Added SMSD non-interactive command line client for Shack-Hartmann control system

SMSD-1.5/client.c

@@ -149,7 +149,7 @@ int read_console(char *buf, size_t len){
  * wait until at least one character pressed
  * @return character readed
  */
-int mygetchar(){ // аналог getchar() без необходимости жать Enter
+int mygetchar(){ // ÁÎÁÌÏÇ getchar() ÂÅÚ ÎÅÏÂÈÏÄÉÍÏÓÔÉ ÖÁÔØ Enter
 	int ret;
 	do ret = read_console(NULL, 1);
 	while(ret == 0);
@@ -162,7 +162,7 @@ int mygetchar(){ // аналог getchar() без необходимости ж
  * @param length   - buffer len
  * @return amount of readed bytes
  */
-size_t read_tty(uint8_t *buff, size_t length){
+size_t read_tty(char *buff, size_t length){
 	ssize_t L = 0;
 	fd_set rfds;
 	struct timeval tv;
@@ -175,7 +175,7 @@ size_t read_tty(uint8_t *buff, size_t length){
 	if(FD_ISSET(comfd, &rfds)){
 		if((L = read(comfd, buff, length)) < 1){
 			fprintf(stderr, "ERROR on bus, exit!\n");
-			exit(-4);
+			quit(-4);
 		}
 	}
 	return (size_t)L;
@@ -208,11 +208,13 @@ void help(){
 	printf("\n\nUse this commands:\n"
 		"0\tMove to end-switch 0\n"
 		"1\tMove to end-switch 1\n"
-		"Lxxx\tMake xxx steps toward zero's end-switch (0 main infinity)\n"
-		"Rxxx\tMake xxx steps toward end-switch 1      (0 main infinity)\n"
+		"-xxx\tMake xxx steps toward zero's end-switch (0 main infinity)\n"
+		"+xxx\tMake xxx steps toward end-switch 1      (0 main infinity)\n"
 		"S\tStop/start motor when program is running\n"
 		"A\tRun previous command again or stop when running\n"
 		"E\tErase previous program from controller's memory\n"
+		"R\tTurn relay ON\n"
+		"r\tTurn relay OFF\n"
 		"\n"
 	);
 }
@@ -221,11 +223,11 @@ void write_tty(char *str, int L){
 	ssize_t D = write(comfd, str, L);
 	if(D != L){
 		fprintf(stderr, "ERROR on bus, exit!\n");
-		exit(-3);
+		quit(-3);
 	}
 }
 
-#define dup_pr(...) do{printf(__VA_ARGS__); if(fout) fprintf(fout, __VA_ARGS__);}while(0)
+//#define dup_pr(...) do{printf(__VA_ARGS__); if(fout) fprintf(fout, __VA_ARGS__);}while(0)
 
 size_t read_ctrl_command(char *buf, size_t L){ // read data from controller to buffer buf
 	int i, j;
@@ -235,7 +237,7 @@ size_t read_ctrl_command(char *buf, size_t L){ // read data from controller to b
 	for(j = 0; j < L; j++, ptr++){
 		R = 0;
 		for(i = 0; i < 10 && !R; i++){
-			R = read_tty((uint8_t*)ptr, 1);
+			R = read_tty(ptr, 1);
 		}
 		if(!R){j--; break;}  // nothing to read
 		if(*ptr == '*') // read only one command
@@ -247,52 +249,71 @@ size_t read_ctrl_command(char *buf, size_t L){ // read data from controller to b
 	return (size_t) j + 1;
 }
 
