mirror of
https://github.com/eddyem/small_tel.git
synced 2026-03-24 10:40:56 +03:00
add astrosib telescope daemon
This commit is contained in:
Edward Emelianov
383
Daemons/teldaemon_astrosib/socket.c
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383
Daemons/teldaemon_astrosib/socket.c
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@@ -0,0 +1,383 @@
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/**
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* This file is part of the teldaemon project.
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* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdatomic.h>
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#include <inttypes.h>
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#include <pthread.h>
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#include <string.h>
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#include "socket.h"
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#include "term.h"
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typedef enum{
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CMD_OPEN,
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CMD_CLOSE,
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CMD_FOCSTOP,
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CMD_COOLERON,
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CMD_COOLEROFF,
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CMD_NONE
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} tel_commands_t;
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typedef struct{
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tel_commands_t cmd; // deferred command
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int focuserpos; // focuser position
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char *status; // device status
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int statlen; // size of `status` buffer
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double stattime; // time of last status
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int cooler; // cooler's status
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double mirrortemp; // T mirror, degC
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double ambienttemp; // T ambient, degC
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double temptime; // measurement time
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pthread_mutex_t mutex;
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} tel_t;
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static tel_t telescope = {0};
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// external signal "deny/allow"
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static atomic_bool ForbidObservations = 0; // ==1 if all is forbidden -> close dome and not allow to open
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static sl_sock_t *locksock = NULL; // local server socket
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static sl_ringbuffer_t *rb = NULL; // incoming serial data
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// args of absolute/relative focus move commands
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static sl_sock_int_t Absmove = {0};
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static sl_sock_int_t Relmove = {0};
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void stopserver(){
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if(locksock) sl_sock_delete(&locksock);
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if(rb) sl_RB_delete(&rb);
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}
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// send "measuret=..."
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static void sendtmeasured(sl_sock_t *client, double t){
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char buf[256];
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snprintf(buf, 255, "measuret=%.3f\n", t);
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sl_sock_sendstrmessage(client, buf);
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}
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static sl_sock_hresult_e dtimeh(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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char buf[32];
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snprintf(buf, 31, "UNIXT=%.3f\n", sl_dtime());
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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#define CHKALLOWED() do{if(ForbidObservations){pthread_mutex_unlock(&telescope.mutex); return RESULT_FAIL;}}while(0)
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static sl_sock_hresult_e openh(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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pthread_mutex_lock(&telescope.mutex);
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CHKALLOWED();
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telescope.cmd = CMD_OPEN;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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static sl_sock_hresult_e closeh(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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pthread_mutex_lock(&telescope.mutex);
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telescope.cmd = CMD_CLOSE;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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static sl_sock_hresult_e fstoph(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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pthread_mutex_lock(&telescope.mutex);
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CHKALLOWED();
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telescope.cmd = CMD_FOCSTOP;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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char buf[256];
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double t = NAN;
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pthread_mutex_lock(&telescope.mutex);
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if(!*telescope.status || sl_dtime() - telescope.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
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else{
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snprintf(buf, 255, "%s=%s\n", item->key, telescope.status);
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t = telescope.stattime;
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}
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sl_sock_sendstrmessage(client, buf);
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if(!isnan(t)) sendtmeasured(client, t);
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snprintf(buf, 255, "mirrortemp=%.1f\n", telescope.mirrortemp);
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sl_sock_sendstrmessage(client, buf);
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snprintf(buf, 255, "ambienttemp=%.1f\n", telescope.ambienttemp);
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sl_sock_sendstrmessage(client, buf);
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pthread_mutex_unlock(&telescope.mutex);
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if(ForbidObservations) sl_sock_sendstrmessage(client, "FORBIDDEN\n");
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return RESULT_SILENCE;
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}
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static sl_sock_hresult_e coolerh(sl_sock_t *client, sl_sock_hitem_t *item, const char *req){
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char buf[256];
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if(req){ // getter
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int onoff;
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if(!sl_str2i(&onoff, req)) return RESULT_BADVAL;
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pthread_mutex_lock(&telescope.mutex);
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if(onoff) telescope.cmd = CMD_COOLERON;
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else telescope.cmd = CMD_COOLEROFF;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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// getter
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pthread_mutex_lock(&telescope.mutex);
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snprintf(buf, 255, "%s=%d\n", item->key, telescope.cooler);
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pthread_mutex_unlock(&telescope.mutex);
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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// focuser getter
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static sl_sock_hresult_e foch(sl_sock_t *client, sl_sock_hitem_t *item, _U_ const char *req){
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char buf[256];
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pthread_mutex_lock(&telescope.mutex);
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snprintf(buf, 255, "%s=%d\n", item->key, telescope.focuserpos);
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pthread_mutex_unlock(&telescope.mutex);
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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// Too much clients handler
