(sock, buf, 255);
}while(r > 0);
}
/**
* @brief movecmd - send command to move motor
* @param sock - socket fd
* @param n - motor number
* @param val - coordinate value
* @return FALSE if failed
*/
static int movecmd(int sock, int n, double val){
if(sock < 0 || n < 0 || n > 2) return FALSE;
char buf1[256], buf2[256];
if(isnan(val)) snprintf(buf1, 256, "%s%d\n", TEACMD_POSITION, n);
else snprintf(buf1, 256, "%s%d=%d\n", TEACMD_POSITION, n, TEAMM_STEPS(val));
ssize_t L = strlen(buf1);
clearbuf(sock);
if(send(sock, buf1, L, 0) != L){
buf1[L-1] = 0;
WARN("cant send \"%s\"", buf1);
return FALSE;
}
DBG("send %s", buf1);
double t0 = dtime();
// wait for a quater of second
do{
int r = canberead(sock);
if(r < 0){
WARNX("read error");
return FALSE;
}
if(!r) continue;
int N = read(sock, buf2, 255);
if(N == 0){
WARNX("Server disconnected");
return FALSE;
}
buf2[N] = 0;
buf1[L-1] = 0;
if(buf2[N-1] == '\n') buf2[N-1] = 0;
if(isnan(val)){
char *val = get_keyval(buf2);
if(val){
if(CMP(TEACMD_POSITION, buf2)){
int Nmot = buf2[strlen(buf2)-1] - '0'; // commandN
DBG("got Nmot=%d, need %d", Nmot, n);
if(Nmot == n){
const char *coords = "XYZ";
verbose(1, "%c=%g", coords[Nmot], TEASTEPS_MM(atoi(val)));
return TRUE;
}
}
}
continue;
}
if(strcmp(buf1, buf2)) WARNX("Cmd '%s' got answer '%s'", buf1, buf2);
else{
verbose(1, "Cmd '%s' OK", buf1);
return TRUE;
}
}while(dtime() - t0 < 0.25);
return FALSE;
}
// poll status; return -1 if can't get answer or status code
static int pollcmd(int sock, int n){
if(sock < 0 || n < 0 || n > 2) return -1;
char buf[256];
snprintf(buf, 256, "%s%d\n", TEACMD_STATUS, n);
ssize_t L = strlen(buf);
clearbuf(sock);
if(send(sock, buf, L, 0) != L){
buf[L-1] = 0;
WARN("Can't send \"%s\"", buf);
return -1;
}
double t0 = dtime();
do{
int r = canberead(sock);
if(r < 0){
WARNX("read error");
return -1;
}
if(!r) continue;
int N = read(sock, buf, 255);
if(N == 0){
WARNX("Server disconnected");
return -1;
}
buf[N] = 0;
DBG("got: %s", buf);
char *val = get_keyval(buf);
DBG("val='%s', buf='%s'", val, buf);
if(val){
if(CMP(TEACMD_STATUS, buf)){
int Nmot = buf[strlen(buf)-1] - '0'; // commandN
DBG("Nmot=%d", Nmot);
if(Nmot == n) return atoi(val);
}
}
}while(dtime() - t0 < 1.);
WARNX("Timeout");
return -1;
}
static int waitmoving(int sock){
int stall = 0, error = 0, ret = 0;
do{
int stop = 1;
for(int i = 0; i < 3; ++i){
int st = pollcmd(sock, i);
if(st < 0) ERRX("Server disconnected");
DBG("pollcmd returns %d", st);
switch(st){
case STP_RELAX:
break;
case STP_ACCEL:
case STP_MOVE:
case STP_MVSLOW:
case STP_DECEL:
stop = 0;
break;
case STP_STALL:
stall = 1;
break;
default:
error = 1;
}
}
if(stop) break;
usleep(250000);
}while(1);
if(stall){ WARNX("At least one of motors stalled"); ret = 2;}
if(error){ WARNX("At least on of motors in error state"); ret = 3;}
verbose(1, "Stop");
return ret;
}
static int gotozcmd(int sock, int n){
char buf[256];
snprintf(buf, 256, "%s%d\n", TEACMD_GOTOZERO, n);
ssize_t L = strlen(buf);
clearbuf(sock);
if(send(sock, buf, L, 0) != L){
buf[L-1] = 0;
WARN("cant send \"%s\"", buf);
return FALSE;
}
DBG("%d -> 0", n);
return TRUE;
}
/**
* @brief client_proc - process client parameters and send data to server
* @param sock - socket fd
* @param P - parameters
* @return error code
*/
int client_proc(int sock, glob_pars *P){
if(sock < 0 || !P) return 1;
int wouldmove = 0, ret = 0;
if(!isnan(P->x)){if(movecmd(sock, 0, P->x)){ wouldmove = 1;} else ret = 1;}