+int parse_ctrlr_ans(char *ans){
+	char *E = NULL, *Star = NULL;
+	if(!ans || !*ans) return 1;
+	bus_error = NO_ERROR;
+	if(!(E = strchr(ans, 'E')) || !(Star = strchr(ans, '*')) || E[1] != '1'){
+		fprintf(stderr, "Answer format error (got: %s)\n", ans);
+		bus_error = UNDEFINED_ERR;
+		return 0;
+	}
+	switch (E[2]){ // E = "E1x"
+		case '0': // 10 - normal execution
+		break;
+		case '4': // 14 - program end
+			printf("Last command exectuted normally\n");
+		break;
+		case '2': // command interrupt by other signal
+			fprintf(stderr, "Last command terminated\n");
+		break;
+		case '3':
+			bus_error = CODE_ERR;
+			fprintf(stderr, "runtime");
+		break;
+		case '5':
+			bus_error = BUS_ERR;
+			fprintf(stderr, "data bus");
+		break;
+		case '6':
+			bus_error = COMMAND_ERR;
+			fprintf(stderr, "command");
+		break;
+		case '9':
+			bus_error = CMD_DATA_ERR;
+			fprintf(stderr, "command data");
+		break;
+		default:
+			bus_error = UNDEFINED_ERR;
+			fprintf(stderr, "undefined (%s)", ans);
+	}
+	if(bus_error != NO_ERROR){
+		fprintf(stderr, " error in controller\n");
+		return 0;
+	}
+	return 1;
+}
+
 int send_command(char *cmd){
 	int L = strlen(cmd);
 	size_t R = 0;
 	char ans[256];
 	write_tty(cmd, L);
 	R = read_ctrl_command(ans, 255);
-	DBG("readed: %s (cmd: %s, R = %zd, L = %d)\n", ans, cmd, R, L);
+//	DBG("readed: %s (cmd: %s, R = %zd, L = %d)\n", ans, cmd, R, L);
 	if(!R || (strncmp(ans, cmd, L) != 0)){
 		fprintf(stderr, "Error: controller doesn't respond (answer: %s)\n", ans);
 		return 0;
 	}
 	R = read_ctrl_command(ans, 255);
-	DBG("readed: %s\n", ans);
+//	DBG("readed: %s\n", ans);
 	if(!R){ // controller is running or error
 		fprintf(stderr, "Controller doesn't answer!\n");
 		return 0;
 	}
-	bus_error = NO_ERROR;
-	//if(strncasecmp(ptr, "HM")
-	//else
-	if(		strncmp(ans, "E10*", 4) != 0 &&
-			strncmp(ans, "E14*", 4) != 0 &&
-			strncmp(ans, "E12*", 4) != 0){
-		fprintf(stderr, "Error in controller: ");
-		if(strncmp(ans, "E13*", 4) == 0){
-			bus_error = CODE_ERR;
-			fprintf(stderr, "runtime");
-		}else if(strncmp(ans, "E15*", 4) == 0){
-			bus_error = BUS_ERR;
-			fprintf(stderr, "databus");
-		}else if(strncmp(ans, "E16*", 4) == 0){
-			bus_error = COMMAND_ERR;
-			fprintf(stderr, "command");
-		}else if(strncmp(ans, "E19*", 4) == 0){
-			bus_error = CMD_DATA_ERR;
-			fprintf(stderr, "command data");
-		}else{
-			bus_error = UNDEFINED_ERR;
-			fprintf(stderr, "undefined (%s)", ans);
-		}
-		fprintf(stderr,  " error\n");
-		return 0;
-	}
-	DBG("ALL OK\n");
-	return 1;
+	return parse_ctrlr_ans(ans);
 }
+
 /*
 int send5times(char *cmd){ // sends command 'cmd' up to 5 times (if errors), return 0 in case of false
 	int N, R = 0;
@@ -310,8 +331,9 @@ int erase_ctrlr(){
 	if(!send_command("LD1*")){ // start writing a program
 		if(bus_error == COMMAND_ERR){ // motor is moving
 			printf("Found running program, stop it\n");
-			if(send_command("ST1*"))
-				send_command("LD1*");
+			if(!send_command("ST1*"))
+				send_command("SP*");
+			send_command("LD1*");
 		}else{
 			fprintf(stderr, "Controller doesn't answer: try to press S or E\n");
 			return 1;
@@ -332,7 +354,7 @@ void con_sig(int rb){
 	char command[256];
 	if(rb < 1) return;
 	if(rb == 'q') quit(0); // q == exit
-	if(rb == 'L' || rb == 'R'){
+	if(rb == '-' || rb == '+'){
 		if(!fgets(command, 255, stdin)){
 			fprintf(stderr, "You should give amount of steps after commands 'L' and 'R'\n");
 			return;
@@ -344,15 +366,17 @@ void con_sig(int rb){
 		}
 	}
 	#define Die_on_error(arg) do{if(!send_command(arg)) goto erase_;}while(0)
-	if(strchr("LR01", rb)){ // command to execute
+	if(strchr("-+01Rr", rb)){ // command to execute
 		got_command = 1;
 		if(!send_command("LD1*")){        // start writing a program
 			fprintf(stderr, "Error: previous program is running!\n");
 			return;
 		}
 		Die_on_error("BG*");              // move address pointer to beginning
-		Die_on_error("EN*");              // enable power
-		Die_on_error("SD10000*");         // set speed to max (625 steps per second with 1/16)
+		if(strchr("-+01", rb)){
+			Die_on_error("EN*");              // enable power
+			Die_on_error("SD10000*");         // set speed to max (625 steps per second with 1/16)
+		}
 	}
 	switch(rb){
 		case 'h':
@@ -366,7 +390,7 @@ void con_sig(int rb){
 			Die_on_error("DR*");
 			Die_on_error("ML*");
 		break;
-		case 'R':
+		case '+':
 			Die_on_error("DR*");
 			if(stepsN)
 				sprintf(command, "MV%d*", stepsN);
@@ -374,7 +398,7 @@ void con_sig(int rb){
 				sprintf(command, "MV*");
 			Die_on_error(command);
 		break;
-		case 'L':
+		case '-':
 			Die_on_error("DL*");
 			if(stepsN)
 				sprintf(command, "MV%d*", stepsN);
@@ -383,7 +407,7 @@ void con_sig(int rb){
 			Die_on_error(command);
 		break;
 		case 'S':
-			Die_on_error("PS1*");
+			Die_on_error("SP*");
 		break;
 		case 'A':
 			Die_on_error("ST1*");
@@ -391,6 +415,12 @@ void con_sig(int rb){
 		case 'E':
 			erase_ctrlr();
 		break;
+		case 'R':
+			Die_on_error("SF*");
+		break;
+		case 'r':
+			Die_on_error("CF*");
+		break;
 /*		default:
 			cmd = (uint8_t) rb;
 			write(comfd, &cmd, 1);*/
@@ -402,7 +432,7 @@ void con_sig(int rb){
 	}
 	return;
 erase_:
-	if(!erase_ctrlr()) quit(1);
+	erase_ctrlr();
 }
 
