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new baader daemon

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Edward Emelianov
2026-03-22 21:15:14 +03:00
parent fa305a7cc0
commit 6c36b0acc9
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Daemons/domedaemon_baader/.qtcreator/baader_dome.creator.user Normal file
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<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.SuppressionFiles"/>
<value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
<valuelist type="QVariantList" key="CustomOutputParsers"/>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
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<value type="qlonglong">1</value>
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<variable>Version</variable>
<value type="int">22</value>
</data>
</qtcreator>

57
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# run `make DEF=...` to add extra defines
PROGRAM := domedaemon
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 := $(OBJDIR)/TARGET
CC = gcc
#TARGET := RELEASE
ifeq ($(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) $(OBJS) $(LDFLAGS) -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

1
Daemons/domedaemon_baader/baader_dome.cflags Normal file
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@@ -0,0 +1 @@
-std=c17

3
Daemons/domedaemon_baader/baader_dome.config Normal file
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@@ -0,0 +1,3 @@
// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define EBUG

1
Daemons/domedaemon_baader/baader_dome.creator Normal file
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@@ -0,0 +1 @@
[General]

1
Daemons/domedaemon_baader/baader_dome.cxxflags Normal file
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@@ -0,0 +1 @@
-std=c++17

5
Daemons/domedaemon_baader/baader_dome.files Normal file
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@@ -0,0 +1,5 @@
main.c
socket.c
socket.h
term.c
term.h

0
Daemons/domedaemon_baader/baader_dome.includes Normal file
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15
Daemons/domedaemon_baader/dome_readme.koi8-r Normal file
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@@ -0,0 +1,15 @@
Протокол управления куполом
в случае ошибки коммуникации ответ - d#comerro -> повторить запрос
в случае ошибки купола ответ - d#domerro
d#opendom - открыть
d#closdom - закрыть
d#stopdom - остановить
d#get_dom - текущее положение
ответ: d#posXXXX, X=0 - движение или промежуточное положение, 1 - сегмент полностью открыт, 2 - сегмент полностью закрыт
d#warning - состояние ошибок
ответ: d#erro123, позиции: 1 - дождь, 2 - таймаут, 3 - отключение питания (висит на упсе)
значение: 0 - все в порядке, 1 - тревога (купол закрывается)
d#ask_wea - погодный датчик
ответ: d#weaX000, X==1 - дождь или облака

100
Daemons/domedaemon_baader/main.c Normal file
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/*
* This file is part of the baader_dome project.
* Copyright 2026 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 <inttypes.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/socket.h>
#include <usefull_macros.h>
#include "socket.h"
#include "term.h"
typedef struct{
int help;
int verbose;
int isunix;
int maxclients;
int serspeed;
double sertmout;
char *logfile;
char *node;
char *termpath;
char *pidfile;
} parameters;
static parameters G = {
.maxclients = 2,
.serspeed = 9600
};
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"verbose", NO_ARGS, NULL, 'v', arg_none, APTR(&G.verbose), "verbose level (each -v adds 1)"},
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), "log file name"},
{"node", NEED_ARG, NULL, 'n', arg_string, APTR(&G.node), "node \"IP\", \"name:IP\" or path (could be \"\\0path\" for anonymous UNIX-socket)"},
{"unixsock", NO_ARGS, NULL, 'u', arg_int, APTR(&G.isunix), "UNIX socket instead of INET"},
{"maxclients", NEED_ARG, NULL, 'm', arg_int, APTR(&G.maxclients),"max amount of clients connected to server (default: 2)"},
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), "PID-file"},
{"serialdev", NEED_ARG, NULL, 'd', arg_string, APTR(&G.termpath), "full path to serial device"},
{"baudrate", NEED_ARG, NULL, 'b', arg_int, APTR(&G.serspeed), "serial device speed (baud)"},
{"sertmout", NEED_ARG, NULL, 'T', arg_double, APTR(&G.sertmout), "serial device timeout (us)"},
end_option
};
void signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
LOGERR("Exit with status %d", sig);
}else LOGERR("Exit");
DBG("Stop server");
stopserver();
DBG("Close terminal");
close_term();
DBG("Exit");
exit(sig);
}
int main(int argc, char **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
if(G.help) sl_showhelp(-1, cmdlnopts);
if(!G.node) ERRX("Point node");
if(!G.termpath) ERRX("Point serial device path");
sl_check4running((char*)__progname, G.pidfile);
sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
if(G.logfile) OPENLOG(G.logfile, lvl, 1);
LOGMSG("Started");
if(!open_term(G.termpath, G.serspeed, G.sertmout)){
LOGERR("Can't open %s", G.termpath);
ERRX("Fatal error");
}
signal(SIGTERM, signals);
signal(SIGINT, signals);
signal(SIGQUIT, signals);
signal(SIGTSTP, SIG_IGN);
signal(SIGHUP, signals);
runserver(G.isunix, G.node, G.maxclients);
LOGMSG("Ended");
DBG("Close");
return 0;
}