if(!isnan(P->y)){if(movecmd(sock, 1, P->y)){ wouldmove = 1;} else ret = 1;}
if(!isnan(P->z)){if(movecmd(sock, 2, P->z)){ wouldmove = 1;} else ret = 1;}
DBG("Send gotoz\n\n");
if(P->gotozero){
if(wouldmove){
usleep(250000);
ret += waitmoving(sock);
}
for(int i = 0; i < 3; ++i){
int ntries = 0;
for(; ntries < 5; ++i){
if(gotozcmd(sock, i)){
DBG("OK, gotoz%d", i);
break;
}
}
if(ntries == 5) return 11;
}
}
if(P->wait){
DBG("wait a little\n\n");
sleep(1);
ret += waitmoving(sock);
}
// get current coordinates
for(int i = 0; i < 3; ++i) movecmd(sock, i, NAN);
return ret;
}
#if 0
static void terminal_client(int sock){
setup_con(); // convert console mode into non-canon
int Bufsiz = BUFLEN;
char *recvBuff = MALLOC(char, Bufsiz);
while(1){
char *msg = mygetline();
if(msg){
ssize_t L = strlen(msg);
if(send(sock, msg, L, 0) != L){
WARN("send");
}else{
if(msg[L-1] == '\n') msg[L-1] = 0;
LOGMSG("TERMINAL: %s", msg);
}
}
if(1 != canberead(sock)) continue;
int n = read(sock, recvBuff, Bufsiz-1);
if(n == 0){
WARNX("Server disconnected");
signals(0);
}
recvBuff[n] = 0;
printf("%s", recvBuff);
if(recvBuff[n-1] == '\n') recvBuff[n-1] = 0;
LOGMSG("SERIAL: %s", recvBuff);
}
}
#endif
/**
* @brief printhdr - write FITS record into output file
* @param fd - fd to write
* @param key - key
* @param val - value
* @param cmnt - comment
* @return 0 if all OK
*/
static int printhdr(int fd, const char *key, const char *val, const char *cmnt){
char tmp[81];
char tk[9];
if(strlen(key) > 8){
strncpy(tk, key, 8);
key = tk;
}
if(cmnt){
snprintf(tmp, 81, "%-8s= %-21s / %s", key, val, cmnt);
}else{
snprintf(tmp, 81, "%-8s= %s", key, val);
}
size_t l = strlen(tmp);
tmp[l] = '\n';
++l;
if(write(fd, tmp, l) != (ssize_t)l){
WARN("write()");
return 1;
}
return 0;
}
/**
* @brief get_keyval - get value of `key = val`
* @param keyval (io) - pair `key = val`, return `key`
* @return `val`
*/
static char *get_keyval(char *keyval){
// remove starting spaces in key
while(isspace(*keyval)) ++keyval;
char *val = strchr(keyval, '=');
if(val){ // got value: remove starting spaces in val
*val++ = 0;
while(isspace(*val)) ++val;
}
// remove trailing spaces in key
char *e = keyval + strlen(keyval) - 1; // last key symbol
while(isspace(*e) && e > keyval) --e;
e[1] = 0;
// now we have key (`str`) and val (or NULL)
//DBG("key=%s, val=%s", keyval, val);
return val;
}
/**
* @brief parse_incoming_string - parse server string (answer from device)
* @param str - string with data
* @param l - strlen(str)
* @param hdrname - filename with FITS header
* @return 1 if one of motors not in STP_RELAX
*/
int parse_incoming_string(char *str, int l, char *hdrname){
if(!str || l < 1 || !hdrname) goto chkstate;
DBG("Got string %s", str);
static int status[3] = {0}; // statuses
if(str[l-1] == '\n') str[l-1] = 0;
LOGMSG("SERIAL: %s", str);
char *value = get_keyval(str);
if(!value) goto chkstate;
#define POS(cmd) (sizeof(cmd)-1)
int Nmot = str[strlen(str)-1] - '0'; // commandN
DBG("Nmot=%d", Nmot);
if(Nmot < 0 || Nmot > 3) goto chkstate;
int valI = atoi(value); // integer value of parameter
DBG("val=%d", valI);
if(CMP(TEACMD_POSITION, str)){ // got position
DBG("Got position[%d]=%d", Nmot, valI);
pos[Nmot] = valI;
}else if(CMP(TEACMD_STATUS, str)){ // got state
DBG("Got status[%d]=%d", Nmot, valI);
status[Nmot] = valI;
}else goto chkstate; // nothing interesting
// now all OK: we got something new - refresh FITS header
char val[23];//, comment[71];
//double dtmp;