 /**
@@ -429,13 +459,13 @@ uint32_t get_int(uint8_t *buff, size_t len){
 
 int main(int argc, char *argv[]){
 	int rb;
-	uint8_t buff[128];
+	char buff[128], *bufptr = buff;
 	size_t L;
 	if(argc == 2){
 		fout = fopen(argv[1], "a");
 		if(!fout){
 			perror("Can't open output file");
-			exit(-1);
+			return (-1);
 		}
 		setbuf(fout, NULL);
 	}
@@ -445,16 +475,25 @@ int main(int argc, char *argv[]){
 	signal(SIGQUIT, SIG_IGN);	// ctrl+\   .
 	signal(SIGTSTP, SIG_IGN);	// ctrl+Z
 	setbuf(stdout, NULL);
-	if(!erase_ctrlr()) quit(1);
+	erase_ctrlr();
 	//t0 = dtime();
 	while(1){
 		rb = read_console(NULL, 1);
 		if(rb > 0) con_sig(rb);
-		L = read_tty(buff, 127);
+		L = read_tty(bufptr, 127);
 		if(L){
-			buff[L] = 0;
-			printf("%s", buff);
-			if(fout) fprintf(fout, "%zd\t%s\n", time(NULL), buff);
+			bufptr += L;
+			if(bufptr - buff > 127){
+				fprintf(stderr, "Error: input buffer overflow!\n");
+				bufptr = buff;
+			}
+			if(bufptr[-1] == '*'){ // end of input command
+				*bufptr = 0;
+				parse_ctrlr_ans(buff);
+				//printf("%s", buff);
+				if(fout) fprintf(fout, "%zd\t%s\n", time(NULL), buff);
+				bufptr = buff;
+			}
 		}
 	}
 }