357
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/**
* This file is part of the baader_dome project.
* Copyright 2026 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 <inttypes.h>
#include <pthread.h>
#include <string.h>
#include "socket.h"
#include "term.h"
typedef enum{
CMD_OPEN,
CMD_CLOSE,
CMD_STOP,
CMD_NONE
} dome_commands_t;
typedef struct{
dome_commands_t cmd;
int errcode; // error code
char *status; // device status
int statlen; // size of `status` buffer
double stattime;// time of last status
char *weather; // data from weather sensor
int weathlen; // length of `weather` buffer
double weathtime;// time of last weather
pthread_mutex_t mutex;
} dome_t;
static dome_t Dome = {0};
static sl_sock_t *locksock = NULL;
static sl_ringbuffer_t *rb = NULL; // incoming serial data
void stopserver(){
if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb);
}
#if 0
// flags for standard handlers
static sl_sock_int_t iflag = {0};
static sl_sock_double_t dflag = {0};
static sl_sock_string_t sflag = {0};
static uint32_t bitflags = 0;
static sl_sock_hresult_e show(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
if(locksock && locksock->type != SOCKT_UNIX){
if(*client->IP){
printf("Client \"%s\" (fd=%d) ask for flags:\n", client->IP, client->fd);
}else printf("Can't get client's IP, flags:\n");
}else printf("Socket fd=%d asks for flags:\n", client->fd);
printf("\tiflag=%" PRId64 ", dflag=%g\n", iflag.val, dflag.val);
return RESULT_OK;
}
#endif
// send "measuret=..."
static void sendtmeasured(sl_sock_t *client, double t){
char buf[256];
snprintf(buf, 255, "measuret=%.3f\n", t);
sl_sock_sendstrmessage(client, buf);
}
static sl_sock_hresult_e dtimeh(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
char buf[32];
snprintf(buf, 31, "UNIXT=%.3f\n", sl_dtime());
sl_sock_sendstrmessage(client, buf);
return RESULT_SILENCE;
}
static sl_sock_hresult_e openh(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
pthread_mutex_lock(&Dome.mutex);
Dome.cmd = CMD_OPEN;
pthread_mutex_unlock(&Dome.mutex);
return RESULT_OK;
}
static sl_sock_hresult_e closeh(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
pthread_mutex_lock(&Dome.mutex);
Dome.cmd = CMD_CLOSE;
pthread_mutex_unlock(&Dome.mutex);
return RESULT_OK;
}
static sl_sock_hresult_e stoph(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
pthread_mutex_lock(&Dome.mutex);
Dome.cmd = CMD_STOP;
pthread_mutex_unlock(&Dome.mutex);
return RESULT_OK;
}
static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
char buf[256];
double t = NAN;
int ecode;
pthread_mutex_lock(&Dome.mutex);
if(!*Dome.status || sl_dtime() - Dome.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
else{
snprintf(buf, 255, "%s=%s\n", item->key, Dome.status);
t = Dome.stattime;
}
sl_sock_sendstrmessage(client, buf);
if(!isnan(t)) sendtmeasured(client, t);
ecode = Dome.errcode;
pthread_mutex_unlock(&Dome.mutex);
if(ecode){
int l = snprintf(buf, 255, "error=closed");
if(ecode > 99){
ecode -= 100;
int n = snprintf(buf+l, 255-l, "@rain");
l += n;
}
if(ecode > 9){
ecode -= 10;
int n = snprintf(buf+l, 255-l, "@timeout");
l += n;
}
if(ecode){
int n = snprintf(buf+l, 255-l, "@powerloss");
l += n;
}
snprintf(buf+l, 255-l, "\n");
sl_sock_sendstrmessage(client, buf);
}
return RESULT_SILENCE;
}