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static void toomuch(int fd){
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const char m[] = "Try later: too much clients connected\n";
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send(fd, m, sizeof(m)-1, MSG_NOSIGNAL);
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shutdown(fd, SHUT_WR);
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DBG("shutdown, wait");
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double t0 = sl_dtime();
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uint8_t buf[8];
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while(sl_dtime() - t0 < 11.){
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if(sl_canread(fd)){
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ssize_t got = read(fd, buf, 8);
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DBG("Got=%zd", got);
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if(got < 1) break;
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}
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}
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DBG("Disc after %gs", sl_dtime() - t0);
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LOGWARN("Client fd=%d tried to connect after MAX reached", fd);
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}
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// new connections handler (return FALSE to reject client)
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static int connected(sl_sock_t *c){
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if(c->type == SOCKT_UNIX) LOGMSG("New client fd=%d connected", c->fd);
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else LOGMSG("New client fd=%d, IP=%s connected", c->fd, c->IP);
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return TRUE;
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}
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// disconnected handler
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static void disconnected(sl_sock_t *c){
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if(c->type == SOCKT_UNIX) LOGMSG("Disconnected client fd=%d", c->fd);
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else LOGMSG("Disconnected client fd=%d, IP=%s", c->fd, c->IP);
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}
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// default (unknown key) handler
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static sl_sock_hresult_e defhandler(struct sl_sock *s, const char *str){
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if(!s || !str) return RESULT_FAIL;
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sl_sock_sendstrmessage(s, "You entered wrong command:\n```\n");
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sl_sock_sendstrmessage(s, str);
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sl_sock_sendstrmessage(s, "\n```\nTry \"help\"\n");
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return RESULT_SILENCE;
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}
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static sl_sock_hitem_t handlers[] = {
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#if 0
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{sl_sock_inthandler, "int", "set/get integer flag", (void*)&iflag},
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{sl_sock_dblhandler, "dbl", "set/get double flag", (void*)&dflag},
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{sl_sock_strhandler, "str", "set/get string variable", (void*)&sflag},
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{keyparhandler, "flags", "set/get bit flags as whole (flags=val) or by bits (flags[bit]=val)", (void*)&kph_number},
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{show, "show", "show current flags @ server console", NULL},
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#endif
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{sl_sock_inthandler, "focrel", "relative focus move", (void*)&Relmove},
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{sl_sock_inthandler, "focabs", "absolute focus move", (void*)&Absmove},
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{foch, "focpos", "current focuser position", NULL},
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{openh, "open", "open shutters", NULL},
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{closeh, "close", "close shutters", NULL},
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{statush, "status", "get shutters' status and temperatures", NULL},
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{fstoph, "focstop", "stop focuser moving", NULL},
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{coolerh, "cooler", "get/set cooler status", NULL},
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{dtimeh, "dtime", "get server's UNIX time for all clients connected", NULL},
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{NULL, NULL, NULL, NULL}
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};
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static void serial_parser(){
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char line[256];
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int l = 0;
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do{
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l = read_term(line, 256);
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if(l > 0){
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if(l != (int)sl_RB_write(rb, (uint8_t*) line, l)) break;
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}
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}while(l > 0);
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pthread_mutex_lock(&telescope.mutex); // prepare user buffers
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// read ringbuffer, run parser and change buffers in `telescope`
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while((l = sl_RB_readto(rb, '\r', (uint8_t*)line, sizeof(line))) > 0){
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line[l-1] = 0; // substitute '\r' with 0
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DBG("IN: %s", line);
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if(strncmp(line, TXT_ANS_STATUS, strlen(TXT_ANS_STATUS)) == 0){
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DBG("Got status ans");
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telescope.stattime = sl_dtime();
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char *s = line + strlen(TXT_ANS_STATUS);
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if(strncmp(s, "0,0,0,0,0", 9) == 0) snprintf(telescope.status, telescope.statlen, "closed");
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else if(strncmp(s, "1,1,1,1,1", 9) == 0) snprintf(telescope.status, telescope.statlen, "opened");
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else snprintf(telescope.status, telescope.statlen, "intermediate");
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}else if(strncmp(line, TXT_ANS_COOLERSTAT, strlen(TXT_ANS_COOLERSTAT)) == 0){
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DBG("Got cooler status");
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int s;
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if(sscanf(line + strlen(TXT_ANS_COOLERSTAT), "%d", &s) == 1){
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telescope.cooler = s;
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}
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}else if(strncmp(line, TXT_ANS_COOLERT, strlen(TXT_ANS_COOLERT)) == 0){
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DBG("Got weather ans");
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float m, a;
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if(sscanf(line + strlen(TXT_ANS_COOLERT), "%f,%f", &m, &a) == 2){
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telescope.ambienttemp = a;
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telescope.mirrortemp = m;
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}
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}else if(strncmp(line, TXT_ANS_FOCPOS, strlen(TXT_ANS_FOCPOS)) == 0){
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DBG("Got focuser position");
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int p;
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if(sscanf(line + strlen(TXT_ANS_FOCPOS), "%d", &p) == 1){
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telescope.focuserpos = p;
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}
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}else{
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DBG("Unknown answer: %s", line);
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}
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}
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pthread_mutex_unlock(&telescope.mutex);
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}
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// dome polling; @return TRUE if all OK
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static int poll_device(){
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static const char *reqcmds[] = {TXT_FOCGET, TXT_STATUS, TXT_COOLERT, TXT_COOLERSTAT, NULL};