#define WRHDR(k, v, c) do{if(printhdr(fd, k, v, c)){goto returning;}}while(0)
#define COMMENT(...) do{snprintf(comment, 70, __VA_ARGS__);}while(0)
#define VAL(fmt, x) do{snprintf(val, 22, fmt, x);}while(0)
#define VALD(x) VAL("%.10g", x)
#define VALS(x) VAL("'%s'", x)
l = strlen(hdrname) + 7;
char *aname = MALLOC(char, l);
snprintf(aname, l, "%sXXXXXX", hdrname);
int fd = mkstemp(aname);
if(fd < 0){
WARN("Can't write header file, mkstemp()");
LOGWARN("Can't write header file, mkstemp()");
FREE(aname);
goto chkstate;
}
fchmod(fd, 0644);
WRHDR("INSTRUME", "'TeA - Telescope Analyzer'", "Acquisition hardware");
const char *coords[3] = {"XMM", "YMM", "ZMM"};
for(int i = 0; i < 3; ++i){
VALD(TEASTEPS_MM(pos[i]));
WRHDR(coords[i], val, "Coordinate, mm");
}
const char *states[STP_AMOUNT] = {
[STP_RELAX] = "stop",
[STP_ACCEL] = "acceleration",
[STP_MOVE] = "fast moving",
[STP_MVSLOW] = "slow moving",
[STP_DECEL] = "deceleration",
[STP_STALL] = "stall",
[STP_ERR] = "error"
};
const char *coordsst[3] = {"XSTAT", "YSTAT", "ZSTAT"};
for(int i = 0; i < 3; ++i){
VALS(states[status[i]]);
WRHDR(coordsst[i], val, "Status of given coordinate motor");
}
returning:
close(fd);
rename(aname, hdrname);
DBG("file %s ready", hdrname);
FREE(aname);
chkstate:
for(int i = 0; i < 3; ++i) if(status[i] != STP_RELAX) return 1;
return 0;
}
/**
* @brief validate_cmd - test if command won't move motor out of range
* @param str - cmd
* @return -1 if out of range, 0 if all OK, 1 if str is position setter
*/
int validate_cmd(char *str, int l){
char buff[256];
if(l > 255) return -1; // too long - can't check
strcpy(buff, str);
int ret = 0;
char *value = get_keyval(buff);
if(!value) return 0; // getter?
int Nmot = buff[strlen(buff)-1] - '0'; // commandN
if(Nmot < 0 || Nmot > 2) return 0; // something like relay?
int valI = atoi(value); // integer value of parameter
if(CMP(TEACMD_POSITION, buff)){ // user asks for absolute position
if(valI < min[Nmot] || valI > max[Nmot]){
WARNX("%d out of range [%d, %d]", valI, min[Nmot], max[Nmot]);
return -1;
}
ret = 1;
}else if(CMP(TEACMD_RELPOSITION, buff) || CMP(TEACMD_SLOWMOVE, buff)){
int tagpos = valI + pos[Nmot];
if(tagpos < min[Nmot] || tagpos > max[Nmot]){
WARNX("%d out of range [%d, %d]", tagpos, min[Nmot], max[Nmot]);
return -1;
}
ret = 1;
}else if(CMP(TEACMD_SETPOS, buff)){
WARNX("Forbidden to set position");
return -1; // forbidden command
}
return ret;
}

50
TeAmanagement/teacmd.h Normal file
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/*
* This file is part of the TeAman project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "cmdlnopts.h"
int client_proc(int sock, glob_pars *P);
void set_validator(glob_pars *P);
int parse_incoming_string(char *str, int l, char *hdrname);
int validate_cmd(char *str, int l);
// steps into MM and vice versa
#define TEASTEPS_MM(steps) (steps/200.)
#define TEAMM_STEPS(mm) ((int)(mm * 200.))
// tea commands
#define TEACMD_POSITION "abspos"
#define TEACMD_RELPOSITION "relpos"
#define TEACMD_SLOWMOVE "relslow"
#define TEACMD_SETPOS "setpos"
#define TEACMD_GOTOZERO "gotoz"
#define TEACMD_STATUS "state"
typedef enum{
STP_RELAX, // 0 - no moving
STP_ACCEL, // 1 - start moving with acceleration
STP_MOVE, // 2 - moving with constant speed
STP_MVSLOW, // 3 - moving with slowest constant speed (end of moving)
STP_DECEL, // 4 - moving with deceleration
STP_STALL, // 5 - stalled
STP_ERR, // 6 - wrong/error state
STP_AMOUNT
} teastate;