static sl_sock_hresult_e weathh(sl_sock_t *client, sl_sock_hitem_t *item, _U_ const char *req){
char buf[256];
double t = NAN;
pthread_mutex_lock(&Dome.mutex);
if(!*Dome.weather || sl_dtime() - Dome.weathtime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
else{
snprintf(buf, 255, "%s=%s\n", item->key, Dome.weather);
t = Dome.weathtime;
}
pthread_mutex_unlock(&Dome.mutex);
sl_sock_sendstrmessage(client, buf);
if(!isnan(t)) sendtmeasured(client, t);
return RESULT_SILENCE;
}
// Too much clients handler
static void toomuch(int fd){
const char m[] = "Try later: too much clients connected\n";
send(fd, m, sizeof(m)-1, MSG_NOSIGNAL);
shutdown(fd, SHUT_WR);
DBG("shutdown, wait");
double t0 = sl_dtime();
uint8_t buf[8];
while(sl_dtime() - t0 < 11.){
if(sl_canread(fd)){
ssize_t got = read(fd, buf, 8);
DBG("Got=%zd", got);
if(got < 1) break;
}
}
DBG("Disc after %gs", sl_dtime() - t0);
LOGWARN("Client fd=%d tried to connect after MAX reached", fd);
}
// new connections handler (return FALSE to reject client)
static int connected(sl_sock_t *c){
if(c->type == SOCKT_UNIX) LOGMSG("New client fd=%d connected", c->fd);
else LOGMSG("New client fd=%d, IP=%s connected", c->fd, c->IP);
return TRUE;
}
// disconnected handler
static void disconnected(sl_sock_t *c){
if(c->type == SOCKT_UNIX) LOGMSG("Disconnected client fd=%d", c->fd);
else LOGMSG("Disconnected client fd=%d, IP=%s", c->fd, c->IP);
}
// default (unknown key) handler
static sl_sock_hresult_e defhandler(struct sl_sock *s, const char *str){
if(!s || !str) return RESULT_FAIL;
sl_sock_sendstrmessage(s, "You entered wrong command:\n```\n");
sl_sock_sendstrmessage(s, str);
sl_sock_sendstrmessage(s, "\n```\nTry \"help\"\n");
return RESULT_SILENCE;
}
#if 0
// if we use this macro, there's no need to run `sl_sock_keyno_init` later
static sl_sock_keyno_t kph_number = SL_SOCK_KEYNO_DEFAULT;
// handler for key with optional parameter number
static sl_sock_hresult_e keyparhandler(struct sl_sock *s, sl_sock_hitem_t *item, const char *req){
if(!item->data) return RESULT_FAIL;
char buf[1024];
int no = sl_sock_keyno_check((sl_sock_keyno_t*)item->data);
long long newval = -1;
if(req){
if(!sl_str2ll(&newval, req) || newval < 0 || newval > 0xffffffff) return RESULT_BADVAL;
}
printf("no = %d\n", no);
if(no < 0){ // flags as a whole
if(req) bitflags = (uint32_t)newval;
snprintf(buf, 1023, "flags = 0x%08X\n", bitflags);
sl_sock_sendstrmessage(s, buf);
}else if(no < 32){ // bit access
int bitmask = 1 << no;
if(req){
if(newval) bitflags |= bitmask;
else bitflags &= ~bitmask;
}
snprintf(buf, 1023, "flags[%d] = %d\n", no, bitflags & bitmask ? 1 : 0);
sl_sock_sendstrmessage(s, buf);
}else return RESULT_BADKEY;
return RESULT_SILENCE;
}
#endif
static sl_sock_hitem_t handlers[] = {
#if 0
{sl_sock_inthandler, "int", "set/get integer flag", (void*)&iflag},
{sl_sock_dblhandler, "dbl", "set/get double flag", (void*)&dflag},
{sl_sock_strhandler, "str", "set/get string variable", (void*)&sflag},
{keyparhandler, "flags", "set/get bit flags as whole (flags=val) or by bits (flags[bit]=val)", (void*)&kph_number},
{show, "show", "show current flags @ server console", NULL},
#endif
{openh, "open", "open dome", NULL},
{closeh, "close", "close dome", NULL},
{statush, "status", "get dome status", NULL},
{stoph, "stop", "stop dome operations", NULL},