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for(const char **cmd = reqcmds; *cmd; ++cmd){
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if(write_cmd(*cmd)){
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LOGWARN("Can't write command %s", *cmd);
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DBG("Can't write command %s", *cmd);
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return FALSE;
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}
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serial_parser();
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}
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return TRUE;
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}
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void runserver(int isunix, const char *node, int maxclients){
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int forbidden = 0;
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if(locksock) sl_sock_delete(&locksock);
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if(rb) sl_RB_delete(&rb);
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rb = sl_RB_new(BUFSIZ);
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telescope.cmd = CMD_NONE;
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FREE(telescope.status);
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telescope.statlen = STATBUF_SZ;
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telescope.status = MALLOC(char, STATBUF_SZ);
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pthread_mutex_init(&telescope.mutex, NULL);
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sl_socktype_e type = (isunix) ? SOCKT_UNIX : SOCKT_NET;
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locksock = sl_sock_run_server(type, node, -1, handlers);
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sl_sock_changemaxclients(locksock, maxclients);
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sl_sock_maxclhandler(locksock, toomuch);
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sl_sock_connhandler(locksock, connected);
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sl_sock_dischandler(locksock, disconnected);
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sl_sock_defmsghandler(locksock, defhandler);
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double tgot = 0.;
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while(locksock && locksock->connected){
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if(ForbidObservations){
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if(!forbidden){
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if(0 == write_cmd(TXT_CLOSE)) forbidden = 1;
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pthread_mutex_lock(&telescope.mutex);
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telescope.cmd = CMD_NONE;
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pthread_mutex_unlock(&telescope.mutex);
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}
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}else forbidden = 0;
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usleep(1000);
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if(!locksock->rthread){
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WARNX("Server handlers thread is dead");
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LOGERR("Server handlers thread is dead");
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break;
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}
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double tnow = sl_dtime();
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if(tnow - tgot > T_INTERVAL){
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if(poll_device()) tgot = tnow;
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}
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pthread_mutex_lock(&telescope.mutex);
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if(telescope.cmd != CMD_NONE){
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switch(telescope.cmd){
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case CMD_OPEN:
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DBG("received command: open");
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if(0 == write_cmd(TXT_OPEN)) telescope.cmd = CMD_NONE;
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break;
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case CMD_CLOSE:
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DBG("received command: close");
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if(0 == write_cmd(TXT_CLOSE)) telescope.cmd = CMD_NONE;
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break;
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case CMD_FOCSTOP:
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DBG("received command: stop focus");
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if(0 == write_cmd(TXT_FOCSTOP)) telescope.cmd = CMD_NONE;
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break;
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case CMD_COOLEROFF:
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DBG("received command: cooler off");
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if(0 == write_cmd(TXT_COOLEROFF)) telescope.cmd = CMD_NONE;
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break;
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case CMD_COOLERON:
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DBG("received command: cooler on");
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if(0 == write_cmd(TXT_COOLERON)) telescope.cmd = CMD_NONE;
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break;
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default:
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DBG("WTF?");
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}
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}
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pthread_mutex_unlock(&telescope.mutex);
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// check abs/rel move
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char buf[256];
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double dt = tnow - Absmove.timestamp;
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if(dt < 3. * T_INTERVAL){
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if(Absmove.val < FOC_MINPOS || Absmove.val > FOC_MAXPOS) Absmove.timestamp = 0.; // reset wrong data
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else{
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snprintf(buf, 255, "%s%d\r", TXT_FOCUSABS, (int)Absmove.val);
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if(0 == write_cmd(buf)){
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DBG("STARTED absmove");
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Absmove.timestamp = 0.;
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}
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}
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}
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dt = tnow - Relmove.timestamp;
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if(dt < 3. * T_INTERVAL){
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if(Relmove.val < -FOC_MAXPOS || Relmove.val > FOC_MAXPOS) Relmove.timestamp = 0.;
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else{ // "in" < 0, "out" > 0
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char *cmd = TXT_FOCUSOUT;
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int pos = (int)Relmove.val;
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DBG("pos=%d", pos);
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if(pos < 0){ cmd = TXT_FOCUSIN; pos = -pos; }
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snprintf(buf, 255, "%s%d\r", cmd, pos);
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if(0 == write_cmd(buf)){
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DBG("STARTED relmove");
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Relmove.timestamp = 0.;
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}
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}
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}
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serial_parser();
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}
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stopserver();
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}
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void forbid_observations(int forbid){
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if(forbid){
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ForbidObservations = true;
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LOGWARN("Got forbidden signal");
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}else{
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ForbidObservations = false;
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LOGWARN("Got allowed signal");
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}
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DBG("Change ForbidObservations=%d", forbid);
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}
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