new baader daemon

Daemons/domedaemon_baader/term.c

@@ -0,0 +1,115 @@
+/*
+ * 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));
+}