{weathh, "weather", "weather sensor status", NULL},
{dtimeh, "dtime", "get server's UNIX time for all clients connected", NULL},
{NULL, NULL, NULL, NULL}
};
// dome polling; @return TRUE if all OK
static int poll_device(){
char line[256];
if(write_cmd(TXT_GETWARN)){
DBG("Can't write command warning");
return FALSE;
}
if(write_cmd(TXT_GETSTAT)){
DBG("Can't write command getstat");
return FALSE;
}
if(write_cmd(TXT_GETWEAT)){
DBG("Can't write command getweath");
return FALSE;
}
int l = 0;
do{
l = read_term(line, 256);
if(l > 0) sl_RB_write(rb, (uint8_t*) line, l);
}while(l > 0);
pthread_mutex_lock(&Dome.mutex); // prepare user buffers
// read ringbuffer, run parser and change buffers in `Dome`
while(sl_RB_readline(rb, line, sizeof(line)) > 0){
if(strncmp(line, TXT_ANS_STAT, strlen(TXT_ANS_STAT)) == 0){
DBG("Got status ans");
int stat;
Dome.stattime = sl_dtime();
if(sscanf(line + strlen(TXT_ANS_STAT), "%d", &stat) == 1){
if(stat == 1111)
snprintf(Dome.status, Dome.statlen, "opened");
else if(stat == 2222)
snprintf(Dome.status, Dome.statlen, "closed");
else
snprintf(Dome.status, Dome.statlen, "intermediate");
}
}else if(strncmp(line, TXT_ANS_ERR, strlen(TXT_ANS_ERR)) == 0){
DBG("Got status errno");
int ecode;
if(sscanf(line + strlen(TXT_ANS_ERR), "%d", &ecode) == 1){
Dome.errcode = ecode;
DBG("errcode: %d", ecode);
}
}else if(strncmp(line, TXT_ANS_WEAT, strlen(TXT_ANS_WEAT)) == 0){
DBG("Got weather ans");
int weather;
Dome.weathtime = sl_dtime();
if(sscanf(line + strlen(TXT_ANS_WEAT), "%d", &weather) == 1){
if(weather == 0)
snprintf(Dome.weather, Dome.weathlen, "good weather");
else if (weather == 1)
snprintf(Dome.weather, Dome.weathlen, "rain or clouds");
else
snprintf(Dome.weather, Dome.weathlen, "unknown");
}
}else{
DBG("Unknown answer: %s", line);
}
}
pthread_mutex_unlock(&Dome.mutex);
return TRUE;
}
void runserver(int isunix, const char *node, int maxclients){
if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb);
rb = sl_RB_new(BUFSIZ);
Dome.cmd = CMD_NONE;
FREE(Dome.status);
Dome.statlen = STATBUF_SZ;
Dome.status = MALLOC(char, STATBUF_SZ);
FREE(Dome.weather);
Dome.weathlen = STATBUF_SZ;
Dome.weather = MALLOC(char, STATBUF_SZ);
pthread_mutex_init(&Dome.mutex, NULL);
sl_socktype_e type = (isunix) ? SOCKT_UNIX : SOCKT_NET;
locksock = sl_sock_run_server(type, node, -1, handlers);
sl_sock_changemaxclients(locksock, maxclients);
sl_sock_maxclhandler(locksock, toomuch);
sl_sock_connhandler(locksock, connected);
sl_sock_dischandler(locksock, disconnected);
sl_sock_defmsghandler(locksock, defhandler);
double tgot = 0.;
while(locksock && locksock->connected){
usleep(1000);
if(!locksock->rthread){
WARNX("Server handlers thread is dead");
LOGERR("Server handlers thread is dead");
break;
}
if(sl_dtime() - tgot > T_INTERVAL){
if(poll_device()) tgot = sl_dtime();
}
pthread_mutex_lock(&Dome.mutex);
if(Dome.cmd != CMD_NONE){
switch(Dome.cmd){
case CMD_OPEN:
DBG("received command: open");
if(0 == write_cmd(TXT_OPENDOME)) Dome.cmd = CMD_NONE;
break;
case CMD_CLOSE:
DBG("received command: close");
if(0 == write_cmd(TXT_CLOSEDOME)) Dome.cmd = CMD_NONE;
break;
case CMD_STOP:
DBG("received command: stop");
if(0 == write_cmd(TXT_STOPDOME)) Dome.cmd = CMD_NONE;
break;
default:
DBG("WTF?");
}
}
pthread_mutex_unlock(&Dome.mutex);
}
stopserver();
}

29
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/*
* This file is part of the baader_dome project.
* Copyright 2026 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 <usefull_macros.h>
// size of weather/status buffers
#define STATBUF_SZ 256
// dome polling interval (clear watchdog & get status)
#define T_INTERVAL (1.0)
void runserver(int isunix, const char *node, int maxclients);
void stopserver();

115
Daemons/domedaemon_baader/term.c Normal file
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/*
* This file is part of the baader_dome project.
* Copyright 2026 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 <string.h>
#include <usefull_macros.h>
#include "term.h"
static sl_tty_t *dev = NULL; // shoul be global to restore if die
// close serial device
void close_term(){
if(dev) sl_tty_close(&dev);
}
/**
* @brief open_term - open serial device
* @param path - path to device
* @param speed - its speed
* @param usec - timeout (us), if < 1e-6 - leave default
* @return FALSE if failed
*/
int open_term(char *path, int speed, double usec){
if(dev) sl_tty_close(&dev);
LOGMSG("Try to open serial %s at speed %d", path, speed);
DBG("Open serial");
dev = sl_tty_new(path, speed, 4096);
if(dev) dev = sl_tty_open(dev, 1);
if(!dev){
LOGERR("Can't open %s with speed %d. Exit.", path, speed);
return FALSE;
}
if(usec >= 1e-6){
DBG("set timeout to %gus", usec);
if(!sl_tty_tmout(usec)){
LOGWARN("Can't set timeout to %gus", usec);
WARNX("Can't set timeout to %gus", usec);
}
}
if(speed != dev->speed){
LOGWARN("Can't set exact speed! Opened %s at speed %d", dev->portname, dev->speed);
WARNX("Can't set speed %d (try %d)", speed, dev->speed);
}
if(dev) return TRUE;
return FALSE;
}
/**
* @brief read_term - read data from serial terminal
* @param buf - buffer for data
* @param length - size of `buf`
* @return amount of data read
*/
int read_term(char *buf, int length){
static char *bufptr = NULL; // last message, if it was longer than `length`
static int lastL = 0;
if(!dev || !buf || length < 1) return 0;
if(bufptr && lastL){
if(length > lastL) length = lastL;
DBG("got %d bytes from old record", length);
memcpy(buf, bufptr, length);
if((lastL -= length) < 1){
lastL = 0; bufptr = NULL;
}
return length;
}
if(!sl_tty_read(dev)) return 0;
DBG("Got from serial %zd bytes", dev->buflen);
LOGDBG("Got from serial: %zd bytes", dev->buflen);
if(length >= (int)dev->buflen){
DBG("Full buffer can be copied");
length = (int)dev->buflen;
bufptr = NULL;
lastL = 0;
}else{ // store part of data in buffer
lastL = dev->buflen - length;
DBG("Store %d bytes for next read", lastL);
bufptr = dev->buf + length;
}
memcpy(buf, dev->buf, length);
return length;
}
/**
* @brief write_term - write data
* @param buf - buffer
* @param length - its length
* @return 0 if OK and 1 if failed
*/
int write_term(const char *buf, int length){
if(!dev || !buf || length < 1) return 0;
return sl_tty_write(dev->comfd, buf, length);
}
// write string command
int write_cmd(const char *buf){
if(!buf || !*buf) return 0;
DBG("Ask to write %s", buf);
return write_term(buf, strlen(buf));
}

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/*
* This file is part of the baader_dome project.
* Copyright 2026 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
// text commands and answers
#define TXT_GETWARN "d#warning\n"
#define TXT_OPENDOME "d#opendom\n"
#define TXT_CLOSEDOME "d#closdom\n"
#define TXT_STOPDOME "d#stopdom\n"
#define TXT_GETSTAT "d#get_dom\n"
#define TXT_GETWEAT "d#ask_wea\n"
#define TXT_ANS_WEAT "d#wea"
#define TXT_ANS_STAT "d#pos"
#define TXT_ANS_ERR "d#erro"
int open_term(char *path, int speed, double usec);
void close_term();
int read_term(char *buf, int length);
int write_term(const char *buf, int length);
int write_cmd(const char *buf);